Bi tp di mn hc

L thuyt iu khin t ng
I.Thit k h thng iu khin t ng c:
-Khu iu chnh PID c hm truyn:
WPID(s)=Kp(1+

1
+Td.s)
Ti.s

-i tng iu khin l mt khu qun tnh bc nht v khu tr c hm

truyn :
WT(s)= e-Ls/(Ts+1)
-Cc tham s L,T ca i tng iu khin: L=9;T=15
*S khi h thng iu khin nh sau:
Kp

Input

Ki/s

Output

eLs

T.s+1

KD.s

Ki=Kp/Ti;
Kd=Kp.Td;
II.Tnh ton cc tham s Kp,Ti,Td m bo tnh n nh ca h thng:
-Theo Ziegler-Nichols th m bo tnh n nh ca h thng trn cn c
cc tham s Kp,Ti,Td tho mn bng sau ng vi tng b iu khin:
Cc b iu
khin
P

Kp

Ti

Td

T/L

PI
0.9T/L
L/0.3
0
PID
1.2T/L
2L
0.5L
III.Xt tnh n nh.Tm cc im cc v im khng.
Kho st cht lng ca h thng vi tng khu iu khin.
1.Khu iu khin P :
a) Chng trnh chy trn MATLAB:
>>L=9;T=15;Kp=T/L;n=3;
>> [n,d]=pade(L,n)

n=
-1.0000 1.3333 -0.7407 0.1646
d=
1.0000 1.3333 0.7407 0.1646
>> Wtre=tf(n,d)
Transfer function:
-s^3 + 1.333 s^2 - 0.7407 s + 0.1646
-----------------------------------s^3 + 1.333 s^2 + 0.7407 s + 0.1646
>> Wdt=tf(1,[T 1])*Wtre
Transfer function:
-s^3 + 1.333 s^2 - 0.7407 s + 0.1646
--------------------------------------------15 s^4 + 21 s^3 + 12.44 s^2 + 3.21 s + 0.1646
>> Wpid=Kp;
>> W=feedback(Wpid*Wdt,1)
Transfer function:
-1.667 s^3 + 2.222 s^2 - 1.235 s + 0.2743
-----------------------------------------------15 s^4 + 19.33 s^3 + 14.67 s^2 + 1.975 s + 0.439
>> [p z]=pzmap(W)
p=
-0.5895 + 0.6817i
-0.5895 - 0.6817i
-0.0549 + 0.1817i
-0.0549 - 0.1817i
z=
0.4086 + 0.3899i

0.4086 - 0.3899i
0.5160
>> step(W)
MATLAB cho kt qu sau:

Hnh 1
-Nhn thy rng vi Kp nhn gi tr trong bng Ziegler-Nichols th h
thng n nh vi thi gian qu l 77.7sec
v ch tiu cht lng max= 42% >20%
b)Chnh nh li cc tham s ca lut iu khin P
Nh vy vi Kp = T/L cha t mc ch tiu yu cu l max di 20%.Ta
chnh li gi tr ca Kp bng 0.5*(T/L) th c qu trnh qu ca h
thng v cc im cc im khng mi nh sau:(Hnh 2)
T=15;L=9;Kp=1.2*(T/L);n=3;Ti=2*L;Td=0.5*L;

Hnh 2
T th trn ta c max=4.25% < 20% v thi gian qu l 59sec<77.7sec
(Thi gian qu thc nghim Z-N).Vy vi Kp=0.5*(T/L) l t yu cu.
-Cc im cc v cc im khng mi:
>> [p z]=pzmap(W)
p=
-1.0096
-0.2899 + 0.1343i
-0.2899 - 0.1343i
-0.0771 + 0.0474i
-0.0771 - 0.0474i

z=

0.4086 + 0.3899i
0.4086 - 0.3899i
0.5160
-0.4208
-0.0792
2.Khu iu chnh PI
a) Chng trnh chy trn Matlab:
>> L=9;T=15;Kp=0.9*(T/L);Ti=L/0.3;n=3;
>> [n,d]=pade(L,n)
n=
-1.0000 1.3333 -0.7407 0.1646
d=
1.0000 1.3333 0.7407 0.1646
>> Wtre=tf(n,d)
Transfer function:
-s^3 + 1.333 s^2 - 0.7407 s + 0.1646
-----------------------------------s^3 + 1.333 s^2 + 0.7407 s + 0.1646
>> Wdt=tf(1,[T 1])*Wtre
Transfer function:
-s^3 + 1.333 s^2 - 0.7407 s + 0.1646
--------------------------------------------15 s^4 + 21 s^3 + 12.44 s^2 + 3.21 s + 0.1646
>> Wpid=Kp*tf([Ti 1],[Ti 0])
Transfer function:
45 s + 1.5
---------30 s

