Fi Report PDF

Mc lc
1 H truyn ng ng c ng b nam chm vnh cu (PMSM)

1.1
Tng quan v ng c ng b nam chm vnh cu . . . . . . . . . . .
9
9
1.1.1
1.1.2
Gii thiu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Phn loi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
10
1.1.3
Cu to . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10
T tng ca phng php iu khin vector ta theo t thng rotor .
12
1.2.1
1.2.2
Cng thc chuyn i Clark . . . . . . . . . . . . . . . . . . . .

Cng thc chuyn i Park . . . . . . . . . . . . . . . . . . . .
13
13
1.3
M hnh ha ng c ng b nam chm ni . . . . . . . . . . . . . . .
14
1.4
Cu trc iu khin . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
1.5
Thit k b iu khin . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.1 B iu khin dng in . . . . . . . . . . . . . . . . . . . . . .
19
19
1.5.2
B iu khin tc . . . . . . . . . . . . . . . . . . . . . . . .
21
1.5.3
Chng bo ha tch phn . . . . . . . . . . . . . . . . . . . . . .
22
Kt qu m phng . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6.1 Thng s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
23
23
1.6.2
Cu trc m phng . . . . . . . . . . . . . . . . . . . . . . . . .
26
1.6.3
Kt qu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
26
1.2
1.6
2 PWM v vn deadtime trong bin tn
30
2.1
2.2
Hot ng ca b nghch lu . . . . . . . . . . . . . . . . . . . . . . . .
Pulse Width Modulation . . . . . . . . . . . . . . . . . . . . . . . . . .
30
33
2.3
Phng php iu ch vector khng gian . . . . . . . . . . . . . . . . .
35
2.3.1
Nguyn l iu ch . . . . . . . . . . . . . . . . . . . . . . . . .
35
2.3.2
2.3.3
Xc nh thi gian chuyn mch . . . . . . . . . . . . . . . . . .

Hn ch ca thut ton . . . . . . . . . . . . . . . . . . . . . .
35
39
2.4
Hiu ng deadtime . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
42
2.5
Phng php b hiu ng deadtime . . . . . . . . . . . . . . . . . . . .
44
2.6
Kt qu m phng . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
47
MC LC
2.6.1
So snh kt qu khi c deadtime v khng c deadtime . . . . .
47
2.6.2
B hiu ng deadtime . . . . . . . . . . . . . . . . . . . . . . .
47
3 Phng n xut
3.1
3.2
52
Cc yu t nh hng ti hiu ng deadtime . . . . . . . . . . . . . . .
52
3.1.1
3.1.2
nh hng ca dng in . . . . . . . . . . . . . . . . . . . . .
nh hng ca tc ng c . . . . . . . . . . . . . . . . . . .
52
54
3.1.3
Kt qu m phng s nh hng ca dng in v tc . . . .
56
Phng n ci tin . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
57
3.2.1
3.2.2
T tng ca phng php . . . . . . . . . . . . . . . . . . . .

Kt qu m phng . . . . . . . . . . . . . . . . . . . . . . . . .
57
58
3.2.3
nh gi phng php xut . . . . . . . . . . . . . . . . . .
59
4 Kt lun
61
Ti liu tham kho
62
Ph lc
64
Ph lc A: S khi Simulink . . . . . . . . . . . . . . . . . . . . . . . . .
64
Ph lc B: Cc chng trnh s dng trong qu trnh m phng . . . . . . .
67
Danh sch hnh v

1.1
1.2
Cc loi ng c PMSM. . . . . . . . . . . . . . . . . . . . . . . . . . .
B mt ct ca ng c nam chm ni v ng c nam chm chm. . .
10
11
1.3
Chuyn i h trc ta . . . . . . . . . . . . . . . . . . . . . . . . . .
12
1.4
Dng in v in p stator trn h ta a-b-c.
. . . . . . . . . . . .
14
1.5
1.6
Biu din vector trn h ta a-b-c v h ta d-q. . . . . . . . . .

Mch tng ng ca ng c ng b trn h ta quay. . . . . . .
16
17
1.7
S iu khin theo phng php FOC. . . . . . . . . . . . . . . . .
18
1.8
B iu khin dng in kt hp vi phng php tch knh. . . . . . .
19
1.9 B iu khin dng in. . . . . . . . . . . . . . . . . . . . . . . . . . .

1.10 B iu khin tc . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20
21
1.11 Khu chng bo ha tch phn. . . . . . . . . . . . . . . . . . . . . . .
22
1.12 S m phng tng th ca h thng iu khin ng c SPM s dng

phng php FOC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.13 Cu trc tch knh. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
25
26
1.14 Cc p ng trong iu kin khng ti. . . . . . . . . . . . . . . . . . .
28
1.15 Cc p ng trong iu kin ti thay i. . . . . . . . . . . . . . . . . .
29
2.1
S mch nghch lu. . . . . . . . . . . . . . . . . . . . . . . . . . . .
30
2.2
Cc vector in p chun. . . . . . . . . . . . . . . . . . . . . . . . . .
31
2.3
2.4
Nguyn l iu ch PWM. . . . . . . . . . . . . . . . . . . . . . . . . .
iu ch rng xung bng sng sin. . . . . . . . . . . . . . . . . . . .
33
34
2.5
Thc hin vector in p t 2 vector bin. . . . . . . . . . . . . . . . .
35
2.6
S thut ton tnh thi gian hot ng ca cc vector bin. . . . . .
38
2.7
2.8
th hm chuyn mch. . . . . . . . . . . . . . . . . . . . . . . . . .
Vng gii hn khi iu ch vector in p. . . . . . . . . . . . . . . . .
38
39
2.9
Vng cm in p trn ton b mt phng vector. . . . . . . . . . . . .
40
2.10 Tnh ng b gia x l tn hiu v iu ch in p. . . . . . . . . . .
41
2.11 Cu hnh mt pha ca b nghch lu; a)dng in ti dng; b) dng

in ti m. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
42
DANH SCH HNH V
2.12 in p ra v xung m van ca b nghch lu; a) xung in p m van;

b) xung in p m van khi c deadtime; c) in p pha chun; d)in p
pha khi c deadtime vi dng ti dng; e) in p pha khi c deadtime
vi dng ti m. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.13 S b in p sai lch do hiu ng deadtime. . . . . . . . . . . . . .
43
46
2.14 Cc p ng trong iu kin c deadtime v iu kin l tng. . . . .
48
2.15 p ng dng in khi c nh hng ca deadtime ti M = 8 N.m v

M = 2 N.m. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.16 Dng in ia v in p U trong trng hp c deadtime, b deadtime
48
v trng hp l tng. . . . . . . . . . . . . . . . . . . . . . . . . . . .
49
2.17 p ng dng in sau khi b hiu ng deadtime ti M = 12 N.m v

M = 2 N.m ti tc cao. . . . . . . . . . . . . . . . . . . . . . . . . .
2.18 p ng dng in sau khi b hiu ng deadtime ti M1 = 12(N.m) v
50
M2 = 2(N.m) ti tc thp. . . . . . . . . . . . . . . . . . . . . . . .
51
2.19 Phn tch ph sng hi dng in. . . . . . . . . . . . . . . . . . . . . .
51
3.1
Xung m t nguyn nhn hin tng zero current clamping. . . . . . .
53
3.2
Hin tng zero current clamping. . . . . . . . . . . . . . . . . . . . . .
53
3.3
3.4
S phng php b zero current clamping. . . . . . . . . . . . . . .

Sai lch m men theo tn s ng c do 1 V sai lch in p [6]. . . . .
53
55
3.5
Sai lch tc theo tn s ng c do 1V sai lch in p[6]. . . . . . .
55
3.6
Quan h gia tn s v khong thi gian xy ra hin tng zero current
3.7
clamping.[3]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
S thut ton b deadtime xut. . . . . . . . . . . . . . . . . . .
55
58
3.8
Ch s THD biu din theo tc . . . . . . . . . . . . . . . . . . . . .
59
3.9
ng ni suy th hin quan h gia vn tc v U . . . . . . . . . . .
60
3.10 Kt qu ch s mo dng in THD ca hai phng php. . . . . . . .
60
P.1 Khi iu khin tc . . . . . . . . . . . . . . . . . . . . . . . . . . .
64
P.2 Khi iu khin dng in . . . . . . . . . . . . . . . . . . . . . . . . .
64
P.3 Khi b deadtime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

P.4 Khi ngun v ng c SPM . . . . . . . . . . . . . . . . . . . . . . . .
65
65
P.5 iu ch vector khng gian . . . . . . . . . . . . . . . . . . . . . . . . .
66
Danh sch bng

1.1
Thng s ng c SPM loi ROTEC 1FT6084-8SH7 ca Seimens [8]. .
23
2.1
Bng trng thi van. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
32
2.2
Thi gian chuyn mch ca cc pha. . . . . . . . . . . . . . . . . . . .
37
3.1
Sai lch in p theo dng in [6]. . . . . . . . . . . . . . . . . . . . .
54
3.2
Ch s THD trong trng hp khng b hiu ng deadtime. . . . . . .
56
3.3
Ch s THD trong trng hp c b hiu ng deadtime. . . . . . . . .
56
3.4
Ch s THD ca phng php xut so vi phng php kinh in. .
58
Danh mc cc k hiu v t vit tt

K hiu
a
a
abc
dq
isa , isb , isc
fpwm
u0 u7
Tl , Tr
Ls
Rs
r
e
e
r
B
p
J
Vdc
ngha
i lng v hng c in nghing
i lng vector c in m
H ta ba pha
H ta c nh stator
H ta quay ta t thng rotor
Dng in stator trn ba pha a-b-c
Tn s ca b nghch lu
Vector in p chun
Thi gian thc hin cc vector chun bn tri v bn phi
in cm stator
in tr stator
Tc ng c
Tc quay ca vector t thng
Gc quay ca t thng so vi trc d
Gc quay ca rotor ng c
H s nht
S cp cc ca ng c
M men qun tnh
in p ngun ca b nghch lu
Vit tt
DC
AC
PWM
SPWM
Tn ting Anh
Direct current
Alternating current
Pulse Width Modulation
Sinusoidal Pulse Width Modulation
SVPWM
ADC
DAC
PMSM
SPM(sPMSM)
Space Vector Pulse Width Modulation

Analog to Digital Converter
Digital to Analog Converter
Permanent Magnet Synchronous Motor
Surface Permanent Magnet Synchronous
Motor
IPM(iPMSM) Interior Permanent Magnet Synchronous
Motor
FOC
Field Oriented Control
THD
Total Harmonic Distortion
DTC
Derec Torque Control
Tn ting Vit
in mt chiu
in xoay chiu
Phng php iu ch rng xung
Phng php iu ch rng xung bng
sng hnh sin
iu ch vector khng gian
B chuyn i tng t s
B chuyn i s tng t
ng c ng b kch t nam chm vnh cu
ng c ng b kch thch vnh cu nam
chm ni
ng c ng b kch thch vnh cu nam
chm chm
Phng php iu khin ta t thng rotor
Ch s mo dng dng in
iu khin trc tip m men
Li m u
Trong vi thp k gn y, b nghch lu l mt trong nhng cng c bin i nng
lng in ph bin nht; n c s dng trong nhiu ng dng nh cc b lu in
v truyn ng in. Cc nghin cu v b nghch lu trn l thuyt thng gi s cc
van cng sut trong b chuyn i l cc thit b l tng, ngha l chng s chuyn
mch ng hoc ct chnh xc ti thi im c tn hiu iu khin. Tuy nhin, trong
thc t, cc thit b chuyn mch khng hon ho nh vy. Xt trn phng tin vt l,
van ch c th t n trng thi chc chn ng hoc chc chn m sau mt khong
thi gian ton , tof f nht nh. Do , vic iu khin chuyn mch van thng c mt
thi gian an ton deadtime m bo hin tng ngn mch khng xy ra. Thi gian
an ton deadtime ny gy mo dng in p cn iu ch u ra ca mch nghch
lu. Hin tng ny c gi l hiu ng deadtime. H qu ca n lm mo dng in,
sinh ra nhiu sng hi bc cao, lm nh hng ti cht lng ca h thng.
Mt khc, trong iu khin truyn ng in hin i, mt s phng php nh
iu khin vector hay iu khin trc tip m men DTC yu cu c thng tin v in
p u ra. Nhng trn thc t, in p ra ca b nghch lu c dng xung nn kh o
lng v x l tn hiu. V th, ngi ta thng ly in p t u vo khu iu
ch PWM thay cho qu trnh o in p thc. Bi nh hng ca deadtime, in p
u ra b mo dng. iu ny khin cho in p t vo khu PWM khng phn nh
ng thng tin cn thit cho b iu khin dn n lm gim cht lng h truyn
ng.
Trong hu ht cc phng php c s dng, k thut b in p chnh lch
ch yu da trn l thuyt gi tr trung bnh. in p thiu ht s c tnh trung
bnh trong chu k chuyn mch v c cng vo gi tr in p t ta theo du ca
dng in ti. Trong nhng nm gn y, mt s nh khoa hc tm ra cch gii
quyt vn ny nhng chng yu cu h tr thm phn cng [12] hoc cn gi s
rng h khng b nh hng bi s dao ng ca dng in [1].
n ny s trnh by mt thut ton b mi da trn vic tnh ton offline gi
tr in p sai lch thay i theo tc ng c c ng dng trn h iu khin
truyn ng ca ng c ng b kch thch vnh cu. u im ca phng php l
7
DANH SCH BNG
khng cn yu cu thm phn cng h tr, tnh ton ra gi tr ln in p b mt

