LV 09 CN TDH DVH

I HC THI NGUYN
TRNG I HC K THUT CNG NGHIP

LUN VN THC S K THUT
NGHNH: T NG HA

NGHI N CU NG DNG PHNG PHP
IU KHIN HIN I NNG CAO CHT
LNG IU KHIN CHUYN NG

DNG VN HNG

THI NGUYN 2009
I HC THI NGUYN
TRNG I HC K THUT CNG NGHIP
-----------o0o-----------

LUN VN CAO HC
NGHI N CU NG DNG PHNG PHP IU KHIN HIN I
NNG CAO CHT LNG IU KHIN CHUYN NG

KHOA T SAU I HC

GIO VIN HNG DN

HC VIN

TS. V QUANG VINH

Dng Vn Hng

THI NGUYN 2009
Lun vn tt nghip 1

S ha bi Tr ung t m Hc liu i hc Thi Nguyn ht t p: / / www.lr c- t nu.edu.vn

MC LC
Mc lc 1
.
1
Danh mc hnh v v th
.
4
Li ni u
.
7
Chng mt : Tng quan v h iu khin chuyn ng
..
10
1.1 S lc v h iu khin chuyn ng
.
10
1.2 Cc tnh cht ca h iu khin chuyn ng phi tuyn .
...
11
1.3 Cc phng php iu khin chuyn ng c nghin cu
nhm nng cao cht lng iu khin bm chnh xc .
...
12
1.3.1 Phng php iu khin ng lc hc ngc .
.....
12
1.3.2 Phng php iu khin ng lc hc ngc thch nghi .
....
14
1.3.3 Phng php iu khin thch nghi theo m hnh mu
...........................
17
1.3.4 Phng php iu khin thch nghi gin tip v trc tip
...
18
1.3.5 Phng php iu khin thch nghi theo sai lch
21
1.3.6 Phng php iu khin trt (Sliding Mode Control)

21
1.3.7 Phng php iu khin m
.
22
1.3.7.1 L thuyt iu khin m
.
22
1.3.7.2 nh ngha tp m
22
1.3.7.3 Cc php ton trn tp m
23
1.3.7.4 Cc lut m
24
1.3.7.5 B iu khin m
24
1.3.8 iu khin m trt
.
26
1.4 Kt lun v la chn phng php iu khin
..
26
1.5 Nguyn l iu khin trt
27
1.6 Kt lun chng 1
34
1.6.1 C s la chn v mc tiu ca ti
..
34
1.6.2 Phng php nghin cu
.
34
Lun vn tt nghip 2


1.6.3 ngha khoa hc v thc tin ca ti
...
34
Chng hai : Phng php ci tin cht lng iu khin trt h iu khin
chuyn ng
36
2.1 t vn
...
36
2.2 Phng php ci tin cht lng nng cao chnh xc h iu
khin trt
.
36
2.2.1 Cc gi thit ca h phi tuyn
..
37
2.2.2 Thit k b iu khin trt
..
38
2.2.3 Cc phng php thng thng gim chattering
42
2.2.3.1 Phng php lp bin (Bounding layer method)
42
2.2.3.2 Phng php iu chnh rng lp bin
43
2.2.3.3 Phng php ngh ca lun vn
.
44
2.2.4 Tng hp b iu khin trt - m
46
2.2.4.1 t vn
.
46
2.2.4.2 Tng hp b iu khin trt m
46
2.3 Kt lun chng hai
.
47
Chng 3 : ng dng iu khin trt - m nng cao cht lng iu khin
v tr s dng ng c in mt chiu
48
3.1 t vn
.
48
3.2 Cu trc h truyn ng ng c in mt chiu
48
3.2.1 Tiu chun mdul ti u
..
49
3.2.1 Tiu chun mdul i xng
..
50
3.3 Xy dng hm truyn ca cc khu trong h thng iu khin
50
3.3.1 Hm truyn ng c in
50
3.3.2 B chnh lu bn dn Thyristor
..
56
3.3.3 Hm truyn ca my pht tc
.
58
3.3.4 Hm truyn ca thit b o in
58
3.3.5 Tng hp h iu khin R
I
, R
, R

.
58
3.3.5.1 Tng hp b iu khin dng in R
I
59
Lun vn tt nghip 3


3.3.5.2 Tng hp b iu khin tc R
61
3.3.5.3 Tng hp mch vng v tr
63
3.4 M phng h thng truyn ng vi cc b iu khin trt v iu khin
trt m
68
3.4.1 Cc thng s ng c in mt chiu kch t c lp
.
68
3.4.2 Xy dng b iu khin trt cho mch vng v tr
..
69
3.4.3 M phng h iu khin v tr vi b iu khin
..
70
3.4.4 Xy dng b iu khin - m cho mch vng v tr
...
73
3.4.5 M phng h iu khin v tr vi b iu khin trt m
...
76
3.5 Nhn xt v kt lun chng ba
.
79
Kt lun
80
Ti liu trch dn v tham kho
81

Lun vn tt nghip 4


DANH MC HNH V V TH

Hnh ngha Trang
1.1 M hnh h iu khin ng lc hc ngc. 14
1.2
S khi ca mt h thng iu khin thch nghi theo m
hnh mu.
17
1.3 M hnh iu khin thch nghi gin tip. 19
1.4 M hnh iu khin thch nghi trc tip. 20
1.5 Khi nim tp m 23
1.6 Cu trc c bn ca b iu khin m 25
1.7
Tnh gii hn trn
~
x.
29
1.8
Tnh gii hn trn
~
) i (
x .
30
1.9 iu kin trt. 31
1.10 Din gii bng th ca phng trnh (2.3) v (2.5). 32
1.11 Hin tng chattering. 33
2.1 S iu khin trt tng qut. 38
2.2 th hm Signum. 42
2.3 th hm Sat. 42
2.4 B iu khin trt - m 2 u vo 47
Lun vn tt nghip 5


3.1 H thng truyn ng Thyristor - ng c. 49
3.2 Mch thay th ca ng c mt chiu 50
3.3 S cu trc ca ng c in mt chiu 52
3.4 Tuyn tnh ho c tnh t ho v c tnh ti 53
3.5 S cu trc tuyn tnh ho 54
3.6 S cu trc khi t thng khng i 54
3.7 S cu trc thu gn 55
3.8
Thi gian pht xung v thi gian mt iu khin ca b chnh
lu
56
3.9 S cu trc ca b chnh lu bn dn Thyristor 57
3.10 S cu trc mch vng dng in 59
3.11 S cu trc thu gn mch vng dng in 60
3.12 S cu trc thu gn mch vng tc 61
3.13 S cu trc thu gn mch vng v tr 63
3.14 S cu trc h iu chnh v tr 65
3.15 Quan h gia v 68
Lun vn tt nghip 6


3.16
S cu trc m t h iu khin v tr bng b iu khin
trt
70
3.17 M phng trt 10 s 71
3.18 M phng trt 15 s 72
3.19 u vo 1 vi 5 tpp m 74
3.20 u vo 2 vi 5 tpp m 74
3.21 Lut hp thnh 75
3.22 Quan h vo ra ca b iu khin m 76
3.23
S cu trc m t h iu khin v tr bng b iu khin
trt - m
76
3.24 M phng trt - m 10 s 77
3.25 M phng trt - m 15 s 78

Lun vn tt nghip 7


LI NI U
Trong s nghip cng nghip ha, hin i ha t nc, vn t ng ha sn
xut c vai tr c bit quan trng.
Nhng ng dng k thut t ng ha trong cng nghip ngy cng c pht
trin lm tng nng sut ca dy chuyn cng ngh, ci tin cht lng sn phm,
ng thi ci thin iu kin lao ng. t c vn phi xt n nhng h
thng t ng ha linh hot, chnh xc, d iu khin.
Trc nhng nm 1990, nc ta, vic ng dng k thut t ng ha trong
cng nghip cn rt s khai. Trong nhng nm gn y, nhiu c s cng nghip
bt u nhp cc dy chuyn t ng lp rp linh kin in t, thao tc hn v xe
t, xe my, sn ph b mt, my p kim loi, ng gi cc cht phng x nguy him,
Vi s pht trin nhanh chng ca k thut vi x l v vi tnh, ngi ta tng
hp ra cc h iu khin rt phc tp, trong thit b iu khin chnh l my tnh c
thm cc thit b ghp phi ADC v DAC. Cc thut ton iu khin c tnh ton
theo cc phng php t i u v thch nghi. Hn na, trong nhng nm gn y, xut
hin nhiu cng c phn mm lm xc tin mnh m vic nghin cu pht trin cc h
thng iu khin t ng, trong phi k n phn mm Matlab, l cng c do
MathWorks xy dng nn. n nm 2008, phn mm ny c n phin bn 8.0.
Hin nay, c nhiu nguyn tc iu khin chuyn ng:
- Nguyn tc iu khin theo b nhiu
- Nguyn tc iu khin theo sai lch
- Nguyn tc iu khin hn hp theo sai lch v b nhiu
Vn cn t n l h thng hot ng n gin, cht lng, chnh xc v
n nh cao.
Vic iu khin chuyn ng c nghin cu v ng dng trong nhiu lnh
vc, c ng ti trn nhiu sch bo v ti liu. Cc phng php iu khin qu
Lun vn tt nghip 8


o chuyn ng chun thng c thit k l iu khin ng lc hc ngc, iu
khin ng lc hc ngc thch nghi, iu khin thch nghi theo m hnh mu, iu
khin thch nghi trc tip v gin tip, iu khin thch nghi theo sai lch, iu khin
kiu trt,
Nhm p ng c mc tiu ca lun vn l nng cao cht lng h iu khin
chuyn ng, ti phn tch cc u nhc i m ca cc phng php iu khin
chuyn ng ni trn trong chng I, t nhn thy rng phng php iu khin
trt c nhng u im ni bt hn cc phng php khc, nhng vn cn li l
phi khc phc nhc im ca phng php ny l hin tng rung (chattering).
Mc tiu ca vn cn nghin cu l vi nhng u im ca phng php iu
khin trt, tm cch khc phc nhc im ca n bng cch chn thut ton iu
khin t phc tp nht gim ti a vn chattering ca b iu khin trt m sai
lch qu o v tnh n nh ca h thng kn c minh chng thng qua vic s
dng tiu chun n nh Lyapunov. Phng php c thc hin bng vic nghin cu
m phng h thng trn Simulink ca Matlab vi qu o chuyn ng, nh vy mi
chng minh c tnh ng n v khng nh vic chn lut iu khin cho phng
php iu khin trt a ra l n gin, p ng c cc yu cu v chnh xc v
n nh cao ca h thng, ng thi gim nh c hin tng chattering.
Chng I : Tng quan h iu khin chuyn ng. Ni dung chng ny nu
ln nhng phng php iu khin chuyn ng, phn tch u nhc im ca tng
phng php v la chn phng php iu khin trt lm c s cho vic nghin cu
ti.
Chng II : Cc phng php ci tin cht lng iu khin trt cho h
iu khin chuyn ng Chng ny nu ln cc phng php c nghin cu
ca cc tc gi Y.J. Huang, M. Tomizuka, J.J.E. Slotine p dng phng php iu
khin trt v cc gii php ci thin cht lng iu khin, t lun n nu ln
Lun vn tt nghip 9


phng php nghin cu bng cch dng phng php iu khin trt - m ci
thin cht lng iu khin trt.
Chng III : Thit k b iu khin trt iu khin v tr s dng ng c
in mt chiu. Trong chng ny trnh by cc thit k , kt qu m phng chng
minh l thuyt m lun vn nu chng 2 l ng n bng cch chn m phng
h iu khin v tr s dng ng c in mt chiu khng nh vic ng dng vo
thc t l hin thc.
Kt lun : Ni dung chnh ca lun vn l nu ln mt phng php mi nng
cao cht lng v ci thin sai lch v tr h iu khin trt.
Sau thi gian tm hiu v nghin cu n nay bn lun vn ca em hon thnh
vi kt qu tt. Thnh cng ny phi k n s gip tn tnh ca cc thy c gio
trng i hc K thut Cng Nghip Thi Nguyn. c bit l Thy TS V Quang
Vinh ngi trc tip hng dn em, ht lng ng h v cung cp cho em nhng
kin thc ht sc qu bu. Em xin dnh cho thy li cm n su sc.
Do thi gian, kin thc v kinh nghim thc t c hn nn lun vn ny khng
trnh khi nhng thiu st. Em rt mong nhn c cc kin ch bo ca cc thy c
gio v bn b ng nghip bn lun vn ca em c hon thin hn.
Em xin chn thnh cm n s to iu kin quan tm ca nh trng!
Em xin chn thnh cm n!
Thi Nguyn, ngy thng nm 2009
Hc vin

