BO CO TH NGHIM IU KHIN T NG

Bi 4: M PHNG V NH GI CHT LNG H THNG IU KHIN TC NG C DC

NHM 7 Nguyn Vn Tin 09076481 Thi Thanh Tn 09079441 Phan Trung Tn 09179281 MC CH. Gip sinh vin hiu c m hnh ton ca ng c DC. Kho st i tng ng c trn m hnh ton, nh gi cht lng ca cc phng php iu khin c s dng. II. TH NGHIM. Cho hm truyn ca m hnh ng c c dng nh sau: . ( + . )( + . ) II.1 Kho st m hnh iu khin tc ng c dng phng php iu khin PID Mc ch: 1. 2. 3. I. Kho st nh hng ca hiu chnh PID ln tc ng c. Th nhim:

Trong : - Tn hiu u vo l hm nc Uu(t) = 1200 (tc 1200 RPM) - Transfer Fcn v Transfer Fcn1 th hin m hnh ca ng c. a, Kho st h thng s dng khu hiu chnh P (Ki = 0, Kd = 0), ta s c vt l, sai s xc lp, thi gian xc lp trn h thng da vo bng di y. Ta c th xc nh cc gi tr vt, sai s xc lp, thi gian xc lp nh sau: u tin ta s nhp hm truyn ca ng c DC vo Matlab vo bng cng c sisotool v ly cc thnh phn nh hnh trn. Sau ta s thit lp u vo l tn hiu hm nc vi Final Value = 1200, cc thng s cn li s bng 0 nh hnh sau Tip theo, ta s thit lp cc thng s Ki = 0, Kd = 0, ri ln lt theo i cc gi tr ca Kp nh bng. t ta s xc nh c cc gi tr nh vt l, sai s xc lp, thi gian xc lp.

Mun v c xem c p ng ca h thng s c v tng t nh cc bi trc. Bn c th v p ng bn ca hm nc, Sau ta sang bn ca s chnh ca Matlab ri g lnh. >> plot(ScopeData.time,ScopeData.signals.values) >> grid on;

T cc bc trn ta c s nhn c p ng ca h thng vi Kp = 2, Ki = 0, Kd = 0.

Da vo p ng ca h thng ta c th xc nh c vt l, sai s xc lp, thi gian xc lp. Nhn hnh trn ta c th d dng nhn thy, vt l ca h l khng c. Thi gian xc lp l khng c, Sai s xc lp s bng 15 - vt l c tnh nh sau: (1298-1200)/1200 *100 = 8.16%(~8.2%). - Sai s xc lp: 1200 1125 = 75 - Thi gian xc lp c tnh l thi gian cn thit sai lch gia p ng ca h thng v gi tr xc lp ca n khng vt qu 5%(0.05) hoc 2%(0.02). D ta nhn thy rng h thng nh hnh di khng c thi gian xc lp.

Lm tng t nh trn cho cc trng hp cn li. ta c c bng tng kt di y. Kp POT(%) exl txl (s) 1 Cha c 200 Cha c 2 Cha c 109 Cha c 3 8.2 75 Cha c 10 36,25 23 0.23 20 50.58 12 0.2

Nhn xt: H thng s thay i trng thi hot ng ca mnh khi thay Kp. Khi Kp nh th h thng hot ng n nh nh m khng t c gi tr t ban u(sai s xc lp ln). Khi Kp t cc gi tr ln thi lc h thng c th t c gi tr t ban u nhng b li h thng s mt n nh vi vt l ca h thng qu ln Gii thch: Ta c th thy rng khi s dng khu hiu chnh P(khu t l) th s lm cho sai s xc lp t c kt qu tt nht l tin v 0, nhng b li vt l ca h thng s tng cao nh th s lm h thng mt n nh. Do khng th mun sai s xc lp ca h thng bng 0 khi tng Kp n v cng. b, Kho st h thng s dng khu hiu chnh PI (Kp = 2, Kd = 0), ta s c vt l, sai s xc lp, thi gian xc lp trn h thng da vo bng di y. Nh ta bit, th h thng s c mi gi tr sai s xc lp ng vi mi gi tr ca Kp. By gi ta s chn 1 gi tr Kp thch hp th nghim khu hiu chnh PI. Chn Kp = 2 v khi ta c th nhn thy rng p ng ca h thng l tt nht so vi cc trng hp cn li(da vo cc tiu ch nh vt l, sai s xc lp). By gi ta s v p ng ca h thng vi Kp=2, Kd = 0, Ki = 2(Ki thay i) Lm tng t nh phn trn ta s c hnh nh sau:

By gi ta s tnh vt l v sai s xc lp tng t nh phn a. tnh thi gian xc lp nh sau: (1200 1177)/1200*100 = 1.92 (%) tha iu kin 2% ca thi gian xc lp. sau ta ly gi tr thi gian ngay im bit c thi gian xc lp. y c th thy rng. Thi gian xc lp l bng 1.1(s). Lm tng t nh cc phn trn(thay i Ki ln lt cc gi tr theo bng) ta s c bng tng hp cc gi tr nh sau Ki POT(%) exl txl (s) 1 1.25 0.001 2.8 2 3.80 0.001 1.10 3 6.20 0.001 0.38 10 21.80 0.001 0.30 20 39.70 0.001 0.40

Nhn xt: da vo p ng ca h thng v bng s liu trn ta c th thy rng h thng t c gi tr t. Nhng cng ging nh khu hiu chnh P, gi tr Ki cng ln th h thng cng mt n nh( vt l tng cao) v cn lm chm p ng qu ca h thng(h thng i vo trng thi n nh) Gii thch: Nh ta bit khu hiu chnh PID l 1 trng hp c bit ca khu tr pha v th n cng s c cc c tnh ca khu tr pha nh lm chp p ng qu , tng vt l, gim sai s xc

lp. Do khi tng Ki qu ln th c th p ng v sai s xc lp nhng n vt l tng cao(mt n nh) tt nht ta nn chn 1 gi tr Ki sao cho h thng ph hp nht. c, Kho st h thng s dng khu hiu chnh PID (Kp = 2, Ki = 2), ta s c vt l, sai s xc lp, thi gian xc lp trn h thng da vo bng di y. Ta s chn gi tr Ki = 2 v khi thi gian xc lp cho php trong khong 2% v vt l ca h thng khng qu ln(trng hp ny h thng tt nht theo em nhn nh) Vy by gi ta s kho st khu hiu chnh PID vi Kp = 2, Ki = 2, K = 0.005 Ta c hnh.

Khu hiu chnh PID vi Kp = 2, Ki = 2, K = 1

Lm tng t cho cc trng hp cn li. thay i ln lt cc gi tr Kd ta c bng tng hp kt qu di y. Kd POT(%) exl txl (s) 0.005 0.02 0.001 1.1 0.01 0.6 0.001 1.2 0.5 3 0.001 1.4 1 20.83 0.001 2.1 2 37.83 0.001 2.7

Nhn xt: ta c th nhn thy rng khi thay i cc gi tr Kd th h thng cng s thay i trng thi. H thng s hot ng tt khi gi tr ca Kd khng c ln. cn cc gi tr cn li th h thng hot ng n nh v i vo trng thi xc lp sm nht c th. Gii thch: Khi c 1 gi tr Kd thch hp th khu PID s hot ng rt tn a h thng vo trng thi n nh. Ta c th xem khu hiu chnh PID c to thnh t cch mc ni tip khu PI vi khu PD do n cng c cc u im m 2 khu c th mang li nh ci thin p ng qu ( vt l v thi gian xc lp), gim sai s xc lp d, Nhn xt nh hng ca cc khu P, I, D n cht lng ca h thng. Khu P: thc cht khu p l khu t l nn n s c cc c tnh nh hng n cht lng ca h thng nh sai s xc lp cng nh v vt l tng khi Kp tng v ngc li. Do , ta khng th c 1 h thng m va c sai s xc lp nh v vt l thp vi khu ny. Khu I: l 1 dng ca khu tr pha, nn n cng s c cc c tnh ca khu tr pha nh hng n cht lng h thng nh tng vt l,lm chm p ng qu , gim sai s xc lp. H thng khi s dng khu ny ch c th p ng c 1 s tiu chun cht lng ch khng th p ng cng 1 lc c ht. Khu D: l 1 dng ca khu sm pha. Nn n cng c cc c tnh nh hng n cht lng h thng ging nh khu sm pha nh p ng ca h thng nhanh, gim thi gian qu . H thng cng ch c th p ng c cc c tnh m mnh mang li c 3 khu trn u c nhng u im m ngc im ring p ng c 1 h thng n nh tt nht. ta c th kt hp 3 khu trn to thnh khu hiu chinht PID vi cc thng s nh gi cht lng h thng m c 3 khu mang li.

II.2 Kho st m hnh iu khin v tr phng php iu khin PID Cho hm truyn nh sau: . ( + . )( + . )

 Th nghim:

Trong : - Tn hiu u vo l hm nc Uu(t) = 10 (v tr 10) - Transfer Fcn, Transfer Fcn1 v Transfer Fcn2 th hin hm truyn ca h iu khin v tr. a, Kho st h thng s dng khu hiu chnh P (Ki = 0, Kd = 0), ta s c vt l, sai s xc lp, thi gian xc lp trn h thng da vo bng di y. Thit lp cc thng s ca phn mn Matlab nh phn a. ri ta s thc hin ln lt T cc bc trn ta c s nhn c p ng ca h thng vi Kp = 4, Ki = 0, Kd = 0.

