HDSD

n l thuyt iu khin t ng_iu Qu ng_3_CNT_H in Lc
Li Ni u
Hin nay trong cng nghip hin i ha t nc ,yu cu ng dng t ng ha
ngy cng cao vo trong i sng sinh hot ,sn xut .Chnh v vy yu cu h thng
iu khin t ng phi linh hot ,tin li ,gn nh.
L thuyt iu khin t ng l c s l thuyt ca mi nghnh khoa hc, n
nghin cu nhng nguyn tc thnh lp h t ng v cc quy lut ca cc qu trnh
xy ra trong h. T xy dng c cc h ti u hoc gn ti u bng nhng
phng php k thut, ng thi nghin cu qu trnh tnh v ng ca h thng .
Vi nhng phng php hin i ca l thuyt iu khin t ng, chng ta c
th la chn c cu trc h thng hp l, xc nh tr s ti u ca cc thng s.
nh gi tnh n nh v cc ch tiu cht lng trong qu trnh iu khin.
n ny ca em s nu ra cc cch nhn dng i tng, xc nh hm truyn
t ca i tng t p ng u ra cho trc v t xc nh i tng c n nh
hay khng.Thit k cc b iu khin P, PI, PID nng cao cht lng u ra ca
h thng.
Trong qu trnh thc hin n em cng nhn c nhiu s gip thy c
v cc bn trong lp c nhng gp cho n ca em hon thin hn.
Em xin cm n c gio Phm Th Hng Sen ,ngi gip em trong sut
thi gian lm n ny.
Mc d rt c gng nhng do kin thc cn hn ch nn khng trnh khi nhng
thiu st .Rt mong nhn c nhiu hn na s ng gp ,b xung kin ca thy
c v cc bn cho n ny ngy cng hon thin hn .
Em xin trn thnh cm n !
1
MC LC
Trang
Li ni u 1
Mc lc 2
bi 4
Phn I. Xc nh hm truyn t t ng c tnh cho trc 5
1. Hm truyn t v c tnh ng hc
1.1. nh ngha hm truyn t
1.2. c tnh ng hc ca h thng 6
a. c tnh thi gian
b. c tnh tn s
2. Cch xc nh hm truyn t
2.1.i tng c tnh cn bng
2.2.i tng khng c tnh cn bng
6
3.Bi tp thc hnh 12
Phn II. Kho st tnh n nh ca h thng 13
1. Khi nim tnh n nh ca h thng
1.1. nh ngha
1.2. n nh ca h tuyn tnh
2. Tiu chun n nh i s 14
2.1. iu kin cn
2.2 Tiu chun n nh Routh 15
2.3. Tiu chun n nh Hurwitz
3. Tiu chun n nh tn s 16
3.1. Nguyn l gc quay
3.2. Tiu chun n nh Mikhailov
3.3. Tiu chun n nh Nyquist 17
3.4. Tiu chun n nh Bode
4. Phng php qu o nghim s 18
5. im cc ( Pole ) v im khng ( Zero ) 20
6. Bi tp thc hnh
2
Phn III. Tng hp b iu khin P,PI,PID h c cht lng tt nht 21
1. Cc quy lut iu chnh chun v b iu khin PID
1.1. Khu t l P
1.2. Khu t l tch phn PI
1.3. Khu t l vi tch phn PID 22
1.4. B iu khin PID 23
2. Thit k h thng PID 24
2.1. Phng php gii tch
2.2.Chnh nh b iu khin theo phng php thc nghim hm truyn
23
2.3. Phng php Zeigler-Nichols 26
2.4. S dng Matlab thit k 28
3.Bi tp thc hnh
Phn IV. Ti liu tham kho
31
38
3
Bi
n mn hc: L thuyt iu khin t ng
Cho mt i tng cha bit m hnh ton hc .Bng thc nhim ngi ta dng tc
ng u vo l hm 1(t) v o tn hiu u ra thu c ng c tnh y(t) nh
sau:
Yu cu :
1.Xc nh hm truyn t ca i tng trn t ng c tnh thu c ?
2.T hm truyn xc nh c dng Matlab v li ng qu v so snh .Nhn
xt v tnh n nh ca i tng .Tm cc im cc v im khng?
3.Tng hp b iu khin P,PI,PID h c cht lng tt nht .
4
PHN I.XC NH HM TRUYN CA I TNG T
NG C TNH CHO TRC
1.Hm truyn t v c tnh dng hc
1.1 nh ngha
Cho mt h thng nh hnh v :
Quan h ca tn hiu vo v tn hiu ra ca h thng tuyn tnh c th c m t
bng phng trnh vi phn h s hng :
1 1
0 1 1 1
( ) ( ) ( )
... ( )
n n
n n n n
d c t d c t d c t
a a a a c t
dt dt dt

+ + + +

1 1
0 1 1 1 1
( ) ( ) ( )
... ( )
m m
m m m m
d r t d r t d r t
b b b b r t
dt dt dt

+ + + +
Trong : a
i
( 0, i n ), b
j
( 0, j m ) l cc thng s ca h thng; a
0
0, b
0
0
n l bc ca h thng
Gi s iu kin u bng 0, bin i Laplace 2 v ta c :
1 1
0 1 1 0 1 1
( ... ) ( ) ( ... ) ( )
n n m m
n n m n
a s a s a s a C s b s b s b s b R s

+ + + + + + + +
1
0 1 1
1
0 1 1
... ( )
( ) ...
m m
m n
n n
n n
b s b s b s b C s
R s a s a s a s a
+ + + +

+ + + +
t :
1
0 1 1
1
0 1 1
... ( )
( )
( ) ...
m m
m n
n n
n n
b s b s b s b C s
G s
R s a s a s a s a
+ + + +

