Bai Tap Lon CSTD Hk1 2011

BI TP LN CST HK1 2011-2012
ti 1: Xt h thng iu khin nhit cho mt qu trnh ha hc nh sau:

Nhit t B iu khin PID B chp hnh Qu trnh nhit ha Nhit thc
R(s)
+_
GC(s)
1 s 0.4 0.5 s 0.5

Cm bin nhit
s2
0.7 1.7 s 0.25
Y(s)
Yu cu: Thit k b iu khin PID theo phng php Ziegler-Nichols. V p ng ng ra khi nhit t 1000C trong 2 trng hp c v khng c b iu khin PID. Nhn xt v POT, tq(5%), exl trong 2 trng hp ny. Nhn xt v nh hng ca vic thay i cc tham s b iu khin PID ln cht lng h thng. (Gi : c nh 2 tham s, cho 1 tham s thay i, ghi nhn s thay i cht lng ca ng ra)
NGUYN C HONG 2011

Nhit t B iu khin B chp hnh Qu trnh nhit ha Nhit thc
R(s)
+_
GC(s)
1 s 0.4 0.5 s 0.5

Cm bin nhit
s2
0.7 1.7 s 0.25
Y(s)
Yu cu: Thit k b iu khin GC(s) p ng ng ra tha: POT<5%, tq(5%) < 20s, exl = 0 i vi ng vo hm nc. V p ng ng ra khi nhit t 1000C trong 2 trng hp c v khng c b iu khin GC(s). Nhn xt v POT, tq(5%), exl trong 2 trng hp ny.
NGUYN C HONG 2011

Nhit t B iu khin B chp hnh Qu trnh nhit ha Nhit thc
R(s)
+_
GC(s)
1 s 0.4 0.5 s 0.5

Cm bin nhit
s2
0.7 1.7 s 0.25
Y(s)
Yu cu: Thit k b iu khin GC(s) h thng sau hiu chnh c M* > 400, GM* > 20dB, exl = 1% i vi hm nc n v. V p ng ng ra khi nhit t 1000C trong 2 trng hp c v khng c b iu khin GC(s). Nhn xt v POT, tq(5%), exl trong 2 trng hp ny.
NGUYN C HONG 2011
ti 4: Xt h thng iu khin vt trong t trng nh sau:

B iu khin i tng V tr thc
V tr t
R(s)
+_
GC(s)
(s2
10 4551)( s 286)
Y(s)
Yu cu: Thit k b iu khin GC(s) h thng sau hiu chnh tha : POT < 1%, t q(2%) < 0.5s v cc tiu sai s xc lp. V p ng ng ra khi v tr t hm nc n v, hm xung vung c chu k 5s bin dao ng gia 1 v 2.
NGUYN C HONG 2011

B iu khin PID i tng V tr thc
V tr t
R(s)
+_
GC(s)
(s2
10 4551)( s 286)
Y(s)
Yu cu: Thit k b iu khin PID theo phng php Ziegler-Nichols. V p ng ng ra khi v tr t hm nc n v, hm xung vung c chu k 5s bin dao ng gia 1 v 2.
NGUYN C HONG 2011
ti 6: Xt h thng iu khin gc tn cng ca my bay nh sau:

B iu khin PID
V tr t
My bay
V tr thc
R(s)
+_
GC(s)
0.72
( s 23)( s 0.05s 0.04) ( s 0.7)( s 1.7)( s 2 0.08s 0.04)
Y(s)
Yu cu: Thit k b iu khin PID theo phng php Ziegler-Nichols. V p ng ng ra khi v tr t l 300, hm xung vung c chu k 10s bin dao ng gia 00 v 300.
NGUYN C HONG 2011
ti 7: Xt h thng iu khin gc tn cng ca my bay nh sau:

B iu khin
V tr t
My bay
V tr thc
R(s)
+_
GC(s)
0.72
( s 23)( s 0.05s 0.04) ( s 0.7)( s 1.7)( s 2 0.08s 0.04)
Y(s)
Yu cu: Thit k b iu khin GC(s) t c: POT<20%, tq(2%) < 0.05s, exl = 0 i vi ng vo hm nc. V p ng ng ra khi v tr t l 300, hm xung vung c chu k 10s bin dao ng gia 00 v 450.
NGUYN C HONG 2011
ti 8: Xt h thng iu khin gc li cho mt xe t vn hnh nh sau:

Gc li t B iu khin c tnh ng hc xe Gc li thc
B li
R(s)
+_
GC(s)
s2
50 10s 50
1 s( s 5)
Y(s)
Yu cu: Thit k b iu khin GC(s) t c: POT<10%, tq(2%) < 1.5s. V p ng ng ra khi v tr t l 300, hm xung vung c chu k 10s bin dao ng gia 00 v 450, hm xung tam gic (rng ca) c chu k 10s bin dao ng gia 00 v 450.
NGUYN C HONG 2011
ti 9: Xt h thng iu khin v tr anten nh sau:

V tr t
R(s)
+_
GC(s)
6.63 s(s 1.71)(s 286)
Y(s)
Yu cu: Thit k b iu khin PID theo phng php Ziegler-Nichols. V p ng ng ra khi v tr t hm nc n v, hm xung vung c chu k 5s bin dao ng gia 0 v 100. Nhn xt v nh hng ca vic thay i cc tham s b iu khin PID ln cht lng h thng. (Gi : c nh 2 tham s, cho 1 tham s thay i, ghi nhn s thay i cht lng ca ng ra (POT,tq, exl))
NGUYN C HONG 2011

V tr t
R(s)
+_
GC(s)
6.63 s(s 1.71)(s 286)
Y(s)
Yu cu: Thit k b iu khin GC(s) t c: POT<25%, tq(2%) < 2s, KV = 20. V p ng ng ra khi v tr t l 300, hm xung vung c chu k 10s bin dao ng gia 00 v 450, hm xung tam gic (rng ca) c chu k 10s bin dao ng gia 00 v 450.
NGUYN C HONG 2011

V tr t
R(s)
+_
GC(s)
6.63 s(s 1.71)(s 286)
Y(s)
Yu cu: Thit k b iu khin GC(s) s dng phng php tn s t c: POT = 20%, tq(2%) < 3.5s, sai s xc lp ci thin 5 ln so vi h thng hiu chnh bng li ang hot ng vi POT = 20%. V p ng ng ra khi v tr t l 300, hm xung vung c chu k 10s bin dao ng gia 00 v 450, hm xung tam gic (rng ca) c chu k 10s bin dao ng gia 00 v 450.
NGUYN C HONG 2011
ti 12: Xt h thng iu khin xe UFSS nh sau:

B iu khin i tng
R(s)
+_
GC(s)
0.25( s 0.435) ( s 1.23)( s 2) s 2 0.226s 0.0169
Y(s)
Yu cu: Thit k b iu khin GC(s) t c: POT = 20%, tq(2%) = 4s. So snh cht lng ng ra (POT, t q, exl) khi c v khng c GC(s).
NGUYN C HONG 2011
ti 13: Xt h thng iu khin xe UFSS nh sau:

B iu khin PID i tng
R(s)
+_
GC(s)
0.25( s 0.435) ( s 1.23)( s 2) s 2 0.226s 0.0169
Y(s)
Yu cu: Thit k b iu khin PID bng phng php Ziegler-Nichols. So snh cht lng ng ra (POT, t q, exl) khi c v khng c GC(s).
NGUYN C HONG 2011
ti 14: Xt h thng iu khin v tr anten c hm truyn vng h nh sau:

i tng V tr thc
in p
U(s)
1325 s(s 1.71)( s 100)
Y(s)
Yu cu: Thit k b iu khin bng phng php t cc s dng hi tip trng thi t c: POT = 10%, tq(2%) = 1s, cc th 3 cch trc o khong cch 10 ln so vi cc u th. Gi s cc bin trng thi khng o c, hy thit k b quan st trng thi. Bit rng b quan st c p ng qu POT = 10%, tn s dao ng t nhin gp 10 ln so vi p ng ca h thng, cc th 3 cch trc o khong cch 10 ln so vi cc u th. V p ng ng ra khi v tr t l 300, hm xung vung c chu k 10s bin dao ng gia 00 v 450 trong 2 trng hp c v khng c b quan st.
NGUYN C HONG 2011
ti 15: Xt h thng iu khin nh sau:
B iu khin PID
Nhiu ti i tng
R(s)
+_
GC(s)
+ +
1 e (s 1)4
0.2 s
Y(s)
Yu cu: Xc nh m hnh bc nht c tr ca i tng ny (xc nh K, T1, T2). Thit k b iu khin PID theo phng php Ziegler-Nichols. V p ng ng ra khi tn hiu t hm nc n v ti t = 0 v sau 150s th c nhiu xung n v di 2s tc ng trong 2 trng hp c v khng c khu hiu chnh GC(s). Nhn xt v POT, tq, exl. Nhn xt v nh hng ca vic thay i cc tham s b iu khin PID ln cht lng h thng. (Gi : c nh 2 tham s, cho 1 tham s thay i, ghi nhn s thay i cht lng ca ng ra (POT,tq, exl))
NGUYN C HONG 2011
B iu khin PID
Nhiu ti i tng
R(s)
+_
GC(s)
+ +
1 e (1 0.1s)2
Y(s)
Yu cu: Thit k b iu khin PID theo phng php Ziegler-Nichols vng h. V p ng ng ra khi tn hiu t hm nc n v ti t = 0 v sau 200s th c nhiu xung n v di 5s tc ng trong 2 trng hp c v khng c khu hiu chnh GC(s). Nhn xt v POT, tq, exl. Nhn xt v nh hng ca vic thay i cc tham s b iu khin PID ln cht lng h thng. (Gi : c nh 2 tham s, cho 1 tham s thay i, ghi nhn s thay i cht lng ca ng ra (POT,tq, exl))
NGUYN C HONG 2011
B iu khin PID
Nhiu ti i tng
R(s)
+_
GC(s)
+ +
1 (1 s )3
Y(s)
NGUYN C HONG 2011
B iu khin PID
Nhiu ti i tng
R(s)
+_
GC(s)
+ +
1 e (1 0.1s)2
Y(s)
Yu cu: Thit k b iu khin PID theo phng php Ziegler-Nichols vng kn. V p ng ng ra khi tn hiu t hm nc n v ti t = 0 v sau 200s th c nhiu xung n v di 5s tc ng trong 2 trng hp c v khng c khu hiu chnh GC(s). Nhn xt v POT, tq, exl. Nhn xt v nh hng ca vic thay i cc tham s b iu khin PID ln cht lng h thng. (Gi : c nh 2 tham s, cho 1 tham s thay i, ghi nhn s thay i cht lng ca ng ra (POT,tq, exl))
NGUYN C HONG 2011
B iu khin PID
Nhiu ti i tng
R(s)
+_
GC(s)
+ +
1 (1 s )3
Y(s)
NGUYN C HONG 2011
B iu khin PID
Nhiu ti i tng
R(s)
+_
GC(s)
+ +
1 0.1s (1 s)3
Y(s)
NGUYN C HONG 2011
B iu khin PID
Nhiu ti i tng
R(s)
+_
GC(s)
+ +
1 0.1s (1 s)3
Y(s)
NGUYN C HONG 2011
B iu khin PID
Nhiu ti i tng
R(s)
+_
GC(s)
+ +
1 (1 s )8
Y(s)
NGUYN C HONG 2011
B iu khin PID
Nhiu ti i tng
R(s)
+_
GC(s)
+ +
1 (1 s )8
Y(s)
NGUYN C HONG 2011
B iu khin PID
Nhiu ti i tng
R(s)
+_
GC(s)
+ +
1 s(s 1)
e 3
0.2 s
Y(s)
Yu cu: Xc nh m hnh bc nht c tr ca i tng ny (xc nh K, T1, T2). Thit k b iu khin PID theo phng php Ziegler-Nichols. V p ng ng ra khi tn hiu t hm nc n v ti t = 0 v sau 150s th c nhiu xung n v di 2s tc ng trong 2 trng hp c v khng c khu hiu chnh GC(s). Nhn xt v POT, tq, exl. Nhn xt v nh hng ca vic thay i cc tham s b iu khin PID ln cht lng h thng. (Gi : c nh 2 tham s, cho 1 tham s thay i, ghi nhn s thay i cht lng ca ng ra (POT,tq, exl))
NGUYN C HONG 2011
B iu khin PID
Nhiu ti i tng
R(s)
+_
GC(s)
+ +
1 e s(1 0.1s)2
Y(s)
NGUYN C HONG 2011
B iu khin PID
Nhiu ti i tng
R(s)
+_
GC(s)
+ +
1 s(1 s)3
Y(s)
NGUYN C HONG 2011
B iu khin PID
Nhiu ti i tng
R(s)
+_
GC(s)
+ +
1 e s(1 0.1s)2
Y(s)
NGUYN C HONG 2011
B iu khin PID
Nhiu ti i tng
R(s)
+_
GC(s)
+ +
1 s(1 s)3
Y(s)
NGUYN C HONG 2011
B iu khin PID
Nhiu ti i tng
R(s)
+_
GC(s)
+ +
1 0.1s s(1 s)3
Y(s)
NGUYN C HONG 2011
B iu khin PID
Nhiu ti i tng
R(s)
+_
GC(s)
+ +
1 0.1s s(1 s)3
Y(s)
NGUYN C HONG 2011
B iu khin PID
Nhiu ti i tng
R(s)
+_
GC(s)
+ +
1 s(1 s)8
Y(s)
NGUYN C HONG 2011
B iu khin PID
Nhiu ti i tng
R(s)
+_
GC(s)
+ +
1 s(1 s)8
Y(s)
NGUYN C HONG 2011
ti 33: Xt h thng iu khin v tr Robot nh sau:

B iu khin PID Cnh tay
V tr t
R(s)
360
+_ GC(s)
V tr thc
s2 s 6400
s 1 50
Y(s)
Yu cu: Thit k b iu khin PID theo phng php Ziegler-Nichols. V p ng ng ra khi v tr t hm nc n v, hm xung vung c chu k 10s bin dao ng gia 0 v 300 trong 2 trng hp c v khng c khu hiu chnh GC(s). Nhn xt v POT, tq, exl. Nhn xt v nh hng ca vic thay i cc tham s b iu khin PID ln cht lng h thng. (Gi : c nh 2 tham s, cho 1 tham s thay i, ghi nhn s thay i cht lng ca ng ra (POT,tq, exl))
NGUYN C HONG 2011

B iu khin Cnh tay
V tr t
R(s)
360
+_ GC(s)
V tr thc
s2 s 6400
s 1 50
Y(s)
Yu cu: Thit k b iu khin GC(s) bng phng php QNS t c : KV = 10 v POT < 15%. V p ng ng ra khi v tr t hm nc n v, hm xung vung c chu k 10s bin dao ng gia 0 v 300 trong 2 trng hp c v khng c khu hiu chnh GC(s). Nhn xt v POT, tq, exl.
NGUYN C HONG 2011

B iu khin Cnh tay
V tr t
R(s)
360
+_ GC(s)
V tr thc
s2 s 6400
s 1 50
Y(s)
Yu cu: Thit k b iu khin GC(s) bng phng php Bode t c : KV = 10 v POT < 15%. V p ng ng ra khi v tr t hm nc n v, hm xung vung c chu k 10s bin dao ng gia 0 v 300 trong 2 trng hp c v khng c khu hiu chnh GC(s). Nhn xt v POT, tq, exl.
NGUYN C HONG 2011
ti 36: Xt h thng iu khin v tr cnh tay mm do nh sau:

B iu khin PID Cnh tay V tr thc
V tr t
R(s)
+_
GC(s)
s 500 s(s 0.0325)( s 2 2.57 s 6667)
Y(s)
Yu cu: Thit k b iu khin PID theo phng php Ziegler-Nichols. V p ng ng ra khi v tr t hm nc n v, hm dc n v v hm xung vung c chu k 10s bin dao ng gia 0 v 300 trong 2 trng hp c v khng c khu hiu chnh GC(s). Nhn xt v POT, tq, exl. Nhn xt v nh hng ca vic thay i cc tham s b iu khin PID ln cht lng h thng. (Gi : c nh 2 tham s, cho 1 tham s thay i, ghi nhn s thay i cht lng ca ng ra (POT,tq, exl))
NGUYN C HONG 2011
ti 37: Xt h thng iu khin v tr cnh tay mm do nh sau:

B iu khin Cnh tay V tr thc
V tr t
R(s)
+_
GC(s)
s 500 s(s 0.0325)( s 2 2.57 s 6667)
Y(s)
Yu cu: Thit k b iu khin GC(s) t cc mc tiu sau : KV = 100 , d tr pha > 350. V p ng ng ra khi v tr t hm nc n v, hm dc n v v hm xung vung c chu k 10s bin dao ng gia 0 v 300 trong 2 trng hp c v khng c khu hiu chnh GC(s). Nhn xt v POT, tq, exl.
NGUYN C HONG 2011
ti 38: Xt h thng iu khin v tr cnh tay Robot nh sau:

B iu khin PID
V tr t
Cnh tay
R(s)
+_
GC(s)
8 s(2s 1)(0.05s 1)
V tr thc
Y(s)
Yu cu: Thit k b iu khin PID theo phng php Ziegler-Nichols. V p ng ng ra khi v tr t hm nc n v v hm xung vung c chu k 10s bin dao ng gia 0 v 300 trong 2 trng hp c v khng c khu hiu chnh GC(s). Nhn xt v POT, tq, exl. Nhn xt v nh hng ca vic thay i cc tham s b iu khin PID ln cht lng h thng. (Gi : c nh 2 tham s, cho 1 tham s thay i, ghi nhn s thay i cht lng ca ng ra (POT,tq, exl))
NGUYN C HONG 2011

