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Bo co Th Nghim iu Khin T ng
Bi 4:
iu Khin Tc ng c DC bng K PID

Sinh Vin Thc Hin: (t 1 Sng th t(nhm 2))
Nguyn nh Dng 09090421
Hunh Gia An - 09206461
Cao Trng Duy Dng - 09216381

Bi 1: Thit k b iu khin PID iu khin tc ng c DC (dng phng php th
sai).
M hnh ng c DC c m t bng hm truyn sau:
()

( )( )

M hnh ton hc trn vi u vo l mc in th cung cp cho ng c DC, u ra l
tc quay ca ng c.
xy dng b iu khin PID bng phng php th sai, ta tin hnh thit lp m
phng sau trong Simulink Matlab:

+ Khi step t mc 100(tc l tc quay 100 Rad/s).
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+ Khi bo ha Saturation t mc in th l -30/30 tng ng vi vng in th
c th t ln ng c m vn m bo khng lm h hng ng c.
+ Chnh thi gian Stop times = 10s.
+ Cc thng s ca khu hiu chnh PID ta tin hnh iu chnh nh sau:
a/. u tin ta tin hnh iu chnh K
P
(vi gi tr K
D
,K
I
bng 0)
+ Vi K
P
=1:


Nhn thy vi K
P
= 1, th tc ca ng c khng th t c tc mong mun.
Thi gian xc lp 0.4s. Vt l : 0.5%. Sai s xc lp: 17(rad/s)
+ K
P
= 15:
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Nh vy p ng qu c ci thin nhng tc vn cha t c nh mong mun.
Thi gian xc lp tng n 0.5s. Vt l 1%. Sai s xc lp 2(rad/s)
+ Vi K
P
= 30

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Tc t gn bng tc t. Thi gian xc lp 0.65s. Vt l 1.8%. Sai s xc lp
1(rad/s)
+ Tng K
P
= 45

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Thi gian xc lp t
xl
= 0.7s. POT = 2.5%, Sai s xc lp e = 0.8 rad/s
+ K
P
= 60

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Thi gian xc lp t
xl
= 0.8s, vt l 3%, sai s xc lp l 0.2 rad/s. Nhng khi zoom len
ta thy h thng bt u giao ng:

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V vy ta chn gi tr K
P
= 60/2 =30
Tng kt:
K
p
1 15 30 45 60
POT(%) 0.5 1 1.8 2.5 3
E
xl
17 2 1 0.8 0.2
t
xl
(s) 0.4 0.5 0.65 0.7 0.8

Nhn xt: Nh vy ta thy rng khi cc thng s K
I
= 0, K
D
= 0 th b iu khin
PID ging nh b iu khin t l KP, khi gi tr KP tng th s lm tng vt l,
tng thi gian xc lp v lm gim sai s xc lp. V khi cc cc ca h thng c
xu hng tin ra xa trc thc nn h thng c xu hng dao ng mnh hn.
b/. Vi K
P
= 30,K
D
= 0 ta tin hnh hiu chnh thng s K
I
:
+ K
I
= 0.1:

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Thi gian xc lp 0.7s, vt l POT=0.8%, sai s xc lp e = 1.
+ K
I
= 0.5

Trang 9


Thi gian xc lp 0.75s, vt l POT=1%, sai s xc lp e = 0.2.
+ K
I
= 1

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Thi gian xc lp 1s, vt l POT=1.2%, sai s xc lp e = -1.
+ K
I
= 1.5

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Thi gian xc lp 8s, vt l POT=2%, sai s xc lp e = -3.
+ K
I
= 5

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Thi gian xc lp 15s, vt l POT=5%, sai s xc lp e = -5.
Nhn thy khi K
I
=1 thi gian xc lp t=1s l thi gian ph hp h thng c th x l
v m bo khng lm cho h thng mt n nh. Vy nn chn K
I
=1
Tng kt:
K
I
0.1 0.5 1 1.5 5
POT(%) 0.8 1 1.2 2 5
E
xl
1 0.2 -1 -3 -5
t
xl
(s) 0.7 0.75 1 8 15

Kt lun: ta nhn thy rng khu hiu chnh PI c c im ca khu hiu chnh tr
pha, nh khu hiu chnh PI c tc dng lm chm p ng qu (do tng thi
gian xc lp), tng vt l v gim thi gian xc lp.
c/. Vi K
P
= 30,K
I
= 1 ta tin hnh hiu chnh thng s K
D
:
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+ Khi K
D
= 0.01


Thi gian xc lp 0.75s, vt l POT=1%, sai s xc lp e = -0.8.

