Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

Tng hp b iu khin cho h in kh nn iu khin cnh li tn la trn c s phng php phn khi kt hp iu khin trong ch trt Systhesizing controller for electro-pneumatic servo systems drive the rudder of missile based on Block-sliding mode method
Nguyn Thanh Tin Hc vin KTQS e-Mail: ngttien2002@yahoo.com Bi c Cng - Hc vin KTQS e-Mail: voicoi_bdc@yahoo.com Tm tt
Bi bo trnh by vic tng hp iu khin cnh li in kh nn trn tn la. M hnh ton hc h thng l h phi tuyn, cc yu t nh hng ca m men ti l mt i lng khng xc nh. o lng hn ch.

Abstract: This paper presents the synthesis of

rudder control electro-pneumatic servo system to drive the missile. Mathematical model is the nonlinear system, the factors affecting the load torque is an unknown quantity. Measurement limitations.

1. Phn m u
ng hc ca tuyn li nh hng rt ln n cht lng iu khin qu o ca thit b bay. H thng truyn ng tuyn li trn mt s loi n tn la thng s dng h thng truyn ng in kh nn, kh i vo hai ngn ca xy lanh c iu chnh bng phn t van servo. n gin ha trong tnh ton iu khin ngi ta xem hm truyn ca tuyn li nh mt khu qun tnh [7]. tnh ton thit k h truyn ng in kh nn ta phi tng hp trn c s m hnh ton hc trung thc ca cc phn t trong h thng.

2. Ni dung chnh
2.1 Xy dng m hnh h thng M hnh h thng truyn ng in kh nn iu khin cnh li tn la l mt h iu chnh t ng khp kn. Cnh li c iu chnh di chuyn tng ng vi cc tn hiu ca h thng dn v h thng n nh vi yu cu ng hc xc nh trc. [7] M hnh ton hc ca h truyn ng in kh nn c xy dng trn c s m hnh ton hc ca cc khu: + M hnh chuyn ng xylanh. + M hnh ca van servo (rle dng). ng lc hc h truyn ng kh nn: Xt h truyn ng kh nn kiu xylanh pittng tc ng hai pha. Phng trnh chuyn ng ca pittng: d2x (1) m 2 PL S Fcan Fms dt Trong : m: Tng khi lng cc vt chuyn ng quy i v pittng. [kg]

x - dch chuyn ca piston. [m] S - Din tch cng tc ca pittng trong xylanh. [m2] PL - Hiu p sut ca hai ngn trong xylanh [Pa] Fcan :Lc tng tc ca dng kh trong qu trnh chuyn ng ca tn la vi cnh li to ra gia tc php tuyn qui i v cn pittng [N] Fms cc thnh phn lc ma st cn tr chuyn ng ca gc quay cnh li qui i v pittng [N] Nhng yu t nh hng n (1): Tham s kt cu ca h thng, p sut ngun kh nn cung cp vo h thng, nhit tt c cc tham s ny thay i trong qu trnh chuyn ng ca tn la. c bit lc cn ph thuc rt nhiu vo mt khng kh, trn cao bay, mi trng bay Phng trnh cn bng lu lng kh trong xylanh : (2) Q QF Qtm QC Trong : Q : Tng lu lng kh i vo xylanh. QF : Thnh phn lu lng kh nn tc ng chuyn dch pitttng. Qtm : Thnh phn kh nn tn hao. QC : Thnh phn lu lng kh nn b nn trong hai bung xilanh. - Thnh phn QC: Trong my li kh nn, pittng xylanh c kt cu i xng nn khi pittng chnh gia: V dPL (3) QC 0 4 B dt Trong : PL P P2 :Hiu p sut kh nn trong hai 1 bung ca xilanh. [Pa]. V0 : Th tch lm vic ca xylanh. B : M un n hi ca kh nn - Thnh phn Qtm : (4) Qtm Ctm PL Trong : C tm - H s tiu hao kh nn trn mt n v chnh p sut P L. - Thnh phn QF : dx (5) QF S dt - Xc nh thnh phn Q : Lu lng kh nn kh nn vo xylanh thng qua vi phun c xc nh bng phng trnh lin h gia lu lng kh nn qua vi phun v v tr vi phun trong van iu chnh rle dng :