cch chnh xc. Ni dung ca n gm c bn chng:
Chng 1 gii thiu tng quan v h truyn ng ca ng c PMSM, qua thit
k b iu khin da trn phng php iu khin vector.
Chng 2 nu khi qut v k thut iu ch rng xung trong khng gian vector,
ng thi lm r nguyn nhn ca hiu ng deadtime v cc phng php b
c p dng cho ti hin nay.
Chng 3 l mt trong nhng phn quan trng ca n. Trong chng ny, tc gi
xut mt thut ton b mi thng qua vic thay i gi tr in p b theo
tc t ca ng c ci thin hiu qu b hiu ng deadtime s dng thut
ton b trung bnh.
Chng 4 kt lun nhng vic lm c v k hoch trin khai trong tng lai
ca ti.
Vi lng bit n su sc, ti xin gi li cm n ti thy gio PGS.TS. T Cao Minha ,
ngi lun tn tnh hng dn, truyn t vn kin thc qu bu cho ti trong sut
qu trnh thc hin n. Xin chn thnh cm n anh Nguyn Bo Huya , di s
ch bo v du dt ca anh, ti vt qua nhng lc nghin cu ri vo b tc; nu
khng c anh chc chn n ny s khng th hon thnh. Cm n ba m, nhng
ngi sinh ra ti, nui ti khn ln v lun bn ti d c bt c kh khn no.
Li cm n ca ti cng xin gi ti cc bn trong lp K s Ti nng - iu khin
T ng - K54, nhng ngi bn trong Trung tm Nghin cu ng dng v Sng to
Cng ngh (CTI) ng h v chia s vi nhng kinh nghim thit thc trong thi
gian hc tp di mi trng i hc Bch Khoa H Ni.
Mc d rt n lc, song chc chn n cn nhiu thiu st. Ti rt mong nhn
c nhng gp , nhn xt, v nh gi ca cc thy c cng nh bn b quan tm.
a Trung
tm Nghin cu ng dng v Sng to Cng ngh, i hc Bch Khoa H Ni.
Chng 1
H truyn ng ng c ng b
nam chm vnh cu (PMSM)
1.1
Tng quan v ng c ng b nam chm vnh cu
1.1.1
Gii thiu
ng c ng b nam chm vnh cu l mt trong cc loi ng c c nhiu ng

dng rng ri nht hin nay. c im ni bt ca n l phn kch t c lm bng
nam chm vnh cu. Rotor ng c quay ng b vi t trng v dng in stator
(vi t l bng s cp cc). Nh cu to c trng nh khng cn chi than v loi b
c tn tht trn dy ng ca rotor nn n c kh nng nng cao hiu sut truyn
ca ng c. Cu trc dy dn tp trung trn stator gip cho vic lm mt t hiu
qu cao hn. ng c ng b nam chm vnh cu khng s dng dy qun kch
t m s dng nam chm vnh cu nn ng c nh hn v kch thc nh hn so vi
cc loi khc, qua lm tng t l cng sut trn khi lng. Ngoi ra, n cn c kh
nng lm vic trong di tc rng, dao ng m men nh, v cht lng iu khin
cao.
So vi cc loi ng c khc, ng c ng b kch thch vnh cu c nhiu u im
v kch thc, khi lng, hiu sut, v gi c. Cng vi s pht trin nhanh ca khoa
hc k thut v thit b in t cng sut nh:
cc van bn dn cng sut chuyn mch tn s cao,
s ra i ca cc vt liu c t tnh cao hn nh samarium-cobalt (Sm-Co) hay
neodymium-ironboron (Nd-Fe-B),
cc b vi x l tc cao (DSP, C, P ) tch hp nhiu chc nng chuyn dng
cho iu khin cng sut nh PWM, ADC-DAC,
ng c PMSM dn c p dng rng ri trong nhiu lnh vc. Nhng ng dng
m PMSM c s dng rng ri nht hin nay l nhng ng dng v iu khin tc
9
CHNG 1. H TRUYN NG NG C NG B NAM CHM VNH CU (PMSM)
Hnh 1.1: Cc loi ng c PMSM.
nh qut, my bm, my nn kh, iu khin servo nh robot v my tin. Ngoi

ra, ng c PMSM cng c s dng kh ph bin di cng sut ln trong lnh vc
t, c bit l t in hoc t hybrid.
1.1.2
Phn loi
Nhn chung ng c ng b kch thch vnh cu c th phn thnh hai loi l ng

c nam chm ni v ng c nam chm chm da theo v tr t ca nam chm trong
rotor:
ng c nam chm ni (SPM) c nam chm vnh cu c gn u trn b mt
ca rotor nh Hnh 1.1 (a-b). Khong khe h khng kh gia rotor v stator trong
ng c SPM l khng i. Do vy, in cm trn hai trc d v q l bng nhau
(Ld = Lq ).
Trong khi , cc nam chm ca ng c nam chm chm (IPM) c gn bn
trong rotor nh Hnh 1.1 (c-d). Khc vi ng c SPM, di khe h khng kh
trong loi ng c ny khng u, n thay i da trn v tr nam chm gn trn
rotor nn gi tr in cm trn hai trc d-q c s khc bit, thng in cm trn
trc q s c gi tr cao hn in cm trn trc d (Lq > Ld ).
1.1.3
Cu to
Cu to ca PMSM cng ging nh cc ng c ng b khc gm c hai thnh

phn chnh l stator v rotor, ngoi ra cn v my, np my, trc my. Trc my c
10
Rotor
Nam chm
cc ni
Rotor
Stator
Cun dy
stator
Nam chm
cc n
Stator
Cun dy
stator
Hnh 1.2: B mt ct ca ng c nam chm ni v ng c nam chm chm.
lm bng thp, trn c gn rotor, pha cui trc gn qut gi lm mt my.

Stator
Stator gm hai b phn chnh l li thp v dy qun. Li thp stator c dng
hnh tr, c p bng cc l tn silic khong 0.5 mm, hai mt c ph sn cch
in. Dc chiu di li thp stator c cch khong 3 6 cm li c mt rnh
thng gi ngang trc, rng 10 mm. Thn my phi thit k v ch to sao cho
trong n hnh thnh h thng ng thng gi lm mt ng c. Dy qun stator
thng c lm bng dy ng tit din trn hoc ch nht, b mt c ph
mt lp cch in, c qun thnh tng bi v lng vo cc rnh ca li thp
stator. Dy qun s c ni theo quy lut nht nh to thnh s hnh sao
hoc tam gic.
Rotor
Rotor ca my ng b nam chm vnh cu lm bng thp hp kim cht lng
cao, c hnh khi tr v c phay rnh t cc thanh nam chm. i vi
ng c ng b nam chm ni th nam chm s c t trn b mt ca rotor;
trong khi , cc thanh nam chm ca ng c nam chm chm s c gn bn
trong ca rotor nh Hnh 1.2. Cch t nam chm l nguyn nhn chnh dn n
s khc bit v tnh cht gia hai loi ng c nam chm chm v nam chm ni.
i vi cc ng c truyn ng servo yu cu vn hnh m v hn ch m men
p mch do sng hi gy ra; ngi ta thng to hnh cho cc nam chm ln
cho theo trc rotor.
11
c
Hnh 1.3: Chuyn i h trc ta .
1.2
T tng ca phng php iu khin vector ta theo t

thng rotor
T tng ca phng php ta t thng rotor l xy dng cu trc iu khin ng

c xoay chiu nh iu khin ng c mt chiu. Tuy nhin, hai loi ng c ny c
s khc bit c bn v cu to cng nh tnh cht dng in. ng c mt chiu (DC)
c t thng v m men c sinh ra bi hai dng in c lp l dng in kch t v
dng in phn ng; ng thi hai dng in ny c th iu khin c lp mt cch
d dng. Trong khi , ng c xoay chiu (AC) c cc dng in pha tng tc v
nh hng ln nhau, ta khng th xc nh c dng in to ra m men v t thng
mt cch c lp.
u nm 1970, trong qu trnh nghin cu cng thc iu khin mi cho ng c
khng ng b, mt nh khoa hc ngi c c tn l F. Blaschke1 pht trin
c phng php iu khin vector c bit n vi tn gi Field Oriented Control
(FOC). Phng php ny cho php bin i dng in stator thnh hai dng in c
lp v c kh nng to ra m men v t thng ging nh m hnh ca ng c mt
chiu; bng cch chuyn cc thnh phn trong h ta c nh sang h ta quay
d-q nh minh ha trn Hnh 1.3. Qu trnh chuyn i h trc ta s theo cc bc
di y:
Chuyn cc thnh phn ba pha a-b-c sang h trc ta - theo cng thc
Clark.
Tip theo, ta tnh ton gc ta e gia trc d v pha .
Cui cng, chuyn h ta - sang h ta d-q theo cng thc Park.
1 Technical
University of Darmstadt
12
1.2.1
Cng thc chuyn i Clark
ng c xoay chiu ba pha c coi nh c cc ti cn bng trong h ta a-b-c

v c vector dng in stator quay cng tc t trng vi vn tc gc e . m
hnh ha ng c c d dng th cc i lng in s c chuyn sang h ta
- theo cng thc Clark.
Phng trnh ton biu din mi quan h gia h ta a-b-c v h trc ta
-:
ib ic
i = K(ia )
2 2
3
3
i = K(
ib
ic ).
2
2
(1.1)
(1.2)
y, ia , ib v ic l dng in pha trong h thng ba pha cn bng; i , i l dng in

trn h ta -, v K h s cn bng [2]. T (1.1), (1.2), ng thi chn h s cn
2
bng l , chng ta c mi quan h chuyn i ging nh di y:
3
1
1
"
#
ia
1
i
2
2
2
(1.3)
=
ib .
3
3
3
i
0
ic
2
2
Tng t nh trn, ta c cng thc chuyn i Clark ngc t h ta - sang h
ta a-b-c:
ia
3
0.5
i
=
b
2
ic
3
0.5
2
1.2.2
"
#
i
(1.4)
Cng thc chuyn i Park
Cng thc Park c nhim v chuyn h ta tnh - sang h ta quay d-q.

y, dng in i , i c ly t kt qu ca cng thc Clark, cn gc e l gc
in thu c t cng thc e =p.r . Phng trnh ton ca cng thc chuyn i Park
c biu din nh di y:

id
cos e sin e
i
=
iq
sin e cos e
i
Cng thc chuyn i Park ngc t d-q v h ta -:

i
cos e sin e
id
=
i
sin e cos e
iq
13
(1.5)
(1.6)
b
b
usb
isb
a
usa
isa
isc
c
e
a
usc
c
Hnh 1.4: Dng in v in p stator trn h ta a-b-c.
Cc i lng in khc cng s c chuyn i tng t nh dng in ti thng

qua cc cng thc trn.
1.3
M hnh ha ng c ng b nam chm ni
tm hiu v lm r nhng tnh cht v mi quan h gia cc i lng trong

ng c ng b kch thch vnh cu, cng nh s hiu qu ca phng php iu
khin FOC trong ng dng iu khin ng c; n s dng mt ng c ng
b nam chm ni (Surface Permanent Magnet SPM) lm i tng nghin cu. M
hnh ton hc ca ng c SPM s c xy dng di mt s gi thit sau:
Cc pha ca ng c i xng v cn bng;
Cc hiu ng nh bo ha t thng, tn hao c, hiu ng nhit ca nam chm,
v dng in xoy c th c b qua;
Trong hu ht cc trng hp, c bit l khi n nh, dng in v in p c
dng hnh sin;
Cc thng s ca ng c c coi nh khng i;
B qua nh hng ca hi bc cao trong my.
Xt ng c kch thch vnh cu ti ba pha cn bng, c in cm v h cm l
hng s. Dng in stator isa , isb , isc v in p usa , usb , usc tng cp lch nhau mt
14
gc 120 ging nh Hnh 1.4. Phng trnh in ca ng c theo mi pha c biu

din nh di y.
dsa (t)
dt
dsb (t)
usb (t) = Rs isb (t) +
dt
dsc (t)
usc (t) = Rs isc (t) +
dt
usa (t) = Rs isa (t) +
(1.7)
(1.8)
(1.9)
y, usa (t), usb (t), usc (t) l gi tr tc thi in p stator, isa (t), isb (t), isc (t) l gi
tr dng in tc thi, Rs = Rsa = Rsb = Rsc l in tr stator v sa (t), sb (t), sc (t)
l t thng ca stator trn tng pha. Trong , t thng cun dy stator bao gm t
thng rotor v t thng stator do dng in stator sinh ra:
s(a,b,c) = abc(s) + abc(r)
Vi:
abc(s)
Lsa Msab Msac

isa
= Msba Lsb Msbc isb
Msca Mscb Lsc
isc
(1.10)
(1.11)
Lsa l gi tr in cm pha a ca stator, Msab , Msac ln lt l gi tr h cm gia hai

pha ab v ac. Tng t nh vy ta cng c c cc gi tr trn pha b,c nh cp.
cos e
cos( 2 )
e
abc(r) = P M
(1.12)
3
2
cos(e +
)
3
Trong , e l gc in ca ng c, P M l ln t thng to bi nam chm trn
rotor.
Trn khng gian vector, t thng ca sator c th biu din li thnh:
sabc = Ld isabc + P M eje
(1.13)
M hnh biu din di dng vector khng gian ca t thng (1.13) n gin hn
so vi (1.11) , nhng n vn cn cha thnh phn xoay chiu khng thun tin cho
qu trnh phn tch v iu khin. V vy, ta cn chuyn m hnh sang h ta d-q,
h ta quay ng b vi vector t thng; v tr ca h ta s c chn sao cho
trc d trng vi trc ca vector t thng rotor.
Hnh 1.5 biu din cc vector trn hai h ta l a-b-c v h ta d-q, trong
k l gc lch gia trc d v trc a ca h ta stator. Mi quan h gia cc i
15
q
b
Ks
Kq
Kd
k
a
c
Hnh 1.5: Biu din vector trn h ta a-b-c v h ta d-q.
lng trn hai h ta c th hin qua phng trnh sau:

2
2

cos k cos k
cos k +
3
3
2
Kd

=
Kq
3
2
2
sin k sin k
sin k
3
3
K
a
Kb
Kc
(1.14)
Cng vi , phng trnh tng qut biu din cc i lng vector trong h ta
quay c th vit ging nh di y:
Ks = |K| (cos k + j sin k ) = |K| ejk
(1.15)
p dng (1.15), cc i lng ton hc ca ng c SPM s c chuyn t h ta

a-b-c s c chuyn sang h d-q:
Phng trnh in p stator c th vit thnh:
d
(sdq ejk )
dt
(1.16)
dsdq
+ je sdq
dt
(1.17)
usdq ejk = Rs isdq ejk +
usdq = Rs isdq +
Phng trnh t thng:

sdq ejk = Ld isdq ejk + P M eje
sdq = Ld isdq + P M ej(e k )

16
(1.18)
(1.19)
Rs
Lds
Rs
eqs
U ds
Lqs
U qs
eds
Hnh 1.6: Mch tng ng ca ng c ng b trn h ta quay.
Do gc e = k nn t thng stator c th biu din li thnh:

sdq = Ld isdq + P M
(1.20)
Th cc thnh phn usdq = usd + jusq , isdq = isd + jisq , v sdq = sd + jsq vo (1.17)
v (1.20) ta nhn c:
Phng trnh in p trn trc ta d-q:
usd = Rs .isd +
d
(sd ) e .sq
dt
(1.21)
usq = Rs .isq +
d
(sq ) + e .sd
dt
(1.22)
y, usd , usq l in p stator, isd , isq l dng in stator trn h ta d-q, Rs biu
din cho in tr stator, e l tc in v sd , sq ln lt l t thng trn h trc
ta quay.
Phng trnh t thng sd , sq :
sd = Ld .isd + P M
(1.23)
sq = Lq .isq
(1.24)
Trong , Lq = Ld l in cm trn trc ta d-q. Phng trnh m men:

3
Te = p. |sd .isq sq .isd | .
2
(1.25)
d
(r ) = r ,
(1.26)
dt
Vi r l tc quay ca rotor, r gc quay ca rotor, p l s cp cc ca ng c v
quan h gia tc quay ng c r v tc in e c biu din ging nh di
17
id*
0
r*
_
Speed
Controller
Decoupling
Current
Controller
*
q
u*
ud*
dq
uq*
id
dq
iq
u*
p
d
dt
Pulse
SV
PWM
abc
ia
ib
ic
PM
SM
Hnh 1.7: S iu khin theo phng php FOC.
y:
e = p.r
(1.27)
T (1.21) v (1.22) ta xy dng c mch in tng ng ca PMSM trn h ta

d-q nh Hnh 1.6.
1.4
Cu trc iu khin
S chung ca phng php FOC c m t trong Hnh 1.7 gm hai vng iu

khin vi b iu khin tc vng ngoi v vng iu khin dng in nm pha
trong vi hai b iu khin hot ng c lp theo lut PI. N c tc dng iu chnh
hai thnh phn dng in isd tng ng vi dng kch t v isq hot ng ging nh
dng phn ng ca ng c mt chiu.
ng c PMSM c kch t bng nam chm vnh cu. M men quay t l thun
trc tip vi thnh phn dng isq , dng stator ch c nhim v to m men ch khng
c nhim v sinh t thng. Do vy, khi ng c c iu khin tc di gi tr
nh mc th dng in isd phi c gi tr bng khng. Trong trng hp ng c phi
lm vic ch gim t thng t tc di trn nh mc th ta cn bm vo
trc d mt dng in mang du m c cng ph thuc vo tc yu cu.
Trn thc t, thnh phn dng in trn hai trc d-q c tc ng nh hng ln
nhau (coupling) theo cc thnh phn e sq v e sd nh (1.21) v (1.22). V vy, ta
cn p dng cu trc khin tch knh m bo hai dng in c iu khin c
lp nh m t Hnh 1.8. u ra ca hai b iu khin l in p t usd v usq s c
chuyn i sang h ta - thng qua khu chuyn h ta vi gi tr gc e c
18
Ud
PI
id*
id
PI
iq*
id
e
Ld
Ld
Lq
iq
1
Rs sLs
Lq
Uq
1
Rs sLs
iq
m
Controller
PMSM
Hnh 1.8: B iu khin dng in kt hp vi phng php tch knh.
o trc tip bng cm bin, thit b o gc hoc nh php tch phn tc quay khi
bit v tr ban u ca t thng cc. Nhng do gi tr dng isd = 0, i2sq = i2 + i2
nn gi tr gc s dng trong cng thc chuyn i Park phi l /2 + e .
in p trn hai trc v nhn c qua khu chuyn i h ta s dng
tnh ton thi gian chuyn mch trn tng nhnh van thng qua khu iu ch vector
khng gian (SVPWM) to ra xung kch thch m van cho b nghch lu.
1.5
1.5.1
Thit k b iu khin
B iu khin dng in
B iu khin dng in c s dng y l b iu khin PI kt hp vi phng

php tch knh v khu chng bo ha tch phn. Hm truyn ca b iu khin c
biu din nh sau:
GP I (s) =
U (s)
kii
1 + Tii s
= kpi +
= kpi
.
E(s)
s
T ii s
(1.28)
y, kpi l h s khuch i, kii l h s tch phn, Tii l h s thi gian tch phn
c xc nh:
kpi
kii
Tii =
(1.29)
Hm truyn ca khu iu ch rng xung SVPWM c biu din bng [10]:

Gpwm (s) =
1
Tpwm s + 1
19
(1.30)
*
sdq
Controller
+
PI
PWM
Stator
1
sLs Rs
sTpwm 1
isdq
Hnh 1.9: B iu khin dng in.
Trong , Tpwm l chu k PWM, c xc nh nh sau Tpwm =
1
fpwm
, fpwm l tn s
PWM.
Phng trnh ton hc ca ng c PMSM (1.21), (1.22) cho thy s tc ng qua
li gia hai thnh phn dng in stator trn trc d v trc q gy kh khn cho vic
iu khin dng in, c bit l trong trng hp ng c hot ng di tc cao.
loi b s nh hng ny, n p dng phng php b cho nh Hnh 1.8, bng
cch cng thm thnh phn c gi tr ngc vi thnh phn c trong m hnh ng
c. Kt qu nhn c l hai thnh phn dng in stator c iu khin hon ton
c lp m khng nh hng ti ng hc ca h thng.
Sau khi p dng phng php b cho (decoupling), hm truyn t ca mt thnh
phn trn trc d-q ch cn l mt khu qun tnh bc nht:
GP (s) =
1
1
=
Rs + s.Ls
Rs
1
Ls
1+s
Rs
k
.
1 + s.Ts
(1.31)
Trong , Ts l hng s thi gian ca ng c v k l nghch o ca in tr stator.

1
Rs
Ls
Ts =
Rs
k=
(1.32)
(1.33)
Hm truyn t h h ca vng iu khin dng in:

GOP (s) = GP I (s).GP WM (s).GP (s)
= kpi
1 + Tii s
1
k
.
.
.
Tii s 1 + sTpwm 1 + sTs
(1.34)
Chn gi tr Tii = Ts khi hm truyn t h h s c rt gn thnh:

GOP (s) =
kpi
k
.
Tii s 1 + sTpwm
(1.35)
Vi hm truyn t h h ny ta s p dng phng php ti u module [9] tm
20
r*
3
p.m
2
1
sTi 1
PI
Te
+ _
1
J .s
Ti
Hnh 1.10: B iu khin tc .
cc thng s ca b iu khin:
Tii Rs
2Tpwm
Ls
Tii =
Rs
kpi =
1.5.2
(1.36)
(1.37)
B iu khin tc
B iu khin tc c t vng ngoi, c u ra l gi tr t cho b iu

khin dng in vng trong. Cu trc ca b iu khin tc c th hin qua
Hnh 1.10.
Hm truyn ca b iu khin tc :
GP I (s) = kp +
ki
1 + s.Ti
.
= kp .
s
s.Ti
(1.38)
Mch vng iu khin dng in c rt gn thnh mt khu qun tnh bc nht:

Gisq (s) =
Trong , Ti =
1
Ti s + 1
(1.39)
Tii
. Hm truyn t h h ca b iu khin tc :
kpi .k
G (s) = kp
1 + sTi
1
3
1
.
. p.m . .
sTi sTi + 1 2
Js
(1.40)
3
t kT = .p.m ta c hm truyn h h rt gn l:
2
G (s) =
1 + sTi kp .kT
.
.
J.s2 Ti sTi + 1
(1.41)
tm cc h s ca b iu khin, ta s dng phng php ti u i xng [9].

J
2.kT .Ti
= 4.Ti
kp =
(1.42)
Ti
(1.43)
21
PI
e
+
_
ki
+
+
kp
1
s
ka
Hnh 1.11: Khu chng bo ha tch phn.
1.5.3
Chng bo ha tch phn
Trng mt s h thng iu khin hay mt s c cu chp hnh c cha thnh phn

tch phn v tn hiu u ra b hn ch thng xy ra hin tng bo ha tch phn.
y l hin tng m gi tr ra ca b iu khin tng qu mc gii hn do s tch ly
ca thnh phn tch phn vn tip tc c duy tr mc d sai lch tr v khng.
Thnh phn tch phn gip u ra ca h kn t ti gi tr t. Tuy nhin, khi tn
hiu t qu ln hoc thay i qu nhanh lm cho thit b chp hnh khng p ng
kp th tnh cht tuyn tnh ca b iu khin s khng cn c m bo. iu ny
dn n hin tng sai lch iu khin khng c trit tiu nhanh nh trng hp l
tng, thm ch c th nh hng n tnh n nh ca h thng [14]. V vy, ta cn
phi s dng mt s gii php loi b hin tng ny.
Cc phng php chng bo ha tch phn c p dng hin nay nh thay i gi
tr khu khuch i b iu khin hoc thay i cu trc b iu khin u em li
hiu qu tt. Trong n ny, tc gi s dng phng php back calculation c cu
trc nh trn Hnh 1.11. Tc dng chnh ca n l ngt thnh phn tch phn khi xy
ra hin tng bo ha tch phn, trnh c s cng dn lp li bng cch tnh ton
gi tr u ra ca b iu khin trc v sau khu hn ch, sau so snh v phn hi
v khu tch phn thc hin thut ton b chng li hin tng bo ha tch phn.
Gi tr c trng ca phng php l ka . H s ny c chn sao cho u vo ca
b tch phn nh khi xy ra hin tng bo ha tch phn. Gi tr ka thng c
chn theo kinh nghim hoc thng qua qu trnh m phng. Tham kho ti liu [7] ta
c th c chn h s nh sau:
1
ka = .
Ti
22
(1.44)
Bng 1.1: Thng s ng c SPM loi ROTEC 1FT6084-8SH7 ca Seimens [8].
1.6
Thng s
Gi tr
n v
Tc nh mc
4500
rpm
Dng nh mc
20
Cng sut nh mc
9.42
kW
in tr stator
0.19
in cm trc d
mH
in cm trc q
mH
S cp cc
H s t thng
0.123
wb
M men qun tnh
0.0048
kg.m2
in p mt chiu
600
Kt qu m phng
Trong cc phn trc, n trnh by v cu to, m hnh ton hc ca ng

c SPM cng vi nguyn l iu khin ca phng php ta t thng rotor FOC trn
c s l thuyt. kim nghim v nh gi s hiu qu ca phng php iu khin
, trong phn ny, n s thc hin m phng h truyn ng PMSM trn phn
mm MATLAB.
1.6.1
Thng s
Tnh ton thng s

ng c c s dng l ng c SPM. y l mt ng c c bn cp cc v
sc phn in ng (emf) hnh sin, in cm trn hai trc d-q c gi tr ging nhau
(Ld = Lq ). Cc thng s ca ng c trnh by trong Bng 1.1. Ngoi ra, h thng cn
c b nghch lu ba pha vi vai tr cung cp ngun cho ng c thng qua h thng
van cng sut. B nghch lu c cung cp bi ngun in mt chiu 600 V , tn s
PWM l 10 kHz. Cc van cng sut c xem l l tng, thi gian deadtime td v
thi gian ng ngt van ton , tof f coi nh bng khng.
T cc thng s ca ng c v b nghch lu, ta c th tnh ton c cc tham
s sau. Tc nh mc:
dm =
4500 2
471, 238 (rad/s)
60
23
(1.45)
M men nh mc:
Mdm =
Pdm
9420
=
20 (N.m)
dm
471, 238
(1.46)
Chu k PWM:
Tpwm =
1
fpwm
1
= 0.0001 (s)
10000
(1.47)
Gii hn in p ca b iu ch rng xung:

