LEVAN DOANH

NGUYEN THE CONG

NGUYEN TRUNG SON
CAO V AN THANH

. ,,~ ,
NHA XUAT BAN
KHOA HQC V A KY THUA.T
 LE VAN DOANH, NGUY~N THE CONG
NGUY~N TRUNG SON, CAO VAN THANH

'A A? K

DIED KHIEN SO
MAY DrEN
•
(Dung cho sinh vien cac truong ky thu¢t)

NHA XU AT BAN KHOA HOC VA KY THU~T

HA NOI " 1999
 Chla Irdch nhiiJm xw:ll /Jdn I·I!.!>. I·Lo;. TO nANG HAl
Bien ItJp N~uy~ f)i'inl!:

eM IxiII : Trap Viill Cam

Ve bia : Ihnm" IAII

Ma ,,6: 41-91-99
KHKT-9fl

In 1000 euon kh6 16 x 24 em ~ COng ty in HAng khOng. Gi!'iy phep xu!'it bBn
8641-91- 16/6/99. In xong va n(lp h1u ebi~u thang 7/1999
 UJI NOI DAU

Trong nhii:ng nltm gdn ddy di~u khiln may di/fn co bUGe phat triln
nhdy v9t. Do liz klt qua eua vi~c tang ctJng suat va cae linh ndng eua linh
ki~n di~n tit cong sUIlt uiI viifc pha! trilfn va Iwan thi~n cae co cau di~u
khitn so co l¢p trinh, eua cae b" vi xu ij, vi dieu khiCn. Truyen d¢ng di¢n
thong minh dlja tr~n kJ thu¢,t dieu khien s6 cho phep tq.o nen h~ thong
truyen d¢ng di¢n c6ng nghi~p chae chtin, tin ca.y, hiiju ,mtit caD, dcii dieu
khi{n rr'jng, dam brio cae chile nl1ng bdo U~ ... vi du, IPM rIntelligent Power
Module) eua Mitsubishi Electric dcii cong sur'it til 10 Aj600 V den 1200
A/3300 V, ASC 600 ella ABB, ALTNAR eua Telemecanique ... ia eae bf) di"i!u
khiCn d{)ng co xoay chieu vai cae finh ndng eMit luong nhu M trnyen d¢ng
mQt chieu.

Nhung hq-n ehe eua hJ thurU luang tlf nhu sl/ troi tMng so, slj lam
ui¢e on dinh dai han, nhCtng kh6 khrm eua ui¢e tlwe hi~n die chile nang
dfeu khien phl1c tqp dti thue day vi€,!e chuyen nhanh sang c6ng ngh¢ s6
trong nhung nam 70. S,-! xuut hi~n ua hoan thi~n eua cae bl') vi xU if mqnh
nhung nam 80 cho phep thlfe hien dieu khien vecto, tc!o n~n h¢ truy"~n d¢ng
xoay ehieu co chat luqng caD. Kj thuq.t 86 eung eho phlip tgo nen cae thu{J.t
toan dieu khien phuc tqp ma kJ thu¢-t tuang tl! khong cho phep.
Ngoai ra di~u khten 86 can eo Uu tht" quyet .dinh ve mq,t c6ng nghi!.
CiLng mot ca eau dieu khien 80 co the d6ng var tro giao dii?n uai nguiJi
UQ,n hanh, thlfe hien crie ehue nang ehq,y, dUng, doi ehieu, dlf bao, tu uan ...
Moi ehue nling phue tqp eua truy~n d¢ng dir;n deu co the giili quyet dU(Jc
being cae co eau di"i!u khien s6. Di"i!u khien so con cho p/zep tiet ki€'!m linh
ki¢n philn cl1ng, cho pltf!p lieu chunn !toa: vai cung mot b¢ vi xu If, mr)t
edu true philn cung co the dung cho nwi ung dung, chi' can thay doi nl')i
dung b(J nha. Cuoi eung nho tien b6 trang et'lng ngM maeh to hap eho phep
thlj:c hir;n cci"-e ehue nang phl1e tQ.P voi k[ch thude nho, d(J tin ct;ty caD, liIm
vii!c chric chrin.
Tuy nhien di"i!u khien so may di~ cung ddt ra n/tCtng doi hOi kM,t
khe. Vi¢c thanh ltip cae lhu¢.t toan di,eu kllien ciln biet ro cae d4c t[nh eua
d6i tuqng dieu khien, ma hinh cua chung d cluJ" d(J lien tuc dlng nhu a
eM" dO rai rgc. Dieu khien 096 to. dieu khien thai gian thue eua qua trinh
phtle tQ.P, dien bien nhanh chOng, dai hoi hJ thu{).t li,!p trinh hi! thong £1
mUe caD.
 Dieu ldllen s6 nuiy di~n ta noi hQi t~ dia nhieu nganh hhoa hqc PO
cong ngM thuQc linh vljc kJ thuf!,t di¢lt, di~n tli cong suat, dleu khien tlj
dong, kJ thu.(jt vi XII 1:'1 ... ddy La linh vue nit moi, chua dUQc gioi thi~u
£lay dli uai dQc gid Vi¢t Nam. Cac tac gid mong mu6n tTtnh bay nhung co
so t6i thu?i, thuQc linh vI./e di~u hhien s6 may di~n nhi'tm giup eho dQc girl
bllae dau tll'fp cq,n vai linh ul,Lc nay.
Quyen sach "Dieu khien 86 may di~n" gom 9 chuang.
Chuang 1. DQi rllang uc dieu khien 80 may dien, ITlnl! bay kllal quat
nhilng udn di! co brin cua dicu khiln nuiy dien, so sanh kJ thuq.t dieu khUn
tllang tu va dieu khitn s6. So do kh6i tOng quat cua dieu khien s6 nuiy
di¢n.
Chuang 2. Co sd .ui I:y tin I!i¢u so la chuong co tinh cMit chudn bt,
frrnh bay kh6,i quat co so bUn d6'i Laplace rai rQ.e va oien d6i Fourier rai
rqc.
ChuOl.g 3. Mo hinlt may di~n va of! bien d6i, trinh bay If thuye't may
dicn t6ng quat, m6 kink lien tue !.iQ. ma hinh Toi Tq,C clla nuiy difn va OQ
biell doi theo quan die"m dieu kllien.
Chuang 4. He thong dieu kllien 86, tTlnh b4)' phuong phrip phan tich
hi! dieu khien s6, dij.c tf nil elk b¢ dieu khifn s6', phuong phap ti nh cae yeu
t6 chiit luang cua Il{ di"l!u khUn 80.

Chuang 5. Tong hqp he dicu khien so, trinh bay phuang phap Mng hqp
M dii!u khlen sfi trong mien z, t6ng hap h~ dieu khie"n so tTOng kh6ng gian
fI'qnl? thrll.
Cln/ong 6. Cau truc phlm Cling ut"l yeu cii-Ii phan miJm voi dillu, klli/In
so. trlnh bay yeu cau d6i uoi b¢ pi .ui If va c6c giao di(!n, d~ diem lq,p
trtnh phan mem eho dii.lu kllifn sri.
Chuang 7. Dleu kllien so may di~n m¢t chieu, trinh bay cae van de
phrin dell ua Mng hqp he dieu kkien so nw.y dtfn m¢t cllieu.
Chuang 8. Dieu khie'n st'; may di~n xoay chleu 0 che' dQ x6.c lq.p, trinh
bU.y phuong phap phan tich Va t6ng hap dieu kllien s6 may kh6ng dong
bQ va dong bQ, dUf trr;mg phuong pllap dieu khien t/fa til thong rota la
phuong pllap dang th6ng dung.
Chuang 9. Dieu khic'n 86 !J1a)' (h¢1t ..lOay ciueu 0 clte'dq qua d6, tTinh
bay phuong pllap phdn ticll hi! dieu khien s6' may di¢n 0 chi d¢ chuyen
mqeh va qua dr).
QUYr"n .wich nay do cae can b(J nllom Dieu khien may di~n, B6 mon
Thie't bt di~n, Trl1iJng Dqi h9C Bach khaa viet. PGS. PTS. Le Van Doanh
chit bien.
C6 the coi quyt!"n Elach "Dieu khiPn ,;6 may dien" ta ph"lLn 66 sung eho
giao trinh "Dieu khlen tlf d¢ng trui~n d¢ng dien". Quyen stich nay dung
eho sinh vien cae ngiLnh Thie't bt di¢n, TIj dOng haa Xl nghiep, Dieu khien
tlf d6ng, Ky thu¢,t do va tin hoe e6ng nghiep. Quyen such nay cung dl1qc
dung lam tai lieu tham kluio cho cac k.Y sl1 di~n dang cong lac trong cac
co qu.an nghien c/lu, san Iunt va eae lop sau dqi hQc.
Vi trtnh dq va thoi gian eo hqn, sach hhOng tninh khoi sai s6t. Chu.ng
t6i mong nhq.n duqc cdc gop y, nhq.n xet cua d6ng dao bq.n d()C. Mvi thl1
til, gop y xin gUi r>~ B6 m6n Thiet bt di~n, Khoa Nang htqng, Truong Dqi
h9c Bach Khoa Hil. NOi, DT 8692511. Chung lOt xm cluin thanh cam an.

Cac tac gia

 ChlEllng I

'A 'A A' K,,,

DAI CLJONG VE DIEU KHIEN SO MAY DII;:N
Ch11dng nay co dnh chat nh(lp 1ll,6n, trlnh bay cau true cua h~ th6ng diflu
khien truyen d(mg di~n t11dng tl,i va truyen dqng di~n dieu khie'n bang ky
thu*,t s6, so sAnh uu khuyet diem cua tung M th6ng, phan tich s11 can thi~t
phaj ph6i hQ'p ca hai M th6ng diflu khi@,'n bJdng tl,i va dieu khien s6 trong
truylm d¢ng di~n, phan dch cac van de din s6 trong dreu khien truy1\n d¢ng
di~. PhAn dch cac yim cau d6i vai cac kh6i trang dieu khien s6 may di~n.

1.1 CAU TRUC HJl; TH6NG TRUYEN DONG DIJl;N

1.1.1 So' db kh6i t6ng quat ella h~ th6ng truyen dl)ng dit1in
Tren hinh 1.1 lit sCI do kh6i t6ng quat cua M ,~h6ng truyen dqng di$n gom
nhreu kh6i chis. thanh hai m~ch chfnh:
- Mqeh d(ing life gom bi) bien deli vii d¢ng Cd truyfm dqng. B9 bien doi
dong vai tro bitrn dOi di~n ap nguem cung cap ve di~n ap, dong di~n, tan so
phu hQ'p voi yeu cau cua cac d(mg cd truYfm de)ng,
B¢ bien doi co the la be) bien doi may di~n: may phat di$n m(;it chieu,
xoay chieui b9 bifn d5i di~n tit: khuech d~ t~, di~n khang baa bOa; bi? bien
d6i di~n tit cong sui'lt, BI) bien deli di~n tit cong suat th\1c eMit lit cac b¢ chuyen

y If!n

t= aa.'"dt;~;cam.
Oieu !chlin kbien
~p- vi tri: ~ V-
Oi€u
dong rJi~n
~
Oi§u I.-hie'n
bg bii'n rJoi
f=
foe t!.a
fj~crimbiin ~:~,
80 diin'} rli{n dOng ,Ji~n h:e n lacJ9
~ vi fr/

00 loc dp va vi lri'

Hlnh 1.1 Sd d6 kh& t6ng quM eua M thOng truy@n dQng diil:n.

7
ml;lch di~n ttl: lam vi(lc i'1 che d~ chuy~n nw-ch tl,l nhi~n do sl,l thay doi cuc
~l.nh cua di~n ap nguon ho~c chuyen rn\,!ch cuang buc. Do sl,l horm thien cua
kg thu~t di$n tu: conp; suat vai sl.! ra dai clla tiristo (1960), tiristo khoa bang
cl,lc dieu khie'n GTO (Gate Turn - Ofr Thyristor 1970;, tranzito c6ng suat kg
thu:,H MOS (Metal - Oxide - Semiconductor 1980), tranzito luang c\1c c6ng
cach di~n IGBT (Insulated Gate Bipolar Transitor 1990) voi cac uu diem
chuy€fn m~ch nhanh, tlnh nang dong lip cao, chac chan, hi~u BUat cao, d¢ tin
c{l.y cao nen ngay nay cac b¢ bien doi dien tu: cong suat hoan toan chiem uu
the
DOng cd truyen dong co cac loai dong cd IllOt chfeu, uong cd kh6ng dong
b¢, d¢ng cd d6ng bo va cac 10<:li dQng Cd d~c bi~t khac. Cac d9ng cd nay dlf;;C
cung dip M.ng dien tip u, dong di~n i va ~o nen momen cunp; cnp eho too Cd
khOng dfl c;ttp a day.
Mqch dieu khien bao gam eac carn bien do Itfl'lnp; dimg dg danh gia cac
thong s6 tn;mg thai cua lu~h dong h.1c va cac b~l di"~u khie'n tac dQng len cac
th6ng sO cua bO bien d6i nham duy tri cac dnh nang cua h~ thong truyfln
d9ng vI! toc do, dong di~n, mamen cung nhu cac ml,lc dich Illd may, ham, d6i
chieu quay va cac chuc nang bao ve khac
Cae cam bie'n do luang tronp; hi'> thong truy'fm dong di~n thuong bao gam:
- Cam bien dong diE)!n, thl1dng Ie. may bien dong danh gia tlnh trflng ul.ang
tai eua dOng Cd.
- Cam bien toc do thlJdng dung may phat t6e, bo chuyen m<;lch quang
dUng b/il thong tranzito quang va dia rna hoa.
- Cam bien vj trl. dung dIa rna hoa va bl> chuye'n lll.<:lch quang.
Cae bo dieu khien co th~ phftn thanh hai loai:
- BQ dH~u khien gan xac dinh thu tl,l va thdi die'm phat xung rnoi va khoa
cac Hnh ki~n di~n tu cong Buat theo eac chien lude dfeu khien bl? bien doi
nham cung dip cho dong cd nguon di~n ap va tan so theo dbi hoi eua truy'fm
dQng.
- BO diEm khien thui[Lt toilll nhatn giai quyel nhiing van de rieng cua
truYEm d¢ng nhu dieu khien toc df,l vA. vi trio han ch€ dong dipn, elic yeu cau
rna lllay ham va d6i chien. Th6ng thuang tin hieu ra rua kh6i dieu khien nay
130 m6men.
 1.1.2 Dieu khh!n tllang tl,l' va di~u khi6n 56
So d6 khrii hinh 1.1 If!. so db M th6ng di~u khi~n truy~n dQng di~n t1.1dng
tt1quen bi€t. Trang ;;;d do nay cac thong so tr~ng thai cua cac khoi la cac d~i
luqng lien t\!c. Tin hi(!u tit cac b(.l cam bign va cac b(J di"eu chinh 18. cae dai
IUQng li~n tuc nhAm duy trl di.ic tinr. cO cua dOng co thea dbi hoi eua ph\! tai.
Tren hinh 1.2 Ia Sd do di~u khie'n hOn hqp tuong tu va so dung dieu khi~n
truyl'm dqng di~n m(>t chiEm Sd do gam 2 philn:
- Phan tUdng W haa gom cae eam bien da Iuilng dong di(!n va t.oe d(l, bo
dieu ehinh dong dien, b(.l bi~n d6i a dAy la b(J bam dieu bien d(.l r(.lng xung

1----------1

IB9v,xir1y 1
, £. Bo hl6u chinn U

00 Icc d~
N
Ph.i"lll<lnllto,r

DBDRX dieu bien dO rOng )(ung. u di~ ap dieu khien bO bien deli
v~ tfn hi~u d~t dong di~n " sai I~ch dong di~n, 'v sai lech lac do

Hinh 1.2. So dO chllc na.ng dl~u khi@:n hOn hop Wong III va s6

Phan diEm khie:n so han g-om b9 vi xi't ly Jam nhi~m V1,l dieu ehinh toe d(l
va eae ehur nnn!! an tm'i.n. dong b¢ hoa. Sl,t khae nhau cd han eua phan dieu
khie'n s6 ;;;n ',"::1 dieu khie'n tuong tl,t la a ch6 vi(!e danh gia thong s6 trl.lng
thai eua he thOng va dua tin hi~u dieu khi~n tien hanh thea tong bUde thai
f;ian g9i lfl tin hieu rili r~c, tin hi~u luqng ti't hOa hO!.ie tin hi(!u so, Lue do a
moi thai die'm rai rl.le co mot to hqp bit lUang t.in tue vi'> h? t.hling. ell: thong
t.in s6 hoc chi eo hai llllk 0 vi"t 1 va thong s6 trl.lng thai ella h(! th6ng truyen
d(lng dUQe danh gia bang m(lt day bit.
B(l vi xlr If rling haat d(.lng t.hea nguyen If Iuong tu ho:'l thai gian. Thl1
tl! cae lenh dUQc thl,te hi~n thea tOng buac thai gian. Vi cae h(J vi xu If co
kha nAng thl,te hi~n dong t.hai cae thao tae voi so IUQng ral Ion nen thai gian
xtt If nl(.lt l~nh .may rat ngiin. VI d\1 bO vi xtt Iy 8 bit co kha nang bieu diEln
2k =256 trl.lng thai, voi b(l vi xU: ly Hi bit la :l[(! =
65535 trang' thai.
De' ph6i hQp giua ph':in so va philn tuong hr phii eei ho d6i t.udng tl! - s6

9
va b(l d6i so - Wdng tI,r. Trong cac ml,lc tiep thea se trinh bay chi tiet hOl.lt
d<)ng cua b¢ vi xu ly va cac bQ d8i ti.fdng t~ - s6 va h(l doi s6 - tUdng tlJ.

1.2 SO SANH DlEU KHIE:N s6 vA DlEU KHIE:N WONG TV

Vi¢c so sanh giua hai kg thul,l.t difuI khien tuong t« va diim khilln so rat
ur nh~
nhung cung riH thu vi. MOi lol,li dieu khie'n deu the hi¢n nhung uu va
nhu9c die'm, viec so sanh cho ta thay rO 51.! dm t.hiet phai chuyen sang ky
t.hu~t diea khien s6.

1.2.1 Cae h(l" chi cua dieu khU~n tllang tl,l' '10'8 lIU diem cua dieu
khU~n s6
- Nhu9C diem quan trQng nhal cua kg thu~t. tl1dng tt! lien qUlin den s,!
troi th6ng so do cac nguyen nhan co nguon goc khac nhau (do nhi¢t, h6a-ly,
Cd hoc. )
Cac hi~n tl1Qng nay lam thay d6i thOng so cua cae Hnh kien di~n tu, thay
doi di~n dung cua cac tl,l hoa, thay doi di~n tra cua cac chillt ap. Nhung hi~n
b.1Qng nay dan den su thay dbi Ch~111 thOng s6 cua cae phan til, Hun xuilt hi~n
di~n ap l(ich hay di~n lip t.roi 0 dau ra cac b¢ khuech dl.li thu~t t.oan Vi(!c khli
sl.! troi thong so doi hOi cac nha thiet ke 11ll.lch phai tim cae giai phap nhu sU:
dv.ng cac 1111ilch bu lam phuc tl.lP nll.lch va bing gia thanh. Trang khi do cac
linh ki(i.n so chi co hai muc cao va thilp (0 va 1) kh6ng ch~u anh huong cua
s\1 troi.
M¢t nhl1t;jc diem kh:ic cua kg thu(tt tUdng tu la nhl.lY VOl nhi~u. Nhi~u co
th~ phit. sinh do ban than linh ki~n (nhii2!u ve nhi~t) ho~c nhieu kg sinh blm
ngoiH do anh hUdng cua moi truong. LOlili nhieu nay d~c bi¢t quan tr9ng vI.
t.rong vi{\c dil';.u khi{\n truyen d(>ng di~n cac bO bien d6i la ngubn nhit\u ga.y
:'mh huang dang ke dE'n tudi di~n.
Cae cao truc so co t.he dl1Qc baa v~ chong nhiliu bang cae ky thu<)t lip
dl,lng cho kg thu~t tuong t.1,l nhu man chan, b9C kim., ngoai ra ng"Ubi t.a thubng
dung ky thu~t 19C so cho phep 10l.1i bo d.c diem bat thubng ma kMng hliln ch~
dili thong cua llll.lch
Vi~l'
truy'en dan t.in hi~u wong t1,1 cling !¢p khci khan do sl) suy giam tin
hi~u,trong khi do truyen dan ti.n hi¢u so a ph~tn vi hqp ly khbng ch!u anh
huong cua 51) suy giam..
Cac linh ki~n kg thu~t tudng t1,1 Cling co tinh chat khac nhliu ve th6ng

)0
;;6 khi dl1Qc Sfill xuat hang lo~t. Nguai ta cd the lo~i tru dUQc 81,1" sai khac ve
thong s6 bang phl1dng phap xac suat cling nhl1 chu y trong khi thie't ke che
t~o, tuy nhien hiEm tUQng nay lam cho cac linh ki~n kg thu$.t tuong t1,1 kelU

on d~nh va la nguon goc clla nhi~u.

Vi~c th1,1c hi~n Dl.9t so chuc nang nhll nho hoac tr~ Mng ky thu,flt wong
tlj gi.\p nhieu trd ng~i, tuy v~y h).i cd th~ thl)c hi~n nH dOn gian bang ky thu(i.t
so.
Cuoi cling can luu y rang do dnh phllc tl:\p cua vi.~c thl1c hi~n cac bl) di~u
khie'n kinh die'n rat it chuc nang tl10ng tl) cd the' dl1Qc th~c hi~n bang m~ch
t6 hQp va can den nhieu Hnh ki~n roi, vi~c thl,ic hi~n mach va hi~u chinh
chung ton nhieu thai gian va cong su-c, d.n co nhieu tiep di~tn lalll giam d¢
tin c~y cua cac nwch wong tl1. Vai lllU-C dO phu-c t~p ma m~ch tl10ng t1,1 trd
nen bat hdp Iy thi. doi voi nwch so van de trd nen kha ddn gian.

1.2.2 Uu dU~m cua thiet bi tllang til va nhllQ'c diem cua thil1t bi so
N goai cae nhuQe diem da phan deh d ml,lc trlm, ky thu!\\t dilm khien tlldng
t1,1 cung co nhung uu diptn ntH h~t ma khi chuy~'n sang kg thu(i.t 96 ta phai
hiu y giai quyet. Hai uu die'm quan trQng clm ky thU:;tt Wong tlj do IS. tac
dQng nhanh va lien t\lC, trong khi do ky thu(i.t s6 we dOng ch~tn hon va xl1
Iy cac d~i
luQng Iii roi r~c. Cac mc diem nay d~t ra nhreu van de doi voi vi~c
thiet ke h~ thong truyen d¢ng dit?n.
The dQn.g nhanh: Cac hi~n tuQng di~n to trong may di~n va bi? bien d6i
thuang di~n bien rat nhanh va cO th~ pha huy toan hI? he th6ng n~u x{ty ra
s1,1 co. Cac sd db wong h! tac dong gan nhu Wc thai trong khi do cac cd Call
so mc dl?ng Co thai gian.
V1l m:?t dfeu khH~'n"'96 van de thai gian tic d{lng d:Jt ra theo cac gdc do
khac nhau ti:Jy theo bai toan C\l the' clla M thong truyen dOng btl bien d6i
-d¢ng cO dit"m.
- BQ bien dOi cham, vi du b¢ chinh luu tiristo lam vit?c VOl hroi 50 Hz,
trong trllang hQp nay dieu khie'n so co the coi nhl1 TIlt ly tl1ong, co the' thve
hi~n cac chuc na.ng M.o v~ va. vi~c dil!u chinh dl1Qc thl,ie hi~n biing bQ vi xu
ly co tinh nang thong thl1dng.
- B(j bie'n deli tae d¢ng nhanh, vi dl,l b¢ bam lam vi¢c a tan ::;6 hang ch\lc
kHz, trong trl1ang hQP nay ngay cit. bi) vi x-l1 1y tac u¢ng rat nhanh ding din
phii Il1u y d~c bi~t va phai d1,1 dnh cae chien 1uQc dieu kh;en d\(a tren cac

11
glai phan '(e phan cung ho~c chuang trinh ph!n mem
V~ ml)t phAn cU"ng ta co the' dl! kipn ('ftc ('au true khae nhau:
" C;'iu true IHi (rong do cae chuc nang doi h6i tae dim~ nhllnh vi dl;l nweh
yong dong di~n dude' thlie hi".'n hhng cae Hnh kien tuong tit, con cae khai khac
dung kg thm):t so,
(':.\\( true hl),'lh t.Dnn dlfa trfon ky thu~t gO co th€ d1,1a lren cae glai phap
r.,lU tr(if' kh:it' nO'll! ~r11 dung n1¢t hoae nhih: b¢ vi xU lj !fun "j~c song song

hu;w 3rt d~tng cae phan tlt ben ngoai nhu b6 nho ngoai, bb d~m., m~ch logic
hlp trinh . Ngoai ra ('0 the su dl.,lng bi? vi xl! If th6ng dl;lng hoac chuy{m dung
nhtl b(:l xU: ly tin hi$u, b6 vi dieu khie'n th1,1e hi~n c~\c chue nang di\c bi¢L
V{. m~t p11i.'W 111(.m dl,fa tren cfic quan ni{'lll tin hqc ho~c quan niqm Vp

dieu khi6n tl,l d"ng,

Ve m:.).t tin hQc chuClng tdnh phan mell.l can co linh ch::lt ciiu trlie, su
d~ng ng6n ngiJ g~n vai ngon ngfJ' may (assembly) hol}.c ngtm n~{ cap CaD
nhung cflOg co nhung dQ.c dnh ctta hQP ngil" nhu ngi>n ngir C. Trong m9i
trdang hqp nhling kh6 khan rifmg ("ua vi¢c l(tp tdnh thdi gian th\l'C 1a t$p
hung vaa van de an toan va tac dQng nhanh.
Ve m~t di~u khie'n dut Tn cae gitti phap rifmg, vi~ mo Mnh hoa M lh6ng
reti r~c dl,fa tren bi~n doi 1., bien tl'~ng tMi nhU'ng cac phudng phap nay chi
don gUm trong t:ruong hqp h$ th6ng tuyen Hnh \W)t bien !OlQt bi€n VEto, ln9t
bie'n rll}, tat ca cae bien co the do duqc. Trang trubng hqp may di(\n Cl;I the
III nlliy di~n dong bo, kh6ng dbng b¢ hi phi tuye'n va nhieu bien, mQt s6 bien
quan tl'qng nhU: mornen, ttl thOng rolo C1ia may dien khang dong bi), dong
di~n trong dAy quan el\n cfw. m:iy dit;>n dong bb khong do duqc Cuoi cirng rnt)t
86 thong s6 ch\l yeu cua may nhtt di~n lrd rota elm dong eC1 khong dong ho
khbng pMi Iii. hang so. Vi nhilng dl).c dif.'m tri>n mf) hinh ViI c~lu true ella mlilch
oieu khien chn rl'lt nhieu van de ca.n phai giai quyet luy da co nhiim ..:6ng
trinh oe. e~p Leti "an de nay.

Tue drlng liln lUi:

D~cdie'01 tac dqng lien tl,lc eho phep cae Hnh ki~n hwng tv su d~ng hu:u
ich cho vi~c kh6ng ehe' eae bien (dong di~n, dien lip) CO:'ill bien thi8n rat nhanh
va co the gay nguy hiem ve rhU'dng di~n nay cac linh kien sO 111m vi(le Val
cac dai 111~mg r(ji r~c va the' hi(ln nhlJ'c!c diem trong linh vUe thn s6 bien thi~n

nhanh

12
 - M9t so phep toan lien t~c thuang du(}e S11 dung trong ky thu~t dfeu
khien, thong d~ng nhat la phep deh phim. BQ hi~u ehinh PI (deh philn ty l~)
dieu ehinh dong di~n bien thien nhanh t~o nen ache dQ xtie I~p gia trj dong
di~n trung binh bang gia trj dong di~n dl)t, trong khi do b(:t tieh phan s6 chi
eho gia t.rj gan dung ~llu gia trj trung blnh nay.
- lJa so d~i lu(}ng gl.lP trong thvc te ia cac d~i lu(}ng HEm tue. Dieu khi€n
t.huan .,0 doi hoi sv d~ng cae bi) doi tttdng t1,t - s6 sau bo cam bien. Vi$c nay
d':\t ra van de d(:t chinh xae va s6 hit do dUQ"e d6i voi dnh toan trung gian va
doi voi cae bien ra tac d(:tng len cac eo cau eong Buat.
- Ve m~t rai r':\.e hoa, vi d~ eac dUll bien toe dq neu ta chQn hq dim bien
tac dqng theo tan so, vi~c do se t.ien hanh trl,tc tiep duol d.;mg s6 nhung d':\t
dt/<;lC dQ ehinh xac cao se doi hai nhieu thai gian va ehu k5' lay m:1u phAi Ion,
dieu nay la bat l<;li cho vi~c on djnh eua illach vong dieu chinh, d~e bi~t. Q fan
so thap. vi the nguai ta tro I~i sit d~ng may phat toe va hi) bien d6i tuong
tv so co dai thong tot ho~c thay doi d¢ ehinh xac (s6 bit) tuy theo truang hQP
sil dung va dili toc do (t6c dq eao, toc dq thap, dieu chinh toe d¢, dieu chinh
vj t.ri . .J. Dieu nay d(1t ra van de ve lay mliu b:h buqc phlti co thai gian thvc
hien cac phep tinh dm thiet.
- Van de IUQ"ng tv hoa cling rat nh1.lY cam khi Jilill vi~c voi momen nha
tl'ong vi~c oieu chinh m{lch vong dong di~n. Dj{~u chinh sO dnh toan mrle d~t
dong di~n, a mue thap ehuan dong di~n ling voi so bit nha, do do kho xac
djnh. Nhi?u gay 1'a do viec Iu(;mg til hoa se Ion vA. d~ tao nen cae sl,l co, VI d~
t':\.o nen dao dong.

DIm gitin I'(i thiel k€ eua Ji"eu khien lurTnK W

Trong m~c t.ren t.a thay rang dieu khh~n tuong tv t.ro nen n~ng ne doi
voi cac d;~u khien phrlc tap, tuy nhi~n a mlic dlj ca c!'lu hQP Iy thi diEm khien
tl1dng t.1,1 I~i nIt dan gian ve phudng dien cau true.
Thl,1c v$.y vi ::;v hQ"p Iy ella thiet hj ho;,\e do cae t.hu nghi$m tieu chuan hoa
(dap ling dieu hoa, dap ling xung ddn vD nguai ta thl1ang co thai quen tim
kiem cac fila hinh toan lien t~c hang cae phuong trinh vi phan, ham truyen
d~t. va xac djnh kha d~ dang M so khu€eh d~i va hang so thai gian eua hi)
die.u ehtnh. Cac mo hinh nay Iii. gan dung nhung cae ky su biet TO chung dUQc
slr d~ng cho t.fnh toan sa h(:l cae b6 hieu ehtnh con cae thong so cua no co the
duqc tiep t~c hieu ehinh b1l.ng thVc nghi~m t~i eho lAp dat

13
 SIj tim kiem cau truc dlja tr€m viec Stl d1,lng cac m~ch yang long ghep van

~-~~~-~-~-~~~-~-­
di! giai quyet hem. Trong cac diU truc nay dau ra clla bl? di"€m chlnh ung voi
m¢t Yang, vi d1,l m~ch yang t6c d6 tTd thanh dai 111c;mg d~t cho b(:l diflu chlnh
cua m~ch yang b€m trong, vi d1,l m~ch yang dang dien, Cac bien nay lit cac
d~i h.1dng vat Iy, lien t1,lC nhtt dong di~n, t6c dQ dttQ'c do bang cac cam bien
ttwng tl,l cung clp cac d~i 111Q'ng lien tI,lC Ia cac di$n lip s1.1 d1,lng m(lt each
trl,lc tiep Tom l~i vi~c thi/~l ke m~ch dieu khie'n t.llcrng t.l,l va lien t.1,lc Cl'm M
thong dan den cau truc diim khi~n ddn gian
Trong khi do dieu khie'n so thl10ng d1.1Q'c coi Iil. di~u khien phuc tap. Cac
bien dieu khie'n khd truy nMp, trit trllong hgp chllcrng trinh phAn ml:'!m da.
dV kien. Neu ta Stl dung- b6 vi x1.1 If de thvc hi¢n nhieu chue nang can phai
thVc hi~n tam nhin tong the'. Dieu khien so cd the Hnh h9i Hnh thAn clla
dieu khien h1dng tv doi voi cac mach vong ben trong: lam gan dung lien tiep,
chia cat bai toan Ian thanh cac bai tOlin nho nhllng vi~c thvc hi~n bltng 96
khang Hnh ho~t nhu dieu khiP'n tttcrng- t.11.
- Chllcrng trlnh phan m"em phai x1.1 Iy tren mot khoi toan bO cac van de
ma dieu khien tlldng tu giiii quyet bang cac l11Mun rieng re,
- Viec thay d6i cae h~ so cua cac bc) dfeu chinh so t€ nhi hcrn nhieu so
voi vi~c hieu chinh be) dieu chinh tucrng b,1. Khi thu nghi~m m~ch tucrng tl,1
ta co the' dieu chinh tit tit cac thOng so Ine)t cach an toan, trong khi do voi
ky thu~t 96 l11"t IOi ve so cd the' gay nen M.u qua nghiem tr(;mg.
- Cuoi cung vi$c L1y mau rat d~ gay mat 6n djnh va kh6ng phiii baa gid
cung co th{i" gW dU<;jc thOng s6 cua chu ky lay mau do anh huang cUa thai
gian tinh toano
Do v~y eac 1116 hinh Sil d1,lng thl10ng 13. 1116 hinh lien tl,lc, dan den cac
thuit toan dieu khien lien tl,le sau do lam gan dung bang eac thul}t toan rai
n:te.
Chien luQ'c nay co nhung h~n che' (xual hiiiin dao dong ho~c mat 5n djnh
ma cac mo hlnh lien t1,lC khang the dl,1 tinh het), vi the vi{Jc m6 hinh hoa h~
thong thea quan diem dieu khie'n so dUQc phit trie'n rat m~nh. Ta se thAy 1'6
trong cac ehucrng tiep thea cae phudng phap bieu dien toan hQc 1a cOng Cl,l
quy gia doi vai vi$c tong hQ'p quy 1u~t dieu khien khi ta bien ddi cae m6 hlnh
t.oim hQc thanh cac ,,(1 do chtk mmg,
 1.2.3 Cae LlU diem c6 tlnh chat quy't d!nh cu. dieu khi'n s6
Ta thay rang trong cac lInh vl,lc quan tr9ng di'eu khi~n tuong tl,l co Liu
diem n6i bAt so vd'i di~lU khien so: do Ia dnh tac dong nhanh, Mc dOng li{!n
tl,lC, s\t dOn gian cua diu truc dieu khie'n. Nhung neu dieu khien may di~n
dAn dAn chuy~n sang dieu khien hoAn toan s6 IA do cac d$.c dnh quyet dinh
cua cac Hnh ki¢n 96. Cac Hnh ki¢n so cho phep th\tc hi~n cac thao tac phlic
ll;tp duoi d:;mg rAt chIle chan. Do dnh cMt nay noi chung 80% linh ki~n co
m(l.t tren thi truong hii?n nay la cac Hnh ki(ln s6. Do v~y mOt trao lLiu chung
trong ky thu~t la chuye'n ttl ky thu~t hldng tl,l sang ky thu~t s6 rnA dillu khilln
may di(!n khbng phai Is. truang hQ"p ngofJ.i I¢. ThlfC vi[l.y, ky thu~t s6 cho phep
tAng ty s6 gilla dnh nA.ng va gia thAnh. Cac uu di~m cua ky thut),t s6 th{i' hi(!n
cJ hai mat:

Dieu khi€'n thijng minh

Cac chuang trinh phAn m"{illl cho phep t6i uu hOR di"eu khien va thay d5i
cac dnh nang mong muon, VI d\l di~u khien rna men hoac t.u thong kh6ng
doL .. Co the' thl,lc hi(ln dieu khien logic phuc t~p nhLing trong truang hQ"p nay
gia thanh thiet bi r:'it dilt va ton nhieu thai gian thl1c hi¢n. Nha di"llu khie'n
so ta co the tru tinh cac d.i tien, Cll the la:
- Trong do luang va xu Iy tin hi¢u.
- Trong vi¢c danh gia cae d~i 1t1Q"ng ben trong h¢ thong (tu thong, cac
bien theo d9C tr\lc d va ngang tr1,lc q) ho~c cac bien ngoai khi ta muon lo~i
bO ml)t so cam bien VI d\l dun ·bien toc do.
- Trong vi¢c xay dl,lng cac thui[tt toan rn~nh han cac b(l dieu khie'n PID
kinh dien vi d1,.l nhu dieu khie'n phi tuyen, ho
hi(lu chinh tl,l thich nghi, M
th6ng co rno Mnh chua":n, che do tntQ"t va hi¢n nay Ie. dj"llu khien rna, dif!u
khien nOron.
~ Trong vi¢c tu vi'ln bao tri va phat hien sl,f co.
- Trong vi~c tn;l giup tl,l dong hoa qua trinh (Ina- l1uiy, ham, tinh toan
quy d~o chuan).

Viec tang cae tinh Dang nay eo the lam giam gia thanh do vi¢c don gian
hoa ve philn cung.

Dan Kian hOa lhifl hi, t;eu chufin h6a va tich hflP h6a
Vi cae chuc nang dieu khie'n dl1Qc thVc hi¢n chu yeu bang philn mem, cho

15
nlm voi cung mQt thi~t bi phan cung onl)t bt) vi xu ly va cac giao di~n) dut;lc
sit dl,lDg cho mQi 11ng d\lDg. Dreu nay dan den giaill cac chi tiet d1,l' phbng, do
do lilln giaill gia thanh.
MIJi.t khac dfeu khien may di~n IuOn nllm trong khung canh
d"ng hoa t1j
toan btl hi? th6ng, ngay nay dut;!c thlJc hi~n bimg may t:inh. Vcri cung m"t cong
ngM (sCi va cilng cac b¢ vi xu ly) co the th1jc hi(!n muc phan cAp t\! dQng hoa
khac nhau, Hun de dang cac dch hQ'p va dong b¢ hoa llWi phan tu. Cae dnh
chat nay khOng de dang nh~n dllQ'C vdi tl'l hQ'p bao ghm mQt may dnh trong
tam, cae otolmit l~p trlnh va cac b¢ di~u chinh tt10ng t1,1-

1.3 XU HUONG PHOI HOP mEU KillEN so vA D1EU KHutN TUONG

TV
Do cac d~c diem da neu a tren trong linh v1jc dieu khit?n truyen dQng
dii;m xu huang hQ'p ly Iii. dieu khien s6 dUQ'c th1jC hi¢n trucJc het a dfeu khie'n
toc dl) va vi tri ciing nht1 dieu khien so bl) bien dl'li. Cae chllc nang dbi hOi
diE!U khie'n tac d¢ng nhanh duQ'C th1jC hi(!n bang dieu khien tuong t\!. Cac
chuc nang a muc d(l cao, di~u khien th6ng minh nhung th1,l'c hil;m ch~m han
se duQ'c th\!c hi~n hllng kg thUt).t s6.

~n hlfu'-=C"-=ro='~"-t_ _ _ _ _ _ -1
L _ _~O::..c .llI'ft"'=---_~.,_'
..!....-
--1 N A
"
()o hit/no til'
;J. eo cOm hien" vQxll'ly,

Hlnh 1.3. Cau true dieu khien sO dOng cO di~n mot chillu.

Ta tra I:;ti vi du sd do hlnh 1.2 Cau truc dieu khie'n so cua sel do hinh
1.2 duQ'c cho tren hlnh 1.3.
Trong sd do nay ta nh~n thay co sl) ket ht;!p giua dieu khien tuong t1,1 va
di"eu khien so.
Co s\! phan chia cac diE!U khien dong di¢n, toc d(l Vll vi trl.
Dua vao cae: tin hi$u lien quan den an tOl'ill.

16
 - BQ dieu khien s6 dlla tin hi(>u dong Il(I hall.
Ml}.ch vbng lUang til in m(lch dieu chlnh dong di~n va b(l bi~n d6i phAi
rot nhanh va 6n dinh d~ dong di~n phdn il:ng dQng ca tac d(mg giln nhtl lil:c
thai . Chufln mil:c dong di~n dllQ"c tlnh toan bang bO dieu chinh 56 toc dQ. Lien
h~ giua cac phhn di~u khien 86 vA. dieu khi~n tllong tv nha cac bQ d6i wang
ttJ- s6 A- D va b¢ d6i s6 - luong l~t O-A. BQ di?!u chlnh thuang 11\ PID ,,6. Mo
hlnh loan hQe ella M th6ng va phllang phap phftn deh h~ tMng dieu khi~n
truyen dOng di(! n mQt chieu s~ dllQC dl! c~p trong "huang 5.

1.4. PH61 flOP D1EU KHiEN TUONG TV vA DIEU KHIEN s6 TRONG

D1EU KHlE~ DONG CO KH(JNG D()NG BO

&0-,. ba
Ph. '"-";!--!--1

Cuv chI pha C

MayblM
apKung

8# sa sanll

Bp vi xV Ii
580,

Hlnh 1.• 0i8u kh~n dOng cd hh6ng dl.ng bO r6to dAy quAn ph6i hdp
d~ khiin hJdng IIJ vi dlkJ khiiin sO.

11
 De' lam sang to tinh than ph6i h<;lp dil!u khien s6 va dieu khien tt1dng t1,l
ta xet so do dfeu khien d~ng co khong di"ing b~ rOta day qmin co hai nguon
cap tren hlnh 1.4.
Stato dut;lc cung cap tit lubi 50 Hz, dieu khi~n dU:9c thllc hi$n Mng vi~c
di~u chinh nguon cung clip cho rota qua b~ bien tan ba pha. Moi pha rota
dU<;lc n6i voi hloi qua hai cau Graetz n6i song song ng119c.
Tr{m Old do hint"! 1.4 ta nh~n thay:
- Phan di(m khien tuong t1,i baa gom mliy phlit xung va logic chuy{{n m~ch
cua chung.
Philn dil~m khien s6 tht!c hi$n m(:it s6 chuc nang dieu khien b(l bien tan:
• Phat tin hi$u di"eu khien ba pha
Xac dinh thai diem chuyen llwch cua m(:it cau so voi cau kia bAt da.u
t\1 s"l,i deli dau cua dong di~n. Dieu nay dUQc xac dinh nha b<) lQc co tan
s6 cat dUQc kMng che.
Tinh toan dieu ki$n dau cUa goc moi cau ngu<;lc (If' 2. = Jr - '1'1) de dAm
bAa s1,l lien b,lc cua di$n lip trong phs co lien quan.

1.5 VAN DE TAN s6 TRONG DIEU KHiEN s6 MAY DI~N

De thay ro cac van de d~t ra voi dieu khien so d~c bi$t neu so slinh voi
dieu khie'n tuang t1,l ta xet vi dl,l dau ti~n ve dieu khi~'n trl,lC trong robot. Ta
co the dLla ra co thai gian th1,lc hi¢n cac dieu khien khac nhau tren bieu do
thai gian d hlnh 1.5 gom 6 muc dieu khh~·n. Trang l$p trinh thai gian thvc
de thvc hi$n nhiem Vl,l nay ta co the gia. thh~t rang mlii chuc nang dUQC th1,iC
hi$n bang mot chuong trlnh con rieng re nam t'rong DlUC Ull tien ngat rieng.
Vi ly do an toan so cang Ian muc Ull tien cang cao. Ta co the dua ra gia tri
dien hinh cua chu ky lay mllu gan voi tUng nhi~m Vl,l. Nhu v~y co thEi phAn
ra cac nluc sau:
Muc 1, chuan vi tri dUQc hien thj vm chu ky co 10ms;
Muc 2, bt) dfeu chinh v1 tri, may tinh quy d~o voi ehu ky My mau 10ms;
Mue 3, ma.y phAi dap ung voi toc d(:i trong khoAng vai mili giay. DAi
tMng Me d9 vao khoang vai trAm Hz, do do chu ky lAy ma.u co mili glAy.
- Mue 4, momen phili dap ung trong khoang vai tr6m micn') gilly, cae m~eh
vbng dong di~n phAi co dAi tMng vai. kHz, chu ky bly mau khOl:lng 100 J.1s;
- Muc 5, bl) nghich luu cung ctlp eho d¢ng Cd cha:p hanh dung sO do tranzito,

18
tan s6 chuye'n m~ch thuang
chu ky may f(nh qui ,juo -- Jams
Ion tu 5 den 20 kHz, chu ky
(hu kif b{j ,ji€u chihh vi fr;' ~ /0 ms
bam la 50 fiS.
(nil ky bo (lie" eli/nk IDe tla., tms
- Milc 6, m6i be;. bien doi
Chu,;: bOJjig~~lnh
don (lifn Jo S
phAi kh6ng ch€ d1l9C cac hi(m
,, ,,
tt/9ng di~n xAy ra rat nhanh , ChI! ky hdm rhu kif
hi !J;en rfai gidm $fjf ,,
(an to~m, giarn sat 51! chuyen , '"50]''i , ~lpS
3

nWch cua linh ki~n, do do

khoAng thai gian co micro ~,"" Jri1~ 6lf6lr6l"
- --
-- ~

giay ho~c nha hdn).

Mot vi d\l khac ve bieu do Hinh 1.5. Si~u d5 thdi gian di~u khi~n true
raMt b~ng bO nghieh Illu Iranzito.
thai gian la bO bien d6j toc dO
de;.ng cd dUQC cung cap bing
bO bien doi chuyen m~ch tl!
nhit"m bang cau tiristo a tan , y
'" m - m

so 50 Hz. Ta c6 cac rnlilch chu ky bp (Mu chin/!

d009 Jien'3,]ms
vong dong dit"m va doi voj be;.
ngh~ch 11lu co tan so rat thilp, ,, clw ky enuye}" ,
Trim bieu do thai gian hinh , milch bp Nlnda; 4 s
~3,lmS
1.6 tan s6 chuyen rn~ch eua
bi? bien doi 113. viii tram Hz,
thai gian dap ung so voi bieu
dO hinh 1 5 chi ling voj 3 milc Hinh 1.11. Siau do thdi gian bQ bign dOi ehuyiin
m~ch tV nhi~n bA.ng bO chinh Illu tiristo
mac 3: dieu chinh toe do;
mac 4: di"E!u chinh dong di¢n;
muc 5: philt xung di"eu khi~n hi? bi{fn doL

1.6 BAI TOAN DAT RA DOl VOl DIEU KHIEN SO MAY DIeN
Dieu khien so nUly di¢n la dieu khien thai gian thljC clla d6i tL/9ng co rna
hinh toan phuc t;:tp. N6i chung nhi$rn V\l dieu khien so nHiy di~n dUdC chia
thanh cac blloe sau

1.6.1 Xiy dvng mb hinh dieu khi~n

Xuat phat til nhiem V\l dieu khie'n truyen d¢ng diE;!n ch(;m sd do bo bien
doi va d(mg Cd tnlyen d¢ng thich h9P, xay dl!ng sd do rn<),ch di?ng ll,lc va dieu

19
khie'n. TO: mo hinh tong quat phan tich va chia thanh cac vbng diEm khien.
Phan cap die vang dieu khien xac dinh vang dieu khien tu'dng t1,1 va vang
dieu khie'n ::;0, ch9n chien IUge dieu khiE'n.

l.S.2 Xciy dl,l'ng mO hinh toan cho he trUYEm dQng di~n

Xay dl,lng mo hinh toan eho bl? bien d6i dQng cd truyen d(mg va mo hinh
toan cua cae cam bien do luong, cac co cau so sanh, chap hanh.

1,S.3 Xac dinh thong so cua cac m~ch yang tuang tl,l'
Can ell vao cae dap ung Hnh va d(>ng va ket cau m~eh vang dieu khien
tu'ong tv, phan tieh va tong hop thOng 56 m~eh vang tuong t1,1 du'a trEm co so
ham truyi;m va bien deli Laplace.

1.S,4 Xac dinh thong 56 cua m~ch Yang di~u khien 56

Nhi$lll Vl,l nay baa gom hai van d'A quan trt;mg:
- Phiin cling: ch9n bo vi xli ly cd bit may, toc do, dung hieing bo nha, s6
giao dien VaG ra t.hich hl.1p eho nhi~m VI,l dieu khien.
- Phan mem: MC dinh ehu ky lilY nul.u va lap trinh eho m~eh di"eu khie'n
so. D1,1 t.inh d.c ch(ie nang bao v~, an toan, lien dQng v,\ cac ehllc nang ma
lluiy, ham dong cel. De thVc hi$n cae ehue nang nay t.a se si1 dung eac m6
hinh so d-lJa tn?n bien doi Laplacp roi rac (hien d6i z), ph,\n tieh m~ch dieu
khien tudng tl,l va so dua t.ren co sa grafeet, m~ng Petri. Chung ta se phan
tich chi tiet cac van de nay trong cae chuong sau
De lam vi du ta xet cau trlle t6ng quat ella h$ thong diCu khie'n hoan
toan s6 dong dieu khif,'n dong cel mot. chieu gom cae mach vong dieu chinh
dang di~n va dieu ehinh t6c dQ. TrE'n hinh 1-7a 1ft sa do chue nang, hinh 1-7h
h\ sa uo bf.i t.ri phi"m eung va hinh 107c 1<\ bi~u do thai gian. May tlnh thu'c
hien nhi~m vu bo dieu ehinh cling vdi cae C<'l.Ill bien tac dQng len bQ bien doi
]fl b6 ham dong di~n 1119t chieu cung cap di~n eha d9ng co 'Trong so do 16 trl
ph an cling hinh 1-7h ta nhan thay co su phan ehia nhi~m V\l giila 2 may vi
tinh:
May vi tinh chinh d,\m nhipm·
Dietl chinh vi t.ri
Dieu chinh toe dQ
Dieu chinh dong dien

20
 ----- I Cdm-bieiJ~ ____--J
--- -- ---- -- ·1 Cam hien d:EZJ------- ------
0) Sd di5 kh5; cllI/'C nang

May I/nh chinh

_ Dieu chinn vi ki'

_ Di€1/ eh/nh lo~ do
_ OI€U chinn dong dl~n
_ An foon
· T/nh cae (tiling ddl vi fri'
· Giao hip
· Ghi
~ D{~IJ khien fruyen dJ Ilfli

h) Sd clJ ba' fr/ plufn cII'ng

, _____________ Do vi Iri'
____________ Da 10' dp
r- ______.._ Df} dang dien .,
,-
, r--- __ fin h;§u
- Jieu /chien &5 bIen £J
,2 B"O,eu d'"chrnh vi Irr 'pp
: I "~'~
I 'H--t----L+-T- pp I I I~:1- ~
3 [),1!u chlnh toe do L_l1 U~_ ~__~_4 \ 5_~---':__ 7 i_~~_ 3 ,4 67
4 Oi'eu chlnh dong dien i: \________ ~-----+-i ~
5 Chu.i n bl d,1!u chlnh dong olen', :fo------ Tcv "
________ -----j----".f
I

6 Chuiin bl dj'eu chi'nh tOe d o :

7 Ghl
PP Tni ve chudng tr'inh chtllh
-
:
J.o- __
Tcp

T
- ------------j
,
----i'!-- - - - -
To, Chu ky lay miiu cua bQ dl1!u chi'nh dong
T, v Chu ky lay miiu be dleu chi'nh toe d6
c) Bie.~ da Ihiii gion
T,." Chu ky lay mau bo dieu ehlnh VI Irl

Hlnh 1_7. Cau true he th6ng dleu khie'n hoan toan 0.6.

21
 An toan, baa v~

Danh gia momen can nhall1 nl1,le dich btl dl).e dnh
Tinh tOfin cae gia tri d!).t vj trl
Giao tiep voi ngttbi dieu khien
Ghi cae sl,f ki~n

Dieu khie'n vi~e truyen du Ii~u

May tinh thu: hai dAm nhiem viee xu If du Ii~u vi trl.

Ta nhan t.hay cae thai diem lay UlaU ling vai cae m~eh yang khac nhau
kh6ng dttqc dong b¢ hoa. Ta co t.he dnh d@"n dieu nay bA.ng each dua va~ thOi
gian t~ trong cae m6 hlnh eua ham tTuyen. De xilc dinh b¢ dieu ehinh ta
phai nghien cuu tirng yang dieu chinh bat dau tu yang trong nhat rai Ian luqt
xet. tirng yang ngoai.
Theo quan die'm If thuye't diflU khie'n tl,f d(lng bieu do thai gian toan M
thOng dUQ"e cho tren SCI do hlnh 1-8.

00 dqc

tc ' T~ui giO!l linn (oan

can !/Jlet cho a;ell kniln t~, Thill rian tlhh loan clllltin hi
clio r:hll ky lIip th~o

I I I
: I_Df Ire~9ay ~11 !uTi bp bi~~(O; = 1f
I I I
I r; I t
DOfrifu'dngdtlo'ngfO'ng .. NT-r;

••------~~~~~~~~~~~--~,----------.il·.----~--~-----.
I
I I I
I Cnll KY '" T I T I
I~·__________-C~~~~__________·,i··----------~------------""·\
I I
I NT(U-d';yN=2) I
I-·----------------~~~~----------~·,
Hlnh 1-8. Bie"u do thai gian eua hI;! di&.. khign hoan toan s6.

D6i vai h~ th6ng dieu khi€!n ngttoi ta t.hltong phan thanh 2 tTl,lC:
- Truc d¢ng Il,fC gom nguan dien, b(J bien d6"i, phu t..1i di$n CCI gdln d(Jng
 -'-
' , "
NgU'On "ifn Bp hien 1I0i finn ral j True dOllg Jut:

'.
~

,,~
",
j
BP t:!i~U khie~ ,;0,.
"
'~
1
.<
~!:' ", ~
.~
,
%
Macy lin/!
" ',i:
~
~
~

~
Bp (!feu Hie-n
"
L: ~
'"
'" eire-dO hot? t!$1Jj

! ,,
,, I Gia(l flip
Gia frj cf';l

Hlnll ,.8 C.!u tr(,!c chung h~ thOng ky thu$.t dUQc dibJ khien bang may tfnh.

Ir·············· ---------,
B9 hien rJ6i linh
Ii
I N9uan "ifn t Moy

~ r ~
difn P
8# aim bien (foe rip, ..!
Co' eau lac orinJ Ir( tlifn ip,tlring 1I1f1l)

11 111 &
( ) ,
89 tfi€u khiin m"
I J J
May
c
hi7h lillie hltf'fJ
)
eric fl1IJ¢1/rXm

t !
I G'-om ,01 chung

Hlntl 1_1D M6i rll~n M gilia tr!,le dong Il,lc va do Itldng di'eu khien.

23
l:d di~,n va e~lc h~ thong truyen d¢ng.
1'r!,ic do luong dieu khip·n bao gam:
B() dipu khie·n mai, xU: If c:-ic ehue nang logic dieu khie'n ehuyen m~eh
eua cae bo bien doi. Do IA eae ehde nang lap I~i, ed tan so eao, dnh
den an toan eho dc Iinh ki08n di~n ttt cong suat. Van de nay co the xu
If bang cite llH.lCh doc 11~p hm)c dua vao trong clie chllc nang eua bo vi
xV If toe d9 ca~ .
• May tinh lam nhiem vu dieu ehinh (ll1~eh vong dong di~n, toe do, vi
trl. Hnh tonn quy dQ.o, urinh gia cae dai IUdng khOng do dUdC, bil anh
huang nhipu, bil phi toy~"nJ. Vi'! lllt\t phan et1ng c(; thp· su d\lng mot
hoac nhfeu uQ vi xV l.v hmle c,ie linh kipn chuyen dung khae .
• B<) dieu khie'n ehe do hO:.lt d¢ng. Do la cae Go gi}im sat xfie dinh eae
ehe do h01.1t dong: ehay, dirng, 1110 nItiy, rhM hi~n Sl( co.
Trong khoi do lui1ng dieu khi~;n tif,u chuan hie d¢ng nhanh dong vai tro
quan tn:mg. MOt so chac llang nam d tanh gidi cae khoL Neu ta muon thvc
hi en lll(lCh vang dong dipn t:ic dong nH nhanh ta eoi nhifl1l V\I nuy do b6 dieu
khii'in gan IhVe hipn Hlnh 1-0 h'l. diu t.rue chung eua hp thong ky thu3.t duqe
elif-,lI khipn hilllg m;:iy dnh, can hinh 1-10 h'l. moi IiEm hf> gitta trl,le d¢ng lLie
va t.r\lc do itrong dii'>u khipn.
Ta nh~n thay h~ thong dipu khi~n ;;0 nuiy djpn Ia kH c11n phue t.1!-P trong
do may tinh thalll gia vfw qua trinh do Iltang, dfeu khi6n, xV Ii tin hi~u nhil.lll
t.ae d¢ng len he thong dong il,il: gaUl ll11iy di~n v;'t b9 bien doL 0 dfly ta phai
giai quyPt. van de phOi gher m1iy tinh V<l h~ t.hong truypn d¢ng di$n va l.ip
trinh dicu khif'n ht;- t.hong nhnm thim mH.n e~ic yell ci1u cong ngh~.

24
 C/ul'flng 2

xv LY TiN
Chuang nay trlnh bay khai qUIlt nhung viln oe cd ban ctm cong el,l toan
hoc ;ot! dl,lng trong dieu khie'n so, do J:\ Xl! lY tm hii?u ,.;6 \),'\0 gom vi~e bie'u

di{;n t:~ic M thong roi rl:J.c, hillll t.ruyen o:~t eua hI') thong l'iJi n~e, phan deh h~
t.hong rai r~c trong lllien z, bien d6i Fouripr rai r~c va h6 iQc s6.

2.1 TiN HI/!:U VA HIt TH6NG ROI ~c

2.1.1 Tin hieu tU'ong tl!
Tn dri quen vbi d.c tin hifu co d9 \dn v,l bien thihl lien t\lc VI du di(;n
~lP do dHQC tren qp nhi~t ngau cho t.a thong tin vll nhiet do moi tntong hi
ham cli~n lip lien tl,lc theo t.hai gian u(tJ, dien ,ip tren r:tfc nuiy phit toe cho
ta th6ng tin VP tOc dQ true quay rfmg ill h(llH lien t\lc thf'o thai gian nit) Mot
cach tong quat. ta dinh nghia tin hi$u tuong t\t ill ham co 00 ldn bien thien
lien t.l,lc. Tren hlnh 2 la i.?l. dl:J.ng bie"u dien cua tin hipu htdng t.V XltJ

2,1.2 Tin hi~u iU'qng tu h6a

60

"
40

30
20

oL-------------~t
o t
0) b)

Hlnh 2.1 Tin hieu luang lu ia):. Tfn hie!) luang IW haa (b).
 Neu bien d¢ cua tin hi~u liflfl t~c la rdi r~c til gQi tin hi~u do la tin hi~u
luang tit hoa" Tren hlnh 2.1b la d~ng bieu dien cua tin hi~u luqng tu hoa cua
tin hi~u lien t\lc.

2.1.3 Tin hi,u rai r(lC

Ne'u t~i tUng buoc thdi gian gQi la chu ky rai r~c T ~ ta X8.C d~nh dO Ian
cua tin hi$u ta duqc tin hi$u rai r;:te, neu bien d9 cua tin hi$u rai r;:te Iii lien
t\lC (kh6ng dudC IU9'ng tit hoa) thi tin hi~u do gQi li'l tin hi~u Jay mAu. Hlnh
2,2a la bigu dien tin hi~u lay mau.

2.1.4 Tin hi~u so

Tin hi~u so lit tin hi~u dl1Qc rai rt;lc hoa ea bien so va bien dQ, khae voi
tin hi~u tuang tv la tin hi~u lien t\lC v~ bien s6 va bien dO. Hlnh 2-2b bieu
dien t.in hi$u so x(nT).

'"
5D -.------- - -----

:: ::-:l~i::

I
0) b)

Hi"h 2.2. Tin hi~u lay m§.u (a); Tin hi~u s5 (b).

2.2. CAC H¢ THONG XU LV TiN HI¢U

Ta thudng phan lo~i M thong xu Ii dn hi~u thea dn hi~u can xu If;
- H~ thOng tuang tI! co cac d~i 111Qng vaa va ra I~ tin hi¢u tl1dng W. Hinh

~L __ ~b
a) b) oj

Hi"h 2.3. H~ thOng ttl(Jng tl.,l (a): He thein9 s6 (b); He theing xU Iy sO tOng quat (e).

26
2.3a lit Sd do M th6ng hidng tlj.
- H~ th6ng s6 co cac d:;ti hiqng vao va ra lit tin hi~u s6. Hinh 2.3h la sd
do h~ thong s6, trong so db nay ta nhi;ln thay neu h~ thong so duqc n6i vai
h~ thong tuang tv thi t:;ti dau vao cua no phAi co b¢ d6i tuang tlj s6 ADC va
dau ra phai co b¢ d6i s6 - ttfdng tv DAG H~ thong xit ly tin hi~u so t6ng
quat cho tren hinh 2.3c.

2.3 B1EV DlEN TiN H1J1:V.ROI R4C

M¢t tin hi~u rai Tac dtfc;:lc bieu dWn bang day gia trt thljC ho!}c phuc. N~u
tin hieu do dtf"c hlnh thanh hOi gia tri thtfc thl do 18. tin hi~u thtfc, con neu
dtfqc hinh ths.nh bai gia tr! phttc thi gOi IS. tin hi~u phuc.
Tin hi~u rai r~c duac ky hieu li'I. x(nT), trong do nTs }i'I. bi€n d{)c l~p, n
li'1. so nguyen, T~ Iii chu ky lay m:lu De thu*n ti~n bien dien ta chml'n hoa
_ nTs
bien dqc I~p nTs vai chu ky liiy mau Ts Wc Ii'!. '1'= n.
,
Ve m.\'lt toan hoc tin hi~u rai r~c x(n) du\Jc bieu dien nhu sau:

~
bOieU thuc toan hoc N I .:5 n .:5 N2
x(n) = (2-1)
n con l:;ti
vi dl!- 1 Day xung dan vi
o(n)
Trong mien n day xung dan vi du"c
bii~u dien nhu sau:

(2· 2)
n '" 0
3-2-10 2 3
Do thj cua o(n) cho tren hlnh 2-4.
Hlnh 2.4. Xung ddn vi.
v{ du 2 Day buac nhay don v~
Day buac nhay dan vi trong tni~n
n dU<;lc dinh nghia nhl1 sau: Urn)

In,.o
)
u(n) = "' (2·3)
~0 n < 0
Do thj cua u(n) cho tren hinh 2.5. -I 0 n

Hlnh 2.5. Day bu6c nhay dCln vi.

27
2.4 H~: THONG TUYEN TiNH
2.4.1 H~ thong xu Iy 56
He thong xli ly s6 ULlQC di).C t.nrng bdi ll1(Jt toan tll T hlill nhiem V\I bie'"
doi day vao x(n) thanh day ra Y(UJ, ky hii}u nhu sau:
T
T[xlnj] = y ho;W xln} -~ yIn)

N{;u h¢ thong Iii tuyi;n t.inh. t.min tll T thoa man nguyen Iy xep chong
nghia 1:"i:
T[ax,tn) + bx~(n)] = RT[x,lnl] + hT[x~(n)\ = aY"n) + by~(n) (2-4)
a, b Iii h:li hi'mg so hat ky:
Y I Is dap ting cua kich t.hich x I (n J:

y~ La qlip ttng" Ct'm kfch thfch x 2 (n).

2.4.2 Oap ung xung eLla h~ thong tuyen tinh

M6t day xln) bllt k~' CD t.h{: dUde bi{iu diEm bang bi{iu tht'ic tong sau day:
x
xln) = Vx(kL(~(n - kl (2-51
. h~--x

Neu hi'> thong b tuy~;n dnh

x
(2-61
ylnl = T(xlnlJ == 'l'[.2;xlkh-\(n - kl]
, ~~

vi x(kl u(Jc lap vO'i n nl'n tn co

x
y(n) == T[x(n 11 = 2:x(kIT[(~(n - kJ] (2- 7)
k ---<:>0

(2- 81
x
YIn) = ~xlklhl..(nl , (2-91
j,,=-x

h!-(nl gQi la dap tlng xung ('['In he> th6ng tuy(n tlnh.
Hp thong tuy{:n t.inh h:lt hir;"n co hl(nl kh6ng rh\l thlU)C viw k, con np'u
viii t,lc d6ng g:i6ng nhau d (,,1[" thni lli(lll' kh:ll: nhau h~ th6ng sf' cho d,ip dng
kh,ic nhau hi h(' thong pht,l thui'll' v:tO theri gian DCli voi hr· th6ng btit hjp'n dap

28
ung xung kh6ng ph\! thu¢e vao thai die'm xuat hien eua xung, hie do deh ehi1tp
rai rQ.e CUR tic d¢ng v6i d:,ip ling xung 5e eho tin hieu dati ra eua he thong
h(n) = T[o(nl] thl (2-1m
h(n - k) = T[(~(n - k'l] = h).,:(n) (2- III
Phuong trlnh (2-9) dan den tong deh eh~p

,
ytnl = l:x(k)h(n - k) (2- 12)
~ =--«

T6ng cae deh eh~p thuang duqe viet ngan gon nhu san:
yin) = x(n)*h(n), hoae
yin) = h(n)*x(n) (2- 18)
Ve phai cua (2.13) co dnh chiH giao hoan nghla la eel the viet (2.12) nhu
sau:
,
yin) = l:htklx(n - k) (2- 14)
k =--«

Ve m~t v~t Iy sIJ giao hoan nay co nghia Iii. neu dau vao eua h~ thong iii.
x(n), dap ling xung ia h(n) va dau vao cua M thong ia htn), dap ung xung iii
x(n) thl h~ th6ng se eho ra eung 1ll¢t dap ling dliCJe deh chi1tp bili hai ham.

2.5 DAp liNG XUNG vA HAM TRUYEN DAT

Dap ung xung hit) ia dap ung eua he thOng khi xung kieh thieh la Dirae
haEm toan d!)c tru'ng cho M thong rdi r~c Dap ung eua h~ thong d6i v6i mQi
be d¢ng bat ky duqc X;:le djnh hb.ng cae bie'u thlie tieh chap (2- 12), (2-14).
Viee xac djnh dap ung xung trong nhicu truang hQp rat kho khan, do do ngu'di
ta thuong dung ham truyen dat de' d~c trl!ng eho M thong. Vi~e xae dinh
ham truyen d~t elm h~ thong xung s~ duqe giai quye't. tron ven khi ta hie'u
di~n he thong va tin hi~u rai rae trong mien z.

2.6 BlEU DIEN H~ TH6NG vA TIN III~U R(lI R4C TRONG

MIEN Z
2.6.1 Bieu di~n z thu~n
Trang cae mue trt10e ta kh1'tO sat tin hi~u va h~ thong rai rae trang miEm
bien 86 d¢e ii1tp tIJ nhien Trang nhieu truong hqp each khao sat trIJc tiep nay
g(lp nhfeu kh6 khan VI ht? thOng phlir: t<iP va hieu qua kh6ng eao. Ta :311 d\!ng
phudng pha.p khao sat gian tier thong qua phep bien d6i lam nhiem vu ehuyen

29
mi~n bi~n so dQe l~p sang milln mai. bi@n doi z th14n

Bit'!n doi z dong vai tro ·nhli bien d6i

Laplace trong vi~e phan tfeh tin hi~u Mlfln n
va M thong lien We vi the ta can
gQi bien doi z Iii bien doi Laplace rai
rf,lc. Quan h~ giua mien n va mien billn d6i z ngl1!;1c
z dU9C minh hQa tren hinh 2.6,

2.6.2 Bi~n d6i z Hlnh 2.8. Bien doi z.

Bien d6i z eua tin hieu rai r~c x(n) trong lUren bien s6 dQc ioip tV nhien
n 1a phep bien d6i tin hit?u X(z) trong mUm phue z theo hie'u thue sau
x
X(z) = Lx(n)z" (2-15)
n=--<Xl

Theo quan die'tn toan ttl: ky hi~u ZT lit toan tu: bien d6i phue ta se co:
ZT[x(n)] = X(z) hoac
ZT
x(n) - -..... X(z) (2-16)
Bien doi z lit chuoi lay thua vo hl.ln. Chung se h9i t~ neu ehm5i (2-15) hi)i
t~. z Iii bien so phuc co the· viet dlioi d;:tng phan tht!c va phan ao:
z = Re[z] + jlm[z].
Vi n lay gia tri tit - 00 den +00 nen bien d6i z theo (2.15) gQi la bien doi
z hai ph18. Neu n co gia tIi tit 0 den 00 ta co bien doi z mQt phia:

"
X 1(z) = Lx(n)z" (2-17)
n=O

Trong m~t phang z co l1l~t vong tron

llng voi I z I = r = 1 gQi la vong tron ddn
vj. Tron vong tron nay z = eI'lJ. Hinh 2.7
bieu difin vong tron ddn vi. Vong tron ddn
0. d~e bi~t quan trong khi danh gia cae
d~c tinh eua M thong so dt!a vao vj tri
di~m eve, diem zero (kh6ng) khi chung
nam a trong hay ngoai vong tron don 0.. Re[Z]

Vi dlj.
Cho tin hi~u roi r;:tc sau dAy:
Hlnh 2.7. VOng trOn ddn vi.

30
 20 vai-oosn:s2
x(n) =
{ 0
voi n con I~i

Ha.y xac dinh bi@n d6i z hai phia, m9t

phfa va mien hQi tl}. eua chung,
TrIL loi:
Tin hi~u x(n) co chieu dai [- "", 2] =
00 du:qc hie' u dien tren do thi hinh 2.8,
Theo dinh nghia bien doi z hai phla
t.a co;

D6i hien n = - III ta co:

X(z) = "2:2-mzm + 2z-1 + 4z-2 + 1

m=J

"
,
GQi Xj(z) = 2:Z1Tlzm yaj
m=i 2 - z

ta dU:Qc:
,
X(z) = - - + 1 + 2z-1 + 4z-2 vaj Iz I < 2 va z "" 0
2 - ,
Mien hOi t\l cua X(z) ni'nn Mn trong Yang tron co ban kinh 2, trlt g6c toa
d¢. Bay gio ta tinh bien d6i Z Dl9t phla cua x(n):

" 2
XJ(z) = Lx(n)z-rl = 2:2nz"'1l = 1 + 2z-1 + 4z-2
n=1I n""O

Mien hQi ty cua Xl(z) Ia toan b(l mat pha.ng Z tI'U gOc t9a d¢ z = O.

2.6.3 eVe va zero (Poles and Zeros)

Trong tht,lc te ta thu:ong gi:lP bi~n deli z cho du:6"i d!;lng ty s6 cua hai da
thuc va nhU: yay X(z) lit ham huu ty eua z.
N(z)
X(z) (2-18)
D(z)

31
 - Ta g[.Ji cac die'm z =:; z"r sao cho X(z,orJ = 0 ia cac zero cua X(z), do
chlnh Iii. nghi(>lll cua h'( s6 N(z) Neu N(z) h\ da thtic b~c M ct'm z thi X(z) co
M zero.
- Ta g[.Ji clic diem z =: zl'~ sao cho X(zl'~) = 00 IS. clic c\i'c cua X(z), do lit
nghi~m cua mAu so D(z) Nell D(zJ la da thti'c b~c N thi X(z) co N c\i'c.

Ta co the bieu di€-n X(z) dttai d~ng cl/c va zero:

Neu N(z) la da thti:c h~~c Mella z:
N(z) =: b" + biZ +
thi t.a co the: viet:
M
N(z) =: bM(z - zlIl)(z - zIl2l.··IZ - zOM) = bMfllz- ZUI.)
/=1

vai z"r Iii cae nghi~m cua N(z).

Nell D(z) Ii da thli'c bi1tc N Clla z:
D(zl = a" + alz +
thi ta co the viet:

vili zp/.. Iii cae nghi~m cua D(z)

Tu do suy ra:

N(z)
X(z) =:; ~ ------ v6"i
D(z)

Trong 12-19) ta nMn thay co the' xet tinh cMit cua X(Z) qua cac zero Z,,/,
va cac clic Zpk. Trang lll(lt phang phli'c cac c\i'c dli(je bie'u difin bang dau g<:lch
cheo (X) con cae zero dU{jc hie'u di€!n bang cac khuy~n nM (0),
vi du
Cho x(nJ = OIn) + 30(n - 1) + 20(n - 2)
Tim X(Zl. mien h9i t\l va cae c\i'e, zero ella X(Z).
Trri liJi:

X(Zl = L" x(n)Zll =:; 1 + 3Z-1 + 2Z-2

n=--<'<>

32
 Mien hQi tl}. is taan b(l m~t phiing Z, trii Z = o.
Tim qlc va zero:
(Z + l)(Z + 2)
X(Z) ~ Z-2(Z2 + 3Z + 2) ~ Z-'(Z + l)(Z + 2) ~
Z2
X(Z) co hai zero t~i ZUI = -1
va ZU2 = - 2 va tn(lt c~c kep t~i Zpl
Im{ZI
= Zp2 = O. Vj tri cac ct!c va zero
cha tren hinh 2.9.
Thea d~nh nghla cua mien hQi
t\l thi mien ht;li tlJ cua X(Z) khong
z"
chua cac C\tc vi t{li dci X(Z) khong
xac djnh. Trang trl1ang h!;lp nay
-2 -, Re(Z)

x(n) iii ehu6i huu h{ln X(Z) hOi tl}.

trim taan llu)t pMng Z trii g6c t9a Hlnh 2.9. Vi irf ella cl)c va zerO.
d(l IiI vj tri cac et!c Zpl va Zp2.

2.6.4 Bien doi Z nguQ'c

Tim goe x(n) thea anh phlic X(Z) thea cong thuc:
1
x ~-- J X(z)zn - I dz (2- 20)
, 2'
lrJ C

c Is cluang cang khep kin baa quanh gOc t9a d(l ella mi;lt phiing z thea
chieu dl1!1ng va nam trang mi"ElD h(li tl}. clla x(z).
Trang tht!c te ta co ba phuong phap tinh bien doi z ngu!;lc:
Tinh trt!c tiep deh phan (2-20) dung Ii thuyet th~ng du,
Khai trien thitnh chuoi Illy thua thea z ho~e z-I,
Khai trien thanh tong cae phdn thuc toi gUm.

