TRNG I HC BCH KHOA H NI

VIN IN
B MN IU KHIN T NG

BO CO TH NGHIM
MN: H THNG IU KHIN S

H tn sinh vin : L Trung Kin

Lp

: iu khin t ng 2 K53

SHSV

: 20081443

Hm truyn Gz(4)
Phng php xp x FOH vi T=0.01ms
Ngy th nghim: Kp 1 th 4 tun 31,34,36

H Ni, 5-2012

M PHNG NG C 1 CHIU:
Da vo cc phng trnh m t ng c 1 chiu, ta i n s m t ng
c nh sau:

Trong ng c c cc tham s sau y:

%%Tham so mo phong
Tstop = 0.2;
step_max = 0.0001;
%%Dien ap
Tstep = 0; %[s]
UA = 50; %[V]
%%Nhieu tai
T_MW = 0;
%[s]
MW = 0; %[Nm]
%%Tham so dong co
RA = 0.250; %[Ohm]
LA = 0.004; %[H]
TA = LA / RA;
%[s]
phi = 0.04;
%[Vs]
J = 0.012; %[kg.m^2]
Km = 38.2;
Ke = 2*pi*Km;

Hm truyn ri rc tnh ton bng cng thc G( z )

Hm truyn h kn:
Ta=0.1e-3 :
Ta=0.01e-3:

G( s)

G( z )

G( z )

z 1
z

G( s)
)
s

81.06
0.016s
s 767.8
2

23.36 z
0.00625Zz 0.9938
23.36 z
0.0062Zz 0.994

BI THC HNH S 1
TM M HNH GIN ON CA CMC
- Xc nh cc hm truyn trn min nh z ng vi T1=0.1ms v
T2=0.01ms.
- M phng so snh kt qu vi nhau.
- Xy dng m hnh trng thi ca DCMC trn min lin tc v m phng
p ng bc nhy ca m hnh thu c.
Chng trnh Matlab:
% Bai thuc hanh 1: Tinh toan mo hinh gian doan
display('Ham Truyen lien tuc he ho')
G1=1/RA*tf(1,[TA 1])*Km*phi*tf(1,[2*pi*J 0])
display('Ham Truyen lien tuc he kin')
G=feedback(G1,Ke*phi)
%-------------------------------------------------% Chu ki trich mau la T1=0.1ms
%-------------------------------------------------display('Ham truyen gian doan theo Tustin voi T1')
Gz1_T1=c2d(G,T1,'tustin')
%-------------------------------------------------display('Ham truyen gian doan theo FOH voi T1')
Gz2_T1=c2d(G,T1,'foh')
%-------------------------------------------------display('Ham truyen gian doan theo ZOH voi T1')
Gz3_T1=c2d(G,T1,'zoh')
% Khao sat dap ung qua do
hold on
step(G)
step(Gz1_T1);
step(Gz2_T1);
step(Gz3_T1);
legend('G lien tuc','Tustin','FOH','ZOH')
pause
%-------------------------------------------------% Chu ki trich mau la T2=0.01ms
%-------------------------------------------------display('Ham truyen gian doan theo Tustin voi T2')
Gz1_T2=c2d(G,T2,'tustin')
%-------------------------------------------------display('Ham truyen gian doan theo FOH voi T2')
Gz2_T2=c2d(G,T2,'foh')
%-------------------------------------------------Gz3_T2=c2d(G,T2,'zoh')
% Khao sat dap ung qua do
hold on
step(G)
step(Gz1_T2);
step(Gz2_T2);
step(Gz3_T2);
legend('G lien tuc','Tustin','FOH','ZOH')

Kt qu thu c vi T1
>> ThamSoDC
>> Bai_1
Hm truyn lin tc h h:
Transfer function:
6.112
----------------------0.001206 s^2 + 0.0754 s
Hm truyn lin tc h kn:
Transfer function:
6.112
------------------------------0.001206 s^2 + 0.0754 s + 58.68

Hm truyn gin on theo Tustin vi T1:

Transfer function:
1.263e-005 z^2 + 2.525e-005 z + 1.263e-005
-----------------------------------------z^2 - 1.993 z + 0.9938
Sampling time (seconds): 0.0001

Hm truyn gin on theo FOH vi T1:

Transfer function:
8.431e-006 z^2 + 3.367e-005 z + 8.404e-006
-----------------------------------------z^2 - 1.993 z + 0.9938
Sampling time (seconds): 0.0001

Hm truyn gin on theo ZOH vi T1:

Transfer function:
2.528e-005 z + 2.523e-005
------------------------z^2 - 1.993 z + 0.9938
Sampling time (seconds): 0.0001

Nhn xt:
Trong cng mt chu k th phng php Tustin v FOH cho kt qu rt gn
nhau v khc so vi ZOH

Kt qu thu c vi T2
Hm truyn gin on theo Tustin vi T2:
Transfer function:
1.266e-007 z^2 + 2.532e-007 z + 1.266e-007
-----------------------------------------z^2 - 1.999 z + 0.9994
Sampling time (seconds): 1e-005
Hm truyn gin on theo FOH vi T2:
Transfer function:
8.443e-008 z^2 + 3.377e-007 z + 8.44e-008
----------------------------------------z^2 - 1.999 z + 0.9994
Sampling time (seconds): 1e-005
Hm truyn gin on theo ZOH vi T2:
Transfer function:
2.533e-007 z + 2.532e-007
------------------------z^2 - 1.999 z + 0.9994
Sampling time (seconds): 1e-005

Xy dng m hnh trng thi DCMC v m phng p ng ng vi chu k

T=0.1s v T2=0.01s.
Chng trnh MatLab:
% Xay dumg mo hinh khong gian trang thai
% Mo hinh lien tuc
G_ss_lt=ss(G)
% mo hinh roi rac voi T=0.1s
G_ss_rr1=c2d(G_ss_lt,0.1,'foh')
% mo hinh roi rac voi T=0.01s
G_ss_rr2=c2d(G_ss_lt,0.01,'foh')
%khao sat dap ung buoc nhay
hold on
step(G_ss_lt);
Step(G_ss_rr1);
step(G_ss_rr2);
legend('Lien tuc','Roi Rac')

kt qu:
M hnh lin tc:
a =

b =

x1
x2

x1
-62.5
256

x2
-190
0

x1
0

x2
4.948

c =

x1
x2

u1
4
0

d =

y1

y1

u1
0

M hnh vi T=0.1s
a =
x1
x2
c =
y1

b =
x1
-0.04438
0.008151

x2
-0.00605
-0.04239

x1
x2

u1
-0.0008935
0.0003079

d =
x1
0

x2
4.948

y1

u1
0.1027

p ng qu :

M hnh vi T=0.01s
a=
x1
x2
x1 -0.5063 -0.521
x2 0.702 -0.3349

c=
x1 x2
y1
0 4.948

b=
u1
x1 -0.01165
x2 0.02023
d=
u1
y1 0.05773

p ng qu :

BI THC HNH S 2:
TNG HP VNG IU CHNH DNG PHN NG (IU
KHIN MOMEN QUAY)
Vi i tng l dng in, ta coi gn ng thit b chnh lu l khu t l qun
tnh bc nht hng s thi gian Tt=100 m ta c hm truyn ca mch phn ng
l
S dng m hnh vi tn s trch mu l T=0.01ms v phng php FOH
Chng trnh MatLab:
Tt=100e-6;
Gi=tf(1,[Tt 1])*1/RA*tf(1,[TA 1]);
Giz=c2d(Gi,0.01e-3,'foh');
[B,A]=tfdata(Giz);
Giz=filt(num,den,0.01e-3)

Kt qu:
4.064e-005 + 0.0001585 z^-1 + 3.865e-005 z^-2
--------------------------------------------1 - 1.904 z^-1 + 0.9043 z^-2
Sampling time (seconds): 1e-005

1. Thit k b iu khin dng theo phng php Dead-Beat vi L(z^-1) l

a thc bc nht L=
p dng cng thc ca b iu khin Dead-Beat ta c

T xc nh c b iu khin
( )

)
(

(
)

)
(

Chng trnh MatLab:

[B,A]=tfdata(Giz,'v');
l0=(A(1)/(A(1)-A(2)))*(1/(B(1)+B(2)+B(3)));
l1=(-A(2)/(A(1)-A(2)))*(1/(B(1)+B(2)+B(2)));
L=filt([l0 l1],1,0.01e-3)
%Bo dieu khien
A=filt(A,1,0.01e-3);
B=filt(B,1,0.01e-3);
display('Bo dieu khien Gidk')
Gidk=(L*A)/(1-L*B)
%Ham Truyen he kin G=L(z^-1)*B(z^-1)

display('Ham truyen he kin Gk')