Lun vn tt nghip 10


CHNG MT
TNG QUAN V H IU KHIN CHUYN NG

1.1.S LC V H IU KHIN CHUYN NG
Ngy nay vn iu khin chuyn ng v ang c ng dng rng ri
trong thc t. i tng iu khin thng l mt h phi tuyn c cc tham s khng
c bit trc l hng s hoc thay i theo thi gian v chu nh hng ca nhiu tc
ng.
Mt h ng lc hc phi tuyn thng c trnh by bi h phng trnh vi
phn theo cng thc sau:
x = f(x,t) (1.1)
trong f l mt hm s vc-t phi tuyn, x l vc-t ch trng thi n x l. S trng thi
n c gi l chui h thng. Nghim s x(t) ca phng trnh (1.1) tng ng vi mt
ng cong trong min trng thi t t 0 n v hn. ng cong ny c xem nh l
mt qu o trng thi hay l mt qu o h thng.
iu quan trng cn ch l phng trnh (1.1) khng nhng cha d liu iu
khin u vo nh l mt bin s, m n cn c p dng trc tip ln h thng iu
khin c vng hi tip do phng trnh ny c th miu t cc ng lc hc vng kn
ca mt h iu khin c phn hi, vi d liu iu khin u vo l mt hm s ca
trng thi x v thi gian t. c bit, nu ng lc hc ca i tng iu khin l x =
f(x,u,t) v lut iu khin c chn l u = g(x,t) th ng lc hc mch kn s l x =
f[x,g(x,t),t].
Mt trong nhng loi h phi tuyn c bit chnh li l h tuyn tnh. Cc ng
lc hc ca h tuyn tnh thng c dng sau:
Lun vn tt nghip 11


x = A(t)x (1.2)
trong A(t) l ma trn n x n.
Trong h thng iu khin vng kn thng quan tm n d liu u vo x v
u ra y, nn mt h ng lc hc phi tuyn thng c m t nh sau:

=
=
) x ( h y
) t , u , x ( f x
(1.3)

Nu gi y
d
l qu o u ra mong mun th bi ton chuyn ng tim cn cho
h ng lc hc phi tuyn l tm mt lut iu khin u vo u sao cho bt u t bt
k mt trng thi ban u, cc sai s chuyn ng
y(t) y
d
(t) tin v 0 trong khi trng thi x vn b chn.
1.2. CC TNH CHT CA H IU KHIN CHUYN NG PHI
TUYN
Cc tnh cht thng c xt n i vi mt h chuyn ng phi tuyn bao gm:
Tnh n nh ni mt cch nh tnh th mt h thng n nh khi n khi u
mt v tr no , n s tip tc lm vic ln cn v tr ny trong sut thi
gian sau . y l tnh cht u tin cn t c ca h thng iu khin.
Tnh chnh xc v t c p ng ca mt h thng c hiu l qu o
chuyn ng thc ca h thng phi trng vi qu o chuyn ng mong
mun v thi gian hai qu o ny trng nhau phi l nh nht.
bn vng l nhy cm ca h thng i vi nhng tham s khng bit
trc, chu nh hng ca nhiu v cc phn t phi tuyn khng th hoc kh
m hnh ha.
Chi ph cho mt h thng iu khin c xc nh t s lng v chng loi
cc thit b truyn ng, thit b cm bin v h thng my tnh h tr.
Lun vn tt nghip 12


Trong cc tnh cht trn, tnh n nh lin quan n s tn
ti ca im cn bng ca h thng c xt n di y.
Vi mt h thng phi tuyn c dng:
x = f(x,t)
cc im cn bng x* c nh ngha:
f (x*,t) 0 t to (1.4)
+ im cn bng 0 l im n nh

ti t
o
nu vi mi R > 0, tn ti mt gi tr
dng r(R, t
o
) sao cho:
o
t t R ) t ( x r ) t ( x < < (1.5)
+ im cn bng 0 l im n nh tim cn
- im cn bng 0 l im n nh;
ti thi im t
o
nu:
- 0 ) t ( r
o
> sao cho 0 ) t ( x ) t ( r ) t ( x
o o
< khi t
+ im cn bng 0 l n nh tim cn ton th
x(t) 0 khi t
nu x(t
o
):
1.3. CC PHNG PHP I U KHIN CHUYN NG C
NGHIN CU NHM NNG CAO CHT LNG IU KHIN BM
CHNH XC
1.3.1. Phng php iu khin ng lc hc ngc
Phng php ng lc hc ngc l chn lut iu khin sao cho kh cc thnh
phn phi tuyn v phn ly phng trnh ng lc hc ca cc khu.
Vi h c n khu, ta c phng trnh vi phn cp 2 phi tuyn:
Lun vn tt nghip 13


= + + = ) q ( g q ). q , q ( C q ). q ( H u (1.6)
trong | |
n T
n 2 1
R ) t ( ),..., t ( ), t ( = l vct lc tng qut t vo c cu chp
hnh, | |
n T
n 2 1
R ) t ( q ),..., t ( q ), t ( q q = l vct gc quay,
n
R q l vct vn tc
gc v
n
R q l vct gia t c gc ca cc khp, | |
n T
n 2 1
R g ,..., g , g g = l vct
trng lc, ) q , q ( C l ma trn (n x n) c trng cho nh hng ca mmen ly tm v
mmen Coriolis gia cc khp, H(q) l ma trn (n x n), i xng, kh nghch o, c
trng cho thnh phn mmen qun tnh ca cc khp.
Chn vct u vo ph:
q y = (1.7)
r q k q k y
d p
+ = (1.8)
nn q k q k q r
p d
+ + = (1.9)
vi q
d
l vct (n x 1) vct chuyn ng mong mun. u ra q(t) bm theo q
d
, ta
chn:

d p d d d
q k q k q r + + = (1.10)
Ly (1.10) tr (1.9), ta c:
0 q
~
k q
~
k q
~
p d
= + +

trong q q q
~
d
= , q q q
~
d

= v q q q
~
d

= .
Cc h s k
d
v k
p
c th c la chn theo iu kin n nh Lyapunov sai
s gia qu o chuyn ng chun (mong mun) v qu o chuyn ng thc hi t
tim cn v 0 khng ph thuc vo iu kin ban u.

Lun vn tt nghip 14


Nhc im ca phng php iu khin ny l phi bit y v chnh xc cc
thng s c bn cng nh c tnh ng lc hc ca h. Khi lng tnh ton kh ln
lm hn ch kh nng ng dng phng php ny vo thc t.
1.3.2. Phng php i u khin ng lc hc ngc thch
nghi
Phng php ny khc phc c nhc im ca phng php ng lc hc
ngc. N c lut iu khin thch nghi da vo tnh cht tuyn tnh ha cc tham s
trong m hnh ng lc hc ca i tng iu khin.
Biu din phng trnh ng lc hc phi tuyn v mt dng tuyn tnh vi cch
t cc tham s ng lc hc hng thch hp:
= + + = ). q , q , q ( Y ) q ( g q ). q , q ( C q ). q ( H u (1.11)
trong l vct (p x 1) cc tham s hng, lin quan n mmen qun tnh ca
i tng iu khin, Y l ma trn (n x p) biu din nh l hm theo v tr, vn tc
v gia tc ca i tng iu khin.
Lut iu khin c chn:
+ + + =
d r r
K ) q ( g q ). q , q ( C q ). q ( H u (1.12)
k
d
k
p
H(q)

i tng
) q ( g ) q , q ( C +

+
+
+
+
+
+
+
q
d
d
q
d
q
y

u

q

q
Hnh I.1 - M hnh h iu khin ng lc hc ngc
Lun vn tt nghip 15


trong :
K
d
l ma trn xc nh dng
q
~
q q q
~
q q
d r d r

+ = + = (1.13)
l ma trn ng cho xc nh dng, biu din cc thnh phn phn ly
v b phi tuyn nh l mt hm ca vn tc v gia tc mong mun
q
~
q
~
q q
d r
+ = =

(1.14)
T (I.11), (I.12) v (I.14), ta suy ra:
0 K ). q , q ( C ). q ( H
d
= + + (1.15)
Khi cc tham s khng c bit chnh xc, lut iu khin c vit li nh
sau:
+ = + + + =
d r r d r r
K ). q , q , q , q ( Y K ) q ( g q ). q , q ( C
q ). q ( H
u (1.16)
trong , g , C
, H
l nhng gi tr c lng ca phng trnh ng lc hc ngc.

Th (I.16) vo (I.11), ta c:
| | ) q ( g
~
q ). q , q ( C
~
q ). q ( H
~
K ) q , q ( C ). q ( H
r r d
+ + = + +
=
~
). q , q , q , q ( Y
r r
(1.17)
trong vct sai l ch ca tham s l =
~
v tham s ca m hnh c xc
nh bi g g g
~
, C C
C
~
, H H
H
~
= = = .
Da vo tiu chun n nh Lyapunov, ta c th xc nh lut iu khin thch
nghi cp nht cc tham s c lng:
=

) q , q , q , q ( Y K
r r
T 1

(1.18)
Lun vn tt nghip 16


vi K
l ma trn i xng xc nh dng, quyt nh tc hi t cc tham s v gi

tr xc nh khng i ca chng.
Vy ta kt lun: M hnh ng lc hc ) ( ). , ( ). ( q g q q q C q q H u
r r
+ + = c iu
khin theo quy lut )
~ ~
( ). , , , ( q q K q q q q Y u
d r r
+ + =

s m bo h thng n nh v hi
t v = 0, 0
~
= q
v khng i. Lut iu khin ny c hnh thnh da trn 3 yu

t:
+ Thnh phn Y m t tn hiu iu khin theo kiu ng lc hc ngc, bo
m mt s b xp x cc nh hng phi tuyn v lm phn ly tng khp chuyn ng;
+ Thnh phn K
d
a ra kiu iu khin PD tuyn tnh, n nh theo sai lch qu
o;
+ Vct tham s tnh ton c cp nht theo lut thch nghi m bo b cc
thnh phn thay i ca m hnh ng lc hc.
Phng php iu khin ng lc hc ngc thch nghi gii quyt c nhc
im chnh ca phng php iu khin ng lc hc ngc, bo m c
chnh xc trong iu khin khi c s tn ti ca nhiu ti v s thay i cc thng
s ca m hnh. S d nh vy l v trong phng php ny, tuy ta khng xt n
nh hng ca nhiu bn ngoi, nh hng ca thnh phn ng lc hc khng m
hnh ha c nhng b iu khin vn xem l vic c lng cc tham s
khng tng ng. T , b iu khin s c suy gim nhng nh hng ny
bng vic thay i cc thng s ca m hnh. Kt qu l sai lch qu o ca h
chuyn ng c hn ch n mc ti thiu. Tuy nhin, phng php iu khin
ng lc hc ngc thch nghi cng c nhc im l thi gian tnh ton ln.
Lun vn tt nghip 17


1.3.3. Phng php i u khin thch nghi theo m hnh
mu
H thng thch nghi theo m hnh mu l mt dng iu khin thch nghi c
pht trin rt sm, ch yu pht trin cho h tuyn tnh thng hay dng trong h iu
khin ng c, h servo..., trong dng tn hiu mong mun c th hin thng qua
tn hiu ra ca m hnh mu.

H thng c mt vng lp thng thng m bo s bm st ca tn hiu ra so
vi tn hiu vo v mt vng lp khc cho php thay i tham s ca b iu khin
m bo cht lng ca h thng khi tham s ng hc ca h thng b thay i.
Tham s iu khin b thay i da trn sai s gia tn hiu ra ca m hnh thc y
v tn hiu ra ca m hnh mu y
m
. Lut thch nghi thng c xc nh theo phng
php gradient hoc p dng l thuyt v n nh hm Lyapunov hoc l thuyt n nh
tuyt i Popov m bo cho h hi t v sai lch l nh nht.
u im ca phng php ny l khng bao gm m hnh ton phc tp v
khng ph thuc vo tham s ca mi trng nh ti trng. Nhng phng php ny
Hnh 1.2 - S khi ca mt h thng iu khin thch nghi theo m hnh mu
u
c
y
m
y

+

u

C cu
iu chnh
i tng
iu khin
B iu chnh
tham s
M hnh
mu
Lun vn tt nghip 18


thng ch c thc hin cho m hnh tuyn tnh vi vic b qua s lin h ng lc
hc gia cc chuyn ng thnh phn. ng thi, vic gii quyt s n nh ca h
thng kn cng ang l vn nan gii, nht l vi cc m hnh ng lc hc c tnh
phi tuyn cao.
1.3.4. Phng php iu khin thch nghi gin tip v trc tip
Trong iu khin thch nghi gin tip, m hnh thi t b P(
*
) c tham s ha
theo vect tham s cha bit
*
. V d vi m hnh thit b vo v ra
bt bin vi thi gian tuyn tnh (Linear Time Invariant),
*
din t h s cha bit ca
t s v mu s trong hm truyn m hnh thit b. Mt b d on tham s trc tuyn
to ra mt hm d on (t) ca
*
ti mi thi im t bng cch x l u vo u v
u ra y ca thit b. Tham s d on (t) ch r m hnh thit b d on c c
im ha bi hm
^
( ( )) P t , c s dng tnh ton tham s iu khin hoc vect
li
c
(t) bng cch gii phng trnh
c
(t) = F((t)) ti mi thi im t. Dng thc ca
lut iu khin C(
c
) v phng tr n h
c
= P() c chn ging nh ca lut iu
khin C(
*
c
) v phng trnh
*
c
= P(
*
) c th t c yu cu v tnh nng cho
m hnh thit b P(
*
) nu bit
*
.
Nh vy, vi hng tip cn ny, rt d hiu C( (t)) uc thit k ti mi thi
im t tha mn cc yu cu v c tnh cho m hnh d on P((t)) (c th khc
vi m hnh thit b cha bit P(
*
)). V vy, v mt nguyn tc, phi chn lut iu
khin C(
c
), b d on thng s (to ra (t)) cng nh biu thc
c
(t) = F((t)) sao cho

tha mn cc yu cu v c tnh cho m hnh thit b P(
*
) vi
*
l cha bit. S
khi ca mt m hnh iu khin thch nghi gin tip nh trong hnh 1.3.

