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Xt h thng kn:
Hm truyn t ca h kn l:
G=
R.S 1 + R.S
B iu khin l tng R(s) tha mn: |G(j)|=1 vi mi . Nhng trong thc t ta ch thit k R(s) sao cho |G(j)| 1.( |G(j)|=1 trong mt di tn s rng ln cn 0). a) S dng phng php tng T ca Kuhn: Nhng i tng thch hp: bc cao n 2, n nh,khng dao ng v c c
tnh hnh ch S.
Gt ( s) =
k t (1 + TDj s )
m
trong :
e s
(1 + T s )
i i =1
j =1 n
A T = Ti + Tdj = K dt i =1 j =1
kp =
T 1 TI = 2 2k
kp =
1 2T TD = 0.167T TI = k 3
Gt ( s) =
e s
Sai lch tinh = 0 khi tin hiu t la 1(t) hoc t.1(t) Giai quyt bai toan thoa man sai lch tinh bng 0 khi tin hiu t la ham t.1(t) thi ham truyn h h phai co khu 1/s
Gt ( s ) =
k p (1 + sTI ) TI .s
Gt ( s) =
TI .T0 .s 2 .( 1 + sT1 )
kt k p ( 1 + sTI )
S dung thi Bode cua h h ta thy chon tn s ct nm gia tn s va tn s thi d tr n inh cho h kin se ln nht. o cung la ly do ma tn goi cua phng phap ti u i xng.
T1
I
3
I
t T = a.T
1
vi a>1 thi ta phai lam cac h s cua mu thi ta c
a* = 4 kp = T0 2.k t .T1
bng 0 di
Nhng mt vn nay sinh la qua iu chinh ln ti 40% vi th cn tim bin phap khc phuc. Co hai bin phap khc phuc vn trn : Tng a ln. Luc o Vn gi a=4 nhng lp k = p b loc u vao :
T0 a .k t .T1
thm
M (s) =
1 1 + 4.T1s
k t 1TDjs ( + j= 1 Gt ( ) = s e n T0 . . Ts s 1 + (
i= 1
)
i
)
kt T0 s(1 + T1s )
trong
T1 = Ti + TDj
i =1 j =1
1 k p (1 + TI s ) Gk ( s ) = k p 1 + T s= TI s I
Vi tham s l
TI = 4T1
T0 kp = 2.kdt .T1
cn
T0
ty chn
T = Ti + TDj
i =2 j =1
k p (1 + TI s )(1 + TD s ) TI s
Vi
TD = T1
TI = 4.T
;
kp =
T0 2.kdt .T
1 Gk ( s) = k p 1 + + TD s TI s
Vi
TI = 4.T + T1
4.T .T1 TD = TI
;
kp =
T0 .TI 8.kdt .T 2
1 1 + TI s
thng hi ln ( 20% - 25%). Tuy nhin c th lm gim bt bng vc b xung khu lc trc cho tn hiu ch o hoc s dng trng s cho gi tr t.
V d cho i tng:
G(s)=31+100s1+15s(1+s)e-5s
Yu cu : Thit k b iu khin m bo h thng m bo bm gi tr t r(t) vi sai lch bm bng 0 khi tn hiu vo c dng hnh thang v G(jw) ti u. Phn tch : Do tn hiu t c xut hin hm t.1(t) nn nht thit h h phi c khu 1/s th mi c kh nng lm sai lch e bng 0. V vy ta c cu trc iu khin thm khu tch phn. Ta c :
TI=4T1=484, T0=10s, Kp= T02.Kdt.T1 = 0.014 Vi kh nng chn PID c dng l th ta xp x i tng c : T K = 3s
dt
1= 100s
1 GPID ( s) = k p 1 + T s + Td s I
T=11s
Do tham s b iu khin l : T
I =T1+4T=144s
TD= 4T1.TTI = 30.56s T0=10s Kp= T0T18.Kdt.T.T = 0.344 Nu s dng thm b lc : Ms=11+TIs =11+144s
C)Phng php ti u module: Lp m hnh thch hp: i tng n nh thuc loi khu ng hc sau:
Gt ( s) = k t (1 + TDj s )
m j =1 n
(1 + T s )
i i =1
e s
Bi ton chun ca phng php: M hnh i tng: k Gt ( s ) = t 1 + Ts Ch tiu cht lng: Sai lch tnh
e = 0
| G ( j ) | 1
trong mt di tn rng ln cn 0
Gii quyt bi ton: tha mn khi tn hiu t r(t)=1(t) th hm truyn ca h h phi cha
e = 0
khu tch phn. V th b iu khin phi cha thnh phn tch phn. Chn lut iu khin: lut I c
Gk ( s) = kp TI s
Do hm truyn t h h s l
Go ( s ) =
kt .k p (1 + Ts )TI s
Xc nh c
Gk ( s) =
kt .k p Go ( s) = 1 + Go ( s ) (1 + Ts )TI s + kt .k p