Gk=L*B
% Dap ung qua do
step(Gk)

Kt qu:
l0 =
1.4478e+003
l1 =
-962.5211
Transfer function:
1448 - 962.5 z^-1
Sampling time (seconds): 1e-005
Bo dieu khien Gidk
Transfer function:
1448 - 3719 z^-1 + 3142 z^-2 - 870.4 z^-3
---------------------------------------------0.9412 + 0.8096 z^-1 + 1.097 z^-2 + 1.037 z^-3
Sampling time (seconds): 1e-005
Ham truyen he kin Gk
Transfer function:
0.05884 + 0.1904 z^-1 - 0.09666 z^-2 - 0.0372 z^-3
Sampling time (seconds): 1e-005
% Dap ung qua do
step(Gk)

10

2. Thit k b iu khin dng theo phng php Dead-Beat vi L(z^-1) l

a thc bc hai L=
[B,A]=tfdata(Giz,'v');
l0=A(1)/((A(1)-A(2)-A(3))*(B(1)+B(2)+B(3)))
l1=-A(2)/((A(1)-A(2)-A(3))*(B(1)+B(2)+B(3)))
l2=-A(3)/((A(1)-A(2)-A(3))*(B(1)+B(2)+B(3)))
L=filt([l0 l1 l2],1,0.01e-3)
%Bo dieu khien

num=conv([l0 l1 l2],A);
den=1-conv([l0 l1 l2],B);
display('Bo dieu khien')
Gidk=filt(num,den,0.01e-3)
%Ham Truyen he kin G=L(z^-1)*B(z^-1)
display('Ham truyen he kin')
Gk=L*filt(B,1,0.01e-3)
% Dap ung qua do
step(Gk)

Nhn xt:
Ta thy khi dng b K Deat-Beat 1 u ra t gi tr xc lp sau 4 chu k trch mu, khi dng
b K Deat-Beat 2 u ra t gi tr xc lp sau 5 chu k trch mu. B K Deat-Beat 2 bt u
lm cho i tng trn c dao ng, cht lng khng bng b K Deat-Beat 1.

11

3. Thit k b iu khin theo phng php cn bng m hnh:

Gi s sau 2 bc p ng ca i tng ui kp gi tr t khi
ta c
(

Gi s chn b iu khin

vi iu kin |
(

Chng trnh matlab:

% bo dieu khien bu
Gw1=filt([0.3 0.7],1,0.01e-3);
GRi=(1/Giz)*(Gw1/(1-Gw1))

Kt qu:
0.3 + 0.1287 z^-1 - 1.062 z^-2 + 0.633 z^-3
---------------------------------------------------------------2.845e-005 + 8.254e-005 z^-1 - 8.393e-005 z^-2 - 2.705e-005 z^-3

Sampling time (seconds): 1e-005

M phng:
% Mo phong
Gk=feedback(GRi*Giz,1)
step(Gk)

12

 Tng t gi s sau 3 bc p ng ca i tng ui kp gi tr

t khi ta c
(

Gi s chn b iu khin

vi iu kin |

+
(

Chng trnh matlab:

% bo dieu khien bu
Gw1=filt([0.2 0.3 0.5],1,0.01e-3);
GRi=(1/Giz)*(Gw1/(1-Gw1))
Kt qu:
0.2 - 0.08084 z^-1 + 0.1096 z^-2 - 0.6808 z^-3 + 0.4521 z^-4
--------------------------------------------------------------------------------3.251e-005 + 0.0001146 z^-1 - 3.697e-005 z^-2 - 9.087e-005 z^-3 - 1.932e-005 z^-4

% Mo phong
Gk=feedback(GRi*Giz,1)
step(Gk)

Nhn xt: Thit k theo phng php deadbeat hay cn bng m hnh u c
th a h thng v im cn bng sau N chu k chn trc (Trong bi ny l 2
v 3) tuy nhin thit k theo cn bng m hnh ta c th p t qu o mong
mun cn deadbeat th khng .
13