Lun vn tt nghip 19


Trong iu khin thch nghi trc tip, m hnh thit b P(
*
) c tham s ha
thnh cc vect tham s b iu khin cha bit
*
c
sao cho C(
*
c
) tha mn cc yu
cu v tnh nng, t c m hnh thit b P
c
(
*
c
) c cng c im u vo, ra nh
P(
*
).
B d on tham s trc tuyn c thit k trn c s P
c
(
*
c
) thay v P(
*
), cho
ra hm d on trc tip
c
(t) ca
*
c
ti mi thi im t bng cch x l u vo u v
u ra y. Hm d on
c
(t) sau c s dng cp nht vect tham s iu khin
c
m khng cn tnh ton g na. Vn chnh yu trong iu khin thch nghi trc
tip l vic chn lp ca lut iu khin C(
c
) v b d on tham s to ra
c
(t) sao
cho C(
c
(t)) t c yu cu v tnh nng ca m hnh thit b P(
*
). c tnh ca m
hnh thit b P(
*
) quyt nh vic cu thnh m hnh thit b c tham s ha P
c
(
*
c
),
sau ny thun tin cho s d on trc tuyn. Ni cch khc, iu khin thch nghi
trc tip b hn ch mt s m hnh thit b. Chng ta s thy rng, cc m hnh thit
b thch hp cho iu khin thch nghi trc tip bao gm tt c cc m h nh thit b
SISO LTI (SISO linear time invariant) c pha phi ti thiu, hay ni cch khc chng c
Thit b
P(
*
)

B d on tham s
trc tuyn ca
*

Tnh ton
c
(t)=F((t))

c

y

u

r

Tn hiu vo

B iu khin
C(
c
)

(t)

Hnh 1.3 - M hnh iu khin thch nghi gin tip
Lun vn tt nghip 20


cc im khng nm bn tri min s, Re[s]<0. S khi ca iu khin thch nghi
trc tip cho trn hnh sau:

im khc bit gia iu khin thch nghi trc tip v gin tip trong cc hnh v
mt l thuyt l tng i n gin. Thit k C(
c
), xem xt d on
c
(t) (trong iu
khin thch nghi trc tip) hay (t) (trong iu khin thch nghi gin tip) nh l cc
tham s thc. Cch tip cn ny c gi l s tng ng chc chn, dng xy
dng rt nhiu cc m hnh iu khin thch nghi bng cch kt hp cc b d on
tham s trc tuyn vi cc lut iu khin khc nhau.
tng ca s tng ng chc chn l khi cc tham s d on
c
(t) v (t)
hi t v cc tham s thc
*
c
v
*
tng ng, th tnh nng ca b iu khin thch
nghi C(
c
) hng ti C(
c
*
) ca cc tham s bit.
Cu trc iu khin thch nghi trc tip c th tr thnh cu trc iu khin gin
tip bng cch thm mt b tnh ton vo gia cc tham s c cp nht v cc tham
s iu khin. Nhn chung, ch c th c c s phn bit r nt gia 2 hng tip cn
trc tip v gin tip khi chng ta i su vo chi tit ca vn phn tch v thit k.
V d vi mt thit b pha phi ti thiu th iu khin thch nghi trc tip c th c
Thit b
P(
*
)P
c
(
*
c
)

B d on tham s trc
tuyn ca
c
*

c

y

u

r

Tn hiu vo

B iu khin
C(
c
)

Hnh 1.4 - M hnh iu khin thch nghi trc tip
Lun vn tt nghip 21


ch ra t yu cu v tnh nng ca s n nh v chuyn ng tim cn. Nhng
chng ta khng th thit k cc m hnh iu khin thch nghi trc tip cho cc thit b
khng l pha phi ti thiu. Trong thc t, s tham s ha theo cc tham s iu khin
mong mun l iu khng th thc hin cho cc m hnh thit b khng l pha phi ti
thiu.
Trong khi , iu khin thch nghi gin tip c th p dng cho c thit b pha
phi ti thiu v khng ti thiu. Tuy nhin, nh x gia (t) v
c
(t) bi biu thc i s
)) t ( ( F ) t (
c
=

, khng phi bao gi cng c m bo ti mi thi im t, ph thuc
vo vn kh nng to n nh. Gii quyt vn ny i hi h thng tr nn phc
tp hn.
1.3.5. Phng php iu khin thch nghi theo sai lch
c xy dng trn c s tuyn tnh ha ln cn qu o chuyn ng tnh cho
h phng trnh vi phn m t ng lc hc. Tn hiu c tnh t khi phn hi c
lut iu khin thch nghi c th l gin tip hoc trc tip cc sai s iu khin tim
cn v 0. u im ca phng php l n gin ha vic thit k nh chuyn i h
iu khin phi tuyn v h iu khin tuyn tnh. Tuy nhin, n cha kho st h khi
iu khin bm qu o. Phng php ny quan tm nhi u n s tng tc gia cc
chuyn ng m cha ch n s bin thin thng s ng hc ca h, do , n
khng th tha mn cho cc h thng c yu cu cht lng iu khin cao.
1.3.6. Phng php iu khin trt (Sliding Mode Control, SMC)
iu khin trt u tin c nghin cu bi Emelyanov et al (1970) v sau
c Itkis (1976) v Utkin (1977) pht trin ln.
Phng php iu khin trt dng trc tip m hnh ng lc hc phi tuyn cao
ca i tng iu khin (v d nh robot). Ni dung ca phng php gm hai bc.
Trc tin, chn mt mt trt bo m sai lch qu o lun tin v 0. Sau , chn
Lun vn tt nghip 22


lut iu khin thch hp a trng thi h thng kn lun v trn mt trt. Phng
php ny c chnh xc iu khin cao, bn vng i vi nhiu ti v s thay i cc
thng s ca i tng iu khin. Do , phng php ny l mt trong nhng hng
c nghin cu nhiu trong thi gian gn y. im hn ch chnh ca iu khin
trt l tn hiu iu khin khng lin tc (o du lin tc) gy ra hin tng rung
(gi l chattering).
1. 3.7. Phng php iu khin m
1.3.7.1 L thuyt iu khin m
Trong rt nhiu cc bi ton iu khin, khi m i tng khng th m t bi
mt m hnh ton hc hoc c th m t c song m hnh ca n li qu phc
tp, cng knh, khng ng dng c, th iu khin m chim u th r rt. Ngay
c nhng bi ton iu khin thnh cng theo nguyn tc kinh in th vic p
dng iu khin m cng s mang li cho h thng s ci tin v tnh n gin, gn
nh.
1.3.7.2. nh ngha tp m
Tp m l mt tp hp m mi phn t c bn x ca n c gn thm mt gi tr
thc (x)[0,1] ch th ph thuc ca phn t vo tp cho. Khi ph
thuc bng 0 th phn t c bn s hon ton khng ph thuc vo tp cho,
ngc li vi ph thuc bng 1, phn t c bn s thuc tp hp vi xc sut 100.
Nh vy, tp m l tp hp ca cc cp (x,(x)). Tp kinh in U ca cc phn t
x c gi l tp nn ca tp m. Cho x chy khp ni trong tp hp U, ta s c hm
(x) c gi tr l s bt k trong khong [0,1], tc l :
: U [0,1]
v hm ny c gi l hm thuc.
Lun vn tt nghip 23


Trong iu khin, vi mc ch s dng cc hm thuc sao cho kh nng tch
hp chng l n gin, ngi ta thng ch quan tm n 3 dng (hnh 1.10):
- Hm Singleton (cn gi l hm Kronecker).
- Hm hnh tam gic.
- Hm hnh thang.

1.3.7.3. Cc php ton trn tp m
Tp m cng c 3 php ton c bn l php hp, php giao v php b.
Php hp (OR) : Hp ca 2 tp m A v B c cng c s M l mt tp m cng
xc nh trn c s M vi hm lin thuc :

A
B
(y) = max{
A
(y),
B
(y)}
Ngoi ra cn 4 bi u thc khc tnh hm lin thuc trong php hp nh php
hp Lukasiewier, tng Einstein, tng trc tip v Drastic. Nu hai tp m khng cng
c s th a chng v cng mt c s bng cch ly tch 2 c s c.
Php giao (AND) : Giao ca 2 tp m A v B c cng c s M l mt tp m
cng xc nh trn c s M vi hm lin thuc :

A
B
(y) = max{
A
(y),
B
(y)}
Nu 2 tp m khng cng c s cng cn a v mt c s bng tch 2 c s .
4
m
Singleton
Tam gic
Hnh thang
) x ( ) x (
) x (
x
x
x
0
m
1
m
2
m
3
m
1
m
2
m
3
m
Hnh 1.5 - Khi nim tp m
Lun vn tt nghip 24


Php b (NOT) : B ca tp m A c c s M v hm lin thuc
A
(x) l mt tp
hp A
C
xc nh trn cng c s M vi hm lin thuc :

A
(x) = 1-
A
(x).
1.3.7.4. Cc lut m (mnh hp thnh)
Lut m c bn l lut m t bi quan h: Nu Th(IF THEN), mt
cch tng qut c dng:
IF <mnh m iu kin> THEN <mnh m kt lun>
Mt s dng mnh m:
x is A; x
1
is A and x
2
is not B
x
1
is A
1
and x
2
is A
2
and and x
n
is A
n

x
1
is A
1
or x
2
is A
2
or or x
n
is A
n

Trong b iu khin m lut iu khin m l b no ca n, ngi thit k phi
da vo kinh nghim ca mnh m pht biu v xy dng cho c mt tp m dng
nh trn lm c s cho vic trin khai thit k tip theo.
1.3.7.5. B iu khin m
Cu trc c bn ca mt b iu khin da vo logic m (fuzzy logic control,
FLC) gm bn thnh phn chnh (hnh 1.11): khu m ha (a fuzzifier), mt c s cc
lut m (a fuzzy rule base), mt mt suy din (an inference engine) v khu gii m
(a defuzzifier). Nu u ra sau cng on gii m khng phi l mt tn hiu iu khin
(thng gi l tn hiu iu chnh) th chng ta c mt h quyt nh trn c s logic
m.

Lun vn tt nghip 25


Khu m ha : Khu ny c nhim v bin i cc gi tr r u vo thnh mt
min gi tr m vi hm lin thuc chn ng vi bin ngn ng u vo c
nh ngha.
Khi c s cc lut m : Bao gm cc lut m dng IFTHEN trong cc
iu kin u vo v c cc bin ra (h qu) s dng cc bin ngn ng.
Khi mt suy din : y l phn ct li nht ca FLC trong qu trnh m hnh
ha cc bi ton i u khin v chn quyt nh ca con ngi trong khun kh vn
dng logic m v lp lun xp x.
Khu gii m : y l khu thc hin qu trnh xc nh mt gi tr r y
0
c th
chp nhn c lm u ra t hm thuc ca gi tr m u ra. Trong iu khin ngi
ta thng s dng ba phng php gii m chnh, l :
im trung bnh : Gi tr r y
0
l gi tr trung bnh cc gi tr c tha
mn cc i ca
B
(y). Nguyn l ny thng c dng khi min di
hm
B
(y) l mt min li v nh vy y
0
cng s l gi tr c ph thuc
ln nht. Trong trng hp B gm cc hm lin thuc dng i xng th
gi tr r y
0
khng ph thuc vo tha mn u vo ca lut iu khin.
M ho
Mt
suy din
C s
lut m
Gii m
i
tng
x
) x (
) y (
y
Hnh 1.6 - Cu trc c bn ca b iu khin m
Lun vn tt nghip 26


im cc i : Gi tr r y
0
c ly bng cn tri/phi cc i ca
B
(y).
Gi tr r ly theo nguyn l cn tri/phi ny s ph thuc tuyn tnh vo
tha mn u vo ca lut iu khin.
im trng tm : Phng php ny s cho ra kt qu y
0
l honh ca im
trng tm min c bao bi trc honh v ng
B
(y). y l nguyn l c dng
nhiu nht.
1.3.8. iu khin m-trt
Vic p dng ng thi phng php iu khin c cu trc bin i vi iu
khin m trong h KC s cho php cng mt lc c c tnh u vit ca mi
phng php. i u khin vi cu trc bin i trong ch trt m bo cho h
thng c bn vng cao, cht lng ca h thng c gi nguyn khng i ngay
c khi tham s ca i tng thay i trong mt phm vi nht nh. Ngoi ra h thng
iu khin hot ng ch trt cn c kh nng bt bin i vi nhiu tc ng t
bn ngoi. iu khin m th th hin r tnh u vit ca n i vi cc h thng phc
tp, bt nh.
1.4. KT LUN V LA CHN PHNG PHP IU KHIN
Trong vn iu khin ng lc hc h phi tuyn; tnh n nh, tnh chnh xc,
tnh bn vng v cc chi ph cho vic la chn phng php iu khin l rt quan
trng. t mc ch ny, c rt nhiu cng trnh nghin cu ra cc phng
php lin quan n h iu khin chuyn ng c bit l i vi h iu khin chuyn
ng phi tuyn m in hnh l cc phng php nu trn. Vic chn phng
php iu khin phi c tnh kh thi, thut ton n gin, d iu khin v d trin khai
ng dng vo thc t. y l vn thu ht s quan tm ca cc chuyn gia trong lnh
vc t ng ha.
Lun vn tt nghip 27


Qua nghin cu cc ti liu v cc mt u im v nhc im ca cc phng
php trn, phng php i u khin trong lun v n l chn phng php iu khin
trt bi v n c u im l tnh bn vng i vi tham s h thng khng xc nh
v nhiu bn ngoi. N khng cn i hi bit chnh xc cc thnh phn ca nhiu
nhng yu cu phi bit gii hn bin thin ca chng. SMC tr thnh cng c thit
k vn nng b iu khin bn vng cho i tng tuyn tnh v phi tuyn. SMC rt d
iu khin v mm do trong thit k v ng dng vi chi ph thp. SMC c bit ng
dng cho h c in c cu trc bin i. Vn cn li l tm cch hn ch ti a hin
tng rung (chattering) khng mong mun lm nh hng n c cu ca thit b bng
cch chn thut ton t phc tp nht, d iu khin, khc phc c hin tng rung
v lm nhn tn hiu i u khin. l vn m lun vn ny i su nghin c u
gii quyt.
1.5. NGUYN L IU KHIN TRT
Ta xem xt h ng hc sau: x
(n)
= f(x) + b(x).u (1.19)
trong i lng v hng x l u ra mong mun (v d v tr ca h thng c kh),
i lng v hng u l tn hi u iu khin u vo (mmen quay) v
| |
T
) 1 n (
x ... x x x

= l vect tr ng thi. Trong phng tr nh (1.19), hm f(x)
(thng thng l phi tuyn) khng c bit chnh xc, nhng phm vi sai lch ca
f(x) chn trn c bit suy t hm lin tc bit ca x. Tng t, li iu khin
b(x) cng khng c bit chnh xc, nhng bit du v bit gii hn suy t hm lin
tc theo x. Chng hn, thng thng, qun tnh ca h thng c kh ch c xc nh
i vi mc chnh xc no v cc m hnh ma st ch m t phn no ca cc
lc ma st m thi.
Lun vn tt nghip 28


Nhim v bi ton iu khin l xc nh trng thi x theo di trng thi bin
i theo thi gian c th | |
T
n
d d d d
x x x x
) 1 (
...

