Thi Nghiem Dieu Khien Tu Dong

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®DAI HQC TON DaC THANGTON DUCTHANG UNIVERSITY

TRUONG DAI Hoe TON Due THANG. .KHOA DI~N - DI~N TU

BQ MON DIEU KHIEN TV DQNG

~ m J £ $ "

TAl LIEU HUONG nAN THi NGHIEM. .

DIEU KHIEN TITDONG• •

Tp.H6 Chi Minh, thang 4 - 2010



, , NQIQUY - - rrPHONG THI NGHIEM BIEN-BIEN Tu. .

BIEU I. TRUOC KHI BEN PHONG THi NGHI~M SINH VIEN PHAI:

1. N~m virng quy dinh an toan cua phong thi nghiem,

2. N~m virng ly thuyet va doc ky tai lieu huang d~n bai thuc nghiem,

3. Lam bai chuan bi truce m6i bu6i thi nghiem, Sinh vien khong lam bai chuan bi

thea dung yeu du se khong duoc vao lam thi nghiem va xem nhir v~ng bu6i thi

nghiem do, _

4. Den phong thi nghiem dung gio quy dinh va gift tr~t tv chung. Trf 15 phut khong

duoc vao thi nghiem va xem nhir v~ng bu6i thi nghiem do.

5. Mang thea the sinh vien va g~n bang ten tren ao.

6. T~t di~n thoai di dong tnnrc khi vao phong thi nghiem,

BIEU II. VAo PHONG THi NGHI.¢M SINH VIEN PHAI:

1. CAtc~p, tui xach vao noi quy dinh, khong mang d6 dung ca nhan vao phong thi

nghiem,

2. Khong mang thirc an, d6 u6ng vao phong thi nghiem,

3. Ng6i dung ch6 quy dinh cua nhom minh, khong di lai lQn xQn.

4. Khong hut thu6c la, khong khac nh6 va virt rae bira bai,

5. Khong thao luan Ian tieng trong nhom,

6. Khong tv y di chuyen cac thi~t bi thi nghiem

BIEU III. KHI TIEN HANH THi NGHI.¢M SINH VIEN PHAI:

1. Nghiem tuc ~an thea S l , T huang d~n cua can bQ:phl,ltrach,

2. Ky nhan thiet bi, dung cu va tai lieu kern thea de lam bai thi nghiem,

3. DQc ky nQi dung, yeu cAucua thi nghiem truce khi thao taco

4. Khi may co S\ I c6 phai bao ngay cho can bQphu trach, khong tu tien sua chira.5. Than trong, chu dao trong moi thao tac, co y tlnrc trach nhiem gift gin t6t thi~t bi,

6. Sinh vien lam hir hong may moe, dung cu thi nghiem thi phai b6i thirong cho Nha

tnrong va se bi tnr diem thi nghiem,

7. Sau khi hoan thanh bai thi nghiem phai t~t may, dt di~n va lau sach ban may, s~p

x~p thiet bi tnr v~ vi tri ban dAuva ban giao cho can bQphu trach,

BIEUIV.

1. M6i sinh vien phai lam bao cao thi nghiem bang chinh s6 lieu cua minh thu th~p

duoc va nQPcho can bQhuang d~n dung han dinh, chua nQPbao cao bai tnnrc thi

khong duoc lam bai k~ ti~p.

2. Sinh vien v~ng qua 01 bu6i thi nghiem hoac v~ng khong xin phep se bi dm thi.

3. Sinh vien chua hoan thanh mon thi nghiem thi phai hoc lai thea quy dinh cua

phong dao tao,

4. Sinh vien hoan thanh toan bQcac bai thi nghiem thea quy dinh se duoc thi dS nhdn

diSm k~t thuc mon hoc,

BIEUv.

1. Cac sinh vien co trach nhiem nghiem chinh chAphanh ban nQi quy nay.

BQmon Di~u khien tu dQng, Khoa Dien - Dien ill 1



2. Sinh vien nao vi pham, can bQ phu trach thi nghiem duoc quyen canh bao, tn rdiSm thi. Truong hQ'Pvi pham H ip lai hoac pham 16inghiem trong, sinh vien se bi

dinh chi lam thinghiem va se bi dua ra hQi dang ky luat nha tnrong,

Tp.HCM, Ngay 20 thdng 09 ndm 2009

KHOA BIeN-BIeN rtr(Ea I c Y )

PGS TS. PH~M HONG LIEN

BQmon BiSu khien tu dQng, Khoa Dien - Dien ill 2



BAI THi NGHI~M 1

UNG DUNG MATLAB PHAN rtcn cAcHE THONG DIEU. KHIEN TIT DONG .

