Tp ch Tin hc v iu khin hc, T.28, S.

1 (2012), 919

IU KHIN PHI TUYN H THNG PHT IN CHY SC GI

S DNG MY PHT KHNG NG B NGUN KP TRN C S
H TH NG EULER - LAGRANGE V HAMILTON
NG DANH HONG1 , NGUYN PHNG QUANG2
1 Trng

i hc K thut Cng nghip Thi nguyn

Trng i hc Bch khoa H Ni

Tm tt. Vic p dng phng php iu khin mi iu khin my pht in khng ng b

ngun kp (DFIG) trong h thng my pht in sc gi nhm nh gi kh nng ng dng vo thc
tin c mt ngha ht sc quan trng. Bi bo trnh by kt qu nghin cu vn dng nguyn l
ta theo th ng (passivity - based) thit k b iu khin bng phng php kt hp ta theo
h th ng Euler - Lagrange (EL) v lut Hamiltonian iu khin my pht in khng ng b
ngun kp. B iu khin mi khc phc c sai lch tnh ca b iu khin dng khi cha kt hp
vi lut Hamiltonian. Ngoi ra vi b iu khin ny h thng lm vic c cht lng tt cc ch
trn v di tc ng b ca my pht.
Abstract. Applying a novel control method to control Doubly-Fed Induction Generators (DFIG)
in wind power systems for evaluating an applicability plays an important role in practice. In this
paper, the passivity based-principle is applied to design a controller for DFIG, in which the Euler
- Lagrange (EL) based-method and Hamiltonian rules are incorporated. The proposed controller
overcomes static error of the current controller without Hamiltonian rules. The system can also offer
exellent performances above and below synchronous speeds of the DFIG.

K hiu
K hiu
R(x)
J(x)
G(x)
Lr
Tr , Ts
r ,
sd , sq
rd, rq

Lm
Ch vit tt

n v

H
s
rad/s
Wb = Vs
Wb = Vs

ngha
Ma trn suy gim
Ma trn lin kt cc khi trong cu trc h thng
Ma trn biu din quan h vo ra
in cm ca rotor
Hng s thi gian rotor v stator
Vn tc gc rotor, vn tc gc c hc rotor
Thnh phn d v q ca t thng stator
Thnh phn d v q ca t thng rotor
H s tn tng
in cm h cm gia stator v rotor

10

NG DANH HONG, NGUYN PHNG QUANG

DFIG
PSG
EL
PBC

My pht in khng ng b ngun kp

Pht in sc gi
Euler - Lagrange
iu khin th ng

1.

M U

nc ta, cng nh trn th gii vic iu khin my pht in khng ng b ngun kp

trong h thng my pht in sc gi (PSG) ang l mt vn c quan tm. Hin nay
c mt s tc gi s dng cc phng php iu khin nh tuyn tnh ho chnh xc [6],
backstepping [2] v c nhng kt qu nht nh. Bn cnh tc gi cng c mt s
cng trnh nghin cu [3, 4]. Bi bo ny a ra phng php iu khin passivity based kt
hp h th ng EL v lut Hamiltonain iu khin my pht in khng ng b ngun
kp nhm mc tiu:
- a ra thut ton iu khin mi nhm kh sai lch tnh ([4] cha cp n).
- iu khin m bo cht lng lm vic ca h thng tc my pht trn v di ng
b.
Thc t khi lm vic thng s my pht c th b thay i dn n khi lm vic tn ti
sai lch tnh. V vy vic khc phc sai lch tnh l cn thit. Bn cnh trong qu trnh
lm vic my pht in sc gi ph thuc vo tc gi t nhin nn thng xuyn b thay
i tc . Do vic iu khin m bo cht lng lm vic ca h thng cc tc my
pht khc nhau l ht sc quan trng. Trong nghin cu ny s tp trung vo vic gii quyt
2 vn trn.
2.
2.1.
2.1.1.