+ + + +
G(s) gi l hm truyn t ca h thng
nh ngha : Hm truyn t ca h thng l t s gia bin i Laplace ca tn
hiu ra v bin i Laplace ca tn hiu vo khi iu kin u bng 0.
* Php bin i Laplace :
Cho f(t) l hm xc nh vi mi t 0, bin i Laplace ca f(t) l :
F(s) = L { f(t) } =
0
( ).
st
f t e dt
+
Trong : s l bin phc ( bin Laplace ),

s j +
L l ton t bin i Laplace
F(s) l nh ca f(t) qua php bin i Laplace
1.2. c tnh ng hc ca h thng
c tnh ng hc ca h thng m t s thay i tn hiu u ra ca h thng
theo thi gian khi c tc ng u vo.
kho st tnh ng ca h thng th tn hiu vo thng c chn l tn hiu
c bn nh hm xung n v, hm nc n v hay hm iu ho. Tu theo dng ca
5
tn hiu vo th m c tnh ng hc thu c l c tnh thi gian hay c tnh tn
s.
a. c tnh thi gian
c tnh thi gian ca h thng m t s thay i tn hiu u ra ca h thng
khi tn hiu vo l hm xung n v hay hm nc n v.
p ng xung l p ng ca h thng khi tn hiu vo l hm xung n v ( hay
cn gi l hm trng lng g(t) ca h thng ).
c(t) = L
-1
{C(s)} = L
-1
{G(s)} = g(t) ( Do R(s)=1 )
p ng nc l p ng ca h thng khi tn hiu vo l hm nc n v ( hay cn
goi l hm qu h(t) ca h thng ).
c(t) = L
-1
{C(s)} = L
-1
{
( ) G s
s
} =
0
( )
t
g d
= h(t) ( Do R(s) =
1
s
)
b. c tnh tn s
c tnh tn s ca h thng tuyn tnh lin tc m t quan h gia tn hiu ra v
tn hiu vo ca h thng trng thi xc lp khi thay i tn s ca tn hiu dao
ng iu ho tc ng u vo ca h thng.
Nh vy c tnh tn s ca h thng l t s gia tn hiu ra trng thi xc lp
v tn hiu vo hnh sin.
c tnh tn s =
( )
( )
C jw
R jw
biu din c tnh tn s mt cch trc quan, ta c th dng th. C hai
dng th thng c s dng l biu Bode v biu Nyquist.
2. Cch xc nh hm truyn t
Trn c s hm qu ca i tng c th xc nh gn ng hm truyn t
ca n .Do i tng c hai loi c bn l:i tng c tnh t cn bng v i tng
khng c tnh cn bng nn thut ton xc nh hm truyn t cho hai loi ny
cng khc nhau.
2.1. i tng c tnh t cn bng :
a) Dng tng qut hm truyn t:
Dng tng qut hm truyn t ca i tng c tnh t cn bng c m t:
(p)= (p).
Trong : K H s truyn ca i tng
- Thi gian tr
(p)=
(p) l hm truyn t ca thnh phn tnh.
i tng gm hai khu mc ni tip mhau l :khu tr c hm truyn dt v
khu tnh c hm truyn t K. (p).Gi tr c gi l tr vn chuyn .trong thc
6
t khu tnh c th ly gn ng mt trong bn dng sau:khu bc nht c tr,khu
qun tnh bc hai v khu bc hai c tr.
b) Xc nh hm truyn t
i tng c tnh t cn bng c hm truyn t dng tng qut:
(p)= (p).
1(t) h(t)

l hm so chun :
C th coi (p) l mt trong ba dng hm truyn sau:
+ Khu bc 1 c tr:
(p)= ( I )
+Khu bc hai khng dao ng :
(p)= ( II )
+Khu bc hai c tr:
(p)= ( III )
*Cch chn dng hm truyn (p)
(t)
1

0,7 A

( )
t
0

Hnh 1.1:Xc nh hm truyn t hm qu
7
(p) K
Da vo hm qu ca hm h(t) xc nh :
Trn trc tung ,ta ly im 0,7 dng ra ct th ti im A ,t A h vung gc
xung ct trc honh ti im .Ta ly = ,dng ln th ,ct tung ti im
( ).Cn c vo gi tr ca ( ) ta s xc nh c dng hm truyn ca (p)
theo cc cng thc thc nghim sau.
Nu ( ) > 0,31 th (p) c dng ( I )
Nu 0,31 ( ) (p) c dng ( II )
Nu ( ) (p) c dng ( III )
C) Xc nh tham s m hnh i tng
Ta s dng phng php th hoc phng php th gii tch x nh tham
s ca m hnh (cc tham s T, , ).
-Trng hp i tng c hm truyn dng ( I) : (p)=
Phng php th :
Phng php th (hay cn gi l phng php tip tuyn ) c minh ha trn
hnh 1.1.Trc ht ,k ng tim cn vi ng cong ti trng thi xc lp s gip
ta xc nh c h s khuych ai k.Tip theo ,k tip tuyn ti im m ng
cong c dc ln nht (chnh l im un),giao im ca tip tuyn ny vi ng
trc thi gian cho ta thi gian tr xp x .Cui cng ,xc nh im tng ng trn
ng cong c gi tr 0,623 cho T+ .
Vic xc nh cc tham s theo phng php th c u im l nhanh nhng c
th thy l mang tinh cm nhn ch quan ,thiu chnh xc v kh thc thi trn my
tnh.Ngoi ra ,nhiu qu trnh v nhiu o c th gy sai lch rt ln trong kt qu
.Do thc t t s dng phng php ny .
(t)

0,623
8
0
T t
Hnh 1.2:Phng php k tip tuyn trn th p ng
Phng php th gii tch
(t)

------------------------------ 0,623
0,283
0
t
Hnh 1.3:Phng php xc nh tham s bng th gii tch
xc nh cc tham s mt cch chnh xc hn ta s dng phng php th gii
tch :kt hp c th v gi tch.
Trn th ta xc nh 2 im A,B tng ng c : =0,283 ; =0,623
Ni dung ca phng php c minh ha trn hnh 1.5 .Cc tham s T v c
xc nh mt cch xp x gn ng theo cng thc :
T=1,5.( )
=1,5.( /3)=
Lu :Hai phung php trn ta t quan tm n nh hng ca nhiu o. gim
mt cch hiu qu nh hng ca nhiu o ti kt qu c lng tham s ngi ta s
dng phng php tch phn .
9
-Trng hp i tng c hm truyn dng ( II ): (p)=
S dng phng php th gii tch xc nh cc tham s , t hm qu
.K ng tip tuyn vi ng ca ti im un,ta xc nh c im , 2
;Xc nh c cc khong cch a,b,c nh hinh v 1.4 .Ta s xc nh , theo
a,b,c.
(t)=1 - . + . ( 1.10)
(t)= ( - ) (1.11)
(t)= ( - ) (1.12)
Ti im un :
( ) =0 = = (1.13)