Vdc
600
Ulim = = 346, 41 (V )
3
3
(1.48)
Thng s b iu khin dng

T (1.36),(1.37) ta c:
0.001
1
Ls
=
=
Rs
0.19
190
0.001
Tii Rs
=
=5
kpi =
2Tpwm
2.0.0001
Tii =
ki =
kpi
0.19
=
= 950
Tii
2.0.0001
(1.49)
(1.50)
(1.51)
Thng s b iu khin tc
T (1.42) v (1.43) cng vi s iu chnh do s hn ch ca in p ca b nghch
lu ta c:
Ti = 4.Ti = 8.Tii = 8.104
J
0.0048
=
= 16.26
2.kT .Ti
2.0.738.0.0002
kp
16.26
ki =
= 20325
=
Ti
0.0008
kp =
24
(1.52)
(1.53)
(1.54)
Current Controller Block
dqCurrentsRefd
1
w*
Id*
dqcurrentRef
IdCurrentsd
id
IqCurrentsd
iq
speedd
pwm
dqCurrentsRefd
wd
Iq*
speed controller
iad
ia
ibd
ib
icd
ic
wd
PW Mpulsesd
ia1
Thetad
theta
curent control
Torque
25
w
PW Mpulsesd
theta
+
A
wd
Tm
Thetad
alpha
Vdc
m
B
ia
Permanent Magnet
Synchronous Machine
Sourse Block
IdCurrentsd
ib
ic
IqCurrentsd
beta
Universal Bridge
3 arms
d
alpha
Motor Block
beta
Thetad
theta
Measuring Block
Hnh 1.12: S m phng tng th ca h thng iu khin ng c SPM s dng phng php FOC.
Speed Controller Block
1
I*d
dq*
ei
1
Vd*
current id controller
4
Id
id
vd0
3
w
5
Iq
iq
2
I*q
ei
vq0
decoupling
dq*
2
Vq*
current iq controller
Hnh 1.13: Cu trc tch knh.
1.6.2
Cu trc m phng
Hnh 1.12 m t cu trc chung ca h thng iu khin tc ng c ng b

nam chm ni. H thng gm c nm khi chnh l : Khi iu khin tc , khi iu
khin dng in, khi ngun, ng c, v khi o lng.
Khi iu khin tc c nhim v tnh ton gi tr t isq cho b iu khin vng
trong; trong khi gi tr t ca dng in isd c gn ti gi tr khng.
Khi iu khin dng in p dng phng php tch knh nh m t trn Hnh
1.13 gip iu khin hai thnh phn dng in mt cch c lp. Khi iu ch vector
khng gian c nhim v tnh ton thi gian kch hot xung trn cc nhnh van a-b-c,
bng cch xc nh gi tr cc gc phn su trong tng thi im v tnh ton thi
gian m trn tng nhnh van.2
Khi ngun bao gm ngun in mt chiu cung cp cho b nghch lu ba pha c
u ra l in p xoay chiu cp cho mt ng c ng b nam chm ni.
Cui cng l khi o lng bao gm mt khu ADC ly gi tr dng in tc
thi (khi ZOH) sau s c chuyn i h ta v khung ta d-q.
1.6.3
Kt qu
c th nh gi chnh xc cu trc iu khin FOC, h thng s c kim tra

di cc iu kin khc nhau bao gm hot ng khng ti v c ti vi tc thay
i.
2 S
c trnh by r Chng 2.
26
iu khin tc di iu kin khng ti

Trong trng hp khng ti, tc t s c thit lp bng 100(rad/s) bt u
t thi im 0.1(s) , sau 0.2(s) n s c tng ln 200(rad/s). T Hnh 1.14(a) ta c
th thy, tc ng c bm theo gi tr t kh tt v khng c qu iu chnh
i vi tn hiu tc thc. Hnh 1.14(b) m t m men ca ng c, ban u m
men lun gi gi tr 0 nhng khi c s thay i tc ti thi im 0.1 s v thi
im 0.3 s th gi tr ca m men b thay i. iu ny gy nn s dao ng trn dng
in pha Hnh 1.14(c).
iu kin ng c khi ti, vn tc thay i
phn tch trng hp ny, ti ng c v vn tc t s c m phng thay
i theo thi gian. Thi im ban u m men ti c gi tr bng 0 v tc t l
0 (rad/s). Sau khong thi gian 0.1 s tc s tng ln 100 (rad/s) trong khi m men
vn gi gi tr khng i. Ti thi im 0.2 m men c t l 10 (N.m). Cui cng,
tc ng c s nhn gi tr 200 (rad/s) ti thi im 0.3 (s).
Hnh 1.15(a) m t tc ng c khi thay i gi tr t ln lt l 0, 100, v
300 (rad/s). C th thy , tc ca ng c nhanh chng bm theo gi tr t khi ta
thay i tc yu cu. Ti thi im m men ti thay i, tc quay b st gim
do m men tng t ngt t 0 N.m n 10 N.m, gi tr nh nht ca tc nm trong
khong 90 (rad/s). Khong thi gian xy ra st gim tc ch sau ra trong mt thi
gian ngn. Theo quan st trn Hnh 1.15(b) , m men ti ca ng c tng ln ti cc
thi im m tc ng c tng t 0 n 100 (rad/s) v t 100 n 200(rad/s). Thi
gian thay i ca m men ph thuc vo thi gian qu ca tc quay. Tng t
nh vy, do bin dng in pha t l thun vi m men ti, nn d thy rng, bin
dao ng ca dng in ia tng ng vi s thay i ca m men.
27
(a) Tc
(b) M men
(c) Dng in ti pha a
Hnh 1.14: Cc p ng trong iu kin khng ti.
28
(a) Tc
(b) M men
(c) Dng in ti pha a
Hnh 1.15: Cc p ng trong iu kin ti thay i.
29
Chng 2
PWM v vn deadtime trong

bin tn
2.1
Hot ng ca b nghch lu
Tc dng chnh ca b nghch lu l chuyn i in p mt chiu sang in p

xoay chiu cung cp cho ti xoay chiu. i lng c iu khin l in p thng
qua vic iu khin cc xung kch thch trn cc van bn dn. Ngun cp l mt ngun
in p mt chiu, c th l pin, c quy, hoc l in p ra ca khu chnh lu c
lc phng.
B nghch lu l thnh phn ch yu trong b bin tn. Chng c ng dng quan
trng v rng ri trong lnh vc iu khin truyn ng ng c xoay chiu. Ngoi ra,
n cn c s dng lm ngun in lin tc UPS, cc ng dng trong lnh vc b
cng sut phn khng. Tn s in p xoay chiu c th thay i hoc l hng s ty
thuc vo ng dng. S ca b nghch lu c trnh by nh trn Hnh 2.1.
B nghch lu gm c su van bn n, c chia thnh ba nhnh van. Mi van c
V1
V5
V3
Vdc
PMSM
a
V4
V6
V2
Hnh 2.1: S mch nghch lu.
30
CHNG 2. PWM V VN DEADTIME TRONG BIN TN
Pha B
Q2
u3
S2
Q1
u2
S3
S1
u4
u7
u0
S4
u1
Pha A
S6
S5
u5
u6
Q3
Q4
Pha C
Hnh 2.2: Cc vector in p chun.
mc song song vi mt diode ngc, diode s dn dng khi chiu ca dng ti ngc
vi chiu ca in p. Cc van cng sut c coi l l tng, khi mt van trng
thi dn th van cn li trong cng mt nhnh s trng thi ngt. ng thi chng
phi c iu khin sao cho khng xut hin ngn mch ngun mt chiu u vo,
hoc trng hp u cc ng c khng ni vi cc no ca ngun. Bi v, nu ngun
mt chiu b ngn mch s sinh ra dng in ln, c th gy chy van. Hay khi c hin
tng h mch u ra, van s khng ni mt pha no vi cc (+) hoc () ca ngun
mt chiu lm cho dng in phi dn qua cc diode. iu ny dn n in p ra ca
b nghch lu khng t nh mong mun.
H thng nghch lu ba pha nh Hnh 2.1 xc nh bng cc in p ua (t),ub (t), v
uc (t) c th biu din bng mt vector quay us duy nht trong mt phng phc.
2
us = (ua (t) + a.ub (t) + a2 .uc (t)).
3
(2.1)
y, a= ej(2/3) v a2 =ej(4/3)
ua = uan + un
ub = ubn + un
31
uc = ucn + un .
(2.2)
Bng 2.1: Bng trng thi van.

STT
Van dn
V1 , V3 , V5
V5 , V6 , V1
V6 , V1 , V2
V1 , V2 , V3
V2 , V3 , V4
V3 , V4 , V5
V4 , V5 , V6
V2 , V4 , V6
uA
uB
0
1
E
3
2
E
3
1
E
3
1
E
3
2
E
3
1
E
3
0
0
2
E
3
1
E
3
1
E
3
2
E
3
1
E
3
1
E
3
0
uC
0
1
E
3
1
E
3
2
E
3
1
E
3
1
E
3
2
E
3
0
|us |
0
2 j/3
Ee
3
2 j
Ee
3
2 j/3
Ee
3
2 j2/3
Ee
3
2 j
Ee
3
2 j2/3
Ee
3
0
Thay (2.2) vo (2.1) ta nhn c phng trnh

2
us = ((uan (t) + un (t)) + a.(ubn (t) + un (t)) + a2 .(ucn (t) + un (t))
3
(2.3)
= uan (t) + a.ubn (t) + a2 .ucn (t).

T Hnh 2.1 ta nhn c quan h sau:
uan (t) = qa .Vdc
(2.4)
ubn (t) = qb .Vdc
(2.5)
ucn (t) = qc .Vdc
(2.6)
Trong , qa , qb , v qc l trng thi logic ca tng nhnh van trn mch nghch lu,
tng ng vi cc vector in p chun, c gi tr l 1 hoc 0. Thay (2.4),(2.5),(2.6)
vo (2.3) ta nhn c phng trnh vector in p nh sau:
2
us = .Vdc (qa .ej(0) + qb .ej(2/3) + qc .ej(4/3) ).
(2.7)
3
Bng ba nhnh van, ta c th to ra tm trng thi logic tng ng vi tm vector
in p chun u0 , u1 , . . . u7 . Trong , hai vector u0 v u7 l cc vector c module bng
khng. Cc vector chun chia khng gian vector thnh cc gc phn su S1 , S2 , . . . S6
trong bn gc phn t Q1 , . . . Q4 . Trng thi logic ca cc nhnh van c m t
theo Bng 2.1. Vi mi trng thi van, cc in p pha c gi tr tng ng. Tnh ton
vector khng gian us , c th thy rng cc trng thi van t mt n su tng ng
vi su vector in p c hng c nh v lch nhau mt gc 60o nh trn Hnh 2.2.
32
Tpwm
Ton
U in
Toff
Hnh 2.3: Nguyn l iu ch PWM.
2.2
Pulse Width Modulation
Pulse Width Modulation (PWM) ging nh tn gi ca n l mt phng thc bin

i rng xung thay i in p ra bng cch so snh mt tn hiu t mong
mun vi mt tn hiu sng mang c tn s c nh. Cc xung PWM sau khi iu ch
c cng tn s c nh nhng khc nhau v v rng xung.
Trong thi gian Ton van cng sut m, khi in p ra s bng in p u ra
Uout s bng in p u vo Uin . Ngc li trong thi gian Tof f van b kha nn gi
tr in p ra s bng khng. Gi tr trung bnh ca in p ra s c tnh theo cng
thc.
Ton
Udout =
Uin .
(2.8)
T
Ton
gi l duty cycle, th hin
y, T l chu k ca b PWM. T s thi gian
T
mi quan h gia gi tr in p ra v gi tr in p vo nh minh ha trn Hnh 2.3.
Trong ng dng iu khin ng c ba pha th phng php s dng sng dng sin
lm gi tr t (Sinusoidal Pulse Width Modulation) l mt trong nhng phng php
c bn trong cc ng dng cng nghip. Nguyn l hot ng ca b SPWM da trn
s so snh gia tn hiu sng sin chun c to t b iu khin v sng mang hnh
rng ca vi tn s cao, c 2 15 kHz. Tn s ca sng mang thng l c nh, hnh
dng sng mang c th l sng tam gic cn, tam gic vung lch phi hoc tam gic
vung lch tri, t to ra tn hiu in p m van. Nu tn hiu iu khin ln hn
sng mang th mc logic t trn van s l 1, ngc li nu tn hiu sai lch nh hn
gi tr sng mang th mc logic s l 0. Kt qu, in p ra s gm dy xung c
rng xung thay i vi chu k lp li bng chu k ca sng mang.
nh gi cht lng ca b iu ch ta dng ch s iu ch m c nh ngha
33
(a) Sng mang v sng sin chun
(b) Xung m van c to t b SPWM
Hnh 2.4: iu ch rng xung bng sng sin.
nh t s gia bin thnh phn sng hi c bn to nn bi phng php iu khin

v bin sng hi c bn t c trong phng php iu khin su bc:
m=
U1m
U1msixsteps
U1m
.
2Vdc
(2.9)
Trong U1m l bin ca sng sin ch o, Vdc l bin in p ngun mt chiu.

