Bài giảng Điều khiển số- Nguyễn Phùng Quang

16 June 2007 Assoc. Prof. Hon.-Prof. Dr.-Ing. habil. Ng. Ph.
Quang
Electrical Engineering - Automatic Control
1
iu khin s
(Digital Control Systems)
Phn A:
Mn hc truyn t cc kin thc phc v
phn tch, thit k cc h thng iu khin
t ng s dng vi x l (P, C, DSP).
Phn A bao gm cc ni dung thuc
chng trnh dnh cho i hc.
16 June 2007 Assoc. Prof. Hon.-Prof. Dr.-Ing. habil. Ng. Ph. Quang
2
iu khin s
Chng 1: M hnh tn hiu v h thng
1. Cu trc c s ca h thng K s
2. M hnh tn hiu trn min nh z
3. M hnh h thng trn min nh z
Chng 2: iu khin c phn hi u ra
1. Xt n nh ca h thng s
2. Thit k trn min thi gian xp x lin tc
3. Thit k trn min thi gian gin on
4. Mt s dng m rng
3
iu khin s
Chng 3: iu khin c phn hi trng thi
1. n li cc kin thc c s
2. M hnh trng thi gin on
3. Tnh iu khin c v tnh quan st c
4. Cu trc c bn ca h thng K s trn khng
gian trng thi
5. Mt s dng m rng
Chng 4: Thc hin k thut h thng K s
1. nh hng ca s ha (lng t ha) bin
2. Thit k h thng bng my tnh (MATLAB)
3. Thit k h thng vi iu khin
4
iu khin s
Ti liu thamkho:
[1] Isermann R.: Digitale Regelsysteme. Bd. I und II, Springer-Verlag, 2.
Auflage, 1987-1988
[2] Franklin G.F., Powell J.D., Workman M.L.: Digital Control of Dynamic
Systems. Addison
Wesley, 2
nd
1994
[3] Quang Ng.Ph.: MATLAB & Simulink dnh cho k s iu khin t ng.
Nh xut bn
KH&KT, 2004
Ch : Gio trnh ny s dng dy cc lp i hc vi thi
lng 45 tit, bao gm l thuyt v v d. Vi cc lp 60
tit, s dy ging nh lp 45 tit nhng c thm bi tp ln
12-15 tit.
5
1. M hnh tn hiu v h thng
1.1 Cu trc c s ca h thng K s
1 1 0
0 1 1
k k k
k k k
p u p u p u
q e q e q e

+ + + =
+ + +
( )
( )
( )
1
1
0 1
C
1
1
0 1
Q z
q q z q z
G z
p p z p z
P z

+ + +
= =
+ + +
Khu iu chnh:
1. Pt. Sai phn
2. Hm truyn t trn
min nh z
6
Khu C: s dng vi x l (microprocessor: P),
vi iu khin (microcontroller: C) hoc vi x l
tn hiu (digital signal processor: DSP)
Khu DAC: c th khng tn ti mt cch tng
minh, m n di dng thit b c chc nng DA.
V d: khu iu ch vector in p (khi iu
khin digital ng c ba pha)
Khu ADC: thng s dng khi o c gi tr
thc ca i lng ra (v d: o dng). i khi tn
ti di dng khc nh: o tc quay bng IE
7
Khu ADC v qu
trnh trch mu o
( ) ( ) ( ) ( )
[ ] [ ]
0 1 2
0 , 1 , 2 , hay
, , ,
k
u k u u u
u u u u

=

=
( ) ( ) ( )
( ) ( )
*
0
0
k
k
u t u kT t kT
u t t kT
=

=

=
Sau khi trch mu (l tng)

bng ADC ta thu c chui
gi tr s:
kho st tn hiu gin on
bng cng c Laplace (hay
phn tch ph), ng thi to
iu kin m t hn hp vi cc
khu lin tc, ta nhn chui vi
hm (t) v thu c dy xung:
8
Khu DAC v qu trnh
lu gi (nh) khi xut
( ) ( ) ( )
{ }
0
1 1 1
k
k
u t u t kT t k T
=

= +

( )
0
1
sT
skT
k
k
e
U s u e
s

=

( )
( )
( )
*
1
sT
H
U s
e
G s
s U s
= =
M hnh tn hiu c dng bc thang trn
min thi gian:
Chuyn sang min nh Laplace:
T thu c hm truyn t ca khu
gi chm:
9
1.2 M hnh tn hiu trn min nh z
( ) ( ) ( ) ( )
* *
0 0
skT
k
k k
u t u kT t kT U s u e

= =

= =

Chuyn phng trnh m t dy xung u
*
(t) sang min nh Laplace:
Thay: ta thu c:
sT
z e = ( ) ( )
*
0
sT
k
k
e z
k
U s U z u z
=
=

= =

V d: Mt tn hiu gin on v thi gian cho trc bi

0 0
0
k
k
k
u
a k
<
nh z ca tn hiu k trn:
( )
( )
0 0
k
k k
k k
a
U z a z
z

= =

= =

Chui trn ch hi t khi , tc l vng pha ngoi
ng trn c bn knh a vai tr quan trng ca T i
vi n nh ca h thng.
1 a z <
10
1.3 M hnh h thng trn min nh z
H thng K s bao gm
2 loi khu c bn:
1. Khu c bn cht gin
on: Cc tn hiu vo/ra/
trng thi u gin on
v thi gian v v mc.
Khu m t cc thit b
K digital.
2. Khu c bn cht lin
tc: M t i tng iu
khin. Khi gin on ha
s a n m hnh nh
hnh bn. Vic gin on
ha xut pht t m hnh
trng thi lin tc ca i
tng.
11
1.3.1 M hnh khu c bn cht gin on
Quy lut tnh ton (c gi l thut
ton) xc nh c tnh truyn t ca
khu.
a) M t bng phng trnh sai phn
1 k k k
u u u
+
=
1 k k k
u u u

=
2
1
2 1
2
k k k
k k k
u u u
u u u
+
+ +
=
= +
( )
1 1
1
0
1
n n n
k k k
n
n
k n
u u u
n
u

+
+
=
=

*Sai phn bc nht:

Sai phn tin:
Sai phn li
*Sai phn bc 2:
*Sai phn bc n:
Mt phng trnh sai phn c t nht 2 gi
tr u
k+n
v u
k
c gi l phng trnh
sai phn bc n.
12
a) M t bng phng trnh sai phn
0 1 1 0 1 1 k n n k n k k m m k m k
a x a x a x b u b u b u
+ + + +
+ + + = + + +
0 1 1 0 1 1 k k n k n k k m k m

+ + + = + + +
*Pt. sai phn bc n s dng sai phn tin:
*Pt. sai phn bc n s dng sai phn li:
Gii pt. sai phn bng phng php tnh truy hi (recursive method)
Gi s ta xut pht t pt. sai phn li vi a
0
=1
0 1 1 1 1 2 2 k k k m k m k k n k n
x b u b u b u a x a x a x

= + + +
Qu trnh tnh x
k
c bt u t k=0, ln lt nng thm 1:
0 0 0
1 0 1 1 0 1 0
0
1
k x b u
k x b u b u a x
= =
= = +
.
13
a) M t bng phng trnh sai phn Gii pt. sai phn trn min nh z
{ } { }
0 1 1 0 1 1 k n n k n k k m m k m k
+ + + +
+ + + = + + +
* Bc 1: Chuyn ng thi 2 v ca pt. sai phn sang min nh z:
* Bc 2: Gi thit cc gi tr ban u x
0
, x
1
,, u
0
, u
1
, bng 0, ta c:
( ) ( )
1
0 1
1
0 1
m m
m
n n
n
b z b z b
X z U z
a z a z a
+ + +
=
+ + +
* Bc 3: p dng bin i ngc tm x

k
Ch : C th gii pt. sai phn trn min nh z, xut pht t pt. sai phn tin
hoc li, kt qu thu c bao gi cng l duy nht.
14
b) M t bng hm truyn t trn min nh z
Vi:
( ) { } ( ) { } ;
k k
X z x U z u = =
l nh z ca chui gi tr (tn hiu digital) u ra / u vo, ta s c
hm truyn t sau:
( )
( )
( )
1
0 1
1
0 1
;
m
m
n
n
X z
b b z b z
G z m n
U z a a z a z

+ + +
= = =
+ + +
Tng t h lin tc, hm truyn t G(z) c th c coi l nh z

ca hm trng lng gin on [g
k
] (chui trng lng). Vy:
( ) { }
1
0
k
k k k i i
i
g G z x g u
=
= =
( )
( )
( )
( )
[ ]
( )
4
1
1 4 4
1 1
4 1
1 1
1 1
4 1 1 4
1 1 1 1
, , , , 0, 0,
4 4 4 4
k k
k
k
X z
z
G z
U z z
z z
g z
z z
g
= =

= =

=
V d: Khi u
k
=1
k
ta c:
1 2 1 0
0 0
1 1 0
2 2 1 0
3 3 2 1 0
4 4 3 2 1 0
0, 25
0, 5
0, 75
1
1
k k k k
x g g g g g
x g
x g g
x g g g
x g g g g
x g g g g g

= + + + + +
= =
= + =
= + + =
= + + + =
= + + + + =
. .
Ch : Trn c s cc
phng trnh vector sai
phn, c th m t khu
truyn t gin on nhiu
chiu tuyn tnh bi:
( ) ( ) ( )
z z z = X G U
Trong G(z) l ma trn
truyn t gin on.
15
c) M t bng m hnh trng thi gin on
* *
+1
* *
+
+
k k k
k k k
q A q B u
x C q D u
* *
+1
* *
+
+
k k k
k k k
u
x d u
q A q b
c q
H MIMO:
H SISO:
M hnh thu c t phng trnh sai phn, hay hm truyn t (trn min nh z) m t
thut ton m khu thc hin (thut ton C, lc s vv).
C th thc hin bin i sang cc dng chun tc (chun K, chun QS) thng dng
m t hoc tnh ton.
16
1.3.2 M hnh khu c bn cht lin tc v tn hiu vo dng bc thang
a) c im ca qu trnh nh
(xem trang 7)
( )
( )
( )
*
0
1
H
sT
skT
k
k
G s
U s
e
U s u e
s

( )
( )
( )
*
1
sT
H
U s
e
G s
s U s
= =
Dng bc thang ca tn hiu vo do
qu trnh nh to nn. Trn min
nh Laplace c dng:
Kt lun: Khi xt TK khng bao gi c php qun
khu gi chm (c trng cho qu trnh nh)
b) M t bng hm truyn t
( ) ( ) ( )
*
X s G s U s =
Vi X(s) l nh Laplace ca bin ra, U
*
(s)
l nh Laplace ca chui xung u vo
Gi nh Laplace ca p ng bc nhy
n v (ca hm qu h(t))l H(s) ta c:
( ) ( ) ( )
( )
( )
( ) ( ) ( )
1
1
sT sT
sT
H
G s H s e H s e H s
e
G s G s G s
s

= =
= =
17
( ) ( ) ( )
X z G z U z =
Vi c tnh theo mt trong hai cch
m t hnh bn
( ) G z
V d: i tng K l mt khu qun tnh
bc nht. Theo cch i thuc nhnh bn tri:
( ) ( )
( )
( ) ( ) ( )
1
1 1
1 1
1 1
1 1
= = =
+ +
t T
G s H s h t e t
sT s sT
1
1
kT T kT
k
h e
=
( )
1
1
T T
z z
H z
z z e
=

( )
1
1
1
1
1
1
T T
T T
T T
z
G z
z e
e
z e
*Chui sau gin on ha:

*Chuyn sang nh z:
*Hm truyn t ca
i tng trn min
nh z:
18
Lu , khi hm truyn t c dng phn thc hu t
s c kh nng tch thnh cc phn thc ti gin nh sau:
( )
( )
( )
( )
( )
( )
B s B s
G s H s
A s s A s
= =
a) H(s) c cc cc s
bt k, khc nhau:
b) H(s) c cc s
lp li m ln:
1
s T
z
s s z e

