KHOA H O C - C O N G NGHE

Nghien cuu, thiet ke, che tao bo bien tan
dieu khien dpng co xoay chieu ba pha
I TS.PHAMTAlVlTHANH.ThS.VO NGOC MINH
Trudng Dgi hoc Hdng hdi Viet Nam

TOM TAT: Bai bao nghien cuu cau true bp bien tan
dieu khien dpng co xoay chieu ba pha Cau true
nay dupc thiet ke, che tgo thd nghipm phan cung
va phan mem. Cac ket qu^ thu nghtem chung to
tinh dung dSn cua thuat toan dieu khien. Ket qu^
nghien cuu la co sd de tnen khai s^n pham thuong
m^i trong thye tien cong nghiep.
Tu KHOA Bp bien tan, dong co xoay chieu ba pha,
bp bien ddi, nghich luu ba pha
ABSTRACT: The paper investigates the structure
of three-phase inverter for AC motor drives
This architecture is designed, manufactured
and tested for hardware and software. The test
results demonstrate the correctness of the
control algorithm Research results are the basis
for commercial product deployment in industrial
practice
KEYV^ORDS: Inverter, AC Motors, converter, threephase inverter

I.OATVANOE
Bp bien tan sd dyng de dieu khien dpng co dien
xoay chieu ba pha duoc Ung dyng rpng rai trong
nganh GTVT. Cy the: Trong ele can trye, cau trye xep
dd hang hda tai eae eang bien, tren tau thuy..., bp

bien tan eung dupe Ung dyng trong hau het cac ITnh
vuc trong cong nghiep, trong eae day ehuyen san xuat
trong cdng nghiep eo su tham gia cua dong co dien
xoay ehieu ba pha...
Dieu khien truyen dong dien dpng eo dien xoay
ehieu ba pha la linh vUe dUpe nghien eUu td nhieu thap
ky, TU cac ly thuyet dieu khien kinh dien cho den cle ky
thuat hien dai, ngay nay dieu khien dpng eo dien xoay
ehieu da dat dupe nhdng tien bo vupt bae, chu yeu nhd
sU phat trien cua cong nghe ban dan, ePng nghevi xdly
vaky thuat dieu khien [18,20],Caebp bien tan duoc thiet
ke ngay eang hoan thien, dap Ung dupe nhUng ddi hoi
k h i t khe trong dieu ehinh t u dPng, dai cong suat eung
nhu toe dp eho phep dieu ehinh ngay eang md rdng.

88

nhieu tinh nang mdi dupe them vao bien tan de d i p dng
cac nhu eau dieu khien da dang trong thuc te [25-27].
d Viet Nam nghien cdu dieu khien dpng co xoay
ehieu ba pha da dugc nhieu nha khoa hpe quan t i m . Cle
cau true dieu khien cho dpng cO xoay ehieu ba pha rat
da dang, phong phu, Cau true dteu khien dpng co xoay
chieu bapha co the la tuyen tinh, phi tuyen [21-24]. Mpt
loat eae ePng trinh nghien cdu mang tinh hpe thult va
ehua duoc trien khai thanh san pham thUOng mai [1 -12],
Hien nay, tren thi trUdng trong nUde, cle bp bien
tan dupe b i n thuong mai bdi nhieu hang tren the gidi
nhu ABB, Siemens, INVT va cac hang Trung Qudc [2527]. Tuy nhien, cac nha san xuat trong nUde van ehUa co
sin pham cung Ioai dupe thuong mai hPa. Cung cd mpt