Phng php SPWM s t c ch s iu ch ln nht trong vng tuyn tnh khi bin
Vdc
sng iu ch bng bin sng mang khi ta c ch s iu ch m =
= 0.785.
4Vdc
Qu trnh to ra mc logic trn van bng phng php SPWM c bn c m t nh
Hnh 2.4.
Phng php iu ch rng xung c ng dng rng ri trong nhiu ng dng
nh iu khin h thng n chiu sng, h thng truyn ng ca ng c, cc thit b
m thanh, hay trong cc ng dng b cng sut phn khng.
34
u2
us
ul
ur
u1
Hnh 2.5: Thc hin vector in p t 2 vector bin.
2.3
2.3.1
Phng php iu ch vector khng gian

Nguyn l iu ch
Gi s vector cn thc hin us nm gc phn su bt k trong mt phng -.

Trn Hnh 2.5, vector khng gian us nm trong gc phn su S1 gia hai vector chun
u1 v u2 . in p us l tng vector ca hai vector bin phi ur , bin tri u1 nm dc
theo hai vector chun u1 , u2 thc hin trong thi gian Tr v Tl . Khong thi gian ti
T
a thc hin vector us l Tpwm

= pwm . l khong thi gian thc hin vector
2
2Vdc
in p c module ti a
.
3
2
|us |max = |u1 | = |u2 | = ... = |u6 | = Vdc
(2.10)
3
Do us c thc hin trn vn trong tng thi gian (Tr +Tl ) nn trong khong thi
( Tr +Tl ) ta thc hin mt trong hai vector c module bng khng

gian cn li Tpwm
l u0 hoc u7 . Nh vy , cui cng ta s thc hin phng trnh sau:
us = ur + ul + u0 (u7 )
=
2.3.2
Tpwm
(Tr + Tl )
Tr
Tl
u
+
u
+
u0 (u7 )
1
2
Tpwm
Tpwm
Tpwm
(2.11)
Xc nh thi gian chuyn mch
Trc khi sp xp trnh t thc hin ca cc van, b nghch lu cn phi bit c

n s thc hin ng m van trong vng bao lu. Chnh xc hn, ta cn phi tnh
35
ton c thi gian Tl , Tr v T0 . Da vo thng tin v v tr ca vector in p cn

tnh trong ta - thng qua gc lch gia vector in p us v trc ta .
Xt hot ng ca cc vector trong khung phn su S1 nh Hnh 2.5, p ng phng
trnh in p ta c:
Z
Tpwm
Tr
Tl +Tr
Tr
Tpwm
u2 dt +
u1 dt +
us dt =
0
u0 dt
Tr +Tl
us = Tr u1 + Tl u2
Tpwm
|us |
Tpwm
cos
cos(/3)
= 2 Tr Vdc + 2 Tl Vdc
3
3
sin
0
sin(/3)
(2.12)
T (2.12), ta tnh ra c thi gian hot ng ca cc vector bin v vector khng
Tr = Tpwm
.
3.|us |. sin(/3 )
2.Vdc . sin(/3 )
(2.13)
Tl = Tpwm
.
3.|us |. sin()
2.Vdc . sin(/3 )
(2.14)
T0 = Tpwm
(Tr + Tl )
(2.15)
Tng t nh vy ta cng c th tnh c thi gian thc hin Tr , Tl , v T0 trn

cc gc phn su khc. Cui cng ta c cng thc tng qut:
n
3.|us |. sin( )
3
Tr = Tpwm
(2.16)
.
Vdc
n1
3.|us |. sin(
)
3
Tl = Tpwm
.
Vdc
T0 = Tpwm
(Tr + Tl )
(2.17)
(2.18)
q
Trong n l sector, |us | l module vector in p cn thc hin |us | = u2 + u2 , u
l in p trn trc , u l in p trn trc .
T (2.16), (2.17) v (2.18) d nhn thy rng, xc nh c thi gian Tr , Tl ta
cn phi xc nh n v gc lch . Gi tr ca sector n s ph thuc vo du ca u ,
u v du ca
|u |
b = |u |
3
36
(2.19)
Bng 2.2: Thi gian chuyn mch ca cc pha.

Sector
1
2
3
4
5
6
Ta /2
Tb /2
Tc /2
T0
2
T0
Tr +
2
T0
2
T0
2
T0
Tl +
2
T0
Tr +Tl +
2
T0
2
T0
Tr +Tl +
2
T0
Tr +Tl +
2
T0
Tr +
2
T0
2
T0
2
T0
2
T0
2
T0
Tl +
2
T0
Tr +Tl +
2
T0
Tr +Tl +
2
T0
Tr +
2
Tr +Tl +
Tl +
y, c xc nh t quan h hnh hc gia u , u :

u
= arctan
u
(2.20)
Sau khi bit c cc i lng thi gian Tr , Tl , T0 trn cc sector, ta d dng thit
lp th thi gian ng ngt van da trn s thut ton Hnh 2.6 v quan h thi
gian nh Bng 2.2. Kt qu ta c mt hm thay i theo thi gian th hin thi
gian ng ngt ca cc pha vi tn gi l hm iu ch nh m t Hnh 2.7. Hm
chuyn mch cho bit t l duty ca tng nhnh van trn mch nghch lu sau khi so
snh vi sng mang tam gic. ln ca n nm trong khong 0 1 v dao ng
xung quanh gi tr 0.5.
37
Start
Nhn gi tr u vo
U_alpha, U_beta
Tnh gi tr gc alpha, B
theo (2.18), (2.19)
No
U_beta<0
Yes
U_alpha<0
No
U_alpha<0
No
Yes
B<0
B<0
Yes
B<0
B<0
No Yes
S1
S2
S2
S3
S4
No
S5
S5
End
Hnh 2.6: S thut ton tnh thi gian hot ng ca cc vector bin.
Hnh 2.7: th hm chuyn mch.
38
Yes
S6
u3
u2
u0
u4
u1
u7
u5
u6
Hnh 2.8: Vng gii hn khi iu ch vector in p.
2.3.3
Hn ch ca thut ton
Vng c ch v vng cm ca mt phng vector
V tng vector (tng c hng) ca ur , ul khng ng nht vi tng v hng ca

Tr , Tl nn rt kh ta c th thc hin c vector in p us t ti gi tr max
2Vdc /3 . lm r iu ny ta xt tng thi gian cn thit to ra vector in p
us . T (2.13), (2.14) ta c phng trnh sau:
T = Tr + Tl =
Khi ti mc gii hn, tc l |us | =
3Tpwm
|us |
cos( ).
Vdc
6
(2.21)
2Vdc
, ta thu c t (2.21):
3
cos( ).
T = Tpwm
6
3
(2.22)
y, 0o 60o
T (2.22) ta c th thy T ln hn Tpwm

trong khong (0o , 60o ). iu ny l v
l v khng th xy ra. Thi gian T b gii hn bi Tpwm

nn: vng c ch cho vic
iu ch in p ch nm bn trong hnh lc gic u gii hn bi nh ca cc vector

chun Hnh 2.8.
Trong nhng trng hp yu cu cht lng iu khin cao, t sng hi th ta ch
s dng vng bn trong ng trn ni tip ca lc gic. Khi y, module in p ti
39
u3
u2
Vng cm
u0
u4
u7
u1
Vng c
ch
u5
u6
Hnh 2.9: Vng cm in p trn ton b mt phng vector.
a c th thc hin c l:
Vdc
Umax = .
3
(2.23)
Tuy nhin, nu ta ch s dng phn pha trong ca ng trn ni tip hnh lc

gic u th s gy lng ph phn din tch gia ng trn vi hnh lc gic.
trnh iu xy ra, ta c th thay th thut ton gii hn module bng phng php
, ta s hy b vic thc hin vector u0 /u7 v

gii hn thi gian. Khi T vt qu Tpwm
mi gc phn su ch cn mt nhnh van tham gia iu ch. y l phng php ny

c th ti u phn in p iu ch nhng kh phc tp v vy n ch thc hin trong
nhng trng hp thc s cn thit.
Khi phn tch k trng thi ng ngt, ta thy nu in p c module tin ti gi
tr ti a th khi y thi gian thc hin vector u0 hoc u7 l rt nh, thm ch c th
bng khng. iu y ng ngha vi vic cc nhnh van lin quan va ng hoc ngt
s ngay lp tc ngt hoc ng. V vy phm vi m van phi c gii hn sao cho hai
gi tr T0 , T7 lun lun ln hn thi gian ng ngt ca van. Vic gii hn ny cng
gy nn tn tht ng k nu ta s dng nhng van c thi gian ng m van ln nh
thyristor hoc BJT. Ngoi ra, khi vector us nm bin gii gia hai gc phn su th
gi tr Tr hoc Tl s nh dn. Tuy nhin, thc hin qu trnh iu ch vector in
p trn cc vi x l th Tr v Tl khng th nh hn thi gian x l ngt, iu ny sinh
thm mt vng cm in p nh Hnh 2.9.
40
(k 1)
u0 u1 u2
To (k )
2
(k 1)
(k )
u7
Tp Tt
u2 u1 u0
To (k )
Tt Tp
2
Tsynch Tpwm
Hnh 2.10: Tnh ng b gia x l tn hiu v iu ch in p.
Tnh ng b gia iu ch in p v x l tn hiu
Mt vn kh khn na ca thut ton l ng b in p iu ch v x l tn

hiu s, thi gian ng b cn c gi n nh nu khng s gy kh khn trong vic
s dng cc b m trong vi iu khin. Bn cnh , trnh t thc hin in p i
hi cc van phi chuyn mch t nht sao cho tn hao ng ngt ca mch nghch lu
l nh nht. Ni cch khc cc van trn mi nhnh ch chuyn mch mt ln trong
.
khong thi gian Tpwm
Ngoi ra, tn hiu ng b cn nh hng trc tip n kt qu o dng in ti.
Gi tr ca dng in c o bng cm bin Hall, thng qua khu chuyn i tn hiu
tng t s ADC cha nhiu sng hi bc cao do khu iu ch in p gy ra nn
kt qu o v phc v cho qu trnh iu khin s khng c chnh xc. V vy,
thi im trch mu cn c xc nh sao cho n nm gia khong thi gian T0 hoc
T7 . Khi , gi tr nhn c t khu ADC s l gi tr ca sng hi bc nht. iu
kh khn y l thi im trch mu lun di ng, khng c nh trong khun kh
khung thi gian ng b do thi gian T0 v T7 thay i.
gii quyt cc hin tng trn th vector in p cn c thc hin theo trnh
t sau:
T0
T0
(u0 ) Tr (ur ) Tl (ul ) T7 (u7 ) Tl (ul ) Tr (ur ) (u0 )
2
2
Hnh 2.10 minh ha mu xung thc hin theo yu cu. D thy, khung thi gian
41
a)
Vdc
b)
A on
a
Vdc
A on
a
ia
Aoff
ia
A off
Hnh 2.11: Cu hnh mt pha ca b nghch lu; a)dng in ti dng; b) dng in ti m.
ng b hon ton n nh Tsyuch = T [11].
2.4
Hiu ng deadtime
Trong thc t, van bn dn t ti trng thi chc chn ng hoc chc chn ngt
sau mt khong thi gian ton , tof f nht nh. Trng hp mt van cha t c trng
thi chc chn ngt m van cn li ca cng mt nhnh m th c th dn n tnh
hung ngn mch nghch lu. trnh tnh hung ny xy ra, gia thi im ng v
m ca hai van trn cng mt nhnh cn c thm mt khong thi gian td c gi tr
ln hn thi gian ngt tof f gi l thi gian an ton van hay cn gi l deadtime. Gi
tr ca td thng c chn sao cho tof f = 0.7 0.8 td .
Hnh 2.11 m t cu hnh mt pha ca b nghch lu vi hai van cng sut. Khi
qu trnh o mch din ra, c hai van u ngng dn trong khong thi gian td , mt
trong hai diode s to thnh mt ng dn dng in i qua. Qu trnh ny sinh
ra hiu ng deadtime lm nh hng ti gi tr in p ra theo du ca dng in ti
ia .
Khi dng ia c gi tr dng
Khi van A+ m, van A ng: Trong thi gian td , dng in chy qua diode
thp D . Sau khi chy qua diode ny thm mt khong ton na, dng ti ia
bt u chy qua van A+ . Theo kt qu trn, sai lch in p xy ra trong
khong thi gian td +ton .
Khi van A+ ng, van A m: Sau thi gian ngt tof f , dng in ang chy
thng qua van A+ s chuyn tip tc dn qua diode D . V vy, sai lch in
p trong trng hp ny xy ra trong khong thi gian tof f ca van.
Khi dng ia c gi tr m
42
a)
Td
Td
b)
c)
Vdc
0
d)
Vdc
Td ton
toff
e)
Vdc
0
toff
Td ton
Hnh 2.12: in p ra v xung m van ca b nghch lu; a) xung in p m van; b) xung in p

m van khi c deadtime; c) in p pha chun; d)in p pha khi c deadtime vi dng ti dng; e)
in p pha khi c deadtime vi dng ti m.
Khi van A+ m, van A ng: Sau thi gian tof f , dng in ang chy qua
van A s chuyn sang dn qua diode D+ . V vy, sai lch in p din ra
trong thi gian tof f ca van.
Khi van A+ ng, van A m: Trong thi gian deadtime td v thi gian ton ,
dng in chy qua diode D+ ch khng phi qua van A nh mong mun.
Do m c sai lch in p trong khong thi gian td +ton [13].
Hnh 2.12 m t xung m van ng ngt ca van bn dn, in p ra cn thit v
in p ra thc t theo du ca dng in ti. Trong trng hp l tng, xung m
van ca hai van trn cng mt nhnh s i xng nh trn Hnh 2.12 a. Sau , do
nh hng ca thi gian deadtiem td thi gian m ca van nh i v mt tnh i xng
ging nh Hnh 2.12 b. Ngoi ra, van bn dn cn c thi gian ng ngt van ton , tof f ;
do vy, xung thc t lm vic trn cc van s l xung trn Hnh 2.12c. iu ny
gy ra s thiu ht in p trn tng pha b nghch lu. Sai lch in p trung bnh
trong mt chu k chuyn mch gia gi tr in p mong mun v gi tr in p thc
t c tnh nh di y.
in p sai lch trung bnh trn pha a:
43
Uan =
V khi ia > 0
Tpwm dc
(2.24)
Vdc khi ia < 0

