Dieu Khien DongCo KDB 3pha = SinPWM Dung PIC30F6010

8/6/2019 Dieu Khien DongCo KDB 3pha = SinPWM Dung PIC30F6010

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i

I HC QUC GIA TP H CH MINHTRNG I HC BCH KHOA

KHOA IN-IN T

LUN VN TT NGHIP I HC

IU KHIN NG CKHNG NG BBA PHA THEO PHNG PHP SINPWM,

SDNG VI IU KHIN dsPIC30F6010

SVTH : L TRUNG NAMCBHD : TS. L MINH PHNGMSSV : 40201632B MN : IN - IN T

TP H Ch Minh, 01/2007


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ii

NHN XT CA GIO VIN HNG DN

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

Tp H Ch Minh, thng 1 nm 2007

Gio vin hng dn


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iii

NHN XT CA GIO VIN PHN BIN

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

Tp H Ch Minh, thng 1 nm 2007

Gio vin phn bin


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iv

LI CM N

Ti xin gi li cm n chn thnh nhtn qu Thy C trngi Hc Bch

Khoa Tp. H Ch Minh, nhng ngi du dt ti tn tnh, truyn t cho ti

nhng kin thc v kinh nghim qu bu trong sut thi gian ti hc tp ti trng.

Ti xin trn trng gi li cm n n tt c cc Thy, C Khoain-in T

c bit l thy L Minh Phng, thy Phan Quc Dng ,thy Trn Thanh V tn

tnh hng dn, gip , to mi iu kin thun li ti hon thnh tt lun vn tt

nghip ny.

Ti xin cm n gia nh ti, nhng ngi thn cho ti nhngiu kin tt

nhthc tp trong sut thi gian di.

Ngoi ra ti xin gi li cm n n bn gi ti(H.T.T), n tt c nhng ngi

bn ca ti, nhng ngi cng gn b, cng hc tp v gip ti trong nhng

nm qua cng nhtrong sut qu trnh thc hin lun vn tt nghip.

Tp. H Ch Minh, thng 1 nm 2007


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v

MC LC

CHNG 1: GII THIU VNG CKHNG NG B ................1

1.1.Tng quan v my in khng ng b ........................................................................ 21.1.1 Nguyn l lm vic:............................................................................................... 21.1.2 Cu to ..................................................................................................................3

1.2 ng dng ca ng ckhng ng b.......................................................................... 41.3 Kh nng dng ng cxoay chiu thay th my in mt chiu: ................................51.4 Kt lun: ......................................................................................................................6

CHNG 2: L THUYT V PHNG PHP IU KHIN................72.1 Gii thiu v bin tn ngun p iu khin theo phng php V/f................................8

2.2.1 Phng php E/f.................................................................................................... 82.2.2 Phng php V/f ...................................................................................................8

2.3 Cac phng phap thng dung trong iu khin ng ckhng ng b :..................... 102.3.1 Phng php iu rng xung SINPWM............................................................... 10

2.3.1.1 Cc cng thc tnh ton................................................................................. 122.3.1.2 Cch thc iu khin..................................................................................... 132.3.1.3 Quy trnh tnh ton:....................................................................................... 142.3.1.4 Hiu qu ca phng php iu khin : ......................................................... 15

2.3.2 Phng phap iu ch vector khng gian ( Space Vector):.................................. 172.3.2.1 Thnh lp vector khng gian: ........................................................................ 172.3.2.2 Tnh ton thi gian ng ngt: ...................................................................... 202.3.2.3 Phn b cc trng thi ng ngt:.................................................................. 222.3.2.4 K thut thc hin iu ch vector khng gian: ............................................. 22

2.3.2.5 Gin ng ngt cc kha to ra Vector Vs trong tng sector: ..............22CHNG 3 : CU TO V CC THNG S PHN CNG.................25 3.1 S khi ca mch iu khin ng c: ...................................................................273.2 Gii thiu chi tit cac khi iu khin:........................................................................ 27

3.2.1 Mch li .............................................................................................................. 273.2.2 Mch cch ly ....................................................................................................... 313.2.3 Mch MOSFETs..................................................................................................313.2.4 Mch chnh lu.................................................................................................... 33

3.2.4.1 B chnh lu: ................................................................................................ 333.2.4.2 Phng php chnh lu : ............................................................................... 33

CHNG 4 : S CU TO MCH IU KHIN ............................ 344.1 S mch cch ly ....................................................................................................354.2 S mch li............................................................................................................374.3 S mch ng lc .................................................................................................. 384.4 S mch iu khin ............................................................................................... 39

4.4.1 Khi iu khin ................................................................................................... 394.4.2 Khi giao tip my tnh ....................................................................................... 404.4.3 Khi hin th........................................................................................................ 404.4.4 Khi nt bm....................................................................................................... 41

CHNG 5: GII THIU V DSPIC 6010................................................ 425.1 Tng quan v vi iu khin dsPIC30F6010 ................................................................ 43

5.2 Cc c im c bit h MCU dsPic-6010:............................................................ 445.3 Gii thiu khi qut v cu trc phn cng:................................................................ 45


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vi

5.4 Khi qut v cc thanh ghi lm vic ........................................................................... 505.4.1 Cc thanh ghi iu khin : ...................................................................................505.4.2 Thanh ghi TRIS:..................................................................................................505.4.3Thanh ghi PORT: ................................................................................................. 51

5.4.4Thanh ghi LAT:....................................................................................................515.5 Gii thiu v cc module cbn................................................................................. 525.5.1 Module Timer :.................................................................................................... 52

5.5.1.1 Module Timer 1 ............................................................................................ 525.5.1.2 Timer2/3 module: ......................................................................................... 545.5.1.3 Timer4/5 module : ........................................................................................ 57

5.5.2 Module AD: ........................................................................................................ 595.5.2.1Gii thch hot ng....................................................................................... 605.5.2.2 Qu trnh hot ng ca module ADC c tm tt nh cc bc sau: .........605.5.2.3 Cc s kin kch chuyn i:......................................................................... 615.5.2.4 Tc ng reset............................................................................................... 61

5.5.2.5 nh dng kiu d liu trong module A/D..................................................... 615.5.3 Module PWM:.....................................................................................................62

5.5.3.1 Cc c im ca module PWM ...................................................................625.5.3.2 Gii thch hot ng ca module PWM......................................................... 635.5.3.3 Cc bm t l trong module PWM: ........................................................... 675.5.3.4 Cc thanh ghi lm vic trong module PWM ..................................................68

5.6 GII THIU V TP LNH CA MCU DSPIC-6010............................................. 70CHNG 6: S KHI V GII THUT IU KHIN...................75

6.1 S khi chng trnh : ........................................................................................... 766.2 S gii thut chng trnh :.................................................................................... 77

CHNG 7 : KT QUT C ......................................................... 807.1 Phn cng: ................................................................................................................. 817.1.1 Mch ng lc:.................................................................................................... 817.1.2 Mch iu khin .................................................................................................. 82

7.2 Phn mm: ................................................................................................................. 837.3 Dng sng in p ng ra: .......................................................................................... 83

PH LC........................................................................................................85 TI LIU THAM KHO............................................................................ 111

TI LIU THAM KHO TRONG NC.................................................................... 111TI LIU THAM KHO NC NGOI..................................................................... 111WEBSITE THAM KHO ............................................................................................. 111


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vii

DANH SCH HNH V

Hnh1.1: Nguyn l hot ng ca ng c............................................................................ 2

Hnh1.2: L thp k thut in ............................................................................................... 3Hnh 2.1: Quan h gia moment v in p theo tn s ........................................................ 10Hnh 2.2: Nguyn l ca phng php iu rng sin ............................................................ 11Hnh 2.3 : S dng in p trn cc pha........................................................................... 12Hnh 2.4: Qu trnh hot ng ca biu khin.................................................................. 13Hnh 2.5: S kt ni cc kha trong b nghch lu .......................................................... 16Hnh 2.6 : S b bin tn nghch lu p 6 kha (MOSFETs hoc IGBTs)........................ 17Hnh 2.7: Biu din vector khng gian trong h ta x-y...................................................17Hnh 2.8: Cc vector khng gian t 1 n 6.........................................................................19Hnh 2.9: Trng thi ng-ngt ca cc kha........................................................................ 19Hnh 2.10: Vector khng gian Vs trong vng 1 ...................................................................20

Hnh 2.11: Vector khng gian Vs trong vng bt k ............................................................. 21Hnh 2.12: Gin ng ct linh kin.................................................................................. 22Hnh 2.13: Vector Vs trong cc vng t 0-6 ......................................................................... 24Hnh 3.1: S khi mch iu khin.................................................................................. 27Hnh 3.2: V d siu khin mosfet .............................................................................. 28Hnh 3.3: S khi ca IC li mosfet................................................................................. 29Hnh 3.4: IC IR2136 ............................................................................................................ 29Hnh 3.5: S kt ni IR2136............................................................................................ 30Hnh 3.6: S khi ca opto.............................................................................................. 31Hnh 3.7: S khi ca MOSFET v IGBT ....................................................................... 32Hnh 3.8: IRFP460P............................................................................................................. 33

Hnh 4.1 : S mch cch ly.............................................................................................. 36Hnh 4.2 : S mch li mosfet ......................................................................................... 37Hnh 4.3 : S mch ng lc ........................................................................................... 38Hnh 4.4 : S khi iu khin chnh ................................................................................ 39Hnh 4.5 : S khi giao tip my tnh .............................................................................. 40Hnh 4.6 : S khi hin th .............................................................................................. 40Hnh 4.7 : S khi nt bm.............................................................................................. 41Hnh 5.1 : Cc h vi iu khin PIC v dsPIC ...................................................................... 43Hnh 5.2: Sng dng cc h vi iu khin ....................................................................43Hnh 5.3: S chn dsPIC30F6010.................................................................................... 45Hnh 5.4: S t chc bn trong MCU dsPIC6010............................................................ 46Hnh 5.5: S t chc b nhbn trong MCU dsPIC6010 ................................................ 49Hnh 5.6:S cu to bn trong mt I/O ............................................................................ 50Hnh 5.7: S cu to tng quan ca cc I/O Port trong MCU........................................... 51Hnh 5.8: S cu to ca b16-bit Timer1 ....................................................................... 53Hnh 5.9: S cu to ca b 32-bit Timer2/3 ................................................................... 56Hnh 5.10: S cu to ca b 16-bit Timer2 (Timer loi B) ............................................. 56Hnh 5.11: S cu to ca b 16-bit Timer3 ( Timer loi C) ............................................ 57Hnh 5.12: S cu to ca b 32-bit Timer4/5 .................................................................58Hnh 5.13: S cu to ca b 16-bit Timer4 (Timer loi B) ............................................. 58Hnh 5.14: S cu to ca b 16-bit Timer5 (Timer loi C) ............................................. 59

Hnh 5.15: S cu to bn trong module A/D ..................................................................60Hnh 5.16: S cu to bn trong module PWM................................................................ 63


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Hnh 5.17 : Cp nht gi tr PWM trong ch t do........................................................... 64Hnh 5.18 : Cp nht gi tr PWM trong chm ln xung............................................ 65Hnh 5.19 : Cp nht gi tr PWM trong ch cp nht kp ............................................... 65Hnh 5.20: Tn hiu PWM trong ch hot ng h tr..................................................... 66

