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8/2/2019 Bao Cao_Chan

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Tc gi: Th.s. Hunh c ChnKhoa: in-in T, Trng H Lc Hng

HI NGH TON QUC V IU KHIN V T NG HAVCCA-2011

ti: NG DNG GII THUT BY N XC NH THNG S B PID TRONGIU KHIN TC NG C KHNG

NG B BA PHA


2/30

NI DUNG BO CO

Phn 1: L do chn ti

Phn 2: Xy dng m hnh ng c bng Matlab/ Simulink .

Phn 3: Phng php iu khin nh hng t thng FOC.

Phn 4: Cc phng php xc nh b PID.

Phn 5: Kt qu m phng- Kt lun- Hng pht trin.


3/30

Phn 1: L do chn ti

Phng php iu khin: PID- PSO (PSO: Particle swarmoptimization) [4], [6] lphng php iukhinnnh v tiu.

Ccphng php ctruyn c cmbin hay khng cmbinukhng nnh khi ti thay iln.

Hnh 1.1:ng c khng ng b ba pha.


4/30

Phn 2: Xy dng m hnh ng c khng ng b bapha bng Matlab/Simulink:

Phng trnh ton:

0 ( )s

s srr r r

d R i t j

dt

ss s ss s s

du R i

dt

s s s

s s s m r

L i L i

s s s

r m s r r L i L i

3 3

2 2

s s r r M p i p i

2.1. M hnh ng c khng ng b trn h trc :( )


5/30

Bin i h phong trnh trn ta thu c h phng trnh vitdi dng cc thnh phn nh sau:

Vi: ;

' '1 1 1 1 1

( )s

s r r s

s r r s

dii udt T T T L

' '1 1 1 1 1( )

s

s r r s

s r r s

dii u

dt T T T L

'

' '1 1rs r r

r r

di

dt T T

'

' '1 1r s r rr r

d idt T T

' rr

mL

' r

r

mL


6/30

Hnh 2.1:M hnh ng c khng ng b trn h trc( )

S matlab:


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2.2. M hnh ng c khng ng b trn h trc :( )d q

Phng trnh ton:f

f f f ss s s s s

du R i j

dt

0f

f f rr r r r

d R i j

dt

f f f

s s s m r L i L i

s f fr m s r r L i L i

3

2

mrd sq rq sd

r

L M p i i

L


8/30

Bin i h phng trnh trn ta thu c h phng trnh vitdi dng cc thnh phn nh sau:

' '1 1 1 1 1( )sd sd s sq rd rq sd s r r s

di i i udt T T T L

' '1 1 1 1 1( )

sq

sq s sd rq rd sq

s r r s

dii i u

dt T T T L

'

' '1 1( )rd sd rd s rq

r r

di

dt T T

'

' '1 1 ( )rq sd rq s rd r r

d idt T T

' rdrd

mL

'

rq

rq

mL

s r Vi: ; ;


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S matlab:

Hnh 2.2:M hnh ng c khng ng b trn h trc( )d q


10/30

Phn 3: Phng php iu khin nh hng t thng FOC:

y lphng php iukhin c hiusut cao, v t thngv moment c thciukhinclp.

Phng php ny ngdngphng php vector khng gianta c th d dng xy dng m hnh ng c v cc phngtrnh trn hta (dq)


11/30

Phng php FOC:

.1

m

rd sd

r

L isT

Phng trnh t thng:

32

mrd sq rq sd

r

L M p i iL

0rq

Chn trc ta t thng rotor trng vi trc d nn:

, Suy ra:3

2

mrd sq

r

L M p i

L

Phng trnh moment:


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S iu khin theo phng php FOC c xy dng trnmatlab:

Hnh 3.1: S m phng phng php FOC.


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Phn 4: Cc phng php xc nh b PID:

4.1. Xc nh b PID bng phng php c in ZN :

Hnh 4.1: S khi ca h kn c b t l P.


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Tham s chobiukhin PID chn theobng sau:

B iu khinKP TI TD

P 0.5*Kgh 0

PI 0.45*Kgh Tgh /1.2 0

PID 0.6*Kgh 0,5*Tgh Tgh/8

Bng 4.1: Bng tnh cc thng s PID theo ZN

PI

I

KKT

D P DK K T Vi V


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4.2. Xc nh b PID bng gii thut By n (PSO) .

4.2.1. Tng quan v gii thut by n (PSO):

c pht trinbi Dr.Eberhart v Dr.Kennedy (1995).

PBest l nghim ttnhttc cho ti thiimhin ti.Gi trth hai, gi l GBestl nghimttnhtm c thln cnc thny tc cho tithiimhinti.

Mi c th trong qunthcpnhtv trca n theo v trttnhtca n v ca c th trong qunth tnh tithiimhinti.


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( 1) ( ) ( ) ( )

, , 1 , , 2 ,. * () *( ) * ()*( )k k k k

i m i m i m i m m i mv w v c rand Pbest x c Rand Gbest x

(4.1)

(4.2)

( 1) ( ) ( 1)

, , ,

k k k

i m i m i m x x v ; i=1,2,,n ; m=1,2,,d

Trong :

n : S phn t trong nhm. d : Kch thcqunth (dimension). k : Slnlpli. : Vntcca c thth i tithhth k. w : H s trng lng qun tnh. c1,c2 : H s gia tc.

Rand () : L mt s ngu nhin trong khong (0,1). : V tr c th th i ti th h th k.