. .1. MvcaicH:

Matlab la mot trong nhirng phdn mem thong dung nhAtdung d~ phan tich, thiSt kS va mo

phong cac h~ thong di~u khien tu dQng. Trong bai thi nghiem nay, sinh vien sir dung cac

l~nh cua Matlab d~ phan tich h~ th6ng nhir xet tinh 6n dinh cua h~ thong, d~c tinh qua dQ,

sai s6 xac l~p...

2. CHuAN BJ.

D~ tlnrc hien cac yeu cdu trong bai thi nghiem nay, sinh vien cdn phai chuan bi ky tnroc

cac l~nh co ban cua Matlab. Khi khoi dQng chuang trinh Matlab 7.0, cira s6 CommandWindow xuAthien voi dAunhac lenh "»". D~ thuc hien cac l~nh, sinh vien se go l~nh ill

ban phim theo sau dAu nh~c nay. Sinh vien cdn tham khao phdn phu luc & chuang 2

(trang 85) trong sach Ly thuyet di~u khien ur dQng (tac gia Nguyen Thi Phuong Ha >

Huynh Thai Hoang) d~ hi~u ro cac l~nh co ban v~ nhan chia da thirc, bieu di~n ham

truyen h~ th6ng va kSt n6i cac kh6i trong h~ thong, Ngoai ra, d~ phan tich d~c tinh cua h~

thong, sinh vien cdn phai hieu ky cac l~nh sau:

- cony: ham nhan hai da tlnrc,

- tf (TS, MS): xac dinh ham truyen mo ta d6i nrong illda thirc ills6 TS va da tlnrc

m~us6MS.

- parallel (Gl,G2): xac dinh ham truyen nrong duong cua hai kh6i m~c song song

nhau.- series (Gl,G2): xac dinh ham truyen nrong dirong cua hai kh6i mac n6i tiSp

nhau.

- feedback (G, H): xac dinh ham truyen yang kin cua h~ h6i tiep,

- bode (G): ve bieu d6 Bode bien dQva pha cua h~ thong co ham truyen G .

- nyquist(G): ve bieu d6 Nyquist h~ thong co ham truyen G .

- rlocus(G): ve QDNS h~ thong h6i tiSp am dan vi co ham truyen yang ho G .

- step(G): ve dap irng nAc cua h~ thong co ham truyen G .

- hold on: gift hinh ve hien tai trong cira s6 Figure. Lenh nay hiru ich khi ta cdn ve

nhieu bieu d6 trong cung mQt cira s6 Figure. Sau khi ve xong bieu d6 thir nhAt, ta

go l~nh hold on d~ ~ifr lai hinh v~ sau do ve tiSp cac bi~u,d6 khac, Cac bi~u d6 luc

sau se ve de len bieu do t lnr nhat trong cung mQt cira so Figure nay. Neu khongmuon gift hinh nira, ta go l~nh hold off.

- grid on: ke lucri tren cira s6 Figure. NSu khong muon ke lucri, ta go l~nh grid off.

- plot(X,Y): ve d6 thi vector Y theo vector X.

Vi du: Ve d6 thi y = x2 voi x = -10 -dO»X = -10:0.1:10; % tao vector X tu -10 -i- 10 voi khoang each 0.1»Y= X.*X; % tinh Y = x*x» plot(X,Y); % ve do thi y = x*x

- subplot(m,n,p): chia Figure thanh (mxn) cira s6 con va thao tac tren cira s6 con




thir p.

Vi dl}: Chia Figure thanh 2 cira s6 con, sau do ve Y len cira s6 thir I va Z len cira s6

tlnr Z»subplot(2,1,1), subplot(Y); % ve Y len eua so thu 1» subplot(2,1,2), subplot(Z); % ve Z len eua so thu 2

Chu j :sinh vien nen tham khao phan Help cua Matlab dS n~m ro clnrc nang va eliphap cua mQt <lenh> bang each go vao dong l~nh : help <lenh>

3. THiNGHl~M.

3.1. Tim ham truy~n tuong duong eiia h~ th6ng.

3.1.1. Ml}e dieh.

Giup sinh vien lam quen voi cac l~nh co ban dS k~t n6i cac kh6i trong mQt h~

thong,

3.1.2. Trinh tl}' thi nghi~m.

- BU'(Ye1. Cho h~ th6ng co sa d6 kh6i nlnr sau.