vai doanh nghiep che tao bp bien tan phuc vu eho muc
dieh rieng cua minh, ehang han dieu khien dpng co thUe
hien ePng doan nao dd trong ePng nghiep. Ve ea nhan
eP san pham dugc giPi thieu trong cong trinh [19], tuy
nhien d l y mdi la thdnghiem budcdau va sddyng ddng
chip da qua cu, chua dap Ung dupe eae yeu eau khit khe
trong thuc tien cPng nghiep.
VPi mue tieu cd gang duoi kip the gidi ve mat cong
nghe, ehung ta dang tap trung nam b i t , giai ma eong
nghe tien tien eua nude ngoai, lam chu eong nghe va
tien den npi dja hda san pham. Phat trien cong nghe
phuc vy nganh ePng nghiep ddng tau la mpt dieu kien
quan trpng va then ehot de phat trien ben vdng kinh
te bien Viet Nam. Tuy nhien, hien nay chung ta chua
cd cong nghe che tao bo bien tan de eP the thuong
mai hPa.
6 trong nuPe chUa ep don vi nao nghien edu, thiet
ke, che tao thiet bj nay d i p Ung dupe yeu cau cCia thUc
tien ePng nghiep. Do ehua cd san pham khoa hoc va
cdng nghe lien quan duoc che tao tai Viet Nam nen tat
ea can dupe nghien cUu theo hUdng tiep can vpi cae
thPng tin eua nude ngoli: Cac bp bien tan da cP tren thj
truPng the giPi, tuy nhien viec giai ma cong nghe van
con khp khan, mat khIc g i l t h i n h thiet bi cao. Chinh
vi the, bai b i o di sau nghien edu ve yeu eau hoat dpng
cua cac bp bien tan, xae djnh cau true phan eufng, he
thdng phan mem dieu khien. tU dd tien hanh thiet ke
va ehe tao t h d nghiem thiet bj, Nghien edu, thiet ke va
ehe tao thanh ePng bp bien tan eho phep chu dpng ve
phan mem, cPng nghe che tao phan cdng lam co s6 cho

trien khai che tao dong loat, phue vu cong t i c npi dia
hPa san pham.


So 10/2018

KHOA H O C - C 6 N G NGHE
Hien nay, p elc nude tien tien d l cP cong nghe che
ta^o cac bp bien tan.Tuy nhien, gia thanh ehe tao thiet bi
vaji ePn cao va khoa hpe ePng nghe che tao khong eong
bo. Xul't phat tU van de sP hUu tri tue v l bi mat ePng
nghe nen viec tiep can va tai lieu lien quan t d cae hang
ehe tao rl't khp khan. Cae san phi'm bp bien tan tren the
gidi CO du loai t d loai ed tinh nang dOn gian den loai eo
tinh nIng cao cap nhat. Cae thuat t o l n dieu khien dupe
eai^dat trong elc bo bien tan. Cac thuat toan co ban nhu:
Oieu l p vp hudng scalar, dieu khien vector... Thuat t o l n
khdi dpng cao cap nhat la dieu khien sensorless, nhan
dang online..,
Muc tieu cua bai b i o la thiet ke che tao bp bien tan
vpi cae thuat toan dieu khien sao eho bo bien tan dat
dupc tinh nang tuong duong vdi eae sin pham thuong
mai eua eae hang noi tieng tren the gidi.
2.CAUTRUCBI^NTAN
Khdi dieu
khien

Mach
cong suSt


,
'

i

Ghep nOi
ma
Nguon
dieu khien

1

*
^

Hinh 2.1: Cau true bo bien tSn

Nguyen ly lam viec cua bien tan la dung cle tin hieu
dieu khien de ddng md cle van (P day thudng la eae loai
van ban dan eong suat Idn) bien doi nang lupng dien
xoay ehieu P tan so nay thanh nang lupng dien xoay
chieu cd tan so khac. Phan loai bi^n tan theo phuong
phap bien doi dupe ehia lam hai loai: Bien tan trUe tiep
v l Bien tan g i l n tiep.
- Khdi dieu khien: Khoi dieu khien eo nhiem vy tinh
t o l n thdi diem ddng md elc van cua maeh epng suat, do
ludng, loe nhieu eae tin hieu phan hoi, nhan tin hieu dieu
khien t d khdi ghep ndi md rpng.
- Ngudn dieu khien: Nguon dieu khien cung cap

