Xy DNG GIAO DIN GIM ST V IU KHIN - h iu KHIN v tr s dng ng c Servo khng ng b ba pha

position control SYSTEM using sERVO three phases Induction motor - BUILD INTERFACE TO SUPERVISE AND CONTROL

ThS.V Xun Hng B mn Trang b in - in t, H GTVT Tm tt: Bi bo ny trnh by kt qu nghin cu, phn tch, nh gi h iu khin v tr servo ng c khng ng b ba pha rto lng sc, v kt qu xy dng giao din gim st v iu khin v tr s dng Chip cng ngh PSoC v Visual Basic. Giao din ny gip cho vic vn hnh n gin, thun tin, c th s dng trong cng nghip hoc lm m hnh th nghim phc v cho cng tc nghin cu v ging dy. Summary: This paper presents the result of researches, analyses of the position control system using servo three phases induction motor and building interface to supervise and control position using chip PSoC technology and Visual Basic. The interface helps to operate the position system more easily and effectively. It can be used on industry or as an experiment model for studying and training in the school. I. Gii thiu chung

Hin nay h truyn ng in iu khin v tr c s dng nhiu trong cng nghip v giao thng vn ti, cc ng dng in hnh c th k ra nh: truyn ng tay my, ngi my; c cu n dao v ct gt kim loi; quay cho ngten, knh vin vng; b iu chnh in p (OLTC) ca my bin p phn phi; C cu di dy trong my CNC qun dy; h thng iu chnh phun nhin liu trn t, tu ha .v.v. Cc h iu truyn ng in iu khin v tr c th la chn phng n dng ng c bc, ng c in mt chiu, ng c khng ng b ba pha .v.v. Ty theo ti m cng sut ng c t vi woat cho n hng trm kW. Vic la chn phng n no cn ty thuc vo tng ng dng c th. i vi h iu khin v tr dng ng c bc c gi thnh r, phn iu khin n gin, c th khng cn phn hi, nhng tc chm, sai s v tr ln v ph thuc vo cu to ng c bc. Vi h servo s dng ng c mt chiu c chnh xc cao nhng c mt nhc im ln l sinh ra tia la in do tip xc gia chi than v vnh gp, gy nhiu in t v lm gim tui th, tin cy ca h truyn ng in. Ngoi ra cn c h iu khin v tr s dng ng c mt chiu khng chi than (Brushless DC motor) tuy nhin gi thnh cao, ch yu dng cho vng cng sut b v trung bnh. Hin nay vi s pht trin mnh m ca vi iu khin, vi x l tn hiu cho php iu khin ng c khng ng b vi cht lng iu khin tt, chnh xc cao, di iu chnh rng, cng

sut ln .v.v. Dn ti xu th hin nay l dn thay h iu khin v tr s dng ng c mt chiu bng h s dng ng c khng ng b ba pha rto lng sc (C KB). H iu khin v tr servo - C KB ba pha thc cht l h bin tn - C KB c thm b iu chnh v tr v mt c cu kha trc ng c khi ng yn, m bo trc ng c khng b trt. Thut ton iu khin ca h ny phc tp, i hi vi iu khin phi tnh ton nhanh, chnh xc nn gi thnh cao. B li, C KB lm vic tin cy, chc chn t phi bo dng v khng c tia la in (so vi h s dng ng c mt chiu). Trong bi bo ny chng ti s gii thiu, phn tch nguyn l h iu khin v tr servo ng c khng ng b ba pha rto lng sc; v kt qu xy dng giao din gim st v iu khin v tr s dng Chip cng ngh PSoC (Programmable System on Chip) v Visual Basic. Giao din ny gip cho vic vn hnh n gin, thun tin, v c th s dng trong cng nghip hoc lm m hnh th nghim phc v cho cng tc nghin cu v ging dy.

Hnh 1: Minh ha mt h iu khin v tr s dng ng c servo II. Cc b phn c bn ca h Servo - C KB H Servo - C KB gm c hai phn chnh: ng c chp hnh Servo v phn iu khin. ng c chp hnh Servo gm c: ng c khng ng b ba pha rto lng sc, phanh hm in t, v my o tc Encoder. ng c servo l C KB rto lng sc u trc c gn mt b o tc Encoder. Ngoi b iu khin, th s xung pht ra ca Encoder trong mt vng ne (xung/vng) quay quyt nh chnh xc ca h iu khin v tr. m bo trc ng c v c cu truyn ng khng c t quay ngi ta gn thm mt c cu vo trc kha trc ng c khi khng c tn hiu iu khin.

