LI M U

Ngy nay vi s pht trin khng ngng ca nn khoa hc k thut to ra nhng thnh tu to ln, trong ngnh t ng ha cng gp phn khng nh vo thnh cng . Mt trong nhng vn quan trng trong cc dy truyn t ng ho sn xut hin i l vic iu chnh tc ng c. T trc n nay, ng c mt chiu vn lun l loi ng c c s dng rng ri k c trong nhng h thng yu cu cao. V vy em c giao ti tt nghip l: Xy dng h truyn ng in ng c mt chiu s dng b iu khin PID. Ni dung ti c chia lm 3 chng: Chng 1. Tng quan v h truyn ng in mt chiu Chng 2. Xy dng m hnh h truyn ng in mt chiu trn Matlab v Simulink Chng 3. Xy dng m hnh vt l b iu khin PID iu khin ng c in mt chiu Trong qu trnh lm ti tt nghip, em lun nhn c s hng dn, ch bo tn tnh v cung cp nhng ti liu cn thit ca thy gio GS TSKH Thn Ngc Hon. Em xin gi ti hai thy li cm n chn thnh. Tuy nhin, do thi gian v gii hn ca n cng vi phm vi nghin cu ti liu vi kinh nghim v kin thc cn hn ch nn bn n ny khng trnh khi nhng thiu st rt mong s ng gp kin ca thy c bn n ca em c hon thin hn.

Sinh vin thc hin

Lu c Trng

CHNG 1. TNG QUAN V H TRUYN NG IN MT CHIU

1.1. TNG QUAN V NG C IN MT CHIU 1.1.1. Cu to, phn loi ng c in mt chiu a. Cu to ca ng c in mt chiu ng c in mt chiu c th phn thnh hai phn chnh: Phn tnh v phn ng. - Phn tnh hay stato hay cn gi l phn kch t ng c, l b phn sinh ra t trng n gm c: +) Mch t v dy cun kch t lng ngoi mch t (nu ng c c kch t bng nam chm in), mch t c lm bng st t (thp c, thp c). Dy qun kch thch hay cn gi l dy qun kch t c lm bng dy in t, cc cun dy in t nay c mc ni tip vi nhau. +) Cc t chnh: L b phn sinh ra t trng gm c li st cc t v dy qun kch t lng ngoi li st cc t. Li st cc t lm bng nhng l thp k thut in hay thp cacbon dy 0,5 n 1mm p li v tn cht. Trong ng c in nh c th dng thp khi. Cc t c gn cht vo v my nh cc bulng. Dy qun kch t c qun bng dy ng bc cch in v mi cun dy u c bc cch in k thnh mt khi, tm sn cch in trc khi t trn cc cc t. Cc cun dy kch t c t trn cc cc t ny c ni tip vi nhau +) Cc t ph: Cc t ph c t trn cc cc t chnh. Li thp ca cc t ph thng lm bng thp khi v trn thn cc t ph c t dy qun m cu to ging nh dy qun cc t chnh. Cc t ph c gn vo v my nh nhng bulng. +) Gng t: Gng t dng lm mch t ni lin cc cc t, ng thi lm v my. Trong ng c in nh v va thng dng thp dy un v hn li, trong my in ln thng dng thp c. C khi trong ng c in nh dng gang lm v my. +) Cc b phn khc:

Np my: bo v my khi nhng vt ngoi ri vo lm h hng dy qun v an ton cho ngi khi chm vo in. Trong my in nh v va np my cn c tc dng lm gi bi. Trong trng hp ny np my thng lm bng gang. C cu chi than: a dng in t phn quay ra ngoi. C cu chi than bao gm c chi than t trong hp chi than nh mt l xo t cht ln c gp. Hp chi than c c nh trn gi chi than v cch in vi gi. Gi chi than c th quay c iu chnh v tr chi than cho ng ch, sau khi iu chnh xong th dng vt c nh li. - Phn quay hay rto: Bao gm nhng b phn chnh sau. +) Phn sinh ra sc in ng gm c: Mch t c lm bng vt liu st t (l thp k thut) xp li vi nhau. Trn mch t c cc rnh lng dy qun phn ng. Cun dy phn ng: Gm nhiu bi dy ni vi nhau theo mt qui lut nht nh. Mi bi dy gm nhiu vng dy cc u dy ca bi dy c ni vi cc phin ng gi l phin gp, cc phin gp c ghp cch in vi nhau v cch in vi trc gi l c gp hay vnh gp. T trn c gp l cp tri than lm bng than graphit v c ghp st vo thnh c gp nh l xo. +) Li st phn ng: Dng dn t, thng dng nhng tm thp k thut in dy 0,5mm ph cch in mng hai mt ri p cht li gim tn hao do dng in xoy gy nn. Trn l thp c dp hnh dng rnh sau khi p li th t dy qun vo. Trong nhng ng c trung bnh tr ln ngi ta cn dp nhng l thng gi khi p li thnh li st c th to c nhng l thng gi dc trc. Trong nhng ng c in ln hn th li st thng chia thnh nhng on nh, gia nhng on y c mt khe h gi l khe h thng gi. Khi my lm vic gi thi qua cc khe h lm ngui dy qun v li st. Trong ng c in mt chiu nh, li st phn ng c p trc tip vo trc. Trong ng c in ln, gia trc v li st c t gi rto. Dng gi rto c th tit kim thp k thut in v gim nh trng lng rto.

+) Dy qun phn ng: Dy qun phn ng l phn pht sinh ra sut in ng v c dng in chy qua, dy qun phn ng thng lm bng dy ng c bc cch in. Trong my in nh c cng sut di vi Kw thng dng dy c tit din trn. Trong my in va v ln thng dng dy tit din ch nht, dy qun c cch in cn thn vi rnh ca li thp. trnh khi quay b vng ra do lc li tm, ming rnh c dng nm cht hoc ai cht dy qun. Nm c th lm bng tre, g hay bakelit. +) C gp: C gp gm nhiu phin ng c c m cch in vi nhau bng lp mica dy t 0,4 n 1,2mm v hp thnh mt hnh trc trn. Hai u trc trn dng hai hnh p hnh ch V p cht li. Gia vnh p v tr trn cng cch in bng mica. ui vnh gp c cao ln mt t hn cc u dy ca cc phn t dy qun v cc phin gp c d dng. b. Phn loi, u nhc im ca ng c in mt chiu - Phn loi ng c in mt chiu Khi xem xt ng c in mt chiu cng nh my pht in mt chiu ngi ta phn loi theo cch kch thch t cc ng c. Theo ta c 4 loi ng c in mt chiu thng s dng: +) ng c in mt chiu kch t c lp: Phn ng v phn kch t c cung cp t hai ngun ring r. +) ng c in mt chiu kch t song song: Cun dy kch t c mc song song vi phn ng. +) ng c in mt chiu kch t ni tip: Cun dy kch t c mc ni tp vi phn ng. +) ng c in mt chiu kch t hn hp: Gm c 2 cun dy kch t, mt cun mc song song vi phn ng v mt cun mc ni tip vi phn ng . - u nhc im ca ng c in mt chiu Do tnh u vit ca h thng in xoay chiu: sn xut, truyn ti..., c my pht v ng c in xoay chiu u c cu to n gin v cng sut ln, d vn hnh... m my in (ng c in) xoay chiu ngy cng c s dng rng ri v ph bin. Tuy nhin ng c in mt chiu vn gi mt v tr

nht nh trong cng nghip giao thng vn ti, v ni chung cc thit b cn iu khin tc quay lin tc trong phm vi rng (nh trong my cn thp, my cng c ln, u my in...). Mc d so vi ng c khng ng b ch to ng c in mt chiu cng c th gi thnh t hn do s dng nhiu kim loi mu hn, ch to bo qun c gp phc tp hn. Nhng do nhng u im ca n m my in mt chiu vn khng th thiu trong nn sn xut hin i. +) u im ca ng c in mt chiu l c th dng lm ng c in hay my pht in trong nhng iu kin lm vic khc nhau. Song u im ln nht ca ng c in mt chiu l iu chnh tc v kh nng qu ti. Nu nh bn thn ng c khng ng b khng th p ng c hoc nu p ng c th phi chi ph cc thit b bin i i km (nh b bin tn....) rt t tin th ng c in mt chiu khng nhng c th iu chnh rng v chnh xc m cu trc mch lc, mch iu khin n gin hn ng thi li t cht lng cao. +) Nhc im ch yu ca ng c in mt chiu l c h thng c gp - chi than nn vn hnh km tin cy v khng an ton trong cc mi trng rung chn, d chy n. 1.1.2. c tnh c ca ng c in mt chiu a. Nguyn l lm vic ca ng c in mt chiu Khi cho in p mt chiu vo, trong dy qun phn ng c in. Cc thanh dn c dng in nm trong t trng s chu lc tc dng lm rto quay, chiu ca lc c xc nh bng quy tc bn tay tri. Khi phn ng quay c na vng, v tr cc thanh dn i ch cho nhau. Do c phiu gp chiu dng in d nguyn lm cho chiu lc t tc dng khng thay i. Khi quay, cc thanh dn ct t trng s cm ng vi sut in ng E chiu ca sut in ng c xc nh theo quy tc bn tay phi , ng c chiu s E ngc chiu dng in I nn E c gi l sc phn in ng. Khi ta c phng trnh: U = E + R.I

b. c tnh c ca ng c in mt chiu kch t c lp Khi ngun mt chiu c cng sut khng ln th mch in phn ng v mch in kch t mc vo hai ngun c lp nhau. Lc ny ng c c gi l ng c in mt chiu kch t c lp[2].