NI DUNG CHNH

C s l lun phng php iu khin ta theo th ng

H th ng EL

H Euler - Lagrange th ng l h m ng hc ca chng c m t bi cc phng trnh

Euler-Lagrange (EL) v bn thn h thng khng t sinh ra nng lng. Nh vy khi nhc
n h Euler-Lagrange ta hiu rng l h c bn cht th ng.
iu khin ta theo th ng (Passivity Based Control - PBC) l thut ton iu khin m
nguyn l ca n da trn c im th ng ca i tng (h h) vi mc tiu lm cho h
kn cng l mt h th ng vi hm lu gi nng lng mong mun.
Xt mt h ng hc c n bc t do, ng hc ca h c th c m t bi phng trnh
Euler - Lagrange c dng sau [11]:


L
d L

= Q,
(x,x)

(x,x)
(2.1)
dt x
x
trong :
x = (x1 , x2 , .., xn)T v x l vector trng thi v o hm vector trng thi ca h thng,
L(x, x)
c gi l hm Lagrangian,

THIT K B IU KHIN MY PHT IN KHNG NG B NGUN KP

11

Q=

F
(x)
+ B.u + Qn
x

(2.2)

l vector lc tc ng ln h thng.
vi: F (x)
c gi l hm tiu th Rayleigh, v tho mn:
x T

F
0.
(x)
x

(2.3)

Lc tc ng iu khin B.u Rn vi u Rn l vector iu khin v B Rnnu l ma

trn hng,
Tc ng do nhiu Qn .
, vector iu khin u
Xt mt h c k hiu l c hm tng lu gi nng lng H(x, x)
vo, u ra u, y v coi nh h khng chu tc ng ca nhiu. Nh vy tc cung cp nng
lng cho h s l y T u. H trn c gi l th ng nu:
Z

y T udt
{z }

H(x(T), x(T))

H(x(0), x(0))

|
{z
}

nang luong luu giu

nang luong cap

Tht vy t (2.1), (2.2), (2.3) sau khi bin i ta c:

H[T ] H[0] +
{z
}
|
N L luu giu

|0

T F (x)

dt =
x T Budt
x
0
{z
} |
{z
}

N L tieu hao

(2.4)

N L cung cap

RT
Do iu kin (2.3), nn H[T] H[0] 0 yT Budt; (y = x ) suy ra h EL l h th ng,
v mt tnh cht c bit [5, 11] khi phn tch h EL thnh cc h EL con cng nh h kn
(c b iu khin) u tho mn l th ng. y l mt trong nhng c im quan trng
khi thit k b iu khin theo phng php PBC.

T phng trnh (2.4) ta c mt s nhn xt sau:

Nu u = 0 th nng lng ca h khng tng, v vy h s n nh ti trng thi cn
bng "tm thng".
H s vn n nh nu nh u ra B x T bng khng, trong h tuyn tnh th h thng
c gi l pha cc tiu (minimum phase), tc l h n nh Lyapunov.
Ta thy rng tn hiu suy gim c th c phun vo mt cch d dng qua cc trng
thi, c tc ng trc tip bi tn hiu iu khin nu nh cc trng thi c th
o c.

12

NG DANH HONG, NGUYN PHNG QUANG

2.1.2.

H Hamiltonian

Cc h thng iu khin theo h Hamiltonian vit di dng tng minh [1]


x = (J(x) R(x))x H(x) + G(x)u
y = GT (x)x H(x)

(2.5)

trong :
x - l vecter trng thi
u, y - l cc bin vo, ra
H(x) - l hm Hamiltonian (thng c biu din hm nng lng ca h thng)
x - l php ly gradient theo x (do ngi thit k)
Mnh .
1.1) Hm H(x) c gii hn bi:
H(x) > c khi x* l nh nht.
1.2) Ma trn J(x) = J T (x).
1.3| R(x) = RT (x) 0.
Chng minh.
Ly o hm hm Hamiltonian ta c:

H(x)
= (H)Tx = (H)T(J(x) R(x))H + (H)TG(x)u

T mnh (1.2) ta c :

H(x)
= (H)TR(x)H + y T u

Mt khc t mnh (1.3) v xt khi u = 0:

H(x)
0

T kt qu trn v mnh (1.2), ta thy hm Hamiltonian tha mn l hm Lyapunov. Nh

vy vi vic tnh hm Hamiltonian, ta c th rt ra c cc cng vic thit k b iu khin
cho h thng sau ny.
2.2.