B iu khin PID
V tr t
Cnh tay
R(s)
+_
GC(s)
8 s(2s 1)(0.05s 1)
V tr thc
Y(s)
Yu cu: Thit k b iu khin GC(s) t cc mc tiu sau : KV = 80 , thi gian xc lp (2%) bng 1.6s v vt l 16%. V p ng ng ra khi v tr t hm nc n v v hm xung vung c chu k 10s bin dao ng gia 0 v 300 trong 2 trng hp c v khng c khu hiu chnh GC(s). Nhn xt v POT, tq, exl.
NGUYN C HONG 2011
ti 40: Xt h thng iu khin v tr cnh tay Robot c hm truyn vng h nh sau:

i tng V tr thc
in p
U(s)
8 s(2s 1)(0.05s 1)
Y(s)
Yu cu: Thit k b iu khin bng phng php t cc s dng hi tip trng thi t c: POT = 16%, tq(2%) = 5s, cc th 3 cch trc o khong cch 10 ln so vi cc u th. Gi s cc bin trng thi khng o c, hy thit k b quan st trng thi. Bit rng b quan st c p ng qu POT = 10%, tn s dao ng t nhin gp 10 ln so vi p ng ca h thng, cc th 3 cch trc o khong cch 10 ln so vi cc u th. V p ng ng ra khi v tr t l 300, hm xung vung c chu k 10s bin dao ng gia 00 v 450 trong 2 trng hp c v khng c b quan st.
NGUYN C HONG 2011
ti 41: Xt h thng iu khin v tr Robot c hm truyn vng h nh sau:

in p Cnh tay
U(s)
360 s2 s 6400 s 1 50
V tr thc
Y(s)
Yu cu: Thit k b iu khin bng phng php t cc s dng hi tip trng thi t c: POT = 5%, tq(2%) = 0.4s, cc th 3 cch trc o khong cch 10 ln so vi cc u th. Gi s cc bin trng thi khng o c, hy thit k b quan st trng thi. Bit rng b quan st c p ng qu POT = 5%, tn s dao ng t nhin gp 10 ln so vi p ng ca h thng, cc th 3 cch trc o khong cch 10 ln so vi cc u th. V p ng ng ra khi v tr t l 300, hm xung vung c chu k 10s bin dao ng gia 00 v 450 trong 2 trng hp c v khng c b quan st.
NGUYN C HONG 2011
ti 42: Xt h thng iu khin vt trong t trng c hm truyn vng h nh sau:

i tng V tr thc
in p
U(s)
(s2
10 4551)( s 286)
Y(s)
Yu cu: Thit k b iu khin bng phng php t cc s dng hi tip trng thi t c: POT < 2%, tq(2%) < 0.4s, cc th 3 cch trc o khong cch 10 ln so vi cc u th. Gi s cc bin trng thi khng o c, hy thit k b quan st trng thi. Bit rng b quan st c p ng qu POT < 2%, tn s dao ng t nhin gp 10 ln so vi p ng ca h thng, cc th 3 cch trc o khong cch 10 ln so vi cc u th. V p ng ng ra khi v tr t l 1, hm xung vung c chu k 10s bin dao ng gia 1 v 2 trong 2 trng hp c v khng c b quan st.
NGUYN C HONG 2011
ti 43: Cho c tnh ng hc ca ng c c m t bi h phng trnh vi phn :
di La a Ra ia K b m va dt d m Jm Bm m K i ia dt d m m dt
Trong : ia , va : dng in phn ng,
m
Bng . Gi tr tham s
Tham s Ra La Kb Ki Bm Jm
Gi tr 2.000 0.500 0.015 0.015 0.200 0.020
n v H ----Nms kg.m2
: vn tc trc quay,
: v tr trc quay.
Yu cu: Thit k b iu khin bng phng php t cc s dng hi tip trng thi iu khin tc ng ra tha yu cu: POT < 5%, tq(2%) < 1s Gi s cc bin trng thi khng o c, hy thit k b quan st trng thi. Bit rng b quan st c p ng qu POT < 5%, tn s dao ng t nhin gp 10 ln so vi p ng ca h thng. V p ng ng ra khi vn tc t l 100, hm xung vung c chu k 10s bin dao ng gia -100 v 100 trong 2 trng hp c v khng c b quan st.
NGUYN C HONG 2011
m
Bng . Gi tr tham s
Gi tr 2.000 0.500 0.015 0.015 0.200 0.020
n v H ----Nms kg.m2
: vn tc trc quay,
: v tr trc quay.
Yu cu: Thit k b iu khin bng phng php t cc s dng hi tip trng thi iu khin v tr ng ra tha yu cu: POT < 5%, tq(2%) < 0.5s, cc th 3 cch trc o khong cch 10 ln so vi cc u th. Gi s cc bin trng thi khng o c, hy thit k b quan st trng thi. Bit rng b quan st c p ng qu POT < 5%, tn s dao ng t nhin gp 10 ln so vi p ng ca h thng, cc th 3 cch trc o khong cch 10 ln so vi cc u th. V p ng ng ra khi v tr t l 300, hm xung vung c chu k 10s bin dao ng gia 00 v 450 trong 2 trng hp c v khng c b quan st.
NGUYN C HONG 2011
m
Bng . Gi tr tham s
Gi tr 2.000 0.500 0.015 0.015 0.200 0.020
n v H ----Nms kg.m2
: vn tc trc quay,
: v tr trc quay.
Yu cu: Thit k b iu khin bng phng php QNS iu khin tc ng ra tha yu cu: POT < 5%, tq(2%) < 1s, exl = 1% i vi ng hm nc n v. V p ng ng ra khi vn tc t l 100, hm xung vung c chu k 10s bin dao ng gia -100 v 100 trong 2 trng hp c v khng c b iu khin. Nhn xt v POT, tq, exl.
NGUYN C HONG 2011
m
Bng . Gi tr tham s
Gi tr 2.000 0.500 0.015 0.015 0.200 0.020
n v H ----Nms kg.m2
: vn tc trc quay,
: v tr trc quay.
Yu cu: Thit k b iu khin bng phng php QNS iu khin v tr ng ra tha yu cu: POT < 5%, tq(2%) < 1s, exl = 1% i vi ng hm dc n v. V p ng ng ra khi v tr t l 300, hm xung vung c chu k 10s bin dao ng gia -300 v 300 trong 2 trng hp c v khng c b iu khin. Nhn xt v POT, tq, exl.
NGUYN C HONG 2011
m
Bng . Gi tr tham s
Gi tr 2.000 0.500 0.015 0.015 0.200 0.020
n v H ----Nms kg.m2
: vn tc trc quay,
: v tr trc quay.
Yu cu: Thit k b iu khin bng phng php Bode iu khin tc ng ra tha yu cu: POT < 5%, exl = 1% i vi ng hm nc n v. V p ng ng ra khi vn tc t l 100, hm xung vung c chu k 10s bin dao ng gia -100 v 100 trong 2 trng hp c v khng c b iu khin. Nhn xt v POT, tq, exl.
NGUYN C HONG 2011
m
Bng . Gi tr tham s
Gi tr 2.000 0.500 0.015 0.015 0.200 0.020
n v H ----Nms kg.m2
: vn tc trc quay,
: v tr trc quay.
Yu cu: Thit k b iu khin bng phng php Bode iu khin v tr ng ra tha yu cu: POT < 5%, exl = 1% i vi ng hm dc n v. V p ng ng ra khi v tr t l 300, hm xung vung c chu k 10s bin dao ng gia -300 v 300 trong 2 trng hp c v khng c b iu khin. Nhn xt v POT, tq, exl.
NGUYN C HONG 2011
m
Bng . Gi tr tham s
Gi tr 2.000 0.500 0.015 0.015 0.200 0.020
n v H ----Nms kg.m2
: vn tc trc quay,
: v tr trc quay.
Yu cu: Thit k b iu khin PID bng phng php Ziegler-Nichols iu khin tc ng ra. V p ng ng ra khi vn tc t l 100, hm xung vung c chu k 10s bin dao ng gia -100 v 100 trong 2 trng hp c v khng c b iu khin. Nhn xt v POT, tq, exl. Nhn xt v nh hng ca vic thay i cc tham s b iu khin PID ln cht lng h thng. (Gi : c nh 2 tham s, cho 1 tham s thay i, ghi nhn s thay i cht lng ca ng ra (POT,tq, exl))
NGUYN C HONG 2011
m
Bng . Gi tr tham s
Gi tr 2.000 0.500 0.015 0.015 0.200 0.020
n v H ----Nms kg.m2
: vn tc trc quay,
: v tr trc quay.
Yu cu: Thit k b iu khin PID bng phng php Ziegler-Nichols iu khin v tr ng ra. V p ng ng ra khi v tr t l 300, hm xung vung c chu k 10s bin dao ng gia -300 v 300 trong 2 trng hp c v khng c b iu khin. Nhn xt v POT, tq, exl. Nhn xt v nh hng ca vic thay i cc tham s b iu khin PID ln cht lng h thng. (Gi : c nh 2 tham s, cho 1 tham s thay i, ghi nhn s thay i cht lng ca ng ra (POT,tq, exl))
NGUYN C HONG 2011

