Thi Nghiem Dieu Khien So

H v tn :Trn Vn Dng
Lp: tdh2-k53
Mssv: 20080533
M lp tn:29058
Thc hin Gz2
BO CO TH NGHIM MN H THNG IU KHIN S

BI S 1: TM M HNH GIN ON CA NG C MT CHIU
1.1 Xc nh hm truyn t
A, Phng php lm bng tay :
Ra = 0.25 (); La = 0.004 (H);
La
Ta = R =0.016 (s)
a
J = 0.012 (kgm2); phi = 0.04 (Vs);

ke = 236.8
kM =38.2
(
(
Sau khi tnh ton ta thu c :
i TI = 0.1ms:
M phng trn matlab ta thu c:
)
)
i TI = 0.01ms:
Thc hin m phng trn matlab:
B,Lm trn matlab :

>> Ra=0.25;
( in tr phn ng)
>> La=0.004;
(in cm phn ng)
>> Ta=La/Ra;
( hng s thi gian phn ng)
>> J=0.012;
( m men qun tnh)
>>ke=236.8;
(hng s ng c )
>>km=38.2;
>>wr=0.04;
( T thng )
>>Gh=(1/Ra)*tf(1,[Ta 1])*km*wr*tf(1,[2*pi*J 0])

Transfer function:
6.112
----------------------0.001206 s^2 + 0.0754 s
>> G=feedback(Gh,ke*wr)
Transfer function:
6.112
------------------------------0.001206 s^2 + 0.0754 s + 57.89
>>step(G)
Step Response
0.18
System: G
Peak amplitude: 0.173
Overshoot (%): 63.6
At time (sec): 0.0143
0.16
0.14
System: G
Settling Time (sec): 0.119
Amplitude
0.12
0.1
0.08
0.06
0.04
0.02
0
0.02
0.04
0.06
0.08
0.1
Time (sec)
Trng hp 1 :Vi chu k trch mu l T=0.1ms:

Vi ZOH:
>> W1=c2d(G,0.1e-3,'zoh')
Transfer function:
2.529e-005 z + 2.524e-005
------------------------z^2 - 1.993 z + 0.9938
Sampling time: 0.0001
>>step(W1)
0.12
0.14
0.16
0.18
0.2
Step Response
0.18
System: W1
Overshoot (%): 63.6
0.16
0.14
System: W1
Amplitude
0.12
0.1
0.08
0.06
0.04
0.02
0
0.02
0.04
0.06
0.08
0.1
Time (sec)
+Theo FOH:
>> W2=c2d(G,0.1e-3,'foh')
Transfer function:
8.435e-006 z^2 + 3.369e-005 z + 8.409e-006
-----------------------------------------z^2 - 1.993 z + 0.9938
>>step(W2)
0.12
0.14
0.16
0.18
Step Response
0.18
System: W2
Overshoot (%): 63.6
0.16
0.14
System: W2
Amplitude
0.12
0.1
0.08
0.06
0.04
0.02
0
0.02
0.04
0.06
0.08
0.1
Time (sec)
+Theo Tustin:
>> W3=c2d(G,0.1e-3,'tustin')
Transfer function:
1.263e-005 z^2 + 2.526e-005 z + 1.263e-005
-----------------------------------------z^2 - 1.993 z + 0.9938
>>step(W3)
0.12
0.14
0.16
0.18
Step Response
0.18
System: W3
Overshoot (%): 63.6
0.16
0.14
System: W3
Amplitude
0.12
0.1
0.08
0.06
0.04
0.02
0
0.02
0.04
0.06
0.08
0.1
Time (sec)
-Trng hp 2:
Chu k trch mu T=0.01ms
+Theo ZOH:
>> W4=c2d(G,0.01e-3,'zoh')
Transfer function:
2.534e-007 z + 2.533e-007
------------------------z^2 - 1.999 z + 0.9994
Sampling time: 1e-005
>>step(W4)
0.12
0.14
0.16
0.18
Step Response
0.18
System: W4
Overshoot (%): 63.6
0.16
0.14
System: W4
Amplitude
0.12
0.1
0.08
0.06
0.04
0.02
0
0.02
0.04
0.06
0.08
0.1
Time (sec)
+Theo FOH:
>> W5=c2d(G,0.01e-3,'foh')
Transfer function:
8.447e-008 z^2 + 3.378e-007 z + 8.444e-008
-----------------------------------------z^2 - 1.999 z + 0.9994
>>step(W5)
0.12
0.14
0.16
0.18
Step Response
0.18
System: W5
Overshoot (%): 63.6
0.16
0.14
System: W5
Amplitude
0.12
0.1
0.08
0.06
0.04
0.02
0
0.02
0.04
0.06
0.08
0.1
Time (sec)
+Theo Tustin:
>> W6=c2d(G,0.01e-3,'tustin')
Transfer function:
1.267e-007 z^2 + 2.534e-007 z + 1.267e-007
-----------------------------------------z^2 - 1.999 z + 0.9994
>>step(W6)
0.12
0.14
0.16
0.18
Step Response
0.18
System: W6
Overshoot (%): 63.6
0.16
0.14
System: W6
Amplitude
0.12
0.1
0.08
0.06
0.04
0.02
0
0.02
0.04
0.06
0.08
0.1
0.12
0.14
0.16
0.18
Time (sec)
1.3 M phng kho st v so snh kt qu:

i tng t cn bng (c dang tt dn)
qu iu chnh ln cn thit k b iu khin nhm gim qu iu chnh < 20%
Thi gian xc lp cn kh ln ,do ta phi thit k b iu khin gim thi gian xc
lp.
1.4 Gin on ha m hnh vi gi thit chu k trch mu T=0.01s v T=0.1s
>> [A,B,C,D]=tf2ss(6.112,[0.001206 0.0754 57.89])
A=
-62.521
-48002
B=
1
0
10
C=
0
5068
D=
0
>>step(A,B,C,D)
Step Response
0.18
0.16
0.14
Amplitude
0.12
0.1
0.08
0.06
0.04
0.02
0
0.02
0.04
0.06
0.08
0.1
Time (sec)
chu ky trch mu T=0.01s
>> [A1,B1,C1,D1] = c2dm(A,B,C,D,0.01,'zoh')

A1 =
-0.4989 -133.8566
0.0028 -0.3245
11
0.12
0.14
0.16
0.18
B1=
0.0028
0.0000
C1 =
0
5068
D1 =
0
>> step(A1,B1,C1,D1)
Step Response
0.25
System: sys
Overshoot (%): 21.4
At time (sec): 3.49
0.2
System: sys
Amplitude
0.15
mo hinh gian doan, T=0.01s,

phuong phap ZOH
0.1
0.05
10
Time (sec)
>> [A1,B1,C1,D1] = c2dm(A,B,C,D,0.01,'foh')

A1 =
-0.4989 -133.8566
0.0028 -0.3245
12
15
B1 =
-0.0029
0.0000
C1 =
0
5068
D1 =
0.0579
>> [A1,B1,C1,D1] = c2dm(A,B,C,D,0.01,'tustin')

A1=
-0.2040 -191.0403
0.0040
0.0448
B1 =
0.3980
0.0020
C1 =
0.1008 26.4752
D1 =
0.0504
chu k trch mu T=0.1s

>> [A1,B1,C1,D1] = c2dm(A,B,C,D,0.1,'zoh')
A1 =
-0.0438 -2.9271
0.0001 -0.0399
13
B1 =
1.0e-004 * 0.6098
1.0e-004 * 0.2166
C1 =
0
5068
D1 =
0
>> step(A1,B1,C1,D1)
Step Response
3
2.5
System: sys
Overshoot (%): 0.129
At time (sec): 131
System: sys
Amplitude
1.5
mo hinh gian doan

T=0.1s
phuong phap ZOH
0.5
50
100
Time (sec)
14
150
>> [A1,B1,C1,D1] = c2dm(A,B,C,D,0.1,'foh')