Da vo p ng ca h thng ta c th xc nh c vt l, sai s xc lp, thi gian xc lp. Lm tng t cho cc trng hp cn li, ta c bng sau.

Kp POT(%) exl txl (s)

1 Cha c 189 11

2 Cha c 109 4.2

4 7.9 0.001 5.2

8 22.8 0.001 3.8

16 40.6 0.001 4.2

Nhn xt: H thng s thay i trng thi hot ng ca mnh khi thay Kp. Khi Kp nh th h thng hot ng n nh nh m thi gian xc lp ln. Khi Kp t cc gi tr ln thi lc h thng c th t c thi gian xc lp nhanah hn nhng b li h thng s mt n nh vi vt l ca h thng tng nhanh Gii thch: Ta c th thy rng khi s dng khu hiu chnh P(khu t l) th s lm cho thi gian xc lp t c kt qu tt nht, nhng b li vt l ca h thng s tng cao nh th s lm h thng mt n nh. Do khng th mun thi gian xc lp ca h thng nh th khng th c tng gi tr ca Kp. b, Kho st h thng s dng khu hiu chnh PI (Kp = 4, Kd = 0), ta s c vt l, sai s xc lp, thi gian xc lp trn h thng da vo bng di y. Chn gi tr Kp = 4 v lc ny h thng t trng thi tt nht By gi ta s v p ng vi Kp=4, Kd = 0, Ki = 0.5

Lm tng t cho cc trng hp khc ta s c bng sau:

Ki POT(%) exl txl (s)

0.1 10.1 1.15 4.26

0.5 18.3 0.001 12.39

1 28.1 0.001 9.1

2 45.5 0.001 6.59

4 69.7 0.001 14.9

Nhn xt: da vo p ng ca h thng v bng s liu trn ta c th thy rng h thng t c gi tr t. Nhng cng ging nh khu hiu chnh P, gi tr Ki cng ln th h thng cng mt n nh( vt l tng cao) v cn lm chm p ng qu ca h thng(h thng i vo trng thi n nh thi gian xc lp) Gii thch: Nh ta bit khu hiu chnh PID l 1 trng hp c bit ca khu tr pha v th n cng s c cc c tnh ca khu tr pha nh lm chp p ng qu , tng vt l, gim sai s xc lp. Do khi tng Ki qu ln th c th p ng v sai s xc lp nhng n vt l tng cao(mt n nh) tt nht ta nn chn 1 gi tr Ki sao cho h thng ph hp nht c, Kho st h thng s dng khu hiu chnh PID (Kp = 4, Ki = 0.5), ta s c vt l, sai s xc lp, thi gian xc lp trn h thng da vo bng di y. Chn gi tr Ki = 0.5 v khi sai s xc lp gn bng 0, v c th coi p ng trong trng hp ny tt nht cho h thng iu khin v tr. By gi ta s v p ng vi Kp=4, Kd = 2, Ki = 0.5

Kd POT(%) exl txl (s)

0.1 17.3 0.001 12

0.5 13.1 0.001 12

1 9.77 0.001 13.8

2 7.40 0.001 14.22

4 6.17 0.001 15.5

Nhn xt: ta c th nhn thy rng khi thay i cc gi tr Kd th h thng cng s thay i trng thi( vt l, thi gian xc lp). H thng s hot ng tt khi gi tr ca Kd khng c qu ln. cn cc gi tr cn li th h thng hot ng n nh v i vo trng thi xc lp sm nht khi Kd nh. Gii thch: Khi c 1 gi tr Kd thch hp th khu PID s hot ng rt tn a h thng vo trng thi n nh. Ta c th xem khu hiu chnh PID c to thnh t cch mc ni tip khu PI vi khu PD do n cng c cc u im m 2 khu c th mang li nh ci thin p ng qu ( vt l v thi gian xc lp), gim sai s xc lp d, Nhn xt nh hng ca cc khu P, I, D n cht lng ca h thng. Khu P: thc cht khu p l khu t l nn n s c cc c tnh nh hng n cht lng ca h thng nh sai s xc lp cng nh v vt l tng khi Kp tng v ngc li. Do , ta khng th c 1 h thng m va c sai s xc lp nh v vt l thp vi khu ny. Khu I: l 1 dng ca khu tr pha, nn n cng s c cc c tnh ca khu tr pha nh hng n cht lng h thng nh tng vt l,lm chm p ng qu , gim sai s xc lp. H thng khi s dng khu ny ch c th p ng c 1 s tiu chun cht lng ch khng th p ng cng 1 lc c ht. Khu D: l 1 dng ca khu sm pha. Nn n cng c cc c tnh nh hng n cht lng h thng ging nh khu sm pha nh p ng ca h thng nhanh, gim thi gian qu . H thng cng ch c th p ng c cc c tnh m mnh mang li c 3 khu trn u c nhng u im m ngc im ring p ng c 1 h thng n nh tt nht. ta c th kt hp 3 khu trn to thnh khu hiu chinht PID vi cc thng s nh gi cht lng h thng m c 3 khu mang li. e, thay i tn hiu u vo l hm nc thnh tn hiu song song vung c chu k 10s. ta s kho st li cc khu hiu chnh trn. Ta s c s khi trong similink l:

 iu ch thng s cho xung vung c chu k 10s. Ta Click vo khi Pulse Generator ri sau ci t thng s nh hnh:

Vy l ta c tn hiu u vo l xung vung vi ch k l 10s + Kho st h thng s dng khu hiu chnh P (Ki = 0, Kd = 0), ta s c vt l, sai s xc lp, thi gian xc lp trn h thng da vo bng di y. Ta lm tng t nh phn trn. Ta s c bng sau y V chu k ca xung l 10s nn sau 5s th xung s i trng thi t 1 sang 0(hoc ngc li) nn ta s c 2 p ng xung ng vi mi trng thi l 1 p ng xung, nh c th nhn thy 2 p ng ny ngc nhau nh hnh. Vi Kp = 5, Ki = Kd = 0; Ta s c hnh nh trang bn

Vi N l s ln i trng thi ca h thng. N bt u t 1

Kp POT(%) exl txl (s)

1 Cha c Cha c Cha c

5 12.2 0.001 4.059+N5

10 23.8 0.001 4.2+N5

15 38.9 0.001 4.3+N5

20 46.7 0.001 4.6+N5

Nhn xt: - c th thy rng p ng ca h thng s p ng vi tng trng thi ca xung vung vi chu k l 10(s). mi ln xung vung i trng thi th h thng cng s t ng p ng ph hp vi trng thi mi ca n - H thng s thay i n nh ca mnh khi thay Kp. Khi Kp nh th h thng hot ng n nh nh m thi gian xc lp ln. Khi Kp t cc gi tr ln thi lc h thng c th t c thi gian xc lp nhanh hn nhng b li h thng s mt n nh vi vt l ca h thng tng nhanh. Gii thch: - V trong khong thi gian 5 s th h thng s thay i nn khu hiu chnh ca mnh cng phi hiu chnh cho n ph hp vi trng thi mi ca xung vo( 0 or 1)

- Ta c th thy rng khi s dng khu hiu chnh P(khu t l) th s lm cho thi gian xc lp t c kt qu tt nht, nhng b li vt l ca h thng s tng cao nh th s lm h thng mt n nh. Do khng th mun thi gian xc lp ca h thng nh th khng th c tng gi tr ca Kp. + Kho st h thng s dng khu hiu chnh PI (Kp = 5, Kd = 0), ta s c vt l, sai s xc lp, thi gian xc lp trn h thng da vo bng di y. Ta s c Kp = 5, Kd = 0; Ki = 1

Ta s c bng sau: Ki POT(%) exl 0.1 13.8 0.001 0.5 20 0.001 Kx 1 27.1 0.02 Kx 2 40.1 0.05 Kx 5 70.3 0.1 Kx

txl (s) 3.5 Note: Kx = khng xc nh c

+ Kho st h thng s dng khu hiu chnh PID (Kp = 4, Ki = 0.5), ta s c vt l, sai s xc lp, thi gian xc lp trn h thng da vo bng di y. Vi Kp = 5, Ki = 0.1 Kd = 0.5 Ta s c hnh nh sau:

Vi Kp = 5, Ki = 0.1 Kd = 10

Ta s c bng kt qu nh sau: Kd POT(%) exl txl (s) 0.1 12.6 0.001 3.44 0.5 2.36 0.001 3.56 1 4.51 0.001 3.67 5 Khng c 0.001 3.55 10 Khng c 0.037 Kx

NHN XT: Nhn chung cc nhn xt trn nu ht c tt c cc c im ca khu P, I, D, PI, PID nhng l trng hp h thng hot ng 1 ch lm vic nht nh. Khi h thng chuyn sang hai trng thi lm vic(h c u vo l xung vuong vi chu k l 10s) th cc khu hiu chnh ca chng ta thit k cng phi t ng thay i thch nghi vi trng thi mi ca h thng, gip h thng n nh trong tt c cc trng thi ca h thng c th gp.

END