=

( )
( )
1
1
1 1
1 !
m
m m s T
z
m s z e
s s

Tip tc v d trang trc bng cch i theo nhnh bn phi:
*Tch H(s) thnh cc phn thc ti gin:
( )
( )
1
1 1
1 1 1
+1 T +1 T
T
H s
s s s s
= =
( ) { } ( )
1
1
T T
z z
H s H z
z z e
= =

*Tm H(z) nh tm nh ca cc phn thc ti gin:
*Hm truyn t ca i tng trn min nh z:
( )
1
1
1
T T
T T
e
G z
z e
19
c) M t bng m hnh trng thi gin on
( ) ( ) ( ) t t t
= + q Aq Bu
( )
( )
( )
( )
( )
( ) ( ) ( ) ( )
0
0
0
0 0 0 0
0, 1, 2,

= +

= + =

t
t t t
t
t e t e d
t t t t t t k
A A
q q Bu
q u
( ) ( ) ( )
( ) ( )
1 1 1
1
k k k k k k k
T T
k k k
t t t t t t t
T T
+ + +
+

= +

= +
q q u
q q u

( ) ( )
1
T T

=

H A I B
Cho trc i tng MIMO:
Nghim tng qut vi t > t
0
v :
Vi t
0
=t
k
v chn t=t
k+1
ta c:
Vi:
u im: D dng tm c m hnh
gin on ca cc i tng MIMO
( ) =
t
t e
A
20
1.3.3 M t h trong khong gia hai thi im trch mu
c im khng tng minh
ca php bin i z ngc
Gia 2 thi im
trch mu:
( ) ; 0 1 t k T = +
Chn s lng ln,
ta c th m t x(t) bi:
( ) ( )
k
x k T x

+

+

Bin i z m rng
{ } ( )
( ) ( )
0
,
,
0, 1, 2, , 0 1
k
k k
k
x X z x z
G z U z
k

+ +
=

= =

=
=
Hai trng hp c bit c th dng kim tra:

( ) { } ( )
( ) { } ( )
1 0
0 , 0
1 ,1
k
k
X z Z x X z
X z Z x z X z x
+
= = =

= = =

21
1.3.4 M t h gin on c tr (tn hiu vo dng bc thang)
M hnh c tr T
d
u vo
( ) ; 1, 2, ; 0 1
d d d
T d T d = = <
( )
{ }
( ) ,
d
d
d d k d
G z g z G z
+
= =
H vi thi gian tr T
d
(Dead-Time): c m t bi:
( )
0
d
k i k d i
i
x g u
+
=

=

p dng cc kin thc v bin i z m rng v nguyn l tnh tin ca nh z, ta thu c hm

truyn t G
d
(z) sau:
Khi T
d
l s nguyn
ln ca T, ch cn b
xung z
-d
. Khi T
d
khng
l s nguyn ln ca
T, s dng
d
(thay v
) tm nh z m
rng. Trong c 2
trng hp, s xut
hin im cc lp li
d ln ti gc ta .
( ) ( )
1 k k k d
T
k k
T T
+
= +
=
q q h u
x c q
( ) ( )
1 k k k
T
k d k
T T
+
+
= +
=
q q h u
x c q
Khi T
d
l s nguyn ln ca T: 1) T
d
xut hin u vo:
2) T
d
xut hin u ra:
3) Trong c hai trng hp: Bc ca nng ln thnh
(n+d)(n+d)
22
2. K c hi tip i lng ra
2.1 Xt n nh ca h thng K s
2.1.1 n nh truyn t
( )
( )
( )
adj
det
T
z
G z d
z

= +
I
c h
I

( )
( )
( )
adj
det
z
z
z

= +
I
G C H D
I

( )
( )
( )
( )( ) ( )
1 1 2
det
n
i
i n i
B z B z
c z
z z z z z z z z z
=
= =

I
H SISO:
H MIMO:
V c bn, khi h c qun tnh (d = 0, D = 0), hai
cu trc u c dng phn thc nh sau:
1 1 2 2
; 0, 1, 2,
k k k
k n n
g c z c z c z k = + + + =
Bin i z ngc
Theo nh ngha v n nh truyn t, dy g
k
ch c gi tr hn ch khi |z
i
|<1.
Tc l ch khi tt c cc im cc (nghim ca phng trnh c tnh) nm bn
trong ng trn n v ca mt phng z.
2.1.2 Tiu chun i s
S dng php bin i w chuyn min n nh bn trong
ng trn n v ca mt phng z sang bn tri mt
phng phc mi, gi l mt phng w, cho php s dng
cc tiu chun i s ROUTH v HURWITZ quen bit.
V d:
1
1-
w
z
w
+
=
1
1-
w
z
w
+
= hoc:
a) S dng php bin i tng ng
23
2. K c phn hi u ra
2.1.2 Tiu chun i s
1. ng vi mi im bt k thuc min nh z:
z u jv = +
ta thu c mt im mi trn min nh w:
2 2
2 2 2 2
1 1 2
1 1 2 1 2
z u v v
w j
z u v u u v u
+ +
= =
+ + + +
2. ng trn n v , bin gii n
nh trn min nh z tr thnh ng thng:
2 2
1 u v + =
1
v
w j
u
=
3. Trc khi s dng tiu chun ROUTH hay HURWITZ ta phi chuyn a thc c tnh:
( )
' ' ' 2 '
0 1 2
n
n
N z a a z a z a z = + + + + sang min w:
( )
2
' ' ' 2
0 1 2 0 1 2
1 1
0
1 1

+ +
= + + + = + + + =

w w
N w a a a h h w h w
w w
Nghim ca a thc
c tnh N(z) ch nm
trong ng trn
n v khi v ch khi
tt c nghim ca
N(w) u c phn
thc m.
a) S dng php bin i tng ng (tip):
24
2. K c phn hi u ra
( ) ( )
( )
( )
1 1
0 1 1
0 2 2
0
det ; det ; 1, 2, ,
0 0
;
0 0
0 0
k k k k k k
n n n k
k
k n n k
k k
n
C D k n
a a a
a a a
a a a a
a
a

= + = =

= =

A B A B
A B

. . .
. . . .

2.1.2 Tiu chun i s
a) S dng php bin i tng ng
(tip):
b) S dng tiu chun Schur-Cohn-Jury: Tng t tiu
chun HURWITZ, ta s phi thit lp cc nh thc t
cc h s ca a thc c tnh N(z)
1. Tnh cc nh thc C
k
, D
k
:
2. iu kin cn v nghim ca N(z) nm trong
ng trn n v s l v
ng thi phi tha mn:
( )
2 1
0 1 2 1

= + + + + +
n n
n n
N z a a z a z a z a z
2 2
4 4
6 6
0; 0
0; 0
0; 0
C D
C D
C D
< <
> >
< <
.
1 1
3 3
5 5
0; 0
0; 0
0; 0
C D
C D
C D
> <
< >
> <
.
k chn: k l:
( ) 1 0 N > ( ) ( ) 1 1 0
n
N >
25
2. K c phn hi u ra
2.1.3 S dng qu o im cc
Hm truyn
t vng h
Qu o im cc
trn min z
Phng trnh
c tnh
0
1
1
K
z z
1
0
1
D
z z
K
z z
0 1
0 1
0 z K z
z K z
+ =
= +
( )
0 1 1
1 0 1
0
0
1
D
D
K z z z z
z K z
z
K
+ =
+
=
+
26
2. K c phn hi u ra
Hm truyn
t vng h
Qu o im cc
trn min z
Phng trnh
c tnh
( )( )
0
1 2
1
K
z z z z
( )( )
1
0
1 2
D
z z
K
z z z z

( )
2
1 2 1 2 0
2
1 2 1 2
, 0
0
2 2
a b
z z z z z z K
z z z z
z K
+ + + =

+
= +

( )
2
1 2 0 1 2 0 1
0
D
z z z z K z z K z + + =
( )
2
2 2
r j
z c z r + =
( )
1
2
1 2 1 1 2 1
;
r j D
D D
z z j z c z
r z z z z z z
= + =
= + +
Pt. ng trn:
Vi:
27
2. K c phn hi u ra
Hm truyn
t vng h
Qu o im cc
trn min z
Phng trnh
c tnh
( )( )
( )( )
1 1
0
1 2
D D
z z z z
K
z z z z

( ) ( )
2
0 1 2 0 1 2
1 2 0 1 2
1
0
D D
D D
z K z z z K z z
z z K z z

+ + + +

+ + =
( )
2
2 2
r j
z c z r + =
( ) ( )
( ) ( )
( ) ( )
1 2 1 2
1 2 1 2
1 2 1 2 1 2 1 2 2
1 2 1 2
r j
D D
D D
D D D D
D D
z z j z
z z z z
c
z z z z
z z z z z z z z
r c
z z z z
= +
=
+ +
+ +
= +
+ +
Pt. ng trn:
Vi:
Khi kho st n nh, b tham s h thng ti giao im ca ng trn n v vi
qu o im cc s l b tham s cn c kho st k. Khi tn ti nhiu giao
im, phi tm ra v tr ca im bt li nht.
28
2. K c phn hi u ra
2.1.4 D bo c tnh ca h thng K s
a) D bo qu trnh qu trn c s v tr im cc
( ) ( ) ( ) ( )
( )
( )
( )
( )
0
0
0
1
R w
X z G z
G z G z G z G z
W z G z
= = =
+
( ) 0 N z =
Xt h c hm truyn t sau:
vi phng trnh c tnh:
a thc N(z) l bc 1:
( )
1
N z z z =
vi im cc thc:
1
z z =
Tn hiu ra c dng:
vi gi tr ban u:
( )
1
1
k
k
z
X z x z
z z
= =
0
1 x =
1
1 0 : z < <
1
0 1: z < <
Dng iu ha tt dn
Dng khng iu ha tt dn
z
1
ngoi ng trn n v: H mt n nh
Qu trnh qu khi a thc N(z)
l bc 1
29
2. K c phn hi u ra
a thc N(z) l bc 2:
( ) ( )( )
1 2
N z z z z z =
Trng hp 1: C 2 im cc thc
1 2
z z
Tn hiu ra c dng:
vi gi tr ban u:
( )
( )( )
( )
1 2
1 2
1 2
1
k k
k
z
X z
z z z z
x z z
z z
=

=
0 1
0; 1 x x = =
p ng ra c dng tt dn khng c hoc
c thnh phn iu ha, ty theo im cc
dng hay im cc m (|z
i
|<1) l tri.
Qu trnh qu khi a thc N(z) l bc 2
vi 2 nghim thc
30
2. K c phn hi u ra
a thc N(z) l bc 2:
( ) ( )( )
1 2
N z z z z z =
Trng hp 2: C im cc thc kp
1 2
z z =
Tn hiu ra c dng:
vi gi tr ban u:
( )
( )
2
1, 2
1
1, 2
k
k
z
X z
z z
x k z

=
=
0 1
0; 1 x x = =
So vi im cc thc n, im cc thc
kp th hin rt r c im p ng iu
ha. im cc thc kp trn ng trn
v bt u gy mt n nh.
vi nghim thc kp
31
2. K c phn hi u ra
a thc N(z) l bc 2:
Trng hp 3: C cp im cc phc lin hp
1 2
; z j z j = + =
Tn hiu ra c dng:
vi gi tr ban u:
( )
( )
( )
2 2 2
2
1
2 sin ; arctg
2
k
k
z
X z
z z
x k

=
+ +

= =

0 1
0; 1 x x = =
Khi tn ti cp im cc phc lin hp vi
thnh phn thc m, h c xu hng gy
dao ng v v vy cn phi rt ch .
vi cp nghim phc lin hp.
32
2. K c phn hi u ra
b) D bo c tnh h thng trn c s v tr
ca cp im cc mang tnh tri (dominant)
Xt khu t l c qun tnh bc 2 (khu dao ng PT
2
):
( )
2
2
0 0
1 1
2 1
1
1 1
e e e e
G s
D
s s
s s
j j