A1 =
-0.0438 -2.9271
0.0001 -0.0399
B1 =
1.0e-003 * -0.2253
1.0e-003 *
0.0003
C1 =
0
5068
D1 =
0.1041
>> [A1,B1,C1,D1] = c2dm(A,B,C,D,0.1,'tustin')

A1 =
-0.9839 -38.6704
0.0008 -0.9335
B1 =
0.0081
0.0004
C1 =
0.2041 16.8458
D1 =
0.1021
15
BI S 2: TNG HP VNG IU CHNH DNG PHN NG
Thc hin trn matlab ta c :

>> Ra=0.25;
>> La=0.004;
>> Ta=La/Ra;
>> J=0.012;
>> ke=236.8;
>> km=38.2;
>> wr=0.04;
>> Tt=100e-6
Tt = 1.0000e-004
>> Wk=tf(1,[Tt 1])*(1/Ra)*tf(1,[Ta 1])

Transfer function:
4
--------------------------1.6e-006 s^2 + 0.0161 s + 1
>> Wz1=c2d(Wk,0.0001,'zoh')
Transfer function:
0.009176 z + 0.006577
16
---------------------z^2 - 1.362 z + 0.3656

>> Wz2=c2d(Wk,0.00001,'zoh')
Transfer function:
0.0001209 z + 0.0001169
----------------------z^2 - 1.904 z + 0.9043
>> Wz3=c2d(Wk,0.0001,'foh')
Transfer function:
0.003298 z^2 + 0.01046 z + 0.001998
----------------------------------z^2 - 1.362 z + 0.3656
>> Wz4=c2d(Wk,0.00001,'foh')
Transfer function:
4.064e-005 z^2 + 0.0001585 z + 3.865e-005
----------------------------------------z^2 - 1.904 z + 0.9043
17
>> Wz5=c2d(Wk,0.0001,'tustin')
Transfer function:
0.004154 z^2 + 0.008307 z + 0.004154
-----------------------------------z^2 - 1.327 z + 0.3313
>> Wz6=c2d(Wk,0.00001,'tustin')
Transfer function:
5.951e-005 z^2 + 0.000119 z + 5.951e-005
---------------------------------------z^2 - 1.904 z + 0.9042
2.1 Thit k b iu chnh dng theo phng php dead-beat vi L(z-1) l mt a thc
bc 1 hoc bc 2 (m hnh s dng l Wz2)
0.0001209 z + 0.0001169
Wz2 = -------------------------------------z^2 - 1.904 z + 0.9043
>> Gz=filt([0 0.0001209 0.0001169],[1 -1.904 0.9043],0.00001)
Transfer function:
0.0001209 z^-1 + 0.0001169 z^-2
18
------------------------------1 - 1.904 z^-1 + 0.9043 z^-2
>> b0=0;
>> b1=0.0001209;
>> b2=0.0001169;
>> a0=1;
>> a1=-1.904;
>> a2=0.9043;
>>Az=filt([a0 a1 a2],[1],0.00001)
Transfer function:
1 - 1.904 z^-1 + 0.9043 z^-2
>>Bz=filt([b0 b1 b2],[1],0.00001)
Transfer function:
0.0001209 z^-1 + 0.0001169 z^-2
>> l0=a0/((a0-a1)*(b0+b1+b2));
% L(z-1) la da thuc bac 1 %
>> l1=-a1/((a0-a1)*(b0+b1+b2));
>> Lz = filt([l0 l1],[1],0.00001)
Transfer function:
1448 + 2757 z^-1
>> Gr = (Lz*Az)/(1-Lz*Bz)
19
Transfer function:
1448 - 3940 z^-2 + 2493 z^-3
------------------------------------------1 - 0.1751 z^-1 - 0.5026 z^-2 - 0.3223 z^-3
S d simulink ca vng iu chnh tc
num(z)
Step
num(z)
den(z)
den(z)
Discrete Filter
Discrete Filter1
Sample time = 0.00001s