+
Tpwm
Trong T = td +ton -tof f .
Sai lch ca in p ca hiu ng deadtime ra gy ra nhiu nh hng ti h thng,
lm mo dng in ti do tng sng hi bc thp, to ra hin tng dao ng trn
momen ti v hin tng zero current clamping trn dng in.
2.5
Phng php b hiu ng deadtime
Ngy nay, b hiu ng deadtime tr thnh mt bi ton quan trng trong cng
nghip bi nh hng rt ln ca n n cht lng ca h thng [5, 15]. Nhiu
phng php b c xut [1, 3] v p dng thnh cng trong cc thit b in
t cng sut. Cc phng php ny pht trin da trn l thuyt trung bnh bng cch
cng thm mt lng in p c nh c tnh da trn tn s PWM v thi gian
deadtime, vo in p t lm gim s nh hng ca hiu ng deadtime.
Khi c hiu ng deadtime trong qu trnh chuyn mch th in p thc t ra van
khng cn ng nh in p mong mun nh Hnh 2.12. Lc , in p thc th v
in p t s quan h vi nhau theo phng trnh:
Uan = Uan
+ Uan .
(2.25)
th ta cn phi cng vo
Do vy, gi tr in p Uan bng vi gi tr in p t Uan
gi tr t Uan
mt lng bng Uan . Trong , gi tr sai lch in p c tnh
nh (2.24).
T (2.24) ta c sai lch trung bnh ca in p pha Uan , tng t ta cng tnh c
in p sai lch Ubn v Ucn ln lt l:
V khi ib > 0
Tpwm dc
Ubn =
(2.26)
Vdc khi ib < 0

+
Tpwm
V khi ic > 0
Tpwm dc
Ucn =
(2.27)
Vdc khi ic < 0

+
Tpwm
44
Cc phng trnh (2.24),(2.26) v (2.27) c th rt gn c thnh
Uan =
Vdc .sgn(ia )
Tpwm
T
Ubn =
Vdc .sgn(ib )
Tpwm
Ucn =
Vdc .sgn(ic )
Tpwm
(2.28)
Xt in p pha ca ti cn bng trong ng c ng b. T Hnh2.1 ta c mi quan

h sau:
Uan = Uas + Usn
(2.29)
Ubn = Ubs + Usn
(2.30)
Ucn = Ucs + Usn
(2.31)
V ti cn bng ti im s nn ta c mi quan h:
Uas + Ubs + Ucs = 0.
(2.32)
Uas
Uan
2 1 1
Ubs = 2 1 2 1 Ubn .
3 1 1 2
Ucs
Ucn
(2.33)
T (2.29)-(2.31) suy ra:
Kt hp (2.28) v (2.33) ta c h phng trnh biu din sai lch in p pha.
Uas
2 1 1
Uan
Ubs = 2 1 2 1 Ubn .
(2.34)
3
Ucs
1 1 2
Ucn
p dng phng php b trn h ta - ta cn thc hin thm mt bc
45
ids*
*
qs
Ud
+
_
Controller
+
_
dq
Uq
+
+
U
abc
dq
ids
U
U
U
Compensator
iqs
Hnh 2.13: S b in p sai lch do hiu ng deadtime.
chuyn h ta i vi sai lch in p nh sau:
Uas
1
1
2
2
Ubs
= 2
3
3
U
0
Ucs
2
2
1
1
1
2
2
2
9
3
3
0
2
2
Uan
2 1 1
1 2 1
Ubn
Ucn
1 1 2
(2.35)
=
3
1
1
2
2
3
3
0
2
2
1
=
3
Uan
Ubn
Ucn
1
1
sgn(ia ) sgn(ib ) sgn(ic )
2
2
3
3
0
sgn(ib )
sgn(ic )
2
2
Vdc .
Tpwm
Sau khi tnh c gi tr sai lch trong h to -, ta cng gi tr sai lch

(U , U ) vo gi tr in p t theo Hnh 2.13.
46
2.6
Kt qu m phng
Trong chng u tin, kt qu t chng trnh m phng cho thy h thng iu

khin ng c lm vic tt khi s dng phng php iu khin FOC vi gi thit van
bn dn c coi l l tng. Tuy nhin, nh va phn tch, qu trnh chuyn mch
ca van bn dn cn c thi gian deadtime td , thi gian ng m kha ton , tof f lm
gim cht lng p ng ca h thng. th hin r s thay i , n s nh
gi s nh hng ca hiu ng deadtime cng nh hiu qu ca phng php b kinh
in da trn kt qu m phng.
2.6.1
So snh kt qu khi c deadtime v khng c deadtime
Hnh 2.14(a) m t kt qu m phng ca dng in pha a trong hai trng hp c

v khng c thi gian deadtime. Thi gian deadtime c ly l td = 6 s, tc t
r = 100 rad/s v m men ti M = 8 N.m. D nhn thy rng dng in trong trng
hp b tc ng bi hiu ng deadtime b mo r rt. Nhng im mo trn dng in
b tc ng ln lt bi thi gian deadtime trn ba nhnh van ti cc im A, B, C
nh Hnh 2.14(b). Ngoi ra, dng in cn b tr mt khong thi gian so vi trng
hp l tng. Thi gian tr v mo ca dng in ph thuc vo ln ca td , khi
thi gian td tng th nh hng ca n n cht lng dng in cng ln.
Trong khi , p ng tc ca ng c vn bm c theo gi tr t ban u
v t trng thi n nh gn ging vi m hnh l tng. S nh hng r rt nht
m ta c th nhn ra nh trn Hnh 2.14(a) l p ng tc ca ng c chm hn,
gi tr st p khi ti thay i cng ln hn trng hp thi gian td = 0 (s).
Nh quan st trn, hiu ng deadtime lm thay i cht lng ca dng in.
Tuy nhin, s nh hng ny l khng nht qun trong cc trng hp ti khc nhau.
Hnh 2.15 m t p ng dng in ti cng mt vn tc r = 100 rad/s ti hai trng
hp: ti c m men M = 8 N.m, trng hp cn li p dng vi ti c M = 2 N.m.
Nh quan st, trng hp ti c gi tr cao hn M = 8 N.m dng din t sng hi bc
cao hn hn, thi gian zero current clamping cng nh hn trong trng hp ti gi
tr thp. Kt qu ny cho thy r s nh hng ca ln dng in n tc ng ca
deadtime ca b nghch lu trong h truyn ng ng c ng b.
2.6.2
B hiu ng deadtime
dnh gi hiu qu ca phng php kinh in, ta s quan st cht lng dng
in trong mt s trng hp khc nhau, c th l ng c c iu khin tc
cao (thp) khi ti s dng c m men ln (nh).
47
(a) Tc
(b) Dng in ti pha a
Hnh 2.14: Cc p ng trong iu kin c deadtime v iu kin l tng.
Hnh 2.15: p ng dng in khi c nh hng ca deadtime ti M = 8 N.m v M = 2 N.m.
48
(a) in p trn trc U .
(b) Dng in ti ia .
Hnh 2.16: Dng in ia v in p U trong trng hp c deadtime, b deadtime v trng hp l

tng.
u tin, ta xt mt trng hp bt k trong di iu khin vi m men M = 8 N.m,

tc r = 100 rad/s. C th thy, khi xy ra hin tng deadtime, in p trn trc
b mo dng v tr hn so vi trng hp l tng. khc phc nh hng mt
lng in p c cng vo in p t U v U trn h ta - nh m t
trn Hnh 2.16(a) nhm b lng in p mt i do thi gian tr deadtime. Kt qu l
gi tr in p ra ca b nghch lu s gn bng vi in p trong trng hp l tng,
v vy m dng in ti s khng xut hin hin tng mo v zero current clamping
nh kt qu Hnh 2.16(b).
49
Hnh 2.17: p ng dng in sau khi b hiu ng deadtime ti M = 12 N.m v M = 2 N.m ti tc

cao.
Khi ng c hot ng tc cao

Trong trng hp ny, ng c c iu khin vi tc cao = 300 rad/s tng
ng vi m men ti M = 12 N.m v M = 2 N.m. Hnh 2.17 cho thy, dng in ng
vi m men ti ln c dng sin hn dng in nh. Kt qu ph hi dng in thng
qua ch s THD cng khng nh iu . Trn Hnh 2.19, ti c M = 2 N.m th t s
THD = 3.68%, ngc li vi M = 12 N.m th ta c T HD = 0.68 %.
Khi ng c hot ng tc thp
Mu m phng s dng trong trng hp ny c tc quay r = 30 rad/s ng
vi M = 12 N.m v M = 2 N.m. Kt qu m phng c th hin nh Hnh 2.18. C
th thy, c hai trng hp u cho p ng tt; ch s THD t mc thp nh m
t trn Hnh 2.19, c th l ch s THD ca dng in ng vi M = 12 N.m l 0.53%,
cn THD ca dng in ng vi M = 2 N.m l 1.85%.
Nhn xt
So snh kt qu b trong hai trng hp iu khin ng c vi tc cao v tc
thp, c th thy cc p ng trong c hai di tc u cho kt qu tng i tt,
ch s mo dng dng in gim r rt. Trong , hiu qu b t tt nht khi ng
c hot ng trong vng tn s thp v ti nh. Ngc li, trng hp ti ng c nh
m c iu khin tc cao th phng php b kinh in dng nh khng c
hiu qu.
50
Hnh 2.18: p ng dng in sau khi b hiu ng deadtime ti M1 = 12(N.m) v M2 = 2(N.m) ti

Selected signal: 57.29 cycles. FFT window (in red): 10 cycles
tc thp.
20
20
10
0
10
0
10
20
10
20
0.05
0.1
0.15
Time (s)
0.2
0.25
0.3
0.05
0.3
0.25
0.2
0.1
15
0.05
10
0
5
500
1500
0.25
0.3
0.5
10
0
500
10
0
0.6
1000
Frequency (Hz)
1500
(b) M
v0.3r = 300(rad/s)
0.1 = 2(N.m)
0.2
0.4
0.5
Time (s)
Time (s)
Fundamental (19.1Hz) = 2.723 , THD= 1.85%
0.8
0.6
0.4
0.2
00
2000
Mag (% of Fundamental)
1000
Frequency (Hz)
(a) 0.1
M = 12(N.m)
v
300(rad/s)
0.2
0.3 r =0.4
0.5
0.2
0.35
0.15
0.15
Time (s)
1.5
0.1
500
1000
Frequency (Hz)
1500
(c) M = 2(N.m)v r = 30(rad/s)
0.3
0.2
0.1
500
1000
Frequency (Hz)
1500
(d) M = 12(N.m)v r = 30(rad/s)
Hnh 2.19: Phn tch ph sng hi dng in.
51
0.6
0.4
2000
2000
2000
Chng 3
Phng n xut
3.1
Cc yu t nh hng ti hiu ng deadtime
Hiu ng deadtime c nguyn nhn ch yu do thi gian deadtime td , thi gian ng

m van ton , tof f , n to ra mt sai lch in p hng s nh (2.24). Tuy nhin, qua
nghin cu cho thy, nh hng ca hiu ng deadtime khng ch b nh hng bo
thi gian deadtime m cn thay i theo ln ca dng in [6], bin dao ng
ca dng in [3], bin i theo tn s hay tc quay ca ng c c bit l trng
hp s dng ng c di tc thp [6], [12].
3.1.1
nh hng ca dng in
Xt ng c xoay chiu ba pha kch thch vnh cu, c mch tng ng in tng
ng ti RL mc i xng kt hp vi sc phn in ng back-emf. Trong thi gian
deadtime, dng in pha c th dn qua diode mc ngc trn van, gi tr ln dng
in bt u gim. Khi , nu gi tr dng gn bng khng trong thi gian deadtime,
th n s gim ti khng v gi gi tr ny trong phn cn li ca thi gian td . Bi
v in p trn diode ngn khng cho dng in chy qua ging nh m t trn
Hnh 3.1. Gi s hin tng ny din ra trn pha a th in p Uas = Eas . Trong
Eas l sc phn in ng ca ng c. Thi gian m gi tr dng in gi bng khng
trong thi gian deadtime gi l tz c gi tr nh hn td . Cng thc tnh ton thi gian
tz nh sau:
tz = td + Ias
Ls
Uas Eas
(3.1)
S st gim in p tch ly trong nhiu chu k PWM do tz gy ra s gy nn hin

tng zero current clamping nh m t Hnh 3.2. loi b hin tng ny, [3] a
ra cng thc tnh in p sai lch nh sau:
0
U, = U,
52
tz
Tpwm
(3.2)
CHNG 3. PHNG N XUT
Sa
Sa
Td
Tn hiu
m van
Tz
ng i ca
dng in
Dng in trong
trng hp l tng
Dng in thc t
U as*
in p pha
yu cu
U as*
Eas
in p pha
thc t
Hnh 3.1: Xung m t nguyn nhn hin tng zero current clamping.
Clamping zone
Hnh 3.2: Hin tng zero current clamping.
U s
V* s
PWM
System
'
U
s
Compensator
Hnh 3.3: S phng php b zero current clamping.
53
V s
CHNG 3. PHNG N XUT
Bng 3.1: Sai lch in p theo dng in [6].

