báo cáo thí nghiệm điều khiển số

Sinh vin :Mai Th Ha
MSSV:20081090
Lp
:TDH1-K53
Bi Thc Hnh S 1
Tm m hnh gin on ca CMC
>> Ra=0.25;La=0.004;J=0.012;ke=236.8;km=38.2;fi=0.04;
>> Ta=La/Ra;
>> Wh=1/Ra *tf(1,[Ta 1])*km*fi*tf(1,[2*3.14*J 0])
Transfer function:
6.112
-----------------------0.001206 s^2 + 0.07536 s
>> Wk=feedback(Wh,ke*fi)
Transfer function:
6.112
-------------------------------0.001206 s^2 + 0.07536 s + 57.89
>> step(Wk)
>> Wz1=c2d(Wk,0.1e-3)
Transfer function:
2.529e-005 z + 2.524e-005
------------------------z^2 - 1.993 z + 0.9938
Sampling time: 0.0001
>> step(Wz1)
>> Wz2=c2d(Wk,0.01e-3)
Transfer function:
2.534e-007 z + 2.533e-007
------------------------z^2 - 1.999 z + 0.9994
Sampling time: 1e-005
>> step(Wz2)
Cch chuyn sang min ri rc tnh bng tay:
>> Wz3=c2d(Wk,0.1e-3,'zoh')
Transfer function:
2.529e-005 z + 2.524e-005
------------------------z^2 - 1.993 z + 0.9938
>> step(Wz3)
>> Wz4=c2d(Wk,0.01e-3,'zoh')
Transfer function:
2.534e-007 z + 2.533e-007
------------------------z^2 - 1.999 z + 0.9994
>> step(Wz4)
>> Wz5=c2d(Wk,0.1e-3,'foh')
Transfer function:
8.435e-006 z^2 + 3.369e-005 z + 8.409e-006
-----------------------------------------z^2 - 1.993 z + 0.9938
>> step(Wz5)
>> Wz6=c2d(Wk,0.01e-3,'foh')
Transfer function:
8.447e-008 z^2 + 3.378e-007 z + 8.444e-008
-----------------------------------------z^2 - 1.999 z + 0.9994
>> step(Wz6)
>> Wz7=c2d(Wk,0.1e-3,'tustin')
Transfer function:
1.263e-005 z^2 + 2.526e-005 z + 1.263e-005
-----------------------------------------z^2 - 1.993 z + 0.9938
>> step(Wz7)
>> Wz8=c2d(Wk,0.01e-3,'tustin')
Transfer function:
1.267e-007 z^2 + 2.534e-007 z + 1.267e-007
-----------------------------------------z^2 - 1.999 z + 0.9994
>> step(Wz8)
10
>> [A,B,C,D] = tf2ss(6.112,[0.001206 0.07536 57.89])

A=
1.0e+004 *
-0.0062 -4.8002
0.0001
B=
1
0
C=
1.0e+003 *
0
5.0680
D =0
11
>> SYS = SS(A,B,C,D,0.1e-3)

a=
x1
x1
x2
-62.49 -4.8e+004
x2
b=
u1
x1 1
x2 0
c=
x1
y1
x2
0 5068
d=
u1
y1 0
Discrete-time model.
>> SYS = SS(A,B,C,D,0.01e-3)
a=
x1
x1
x2
-62.49 -4.8e+004
x2
b=
u1
x1 1
x2 0
12
c=
x1
y1
x2
0 5068
d=
u1
y1 0
Bi Thc Hnh S 2
Tng Hp Vng iu Chnh Phn ng(iu Khin M Men Quay)
Ta c :
>> Gz1=c2d(Wk,0.1e-3,'zoh')
Transfer function:
2.529e-005 z + 2.524e-005
------------------------z^2 - 1.993 z + 0.9938
Theo Phng php Dead-Beat

- Bac 1 voi L(
) = L0 +L1*
>> Gz=filt([0 2.529e-005 2.524e-005],[1 -1.993 0.9938])

Transfer function:
13
2.529e-005 z^-1 + 2.524e-005 z^-2

--------------------------------1 - 1.993 z^-1 + 0.9938 z^-2
Sampling time: unspecified
>> Bz=filt([0 2.529e-005 2.524e-005],1)
Transfer function:
2.529e-005 z^-1 + 2.524e-005 z^-2
>> Az=filt([1 -1.993 0.9938],1)
Transfer function:
1 - 1.993 z^-1 + 0.9938 z^-2
>> l0=1/((1+1.993)*(2.529e-5+2.524e-5))
l0 =
6.6122e+003
>> l1=1.993/((1+1.993)*(2.529e-5+2.524e-5))
l1 =
1.3178e+004
>> Lz=filt([l0 l1],1)
Transfer function:
6612 + 1.318e004 z^-1
>> GR=(Lz*Az)/(1-Lz*Bz)
Transfer function:
6612 - 1.969e004 z^-2 + 1.31e004 z^-3
14
------------------------------------------1 - 0.1672 z^-1 - 0.5002 z^-2 - 0.3326 z^-3