Hnh 1.1: S ni dy ca ng c in mt chiu kch t c lp Ta c phng trnh cn bng in p ca mch phn ng nh sau: U = E + (R + Rf)I Trong : U: in p phn ng, V E: Sc in ng phn ng, V R: in tr mch phn ng, I: Dng in ca mch phn ng, A Vi: R = r + rcf + rb + rct r: in tr cun dy phn ng rcf: in tr cun dy cc t ph rct: in tr tip xc cun b Sc in ng E ca phn ng ng c c xc nh theo biu thc:
E P.N .. 2 a K ..

(1.1)

(1.2)

Trong : P: S i cc t chnh N: S thanh dn tc dng ca cun dy phn ng

a: S i mch nhnh song song ca cun dy phn ng : T thng kch t di mt cc t : Tc gc (rad/s) K=

P.N : H s cu to ca ng c 2 a

T (1.1) v (1.2) ta c:
U K . Ru Rf .I K .

(1.3)

Biu thc trn l phng trnh c tnh c in ca ng c Mt khc, m men in t Mt ca ng c c xc nh bi Mt = K. .I Vi I

Mt : thay gi tr I vo (1.3) ta c K .

(1.4)

U K .

Ru Rf .Mt ( K .)2

(1.5)

Nu b qua tn tht c v tn tht thp th mmen c trn trc ng c bng m men in t, ta k hiu l M. Ngha l: Mt = Mc = M
Uu K. Ru Rf .M (K.)2

(1.6)

y l phng tnh c tnh c ca ng c in mt chiu kch t c lp. Gi thit phn ng c b , t thng = const, th cc phng trnh c tnh c in (1.3) v phng trnh c tnh c (1.6) l tuyn tnh. th ca chng c biu din trn hnh 1.2 l nhng ng thng. Theo cc th, khi I = 0 hoc M = 0 ta c:
0

U K .

c gi l tc khng ti l tng ca ng c in mt chiu kch t c

lp.

Hnh 1.2: c tnh c in v c tnh c ca ng c in mt chiu Khi = 0 ta c:

I U Ru Rf Inm

(1.7) (1.8)

M = K. .Inm = Mnm Inm v Mnm c gi l dng in ngn mch v m men ngn mch.

Ngoi ra phng trnh c tnh (1.3) v (1.6) cng c th c vit di dng:

U K .
U K .

R .I K .
R .M ( K .)2

(1.9) (1.10)

Trong : R = R + Rf,
0

U K .
R .I K . R .M ( K .)2

c gi l st tc ng vi gi tr ca M. T phng trnh c tnh c ta thy c 3 tham s nh hng n c tnh c: t thng ng c , in p phn ng U, in tr phn ng ng c. 1.2. CC PHNG PHP IU KHIN TC NG C IN MT CHIU - Phng php thay i in tr phn ng

- Phng php thay i t thng - Phng php thay i in p phn ng 1.2.1. Phng php thay i in tr phn ng - y l phng php thng dng iu khin tc ng c in mt chiu +) Nguyn l iu khin: Trong phng php ny ngi ta gi U = Um,
m

v ni thm in tr ph vo mch phn ng tng in tr phn ng[3]. cng ca ng c tnh c:

(k) 2 Ru Rf

(1.11) cng nh ngha l c tnh c cng dc v

+) Ta thy khi in tr cng ln th do cng mm hn.

Hnh 1.3: c tnh c ca ng c khi thay i in tr ph ng vi Rf = 0 ta c cng t nhin

TN

c gi tr ln nht nn c tnh c t

nhin c cng ln hn tt c cc ng c tnh c c in tr ph. Nh vy, khi ta thay i Rf ta c mt h c tnh c thp hn c tnh c t nhin. - c im ca phng php: +) in tr mch phn ng cng tng th dc c tnh cng ln, c tnh c cng mm, n nh tc cng km v sai s tc cng ln . +) Phng php ny ch cho php iu chnh tc trong vng di tc nh mc ( ch cho php thay i tc v pha gim). +) Ch p dng cho ng c in c cng sut nh, v tn hao nng lng trn in tr ph lm gim hiu sut ca ng c v trn thc t thng dng ng c in trong cn trc.

+) nh gi cc ch tiu: Phng php ny khng th iu khin lin tc c m phi iu khin nhy cp. Di iu chnh ph thuc vo ch s mmen ti, ti cng nh th di iu chnh D = iu chnh trong di D = 3 : 1 +) Gi thnh u t ban u r nhng khng kinh t do tn hao trn in tr ph ln, cht lng khng cao d iu khin rt n gin. 1.2.2. Phng php thay i t thng - Nguyn l iu khin: Gi thit U= Um, R = const. Mun thay i t thng ng c ta thay i dng in kch t, thay i dng in trong mch kch t bng cch ni ni tip bin tr vo mch kch t hay thay i in p cp cho mch kch t. Bnh thng khi ng c lm vic ch nh mc vi kch thch ti a ( =
max) max

min

cng nh. Phng php ny c th

m phng php ny ch cho php tng in tr vo mch kch t tc l iu chnh tc

nn ch c th iu chnh theo hng gim t thng trong vng trn tc nh mc. Nn khi gim
o

th tc khng ti l tng
k Ru
2

U dm tng, cn cng c tnh c k

gim, ta thu c h c

tnh c nm trn c tnh c t nhin[3].

o 2 o 1

1
2

0 Mc1

Mc2

Hnh 1.4: c tnh c ca ng c khi gim t thng - Khi tng tc ng c bng cch gim t thng th dng in tng v tng vt qu mc gi tr cho php nu mmen khng i. V vy mun gi cho dng in khng vt qu gi tr cho php ng thi vi vic gim t thng th ta phi gim Mt theo cng t l. - c im ca phng php:

10

+) Phng php ny c th thay i tc v pha tng. +) Phng php ny ch iu khin vng ti khng qu ln so vi nh mc, vic thay i t thng khng lm thay i dng in ngn mch. +) Vic iu chnh tc bng cch thay i t thng l phng php i u khin vi cng sut khng i. +) nh gi cc ch tiu iu khin: Sai s tc ln, c tnh iu khin nm trn v dc hn c tnh t nhin. Di iu khin ph thuc vo phn c ca my. C th iu khin trn trong di iu chnh D = 3 : 1. V cng sut ca cun dy kch t b, dng in kch t nh nn ta c th iu khin lin tc vi 1. +) Phng php ny c p dng tng i ph bin, c th thay i lin tc v kinh t ( v vic iu chnh tc thc hin mch kch t vi dng kch t (1 10)%Im ca phn ng nn tn hao iu chnh thp). y l phng php gn nh l duy nht i vi ng c in mt chiu khi cn iu chnh tc ln hn tc iu khin. 1.2.3. Phng php thay i in p phn ng - iu chnh in p phn ng ng c mt chiu cn c thit b ngun nh my pht in mt chiu kch t c lp, cc b chnh lu iu khin Cc thit b ngun ny c chc nng bin nng lng in xoay chiu thnh mt chiu c sc in ng Eb iu chnh nh tn hiu iu khin Uk. V ngun c cng sut hu hn so vi ng c nn cc b bin i ny c in tr trong R b v in cm Lb khc khng. a tc ng c vi hiu sut cao trong gii hn rng ri 1:10 hoc hn na[3].
~

LK Uk BB

Rb I Eb(Uk)

R U E

Hnh 1.5: S dng b bin i iu khin in p phn ng ch xc lp c th vit c phng trnh c tnh ca h thng nh sau:

11

Eb - E = I(Rb +R)
Eb K . dm
o

(1.12) (1.13) (1.14)

Rb Rud .I u K . dm

U dk

- V t thng ca ng c c gi khng i nn cng c tnh c cng khng i, cn tc khng ti l tng th tu thuc vo gi tr in p iu khin Uk ca h thng, do c th ni phng php iu chnh ny l trit . xc nh gii iu chnh tc ta rng tc ln nht ca h thng b chn bi c tnh c c bn, l c tnh ng vi in p phn ng nh mc v t thng cng c gi gi tr nh mc. Tc nh nht ca di iu chnh b gii hn bi yu cu v sai s tc v v mmen khi ng. Khi mmen ti l nh mc th cc gi tr ln nht v nh nht ca tc l:

M dm
max o max

(1.15)

M dm
min o min

(1.16)

tho mn kh nng qu ti th c tnh thp nht ca di iu chnh phi c mmen ngn mch l: Mnmmin = Mcmax = KM.Mm Trong KM l h s qu ti v mmen. V h c tnh c l cc ng thng song song nhau, nn theo nh ngha v cng c tnh c c th vit:
min

M nm min

M dm

M dm

KM 1

(1.17)

M dm
o max

o max .