Stoptime = 0.0001s
20
Scope
1
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0.2
0.4
0.6
0.8
1.2
-4
x 10
21
>> l0=(a0*a0)/((a0-a1)*(a0-a1)*(b0+b1+b2));
% L(z-1) la da thuc bac 2 %
>> l1=-(a0*a1)/((a0-a1)*(a0-a1)*(b0+b1+b2));
>> l2=(a1*a1-a0*a1)/((a0-a1)*(a0-a1)*(b0+b1+b2));
>> Lz=filt([l0 l1 l2],[1],0.00001)
Transfer function:
498.6 + 949.4 z^-1 + 2757 z^-2
>> Gr=(Lz*Az)/(1-Lz*Bz)
Transfer function:
498.6 + 1400 z^-2 - 4391 z^-3 + 2493 z^-4
---------------------------------------------------------1 - 0.06029 z^-1 - 0.1731 z^-2 - 0.4443 z^-3 - 0.3223 z^-4
num(z)
Step
num(z)
den(z)
den(z)
Discrete Filter
Discrete Filter1

Stoptime = 0.0001s
22
Scope
1
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0.2
0.4
0.6
0.8
1.2
-4
x 10
Nhn xt:
-
B K 1 u ra t gi tr xc lp sau 3 chu k trch mu,

B K 2 u ra t gi tr xc lp sau 4 chu k trch mu.
2.2 Thit k b iu chnh dng theo phng php cn bng m hnh sao cho tc p
ng ca gi tr thc l 2 v 3 chu k T1 (m hnh s dng l Wz2)
0.0001209 z + 0.0001169
Wz2 = ----------------------z^2 - 1.904 z + 0.9043
>> Gw=filt([0 0.6 0.4],[1],0.00001)
% dap ung bang 2*T1 %
Transfer function:
0.6 z^-1 + 0.4 z^-2
23
>> Gz=filt([0 0.0001209 0.0001169],[1 -1.904 0.9043],0.00001)

Transfer function:
0.0001209 z^-1 + 0.0001169 z^-2
------------------------------1 - 1.904 z^-1 + 0.9043 z^-2
>> Gr =Gw/(Gz*(1-Gw))
Transfer function:
0.6 - 0.7424 z^-1 - 0.219 z^-2 + 0.3617 z^-3
-------------------------------------------------------------0.0001209 + 4.436e-005 z^-1 - 0.0001185 z^-2 - 4.676e-005 z^-3
num(z)
Step
num(z)
den(z)
den(z)
Discrete Filter
Discrete Filter1

Stoptime = 0.0001s
24
Scope
1.4
1.2
0.8
0.6
0.4
0.2
0.2
0.4
0.6
0.8
1.2
-4
x 10
>> Gw=filt([0 0.5 0.3 0.2],[1],0.00001)
% dap ung bang 3*T1 %
Transfer function:
0.5 z^-1 + 0.3 z^-2 + 0.2 z^-3
>> Gr =Gw/(Gz*(1-Gw))
Transfer function:
0.5 - 0.652 z^-1 + 0.08095 z^-2 - 0.1095 z^-3 + 0.1809 z^-4
--------------------------------------------------------------------------------0.0001209 + 5.645e-005 z^-1 - 9.472e-005 z^-2 - 5.925e-005 z^-3 - 2.338e-005 z^-4
25
num(z)
Step
num(z)
den(z)
den(z)
Discrete Filter
Discrete Filter1
Scope

Stoptime = 0.0001s
1.4
1.2
0.8
0.6
0.4
0.2
0.2
0.4
0.6
0.8
1.2
-4
x 10
26
BI S 3: TNG HP VNG IU CHNH TC QUAY
3.1 Xc nh hm truyn t ca i tng

>> J=0.012; km=38.2; wr=0.04;
>> Tt=10e-6;
>> Gk=tf(1,[2*Tt 1]);
>> Gt=(km*wr)*tf(1,[(1/(2*pi*J)) 0]);
>> Gns=Gk*Gt
Transfer function:
1.528
---------------------0.002653 s^2 + 13.26 s
>> Gnz=c2d(Gns,0.00001,'zoh')
Transfer function:
2.833e-008 z + 2.786e-008
------------------------z^2 - 1.951 z + 0.9512
>> a0=1; a1=-1.951; a2=0.9512;