= =

+ +

+ +

+

2 2 2 2
0 0
0
1 ; cos ( 0khi 1);
e
e e e
D D D
= = = = = +
0
e
e
D
vi:
= Tn s ca thnh phn sin
= Tn s ring ca h tt dn
= H s tt dn
Cng thc quy i:
ngha cc tham s ca khu PT
2
( ) ( )
0
1 sin
e
t
e
e
h t e t
= +
Hm qu :
Mc qu iu chnh:
2
exp exp
1
e
e
D
h
D

= =

h [%] 0 5 10 15 20 30 40 50
[
o
] 0 46 54 59 63 69 74 78
Mc qu iu chnh (tnh bng %) ph thuc
Thi gian xc lp: 5% 2%
3 4
;
e e
T T

Thi gian qu C:
2
0
1
m
e
T
D

= =
= H s qun tnh
33
2. K c phn hi u ra
Xt khu t l c qun tnh bc 2 (khu dao ng PT
2
): Cc nguyn tc chn v tr cho cp im
cc mang tnh tri.
Nguyn tc 1: Trn c s h
min
< h < h
max
chn
D
min
< D < D
max
, tc l
min
< <
max
.
Nguyn tc 2: Chn T
5%
, T
2%

e
>
e min
Nguyn tc 3: Chn T
m

e min
<
e
Nguyn tc 4: hn ch iu ha c tn s cao,
cn tha mn
e
<
e max
1. Vng t m (hnh bn phi) chnh l
vng u tin gn cc cho h thng
2. Khi xc nh c c tnh ca h
lin tc ( xc nh c vng u
tin) trn min nh Laplace, ta c th
tnh quy i qua min nh z
34
2. K c phn hi u ra
Xut pht t ta hy tm
nh ca vng t m (trang 31) trn min z:
;
sT
z e s j = = +
a) Vng c h s tt dn l hng (
e
= const):
( )
e
j T
z e
+
=
e
T
e

Thay vo z ta c:
D dng thy nh s l ng trn
c tm ti gc ta v bn knh l:
b) Vng c tn s l hng (
e
= const):
e
j T T
z e e

=
e
T
Thay vo z ta c:
D dng thy nh s l ng thng qua
gc ta vi dc xc nh bi:
35
2. K c phn hi u ra
c) Vng c h s tt dn l hng (D=const):
( ) ( ) 2 cotg 2
T T
j
z e e

=
Thay vo z ta c:
D dng thy nh s l ng xon
logarith nh hnh bn
Ta phi tm nh ca ng thng:
cotg s j = +
Khi ghp cc nh con ta s
thu c vng im cc trn
min z. y l kt qu c
ngha quan trng khi phn
tch cht lng, thm ch c
khi tng hp h (chn vng
gn im cc).
{ } Im z
{ } Re z
Min s
j
Min z 1
1
2
T
j
2
T
j
max e
j
max e
j
min e
j
min e
j
min e
2
T
2
T
max e
T
max e
T
min e
T
min e
T
4
T
4
T
T
e

D
36
2. K c phn hi u ra
2.2 Thit k trn min thi gian xp x lin tc
2.2.1 Khu C theo lut PID
( ) ( ) ( )
( )
0
1
t
R V
C
de t
u t K e t e d T
T dt

= + +

Lut PID trn min thi gian (lin tc) c m t bi

cng thc sau:
Cc thut ton PID s dng trong K s ch khc nhau bi n lc khi thc hin xp x hai thnh
phn vi phn (D) v tch phn (I), tc l khc nhau chnh xc.
1. Xp x thnh phn I: ( ) ( )
0
1
;
t
I I C R
I
u t e d T T K
T
= =
Bn cht l php tnh xp x din tch ca hm e(t)

S dng phng php hnh ch nht:
R
C
V
K
T
T
vi:
= H s t l
= Hng s thi gian chm sau
= Hng s thi gian vt trc
( ) ( )
( ) ( )
1
1 1
1 1
1
1
1
k k
I i I i
i i I I
I I k
I
T T
u k e u k e
T T
T
u k u k e
T

= =

+

( )
( )
1
1
1
I
I
U z
T z
E z T z
37
2. K c phn hi u ra
2.2.1 Khu C theo lut PID 1. Xp x thnh phn I (tip):
S dng phng php hnh thang:
( ) ( ) ( ) ( )
( ) ( ) ( )
1
1 1
1 1
1
1 1
1
2 2
1
1
2
k k
I i i I i i
i i I I
I I k k
I
T T
u k e e u k e e
T T
T
u k u k e e
T

= =

+ +

+ +

( )
( )
1
1
1
2 1
I
I
U z
T z
E z T z
2. Xp x thnh phn D:
Bc 1: Tm gi tr xp x cho de(t)/dt ti cc thi im t = kT bng cch t:
( )
0 1 1 k k n k n
t kT
df t
c f c f c f
dt

=
+ + +
Bc 2: nh Laplace ca cng thc trn c dng:
( ) ( )
0 1
sT s nT
n
s F s F s c c e c e

+ + +

Bc 3: Khai trin chui cho cc biu thc e m, sau so snh h s 2 v tm c

0
, c
1
, c
2
,
38
2. K c phn hi u ra
2.2.1 Khu C theo lut PID 2. Xp x thnh phn D (tip):
( )
( ) ( ) ( )
1 1
1
D
k k D k k
t kT
df t
T
f f u k e e
dt T T

=

Khi chn n = 1 (xp x bc 1) ta s thu c theo cch tng t cng thc quen bit sau:
V d: chn n = 2
(xp x bc 2)
0 1 2
1 2
2
2
1 2
0
2 1
2 0
2
c c c
Tc Tc
T
c T c
+ + =
=
+ =
0 1 2
3 2 1
; ;
2 2
c c c
T T T
= = =
( )
( ) ( ) ( )
1 2 1 2
1
3 4 3 4
2 2
D
k k k D k k k
t kT
df t
T
f f f u k e e e
dt T T

=
+ +
3. Xp x lut PID:
Gi s xp x thnh phn I theo phng php hnh ch nht v thnh
phn D bc 1
( )
( )
1 1
1
1 1 1 1 2
2
k
v
k R k i k k
i C
v
k k R k k k k k k
C
T T
u K e e e e
T T
T T
u u K e e e e e e
T T

=

= + +

= + + + +

( )
( )
( )
1 2
0 1 2
1
1
R
U z
r r z r z
G z
E z z

+ +
= =
0 1 2
2
1 ; 1 ;
v v v
R R R
C
T T T T
r K r K r K
T T T T

= + = + =

Vi:
39
2. K c phn hi u ra
2.2.2 Mt s bin dng ca thut ton PID
1. Thut ton PID
2
:
( )
( )
( )
1 2 3
0 1 2 3
1
1
R
U z
r r z r z r z
G z
E z z

+ + +
= =
0 1 2 3
7 3 5
1 ; 1 ; ;
2 2 2 2 2 2
v v v v
R R R R
C C
T T T T T T
r K r K r K r K
T T T T T T

= + + = + = =

Vi:
Xp x lut PID s dng phng php hnh thang cho thnh phn I v
phn thc sai phn bc 2 cho thnh phn D.
2. Bin dng ca thut ton PID
2
:
Theo Takahashi c th lm suy gim bt bin LK khi L ch o (gi tr t ) c t
bin nhanh bng cch, thay v ch s dng . T ta c:
k k k
e w x =
k k
e x =
( )
1 1 1 1 2
2
v
k k R k k k k k k
C
T T
u u K x x e x x x
T T

= + + + + +

40
2. K c phn hi u ra
2.3 Thit k trn min thi gian gin on
2.3.1 Thit k ti u tham s cho cc h SISO a) M t h SISO
( )
( )
( )
( )
( )
1
1
0 1
1
1
1
1
m
d d m
S
n
n
B z
X z
b b z b z
G z z z
U z a z a z
A z

+ + +
= = =
+ + +
( )
( )
( )
( )
( )
1
1
0 1
1
1
1
1
R
R z
U z
r r z r z
G z
E z p z p z
P z

+ + +
= = =
+ + +
( )
( )
( )
( ) ( )
( ) ( ) 1
R S
W
R S
X z G z G z
G z
W z G z G z
= =
+
( )
( )
( )
( )
( ) ( ) 1
S
V
R S
X z G z
G z
V z G z G z
= =
+
( )
( ) ( ) ( )
1
1
R S
E z
W z G z G z
=
+
( )
( )
( )
( ) ( ) 1
R
R S
U z G z
W z G z G z
=
+
i tng K c tr:
Khu C:
Hm truyn t
ch o:
Hm truyn t
nhiu:
Sai lch C
ph thuc w:
i lng K
ph thuc w:
Cu trc ca
G
R
(z) xc
nh. Cn i
tm b tham
s ti u.
41
2. K c phn hi u ra
2.3.1 Thit k ti u tham s cho cc h SISO b) Tm b tham s C trn c s yu cu
t ra cho ch tnh (ch xc lp)
Yu cu: m bo trit tiu d sai lch C ( ) ( )
1
lim 0 lim 1 0
k
k z
e z E z

= =

Xut pht t tc ng ch o:
( )
( ) ( ) ( )
1
1
R S
E z
W z G z G z
=
+
vi tn hiu vo c
dng bc nhy:
( )
1
z
W z
z
=
( )
( ) ( )
( ) ( ) ( ) ( )
1 1
1 1 1 1
1
d
P z A z
z
E z
z
P z A z B z R z z

=
+
Nu TK l khu t l c qun tnh,
d sai lch C s trit tiu khi:
( )
( ) ( )
1
0
1 1
S
P
P K R
=
+
( )
( )
1
1
S
B
K
A
=
Ch : Khi TK l khu I:
vi
Xut pht t tc ng nhiu:
( )
( )
( )
( ) ( ) 1
S
R S
E z G z
V z G z G z
=
+
( )
1
z
V z
z
=
vi:
Nu TK l khu t l c qun tnh, d sai lch C s trit tiu khi:
( )
( ) ( )
1
0
1 1
S
S
K P
P K R
=
+
( ) 1 0 A =
Ch : Khi TK l khu I, do ta c: ( ) 1 0 A =
( ) ( ) 1 1 0 P R =
bo m kh d C, phi tha mn P(1)=0.
Ngha l, thut ton C cng phi c thnh phn
tch phn I (nh K tng t) vi cng thc sau:
( )
( )
( )
( )
( ) ( )
1 1
1 1 ' 1
Intergral Part
1
R
R z R z
G z
P z z P z

= =
42
2. K c phn hi u ra
2.3.1 Thit k ti u tham s cho cc h SISO
c) Tm b tham s C trn c s
cc tiu chun tch phn
( ) ( ) ( )
( )
( )
( ) ( )
( ) ( )
( )
0
0
2 2
0
0
0
0
2
0
0
2 2 2 2
0
0
k
k
k
k
k
k
k
k
k k
k
e t e dt T e e
e t dt T e
e t dt T e
e t tdt T k e
e t u t dt T e u
TC din tch tuyn

tnh I
L
TC din tch bnh
phng I
Q
TC tr tuyt i
ca din tch I
B
TC tr tuyt i ca din
tch I
BT
c trng s t
TC din tch bnh
phng m rng I
Tn tiu chun
Tiu chun trn
min t lin tc
Tiu chun trn
min t gin on
Cc bc tnh:
1. Tm nh E(z) c
cha cc tham
s ca khu C
2. Chuyn E(z) sang
dng sai phn
tm cng thc
tnh e
k
3. Lp e
k
vo tiu
chun v tm cc
tiu ca tng, ph
thuc b tham s
ca khu C
43
2. K c phn hi u ra
2.3.1 Thit k ti u tham s cho cc h SISO d) Tm b tham s C trn c s
tiu chun ti u module s
( )
( )
( )
( ) ( )
( ) ( ) 1
R S
W
R S
X z G z G z
G z
W z G z G z
= =
+
Hy tm sao cho tha mn trong di tn
s cng rng cng tt.
( )
R
G z
( ) 1
W
G j =
t vn :
C th vit li cng thc tng qut trang 39 cho cc khu C s thng dng nh sau:
( )
1
1
R
V
z
( )
( )
1
1
1
1
1
R
V d z
z
( )
( )
1 2
1 2
1
1
1
R
V d z d z
z

