TRNG I HC BCH KHOA H NI----------
Bo co th nghim h thng iu khin s
H v tn :Nguyn Vn Tam MSSV: 20122369 Lp: K&TH4-K57 Kp: Kp 1
sng th 4,tun 5,9,13 Sliu : Final value :2369
H NI 2014
BI THC HNH S 3Tng hp vng iu chnh tc quay
B.Theo tiu chun tch phn bnh phng:B iu chnh PI s c dng:
chni tng iu khin: =B(z)/A(z)
Sai lch iu chnh :E(z)=W(z)/(1+Gr*Gn)
=>>E(z)*(P(z)*A(z)+R(z)*B(z))=P(z)*A(z)*W(z) =>>E(z)*[
z3+ (-1+a1+b1.r0).z2+ (a2-a1+b1.r1+b2.r0).z +(b2.r1 -a2)]=
W(z)*[z3+(a1-1) z2+ (a2-a1)*z-a2]a v dang sai phn: ek= -ek-1*k1 -
ek-2*k2 - ek-3*k3 + wk+ wk-1*k4 + wk-2*k5 -
wk-3*a2vik1=(a1-1+b1.r0); k2= (a2-a1+b1.r1+b2.r0); k3=(b2.r1 -a2);
k4=(a1-1); k5= (a2-a1);
Tiu chun tch phn bnh phng:
M phng kho st:S dng Optimization toolbox ca Matlab:Ta c m hnh hm
truyn c tnh theo phng php gin on ha t phn trc:
To file fuction2.m lu folder lin kt vi Matlab c ni dung nh
sau:function Ik = bai3(r)b0= 0; b1= 0.0004318; b2= 0.0003656;a0= 1;
a1= -1.607; a2= 0.6065;k1=(a1-1+b1*r(1)); k2=
(a2-a1+b1*r(2)+b2*r(1)); k3=(b2*r(2)-a2); k4=(a1-1); k5=
(a2-a1);e0=1;e(1)=1-b1*r(1);e(2)=-e(1)*k1-k2+1+k4+k5;e(3)=-e(2)*k1-e(1)*k2-k3;k=4:23;w(k)=1;
w(k-1)=1; w(k-2)=1; w(k-3)=1;Ik =0;for k = 4:1:23 e(k)= -e(k-1)*k1
- e(k-2)*k2 - e(k-3)*k3 + w(k)+ w(k-1)*k4 + w(k-2)*k5 - w(k)-3*a2;
Ik = Ik + e(k)^2;endCa s lnh Matlab thc hin cc lnh tm ti u nh
sau:>>options=optimset('fminunc');>>options=optimset(options,'Display','iter','LargeScale','off');>>
r0=[0 -120];>> [r1,fval]=fminunc('function2',r0,options);
Iteration Func-count f(x) Step-size optimality 0 3 1.27015e+06
7.99e+04 1 9 478961 0.000125138 3.31e+04 2 12 223318 1 1.66e+04 3
15 95098.1 1 7.74e+03 4 18 41525.4 1 3.7e+03 5 21 17748 1 1.74e+03
6 24 7547.87 1 823 7 27 3167.05 1 386 8 30 1312.22 1 181 9 33
535.293 1 84 10 36 214.898 1 38.8 11 39 85.2389 1 17.8 12 42
34.1072 1 8.04 13 45 14.6866 1 3.57 14 48 7.74028 1 1.54 15 51
5.50318 1 0.626 16 54 4.91131 1 0.23 17 57 4.8043 1 0.0737
Ktquthuc:>> r1 r1 = 69.7770 -69.0900 >>fval fval =
4.8043T kt qu trn ta c r0=69.777;r1=-69.09 v gii hn ca tin n
4.8043.Tm hm truyn h kn:>> Gr=filt([69.7768 -69.0897],[1
-1],0.1e-3)Gr = 69.78 - 69.09 z^-1 ------------------ 1 -
z^-1>> Gz=filt([0 0.0004318 0.0003656],[1 -1.607
0.6065],0.1e-3) Gz = 0.0004318 z^-1 + 0.0003656 z^-2
------------------------------- 1 - 1.607 z^-1 + 0.6065 z^-2Hm
truyn h kn l:>> Gk=feedback(Gr*Gz,1) Gk = 0.03013 z^2 -
0.004323 z - 0.02526 ---------------------------------- z^3 - 2.577
z^2 + 2.209 z - 0.6318Kim tra tnh n nh:>> pole(Gk)ans =
0.9893 0.7938 + 0.0921i 0.7938 - 0.0921i>> step(Gk4)
Nhn xt:H n nh v bm st gi tr t =1.M phng bng simulink:
Kt qu m phng:
Nhn xt: qu iu chnh nh.- Thi gian xc lp ngn
th v cc tiu bnh phng sai lch:S simulink:
Kt qu m phng:
Khi c tc ng ca nhiu u vo:S Simmulink:
Kt qu m phng vi final value=69.
Mc d c tc ng ca nhiu u vo nhng b iu khin vn a h thng v gi tr cn
bng mi.