T th ta thy : b=1 - ( )
Kt hp vi (1.10) : b= . - .
Thay (1.13) vo :b = ( - ) = . (1.14)
Ta c : a= =
(1.15)
T th ta thy :c=1 - ( )
c= . - .
c=( - ) = . (1.16)
Bin i tm theo a,b,c :
=
= =
=
+0,5 = =
10
= a( +0,5 )
= a - = a( +0,5 )
Vi cc khong cch a,b,c .Xc nh trc tip trn th ta s tnh c cc tham s
, .
a
c
b
t
o
Hnh 1.4:Xc nh tham s ca khu bc hai.
-Trng hp i tng c hm truyn dng (III) (p)=
Tham s ta xc nh bng cch k tip tuyn ti im un nh trng
hp dng I ;tham s , ta xc nh ging nh trng hp dng II.
2.2. i tng khng c tnh t cn bng :
i tng m trong cu trc ca n c thnh phn tch phn th s khng c tnh
t cn bng .Hm qu ca n tin xa v cng .Dng tng qut hm truyn t ca
i tng khng c tnh t cn bng :
(p)= (1.17)
11
Trn thc t hm truyn dt ca i tng khng c tnh t cn bng c m t gn
ng bng mt trong bn dng sau:
+Tch phn n thun :
(p)=
+Qun tnh tich phn :
(p)=
+Tch phn c tr :
(p)=
+Qun tnh tch phn c tr :
(p)=
Cc thng s ca i tng c th xc nh c mt cch gn ng bng phng
php th hoc gii tch nh i tng c tnh t cn bng.
3. Bi tp Thc Hnh
S dng phng php th gii tch xc nh hm truyn t:
Cc tham s :
a=20; b= 64,2 ; c=25;
= 17 ; = 5 ; K=200 ; =72 ;
Vy hm truyn t ca i tng l:
(p)=
Cho tc ng u vo l hm 1(t) v o tn hiu u ra ta thu c ng c tnh
y(t) nh sau :
12
Hnh 1.5: Dng Matlab v li ng qu
* So snh:
Sau khi p dng phng php th gii tch trn ta xc nh c hm truyn t
W
d
(p) c c tnh u ra rt ging vi bi cho. Do vy ta hon ton c th s
dng phng php ny tm cc hm truyn t khi bit c ng c tnh u ra
y(t) ca h thng.
13
PHN II. KHO ST TNH N NH CA H THNG
1.Khi nim v tnh n nh ca h thng
1.1. nh ngha
H thng c gi l trng thi n nh nu vi tn hiu vo b chn th p ng
ca h cng b chn.
Yu cu u tin i vi mt h thng iu kin t ng l h thng phi gi
c trng thi n nh khi chu tc ng ca tn hiu vo v chu nh hng ca
nhiu ln h thng.
i vi h tuyn tnh c tnh ca qu trnh qu khng ph thuc vo gi tr
tc ng kch thch. Tnh n nh ca h tuyn tnh khng ph thuc vo th loi v
gi tr ca tn hiu vo v trong h tuyn tnh ch tn ti mt trng thi cn bng.
C 3 trng thi cn bng :
+ Bin gii n nh.
+ n inh.
+ Khng n nh.
1.2. n nh ca h tuyn tnh
Mt h thng iu khin tuyn tnh c biu din bng phng trnh vi phn :
14
1 1
0 1 1 1
( ) ( ) ( )
... ( )
n n
n n n n
d c t d c t d c t
a a a a c t
dt dt dt

+ + + +

1 1
0 1 1 1 1
( ) ( ) ( )
... ( )
m m
m m m m
d r t d r t d r t
b b b b r t
dt dt dt

+ + + +
Trong : r(t) l tn hiu vo, c(t) l tn hiu ra
a
i
( 0, i n ), b
j
( 0, j m ) l cc thng s ca h thng; a
0
0, b
0
0
n l bc ca h thng
y l phng trnh vi phn khng thun nht nn nghim tng qut c dng :
c(t) = c
o
(t) + c
q
(t)
Trong : c
o
(t) l nghim ring ca phng trnh c v phi, c trng cho qu
trnh xc lp, l tr s ca i lng cn iu khin v lun n nh.
c
q
(t) l nghim tng qut ca phng trnh khng c v phi, c trng
cho qu trnh qu .
Do , tnh n nh ca h ch ph thuc vo c
q
(t), v dng tng qut ca n l :
c
q
(t) =
1
i
n
p t
i
i
e
Trong :
i
l h s c xc nh bi cc iu kin ban u v cu trc, tham

s ca h.
p
i
l nghim th i ca phng trnh c tnh :
1
0 1
( ) ... 0
n n
n
A s a s a s a
+ + +
Nghim p
i
c th c vit di dng :
i i i
p j t
H thng n nh nu :
lim ( ) 0
qd
t
c t
H thng khng n nh nu :
lim ( )
qd
t
c t
Kho st tnh n nh ca h thng theo nghim p

i
ta thu c kt qu :
i i
i
0 0
0 2 os( )
lim
0
0
i
i
t
i
t
i
i
Me c t
<
'
>
Nh vy, tnh n nh ca h thng ch ph thuc vo du ca phn thc nghim