>> W=feedback(Wpid*Wdt,1)
Transfer function:
-45 s^4 + 58.5 s^3 - 31.33 s^2 + 6.296 s + 0.2469
-----------------------------------------------------------450 s^5 + 585 s^4 + 431.8 s^3 + 64.96 s^2 + 11.23 s + 0.2469
>> [p z]=pzmap(W)
p=
-0.5801 + 0.6553i
-0.5801 - 0.6553i
-0.0574 + 0.1592i
-0.0574 - 0.1592i
-0.0250
z=
0.4086 + 0.3899i
0.4086 - 0.3899i
0.5160
-0.0333
>> step(W)
MATLAB cho qu trnh qu nh sau:

Hnh 3
- H thng n nh
- Ch tiu cht lng: max=8.75%
- Thi gian qu :104sec
b)Chnh nh li cc tham s ca lut iu khin PI
-Ta tin hnh chnh nh li cc tham s nh sau: Kp=1;Ti=24:
*
>> step(W)
Qu trnh qu mi nh sau:

Hnh 4
-H thng n nh
-Ch tiu cht lng max=0%<20%
-Thi gian qu :90.4sec<104sec(Thi gian qu tnh theo cc tham
s trong bng thc nghim Z-N)
*Cc im cc v im khng mi:
>> [p z]=pzmap(W)
p=
-0.5630 + 0.5799i
-0.5630 - 0.5799i
-0.0871 + 0.1245i
-0.0871 - 0.1245i
-0.0331

z=
0.4086 + 0.3899i

0.4086 - 0.3899i
0.5160
-0.0455
3.Khu iu chnh PID:
a) Chng trnh chy trn Matlab:
>> L=9;T=15;Kp=1.2*(T/L);Ti=2*L;Td=0.5*L;n=3;
>> [n,d]=pade(L,n)
n=
-1.0000 1.3333 -0.7407 0.1646
d=
1.0000 1.3333 0.7407 0.1646
>> Wtre=tf(n,d)
Transfer function:
-s^3 + 1.333 s^2 - 0.7407 s + 0.1646
-----------------------------------s^3 + 1.333 s^2 + 0.7407 s + 0.1646
>> Wdt=tf(1,[T 1])*Wtre
Transfer function:
-s^3 + 1.333 s^2 - 0.7407 s + 0.1646
--------------------------------------------15 s^4 + 21 s^3 + 12.44 s^2 + 3.21 s + 0.1646
>> Wpid=Kp*tf([Ti*Td Ti 1],[Ti 0])
Transfer function:
162 s^2 + 36 s + 2
-----------------18 s
>> W=feedback(Wpid*Wdt,1)

Transfer function:
-162 s^5 + 180 s^4 - 74 s^3 + 2.667 s^2 + 4.444 s + 0.3292
---------------------------------------------------------108 s^5 + 558 s^4 + 150 s^3 + 60.44 s^2 + 7.407 s + 0.3292
>> [p z]=pzmap(W)
p=
-4.9063
-0.0556 + 0.2906i
-0.0556 - 0.2906i
-0.0746 + 0.0391i
-0.0746 - 0.0391i
z=
0.4086 + 0.3899i
0.4086 - 0.3899i
0.5160
-0.1111 + 0.0000i
-0.1111 - 0.0000i
>> step(W)
*Qu trnh qu :

Hnh 5
-H thng n nh.
-Ch tiu cht lng :max=250% >20%

-Thi gian qu : t=42.4sec

b)Chnh nh li cc tham s ca lut iu khin PID
*Qu trnh qu vi tham s chnh nh: Kp=0.2;Ti=8;Td=1

Hnh 6
-H thng n nh
-Ch tiu cht lng:max=2.42% <20%
-Thi gian qu :t=20.4sec < 42.4sec(Thi gian qu tnh theo tham s
trong bng thc nghim Z-N)
* Cc im cc v cc im khng mi:
p=
-0.4453 + 0.3753i
-0.4453 - 0.3753i
-0.4644
-0.0342 + 0.0244i
-0.0342 - 0.0244i

z=
-0.8536

0.4086 + 0.3899i
0.4086 - 0.3899i
0.5160
-0.1464
IV.Tnh tham s ti u ca b iu khin PID dng hm Least-quares.
1.Hm Least-quares.
*Yu cu ca bi l tm cc tham s Kp,Ki,Kd sao cho tng sai s trong
sut qu trnh qu :

J= e^ 2(t )dt l nh nht (min).