+ +
( )
( )
1 2 3
1 2 3
1
1
1
R
V d z d z d z
z

+ + +
I PI PID PID2
H s khuch i V
R
theo TC ti u module cho sn trong bng trang k tip. Cc h s d
1-3
c tnh theo cng thc thuc bng sau y:
I PI PID PID2
1 1
d a =
1 1 2
2 1 2
d a a
d a a
= +
= ( )
1 1 2 3 3 1 2 3
2 1 2 3 1 2
; d a a a d a a a
d a a a a a
= + + =
= + +
44
2. K c phn hi u ra
2.3.1 Thit k ti u tham s cho cc h SISO d) Tm b tham s C trn c s
tiu chun ti u module s (tip)
( )
1
1
1
1
S
V
z
a z

+
( )
( )
1
1
1
1
1
1
1
S
V b z
z
a z
+
+
( )
( )
1 2 3
1 2 3
2
1
1
1
1
S
V b z b z b z
z
a z

+ + +
+
( )
( )( )
1
1
1
1 1
1
1
1 1
S
V b z
z
z a z

+
+
( )
( )( )
1
1
1
1 1
1 2
1
1 1
S
V b z
z
a z a z

+
+ +
( )
( )( )
1 2
1 2
1
1 1
1 2
1
1 1
S
V b z b z
z
a z a z

+ +
+ +
( )
( )( )
1 2
1 2
2
1 1
1 2
1
1 1
S
V b z b z
z
a z a z

+ +
+ +
( )
( )( )( )
1 2 3 1
1 2 3
1 1 1
1 2 3
1
1 1 1
S
V b z b z b z z
a z a z a z

+ + +
+ + +
( )
( )( )( )
1 2 3 2
1 2 3
1 1 1
1 2 3
1
1 1 1
S
V b z b z b z z
a z a z a z

+ + +
+ + +
TK H s khuch i V
R
TK H s khuch i V
R
( )
( )
2
1
1
1
1
: ; :
1
S S
a
V a V
+
I PI
( )
( ) ( )
( )
2
1
1 1 1
1
1
:
1 3 1
1
:
1 3
S
S
a
V b a b
V b
+

+ + +

+
I
PI
( )
1 2 3
1
:
3 5 7 9
S
V b b b + + +
PI
( )
( )( )
2
1 1
1 1 1
1 4
:
1 1 4
S
a a
V a b b
+

+

P
( )
( ) ( )
( )
2
2
1 2 1
1
1
:
1 3 1
1
:
1 3
S
S
a
V b a b
V b
+

+ + +

+
PI
PID
( )
( ) ( )
( )
2
2
1 2 2 1 2
1 2
1
:
1 3 5 1 3
1
:
1 3 5
S
S
a
V b b a b b
V b b
+

+ + + + +

+ +
PI
PID
( )
( ) ( )
( )
2
2
1 2 2 1 2
1 2
1
:
3 5 7 1 3 5
1
:
3 5 7
S
S
a
V b b a b b
V b b
+

+ + + + +

+ +
PI
PID
( )
[ ]
( )
2
3
1 3 2
1 1 2 3
2 1 2 3
1 2 3
1
:
1 3 5 7
1 3 5
1
:
1 3 5 7
S
S
a
V v a v
v b b b
v b b b
V b b b
+
+
= + + +
= + + +
+ + +
PID
PID2
( )
1 2 3
1
:
3 5 7 9
S
V b b b + + +
PID2
45
2. K c phn hi u ra
2.3.1 Thit k ti u tham s cho cc h SISO e) Tm b tham s C bng phng
php gn im cc cho vng C
Hm truyn t ca cu trc SISO
trang 39 c a thc c tnh nh sau:
( ) ( ) ( ) ( ) ( )
( )( )
( )( )
1 2 1
1 1 1
1 2 1 2
0 1 1 1 2
n n n n
n n
n n n n
n n
N z P z A z R z B z
z p z p z a z a
r z r z r b z b z b

= +
= + + + + + +
+ + + + + + +

Dng tng qut ca a thc trn l:
( )
1
2 1 1
3
1 2
1 1 1 2 1
1
1 2 1
1
columns 1 columns
0 0 0 0
0 0
0
0
.
1
0 0 1
n n n
n n n n n
n
n n n
n
n n
p b a
p b b a a
a
p a a
r b b a a a
b
r b a
r b

. . . . .
. . . .

'
0
'
1
'
2
'
1
'
2 3 2
'
0
2 2 1
n
n n
n
n
a
a
a
a a
a a
a a

.
.
( ) ( )
2 1
' ' ' 2 2 2 1
0 1 2 2
1
n
n n
i n
i
N z z z a a z a z z
=
= = + + + +

Trong , z
i
l cc im cc ta d kin gn
cho h, v vy cc h s c th
c coi l bit.
Cc tham s ca TK l cho
trc. V vy, sau khi so snh h s ca hai
cng thc trn ta s thu c h phng trnh
bn, cho php tnh b tham s ca G
R
(z).
' '
0 2 2 n
a a

1 1
;
n n
a b

46
2. K c phn hi u ra
2.3.2 Thit k khu C kiu b (ti u cu trc) cho h SISO
a) Nguyn l
Ti u cu trc: c im ca h c cho trc qua G
W
(z), cn tm
G
R
(z) v vy, c cu trc ln tham s ca G
R
(z) u cha bit.
( )
( ) ( )
( ) ( )
( )
( )
( )
( )
( )
Term of Reliability
1
; 1
1 1
= =
+
R S W
W R W
R S S W
G z G z G z
G z G z G z
G z G z G z G z
( )
( )
( ) ( )
( )
( )
( ) ( )
( )
Term of Reliability
1
1

= =
+
S S V
V R
R S S V
G z G z G z
G z G z
G z G z G z G z
Thit k trn c s cho trc c im truyn t ch o:
Thit k trn c s cho trc c im
truyn t nhiu:
Mnh c trng cho tnh
hin thc ca thit k
Mnh c trng
cho c tnh b
47
2. K c phn hi u ra
2.3.2 Thit k khu C kiu b (ti u cu trc) cho h SISO
b) Thit k khu C kiu b (Compensation Feedback Controller)
Khi cho trc c im truyn t ch o:
( ) ( ) ( )
W
X z G z W z =
i lng iu chnh (LC) X(z) bm theo i
lng ch o W(z) nhanh, hm G
W
(z) phi l mt
a thc c bc thp.
Gi thit, tn hiu vo c dng bc nhy, vy:
( )
( )
( )
( )
( ) ( ) ( )
1
1 2
1 2 1
1
1
1 2 3
1 2 1 3 2 1
1
1
1
1
1
N
N
N
W
N
N
x z x z x z z
X z
z
G z
W z
z
x z x x z x x z x z

+ + + +
= =
= + + + +
1
z
1 2
2z z

1
z
1 2
2z z

S m N trong cng thc trn ni ln: Sau N bc, gi

tr ca LC s ui kp gi tr t ca i lng ch
o. Tuy nhin, nguyn l ny cn c p dng thn
trng v d gy nn cc bin ng ln cho LC
khi xy ra qu trnh qu (xem v d).
Ci thin bng cch t:
( )
1 2
1 1
1 x z x z

+
Hai v d theo phng n ti gin
48
2. K c phn hi u ra
2.3.3 Thit k khu C kiu Dead - Beat (ti u cu trc) cho h SISO
Khu Dead-Beat (DB) cho php thc hin qu trnh qu trong khong thi gian hu
hn nh trc Sai lch C b trit tiu sau mt lng hu hn chu k trch mu.
C th thit k theo c tnh ch o hay c tnh nhiu.
Nguyn l iu chnh DB ch c th thc hin c trong cc h thng K s.
a) Thit k khu Dead-Beat theo c tnh ch o
Nguyn l:
Sai lch C E(z) s b trit tiu sau
ng N chu k tnh, nu E(z) c dng:
( )
( )
1
0
N
i
i
i
E z e z
=
=
tc l: e
i
= 0 vi i N
iu , theo ch xy ra khi G
W
(z) l mt a thc hu hn K(z
-1
) vi
tng cc h s bng 1.
( ) ( ) ( ) 1
W
E z G z W z

=

Vi: ( )
( )
( ) ( )
( )
( ) ( ) ( ) ( )
( )
( )
1
1
1
u
R
W S u S u
R S
G z
B z
G z
G z G z G z G z G z
G z G z
A z
= = =
+
G
W
(z) ch l mt a thc hu hn K(z
-1
) khi c th biu din G
u
(z) di dng mt a thc
M(z
-1
) hu hn v c kh nng kh A(z
-1
) mu s.
49
2. K c phn hi u ra
a) Thit k khu Dead-Beat theo c tnh ch o (tip)
Vy: ( )
( )
( )
( )
( )
( )
( )
( ) ( )
( ) ( )
( )
( ) ( ) ( )
( )
( ) ( ) ( )
1 1 1 1
1 1 1 1
1 1 1
1 1 1
W
S
u
W
u
B z K z L z B z
G z
G z
G z
A z M z L z A z
G z K z L z B z
G z M z L z A z

= = = =
= =
= =
L(z
-1
) l a thc hu hn, cho
php thc hin cc yu cu v
c tnh ch xc lp, hay
t trc bin ca LK
qu trnh qu .
( )
( )
( )
( )
( )
( ) ( )
( ) ( )
1 1 1
1 1 1
1
1
u
R
W
R z L z A z
G z
G z
G z
P z L z B z

= = =

Khu Dead-Beat trn s em li hm
truyn t ch o nh sau:
( )
( ) ( ) ( )
1 1 1
1 0
0 1
W
m s
m s m s
m s
m s
G z L z B z K z
k z k
k k z k z
z

+
+
+
+
= =
+ +
= + + + =

H thng vi hm truyn t
ch o nh bn c (m + s)
im cc nm ti gc ta
ca min z. Trong , m l
bc ca a thc t s ca
hm truyn t G
S
(z) ca i
tng iu khin, s l bc
ca a thc L(z
-1
) do ta chn.
50
2. K c phn hi u ra
a) Thit k khu Dead-Beat theo c tnh ch o (tip)
m bo kh sai lch C khi
w
k
= 1
k
(bc nhy) cn c:
( ) ( ) ( )
1 1 1
1
1
1
lim lim 1 1 0
1
k
k z
e z L z B z
z

= =

iu kin trn c tha mn khi ,
tc l khi ta chn cc h s ca L(z
-1
) tha mn:
( ) ( ) 1 1 1 0 L B =
0 0
1
s m
i j
i j
l b
= =
=

1. a thc L(z
-1
) c dng
( )
1
0
L z l
=
( )
( )
( )
1
0
1
0
0
0
1
1
=
=
=

R
m
j
j
l A z
G z
l B z
l b
1. a thc L(z
-1
) c dng
( )
1 1
0 1
L z l l z

= +
Nhn xt: Do l
0
ch ph thuc vo
cc h s ca B(z
-1
), ta khng th
tc ng ti u
0
(bin ca LK
khi k = 0) thng qua chn l
0
.
( )
( ) ( )
( ) ( )
1 1
0 1
0 1
1 1
0
0 1
1
1

=
+
= + =
+

m
R j
j
l l z A z
G z l l b
l l z B z
( )
( ) ( )
( )
( )
1 1
0 0 0 1 1 0 1 1 1 k k k n k n
U z L z A z W z
u l a w l a l a w l a w

=
= + + + +
Gi tr khc nghit nht khi c w
k
= 1(k) l:
0 0 0
u l a =
Chn l
0
sao cho u
0
khng qu ln:
0
1
1 2 0
1
m
u
l
b b b a
=
+ + +
Dn u u
0
= u
1
:
0 1 0 1
l l a a =
( ) ( )
0 1
0 1
0 1 0 1
1 1
;
m m
j j
j j
a a
l l
a a b a a b
= =
= =

