MO HINH HOA VA DIEU KHIEN MO CHO DONG CO DIEN MOT CHIEU Modelling and Fuzzy Control of DC Drive LéKim Anh Khoa:Dign - Dign te ‘vOM TAT ‘ing carn més chidu ngiy cing dave quan tim nhidu do ede tao dam glin, dé tin ody cao vi gid thank thdp. Tay nhién, do tinh pi tuyén cao eta ee de tinh Khién cho vige phim rich vi hig rat phic tap. Noi dung cia bai do 1s tng dug thudt ton dig khién mis dé did hin, vk vige thay thé bd Kin PI kink din hing bo diéw Khiém met ni eat tig chit Ign did kin cia hg thé kh ede thing 54 cia hé thay di. Cie hét quai ob diag tie mds ‘phong trén Matlab/Simulink vi the viem SimPowerSpstems, ching 10 cdc wn dim ewe phinmg ‘php diéu Khién oso véi phneomg php digu khién tuyén thing. ABSTRACT DC Motor has gained much atention invariable speed drives, due to its advantages such as structural simplicity, high relibiliyy and low cost. However, its inherent high nonlinear ‘characteristics makes it difficult to be analyzed and controlled. This paper presents fuzzy logic “application for speed control and shows that the replacement of PI speed controller sith fi logic one isto improve the performance of the electric drive with motor parameter changes. The simutation results obtained rom MailabySimulink and SimPowerSysioms brary prove the ‘advantages of the method used over traditional approaches. 1B6 dig khign PID bao gdm eae khiéw (ty 1 tich phan, dao him) duage ding phd bié trong céc he didu khién cng nghigp vi c6 edu tric don giin va bén ving. Chit Ingng cia b thong phy thude vio ede tham s6 Ke, Ti, To eda b6 digu khign PID. Nhung vi cdc h@ s6 cita b: diéu khién PID chi duge tinh ton cho mét ché d6 kim vige ey thé cua hé thong, do véy trong qu ‘tinh van hanh lun phai chinh dinh cdc hé s6 nay sao cho phi hep véi thyc té. Dya theo nguyés |y chinh dinh do, ta ding 69 digu khién mé o vong ngoai dé chinh dinh tham cdc thing s6 b¢ PID & vong trong. Mot b6 diéu khién chat Leong cao cin phai ludn dim bao chat hrgng did: khign «61 khi thing sé eta d6i rong thutmg xuyén bién déi, B6 digu Khim miy PID vita phithuy hited iru diém cia bo didu Khién kin dién vita sir dung cde uu diém he thing me. gitp. Ngoe 1a, nhiimg kinh nghiém vé dic tinh eta d6i tuong, kink nghigm diéu khién d6i wong dB ding du kat hgp vio luft didu khién. Day 1d hai uu diém cia b di 6 didu khids kkinh dién, Trong-nbi dong bai béo ny gi61 thigu vé b6 dieu khiéa mo PL dé ditu khién to dong ea dign mote DOL TUQNG, NOI DUNG VA PHUONG PHAP NGHIEN CU'U i neymg nghién exw Khién ma so vMG hinh héa va diéu khién t6e 46 dong co mot chiéu kich tir de lip khi tai Khong di hoae khi tai thay doi. Phuong tinh vi phéa mé ta 728, 58 oe eek “= at 1 ea po+Reu xe ‘Ham wuyén dat es = Hinh 1.1 Mé hinh todn hoe a co dign mot chids Wp +RiGp +8) +E" siti a 2. Noi dung va phuong php nghién cieu Téng hop bé diéu chinh téc dé Ro theo phuong phap t6i wu déi xing: eoindeh Ly ed tt Kak Tow KeKkg 32. P cD Us E, Te n-To, Hin 19 Ser 8 koi hi dis chin "aa PL chit lugng digu chinh khong déi, thi b6 digu chinh phai 6 kha nding te Ong chinh dinh fai cé tham s6. Digu nay khéng thé thye hign v6i b6 diéu chinh PI kinh dién, Chinh vi vay b6 dit Khién mé ra déi va duge thiét ké nhur sau: 1) Hinh 1.3 Céu mie co ban cila mbt H¢ théng Diéu khién Logic ma (FLC, Fuzzy Logic Control)Xie dinh ede bién vio ra: b6 digu khién mi duge thi KE nhl thay thé b9 diéu chink 8 449 PL. Bi vio b§ didu khién mil sai Igch te di (eo ~ eur ~ Ong vd tbe 5 sai Heh (com i(k 1) ~e0(k)). Ng ra bG did khién mi la dign Sp dua vo BO ehinh lu (u) Xie dinh tip mer sé Iugna tp mer (cd gid tr] ngs nate) can tht cho eae bign vé nguyé la 56 lugng cde gid tr] ngdn ngit cho mdi bién nén nim trong khoding tir 3 dén 10 gid tr Iugng it hon 3 thi qua thé va it co y nghia vi khéng thy hign due vige lay vi phiin. NE 1m hora 10 thi