ngudn cho khoi dieu khien hoat dpng va eung cap
nguon eho cac thiet bj ngoai vi.
- Mach eong suat: Mach cong suat la ele van ban
dan ePng suat nhuThyristor, MOSFET, IGBT, GTO... dieu
khien dong dien t d luPi tdi tai va ngUpe lai.
-Tai:Da so bien tan hien nay sCrdyng cho tai la ddng
CO dien xoay ehieu ba pha, ngoai ra co mpt sd dang tai
khac nhu cac IP cao tan, mang dien sinh hoat,..
- Ghep noi md rpng: Ghep ndi md rpng de nhan tin
hieu dieu khien tU ben ngoai hay gdi di elc tin hieu dieu
khien (cle dau vao/ra tuong tu, dau vao/ra sd, cong vao/
ra ghep noi mang ePng nghiep, ghep noi eneorder...).
- Phanh: Doi vdi dang tai la dpng co xoay chieu ba
pha, cac bo bien tan thudng dupe thiet ke ehUc nang
phanh phde hpp de dieu khien tdc dp dpng co nhanh
chPng va ehinh xae.
Bai bao tap trung thiet ke loai bien tan g i l n tiep. Cae
bp bien tan gian tiep cP so do cau true nhU tren Hinh 2.2
Bp bien tan gdm 3 khau can ban: Chinh lUu (CL), loc (L)

va nghich lUu (NL). NhUvay,de bien doi tan so can thong
qua khau trung gian mpt chieu, do do no cP ten gpi la
bien tan g i l n tiep.

Hinh 2.2: Sadd cdu true cda bien tdn gian tidp

- Chinh luu: De bien doi nguon dien xoay ehieu
thanh nguon dien mpt ehieu. Chinh lUu cd the la khdng
dieu chinh hoae cd dieu ehinh, thudng ddi vdi elc bd
bien tan cdng suat nhp la cle bp ehinh lUu khPng dieu

chinh. Ngay nay, da so cle bien tan sd dung chinh lUu
khpng dieu ehinh vi neu dieu ehinh dien l p mpt chieu
trong mpt pham vi rpng se tang kich thuPc bo loc, giam
hieu suat bo bien doi. Doi vdi eae bo bien tan eong suat
Idn nguPi ta hay sd dyng chinh lUu ban dieu khien vdi
chdc nang b i o ve eho he thong khi bj qua tai.
- Lpe: Sau khi chinh lUu dien ap ra la mdt chieu vdi
dp dap maeh eao can sd dyng bp lpe de dUpe t h i n h
phan mpt ehieu on djnh, ngoai ra bp loc ePn eP tae dung
hap thy nang lupng t l i tra ve trong qua trinh nghich luu.
- Nghich luu: Bien doi nguon dien mpt chieu thanh
nguon dien xoay ehieu vdi bien dP va tan sd mong
mudn. Ddi vdi eae bien tan nhp thudng dung van ban
dan ia IGBT, doi vdi cac bien tan cPng suat Ipn sU dyng
GTOhayThyristor.
Bo bien tan gian tiep ed the ehia ra lam ba loai chinh
tCiy thupe vao bp chinh lUu va nghieh luu:
-I- Bp bien tan nghjeh luu ngudn l p dang xung vuPng
va bp chinh luu dieu khien (Hinh 2.3). Dien l p chinh lUu
nhp bp chinh luu eo dieu khien (thuPng b i n g Thyristor
hay IGBT). Bp nghjeh luu ed ehUe nang dieu ehinh tan so
ddng CO. Dang dien ap cd dang hinh xung vudng.

~Tr
Hinh 2.3: Bd bi^n tan nghich luu nguon dp xung vudng, chinh tUu c6
dieu khien

+ BP bien tan vdi nghjeh luu luu nguon l p dieu bien
dp rpng xung vdi bo chinh lUu dung Diode (Hinh 2.4).
Dien l p mpt chieu t d bp ehinh luu khong dieu khien

(dung Diode) eP tri sd khPng doi dupe lpe nhd tu dien
ed tri so Idn. Dien ap va tan so dupe dieu ehinh nhd bp
nghieh luu dieu bien do rpng xung (Pulse Modulation
Width - PWM).

Hinh 2.4: Bo bien tdn nghich lUu nguon dp dgng PWM, chinh litu
khdng dieu khien

+ Bp bien tan vpi nghjeh lUu ddng dien va ehinh lUu
dieu khien dung Thyristor (Hinh 2.5), ngudn mpt ehieu
duoc cung cap cho mach nghjeh lUu la nguon dong vdi
bp lpe la cuPn khang du Idn

89


KHOA H O C - C O N G N G H £

Hinh 2.5: Bg bien tdn nghich luu nguon dong vdi chinh luu
CO dieu khien

Da sd ehinh luu thudng ia ehinh luu khong dieu
khien vi neu dieu ehinh dien ap mpt ehieu trong pham
vi rong se lam tang ki'eh thUPe cua bo lpe va lam gilm
hieu suat cua bp bien doi. Chdc nang bien doi tan sd va
dien ap duoc thue hien bdi nghjeh luu thdng qua luat
dieu khien.
Trong cle bP bien tan ePng suit IPn ngudi ta dung
chinh luu ban dieu khien vdi ehde nang lam nhiem vu
b i o ve cho an toan he thdng khi bj q u i tai.

