Chuong 3

Chng 3
iU KHIN VNG KN NG C DC
1
H thng iu khin vng kn ng c mt chiu
Ngun
w* + Khu hiu VI + Khu hiu Vk Mch

B bin i
chnh - chnh kch
-
w i
Cm bin dng
Mch lc
+
-
ng
c
Mch lc
My pht tc
2
Hm truyn ng c DC kch t c lp
Mc(s)
Vd(s) E(s) I(s) - w(s)

1 Ru + 1B
K
+ us 1 ms 1
- M(s)
3
Xt vi Mc = 0:
Vd(s) E(s) 1 Ru I(s) M(s) 1B w(s)

K
+ us 1 ms 1
-
J
m : thi hng c ca ng c
B
R
u u : thi hng in t ca ng c
Lu
4
Xt vi Mc = 0:
H thng trn c th rt gn thnh:
Vd(s) km1 ( m s 1) I(s) km 2 w(s)

( m1s 1) ms 1
Ru B
m1
K Ru B
2
K
km
K Ru B
2
B
km1
K Ru B
2
K
km 2
B 5
Hm truyn B bin i & Khu hiu chnh
Hm truyn b bin i: Vk a Vd
Mch
Vd ( s ) B bin i
kbd kch g
Vdk ( s )
Hm truyn khu hiu chnh:
Khu t l (P): Ghc ( s) K1

K 2 khc (1 hc s)
Khu t l-tch phn (PI): Ghc ( s ) K1
s hc s
6
H thng iu khin vng kn
Xt vi Mc = 0 v tn hiu t w*:
Vng dng in
w* +
VI
+
Vd(s) km1 ( m s 1) I(s) km 2 w(s)
KI Kb
- - ( m1s 1) ms 1
Khu hiu chnh Khu hiu chnh
c bo ha t l (P)
(P hoc PI) KhtI
Kft
7
Xt vi Mc = 0 v tn hiu t w*:
Vng dng in
w* +
VI I(s) km 2 w(s)
KIC
- ms 1
Khu hiu chnh
c bo ha
(P hoc PI)
Kft
8
Tc dng ca vng iu khin dng in:
Iu (s) 1
k IC
VI ( s ) khtI
Khi c sai lch nhiu gia tn hiu t v tn hiu hi tip ca vng tc , ng ra khu
hiu chnh vng tc s t gi tr ln nht VIm.
Khi , vng iu khin dng in s duy tr dng phn ng ng c gi tr:

Ium kICVIm
Vy, c th hn ch dng phn ng mc cho php bng cch tnh chn gi tr ph hp

cho kIC v VIm.
9
Xt vi tn hiu t w*= 0 v Mc :
KhtI
Mc(s)
- - w(s)
w* Khu HC + Vd E(s) 1 Ru + 1B
KI Kb K
+ P hoc PI
+ u s 1 I(s) M(s) ms 1
- -
Kft
10
Xt vi tn hiu t w*= 0 v Mc :
Mc(s)
+
- 1B w(s)
Khu HC
-1 K ft K htI K
P hoc PI
M(s) ms 1
Tc ng ra w(s) lc ny biu th st tc ca ng c
khi mang ti Mc
11
Tc dng ca khu hiu chnh P ln
vng iu khin tc
Vng iu khin tc s dng khu hiu chnh t l (P) vi h s khuch i kw
Gi tc t ca h thng l w *
Tc khng ti ca ng c:
k ft kw km 2 k IC
wo w*
1 k ft kw km 2 k IC
st tc khi mang ti Mc:

Mc
w
K kw k ft kIC
Tc ng c khi mang ti:
k ft kw km 2 k IC Mc
w wo w w *
1 k ft kw km 2 k IC K kw k ft k IC
12
Tc dng ca khu hiu chnh PI ln
vng iu khin tc
Vng iu khin tc s dng khu hiu chnh t l -tch phn (PI)

Gi tc t ca h thng l w *
Tc khng ti ca ng c:
wo w *
st tc khi mang ti Mc:
w 0
Tc ng c khi mang ti:
w wo w w *
13
p ng ca h thng iu khin vng kn
B chnh lu ng c
200
w*
w 150
100
w
50
100
80
60
i
40
20
0
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (s)
p ng qu ca h thng b chnh lu - ng c
khi khi ng khng ti
Khu hiu chnh vng tc : P vi Kw = 20
Khu hiu chnh vng dng in: P vi KI = 15 14
B chnh lu ng c
200
150
w
100
50
100
80
60
i
40
20
0
1.8 2 2.2 2.4 2.6 2.8 3
Time (s)
khi mang ti
B chnh lu ng c
200
w*
150
100
w
w
50
100
80
60
i
40
20
0
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (s)
khi khi ng khng ti
B chnh lu ng c
160
155
150
w
145
140
100
80
60
i
40
20
0
1.8 2 2.2 2.4 2.6 2.8 3
Time (s)
khi mang ti
Khu hiu chnh vng tc : P vi Kw = 200 17
Khu hiu chnh vng dng in: P vi KI = 15
B chnh lu ng c
200
w*
150
w
100
w
50
100
80
60
i
40
20
0
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (s)
khi khi ng khng ti
Khu hiu chnh vng tc : PI
B chnh lu ng c
160
155
w
150
145
140
100
80
60
i
40
20
0
1.8 2 2.2 2.4 2.6 2.8 3
Time (s)
khi mang ti
Khu hiu chnh vng tc : PI 19
B chnh lu ng c
200
150
100
w
50
100
80
60
i
40
20
0
1 1.5 2 2.5 3 3.5 4
Time (s)
khi gim tc
Khu hiu chnh vng tc : PI 20
B chopper ng c
200
150
w
w*
w
100
50
100
50
0
i
-50
-100
0.8 1 1.2 1.4 1.6 1.8 2
Time (s)
p ng qu ca h thng b chopper lp C - ng c
khi gim tc
Khu hiu chnh vng tc : PI

Chuong 3

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Chuong 3

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Chng 3

w* + Khu hiu VI + Khu hiu Vk Mch

Vd(s) E(s) I(s) - w(s)

Vd(s) E(s) 1 Ru I(s) M(s) 1B w(s)

H thng trn c th rt gn thnh:

Vd(s) km1 ( m s 1) I(s) km 2 w(s)

Hm truyn khu hiu chnh:

Khu t l (P): Ghc ( s) K1

Tc dng ca vng iu khin dng in:

Khi , vng iu khin dng in s duy tr dng phn ng ng c gi tr:

Vy, c th hn ch dng phn ng mc cho php bng cch tnh chn gi tr ph hp

Vng iu khin tc s dng khu hiu chnh t l (P) vi h s khuch i kw

st tc khi mang ti Mc:

Vng iu khin tc s dng khu hiu chnh t l -tch phn (PI)

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