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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.
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:
G(s)
a.
b.
c.
d.
)(
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.
Bi lm:
a. V QNS:
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 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:
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:
b. Theo hnh v ta c:
T=165s, L=25s.
Theo m hnh l nhit tuyn tnh ha, ta c:
T=120s,
L=30s.
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:
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:
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
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 .