Chng 5

iU KHIN VECTOR
NG C KHNG NG B

1
Vector khng gian H ta abc v

Trc pha B

Trc pha A

B

Trc pha C

H trc ta abc v h trc ta

2
Vector khng gian H ta abc v

A B C

0 50 100 150 200 250 300 350

Sc t ng 3 pha

3
Vector khng gian H ta abc v

Trc pha B

Fcs Cc vector sc t ng trong trng hp: t 0o

Fas
Trc pha A

Fbs

Trc pha C

Trc pha B

Fcs
Fbs

Fas

Cc vector sc t ng trong trng hp: t 60o

Trc pha A

Trc pha C

4
 Vector khng gian H ta abc v

Vector sc t ng tng Fss c nh ngha l:
FSs
FSS
F Fas e
s
s j 0o
Fbs e j120o
Fcs e j 240o

s t

FSs

Vector sc t ng tng

5
Vector khng gian H ta abc v

A B C

0 50 100 150 200 250 300 350

Sc t ng 3 pha hnh sin v cn bng

Tn hiu trong h trc ta abc
6
 Vector khng gian H ta abc v

FSS

s t

Trong trng hp dng xoay chiu ba pha cn bng v hnh sin,

vector Fss c bin khng i v quay vi vn tc tng ng
vi tn s ngun cung cp. 7
Vector khng gian H ta abc v

FSs FSs

0 50 100 150 200 250 300 350

Sc t ng trong h trc
Tn hiu trong h trc
8
Vector khng gian H ta abc v

Fas Fbs Fcs

0 50 100 150 200 250 300 350

o
( )

Sc t ng 3 pha hnh sin + sng hi bc 5 (5%)

Tn hiu trong h trc ta abc

9
Vector khng gian H ta abc v

FSS

s t

Trong trng hp khc, v d khi c hi bc 5 (c 5%) trong sng

dng in, vector Fss c bin v vn tc quay thay i.
10
Vector khng gian H ta abc v

FSs FSs

0 50 100 150 200 250 300 350 400

o
( )

Sc t ng trong h trc
Tn hiu trong h trc
11
 Vector khng gian H ta abc v

Khi nim vector khng gian c th m rng cho cc i lng

khc.

Vector dng stator: i i e

s
s
s
as
j 0o
i e s
bs
j120o
i e s
cs
j 240o

Vector dng stator: v v e

s
s
s
as
j 0o
v e s
bs
j120o
v e s
cs
j 240o

Vector t thng stator: e

s
s
s
as
j 0o
es
bs
j120o
e s
cs
j 240o

12
 Php chuyn i h ta abc v
Mt vector, v d vector dng i ss c th trin khai trong h ta
abc hay h ta .

Trong h ta abc: iass , ibss , icss

Trong h ta : is s , is s

Vy:
i s ias e ibs e
s s j 0o s j120o
ics e
s j 240o
is s jis s
i v e
s
s
s
as
j 0o
v e s
bs
j120o
v e s
cs
j 240o
vs s jvs s
e
s
s
s
as
j 0o
e s
bs
j120o
e s
cs
j 240o
s s j s s

13
 Php chuyn i h ta abc v
Cc thnh phn trong h trc ta abc v h ta c th quy
i qua li vi ma trn chuyn i tng ng.
V d: chuyn cc thnh phn ca i ss t h ta abc :
1 1 i s
1
is s as
2 2 s
s ibs
i s 3 3 s
0
2 cs
i
2
V chuyn cc thnh phn ca i ss t h ta abc:
2
0
iass 3 s
s 1 1 i s
ibs 3 s
i s 3 i s
cs 1 1
3 3
14
 Phng trnh dng p trong h ta
R
Phng trnh in p stator:
i
d ss Ri
v R i
s
s
s
s s
dt
d
Phng trnh in p rotor: v L e
dt
drr
v R i
r
r
r r
r r
dt

15
 Phng trnh dng p trong h ta

Lu l phng trnh in p stator thnh lp trong h ta gn

vi stator (ng yn trong khng gian), cn phng trnh in p
rotor thnh lp trong h ta gn vi rotor (quay trong khng
gian vi tc ca rotor).

v rr

H trc ta
rotor

H trc ta
stator
16
 Phng trnh dng p trong h ta
Cc i lng rotor c th quy i v stator nh sau:
j
e
i rs i rr Vi:
a T1
Ns
v rs a T1e j v rr a T1
Nr
: t s vng dy qun stator/rotor,
rs a T1e j rr
t : l tc quay ca rotor
Rr a R 2
T1
r
r