G__ S+l S 1

I G2 = G 3 =- HI =S+2

(S+3)(S+5) , S2+2S+8 ' S '

- BU'(Ye2. Nhap ham truyen cua cac kh6i b~ng each khai bao da tlnrc ill, da thirc

mdu eho tirng kh6i. Sau do dung l~nh tf.

- BU'(Ye3. Sau do, tuy thea cdu true cac kh6i m~e n6i ti~p, song song hay h6i ti~p

rna ta go cac lenh series, parallel hay feedback nrong irng dS thuc hien viec k~t

n6i cac kh6i voi nhau.

- BU'(Ye4. Vi~t bao cao, Trong bao cao, chi ro trinh tv viec thirc hien cac l~nh nay.

3.2. Khao sat tinh an djnh eiia h~ th6ng dung tieu ehu§n Bode.3.2.1. Ml}e dich.

Tir bieu d6 Bode cua h~ ho' G(s), ta tim duoc tAns6 dt bien, dQdu trfr pha, tAns6

e~t pha, dQdu tm bien cua h~ th6ng ho. Dira vao k~t qua tim duoc dS xet tinh 6n

dinh cua h~ thong h6i ti~p am dan vi voi ham truyen vong he la G(s).

3.2.2. Trinh tl}' thi nghi~m.

- BU'(Ye1. Cho h~ th6ng co sa d6 kh6i nhir sau.




G = Ks (S +0.2)(S2 +8S +0.2)

BU'(yc2. Voi K = 10, ve bieu d6 Bode bien dQ va pha ella h~ vong he tren bang

each dung lenh bode.BU'(yc3. Tren bieu d6 Bode vira ve, xac dinh t~n s6 dt bien, t~n s6 e~t pha, dQdu

trfr bien, dQ du trit pha. Khi cdn xac dinh di~m nao tren bieu d6 Bode ta chi viec

nhAp chuot vao vi tri do. Luc do, gia tri bien dQ hay goc pha se hi~n thi ra nhir

hinh ve:

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BU'(yc4. Liru lai bieu d6 d~ bao cao. Tren bao cao chi ro vi tri va gia tri cac thong

s6 vira tim duoc, f)~ chen chu thieh len hinh ve ta vao menu Insert! Text. f)~ hru

hinh ve ta vao menu File/ Export, chon hru diroi dang file * .bmp hay * .jpgBU'(yc5. Xac dinh lai t~n s6 e~t bien, t~n s6 e~t pha, dQdu trfr bien, dQdu trit pha

bang each dung l~nh margin. Nhan xet kSt qua tim duoc 6 ' biroc 3 va biroc 4.

BU'(yc6. H~ th6ng co 6n dinh khong? Giai thieh.

BU'(yc7. Tim ham truyen vong kin ella h~ thong tren, Ve dap irng qua dQ ella h~

th6ng vong kin tren voi d~u vao ham nAedon vi trong khoang thai gian t = 0 -7-1Os.

Liru hinh ve dap irng nay d~ viSt bao cao, Nhan xet,

BU'(yc8. Voi K = 400, thuc hien lai cac biroc ill1 - 6. Nhan xet,

3.3. Khao sat hf th6ng dung phmrng phap quy dv.o nghifm s6.

3.3.1. Ml}c dich.

Khao sat d~e tinh ella h~ thong tuyen tinh co h~ s6 khuech dai K thay d6i, tim gia

tri gioi han Kgh ella K d~ h~ th6ng 6n dinh, Dua vao quy dao nghiem s6, danh gia

chAt IUQ'ngella h~ th6ng.

BQmon f)i~u khien tu dQng, Khoa Dien - Dien ill 5



3.3.2 . Trinh tl}' th i nghi~m.

- BU '(Ye 1. Cho h~ th6ng co sa d6 kh6i nhir sau.

G= K(S + 3) (S2 +8S+20)

- BU '(Ye2. Ve quy dao nghiem s6 cua h~ th6ng dung l~nh rlocus,

- BU '(Ye3. Dua vao QDNS, tim Kgh cua h~ thong, chi ra gia tri nay tren QDNS.

- BU '(Ye4. Liru lai hinh ve dS bao cao. Tren bao cao chi ra vi tri va gia tri Kgh.

- BU '(Ye5. Tim K dS h~ thong co t~n s6 dao dQng tv nhien Wn=4.

