M HNH HA NG C TUYN TNH KCH THCH VNH CU DNG

POLYSOLENOID PHC V BI TON IU KHIN THI GIAN THC

Nguyn Hng Quang

i hc K thut Cng nghip, i hc Thi Nguyn.
Abstract: Polysolenoid permanent-stimulation linear motors are short stator linear motors. A
special feature is that their linear movements are translationary to a circular axis. This feature
makes them different from other linear motors which have flat structures. This paper focuses
on introducing Polysolenoid motors and constructing mathematical models of these objects.

Key words:Polysolenoid linear machine,two-phase inverter topologies,Permanent Magnet

Machines

Tm tt: ng c tuyn tnh kch thch vnh Ch vit tt ngha

cu dng Polysolenoid l ng tuyn tnh
CB ng c ng b
thuc dng Stator ngn. im c bit y
chnh l chuyn ng thng c thc hin CTT ng c tuyn tnh
tnh tin theo trc trn khc vi cac ng c
tuyn tnh c kt cu phng khc. Trong bi BKTVC ng b kch thch vnh
vit tp trung vo vn gii thiu v ng cu
c Polysolenoid v xy dng m t ton hc, 1. M u
m hnh ha cho i tng ny.
ng c tuyn tnh kch thch vnh
K hiu: cu dng Polysolenoid thuc nhm ng c
ng b kch thch vnh cu dng Stator
ngn v c cu to hnh ng.
K hiu n ngha
v
Lsd, Lsq H in cmstator dc trc
v ngang trc
m kg khi lng rotor
us, is V,A vector in pstator,
dng in stator
v, ve m/s vn tc c, vn tc
in
Rs in tr stator Hnh 1:Cu to ca ng c kch thch vnh
isd, isq A dng in trc dq cu dng Polysolenoid
usd, usq V in p trc dq Xt v bn cht ca CTT th y l mt
mm bc cc loi ng c to trc tip chuyn ng
thng.Nu thc hin tri di ng c trn, ta
p s i cc s c CTT. Nguyn l lm vic ca
p Wb t thng cc t CTT cng ging nh ng c quay thng
dng da trn hin tng cm ng in t.
x mm v tr ng c tuyn
Lc Lorentz F = qv B trong CTT l lc
tnh
y tc ng ln phn ng theo phng tnh
Ch vit tt
tin thay v vic sinh ra momen quay trong
my in quay thng thng.

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122
 Rotor l mt thanh nam chm vnh
cu c ghp t cc lt nam chm t him
NdFeB (neodymium) nh sau :

Hnh2 : Rotor ca ng c ni chung

(a) Rotor ng c quay
(b) Rotor c ct v tri ra t (a)
(c) Rotor c cun li t (b)
Khi cho dng in xoay chiu vo dy Hnh 4 : kt cu Rotor (phn th cp)
qun s cp lm xut hin t trng chy
trong khe h gia phn s cp v phn th
Stator gm cc cun dy c cun
cp. T trng ny qut qua cc thanh dn
ca phn th cp lm xut hin trong chng nh sau :
sc in ng cm ng. Do dy qun th cp
ngn mch nn sinh ra dng in ng. T
trng chy tc dng vi dng in phn
ng sinh ra lc in t c xu hng ko
phn th cp chy cng chiu t trng. V
th cp c nh nn to ra phn lc c tc
dng y phn s cp chy theo chiu ngc Hnh 5: Kt cu ca Stator (phn s cp)
vi t trng. Bn trong ng c cn c 2 cm bin
v tr Hall :

Hnh 3 : S cu to bn trong CTT

BKTVC Polysolenoid
Hnh 6: cm bin sin v cosin ca ng c
Kt cu bn trong ng c gm nhng
phn chnh sau :

Hnh 7: Kt cu ng c LinMot kiu Polysolenoid

2. Xy dng m t ton hc cho ng c
Polysolenoid
CTT BKTVC 2 pha lm vic da trn
hin tng cm ng in t. Khi cc cun
dy c cp ngun th dng xoay chiu 2
pha trn 2 cun dy s to thnh vector dng
di chuyn theo phng nm ngang v thnh
phn dc trc q ca n s tng tc vi t
thng p ca nam chm vnh cu, to lc y
cc cun dy trong b phn s cp ca

123
2
CTT BKTVC. C 1 im cn lu trong D thy thnh phn cui c trng cho
CTT l i vi cc vector (is, s, ) m t nng lng in t i vo 2 pha ca ng c.
cc i lng vt l th im gc cng c
2. .v
ngha quan trng. iu ny c th thy r pdt = isq [( Lsd Lsq )isd + p ] ( 6 )
thng qua v d sau : gi s c 2 vector dng
in is bng nhau xut pht t 2 v tr P1, P2 Vi CTT 2 pha p i cc,ta c
khc nhau s cho ta 2 phn b t thng 2 :
v tr khc nhau. Khi 2 vector bng nhau p 2. .v
ny s nh x vi 2 vector khc nhau trong F = p. dt = p. isq [(Lsd Lsq )isd + p ] ( 7 )
v .v
h trc ta quay tng ng v mt in. Hay
y l im khc so vi ng c quay, do
2.
trong ng c quay, hu ht cc vector (is, F= p isq [(Lsd Lsq )isd + p ] ( 8 )
s,. ) u c gc t tm O ca ng c.
Vy ta c phng trnh ng hc ca
2.1 M hnh trng thi lin tc CTT trong h dq :

