Vous êtes sur la page 1sur 23

BO CO TH NGHIM C S T NG

BI TH NGHIM 1
PHN A: NG DNG MATLAB PHN TCH CC H THNG IU KHIN
T NG
TH NGHIM:
1. Tm hm truyn tng ng ca h thng:
Th nghim: S dng cc lnh c bn conv,tf,series,parallel,feedback, tm biu thc hm truyn
tng ng G(s) ca h thng sau:

Bi lm:
>>G1=tf([1 1],conv([1 3],[1 5]));
>> G2=tf([1 0],[1 2 8]);
>> G3=tf([1],[1 0]);
>> H1=tf([1 2],[1]);
>> G13=parallel(G1,G3)
Transfer function:
2 s^2 + 9 s + 15

-----------------s^3 + 8 s^2 + 15 s

>> Ght=feedback(G2,H1)
Transfer function:
s
--------------2 s^2 + 4 s + 8

>> Gnt=series(G13,Ght)
Transfer function:
2 s^3 + 9 s^2 + 15 s
----------------------------------------2 s^5 + 20 s^4 + 70 s^3 + 124 s^2 + 120 s
>> G(s)=feedback(Gnt,1)
Transfer function:
2 s^3 + 9 s^2 + 15 s
----------------------------------------2 s^5 + 20 s^4 + 72 s^3 + 133 s^2 + 135 s
2. Kho st h thng dng biu bode:
Th nghim: kho st h thng phn hi m n v c hm truyn vng h:

G(s)

)(

a. Vi K=10, v biu bode bin v pha h thng trn trong khong tn s (0.1, 100).
b. Da vo biu bode, tm tn s ct bin, d tr pha, tn s ct pha, d tr bin ca
g thng.

c. H thng trn c n nh khng, gii thch.


d. V p ng qu ca h thng trn vi u vo hm nc n v trong khong thi gian
t=0->10s.
e. Vi K=400, thc hin li t cu a->d.
Bi lm:
a. Vi K=10.
>> Gs=tf([10],conv([1 0.2],[1 8 20]));
>> bode(Gs,{0.1,100})
>> grid on
Kt qu:

b. Tn s ct bin: 0.455(rad/sec).
d tr pha: 103
Tn s ct pha: 4.65(rad/sec).
d tr bin: 24.8
c. H thng trn l n nh v c d tr bin v pha u dng.
d. p ng qu ca h thng:

Vi K=400:
a. Biu bode:

b. Tn s ct bin: 6.73(rad/sec)
d tr pha: - 24.3
Tn s ct pha: 4.65(rad/sec).
d tr bin: - 7.27
c. H thng trn l khng n nh v c d tr bin v pha u m.
d. p ng qu ca h thng:

3. Kho st h thng dng biu nyquist:

Th nghim: kho st h thng phn hi m n v c hm truyn vng h:

G(s)
a.
b.
c.
d.

)(

Vi K=10, v biu Nyquist ca h thng.


Da vo biu Nyquist tm d tr bin, d tr pha ca h thng.
H thng c n nh khng, gii thch.
Vi K=400, thc hin t cu a->c.

Bi lm:
a. K=10:
>> Gs=tf([10],conv([1 0.2],[1 8 20]));
>> nyquist(Gs)
>> grid on
>> hold on
>> t=(-1:0.001:1)*2*pi;
>> x=sin(t);
>> y=cos(t);
>> plot(x,y) % v vng trn n v.
>> hold off

b. Tn s ct bin: 0.455(rad/sec).
d tr pha: 103
Tn s ct pha: 4.65(rad/sec).
d tr bin: 24.8.
Kt qu ging ht nh i vi biu bode.
c. H thng trn l n nh v c d tr bin v pha u dng.
d. Vi K=400:
Biu Nyquist ca h thng.
>> Gss=tf([400],conv([1 0.2],[1 8 20]));
>> nyquist(Gss)
>> grid on
>> hold on
>> plot(x,y)

Tn s ct bin: 6.73(rad/sec)
d tr pha: - 24.3
Tn s ct pha: 4.65(rad/sec).
d tr bin: - 7.27
H thng trn l khng n nh v c d tr bin v pha u m.
4. Kho st h thng dng phng php QNS.
Th nghim: H thng hi tip m n v c hm truyn vng h.

G(s)
a.
b.
c.
d.
e.

)(

, K0.

V QNS ca h thng. Da vo QNS tm Kgh ca h thng.


Tm K h thng c tn s dao ng t nhin n=4.
Tm K h thng c h s tt =0.7.
Tm K h thng c vt l POT= 25%.
Tm K h thng c thi gian xc lp (tiu chun 2%) txl=4s.