- BU '(Ye6. Tim K dS h~ thong co h~ s6 t~t ~ = 0.7

- BU '(Ye7. Tim K dS h~ thong co dQVQt16POT = 25%

- BU '(Ye8. Tim K dS h~ thong co thai gian xac l~p (tieu chuan 2%) txt= 4s

3.4. Danh g ia e h§ t IU 'Q 'Ilg cua h ~ th 6n g.3.4 .1 . M ye dieh .

Khao sat d~c tinh qua dQcua h~ th6ng voi d~u vao ham nAcdS tim dQVQt16va sai

s6 xac l~p cua h~ th6ng.

3.4 .2 . Trinh tl}' th i nghi~m.

Voi h~ th6ng nrong tv nhir a phan 3.3.

- BU 'O 'e 1. Voi gia tri K = Kgh tim duoc a tren, ve dap irng qua dQ cua h~ th6ng

vong kin voi d~u vao ham nAcdan vi. KiSm clnrng lai dap irng ngf ra co dao dQng

khong?

- BU 'O 'e 2. Voi gia tri K tim duoc a buoc 7 ph~n 3.3, ve dap irng qua dQ cua h~

th6ng vong kin voi d~u vao ham nAcdan vi trong khoang thai gian t = 0 -;-5s.Tir

hinh ve, tim dQVQt16va sai s6 xac l~p cua h~ thong, Kiem clnrng lai h~ th6ng co

POT = 25% khong? Liru hinh ve nay dS viSt bao cao,

- BU 'O 'e 3. Voi gia tri K tim duoc a biroc 8 ph~n 3.3, ve dap irng qua dQ cua h~

th6ng vong kin voi d~u vao ham nAcdan vi trong khoang thai gian t = 0 -;-5s.T ir

hinh ve, tim dQVQt16va sai s6 xac l~p cua h~ thong, Kiem clnrng lai h~ th6ng co

txl = 4s khong? Liru hinh ve nay dS viSt bao cao.

- BU 'O 'e4. Ve 2 dap irng qua dQ a buoc 5 va buoc 6 a phan 3.3 tren cung 1 hinh ve,

Chu thich tren hinh ve dap irng nao la nrong irng voi K do. Liru hinh ve nay dS

viSt bao cao,

BQmon DiSu khien tu dQng, Khoa Dien - Dien ill 6



BAI THi NGHI:t:M2

UNG DUNG MATLAB THIET KE BO DIEU KHIEN CHO cAc. HE THONG TUDONG. ..

1. MvcaicH:

Matlab la mQt trong nhirng phdn mem thong dung nhAt dung dS phan tich, thi~t k~ va

mo phong cac h~ thong diSu khien tu dQng. Trong bai thi nghiem nay, sinh vien sir

dung cac l~nh cua Matlab dS phan tich h~ thong nhir xet tinh 6n dinh cua h~ thong, d~c

tinh qua dQ, sai s6 xac l~p...

2. CHuAN BJ.

- DS tlnrc hien cac yeu du trong bai thi nghiem nay, sinh vien dn phai chuan bi ky va

hiSu ro trinh tv cac thao tac ti~n hanh thi~t k~ mot bQ diSu khien trong Sisotool.

- Sinh vien dn tham khao phdn phu luc a chuang 6 (trang 225) trong sach Ly thuyet

diSu khien tv dQng dS lam quen va hieu ro trinh tv cac biroc thi~t k~mQt bQdiSu khien

trong Sisotool. Chu y , sinh vi en phai doc ky phdn nay dS nam ro trinh tv thi~t k~ vi

trong bai thi nghiem nay khong nhac lai cac trinh tv do. N~u sinh vien khong hieu ky

thi se khong thuc hien dircc cac yeu du trong bai thi nghiem nay.

- DS kich hoat cong cu sisotool, ill cira s6 Command Window go l~nh sisotool. Ti~n

hanh thao tac illBiroc 1 d~n Biroc 3 nhir trong phu luc a chuang 6 (trang 225), cira s6

SISO Design Tool xuAt hien nhir sau:

D,,··»t" -.:ft'.. ·tIiIl3J3Vung h i@n thi so d3 cau true cua M

r.r!ITt ~-~~_T:...~~

.>thong dang thi@ t k §_ C o th@ thay dal

~ II i:I i' - = - ~ L 1 nn ~ ~ ~

,&.,0' du true bang each k ich chuo t vao~.'_'~.~m,,~ . . . I~ nu t [+1- ] va [FS] 0 goc trai ben

I o ; d ~ ~ " " " ' ' ' ' . .. .. , ~ . .. .. " " ' ~ I< .dual. Trong ba i th i nghiern nay ta sU -

I.