Ta c m phng simulink nh sau:
Kt qu
15
-Bac 2 voi L(
) = L0 +L1*
+ L2*
>> Wz1=c2d(Wk,0.1e-3)
Transfer function:
2.529e-005 z + 2.524e-005
------------------------z^2 - 1.993 z + 0.9938
>> Bz=filt([0 2.529e-5 2.524e-5],1)
Transfer function:
2.529e-005 z^-1 + 2.524e-005 z^-2
>> Az=filt([1 -1.993 0.9938],1)
Transfer function:
1 - 1.993 z^-1 + 0.9938 z^-2
>> mtc=1+1.993*1.993-(-1.993+0.9938);
>> L0=1/mtc *(2.529e-5+2.524e-5)
L0 =
8.4622e-006
>> L1=1.993/mtc
L1 =
0.3338
>> L2=(1.993*1.993-0.9938)/mtc
L2 =
0.4988
16
>> Lz=filt([L0 L1 L2],1)

Transfer function:
8.462e-006 + 0.3338 z^-1 + 0.4988 z^-2
>> GR=Lz*Az/(1-Lz*Bz)
Transfer function:
8.462e-006 + 0.3337 z^-1 - 0.1664 z^-2 - 0.6623 z^-3 + 0.4957 z^-4
----------------------------------------------------------------------------------------1 - 2.14e-010 z^-1 - 8.441e-006 z^-2 - 2.104e-005 z^-3 - 1.259e-005 z^-4
S m phng nh sau:
17
Theo Phng Php Cn Bng M Hnh

S m phng simulink
18
Vi tc p ng ca gi tr thc l 3 chu k T1=0.1e-3

Ta c: GW(z)= x1 z 1 + ( x 2 x3 ) z 2 + ( x3 x 2 ) z 3
trong : x1=3;x2=2;x3=1
Hm truyn t ca b iu chnh l:
>> Gw=filt([0 3 -1 -1],1)
Transfer function:
3 z^-1 - z^-2 - z^-3
>> GR=Gw/(Gz*(1-Gw))
Transfer function:
3 - 6.979 z^-1 + 3.974 z^-2 + 0.9992 z^-3 - 0.9938 z^-4
-------------------------------------------------------------------------------------------------------2.529e-005 - 5.063e-005 z^-1 - 5.043e-005 z^-2 + 5.053e-005 z^-3 + 2.524e-005 z^-4
19
Phn tch kt qu m phng
Qua kt qu m phng 2 trng hp trn ta thy dng ca tn hiu hon ton ng vi

yu cu ra chng t cc bc tnh ton v m phng l ng.
Bi Thc Hnh S 3
Tng Hp Vng iu Chnh Tc Quay
Ta c :
>> Gw1=filt([0 0.5 0.5],1)
Transfer function:
0.5 z^-1 + 0.5 z^-2
>> Gn1 = 38.2*0.04*tf([1],[2*pi*0.012 0])
20
Transfer function:
1.528
-------0.0754 s
>> Gn1z = c2d(Gn1,0.1e-3)
Transfer function:
0.002027
-------z-1
>> Gn = Gw1*Gn1z
Transfer function:
0.001013 z^-2 + 0.001013 z^-3
----------------------------1 - z^-1
>> step(Gn/(1+Gn))
21
Step Response
1
0.9
0.8
0.7
Amplitude
0.6
0.5
0.4
0.3
0.2
0.1
0
0.05
0.1
0.15
0.2
0.25
0.3
Time (sec)
3.1tng hp b iu khin PI theo tiu chun tch phn bnh phng:

- b iu khin :
Gr(z) =
-i tng iu khin Gn
Ta c sai lch iu chnh:
E(z) = W(z).
Vit sai lch iu chnh di dng sai phn:
=
+ (a1-1)
- a1
(a1-1+ b1)
- (-a1+ b2+ b1)
- ( b3+ b2)
b3
Chn
= 20 v vi ai,bi xc nh theo Gn ta cn tnh sao cho :

=
nh nht
22
iu kin:
suy ra:
Ta ln lt tnh c:
=1
=1
= 0.997974
= 0.991896 0.0001013
= 0.981766 0.0004052
T ta tnh c r1 = 2.52e-004
Chn
= -20
Gr =
>> Gr = filt([20 -20],1)/filt([1 -1],1)