51
2. K c phn hi u ra
b) Thit k khu Dead-Beat theo c tnh nhiu
Khi cn kh nhiu theo nguyn l Dead-Beat, c th tin hnh thit k tng t. i lng
iu chnh X(z) phi l mt a thc hu hn ca z
-1
, c bc xc nh bi B(z
-1
) v a thc
L(z
-1
):
( )
( ) ( )
1 1
X z L z B z

=
( )
( )
( )
( )
( ) ( )
( )
( )
( ) ( )
1
1
S
V R
R S S
X z G z V z
G z G z
V z G z G z X z G z
= = =
+
T hm truyn t nhiu
(trang 38) ta rt ra:
Khi nhiu c dng v
k
= 1
k
ta thu
c khu Dead-Beat sau:
( )
( ) ( ) ( )
( ) ( ) ( )
1 1 1
1 1 1
1 1
1
R
z L z A z
G z
z L z B z

=
Tham s ca L(z
-1
) c xc nh theo phng php tng t mc 2.3.3a).
D dng thy rng G
R
(z) c tc dng kh cc im khng ca i tng (do
mu s cha B(z
-1
)). Do cc im khng trong thc tin i khi nm ngoi
ng trn n v, khu Dead-Beat c th gy dao ng v v vy b hn ch
kh nng s dng.
52
2. K c phn hi u ra
2.3.4 Thit k h thng C s nhiu mch vng cho i tng SISO
a) Cu trc c vng b nhiu
C tc dng b nhiu v u
vo ca i tng khi nhiu
l o c. Khu C chnh
c thit k nh bnh thng.
b) Cu trc c vng C chn nhiu ngay
t u vo ca nhiu
i hi nhiu phi l o c,
ng thi phi c kh nng can
thip u vo ca nhiu nh
mt thit b K. Hai vng C
c thit k hon ton c lp.
53
2. K c phn hi u ra
c) Cu trc c nhiu vng C phn cp
y l gii php
quen bit, rt hay
c s dng
trong thc tin.
d) Cu trc c vng C ph h tr n nh
Gim tc ng ca nhiu
nh i lng K ph.
Ci thin ng hc v tng
d tr n nh
54
2. K c phn hi u ra
e) Cu trc c vng
C b tr
i tng c tr c mc song
song vi G
Rd
, c hm truyn t
sao cho m hnh chung khng
cn tr:
( ) ( ) ( )
( )
( )
( ) 1
d
s Rd s
d
Rd s
G z z G z G z
G z z G z
+ =
=
Hm truyn t ban u:
( )
( ) ( )
( ) ( ) 1
d
R S
W
d
R S
G z G z z
G z
G z G z z
=
+
( )
( ) ( )
( ) ( ) 1
d
R S
W
R S
G z G z z
G z
G z G z
=
+
Sau khi b s ch cn:
Vi a thc mu s khng
cn cha z
-d
55
3. K c phn hi trng thi
3.1 n li cc kin thc c s
3.1.1 M hnh trng thi lin tc v cc tnh cht ca I tng
Xt m hnh cho mc 1.3.2c: vi n bin trng thi, m bin vo v
r bin ra.
( ) ( ) ( ) t t t
= + q Aq Bu
a) Tnh iu khin c
1
, , ,
n
C
Q B AB A B

=

H MIMO ni trn s l iu khin c hon ton khi v ch khi ma trn (n, nm) sau y:
c hng l n. Ngha l, ma trn iu khin Q
C
phi cha n vector ct c lp tuyn tnh. Khi
i tng l SISO, ma trn iu khin c kch c (n, n) v cng thc:
1
, , ,
n
C
Q b Ab A b

=

v n vector ct A
i
b (i = 0, 1, 2, ) phi l cc vector c lp tuyn tnh.
b) Tnh quan st c
H MIMO ni trn s l quan
st c hon ton khi v ch
khi ma trn (nr, n) bn c
hng l n. Ngha l, ma trn
quan st Q
O
phi cha n
vector hng c lp tuyn tnh.
1
O
n
C
CA
Q
CA
.

=

Khi i tng l SISO, ma trn
quan st bn vi kch c (n, n)
c hng n v n vector hng c
T
A
i
(i = 0, 1, 2, ) phi l cc
vector hng c lp tuyn tnh:
1
T
T
O
T n
c
c A
Q
c A
.

=

56
( )
t q
( )
0
t q
( )
t q ( )
t x
i tng K
Khu C
trng thi
3.1.2 Cu trc c s ca h K trng thi lin tc
( ) ( )
( ) [ ] ( )
( ) ( )
MIMO:
SISO :
T
t t
t t
t t
u Rq
q A BR q
q A br q
=
=

=

a) Thit k theo phng php gn cc
Phng trnh c tnh ca vng C khp kn c dng: ( ) ( )
1
det
n
i
i
s s s I A BR
=
=

Khi cho trc s
i
nhm t c mt c tnh ng hc nht nh, nu so snh h s hai v ca
phng trnh trn ta s thu c mt h c n phng trnh ca (mn) phn t thuc R. l
h phng trnh phc v tng hp khu C. Cc thit k c tn Ackermann (h SISO), modale
(h MIMO).
57
3.1.2 Cu trc c s ca h K trng thi lin tc
b) Thit k theo tiu chun cht lng
Hm mc tiu (hm cht lng) c nh ngha:
( ) ( ) ( ) ( )
0
T T
I t t t t dt q Qq u Su

= +

Ma trn R cn c thit k sao cho I t c gi tr b nht. Hai vector trng thi q(t) v u
vo u(t) tham gia vo tiu chun cht lng qua hai ma trn trng s Q v S. l hai ma trn
hng, ton phng v xc nh dng (positive definite).
Khi chn t = ta thu c R l mt ma trn hng. Khi chn t l mt gi tr hu hn, ta thu c
ma trn R(t). Khi tm R sao cho I t gi tr ti thiu ta s phi gii phng trnh Riccati.
3.1.3 Cc cu trc m rng ca h K trng thi lin tc
a) H K trng thi c khu lc u vo
( ) [ ] ( ) ( )
VF
t t t q A BR q BK w
= +
Sau khi thit lp c tnh ng hc ca h thng qua thit k R, c th b sung thm khu (ma
trn) lc u vo K
VF
ci thin c tnh tnh (V d: xc lp im lm vic, phn knh tnh).
58
( )
t q
( )
0
t q
( )
t q
( )
t x
i tng K
Khu C
trng thi
Khu lc
u vo
a) H K trng thi c khu lc u vo (tip)
Khi vector ch o w l hng, sau khi qu trnh qu vi ng hc do R quyt nh qua,
vector trng thi xc lp l q
, vi:
( )
0 t q
=
Vy ta t iu kin: iu kin tha mn khi chn: x Cq w

= =
( )
1
1
VF
K C BR A B

=

59
( )
t q
( )
0
t q
( )
t q
( )
t x
( ) ( )
t t e y
=
( )
t w
y
khu PI

b) Kt hp h K trng thi vi K c hi tip vector bin ra
Bng khu lc u vo K
VF
ta khng th ci thin c
ng hc, khng th kh c nhiu. C th s dng
C trng thi vng trong cng, kt hp vi hi tip
vector bin ra v dng mt khu PI (hnh di) kh
nhiu, hay b bin ng tham s ca i tng vv
( ) ( ) ( ) ( )
( ) ( ) ( )
( ) ( ) ( )
P I
t t t t
t t t
t t t
u Rq K Cq K y
q Aq Bu
y x Cq
= +
= +
= =
Khi w = 0, z = 0 ta c:
60
b) Kt hp h K trng thi vi K c hi tip vector bin ra (tip)
M hnh trng thi m rng ca i tng K:
( )
( )
( )
( )
( )
t t
t
t
t

= +

q q A 0 B
u
y -C 0 0
y
( ) [ ]
( )
( )
,
P I
t
t
t

= +

q
u R K C K
y
Hm K trng thi mi:
Ma trn C mi c kch c (m, n+r) c th c thit k theo cc phng php mc 3.1.2, p
dng cho i tng mi vi m hnh trng thi m rng (n+r, n+r).
iu kin tm c thit k l tnh K c ca m hnh m rng. Tnh K c tn ti khi
m hnh ban u l K c hon ton v ma trn:
c hng n + r (c rang n + r).
Trong cu trc mi, cc thnh phn tch phn I kh trit d sai lch C. V vy c th b
qua khu lc u vo K
VF
.
( ) ( ) ( ) t t t
= + q Aq Bu

A 0
-C 0
61
Khu b
nhiu
Khu C
trng thi
i tng
K b nhiu
( )
t q
( )
0
t q
( )
t q
( )
t x
c) H K trng thi c b nhiu
iu kin c th thc hin
b: Phi o c nhiu.
Nhiu tc ng vo i tng
qua ma trn E (n, m). Vic
b c thc hin bng ma
trn b K
Az
.
( ) ( ) ( )
( ) ( )
R
z
t t t
t t
q Aq Bu
Bu Ez
= +
+ +
Vic thit k khu C trng
thi khng thay i. Nhiu
b trit tiu khi:
( ) ( )
z
t t Bu Ez 0 + =
Ma trn b K
Az
c dng:
( )
1
T T
Az

= K B B B E
62
i tng K
Khu QS trng thi
Luenberger
( )
t q
( )
0
t q
( )
t q
( )
t x
( )
t
( )
0
t q
( )
t q
( )
t x
( )
t x
( )
t q

d) H K trng thi s dng
khu quan st (QS) trng thi
Khi khng th o cc bin trng
thi, ta phi dng khu QS
Luenberger vi cu trc hnh
bn phi tnh cc bin .
iu kin: i tng K phi
bo m tnh quan st c.
( ) ( ) ( )
( ) ( ) ( ) ( )
t t t
t t t t
q Aq Bu
q Aq Bu Kx

= +
= + +
( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
t t t
t t t t
q q q
q q q A KC q

= =
M hnh trng thi ca i

tng v ca khu QS:
M hnh ca sai s QS:
63
3.1.3 Cc cu trc m rng ca h K trng thi d) H K trng thi s dng khu
quan st (QS) trng thi (tip)
Ma trn K c thit k sao cho cc gi tr ring ca ma trn c thnh phn thc m.
Vic thit k theo phng php gn cc ch c th thc hin khi i tng l QS c ton phn.
Khi s dng vector K ta c:
( )
A KC
( ) ( )
( ) [ ] ( ) ( )
t t
t t t
=
= +
u Rq
q A BR q BRq
( )
t q
Vi phng trnh c tnh:

( )
( )
( )
( )
t t
t
t

=

q q
A BR BR
0 A KC
q
q

( )
( )
( )
( )
( )
StateController:
Observer:
det 0
SC
O
N s
G
N s
s
N s
s

= =

I A BR BR
0 I A KC
Vy:
( ) ( ) ( ) ( ) ( )
det det 0
G SC O
N s N s N s s s = = =

I A BR I A KC
Vy m hnh h thng tng th l:
Phng trnh c tnh mi cho thy r: im cc ca vng QS khng h di chuyn v tr im
cc ca vng C. Vic gn im cc cho hai vng C v QS c th thc hin hon ton c
lp vi nhau (nguyn l phn ly, Separation Principle).
64
3.2 M hnh trng thi gin on
Mc 1.3.2c) xy dng m hnh trng thi gin on cho cc i
tng K vi bn cht lin tc (hnh di: i tng MIMO) nh
bn cnh:
( )
( ) ( ) ( )
( )
1
0
1
;
k k k
k k k
T
T
T e
T d T
T
A
q q u
x Cq Du
B H
A I B
= +
= +
= =
= =

=

Khi i tng K l h SISO:

( ) ( ) ( )
( ) ( )
1
0
1
;
k k k
T
k k k
T
T
u
x d u
T e T d
T T
A
q q h
c q
h h b
h A I b
= +
= +
= = = =

=

65
3.3 Tnh iu khin c v tnh quan st c
3.3.1 Tnh iu khin c
3.3.2 Tnh quan st c
1 k k k
q q u
+
= +
1
, , ,
n
C