D KM 1 M dm

M dm KM 1

(1.18)

12

0 max max

U k1 U k2

0 min min

M,I Mm Mnm

Hnh 1.6: c tnh c ca ng c khi thay i in p - Vi mt c cu my c th th cc gi tr

0max,

Mm, KM l xc nh, v vy

phm vi iu chnh D ph thuc tuyn tnh vo gi tr ca cng . Khi iu chnh in p phn ng ng c bng cc thit b ngun iu chnh th in tr tng mch phn ng gp khong hai ln in tr phn ng ng c. Do c th tnh s b c:
o max

1 M dm

10

V th ti c c tnh mmen khng i th gi tr phm vi iu chnh tc cng khng vt qu 10. i vi cc my c yu cu cao v di iu chnh v chnh xc duy tr tc lm vic th vic s dng cc h thng h nh trn l khng tho mn c. - Trong phm vi ph ti cho php c th coi c tnh c tnh ca h truyn ng mt chiu kch t c lp l tuyn tnh. Khi iu chnh in p phn ng th cng c c tnh c trong ton di l nh nhau, do st tc tng i s t gi tr ln nht ti c tnh thp nht ca di iu chnh. Hay ni cch khc, nu ti c tnh c thp nht ca di iu chnh m sai s tc khng vt qu gi tr sai s cho php, th h truyn ng s lm vic vi sai s lun nh hn sai s cho php trong ton b di iu chnh. Sai s tng i ca tc c tnh c thp nht l:

13

s
s

o min o min

min o min

(1.19)

M dm . o min

scp
0min,

(1.20) scp l xc nh nn c th tnh c gi tr ti

V cc gi tr Mm,

thiu ca cng c tnh c sao cho sai s khng vt qu gi tr cho php. lm vic ny, trong a s cc trng hp cn xy dng cc h truyn ng in kiu vng kn. - Nhn xt: C 3 phng php trn u iu chnh c tc ng c in mt chiu nhng ch c phng php iu chnh tc ng c in mt chiu bng cch thay i in p U t vo phn ng ca ng c l tt nht v hay c s dng nht v n thu c c tnh c c cng khng i, iu chnh tc bng phng v khng b tn hao. 1.3. GII THIU MT S H TRUYN NG IN MT CHIU - H truyn ng my pht - ng c mt chiu (F - ) - H truyn ng xung p - ng c (XA - C - H truyn ng chnh lu - ng c (CL - C) 1.3.1. H truyn ng my pht - ng c in mt chiu (F - ) - Cu trc h F - v c tnh c bn: H thng my pht - ng c (F - ) l h truyn ng in m b bin i in l my pht in mt chiu kch t c lp. My pht ny thng do ng c s cp khng ng b ba pha ko quay[3]. Tnh cht ca my pht in c xc nh bi hai c tnh: c tnh t ho l s ph thuc gia sc in ng my pht vo dng in kch t v c tnh ti l s ph thuc ca in p trn hai cc ca my pht vo dng in ti. Cc c tnh ny ni chung l phi tuyn do tnh cht ca li st, do cc phn ng ca dng in phn ng trong tnh ton gn ng c th tuyn tnh ho cc c tnh ny: EF =KF. F. Trong :
F

=KF.

F .C.iKF

(1.21)

14

KF: l h s kt cu ca my pht C=
F/

iKF l h s gc ca c tnh t ho.

Nu dy qun kch thch ca my pht c cp bi ngun p l tng UKF th: IKF =UKF/rKF Sc in ng ca my pht trong trng hp ny s t l vi in p kch thch bi h s hng KF nh vy c th coi gn ng my pht in mt chiu kch t c lp l mt b khuych i tuyn tnh: EF = KF.UKF ~
K
F

~
Uk

UK UF=U M iK

iKF Uk

F
UKF

MS

Hnh 1.7: S nguyn l h truyn ng my pht ng c Nu t R = RF + RD th c th vit c phng trnh cc c tnh ca h F - nh sau:
KF .U KF K
KF U KF K

RI K
R K
2

(1.22)
M

(1.23)
M U KD

U KF ,U KD

(1.24)

Cc biu thc trn chng t rng, khi iu chnh dng in kch thch ca my pht th iu chnh c tc khng ti ca h thng cn cng c tnh c th gi nguyn. Cng c th iu chnh kch t ca ng c c di iu chnh tc rng hn.

15

- Cc ch lm vic ca h F-

(II)

(I)

o
(III) (IV)

Uktf = 0

Hnh 1.8: Cc trng thi lm vic ca h F - Trong h F - khng c phn t phi tuyn no nn h c nhng c tnh ng rt tt, rt linh hot khi chuyn cc trng thi lm vic. Vi s c bn nh hnh 1.7 ng c chp hnh c th lm vic ch iu chnh c c hai pha: Kch thch my pht F v kch thch ng c , o chiu quay bng cch o chiu dng kch thch my pht, hm ng nng khi dng kch thch my pht bng khng, hm ti sinh khi gim tc hoc khi o chiu dng kch t, hm ngc cui giai on hm ti sinh khi o chiu hoc khi lm vic n nh vi mmen ti c tnh cht th nng h F - c c tnh c c bn gc phn t ca mt phng to [ ,M]. +) gc phn t th I v th III tc quay v mmen quay ca ng c lun cng chiu nhau, sc in ng my pht v ng c c chiu i nhau v
EF E,
c

. Cng sut in t ca my pht v ng c l: PF = EF.I > 0 P = E.I < 0 Pc = M. > 0

Cc biu thc ny ni ln rng nng lng c vn chuyn thun chiu t ngun my pht ng c ti.
o

+) Vng hm ti sinh nm gc phn t th II v th IV, lc n y do nn E

EF , mc d E, EF mc ngc nhau, nhng dng in phn ng li chy

ngc t ng c v my pht lm cho mmen quay ngc chiu tc quay.

16

Cng sut in t ca my pht, cng sut in t v cng sut c hc ca ng c l: PF = EF.I < 0 P = E.I > 0 Pc = M. < 0 Ch do dng in i chiu m cc bt ng thc trn cho ta thy nng lng c chuyn vn theo chiu t ti ng c my pht ngun, my pht F v ng c i chc nng cho nhau. Hm ti sinh trong h F - c khai thc trit khi gim tc , khi hm o chiu quay v khi lm vic n nh vi ti c tnh cht th nng. - c im ca h F - : +) Cc ch tiu cht lng ca h F - v c bn tng t cc ch tiu ca h iu p dng b bin i ni chung. u im ni bt ca h F - l s chuyn i trng thi lm vic rt linh hot, kh nng chu qu ti ln, do vy thng s dng h truyn ng F - cc my khai thc trong cng ngip m. +) Nhc im quan trng nht ca h F - l dng nhiu my in quay, trong t nht l hai my in mt chiu, gy n ln, cng sut lp t my t nht gp ba ln cng sut ng c chp hnh. Ngoi ra do cc my pht mt chiu c t d, c tnh t ho c tr nn kh iu chnh su tc . 1.3.2. H truyn ng xung p ng c (XA - C) B bin i xung p l mt ngun in p dng iu chnh tc ng c in mt chiu[3].

Hnh 1.9: S nguyn l v gin xung

17

 ci thin dng sng ca dng in phn ng ta thm vo mch mt van m V0. C th s dng thyristor hoc transistor cng sut thay cho kha K trn. Khi ng ct kha K, trn phn ng ng c s c in p bin i theo dng xung vung. Khi trng thi dng lin tc th gi tr trung bnh ca in p ra s l:

Ud

1 1 Udt TCK 0

t1 U TCK

.U

(1.25)

Trong : t1 : L thi gian kha trng thi ng t2 : L thi gian kha trng thi m Tck : Thi gian thc hin mt chu k ng m kha

t1 TCK

: L rng ca xung p

Vy ta c th coi b bin i xung ng tr vi ngun lin tc c in p ra U d v Ud c th thay i c bng cch thay i rng xung . Mt khc, thi gian mt chu k ng ct ca kha K rt nh so vi hng s thi gian c hc ca h truyn ng, nn ta coi tc v sc in ng phn ng ng c khng thay i trong thi gian Tck. - c tnh iu chnh ca h XA - C
.U K.
m

Rb Rb .I K . m
R Rb .M ( K . m ) 2

(1.26) (1.27) = const v

.U K.
m

Khi thay i ta c h ng thng song song c cng tc khng ti l tng

o

thay i theo . Nu ngun v cng ln th ta c th

b qua Rb, khi cng ca c tnh c ca h c cng l:

(K.
TN

)2

Rb

const

(1.28)

18

Tc khng ti l tng

ph thuc vo ch l gi tr gi nh. N c

th tn ti nu nh dng trong h l lin tc k c khi gi tr dng tin n 0. V vy hai biu thc trn ch ng vi trng thi dng lin tc. Khi dng in nh th h s chuyn trang thi t dng lin tc sang trng thi dng gin on. Khi cc phng trnh c tnh iu chnh ni trn khng cn ng na m lc ny c tnh ca h l nhng ng cong rt dc.

