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1 TRNG I HC BCH KHOA H NI VIN IN B MN IU KHIN T NG BO CO TH NGHIM MN: H THNG IU KHIN S H tn sinh vin : L Trung Kin Lp : iu khin t ng 2 K53 SHSV : 20081443 Hm truyn Gz(4) Phng php xp x FOH vi T=0.01ms Ngy th nghim: Kp 1 th 4 tun 31,34,36 H Ni,5-2012 2 M PHNG NG C 1 CHIU: Da vo cc phng trnh m t ng c 1 chiu, ta i n s m t ng c nh sau: Trong ng c c cc tham s sau y: %%Tham so mo phong Tstop = 0.2; step_max = 0.0001; %%Dien ap Tstep = 0;%[s] UA = 50; %[V] %%Nhieu tai T_MW = 0; %[s] MW = 0; %[Nm] %%Tham so dong co RA = 0.250; %[Ohm] LA = 0.004; %[H] TA = LA / RA; %[s] phi = 0.04;%[Vs] J = 0.012;%[kg.m^2] Km = 38.2; Ke = 2*pi*Km; Hm truyn ri rc tnh ton bng cng thc 11 ( )( ) ( )z G sG zz s Hm truyn h kn:281.06( )0.016 767.8G ss s Ta=0.1e-3 : 223.36( )0.00625 0.9938zG zz Zz Ta=0.01e-3: 223.36( )0.0062 0.994zG zz Zz 3 BI THC HNH S 1 TM M HNH GIN ON CA CMC -Xc nh cc hm truyn trn min nh z ng vi T1=0.1ms v T2=0.01ms. -M phng so snh kt qu vi nhau. -Xy dng m hnh trng thi ca DCMC trn min lin tc v m phng p ng bc nhy ca m hnh thu c. Chng trnh Matlab: % Bai thuc hanh 1: Tinh toan mo hinh gian doan display('Ham Truyen lien tuc he ho') G1=1/RA*tf(1,[TA 1])*Km*phi*tf(1,[2*pi*J 0]) display('Ham Truyen lien tuc he kin') G=feedback(G1,Ke*phi) %-------------------------------------------------- % Chu ki trich mau la T1=0.1ms %-------------------------------------------------- display('Ham truyen gian doan theo Tustin voi T1') Gz1_T1=c2d(G,T1,'tustin') %-------------------------------------------------- display('Ham truyen gian doan theo FOH voi T1') Gz2_T1=c2d(G,T1,'foh') %-------------------------------------------------- display('Ham truyen gian doan theo ZOH voi T1') Gz3_T1=c2d(G,T1,'zoh') % Khao sat dap ung qua do hold on step(G) step(Gz1_T1); step(Gz2_T1); step(Gz3_T1); legend('G lien tuc','Tustin','FOH','ZOH') pause %-------------------------------------------------- % Chu ki trich mau la T2=0.01ms %-------------------------------------------------- display('Ham truyen gian doan theo Tustin voi T2') Gz1_T2=c2d(G,T2,'tustin') %-------------------------------------------------- display('Ham truyen gian doan theo FOH voi T2') Gz2_T2=c2d(G,T2,'foh') %-------------------------------------------------- Gz3_T2=c2d(G,T2,'zoh') % Khao sat dap ung qua do hold on step(G) step(Gz1_T2); step(Gz2_T2); step(Gz3_T2); legend('G lien tuc','Tustin','FOH','ZOH') 4 Kt qu thu c vi T1 >> ThamSoDC >> Bai_1 Hm truyn lin tc h h:

Transfer function: 6.112 ----------------------- 0.001206 s^2 + 0.0754 s

Hm truyn lin tc h kn:

Transfer function: 6.112 ------------------------------- 0.001206 s^2 + 0.0754 s + 58.68

Hm truyn gin on theo Tustin vi T1: Transfer function: 1.263e-005 z^2 + 2.525e-005 z + 1.263e-005 ------------------------------------------ z^2 - 1.993 z + 0.9938

Sampling time (seconds): 0.0001 Hm truyn gin on theo FOH vi T1:

Transfer function: 8.431e-006 z^2 + 3.367e-005 z + 8.404e-006 ------------------------------------------ z^2 - 1.993 z + 0.9938