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

Q Cd Svp P0 sign(x v ).PL
(6) i : Hiu dng in i trong hai cun dy iu khin. [A] : Gc quay ca phn ng trong van servo rle dng. [rad] Phng trnh cn bng mmen tc ng ln li t c xc nh : Kt M K d = i + m - fv (13) dt Jv Jv Jv Phng trnh cn bng hiu in th trong cun dy iu khin c xc nh : R c + rp K u di (14) =i+ b + v dt Lc Lc Lc Trong : uv : in p iu khin t vo cun dy iu khin. [V] iv : Dng in i trong cun dy iu khin. [A] Lc : in cm ca cun dy iu khin. [H] Rc : in tr ca cun dy iu khin. [] rp : in tr trong ca ngun. [] Kb : H s sc phn in ng c sinh ra trong cun dy iu khin khi xoay li t vi vn tc gc Cc bin trng thi c nh ngha nh sau: x1 : Dch chuyn gc quay cnh li. x2 : Tc gc quay cnh li. x3 : p lc kh nn trong xylanh. x4 : Gc quay phn ng trong van iu chnh kh nn rle dng. x5 : Tc gc quay phn ng trong van iu chnh kh nn rle dng. x6 : Hiu dng in i trong cc cun dy ca van iu chnh kh nn.

Trong : Cd : H s lu lng.

Svp : Din tch mt ct thng ca vi phun vi u vo hai khoang xylanh, t l vi dch chuyn u vi phun xv so vi v tr trung bnh. Svp bxv [m2],
b : H s t l ca dch chuyn u vi phun vi din tch thng nhau gia vi phun v u vo khoang xylanh. P0 : p sut ca ngun cung cp kh nn. [bar] xv : dch chuyn ca u vi phun so vi v tr trung bnh, xv c mi lin h vi gc quay phn ng: (7) xv l sin a [m] Trong : l : Chiu di t tm quay phn ng n u vi phun. [m] a : Gc quay ca phn ng. [rad] Khi a 1 sin a a xv la; sign( xv ) sign(a). . Do : P - sign().PL (8) Q = Cd bl 0
Vy :

Cd bl

P0 - sign()PL = V dP dx = S + Ctm PL + 0 L dt 4B dt Cd bl

(9)

t :

x1 = x 2 F (x ) S x3 - f 1 m m 4B x3 = (- Sx 2 - C tm x 3 + V0 x2 = +Cx 4 . P0 - sign(x 4 )x 3 ) x 4 = x5 x5 = Kt M K x 6 + m x 4 - fv Jv Jv Jv R c + rp Lc x6 + Kb u x5 + v Lc Lc
(15)

dPL 4B = ( -Sx - Ctm PL + Ca P0 -sign()PL ) (10) dt V0 M hnh ca van servo Rle dng Phng trnh chuyn ng ca phn ng trong van iu chnh kh nn (rle dng) di tc ng ca m men in t sinh ra bi cun dy iu khin. d (11) Jv = Mdt - Mfv dt Trong : J v : M men qun tnh ca phn ng ca van. w : Tc gc quay phn ng trong van iu chnh rle dng. [rad/s] M dt : Mmen in t do tc dng ca lc in t trong cc cun dy gy ra l quay phn ng ca van. M fv : Thnh phn mmen nhiu lon cn tr chuyn ng phn ng ca van (mmen ma st, mmen cn ca kh nn t vi phun ln li t). Phng trnh m men in t c dng: (12) Mdt = K t i + Km Trong : Kt, Km :H s mmen i vi cu trc ca cun dy in t

x6 = -

H phng trnh trn m t y qu trnh ng hc ca h truyn ng in kh nn iu khin cnh li tn la. Cc yu t khng xc nh chnh xc trong m hnh l Ff (x), Mfv . in p iu khin l in p a vo cun dy ca van vervo. u ra l gc quay ca cnh li. Bi ton iu khin c t ra nh sau: Tm cu trc ca in p iu khin t vo cun dy ca van servo gc quay u ra ca cnh li bm st theo gc quay tnh ton yu cu. Gc quay yu cu ny c hnh thnh trn c s lut dn tn la.

