BO CO TH NGHIM

NG DNG MATLAB THIT K B IU KHIN CHO CC H THNG T NG

Thit k b hiu chnh sm pha. Cho h thng nh hnh v:

Dng cng c sisotool nhp vo hm truyn h thng. Da vo QNS ca h thng kho st h thng c n nh khng? Gii thch? V p ng qu ca h thng vi u vo hm nc minh ha h thng c n nh hay khng? Lu hnh v ny so snh vi p ng ca h thng sau khi hiu chnh. Thit k b hiu chnh sm pha h thng s vt l POT nh hn 20% v thi gian xc lp nh hn 8s. Trnh ny r qu trnh thit k ny. V p ng qu ca h thng sau khi hiu chnh chng minh h thng t c cc yu cu cu b. Lu hnh v ny bo co. BI LM

Nhp hm truyn G(s) v H(s) v khi ng trnh thit k sisotool nh sau: >> G=tf(250,conv([50 1],[500 1])); >> H=tf(1,1); >> sisotool T ca s SISO Design ta nhp hm truyn vo h thng bng cch chn menu File Import. Tin hnh gn cc hm truyn G(s) v H(s) ca s Command windows vo h thng.

Sau khi gn xong cc hm truyn G(s) v H(s) vo h thng. Lc ny, SISOTool s t ng v QNS v gin Bode ca h thng nh sau:

y ta s dng QNS thit k h thng, do tin li cho qu trnh thit k ta ch hin th mi QNS ca h thng cn gin Bode c th b qua. hin th mi QNS, t ca s SISO Design ta chn Menu View Design Plots Configuration v thit lp cc thuc tnh nh hnh sau:

Lc ny ta c QNS ca h thng nh sau:

Da vo QNS ta nhn thy h thng ny n nh v cc nghim ca h thng u nm bn tri ca mt phng phc. v p ng qu ca h thng, t ca s SISO Design, ta chn Menu Analysis Other Loop Responses v thit lp cc thng s nh hnh sau:

Da vo p ng qu ca h thng, ta thy h thng n nh. Tuy nhin, h thng ny c vt l v thi gian xc lp ln. Tin hnh thit k khu hiu chnh sm pha cho h thng. thm b hiu chnh sm pha vo h thng ta click chut phi vo QNS v chn Add pole/zeroLead. Sau click chut phi vo 1 v tr bt k trn trc thc, h thng s t ng chn v tr ca zero nm gn gc ta hn cc. Lc ny QNS s c dng nh sau:

 thit lp cc gi tr vt l POT v thi gian xc lp, ta click chut phi vo QNS chn Design Requirements New v thit lp cc gi tr v vt l ca h thng v thi gian xc lp theo yu cu. y, ta thit lp vt l nh hn nh hn 20% v thi gian xc lp ca h thng nh hn 8s.

Lc ny, QNS ca h thng s gii hn vng tha iu kin cn thit k v c dng nh sau:

tm cc v zero ca b hiu chnh, ta p dng phng php kh cc. Di chuyn zero ca C(s) trung vi cc gn trc o nht (khc 0), y l p = - 0.002. Di chuyn cc ca b hiu chnh tin ra xa trc o nhnh QNS tin v vng tha mn yu cu thit k. Lc ny, QNS c dng nh sau:

 xem hm truyn ca b hiu chnh sau khi thit k xong, ca s Control and Estimation tool manager, chn th Compensator Editer. Lc ny ta thy, Hm truyn C(s) ca h thng c dng nh sau:

Lc ny, qu trnh thit k hon tt. Hm truyn cu b hiu chnh C(s) l:

v p ng qu ca h thng, ca s SISO Design ta chn menu Analysis Other Loop Responses v thit lp nh sau:

V p ng ca h thng c dng:

Da vo p ng qu , ta thy vt l v thi gian xc lp ca h thng lc ny gim i nhiu so vi lc cha hiu chnh. V h thng cng p ng yu cu thit k l vt l nh hn 20% v thi gian xc lp nh hn 8s.

Thit k b hiu chnh tr pha. Cho h thng nh hnh v:

Thit k b hiu chnh tr pha h thng c sai s xc lp vi u vo hm dc bng 0.1. Trnh by r qu trnh thit k km hnh v. V p ng qu ca h thng sau khi hiu chnh chng minh h thng t c cc yu cu cu a. BI LM

Cp cc ca h thng trc khi hiu chnh l nghim ca phng trnh:

Vy cp cc quyt nh l: By gi ta xc nh cc thng s ca b hiu chnh tr pha. H s vn tc ca h thng trc khi hiu chnh l:

Sau khi hiu chnh ta c:

Lc ny:

Tip theo ta chn cc v zero ca C(s). b hiu chnh pha khng nh hng nhiu n c tnh qu ca h thng ta phi chn cc v zero ca C(s) rt nh so vi phn thc ca cp nghim quyt nh ca h thng. Do , ta chn:

M:

Lc ny, ta c:

Vi Kc ta c:

Vy khu hiu chnh tr pha cn thit k l:

By gi, ta nhp hm truyn ca h thng vo matlab v khi ng trnh thit k sisotool.

>> G=tf(250,conv([50 1],[500 1])); >> H=tf(1,1); >> sisotool Sau , ta import cc hm truyn G(s) v H(s) vo tng t nh i vi khu sm pha. thm khu hiu chnh tr pha, ta click chut phi vo vng thit k chn add pole/zerolag nh sau:

Sau , ta nhp chut vo v tr bt k trn trc thc cu QNS xc nh v tr ca cc v zero ca b hiu chnh, sisotool s gn t ng v tr ca cc nm gn gc ta hn zero. Sau , ta tin hnh chnh li cc thng s cu b hiu chnh tr pha cho ng vi cc thng s tm c trn. Click chut phi v chn menu Edit Compensator. Tin hnh thay i cc thng s nh hnh di:

QNS ca h thng sau khi hiu chnh s nh sau:

Tin hnh v p ng qu ca h thng sau khi hiu chnh xong. Ta c:

T p ng qu ca h thng ta nhn thy rng h thng ny n nh.