Hnh 1.10: c tnh c ca h - Nhn xt: +) Tt c c tnh iu chnh ca h XA C khi dng in gin on u c chung mt gi tr khng ti l tng, ch ngoi tr trng hp = 0. +) B ngun xung p cn t van dn nn vn u t t, h n gin chc chn. +) cng ca c tnh c ln. +) in p dng xung nn gy ra tn tht ph kh ln trong ng c. Khi lm vic trng thi dng in gin on th c tnh lm vic km n nh v tn tht nng lng nhiu. 1.3.3. H truyn ng chnh lu - ng c in mt chiu (CL - C) - S nguyn l:
K + C KT

Hnh 1.11: S nguyn l ca h chnh lu - ng c in mt chiu

CL L

19

H truyn ng chnh lu c iu khin - ng c in mt chiu (CL - C) c b bin i l cc mch chnh lu c iu khin, c sc in ng E d ph thuc vo gi tr ca xung iu khin ( tc l ph thuc vo gc iu khin hay gc m Tiristor )[3]. in p chnh lu Ud ( hay Ed ) l in p khng ti u ra, c dng p mch vi s ln p mch l n trong mt chu k 2 ca in p th cp my bin p. +) Vi s chnh lu hnh tia: n = m, trong m l s pha +) Vi s hnh cu: n = 2.m, trong m l s pha Gi s in p th cp ca my bin p c dng hnh sin vi biu thc l: u2 = U2m.sin t = U2m.sin Trong khong =(0 , ( vi = t) (1.29)

2 ) th dng in p v dng in lp li nh chu k ban

u nn ta ch cn xt trong mt chu k T = 2 . - S thay th ca h CL C.

Tiristor ~ Ud R L E

Hnh 1.12: S thay th ca h chnh lu - ng c in mt chiu Khi van dn th ta c phng trnh cn bng in p nh sau:

u2

E I d .R

L .
E i d .R

di d dt
L . di d dt

(1.30) (1.31)

Suy ra: U 2m .sin Trong :

R = Rba + R + Rk L = Lba + L + Lk Vi: R ba

R2

R1.(

W2 W1

)2

(1.32)

20

L ba

L2

L1.(

W2 W1

)2

(1.33)

- Trng thi dng lin tc trng thi dng lin tc, khi van ny cha kha th van k tip m, vic m van k tip l iu kin cn kha van ang dn. Do vy, in p ca chnh lu s c dng ng bao ca in p th cp my bin p. Gi tr trung bnh ca in p chnh lu:
n . 2
2 n

Ud

u 2 .dt

n . 2

2 n

U 2 m .sin .d

(1.34)

.sin .U 2m .cos n

U do .cos

Trong :
.t
o

( n

) : L gc m ca van

U do
lu ng vi = 0

.U 2m .sin : L in p mt chiu ln nht u ra chnh n

U2m: L tr bin ca in p th cp my bin p n: L s ln p mch trong mt chu k +) B qua st p trn van, ta c phng trnh c tnh c nh sau :
U do . cos K . m R (K.
2 m )

(1.35)

Trong :

Ru

Rkh

Rba

n . X ba 2

Rv

R: L in tr ca phn ng ng c Rkh: L in tr ca cun khng lc Rba: L in tr ca my bin p, vi R ba

R2 R1.( W2 2 ) W1

21

Xba: L in khng my bin p, vi X ba

X2

X1.(

W2 2 ) W1

Rv: L in tr ca cc van ( Rv rt nh c th b qua )

n .X ba : L in tr ng tr do qu trnh chuyn mch 2

+) cng ca c tnh c:
dM d M (K. R
m

)2

(1.36)

o o1 o2 o3

Udo Ud1 Ud2 Ud3 M( I )

Hnh 1.13: c tnh c ca h chnh lu - ng c mt chiu khi dng lin tc - Trng thi dng gin an Khi in khng trong mch khng ln, nu sc in ng ca ng c ln th dng in ti s tr thnh gin on. trng thi ny th dng qua van bt k s bng 0 trc khi van k tip m. Do vy trong mt khong dn ca van th sc in ng ca chnh lu bng sc in ng ngun: ed = U2 , vi 0 , trong l khong dn. Khi dng in bng 0 th sc in ng ca chnh lu bng sc in ng ca ng c: ed = E , vi <

2 n

Vy ta c in p trung bnh ca chnh lu l :

n . u .d 2 0 2
2 n

Ud

E.d

n . U .sin .d 2 0 2m

2 n

E.d

(1.37)

n 2 .U 2m .(1 cos ) E.( 2 n

22

Vy : U d

n 2 .U 2m .(1 cos ) E.( 2 n

(1.38)

c tnh c ca h CL - C khi dng in gin an:

Hnh 1.14: c tnh c ca h chnh lu - ng c khi dng gin on - Nhn xt: +) u im: H truyn ng chnh lu - ng c c tc ng nhanh cao, khng gy n v d t ng ha, do cc van bn dn c h s khuch i cng sut rt cao, v vy rt thun tin cho vic thit lp h thng t ng iu chnh nng cao cht lng cc c tnh tnh v cc c tnh ng ca h thng. Mt khc, vic dng h chnh lu - ng c c kch thc v trng lng nh gn. +) Nhc im: H truyn ng chnh lu - ng c c cc van bn dn l cc phn t phi tuyn tnh, do dng in p chnh lu ra c bin p mch cao, gy nn tn tht ph trong my in mt chiu.

23

CHNG 2. XY DNG M HNH H TRUYN NG IN MT CHIU TRN MATLAB V SIMULINK

2.1. M HNH TON CA NG C IN MT CHIU Khi t ln dy qun kch t mt in p no th trong dy qun kch t s c dng in v mch t ca my s c t thng . Tip t mt gi tr in p U ln mch phn ng th trong dy qun phn ng s c dng in I chy qua, tng tc gia dng in phn ng v t thng kch t to thnh mmen in t. Vy ta c cc phng trnh c bn ca ng c mt chiu . - Phng trnh cn bng in p phn ng: U = E + I(R + Rf) - Sc in ng phn ng E c tnh theo biu thc: E = k.. - Mmen in t ca ng c c xc nh: Mdt = k..I - Phng trnh cn bng m men ca ng c: M(t) MC(t) = J Trong : R: L in tr cun dy phn ng E: L sc in ng phn ng ng c Rf: L in tr ph I: L dng phn ng K: L h s cu to ca my in M: L m men ng c U: L in p t vo phn ng ng c : L tc gc ng c : L t thng ng c Chuyn cc phng trnh trn sang dng ton t Laplace: U(p) = R.I(p) + L.I(p).p + E(p) M(p) - MC(p) = J(p). (p).p (2.5) (2.6)
d dt

(2.1)

(2.2)

(2.3)

(2.4)

24

E(p) = K. (p) M(p) = k..I(p) - Ta thnh lp c phng trnh c tnh c nh sau: =

U Lu . p.I k Ru Rp (k . ) 2 .M

(2.7) (2.8)

(2.9)

- Hm truyn ca ng c nh sau:
I RU 1 (U LU . p E) 1 / RU (U 1 TU . p E)

(2.10)

T cc phng trnh trn ta c s cu trc ca ng c in mt chiu nh sau:

Hnh 2.1: S cu trc ng c in mt chiu - La chn thng s m phng ng c s dng l ng c mt chiu B1T20E ca hng YASKAWA. Thng s ng c: +) Cng sut nh mc: Pm = 20 (W) +) in p nh mc phn ng: Um = 21,3 (V) +) Tc quay nh mc: n m = 2200 (vng/pht) +) Dng in nh mc: Im = 0,59 (A) +) in cm phn ng: Lu = 9,1 (mH) +) in tr phn ng: Ru = 15,7 ( ) +) Mmen qun tnh ca ng c: J = 1,18.10-6 (kg.m2) +) Hng s momen Km = 0,037 (N.m/A) +) Hng s thi gian iu khin Tk = 0,0001 (s) +) Hng s thi gian chuyn mch chnh lu: Tv = 0,001 (s)