Phng trnh in p rotor quy i v stator:

d s
v rs Rr i rs r
jrs
dt
17
Phng trnh dng p trong h ta

Phng trnh in p m t ng c:
v ss Rs i ss p ss

v rs Rr i rs ( p j )rs

Vector t thng:
ss Ls Lm i ss
s
r Lm Lr i rs

18
 Phng trnh dng p trong h ta
Phung trnh in p cho ng c c vit li:
v ss Rs pLs pLm i ss
s
v r ( p j ) Lm Rr ( p j ) Lr i rs

Trong :
Lm: in cm h tung,
Ls: in cm stator = Lls + Lm,
Lr: in cm rotor = Llr + Lm,
Lls: in cm tn stator, Llr: in cm tn rotor,

Lu : v v s jv s ; i i s ji s
s
s
s s s
s
s s

19
 Phng trnh dng p trong h ta

Vit li dui dng cc thnh phn theo trc :

vs s Rs pLs 0 pLm 0 is s
s
v s 0 Rs pLs o pLm is s
vs r pLm Lm Rr pLr Lr is r
s s
v r Lm pLm Lr Rr pLr i r

Lu l vi ng c khng ng b, thng thung rotor uc

ngn mch nn:
vrs 0 vs r 0; vs r 0

20
 Phng trnh momen ng c

Momen ng c tnh theo cng thc:

M PLm ( is s is r is s is r )
2
3
Hay:

M PLm Im ( i ss i rs* )
2
3

21
 M hnh ng ca ng c KB

Phng trnh biu din in p ng c trong h ta :

v ss Rs pLs pLm i ss
s
v r ( p j ) Lm Rr ( p j ) Lr i rs

Phng trnh biu din t thng ng c trong h ta :

ss Ls Lm i ss
s
r Lm Lr i rs

22
 M hnh ng ca ng c KB

Cc phng trnh ny c th m t bng s mch in nh hnh:

iSS Rs Lls Llr Rr i S

r

v S
S p S
S
Lm
p S j rS
r

23
 M hnh ng ca ng c KB

Lu y l mch tng ng m hnh ng ca ng c khng

ng b (c th p dng phn tch trng thi qu hoc xc
lp ca ng c).

Mch tng ng ca ng c trng thi xc lp c th suy ra

t m hnh ny vi gi thit l dng, p 3 pha trong ng c ch
xc lp, c dng hnh sin v cn bng.

24
 Mch tng ng xc lp ca ng c
KB suy ra t m hnh ng

Khi dng/p 3 pha trong ng c c dng hnh sin v cn bng,

vector dng/p c th biu din bng vector quay nh sau:

v ss 1.5 2Vs e jS t

i ss 1.5 2Is e jS t

i rs 1.5 2Ir e jS t

25
Mch tng ng xc lp ca ng c KB suy
ra t m hnh ng

Thay cc i lng vector trn vo phng trnh in p m t

ng c, lu l:
d s d
dt
(
i s 1.5 2 Is e jS t jS 1.5 2 Is e jS t
dt
)
d s d
dt
(
i r 1.5 2 Ir e jS t jS 1.5 2 Ir e jS t
dt
)
V:
v rs 0

26
 Mch tng ng xc lp ca ng c KB suy
ra t m hnh ng

Ta suy ra h phng trnh m t ng c trng thi xc lp:

Rs jS Ls jS Lm
VS Is
Rr
0 jS Lm jS Lr Ir
s
V:
s L Lm Is
s
s s

Lm
Lr Ir
r

27
Mch tng ng xc lp ca ng c KB suy
ra t m hnh ng
H phng trnh trn c th biu din bi mch tng ng nh
hnh di y.
IS Rs Lls Llr Rr/s Ir

VS
jS Lm
jS r
S

Momen ng c trng thi xc lp:

( )
M 3PLm Im Is Ir* 28
Phng trnh ng c trong h ta xoay dq
Trong iu kin vn hnh xc lp, cc thnh phn ca vector
dng/p biu th trong h ta c dng xoay chiu vi
tn s s.
Cc h thng iu khin thng dng cc tn hiu t c
dng mt chiu thay i theo thi gian.
V vy, cc i lng dng/p xoay chiu ny khng thch
hp khi iu khin.
Tuy nhin, nu biu din cc vector dng/p ny trong h
trc ta quay ng b vi vector (vn tc quay s), ch
xc lp, cc thnh phn ca vector dng/p trong h trc
ta mi s c gi tr khng i theo thi gian.
29
Phng trnh ng c trong h ta xoay dq