2.6.5 Cae tinh chat co ban cua bien doi Z

- Tinh chiit tuyln tinh:
Gia stt x(n) lit to hop tuyen tinh cua hai d!ly xl(n) va x~(nl

x(n) = a1xl(n) + bxin) ; a, b lA cac hang s6 thi

,
ZT[x(n)] = L [axj(n) + bX2(n)]Z-n = aX1(Z) +bX 2(ZI (2.21 I
n =-<>0

33
 - Tinh chat tre
Neu yen) = x(n - n) thi
ZT[x(n - n,)] = Z-11nX(Z) (2- 22)
_ Nhan day voi ham mu an
Neu yen) == allx(n) thi bien deli Z la:
Z
ZT[y(n)] = L
'"
anx(n)Z-n =
oc
L x n ( - )-11 = x (Z- ) (2- 23)
n=-«> n"'-«> a a

D::to ham cua bien dbi Z

dX(Z)
= L• (-n)x(n)zn - I
dZ n=-«>

NhAn ca. 2 ve voi -Z ta co:

dX(Z). •
-z - - = -Z L (_n)x(n)Z-n - I = Lx(n)Z-n
dZ n=-« n=-oc
Tit day suy ra
dXCZ)
ZT[nx(n)] -Z (2- 24)
dZ
Tieh ehtjp eua hai day
Ne·u day K,(n) Ill. deh ch(ip cua hai day x1(n) va x. 2 (n) nht1 sall:
x.,(n) = xj(n) * xin)
thl trong mien Z ta e6:
X,(Z) = X,(Z).X,(Z) (2-25)
- Tich eua hai day
Neu X:-\(n) Iil deh eua hai da.y x1(n) va x 2(n) nht1 sau:
x}(n) = x j (n).x 2(n)
thi trong mien Z ta co quan M
1 Z,
X 3(Z) = 2-. fXj(v) Xi-)v- d"V (2- 26)
nJ v

T!long quan eua Iwi tin hi¢u.

Hilln tt1dng quan cua hai tin hi~u x(n) va yen) dt1QC djnh nghiB nht1 sau:

rxy(n) = L• x(m)ytm - n)
Ill="""""

34
thi trong mien Z ta co quan h¢
1
R,.(Z) ~ X(Z)Y(-) (2- 27)
. Z
Dinh Ij giri trt dew
Cho ta gia trj tl.li g6c t9a d¢ cua m¢t day khi biet bien d6i Z cua no
~ x(l) x(2) x(n)
X(Z) = L x(n)Z" = x(O) + - - + - + +--
n_() Z Z2 Z"
h'ly lim eua X(Z) khi Z -+ <Xl ta co:
x(O) = lim X(Z). (2- 28)

Ung d~ng cac tinh chat Cd han cua bien d5i Z ta eci co bang bien d6i Z
thong d\mg, giup chung ta tfnh nhanh han cae bie"n doi Z. Bang 2.1 lit bien
doi Z cua cac hiull thong d\mg.
Urin/.: 2.1. IIlell dol Z th6nj,t dl.lllj,t

M!n n Mi~n Z MiG" hl;oi II,J

J(n} 1 Toan bi;o m4t ph.ing Z

Toan bi;o mal phoing Z

~(n - no) Z-n o troJ I~i 0 n6"u no > 0
trW I;;l.i ~ ne"u no < 0

u(n} 1
"I ' 1
- -1
l_Z-

u(-n - I) 1 'Z <I

- -
l-Z-!
1

nu(n) Z·, 1 z1 'I

(I-Z 'I'
anu(n)
- -1 - z1
l-aZ- 1
1
"
-a"u(-u - 1)
- -1 - 1 z1 <0

1-aZ- 1
I [ I

35
 na"u(n) IZ I ::> a

IZ I ::> I

1-2aZ-1coSOJo +a 2 Z- 2

1-az-lsin",~__ I IZI> lal I

L _ _ _ _ _ _ _ _ ~1-2aZ
-, 'Z·,·
cOSlllo+_'_ _ l __ ._______
2.7 B1£U DIEN CAC H~ TH6NG RDI RAC TRONG MIEN Z
Til da bi~t trong mien n h$ thOng tuyen dnh bat bif:;n dl1t;Je d~e trl1ng
bang dap ung x-ung h(n) nhung viee phan deh h$ thong nhieu khi g~p khci
khan nhu dnh dch eh~p, xet on djnh ..
Degiai quyet khci khan trong mien n ta ehuyen each bieu di~n he th6ng
sang mien Z va dua ra khai ni~m ve ham truyen d~t eua M thong raj r~e.

2.7.1 Ham truyen diilt ella h~ th6ng rai r~e

Ham truy?m dl:lt ella he thong roi r\le 11\ bien d6i Z eUa dap ling xung va
dl1<;1e ky hi$U la H(Z)
y(z)
HIZ) ~ ZT[h(nl] ~ 12- 29)
X(Z)
Ta xet ham truyen dt:;lt ella mot M thong rai rl.le ctU1}e Ina ta bang phuong
trinh sai phan: quan h$ VaG - ra eua mOt M thong rai rl:lc tuyen t:inh bat bien
d119C eho hdi phuong trinh sai phan sau day:
N M
L a),y(n - k) = 2: b,x(n - r) (2- 30)
k"'O r=1l

Lay bi{{n d6i Z eua (2-30) ta dtt1}e

36
 M
k)] ~ ZT[2: b"dn - ,)]
1'=0

• N • M
2: [ :2:a"y(n - k)]Z-tl ~ 2: [ 2: b,x(n - ,)]Z~
n=--oo k=tl n""--;.o r"'U

SU: d\lng Hnh chat tr(!; va tlnh chAt tuy~n dnh eua bien d6i Z ta co:
M
L brZT[x(n - r)]
1'=0

M
2: b,Z"X(Z)
r=()

M
X(Z) 2: b,2°
r=1I

Tir dci ta suy ra ham truy~n d~t H(Z) voi cae M s6 a],. va hr eua phlldng
trinh sai phfm nhll sau:

Y(Z)
H(Z) ~ (2-31)
X(Z) N -<
L a~Z -
],,=11

2.7.2 Bieu diEm ham truyen dl;lt thea cac clIC va z~rO
Cling gi6ng nhll tin hi~u rdi r~, ham truy~n d~t H(Z) eua mi)t M thong
roi r~c cd the duqc bieu dilin bAng cae diem eVe va cae zero eua n6 nhu sau:
M
n (1 - Z"I"Z-I)
1'=1
H(Z) ~ C
N
n (1 - Z pk Z-I-)
k= I

M
n (Z - Z"rl
r= I
~ CZN - M (2- 32)
N
n (Z - Zflk)
k=l

2.7.3 PMn tich h~ th6ng trong mien Z

Cae phan ttl: thl!C hi$n:
- Phan tli tre

37
 GQi x(n) la dau va~, yen) Iii dau ra, quan M giua dati van va dati ra cua
phan tii: tre trong mi~n Z se iil:
yen) = x(n - 1)
ZT[y(n)) = ZT[x(n - 1)] suy ra Y(Z) = Z-IX(Z) (2- 331
Nhu vi).y phep tre trong miEm n dugc thay bang Z-l trong miEm Z.
Tr{!n htnh 2.10a Iil so do kh6i phan tii: tre.
- PM.n til. c¢ng
G9i xl(n) iil cac dim vaa, yen) iil dau ra ta co quan M:
M
y(n) = L Xj(n)
;:1
Lay bien d6i Z ta co:
M M
ZT[y(nl] = ZT[2: xi(nl], suy ra Y(Z) = L X1(Z) (2- 34)
;=1 i=1
Tren hl.nh 2.1 Ob Ia sa do khoi cUa phan tu c¢ng
- PM.n til nM.n vdi Mng s(i
GQi x(n) hi dau vaa, a Iii hang so, yen) Iii dau ra ta co quan he sau:
yen) = ax(n)
Lay bien d6i Z ta co
ZT[Y(n)J = ZT[ax(n)1, suy ra Y(Z) = aX(Z) (2- 35)
Hl.nh 2.10c la so do kh6i cua phan tu nhan voi hang s6
XI (Z)

X(z) l r'
IY(2) " Z ix(z) + •
Y(Z)=I:X. (z)
/.1 I
aJ

x(z) ~ Y(Z} '" olX(Z) -xc"("zC:)-i!>>--:Cy"'rz-:J-_-",-x"rz:C")

c)

Hlnh %.10 Ph&n tJ tra (a): Ph!n til eOng (b): Ph&n til nhan vdi hAng s6 (e).

38
 2.7.4 Phin tich h. th6ng rai r,c
Vi~c phan dch h~ th6ng rai rl.lC dl,ia trim nguyen tac chung sau day:
- Tach M thong t6ng quat thanh cac M thOng nM han
- Tim quan M ghep n6i
gilla cac kh6i nha han nay
- Tim ham truy~n dl.lt Xc!)
H/ZJ cua cac khoi thanh phan
- Tim ham truy~n dl.lt cua
torm M thong theo cac Hj(Z)
va quy Iu~t ghep noL
HInti 2.11. H~ th6ng rilj rae c6 phan h~.
vi dl!.
Cho hi;! th6ng roi rl.lC co so db khoi tren hlnh 2.11. Tim ham truyl'!n dl.lt
chung cua M thOng thea H1(Z) vA H 2(Z).
Trd liJi;

Quan h~ H1(Z) va H 2(Z) 1a quan h~ phAn hM. D!)t bien ph\! Y1(Z)
Y,(Z) ~ X(Z) + H 2(Z)Y(Z)
Y(Z) H,(X)Y,(Z) ~ H,(Z)[X(Z) + H,(Z)Y(Zll
= H1(Z)X(Z) + H 1(Z)H 2(Z)Y(Z), tit do suy ra;
Y(Z) [1 - H 1(Z)H 2(Z») = H1(Z)X(Z), ta dUQc hi'im truy~n dl.lt:
Y(Z) H,(Z)
H(Z) = - - ~
X(Z) 1 - H,(Z)H,(Z)

2.8 BltU mJi:N HI); TH6NG vA TIN HII);U RbI RAe TRONG MIiJ:N
TAN 86
Ta d.ii biet bang bien ddi Z co the nghien cuu M thong va tin hi~u riJi rl.lc
va xac d,nh ham truyen dl.lt cua chung. Ta con co the' su d\lng mc)t c5ng C\J. toan
h9C khac IS. bien ddi Fourier giup cho vi~ bieu di~n M thOng va tin hi~u rai rl.lc
tit mien bien so dt)c I~p n sang mien tan so liim t\lC w. SI$ Him h~ gilla cae mn~n
bieu di~n va cac phep bien dai dUQc minh hqa tron hinh 2.12.

2.8.1 Bi4!n d6i Fourier rai r,c (DFT- Discrete Fourier Transform)
Bien doi Fourier riJi rl.lC cua day ham tuan hoan x(n) co chu ky N dUQc
dlnh nghIa nhu sau:

39
 1. thllin
Mi€nZ

\
, allan h f gida bien
\' ' .J-,1.
I dol z va bien aQi
1 Fallrie.r
,1

Hlnh 2.12. Quan h(l gilia m"fln n, Z va w.

X(k) = ~l x(n)ei N kn
n=O
'" (2- 36)

L,
Neu ta d~t W N = e-J""N, ta co:
2;1 2"
w~n = e1 Nl.;n, WN....... n == e1""N I.;n
Ta co thf viet l!;li bieu thrlc bien doi Fourier raj r~c (2- 36) nhu sau:
N-I
X(k) = L x(n)~n (2-37)
n=O

Ta co the bieu diEm DFT Mng ky hi~u toan tii nhu sau:
DFT
x(n) - - - X(k)
Bien doi Fourier raj r~c nguqc IDFT (Inverse Discrete Fourier Transform)
duqc dinh nghta nhu sau:

~(n) (2- 38)

ho(lc
~
x(n) (2- 39)

Bien deli Fourier rai r~c 18. phep bien d6i th1Jc hi~n tuang ung mQt vecto
~

X(k) trong mren am s6 rai r~c k voi mQt vectd xac d~nh trong mi"en bien s6
n. Ban chilt cua DFT Iil bi~'n d6i phl1c vi:
L, 2n :,!;n
wNl.;n = ei N" == cos- kn - jsm- kn. (2- 40)
N N

10
 Doi voi cac day kMng tuan hoan cd chi~u dai huu h~n, DFT duQ'c d~nh
nghia nhu sau:
N-l
L x(n)w~n OsksN-l
X(k) ~ n=O (2-41)
o k con l~i
va kj hi~u

IDFT
X(k) - - -..... x(n)
Bien dd'i Fourier nguQ'c (lOFT) duQ'c djnh nghia
1 N-J
- L x(n)W-kn Osk.:sN-l
X(k) = N n=(I n (2- 42)
o k eon l::ti
va kj hiiJ!u
IDFT
X(k) - - -..... x(n) ,
o dAy ta gqi X(k) la phd rai r~c eua dn hi~u x(n), hieu dien duf:li d,;mg modun
va argument ta co:
X(k) ~ I X(k) I e1~(')
~(k) ~ arg(X(k)] (2- 43)
I X(k) I g9i la phd bien de) rai rac.
<p(k) Iii phd pha rai r~c.

2.8.2 Bil1n dOi Fourier nhanh (FFT- Fast Fourier Transform)

DFT trd thanh phan tu- quan trc;mg trong xU- Ii tin hi~u 36 hoi vi co the'
xay dl,l'ng nhtrng thu*t toan thl!C hien OFT rat hi~u qua, can it phep dnh,
thl,l'C hilim rat nhanh. Khi tinh OFT cho N diem me)t cach tntc tiep theo (2-41)
din N phep nMm phuc va (N - 1) phep c9ng phuc. V~y de Hnh N h$ so OFT
ta dn thl!C hi~n N 1 phep nhlin phuc va (N - 1)N phep cc)ng phuc.
Nell chuy@'n (2-41) sang d~ng lUQ'ng giac
N-1 2.n:nk 2-mk
X(k) = Lx(n)[cos(-- ) - jsin(-- )]
n=O N N
N-] 2.n:nk 2.n:nk
= L {(Re[x(n)]cos-- + Im[x(n)sin(-- )])
n=O N N
2nnk 2.n:nk
- j(Re[x(n) ]sin(
N
) - Im[x(n)]cos (N I)} (2- 44)

41
thi DFT co N diem dl1Q'c Hnh vai 4Nl phep nhlin va 4(4N - 2) phep c(.lng.
Ngoai ra con phai edt giu va dich ehuy~n day eac h~ s6 sin va cos tl10ng ung
vai cac M s6 WNrU;. cling nhl1 2N mau th\1C eua day vao x(n) phllc.
Du cho co m¢t 56 ph€p dnh dl1Qc dOn giAn 'bOt nhO cac M 56 + 1, -1 °
nhung dO phllc tf.lP khi dnh DFT tr\1c tiep tang ty l(l vai NZ.
Thu~t toan bien desi Fourier nhanh FFT cho phep giall1 bOt s6 IUQng phep
Hnh m6t cach dang ke'. Co nhieu thu~t toan th1,1C hi~n FFT nhung dEm d1,la
trim tu tuc:lng thl,{c hi~n DFT N di~m bang cac DFT cd so di~m tt hon vi khi
Hnh DFT trl,{c tiep do tinh chat cua cac ham lUQng giac ta dnh thira nhieu
quan h~ theo chi s6 n va k.
Ta nghien cuu tnot df.lng FFT dan giAn nhat gQi 1a thu~t toan cO s6 2
phan chia thea thOi gian (Radix 2 Decimation in Time, R2DIT) de chi qua
trinh tach DFT. Ten gQi cO so 2 de chi so diem DFT co th~ viet duai df.lng
N = 21., vai L lit so nguyen thl1bng lay giua 3 va. lB. Cae phep Hen ket can
thi€t trong qua trlnh tEi.ch dUQc thvc hi4;!n trong llliElO thai gian. Co th@,' nh~n
dUQc ket quA DFT N diem chan Mt ky bang to hQp ket qua. thl,{c hi(ln hai
DFT N/2 diem, do v~y chi din thl,{C hi~n 2(N/2) = N l /2 phep dnh.
Neu ta tien hitnh l~p If.li lien tii'ip va nhieu phep tach doi, trong trubng
hQp thu~t toan R2 bao gia ta cung co dUQc 2 1• thi cu6i cung ta chi din th1,1c
hi~n DFT nhci hai diem.

Theo thUl).t toan R2DIT ta tach day vao x(n) phuc N diem thanh hai dAy
x!(n) va. xz(n) co N/2 die'nt.
x!(n) = x(2n), n = 0, 1, ... , (N/2) - 1
x1(n) = x(2n + 1), n = 0, 1, "', (N/2) - 1 (2-45)
Theo djnh nghia DFT N diem, X(k) Ii Anh DFT et'la x(n) dUQ"C viet duai dl;lng:
N/l- ! t'lfl- 1
X(k) = L x(2n)W Nlnk +.1 x(2n
n=() n=O
(2-46)
k = 0, 1, ., N - 1
vi WNl = (e12'!IN)1 = e12JrI(NI1) = W (2- 47)
N12
do do (2-46) co. the dUQc viet theo da.y x1(n) va x2(n) nhu sau:

(2- 48)

42
trong do X](k) + X 2(k) la cac DFT dUQc chia dOi (N/2 dielu).
Trang truong hQp dung thui).t toan FFT de dnh DFT N diem ta chi can
"NlogzN phep dnh phuc. Vi dl,l N = 1024 ta thl,l"c hU;lD nhanh hem 100 Ian.
Trong th\!c te ml}t IC duy nhAt co tM th\!c hi~n FFT 64 di~m con FFT 512
di~m dUQc dl}t tr~n mc)t card duy nhat. Trong cac may dnh nha cd th~ chl.lY
chudng trlnh FFT 1024 - 4096 diiim, con doi Val lll.ay tinh Ian 13. tren 16.000
di£fm.

2.9 BO LQC s6
2.9,1 Nguyen Iy qua trinh IQc tin hi~u

Xet Sd dEl chuc nang 19c tin hi~u Him t\1c tren hinh 2 13.
Tin hi~u x(t) dUQC lay mfi:u thea thai gian boi khcia dien tu: K, nhiP lay
mau T thanh tin hi4;!u lay mau x·\ (t).

y(t~

y(/~

H1nll 2.13. Qua tr'inh Joe tin hi~u.

Tin hi~u x-r(t) dua van mf.'ch dch phan dung bang thoi gian xU: Iy cua bi)
doi tudng h,t so ADC. Thai gian duy trl mau phai nha hdn thOi gian lay ma.u
T. KM qua dau ra cua mJilch RC Ie. tin hi~u dUQC lay mAu va duy tri xT*(t).
Trong bi;! ADC moi mA.u dUQc IUQng til: hoa va chuye'n thanh mao 56 nhi
phan cua r bit cua m6i 111<1U se dUQC bie'u di~n Mng 0 hol.lc 1 (kh6ng ho:;i.C cd
xung).
51,1 IUQng to hoa Iii vi~c gaD cho m6i mau mot gili tri duy nhat trong so
cAc muc gi.A tri cd the co dUQc .vB. M.ng 2f. Vi dl,l r = 10 cd 2 10 = 1024 muc
gia tri.. M6i bit dUQc chuy~n qua mi;!t duang rieng sao cho mau duc;Jc ma hoa
xwit hi~n a dau ra cua ADC duoi dl.lng tel hQp nhi phan dong thai d r duong
ra. Mdc cao nhat co the gbm r xung, muc thap nhat gam r gili trj. O. To rna
cang dai trl:c la sO bit trong tu ct'mg Ian thi dl? chinh xic cua mau cang Ian.

43
 Day miu mil hoa dllc;1c dua vao b(J loc 56 DF (Digital Filter), a do mil
dudc dnh toan theo cac phep toan c(mg, tru, nhlin, tr€! clla mot thu~t toan
loc nao do. 0 dhu ra cua DF xuflt hi$n mil moi la tin hi$u s6 dil dllc;1C loc.
Trong bO deli s6 - h1dng h! DAC mtii ma tac d(lng len mot nhorn cac khoa
di~n tu di"f!u khien vi~c c(lng cac muc di~n ap chuan cua mtii bit. Ket qua dAu
ra Clla DAC ta duc;1C tin hit$u tttdng tv y.r(t) co d!;lng btiOc. Cu6i cung tin hi~u
qua nwch bon cl!c co the' coi la loc khoi ph~c, a do day tin hi$u tt1dng tv co
dl:lng bt10c h(t) duc;1c chuye'n thanh tin hi~u ra lien t\lC y(t).
Luu y la Hit ca cae ho~t dong xli Iy cua mtii mau ph.ii nha hdn thai gian
lay llli'lU va can dam bao sU dong bO cho cae ho~t dQng ella cac khoa di~n ttl.
1
Van de nay duoc giai quyel hang day xung don dieu bOa tan s6 T t~o nen

bang b¢ dao dong chuan.

Vi T lit thong 56 chinh cua hO IQc s6 do do can chu y d~c bi~t den st! on
djnh tan 56 ella b¢ dao dOng nay.
Uu diem ca bim cua bi? loc so la co d(J tin c~y cao, st! on djnh cua thong
56 ma cac b¢ Joc tuong ttl kh6ng the eo dUc;1c.

2.9.2 BO xU- Iy tin hi9U 56 D$P

B¢ xtr Iy tin hi~u s6 DSP (Digital Signal Processor) Iii b¢ xli Iy chuyen
d\lng duqe thi€t ke rieng cho vi~e tht!e hi$n eae I$nh s6 hoc, do do thvc hi~n
nhanh hdn bo xii Iy thong d\lng. Chuang trlnh cua chung sii d\lng cac I$nh
s6 hQc nhieu hdn l$nh truyfm dli li~u va vao-ra. Noi chung DSP lay mdu tin
hi~lU vao sau do ehuyen qua b¢ IOc thl'Jng thAp rai tinh twin cae dau ra moL
Cac tin hi~u ra nAy den h1Q"t chung duqc chuyen sang b6 doi s6-tttc1ng tv DAC.
Cac thao tac chinh lit phep nhan va tich liiy.
Theo djnh ly lAy ma.u Nyquist llloi th6ng tin tUdng tt! co the' duqc kh6i
ph\le DI?U thn s6 liiy mAu ba.ng ho~c Ion hdn hai Ian tan s6 cao nhM cua tin
hi$u ban dau.
Cae tin hi$u thl!C co thanh phlln thn s6 cao nhat tuang d6i nha. DO ri?ng
dAi BW (Band Width) dUQc djnh nghfa bang tan s6 thitnh phan tin hi~u bang
m(:lt nu-a cong suat, 0,707 bi~n d(:l cua thRnh phlln m~t chi~u. DO r¢ng dai
duqc Hnh gan dung theo phudng trinh:
0,35
fl-\W = (2-49)
t,

44
tr In thai gian suan tang eua tin hh?u, dUQc xac djnh tll: 0,1 den 0,9 trj s6 tin
hi~u cuoi, cho phep h~ thong nMn dUQc it nhat 5 mliu trong khi 11111c tin hi~u
tang hOl;1c giam nhanh.
B¢ IQc so dap ung xung toi h~n FIR (Finite Impulse Response Filter) co
bieu thlie dau ra:
yen) = b"x(n) + bjx(n - 1) +b 2x(n - 2) + +bMx(n - M) (2- 50)
Cr day
M la s6 Ian IS: y mliu qlc d(~i

yen) la dati ra clla milu d t.hi:li gian n

x(k) la dau vao clla milu t.hai gian k
b(k) Iii. h$ s6 clla bl? lQc ella !lUlU thai gian k
M
yen) = L bkx(n - k) (2-51)
k=1I

Trang chuong 6 ta se nghi?n cuu ky cach thtje hi~n philn cung va chudng
trinh phan melll eho FFT V~\ DSP

2.10 LAY MAU vA LI1U GIU TiN HIEU s6

Trang he thOng dieu khien so ctlc milu dtiQC hlY tti cac d~i hiQng lien t.\le
nhu di$n ap, dong di$n, toc do .. Vai tro clia ho lay mfiu lit bien doi tin hi~lI
lien t\lC thanh tin hi$u rai r~c. Trang bi? lay mall tiep diem dong l.<;ti de tin
hieu di qua trong khoimg tMi ginn lay mau. Trang th\lc t.EO' khoang tMi gian
lay mau nlt ngan so voi hang s6 thai gian Clla cae t.hi:li die'm 0, T, 2T .. , t.rong
do T la chu ky \fiy mau. Giii'a hai Ian lay mau lien tiep L¢ lay mau khong
nh*"n tni?t t.hOng t.in nao Phan tl1 Iuu gifi se. chuyen deii tin hi~u da dugc lay
miu thanh tIn hi~u gan lien tl,lc, ti$m c;ln voi tin hi{lu tnioc khi no dUde lay
mau. Phan t\1 hiu giil don gi~m nh.1t. Iii. ph an tl1 chuyen dOl tin hi$u lay milu
thanh tin hi$u b~c thang va khong doi giila hai thai diem Jay mau. Do 1;\
phan tu.: do~n thang, ve toan hQC duoe bietl djen bang da thu:c bt:i-c khong nen
gQi Iii. luu giii' b*"e kh6ng ZOH (Zero - Order - Hold), co ham truyen dJ;l.t
ZOH(s). Tren hinh 2.15 la sf1 do Jay mau va luu gilt tfn hi$ll
Phan t.11 luu gi\t co Lll~e dnh ella bi? IQc thong thap, hlm trdn tin hi~u lay
lllaU x'(t) In llli?t day xung thanh tin hif.u xh(tl co bUm do khong doi Hnh tll:
thai diem hlY mau den t.hai diem lay mli.u m0i
o ~ t. < T. (2- 52)

45
 Phlln tu luu giu cd chuc na.ng dch pha.n tin hi~u xung x*(t) giua hai thai
diem lay miu k@' tiep nhau vi dch phiin mQt xung cho ta tnQt hang so. N~u
coi dau ra cua b<) lay I1l:lU Ja m~t chuoi xung tn;mg luqng, ta cd th~ I~p duqc
quan M giua tin hieu lien tl,lC va dau ra cua bQ Hiy mAu Iii:
x' (t) = 0T(tl.x(t) (2- 53)
0T (t) la m¢t chudi xung ddn vj.
Co the' coi b6 lay llU1U iA b¢ dieu bien voi dau vao III tin hieu dieu bien
x(t) va chuoi xung ddn vi h1 song tnang nhu tren hlnh 2.16.
Bieu thuc cua chuoi xung ddn vi

Or ~ 2:• OCt - kT) (2- 54)

~=-x

trong do o{t - kT) Iii lll¢t xung ddn vi xuat hiifn t~i thdi die'm t = kT, nhu
vay tin hi~u da lay llU1U co the" dllqc viet Iii:

x'(t) ~
2:"
~="""""
x(t).O(t - kT), ho~c (2-55)

x' (t) ~
2: x(kt.J.o(t - kTJ (2- 56)
k=--oo

, 4r--~-'-~~
, 'fll!
, , ! !,
0 0
I

" -2 t
-, _4 L ___ -L _ _ ,
0 w 10 30 0 10 20 30
oJ 'J
'I --r-~

2f
i
,1

of,
,~
.L 0
, ..' - - - - - -
W
OJ
V
10
,
j
1,
30
-=-----;~ ZOH

dJ
~

Hlnh 2.Hi. U'y mau va h.1u gili lin hi~u

a) Tin hi~u VilO x(I): b) Tin hi~u lay mau x·(ll, c) Tin hi~u ra xll(I):
d) Sd d6 lily mau va loJu gioJ.

16
 89 lay ma~
,r-----------------, ,
,
,,
••• ,
,
,
lOT(t)
.I(f} ix,,(t
,, D/'eu bi€n xllng ,,
I

,L _________________ ,, J
-3T -2T -T 0 T 2T 3T t
aJ b)

Hlnh 2-18. Quan niem ve b~ lay mau

eo) Chu6i )(ung dOri vi', b) B¢ lay m~u.

Vi bi~n de? cua xung Dirac 18. vo cung Ian nen de thu~)n ti¢n ta dung chieu
cao mui t~n de chi cU:bng d~ hay di~n deh cae hiull xung nay Tren hinh 2.16a
chiEm caa mui t~n tr~n d6 thi x~(t) hldng ling v6"i uti Ion cua moi gia tri dl1Q'c
Iiiy lllall tit x(t). Trang thlCc tii da s6 cae ham thCfi gian lay gia tr~ khOng nhi>
han goc 0, do do bieu thtic elm t.in hi~u lay mAu Ill:

x'(t) :: L• x(t).Mt - kT) (2-57)

k"'l1

Dap ting xung iii xung co chieu caa 1 va chieu n)ng T sec. Bieu thuc eua
dap ling xung hi
h(t) = !(t) - I(t - T) (2-58)
Ham truyen iil anh Laplace cua p(t')

ZOH(p) = "
{h(tl) = J[1(t) - l(t - T)]e1'I _dt = (1 - e 11'I)ip (2-59)
"
Bang 2.2 cho ta dap ung xung cua tin hi~u hlY mdu va bien d6i Z cua no.

47
 I ~

I ,'"
I I ~

~I- I - o~.
I ~
.1-
0

I I "CI", C- ~ i- U r
•
I -
"-
0
O

I ~

"
0
, -.
N,I C" ~ ~ "
~

" '" "- ~

~
~
~

~
" !:
~

/ .'
~
I
I
I
I~ ~
\\
,~ ,~
,f--

j~
I

-
I~
=
~

"==
"~
".
.

i '- :1
~

~
t !--
~ ,

I:
t I
I t:-
~ l- "e"
F- F
II.:1 - - ,~ ~

- ~

"
N.1 IT
• "" ~ "0
<>

I ~
~

>•
•
~
~
"2 0

f
~
I
I
"e ~.
<
3
=

~,

•
1\>.1 cr
>
•
I
I 'N
•
>
-I
•
.
~I
,
N I
•
0
, I
I
~
·0
I
rn
,iii;.
~.
•

48
 '!.
........ '---'-J
+ +
"
:2 !./'"
~

•
"
~
,,
•
•
g o
o
•
•
h,

=-.
=
.=
=~

",

•"

'I - - - - - - - - -

49
"
 Chuung 3

MO HINH MAY DIEN VA

THIET Bl BIEN 061
Vi$c nghil!n cuu cac dnh ch.it cua may di~n quay va thiet bi bien d6i ban
dAn cOng sua:t b che dt;! qua dQ nh~m m1,lc dich danh gia kha nang chju d~ng
cua thiet bi voi nhung ung sua:t Ian 'Ie di(ln, nhi(lt va cO trong di~u ki~n lam
vi(lc kM.c nghi¢t coa che di? qua dO, m$t khac ding nham nh*n biet cac quy
lu~t cua thiet bi dieu khii!n nham duy tri ch€ d¢ lam vi~c djnh nl1.1c cua may
di~n va thiet bi bien d6i.

Th~dq~_M_~~~6~~_*~~~m
vi¢c ache d¢ dinh muc. Tuy nhilin thiet b! di~n can phAi san sang lam vi(lc
trong cac di~u kien ba:t thudng nhu xuat hi(ln ngan m~ch, Old may, .... Cae ch€
dO nay chu yeu dAn den ung suat ca nhu I~c di~n dong tron dAy quan, cl,l the'
trong dau dAy quan, momen tren tt1,lC dt;!ng co, ung suat nhi~t.
Vi¢c nh~n bi~t ham truYflD coa d6i tu(;mg di~u khien Ia can thiet khi thiet
ke cae thie"t bi diEm khien. De nghien cUu may di(ln va thiet bj bU!n d6i trong
qua trinh liun vi¢c binh thuong ciing nha b ch€ dO qua de) can xay d~ng mO
hlnh toaD hqc cho may di~n va thiet bi bien d6i. Tn..atc tien ta nghien cUu 016
hinh CI che de) lien tl,lc sau do 18. 016 blnb Q cbe di? rai r:;tc.

3.1 cAc GIA TIUih DON GIAN

D~nghien cUu may dif!D d ch€ dQ qua dQ ta dU:a ra mi?t s6 gia thiet dan
gian hoa sau day:

3.1.1 May di~n khong bao hoa, quan h~ giiia dong di~n V8
tu thong '8 tuyen tfnh

3.1.2 Phin bd hinh sin

Cac day qua:n b6 tri tren m(l.ch tit cua may di~n quay t~o nen suc tit d9ng
phAn b6 chu ky hinh sin, nghia iii chi chu y tai st! pM.n b6 khOng gian cua
dieu hoa b*c nha:t.

50
 3.1.3 MIliCb thOng 86 t(llp trung
Gia thil§'t ti€t di~n eua dAy qUlln diI nM de' m~t d¢ dong di¢n phan b6
deu, k€t cau d6i xllng.

3.2 ruM TAT NHUNG VAN DE co BAN vE sue DI~N DoNG vA

M()MEN DI~N Til eVA H~ TH6NG DAy QUAN co DONG DI~N
ea"y QUA
Khi n m;;teh (eo hi;! so t1! eam L j ) dong di¢n i j ch~y qua co liAn h¢ ho cam
the hi¢n qua h~ s6 h6 cam Mjk tit thOng eua day quan duqc xae djnh Mi bieu
thue

V'i = Lji j + L" Mjkik (3- 1)

k = I
k ,.. i

Suc di¢n dt')ng cam ling (s.d.d.) e l trong day qmtn du<;lC xitc dinh theo bieu
thlic:

(3- 2)

Dl.1o ham (3- 2) theo t va the van (3-0 ta thay co 2 I01;li sue di~n d¢ng
cam ung trong dAy quan:
- N€u L I , Mjk' i j va i k kh6ng doi, trong truang h<;1p eho phep ehuyen d¢ng
quay theo goc e s~ xuat hi~n suc di/?n d¢ng quay:
(JVl de
ilf} dt
- Neu L j , Mik' i , va i~ kh6ng d5i, gOc quay {} khbng doi, tu thong moe
vang chi bien thiE!D theo thai gian ta co sue di~n d9ng biPn tip:

Suc di~n d9ng cam ung trong day quan i se Iii:

iJV'1 d(J
e· =-~ (3- 3)
II i!f} at
M6men dien tit:
1 1 ,IL i
=~Ii~ + (3.4)
2 j ,'j(j

51
 'fa nMn th.iy sl1 bien dai nang il1Qng di~n tu thanh cd nang va ngl1Qc IJ;l.i
chi xay ra khi trong bieu thuc cua cbng suat di~n ttl co m~t thanh phan suc
di~n d(lng quay.

Trang cac ap dv.ng sau nay ta coj mamen di~n tu co chiEm dUdng, gQi Mll
Iii mbmen dang cd va Me la mamen can Phudng trinh chuyen c1¢ng cUa d(mg
cd co the viet la:

(3- 5)

.J la mamen qmin tinh eua phan quay.

3.., MO HINH eVA MAy DIJ1:N MQT eHIE:U

3.3.1 Sa db va phU'ong trinh t6ng quat eua may di~n mQt ehieu
Sd do tong quat cua may di~n mOt chUm cha tren hinh 3.la
- 'fr\lc Od (tr\lc dqc) ung voi tT\lC tu clla day qmln kich tU, thuong ky
hj~u bang chu f

- Tr\lc Oq (tl"l,lC ngang) ung vai tr\lc ttl clla m¢t so day qutln ph\l co d~nh
(vi d\l day quan bu) ta hinh dung nhu m(lt day quan ky hi~u 13 g.
TrElll tr\lc ngang Oq thl10ng d~t chbi di~n A, B cia phan ung. Luu y nlng
giua chai dien A va B ph3.n {jng tlic d¢ng nhu lll¢t cu¢n day co tr\lc tU luon
huang thea tr\lc ngang Oq, tren hinh 3.lb bieu diE'in chieu dong di~n phAn
ung co chiEm ngl1Qc nhau so vaj duong qua chai dien khi cac thanh dAn philn
ung cnuyen d¢ng. Lay chfeu quay theo chieu kim d6ng ho vaj quy udc dau:
Dong di$n dUdng t~o nlm trong day quan cua no ttt th6ng dUdng,
Suc tis d¢ng d1./dng tJ;l.O nen dong di~n dtldng trong day quan.
Quy uac dau nay dung cho cac may di~n quay, doi val di~n ap cae day
quan dung yen du~c coi nhu tai, day quan phan ung nhl1 lmiy phat.
Cac thOng s6 d(\c tnmg cha lUay di~n m(lt chi~u:

ai Di¢n trd uiL dien cam eli,a day quan

day quan klah ttl tr\lc dqc d: R f va L[
day qUlin co dinh (day quan bU.) ngang tr\le q: Rg va Lg
day quan phan ung giua hai eha! di~n A va B: Rq va L'l
b) Ho aim giiJa hai day qudn theo tr,!c ngang q: Mgcl
 c) H6 cam gi(la cu¢n k{ch til f va phan ling n~u
choi dien dgt theo trllC
dQc ad: M fd , neu chi cd dong di$n klch tu if thl chi cd tU thong 1f'u = Mfdi f
Quan h(! giua tit thong va dong dif!n lit:
~'d ' ! M"
, = i, (3- 6)
~'r L,

i Iflql : L'l ;Mgq

,,
iq ,
(3- 7)
,1/'g Mgq' Lg ig :
Cae phuong trinh di~n cua 3 dAy quan 18.:
d~'r
+--
dt
d~'~
+--" (3- 8)
dt
d",
_'t~1
cit

8
B
~wc 0
0 @ ~wc
09 @

I, d
09 @
0
'1
09 @
09 @
'I 0
A A
i, i, '1
® Dong Olin ti)' ngobi
,,1 ® 00119 Ji~(I fif frong ro
1 b)
'J
Hlnh 3.1. So do mAy di~!n mQI ehiEtu
a) Sd do t6ng quat va (]uy llilc ch(eu cae dt'lng dien; b) Chl'eu dong dien ph'an LIng.

53
 VI cac day qwln r va g co dinh so vc'Ji M tQa dq (Od, Oq) nen hai phuong
trinh dA.u tien cua (3-8) chi xuat hi~n s.d.d. bi~n ap. Day quan phan ung giii'a
hai ch6i di(m A '1a B tac d(lng nhu: cul)n day tr1,lc ttt Oq t~a nen sdd bien ap
khi tit thOng bi~n thien thea tr\lc nay, ngoai ra vi day qUAn chuyen d¢ng se
xuilt hi~n sdd quay.
eqr ::= wr~'.1 = Mrdw,lr·
Vi bO qua bfio bOa ta coi sdd quay ti l~ thu~n vc'Ji t6c dO quay va dong
di~n kich tii.
C6ng suat Wc thai do may di(ln m¢t chieu 1:.:;1.0 nen:

. R' dJ/! 4.
Pe = Uql ll ::= -
0
qlq ~ - Iq
•
dt + (3- 9)

C6ng suat tuc thai gbm 3 thanh philn:

Thanh phan dau tiEm R'liq2 ling vc'Ji t6n hao Joule,
Thanh phAn thu hai ung voi bien thlen cua nAng hlc;Jng ttt truClng dch
hly,
Thanh phan thli ba
1a cong suat ca.

3.3.2 May di(!n mQt

B, +-
chieu tong quat
Xet cau truc may di~n
/'
"' "
nu)t chieu t6ng quat tren ;(we 'd
f\
hinh 3.2, trong do co 2 d6i { II "\ d
chtH di~n: B, Ad/ I iI
Ad va Bd thea tr\lc clQc
v, 1/ ill-
.
Od /' 'I

Aq va Oq thea tr1,lc
ngang Oq 4-r: -
A,
i,
Di$n tra phan ung ~ 1 f::: p
kh6ng d6i thea tr1,lc Od va
9
Oq:
H In h 3.2. So do may dien mOt chi"eu tOng qulU.

Ttl m\1C 3.3.1 ta !my ra ('.3.C phuong trinh di~n tii

54
 (3-10)

(3-11)

dV'r
Uf ~
Rri f +-
dt

dl/'g
u, ~
Rgi g +--
dt (3-12)

dV'd
uJ ~
-Rid - Wrf'q
dt

dV'y
uq ~ -Riq - + w,rllf'd
dt
Hai phuong trlnh euoi eua (3-12) khae dau Ie. do gOe quay eho pbep ehuyen
chi~u duong cua sdd quay v(:!i e dr .
tit tit thOng trl:le l/'q theo
C6ng suat di~n tuc thbi clla may di~n m9t ehieu

(j d'l'u
"dt
+ ,--
. d¥'lI )
lJ dt

Mamen di$n tu gAn voi

cac suc di~n dQng quay ehia
rna toc d¢
Mdt ='I'diq l/'qid (3-13)
Lo~i may di~n mQt chieu
nay ia may di~n co tu thOng
vuong goc thuong dUng trong
d
1119t s6 may di~n m()t chi~u o
d~e bi~t nhu may di~n khueeh

dl,ii. Ngay nay do s~ pbat trien

eua di~n tit dmg suat ngu'oi ta
khtmg dung cac may di$n
khue'ch d~i n[ta, nhung M
phuong trl.nh (3-12) thl,tc te
kh6ng thay deli doi vai cac lo~i
Hinh 3.3. May di~n mOt chi~u khOng bu.

55
may di(!r. quay khac, C\l the \ii dCii vai may di~n xoay chipu
Tren cac tr\lc dqc va ngang ta con cd the' thay cac day quan kich ttl noi
tiEfp hoac song song, do ia cac day quan biI va day quan d6i chieu.

3.3.3 Anh huang eua day qu'n bu

Ta sf! nghipn cuu Sd hwc anh hliong ella day quan biI phan ting phan ting
d6i voi tinh nang cua may di~n tn9t chieu 0- che d¢ qua d9.

u) May dUn khiinK hfl

Khi khbng co day qm\n g sCI do t.ong qmit hinh 8.2 dan toi hinh 3.3. HI?
phl1C1ng trinh tu (3-6) den (:3-9) tro thanh:
di l
L--
I tlt

(3- 14)

b) Muy difn mljl chif?1I C(; bii

IJhcin lin/.! philn linK

De biI phan ung phi'l.n ung,

day quan g phii duqc mac nbi
W3"p voi day quan q sao cho dong d
dip,n ig va ill bang nhau va trai
dau. Theo hinh 3,4 ta thay xuat
hi¢n di~n ap 1110i tren cac qtc
u' ::= U + u ,,
i = i

~1
q q ;:
ig = -ill
The vao cae phuClng trinh tU
(3- 6) de'n (3- 9) ta dUQc;
Hlnh 3.4. May di€m mOl chieu c6 bu.
l
di
L--
I dt

u'lj = -(R'I + Rg)~1 - (L'I (3- 15)

 Ta nhi;t.n thay h~ phuong trinh (3-15) ding cimg nguon g6e phuong tdnh
(3-14), Vi$e bu kh6ng liun thay doi de quy lu~t bi~n thiE!D ve djnh tinh, nhu:ng
VEo ujnh IU9ng bu hQp Iy se tao n€m

L'I + L~ - 2M;:"1 < < L'I

do v~)y bil se !fun gi8.ll1 d;i.ng kP' ui~n cam philn dng, do do lam gdll1 hang ,,()
thili gian d che dQ qua do. Tii do suy fa ket lu(\O: Du Cel hil pMn ling philn
ling hay khong thlmay dien m(Jt ehicu ciing tmln theo h~ phuong trinh (3.14J
nhung khi hu phan ung phan ring ph/ii them R)! vilO ~I VII thay the L'I bang
m6t uit?n cam co gia tri nha han nhieu.

3.3.4 Dieu ehinh t6e dO dong ea mot chieu bing tile dong len di~n
ap phsn ling
Tiep thea ta xet 11lQt VI d\1 ve vi~c diell chinh t{)e <16 d(mg co mot chieu
Dat. R R)! + R'I
L L+L-2M
'I )! ~'1

Cae phuong trinh (3-14) lip d1,lng cho eh0 d¢ d{mg cd, ('oi 1'1 va am. Nell
ta kh6ng thay d6i di~n lip kich tu, phLidng trinh dau tien chung to dong di$n
i l kh6ng thay dtii va
bang ghi trj dong kich tU han uihl II". H~ thong ph:'!.i
tuan thea phtiong t.rlnh 13-111
Vi i l = II" kh6ng deli, h~ tMng (3-111 h\ tuyen tlnh va eo the' up d1,lng
hien doi Laplace cho cae E;ai phan. do d6 dan dfin phuong trlnh sai phan
L<.Uq(pl = MtdII(/~w/PJ - (R + LplL<.i'llp)

t<..Crn(p) = ,fpL<.(u,(p) + Mt<ilt,,~i'i(pi

Gi1'li h~ phuong trinh sai philn m\y tim duqc L<.UJ,.(pl Vl1 t<..i (p) thea hjP"n
'I

MfdII"L<.U'lip)

=
(MldII<,)~ + JpfR + Lp)

-JpL<.Uq(p) + MluII"c-..Mc(pJ
(M ld I
tt
)2 + Jp(R + Lp)
} (3-16)

Phuong trinh 13-16\ cho ta anh htidng eua t<..l:'I(p) V~l L<.ML(p) den toe u<)
va dong elien phEW ling. Thea quan dipm drilu ehinh ta co t.he' nghien eriu ham

57
truyfm gifta t6c dO v~' di~n ap phhn ung. Vi d\l n~u gift thi~t m6men kMng
deli va phtm ung phan ung dUQc biI het (L = 0) ham truy~n trd nen bi€u thtlc
ddn giAn:
~/p) ki
~

6.U ll (p) 1 + T mP

1
vai ki =~~
M ld l f (1

T m HI. hAng so thai gian Cd eua dCJng cd

* Vi d1,l bang so cho df,ie tinh d(mg cd va cua tai
di~n tra va di~n cam philn dng (gia thi€t co biI):
R = 0,05Q, L = 1 mH
mcnnen qUlin tfnh cua phan quay J = 100 kg.m 2
Dieu ki$n dau:
Ull" = 200V, IqCl = -200A, Wro = 47,5 rad/s
tao nlm hang so Mtu1f(\ = 4 Wb
NghUm cUu bien thien toe d<): bat dau ttl eht de? nay ta giam dOt ngqt
di~n lip U q 20V
20
p
con momen ed v§.n kh6ng d6i 6.Mc(p) = 0
Thea phudng trinh (3-16) ta co the tlm dl1(JC gOe t9a d<) va dong dii;ln
thea thai gian
w/t) = 42,5 + 5,4exp(-3,4t) - 0,4exp(-46,6t)
i q (t) = -200 + 464[exp(-3,4t) - exp(-46,6t)].
Cae quy l~t bUln thi~n n~y dU(Jc ve trfm hinh 3- 5, ta nh~n thay mng
bien thien di~n ap 20V lam xu:H hi~n dong di$n ngu'Qc, do do sinh ra snh
huang giSlll t6e Ian nhung kh6ng vu(Jt qua gia tr! dlnh mde eua no. Sau khi
xmlt hi~n bien thien dong di~n vaj hang s6 thai gian L/R, dong di~n va toe
d<) trd ve gia trj on d!nh vai hAng so thCli gian cd bang:
RJ

58
 Mo hinh toan h9C clla
may di~n mQt chiim nghi€m ~
'"
41,5 :
"
>;- -..
cuu d tren cho phep giAi • 45.0

quy~t van de dnh tOlin h~ - - -- --

"'2.5 - -- -- - --
th6ng di~u khien, ngay Cft - L-i==
3 40.0

truong hgp dQng Cd d1igc

n6i voi bl? chinh hiu co dieu
khign
D;;ic dnh Clla may dit?n
m9t chi~u C\l the la muc bil
phAn ung phan ung co anh
huang rat Ion den d~c dnh
clla b¢ chinh hlu va co the'
danh gia anh huang nay
mng 1110 hinh toan h9C clla Hlnh 3-11, T1Sc dQ vii dOng di~n phttn Llng dQng cd kfch
may di(m mqt chieu tLJ dOc lap khi dOt nhien bign thien dii!!n ap ph&n ling.

3.4 MO HiNH ToAN H«;Ie eVA MAy mj):N XOAY eHlEU

3.4.1 Sa db may di," xoay chi'eu
Xet may di~n quay ba pha (dong bQ ho;:ic kh6ng dong bQ) o;tato la nlt;1ch
2n
ti1 t;:to ttl truong quay co b6 tri 3 day quan a, b, c co tr\lc tit l~ch nhau :3

doi voi may hai ct,(c (p "" 1) nhu hinh 3.6a

May di~n co the thu9C lo~i bat ky, 0 day kh6ng the hi~n day quan roto.
Quan he' gii1a tit th6ng va dong di~n la ham so' clla goc quay dl).c trung cho
v1 tri tuc thoi Clla roto d6i vai stato. Ta co the don giAn hoa vi~c nghi€lfi cuu
may di~n xoay chieu ba pha tht,(c Mng phep thay doi bien 0;6 gOi la bien doi
Park bieu dilin may dien tht,(c theo hal tr\lc toa dq vuong goc (Od va Oq)
Tr\lc Od (trl,lc doc) lam voi pha ft goc f) va tI"l:lC ngang Oq ch(lm sau Od nlN
goc n!2 (hinh 3.6b).

3.4.2 Bien d6i Park

Duo; dt;1ng ma tr~n st,( thay doi bie"n theo h~ toa d(l d, q va t9ft d¢ tt,( nhien
a, b, c d1iQc bieu di~n bang phuong trlnh:

59
 b d
d

8
o )«[--'-=---t---

v';; i" 9
bJ
aJ
Hlnh 3.8 Sd do may dien tv trudng quay
a) Day qua:n IhllC a, b va c: b) Day quoin giA wdng d va q.

2,. 4"
cos H cos (0-
3) cos ((J -)
3
2 2. 4"
sinO sinO? - ---I sioW -) il> (3- 17)
:1 :l :1
1 1 1
i e"
2 2 2
d day i lr dong di(m dQc tr\lc
i q - dong di$n ngang true
i,,- thanh phan dong diE1'n tliang dliOng voj thanh philn thti tu' kh6ng, de'
hi" thong- (3.17) co tinh chfit nghjch d~lO, nhung chi khi i" co l1l<:Lt, tcing i" +
ii' + ie khac kh6ng. Ta co the' viet phuong tdnh (3-] 7) duoi Jl).ng rut g9n:
i d'I" = Ai 'Ill(' (3-18)
A Iii lila trt~n Park.
Ngh~ch daD etta (3-17) cho t.a t<;m d¢ thW: thea t9a do vuong gac:

1'1
COS H sinf.i 1 id
,
ii' cos (H- y,') .
sm(A'T) '" 1 i
'I
(3- 19)

4, 4JT
ie eos (H - sin (A - -) 1 i
3 3 "
60
hoac du6'i dl;l-ng rut g9n:
iahe = KJi dq" (8-20)
Neu chu y den cac h~ so clla hai dong dau tien Clla (:~-17) va hai c9t daH
elta (3-19) ta nhi).n thily cac day quan a, b, c xep chOng tao nfm suc til d¢ng
phiin b6 hinh sin thea fJ co cVc dl;l-i lan h1<;1t trimg v(ji truc pha Oa, Ob, Oc co
the dll~lC thay the bAng hai cu¢n day gia tu'i'mg d va q co tr1,lc ttl ludn c6 djnh
so v6'i cac tr1,lc Od va Oq nhll hinh 3.6b.
S\1 thay doi bien so cling dU<;1C ap d1,lng cho hEI' thOng difn fip u a ' u b ' U
c
va til thong ~'a' ~'h' ~", cua stat.o. Cae phl1dng trinh tong quat cd d<:tng:

u d '!"
~
Au al ,,, (3- 21)
~
A-I u (3- 22)
U"]\l d'I"
~)tlt]" ~
A~'''!K (3-23)

~';II'c K' ~' dq" (3-241

3.4.3 Phuong trinh Park

Kh6ng ph1,l thu¢c v~lo (illY quan rota, ba day quan tren hinh 3.6a t.uan
thea cac phl1dng trinh tong quat:

dll'"
dt

(3-25)
cit
. d~'c
lt l , = - R"ll' - dt
R la di~n tro 1119t pha Clla stata. Ta viet dl10i dl;l-ng ma tr;.'i.n tong quat
ci
u"hc = - R"i"I'<.' - -"dt~rabc'

Ap dl:mg bien doi Park cho he phlldng trinh (3-20), (3-21'l va (3-24) ta
dllQC

d
A-(A-I)IjI'i<I"
dt
Ta nh~n thay

61
 0 -1 0
d
~ (A-I)
, de
A
dt
1 0 oi dt
0 0 0:
ttl do, b~ng each khai tri~n ta co:
dV'd da
ill - VJq~

dV''1 de
+ '1'oJ-- (3.26)
dt dt
dl/'"
Uo = -R)" -
dt
3 phuong trinh (3-26) t:;10 nell cae phuong trinh Park.
Ta nMn thay co sl,t triIng hQ'p hoan toan cua hai phlwng trinh dau tien
vcri hai phuong trinh cuni cua lluiy di$n 1119t chieu t6ng quat (3-12), chi co
dB
di"eu khac Iii d day dt kh6ng phai Ia toe dq quay "'r' Vi day qmlD gia tllong d

va q cua hinh 3.6b tlldng tv day quan phAn ung cua may di$n mcit chi'flu: cae
tr1,1c tit co dinh so voi toa do t~o nell boi tr1,1c Od va Oq nhllng thanh dtln
chuyen d(mg so voi tr1,1c t9a d9. 'fa co the di den k€t !u:)n: Bien d6i Park d6i
voi day quan ba pha a, b, c ding gi6ng nhU: bien doi cua c6lectd len phlln ung
nuiy di~n m9t chieu.

3.4.4 COng su4t va mOmen

C6ng suat tue thbi cua day quan a, b, q a mQi thai dUl11l bang
Pc = u)a + uj,i L, + ucic
bang bifin d6i Park theo (3-20) va (3-22) ta tim dUQc ve thu hai
3
Pc =T(U,}d + uqi q + 2u,~(,). (327)

Khi lilt d1,lng phuong trinh (3-26) ta co:

3 . d~'d . dV'q d,"
("1- + , - + 2 · -'-")
2 'dt 4 dt '"
dt
3 d&
+-(w.i 1/) i d ) - .
2 or U II
'I dt
Ta nh~n thay trong bieu thuc Pl" co 3 thanh phhn:

62
 3 ,
thanh philn - -R (i l + i <I " + i}l bieu dien ton haa Joule trong philn
2 " U
lJ:ng

3 dV'\J dV' dV'

thanh phlln - OJ + i'l -"+ 2"l"CIt (l
bie'u dien bien
2 dt dt
thi€m thea thbi gian cua nang hlqng tit tru:dng tlch liiy.
3 de
- thanh phan - (f",A I - V'<lidl - ~'n vi'li c6ng suat CO' bien doi thanh
2 dt
cong sua:t di~n trong may. Trang truong hqp tQa d¢ gall voi roto, khi do I.a
toe d¢ We thbi, momen di$n tit bang:
3
Melt = 2 (!fllli q - !/'qiu l (3-28)
.
Ket qua Day lll(Jt IBn nlia trung vai bieu th(ic (3-13) doi vai may dit';ln
lll¢t chieu tcing quat.

3.4.5 Khcii ni~m ve may dh~n t6ng quat

Bien d6i Park co the ap d"ng cho cae lo~i lllay di~n xoay chiflU bat kyo
Vi~c ch9D t~la d(J (Od, Oq) ph1,l thu9C vao cau true cua m;-iy va lo~i bai toaD
thuong g~p.
Vi d\l vbi may di~n dong h¢ Dfm ch9D t9a d¢ gaD voi roto va dnh den doh
doi xung eua nilly_ D6i vai may di$n khOng dong bi) bien doi Park co the ap
d\lng cho stato va roto. Sl,l' d6j xling llH.lch ttl cho phep tuy y chr.m b~ t9a d¢.
Bien doi Park cung dlh;1C ling d\lng cho cac lo~i may di$n khac nhu may
di~n phan khang, may di~n xoay chieu co vanh gop ...

Nha bien deli Park quan h$ giG:a tit thOng va dong di$n dlt9c dan gian
bOa va thl,l'c te gi6ng nhu truang hap may di$n mi)t chieu tong quat.
Bien d6i Park cho ta thay 1"6 sl,1 tuong tv cua qua trinh bien d6i nang lU9ng
di(ln cd cua cac lo~i lllay di$n quay khHc nhllu vi the ta gQi cac phuong trlnh
Park IA phuong trinh may di~n tong quit. Cac phuong phip nghiAn cuu qua
trinh qua di) cua cac lOJ;li may dien khac nhau co nhieu d~c diem chung. Tuy
nhien d6i voi tUng lo~i may dien khac nhau cling co nhftng npt rieng can luu y.

3.5 MAy m¢N DONG BO

3.5.1 L$lp phLJong trinh may di,n dlmg bet au dl,mg bien d6i Park
Cho may di$n dong b¢ ba pha, hai cl,1c, sd do bi,§u di~n tren htnh 3.7 ta

63
nh~n thay: b
d
- '1'ren stato ha day quan pha a, h,
c co cac t.r\lc I~ch pha 2-'1/3.
- '1'rEm rOto day quan kich tu ky
hi$u bflng ehi s6 f:
G

Od eua M t9u d(J (Od, Oq)

'fr~lc
ch9n trung vai trl,lc tu euan kieh ttl.
Khi quay vt t.ri Od dl1Qc dlo.lc trung
bang gdc
o = (Oa, Od) "I
of! ~ ~
C
ot Hlnh 3.7. S(I db day quin th\,Je
'fren rota cd bo tri cae day qUlln eua may di~n d'oog be.

can dju ngan nwch. Ta cd the bieu di€in

bang hai day quan ngan mach D
thea trl,lc d9C Od va Q theo tr~lc
d
ngang Oq.
Neu cac day qWln stato ut1<:JC
xem nhu may phat va day quan
kich ti1 xem nhl1 tAi cac phl1dng
t.ri.nh di~n clla 6 day quail. Ii'!:

cllf'"
u,,=-R),,-
ot

dlJ\. ~
"c ~
-R"i[ - -~

dt
(3- 30)
dV'1 Hlnh 3.B. SO db may di~n dOng b6
", ~
R[il +
dt
theo true d va q.

dl.{'i)
0 ~ R\)i[) +-~
dt
d'rf' ()
0 ~
R()iO +--
dt

64
trong do Ra la di/i!n tro pha cua day quan phlin ung.
RJ) va RQ di(!n tro day qua:n can
R f la di~n tro dAy qu.fn kich tit.
Sau khi ap d1,lng bien d6i Park cac phuong trinh (3-30) tu'cmg tL! nhu
(3-25) duc;lC th~ vaa (3-26) va duc;lc bieu diil!n thea cac d:;ti IUc;lng d va q tren
hlnh 3.B.
Tren hlnh 3.8 cac quan M gifta tit tMng va dong di~n th~ hiliin tuong UlC
tit gif:r:a cac cU9n day co tr1,lc tit 00 dinh vai nhau, m~t khac hai h9 vullng gOc
nhau. Cac quan h¢ nay la tuyen dnh do gill thie't may khOng Mo hoa, cac h$
so khllng ph1,l thu(lc fJ va duQ'C phan chia thanh hai M thOng d6i xung. Mqt
M thong cAp 3 ang voi cac dAy quan d,- f va D cua tr1,lc doc, m¢t M thong
dip 2 ung voi cac day qua:n q va Q cua tryc ngang va thanh philn cu6i cung
bi{i'u thl quan h~ gifta V'" va io'
D~ thu~n ti~n cho vi~c bieu dien cae d~i IUQng khac nhau ta thuong dung
don vj tuong doL Cac gia trj tuong doi du9'c ky hi$u bang chu nha bang ty
so cua d:;ti IU9'ng thvc va d:;ti luong djnh muc cua no.
Thea d~i lu{;mg tuong d6i ta co tM' bie'u di~n cae phuong trlnh cua may
di(\n dong bo:
Cac phuong trlnh di$n
dJ/'d

_ dJ/' q (3-31)
dt

dl/'"
dt
d~r
ur ~
rfi f +-- (3- 32)
dt
d~'D
0 ~
rr)D +-- (3- 33)
dt

(3- 34)

Cac phuong trlnh tit:

65
 I 1/'u I I" nl af IllaD' ' i" :
. ~r ~
mal In mIDI ,I i l (3-35)
I ' , ,.
i 1/'0 I lllal) mil) Inn ll) ,

Iq
'1\1 ~
i
Ul"I). , ,.' iq I' (3- 36)
! ".,I ! lU aO IUU lO!

!f'" Ii ~ (3- 37)

""
Cae phuong trinh nang IU!;lng:

M" ~
w(I/'uiq - I/"Iid) (3- 38)
2H dw,
M, - M" ~--- (3-39)
w dt
trong do: lu' lq la di~n cam gan voi cae di~n khAng d~ trung cho ch€ d¢ xac
I~p dong b(l voi tan so w; H la hang 90 d¢ng nang.

(3- 40)
di~n khang tlong bi? ngang tr\lc xl] = lqw (3-41)
diEm cam Iff' IOD' lIN Iii cae di~n cam cila cac day qulln f, D, Q va lllrn
Iii hCi cam gii1a day quan f va D.
- hCi cam gii1a m¢t pha stato a, b, c va day quan r6to vi d\l maf ia hei cam
giua pha a va cu¢n kich ttl trl,1e ti€p tham gia vao bieu thd'c cua suc di~n
d¢ng trong.
dl,~n dun 1" gan voi dil)!n khling thu tl,1" khong:
x" = low.
3.5.2 VI dl,J (rng dl,mg
H~ phuong trlnh (3- 31) den (3- 39) eho phep nghien euu d~e dnh cua may
di~n dong b(l (1 ch€ d(l bat kyo Khi toc d¢ coi li'l khong doi M thOng Iii cac
phtwng trinh tuyen dnh, co the giai ba.ng giai dch. Tuy nhien noi chung vi
toe d(l thay dl1i can co cae b(:t dil\u chlnh di~n ap va toc d(l cae phuong trinh
tren khli phuc tl,lP, can dUQc xu If bang may dnh.
C che d<) xlic Ji;l.p dong b¢ ta co:
(3 _ 42)
(3->13)

u q = -r}q + xuiu + e
,e = In~fwif. (3-44)

66
 Ta nghi€m cuu cac thOng so d:;ic trt1ng cua may di~n dong b¢ 0 ch€ d(> qua
de). 0 day ta gioi h~n toc d¢ la kMng d6i, bang toc d¢ dong bQ, nghta la chi
xet den qua d¢ di~n ttl, b6 qua qua d9 di~n co va khOng co tMnh phan tha
tv kMng. Ta co the ap dl:lDg bien doi Laplace cho cac bien thil!n cua cac d~i
1t1Q'ng di~n. Cac phuong trlnh (3-31) dt;n (3-34) tro thanh:
6.u ll (p) = -ra6.iip) - P6.1f'd(P) - w6.1j'q(p)
6.U q (p) = -ra 6.i q (p) - p6.1f'lj(p) + w6.1j,</p) (3- 45)
6.u r(p) = rrAir(p) + p6.1f r(p) (3- 46)
o = r o 6.if)(p) + p6.1j'f)(p) (3-47)
o = r Q 6.i o(p) + p6.1j'o(p). (3- 48)
Trong cac phuong trtnh (3- 35) va (3- 36) nen thay the 11' va i ba.ng cac
sai phan 6. thea p.
Khu 6.if' 6.V'p 6.i[) va 6.V'n hung 5 phuong trlnh (3- 35), (3- 46) va (3- 47)
Phuong trlnh eon IfP xulit hi¢n 6.1f'd nhu ham tuyen Hnh cua 6.id va 6.u f .
Cae M s6 lit. phan thuc bl)c 2 cua p "
(3-49)
Ttl: va mA.u s6 cua Id(p) va g(p) cO cac nghi~m thl,tc vit. am co the bHl"u
di~n duai d~ng:

Xu (1 + T' dP)( 1 + T" dP)

Id(P) = (3- 50)
w (1 +.. T'd"p)(1 +. T"duP)
ham truy'fm kich ttl toan tu:
m'lf 1 + -TDP
g(p) ~-' -;-:--=-----::-:"'---;;;;;---: (3'51)
rf (1 + T'drJl)(l +. T"unP)

Cac hllng s6 thai gian T'll va T'do Ia hang so thOi gian qua d¢ cEi Is, va
Ian han con ha.ng s6 thai gian T"d' T"d<> vit. Tn lit. Mng s6 thai gian sillu qua
de) eo 0, Is vA nho hon,
VI ch€ d¢ bien thien kha chc).m (tan s6 tuong dttong eo 1 Hz) do do di~n
kha.ng qua de) dQC tr1,lc

(3- 52)

voi x'd::::: O,lx u .

Cae eh€ di? bien thiE!D nhanh co m$,t di~n khang sh~u qua d¢ dQC tr1,lC

67
 T" d
X"d ;0: X'd (3- 53)
T" dt)

voi X"d :::: 0,7x d ,

'l'a khtl 6.i{) va 111fJQ giua ba phudng trinh (3-34) VB (3- 36)
Phuong trlnh eon l~i co the dUQe vilit:
6.'P q(p) = Iq(p)6.i q(p) (3-54)
lq (p) la phan thuc bf).c 1 cua q, co th~ viet duai d~ng:

1 + T" P
x"
Iq(p) ~-- ~~_=c""'-­ (3-55)
OJ 1 + T" 'loP
Cac hang sci thdi gian sh~u qua dl) T" 'l vi'!. T" qo cung cB T" d va T" d,,' ta
eo di~n khang si{!u qua d9 ngang tr1,1c
T"
'I
"
x "
~ x --
Ci T"
\I"
vdi x" ~
x" d
'I
3.5.3 Nghiin cuu ngln m,ch ba phs khi khOng tai
Cae tinh toan lien quan den che dO qua d(l cua may di~n dbng bO thuCJng
rat dai ngay ca trong truong hQp don gian nhat. Tuy nhien ta xet m()t trong
cac truong hQP quan tr9ng trong th1Jc te vi cac Iy do sau dlly:
- phuong phap nghien cllu eo tM' stl d\lng cho nhieu vi d1,1 khac,
- che d9 nay thuong dUQc su dung trong thtl nghi~m, bhng cach ghi 81,1
bien thien dong di~n theo thm gian Mi vi phan tlch bang bieu do dao d(lng
cho pMp dnh toan cae th6ng s6 ehu yeo, No eho phep t~o nen qua trtnh xae
d~nh bang th!Jc nghit:'!m cac thong s6 eAn thiet cho vi~c nghien cuo toon b9
qua trlnh qua d9,
Ngan m~ch khbng tai bao gom lo~i bO mOt each d9t ngQt cac di~n ap u a'
u ll ' U'-' do do cac di~n <ip u d va Oct' con di/iln :ip kkh tu of van gill kh6ng d6'i.
Khi kh6ng tEti a eMf d9 x:ic I~p dong bt) ta co: u d = 0, u,' = e,
Ap d1,1ng vao cac phudng trinh (3-31) va (3-32) cac bien thien:
LlUd(p) ~ 0
e
6.u q(p) ~

p
llur(p) ~ O.

GEl
 Thay th~ vao (3-49) va (3-54) vao (3-45) ta duQ'c:
° == -era + pl,/p)]Lli,/p) - wlq(p)Lliq(p)
e
= wlip)Llitl(p) - ern + plq (p)]Lli q (p)
P
Giid h$ thong nay ta dllQ'C Lliip) va fliq(p).
vi co cac d~i
illQ'ng tham gia vao phuong trinh cho pMp dan giAn hoa
Hnh toan m(lt cach dang k~. Dau tien djnh thl1c cua M thong co the"· dUQC
viet mOt cach gan dung:
D = id(p)lq(p) (p2 + w 2 + 2ap)
vai
rn w w 1
a=-(-+-)=-.
2 x"(j x" q Tn
Tala hang so thai gian cua stato co 0,1 den 0,2 , a < < w
Ta bi€t rang djnh thuc xulit hi~n trong mau s6 cua cac nghi~m 6.i tl (p) va
Lli,!(p) va nghj~m cua mAu thuc cho ta guy lul)t bien thien theo thai gian.
Theo bi~u thuc (3-SO) va (3-55) dinh thl1c D duqc viet duai d;:tng
__ XdXq (1 + T'dpHl + T"dP)(l + T" qp)
D (p2 + w2 + 2ap)
w 2 (1 + T'dllP)(1 + T"d,,p)(l + T"qnP)
Quan sat mau s6 ta thl'Iy c6 cac hang s6 thdi gian xuat hi(!n trbng bi~u
thuc tuc thai cua Llid(p) va Lliq(p):
- Thanh phAn tAt dan vaj hAng s6 thai gian T'tl, T"d' T"q
- Thanh phan daD dqng vaj tan 86 w va M so suy giam a.
Ti~n hanh dnh toan bang cach phlin chia thanh thil'a s6 huu ty va dan
giAn hoa dnh toan theo dJ cae d~i lUQ'ng
1111111
( - va - - ) < ( - -- -- va - ) « w
T" d T" do T" d 'T" do J T" q 'T" go Ta
Vi ch€ dQ ban .dl'iu la k.h6ng t9i citc dong di~n ban dau va gia 136 fl oang
dong di~n can tim, ta 00:
1 1 1 1 1
id(t) = -e[- + (- - )exp(-tiT'<.l) + (--;- , ---; )exp(-t/T"d)] +
X<.l x'd Xd X d xd

e
+-- exp(-at)cos wt
x" <.l

69
 e
iq(t) =~,-, exp(~at)sinwt
x 'I
Trang truang help nay b6 qua thanh ph an T"\i"
Tinh toan dong di~n 1ll9t pha bat ky, sa d~ng dl;li h19ng v~t If ta dt1Qc
_ 1 1 1
-EV2[~ + (- - - )exp(-t/T'd)
Xu X'd Xd
1
+ (
X"u
EV2 1 1
+-- I - +--- Jexp(-at) cost/"
2 X" X"
EV2 1
" 1 "lexp(-atl cos (2wt
+-- (- - + fl,,). (3-58)
2 X" d X" 'I
Cae dong di~n ih(tJ, ic(tl nh(m dt1Qc hAng each thay t.he tuong ung [{;I" -
(2;r/3)] va [w" - (4JT/311
Ket qua bieu do dong di~n qua d(l clt1Qc ve tren hinh :3. 9 + 3.11.
D,§ nh~n thay r!\ng t.rong ia
cong thtic (3-5Bl thanh ph an
cuoi cung (thea coszwt) co bien
d¢ rat nha so voj cae thanh philn , "
khac do do co the" b6 qua va cae t
hang so thoi gian T'd va T"u nit
A.
khac nhau.
Trang bieu thuc (3- 58) dong
di~n ngan mach co 3 thanh phan: ----WWTvM\t

- Thanh philn dau tiEm trong

Jau ngo~c vuong lit thanh ph~i.n Hlnh 3.10. Ooog ngAn m\lch pha B.
tat dan chu ky 1.l'ng voi 51! ng-an
can tu thong ban dau trong nu).ch "" ..... " . t.
..NWffivmm
rota. Hang so thbi gian T'd chu
yeu dll!;lC xac dlnh Mng cac thong
s6 cua lll':\ch kich tit va T" d thea
thong so cua cu¢n can d<;>c tr1,lc,
con tu thong tlldng ling vai Hlnh 3.11. DOng ngar. miilch pha C.

70
trllong quay vd'i toc d9 w d6i vd'i cac pha stato, cam ung a do 1ll9t dong di(ln
co tan s6 w tAt thea quy lu~t cung M.ng 96 th.oi gian.
~ Thanh phlin thu hai 13. thanh phan khOng chu ky ung vdi 91,1' ngc1I). can
tit thOng ban dau trong 1119t pha bat ky (0 day la pha a) cua stato, vdj hang
sO thoi gian T" = 1/a dt:i.c trung cua stato, bi~n d(l cua no ph\l thuQc vao vj
tri cUa clay quan so voj lll~ch klch tit t~ thai dit?m xay ra ngao l11!..1ch.
- Thanh philn thu ba ia thanh philn tat dan voi tan s6.gap doi li~n quan
den s1/ kh6ng dong clEm cua m!..1ch roto so voi stato

3,5.4 Do di.n khang va hAng so thai gian theo thi nghi~m ng6n
mOoch ba pha
Thi nghi~m duCJc thl,l'C hi~n vdi di~n ap giam (noi chung e < 0,3 va nha
hon d6i voi may Ion) de' tninh hien tll~1ng bao hoa va gitUll ung suat Cd di~n.
Vi~c khai thac ket qua duCJc thl,l'c hien thea c.'ic duong cong thu duCJc tren
dao d(lng ky nhu hlnh 3.11, tufm theo cae guy luat (3-58) trong do thanh
phan eo tan so 2w co the b6 qua. Bien do cua thimh philn diEm hoa tat dan
lit M so cua bieu thtJ:c cos (wt + fj.,J i di (t)
trong phudng trinh nay. Ve m~t do
thj khi ve duong b!l0 phia tren va 0 p..~/-~~~~~~~~~~~­
phla dl10i c~a duong cong bat ky cua
hlnh 3.11 va bang each do cae
t.i'(t)
khoang thai gian ch9n trttdc s,t khac
'-_L.i"(t)
nhau giUa cac tung dO cua hai
dubng baa.
Mot nua hi$u so nay ia bien dQ Hlnh 3.12. Xac dinh bAng d"b thi hang sO
thili gian ella may di~n dOng b¢.
thea guy lu~t (3-58) co d;:tng:
1 1 1 1 1
Ht) = e[ - H- - - lexp(-t/T'lI) + ( -lexp(-t/T"d)1
xli
,
xli xd X
" el Xci

Di~nkhl'ing d6ng b~ Xc! cla biet ba.ng each keo dai db thj den ch~ d~ ngAn
m~ch xae lap ta co the tim duqe thanh phan tUdng ung, tit do suy rll
1 1 1
lli(t) = e[-·- - - )exp(-t/T'el) + ( "
x'd Xd Xci

cac t9a d¢ thea duang loga tren hlnh 3.12.