V tr t
R(s)
+_
GC(s)
250 s(s 2)( s 4)( s 45)
Y(s)
Yu cu: Thit k b iu khin PID theo phng php Ziegler-Nichols. V p ng ng ra khi v tr t hm nc n v, hm xung vung c chu k 5s bin dao ng gia 0 v 100. Nhn xt v nh hng ca vic thay i cc tham s b iu khin PID ln cht lng h thng. (Gi : c nh 2 tham s, cho 1 tham s thay i, ghi nhn s thay i cht lng ca ng ra (POT,tq, exl))
NGUYN C HONG 2011

V tr t
R(s)
+_
GC(s)
250 s(s 2)( s 4)( s 45)
Y(s)
Yu cu: Thit k b iu khin GC(s) t c: POT<20%, tq(2%) < 1.2s, KV = 10. V p ng ng ra khi v tr t l 300, hm xung vung c chu k 10s bin dao ng gia 00 v 450, hm xung tam gic (rng ca) c chu k 10s bin dao ng gia 00 v 450 trong 2 trng hp c v khng c b iu khin. Nhn xt.
NGUYN C HONG 2011
ti 53: Xt h thng iu khin tc my nh sau:
B iu khin PID
Nhiu ti i tng Tc my
R(s)
+_
GC(s)
2e 0.066 s (0.21s 1)(4 s 1)
Y(s)
NGUYN C HONG 2011
B iu khin PID
Nhiu ti i tng Tc my
R(s)
+_
GC(s)
2e 0.066 s (0.21s 1)(4 s 1)
Y(s)
NGUYN C HONG 2011
B iu khin
Nhiu ti i tng Tc my
R(s)
+_
GC(s)
2e 0.066 s (0.21s 1)(4 s 1)
Y(s)
Yu cu: Thit k b iu khin GC(s) tha cc yu cu sau: exl = 0 i vi ng vo hm nc n v, POT < 10%, t q(2%) < 10s. V p ng ng ra khi tn hiu t hm nc n v ti t = 0 v sau 150s th c nhiu xung n v di 2s tc ng trong 2 trng hp c v khng c khu hiu chnh GC(s). Nhn xt v POT, tq, exl.
NGUYN C HONG 2011
ti 56: Xt h thng iu khin gc xoay ca my bay phn lc nh sau:

B iu khin PID i tng Gc xoay thc
Gc xoay t
R(s)
+_
GC(s)
10 ( s 10)( s 2 2s 20)
Y(s)
Yu cu: Thit k b iu khin PID theo phng php Ziegler-Nichols. V p ng ng ra khi gc t hm nc n v, hm xung vung c chu k 5s bin dao ng gia 0 v 50. Nhn xt v nh hng ca vic thay i cc tham s b iu khin PID ln cht lng h thng. (Gi : c nh 2 tham s, cho 1 tham s thay i, ghi nhn s thay i cht lng ca ng ra (POT,tq, exl))
NGUYN C HONG 2011
ti 57: Xt h thng iu khin gc xoay ca my bay phn lc nh sau:

B iu khin i tng Gc xoay thc
Gc xoay t
R(s)
+_
GC(s)
10 ( s 10)( s 2 2s 20)
Y(s)
Yu cu: Thit k b iu khin GC(s) h thng c p nc tt v sai s xc lp bng 0. V p ng ng ra khi gc t hm nc c ln 100, hm xung vung c chu k 5s bin dao ng gia 0 v 50 khi c v khng c khu hiu chnh. Nhn xt.
NGUYN C HONG 2011

B iu khin i tng
R(s)
+_
GC(s)
10 s( s 2)
Y(s)
Yu cu: Thit k b iu khin GC(s) h thng c sai s xc lp bng 0 i vi ng vo hm dc, tq(2%) < 5s. V p ng ng ra khi tn hiu t hm dc n v, hm xung tam gic c chu k 50s bin dao ng gia 0 v 10 khi c v khng c khu hiu chnh. Nhn xt.
NGUYN C HONG 2011

B iu khin i tng
R(s)
+_
GC(s)
s 10 s 2 2s 20
Y(s)
Yu cu: Thit k b iu khin GC(s) h thng c sai s xc lp < 10% i vi ng vo hm nc, d tr pha > 450, tq(2%) < 5s i vi ng vo hm nc n v. V p ng ng ra khi tn hiu t hm nc n v, hm xung vung c chu k 50s bin dao ng gia 0 v 10 khi c v khng c khu hiu chnh. Nhn xt.
NGUYN C HONG 2011

