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S 1

Phn tch, xy dng hm truyn t v tng hp b iu khin n nh con lc


ngc kp th hin trn hnh di y:

Con lc ngc kp
Bng thng s:
Stt
Tn thng s
K hiu n v
1 Trng lng xe
m0
kg
2 Trng lng cch tay 1
m1
kg
3 Trng lng cch tay 2
m2
kg
4 Chiu di cch tay 1
L1
m
5 Chiu di cch tay 2
L2
m
6 Khong cch t khp ni n trng tm cch tay 1
l1
m
7 Khong cch t khp ni n trng tm cch tay 2
l2
m
8 Cc gc lch ca cch tay 1 so vi phng thng
1
rad
ng
9 Cc gc lch ca cch tay 2 so vi phng thng
2
rad
ng
10 Mmen qun tnh ca cch tay 1
I1
Kg.m2
11 Mmen qun tnh ca cch tay 2
I2
Kg.m2

Phng
n
1
2
3
4
5
6
7
8
9
10
11
12

Cc thng s u vo

Yu cu

m0
(kg)

m1
(kg)

m2
(kg)

L1
(m)

L2
(m)

Tq
(s)

2
2
2
2
1.6
1.6
1.6
1.6
1.8
1.8
1.8
1.8

0.21
0.21
0.21
0.21
0.15
0.15
0.15
0.15
0.25
0.25
0.25
0.25

0.1
0.1
0.1
0.1
0.09
0.09
0.09
0.09
0.12
0.12
0.12
0.12

0.5
0.5
0.5
0.5
0.3
0.3
0.3
0.3
0.6
0.6
0.6
0.6

0.3
0.3
0.3
0.3
0.2
0.2
0.2
0.2
0.4
0.4
0.4
0.4

1.7
1.7
1.7
1.7
1.9
1.9
1.9
1.9
2.0
2.0
2.0
2.0

Phng php tng hp


Tng hp b iu khin PID
Khng gian trng thi
Phng php qu o nghim
Phng php p ng tn s
Tng hp b iu khin PID
Khng gian trng thi
Phng php qu o nghim
Phng php p ng tn s
Tng hp b iu khin PID
Khng gian trng thi
Phng php qu o nghim
Phng php p ng tn s

S 2
Phn tch, m hnh ha v tng hp b iu khin bi ton beam and ball

Bng thng s:
Stt
1
2
3
4
5
6
7

Tn thng s
K hiu
Trng lng qu bng
m
Bn knh qu bng
r
Mmen qun tnh ca qu bng
I
Chiu di cch tay n (beam)
L
Khong cch gia tm hp s v v
d
tr gn cch tay nng
Gc gia tay n v mt phng

ngang
Gc ca v tr khp gn cch tay

nng v hp s ng c

n v
kg
m
Kg.m2
m
m
rad
rad

Ghi ch

Phng
n
1
2
3
4
5
6
7
8
9
10
11
12

Cc thng s u vo
m
(kg)

0.11
0.11
0.11
0.11
0.08
0.08
0.08
0.08
0.10
0.10
0.10
0.10

I
L
(Kg.m2) (m)

9.9e-6
9.9e-6
9.9e-6
9.9e-6
5.9e-6
5.9e-6
5.9e-6
5.9e-6
8.9e-6
8.9e-6
8.9e-6
8.9e-6

1
1
1
1
1.5
1.5
1.5
1.5
1.3
1.3
1.3
1.3

Yu cu

r
(m)

d
(m)

(%
)

Tq
(s)

Phng php tng hp

0.005
0.005
0.005
0.005
0.007
0.007
0.007
0.007
0.06
0.06
0.06
0.06

0.15
0.15
0.15
0.15
0.12
0.12
0.12
0.12
0.14
0.14
0.14
0.14

5
5
5
5
8
8
8
8
6
6
6
6

2
2
2
2
1.7
1.7
1.7
1.7
1.9
1.9
1.9
1.9

Tng hp b iu khin PID


Khng gian trng thi
Phng php qu o nghim
Phng php p ng tn s
Tng hp b iu khin PID
Khng gian trng thi
Phng php qu o nghim
Phng php p ng tn s
Tng hp b iu khin PID
Khng gian trng thi
Phng php qu o nghim
Phng php p ng tn s