Vi T"d noi chung r:lt nha so vai Tel sau Dl¢t khoang thai gian ngan 6.i(tl
trung vai thanh phan qua de>
1 1
Ili'(t) = e(-; ~ -)exp(-t/T'd)
x d Xd
Thi;l.t vi;l.y ta thAy rang do thj 6.i(t) co xu huang ti~n nhanh ve phia b~n

1 1
phai, trong dci a di~'m A, nOi suy 0 t =0 cO tQa d¢ e(- -), tU do
x'd xd
suy ra X'd la d¢ doc cua duong tha.ng cho T'u'
Ta l<:ti lAy cac t9a d¢ loga thanh phll.n sieu qua d{i
Ili"(t) = Ili(t) - Ili'(t)
cho thea guy Iu~t

1 1
e( )exp( - t/T"d)
x"d xd
D~ thi cua no Ia dubng thang lAy t = 0 (diA'm B) co t9a dO
1 1
e( - , - )
X"d X'd

Tit do suy ra x"d va dt) diSc cUa duong tMng cho T"u'
Sv ton t<:ti cua thanh phAn khOng chu ky tat dan trong bieu thuc (3-58)
do hai dUong bao xac d~nh tn10c dAy noi chung khOng d6i xung so vai trl,lc
thai gian va sl,t kh6ng d6i xl1ng phl,l thu¢c vAn gia tri (J{f De danh gW.' thanh
phan voi d¢ chtnh xac cao ta vI'! 3 dllong tr~n hlnh 3,11 voj sl,t kh6ng d6i xung
cl,ic d<:ti r6i ve duang cong co t9a d¢ la trung blnh dai s6 cua cac t9a d(l hai
dllong bao,

3.5.5 Sa db tllang dllang

Cac phuong trinh til (3- 32) dgn (3- 36) co the dUQc hieu dien bang sa da
wong dllong Wang tl,t may bien ap hai'ho~c ba day quan,
Vf! m~t
tr1,lc d«;lC so db co cAu truc raJ dan gian ngu tn gia thi{!t tAng h6
cam Mng nhau, nghia 18. ta coi tU thdng cam ung chung voi hOO dAy quan bat
ky hoan toan qua cUQn day thll ba. Gia thigt nay vbi gia tri wang d6i dUQc
cho bA.ng dAng thuc
nlaf == nl aD = nl fD =: Imd (3,59)
lmd Ia di~n cam dQC trl,lc. Ct1ng v~y ta d~t

m aU == I mq (3,60)

72
 ]a di~n cam ngang trl,lc.
Do vh doi voi tung day quan sJ,t khac nhau giua di~n cam ban than va
di~n cam chung the hi~m di~n cam ro cua dAy quan. Ta d{i.t:
lu=lmd+la
Iff = Imd + Ir
100 = ImJ + II) (3- 61)
I q -- Imtj + I ~
IQO = Illlq + 10

Ta chl1p nh~n di$n cam tan cua stato thea hai t~c la gi.6ng nhau. Trang
cac phuong trinh (3- 32) den (3- 36) thay bAng p ta duqc h~ phuong trinh toan
tu-:
<p, I, + 1m, Imd Imd i,
Ur 't
~,
Imd + It +I md Imd it (3- 62)
p p

0 Imd i md '"
p
+ If) +Imu in

Va
V'q ~ la + Imq 1m'! iq
~
'Q (3- 63)
0 Imq - + IQ + Imq 'Q
p
Cac phuong trinh ung voi so do tuong dllong bi{fu dien trl!n hinh
3.13 va 3.14.
Cac so do tuong dllong nay tuy kh6ng chua cac thOng tin llloi so voi hi:!
phuong trinh xuiIt phat (3-31) den (3-36) nhung rat ti~n d\ing vi cac Ii do
sau da.y:
- Cho phep hi~u r6 hOn ml)t s6 hiijm ttiQng vi dl,l phan bi~t ro chI! dQ xac
l![lp, chI! d¢ qua d¢ va sil!u qua dQ, moi nha.nh cua sO do co vai tro rieng ung
voi cAc chI! d¢ nay. Bang 3.1 cho clie eong thuc tinh dil)!n khang va hAng s6
thbi gian eua may di~n di"lng b¢.

73
 Clong
Tho ,.
doc trl,Jc
Dien kMng

xd",x,,+X md
H.ing sO Ihli gian
--
b; -------
,, '.
~-~--~~

ngang trl,Jc ~

--- -+ xm"
Qua dQ doc hO 1
trl,Jc mach
Tdo - -I', -+ xmdJ
I ~mdx r "'ff
I -- "
c_, Xs 1
-
I ngAn )(md -+ x f 1 xmdJo:",
T' •
I, •
~
- (X r (
m~ch
,"If 'me H,
._"----
f Su~u Qua dO hO
I 1 xmdx/
I dQc true mach IrdO ~
-
,,,r 0
{Xc • )

x"a = xe , XmaXr)(o )(",d -+ )(r

ngan )(,IlCl X j +Xf)(O +XO)(md 1 XmdX/X"

T'
mach
. • "'- (Xot )

h".
'''fD X mdX ff-X fX" -+)(")(,,,d
-----
hd 1

I
I
I
q" dO
ngang trl,Je m,!-ch

ngAn
X"q "" x~ +
)(",q)(o

x mq + Xo
I- T'qo = -

- - - - -""0
1
---
(xc -+ )(mq)

xm )(

I I T"q"'-(X Q +
, qa )

" ,
mach
'''I o
f----~---Lt~
I quAn Tan day
+------
I '0
I can doc trl,JC TO
'''10
I_~ . ~_~_ _-----'_ _

- Qua di~n ap co the

nnh huang tdi he thong
kich tli, khi kich tit dttcJc
cung cap qua chinh hiu.
- Co the nghien cuu
che' d¢ dieu hoa ho<:J,c ch€
d¢ khong dong b¢ khi Slt
dl,lng phuong ph:ip sri phti'c
b~mg clich thHY P == j.
Co thp' xet anh
huang f'-lia baa hoa th{'o
c~ic sd do nay. Hin" :1.13. Sd do tlldng dlldng doe true.

74
 3.5.6 Xet anh hllang eua baD
ho. i- I,

Baa hoa Iii hi$n bl(;mg co dnh

chat CI,IC bO dttlJ'c xii Iy bang cach xet
I,
i7+ iQ I 1,1 I.

slJ' philn b6 th lJ'c cua tit cam me. ~, : 1m ,

r,
khong thea dieu hoa bQ.c nhat dlJ'a
trim gia thie't tit cam ph1in b6 hlnh p
sin.
Ta co the' danh gin bAo hoa chu Hlnh 3.14. Sd dB tiJong dtJdng ngang true.
yeu thea quy dl;lo cua dun ung til
hldng ling viii til thong chung cha c~ic day quan, thuc t€ no kh6ng anh hUdng
toi duang suc til truang tan. Trong cae dieu ki$n nay ta co th~' can thi~p vila
thanh ph an i md va Inlll cua cac phuong trinh (3-62) va 13-63) de danh giEi
muc baa hoa.
D~c tinh baa hoa duQ'c xet m<)t cach ddn gian thea di.lc tinh kht'ing tai:
11'<1" = fOl)
dubng cang bAa hoa tit dUde ve tren hlnh 3.15,
Trang mi"en chua baa hoa duang
cong fOr' dli'Q'c ve bang da~n thang d¢ ¥:to
nghieng I md ,
Khi co tai ha~c d chf.' d9 qmi d(l, tli
thong ung voi quy dl;lo chung, cht:ing ta 'i' (if)
d.
dl),c tntng no bang ky hien c, t~ng voi
che d¢ khong 000 hoa lily tit cae hie'l.
t.huc (3-62) va (3-63')

~''1C = In-..,/i ll + i()l.

Trang truang hqp tUlly di~n co khp a
ha kht'ing d6i ta chap nMn gill thii!t cua Hlnh 3.15. D~e tinh kh6ng tai eua may
dlil!n dOng b6 ~et dlin baa Ma_
Potier thea do slJ' baa hoa khi co tAi cd
guy lu~t nhtt khi khong tAi cha diI chieu tit truang tong bat ky va chap nMn
I ~ I
mel ""I'
khi do dnh tdi anh huang cua baa bOa bang cach ph6i hap lI\k va 1I''1c ta duqc:

75
 - ~

';'P d /' + V!q/ = rc"fU ll + if + i n )2 + (iq + i o )2)

Truong hgp may di~n c1,l'c loi van de se pht1c tl.lP hcrn vi Imd ~ Im4 va bAo
hoa se khac nhau d6i voi hai thanh phhn tu th~ng.
Phtldng phap phon tich tu tt110ng thea hai tr~c d9C va ngang dung cho
may di(m dong bQ cho phep gi3i quyet cae bai toaD tu dan gUm den vi~ nghiE!n
crlu qua trlnh qui d¢. Can nhaD m~nh rang bien deB Park dij,c bi~t cd Ich
trong trtlang hQ'p xay ra nhi~u iOI.lD doi xung.

3.6 MO HiNH MAy DUj;N KHONG nONG BO

May di~n khong
d~ng bg iA may di~n d
tit trllb'ng quay dng
nhu may diEm d~ng
b¢ vi the phltdng
trinh cua may di~n
kh~ng dong bQ co

nhieu net gi6ng may

di~n dong b(>, dij.c bi~t

khi ta quan tam Mn

ville dua diy quan
stato va roto ve hai
tQa d(J vuong gcic Tuy
nhien so Val may
dong bO Duiy di~n c,
khong dong bl? co
m~ch ttl: ding huang,
Hlnh 3.111. Sd de, dAy quan th!.lc cua
vi~c ch9D trv.c d va q dOng cd khBng d&ng bO.
1a tuy y tily thea 1at;li
bai toano

3.6.1 Phuong trlnh eua may dh)n khOng d&ng bo

Ta xet may di~n khong dong b9 ba pha hai c\lc a stato va rota. Cling nhli
d6i v(li may di~n d~ng b¢ ta gia thi€t stato III may phat, r6to Ill. may thu, tu
do ta co he phlicJng trinh:

76
 d1pas
u'i.~ = - Rsi3S -
dt
dtj'hs
u .. = -Rsi~
dt
(3-64)

dV\",
u'-1< = -R;~, -
dt
d1j' ar
u" = Rri Clr +
dt
dl/'hr
U hr = Rri hr +--
dt
(3-65)

d1f'<.:r
U" = R~~T +
dt
o day Rs' Rr Ie. di~n trCl m¢t pha cua stato va rOto.
Cae tU thong lien M voi dong di~n bang M 6 phudng trinh chua 6 an 56
thea ham hinh sin cua g6e giu:a day qudn. M¢t so g6e bien thien thea thai
gian do chuye'n d¢ng t1.wng d6i eUa hai lll:;1ch.
Ta ap dl,mg biirn d6i Park cho stato va cho rOta. Ta dlla ra M trl,lc Od
va Oq vuong g6e, chuyen dOng quay voi t6e d¢ khOng dOi w.
Cac g6c va toc d¢ lit duong thea chieu iUQng ghic, ta gqi:
8 s = (Oas' Od)
Ill. g6c pha a cua stato voi trl,lC Od va
f:l r = (Oar' Od)
hi g6c pha a cua rota voi tn,lc Od.
Ta cling ap dl,lng bien d6i Park cho cac dif,ln ap va tu: thOng, tUdng tu eac
phudng trl.nh (3- 24) va (3_ 64), cac phllong trinh (3- 64) cd cung dl;lng phlldng
trinh (3-25)
dtj'ds dRs
uus = - Rsids - l/'qsdt
dt
d1flqs dRs
u'IS = - R,5q~ + tj'q~. -- (3- 66)
dt dt
dtj'a"
Uc< = - Rsios -
dt

77
 D6i voi rota ta lip d\lng bien doi Park cho (3-65), chu y s11 doi dau va
thay chi so s bang r ta duc;lC
dV'Jr dfi r
+~~ + ~'qr~
dt
dV'w dH,
+-- !I'dr (3- 67)
dt ell

Vi~c thay doi bi~n sO co the' duqc bie'u dii!n tUdng u:ng vai vi~c thay the
cac day quan th1,1C bang cae day quan gia tlidng ds,qs, dr, qr co cac tr\J.c tU
lit'>n h~ VOl tr1,lc d va q t.hea hinh 3.17.
Phuong trlnh t.hu ba cua (3-66), 13-67) kh6ng co l11~t vi t6ng ba dong
di~n pha bang khong. d
Quan h~ giua ttl thong va dong
di~n \a:

~' J~ L~iJ~ + Mi dr
}
~

(3- 68)
V'JT ~
Mids + Lri dr
L~ill~ +
V"I~
}
~
Mi'l!" (3- 69)
V'llr ~ L'
Mi,-\.~ +
rallT a
So ding huang cua tnl.lch ttl
d:in tai hai h~ th6ng co ciing lll¢t
h~ sO \a:
L~: di¢n cam ri{mg cua stato
L r : di(ln cam ri{mg cua rota Hl"h 3.17. So dO dOng co khOng dCmg b(,l quy
v~ hai tn,IC vuong g6c.
M: h6 ca.m giua rota va stato
Du M tQa de? chQn the" nao momen di+$n tu dugc cho boi bieu thdc:

3
="2
(~',biqs - V:'q.~iJs)
Mdt (3- 70\
bi€u thuc nay cd dl,lng tuang t~ bUiu thuc (3- 27).

3.6.2 ChQn h. tQ8 dO

Vi~c chon g6c tQa dl) cua h~ tMng (ad, Oq) lien quan den toe d¢ quay
l~a ch(?n. Co 3 IO<;li g6c tQa d¢ tuy theo bai tOlin nghien cuu.

78
 - ChQn hi! tQa, dl) co dinh ubi stato
Trong cac phuong trtnh (3-66) va (3-67) phaj thay:

(3-71)

H~ tQa de) nay du'gc ehQn khi ta muon nghiim cuu hien thien dong thdi
ti~m s6 ngui"ln va t6c de) quay.
- Clu;m h~ t9a d¢ co" dinh uai r-Qto
Trong cac phu'ong trinh (3-66) va (3-67) phai lay:

13-72)

H~toa d9 nay du'Qe si't Jvng trong cac bai twin cd t6c d9 quay kh5ng doi
vi dl,l nghien cuu cae 11ng suat do ng:i.n m~ch t~o nen.
- ChQn M tQa d9 c6 dtnh voi tit tnidng quay.
Trong cae phuong trlnh (3-66) va (3-67) pMi My:
df::l s
~ w
dt

1
(3- 73)
dR,
~
~ w - U),_ ~ gw
dt
w - w,
i1 dAy g 1ft M s6 tru'gt g ~

w
H~tQa de) nay kh6ng lam ddn giaD hoa cae phu'dng trinh (3- 66) va (3- 67),
tuy nhien n6 d~e bi~t co 19i trong cae bai tmin thn s6 ngubn Iii hang s6, vi
dl,l bai tmin nghien cuu ch€ d9 xae I~p cua may dbng b9 trong cae phu'ong
trlnh (3- 66) va (3- 67) kh6ng co thanh "phhn hlnh sin, lam don giAn tinh toan
rl1t nhi~u. Toa de) nay eung thu'ong du'gc su dl,lng trong cae biti toan ngubn
eung dp cho de)ng co kh6ng dbng bO qua bQ bi€n thn tInh, khi ta muOn nghien
cuu ham truy"@n cua de)ng cd voi nhi(!;u lo~n nM trong m9t ch€ d(l eho tru'de.'
Do vi$c chon M tOR d9 trong cac bi~u thue (3- 66) va (3- 67) cae sue di~n
dt')ng bien ap va suc di~D de)ng quay kMng pMi 1ft cae d!).c trung rieng cua

79
llli?t day quan rna ph\l thu9C vao h~ t9a d¢.

3.6.3 MO hlnh dj)ng cO' khOng dbng bl) theo 'quan di~m dj'~u khi~n
Bay gii'l ta chuy~n qua vi~c xay d~ng rna hlnh d¢ng co khOng dbng b¢
theo quan die'rn diEm khien
Ti1 cac phuong trinh (3- 66), (3- 67) ta rut ra
di su l1-a 1-a 1 ~ a
= - ( ~ +-- Hsd +WJ.Sl] + - - 1/" rd +-~ wy,'ru
dt aT~ aT r aT r a

di~'1 1 1~ a 1~ a 1~ a 1
= -Wsl.'i<l ~

( +-~ )isq +-- wV,'rd +-~

'/" rq +- U~I
dt aT~ aT, a aT r aLs
(3~74)

1 1
isu - 1/1' I'd + (w s ~

w)1// rq
T, T,
d1/" rq 1 1
= - isq (w s wly,1 nJ
TV"rel
~ ~

dt T, ,
trong do T s = LJRs : hang s6 thai gian stato
T r = L/Rr : hang so thai gian rato
o = 1 - M2/(LsLr) M s6 tan ttl tong
y" nl = V'rd/M , II" nl = 1/ I'Q/M I

Thay vito bieu thuc (3- 70) ta tim dUQ"c phuong trinh dnh mornen trfm cd
so dong stato va ti1 thong roto
3 M2
111M = 2'" LPcl/"
, rdi~q (3.75)

Dt,1a theo (3.74) ta co m6 hinh d9ng co khong d"bng bi? ba pha r6to long
,
soc trllD h~ t9a d¢ dq (tJ:\lC thl!c lit tr\lc tll' th6ng roto) trlm hinh 3.18.

3.6.4 MO hlnh gijn do," clla dj)ng cO' khOng dbng be.
De' xay dvng M dieu khiE1n so nuiy di~n ta dIn rai r~c hoa rnO hinh lil!n
t\lC cua dOng co, Vcri di~u ki~n cae d~ ItlQng vilo u sdl u sq va Ws la bAl bi~n
trong rni?t chu ky lay rniu nen h~ phudng trinh (3-74) hi M phi tuyen yeu
vcri h~ so h;).rn cho phep Stl d\lng cae phuong phap thiet ke nhu d6i vcri M
tuyen dnh h(! so hang co d~ng:

80
 dx
= Ax + Bus + Nxw~ (3- 76)
dt
v6'i vecta rnlli dinh nghts nhU: sau:

[i~J' i sq• l"'rd' V"rq]

T
x =
uT = lu sa' usq 1
Us la vecta luqng VaQ vbi cae philn tu th1,l'c
x vectcr trl.lng thai viii cae phan hi th\lc
A ma tr~n va~ M th6ng
B ma tr~n van
N rna tr~n ghep phi tuyen
w~ = 2Jrfs
Cae ma tr,!)n co cae cong thuc rut ra tu h~ (3- 74) nhu sau
Tlch phAn phuong trinh (3-76) co:
x(k + 1) = rp(w, w s' T)x(k) + H(w, w~, T)us(k) (3- 77)
trong do
¢(W, (uS) T) = exp[(A + Nw)TJ (3- 78)

(k +l)T
H(w, wS' T) = f exp[(A + NW~)TJdTB (3-79)
kT

k = 0, 1, 2 co, T = chu ky lay mau.

Me.. Mnh (3-77) v6"i cae rna tr('.o theo cong thuc Ie. m(:lt rna hlnh tuygn
tinh trong eto cae iUQng vao Ws t1'l! thanh tham 56 cua M, Ii hAng 86 trong
m(lt chu trinh My mi'tu. Ta bil§'u di~n cae rna tr,(ln gaD dung duoi d!j.ng cac rna
tr,(ln con nhu sau:
T 1 1- G I-a T I-a
1-- ( - + - - ) -wT
a Ts Tr a
1-0 T
-w T
" a T,
<I> = (3- 80)
T T
0 I-
T, T,
T T
o -(w ,-wlT 1-
T,

81
 T
0
oLs
T
I
0
d(it H = 1
aLs I ,
0 0
I 0 0 I
¢(w, w S , T) =
¢11 ¢ 12 1
_I HI'
H(w, w S ' T)
I ¢21 ¢ul - I H21
~

'ft (k)

Hlnh 3.18. MO hnh dOng dif)f1 va III thOllQ ella dOng C~ khOng dOng bOo

82
 8

P.v I-a.
0-
f! I

:>:
f!

~'"'d;SI ..J~"
3"
'" 3
._"'" 3"

I bib Ir -.
,..
."E -I.!-
,!"I ~I'
-I I
-Ie!"'""" .-"
~

.-
"ilt
""
~If I-I'!-l /< bl~•
I~
-E-

V
I
~
-Itf +n I-I,," I
~~t
~
~

..,
~"
.",-
OJ

~. • CL..
~

;:l

83
 M6 hlnh roi r~c ella d¢ng cd kh6ng dong b¢ co the' dU(lc bieu di€;n chi ti€t
helD bang cac ma tri;l.n con d~ng:
Vk + 1) = ¢llis(k) + ¢121/,'r(k) + H1u,,(k)
V,'(k + 1) ::= ¢2!i,(k) + ¢22V,,/k)
Phlidng trinh (3- 80) h1dng ung vai ma hinh dong di~n clla dong cd khang
dong b¢ trfm t9a d¢ dq (hlnh 3 19a1 va ma hl.nh tit th6ng Clla dong cd kh6ng
dong b¢ (hlnh 3.19b)
Tren hinh 3.19 la m6 hinh dong di~n va tir th6ng clia d¢ng Cd khong dong
bo trim t9a d¢ dq. Chi tiet hdn ve each xay dung 1116 hlnh cho dong Cd khang
dong b6 co the tham khao trong [2]. Hlnh 3,20 la Sd do khoi M dil!u chinh
toc de> d¢ng Cd kh6ng dong bi?

3.7 MO HiNH TOAN HOC CUA BO BIEN n61 CUNG CAP CHO
MAY mEN
Mo hinh toan h9C clla toan b¢ b¢ bifin d6i may di~n thpo quan diem dieu
khien so la giai do~n quan tr9ng trang vi(lc tong hQp h~ diEm khien, thl1ang
bat dau tit cae phl1dng trinh he thong l\la ch9n va Hnh tmin diEm khien. Tit
lau nguoi to. eta dy dlfng dl1c;:le cae phudng trinh t6ng quat cho may di~!n,
nhl1ng doi vai b¢ bien d6i van de m6 h1nh ella chung vin con nhieu khia e<:Lnh
can phai giai quyet, do Ia do tinh phi tuyen va s\l gian do~n ella m6 hinh. Do
nhfing kb6 khan thl10ng g~p khi xay d\lng va su dl,mg mt> hinh ta thl10ng
bang long voi cac mo hlnh gan dung, tuyen t.inh va lien t\le ho*c mn hinh
tuyen dnh, rai r~e giln dung. Trong mot so trl1ang hc;:lp d*c bi$t ta din cac
mo Mnh chinh xac hdn.
Ta xet trl10ng h(lp ddn gUm nhAt ill. W. bien doi cung cap cho d¢ng cd
dien mot chieu. M6 hinh nay cung thieh h(lp cho cae bo nghich 111u cung cap
eho may diim xoay chieu. Mo hinh can phai lIla ttl quy Iuat di'eu khien va bo
bien doi va moi lien quan gifia chung. D~e bi~t quan tn,mg la thbi gian tinh
toan, Ta phan bi(Jt ro rou truc dieu khien va rna hinh ban than b¢ dieu khien.
Bo bien d6i co chu ky T h dU(lc mo hinh hoa thea h$ rbi rli\C, ehu ky lay
miu thlJC te bang chu ky bam clla bi) bien doi T ::= Th

3,7,1 Mo hinh lien tl,lC

a) Trltimg hap be') chinh luu va b¢ bam hq rip.

Doi, voi dong co IUOt chfeu, cae bo bien diSi kinh dien cung cap di$n lip ra

84
u phl,l thuQc vao gOc moi 1/' (d6i vbi bi? chinh hiu) ho~c thOi gian dan Tk (doi
vbi bi? bam), Ta tim each xac djnh ham truyen lien tl,lC. Di~n ap ra thuong
kh6ng lil!n tl,lC, khOng can biH d;:tng chinh xac cua no, nhung gia td trung
binh la u(o' G9i u il la tin hi~u xac djnh 1/' ho~c T k , ta xac dinh dUde h~ s6
truy"€m d~t tinh G,,:
dU(i>
Gn =--
du"
Cac b6 bien doi chi lam viec a ch€ do chuye'n m~ch trong chu ky ky hii)!u
T. hQ bien doi tac dong nhu mot khau rai n),C co ham truyen giln dung b1[tc
nhat theo cong thuc:
Uw(p)
U(p)
a day T( 1:1 hang so thai gian pua hi) bh?'n doi bang mQt Dlril phu ky T( = T!2
hl Truong hap b(J biifn d6i tn¢t chicu - mr)t chiclJ
Cac b6 bam lam vit;'c d ehe" d¢ khae nhau ehtl yell dude d~c tntng bang
lien tiep hai che do trong m¢t ehtl kyo
Khi khaa chuyen mach dong trong khoflDg T ~ = aT g9i iii. che d¢ 1 (a hi
ty s6 chu ky) co mo hlnh tr~ng thai dang
dX/dt = AX + BJU
Y = C1X + DJL'
vdi nT < t < nT + aT
a dfly X lit vectd tr~ng thai (vai d~lDg cd it nhiH la dong c1ipn vl't top d¢)
U la vectd hien vaG (di~n ap nguon, di(ln up dinh chunn, nhieul
Y Ia vecta d~i IUQng ra.
Khcia chuyen m:;tch d tr'.lng thfii Il1d trong khoang T - T k = (1 - a IT ta
g9i Iii che d¢ 2 co mo hinh dang
dX/dt = A~ + BlT
Y=C,X+D,IJ
- -
vai nT + aT < t < (n + 01'
c) Mol s6 nha nghicn elfu dua ra mo IIlnll lrung binh co phuong trlnh

trCJng thai
dX/dt A + BU

85
 y = CX + DU
vdi
A' = aA, + (1 - a)~; B = aB, + (1 - a)B z
C = aC, + (1 - a)C 2 ; D = aD, + (1 - a)D z
Phuong phap nay gUt thie't rang cac tin hi~u vito kh6ng deli trong me;.t chu
kyo No kh6ng b) anh huong hi1i vi~c lay mAu va gia thi~t di?ng h9C dfeu khii~'n
ch~m. Cac gia thi~t nay phu hgp vdi ngubn bam co tAn s6 ha.m cao va tai 19C

tOt cac dieu hoa di~n ap. M6 hlnh nay co uu diem la de y den s1,l' thay deli
Cliu trUc m~ch trong khoang tiep di~m dong va mo. Trong trubng hgp d.i~u
khien nuiy di~n, tAn s6 hAm ncii chung thlip va bien thien cac d~i lUQng di~n
rAt nhanh, m6 hinh trong m1,lc a) lil mo hinh gan dung don gian hoa. Neu
muon xet den anh huang l.1y mfiu m¢t cach ch*t che ta phai su d1,lng cac m6
hlnh th~t.

3.7.2 Cau true di"eu khi~n 86 VB mO hinh rai r"e

Neu mu6n xet b¢ bien doi va
dieu khien clla no m¢t cach ch~t che
nghia I~ dtn nghi~n cuu cac tlnh r----------, itt)
nang cao ciin phAi su d1,lng rna hinh
,,
,
,
,,, ,
rai rl'.lC vi:
- B¢ bien d6i lit rai rl'.lC (vai chu
]I ,,
,
,,,
ky bam)
,
'------------~~

- Dfeu khil3n la rai rl'.lC (chu ky

Hinh 3.21. BO chW!h IlJu c6 dillu khiAn
Hiy mAu) cung cAp cha dOng cd.

Rai ph~p rai r!.lc CO the dan den

nguy co d6i l~p nhau do do cAn dong b¢ chung.

a) Di"eu khitn so
- B¢ di"eu chinh co ham truYfm roi r~ C(z) tinh tin hi~u dieu khien, tin
hi~u nay chuyen thanh can s6 dung cho be;. dem, xac dtnh thai diem chuyen
m!.lch ho~c goc moi If'. Thbi diem chuyen lll~ch xac dinh di~n ap ra eua be;.
bi~n deli, da so truang hgp lit gia tri trung btnh.

vi d\l be;. chinh hiu hlnh 3.21 co d.<;lng song tren hin,h 3.12, dieu khi~n
dong b¢ hoa bang lucri. 0 thai dHfm chuyen nwch t' n' kiem tra
tr=t'n-tri

86
 tr thbi gian m'Oi tr~ ta co gOc m'Oi ¥'
= wt ,
, ,.
w 18 thn s6 hloi.
o • wi
Ta ky hi~u an 18 h~ sO chuy~n d6i giua
bien ra cUa bQ di~u chinh sO va gOc trti
,,
xac dinh bAng bl) d~m: "" "
Olen -
op ro
" "

~r
""

~
dt'n dtr
an =-- ~--
dU a dU a
Giang nhu trueJng hgp di~u khi~n
"1 til t~ ,
tUdng tv ta phAn bi~t hai lo~ bien ddi: Bien Mien ellen 6p ro

- bien d6i tuyen dnh u a = [1 - 2(..p/.lt)]A

suy ra a
()
~-­
-n
2w,4
"'\1 t'0
1 ,•
x.ung Dirac
- bien ddi cosinua = Acos ..p
Hlntl 3.22. D~ng s6ng va xung.
-1
suy ra an = - - - -
w A sintl'
A 1a gia hi c1,lc d~ cua bien dOL
Sd do chuc nang va so do cilu truc di~u khi~n s6 bl) bien deli cho tr~n

hlnh 3.23, 3.24

Tfnh toim thili di~m

~L~C~(:Z)~~~~V~a~~'L[~~O~'~~~_;,~C~h2"y~·:o~m~'~Ch~_
Tfn hieu di@u kh~n Ir hole 'I'

Hlntl 3.23. Stj dO chllc nang.

Tfn hi~ dOng bO

Tfnh loan thili di@m
~---, chuyan mlilch
Thu,at loan di@u "khiGn f-~'"~~ BiGn deli f----l BO dAm
C(Z) L_O"'_J Ir hoolc PI'
Tfn hi~ di"&. khian

Hlntl 3.24. Sd dO di"&. khiln.

87
 b) M6 hinh b(j bien doi.rae
d{nh then giti Ir; (rung binh
Trang m6 hlnh nay ta lam
gan dung di~n ap th 1,ic bang
gia trj khong doi trong mQt
chu ky va bAng gia tr~ trung
blnh (hlnh 3.15), Sd do hidng
dUdng gam M s6 khuech dl;li (n·I)T (nt-I)T t
G" tiep theo la b¢ Ufy m<iu va
Hlnh 3.211. Lam gi!n dUng dil~n tip thlJc
hiu giu Bu (hl.nh 3.26) ba:ng gft! tri Irung b·irYl.
sin(nim)
= Vm~-C~­
nim
vai 111 so xung trong nlQt chu ky ella htaL
U m gia trj c1,ic dl;li Wc thai clla di(!n ap chlnh ll1u.
a) Truong hop bie'n d6i tU,yen ti nil
dU lb • m Vm n
Go = - - = - U"wa"slnv\, "" (simi' ) - - sin{-
du" 2 " A n1

ph1.:J. thuoc VaG di~m Jam vi(!c.

b) Thuong hqp bie'n doi
eOSln

kh6ng ph1,l thuQc vao die'lll lam

vi~e. Sau khi da xae djnh G" ta
chuye'n sang m~t phang z va Hlnh 3.28. Sd da chUc nAng lien hi;! lam gan dlrlQ
kj hieu H(p) 13. ham truy~n cua ba:ng dien ap (OJ r~c trung bi-Jh.

dong Cd giiJa dau ra y va dliu vao dieu khie'n U;j' Ham truyen rai roc eua toan
b¢ bo bien d6i - dong Cd If):
Y(z)
- - = GuO ~ z-I)Z[H(p)/pJ.
U(,)

Vi d\l llll;lch vang dong di$n co y = i, ham truyen Ia:

1 l/R
H(p) ~-=--c­
R + Lp

88
vai Te = LfR la M.ng 86_ thai gian di~n. Ta tim dtlQ'e
Hz) G,,[l - exp(-T/ TJ]
U.l(z) R[z - exp(-T/ T,J]
ttlong dtlcmg vai pbep l:),p

G"
i(n + 1) = e"i(n) +-- (1 - e,,)u)n)
R
e" = exp(-TI T)
Mo hinh nay co tlu diem la hi~u qua lay mllu duQ'c dlia vaa mi)t each don
gian, nhung kMng ton tr9ng d~ng th1,1c ct'la tin hi~u.

c) Dr lUy m6u l!rung Jll'ung (mo hinh rili rae khong Joe)
Ta xet dl';lng song chlnh xac cua tin hi~u (hinh 3.12). Ta xac dinh 016 hlnh
tuyen tinh hoa quanh diem lam vi~c Trang cac dieu ki~n nay diEm khien dua
vaa tre

Ta thAy dng bien thien ()V\, cua goc dieu khien d.1n tal bien thien di~n
ap co dieu khil!'n bang xung co bien d6 h (kh6ng lien t1,1C 0 di~n ap ngubn t~i
thai diem mol) va cd d(l dai - ()Ij'./w.
Thea huang bie'n thiE!D nM quanh diem lam vi~c thay xung nay bang xung
Dirac co di(ln dch
A = -hat'n = -hot r = -holj'n/w
cr cac thi1i diem t'n = tn + tr di~n lip nguon co the' dtlQ'C viet
au' = A.Dirae(t - l' n)
De thanh l$p sd do
tLidng dtldng cua b(l bien doi
thea nghla cac dao d(lng
,
nha ta xac djnh h~ so
Ke
khuech dl;li rai qc ky hi~u
Hlnh 3.27. Sd do t\Jdng d\Jdng rdi rae thea
bang K'~. (hinh 3.27): nghla daa di;ing nh6 eua diilu khien s6.
, oU 1d A
K, = - -
c ot' o t' 0
Trang' trtlang hQ'p to chinh luu, sl,i gian da~n co bieu thuc
h = Umcas [1/'" - (,T/m)] - U n1 cas [1/'" + (Him)] = 2Umsin(Jr/m)sinl/'"

89
 H~ s6 khueeh dl.li tuong duong eua di~u khien 86 ky hi~u bAng Ke dUl)e
xae dinh:
aUld
Kc = ::::: K'",8 11
bU a
D6i vcri bO ehinh luu, trubng hl)p bien doi tuyen dnh
nUmsin(;t!m)
Kc ::::: simi'"
wA
ph"\}. thu()e vaa dient lam vi(ic
Trong trubng hgp bien d6i eosin
2U m sin(n!m)
K ~ -"'-----'-
, wA
kMng phI} thuOe vaa diem
lam vi~e. So d~ tuang duang
rai r~e theo nghia dao d(lng
nha eua b¢ bien d6i gom hI?
86 khueeh dl.li tuong duong
lie ho:)e K't" bO ll1:y mAu, tn,l t~_1 tn t'n tnf' t'ntl
tiep thea lA khau tr~. Vi trl
ella cae xung Dirac cho trlm Hi"" 3.211. BiAu de:; )(ung.
hlnh 3.28.
Ham truy~n

(H(z)
G(z) = G(z, m = 1 ~ [tr'T])
bu,,(z)
~ exp(-T! Te)exp(tr ! T",)

L z - exp(-T/ Te)
Ham truy~n nay tuang duang voi bieu thuc

Ji(n + 1) = e"ai(n) + -e" lie

- bua(n)
e, L
vcri eo ::::: exp(-TI Te) va e 1 ::::: exp(-t/ Te)·

90
 Chuang 4

A ,," '>- ,,' K

HE THONG DIEU KHIEN SO
Chuong nay trinh biiy phuong phap philn tich M di~u khi~n 86, d~ tinh
cua cac be? di~u chinh so, cac d!).c tinh chat lU!;1ng CUR M di~u khi6n sO va sv
6n dinh cua h~ di~u khien s6.

4.1 CAC SO n6 TONG QUAT ellA H~ milu KIllEN s6

Ta nghien cuu me?t s6 cAu truc t6ng quat Clla M th6ng di~u khien sO dien
hlnh, trong do d6i tUQng di"eu khien co hAm truy~n G p (p), b¢ di"eu khien
tuang tl,i co ham truyen G c (p), b(l di~u khien s6 co ham truyen D (p), bO lAy
ma.u va luu gift ZOH.
Hlnh 4.1. Iii so db M diliu khi~n so co n6i tang bl> di"@!u khien tuong tl,i.
Hinh 4.2. lil so do M di"@!u khien s6 co n6i tang be? dieu khien 56 nAm
tren m~ch chlnh.
Hinh 4.3. Iii h~ diliu khien so co be? dieu khien tuong t1,l' nAm treD m~ch
phAn hbi.
Hinh 4.4 Iii M diliu khien so co be? dieu khien s6 nam tren m~ch phAn
Mi.
Hinh 4.5 I.a M di~u khien s6 nhif!u bi~n cO phan hoi nhi~!U bien, m9i bien
tr~ng thai d~u co th~ truy nh(i.p dUQc. Trong thvc te kh(mg phBi mQi bi€n
tr~ng thai df!u co the truy nh~p duC}c ng11ai ta phM so d~ng be? quan sat de
danh gia mOt s6 ho~c m9i bi~n. Trong hlnh 4.6 vectd dAu ra c(k) co the truy
nh~p duC}c, bO quan sat chi danh gia cac bien X(k), con trong hinh 4.7 dau
ra C(k) duC}c dua tr1,lc tiep vao be? phan hOi d~ trung ba..ng rna tr~n G.
Ta nh~n thliy vi~c dieu khien s6 bang may dnh mot qua trinh li~n t\lC
btit dau bang khau lAy mAu ZOH, dau ra cua no la d:;li luC}ng rai r~c duC}c
tien banh qua 4 giai do~n:
- ChQn buoc lay mAu L'1 nh~n duC}c ba.ng dnh toan ho{ic nh~n dl;lng qua
trinh, bAng phuong trlnh I~p, phuong trinh tn,lng thai ho~c ham truy~n cua
qua trinh cAn di~u khien.

91
 ChQn rno Mnh so hQp lj doi vai cac Yang. Phan tlch hi;! th6ng va. nhi(!rn
'IV thie"t k@' se d:ln den vi~c chon rno hl.nh thlch hQP.

- Thiel ke be; hi!';!u chinh 56 can thiel. Tru'ac het can chQn cau truc va
thong s6 cua be; hi~u chtnh.
- Xay dljng chu'dng trlnh may dnh, noi chung b9 hi(!u chinh du'Qc dnh
toan trong rni~n tan so sau do trd v~ rnii!fi thbi gian. May tinh du'a ra dif!u
khien thbi gian thvc u(k) a rnoi bU:ac ~ va.o he thong dieu khie'n so. Day kh6ng
phai van d~ s6 hoa bl? hi~u chinh tuong t'! dllQc dnh toan thea phuong pha.p
kinh dien ma. cac bi) dieu chtnh 56 hoa lam vi@c trong mien s6, do Ia vi~c
thiet ke b(l hi~u chtnh hoan to~1.ll maL B¢ dieu ch1nh 56 chi th'!c hil)!n hic dl?ng
dfeu khien tung bu:oc, no co kha nang nha cac dii:" li~m. Vi€~c dil! dang l~p trinh
cho phep th,!c hi(!n bl? hieu chinh chat IUQng cao, dE'; dang hi~u chinh.

R(s) E(S) t:"(S)'r-c-, U(s) C(p)

;(t) +_ eft) T
3,,)
~
1.oh H -c,,_,p_)-!8
. L . 1J(t)
Gp(p) I
.
I . ...
c:t)
80 ,Mil khie~ (lila frinh i
tilting hi

Hinh 4.1. H~ dieu khifin so n6i t"Mg bd di~u khifin lliang tl.l_

ret) e(t)
em
+ T

r(t)
+
eft)
[lG~p~'P~)}~~I~_ crt)
T

Hinh 4.3. H~ dieu khien so bo di~u khifin luang tL,l nil.m trong m;;tch pMn h5i.

92
 r(t) e(t)
+ T g~=t---T-C(tl

N Dip) ~T ,
89 d/eu {(hMn sO

Hintl 4.4. He dillU khilln 56 bO diliu khiiin 56 nAm Iron9 m,!-ch phan h6;.

r(k) x(k)

Hlnh 4.'5. H~ dillu khi~n s6 nhi~ bi~n, phan hOi biiln trang thai.

r(k)
c(k)
F=~ GI/O trinh
+ T
;(1.-) ~==~
ill/an sol F=:J

Hlnh 4.S. He (lieu khiiin s6 nhieu bibn c6 quan sat.

r(Jd c(k)

Hinh 4.7. He diAu khili"n 56, phan hOi bii!n ra.

4.2 HAM TRUYEN CVA VONG H1J1;u CHiNH 86

vi d\l dt)ng Cd mQt chfeu dall vao Iii di!}n ap dieu khi~'n, da.u ra la tOe de)
quay. Ham truy"E!D tudng tl,l' ella dOng cd 18

93
 K
G,,(p) ~ 1 + Tp

khi d9ng cd flam trong yang hi('lU chinh s6 c6 C(z) la ham truy~n cua. h¢ hi$u
chinh (hinh 4.8) cAn chuyen ham tTUy~n lU'ong t\1 Ga(p) sang dlilng rbi r.;tc.
Thea (2-6) th~c hi~n bien dlH z ta co ham truy€m ro! r;;tc ella dl'}ng Cd:
G.,(p)
G,/2) == (1 ~ 1.-1)Z { - ' - J
p
G)p) K K.z(1 - e-An')
Ta tinh Z [~J = Z[:----J =
p p(l + Tp) (z - l)(z _ e--t\/l)
suy ra. ham truy~n roi tl;lc cua dQng Cd m¢t chi~u

N (z)- -- - -----. - --:

E(Z) I I V{Z) !~
crz) 11--~--1I:

HI"" •.•. HjJI diOu chinn kiT!.

Trang hlnh N(z) 1s. nhieu tac dqng.

Ham truylm M ho
Y(,)
~ G,Ge(z)
r(z)
M kin
y(z) C1 Ge (z)
Y/z) 1 + C~Ge(z)

Ta nhifm th:ly n6i chung G,,/z) ph\! thuqc VaD chu ky hiY mau. eVe Zl ella
Ge('l) lit 1.1 ::0: e piA , pi Is clj.c CUR G,/p). ·Ne'll d(:lng cd co b(l Iu'll giu va lay mAn
ZOR di~u khign bang may tiM voi chu ky d. Til nh~n thay clap !lng t6c d¢
eua. d{}ng cd co quon h~ l*p gillS dau vao va dau ra:
y(k) "" O,6y(k - l) + O,35u(k - 1)
Y(z) =" O,6.z- l y(z) + O,35z-1U(z),

94
 Y<Z) 0,35
Wc IS. = - - Is ham truyen can tim.
U(z) z-0,6
Ta cling co th~ tim dll0i d~ng

1 0,6
Go;:(z) = 0,875----'--
, - 0,6
K = 0,875 l'ad/s.v, z" = c-An = 0,6, nghta Is Till = 2.

4.3 riCH pHAN, D,,"O HAM 86

Cac toan ttl dch phlln va d~o ham trong Hnh v\1c wang t\l dll~C thay the
bang pMp t6ng va hi~u cua cac mall. Chung ta S8 xac dlnh ham tl'uyen theo
z cua tdng va hi~u va ph6i hc;lP chung d~ t~o nlm PID su.

4.3.1 Tich phln s6: phep t6ng

e(k) la tin hi~ll vaa rai l'~C cua b~ t6ng. B¢
t6ng hinh 4.9 th\lc hil)n phep dch lliy co phlldng
trlnh sau:
e(k) s( k)
~ • •
s(k + 1) = s(k) + - e(kl }
Ti (4-11
,(01 ~ 0 Hint! 4.11. Tong s6.

M6i bllac lily mau t6ng s(k) bfiy gia dllc;lc c¢ng th~m lllot 111<;lng di~u chlnh
~e(k). Dau ra s(k) dllQ"c dch phan s6 bang m¢t bllac ~ o(k). Vl chu ky lay
, ,
mAu T c6 djnh ta co the' dnh gia tl'j l11<;lng tang cua dau ra. T j la thai gian
dch phlln.
Hinh 4.10 a, b, c cho ta thily sl,! phat trh~n cua I11Q"ng ra s(k) giua 2 I~n
lay mdu khi ~. 1s. so nguyen.
,
elk) s(k)

..
o
E" _____ _____ ..,
~

o 0 0 0 o·---E o
o : • • :
o • ,
,
, ,

0)
k
bl "
0)
k, k

Hint! 4.10. Tich phiin s6.

95
 Chuyen sang bien' d6i z, s(O) b~mg kh6ng tu (4-1) ta cd:
~
zS(z) = S(z) + E(z)

suy ra
1
(4- 2)
E(z) Ti z - 1
bieu thuc (4-2) lA ham truy~n cUa hI? dch phan s6. Ta nh\'ln thay q1c z = 1
dac trung cho phep tong, trong Hnh v~c so cung co vai trb nhu cl,{c cr p = 0
1
trong linh v~c tu:ang t\1' (ham truyen TiP ).

4.3.2 01;'0 ham s6: vi phsn

BQ dt.l-o hiim so hinh 4.11 co hie'u thdc:
Bieu thuc d;;to haIll so
e(k) - e(k - 1)
s(k) ~ TJ ----- (4- 3)
I!.
T d Iii thai ginn dl.lo hRIll,
Chuyen sang mien tan so vd'i dieu
kien dau bang kh6ng ta co eric) s(k)
'~---1 D o
TJ
S(z) = - [E(z) - z-IE(z)]
I!.
Hlnh 4.11. D~o nam sO,
Ham truy'~n cua h¢ d{lo ham s6:
S(z) Td z - 1
Dl(z) = - - ~ - (4- 4)
E(z) t::,. 2
Nh\'ln xet tich phan s6 co qlc Zl 1, con dl.lo ham so co zero zd = 1.

4.3.3 0,0 hlllm c6 IQc

Trong kg thu~t tuang t~ hQ df.1o ham thuc te bao gia cung du:~c 19C hang
bQ lqc thOng thAp de tranh M s6 khuech d~i qua lon, tin hi~u nhi~u hien thien
qua nhanh.

Ham truyen cua b9 d~o ham }a , N 1a h~ s6 ttl 8 den 10.

TJ
1 +-p
N

96
 Chuyen sang bien doi z ta co:
TdP
-~~--- J
To z - z"
pO +-p)
N
Cuoi cling ta dliQ'C
, - 1
(4- 5)

Li ham truyen ella bo dr;lO ham s6 co iQc.

So sanh (4- 5) va (4-4) ta t.hay b¢ d:;l.0 ham s6 ddn gian va dlilO ham s6 cd
IQc co hai zero z = 1 nhllng q'c z = 0 C1 df.l.o hal~ ddn dll~e thay bang eljc z"
clla df.l.o ham co IQc D1(z),
etfe z" co tac dung "san bi'mg" khi dau vao s6 bien thien d¢t ng¢t. Ta hay
xet vi du sau day:
Cho e(k) = E,,r (k) tae dt>ng vao dau Vfl.O ella hi? d~o ham. Hay dnh dap
ung sl(k) cua b6 dao ham don va sl(k) clla hO dlilO ham co loc va so sanh ket
qua voi Td = lOll. va N = 8.
, - 1
=
2
,
Vi E(z) = E" ' S[lz)
, - 1
Dau ra la m¢t xung co bien dO lan, d day Ii lOE".
2) Bi? dao ham co IQc D 2(z)
,
N(z - 1)
E ---
"z - 1 z - z,'

Td
s/k) -E
e(.l:) o "

0
11111 j-,- s'(:rtl T •
• • •
k k k
aJ b) OJ

Hlnh 4.12. Tin hi€iu ,', va ra cua b6 d~o ham

97
 ,
suy ra S2(Z) = N.E,,--- dan den s:(k) == NE.,.z"k
z - z"
Do thi xung dau van e( k) t.r{'n hinh 4 12a, (Hill ra (,\'m \l~) (11:1.0 ham dan
hinh 4.12b, dau ra d~o ham co loco
Tren htnh 4.12c. Dau ra hi? d~o ham don cd mQt xung cluy nhat bien ell'?
lon, con d dl\u ra b<;l d~o ham co iQc Li day xung suy gUnu Ta nhan thfiy t:ic
dung lam gialll xung eua z"

4.4 PID s6
4.4.1 Ham truyim theo z
Trang kg thu(tt luong t~ ta co ham truyen cua PID tHong tV:
1
+- +
T,p

Cd the' thljc hi~n ham troy€m dudi d~ng ~6 bang bfj vi xu Ii bang each
thay b¢ tieh pha.n va d().u hinll lUdng t.\I' thanh dl:lng ~6. Kpt qua ta dUQC:
1 N(z-l,1
-- + ---- (4-6)
z-l z-z"
trang do T j la hang s6 deh ph:'l..n. \h thili gian de' MlU ra b(j Heh phil.n dilt dUr;:lc
IW)t hang dau vao,

N thong so tin hi¢u dl;lO n:'1.m, 4uy(t (tjnh bj{'n d(l

z" eVe suy giam V~l(] khm'mg 0,1 dt"1l 0,-1.
K~ h$ s6 khueeh dl.li t.inh ella h(> hl~u chlllh
6. buck Iffy Ill~u.
Co thP' lAy z" = 0 <u:,Il) halll UOI\ I, khi dl) In/(1c hlll"Y d:lll VflO Pill dng voi
xung Dirac 0- dau ra.

4.4.2 l4!p trinh bl) dleu chlnh PID s6

Ta t.im conp; i.htYc I~p lien h(> rtk) Y3. u(kl nh 1\0 di\?lI (Ohinh P1D ";0_ Dan
giim {4-Gl r-,i'

-t-~:-'; IZ + 17." +N
I, I,
 T,
Vlli t, =
\

lha.\" Cite gi~i tri ;:;0 tl

gI<ln z

Z~UIZI - 1.3zLl(ZI + o.alllzi = 1.5z.2,IZI - 0.i)i)71I:n + 4.UIII.I

chia cho z2
Ulzi = 1,:h--1Ulzl - o,aZ 2t:IZI + 4,5rlz) - l),.,)5z-:,IZI + '1.127.-~'IZI

Chuye'n sang mien thdi gian ta dltQ(" qny lni\t dil'll khi{,'n 1'\'1:\ h¢ diEm
('hinh PID
u(k) = 1,3 u(k - 1) - O,3U1k - 2) + 4.5rlk) - ti.5511k - 1) + 4,12e(k - 2)
(4~ 7)

Xuat phal. tIL u(-11 \'it ul-2) = 0. (hla \'ilO sai if.ch dk) duai d~ng cae mAu
rdi l'tl-C danh (lilu * t.1't?11 hinh 41:1, t.a t.inh UIOI. lIlll. u.k') tro- ve phltdng trinh
lap. Hinh 4.1.1 In. kpt qua u(k) bfmg mit di!-m hinh k)c. thang. Ta nMn tMy:
- Tac d(mg tleh phan duy tri oieu khie'n ulkl = 0,9, "ai l~ch r(k) = 0,
kh6ng phil) h6 dieu chinh t.y if> dan ¢.<'m_

5~--
- ---I
4 -- --.----.

£JrJi
-. --- c-

----4-----"--- ____ L

un/fhai ginn cup PID

. :-~::J
I
..··1

•
•
o • *'~***i
,

:~D
-1 ... ---

.,o , , 6 B 10 12

Hinh •. 13. Oap lIr1g thdi gian eua PID sel. bLlOe I(y mA:u = 0.5$.

99
 - Moi thay dbi d6 doe cua E(k) din toi thay d6i u(k) n'it Ion do tae dOng
dao ham
- Hi~u qua suy giam cua c'le z" cOng thliy rEi khi 8ai lcch (l giai do~n cu6i
chuyen tu - 1 den 0, ta nh~n thay u(k) giam dl'tll va diO.lt dPn gia tri xac l~p_
4.4.3 Cae phllang an khae eua PIO so
Lu;}t dieu khien y
u ~ Ge(z)
(4-7) -v#uy ra ham
truyen e{ta hI> dilm
tu
~ Ce(Z)
I
P/O
chinh, nha do ta co the
l~p trtnh tr5n may tinh,
cho phep xae uinh tac OJ
uQng u(k) tU: quan sat
u y
sai l~eh dk). Hinh
4.14a ta sd do PID kinh
dien. Ta cling eo t.he' co
Sd do khae ve tren hinh

'1.l-1b trong dd sai tech

f chi uude tich phan 1118. bJ
khbng dl;lo ham de Hlnh 4,14. Cae phLlo:1ng an PIO s6.
tranh di"eH khiEl'n d6t
ng6t khi gia tri djnh chuan thay dol.
Doi voi Old do hinh 4. 14a ta co
1 N(z - 1)
+ ---- L
z~l z-z"

6 1
K-- -~- E(z)
IT, , - 1
, - 1
= K 2 (Y(z) + N . - - - Viz;)
z - z"
1 N(z - 1)
Ei z) - K 2 (l + - - - -
, - 1 z - z"
De' tim \ui).t dieu khien u(k) thea dk) va y(k) ta nhan (z - 1Hz - z,) 1'01
c:hia eho z2 de co d~ng trc z-l va chuyf:n sang t9u uQ thai gian:

100
 Kj , ,
u(k) =(1+z,,)u(k - 1) - z"u(k -2) - - zJlk - 2)
t,
K;p +NJy(k) +K/l +2N + z)y{k - 1) - KlIZ" + N)y(k - 2) (4-8)
Nh:jLn xet: B(> diet! chinh PI khi N == °
Lu.\1,t diPl1 ('hinh 14-8) tHong doi phl~C tf:LP, can xae dinh d.c
thong so K j , K l , t" N, z" luan vfto khoimg 0,:1

4.5 'IRE TIIUAN. nAc eVA HE THONG

4.5.1 8~c eua h~ thong

Bae he thong dude dinh nghla lil ,;6 bien trang th,';i din thiet (va clu) cle'
mo tit dOng h9(', nghia hl. th£lllh phtlll dau til'n dm phlwng (dnh lap:

ytk + n) + an_1ylk + 11 - 1) + + ill;.r1k + 11 + 'I.,yfkl =

day bi phuong trlnh b~c n, v(ji dipu kir;.n a" 7= O.

n dieu kien chiu y(O'l. Yll1 yin - 1) dill thi&'( x,ic djnh trang thji ban
dUti Juon bang khong ihe thiing tlnh} theo Yl'U d\H lha,:'-- doi loa d(l d dip'm
/.inh thVe. Do yay iuon eli
Z[Ylk + n)1 0:: znYlz) voi n btit ky
Dieu do co M qllll l:l nell h~ t.hong yeu dIU (1 thoi dipm k = 0 chi co tin
hieu ulk), chip ung ylk) sf> cei tl'l?,

4.5.2 Tn~ thuan

'faxpt nH)t vi dl,l

y(k + 2) + ajy(k + 1'1 + a.s(k) == b_'i u(k - 5)

ylO) = y(ll =;: 0
r-.,'eu ta d(i.t vao h~ thong myt h(((le nbay [u(kl] = [r!k)], ve' hai bang khOng
voi k < 15. Vdi k = 5, eong t.hlie l<,).p y(k + 2) = S(~ b~lt diiu eho k&t qua
khac khbng bat duu tii in) diem xu,,!} phM. eLlA. tin hi$u y(k)
yjOI = yO I =

'l'a noi rang he thong bi tl'E- t.hmin 5 mAu. lJie,u dd dan dc;n xuat hi~n
thanh pbfln z-I trong biLln truyt'11
y(k + n) + a c ' Iy(k + n - 1) + a"y(k~! b"u(k)
cho ta
Y(z)
HI;ll ~--- _ . _ - - -b"- - - - - Hong t,e
U(z) + :1 n - I Zll
'Zll
< -
- j
+ + :1, )

101
trong kili dli ,vlk + nl +
cho t a
YIZ>
",i tri' Ihuan
Uizi + + ii,

'fa thuang th:"iy ve '2 eua phudng tl'inh l~p (xi nhi~'ll th,'mll jlh,\n
Vi elu
,v(k + :11 '= .:1,Vlk + ~) - :lyik;- }) - ytkl + ulk + 1>
+ 2ulkl + 1I1k - 11 + ulk - :21

!-ir' t h(mg h:'w :1

Th:)nh phfl11 ('hmh Y(~i klCh thich 1£1 ulkl
lI'k + J I "'inh V\{(1t In10(' dar tlng
lilk II, u'k - ~) ,.,inh In'.

)"1/' l+:2+Z J
+z-
:\z: -r '!z
:2,, , , , ,", ~
,
,
" -
: 1- ~J .' ,, 2

T:l nil I" Ih.l\ ,_",11;-; 'I-HI nh'in dlilli' khi \fat i == k + :~

,I'll ;) "

--! 4(i 1-1- 101

~gll(ji Lip 11'111h 11',11 fn;~' Ihkh "It d\lng (1-101 VI ('0 till tIi.:;m tht"' hi~1l n1
Ihlli dil'lIl hi{'n I,d i v:\ '111:1 J...hll tho'; hi?'i) qU:1 l. :2 ;\(i Ihl" hi{'ll tr{>
lhutUl f\l{li "ll'\ \1 iJ :2 111-]11 l'lllli I\:\('h thil'h u ,.;t, (hWe Xli If d(lIIg nhti d{lllg
hoC' h?> Ih6n/-i IIbd Ill) nil, I )'11,1 IllIh ,,:'\ kh(mg ('I; ~..j kha< g1I/') uli 21, uli -
ai, uti - 4> Trf> thu(l!l kh" XLI 1.1' hdllt-: ky lhu(l( Wring 1\( !lhting- l'() lit{: XI'!
ly bAng ky thu:"t1 ,.;() ;'\hli \,\1 1:\ n'lI 1':1 k{;1 111::111

- Tre thui1n thi: hi{'1l {IH,1 h:llll (!'I[\"l"n Ihp() zhang- ]111(1\1 11'( (z I, nghla b
1ll0t z~rt"l

Khi (It ~(, ,',; hi· ___ ,'J IZ I. , ~,

t nt(k ml)t h',r(J('

Nguyi'Jl Iy 1I1}:UI q\", III, 1"1l fl,:I,' (lh 1)'( ~(1 ,'\1,) h:'l1n tl'll},{,n Ih"o z rh:'ti
Ion han ho:)e bang bl}e eua mall so,

4.6 D~NG CHUAN CVA HAM TRUYEN

Ta da biet trong kS' thu~t t.\wng tl,l' ham trt1y(~n the hi~n d~e tinh Hnh va
!.long (~lla hi? thong,
Trong mien z h;\m tl'llyl'n khong the hi(\n ro bang. Ta hay xet ham truYE!D
(blng ('hwln:
K Nlz)
G(z) = - - - - - ,-' (4-11)
(z - 1)'" D(z)

K hang lim (z - 11 il1 ,G(z).

~ 1

V, du 1
H~ thong 86 d~c trung bing phuong trlnh ll:1p, voi dieu ki~n dAu bAng
khong:
2y(k) =y(k - IJ +4y(k - 2) - 3y(k - 3) +3u(k - 2) +2u(k - 3) +5u(k • 4)
Y(z)
1) Xa(' djnh ham truy~n Giz) =---
Uizl
2) Tim va each Iy C'l'lC qtc Z = ] nOll co
:JI Tim IH:' :-it! khufodl c1r:d
·1 i iJ.ta n, ,I V(O d<:lng chuAr..
'[hi fiJi:
3z-~ + :lz-J + 5z·1
1) Gizi = .{. I
2 - z' - 1z"-2 + ;11': 1,
')
-I.
1,
- I.
~
:J
2) ('tic z = 1 xuRt hien 2 IAn mall ~o = Iz - l)ll:lz + :11
3 + 2 + 5
"J K = - ---- = "
2 + 3
1
4) (Jlz) = 2 ----- ,-1
(z _ 1)2 4z + 6
JJr' thong nay h'l. h~c l1a cd 2 Ikh phiul V,l m9t. It"~ htlcj('" z-l, co 2 vUqt
tnll/C lien quan (t{;n l.{>l'fJ "lla III ~il T:l ,',1 Ih( "if" (;1/1 l"IIl.~~ I ;ll'h khai t.ri(i'n
miiu >ifI:

,.17~ + 2z + 51

103
nghla lit bac 4,
vi dll 2
Cho phuong trinh l~p

y(k) == 1,5y(k - 1) - O,5y(k - 2) + 2u(k) - O,6u(k - 3)

Cae cau hoi nhl1 Vl d\l 1
Tnl fiJi
Y(z) 2 Z3 - 0,6

1 2z 3 _ 0,6
= 2.8z- I _ - - h~ 50 K == 2,8.
. z - 1 2,8z - 1,4

4.7 e1,le, ZERO, 81,1 6N DINH eVA 1IJ:; DIEU eHiNH

4.7.1 eve
Cae cue la nghi(!lll elia Ill.aU thuc ham truyi'm, d~.\e h'1.lng eho che d~ tv do
l:ua h~ thong_

I
D~t cae cue P, == ella G)p) ta se cli
T,
K A,
G}p) = +-~-
II + TIP)(l + T 2P) 1 + T 2P
A(p) A
Z[-- J = 2:Z I - - - '- - ) == ~
p , pO +T;pl I (z - l)(z - ail

vdi (( , == p---'\/'I' , = P1'I"

do do
G Ip) AlI - ,t-)
z-l)Zf -'-'- ] = 2: -'---'
P z - U ,

Cae ql'c cua G,.Jz) la z, == (I. == plV'. trong do P, hi. ctfc ella h~ thong tuong

4.7.2 Zeri)

Cling nhu he t.udng t\J, kh6ng the hu qua Anh hUdng ella zpru Neu ti't ,,6
co cae zero va. da thuc ttt s6 ldn hon kh6ng, nghb la vp thd hai clla phlwng"
t.rinh hp nhd nhi"im thanh philo kkh thich d(IU v;'w uck + 21, ulk + 1), ulkl

\04
 Ta (;0 the' noi rang z" 0;: 0 Iii vu:qt trlidc mot httac V:l z" 0#- 0 nha Vti9t trlidc
lUi)t phan bude. Trang moi trubng hap dap ti:ng ctla he t.hong eo ham truy'fm:
b" + biz
G)z) = -
- - ------ ---
a " + 3,Z
, + a,z2~
+
chu yeu ph\! thuQc vao cae thong s6 a", ai' 32 . xac c1jnh elie vii. chlnh 18. d(mg
h<;>c h~ thong. Tuy nhien cac thong so b", hi x<ic djnh c:ir zen) ctb h(> thong
ngoai tham gia vao h~ s6 khuech c1{li tinh con anh huong den clang di~u elm
dap ilng.

. _ - - _ .b"_ - - , - - clap ling c.un

a" + alz + az~ +
,
GL.j(z) = h,,-----.----,-.-- kh6ng gl kh;:ie GO' nhtlng vli(lt
a" + alz + az· + ."
tnroc mot bI1ClC.
M9i zero khic kh6ng trong h~l.In truy'c-n t'.f' dtUl d'fm ra vtlc1t t rUde 11l9t
7. - z"
phan eua mqi m:iu, nhli v0.Y C;'~'2{z) co dap dng
vU<.1t trliClC (bang Z"i so vdi G,,(z).

4.8 MO HINH s6 RAe NHAT

He thong so nh~)n dt1Qc b~mg each lam raj rae gmt trmh tt(0ng tv G)pl
sau do 1ft bO hiu giu bf).f' kh6ng ZOH, h~llll truy'en dla hc' ttwng ttl rai rae hoa
In:
z - 1 G.,(pl
--ZI-'-J
, P
C6ng thuc nft)' V,} nie IJA-llg rho phep t.inh G~JzJ trong moi tinh huang
ChI !'iin phtm tieh G)pl t.hanh e:i.r phii.n thtk d(1n gil'm quanh c,it' qtc thli(',
11<1(' hai quanh eir clie phtfl'
Tr? thuan t1ng vai z-'.
Vi du
K
Tim hill}) t.ruy('n rai rae [·t'w h? thting voi bo lay mau va htll gilt
l+T"p
ZOI-£.
Trri fiJi
b h" Kil - Z"I
, - z"
" viii
~ e-ll, J"
'"
10.')
 Ta nh1)n thay G(z) hi h}, nh:'it, ph\1 thu()c V,10 6.
eve- z" (htdng-. nhr') hdn J

. " b" K( I - z,,)

H~ so khupch d~i tlnh bang (,.(11 =----- = := K.
I - ,
"
Bay gio ta tim G(z) khi h~ thong cd tre nho hdn
K
p1" vdi ,
"
G)p! ~
< l>.
1 + Tp

Bien doi z elm ---:-:- 1:'\:

pll + Tpl

I 1"""111-'1/"1 ,
Siz. Ill) =-- - - - - - vdi III = 1 - (0 < m < 1),
, - I z _ 1"---'1" i
.\

- liZ" '"
"
" J ZI ~
Kl , Zl" - Z"I
J-
y, k,
__ t~';5l:

t"'O.7LJ
25 - t ,,11
-<

!"~'
2
.,
'.5 ~ ""'-~
.I : .--.,.~~
f. ' ".;~.
0.5
;
,
:'
: :
i ,

---....----- -
2
' :--=::::: ~--..:::
......
.;.
' , ~

-~--- --+-----+-~----I-------
6 3 10 ,~

Hlnh •. Hi. Oap ullg xung hI!! bac nhat co Ire I \

IUfi
 '1 - 1., ':1 - z"ll - 7 nl - : )
(~ '1' '"

z - ,(
G)ZI
Z - Z,'
(> \,,111 _ (.' II
Z" = r. A I: " =
1 - (,' \I
Tl'P nh(') hdn j, the' hipn billlg' Ire. mOt htto., (thilnh ph~111 z-II va dti0C bil

hang vtWI tnlac do <I Ta nhii.n th;'iy «( Iii ,;6 th\ic 11m, "Zi'r()" ,.;(, If?n tI've thtie
('J bpn ph:\i gfir :,,\~u T nlclt qu:i nwt gi~i tri n:'\() d6 10 . .'1(;:\ I t hi Iu I > I \,:1
"Z~'l'()" ra kh(')j vimg trim d(Jn vi ('1 pJlla phr'ti lIinh -1 I;') b It:ip ttng xung eua
hi, \'oi ,~ = 1. T = 1,.;, k = 10 n'ji Ciir gl:i lri I,n"' T ::: O,GI\; 0,7,\; It. Cae
L1iPlll throe noi voi nhatt dp lh£(\' 1'0 :inh inlong I'\b tl'(~

4,H MO niNIl SO nA,C IIAl

Ph1.((' lap hon h<II' nh:'lt, 111(', hll:h ";'J 11:)(' h'li rri L thi'n;~ ,.:c, che'li rhmh b
\':'1", T:l C;'ln bir·, 1'1' d,'lnf~ n'i I',W n't;] (;, ,I.! ('ling nhll gh trj l'lh I'lie u:,li

j'fdJl~ dir'n hlnh

4.9.1 Ham truyen cua mo hlnh so b~c hai

p
+ ,
p
,-,
Qua ZOE elilu l'a rai r[iC bttoc .1 lit:
G ( I
11 - z-IIZ[-"~
P
'fa {'() thp bd;u dif'.n (~l,IZ) th!'o hai dl.mg:

Da thtfc V(1 tim tr\l(' tipp nil' h~ ",6 clia phudHg" tlJJlh 1<.11'
D~ng PVC' - zpr6 th~ bien 1'6 de d~c tinh dtlllg, ('lie ct!e ZI Ct'm G/ZI
dlflk 11111 Iii (';II' 1'1,1(' C ,Ipl tllljn~ !If

ZI = 8 1'1'\ VOl Pi - -.!;("n ::!:!t'JnV 1 ~.

" "" p""n\ \11

1'a ,;f> dt((,i(' eM' bie'u thtfC ,.;au:"

107
 t2
;o:; _ _,___ b ~_~~_
+ b"
z~+atz+a"

H"
~ ,,'. ", ~
'l(!c:oS(wl/~)

(J)I
"I + n !~~ ___ ' sin(w .3.1 - <~OS\(J)I'L.\) I
b" ~
p
Oil'

h, ~
1 n + [~
w" sin(w p.3..1 +coslwl'6.l1
" wI'

~
b"
z"
h,

4.9.2 Bieu do xae d!nh thong s6

Dc' t.hu~n ii~,n x~ic dinh cae thong,.;6 '\" H- j b-l SIl dung hieu do eua h¢ hac
hal (hlnh 4 16)
vi dl,1

Tim thong 86 CUH, 1116 hlnh c;[J h~c hai thoa man CAe y~u clW·
H~ so khtJech oai tinh 1
He ,,0 8UY gi~lU1 ~ =:= 0,6
Tan s6 tlj nhien U)n "" 0,8 rallis
Trd !in
al Dav tif'm chqn huoc !{(y mAv f."
Ta biPt rang
Chqn c\ = hi, suy ra 1:';(I'n = 0,11
va a
"
The/) bie'u do 4.16 vai ~ "" 0,6 va (I)n/\ = 0,8 co at = ~O!)7v:l.a O,:n
"
c) HI~ so khnech d1~i t'inh bang 1

}jill BIZI = Hili

, ' , 0:=:

a 0:=: 1 - 0.97 + 0,;)7

"
 ,
Hi lxic hal 0, )-
..
He(z) = 'to, .. 00 D.' ,
Zlto/z fOa

0.8 -
He(p} = t
"'s(.!'. )+(E.)'
_. __ -rll:'n- ~fI j
, 0.7

, D.
wn6 . !j
--.. - 0.5 - . " .. -.
'.'
,. 0.'
,

~.0.3
.-t . ,

,,
is -07
.. • ,, ,;~ "D.S--+--
+•. ,- -
~.I
0,

.,
-2 -1.75

Hlnh
-1,50 -1.25

".1•. c" thOng

,. -0.75

" " "

-O.SO

,...
-'0.25

,n<>
0

hnh rdi ,..

0,25 0,50

60' ,/
-)0" __ z, ;'
:'\.- .... f
.••..• Zo 0 R,
" Z, 0

Hlnh 4.17. X'c dlOh zo,

109
 elj Neu ta muon do qua C'hinh ...,6 g~n h:'mg do qu,i l'hinh tttlJng 'V l'l .; =
O.G. din choll de) v\I(1\ qu:i Ct((· tii'li. tr(lnl~ tl"ltimg 111.11' n:\\' l:in c:)n 10'1, Thp{)
hip'u dl:l c6'

- 50" < ;' < - 2U", la la'y i' = _ :~O"

C\te Zj niull trong mat phi!ng z I~ = O,G \":"1 UJnt,. = O,R! ta ve gric bil
IGO") vi:li I i' I 8(' xa!' dillh dlll,lC vi tri ("lin dic;m z" Ihlnh 4.17)

btl
Ta tl111 dLit;1C z" = 0.4 hoac z = - __ 0,4
" bj
Vi b" + b j = 0.4 .<:uy ra Il" = 0.1143 va hi = 0.2"',':17
Cuoi cling la dU<:1C' bi?"t, Ihtk IH1m t.ruypn:

O.2F!S7z + 0.114,'3
Hlzl = -.------._. ______ _
It,. = 1,..;)
z~ - lU17z + O.:-n
Dap ung ('l'm llll.lch kin chn trc·n hinh 41,.,

-. --' . -'i---~,- ~.--::j:- .....

0.8'- -...
,
'
,",'
..
./

z , ~ -0 8

f
If,,/

a.6 "' Q - ----·--1

,,
0,4,
/
! ~
"
,0
:f
,
,,
,,

0,2,
,,
("
!
,
-.~

5 fO 75

110
 r, H(zj =
2~Zo

(z-Z;J) z-Z,";
!
L-
,
'o(%! [)o Fcn!;;h [,'%.cf.'r:~,1 I
'<. "'",-'~'---
z,
~
'{ , ,,2,
,
_, T" ',',
--6< \" ~
' y;
'. _ J_
'-
I Z,
" 0
r<o
0
nO
I

100 •.
.0
I . . •
.- .0,1.
'0 \

'0\~2'~
50

~:, ~
-_. _.
40 _ . ___ .. '. _ _

3a , .. _ u _ ' _ ,
."';'
_.

i
...... -.-
; $.",0.3

.; -
_.
.

m'w ..

20

l 0'
'0 ,-
I

7 -
6 ,
5 - , 7 -,
-- .. ..... -
3
"',"
2' -.~ ... -

I c
ILl__~____L -_ _~_ _- L____~______~~___ I
-BO' -ao· -40 · -20' u 20· "I}" til) •
'u·
Hlnh • . 18 . a.-u d6 ,IIC din" dO qUd etl .... " '" I h n.. ,

JJJ
 ,-

r
!
I
!

r -:-

>, ~
~--+-- o
o
il
-.
o
o

,
,~

'il
"~
0 iO
"
~
,;
".;
~
-i'
,
"
~
J •~
•

I
L_~

112
4.10 DAP UNG TAN eUA H~ ROI ~e
Cung nhu h~ t1.1dng tl,{, dAp ung de I!)p eua h~ th6ng g6 va'j tin hi~u vila
blnh sin ri:li r\.lC III blnh sin - Tlln s6 aJ kbang d6i nh1.1ng bUm va pha cUa blnh
sin ra ph1,l thu9c vao w thea quy lu~t quygt djnh Mi ham truy~n d chi! dO XB.C

l$p hlnh sin. 0 M b.1ong t1,1 chi! dO xac l~p nhl)n du:gc khi thay p = jw. 6 h~
. S(,)
th6ng s6 co z = epll suy ra z = eJ"'L\., nhl1 vay
. bieu thuc G c (z) =-E(
z) trd

a a
Vi dlf G,/z) =--~ tro thanh G1(jw) =
z - z"
D.!).c dnh bien I G 1 1 va pha Arg (G]) bieu di(!n ty s6 hiAn de! va g6c l~ch
pha eua tin hi~u ra so v6"i dau yeo.
Tu:ang t1,1 nhu M b.1dng ttj ta co the ve d$.c dnh bien tiln va pha din (hinh
4.21b) va d$c tfnh bien pha (hlnh 4.21c). z va ffii)t mIa Yang tron khi w bii!n
thien ttl 0 di!n wJ2.
2n 1
wt: =2JrFe =6, lil thn 56 l~y mall. Thea di~u ki¢n Shannon w'<2"

/G,/
,
,
"'. o'
aJ

b)
c)

Hlnh 4.21. D~c linn tAn cLia h~ rili r!:lc.

4.11 6N DINH eUA H~ TH6NG s6 KiN

Trong ehuang 2 ta de hiet M 6n dinh khi cae el,ie eua no nam trong vOng
tron dan vl. Cling gi6ng nhu h~ di{Ju khi~n tuang tv eo eae tieu chURn eho
phep phan doan 6n dinh va tlnh toan cae eVe. Khi da eo may tinb vi~e 8U
d\lng cae W\u ehuan nay it nhl~u mat y nghla.

113
 4.11.1 Tieu chuan Jury
Tieu chuAn Jury d6i vOl hi;! th6ng 96 trong tqa d(J z gi6ng nhll ti~u chuan
Routh voi hi;! tUC1ng tV. S1,1 dn d~nh cua h~ tiIy t.heo vi t"j ctia cac cVe ham

truyen H(z) =~i:; , nghia Iii. nghi$m cua phuong trinh d~c trllng:

';0 voi vang t.ron dan vi can eo sl/ d6i dau, C\l the Iii. an > 0, w I~p bang sau;

z" z'

Oat
z ':.>-<''',- i I l
@
. " I
a,
1~-~'-1' ::1 Q::' b"~"-.-· i
Tfnht.oan 4 6'1_1 I bn _ 2 bj _
I
5 I CD I c1 C
n
_2
6 cn_l en _3
---_._--- ------- -,, C,

I
2n _ 5 I '
2'1 - 4
2'1 - 3
p,
p,
g,
I"q, ,
Pj:
P,
p,

voi
(a a· a na n - J
)
" J
c = (b"b 1 b b ).
J n - I 11 - J - I

q" = (p"p" - p,p,), ql = (P"PI - p)pz), q2

Tieu chuan Jury phat bie'u nhu sau
Nell da thtic d~c t.ntng (yoi an > 01
0(1) > 0
D{-n > 0 voi n chan vii. 0(-1) < 0 vOl n Ie vA. (n - 1)

thoaman la,,1 <o".lb"l> Ib"_,I.le,,l > Ic,,_21 10,,1> Iq 21

thi he thong on djnh
Val h~ n = 2, O(z) = u,Z-
.+ [lIZ + a"

114
 Dieu kiE!D on dinh DO) > 0
D(-J) > 0

va I an 1 < a 2
Vai h~ n = 2 D(z) = a:;z3 + a 2 z 2 + alz + au
Dieu kii;ln on cljnh DO) > 0
0(-0 < 0
va 2 rang bu(>c In..l < • .\, Ib,,1 > Ib,l
bi a ,,3 2 a:;a l ) et b" = (a";),, - a:;a 3 )

I an I < a, et 1a} - a:ll > 13"a2 - al a3 1·

vi dl!-
1
H~ tt10ng tl,i" b(tc nhat G(p) = 1 +Tp nam trong vang dieu ehlnh s6, buac

hIy mau <1.. BQ di~u ehinh C(z) thu¢e iO::ii P, hi;! so khuech d:;ti K.
1) Tfnh ham truy"en M ho
~) Tinh ham truyE!fi M kin
3) Dieu ki~n 6n dinh, tim gibi h~n eua K
4J Vbi ht? s6 K tim giil. tri giai h~n ella t<.
Trci liJi

-II/T
vOia=e.
,-"
K(1 - a)
z + K - a(1 + K)
1 + a
3) -1 < K -aU + K) < 1 tile ia -1 < K <
1 - a
K + 1
4) t<. < bo lim = Tlog ~-:­
K - 1
Nhu v<).y M tra nen khOng on djnh khi t<. tro nen qua did t<. > t<.mm' trong
khi dci h~ tuong tl,i" lu6n lu6n on dinh (t<. ...... OJ.
Vbi phuong trlnh dl).c trl1ng bae hai z2 + 3 jZ + a" = 0, cae dil'!u ki~n

a,,>-I+a l
a" < 1

115
 ao > - 1 - a1
duqc bi~u di~n bAng tam giac trl§n hlnh 4.22
Dva thea bieu db hlnh 4.16, 4.19 ta thl'ly trong kha{mg wn~ ~ 1 va ~ ~
0.7 ta co 0,1 < a o < 0,3 va -0,8 < a 1 < 0,6.