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

Bi bo gii thiu tng hp b iu khin theo thut ton phn khi kt hp iu khin trong ch trt 2.2 Tng hp lut iu khin Vi m hnh ton hc ca h thng c m t bi h phng trnh (15) khi c thnh phn khng xc nh th vic tng hp theo cc phng php truyn thng gp nhiu kh khn. Cc bc tng hp theo thut ton phn khi kt hp iu khin trong ch trt nh sau [6,4]: Bc 1: Vi mc tiu gii bi ton bm st ta mong mun sai s bm st tin v khng trong qu trnh iu khin. Xt sai s bm st: e1 = x1 - x1d . Mong mun : e1 0 . Xt vi phn sai s ny: e1 = x 2 - x1d Trong phng trnh trn bin trng thi x2 c th xem nh l tn hiu iu khin m bo e1 0 . Ta chn : x 2d = - c1e1 + x1d Vi c1 l hng s dng. Sai khc gia gi tr la chn v gi tr thc x2 l e2, v e2 = x 2 + c1e1 - x1d . Nh vy ta nhn c: (16) e1 = - c1e1 + e2 Trong (16) nu e2 = 0 th e1 = - c1.e1 hi t v 0 theo dng hm m. Bc 2: Mc tiu ca bc ny l m bo e2 0 nhanh nht c th. e2 0 ta xt vi phn ca n. e2 = x 2 + c1e1 - x1d . Th phng trnh th 2 ca h (17) vo ta nhn c F x S e2 = x 3 - f 1 +c1 -c1e1 + e2 -x1d m m Tng t bc 1 ta c th la chn : F x S x 3 =-c2 e2 f 1 +e3 +x1d m m Vi e3 l sai khc ca x3d (la chn) v x3 thc t, c2 0 . Khi ta nhn c : 2 e2 = - c1 e1 - c2 - c1 e2 +e3 (17) Bc 3: Mc tiu ca bc ny l m bo e3 nhanh nht c th. e3 = Bc 4 : Mc tiu ca bc ny l m bo cho e4 0 nhanh nht c th.

e4

4 BSC x 4 P0 sign(x 4 ) x 3 m V0 4 BS2 x2 mV0 4 BSCtm x3 m.V0

c3 e3 x1d

Ff (x1 ) m

Tuy nhin, ta thy

P0 sign(x 4 )x 3 l mt hm gin on nn khng kh vi theo x4. Do vy s khng ng dng c cc bc vi phn tip theo. c th thc hin c ta c thay tng ng sign(x4) bi mt hm lin tc arctg(x4) Vi ln. c tnh tng ng ca hm arctg(x) (H1)

e4

H1 th hm arctg(.x) 4BSC 2 [x 5 P0 arctg(l x 4 )x 3 mV0

x4
2 [ c1 c 2 c3 e1 2

d P0 dt (c 2

2 arctg(l x 4 )x 3 ] (c3 c 2 )c3e3 c3e 4 ]

c 1 )c 2 c3e 2

4BSC tm Ff (x1 ) 4BS x2 x3 x1d m.V0 m.V0 m Trong phng trnh trn ta coi x5 l bin iu khin mi ca h, v c la chn c dng : 4BSC 2 x 5 P0 arctg(l x 4 )x 3 c 4 e 4 e5 mV0
4BSC mV0 x4 d P0 dt 2 arctg(l x 4 )x 3 ] x1d