S 3
Phn tch, m hnh ha v tng hp b iu khin bi ton gim sc v cn bng
cho xe t khi i trn ng (nhiu l do mt ng khng bng phng)

Bng thng s:
Stt
1
2
3
4
5
6

Tn thng s
Trng lng thn xe
Trng lng h thng treo
Hng s l xo ca h thng treo
Hng s l xo ca bnh v lp
Hng s gim sc ca h thng treo
Hng s gim sc ca bnh v lp

K hiu
mc
mw
kc
kw
cs
cw

n v
kg
kg
N/m
N/m
N.s/m
N.s/m

Ghi ch

Phng
n

Cc thng s u vo

Yu cu

mc
(kg)

mw
(kg)

kc
(N/m)

kw
(N/m)

cs
cw

(N.s/m) (N.s/m) (%)

Tq
(s)

2500

320

80,000

50000

350

15020

2500

320

80000

50000

350

15020

2500

320

80000

50000

350

15020

2500

320

80000

50000

350

15020

5500

420

120000

75000

450

14530

2.5

5500

420

120000

75000

450

14530

2.5

5500

420

120000

75000

450

14530

2.5

5500

420

120000

75000

450

14530

2.5

3500

320

100000

65000

390

17652

2.1

10

3500

320

100000

65000

390

17652

2.1

11

3500

320

100000

65000

390

17652

2.1

12

3500

320

100000

65000

390

17652

2.1

Phng php
tng hp
Tng hp b
iu khin PID
Khng
gian
trng thi
Phng
php
qu o nghim
Phng
php
p ng tn s
Tng hp b
iu khin PID
Khng
gian
trng thi
Phng
php
qu o nghim
Phng
php
p ng tn s
Tng hp b
iu khin PID
Khng
gian
trng thi
Phng
php
qu o nghim
Phng
php
p ng tn s

S 4
Phn tch, m hnh ha v tng hp b iu khin bi ton iu khin a my
tnh s dng ng c in mt chiu vi cc thng s sau:
Ki
Kb
Bm
Ra
La
KL
BL
Jm
JL

Hng s m men [Nm/A]


Hng s in ng c [V/rad/sec]
h s ma st ng c [Nm/rad]
in tr phn ng
in cm
h s cng [Nm/rad]
H s ma st nht gia dy ai v buli
[Nm/rad/s]
m men qu tnh ng c [Nm/rad/s2]
Momen qun tnh ti [Nm/rad/s2]

Yu cu:
- Thi gian tng <=0.3s
- Thi gian qu <=1s
- qu chnh <5%

Cc thng s u vo

Phng
n

Ki

Kb

B
m

Ra

La

KL

BL

10

0.071

0.25

2000

10

10

0.071

0.25

2000

10

0.071

0.25

2000

JL

Jm

(%)

0.002

10

0.002

10

0.002

Yu cu
Tq
Phng php
(s)
tng hp
Tng hp b
0.5
iu khin PID
Khng
gian
0.5
trng thi
0.5 Phng php qu

10

0.071

0.25

2000

10

0.002

0.5

13

0.051

2.5

0.21

0.001

1500

0.004

1.5

0.6

13

0.051

2.5

0.21

0.001

1500

0.004

1.5

0.6

13

0.051

2.5

0.21

0.001

1500

0.004

1.5

0.6

13

0.051

2.5

0.21

0.001

1500

0.004

1.5

0.6

15

0.081

0.31

0.002

2500

13

0.003

1.2

0.4

10

15

0.081

0.31

0.002

2500

13

0.003

1.2

0.4

11

15

0.081

0.31

0.002

2500

13

0.003

1.2

0.4

12

15

0.081

0.31

0.002

2500

13

0.003

1.2

0.4

o nghim
Phng
php
p ng tn s
Tng hp b
iu khin PID
Khng
gian
trng thi
Phng php qu
o nghim
Phng
php
p ng tn s
Tng hp b
iu khin PID
Khng
gian
trng thi
Phng php qu
o nghim
Phng
php
p ng tn s

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