Trng HBK Tp.

HCM Khoa in in T B Mn iu Khin T ng

MN HC : C S T NG BI TP S 3

Cu 1 : Cho h thng hi tip m nh hnh v :

Phn A : Thc hin bng tay. 1.1 Hy thit k khu hiu chnh GC(s) p ng qu ca h thng sau khi hiu chnh thay i khng ng k v c sai s i vi tn hiu vo hm dc l 0.01 Hy thit k khu hiu chnh GC(s) p ng qu ca h thng sau khi hiu chnh tha : KV* = 15, M* 400 , GM* 10 dB. Tnh d tr bin v pha ca h thng sau khi hiu chnh. Cho GC(s) l khu PI, bng phng php Ziegler-Nichols vng kn hy xc nh cc h s KP , KI .

1.2

1.3

Phn B : Thc hin bng Matlab 1.1 + V tn hiu vo hm dc v p ng ra khi cha hiu chnh. Tnh sai s xc lp. + Nhp vo mt gi tr sai s ty . Xut ra hm truyn GC(s) tng ng. + V tn hiu vo hm dc v cc p ng u ra trc v sau khi hiu chnh trn cng th so snh. + V cc QNS trc v sau khi hiu chnh. Nhn xt. + V biu Bode h thng khi cha hiu chnh. Tnh Kv, M, GM. + Nhp vo cc gi tr KV* , M* , GM* ty . Xut ra hm truyn GC(s) tng ng, tnh M, GM sau khi hiu chnh. + V biu Bode h thng trc v sau khi hiu chnh, v biu Bode ca b hiu chnh trn cng th. + T nguyn l Ziegler Nichols vng kn, thc hin bng Matlab tm Kgh v Tgh ri suy ra KP , KI . + V p ng ra trc v sau khi hiu chnh ng vi tn hiu vo hm nc. Nhn xt.

1.2

1.3

Cu 2 : Cho h thng hi tip m nh hnh v :

Phn A : Thc hin bng tay. 2.1 Bng phng php QNS hy thit k khu hiu chnh GC(s) p ng qu ca h thng sau khi hiu chnh tha : POT = 9.5% , tq (5%) = 0.2 s Bng phng php Bode hy thit k khu tr pha GC(s) p ng h thng sau khi hiu chnh tha : KV* = 10, M* 400, GM* 20 dB. Tnh GM ca h thng sau khi hiu chnh. Cho GC(s) = K. Tm K hm truyn vng kn c 1 cc nm bn phi mt phng phc. sai s xc lp bng 0 i vi tn hiu vo hm dc (ramp) th khu GC(s) phi c dng nh th no ?

2.2

2.3

2.4

Phn B : Thc hin bng Matlab 2.1 + V p ng ng ra khi cha hiu chnh ng vi tn hiu vo hm nc. Nhn xt cc gi tr POT v tq (5%). + Nhp vo cc gi tr POT v tq (5%) ty . Xut ra hm truyn GC(s) tng ng. + V tn hiu vo hm nc v cc p ng u ra trc v sau khi hiu chnh trn cng th so snh. + V cc QNS trc v sau khi hiu chnh. Nhn xt. + V biu Bode h thng khi cha hiu chnh. Tnh Kv, M, GM. + Nhp vo cc gi tr KV* , M* , GM* ty . Xut ra hm truyn GC(s) tng ng, tnh M, GM sau khi hiu chnh. + V biu Bode h thng trc v sau khi hiu chnh, v biu Bode ca b hiu chnh trn cng th. + Lp trnh Matlab tm K. V QNS chng t c mt cc nm bn phi mt phng phc. + V p ng ng ra ng vi dng ca khu GC(s) tm c. Nhn xt s khc nhau ca p ng trc v sau khi hiu chnh.
K v nu GC ( s ) = 1 s( s + a)

2.2

2.3

2.4

Cu 3 : Cho h thng c s khi nh hnh bn di. Bit rng G ( s ) =

th h thng kn c cp cc phc vi h s tt = 1 / 2 v tn s dao ng t nhin n = 2 (rad/sec).

Phn A : Thc hin bng tay. 3.1 3.2 Xc nh hm truyn G(s). Tnh vt l v thi gian qu theo tiu chun 5% ca h thng trc khi hiu 2

chnh. 3.3 Thit k GC (s ) sao cho h kn sau khi hiu chnh c p ng qu thay i khng ng k, ng thi sai s xc lp i vi tn hiu vo l hm dc bng 0.01.

Phn B : Thc hin bng Matlab 3.1 + Thit lp quan h gia K, a v , n ri lp trnh sao cho nu nhp vo K, a th suy ra , n v ngc li, nu nhp vo , n th suy ra K, a. + V p ng ng ra i vi tn hiu vo hm nc. Tnh vt l v thi gian qu (TC 5%). Nhn xt kt qu tnh ton v cc gi tr trn th. + V tn hiu vo hm dc v p ng ra khi cha hiu chnh. Tnh sai s xc lp. + Nhp vo mt gi tr sai s ty . Xut ra hm truyn GC(s) tng ng. + V tn hiu vo hm dc v cc p ng u ra trc v sau khi hiu chnh trn cng th so snh. + V cc QNS trc v sau khi hiu chnh. Nhn xt.

3.2

3.3

Cu 4 : Cho h thng c s khi nh hnh bn di. Cho biu Bode ca i tng km theo pha di bi tp.

Phn A : Thc hin bng tay. 4.1 4.2 4.3 Xc nh hm truyn G(s). Tnh sai s xc lp khi tn hiu vo l hm nc n v trc khi hiu chnh Da vo biu Bode, thit k khu hiu chnh GC (s ) sao cho h kn n nh c d tr pha M * 60 0 , sai s xc lp i vi tn hiu vo l hm nc n v bng 0.02. Phn B : Thc hin bng Matlab 4.1 4.2 + Vi hm truyn G(s) tm c, v li biu Bode. Nhn xt. + V p ng ra ng vi tn hiu vo hm nc ca h thng trc khi hiu chnh. Tnh sai s xc lp, kim tra kt qu trn th v. Tnh M, GM. + Nhp vo cc gi tr KP* , M* , GM* ty . Xut ra hm truyn GC(s) tng ng, tnh M, GM sau khi hiu chnh. + V biu Bode h thng trc v sau khi hiu chnh, v biu Bode ca b hiu chnh trn cng th.

4.3