Hnh 5.21: Xung PWM dng Edge Aligned.......................................................................... 66Hnh 5.22: Xung PWM dng Center Aligned ....................................................................... 67Hnh 5.23: Bm t l trong module PWM ........................................................................ 67Hnh 7.1 : Mch ng lc..................................................................................................... 81Hnh 7.2: Mch iu khin................................................................................................... 82Hnh 7.3: Giao din giao tip my tnh................................................................................. 83Hnh 7.4: Dng in p pha ng ra ....................................................................................... 83Hnh 7.5 : Dng in p dy ng ra ...................................................................................... 84


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ix

DANH SCH BNG BIU

Bng 2.1: Gi trin p cc trng thi ng ngt v vector khng gian tng ng ..............20

Bng 3.1: Thng sng c................................................................................................. 26Bng 3.2 : nh ngha cc chn trong IR2136 ...................................................................... 31Bng 5.1 : Thit lp tn s hot ng ...................................................................................44Bng 5.2: M t chc nng, tnh cht cc I/O trong MCU .................................................... 49Bng 5.3: Trnh by s cc thanh ghi iu khin TIMER1............................................... 53Bng 5.4: Trnh by cc thanh ghi iu khin Timer2/3 ....................................................... 55Bng 5.5: Trnh by cc thanh ghi iu khin Timer4/5 ....................................................... 57Bng 5.6: nh dng kiu lu tr kt qu ............................................................................. 62Bng 5.7: Bng thanh ghi iu khin module AD................................................................. 62Bng 5.8 : Bng thanh ghi iu khin module PWM ............................................................ 69Bng 5.9: Bng tp lnh MCU 6010..................................................................................... 74

DANH MC TVIT TT, TN NC NGOI

ACIM AC Induction Motor ng cdng ngun xoay chiuAD Analog To Digital Tun t sang sADC Analog To Digital Conversion B chuyn i tun t sang s

CKB ng ckhng ng bFcy Tn s hot ng trong vi iu khinFosc Tn s thch anhI/O Input/Output Ng vo, ng raMCU Micro Controller Unit Vi iu khinMODULE KhiPWM Pulse Width Modulation iu rng xungSINPWM Sin Pulse Width Modulation iu rng xung sinTIMER Bnh th


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x

TM TT LUN VN

MC CH LUN VN:

Tm hiu v thit k b bin tn truyn thng ( 6 kha) ba pha iu khin CKB

theo phng php V/f v iu ch SINPWM .

Kho st nguyn tc ng ct cc kha bn dn trong b nghch lu .

Kim tra, nh gi dng sng in p ng ra.

Nguyn cu gii thut v vit chng trnh iu khin.

PHNG PHP NGHIN CU

Tham kho v tng hp ti liu trong v ngoi nc.

Tin hnh thc nghim trn m hnh thc t.

Theo di, nh gi, nhn xt cc thng s thc nghim.

X l s liu, tnh ton, v vit bo co.

THI GIAN THC HIN

Thi gian thc hin lun vn: 3/9/2006 30/12/2006.

A IM THC HIN

Nghin cu ny c thc hin bng cc m hnh qui m phng th nghim in t

cng sut t tai trng i hc Bch Khoa TP H Ch Minh.

NGHA KHOA HC V THC TIN CA NGHIN CU

xut m hnh bin tn iu khin ng ckhng ng b ba pha dng trong cc h

thng truyn ng vi gi thnh thp, p ng c cc yu cu cbn ca thc t.

Do hn ch v mt thi gian, iu kin kinh t nn trong phm vi lun vn tt nghip

ny ch dng li iu khin vng hng ckhng ng b ba pha v hi vng

ti sc tip tc pht trin trong tng lai .


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CHNG 1: GII THIU VNG CKHNG NG B

1

CHNG 1

GII THIU VNG CKHNG NG B


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2


1.1.Tng quan v my in khng ng b

1.1.1 Nguyn l lm vic:

Hnh1.1: Nguyn l hot ng ca ng c

Khi nam chm in quay ( tc n1 vng/ pht ) lm ng sc t quay ct qua cccnh ca khung dy cm ng gy nn sc in ng E trn khung dy. Sc in ng E sinhra dng in I chy trong khung dy. V dng in I nm trong t trng nn khi t trngquay lm tc ng ln khung dy mt lc in t F. Lc in t ny lm khung dy chuyn

ng vi tc n vng/ pht.V n < n1 nn gi l khng ng b.

CKB ba pha c dy qun ba pha pha stator, Roto ca CKB l mt b dy qun ba phac cng s cc trn li thp ca Roto.Khi Statorc cung cp bi ngun ba pha cn bng vi tn s f, t trng quay vi tc

db sc to ra. Quan h gia t trng quay v tn s f ca ngun ba pha l :

12 ( / )dbf

rad sp p

= =

Trong :

p - si cc1 - tn s gc ca ngun ba pha cung cp cho ng c: 1 2 f =

Nu tc quay ca roto l , sai lch gia tc t trng quay stator v roto l:.sl db dbs = =

Trong sl gi l tc trtThng s s gi l trt, ta c:

db

db

s

=

V c tc tng i gia roto v t trng quay stator , in p cm ng ba pha scsinh ra trong roto .Tn s ca in p ny s t l vi trt theo cng thc :


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3

1* ( / )r s rad s = Moment ng csinh ra:

2 sin2 m m r

M p F

=

Trong :

m : t thng tr6en mt cc (Wb).

mF : gi trnh ca sc tng roto.

r : gc lch pha gia sc tng roto v sc tng khe hkhng kh.1.1.2 Cu to

a)Phn tnh (Stato)

Stato c cu to gm v my,li st v dy qun

* V myV my c tc dng c nh li st v dy qun, khng dng lm mch dn t.

Thng v my c lm bng gang. i vi my c cng sut tng i ln ( 1000kW )thng dng thp tm hn li lm thnh v my. Tu theo cch lm ngui my m dng vcng khc nhau.*Li st

Li st l phn dn t. V t trng i qua li st l t trng quay nn gim tn hao list c lm bng nhng l thp k thut in p li. Khi ng knh ngoi li st nh hn 90

mm th dng c tm trn p li. Khi ng knh ngoi ln hn th dng nhng tm hnh rqut (hnh 2) ghp li.

Hnh1.2: L thp k thut in

*Dy qun

Dy qun statorc t vo cc rnh ca li st v c cch in tt vi li st.

b)Phn quay (roto)

Rotor c 2 loi chnh : rotor kiu dy qun v rotor kiu lng sc.


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4

Rotor dy qun :

Rto c dy qun ging nh dy qun ca stator. Dy qun 3 pha ca rto thng u hnhsao cn ba u kia c ni vo vnh trt thng lm bng ng t cnh mt u trc

v thng qua chi than c thu vi mch in bn ngoi. c im l c th thng qua chithan a in trph hay sut in ng ph vo mch in rto ci thin tnh nng mmy, iu chnh tc hoc ci thin h s cng sut ca my. Khi my lm vic bnh thngdy qun rotorc ni ngn mch. Nhc im so vi ng crotor lng sc l gi thnhcao, kh s dng mi trng khc nghit, d chy n

Rotor lng sc :

Kt cu loi dy qun ny rt khc vi dy qun stator. Trong mi rnh ca li st rotortvo thanh dn bng ng hay nhm di ra khi li st v c ni tt li hai u bng haivnh ngn mch bng ng hay nhm lm thnh mt ci lng m ngi ta quen gi l lng

sc.

c)Khe hkhng kh

V rotor l mt khi trn nn khe hu. Khe htrong my in khng ng b rt nhhn ch dng in t ha ly t li v nh vy mi c th lm cho h s cng sut ca mycao hn.

1.1.3 ng dng :

My in khng ng b l loi my in xoay chiu ch yu dng lm ng cin. Do

kt cu n gin, lm vic chc chn, hiu sut cao, gi thnh h nn ng ckhng ng bl loi my c dng rng ri Trong i sng hng ngy, ng ckhng ng b ngy cngchim mt v tr quan trng vi nhiu ng dng trong cng nghi p, nng nghi p va trong isng hang ngay.

1.2 ng dng ca ng ckhng ng b

Ngy nay, cc h thng truyn ng in c s dng rt rng ri trong cc thit b hocdy chuyn sn xut cng nghip, trong giao thng vn ti, trong cc thit bin dn dng, . .. c tnh c khong 50% in nng sn xut ra c tiu th bi cc h thng truyn ngin.

H truyn ng in c th hot ng vi tc khng i hoc vi tc thay ic. Hin nay khong 75 80% cc h truyn ng l loi hot ng vi tc khng i.Vi cc h thng ny, tc ca ng chu nh khng cn iu khin tr cc qu trnh khing v hm. Phn cn li, l cc h thng c thiu chnh c tc phi hp c tnhng cv c tnh ti theo yu cu. Vi s pht trin mnh m ca k thut bn dn cngsut ln v k thut vi x l, cc hiu tc s dng k thut in t ngy cng c s dngrng ri v l cng c khng th thiu trong qu trnh tng ha.

ng ckhng ng b c nhiu u im nh: kt cu n gin, lm vic chc chn,

hiu sut cao, gi thnh h, c kh nng lm vic trong mi trng c hi hoc ni c khnng chy n cao. V nhng u im ny nn ng ckhng ng bc ng dng rt rng


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5

ri trong cc ngnh kinh t quc dn vi cng sut t vi chc n hng nghn kW. Trongcng nghip, ng ckhng ng b thng c dng lm ngun ng lc cho cc my cnthp loi va v nh, cho cc my cng ccc nh my cng nghip nh . . . Trong nngnghip, c dng lm my bm hay my gia cng nng sn phm. Trong i sng hngngy, ng ckhng ng b ngy cng chim mt v tr quan trng vi nhiu ng dng nh:qut gi, ng ctrong t lnh, my quay da,. . . Tm li, cng vi s pht trin ca nn snxut in kh ha v tng ha, phm vi ng dng ca ng ckhng ng b ngy cngrng ri.

So vi my in DC, vic iu khin my in xoay chiu gp rt nhiu kh khn biv cc thng s ca my in xoay chiu l cc thng s bin i theo thi gian, cng nh bncht phc tp v mt cu trc my ca ng cin xoay chiu so vi my in mt chiu.

Cho nn vic tch ring iu khin gia moment v t thng c thiu khin c lp i

hi mt h thng c th tnh ton cc nhanh v chnh xc trong vic qui i cc gi tr xoaychiu v cc bin n gin . V vy, cho n gn y, phn ln ng cxoay chiu lm vicvi cc ng dng c tc khng i do cc phng php iu khin trc y dng chomy in thng t v c hiu sut km. ng ckhng ng b cng khng trnh khinhc im ny.

1.3 Kh nng dng ng cxoay chiu thay th my in mt chiu:

Nhng kh khn trong vic ng dng ng cxoay chiu chnh l lm th no cth d dng iu khin c tc ca n nh vic iu khin ca ng cDC. V vy, mt

tng v vic bin i mt my in xoay chiu thnh mt my in mt chiu trn phngdin iu khin ra i. y chnh l iu khin vector. iu khin vector s cho php iukhin t thng v moment hon ton c lp vi nhau thng qua iu khin gi tr tc thica dng (ng ctip dng) hoc gi tr tc thi ca p (ng ctip p).

iu khin vector cho php to ra nhng phn ng nhanh v chnh xc ca c tthng v moment trong c qu trnh qu cng nh qu trnh xc lp ca my in xoaychiu ging nh my in mt chiu. Cng vi s pht trin ca k thut bn dn v nhng

b vi x l c tc nhanh v gi thnh h, vic ng dng ca iu khin vector ngy cngc s dng rng ri trong nhiu h truyn ng v trthnh mt tiu chun cng nghip.