BI THC HNH S 3
TNG HP VNG IU CHNH TC QUAY
Theo phng php cn bng m hnh ta c hm truyn h kn ca phn
( )
iu chnh dng l
.
T ta c hm truyn ca i tng iu chnh tc l:
(
)
( ) (
)
Trong Gz c tnh theo FOH chu k T2=0.01e-3 s
>> Gz=c2d(Km*phi*tf(1,[2*pi*J 1]),0.01e-3,'foh');
>> Gnz=Gw1*Gz
Transfer function:
3.04e-005 z^-1 + 0.0001013 z^-2 + 7.092e-005 z^-3
------------------------------------------------1 - z^-1

1. Thit k b iu khin PI theo tiu chun tch phn bnh phng:

-B iu khin : GR(z)=

r0 r1.z 1
.
1 z 1

b1 z 1 b2 z 2 b3 z 3
-i tng iu khin : Gn(z)=
1 a1 z 1
a0 1, a1 1
b1 3.04e 5, b2 0.0001013, b3 7.093e 5

-Ta c sai lch iu chnh :

E(z)=W(z).

1
r0 r1 z b1 z 1 b2 z 2 b3 z 3
1
.
1 z 1
1 a1 z 1
1

-Vit sai lch iu chnh di dng sai phn :

ek wk (a1 1).wk 1 a1wk 2 (a1 1 r0b1 )ek 1 (a1 r0 .b2 rb

1 1 )ek 2 (r0 .b3 r1.b2 ).ek 3 r1.b3 .ek

-Chn r0=20 v vi ai , bi xc nh theo Gn(z) ta cn tm r1 sao cho

n

IQ= ek2 nh nht .

k 0

u1 u0
suy ra {
r

r
(1

r
.
b
)
1
0
0 1

iu kin :

Ta c chng trnh tnh sai phn :

14

% sai phan
syms r1 real
b1=4.04e-5;b2=0.0001013;b3=7.093e-5;
r0=30;
e0=1
e1=1-2-(-2+r0*b1)*e0
e2=1-2+1-(-2+r0*b1)*e1-(1+r0*b2+r1*b1)*e0
e3=1-2+1-(-2+r0*b1)*e2-(1+r0*b2+r1*b1)*e1-(r0*b3+r1*b2)*e0
e4=1-2+1-(-2+r0*b1)*e3-(1+r0*b2+r1*b1)*e2-(r0*b3+r1*b2)*e1-r1*b3*e0
i=e0^2+e1^2+e2^2+e3^2+e4^2

T tm c r1=-20
IQ nh nht ta tnh c r1 kt hp vi iu kin trn ta chn r1= 20
Vy b iu khin theo tiu chun tch phn bnh phng :
GR(z)=.

2.Tng hp b iu khin PI cho tc theo phng php gn im cc

Hm truyn i tng c dng:
b1 z 2 b2 z b3
z 2 a1 z

Gn( z )

B( z )
A( z )

B iu khin c dng :
r0 r1.z 1
1 z 1

Gr ( z )

r0 .z r1
z 1

R( z )

P( z )

a thc c tnh ca hm truyn ch o:

N ( z)

P( z).A( z)

R( z).B( z)

( z 1).( z 2

a1 z )

r1 ).(b1 z 2

(r0 .z

b2 z

b3 )

= z 4 (a1 1 b1r0 ).z3 (a1 b1r1 b2r0 ).z 2 (b3r0 b2r1 ) z1 b3.r1
Gi s im cc ca i tng ch o l z1 , z2 , z3 , z4 ta c
N ( z)
z4

(z

z1 )( z

(z 1

( z1 z2 z3

z2

z1 z2 z 4

z2 )( z 3)( z
z3

z4 ).z 3

z1 z3 z 4

4)
( z1 z2

z2 z3 z4 ).z

z3 z4

z1 z3

z1 z4

z2 z 3 z2 z 4) z 2

z1 z2 z3 z4

Chn r0 30 , z1,2 0.1 i.0.265

Khi
N ( z ) z 4 (1 z3 z4 ).z 3 (0.3725 z3 z4 z3 z4 ).z 2 (0,3725( z3 z4 ) z3 z4 ).z
0.3725.z3 z4

Cn bng h s ta tnh c:
z3 = 0.14 i.0.43 , z4 = 0.25 i.0.62 , r1 =-29.9
30 29.9 z 1
Vy b iu khin l GR ( z )
1 z 1

15

3.M phngkho st vi b iu khin thu c

3.1.M phng c tnh thu c
3.1.1.Phng php theo tiu chun tch phn bnh phng : GR=.