ca phng trnh c tnh.
- Nu tt c cc nghim ca phng trnh c tnh h thng u c phn thc m
th h thng n nh.
15
H n nh
H bin gii n nh
H khng n nh
- Ch cn c 1 nghim ca phng trnh c tnh c phn thc bng 0 cn cc
nghim khc c phn thc m th h bin gii n nh.
- Ch cn 1 nghim ca phng trnh c tnh c phn thc dng th h thng
khng n nh.
* Bi tp thc hnh
Xt tnh n nh ca h thng m ta xc nh c trn.
Hm truyn t ca h thng :
(p)=
Phng trnh c tnh ca h thng l :
A(p)= )
= 85p
2
+ 22p + 1 = 0
Gii phng trnh c tnh ta thu c 2 nghim l :
= - v = -
Tt c cc nghim ca phng trnh c tnh u c phn thc m nn h thng
n nh.
2.Cc tiu chun n nh i s
2.1. iu kin cn
iu kin cn h thng n nh l tt c cc h s ca phng trnh c trng
phi khc 0 v cng du.
2.2. Tiu chun n nh Routh
Pht biu : iu kin cn v tt c cc nghim ca phng trnh c trng
nm bn tri mt phng phc l tt c cc phn t nm ct 1 ca bng Routh u
dng. S ln i du ca cc phn t ct 1 ca bng Routh bng s nghim nm
bn phi ca mt phng phc.
Tiu chun Routh c p dng xt tnh n nh cho c h h v h kn vi
phng trnh c tnh bc bt k.
xt tnh n nh ca h thng theo tiu chun Routh th ta cn thnh lp bng
Ruth theo cc quy tc sau :
- Bng Routh c n+1 hng ( vi n l bc cao nht ca phng trnh c trng ).
- Hng 1 ca bng Routh ch gm cc h s c ch s chn.
- Hng 2 ca bng Routh ch gm cc h s c ch s l.
- Phn t hng i ct j ca bng Routh ( i 3 ) c tnh theo cng thc :
2, 1 1, 1 ij i j i i j
c c c
+ +

2,1
1,1
i
i
i
c
c
*Bi tp thc hnh

16
H thng c phng trnh c trng l :
A(p) = 85 p
2
+ 22p + 1 = 0
Bng Routh
p
2
85 1
22 0
1- 0 = 1
V tt c cc phn t ct 1 bng Routh u dng nn tt c cc nghim ca
phng trnh c tnh u nm bn tri mt phng phc, do h thng n nh.
2.3. Tiu chun n nh Hurwitz
Pht biu : iu kin cn v h thng n nh l tt c cc nh thc con
cha ng cho ca ma trn Hurwitz u dng.
Tiu chun n nh Hurwitz c p dng cho c h h v h kn.
xt tnh n nh ca h thng theo tiu chun Hurwitz ta cn thnh lp ma trn
Hurwitz theo cc quy tc :
- Ma trn Hurwitz l ma trn vung cp
n n
.
- ng cho chnh ca ma trn Hurwitz l cc h s t a
1
n a
n
( vi n l s bc
cao nht ca phng trnh c tnh ).
- Hng l ca ma trn Hurwitz gm cc h s c ch s l theo th t tng dn nu
bn phi ng cho v gim dn nu bn tri ng cho.
- Hng chn ca ma trn Hurwitz gm cc h s c ch s chn theo th t tng
dn nu bn phi ng cho v gim dn nu bn tri ng cho.
Ma trn Hurwitz :
1 3 5 7
0 2 4 6
1 3 5
0 2 4
... 0
... 0
0 ... 0
0 ... 0
... ... ... ... ...
0 ... ... ... ...
n
a a a a
a a a a
a a a
a a a
a
1
1
1
1
1
1
1
1
1
]
*Bi tp thc hnh
H thng c phng trnh c trng :
A(p) = 85p
2
+ 22p + 1 = 0
Ta c ma trn Hurwitz :
=
17
Cc nh thc :
= = 22
= = =22x1 -85x0 = 22
Ta thy tt c cc nh thc con cha ng cho ca ma trn Hurwitz u dng
nn h thng n nh.
3. Tiu chun n nh tn s
3.1. Nguyn l gc quay
Xt h thng iu khin tuyn tnh c phng trnh c tnh :
1
0 1
( ) ... 0
n n
n
A s a s a s a
+ + +
Phng trnh c n nghim p
i
nn c th vit di dng :
0 1 2
( ) ( )( )...( ) 0
n
A s a s p s p s p
Vi p
i
l cc nghim ca phng trnh c tnh.
Thay
s j
vo A(s) ta c :
0 1 2
( ) ( )( )...( ) 0
n
A j a j p j p j p
* Nguyn l gc quay : H thng bc n c m nghim phi v ( n - m ) nghim tri
c vect a thc c tnh tn s
( ) A j
s quay mt gc l (n-2m)/2 vng kn theo
chiu ngc chiu kim ng h khi tn s
bin thin t
n
+
.
3.2. Tiu chun n nh Mikhailov
Pht biu : iu kin cn v h tuyn tnh n nh l biu vect a thc
c tnh
( ) A j
xut pht t na trc thc dng ti
bng khng, phi quay n

gc phn t theo chiu ngc chiu kim ng h khi
bin thin t 0 n
+
, vi
n l bc ca phng trnh c tnh ca h thng.
Tiu chun ny c p dng cho c h h v kn vi phng trnh c tnh bt
k.
Cch xy dng biu Mikhailov :
- Thay
s j
vo phng trnh c tnh sau tch phn thc v phn o
( ) ( ) Q( ) A j P j +
- Cho
bin thin t 0 n
+
, ta v c vect c tnh
( ) A j
.
3.3. Tiu chun n nh Nyquist
Tiu chun ny p dng xt cho h thng kn vi phn hi (-1) da vo c
im ca c tnh tn s h thng h.
18
0
0
GM
M
>
'
>