Vi s pht trin nhanh chng, ngnh cng nghip tng lun i hi s ci t inthng xuyn ca cc loi h truyn ng khc nhau. Nhng yu cu ci tin ct yu l tng tin cy, gim kh nng tiu thin nng, gim thiu chi ph bo dng, tng chnh xcv tng kh nng iu khin phc tp. V vy, nhng h truyn ng vi ng cin mtchiu ang dn thay th bi nhng h truyn ng ng cxoay chiu s dng iu khinvector. Bi v, l do chnh s dng rng ri ng cin mt chiu trc kia l kh nngiu khin c lp t thng v moment lc nu cng nh cu trc h truyn ng kh ngin. Tuy nhin, chi ph mua v bo tr ng ccao, c bit khi s lng my in phi dng

ln. Trong khi , cc ng dng thc t ca l thuyt iu khin vector c thc hin tnhng nm 70 vi cc mch iu khin lin tc. Nhng cc mch lin tc khng thp ng


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6

c si hi phi chuyn i tc thi ca h quy chiu quay do iu ny i hi mt khilng tnh ton trong mt thi gian ngn.

S pht trin ca nhng mch vi x l lm thay i vic ng dng ca l thuyt

iu khin vector. Kh nng ti u trong iu khin qu ca iu khin vector l nn mngcho s pht trin rng ri ca cc h truyn ng xoay chiu (v gi thnh ca ng cxoaychiu rt r hn so vi ng cmt chiu).

Ngoi nhng pht trin trong iu khin vector, mt s pht trin ng ch khc chnh lvic ng dng mng neural (neural networks) v logic m(fuzzy logic) vo iu khin vectorang l nhng ti nghin cu mi trong nghin cu h truyn ng. Hai k thut iukhin mi ny s to nn nhng ci tin vt bc cho h truyn ng ca my in xoaychiu trong mt tng lai gn. Trin vng ng dng rng ri ca hai k thut ny ph thucvo s pht trin ca b vi x l bn dn (semiconductor microprocessor).

Vi s pht trin mnh ca cc b bin i in t cng sut, mt l thuyt iu khinmy in xoay chiu khc hn vi iu khin vector ra i. L thuyt iu khin trc tipmoment lc (Direct Torque Control hay vit tt l DTC) do gio s Noguchi Takahashi a ravo cui nm 80. Tuy nhin, k thut iu khin moment trc tip vn cha phi hon ho vcn phi nghin cu thm.

1.4 Kt lun:Vi s pht trin mnh m ca k thut bn dn cng sut cao v k thut vi x l, hin

nay cc biu khin CKB c ch to vi p ng tt hn, gi thnh r hn cc biu khin ng cDC. Do , CKB c th thay thc ng cDctrong rt nhiu ngdng .D kin trong tng lai gn , CKB sc s dng rng ri trn hu ht cc btruyn ng iu khin tc .


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CHNG 2: L THUYT V PHNG PHP IU KHIN

7

CHNG 2

LL TTHHUUYYTT VV PPHHNNGGPPHHPPIIUU KKHHIINN


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8

CHNG 2: L THUYT V PHNG PHP IU KHIN2.1 Gii thiu v bin tn ngun p iu khin theo phng php V/f

c s dng hu ht trong cc bin tn hin nay. Tc ca CKB t l trc tip

vi tn s ngun cung cp. Do , nu thay i tn s ca ngun cung cp cho ng cthcng s thay i c tc ng b, v tng ng l tc ca ng c.

Tuy nhin, nu ch thay i tn s m vn gi nguyn bin ngun p cp cho ngcs lm cho mch t ca ng cb bo ha. iu ny dn n dng t ha tng, mo dngin p v dng in cung cp cho ng cgy ra tn hao li t, tn hao ng trong dy qunStator. Ngc li, nu t thng gim di nh mc s lm gim s lm gim kh nng mangti ca ng c.

V vy, khi gim tn s ngun cung cp cho ng cnh hn tn snh mc thngi hi phi gim in p V cung cp cho ng csao cho t thng trong khe hkhng khc gi khng i.Khi ng clm vic vi tn s cung cp ln hn tn snh mc,

thng giin p cung cp khng i v bng nh mc, do gii hn v cch in statorhoc in p ngun .

2.2 Phng php iu khin V/f

2.2.1 Phng php E/fTa c cng thc sau:

mf

fa =

Vi f - tn s lm vic ca ng c, fm - tn snh mc ca ng c.

Gi sng chot ng di tn snh mc (a


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Trong phng php V/f=const (gi ngn l V/f), nh trnh by trn th t s V/fc gi khng i v bng gi tr t s ny nh mc.Cn lu l khi moment ti tng ,dng ng c tng lm gia tng st p trn in trStator dn n E gim, c ngha l tthng ng cgim.Do ng ckhng hon ton lm vic ch t thng khng i.

Ta c cng thc moment nh mc ng vi sn gin ca ng c:

( )

++

+

=

2'21

2'2

1

'22

m

b

XXs

RR

s

R.V

.3

M

V moment cc i chnh mc:

( )

++= 2'

21211

2m

bmax

XXRR

V

..2

3

M

Khi thay cc gi trnh mc bng gi tr nhn vi t s a (am, aVm, aX), Ta cc cng thc moment ca ng ctn s f khc nh mc:

( )2

'2 2m

2' 2b '1 21

RV .3 a.sM . ,a 1

R RX X

a as

=


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10

Khi moment v moment cc i ca ng cti tn s f cung cp s l:

( )2

'2 2m

2' 2b 2 '21 1

RV .

3 a.sM . ,a 1R

R a X Xs

= > + + +

.

V moment cc i tn s f:

( )

2

max 22 2 '1 1 1 2

3. , 1

2.m

b

VM a

R R a X X

= > + +

Sau y l th biu din mi quan h gia moment v in p theo tn s trong

phng php iu khin V/f=const.

f

U

M

fdm

Uo

Mdm

Hnh 2.1: Quan h gia moment v in p theo tn s

2.3 Cac phng phap thng dung trong iu khin ng ckhng ng b:C nhiu phng php iu khin b nghch lu p to ra in p c bin v

tn s mong mun cung cp cho ng c.Trong ni dung nay chung ta khai quat hai phngphap o la :Phng phap iu rng xung (SinPWM).Phng phap iu ch vector khng gian ( Space Vector).

2.3.1 Phng php iu rng xung SINPWM

to ra mt in p xoay chiu bng phng php SINPWM, ta s dng mt tn hiuxung tam gic tn s cao em so snh vi mt in p sin chun c tn s f. Nu em xungiu khin ny cp cho mt b bin tn mt pha th ng ra s thu c mt dng in pdng iu rng xung c tn s bng vi tn s ngun sin mu v bin hi bc nht phthuc vo ngun in mt chiu cung cp v t s gia bin sng sin mu v sng mang.Tn s sng mang phi ln hn tn s ca sng sin mu. Sau y l hnh v miu t nguyn lca phng php iu rng sin mt pha:


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11

Hnh 2.2: Nguyn l ca phng php iu rng sin

Khi: control triV V> th 2dc

AO

VV =

control triV V< th 2dc

AO

VV =

Nh vy, to ra ngun in 3 pha dng iu rng xung, ta cn c ngun sin 3 pha mu vgin kch ng ca 3 pha sc biu din nh hnh v di y:


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12

Hnh 2.3 : S dng in p trn cc pha

2.3.1.1 Cc cng thc tnh ton

Ta cn tnh c bin hi bc nht ca in p ng ra t t s bin gia sngmang v sng tam gic.

Ta c cng thc sau tnh bin ca hi bc nht:

.2DC

t

UU ma= (1)

Trong ma l t s gia bin sng sin mu v bin sng mang cn gi l t siu bin.

dk

carry

Uma

U= (2)


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13

2.3.1.2 Cch thc iu khin

Sau khi ni v phng php iu khin V/f=const v phng php iu khin bnghch lu p theo phng php iu rng xung SINPWM, ta c tha ra mt thut ton

iu khin ng ctheo mt tn st cho trc nh sau.

Do ng cc iu khin vng hnn khng tho c c tc thc ca ngc, nn ta hiu tn st y l tn s ngun sin iu rng xung cp cho ng c.

Trong trng hp ta mun cho ng cang trng thi ng yn chuyn sang chy tn st th phi thng qua mt qu trnh khi ng mm trnh cho ng ckhi ng lptc n tc t, gy ra dng in khi ng ln lm hng ng c. Tn s ngun cung cps tng t gi tr 0 (ng yn) n gi trt (tng ng vi bin tng t V0nVf=V0+K.freq).Thi gian khi ng ny c thay i theo cng sut ca tng ng c. i ving ccng sut ln th thi gian khi ng lu hn so vi ng ccng sut nh.Thi gian

khi ng ca ng cthng thng c chn t 5 n 10 giy.

Sau khi tn s ngun t n gi tr yu cu lc u th s gi nguyn gi tr.Trong qu trnh ng cang chy n nh m c mt nhu cu thay i tn s th cng cmt qu trnh chuyn tn s tng bc thay v nhy ngay lp tc n gi tr tn s yu cumi.

Khi mun thay i chiu ca ng ccn phi a ng cv tn s nh ri sau mi thc hin vic i chiu quay (thay i th t pha ngun cp cho ng c) trnh hintng moment xon c th lm gy trc ng cv tng dng t ngt.

Khi mun dng ng cth phi h tn s t gi tr hin ti v gi tr 0. Thi gian hmny ph thuc vo qun tnh quay ca ng c. Khi mun hm nhanh c th dng cc phngphp hm nh phng php hm ng nng (Dynamic Breaking) c dng in trthng.

Nh vy c th hnh dung qu trnh hot ng ca biu khin nh sau:

Tramp TrampDirection Changed

1

2

3a 3b4

t

f

Hnh 2.4: Qu trnh hot ng ca biu khin

on 1 ng vi khi ng ng c tn s tng t 0 n gi trt sau khong thi

gian khi ng (Tramp).


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14

on 2 ng vi vic thay i tn s khi ng cang chy n nh.

on 3 ng vi vic i chiu ng cc chia lm hai giai on. on 3a ng vigim tn s v 0. Cui on 3a s tin hnh o th t pha ngun cung cp cho ng c.

on 3b ng vi tng tn s ln n gi tr mi (C thay i tn st trong lc i chiu nngi tr tn s sau khi i chiu khn gbng gi tr c).

on 4 ng vi ngng ng c. Tn s cp cho ng cc gim dn t gi trt v0 sau khong thi gian dng (Tramp).