F x S x 3 +c2 e2 f 1 - x1d m m

Ta xt vi phn ca n : S 4.B e3 = (-Sx 2 -C tm x 3 +Cx 4 P0 -sign(x 4 )x 3 )m V0

- x1d m Ta coi x4 l bin iu khin mi ca h v t : S 4.B Cx 4 P0 -sign(x 4 )x 3 = -c3e2 +e4 + m V0

F x S2 4.B S 4.B x2 Ctm x 3 + f 1 + x1d m V0 m V0 m Ta nhn c: 2 e3 c1 c2 e1 (c2 c 1 ) c2 e2 (c3 c 2 ) e3 e4 (18) +

2 -c1 c2 e1 - c2 -c1 c2 e2 -

Ff x1

4BSC tm Ff (x1 ) 4BS2 x2 x3 mV0 mV0 m Ta nhn c : 2 e4 c1 c2 c3e1 (c2 c 1 ) c2 c3e2

(c3 c 2 ) c3e3 (c4 c 3 ) e4 e5 Bc 5 : Tip tc xt vi phn ca e5 :

(19)

Vi c3

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

e5 4BSC [x 5 P0 mV0 x5 d P0 dt 2 arctg(l x 4 )x 3 c4e4

e5

2 c1 c2 c3c4 e1 (c2 c 1 ) c 2 c3c 4 e 2

(c3 c 2 ) c3c4 e3 (c 4 c 3 ) c 4 e 4 (c5 c 4 ) e5 e6 Bc 6 : Tip tc xt vi phn ca e6 :

e6 4BSC K t mV0 J v d 4BSC K t ( dt mV0 J v P0 P0 P0 2 arctg(l x 4 )x 3 x 6 2 arctg(l x 4 )x 3 )x 6 2 arctg(l x 4 )x 3 2 arctg(l x 4 )x 3 c5e5

(20)

2 arctg(l x 4 )x 3 ]

4BSC d d (x 4 P0 mV0 dt dt 4BS2 S [ x3 mV0 m Ff (x1 ) ] m

2 arctg(l x 4 )x 3 )

4BSC tm 4.B [ ( Sx 2 mV0 V0

C tm x 3

4BSC M fv mV0 J v

F (x ) d 2 (5) C x 4 P0 arctg(l x 4 )x 3 )]- f 1 x1d dt m Thay cc phng trnh trn vo ta c: M Km 4BSC K t 2 e5 [( x6 x 4 - fv ) P0 arctg(l x 4 )x 3 mV0 Jv Jv Jv

4BSC K m x 4 P0 mV0 J v x5 d P0 dt

2 arctg(l x 4 )x 3 2 arctg(l x 4 )x 3 )

x5
2 c 4 [ c1 c 2 c3 e1

d P0 dt (c 2

2 arctg(l x 4 )x 3 ] (c3 c 2 )c3e3 e5 ] 2 arctg(l x 4 )x 3 )

t
(.)

d dt

4BSC d d (x 4 P0 mV0 dt dt 4BS2 S [ x3 mV0 m

Ff (x1 ) ]m C tm x 3 2 arctg(l x 4 )x 3 )]

c 1 )c 2 c3e 2

(c 4

c 3 )e 4

4BSC tm 4B [ ( Sx 2 mV0 V0 C Ff (x1 ) m d x 4 P0 dt

4BSC d d (x 4 P0 mV0 dt dt 4BS2 S [ x3 m.V0 m

Ff (x1 ) ] m C tm x 3

(5) x1d

4BSC tm 4B [ ( Sx 2 mV0 V0

Ff (x1 ) d 2 (5) C x 4 P0 arctg(l x 4 )x 3 )] x1d dt m Trong phng trnh trn ta coi x6 l bin iu khin mi ca h, v c la chn c dng:
4BSC K t mV0 J v c5 e5 P0 e6 2 arctg(l x 4 )x 3 x 6 4BSC M fv mV0 J v P0 2 arctg(l x 4 )x 3 )