25

+) Hng s thi gian ca my bin dng: Ti = 0,001 (s) +) Hng s thi gian ca my pht tc: T = 0,01 (s) Ta c: Hng s thi gian phn ng:

Tu

Lu 9,1.10-3 = = 5,796.10-4 (s) Ru 15,7

n 2200 = = 230,37 (rad/s) 9,55 9,55

Tc gc ca rto:

H s khuch i ca b bin i: Chn Uk = 5 (V) Vy Kbd = Um = Uk Hm truyn ca b bin i: Wb =

Kbd (1 Tdk P)(1 Tv P)

21,4 = 4,28 5

(2.11)
4, 28 1 1,1.10 3. s 10 7. s 2

4, 28 (1 0,0001.s)(1 0,001.s)

- M hnh ng c in mt chiu

Hnh 2.2: M hnh ng c in mt chiu

26

2.2. TNG HP MCH VNG DNG IN Khi b qua sc in ng E ta c s sau:

Hnh 2.3: S cu trc ca mch vng dng in Trong :

Kbd : Hm truyn ca b bin i (1 Tdk P)(1 Tv P)

K bd : H s khuch i ca b bin i

Tdk : Hng s thi gian mch iu khin

Tv : Hng s thi gian ca s chuyn mch ca van bn dn

Ki :Hm truyn ca cm bin dng in 1 Ti p
K i : H s khuch i ca cm bin dng in

Ti : Hng s thi gian ca cm bin dng in

Thu gn ta c s nh hnh v: Trong S 0i l hm truyn ca i tng
U id

Ri

S 0i

Hnh 2.4: S thu gn ca mch vng in

S 0i

Kbd Ki .1/ Ru (1 Tdk p)(1 Tv p)(1 Ti p)(1 Tu p)

(2.12)

V Tdk ; Tv ; Ti s thi gian rt nh nn b qua thnh phn bc cao l cc hng s

27

S 0i
t: Tsi
Ti

K bd K i .1/ Ru 1 (Tdk Tv Ti ) p (1 Tu p)
Tdk Tv

(2.13)

S 0i

Kbd Ki .1/ Ru (1 Tsi p)(1 Tu p)

(2.14)

p dng tiu chun mdul ti u ta c hm truyn ca h thng:

FMC

1 2

1 p 2

p2

(2.15)

M FK

FMC

Ri S 0 i 1 Ri S 0 i

Ri

1 S 0i ( FMi1 1)

Thay vo ta c:

Ri
Chn

Ru (1 pTsi )(1 pTu ) Kbd Ki .2 p(1 p)

(2.16)

= Tsi ta c b iu chnh dng:

Ri

RuTu 1 1 2 Kbd KiTsi pTu

(2.17)

Ri l khu t l tch phn PI - H s khuch i dng: Chn Uid = 5(V)

5 Ki = Uid = Ikm 0,59 8, 47

Tsi = Ti + Tk + Tv = 0,001 + 0,0001 + 0,001 = 2,1.10-3 (s) - Hm truyn ca b iu chnh dng in l:

Ri
=

RuTu 1 1 2 Kbd KiTsi pTu

15, 7.5, 796.10 4 = 2.4, 28.8, 47.2,1.10

1 5, 796.10

0, 06.s 103,52 s
(2.18)

Ki 8, 47 - Khu phn hi dng in: = 1 Ti p 1 0, 001.s

28

2.3. TNG HP MCH VNG TC Ta c s mch vng tc :

Hnh 2.5: S mch vng tc ng c in mt chiu Trong :

Ru : Hm truyn ca i tng iu khin K m .Tc . p

Tc Ru .J : Hng s thi gian c hc ca ng c ( K m )2

K : Hm truyn ca my pht tc 1 T p

K : H s khuch i ca my pht tc T : Hng s thi gian ca my pht tc

S thu gn:

Hnh 2.6: S thu gn ca mch vng tc Trong :

S0 =

K .Ru Ki .K mTc p.(1 2Tsi p)(1 T p)

(2.19)

V Tsi v T rt nh nn ta b qua cc thnh phn bc cao:

S0 K .Ru K i .K mTc p. 1 (2Tsi T ) p)

(2.20)

29

t: Ts =2 Tsi + T Ta c: So =

v K

Ru .K Ki .K m

K Tc.p(1+Ts.p)

(2.21)

p dng tiu chun mdul i xng ta c hm truyn ca h thng: FMC =

1 4 1 4 p p 8 2 p2 8
3

p3

(2.22)

M FK Vy R =

FMC

R S0 1 R S0

1 1 S 0 ( FMC

1)

(2.23) (2.24)

Tc .1+4.Ts.p 2.K.Ts 4.Ts.p

- H s khuch i ca my pht tc: Chn U d = 5 (V) K =

U
d

5 = 0,022 230

Ts = 2.Tsi+ T = 2.2,1.10-3 + 0,01 = 0,0142 (s) - Hm truyn ca b iu chnh tc : R = Vi : K Tc .1+4.Ts.p 2.K.Ts 4.Ts.p
Ru .K Ki .K m 15, 7.0, 022 1,1 8, 47.0, 037
6

(2.25)

Tc

Ru .J 2 Km

15,7.1,18.10 0,0372

0,021
0, 672.s 11,83 s

Vy : R

0, 021 1 1 2.1,1.0, 0142 4.0, 0142.s

- Khu phn hi tc :

0, 022 K = 1 T p 0, 01.s 1

(2.26)

30

2.3.1. M hnh mch vng tc khi c mch vng dng in

Hnh 2.7: M hnh mch vng tc khi c mch vng dng in +) p ng dng in:

Hnh 2.8: p ng dng in ca ng c khi c 2 b iu khin

31

+) p ng tc

Hnh 2.9: p ng tc ca ng c khi c 2 b iu khin Nhn xt: Khi c 2 b iu khin l mch vng dng in v mch vng tc th sau khi khi ng khong 0,6s th dng in v tc ng c dn n inh. Sau khi ng c nhn ti th khong 0,3s tc ca ng c v dng in ca ng c cng t gi tr nh mc. 2.3.2. M hnh mch vng tc khi b qua mch vng dng in S thu gn ca m hnh mch vng tc khi b qua mch vng dng in:

Hnh 2.10: S thu gn ca mch vng tc khi b qua mch vng dng Khi b qua mch vng dng in th hm truyn ca i tng:

S0

Kbd .K m .K Ru .J .s.(1 p.Tu )(1 Tdk .s)(1 Tv . p)(1 T . p)

(2.27)

V Tdk ; Tv ; Ti s thi gian rt nh nn b qua thnh phn bc cao l cc hng s Vy:

S0

K bd .K m .K Ru .J .s.(1 p.Tu ) 1 (Tdk Tv T ). p

(2.28)

32

t: T

Tdk Tv T
1 p 2

p dng tiu chun ti u modul ta c hm truyn ca h thng:

FMC
M FK Chn

1 2

p2
R 1 S0 ( FMC
1

(2.29)

FMC
=T

R .S0 1 R .S0

1)

(2.30)

Tdk Tv T = 0,0001 + 0,001 + 0,01 = 0,0111 (s)

- Vy hm truyn ca b iu khin tc :

Ru .Tu .J .s 1 1 2.Kbd .K m .K .T p.Tu

15,9.5, 796.10 4.1,18.10 6.s 1 1 2.4, 28.0, 037.0, 022.0, 011 s.5, 796.10
4

(2.31)

9,354 9,12.10 3 s
- H s khuch i ca my pht tc: Chn U K =
U
d

= 5 (V) 5 = 0,022 230

K - Khu phn hi tc : 1 T .p

0, 022 1 0, 01s

(2.32)

Hnh 2.11: M hnh mch vng tc khi b qua mch vng dng in

33

+) p ng dng in:

Hnh 2.12: p ng dng in ca ng c khi c mch vng tc +) p ng tc :

Hnh 2.13: p ng tc ca ng c khi c mch vng tc Nhn xt: Lc u gi tr dng in v tc ca ng c tng ln v dn n nh, sau khi nhn ti khong 0,6s th th tc v dng in ca ng c gn nh khng cn dao ng na v t gi tr nh mc. Khi c b iu khin tc th thi gian tc ng c n nh c rt ngn i rt nhiu so vi khi cha c b iu khin.