., .

~~dung c A U ; true nhu h_i@nh~.

"~ "~.'" G : d oi tuong dieu khien (p lant)....1:I[..m'H

H : cam bien h3i ti§p (senso r)l E . . . i l P i ? i t 1. __

~<~~

F : b<;i lo c ( p re fi lt er ) = 1

C : b<;ihieu chinh e1n thie t k§

~~

. ."' \''''~'''''" -' _ , - . 1 • 1,1 . w· J .. ;;

'1-, .. _ .~,,,. . .~.~ ..

I.......,..."¥l..(!(ll[r.-::' .....f..IIt .rtr~Q;:III.,..._~ :, I ' _ Bi§u db B ode bien d$ va p ha cua he

\thong vong ho sau khi hieu chinh

H am truyen ella

b< ;ihieu chinh C (s) C u-a sa hi@ n thi

k§t qua trong quaQuy dao nghiem s6 ella he thcng

v orig k in sau khi hieu chinhtrinh thao tac




3. THi NGHI:t:M:

- Nguyen t~c thiet k~ h~ th6ng dung phirong phap QDNS l e i dua vao phuong trinh d~c

tinh cua h~ th6ng sau khi hieu chinh:

. 1 + GC (s)G(s)=

a

{I Gc(S)G(S) I= 1 (*)

GC (s)G(s) =-1800

- Ta cAn tinh toan cac thong s6 cua bQhieu chinh Gc(s) sao cho dap irng ngf ra cua h~

th6ng dat duoc cac chdt hrong vS dap img qua dQva sai s6 xac l~p nhung phai thea

man diSu kien bien dQva diSu kien pha a (*). Chu y , trong cong cu sisotoo1 thi ham

truyen bQ hieu chinh C(s) chinh la GC(s) a (*).

3.1 Thi~t k~ bi}hifu chinh sam pha:

3.1.1 Myc dich:

- Trong phAn nay sinh vien se thi~t k~ bQhieu chinh s6m pha d~ h~ thong dat dtroc cac

tieu chuan vS dap irng qua dQnhir dQVQt16va thai gian xac l~p. Ham truyen s6m pha

C(S)= x, 1+aTSl+TS

(a>l)

- Til cac yeu cAuvS dap irng qua dQta tim duoc vi tri cua c~p eire quyet dinh tren QDNS.

Sau do, ta tinh cac thong s6 cua bQhieu chinh C(s) d~ sao cho QDNS cua h~ th6ng sau

khi hieu chinh di qua c~p cue quyet dinh nay.

3.3.2 Thi nghifm:

Cho h~ thong nhir hinh ve :

G(S) _ 20

S(5 + 1)(5 + 2)

- BU'O'c1 DUng cong cu sisotoo1 nh~p vao ham truyen h~ thong, Dira vao QDNS cua h~

th6ng khao sat h~ th6ng co 6n dinh khong, Giai thich. Ve dap irng qua dQcua h~ th6ng

voi dAuvao ham ndc d~ minh hoa h~ thong co 6n dinh hay khong. Liru hinh ve nay d~

so sanh voi dap irng cua h~ th6ng sau khi hieu chinh,

- BU'ac 2 Thi~t k~ bQhieu chinh s6m pha d~ h~ th6ng co dQVQt16POT nho han 20% va

thoi gian xac l~p nho han 8s. Trinh bay ra qua trinh thi~t k~ nay.




- BU 'tl'c3 Ve dap irng qua dQ cua h~ thong sau khi hieu chinh dS clnrng minh h~ thong

dat duoc cac yeu du a biroc 3. LUll hinh ve nay dS viSt bao cao,

3 .3 .3 HU 'O ng d in :

- Nhap ham truyen va khoi dQng sisotool dS import G va H vao sisotool nhir huang ddn

(ill Btroc 1 dSn Biroc 3) a phan phu luc chuang 6 (trang 225) trong sach Ly thuyet

di~u khien ttr dQng voi chu y : G = tf(20,conv([1 1 0],[1 2]) va H = tf(I,I).

- Ora s6 Sisotool hien ra nhir sau:

•---------------:;-r----- - - -- ir.