B iu khin cng sut (Power Amplifier, Servo Driver) gm c cc khi chc nng chnh sau: B to ngun mt chiu, b nghch lu, b iu ch xung iu khin nghch lu (theo nguyn tc iu ch rng xung PWM hoc iu ch vect khng gian SVM), b to lut iu khin cho h bin tn - C KB, v cc khi chc nng hin th, truyn thng v bo v. III. B iu khin ca ng c Servo khng ng b ba pha Thc cht y l mt h bin tn - C KB c thm b iu chnh v tr, b iu khin v tr c nhim v to ra tn hiu t cho b iu chnh tc m bo v tr thc s bm theo v tr t (c th l mt gi tr c nh, hoc theo mt chng trnh, hoc v tr ngu nhin).

Hnh 2: S nguyn l mch vng kn h iu khin v tr Trong h bin tn, nghch lu s dng van c tn s ng ct ln IGBT hoc MOSFET, thng l IGBT; c iu khin theo nguyn tc iu ch rng xung PWM hoc iu ch vec t khng gian SVM. H bin tn thng l h iu khin vect ta theo t thng rto, h ny cho php iu khin nhanh, chnh xc m men quay ca ng c vi di iu chnh rng.

Hnh 3: c tnh tc , mmen ca ng c servo [1]

III.1. iu khin nghch lu S khi ca h bin tn - C KB:

Hnh 4: S khi ca h Bin tn - C KB hin i iu khin nghch lu thng c hai nguyn l sau [6, 7, 8, 9]: a) Nguyn l iu ch rng xung PWM (Pulse Width Modulation)

Hnh 5: Nguyn l to xung iu khin PWM U3 S2 U4 S3 S4 U5 S5 U6 Q2 Q3 Q1 Q4 S6 Up U2 S1 U1 U1 U2 Ut US

b) a) Hnh 6: Nguyn l SVM a) Su vect in p chun, b) Cch to mt vect in p c modul bt k t cc vect chun.

b) Nguyn l iu ch vect khng gian SVM (Space Vector Modulation) Trong s nghch lu IGBT, hnh 4, mi kha Tk (k=1, 2,...6) c hai trng thi 1 v 0, nu ta gi Sk l bin trng thi ca kha Tk th khi Sk=1 kha ng, Sk=0 kha m. Ti mi thi im khng k khi chuyn mch s c 3 van ba pha m nh vy s c 23=8 vect in p chun Uk(k=0,1,...7), trong hai vect U0(0,0,0) v U7(1,1,1) c mun bng 0; 6 vec t in p cn li s chia khng gian vect lm 6 vng - gi l 6 sector, hnh 6a. III.2. iu khin vect cho h bin tn - ng c Servo iu khin h bin tn - ng c khng ng b thng tun theo lut U/fx, hoc iu khin vect ta theo t thng rto FOC, hoc iu khin trc tip mmen DTC [5]. Trong h iu khin vect FOC c cht lng iu khin cao, di iu chnh rng, h thng lm vic tt ngay c vng tc thp nn c s dng trong h servo ng c khng ng b [1, 4, 9]. Vc t dng in stato trong h ta t thng rto c tch ra lm hai thnh phn, hnh 7: Thnh phn th nht l isd c chiu trng vi vect t thng rto, thnh phn ny t l vi t thng rto (r~ isd), nh c b iu chnh dng in m thnh phn isd c gi khng i isd = const do Hnh 7: Vect dng in, in p t thng rto c gi khng i, isd c gi l trong h ta t thng rto. dng to t thng (dng kch t). Thnh phn th hai l isq c chiu vung gc vi vect t thng rto. Do mmen quay t l vi tch ca t thng v thnh phn dng isq ( M ~ r.isq ), mt khc t thng c gi khng i nn thnh phn dng isq t l vi mmen, bng cch iu chnh dng isq ta s iu chnh c mmen quay, dng isq c gi l dng to mmen quay. Nh vy nu thnh cng trong vic gi isd = const v p t nhanh dng isq iu khin mmen th thut ton iu khin vect (iu khin nh hng t trng rto FOC) cho ng c khng ng b s tng t nh iu khin ng c mt chiu kch t c lp [4]. Hnh 8 l s cu trc h iu khin v tr vi chin lc iu khin vect ta theo t thng rto. IV. Xy dng giao din gim st v iu khin cho h iu khin v tr Servo - C KB, s dng vi iu khin cng ngh PSoC IV.1. Gii thiu b iu khin v tr servo - C KB ca hng Omron: K hiu: SmartStep A - Series R7D-AP08H ng c servo C KB cng sut 750 W; Tc quay 3.000 vng/pht, tc quay ln nht 4.500 vng/pht; Mmen u ra 2.39 Nm, mmen ln nht 7.1 Nm Ngun cp: in p xoay chiu mt pha hoc ba pha Encoder 10.000 xung/ vng, phn di gc dch chuyn nh nht = 0.0360. C nt iu chnh ng vi 500; 1000; 5000; 10.000 xung/ vng quay. B iu khin Servo Driver c iu khin theo xung, mt xung vung cp cho u vo b iu khin servo th ng c s quay mt gc . Truyn thng vi b lp trnh cm tay theo chun RS 422