34

CHNG 3. XY DNG M HNH B IU KHIN PID IU KHIN NG C IN MT CHIU

3.1. NGUYN L XY DNG B IU KHIN PID - Lut iu khin t l P Tn hiu iu khin U(t) t l vi tn hiu vo e(t). Phng trnh vi phn m t ng hc: U(t) = Km.e(t) Trong : U(t): Tn hiu ra ca b iu khin e(t): Tn hiu vo Km: H s khuch i ca b iu khin Xy dng bng s thut ton: (3.1)

Hnh 3.1: S khuch i thut ton biu din lut iu khin t l +) u im: B iu khin c tnh tc ng nhanh khi u vo c tn hiu sai lch th tc ng ngay tn hiu u ra. +) Nhc im: H thng lun tn ti sai lch d, khi tn hiu sai lch u vo ca b iu khin b th khng gy tn hiu tc ng iu khin, mun khc phc nhc im ny th ta phi tng h s khuch i Km. Nh vy h thng s km n nh. - Lut iu khin tch phn I Tn hiu iu khin U(t) t l vi tch phn ca tn hiu u vo e(t) . Phng trnh vi phn m t ng hc:
t

U(t) =
0

e(t ).dt

1 e(t ).dt Ti 0

(3.2)

35

Trong : U(t): Tn hiu iu khin e(t): Tn hiu vo ca b iu khin Ti: Hng s thi gian tch phn +) Xy dng s mch khuch i thut ton

Hnh 3.2: S mch khuch i thut ton biu din lut iu khin tch phn Ta c:

Ur Uv

1 R.C. p

(3.3)

+) u im: B iu khin tch phn loi b c si lch d ca h thng, t chu nh hng tc ng ca nhiu cao tn. +) Nhc im: B iu khin tc ng chm nn tnh n nh ca h thng . - Lut iu khin vi phn D Tn hiu ra ca b iu khin t l vi vi phn tn hiu vo . Phng trnh vi phn m t ton hc:

U (t ) Td
Trong :

de(t ) dt

(3.4)

e(t): Tn hiu vo ca b iu khin U(t): Tn hiu iu khin Td: Hng s thi gian vi phn +) Xy dng s bng khuch i thut ton

36

Hnh 3.3: S khuch i thut ton biu din lut iu khin vi phn Ta c:

Ur Ur Uv

RC.

dU (t ) dt
(3.5)

RC. p

+) u im: Lut iu khin vi phn p tnh tc ng nhanh y l mt c tnh m trong iu khin t ng thng rt mong mun . +) Nhc im: Khi trong h thng dng b iu khin c lut vi phn th h thng d b tc ng bi nhiu cao tn. y l loi nhiu thng tn ti trong cng nghip. Cc lut t l, vi phn, tch phn thng tn ti nhng nhc im ring. Do vy khc phc cc nhc im trn ngi ta thng kt hp cc lut li c b iu khin loi b cc nhc im , p ng cc yu cu k thut ca cc h thng trong cng nghip. - B iu khin t l tch phn PI Phng trnh vi phn m t quan h tn hiu vo, ra ca b iu khin .
t

U (t ) U (t )

K1.e(t ) K 2 . e(t )dt

0

Km

1 e(t ) e(t )dt Ti 0

(3.6)

Trong : e(t): L tn hiu vo ca b iu khin U(t): L tn hiu ra ca b iu khin Km = K1: L h s khuch i

37

Ti

K1 K 2 : L hng s thi gian tch phn

+) Xy dng bng s khuch i thut ton

Hnh 3.4: S khuch i thut ton biu din b iu khin PI Ta c:

Ur Ur Uv

R1 .U v R2

1 U v (t )dt R3 .C3 0
(3.7)

R1 R2 (1 ) R2 R3 .C3 .R1. p

- B iu khin t l vi phn PD Phng trnh vi phn m t quan h vo ra ca b iu khin

U (t ) U (t )

K1.e(t ) K 2 . Km

de(t ) dt de(t ) e(t ) Td dt

(3.8)

Trong : e(t): L tn hiu vo ca b iu khin U(t): L tn hiu ra ca b iu khin Km = K1: L h s khuch i

38

Td

K2 : L hng s thi gian vi phn K1

+) Xy dng bng s khuch i thut ton

Hnh 3.5: S khuch i thut ton biu din b iu khin PD Trong :

Ur Ur Uv

R1 .U v R2

Rd .Cd .

dU v dt
(3.9)

R2 .Rd .Cd R1 1 .p R2 R1

Tn hiu ra ca b iu khin lch pha so vi tn hiu vo mt gc , y l c im tc ng nhanh ca h thng. Khi h thng s dng b iu khin t l vi phn d b tc ng bi nhiu cao tn, tn ti sai lch d, nhng li p ng c tnh tc ng nhanh. Nn b iu khin ny thng c s dng trong h thng t c nhiu cao tn v cn tnh tc ng nhanh . Bng thc nghim hoc l thuyt ta xc nh cc tham s Td, Km b iu khin p ng c tnh h thng. - B iu khin t l vi tch phn PID ci thin cht lung ca cc b iu khin PI, PD ngui ta kt hp ba lut iu khin t l, vi phn, tch phn tng hp thnh b iu khin t l vi

39

tch phn (PID). C c tnh mm do ph hp cho hu ht cc i tng trong cng nghip[5]. Phng trnh vi phn m t quan h tn hiu vo ra ca b iu khin:
t

U (t ) U (t )

K1.e(t ) K 2 . e(t )dt K 3 .

0 t

de(t ) dt
(3.10)

Km

1 de(t ) e(t ) e(t )dt Td Ti 0 dt

Trong : e(t): L tn hiu vo ca b iu khin U(t): L tn hiu ra ca b iu khin Km = K1: H s khuch i

Td
Ti

K3 : Hng s thi gian vi phn K1

K1 : Hng s thi gian tch phn K2

+) Xy dng bng khuch i thut ton

Hnh 3.6: S khuch i thut ton b iu khin PID

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Ta c:

Ur Ur Uv

R1 .U v R2

dU Rd .Cd . v dt

1 U v (t ).dt R3 .C3 0 R2 R1.R3 .C3 . p

(3.11)

R2 .Rd .Cd R1 1 .p R2 R1

+) c tnh lm vic ca b iu khin PID rt linh hot, mm do. gii tn s thp th b iu khin lm vic theo quy lut t l tch phn. gii tn s cao th b iu khin lm vic theo quy lut t l vi phn khi lm vic theo quy lut t l. +) B iu khin c ba tham s Km, Ti v Td. Khi ta cho Ti = , Td = 0 th b iu khin lm vic theo lut t l Khi Ti = b iu khin lm vic theo lut t l - vi phn Khi Td = 0 b iu khin lm vic theo lut t l - tch phn Tn hiu ra ca b lch pha so vi tn hiu vo mt gc , y l c tnh mm do ca b iu khin. Nu ta chn c b tham s ph hp cho b iu khin PID th h thng cho ta c tnh nh mong mun, p ng cho cc h thng trong cng nghip. c bit nu ta chn b tham s tt b iu khin s p ng c tnh tc ng nhanh, y l c im ni bt ca b iu khin. Trong b iu khin c thnh phn tch phn nn h thng trit tiu c sai lch d. Bng thc nghim hoc l thuyt ta xc nh cc tham s Km, Ti ,Td b iu khin p ng c tnh h thng. 3.2. XY DNG M HNH VT L 3.2.1. S khi ca h thng
1 b iu khin Ti .Td

Hnh 3.7: S khi ca b iu khin ng c mt chiu

41

Mch iu khin tip nhn gi tr in p t v gi tr in p phn hi t my pht tc, sau x l tn hiu v cp tn hiu xung PWM v tn hiu nhn bit chiu ca ng c vo mch cng sut iu khin ng c. 3.2.2. Xy dng mch cng sut - Gii thiu IC MC33883 MC33883 l mt IC kch FET chuyn dng iu khin cu H. +) in p ngun VCC2 cung cp cho IC t 5,5V n 28V +) in p ngun VCC t 5,5V n 55V +) Hot ng nhit t -40oC n 125oC +) C th p ng tn s bm xung PWM ln n 100Khz +) S chn ca MC33883

Hnh 3.8: S chn ca MC33883 Bng 3.1: M t cc chn chc nng ca MC33883 Chn 1, 11 2, 13 4, 19 5, 18 K hiu VCC, VCC2 C2, C1 SRC_HS1, SRC_HS2 GATE_HS, GATE_HS2 Chc nng Chn cp ngun cho thit b Hai chn ny ni vi mt t in Ngun u ra ca MOSFET Hai chn ny ni vi chn iu khin ca MOSFET 6, 17 IN_HS1, IN_HS2 u vo tn hiu logic, tc ng ln chn iu khin ca MOSFET 7, 16 IN_LS1, IN_LS2 Hai chn u vo tn hiu logic, dng iu khin cc cng ca MOSFET

42

8, 15

GATE_LS1, GATE_LS2 u vo chn iu khin ca MOSFET Chn ni t ca thit b Chn chung cho php