.J S~5f]D e 5 i ! ! , n T O C l I ~@~

·2., 60 - - - - - - - - - \- - - - - - - ~

~

I IT'lc Edit 'Wew (~Il~~.;or~ Afi~:i!~ fM \Il!'iiid~1 Hc~

t;]x (I - 4 t ~It.l~~! XI~

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tride~hl e n : : . a L _ . Jxem g la tri hien .

thi ben duoi

1

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D r _ . . !s l : : I o s . e : o : ! · k o o o 1 F ): j le I II O i" o J l~ ~ L 1 S ki I I ~ t ! i r e ~ 1 o o i l 1 ~ 1 r 1 .

CW~leri I~rt V";1 i :I . . ~.2~ IOOIl"I,.'lin!;.I;.QJ~: I\MI.Ifli1 I lli'reC !~; 2 .2 8 ~wl~c

- Quan sat QDNS ta thdy phuong trinh d~c tinh vong kin co 3 nghiem (ddu. mau do):

SI = -3.84, S2=0.419 + j2.24, S3= 0.419 - j2.24

- Nhan thdy h~ th6ng co 2 nghiem S2va S3n~m ben phai m~t phang phirc nen h~ thong

khong 6n dinh, Ta cling co thS quan sat tren Bieu d6 Bode va nhan thdy GM =-10.5dB

< 0 va PM = -28.10 < 0 nen kSt lu~n h~ thong khong 6n dinh, Tuy nhien, a phan thi

nghiem nay ta dung phirong phap QDNS nen se khong dira vao BiSu d6 Bode dS danh

gia rna chi dua vao QDNS. DS xem dap irng qua dQcua h~ th6ng voi dAuvao ham ndc,




vao menu [Analysisj-oj Other Loop Responses]. Cira s6 Response Plot Setup hien ra.

TiSn hanh cai d~t cac tin hieu dn ve dap irng. a day ta chon nlnr hinh ben diroi:

~'". l ! I I ' I i I L E iP Jt . : . · " . . . ,

du dy

c~ .Loop Transfer: L = C GH

Sensitivity: S = 11 ( 1 +L)

Plots Contents of Plot 1 ~

" Closed-Loop: oPt-oop2. none

I. none ~ r to v (FCGS) D Loop Transfer L

4. none5. none D r to u (FCS) D Compensator C

6. none D du t o y (GS) D FitterF

1 1 v ] D cv to y (S) D PlontG

C h o ng e t o: I step : : J D n to y (eGS) D Sensor H

~ ~ ~

r to y: ve dap irng cua ngo ra yet) theo tin hieu dAuvao ret). Day chinh la dap irng

qua dQ cAnve.

r to u: ve dap irng cua tin hieu diSu khien u(t)

- Sau khi chon xong nhan nut [OK] thi ta co dtroc dap irng qua dQ:

R Io UI _ ....~

o a ~.p.

-.--~~----~- -,cc- ~· - - - - - . - - 1 - · - - - - - - . , . . - ~ ,• • I •

• . , -., r- -~ ~: •• r~n~- ... -c~r~~r- r~ -. r~--~~• ,- -~~ -~r~ r" -" .-"" -r r.- -. '"-

i'!I ,I'k,,_ I

~ [II I ~

- a " ' - - ~ · I I . · ~ · = · ~.~·~f[:ich.chljS1::,Pf{ai.,"._., . . _ ~ . . , . _ · · · · · · " C hQ fl " E 3 - N d i 1 ,@ , k - e . . · . " . .

_ " " r ! . = f L I = _ : : _ . --1'"'" "-l.ir&i""'''''' ·f· ..~"

- Vi cira s6 LTI Viewer nay khong h6 tro viec hru hinh ve nen phai chuyen sang cira s6

Figure b~ng each vao menu [File ] -[Print to Figure]. Cira s6 Figure hien ra va sau do

tiSn hanh hru hinh ve nhir a Bai thi nghiem,

- Bay gio tiSn hanh thiSt kS bQ hieu chinh d~ h~ thong co POT < 20% va txl < 8s. Ta

BQmon DiSu khien tu dQng, Khoa Dien _ Dien ill 10



quay tro lai voi cira s6 Sisotool. Vi trong phan nay ta khong sir dung Bi~u d6 Bode va

d~ mo rQng vung QDNS nen ta xoa vung Bi~u d6 Bode di bang each vao menu [View]

bo d§,uchon muc [Open-Loop Bode].

- Kieh chuot phai vao vung QDNS, menu ki~u pop-up xu§,thien:

R J e i t l l ~!e

~f! i 'I~!; !X~1!;:

Ir1rel7 05 ow

~iil~rr;.

