You are on page 1of 31

TRNG I HC TN C THNG

KHOA IN - IN T
B MN IU KHIN T NG
#"








TI LIU HNG DN TH NGHIM
IU KHIN T NG












Tp.H Ch Minh, thng 4 - 2010
Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
1
NI QUY
PHNG TH NGHIM IN-IN T


IU I. TRC KHI N PHNG TH NGHIM SINH VIN PHI:
1. Nm vng quy nh an ton ca phng th nghim.
2. Nm vng l thuyt v c k ti liu hng dn bi thc nghim.
3. Lm bi chun b trc mi bui th nghim. Sinh vin khng lm bi chun b
theo ng yu cu s khng c vo lm th nghim v xem nh vng bui th
nghim .
4. n phng th nghim ng gi quy nh v gi trt t chung. Tr 15 pht khng
c vo th nghim v xem nh vng bui th nghim .
5. Mang theo th sinh vin v gn bng tn trn o.
6. Tt in thoi di dng trc khi vo phng th nghim.

IU II. VO PHNG TH NGHIM SINH VIN PHI:
1. Ct cp, ti xch vo ni quy nh, khng mang dng c nhn vo phng th
nghim.
2. Khng mang thc n, ung vo phng th nghim.
3. Ngi ng ch quy nh ca nhm mnh, khng i li ln xn.
4. Khng ht thuc l, khng khc nh v vt rc ba bi.
5. Khng tho lun ln ting trong nhm.
6. Khng t di chuyn cc thit b th nghim

IU III. KHI TIN HNH TH NGHIM SINH VIN PHI:
1. Nghim tc tun theo s hng dn ca cn b ph trch.
2. K nhn thit b, dng c v ti liu km theo lm bi th nghim.
3. c k ni dung, yu cu ca th nghim trc khi thao tc.
4. Khi my c s c phi bo ngay cho cn b ph trch, khng t tin sa cha.
5. Thn trng, chu o trong mi thao tc, c thc trch nhim gi gn tt thit b.
6. Sinh vin lm h hng my mc, dng c th nghim th phi bi thng cho Nh
trng v s b tr im th nghim.
7. Sau khi hon thnh bi th nghim phi tt my, ct in v lau sch bn my, sp
xp thit b tr v v tr ban u v bn giao cho cn b ph trch.

IU IV.
1. Mi sinh vin phi lm bo co th nghim bng chnh s liu ca mnh thu thp
c v np cho cn b hng dn ng hn nh, cha np bo co bi trc th
khng c lm bi k tip.
2. Sinh vin vng qu 01 bui th nghim hoc vng khng xin php s b cm thi.
3. Sinh vin cha hon thnh mn th nghim th phi hc li theo quy nh ca
phng o to.
4. Sinh vin hon thnh ton b cc bi th nghim theo quy nh s c thi nhn
im kt thc mn hc.

IU V.
1. Cc sinh vin c trch nhim nghim chnh chp hnh bn ni quy ny.
Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
2
2. Sinh vin no vi phm, cn b ph trch th nghim c quyn cnh bo, tr
im thi. Trng hp vi phm lp li hoc phm li nghim trng, sinh vin s b
nh ch lm thnghim v s b a ra hi ng k lut nh trng.


Tp.HCM, Ngy 20 thng 09 nm 2009
KHOA IN-IN T
( k)


PGS TS. PHM HNG LIN
Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
3

BI TH NGHIM 1

NG DNG MATLAB PHN TCH CC H THNG IU
KHIN T NG


1. MC CH :
Matlab l mt trong nhng phn mm thng dng nht dng phn tch, thit k v m
phng cc h thng iu khin t ng. Trong bi th nghim ny, sinh vin s dng cc
lnh ca Matlab phn tch h thng nh xt tnh n nh ca h thng, c tnh qu ,
sai s xc lp

2. CHUN B.
thc hin cc yu cu trong bi th nghim ny, sinh vin cn phi chun b k trc
cc lnh c bn ca Matlab. Khi khi ng chng trnh Matlab 7.0, ca s Command
Window xut hin vi du nhc lnh >>. thc hin cc lnh, sinh vin s g lnh t
bn phm theo sau du nhc ny. Sinh vin cn tham kho phn ph lc chng 2
(trang 85) trong sch L thuyt iu khin t ng (tc gi Nguyn Th Phng H
Hunh Thi Hong) hiu r cc lnh c bn v nhn chia a thc, biu din hm
truyn h thng v kt ni cc khi trong h thng. Ngoi ra, phn tch c tnh ca h
thng, sinh vin cn phi hiu k cc lnh sau:
- conv: hm nhn hai a thc.
- tf (TS, MS): xc nh hm truyn m t i tng t a thc t s TS v a thc
mu s MS.
- parallel (G1,G2): xc nh hm truyn tng ng ca hai khi mc song song
nhau.
- series (G1,G2): xc nh hm truyn tng ng ca hai khi mc ni tip
nhau.
- feedback (G, H): xc nh hm truyn vng kn ca h hi tip.
- bode (G): v biu Bode bin v pha ca h thng c hm truyn G.
- nyquist(G): v biu Nyquist h thng c hm truyn G.
- rlocus(G): v QNS h thng hi tip m n v c hm truyn vng h G.
- step(G): v p ng nc ca h thng c hm truyn G.
- hold on: gi hnh v hin ti trong ca s Figure. Lnh ny hu ch khi ta cn v
nhiu biu trong cng mt ca s Figure. Sau khi v xong biu th nht, ta
g lnh hold on gi li hnh v sau v tip cc biu khc. Cc biu lc
sau s v ln biu th nht trong cng mt ca s Figure ny. Nu khng
mun gi hnh na, ta g lnh hold off.
- grid on: k li trn ca s Figure. Nu khng mun k li, ta g lnh grid off.
- plot(X,Y): v th vector Y theo vector X.
V d: V th y = x
2
vi x = -10 10
>> X = -10:0.1:10; % tao vector X tu -10 10 voi khoang cach 0.1
>> Y = X.*X; % tinh y = x*x
>> plot(X,Y); % ve do thi y = x*x
- subplot(m,n,p): chia Figure thnh (mxn) ca s con v thao tc trn ca s con
Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
4
th p.
V d: Chia Figure thnh 2 ca s con, sau v Y ln ca s th 1 v Z ln ca s
th 2
>> subplot(2,1,1), subplot(Y); % ve Y len cua so thu 1
>> subplot(2,1,2), subplot(Z); % ve Z len cua so thu 2