Phng trnh in p stator : disd Rs 1 2. .v Lsq

dt = L .isd + L .usd + . L .isq
sd sd sd

d s disq Rs 1 2 .v Lsd 2 .v p
us = Rs .is + (1)
dt
= .isq + .usq
Lsq Lsq
. .isd
Lsq
.
Lsq 9
( )
dt
2.
s gm 2 thnh phn l sd v sq: mx = p isq [(Lsd Lsq )isd + p ] Fc

dx = v
sd = Lsd .isd + p dt
( 2) disd Rs 1 2. .v Lsq
sq = Lsq .isq dt = L .isd + L .usd + . L .isq
sd sd sd

Suy ra : disq R 1 2 .v Lsd 2 .v p

= s .isq + .usq . .isd . (10 )
disd dt L L L Lsq
usd = Rs .isd + Lsd dt ws .Lsq .isq
sq sq sq

2.
( 3) F = p i [(L Lsq )isd + p ]
u = R .i + L disq + w .L .i + w . sq sd
sq s sq sq
dt
s sd sd s p

T cc phng trnh trn, ta thu c m

disd Rs 1 2. .v Lsq hnh trng thi lin tc :
dt = L .isd + L .usd + . L .isq JG
d is JG JJG JG
( 4)
sd

sd sd
= A.is + B .u s + N .is .v + S . p .v
disq = Rs .i + 1 .u 2. .v . Lsd .i 2. .v . p dt
dt Lsq
sq
Lsq
sq
Lsq
sd
Lsq JG isd JJG u sd
is = ; u s = (11)
Thit lp phng trnh tnh lc y ca isq u sq
ng c
Rs 1
Nng lng a vo 2 pha ca 2 cun L 0 L 0
A= ; B =
sd sd

dystator:
0 s
R
0
1
L sq Lsq
pin = u A .iA + u B .iB = usd .isd + usq .isq 2. L sq
0 . 0
Lsd
N = ; S = 2. 1 (12 )
2. Lsd .
di . L 0 Lsq
u sd .isd + u sq .isq = Rs .isd + Lsd .isd sd
2
sq
dt
di
+ Rs .isq 2 + Lsq .isq sq
dt
2. .v
+ isq [( Lsd Lsq )isd + p ] ( 5 )

124
123
 gin on ha m hnh, ta tm coi p
l tham s h thng ( do tnh cht hng
ca p )
JG
dis JG JJG JG
= Ai. s + B*.v f + N .is .v (13)
dt

Vi :
JJG
v f = usd , usq , v ; B* = B, S . p (14)

M hnh gin on ca ng c ng b
Hnh 8 : M hnh trng thi CTT trn khng gian trng thi sau khi tch phn
BKTVC trn h ta dq lp m hnh trn :
Nhn vo m hnh ta thy tn hiu vo
is (k + 1) = .is (k ) + H *v f (k ) (15)
ca h thng khng ch c vector in p us
Vi :
m cn c c tc v. Nh vy bin trng
Tv
= [ A+ Nv
. (k)]
A+N.v(k)T v
thi dng in khng ch ph thuc vo cc = e (16)
v=0 v!
gi tr in p usd, usq m cn ph thuc c
(k+1)T
Tv *
vo tc ng c. Tnh cht phi tuyn ca eA+N.v(k) dB* = [ A+ Nv
. (k)]
v1
H=
*
B (17)
CTT BKTVC th hin tch gia bin kT v=1 v!
trng thi is v bin vo v qua thnh phn
JG Kt qu xp x bc nht ca ma trn
N .is .v vi yu t quyt nh l ma trn N.
chuyn trng thi v ma trn u vo nh
Ngoi c im phi tuyn mang cu trc sau:
ni trn, tnh phi tuyn ca CTT BKTVC
T 2. Lsq
cn th hin 2 c im chnh sau : 1 v.T . .
Tsd Lsd *
= ; H = [ H , h];
2. Lsd T
Cc tham s ph thuc vo bin trng v.T . . 1
thi theo quan h bo ha (L(i),). iu ny Lsq Tsq
khin cho m hnh ng c mang c im T
L 0 0
phi tuyn, khng c tnh xp chng.
; h = 2. v.T (18)

sd
Mt s hin tng phi tuyn khc c H=
T .
th c loi b khi phn tch h thng nh 0 L Lsq
sq
hin tng mt ngoi, in tr phi tuyn,
dng xoy Foucault,Nhn vo m hnh ta
thy tn hiu vo ca h thng khng ch c
vector in p us m cn c c tc v. Nh
vy bin trng thi dng in khng ch ph
thuc vo cc gi tr in p usd, usq m cn
ph thuc c vo tc ng c. Tnh cht
phi tuyn ca CTT BKTVC th hin
tch gia bin trng
JG
thi is v bin vo v qua
thnh phn N .is .v vi yu t quyt nh l Hnh9 : M hnh trng thi gin on ca
CTT BKTVC
ma trn N.
2.2 M hnh trng thi gin on Cui cng, ta c m hnh trng thi gin
on ca ng c ng b nh sau :