=

Q
Mt i tng MIMO m t bi l K c hon ton khi v ch khi:
C th a i tng chuyn t trng thi ban u bt k q(0) ti trng thi cui cng q(N)
sau ng N chu k trch mu T.
bo m iu , ma trn K (n, n m) Q
C
phi c hng n. Tc l Q
C
phi cha n vector
ct c lp tuyn tnh. Vi:
Mt i tng MIMO m t bi v c vector bin
ra l QS c hon ton khi v ch khi: C th xc nh c
trng thi ban u bt k q(0) sau mt lng hu hn chu k trch mu T,
khi thi im th k bit vector bin vo u
k
v o c vector bin ra x
k
.
bo m iu , ma trn QS (n r, n) Q
O
phi c hng n. Tc l Q
O
phi cha n vector hng c lp tuyn tnh. Vi:
1
O
n

=

C
C
Q
C
.
1 k k k
q q u
+
= +
k k
x Cq =
66
k
q 1 k +
q
1
z
I
R
3.4 Cu trc c bn trn khng gian trng thi
[ ]
1
1
MIMO:
SISO :
k k
k k
T
k k
+
+
=
=

=

u Rq
q HR q
q hr q
( ) ( )
( )
( )
1 1
MIMO: det ; SISO: det
n n
T
i i
i i
z z z z z z
= =

= =

I HR I hr
Vng C khp kn s c hm K v
phng trnh chuyn trng thi nh sau:
C th tm b tham s C bng phng
php gn cc trn c s phng trnh
c tnh sau:
Trng hp c bit: Khi t tt c cc im cc z
i
ti gc ta ta s thu c c tnh ca
khu C kiu Dead Beat (xem mc 2.3.3).
Khu C kiu Dead Beat trn khng gian trng thi thng c c im nhy tham s. ng
thi, bin ca i lng K u
k
kh ln.
Thng thng, khng nn t tt c mi im cc ti gc ta .
67
k
q
1 k +
q
k
x
k
y
1 k+
y
1
z
I
1
z
I

R
I
K
P
K
3.5 Mt s dng m rng
3.5.1 H K trng thi c lc u vo
[ ]
1 k k VF k
k k
+
= +
q HR q HK w
x Cq
( )
1
VF
k k

+

+ =
= =

=
I HR q HK w
q q q
x Cq
( )
1
1
VF

= +

K C I HR H
M hnh h nh sau: trng thi xc lp, khi w = const:
3.5.2 H K trng thi c C u ra theo lut PI
Vy ta c K
VF
:
Bng vic kt hp
C trng thi vi
vng C ngoi s
dng khu PI ta c
th theo ui cc
mc tiu thit k
nh mc 3.1.3b.
68
3.5 Mt s dng m rng
3.5.2 H K trng thi c C u ra theo lut PI
Vector u ra ca khu I c vit nh sau:
1 1 1 1 k k k k k k k k + + +
= + = + y y w x y y w x
Khi w
k
= v
k
= 0 ta c:
1 k k k k +
= + y C q y Cu
1
1
k k
k
k k
+
+

= +

q q 0
u
y y C I C
( )
,
k
k P I
k

= +

q
u R K C K
y
M hnh trng thi m rng c dng:
T ta thu c vector K:
3.5.3 H K trng thi c b nhiu
1 k k k k
k k
q q u Ev
x Cq
= + +
Cho trc l i tng c nhiu o c nh sau:

Tc ng ca nhiu v
k
ti q
k+1
s b trit tiu nu ta b bi mt vector sau y:
vi:
( )
v Av k
k = u K v
( )
1
T T
Av

= K H H H E
69
i tng K
Khu QS
trng thi
Luenberger
k
q k
x
k
q
k x
k x
k
q
1 k+
q
1 k +
q
z I
z I

3.5 Mt s dng m rng
3.5.4 H K trng thi s dng khu QS trng thi
( )
1
1
1
k k k
k
k k k
k k k k
q q Hu
q q Hu Kx
q KC q Hu Kx

+
+
+
= +
= + +
= + +
( )
1 1 1 k k k k
q q q KC q

+ + +
= =
T s cu trc bn ta
vit h phng trnh sau:
M hnh ca sai lch
trng thi c dng:
Phi thit k K sao cho mi im
cc ca u nm trong
ng trn n v. Nguyn l
Separation c hiu lc ging nh
trng hp h lin tc.
( ) KC
70
4. Thc hin k thut h thng K s
4.1 nh hng ca s ha (lng t ha) bin
4.1.1 Nguyn nhn gy sai s lng t ha
Lng t ha bin :
1. C th xut hin trong: khu ADC, n v x l trung tm (CPU), khu DAC.
2. C th gy nn: sai lch tnh, dao ng gi tr (bang-bang), c bit khi b rng ca Word x
l khng ln.
3. C th c b qua i vi ch tn hiu ln (qu trnh qu ), nhng kh c th b qua
ch tn hiu nh (dao ng quanh im lm vic)
71
a) Nhp s liu dng analog: c tnh phi tuyn bc thang u tin hnh thuc trang trc
V d: Trch mu tn hiu y nm trong di 010V, sau s ha nh khu ADC vi b rng
word l WL (word length), phn gii (resolution) v di gi tr NR (number range) thu c.
32767
0,00003
0,003
4095
0,00024
0,024
1023
0,00098
0,098
255
0,00392
0,392
127
0,00787
0,787
Di gi tr NR
phn gii
phn gii [%]
15 12 10 8 7 B rng word W L
[bit]
WL
NR 2 1 =
WL WL
1 1 1
NR 2 1 2
= =
Di gi tr (thp phn):
phn gii:
V d: S ha di in p 10V=10000mV vi b rng t 7...15bit, lng t in p ( phn gii
in p) c th biu din c = 78,7...0,305mV. Nu di in p ng vi di nhit 100
o
C,
phn gii l = 0,787...0,003
o
C.
L l s nguyn ln lng t chia in p y:
Q
y L ; L 0, 1, 2, , NR = =
S d
y
< c lm trn ln, trn xung, hoc ct b:
Q y
y y + =
Sai s lng t ha
y
: Khi lm trn:
( )
y
0,5 0,5
R

( )
y
0 1
C
< Khi ct b:
72
b) n v x l trung tm (Central Processing Unit): Tn hiu (y
Q
)
AD
do khu ADC a ti thng
c CPU x l vi b rng word WL
CPU
ln hn. Cc thut ton K tuyn tnh gm cc bc:
Tnh sai lch C:
Tnh p ng C (hm K):
( ) ( ) ( ) ( )
( ) ( ) ( )
( ) ( )
Q Q Q
AD
Q 1Q Q Q
0Q Q Q Q
e k = y k w k
u k p u k 1 p k
+r e k + +r e k
Do b rng word WL
CPU
ca CPU l hu hn, s xut hin sai s lng t ha cc gi tr sau y:
( )
( )
( ) ( )
( )
Q
Q
iQ iQ
iQ Q iQ Q
Q
w k
u k i , i=1, 2,
p , r
, i=0, 1, 2,
p u k i , r e k i
u k
Gi tr t (set points):
i lng K:
Tham s K:
Cc tch s:
Tng cc tch s:
i vi CPU du phy tnh, phn gii c xc nh
nh mc a). Khi l du phy ng, nu l CPU 16 bit,
thng s dng nhiu words. V d: s L = M.2
E
, c
biu din bi 2 words loi 16 Bit, trong 7 bit cho s
m E, 23 bit cho gi tr M. Phm vi gi tr L s l:
128 127
39 39
38
0,8388608 2 L 0,8388607 2
0, 24651902 10 L 0,14272476 10
10

73
c) Xut s liu dng analog: Tng t khu nhp s liu dng analog, sai s lng t ha ca khu
xut cng ph thuc vo b rng word. Khu DAC cng gy nn mt ng c tnh phi tuyn
dng bc thang.
d) Kt lun:
xut hin nhiu khu phi tuyn trong ton b vng C s. Vic kho st nh hng ca chng
i vi vng C l cc k kh khn.
V c bn tn ti ba loi nguyn nhn sai s chnh sau y:
Lng t ha cc bin (lm trn s cc bin C v K trong ADC, DAC v CPU)
Lng t ha cc tham s (lm trn s cc tham s K)
Lng t ha cc kt qu trung gian ca thut ton K (lm trn s cc tch)
i vi h thng K s, c th xy ra cc trng hp sau:
Vng C vn n nh do tc ng ca lng t ha l nh. Khi b y ra khi trng thi
cn bng ta c:
Khi b y ra khi trng thi cn bng s xut hin sai s tnh:
Khi gi tr t lun bin ng, s xut hin hin tng tp m lng t ha, cn gi l tp
m lm trn s.
Xut hin dao ng dng bang-bang vi chu k M:
( ) lim 0
k
e k
( ) lim 0
k
e k
( ) ( ) lim lim +M 0
k k
e k e k

=
74
4.1.2 Hiu ng lng t ha cc bin
a) Tp m lng t ha:
Theo mc 4.1.1a): Tn hiu digital y
Q
gm c tn hiu analog y, xp chng
vi tp m , phn b u nh hnh bn
( ) ( ) ( )
Q
y k =y k k
K vng ca tp m lng t ha: ( ) { } ( ) k 0 E p d
= =
( ) { }
k 2 E =
Khi lm trn:
Khi ct b:
Phng sai ca c 2 trng hp trn: ( ) { } ( )
2
2 2
k 12 E p d

= =

Nhn xt: Nu tp m (n trng) ny xut hin trong khu ADC, n s c tc dng nh tn hiu
nhiu ngu nhin n(k) vo i lng C vi phng sai khng th suy gim bng cng c C.
Nhiu s gy nn cc bin ng ca i lng K vi bin ln hn 1 lng t ca ADC (xem
v d 4.1.1).
b) Sai lch tnh v dao ng bang-bang: Sai lch tnh v dao ng do lng t ha trong khu ADC
c bin ti thiu 1 lng t (xem v d 4.1.2, 4.1.3). Vic gim h s khuch i c th gp
phn kh dao ng bang-bang. kho st ta thng dng cng c m phng.
75
4.1.3 Hiu ng lng t ha cc tham s
nh hng ca tham s c lm trn s i vi h thng - k c CPU du phy tnh l nh
v c th b qua, tr trng hp tham s qu b (v d: c kch c ch vi lng t).
Nu cn thit, c th s dng cc phng php phn tch nhy tham s kho st.
4.1.4 Hiu ng lng t ha cc kt qu tnh trung gian
a) Sai lch tnh v dao ng bang-bang:
Trong thut ton K, kt qu tnh trung gian l tch gia cc h s trng lng (tham s K)
v cc bin (sai lch C, hay i lng K). Nguyn nhn gy sai s lng t ha l: C cc
tha s ca php nhn ln kt qu nhn u b lm trn.
Vi: Q, E l s nguyn ln lng t chia
tham s q, bin e; sai s lm trn l
q
,
e
2
0
;
q e
e q q e
q Q e E
qe QE Q E

= + = +
= + + +
Nu sai s lm trn
q
,
e
l c lp v mt thng k v c
phng sai , i vi sai s do lm trn tha s ta c:
2 2
12
= ( )
2 2 2 2 2
1
Q E

+
Sai s do lm trn tch s l: ( )
2
QE
Q
QE QE =
Phng sai s ca sai s cui cng l: ( )
2 2 2 2 2 2 2 2
1 1
qe
Q E q e

+ + + +

Nhn xt: Cng thc phng sai cho thy, khi q v e c kch c ln, sai
s s ch yu b gy nn bi vic lm trn cc tha s ca php nhn.
76
4.1.4 Hiu ng lng t ha cc kt qu tnh trung gian (tip)
a) Sai lch tnh v dao ng bang-bang (tip):
b) Vng cht:
Ch , vic lm trn cho tng tch ring r, hay sau khi tnh tng tch ly, cng c ngha quyt
nh ti sai s. V d: Nu lm trn ring r cho thut ton tm hm K mc 4.1.1b) v sai s
lng t ca cc tham s l
pui
,
rei
khi tnh cc tch p
i
u(k-i), r
i
e(k-i), sai s cui cng s l:
( ) ( ) ( ) ( ) ( )
1 0
1
u pu pu re re
k k k k k