= khi c mt s khng chnh xc m
hnh trn f(x) v b(x).
Vic theo di c th thc hin bng cch s dng iu khin hu hn u, trng thi
ban u x
d
(0) phi l:
x
d
(0) x(0) (1.20)
Trn mt h thng bc hai, v d v tr hay vn tc khng th thay i tc thi,
nh vy vi bt k qu o mong mun no t thi im t = 0 cng cn phi xut
pht t cng mt v tr v vn tc nh ca thit b. Nu khng, qu o ch c th
t c sau thi k qu .
Cho
d
x x x
~
=
| |
T
) 1 n (
d
x
~
... x
~
x
~
x x x
~

= =

. Ngoi ra, ta nh ngha b mt bin thin theo thi gian
S(t) trong khng gian tr ng thi R
(n)
bng phng trnh v hng s(x;t) = 0 trong
s(x;t) = x
~
)
dt
d
(
1 n
+ (1.21)
vi l mt hng s dng. V d nu n = 2 th x
~
x
~
s + =

, tc s l tng mc nh
hng ca sai lch v tr v sai lch vn tc. Nu n = 3 th x
~
x
~
2 x
~
s
2
+ + =

.
Vi iu kin ban u (1.20) x
d
tng ng vi trng
thi gi nguyn trn S(t) vi mi t > 0. Tht vy, s 0 m t mt phng trnh vi phn
tuyn tnh vi nghim duy nht l 0 x
~
x
d
chuyn thnh bi ton gi lng v hng s bng 0.
d
(tc bi ton chuyn
ng n bc i vi x) c th thay th bi bi ton n nh bc 1 i vi s. Tht vy, t
Lun vn tt nghip 29


(1.21), ta thy biu thc ca s cha x
~

nn ch cn ly vi phn ca s mt khi u vo u
xut hin.
Ngoi ra, gii hn trn s c th chuyn trc tip sang gii hn trn vect sai lch
chuyn ng x
~
v do i lng v hng s m t mt s o lng tnh nng
chuyn ng ca h iu khin. C th, gi s rng 0 ) 0 ( x
~
= (nh hng ca iu kin
u khc 0 c th c thm vo x
~
mt cch tch bit), chng ta c:

i ) i (
) 2 ( ) t ( x
~
, 0 t ) t ( s , 0 t (1.22)
i = 0,..., n-1
vi = /
n-1
. Tht vy, theo (1.21) x
~
t c t s thng qua
mt dy cc b lc bng thng thp bc mt (hnh 1.5), trong
p = (d/dt) l ton t Laplace).

Gi y
1
l tn hiu ra ca b lc th nht, ta c:

=
t
0
) T t (
1
dT ) T ( s e ) t ( y
T s , ta c:
=

t
0
t ) T t (
1
) e 1 ( dT e ) t ( y
Chng ta c th l lun tng t nh vy cho b lc th hai v u ra th
n-1 l x
~
y
1 n
=
. Ta c: =
1 n
x
~

x
~

y
1 1
p +

1
p +

1
p +
S

n-1 khi
Hnh 1.7 - Tnh gii hn trn x
~

Lun vn tt nghip 30


Tng t,
) i (
x
~
l kt qu ca dy cc khi c trnh by trn hnh 1.6. T kt qu
trc,
i n
z

1 1
trong z
1
l tn hiu ra ca b lc th (n-i-1).

Ngoi ra, lu rng

+
=
+
+
=
+ p
1
p
p
p
p

ta thy, dy cc khi trong hnh 1.6 c ngha l:
=
|
.
|
\
|
+
|
.
|
\
|

i
i
i 1 n
) i (
) 2 ( 1 x
~

tc l gii hn ca (1.22). Cui cng, trong trng hp 0 ) 0 ( x
~
, c th t n gii
hn (1.22) mt cch tim cn, tc l trong khong hng s thi gian ngn
1 n
.
Nh vy, c th thay th bng bi ton n
nh bc 1 v (1.22) c s dng o lng tnh nng chuyn ng.
Bi ton bc 1 nhm gi gi tr v hng s bng 0 c th gii quyt c bng
cch chn lut iu khin u trong (1.19) sao cho bn ngoi S(t) ta c:
s s
dt
d

2
2
1
(1.23)
) ( ~ i
x

1
p +

1
p +

p
p +

p
p +

S
z
11
1
. .
n-i-1 khi i khi
Hnh 1.8 - Tnh gii hn trn
) i (
x
~

Lun vn tt nghip 31


trong l hng s dng. Mt cch c bn, (1.23) cho thy rng khong cch n
b mt S, c tnh bng s
2
,

gim

xung theo qu o h thng. V th n buc cc qu
o h thng hng ti b mt S(t) nh minh ha trong hnh 1.7 di y. Mt khi
nm trn b mt, cc qu o h thng s duy tr trn b mt . Ni cch khc, khi
iu kin (1.23) hay cn gi l iu kin trt c tha mn, (1.23) s to cho b mt
mt tp hp bt bin. Hn th na, (1.23) cn ng rng nhiu hoc cc yu t ng
hc khng xc nh c c th c gim bt chng no cn gi c b mt l mt
tp hp bt bin. Trn hnh 1.7, iu ny tng ng vi vic cc qu o ngoi b mt
di chuyn hng v b mt S. S(t) nghim ng (1.23) c gi l mt trt, cn s di
chuyn ca h thng mt khi h thng nm trn b mt ny c gi l ch trt

.

Mt kha cnh khc ca tp bt bin S(t) l mt khi cc qu o h thng nm
trn , chng c xc nh bng phng trnh sau:
0 x
~
)
dt
d
(
1 n
= +

(1.24)
Ni cch khc, b mt S(t) va c xem l a im, va l ng lc hc v cho
php thay th bc n bng bc mt.
Cui cng, vic tha mn iu kin (1.23) m bo rng nu iu kin (1.20)
khng c kim chng chnh xc, ngha l x(t = 0) khng trng vi
S(t)
Hnh 1.9 - iu kin trt
Lun vn tt nghip 32


x
d
(t = 0), th tn hi u iu khin s chm n b mt S(t) trong m t khong thi gian
xc nh nh hn = / ) 0 t ( s . Tht vy, cho rng s(t = 0) > 0, v t
reach
l thi gian yu
cu chm n b mt s = 0. Tch phn (1.23) t t = 0 n t
reach
ta c:
0 s(t = 0) = s(t = t
reach
) s(t = 0) (t
reach
0)
ng rng: t
reach
s(t=0)/
Vi s(t = 0) < 0, chng ta c kt qu tng t. Do vy: t
reach
= / ) 0 t ( s
Ngoi ra, nh ngha (1.21) cho thy khi trn b mt, mi chuyn ng c xu
hng tin v 0 theo tc hm m vi hng s thi gian (n-1)/ (t dy (n-1) b lc
c hng s thi gian 1/).
Mt h thng tha mn iu kin trt (1.23) c hnh vi c minh ha trong
hnh 1.8 di y, vi n = 2. Trn mt trt c h s gc - v cha im (bin i
theo thi gian) | |
T
d d d
x x X =

. Bt u t bt k im xut pht ban u no ,
qu o trng thi chm n mt trt trong khong thi gian nh hn = / ) 0 t ( s ,
sau s trt dc theo mt trt v hng n x
d
vi tc hm m, vi hng s thi
gian 1/.

x

Hnh 1.10 - Din gii bng th ca (2.3) v (2.5) (n=2)

x
Thi gian tn
hiu iu
khin chm
vo mt phng
trt
s=0
x
d
(t)

0
Mt phng trt
Lun vn tt nghip 33


Tm li, tng pha sau phng trnh (1.21) v (1.23) l chn ly mt hm sai
s chuyn ng s ty thuc vo (1.21), sau chn lut iu khin u trong (1.19) sao
cho s
2
duy tr mt hm Lyapunov ca h thng vng kn, bt chp s c mt ca sai s
m hnh v nhiu lon. Trnh t thit k do s bao gm 2 bc:
+ Bc mt, chn lut iu khin u tha mn iu kin trt (1.23).
Tuy nhin, gii thch s c mt ca sai s m hnh v nhiu lon, lut iu
khin s tr nn khng lin tc ngang qua b mt S(t). V chuyn mch iu khin l
khng hon ho (trong thc t, cc rle, vng cht v hin tng tr, v.v lm chuyn
mch iu khin khng th xy ra tc th v khng th xc nh mc chnh xc gi
tr ca s), nn dn n hin tng dao ng tn s cao hay chattering nh minh ha
hnh 1.11.

Hin tng chattering ny cng xut hin v hng s thi gian tr ca sensor v
c cu chp hnh m b lc b khi m hnh ha. R rng chattering khng c
mong i trong thc t v n lin quan cc n hot ng iu khin c tnh phi tuyn
cao v hn th na l n cn kch thch nhng thnh phn ng lc hc tn s cao vn
b ch sao lng khi m hnh ha (v d nh cc kiu cu trc khng c m hnh,
thi gian tr, v.v).
s=0
x
d
(t)
x
Chattering
x
Hnh 1.11 - Hin tng chattering
Lun vn tt nghip 34


+ Bc hai, chn lut iu khin khng lin tc u v c lm nhn mt cch thch
hp dung ha ti u gia di thng iu khin v tnh chnh xc ca qu o.
Nh vy, trong khi bc mt gii thch cho s khng cn xc nh cc tham s
ca nhiu th bc hai nhm t c bn vng i vi nhng ng hc tn s cao.
1.6. KT LUN CHNG MT
Vi vic nh gi v phn tch chng mt c th a ra nh hng nghin cu
lun n nh sau:
1.6.1 C s la chn v mc tiu ca ti:
Vic nng cao cht lng h iu khin chuyn ng l vn rt quan trng,
hng gii quyt vn ny c nhiu nh khoa hc rt quan tm, nht l cn nu ln
c phng php nng cao cht lng iu khin bm chnh xc qu o, n
nh cao, phng php iu khin n gin, d p dng vo thc t.
1.6.2. Phng php nghin cu:
Nghin cu l thuyt v iu khin trt nh c phn tch trong chng
mt ng thi a ra thut ton iu khin nhm khc phc nhc im ca
iu khin trt l thut ton iu khin lm gim hin tng rung
(chattering) l mt hin tng khng mong mun lm nh hng n c cu ca
thit b.
M phng trn Matlab-Simulink kim nghim s ng n ca thut ton
nu ra.
Dng lut iu khin m lm cho sai l ch qu o nhanh tin v 0 ng thi
khng qu iu chnh hay dao ng khi sai lch ln cn 0.
1.6.3. ngha khoa hc v thc tin ca ti:
Lun vn tt nghip 35


xut v xy dng thut ton mi khc phc nhc im ca b iu khin
trt l gim hin tng chattering bng iu khin m trt.
Cc kt qu m phng vi iu khin m trt c nh gi v so snh vi kt
qu ca iu khin trt.

Lun vn tt nghip 36


CHNG HAI
PHNG PHP CI TIN CHT LNG
IU KHIN TRT H IU KHIN CHUYN NG

2.1. T VN
Ta bit rng u im ca iu khin trt l cho php c lng c
nhng i lng nh trng thi h thng, h s khuch i iu khin, nhiu v cc
thnh phn khng m hnh ha c, bi v l cc i lng vt l v lun lun
c gii hn. Do , nu gi tr t xc nh trc th cc sai lch ca cc c tnh
ng gia qu o t v qu o thc s c xc nh c th, iu tha mn
h thng iu khin n nh, nn iu khin cu trc thay i vi ch trt c
th bm chnh xc lng iu khin t. im hn ch ca iu khin trt l tn
hiu iu khin khng lin tc gy ra hin tng chattering.
gii quyt nhc im ny, phng php lp bin v cc phng php
bng thng k h s, phng php hm m,c nu ra nhm gim chattering.
Trong lun vn ny nu ln mt thut ton dng iu khin m trt gim hin
tng chattering.