Chc nng bo v qu p, qu dng, c kh nng chun on s c.

Hnh 8: S cu trc h iu khin vect FOC dng trong h iu khin v tr s dng ng c servo khng ng b ba pha.

Hnh 9: B iu khin v tr ca hng Omron [1]

V.2. Giao din gim st v iu khin S khi:

PC t gc quay, chiu quay, o gc thc PSoC Nhn gc t, chiu quay t PC

Hnh 10: S khi ca h thng gim st v iu khin v tr

Ra lnh: Cho php chy, m phanh, chn chiu quay

Ra lnh: Cp xung iu khin o gc thc trn trc ng c t Encoder Truyn gc ln my tnh hin th

Gc thc < Gc t Sai

Hnh 11: Mch phn cng ca Card gim st v iu khin v tr s dng PSoC CY8C29466 Hnh 12: S thut ton

Hnh 13: S ni dy gia Card PSoC v Servo Driver

Hnh 14: Giao din gim st v iu khin v tr

Giao din trn my tnh c cc chc nng: t tc v s bt truyn thng tin, t chiu quay, t gc quay, o gc quay thc ca trc Servo qua Encoder, hnh 14. Lp trnh cho PSoC bng phn mm PSoC Designer, gm hai bc: Lp trnh phn cng: thit lp cu hnh phn cng cho chip, hnh 15 v lp trnh phn mm: trn c s phn cng va thit lp ta vit chng trnh tnh ton, x l, vo ra d liu, truyn v nhn thng tin, hnh 16. Kt qu l h thng vn hnh tt, truyn d liu v o lng chnh xc, ng c chy m, khng git, mmen hm trc ln. Ti liu tham kho [1]. Ti liu k thut v SmartStep A - Series R7D-AP08H v bin tn 3G3MV ca hng Omron. [2]. Ti liu k thut v PSoC ca hng CyPress. [3]. V Xun Hng, Trn Vn Thnh; Gii php nng cao hiu qu v hiu sut s dng h bin tn ng c khng ng b; Tp ch Khoa hc GTVT, 12/2006. [4]. V Xun Hng, Trn Vn Thnh; Phng php tng hp v m phng h Bin tn iu khin vect - Nhn dng hng Hnh 15: Thit lp phn cng cho PSoC s dng phn mm s thi gian rto; Tp ch Khoa PSoC Designer hc GTVT, 3/2005. [5]. V Xun Hng, Trn Vn Thnh, H Mnh Tin; iu khin trc tip t thng stato v m men ca ng c khng ng b ba pha s dng k thut iu ch vec t khng gian; Tp ch Khoa hc GTVT, 11/2005. [6]. V Xun Hng; Tnh ton tn tht nng lng trong qu trnh ng ca ng c khng ng b khi c cp in t bin tn PWM, Tp ch Khoa hc GTVT, 11/2003. [7]. Richard Valentine, Motor Control Electronics Handbook, McGraw-Hill, 1998. [8]. J. Vithayathil, Power Electronics - Principles & Hnh 16: Vit chng trnh cho PSoC bng ngn ng C s Applications, McGraw - Hill, dng phn mm PSoC Designer 1996. [9]. Ng. Ph. Quang, A. Dittrich, Truyn ng in thng minh, Nh xut bn KHKT, 2002.