Current(A)(rms)
Van (V)(rms)
V (V)(rms)
25.0
0.5
10.7
14.3
1.16
10.4
14.6
1.87
10.0
15.0
2.30
9.7
15.3
9.40
9.1
15.9
Trong , U, dng biu din gi tr sai lch gia in p mong mun v in

p thc th trn h ta . Thut ton b ca phng php c thc hin
ging nh Hnh 3.3.
Nhng phn tch trn cho thy dng in pha c nh hng n gi tr sai lch in
p trong thi gian din ra hin tng zero current clamping nh m t ca phng
trnh (3.1), (3.2). Nhng gi tr in p ny nh hn nhiu so vi s sai lch do hiu
ng deadtime gy nn. Thc t, Uan cn l mt hm ph thuc vo gi tr ca dng
in pha nh chng minh t [16, 6].
Bng 3.1 ly t [6] s dng mu nghin cu vi in p Usa t bng 25 V , tn s
chuyn mch c c nh ti 8 kHz v thi gian deadtime td = 2.5 s. in p sai
lch do hiu ng deadtime tng t 14.3 - 15.9 (V) khi dng in pha tng t 0 n
9.4 (A).
3.1.2
nh hng ca tc ng c
Nm 1988, Koga v cc cng s chng mnh hiu ng deadtime s lm nh hng

ti tnh n nh ca cc thit b c hng s V/f nh ng c PMSM [4]. i vi loi
thit b ny, m men ng c t l vi bnh phng in p. Gi s rng in p thc
t s sai lch mt khong U i vi in p t U
T (U + U )2
(3.3)
Phng trnh (2.35) c th vit li thnh.

T T0 (1 +
2U
)
U
(3.4)
y T0 l hng s t l khi in p sai lch bng khng. Sai lch trn m men ng
c theo in p sai lch c biu din nh di y:
2U
T = T T0 = T0
U
54
(3.5)
CHNG 3. PHNG N XUT
Hnh 3.4: Sai lch m men theo tn s ng

c do 1 V sai lch in p [6].
Hnh 3.5: Sai lch tc theo tn s ng c

do 1V sai lch in p[6].
Zero current
camping zone
Hnh 3.6: Quan h gia tn s v khong thi gian xy ra hin tng zero current clamping.[3].
U
khng nh hng nhiu ti sai lch ca
U
m men v c th b qua. Tuy nhin, khi hot ng ch tc thp, U s nh
Khi tc cao, in p t U ln, t l
i trong khi U vn c gi tr khng i th s nh hng ca sai lch in p s rt

r rng. iu ny cho thy tm quan trng ca vic gii quyt hiu ng deadtime nu
h thng iu khin mun t c cht lng tt. thy r hn s nh hng ca
tc , ta quan st Hnh 3.4 v Hnh 3.5. Hai hnh trn m t lch tc v m men
tng ng vi ba tn s ca ng c: 60, 6, v 3 Hz. C th thy rng sai lch m men
c th b qua vi tn s 60 Hz nhng chng c gi tr rt ln ti 3 Hz [6].
T c th thy tc ng c l nguyn nhn nh hng n tc ng ca hiu
ng deadtime thng qua sai lch m men v khong thi gian xy ra hin tng zero
current clamping.
Ngoi quan h n cht lng m men, tc ng c cng lm tng khong thi
55
CHNG 3. PHNG N XUT
Bng 3.2: Ch s THD trong trng hp khng b hiu ng deadtime.

Speed (rad/s)
Torque (N.m)
THD (%)
40
11.44
40
12
2.57
400
4.99
400
12
1.91
Bng 3.3: Ch s THD trong trng hp c b hiu ng deadtime.

Speed (rad/s)
Torque (N.m)
THD (%)
40
1.94
40
12
0.42
400
6.01
400
12
1.39
gian dng in tin ti gi tr khng. Khi tn s ng c cng gim th khong thi

gian xy ra hin tng zero current clamping cng tng theo [12]. iu ny gy kh
khn cho qu trnh xc nh du dng in mt cch chnh xc. Trong Hnh 3.6 tn s
c s dng kho st ln lt l 3, 6, 12, v 24 Hz. D thy rng, gi tr thi gian
khong thi gian xy ra hin tng zero clamping current gim dn theo chiu
tng ca tn s.
3.1.3
Kt qu m phng s nh hng ca dng in v tc
minh chng cho s nh hng ca dng in v tc ti hiu ng deadtime

cng nh ti hiu qu ca phng php b trung bnh, tc gi tin hnh m phng
kim chng thng qua vic nh gi ch s THD ca dng in ti trn di tc t
40 - 400 (rad/s) v di m men t 2 - 12 (N.m).
Bng 3.2 cho thy; trong trng hp ti ti thp, tc ng c nh c ch s THD
cao nht ln n 11.44 %. Trong khi trng hp tc cao v ti cao li cho kt qu
nh nht. iu ny cho thy, khi dng in v tc tng ln th nh hng ca hiu
ng deadtime n dng in ca ng c cng nh dn.
Tip theo, chng ta s xem kt qu p dng phng php b trung bnh nh trn
Bng 3.3. C th thy, phng php b trung bnh gip ci thin cht lng dng in
kh tt trn hu ht cc di, duy ch c trng hp m men ti nh v tc ng c
ln l ngoi l. Ch s THD ca trng hp ny khng gim m li tng ln so vi khi
56
CHNG 3. PHNG N XUT
cha b hiu ng deadtime. Cc trng hp cn li u c ch s THD di 5 %; c

bit l trng hp M = 2 N.m, = 40 rad/s, ch s THD gim t 11.44 % xung cn
1.94 % v trng hp M = 12 N.m, = 40 rad/s c ch s THD thp nht l 0.42%.
3.2
Phng n ci tin
3.2.1
T tng ca phng php
T nhng phn tch v s nh hng ca dng din v tc ng c n hiu ng

deadtime v nhng kt qu m phng nhn c kt hp vi t tng ca [16], [6], tc
gi nhn thy lng in p b cn thit b cho hiu ng deadtime khng phi l
hng s ging nh phng php b kinh in a ra, lng in p ny s l mt hm
s thay i theo tc ng c:
U = U0 + U1
Td
=
Vdc + f ()
Tpwm
(3.6)
Trong , f () l mt hm ca in p c gi tr ph thuc vo tc . Thut ton

b v c bn vn ging nh phng php b kinh in nhng n s c thm thnh
phn U1 c xc nh da trn phng php look-up table tng ng vi tng tc
khc nhau. S thut ton b hiu ng deadtime c xut c trnh by
trn Hnh 3.7.
Kh khn ca phng php l cch xc nh U1 chnh xc v tng minh i vi
cc trng hp khc nhau. Nu chng ta th tng gi tr th s tn rt nhiu thi gian
v s khng chnh xc. tm thi khc phc, n dng hm ni suy c lng
f() kt hp vi hm tm gi tr THD nh nht xc nh gi tr in p b chnh
xc (chng trnh tnh ton hai hm trn c trnh by trong phn Ph lc B). Cc
bc thc hin ca phng php nh sau:
Bc 1 xt trng hp m men ti v tc c nh, ta thay tng gi tr b U1i
khc nhau c gi tr T HDi tng ng.
Bc 2 s dng chng trnh tnh hm ni suy tm ra hm s quan h f()
Bc 3 dng chng trnh tm gi tr nh nht ca ch s THD tm ra gi tr U1
tt nht.
Bc 4 thay gi tr U1 va nhn c vo chng trnh m phng. Sau , khoanh
vng in p cn tm xung quanh gi tr nh nht ri tin hnh li t bc mt
vi khong gi tr va tm c.
57
CHNG 3. PHNG N XUT
Start
U*
U * , id , iq , *
id , iq
Interpolation
function
Or
Look up table
dq
abc
iabc
No
i>0
U1
Yes
-1
U 0
Or
U
End
Hnh 3.7: S thut ton b deadtime xut.
Bng 3.4: Ch s THD ca phng php xut so vi phng php kinh in.
3.2.2
Speed (rad/s)
230
250
270
290
310
330
350
370
390
T HDdeadtime
8.27
7.48
7.11
7.18
6.54
5.97
5.90
5.54
5.04
T HDconventional
4.13
4.6
4.82
5.4
5.75
6.11
6.07
6,11
6.24
T HDproposed
4.05
4.23
4.55
4.63
4.37
4.12
4.15
4.12
3.8
Uproposed
33.6
31.5
28.8
25.8
22.5
19.8
18
16.8
15
Kt qu m phng
M phng c tin hnh vi ti c m men thp M = 2 N.m trn di tc cao

( 290 rad/s) kim chng phng php xut, ng thi so snh hiu qu ca
phng php mi so vi phng php b kinh in.
Bng 3.4 v Hnh 3.8 m t ch s mo dng in THD trong ba trng hp:
khng b, b bng phng php trung bnh, v cui cng l b da trn phng n
xut km theo in p cn b tng ng. Trong , ch s mo THD ca trng
58
CHNG 3. PHNG N XUT
Hnh 3.8: Ch s THD biu din theo tc .
hp b bng phng php xut nh hn so vi trng hp b bng phng php

kinh in cng nh trng hp khng b deadtime. Trong khi , kt qu ca trng
hp c deadtime v b bng phng php kinh in li c xu hng ngc nhau. Ch
s THD ca dng do deadtime tc ng c xu hng gim theo chiu tng ca tc .
Trong khi , ch s mo in p do phng php b kinh in li c chiu tng dn.
Nh bit t (3.6) gi tr in p b hiu ng deadtime l mt hm s thay i
theo tc ng c. V vy, n xy dng mt hm ni suy gia tc v in p
b U da trn mt chng trnh tnh hm ni suy bng phn mm MATLAB.
kim tra s hiu qu ca hm ni suy, ta ly mt gi tr tc bt k trong khong
(230, 390), sau p dng hai phng php b. in p b s dng phng php b
xut c tnh da trn hm ni suy l U = 18.8941(V ). Mu kim chng c vn
tc = 340 (rad/s) v m men ti M = 2 (N.m).
Hnh 3.10 m t ch s mo dng in trong trng hp p dng phng php b
xut vi kt qu tt hn nhiu so vi phng php b kinh in. Kt qu cng
phn no khng nh c tnh ng n ca hm ni suy cng nh ca thut ton
xut.
3.2.3
nh gi phng php xut
Phng php b xut cho ta kt qu tt hn so vi phng php b kinh in,

ch s mo in p THD ca dng in gim xung di mc tiu chun cng nghip
5%. Tuy nhin, cc gi tr b cha c ti u do y ch l phng php thsai
59
CHNG 3. PHNG N XUT
Selected signal: 119 cycles. FFT window (in red): 68 cycles
Selected signal: 119 cycles. FFT window (in red): 68 cycles
20
20
10
0
10
10
0
10
20
20
0
0.1
0.2
0.3
0.4
0.5
0.1
0.2
0.3
Hnh Time
3.9:(s) ng ni suy th hin quan h gia vn tc v
Time U
(s) .
0.4
0.5
0.025
0.015
0.01
0.015
Mag
Mag
0.02
0.01
0.005
0.005
0
200
400
600
Frequency (Hz)
800
1000
(a) Phng php b kinh in
200
400
600
Frequency (Hz)
800
1000
(b) Phng php b xut
Hnh 3.10: Kt qu ch s mo dng in THD ca hai phng php.
(trialanderror ), cha a ra c cng thc tng minh . Bn cnh , phng

php tm gi tr THD nh nht cha c coi l chnh xc nht. Cng thc tnh lng
in p b cn thit (3.6) cn c chng minh qua l thuyt lm r ngha vt l
v mi quan h gia cc i lng lin quan. Ngoi ra, phng php mi ch p dng
cho mt di ng c nh nn cha mang tnh tng qut p dng cho ton di iu
khin, cng nh cho cc ng c khc nhau.
60
Chng 4
Kt lun
Kt qu
Qua qu trnh nghin cu, n v c bn hon thnh cc nhim v ra. ng
c ng b nam chm ni c iu khin da trn phng php ta t thng
rotor. Nhng nguyn nhn v h qu m hiu ng deadtime tc ng n h thng
cng c trnh by chi tit v lm sng t. Mc tiu chnh ca n, b hiu ng
deadtime, c gii quyt bng cch s dng phng php b kinh in. Ngoi ra,
n cn c ng gp quan trng trong vic ci tin phng n b kinh in gip
gim ch s mo dng dng in so vi phng php truyn thng.
Hng pht trin

Do phng php b xut vn cn mt s nhc im nn trong thi gian ti,
tc gi s cn hon thin mt s cng vic sau:
Tng minh v tng qut ha thut ton c c th p dng trn ton di
tc v cng sut cho cc ng c khc nhau.
Thay i phng php thu thp d liu rt ngn thi gian v m bo tin
cy ca kt qu.
Nghin cu k hn v cc yu t nh hng n in p b c th a ra cng
thc b chnh xc nht.
Cui cng, phng php b xut cn c thc nghim trn cc h truyn
ng thc t kim tra tnh ng n ca phng php.
61
Ti liu tham kho

[1] L. Ben-Brahim, The analysis and compensation of dead-time effects in three phase
PWM inverters, in 24th IEEE Industrial Electronics Society Annual Conf., vol. 2.
Aachen: IEEE, 1998, pp. 792797.
[2] S. Buso and P. Mattavelli, Digital Control in Power Electronics, 1st ed., J. Hudgins,
Ed. New York: MC, Jan. 2006.
[3] J. W. Choi and S.-K. Sul, New Dead Time Compensation Eliminating Zero Current Clamping in Voltage - Fed PWM Inverter, IEEE Trans. Instrum., vol. 1,
no. 94, pp. 977984, 1994.
[4] K. Koga, R. Ueda, and T. Sonoda, Stability Prolem in Induction motor Drive
System, in IEEE IAS Annu. Meeting, Pittsburgh, 1988, pp. 129136.
[5] D. Leggate and R. J. Kerkman, Pulse Based Dead Time Compensator for PWM
Voltage Inverters, in IEEE IECON Conf. Rec., 1995, pp. 474481.
[6] T. A. Lipo, On-Line Dead-Time Compensation Technique for Open-Loop PWMVSI Drives, IEEE Trans. Power Electron., vol. 14, no. 4, pp. 683689, 1999.
[7] H. Markaroglu, I. Eksin, M. Guzelkaya, and E. Yesil, Tracking time adjustment in
back calculation anti -windup scheme, in 20th European Modelling and Simulation
Conf., vol. 1, Bonn, 2006, pp. 16.
[8] J. F. Martnez and T. P. Soriano, Low Speed Open Loop Field Oriented Control
for Permanent Magnet Machines, M.S.thesis, Aalborg, 2011.
[9] N. D. Phc, L thuyt iu khin tuyn tnh. Ha Noi, Viet Nam: BK, 2009.
[10] M. P.Kazmierkowski and R. Krishman, Control in Power Electronics,
M. P.Kazmierkowski, M. Malinowski, and M. Bech, Eds.
Califorlia: Elsevier
Science, 2002, ch. Pulse Widt, p. 529.