Ngay nay, bien tan giln tiep dugc dung pho bien vi
cd the dieu chinh dugc tan so va dien l p ra trong pham
vi kha rong, de dang tao ra cle bp nguon (dong, ap) theo
mong mudn. Nhupe diem eua bien tan g i l n tiep la hieu
suat thap (vi qua hai lan bien doi).
Bai bao tap trung vao eau true nghich lUu nguon l p
PWM, ehinh lUu khdng dieu khien (Hinh 2.4).
3.THIETK£BI^NTAN
3.1. Cau true phan cul^g
Cau true phan cUng eua bp bien tan dupe thiet ke cd
dang nhutrong Hmh 3./.Trong do:
- Ngudn xoay ehieu 220V cua lUpi dupe dUa vao bp
ehinh luu CL de tao thanh dien ap mpt chieu. CL la bp
eau chinh luu mpt pha khPng dieu khien;
- Dien l p mot chieu tU bo ehinh luu duoc dUa tdi bp
ty C t i e dung eua bp ty la de san dien l p mpt ehieu dau
vao trudc khi cap eho bp nghjeh lUu. CP the eoi day la
bp nguon ap khi bp tu eP dien dung kha Idn, trong b i n
thiet ke sd dyng bp ty cP dung luong 1320 uF, dien ap
ty la 450 V;
- Dien ap mpt chieu sau bp chinh lUu sau khi da
dupe san d bp tu dupe dua vao bo nghjeh luu NL. Tai
day, dien ap mot ehieu se duoe nghjeh lUu theo phuong
phap dieu khien vector, Dau ra eua bd nghich luu la dien
ap xoay chieu ba pha cap cho dpng eo xoay ehieu;
-Tin hieu dieu khien bp nghieh luu cap eho mach
nghjeh luu dupe dua den tU mach dieu khien.Day la mpt
to hop elc thiet bj logic lap trinh de tao xung dieu khien
ele MOSFET eong suat, dong thdi con thuc hien cac ehUe
nang nhudo hien thi toe do, tan sd, ddng dien, dien l p ,

eae b i o ve nhu qua ap, q u i dong, qua nhiet...;
- Toe do duoc phan hoi ve mach dieu khien qua
phan t d TD, day ed the la may phat toe hay Eneorder,
trong b i n thiet ke dung Eneorder 200 xung/vdng. Maeh
phan hoi toe dp dung de bao ve, tinh t o l n va hien thi
thdng tin ve tdc dp dpng eo;
- DPng dien cua dong eo dupe dua ve la dong eua
hai pha va dong tong. DPng hai pha dugc chuyen ddi
va dUa ve mach dieu khien nhp cle cam bien dpng theo
nguyen t i e Hall. Trong b l i bao sd dung cam bien ddng
loai ALS20A

90

Hinfi 3.1:S0dS nguyen ly biin tdn
3.2. Mach cdng suat
Bang 3.1. Thdng sd cabin cua MOSFET 20N60S5
SPW20N60S5

Loai
Nha scin suat

Infineon

D o n g vo

P-T0247
600V

^DS


0,19

R,,(on)
l^

20A

dv/dt

20V/ns

C

3000pF

C„^,

1170pF

t,(on)

120ns

t,

2Sns

tjoff)