2.2. PHNG PHP CI TIN CHT LNG NNG CAO CHNH
XC H IU KHIN TRT
hng trnh trng thi:
d u ) x ( b ) x , x ( f x + + = (2.1)
u : Tn hiu iu khin u vo.
Lun vn tt nghip 37


x , x : Trng thi ca h thng.
f( x , x ) : Hm phi tuyn khng bit chnh xc.
b(x) : H s khuch i iu khin khng bit chnh xc.
d : Nhiu bn ngoi, cc thnh phn khng m hnh ha c ca h thng.
2.2.1. Cc gi thuyt ca (2.1) nh sau
Hm f khng c bit chnh xc nhng ta c th c lng mt gi tr l
f
~
sao cho sai lch c lng l f f
~
c ngng gii hn
) x , x ( F f f
~
l mt hm xc nh. (2.2)
Ta c lng gii hn ca b(x)

max min
b b b 0 < (2.3)
t ( )
2 / 1
min max
b b b
~
= :

min
max
min
min max min max 1
max
min
b
b
b
b b
b
b b
b b
~
b
b
= =

t
min
max
b
b
= , ta c:
<
1
b b
~ 1
(2.4)
Ta bit bin ca gii hn ca d

) t (
D d (2.5)
Nhn xt: Nhng gi thuyt ny c dng trong iu khin trt v cc gi
thuyt ny lun lun ng v f, b, d l cc tham s vt l (lun lun c gii hn).
T (2.1) ta c s iu khin nh sau:

Lun vn tt nghip 38


Hnh 2.1 - S iu khin trt tng qut
d
x ,
d
x : Gi l trng thi chun (cn gi l trng thi mong mun).
Vi h thng 2.1, cc gi thuyt (2.2), (2.3), (2.4), (2.5 lut iu
khi n u c thit k sao cho trng thi h thng ) x , x ( bm theo trng thi chun
) x , x (
d d
trong khi c s tn ti ca nhiu bn ngoi d v s thay i ca f, b. iu
khin trt gii quyt rt tt vn ny.
2.2.2. Thit k b iu khin trt
Trc ht ta t:
d
d
x x e
x x e
=
=
(2.6)
i l sai lch qu o hoc sai lch chuyn ng.
+ Bc 1: T cng thc (1.21) ta c :
e . ... e . . C e e .
dt
d
) t , x ( S
1 n ) 2 n ( i
1 n
) 1 n (
) 1 n (

+ + + =
|
.
|
\
|
+ = (2.7)
Trong hng s dng,
i
1 n
C

l t hp chp i ca n-1 yu t.
Tip cho mt S(x,t) =0 trong khng gian trng thi R
n
, v

d, nu n=2 th mt
S(x,t) l:
S(x,t)= e e s + = =0 (2.8)
d
x
d
x
SMC
b(x)

s
1

f

s
1

+

+

+

u

d

x

x
i tng
Lun vn tt nghip 39


Khi trng thi h thng trn mt trt 0 e e s = + = th
t
AE e

= nn khi
t th e 0 ngha l
d
x x v
d
x x . y l mc ch t n
(hnh 1.8).
+ Bc 2 : Tnh u cho trng thi h thng tin v mt s v nm trn nh
trn hnh 1.7.
lm c iu , ta phi da vo nguyn l n nh trc tip Lyapunov.
, ta xt mt hm nng lng V(x) ca h thng
. Gi s c im cn bng ti im x = 0 ti V(x) cc tiu. Nu chng minh c
0 ) x ( V
ngha l 0 s
2
1
2
th im x = 0 c gi l im n nh.
Theo nguyn l n nh Lyapunov, ta chn mt hm:
0 s
2
1
V
2
> = vi 0 s v e e s + =
V = 0
Ta phi lm cho 0 V

0 s . s V =
(2.9)
y l iu kin h thng lun lun n nh ti s = 0.
Khi iu kin (2.9) c tha mn th trng thi h thng lun lun c a
v trn mt trt s = 0 v gi trn . l yu cu ca bc 2.
Nh vy ta phi thit k u sao cho iu kin (2.9) c tha mn.
Chng minh iu kin (2.9): 0 s . s V =

a. Xt trng hp l tng :
0 d , b
~
b , f
~
f = = = th (2.1 u b
~
f
~
x + = (2.10)
Ta c e e s + = e e s + =
Lun vn tt nghip 40


T (2.6) suy ra e x x s
d
+ =
T (2.10) suy ra e x u b
~
f
~
s
d
+ + =
Nu t s s s = vi l hng s dng :
( ) ) s sgn( . s e x u b
~
f
~
s
d
= + +
<
>
=
0 s khi 1
0 s khi 1
) s sgn(
Suy ra e x f
~
) s sgn( u b
~
d
+ =
nn ( ) ) s sgn( b
~
e x f
~
b
~
u
1
d
1
+ =

(2.11)
Nu u c chn theo (2.11) th iu kin (2.9) s c tha mn khi l hng s
dng nh bt k.
Khi 0 = ( ) e x f
~
b
~
u u
d
1
eq
+ = =

(2.12)

eq
u : tn hiu iu khin tng ng (equivelant)
b. Xt trng hp : 0 d , b
~
b , f
~
f
(2.11 :

r eq
u u u + = (2.13)
trong ) s sgn( . K . b
~
u
1
r
= (2.14)
(2.2), (2.3), (2.4) v (2.5), ta suy ra c:
( ) ( ) e x f
~
1 D F K
d
+ + + + (2.15)
: T (2.13), (2.14), (2.15), chng minh iu kin (2.9) tha mn
nh sau:
Ta c : ( ) ) s sgn( . K b
~
e x f
~
b
~
u u u
1
d
1
r eq

+ = + = (2.16)
e x x s
d
+ =
T (2.1) ta suy ra: e x d bu f s
d
+ + + = (2.17)
Lun vn tt nghip 41


Thay (2.16) vo (2.17):
( ) ) s sgn( . K . b
~
b e x f
~
b
~
b e x d f s
1
d
1
d

+ + + + = (2.18)
ta c ) s sgn( . s s s s = = (2.19)
Suy ra: ) s sgn( s =
Cn bng (2.18) v (2.19):
( ) ) s sgn( K . b
~
b e x f
~
b
~
b e x d f ) s sgn(
1
d
1
d
+ + + + =

( ) e x b
~
b e x f
~
d b
~
b f b
~
b b
~
b ) s sgn( ) s sgn( K
d
1
d
1 1 1
+ + + + + =

( ) + + + + =

f
~
) f
~
f ( b
~
b f
~
b
~
b e x ) 1 b
~
b ( ) s sgn( K
1 1
d
1

) s sgn( b
~
b d b
~
b
1 1
+ +

( ) | | ) s sgn( d ) f
~
f ( b
~
b e x f
~
) 1 b
~
b ( ) s sgn( K
1
d
1
+ + + + =

Chn ( ) | | + + + +

d ) f
~
f ( b
~
b e x f
~
1 b
~
b K
1
d
1

T (2.2) n (2.5), suy ra:
( ) D F e x f
~
) 1 ( K
d
+ + + + (2.20)
Nh vy, (2.20) ph hp vi (2.15) l iu ta cn chng minh.
Vi h thng (2.1) cng vi cc gi thit t (2.2) n (2.5), vi u c
theo (2.13) trong K theo (2.15) th iu kin (2.9) c tha mn, ngha l trng thi
h thng xut pht t mt im bt k u c a v mt s = 0.
Tuy nhin, gi cho trng thi h thng nm trn mt trt th tn hiu iu khin u
phi thay i mt cch lin tc t gi tr ny n gi tr khc ti
mt trt s = 0, do vy to ra hin tng chattering (ng ct lin tc).
) s sgn( K b
~
u u
1
eq
=

s < 0 - K b
~
u u
1
eq
+ =
Lun vn tt nghip 42


.
2.2.3. Mt s phng php thng thng gim chattering
2.2.3.1. Phng php lp bin (Bounding layer method)
Nguyn nhn ca chattering do :

<
=
>
=
0 s khi 1
0 s khi 0
0 s khi 1
) s sgn(

khc phc hin tng chattering v lm nhn tn hiu iu khin khng lin
tc trong mt lp bin mng bng cch thay hm d u bng hm sat (saterated
function):
<

>
=
s khi 1
s khi
s
s khi 1
) s ( sat

Nh vy hm ) s ( sat K b
~
u u
1
eq
=

(2.21)
Khi s hm ) s sgn( ) s ( sat = iu kin trt (2.9) c tha
mn.
nh ngha lp bin B(t) bao ph mt trt s:
{ } = ) t , x ( s : x ) t ( B (2.22)
1
-1
s
sgn(s)
2.2 Hm du
1
-1
s
sat(s)
-

2.3 Hm sat
Lun vn tt nghip 43


Lp ny bao quanh mt trt s = 0 vi dy rng = /, c gi l
lp bin.
= ) t ( e (2.23)
Khi < s th
=
s
) s ( sat l hm lin tc nn tn hiu s gim chattering , nhng
sai lch qu o vn cn tn ti.
2.2.3.2. Phng php iu chnh rng lp bin
y l phng php iu chnh trc tuyn rng lp bi n da trn tiu chun
ca mt h thng tuyn tnh bt nh. Kt qu ca phng php l gim thiu hin
tng chattering ca tn hiu iu khin mt cch ng k ng thi cng m bo
chnh xc cao.
gim thiu hin tng chattering, thng sinh ra do s khng lin tc ca hm
chuyn mch f
0
(s) = sgn(s), tc gi dng mt lp bin bc quanh mt trt s = 0 lm
nhn tn hiu iu khin v thay th hm chuyn mch gin on bng mt hm
chuyn mch c tnh lin tc sau y:

t
0
1
e s
s
) s ( f

+
= (2.24)
vi
0
> 0, 0 < v
t
0
e

l b rng ca lp bin, s suy gim v 0 vi tc
hm m khi 0 v c gi tr khng i khi = 0.
Theo , tc gi nghin cu vn chng nhiu cho mt h th ng tuyn tnh
trong trng hp lp bin khng i. Sau khi thc hin m phng cho hai trng hp
Lun vn tt nghip 44


c th c chiu rng lp bin khng i c gi tr ln (
0
= 0,1) v nh (
0
= 0,001), tc
gi thy rng i vi iu khin c chiu rng lp bin nh, hin tng chattering ch
xy ra trong giai on chuyn tip khi trng thi h thng cn rt xa trc ta . Khi
trng thi v gn gc ta , hin tng chattering gim dn mc d chiu rng lp
bin cn rt nh. iu cho thy rng chiu rng lp bin cn t l vi tr tuyt i
ca trng thi h thng. T , tc gi a ra mt dng hm iu khin c gi l
hm iu khin b dy lp bin theo trng thi ca h thng (state-dependent boundary
layer control):
+ + =
e
T
1 0
T 2
1 2 1 0
P G Pz G ) s ( ) x ( p CAx x c s u (2.25)
u im:
- Gip gim thiu c hin tng chattering mt cch c hiu qu, ng thi
m bo iu khin chnh xc cao.
Nhc im:
- Phng php m tc gi M. Tomizuka a ra c xy dng cho h thng tuyn
tnh bt nh. Hm iu khin xy dng cho h thng c mc phc tp cao v ton
hc, s dng nhiu b v nh l ton hc. V vy dn n kh khn trong vic m
rng p dng xy dng phng trnh iu khin cho h thng phi tuyn c cu trc
thay i.
2.2.3.3. Phng php ngh ca lun vn (dng iu khin m trt)
Nh trnh by phn 2.2.2, vic thit k b iu khin trt cho mt h thng
phi tuyn gm hai bc:
Bc 1: Xc nh mt trt 0 e e s = + = trong e = x
d
- x l sai lch qu o,
l gi tr v hng dng. Bi v mt trt c tnh cht ca mt b lc bc 1 nn e
lun lun trt v 0 vi tc hm m khi trng thi ca h v nm trn mt trt.
Lun vn tt nghip 45


Ni cch khc, trn mt mt trt, trng thi h thng lun trt v dc theo mt trt
v im gc m ti sai lch qu o c loi b.
Bc 2: Xy dng lut iu khin u a trng thi h thng v mt trt s = o
v gi li trn . Vi ) s sgn( K b
~
u u
1
eq
=

nh gii thiu trc y th iu
kin trt (2.9) c tha mn.
Tuy nhin vi u c xc nh nh vy, tc khi ta dng hm chuyn mch sgn(s)
khng c tnh cht lin tc, th xy ra hin tng chattering.
loi b hin tng ny, phng php thng thng nht l thay hm sgn(s)
bng hm bo ha sat(s) c nh ngha nh sau:

>
=
s khi
s
s khi ) s sgn(
) s ( sat
Kt qu l tn hiu iu khin u nhn khi trng thi h thng trong b mt lp
bin gn mt trt. Bn ngoi lp bin, sat(s) = sgn(s), v vy lut iu khin u bo
m rng tt c cc trng thi h thng bt ngun t ngoi lp bin u b ko vo
trong.
Tuy nhin, phng php ny l i gy ra sai lch qu o e / do khong
chuyn di tuyn tnh gia hai gi tr 1 v 1.
gim sai s qu o v hin tng chattering, lun v n ny xut mt
phng php l dng iu khin trt m gim hin tng chattering :
* iu khin trt - m
1) Khi s = 0 th sat(s) = sgn(s) v do vy hin tng chattering sinh ra. Nhng vi
iu khin trt - m s gim c hin tng chattering