Ch : sinh vin nn tham kho phn Help ca Matlab nm r chc nng v c
php ca mt <lnh> bng cch g vo dng lnh : help <lnh>

3. TH NGHIM.
3.1. Tm hm truyn tng ng ca h thng.
3.1.1. Mc ch.
Gip sinh vin lm quen vi cc lnh c bn kt ni cc khi trong mt h
thng.
3.1.2. Trnh t th nghim.
- Bc 1. Cho h thng c s khi nh sau.


- Bc 2. Nhp hm truyn ca cc khi bng cch khai bo a thc t, a thc
mu cho tng khi. Sau dng lnh tf.
- Bc 3. Sau , tu theo cu trc cc khi mc ni tip, song song hay hi tip
m ta g cc lnh series, parallel hay feedback tng ng thc hin vic kt
ni cc khi vi nhau.
- Bc 4. Vit bo co. Trong bo co, ch r trnh t vic thc hin cc lnh ny.

3.2. Kho st tnh n nh ca h thng dng tiu chun Bode.
3.2.1. Mc ch.
T biu Bode ca h h G(s), ta tm c tn s ct bin, d tr pha, tn s
ct pha, d tr bin ca h thng h. Da vo kt qu tm c xt tnh n
nh ca h thng hi tip m n v vi hm truyn vng h l G(s).
3.2.2. Trnh t th nghim.
- Bc 1. Cho h thng c s khi nh sau.
2 S H ,
S
1
G ,
8 2S S
S
G ,
5) 3)(S (S
1 S
G
1 3 2 2 1
+ = =
+ +
=
+ +
+
=
Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
5

- Bc 2. Vi K = 10, v biu Bode bin v pha ca h vng h trn bng
cch dng lnh bode.
- Bc 3. Trn biu Bode va v, xc nh tn s ct bin, tn s ct pha, d
tr bin, d tr pha. Khi cn xc nh im no trn biu Bode ta ch vic
nhp chut vo v tr . Lc , gi tr bin hay gc pha s hin th ra nh
hnh v:














- Bc 4. Lu li biu bo co. Trn bo co ch r v tr v gi tr cc thng
s va tm c. chn ch thch ln hnh v ta vo menu Insert/ Text. lu
hnh v ta vo menu File/ Export, chn lu di dng file *.bmp hay *.jpg
- Bc 5. Xc nh li tn s ct bin, tn s ct pha, d tr bin, d tr pha
bng cch dng lnh margin. Nhn xt kt qu tm c bc 3 v bc 4.
- Bc 6. H thng c n nh khng? Gii thch.
- Bc 7. Tm hm truyn vng kn ca h thng trn. V p ng qu ca h
thng vng kn trn vi u vo hm nc n v trong khong thi gian t = 0 10s.
Lu hnh v p ng ny vit bo co. Nhn xt.
- Bc 8. Vi K = 400, thc hin li cc bc t 1 6. Nhn xt.

3.3. Kho st h thng dng phng php qu o nghim s.
3.3.1. Mc ch.
Kho st c tnh ca h thng tuyn tnh c h s khuch i K thay i, tm gi
tr gii hn K
gh
ca K h thng n nh. Da vo qu o nghim s, nh gi
cht lng ca h thng.
0.2) 8S 0.2)(S (S
K
G
2
S
+ + +
=
Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
6
3.3.2. Trnh t th nghim.
- Bc 1. Cho h thng c s khi nh sau.

- Bc 2. V qu o nghim s ca h thng dng lnh rlocus.
- Bc 3. Da vo QNS, tm Kgh ca h thng, ch r gi tr ny trn QNS.
- Bc 4. Lu li hnh v bo co. Trn bo co ch r v tr v gi tr Kgh.
- Bc 5. Tm K h thng c tn s dao ng t nhin W
n
=4.
- Bc 6. Tm K h thng c h s tt 7 . 0 =
- Bc 7. Tm K h thng c vt l POT = 25%
- Bc 8. Tm K h thng c thi gian xc lp (tiu chun 2%) t
xl
= 4s

3.4. nh gi cht lng ca h thng.
3.4.1. Mc ch.
Kho st c tnh qu ca h thng vi u vo hm nc tm vt l v sai
s xc lp ca h thng.
3.4.2. Trnh t th nghim.
Vi h thng tng t nh phn 3.3.
- Bc 1. Vi gi tr K = Kgh tm c trn, v p ng qu ca h thng
vng kn vi u vo hm nc n v. Kim chng li p ng ng ra c dao ng
khng?
- Bc 2. Vi gi tr K tm c bc 7 phn 3.3, v p ng qu ca h
thng vng kn vi u vo hm nc n v trong khong thi gian t = 0 5s. T
hnh v, tm vt l v sai s xc lp ca h thng. Kim chng li h thng c
POT = 25% khng? Lu hnh v ny vit bo co.
- Bc 3. Vi gi tr K tm c bc 8 phn 3.3, v p ng qu ca h
thng vng kn vi u vo hm nc n v trong khong thi gian t = 0 5s. T
hnh v, tm vt l v sai s xc lp ca h thng. Kim chng li h thng c
txl = 4s khng? Lu hnh v ny vit bo co.
- Bc 4. V 2 p ng qu bc 5 v bc 6 phn 3.3 trn cng 1 hnh v.
Ch thch trn hnh v p ng no l tng ng vi K . Lu hnh v ny
vit bo co.