Sampling time (seconds): 0.0001 Hm truyn gin on theo ZOH vi T1: Transfer function: 2.528e-005 z + 2.523e-005 ------------------------- z^2 - 1.993 z + 0.9938

Sampling time (seconds): 0.0001 5 6 Nhn xt: Trong cng mt chu k th phng php Tustinv FOH cho kt qu rt gn nhau v khc so vi ZOH Kt qu thu c vi T2 Hm truyn gin on theo Tustin vi T2:

Transfer function: 1.266e-007 z^2 + 2.532e-007 z + 1.266e-007 ------------------------------------------ z^2 - 1.999 z + 0.9994

Sampling time (seconds): 1e-005 Hm truyn gin on theo FOH vi T2: Transfer function: 8.443e-008 z^2 + 3.377e-007 z + 8.44e-008 ----------------------------------------- z^2 - 1.999 z + 0.9994 Sampling time (seconds): 1e-005

Hm truyn gin on theo ZOH vi T2: Transfer function: 2.533e-007 z + 2.532e-007 ------------------------- z^2 - 1.999 z + 0.9994 Sampling time (seconds): 1e-005 7 Xy dng m hnh trng thi DCMC v m phng p ng ng vi chu k T=0.1s v T2=0.01s. Chng trnh MatLab: % Xay dumg mo hinh khong gian trang thai % Mo hinh lien tuc G_ss_lt=ss(G) % mo hinh roi rac voi T=0.1s G_ss_rr1=c2d(G_ss_lt,0.1,'foh') % mo hinh roi rac voi T=0.01s G_ss_rr2=c2d(G_ss_lt,0.01,'foh') %khao sat dap ung buoc nhay hold on step(G_ss_lt); Step(G_ss_rr1); step(G_ss_rr2); legend('Lien tuc','Roi Rac') kt qu: M hnh lin tc: a =x1 x2 x1-62.5 -190 x22560 b = u1 x1 4 x2 0 c =x1 x2 y104.948

d = u1 y1 0 M hnh vi T=0.1s a = x1x2 x1-0.04438-0.00605 x20.008151-0.04239 b = u1 x1-0.0008935 x2 0.0003079 c =x1 x2 y104.948 d = u1 y10.1027 p ng qu : 8 M hnh vi T=0.01s a =x1 x2 x1-0.5063 -0.521 x20.702-0.3349 b = u1 x1-0.01165 x2 0.02023 c =x1 x2 y104.948 d =u1 y10.05773 p ng qu : 9 BI THC HNH S 2: TNG HP VNG IU CHNH DNG PHN NG (IU KHIN MOMEN QUAY) Vi i tng l dng in, ta coi gn ng thit b chnh lu l khu t l qun tnh bc nht hng s thi gian Tt=100 m ta c hm truyn ca mch phn ng l S dng m hnh vi tn s trch mu l T=0.01ms v phng php FOH Chng trnh MatLab: Tt=100e-6; Gi=tf(1,[Tt 1])*1/RA*tf(1,[TA 1]); Giz=c2d(Gi,0.01e-3,'foh'); [B,A]=tfdata(Giz); Giz=filt(num,den,0.01e-3) Kt qu: 4.064e-005 + 0.0001585 z^-1 + 3.865e-005 z^-2 --------------------------------------------- 1 - 1.904 z^-1 + 0.9043 z^-2

Sampling time (seconds): 1e-005 1.Thit k b iu khin dng theo phng php Dead-Beat viL(z^-1) l a thc bc nhtL=

p dng cng thc ca b iu khin Dead-Beat ta c

T xc nh c b iu khin () (

) (

) (

) (

) Chng trnh MatLab: [B,A]=tfdata(Giz,'v'); l0=(A(1)/(A(1)-A(2)))*(1/(B(1)+B(2)+B(3))); l1=(-A(2)/(A(1)-A(2)))*(1/(B(1)+B(2)+B(2))); L=filt([l0 l1],1,0.01e-3) %Bo dieu khien A=filt(A,1,0.01e-3); B=filt(B,1,0.01e-3); display('Bo dieu khien Gidk') Gidk=(L*A)/(1-L*B) %Ham Truyen he kin G=L(z^-1)*B(z^-1) 10 display('Ham truyen he kin Gk') Gk=L*B % Dap ung qua do step(Gk) Kt qu: l0 = 1.4478e+003 l1 = -962.5211