2.3.1.3 Quy trnh tnh ton:Tn s sng mang trong MCU 6010 c to ra theo cng thc sau:

12

cy

pwm

fPTPER

f=

Trong PTPER l gi tr cn np vo thanh ghi PTPER c c tn s sng mang mong

mun

4osc

cy

ff =

vi oscf l tn s ca thch anh a vo vi iu khinTrong phn ny vi tn s thch anh a vo vi iu khin l 10MHz, cng vi s dng

ch nhn tn s PLL=8 , ta c tn s thc a vo vi iu khin l 20MHz, thi gian tnhton ca mt chu k lnh l 0.05 micro giyng vi cc gi tr ca tn s tnh ton trn, to ra mt sng mang c tn s l 5Khz, gi trcn np vo thanh ghi PTPER l 1999 .

Sng iu khin ( dkU ) c to ra bng cch lp mt bng sin cc gi tr t 0 n 2 tng trng cho mt chu k ca sng iu khin dng Sin . Theo bit , sng iu khinmang thng tin v ln tr hiu dng v tn s sng hi cbn ca in p ng ra, v vykhi bin v tn s ca sng iu khin thay i th ta c bin v tn s ca in p ngra cng thay i theo.

Tn s ca sng iu khin thay i tu thuc vo tn s di chuyn ca con tr trongbng sin. Nu tn s ca sng iu khin cng ln th s bc nhy ca con tr di chuyntrong bng sin trong mt chu k sng iu khin cng t v ngc li.Quan h gia s bcnhy ca con tr trong bng sin v tn s ca sng iu khin c xc nh theo cng thcsau:

minK

=

Trong min l phn gii ca bng sin ( vi bng sin gm 720 gi tr th phn gii ca

bng sin l 0.5 /gi tr)

*360pwm

Udk

T

T =

l gc nhy ca con tr trong bng sin sau mt chu k PWM

T cng thc (1),(2) ta c :


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15

*2

dk dct

carry

U UU

U= (3)

Trong 440dcU V= ng vi trng hp t siu ch ma=1 v ng chot ng ch

nh mc.

Khi ng chot ng chnh mc ta c:

3.667dm

dm

U

f= ( 220 , 60dm dmU V f Hz = = ) (4)

T (3),(4) ta c:0.03*req dk f U=

Gi tr ca tn st vo ng ct bin trc thng qua b chuyn i ADC 10 bits

theo cng thc :

reqf =ADC_Result*60/1024

Da vo tn s yu cu u vo ta c th tnh c bin ca sng iu khin gi cho ts V/f bng hng s.

Thi gian tng tc v gim tc ca ng cc tnh ton da vo chu k PWM, k tkhi c s thay i tn st, sau mi chu k PWM, gi tr tn s hin ti s cng thm vohoc tr ra mt gi tr cho n khi no bng vi gi tr ca tn st mi.Gi tr cng vo hoc tr ra c tnh ton theo cng thc sau:

(60* ) /PWMT t =

Trong t(s) l thi gian tng tc hoc gim tc ca ng c

m bo s chuyn mch din ra ng, ti mi thi im trn mt nhnh ch c mt khobn dn trong trng thi dn, mt khong thi gian ngh(dead time) cn c thm vokhong gia hai kho, vi tn s thch anh a vo vi iu khin l 10Mhz, tn s sng mangl 5Khz, khong thi gian nghc php t 1 n 25 micro giy, y khong thi giannghc chn l 2 micro giy.

2.3.1.4 Hiu qu ca phng php iu khin :i vi phng php iu ch SINPWM, ti mi thi im m mt trong hai kho trn

cng mt nhnh trng thi ON th biu thc in p gia mi pha v im trung tn o (O)c dng nh sau:


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16

Hnh 2.5: S kt ni cc kha trong b nghch lu

*( *sin( ))

2 2*( *sin( ))

2 34

*( *sin( ))2 3

DCAO

DCBO

DCCO

VV m

VV m

VV m

=

= +

= +

in p gia hai pha c tnh ton nh sau:

3* * *sin( )

2 6

3 5* * *sin( )

2 63 3* * *sin( )

2 2

AB AO BO DC

BC DC

AC DC

V V V V m

V V m

V V m

= = +

= +

= +

T cng thc trn ta thy gi trin p ln nht gia hai pha t c trong vng tuyn tnhkhi m=1

Gi trin p ln nht l _ _ _ max3

*2line to line DC

V V=

Vy i vi phng php ny, in p do b chnh lu cung cp chc s dng ti a l

86.67% trong vng iu khin tuyn tnh.


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17

2.3.2 Phng phap iu ch vector khng gian ( Space Vector):Phng php iu rng xung vector khng gian (SVM - Space Vector Modulation) khc

vi cc phng php iu rng xung khc (PWM - Pulse Width Modulation). Vi cc phngphp PWM khc, b nghch lu c xem nh l ba b bin i ko-y ring bit vi ba

in p pha c lp vi nhau.

Hnh 2.6 : S b bin tn nghch lu p 6 kha (MOSFETs hoc IGBTs)i vi phng php iu rng xung vector khng gian, b nghch lu c xem nh l mtkhi duy nht vi 8 trng thi ng ngt ring bit t 0 n 7.

2.3.2.1 Thnh lp vector khng gian:i vi ngun p ba pha cn bng, ta lun c phng trnh sau

( ) ( ) ( ) 0a b cu t u t u t + + = (2.1)

V bt k ba hm s no tha mn phng trnh trn u c th chuyn sang h ta 2 chiuvung gc. Ta c th biu din phng trnh trn di dng 3 vector gm: [ua 0 0]T trng vitrc x, vector [0 ub 0]

T lch mt gc 120o v vector [0 0 uc]T lch mt gc 240o so vi trc x

nh hnh sau y.

Hnh 2.7: Biu din vector khng gian trong h ta x-yT ta xy dng c phng trnh ca vector khng gian trong h ta phc nh sau:

( )(2 /3) (2 / 3)2

( ) . .3

j j

a b cu t u u e u e

= + +(2.2)

Trong 2/3 l h s bin hnh. Phn tch u(t) trong phng trnh trn thnh phn thc v phno.


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( ) x yu t u ju= + (2.3)

Ta xy dng c cng thc chuyn i h ta t ba pha abc sang h ta phc x-y bngcch cn bng phn thc v phn o trong phng trnh (2.2) ta c :

( ) ( )( ) ( ) ( )( )2( ) cos 2 / 3 sin 2 / 3 cos 2 / 3 sin 2 / 33 a b cu t u u j u j = + + + +

( ) ( )

( ) ( )

2cos 2 / 3 cos 2 / 3

32

sin 2 / 3 sin 2 / 33

x a b c

y b c

u u u u

u u u

= + +

=

1 11

2 2 23 3 3

0 2 2

a

x

b

y

c

uu

uu

u

=

(2.4)

Tip theo hnh thnh ta quay - bng cch cho h ta x-y quay vi vn tc gc t. Tac cng thc chuyn i h ta nh sau

cos( ) coscos( ) sin( )2

sin( ) cos( )sin( ) sin

2

x x

y y

t tu uu t t

u uu t tt t

+ = = +

(2.5)

Ngun p ba pha to ra l cn bng v sin nn ta c th vit li phng trnh in p pha nhsau:

sin( )

sin( 2 / 3)

sin( 2 / 3)

a m

b m

c m

u V t

u V t

u V t

=

=

= +

(2.6)

T phng trnh (2.5) ta xy dng c phng trnh sau:

( ) j j t r ru t V e V e

= = (2.7)

Th hin vector khng gian c bin Vrquay vi vn tc gc t quanh gc ta 0.

Phng trnh in p dy nh sau theo phng trnh (2.4) nh sau:

1

3

5

1 11

2 3 2 23 2 3 3

02 2

L

s

L

qV

V qV

q

=

(2.8)

Trong 2 chuyn t gi tr bin thnh gi tr hiu dng, 3 chuyn gi trinp pha thnh in p dy. Vectorin p dy s sm pha hn vectorin p pha mt gc

/ 6 . Nu lng ghp cc trng thi c th c ca q1, q3 v q5 vo phng trnh (2.8), ta thuc phng trnh in p dy (tr bin ) theo cc trng thi ca cc kha.


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(2 1) / 62 2 2 (2 1) (2 1)cos sin6 63 3

j nn

n nV e j

= = +

ur

(2.9)

Vi n = 0, 1, 2..6, ta thnh lp c 6 vector khng gian V1 V6 v 2 vector 0 l V0 v V7

nh hnh sau

Hnh 2.8: Cc vector khng gian t1 n 6

Hnh 2.9: Trng thi ng-ngt ca cc kha


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Bng 2.1: Gi trin p cc trng thi ng ngt v vector khng gian tng ngTrng thi ca cc kha in p pha in p dyVector

in p Q1 Q3 Q5 Van Vbn Vcn Vab Vbc VcaV0 0 0 0 0 0 0 0 0 0

V1 1 0 0 2/3 1/3 1/3 1 0 -1V2 1 1 0 1/3 1/3 -2/3 0 1 -1V3 0 1 0 -1/3 2/3 -1/3 -1 1 0V4 0 1 1 -2/3 1/3 1/3 -1 0 1V5 0 0 1 -1/3 -1/3 2/3 0 -1 1V6 1 0 1 1/3 -2/3 1/3 1 -1 0V7 1 1 1 0 0 0 0 0 0

Ghi ch: ln in p phi nhn vi Vdc

2.3.2.2 Tnh ton thi gian ng ngt:

Xt trng hp vector Vrnm trong vng 1 nh hnh sau

Hnh 2.10: Vector khng gian Vs trong vng 1Gi s tn s iu rng xung fPWM cao trong sut chu kiu rng xung Ts, vector VSkhng thay i v tr. Nh, ta c th phn tch VS theo cc vector V1, V2, v V0 hoc V7nh phng trnh sau

1 1 2 2 0 7 0 7

1 2 0 7

r s

s

V T V T V T V T

T T T T

= + +

= + +(2.10)

Vi Ts l chu kiu rng xungTn l thi gian duy tr trng thi Vn

Chuyn sang h ta vung gc, ta c phng trnh sau - suy ra t phng trnh (2.7) v(2.9)

1 1 0 7

cos cos cos6 6 22 2

.03 3

sin sin sin6 6 2

sT m T T T

+

= + +

+


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21

Cn bng phn thc v phn o, ta c

1 1

1 1

2 2cos cos cos

6 6 23 3

2 2sin sin sin6 6 23 3

s

s

T m T T

T m T T

+ = +

+ = +

Gii phng trnh trn tm T1 v T2

1

cos cos3 36 6

2 2 3cos6 2

s sT T m T m

+ +

= =

1 cos cos sin6 2 3 3s s sT T m T m T m

= + = =

2

3sin cos sin

2 6 6 6s sT T m T m

= + +

2 sin cos cos sin6 6 6 6sT T m

= + +

( )2 sin sin6 6s sT T m T m

= + =

Suy ra

( )

( )

1

2

0 7 1 2

sin / 3

sin

s

s

s

T T m

T T m

T T T T

=

=

=

(2.11)

Trong : m l t siu binTs l chu kiu rng xung l gc lch gia Vrv Vn.