4.11.2 Tiiu chu'n 6n dtnh h$ kin

H$ di~u chinh kin co pM.n hbi dan ~, ham. truyfm Hi:
Yc(z) G(z)
H(,) ~--
y(z) 1 + G(z)
Dt;lng ham truyen thea z
c(ing gi6ng nh11 ham truylin
thea p. Dieu ki¢n On dinh va
suy gism nhanh ciing d11I;JC
bieu thi nhO bi~u do Bade con -2
~i la bi~u do Black - Nichols
r(ji r~c
x
(z = ei w 6., w < ) Hlntl 4.22. Miln On dinh ella hO M.e nhAt.
/',

G(.zJ
IGI

"',

w,

Hlnh 4.13. Oae tfnh bi&l1 pha eua M ri;i fIJC.

Hlnh 4.23 lil d~c tinh bi~n pha cua h~ rai r~, ta n~n thtiy vang 1 khOng

On djnh, vang 2 dn djnh nhung suy giAm chl)m, vang 3 6n dinh va trll ~.

116
4.12 DO CHINH xAc
Ta 9£1 tfnh sai l~ch f(Z) trong mien din s6 va tim sai l~ch e(k) trong mi~n
thai gian ~ ch~ dQ xac l~p dn dinh.
Sit d\mg dinh Iy gia tri cuoi ta co:
dOlO) = lim(z - l).f{Z)

vcri dillu ki~n cae c\ic cua e(z) 6n djnh.

GQi G(z) lA ham truy~n M h~, ta tlm sai l~ch

feZ)
1 N(z)
1+K. ;--=
(z - l)m D(z)
Ta se nghiAn cuu dli dAng £(00) khi Illy gia tri d~t Yc(z) W;ing blloc nhay
dan yt, mng cua ho!).c parnbOn. S6 m deh phl1n cua Ge(z) ae quyEft dinh dO
chlnh xB.C. Cae Mt quA cling so sAnh duge vlli k~t quA trong h~ tllO'ng t1,1', tuy
nhifln chu ky My mAu ciing Anh htiong d~n sai l~ch vlri giA tri d!).t r!lng ella
vA parabOn. Cung chn ki~m tra truCfC 51$ dn dinh cua M. Nh~n dllQ'C dQ ch1nh
xac caa ba.ng cae deh phl1n 86. D~ lAm di~u nAy trong M M ta dua v!lo mot
ho~c nhi~u cl,t'c z = 1.

GiS. In dat BllOc nhAy dOn vj Eor(k} RAng ella akA 1

PSfsbOn 1>k2 A2

m = 0 Eo • •
E o ("') "" 1+K

m = 1 0 ,A •
E1{::O) = K

m=2 0 0 bA 2
E 2(oo)=K
~ -

K ~ Hm (, - l)m.G,(')'
, - 1

117
 Chuung 5

TONG HOP EO DIEU CHINH s6

5.\ D~I CUONG
Trang chll'ang 4 ta da hiM doi tll'Q"ng dieu chinh tuang t\l dl1Q"C lay mAli
vry )uu gilt voi chu ky 6.. Ham tTuyen cua doi tll'c;1ng trong lll~t phling z noi
t:nung co dl;mg:
B(z)
Gc(z) = - - ; A(z), B(z) 13 da thdc etta z.
A(z)

Btl lay mau va hlu giii: ZOH nMn tit l11<iy dnh tin hi~u di~u khien s6, quo
bo ddi so - tl1Clng t~t D/A t~a nen dicu khie'n tuang t\l ul10i d!;tng ham b(ic
thang ph~ thuQc chu ky lay mAu 6... Lu:;i.t (m~U chinh noi chung co dl;mg:
u(k) "" LTiu(k - i) + LtJYc(k - jl + LSly(k - 1) (5-1)
, J k

u(k) 1a gia tTl hi~n tai, u(k - 1). .. la cac gia trl qUli khl1 cua dau vitO d6i tllQng.
y(k - 1), y(k - 2) Iii. cac dai lll'c;1ng Ta qua khli eua doi tll'Qng,
Ye(k - 1), yc(k - 2) IS. cac gin trj dl)t.
Cl'lng vi~e t6ng hQ"p btl dieu khh~'n s6 IS. vi~c tinh eh9n cac thanh phan
can nha (eilu true cua b¢ dif!u ehinh), rai tinh cae M s6 Ti, tit sl sao cha d~t
dl1Q"c tinh nang chat h1Qng di.n thiet.

5.2 TiM QUY LU~T DIEU KHIEN

Voi bo di~u ehinh C(z) ham truyen eua M kin
C(z)G(z)
~------ ta suy ra
1 + ClzJG(z)

C(z) (5- 2)
G(z)(1 - Hm(z»
Cong thl1e (5-2) cho ta xae dinh ham truy"fm Clla bo dfeu ehlnh theo G(z)
da cho va Hm(z) 1\l3 ch9n. B¢ dieu chinh (z) phai 5n dinh. Cac me. hinh thl1ang
dung voi yang dieu chinh la:

118
 1
1) Hm(z) = - - - - - - - - - - .(a n + an _ lz-l +
n +a n _!+
8 +a"
s6 khuech dl;li Hnh bang 1
, - b
- , - - - - - - , lit. rno hinh b~ hai, cd the
'z2 + alz + a"
dieu chinh h$ so suy giam bang a l va a", "zero" b xac d,nh d(l qua chinh.
Voi Sd db diu true hinh 5.1, trong dci R(z), S(z), T(z) In cae da thuc din
phili xac d~nh.

n
j
Yo
T(l)
, E 1 U Y
R(z) Gg(z)
-

S(z)

Hlnh 5,1, cau true eua bO di'eu chi'nh sci.

1 1
u(z) .r(z) = - - .[T(z).yc(z) - S(z)y(z)], nell l.iy T(z) S(z)
R(z) R(z) .
ta co:
S(z)
U(z) - [Ye(z) - y(z)] = C(Zl.f(Z) (5- 3)
R(z)
U(z)
Call true kinh dien Cl = - - Is truang hqp rieng ella cAu trl\C tang
s(z)
quat R, S, T. Tiep thea ta din tim lu~t dif!U khien eho phep tinh M t;:ti thai
di€m hi~n tl.li thea cae gili td qua khll uCk - 1) .. va cae gill trj y va Yc Khi
da cd bieu thtic Vez) ta tim duQ'c bil~u t.huc guy lu~t dieu khien trong mif!D
thai gian. Vi d\l cho
1
U(z) = [4yc(z) - (5z + 2)y(z)],
3z + 2
3zU(z) + 2U(z) = 4yc(z) - 5zy(z) - 2y(z)

U(z) +

119
 Ta tim du!,1c lu~t dr~u khidn
u(k) ~ - 0,67u(k - 1) + 1,33Yc(k - I) - 1,67y(k) - 0,67y(k - I).

5.3 D61 TUQNG DIEU KillEN

D6i tU!,1ng di'fiu khien co th~ du!,1c chia thanh ba lo~i:

- Lo~i 1 D6i tU!,1ng PI

La d6i tul,1ng d~ dfeu chinh nhl1t. Trang bi~u thuc hlurt truyen 96 z~r()
(b:).c cua ttl thuc) bang ho~c nhO han s6 cl,{c (b!).c cua m~u thuc)
Cac diem zero nam trong vong tron dan vi va dul,1c bu.
- Lo~i 2 D6i tu!,1ng P 2
B~c CUB. m:1u thrlc va. ttl thuc sru khac 2 hol)c Ion heln.
Qua trinh tr~ thuAn va la lo~i kho di'fiu khidn nhiit.
Cac zer6 Iii dn dinh do v~y dU9C bu.
- Lo~i 3 D6i tu~mg P3
B~c til: thuc vA m§.u thrlc biit ky, han nu:a co m~t 56 "zero" DAm ngoAi
vang tron deln vj., do do khong dUQ"c bu.

5.4 roNG ·HQP BQ DIEU CHlNH CHO D61 TUQNG PI

5.4.1 Tin hi~u d~t It. butte nhay dan vI
Ta biet rang dO chinh xac se cao n~u vang ha co b(:l dch phan
G(z) la. ham tn.lyen cua d6i hlQ"ng
C(z) Ill. ham truyen cua be? dieu chlnh
K
Ta di;\t C(z).G(z) ::::. , suy ra
, - 1
K 1
C(z) = - -
z - 1 G(z)
C(z) chi tht,Cc hi¢n du!,1c neu b!).c til: thuc Clla G(z) bang b~c ma.u thuc hOI)C
nha hdn 1. Ham truyen h¢ hd khi dci la.:
Y K
H(z) = - =
y,. Z-ll-K)
Ta nh~n tha.y:
- He ~0 khuech dQ-i tinh H(z, b8.ng H(l), bang 1 vCli m9i K

120
 H(z) chl6nd~nhneu -1 < 1- K < l;tlic III 0 < K < 2.
Vi~c l~a chon K xac djnh dl;mg dap dng qua dl}.

N€u 1 < K < 2 c\l'c 13. Am, dap ling th~ hi~n dao dong
Nt!u 0 < K < 1 C1,lc duong dam baa d!1p ung tllng dan.
Neu K = 1, ham truyen vang kin III H(z) = z-l, bulle nhay dOn vj. dhu
vao duQ'c sao ehep ls;ti bang phep tich phan a dau ra nhttng eo trl§:.
y

Q Ko IS
.
,s

a)

y
ra

b)

Hlnh 11.2. D~ Crng d6i tlIl;1ng P1.

a) tfn tW~ dilt la vi; b) <lap ling tfn hi$u d~t ring ctJa.
btJOc nhlly ddn

121
 Hlnh 5.2 cho ta ket qua kh6ng phv thUl)c vao doi tl1Qng G(z). Tr~n hinh
5.2b sai h;ch (" I(ao) = ~ In. dap ung rang cU:a.

5.4.2 Tin hi~u d~t I. rang clla dan vI

Yang ha eo hai b¢ tieh phon
K
C(z) G(z) = , khi do vang kin
(z _ 1)2

K
H(z) =
z2 - 2z + '\1+K)
nhung H(z) lu6n kh6ng on djnh, tieu chuan ,Jury (DO) > 0, D(-I) > 0; I all I
< a} vi d day ft" = 1 + K > 112' Tn them ll1<)t vlfot tntilc pha Cel the' liUll h~
on dinh, bang each them m6t. "ZeTO" trong vang ha, khi do
K(z - z"l
C(z)G(z) = - ' - - ,
(z - ll-
y K(z - z"J
- = H(z) = . - - - - ..- - ' - - ' - -
Ye' z2 + (K - 2)z + (1 - Kz)
HI% so khuech dQ.i Hnh HOi = 1 vai llloi K va z,,'
Theo tieu chuan Jury h$ on djnh nell

o < z" < 1 va ° < K <~

4
--'
1 + Zll
Ta thay rang vi$e chon K vi z" "e xac dinh d~ip ung qua d<).
Vi d1,l chon K = 2, z" = 0,5, vi khi do H(z) = z-2(2';' - 1) = 2z-1 - ,-2
Ta xac d~nh dap ung voi kich thich rang CtW don vj co d~ng khai trien
lit.:
YeIZ) = 0 + I.z-1 + 2z-2 + 3z"':·1 +
y(z) = H(z).yc(z);
y(z) = 2z-2 + 3z-:1 + 4z"" +
dau ra y(z) the' hj~n rang ctia dau vao c:3.t mat hai miu dau tien, do do t.in
hi~u d~t dtige hiy l~i sau hai mau Tre-n hlnh 5.3 ta thfly sl,f di"l!u chinh dAn
tai dQ qua ehinh 1007.. vaj K = 2,0.
Vai K > 2 dap ti:ng btiac nhay don v~ Cel dao dt)ng nguy hie·Ill. Khi K <
2 dap ung tilt nhanh. Khi H(z) lit h$ b~e hai, ta ch9n h~ s6 tilt $ = 0,85 va.
WnLl = 1. Theo hinh 4.19 ta tim dtiQe cae h$ so clla miu thuc H(z).

122
 (K - 2) = -0,65 va (1 - Kz,,) = 0,15, tU dci suy ra:
K = 1,35 va z" = 0,63, eu6i eung ta xae dinh dttqe ham truyen eua hi?
dieu chinh.
y
/0

,
6

o K= 2.1i

2 o K~

2,5
9 K ~ 2,4-
,:\,
2
... ,\;
,
.",: f
,
,' •. K~ 2

,
~

:,
.",
.",
~\K=I.35q
' \
i
: \
'
;" " \
'/ '. \ ;
~, >-_,!- __
:.,'"1
,
". :/:)
"

b)

Hlnh 11.3, a) DAp ling ella di~u eh;nh tin hilu d4t e6 dang rang eiJa; be
b) DAp ,jng bUde nhAy d&l vi.

123
 1 1,65z ~ 1,04
C(,) = - - ---'o-c:--'--c
G(z) z2 ~ 2z + 1
Hl.nh 5.3 cho thay dap ung voi kich thfch rang cua rat t6t, d9 qua chlnh
35%, Sv VUQt qua do c~ m*t "zero~ Z,' = 0,63. Cac cl,fc cua H(z) la 0,325 ±
jO,209, g6c y = 65().

5.5 PHUONG PHAP PIlAN 80 cAc cvc

Ta xet vi d\l d6i tttQng b~c hai co h(l 96 tilt = 0,1 qua nha va tAn s6 s
dao dQng rieng (Un = 0,7 radls, h~ so khu~eh d~i dnh bang 1. Ta mong mu6n
M di£lU ehlnh Yang kin co sai Ieeh Hnh f,,(CO) = 0, 010 hlnh h$ thong dfeu
chinh bljic hai, tat nhanh S= 0,8.
Dilu tien ta ch9n buoe lAy mau fl.. Co the chb dQi gap dt>i tan s6 tv nhien
cua d6i tUQng. Ta se lay cu' n = 2(Un = 1,4 rad/s. Ch9n 6. sao eho 6,(U' n = 1.
D6i tLiQng dl1QC mt> ta Mi:

b! = 0,12, z" = - 0,967, zl' Z I * = 0,835 ± jo,456.

De thOa miln cae y{m diu di{ju ehinh, bO diEm chinh C(z) phai co cae dnh
chat sau dAy:
flu eac cvc va zero cua G(z),
Co m()t tlch phRn trong yang hd,
DAn ra M bl)c hai Yang kin co qtc ~reu khien z = a,
Di~u ehinh h~ so tat cua Yang kin, do do co m¢t thong s6 1a h(! s6
khuech d~i di"eu chinh dUQc.
Do v~y

K
voi K va a Ii hai thOng s6
(z - z,,) (, l)(z a)
dieu ehinh din xac d~nh,
Ta dnh ham truyen cua M kin
CG Kb!
H(z) = = (5- 4)
1 + CG z2 - (1 + a)z + (a + Kb!)
Ta nh~n thAy rang h~ 86 khmYch d;;ti tinh H(1) bang 1 va H(z) b~c haL

124
Thea bigu da hlnh 4.16 voj g = 0,8 va w'nLi = 1 ta tim dl1Qc:
~(1 + a) == -0,7 va (a + Kb\) == 0,17 ,
0,47
a ==~0,3 va K = - - = 3,92.
bl
V$y ham truyfln cua b¢ di~u chinh la
zl - 1,67z + 0,951 U(z)
C(,) ~ 3,92. ~--;-::-;-ci-"c:-=;-C"c:-=
(z - 1)(zl + 1,267z + 0,29) dz)
Ta nM.n thAy vi~c di~u chlnh m;;t.ch kin voi d¢ qua chtnh 1,6%, thai gian
tAng trullng Iii 4Li. Bi~u thuc H(z) cho thAy b/.i.c cUa ttt H( z) nM hon b;:t.c cua
mAu 2, do do dAn to-i tr@; 2 bttoc voi dap ong bttoc nhAy don vi. Ta ciing co
thg lo~i trit flnh huang tr~ cua H(z) bAng each dtta m(Jt "zero" vao C(z). Cau
truc cuoi ciIng co d~ng:

, voi 3 thong 56 K, {J, a

z - z" (z - l)(z - a)
din xac dinh.
Ta co

Zl + (Kb l - 1 - a)z + (a - Kb\{J)

voi (Kb] - 1 ~ a) = 0,7; a - KbJfi = 0,17.

f3
dung de di~u chinh cu6i, ph1,1 thu!?c yeu diu. N~u din dO qua chtnh nha
din ch9n f3 sao cho goc y ttt _50" (xem hlnh 4.19) ta d~t dvgc D <:::: 1,5%. N/!"u
" KbO-P)
y@Ju cliu sai l~ch ~ di.n diEm chinh K,. = 1 , lay z = 1 trong
K 1 - a
C(z)G(z) sau khi lo~i bO thanb phhn dch pha.n (z - 1).

5,0 PHUONG pHAp MO HiNH

3
Vi d1,1 mt)t d6i tugng dugc nhl%m d~ng co ham truyen -:-I---=-- e-(),5p
+ 5p
Chon Li sao cho 0,25 < - < 1
. T' "
Ta· eo the' ehb" dQ"i Yang dieu chinh ehuyen hang so thi'fi gian tv: nhiE!D T
= 5s sang M.ng s6 thbi gian T' = 3s, ta se lily Li = 1,5s. ( :' = 0,5). Ta thiIy

rang trl:'! thuAn 0,58 nhO hon m9t nua buo-c do v~y ~zero" trong G(z) se la

125
kh6ng 6n dinh.
Ham truyen eua doi tllqng trong mf).t phhng z la:
B(z) 0,544(z + 0,43)
G(z) = - - ~
A(z) z(z - 0,74)
Ta se chQn b(l cliett chtnh C(z) cd mi)t tich phan va vll<:1t trlloc nhi~tt (hai
"zero" t.rong hi thuc)
S(z)
C(z) = Theo sd diJ hl.nh 5 1 co
R(z)
S(z)
C(z) =
(z - 1Hz + r"l R(z)
Ham truyen h~ kIn se 1ft
CG S(zl.B(z) S(z)J3(z)
~

S(z)D(z) + A(z)R(z) D(z)

D(z) can b*c 4 vi Mz).R(z). Do v*y cht"ing ta sf.> chQn D(z) Ill. m(lt tich:
cua hai thanh phan bac hai co he s6 tnt ~ = 0, t\
lll¢t thanh phan b~e In(lt sEi hiJ. inh htil'mg B(z)
m¢t tha.nh phun bfj.c nhfit dilllg de diCu chinh ho:1,c z (tre thuAn), hoi;i.c
(z - a); a iil mOt eve de" tat kh6ng qua nhanh 0)'") < a < 0.7.
Do vl;'iy D(z) (z2 - 0.7z + O,17)(z + O,43)(z - (1).
Cae he so -0,7 va 0,17 eta g(a.p cho ta ~ = 0,8 va wn~
1
~- = 0 666 radis.
1,5' .
Dau tien hfy a=:O thea D(z) ta tim dllQC
0,544(s2z2 + slz + 5,,)(Z + 0,43) + (z2 + (r" - 1)z - r.,)(z2 - O,74z)
;: (z2 - 0,7z + O,17)(z + O,43)z 'tIz
Sau khi dnh toan ta tim dllqe: r" = 0,4300; s" = 0; sl = 1,0478; 8 2
1,0118 tu d6 suy ra lufj.t diEm khiun:
u(k) = O,5700u(k - 1) + 0,4300u(k - 2) + 1,9118(Y,.(k) - y(k))
- 1,0478(y~.(k - 1) - y(k - 1)).
Tren hinh 5.4 ve tin hi~u dipu khien va dap ung xung dOn vj cua h~ dieu
ehlnh voi 0: =: 0 va 0: = 0,5.
Ta nh(i.n thtiy tin hi~u dieu khi~n va dQ qua chinh gianl. tit 10% xu6ng 4%.

126
 /)(/.:) y(k)
2

1.5

y(k)

DI = 0

u( k)

O'--+~~~ ,
o 5 10 15 20

Hlnh 15.4. Tin hiiju dieu khii'!n va dap ling

1,9118z 2 - I,047Hz
V6'i a =::0 C(z) =:: ~----. , dtin dpn
(z - 1Hz + 0,43)
O,544(1,9118z 1 - 1,0478z) 1,04z - 0,5700
H(z) =
Z(zl - 0,7z + 0,17) Zl - 0,7z + 0,17
B(z) =:: (z + 0,43) da dll'<;1c bil.
Phttdng phap nay kMng cho phep clieu chinh zero nla H(z) dQc lap voi
C1,IC. Do lo9. mQt tro ng~i Ion vi ta khong khong che clll'<;1c do gmi chinh.

5.7 NHA,N xET VE DA,C TiNH CVA D6! TlJONG

Khi tien himh dieu khie'n so, nghien ctiu trong n19.t phang z cho phep dV
doan va dieu chinh dati ra yet) ctla doi tll'<;1ng tai cac thai die'm lay mau. Gitta
cac thai diem nay khong cd thong tin naa vo doi tll'<;1ng. Ta lu6n lUang muon
dap ling d~ng bang phang, vi wiy ta muon biN anh huang cua doi tll'<;1ng cliett
khi§n den qua trlnh dieu khien nhu the nan

5.7.1 Di~u khien d6i tl1Q'ng biiu dj~n Wng ph liang trinh b~c nhat
Phuong trinh vi phan cua doi tur.;mg cd dang
Ty'(t) + yet)
vdj so ki(;n yW-) =:: y" ;c 0

127
 Chuy~n sang miflD tAn s6 b~ng bi~n d6i Laplace
T(p)Y(p) - y(OI) + Y(p) ~ KU(p)
1 T
Y(p) ~ K - - - U ( p ) +--~y". (5- 5)
l+Tp 1+Tp
Ta Sf! gi"'i (5- 5) tung buoc. 0 buoc thu i di~u khi~n ZOH kh6ng doi b~ng

u(i _ 1) do do U(p) = u(i-1) . Hon nua di~u ki~n d"au yols. gi!i tr~ y(t) d.:;tt Wi
p' .
a cu6i chu ky thu i - 1. Do do ta mo ta. chu ky thll i blng phuong trtnh.
1 uU - 1) T
Y(p) ~ K c----:::__ (5- 6)
1 + Tp p + 1 + Tp Yi - j

dap I1ng thai gian y(t) = Ku(i - 1)(1 - e;/T) + y.I - 1

e-1rr. (5- 7)

5.7.2 Nghien Cl1U dllp ung b6.ng phing ngay l~p· tuc
Ta se xet kha. nAng di~u khien doi tul;lng sao cho d~t dUQc che d" bang
phling sau 2 chu ky liiy mAu nhu hlnh 5.4.

u y

ufo}

u(l) U(2) uOl

• • • y(l) y(z) y(J)

,. t
" t

Hlnll 5.4. Oflp lIng bAng ph4ng.

Budc 1 0 < t < !:J.

u(i - 1) = ufO) va. Yo = 0 ta dugc y(t) = Ku(O)(1 - e-tll) + 0
y(t) tAng thee ham mii va d~.t tai giA tr) cu6i a t = 6.
Yj = y(!:J.) = Ku(O)(l - a), dl)t a = e-;\/I.
BuO"c 2 6. < t < 26.
Ta they dOi g6c thai gian d~ thai di~m dllu t = 0 n~m i'1 cu6i buO"c dau

y(t) = KuOHI - e;/T) + Ku(OHl - a)e-tlT, tinh d~n gia tIi d"A.u YL ~ 0
o buO"c 2, y(t) 00 the viet bang
128
 yet) = Ku(1) + K[u(O)(1 - a) - u(1)]e"1IT
Ta thl'Iy rA.ng yet) gill nguy~n kh6ng dt'Si bb.ng cach di~u chfnh thimh phAn
trang ng04c Mng khOng
u(O)(1 - a) - u(1) ~ 0

N~u ll;li mu6n yet) bang gia trj d~t khOng d6'i En c6 dinh trudc, ta phai
th1,1C hi~n

u(l) ~
E"
K
(5- 8)
u(O) ~
E"
K(1 - a)

En .~
N~u u(2) = u(3) = =K' dleu khi~n u(t) gill kh6ng d6'i, dau ra
yet) cung v$.y.

5.7.3 Tfnh bl) dl~u chlnh

Ta co thA" tht,1c hil)n mOt b¢ di"eu chinh s6 t:;l.a nen dieu khh~n trong ml}c
5.7.2.

Trang m*t phang z ta co C(z) ~-- vdj C( z) lit ham truytm b(J
dz)
dieu chinh
U(z) = u(O) + u(l)z-1 + u(1)z-2 + + u(1)z""1l +
1
= u(O) + u(l)z-'(1 + z-J + .. ) = u(O) + u(1)z-l. 1 _ z-l
va dz) = Eo - y(z) = E" vi yO) = y(2) = = En'
U(z) u(O) u(1) 1
Da v~y C(z) ~
-- + - - - thea (5- 8) ta dUQc
F(z) E" Eo ' - 1

C(z)
1 1 1 ,- a 1 1
+
K(l-a) K(, -1)
~-

K (, - 1)(1 a)
~

,- 1 G~(z)

B¢ di"eu chlnh dap ung bang pMng ngay l$.p tuc hal;lt dgng nhu sau:
ot = 0 sai l~ch cCO) Mng gia trj dl)t En. B¢ diEm chi"nh cha di~u khiA"n

u(O) ~--ooco-'--c
E" dmg Ion khi a gAn den 1 va .6. nhO. Dap ung vOl di"eu
K(1 - a)
khi~n nay dAu ra yet) tang thea ham mu {1 t = D dflt ell/de" gia trj chu~n E".

129
 ·
o thai diem nay b(J di~u chinh giam dieu khi~n v'll u(U =
~
K' vi~c ta.ng

cua yet) bj ngi:tng l~i va yet) duy trl. khOng d5i.

E"
BO dieu chinh co sai l$ch dO bttng kh6ng, nhung duy tri dieu khien K
1
vI thanh phan tfch phan z-l' Ta thay rtmg ch€ dO tllng khOng the d~t td'i

E"
dUQ'C trong khoang thai gian 6. qua be vi u(O) K(l-a) se qua lan, khl"lng

tuang thich vcH kha mlng cua co diu ch~p hanh.

Khi * = 0,1 ta co uCO) = 10,5 ~'; nhlmg $ = 0,5, t,[l co gin trt hqp Ij

Eo
u(O) "'" 2,5 "K"
5.7.4 Truong hQ'p b$c G(z) Ian han 1
Nghi~m cua phuong trlnh vi phan pht,l thuQc n sd ki~n khac khOng. Ta
din n dit!u chinh de xU: Iy tilt ca, cu6i cung 0 llin thtJ: n Ycur;j = Ell (dieu khiii'n
E
u(n) = - o ) va y' = y " = ... = 0 d~• Y duy tri khOng doL <l

K
Trubng hQP G(z) b$.c hai nghi~m phuong trinh vi phan dan giRn n€u deh
1 .
phan hai ran ham trui~n T~2 vi ta co:

T2 y "(t) = u(t) voi y(Oj = Yo va y'(Ol = y' o·

Ta dm dUQ"c
1 z + 1 1
c(,) ~-
2 . (z - l)(z + 0,5) . Ge(z)
116. z+1
voi Ge(z) = Z( T2 3 )
p
=2 (1'
)2. (z _ 1)2

1 z + 1
Trong cau true nA.y C(z)Ge = c-----c-:: , ehuy~n til: Yc- Y do do
2 (,-1)(,- 0,5)

130
 5.7.5 Kft lu$n
1 1
B¢ di~u chInh C(z) ~- - - chI cho dAp dng tllO'ng t1,l thoa mlin
z-l Gc(z)
n~u Ge(z) lA b~e nhilt. D6i vai cac d6i tllc;1ng b~ cao dllu ra yet) 00 cac dao
d¢ng giua cae thbi didm lily mAu va di"l!u khidn u(k) s{!, thd hi~n cac dao dQng.
Di! nh~n dllQC dAp ung bAng phA.ng cl'ln phAi lAm phuc tliiP mO hl.nh Hm(z)
duoi d~ng
+ a z-n
"
n b~ 86 khOng phAi Iii hilt ky nhllng tlly thea dc)ng h9C cua d6i b.1CJng bieu
di{!n bang ham truyfin Ge(z).

5.8 DIilu CHiNH n6. TU(lNG LO,,". P 2

Khi ~c cua tu thuc G(z) khac b~ rnilu thuc qua mQt, C1,l th~ cac d6i tltCJng
t~ thuhn ta ti~n hAnh th\tc hi~n b¢ di~u chlnh C(z) theo phudng phap khac.
N guy~n If chu y€u IS. bil. cae c,!c di! d~t dUQc rna hinh b~e hai. Tuy nhien
Hm(z) khong hoan toan t1,l do, n6 gbm cAc tr~ (z-l) cl'ln thi€t d~ thl,i"c hi~n C(z)
1
G(z)
Z3 _ 2
0,6z - 0,15z + 0,01
Bg di"eu chlnh C(z)
1 Hm(z) 3 2 N(z)
C(z) = - . ~-='".::~ = (z - 0,6z - 0,15z + O,Ol) . ~--'-'~
G(z) 1 - Hm(z) D(z) - N(z)
N(,) kf' . -
G9i Hm(z) =D(z) lA rno hlnh vbng n. Ta c6 the lily Hm(z) b~e hal, tre
thuan can thie""t de D(z) co b~e .vua du (d' da.y nho hon 3).
Vi d1,l lily'
1 + a\ + ao 1
z2 + alz + ao ,
ho~c

(z - b o ) 1 (1 + a1 + a o)
H m2 (z) = 2 2 .
z + a\z + a o z 1 - bo
Hml vA Hm2 thich hQp dam bAo sai l~ch En( 00) bAng kMng vi h~ s6 khu~ch
d~i dnh bAng 1. Hml(z) va H m2 (z) khAc nhau rn()t it. b o trong H 2(z) cho phep
di"l!u chlnh de) qua ehlnh bang vj tri gOc i'.

131
5.9 DIE:V CHlNH D6, TUONG LO,,"' P,
Hlnh 5.5 Iii ca:u true tong quat cua b(l di~u chinh R, S, T cho phep dieu

chfnh d6j tl1Q'ng G(z) = !~:~ kh6ng co dieu ki~n d6i voj cae da thuc B va A,

C1,l the' d6i tUQ'ng co zt'!,ro kh6ng 6n d~nh.

D~ tong quat han ta dlla VaG nhiAu l~n P tac dc}ng van dllu ra
B( z)
y(z) = P(z) + (Yc(z)T(z) -
A(z)

p ",
,
,

Y, ~__G_;_~_ht-
__ Y +_+-,'

Hlllh 11.11. cau true tOng quat bO diElu chinh.

do v~y dAu ra chiu anh huong ella nhi~u va dall VaG chlnh Yc thea phuang
trinh
AR BT
Y == AR + BS P + AR +BS Yc = Fp(z).P(z) + FycJ(z).Yc(z) (5-9)

Ta nh!).n tha:y ham ttuy~n F p(z) va. F ye(z) cung m(it mAu so. Dllu WIn ta
xet dt)ng h9C cua Yc qua ham truyen Fye(z). Ta rnong muon FyJz) tuAn thea
rna Mnh Hm(z) di:\ ch9D dli thOa man cae tfnh nang rnong rnu6n:
Brn(z) Bm(z) T(z)B(z)
Hm(z) = - - ,suy ra -- = (5-10)
Arn(z) Arn(z) A(z)R(z) + B(z)S(z)
Thea hlnh 5.5 ta co th~ tim lu$t dieu khien
R(z)U(z) =0 T(z)Yc(z) - S(z)Y(z) (5-11)

Ta tim each t6ng hqp R, S, T d~ F yJz) tuan theo mO hlnh di? ra.

5.9.1 Cae tinh chit cua deSi tLlQ'ng G(z)

B(,)
G(z) = - - , tti thue B(z) eho cae zllro ella d6i tt1gng. Ta d~t
A(,)

B(z) = Bj(z)Bs(z) (5-12)

132
 Bs(z) =. (z - zo)(z - ZI)'" =.,.m+
... am ~
.. m~l+ ...
I'"
Ta quy dinh h~ 86
b~c eao nha:t eua Bs(z)
bang 1.
Cae zero zo' Z I nam
trong mi~n D eua m~t
ph!ng phue-theo z. D co
the 19 vong tron don vi,
nhllng noi chung h~n che
sao eho cae z@ro "tat
nhanh" (xem hlnh 5.6). D
Hinll !I.II Mi&n D cCia cl6i tLlt;!ng d"lau ctWnh,
chua die z@rO dllQe. bi!

Bi(z) = K(z - z'o)(z - z'I)"

z'o' z'; nam ngoiti mien D va. khong dllQe he) di~u chlnh biJ. de trlinh t~o n@n
cac e1,le tAt eh~m hO$e khOng dn d~nh.

5.9.2 Chon mO hlnh Hm(z)

Bm(z)
Hm(z) = - -
A",(z)
N~u ta gaD Hm(z) voi G(z) Ie tv nhien ta nghI rAng Hm(z) cO th~ kh6ng
bU cac t~ eua ban tM.n G(z) va thE!: hi~n blmg ~c eua da thuc B(z) va A(z)
khae. Mo hinh Hm(z) phai dnh d~n dillu do vA pbai cO
b~c (~) - b(le (Bm) ~ b(lC (A) - b~e (B)
Vi Bi(z) t~o n@n phlln khOng bu cua B(z) tao se, vi@"t
Bm(z) = B/z).B'm(z) (5-13)

5.9.3 Cae tfnh ch't cue cae da th(rc R, S, T

Tit hlnh 5.5 tao dAn den cae ham truy~n sau ddy (khl":ing co nhi~u P)
Mfl,ch hb BS
-
truy~n cUJ.t , - y AR
M~ch kin B (5- 14)
truyen ciI;lt Ycl -y AR + BS
Toan b¢ TB Bm
~

truyen d~t Yc ~ Y AR + BS A",

133
 - Da thtic R(z) mc d()ng vao mAu thtic trong yang dieu chinh. B~ cua
no phAi du de dam bAo dnh nhAn qua cua bQ di~u chinh.
Da thtic S va T co b~c It nhl'lt bang ~c cua R.
R(z) biJ. zflr6 cua desi tUQng chua trong Bs(z). Ml\it khac n6 dAm bAo s\l
hi~n dit(!n cua cac dch phAn chn thil~"t darn bao d¢ chfnh X8C vOi m()t kieu dAu
vao da cho (va tranh nhi~u).
Do v~y

R(z) = (z - l)iB~ (z)R'(z) (5- 15a)

R'(z) la da thuc c6 M so cUa thAnh phan caa nhat Ie. 1.
- Da thuc T(z) darn baa ghep noi h~ thong voi dau vao di~u khign, n6
cung cap cac zero can thie't d~ co tu thuc cua m6 hlnh Bm, m¢t phan da. cho
trong phan khOng biJ. cua doi tUQng.
Ta ch9n T(z) = B'm(z).A,,(z). (5-15b)
B~c cua A" kh6ng tuy y. No phAi cho phep tong hQp dUQc R va S. Ngttoi
ta da chung lllinh dng:
b~c (A,) 2!: b~c (A) - b~c (Am) - blji.c (BS> + i - 1.
- Da thuc S(z) cung nhu R(z) Iii nghi~m cUa phuong trl.nh da thuc.
Tu (5-14) trong do ta thay th€ da thuc B Mng (5-12), Bm bang (5-13 )
va R bang (5-15a), T bang (5-15b) ta dUQc:

A.(z - l) i B s R' + BjBsS Am

sau khi dan gian R' va S phAi kiem tra
(z - l)jAR' + B,B -- A nA m' (5-16)
sau lhi nhiin voi Bs: AR + BS = B~AmA.,

phuong trl.nh da thuc con co tfln Bezout chap nMn m()t nghi~m duy nhat voi
R'(z) va S(z) neu b~c cua R'(z) va S(z) hQp Ii.
b~c CR') = b~c (A,) + b~c (~) - hac (A) - i (5-17)
b~c (S) < b~c CA) + i (5-18)
Cac bieu thuc nAy kh6ng chung minh, is. h~ qua cua cae yeu di.u phuong
trinh Bezout vii dbi hoi cua b() diflU chinh.

34
 5.9.4 C6c bllac .6ng hQ"p bQ dl~u chlnh
Cae da ki~n Iudt phat
B
Ham truyen eua doi tllQng -
A
B
Ham truy~n eua rna hlnh ~ , M so khu~ch dE,li Hnh M.ng 1 yeti:
A.n
~c (Am) b{l,c (Bm) ~ b~c (A) - b!}c (B).

da thuc ", co
~c (Ao) ~ 2b~c (A) - b~ (~) b~c (B~) + - 1 (5·19)
Mr~n D baa lay cae zeril clin bu.
S6 deh phAn i eua bQ di~u chlnh
Cae blJoC can thl!C hi~n;

- Chia B thanh hai da thuc B 0;:: , ,.

B.B
Bs chua cae zerti bil, M :;;6 1 cho thitnh philn b~ cao nhat thea z.
Chqn B'm sao cho Bm = BjB'm
Tiep thea ta d~t

R'(z) == zll1 + (5· 20)

S(z) = snzo + (5·21)
Ket qua
R = Bs(z - l)iR', T = B'mAo. S = S(z)
GiiH bang dong nhat
(z - l)'AR' + BjS = ~~

Lu~t diElU khi!§'n

R(z)u(z) = T(z).yc(z) - S(z)y(z).

5.9.5 Bam sat va dr~u chlnh doi tllQ'ng dC)c I,p

Ttong diliu chlnh cong nghi~p, ta co the co d6i tu:qng di~u ch1nh phaD
tach vi~c dieu chtnh (kh-a nhillu) hof,lc bam sat (gili tIi d(lt).
Ta mong nlu6n co s1,1 kba.c nhau giua dieu chlnh va bam sat, nghia lil
mu6n nhanh chOng IOlili tru nhieu va co d~c Hnh d<)ng ch~lll dg bam sat gia
trj d{it ho;;i.C ng11Q"c l:;ti Vi(lc 11)a ch9n ph\! thuqc vilo chi phi nang luqng, chat
IUQ"ng san pha:m, gia thanh, thai h~n. Thuang g~p cae viin de bao bOa gioi

135
h~n dQ qua chlnh do v~y phAi h,ta chQn hQ'p Ij giua cac phuong an co th~.
- Dieu chi n.h khu n.hi~u
Vai b¢ ph~n nhi~u trong (5- 9) til co:
A(,)R(,) AR
Y (,) = .P(,) = - - P
P A(z)R(z) + B(z)S(z) Am
Vi~c khu nhi~u se ti~n hi'mh li~n quan d~n Am vB. tong hQ'p R, S va T theo
m1,lc 5.9.4.
- Bam sat gia tri dttt.
Ta mong mu6n cO d~c dnh d¢ng khac nhau d6i voi vi~c di~u chinh va
bam nghla Ie. co ~ va Amc.
D~ lam vi~c nAy ta co c§:u true nhu: trlm htnh 5.7.

P:,,

Y,
--.J Am
. IL_K_A~m~,~.
~Y'
y, G=~ ~y
T
.,--_A~I I + _
1
R
U
+

Hlnh 11.1. Diau chfnh khli nhi6u va bflm dOc lap.

So d"8 da.n d~n

AR
Y =-P (5·20)
Am
AR + BS = Am et BT = Brn.
D~ thay rAng tr~n hinh 5.7 cllu trUc kinh dil3D coo y* va y giong vbi hlnh
5.5, dh den mO hlnh
Y(z) Brn(z)
-- =
Y'(,) Am(')
vi~c tdng hc;Tp b¢ di"llu ehlnh tua.n thea cAe quy lul).t da. trinh My trong m\lC
5.9.4.
Til: hinh 5.7 rut ra
y Y Y' Bm Am Bm
= = - .K- = K - (5.21)
Yc Y* Yc Am Arne Arne
~c D$c trung cho dQng hQc bam chu§:n, vi Ij do nhAn quA co di~u kililn

136
 Amc(z)
Va l~i K = lim -,::c,-_ Quy lu~t dieu ehlnh bam Ie.
Z ... I Arn(z)

Am(z)
K .T(z).Yc(z) - S(z).Y(z) = R(z).U(z)
AmcCz)
(5-22)
Dieu chinh U dllge xac d!nh xuat pbS.t tit vi¢e ehqn Arne va. cac ket qua
tinh toan tM10c de co cac di?C tinh di~u chinh CR, S, T to mtl hinh Bm/Am).
vi dl!
DiE!U ehlnh v1. tri dc)ng co di~n mt')t ehieu, dliu ra rai r~c blloc 6. Ie.
z + 0,718
G(,) ~ 0,37 --cc-'--,--,,,.
Cz - l)(z - 0,37)
Diflu chinh ph!i dam bao dap ling Heviside ehlnh xae. BI> di~u chlnh kh6ng
bU z~ro am, Zo = -0,718 (d~ on dlnh) sao· eho khOng dl1a vao cl,tc ft.m Cdi~u
khi€"n dao dOng).
Ta ch9n wnll. = 1.
Giai
Ta chqn mO hinh b~c hai, M s6 tAt ~ = 0,7, M s6 khueeh d~i dnh 1, chlla
z~ro kbOng biI
'l + 0,718
0,291 =
z2 _ 0,75z + 0,25
Do v~y ta cd Bs = 1 B j = 0,37(z + 0,718)
0,291
~--~ 0,786.
0,37
BAy gib ta ch9n da thlic Ao th6a mAn C5-19)
bAcA
. 0
~2x2-2-0-1=1

Ta Ia:y~ = z dodd T = B'mA" = 0,786z.

B~c eua R' va. S thOa mAn (5-17) va (5-18)
B~c R' = 1 + 2 - 2 - 0 = 1 R' = z + ro
B~c S < 2 S =8tz + s"
Theo (5-16) ta cd

137
 suy ra r" = 0,217 91 = 1,089, s=-0302
" '
B'mAo = T = 0,762.
Lu~t dH~u khi~n III
u(k) =- 0,217uCk - 1) + 0,786Yc(k) - 1,089y(k) + 0,302y(k - 1)
1 1
Biet T(z) = 0,786z, - - - , S(z) = 1,089z - 0,302 va
R(z) z + 0,217
z + 0,718
=0,37 , thea hinh 5.5 vai P =0, co the ki~m tm
(, -1)(,-0,37)
z + 0,718
~ 0,291
z2 _ 0,75z + 0,25
BAy gia ta muon tAng hi;! 96 thai gian dap ung bam. Ta chQn cach gi~m

giAi thong vai I~a chQn (Un :::: 0,5w n • nghta III WncL\ :::: 0,5.
Ta xac d~nh thea cac dl10ng cong (hlnh 4.16) vdj M b~c hai .; = 0,7, cac
gia tri 3 1 = 1,3 va a" = 0,5 dAn den
Amc(z) = z2 - 1,3z + 0,5.
Y*(z) Am(z) z2 - 0,75z +0,25 1- 1,3 +0,5
~ K-- = K 2 vdi K = .=0,4
Y c(z) Amc(z) Z - 1,3z +0,5 1- 0,75 +0,25
T(z) = 0,786z, R(z) = z + 0,217, S(z) = 1,089z - 0,302
B(z) = 0,37(z + 0,718) va A(z) = (z - l)(z - 0,37).
Tu (5-22) suy ra
0,4(z2 _ 0,75z + 0,25)(0,786z)Yc(z) - (z2 - 1,3z + 0,5)(1,089z - 0,302)Y(z)
= (z2 _ 1,3z + 0,5)(z + 0,217)U(z)
dan den lu~t di~u khien elln I(lp trinh IS.:
u(k) = 1,083u(k - 1) - 0,2179u(k - 2) - 0,1085u(k - 3)
+ 0,3144Yc(k) - 0,2358Yc(k - 1) + 0,0786Yc(k - 2)
- 1,089y(k) + 1,7177y(k - 1) - 0,9371y(k - 2) + 0,151y(k - 3).
, < '
5,10 PHUONG PHAP BIEN ~G THAI
5.10.1 Bi4!n tr~ng thai cua hf di'ltu khil!n
Cac phl1dng phap Gi.n s6 nghien cuu a trE!O to ra rat hi~u qua trong vi~c

138
phAn tfch va t6ng hQp h~ di~u khi~n m(lt b~n ,veo va mOt bi~n ra, trong do
ta chi quan tAm den cac d$,c dnh dt)ng clla hlf! th6ng. Trang truang hQp M
th6ng nhi~u chi~u phucmg phAp tr@n to m hAt I~c,
Phuong ph8.p bien t~ng thai ve thl,lc ch.ll:t la ciln tim tin hi~u di@u khie'n
u xuAt phat ttl clic bien trl,lng thai xl' X 2' '" Xf" dau ti@n ta giA thi€t co the
do dUQC thl nhi~m v\' cua Yang dieu chinh thli' hal (ve trong duang cham chAm

n------,
,
-- -+-()()-----1
i
i Tf"/;mg
thoi
I
i L x~l~;J
L_~ __._, ___ ._, ___ ,___ ...J

~.---.--.------ ------,

Hinh 15.1 Phlloog phAp bign tr{;lrlg tMi.

cua hlnh 5,8) Ii'!. th6a man cac ~u cau chung clla h~ lil:
d(l chinh xac clla cht1 dQ bam
khti nhi@u trong ch€ dO di~u chinh.
Neu khong do trt,1c tit1p dl1Qc clic bien trl,lng thai xl' xl" X n' ta se xlly
d~ng l~i trl,lng thai xuat phat tu dau ra cua bO quan sat trl;lng thai.
G9i X(k) Ii'!. tin hi~u di;i.c trung cho d<;tng h9C Clla d6i tl1Qng, la vectd tI'l,lng
thAi co cac thanh philn XT(k) = [xi' x 2... , x n), ta cAn tl;lO n@n tin hil;!u u(k),
dnh d~n ca gia tri d!nh chuan ngoai qua dl.li 1l1Qng e(k), dl,li 1l1Qng phen Mi
LX(k) d~ dam baa dap ling y(k) theo y~u diu (hlnh 5.9).
Neu mQi thanh philn cua W!cta trl.lng thai X(k) truy nhc.\p dl1Qc vA co the
do tr~c tiep, lu~t diEm khien ling voi phAn hOi trl,lng thai ia:
u(k) = e(k) - LX(k) (5- 23)
Neu d6i tl1Qng b~c n, bang vi~c ch9n n thong so clla vecta pM,n hbi L ta
co n b~c diEm chinh ttt do. Co the' dl;\t ra hai cAu hoi:
a) Xuat phat tu y va u co th~ co dl1Qc trl,lng thm eua X, neu khong thl.
co the quan sat dl1Qc chung?

139
 b) Co khA nAng thay d6i (dif!u chinh) duQ'c CB.c t~ng thai cua X tit u?
Di~u nAy dAn di!n quan ni~m v~ khA nAng quan sat duQ'C vi'!. di~u khien
duQ'c CB.c tr~ng thai do Kalman dua ra tit 1960,
Ta gQi m¢t hi;! th6ng Iii di~u khiAn dU'gc n€u trong khoAng thai gian git'1i
h~n co tM' thay ddi cac thiinh pUn cua vecta tr!.lng thai X(t) ttl mgt tin hii;m
dieu khien d~ nh(ln dl1l;lC tr~ng thai cu6i cilng X(t r), xua} phat tit tr!.lng thai
ban dau X(t i ).
Dieu ki~n d~ M di"eu khU;n dl1Q'c Iii, ni!u M dl1Qc bieu diAn bAng
X(k + 1) = FX(k) + g.u(k) Mc n, thl. h~ng cua rna tr(ln
rang [g Fg Fn - Ig] = n (5-24)
Ta nh~n thd"y dau ra khbng co vai tro gi trong tieu chul1n di~u khien
dl1Q'c tr~ng thai. chi co cac tua tr~n F vA. g tham gia vaa. Ta biM phuong
trlnh cua M lien t\lC nhi"lm bien (hinh 5.10)
X(t) = AX(t) + bu(t) + bln(t)
yet) ~ cX(t) (5-25a)

u( k)
i'
l(k) ----..,-
yll)
8aa vao 'liOn aaqn i - \ Oau ro gion tiogn
I
I x,( k) i
I
I !
I I
1,
! I
I I
1,
Veda' lr';lfl9 thOi phon hai L

Hinh !I.8 DiAu khi~n phan hOi tr~ng thai.

n(k)--, '(I)----,j
j
X,(t)
u(k)_ {
: r--
x,(l)
yet)

a) b)

Hinh 11.10 a} H~ gian dOJilIT. b) H& [Iar, tl,lC.

140
 Chu~n sang M gian do~n ta co
X(k + 1) ~ FX(k) + gu(k) + g,n(k)
y(k) ~ pX(k) (5- 25b)
Ta gQi mt!t M quan sat dl1QC n~u cO th~' tim dl1Q'c tr~ng thAi ban d'Au X(t i)
tit quan sat dQu vao u(t) va dAu ra y(t) trong mt!t khoang thbi gian gioi h",n.
Di~u ki~n de M dieu khi~'n quan sat dl1Q'C n~u h~ bitlU dii'~n bang
X(k + 1) ~ FX(k) + gu(k) (5-26)
y(k) = pX(k) b~c n
thl rang [p pF .. pFn ~ I] = n, F = eAI'l.,

g =
,
J eA(A -l').b.dv, p = c.
o
5.10.2 T6ng hc;rp be) hi,u chlnh tl'$ng thai
Ta gia thiel d6i tl1Q'ng trlln hlnh 5.10 thoa man di~u ki~n dfi~u khi~'n dUQc
va quan sat dUQC. Vi~c tcing hQp be? di~u chinh tr",ng thai Ia xac d~nh cae h~
so [ll' 11'" In-I] rna tr(in L cua b¢ diElU chlnh nhaln cai ti6n cfQng h9c cua d6i
tUQ'ng va bo trf lnt!t each hQ'p Iy cac cl,i'c cua ham truyen vang kin trong m~t
pbang phl1c de dam bao qua trlnh tilt nhanh va dap ling chlnh xac.
Cac qlc cua ham truyen cua d6i tl1Q'ng dieu chinh (y, e) 1a gia tr~ rieng
cua rna tr~n chuyen tn;tng thai (nghi~m Clla phuong trinh d:.\c trung). De dan
giAn ta gia thie't bil§n dQ cua u kh5ng bi h",n che (gia thiet dnh tuyen dnh).
Ta bieu di~n cac phudng trinh cua M kin tit (5-26) va bieu thuc lu(i.t
di'l!u khien (5-23)
X(k + 1) ~ (F - gL)X(k) + ge(k) (5-27)
y(k) ~ pX(k)
SI,i' 6n dinh va dOng h9C cua d6i tUQ'ng bay gib duQ'c xac dinh Mng phuong
trinh d~c trl1ng moi (F - gL)
..+.(z) = zn
'Y
+ an - I
zn - I + (5-28)
phuong trinh (5-28) dl)c trLing cho ch~ dO Oton5m cua d6i hlQ'ng, khi kh6ng
co klch thich e(k). Ta hay tim phLidng trlnh chfnh tac cua dfeu khien
0 1 0 0
0 0 1 0
F ~ (15-29a)
0 il 0 1
-a" -', -'2 -an - I

141
 ~ 'I'(z) ," + a zn - I + + RjZ + a"
" - I
o,
0
g ~ va L ~
[lolj, .. ln_l] (5-29b)
0
1

0 1 0 0

~
0 0 1 0
F, (5-29c)
0 0 0 1
-(ao +lo) -Cal +1]) -(.,+1 2) -(an - ]+In - I) i
do do phuong tiinh d<).c trling
lJ)(z) = zn + (a n _ 1 + In_l)zn-l +
Nhu: v~y co khe. nang xac djnh lu' II ... In _I de cae eVe cua M yang kiD
}3. cae nghi~m cua ¢I(z) Illy cae gili tri zl' z2' ... zn Iva chQn dam baa doh mlng
t6t nhilt.
Ta se dnh
tI>(z) = zn +(a n - 1 +In_l)zn-1 + ... + (a o + 1) = (z - Zj)(z - z2'" (z - zn)
We lA
Ii = a j - Rj (5- 30)
aj ch9D theo Zj, aj X8.C djnh theo doi tUQng gian dOlilD.
Theo dinh If Viete:

an _ 2 = ZtZZ + Z l Z3+ ... + Zn_!Zn

a n _ 3 = - (z l z2 z 3 + ZI Z2 Z4 + ... + zn_2 z n_l z n)

a o = (-1)nz1z2···zn"
.Phudng, trinh (5-30) la duy nh!!t trong truong hgp m"t hit'fn. Ta co th~
xac djnh L d~ dang bAng (5- 30)

142
 vi dlf
D6i tuQ'ng IA d¢ng cO rn¢t ehi~u co rnO hinh gian do~n.
1063
X(k + I) =[lO
~
'
0,37

F
J
X(k) +
l O,37] u(k)
0,63

g
trong do xl IA V! trf trl!C d¢ng 00 (J

Xl Ia Mc d¢ quay i1
Giai
Phuong trinh dliu ra y(k) = [0 l]X(k), voi bi@n tr~ng thai Mc d¢ quay X z
do dl1Q'e. Ta xac dinh phuong trinh di).c trung cua rna tran F(]" Trong truang

1 0,631
.
help nay F q
° 0,37,
phuong tdnh d$.c trung
'
det(zI _ Fq) = det 1
3
° 1
-0,63
, - 0,371 =
(z - l)(z - 0,37)

Cae M so cUa phuong trinh di;lc trl1ng

a l = -1,37; a z = 1; a" = 0,37
Ta bi€u di~n rna tr~n bi(l"n diJi W(2x1) = CwO) w(z)]
va dnh
0,37.
w(l) = g = I
q .0,63
1

I 0,63 0,37 -1,37 x 0,37 0,263 I

=10 0,37 ; I. 0,63 1 +1 -1,37 x 0,63 1
=1 -0,633
Nhu' v~y

; 0,263 37 1,58 -0,925,

0, 1

I -0,633 0,63 = 1 1,58 0,658 I

_
M$.t khlic F = F = W-1F W d
I ° I
q - 0,37 1,371
 Thea (5~ 30)
i" ::::: a" ~ a"
Ii ::::: a 1 - al
vi:li a", 0: 1 lya cht,'ln CUll phu'(1ng trlnh d,*c trung h~ kfn phiin h~i tr~ng thai
va an = 0,37; a! ::::: 1,37. Tn se chqn 2 cl,ic cua M kin hl;\c hai. Cel djnh d(l qua
chlnh S = 0,7 va wn = 0,9 Tad/s. Cae cl,lc nam d vi td M 136 tat ~ = 0,7 (xem
hinh 4.20) ta c6 gie. tr!
zl. Z """ 0,431 ± ;0,312
1,\ """ Cl" - a" = 0,283 - 0,37 = -0,087
11 == !lJ - a J = ·0,862 + 1,37 = 0,508
Tr~ng thai thl,ic phiin Mi
,1,58 -0,925:
Lq = LW~ = 1-0,087 0,5081:
J 1,58
' =
0,658 :
1-0,665 0,4151

T\i do ta tim duqc lu~t dieu chinh

u(k) = e(k) - 0,665x 1(k) 0,415x 2(k).

144
 Chuang tJ

DAI CUONG VE CAU TRUC PHAN CUNG VA

CHUONG TRINH PHAN MEM DUNG
CHO OIEU KHIEN MAY OII;N so
Chuang Day trlnh bay sd b¢ nhung ti~u ChUaD Il,1a chQIl cac he;. vi xii Ii
(.uP), b~ vi di~u khi~n (LIC) va b~ xii ly tin hi~u s6 (DSP) dung cho m\lc d£ch
di~u khi~n may di~D, so sanh tinh. mlng gifla cac hQ tMng dv.ng. Ti@"p thea
trlnh bAy cach. ghep n6i chung voi th@" giai ben ngoai va trlnh bAy chi tiet cac
phudng phap do toc d~ dong Cd. Cuoi clIng giai thi(!u d~c di@'m ngnn ngfr C
la ng6n ngfr thOng dl:lng thich hQP cho m\lC dich di~u khien.

6.1 D~ CUONG vt CAU TRUC PHAN CUNG DUNG CHO DIftU

KHIE:N MAy DI¢N .
6.1.1 lieu chu'" Il,Ia chQn
Vi~c I1!a chQn cae bO vi di~u khien, vi xu Ii, bO xu Ii tin hi~u s6 din Cll
VaG cac yeu di.u di~u khien thea cac ti~u chuan sau day:
- Kich thUGe bit may: Cac ,uP, ,uC, nsp co cac kich thuoc 4, 8, 16, 32,
64 bit. Ta bi@"t kich thuoc bit the hi~n s6 pbep toan rna cac bQ vi xii Iy co the
xu Ii dong thai. B¢ vi xu IY 4 bit co .z4 = 16 tr~ng thai, 8 bit co 256 trE,lng
thai, 16 bit cO 65536 trE,lng th8i. De i1!a chQn kich thuoc bit may hQp Ii din
phAn tich nhi~m VlJ. cua vi~c xii Iy, tuy nhien gia thanh cua cac be;. vi xii Ii
tang theo so bit may. TMng thuang b¢ vi xii Ij 16 bit la tHich hQp cho dil!u
khit~'n may di~n xoay qhi~u.

- Dung luqng bt) nh6: Ta phan chia bl) nha thanh hai lo~i: bl)·nho ch·uang
trlnh vA b¢ nho dit li~tf. Chuang trlnh dUQ"c luu giu trong ROM, EPROM.
Ngaai ra ROM con chua cac dil li~u c6 dinh nhu cae bang s6 ... EEPROM cho
phep l*p trinh ROM ma khOng cAn thao chip ra. De xac dinh kfch thut'Jc dl.n
thMt cua M nha dau tien dl.n vi@"t bAi toan ung d\lng duoi dE,lng giA I~nh
(Pseudocode), no cho ta j tuong ve yllu du doi voi hi? nho. Tuy v~y .vdn kh6
danh gill yeu cll.u voi kich thuoc hi? nho, chi co cac chi dan va kinh nghi$m

145
mai danh gili dung dUQc yeu cAu nay. Cling can sd b¢ uoc IUQng kich thuoc
dln thi~t cua RAM dung cho cac biE!'n, kich thuoc stack va cac h¢ nho d~m.
M9t s6 u-ng dl,mg co th~ danh ghi dUQc phan tram RAM so v&i ROM /chu-a
chuang trinh)
Ng6n ngiJ: su dl:mg cling Ie. yli"u t6 quan trQng !lnh huong t.?i klch thlloc
bo nha. HQP ngu doi hoi k1ch thuoc ROM Ion hon RAM 12 Ihn con ngOn ngiJ:
IQ.p trinh cap cao co th~ doi hoi kich thuoc ROM Ion han RAM 20 Ian.
- Khd nang Ui;lO - ra. De' xac dinh cac yeu diu vao ra cAn X3.C dinh so
luong, kieu, d~c dnh CUR tin hi~u. each don gi!ln nhl1t la ve so dC! kh6i h~
thong dieu khi~n tim moi li~n M giua cac bien vao va ra vai bQ xu Ii trung
tam, nha do danh gia dtiQC s6 lUQng cac chi1n vao - ra cua toan b¢ M thong.
- Khd nang xU: ly da li¢U. De xu Ii dfr li~u bQ vi xU: Ii phai co k.hA mlng
th1,ic hi$n cac phep toan trong khoang thbi gian can thiet. VI d\l dg di"eu khil!n
dong mo tiristo b¢ vi xu Ii phAi tinh va dua toi b9 dieu khiA'n xung roOi t~i
thai die'lll thich hQp Trong truiJ"ng hQp nay can phai tin ding h$ I~nh cua
CPU phRi du nhanh va du manh. M~t khac phai baa dam dQ' chinh xac va
pham vi du eua dG: lieu can xl1 IY. Yeu cau nay quyet djnh kich thudc bit dii'
lieu Vi d\l diEm khien d~mg cO buac chi can du li$u kich thuac 8 bit, nhung
diEm khicn tay may lai can dfr li~u kich thuac 16 bit ho~c Ian hdn.
- Gin thanh. Cac h9 vi diE!U khien do co cau tnle don gi!ln ph6i hQP trong
mot. chip nen co gia thap hdn b(:l vi xu Ii thong d\lng 10 Ian. Ngoai gia t.hanh
phan cung, gili t.hiinh phan mpm cl1ng dong vai tro quan trQng va thu'iJ"ng
ehiem til 50 den 75"1r- gia thanh phan cung, De ghlm gia thanh phan lll~lln
cae nha che t~o thuang su d\lng nhi"eu nhat san phaDl phan mem cua h¢ vi
xlf ly cung hq.

6.1.2 Cae hQ bo vi xli 1'1 thOng dl,mg

Bang 6.1 cho ta cac thong so quan tn;mg cua cac b¢ vi xu Ii thOng d\lng.
Can nhan 1lll.1-nh Ie. cac b¢ vi xu Ii dUQc 9U dl,lng trong ll)1,lC dich di"eu khh~n
khi you cau ve dung IUI;mg nha d~a chi It'ln. Vi d\l hq 80368 cO the nht'l 4 MB
trong khi h¢ vi diEm khi~n 8051 Clla Intel chi co b(.l nho 60 KB. B(:I vi xitli
dUQc dung cho nhi~m "'-'"\l can th1,ic'hi~n tfnh nhanh nhung khA nang t.hOng tin
vai the gioi ben ngoAi cUa chung bj h~n ch@".

146
 Bang 6.1.11. Cac b(l vi x,'r Ii 16 bit CM IDt~1

8088 8088 80288

Nam san )(uQt 611978 19" 2/1982

fell< max (dOng hO nhjp) 1) Mhz 1) Mhz 20 Mhz

MIPS (trieu l~nhJs) 0,33 0.33 1,2

s6 transistor 29.000 29.000 134.000

Bus s6 lieu 16 bit 8 bit 16 bit
Bus dia chi 20 bit 20 bit 24 bit
-
Kha n~g dja chf 1 MB >.1B ~ MB

s6 chl!n 40 40 6B

Chli de be nhC! eo khOn9 khOng 06

C6 b6 quan Iy bet nhd d khOn9 kh6ng 0'
bl!n trang

DOng )(1.1 Iy toan hoc 8087 8087 80287

BdnR 6.1.h. e,k b('J ,I ldr Iy 32 hit dm Intel

388DX :lSlSX 48110X 4885X 48110X2 Pentium

-
Nam san xu~t 10/t:l85 6/1988 4/1989 4/1991 3/1992 5/1993
.. -
f~k ma)( (dOng. 40 Mhz 33 MHz 50MHz 25Mhz 66 Mhz 100 Mhz
h nhjp) .
MIPS (trieu I~nh/s) 6 2.5 20 16,5 52 112
-
s6 transistor 275.000 275.000 \2 tfl~u \"18 trieu 1.2 trieu 3,1 tri~u
-
BO nhC! Cache BtI1 ngoai, B&l ngoSi. I/ocache I/O cache I/ocache Icache BKB
do 82385 0082385 BKB B KB eKB ocache eKB
d.k~n d.khlE!n
Bus s6 liOu 32 bit ,16 bit 32 bit 32 bit 32 bit 64 bit
Bus dja chi" 32 bit 24 bit 32 bit 32 bit 32 bit 32 bit

Khe nang dja chi 4 GB 16MB 4 GB 4 GB 4 GB 4 GB

s6 chl!n 132 no 16B 168 16B 273

Ch~ dO bO nhd eo 06 06 06 06 06 06
C6 bO quan IX ~a 06 06 06 06 06 06
bao vO bO nhCI d
Mn trong

DOng xU Iy toan 803870X 80387SX ben trong 80487SX ben trang b~ trong
hoo
-
"hi ehu I/l)c,lche. Or) nll,'1 cache (fin) chung (,'h" lcnh va ull 1,¢U
('~ch~': t-.') nh'l ('ache cho l';nh ilC"chc: 1-0;, nh,i cilchc eh" du h~'tJ.

147
 Brin~ 6.1.<. Cae hi) vi xir Iy 16/32 hit o\a Motorola

8811110 88010 88020 18030 8811411 88080

Nam san xu't 1979 1983

'98' 1987 1989 '99'
'elk max (dOng hO 25 Mlz 25 Mhz 33 Mhz 33-50 Mhz 33-40 Mhz 66 Mhz I
nhip) I
MIPS (tri~u I~nh/s)
1
"
2,4 6.5 12 39 '00 ,
S5 transistor 200.000 1.2 triiju 2,5 tril!:u ,

Bus 56 Ii~u 16 bit 16 bit 32 bit 32 bit 32 bit 32 bit

Bus dia chi 24 bit 24 bit 32 bit 32 bit 32 bit 32 bit

Kha nllng dia chi 16 MB 16 MB • GB .GM 'GM • GB

56 chi!n 64 ho6c 64 ho~c 11. '18 179 223

80 nhd cache
68

khOng
"
Icache 68 ICache Icache Icache Icache
256B 2568 4KB aKB
Dcache Dcache DCBche
.KB aKB

ehg dO bO nhd 80 khOng 06 06

"'"
06 06 06

e6 bO quAn Iy bO khOng khOng BOn 06 06 06

nhd (MMU) Cl bim ngoai, do
Irong 68851 lam

• DOng d ly loan hoc khOng khOng 68881/ 68882 bfm Irong bAn trong
58882

6.1.3 Cae hQ bl) vi di"eu khh!n th6ng dl,lng

Cae b¢ vi di~u khie'n dl1Q"c phat trie'n til: bO vi xl:! Iy tl1~ng thieh thucJng
la lo~i m9t chip, co diu trUc dan gi/\n, gia tha.nh h!1o-. Tuy co nhuQ"e di~m la.
khbng gian nhO bl h!1o-n che nhung kha nang va~ - ra thm}n ti~n, do do rat
thfch hQ"p d6i voi vi~c di~u khi~n cae deli tUQng cl'lng nghi~p. Sau dAy 11\ m¢t
86 dl}c dnh quan tn;mg cua cae bO vi di"eu khie'n thl'lng d\lng eua Intel va.
Motorola (Ba.ng 6.2).

148
I :en linh ki~ Verson khOng
c6 ROM
Verson c6
EPROM
ROM (byte) RAM byte 86 cE'ing vao

"
B051 B03l B571H 4K 128 4
B051AH B031AH B571H 4K 128 4
B052AH B032AH B752BH 8K 256 4
93958H B0958H B795BH 8K 23 4
B3978H B0978H B797BH 8K 232 8
68HC11A 68HC11AO 6BHCTlAB 8K 256

lJ
6BHC1"E9 . 12K 512
6BHC1"t.12 . . 32K 1280
6BHClf\14 6BHCTlN4 321< "8

6.1.4 Csc bQ xli IV tin hi,u s6 (Digital Signal Processor ~ DSP)

BI) xu Ii tin hi~u s6 la h¢ xtr Iy chuyen d\lng dU<;Ie thiet ke de thl,ie hi~n
cae I~nh nhanh han so vcri hi? vi xti ly thong d\lng. DSP dL1qe su d\lng d cae
khiiu din tang el1dng Hnh tmin. Cae chuang trinh cua chung thudng chda
nhieu l~nh 86 hQc han cAc l~nh di chuye'n du: H(lU ho;;tc xtr If VaG - ra.
DSP rat thfeh h<;lp voi vi$c dieu khien thdi gian th.,w. vi d\1 trong h¢ th6ng
di'Elu khien s6 DSP lay lUaU cac dau vao tl1ang t,1 sau khi cho qua hi? JOc thOng
thap roi dnh cac IU<;Ing ra moi de' gui den bQ doi 86 ~ tl1dng tV. Qua trinh
nay dbi hoi t6e dQ thvc hiEm phai nhanh. Cae phep toan so hoc cht'J yeu a day
la nM.n vii. dch lily.
DSP duqc dng d\lng trong ph an nh~n d~ng doi tU:<;Ing, diflu chinh toc dQ,
vi tri, th\je hi$n vang diEm chinh PID s6, hion d6i Fourier nhanh, h9 loc s6 ..
nang 6.3 cho eac d*c dnh chu yeu cua lll(lt so DSP thong d\lng

149
 Bdng I'.U. cae d"~c tfnh ella m(!t so nsp thoD!!: dl.Jn!!:

osp NOm S, RAM RAM ROM Ch, Quan Kfch RAM COng
,', ky (ns)
xuift
nhd
I"'h "
lieu 1
dO
lieu 2
0'0
h~ s6
h8
vao/ra
phep
thudc
bO
tfch
ho!c
ROM
ngoai
nghe

,hOn lUy
I CPU

Intel 2920 1980 192 x

24
",
25
600 12/16 25 1

AMI 28211 512 x 128 ~ 128 ~ 128 , 16/31 16 2

18 16 16 16

NEe 7720 1980 512 x 128 x 512 l( 250 16/32 16 2

23 16 13

TMS 32010 1981 "36 144 x 200 16/26 32 06 2

,16 16

FUJITSU M8 1983 1k , 128 l( 128 l( "0 16/32 26 06 3

8764 24 16 16

TMS 320 C 1986 4k , 2" , 256 x 150 16/32 32 06 3

25 16 16 16 ,
THOMSON 1985 1280 128 x 128 x 512 l( 160 16/32 32 06 3
,32
I 68931 16 16 16

WE DSP 16

NEC 77230 'la,

2048

'"
2k ,
32

4k,
512
16

512 x
32

1k ,
~

.
.
512 )(
32

,
32
,
55

150
16/32

32/55

32/40
36

55
06

06

06
3

4
TMS 320 e 1987 75 40
30 32 32 32

WE DSP 32 512 x 512 , 512 , 100 32/40 40 06 4

32 32 32

HITACHI 1982 512 )( 200 , 128 x 250 16/20 20 4

HD61810 22 16 16

Kj h.i~u c6n,e: ~h~

1 Kh6ng co bO nh(l tnmg

2 n", 00 nhiin [rong
3 CM()S
4 Nh,in dau phay lh)ng

150
6.2 GHEP N61 Bi) VI XU LY, Bi) VI DIEU KHIEN vA Bi) XU LV
TiN HIi;:U 86
C6ng n6i tiep RS232 (RS: Recommended Standard)
Cong n6i tiep RS- 232 la giao di$n 511 d\lng r!?ng rai nhat, Trang cae may
PC c6ng nAy con g?i Is COMl, con COM2 dung cho cae 1111,lC dfch khac. C6ng
RS232 dUQc s11 d\lng cho cae flu,le dich do luang dieu khien. Vi¢c truyen dfr
li$u qua cling duQ'c tien hanh theo each n6i tiep, nghla 18 cae bit dl1Qc gtri di
n6i tiep nhau iren cimg mQt duong diln. Lo~i truyen nay co khu na.ng dung
cho cae khoang each Ian hOD, kha nang b~ nhi~u it heln khi dung c6ng ;;ong
song. Vi$c dung cong song song co nh119c die'm iiI truyen dung cap co qua
nhi~u s<;li, hon ntra mac tin hi$u Dam trong khoi'mg 0 - 5V kh6ng thich hop
voi khoang each Ian.
Muc logic tin hi~lU BU d\lng khac nhau tuy theo m:;tch eu th~ Tin hieu
dinh muc III +12V (logic 0) va -12V (logic 1). Muc tin hit:;iu nay cho phep
truyl;n dAn tin hi~u qua khoang each xa. RS232C quy dinh 21 tin hi~u n6i
qua dAu n6i 25 chan. Cae' tin hit:;iu thubng str d\,Ing du:qc cho trEln hinh 6:1. ()
day dn phan bi~t 2 IOli.l-i noi mat: mat cua tin hi~u va mat ella vo may. Mat
cua tin hi~u
l3. moc chmlll cho llwi tin hieu. CAn ph:H noi cac mat t.u:ang dng
de dam M,o M thong lam vi~c t6t. D~c tfnh ve di~n cUa cae cong giao diEm
cho trong bang 6.4.

,uP ho,9:c Terminal Modem

22 22
RING INDICATOR
DATA TERM READY
CARRIER DETECT
,
20 20
8
RING INDICATOR
DATA TERM READY
CARRIER DETECT
7 Masse Signal 7
6 6
DATA SET READY DATA SET READY
5 5
CLR TO SEND CLR TO SEND
4 4
REO TO SEND I
REO TO SEND
RECEIVE
3
,
3 RECEIVE
TRANSMIT 2
1 1
TRANSMIT
-
j
I
Masse vo may

Hinh 11.1. N& bQ vi xLI 1'1 va modem RS232C.

151
 Bang 6.4. D~e tinh dl~n em.. de d}n~ Rloo d~n n6i ti~p

COng giao di~ RS232C RS423 RS442

ChiAu dw cap (max) 15m 120cm 1200m

T6c dO truy&n tfn hieu 20kB/s lOOkB/s d 12m lOMB/s d 12m

Dien sp ra hd mo\lch :t. 3V dil"n ::!:: 25V :t.4 d9"n :t.6V s 6V

01&0 ap ra c6 taj ::!:: 5V dil"n ±"I5V h\i I V, 1<::91V ol 2V tSi l001"l
3 diin 7kQ tai 450 n
Dong di~ fa ngAn I I s::!::5OOmA I I s ::!::15cmA I I , ±150 mA
m<ilch " " "

TOc dO quet (dV/dt) 30V/,.s Khl'lng c§n ki'm tra KhOng din kifim tra

Tn) khang vao 3 dil"n 7kn. 2500pF ~ 410:'~ 2: 4Io:Q

Oien ap nguOn -2SV dil"n +25V ·12V din +12V ·12V den +12V

6.3 DO T6c DO QUAY DQNG CO

De do toe dq roto ta co the sil dl,lng cae phuong phap sau day.
Sil dl,lDg may phat toe
Sli d\lng b(l cAm bien Quang toe d(l voi dia'ma hoa
Sli d\lng may do goc tuy~t doi
Xac dinh toe do gian tiep qlla phep do dong di$n va di~n ap stato ma
kh6ng can dung b(l cam bien toe d/).
Do d¢ cbinh xac thap, l~i d6i hoi kelll thea b(;i d6i hwng tv' so de s6 hoa
tin hi$ll do n~n phuong philp sit dl,lng may pMt t6c dil dan di vao dI vilng.
Duoi day se trtnh bay chi tiet cae phlJong pMp xEie dinh toc d(;i qllay cita roto.