) 20 8 )( 3 (
2
+ + +
=
S S S
K
G
Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
7
BI TH NGHIM 2

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

1. MC CH :
Matlab l mt trong nhng phn mm thng dng nht dng phn tch, thit k v
m phng cc h thng iu khin t ng. Trong bi th nghim ny, sinh vin s
dng cc lnh ca Matlab phn tch h thng nh xt tnh n nh ca h thng, c
tnh qu , sai s xc lp

2. CHUN B.
- thc hin cc yu cu trong bi th nghim ny, sinh vin cn phi chun b k v
hiu r trnh t cc thao tc tin hnh thit k mt b iu khin trong Sisotool.
- Sinh vin cn tham kho phn ph lc chng 6 (trang 225) trong sch L thuyt
iu khin t ng lm quen v hiu r trnh t cc bc thit k mt b iu khin
trong Sisotool. Ch , sinh vin phi c k phn ny nm r trnh t thit k v
trong bi th nghim ny khng nhc li cc trnh t . Nu sinh vin khng hiu k
th s khng thc hin c cc yu cu trong bi th nghim ny.
- kch hot cng c sisotool, t ca s Command Window g lnh sisotool. Tin
hnh thao tc t Bc 1 n Bc 3 nh trong ph lc chng 6 (trang 225), ca s
SISO Design Tool xut hin nh sau:













Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
8
3. TH NGHIM:
- Nguyn tc thit k h thng dng phng php QNS l da vo phng trnh c
tnh ca h thng sau khi hiu chnh:



- Ta cn tnh ton cc thng s ca b hiu chnh G
C
(s) sao cho p ng ng ra ca h
thng t c cc cht lng v p ng qu v sai s xc lp nhng phi tha
mn iu kin bin v iu kin pha (*). Ch , trong cng c sisotool th hm
truyn b hiu chnh C(s) chnh l GC(s) (*).

3.1 Thit k b hiu chnh sm pha:
3.1.1 Mc ch:
- Trong phn ny sinh vin s thit k b hiu chnh sm pha h thng t c cc
tiu chun v p ng qu nh vt l v thi gian xc lp. Hm truyn sm pha
c dng:


- T cc yu cu v p ng qu ta tm c v tr ca cp cc quyt nh trn QNS.
Sau , ta tnh cc thng s ca b hiu chnh C(s) sao cho QNS ca h thng sau
khi hiu chnh i qua cp cc quyt nh ny.
3.3.2 Th nghim:
Cho h thng nh hnh v :



- Bc 1 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.
- Bc 2 Thit k b hiu chnh sm pha h thng c vt l POT nh hn 20% v
thi gian xc lp nh hn 8s. Trnh by r qu trnh thit k ny.
) 1 (
TS 1
TS 1
K C(S)
C
>
+
+
=
Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
9
- Bc 3 V p ng qu ca h thng sau khi hiu chnh chng minh h thng
t c cc yu cu bc 3. Lu hnh v ny vit bo co.
3.3.3 Hng dn:
- Nhp hm truyn v khi ng sisotool import G v H vo sisotool nh hng dn
(t Bc 1 n Bc 3) phn ph lc chng 6 (trang 225) trong sch L thuyt
iu khin t ng vi ch : G = tf(20,conv([1 1 0],[1 2]) v H = tf(1,1).
- Ca s Sisotool hin ra nh sau:


















- Quan st QNS ta thy phng trnh c tnh vng kn c 3 nghim (du mu ):
S
1
= -3.84, S
2
= 0.419 + j2.24, S
3
= 0.419 j2.24
- Nhn thy h thng c 2 nghim S
2
v S
3
nm bn phi mt phng phc nn h thng
khng n nh. Ta cng c th quan st trn Biu Bode v nhn thy GM = -10.5dB
< 0 v PM = -28.1o < 0 nn kt lun h thng khng n nh. Tuy nhin, phn th
nghim ny ta dng phng php QNS nn s khng da vo Biu Bode nh
gi m ch da vo QNS. xem p ng qu ca h thng vi u vo hm nc,
Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
10
vo menu [Analysis][Other Loop Responses]. Ca s Response Plot Setup hin ra.
Tin hnh ci t cc tn hiu cn v p ng. y ta chn nh hnh bn di:










r to y: v p ng ca ng ra y(t) theo tn hiu u vo r(t). y chnh l p ng
qu cn v.
r to u: v p ng ca tn hiu iu khin u(t)
- Sau khi chn xong nhn nt [OK] th ta c c p ng qu :












- V ca s LTI Viewer ny khng h tr vic lu hnh v nn phi chuyn sang ca s
Figure bng cch vo menu [File][Print to Figure]. Ca s Figure hin ra v sau
tin hnh lu hnh v nh Bi th nghim.
- By gi tin hnh thit k b hiu chnh h thng c POT < 20% v txl < 8s. Ta
Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
11
quay tr li vi ca s Sisotool. V trong phn ny ta khng s dng Biu Bode v
m rng vng QNS nn ta xa vng Biu Bode i bng cch vo menu [View]
b du chn mc [Open-Loop Bode].
- Kch chut phi vo vng QNS, menu kiu pop-up xut hin:











Lead: b hiu chnh sm pha
Lag: b hiu chnh tr pha
Notch: b hiu chnh sm tr pha.
Delete Pole/Zero: xo cc cc v zero ca b hiu chnh
Edit Compensator : thay icc thng s ca b hiu chnh.
Design Constraints: gii hnvng tha mn cc tiu chuncht lng
- Chn [Add Pole/Zero][Lead] thm khu hiu chnh sm pha vo h thng. Nhp
chut vo mt v tr bt k trn trc thc ca QNS xc nh v tr ca cc v zero
ca b hiu chnh, sisotool s gn t ng v tr ca zero nm gn gc ta hn cc.
- Kch chut phi vo vng QNS, ta chn [Design Constraints][New] ci t
vt l v thi gian xc lp nh sau:





- Sau khi tin hnh ci t xong, QNS lc ny s thay i nh sau:
Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
12












- By gi ta s di chuyn cc cc v zero ca b hiu chnh C(s) trn trc thc sao cho
nhnh QNS (A) ko vo vng tha mn thit k. C 2 phng php tm cc v zero
ca b hiu chnh l phng php ng phn gic v phng php kh cc (sinh
vin xem li sch l thuyt hiu 2 phng php ny). y ta chn phng php
kh cc v d thao tc v trc quan trn ca s QNS.
- Nhn thy QNS h thng trc khi hiu chnh c 3 cc p1 = 0, p2 = -1, p3 = -2 (trn
hnh v th hin bng du x mu xanh). Do , di chuyn zero ca C(s) trng vi cc
gn trc o nht (khc 0) l cc p2 = -1. Di chuyn cc ca C(s) hng ra xa trc o
nhnh QNS (A) tin v vng tha mn yu cu thit k. Di chuyn n v tr s = -5 l
tha mn (ch gi tr ny cng tin ra xa cng tt nn trong thit k gi tr ny c
la chn theo mun ca ngi thit k).









Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
13
- Cui cng, dng chut di chuyn v tr nghim S
2
vo vng tha mn thit k. Ch
v tng thit k ca mi ngi khc nhau nn vic di chuyn ny cng khng ging
nhau, min sao v tr ny nm trong vng tha mn thit k. Tuy nhin ta khng nn di
chuyn gn trc o qu v s lm thi gian xc lp tng ln. Qu trnh thit k hon
tt.













Vy hm truyn ca b hiu chnh l:


- lu hnh trn phc v vit bo co ta vo menu [File][Print to Figure]. Sau
tin hnh lu hnh trong ca s Figure nh 1. p ng qu ca h thng kn vi
u vo hm nc sau khi hiu chnh tha mn POT < 20% v txl < 8s








0.2S 1
S 1
0.107 C(S)
+
+
=
Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
14
3.2 Thit k b hiu chnh tr pha:
3.2.1 Mc ch:
- Trong phn ny sinh vin s thit k b hiu chnh tr pha h thng t c cc
tiu chun v cht lng xc lp nh sai s xc lp v h s vn tc Kv. Hm truyn
tr pha c dng:

- Ta tnh cc thng s ca b hiu chnh C(s) sao cho p ng ca h thng tha m yu
cu v sai s xc lp m khng lm nh hng nhiu n p ng qu .
3.2.2 Th nghim:
Cho h thng nh hnh v :


- Bc 1 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.
- Bc 2 V p ng qu ca h thng sau khi hiu chnh chng minh h thng
t c cc yu cu bc 1. Lu hnh v p ng ny vit bo co.
Hng dn:
- Sau khi nhp hm truyn vo sisotool, quan st QNS ta thy phng trnh c tnh
vng kn c 3 nghim (du mu ):
- Tip theo ta tm cc v zero ca C(s). b hiu chnh tr 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 zero ca C(s):


- V cc ca C(s):
) 1 (
TS 1
TS 1
K C(S)
C
<
+
+
=
12
K
K
K 10
e
1
SC(S)G(S) lim K
V
*
V
C
xl
0 x
*
V
= = = = =

{ } 1 . 0 1 .
10
1
10
1
2 ) (
= = = S R Z
e S C
0.0083
12
0.1
K Z P
C C(S) C(S)
= = =
Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
15
- Cui cng ta c hm truyn ca b hiu chnh tr pha:


- T ca s sisotool, chn b hiu chnh tr pha bng cch kch chut phi v chn
menu [Add Pole/Zero][Lag]. Nhp chut vo mt v tr bt k trn trc thc ca
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.









- V b hiu chnh ny ch do sisotool gn t ng nn ta s phi chnh li cho ng vi
b hiu chnh tr pha va tm c trn bng cch kch chut phi v chn menu
[Edit Compensator]. Ca s Edit Compensator C hin ra, tin hnh thay i cc v
zero ca C(S) nh hnh v bn di












120S 1
10S 1
12 C(S)
+
+
=
Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
16
- QNS ca h thng sau khi hiu chnh nh sau:











- Sau khi thit k xong, ta tin hnh v p ng ca h thng vi u vo hm dc. Ch
, cng c sisotool khng h tr v p ng ca hm dc nn ta phi chuyn h thng
va thit k sang m hnh SIMULINK m phng.
- T ca s Sisotool, vo menu [Tools][Draw Simulink Diagram]. Ca s thng
bo hin ra, nhn [Yes]. M hnh Simulink ca h thng hin ra nh sau:















Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
17
- Sa i s khi m phng p ng u vo hm dc nh sau:








- Chnh thi gian m phng Stop time = 30s, tin hnh m phng h thng v thc hin
lu hnh v t Scope nh Bi th nghim 2.