130ns

t,

30ns

Internal diode

Co

Cae van epng suat sd dung trong bai bao la MOSFET
- 20N60S5, day I I ele van dien ap cao va tan so hoat dpng
Idn. Bdng 3.1 dUa ra elc thdng sd co b i n cua MOSFET
20N60S5. Cac van cdng suat mac theo so do eau ba pha
nhu Hinh 3.2, duac ehia thanh ba nhom van A, B, C v l
moi nhom lai dupe ehia ra thanh hai phia: Phia cao (AH,
BH, CH) va phia thap (AL, BL, CL).
3.3. Mach tfieu khien
3.3.1. He thdng bdo ve
- Bdo ve qud ddng mgeh mot chieu: Bio ve qua dong
mach mpt chieu bang each do sut l p tren dien trd R, =
0.05W. Khi syt ap tren dien trd R, vupt qua ngUdng dat
trong mach dieu khien thi sut ap nay sau khi qua mach
khuyeeh dai se cho tin hieu q u i dong mpt chieu den vi
dieu khien de bao ve dpng co.
£3-

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im
N3

Hinh 3.2: Nguyen lymach biio vi


So 10/2018

KHOAHOC-CdNGNGHl
Bdng 3.2. Thong so ffgng caxoay chieu ba pha 7L-1326 HITACHI
BienaplV)

200

200

Tan s6(Hz)

50

60

Toe dplRPM)

1420

1700

Dong dien(A)


37

32

Cong suat

0 75kW

Soci/c

4

So pha

3

Cap each dien

E

C05(p

0,76

- 6do ve qud ddng mach xoay chieu: DPng xoay chi
dupc do tren hai pha cua day vao dpng eo qua IC cam
bien dong. IC bien ddng xoay chieu thanh dien l p va se
duoc xd ly trong mach dieu khien.
- Sdo ve qud toe: Toe dp eua dpng co dugc dUa ve

maeh dieu khien thdng qua phan td earn bien tdc do la
Encoder. Toe do dpng co khi dUa ve se dUpc xd ly b i n g
phan mem va maeh dieu khien se t i c dpng khi toe dp
dong CO vupt qua ngUPng.
- Bdo ve qud nhiet Nhiet do tU canh t i n nhiet cua
maeh eau cdng suat dupe do bang elm bien nhiet
LM335, gia tn nhiet dp eInh tan nhiet dUpc LM335
ehuyen thanh dien ap tuong dng va gdi ve mach dieu
khien de xd ly. Khi qua nhiet maeh dieu khien ngUng cap
xung md van eong suat.
- Bdo ve qud dp, thap dp: Dien l p nguon mpt chieu
cap vao cau MOSFET dugc do thdng qua dien trd phan
ap, Khi dien l p Idn hon 360V hole nhp hon 180V, maeh
dieu khien se ngdng cap xung dieu khien.
He thdng bdo ve duac thiet ke2 mdc:
Bo bao ve rieng: Bao gdm eae maeh dien t d nhan
tin hieu t d cle elm bien se tae dpng n g i t xung dieu
khien MOSFET va dUa tin hieu b i o dpng qua eae led ehi
thj tuong Ung khi tin hieu t d cam bien vupt q u i tri so
eho phep.
Bp b i o ve trung t i m : Tin hieu td eae elm bien dUpc
gCfi ve vi dieu khien de true tiep xd ly v l thPng b i o b i n g
man hinh hien thi.
Ngoai ra, toan bp bien tan ePn dugc b i o ve ngln
maeh bang cau chi.
3.3.2. Sodo mach dieu khien
Mach dieu khien sddung dsPIC30F4011 lam vi dieu
khien trung tam dieu khien hoat ddng cho bien tan. Cac
ehin cua vi dieu khien lam cae ehdc nang nhu Bdng 3,3.
Bang 3.3. Chdc ndng cdc chan vi diiu khien

ITII^tl/
1
2
3
4
5
6
7
8
9
10
11
12
13
14

Chan vi dieu
khien
/MCLR
ANO
AMI
AN2
OEA
QEB
INDEX
AN6
AN7
AN8
VDD
V5S

XTAL1
XTAL2

15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40


Txl
Rxl
INTO
INT2
0C4
VSS
VDD
D2
DO
F6
F3[SCL1
F2(SDA)
F5
F4
Fl
FO
VDD
VSS
PWM3H
PWM3L
PWM2H
PWM2L
PWMIH
PWMIL
AVSS
AVDD

Giao dien UARTl
Giao dien UARTl
Naat bSo ve bien tan

Na3tdi4u khien phanh
DUtrCf
GND
+5V
Hien thi trano thai hoat dona
Hienthi tranq thailoihethdnq
Cona F [ aiao tieo nquoi diinq)
GiaotieoEEPROM
GiaotieoEEPROM
Cdnq F (aiao tiep ngudi dunq)
Cdnq F (aiao tiec nqudi dung)
Cdna F (aiao ti^o naUdi dunal
Cdna F (aiao tieo naudi diina)
+5V
GND
Oieu khien mosfet cao 3
Oieu khien mosfet than 3
Dieu khien mosfet cao 2
Di4u lDieu ichien mosfet cao 1
Dieu khien mosfet thap 1
Dat tham chieu cho ADC
dien ap tham chieu cho ADC