CC H ' I i ' I p : l e x z e r o

1 6 h ; :Ef c P l : J I e n : 6 m

I E D it C . o m g l e r ii S ata~..

I De ;t l1 CO l 15t ran ts

' G r i d

~OO'I

Lead: bQ hieu ehinh sam pha

Lag: bQ hieu ehinh trS pha

Notch: bQ hieu chinh sam trS pha.

Delete Pole/Zero: xoa cac eire va zero ella bQ hieu ehinh

Edit Compensator ... : thay d6ieae thong s6 ella bQ hieu chinh,

Design Constraints: gioi hanvung thoa man cac tieu ehuAneh§,throng

- Chon [Add Pole/Zero ]~[Lead] d~ them khau hieu ehinh sam pha vao h~ thong. Nh§,p

chuot vao mQt vi tri b§,tky tren true thirc ella QDNS d~ xac dinh vi tri ella cue va zero

ella bQhieu ehinh, sisotool se gan tu dQng vi tri ella zero n~m gAng6e tea dQhan eire,

- Kieh chuot phai vao vung QDNS, ta chon [Design Constraintsj-sfNew] d~ cai d~t dQ

VQt16va thai gian xac l~p nhir sau:

~PBI""'\'tI'I,.

Wli1:lf'.,.", ~ ~I·---""'II_,

~ II ~ II tI3fl

; I f . ~!fj'fi: ~,---~_11_""_·__ --"-"

-.;q~~""",,,"'8

, ~o...l"" ,~ " "' 1 # - ' - -- -, :

Cf( II ~I II ~ I

- Sau khi ti~n hanh cai d~t xong, QDNS hie nay se thay d6i nhir sau:

11BQmon DiSu khien tu dQng, Khoa Dien - Dien ill



,-~_,c..' ; t_ o i : m_ . . ._mo :_ " " _O_~O_U< l_ ) _ . - - - - - ' I I : . ~ , & .G~1 ( ( 0 1 . i ,(HO~;).-J . ~ 'L8-1~ Thanh ch~n gioi

i han POT < 20%

r--_.__ _,.

Thanh chan g i61

han txl < 8s'< '

j Q

g o

'2

_ .

.e

.e.10

_ ,.6

NMnh QflNS

(nhanh A) khcng

nam trong vung

t h o a man yeu d.u

th ie t k @

ev e cu a b~ hieu

chlnh C(s).

Zero cua b~

hieu chlnh C(s)

- Bay gio ta se di chuyen cac C\IC va zero cua hQhieu chinh C(s) tren true thuc sao cho

nhanh QDNS (A) keo vao vung thea man thiSt kS. Co 2 phuong phap tim C\IC va zero

cua hQ hieu chinh la phuong phap dirong phan giac va phuong phap klnr Cl ,TC (sinh

vien xem lai sach ly thuyet d~ hieu 2 phuong phap nay). o day ta chon phuong phap

klnr C\IC vi dS thao tac va tnrc quan tren cira s6 QDNS.

- Nhan thAyQDNS h~ thong tnnrc khi hieu chinh co 3 C\IC p l =0, p2 = -1, p3 = -2 (tren

hinh ve th~ hien h~ng dAux mau xanh). Do do, di chuyen zero cua C(s) trung voi C\IC

g~n true ao nhAt (khac 0) la Cl ,TC p2 =-1. Di chuyen Cl ,TC cua C(s) huang ra xa true ao d~

nhanh QDNS (A) tiSn vS vung thea man yeu c~u thiSt kS. Di chuyen dSn vi tri s = -5 la

thea man (chu y gia tri nay cang tiSn ra xa cang t6t nen trong thiSt kS gia tri nay duoc

hra chon thea y muon cua nguoi thiSt kS).

~~'Ir! " '" " " " ' •

• L ," , " " a ; - W . ~ ~ . . - III!~

Dung chuot di

chuy@n nghiern

s2 na y v ao v ungt h o a man thi@t

k @




- Cu6i cung, dung chuot di chuyen vi tri nghiem S2vao vung thoa man thiSt kS. Chu Y

vi y nrong thiSt kS cua m6i ngiroi khac nhau nen viec di chuyen nay cling khong giong

nhau, miSn sao vi tri nay n~m trong vung thoa man thiSt kS. Tuy nhien ta khong nen di

chuyen gAntrue ao qua vi se lam thai gian xac l~p tang len. Qua trinh thiSt kS da hoan

,tat.