Cu trc h thng iu khin

Theo [2, 4, 6], h thng gm 2 phn iu khin c bn nh Hnh 2.1.

iu khin pha my pht s dng my in khng ng b ngun kp (Doubly -fed
induction machines - DFIG).

THIT K B IU KHIN MY PHT IN KHNG NG B NGUN KP

13

Hnh 2.1. S cu trc h thng my pht in s dng DFIG

iu khin pha li.

NLPL: Nghch lu pha li,

NLPMP: Nghch lu pha my pht,
MC: My ng ct,
IE: Thit b o tc bng khc vch xung.
2.3.
2.3.1.

p dng phng php kt hp h th ng EL v Hamiltonian thit k

b iu khin
Thit k b iu khin dng in rto pha my pht

Thc hin theo 2 bc:

Thit k b iu khin ta theo h th ng EL.
Kt hp vi lut iu khin theo hm Hamiltonian xy dng b iu khin mi trn
c s ca b iu khin EL.
Bc 1:

p dng phng php ta tch h thng pha rotor my pht in thnh hai phn ng
hc phn in (hm nng lng He) v ng hc phn c (hm nng lng Hm) - Hnh 2.2.
Sau p dng cc phng trnh ng hc vo phng trnh EL, h tr thnh th ng
[11]:
T Hnh 2.2 ta xy dng s nguyn l cu trc iu khin theo phng php ta theo
th ng nh Hnh 2.3. Ta c th c th ha bng hnh 2.4
p dng phng php thit k l a b iu khin vo h ng hc phn in vi tng tc
ca h ng hc phn c, sao cho h kn tho mn l th ng theo phng trnh EL, ta c:
uPr BC = u*r D()(ir ir ).

(2.6)

vi
D() =

L2m 2
+ d, 0 < < Rr , d 0.
4

(2.7)

14

NG DANH HONG, NGUYN PHNG QUANG

Hnh 2.2. Phn tch DFIG thnh ng hc phn in v phn c

ir

theo ph

RIPBC

 


RIPBC : B

ir

urPBC
He

i u ch nh dng
ng php PBC

Hm

Hnh 2.3. S nguyn l cu trc iu khin theo phng php PBC

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)(*,-(+./! 
4 5 4  

,31 02(


PBC

RI

i*r

u*r

ir

urPBC

He

D () ir

Hm

ir

Hnh 2.4. Cu trc b iu chnh vc t dng PBC bao gm 2 khi chc nng

Nh trong [3, 4] h phng trnh m t m hnh dng rotor ca (DFIG) sau khi c tch ra
trn h trc to dq nh sau:
di
1 1
1
1 1 0
rd

= ( +
)ird + r irq +
.

Tr
Ts
Ts sd
dt
0
1
1
1
.sq + Lr urd Lm .usd

dirq = 1 ( 1 + 1 )irq r ird + 1 1 0

Ts sq

dt1 0 Tr 1 Ts
1
+ sd + Lr urq L
.u
sq
m

(2.8)

t bi ton iu khin ta t bin ir l bin iu khin, vi gi tr mong mun l ir

c ly t b iu chnh m men mG v cng sut Q.

THIT K B IU KHIN MY PHT IN KHNG NG B NGUN KP

15

B iu khin ta theo th ng (PBC) c xy dng theo nguyn tc cn phi a vo tn

hiu iu khin mt tn hiu suy gim dng D().ir v D() gi l h s suy gim, c xc
nh theo (2.6).
Tn hiu iu khin c xc nh:
uPrdBC = urd + D().(ird ird ),
uPrqBC = urq + D().(irq irq ),

(2.9)

trong :
uPrdBC ; uPrqBC l in p do b iu khin PBC to ra (theo d v q ).
urd ; urq : in p rotor mong mun ca my pht (theo d v q ) c xc nh theo
(2.8).