Transfer function:
20 - 20 z^-1
-----------1 - z^-1
>> Gz = Gr*Gn
Transfer function:
0.02027 z^-2 - 0.02027 z^-4
--------------------------1 - 2 z^-1 + z^-2
>> step(Gz/(1+Gz))
23
Step Response
1
0.9
0.8
0.7
Amplitude
0.6
0.5
0.4
0.3
0.2
0.1
0
0.002
0.004
0.006
0.008
0.01
0.012
0.014
Time (sec)
24
3.2 tng hp b iu khin PI theo phng php gn im cc:

hm truyn t ca i tng:
0.001013 z^-2 + 0.001013 z^-3
Gn(z) =
-------------------------------
1 - z^-1
B iu khin c dng:
Gr(z) =
a thc c tnh ca hm truyn:

N(z)
= P(z).A(z) +R(z).B(z)
= (z-1)(
=
)+(
).(b1
+ (a1-1+b1 )
+ (-a1 +b1
)
+b2 )
+(b3.
+b2. )z +b3.
25
Gi s cc im cc ca i tng l: z1,z2,z3,z4
N(z)
= (z-z1).(z-z2).(z-z3).(z-z4)
=
- (z1+z2+z3+z4) + (z1.z2+z3.z4-z1.z3-z1.z4-z2.z3-z2z4)
(z1.z2.z3+z1.z2.z4+z1.z3.z4+z2.z3.z4)z + z1.z2.z3.z4
Chn z1,2 = 0.5
0.35i
Cn bng h s ta c:
= 27.08
= -26.24
>> Gr = filt([27.08 -26.24],1)/filt([1 -1],1)
Transfer function:
27.08 - 26.24 z^-1
-----------------1 - z^-1
>> Gz = Gr*Gn
Transfer function:
0.02744 z^-2 + 0.0008512 z^-3 - 0.02659 z^-4
-------------------------------------------1 - 2 z^-1 + z^-2
26
Step Response
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2
0.005
0.01
0.015
0.02
0.025
Time (sec)
Nhn xt: vi b iu khin thit k trn ta thy thoae mn yu cu

Thay i gi tr t ca tc quay di dng bc nhy:
27
Ph ti thay i t bin di dang bc nhy:
28
29
Bi Thc Hnh S 4
Tng Hp B iu Chnh Tc Quay Trn KGTT
>> [A,B,C,D] = tf2ss(6.112,[0.001206 0.07536 57.89])
A=
1.0e+004 *
-0.0062 -4.8002
0.0001
B=
1
0
C=
1.0e+003 *
0
5.0680
D =0
1.Vi Ttm = 0.1s
>> [Ad1,Bd1,Cd1,Dd1]=c2dm(A,B,C,D,0.1,'zoh')
Ad1 =
-0.0438 -2.9297
0.0001 -0.0400
Bd1 =
1.0e-004 *
0.6103
0.2167
30
Cd1 =
1.0e+003 *
0
5.0680
Dd1 =
0
>> P1 = [0 0];
>> P2 = [0.2 0.3];
>> K = acker(Ad1,Bd1,P1)
K=
1.0e+003 *
-0.0276 -3.7924
>> H1=ss(Ad1-Bd1*K,Bd1,Cd1,Dd1,0.1)
a=
x1
x2
x1 -0.04215
-2.698
x2 0.0006584
0.04215
b=
u1
x1 6.103e-005
x2 2.167e-005
c=
x1
y1
x2
0 5068
d=
u1
31
y1 0
Sampling time: 0.1
>> step(H1)
Step Response
0.12
0.1
Amplitude
0.08
0.06
0.04
0.02
0.2
0.4
0.6
0.8
1.2
1.4
1.6
1.8
Time (sec)
>> H2=ss(Ad1-Bd1*K,Bd1,Cd1,Dd1,0.01)
a=
x1
x2
x1 -0.04215
-2.698
x2 0.0006584
0.04215
b=
u1
x1 6.103e-005
32
x2 2.167e-005
c=
x1
y1
x2
0 5068
d=
u1
y1 0
Sampling time: 0.01
>>step(H2)
Step Response
0.12
0.1
Amplitude
0.08
0.06
0.04
0.02
0.02
0.04
0.06
0.08
0.1
0.12
0.14
0.16
0.18
0.2
Time (sec)
K=
33
1.0e+004 *
-0.1315 -2.3244
>> H3=ss(Ad1-Bd1*K,Bd1,Cd1,Dd1,0.01)
a=
x1
x2
x1 0.0364 -1.511
x2 0.02854 0.4636
b=
u1
x1 6.103e-005
x2 2.167e-005
c=
x1
y1
x2
0 5068
d=
u1
y1 0
Sampling time: 0.01