6.3.1 Sil' dl,mg b(l cam bien Quang toe d(l viti dia rna hl-a (Incremental
Encoder)
Hlnh 6- 2a ia sO do su d\lng b(;i cam bien Quang toe d(;i. Dia mil hoa g~n
tren trl,le dong cd gom cac 16, tien hlnh 6.2a co 8 \0. Dia d\lt mil gifta nguon
tia hbng ngo~i do di6t phat qllang LED cung cap va dan thll h'l tranzito Quang
(hlnh 6.2b), Khi dia qllay tranzito Quang se chi chuyen 111~ch nell vi tri LED,
10, tranzito qllang thllng hang. Khi do tranzito quang dua di~n ap tren R2 ve

152
mll'c thap. Khi dia
ngan anh sang thl
o oin rna hoa
tranzito qu~ng hi a a
khoa, ket qua III
di~n ap tren R z ve
a .------& ----------t===H ram true cd *hi

lnUC cao. a
G----
o
-----------------
j0U'{JfJ9 tam
- __ dfJhsong
Ket qua III LED Phofotr(mzi/o
khi dia mil hoa
quay, ling voi
hinh 6.2a trim
dilu.ra R2 ta duc;.lc oj
8 xung hinh chu
nh~t. Tan so xung
ph~ thu¢c van toc R2
d¢ dia. R, 2.21rJJ
180 D
-.-,,
Nell ta muon ,,
r----
,
,,,
duy tri toc d¢
quay cua rota 0
,,
,L __ _
- __ J
,,
,
,,
toc d9 khong d6i
b)
nElD do ling v{:/i
chu ky tin hi~u do Hinh 8.2. BI> cam bi'n quang tac dO viii dia ma h6a
b¢ cam bien toc a) Sd djJ cam biAn quang t6c do;
b) Sd d6 nguyen Iy Iranzilo quang,
d('l t~o nim, chu ky
nay xac dinh diem d~t toc d('l. De xac dinh chieu quay (thu~n hoac ngliqc)
din su d~ng h9 dUll bien kep gom cO 2 LED va 2 tranzito quang, 2 dIa rna
hoa (hinh 6,3a). Khi dIa quay t.a nhi',ln dl1qc 2 xung chu nh1j.t l~ch nhau 90°,
Chieu quay dUc;Jc'xac dtnh bang vj trl tl10ng d6i cua hai tin bi~u ta. Toe do
bang khOng co nghla lit xung tiep thea kh6ng bao gib toi. Trang th1,l'c te ap
dl,mg ta sit d\1ng b('l thai gian tran khi cac xung d~n Ian hon 65536 hang b¢
Mm thai gian tbanh ghi.
Thong thudng cae h¢ cam bien quang Hic dl) con kEnn theo kha nang xtt
If sl1an cac xung tin hi~u VB tren co so do cho phep tang so ht(,:mg vach d€m
trong mOt vong dIa I~n 4 Ian. Chuoi xung A ho~e B dUQc dua Wi cua vao cua
kha.u dem tien, biet so xung trong ll1¢t chu IS', ta tfnh dl1qe toc d('l quay cua
d¢ng co:

153
 60N
n{vbng/phut1 = (6-1)
4N"T n
lrong do Tn 11\ chu kY di~u chinh t6c
dQ, a dAy IA ch u ky d ~m xung dnh
bAng giAy
N" 86 xung trong 1 yang, cOn
gQi Ie dQ phAn giii cua b¢ cam bi~n
t6c dQ oj

N s6 xung trong thbi gian Tn A~~

D6 nAng caa dQ pMn gidi cda Bl..r---L~
phep do t6c dQ ta co hai giAi phap:
~ f- 360"O} I
MOL 13 tAng s6 16 trong mQt
rAnh, ta co dla mA hoa ~m nhi~u
-"-~
~ o
rAnh, m6i rAnh cO s6 16 lAng dln
thee quan h~ 2", n IS. s6 rAnh (hloh
6.4).
---"'---"----
-.r-L~
OJ
o
VI d\1 dIn mA hoa trim hlnh 6.4
Hlllh 1.3, a- n6 cam bI'n quang 16c dO
a gttm co 3 ranh RAnh trong cilng hai chiiu quay; b· X'c dim chilu quay
~Ill mOl niiB yang troD mau trong bAog so d.oh phi 2 Un .......

5u6t, mOt nua rub. Khi dOC ranh nay

t.a xac dinh dUI;1C vj tri rOto dang CI mia vOng trim nao. TntClng hqp m\y dog
v{jj bit trong l(1n nMt (MSB)' RAnh glue dtllJC chi a thAnh 4 phhn mau trong
,"SB

oj bJ
Hinh 1.4. ota rnA h6a luyt' dOi.
a) TfUdng hOp 3 rim: b) TrtJOng h<» 12 rAntl

154
su6t va mo li~n ti~p nhau. D9C ranh nay ta xac d~nh duc;1c vj trf roto d~g d
1/4 vong mio. Cac ranh ti~p thea cho t8 xac d!nh dugc vt trf me)t phan tam,
ml)t phan muoi sliu .. cua vong tron. Ranh ngoai cling cho t8 de) chlnh xac
cuoi cling ling voi bit tr9ng nha nhilt (LSB). Hinh 6.4b la dIa ma hoa tuy(lt
doi gom 12 ranh.
- Hai 13. phAn ph6i dem xung va do thbi gian. B~n ~nh vi(lc dem xung a
tren ta do khoang thai gian, vi d\! tl)o tr~n hlnh 6.5. Gilla hai suan xung IAn
~n thai di~'m Mt dAu va kpt thuc chu ky T ba.ng each dong thai dem mQt
chuoi phl,l co tan so co c1jnh. Truong hQ"p nay cong thde (6-1) trll thanh:
60N
n = = f (N", 8.t) (6- 2)
4N,,8.t
D::;Lo ham rieng cua n, voi 8.t = tDo == Tn dUQ"c
60 n
dn = - - dN" - d(",)
4N,,8.t

~
n
---d(",)
'"
(6- 3)

'"
Neu xung dem ph\! co de) phfin giai thai gian d (8.t) = 50 ns, khi n =
3000 v/phtlt theo (6-3) ta xac dinh dUQ"c de) phAn giai dn = 0,15 vong/phut,
t:?o dieu ki(!n <'In dinh toe dO n voi d¢ ehinh x:ic rat cao. Phuong pbtip do thai
gian ph6i hQ"p dem xung co do phii.n giai kh6ng con ph\! thu9C vao de) phiin
giai cua dIa ma bOa mil chi phl,l thue)c vao tan s6 cua ehu6i xung ph\! do thai
gian (hlnh 6.4). NhiflU be) cam bien quang toc de) kh6ng cap tin hi$u A, B chu
nh~t me co d::;Lng sin nhu hlnh 6.6a.

teo

A .I I I I
8
J I I I I
Xung
l l i Il . 1 . 1 1 . ·U 1 1 . ! I . I llllill
t1€~ phu
Tn

Hlttll lUi. Hai kenh tin hi!N ra lech nhau 90° A va B cua m~y phat xung.

155
 P:;hhtill-A
+_--l''l'',+",Tin hiell A

oJ

b)
Hlnh •.• a) May phsl )lung \/di hai kanh A, B co lin hl~u dang sin:
b) Sd dO nguyen Iy clla mach do.

Rai tin hi~u A, B dUQc dua qua m::;tch trigd (hlnh 6.6b) de tai tao il.li d~ng
chfi nh$,t sau do s11 d\lng nhu tin hi~u 00 toe d() the.ng th\iong co kern thea
kha nang nhan 4 .
. Trang rnOi xung co kha nang dQc cac gia tr! sin, cos. Bang cach xac djnh
a = arctg (BfA) ta thl,1c hi~n n¢i suy vj tri trong b~ln than lll¢t xung cM! nh$.t,
nho do nang d¢ phan giai cua phep do len 18 - 20 bit/l vang. B¢ cam bien
quang t6c d¢ M.ng dla mil hoa thong d\lng ngoai hai kenh A va B con cap
xung "Ott tin hi~u ve mot goc co ({jnh cuu t.rvc quay b.w dieu ki~n sl! d\lng
trong h~ truy"~n d¢ng d¢ng Cd dong h9.

6.3.2 Sli dl,lng may do g6c tuy,t d6i (Resolver)

May do goc tuy~t dCij cd dIU t~.l0 g[)1ll hai phi1n: phtm dt;mg gan IiEm voi
tn.lc quay d¢ng Cd chu-a cu¢n so cap ctl1Q"c kich thich bang song mang tan s6
2 - 10 kHz qua may bien up quay (hinh 6.7a). Phan tinh co 2 day quan thu
cap \.cu¢n sin va cu¢n cos) d:;J.t Jl}ch nhau 90". Dau ra cua 2 dRy quan thu cap
ta t.hu du<;lC hai tin hi~u dieu bi~n UU"sincotsinf.l v:\ UU"sincotco::;8 (hlnh 6.7b).
Duong bao cua bien do Hnh tin hi~u ra chua thOng tin ve vj tri tuy~t dui
ig6c 8) ellU roto lllay do, co nghia 1:\ vi tri tuy~t doi ella r6to dong co (hlnh
6.7cJ
Co hai cach thn tMp thong t.in ve 8. each thu nhfit h hifnl chillh stIa sui

156
 lOch thiCh n
2-IOkHz

8ii;lIip

rotor
b) oj

Hlnh •. 1 . May do g6c luyel dB

a) Ca:u 1,0; b) So ~ nguyAn IV: c) Hat kAnh tf., tItu r.

gOc thu dtfQc tr@n CO so so sanh goc vii. dtfCJc cai dJ1t.t sAn trong mOt s6 vi m~ch
sin co. Cac vi ml;lch nay cho tin hi~u gOo dong s6 'vai d(l phan giAi 10 - 1G
bit/l vbng vA mQt dn hi~u t6c dQ quay d~ng tuang ~\f. Do Mn su d ..mg khAu
di~u chlnb 1 bo$C PI de slIa sai lecb g6c nlin chi~u rOng dai di.n vA d¢ phAn
giai cho pMp ph1,1 thuQc vl\.o thOng 86 elm nU.lch di'A'u chlnh. CAch thd hai cO
cba:t 1~c,1ng cao hdn 10 dung hai bO ddi tuang til - sO de I'y mAu tryc tiep to'
dlnh dn hi~u di~u chI!. Trong trtfbng hQ'p nl\.y chn dOng b(I ch$t ch(!j giU'R thbi
dilfm I(y rnAu vI\. khAu t$O tIn hi~u klch thlch 2 + 10 kHz sau do dung bO loc
d~ chuy~n xung chit nh$t thanh dn hi~u klch thlch hlnh sin. Ngoai ra phAi
cO bi~n pM.p gi!\m sai s6 truy~n dAn dn hi$u tlf b(I cAm bien d!},t (} dOng ca
den bQ vi xli Ij di).t (} bAn di ~ u khi!,n
QQ phAn giRi eua pMp do dung may do gOc tu~t d6i boan toan phy thut)c
vAo dQ phAn giAi cua bQ ddi ttfang t"c s6. VI d\1 khi 1~1I d\1ng b¢ ddi tttdng tv
s6 c6 dQ pbAn gJAi 12 bit, gdc 8 do dtfl;k: voi d(l. phAn gili cll 12800 xung I 1
yang. May su dyng thu~n IQi cbo cA bai lo~i dOng Cd xoay chi'eu, d~o biet dOng
cd khOng d~ng bQ IA lo~i din biet giA tri tuy~t d6i cua vi trl rOta. Khi d(lo
bAm goc quay 8 ta thu dU'Qc t6c dO w cua rOto .

157
 May do gric tuy~t doi it nh~y voi nhi(lt de? va it bi nhi~u di~n ttl, tuy v~y
_chung khOng d(lt d1.1Qc dO phan gi:H cao nh1.1 bO cam bi~n quang toc dO voi tin
hi~u hinh sin.

6.3.3 Phuong philip khOng all' d.,mg b(l cam bi~n t6c d~

Citc phuong phap Btl" d\lng may phat t6e ho~c b¢ mm bien toe d¢ gilli thi~l\
a tren co m¢t s6 nh1.1Qe diem. No HUll eho M thong truYf!n dQng kh6ng dong
nhit do phai lap th{lm vaG trve d¢ng cd cae cam bi€n, trong 1lle?t s6 trllbng
hdP kh6ng the th\1C hi~n d1.1Qc, VI dV nhtl trong M truyen d¢ng cao t6c, trong
6tCl, ho~c trong khi dOng Cd lam vi~c trong mOi tr1.1ong d9C h:;t.i. Hdn ni1a nhi~u
do truyen dan tin hi~lU ttl b(> cam bil~n den tu di'eu khien co the anh huang
toi h~ thong ...

Tfnh t6c dO reto fIIr

,",
FI '-
(Phudng tr'rlh dOng hoc)

usl

i, i
T(nh tll thong rota ~·'r

(Me h'nh quan sat)

I--
~,

r
I

Hl"h 11.8. Sd db kht'li t(nh toAn t6c dO rOta.

H~ th6ng truyen d¢ng moi kh6ng S\t d\lng b¢ cam bi~n khac ph\le dUQe
eac nh1.1Qe dil!"m tren. Y tu:ang eua M th6ng nay Iii t6e dQ dOng Cd dUQe 1.1oc
IUQng ttl di(ln ap va dong di~n st.ato va. stl dVng lam tin hi(lu phan hN eua
m~eh vong di~u chinh t6e d¢. D~> gilti quyet van d~ xae dinh t6e d¢ ta phAi
giro q uyet hai vl1n d~:

- M¢t Iii tinh toan toe de? tit M phl.1dng trinh d¢ng hge cua d¢ng cd bjeu
thi quan M giua di~n lip, dong di~n stato va til th6ng rota.
- Rai Iii xay dyng mo hlnh quan sat vdi toe d¢ la me?t tham s6 clnh toan til
thong rota. Cau true va tham s6 eua m.o hlnh quan sat dl.1QC lya ch(;m thea Win
chuA:n 6n dlnh va Mi t\!. Sd de. kh6i b¢ dnh toan t.oe de? cho tren hlnh 6.8.

6.4 MOT 86 D!C DIEM CHUONG TRiNH PHAN MEM TRONG DlEU
KIllEN 86 MAY DI¢N
Ta de. bil!"t dieu khi@'"n s6 may di~n Ia dieu khi6n vdi thai gian nga.n nhat.

158
HQp ngft (Assembly) la ngon ngit su dl,lng hi~u qua nhAt danh cho m\!c dich
nay. Chudng trtnh co hi~u qua nhilt Iii. chuang trlnh su dl,lng b9 nha (dung
cho ma dich va du li$u) it nhAt voi thai gian ngan nhat.
Ngon ngft C co nhung di)c trung cua ngOn ngft cAp cao nhltng ding co
cac d~c: di{{m cua ngon ngft b~c thap la ngon ngi1 rat hi~u qua trong vi~c xAy
dl,l'ng cac chuang trlnh phlln m~m diflu khien may di~n. C eo tfnh dIu true
rat cao, co cac toan ttt rat nWllh vi the ngay nay eac chuang trinh Ion deu
dUQc viet bAng ng6n nglt C ho~e U11qc viet l:;ti Ml.llg C. C dIng co the ghep n6i
trt!c tiep voi hqp ngft, vi the ngay nay C trd nen thong dl,lng han hqp ngi"i
nhieu. Na11l 1990 ANSI c6ng h6 ngon ngi1 C tieu chwln X3.159-19S9. Ta co
the viet chuang trlnh nguon bang C va djch chung dung cho b9 xu Ii I1,la
ch9n. Blnh thuong nguoi stl dl,lng dung cae file rieng cho chudng trlnh va
ch~y cho b<) xtt Ii bat kyo

Khi l~p trinh bling C nguoi Slt dl,mg phlti nam vling h~ I~nh cua b<) vi xli
Ii va vi di"eu khien. N gam ra cung dm biet cac ham du'Q"c xay dung l'ieng cho
dieu khien. Ham trong C Wong dUdng vai Chltdng trtnh c.on viet hang hQp
ngft.
C dUdc coi la ngon ngu thich h9P nhilt cho dieu khien thai gian th~c VI
tfnh van nang, co d9ng va toc d¢ th\l'C hi$n.
Chuang trinh sail day xu If vao - ra ~6 trong thu r)i~n 68HCll eua
Motorola:
# define PORTB 0 x 1004 r gan.1004 h~ 16 cho djs chi eong PORTB */
# define PORTE 0 x 100a I"' g'cin 100A h$ 16 cho dia chi c6ng PORTE */
main 0 j* chuang trlnh chinh */

unsigned in1 1* bien luu giG' dau vao */

poke (PORTB, 0 x 5C); /* ghi s6 $5C vao PORTB */
inl '= peek (PORTE); /* gan cho bien inl n¢i dung cua PORTE *1

Chuang trtnh sau day g()i m¢t s6 ham khdi d(mg va dllng dong eo
define TRUE 1 (* dinh nghia hang TRUE '= 1 */
void lllotoron (void); /* protot}'pE! ham khai duu d{lng Cd d vi tri ch~y */
void nlOtoroff (void); /* protopype ham khdi dau dOng co (1 vj tri di.tng */

159
 int stop (void); j* prototype ham di:tng d(lng CO' */
int stop (void); /* prototype ham khai d(Jng dOng cd */
main 0 j* chudng trinh chinh */

motoroff 0; /* g9i ham khaj d(Jng dau d(Jng Cd dung */

while (TRUE) /* chu trinh thl,l'c hi~n I~nh gQi ham "'/

if (stop ()) motoroff 0;

else if (start ()) motoron 0;

Chuang trinh sau day thl/c hi~n b¢ dieu chlnh PID bang nglln ngil C
thea quy lutJl
de
c = ~e + KiJedt + Kd
dt
(6-4)

e""'sp-pc (6- 5)

trong do C - lil bien dieu khien

~ - M so khueeh d~i ty l(l
K, - M s6 khuech driLl deh phfin
K,j - M sO khuech d~i d~o ham
e- sai l(lch
sp- gia trj d:),t
pv- bien qua trinh
gqi n ta buO'c tay mau thti: n, ta duQ'c phuong trlnh PID so nhu sau:

Co ~
C~I + Anen - A 1e n_1 + A 1e n_2 (6.6)

6 +1{"
dOy A" ~
~ + K/'l.t ~t

Kd
A, ~
Kr + 2 - -
M

L'it = khotmg thai gian liiy mfiu

160
 Chuang trlnh ngu(m suu day dung dl tinh dilu ra cua PID s6 thea phuang
trinh:
co = C1 + Al * EO - Al * El + A2 * E2
# define A2 17 1* cho cac h$ so khuech d~i cu.a PIn 'i'/
# define Al 21
# define AO 75
static int SP, PV; /* dimh RAM cho cac bi€n */
static int el, eo; 1* el, eo co gia try 0 - 16383 *
static int E2, E1, EO;
main 0

/* khai dliu cac bifl'n trong RAM */

SP 64;
E2 ~ 0;
EI
/* D9c Iuqng vao PV */
startad 0;
PV = analog (0);
/* Luqng ra thti nhat lit 1n9t nua PV */
CI = PV < < 6; /* luqng ra nAm giua 0 - 16383 */
while (1) 1* vilng I~p Ii~n t~c */
{

Cl=Cl»6;
out (Cl);
PV = analog (0); /* Dua lugng vao tiep theo */
PV = PV » 1;
EO = SP - PV /* tinh sai l$ch */
/* Tinh dAu ra tiep theo */
CO = C1 + AO * EO - Al * El + A2 * E2;
/* Giai h~n dl:l.u ra trong trudng hgp bj tri'tn */
if (CO> 16383) CO = 16383;

161
 if (CO < 0) CO = 0;
1* gan l~i cae bien */
Cl = CO;
E2 El;
El = EO;
/* si't d\lng assembly goi thbi gian tre 10ms */
asm ("jsr $ e2J3"j',
} r- k€t thtic vong l~p */
}/· ket thtic chuong trinh *1

nring (L'l. Tim' vi;;n die h:1I1I elia hl) ,'j diclI khit;U MUle]

L~m __=+
I rnl analog (Int part)
. -""'"~-_~~---c---.~
Tra v/!J 91a tIl analog tLi 06ng Cong danh so tLl 0 den 7
int dlgilal (int port I Tra vi! 1 ho?c 0 (true ho~c lalsel ILl c6ng C
void motar (int m. int s) Cho dOng cd m tCic dO s. Dong cd danh so IV 0 den 4. Toc dO
dLlc;lc dimh s6 tLi -16 (ngLlc;lc) den 16 (thu~n)
void oft (Int m) Ngilng dong cd m
Int button (vo'ld) Tra v'e 1 kh'l num IRO d6ng. H?; thong bi 1reo khi num gn xu6ng trd
ve true khl num nh3.
vOid msleep (Int msec) Thili gian ngllng msec
void tone (int fre, int
duration) Ph3t blP t:3.n so "Ireq". \rang khoang "duration" ms
void pllntdec (int n) In gia If! n so thap pharl kh6ng daw
int gelchar 0 DOi ky t\,l rl6i lilip
putchar (char C) Ghi C vaa dong tiep
Int peek (addr) TIe. ve gl3 IIi dia chi byte
Int peek word (addr) poke TIe. ve gl3 IIi 1\'1 byte
(addl, byte) Ghl byte dia ch'

162
 Chuung 7

DIEU KHIEN SO DONG cO DIeN MOT CHiEU

ve phudng dien dieu khien, dt>ng Cd di~n m9t chieu don gian hon so vdi
cac lo~i may di~n quay khac vI chung ta co th~ nghiEln cuu ri@ng re cae mach
vong dieu khien dong di~n va toc dt>, mt;it khae cac b9 bien d6i di kern voi
d9ng Cd di~n m(lt chieu Ia cac b9 chu~n m~ch du ch~m de co the chilp nh~n
rang d(le tinh d9ng chi bi gioi h~n boi cau truc gian d01j.n eva bi? bien di'H mit
kh6ng bi h~n che hOi co cau dieu khien so (bi? vi xt:c Ii) Vi du trrrang hQ'p
may di~n mi?t ehi~lU duQ'c cung cap qua cau ehinh hiu tiristo ho:;..e b(> bam tan
s6 thap va sa dl,lng cO cau dieu khien Ia bq vi xt:c I)' dnh nang trung binh.
Thiel b* nay tuong doi ddn gian nhl1ng cho phep the hi~n cae giai phap dieu
khie'n s6 rn9t each ro rang.
Quy Iu~t dieu khien lien quan eh(lt ehe veti rna b1nh va rnu true h~ thong.
Trong chudng nay dau tien ta se xet trudng hqp vit';lc lay mAu dieu khien
khOng anh huang teti qua trlnh rai r~e eua bQ bien ddi. Trang trudng hQ'p nay
vi~e xt:c If gi6ng nhu truang hqp dieu khien kinh die'n, Do do ta Ian 111Q't xet
vi~c dieu ehinh HEm t~c mach vong dong di~n rai chuyen qua dieu khien rai
r<:J,c m<:Lch vong dong di~n, sau do xet van de chuyen tit dieu khien tl1dng tt,i
sang dieu khie'n s6 trv:c tiep, dieu khien s6 toc do.

7.1 DIEU .KHlEN LIEN TIJC MACH VONG DONG DIJ!;N

7.1.1 MO hinh
"'--'fl
oang cd

Tin hifu an toan hOD v~

Cdc do IUilng sO hOG A eo /u"l1fI9 Mfng h!

cnm bien
va xV /y \------'

Hlnh 7.1. Cau truc dieu khien s6 m;;lch vong dong diijn.

163
 Cau truc dieu khi~n s6 nwch Yang dang di~n duqc bieu dien trim hlnh
7.1. Dang di(!n dUQc phan hM qua b9 cam bien va xu 1j roj duqc chuy@'n doi
thanh tin hi(!u s6 de dua vilQ bt? dieu khi~n so. Tin hi~u dieu khie'n s6 dUQc
ehuyen d6i thilnh tin hi~u tUdng tv tac dt?ng len b9 bien d6i nham di~u khien
dang dien i cua d9ng ca.

Hint! 7.2. Sel d6 kh6i mach vOng dOng di~n.

Sa do kh6i ella cat! trUc di"ell khie"'n s6 m,!-ch yang dong di~n dugc ve tren
hinh 7.2 t.rong do;
C(p) Ia ham truyen c,ua bq hi~lU chinh

G" Ia hAm truy{>n clla b9 bien doi,

1 + Ttp
1

-~Iii ham truyen mach yang, dong di(m d9ng co

1 + T"P
L
YI! Iii gia tr! di;i.t, TI Iii hang s6 thai gian ella b9 bi€n doi, Te = R Iii. hang

so thOi gian di~n tu. Hilng s6 thai gian T t = ~ , voi T lil ehu ky I§"y mAu.

Truong hgp hi)! thong bien thien eh(l.m, lil truong hqp thuong thay voi cae bi?
chinh lUll co dieu khien thi ehu ky T duqe an djnh lil chu ky thvc cua b9 bien
d6i T = T h. Vi dl,l tru:ong hqp b6 chinh lUll Call ba pha va 1uai di(!n 50Hz thl
Th = 3,3ms.
Tu so do hlnh 7.2 ta co sd do hlnh 7.3 voi M s6 phan hoi

(7- 1)

k, 1a h~ s6 khuikh d~i cua b9 cam bien dong di(!n, ke ea chuy6"n doi tUdng
tv s6.

164
 7.1.2 Cau truc h~ th6ng di~u khien
Ta xet trl10ng hqp dan git'm
nhl'it Ia tnl;leh vong dong di~n x
dl1Qe rna tA bang ham truyim

~ = 1/R (7- 2)
Vip) (1 + Tl'P)
Thong thl10ng trong nweh Hlnh 7.3. Scl dO bil!n doi til Scl clo 7.2.
\long kin eae b9 hi~u chlnh C(p) ed nhit1Jm V\l tlilo ra ham trui~n cd mOdun
cang It bien d6i cang t6t va mong mudn sai so tInh bang khong.
Dl1ai day ta se xem xet e\l the ba phl10ng pba.p ap d~ng Ian !trqt d6i vai
he th6ng khOng ed khAu deh phan (bu eae elje), he thOng eo 1119t khau deh
phan (doi xling toi uu) va h~ thong dung phuong phap s&p xep cae el1e.

7. 1.3 H~ th6ng bu CI,lC

Ta dang xet truong hqp rna hinh li~n tl.,le bi~n thien r:1t ('.h~m so wi tan
so lay mau, nghla Ia re > > T.
Dau tien ta viet ham truyen eua M hO hlnb 7.2

(7- 3)

Ham truyim (7-3) cd hai diem eV'e:

1
eua hi? can dieu khien,

1
- eV'e thl1 hai P2 = - khang pMi la eVe thu'e rna la gia djnh gan dung
T,
eua qua trinh lay mAu. Ta S9 h,fa eh9D hI? hit1Ju ehinh C(p) co khA nang bu
m9t et,tc, dong thai dua va~ ht1J thOng m(lt khau deh phan de lo:;ti bO sai so
dnh.
Halll duqe eh9n eho b¢ hi~u ehlnh la khfiu PI (ty l~ - deh phAn) kinh
dien vai hai thOng 86 T va r 1 nhl1 sau:
1 + P
C(p) ~ (7- 4)
riP
Tu diE!u ki$n bi!. el,fe ta ed:
(7- 5)

165
 Tiep theo ts xet ham truyen cua hI;! kin co d~ng:

1 1
Hm.;(p) = - (7- 6)
~ 1 + (rj! k)p + (TiT,! k)p2
Tieu chuan dai thong dan den tim ham truyen m~ch vang kin theo ham
gan dung Butterworth, vl the trong bieu thue binh phtidng mOdun 0 ch€ dQ
dieu haa (p ::= ju)

can phai tri$t lieu thanh phlln w 2, di~u do din Mn

Ti = 2kT( (7- 8)
Tan so eM. se IS.:
1
(7- 9)
vZT,
Hinh 7.4 la dUdng cong dap ung
doi vai ki.eh thi.ch chuan. Ta nh~n

'[~~~~~~~~~J
t.hay C\(C d1.1Qc bli ngay, ta nh*n d1.1Qc -Y, "
0:8
dang di~u dap ung ddn di~u, nhanh 0.0
o.
chong den gia tr~ dl).t. y 0.2
Hinh 7.5 lit dap ung eua he doi o
o 5 10 15
voi nhifm Ta nh$.n thay dap dng Thili gian trJdng oaf tlTt
eua hI;! co bli c1je la tot voi kich thich Hlnh 7.4. Bu cae cl,lc. Dap llrlg cua. M
18. tin hi~u dl).t nhung dap ung ch~m vdi k{ch th{ch chuAn.
voi nhi~u.
y 0.3

7.1.4 Oap ling t61

Nhieu
0.25 II
LeIJt=5
It" 0.2
7:~fTt _10
Phl1dng phap nay o. !5
cd the 80 sanh dU\Jc voi / 'lelTt e 20
0.'
phtidng phip tTEm, ~7ejTt= 50

ot!$~P+J.
0.05
nhung ta kh6ng th1je
hi~n bi! cae qic rna thay
o 10 20 30 40 5a 60 70 80 ~o loa
eho bil. cVc bang m¢t Thili 9ir1n fu'dng do,' tlr!
thanh phan 80m pha d
Hlnh 7.15. Bu cae cl,lC: dap lmg theo nhieu lOan.
Ian cAn tan so cat va

166
 I,'
L 'ell(' 50
Y; 1,2
t e!7t -20
11
1,0

0,8
. '1'\\
._/\ ----- -- --
tefft
0,6
/
010

relTt~5
.
-----j
-----
. '-=i
0,'
A,'

a ff- 5
..

10 15 25
Tho! 'firm frlrlng

Hlnh 7.t!. r6 tJu cua d6i xLing: clap Ling cua mot kfch thlch chu§n.

y 0.3 .
flh/it 0.25
0.2
'" , - ~/TI 5

r"ITt-IO
~
0,15
( :\ ~
7"ITt<20
0, I

005 / [\ "- l"eJTt" 50

o ~
-0,0 5
o 510 1520 25
Thifl qkm II/ring do, t/'t
Hlnh 7. 1'. T 6i llu dOl xLrng: clap Ling thee nhi.j}u loan.

L I"
Y;
1,0 I
0,8
@ -.....7:e/~'" 50

0.6 ~ "- 'telTt ~ 20

t ~ ""'-teITt"'O
0.'

0.2 f "'" tefTt " 5

a I I
5 jO 1520
Thui giGn rrJdng doi tlTt "
Hlnh 7.8. r6i Ilu d6i xllng: clap ling eua klch thlch chuAn, IIdi mOdel mAu.

167
hi€u thl et!e cua M bang rn~t kh<lu thuan tieb phiLn.
TUCJng tl,i' nhu m~c 7.L3 ham truY?!TI eua h~ ho co hie'u thue:
1 + Tp K 1
H AO *(p) = c---c=- (7-10)
TiP 1 + TIP TaP
Blnh phuong mociun cua rn~eh vang kin co d~ng:

1HHF 12 (7-11)
Vai mAu thu-c:

(7-12)

Ta nhl!ln dUQc da thu-c Butterworth bAng each lo~i bo cae thanh phan ling
voi (U2 va (U4. Luc do bieu thue cua cae thOng s6 dieu ehinh Sf! la:
T = 4 T(
(7-13)
Ti = SK T(2/r"
= 4 th uang dUQc coi Ja ty s6 toi uu. Trong tht!c t€ dieu ehtnh
nay dUQc eoi la qua nhanh: cac q1e 16 qua hj kich thieh va se XURt hi$n cac
dao dong. Vi 'v~y dAn den phai eh9n die gia trj lan han de co h~ th6ng tuy
chac chan ch~rn han nhung co di? tAt nhanh han.
Cac duang cong tr€!TI hlnh 7.6 va 7.7 eho ta eac dap u-ng tot (nhanh) voi
kfeh thieb nhi{ju lo~n. Cae dap ung di~u chinh (theo kich thich ma.u) co dl)
qua diEm ehinh lon do hieu ung zero cua b~ dieu chInh. Ta co th~ lo~i tri:t anh
huang nay bAng hO 19C phan kich thich mau de biJ. zer6 cho bo dieu chinh,
nhu ket qua eac duong cong tren hlnh 7.S.

7.1.5 SAp xep cac CI,lC

SO do chuc nang cua phuong phap dieu chlnh co sap lOOp cae c\!,e dUQc
rno tA tren hlnh 7.9. 0 day ta stt d1,lng bi? dieu chlnh tfch phan - ty l~ Val cac
thong so k va T voi hai m~ch vong khong gay ra hi~u ung zero va m¢t vang
phla tnroc voi thong s6 kr cho phep dfeu chinh hi{)u ung zero eua ham tru~n
m~ch vang kin.

Ta nh~n thAy rAng khong the dua ve tr~ng thai dAy du vi bien x 2 ia bWn
ao khOng do dUQc. Mo hinh tr~ng thai eua hi:! th6ng theo m~ch yang kin co

168
 Hi"h 7 .1. Di~u khien vdi Slj s~p xep cao cljc: S~ dO chlic nang viii
mO hlnh thea elk gia tri trung blnh_

Pr "'-f
p;. = rH1j)
P3 ~ f(+j)p-,-.C"r1---+--
"
f:jC
te
,)
-r
t

Hi"h 7.10. Sap xep cac eljc d6i viii mach vong dong di~n.
dang;
dX
dt
=AX + BV (7-14)

i = (CX (7-15)
Voi
[ 11;,
A = -k/T t
-lIT
M,
-lIT(
0
~d ' B = [~/"
II;
-ID, ,]
0
0
(7-16)

IC Ia ehuyen V) ella C
Luu y rang ta kh6ng bu dUQe c1,le p = - liT t boi vi do 13. gan dung eua
l11¢t Ia.n lily mau. Cae e1,le eua M thOng 1ft cae gia tr) ri~ng ella rna tr(m A va

169
(ta thuc d~e trting co hieu thti'c:

p' + ~ 0 17-17)

Vi dtia v~ tr~ng thai khOng haan ehinh ta khtlng the hi~u ehinh 3 eVe
mot each t.uy y. Khao Sllt phudng trinh d(i.e trung eoa h{; ta t.hay thanh phan
p2 khdng duoe di~u ehinh Thanh phun nay 1a m¢t hang s6, nghia Iii. t6ng eua
3 cvc iii. hang s6 va chi ph\!- thuoe vaa ch€ di) d¢ng eua m~ch vang hd:
1 1
P, + p, + p, := -( - + - ) 17-18)
- - T , '1'1
l

De' t6i tiu hoa eh€ d¢ d(Jng ella h~ ta b6 tri :3 r\le trong mat ph&ng phlie
co cling dttdng
L 1,2 ,-- ---
thilllg clung: mi)t I
Yd 10
,
C\1e thl,l'e (am) va
mQt e~p ctie
lien hQp co cling
phl~e 0,8

0,;
t:-
b~
~-.
+--
<ellt'Sa
- -- -

._- --
phan thtie v6i eVe 04
~ !~e!,!~ ____
thtic. Ta eh911 mot.
02 £'----- I'"I/'i' 10
di) tat t.u'ong d6i t6i
uu de co dap ling o f rt'e/rt- S I
o 5 10 15
v6i kieh t.hieh ddn
vi tlldng d6i t.hoa
Hlnh 7.11. S~p x~p de eve' cHip ling
man (dq qua dieu eua h~ theo kleh thlch ehu~n,
ehinh nho hdn 5r;,);
Dua vao phlldng trinh dac trung, dA' co du'Qc elic e1j.c 1ll0ng mu6n ta co
rae thong s6 dieu ehinh san clay:
1 1 1
p ~ - [_. +-

k ~
4p2
3

'c' ,
'c'
K
0'
T,
1
, kK
2p"~ T L' 1\
} (7-19)

Cac dllang cong- 1ren hinh 7.10 va 7.12 biCu thj dap ung ella hi;! theo kich
thieh mau va theu nhi€;u iOl:tn. 'l'a nh~n t.hfiy a trudng hQp dfiu tien (hinh 7.11)
h~ co d{l qua chinh nha con trong truong ht:;lp thli hai (hinh 7.12) hi;! co dap
ling nhanh. Do v~y ta phoi hQp duqc cae uu diem eua ca hai phudng ph8p

170
7.2 DIEU KHIEN RaI RAe MACH VONG DONG DI~N
Vi~c dieu chinh rbi y 03
r~c dl,la trim m6 hinh lay 1(\
_i~
~ 1\ ___ l,-i-~----l
Nt/ie-v 0,25

mall da trinh bay d 02

1 'Z&ITt~ 5
chuang 2, Ta co tM' nh~n
0.15
t r,
dUQc cae ho dieu chinh '/ ,\ 1;e!Tt~20
0,1
kinh dien (P I hol\\c 0,05
' / ~- ~1"ft~50
1----
P.I.D.) nha bieD doi thea
w, chuyell til' bien z trong
o
-0,05
- i
1
m~t ph:ing giong nhtt o 5 10 15 20 25
bien p eua bien doi Thiti 9ion fu'o'{)fj rio! tlTt

Laplace. De tieD hanh ta Hinh 1.12. S~p x~p cae eve' clap lIng cwa M
thea klch thlch nhieu,
d.;tt:
1 + w
z == exp(Tp) = (7-20)
1 - w

o ch€ 06 dieu hoa w == jtan(wT/2) 17-21)

Ta co the dtnh nghia mot. tan s6 gilt tHong
u == tan(wT/2) (7-22)

Sli d\lng bieu do Bode va tlnh toan dieu chinh thea c1ac dnh tai d ch€ do
diflu hOa.
Ta cung mong mu6n str d\lng 1110 hlnh houD toan rbi r{lc voi c.'ic Lieu
chwfn dl,ta tr€m cac gia trj ella cae bien iJ thbi diem lay nulu. De tien hanh
ta se S11 d\lng m6 hinh rai r~c eua m~eh vang dang diGn thea cae bien thien
nha. Ta se viet cac phuong trinh thea z-I

ol(z) fjz-l
G(z) =

voi
va
fJ = (Kc../L)exp(-T/T,)exp(t/T e )
a = exp (-TiT.:)
De' xae djnh b¢ di"eu chinh ta se s-.'1 d\lng cac tinh chat
} Cd
17-23)

ban clla h$ rai

r~e, Neu gQi cae ZI la In cVc cua h~ th6ng (nghi~m clla eta thuc di!-C trung rnhu
thuc Clla ham truyen t6ng quat thea z), gin tri t~i thbi diem tn = nT (hiqc
cha du6i d~ng

17-24)

171
trong do ,0 \a nghi~m ril~ng ph\! thu¢c van cac h:1Q'ng dau vao va A, la cac hAng
so ph\! thu6c vao diflU ki~n duu.
Ro rang rang d!)c tinh d¢ng Clla h¢ thong ph\! thuQc vao cac madun cua

- NElu cac mMun Zj hl nha thl nghifm se h¢i tl,l nhanh den che d¢ xac
l~p. Neu tat cit cae q!e brmg kh6ng hQi t1,l Be nhanh nhat
- Neu cac nladun z, Ion thi h¢i tl,l se Chi).lll.
- Neu it nhat eo lllQt. mOdun ct'la zi Ion hon 1, h~ se phAn kyo V~y dieu
ki~n 6n dinh Clla h¢ la I z; I < 1 voi lllQi i.
Mf.1ch vong dong di(ln co b(l diim chinh kieu P.l dllQ'c bieu dien tren h.inh
7 13.

kj

H1"" T.13. Sd dO chLrc n~ng di~u khien sO: mach vOog dien thea tin hilN nhO.

Ta ed the' bieu dien m6 hinh Clla M dl1di d~ng phudng trinh trr;lng thai:
X(n + 1) = AX(n) + Bolr (7-25)
oj = lex (7-26)

(7-27)

x ~[~;l x, ; =oI; C ~[~l

Cae cVe clia M thong theo llH~ch vong kln 19. eae gia tri rieng clia rna tr~n
A. Chung 13 cae nghi~m clla phuong trinh d~e trung:
z2 - z(1 + a - .tJKpki) + a - .tJKl'k, + j'jKpKlk, = 0 (7-28)

Ta co the eh(;m hai M 86 khueeh dai Kp va. K, de ap d!)t cae q:1e theo y

172
m.u6n, vi d\l hai eVe bang khong de ed dap "-
Ole
dng bang phing nhu hinh 7.14. Trang truang
h~p nay can h~ so eua thanh phan thea z va
'.2 i-
tD
!
thanh phan hang so bang khtlng. Ta suy ra D.'
cae gia trj eua cae thOng s6: D.'
!
1 + a
0.'
Kr ~ v. 17-29) 0.2
o I
01234S6789

Hlnh 7.14. Oap Cing bilng ph~Q.

r--l----1-- ,
riaOd"nJ
1-0
RS232~1
GiQodi~n
I
I
,
I
I ISBX
J3
II ISBX
J4
I I

- Ma fran lien
kit c!e'chon
L

+ --

rl
vecfd ng;;'

I
-- Lap frfnh Toe
lvao/Ral Dong h~ oi"eu khie~ ng&t lluSART! IN /len JqC
110 8251
8255 2118253 (8259) flO! flip

J
I 8us: fl9i b9
I

RAM
I EPROM I II,8086-2 J Giao difn I
I .KB 64-KB
CPu Multibus

A ,
MI.I/fibus (Infel)
<-v v

Hlnh 7.115. G~u true eua card cOng nghiep INTEL ISBG 8605.

173
 GlaD di~n r---l
'-- D. 89 nhO- D. MxlJly,
- Tutfng II! /56 1--.
4Kx/5Bils fin hieuso
OF ( 2161 VaG) OF
DSP -
M
I 1M (TMS320-IO)

--"
~

I-
GIGO df€n
sal Tutfng tt( ~,

- AF AF
.< Da
~
IIId
~ Glao d/¢n SBS
,
~

I r- - r-
~
~
,
Gfaodr~n
,
~

l- MLI f - ML/
~ IS8X [sax ISBX
~ 3 2 I
0
~

C~'a
• ra
VaG
0
+-;,.7 •
Clla

/' Gnep I{uong

~;•
Hlnh 7.16. Card c6rlg nghi~p Texas - Instruments TMS 320.

7.:1 CHUYEN Til D111u KlIIEN TUONG TV SANG D111u KHIEN 86

TRT,lC TIEP
7.3.1 O,i cuong
Trong cae m,lC trfm t.a gia thiH rang kh6ng co van de xung khac giua
viee hlY mall cd call dipu khien va h9 bi~n dili Ta se phan deh 11l9t s6 van
de khac nhau dat ra khi ma thai gian dnh toan etta b6 vi x-lt If kh6ng the b6
qlla. Vi yay ta ,,02 xem xPt cac r.hicn htqc khac nhf-lu va minh hoa chung VP
nwt nguyen If voi di'eu khien so d9ng co mot chien (MCC) dliQC cung cap tit
b(J hrim
De' lllinh hqa tn9t each CI,l the trtibng hr;Jp nay ta dua ra cac ket qua th1,1c
nghi(!m c16i v6'i h(J bam tan so tu:ang c16i thap (1000 Hz ho~c thap han) de' cae
qua trlnh lay 11U\U, do luang, tlnh toan co the' duac coi Iii tue thai.
Dien khien so dttgc th1,1e hi~n hang hai b(J xl1 Ij gom ed:
- Mot card ISBC 8G05 co diu true tr€m hlnh 7.15, c1uge xay dl,lng xung

174
quanh bO vi xli ly 8086-02 ella Intel, 16 hit, 8MHz co cac thanh ghi 16 bit.
phan tich thanh cac thanh ghi 8 bit
- MOt card TMS 320 (hlnh 7.16) (hiqc xay (hlng xung quanh bO vi xi'i If
tln hieu TMS :tlO-lO, :32 hit (tl'Ongl va 16 bit (ngoai) tinh toan rat nhanh
(mot phep nh.in 16 x 16 hit dtl{,lC thvc hien trong 200 ns. so vai 10 ,liS cua bo
vi xu Iy 8086.
Cae ky hi~u:

CPU (Central Procf'ssing Unit) - no xli Ii trung tii11l

EPROM (Electrically Programmable R(lad Only Mf'lUory) BO nha chi
d9C co the Ii).p trinh bang diEHl
RAM (Random Ace8s Memory) Bo nha truy nhap ngau nhifm, bfJ
nha d9c va ghi JHQC
I/O Vao - Ha
ISBX Bus giao dii»n
USART bo dieu khie'n lipn lac noi tiep
M, AF Cae thanh ghi d!a chi
DSP (Digital Signal Processor) BO xu Iy tin hi(lu so, a day IA. TMS
320-10
EI, E2 dau v110 va dAu ra logic (bang I~p trinh'i

Ch"m h luu B~C •

v , om

Lu'fji
-
-< Mee
<
., - ~ E

"-eo

'---- y= k[.i.
~ ,
~
~H"U'hi~hdb"9 PWM'f" 6ioo di~n J
f Tin hifu (iong h6
Hlnh 7.17. M(l.ch dong Ille ella di"eu khien so dong cd dien mot chi'eu
dLloe cung clip bAng bo Mm.

175
 Sii d\mg bt) vi xii ly 16 bit cho phep thl,tc hien di~u khi~n ch<:\m va bl) xii
Iy tin hi~u eho phep thl,tc hi~n dieu khie'n nhanh. Hinh 7.18 la vi d1,J. giao dil?n
gil1a card cua b9 vi xtl If ISBC 8605 va card cong suat voi ky hi/?u:
MOS Metal Oxide Semiconductor
iI' i2 cae tr) so wong t.\i cua do dong di~n

Nl, N2, N3 s6 do cae dong di$n

RCI, RC2, RC3 1::1. ty so cac chu ky
Ta dua ra cac chi~n IUQc di~u khien khac nhau
- Di~u khiln kUu tllang t1/
Kieu dieu khjen Day cci the tuong dlldng veri dieu khien so qte nhanh
trong do li~n t1,lc tiA'n Mnh do, vi~c dnh toan va hi~n thi tign Mnh tu:c thai
- Dieu khie"n so· SU.Y ra til dieu kllien tuang til hottc dieu klli/in lai
Do la dieu khi€ln co thai gian Hnh toaD rat ngan so voi chu ky cua hi?
bien doi a do ta co the dV kien Ini?t chien hrqc rat gan veri dieu khien tuong
tV·
- Dieu khien 136 trlfe tiep khong co thiJi gian tre do tinlt lotm.
Cac bien do dUQc khong con lien t1,J.c nua va chi dUQ"c do trong mQt chu
ky Uiy mAu. Vi~c dnh toan dieu khie'n inghia l:'t xac d)nh thai diem chuyen
In~('.h) cung chi m~t ran trong lllt)t chu ky lily mau. Tuy nhien ta gill thiel
may dnh do nhanh de co the ba qna thtli gian dnh toan so veri thai gian Dl(lt
chu kyo Thai gian nay phai nha hon thai gian ctiu 111("lt xung d(l.p m~eh cua b¢
chlnh Iuu khi bi? bien d6i Iii bq chinh htu tiristo ho~c nha hOn ty s6 chu ky
be nhat cua b6 bAm, khi bl) bien doi la bl) biim. Trong truang hQp nay di~u
khien dUQ"c xlie dinh voi pbep do a thai dii'hn tn' co the sii d1,J.ng trong chu ky
[tn' tn + 1]' kh6ng CO thai gian tre do thai gian dnh toano
- Dieu khiln 86 trlfc tiC"p co thili gian td do tlnh toan
Vi~c
tinh toan di'eu khien voi cac giil trj cua cae bien do duqc 0 thai diem
tn kh6ng san sang trong chu ky [tn' tn + 1]. Van de d<).t ra kha phuc tl.lP va se
duoc nghien cuu chi tiP"t. d cae 1ll1,lC sau.
Noi chung ta eiin pMi phlln bi~t chu ky lay mllu di,lt La doi voi may tinh
ky hi~u Iii. T va chu ky bam cua b¢ bi!!n doi ky hi(lu III T h .
Thl,tc v~y, cae chi!!n IUQc dieu khie"n va dnh nang dieu khie'n rat khac
nhau tuy thea cae gi trj tuang doi cua T va T h

176
 Neu T nM hon Th qua nhipu (trLtong h9P cae h9 bien doi t.iri8to) may
tinh co the mo ph6ng di€m khien tllong t,1 va chung ta ::it? gQi la di"eu khien
lai.
Truong h9P If t\rong voi cac ho bien doi hi$n d:;ti bang tranzito co T so
sinh d\1<;1C hot:ic Ian hon Til can ph:'l.i co chien luqc dreu khie'n d~c bi~t cua
dieu khien s6 truyen d9ng di~n

Card B6 ,0 Iy lSBC 8605

Di!.u n6i J3 " Dau n6i J< .
ISBX lSBX

N1. N2. N3
.

PMt 1y ,6 cae Logie di'eu

oh" ky khien CAN

RC1, RC2. RC

DiEhl bien
thai gian ca:m "'
N1. N2

B, khuech dai Bien dOl

MOS llldng 1l1·sE'i

Card di'eu khien

i1d, i2 d

Bien 'p xung

IC'm bien Hall

B, nghich 100
Card dQng ,"0
•
it '2

DOng 00

Hlnh 7.18. Gia,Q diijn giLia, b¢ vi xli Iy va card dijong h,lc.

177
 7.3.2 T6m tit vi dieu khi'n tllang til
M¢t cach tl,l' nhi~n b¢ bien dlH dnh Is m()t b¢ bien diH gian dOl;ln Mi vi
vi~c di~u khifln chi dl1Qc th1!c hi~n tl;li thai di~m mi"li. Trong truang hQ'p diElU
khilln tuang tv ml;lch mi"li thl,tc
hi~n vi~c bien ddi tuang t1,1 - rbi
i,v i
rl;lC, thbi diem lAy mdu trung vai

r
E ,c,
thai diA'Dl mOi. , J.
Dieu khifln tl1dng
uu diem lil:
tv co cac
~:.
, r
- Cae bien dl1Q'c do thuang
xuy~n va lien tl,lC

di~u khign rat nhanh

vi$c tOng hQ'p dHiu chinh
it" ,
", ,
tn_I :
vaj cae dnh nang trung blnh, ta T
,
,

fin hifu moi Kia' viI fin Nell rhEu ANin iIQ
cd the bang long vai cac mEl hlnh
gan dung.
N gl1qc ll;li mEl hlnh d¢ng
chlnh xlic cua b¢ bien dlH cha
"1Ll========---'
thay dAy la h$ thong phl1c tl;lP
chua cae ph an tu phi tuyen. Cac
nghien cuu cha thay doi vai di~u
;, lL-..,--.-Dli,L-l-r'OL-LlO_.
t,,], t~
khi~n tuang t1,1 chi nh$.n dl1qc k€t
qua tOt doi vai cae mo hl.nh ung
vai bien thien nM bang tuyen
dnh hoa. Hlnh 7.19 cho thay khi t
bien thien dieu khien, sl,t bien
thien di$n lip Iii. m¢t xung co
Hlntl 7.111. Di~u khign ILlDng ILl: d~ng cac tin hieu.
chiElU rqng at' n = OT n va bien dQ
h bang stt gbin daan diE!m lip ra a thai die'Ill mi"li (vai b¢ bam h = E). VI v~y
mo hlnh thea bien thien nM cua b¢ bien d6i dieu bitfn de? rqng xung (MLD
cd tM duqc bi€u di@n bling b¢ lay mAu xung (phat cac xung Dirac) vaj M so
khuech dl;li K t • (hlnh 7.20).
K .... phl,l thuQc phi tuyen thea diem lam vi~c vii. dang tin hieu moi hlnh
rang cUa:

178
 t - t
Wa = W amax [1 --T-"]

va di~n lip di~u khien Va ph'\}. thu()c va~ hI> dj~u c"hlnh, di;lc bi~t ph'\}. thu9C
nhi~u va~ d~ng song cua Va thea bieu thuc:

h
Ke = D
dV"
D = (-
dt
-
dWa
-]
dt '
} (7.30)

Hinh 7.21a va 7.21b Is sd do nguy€!n Iy va sO do ttrong duang cua m~ch

vong kin dieu chlnh dong di~n v6"i
Uti R - L. Di)C bi~t co the viet cae
ham truyfm va suy ra phuong ov" r::-16v/ ov*
trinh di.ic trung, xac dinh cae eVe. ~-

H~ s6 khuech d~i ttfdng Hin" 1.20. 805 Idy mau xung ILltlng dlldng.

dl1dng Kc phI) thuQc va~ diem lam

vi~c. Thvc te xac dinh M 86 khuech dt:li d¢ng bang:

(7-31)

, k, 1ft M s6 khuech d~i eua b6 cam bien dong di~n, kal

L
ia h~ s6 khuech dl.li ty l~ cua b6 hi~u chinh
H~ s6 khuech dl.li G , Iii bieu tht1c phi tuyen ph1,l thuQc vao diem lam vi~c,
l

van k vA T I (Mng s6 thai gian thanh philn tleh phan ella b¢ hi$u chinh:
h
(7-32)

vdi
T
Yt; = Eo + Ri(t' ",,)
E" 130 sl1c phan di~n eua d¢ng ed va fie = 0 (doi voi h¢ hieu ehinh ty l~)

Y, ,
ho~c fit; = L [ - Ht' "J1 (doi voi h¢ hi~u chmh PI)
ki

179
 R L

Hlnh 7.21. O(ilU khien tuang to,I ho~c diilu khlen lai.
a) Sd d6 nguyen Iy: b) So d6 iudng dUong: c) Bo hieu chi'nh s6 cho cfl'eu khien han help_

Trang cae tn10ng hrJp nay thea cae h~ thong rai r1!-c. sic dl.lng bien ddj z,
phuong trinh d~c tru'ng co bie'u thuc sau:
Truong hap b¢ hi~u chjnh ty l~:

7. - e,.lGe - 1) =: 0 (7-33)
Truong hq-p b9 hie-u chlnh P.I:
1.2 +1G)T)I) + ,E')l - Il.i(I!J - (! +e,,)}z + e)l - G) == 0 (7-34)
yaj en = exp(- TiT).
Mot caeh chat che h~ so G c' kh6ng gi6ng nhau vai hai bo hi~u chinh hbi
VI vai mot gia tri dat diR'm lum vi~c kh6ng gi6ng nhau (co sai so tinh vai bo
hii!'u chinh P va kh6ng ('0 sai so tinh yaj bi? hi~u chinh tich phanl, va gf.!D
song Va cling kh6ng gi6ng nhau tuy chung gan bang nhau Til Sit dt.mg phlidng
trinh nay de xac djnh cae gioi han on dinh (cl,le bC)1 va tlnh tmin b('l hi~u ehinh
di! co dap Ling bang phang.
He so Kc cua b6 My mau tuong duong phl,l thu<>e vim die'm Hun vi~c, Vi~c
dieu khien co chiit IUdng eao can phai cit! kien trltoc trlidng ht;lp bat It;li nhat,
do la trl1dng hap dicm khien t.tl thlch nghi Dieu khie'n nay thlic hien biJ cae

180
thay doi h$ SO K L, bang 1119t ham phi tuyen, hai gan voi dieu khie'n arccosinus
voi b¢ chlnh hiu va lam tuyen dnh hoa b(:! bien doi thea cae gia tri trung binh
d che d9 xac l~p.

7.3,3 Dieu khUin s6 dllQ'C bien d6i Ill' dfeu khien tllO'ng III ho~c
dieu khien lai
Co the' chuye'n tiJ chien h1<;1C dfeu khie'n t.ltdng tv sang dii"u khi(!'n so. 0
tan s6 cao nhat co thi? dut;lc h6 vi xtr ly thlic hi$n do dl,tc, tinh toan tin hi$u
ra V,i' Gil'li phap nay dut;lc d\i kien de' cac b9 bien doi dong bl) v'oi ludi (b6
chinh lu:u hoae nghich hiu)
Thuc vf)y d tan so c6ng nghi~p cho phep su dung c;ic thie"t hi tieu chuan.
o day ta Sf' rip d\tng diht khien nay cho b(:l bam hOl:lt d(Jng 0' tan s6 t.hap.
Hinh 7,22 cho cac tin hi<:,"u Ilul b¢ vi xu ly phai phat di:" tao nen di'eu khie'n
kieu t.tldng tli R6 rang rang tan s6 liiy mau T V~l thai gian Hnh t.oan t c' phili
nha han chu ky bam Til rat nhieu. DiEHl ki~n nAy chi clu:ac thVc hi~n vo-i bl)
vi Xtt I}' rat nhanh va b6 bien doi tlnh nIt ehf)m,
Ta chap nh~n ham truyen diin ra tit so do hinh 7.21a, xac dinh cae bien
va thu~t. toan so th\tc hicm mot each gan dung bl) hi(>u t:hinh tudng tti cua
hlnh 7.21b va 7.21c vai

K, = TiT t
} (7- 35)

vi dnh chat phi t.uyen cua b(l bien doi, he ::30 khuPch d,~i dong G c eua yang
dieu ehinh phv thuoc phi t.uyen vrlO kc Trudng hqp clf),r' hii?t k l , tien toi vo
cilllg Ion G t.ien toi 1119t gi~i tri xae djnh
L
,

Neu lUong muon d,ip lcng etta b(J hi¢u chlnh bilng ph~ng d.n co Gc: = 1

va TI =1~~ d6i voi trlidng h(Jp bfl hieu chinh P,T. Khi t.a su J\lllg d~ng s6
"
dicu nay d~\n den KI' Ion (lrong tntong hop d,~c hiM, cua chung ta K , = 4).
1
'fa nh~n thay cae tinh chfit sau day:
- Do bi?'u t.htie ell3 hi? so khuf.'ch clai dong Lim h~ hoi nh;;ty voi nhi~u eric
thong ::30 va cac Clte lU:a eht,ln 10 trong trudng hap dap ti:ng bang phhng) hi
thay doi m(Jt chut do ,lnh hHdng eua sai l(leh. Do Iii. uU dip'm so vai cli'eu khien
thu{in s6 11111 ta vila xpt d muc tr?n,
- Tipc rang VI cac h~ so khueeh clt~i Ion nen cae phep tinh viii s6 nguyen

181
dAn den cac gili trl qua Ian trong cac
thanh ghi va thuong lam chung b~ bao
hoa, dieu do dAn den s1,l suy giAm cac dnh '1"-------,---0---+,---+1'
TH----!---:-"
nAng trong qua trinh qua d¢. ~ t
Hinh 7.23a la dap ung nh~n dt1gc tn !
..
bang th1,lC nghi~m trong trt10ng hgp b¢
hi~u chinh ty l~ P. Truong hgp b¢ hi~u
chinh PI anh huong bao hoa khtmg cho t

phep nh(i.n dt1gc dap ung bang phdng. Ket Wa

qua th1,lC nghiem tren hlnh 7.23b hi sl!
dung hoa giiia dap ung va khA nang tinh
toano
Trong th1,lC te voi card ISBC (hlnh t
7.15) thoi gian tinh toan tc la 64 f.lS (P)
va 90 ItS (P.I.). D6i voi card TMS (hlnh
7.16) thoi gian dnh toan la 47 ,us (P) va
lDDDDonoo~o~Dnnn
~.,
. t

67 f.1S (P.I.). D~ cho t(' va T (a day 130 120 Hlnh 7.22. Di&u khign 18i:
Dl;lng cae tfn hi~lI.
f.ls) kh6ng dang kg so voi T h ta se giOi h~n
~a.n s6 bam den 1 kHz. Chien luqc dmu khi~n nay phil hqp vo-i di~u khiA"n s6

b6 chinh luu ho$.c nghjch hiu tiristo dong b9 voi JUdi, cung cap cho dOng cd
di~n m¢t chiflu.

irA)

4,58

2.76
[rCA) I~----'''----5---''--h--
4,./i

.~ H t
Th ;;.2.&mS 'Th'~2,6ms

Hlnh 7.23. Di{!u khien lai: Cac k~t qua Ihl,lc nghi&m.
a) BO hi~u chlnh Iy I~ (Kp = 4): b) BO hiOu chlnh Ilch phtin Iy I~ (Kp = 2. KI 0,25).

J82
 7.3.4 Di'Ou khi6n s6 trilC ti6p
Trllbc het ta s~ stt dl,mg dllQe t6t han cac tinh chfit ctta b(l bi€n ddi va co
ca:u di"eu khi@"n s6 khi dua ra mqt chien lut;lc di'eu khi~n thuan tuy s6 vii dong
bO hoa dillu khi@"n bl) bi€n dOi (T "" T h h~c b(H s6 eua T h). Trang mOt chu
ky ta phai th\lC hi~n cae c~ng vi~c sau da.y:
- M6i thbi diem lAy mAu, kg hi~u 18 tn chi do mOt Ian bien di~u ehlnh.
Chu ky lAy mAu la T, ta co tn+ I = tn + T.
- Ta chi tfnh mqt Hin bi€n dieu khien (thai gian d.in cua bi;! bam Tn hOl)c
thai di~m chuyen m~ch t' n)'
Can giam thieu so phep tinh, nhll v~y ta co thli' ho!'.iC dieu khien bO bien
ddi thn so cao h~c su d~ng thai gian chn thie't cho cac nhi~m VI,L chu yeu,
nhung din phBi tien hiinh:
- GiAi quyet cac vlln de chQn diu truc va chien IU!;lC dieu khien khOng
kinh dien.
- SU d~ng cac m5 hinh thuan tuy rai rl.lC d4 tinh toan bi;! hi~u chinh
Cac hlnh tU" 7.24 den 7.27 Is. cac so do tuang du'ong suy til: cau truc th1,l'c
te, ttt cau truc logic va tu cac tin hi~u. Hl.nh 7.24a 1a sa do nguyen Ii con
hlnh 7.24b lit sa do tu'ang dllang t6ng quat.

0)

b)

Hi"" 1.14· Di"tlu knitln 56 InJc tiiip: a} Sd dCl nguyen "1'1:

b) Sd dO tuoog dlloog t6ng quat.

183
 aJ

I '. ·1

'I n'~d D D.
t, t
;~
tc' thlii 9,un fhl/c
hien childn9 frinh

n nn n
.
t

Hinh 7.25- Dieu khli'in so true tiep. trtlilng hOp be qua Ihell glan trnh loan.
a) So do
luang diJdng: b) Bie'u d6 thdi glan.

Cae hinh t.it 7.25 di;n 7.27 chu cac clac dlP"Ill c~ic t nlong hr,lp khac nhau
thuong gap He s6 fl" \;1. he ,,0 ehuye"n uOI (bien d{)i tin hieu m ky hi~u hl tl
hoi)C V" ella hi) hi~u chinh cd trt~ T\l' lIe,.,;O k,1o Iii he so khuech dai ella b6 doi
tt1dng hi - s6 khi do toe cli), hI) dUll bien co h<:" so k,"
Tip'p theo ta se- giA thiEi"t r11ng h<) hi~u chinh kieu 1'.1 co h<!, ,;0 K" va K 1,
Trang trl1dng hap t.6ng quat ta d'ln ph an bil"\. chu ky lilY mau T do b6 vi Xli
ly quyet dinh va chu kY bam cua b6 bipn d(ji ky hic>u J:'l. Til Trong tnrong hap
diElU khien tt1dng t1,1 chu ky lay mau chi do hi) bien doi quyet djnh. nht( Vf)Y
T = 'I'll' trong khi do dui VOl diPu khie'n 56 chung khac nhau.
- Neu tan 56 Clla b9 bam thap vi~c dnh tmi.n (thai gian dnh t,) co thi;
duc)c xem la ttk thai, nhu bieu do thai gian cho trE>n hinh 7.2Gh. D6i vhi 5(1

do tuong duong, hlnh 7.25a ta phan bi~t t.hai gian tr~ t. r, trong truang hc)p
nay la Tn. Viec co tre trong yang tnl'C tiep lit dlj.c diem chinh ctHl diim khien
56 b¢ bien doi.

184
 oj

"1 rJl1 D D
tn t

nonn
t
t . thiti gian IIII!e
C hi?n chulfng !;inll

l_~ ___ J

"OJ I t.
I 1
Hlnh 1.211· Oi'eu khi£!n s6 tn)c t,tip: trLJdng ho:;Ip thdl gian "nh loan co dO Irii b~ng
mot chu kyo a) Sd df) tildng dlloog. b) B,eu do thdt 91an {
.'

,"
tc' thiti giQf1 !hue

II -,
hien rhifO'n9 flinh

,
t
---

1In; t; 1: 1
~.~ bJ "
Hlnh 1.27 O(eu khien sCi true j,ep' tnldng hOp Ihdl gian Ifnh toan co do Irt; Idn hdn
mot ctlu ky_
a) Sd do 1L1dng dlldng: b) BIAu do thdi gian.

185
 Ta bi~t rang tre Iuon gay ra anh hucmg du (vi dv. mat on djnh). Uu diem
Clla di"eu khifln tl10ng t1,l ho~c dn~u khien lai la khOng t~o n~n tnt
- N~u tan so bam cao thl thoi gian dnh toan co the qua dai de dil'~u khie"n
co the dUQc ling dl,mg trong chu kyo it nhAt cling co trfllll¢t chu ky nhl1 bi~u
do hlnh 7.26b cho thtiy. So do tU'ong dllong Ia so db hlnh 7.26a, trong dci ta
phan bi~t trt'l t'r nhu tr110ng hgp trllac. Tre m(lt chu ky dllgc bieu di~n bang
thanh ph an z-l voi M so bien doi hol;\c Ke<
- Neu thoi gian tr~ Ion han m9t chu ky, khong the' gifr chu kY lay mAu
T b8.ng chu ky b¢ bam T h ntia. Ta chQn T = NTh sao cho tr~ do thoi gian
tinh toan
tr = T + t'r
voi t'r < T
Trong trl10ng hQp nay sO do tU'ong duong dugc cho tren hinh 7.27a.
D~c dnh d¢ng ph\l thu¢c dong thoi vao chat luqng cac thuat toan dieu
chinh vii. chu ky lay miu. Vi d~ dap ung ba.ng phAng trong hai chu ky T s~
khOng gi6ng nhau toy thea T = Th ho~c T = 2T h.

7.3.5 MO hinh rai rfilc

Theo tinh than dao d¢ng nha sa do tuong duong cap nguon eho mc;.t tai
R- L duqc dieu khien so, ta djnh nghia h~ s6 khuech d~ K' c = - h va b¢ lily
mAu. Truong h<;1p -co tr~ do thbi gian tinh toan di.n phai dl1a vao thanh phan
z-l. Ta d~t

a) Truilng h(1p khOng trl:

- Ham truyl!n m~ch vang ho Ia:
aI(z) K" exp(T/T c-)exp( tr'r t:)
~ G(z) ~

aU(z) L z - exp(-T/Tt:)
(7.36)
K" (el/e1)z-1
L 1 - eoz -1

vai e" = exp(-T/rc) va e 1 = exp(-t/T c)'

- Ham truYEm mach vang kin:
cH(z) Kzz
cH ret z2 - [1 + eo - (1(\ +K 2)Jz + (eo - K 1)

186
 = Kce,)tikdl~
voi KI (7-37)
LeI

va Kz ~
K1K J •
Ta nh~n tht1y M s6 khuech d~i Hnh (nh~n dllQC khi d~t z ::: 1) bang 1
va khong co sai l¢ch iJ ch€ d¢ xac I~p I"" = Ir (gia trj df!.t) Co hai cl,lc va hai
thOng so dieu chlnh do v~y ta co the' b6 tri cac cl,tc Dlong muon.

b) Truilng h(1p co tTl

- HA·m truy~n clla m~ch Yang her HI.:

ol(z) K, 1 exp(- TIT ,)exp(trJT,)
--
OU(,)
~ G(,) ~-

L , ,- exp(-Th c)
(7-38)
K, (e"le l )z-:2
L l - enz l
Ham truYEm clla m~ch yang kin la
~I(z)
(7-39)
oI r z3 - (1 + en)zz + (e." + K] + Kz)z - K J
H¢ s6 khugch d~i dnh· luon bang 1, nhung bay gia M thong IS. ~c 3 va
ta khtmg the be'S tri cac cl,tc tuy y dugc nita.

7.3.6 So 5anh cae tinh nang di"eu khi6n 56

Cac tfnh nA.ng rilt khac nhau tuy theo co ho~c kh6ng co thai gian tri! tinh
toano Di~u khien so voi b¢ hi~u chinh ki~'u P.I. tren hlnh 7.28 so sanh qiiy
dch cac cl,lc trong tn1?Jng hgp khong cd tri! (hlnh a) vcri trllong hgp co tre
(hlnh b).
Truong hQP kh6ng co thai gian tr€ tfnh toan ta co the sap xep cac cl,lc
tuy y, vi dy d g6c tQa di'>. Nhu v~y v~ Iy thuye't co th~ d~t dugc dap ling ba.ng
phang vai di~u chinh
K]=e"vaIS=1 (7-40)
Tuy nhien c6 cac nh~n xet:
- So voi di~u khie'n lai, cac h~ s6 khu€ch d~ nhO hdn va khOng co v!"ln
de bao haa cac thanh ghi.
- Me hlnh dQng chung to M so khuech d~i d¢ng ty l~ thu~n voi M s6
khu4kh d~i cua b(l hi~u chinh. Trang thl,lc t6 ta thtly vj tri cua cac cl,lc ri'It

187
nhay vdi cae he so khueeh df;li ella h9 hieu chinh, do do ta co the' gia thiel
rang sai tech va cae sai S(J co cimg anh htH'Jng, Hinh 7.:Wa ii VI du dap ung
gan bang phing. [m(zi

Thoi gian tinh t.oan te

voi thuat. twin nAy Ill. R5.11s
Icard ISBC) hOl~C 6:'1·.IIs
Icard TMS) can ho xung
thl'll\ t.hdi gian chuyen
uoi. G .IIS (CAN) va :) ./1" Relz)

leNA) De co the ho qua

a)
thili ~ian tinh twin so vai
<'hu ky bam Itnrong hap
hinh 7291 can phai gidj
!mIZ) 1
h;.l1l tan s6 bam Iii 1 kHz , f---------
I Iii gidi h;:tn ell1l djp\! I
khi(;'n \ail I
Khi co thoi gian t.rp I
Ilnh'loan d<:lc tinh dong
kh6ng co cimg mot linh
nang noi t:~i

Ilinh 718b cho th:l.y

(",Ie Cue cd bo t.ri kh6ng Iy
tleong I..im: co m6dun Ian.
do do thoi 6';an dllp dng
Wn v:-l. co dan dong.
l1inh 7.2% [i'!. VI d\l
lbp ling voi bi) hicu chinh
b)
h!a ehql1 up' co ub qua
chinh nh6 Ihp so khupch Hl"h 7 .28. Oi'eu khle'n so' true t'E;'P kie'u P,I,
a) Kh6ng II€;' b) Co tr~ (1 eue thl)e +
dai kh6ng idnl Ta duoe 2 el)e phllC lien hdp!
(hp \jng nlt dai Icii 12TI
De' cdi t.hi~n dllC t{nh dong- ta co thr: dim::; nhipu nhat chitH [Hac djpu
khip'n kh,i(: nhuu cJ delY ta Irinh bity m(lt C:1U tnk P.LR. dilng' dp' bil tn'; Trel1
hinh 7.:-10 ham truyen hil la H, Hp lhdng co phlt(Jng trmh d~i.e tning h:)c hui
(milch vi)ng dong- di(>n vA bo hieu chinh PI) ,;e 1'0 uftp \Ing Iy thuyet 'lInt ;~
chn ky

lH8
 irA) if A )
'" '-'4 l,.t'
5J>

.. 2.

i fl~l~ Kp ~ 2
\1'"
I r.2''''5
K,,./ '" '\"'.'
'.",
.,
I~! ""yt"'!;':-;;J1AC;:fv"'~N"'J:

'.
,
l' T. z.rms
K/ • I /(1 • 0 2S " l! ~

0 2r55,:_5
0)
, , 2T. Hms , o &T.IS,6ms
OJ C)
Hlnh 1-21 . Oi~ kh~n sO IHle 116p k.tu I,P cae dap !¥Ig
at KhOng co !lA. b) CO Irl kh&ng dlJQC bu' c) Co t,I d\J«: bu.

k,

Trong thvc t€ ta lhU'ong pMi lAp trlnh tinh torin rc1t dai so vai thu~t loan
kinh dien va dAn den thai ginn lfnh rat Ion (290 ItS voi cnrd ISBC vi\ 175 ps
vCli card TMS cho b¢ hi~u chinh P va 400}/'i; voi eard ISBC ho:')c 260 ~8 vbi
card TMS cho ~ hi~u chinh P.I
NgoAi ra La con g~p cae khci khan dl,l.e hifjt g;\y ra do df) nh/.lY r!\t. cao cua
phep dnh toan, nha:l 11\ khOng dU'Qc him trim M ii6 hOi sq n'lng ('ae Ci,lC vI do
s~ LV dich chuy~'n ra:t nhanh N ~u cae phep tlnh dllOC thV'c hi';'n CI mllc dO
cht1'p nhi)n dlfQC trang lnfang hQp b{l hil>u chlnh P nhung dlln dlln roi 101)0
nghillm In:mg lrong tntbng hQp b¢ hi~u chlnh kieu P.l: cae hI> s6 khu€ch ds;t.i
~l la n , cac pbep dnh rat nhieu, co th~ xfiy rt\ hi('n tllQng cac thanh ghi vil
kho d~t dllQC dap ung ba..ng phAng. H(fn nua thuAt toan nay l!.li rtit nh~y voi

189
sai s6.
Dieu do bu¢c ta phai giai h~n cac yeu diu ve chat hiQng va Il!a ch9n cac
dap ung "m~m" han m¢t it so vai dap ung bang phAng, d~ co the' gioi h~n
dugc d¢ Ian cua cac h~ s6 khuech dE.li va. hE.ln ch~ dugc sl! bao hoa cua cac
thanh ghi (hinh 7.29c). Van de t6i llu hoa cae bl! hi~u ch[nh a dAy dan den
91,f dung hoa giua cac yeu cau ve chat lllgng d¢ng cua h~ thong va kha nang
cho phep cua di~u khien s6. Tuy nhien dap ung thl,1C te d!.lt dugc (khmlng 6T)
dugc coi la t6t hdn nhieu so voi dap dng khi kh6ng co bil tr~ (khoang 12T).
Tuy nhien vi~c di~u chinh thong s6 ella bl) hi~u ehinh neu dnh den dl) tr~
ei.'J m¢t chu ky do thai gian dnh toan gay ra, dieu khien s6 tr1,fe tiep cho phep
nang cao tan so lam vi$c cua b¢ bllm m¢t each dang ke.
otan s6 = 1kHz, khi can thai gian dnh toan til < < T, ta neu ra m¢t so
thong tin thl,1C te:
- Vai b¢ hi~u chinh P
f = 12 kHz (ISBe) ho~c 15 kHz (TMS)
- Vai b¢ hi~u chinh P.I.
f = 10 kHz (ISBC) ho~c 12 kHz (TMS)
- Vai bl) hiEj!u chinh P va co biI tr~
f = 3 kHz (ISBC) hoac 5 kHz (TMS)
- Vai b¢ hi~u chinh PIR (dch phan - tl 1$ - co t~)
r= 2,5 kHz (lSBe) ho~c 4 kHz (TM)

7.4 CHON CHIEN LUQC D1EU KHIEN TRONG TRUONG HQP Be)
CHINH LlfU TIRISTO I
7.4.1 C4u true vii tuln tv dl~u khi6n
Dieu khien tllang W cac b¢ bien d6i tiristo the hi~n d~c tinh dieu khien
lien tl,lc: thai diem dieu khien (phat xung moil trung veti thai diem l§:y mau
va khong co trt'l, voi cac uu diem cua kieu di"eu khien nay. Han nua a dAy co
sl! 11,fa chon tl! d9ng dbi tiristo di.n phai dan.
Trong truang hQp dieu khien so, khong the il,1a chon ngay I~p We chien
lllgc dieu khi~n. Vai tan so lay mAu cao (so voi luoi) ta co the' thiet l$.p mot
tin hi~u dieu khien giong nhu tin hi$u dieu khien ttldng tl! (do Iii chien IUQc
diEm khien lai nhu da trinh bay a m\lc 7.3) nhung tot nhM ill chon dieu khien

190
tr1,1c tiep. Tuy nhMn trong v
.." , " ' .. _'-
trl10ng hgp nay, nhu h1nh 7.31 /' /-
/-1---- ""' /.""~

co nh ung kho khan ri~ng va

c:§.n cac giili phap thOa dang.
Giil thi~t ta ch9n thai die'm
[\ , \'
,
,
--
J\\\
,
,
.\\ ' \.
,'
"
,
,
"
' \,
,
,,
,
, I
1\ --

\ 1\
H1Y mAu la thai di~'m mOi t1,1
nhien (hl.nh 7.31a). 6 thai diem ' I,
Dong b6
nay ta tieD hanh do d~e va dnh
Ie I
toan m¢t hil'l'n (vf dl,l ky hi~u va .!.y \ ~ fJi~u Irh;€n thl/c
gi6ng nhl1 dieu khien tl1ang t1,1).
~
,-, I
Bien s6 nay se xae d!nh thai
CD
T~ Th

CD
I
diem rnoi (vi dl,l rnQt con s6 nl:lp
a)
trong b<! dern, no tien hanh deIll
ngu"Q'e va phat l~nh moi khi tien
Mn kh6ng). t '
'-II-
Neu ta ky hi~u t/' la goe m6i fJflng b9
ta nh~n thay cO sl,1 trll giua thai t
Df~u khii~ tht/c
di~m hlY mau tn va thai diem
t, ,-, I
filM t' n gi6ng nhu trl.1ang hqp
bJ
d6i vbi hI> ham
Hintl 7.31. [liAu khi~n sO In,Je tiAp bO biAn dOi
tr = t'n - tn = V'/w (7-38) tiristo. Nguylln Iy ci!.c chien Illoe di~u khien.
M~t khae trong trl.1ang hQ"p a) ehi~n IllCle vdi dl;l Iri'i I, 16n hoo T;
b) ehi@n Illoe v61 I, :5 T
bQ bien d6i nhieu pha, t~i rnQt 1· Trlldng hop I, < T
thai dU;m da cho co the di~u 2· Trlldng hOp I, > T.
khien nhi@u d6i tiristo. N~u ta
thea mot chien IUQ"c gan vai dieu khien tl10ng tv thi se thay do tr~ bang do
trA rnbi xung va co th~' Ion han ehu ky lAy mau (neu V' > x/3) Do v;;ty ta Sf?
ap dl).t m(lt dieu khien dllQ"C tinh toan vbi cae gia. tri cu. Vi v~y d¢ tr~ nay se
rat Ibn, co the kh6ng chAp nh~n dL1qc vA d(1c dnh dQng eua M th6ng se xau
hon dieu khien tllang tIJ ngo~i tru dnh phue t~p eua dieu khien.
- Co mQt giill phap la thay doi thai dHfm m6i eua cae tiristo thea goe rna
yeu diu.
Co nhiflU lllO hinh khae nhau de tht,(e hi~n y tttong nay. Hinh 7.31b III
mQt trong s6 dd, trong do ta thay doi sl) dong hO dieu khie'n so voi dii;>n ap
ll1ai.