9, 12, 14 20

GND1, GND_A, GND2 G_EN

Hnh 3.9: S dng MC33883 iu khin 4 MOSFET - MOSFET IRF540 IRF540 l MOSFET knh dn loi N c thng s nh sau: +) in p nh mc 100 V +) Dng in nh mc 25oC l 33 A +) Dng in nh l 100 A +) in p iu khin VGS l 20 V +) in p ngng iu khin VGS t 2 n 4 V +) in p ri trn van khi dn hon ton l 1,2 V +) Dng r trng thi kha ID look l 25 A +) Din tr khi dn RDS on l 44 m +) Dng r cc G trng thi kha IG look l 100 nA +) Tc tng trng in p +) Nhit lm vic 175oC du l 7 V/ns dt

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3.2.3. Khu phn hi tc - Hi tip tc l mt phn khng th thiu trong h thng iu khin tc ng c. iu khin c tc ca ng c ngi ta phi bit c gi tr u ra ca h thng c nhng iu chnh thch hp u vo t c tc mong mun. phn hi tc ngi ta thng hay dng my pht tc v cc b o tc xung s. - My pht tc l my in nh, lm vic ch my pht v thc hin chc nng bin i chuyn ng ca trc thnh tn hiu in p ra . Phng trnh c tnh ca my pht tc: UF = K.n = K1. d dt (3.12)

Trong : UF: L in p ra ca my pht tc K, K1: L h s khuch i n: L vn tc quay ca roto (vng/pht) : L gc quay Cc yu cu i vi my pht tc l: tuyn tnh ca c tnh cao, h s khuch i K = UF ln, in p ra phi i xng. n My pht tc mt chiu c cu trc v nguyn l hot ng nh my in mt chiu cng sut nh, kch thch bng nam chm vnh cu hoc kch thch c lp. Yu cu i vi my pht tc mt chiu l in p mt chiu c cha t thnh phn xoay chiu tn s cao v t l vi tc ng c, khng b tr nhiu v gi tr v du so vi bin i i lng o. in p mt chiu pht ra khng ph thuc vo ti v nhit , m bo yu cu trn my pht tc mt chiu phi c t thng khng i trong ton vng iu chnh tc . V vy phi hn ch tn tht mch t bng vic s dng vt liu t c t tr hp v s dng l thp k thut in mng (hn ch tn tht dng in xoay) . Nhc im ca my pht tc mt chiu l chnh xc ph thuc vo ph ti. Mt khc nhit cun dy thay i nh hng ti in tr phn ng

44

my pht lm in p ra ca my pht thay i (do in p ri mch phn ng thay i). in p u ra ca my pht cn b thay i do in tr ca chi than. nh hng ca phn ng phn ng ti h s t l (nht l khi vng tc cao) . 3.2.4. Xy dng mch iu khin

Hnh 3.11: Cu trc mch iu khin ng c mt chiu Tn hiu t v tn hiu phn hi t my pht tc c a qua mt mch tr, in p u ra ca mch tr s c a vo b iu khin. in p iu khin Udk s c a n khu so snh, khu so snh s so snh in p iu khin v in p rng ca to ra tn hiu xung, tc ng vo van cng sut. - Mch iu khin s dng khuch i thut ton (operational amplifier), thng c gi tt l op-amp l mt mch khuch i "DC-coupled" (tn hiu u vo bao gm c tn hiu BIAS) vi h s khuch i rt cao, c u vo vi sai, v thng thng c u ra n. Trong nhng ng dng thng thng, u ra c iu khin bng mt mch hi tip m sao cho c th xc nh li u ra, tng tr u vo v tng tr u ra. Cc mch khuch i thut ton c nhng ng dng tri rng trong rt nhiu cc thit b in t thi nay t cc thit b in t dn dng, cng nghip v khoa hc. - Vi mch khuch i thut ton LM358 xy dng b iu khin PID

Hnh 3.12: S chn ca vi mch LM358

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LM358 l mt vi mch tch hp sn 2 khuch i thut ton. Ngun cung cp cho LM358 tm t 3V~32V, p ti a ng vo t 0~32V i vi ngun n v cng tr 16V i vi ngun i. y l mch khuch i c hi tip v c in tr rt cao, cho nn khng lm nh hng xu n tn hiu cm bin, c kh nng chng nhiu cao. +) li khuch i in p DC ca LM324 ti a khong 100 dB. +) Tn s hot ng ca LM324 l 1MHz. - Khu in p t

Hnh 3.13: S nguyn l khi iu chnh in p t Ta c th thay i gi tr in p t thng qua bin tr R4. in p t qua mt mch lc RC, nh vy ta s c ng c tnh in p t mt hn . Ta chn: Gi in p t U = 5V, R1 = 50 (K) R4 = 50 (K), C9 = 1(F), R2 = R9 = 10 (K) - Khu mch tr

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Hnh 3.14: S nguyn l mch tr Ta c: UphVn + U-Vn = 0 R10 R12 Chn R10 = R12 ta c: U = 2.Vn - Uph M Vp = Uset.R13 , chn R13 = R11 ta c: Vp = Uset R13+R11 2 M Vn = Vp vy: U = Uset - Uph Ta chn: R10 = R11 = R12 = R13 = 10 (K) - Mch iu khin PID

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Hnh 3.15. S nguyn l mch PID Khi PID gm 3 khu: T l, tch phn v vi phn. Gi tr in p ra t mch tr c a vo khi ny, u ra ca khi PID qua mt mch cng th ta s c in p iu khin. +) Khu t l: Ta s dng 2 bin tr R3 v R8 thay i h s P ca b iu khin, s dng kha sw1 ta c th ngt c b ny ra khi mch iu khin Theo tnh cht ca khuch i thut ton h s khuch i ca khu t l: K = Up = - R3 U R8 in p ra ngc pha so vi in p vo, bin tr R 3 gy ra hi tip m song song theo in p lm cho h s khuch i gim xung.

48

Vy Up = - U. R3 R8 Ta chn R3 = 100 (K) v R8 = 10 (K)

(3.14)

+) Khu tch phn: Ta s dng bin tr R5 thay i h s I ca b iu khin, s dng kha sw2 ta c th ngt c b ny ra khi mch iu khin. Theo tnh cht ca khuch i thut ton ta c: 1 R5.C7 U.dt

UI =

(3.15)

in p ra t l vi tch phn in p vo R5.C7 gi l hng s tch phn Ta chn R5 = 100 (K) v C7 = 10 (F) +) Khu vi phn: Ta s dng bin tr R6 thay i h s D ca b iu khin, s dng kha sw3 ta c th ngt c b ny ra khi mch iu khin. Theo tnh cht ca khuch i thut ton ta c: dU UD = C8.R6. dt in p ra t l vi tch phn in p vo C8.R6 gi l hng s vi phn Ta chn R6 = 50 (K) v C8 = 100 (nF) - Mch cng in p (3.16)

Hnh 3.16: S nguyn l mch cng in p

49

Mch cng in p thc hin nhim v cng gi tr in p Up, UI, UD li Nu R15 = R16 = R17 = R18, theo tnh cht ca khuch i thut ton ta c: Uk = - (UP + UI + UD) Ta chn: R15 = R16 = R17 = R18 = 10 (K) - Khu nhn bit chiu ca tn hiu iu khin (3.17)

Hnh 3.17: S nguyn l khu nhn bit chiu ca tn hiu iu khin Ta chn R23 = 4,7 (K) v D1 l diode zener loi DZ5V1. - Mch tch tn hiu chiu v ln tn hiu iu khin s dng IC CD4052 CD4052B l mt b dn knh - phn knh 4 knh tng t. C hai ng chn u vo nh phn l A v B, v mt hn ch u vo. Hai tn hiu u vo la chn 1 trong 4 cp knh phi c bt v kt ni cc yu t u vo tng t v ra s c u ra. +) S chn ca CD4052

Hnh 3.18: S chn ca CD4052

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+) Khi tch knh d liu vo chn COM OUT/IN, ra 4 knh CHANNEL I/O. Ngc li, khi dn knh th d liu song song vo cc chn CHANNEL OUT/IN v ra chn COM OUT/IN. +) 2 ng chn l A, B +) Chn INH (inhibit) cho php d liu c php truyn ra

Hnh 3.19. Cu trc mch ca CD4052 Bng 3.2. Hot ng ca CD4052

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Hnh 3.20: S nguyn l mch tch tn hiu iu khin dng CD4052 in p iu khin c a vo chn 13 ca CD4052, thc hin tch knh d liu. in p iu khin c tch xang 2 knh X0 v X1. Nu khng c tn hiu bt iu khin, chn X0 s c ni vi Y0 v ta c u ra Y. Nu c tn hiu bit iu khin th chn X1 s c ni vi Y1, in p iu khin c th m ln t chn X1 in p iu khin s c qua mt mch khuch i thut ton o, nh vy ta s c u ra Y. Chn R21 = R22 = 10 (K ) - Mch to xung dao ng dng IC NE555 +) 555 l mt loi linh kin kh l ph bin by gi vi vic d dng to c xung vung v c th thay i tn s ty thch, vi s mch n gin, iu ch c rng xung. N c ng dng hu ht vo cc mch to xung ng ct hay l nhng mch dao ng khc. y l linh kin ca hng CMOS sn xut[1]. in p u vo: 2 - 18V (Ty tng loi LM555, NE555, NE7555)