( )

,

k

i mv

( )

,

k

i mx

: V tr tt nht ca c th th i. : V tr tt nht ca c th trong qun th.

ibestP

ibestG


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4.2.2. Cu trc b iu khin PID bng gii thut By n:

Hnh 4.2: Cu trc b iu khin PID- PSO.


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Yes

No sln lp

li ?

BEGIN

Khi to nhng gi tr banu ca qun th

Chy m hnh iukhintc ng c khng ng bba pha vi nhng tham sthitlptrc

Tnh nhng tham s [Kp, Ki]ca b iu khin PID

Tnh hm thch nghi

Tnh Pbest ca mi phn tv Gbest ca qun th

Cp nht gi tr vn tc, vtr, Pbest v Gbest ca mi

phn t

STOP1

1

4.2.3. Lu gii thut ca h thng iu khin PID- PSO:

Hnh 4.3: Lu gii thut ca h thng iu khin PID- PSO.


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Phn 5: Kt qu m phng-Kt lun-Hng pht trin:

5.1. S tng quan cc khi:

Hnh 5-1: S tng quan cc khi.


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5.2. Cc thng s ca ng c dng trong m phng:

Bng 5.1: Thng s ca ng c.


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5.3. Kt qu m phng:

Hnh 5.2: th hm mc tiu trong qu trnh ti u.

5.3.1. Hm mc tiu trong qu trnh ti u:


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Hnh 5.3: th hm KP v KItrong qu trnh ti u.

5.3.2. Hm KP v KItrong qu trnh ti u:


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5.3.3. Tham s b PID v p ng tc ca ng c:

Phng php KP KI vtl (%)

Thigianp

ng (s)

Thigianxc lp

(s)

Sais

(%)

PID- ZN 0.187 1.483 10.42 0.02 0.42 0.14

PID- PSO 8.848 0.417 0.68 0.02 0.02 0.05

Bng 5.2: Tham s PID v p ng tc ca ng c.


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5.3.3.1. ng c khi ng khng ti:

p ng ca ng c:

0 1 : _ 200( / )t s w ref rad s

0 1 : _ 0.5t s Fi ref

0 1 : 0ct s M

Speed(

rad/s

)

Time (Sec) Time (Sec)

wrefw wref

w

Hnh 5-4: Dng sng tc ca ngc theo phng php ZN. Hnh 5-5: Dng sng tc ca ngc theo phng php PSO.


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5.3.3.2. ng c khi ng khng ti, sau o chiu quay:

Speed(

rad/s)


pngcangc:

0 1 : _ 0.5.t s Fi ref

0 0.5 : 0.t s Mc

0.5 1 : _ 100( / ).t s w ref rad s

0 0.5 : _ 200( / ).t s w ref rad s

wrefw wwref

Hnh 5-6: Dng sng tc ca ngc theo phng php ZN. Hnh 5-7: Dng sng tc ca ngc theo phng php PSO.


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5.3.3.3. ng c khi ng khng ti, sau ng ti:

Speed(

rad/s)


pngcangc:0 1 : _ 200( / ).t s w ref rad s

0 1 : _ 0.5.t s Fi ref

0 0.5 : 0.t s Mc

0.5 1 : 5( ).t s Mc Nm

Hnh 5-8: Dng sng tc v momentca ng c theo phng php ZN. Hnh 5-9: Dng sng tc v momentca ng c theo phng php PSO.

ww

ref

Mc Mcref

wwref

Mc Mcref


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5.4 Kt lun:

+ vtlcngnhstdccc ilng l khng ngk.

+ ngcc thhotngnhiu di tc khc nhau.

+ Thi gian png tc v thi gian xc lp nhanh khong

0.02s, vtlnh (0.68%).

+ iukhin chnh xc tccangcvi sai snh (0.05%).

5.5 Hng pht trin ti:

+ Trin khai thcnghim.


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1. Nguyn Phng Quang, Truynngin Thng Minh, Nh

xutbn khoa hc v kthut, 2006.

2. PhmThng Ct, L Hng Linh v Phm Minh Tun,iuKhinTcngCKhngngB Ba Pha SDngMngNron Nhn To, Vin cng ngh thng tin, i Hc Thi

Nguyn, 2009.

3. PhmVnLc,ngdngphngphp iukhin PID mkthpviphngphp nhhng trng iukhin tcng c khng ng b 3 pha Trng i Hc S Phm K

Thut TPHCM, 2011.4. Boumediene Allaoua Brahim GASBAOUI and Brahim

MEBARKI, Setting Up PID DC Motor Speed Control Alteration

Parameters Using Particle Swarm, pp.19-32, 2009.

TI LIU THAM KHO


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6. Radha Thangaraj; Thanga Raj Chelliah; Millie Pant; Ajith

Abraham and Crina Grosan, Indian Institute of Technology

Roorkee; Scientific Network for Innovation and Research

Excellence Washington, USA and Department of Computer

Science Babes-Bolyai University Cluj-Napoca, Romania Optimal

gain tuning of PI speed controller in induction motor drives using

particle swarm optimization, July 2010.

5. N. Pillay,A Particle swarm optimization approach for tuning of

SISO PID control loops, 2008

7. Russel C. Eberhart, Yuhui Shi, Partical swarm optimization

developments, Aplication and Resources, Purdue school ofengineering and technology, pp. 81-86.


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XIN CHN THNH CM!www.lhu.edu.vn

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