191
 0 'J' ®
,
\3\
Y~_n," - I,,;;: 'f~ -5lf/t; r l
Hinh 7.32 neu ra m(lt chi(:ll ,_

, Ifl] " ,--~~

~
5Jr/&
- J
h10e gom 4 cau t.rue ting voi dinh : JI/2

nghia kinh die'n ella goe moi cho

bon tn1ilng h9p:
o :'.S 1/' < HIG
2 ]r/6 :..; 1/' < /r/2
3_ H/2 :s 1/' < 5J1/G
4 5,,/G :'.S 1/' < 3

Vie-c ilia ehqn cae khoallg

thai gian cung dltQ'C dtl.t ra dP' co
th(~ gillm thi{,'u Slt thay Joi h(· ",{j vi: :0 ,
OJ. .:" @
khuef'h (l~i ('tHl. de bo hi&u chinh
dfl toi tfu hoa khi diem lam vi~('
: '1'2 '
/f',; ,
,~
,
,
~
~..i ~-
l/'L ____
--,
thay d{)i IXPIll hinh 7,3G) wi
OJ
Vdi chi€n Itfoe diett khip'n
nay d¢ tr~ dieu khien luon lu6n
nhi> han 111(1t chu ky, vdi cae
f '12-'11/&

l'
H
'I'J- 7I12

b)
~

t'
1fo4 - 571/6

i"'' •
wt

thuat toan cau trtic dan giim (vi
d\l PI) ta eo the lam toi tfu dap
ling dieu ehinh (vI du dap ting
b.iing phang)
Hlnh 7.3;Z Dieu khien so trt.lc tiep bo bien d6i
diu linslo. phan lich cac Irudng hop_
a) DOng b¢ h6a kmh die'n lai Ihdi die'm
mil Il,l nhisn: b) DOng bb h6a doi1g cha
dleu khie'n s6 !rvc lie'p

7.4.2 M6 hinh rai r,c

Voi cae bien thien nha so do t.ttdng dtf(mg diEm khiell so cung cap eho tai
R-L eho trpn hinh 7.33, a day ta phfl.n bi~t:

hang s6 thai gian dh~n tit r C')

do. tr€l dieu khie'n t ,- = t' n - t n

h~ so khuech d~i cua hi? bien d6i (theo nghla li'iy lllaU)
K'" = -h(V'.,.),
vaj h 13. do ghin doan cua diEi'n lip ngubn t::ti thai die'm Dloi (ph1,l thu6c
vaa die'm lam vi~cLxac djnh hang gOe moi a ehe' d(l xac IQ,p 1/'00'
he s6 chuyen d6i a" giua bien dau ra cua bO dH~u chlnh so va d(l tr€l
rno;:

192
 dt'n
a ~--
<) dV,
BQ luu trii b~e khOng B,y
Trang th\1C tl! ta cai hai bil!n doi dhu ra:
tuy@'n dnh: va = [1 - 2('I'/n)) (7- 39)
casinus: V
lI
= cos tp (7-40)
Ham truyen nit ra tu cae daa d(lng nhc. thea phudng trlnh l~p:

eo - h
di(n + 1) = e"di(n) +- -- d'Po (7-41)
el Lw

vO'i eo = exp (-Tho;:) va e[ = exp (-t/T').

7.4.3 Chc;m bO dieu chinh

~ phuong di~n di~u chinh co nhi~u giai phap. Hinh 7.33b lit giai phap
dl,1a tr~n vi~c do dong dij}n a theri di~m liiy mA.u vo-j b(l di~u chinh kidu P.I.
Giai pht\p nay ddn gian nhung gia thil!t tru(k rAng chi do dong di~n a thai
di@"m lay m~u lit du, dieu do diln den dong di~n it bi nhap nhO.

a)

b)
Hlnh 1.33. Oieu khi&n s6 tn,lc tillp: Sd dO nguy&n [y vA sd dO
bien deii trong trudng hOp di~u chlnh Rio
a) Sd dO nguyen [Vi b) Sd dO bign dOi (trUdng hOp di&u chlnh Pl).

7.4.4 Dleu chinh theo gi,j trl trung blnh

Giai phAp {j tren co cae h~n chA', d~c bi~t la dong di~n ra:t nha:p nhb, giA
ttl Wc thCli cua dong di~n Illy mAu la th6ng tin thieu chfnh xae. Ml;It giai phap
la b6 sung them phep do bl\ng deh phan dong di~n trong mot chu ky Illy mAu.

193
Phep do nay 11ly bang khong sau khi dQc
tnt [
j(n + 1) = j(t n t I) =f i(t)dt (7421
'c
Thiel bi do nay hlnh nhu kh6ng c6 thd dua v~ mc!t ham truyl!n kinh di~n.
Vi~c tuyen tinh h6a cac phudng trinh phi tuyen cua he thong theo tin hi~u
nha Sf! bo xung them cac phuong trinh sau dAy vao phuong trinh cr tren:

--I ."e, (7-431

oj(n + 1) e I )oi(n) (7-441

ta ky hieu:
(7-45)
Hlnh 7.34 Iii sO do dieu chinh voj cac M so kd l va. kd 2 1ii cac h~ so khuech
d~iclla bt) bien d6i tl10ng tl,1 - so. Hlnh 7.35 if't hlnh dang cac duong oong
dong dien va j d che' d(l lien t\lc va che d¢ gilin dOliln.
Cac sd do tUdng dUdng cho phep mo hinh h6a toan bO qua trinh dieu
chinh. D~c bi~t ta co the' chung minh ning mo hinh day du gom cac phuong
trinh a tren voi cac phuong trinh bo xung:
ov,,(n + 1) = Aoi(n) + Jlov,,(n) + K pK1bVrd (n + 1) (7-46)
voi A -k p [e,,(1 + aIK'I) - (1 - fiIK'I)]

,1 = 1 - y(~,<,) kpO + aIK'I)

d day

kp = Kpkdlk j
K'] = K[kd2/kd!'
Ham truy~n cua mach vong kin la

(7-471

Tit d6 ta rut r8 cac tinh chfit li~n quan den sl! 6n djnh (C1,lC lx») va. ta c6
the tinh toan bang d~i so cac b6 chinh c6 dap ung bang phang. Cac thong so
phAi ki{f m tra:
eo + f.l = 0 va e,.fl - Y(~'",)A = 0

194
 RAZ OJ

HI"" 7.34. Di~ khil!n SO tn,lc tigp c6 kem thee de dong dH;!n.
a) di~u chfnh lay gia Ifi trung blnh Clla dong di~n nhd bO tfch phan c6 trd v~ khOng
(RAZ); b) ad do tudng duOllg vOi chuYl!n dOng nho', c) sd d!'l tiJdng diJdng b'llln doi.

dan den
1
K' I
Tefl ~ (eJe,,)]
en fl (e"ej)]
y(~.)kp ~ - --;--"--'---- (7- 48)
eJ 1 - e"
Ta nh~n thay rAng cac h~ s6 khu€ch d~i ph\l thu¢c vao di~m lam vi(!c.

195
VA l~i vi/tc ch9n thbi diem mOi da giAm thieu sl! bit'3'n thien nay. Hinh 7.36
cho th5y sl! nhlip nhO cua dong di~n con giam nhi~ll nua n€u ta ch9n bi€n
deli cosinus.
Dieu khien so cho phep dlia bQ nba cae bit'3'n thien M so khu€ch d~i va
lam t6i uu dfeu khien d6i vai tmln b" cac di~m lam vi~c. Hlnh 7.37 III vI dl,l
cac d:;ic dnh d"ng thea thu'c nghiem.

0+--,,-______-.-
o 30· !jI
G) H~ 56' khuech doi fieh pMn

, ,,
, t
, .
o)Che'd6Iienluc
.

O+-__r-----------~~
o 3D· '"
b) H~ s6' khuech do; Iy Fe

Hlnh 7.35, Di~ khi~n s6 tfl,lC tiflp: Hlnh 7-30, Di~u khi~n sci tn,lc tiAp: cac M
Dl:lng cae tfn hi~u, so khuileh dl:li toi 1lU cho dap Jng phAng,

7.5 DIED KHI~N so Toe DO

Ta dB. xem xet dieu khien dong di~n vi do la cot loi eua dieu khi~n may
di~n. Bay gio ta din xem xet m(lt so vAn de rieng eua di"llu khien so ap dl,lng
eho vi~c tong hgp m~eh vong toe d(l. Dieu nay lit. q llan trQng khi m~ch Yang
dong di~n lit vang trong va van d€! tan s6 d1).t ra m()t each SHU ""8('
 7.5.1 Vin d~ tan s6 liy mau
Di~u khien so toe dt') di)t ra mOt lo~t van ere mai. Tht!c te no lubn luon
baa gom hai m~eh yang noi tang. M~eh yang trong Iii m~ch yang dang dil;m,
bie dt')ng nhanh, cho phep kifl"rn smit va kh6ng che momen quay va dJ1i.t ra cac
di~u ki~nan toan, bao v~. M~ch vang ngoai Iii m<.1ch Yang dang diEm, tac d(mg
ch~m han nhieu. Bt') dieu chinh toc dt') khong ehe mt')t tin hieu la hlnh anh
ella m6men mong muon va dung no lam tin hi~u chwin eho m~ch yang dang
di~n (xem blnh 7.37).

Do dJ1i.c tinh d¢ng clla hai m~ch yang khac nhau, bIt nhien cAn chQn chu
ky lay mAu khae nhau. Vi d\l truang ht;lp nguon cung clip hl b¢ bam, m~ch
vong dang di~n co chu ky Illy mdu vAo khoang vai tra.m !IS va mach yang toc
dQ co chu ky l§:y m<'iu va~ khoang vai mili giay .
•
Ta ciing co the dl,l kUfn thl,iC hi~n hai rn<.1-ch yang co eung tan so, vi~c rno
hlnh hoa hie nay tra nen rat de; dang. Trong truong ht;lp nay tan so dut;lc chQn
kha nhanh de co the theo k~p d~ dnh dOng cua bien nhanh nhlit (trong tht!c
te la dang di~n). Thn 86 nay co the la qua nhanh d6i vaj bien cham. Vi~c Il,la
chQn b¢ dieu chinh t6c dt') tra nEm kho khan va ta n6i lil b1 qua gian do~n.
Neu ta lAm vi~e vaj hai chu ky lAy mAu sE! d!).t ra van de m() hlnh hoa,
Trong truang ht;lp nay chllc chlln ta chap nh~n hai m~ch yang tach rai nhau
rAt xa va qua trtnh dOng cua dong dil;!ll rAt nhanh so v('Ji dl\1c tinh dQng eua
t6c dO.
Neu kbOng chap nh~n giA thifl"t ve vi~c phAn tach, nghta la neu di;ie tinh
dt')ng clla t6c dO r§:t nhanh va so sanh dl1<;1C vai d~c tlnh d9ng cua m~ch vong
dong di(ln thl. cAn tra l~i gilU phap a tren va chi lam viec vai m¢t chu ky lay
mAu.

Tin hieu dul s 'so'

toe dq "' du
foe
Anh momen
Mq dieu khie~
86 diJu c:hinh 89 dl€u chinh
+- toe d¢ +- dong (lien

Do dan9 rfi~n

00 foc rJrl

Hlnh 7.37. BO bien deii tOe dO: edu tru.e,

 ((A)

rr"r,.fh ~~~.~."f\f'.''' ~~.r_j 2

. ",."",.(
,

~ _ _ _ _-jo

Ie I----lf
t D5u vao frlnh sin

Hinh 7.38. Dieu khien s6 tn,lc ligp: de dap ling dOng thl,lc ngh~m

r------- ------------l
: IB(ivlxu'I;1 I
I I
: 86 ,,,ev ch/nh 86 Mil chinh" I Bp bie~ do! tV
f51: da + -dOng dien ~='~/;'=h~=;l~>\

L------~i~~D=,=d="=9=~="~~
I

i
I
I
I
I
I
I __________________ ..J N 00 18c d9
........

Hln'" 7.38. Be bien dOl toe dO: so do cAu true di'eu khiEin so hai vOrig filii fang.

7 .5.2 B~ bi~n d6i t6c d~ hal din 56 "y mAu

Van de mo hinh hoa bang bien diSi z hi? difi.u chinh t6c d(l hai tan s6 lay
mau da dllQC nghien cuu kg va lip dung dih khien d(mg Cd di~n Dl¢t chi"eu
va d¢ng cO' dong b~.
Hinh 7.39 lil sd do dieu khien gam hai vong lit ma r¢ng 8(1 do m¢t vbng

198
cua hinh 7.24a. Trong h~ thong chi co mQt chu ky lay miu T, ta co quan M
z 0::exp(Tp). 0 day ta xet hai chu ky lilY mli.u m(lt chu ky nh6 ky hi~u 1ft T
va m¢t chu ky Ian ky hieu NT 1ft boi cua T (T Iii. nguyen). M~t khac ta gia
thi€t cac thai diem Jay m£u dut;1c dong be:>. Ta ky hieu z la bien gan voi chu
ky T va Z Iii. bien gAn voi chu ky NT.

7,5.2,1 M(; hinh vu tOng IWp milch vong (long difn

Ta sU: d\lng 1116 hinh rai r1ilc cMt chE! voi tin hi~u nha. Hinh 7.40 Iii. ma
hinh mach yang dong dien truang hQP tinh toan co tre m¢t chu kyo Chu ky
hiy mall nhanh vii. dUQc d6ng b¢ trong chu ky bam cua bq bien d6i. Dong di~n
dUQc 19C bang b¢ 19C co hang so thai gian TI (nha han hang so thai gian dien
til: T c. = LiR)
Cac phuong trlnh cua d¢ng Cd dUQc cho voi cac ky hiij-u thieh dang. Cac
ky hi~u khac nhu i'J nl1,lC 7.3.5. H~ so k,!,': ia:
k ig = kdik,
i'J day ku, lil h~ s6 chuyen d6i cua b¢ bien doi t.uong tu, k, la. he so khulkh d~i
cua b¢ cam bien dong di~n.

Ham truyen cua Yang ha co bieu thuc:

kigolull(z)
I (7-49)
oU(z) Trpl

Ta Iuu oj rang bien d6i z cua ham truyen co tr~ nh~n dl1qc tit bien d6i z:
Z[exp(-t,.plG(pl] = G[z, m == I -(t;Tl]

Ii, e)(p (-trP) Ii,

K~Z-I
T= Til R fLp

~
- Th ' fr,P

Hlnh 7.40. BO bi~n doi toc dO· so d6 tLlang dLlong cua m<).ch yang dong di~n

Trang cac cong thuc cac thanh phan du:qc dinh nghta nhu sau:

199
 Kekjg
G, ~

RoR('e - Tf)e\eZ

'I
~
eo ~ exp(-The)

'2
~ exp(-Tlr r)
e, exp(-t/T e)
e2 ~
exp(-t/T r)
a, ~
zle Z - zZe\

"0 z1 2 2(e 1 - e 2)·

V6"i cAe lip d\lng 86 vi t ... phI,!. thu!'?c vAo diem lAm vi~c, ta ch(;m gia tri
trung blnh tr = T/2 va ta gia thi€t 86 kh8ng (-aja l ) Iii so duong rat nhO.
Ta ch9n b¢ hi~u chinh kinh dien ki€u P.1. co ham truy~n

bo + biz
G(z) = (7-50)
I z _ 1
cO tu: 86 btl qic nghla Ill.
bo + biz = k\(z - zl)
Do v~y hAm truyen cua M bel IA:

(7- 51)

Va:n d~
COD l~i Ill. chQn h¢ 86 khu€ch d~i k\, D~ ch9n k J ta cd tM coi guy
tieh cua cae Cl,t:c co hlnh dang cho trAn hlnh 7-41a, con hlnh 7.41h Ie. hlnh
dang duong cong dap ung.
...L 1.2
kl-I/~~l ~
~~'"
[mat
,
fm(z)
,, I.' k,: 2/1~5
k'- V •
,.•, k,~ 1/25
,., kr - 1/70 •
,.'.,, *,.1/7, • k r'--- V f---
-,., b 1/2~- hk,,,/'" " [>
-,. , '.
U k,_ 3/250

-,.-,.,•,
4

V-
-, -0,6 \ -0.1
-0.8 -0.4 IJ
'.2
0.4
" 0.6
, ,. ,
,
o :2 4 6 B ID
1'---
12 14
kr = Ifl25

k'i
16
1f2
18
r-20
Re(z)
n
Hi"h 7.41. M~eh vong dOng di~: quy tieh eae el,le va dap lIng.
a) Quy tfeh eae eve; b) Him dilng dap ling.

·200
 7.5.2.2 M6 kink va !dng kvp m~eh vong toe d(i
~ GiA thi~t va phlln tach hai m~ch vang.
Trang trtic.ng h9P dl)c tfnh dl)ng cUB dong di~n nhanh hern t6e de} ta lam
gan dung m~ch vang dang di~n bAng ham truy~n b~e nha:t co e\1e (giA thii!t
Cl,lc th1!c, dUdng) IS. Zj = exp(PjT), ta suy ra ct!c cua hAm truyen lien t~c gan
dung;
1
Pi = ~ In(z.)
T '
ta co th~ djnh nghla hAng s6 thbi gian T j = ~ 1/Pj vA ham truy~n theo P III
1
1 + TiP
Ta suy ra ham truyen thea Z:
1 Z
Gb(Z) = - -;:--;0
Tj Z - Zi
co C\1c ia Zi = exp(N T Pi) = (Zi)N
GiA thii!t pha.n tach cha phep xac djnh Sd dO hlnh 7.42a rbi hinh 7.42b

a)

OR
~ HT--§§T-
NT

~~_____" I NT
b)
Hinh 7.42. Ml)ch vOng t6c dO: Sd dO tUdng dUdng trUdng hOp gia thigt phAn tach m(l.ch.
a) Sd dO tudng dUdng sau khi thl.,lc hi6n gAn dung mlloch vOng dOng di~n·. b) Sd dO
tuong dllong (gJin dli1g) viii chu ky NT.

Trong cac hlnh nay ham G /p) bAng

K
f + Jp

201
 B¢ hlY m:iu cr ehu ky NT dua vao giua Gh(Z) va G1(p) 13 ao, Vi~e lam gan
dung nay cho phep xae djnh ham truy€m:
G'(Z) = G1,(Z)G/Zl
K Z
voi ~--- (7-53)
f Z - Zm
Ta dat T m == J/f 1ft hang so t.hai gian eo
Zm == exp( - NT/T m) 1ft euc eo
e NT la tin hieu die" khlen a chu kY NT
kl 13 he s6 khueeh d~i ella earn bien toe de)
Q do 13 v~n toe do dU<;Ic, Q r Iii toe d¢ d*t.

De t6ng hop ta gia t.hie't di.ng qle G'(Z) Ii qie co Zm' Neu ta chOn b¢
hit'm chinh t6e do C 1 kieu P.J, ta co the' bil. zero ella b¢ dieu chinh va chQn h$
so khuech d~i sau khi xem xet vi tri cua cae eVc.

~ K rl '
T ' T

k;/l l
T It'ljP

ktg°J(
k,
NT

Hlnh 1.43. M~ch vbng dOng dil;!n va tOe diJ. Sd do IIJdng dudng.

NT

Hlnh 1.44. Mach vOng toe dO. Sd dO ludng dt.Jong SHU phep bien d6i dA.u lien.

7.5.23 Bien dfli ilUfIIK dll"fTnK S" tfii rifi rat"

Truong h(.1P lam gan dung nell <'I tren kh6ng dli dIn eo phuong phap ehinh

202
xac de rna hlnh hoa llH;lch Yang t6e d¢ gan veti ehu ky lay milu NT (N la s6
nguyen)
Hinh 7.43 lil Sd do tltdng dUdng cua ca hai nwch yang roi T~C nhau. Ta
khOng gia thiet do dude loc va kel' lit h~ s6 chuy~n deli ella b6 deli tudng tv -
s6. Thea cae hlnh 7.40 va 7.42 ta d~t
k(g = k(k dl , k'j! == k,kdl
exp(-trP) K
Gip) = , G, = c--:c
R(1 + TL,p) f + ,Jp
Phan ttt BN(z) lit bQ luu trfi chi bQ hi~u chinh toc dQ lam vi~c vai ehu ky
lay mall NT duy tri tin hieu dif~u khi~n (la hlnh Anh dang di~n yell caul khtmg
deli trong cling m(lt chu ky a dau vaG cua b(l dh~u chlnh dong di~n lam viec
veti chu ky T.
Hlnh 7.44 la bie'n d6i cua so dtl chuc nang. Trong cae Sd db m\y ta b6
qua Anh hUdng cua sue ph1'l.n dien, diE!U do gan veti gin thiel cAe d~c dnh dOng
khac nhau. Do v~y can co b(l hi~u chlnh trong mach Yang dang dilfm chua O1(lt
kha.u tich phan de' lo~i trl1 anh huang eua nhiiiu loan trong ehe d(J xac l~p.
Neu kh6ng mu6n lam gan dung nay ta can phai sO' d~ng m6 hlnh dong
di~n day du:
tl(p) (f + Jp)
=

}
oV{p) .; K2 + Rf + {RJ + LOp + LJp2
(7- 54)
Wp)
G1(p) == exp{-t p) - -
r oV(p)
De' ddn gian hoa ta ,;0' d\lng d~ng don giAn. Trang hinh 7.44 ta d~t:

k,gGj(pl k,gGj(p).
G)p) ==- va Gtp) == k(~ G({pi (7-55)
l+TrP 1+T 1P
De' stt d \lng so do nay ta thay the lll~ch yang dong di~n a ehu ky lay mAu
T bang ham truyen rai rae tuong dUdng ky hieu la G1,Iz) (htnh 7.45) duO'e
d~nh nghia bling
Cr(zlKez-1
-c0;- (7-56)
l + Cj(z)G}z, mlK...,z I

a day G)z, 111) lit bien d6i z tit G,,(pl, vd"j m == 1 - (tIT).

203
 Hlnh 7,.,U. MlJch vong t6c dO: SCl dCl llIClng diJClng sau bi6n dOi thJ hai,

7.5.2.4 M6 hinh dieu chinh hai

tan so liiy rnau
BAy gio ta cAn m() hlnh hoa
':'L; ,,,,
() 1 2 3 .. 5 6 7 S 9
r , "
1() II 12 k

m~ch vang t6e dl>. M~ch vang

nay gbm hai phn.n: phAn lily ma.u
chu ky T (mb hlnh thea bien z)
'] , , ,
,
" • • •
, , , , , , 1 "1' , l' l'
• , , , , , " "
\'
"k
.
va phan m!'! hoa ehu ky NT (m!'!
Hlnh 'I' •.e. SiJ lam Yi~c cua bO ch4n sa.
hlnh theo bien Z). Bo eh~n s6 ky
hi~u BN(z) trang cac
sd db nham ml,lC dich

bien d6i tin hi~u a ehu

ky NT va tin hi~u
trong mi~n ehu ky T.
Hlnh 7.46 Ill. mot
vi d1,l ho~t dOng eua bQ
hiu gift trong truong
hQP N = 5. 6 dau vaa
clla bt! luu giii' so ta
phat xung gian dOl.ln
eNT(kNT) bang 1 neu
k = 0, neu khbng se Hlnh 1.4'1', MlJch Yang t6c dO: sd dO tlJdng dudng
bang o. 6 dn.u ra ta hai t'an sa lAy miiu
duQ'c tin hi~u e 1T(kT) a} lay mtiu d chu ky T vA NT: b) lay mau d chu ky NT.

bang 1 khi k tu 0 den 4 va bang 0 khi k 2: 5. Trong cac dfeu ki~n nay ham

204
 BN(z) ~
e/T(z)
~
1 + ,-I
+ ," + ... + z-N + 1
(7- 57)
eNT(z) 1

~
zN - J
+ zN - 2 + ... + , + 1
zN - 1

So d6 chuc nang cua hlnh 7.44 x!ic dinh m~ch yang tOc dt) nh~n tin hi~u
a chu kjr T, vi the din vurt phuong trinh ham truy~n theo z voi chu kjr T va
kj hi~u:
G(z, m), m = 1 - (t/I')
d~t G'(z) = Gb(z)G(z, m).
Dieu do cho phep nh~n duqc sO d6 ch uc n~ng hlnh 7.47 trong do phan
chfnh cua h$ thong duqc xac djnh Ct chu k.Y T. Thl/C M tin hi~u d~u vAo cua
kh6i nay ky hi~u la G'(z) duqc Iuu gift 0 chu ky NT cua bO luu giit so BN(z),
nhu v~y khoi lam vi~ 0 chu ky NT Ill. chu ky la:y mllu do Mc dO. Can phAi
viet l~i ham truylm BN(z)G'(z) trong mn~n bien z.
De xac djnh hAm truyen trong mien Z Buhler (hia ra phuong phap sau
day: Neu coi M.m f(t) duqc ItIy m~u voi chu kY T la f(kTl va ham la:y milu
voi chu ky NT Ill. [(kNT). Cac bi~n dlSi z Iii:

voi chu ky T: "

F(z) = l:f(kT)z-k, voi z = exp(pT)
k = 0

vai chu ky NT: F(Z) TO

•
l:f(KNT)Z-K, voi Z = exp(pNT)
k = (j

suy ra: Z = (z)N

Ta suy ra ding khi chu~n tit bien d6i z (chu ky T) sang bien doi Z (chu
ky NT) bang cach thay chu ky T b!'.ing NT va cic c1!c Zj bAng ZI = (z)N.
Hinh 7.47b cho so d~ tuong duong cuoi cung, trong do ham truyen bien
Z (chu ky NT) bi€u di~n toAn b(l b¢ luu giu s6, b9 dieu chlnh dong di~n phfa
trong vB dl)ng co (phan di$n va ph An co).
o bien z (chu ky T) ham truyen cua M thOng, ke cn be) lUll gift so la:
Q'(,)B N(,)
(z - Z j ... (z - zN)
d n _ j(E)ZN - J + + dj(ElZ + dotE)
(7-58)

205
 (; day E lit dO tril hrong doi, li@n quan den thong so quen biet, a day ky
hi~mlaM,M=l-E.

Gia. thiet tat ca. cac th6ng so lien quan den c6ng thuc nay da biet, ta co
the biet dap ung xung cua G'I(z) ky hit'!!u la g,IkT}.
Hinh 7.48 11'1 vi dl,l dap ung xung. Do la dap ung G'I(z) vai 1119t xung gian
do~n hol).c dap ung G'(z) cua nhi~u xung (so h.tgng N).

Trong mi~n Z (chu ky NT) hinn truyen tong dl1Qc viet dl10i d;:tng:

(7-59)

Mdu thuc dl1gc biet nba dnh chat cac c1,I'c z, = (Zj)N, cac M s6 en eta biet.
Dei voi tit thuc ta phAi rang bU9c rang cac anh cua ham truyen bien d6i nay
hi tUdng tlf. Anh cua G'(Z, E) dUdC ky hi~u 11'1:
g[K, EJ = g[(K + E)NTJ
phAi trimg voi gl[kT1
vi du voi N = 5, neu k = 2 thi K = 0 vii E = 2/5. Ta dut;lc bieu thuc
li;l.p:
Dn _ k(E) = g(K, E) + C n _ ]g[K - 1, E]
+ Cn _2 g [K - 2, E) + + C,,g[K - n, E1 (7-60)
cho phep dnh bang so cac ,

M s6 Dn , do v~y biet ham

truy{!n G'(Z) = G'(Z, Ol.
/ r,
De tong hgp ta can ','
nh~n thily rang IllI).C dil cac ,
bien ddi G'(Zl chua Ill¢t cl!c " • '1'-.-
Iii cl!c co hQc (giong nhu
trl1dng ht;lp don gian hoa
" ~
trong ml,lC 7.5.2.2).
Nhu vl1y n{iu ta chQn o 5
,,II
W 15 3 25 m 35 U 4s m
k
m9t b¢ hi~u chinh toc dO Hlnh 7.48. vi du dap iing )(ung cua m.!),ch yang
tOc dO chinh.
P.I. ta co the chQn b6 nay
co d;;mg sao cho z@r6 cua no bil. clfc:

206
 (7-6H

NhtJ v~y la s~ xem xel

quy dch cae c1)c vA s~ chQn hi;! 0.'
0.'
so khukh d!;ti K" . '.'
7.5.3 Dieu khit1n 56 t6c
,
0.'
dQ mOt Ian s6 lay mau
Trang trtJoog hQP cAc d$c
..
-"
-",
-0.8
< .,
•/(,.0.'
-/.O
doh dQng cua dong di~n vA -1.0 -0. 6 - IJ 2 I O;l D.' 1.0
-0.' -O.<i 0 0.4 08
toe dQ khOng du each bi~t co a)
sl! Ii~ n hi;! ch$t c hE! gius CRC
bi~n v~ di(!n vA v~ ceL Vi(!c l2
.
tdng hQp hal m~ch vong ltJong
n
flr F<:', j.. I......-..I--. I I •
"
~
diSi phlln cach nhlJ La da xet a
m\l e 7.5.2 khOng con thlch .J<-.-
-
r--
" 1'-", ~
hQp Trang ttubng hQp nay
o. "
,..08
I
nlln lAm vi~ v6i n1()t tan s6
I!y mAu va s tt d\lng di ~u ehioh • II=: i-=:--
----...
, * a.1
, ... (I,"
, .. 02
t6ng quat nhu m/ilc h vong o2
lr~ng thai
o
o s
7.5.3. 1 Di"eu e111111t trung
thai khUng co khd khiIn I'e 1M;
10 b} IS
'" " JO

Hlnh 7 .• ' Mach YDng 16c dO

A'I·un tinh toan a) qUV llch cae c\IC Q) Dap ong lC~g

a J Di1u ti4!n ta st xcm xiii trllong hQp tinh toon Me tilol. GiA thi ~t nay
dung vai ~ bi6"n dOi cMm lvl d.,. b(l ehi nh luu lAm viee vai ItJai ) cO bQ vi xii
Iy kha nhanh.
Cung nhu trubng hQp {J trl!n ta sii d.,.ng mO hlnh rbi r~c chi)t cha thea
tin hi ~u nh6
Mo hloh nay cd nghla III a m6i thai di~m 16y mAu , may dnh xae d inh Lhoi
di~m ehuy~n IllI,lch e6 t r~ Lr . Mo hlnh CUR bQ bi~:n d Oi nAy phiSi hQp vai mO
hlnh lJi.lng t hai eua dOng cd di(> n mQl e hi?!u
Hlnh 750 18 010 hlnh giao di~n giua Cd cl1u dieu khi~n 56 va dQng Cd. Ta
nhAc I~j dang trong cae phuong trlnh ta dl)l:

207
 Ke = aoK'",
k ig = kdjkj
k tg = kdlk t
DQng cd dUQc roO Mnh hoa duai d~ng phuClng trlnh tr~ng thai. Cac phllClng
trlnh sau dlly dugc vi~t theo tin hi~u nM:

eo do? N/A

D,
uieDu 09flg crI
d/ell t/ m?f
khi€n 1-------..::::-1 chiill
k,
s5' ~ 5"

Coc b¢ celm hlen

<i\X
= MX + B~v
dt
Q = ICX (7-62)

A -' -f/J
-I-KIL -RIL
K/J I
'
B ~I0 I C ~ ' I
, IlL ' 0I
I
Hinh 7.51 la SCI db chtle nang di1!u khien t~ng thai co hai m~eh vong:
M~eh vnng tr~ng thai thOng thuCJng do tr~ng thai:
du 2(n) = tD'Kc~X(n)

ID = ID'Kc = [k j k21' (7-63)

roa tr~n
J k, 0
Kc ! 0 k! I
ID' 13. vecta cae h~ s6 cUB bO hi~u eh1nh
~u2(n) = ID~X(n)

MOt thanh phan b6 sung tleh phlln sai l~eh t6c d¢ de lo?i bO SBi so Hnh:
duj(n + 1) = ~ul(n) + k3[~Qr(n) - ~Q(n» (7~64)

voi It:; = klKI"

208
 I
'IJ~ i5n
\L-----------------T ~~·~~C---_----------------------~

Hlnh 7.51. MEl h'nh hoa di@U khien s6 tr~lng thai va bO diAu chinh lich phan tOe d¢.

Can pMi mo hlnh hoa toan b¢ khau nay. De" tien hanh t.a nh~n thAy bien
thien di~n ap ov n Iii mot xung Dirac co dien tich bang KJ~u\n) ia thai gian
tr~ tr so vai tool die'm lay mau til = nT (hlnh 7.52). Trong cae sa do 7.G2 va
7.53 ta ky hi(lU OV* v~'l. aV' Iii. cac bien thien, cae xung Dirac.
De xac d!nh mo hlnh toan h9c eua h$ thong ta se phim tich phlidng trmh
tr~ng thai thea cae khoeng khac nhau:

- Dol vai tn < t < t'n-' vai t'n = tn + tt'

d(oX)
phtwng trinh Iii: = AX 17- 65)
dt

co nghi$m: 17- 66)

Tr~ng thai trung gian Iii.
nX(t'n-1 = expltrAIOX\DI 17-671
Ll.! t' n- de'n t.' n + ta viet phudng trinh vi phan voi xung Dirac
d(oX)
- -- = AoX + BK"ou(nl Dirac!t - t'nl (7- 68)
dt
ta tlCh phaD m('lt khoang nha quanh t' n:
d(oX) I nt l'nt
~~ dt J AoXdt + J BKcou(nf Dirac(t - t'lll)dt
dt ('n- !'n-

Tr~ng
thai X ia m¢t ham W!n tl,le, deh phan cua no trong khoang nay
hang khong, Tlch phein nay cho hien thipn trl').ng thai a thcri diem t'n
~X(t'nt) = oX(t'n-) + BKeou(n) (7-69)
Cuoi clmg trong khoang t' n+ < t < tn t I' vai tn t = tn + T ta dl1ge

209
 d(oX)
= A<lX (7-70)
dt
co nghi~m 1a:
JX(t) = exp[(t t' n)A]oX(t' n +) (7-71)
va trl.lng thai cuoi cung:
oX(t n +1) = exp[(T - tr)A]oX(t'n+) (7-72)
Me. Mnh roi rl.lc tong quat Iii:
= expCTAMX n+ exp[(T - t r)A]BKe6u(n)
oXn + 1 (7-73)
b) M6 hink trqng thai
day du ov~

De ti~n hanh tich phan

f ,,
,
sai l(!ch toe dO ta co the ,,,
,
d~nh nghla nl¢t trl.lng thai !tn-nT t~ tn+1
dAy du mai trong do khi
n-/
viet cho d9ng co, tuc la
oX n> ta bO xung bi(§'n ul(n).
Trang cae dieu ki(\n nay ta Hl"h 7-62. DO thi tin hi~u cung cap.
dLiqc:

Zen + 1) (7-74)
Trang do

Z _ <IX n .I 1$ - tJ1BK..,tD : \VBK.: I

n - U I ,AI=II --1·-·-~·-·-·-!
ln -k3 C . 1 I
vai c:l) exp(AT), l.J1 = exp[(T - t~AJ

Ma hlnh nAy cho pMp t6ng hqp dieu khi~'n, dl}.c bi~t bang sap xep cae
cl1e, bang th~c nghi(!m ta da thdy rang k4!t qua nh(tn duqc it cheic chan, do
do trong th\1c te dn dlla tMm vao m~t thai gian trli.

7. .i.3.2 D{eu chinh tr~ng thai co ran tfe rf lhili 1:iun linh loan.
Ta se dua vaa thoi gian tre cua m(lt chu ky la thai gian tinh toan nhu sa
db bieu di~n tr~n hlnh 7.53
Me. hlnh gbm cac phudng trlnh wang tl,l phudng trlnh tr~ng thai cr t~n
(7-64) v. (7-73)
(7-75)

210
 ,,
" !Tjnu Cd
f+---- T'------;'--------4
oK 1
J
mgt
chieu

00
Moy lin!! T
I Cac h6 com bien
Cdc bOp bien rio;
:L... ____________________________
A/N va N/A .J

Hinh 7.153. MO h"'h h6a die.... khi~n s6 tr\ll"lg thai va dieu chfnh Ilch ph!l.n 16c dO
c6 xet dAn thdi gian 'Inh to~n.

Qul(n + 1) = Qul(n) + Kr[oQrd(n) - oQ(n)) (7-76)

va cae phuong trinh dnh dfl'n thai gian tr~ do dnh toaD
ou(n + 1) = oy(n) (7-77)
oy(n) = QUI (D) - bu 2 (n) = Qul(n) - tDXn (7-78)
Ta suy ra phuong trinh tr~ng thm day du
Yen + 1) = A2Y(n) + Bi~Qn:ln)

vni
[<l>} (l.I'BK,) [01 0 ,
I
~ [-'DI 0 1 B, ~ 0 I
,
[-K] Ie) 0 1 KI

Viln d~ tdng hqp h~ thOng se bao gom vi¢c ch9D ba thong 86 hi~u chlnh:
K[ va hai thanh philn tD = [k[ kZI"

7.5.3.3 Vi'eu chinh trang lhai co ~{fn tfe thUi gian linh loan. Vi'eu chlnh bling
slip up cae C4£C
Ta mO ta. chi ti~t rna trl)n A

P~I2 0
A, =!
1"" "12 0
¢ZI ¢Z2 PV'22
, -k! -kz 0 1 I,
1- k:J 0 0 1;

211
wi 1,) la cae ph§.n ttl ella ma tr<:tn ¢ va V'ij iii cae phan tit ella ma t ran '/'

lPBK., = I
fJ Vl121 ' Ct day fJ = KjL.
!f'22

Ta c6 the vi€t phuong trlnh d;;tc trrtng dttoi dang

z-1 + R,Z-~ + a,z2 + RjZ + a" == 0

a J == - (1 + T",)

R2 = {K 1Ji1/'12 + kJN 22 + '1',,) + D",}

aj = kJf¢]/iV'Z2 - #1/'12[1 + ¢2Z]}
+ k Z {¢2J#!f"12 - (JI/l n} 1 + <P II )} + k:Ji11'12 - D,,)
ao = k j [¢1;/iV'12 - ¢JPI/'Uj + k 2f¢llfJV'22 - ¢ 21 fhl'd
+ k,[¢lzPV'22 - ¢Z;/JV'I2J
v.
'1'¢ == ¢u + ¢i.~
D.p == ¢IJ¢22 - ¢IZ¢21
Ta nh~n thay r1\ng thanh phan 8, khbng dl1gc diPti chinh (no chi ph",
th u 9c vao tlnh chat d¢ng cua h~ thong), con l~i be M s6 de sap xep b6n cl,ic.
Tren hinh 7-54 ta se hie'u dien hai c1,ic phuc va mot cl,ic th1,iC kep, hang
each thay d6i tnO dun cua cae ct,fc' phuc dl1qc sap xep trEm quy tich ta dt19'C
h~ 86 U.t tuang d6i ch<).m.

d vi Iff 3 cae el,/e thang r.~g nhau d vi tr! 3 co 4 cue th~ng hang nhau.

Im{zJO 4 Im(z) 0.4

a3 ;,' a.3 .1 ,1_ J

a., -.L • -" ..':3
~ J.-
,.,.1 1/ -,.-1,6-
i~"
a., 5

~'
a., . -.;...2~5
a
-0,1
'r~} a
-0,1
'.
3: . .,!.::5
'S
-0:2 I, ;J_~~ -0.2
l":, */:3 -0,3 I" 5.... J:'.-~-'
.... 2 :
-0.3
-0,4 <--
5
-0.4 'I
-0,2 0 0.2 0.4 0.6 0,8 W -0,2 0 0.2. 0.' 0.6 O.B 1,0
Re(z) i?e(z)

Hlnh 7.54. Sap Xl1p mot cue thl,lc kep va Hlnh 7_56_ slip )(~p bon el,le phLlC
hal cue phLlC c6 h~ s6 tAt hldng dai t6'i uu co h~ s6 tat tLldng d6i tOi \Ju.

212
 _i_om5
fm(JX
0,02
I 7
I~ 2
~1 . ~W~
i I I .
L< ~\ "
,~~
0,015

I
fj !
I
" I :
0,00 5 Pi .
hV i I
L, I I
s 15 20 25 30 35 ~o 4S 50
aJ n

b)

Hlnh 7.!55. Oap ling dong di~n vii t6c dQ vdi klch thich Iii bUdc nhily d~n vi: trWang
hOp mot coJc thLiC kep vii hai cue phLic
a) Dap llng eua dong dii;!n: b) DAp ung eLla toe do

Hinh 7.55 bieu dio?n c~ic dap \tng dong dien va toe d() voi dflU vao la bu:oc
nhay ddn vi Ta thfiy rang cal: cue 2 va 3 cho cae dap ling thoa man.
Tren hinh 7.56 t.a ,;ap xpp C[1C cur: vdj he so tat Wdng d6i t6i uu bang
each thay doi modnn ella hai nil',

'fren hinh 7,57 la d:i.p ung dong di~n Vll. t.t'ir: d9 theo kich thich ia buoc
nhay don vi C:ic dap ling 2 va ;~ lfl. thOa 111:1n yeu cau Jieu chinh.

213
 ~,~. 0,035
ImrlX
0.03
( J

0_025 II' 1\
0.02
0,015
'(
" I

'/
0,01

0,005
, 1
Vs "
o 5 10 15 20 25 30 35 40 45 50
oj
J} 1,2

J
',0

0, , ;/ fY. V /'

0,'
111/ /1 . /
0,4
v/ Vs
/'
',2

°o 5 10 15 20 25 30 35 40 45 50
b)

Hlnh 7.57. Oap ling dong di~n vA tOe dO "(Ii klch thlch 19. budc nht\y
ddn vi: TriJdng hop be;., el,le ph..Jc.
a) DAp ling eua dong dien: b) OAp ling cua t6e dO,

214
 Chuang 8

OlEU KHlEN SO DONG CO OlEN BA PHA:

CHE DO XAC LAP
Ngily nay voi s\1 tha.m nh~p cua ky thu~t vi xu Ii va ky thu<').t vi diflu khien
dA cho phep giro quyet cae thu~t toan phuc t~p dieu khien dong 00 di~n xoay
chieu ba pha trong thai gian th\1c voi chilt 1t19ng dfeu khien rlit cao. Vi the xullt
hi~n xu ht10ng thay the tri~t de truyen d¢ng di~n mOt chieu oong truyen d9ng
di~n xoay chi~u ba pha voi cac uu diem cO ban: kich tht1dc nM, ty l~ gia thanh
{ cong suAt nM, d~ v~n hanh, bao duong do khtmg cO vanh grip. Vi~c di"llu khien
M th6ng tn'l nt:'!n thu~n ti~n hon do vi~c phan cAp cae chd'c nang dfeu khien tit
trung tam xu6ng cae phan t-u: va ghep n6i voi nhau qua cae bus tieu chmln hOa.
Trong cac h~ thong di~u khien s6 truyen dc)ng di~n xoay chieu phuong phap dieu
chlnh t\1a thea ttl thBng roto (con gt?i la dfeu chlnh vedo) Iii phllong phap dieu
chinh chu cMt hi~n nay va trong nhieu nArn toi [2].
Cht10ng nay rna dau bang vi~c t6ng kgt cac cong Cl,l rna tt'~n cho phep
bi~n d6i M t9a de) ba pha sang hai pha, gioi thi~u cAu truc va mB hlnh hoa
cac b9 nghich luu lip, di sau gioi thi~u pht10ng phap dieu chinh vecto va cac
chien hlQC dieu khien ky thU$t diflu- bi~n xung kep, cho phep chuyen m~ch
t6t cac b¢ bien d6i a tan sO cao va cong suAt 16n.

8.1 C()NG Cl,J MA TR!N TRONG H~ TH6NG DIEU KHIEN TRUYEN

n(lNG DIJ!:N XOAY CHIEU BA PHA
Ta su d1,l-ng hai d~g rna tr~n, m¢t d~ng cho phep bien doi hi? th6ng ba pha
sang hai pha (thanh ph~n thu: t\1 khBng kh6ng tham gia vao qua trlnh bien d6i
nang IUQng) va rn¢t pbep bien ddi quay M dOn gi3.n hoa cae phuong trinh.

8.1.1 Ma tr.n Clarke

Ma tr~n con Clarke ky hi~u C 32 dUQc dinh nghia bang
1 0 I
C 32 = I - 1/2 -/3/2 I (8- 1)
1-112 -v3/21

215
 Ta co the' phan dch m¢t h~ thong ba pha (hinh sin, d6i xungJ qua cae
thOng ;;6 eua h~ thong h'-li pha bang phuong ph:ip dong nhat thue sau day:
x., ('Il~ 1 0
2. cos.;
Ix ,J ~
Xi' ~
X'" cos {~ Xm -1/2 "/3/2
a
x, sinE {8-2,
:b
cos I': +. - , - 1/2 -/3/2
'1
vai 1 Xl la bien ella he thong ba pha,
Xm Iii bii'n dQ elm bit'i'n
.3 b. P;O(' rha.
1'a co the' vjpt dUIlj dang ma t.rflll
(Xl' "" (\:IX 2 '

co.:;~
18-3)

M::tl khac, ma tl'~n con Clarke co nghich daa bf·n trai il'l
(2,;;1)IC,~

vi
o " 18-41

trong do U la ma In\n don vi b~ic hm

De" cho phep bien doi nglWc can bo sung vao llHl Ir;111 e'2 IllQt llla tr(ln

,;ao cho co drJ.de 11l~ Intn Clarke vuong. d~ dang nghjch dao Thong
ctlt (;,1
thuang t.a chon each dan gian nhat Iii. tn,te giao vaj ca(' cot. eua C.Il, nghla Iii.

C \i == (8- 5)
1
Ma trl),n e,l co nghjch dao bEm trai hl. 11.i;~IIC'l' bcri vi le,le'l == 3 va Ii'!.
tl'l!c giao vai C,: bcri vi IC , (C'2 == fD. 01
Do vay t.a co t.he dinh nghla l1la t.ran Clarkp C, la mil tr(ln vuong bang
each phoi hap hai lIla tn)n con e,(
C, = lew C.\~I.

8.1.2 Ma tr.n Concordia

'fa t.hubng dilllg' ma Iran C'Ja.rkf' ,.:au khi cnwln hoa. duol d::tng lUa trl1ln

216
Concordia T " dl1qc dinh nghia bang cach ket hop hai 111a tr('tn con
T\ =:: (T'I. 1'\21

T:\I == v,'~ C:\I' T 12 = "; .C'2 (8- 6)

Cae tinh chat ella ma tr('tn nay co the dl10c suy tn!c tiep lit:
IT'IT,I = 1.
Ngh~ch dilO Clla ma t~n Concordi:l \:i.

T ,-I IT"I
(8- 71

8.1.3 Ma tn~n quay

cos':: - sin":
Ma tr('tn quay dl1qc d}nh nghl:1 P(~I ==
co::;;
Tich ella hai ma t.ran qua.v Pi':: I + ~2) = P(~I)P(,t.

va nghich diLO c\m no la: p-I(,~) == lp~,: I = p(-.~ I

Ma tr~n quay tham gia vao vi~c rno til. h~ thong ha pha VI:
0
co~ -sin; 1
Ix.,) x", - 1/2 13/2 . ~

Sill..: cos':: IU XI1lC\~PI'::1 0

- 1/2 -";3/2
Ta nh(ln t.hay rang ket qua nily co the dl1QC bieu dipn bilDA' sd do rat
thuan t.ie-n cho cac nghien cuu ve "au Ihmh H.11

l'
""- Phep quay Bien doi
hai ph"
0_ P(2) b' ph"

Cae thanh Hi!! thong Hi!! thong

phan mot hai pha (X 2 \ ba pha (XlI
ehieu

Hlnh 8.1. Scl do ehLlc nang gin vdi he thong ba ph",

8.1.4 Bi~n d6i Concordia va bh~n doi Park

VlJi cac ma tr(j.n djnh nghia a tren ta co the' xac d}nh cac bien d6i, nghia
1:1 r:le thay d6i hi? t9a dt), rat thlch hqp voi t:ac may dit?n xoay chieu ba pha

217
Theo dtnh nghla dl;mg khai trien clla bien d6i Concordia ia
(x J ) = (T 31 )x" + (T 32 )(x Z) (8-10)
Dut'1i d~ng cac dlili iUQng ba pha
,X
i a
(x) = Xt> sang Xu vA (X 2), a dAy x" va (x 2) =11
I Xp
ia cac thanh phhn d6i xt1ng tht1 t1,l kh~ng va cac thanh phhn hai pha theo
nghla Concordia.
Bi€n d6i Park t8ng quat nh~n dugc sau phep quay clla cac d~i lugng ba
pha
(8-11)

= (
x" ) ia cac vecto thanh phan, xd la bi€n dQc tr1,lc,
Xq
Xq Iii. biA'n ngang tr1,lc
(x) = (T JI )x" + (T J2)P(~)(xdq) (8- 12)
GQi Q(;-) = (T~p T J2 P(;-», ift rna tran biA'n d6i Park co biE~u thuc
I
cos;- -sin~
i2

=fi 3
I
-= cos(;- - 2 .rr/3) - sin(;--2..iT/3)
i2
I
-=- cos(;- + 2 n/3) - sin(;-+2.rr/3)
~2

Ta cD the tom tat qua trlnh bien d6i bang so do hlnh 8.2
Cac bien ba pha thl,lC Sign dOi Park Q(';)
Bi~n dOi ba pha - hai pha
(x 3 ) = T 31 )(0 +
(Clarke: C a ho~c Concordia: T 3)
+T 32P(C;) (x 2 )
Cae bi~n hai pha va }
thanh phlin thLJ tlJ khOng la cac thanh
phlin d6i XLJng
Clla bien d6i
~ Q(gl["
(X 2)
1
Phep quay: pes) Clarke ho4c Concordia
Cac thanh phAn bign d6i Park
va thw.h ph§.n thu tI,I khOng

Hinl! B.2. Sd dO biAn d6i Park.

218
 Ta cd th~ ph6i hQp cac bien d6i tren h1nh 8.2 thAnh sd do chllc nang hlnh
83

15
-
+
x« BIen dli +
pMp 9uay hai pha - ba pha
+

- PC!) Xp
T32
+

+
G1caqi/#n
Cric dqi Iu'r;ln~ Pa~k (Xd'{) Cdc rlil/ /l/~ng ha pha (X3
thonh phan thlf h; kMng hal pha (Xz )
" '10 ...

X, .... Xo T"

Hlnh 8.3. So dh chUc n~ng cua bilfn dOi Park.

Khi thanh phA.n thd tv khong x" = 0 Sd do chdc nang hinh B.3 mEl til
nguyen ly dH~u khien vectd de dieu khi~;n may di~n kh6ng dbng bQ, dOng b~
va clc bt) bien d6i. Tiep thea can phAi dua ra cac dnh toan can thiet tien
hanh trong thc)i gian thl,1c.

lS
- PMp quay
X.

Xp
Bien do)·
hoi pha- ba pha
- P(~)
T"
cDc thilnh p~'an Cdc dfJI M/f1g cac rlfJI /u'rjng
cua bien d61 Park hoi pha ba pha
(X ) (X ) ( X3 )
dq 3Z

Hlnh 8.4. Sd dO chllc nAng bign dO\ Park khi thanh Ph"iin thll Il,r khOng bAng khOng.

Ta cling co the thl,lC hi~n bien dt'li nguQc, dau tien d5i vc'Ji cac thanh phA.n
d6i xdng Concordia
Xl' = IT 31 (x 3 ), (x ) = IT:u (x 3)
2
(8- 13)
va Cac thanh phan cua bien d6i Park
(x dq) = P(-~)(x), hoi;i.c (x dq ) = P(-~) lT 32 (x 3) (8- 14)

219
 Tit do ta suy ra sO do
{'hti:{' nanp; bi(:;n doi nf, t111c
I~
T (X ) ( Xli (xdqJ
3
I 'ark I hlllll ,-. ,J

Truong hap thanh

:to; ............- Bien do;' '. PlliP'1 uay 'd
x
ph an thl( tu kh6ng
kh(nW ta cd ,,(1
h~ng

de, dan gifm

x,
Xc
,
bopho·holpha

t Y,
P(-( )
'.
x,
hmh 8.G, So' ur) n;'l~' l'ho
'"
Ihily ngtl,v{'ll 1'-':' Imh loan
Ill.'ll nanh Irong thai gian
Hlnh 8.5. Scl d6 chlJC nang bi~n dOi nglldc Park
Ihl,l'e nell ta muon xac dinh
du: d~~i luong- Park (bfon trong) th(>n dc d::-i luang ngo:'!.i d" dUQc Ta g9i qua
tJinh n~l.v lit XllY dung l::-i trang thai cua thir;t hi

(X2 ) 'X )
X, ' dq
lS
a'en da;'
x.
Pilip 9110Y
bo pho - hai pho x, P (-:;)
t
'J2

Hlnh 8.11. So do bien dOl ngtJoc Park, thanh phan thlJ ti,J kh6ng b~ng kh6ng.

8.2 CAU TRue vA MO HINH HOA cAe BO NGH~CH LTJ'U AP

8.2.1 Gi6'i thi~u chung

Ta XE't 1l19t h6 hif'"n dBi
t
thuang gl~p l:i. b9 nghirh
hill ~ir ba pha cap dien cho
I EIZ

IT
mM bi hlnh "ao (hlnh
,s.7!. B6 nghieh luu duae
dieu khip'n bang cae dai
'I r'
i-¥J2
luang logic Ta goi T, \":'\
T', iiI cae lranzito I gia
thiet la C{Ie ehuyp'n m:~ch Iy
luang), (;, va C', l:'l cae
diett khien tuang Ling vai
Hlnh B.7. Nghich Illu ap ba pha cung cAp
c~ic I.ranzito Xet tniong
cho may dien )(oay chieu.
h(,1p c1i0u khip'n IUlin phii-n

220
tC, "" C'I) ta co
neu C I "" 1, Ti dan vaT', ha tn<:lch,
neu C, "" 0, '1', h6' Ill(lch vaT', dan
Tuy t.hea t.ntang hop cac di~n ap lilY thpo chuiln P la dif.'m giti3 cua nguon
E ho~cthf'o M 1<\ nhanh nguon hoac N lit trung dnh Ct'm Ud.

6.2.2 MO hinh va bi~n d6i Concordia di~n ap

Ta x:!c djnh cae vee-to elien up ha pha va v?etC! bipn Men khien, hay gih
clU'~1e coi If! cac bi[."n dl:li s6, lay g-i:i t.ri 0 hoac 1

v,ro...l v"

,
I v. I == , (v~M "" v"\-1 IV 11 ,) "",v hl ' (8- 15)

v,r>.1 Vel'
Cae diim ap clui voi g6c M hoac P de bie"t, VI d", voi pha drlu tien
v:,M "" C" B V;'I v,1' = (e - 112) E.
voi ha pha

Vlin de 13. can tim dien ap pha tren Uti vi du v;, = v;lN Ta nh(lll thay
chtia biet cac di$n up pha tren clung CC! (v',N' vl,N' v eN ), ta moi chi biet cae
di$n ap day.

V;IN V
hN
v
"M
V
bM v"I' - vl)I' e e l)
v1)N v ,N = V
hM
v
eM = vI>I' - vl"l' = C" C, E (8-16)
v ,N v
aN
vv d' - v d'
eM
v :,M C,. e
Ta kh6ng the" nghkh daQ dttgc M thong nay. 0 day gia thiet. thanh phflll
thtl: tv kh6ng b~\ng khOng
V"N + v hN + veN = 0 ho~c vTN = 0 (8-17)
ta dl1gc ket qua quen biet:

vaN 2/3 - 1/3 - 1/3 v;,M 2/3 - 1/3 - 1/3 C"

veN = - 1/3 2/3 - 1/3 vl'\\ - 1. . :1 :l/3 -1/3 CI> E (8- 11:1)

YeN - 1/3 - 1/3 2/3 veM - 1/3 - 1/:3 :l1;1 C

Ta cd thA" thay the cac dien ap val' vao cae di~n ap vaM" Tinh t03n giai
deh cho phep chung minh cac ket qua sau day:
liT,2)(V1) = I(T:n)(v,M) = I(T:l2)(C"JE (8-19)

221
 Ap dl:mg bien doi Concordia (8 10) cha cac di¢n ap nay ta duqc:
I(T 3Z )(v:;) = I(T31 )(v3M ) = I(T3Z )(C»E
(v1 ) = (8-20)
Ta tim duqc cac bi€u thuc cd ban xac djnh (v 3) tu cac bi€u thuc (8-10)
va (8-20)
(v:» == (T31 )v" + (T:;Z).I(T 3Z )(C1)E (8-21)
Neu thanh pha.n thu tt,! kh6ng
V = 0 (8-22)
"
ta dl1t;lc;
(v 1 ) = T:u(vzl = T.,Z)·IT:u (v 3M ) = T3Z·tT32(C:;)E (8- 23)
cho phep chung minh ma tran trang (8-13) dl1qc phan tfcb bang:
: 2/3 -1/3 - 1/3 !
T_IZ·ITJl ~! -1/3 2/3 -1/3 ' (8- 24)
, - 1/3 -1/3 2/3 :
Cac d~i ll1t;lng hai pha \a:
v ,
(v 1 ) = , " = IT.n (v:l,M) = IT 3Z (C 3)E = (Cz)E (8-25)
I vii!
o day vecta dieu khien hai pha duqc d~nh nghia ba.ng (Cll = IT 3Z (C 3). Cu6i
cung di~n ap trung tlnh bang:
v NM = (v aM + vt-oM + v cM )/3 = O/3).IC31·(v3Ml (8- 26)

8.2.3 Gis trl di~n tip vii dong di~n

Bang 8.1 cha cac gia tr1 di~n ap va dong di~n thea cae gia tr1 bien logic

Ihing 8.1 Gh'! trj di~T1 up va d{J111o: di~T1 trunJ: ngufln I<: theu Cal' gia trj bien logic

Bien logic aen Ap day Di(in ap Oiiiin ap pha Dbng met

trung trnh chi~u

Ca Cb Cc ,,- '0 vb - '0 " vN - v~

'0 i
Vc
" '0

0 0 0 0 0 0 0 0 0 0 0
1 0 0 E 0 ·E E/3 2E/3 -E13 -E/3 i,
1 1 0 0 E -E 2EI3 E/3 E/3 -21:13 ~,
0 1 0 -E E 0 E/3 -E/3 2E/3 -E/3 ip
0 1 1 -E 0 E 2EI3 -21:13 E/3 E/3 -',
0 0 1 0 -E E E/3 -E/3 -E/3 2E!3 i,
1 0 1 E ·E 0 2EI3 E/3 -2E!3 E/3 -ib
1 1 1 0 0 0 0 0 0 0 0

222
 Bimg 8.2 cho cac gia tri Clla cac bien hai pha

/lanK 2 Oie ~hi trj l'Iia die hiEn b.ll pha

Cae bien logic Di~n tip hai phs

N° (1) C, C, C, [1/ <t' '~l

0 0 0 0 , 0 0
1 1 0 0 1 0
2 1 1 0 1/2 1312
3 0 1 0 .fii3 ·1/2 1312 I E
I
4 0 1 1 ~ 1 0

,
5 0
1
0
0
1
1
I ·1/2
i
1/2
·13/2 I
·13/2 i
7 1 1 1 0 0

(1) so tuong ling 1/6i hlnh 1/e 8,8

r,,"
Ta nh~n th<1y cac vectd vb1::t VjE:P
thanh phan [v". v[:ll co m6dlln (0,1,0)"
\
0\ ~.-,-____
' (1,1,0)"@

-/2/3 E va philn b6 tr~n hlnh

h,lC giac deu (hlnh 8.8). Nell ta III , ,
d<'j.t cac tt1,lc h1dng rl:ng theo cae \ (0,0,0) ~ 0 (1, 0,0) ~ CD
di(in lip v;;, vt>' v(" l€m gUm do (0,11) '"- ®\<\~lYlY--7;",,-1_,!2,",\).~'(j)"7C"-"
V1~ JJi~---f

tren thi hi} thong di(in lip ba
pha viet thea hi} toa d(> hai pha
(a, (3) se nh~n dUQ"c bang each
chieu cac dall mut vectd di(in
lip tuang rl:ng len ba trl,lc do va.
nhiln vbi -/2/3.
(','1)\(~')e
, ®
"P
Hlnh 8.8. Bi';u dO hlnh hoc Irong loa dO (a, {:fl
ehe diOn hp bO nghieh lllU e6 thi! phl!.t.

8.2.4 MO hinh d6i voi dong di,n

Theo dinh lu~t dong di¢n t:;t.i elie nut ta dl1Qc:
i = C" ia +
C1, it> + Cl . ic = I(C 3)(i 31 (8-27)
Mi;i.t khlie dong di¢n cae pha ia + it> + i" = 0 va dong di~n thu tl,1 khOng
bang in = O.
Cae thanh phan doi xung Concordia eua dong di~n lit:
(i3) = T H ( 2) (8-28)
Tu do suy ra bi€ll thtic cua dong di(in m(lt chieu lit:

223
 , =
1 " ('' III'
I, I = I(n I ~
~'l.Ll~ ('I, I (8-2Dl

8.2.5 Cong su't truy~n tai

C6ng suat tile thai do t1\i thu 10.:
p = v):\ + vbi" + v,\ = !(V\lli\l 18-30\
Bi~u du?n IV,) theo eli!' uihl khip'n ta dtldc:
2/3 - 1/3 -1/3
/' F.[(', C 1, e) - 1 ':~ 2,:'::1 - 1/:1 ii'
- 1/3 _ 113 2!:l i(.

Vi i: , + ill + i~ = 0, ta co 2i.,/::l - i l,3 - i, /3 = i,

til do suy ra cong suat t.ile thai

= Ei

Ie

B¢ bien doi chuye'n toan h¢ c6ng sm'it van (phia mOt chiEm) thanh c6ng
suitt ra (phia xoay chiEm) va kh6ng ph1,l thu/?c vaa dieu khien,

8.2.6 Sa db chlrC nang

a) TrU'iInK hf/P nl.'IIon l.v turinj(

Hinh 8.9 hie'u dien sd

do chuc nang eoa viec m6
hinh hoa hI) bien doi Ta co E
the xac dtnh quan h~ giua
oreu khien ba pha (C,,. C",
C c) va dau ra hai pha (v~)
I'Ilnh B.• SO dO chUc nAng bO nghich II.IU.
ho~c dau ra ba pha (v,), Sa trllong hdp nguOn mot chi'eu E 13 I'; wong.
do nay mo hlnh ham truyen
thea di~n ap khi nguon E lit Iy tltong.

h) Tnfllng hfTp ngllofl kh6ng /j t/fun/(

Neu ngu6n E la khong Ij tHong dm phai mn hlnh hoa ham truYE'm thea
di~n ap va. dong di~n va mc)t sO do chue nang d119C eha trpn hlnh 8.10. Trong
t r110ng hQp nay m6 hlnh bl) bien doi phlti co them m6 hlnh tai va rna hlnh
eua nguon. Hinh 8.11 la vi dl,l cau true dlloi d:mg tong quM..

224
 E

Hinh '.10 Sd d5 chllc n~ng bO nghjch hJu, trudng h~

ngudn mOl chiAu khtwlg Iy hIClng
X bl~u di~n phep nhlin.

Ta thay rang h~ thong, 1/\

i
phi tuyen co lien M giua dfiu
vao va dau ra.
r---::- ----..,
IL.kl6 hinh fal ...JI
________
8.2.7 Cae chien hrc;rc
dfeu khien b(l nghlch hru
Cae h(l nghich ll1u lip co
th~ dtiqc dieu khien thea
nhieu phuong phap, ling voi
cae cau true C\1 the'. N eu h¢ Hlnh 8,11 Sd dO chLrc ndng bo nghieh h.Ju khi ngu6n
nghich h1u chi co the chuyen mQI chi'eu khOng Iy lo.J6ng.

m~ch a tAn 86 thap, se dl1Qc diBU khien tORn song, tin hi€nl Meu khien se lit
t~n s6 mong muon (I dau ra va nguon 1119t chieu phAi dtit;Jc dieu chinh (bl?
chinh hiu tiristo ho(tc hO bam) NgI1Q'c l~i neu hO nghjch hIll co the chuyen
nwch oj tan s6 cao se dl1Q'c di{JU khien bimg dieu bien d(l r¢ng xung, cho phep
dong thai dieu chlnh ca bien do va tan sa va ng-uon mot chfeu co th~ Ia khang
d6i (dIU diat). Cung co the can lll(:lt chien Iuac trung gian: neu h(:l nghich hlu
phai chuy~'n m~ch (j tan so trung binh thai diem chuyen m!;lch du:t;Jc dnh toan
m(:lt each tai uu de h:;m ch€ cac song haL Cae chien h.1t;Jc dieu khien khac nhau
co the' dt1t;Jc thl,l'c hi~n d(>c li.\p ho~c phOi h<;lp vai nhau. Do IS. trt10ng h<;lp cua
nhii?u sa db nghjch luu cong nghi~p co chien lut;Jc chuy€n m:;u:h dt1t;Jc l~p trinh
truac bang di~u bien d¢ r¢ng xllng.

225
8.3 DI~U KHIEN ToAN SONG Btl NGH!CH LUU Ap
8.3.1 D~mg 56ng
Trang cae dieu khien nAy cae chu%,n m~ch dUde dong IUO luan phiAn trong
mQt mla chu kyo GiA thiel ngu6n 11' tuang cung cap di~n ap mot chieu khOng
doi (ho*c bien thien C~lll). E d1l9C diEm chinh qua In¢t tang trung gian.

N9 Uan Va ~ VaN
I,
mat chliu
di~uch;'nh '0
t 0
I, LV~N
B~ ph~n
If!( fll}!l6n ve: "<'N
I
'+3\E I,
VII'~ t N

Hinh 1.12 BO nghich hJu ap ba pha cung cap cho t~j dong di~n xoay chieu thee dieu
khitin loan s6ng.

n ~1f/J 4J1/3 51[/3

;h '" I ; , ,
i : 'iiJ'" "
•

'I va - ":

./' 2,i'3
,
•
,
,,,./3
,
5~J3 ,.r= •
"
0
V V
E 1 '- "',
,
~t
2~fJ
• 411/3 J'H/J
"
'f'j""
0

, , •
o nl3 2'!r/J n 011/3 51113 m
,, • • Vb" 5 V.,w - VbII'
"
., n '" 5JlIJ 211

EO
j....'";•. ,....~
21113

! , l-n
"
\JM ,'R
-f" '1/3 21f/] :n
"of' ~'

Hlnh 1.13 BiAu dO thai gian Irang thai cae p/l&n loJ chuy&n mach khi di~u khitin tOM
song va cae di~n ap day

226
 o 1I/l 211/3 ,,- ".,./3 Srrl)
,
" j: _____ _ -. 1'---_~=_1
I 1-- -6
b.~__ _ ~
c~ I ;

- ,
-E/3 1
j1/) 271/3 <
-2E/3 J

2EI31
'"
E{3.2
0+---
5'11(3 21f
----,
-t/3 J
-n/3
'q
~
"
2E/3 ~

-Ei3
,
Ell
'
-1
'/3
~
47lilJ 5T1lj 2j] >:
-2£/3 ~

Hlnh 8.14 Cae di$n ap pha do be> nghlch hJu cung cap khl dieu khliin loan song.

Thea cae bang 8,1 va ,s.2, hinh tU2 cho::;(1 do b6 nghjch Ittu vdj (hinh ;;6
cae khria chuy~n fil~ch thea thu tv 1 - 2 - 3 - 4 - 5 - 6 voi cae ]t,i;1 ho~c 60"
Ta co:
c, = C, = C"
C, = C" - C" (R~321

C, = C, C,
Hinh 8.13 la tr~ng thai cae phan til' chu~n m~ch, d:;mg song eua cae dien
ap YaM' YoM' vcM vfi di~n ap dAy vaN - v hN va hlnh 8.14 la dl;tng ~iien ap pha
v ClN ' VhN' VeN"

8.3.2 Quy lu(it dieu khien

Sd do chli:c nang cho trim hlnh 8.15

a) Die" khitn )1'0 huling

Do Ia truong hqp di'eu khien thea vir eua dQng cd khong d~ng b¢, trong
do g6c S' cci dJ;lng

227
 ~' 0: tnt + ~'
·0
18-33)
Trong thuc t€ khi OJ bien thiEm, gcic w '--"--c"
8ie~ da cb
. : IiI tich phan clla VI (hlnh 8.15a) c,
, a)
E' 0: J w(t.'lut' + (8-34)

h) DiclJ khii:'n vic/u

Trong tniang- h<;lp nay gcic $' dU<;lC b)

Xiir dinh mot. each ttk thai (hlnh
H 1Gb) bang do d(lC h01)C bang tlnh
to,ln. Vi d\l truang h<;lp dieu khi~'n tlt
cfQng may di~n dong b9
Hlnh 11.15 SCl d6 chllc n~ng di'eu khi~n
va hll0n9 va diltu khi!n vBctd,
aJ Oi'eu khi€in va hlldng, bJ Oi'eu khign vectd.

p9+ (8-35)
Vai fI Ht vj tri. rota
p Ia s6 d6i CUe

E'" goc do nguai thie't ke dieu khien ch(;m.

8.3.3 M6 hinh h6a theo CBC giii tri tlrC thai

Cae sa do chuc nang tr(in hlnh 8 9, 8.10 va 8.11 phai be> sung t.hem sa do
hlnh 8 15 Sa do nay wang d6i phl~C t:;.,p nhung Tat chAt ch(l, co the' giAm nh~
neu ta gia thiet ch1 xet diElU hoa b~c nhat.

8.3.4 Ly thuyet dieu hOa bilc nhat

a) Nguyen Ij
Bo nghich hiu thvc te dugc thay the bang bd nghtch luu If Wang, t:;.,o nen
M th6ng ba pha hlnh sin Iy tuang co bien do bang di~u hoa b~c nhtIt CUB. bi?
nghich Iuu thVc.
Ta ky hieu X ia gia tTj gan dung cua X theo nghla gAn dung di~u bOa
b(ic nh3:t. Dieu hoa bi[i.c nha:t cua di$n ap pha d-tit vao be;. nghjch luu a pha thti:
nhat cua may co bieu thl1c trong t9a d¢
f - ][/2 0: ~

vaN(~) = (2EI][)Cos(,;-' - )[12) 0: (2 E/n)cos.;: (hlnh B.16)

vi bien do ,,;ang Cd ban Ii

228
 2 »i" 2E :;,/2 E 2
= - 4[ J --em;! d~ +1 -cos< dSJ ~ -E (8-36)
2rr () 3 -. H/', 3 . n
Dien lip ba pha eua h9 nghich h./u cung cap cho dong cd ia:
1
(B-37)
0,
hol).c co th~ viet

(,,16 E/n) (8- 38)

b) Bien din Park cua Jien up ha pha

Bi~n doi Park eua di~n ap ba pha (V,N) dUC1C X3.C dinh bang

(8.39)

d day g6c ~ I Is. tuy y. Ta d~ dang d~n ra bie~ th tic diEm ::ip thea t9a d¢
Park

~ (v6 E/x) (8.40)

Hlnh 8.18 Oi~n ap pha khi dillu khien toan s6ng.

thay doi M tQa d6 ~ =?' /1/2.