Ham truyen bo hieu chinh C(s)

-2 11

V~y ham truyen cua bQ hieu chinh la:

I+SC(S)=0.107--

1+0.2S

- DS hru hinh tren phuc VI,l viSt bao cao ta vao menu [Filej-ojl'rint to Figure]. Sau do

tiSn hanh hru hinh trong cira s6 Figure nhir (y 1. Dap irng qua dQcua h~ th6ng kin vci

dAuvao ham nAc sau khi hieu chinh thea man POT <20%va txl < 8s

II

I LTIY~"""r0RK.1-1 irrt03WoJdW3 I




3.2 Thi~tk~bQhi~uchinh tr~pha:

3.2.1 Myc dich:

- Trong phdn nay sinh vien se thiSt kS bQh ieu chinh trS pha dS h~ thong dat duoc cac

C(S)=Kc 1+BTSl+TS

(/3<1)

tieu chuan v~ chAthrong xac l~p nhir dQsai s6 xac l~p va h~ s6 v~n t6c Kv. Ham truyen

trS pha co dang:

- Ta tinh cac thong s6 cua bQhieu chinh C(s) sao cho dap irng cua h~ thong thea rna yeu

du v~ sai s6 xac l~p rna khong lam anh huang nhieu dSn dap irng qua dQ.

3.2.2 Thi nghi~m:

Cho h~ thong nlnr hinh ve :

R~(S) G(S) _ 10

S(S + 3)(S+4)

- BU 'tl'c 1ThiSt kS bQ hieu chinh trS pha dS h~ thong co sai s6 xa c l~p voi ddu vao ham

d6c b~ng 0.1. Trinh bay ra qua trinh thiSt kS kern hinh ve.

- BU 'tl'C2 Ve dap irng qua dQ cu a h~ thong sau khi hieu chinh dS clnrng minh h~ thong

dat duoc cac yeu du a biroc 1. LUll hinh ve dap irng nay dS viSt bao cao,

HU'Ong din:

- Sau khi nhap ham truyen vao sisotool, quan sat QDNS ta thAy phuong trinh d~c tinh

K~ = limSC(S)G(S) = _1 = 10x - - - + O e

x l

vong kin co 3 nghiem (dAu. mau do):

- TiSp thea ta tim Cl,TC va zero cua C(s). DS bQ hieu chinh trS pha khong anh huang

nhieu dSn d~c tinh qua dQ cua h~ thong ta phai chon Cl,TC va zero cua C(s) rAtnho so

voi phdn tlnrc cua c~p nghiem quyet dinh cua h~ th6ng.

- Do do, ta chon zero cua C(s):

1 1ZC(S) = - I R e { S 2 ~ = -.1 = 0.1

10 10

- Va eire cua C(s):




- Cu6i cung ta co ham truyen cua bQhieu chinh trS pha:

C(S) =12 1+10S

1+ 120S

- Tir cira s6 sisotool, chon bQ hieu chinh trS pha bang each kich chuot phai va chon

menu [Add Pole/Zeroj-ojl.ag]. NhAp chuot vao mQt vi tri bAt ky tren true thirc cua

QDNS d~ xac dinh vi tri cua C\IC va zero cua bQhieu chinh, sisotool se gan tv dQng vi

tri cua C\IC n~m gAng6c toa dQhan zero.

I Cu r en t C om re n sa l or

G ,- - - C (_ , J = _ I _ l _ _ I _ x - _ f > : _ - ~ - _ ~ ~ ; - - - - " I I ~ ~ I

-8 Zcon

_E ; Prop~rlil!:5",

Il.xls

4 -

~ D if Fe re nt ia to r

{ o _ ~ ~' vs-

E R ea P de

_2 D ele te PI Jl e/ :1ef o (omDe~ Pale

-4 Edit Compcmdor" , [n!::eo;If . a l : : c t "

DE!Slgl c o r s u a m e s ~ Red Zer o

-6 G rid romne« zero

I!: :no5=-0,582

- Vi bQhieu chinh nay chi do sisotool gan tv dQng nen ta se phai chinh lai cho dung voi

bQ hieu chinh trS pha vira tim dtroc a tren bang each kich chuot phai va chon menu

[Edit Compensator ... ]. Cira s6 Edit Compensator C hien ra, tiSn hanh thay d6i C\IC va

zero cua C(S) nhir hinh ve ben duoi

KC

u

BQmon DiSu khien tv dQng, Khoa Dien _ Dien ill 15

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Thi Nghiem Dieu Khien Tu Dong