Ta nhn thy vic gii phng trnh 2-10 tm T1, T2 v Ts khng ph thuc vo hai vector

gii hn ca vng

Hnh 2.11: Vector khng gian Vs trong vng bt k


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22

Da trn kt qu phng trnh 2-11, ta xy dng cng thc tng qut nh trong phng trnh(2.12) sau y:

( )

( )0 7

sin / 3

sin

A s

B s

s A B

T T m

T T m

T T T T

=

=

=

(2.12)

2.3.2.3 Phn b cc trng thi ng ngt:Vn xt trng hp vector VS nm trong vng 1, vi kt qu t phng trnh 2-11:

( )

( )

1

2

0 7 1 2

sin / 3

sin

s

s

s

T T m

T T m

T T T T

=

=

=

2.3.2.4 K thut thc hin iu ch vector khng gian:Thng thng, mt trong nhng tiu chun la chn gin ng kch linh kin l sao cho gimthiu ti a s ln chuyn mch ca linh kin =>gim tn hao trong qu trnh ng ngt chng. S lnchuyn mch s t nu ta thc hin trnh tiu khin sau:

Hnh 2.12: Gin ng ct linh kin

2.3.2.5 Gin ng ngt cc kha to ra Vector Vs trong tng sector:Cc kha cng sut trong tng nhnh ng ngt i nghch nhau. n gin ha s,

ta ch v trng thi ca 3 kha cng sut pha trn. Ba kha cn li c trng thi i nghchvi 3 kha trn theo tng cp nh sau :

+ S0 S1+ S2 S3+ S4 S5


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23

S1

S3

S5

Ts Ts

TPW M

TA TB To/2 To/2 TB TA To/2

V0

To/2

V1 V2 V7 V7 V2 V1 V0

Vector Vs in Sector 1

S1

S3

S5

Ts Ts

TATB To/2 To/2 TBTA To/2

V0

To/2

V3 V2 V7 V7 V2 V3 V0


S1

S3

S5

Ts Ts


V0

To/2

V3 V4 V7 V7 V4 V3 V0



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24

S1

S3

S5

Ts Ts

TAT B To/2 To/2 TBTA To/2

V0

To/2

V5 V4 V7 V7 V4 V5 V0


S1

S3

S5

Ts Ts


V0

To/2

V5 V6 V7 V7 V6 V5 V0


S1

S3

S5

Ts Ts

TATB To/2 To/2 TBTA To/2

V0

To/2

V1 V6 V7 V7 V6 V1 V0


Hnh 2.13: Vector Vs trong cc vng t0-6


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CHNG 3: CU TO V CC THNG S PHN CNG

25

CHNG 3

CCUU TTOO VV CCCC TTHHNNGGSS PPHHNN CCNNGG


36/121


26

CHNG 3 : CU TO V CC THNG S PHN CNG

YU CU T RA :

Thit kb bin tn truyn thng ( 6 kha) ba pha iu khin ng cKB theo phngphp V/f v iu ch SINPWM)

Thng sng cnh sau :

Cc thng s n v ng cu sao ng cu tam gicPm Cng sut nh mc (KW) 1.5 (2HP) 1.5(2HP)Vm in p nh mc (VAC) 380 220Im Dng in nh mc (A) 10 10 Hiu sut %

osc H s cng sut 0.8 0.8s trt %M MomentRPM Vn tc ( vng /pht)

Bng 3.1: Thng sng c


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27

3.1 S khi ca mch iu khin ng c:

dsPIC30F6010

MicroController

VDC+

-

ACsource

Mch li

Cch ly

Tn hiuxung kch

Bin tr

Nt n

LEDs o ng i

Hi n LCD

RS2

32

B chnh lu B nghch lu

3 phase

AC motor

2x16TCA

Hnh 3.1: S khi mch iu khin

3.2 Gii thiu chi tit cac khi iu khin:3.2.1 Mch li

C hai s la chn cho cc kha ng ngt cng sut iu khin ng c lMOSFET v IGBT v kh nng chu dng v p cao.


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28

Ni chung , nhng loi ng cm s dng cc kha ng ngt (MOSFET , IGBT ) iu khin th u cn dng n mch li (gate drive scheme). C 2 phn cbn trong viciu khin cc ng ngt cc linh kin cng sut l: iu khin pha cao (high side Q1) v

pha thp (low side Q2).

Hnh 3.2: V d siu khin mosfet

Trong v d trn Q1 v Q2 lun trng thi lm vic i nghch nhau. Khi Q1 trngthi ON th Q2 trng thi OFF v ngc li.

Khi Q1 ang trng thi OFF chuyn sang trng thi ON => chn S (MOSFET) haychn E (IGBT) ca Q1 chuyn t ground sang in p cao ( high voltage rail). Do munkch Q1 tip tc ON th phi to in p kch VGS1 c gi tr VGS1= VSQ1 + V.Trong khi tn hiu ra ca vi x l iu khin ng ngt cc kha ch c gi trin p +5V (so viground). Nn cn phi c mch li to tri p v cch ly trong vic ng ngt pha cao Q1.

Tuy nhin i vi Q2 th chn S c ni ground , do in p kch VGS2 ch cn cgi trV. Do vic ng ngt kha low side (Q2) c iu khin d dng hn .

Ghi ch:V: gi trin p cn thit kch Q1 hay Q2 dn. i vi MOSFET v IGBT V c

gi tr t 10 n 15 (V).

S mch li iu khin ng ngt MOSFET hay IGBT (Q1)

C 3 dng s cbn nh sau:

1-Single ended or double ended gate drive transfomer.

2-Floating bias voltages and opto isolater drive.

3-High voltage bootstrap diver Ics.

Trong cc phng n (1),(2) s dng bin p xung trong thit k mch li mosfet , trng hpxung iu khin c cnh tc ng ko di hoc tn s thp, bin p xung sm t trng thibo ha v ng ra ca n khng ph hp yu cu iu khin.Do trong phn ny cp n phng n s dng loi High Voltage Bootstrap Diver ICs.


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29

Hnh 3.3: S khi ca IC li mosfet

Hnh 11 a ra mt gii php iu khin kch ng ngt pha cao Q1, v hn th nan khng i hi ngi dng cn phi c kin thc v my bin p .Nhng ICs loi ny sdng mch dch mc (level shifting circuitry) bng t C bootstrap li pha cao.

Trong sut thi gian ON ca Q2 chn S ca Q1 c in th l ground. iu ny chophp t Cbootc np (thng qua diode D1) n gi tr VBIAS. Khi Q2 c kch OFF v Q1c kch ON th in p chn S ca Q1 bt u tng ln. T Cboot lc ny ng vai tr cangun phn cc, cung cp dng li pha cao Q1.

Nhc im mch li loi ny l c thi gian delay gia tn hiu input v tn hiu ngngt cc kha bn dn. Thi gian tr hon t 500ns ! 1us. N c th l vn khi tin hnhcc ng dng hot ng tn s cao (nhng tn s hot ng ca ng c< 60Hz).

Gii thiu vIC IR2136 (High voltage bootstrap diver ICs)

Hnh 3.4: IC IR2136

IR2136 l loi IC chuyn dng li MOSFET v IGBT ca hng IR - International Rectifier.IC ny c 3 knh output c lp (mi knh gm high side and low side) dng cho cc ngdng 3 pha.

Cc thng s:

- Cc knh tri p thit k cho ch bootstrap c th ln n +600V.

- Chng dV/dt (dV/dt immune)

- in p kch cng t 10V 20V.

- Undervoltage lockout for all channels.


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30

- Chng qu dng: su tn hiu driver outputs s b tt khi khi qu dng xy ra

(Thng qua chn ITRIP ca IR).

- Logic inputs tng thch vi CMOS hay LSTTL outputs, c th xung n 3.3 V

- Gim di/dt cho cc tn hiu li cng, do chng nhiu tt hn.

- C thiu chnh thi gian delay cho ch tng xa li (automatically fault

clear), thng qua chn FAULT ca IR.

S kt ni do hng sn xut IR cung cp

S chn ca IR2136

Hnh 3.5: S kt ni IR2136

nh ngha cc chn ca IR2136

VCC Ngun cung cp 15VDCVSS GroundHIN1,2,3 Logic input cho pha gate diver outputs (HO1,2,3,), tch cc mc thp

LIN1,2,3 Logic input cho pha gate diver outputs (LO1,2,3,), tch cc mc thpFAULT Pht hin qu dng (ITRIP) hay low side undervoltage lockout xy ra


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31

EN Logic input cho php chc nng I/O .ITRIP Anolog input . Khi hot ng, ITRIP kha cc ng ra v kch hot chn FAULT

v RCIN. Khi ITRIP trv trng thi bnh thng (inactive), FAULT vn tchcc set thi gian TFLTCLR, sau tng inactive (open drain high

impedance).RCIN t thi gian FAULT CLEAR delayCOM Low side gate returnVB1,2,3 High side floating supplyHO1,2,3 High side gate driver outputVS1,2,3 High voltage floating supply returnsLO1,2,3 Low side gate diver output

Bng 3.2 : nh ngha cc chn trong IR21363.2.2 Mch cch ly

Cc mch pht ra tnh hiu iu khin mch cng sut dng bn dn phi c cch ly vin. iu ny c th thc hin bng opto hoc bng bin p xung.

+ Bin p xung :

Gm mt cun dy scp v c th nhiu cun th cp. Vi nhiu cun dy pha thcp, ta c th kch ng nhiu transistor mc ni tip hoc song song.

Bin p xung cn c cm khng tn nh v p ng nhanh. Trong trng hp xung iukhin c cnh tc ng ko di hoc tn s thp, bin p xung sm t trng thi bo ha vng ra ca n khng ph hp yu cu iu khin.

+ Opto :

Gm ngun pht tia hng ngoi dng diode (IR - LED) v mch thu dngphototransistor. Do tha mn yu cu cch ly vin, ng thi p ng ca opto tt hnmy bin p xung.

Hnh 3.6: S khi ca opto=> ta la chn phng n dng opto. Yu cu t ra i vi opto l phi chu c tn sng ngt kh cao ( 10KHz). Trong , HCPL-2631l optocouplers ca hng Fairchild cp ng tn s ln n 10MHz

3.2.3 Mch MOSFETs

Cc loi linh kin thng c sdng trong b nghch lu

C hai la chn chnh cho vic s dng kho ng ct cng sut trong iu khin ngc l MOSFET v IGBT. C hai loi MOSFET v IGBT u l linh kin c iu khin

bng in p, ngha l vic dn v ngng dn ca linh kin c iu khin bng mt ngunin p ni vi cc gate ca linh kin thay v l dng in trong cc b nghch lu s dng


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32

transitor nh trc y. V vy cch s dng loi linh kin ny lm cho vic iu khin trnn d dng hn.

Hnh 3.7: S khi ca MOSFET v IGBT

Vic ng ct linh kin cng s gy nn tn hao cng sut, cng thc xc nh tn haocng sut c trnh by nh sau:

c im, ng dng:

Thng thng MOSFET c s dng vi cc ng dng i hi tc cao, tuy nhin

MOSFET khng c kh nng chu dng in cao. Trong khi IGBT thch hp vi cc ngdng tc thp, tuy nhin IGBT c kh nng chu c dng in cao. V vy tu vo cim ca ng dng m c s la chn linh kin ph hp

IGBT l linh kin c tn sng ct gii hn thp hn so vi MOSFET, v vy dn ntn tht cng sut do ng ct linh kin s cao hn i vi MOSFET c tn sng ct caohn. Cc k thut s dng IGBT trong iu khin c sm p dng cch y hn 10 nm,C rt nhiu thay i ci thin linh kin vi cc ng dng khc nhau, nhiu cng ty snxut ra nhiu dng IGBT, mt sc ch to thch hp vi cc ng dng tc thp vin p VCE-SAT nh, dn ti tn hao s nh. Mt s khc c sn xut ph hp vi ccng dng i hi tc cao (60kHz n 150 kHz) v c tn tht cng sut thp hn nhng c

VCE-SAT cao hn. Khong 5 nm trli y nhiu ci tin trong vic sn xut MOSFET cth chp nhn tn sng ct cao hn vi RDS-ON nh (khong vi miliohm) lm cho tntht cng sut c gim i rt nhiu. V vy ngy nay, a s cc b nghch lu thng sdng MOSFET hn l IGBT nh trc kia.

