Mục lục
Lời mở đầu
Chương 1: Mô hình động cơ không đồng bộxoay chiều 3 pha 4

 
!"#$%&'()*+$,
!-).'/
0123 4,
Chương 2: Tổng hợp các bộ điều chỉnh 23
!567 89. 89&:!
!!567 89. 89'!
Chương 3: Mô hình mô phỏng đáp ứng trên Simulink 29
;<:= >:2.'!?
!@A( >
@BC/
5%B (,
Lời mở đầu

D):A:4123@
8"<)%%9>:<EF2G 8 H
%3IJKC%A:4&(<L)B8+&<
BM8:)7):3%@53
:&(<2GE%3 N
1+<M8%&(O MEB%PQR
%E9)7S ) @B)7'% M$
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LTBQB)7:WXQ>:123
PBVL')'::Y3
Z6@[C:B[3\]\JE+ Q1
^2_@E6&1&R( #@B_3@B[3:
35:)@(L@&3:W%%%%

62291BPD@BbR4XLbB8%
'D@BbA2%4bB8%@M U@2%jq
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+ Dây quấn: ")7A<%j M %8I 
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lVỏ máyd"L( 8j%E#Bkb&M>X28:G
:UMB% N h &<>i#NMb'h 
&<Bit> X1@'g :PMQXR L
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\Phần quayd BkbM:GM%21A<
lLõi thép rôto:T)72CjBb[CX284
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:5:G)7u:PR W6B+6:)7
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A<:B&Xd
wRôto kiểu dây quấndx21A<XL')21A<
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1.2. Nguyên lí hoạt động của động cơ không đồng bộ xoay chiều 3 pha rotor
lồng sóc
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1.3. Đặc tính cơ và các thông số ảnh hưởng tới đặc tính cơ
1.3.1. Đặc tính cơ động cơ không đồng bộ
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
Hình 1-6 . Đặc tính dòng điện stato của động cơ không đồng bộ .
"L123):4#$I23%
1N&<:
5X&<jLj&&:B%d
-

!
ƒ
„
( )
XRR
U
nm
!!
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
++

 5Xd-

„-

l∆-
ω
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?
pω

„pωl
R
X
R
R
U

U
nm
S
ˆ
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!


+








+
hqi
t&„
ω
ωω


−

nm
X
s
R
Rs
RU
ω
Đây là phương trình đặc tính cơ của động cơ không đồng bộ.
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A():4d
n=
dS
dM

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8
hp

i%:g
Y
8
hY
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Y

„±
XR
R
nm


[B%x

„ncXd
Y

„±
X
R
nm
ˆ
!
…p

„±
X
U
nm
ω

!

!


€C.&'d





hY→ni5Œ&'
S
S
th
>MQ=
S
S
th
„n€=%
#$X28(dp„
S
S
M
th
th

!
YŠŠY

hYi
 5Xdp„
S
S
M
th
th

!
D@Y„⇒p„p


ˆ
!
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ˆ
!
!


nm
X
R
Rs
RU
ω
5<&')*@#$ d
\"y

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\":* 8:
\Ž)*-
\Ž)*Ix

M0

* Ảnh hưởng của điện áp nguồn cấp cho động cơ
"y

d56N&]2G
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* Ảnh hưởng của điện trở mạch rôto ( R
2
+ R
2f
).
 Chỉ dùng cho động cơ không đồng bộ rôto dây quấn M&]2G
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!|
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5Xd ω

„
P
f


!
π
„&
p

„&
Y

„
X
RR
nm
f
ˆ


B% '
j:)WA6→'6S
|
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Š|
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Xd↓Y

„
( )
↑
≈
+
f
LL
P
f
R

ˆ
!

ˆ
!

!
π

0

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!
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,
π
 53@|

+L( (Ip

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‹|
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( Xd
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 |
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

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4p
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* Ảnh hưởng của số đôi cực P .
 "L6&'3*&))W6<21d
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
„
P
f


!
π
%ω„ω

h\&i
5<6&'#3-4ω

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|
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
„

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a. b. c
Hình1.12 Động cơ không đồng bộ với R
f
và X
f
trong mạch stato .
a) Sơ đồ với R
1f
; b) Sơ đồ với X
1f
; c) Đặc tính cơ .
5<:NQ8:#$X  S*B%p
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$F0
|
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|