>> b0=0; b1=2.83e-8; b2=2.78e-8;
>> Gnz=filt([b0 b1 b2],[a0 a1 a2],0.00001)
27
Transfer function:
2.83e-008 z^-1 + 2.78e-008 z^-2
------------------------------1 - 1.951 z^-1 + 0.9512 z^-2
3.2 Tnghpbiuchnh PI theotiuchuntchphnbnhphng
r0 r1.z 1
-Biukhin: GR(z)=
.
1 z 1
- Ta c sai lch iu chnh di dng sai phn :

ek=wk+wk-1(a1-1)+wk-2(a2-a1)wk-3a2ek-1(a1-1+r0b1)ek-2(a2-a1+r0b2 +r1b1)ek-3(r1b2 a2)
-Ta chnr0=20vviai , bibit ta cntm r1
u1 u0
suyra
r
r
(1
r
.
b
)
1
0
0 1
iu kin :
>>Gk=tf(1,[2*10e-6 1])
Transfer function:
1
-----------2e-005 s + 1
>> G=Gk*tf(38.2*0.04,[2*3.14*0.012 0])
Transfer function:
1.528
--------------------------
28
1.507e-006 s^2 + 0.07536 s
>>Gz=c2d(G,0.01e-3,'zoh')
Transfer function:
4.32e-005 z + 3.658e-005
---------------------------------z^2 - 1.607 z + 0.6065
>> Grn=filt([20 -19.99],[1 -1],0.01e-3)
Transfer function:
20 - 19.99 z^-1
--------------1 - z^-1
>> sys=feedback(Gz*Grn,1)
Transfer function:
0.000864 z^-1 - 0.000132 z^-2 - 0.0007312 z^-3
-----------------------------------------------------------------1 - 2.606 z^-1 + 2.213 z^-2 - 0.6073 z^-3
29
Step Response
1.4
System: sys
Time (sec): 0.01
Amplitude: 1.08
1.2
Amplitude
0.8
0.6
0.4
0.2
0.01
0.02
0.03
0.04
0.05
Time (sec)
Thit k b iu chnh PI Theo phng php gn im cc

Theo muc 2.3.1 slide biging ta c:
-Chn khu iu chnh l PI: GR(z)=
r0 r1.z 1
=
1 p1z 1
n gin ta chn:
P1 = -1 ta thu c :
30
0.06
0.07
r0 r1.z 1 r0 .z r1
GR(z)=
=
=
1 z 1
z 1
-a thc c tnh ca hm truyn:

N(z)=P(z).A(z)+R(z).B(z).
= A(z)P(z) + R(z)B(z) = z3 + z2(a1 + p1 + r0b1)+ z(a2 + p1a1 + r1b1 + r0b2) + p1a2 +
r1b2
Chn z1= 0.63 + 0.4j ; z2= 0.63 0.4j ; z3= 0.3285 ;
Do :
r1 = ((z1z2 + z2z3 + z3z1) - (a2 - a1 + r0b2))/b1 = -21.22

r0=21.21;
>> Grn=filt([21.21 -21.22],[1 -1],0.01e-3)
Transfer function:
21.21 - 21.22 z^-1
-----------------1 - z^-1

>> sys=feedback(Gz*Grn,1)
Transfer function:
0.0009167 z^-1 - 0.0001401 z^-2 - 0.0007759 z^-3
-----------------------------------------------1 - 2.606 z^-1 + 2.213 z^-2 - 0.6073 z^-3
31
Step Response
1.4
System: sys
Time (sec): 0.0109
Amplitude: 1.07
1.2
Amplitude
0.8
0.6
0.4
0.2
0.01
0.02
0.03
Time (sec)
32
0.04
0.05
0.06
3.4 Tonhiu:
Ta xt nhiu gi tr t
2.5
1.5
0.5
0.01
0.02
0.03
0.04
0.05
33
0.06
0.07
0.08
0.09
0.1
Nhiu do ph ti
2.5
1.5
0.5
0.01
0.02
0.03
0.04
0.05
34
0.06
0.07
0.08
0.09
0.1
BI S 4: TNG HP VNG IU CHNH TC QUAY TRN KHNG