Pht biu : H thng kn G
k
(s) n nh nu ng cong Nyquist ca h h G(s)
bao im (-1, j0)
2
l
vng theo chiu dng ( ngc chiu kim ng h ) khi
bin
thin t 0 n
+
, trong l l s cc ca h h G(s) nm bn phi mt phng
phc.
Nh vy nu h thng n nh trng thi h, s n nh trng thi kn nu biu
Nyquist khng bao im (-1, j0) trn mt phng phc.
Biu Nyquist ( ng cong Nyquist ) : l th biu din c tnh tn s
( ) G j
trong h to cc khi
thay i t 0 n
+
.
p dng tiu chun ny ta lm theo cc bc sau :
- Xt tnh n nh ca h h. Nu h h khng n nh ta phi xem xt phng
trnh c tnh c bao nhiu nghim c phn thc dng l . C th dng tiu chun
Routh hoc gii trc tip phng trnh c tnh.
- V c tnh
( ) G j
, xc nh s vng bao ca n vi (-1, j0).
- Kt lun h kn c n nh hay khng.
3.4. Tiu chun n nh Bode
Tng t tiu chun n nh Nyquist th tiu chun ny cng dng xt tnh n
nh ca h kn c phn hi (-1). Tuy nhin, tiu chun Nyquist th s dng biu
Nyquist xt tnh n nh cn tiu chun Bode li s dng biu Bode xt tnh
n nh.
Biu Bode l hnh v gm hai thnh phn :
- Biu Bode bin : th biu din mi quan h gia logarith ca p ng
bin
( ) L
theo tn s
.
( ) 20lg ( ) L M
Trong :
( ) L
l p ng bin tnh theo n v dB ( decibel ).
- Biu Bode pha : th biu din mi quan h gia p ng pha
( )
theo
tn s
.
C hai th trn u c v trong h to vung gc vi trc honh
chia
theo thng logarith c s 10.
Pht biu : H thng kn G
k
(s) n nh nu h thng h G(s) c d tr bin v
d tr pha dng.
h thng n nh
Trong : GM l d tr bin
M l d tr pha
4. Phng php qu o nghim s
Cho h thng c phng trnh c tnh :
19
0
0
( ) 1
( ) (2 1)
G s
G s l

'
+

1
0 1
( ) ... 0
n n
n
A s a s a s a
+ + +
Gi s trong cc tham s ca phng trnh c mt tham s c th thay i lin tc
t 0 n
+
, khi ng vi mi gi tr ca tham s th phng trnh c tnh li
c mt b nghim s ring. Tp hp tt c cc nghim ca phng trnh c tnh to
thnh ng qu o nghim s.
nh ngha : Qu o nghim s l tp hp tt c cc nghim ca phng trnh
c tnh ca h thng khi c mt thng s no ca h thay i t 0 n
+
.
Bng cch quan st qu o nghim s th ta c th nhn thy qu o nghim s
no bn tri trc o th h thng s n nh, cn nhng qu o nghim s nm
bn phi trc o th h thng khng n nh. T ta c th xc nh c khong
ca thng s thay i h thng n nh.
Phng php ny thng dng cho h s bin i l h s khuych i ca h
thng.
* Quy tc v qu o nghim s
v qu o nghim s, trc tin ta phi bin i tng ng phng trnh
c tnh v dng :
( )
1 0
( )
N s
K
D s
+
Trong : K l thng s thay i.
t
0
( )
( )
( )
N s
G s K
D s
.
Gi
n
l s cc ca
0
( ) G s
,
m
l s zero ca
0
( ) G s
.
Ta c iu kin bin v iu kin pha :
iu kin bin
iu kin pha
Cc quy tc v qu o nghim s :
- Quy tc 1 : S nhnh ca qu o nghim s bng vi s bc ca phng trnh
c tnh v bng s cc ca
0
( ) G s
, tc l c
n
nhnh.
- Quy tc 2 : Khi 0 K cc nhnh ca qu o nghim s xut pht t cc cc
ca
0
( ) G s
. Khi K tin n
+
th
m
nhnh ca qu o nghim s tin n
m
zero
ca
0
( ) G s
,
n m
nhnh cn li tin n
theo cc tim cn xc nh bi quy tc 5

v 6.
- Quy tc 3 : Qu o nghim s i xng qua trc thc.
- Quy tc 4 : Mt im trn trc thc thuc v qu o nghim s nu tng s cc
v zero ca
0
( ) G s
bn phi n l mt s l.
- Quy tc 5 : Gc to bi cc ng tim cn ca qu o nghim s vi trc thc
xc nh bi
20
(2 1)
( 0, 1, 2,...)
l
l
n m
+
t t
- Quy tc 6 : Giao im gia cc tim cn vi trc thc l im A c to xc

nh bi
1 1
n m
i i
i i
p z
OA
n m

Trong :
i
p
v
i
z
l cc cc v zero ca
0
( ) G s
.
- Quy tc 7 : im tch nhp ( nu c ) ca qu o nghim s nm trn trc thc
v l nghim cu phng trnh :
0
dK
ds

- Quy tc 8 : Giao im ca qu o nghim s vi trc o c th xc nh bng
mt trong hai cch sau :
+ p dng tiu chun Routh-Hurwitz.
+ Thay
s j
vo phng trnh c tnh, cn bng phn thc v phn o s
tm c giao im vi trc o v gi tr K .
- Quy tc 9 : Gc xut pht ca cc qu o nghim s ti cc phc
i
p
c xc
nh bi
1
1
1
180 arg( ) arg( )
m n
o
j j j j i
i
i
j
p z p p
+

- Quy tc 10 : Tng cc nghim l hng s khi K thay i t 0 n
+
.
- Quy tc 11 : H s khuych i dc theo qu o nghim s c th xc nh t
iu kin bin
( )
1
( )
N s
K
D s

T qu o nghim s ta thy qu o nghim s ca h thng nm bn tri trc
o, do h thng n nh.
5. im cc ( POLE ) v im khng ( ZERO )
Cho h thng iu khin t ng c hm truyn t c m t nh sau :
1
0 1 1
1
0 1 1
... ( ) ( )
( )
( ) ... ( )
m m
m n
n n
n n
b s b s b s b C s B s
G s
R s a s a s a s a A s
+ + + +