Hnh 3.1.1. c tnh v sai lch vi b PI theo tiu chun tch phn bnh phng

16

3.1.2.Phng php theo tiu chun gn im cc : GR ( z )

30 30 z 1
1 z 1

Hnh 3.1.2. c tnh v sai lch vi b PI theo gn im cc

Nhn xt: T th ta thy qu iu chnh tng i (khong 16%), thi gian

xc lp: 0.02s.
cht lng ng hc tt hn ta nn chn im cc nm gn gc ta .

17

3.2.M phng c tnh khi c ti thay i:

3.2.1. Gi tr ti di dng bc nhy vi b PI theo tch phn bnh phng

Hnh 3.2.1. c tnh v tng bnh phng sai lch vi b PI theo tch phn bnh phng

18

3.2.2. Gi tr ti thay i di dng bc nhy vi b iu khin gn im cc

Hnh 3.2.2. c tnh v sai lch vi b PI theo gn im cc

Nhn xt: Vi c 2 b iu khin, khi c ph ti thay i t bin di dng bc

nhy, cht lng ng hc ca h xu hn, sai lch iu chnh ln hn, thi gian
qu di hn .

19

3.3.M phng c tnh khi c thay i gi tr t

3.3.1 M phng c tnh vi b iu khin PI theo tch phn bnh phng.

Hnh 3.1.1. c tnh v sai lch vi b PI theo tiu chun tch phn bnh phng

20

3.3.1 M phng c tnh vi b iu khin PI theo gn im cc.

Hnh 3.2.1. c tnh v sai lch vi b PI theo gn im cc

Nhn xt: Vi c 2 b iu khin, khi c gi tr t thay i t bin di dng

bc nhy, cht lng ng hc ca h xu hn, sai lch iu chnh ln hn, thi
gian qu di hn .

21

BI THC HNH S 4
TNG HP B C TC QUAY TRN KGTT
T kt qu ca bi 1 ta thu c m hnh trng thi ca i tng l
G_ss_rr1 ng vi chu k trch mu l 0.1s v G_ss_rr_2 ng vi chu k trch
mu t=0.01s.
1.1 Tng hp b iu khin tc quay theo phng php gn im cc.
Chn 2 im cc ca h thng l p1 0.4, p2 0.6 ta c chng trnh
matlab.
p=[0.4 0.6];
[A,B,C,D]=ssdata(G_ss_rr1);
[A1,B1,C1,D1]=ssdata(G_ss_rr2);
k1=acker(A,B,p)% Bo dieu khien ung voi T=0.1s
k2=acker(A1,B1,p)% Bo dieu khien ung voi T=0.1s

Kt qu:
k1 =
1.0e+004 *
-1.2280
-3.9167
k2 =
8.842 -86.3506

1.2 Tng hp b iu khin deadbeat

Chng trnh:
p=[0 0];
[A,B,C,D]=ssdata(G_ss_rr1);
[A1,B1,C1,D1]=ssdata(G_ss_rr2);
% Bo dieu khien ung voi T=0.1s
k3=acker(A,B,p)
% Bo dieu khien ung voi T=0.1s
k4=acker(A1,B1,p)

Kt qu:
k3 =
6.2354 -263.7131
K4 =
33.9084

-22.0572

22

2.1 Thit k gn im cc:

Vi T1 0.1s :
% T1=0.1s
Gk1=ss(A-B*k1,B,C,D,0.01);
step(Gk1)

Vi T2 0.01s :
% T2=0.01s
Gk2=ss(A1-B1*k2,B1,C1,D1,0.01);
step(Gk2)

23

2.2 Thit k Deadbeat:

% T1=0.1s
Gk3=ss(A-B*k3,B,C,D,0.01);
step(Gk3)

% T2=0.01s
Gk4=ss(A1-B1*k4,B1,C1,D1,0.01);
step(Gk4)

24

Nhn xt:
+ Tng hp b iu khin tc quay theo phng php phn hi trng thi sao
cho p ng c dng PT1 th sau nhiu chu k trch mu u ra mi xc lp.
+ Tng hp b iu khin tc quay theo phng php p ng hu hn th sau 2
chu k trch mu u ra t gi tr xc lp do 2 im cc c gn u nm gc
ta .

25