Nell ta ch9n t9a dQ: gI = ~ (8-41)

vol = (-./6/n)E (8-42)

v<] o (8-43)
D6 13. t9a dQ dong hi) vai di~n ap nguon va trong t9a d¢ nay dien lip ngnon
mQt chi~u bAng di~n tip tr\lc d (nhan voi M.og s61.

229
 c/ lUll hi/11K djng .\'II(il vel {lilnK dien

C6ng ,mtit t.(Cc thbi co the' (htc;lC viet bang

p = Ilv,)
~,
(i,) = v,'u
L + v
4 i 4 = (vG/nlE Lu (8-44)
Coi cong suat We thai iuon bao toim co:
p = E i (8-45)
UO do dong di~n i (8- 46)
Trang h~ tl.:Ja dQ nay dong di~n tren dllong day mQt chii'!u bang dong dien
tnlc d

if) SII ,Ii, c:hlic minK

V(ii gilt thi€t diht hoa hl).c E 2111 EJliu khien __ Va

('ti/n) I .,
11hM ta co sd do hinh S.17. Neu
~ .;
___=======-____-{~"~'~nJ'~02ng~.J~~
(8.38) __ V
gal' .: xfic dinh thea gia tri tuc _ - c
thi1i, do iii. diEm khie'n vectd. Neu
Hlnh B.17 Sd diS chlic nAng bo nghich h,Ju ap
g{ic i: dLtcrc xac djnh theQ toe do loan s6ng di~u khioJn vectd.
gtic (t) fwdt, do ia (m·u khie'n
hm~c

V[l hudng. Neu .; dtlQc dong hq vdj vj tri hot;tc toe dl) dqng co xoay chi~u do
IH tv dieu chinh vi tri (autopilot)

8,4 DIEU KHIEN VOl cAe DIEU BIEN tic D!NH TRUOC
Sd do tUdng ling hiuh 8.18

8.4.1 Nguy~n 1'1 i

T,
u) Dan}.: .wing vu E!2
To Va' VaN

T, T,
kiwi (riff" (hw chu6i
Vb VhN
Fourier " r

'0'
Day ia s1,1 cai tien
~
cua dreu khi~n toan T' T' , N
song con chtia nhieu "
T, T, V NM t
dieu hoa. Khi difw
khi!,!'n chu yeu dung M
trong ch€ d9 xac l~p
lJ.
T 5 ky hieu dieu bie:1l loan s6ng
1119t chien IUQc kinh T6. T c ky hieu che d¢ qua dO
dien lil xac djnh tn1ac Hlnh 11.111 60 nghjch ItJu Ap ba pha cung ca:p
cae goc chuy(.o'n mach cho may di\'lfl xoay chleu
sao cho co duCJc bien d(> song co
btm va giAm thieu cac dieu hoa
b~c cao. Vi dl,l vlli pha dau ti€m
cua h(! thong ba pha xac cljnh
tr~n hinh 8.19, trong do ta ch9n -E12
hai chuyen m~ch dieu chinh a) Trang fhai logic + I
dUQc trong m(Jt phhn tu chu ky
(ho(Lc 12 chuyen m:jlch trong
m(>t chu kY). Gcic chuyen m~ch
duCJc ky hi~u Ii'!. a l va 01 N€u co
chuye'n m:jlch d ~ = If/2 kMng ~/2

thalll gia vilo diim chinh. Ta b) Trqng thai logic bon dUU
bieu di~n di~n ap nh1)n dtiCJc
Hlnh 1.18vi dv di&u bifin C ~ 2 g6c chuyin
t.heo diem giiia cua nguon mqt mach di"eu khi~n mQt ph!n tLi chu kyo
chieu (hlnh 8.18) voi 1119t dieu
bien t.r~ng thai ban dau + 1 (hlnh 8 19a) va m(>t dieu bien tr~ng thai 0 (hi'nh
181gb). Ta se bieu dien cac tin hi~u nay thea khai trien Fourier va chi dAn
chu y Wi cac tin hieu d6i xung. Trong cac hlnh 8-19a va 8-19b cae ham d6i
xung eosin: ham chan va cac b~c h cua cac dieu hoa b~c Ie h = 2k + 1
•
= L V mh coshx (8- 47)
h =1
Voi x = wt
va
4 E 1
[2 sin h ({ I -"" 2sinha.:: + (-1)"] (8- 48)
2 h
Dau han dau (± 1) Iii. + 1 nf-"u trang thai logic ban dau la + 1 va - 1 neu
t.r~ng thai logic ban dau lit O. Ta co the tong quat hoa C chuye'n m~ch dietl
chinh trong 1l19t phEW t.v chu ky:
4 E 1
V
mh
= (±l) - - - - [(-11("+ ~
lf2h
+ I (-1)' 2 sinha) (8-49)
i =1

Di~n ap ba pha bang:

V"I' , cos h x

w) cos hex 2 If/3) (8- 50)

(v ~
Vhl'

vel'
~

"V ~I
lllh
-

cosh(x + 2 JT/3)
"

231
 Ta co th~ xac djnh rna tr*n C'2h Mng
1 0
2n 2n
C32h ~ co,- h sin- h (8-51)
3 3
2n 2n
cos - h sin - h
3 3
va viet dll0i dr;l.Dg thua s6:
00 , coshx
(v3l') =:; L v mh C12h I . (8- 52)
.h=! I stnhx
BQ nghich lUll cung cap cho d(mg cd cac di~n ap day:

Va"N voN 1 -1 0
vON VeN =; 0 1 -1 (vw ) (8-53)
veN v,N -1 0 1
Sau m¢t s6 hi€n d6i hiqng giac ta duqc d~ng thua so
n .
-cosah i
• n coshx
v hN veN = LV mh2sin-h
h=i 3
0 2cosih ~ sinhx
(8-54

I . llh
: VcN VaN i -s1n"3 -cosih I

sinih bang 0 neu h la bQi ha, so do lo~i trit duqc cac dieu hoa h(J ba. Do v(ly
ta kh6ng can phAi dnh den cac dfeu hoa Day nua khi tim goc chuyen m~ch.
Cac di"eu hoa con l~i co d~ng

h = 6k ± 1 = 6k + fh (8- 55)

vai fh = ±1;
Jt ,,13" 1
sin"3 h = fh 2 va -2

Cong thuc (8- 54) tro thanh:

';3 1
- eh
2 2 coshx
v<:N = o 1 (8-56)
';3 1 sinhx ,
- . - '0
2 2

232
 Ta co tM' chung minh rang khai tri~n cUa (Y'N) ciing Wong t\1 khai trH!n
(v 3P )' khbng co cac thanh philn b9i ba, nghia la:

h = 6k ± 1 (8- 57)

Hlnh 8.20 la vi dl,l

d~ng so'ng di~n ap va. dong
di~n, trong truClng hQP di~u
bi€n C = 5 chuyen m~ch.

b) LO(li bel cdc dtiu hila

Ta tim cach lO{li bi> cac
di"eu hoa b~c thap nhet gay "
-,"
-'00
ra momen di;Lp m~ch va -150

lam meo dong di~n. Ht;1p ly -""

-250h~~-~_-,c:--,:---:c:c-,~.
a !KI ISO Z1U CI ,U 18U 270 U ~ (.J
la dieu chinh hai goc
chuytfn m{lch a l va cc2' Ta Tlin sO dinh mllc: 50Hz.
Ngu"on cung cap: 35Hz
cO the co dtnh song cd ban Di'kl bi~n: C = 5
V m I va IO{li bi> dieu hoa b*"c Hlnh l.lO. D~ng s6n9 di~n ap va
5. Ta co phudng trinh voi dong di~ pha dOng c(l 60 kW.
cic gia trl a l va a 2 .
4 E
Vm, ~ (2 sin a, - 2sin a2 + 1) (8- 58)
n 2
4 E 1
VmS ~
0 = - - - (2sin 5a 1 - 2sin 50: 2 + 1) (8- 59)
rr 2 5
Voi C la cac gOc chuyen lll{lch, ta co' the dieu ch1.nh dieu hoa Cel ban va
IOl;li be) cac dillu hoa C - 1. Vi kh6ng cd nghi¢m giAi tich, ta co the xac djnh
cac goc bAng thu~t toan 86 khi gil'ii M phudng trinh phi tuyen. Ta phai lay
cic rang bul)c > 0, a c < 90" va CC i + L > a i
CCI

BAng 8.3 cho theo truong hQp dieu bien vaj C = 4 chuyen m{lch, (tr{lng
thai logic ban dAu = 1). Ta xac dinh hai thOng s6 dH'\u chlnh ho~c ty 56 di~u
bien.
V,
ThOng 56 thti nhat la M =
V 1dm

trong do Vila. di~n ap pha hi~u d1:mg va V hIm Ii'!. di~n ap djnh muc. Thong

233
s6 thti hOO m = VmilE. Neu di~n rip h1m tuong ung vai di~n ap djnh muc cua
Mn
dong Cd III - 313

m
-
0,294 0.352
I 0.4t1 0 . 470 0,528 0.587

" 12.t)° i 12.13° 11.86° 12.05° 1\54° 1,88°

" 23.82° i 22.27° 20.24° 18.26° 15.25° 3,00°
", 57,36°
66.54°
60,04°
67,06° I, 63.33°
68.38°
67.26°
71.56°
70,91°
75,28'"
75,22°
80.5,0
.." 0,70 0,35 0,52 0.51 0,37 0,02
"" 0.95
0,156
0,63
0.14
I!
, 0,63
0.11
0.42
0,08
0,26
0,05
0,01
0,01
"em L ..

l' = .. cliu~0n milch [run!!; Ill,,[ ph:m tll chu kv

Irang 11\,'" I()~IC Il;.n J"u + I

Trong VI d\l minh h9a a bang 3 ta tim cach dH!u chinh bien dO cua di~u
hoa b~c nhat (xac dinh bang Ill) vii. lo~i be. cac di"eu hoa b~c 5,7 va 11. Cac
thong so I'll va 1'17 eho thea cae dieu hoa sau day:
1'1.~ Vml-"N ml

"17 = Vml7/Bml
Ta nMn thay stf t.hay doi eua cile gcie dflU ch)n va bi gi{m do~n IUQt ehut,
Ta cling nhan thily vi~c loai b6 cac dipu hoa dau tien da I01!-i be. cac bien do
ldn voi eae clieu hoa bae cao.
Cae dnh to an ph.1i dUQc tien hanh gian tiep va cac ket qua du'QC hill
gill trong be;. nha-. Ta co the nha- goc chuyen llll.ich ho~c dua VaG be;. nho
cac di~u ki~n don gian va nhanh nhiH trong Wc t.huc hien Tha.t v!).y, trong
trt1bng hQp lam rbi rl)C trang thai ella bo bien d5i trong cac khoang bang
.-cr/2
- , n la 86 bit Viee so hoa gay sal s6 vi du vOl 8 bit co sai s6 90"/256
2"
= 0,35". Cac nghi¢m so phiii tfnh den sai s6 nay nhu mot di£lU ki~n rang bu¢c
bo sung.

c) Tin I(U h,}11 Ii;' Iwp hi} hien dfli - d(JnK w kh(;ng (IiinK h6

Vi~c lo~i b6 1119t so dipu hoa dUQc thl,lc hien de lo~i b6 ph an Ian cac dieu
hoa b~c cao. Khi bl) nghich luu dung de cung dip cho ml)t may Cl.l the', d::,i.c
bi$t vai d¢ng co khOng dbng bO c6ng Sllat IOn co yell cau chat 111Qng cua
m6men phhi rAt tot. Ta thuang mang muon xac dinh goc chuyen m~ch t6i uu
Mn vdi td hop bl) bi~n doi va d¢ng cd di~n boi vi vi~ t(ii l1u hoa li~n quan
Mn nhieu dieu hoa va cac hnh hl10ng quan trQng cua no ma ngu"Cli thiet ke
cha n\ng d~c bi(lt nguy hie'm. Thuat toan toi l1u kinh di~n thea phudng phAp
gradient lien hQP co the' la cong C\l tot M giai cac phl1dng trinh phi tuyen CJ
treD hoi;l.C thay cac rang buoc (bien de) clic diEm hoa bA.ng kh6ng) bang vi~c
thl!c hi~n bien dQ cac dieu hoa c1,lc tieu.
Cac tai li~u eho cae vi d\l nghien euu thai diem ehuyen m~ch ctla be?
ngh~ch 111u GTO 2 va 3 mile dugc tlnh tmin theo clic tieu ehwfn tai uu khae

nhau, khi vAn ton tr9ng cac rang bUQc ky thu~t ban dau:
- Clie dieu hoa b..~c thap co the t<:lO nEm cae diem co dong di~n Ian can
phAi lo~i bo
- Can phAi ton trong tan so ehuyifn m:,.ch cue d:,.i d9 tranh t.on haa chuyen
l11(1,eh lon, di~u dd dAn d~n thai gian tai thie'u gifta hai chuye'n lll::teh HEm ti~p.
- Can dl1a vao thai gian ehet d9 ton trQng d¢ng hoc rieng eua cae be)
ehuyen ml,'leh.
- Cung can t6n trong tan s6 ehuyen m~ch ti'ii thieu de duy trl d<:lng song,
dii'm nay eho phep hai chuyen mach lien tiep kha. gan nhau.
- Can phai giAm thie'u ,;I! meo dong di~n pha cua d(mg cd, t.hanh phan
dong di~n di{m hoa I tmffil dl1Qc dinh nghh
I
lharm =1 -1 (8-60)
I
o day I 13. dong dien hi~u d\l.llg II Iii. trj 56 hi~u dl,lng cua dong di~n dieu
hoa b~c nh§:t. Voi lmh Ii bien d¢ dieu hoa b~c h cua dong di~n ta dl1Qc:

2Ucll)~
,
= L" ,
!lll1h)~ (8-61J
h = I

Thl10ng thuang doi vai cae Jieu hoa b$.c cao cam khang Lhw 13. ti~u chuan
cus may phu thu6c vao dnh trang Hli. Ta co the xac d~nh.do tneo dong di~n

~ (V mh /h)2 18-62)
h >I

d day lei la dong mer may,

235
 (8- 63)

CreLl h - tieu chuan gi::lnt

thieu b$.c h
- cae tieu ehuan khae
co the lien quan nhLl ch~m
tr~ng thai logic m6" lluiy.

Hinh 8.21 Ie. cac dong di$n,

phan tleh di"eu bOa cho the: y
rang vdi s6 ehuyen nt~eh
nha (6" day C = 2) nen bat
da.u bang tr~ng thai logic 1
a ~o 180 270 0 90 180 270 360 Sr,)
Trang vi dIJ nay ta da gilnn Trang Ihc;' /09'c ban driu 1. hip so'dinh
thi{i'u cac dinh nh9n dong mrl'r' 50 Hz. /lin 55' nguon . H He
di~n.
Hlnh 8.21 Dang s6ng hai chuyiin m~ch di'Bu chfnh
!rong mOl Phan III chu ky, m =' 0,528.
8 .. 4 . 2 Sa db chuc nang
Sd do ehuc nang eua b<) ngh~eh h.1u co lo~i b6 cae di'eu hoa cha tren hl.nh
8.22.

PM
w f cX
Ki
~ 8p
} 89 nhd so'
luan fir
chuye'n mach
Vm' Coe gOl:
Bieri dp man'] ml/on
-
chI/yen' mqch
cUa sang Me I

Hlnh 8.22 So dO chU-c nAng bO nghich luu IOi;\i b6 C6.C di"eu hOa bac cao.

236
 8.4.3 Cae vlin de ling dl,lng
Co nhieu van de ung dung dUQc de c~p den Ta phan dch m<Jt s6 trtiong
ht;!p C\l tM.

a) Nguon co dinh
Trong tn1i'fng hQ"p b6 chlnh luu di6t, chi~n lut;lc dieu khien tra nen kh6
khan bai vi. ta can phai bie't gia trj cac g6c hOl;\C tat ca cae dieu ki~n gl)p phai
trong qua trinh qua d<J. Vi the· ta th1.1ong dung phudng phap dieu ehlnh nay
cho cae thie't bi luen luon du'Qe dieu chinh xung quanh diem Hun vi(lc.

b) Nguon dfiu chinh dlroc

Da.y 1:'1. truang hQp b9 bien d6i lam vi$c theo kieu dii'!u bi~n bien d<J xung
(Pulses Amplitude Modulation, PAM).
Nguon dUQc ctiu t~o boi b¢ chinh luu tiristo dau ra co lQC (di$n cam ho~c
di$n dung) va di$n ap dieu chinh dtiQc voj cong suilt lon, tr{m 100 kW hOl)C
mot cau diot tiep theo la m<Jt bo bam dau ra co lQC, di~n ap dieu eh1nh dut;!c,
c6ng sua1 trung blnh vai eh\lc kW.
Gj;;d ph3.p th1,1e hi(ln IS. can dnh toan cac thdi diem. chuyen nwch de' dillU
hoa b~c nh:1t d~t e1,(c d~i va lo~i bi) cac di"fm bOa b~c cao. Bie-n d<J dieu hoa
b~c nhat dl;l.t dUQ"c bang cach 1ieu chinh bien 0(:1 dien ap rA. cua tang dall tien.

Nhq.n. xet: ea hai chien luoc djflU khi~'n nay co tiu di~m 56 Ian ehllyen
tns;Lch nha do do co the giiIll thieu t6n hao chuyen m~ch va co the su dl,mg
cae linh ki~n chuyen m~ch t6c dO th:1p. D6 Ii cac giai phap ddn gian nhung
hoi n~ng ne VI co nhieu tang dieu khien.

c) Sir dung di"iu bien do rong rung hodc d{iu bien tip
Doi voj cac M thong truyen d¢ng;bien deli toc d(:! nglloi ta thuong S11 d\lng
ky thu~t dieu bien d(:! r¢ng xung (Pulses Width Modulation, PWM) bAng eB.eh
511 d\lng song tnang tan s6 eao, eho phep xac djnh g6c chuyen ms;tch a tUng
thai diem Chien IUQc nay se dUQc de c~p chi tiet d chudng sau, m~t khac
chien IUQc PWM s{t dl,lng de dang va thu~n IQi d6i voi cac phhn t11 chuyen
ms;tch d ti\n 96 cao. D6i voi truyen d(mg cong nho, sil dl,lng tranzito nhanh co
Hi.n s6 chuyp'n m~ch hang chue kHz chien hldc PWM to ra rilt thu:}.n ti~n. D6i
ydi cbng suat Ion ta bit but;>c phai 811 dl,lng GTO Um s6 chuyen m~ch duoi 1
kHz chien h1QC PWM to ra kho khan hdn. Do v{J.y nguoi ta thuang slr dung

237
dil!u bien kep trong do phoi hqp chuyen ml.lCh t6i uu hoa va PWM tan so
trung bl.nh, khOng doi hoi 81,1 chuyen lll!;lch nhanh nhu PWM thvc s~ doi hOi.

8.4.4 VI dl,l Lrng dung cOng nghi,p

MQt gi<\i phap thvc hi¢n chien luQ'c dieu khi~n ·'b~ng phimg" trong 60" va
dllQc dj~u bien 120" (hai Ian) cho tren hinh 8.23. Duong bang pMng lam qlc
d~i dieu hoa b~c nhat bang
E
c.8.ch dua vao di~u hoa bi).e ba
Ion nhung di~u hoa nily kh6ng
co m~t a d¢ng co. SI! thay doi
bien d¢ dieu hoa b~c nhat lam
'"
o
giam thi~u cac dil'm bOa b$c
cao do dieu bien t~o nen va
-Ell.
duQ'c l~p trlnh truac, ghi duai
d~ng s6 trong bl) nha.
-E
Ta co the' kie'm tra
phuong phap nay khi xem xet lf1Jl chuylln mach phs Va
cac trllong hqp trim blnh 8.~4 di~!!n ap pha
~en ap dAy cho dOng ca
Ta thay rang trong ('ae
truang hQp ddn gian (0, 1 ho~e
Hinn 8.2:! Nguy~n Iy di"eu bi~n tOi LlU.
2 diElU bien) eho ph~", t .... 1ty dGi
djeu bOa b~c nhat tu 0 den gia trj cue d~i.
-a l = 30", trong truong hQ'p nily tin hi$u chi diEm hoa b~e ba va b9i ba.
Bien d¢ clla dil'!U hoa b~c nhfit bang khOng (Ill "" 0, hlnh 8.24a).
4E
(1:1 "" CC'lmax = - , dieu hoa b~c nhat 1ft eve dai (hinh 8.24b)
K

11
1 "" 30" va a z "" 60", do do (r l = 0,27tr 1max (hinh 8.24cl
(t 30" va a z = 45", do do i1] "" O,58a 1max (hlnh g.24d)
l
""

M!;tch thl!C hi~n dieu khirin chtia lll¢t s6 Ill!;lch thl!c hi¢n cac ham khac
nhau dllQe cho tren hinh 8.25 130:
Cae thanh ghi nha cae dti Ji¢u rna b(> vi xu ly gfri tai qua bus truyen
dAn
May tinh xac djnh dia chi cua bang eosin m\m trong ROM
Be. nhan thl!C hi~n tich cua bien d¢ vai gia trj trong bang cosin. D6i vai

238
 Va-Vp moi ptH~P tinh b¢ nMn xac dinh hai gia tri
t! va t2 lA thai gian cua cac Hnh ki~n chuyen
'" ,- r-
, ~,

., m~ch b¢ nghich hiu.

~/2
"
L-
,)
'"
L- ". Si O
'
- BQ dieu khi~n tuan t\! phan ph6i cac
tin hii;m di~u khien gii1a cac dau ra tii 1 den
va - Vp 6 clla m::u:h.
E/2
Bang 8.4 xac djnh trf.lng thai cac Hnh
, 90
'" 4(0) ki~n ban dlln Co cac Hnh ki(!n duy tri tr~ng

-E/2
bl
V,,-Yp
E/2
Coc b6 Oem
Bus 9hi diG chi' 80 nh6n

, ,3060, '" ~(.)

dJ l;fU

-E/zl Trl
'i
vu·vp
E/2h r-

'" 90
'"
- -E/2

Hinh 1.24 vi dl) cae dieu bien ve

ddn giAn eho phep lam Ihay d6i
cae s6ng b4e m/;It di~ Ap. Hinn 11.25 Nguy&n Iy ellu truc m~ch di~u khi~n.

Chuy~n 00 _ 600 60 0 . 120 0 1200 _ 180 0 1 1800 _ 240 0 2400 . 300 0 3000 . 360 0
mach

T,
T,

-
t1

0
T
T _ t2
t2

t1
-
T - 11
--
T t2
0
r,+,-
T - 11

T, t2 T- t1 0 T ·12 0 T
f
T - t2
I T, T - 11 0
-
11 T t2

~t2
T T _ t1 t1
T. 12
-
T, T - 12 t1 T 12 T . 11 0

T:chuky",

239
thai xac d~nh va Hnh ki~n diell Tr.!1J1g thai Ifnh kien chuy&n mach

bien di~n ap. Vi d\l trong khoimg T, 1" UHUflllflUijUHUU ,

dau tien T4 duy tri the am trong ,,,
khi do T j (trong khoang thai
=J!!HHH~HUHH wi
gian t j) Va T'i (trong khoang thai
gian t 2) dieu bien de tJ:.to nen di~n
ap toi llu (Mnh 8.26).
r,t_~ i,
uHouununinnnn
:
,

" , wt
tT!
• I ' ,

2n T4 : : , : :
T: chu ky ~--
6w
, ,
,
c::::JlllJH!U~UUUH!
I '
'
-:-:lIH\=
,I
, . ,
wt I

r,~z
I I t; : ' I I
8.4.5 Truylm dQng khOng : ~,............,..
, +- \ nnHunnn
\----l
dbng b(l cOny 9uat Ian , I , , , , wt...
De" thl,1c hi~'m truy~n dl)ng
16 Hz
,
:
wt
:, ,: .
dong cel kh{')ng dong bl) cong suat t,
DiEon ap gilia pha va di~m giiJa (0) cua mach
Ion ta 311 d\mg bl) nghich luu trung gian
GTO co ta.n 56 chuyen m<:tch Hlnh 8.28 Bi~u de. chuyen m;l.ch 6
ttwng d6i thap (vai tram Hz). 0 linn ki~n bim dan.

toe de;. cao s6 chuyen l1l~ch trong

fll.e;.t chu ky phai thap. Vi~c t6ng hqp dieu bien duqc thl,tc hi~n d6i vdi che dq
xac l~p hlnh sin, thllang dllQC ph6i hQp voi dieu khi~'n VI[ = const. De tranh
cae di~u hoa nguy hie'm dn thi~t ~p Cae dieu khien dong b(> voi cae goc
chuyan nwch duelc xac d)nh tnot cach chi;i.t che boi VI slj khong dbng be;. se
d§.n Mn slj d(lp nt~h cua momen tan 56 thap. S6 IUQng chuyen m~ch dUQ"c
xac d~nh theo cac rang bUQc d~c Hnh dl)ng cua GTO. 811 di"t'iu bi~n nay g9i la
dong b9 VI cae thai diem ehuyen nweh khOng dl1Q"c xac dinh thea thai gian
ma theo goc dbng b9 voi vi tri roto.
o
t6c dQ thap ta co the su dung dieu bien dong b(l tllong tl,1 PWM co
song mang, hOi vi. khi dci so chu~'n m<:tch tUdng d6i cao de tranh cac di"eu
hOa tan 96 thAp t<:to nen do 511 kh6ng dbng b9. Ta coi ty so 3.0 (toi thieu) giua
tAn 96 chuyen m?lch va tan 96 cung cAp cho dOng Cd la din thiet, bdi vi chu
ky chuyen m~ch eua PWM kh6ng d11!;fC xlie dtnh theo gcic ma theo thbi gian
va cae thai diem chuyen nwch khong d11Qc dong be. thea v~ tri roto.
Hinh 8.27 Ia biell do neu \t'm cac vung cua cac kiau di~m bien.
- Vung 1 la kieu di'ell bien hinh sin (d toc de. thap) va V\wg 2 la vung
dieu bien Wi 11u a toc de. ca~.

240
 tJ)
('hi: d(l .l!-I
- Vi.!ng .\ 1:'1 Dieu bien @
khong dong b(! I diPli UN I 0'7n9 Sm O/eu MIn !tit' if,
,. - .
hien holm tOfln hlnh .-.:inl
va viJng B lit chI§' d(l
I
®
Kiev Jfiin;
Ji)
"' .
I
dOng bQ ehtia toan vung I - //
Ie - - -M;- meo
die.u bipn t6i Uti, ta phai
dua V:IO vilnp; trLLng , V~L- 1------
Con9 su51 MII9
-
",rian thea dieu bipn hinh
0,51
! V'
,..in vi\ dlW~ dong he)
/
- CuOi cung la vung \ f
tl)i WI uuac phan tlch , I "om
lh.ltln cae nlll'll ~Ull " " , vi' JJ ':c~ " 60
so ; " " " '" f lizl

uune xae din h htlng ,,', \

Hlnh 8.27 Bill'u do
xac dlnh cae k,eu disu bien
lheo tan so nguon,
l~i.n chuyen m~ch. Bang
1:\.5 1;\ VI du cae khm'tng thoi gian khae nhau can xac djnh.

/!Iim.; 8.5 t'oliOill tun .."f <luu rH ('1m h{J n~hich lim \'(Yi tlin "j
chll~'en tn~lch Cl,n: <1:.11 6110 liz
-- - - -,--------- - ----- ---1
'('"'' hoat 'lung DaIlg d,eu c 1M ma~ (Hz) II
1c:;C; ::;ua bo : b,~n (e) ,
d.~ , olen
--t---i

:'
Khong don!;J A
i -=-,-0 I
-,----I
31 18,2
,--- ----I
"
J
"3
,
! , '9 2.16 _ _ 31.5
OOng bO 8 -'-------+-----j--- -'--
I ' II ' 8 31.5 35,2
;5 35,2 40.0 I
6 13 40,0 46,'
toi llu
,
5 11
9
46,1
54,4
54,4
66.6

_ J _____
J
2
7
5
~~_
66.6
85.7
~_~~~_~
85,7
'120,0 I
: ".\ !f'n chm',"n m;och (10"\ L1';1 Ir"n~ Ih,'" clIat,-IO v" 1,..\ ,'hu k\ '-'U" Ill:'\,
" I""~" '<un,. I~un~ I)~n ' :<Ull~ 10.11""1 t'\ ",'-.1 l")", ky ui" L1,mg ~-,\
:. 600
N lma>. = - - ,
N N

241
 8.4.6 Sa do tuang dLlang dieu khien PWM hip trinh tmac
So do ehtk niing hinh 8.22 cht1a biN (';ie van ui· thili ~ian doh tmin, ta
bi(·'t thai gian nay kh6ng th~ h('1 qua dt1(w. Trang thtt(· 1,',' de tlnh toan xac
.'{inh dipu hiE,'n tl'Ong khoang thiJi g-iaD tntl'l!", di"eu nily ling vdi khoi h'iy mAu
I'n hlu g-itf co sCI (to l'ho tl'en hinh H :lX.

Chu k.\,· blY mau eli the' thay d(]l Hinh H.2D In Vi un htl nghkh lt1u GTO
dung eho dung- ('(1 cong suilt Idn. () 1':\(" trill ,,0 thap di(,\! l1i(:1n la khong dong
f,() val ("htl ky Uiy nUll! eo djnh, tronr; khi lit; a toe l1b CHO di"eu bien hi dong

Ph,
T, ex Ki
;'
, c,
"'--!
8, I 86 nh,j TuCin fl!' c,
J
Vm,
" C,
Cae goc
chuye~ mach
T ,h, ky lOy m',
V,·.l bien d6 rnong muOn ella s6ng bile nhB:t
" ZOH
Hlnh 8,28 SolI dO chLle n;''''9 bo nghieh h..lu loa; b6 cae di"eu hba bae eac.

he) vIii vi In ro\o, do vj.y ehu k.v

thfly doi Vil r;i;\m thf'o toe d6
~c+ T_T-: ~-
Khi XlIC dinh ('II(' b<) hif"u , --r J..._ .. j
~
'._1
-+ -- -
__ ,_
_
chinh su cltmp; eho cal' tfieu bien
0102030 .. 050 60 10 80 '0 100
!lilY de' dipu khip'n chi" do qua
Jon sir[,..c (Hz)
do cua dong co khong dong b()
C;ln phai tinh den b6 bly mau Hlnh 8.2& vi do,! sl,l thay deii hAng so thO; gian dE!
v~l It1u gilt, n(:u kh6ng ,.;e xu5t di~u khien bo nghich h..lu co di6u biiln kh6ng d"ong

hien Illat on dinh nghiem tI'9n~. bo It be do th~p) va dOng bO (toe dO eao).

8.5 DlEU KHIEN SO DONG CO DONG nO ROTO NAM CHAM viNH

Clru [l7J
D¢ng cd dong bfl rota nam I'ham vinh ctru va dQng co phlln khang d(rqe
str dl,mg I'Qng rai trong cac truy"lm d¢ng ngttoi may, may ('flng ['1,1 diCu khie'n
s6 CNC, lluiy nang h~.. Sa voi h~ truy"(m dQng str dl,lllg d6ng cd khong dong
b<), dong co dong b6 nam cham vinh Ctru co hi$u ;;uat cao hdn vi kh6ng co

242
t6n haa trang rota, dong diim khong tai nM han, cae d~c dnh dieu khir:n it
nh;:ty voi s11 bien thien thong s6 run d¢ng ca, vi the truy~n d(lng dOng co r.t6ng
b(l nam cham vlnh c\tu tieing vai t.ro quan trong trong, ph~m vi cong suilt nha
va trung blnh.

8.5.1 MO hlnh d(mg co dong b(l rota nam cham vinh cliu
M6 hlnh ella dQng ca dong ll(:> rota nam cham vlnh dru vii"t. thpo toa do
quay roto lit:
v R; + + w}d
p,l'1 IH-64)
'I

v" ~
"
Rid + p,l" - w)
s 'I
(8-65)
voi ~ L ; 18- 66)
va '" Ldid
<1 'I
+ Lm}ld' (8- 67)
'"
~

Trang cac phuong tl'lnh trpn vd va Vq b\ cae di('n ap tren true d va q, itt
va iq lit cae dong di~n st.ato, Ld, 1,'1 lil cae dien dm d,?c tnw v;\ ngang true.
Ad va ..1.'1 la ttt thong d0C va ng"ang true, Trang (8-G7) lid lit dong ttt hoa tl9c
tr\1c tUdng duong, Lmd Iii ho cam doc tr\1c_
M6men eua d¢ng ("(1 d11gc x:ic djnh boi c6ng thuc

T L' = :~P[LIll}ldiq + (Lei - L'I )i d i q ]/2 (8-68)

Phuang trinh dqng hqc cua tl(:>ng ca
(8,69)
P lil so doi qtc, Tr la mOnlPll can pua t.ai, B la h(! s6 can diu, w r- t6c do
goc rota, ,J Iii. momen quan tmh. Tan sO ella b6 \lien doi lipn h~· voi toe dq
roto bang:
(8-70)

Cae phltdng trlnh cua dong Cd dong bo thea khong gian t.r~ng t.hai lit:

pi q = (v'l Ri q - w~Ldid - wsLmdIfd)!L q (8-71)

pw, = (T,. - T, - Bw,)!J

NguYPIl Iy Cd b:in cua vifoc dieu khien d(:>ng cd dong b6 rM,(j nam cham
vlnh diu d1,1a tren nguy?n I}' t.l1a ttl: thong. Vi trt ttl: thong trong t.qa d(l d-q
cei t.he dude x;i!.: djnh bang dIll bien vi t.l'i Irf'n tr\1c tlong ed, vi t.il thong do
roto nam chii.m vinh (~titl tao nen co tl~nh V('11 ,'j t.ri trl,lc rota. Trong cae phudng
trinh {8- otl) dE'n (8-68) neu id =0, ttt thong Ad co dinh vi Lmd va I fJ 1ft kh6ng
doi, mOIllen di~n ttt T e ty l~ voi ill du'Q"C xac d~nh bang vbng dieu chlnh kin.

243
Tit thong r6to chi t~o n~n t.ren t.rue d. trung khi wetd dbng ui~n tr~n t.rue q
di£lU khien tva tU thong. Vi m(mlf'n quay ty l~ b~c nhat voi tlong iLl' tu thong
rOta trl;lc d lit khOng d6i co thl'i dat dtt0c l11ulllf>n ('ue Jai

8.5.2 Sa do truyen d9ng dClng CO' dong be;, nam cham yinh cllu
dung be;, XII 1'1 tin hi~u s6
So db cau true di~u khie' n dong cd dong bO nam cham vinh diu eho tren
hinh d.3D

80 m.i hoo
I~ flJy~f rio!
'b~

e; VO"9khi5~ch§W; r. Vtin9 dieu

• "In" I· _ chlnh f5~ dp
w,

Hlnh a.30 Sd dO cau truc di~u khien so dQng cel d6ng bQ r6to na,m cham vinh Clu.

So dO kh6i M thong (.lieu khien ddn gian hoa dU0c cho tren hlnh 8.31

TL> := K,i'I'"
K( := 3PL mu l t ,/2
1 b
H (S) =_._-
P J$ + B S + a
Tren hinh 8.30 dQng cd d6ng hQ cd ding suat 750W, 3,47A, ba pha 4 elfc.
D9ng cd m9t chieu rot.o nam cham vlnh cuu noi voj d(>ng ed dong h9 dude
truy'{m d¢ng bing ngttbn dong t~o nen momen nhi.~u khOng d6i dung cho di~u
khien vi trL
Sd do kh6i cua M t.h6ng dieu khie'n s6 truy~n u<ing d¢ng Cd dOng b¢ rota

244
nam chAm Vlnh CUll chrl
tr{'n
dri:
Gl) kh,'jng ch{" dbng
dj{otl biPll d(l f(mg xung-
c\tn,!! clip cae x.ung T;,.
T h• T dipu khi(:n
tm.nzito luang cue: cong
each Iy IGBT chuyp'n Hin" 8.31 Sd dd kh6i hij: di!N khien ddn 9ian h6a,
mach voi tan so 5 kHz.

, - ,, !I, e6..:u'/;
DC MiG

!48'OX-'6~ vee fd Ac
Ba roo hurl
L_II tu'yet do!

:8pnhd'R I
"
L-J :\ Song

~~
' 1:1
"
~
SGnQ
I/O I 8e
IOSP32C ~ 6i,1O I-·+I--'--------------~
I
n'

I I diinb 9 I
I I giri!!!'~_J I
Hinh 8,32 Dieu khl~'n so' he truy"en dong Cd d6ng bO. rOto nam cham vinh coJu

Thu~t toan dieu chinh mompn va vi td dt'Qc th1,lc hi$n bung b¢ vi xLI Ii
48GDX- 66 va bo danh gia dao d(lng ella mOlllen tai dUr;lc th~c hi$n bEmg b(:!
X.li Iy tin hi$u so DSP32C, De giam thoi gian tinh toan ctia CPU va tang d¢
chinh x:ie dieu chinh dong stato, bien doi tqa do thea eo can tt!a tu t.hOng
dtlr;l': thtjf' ben bkng b(l Xli ly vecto AD2S 1 Ou

245
 ChU(InK 9

DIEU KHIEN SO DONG CO DI~N

XOA Y CHIEU SA PHA: CHE DO QUA DO

D6i vai cae d¢ng ed di$n xoay ehfeu ha pha CltC (bi hl(}ng' llguon cung cap
va dieu khien ia cae d;:ti lut;lng bien ddi ngay cit il I'\I{' 1M ,;1(' [,Ijl Cac d6ng
Cd phai dUQT cung cap tit nguon co di~n ap. t:lll ""), d:lng' '<!Il;~ lll()( ('ach I hleh
hop_ Van de cd blln a day III (tii~u khien de be) ph'-!Il ],jp'll dill linh. Irong- t.rt/iJng
hVp nay III cac b¢ nghjch hiu. Khi cae- ting dung (11); hoi Illlh n:lllg' 'Tflng cao
thi :;,ich luQ'c dipu khien b(:> bien doi d ch(: Ul:1 qUl1 J" 1:1 1';-11 n'ln thi(:t.. Tr"ng
chudng nay ta";13 gibi thi~u 111(:>t s6 sach hiq(' klulc nh;11i IiH'11 tlpi tl,l' LIng J;{n
til Ciie che d¢ trung gian, su dung cae phl/dllg pha[l ;...u I.\" rI'l; \tl; (,he d¢ ;>;ac
l~pkh6ng xet den sl! thay doi eua tan ciO clIO dpn ::'oath [,ide diC'li khiEin veda
dung cho che d¢ qua d¢ duoi d;:tng bipn doi C:onl',wdia,
Trong phan nay chu yeu khiw sat ui~u khie'n cl-ie bl') nghjl'h hlu lip hai
mti'c. Phl1dng phap chu yeu su dl,mg d day ill phU:dng pha.p dieu bien dO r¢ng
xung voj song mung (PWMJ. Phlidng phlip nay da du:Q'c xet trong ehlidng 8
doi vol qua trlnh xae \f~_p Trong chlidng nay ta 8U dl,mg PWM hai Ian dieu
bie'n ho~t d¢ng t.hoo nguyen ly xep chOng mot PWM xac djnh truoe dUC1c tlnh
toan hoat dong il che do xac i~p voi m¢t PWM voi song mang ho~t dQng iJ
eh€" d¢ q uri d¢
Vil">c e-huye'n d6i cac PWM kem thea song lUang sang cong ngM s6 dAn
den nhieu giAi phap co cac d~c tlnh khac nhau (thudng xae dinh theo cae
thanh phAn dif~U hoa bfH' eao l .
Cac PWM kern th!?o .;ong mang dut;le call true xay dvng tnie tiep then cac
d~i IUQ'l1g ba pha, co the' dUd(' kh110 ;;at d~ dil.llg bang phep bien cl6i Concordia.
Tuy nhien thue te thtldng Mp cac djpu bien dtlt;lC xay dvng trVe tiep tit bien
doi Concordia, do iii. uieu bi{{n veet.d. Cuoi CtlOg t.a s{i Xf'lll xPt lll<)t. san ph ant
thvc te su dl,mg dieu khien S(l dong cd khong dong b(J ha pha,

246
9.1 DIEU KJlIEN I'Hl<~O
PHVON(; PIIAP DIEll
OlEN DONG RONG XUNG
KRM Til EO SONG MANG
Khi quan ni~m di?>u khien
<lW!(' x;\v (il/ng eho chp do qUll. dr)
I ngl/I,Jl' nJi che d9 xac IflP dipu
I:hi(;'n thl'o chullng trinh l:ip siln'
ta liHtimg- ,.;u dt,lnA" PWM b'lll
theo ,;on;..; mango Day Iii ph\((lng
phap kinh cti(:n tl'Ong cae ,.;0 do
.-~ .:, .r:lT ,
T
t lWng- hi \":1.iii ('(1 sc'l nghii'n ell\! ,-,
__ L ":::l
ph:'tn ('oag light:, so Khi nghif'll
YC · "N I,
nlll c,i!' hi) nghil'h hlu lam vi(,c [j
elH:: df) xnl' l:ip tl'Ong chlfung 1-\ ta ---r..cJ1L!
th;\v C:il' ph/In It'( l'huye:'n lllf,lI'h
dual" dieu khit:n tht·(, ni,ruyt'll I.");
btl (neu C k dong 1hi (" ~ me'! I
Hinh 9.1 la sd d(l hI) nghjch luu
duqc dieu khiE-'n theo chu ky T U
a ,__ ··
e
(chu ky barn xung)
Mei phan tlt chuyp'n lllf;l.ch ,;e
tIong t.rong kho:'tng thili /-,,,an T,.
t.hdi f.,"an nfty c6
nii djp'm gilfa Clia
th~ J6i xlfng so
chtl k,\' Trang
10,1 he', (~~" co, " hi,,, "'0 . ,,' ",

thye If" di':'u khi{»n d,> u6 Ilghieh w{tj song mang hinll rany C\I" chu ,,.
b,en do W 'n do thlet b, PWM pha:
Ilfu Jude x~ic djnh 1hen di~n ~ip

Irung hinh, th,·o bi .... u thuc

1"
r
«V,_.,"')= fIV".,lut
"
, T
(!I. I'
"

211
vOi
(a,l
.
vectCl (ba pha) cac tl s6 ehu k\'
. 1 ,iT
E di¢n lip nguon mot ehi€u dip eho nghjch hiu ap
-::. > gili trj trung binh
1". 11" Ie XaC djnh thea hinh H.1.

9.1.1 Nguyen 1'1

Sd do chuc nang I \/\1\1"
,"'m' -:-;
cua di('u bi(·'n d9 r0ng
xung PWM theo nguyen
Iy t.udng tli dudc cho
tren hinh 9.2 Tin hi?u
hinh rang cua w\t) tan
so cao co ehu ky T dUde
so "anh tal tling thdi
die'm voi ba tin hieu
dieu khien ky hi~u u:,.
..
u h • u c ' Cac di¢n lip 103. lit
Hlnh 8.2 Sd dO chuc nang thl,lc hi~n PWM ludog 11,1.
hinh anh cua di~n lip
mong muon tren d.c pha cua tai SI! chuyi:ln mach cua cae phiin tu ban din
sf> xay ra khi cei ,,;tC cAn hang
Ui\t) = W\t,l (9-2)
Dei Iii. dieu khien trimg hqp, trong khoang thai gian [0, T/2] tin hi~u di~u
khien cei bieu thuc:

Trang" viae philll tlch nay ta gia. thi~'-t c<'le tin hi~u u i bien thien cham ,,0
vtli tin hi~u moi w. 'fa cei the chung minh rang
n, = 1,/T = (1 + ui /w m)/2 (9-41

doi vOi c.'ic dai h1<:mg ha pha .

1 + U)Wrn

0/2) 1 + uljw m = (1!2)[C}] + (l/wmJ(u,l] (9-5)

1 + Ul)W m
voi C 31 1<1 ma iJ;).1l 1,;;;1' ,t;~i ('h"j·

W m ia bien d9 song mang PWM .

248
 Cae trj 96 trung blnh eun di~n IIp h\:
i<v ' M» = E (a, ) = IE !21[C"q + Il Jwrlll(U , 1} i9· 6 )
w.

:. ',,, ,,: v.. ~: " , .".'

,;; ., ::':;'1 " .: , .: ~ i! :" .: 1" ~::. ,
• ,j ~;..Ht:~~.....!.:- ~ :!,~ h '1 ~
~a..... !.
...I~ ~ ~:- _ •• ..... .:'~ 4 .LL.....l . ';"' ~Lt
,
..
"t " , • I

-+."t"
~ . ';'-1'
"
1---1::
... , I ' ,.
t-I
" '~~

'," iN fi~:~fl--'--IJ~I,--,,-t-'-~'-I~:,_":~h~'t
-----:' t

Cae khu ~!lr:

" V !v r 1 .... [1 J! III :-.- v
rSlll loOrlf'l ·loOr'I~10~IUl10~l nUCtrl1 J: )Of ""'''O~I.'O~SlI'MI

Ta bit d),u bin g k,eu v ~ i mOt kl~u c6 1h! dl1c1c lAp la,
Hlnh 1_3 Hnh dang In h.... troo g bO n!fltch kJu ba pha \In t.eu d,6tJ kh" n lUI ) vi d i.
ap (VI ... ). dl~n 8p lfung bnh VN... .

Hlnh 9 3 vll 94 hi vi du
di~ u khien PWM lrong ehu ky

T Dang difo n ap IV'M ) Wong

tl,l d~ng cua cae bien logic (C,) .
VNM Ilk di l> n ap trung linh
~nfl""""r-
Tr(on hlnh !1 4 c ho Co w dan ~ j:~ .j' II, II....
(lii·n a p day ,"a di ~ n ap ph 'I
IV" .

N~u bi~u di ~ n S lt
hoal dOng
CUR mach thPO Yf'rI O la nh~n

thl1y ra.ng, tn/ong hQp dan glan

nhAt khOng cd bAa hoa La chi
thiiy G ki ~' u hoat do ng Thul'
yay n€u La cha:p nMn rang eric Hinh I.C D~ In nitu CUB bO ngl1ich kJu bOIl pha
0..,.. Ap dAy va di6n 8p phe

24!J
 Cac trj 86 trung blnh ('ua di~n or hi:
l<v'M» = E(a,) = IE2)[C'1 + (l Jw m J(u,11

", .u.. . 4I.

. •.
l~J~
• .' r-'-'-'..1--
'.;"
I .. '
I
r.
~~~~
,
.' l "
..'
., I I .,.
H::
,.
.
"
, , . "
"

" I , " ., t

llrl~~~~~.-1l:,-----,,-f_.Ll~,---'~~.c.Ln___'Lr
___:

CDC Irhu ~tk

" \' IV r I,.QJI II UI ;': V
rl5'JlloOrU1 UOr" "'D~IUlI0r'Z'lVOrJJll)llr"'14:1O~1'''+'''''JG
ra bit d:t.u bing kiM! v va mOL klfltl c6 Ih6 duoc; lap 181
Hlnh 1.3 Hnh c1Mg tWl hliu ifong b6 nghICh ItAJ ba pha Ion hliu dl6u kh,'n (1.13) ~a d,'
ap (v3 1.d. dltn lip trung bnh VN~ .

Hinh 9.3 vA 94 la vi dl,l

di"l!u khi~n PWM lrong chu ky
T Dang dipn ap IVJMI wong
yo· ~. lJL;~ ;l;r r"
tV dl;lng cua cac bi~n logic (C , ) ,
V NM lil dipn ap Irung ILnh
~o f"'''"'(;'-
Tren I1mh n tJ rl111 ('II(" uanp; ._,J' 1,,_, ....
'1-.
dii'n rip dav vii dlf~n ap ph :l lJu,
IV, '.
Neu bi~u di~n su hOAt dc}nJ!
cua mach theoo vprtd ta nhAn
thay rAng, lrltOng hap dan giftn
nha:t khOng cd bilo hoa ta chi
I hay 6 kit'u h oat dong, Thth"
Hi nh D. • Dang tWl hI6\! cua bO nghICh IUu ba pha
vAy n~u t.a chAp nMn rAng d.('
Oiifl ap dAy va dien .ip pha

249
tin hii'u dif'u khi{;n hit,'1l thi?>!l tl((1ng drll chftm trong m;,1 dl i ~" 1'lh'

Ihlll tif'n kh{ltlg" ('6 ('huypn llliwh nita drin;:: ),i('u O. r(i 'J" I l 1'1', 11 I""wll
,11111,;_

ho~(' e h (kieu 1- ~ I:
hOi.H" C" {kiE-'u I-(jt;
h();,le e,,: kieu 3, li'-'I' Ill\'() Iii )'1, '11111 ehuyen lllf,lch thu hal.
hoae C h (kipu :\- :~I;

ho;!,' I' fki~u:\

h"::lc C , ki(:11 , I' th, h phlln (i( dlu~, Ill,} t lhll h 'I,
"
h'J:W t' Iki. t -11.
( ,
'lO:1I I kil-'Il :,.1, I

"II hi"'l lh~i1 clla t.11l hil:'u tIj"1l kj, 'Il ,h"m, '::j(' )'l"11 "p Xll:i! hi{·n 1'1<'11
each d6i xung. Ta quan sat thay cd 6 thli t>I cae hit:u ,·tJ ban \1 Ill"i khu vVc:

0-1-2-7-2-1-0: khu vuc I

0-a-2-7-2-3-0: khu v\ic II
0-::J-4-7-4-3-0: khu vt!c III
0-5-4-7-4·3-0: khu Vl,l"C IV
(I " G -; 1 ': 'I \'

0-1-6-7-6-1-0: khu vljc VI

N{'u tin hifu diE>tl khits'n hipn lhiPIl nh:lOh ta co IhE: thay xm"it hWn thlt
ttC de kieu kh6ng d6i xung. vi du hlnh 9.3 eo ki?\1 kh6ng doi xung
0- 1- 2- 7- 2- 3- 0 vi tR dil thay doi khu VIle vil ua chuye'n t.it khu vvc 1 sang khu
Vlf-c II. Di€-tl do chung to rang, d che dq xa" lap hinh sin til chuyf:n qua G kht!
"lie thea th\~ tv Hi I dpn VI.

9.1.2 BI~n doi Concordia va Park ap dl,mg cho bo ngh!ch luu ap

di~u bien PWM

Cae bieu thtk ('hudng H eha ta

(u) = T .(u" + T ;~{U~I (9-7)
Tti ,.;6 I rung' binh ('\'1;\ ctipn ap do h(> nghich llfu cung cap

1St)
 = ElcI \1
(Ei~I\t'~1 + Ii w1nllTliu" + l\,'w,,/I\~II\~\ll
nhung \T\~C\I va 11',2'1'\1 bilng kh(lIlg, cae difon ~i.p pha ut/(j(' ,;uy ra III di~'n
.'ip day himg cong th,1e;

T\ 1I, J 19- 10)

'"ng thlic 11A.v eh'l lh:\\ 11,'(1 tai kht"ong {'U (":i.{' Ih;'lDh ph:HI Ih,'( t~( kh6ng
chi "ll ,.;'1(' th:lnh phtm h;li ph:\ (,lla ,li('(1 khl~n
dUQc hi? nghkh hili khupch dai
con t.hHnh phfm Ihlf ttl kh()llg "',. khi'mg dt/c;1c truypn. Ta l'd th(; d!nh nghla h{'
s{) khut."'h dai doi \'I'ji ~;i'l tTi IrU1I6 blnh G" b~lng:

(,
" dl- 1 1 I

'I"a l(i l.Iu~; viet di(>n fip hai pha thea gia trj h-ung blnh.

Sa do chuc nang cha

tren hinh 95
khien chi t'htia mot thanh
phan hai pha 11I,l =
T tu , ::.,j do chue nang Hlnh 9.!i Sd do chJc nAng bQ nghich lilU ba pha dllOc
1Z 2
eho tren hi.nh 9.6 dlflu khiEin bAng ttn hi~u ba pha kh6ng c6 thlmh phlin thLi
\lJ khf'mg

b) Bien doi Park cuu cae lin hieu dieu khie'n

Bien deii Park cua cac tin hi(lU dieu khie'n thea phuong trinh (8.11) hang:
(u 2) = P(¢)(u'-'4) (9- 13)
ngaai ra ta con co:
«~vel'll> =' G,,\U lh \)

251
 ._-----------,,..-------

I I' V_ )
-> E 1---«v.)'
'\')
'Z
- - 16,_,,"_
I" 2w.,
,------
J

Minh 11.11 Sd db tlidng dlidng eua 80 r,ghich lliu theo cae dai llidng ha' r,lld

9.1.3 Chon Uo

Tr11dng h~p o = 0 ta cO:

dan gUm nhat lil"y U

(u 3) =
T:n (u 2) vA «v3 » (El2w m)(u 3) =
(9.14)
Trang trudng hQp miy bl> nghjch luu di'fuI bi~n dc,'l r(tng xung cO tbi1 dU'c;tc
coi nhll ml>t bO khuech ~i co hi: so Go = E/2w m, do '1\y co:
«v 3» = G() (u,). va «v2 »= G0 (u 2) (9.15)
Hlnh 9.7 bi~u diE'ln di~u khi~n thu,>c l~i nAy
Ta co the k.i~m tra tinh chat quen thuQc ctia tdllg cae
tj s6 clau kt:
1 3
aa + a tl + ac ="2 [0 + 1 + 1) + (u a + u it +u,)/w mJ ="2 (9.16)
vi (u3) khOng chlla thAnh phan thu til khOng
(u a + uh + U
c = 0),
Bay gid ta xet trllbng
hQP tang bien dO cua di~u
hoa b~c nhAt bAng cach
,-----,.. _~-.----c-- --r-'-"1
,h'-~nl ;'IIJ! III hi~u dil·u

tH!:1 \ ;,,' j II (';In phan ,

, -.
bi(" 1"0 thanh phan hUll
ich IUl) va thRllll phan (rJ. i 'rJ \

till! \It khang II Hinh!J I'

H.nh 11.7 Sd do choJc nMg bo nghl["" ILJu ba pha
la ,;0 do cince nang tuang d\ell khien Dang h$ thong clli;m ap kh6ng c6
ling, thanh phfm thv l\I khong.

Dc' tranh chuyen sany bao hoa t.a co the chon 1I" sao cho con l~i trong
khoang -Will < u, < Will'

252
 fllnh n'l eho tha.v IQi ich ctia
·;jf'c rll/a thPlll thanh phan hZir
1l1l. j'l..,tc v~y, thanh philn bae ba
,., thanh philn thll tl! kh6ng cho
pnpf) gium tin hi~u dif'U khi~·n
khi <lieu khie'n tTd n('n quA. ldn
vil ·.ll ngu.\· rCl di\.n den b:lo hi.la.

Nhl1 vay t.a c6 the tang t.ht:'1ll

Hlnh 9.8 Cau h~c dieu khiiin ba pha ch,ja mOt
1.')'}., bien do dieu hoa b:(l.c nhilt
'''"Jnh phan thLi 11) khi)n\l
Thl1(' va.v vrri dit'm khie·n t.huan
: lIy hinh sin

U(tl = [j,,,"':inwt
bien d¢ eVe d1;li khong Illeo In (9-191

<v 111:1~ > == G " w PJ1 I~J-:lOI

'l'a co the h6 xung them mot tin hl('u baC" ba va u t·ri hif·'1 t\, ..
u = ° 111 1 co,;; wt + l",n.1(·os:1wt (9- 211

Ta tlln c:ich xac di nh

trl1dng hQp gidi han, ky
hieu in Uma~ft) cho phep
nh$.n dUQc dfeu hoa bac
nhat co bien d~ qte dai.

CAn b6 o;ung lIPJ11 \">\

u m."! sao eho el,(c dai Clla

-Umt - -.~ -_.
uft) hAng w 1l1 va u ml elf£" Hlnh 11.11 Them di"1!u haa b€lc ba vaG di"1!u khliin bo

u~i, ta cd: "0hich lilu ba pha de lranh bao hoa

1
[sinwt +- sin3wtj I~l-'!')
6
Dipu hoa b$.c nhM. tang them 15·7, ".IX
'-- 1,155(}·::2). Luu y rAng
<v
lti?u hoa b$.c ba kh6ng qua mach d{)ng l1,1e, no chi dung de cai thi~n dang tin
hi~u dieu khien
Cae dieu khien nay dUQc thl!C hi~n m(lt each If t.l1dng A mach tl1?ng b,l.
Ray gia ta chuye·n sang dieu khien ;;0.
9.2 DIEU KHIEN BANG DIEU BIEN KEP
Dieu khicn bang dieu bi€n kep dU'qc stl d\lng rOng rai trong c6ng nghi~p
·vi co gi~i t.hanh h~, co uu di€m chuyi>'n m~ch t6i uu va di~u bien d(l rt')ng xung.

9.2.1 Cai thi~n cae dii!u hos b.c CRO so vai dii!u khien t08n song
Trang tang dau tilm ta
Imh cae goc chuy~'n m~ch
,;;ao eho lam cljc d~i dfeu
hoa b~c nha:t va lo~i b6 cae
di~u hoa b~{' eao. Hinh 9 10
cho dieu bien 1:2 chuyen
Illl;lch trong lll¢t chu ky, Hlntl 11.10 Di~u bifin 12 chuyen mach trong mOt chu kyo
trong do til co the' tinh toan cae goc (XI va. a l sao cho lo~i be dU:QC hai di~u
bOa. Cae cDng thuc cho 4 di~u hoa dAu ti{!n khac khOng la:
2
a, ~-E[l
n
+ 2(sin a 1 - sin all]

2 E
a, ~ [- 1 + 2(sin 3a, - sin 3a,lJ
3
"2 E
a, ~

3
[1 + 2(sin 5", - sin 5<:(2)]

"
2 E
"7 =-- [. 1 + 2(sin 7al - sin 7az)]
7
" 2
Thanh pM.n co ban se Cl,tc d~i khi a I = a 2 va a max ~
,7

Ta co the lo~ be cae diEm hoa, VI dl,l b~c 3 va 5 voi a I = 56,7" va a 3 =

66,4".
Khi do thimh philn cd ban se 1ft a l = O,839a 1max .

9.2.2 Dieu chinh thanh phsn co biIIn bAng cich xip chbng m(tt dii!u
bi4!n d(t r~ng xung PWM
Trang giai dO!;ln thli hai ta dieu chlnh bien dQ cua di"eu hoa b~ nhat bang
cach xep chOng m9t dieu bien lap trinh truoc voj PWM co the la tan so trung
blnh (tq so dien hinh 1,5kHz). Hinh 9.11 Is sa do chlic nang tuang ling. Thea
chien IUQc di£lU bien kep nay ta co the tranh dUQC Cal· di'eu bOa anh huiJng
den dong dj~n va 81,1 di1-.p m~ch cua mamen, co the su d\lng cac phan tu chuyen

254
m~ch kh6ng qUli nhanh v;\
giUlll thieu ULtqc t6n hao
ehuyen mach.
Cu6i cung tn ('0 l.h?'
u~t cae goe dieu khip'n voi
m6t thi€t hi g{.m nhe.
Hinh 9.12 dlia ra mi)t diu
trt'tc ~6m ba khrij lan-
Giao di('J1 cae dau
lis. g6c d~g b6
vito: tU(lng tLt. logic. C, tfn hieu die... khi~n logic
('huiln toe d(>, tin hi~u Hlnh 11.11 $d d6 chLlc nA.ng dieu bien kllp.

chiilY - dung;
BO vi Xl't Iy va eae ngo!.li vi eua chung;
Cae dati ra logic va l1ng d1,lng de' hien thj. dietl khi~n all tOELn, qua
nghieh hiu bang m(lt m!.lch trung gian U1.ll: bit?t dung cho cae tranzito cong
D~n b6 nghich h./U

,
~-
- ~---- _... _- -----
Til qUi trinh Di"Au khi~n ca,C
I transistor cOn9 suat
,
. l,t~
Do d~c
dli;!n Op
• 'bog di~
I 1 th~~ bao
I
L _i CLla ra 16glc
An toan

J
IB6 dOn kilnh
tuong
I Biin dbi
tudng WI sa I
oOng hO
I
BO dAm sai
phdn va mach
DOl t60
dO - " BO vi xU Iy
khdi ddu

I" I; Ifn tM~ dM t6c d6 I I I B, nhd, chuong I

CO, cua vao tuong III BO phlln kenh
cua bus
I trJlh

BO d~m
Trn hieu
,h. y I B6 diagiai chi~a I I
dLJnQ -
I
LUu giLl I
I
Cae eua vao logiC 66 vi xU Iy va ngoal vi c6
'""
Hinh 11.12 CS:u true dil!u khi6n sO bO nghieh iuu dillu biAn kllp
(ehuy~n mach lap tr'nh trude va dieu bien d6' r6ng xung tAn sO trung b'nh).

255
"uilt M~ch nn,\" phai dlidc tru tinh e6 thai gian ('hr:t fdtrfl dring va Old tranzito
t:\'1a elmg I1lQt nhanh de tranh ng-an lllach nguon

9.3 DIEU CHiNH DilNG DI~:N HO NGH!CH LUU Ap

Dieu khip'n s6 eho phpp dat dlwc eRe tillh nang tot hon cae phuong phap
ke tren, nhung phai tinh den ('ar' han ('h{{ do thai gian t.inh tmin va djic dnh
lay lUaU cth cae cIif>l1 khip'n nllY So ~-" j;:ir,h diPn elm d6ng co di(>n xoa,Y chiEm
ultQe etlng ('iir b!ln;..: ho nghich lUll ap ba pha cho tren hlnh H 7 trong do cae
philn ttf chu:,>"'en mach TI VII T'J dtW(' di~tl khien hit nhau Ie, = C'II dp' nh:'ln
(hide gia trj I rung blnh ella di(~n fip ra de dipu chinn \'11 de t.ranh ngan ll1tj.ch
ngui'm
PhtiClng phap dOn giRn nh{it dp th\fC hi~n nguon dong xoay chieu {)R pha
',-(li ho nghich lUll ap ll~'U tlieu khipn thpo chP' do tntot hay ('im goi lil dipu
khi&'n tTP Hinh tl.1:1 Ifi nl-,'llypn I.';' diAu khi?'n tr? mot pha \":::u dong di~n i
dCI uttae nh() hon gia tTj dr\t 1;\ tang t.h{'!11 mAt ltlQng F. dien lip ra bUge phid
qua gii t.ri ('He'dai dP' dong dipn tang nhanh nhat co the' dUde. Np-u don~ dien
1{1n han gi:i tri dat Sp ph;li gi{l.lll m(lt htang" F, do vay uipn ap ra bu¢c phA.i ve
eVe tie'u ella n6 de' dong i:fif'n giam mot each nhanh nh;).1 I.}j('u khjpn
i-,ria trj
bang mot mach f;rigo co tTP ngLiCing 2F {'ii.n thiet cho dfeu khjp'n nay,
Hlnh 9 14 la Sd do die-u khip'n tr{> dimg difoll mOt pha.·[ b dilng dien dat.

.':....,.,y,.--.jo '-:3'\=1=-,,1-1~c:~--~,
':," I

'-------;---1 Cam bien don~ 'i

Hlnh 8.13 Cae tin hieu d{eu khlen c6 tre, Hlnh 9.14 Di@,u khi~n tr~ dong mOt pha,

Hlnh fI 15 lfi ,,0 do

chile nang dil!u khien tr~
dong ba pha. d m::teh Ita
pha sl! hoat don~ t\~(' thil!
(''-1;1 l)('; nghich Iuu duo(~

dil!u khien khong hosn

toan don gian, m¢t trong
nhiing van de d$.t l'a cho Hlnh 9.1!! Sd dO chliC nang d,~ kh,~n Ire
lnai dip.u khien nii.y 1ft rhu eae dOng die-. ba pha
ky chu~n mach bi~n t.hi~n va chlla
bi~t tntBc. Nt1u khOng k~' Cl.lC vA"n dl>
tr~n co m(lt so dO gAn dung rat dan

gian h\ dbng di~n do dllqc luon bi\nr:

(ghn bAng) ghl tri d{lt vA mO hmh SP
Ia

D~ lang tOc do tlnh lmin ::il'!

d\lhg hQ xu Iy 1111 hit>l1 :;6 DSP , I

(Digital Signal Prot:('!:isul" Tl\tS

320 ~ 10, cho phpp thll(' hien di~u

khilin voi chu ky dnh toan 35 1'8

Hinh 9.16 cho hai k€t qua lhllc
nghi~m: dong difll m¢t pha dhu ti~n
a ch~ dO X3C It)p, sau do trong khi
doi chi"l!u qUAy . Di~u khi~n tre dAn
lbi SI! Ifun vi~c vOi tho st'S thay dOi
Iii di~u khOng lllong mu6n d~ bi(ot Hlnh •. 11 K'1 qu6 II"1I.1C I"Ignitm
khi tlnh IMin thi,.! k('. do vt'\y la dleu kl"liin siS dOng di6n nnO DSP
a) C~ dO de "p. b) Trong khl d60 chi"kt
thllang trO ve di~u khii>'n PWM vo]
tAn sO c6 dtnh

9.4 PWM IIINH SIN. s6 HOA

o dilY tA xem xet truong hQP bQ nghjch hlU trong do cac thai dil'im di~u
khi~n dltQC xac djnh gi6ng nhu PWM tllang tl,l' viH song Illang vbi cae: thili
di~1ll chuy~n mllch II'J. giAO die'm cua cac hlnh sin voi s6ng mango Thpo quan
di~m nay la gia thift chi xet ch€ dO xae lAp hlnh ::iin No dAc bi~t thlch ung
vBi d¢ng Cel khOng dong b(t duoc di~u khi"en lhpo quy Im)t. OIf = COntil. Tn
thuong g;).p k.i~u di~u khi~' n nay" cac dOng CO ('Ong suM nhc va t.rung blnh
trong do vi~ di~u bi€n khOng d6ng b¢ khOng Uto ntln mOnll'n dl)p nu;t,ch nguy
hie'm h~c d6i voi cac d(mg co cOng sul1t Ion a b1c d¢ thtip Trang tA:t ell cac
trllang hQp nay ty so gilla tan sO chu~n mq,eh va tAn s6 ngubn du IBn .
Hlnh 9.17 mO t.a nguy{·n Iy dipu bien hinh !:li n, cae thai diem chuyln owch
tol va tn! dl10e xac dinh b:lng giliO diem cua scing dieu bi"-n ulU va song mang
Wltl

257
 Sdng diim bien u(t) dt;\i di~n cho di~n ap mong muon d(it len mQt pha clla
d(mg Cd cd dt;\ng
v(tl = V IllC08 I.L'st (9-24)
o day v III la bi~n de! va Ws = 2nfs la tam s6 gOc do Cd diu dieu khien a
tang tn1dc quyet d~nh_ Song dieu bh~n u(t) cd dt;\ng
u(t) = ulTIcosw~t (9-24)
Vil], E
voi U
lll
= - va Go = (9- 25)
Go 2wm
Cac thai die'm chuyen mt;\ch duQ'c xac djnh theo cac bie'u thrlc:
to, - t" 2V m
1 - 4 --~~
= -~ cos wstn! (9-26)
T E

t"2 - t" 2V m
-3 + 4 =-- C08 wstn2 (9- 27)
T E

~=~-~, (~m
Da-y la cac phlIdng trinh sieu vi~t, rAt khd giAi trong thbi gian thvc. Vi
the nguai ta giAi truoc va cac nghii?m cua chung dUQ'c dua vao bel nha. Tren
. . 1
hlnh 9,17 ta dua ra vi dl,l, trong do chu ky T:, ='f va T (hO(iC T h) theo ty l~
N •

so nguyen eho don gian, nhung trong thl,!c te' chung co gia tri bat ky va dfl':!u
bien la kh6ng dong bQ, ngot;\i tru dong hI) hoa nhu da thily trong m1,lc 8.4,5.
Nell tan 86 chuyen mt;\ch lan, ta cd the don giAn hoa cac phuong trlnh
va gilli thea ty so chu kyo SI,! bien thien ba pha la:
1 + u)wml
1 + utJw m I (9- 29)
I
1 + u.!w m
Voi pha dau tien, U;l co dE.!-ng:
V m ·2w m
U. (t) = - - - - cos w'. t (9- 30)
,I E .'
Do vl)y ty s6 cae ehu ky 8e thOa miln:

Cf" 'I
0,5 + meos w~t
"h I 0,5 + III cos(w;.i 2JT(3) : (9-31)
G
c ! 0,5 + l11cos(w~t + ~2;:"[13) ,

258
 Yo;
Ta nh~n thily 111 =E co the daD dong tit 0 den 0,5.

Co nhieu each khac nhau de

dat die guy lu(lt dieu bien hinh
sin. Ta se xem xet mQt so guy
lu~tkhOng phai dltdC dnh toan
dung nghta trong thai gian th,!c
Muon v~y, can phai X8.C djnh
trud'C cae nghiE%m va dt1a chung oj
vaa bo nhO. Wi
"i
1
Nguyen ly th1,lc hien nhu
sau: cae kie'u PWM khac nhau
'~.w 2----5--------1S--
u
"
' ----::_
,:
dUQc dua van b(l nha d;:tng cac ",' w:: t
hang Cd Mn. 0 moi xung dong .---~--+-----
Ci:
--1+---------
::
ho mot cau hinh (cae tr;:tng thai I ~~____~"

logic dong ho~c rna cae b¢

nghjch luu) dl1Q'c truyen van
DMA (Direct Memory Access:
B¢ oM truy nh{l.p tn,1c tiep) voj ,
c6ng ra ia mot ttl 8 bit. 6 bit L.-C---=--TCC----~
'On , T Kn

dllu tien chua tr~ng thai logic

clla 6 philo ttl chuyen m~ch (hai
Hlnh 8.11 Oi~u bi;;n h'inh sin
bit cu6i khOng sil dl:lng), Mot a): b) trong m~t chi.. ky PWM
giao dien (khu~ch dl;Li, tao xung,
each ly) phan ehia cae tin hi~u den cac phlln til ehuyen mach eua bQ nghjch
hru.
Ml?i cau hinh duc;Jc tinh toan truoc va dU9C ghi vao bq nho. Truy nh~p
vito DMA nit nhanh; bq xu Iy ton it thai gian dnh t.oan va co t.he' duc;Jc t.huc
hi~n bang bQ vi dil!u khie'n tieu chwin re tien. Hinh 9.18 so snnh hai cau truc,
m¢t cau truc co va mqt. diu truc· khang co Hnh kien chuyen dung cho PWM
Hinh 9 19\a vI. d\l di"eu khien tlfOng dd chi str dung 4 bang cac kieu ehuyen
nweh, klch thuoe b(l nho la 4kB va <':r day tno may dqng ed kh6ng dong b(l
thea guy lu~t. vir = const.
Ta nhan thlly eRc bae voi tan s6 co djnh va cae khoang t.ang toe, a day
ta str d\lng CRC kieu I~p I~i hot:lc thay d6i ctie khm\ng thai gian ed so. Chien

259
 _J __ , ',L, ,_
-~

~.~ -: -=:J \
'- 1- --"'l '
~~"~-~
L r~--

,_J'!
,
~
_-L~' !
L

"" ""' " a) J-- J

+! MCtfl9 mot chi~u
,
---l
- +-- --,

,- - l'"
,
80 vi xu' Iy 1--
co DMA

L ,

b) L--J--~
Hlnh 9.18 Hai cau true co the: sli drng dieu khien tn,Jc tiep bO ngh;ch hJu.
a) Co linh kilj!n chuyen dl,Tlg cho PWM b) c6 DMA. khOng c6 linh kii)n
chuyen do,xlg cho PWM.

ltlQC

trtWng hup
nil}' dU(.1C str d\lng
il\(:11 c;i.ch re) r;"lng tl'ong
t.am bang
r>---
,

long viJj c,ie hoh' n11ng

ha 11 r-h?' etc>' ha gm thanh
!
Ii
,.;n
Lu:u y I:) mot ki{:u
1il m¢t ttl: 8 bit. 6 bit chua
('(1

s~
\

fho'" ~j''"===L:
-- ---- ,--- _, i _L, __ Th~~
t
(':11' trang thfii l'l'la ph{1l1 ;'1 I

11', {'huyp'n maeh I 1 ni'l:

. "u
llr:ing. U ni'u 11)(1'. ~ bit
khong dung dp'n Hlnh 11.18 ChiEm hJOC dieu kh,en !cic de;
thay doi co rt kigu 16 cHl.y N 4,

260
9.5 S(j HOA cAe D18U KIllEN, PWM CO SONG MANG
9.5.1 meu bi~n tuO'ng tl! tl! nhi€m khOng tre

Cae di'eu bien d¢ r¢ng xung li).p t.rlnh tntoe. PWM t.oi tlu. hOlle hlnh Sill

nUl chung ta vua nghh~n cl1u trong cae InU!.: tnldC ll\.ldc thif't hip eho chP' do
x:ie li).p hinh sin. Cae die\! bif:{n do r(mg Xlln~ ,·ri ~(ing l)\:tllg" h,):.' gid dlJ(1c xet
u[ii voi eh{;' do qua do bttt kyo ePm ph,ii ellng ":1]1 ('ho lltlng ('(1 c{lC dien ~i.r
lllong mllon voi toe do nhanh nh·\! nJ thp' 1111ng ojpu khi{,'n n:'tm d tang Sllt
phia trl.loc fthltong l:l btl dio?u ,>hinh dong" di{'nl
'fa da nghipn ('ltll n"""'''r i.\' P\VM voi song mang X,l(, dinh trong phan
•• f '
: U '1';1 thttimg gap hai phttdng an chtnh

- .. :././ th("fl hlc" limn/.: {If Ilf IIhflin dich tnii

Kieu di'€m bien nay g9i la dfeu bien ttt nhien va kh6ng t rp VI thai gian
(lieu bipn ph\! thu6c We thbi viw giao die-'m cua cae tin hi¢u dau van 18. tin
rtl~·u dieu khie'n va song Ulllng. Song lllang wltl lil eM' doan t.hA.ng d6c len
th,',) phttc1ng trinh:

I,
T
• :'.:I1~ ttt chuyen mach d vi tri dong t~i cae thai lti!'>'m In xae d\nh thpo
dong ho tan s6 L~U u!nn rn = nTh villi VI 1ft mrill tnt;i dil,'m t' " xlle ltinh hfing
giau Jif:m ella dieu khien Olt I vdi ,.,(jng mang. 'Thoi dip'm t',> lltll!C xlic dinh
"ill''''': p!li{,jll.:,: ll'lllh.

- 1,
T,
I)" ,,6 chu ky
Hinh 9.20 180 vi du ella phudng phap Jieu khipn nay. 'l'rpn hlnh g.20e 1:'1.
ph6 di€u hoa dong di~n ta th1y bien Ct9 cao ella song Cd han [")0 Hz va C~1r
dieu hoH. b~c cao xung quanh tflll so chuyen m~u~h va di"eu hoa bi).e nhat (,lla
chuyen m~eh nay. 'fa nhan thay dieu hil"'n d\ch tTai v~l. ta dt!d(' h0 ('}1(' dif.u
hoa co eac b:).e :;1\'.;

<IIL1.1 khi(;n IJipu hila cd b:1.n tUll kihlL'

+ pftJL6.r k!\l0n doi vdi ho cae uif.u hoa uQi h cua tAn c:r; "I.
hf~lIlL\'(.n m:!ch
11l~eh, p ia 56 nguyen dl.ldng ho~c am, chan ho!j.(' Ie

.\
 ~' .........../:.,'1::1
J._.....-"'--::;11 0,'
0.4
0.2
t, 0 w

,
-O,~ ! I
-0,4 -
-wrn ------------ --------.---- --
-0 .•

.,
-0,8

f--~~~~_____,________, i --., .. ----,--

o
.
t
(] 0,1/02 0,004 Q,U{]6 0.008 0,01 0_0120.014 0,0150.018 0,(]2
n'oi gian (s)
0) rh = 0.8 ms Jdieu Ithieh~50HL
fchvyen mf'eh ~ 1250 Hz Chu ky di€u khi€n~20ms
b,

Oiing ,ji~n fren fdi RL Jed plIO

oj 0 rp '" arctan {21l L(IR}

." d)

-"
·30

-"
·50
-50
0 (Hz)

Hlnh 9.20. a) Nguyen Iy: b) Chuy~n ml),ch: 0) Tin hi~u logic di@u khien cae phAn tU
chuyen mach. d) Dieu bien don tin hi$u dieu khien va dong (lien i e) Ph6
dieu hOa dong di~n.

262
 9.5.1.2 Dtiu bien tll'flnK tu d(ri xfinK

Phuong an di(lU khien nay Btl dl,lng song ll1ang d6i xung lit cac do~n thAng
co phudng trlnh:
4(t - tn)
wet) wm( - 1)
To
4(t - tn)
wet) "" (--~-- + 3)
To
Neu bien thien diEm khien u khong qua nhanh ~hi cae giao diem gan doi

xt1ng vaj thai Thai diem cae giao dWn\ lil:

41t 'n -
... _ - - -
\,1
u(t' n) = w n/ 11 (9- 33)
To
4(t"n - tn)
u(t" n) = wm(---·-~· + a) (9- 34)
T"
(t" n - t' n)
Iy so chu ky la: ", =------
T"

Hinh 9.21 la vi d\l dieu khien nilY vai cling cae t.ri BO clla do~n truac.
Tren hlnh 21e ta thi'ly bien dQ cao cu.a song co ban 50 Hz nhttng so vaj PWM
I~ch tnij ta thily d day PWM a tam cho cac di"eu hoa hac cao it hdn d xung
quanh tan BO chuy€n m~ch va boi etla ehling. Cae b~e dieu hoa co dt,tng:
- [,lit'll khn:'n (song co ban ciin tim);
hfchuy0n m,ch + 2pf,IiL't.1 ~Il'('n vai hQ cac dieu hoa quanh h¢i h clla tan so
chuyen m~ch, p la so nguyen chan hoac Ie. Cac thanh phiin kieu hfchuyc.n n,,:'ch
+ pfdl~'lJ khl~n viii p nguyen, Ie UR bip"n mat_
9.5.2 Di~u bi6n 56 deu
Cae ky thuat trinh bay trong tnl,lC truac d~ip ung tOt yai dieu khien tuong
t.u, nhung ta thay cac phuong trinh (9-32) Min (9-34) la cac phuong trinh
siE-U Yi~t, hai vi 0 che dQ xac I~p vi d,1 u(t) =' Umsinwt, nghi~1ll cua chung
trong thai gian thl,fc kh6ng duClC ho vi x\c Iy dl,f tinh Can phii tim kiem cac
chuyen doi s6 t.uClng d6i t.rl,fc t.ie'p d~' don gUm de' don gi8.n tinh toano
Trong truang hQp nay tin hi~u dieu khien la tin hi~u so dUQc lay m~u va

263
w,o
wm ----------- ..
Wjw", ,u/wm
,
0,'
0,'
tn+l·t~+Th 0,'
t 0.'
0
-0.2
-0.4
c -0.5
-0,8
.,
a (] 0,002 0.004 ODIl6" aOO8 0.01 DlJll Q,JI4 Ga'lI; (1.0',8 0,02
t', ' t Thili 910n (5)
""
a)
tn+1
Tio • 0,8 ms f (/re" khlen • 50 Hz
f chI/yen mach ~ 1250 HZ Chu ky chuyln trK!ch: lams
bJ
c !II"""" i

0,8 "
0,'
0..
0.' 0.'
0,'

0,

. ,
, , " ,
0.002 OJIOG 0,01 (] 0,G05 0.0/ O,OJ!i 0,02 0,025 OJlJ 0.035 OJJ~

TMli girm (5) rhdi gian (5)

f chuyeh mgch: 1250 Hz
c)

HI"h 8.21 PWM tudng toJ trung tam.

a) Nguyl!n Iy; b) CAe tfn hieu trong mot chu ky Ij'n hieu d(@,u khien, c) tin hieu logic;
d 1 'lieu c..en ::lai xting lien t\,le - tin hi~ diilu kMln va dong diOn;
e) Phti dieu hila dOng dien.
Iuu gill. Dieu nay dUR tren gia thiPt nhu "au:
- 0 moi thai di~m ta co ham di{>u khi!';n lUll 1:\ hl:,:l anh ('tia di~n ap
mong muon. Dieu khien co t.hi>' Utiac xac djnh thpo di{'n :ip pha mong l11U(l[l

vl(t) ii Iii a, b ho~e cl

- Cci the' lay mau va htu giu mOt c;lch Il'C Ihdi, TIn hi!'lI n:\\' til((J(' hi{;n
uoi thanh gia trj so eua h'iy mati ujiU, tlie Et:
u1(tnl .... oi t." ~ nT
Co the th\le hi{>n tinh tcl1i.n mf;lt (,lleh tltc fh('li lJ(,' kh()ng ell thili gian Il"~

do t.inh t.oan.
Hinh 9.22 eho nguyt'>n ly' Cl'la hai phttllng ~i.n ";HU ll:l:\": ('1\(' xung dich ph:\.i
va elk xung djch t.rili.

'1.5.2.1 Oie xun}; die-II phlii

Trang phudng an dllu tien e,lc tin hieu moi hlnh rang eua doc xuang va
cae xung djch phi'lL Bie'u thl~C elm w la:

iH- 35)

Khoang thai giantjn a dci bipn logic dieu khie'n C j l:'l dUdng 1 va eho bang
ty so chu k)' lay mAu:

(9- 36)

va t.hai diem ehuyen m~ch t\n bang:

fin - tn = T - TOIl (9- 37)

a phudng an djch phai

b phudng an djch tnii
Hinh 9.22 PWM so d~u
Ta nhQ.n thay rang :;1,1 l~ch phai gay tr€i trong \lng dl,lng dieu
khie'n va ta mong mu6n tien hanh phudng an s:au .

9.5.2.2 Cae xung dieh tnij

Trang phl1dng an nay ta nh~n thay xung d1ch sang ben trai. Trong trtlang

265
hap nay tin hi$u moi la:

(9- 38)

Thai gian Tm cho thea cang t.huc (9.3G) va thai diP-TIl chuyen mach la;
(9- 39)
Trang thllc t.€ song mang hlnh
rang cua w(t.) eo t.he' dltoc t.huc hi~n
bang dem lui (phuang an 1) ho$.c
W" hJ ~ wf.,
\~~"
\-~~ \:'
f., _ i' _~~C;;

ue"m tien Iphuang an 2\ vni so sanh L-...,... r-,I "J' -, \,'

,J I \
-;-'
~
.,
"
" T""t
wl,t) v6"i gia t.rj uilt.n) de' xac dinh C
t i:t' ' ,_Tn.....
, , "
'. .'
, " "" •'
.,
thai diem chuyen Ilu:l.(~h khi wlt.'m)
u(tnJ· ;U dOJJJ'lJDtt-
- tn," t• n,' tntl t
Hinh 9.23 If!. VI du di~u khie'n --!- r--:-
nay v6"i eung gia t.rj s6 t.rong de 'J
nwc tren. So sanh cac ltuang cong
9.20d va 9.23c cho phep kie'm t.ra
thay soV lay mau t{lO nen Ii?ch pha
, , ',' :: :: ,: :, t t
them va ta co t.he' dtta vao 1116 hlnh ct, " '-1'f,,<--" " " .' "
b:1ng thai gian tn'i T[
hinh 9.24a va bl.
= TIP (xem
;UUj bhbhhi_ tn: 't~ :tMI t
Tren hlnh 9.23<1 to. thay bipn u(l , '
""""'t-T +- b)
cao cua song cd ban a 50Hz nhttng
cung co cae dieu hoa bai cua song Hinh 11,22 PWM s6 d'eu
ca bim va cae djpu hoa quanh tall a) Phuoog ;!,n dlch ph;!,i: b) PhUong an dich trili,
s6 1250Hz va 2500Hz utiQ"c t~o nen chuye'n m~ch 1250Hz nhll v1 d\l hinh
9,20e nhting v6"i muc do t.r;hn trong han da lay mau ph6i h[Jp v6"i dieu bier
dich tnii

.\1,5.2,3 CiJu Ink phan ctinK vu phan tn~m cho PWM

Thong thuong chttang trinh trong thai gian thve de' thvc hi~n di~u khie'n
kh6ng t;:to ra mot each ro rang song Illang wet) va tin hieu t eua dieu khien
u( t) de phfit hi9n s1,l' giao nhau nhu cae hinh 9.22a va b. Th1,lC v~y, M dan
gian a thai diem bly mat. (t n ) dlj kien sV, cat nhau bang each tinh thoi gian
1.' "- tn bo de·m va b6. c!p'm lui thue
do · . hien
. de' denl lui Wi thM die'm qua kh6ng
ta thai die'm chuyen maeh.

2GG
 "/-m,: J

::1
"",
-0,2

."
-0,5

.,
""1' ~-~,-_-''------ I I
, 1),01)4 I l),oa8 I a,ar2 0.016 I 0,02 o 0,005 o.oJ 0,015 1),02 0,025 OJ!3 0.035 0.01;
a,oaz 1),00. 0,0/ 0,014 0,018 "'''~30o Thili gian (s)
I dl€/I khiin z 50 Hz Tho-i (}Ian rS)
c)
0)

o iIkhve~h
Hi,,'
r!(p' (dB)

"1
'''1
-3°1 1
-40J
I

o 500 HlOO 1500 2000 2500 3000

Tan sii'fH:l)
f chuyen mqch ~ ! 250 Hz
d)
b)

Hlnh 9,23 Diiu bi~n s5 d~u,

a) Tin hieu dieu khi~n lAy mau va s6ng mang: b) l;n hieu logic di'eu khi~n phAn hi
chuybn mach: c) Dang dOng <lien till, di'W bien rdi rac d1lu: d) phd' di1lu hoa dbng dien,

Trong nw,ch ba pha dieu khien bang bo vi x..J ly co the' minh h9a bang
hl.nh 9.24c va d, Vi dl,L nay lien quan den dieu khien d<}ng Cd chap hanh dbng
bl) dl1dC c.ung cap ba.ng bl) nghich ll1u tranzit.o djPtl chiIlh dong di~n va t6c do,
Trang vi d\l nay t.hai gian tinh toan can thie't d6i voi cac thu~t. toan khac
nhau Ian hern ba l~n chu ky bam cua b<} nghich hiu ba pha. Chu ky lay mllu
dl19C ch9I1 bang 56 lin chu ky bAm (trong vi dl,L nay N = 4) va. ty 56 chu ky
Ii khoIlg d6i trong chu ky lay nu]:u, De tranh nhieu CIi,c thdi diem lay m:iu
dl1dC I~ch (VI1Qt t.rl1dc) 50 vdj thai dje'm chuye'n mach. Hai chu ky luon dl19C

267
 _ J
u T
_ I a;l
~
j}L
Y
J -"C h · -:.
L--=--~ '----0------ ,_
&!~Ij knii'~ "',
rac, iJu 9'-'; ,
-' -';I J T"o SOIlI} mom}
,- l .. :, -.J nin9 cvt1

0)

'0 - - - Goexp-~p '0

", 6o o,p
...
"p - "
GatC)(p. T( p
vc - - - "

L._ _ _ _~"'€IJ '"'

khJe~

Bien dO: dong

I fiX: il,t1, vi Irf"

Thifi gion vaG ,

-I! dliidnlJ frl'nh rII}G! I
:I Chu'rJ'ng trinh IIlJa! !,' ' I--;=:::- ,CCC=;-
_ CfnfrJ'ng trinh q9r8~1~1~,~
J @] {PPlt
'I Cac fy so' chu ky mit,: i t
dlJ'f/C linh In/dc

Co

C'b D 0
C'h n n 0
40D!S d)

Minh I.U PWM d~u. so

a) Sa aeo nguyAn I)"; b) Sa aeo chuc nang: c) vi ao,l cau troc phAn cling:
d) Bie:u d"o thdi gian

26H
dong b6 hda
Ta co the' lift k(, Clic uhii'lll VII ,.;au "{n"
- 0 m6i thai dj(~11l la.y miiu Il1i('n l](ii Itl'lng III "i) I ,','!:I ,"lI" I'h!;p do dai
[ltang dieu chinh.
Sau hai gifty t.iPIl himh'
• d,lt. ba li''';o chu k.\' (hint" 1mb (f ,ill! k.\ tn/III' IWill ,'" Ill,-,t tI]('li ,'...'ian
tre doi V(li IllQt ("htl ky L"ty lll;tlJ trnng di('l1 ,·hl,.h:
• linh lo:'m ('a(' 1,\' ,.;() {"hl! ky nwi IIp :IJ) dllnl~ ell., I illl 1,\ ti('p th!,i'

Trang vi d\1 nily h!:l ('hon P\\'~I rtli r,H' 1(,I lll1i"11 (h/[I, :-:ial tlm'h hang ,..;[1
di.n thie', ;;;Ii dung cac tht1l~t (011n nhanh dn lii'll hilllh ('hl! I:;~' h:.,. lll;"tu khlJng'
do b¢ nghich IVll rip ua( m;i do co ('{iu di('l1 hl1l>'n Chu ky Iti.\" 1l1{1ll T = NT"
v0i N > 1. Trong m6 h,nh 11'1'11 hmh 9_~..j la ('(1 '1', == T:.!

9.5.3 Oieu bien s6 d6i xlrng

Dieu bi6n nily lil m61 phlwng an ('lill ,'11<" di('u bi(;n t.r{'1l tl'ong' do t<1 I,m
1m hi~udoi xting thea Ihai dip'm T'2 d(; gi;i.m thi(;u C:l, ui{'u hoa, do d(i de
xung a giiJu. Hinh 9_Z~-J t.rinh hil}' nguyi'll 1.\" nilY ;"~Hing mang e6 hai hieu thde:
, , 411 ~ 1,,' T
a »lwn tang w(tl "" wrnl-- -- +-
T" 2
4( I T
< ,
1\
Thai gian In cho t.hE'O c6ng lhi1e 19 :Hjl vii (':}C Ihili dip'm chuye'n lllach la.
T I",
t'ln - tc =-- - (9-401
2 2
T , 'c
t" m - tc ~-
+-- (9-41)
2 2
Vi~cthvc hien do hai b¢ dE'm - dem lui dam baa, h6 dim t.i~m dem tv 0
den T!2 - ,,,/2 bQ t.hu hai dem d{;n T!2 +,,,/2 ph6i hOp v6i 1D9t c6ng OR lo~j
trv. Hlnh 9.25 la cae tin hieu lipn quan Mn djPll khi~'n ll11Y veTi citng cac gia
tri s6 nhv trVoc. Xet hlnh ve mly ta thay vi~'c rai r~c hoa dan den s1,1 I~ch
pha dong dien so voi dieu. khie'n logic a hinh 9,21 nhlt di nh~n xet a myc
tn1ac. Tren hlnh 9.25e ta co t.he thay Sl.t dung giiia cua r.{lC xung IOl;ii b6 dugc
eRe di{'u hoa bQi cua song ('(1 hiin VA cac dipu hoa bac cao do chuyen In!.l-ch so

269
 ~~~"-+-"--T~--,,"~~~
-" - t