3.3 Thit k b hiu chnh sm tr pha:
3.3.1 Mc ch:
Trong phn ny sinh vin s thit k b hiu chnh sm tr pha h thng t c
cc tiu chun v p ng qu v cht lng xc lp. Hm truyn sm tr pha c
dng:
3.3.2 Th nghim:
Cho h thng nh hnh v:





- Bc 1 Thit k b hiu chnh sm tr pha h thng c = 0.5, n = 5 (rad/s) v h
s vn tc Kv = 80. Trnh by r qu trnh thit k.
- Bc 2 V p ng qu ca h thng sau khi hiu chnh vi u vo hm dc
chng minh h thng t c cc yu cu bc 1. Lu hnh v ny vit bo co.
3.2.3 Hng dn:
- Trc tin ta thit k b hiu chnh sm pha h thng c
1 1, (
S T 1
S T 1
K *
S T 1
S T 1
K C(S)
2
2
C2
1
1
C1
< >
+
+
+
+
=
S T 1
S T 1
K (S) C
1
1
C1 1
+
+
=
Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
18

= 0.5, n = 5 cho i tng G(s). Sau , thit k b hiu chnh tr pha
cho i tng mi G1(s) = G(s)iC1(s) . Ch , sau khi thit k

xong b hiu chnh sm pha ta phi khi ng li sisotool v nhp li hm truyn G v
H vi hm truyn G lc ny chnh l G1 (s) v H = 1.
- Vi = 0.5, W
n
=5 => S
*
1,2
=2.5 j4.33
- Do , khi thit k b hiu chnh sm pha C
1
(s) , h thng c = 0.5, n = 5 ta s di
chuyn zero ca C1(s) ti v tr 0.5 (v tr cc ca G(s) kh cc ny) v di chuyn
cc ca C1(s) (phi cch xa gc ta hn zero) sao cho QNS i qua 2 nghim S
1,2
.
Sau dng chut di chuyn nghim s2 (du mu ) li v tr S
1,2
ny.























S T
S T
K S C
C
2
2
2 2
1
1
) (
+
+
=

Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
19
BI TH NGHIM 3

NG DNG SIMULINK IU KHIN H THNG L NHIT


1. MC CH :
SIMULINK l mt cng c rt mnh ca Matlab xy dng cc m hnh mt cch
trc quan v d hiu. m t hay xy dng h thng ta ch cn lin kt cc khi c
sn trong th vin ca SIMULINK li vi nhau. Sau , tin hnh m phng h thng
xem xt nh hng ca b iu khin n p ng qu ca h thng v nh gi
cht lng h thng.
2. GII THIU SIMULINK.
thc hin cc yu cu trong bi th nghim ny, sinh vin cn phi chun b k v
hiu r cc khi c bn cn thit trong th vin ca SIMULINK. Sau khi khi ng
Matlab 7.0, ta g lnh simulink hoc nhn vo nt simulink trn thanh cng c th ca
s SIMULINK hin ra:
3. CC KHI S DNG TRONG BI TH NGHIM.
3.1 Khi ngun Tn hiu vo (Source).





Khi Step ( th vin Simulink \ Sources) c chc nng xut ra tn hiu
hm nc. Double click vo khi ny ci t cc thng s:
Step time : khong thi gian ng ra chuyn sang mc Final value k
t lc bt u m phng. Ci t gi tr ny bng 0.
Initial value : Gi tr u. Ci t bng 0.
Final value : Gi tr cui. Ci t theo gi tr ta mun tc ng ti h
thng. Nu l hm nc n v th gi tr ny bng 1.
Sample time : thi gian ly mu. Ci t bng 0




Khi Repeating Sequence ( th vin Simulink \ Sources) l khi pht
tn hiu lp li. Tu theo gi tr lp trnh m n c th pht ra tn hiu
xung vung, tam gic hay rng ca vi bin v tn s thay i c.


V d: pht xung tam gic c bin 5V, chu k 10s, ta khai bo nh sau.





- Time values: [0 2.5 5 7.5 10]
Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
20
- Output values: [0 5 0 -5 0]

3.2 Khi ti Thit b kho st ng ra (Sink).



Khi Mux ( th vin Simulink \ Signals Routing) l b ghp knh
nhiu ng vo 1 ng ra, t ng ra ny ta a vo Scope xem nhiu tn
hiu trn cng mt ca s. Double click vo khi ny thay i s
knh u vo (trong mc Number of inputs)

Khi Scope ( th vin Simulink \ Sinks) l ca s xem cc tn hiu
theo thi gian, t l xch ca cc trc c iu chnh t ng quan
st tn hiu mt cch y

3.3 Cc khi x l Khi ng hc.



Khi Sum ( th vin Simulink \ Math Operations) l b tng (cng
hay tr) cc tn hiu, thng dng ly hiu s ca tn hiu t vi tn
hiu phn hi. Double click thay i du ca b tng.

Khi Gain ( th vin Simulink \ Math Operations) l b t l. Tn hiu
sau khi qua khi ny s c nhn vi gi tr Gain. Double click
thay i gi tr li Gain



Khi Transfer Fcn ( th vin Simulink \ Continuous) l hm truyn
ca h tuyn tnh. Double click thay i bc v cc h s ca hm
truyn. Ci t cc thng s:
Numerator : cc h s ca a thc t s
Denominator : cc h s ca a thc mu s




Khi Relay ( th vin Simulink \ Discontinuities) l b iu khin
rle 2 v tr c tr (cn gi l b iu khin ON-OFF). Cc thng s :
Switch on point : nu tn hiu u vo ln hn gi tr ny th ng ra
ca khi Relay ln mc on
Switch off point : nu tn hiu u vo nh hn gi tr ny th ng ra
ca khi Relay xung mc off
Output when on : gi tr ca ng ra khi mc on
Output when off : gi tr ca ng ra khi mc off
Nu tn hiu u vo nm trong khong (Switch on point, Switch off
point) th gi tr ng ra gi nguyn khng i
Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
21




Khi PID controller ( th vin Simulink Extras \ Additional Linear) l
b iu khin PID vi hm truyn


K
P
: h s t l (proportional term)
K
I
: h s tch phn (integral term)
K
D
: h s vi phn (derivative term)

Khi Saturation ( th vin Simulink \ Discontinuities) l mt khu
bo ha. Cc thng s ci t:
Upper limit : gii hn trn. Nu gi tr u vo ln hn Upper limit
th ng ra lun bng gi tr Upper limit
Lower limit : gii hn di. Nu gi tr u vo nh hn Lower
limit th ng ra lun bng gi tr Lower limit
Khu bo ho dng th hin gii hn bin ca cc tn hiu trong
thc t nh : p ra cc i ca b iu khin t vo i tng, p
ngun.