Vi phng php trn ta c b iu khin dng in rotor theo 2 thnh phn:

dird
1
1
+ Lr ( +
)ird
dt
Tr
Ts
1 0
0
Lr r irq Lr .
(sd Ts sq )
Ts
1
.u D().(ird ird ),
+Lr
Lm sd

uPrdBC = Lr

(2.10)

di

uPrqBC = Lr dtrq + Lr ( T1r + 1

Ts )irq
0
0

+Lr r ird Lr 1
Ts (sq + Ts sd )

+Lr 1
.
Lm .usq D().(irq irq )

(2.11)

Bc 2:
Sau khi c c b iu khin (2.10) v (2.11) ta theo h th ng EL. Ta tip tc thit k
b iu khin c ta theo lut Hamiltonian:
Z t
uT ( )y( )d
= H(x(t)) H(x(0)) +
d(t)
.
{z
}
|{z}
|
0
|
{z
}
N ang luong du tru
N ang luong tieu thu
N ang luong dua tu ben ngoai

Theo [1], h kn l th ng, ta chn lut iu khin l thm vo b iu chnh khu tch
phn:
Z
BC
uPr (H)
= uPr BC KI (ir ir )dt.
(2.12)

vi KI > 0.
Thay (2.12) vo (2.10) v (2.11) ta c:
di

1
1
rd
uPrdBC
(H) = Lr ( Tr + Ts )ird + Lr dt
0
0

Lr r irq Lr . 1
Ts (sd Ts sq ) R
1

+Lr Lm .u D()(ird ird ) KI (ird ird )dt,

sd

(2.13)

16

NG DANH HONG, NGUYN PHNG QUANG

di

rq
1
1
uPrqBC
(H) = Lr ( Tr + Ts )irq + Lr dt
0
0
+Lr r ird Lr 1
Ts (sq + Tssd ) R

+Lr 1
Lm .usq D()(irq irq ) KI (irq irq )dt.

(2.14)

T cc b iu chnh dng da trn th ng ta thy n m bo tch knh nh b lin

kt ngang bi 2 thnh phn r .ird v r .irq v b c cc thng s khc nh in p li,
t thng stator, tc ca rotor v c thnh phn tch phn kh sai lch tnh. T (2.13),
(2.14) v n2.4, ta c th ha bng cu trc iu khin tng th pha my pht nh hnh 2.5.

Hnh 2.5. H thng iu khin my pht (DFIG) trong h thng PSG s dng b iu
khin Passivity-Based

2.3.2.

Thit k b iu khin pha li

Do yu cu ca pha li ch l iu khin n nh in p mt chiu UDC cung cp cho mch

mt chiu trung gian. V vy trong ni dung bi bo ny cng chn phng php thit k
tuyn tnh n gin l phng php tuyn tnh Dead Beat thng thng [2, 3, 7].
2.3.3.

S v kt qu m phng bng Matlab Simulink Plecs

M phng vi my pht c thng s:

THIT K B IU KHIN MY PHT IN KHNG NG B NGUN KP

Pm = 4 KW
Ums =230/400(/Y)
fm = 50 Hz
zp = 2
J= 0,032Kgm2

Umr = 366 V
nm =1450 V/p
Rs =1,07
Cosm = 0,85

'(

17

Rr = 1,32
L s = 0,066H
L s = 0,0098H
Lm = 0,1601H

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+

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)*

Hnh 2.6. S m phng h thng my pht in sc gi s dng DFIG

(a)

(b)

Hnh 2.7. p ng dng in ird v irq theo gi tr t vi b iu khin ta theo h th

ng EL (a) v vi b iu khin ta theo h th ng EL v Hamiltonian (b).