4BSC K t mV0 J v

P0

2 arctg(l x 4 )x 3 ( P0 P0

Rc Lc

rp

x6 c5 e5

Kb .x 5 ) Lc

d 4BSC K t ( dt mV0 J v 4BSC M fv mV0 J v

2 arctg(l x 4 )x 3 )x 6 2 arctg(l x 4 )x 3 2 arctg(l x 4 )x 3

4BSC K m x 4 P0 mV0 J v x5 d P0 dt

4BSC K m (x 4 P0 mV0 J v x5 d P0 dt

2 arctg(l x 4 )x 3

2 arctg(l x 4 )x 3 2 arctg(l x 4 )x 3 )

2 arctg(l x 4 )x 3 ) 2 arctg(l x 4 )x 3 )

d dt

4BSC d d (x 4 P0 mV0 dt dt 4BS2 S [ x3 mV0 m Ff (x1 ) ] m

4BSC d d (x 4 P0 mV0 dt dt 4BS2 S [ x3 mV0 m Ff (x1 ) ] m

4BSC tm 4B [ ( Sx 2 mV0 V0 C d x 4 P0 dt

C tm x 3 2 arctg(l x 4 )x 3 )]

4BSC tm 4B [ ( Sx 2 mV0 V0 C d x 4 P0 dt

C tm x 3 Ff (x1 ) m
(5) x1d

Ff (x1 ) m

(5) x1d

2 arctg(l x 4 )x 3 )]

Ta nhn c :

4 BSC K t 2 P0 arctg(l x 4 ) x 3 Lc mV0 J v Thay cc phng trnh trn vo ta c: B(.)

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

e6
2 c1 c2 c3 c4 c5 e1 (c2 c 1 ) c2 c3c4 c5 e2

z4
z5

c12 c2 c3 z1 (c3
(c3 (c5 c12 c2 c3 c4 z1 c4 ) z5

(c2
(c2 z6
(c2

c1 )c2 c3 z2 (c4
(c4 v5
c1 )c2 c3c4 c5 z2 (c4 c3 )c4 c5 z4 Btb uv v6

(c3 c 2 ) c3c 4 c5 e3 (c 4 c 3 ) c 4 c5e 4 (c5 c 4 ) c5 e5 e5 e6 (.) B(.) u v Kt hp cc bc bin i ta nhn c h phng trnh m t h thng v chuyn sang khng gian mi. e1 c1e1 e2
e2 e3 e4 e5 ce
2 1 1

c2 )c3 z3
c2 )c3 c4 z3

c3 ) z4
c3 )c4 z4

z5

v4

(25)

c1 )c2 c3 c4 z2

z6

c12 c2 c3c4 c5 z1 (c3 (c5 c4 )c5 z5

(c 2 c 1 ) e 2 e4

e3

c2 )c3c4 c5 z3

2 c1 c 2 e1 (c 2 c 1 ) c2 e 2

c5 z6

(c3 c 2 ) e3 ccce
2 1 2 3 1

(c 2 c 1 ) c 2 c3 e 2 e5
(21)

Trong , z1 , z2 , z3 , z4 , z5 , z6 l cc bin quan st; vi , i 1,..,6 l thnh phn tc ng vo b quan st zi ei , i 1,..,6 . sai s: ei Phng trnh sai s e1 c1e1 e2 v1