Bi lm:
a. V QNS:

>> G=tf([1],conv([1 3],[1 8 20]));


>> rlocus(G)
>> grid on

Nhn vo QNS ta thy Kgh=422.


b. h thng c tn s dao ng t nhin n=4 ta tm giao im ca vng trn n=4 vi
QNS. Theo th ta c K=55.
c. h thng c h s tt =0.7 ta tm giao im ca ng =0.7 vi QNS. Theo
th ta c K=19.8.
d. Theo th ta xc nh t cng thc:

POT=exp(

) => =0.4

Vy ta c K=76.9
e. Vi txl=4s => n=1. Vy ta tm giao im ca QDNS vi ng thng n=1. Ta
c K=174.
5. nh gi cht lng h thng.
Th nghim: Vi h thng nh phn 4.
a. Vi K=Kgh trn, v p ng qu ca h thng vng kn vi u vo hm nc n v.
Kim chng p ng ng ra c dao ng khng?

b. Vi gi tr K tm c cu d, phn 4, v p ng qu ca vng kn vi u vo hm
nc n v trong khong thi gian t 0->5s. T hnh v tm vt l v sai s xc lp ca
h thng. Kim chng li h thng c vt l bng 25% khng?
c. Vi gi tr K tm c cu e, phn 4, v p ng qu ca vng kn vi u vo hm
nc n v trong khong thi gian t 0->5s. T hnh v tm vt l v sai s xc lp ca
h thng. Kim chng li h thng c txl=4s khng?
d. V 2 p ng qu ca cu b. v c. trn cng mt hnh v. Ch thch trn hnh v p
ng no l tng ng vi K .
Bi lm:
a. Vi K=422
>> G=tf([422],conv([1 3],[1 8 20]));
>> Gk=feedback(G,1);
>> step(Gk,10)
>> grid on
Nhn xt: H thng n nh, ng ra c dao ng nhng khng ng k ta c th xem nh l
n nh.

b. Vi K=76.9
>> Gb=tf([76.9],conv([1 3],[1 8 20]));
>> Gbk=feedback(Gb,1);
>> step(Gbk,5)
>> grid on

vt l bng 20.9%, khng bng 25% na.


Sai s xc lp: 2.1s.
c. Vi K=174
>> Gc=tf([174],conv([1 3],[1 8 20]));
>> Gck=feedback(Gc,1);
>> step(Gck,5)
>> grid on

vt l bng 45.4%.
Sai s xc lp: 3.46s.
H thng lc ny khng cn txl=4s na.
d. V 2 p ng qu ca cu b. v c. trn cng mt hnh v
>> Gb=tf([76.9],conv([1 3],[1 8 20]));
>> Gbk=feedback(Gb,1);
>> step(Gbk,5)
>> grid on
>> hold on
>> Gc=tf([174],conv([1 3],[1 8 20]));
>> Gck=feedback(Gc,1);
>> step(Gck,5)

--------------------------------------------------------------------------------PHN 2:

NG DNG SIMULINK M PHNG V NH GI CHT LNG


H THNG

TH NGHIM:
1. Kho st m hnh h thng iu khin nhit :
1.a) Kho st h h, nhn dng h thng theo m hnh Ziegler-Nichols:
Th nghim: Dng SIMULINK xy dng m hnh h thng l nhit vng h
nh sau:

Step l tn hiu hm nc.


a. Chnh cc gi tr ca hm nc l 1 cng sut cung cp cho l l 100% (Step time = 0,
Initial time = 0, Final time = 1). Chnh thi gian m phng Stop time = 600s. M phng v
v qu trnh qu ca h thng trn.
b. Trn hnh v ca cu trn, v tip tuyn ti im un tnh thong s L v T theo nh
hng dn trong bi th nghim 5. Ch r cc gi tr ny trn hnh v. So snh gi tr L v T
va tm c vi gi tr ca m hnh l nhit tuyn tnh ha.
Bi lm:
a. M phng v v qu trnh qu ca h thng.

b. Theo hnh v ta c:
T=165s, L=25s.
Theo m hnh l nhit tuyn tnh ha, ta c:
T=120s,

L=30s.