Lun vn tt nghip 46


2.2.4. Tng hp b iu khin trt - m
2.2.4.1. t vn
Khi tng hp b iu khin v tr cho h KC m trong s dng cc h iu
chnh t ng truyn ng in cn phi m bo h thc hin c tt c cc yu cu
cng ngh, cc ch tiu cht lng v cc yu cu kinh t. Bt c mt h iu chnh t
ng no cng i hi i lng iu chnh phi bm chnh xc tn hiu iu khin
ch xc lp, ta xc lp v qu . n nh bm chnh xc tins hiu iu
khin v tc ng nhanh l cc ch tiu quan trng bc nht ca h KC. Trn c s
phn tch cc sai lch c th chn c b iu khin nng cao cht lng chnh
xc v tc ng nhanh iu khin bm ca h thng.
Cc phng php iu khin kinh in nhiu khi khng p ng c cc yu
cu cng ngh ca mt i tng iu khin phc tp c thng s bin thin trong
phm vi nht nh.... Cc phng php iu khin ti u, iu khin thch nghi, iu
khin trn c s logic m, iu khin vi cu trc bin i.... ang c pht trin v
p dng tng hp cc h thng iu khin c ch tiu cht lng cao. Ni dung chnh
ca lun vn ny l cp mt phng php tng hp b iu khin m - trt cho h
KC. Khi p dng ng thi iu khin vi cu trc thay i, hay cn gi l iu
khin trt (SMC) vi iu khin logic m (FLC) to nn b iu khin trt m
(SFLC), s cho php cng mt lc c c tnh u vit ca mi phng php. u im
ni bt ca n l bn vng i vi nhiu bt nh v h thng c tham s thay i, n
phn ng rt mnh i vi sai lch ln. phn ng rt nhanh va mm do i vi sai
lch nh, gim c hin tng chattering trong iu khin trt, do vy khng cn
bit chnh xc m hnh h thng.
2.2.4.2. Tng hp b iu khin trt - m
Thut ton tng hp b iu khin trt - m s dng tn hiu sai lch v o
hm ca sai lch, ngoi tri thc cn i hi kinh nghim ca chuyn gia. B iu khin
Lun vn tt nghip 47


ny cho c tnh rt tt v c bit khng qu nhy vi cc bin i ca i tng v
ngay c khi m hnh i tng khng chnh xc. Qua rt nhiu thi gian nghin cu v
nhiu ln m phng trn my tnh a ra c b iu khin trt - m c 2 u
vao v mt u ra nh hnh 2.4
dt
d
u e

Thit b
hp thnh
Gii
m

2.3. KT LUN CHNG HAI
Chng ny trnh by nguyn l c bn v iu khin trt p dng cho h
phi tuyn, nu ln mt s p hng php ci tin cht lng iu khin v n
gin ha vic tnh ton cng nh phn tch u nhc im ca tng phng
php. ng thi trong lun vn a ra phng php thit k b iu khin trt
- m
u tin vi tn hiu iu khin a ra l hm du nn gy ra hin tng ng
ct lin tc (chattering) v iu ny cn phi khc phc. Phng php ci tin c
a ra u tin l lm nhn tn hiu iu khin khng lin tc trong mt lp bin
mng (phng php lp bin) bng cch thay hm du bng hm bo ha (Sat).
Nhng, vi cch ci tin ny vn cha ci thin nhiu v cht lng bm qu o.
m bo h thng iu khin chuyn ng c cht lng bm qu o chnh xc
v tn hiu iu khin ci thin c hin tng chattering, ta s dng phng php
iu khin trt - m. iu khin trt - m trnh by trn c p dng iu
khin v tr s dng ng c in mt chiu. Kt qu m phng s c lm sng
t chng 3.
Hnh 2.4:B iu khin m trt hai u vo
Lun vn tt nghip 48


CHNG III
NG DNG IU KHIN TRT- M NNG CAO
CHT LNG IU KHIN V TR S DNG NG
C IN MT CHIU

3.1. T VN :
ng c in mt chiu c s dng ph bin trong cng nghip v dn dng
t nhiu thp k. ng c in mt chiu trong dn dng thng l cc loi ng c
hot ng in p thp, dng vi nhng ti nh. Trong cng nghip ng c in mt
chiu c s dng nhng ni yu cu mmen m my ln hoc thay i tc
trong phm vi rng.
Trong iu khin chuyn ng yu cu phi iu khin chnh xc, di iu
chnh rng, y ta dng ng c in mt chiu dng iu khin v tr cho h
KC t c ng v tr theo qu o t ra. Vic s dng mt b iu khin phc
tp s dng cng ngh tin tin trong mi trng cng nghip khng phi l mt vn
quan trng. Vn c c bit quan tm l t c mt phng php iu khin
v tr cho h KC c tn bn vng, c cht lng cao.
Trong chng ny, trc ht chng ta s a ra phng php iu khin v tr
dng b iu khin trt v mc ch cn t c l va m bo sai s, thi gian
qu , lng qu iu chnh l nh nht, va gim c in tngchattering ca tn
hiu iu khin bng cch s dng b iu khin trt - m 2 u vo mt u ra. Ni
cch khc l ta i so snh b iu khin trt iu khin v tr dng ng c in
mt chiu vi b iu khin v tr dng b iu khin trt - m 2 u vo 1 u ra.

3.2. CU TRC H TRUYN NG NG C IN MT CHIU:
H thng truyn ng ng c mt chiu l h thng t ng iu chnh in
Lun vn tt nghip 49


p vi ba mch vng phn hi l phn hi dng in, phn hi tc , phn hi v
tr. Kt qu ca vn thit k h thng l n nh v m bo cc ch tiu v cht
lng ng nh: qu iu chnh, tc , thi gian iu chnh, s ln dao ng.

Hnh 3.1. H thng truyn ng Thyristor - ng c
h iu chnh t ng, cu trc mch iu khin v thng s ca b iu
khin c nh hng ln n cht lng ca h. V vy khi thit ta phi thc hin cc
thut ton nhm p ng cc yu cu t ra. Mt s tiu chun thit k hay c s
dng l tiu chun mdul ti u, tiu chun ti u i xng. Tu theo cc yu t c th
ca h iu khin v tr tng i thng i hi cc ch tiu cht lng cao nh thi
gian qu ngn, chnh xc cao, bn vng tt ... vi m men v tc nm trong
gi tr cho php.
3.2.1. Tiu chun modul ti u:
- i vi mt h kn, khi tn s tin n v hn th m un ca c tnh tn s-
bin phi tin n khng. V th i vi tn s thp, hm truyn phi t c iu
kin , F
(j)
, 1.
- Hm chun theo m ul ti u c dng:
R
R
I
GV
F
GVR
-1
-Un
-Ui
U
*
i Uci
TM
VF
VR
D
FT
TA
L
c1
L
c2
L
c3
L
c4
R

SV
-
n

*
n
Lun vn tt nghip 50


2 2

P 2 P 2 1
1
F(P)
+ +
=
- Tiu chun m un ti u hiu chnh li c tnh tn s ch vng tn s thp v
trung bnh.
3.2.2. Tiu chun m un ti u i xng:
- Tiu chun ny thng c p dng tng hp cc b iu khin trong mch
vng c yu cu v sai cp cao, n cng c p dng c hiu qu tng hp cc b
iu khin theo quan im nhiu lon.
- Hm chun ti ca i xng:

3 3
2 2

DX
P 8 P 8 P 4 1
P 4 1
(P) F
+ + +
+
=

3.3. XY DNG HM TRUYN CA CC KHU TRONG H THNG
IU KHIN
3.3.1. Hm truyn ca ng c in
Cho n nay ng c in mt chiu vn cn c dng ph bin trong cc h
truyn ng in cht lng cao, di cng sut ng c mt chiu t vi W n hng
MW. Mch in thay th ca ng c mt chiu nh hnh 3.2.

Hnh 3.2. Mch in thay th ca ng c mt chiu
L

E

M
M
C
I
k
U

R

R
K
I
d
U
K

Lun vn tt nghip 51


H thng m t ng c thng l phi tuyn, trong cc i lng u vo
(tn hiu iu khin) thng l in p phn ng U, in p kch t U
k
, tn hi u ra
thng l tc gc ca ng c , mmen quay M, dng in phn ng I hoc v tr
ca Rotor . Mmen t i M
C
l mmen do c c u lm vic truyn v trc ng c,
mmen ti M
C
l nhiu lon quan trng nht ca h Truyn ng in t ng.
Nu cc thng s ca ng c l khng i th c th vit c cc phng trnh
m t s thay th hnh 3.1. nh sau:
Mch kch t c hai bin l dng in kch t I
k
v t thng ph thuc phi
tuyn bi ng cong t ho ca li st:
U
k
(p) = R
k
I
k
(p) + N
k
.P. (p) (3-1)
Trong : N
k
s vng dy cun kch t.
Mch phn ng:
U(p) = R
.I(p) + L
pI(p) + E(p) (3-2)

Hay | | E(p) U(p)
pT 1
1/R
I
u
u
p

+
=
Trong : L

- in cm mch phn ng.
T
= L
/R
Hng s thi gian mch phn ng.

Phng trnh truyn ng ca h:
M(p) M
C
(p) = jp (3-3)
Trong j l mmen qun tnh ca cc phn chuyn ng quy i v trc ng
c.
T cc phng trnh trn ta thnh lp c s cu trc ca ng c in mt
chiu nh h nh 3.3:

Lun vn tt nghip 52


B
cb
c
k0 o k
, M
M
B
I ,
k
I
k
=
=

Hnh 3.3. S cu trc ng c mt chiu
Ta thy rng s ny l phi tuyn mch, trong tnh ton ng dng thng
dng m hnh tuyn tnh ho quanh im lm vic. Trc ht chn im lm vic n
nh v tuyn tnh ho on c tnh t ho v on c tnh mmen ti nh hnh 3.4.
sc ca c tnh t ho v c tnh mmen ti khi b qua hin tng t tr tng
ng l:

i
k

M
C
jp
1

M

k

1
pN
K
R
K
N
K
R

1
1 + pT

U
K
U

-

-

-

k

I

Lun vn tt nghip 53


Hnh 3.4. Tuyn tnh ho on c tnh t ho v c tnh ti
Ti im lm vic xc lp c: in p phn ng U
0
, dng in phn ng I
0
, tc
quay
B
, in p kch t U
k0
, t thng
0
, dng in kch t I
k0
v mmen ti M
CB
.
Bin thin nh cc i lng trn tng ng l: U(p), I(p), (p), U
k
(p), I
k
(p),
(p) v M
c
(p).
Phng trnh m t ng c c th vit di dng sau:
Mch phn ng:
U
0
+U(p) = R
[I
0
+I(p)] + pL
[I
0
+I(p) +K[
0
+(p)].[
B
+(p) (3-4)
Mch kch t:
Uk
0
+ U
k
(p) = R
k
[I
k0
+ I
k
(p)] + pL
k
[I
k0
+ I
k
(p)] (3-5)
Phng trnh truyn ng c hc:
K[
0
+ (p)].[I
0
+ I(p)] [M
B
- M
c
(p)] = Jp.[
B
+ (p)] (3-6)
Nu b qua cc v cng b bc cao th t cc phng trnh trn c th vit c
cc phng trnh ca gia s:
U(p) [K.
B
. (p) + K.
0
. (p)] = R
I(p).(1+ pT
) (3-7)
U
k
(p) = R
k
. I
k
(p).(1+ pT
k
) (3-8)
I
K0
I
K
K
K

0
0

M
C
C
B
M
CB
0

B

Lun vn tt nghip 54


K.I
0
. (p) + K.
0
. I(p)] - M
c
(p) = Jp.(p) (3-9)
T phng trnh (3-7), (3-8), (3-9) ta c s cu trc m t ng c in mt
chiu kch t c lp nh hnh 3.5.

Hnh 3.5. S cu trc tuyn tnh ho
Khi gi nguyn t thng kch t khng i:
K = const
U(p) = R
I(p).(1+PT
) + K(p) (3-10)
K.I(p) M
C
(p) = Jp(p) (3-11)
S cu trc ng c khi t thng khng i c th hin trn hnh 3.6

Hnh 3.6. S cu trc khi t thng khng i

jp
1

M

1/R

1 + pT

U
K
U

-

K
0
M
C
K
0
K
B
KI
0
K
K
1/R
k
1 + pT
k
-

I
k
I

B

jp
1

1/R

1 + pT

U

-

K

M
C

K

-

I

M

E

Lun vn tt nghip 55


Bng phng php i s s cu trc ta c s thu gn:

Hnh 3.7. Cc s cu trc thu gn:
a) Theo tc ; b) Theo dng in.
Trong :
H s khuch i ca ng c: K
= 1/K.
Hng s thi gian c hc: T
c
= R
.J/(K)
2
. (3-12)
1 p T p T T
K
(p) M
R
U(p)p.T
I(p)
c
2
c -
c
-
c
+ +
+
= (3-13)
Cc hm truyn ca ng c c dng:
1 p T p T T
K
U(p)
(p)
c
2
c -
d
+ +
= (3-14)