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Dng in cung cp: 6mA - 15mA in p logic mc cao: 0,5 - 15V in p logic mc thp: 0,03 - 0,06V Cng sut ln nht l: 600mW +) S chn ca NE555

Hnh 3.21: S chn ca NE555 IC NE 555 gm c 8 chn +) Chn s 1 (GND): Cho ni GND ly dng cp cho IC hay cn gi l chn chung. +) Chn s 2(TRIGGER): ng vo ca 1 tn so p. Mch so p dng cc transistor PNP, mc p chun l 2.Vcc/3. +) Chn s 3(OUTPUT): Chn ny l chn dng ly tn hiu ra logic. Trng thi ca tn hiu ra c xc nh theo mc 0 v 1, 1 y l mc cao n tng ng vi gn bng Vcc nu (PWM=100%) v mc 0 tng ng vi 0V nhng m trong thc t mc 0 ny ko c 0V m n trong khong t (0.35 ->0.75V). +) Chn s 4(RESET): Dng lp nh mc trng thi ra. Khi chn s 4 ni masse th ng ra mc thp. Cn khi chn 4 ni vo mc p cao th trng thi ng ra ty theo mc p trn chn 2 v 6. Nhng m trong mch to c dao ng thng hay ni chn ny ln VCC. +) Chn s 5 (CONTROL VOLTAGE): Dng lm thay i mc p chun trong IC555 theo cc mc in p ngoi hay dng cc in tr ngoi cho ni GND. Chn ny c th khng ni cng c nhng m gim tr nhiu ngi ta thng ni chn s 5 xung GND thng qua t in t 0.01uF n 0.1uF cc t ny lc nhiu v gi cho in p chun c n nh.

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+) Chn s 6(THRESHOLD) : l mt trong nhng chn u vo so snh in p khc v cng c dng nh 1 chn cht. +) Chn s 7(DISCHAGER) : c th xem chn ny nh 1 kha in t v chu iu khin bi tng logic ca chn 3. Khi chn 3 mc p thp th kha ny ng li.ngc li th n m ra. Chn 7 t np x in cho 1 mch RC lc IC555 dng nh mt mch dao ng. +) Chn s 8 (Vcc): l chn cung cp p v dng cho IC hot ng. Khng c chn ny coi nh IC cht. N c cp in p t 2V ->18V (Ty tng loi 555 thp nht l NE7555).

Hnh. 3.22: Mch to dao ng dng NE555 Khi t C4 np in ta c: T1 = 0,693.C4.(R7 + R27) Khi t C4 phng in ta c: T2 = 0,693.C4.R27 Vy chu l xung l: T = T1 + T2 = 0,693.C4.(R7 + 2.R27) to dao ng c tn s 10Khz, tc l chu k dao ng T = Ta chn: R7 = 50 (K ), R27 = 100 (K ), C4 = 1 (nF) 1 1 = 4 = 10-4 s f 10

54

Vy: T1 = 0,639.10-9.(50000 + 100000) = 1,04.10-4 (s) T2 = 6,93.10-9.100000 = 6,93.10-5 (s) - Mch to xung rng ca dng kha Transistor

Hnh 3.23: Mch to xung rng ca dng Transistor Khi transistor m, t C3 phng in qua transistor, Uc = 0. Khi transistor kha t C3 np in t +12V qua R29, in p trn t thay i theo quy lut hm m vi hng s thi gian = R29.C3 [1]. t Uc = 12.(1 - e ) 1 ly on tuyn tnh ca in p trn t c th chn T = . 3 +) Chn transistor l loi A1015 c cc thng s sau: Ic = 150 mA = 0,15 (A) VCB0 = -50 (V) VCE0 = -50 (V) Pcmax = 400 (mW) Tn s hot ng 1 kHz 0,15 +) Dng in cc i qua Baz l IB = IC = .1,2 = 2 (mA) 90 HFE
55

(3.18)

M IB =

12-0,7 R28+R29

Vy R28 + R29 = 5650 ( )

Ta c Un = 12V, T = 10-4 s, vy R29.C3 = 3.10-4 Chn R 28 = 3 (K ), R29 = 3 (K ), t C3 = 0,1 (F) - Mch so snh

Hnh 3.24: Mch so snh in p y l mch so snh hai in p vo l: in p rng ca v in p iu khin Uk (ly t bn ngoi vo)[1] Ti thi im bng nhau v gi tr tuyt i ca 2 in p ny, trong phn sn s dng ca in rng ca th mch pht ra mt xung in p, xung ny c a qua khi to xung n c th thay i c di cng sut, dc sn trc. C ngha l khi so snh l ni quyt nh gi tr gc iu khin th so snh in p:

56

Hnh 3.25: th so snh in p Mun xc nh c thi im m van cng sut ( gc m ) th ta tin hnh so snh hai tn hiu Uk v Urc. in p rng ca c a vo ca o ca khu khuch i thut ton qua R25 so snh vi in p iu khin c a vo ca khng o, in p iu khin c a vo ca khng o ca khuch i thut ton qua R24. +) Nu Uc < Uk th tn hiu ra l dng +) Nu Uc > Uk th tn hiu ra l m Ur > 0. Ur < 0.

+) Nu Uc = Uk th l thi im pht xung m van cng sut. Vy u ra ca khuch i thut ton l mt chui xung m dng lin tip. Mun thay i gc m khin Uk. +) it D2 dng loi b phn xung m. V vy in p ra ch cn phn xung dng. +) Tnh ton khu so snh Chn in tr R24 = R25 = R26 = 4,7 (k ) it D2 dng gii hn in p u ra chn loi DZ5V1 ca van cng sut th ta thay i gi tr ln ca in p iu

57

- Xy dng mch iu khin

Hnh 3.26: S nguyn l khu in p t v mch tr

58

Hnh 3.27: S nguyn l b iu khin PID

59

Hnh 3.28: S nguyn l khu nhn bit chiu v tch in p iu khin

Hnh 3.29: S mch to xung rng ca v khu so snh in p

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3.3. KT QU THC NGHIM Sau hn ba thng nghin cu em hon thnh n tt nghip: Nghin cu tng quan v h truyn ng in mt chiu, i su xy dng b iu khin PID cho ng c in mt chiu vi cc kt qu t c nh sau: - Tm hiu tng quan v ng c mt chiu - Cc phng php iu khin tc ng c mt chiu - Xy dng m hnh h truyn ng in mt chiu trn Matlab & Simulink - Xy dng b iu khin PID ng dng cho ng c mt chiu.

Hnh 3.31: M vt l iu khin tc ng c in mt chiu

61

KT LUN
ti iu khin ng c mt chiu s dng b iu khin PID tuy khng phi l mt ti mi, nhng qua phn nh c tnh nghim tc trong vic hc hi v vn dng cc kin thc vo vic thc hin ti . Sau thi gian ba thng nghin cu em hon thnh ti vi cc kt qu t c nh sau: Tm hiu tng quan v ng c mt chiu, cc phng php iu khin tc ng c mt chiu, xy dng m hnh h truyn ng in mt chiu trn Matlab & Simulink v l thuyt iu khin t ng t lm c s cho vic xy dng b iu khin PID ng dng cho ng c mt chiu. Tuy nhin bn n vn cn mt s vn tn ti, hn ch cn gii quyt: +) Vic kim sot cc tham s ca b iu khin PID l kh kh khn. +) Cha quan st c mt cch trc quan tc ng c trn my tnh. Do vy, hng pht trin tip theo ca ti s l: +) ng dng cm bin o dng in ACS712 xy dng h thng iu khin gm 2 mch vng tc v dng in cho ng c in mt chiu. +) Thit k giao din trn my tnh cho php quan st c p ng tc . +) Xy dng b iu khin PID cho h thng iu khin v tr.

62

TI LIU THAM KHO

1. Nguyn Bnh (1996), in t cng sut. NXB Khoa Hc K Thut 2.Bi Quc Khnh, Nguyn Vn Lin, Phm Quc Hi, Dng Vn Nghi (2008), iu chnh t ng truyn ng in. NXB Khoa hc v k thut 3. Bi Quc Khnh, Nguyn Vn Lin (2005), C S Truyn ng in. NXB Khoa hc v k thut 4. Nguyn Phng Quang (2006), Matlab & Simulink dnh cho k s iu khin t ng. NXB Khoa hc v k thut 5. Design PID circuit - http://www.ecircuitcenter.com/Circuits/op_pid.htm

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