Da vo cc c im nu trn , khi la chn linh kin ta cn xem xt n kh nng giihn ca linh kin. Trong phm vi thc hin ca n mn hc hai, ta ch quan tm n ccthng s hot ng ca ng c ng c la chn cho ph hp.

Cc yu cu chnh t ra cho linh kin s dng lm b nghch lu :

in p VDS ( Mosfet) hay VCE ( IGBT) >> VDC /2

Dng in qua linh kin ln hn dng nh mc ca ng c 10A nhit hotng


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33

Chu c tn sng ngt cao

=> IRFP460P c la chn : tha mn cc yu t trn, c th mua d dng v gi

thnh r !

Hnh 3.8: IRFP460P3.2.4 Mch chnh lu

3.2.4.1 B chnh lu:

Yu cu:

" in p trung bnh (VDC) u ra ca b chnh lu:

+Trong phng php SINPWM th : DCOAVV

2=

+ng cvn hnh chnh mc ( 220AOV V= )

=> 2* 2* 220 440AODC V VV = = =

" Tr tc thi ca VDC c nn tng i phng" Gn nh , gi thnh r

3.2.4.2 Phng php chnh lu :Ta s dng phng php chnh lu cu vi 6 diode

Tr trung bnh in p u ra khi chnh lu cu 3 pha (khng iu khin):3 6 *DC

VphaV

= 515 (V)

+Vi gi tr ny ca DCV th ng cc th vn hnh nh mc+Vpha : tr hiu dng p pha ngun (220 VAC)

$ Ghi ch:Trong iu kin thc t, nu ch c ngun 1 pha thc hin chnh lu th in p VDC sauchnh lu :

2 2 * 200( )DC VphaV V

= => ng cs khng th vn hnh ht nh mc


44/121

CHNG 4: S CU TO MCH IU KHIN

34

CHNG 4

SS CCUU TTOO MMCCHHIIUU KKHHIINN


45/121


35

CHNG 4 : S CU TO MCH IU KHIN

4.1 S mch cch ly

R35

110

R42

110

5V_1

5V_1

Vin1+1

Vin1-2

Vin2-3

Vin2+4

VCC8

Vout17

Vout26

GND5

U11

HCPL2631

R 37 220

R 38 220

0

5V_1

Vin1+1

Vin1-2

Vin2-3

Vin2+4

VCC8

Vout17

Vout26

GND5

U12

HCPL2631

R 40 220

R 41 220

0

R43

110

R44

110

+ C7

0.1uF

H1H2H2H3H3L1L1L2L2L3L3

1234567

J8

0

+ C8

0.1uF

+ C9

0.1uF

Vin1+1

Vin1-2

Vin2-3

Vin2+4

VCC8

Vout17

Vout26

GND5

U10

HCPL2631

5V_2

R 33 2 20

R36

110

R 34 2 20

R45

110

5V_2

5V_2

0


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36

5V_1

15V

C10

100uF

C11

100uFC12470uF

C1310uF

C14470uF

C1510uF

C16

104

C17104

12

J5

6V_AC

12

J6

12V_AC

IN1

OUT3

GND

2

U3 L M7 805 C

IN1

OUT3

GND

2

U4 LM7815C

2

1

3

4

-

+

D15

BRIDGE_3A

2

1

3

4

-

+

D16

BRIDGE_3A

R1

330

D17

LED

R2

1k

D18LED

5V_2

C18

100uFC19470uF

C2010uF

C21

104

12

J7

6V_AC

IN1

OUT3

GND

2

U5 L M7 805 C

2

1

3

4

-

+

D19

BRIDGE_3AR3

330

D20

LED

Hnh 4.1 : S mch cch ly


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37

4.2 S mch li

15V

+ C4

.1uF

ITRIP

ENABLE

ITRIP

FAULT

H1H1H2H2H2H2H3H3H3H3

L1L1L1L1L2L2L2L2L3L3

RVAR2

+C5

10uF

15V 12V

ENABLE

+ C6

10uF

15V

ENABLEENABLEENABLEENABLEFAULTFAULTFAULTFAULT

R26 100R27 100R28 100

R29 100R30 100R31 100

R20

100

R32

100

R21

100

R22

100

R23 100

R24 100

R25 100

ITRIPITRIPITRIPITRIP

VCC1

HIN12

HIN23

HIN34

LIN15

LIN26

LIN37

FAULT8

ITRIP9

EN10

RCIN11

VSS12 COM 13

LO314

LO215

LO116

1717

VS318

VS222

VS126

VB128

VB224

VB320

HO127

HO223

HO319

2121

2525

U1

IR2136

1

23456789

10

J1OUTPUTS

+ C11uF

+ C2

1uF

+ C31uF

D1 DIODE XUNG

D2 DIODE XUNG

D3 DIODE XUNG

VS1HO1

HO3VS2HO2

LO1VS3

LO3LO2

12345

J3CONTROL

COM

HO2

HO1

VS2

VS1

HO3

VS3

PR 1R 5W

LO1

COM

LO3

LO2

15V

COM

RVAR1

Hnh 4.2 : S mch li mosfet


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38

4.3 S mch ng lc

R1

10K

R2

10K

R3

10K

R4

10K

R5

10K

R6

10K

H2H2H2 H3

L1 L2 L3L3

S3

H1

S1

COM

F1

FUSE

VDC

1

2

3

J1

MOTOR

P1

P2

P31

2

J2

CON2

VDC

COM

12

3

4

5

6

7

8

9

10

J3

CON10

COM

L3

L2

L1

H2

S2

H3

S3

H1

S1

S2S2S2 S3

P1

P2

P3

S3S3S3S3S3S3

1

2

3

Q1

1

2

3

Q2

1

2

3

Q3

1

2

3

Q4

1

2

3

Q5

1

2

3

Q6

12

J4

AC_VOLTAGE

D1

D2

D3

D4

C1C

VDC

COM

Hnh 4.3 : S mch ng lc


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39

4.4 S mch iu khin

4.4.1 Khi iu khin

RE51

RE62

RE73

RC1

4

RC35

RG66

RG77

RG88

MCLR9

RG910

VSS11

VDD12

RE813

RE914

RB515

RB416

RB317

RB218

RB119

RB020

R

B6

21

R

B7

22

R

A9

23

R

A10

24

AVD

D

25

VD

SS

26

R

B8

27

R

B9

28

R

B10

29

R

B11

30

VSS31

VDD32

R

B12

33

R

B13

34

R

B14

35

R

B15

36

R

D

14

37

R

D

15

38

R

F4

39

R

F5

40

RC1460

RC1359

RD058

RD1157

RD1056

RD955

RD8

54

RA15 53

RA1452

VSS51

OSC250

OSC149

VDD 48

RG247

RG346

RF645

RF744

RF843

RF242

RF341

R

E4

80

R

E3

79

R

E2

78

R

E1

77

R

E0

76

R

G

0

75

R

G

1

74

R

F1

73

R

F0

72

VDD71

VSS70

R

D

7

69

R

D

6

68

R

D

5

67

R

D

4

66

R

D

13

65

R

D

12

64

R

D

3

63

R

D

2

62

R

D

1

61

U1

dsPic 6010

VCC RE4

R

E2

R

E3

4K7

R

E1

R

E0

SW2

RESET

R

G

1

R

G

0

R

F0

R

F1

R

D

6

R

D

7

R

D

4

R

D

5

R

D

3

R

D

12

R

D

13

RF3

R

D

1

R

D

2

RF8RF2

RG3RF6RF7

RA15RA14

RG2

RD9RD8

RD11RD10

R

A10

R

A9

R

B7

R

B6

R

B10

R

B9

R

B8

R

B13

R

B12

R

B11

R

B15

R

B14

R

F5

R

F4

R

D

15

R

D

14

RB0

RB3RB2RB1

RB5RB4

RG9RE8RE9

RG6RG7RG8

RC1

RC3

RE6RE7

RE5

MCLR

VSS VCC

RD0RC13RC14

VDD

C3

104

C4

104

C5

104

C6

104

Y110MHZ

C1 30pF

C2 30pFRC15RC15RC15RC15

Hnh 4.4 : S khi iu khin chnh


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40

4.4.2 Khi giao tip my tnh

RX

TXTX 12

J10

PIN

VCC1

5948372

61

WOMEN

SUB-D 9

R1IN13

R2IN8

T1IN11

T2IN10

C+1

C1-3

C2+4

C2-5

V+2

V-6

R1OUT12

R2OUT9

T1OUT14

T2OUT7

VCC16

GND15

U4

MAX232

C71UF

C81UF

C15

1UF

C16

1UF

C171UF+

+

-

-

Hnh 4.5 : S khi giao tip my tnh

4.4.3 Khi hin th

VSS1

VDD2

V03

RS4

R/ W5

E6

D07

D18

D29

D310

D411

D512

D613

D714

LED+15

LED-16

TT2

LCD204A

R 3310K

12345678

J19

DATA VCC1

R2 910K

VCC1

123

J20

CON3

123

J2 1

VC C

123

J2 2

GND

VCC1

Hnh 4.6 : S khi hin th


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41

4.4.4 Khi nt bm

123456789

101112

J4

KEY_PAD

KP9

1234

J2

VCC

1234

J3

GND

VCC

D1

LED

VCC

R26

220

KP1 KP4KP2

KP7

KP6KP3

KP8

KP5

NEXT220

BACK

UP

DOWN

ENTER

RU N

STOP

REV

CHANGE

MODE

RESET

R38

VCC

KP1KP1

KP2

KP4KP4

KP3KP3

KP7KP7

KP8KP8

KP6KP6

KP5KP5

KP10KP10

KP11KP11

KP9KP9

KP12KP12

KP11KP10 KP12

Hnh 4.7 : S khi nt bm


52/121

CHNG 5: GII THIU V dsPIC6010

42

CHNG 5

GGIIII TTHHIIUU VV ddssPPIICC66001100


53/121


43

CHNG 5: GII THIU V DSPIC 60105.1 Tng quan v vi iu khin dsPIC30F6010

H vi iu khin PIC v dsPIC do hng ch to v sn xut vi cng

ngh hin i, ph hp cho cc ng dng n gin cho n phc tp. c bit ngoi ngn nglp trnh assembler nh cc MCU khc, ngi dng c th lp trnh trn ngn ng quenthuc nh C (C18, C30,CCSC, MIKO_C,HI-TECH PICC), Pascal ( MIKO_PASCAL) thngqua cc phn mm h trGm cc h nh sau:

Hnh 5.1 : Cc h vi iu khin PIC v dsPICTy theo cc ng dng c th m ngi dng c th chn ra Chip ph hp ( theo hng

dn ca nh sn xut ti trang ch ca microchip ). Trong cc loi IC chuyn dng iukhin ng c3 pha theo ngh ca ca Microchip c trnh by theo s sau

Hnh 5.2: Sng dng cc h vi iu khin


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Trong ni dung lun vn ny, chng ta s dng MCU dsPIC30F6010 cho vic iu khinng ckhng ng b ba pha vi cc c im c trnh by nh sau:-MCU dsPic 6010 c thit k da trn kin trc RISC, hot ng tm in p rng t 2.5-5.5V , cng sut thp ,c tc x l cao do s dng cng ngh CMOS, p ng c yu

cu lm vic i vi khi lng tnh ton tnh ton ln, p ng nhanh v yu cu chnhxc cao-Tp lnh ca MCU 6010 gm 84 lnh-C b nhRAM l 8K, b nhEPPROM l 4K, c bit c b nhPlash_Program ln n144K, ph hp vi cc chng chnh i hi c b nhchng trnh ln-Hot ng ch ngun dao ng ngoi (External Clock) ti a l 40Mhz-Hot ng ch dao ng thch anh tn s t 4Hhz-10Mhz vi cc cp nhnPLL(Phase Locked Loop) 4x, 8x,16x, ty theo cc thit lp chng trnh m dao ng thc sa vo trong MCU c th ln n 120MhzPLL c thc thit lp thng qua cc bits FPR, tn s dao ng thach anh a vo vtn s dao ng thc s ca MCU c tm tt trong bng 1.1

Bng 5.1 : Thit lp tn s hot ng

-MCU 6010 c 44 ngun Interrup, mi ngun ngt c 8 cp ngt u tin-C 16x16 bits mang thanh ghi lm vic-Gm c 7 port I/O (A,B,C,D,E,F,G)

-5 b Timer/Counter 16bits, trong c th ghp li vi nhau thnh cc b Timer/Counter 32bits-c tch hp cc moudle Compare/ Capture, c 8 knh PWM c s dng trong k thutiu khin ng c-Moudle I2C h trch Multi- Master/Slave v 7 bits/10 bits xc nh a ch-Ngoi ra cn tch hp cc chun giao tip CAN, UART v 3-wire SPI-16 knh 10 bits - Analog to Digital Converter (10bits - AD) tc cao ( 500Ksps), c khnng chuyn i trong lc MCU trng thi Sleep, Idle

5.2 Cc c im c bit h MCU dsPic-6010:-Cho php lp trnh li nhiu ln , s ln np xo i vi b nhchng trnh l t10.000(min) 100.000(max) ln i vi cc dng chp s dng trong cng nghip-Ch Fail-safe clock monitor cho php MCU kim sot pht hin ra khi no dao ng bnngoi t ngun dao ng gp s c, MCU s tng chuyn sang ch dao ng ni trongMCU-Ch bo v code bn trong MCU-H trIn-circuit serial programming (ICSP) to thun li cho ngi lp trnh kh nng lptrnh trc tip trn phn cng, khng phi tho lp IC nh cc loi MCU trc y-Ch qun l, tit kim nng lng : Sleep, idle,alternate clock mode


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5.3 Gii thiu khi qut v cu trc phn cng:S chn MCU dsPIC6010 dc trnh by trong hnh 2.1

Hnh 5.3: S chn dsPIC30F6010


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S t chc bn trong MCU dsPIC6010 c trnh by nh hnh 31

Hnh 5.4: S t chc bn trong MCU dsPIC6010


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M t chc nng, tnh cht cc I/O trong MCU


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Bng 5.2: M t chc nng, tnh cht cc I/O trong MCU

S t chc b nhbn trong MCU dsPIC6010:

Hnh 5.5: S t chc b nhbn trong MCU dsPIC6010


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5.4 Khi qut v cc thanh ghi lm vicTt c cc chn I/O trn MCU ( ngoi tr cc chn VDD, VSS, AVDD,AVSS, MCLR,

OSC1/CLK1) c th va ng vai tr l chc nng tng qut ( General Purpose) va c ngvai tr s dng t bit. Cc chc nng tng qut cho php dsPIC30F gim st v iu khincc thit b khc. Hu ht cc I/O u c kt hp nhiu chc nng ring bit khc nhau. Skt hp cc chc nng ny ty thuc vo c im trn loi MCU xc nh. V khi mt I/Oc s dng vi chc nng chuyn bit th I/O c th s khng thc s dng vichc nng tng qut.

S cu to bn trong th hin kh nng kt hp nhiu chc nng trong cng mt I/O cth hin nh trong hnh

Hnh 5.6:S cu to bn trong mt I/O

5.4.1 Cc thanh ghi iu khin :Tt ccc I/O Port trong MCU thuc h 12F, 16F,18F,30F ... u c ba thanh ghi trc

tip lin quan n phng thc hot ng ca cc Port , cc thanh ghi l TRISx, PORTx,LATx, trong x l tn tng ng ca cc Port trong MCU. Mi I/O pin u c mt bit thamchiu tng ng trong ba thanh ghi trn

5.4.2 Thanh ghi TRIS:Cc bits iu khin trong thanh ghi TRIS xc nh trng thi hot ng ca cc I/O l

input hay output. Nu bit TRIS ca mt I/O l 1 th I/O sng vay tr nh l mt nginput, ngc li nu bit TRIS ca mt I/O l 0 th I/O sng vay tr nh l mt ngoutput. iu cn lu l tt c cc I/O sng vay tr l input ngay sau khi MCU b Reset.


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5.4.3Thanh ghi PORT:D liu trn mt I/O c truy xut thng qua thanh ghi PORT, s kin c thanh ghi

PORTx sc gi tr ca ca I/O tng ng v s kin ghi vo thanh ghi PORTx s ghi gi trvo Port cht d liu

Mt s lnh nh BSET v BCLR l cc lnh cho php Read-Modify-Write d liu trn ccPort. Vic ghi vo mt Port ngha l cc I/O ca Port sc c vo, gi tr schiu chnh li, sau c ghi vo Port cht d liu.Mt iu cn ch l khi cc lnh Read-Modify-Write s dng trn mt thanh ghi PORTx th cc I/O c lin quan ca Port phic cu hnh nh l ng input. Nu mt I/O c cu hnh nh l ng input b chuyn sangcu hnh l output trong khi thc hin cc lnh Read-Modify-Write th s dn n nhng ktqu khng mong mun trn I/O .

5.4.4Thanh ghi LAT:Thanh ghi LATx lin quan n mt I/O pin hn ch cc s c c th xy ra i vi cc

lnh Read-Modify-Write. Vic c thanh ghi LAT s tr v gi trc ct gi trong Portcht ng ra ( Port output latches), thay v gi tr trn chn I/O port. Lnh Read-Modify-Writetrn thanh ghi LAT, lin quan n mt I/O, trnh kh nng ghi gi tr ca chn input vo Portcht. V trnh t ghi vo thanh ghi LATx cng tng t nh trn.S khc nhau gia thanh ghi PORT v LAT c thc tm tt nh sau:Vic ghi vo thanh ghi PORTx s ghi gi tr d liu vo Port cht ( Port latch)Vic ghi vo thanh ghi LATx s ghi gi tr d liu vo Port chtVic c t thanh ghi PORTx s c gi tr d liu trc tip trn chn I/OVic c t thanh ghi LATx s c gi tr d liu c ct gi trong Port cht.

S cu to tng quan ca cc I/O Port trong MCU:

Hnh 5.7: S cu to tng quan ca cc I/O Port trong MCU


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5.5 Gii thiu v cc module cbn5.5.1 Module Timer :

MCU dsPIC 6010 cung cp 5 module timer 16 bits, mi module Timer/Counter 16 bit u ccc thanh ghi chc( Reable/Writeable Register):-TMRx: l thanh ghi 16 bit, dng lu gi tr hin ti ca Timer tng ng.-PRx: l thanh ghi 16 bit, dng np gi trm cho Timer.-TxCON: l thanh ghi iu khin 16 bit, dng thit lp cc thng siu khin, ch hotng ca Timer.Mi Module Timeru c cc Bit lin quan dng cho phc v ngt:Interrupt Enable Control bit(TxIE): dng kch hot hot ngng kch hot Timer.Interrupt Flag Status bit(TxIF): Dng bo khi trn bm.Interrup Priority Control bit( TxIP): dng t cc mc u tin cho ngt Timer.Cc timerc phn loi thnh cc loi sau:

5.5.1.1 Module Timer 1

Timer 1 module l mt timer 16 bits , c thc s dng lm bm thi gian cho thi gianthc (Real Time Clock),hoc c thc vn hnh nh l bnh th ni b (interval timer),bm (counter), b 16-bits Timer1 c cc ch nh sau:

-Chnh th 16 bits (16-bits Timer): ch ny bnh th s tng gi tr sau mi chuk my cho n khi bng vi mt gi trc np trc vo thanh ghi PR1, sau s reset trv gi tr 0 v tip tc m. Khi CPU i vo trng thi ngh, Timer1 s ngng vic tng gi trtr khi bit TSIDL(T1CON)=0

-Ch bm ng b 16 bits ( 16-bits Synchronous Counter): ch ny Timer1 s tnggi trmi cnh ln ca tn hiu xung clock t bn ngoi a vo MCU v c ng b

ho vi xung clock bn trong MCU. Timer1 sm ln n mt gi trc np trc vothanh ghi PR1, sau s reset trv gi tr 0 v tip tc m. Khi CPU i vo trng thi ngh,Timer1 s ngng vic tng gi tr tr khi bit TSIDL(T1CON)=0

-Ch bm btng b 16 bits ( 16-bits Asynchronous Counter): ch ny Timer1 stng gi trmi cnh ln ca tn hiu xung clock t bn ngoi a vo MCU .Timer1 smln n mt gi trc np trc vo thanh ghi PR1, sau s reset trv gi tr 0 v tiptc m. Khi CPU i vo trng thi ngh, Timer1 s ngng vic tng gi tr tr khi bitTSIDL(T1CON)=0

Cc c im ca module Timer1:Hotng ca Timertrng thi ng:Timer1 vn hot trong lc CPU trong trng thi nghnu:

- Timerc kch hot ( TON=1)- Ngun xung clock cho Timerc chn l ngun ngoi ( TCS=1)- Bit TSYNC ( T1CON) c t mc logic 0 m c nh ngha l ngun xung

clock ngoi bt ng bNu c 3 iu kin trn c tha mn th Timer1 sm ln n gi tr trong thanh ghi PR1v sao c reset v gi tr 0x0000.


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Skin ngt Timer:16-bit TIMER c kh nng to ra ngt . Khi gi tr ca Timer bng vi gi tr trong thanh khiPR1 th bit T1IF sc tc ng v to ra ngt. V nu c kch hot , bit T1IF phi cxo bng phn mm. Cngt Timer T1IF c t trong thanh ghi iu khin IFS0 .

Timer Gate Operation:16-bits Timer1 c thc t ch Gated Timer Accumulation. ch ny cho phpxung clok ni lm tng gi tr ca Timer1 khi cng tn hiu vo(T1CK) c t ln mc tchcc ( high). Bit iu khin TGATE(T1CON) phi c set ln (TON=1).TIMER1 phic kch hot (TON=1), v ngun xung clock ca Timer phi l ch ngun ni (TCS=0).