3.3.3. Sa do mach hien thi vd giao tiep
Dieu khien q u i trinh hien thj va giao tiep la vi dieu
khien ATMEGA8. Tin hieu dieu khlln dua vao bien tan
eP the la tin hieu tuong tu thong qua bien trp hole tin
hieu sd thPng qua eae nut an. Man hinh hien thj la led
7 thanh.

3.3.4. Mgeh cap nguon
CP 3 loai ngudn duoc sd dung: 5V, 5V clch ly va
15V. Nguon 5V cap cho mach vi dieu khien va cac IC, eon
nguon 15V cap eho maeh dieu bien do rpng xung.
3.4. Chuong trinh dieu khien

Chu'c nang
Reset cuTia toan bo bien tan
Elo dona i.
Oodonq i.
Do dien ao 1 chieu DCImk
Encoder kenh A
Encoder kenh B
EncoderkenhIndex
Oo dona mot chieu 1^
Oo nhiet do Mosfet
Dat gi^ tri dieu khien
+5V
GND
Bo dao donq tao xuna nhio
Bo dao dona tao xuna nhio

Hinh 3.3:Dieu khien hien thi va giao tiep ngoai vt

91


KHOA H O C - C O N G NGH$
xoay chieu 3 pha rotor long soc thong dung;
- Do phan d l i tan sd dieu khien dat dupc la 0.1 Hz;

- Kha nang ehju qua dPng va dieu khien khi qua
dong Idn, eP the dat 200% dong dinh mUc cCia dpng co.
5. KET LUAN
Bai bao da nghien edu, phan tieh eau true bien tan
mpt each chi tiet de tddP thiet ke, che tao bp bien t^n. B6
bien tan dupe ehe tao gdm phan cdng va phan mem. Cae
ket qua thd nghiem thu dupe bUpc dau khi quan, phan
anh dung die diem vat ly cua he, la co sdde trien khai san
pham thuong mai trong thuc tien cong nghiep nhSm npi
dja hoa sin pham, lam chu cdng nghe ehe tao o

Hinh 3.4: Dieu khien chgy ddng a

4. Kir QUA THliC NGHI|M
Bp bien tan dupe thiet ke dang ghep noi cac mddun, moi MP-dun lam mpt nhiem vu khIc nhau de d i gd
rdi va nang cap: Mo-dun mach cdng suat, mp-dun dieu
khien trung t i m , md-dun hien thi va vao/ra tham sd.
Bien tan dUpc thiet ke ehay tot va on dmh, dai dieu
ehinh rpng, ket qua do dUpc eua ddng dien pha tren dong
CO Ung vdi ele tan sd va dang tai khac nhau dupe the hien
qua eae hinh ehup Osiloseope (Hinh 4.1, Hinh 4.2).

Hinh 4.1: Dong dien dieu khien dgng ca d tdn so 5Hz tdi 25% dinh mdc
Hinh 4.2: Dong dien dieu khien dong cadtdn so SO Hz khdng tdi

TUcae ket qua thUe nghiem, chung ta nhan thay:
- DPng dien dieu khien bien tan rat gan vdi hlnh sin;
- Dli tan sd dieu khien ddng eo duoc thiet ke rpng,
tU 0,5Hz tdi 125Hz phu hop de dieu khien dpng eO dien