3.4 Cc bc xy dng ng dng mi.
- Sau khi khi ng Matlab, g lnh >> simulink hoc nhn vo nt simulink
trn thanh cng c th ca s SIMULINK hin ra (nh hnh v Trang 1).
- Trong ca s SIMULINK, vo menu File / New m ca s cho mt ng
dng mi.
- Kch chut vo cc th vin gii thiu mc II.1 chn khi cn tm.
Kch chut tri vo khi ny, sau ko v th vo ca s ng dng va mi
to ra. Double click vo khi ny ci t v thay i cc thng s.
- C th nhn s lng cc khi bng cch dng chc nng Copy v Paste.
Kch chut tri ni cc ng vo / ra ca cc khi hnh thnh s h thng.
- C th di mt hoc nhiu khi t v tr ny n v tr khc bng cch nhp
chut chn cc khi v ko n v tr mi. Dng phm Delete xa cc
phn khng cn thit hay b sai khi chn.
- C th vit ch thch trong ca s ng dng bng cch double click vo mt v
tr trng v g cu ch thch vo. Vo menu Format / Font thay i kiu
ch.
- Nh vy, m hnh h thng xy dng xong. Chn thi gian m phng bng
cch thay i gi tr trn thay cng c. Gi tr ny thay i ty theo c tnh
ca h thng.
- Chy m phng bng cch vo menu Simulation / Start. Khi thi gian m
phng bng gi tr t trn th qu trnh m phng dng li. Trong qu
trnh m phng, nu ta mun dng na chng th vo menu Simulation / Stop.



S K
S
K
K PID
D
I
P
+ + =
Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
22
4 CHUN B TH NGHIM.
Sinh vin phi chun b cc kin thc sau trc khi bc vo th nghim:
- Tm hiu s lc Matlab v Simulink.
- M t ton hc h thng iu khin t ng, nh gi cht lng h thng iu khin
t ng.
- M hnh ha i tng v xc nh thng s b iu khin PID theo phng php
th nht ca Ziegler Nichols.
- Phng php iu khin on off. u khuyt im ca iu khin on off so vi iu
khin sm tr pha hay PID.
- Phng php iu khin PID. u khuyt im ca iu khin PID. Cch hiu chnh
thng s PID da vo p ng qu i vi tn hiu vo hm nc n v.

5 TH NGHIM.
5.1 Kho st h h, nhn dng h thng theo m hnh Ziegler Nichols.
5.1.1 Mc ch.
- c trng ca l nhit l khu qun tnh nhit. T khi bt u cung cp nng
lng u vo cho l nhit, nhit ca l bt u tng ln t t. nhit
l t ti gi tr nhit cn nung th thng phi mt mt khong thi gian
kh di. y chnh l c tnh qun tnh ca l nhit. Khi tuyn tnh ho m
hnh l nhit, ta xem hm truyn ca l nhit nh l mt khu qun tnh bc 2
hoc nh l mt khu qun tnh bc nht ni tip vi khu tr. Trong bi th
nghim ny ta xem m hnh l nhit nh l mt khu qun tnh bc 2.
- Trong phn ny, sinh vin s kho st khu qun tnh bc 2 cho trc. Dng
phng php Ziegler-Nichols nhn dng h thng sau xy dng li hm
truyn. So snh gi tr cc thng s trong hm truyn va tm c vi khu
qun tnh bc 2 cho trc ny.

5.1.2 Trnh t th nghim.
- Bc 1. Dng SIMULINK xy dng m hnh l nhit vng h nh sau.








Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
23
Trong
Step : l tn hiu hm nc th hin phn trm cng sut cung cp cho l
nhit. Gi tr ca hm nc t 01 tng ng cng sut cung cp
0%100%
Transfer Fcn Transfer Fcn1: m hnh l nhit tuyn tnh ha.
Ng ra ca Transfer Fcn1 l nhit thc ca l, c a vo Scope
quan st.
- Bc 2. Chnh gi tr ca hm nc: Step time = 0, Initial value = 0, Final value
= 1. Chnh thi gian m phng Stop time = 600s.
- Bc 3: Nhp chut vo Parameters, vo trang Data History v tin hnh
ci t cc thng s nh hnh bn di:













- Bc 4: Nhn Run m phng qu trnh.
- Bc 5: Double click vo khi Scope. Ca s Scope hin ra nh sau.














Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
24
- Bc 6: Vo ca s Command Window nhp cc dng lnh sau.
>> plot(ScopeData.time, ScopeData.signals.values) % V li p ng.
>> grid on % K li.
- Bc 7: Lc ny ca s Figure hin ra vi hnh v ging nh hnh v ca s
Scope. Vo menu Insert/ Line, Insert/ Text tin hnh k tip tuyn v ch
thch cho hnh v. Kt qu cui cng nh hnh bn di :
- Bc 8: Vo menu [File][Export] lu thnh file *.bmp.
- Bc 9: Da vo hnh v, xc nh L v T.