+ + + +
Nghim cc ( Pole ) l nghim ca phng trnh
( ) 0 A s
. Phng trnh ny c
n

nghim, do h thng c
n
nghim cc
i
p
( Pole ) vi
1, 2,..., i n
.
Zero l cc nghim ca phng trnh
( ) 0 B s
. Phng trnh c
m
nghim (
m n <
)
nn h thng c
m
nghim zero j
z
vi
1, 2,..., j m
.
6.Bi tp thc hnh
21
Tm nghim cc v nghim zero ca hm truyn t ca i tng xc nh
c trn.
Ta c hm truyn t ca i tng : (p)=
Gii cc phng trnh ta thu c kt qu sau :
H thng c 2 im cc l :
H thng khng c im zero.
PHN III.TNG HP B IU KHIN P,PI,PID H C
CHT LNG TT NHT
1.C s l thuyt v cc khu P,PI,PID v b iu khin PID
1.1.Khu t l :
i khi cn c gi l li lm thay
i gi tr u ra, t l vi gi tr sai s hin
ti. p ng t l c th c iu chnh
bng cch nhn sai s vi mt hng s
K
p
, c gi l li t l.
Khu t l c cho bi:
trong
P
out
: tha s t l ca u ra
K
p
: li t l, thng s iu chnh Hnh3.1:Khu t l
22
e: sai s = SP PV
t: thi gian hay thi gian tc thi (hin ti)
li ca khu t l ln l do thay i ln u ra m sai s thay i nh. Nu
li ca khu t l qu cao, h thng s khng n nh. Ngc li, li nh l do p
ng u ra nh trong khi sai s u vo ln, v lm cho b iu khin km nhy,
hoc p ng chm. Nu li ca khu t l qu thp, tc ng iu khin c th s
qu b khi p ng vi cc nhiu ca h thng.
1.2.Khu tch phn
Phn phi ca khu tch phn (i khi cn gi l
reset) t l thun vi c bin sai s ln
qung thi gian xy ra sai s. Tng sai s
tc thi theo thi gian (tch phn sai s)
cho ta tch ly b c hiu chnh
trc . Tch ly sai s sau c
nhn vi li tch phn v cng vi tn
hiu u ra ca b iu khin. Bin
phn phi ca khu tch phn trn tt c
tc ng iu chnh c xc nh bi
li tch phn, K
i
.
Tha s tch phn c cho bi:
Hnh3.2:Khu tch phn
trong
I
out
: tha s tch phn ca u ra
K
i
: li tch phn, 1 thng s iu chnh
e: sai s = SP PV
t: thi gian hoc thi gian tc thi (hin ti)
: mt bin tch phn trung gian
Khu tch phn (khi cng thm khu t l) s tng tc chuyn ng ca qu trnh ti
im t v kh s d sai s n nh vi mt t l ch ph thuc vo b iu khin.
Tuy nhin, v khu tch phn l p ng ca sai s tch ly trong qu kh, n c th
khin gi tr hin ti vt l qua gi tr t (ngang qua im t v to ra mt lch
vi cc hng khc
23
1.3.Khu vi phn
Tc thay i ca sai s qua trnh
c tnh ton bng cch xc nh
dc ca sai s theo thi gian (tc
l o hm bc mt theo thi gian)
v nhn tc ny vi li t l
K
d
. Bin ca phn phi khu vi
phn (i khi c gi l tc )
trn tt c cc hnh vi iu khin
c gii hn bi li vi phn, K
d
.
Tha s vi phn c cho bi:
Hnh3.3:Khu vi phn
Trong
D
out
: tha s vi phn ca u ra
K
d
: li vi phn, mt thng s iu chnh
e: Sai s = SP PV
t: thi gian hoc thi gian tc thi (hin ti)
Khu vi phn lm chm tc thay i ca u ra b iu khin v c tnh ny l
ang ch nht t ti im t ca b iu khin. T , iu khin vi phn
c s dng lm gim bin vt l c to ra bi thnh phn tch phn v
tng cng n nh ca b iu khin hn hp. Tuy nhin, php vi phn ca mt
tn hiu s khuch i nhiu v do khu ny s nhy hn i vi nhiu trong sai
s, v c th khin qu trnh tr nn khng n nh nu nhiu v li vi phn
ln. Do mt xp x ca b vi sai vi bng thng gii hn thng c s dng
hn. Chng hn nh mch b sm pha.
1.4. PID
PID l b iu khin t l - tch vi phn (Proportional-Integral-Derivative)
B iu khin PID c s dng rng ri iu khin i tng SISO theo
nguyn tc sai lch:
24
Hnh 3.4;B iu khin PID
nh ngha rng u(t) l u ra ca b iu khin, biu thc cui cng ca gii thut
PID l:
Nu e(t) cng ln th thng qua thnh phn t l lm cho x(t) cng ln (vai tr
ca khu P).
Nu e(t) cha bng khng th thng qua thnh phn tch phn, PID v to tn hiu
iu chnh (vai tr ca khu I).
Nu e(t) thay i ln th thng qua thnh phn vi phn, phn ng thch hp x(t)
cng nhanh ( vai tr ca khu D).
B iu khin PID c m t bi hm truyn t sau:
PID p D
i
1
W (p) k (1 T p)
Tp
+ +
k
p
l h s khuych i
T
i
hng s tch phn
T
D
hng s vi phn
Trong cc thng s iu chnh l:
li t l, K
p
gi tr cng ln th p ng cng nhanh do sai s cng ln, b khu t l
cng ln. Mt gi g li t l qu ln s dn n qu trnh mt n nh v
dao ng.
li tch phn, K
i
gi tr cng ln ko theo sai s n nh b kh cng nhanh. i li l vt l
cng ln: bt k sai s m no c tch phn trong sut p ng qu phi
c trit tiu tch phn bng sai s dng trc khi tin ti trng thi n
nh.
25
li vi phn, K
d
gi tr cng ln cng gim vt l, nhng li lm chm p ng
qu v c th dn n mt n nh do khuch i nhiu tn hiu trong php vi
phn sai s.
Ch tiu cht lng
Thay i tham s
Tng
P
K
Tng
I
K
Tng
D
K
Thi gian p ng Gim Gim t Gim t
Thi gian qu Thay i t Gim Gim
qu iu chnh Tng Tng Gim t
H s tt dn Thay i t Tng Gim
Sai lch tnh Gim Trit tiu Thay i t
Tn hiu iu khin Tng Tng Tng
d tr n nh Gim Gim Tng
Bn vng vi nhiu o Gim Thay i t Gim
B iu khin PID c s dng rt rng ri trong thc t iu khin nhiu
loi i tng khc nhau nh: nhit l nhit, tc ng c, mc chy lng trong
bn chaDo n c kh nng lm chit tiu sai s xc lp ,tng tc p ng qu
,gim vt l nu cc thng s ca b iu khin dc chn la thch hp .Do
tnh thng dng ca n nn nhiu hng sn xut thit b iu khin cho ra i cc
b iu khin PID thng mi rt tin dng.Trong thc t cc phng php thit k
b iu khin PID dng QNS,biu Bode hay phng php gii tich rt t c
s dng do s kh khn trong vic xy dng hm truyn ca i tng .Phng php
ph bin nht chn thng s cho cc b iu khin PID thng mi hin nay l
phng php Zeigler-Nichols.
2. Thit k h thng PID
2.1. Phng php gii tch
y l phng php tng i n gin, da vo cc yu cu cht lng ca u
ra nh h s vn tc, cc cp nghim phc, vt l hay thi gian qu ... xc
nh cc thng s ca b iu khin PID. Tuy nhin phng php ny t c s
dng do gp kh khn trong vic xy dng hm truyn ca i tng.
2.2. Chi nh inh b iu khin theo phng phap thc nghim vi ham
truyn:
(p)=
26
Hnh 3.5 : S iu khin phn hi khng tr
Hnh 3.6: PID khng c tr vi Gain =20 ;Gain1=0,01;Gain2=5 ;
27
Hnh 3.7 : S iu khin phn hi c tr
Hnh 3.8: PID c tr vi Gain =0,0001 ;Gain1=0,00002;Gain2=0,01;
2.3.Phng php Zeigler-Nichols.
Phng php Zeigler-Nichols l phng php thc nghim thit k b iu khin
P,PI hoc PID bng cc da vo p ng qu ca i tng i khin .B iu
khin PID cn thit k c hm truyn l:
GC(s)= K p+ + K = (1 + +T )
Zeigler vaf Nichols a ra hai cch chn thng s b iu khin PID ty theo c
im ca i tng.
Cch 1:Da vo p ng qu ca h h ,p dng cho cc i tng c p ng
i tng c p ng i vi tn hiu vo l hm nc c dng ch S .
28