[11] N. P. Quang and J. A. Dittrich, Vector Control of Three -Phase AC Machines.
Berkin: Springer, 2008.
62
TI LIU THAM KHO
[12] A. Riyanto, H. Nakamura, K. Matsui, and Y. Murai, PWM Strategy for High
Frequenc Carrier inverters Eliminating Current-Clamps during witching DeadTime, in Industry Applications Society Annual Conf. Houston: IEEE, 1992, pp.
317322.
[13] G. P. S.H. Kim, T.S. Park, J.Y. Yoo and N. Kim, Dead Time Compensation in
a Vector -Controlled Induction Machine, in Power Electronics Specialists Conf.
Fukuoka: IEEE, Oct. 1998, pp. 10111016.
[14] H. M. Sn, C s h thng iu khin qu trnh. Ha Noi, Viet Nam: BK, 2007.
[15] T. Sukegawa, S. Member, and K. Mizuno, Fully Digital , Vector-Controlled PWM
VSI-Fed ac Drives with an Inverter Dead-Time Compensation Strategy, IEEE
Trans. Ind. Appl., vol. 21, no. 3, pp. 552559, 1991.
[16] C. Ta, Hiroaki, Takase, Hideyuki, and Kobayashi, Device for controlling electric
- motor power steering device, pp. 115, Feb 2007.
63
Ph lc
Ph lc A : S khi Simulink
1
ew
Kpw
Saturation
Kp
1
iq*
1
s
Kiw
Integrator
Ki
Kaw
Ka
Hnh P.1: Khi iu khin tc
1
I*d
dq*
ei
1
Vd*
current id controller
4
Id
id
vd0
3
w
5
Iq
iq
2
I*q
ei
vq0
decoupling
dq*
current iq controller
Hnh P.2: Khi iu khin dng in
64
2
Vq*
TI LIU THAM KHO
1
ia
f(u)
Relay2
1
deta Ualpha
Fcn
2
ib
Relay1
f(u)
3
ic
Relay
2
delta Ubeta
Fcn1
Hnh P.3: Khi b deadtime
Torque
PWMpulsesd
Tm
+
A
Vdc
Permanent Magnet
Synchronous Machine
Universal Bridge
3 arms
Hnh P.4: Khi ngun v ng c SPM
65
[Tp]
1
Ualpha
2
[Tt]
simconsfun1
S-Function
[T0]
Ubeta
[Sector]
66
[Tp]
u(1) + u(2) + u(3)/2
[Tt]
u(2) + u(3)/2
[T0]
u(3)/2
[Tp]
u(1) + u(3)/2
[Tt]
u(1) + u(2) + u(3)/2
[T0]
u(3)/2
[Tp]
u(3)/2
[Tt]
u(1) + u(2) + u(3)/2
[T0]
u(2) + u(3)/2
[Sector]
Switching Functions
3
1
Switching functions
[Tp]
u(3)/2
[Tt]
u(1) + u(3)/2
[T0]
u(1) + u(2) + u(3)/2
[Tp]
u(2) + u(3)/2
[Tt]
u(3)/2
[T0]
u(1) + u(2) + u(3)/2
[Tp]
u(1) + u(2) + u(3)/2
[Tt]
u(3)/2
[T0]
u(1) + u(3)/2
Switching functions calculation
Hnh P.5: iu ch vector khng gian
TI LIU THAM KHO
Switching time calculation
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TI LIU THAM KHO
Ph lc B: Cc chng trnh s dng trong qu trnh m phng

Chng trnh tnh ton gi tr sector ca qu trnh iu ch vector khng
gian
f u n c t i o n [ s y s , x0 , s t r , t s ] = s i m c o n s f u n 1 ( t , x , u , f l a g )
% Calculating sector function
% Initialization %
case 0
[ s y s , x0 , s t r , t s ]= m d l I n i t i a l i z e S i z e s ;
% Derivatives %
case 1
s y s=m d l D e r i v a t i v e s ( t , x , u ) ;
% Outputs %
case 3
s y s=mdlOutputs ( t , x , u ) ;
% Unhandled f l a g s %
case { 2 , 4 , 9 }
sys = [ ] ;
% Unexpected f l a g s %
otherwise
e r r o r ( [ Unhandled f l a g = , num2str ( f l a g ) ] ) ;
end
f u n c t i o n [ s y s , x0 , s t r , t s ]= m d l I n i t i a l i z e S i z e s
sizes = simsizes ;
s i z e s . NumContStates = 0 ;
s i z e s . NumDiscStates = 0 ;
s i z e s . NumOutputs = 4 ;
s i z e s . NumInputs = 2 ;
s i z e s . DirFeedthrough = 1 ;
s i z e s . NumSampleTimes = 1 ;
sys = simsizes ( s i z e s ) ;
x0 = [ ] ;
str = [ ] ;
ts = [0 0 ] ;
% End m d l I n i t i a l i z e S i z e s
%
%=====================================================================
f u n c t i o n s y s=m d l D e r i v a t i v e s ( t , x , u )
sys = [ 0 ; 0 ; 0 ; 0 ] ;
% End m d l D e r i v a t i v e s
%
%=====================================================================
f u n c t i o n s y s=mdlOutputs ( t , x , u )
% Declaring input
ua=u ( 1 ) ;
ub=u ( 2 ) ;
Vdc=600;
% Calculating
a l p h a=atan2 ( ub , ua ) ;
b=abs ( ua )abs ( ub ) / s q r t ( 3 ) ;
i f ( ub<0)
i f ( ua <0)
i f ( b<0)
Sec =5;
67
TI LIU THAM KHO
else
Sec =4;
end
else
i f ( b<0)
Sec =5;
else
Sec =6;
end
end
else
i f ( ua <0)
i f ( b<0)
Sec =2;
else
Sec =3;
end
else
i f ( b<0)
Sec =2;
else
Sec =1;
end
end
end
n=Sec ;
Tp=s q r t ( 3 ) s q r t ( ub^2+ua ^2) s i n ( n p i /3 a l p h a ) /Vdc ;
Tt=s q r t ( 3 ) s q r t ( ub^2+ua ^2) s i n ( a l p h a ( n1) p i / 3 ) /Vdc ;
T0=1TpTt ;
s y s = [ Tp ; Tt ; T0 ; Sec ] ;
% End program
%==================================================================
68
TI LIU THAM KHO
Hm ni suy quan h gia ch s THD v U

function v = polyinterp (x , y , u)
n = length (x) ;
v = zeros ( s i z e (u) ) ;
for k = 1:n
w = ones ( s i z e (u) ) ;
f o r j = [ 1 : k1 k +1:n ]
w = ( ux ( j ) ) . / ( x ( k )x ( j ) ) . w ;
end
v = v + wy ( k ) ;
end
% End program
%==================================================================
Hm tm gi tr nh nht ca ch s THD
% Input v a l u e s
xmin= x0 ;
ymin= y0 ;
% C a l c u l a t i n g minximum THD v a l u e
f o r x i= x0 : 1 : xmax
y i=p o l y i n t e r p ( deltaU ,THD, x i ) ;
i f ( y i <ymin )
ymin=y i ;
xmin=x i ;
end
end
% End program
%==================================================================
69

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Mc lc

1 H truyn ng ng c ng b nam chm vnh cu (PMSM)

Tng quan v ng c ng b nam chm vnh cu . . . . . . . . . . .

T tng ca phng php iu khin vector ta theo t thng rotor .

Cng thc chuyn i Clark . . . . . . . . . . . . . . . . . . . .

M hnh ha ng c ng b nam chm ni . . . . . . . . . . . . . . .

Chng bo ha tch phn . . . . . . . . . . . . . . . . . . . . . .

2 PWM v vn deadtime trong bin tn

Phng php iu ch vector khng gian . . . . . . . . . . . . . . . . .

Xc nh thi gian chuyn mch . . . . . . . . . . . . . . . . . .

Phng php b hiu ng deadtime . . . . . . . . . . . . . . . . . . . .

So snh kt qu khi c deadtime v khng c deadtime . . . . .

Cc yu t nh hng ti hiu ng deadtime . . . . . . . . . . . . . . .

Kt qu m phng s nh hng ca dng in v tc . . . .

T tng ca phng php . . . . . . . . . . . . . . . . . . . .

nh gi phng php xut . . . . . . . . . . . . . . . . . .

Ti liu tham kho

Ph lc B: Cc chng trnh s dng trong qu trnh m phng . . . . . . .

Danh sch hnh v

Dng in v in p stator trn h ta a-b-c.

Biu din vector trn h ta a-b-c v h ta d-q. . . . . . . . . .

S iu khin theo phng php FOC. . . . . . . . . . . . . . . . .

B iu khin dng in kt hp vi phng php tch knh. . . . . . .

1.9 B iu khin dng in. . . . . . . . . . . . . . . . . . . . . . . . . . .

1.11 Khu chng bo ha tch phn. . . . . . . . . . . . . . . . . . . . . . .

1.12 S m phng tng th ca h thng iu khin ng c SPM s dng

1.14 Cc p ng trong iu kin khng ti. . . . . . . . . . . . . . . . . . .

1.15 Cc p ng trong iu kin ti thay i. . . . . . . . . . . . . . . . . .

S mch nghch lu. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Thc hin vector in p t 2 vector bin. . . . . . . . . . . . . . . . .

S thut ton tnh thi gian hot ng ca cc vector bin. . . . . .

Vng cm in p trn ton b mt phng vector. . . . . . . . . . . . .

2.10 Tnh ng b gia x l tn hiu v iu ch in p. . . . . . . . . . .

2.11 Cu hnh mt pha ca b nghch lu; a)dng in ti dng; b) dng

DANH SCH HNH V

2.12 in p ra v xung m van ca b nghch lu; a) xung in p m van;

2.14 Cc p ng trong iu kin c deadtime v iu kin l tng. . . . .

2.15 p ng dng in khi c nh hng ca deadtime ti M = 8 N.m v

2.17 p ng dng in sau khi b hiu ng deadtime ti M = 12 N.m v

2.19 Phn tch ph sng hi dng in. . . . . . . . . . . . . . . . . . . . . .

Xung m t nguyn nhn hin tng zero current clamping. . . . . . .

Hin tng zero current clamping. . . . . . . . . . . . . . . . . . . . . .

S phng php b zero current clamping. . . . . . . . . . . . . . .

Sai lch tc theo tn s ng c do 1V sai lch in p[6]. . . . . . .

Quan h gia tn s v khong thi gian xy ra hin tng zero current

Ch s THD biu din theo tc . . . . . . . . . . . . . . . . . . . . .

ng ni suy th hin quan h gia vn tc v U . . . . . . . . . . .

3.10 Kt qu ch s mo dng in THD ca hai phng php. . . . . . . .

P.1 Khi iu khin tc . . . . . . . . . . . . . . . . . . . . . . . . . . .

P.2 Khi iu khin dng in . . . . . . . . . . . . . . . . . . . . . . . . .

P.3 Khi b deadtime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

P.5 iu ch vector khng gian . . . . . . . . . . . . . . . . . . . . . . . . .

Danh sch bng

Thng s ng c SPM loi ROTEC 1FT6084-8SH7 ca Seimens [8]. .

Bng trng thi van. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Thi gian chuyn mch ca cc pha. . . . . . . . . . . . . . . . . . . .

Sai lch in p theo dng in [6]. . . . . . . . . . . . . . . . . . . . .

Ch s THD trong trng hp khng b hiu ng deadtime. . . . . . .

Ch s THD trong trng hp c b hiu ng deadtime. . . . . . . . .

Ch s THD ca phng php xut so vi phng php kinh in. .

Danh mc cc k hiu v t vit tt

Space Vector Pulse Width Modulation

DANH SCH BNG