U

-

1 p T p T T
K
c
2
c
d
+ +

1 p T p T T
P) T (1 .K R
c
2
c
d
+ +
+

M
C
a)
I
U

-

M
C
1 p T p T T
P/R T
c
2
c
c
+ +

1 p T p T T
K
c
2
c
d
+ +

I
c
I
g
b)
Lun vn tt nghip 56


U
d
U
d0
U
d0

U
d0

U
ct U
ct1
U
ct2
t
1
t
2
t
3
t
4

2

Hnh 3.8. Thi gian pht xung v thi gian
mt iu khin ca b chnh lu
1 p T p T T
P T
.
R
1
U(p)
I(p)
c
2
c -
c
-
+ +
= (3-15)
1 p T p T T
P) T (1 .K R
(p) M
(p)
c
2
c -
-
d -
c
+ +
+
= (3-16)
1 p T p T T
K
(p) M
I(p)
c
2
c -
d
c
+ +
= (3-17)
3.3.2. B chnh lu bn dn Thyristor
B phn chnh lu bn dn
thyristo cn iu khin khng bao
gi tch khi mch in pht xung,
v vy khi phn tch h thng thng
xem chng nh m t khu, Lng
u vo ca khu ny l in p iu
khin U
ct
ca mch pht xung, lng
u ra l in p chnh lu khng ti
l tng U
d0
. Nu coi h s khuych
i K
s
gia chng bng hng s, th
b pht xung v chnh lu bn dn c coi l khu khuych i thun tu chm sau
(tr), m tc dng chm sau l do thi gian mt iu khin ca b bn dn gy ra. Thi
gian mt iu khin T
s
c ln thay i theo thi im pht sinh s bin ng ca
in p iu khin U
ci
. Thi gian mt iu khin ln nht c th xy ra l thi gian
gia hai ln thay i pha t nhin n lin quan ti tn s ngun in xoay chiu, hnh
thc mch chnh lu v c xc nh theo biu thc:
mf
1
T
smax
= (3-18)
Trong : f tn s dng in xoay chiu.
m s ln p mch ca in p chnh lu trong mt chu k.
Lun vn tt nghip 57


Tng ng vi thi gian thch nghi ca h thng m ni, T
s
c gi tr khng ln
nn thc t c th ly gi tr thi gian mt iu khin trung bnh T
s
= T
smax
/2, v thng
coi l hng s.
Dng hm bc thang n v biu th s chm sau th quan h gia u vo v
u ra ca thit chnh lu v pht xung bn dn thyristor s l:
U
d0
= K
s
.U
ct
.1(t T
s
) (3-19)
Theo nh l chuyn di php bin i Laplace, th hm truyn l:
p
s
T
s
ct
d0
e K
(P) U
(p) U

= (3-20)
Trong biu thc (3-20) c cha hm s m
p T
s
e
, n lm cho h thng khng

phi l h thng pha cc tiu, vic phn tch v thit k kha phc tp. n gin ho,
trc tin ta phi khai trin
p T
s
e
thnh cp s Taylo, v biu thc (3-20) tr thnh:

... p T
3!
1
p T
2!
1
p T 1
K
p
s
T
e
K
e K
(P) U
(p) U
3 3
s
2 2
s s
s s s
s
ct
d0 p T
+ + + +
= = =

(3-21)
V T
s
c gi tr rt nh nn ta c th b qua cc gi tr bc cao ca n. Hm s
truyn ca b chnh lu v pht xung bn dn thyristor c th coi mt cch gn ng l
khu qun tnh bc nht.
p T 1
K
(P) U
(p) U
s
s
ct
d0
+
= (3-22)
S cu trc ca b chnh lu bn dn thyristor:

Hnh 3.9. S cu trc ca b chnh lu bn dn thyristor
a) khi chun xc; b) khi gn ng
K
s
e
TsP

U
ct
(p) U
d0
(p)
p T 1
K
s
s
+

U
ct
(p) U
d0
(p)
a) b)
Lun vn tt nghip 58


3.3.3. Hm truyn ca my pht tc
Trong mch vng tc , ngi ta phi to ra mt tn hiu in p t l vi tc
ng c. lm c iu thng thng ngi ta dng my pht tc, n c
ni cng trc vi ng c.
Hm truyn ca my pht tc:
p T 1
K
(p) w
FT
+
=

(3-23)
Trong : T
- hng s thi gian ca my pht tc.

K
- h s phn hi my pht tc.

3.3.4. Hm truyn ca thit b o in
Cng nh mch vng tc ly tn hiu dng in quay tr li u vo
khng ch h thng ngi ta to mt tn hiu in p t l vi tn hiu dng in. C
nhiu cch ly tn hiu dng in nhng n gin nht c th c th dng my bin
dng.
Hm truyn ca khu ly tn hiu dng in:
p T 1
K
(p) w
I
I
FT
+
= (3-24)
Trong :
I
- hng s thi gian ca my my bin dng.
K
I
- h s phn hi dng in.
3.3.5. Tng hp h iu khin R
I
, R
, R

Vic tng hp cc b iu khin R
I
, R
u c tin hnh theo phng php

tiu chun m dun ti u hoc tiu chun m dun i xng.
Nguyn tc chung thit k h thng iu khin ba mch vng kn l: bt u
t vng trong, tng vng tng vng mt m rng ra ngoi. C ngha, trc tin ta phi
thit k b iu chnh dng in, tip n coi c mch vng dng in l mt khu
trong h thng iu chnh tc quay thit k b iu chnh tc quay, tip tc
Lun vn tt nghip 59


coi c mch vng tc l mt khu trong h thng iu chnh v tr thit k b iu
chnh v tr.
3.3.5.1. Tng hp b iu khin dng in R
I

Trong cc h thng truyn ng in t ng cng nh trong h chp hnh th
mch vng iu chnh dng in l mch vng c bn chc nng c bn ca cc mch
vng dng in l trc tip hoc gin tip xc nh m men ko ca ng c, ngoi ra
cn c chc nng bo v, iu chnh gia tc...
S cu trc mch vng dng in nh sau :

Hnh 3.10. S cu trc mch vng dng in
Trong :
R
L
T
u
= : Hng s thi gian in t ca ng c
R = R
B
+ R
K
+R
d
+ R
s
L = L
b
+ L
k
+ L
d

T
i
=R.C : Hng s thi gian ca cm bin (sensor) dng in
B qua nh hng ca sc in ng, ta c s cu trc thu gn nh sau :

U
i
(-)
i
R
( )( ) p . T 1 p . T 1
K
v dk
CL
+ +

K
u
u
T . p 1
R
1
+

Jp
1

i
i
pT 1
K
+

M
c
(-) U
i
(p)

K

Lun vn tt nghip 60


Hnh 3.11. S cu trc thu gn mch vng dng in
T s hnh (2.10) v (2.11) ta c hm truyn ca i tng iu khin mch
vng iu chnh dng in:
( ) ( )( )( )( )
u i v dk
i cl
dk
0i
p.T 1 p.T 1 pT 1 p.T 1
1
.
R
.K K
p U
I(p)
(p) S
+ + + +
= = (3-25)
Trong :
T
si
= T
i
+ T
v
+T
k
<< T
, b qua cc h s bc cao ta c:
( )( )
u si
i cl
oi
p.T 1 p.T 1
R
.K K
(p) S
+ +
= (3-26)
p dng tiu chun ti u modul ta c hm truyn ca h thng kn:
2

OMi
.p 2 2 1
1
(p) F
+ +
= (3-27)
Mt khc, theo hnh 3.11. ta c :
( )
( ) p 1 p .2
) p.T )(1 p.T (1
R
.K K
1
(p) R
(p) (p).S F (p) S
(p) F
(p) R
(p) (p).S R 1
(p) .S p R
(p) F

u si
i CL
i
oi OMi oi
OMi
i
i
o i
oi i
OMi
+
+ +
=
=
+
=

Chn

= min (T
si
, T
) = T
si

Vy ta c hm truyn ca b iu chnh dng in :
I(p)
R
i
(p) S
0i
(p)
U
I
(-)
U
I
(p) U
dk
(p)
Lun vn tt nghip 61


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.
|
\
|
+ =
+
=
u si i CL
u
si
i CL
u
i
T . p
1
1
T . K . K 2.
T . R
R
T
. K . K . p 2
T . p 1
(p) R (3-28)
R
i
(p) l khu t l - tch phn (PI)
Kt qu khi tng hp mch vng dng in bng tiu chun ti u modul ta c:
p 2T 1
1
.p 2.T .p 2.T 1
1
(p) U
(p) U
(p) F
si
2
2
si si
id
i
OMi
+
+ +
= = (3-29)

3.3.5.2. Tng hp b iu khin tc R

S cu trc thu gn mch vng tc nh sau :

Hnh 3.12. S cu trc thu gn mch vng tc
Trong :
) T . p (1
K
.
p . T . . K
R
.
K
1
.
p) . T 2 (1
1
(p) S
c i si
o
+ +
=
t T
s
= 2.T
si
+ T

s
T rt nh. Ta c:

) p.T .p(1 .K.K. K
R.K
(p) S
s
c
i
o
+
=
p dng tiu chun ti u modul:
2 2

OM
p 2 .p 2. 1
1
(p) F
+ +
= (3-30)
R
(p) S
0
(p)
U
d
(p)
(-)
U
(p)
Lun vn tt nghip 62


(p) S (p). F (p) S
(p) F
(p) R
o OM o
OM
= (3-31)
( )
) .p(1 .2
p.T 1 .p .KK K
R.K
1
(p) R

s c
i
+
+
=
Chn

= T
s

Ta c hm truyn ca b iu chnh tc theo tiu chun ti u modul:
s
c i
T .2. K . R
T . K . K
(p) R = (3-32)
R

(p) l khu t l (P)
Tiu chun ny c s dng khi h thng khi ng mang ti, lc ta
khng coi I
C
l nhiu na.
p dng tiu chun ti u i xng:
3
3
2
.
2

OM
.p 8 p 8. .p 4. 1
.p 4. 1
(p) F
+ + +
+
= (3-33)
o
OM o
OM
.S F S
F
(p) R
=
.p) (1
2
p .8
) p.T .p(1 .T .K K
R.K
.p 4 1
(p) R
s c
+
+
+
=
Chn
= T
s

Ta c hm truyn ca b iu chnh tc theo tiu chun ti u i xng:
p . T .8
T . K . K
K . R
p . T 4 1
(p) R
2
s
c i
+
= (3-34)
R
(p) l khu tch phn- t l (PI)

Kt qu khi tng hp mch vng tc bng tiu chun ti u modul ta c:
Lun vn tt nghip 63


s
2 2
s s d
K
1
.
.p 2T 1
1
K
1
.
p 2T .p 2T 1
1
(p)
(p)
+
+ +
= (3-35)
Kt qu khi tng hp mch vng tc bng tiu chun ti u i xng ta c:
s
3 3
s
2 2
s s d
K
1
.
.p 4T 1
1
K
1
.
.p 8T .p 8T .p 4T 1
1
(p)
(p)
+
+ + +
=

3.3.5.3. Tng hp mch vng v tr
.+ S cu trc ca trc h thng iu chnh v tr

Hnh 3.13. S cu trc thu gn mch vng v tr
Tng hp mch vng lc cng cng tng t nh tng hp mch vng tc , ta
dng tiu chun ti u modul v tiu chun ti u i xng.
S cu trc thu gn mch vng v tr nh hnh 3.13.
Trong :
i
1
K
r
= : H s khuch i ca b truyn lc (3-36)
T
s
=T
+2.T
si
=T

+2(T
k
+ T
v
+ T
i
) (3-37)
Tng hp theo tiu chun ti u modul
2 2

OMT
p 2 .p 2. 1
1
(p) F
+ +
= (3-38)
T s cu trc hnh 3.13. ta c:
R
(p)

T
d
(p)
(-)
s d
s d
K
1
.
p T 4 1
1
(p)
(p)
K
1
.
p . T 2 1
1
(p)
(p)
+
=
+
=

P
K
r

(p)
pT 1
K
+

Lun vn tt nghip 64


) T p(1 p) . T 2. (1
K
K
. K
(p) S
s
r
T 0
+ +
= (3-39)
p dng tiu chun ti u modul ta c :

(p) S (p). F (p) S
(P) F
(P) R
T 0 MT 0 T 0
MT 0

( )
) pT p)(1 T 2 (1
K
K
. K
.
p 2 p 2 1
1
) pT p(1 p) . T 2 (1
K
K . K
p 2 2 1
1
p R
s
r
2 2
s
r
2
2

+ + + +
+ +
+ +
=

p) T (1
p) . (1
. p .2
) pT 2 p(1 . K
K K
1
(p) R
s
r
+
+
+
=
Chn:
= T

Ta c hm truyn ca b iu chnh v tr theo tiu chun ti u modul :
p) . T 2 (1
T .2. K . K
K
(p) R
s
r
+ =

(3-40)
Vi: R

= K
p
+ K
D
.p (3-41)

T .2 K . K
K
K
r
p
= (3-42)

T . K . K
T . K
K
r
s
D
= (3-43)
R
T
(p) l khu t l - o hm (PD).
Tng hp theo tiu chun ti u i xng
p . 8 p . 8. p . 4. 1
p . 4. 1
(p) F
3
OMT
+ + +
+
= (3-44)
Lun vn tt nghip 65


Khi tng hp mch vng v tr theo tiu chun ti u i xng th ta c hm
truyn i tng :
) T p(1 p) . T . 4 (1
K
K
. K
(p) S
s
r
T 0
+ +
= (3-45)
p dng tiu chun ti u i xng ta c :
(p) S (p). F (p) S
(P) F
(P) R
T 0 MT 0 T 0
MT 0
=
p) T (1
p) . (1
. p .2
) pT 2 p(1 . K
K K
1
s
r
+
+
+

Chn:
= T

Ta c hm truyn ca b iu chnh v tr theo tiu chun ti u i xng:
p) . T 4 (1
T .2. K . K
K
(p) R
s
r
+ =

(3-46)
R
T
(p) cng l khu t l- o hm (PD)
Sau khi tng hp cc b iu khin, ta c s cu trc iu khin v tr ng
c in mt chiu nh hnh v 3.14.