Khi c tc ng ca nhiu u ra:
Kt qu m phng vi final value =369
Nhn xt:b iu khin vn a h thng v gi tr cn bng
BI THC HNH S 4Tng hp b iu chinh tc quay trn khng gian trang
thai1.Tng hp b iu khin theo phng php phn hi trng thi
- Ta c s cu trc ca ng c mt chiu kch thch c lp.
Khai bo tham s ca ng c:>>
t3=0.1;t4=0.01;km=38.2;ke=236.8;J=0.012;phi=0.04+ Hm truyn ca vng
h:>> gh=(1/Ra)*tf(1,[Ta 1])*km*phi*tf(1,[2*pi*J 0])Transfer
function: 6.112-----------------------0.001206 s^2 + 0.0754 s
gdc=gh/(1+gh*ke*phi)
gdc = 0.007373 s^2 + 0.4608 s
----------------------------------------------------- 1.455e-06 s^4
+ 0.0001819 s^3 + 0.07553 s^2 + 4.365 sHm truyn t h kn:>>
gdc1=feedback(gh,ke*phi)gdc1 = 6.112
------------------------------- 0.001206 s^2 + 0.0754 s + 57.89Ta
tm cc ma trn A, B, C, D bng lnh sau:>>
[A,B,C,D]=tf2ss(6.112,[0.001206 0.07536 57.89]);A = 1.0e+004 *
-0.0062 -4.8002 0.0001 0 B = 1 0 C = 1.0e+003 * 0 5.0680 D = 0Chuyn
m hnh sang m hnh gin on vi t3=0.1 v t4=0.01 ta c: >>
[Ak1,Bk1]=c2d(A,B,t3) Ak1 = -0.0438 -2.9297 0.0001 -0.0400 Bk1 =
1.0e-004 * 0.6103 0.2167>>p1=[0.7 0.62]p1 = 0.7000 0.6200
>> K1=acker( Ak1,Bk1,p1) K1 = 1.0e+04 * -0.7750 -4.2962
>> G1=ss(Ak1-Bk1*K1,Bk1,C,D,0.1) G1 = a = x1 x2 x1 0.4292
-0.3076 x2 0.168 0.8908 b = u1 x1 6.103e-05 x2 2.167e-05 c = x1 x2
y1 0 5068 d = u1 y1 0 Sampling time: 0.1Discrete-time
model.>>step(G1) th m phng:
Nhn xt : vi t3=0.1 khi ta chn p2=[0.7 0.62] th kt qu cho ra ging
vi khu PT1,h bm st gi tr 1,h n nh v sai lch tnh nh,nh vy im cc ta
chn l hp l.
Vi t4=0.01s chn p2=[ p21 p22]= [0.5 0.5]>>
[Ak2,Bk2]=c2d(A,B,t4) Ak2 = -0.4989 -133.8752 0.0028 -0.3246 Bk2 =
0.0028 0.0000Chn p2=[0.5 0.5]>> p2=[0.5 0.5]p2 = 0.5000
0.5000>> K2=acker( Ak2,Bk2,p2)K2 = 1.0e+04 * -0.0229 -4.2914
>> G2=ss(Ak2-Bk2*K2,Bk2,C,D,0.01) G2 = a = x1 x2 x1 0.1404
-14.19 x2 0.009114 0.8596 b = u1 x1 0.002789 x2 2.76e-05 c = x1 x2
y1 0 5068 d = u1 y1 0Sampling time: 0.01Discrete-time
model.>>step(G2) Kt qu m phng:
Nhn xt: vi t4=0.01s khi ta chn p2=[0.5 0.5] th kt qu cho ra ging
vi khu PT1 nh vy im cc ta chn l hp l2.Phng php p ng hu hn(
dead-beat) Chn im cc ti gc ta vi c 2 chu k ly mu Vi t3=0.1s
>> p11=[0 0]p1 =0 0 >> K1=acker( Ak1,Bk1,p1) K11 =
1.0e+03 * -0.0276 -3.7924 >> G1=ss(Ak1-Bk1*K11,Bk1,C,D,0.1)
G1 = a = x1 x2 x1 -0.04215 -2.698 x2 0.0006584 0.04215 b = u1 x1
6.103e-05 x2 2.167e-05 c = x1 x2 y1 0 5068 d = u1 y1 0 Sampling
time: 0.1Discrete-time model.>>step(G1)Kt qu m phng:
Vi t4=0.01s >> p2=[0 0]p2 =0 0 >>
K22=acker(Ak2,Bk22,p2)K22 = 1.0e+04 * -0.0022 -2.7652 >>
G2=ss(Ak2-Bk2*K22,Bk2,C,D,0.01) G2 = a = x1 x2 x1 -0.4384 -56.75 x2
0.003387 0.4384 b = u1 x1 0.002789 x2 2.76e-05 c = x1 x2 y1 0 5068
d = u1 y1 0Sampling time: 0.01Discrete-time
model.>>step(G2)Kt qu m phng:
Nhn xt :trong trng hp ny vi c 2 t3= 0.1s v t4= 0.01s th khi ta
chn im cc gc ta th sai lch tnh l kh ln so vi yu cu.
11