Tnh c
Gk ( j ) =
(k t .k p ) 2 Go ( s) = 1 1 + Go ( s) (k t .k p T .TI ) 2 + (TI ) 2
ta suy ra c
vi
TI
ty chn
kp TI s
vi tham s ti u l
kp =
TI 2.ktT
e = 0
| G ( j ) | 1
trong mt di tn rng ln cn 0
qu iu chnh:
hmax 5% k t (1 + TDj s )
m
(1 + T s )
i i =1
j =1 n
e s
kt 1 + Ts
trong
T = Ti + TDj
i =1 j =1
k Gk ( s) = p TI s
vi tham s l
kp =
TI 2.ktT
D nhin cch ny do vic xp x qu nhiu nn cht lng khng c tt Cch 2: i vi i tng c hng s thi gian ln hn rt nhiu so
T1
T = Ti + TDj
i =2 j =1
Chn b iu khin PI c
1 k p (1 + TI s) Gk ( s ) = k p 1 + T s= TI s I
TI
T1
,khi
kp =
TI T1 = 2.ktT 2.ktT
T = Ti + TDj
i =3 j =1
k p (1 + TI s)(1 + TD s) TI s
TI 2.ktT
Vi cc tham s ti u l
TD = T2
TI = T1
v
kp =
1 Gk ( s) = k p 1 + + TD s TI s
vi cc tham s s
TI = T2 + T1
TT TD = 2 1 T2 + T1
v
kp =
TI 2.ktT
10
2.5 Gt ( s ) = (1 + 5s )3
. Hy thit k b iu khin
k Gk ( s) = p TI s
Vi
TI = 10s
Cch 2: b iu khin PI c
1 k p (1 + TI s ) Gk ( s ) = k p 1 + T s= TI s I
1 Gk ( s) = k p 1 + + TD s TI s
. Khi cc
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d) Phng php da trn m hnh ni IMC: Phng php IMC c th p dng cho mt qu trnh khng n nh bng cch s dng cu trc iu khin tng . Trong , vng iu khin bn trong c vai tr n nh trc qu trnh. M hnh ch thc G(s) M hnh xc nh trn c s phng php m hnh ho G1(s) Cu trc iu khin theo phng php IMC l :
G (s) =
K
G dk ( s )G ( s) 1 + Gdk ( s )G ( s)
=1
vi mi
G
dk
(s) =
G
IMC
(s)* G (s) = 1
1
G
IMC
(s) =
1 G1 ( s )
G L ( s) G1 ( s)
Vi
G (s) =
L
1 (1 + TL * s ) r
12
Trong chn r sao cho h c tnh tin nh chn TL sao cho khng lm nh hng nhiu n c tnh h thng. - Vi i tng khng c pha cc tiu G (s) = G (s)* G (s)
1 +
G
IMC
(s) =
G L ( s) G ( s )
V d: Xt i tng CMC:
G(s)=
GIMC(s) =
1 + 0,2 s 0,085.(1 + s )
=G (s)* G (s)
PI
L2
Gdk =
Vi GPI =
V GL2 =
(1 + s) ( s + 2)
13
e) Thit k h thng b nh hng ca khu chm tr bng b d bo Smith: Nguyn tc d bo Smith: thit k b iu khin GR(s) cho i tng c tr GS(s) = e-sS(s) Thit b i khin R(s) ring cho i tng S(s) khng c thnh phn tr. Xy dng b iu khin
GR(s) = R1+RS1-e-s
Cu trc :
Cc phng php thit k S(s) c th la chn mt trong s cc phng php nu trn ty vo yu cu ca bi ton 3.2 Phng php thc nghim Phng php Ziegler Nichols: Ziegler & Nichols a ra hai phng php thc nghim xc nh tham s ca b iu khin PID. Phng php th nht s dng m hnh xp x bc nht c tr ca i tng cho i tng c c tnh ng hc hnh ch S
14
Phng php th hai khng cn n m hnh ton hc ca i tng nhng ch p dng cho mt s lp i tng nht nh Phng php Ziegler & Nichols th nht: p dng phng php thc nghim ny ta phi xp x m hnh i tng v dng: K Gdt = dt e s 1 + Ts
Thay b iu khin ca h kn bng b khuych i. Sau thay i h s khuch i nhm t ti gi tr ti hn kth .Lc h kn ch bin gii n nh , tc l h(t) c dng dao ng iu ho.T xc nh chu k dao ng Tth . Cc thng s ca b iu khin c tnh theo cc i lng T v kth Ta c bng thit k:
Lut iu khin
Kp 0,5 Kgh
TI
TD
Lut P
--
--
Lut PI
0,45 Kgh
Tgh/1,2
--
Lut PID
0,6Kgh
2Tgh
0,125.Tgh
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