5.2 Kho st m hnh iu khin nhit ON OFF.
5.2.1 Mc ch.
Kho st m hnh iu khin nhit ON-OFF, xt nh hng ca khu rle
c tr.
5.2.2 Trnh t th nghim.
- Bc 1: Dng SIMULINK xy dng h thng iu khin nhit on off
nh sau:









Trong :
Step : l tn hiu hm nc th hin nhit t ca l.
Transfer Fcn Transfer Fcn1 : m hnh l nhit tuyn tnh ha.
Khi Relay l b iu khin ON OFF.
Ng ra ca Transfer Fcn1 l nhit thc ca l, c a vo Scope
quan st.
H c hi tip m n v.
Khi Gain dng khuch i tn hiu ng ra khi Relay quan st
cho r. Lu rng gi tr ny khng lm thay i cu trc ca h thng
m ch h tr vic quan st tn hiu.
- Bc 2: Chnh gi tr ca hm nc: Step time = 0, Initial value = 0, Final
value = 100, gi tr khi Gain = 50. Chnh thi gian m phng Stop time =
600s. Chnh thng s khi Relay theo bng sau:


Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
25
Vng tr
( Switch on /off point)
Ng ra cao
(Output when on)
Ng ra thp
(Output when off)
+1 / -1 1 (cng sut 100%) 0 (cng sut 0%)
+5 / -5 1 (cng sut 100%) 0 (cng sut 0%)
+10 / -10 1 (cng sut 100%) 0 (cng sut 0%)
+20 / -20 1 (cng sut 100%) 0 (cng sut 0%)

- Bc 3: Nhn Run m phng qu trnh.
- Bc 4: ng vi mi thng s ca khi Relay, lu li hnh v v ghi nhn cc
gi tr trong bng sau vit bo co. Trn hnh v trong bi bo co ch r 2
sai s +e1 / -e2 quanh gi tr t v chu k ng ngt.

Vng tr e1 e2 Chu k ng ngt (s)
+1 / -1
+5 / -5
+10 / -10
+20 / -20

- Bc 5: Da vo cc kt qu m phng trn, tr li cc cu hi sau.
1) Nhn xt s nh hng ca vng tr n sai s ng ra v chu k ng ngt
ca khu Relay.
2) sai s ca ng ra xp x bng 0 th ta thay i gi tr vng tr bng bao
nhiu? Chy m phng minh ha.
3) Chu k ng ngt lc ny thay i nh th no? Trong thc t, ta thc hin
b iu khin ON-OFF nh vy c c khng? Ti sao?
4) Vng tr la chn bng bao nhiu l hp l. Hy gii thch s la chn
ny.

5.3 Kho st m hnh iu khin nhit PID (phng php Ziegler
Nichols).
5.3.1 Mc ch.
- Kho st m hnh iu khin nhit dng b iu khin PID, cc thng s
ca b PID c tnh theo phng php Ziegler-Nichols. T so snh cht
lng ca h thng 2 b iu khin PID vi b iu khin ON-OFF.
5.3.2 Trnh t th nghim.
- Bc 1: Dng SIMULINK xy dng h thng iu khin nhit PID
nh sau:


Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
26









Trong :
Step : l tn hiu hm nc th hin nhit t ca l.
Transfer Fcn Transfer Fcn1 : m hnh l nhit tuyn tnh ha.
Khi PID l b iu khin PID.
Khu bo ha Saturation ch tn hiu iu khin
Ng ra ca Transfer Fcn1 l nhit thc ca l, c a vo Scope
quan st.
H c hi tip m n v.
Khi Gain dng khuch i tn hiu ng ra khi Relay quan st
cho r. Lu rng gi tr ny khng lm thay i cu trc ca h thng
m ch h tr vic quan st tn hiu.
- Bc 2: Chnh gi tr ca hm nc: Step time = 0, Initial value = 0, Final value
= 100, gi tr khi Gain = 50, khu bo ha Saturation c gii hn l upper
limit = 1, lower limit = 0 tng trng ng ra b iu khin c cng sut cung
cp t 0% n 100%.
- Bc 3: Tnh ton gi tr Tnh gi tr cc thng s Kp, Ki, Kd ca khu PID
theo phng php Ziegler-Nichols t thng s L v T tm c phn 5.1.
- Bc 4: Chy m phng. C th chnh li Stop Time cho ph hp.
- Bc 5: Lu li p ng vit bo co. Trong hnh v phi ch thch r tn
cc tn hiu. Xc nh cht lng ca h thng.
- Bc 6: Nhn xt v cht lng ng ra 2 phng php iu khin PID v
ON-OFF.

5.4 M rng.
- Lp li cc bc 4.1, 4.2, 4.3 cho l nhit c hm truyn nh sau:

) 5 s )( 1 s (
10
) s ( G
+ +
=
- Lu : li Gain trong cc khi Gain cho bng 1.



Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
27
BI TH NGHIM 4

NG DNG SIMULINK IU KHIN NG C


1. CHUN B.
Sinh vin phi chun b cc kin thc sau trc khi bc vo th nghim.
- Tm hiu s lc Matlab v Simulink.
- M t ton hc h thng iu khin t ng, nh gi cht lng h thng iu khin
t ng.
- M hnh ha i tng v xc nh thng s b iu khin PID theo phng php
th nht ca Ziegler Nichols.
- Phng php iu khin on off. u khuyt im ca iu khin on off so vi iu
khin sm tr pha hay PID.
- Phng php iu khin PID. u khuyt im ca iu khin PID. Cch hiu chnh
thng s PID da vo p ng qu i vi tn hiu vo hm nc n v.

2. TH NGHIM.
2.1 Kho st h vng kn, nhn dng h thng theo m hnh Ziegler Nichols.
2.1.1 Mc ch.
i vi cc h c khu tch phn l tng nh ng c, p ng qu (h h)
khng n nh. i vi cc i tng ny, thng s b iu khin xc nh theo
phng php th hai ca Zeigler Nichols. Bi th nghim ny gii thiu phng
php th hai ca Zeigler Nichols.
2.2.2 Trnh t th nghim.
Bc 1. Dng SIMULINK xy dng m hnh iu khin vng kn v tr ng
c DC nh sau.