Gi vector in p trong h trc ta xoay dq l v es , ta c:

v ss v es e jS t

V: q
S
v ve
e s jS t v SS

d
s s

H trc ta
Lu :
dq
v e

vs e
e ds

vqs H trc ta

30
Phng trnh ng c trong h ta xoay dq

Ma trn chuyn i dq:

vdse cos (s t ) sin (s t ) vS s
e S
vqs sin (s t ) cos (s t ) v s

Ma trn chuyn i dq :
vS s cos (s t ) sin (s t ) vdse
S e
s ( s )
v sin t cos ( s ) vqs
t

31
 Phng trnh ng c trong h ta xoay dq

Phng trnh biu din in p ng c trong h ta dq:

v es Rs ( p js ) Ls ( p js ) Lm i es
e
v r ( p jsl ) Lm Rr ( p jsl ) Lr i er
Lu :
s: tc ng b, : tc quay ca rotor
sl: tc trt = s-.
Phng trnh momen:

M PLm ( iqs idr ids iqr ) PLm Im ( i es i er* )

2 e e e e 2
3 3
32
 Nguyn l iu khin vector C KB

Vi ng c DC:
Phng trnh momen ng c DC:
M K iu

Momen sinh ra trong ng c l kt qu tng tc gia dng phn ng

v t trng sinh ra trong phn kch t ca ng c.
Cu to ca ng c DC cho php iu khin c lp t trng v
dng phn ng ca ng c C th iu khin c lp t thng v
momen ng c. V vy, ng c DC c cht lng p ng rt cao.

33
 Nguyn l iu khin vector C KB

Tng t ng c DC, ng c KB cng c:

Rotor tng ng vi mch phn ng ca ng c DC
Stator tng ng vi mch kch t ca ng c DC
Tuy vy, do cu trc ca ng c KB, dng rotor thng khng th iu
khin trc tip. Hn na, phng trnh momen ca ng c l phi tuyn.

iu khin vector nhm iu khin ng c KB nh mt ng c DC,

ngha l t thng v momen ng c c th iu khin c lp vi nhau.

34
 Nguyn l iu khin vector C KB
Phng trnh momen ng c KB (biu th qua dng stator v t thng
rotor):

M (
2 P Lm e e
3Rr r
iqs dr idse eqr )

1 Lm e 1 e e
ids dr sl qr
e

p r r
dr

1 Lm e 1 e e
iqs qr sl dr
e

p r r
qr

Lm
Trong : r
Rr
35
 Nguyn l iu khin vector C KB

Phng trnh momen ng c KB cho thy s phc tp khi iu

khin ng c v m hnh ng c l phi tuyn v cc bin c quan h
ln nhau (cross coupling).
Nu c th iu khin mt s bin sao cho chng lun bng zero, m
hnh ng c c th tr nn tuyn tnh v d iu khin hn.

36
 Nguyn l iu khin vector C KB

Nu c th iu khin sao cho: q

S
eqr 0

d
r
H trc ta
dq
M hnh ng c c th n gin ha:
r
2 P Lm e e
M dr iqs k edr iqse H trc ta
3Rr r

Khi : er edr

iu kin eqr 0 c th tha khi h trc ta xoay dq quay ng b vi

vector t thng rotor er , v vector ny nm trn trc d ca h ta dq.

37
 Nguyn l iu khin vector C KB

1
r

e Lm
- edr
i
ds
1
x
PLm
M
r + p 3Lr

e
i
qs

S khi C KB khi eqr 0

38
 Nguyn l iu khin vector C KB

Hn na, nu c th iu khin sao cho:

edr const

ng c KB c th iu khin tng t nh ng c DC vi ch
t thng khng i.

39
 Nguyn l iu khin vector C KB
T thng rotor er edr c th iu khin thng qua thnh phn dng

stator idse .
Ta c: e
iqs x
PLm
M
edr Lm 3Lr
G ( p) e
ids r p 1 edr

G(p)

e
ids
40
 Nguyn l iu khin vector C KB

Tm li, nu c th iu khin sao cho: edr const , ng c KB c th

c iu khin nh mt ng c DC vi phng trnh momen:
M k edr iqse

Trong :
T thng edr iu khin thng qua thnh phn dng stator idse ,

Momen ng c iu khin thng qua thnh phn dng stator iqse .