GIAN TRNG THI
4.1 Tng hp b iu khin tc quay :
4.1.1 Trng hp ng vi chu k T=0.01s
>> [A,B,C,D]=tf2ss(6.112,[0.001206 0.0754 57.89])
A = 1.0e+004 *
-0.0063 -4.8002
0.0001
B=
1
0
C = 1.0e+003 *
0
D=
5.0680
0
>> [P,H,C,D]=c2dm(A,B,C,D,0.01,'zoh') \\Chu k T=0.01s

P = -0.4989 -133.8566
0.0028 -0.3245
H = 0.0028
0.0000
C = 1.0e+003 *
0
D=
5.0680
0
>> p1=[0.49 0.52];

>> K1=acker(P,H,p1)
K1 = 1.0e+004 *
-0.0232 -4.3019
35
>> G1=ss(P-H*K1,H,C,D,0.01)
a=
x1
x1
x2
0.1475
-13.89
x2 0.009184
0.8625
b=
u1
x1
0.002789
x2 2.759e-005
c=
x1 x2
y1
0 5068
d=
u1
y1 0
Sampling time: 0.01

Discrete-time model.
>> step(G1)
36
Step Response
1.4
1.2
System: G1
Time (sec): 0.143
Amplitude: 1.02
1
Amplitude
0.8
0.6
0.4
0.2
0.05
0.1
0.15
Time (sec)
>> p2=[0 0];

>>K2=acker(P,H,p2)
K2 =1.0e+004 *
-0.0022 -2.7649
>>G2=ss(P-H*K2,H,C,D,0.01)
37
0.2
0.25
a=
x1
x2
x1 -0.4384
-56.75
x2 0.003387
0.4384
b=
u1
x1
0.002789
x2 2.759e-005
c=
x1 x2
y1
0 5068
d=
u1
y1 0
Sampling time: 0.01

>> step(G2)
38
Step Response
0.25
0.2
Amplitude
0.15
0.1
0.05
0.02
0.04
0.06
0.08
0.1
0.12
0.14
Time (sec)
4.1.2 Chu k trch mu T=0.1s:

>> [P,H,C,D]=c2dm(A,B,C,D,0.1,'zoh')
\\Chu k T=0.1s
P=
-0.0438 -2.9271
0.0001 -0.039
H = 1.0e-004 *
0.6098
0.2166
C = 1.0e+003 *
0
D=
5.0680
0
39
0.16
0.18
0.2
>> p1=[0.7 0.62];

>> K1=acker(P,H,p1)
K1 =
1.0e+004 *
-0.7756 -4.2961
>> G1=ss(P-H*K1,H,C,D,0.1)
a=
x1
x2
x1 0.4292 -0.3074
x2 0.1681 0.8908
b=
u1
x1 6.098e-005
x2 2.166e-005
c=
x1 x2
y1
0 5068
40
d=
u1
y1 0
Sampling time: 0.1

>> step(G1)
Step Response
1.4
1.2
System: G1
Time (sec): 1.81
Amplitude: 1
1
Amplitude
0.8
0.6
0.4
0.2
0.5
1.5
Time (sec)
>> p2=[0 0];

>>K2=acker(P,H,p2)
K2 = 1.0e+003 *
-0.0275 -3.7862
41
2.5
>>G2=ss(P-H*K2,H,C,D,0.1)
a=
x1
x2
x1 -0.04208
-2.696
x2 0.0006568
0.04208
b=
u1
x1 6.098e-005
x2 2.166e-005
c=
x1 x2
y1
0 5068
d=
u1
y1 0
Sampling time: 0.1

>> step(G2)
42
Step Response
0.12
System: G2
Time (sec): 0.751
Amplitude: 0.115
0.1
Amplitude
0.08
0.06
0.04
0.02
0.2
0.4
0.6
0.8
1.2
1.4
1.6
1.8
Time (sec)
4.2 M phng, so snh 2 phng php iu khin