1.b) Kho st m hnh iu khin nhit ON-OFF:

Th nghim: Xy dng m hnh h thng iu khin ON-OFF:

Trong :
Tn hiu t vo hm nc u(t)=100.
Khi relay l b iu khin ON-OFF.
Gi tr li khi Gain l 150.
a. Chnh Stop time = 600s. Kho st qu trnh qu ca h thng vi cc gi tr ca khu
relay nh sau:

b. Tnh sai s ng ra vi tn hiu t v thi gian ng ngt ng vi cc trng hp ca


khu relay cu a theo bng sau:

Nhn xt s nh hng ca vng tr n sai s ng ra v chu k ng ngt ca khu relay.

c. Lu qu trnh qu ca trng hp vng tr (+5 / -5). Trn hnh v ch ra sai s +e1 /


-e2 quanh gi tr t v chu k ng ngt.
d. sai s ng ra st s bng khng th tat hay i gi tr vng tr bng bao nhiu? Chu k
ng ngt lc ny thay i nh th no? Trong thc t, ta thc hin b iu khin ONOFF nh vy c c khng? Ti sao? Vng tr la chn bng bao nhiu l hp l. Gii
thch.
Bi lm:
a. Kho st:
Vng tr: +1/-1.

Vng tr: +5/-5.

Vng tr: +10/-10

Vng tr: +20/-20

b. Tnh sai s ng ra:


Vng tr
e1
-e2
Chu k ng ngt
+1/-1
5
1.5
54
+5/-5
11.7
7
97
+10/-10
19
12
125
+20/-20
30
22
170
Nhn xt: khi vng tr cng ln th sai s ng ra cng tng v chu k ng ngt cng
tng. Do vng tr ca khu Relay lm cho h thng p ng chm hn vi s thay i ca tn
hiu sai s, vng tr cng ln th p ng ca khu Relay cng chm.
c. Vng tr: +5/-5

d. Thng qua m phng ta nhn thy cng gim rng vng tr th sai s cng tin v
0. Chu k ng ngt rt nh v tin v 0. Trong thc t ta khng th thc hin b iu
khin ON-OFF nh vy c v phn t chp hnh bao gi cng c vng tr v thi
gian p ng ca phn t chp hnh. Ta c th s dng gi tr sao cho dung ho gia
sai s ng ra v chu k ng ngt.
1.c) Kho st m hnh iu khin nhit dng phng php Ziegler-Nichols (iu
khin PID):
Th nghim: xy dng m hnh iu khin nhit PID nh sau:

a. Tnh gi tr cc thng s KI, KP, KD ca khu PID theo phng php Ziegler-Nichols t
thng s L v T tm c phn 1.a.
b. Chy m phng v lu p ng ca cc tn hiu Scope vit bo co. C th chn li
Stop time cho ph hp. Trong hnh v phi ch thch r tn cc tin hiu.
c. Nhn xt v cht lng ng ra 2 phng php iu khin PID v ON-OFF.
Bi lm:
a. Thng s:
KP =
KI=

=0.0193
=0.000345

KD=0.5* KP*L=0.5*0.0193*28=0.2702
b. Kt qu m phng:

c. Nhn xt:kt qu hon ton nh ta mong mun, h thng nhanh chng t gi tr t.


Phng php iu khin ON-OFF th tn hiu ra lun dao ng quanh gi tr t.
Phng php PID cho cht lng tt hn phng php ON-OFF.
2. Kho st m hnh iu khin tc , v tr ng c DC:
2.a
Kho st m hnh iu khin tc ng c DC:
Th nghim: xy dng m hnh h thng iu khin ng c PID nh sau:

a. Thc hin kho st h thng vi b iu khin P v tnh vt l , sai s xc lp, thi


gian xc lp ca ng ra theo bng sau:
Kp
1
10
20
50
100
POT
0%
0.01%
0.01%
0
0
exl
16.7
2
1
0.4
0.2
txl
0.3s
0.45s
0.5s
0.55s
0.6s
Nhn xt: khi KP cang tng th sai s xc lp cng b, nhng thi gian xc lp li tng them,
vt l cng c tng nhng rt t. Nh vy khi KP cng ln th lm cho cc ca h thng ra xa trc
thc nn thi gian xc lp cng tng ln.
b. Thc hin kho st h thng vi b iu khin PI( KP=2, KD=0) v tnh vt l, sai s
xc lp v thi gian xc lp theo bng sau:
KI
0.1
0.5
0.8
1
2
POT
0%
0%
0.5%
2.5%
12.5%
exl
0
0
0
0
0
Txl
90s
18s
3.5s
7s
5s
Nhn xt: khi KI thay i th sai s xc lp gn nh khng i v bng khng. Khu PI c c
im ca khu hiu chnh tr pha lm chm p ng qu lm tng vt l. Khi Ki cng ln
th vt l cng tng, v thi gian xc lp cng tng. Nhng vi nhng gi tr KI nh th khu
PI s lm cho sai s xc lp tin v 0 chm.
So snh cht lng h thng dng khu hiu chnh P v h thng dng khu hiu chnh PI ta
thy rng khi dng khu hiu chnh P th thi gian xc lp nh, vt l nh tuy nhin sai s xc
lp khc 0 v h thng c th khng n nh nu Kp qu ln, ngc li khi s dng khu hiu
chnh PI th h thng lun c sai s l 0 tuy nhin thi gian xc lp ca h thng l kh ln so
vi lhu P v vt l kh cao.
c. Thc hin kho st h thng vi b iu khin PID( KP=2, KI=2) v tnh vt l, sai s
xc lp v thi gian xc lp theo bng sau:

KD
0.1
0.2
0.5
0.8
1
POT
11%
10.5%
10.4%
14%
16.3%
exl
0
0
0
0
0
txl
5s
4.7s
4.4s
4s
6.5s
Nhn xt: Sai s xc lp ca b hiu chnh PID l 0.Khi Kd tng th vt l v thi gian xc lp
gim nhng khi Kd ln hn gii hn cho php th vt l v thi gian xc xc lp ca h thng
tng.
Khu hiu chnh PID c th c xem nh hai khu PI v PD mc ni tip v vy n c
c u im v khuy im ca khu PI v khu PD c kh nng ci thin p ng qu v lm
cho sai s xc lp bng 0 do hm truyn h thng khng c khu vi phn l tng, tuy nhin ta
phi la chn cc thng s Kp,Ki,Kd cho ph hp nu khng cht lng h thng s khng th
t c nh mong mun.
2.b

Kho st m hnh iu khin v tr ng c DC:

Th nghim: xy dng m hnh HT iu khin PID v tr ng c DC nh sau:

Thc hin cc phn nh phn 2.a.


Bi lm:
a. iu khin P
KP
1
10
20
50
100
POT
0
0
0
12%
exl
2
0.2
0.1
0.04
txl
4s
3s
3.5s
10s
Nhn xt :Khi Kp cng tng th sai s xc lp cng gim v tn hiu vo l hm dc n v cn
hn truyn h thng c khu vi phn l tng v vy h s sai s xc lp s ch ph thuuc vo
1/Kp, v vy khi Kp cng ln th sai s xc lp cng gim.Tuy nhin khi Kp cng tng th thi

gian xc lp cng ln, h thng cng dao ng v vt l ngy cng cao. Nu Kp tng qu ln
th h thng s dao ng v khng cn n nh.
b. iu khin PI(KP=2, KD=0):
KI
0.1
0.5
0.8
1
2
POT
0
0
0
1%
6%
exl
0.6
0
0
0
0
txl
2s
7.5s
8s
8.5s
9s
Nhn xt : Khu hiu chnh PI c tc dng lm cho sai s xc lp ca h tin dn v 0 Ki tng
th sai s xc lp bng 0. Tuy nhin khu PI li lm cho h thng km n nh v vt l cng
tng khi Ki tng, nguyn nhn l do khu PIc c tnh ca khu hiu chnh tr pha lm chm
p ng qu , tng vt l v lm gim sai s h thng.
So sng vi khu P th khu PI lm cho cht lng h thng tt hn v sai s xc lp
bng 0, tuy nhin hn ch ca khu PI l lm chm p ng qu v vy thi gian xc lp tng
ln.
c. iu khin PID( KP=2, KI=2):
KD
0.1
0.2
0.5
0.8
1
POT
2.3%
2%
0.5%
0
0.5%
exl
0
0
0
0
0
txl
10s
8s
12s
12s
12s
Nhn xt : Khi KD thay i th sai s xc lp lun bng 0 cn vt l ban u gim sau li
tng ln, tng t nh vy i vi thi gian xc lp. Khu hiu chnh PI l c nh ch c khu
hiu chnh PD thay i lm thay i cht lng ca h thng. Ta bit rng khu hiu chnh PD
c c im ca mt khu hiu chnh sm pha v vy n lm nhanh p ng qu ca h
thng, lm gim thi gian qu v vt l.
Kt lun : c ba khu hiu chnh P, PI,v PID u c tc dng ci thin cht lng h
thng. Khu P lm cho sai s xc lp ca h gim tuy nhin nu Kp qu ln th h thng s mt
n nh do khu PI(tch phn l tng) c s dng lm gim sai s xc lp v trong khu
PI c khu hiu chnh tr pha ci thin p ng xc lp.Nhng nu Ki qu ln cng s lm cho
thi gian xc lp ca h tng v vt l ln v vy khu hiu chnh PID(vi tch phn) c s
dng lm gim thi gian xc lp v khu PID c khu hiu chnh sm pha PD ci thin p
ng qu .

Vous aimerez peut-être aussi