B iu khin i tng
V tr t
V tr thc
R(s)
+_
GC(s)
10 ( s 4551)
2
Y(s)
Yu cu: Thit k b iu khin GC(s) h thng sau hiu chnh tha : POT < 1%, t q(2%) < 0.5s v sai s xc lp bng 1% i vi ng vo hm nc. V p ng ng ra khi v tr t hm nc n v, hm xung vung c chu k 5s bin dao ng gia 1 v 2.
NGUYN C HONG 2011

B iu khin PID i tng
V tr t
V tr thc
R(s)
+_
GC(s)
10 ( s 4551)
2
Y(s)
Yu cu: Thit k b iu khin PID theo phng php Ziegler-Nichols. V p ng ng ra khi v tr t hm nc n v, hm xung vung c chu k 5s bin dao ng gia 1 v 2.
NGUYN C HONG 2011

Bai Tap Lon CSTD Hk1 2011

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Bai Tap Lon CSTD Hk1 2011

Uploaded by

Copyright:

Available Formats

BI TP LN CST HK1 2011-2012

ti 1: Xt h thng iu khin nhit cho mt qu trnh ha hc nh sau:

1 s 0.4 0.5 s 0.5

0.7 1.7 s 0.25

NGUYN C HONG 2011

BI TP LN CST HK1 2011-2012

ti 2: Xt h thng iu khin nhit cho mt qu trnh ha hc nh sau:

1 s 0.4 0.5 s 0.5

0.7 1.7 s 0.25

NGUYN C HONG 2011

BI TP LN CST HK1 2011-2012

ti 3: Xt h thng iu khin nhit cho mt qu trnh ha hc nh sau:

1 s 0.4 0.5 s 0.5

0.7 1.7 s 0.25

NGUYN C HONG 2011

BI TP LN CST HK1 2011-2012

ti 4: Xt h thng iu khin vt trong t trng nh sau:

NGUYN C HONG 2011

BI TP LN CST HK1 2011-2012

ti 5: Xt h thng iu khin vt trong t trng nh sau:

NGUYN C HONG 2011

BI TP LN CST HK1 2011-2012

ti 6: Xt h thng iu khin gc tn cng ca my bay nh sau:

( s 23)( s 0.05s 0.04) ( s 0.7)( s 1.7)( s 2 0.08s 0.04)

NGUYN C HONG 2011

BI TP LN CST HK1 2011-2012

ti 7: Xt h thng iu khin gc tn cng ca my bay nh sau:

( s 23)( s 0.05s 0.04) ( s 0.7)( s 1.7)( s 2 0.08s 0.04)

NGUYN C HONG 2011

BI TP LN CST HK1 2011-2012

ti 8: Xt h thng iu khin gc li cho mt xe t vn hnh nh sau:

NGUYN C HONG 2011

BI TP LN CST HK1 2011-2012

ti 9: Xt h thng iu khin v tr anten nh sau:

6.63 s(s 1.71)(s 286)

NGUYN C HONG 2011

BI TP LN CST HK1 2011-2012

ti 10: Xt h thng iu khin v tr anten nh sau:

6.63 s(s 1.71)(s 286)

NGUYN C HONG 2011

BI TP LN CST HK1 2011-2012

ti 11: Xt h thng iu khin v tr anten nh sau:

6.63 s(s 1.71)(s 286)

NGUYN C HONG 2011

BI TP LN CST HK1 2011-2012

ti 12: Xt h thng iu khin xe UFSS nh sau:

0.25( s 0.435) ( s 1.23)( s 2) s 2 0.226s 0.0169

NGUYN C HONG 2011

BI TP LN CST HK1 2011-2012

ti 13: Xt h thng iu khin xe UFSS nh sau:

0.25( s 0.435) ( s 1.23)( s 2) s 2 0.226s 0.0169

NGUYN C HONG 2011

BI TP LN CST HK1 2011-2012

ti 14: Xt h thng iu khin v tr anten c hm truyn vng h nh sau:

1325 s(s 1.71)( s 100)

NGUYN C HONG 2011

BI TP LN CST HK1 2011-2012

ti 15: Xt h thng iu khin nh sau:

NGUYN C HONG 2011

BI TP LN CST HK1 2011-2012

ti 16: Xt h thng iu khin nh sau:

NGUYN C HONG 2011

BI TP LN CST HK1 2011-2012