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is(k+1) = .is(k) + H.us(k) + h.p(k)(19)
Trn min nh z
zis(z) = .is(z) + H.us(z) + h.p(z)(20)
Gi s y l i lng u ra thc s ca
khu iu chnh, khi ta c hm t cho
khu c dng sau :
us(k) = H-1[y(k-1) - h.(k)]
hayus(k+1) = H-1[y(k) - h.(k+1)] (22)
Biu thc c cha y(k-1) th hin r
rng khi tnh in p us(k) ca chu k hin
ti, ta s dng i lng u ra y(k-1) ca
chu k trc, tc l tnh c tr hardware
lm tr mt nhp tnh trong hm t khu
iu chnh. -h.(k) c nhim v b thnh
phn ph thuc t thng rotor. Hiu qu b
s c thy r khi thay vo phng trnh
trn :
is(k+1) = .is(k) + y(k-1)
Trn min z, m hnh c dng
[zI-]is(z) = z-1y(z)
Hnh 10: M hnh b t thng ca i
tng dng stator ng c ng b
Hnh 11: M hnh ng c PLECS
3. M hnh ha ng c Polysolenoid trn
nn Matlab-Simulink-Plecs
M hnh m phng ny gm cc b phn
chnh nh sau: M hnh ng c tuyn tnh
BKTVC, mch nghch lu.M hnh CTT
BKTVC c xy dng trn m hnh ton
hc v vi cc tham s c ly t loi ng
c LinMot P01_48x240/390x540_C .
M hnh mch nghch lu c m phng
(21) bng phn mm PLECS ca hng Plexim.
y l phn mm thng c la chn
trong cc m phng tc cao ca cc h
thng in t cng sut trong mi trng
Matlab- Simulink. PLECS cho php m t
mch in v cc linh kin in t di dng
s nguyn l, trong cc linh kin v
thit b c ni mch mt cch trc quan
nh trong thc t. Vi c im l mt
Toolbox ca Simulink v hot ng bn
trong mi trng ny, PLECS c kh nng
ghp ni vi cc h thng khc c xy
dng trn nn Simulink, y l mt c im
rt hu dng ca phn mm ny so vi cc
phn mm cng loi.
(23)
(24)
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125
 iu khin m hnh ng c ny, ta Ti liu tham kho:
cn s dng khu nghch lu 2 pha 4 nhnh
van. u nhc im ca phng php ny [1] Nguyn Phng Quang (2003),
so vi iu ch thng thng c cp Matlab v Simulink dnh cho k s iu
trong phn nguyn l bin tn. V phng khin t ng, Nh xut bn KH&KT.
php iu ch cn mi m nn trong PLECS [2] Nguyn Phng Quang (2009), Bi
cha c khi ny c xy dng sn, ta phi ging iu khin s. Version 5.
t xy dng khi cng nh lp trnh iu [3] I. Boldea, Syed A. Nasar (1997),
khin thi gian ng ngt cc van.
Linear Electric Actuators and
Generators. Cambridge University Press.
[4] Linmot Documentation,
http://linmot.com
[5] Jacek F.Gieras and Znigniew
J.Piech (2000), Linear synchronous
motors Transportation and Automation
Systems.CRC Press.
[6] Mohan, Ned; Undeland, Tore;
Hnh 12 : M hnh khi nghch lu 4 Robbin, Willian (1995), Power
nhnh van Electronics: Converters, Applications and
Design, 2nd Edition, John Wiley & Sons,
s dng khi nghch lu ny, ta cn Inc.
cung cp u vo khi Pulse gm 8 xung [7] Nguyn Phng Quang, Andreas
iu khin iu khin 8 van IGBT pha Dittrich (2008), Vector Control of Three-
trong mch nghch lu, Phase AC Machines. System
Development in the Practice, Springer.
Ausderau, Polysolenoid-Linearantrieb mit
genutetem Stator.

Hnh 13 : u ni gia ng c v nghch

lu trong PLECS
4. Kt lun: Trong bi vit ny trnh by
phng php xy dng m t ton hc cho
ng c tuyn tnh dng Polysolenoid trong
min lin tc v trong min gin on, m
hnh ha i tng trn nnMatlab-
Simulink-Plecs. iu ny to c s cho vic
kim nghim cc thut ton iu khin cho
i tng l tin quan trng cho vic thc
hin m phng trc khi trin khai thc
nghim trn thit b thc.

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