(c3 c 2 ) c3e3 (c 4 c 3 ) e 4

ei

zi , i

1,..,6

2 c1 c2 c3 c 4 e1 (c 2 c 1 ) c 2 c3 c 4 e 2

(c3 c 2 ) c3c 4 e3 (c 4 c 3 ) c 4 e 4 (c5 c 4 ) e5 e6 e6

2 c1 c 2 c3 c 4 c5 e1 (c 2 c 1 ) c 2 c3 c 4 c5 e 2

e2 e3 e4 e5 (c4 e6 (c3

c12 e1 c ce
2 1 2 1

(c2 (c2 (c3

c1 )e2 c2 )e3 (c2 (c2 (c5 (c2 (c4 (c4

e3 e4

v2 v3 e5 v5 (c5 c4 )c5 e5 v4 (c3 c2 )c3c4 e3

c1 )c2 e2 c1 )c2 c3 e2 c3 )e4 e6 c1 )c2 c3 c4 e2 c4 )e5

(c3 c 2 ) c3c 4 c5 e3 (c 4 c 3 ) c 4 c5 e 4 (c5 c 4 ) c5 e5 c 5 e6 (.) B(.) u v

Vi cc h s dng tng ng. Ta s chn bin iu khin u h hi t ti khng: ei 0 , i = 1,6. Trng hp 1: (22) B(.) u v c6 e6 (.) Khi vic tng hp iu khin cho h thng ph thuc vo vic la chn cc hng s ci, i = 1,6 c c ei 0 , i = 1,6. Tuy nhin xy dng lut iu khin (22) trn thc t gp rt nhiu kh khn v phi o lng v nh gi cc tham s. Trng hp 2 : (23) Bmin u v c6sign(e6 ) Khi phng trnh cui cng ca h l phng trnh vi phn c v phi gin on. Nu h s c6 > (.)max th s xut hin ch trt trn mt trt e6 0 . gim dao ng trn mt trt e6 0 ta xy dng lut iu khin c dng: (24) Bmin u v ( (.) B) c6 arctg(l e6 ) Trong : l l hng s dng ln. Nh vy, khi tng hp iu khin dng (23), hoc (24) ta s thc hin d dng hn (22) v mt k thut. Cc thng tin cn thit xy dng lut iu khin ta ch cn e6. Gi tr ny nhn c thng qua b quan st trng thi cho h (21). 2.3 Tng hp b quan st to lut iu khin (23) ta cn bit thng tin v e6 . Gi thit ch o lng c gi tr gc quay cnh li x1 . gii quyt vn ny, ta xy dng m hnh b quan st cho h (21) [6]: Phng trnh quan st xy dng: z1 c1 z1 z2 v1

c cce (c3

2 1 2 3 1

c2 )c3 e3

c ccce c3 )c4 e4

2 1 2 3 4 1

c cccce

2 1 2 3 4 5 1

c1 )c2 c3c4 c5 e2 c3 )c4 c5 e4

c2 )c3 c4 c5 e3

c5 e6 Buv (.) v6 Cu trc b quan st ph thuc vo vic la chn vi , i 1,..,6 . Trong bi bo ny chng ti xut gii php la chn trn c s iu khin trong ch trt. Cc bc xy dng b quan st trong ch trt nh sau: Bc 1: Ta la chn v1 m1signe1 .

e1

c1e1

e2

m1signe1

Vi la chn m1 mt trt e1

e02 s xut hin ch trt trn

0 ta c th c c nh gi ca e2 v1eq nh b lc thng thp. Bc 2: Tng t bc 1, ta chn

0 . Vi e1

v2
e2

m2 signv1eq
c12 e1 (c2

m2 signe2
c1 )e2 e3 m2 signe2

Vi la chn m2

e03 cng s xut hin ch

trt trn mt trt e2 0. Khi e2 0 th t iu khin tng ng ta cng c c nh gi ca e3 v2eq nh b lc thng thp c hng s thi gian nh. Bc 3: Ta la chn: v3

m3 signv2eq
m3 signe3

m3 signe3 .