41
 Nguyn l iu khin vector C KB

Hai phng php kinh in thng dng trong iu khin vector (iu
khin nh hng trng) ng c KB:
iu khin trc tip: dng cm bin o trc tip t thng ng c,
iu khin gin tip: suy ra t thng ng c qua cm bin o v tr
rotor.

42
 iu khin vector C KB kiu trc tip
Nguyn l:
o t thng khe h khng kh ca ng c (dng cm bin),
Tnh ra vector t thng rotor er r r

Gc r dng trong cng thc chuyn i h trc ta dq v

ngc li. Nh vy, h trc ta xoay dq quay ng b vi vector t

thng rotor er , v vector ny nm trn trc d ca h ta dq.

q
S

r d
H trc ta
dq
r
H trc ta
43
 iu khin vector C KB kiu trc tip
Tnh vector t thng rotor er t vector t thng khe h khng kh mS :

Tnh rS t mS v vector dng stator i ss (tnh ton trong h trc ta

tnh ):
Lr S

S
r m Llr i ss
Lm
iSS Rs Lls Llr Rr i rS

v S
S p S
S p S Lm
p S j rS
m r

44
 iu khin vector C KB kiu trc tip

T y, suy ra cc thnh phn ca rS trong h trc ta tnh :

rS S r jS r

Lr S
S r m Llr is s
Lm
Lr S
r
S
m Llr is s
Lm

T vector rS tnh c, bng php chuyn h ta vung gc sang

h ta cc, c th tnh c cc thnh phn r v r ca er .

45
 iu khin vector C KB kiu trc tip

r s
Khu tnh
r s
r

ias
ie*s ias*

e*
i dq
ds ibs* ibs
e*
is ics*
iqse* abc
ics

H thng iu khin vector cn bn

46
 iu khin vector C KB kiu trc tip

r s
Khu tnh

r
r
s
- ias
e* *
i e* i
*r + ds
dq
i
s

as

ibs
ibs*
e* e*
i i
s
ics*
qs
M* abc ics
+
-
M

r
Khu tnh
Momen
r

iu khin vector ng c KB vi phng php iu khin trc tip

47
 iu khin vector C KB kiu gin tip
Nguyn l:
Trong phng php ny, gc r c tnh ton da trn vn tc trt

sl* cn thit .

Nu gi S* vn tc ng b cn thit duy tr h trc ta xoay dq

quay ng b vi vector t thng rotor er , gc r c tnh ton nh

sau:
t t t
r sl* dt dt sl* dt
0 0 0

Trong l gc quay ca rotor v c th o c bng cm bin

gn trn rotor.
Gi tr sl* cn thit c th tnh ra t dng stator v thng s ng c. 48
 iu khin vector C KB kiu gin tip

Do er edr , ta c:

i ( edr Lm i eS )
e 1
r
Lr
T y , c th suy ra:
edr 1 r p LmidS
e

sl r edr LmiqSe

49
 iu khin vector C KB kiu gin tip

T h phng trnh trn, c th chng minh c gi tr sl* tnh nh sau:

e*
1 i Lm
sl* qS
, r
r idS
e*
Rr

Cc tn hiu idSe* v iqS

e*
c th tnh ra t gi tr t thng t *r v momen

t M* nh sau:
r p 1
e*
idS *r
Lm

M*
i
e*

k *r
qS

50
 iu khin vector C KB kiu gin tip

ias
r idse* i e* ias*
s
*r
1
Lm
p
r dq ibs* ibs
Cm
1 iqse* i e*
i* bin

s
M* abc cs
ics v tr
k*r

sl* sl* + +
1
p

iu khin vector ng c KB vi phng php iu khin gin tip

51
 iu khin vector C KB kiu gin tip

So snh vi phng php iu khin trc tip:

Phng php iu khin gin tip n gin hn v v tr rotor c th o
bng cm bin gn ngoi.
Tuy nhin, trt cn thit sl* ph thuc vo thng s ng c

Lm
r . Thng s ny bin thin ng k trong qu trnh vn hnh
Rr
ng c.

52