+ Khi K
D
= 0.05

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Thi gian xc lp 0.7s, vt l POT=0.8%, sai s xc lp e = -0.5.

+ Khi K
D
= 0.1

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Thi gian xc lp 0.68s, vt l POT=0.5%, sai s xc lp e = -0.3.

+ Khi K
D
= 0.5

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Thi gian xc lp 0.62s, vt l POT=0.2%, sai s xc lp e = -0.2.

+ Khi K
D
= 1

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Thi gian xc lp 0.5s, vt l POT=0.1%, sai s xc lp e = -0.1.
Gi tr K
D
= 0.05 th h thng gn vi thc t nht v vn bo m h thng n nh.
Tng kt:
K
I
0.01 0.05 0.1 0.5 1
POT(%) 1 0.8 0.5 0.2 0.1
E
xl
-1 -1 -1 -1 -1
t
xl
(s) 0.75 0.7 0.68 0.62 0.5

Nhn xt v b iu chnh PD: khi gi tr KP tng th ng ngh vi QNS c xu
hng ri xa trc o tin v trc thc nn s lm gim vt l, gim thi gian xc
lp v khng c tc ng vo sai s xc lp.
Nh vy ta c b iu khin PID iu khin tc ng c vi cc thng s nh sau:
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K
P
= 30; K
I
= 1; K
D
= 0.05
Vy ta c bng nh gi mc tc ng ca cc thng s b iu khin PID khi chng
ta thay i (tng) chng mt cch c lp vi nhau:
Thng s vt l Thi gian XL Sai s XL n nh
K
P
Tng Tng Gim Gim
K
I
Tng Tng Gim Gim
K
D
Gim Gim Khng tc ng Ci thin

Bi 2: lm thm: thit k b iu khin PID s dng phng php i s iu khin
tc ng c DC
Nh vy ta cng c hm truyn m t h thng nh sau:
()

( )( )

thit k b iu khin PID bng phng php i s ta gi s yu cu cht luong ca
h thng l:
- H c cp nghim phc vi = 0,26 , wn = 100
- H s vn tc Kv = 5
Ta c hm truyn b iu khin PID cn thit k:

H s vn tc ca h sau khi hiu chnh:

()()

(

) (

( )( )
)
K
V
= 5K
I

K
I
= 1
Phng trnh c tnh ca h sau khi hiu chnh l:
1 + G
C
(s)G(s) = 0
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(s+31.2)(s+2.14) + 333.4(KDs + KP + KI/s ) = 0
s
3
+ (33.34 + 333.4KD )s
2
+ (66.78 + 333.4KP )s + 333.4KI = 0 (1)
h thng c cp cc phc vi = 0,26 , wn = 100 th phng trnh c tnh (1)
phi c dng:
(s + a)(s
2
+ 2ens + e
2
n ) = 0
(s + a)(s
2
+ 52s + 10000) = 0
s
3
+ (a + 52)s
2
+ (52a + 10000)s + 10000a = 0 (2)
Cn bng cc h s hai phng trnh (1) v (2), suy ra:
{
( )

( )

Vi KI = 1, gii h phng trnh trn ta c:
{

Vy hm truyn ca khu hiu chnh PID cn thit k l:

nh gi cht lng hm truyn ta thc hin trn Simulink s sau:

Tin hnh nhp cc thng s sau:
+ Khi step t mc 80 (tc l tc quay 100 Rad/s).
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+ Khi bo ha Saturation t mc in th l -30/30 tng ng vi vng in th
c th t ln ng c m vn m bo khng lm h hng ng c.
+ Chnh thi gian Stop times = 10s.
+ Cc thng s ca khu hiu chnh PID nh trn hm truyn trn va tm c.
Ta nhn c p ng qu sau:


Vi cc thng s:
POT = 0.8%
T
xl
= 0.15s
Mc khc ta c
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(

)
Vy nn =0.26
T

Nn ta c wn= 102
Vy thit k trn ng vi yu cu gi thit t ra, ng thi h thng hot ng n
nh ph hp vi c tnh iu khin ng c DC thc t.