Kt qu m phng lm vic ca h thng tc nh mc (di ng b n = 1450v/ph)

nh Hnh 2.8. Kt qu m phng tc di ng b (n = 1350 v/ph); cng sut pht (m
men c bc nhy t M = -5Nm ln M = -10Nm, cng sut v cng Q = 500Var) nh Hnh
2.9. Kt qu m phng tc trn ng b (n = 1650 v/ph); cng sut pht (m men c
bc nhy t M = -5Nm ln M = -10Nm, cng sut v cng Q = 500Var) nh Hnh 2.10.

18

NG DANH HONG, NGUYN PHNG QUANG

(a)

(b)

Hnh 2.8. p ng dng ird v irq theo ird v ird khi cng sut t thay i.

(a)

(b)

Hnh 2.9. Kt qu m phng dng ird v irq theo gi tr t (a) v kt qu m phng mmen
theo gi tr t (b).

Hnh 2.10. Kt qu m phng dng ird v irq theo gi tr t (a) v kt qu m phng

mmen theo gi tr t (b).

3.

KT LUN

- Bi bo a ra c thut ton iu khin mi b sung cho [4].

- Kt qu m phng cho thy tnh ng n ca thut ton nh: B iu khin c kh nng

THIT K B IU KHIN MY PHT IN KHNG NG B NGUN KP

19

kh c sai lch tnh, iu chnh c cc dng in thnh phn ird , irq bm theo gi tr
t ird , irq (Hnh 2.7) v m bo cht lng cc ch lm vic trn v di tc ng
b (Hnh 2.8, 2.9, 2.10). Nh vy vi kt qu m phng cho thy h thng iu khin gii
quyt c cc vn nghin cu t ra.
- Nghin cu ny m ra mt phng php thit k phi tuyn mi iu khin qu trnh lm
vic ca my pht in khng ng b ngun kp trong h thng my pht in sc gi, t
l c s ng dng vo thc tin.
TI LIU THAM KHO
[1] Arnau Doria-Cerezo, Modeling, simulation and control of a doubly-fed induction machine controlled by a back-to-back converter, PhD Thesis (2006).
[2] Cao Xun Tuyn, Tng hp cc thut ton phi tuyn trn c s phng php backstepping
iu khin my in d b ngun kp trong h thng my pht in sc gi, Lun n tin s k
thut, i hc Bch khoa H ni (2008).
[3] ng Danh Hong, Ho ng b my pht in ln li bng phng php iu khin passivitybased, Tp ch Khoa hc Cng ngh, i hc Thi nguyn, (2010).
[4] ng Danh Hong, Nguyn Phng Quang, Thit k b iu khin da trn th ng Passivity
- based iu khin my pht in khng ng b ngun kp, Tp ch Khoa hc Cng ngh
cc trng i hc k thut (76) (2010).
[5] Levent U. godere, Marwan A. Simaan, Charles W. Brice, Passivity based control of saturated
Induction Motors, IEEE (1997).
[6] Lan, Ph. Ng, Linear and nonlinear control approach of doubly - fed induction generator in wind
power generation, P.h.D thesis, TU-Dresden (2006).
[7] Ng. Ph. Quang, Andreas Dittrich, Truyn ng in thng minh, NXB Khoa hc v K thut,
H Ni, 2002.
[8] Ng. Ph. Quang, Matlab & Simulink dnh cho k s iu khin t ng, NXB Khoa hc v
K thut, H Ni, 2004.
[9] Ng. Ph. Quang, iu khin t ng truyn ng in xoay chiu ba pha, NXB Gio dc,
H Ni, 1996.
[10] N. D. Phc, P. X. Minh, H. T. Trung, L thuyt iu khin phi tuyn, NXB Khoa hc v K
thut, H Ni, 2003.
[11] R. Ortega, A. Loria, P. J. Nicklasson, H. Sira-Ramrez, Passivity-based Control of Euler
Lagrange Systems: Mechanical, Electrical and Electromechanical Applications, SpringerVerlay, London-Berlin-Heidelberg (1998).

Nhn bi ngy 20 - 12 - 2011