Hnh
3.9:p ng nc ch h h c hinh S
Thng s b iu khin PID c la chn nh sau:
Thng s
B K
KP T1 TD
P T2/(T1.K) 0
PI 0,9T2/(T1.K) T1/0,3 0
PID 1,2T2/(T1.K) 2T1 0,5T1

*Bi tp thc hnh

Thng s
B K
KP T1 TD
P 0,001470 0
PI 0,001323 56,6666 0
PID 0,001765 34 8,5

Cch 2:Da vo p ng qu ca h kn ,p dng cho cc i tng c khu tch
phn l tng .V d nh mc cht lng trong bn cha ,v tr h truyn ng dng
ng cp ng qu (h h)ca cc i tng c khu tch phn l tng
khng c dng nh hnh .. m tng n v cng.i vi cc i tng thuc loi ny
ta chn thng s b iu khin PID da vo p ng qu ca h kn nh hnh
Tng dn h s khuych i K ca h kn hnh n gi tr gii hn Kgh,khi
p ng ra ca h kn trng thi xc lp l dao ng n nh vi chu k Tgh.
29
Thng s b iu khin P,PI,PID dc chn nh sau:
Thng s
B K
KP T1 TD
P 0,5Kgh 0
PI 0,45Kgh 0,83Tgh 0
PID 0,6Kgh 0,5Tgh 0,125Tgh
2.4. S dng Matlab thit k
Ngoi mt s cch nu trn ta c th s dng phn mm Matlab thit k
b iu khin PID.
Sisotool l cng c gip thit k h thng iu khin tuyn tnh hi tip mt u
vo, mt u ra. Cc khu hiu chnh nh sm pha, tr pha, sm tr pha, P, PI, PD,
PID u c th thit k c vi s tr gip ca cng c ny. Tuy nhin, Sisotool
khng phi l cng c thit k t ng m ch l b cng c tr gip thit k v vy
ngi thit k phi hiu r l thuyt iu khin t ng, nm c bn cht ca tng
khu hiu chnh th mi s dng c cng c ny.
* Trnh t thit k :
Bc 1 : Khai bo i tng iu khin
Sisotool khng nhn dng c cc khu chm tr v vy vi cc i tng c
khu chm tr th ta cn khai trin Taylor ly hm gn ng ca khu chm tr
( ch cn ly n bc 3 ).
30
Hnh 3.10: p ng nc ca h kn khi gh
K K
Khai bo :
(p)=
>> L=72;
>> [num,den]=pade(L,3);
>> Wtre=tf(num,den);
>> Wdt=tf(200,[85 22 1])*Wtre
Transfer function:
-200 s^3 + 33.33 s^2 - 2.315 s + 0.0643
------------------------------------------------------------------
85 s^5 + 36.17 s^4 + 5.65 s^3 + 0.4486 s^2 + 0.01865 s + 0.0003215
>> H=tf(1,1);
Bc 2 : M cng c Sisotool
>> sisotool
Xut hin hp thoi Control
and Estimation Tools Manager v
hp thoi SISO Design for SISO
Design Task.
Bc 3 : Nhp i tng iu
khin vo Sisotool
Trong hp thoi Control and
Estimation Tools Manager chn
th Archtiture :
Nhp d liu cho i tng iu khin : Chn [System Data] [Browse].
Trong th Import model for ta
chn cc khi G, H, C, F trong h
thng iu khin nhp d liu.
+ i tng iu khin
(plant) G: Wdt
+ Cm bin (sensor) H : H
+ B lc (prefilter) : 1.
+ Khu hiu chnh C : cha
thit k nn bng 1.
Chn [Import][OK].
Chn hp thoi SISO Design
for SISO Design Task lc ny
31
xut hin cc th c tnh ca h thng sau khi c nhp d liu : Qu o
nghim s ca h thng m ( OL1 ), biu Bode ca h thng m ( c d tr
pha v d tr bin ), biu Bode ca h kn ( CL1 ).
xem p ng qu ca h kn ta chn [Analsis] [Response to Step
Command]. Ta thy h kn khng n nh.
Nhy phi vo mt biu chn [Add Pole/Zero] ta thy tt cc cc khu hiu
chnh thng dng nh hiu chnh sm pha ( Lead ), tr pha ( Lag ), sm tr pha
( Notch ).. c th c thit k nh s h tr ca SISO Design for SISO Design Task.
Bc 4 : Thit k b iu khin P, PI, PID
Tr li hp thoi Control and Estimation Tools Manager [Automated Tuning],
trong th [Design method] chn [PID Tuning].