Trong
o Step: l tn hiu hm nc n v.
o Transfer Fcn Transfer Fcn1 Transfer Fcn 2: m hnh ng c tuyn
tnh ha.
o Ng ra ca Transfer Fcn2 l v tr c a vo Scope quan st.
Bc 2. Chnh gi tr ca hm nc: Step time = 0, Initial value = 0, Final value =
1. Chnh thi gian m phng Stop time = 50s.
Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
28
Bc 3: Nhp chut vo Parameters, vo trang Data History, b Limit data
points to last.
Bc 4: Thay i h s Gain trong khi Gain. Lp i lp li cho n khi p ng
c dao ng u khng tt dn ( bin gii n nh).
Bc 4: Nhn Run m phng qu trnh.
Bc 5: Double click vo khi Scope.
Bc 6: Da vo hnh v, xc nh Kgh v Tgh: Kgh = 66.8, Tgh = 0.8.

2.2 Kho st m hnh iu khin ng c PID (phng php Ziegler Nichols).
2.2.1 Mc ch.
Trong phn ny, sinh vin s xy dng m hnh iu khin v tr ng c DC
dng b iu khin PID. Kho st nh hng ca b iu khin PID n p
ng ng ra vi tn hiu u vo l hm dc.
2.2.2 Trnh t th nghim.
Bc 1: Dng SIMULINK xy dng m hnh vng kn iu khin v tr ng
c DC nh sau:


Bc 2: Xc nh thng s PID theo Zeigler Nichols (Kp = 40, Ti = 0.4, Td =
0.1, Kd = 4, Ki = 100)
Bc 3: Nhp thng s PID theo bc 8, khi Repeating Sequence c cc thng
s Time values: [0 2.5 5 7.5 10]; Output values: [0 5 0 -5 0].
Bc 4: Nhn Run m phng qu trnh.
Bc 5: Lu hnh v vit bo co. Trn hnh v ghi r ch thch. Xc nh cht
lng ca h thng.

2.3 Kho st nh hng cc h s Kp, Ki, Kd ln cht lng ca h thng.
2.3.1 Mc ch.
Trong phn ny sinh vin s kho st nh hng ca cc h s Kp, Ki, Kd
trong b iu khin PID n cht lng ca h thng iu khin t rt ra
kinh nghim hiu chnh thng s b iu khin PID v so snh vi kt qu l
thuyt.

Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
29
2.3.2 Trnh t th nghim.
Bc 1: Dng SIMULINK xy dng m hnh iu khin v tr ng c nh
sau:









a. Chnh thi gian m phng Stop time = 10s. Thc hin kho st h thng vi b iu
khin P (KI = 0, KD = 0) v tnh vt l, sai s xc lp, thi gian xc lp ca ng ra
theo bng sau:
K
P
1 10 20 50 100
POT
E
xl

t
xl


b. Thc hin kho st h thng vi b iu khin PI (KP = 2, KD = 0) v tnh vt l,
sai s xc lp, thi gian xc lp ca ng ra theo bng sau:
K
I
0.1 0.5 0.8 1 2
POT
E
xl

t
xl


c. Thc hin kho st h thng vi b iu khin PID (KP = 2, KI = 2) v tnh vt l,
sai s xc lp, thi gian xc lp ca ng ra theo bng sau:
K
D
0.1 0.2 0.5 1 2
POT
E
xl

t
xl


Bc 2: Chy m phng vi cc thng s cho trn.
Ool llea hacoq doo tht oqhlem 7lea khleo ta coq

B mn iu khin t ng, Khoa in in t
30
Bc 3: Lu kt qu vit bo co. Trn hnh v ghi r ch thch. Xc nh cht
lng ca h thng cho tng trng hp.
Bc 4: Nhn xt v s nh hng ca Kp, Ki, Kd. So snh vi kt qu l thuyt.

2.4 H thng iu khin dng hai hiu chnh PID v tr v tc .
2.4.1 Mc ch.
V nguyn tc, ta khng cn phn hi tc khi iu khin v tr. Tuy nhin, c
th hnh dung l khi sai lch v tr ln s dn n in p t vo ng c ln lm
tng tc quay. iu ny c th khng tt i vi mt s loi ti. Mun kim
sot c c tnh tc ca h thng, ngui ta dng hai vng iu khin tc v
v tr vi hai b hiu chnh c lp. Phng php ny cn gi l iu khin nhiu
vng hay iu khin ta .
Phng php hiu chnh l thc hin ln lt tnh ton vng tc ri v tr.
vng tc chn kt qu hiu chnh l khng hay t vt l. Cc b hiu chnh
khng nht thit l y PID, y chn PI. Cng c th hnh dung tc dng
ca phn hi tc l ci thin c tnh qu khi tc l o hm v tr.
2.4.2 Trnh t th nghim.
Bc 1: Dng SIMULINK xy dng m hnh iu khin v tr ng c nh
sau:









Bc 2: Khai bo thng s hai b iu khin PID nh sau: Ki1 = 27.5 ; Kp1 =
9.81, Ki2 = 6.25 ; Kp2 = 2.91.
Bc 3: Chy m phng.
Bc 4: Lu kt qu vit bo co. Trn hnh v ghi r ch thch. Xc nh cht
lng ca h thng.
Bc 5: Xy dng li m hnh Simulink c mt vng iu khin v tr nh 2.2
vi thng s b iu khin PID Ki1 = 27.5 ; Kp1 = 9.81.
Bc 6: Chy m phng. Lu kt qu vit bo co. Trn hnh v ghi r ch
thch. Xc nh cht lng ca h thng.
Bc 7: So snh cht lng hai cch iu khin ni trn. Kt lun.

You might also like