Transfer function: 1448 - 962.5 z^-1

Sampling time (seconds): 1e-005 Bo dieu khien Gidk

Transfer function: 1448 - 3719 z^-1 + 3142 z^-2 - 870.4 z^-3 ---------------------------------------------- 0.9412 + 0.8096 z^-1 + 1.097 z^-2 + 1.037 z^-3

Sampling time (seconds): 1e-005 Ham truyen he kin Gk

Transfer function: 0.05884 + 0.1904 z^-1 - 0.09666 z^-2 - 0.0372 z^-3

Sampling time (seconds): 1e-005 % Dap ung qua do step(Gk) 11 2.Thit k b iu khin dng theo phng php Dead-Beat viL(z^-1) l a thc bc haiL=

[B,A]=tfdata(Giz,'v'); l0=A(1)/((A(1)-A(2)-A(3))*(B(1)+B(2)+B(3))) l1=-A(2)/((A(1)-A(2)-A(3))*(B(1)+B(2)+B(3))) l2=-A(3)/((A(1)-A(2)-A(3))*(B(1)+B(2)+B(3))) L=filt([l0 l1 l2],1,0.01e-3) %Bo dieu khien num=conv([l0 l1 l2],A); den=1-conv([l0 l1 l2],B); display('Bo dieu khien') Gidk=filt(num,den,0.01e-3) %Ham Truyen he kin G=L(z^-1)*B(z^-1) display('Ham truyen he kin') Gk=L*filt(B,1,0.01e-3) % Dap ung qua do step(Gk) Nhn xt: Ta thy khi dng b K Deat-Beat 1 u ra t gi tr xc lp sau 4 chu k trch mu, khi dng b K Deat-Beat 2 u ra t gi tr xc lp sau 5 chu k trch mu. B K Deat-Beat 2 bt u lm cho i tng trn c dao ng, cht lng khng bng b K Deat-Beat 1. 12 3.Thit k b iu khin theo phng php cn bng m hnh: -Gi s sau 2 bc p ng ca i tng ui kp gi tr t khi ta c(

)

vi iu kin |

|Gi s chn b iu khin (

)

Chng trnh matlab: % bo dieu khien bu Gw1=filt([0.3 0.7],1,0.01e-3); GRi=(1/Giz)*(Gw1/(1-Gw1)) Kt qu: 0.3 + 0.1287 z^-1 - 1.062 z^-2 + 0.633 z^-3 ---------------------------------------------------------------- 2.845e-005 + 8.254e-005 z^-1 - 8.393e-005 z^-2 - 2.705e-005 z^-3

Sampling time (seconds): 1e-005 M phng: % Mo phong Gk=feedback(GRi*Giz,1) step(Gk) 13 -Tng t gi s sau 3 bc p ng ca i tng ui kp gi tr t khi ta c(

)

+

vi iu kin |

|Gi s chn b iu khin (

)

Chng trnh matlab: % bo dieu khien bu Gw1=filt([0.2 0.3 0.5],1,0.01e-3); GRi=(1/Giz)*(Gw1/(1-Gw1)) Kt qu: 0.2 - 0.08084 z^-1 + 0.1096 z^-2 - 0.6808 z^-3 + 0.4521 z^-4 ---------------------------------------------------------------------------------

3.251e-005 + 0.0001146 z^-1 - 3.697e-005 z^-2 - 9.087e-005 z^-3 - 1.932e-005 z^-4

% Mo phong Gk=feedback(GRi*Giz,1) step(Gk) Nhn xt:Thit k theo phng php deadbeat hay cn bng m hnh u c th a h thng v im cn bng sau N chu k chn trc (Trong bi ny l 2 v 3) tuy nhin thit k theo cn bng m hnh ta c th p t qu o mong mun cn deadbeat th khng . 14 BI THC HNH S 3 TNG HP VNG IU CHNH TC QUAY Theo phng php cn bng m hnh ta c hm truyn h kn ca phn iu chnh dng l(