+ Tng hp b iu khin tc quay theo phng php phn hi trng thi sao
cho p ng c dng PT1 (im cc nhn gi tr dng) th sau mt s chu k trch mu
u ra mi xc lp.
+ Tng hp b iu khin tc quay theo phng php p ng hu hn th sau 2
chu k trch mu u ra t gi tr xc lp do 2 im cc c gn u nm gc
ta .
43

Thi Nghiem Dieu Khien So

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Thi Nghiem Dieu Khien So

Uploaded by

Copyright:

Available Formats

H v tn :Trn Vn Dng

BO CO TH NGHIM MN H THNG IU KHIN S

J = 0.012 (kgm2); phi = 0.04 (Vs);

Sau khi tnh ton ta thu c :

M phng trn matlab ta thu c:

Thc hin m phng trn matlab:

B,Lm trn matlab :

(in cm phn ng)

( hng s thi gian phn ng)

( m men qun tnh)

>>Gh=(1/Ra)*tf(1,[Ta 1])*km*wr*tf(1,[2*pi*J 0])

Trng hp 1 :Vi chu k trch mu l T=0.1ms:

1.3 M phng kho st v so snh kt qu:

chu ky trch mu T=0.01s

>> [A1,B1,C1,D1] = c2dm(A,B,C,D,0.01,'zoh')

mo hinh gian doan, T=0.01s,

>> [A1,B1,C1,D1] = c2dm(A,B,C,D,0.01,'foh')

>> [A1,B1,C1,D1] = c2dm(A,B,C,D,0.01,'tustin')

chu k trch mu T=0.1s

mo hinh gian doan

>> [A1,B1,C1,D1] = c2dm(A,B,C,D,0.1,'foh')

>> [A1,B1,C1,D1] = c2dm(A,B,C,D,0.1,'tustin')

BI S 2: TNG HP VNG IU CHNH DNG PHN NG

Thc hin trn matlab ta c :

>> Wk=tf(1,[Tt 1])*(1/Ra)*tf(1,[Ta 1])

---------------------z^2 - 1.362 z + 0.3656

------------------------------1 - 1.904 z^-1 + 0.9043 z^-2

% L(z-1) la da thuc bac 1 %

Sample time = 0.00001s

% L(z-1) la da thuc bac 2 %

Sample time = 0.00001s

B K 1 u ra t gi tr xc lp sau 3 chu k trch mu,

>> Gw=filt([0 0.6 0.4],[1],0.00001)

% dap ung bang 2*T1 %

Sampling time: 1e-005

>> Gz=filt([0 0.0001209 0.0001169],[1 -1.904 0.9043],0.00001)

Sample time = 0.00001s

>> Gw=filt([0 0.5 0.3 0.2],[1],0.00001)

% dap ung bang 3*T1 %

S d simulink ca vng iu chnh tc

Sample time = 0.00001s

BI S 3: TNG HP VNG IU CHNH TC QUAY

3.1 Xc nh hm truyn t ca i tng

>> a0=1; a1=-1.951; a2=0.9512;

- Ta c sai lch iu chnh di dng sai phn :

1.507e-006 s^2 + 0.07536 s

Sampling time: 1e-005

Thit k b iu chnh PI Theo phng php gn im cc

-a thc c tnh ca hm truyn:

r1 = ((z1z2 + z2z3 + z3z1) - (a2 - a1 + r0b2))/b1 = -21.22

Sampling time: 1e-005

Sampling time: 1e-005

BI S 4: TNG HP VNG IU CHNH TC QUAY TRN KHNG

>> [P,H,C,D]=c2dm(A,B,C,D,0.01,'zoh') \\Chu k T=0.01s

>> p1=[0.49 0.52];

Sampling time: 0.01

>> p2=[0 0];

Sampling time: 0.01

4.1.2 Chu k trch mu T=0.1s:

>> p1=[0.7 0.62];

Sampling time: 0.1

>> p2=[0 0];

Sampling time: 0.1

>>Gh=(1/Ra)tf(1,[Ta 1])kmwrtf(1,[2piJ 0])

>> Wk=tf(1,[Tt 1])(1/Ra)tf(1,[Ta 1])