>> step(H3)
34
Step Response
0.25
0.2
Amplitude
0.15
0.1
0.05
0.02
0.04
0.06
0.08
0.1
0.12
0.14
0.16
0.18
0.2
Time (sec)
a=
x1
x2
x1 -0.1855
-31.78
x2 0.005889
0.6855
b=
u1
x1
0.002789
x2 2.759e-005
c=
x1
y1
x2
0 5076
d=
u1
35
y1 0
Sampling time: 0.1
>> step(H4)
Step Response
0.5
0.45
0.4
0.35
Amplitude
0.3
0.25
0.2
0.15
0.1
0.05
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
Time (sec)
1. Vi Ttm = 0.1s
>> [Ad1,Bd1,Cd1,Dd1]=c2dm(A,B,C,D,0.1,'zoh')
Ad1 =
-0.0438 -2.9271
0.0001 -0.0399
36
Bd1 =
1.0e-004 *
0.6098
0.2166
Cd1 =
1.0e+003 *
0
5.0763
Dd1 =
0
K=
1.0e+003 *
-0.0275 -3.7862
>> H5=ss(Ad1-Bd1*K,Bd1,Cd1,Dd1,0.01)
a=
x1
x2
x1 -0.04208
-2.696
x2 0.0006568
0.04208
b=
u1
x1 6.098e-005
x2 2.166e-005
c=
x1
x2
37
y1
0 5076
d=
u1
y1 0
Sampling time: 0.01
>> step(H5)
Step Response
0.12
0.1
Amplitude
0.08
0.06
0.04
0.02
0.01
0.02
0.03
0.04
0.05
0.06
0.07
0.08
0.09
0.1
Time (sec)
>>
H6=ss(Ad1-Bd1*K,Bd1,Cd1,Dd1,0.1)
a=
x1
x1 -0.04208
x2
-2.696
38
x2 0.0006568
0.04208
b=
u1
x1 6.098e-005
x2 2.166e-005
c=
x1
y1
x2
0 5076
d=
u1
y1 0
Sampling time: 0.1
>> step(H6)
39
Step Response
0.12
0.1
Amplitude
0.08
0.06
0.04
0.02
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
Time (sec)
K=
1.0e+004 *
-0.1315 -2.3241
>> H7=ss(Ad1-Bd1*K,Bd1,Cd1,Dd1,0.01)
a=
x1
x1 0.03643
x2
-1.51
x2 0.02855 0.4636
b=
u1
x1 6.098e-005
40
x2 2.166e-005
c=
x1
y1
x2
0 5076
d=
u1
y1 0
Sampling time: 0.01
>> step(H7)
Step Response
0.25
0.2
Amplitude
0.15
0.1
0.05
0.01
0.02
0.03
0.04
0.05
0.06
0.07
0.08
0.09
0.1
Time (sec)
a=
41
x1
x2
x1 0.03643
-1.51
x2 0.02855 0.4636
b=
u1
x1 6.098e-005
x2 2.166e-005
c=
x1
y1
x2
0 5076
d=
u1
y1 0
Sampling time: 0.1
>> step(H8)
42
Step Response
0.25
0.2
Amplitude
0.15
0.1
0.05
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
Time (sec)
43
44

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Sinh vin :Mai Th Ha

Cch chuyn sang min ri rc tnh bng tay:

>> [A,B,C,D] = tf2ss(6.112,[0.001206 0.07536 57.89])

>> SYS = SS(A,B,C,D,0.1e-3)

Theo Phng php Dead-Beat

>> Gz=filt([0 2.529e-005 2.524e-005],[1 -1.993 0.9938])

2.529e-005 z^-1 + 2.524e-005 z^-2

------------------------------------------1 - 0.1672 z^-1 - 0.5002 z^-2 - 0.3326 z^-3

>> Lz=filt([L0 L1 L2],1)

Theo Phng Php Cn Bng M Hnh

Vi tc p ng ca gi tr thc l 3 chu k T1=0.1e-3

Phn tch kt qu m phng

Qua kt qu m phng 2 trng hp trn ta thy dng ca tn hiu hon ton ng vi

3.1tng hp b iu khin PI theo tiu chun tch phn bnh phng:

- (-a1+ b2+ b1)

= 20 v vi ai,bi xc nh theo Gn ta cn tnh sao cho :

>> Gr = filt([20 -20],1)/filt([1 -1],1)

3.2 tng hp b iu khin PI theo phng php gn im cc:

a thc c tnh ca hm truyn:

Nhn xt: vi b iu khin thit k trn ta thy thoae mn yu cu

Ph ti thay i t bin di dang bc nhy:

1.Vi Ttm = 0.1s

Sampling time: 0.01

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