0

*Do h thng xt l n nh nn ta ch xt trong khong thi gian [0 NT]

+ N ln c sai s ta gn bng 0.
+ T thi gian ly mu.
Ei ph thuc vo cc tham s PID

J= e^ 2i( PID)
i =1

2.Cc hm tnh ton cc tham s ti u PID.

a) Hm asignpid:
function assignpid(pid)
assignin('base','Kp',pid(1));
assignin('base','Ki',pid(2));
assignin('base','Kd',pid(3));
*Thc hin gn 3 tham s ca khu PID bng cc tham s Kp,Ki,Kd.
b) Hm yout_1:
function e=yout_1(pid,model,tspan)
opt=simset('solver','ode5');
assignpid(pid);
[t,x,y]=sim('bai_tap',tspan,opt);
e=y-1;
*Thc hin cc chc nng:
-Tnh ra sai s.
-Gn cc tham s.
-T chy ca s Simulink
c) Hm lsqpid:
function pid=lsqpid(pid0,model,tspan)

options=foptions;
options=[1 0.01 0.01];
pid=leastsq('yout_1',pid0,options,[],'bai_tap',tspan);
3.Qu trnh tnh ton trn my:
a)S lc qu trnh tnh:
-Dng 2 ca s Command window &Simulink trong Matlab.
-Vi s kin ban u Simulink s chy v a ra kt qu sai s cho
Command.Command tnh ton v a tr li kt qu thm s PID cho
Simulink.Simulink li chy v a ra tham s...Qu trnh s kt thc khi
mc sai s l khng thay i.
b)Cc bc tin hnh.
*Bc 1:Copy 3 file va to vo th mc Optim/Toolbox/Matlab.
*Bc 2:To m hnh 'bai_tap' trn Simulink:

Hnh 7
>> T=15;L=9;Kp=1.39;Ti=16.5;Td=3;
>>[n,d]=pade(L,3);
>>Wtre=tf(n,d);
>>Wdt=tf(1,[T 1])*Wtre;
>>Wpid=Kp*(1+tf(1,[Ti 0])+tf([Td 0],[1])) ;
>>W=feedback(Wpid*Wdt,1);
>> step(W)
Ca s scope se cho kt qu ra mn hnh :

Hnh 8
-Ly cc gi tr Kp,Ki,Kd chnh nh nhp vo khu PID s c kt qu
trn:(Hnh 8)
-Gn cc tham s trong khu PID l Kp,Ki,Kd.
Thi gian tr l 9s
*Bc 3:Trn ca s Command Window dng 2 lnh sau:
>>pid0=[1.39 0.2 1.56];
>>pid=lsqpid(pid0,' bai_tap',[0 500])
Mn hnh s hin ra kt qu :
> In C:\MATLAB6p5\toolbox\optim\leastsq.m at line 53
In C:\MATLAB6p5\work\lsqpid.m at line 4
f-COUNT RESID STEP-SIZE
GRAD/SD
4 1542.38
1
-111
10
1522.7
0.206
-87.3
1633.72
16 1487.42
0.923 -0.00732
1634.33

25 1486.02
31 1485.96

11.1 -0.0105
70.4185
0.989 9.98e-006
70.4201

LAMBDA

38
45

1485.96
1485.95

2.18 -1.65e-005
2.48 7.21e-007

52 1485.95
1.94 -9.9e-006
59 1485.94
2.73 -1.05e-005
66 1485.92
1.58 8.06e-005
72
1485.9
1.11 -0.000112
79 1485.88
1.65 -6.91e-005
85 1485.87
1.07 8.62e-005
92 1485.86
1.74 -8e-005
99 1485.84
1.56 -4.61e-006
105 1485.82
1.11 -4.2e-005
111 1485.81
1.08 -6.12e-005
117
1485.8
1.22 -4.21e-005
123
1485.8
1.07 2.59e-005
129
1485.8
1.2 -3.22e-005
135
1485.8
1.13 1.38e-005
141
1485.8
1.1 -1.3e-005
147
1485.8
1.29 2.21e-006
153
1485.8
1 5.13e-008
159
1485.8
1.17 4.34e-007
Optimization Terminated Successfully

22.0823
11.0412
3.74873
1.00495
1.00563
1.0088
1.00899
1.01183
0.367525
0.143634
0.151586
0.152571
0.15354
0.153756
0.153987
0.154009
0.154077
0.0770384
0.0770649
0.0385324

pid =
1.7531 0.0609 5.7370
Ca s scope se cho kt qu ra mn hnh :

Hnh 9
Thi gian qu l 40,6 s
qu iu chnh l 4.25%
Kt lun : cc tham s ti u ca h thng l
Kp*= 1.7531
Ki*= 0.0609
Kd*=5.7370