t'o t'o
Thit; 9ion (S)
aJ
o
ul"",; bJ

',8
II "
,", "04
II II III 111111 "a
J:-~~[:;=:: II~lu~
-0.2
-0,4
': -0,6

o I 0,;,2
(J,V'()4 I),Ui08 O.~J6 0;;- -0,8,
·d
1),(j02 0.006 a,D/ o,u!4 0.0/8

fclrllYe'r; m,!cn: 1250 Hz Tbi7igiun 15) I---r-

o
-, '-:-C:-=C"lC'c:-,:-'CO:':::-:C-
0.005 0,01 0.015 0.02 {),025 0.03 0,035 O,O~

OJ Thdl gion (5)

d)

He so·
a khuech dar (dB)
'5
·w
."
.<0
·H
''0
·35
."
."
."
" 500 1000 1500 ZfJOO 2500
T5;'
3000
sa' (Hz)
'I
Hi"h lUll PWM so doi )(Jng trung lam (Iy s6 cAe Ian so': 25)
a) Nguy1!n 1'1': b} Cae tin hi~ Irong mOt chu ky tin hieu di~u khi@:n;
c) Tin hi~ logic diAu khiAn; d) Tin hieu di'eu khien va doog dien; e) PhO dpng di~.

270
v6"i truong hqp dieu bie"n dieh trai. Vi~c gi,hn cac (m·u hoa b~c cao cho thAy
l1U vi~t cUa dieu bi~n nay. Rhi s6 chu ky chuyen Ill~ch wang d6i Ian so voi

chu ky dieu khien sl,t meo d::;lng song do hOQ.t d(>ng cua PWM van nha.
Cae so li~u thuong W4P d6i voi ti so hai chu ky (toi thUlu Iii. 20 ho~c 30)
l~ng vOi tru'ang hqp duqe xu Ii tren hlnh 9.25, a day ty so lit 25. Ne"u ty so
thap han cac dieu bOa lk1c cao tang rat Dl<:J.nh, nhu truong hqp vi du hlnh 9.26
khi ty s6 duqe chia cho 2 (nghla Iii. 12,5) sa v6i truang hqp tren Ta s~ thay
trong truong hqp nay cac dieu hoa 0 100Hz va co d~ng 625h + 50p, trong
do p la s6 nguyen chan ho~c 10. Truong hgp nay ung vai cac bi? nghjch luu
cang suat IOn trong do tan so chuyen l1wch eua cac linh kien b~ h<:J.n che"lll<)t
cach tu nhien.

9.5.4 Di~u bil!n 56 khOng d6i x(mg

Rhi ta muon cd chu ky lay mau (de dnh toan) nM han chu ky chuyen
lllach nen dung dieu bien khOng d6i xling. Nhu w~y bang cach giu eung lll9t
Hm s6 chuyen lUQ.ch cac phaD tlf ta tang gap doi tan so Jay mAu va c.iii thi~n
dap ung bang cach giam do meo. De tien Mnh ta thvc hien lay mAu va luu
gilt trong un ca nua chu ky PWM (ho1)C chia chu ky lay mflu cho hai T :=
T,,I2) va tinh toan m9t each d9C I*p thtli diem chuyen qua 1 vii. thoi die'm
quay ve D. Nhlt v*y se t.hue hi~n djch phai va djch trai. Hl.nh 9.27 giai thich
nguyen If nay.
- () subn tang, chu ky (tn' tn + I) fa co:

(9- 42)

() Bubn giam, chu ky (t n + l' tn + 2) t.a co:

t - t I t
w(t) = w [1-2 n+J (9- 43)
m T
Cae theJi diem ehuye'n l1Wch kiem tra di"eu ki(>n:
t' 0 - to 1 u,(t' n)
~~
[1 +--~- (9-44>'
T 2 w'o
t' n + I to • I 1 ul(t' n + ,)
=-- [1 - (9-45)
T 2 wm
Cac cong thuc nay dung de hip trlnh cae thai diem chuyen ml;lch. Cae
khoang thai gian dAn cr vi tri 1 cho cae ty s6 chu ky

271
 To t' 0 . t, u,l t n )
U o = [1 + 19·46)
T T 2 W"

(t 11+ I =
Tn + , =
t 'n , tn + ,
=
1
[1 +
uj(t' n + ,' 1 (9- 47)
T T 2 Wm

, I I~ r-,
0,:= ,~ ,I ~~ I i1 I, I, 0,8_ (.
0,6 ~
!I.
:1 I
Q,b_ ' " '--:i I ','
:1.+_! ,-- I,' , 0.4 ~O

''i '.2 ~r
I:! "
-(},2-
-0,4 _
.,., 1
\11 I
'I' ,'-\' J r-
-0,4 -
-0.6 _

-0.8 --'
_I J I l--L~ -G,B _

o -or , t r --,----
G,004 a,GoB o a,OI (J,a} (}.O3 OJ)4 (},()~ 0.06 8,07 0,08
0002 a.oaf, o.or O,or.. a,alB f ,Mil I"en :62SHz ~= -30· Thill glon (S)
fd,J" biih = 625 liz frill;; kl1iin.5IJNlniii gllJn (5)
Cj

cJ
oj
" ,5'
., 1
() khllichdoi (dB)
1~1 ":'C,~,-;In n n ~ ,
"j! -10J
_J5 J

"'1
0,4; I!

':t ~II I I
a (),~04 a,GOB
L; U J L.JLLJUL
,~"I
I 0012
' , '
0.016 i 0,02 500 1000 1500
0,002 11000 0,01 a,I)!1, a018 ran so' (Hz)
J rJi€1J hJl~h " 625Hz Thifl gian (5)

b)

HI"h 8.21 PWM sO trung Him dOi xllng {tv s6 cae tlin s6: 12,5)
a) Cae tin hie-... trong mOt chu ky CUilI tin hi~ di&u khiii'n: b) .Tin hi~ logic dieu khien,
c) Tin hi~u di&u khi~n va dOng di~n: d) PhO dOJlg di@m,

272
 Cac duang cong tren hlnh 9.27 cho thtiy dieu bien kh6ng doi xung voj t~n
56 chuyen mlJ.ch thtip (ty sO bang 12,5 trEm hl.nh 9.26) nhung voj chu ky Jay
mAu di{l,u khie"n gAp dOi (25 voi hlnh 9.25) cha ket qua tot nhtit: cac dieu hoa
CJ 100Hz bien mat va cac dif!u hba b~r cao lit kieu 625h + 2p x 50: cac dieu
hOa 625h + 50p (p Ie) cung bien mat.

9.5.5 Thl!c hi," di~u bill" ba pha. Cili thi,n cae tinh nang
9.5.5.1 Cae ding thlic chunN
Trang cac chuang tnJoc ta moi de cl[l.p cac thul;lt toaIJ doi voi nlQt pha. 0
day ta dllB ra nu)t s6 cong thu:c cho phep bieu di~n cac di(>n lip pha cua m~ch
ba pha. Ta xet giii tri trung blnh cua clic di$n lip trang lllQt chu ky lay mliu
thea tin hi~u di~u khilin (u \)

(9-48)

Gia thiet bii'it di~n ap ba pha mong muon «v'>\..Ic" ta co thE! suy ra diEm
lip hai pha mong mu6n
«v2»uC>i = IT J2 «vJ »dL's
Ta luu y rilng trong da so truong h9P gia tri l1\ong muon Clm cac dien ap
hai pha dAu ti(!n da. bie:t, ta co th~ suy ra tin hi~u dieu khie'n JUoi dl;IDg hai
pha:
2wm [
~-- T .. ,«v\»,j.-s 19-49)
E -" - "
tiep thea Ia (uJ) trong dci u" la tuy y:
_ 2w rn T 'T
- T 3J u" +E ~2 32«vJ»dt·s (9- 50)

Ta co the dnh toan cac chi s6 chu ky, vi d~ d6i voi dii'>u bien doi xung
trung tam:
1
~ [1 (9-51)
2

9.5.5.2 Lou; h6 meo dr,mX .wIng hiinx each ehuyfn sanN dieu khien huo hila
dll"u "uo dieu hiJa hac ha

B('l nghjch luu the hi~n baa hoa neu khoAng thai gian cua nguon mong
muon Ill. am (1 < T h)' 0 muc di$n ap cao, di~u khien co d:;1ng-.

273
 "I. u/w, i
rWm ----.---- ,
O.S
"
t~:
, "
:t~'l t
,"..,
0.4

w :tn+l:~:t~ tT I
I " I
-Wm -------r---<-~----·---- --------Wm _(1.2
I I: i -0.4
,C'!--_-i" ' _D.1i
-0.8
, ·1
t o /1,0/& 0,02
o,oot 0.0014 0,Oi8
f t!i~u khiin .50 Hz Thili glon (5)
f t!i~ biif, .. 615 Hz
b,
'J 1.111'1",/ u!W
~{
m
1
'.S
'.S l ','
'.4
',2
, / \
'.'
'.4 -0.2

{
·04
'.2

0
-0.'
.,
-0.8
\
a I Q,OOh \ QJJIIII \ (}m] I (J,OIS I O.IIZ o 0.01 0.02 0,03 0.114 0,05 0,0' D.07 0.08
0,002 /1,006 0,01 rum 0.1116 6d<: '?rh pM ~~ 30· Thlti tjian (S)
frlieu bfe'n .625 Hz Tlldi 9ian (s)
Ty 5O'cac Ian sfj'.25 d)
'l
, Hi sri'
khui'ch rI[1i (de)
·s
·w
."
·zo
."
.JO
.,.
."
."
·M
0
,,, 1000 1500 Tan s5(WI}

Hinh 8.21 PWM s6 knOng dOi llUng (ty s6 cae tlln sci chuyen milch: '12,5)
a) Nguy&n !y; b) CAe tin hi$l,l trong mOt chu 1<:'1' tin hieu diAu khiin;
0) Tin hieu logic cIIAu khiln; d) Tin hi$u diAu khiA"n va dM9 dien: e'j phS dbng eli..,

17+
'ON
1,0 T

-I.o+----'--.,-_,__
024'810
,_,_y
.., tn : nT

,., " C-

, ,.>
-0.5
,,
',. "nT
tn~ <;,
Z •
" " r-
,s
, ,..
-0,5
-!,O +--_.-_-,
, Z ,__6~_-,-_~_ ,, , ,
8 6 8
ttl ": nT n: So'chu ky (tn'" nT) "
ttl :nT
0) h)

"
'"
"
"
"
"
, , I,LI/l111. ,IIPIII,IIII
" " C)
" " 50
Day rli~u hoO p

Hinh 8.211 LOlli be mMl d!lflg song bAng cach chuyen sang diiu khiAn bao Ma.
a) O~ ap giiia phsva trung tfnh ddi vcii 'PWM ba pha c6 bao hOa: b) Cae tfn hi~u
logiC di~ khi~n. oj Phal1 tfch phO dj~n ap cUa h"h a,

275
 (9.52)
Slnll ra cae dieu hoa dong di$n b!}c thap nhu: cae k& qua lten hlnh 9.28a va
11 va qua phD dong dj~n tren hlnh 9.28c van con a tr~ng thai 1 ho~c 0 trong
nhiE!U chu ky voi cae diEm hoa thap cd gia tri lon, d~ hi(!t dieu hoa b~c 7, 9,
11
Ta cci the' eM thi~n k€t qua nay bang c:ich dua them thanh phan thu t1,l
kh6ng va sti dl,lng di"{m khie'n t6i till d~ng:
1
u = Um[cos wt + - cos (3wt)] vai Urn > wm (9.53)
6
Hinh 9 29 ia vi d\l dieu
khie'n s6 cho mQt pha
Hinh 9.30 neu nguyen Iy
dieu khien s6 ba pha, ta
nhftn thay Tang d..1 giam
diEm ap co bien d(l ltd _I
thanh qua ian ta co the
Hlnh 11.21 rin hieu
dieu kt1i~n PWM khOng
them vao m{:lt so tin hi~u d6i ~Ung co them dikl hoa b~c ba.
dieu hoa h{:li ha. Dietl nay
dung voj chI§' d(! XRC
l~p hinh sin (ho!.ic
di"eu bi~n htnh sin).
Tuy v~y d ch€ d(! qua wi
d(> kh6ng ton t<:li khai \I
ni~m diEm hoa b*c ba
viing61 viing' I vung2 I vung3 I VfJng~ I vungS I .
va ta dm phai sll Pha _ Pha ><:Phb _ _ Phb "><PhC _ _ Phc frin nhat
d\lng Dlqt thu~t toaD Phc __._Phb PIIO">< Phe Phb">< Pha trung blnh
Phb"""--Phc-Phc Ph~ _PliO I Phb nho nl101
thlch h<;lp. vi dl,l ta co I I I I
the' chQn ll1¢t giai Hlnh 11.30 D",ng cae tfn hieu di'eu khi~n ki&u th&rn
phap thich I1ng vai di~ hoa b€ie 'bEl. ba pha,

diEm khien thdi gian

t.h\lc va trong ch~ d.., qua dO. Trong cac ty so chu ky (1:, =r;lT h ta dl1a vao 1l19t
thanh phan thu: t\l khOng ky hi~u Iii u"
1
(1:i = - (1 + u,/w m + ui/W m), = 1, 2, 3 (9-54)
2

276
vai U J Ia tin hi(m dam
khien (hlnh anh cua dien
• ,\,1m ~---_, ,/ "
lip mQng lllu~n), u" = ',F " , /" " " " /~
u/2 vai U j iii mQt trang Vm/2 '/Uj'Uc UpUb ",

ba tin hi8U di'{ju khi~n u - ."-~~-/---'--

l

> uJ > uk (hinh 931) ! /' -"',- ~/ '_~ /' '___ '
Hinh 9 32a va. b cha thay -Vm 1'----/ -,-----/
U/c"'Ub -u U
----/ '-----' UQ
thu!)t toan nay iiun gUllll k.- C
mea dang song khi HI"h 11.31 XAe dinh Cae tin hi~u i, > Ur > Uk

chuyen sang baa hoa

(hlnh 9,32cl Tuy nhien ta cung nh~n thi'iy ding neu ta muon giam cac dieu
hoa b~c thip ~ dlin den tang l1l¢t so dieu bOa b~c caD, trong truCJng hgp
nay Ill. M.c 17 vA 19.

9.6 DleV BIt:N vECTO

9.6 J. Dal cuong

Sa dl,lng cong ngM so cha phep tht,tc hi$n cac chien luge dieu bien ba pha
d~c bi~t khOng da.n dt'!'n ky thu~U tuong t1!. Di"eu bien vecto con g9i is khOng
gian vecto xii Iy tr1!c tiep trong Dl~t pMng hai pha cua bien d6i Concordia.
Gia thi@'t d1!a tren co sa di~u khi~n s6 vA thu~t toan dieu chinh da xac dinh
cac thanh phan mong muon v" va Uti'
Trang chuang 8 ta dB. tMy rang t~i lll¢t thbi diem cho truac bl) nghich
hiu chi co the' ph:it 8 dien :ip v, (i = 0, ... , 7) trong m~t phltng cua bien dai
Concordia (v"' v/1) hai di$n ap bang kMng con 6 dien :ip co mOdun ill. Ev2/3
va argulllen ]f/3(i - O. Hai vecta lien tiep ky hien iii (u l ) va (u l +- J) x:ic dinh
vung i (hlnh 9.33) vai i thul)c khoang [1, VI]. Ta co tM' viet dien ap (V\ duai
d{lng t9a dl) c1!C:
, ]f/3cos 1)'
(V), = ( "" )i !i
= E{ -;-;-1.
(j -

vf ' ;r/3sin(i . 11 \ (9.55)

= E4 3
p[;r/30 - 1) J
1
0,
BQ nghjch Juu khOng the' cung cap cac di~n ap (V)I 1l19t cach chfnh xac
va Wc thai Ta chi co the thuc hi$n 1ll9t dien lip (v 2) nAo do thea gia tri trung
binh trong mot chu ky bam T. De' chung minh dieu OIly ta nen vj€t di$n fip
(v~) muon thl!C hi~n duai d~ng t9a de) c1!r:: vai ll10dun V va goc ct,tc ~ (hlnh

277
9.33), rna tr~n quay P(~).

(9- 56)

Ta dimh dllu rnQt vu.ng niio do (I d~n VI) vecta thuOc villlg nay, nghia la
din xac djnh rp¢t so nguylln i thuQc vilng {l, 6] va g6c ~, thuQc [0, 6Ot'] sao
chu
~
. = ](/30 - 1) + ~ ,
t. (9- 57)

(v1 ) = VP[(rr/3i - 1) + II
~I) ~ (9- 58)

Thu~t toan x:ic d~nh i dugc rnO ta tr~n hinh 9.34.

VI ta chi co gia tri trung blnh (vz) ta phai ap d\lng cac gia trj co the thl,tc
hi(!n dugc (v)j trong cac khoang thbi gian bam xung T. De giarn thieu sl,t gQn
song di~n lip va ba.ng tho tl,t cac dieu hoa ta ch!l:p nh*n rAng phAi th\1c hi~n
(v2) bang hai di~n ap giln nhllt. Vi the ta d~.t:

(v z) = ~/V)j + ~i + I(V)j + I (9-59)

d day ~I va ~i + 1 Ia cac khoang thbi gian theo gia tri hwng.d6i ma ta cl$t di~n
ap (V)I va (V)j + I.

~i(V\ va ~i + I(V)] + I
Iii cac hinh chieu cua (v 2) l~n cac vecta Ian c$n.
Ta co the xac djnh ~, va ~i + I bang phudng philp hlnh h9C hO$c giAi dch.
De' ti~n hanh ta khai trien cac phudng trlnh (9- 58) va (9- 59)

VP[n!3(j - 1) + 'ill ~ I (9- 60)

~ Oi E 4 P[nI3(i - I)] I~I + °i • lE~ P[in!3][ I~ I

Phuong trlnh rna tr~n mlY dUQ"c don gian mOt cach d~ dang, ta nh~n dugc
hai phuang trlnh vo huang:
v
= cos ~i
EV2!3
V
~
=-""'"
Ev'2!3 8in~. 1

Cac phudng trl.nh nay co nghi(!m ia;

278
 Co
1.0

0.5

0.0
2 4 6 8 G 8 10
"
til" nT
0 2 4
in""- r
1
fI
Co
"ON
'.'
0.5,
'.0

0.' 0.5
-0.5
_ 1,0
,I , , , . 0 ,
t" "
2 4 6 8 2 4 6 8
= nT til = "
nT
"0' Co

W
"
0.5

'.'
-0.5
'5

_1.0
, 2
0
0 2 4 ,
4 6 8 10
tn ~ nT
n sO'ciluky (tl/=nT)
8
tn",nT "
Cue Ih~n rip f/hI! Iren hinh 9.28
nhri'ng sU- tiling MII?I loun (!}.54) bJ
OJ
',f
IOO~

"j.

O~~~~~~llll~UU~ ___
o 10 2030 4050p
8~ cac cIi-e1i l!oil
lip bien up cvrl ,/iill h(1U b¢c P chi(f eM bien dp luk'
oj
Hintl 8.32 Ch~ do qua do
a) Di~n ap gilia pha llli trung tinh: b) Cae lin hi~ logic di'{ju khl~n:
c) Phdn t{eh phO cua cae di~n ap hhh a.

279
 _v
~I = .J2----sin(n/3 - ~j) (9-61)
E
_ V
';2 - Bin(~'I) (9- 62)
E
Cae thOng 86 01 va 01 +1 cho cae khoang thai gian Ii va 1[ + I' trong cae
khoang do ta dfij.t di~n lip (V)j va (V)I + I
T Tj + I
<:.'J.
, = -'-
T va <:.'J., • I ~--
T (9- 63)

Cu6i cimg ta b6 xung vao chu k.Y T bling each lip d1,lng vectd kMng (V)"
hoac (V)7 trong cae khoang T" va T7

(9.64)

00 + 07 = 1 (\ - OJ + I (9-65)
Cae di~n lip nhtt tren blnh 9.28 nhttng si't d~lng thw)t toaD (9-54)
Cae khoAng thai gian 0" va 07 phai dl1c1ng ho~c hang kh6ng, rung thuqc
m!)t phang (va' vii) Ie da giac tr€m hlnh 9.33. Neu ta l!y til da giac tOng eua
cae mMun OJ 1Vi I + (\ + I I v, + I I Ibn hon ban kinh Yang trim, do ~y 0, +
OJ + I > I, di~u khi~n nily 13. khOng the th\ic hi~n dligc.

9.6.2 Chqn cae chuy'n m,ch "p 1 EV2{I

010 .-'~--- ,---,~~ 110
Vi d\l di"flu bil!n khOng d6i xang
~/ (11')3 n
kif!' u mf;lt ch i~u .
,/ 5'' :,
Vililc b6 t1'1 cae khoAng tu'C1ng
ung, d~c bi~t <\, va 6 7 co the t~o nen
nhi~u sl,l h,ta chon. Ta nhAn m!;lnh ,,
chi€"n h1Q"C thttang dung de toi thie'u ,,
hoa 86 i~n chu~n Dl{lch. Mot cach
kinh dien la chon chien ittQ"c dieu
bi/!n kh6ng doi xung. Ta lay vi d1,l Hlnh 11.33 Cae di~ ap phat trang m~t
dit')n ap nam trong vung III (hl.nh ph~ng (v". vtil vA ~ae dirtl cAe vU1g.

9.35). Ta thay d6i thu tv ki~u dieu

bien dtch phAi v o-v J -v 4 -v7 va m(:lt kieu dtch trai YrV4-V,-YO. Chu ky Jay mAu
IS. T. Chu kY may tinh va chu ky chuyen lU{lch gap d6i Th = 2T.
Trong thvc te ta thttbng chQn cac thai gian bAng nhau de' lip d1,lng cac

280
 i.2ho{kJ

Hlnh 11034 Thu,at loan )laC dinh VlI'1Q

vecto kh6ng ".

To = T7 = (T~ T1, - T~)/2
(9- 66)
Thea chien luac nay t.a
gia thiet. t.hbi gian tinh
toan rAt ngan, nghia lit nha
hem khoang thbi gian dau !J ~ 03 T
ti~n dfit vect.a kh6ng (Q,\T lie v II, 1'7 1'7 V. Vj Vo
r,,'" 04T
J
1(10(1) (t>!O) (011)(111)1111) (011) 1010) (000) ro~r7~iT-r:;(;)/2
hO;;lC 07T). Do vl).y ta co the ,, ,,"
chQn khoang thai gian dau
c, ,, ,
tien dl[lt vecta kh6ng {v"
ho~c v7) sao cho chung Ion
_-+'_l-'-+-+'_"__'
I , " '
C. ~'
hOn thai gian dnh toano I : : : -: I
Do v~y trong th1jC M
chien IUQc dfeu bien nay i I
rat thich hQP khi chu ky
ehuyen ml.lch T h tuang d6i
dai va thai gian dnh toan
kh6ng di[lt ra van de gi.
Dieu khien be) bien d6i T

lit van de co ban eua dieu

khieon may di~n
Hlnh 11.:110 vi dl) dieu b;An vectd khCing d6i x~rog.

281
 Cac chi{ln b.1~C diflU khh?'n bQ nghkh luu ap (m\lc 9.4) dong vai tro quan
tr9ng trong dieu khien thea quy lu~t V/f == const cua dQng cd kh6ng dong bQ.
DH~u khien PWM co song mang hm}c dieu khien vectd dong vai tro quan tI"Qng

trong dieu khien dOng Cd kh6ng dong bQ ciing nhu dOng cd dong bQ. Khi d¢ng
. cd dUQc cung cap tit: nguon dong, st! bien doi b¢ nghich luu nguon dong ba
pha (m\lc 9.3) la giai do~n chu yeu.

9.7 THl,fC HIJ1;N HJ1; TH6NG m£u KHI~N DONG CO XOAY CHI];:U
BA PHA TREN CO SO sil DT,JNG BO xii LY TiN HIJ1;u 86 KI~U
TMS 320C20/C25 [2)
Ml,lc nay gUli thi~u M th6ng dieu khh~~n 86 truyen d¢ng di(in xoay chieu
ba pha th~c teo

9.7.1 Sa 11IQ'c ve phlin Clrng

Phan cung gom hai khau chinh: khAu di~n tu dietl khi~n va dieu chinh
chua cac b¢ vi xu ly va phan giao di(in voi c6ng ngh~ (gam co cac phhn til do
h.tCmg, bO bien dOi) nhu hinh 9.35.
Thong thuong cac phsn tit giao di~n cong ngh(i dUQ"c dii xen van kh6ng
gian nha cua bQ vi xU- I)' duai d~ng d~a chi xac dtnh va do do chung du~c bl?
vi xU: ly truy nhap dQc/ghi nhu 1119i 0 nha thong thuong. B¢ nha du li~u }a

pc
(co cal #1 phon
m~m phdf Irlen)

Hl"h 11.35 CAu trUe eel b:\n eua phlln e,Jng trong qua tr"i1h pMt t[ilin ph"an m~m.

282
lo~i d9C va ghi dl1Q'c (RAM) va dl1Q'c ky hi~u la DRAM. Khi thi~t b~ chua hOllD
thi(!n va dang trong giai do~n phat tril~n thl1C1ng dung RAM de hiu giii chuang
trinh, gQi Ia PRAM. Vi~c dung PRAM cho phap thay doi chuong trinh m9t
each d~ dAng. ~ sau khi phhn m~m da. dn dinh, thiet bi da dUQ'c holm thi(!n
ta co th~ thay PRAM bang EPROM la ROM co th@' l~p trinh duQ'c.
Vi~c n~p mit chl10ng trlnh cho EPROM dUQc th1,1c hi~n nha may n~p. Thl,lc
t€ It co lo!;'.i may n~p dt)c l$p, may n~p chu yeu g6m ba kh6i:
1 Ht)p chan de co nhi~u chAn de cO the' cam nhieu lo~i EPROM khac
nhau, dong thai chlla ngutm n).lOi
2 BAng m~ch gbep h¢p chAn d~ vlli may tinh dieu khien PC
3 Phan mf!Dl cai dl)t trong PC co nhi~m V\l nh:)n d::mg EPROM, ki~m tra
EPROM truae va sau khi n~p, dieu chinh qua trlnh n~p.
Khi thiet k€ phiin cung pMi t~o cho M eo kha nang ghpp n6i vai PC qua
cae cong vI. d\l RS232, RS485 hO$.e TTY. Nhb khau ghep noi do phli.n 1l1em
vi.~t tr~n PC cO th~ dUQe ehuyli'n xu6ng PRAM m(>t each thu~n ti(ln. Ngoai ra

PC phAi dl1Q'c cili d$.t san Chl1dng trinh phat tri€:n phan mf>lll eho bo vi xli If
gbrn cae thanh pha.q Bau:
1 C-compiler trinh bi~n dich tit ng{m ngit C sang hdp ngit.
2 Assembler trtnh thong djch tit help n@ ,;ang nUl llHlY
3 Linker trinh ghep noi lien k€t Cal: chuong t rinh rai ~e

th8nh chudng trinh dAy d\i dUdi d~ng ma may.

4 Locator trinh dieu khi~n dinh vi ('lie' ('\1m mft chuang trinh
a d~a chi mong muon.
Trong b6n thilnh pha.n trt'>n ba thilnh philn ,.;au bat buqc phai co, rieng
hai thanh phan sau co the kh{mg t("lll tai dttoi dQ.ng hai chtwng trinh doc IQ.p,
nUlla I\\¢t Chl1dng trlnh chia thanh hai nhjp voi hni ch\~c nang tuang ung_
Hinh 9.36 lit Call trU(' etla h(o vi xli Ij kep trong do h{) xu If Hn hieu so TMS
320C25 (Digit.al Signal Pl'oc(':,;,;;or ('lhl Tf'xa~ In;;trument, vi(.!. tat la DSP) va
be) vi dieu khi~n SAB CIG7 111iero('ontrolll'I' elm Siemens, vi€t tat lit ,lie) Hai
h9 nay ph6i hQp ho:-:tt. dqng- thpo kii;u 1/(' lit ('hu., DSP iii.. t.o va d\(Qc phAn c6ng
nhi~m vu nhu ,;au:
t I [1ST' thtlt· hj('ll 101m b6 vii'f· I!nh lOan trong thi:1i gian th\ie dung eho
djpu khii:n d(mg- ("(j. Vi ('Ii I(w tI() 11nh t.o;'m ('ao DS!' ('0 vai t.rb nhu b9 dong
XII 1.',-' t rong- PC va chill ,;If chi ph(li ella lie.

283
 May
Resolver (kern me phung Ice)
phd! fac ICE

Khien bi-en tOn, do Vwe

va dang is", iSY

Vi xu' Iy lin hi~1J

TMS 320C25

Hinh 1,30 CAu true ehi ti@t eua h~ vi Xtl Iy kep.

2 flC th\1c hi~n cac nhi~m V\l it doi hoi t6c d() cao nhu dieu khie'n DSP,
dieu khif!'n ghep nEii, thea ddi baa v~ phan cong su{lt cua bitfn tin va d¢ng cd,
dieu chinh vectd khimg gian de dong, ciit cac van bien tan (do DSP tinh) dUQ'e
lie thu'c hi~n bang M thong thanh ghi PWM co san.
Hinh 9.36 cho thAy vi$c ghep n6i voi the gioi ben ngoai gam:
1 Khau ghep voi bien tan gatn co dieu khien bien tan qua cae thanh ghi
PWM cua ,IIC do dii;'n ip UM(. cua m~ch tnQt chieu trung gian, do hai dong
di$n pha stato iSti' i'iV th\1c hi~n kh6ng ch€ bao VI} bitln tan.
2 Khau do toe dQ quay. Bang lllQt l1l~ch ghep phu ngu'i:1i !iii: dl,mg eo the'
I,(a chQn tn¢t trong ba cach do: dung Iluiy phat t6c, dung ICE hoac Resolver.
a Khau tiep xuc veri np;ttoi ,;l'f d,mg, ydj h¢ thong cap tren thong qua ban
phim, cac cii:a van ra ph,1
D6i tl1t;lng quan tam chlnh eoLla chung ta la DSP la b6 xU: ly tin hi~u s6
B6 xu 1.1 tin hi$u s6 TMS 320(;25 dliQc che tao thea eong nghe CMOS co cae

284
tinh nAng ehinh sau day:
Chu ky l~nh III 100 ns
C6 kha nang dja chi hoa 64 kB, 64kB nM du li~u
554B DRAM tien phien chia !ibn ba kh6i BO, Bl, B2 trong dci 256B
(EO) c6 th~ dung lanl PRAM
Ch ttdng trlnh nguon htdng thieh vd'i h~, j,ren than
4kB ROM, rieng IOi;li TSM320E25 co 4kB EPROM
Bo nhan song song 16 x IG bit voi k€t qua 32 bit
Thanh ghi ehfnh va ALU 32 bit
L~nh nhan j l~nh nh6 !l19t nhjp.
DSP co h(lienh dQ.c bi~t phil hQ"p vd'i thth~t tmln xU: Ii tin hieu nhtt b¢ 19C
b(ic cao, ph6i hgp nhieu dQng Ui.e trong 1119t nhip l~nh, do do thich hdP vd'i
viec thl!C hi~n cac thu~t toan dieu ehinh thai gian thl!f~.

PROM
4K" 16

AUS-O) PA(IS·O)
(AJ·o,DIS-O)

~-I~ flo Ports

D (15·0) 161116

Time
/(; - Bit
Barrel

Hlnh 11.31 C§u true ben frong eUi'\ DSP TMS 32OC25.

285
 DSP va flC ho:;tt dong thea kieu "hand - shaking" nghia la DSP s11 d\lng
chAn XF lam cb bao cho tiC biet chu ky tinh toan cua DSP da ket thuc vii. flC
cd the' truy nhl).p van RAM de trao dOi du: lit}u moi (hinh 9.38). Khi nh$.n dugc
cb bao (XF = 0), pC cd the ph at tin hit}u HOLD doi DSP cho phep truy nh$.p
vao RAM DSP tra Ibi cho phep Mng tin hit}u HOLDA. Neu dn khi pC truy
nh;(i.p vao RAM, DSP co the tiep t\lC tinh vcri nul. l~nh cat a khOi BO tr~n chip.

Hlnh 1.38 B~u dO )(ung thg hi~ pI16i h!;lp hO!1-t dOng giila I,e va DSP
9.7.2 Chuan b! vU!it chuang trinh
De xay d\l"ng phhn m~m ngoAi cAe thu(tt toan dA trlnh bAy trong cac
chudng truac ta con pMi ti~n hanh:
1 Chuan hoa cac c6ng thuc dp' kh1l CRC ddn vj cho tat cA cac tham so,
dOng thai nga.n ngUa V11Qt qua d¢ Ion cho phep ella di3 lieu Mot m!)t dQ Ion
cua cac dii' lit}u bi 'h,n che b<'Ji kba. nang cua bl) vi xii if 8, 16 holitc 32 bit.
mi[tt khac phep dnh d~u thuan tlly s6 hQc, kMng cd thl! nguyen
2 Tim cac tham 56 can thie"t cho tlnh toan tit: tinh tr\ic tiep theo cac dQ.i
htgng tren nhan hi~u dong Cd hol).c thong qua do luang truc tiep d(mg Cd.
De ll%tp trinh ta can cd ANSI C-Compiler hOi;1,C'(va A."sembler, Linker. D6i
vcri DSP TM 320C25 do chu ky tinh qua nhO, do yeu call trong thai gian th\ic,
dong thai do cau truc CUR DSP chua phlic tap nen viec \;)p trlnh hang h9P
ngii vtin to ra uu the hon so vdi \~p trlnh h~l.ng ngon ngi( C.
DP' kip'm thu chuang trlnh thong thuhng can co phil.n ctlng. hoac uang-
board Calll vao PC, ho~e dang thiN hi lI(lC b~p v;\ rhttdng- tnnh dr,huggf'r \)6i
vdi truang hQp dieu khien ch)ng ('0 xoay ehipu ba pha tn ("(In ('(i thp' xay dlfng
chudng trinh ti:rng bHac va ki6m tra tr\l"(' ti(;p t.rl'n ('ll ,.;t'1 dn d:l<". x('m Xf't ph;ill

2i'16
ung cua d¢ng co. DRY 1a phuong thuc liml viec co hiijm qua, giaDl dUQc chi phi
ve thie't hi va phan mllm.
nANG TOM TAT cAe HAC TfNII Cilli YEU CliA Il~: TRuyr~N lJ()N(; Ttl lJQNG

COng ngh(! BO biAn dOi dien BO biAn dOi di(!n BO bill"n dOi dien BO bign dOi
truy~ dong Ap PWM cho ap 10Bn sang ap PWM ba dang OtOnOm
dOng cd khOng dmg cho dOng mllc dmg cho dung cho dOng
cWng bO cd khOng dOng dong cd khOng cel khOog dOng
b, dOng bO b'
LOlli dOng cd khOng dOng bO khOog dllng bo khOng dOng bO khOng dOng bO
ItHlg _~.~~_ .. _. ~ ____ ~Ong s6c lOng sOC cao ap long s6c hll ap
,
Lo,;li bO bien dOi bO chinh hJu . bi;i chi'nh luu . bO chinn luu . bO chlnh JiJu .
nghich JiJu ap nghich liJu ap nghich JiJU ap 3 nghich hJu dung
chuy~n m.,.ch chuyfin m:;tch mllc chuyen OtOnOm
cudng bllc cUOng bllc milch cuang bllc
PWM " va PWM

Linh ki(ln bO bi~n diOt tiristo diOI tiristo

dOi Judi (chlnh liJU)
- ------~

Linh ki'n bO bign GTO ho~c GTO GTO va diOt tiristo va diOt
dOi dOng cd tranzito va diOt
(nghich Juu)

Dai cOng suilt til 1 kW dM dgn 3MW den 12 MW 0,1 din 3MW
3MW
Dai tdc dO (tlin nhi~u ngh'l, v/ph nhi~u ngh'l, v/ph dgn 8000 v/ph < 6000 v/ph «
s6) dinh mllc « 400 Hz) (< 1000Hz) (< 120 Hz) no Hz)
Dai dii~n ap cUa 380 dAn 660 V 380 den 660 v 3,3 den 6,6 kV < 1000 V
bO bi@n dOi va vA dll"n 1500 V va dAn 1500 V
dOng cd

Ph:;tm vi diltu 1 den 100% 10 den 100% 1 den 1OQ')b 2 den 100%
chlrrh tOc dO
-- I--
Vung Jam vi(!c 2 g6c phlion tu 2 g60 phlin IU 4 2 g6c ph§n tu 4 g6c phan tu
(c6 thO ch<;W1 4 g6c ngu bO bien (c6 th.A chon 4
g6c ph§n IU) deii diu song g60 phll.n tu}
song nguoX

Ph"" vi slJ ck,lng mQ ling dl,l'1g may belm, quat, m€ly bdm. qu:;tt. ling dl,l'1g da,c
cOng suat nM nen nhao, may nEm rrhBo. can biil't (nang h.,.)
va trung b'l,h dap·
-
Nh6n xat di"&u khien vectd thfch hCp truy"An dmg cho dOng GOng nghe It
kh6ng ohii ohlnh dOng tn,lc tiiip Cd cOog suAt rat dudC slJ dl,lng
xac mamen dong Cd 16n I;" I
1

287
 nAN(; T<lM T,h cAe n~<-' TiNIl aIlj YEl! ciJA II~: TH.lJYEN Bt)N(; TV D9NG
(tiel' tht'o)
.
80 bi!\n doi nng dudi d6ng bo 8ign tiin eho DOng Cd d6ng DOng cd mOt
dong dlfig eho va tren dang b6 dong cd khong bO tiJ khong che chieu
dOng cd khOng d6ng bo
dOng bO

DOng cd khOng khOng dOng bO roto kh6ng dOng bi;i dong b6 krch III doc I~p
dOng bO long dAy qUSn lOng s6c
,',
Be chlnh IlIU - bO chfnh IlIU, nghich bien IAn tnJc bO chfnh ILlu - I bO chlnh IlIU
nghich IlIU dong luu dOng dieu khi~n liep chuy~n nghich ILlu dong dieu khiAn va
chuyen mi;\ch Iheo rOlo m:;lch di~u khien dib.. khien nghjch ILlu diDu
di~u khi~n khien (neu dAD
ehieu)
.
Tiristo tilislo tirislo liriSIO tiriSlO
..
Tiristo tilisto ho1i.c GTO tirislo lilislo lilisto
diol " t
. .
0.5 den 20 MW dudi Iren 40 MW 0,5 den SOM va o den 20 MW
dOng bO d6ng bo hdn nua
20 MW 60 MW

4000 v/ph 1500 v/ph 1900 600 vlph (Iy den 8000 vlph < 3000 v/ph
(tludng hdp d(te v/ph thuyel 1000 v/ph)
bi~t e6 Ih~ hdn) eong ,
suit l<'In
3600 v/ph

D,S den 7.2 kV < 18 kV <, 18 kV 1 d.e:n 10 kV 1 den 2 kV

10 den 100% 50 dOc

100%
70 den
130%
° den 100% 5 den 100'70 o den "()O%

. f--
2 g6e phlln tLl mol hoi\l,e hai g6e 4 g6e phan ttl 4 g60 philn tu 2 g6e ph!n ttl
phan III 4 g6e phAn Itl
i neu cAu song
song ngtldc
, mAy bdm, quat. truyen deng mAy ap dl,lflg t6c dO dung eho cae mOl ling dl,lng
nen Iy t§.m bdm, quat nen Iy thip mOman Idn dong ed 16n e6ng nghi~p tOe
tOm (mAy cAn. keo nh'l IS. may nen dO thay dOl
tau)
..
dung eho dOng eOng ngM eu do cung sl.i dung gi6i h?n e6ng
cd dieu tOe pMi SLl dl,lflg vanh eho dOng Cd suat do e6
tnidl dong be eung vanh gop

I I ling dl,mg ,

288
 TAl LI~U THAfil KHAO

L Dieu khien tt,t d(mg truyen d¢ng dii;!n, Bui quae Khanh, Ph~tn Quoc
Hai, Nguyen van Li~n va Duong van Nghi; NXB Khaa hQc va ky
thu~t, 1996.
2. Dieu khif!D t1! dt)ng truyi'm d¢ng xoay chi~u ba pha, Ngu~n PhUng
Quang; NXB Gilio dl,lc, 1996.
3. Ky thu~t vi dieu khiflD, Le Van Doanh va Phl;ltn KM.c Chuong; NXB
Khaa hQc va ky thu~t, 199B.
4. Cam nang ky thu~t dilim, dieu khi~n t1,t dt)ng va tin h9C cong nghi~p;
Le van Doanh djch, NXB Khaa hoc va ky thui)t, 1999
5, Xu Ii tin hi~u va lQc s6; Nguy~n Quae Trung; NXB Khaa hoc vA ky
thu(lt, 1998.
6. Commande par calculateur identification, Maurice Rivoire - Jean Louis
Ferrier; Eyrolles, 1997
7. Computer-controlled systems: Theory and Design. Astrorn &
Writenmark; Prestice Hall, 1996
B. Applied Digital Control, Theory, Design and Implementation. JR. Leighi;
Prentice Hall, 1992
9. Reglages echantillennes, H Buhler, Presses Polytechniques roman des,
1983
10. Systemes de mesures informatises. Tran Tien Lang; Masson 1991
11. Electrical Machines and Drives, Peter Var; Oxford Science Publication,
1992.
12. Regimes transitoires des machines electriques tournantes. Technique
de l'ingenieur, D554, Traite Genie electrique
13. Commande numerique des machines a courant continu Technique
de l'ingenieur, D3641, Traite Genie electrique
14. Commande nUlnerique des ensembles convertisseurs - machines.
Technique de l'ingenieur, D3640, Trait€! Genie electrique
15. Commande numerique des machines triphases: regime permanent,
Technique de l'ingenieur, D3642, Traite Genie electrique
16. COlllmande numerique des machines triphases: regime intermediare
et transitoire. Technique de l'ingenieur, D3643, Traite Genie electrique
17. Real- Time IP Position. Controller Design with Torque Feedfoward
Control for PM Synchronous Motor, J. J. Lin. IEEE Transactions on
industrial electronics, June 1997

289
 MI,IC LI,IC

Lai noi dAu 3

ClUMllg 1. DAI CVONG VE DIEU KHIEN s6 MAY Dr€N

1.1 Cau true h~ thong truy£m d(.lng dii'!Jn 7
1.1.1 Sd db kh6i tclng quat eua h~ thong truy~n dQng di~n 7
1.1.2 Di1!u khi~n hldng t\f va di1!u khie'n 56 9
l.2 So sinh dil!,u khien 56 va dieu khi~n tuong tl,l 10
1.2.1 Cae h~n che elLa di1!u khi~n tuang tl,l va uu di~m cua
dieu khi€n so 10
1.2.2 Uu di~Dl' ella thiel hj tuang tl,l va nhuQc die'm cua thilit
bJ ~ 11
1.2.3 Cae uu diem co Hnh chat quyel dinh cue. dieu khi~n so 15
1. 3 Xu huong pMi hQp di1!u khien 56 va di1!u khien Wong tl,! 16
1.4 Ph6i hQp di~!U khien hldng tl,l va di'eu khien 56 trong
dieu khil~'n dQng Cd khOng dong bi? 17
1.5 Van de tan 56 trong dieu khil~n so may di~n 18
1.6 Biii toan dl\it rll doi vai dii~u khie'n 56 may di~n 19
1.6.1 Xay dl,lng roo Mnh dieu khie'n 19
1.6.2 X8y d\!ng rn6 blnh toan cho h~ truyen d¢ng ditfln 20
1.6.3 Xay dl,mg thOng s6 cua cac ml.lch vang b.wng t~ 20
1.6.4 Xac dinh thOng so cua ml.lch vang di"eu khien so 20
ell/Will{ 2. XU LY TiN HII;:U 56
2.1 Tin hi~u va M thOng r?li rl:lc 25
2.1.1 Tin hi~u tUdng t1,1. 25
2.1.2 Tin hi~u IUQ"ng tu: hoa 25
2.1.3 Tin hJ~u raj rl.lC 26
2.1.4 Tin hi~u s6 26
2.2 Cac h~ th6ng xu Ij tin hi~u 26
2.3 Bi~u di~n tin hi~u rai ~c 27
2.4 H~ th6ng tuy~n tinh 28
2.4.1 H~ thOng xU: Iy s6 28
2.4.2 Dap Ilng xung Clla he th6ng tuyt!n tinh 28

290
2.5 Dap dng xung va ham truyen dJ;lt 29
2.6 Bi~u dii;n M thOng vll. dn hi~!U rai r~c trong mien Z 29
2.6.1 Bie'u dien z thu!).n 29
2.6.2 Bien deli z 30
2.6.3 Cvc va zerO 31
2.6.4 Bi~n doi z ngtlQc 33
2.6.5 Cac dnh chlit cd bim CUll bien doi z 33
2.7 Bieu dien cac M thong rai r~c trong mi~n z 36
2.7.1 Ham truYEm d~t CUll he th6ng raj r~c 36
2.7.2 Bie'u di~n ham truyen d~t theo cac cVc va zero 37
2.7.3 Phan dch M thOng trong mien z 37
2.7.4 Phan dch M thOng ral r~c 39
2.8 Bieu di~n M th6ng va tin hi~u rOi r~c trong mien thn s6 39
2.8.1 Bien doi Fourier ral r~c DFT 39
2.8.2 Bien doi Fourier nhanh FFT 41
2.9 B{l IQc so 43
2.9.1 Nguyen 1y lqc tin hii;m 43
2.9.2 B(:t xu 1y tin hi~u so DSP 44
2.10 LAy mllu va hiu giu tin hi(m 86 45

CIUWIIR 3. MO HiNH MAY D1~N vA THIET Bl BIEN DOl

3.1 Cac gia thiet dCln gUm hoa 50
3.2 Tom tat nhung van d~ Cd ban ve suc di~n d{lng va mo m.en
di~n tit ella M thong day qUAn co dong di~n chay qUIl 51
3.3 M6 hlnh clla lluiy di(ln tll9t chieu 52
3.3.1 Sd do va phl1Clng trinh t6ng quat cua may di~n
m.(>t chieu 52
3.3.2 May di$n lll{lt chieu t6ng quat 54
3.3.3 Anh hlUlng CUll day qUAn bil 56
3.3.4 Dieu chinh toc d¢ d(mg cd m¢t chieu bang tac dOng len
di~n ap philn ung 57
3.4 Mo hlnh toan hQC cim may di(ln xOlly chieu 59
3.4.1 Sa do may di~n xoay chieu 59
3.4.2 Bien dOi Park 59
3.4.3 Phlfdng trinh Park 61
3.4.4 C6ng suat va momen 62
3.4.5 Khai ni(lm ve may di~n tong quat 63

291
3.5 May di~n dong be. 63
3.5.1 L~p phudng trinh may di~n dOng bl!) SU dl:mg
bien doi Park 63
3.5.2 Vi d\l !lng d\lng 66
3.5.3 Nghien cU"u ngan lll~ch ba pha khi khong teli 68
3.5.4 Dc di~n khang va hang s6 thai gian thea thi nghi(ml
ngan m~ch ba pha 71
3.5.5 Sd do tltdng dltdng 72
3.5.6 Xet. anh huang cua bao haa 75
3.6 M6 hinh may di~n kh6ng dong bl!) 76
3.6.1 Pht1dng trinh ella may di~n kh6ng dong b¢ 76
3.6.2 ChQn h~ tQa d¢ 78
3.6.3 M6 hinh d¢ng cd kh6ng dong b¢ t.hea quan dil:~m dieu
khien 80
3.6.4 M6 hinh gian daan eua d¢ng cd kh6ng d5ng b¢ 80
3.7 M6 hinh twin hoc ella b¢ bien d6i cung cap eho may di~n 84
3.7.1 M6 hinh lien t\le 84
3.7.2 Cau true dieu khien 56 va mo hlnh rai rl.lC 86

C'II((1I1~ 4. HE THONG DIEU KHIEN' SO

4.1 Cac Sd do tong quat cua h~ dfeu khien s6 91

4.2 Ham truyen cua yang hi$u ehlnh s6 93
4.3 Tieh phan, dl.la ham so 95
4.3.1 Tieh phAn s6: phep tong 95
4.3.2 Dl.lo ham s6: vi ph:ln 96
4.3,3 Dl.lo ham so co iQc 96
4.4 PID s6 98
4.4.1 Ham t.ruyen thea z 98
4.4.2 Lap trinh bl!) dipu chlnh PID s6 98
4.4.3 Cae pht1dng an khac eua PID s6 100
4.5 Tn~ thuan, b~c cua h$ thong 101
4.5.1 Bac cua h~ th6ng 101
4.5.2 Tr~ thuan 101
4.6 Dl.lng ehuan cua ham truy~n 103
4.7 CVe, zero, 51.! 6n dinh cua h(! dieu ehinh 104
4.7.1 Cl.!c 104
47.2 Zero 104

292
4.8 M6 hlnh so b*e nhilt 105
4.9 Mo blnh so b~e bai 107
4.9.1 Ham truyen eua m6 hlnh 56 b&.e hai 107
4.9.2 Bieu do xae dtnh th6ng s6 108
4.10 Dap ung tAn cUa M roi rl;lc 113
4.11 On dinh cua M thong so kin 113
4.11.1 TUm chuan Jury 114
4.11.2 Tieu chuan on d~nh h~ kIn 116
4.12 DI) chinh xac 117
ChItOIl/{ 5. TONG HQP BO DIEU CHfNH SO
5.1 Dl;li cudng 118
5.2 Tim guy lu~t di~u khili'n 118
5.3 Doi tUQng di~u khiiin 120
5.4 Tdng hQp bl) dmu ehlnh cho doi tUQng PI 120
5.4.1 Tin hi~u d::)t 103. buoc nhay ddn vi 120
5.4.2 Tin hi~u d(it la rang CUB ddn vj 122
5.5 Phudng phap phan bo cae el,te 124
5.6 Phudng phap mo hinh 125
5.7 Nh(j.n xet ve dae dnh cua doi tU:Qng 127
5.7.1 Dieu khien d6i tUQng bieu di~n bang phudng tnnh bi).e
nhat 127
5.7.2 NghiAn cuu dap ung Mng pha.ng ngay l~p tile 128
5.7.3 Tinh b¢ dieu chinh 129
5.7.4 Truong hQp bi).c G(z) Ian hdn 1 130
5.7.5 Ket lu(j.n 131
58 Dieu chinh doi tUQ"ng IOl;li P 2 131
5.9 Di~u chinh doi tUQng loai P J 132
5.9.1 Cac dnh chat eua doi tuong G(z) 132
5.9.2 ChQn rnO hlnh H[m)(z) 133
5.9.3 Cae dnh chAt cua cac da thuc R, S, T 133
5.9.4 Cac buoe tong hQ"p b¢ dieu chinh 135
5.9.5 Bam sat va dieu ehinh doi tUQng dl)e l~p 135
5.10 Phuong phap bien tr!.lng thai 138
5.10.1 Bien tr!.lng thai cua M di~u khien 138
5.10.2 Tong hQp bl) hiEj!u chinh tr;;tng thai 141

293
 CluJolI/( 6. OAI CUONG VE CAU TRUC PHAN CUNG vA CHUONG
TRINH PHAN MEM DUNG CHO OIEU KHIEN s6 MAY OleN

6.1 D~i cUClng v~ cAu truc phAn c11ng dung cho di~u khi~n
may di~n 145
6.1.1 Tieu chuan i1,1a chQn 145
6.1.2 Cac hQ bq vi xu If thOng d\mg 146
6.1.3 Cac hQ b¢ vi di~u khie'n thOng dyng 148
6.1.4 Cac b(l xu If tin hi~u s6 149
6.2 Ghep n6i b(l vi xu If, b¢ vi di~u khien va b¢ xu If tin hi~u s6 151
6.3 Do t6c d¢ quay d¢ng cO 152
6 3.1 Si't dyng b¢ cam bi~n quang toc d¢ vai dia mR hoa 152
6,3.2 SU d\lng may do goc tuy~t doi 156
63.3 Phudng phap kh6ng Stl d\lng b¢ cam bi~n toc dO 158
6.4 M(lt so d!)c diem chuang trinh phan DIem trong di~u khi~n s6
may di~n 158

C!U((JI/K 7. D1EU KHIEN s6 DONG CO DIJ;:N MOT CHIEU

7.1 DiElU khi~'n lien t\lC mlilch Yang dong di~n 163
7.1.1 M6 hlnh 163
7 1.2 Cc'1u truc h(! thOng di~u khh~n 165
7.1.3 H~ th6ng biJ. qtc 165
7.1.4 DAp 11ng t6i l1u 166
7.1.5 S:1p xep cac qtc 168
7.2 Di~u khil~'n roi r~c m~ch Yang dong di~n 171
7.3 Chuye'n tu dieu khi~'n wong tv sang di~u khi~n so trl,iC ti~p 174
7.3.1 D",i cuong 174
7.3.2 Tom tcit ve dieu khie'n tuang tl,f 178
7.3.3 Dieu khh~n s6 dUQc bipn doi ti:r di~u khi~n hlC1ng t1,1
ho~c dieu khi~n lai 181
7.3.4 Dieu khien s6 tr1,1c ti~p 183
7.3.5 M6 hinh roi r~c 186
7.3.6 So sanh dnh nAng di~u khi~n s6 187
7.4 ChQn chien IU'Qc dieu khi~n trong trU'ong hQp
b¢ chinh luu tiristo 190
7.4.1 Cau truc vA tu~n tV dieu khi~n 190
7.4.2 Mo hlnh ri1i r",c 192
7.4.3 Ch9n b¢ dieu chinh 193

294
 7.4.4 Dieu ehinh thea gi~ tr! trung blnh 193
7.5 Diflu khif!n s6 t6c dQ 196
7.5.1 Vl'ln de tln 86 My nuiu 197
7.5.2 B¢ bien doi t6e d¢ hai Ian thn 86 lay Ilulu 198
7.5.2.1 MO hl.nh va tong h9P m~h vang dong di~n 199
7.5.2.2 MO blnh vii. tong hQ"p 1lll;lCh vong t6c dO 201
7.5.2.3 Bi~n d6i wang duong sa <fi"l rbi "t~c 202
7.5.2.4 MO hlnh dieu chinh hai IAn tAn so My mdu 204
7 .5.3 Di~u khi~n 96 t6c dt') mt')t tAn 96 lily m~u 207
7.5.3.1 Di"eu chinh· tJ1.lng thai khOng cd khei kha.n v~ thbi
gian dnh t08n 207
7.5.3.2 Dieu chinh t~ng thai co viln d~ ve thai gian dnh
toan 210
7.5.3.3 Dfeu chinh bang sap xep cilc qtc 211

ChiwllK H. OIEU KHIEN s6 DONG co BA PHA: CHE DO XAc LAp

8.1 Cong CL,l ma tr!)n trong h¢ thong di€m khien truy€m d¢ng di~n
xoay chieu ba pha 215
8.1.1 Ma tr!).n Clarke 215
8.1.2 Me tl'l).n Concordia 216
8.l.3 Ma trl,\n quay 217
8.l.4 Bien d6i Concordia vii. bi~n dt'U Park 217
8.2 Cau truc vii rnb hlnh hoa dic bl) nghich hlu ap 220
8.2.1 GiOi thi~u chung 220
8.2.2 Mb hlnh vii. bien doi Concordia di~n lip 221
8.2.3 Gifi tri di¢n lip vii dong diij!n 222
8.2.4 Mo hlnh doi voi dong di~n 223
8.2.5 COng Built truyen tai 224
8.2.6 Sa db chile nAng
8.2.7 Ca.c chien hl9c dieu khi~n bQ nghjch hlu 225
8.3 Dieu khien t08n song bQ nghjch hlu fip 226
8.3.1 D~g song 226
8.3.2 Quy lw)t dH~u khien
8.3.3 Mo hlnh heia theo gia tri tl1c thai 22.
8.3.4 Ly thuy~t dieu hOO b~ nbilt 228
8.4 Dieu khi~n voi cAe dieu bien xac dinh tnto(' 230
8.4.1 Nguyfm Iy 230
8.4.2 Sa di"l chl1c nang 236
R 4.3 Cac viln de I1ng d1,lng 237

295
 B 4,4 Vi dl,l ung dl,lng trong c6ng nghi~p 238
8A.5 Truyen d(Jng khong dong be) cong suat IOn 240
8.4.6 Sa d~ wong duang di"eu khiA"n PWM il.lp trlnh tnrck 242
8.5 Diflu khi~n s6 d¢ng co d~ng b¢ r6to nam cham vtnh ci'tu 242
8.5.1 M6 hlnh d(mg ca dOng b¢ rOto nam cham vlnh ci'tu 243
8 5.2 Sa do truy~n d¢ng d¢ng ca dOng b¢ nalll cham vInh ci'tu
dung he) xi't Ii dn' hieu s6 244

C/IIMIIK 9. DIEU KHIEN 56 D(lNG cO DI~N XOA Y CHIEU

BA PHA, CHE DO QUA DO
9.1 Dieu khien thea phuong phlip dieu bien d¢ r¢ng xung
kelll theo song ll1ang 247
9.1.1 Nguyen ly 247
9.1.2 Bien d6i Concordia va Park ap d1}.ng cho h¢ nghjch luu
ap di"eu bi~n PWM 250
9.1.3 Chqn u" 252
9.2 Di'eu khi~n bang di'eu' bien kep 254
9.2.1 CAi thi~n cac dieu hoa bl.1C cao voi dieu khien toan song 254
9.2.2 Dieu chinh tMnh phan ca ban bang each xep chong mOt
dieu bien d¢ rQng xung PWM 254
9.3 Dieu chinh dong di~m be) nghich luu ap 256
9,4 PWM hlnh sin. S6 hoa 257
9.5 S6 hoa cac dieu khien PWM cO song mang 261
9.5.1 Dieu bien tuong tl,t tl,t nhi@n kh6ng trii 261
9.5.2 Dietl bien s6 deu 263
9.5.3 Dieu bien so d6i xung 269
9.5,4 Di"eu bien so khOng d6i xung 271
9.5.5 Thuc hi~n dieu bien ha pha. Cai thi~n cac ttnh na.ng 273
9.6 Dieu bien vecta 277
9.7 Thl,tc hi~n h~ th6ng di"eu khiA"n d¢ng co xoay chieu ba pha
trl!n co sa si't dl,mg b¢ xi't Ii tin hi~u 86 kitiu TMS 320 C20/25 282
9.7.1 Sa iuqc v~ phan cling 282
9.7.2 Chut'i'n bj vi€t chuong trlnh 286
Bang tom t:it cac dac dnh chu y~u cua M tMly~n d¢ng tl,l
dQng 287
Tai li~u tham khao 289
Ml,lc i1,lc 290

296
-Ii Gi<i: 30.000d