Th Compensator hin gi tr ca b iu chnh C ( hin ti bng 1 ).
Chn loi ca b iu khin :
+ P :
P
C K
+ PI :
I
P
K
C K
s
+
+ PID :
I
P D
K
C K K s
s
+ +
+ PIDF :
1
I D
P
K K s
C K
s
s
N
+ +
+
* Thit k b iu khin P
Ta chn b iu khin P.
Chn thut ton t th [Tuning algorithm] :
32
+ Singular frequency based tuning : iu chnh da trn tn s.
+ Ziegler-Nichols open loop : b iu khin c thit lp da trn m hnh
u tin vi thi gian chm tr xp x ca i tng. Phng php ny s dng
phng php thit k Chien-Hrones-Resnick (CHR) vi qu iu chnh 20%.
+ Ziegler-Nichols closed loop : cc thng s ca b iu khin c ly t
bng tra cu ca Ziegler-Nichols, da trn li gii hn gh
K
v tn s gh
T
ca h
thng.
Phng php ny khng p dng cho m hnh u tin hoc m hnh th hai ca
h thng vi thi gian chm tr. Nu s dng phng php ny cho cc trng hp
k trn th cc thut ton s t ng iu chnh sang phng php Ziegler-Nichols
open loop.
+ Internal Model Control (IMC) based tuning : b iu khin c thit lp t
b iu khin y IMC.
Ta chn thut ton Ziegler-Nichols closed loop.
Chn cng thc iu chnh t th [Tuning formula] : ( Lu bc ny vi cch
chn thut ton trn khc nhau th c cc la chn cch thit k PID khc nhau ).
+ Ziegler-Nichols.
+ Tyreus-Luyben.
+ Astrom-Hagglund.
Ta chn cng thc iu chnh ca Ziegler-Nichols.
Chn [Update Compensator].
* Thit k b iu khin P
Dng thut ton Ziegler-Nichols closed loop, chn tip cng thc iu chnh
Ziegler-Nichols.
Trn th Compensator hin gi tr ca b iu chnh
C = 0.0029304
Ta s c c th sau:
33
Hnh 3.11: Hiu chnh P bng Ziegler-Nichols
Nhn xt :
+ H thng n nh.
+ qu iu chnh : 58.9
+ Thi gian qu : 539s
Ta nhn thy thi gian qu ln, qu iu chnh cao vt qu
yu cu cho php v vy ta hiu chnh li thng s ca b iu khin.
Ta chn thut ton Internal Model Control (IMC) based tuning v thay i
C=1.6799e - 005
Ta s c c th sau:
Nhn xt :
+ H thng n nh.
+ qu iu chnh : 0.0222%
Nh vy sau khi hiu ch li ta c c trng thi ti u hn ca h thng.
V y cng l thng s ti u nht cho b hiu chnh P.
34
Hnh 3.12: Hiu chnh P bng Internal Model Control
* Thit k b iu khin PI
Ziegler-Nichols.
C=1.5885e - 005
Ta s c c th sau:
Nhn xt :
+ H thng n nh.
+ qu iu chnh : 0%
+ Thi gian qu : 1.4e+003s
Ta nhn thy thi gian qu ln, qu iu chnh cao vt qu yu cu cho
php v vy ta hiu chnh li thng s ca b iu khin.
C= - 9.729e+ 012
35
Hnh 3.13: Hiu chnh PI bng Ziegler-Nichols
Hnh 3.14: Hiu chnh PI bng Internal Model
Control Control
Ta s c c th sau:
Nhn xt :
+ H thng n nh.
+ qu iu chnh : 0.00151%
V y cng l thng s ti u nht cho b hiu chnh PI.

36
* Thit k b iu khin PID
Ziegler-Nichols.
C = 3.8123e - 005
Ta s c c th sau:
Nhn xt :
+ H thng n nh.
+ qu iu chnh : 1.19%
Ta nhn thy thi gian qu ln, qu iu chnh cao vt qu yu cu cho
php v vy ta hiu chnh li
thng s ca b iu khin.
C= 2.545e - 005
Ta s c c th sau:
37
Hnh 3.15: Hiu chnh PID bng Ziegler-Nichols
Nhn xt :
+ H thng n nh.
+ qu iu chnh : 2.66e - 013%
V y cng l thng s ti u nht cho b hiu chnh PID.
38
Hnh 3.16: Hiu chnh PID bng Internal Model Control
PHN IV.TI LIU THAM KHO
[1] Nguyn Thng Ng; L thuyt t ng thng thng v hin i - Quyn
1 h tuyn tnh; NXB Khoa hc v k thut, H Ni, 2005.
[2] Nguyn Vn Ho; C s l thuyt iu khin t ng; NXB Khoa hc v
k thut, H Ni, 1998.
[3] Phm Cng Ng; L thuyt iu khin t ng; NXB Khoa hc v k
thut, H Ni, 1996.
[4] Nguyn Th Phng H; L thuyt iu khin t ng; NXB Khoa hc v
k thut, H Ni,1999.
39

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n l thuyt iu khin t ng_iu Qu ng_3_CNT_H in Lc

Trong : s l bin phc ( bin Laplace ),

l h s c xc nh bi cc iu kin ban u v cu trc, tham

Kho st tnh n nh ca h thng theo nghim p

Nh vy, tnh n nh ca h thng ch ph thuc vo du ca phn thc nghim

*Bi tp thc hnh

bng khng, phi quay n

n l thuyt iu khin t ng_iu Qu ng_3_CNT_H in Lc

n l thuyt iu khin t ng_iu Qu ng_3_CNT_H in Lc

theo cc tim cn xc nh bi quy tc 5

- Quy tc 6 : Giao im gia cc tim cn vi trc thc l im A c to xc

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