qu min con ngurdi khd e6 kha ning eam hin gus ehi ly, bao quit hét ee tn hop say ra vi anh hung, dén bo ahs, tbe din ton, Vi v dan [-1, 1] va duge chia im 7 tip md. Cée tip mir ng6 vio duge chon tp rung hon tai gn gi tr 0 nhim gidm sai s6 khi diéu khién, Dau ra cia bO diéu khién mé cing duge chia lam 7 tip ce tip mi duge xy dmg theo kinh nghigm (inh 1.) cde du vio duge chun héa tron co Wm) HA ZAZA AN BiB) —— > >> PBI PB) Pa) Y Y co [Z APS |B) == # J PS [NBYNB/NM] NS | MN] PN] J PM] NB] NB] NB NM) NMYNS | PS] 2 Y ~ Bink 1.4 Cae tp mo a) Sat itch Fae 8" 3) Fae Bs Sai SBS thay 51 Ghen ap ohare ‘Bang 1 Cie hut dic hich “ile djnh him Hign thuge: la vn dé eye ky quan trong va nit kho ni chinh xe. Nhumg trong kj thudt digu khién thuémg nu tién chon him fign thuge kiéu hinh tam giée hode hinh thang, Céc loai nay e6 biéu thite dom gin, tinh toa d& ding, tuy nhién ie ham lién thude ndy chi gam esc ddogn thing nén khding mém mai c ede diém gay. ily dymg ede ludt diéu khién: da vao bin chit vat IY, edt s6 ligu vao ra e6 duge, kinb nghigm, va dua vao die tinh qua do thudmg gp cita hé théng diéu khién ding PL. Ta e6 thé xiy dmg lua digu khién nhu sau: Néu ew duong nhiéu va cew la Zero Thi u duong nhidu. Néu ew Zero va cew la dung nhiéu Thi uw 4m vita “Vii can Inn ferme forse mit hin vo bmDang ludt hop thanh Sum-Prod, giai mé theo phuomg phap trong tim, Khi dé hé sé 1 due tinh toan Hie digu Khién la: DY vy'a CO): (duide) uy) = ‘Trong dé z 1 tim eiia ede tap mér tuong img YH (eo), (dude ) 7 IL. KET QUA NGHIEN CUU M6 phong bé diéu khién mé PI cho dong co dign mot chiéu, kich tir doe lap. cae thong s ctia dong co duge lay trong thu vign SimPowerSystems. P em= 37S0[W]; U wm = 240[V] Uiatn = 3001] = 1750[vongphut) 581{0]; L.=0.028(H} ZI 281.3[Q]; Le 156[H] La = 0.948301) =) 3= 0.02215 fkg:m*) Hinh 1.3 So dé edu mic wong mtn dong truyén dong voi bo didu Khién md PL, trén ed Ding phn mém Matlab/Sinmulink mo phong he t ‘Dung pnan mem Mauiao/smmutnk mo pnong ng truyen agng vor pg dieu KMen mer 1, tren ce hoi Simulink va thu vign SimPowerSystems ta durge cde dip feng du ra nur Hinh 1.6) Toad tole tol To abe doled 4) Tic & dong co him pling én Stmailtst —&) Dap ing dong phn ig Ki mé phong ron Sonu a 1 is 2 1s 3 Fa ‘ 8 ©) Téc dp dng co kit mo phing trén Sim Power Systems Hinh 1.6 Dép ting di ra.IV. KET LUAN Ding bp diéu khién ma PL v6i edu tric va thong s6 thich hgp, tbc 49 cia dong os duc digu khién bam theo téc dO dat cho trude. Voi két qué md phong wén Simulink (cde hdm toe hoc), tée AG dit May = 1750[vong/ phit] Khi mang tai, tbe do thye cua dong cor dat due nam 1538[véng! phiit]. Md phong trén SimPowerSvsiems (cde Khoi diéu Khién), We 4 di Nem 17S0{vong/ pt] khi mang ta, te 08 thye gia ding eo dat duge ig ~ 1731[¥ongy phit). NI vay véi bo diu khién mér PI nhur da thiét ké thi chat long cua hé luén luda duge dm bio kl tham s6 cua dong eo thay d6i, Két quii m6 phong chime t6 ring thudt toiin va each xdy dmg t digu khién mis PI cho hg truyén dong dng co dign mot chigu la ding din, b9 diéu khién khong phai gidi bai tod nhdn dang hay six dung ede bo ude lugny thong s6 ma vin eho duge k qua didu khién £6 chide hyng cao. TALLIEU THAM KHAO, [1] Phan Xuan Minh, Nguyén Doin Phuse , Ly dhuyét diéu khidn md, Nha xuat ban Khoa by va KY thudt, Ha Noi 2002 [2] Neuydn Trong Thuin, Didu khién Logic vi tang dung, Nha xudt bin Khoa hoe vi K thug, Ha Noi 2000, 1B] Bai Quée Khanh, Nguyén Vin Lign, Pham Quée Hai, Duong Vin Nahi, Didw chin dng truyén dong dign, Nha xuat ban Khoa hoc vii KS thuat, Ha N6i 2004 [4] LiXin Wang, 4 Course in Fuzzy Systems and Control, Prentice Hall 1997. [5] Michio Sugeno & Toshiro Tarano & Kuioji Asai, Fuzzy Sistem Theory and 1 Applications, Academie Press 1992. [6] Fuzzy Logie Toolbox User's Guide, The Math Works, Ine 1995 — 2008.