Hnh 3.14. S cu trc h iu chnh v tr
P 2T 1
1
si
+

P T 1
K
+

P T C
R
c u

JP
1

i
K
1

R

R

JP
1

P T 1
K
d
(p)
(p) (p)
d

(-)
(-)
(-)
U
i
(p)
I
M
C

Lun vn tt nghip 66


+ Tnh phi tuyn ca b iu khin v tr
B iu khin v tr nhm m bo thi gian qu ngn, ng thi chnh
xc tnh nm trong gii hn cho php. Ta xt qu trnh bt u hm,lc tn hiu t
v tn hiu phn hi xp x nhau ngha l:
(
1
-

1
).R

h
(3-47)
h
=
1
-

1
: Qung ng hm
h
: Vn tc thi im bt u qu trnh hm qung ng hm ln nht c
tnh theo cng thc:
hmax
hMax
r
2
Max
.K
.
2
1
= (3-48)
Trong :
hMax
: Gia tc hm cc i cho trc.
T 3-47 v 3-48 ta c:
h hMax
.R

hMax
r
2
Max
h
.K .K
.
2
1

=
Chn R
= K

r 1
hMax
.K
2.
K =

(3-49)
Qung ng i c lc hm l :

= 2
hmax
=
.K
r
2
h
(3-50)
Khi tng hp b iu khin v tr R
, ta chn c hm truyn t kiu PD

vi h s khuch i K
= const . Quan h tnh = f() Trong qu trnh hm (cng

thc 3-48) c v trn hnh (3.15) ta thy:
Khi cho qung ng l
1
th tc l
1
tng ng vi h s khuch i l
K
1
khi cho qung ng l
2
m vn gi nguyn h s K
1
th tc l
2
nhng
thc cht theo quan h phi tuyn th tc l
2
.Ngha l cn h s khuch i
Lun vn tt nghip 67


K
2
.Tng t khi cho qung ng l
3
th cu phi c K
3
. Nh vy khi cng
nh th h s khuch i R
cng ln t c tc ln tng ln thch ng vi qu

trnh hm nhanh theo yu cu.

1
3
2
2
'
0 1 2 3

3 2
1

Hnh 3.15. Quan h gia v
Qua phn tch ta thy quan h = f() l phi tuyn v vic chn R
ch cha h
s khuch i K
= const l khng hp l. gii quyt vn ny ngha l phi thc

hin b iu khin phi tuyn. Trong bn lun vn ny ti xut phng php dng b
iu khin trt m, c th l dng b iu khin trt v m ho h s trong b iu
khin trt.
Qua phn tch trn cho ta thy mt cch nhn tng quan v h iu khin v tr s
dng ph bin v rng ri ca h iu khin v tr trong cng nghip.
Cc khu trong h iu khin v tr u c phn tch v m hnh ho, tuyn tnh ho
khi cn thit, phc v cho qu trnh m phng h thng.
H iu khin v tr tuyn tnh c thit k theo phng php kinh in c
tng hp da vo cc tiu chun ti u mdul v ti u i xng nhm t c cht
lng iu khin tt nht.
Tuy vy ta chng minh c c tnh iu khin ca b iu khin v tr l
phi tuyn nn nng cao cht lng iu khin ca h thng th thc hin mt b
Lun vn tt nghip 68


iu khin v tr phi tuyn l cn thit v v cng cp bch. c bit khi cn thit k
cc h iu khin v tr p ng c cc ch tiu cht lng cao v rt cao v thi
gian qu ngn, chnh xc cao
3.4. M PHNG H THNGTRUYN NG VI CC B IU KHIN
TRT V IU KHIN M
3.4.1.Cc thng s ng c mt chiu kch t c lp .
* Cc thng s cho trc:
P
m
: Cng sut nh mc ca ng c 3,2kW
U
m
: in p nh mc ca ng c 110 V
n
m
: Tc quay nh mc ca ng c 3000 v/p
I
m
: Dng in nh mc ca ng c 35A
L

: in cm phn ng 0.0059
R
: in tr phn ng 0,162
T
i
: Hng s thi gian ca my bin dng 0,002 s
T
CL
: Hng s thi gian ca b chnh lu 0,0025s
T
k
: Hng s thi gian ca mch iu khin b chnh lu 0,001s
T
: Hng s thi gian ca my pht tc 0,001s

T
: Hng s thi gian ca b cm bin v tr 0,3s

L : Chiu di qung ng cn di chuyn 100 cm
R : Bn knh trc truyn ti cui cng 0,32 cm

Lun vn tt nghip 69


3.4.2. Xy dng b iu khin trt cho mch vng v tr
Bc 1: Chn mt trt S: S(e)= e+
1
e.
Bc 2:
Trong c chn sao cho nghim ca a thc c trng p+
1
= 0 u nm
bn tri mt phng phc.
Thit k lut iu khin cho h thng ri vo mt trt S = 0 v duy tr ch
ny mi mi
Mt trt S cho bi phng trnh S(e) = 0, lut iu khin u c chn sao
cho Ssign(S) < 0.
Xt bi ton iu khin c y
0
= (y
0
, y
0
)
T
v i tng l ng c in mt chiu c
( )
1 0336 . 0 001223 . 0
012 . 3
2
+ +
=
p p
p G
hay { } u x va x x = =
2 2
'
1
' vi y = x
1

Nh vy vi mt gi tr u c nh ( khng ph thuc vo t) ta c:
c x
u
x + =
2 1
2
1

Vi c l hng s ph thuc gi tr u vo ca x
1
v x
2
.
Nu thay khu Rle hai v tr trn bng khu khuych i bo ho th sai lch
e(t) s l
) (t e
, vi l sai s o khong chuyn i lin tc u
MAX
-u
MAX
sinh
ra. Nh vy ng chuyn i s(e)=0 cng c thay vo min chuyn i ) (t s l
mt s thc dng tho mn:
= e
Mt khc ta bit
) ' sgn( ' ' ) ' , (
'
0
e e K y y y f
e
u
+ + + = vi K > 0
Tn hiu iu khin u vi iu kin trt c di bng s c chn nh sau:
Lun vn tt nghip 70


( )
( )
|
|
.
|
\
|
+ + =

e s
h K y y y f
e
u . ' ' ' ,
'
0
Trong :
+ K l mt hng s dng
+
( ) ( )
|
|
.
|
\
|
=
|
|
.
|
\
|

e s
sng
e s
h khi
( )
1
|
|
.
|
\
|
e s
v

( )
|
|
.
|
\
|
=
e s
khi
( )
1
|
|
.
|
\
|
e s

Nh vy khi
( )
1
|
|
.
|
\
|
e s
tc l qu o cn nm ngoi di bng th
( )
( ) s sng
e s
sng =
|
|
.
|
\
|
nn (2.7) tr thnh (2.8).

Nu i tng l ng c in mt chiu th
( )
|
|
.
|
\
|
+ + =

e s
h K y y f
e
u . ) ' , (
'

3.4.3. M phng h iu khin v tr vi b iu khin trt

Hnh 3.16: S cu trc m t h iu khin v tr bng b iu khin trt
Lun vn tt nghip 71


Hnh 3.17: M phng trt 10s
Lun vn tt nghip 72


Hnh 3.18: M phng trt 15s
Lun vn tt nghip 73


3.4.4.Xy dng b iu khin trt m cho mch vng v tr.
Bc 1:
( )
|
|
.
|
\
|
+ + =

e s
h K y y f
e
u . ) ' , (
'
Thit k lut iu khin trt : Trong phn thit k b iu khin trt ta
bit lut iu khin nh sau:

Do trong lut iu khin c hm sign nn gy ra hin tng dao ng, khc
phc nhc im ny ta thm khu x l m trong b iu khin thay th cho hm
sign
Bc 2:
Cc bc xy dng b m:
Xy dng b m
1. M ho mt trt S:

Lun vn tt nghip 74


Hnh 3.19: u vo 1 vi 5 tp m
Hnh 3.20: u vo 2 vi 5 tp m
Lun vn tt nghip 75


2. Xy dng h quy tc m:

Hnh 3.21: Lut hp thnh
Lun vn tt nghip 76


3. Gii m: Bng phng php gii m trng tm.
Bc 4: Thit k m phng bng Matlab
.4.5

: M phng h iu khin v tr vi b iu khin trt m

Hnh 3.22: Quan h vo ra ca b iu khin m
Hnh 3.23: S m phng h iu khin v tr c b iu khin trt m
Lun vn tt nghip 77


Hnh 3.24: M phng trt m 10s
Lun vn tt nghip 78


Hnh 3.25: M phng trt m 15s
Lun vn tt nghip 79


3.5
* Thi gian qu trong qu trnh khi ng v qu trnh hm:
: NHN XT V KT LUN:
- So snh b iu khin Trt vi b iu khin trt m ta thy thi gian qu
gim c 2-3 s i vi U
d
= 10 V tc l gim c t 33% - 50% v gim c 3.5s -
4s i vi U
d
= 15 V tc l gim c t 35% - 40% tuy nhin khi s dng b iu
khin trt ta thy tn hiu ra c hin tng chattering, khi s dng b iu khin trt
m ta thy khng nhng hin tng chattering c gim hn m thi gian qu hay
lng qu iu chnh cng gim hn.
* chnh xc:
Khi chn cc tp gi tr m v lut iu khin thch hp thi lut iu khin trt
m gip cho h t c chnh xc cao, ngay c vi gi tr t rt nh. Khi v tr t
ln hn nh mc ngoi vic gim thi gian qu , b iu khin trt m cn gim
qu iu chnh c bit trong qu trnh hm.

Lun vn tt nghip 80


KT LUN
ti nghin cu ng dng phng php iu khin hin i nng cao cht
lng iu khin chuyn ng, c th l ng dng phng php iu khin trt m
iu khin v tr dng ng c in mt chiu l mt vn mang tnh thi s, c
xut pht t nhu cu thc tin ca nghnh iu khin hc hin i. ti nghin cu
ny tng hp iu khin m v iu khin trt a ra mt b iu khin v tr
ti u, n tng hp c u im ca b iu khin trt, ng thi kt hp vi b
iu khin m hn ch c nhc im ca b iu khin trt l hin tng
chattering v a h thng t trng thi xc lp nhanh nht ng thi cn gim hn
c lng qu iu chnh, nhm nng cao cc ch tiu cht lng trong iu khin v
tr, phn no p ng c nhu cu thc t. Cc kt qu nghin cu chnh c tm tt
nh sau:
- Tng quan v h iu khin chuyn ng.
- Phn tch c cc u nhc im ca h iu khin chuyn ng.
- Trnh by cu trc ca mt b iu khin trt, phng php thit k b iu
khin trt.
- Thit k b iu khin trt, a ra phng php khc phc hin tng
chattering trong iu khin trt iu khin v tr dng ng cp in mt chiu.
- Tng hp c b iu khin trt - m 2 u vo 1 u ra.
- Cc kt qu tnh ton ph hp v c kim nghim bng phn mm m
phng Matlab, cho thy tnh ng n v chnh xc ca kt qu t c.
- Kt qu m phng t c rt kh quan, s l tin trong tng lai ca iu
khin trt - m trong h iu khin v tr v trong h iu khin chuyn ng ni
chung.

Lun vn tt nghip 81


TI LIU THAM KHO

1. Nguyn Nh Hin, Li Khc Li.H m v nron trong k thut iu khin.
NXB khoa hc t nhin v cng ngh HN 2006.
2. Nguyn Nh Hin, Phng php nng cao chnh xc h KC nhiu
trc.
3. Nguyn Vn Ha, C s l thuyt iu khin t ng, Nh xut bn Khoa
hc v K thut, H Ni - 1998.
4. Cao Tin Hunh, iu khin trt trn cc mt trt m, Tuyn tp cc bo
co Khoa hc Hi ngh Ton quc ln th ba v T ng ha, H Ni -
2000.
5. Bi Quc Khnh, Nguyn Vn Lin, Phm Quc Hi, Dng Vn Nghi,
iu chnh t ng truyn ng in, Nh xut bn Khoa hc v K thut,
H Ni - 1998.
6. Phan Xun Minh v Nguyn Don Phc, L thuyt iu khin m (in ln
th 3), Nh xut bn Khoa hc v K thut, H Ni - 2002.
7. Nguyn nh Ph, L thuyt n nh v ng dng, Nh xut bn Gio dc -
1996.
8. Nguyn Don Phc, Phan Xun Minh, iu khin ti u bn vng, Nh
xut bn Khoa hc v K thut, H Ni - 1999.
9. Nguyn Don Phc, Phan Xun Minh, L thuyt iu khin m, Nh xut
bn Khoa hc v K thut, H Ni - 2002.
10. Nguyn Phng Quang, Matlab v Simulink dnh cho k s iu khin t
ng, Nh xut bn Khoa hc v K thut, H Ni - 2004.

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I HC THI NGUYN

TRNG I HC K THUT CNG NGHIP

l nhng gi tr c lng ca phng trnh ng lc hc ngc.

l ma trn i xng xc nh dng, quyt nh tc hi t cc tham s v gi

v khng i. Lut iu khin ny c hnh thnh da trn 3 yu

pI(p) + E(p) (3-2)

Hng s thi gian mch phn ng.

, n lm cho h thng khng

thnh cp s Taylo, v biu thc (3-20) tr thnh:

- hng s thi gian ca my pht tc.

- h s phn hi my pht tc.

u c tin hnh theo phng php

(p) l khu tch phn- t l (PI)

, ta chn c hm truyn t kiu PD

= const . Quan h tnh = f() Trong qu trnh hm (cng

cng ln t c tc ln tng ln thch ng vi qu

= const l khng hp l. gii quyt vn ny ngha l phi thc

: Hng s thi gian ca my pht tc 0,001s

: Hng s thi gian ca b cm bin v tr 0,3s

nn (2.7) tr thnh (2.8).

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