= + + +
vi phng sai:
2 2 2
1 0
u pui rei
i i

= =
= +

Nhn xt: Phng sai s tng theo s lng php nhn ca tng tch ly v i vi cc thut ton
K bc cao c th ln hn phng sai do lng t ha trong khu ADC gy nn.
(xem v d 4.1.4)
77
4.2 Thit k h thng bng my tnh
4.2.1 Cc phng php m phng
Hnh 1 Nguyn l m phng Off-line
Hnh 2 Nguyn l Software-in-the-Loop
Hnh 3 Nguyn l Hardware-in-the-Loop
(m phng thi gian thc, real-time simulation)
Hnh 4 Nguyn l Control Prototyping
Xy dng v ti gin m hnh i tng, xc nh tham s
ca m hnh t thit k thut ton C. Din bin
thi gian trn m hnh khng ng vi din bin thc.
M ngun C (C, assembler) c th trn m hnh Offline. Hoc m C chy trc tip,
hoc s dng mt phn mm m phng mch phn cng. Qua kim tra chc nng ca
thit b C (cha cn ch to) trn m hnh TK. V d: Cc chc nng ca vi iu
khin (bin i AD, DA, iu ch b rng xung, cu trc ngt vv...)
S dng hardware m phng vng C. RTS cho php kim tra chc nng
phn cng, v gip nh gi kh nng ca phn mm C di iu kin thi
gian thc. iu ny cc k c ngha khi phi kim tra cc thit b hn hp
nhiu phn t c-in t-phn mm (h thng mechatronic).
S dng mi trng pht trin thi gian thc, ghp vi TK tht, hay vi
m hnh vt l thu nh (khi i tng l thit b c cng sut, kch c ln).
Th nghim trn thit b tht cho php kim tra nh hng ca cc hiu ng
khng th m t c bng m hnh ton.
78
4.2.1 Cc phng php m phng (tip)
Hnh bn gii thiu v d khi s dng mi trng thit k
trn nn MATLAB & Simulink vi phn cng c vi x l
tn hiu (Digital Signal Processor: DSP) ca tp on
Texas Instruments. S ch ra r rng: kt hp vi
MATLAB v cc Toolbox, ta c th tin hnh cc bc:
Bc 1: M phng Offline bc u xc nh tham s
ca thut ton C.
Bc 2: B xung thm cc khi xut/nhp d liu (v d:
cc khi ADC hoc DAC) vo s cu trc vng C.
Bc 3: S dng C-compiler to m C np xung card
hardware, ci xen vi h thng phn mm iu khin theo
ngt.
Ch : Th vin MLIB cung cp cc chc nng iu khin
phn cng t mi trng MATLAB (s dng chng trnh
Cockpit). Th vin MTRACE c cc chc nng gip thu
thp s liu t phn cng.
M phng thI gian thc dng Card
DS1102 ca dSPACE
79
4.2.2 M phng bng MATLAB & Simulink
M hnh gin on v
thi gian, chu k trch
mu cha xc nh
Ts = -1
M hnh lin tc v thi
gian
khng khai Ts:
Chu k trch mu ca h gin on Ts
M hnh d liu c tnh tn s: p
ng tn s answer, vector tn s freq,
unit l n v (th nguyn ca tn s
rad/s (mc nh) hoc Hz
(unit=Units,rad/s)
frd (answer,freq,unit,Ts)
M hnh trng thi: Ma trn h thng
A, u vo B, u ra C, lin thng D
ss (A,B,C,D,Ts)
Biu imkhng - im cc: Vector
cc im khng z, im cc p, h s
khuch i k
zpk (z,p,k,Ts)
Hmtruyn t: Vector cc h s ca
a thc t s num, mu s den
tf (num,den,Ts)
Khai bo m hnh gin on ca h LTI
Nhm lnh khai bo m hnh gin
on (thuc Control Toolbox)
M hnh TF:
>> h = tf ([1 -0.5],[1 1 -2],0.01)
Transfer function:
z - 0.5
-----------
z^2 + z - 2
Sampling time: 0.01
M hnh ZPK:
>> h = zpk (0.5,[-2 1],1,0.01)
Zero/pole/gain:
(z-0.5)
-----------
(z+2) (z-1)
Sampling time: 0.01
V d:
a) M phng bng cc lnh trc tip t Toolbox
ca MATLAB:
80
ca MATLAB (tip):
Phng php gin on ha:
zoh, foh, tustin,
prewarp, matched
method
Thay i chu k trch mu d2d(sys,Ts
Chuyn h gin on thnh h lin tc d2c(sysd,method
Chuyn h lin tc thnh h gin on c2d(sysc,Ts,method)
Chuyn i gia hai h LTI lin tc v gin on
Nhm lnh chuyn i gia hai loi m hnh gin on v lin tc (thuc Control Toolbox)
V d:
>> sysc = tf(1,[1 1])
Transfer function:
1
-----
s + 1
>> sysd = c2d (sysc,2)
Transfer function:
0.8647
----------
z - 0.1353
Sampling time: 2
>> sysdd =d2d (sysd,0.7)
Transfer function:
0.5034
----------
z - 0.4966
Sampling time: 0.7
>> step (sysc,'r-',sysd,'c-',sysdd,'g--')
81
ca MATLAB (tip):
Nhm lnh lc s FIR (Finite Impulse Response, thuc Signal Processing Toolbox)
V d:
% To tp s liu x c chiu dI
% length(x)=101
>> t = 0:0.005:0.5;
>> x = 5 + 8*sin(2*pi*8*t) + 4*cos(2*pi*33*t);
% Thit k b lc FIR
>> Bw = fir1(20,0.2,hamming(20+1));
% Dng Bw lc x theo 2 cch: filter
% v filtfilt
>> x_f = filter(Bw,1,x);
>> x_ff = filtfilt(Bw,1,x);
( )
( )
( )
( )
( )
( ) ( ) ( ) ( )
( ) ( )
1 1
1
1 1
1 2
1 2 3 1
1 2
1 2 3 1
1 1 2 1
2 1
1
1

+

+
+
+
= =
+ + + +
=
+ + + +
= + + +

m
m
n
n
m
n
y z B z
H z
x z A z
b b z b z b z
a a z a z a z
a y k b x k b x k b x k m
a y k a y k n
p ng tn s gin
on
freqz(num,den,points,samplingfreq)
Lc s liu c hiu
chnh pha
filtfilt(num,den,data)
Lc s liu filter(num,den,data)
Thit k b lc FIR
(lc thng thp)
fir1(order,limitfrequency,window)
B lc FIR v hm ca s Cng thc tng qut:
82
ca MATLAB (tip):
Nhm lnh lc s IIR (Infinite Impulse Response, thuc Signal Processing Toolbox)
V d:
>> t = 0.01:0.01:1;
>> x = 5 + 8*sin(2*pi*8*t) + 4*cos(2*pi*40*t);
>> [B,A] = butter(4,20/50);%Thit k b lc IIR
>> x_f = filter(B,A,x); %Lc tn hiu x
>> x_ff = filtfilt(B,A,x); %Lc tn hiu x c b pha
>> plot(t,x,'g-',t,x_f,'r-',t,x_ff,'b:');
>> axis([0 0.5 -10 30]);
>> title('Discrete Filter','FontSize',12);
>> xlabel('Time [s]','FontSize',12);
>> legend('non-filtered','IIR filter','IIR filtfilt');
( ) ( ) ( )
( )
1 1 2
1
2 +1
1
0
+
= + +
+
= = =
m
n
a y k b x k b x k
b x k m
a a
Lc Tschebyscheff Typ 1 cheby1(order,ripple,limitfreq)
Lc Tschebyscheff Typ 2 cheby2(order,ripple,limitfreq)
Lc Elliptic (Cauer) ellip(order,ripple,attenuation,limitfreq)
p ng tn s gin on freqz(num,den,points,samplingfreq)
Lc s liu c hiu chnh pha filtfilt(num,den,data)
Lc s liu filter(num,den,data)
Lc Butterworth butter(order,limitfreq)
B lc IIR
Cng thc tng qut:
83
4.2.2 M phng bng MATLAB & Simulink b) M phng bng s cu trc ca Simulink:
Khi Discrete Transfer Function c c im ging khi Discrete Filter v c m t bi hm
truyn t bn:
Cc h s ca hai a thc t s v mu s c khai bo theo trnh t s m ca z gim dn, bt
u t m (t s) v n (mu s).
Discrete Transfer Function (scalar)
Khi Discrete Filter m t mt khu
lc s c hm truyn t nh bn:
Cc h s ca a thc t s v mu s c khai bo theo trnh t s m ca z gim dn, bt u
t h s ca z
0
.
Discrete Filter (scalar)
Khi Discrete-Time Integrator (tch phn gin on) v c bn cng ging nh khi Integrator
(tch phn) lin tc. Bn cnh chu k trch mu ta cn phi chn cho mi khi thut ton tch
phn (tch phn Euler tin, tch phn Euler li hay tch phn hnh thang). Sau khi chn thut
ton tch phn, biu tng (Icon) ca khi li thay i tng ng.
Discrete-Time Integrator
Khi Unit Delay c tc dng trch mu tn hiu vo v ct gi gi tr thu c trong mt chu k
trch mu. V vy, khi c c im nh mt phn t c bn ca cc h gin on. Khi c th
c s dng nh mt khu qu t tn s trch mu thp sang tn s trch mu cao.
Unit Delay
( )
( )
( )
1 2
1 2 3 1
1 2
1 2 3 1

+

+
+ + + +
= =
+ + + +
m m m
m
n n n
n
B z b z b z b z b
H z
A z a z a z a z a
( )
( )
( )
( )
( )
1 1
1 2
1 1 2 3 1
1 2 1 1
1 2 3 1

+

+
+ + + +
= = =
+ + + +
m
m
n
n
y z B z
b b z b z b z
H z
a a z a z a z x z A z
84
4.2.2 M phng bng MATLAB & Simulink b) M phng bng s cu trc ca Simulink
(tip):
Khi Zero-Order Hold trch mu tn hiu u vo v gi gi tr thu c n thi im trch mu
tip theo. Nn s dng khi Zero-Order Hold trong cc h trch mu cha c mt trong cc khi
gin on c m t trn (tc l nhng khi c sn khu gi chm bc 0). Khi chn buc
tch phn cng, c th s dng khi Zero-Order Hold ti cc v tr chuyn t tn s trch mu cao
sang tn s trch mu thp hn.
Zero-Order Hold
Khi Discrete State Space m t mt h thng gin on bng m hnh trng thi. Khi
c c im s dng ging nh khi State Space ca cc h lin tc.
Discrete State Space
Trong khi Discrete Zero-Pole, thay v phi khai bo cc h s, ta khai bo im cc - im khng
ca hm truyn t v mt h s khuch i.
Discrete Zero-Pole (scalar)
Ch : Mt h thng s k thut thng s dng nhiu chu k trch mu khc nhau (gi l h
c chu k hn hp), v cn phi c lu c bit khi m phng. H lai l cc h c cha
c hai thnh phn lin tc v gin on.
85
b) M phng bng s cu trc ca Simulink
(tip):
V d:
M phng khu C 2 chiu (2-
dimensional, khu MIMO) dng
C vector dng stator i
s
ca
ng c xoay chiu 3 pha.
S cu trc
khu C digital
S m hnh
Simulink
86
4.3 Thit k h thng vi iu khin
4.3.1 Phn loi vi x l
n v s
hc v lgic
(ALU)
n v x l trung tm (CPU)
Khu iu khin Khu tnh ton
Khu m
Bus trn phin
Thanh ghi
s liu
Thanh ghi
a ch
Gii m
lnh
m chng
trnh
m Bus
s liu
m Bus
iu khin
m Bus
a ch
Ch vi trong khi nim trn c ci ngun
t ch micro, k hiu l , c ngha l
mt phn triu hoc rt nh. Vi x l
(Microprocessor) c ngha l b x l rt
nh, k hiu l P.
Khu tnh ton: gm c n v s hc v
lgic (Arithmetic Logic Unit: ALU), cc
thanh ghi s liu v a ch.
Khu iu khin: gm c b gii m lnh
v b m chng trnh.
Khu m: vi cc b m (thng l ba
trng thi: Tri-State), ghp ni Bus trn
phin ca P vi cc Bus iu khin, s
liu v a ch nm bn ngoi.
a) Khi nim vi x l
Ch : s dng trong cc h thng K s, P s
phi c b sung thm cc phn t ngoi vi, phc
v vic nhng (embed) P vo mi trng thit b.
Hnh trn: Cu trc bn trong ca mt P
87
4.3.1 Phn loi vi x l (tip)
Vi x l tn hiu = Digital Signal Processing (DSP).
c thit k tng tc x l, tnh tng tch ly:
Bn cht DSP: l P c thm thanh ghi ACC (vi
b rng gp i b rng ca Bus) v b nhn cng.
Nhiu thao tc trong 1 lnh: DSP cho php thc
hin cc thao tc (lm trn, dch tri/phi vv)
ng thi vi nhn v tch ly ch trong mt nhp
lnh duy nht.
Cu trc Bus: Bus trn phin (on-chip) c thc
hin theo cu trc Harward.
b) Khi nim vi x l tn hiu
Vi x l
Nh chng trnh Nh s liu
Bus a ch
Bus s liu
iu khin
Vi x l
Nh chng trnh
trn chip
Nh s liu
trn chip
iu khin
B
u
s
l
i
1
B
u
s
l
i
2
B
u
s
c
h
1
B
u
s
c
h
2
a)
b)
Program
Bus
Data Bus
( )
i i
a x
Hnh bn: Cu trc Bus a) kiu