Bm tl trong Timer:Xung a vo ( l Fosc/4 hoc l xung clock ngoi) vo 16 bit TIMER , c thc t l1:1,1:8,1:64,1:256 bi vic thit lp cc bit iu khin TCKPS(T1CON). Bmt l ( Prescaler Counter) sc xo khi xy ra cc trng hp sau:

- Tc ng ghi vo thanh ghi TMR1- Tc ng xo bit TON( T1CON- Cc tc ng Reset MCU nh l POR ( Power on reset), BOR( Brown out Reset)

Tuy nhin , nu Timer cha c kch hot th b t l Timer khng thc reset khi xungclock Prescalerc giTMR1 s khng b xo khi T1CON c ghi vo. N s b xo bng vic ghi vo thanh ghiTMR1

Bng 5.3: Trnh by s cc thanh ghi iu khin TIMER1

S cu to ca b16-bit Timer1 nh hnh v sau:

Hnh 5.8: S cu to ca b16-bit Timer1


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5.5.1.2 Timer2/3 module:Module Timer 2/3 l mt 32-bit Timer v c thc thit lp thnh hai Timer 16 bits

ring bit l Timer2 v Timer3, trong Timer2 thuc loi Timer B( typeB) v Timer 3 thucloi Timer C (type C), Timer2/3 c cc ch nh sau:

-Ch hai Timer 16 bitc lp (Two Independent 16 bit Timer( Timer2 v Timer3)) :vi ttc cc ch hot ng nh cc Timer 16 bit khc ( tr chm bt ng b(Asynchronous Counter))

-Ch mt Timer 32 bit ( Single 32-bit Timer):Khi hot ng trong ch ny, bit iu khin T32 phi c set trong trong thanh ghi

T3CON. Khi hai timer ( Timer 2 v Timer 3) c cu hnh hot ng nh mt Timer 32 bit ,thanh ghi T3CON c b qua, ch c thanh ghi T2CON ng vai tr l thanh ghi iu khin.S kin ngt Timer xy ra vi cngt T3IF. Timer 2 ng vai tr l 16 bit thp, v Timer 3ng vai tr l 16 bit cao trong Timer 32 bit. Timer 32 bit s tng gi tr cho n khi bng vigi tr np vo 2 thanh ghi PR3:PR2 , sau c reset v 0 v tip tc m ln trong lnxung clock tip theo . Gi tr ti a np vo cp thanh ghi PR3:PR2 l 0xFFFFFFFF. Nuc kch hot, mt s kin ngt s to ra khi bm c gi tr bng vi gi tr trong cpthanh ghi PR3:PR2 .

Cc bc thit lp module Timer 32 bit:TON(T2CON)=1T32(T2CON)=1TCKPS(T2CON) c s dng cu hnh cho bm t l (Prescaler)ca Timer2

Cp thanh ghi TMR3:TMR2 cha gi tr ca Timer 32 bitCp thanh ghi PR3:PR2 cha gi tr dng so snh vi cp thanh ghi TMR3:TMR2T3IE(IEC0) dng kch hot kh nng to s kin ngt TimerT3IF(IFS0) c s dng nh cbo ngtT3IP(IPC) dng thit t cp ngt u tin cho Timer 32 bit

-Ch bm ng b 32 bit ( Single 32-bit Counter)

Cc c im ca module Timer2/3Skin kch chuyn i AD:

Khi gi tr gia hai thanh ghi 32 bit TMR3/TMR2 v thanh ghi kt hp PR3/PR2 bng

nhau th mt tn hiu kch ADC sc to ra bi Timer3

Timer Gate Operation:32-bit Timer c thc t ch Gated Time Accumulation, ch ny cho

php xung clok ni lm tng gi tr ca Timer khi cng tn hiu vo (T2CK) c t ln mccao.Bit iu khin TGATE(T2CON) phi c set kch hot trong ch ny. V khiang hot ng trong ch ny th Timer2 s l ngun xung clock . Vic set bit TGATE sc b qua cho Timer3. Timer phi c kch hot (TON=1)v ngun xung clock phi lngun ni (TCS=0)Cnh xung ca tn hiu t bn ngoi s kt thc vic m, ngi lp trnh phi reset timerbt u m t gi tr 0.


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Cu hnh cho bm tl:Xung a vo ( l Fosc/4 hoc l xung clock ngoi) vo TIMER , c thc t l

1:1,1:8,1:64,1:256 bi vic thit lp cc bit iu khin TCKPS(T2CON) v(T3CON).i vi Timer 32 bit , Timer2 sng vai tr l ngun xung clock, v vic

la chn cc t l s khng c p dng trn Timer3. Bm t l s b xa khi xy ra cctrng hp sau:-Tc ng ghi vo thanh ghi TMR2/TMR3.-Tc ng xo mt trong hai bit TON(T2CON) hoc T3CON v 0.-Cc tc ng reset MCU nh POR, BOR.Tuy nhin , nu Timer cha c kch hot th b t l Timer2 khng thc reset khi xungclock Prescalerc giTMR2/TMR3 s khng b xo khi T2CON/T3CON c ghi vo.

Hotng ca Timer trong trng thi idle v trng thi ng:Khi CPU ang trong trng thi ng ( sleep mode) th timer s khng hot ng v ngun

xung clock ni b v hiu ho

Skin ngt Timer:32-bit TIMER c kh nng to ra ngt khi gi tr ca Timer bng vi mt gi trnh

trc c np vo thanh ghi 32 bit PR2/PR3 hoc khi pht hin c c cnh xung t cngtn hiu bn ngoi.Bit T3IF (IFS0) sc tc ng v to ra ngt.Trong ch ny,T3IF c s dng nh l ngun to ngt v bit T3IF phi c xo bng phn mm. Vickch hot hot ng ca ngt c thc hin thng qua bit T3IE


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S cu to ca b 32-bit Timer2/3, 16-bit Timer2, 16-bit Timer3 nh cc hnh v sau:

Hnh 5.9: S cu to ca b 32-bit Timer2/3

Hnh 5.10: S cu to ca b 16-bit Timer2 (Timer loi B)


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Hnh 5.11: S cu to ca b 16-bit Timer3 ( Timer loi C)

5.5.1.3 Timer4/5 module :Module Timer 4/5 l mt Timer 32 bit tng qut v c th phn thnh hai module Timer

16 bit l Timer4, Timer5Timer 4/5 hot ng tng t nh Timer 2/3, Tuy nhin c mt s khc bit sau:-Timer4/5 khng h trt im ADC Even Trigger nhTimer2/3

- Timer4/5 khng c s dng bi cc module ngoi vi khc nh Input Capture, OutpyCompareHot ng ca Timer4/5 c xc nh bi vic thit lp cc bit trong cc thanh ghi t bitnh T4CON, T5CONTrong ch Timer4/5, Timer4 ng vai tr l 16 bit thp (LS Word), Timer5 ng vai tr l16 bit cao (MS Word)iu cn ch l khi hot ng ch Timer 32 bit, thanh ghi T5CON c b qua, ch cthanh ghi T4CON l c s dng cho vic cu hnh hot ng ca Timer. Xung clock caTimer4 v cng vo c s dng cho module 32 bit Timer, nhng s kin ngt Timer4/5 ldo cngt T5IF quyt nh, v chc nng ngt sc kch hot thng qua bit T5IE

Bng 5.5: Trnh by cc thanh ghi iu khin Timer4/5


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S cu to ca b 32-bit Timer4/5, 16-bit Timer4, 16-bit Timer5

Hnh 5.12: S cu to ca b 32-bit Timer4/5

Hnh 5.13: S cu to ca b 16-bit Timer4 (Timer loi B)


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Hnh 5.14: S cu to ca b 16-bit Timer5 (Timer loi C)

5.5.2 Module AD:B chuyn i 10 bit AD tc cao cho php chuyn i tn hiu vo tun t sang 10

bit tn hiu s ( 10-bit high-speed analog to digital converter). Module AD ny da trn kintrc Succesive Approximation Register ( SAR) v cung cp kh nng ly mu ti a 500ksps.Module AD c 16 ng vo analog . in p tham chiu cho module A/D c la chn bng

phn mm ,c th l chnh ngun cung cp cho MCU ( AVDD/AVSS) hoc mc in p trncc chn ( VREF+/VREF-) . B chuyn i AD c kh nng hot ng khi CPU ang trongtrng thi ng ( Sleep Mode)

Module AD c iu khin bi vic thit lp cho 6 thanh ghi sau :-A/D Control Register1(ADCON1)-A/D Control Register2(ADCON2)-A/D Control Register3(ADCON3)-A/D Input Select Register ( ADCHS)-A/D Port Configuration Register(ADPCFG)-A/D Input Scan Selection Register(ADCSSL)

Trong thanh ghi ADCON1, ADCON2,ADCON3 iu khin hot ng ca moduleA/D. Thanh ghi ADCHS dng cho vic chn la cc knh ng vo chuyn i. Thanh ghi

ADPCFG thit lp cc chn ch analog hay l digital.ADCSSL dng cho vic qut ccng vo.

iu cn lu l cc bit SSRC, ASAM, SIMSAM, SMPI cng nh ccthanh ghi ADCON3, ADCSSL khng thc ghi vo trong khi bit ADON=1, iu ny snh hng n kt qu chuyn i.


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Hnh 5.15: S cu to bn trong module A/D

5.5.2.1Gii thch hot ngModule bao gm b nhm kp 16-word (16-word dual port read-only buffer), y l

b nhchc dng cha gi tr ca vic chuyn i AD. Ni dung ca 16 thanh ghi trong

b nhm ( t ADCBUF0 n ADCBUFF) khng th dc ghi vo bi ngi s dngSau khi Module ADC c thit lp xong, vic thu thp mu c bt u bng vic set bitSAMP. Mt s tc ng nh l cc bit lp trnh(Programable bit), s kin ngoi( externalevents), trn timer(timer time-out), s kt thc vic thu thp mu v bt u qu trnh chuyni. Khi s chuyn i hon tt, kt qu sc a vo cc thanh ghi trong b nhm tADCBUF0ADCBUFF. Cbo ADIF v bit DONE sc set sau mt s ln ly muc xc nh bi bit SMPI

5.5.2.2 Qu trnh hot ng ca module ADC c tm tt nhcc bc sau:1.Thit lp cho module ADC-Thit lp cc chn analog, din p tham chiu, v cc digital I/O

-La chn knh vo-La chn xung clock dng cho vic chuyn i


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-La chn tc ng kch cho vic chuyn i-Kch hot qu trnh chuyn i2.Thit lp cc ngt AD ( nu cn thit):-Xo bit ADIF

-Chn cc u tin ngt3.Bt u vic ly mu4.Chcho qu trnh ly mu thnh cng5.Vic thu thp mu kt thc, bt u qu trnh chuyn i6.Chcho vic chuyn i hon tt bng cch:-Chcho n khi ngt AD xy ra7. c gi tr t b nhm , xo cADIF nu cn thit

5.5.2.3 Cc skin kch chuyn i:Cc kch chuyn i s kt thc qu trnh thu thp mu v bt u qu trnh chuyn i.

Dieu Khien DongCo KDB 3pha = SinPWM Dung PIC30F6010

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