)

. T ta c hm truyn ca i tng iu chnh tc l: (

)(

) (

) Trong Gz c tnh theo FOH chu k T2=0.01e-3 s >> Gz=c2d(Km*phi*tf(1,[2*pi*J 1]),0.01e-3,'foh'); >> Gnz=Gw1*Gz

Transfer function: 3.04e-005 z^-1 + 0.0001013 z^-2 + 7.092e-005 z^-3 ------------------------------------------------- 1 - z^-1 1.Thit k b iu khin PI theo tiu chun tch phn bnh phng: -B iu khin : GR(z)= 10 11.1r r zz+.-i tng iu khin : Gn(z)=1 2 31 2 3111b z b z b za z + ++ 0 11, 1 a a = = 1 2 33.04 5, 0.0001013, 7.093 5 b e b b e = = = -Ta c sai lch iu chnh : E(z)=W(z). 1 1 2 30 1 1 2 31 1111 .1 1r r z b z b z b zz a z + + ++ + -Vit sai lch iu chnh di dng sai phn :1 1 1 2 1 0 1 1 1 0 2 2 0 3 1 2 3 1 3 4 1 11 ( . ( 1 ) ( ) . ) ( . . ). . .k k k k k k k ke w a w a w a r b e a r b e r b r b e r b e rb = + + + + + -Chn r0=20 v vi ai , bi xc nh theo Gn(z) ta cn tm r1 sao choIQ=20nkke= nh nht . iu kin : 1 01 0 0 1(1 . )u ur r r bss suy ra {

Tac chng trnh tnh sai phn : 15 % sai phan syms r1 real b1=4.04e-5;b2=0.0001013;b3=7.093e-5; r0=30; e0=1 e1=1-2-(-2+r0*b1)*e0 e2=1-2+1-(-2+r0*b1)*e1-(1+r0*b2+r1*b1)*e0 e3=1-2+1-(-2+r0*b1)*e2-(1+r0*b2+r1*b1)*e1-(r0*b3+r1*b2)*e0 e4=1-2+1-(-2+r0*b1)*e3-(1+r0*b2+r1*b1)*e2-(r0*b3+r1*b2)*e1-r1*b3*e0 i=e0^2+e1^2+e2^2+e3^2+e4^2 T tm c r1=-20 IQ nh nht ta tnh c r1 kt hp vi iu kin trn ta chn r1= 20 Vy b iu khin theo tiu chun tch phn bnh phng : GR(z)=.

2.Tng hp b iu khin PI cho tc theo phng php gn im ccHm truyn i tng c dng: 21 2 321( )( )( )z b B zGn zzb z bz A z a B iu khin c dng : 10 1 0 11. . ( )( )) 1 ( 1r z r z rz zr R zGr zP z a thc c tnh ca hm truyn ch o: ( ) ( ). ( ) ( ). ( ) N z P z A z R z B z 2 21 0 1 1 2 3. ( 1).( ) ( ).( ) z z a r r b z z b z b z=4 3 21 1 0 1 1 1 2 0 3 0 2 1 1 3 1( 1 ). ( ). ( ) . z a b r z a br b r z b r b r z b r + + + + + + + +Gi s im cc ca i tng ch o l 1 2 3 4, , , z z z zta c 1 24 3 22 3 4 1 2 3 4 1 3 1 4 2 21 2 3 1 2 1 3 2 3 4 1 2 3 4( ) ( )( )( 3)( 4)( 1 ). ( 3 4)( 4 4 ).z zz zN z z z z z z zz z z z z z z z z z z z z z z z zz z z z z z z z z z z z z z z Chn 030 r = ,1,20.1 .0.265 z i = Khi 4 3 23 4 3 4 3 4 3 4 3 43 4( ) (1 ). (0.3725 ). (0, 3725( ) ).0.3725.N z z z z z z z z z z z z z z zz z= + + + + + + ++ Cn bng h s ta tnh c: 3z =0.14 .0.43 i + ,4z =0.25 .0.62 i ,1r =-29.9 Vy b iu khin l 1130 29 9).(1RzG zz= 16 3.M phngkho st vi b iu khin thu c

3.1.M phng c tnh thu c 3.1.1.Phng php theo tiu chun tch phn bnh phng : GR=.