e3

c12 c2 e1 (c3

(c2

c1 )c2 e2 e4

z2
z3

c z

2 1 1

(c2
(c2 (c3

c1 ) z2
c2 ) z3

z3
z4

v2
v3

c2 )e3

ccz

2 1 2 1

c1 )c2 z2

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

Vi la chn m3 mt trt e3

e04 s xut hin ch trt trn

Ti liu tham kho

[1] Krstc, M.; Kanellakopoulos I.; Kokotovc, P.: Nonlinear and Adaptive Control Design. John Wiley & Sons, Inc., New York 1995 Khalil H. K., Nonlinear Systems, Prentice Hall, 2002. Slotine J. J. E., Li W., Applied Nonlinear Control, Prentice Hall International, 1991. Utkin V., Guldner J, Shi J., Sliding Mode Control in Electromechanical Systems, CRC Press LLC, 1999. Herbert E. Merritt, Hydraulic control systems. John Wiley & Sons, inc USA 1991. . ., . ., , , , 2006. Thuyt minh k thut n tn la phng khng.

0 ta c th c c nh gi ca e4 v3eq nh b lc thng thp. Bc 4: Tng t, ta chn

0 . Vi e3

[2] [3]

v4
e4

m4 signv3eq
c12 c2 c3e1 (c3 (c2 c2 )c3e3

m4 signe4
c1 )c2 c3 e2 (c4 c3 )e4 e5 m4 signe4

[4]

vi la chn m4

e05 cng s xut hin ch

[5] [6]

trt trn mt trt e4 0. Khi e4 0 th t iu khin tng ng ta cng c c nh gi ca e5 v4eq nh b lc thng thp c hng s thi gian nh. Bc 5: Tng t ta chn:

[7]

v5
e5

m5 signv4eq
c12 c2 c3c4 e1 (c3 e6 (c2 c2 )c3c4 e3 m5 signe5

m5 signe5 .
c1 )c2 c3c4 e2 (c4 c3 )c4 e4 (c5 c4 )e5

vi la chn m5 trn mt trt e5

e06 cng s xut hin ch trt

0. Khi e5

0 th t iu khin

tng ng ta cng c c nh gi ca e6 nh b lc thng thp c hng s thi gian nh Bc 6: Tng t ta chn: v6 m6 signv5eq m6 signe6 .
e6 c12 c2 c3 c4 c5 e1 (c3 (c5 c5 e6 c4 )c5 e5 Buv (.) m6 signe6 (c2 c1 )c2 c3c4 c5 e2 (c4 c3 )c4 c5 e4 c2 )c3 c4 c5 e3

v5eq

Nguyn Thanh Tin Sinh nm 1973. Nhn bng K s in in t ti Hc vin K thut Qun s nm 1995 v Thc s t ng ha v iu khin t xa ti Hc vin KTQS nm 2004, v nhn bng Tin s K thut iu khin ti Vin cc vn v iu khin Vin hn lm khoa hc Lin bang Nga nm 2008. Hin l ging vin Khoa K thut iu khin Hc vin KTQS. Lnh vc nghin cu: iu khin cc h in c, H thng c cu trc thay i, iu khin phi tuyn, in t cng sut. Bi c Cng Sinh nm 1982. Tt nghip trng Hng khng Matxcova 2009. Hin l ging vin Khoa K thut iu khin Hc vin KTQS. Lnh vc nghin cu: iu khin cc h in c, H thng c cu trc thay i, iu khin phi tuyn, in t cng sut.

Khi la chn m6

(.)

Buv s xut hin ch

trt trn mt trt e6 0 . Vi e6 0 , t iu khin tng ng ta c c nh gi ca

(.)

v6eq nh b lc thng thp, v thng

tin ny c s dng to lut iu khin (30)

3 Kt lun
Bi bo xem xt h thng truyn ng cnh li in kh nn l h phi tuyn bc 6 vi m hnh ch ra trong (15). Khi gn ng ha hm du ca dch chuyn v tr gc quay ca c cu van bng hm arctan th h c dng kt tng v cho php s dng phng php bin i trnh by a bi ton bm st v bi ton (21) v p dng iu khin trong ch trt xy dng lut iu khin (23), (24). Thng tin to lut iu khin c cung cp bi b quan st trong ch trt (25) gi thit ch o c gc quay x1

VCCA-2011

550