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$<I(h•i%X *‘0b:I M$2GrM
:&HSPR&d
\
D@(ZX2_M:$(&H%:$CM
:y
r
„y
r
\
.X2_M:XXIrM:y
r
„
{!y
rs
„{!y
r;
\
.X2_M:X2b2_hriM:
y
r
„n
tPRXM&HL2a8I&A
r(gd‘„qn

M•„n

M:&:B%Z 
/
Hình 1.15: Đường cong điện áp ra của một pha

!!0123 4::B&X
!!e):4(I
t4<:=1'21F8M4 8j X
9(@&1: 4Xd
\;21Y:)7':$ 'F #
\;6&Rj%^9jXL>A
\c9jX%j:)W)71'4&:P #Sj
\;:g:*%( )7B%
 5X):4&:d
f
ss
f
s
f
s
s
f
s
j
dt
d
iRu
ψω
ψ
++=
-):4:d
f
rr
f
r

LiLi
ψ
ψ

-):4  Sd
( ) ( )
r
rc
s
scM
ipipm ×−=×=
ψψ
!

!


-):4Ld
dtp
Jd
mm
c
TM
ω
+=
5:Xd
\
5
d  S(
\“d  SA$

&
β
&θ

&A
„
&
β
&θ\
&
α
&θ
•
αβMM‡

‡

h  i
!

h  i
!
u s
v s s
s s
i i
i i i
i i i
α
α β

&
&&
\eJL)7:)&:: Xω
:
„ω
&
\ω
5jX)7):4d

•••
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••••
•• ••••
•••• •• ••
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n
f
f f f
r
s s s s r
f
f f
r
r r r r
f f f
r s s r m
f f f
r s m r r
d
u R i j

54 B8>
|
:
%ψ
|
&
djhniXd

ih
ih

••••••••••••
••••••••
m
f
s
f
r
r
m
s
f
s
f
s
m
f
s
f
r

s
rq
rm
rd
m
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rs
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sd
s
rq
m
rd
rm
sqssd
rs
sd
T
i
T
L
dt
d
T
i
T
L
dt
d

σ
ψ
σ
σ
ω
σ
σ
σ



i

h

i

h
−−=
+−=
+
−
+
−
−
−
+−−=
+
−
+

T
L
iLpT
u
LL
iip
T
u
LLTL
iip
T
ψ
ω
ψ
σ
ωψ
σ
σ
ω
σ
ψ
σ
σ
ψ
σ
σ
ω
σ
σ
=


5)3):PJ
αβ
TX):4  SJ2Ad

ih
!

f
s
f
r
r
m
cM
i
L
L
pm
∧=
ψ
58B)7bNQ]IXd
&
|
„
&2
lj
&A
”ψ
&

+=
d( ::
\5
&
„€
&
{x
&
dN&'W&:
\5
:
„€
:
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:
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\
( )
srm
LLL {
!
−=
σ
&'P6
!!
5:P&*):4:P123& >:Y Bd
e4\op4:P:Gh2\Ai
2.3. Tính các bộ điều khiển
;L):4 €BS%
rq

T s
I s w I s U s
T L
T s
I s w I s U s
T L
T s
s I s
T T
I s w w s
T
σ
σ
σ
σ
σ
σ
σ
ψ
σ σ
σ
ψ
σ σ
ψ
ψ

 
+
−
= + +

r r
T
T T
σ
σ
σ σ
=
−
+
2.3.1. Tổng hợp bộ điều chỉnh Risq
ˆ
&A
& :
ˆ
:
h i h i h i
z h&i
‡ „‡ l
5 h&i
sd r rd
rd
I s sT s
ψ
ψ
= +
h!!i
5h!!i%):4%!Ih!i)7%Q29
&A
)&d
!

&A
)&d




! 
sq
r
s
sq r r
I
T T
K
U T T T T s L T s
σ
σ σ
σ
= =
+ + +
td


h i
!
r
s r
r
r
T T

&A
s@6*1B% gB)%XL% :B% 
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ssc

NL
NL
K
G
T s
=
+
Y]2GPO') 2BL67LX%
:$I'X28d
! !

 ! !
MC
F
s s
τ τ
=
+ +
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!
ssc
&A

&A


  
 

! !
NL NL
T s T
R
T K s T K T s
 
+
= = +
 ÷
 
2.3.2 Tổng hợp bộ điều khiển tốc độ
;<:= 89L'2)&d
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