92

Tai lieu tham khdo
[1]. Pham Tam Thanh (2017), Nghien cdu phuang
phdp backstepping vd Ung dung trong truyen ddng dien
xoay chieu bapha,Jap ehi GTVT, sd t h i n g 7, tr.82-86.
[2]. Pham Tam Thinh (2017), Khdo sdt on dinh cua
mo hinh gidn dogn mdy dien khdng dong bd rotor long soc.
Tap ehi Khoa hpe cong nghe GTVT, sd 23,
[3]. Pham Tam Thanh (2017), Udc lugng thich nghi
toe do ddng ca khdng ddng bd rotor long sdc trong dieu
kien thdi gian thUc, Tap ehi Khoa hoc cPng nghe GTVT,
so 23.
[4], Pham Tam Thanh (2016), Dieu khien dgng ca
khdng dong bo rotor Idng sdc khdng can cam bien tdc do
trong cdu true ed tdch kenh trUc tiep theo nguyen ly thich
nghi dung mau chuan. Tap ehi Khoa hpe ePng nghe Hang
hli,s647,thang8,tr.7-13.
[5].PhamTamThlnh,DinhAnhTuan (2016), WgWen
eUu khdo sdt dgng hoc vd chien luge dieu khien dong co
dong bd kich thich nam cham vinh cifu, Hpi nghi Quoc te
Khoa hpe eong nghe Hang h l i , tr.396-405, Hai Phong,
Viet Nam.
[6]. Pham Tam Thanh (2016), Khdo sdt ddc diem
on dinh eua md hinh trgng thdi gidn dogn cua mdy dien
khong dong bg nguon kep,Jap ehi GTVT, so 04, tr.83-85.
[7]. Pham Tam Thanh (2015), Real-time Vector
Control of Induction Motor, Jounal of Maritime Science
and Technology, No 43, pp.54-58.
[8].PhamTamThanh (2015), Real-time \/ectorContro/

of Permanent Magnet Synchronous Motor, Transport
Journal, 09, pp.73-75.
[9]. Pham Tam Thanh, Nguyen D.That (2014),
Nonlinear Flatness-Based Controller for Permanent
Magnef-fxc(fedSyncft/'onousMotof,The31 St international
Symposium on Automation and Robotics in Construction
and Mining (ISARC 2014), Sydney, Australia, pp.120-125.
[10]. Pham Tam Thanh, N.R Quang (2013), Quasleontinous Implementation
of Structural Nonlinear
Controller Based on Direct-decoupling for Permanent
Magnet Synchronous Motor,
IEEE
International
Conference on Control, Automation&lnformation
Sciences (1CCAIS2013), Nha Trang, Viet Nam, pp,254-259.
[11]. Pham Tam Thinh, Nguyen Phijng Quang
(2013), Cdu true dieu khien thdi gian thuc dong ca khdng


KHOA HOC-CONG NGHE

S6 10/2018

ddng bd rotor Idng soc su" dung phuong phdp tuyen tinh
hda chinh xdc, Hpi nghj Bieu khien va tU dpng hPa t o l n
quoc lan thU 2. tr.247-254. Da Nang.
[12], Pham Tam Thanh, Nguyen Phung Quang
(2013), Cdu true thUe nghiem he truyen ddng xoay chieu
ba pha, Hpi nghi Oieu khien va TU dpng hPa toan qude
lan thd 2, tr.233-237. Da NIng,

[13]. Pham Tam Thinh, Nguyen Phung Quang
(2013), Md hinh trang thdi gidn dogn bilinear eua mdy dien
xoay chieu ba pha theo phuang phdp Taylor, Chuyen san
Ky thuat Oieu khien va Tu dong hoa, so 7, tr.2-7.
[14]. Pham Tim Thanh, Nguyen Phung Quang
(2013), Hoan thien cdu true dieu khien phi tuyen dgng co
xoay chieu ba pha dUa tren nguyen ly he phdng, Chuyen
san Ky thuat Dieu khien vaTu dpng hPa, sd 12, tr,11-17.
[15]. Pham Tam Thanh, Nguyen Phung Quang (2012),
Dieu khien dgng ea khdng dong bo rotor long soc dUa tren
cdu true tdch kenh true tiep, CD tuyen tap Hpi nghj Co dien
td toan qude lan thd 6, VCM-2012, tr.202-209. Ha Npi.
Ngay nhan b^i: 19/8/2018
Ngdy chap nhan ddng: 6/9/2018
NgUoi phdn bi&n: PGS.TS.Oao Minh Qudn
PGS.TS. Tran Anh Dung

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