Hnh 3.1.1.c tnh v sai lch vi b PI theo tiu chun tch phn bnh phng 17 3.1.2.Phng php theo tiu chun gn im cc:1130 30( )1RGzzz= Hnh 3.1.2.c tnh v sai lch vi b PI theo gn im cc Nhn xt:T th ta thy qu iu chnh tng i (khong 16%), thi gian xc lp: 0.02s. cht lng ng hc tt hn ta nn chn im cc nm gn gc ta . 18 3.2.M phng c tnh khi c ti thay i: 3.2.1. Gi tr ti di dng bc nhy vi b PI theo tch phn bnh phng Hnh 3.2.1.c tnh v tng bnh phng sai lch vi b PI theo tch phn bnh phng 19 3.2.2. Gi tr ti thay i di dng bc nhy vi b iu khin gn im cc Hnh 3.2.2.c tnh v sai lch vi b PI theo gn im cc Nhn xt: Vi c 2 b iu khin, khi c ph ti thay i t bin di dng bc nhy, cht lng ng hc ca h xu hn, sai lch iu chnh ln hn, thi gian qu di hn . 20 3.3.M phng c tnh khi c thay i gi tr t 3.3.1 M phng c tnh vi b iu khin PI theo tch phn bnh phng. Hnh 3.1.1.c tnh v sai lch vi b PI theo tiu chun tch phn bnh phng 21 3.3.1M phng c tnh vi b iu khin PI theo gn im cc. Hnh 3.2.1.c tnh v sai lch vi b PI theo gn im cc Nhn xt: Vi c 2 b iu khin, khi c gi tr t thay i t bin di dng bc nhy, cht lng ng hc ca h xu hn, sai lch iu chnh ln hn, thi gian qu di hn . 22 BI THC HNH S 4 TNG HP B C TC QUAY TRN KGTT T kt qu ca bi 1 ta thu c m hnh trng thi ca i tng lG_ss_rr1 ng vi chu k trch mu l 0.1s v G_ss_rr_2 ng vi chu k trch mu t=0.01s. 1.1 Tng hp b iu khin tc quay theo phng php gn im cc. Chn 2 im cc ca h thng l1 20.4, 0.6 p p = =ta c chng trnh matlab. p=[0.4 0.6]; [A,B,C,D]=ssdata(G_ss_rr1); [A1,B1,C1,D1]=ssdata(G_ss_rr2); k1=acker(A,B,p)% Bo dieu khien ung voi T=0.1s k2=acker(A1,B1,p)% Bo dieu khien ung voi T=0.1s Kt qu: k1 = 1.0e+004 * -1.2280 -3.9167 k2 = 8.842-86.3506 1.2 Tng hp b iu khin deadbeat Chng trnh: p=[0 0]; [A,B,C,D]=ssdata(G_ss_rr1); [A1,B1,C1,D1]=ssdata(G_ss_rr2); % Bo dieu khien ung voi T=0.1s k3=acker(A,B,p) % Bo dieu khien ung voi T=0.1s k4=acker(A1,B1,p) Kt qu: k3 = 6.2354 -263.7131 K4 =

33.9084-22.0572 23 2.1 Thit k gn im cc: -Vi 10.1 T s = : % T1=0.1s Gk1=ss(A-B*k1,B,C,D,0.01); step(Gk1) -Vi 20.01 T s = : % T2=0.01s Gk2=ss(A1-B1*k2,B1,C1,D1,0.01); step(Gk2) 24 2.2 Thit k Deadbeat: % T1=0.1s Gk3=ss(A-B*k3,B,C,D,0.01); step(Gk3) % T2=0.01s Gk4=ss(A1-B1*k4,B1,C1,D1,0.01); step(Gk4) 25 Nhn xt: + Tng hp b iu khin tc quay theo phng php phn hi trng thi sao cho p ng c dng PT1 th sau nhiu chu k trch mu u ra mi xc lp. + Tng hp b iu khin tc quay theo phng php p ng hu hn th sau 2 chu k trch mu u ra t gi tr xc lp do 2 im cc c gn u nm gc ta .

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