Von-Neumann; b) kiu Harward
88
4.3.1 Phn loi vi x l (tip) c) Khi nim vi iu khin
Vi iu khin = P (hoc DSP) + ngoi vi + ngt khng cn th tc
Ch : C c phn bit
vi P l do cc c im:
a) c thm cc phn t ngoi
vi c bn trn phin
(peripheries on-chip) v b) c
c ch ngt khng cn th tc
ngt. iu ny cho php nng
cao tc tnh ton, tng
tin cy, ng thi gim gi
thnh ca h thng.
C1 66-Core C1 66-Core
1 67
PLL
OSC
2KB
XRAM
P
o
r
t
6
P
o
r
t
0
P
o
r
t
4
Port 1 Port 5 Port 3 Port 2 Port 8 Port 7
CPU
D
u
a
l
P
o
r
t
RAM
2 KByte
I nterrupt Control l er
Watchdog
Peri pheral Data
External
I nstr. /Data
I nstr. /Data
USART
ASC
BRG BRG
SSC
Sync.
Channel
(SPI )
GPT1
T3
T4
GPT2
T2
T5
T6
CAPCOM1 , 2
32
Channel s
T
im
e
r7
T
im
e
r1
T
im
e
r0
T
im
e
r8
PWM Modul e
PT 1
PT 2
PT 3
PT 4
1 6 1 6 1 6 1 6 8 8
1 6
8
8
1 6
1 6
1 6
1 6
32
PEC
I nterrupt Bus
Data
Data
EPROM
ROM/
Fl ash
up to
1 28 KByte
X
B
U
S
(
1
6
-
b
i
t
N
O
N
M
U
X
D
a
t
a
A
d
d
r
e
s
s
e
s
)
External Bus,
XBUS Control ,
5 * CS Logic
Mul ti Funkti onal
1 0-Bi t
ADC
1 6 Channel s
36 ext. I R
XTAL
Hnh bn: Cu trc chi tit ca C
16 Bit loi SAB C167 (Siemens)
89
4.3.1 Phn loi vi x l (tip)
d) Khi nim DSP Controller
A (15-0)
D (15-0)
544Wx16
Program ROM/
16kW x16
Data RAM
CPU
16-Bit
Barrel
Shifter
16-Bit T-register
16 x 16 Multiply
32-Bit P-register
Shift L (0, 1, 4, -6)
32-Bit ALU
32-Bit Accumulator
Shift L (0-7)
8 Level H/W Stack
2 Status Registers
Repeat Count
8 Auxiliary Registers
Flash
Three I/O Ports
8-Bit
10-Bit ADC
10-Bit ADC
Watchdog
Timer
SPI
SCI
Event Manager
3 Timers
12 PWM
Outputs
9 Compare
Outputs
Dead Band
Logic
IGR
Interface
Hnh bn: S khi ca DSP Controller k
hiu TMS 320C/F240 (Texas Instruments)
Cch nh ngha C nh ta
nu mc 4.3.1c cng c th
c p dng i vi DSP.
Thay v vit cng thc:
C = P + ngoi vi
+ ngt khng cn th tc
ta vit:
C = DSP + ngoi vi
+ ngt khng cn th tc
= DSP Controller
90
4.3.2 Khi qut v nhim v thit k
Minh ha nhim v thit k thng qua v d c th: H thng K s cho truyn ng in xoay chiu 3 pha.
Cn phi lm r cc vn c th:
Hardware: La chn vi x l (h 1 hay nhiu P, C)? Cn nhng ngoi vi g v vi tnh nng th no?
Software: Cng c, quy trnh v qun l (management) pht trin? Chun b lp trnh (thut ton, chun
ha, th vin, test)?
91
4.3.3 Hardware: Yu cu i vi vi x l
Chn h 1 vi x l (Single Processor System) khi Hardware ch
phi thc hin cc bi ton K. Nhim v truyn thng vi mi
trng xung quanh mc rt hn ch.
Chn h 2 vi x l (Double Processor System) khi Hardware
khng ch phi thc hin cc thut ton thi gian thc m cn
phi cho php tch hp vo mt mi trng cng ngh t ng
(v d: nh Field Bus, K qua giao din vv...) phc hp.
Vi x l/cc vi x l cn phi c kh nng m ng cc
nhim v ca ngoi vi (v d: ADC, iu ch, o tc quay
vv...) ti mc ti a. V vy, nu l h 2 vi x l th 1 s phi
c chn l C.
92
4.3.3 Hardware: Yu cu i vi vi x l (tip)
V d v mt h 2 vi x
l, bao gm DSP loi
TMS 320C25 (Texas
Instruments) v C loi
SAB C167 (Siemens).
Tn dng kh nng tnh
ton ca DSP thc
hin cc thut ton thi
gian thc phc hp.
Tn dng ngoi vi phong
ph ca C ghp vi
mi trng cng ngh.
93
4.3.4 Hardware: Yu cu i vi ngoi vi (trn c s v d mc 4.3.2)
Phi c n v PWM(Puls Width Modulation) vi phn gii
thi gian b nht (v d: 50ns ca SAB C167, TMS 320C/F240)
phc v iu ch vector in p.
o dng stator vi phn gii 10...12bit. i vi truyn ng
cht lng cao phi l 12bit-ADC vi tc bin i <10s.
o tc quay bng IE cn c cc thanh ghi CAP/COM. o
bng Resolver thng phi c mch ph bn ngoi.
o in p U
DC
bng 10-12bit-ADC.
Mch ph ghp Field Bus.
Mch theo di/bo v mch in t cng sut v ng c.
94
4.3.5 Software: Cng c pht trin v cng tc qun l a) Cc bc chun b vit
Software
Tp hp tt c cc cng thc cn tnh (cc thut ton) cng vi
cc tham s ca i tng cng ngh (v d: s liu ng c).
Chun ha cc cng thc cn tnh, xc nh kch c ca d liu
(b rng word) cng nh chnh xc ca d liu (s bits sau
du phy).
M t chu trnh tnh bng lu thut ton (flow chart).
Xc nh chng trnh chnh, chng trnh con v chng trnh
ngt (chng trnh con theo mnh thi gian hay theo mc u
tin khc nhau).
Xc nh cc module th vin.
95
4.3.5 Software: Cng c pht trin v cng tc qun l
b) Chun b cng c pht trin
(mi trng pht trin)
Editor: Trnh son tho m ngun
C Compiler: Trnh bin dch m ngun C
Assembler: Trnh thng dch hp ng
Linker, Locater: Hai trnh ghp, nh v
cc modules. i khi l 1 trnh vi 2
options khc nhau.
Librarian: Trnh qun l th vin
Format Converter: Trnh o nh dng
Object/Hex Converter: Trnh o m
chy/m hexa
Debugger: Trnh g ri
Emulator: Thit b m phng chip
Target System: Hardware
EPROM Burner: My np EPROM
96
c) Chu trnh v cng
c pht trin
Mc tiu cn t:
t tnh nng theo yu cu ca bi
ton
Cu trc r rng, d hiu
D bo dng, cp nht, nng cp
D s dng lp li
Bin php nhm t mc tiu:
nh ngha r rng giao din gia cc
modules
Lp trnh bng ngn ng bc cao (ch
yu l C)
Cu trc th mc v modules r rng
S dng Make Files trong qu trnh to
Code
97
d) Cc nguyn tc thc hin
1) Cc bc pht trin
Xy dng danh mc yu cu i vi Software (theo nhu cu
ca th trng)
Khng nh kh nng p ng danh mc yu cu
Phn tch phng n, phn tch h thng trn c s Hardware
thit k
Xc nh cc modules phn mm cn son tho
Son tho cc modules c th
Th nghim ring r tng module (Test Programs, Debugger,
Emulator, Hardware-in-the-Loop-Test)
Th nghim tng th trn thit b
98
d) Cc nguyn tc thc hin (tip)
2) Qun l Files v k hiu
Cu trc th mc trn PC: Source Files, .obj Files, vv
Tn Files: mang ngha d hiu
Tn k hiu, tn bin: mang ngha d hiu, khai bo tp trung
d qun l (trnh lng ph b nh, tng tc )
3) Qun l v to phin bn
4) Cu trc ca tng module
Chc nng ca module Mt module
Giao din vi bn trong module Lch s ca module
Giao din vi bn ngoi module Tn module
99
d) Cc nguyn tc thc hin (tip)
5) Con ng t thut ton (Algorithms) tI phn mm (Software)
Tp hp tt c cc phng trnh cn tnh (thut ton) v cc tham s
ca i tng K.
Chuyn tt c phng trnh v tham s sang dng khng c th
nguyn (Normalizing, chun ha).
Khi s dng P, C hay DSP du phy tnh: Xc nh cc h s
trt (Scaling) i vi tham s v bin. Khng thc hin ng tc
ny i vi du phy ng.
Xy dng lu (Flowchart).
Phn thnh chng trnh m, chng trnh con hay th tc ngt
(Interrupt Routines).
Xc nh th vin.

Bài giảng Điều khiển số- Nguyễn Phùng Quang

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Bài giảng Điều khiển số- Nguyễn Phùng Quang

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16 June 2007 Assoc. Prof. Hon.-Prof. Dr.-Ing. habil. Ng. Ph.

Sau khi trch mu (l tng)

V d: Mt tn hiu gin on v thi gian cho trc bi

*Sai phn bc nht:

* Bc 3: p dng bin i ngc tm x

Tng t h lin tc, hm truyn t G(z) c th c coi l nh z

*Chui sau gin on ha:

Hai trng hp c bit c th dng kim tra:

p dng cc kin thc v bin i z m rng v nguyn l tnh tin ca nh z, ta thu c hm

Lut PID trn min thi gian (lin tc) c m t bi

Bn cht l php tnh xp x din tch ca hm e(t)

Bc 3: Khai trin chui cho cc biu thc e m, sau so snh h s 2 v tm c

TC din tch tuyn

S m N trong cng thc trn ni ln: Sau N bc, gi

3. K c phn hi trng thi

3. K c phn hi trng thi

M hnh trng thi ca i

Vi phng trnh c tnh:

Khi i tng K l h SISO:

Cho trc l i tng c nhiu o c nh sau:

3. K c phn hi trng thi

4. Thc hin k thut h thng K s

Hnh bn: Cu trc Bus a) kiu

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