BAI TH NGHIEM 1

NG DUNG MATLAB PHAN TCH CAC HE THONG IEU KHIEN T ONG

I. MUC CH : Matlab la mot trong nhng phan mem thong dung nhat dung e phan tch, thiet ke va mo phong cac he thong ieu khien t ong. Trong bai th nghiem nay, sinh vien s dung cac lenh cua Matlab e phan tch he thong nh xet tnh on nh cua he thong, ac tnh qua o, sai so xac lap II. CHUAN B : e thc hien cac yeu cau trong bai th nghiem nay, sinh vien can phai chuan b ky trc cac lenh c ban cua Matlab. Khi khi ong chng trnh Matlab 6.5, ca so Command Window xuat hien vi dau nhac lenh >>. e thc hien cac lenh, sinh vien se go lenh t ban phm theo sau dau nhac nay. Sinh vien can tham khao phan phu luc chng 2 (trang 85) trong sach Ly thuyet ieu khien t ong (tac gia Nguyen Th Phng Ha Huynh Thai Hoang) e hieu ro cac lenh c ban ve nhan chia a thc, bieu dien ham truyen he thong va ket noi cac khoi trong he thong. Ngoai ra, e phan tch ac tnh cua he thong, sinh vien can phai hieu ky cac lenh sau: bode(G) : ve bieu o Bode bien o va pha cua he thong co ham truyen G nyquist(G) : ve bieu o Nyquist he thong co ham truyen G rlocus(G) : ve QNS he thong hoi tiep am n v co ham truyen vong h G step(G) : ve ap ng nac cua he thong co ham truyen G hold on : gi hnh ve hien tai trong ca so Figure. Lenh nay hu ch khi ta can ve nhieu bieu o trong cung mot ca so Figure. Sau khi ve xong bieu o th nhat, ta go lenh hold on e gi lai hnh ve sau o ve tiep cac bieu o khac. Cac bieu o luc sau se ve e len bieu o th nhat trong cung mot ca so Figure nay. Neu khong muon gi hnh na, ta go lenh hold off. grid on : ke li tren ca so Figure. Neu khong muon ke li, ta go lenh grid off. plot(X,Y) : ve o th vector Y theo vector X V du : Ve o th y = x2 vi x = -10 10
>> X = -10:0.1:10; >> Y = X.*X; >> plot(X,Y); % tao vector X tu -10 10 voi khoang cach 0.1 % tinh y = x*x % ve do thi y = x*x

subplot(m,n,p) : chia Figure thanh (mxn) ca so con va thao tac tren ca so con th p. V du : Chia Figure thanh 2 ca so con, sau o ve Y len ca so th 1 va Z len ca so th 2
>> subplot(2,1,1), subplot(Y); >> subplot(2,1,2), subplot(Z); % ve Y len cua so thu 1 % ve Z len cua so thu 2

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Chu y : sinh vien nen tham khao phan Help cua Matlab e nam ro chc nang va cu phap cua mot <lenh> bang cach go vao dong lenh : help <lenh> III. TH NGHIEM : III.1. Tm ham truyen tng ng cua he thong: Muc ch: Giup sinh vien lam quen vi cac lenh c ban e ket noi cac khoi trong mot he thong. Th nghiem: Bang cach s dung cac lenh c ban conv, tf, series, parallel, feedback phan phu luc chng 2 (trang 85) trong sach Ly thuyet ieu khien t ong, tm bieu thc ham truyen tng ng G(s) cua he thong sau :

+ _

G1 G3

+ +

+ _

G2 H1

G1 =

s +1 s 1 , G2 = 2 , G3 = , H 1 = s + 2 s + 2s + 8 s ( s + 3)( s + 5)

Hng dan: Bc au tien nhap ham truyen cho cac khoi G1, G2 dung lenh tf. Sau o, tuy theo cau truc cac khoi mac noi tiep, song song hay hoi tiep ma ta go cac lenh series, parallel hay feedback tng ng e thc hien viec ket noi cac khoi vi nhau. Trong bao cao, ch ro trnh t viec thc hien cac lenh nay. V du :
>> 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) % nhap ham truyen G1 % nhap ham truyen G2 % nhap ham truyen G3 % nhap ham truyen H1 % tinh ham truyen tuong duong cua G1, G3

Tiep tuc tnh tng t cho cac khoi con lai. III.2. Khao sat he thong dung bieu o Bode: Muc ch: T bieu o Bode cua he h G(s), ta tm c tan so cat bien, o d tr pha, tan so cat pha, o d tr bien cua he thong h. Da vao ket qua tm c e xet tnh on nh cua he thong hoi tiep am n v vi ham truyen vong h la G(s). Th nghiem: Khao sat he thong phan hoi am n v co ham truyen vong h: K G(s) = ( s + 0.2)( s 2 + 8s + 20) a. Vi K = 10, ve bieu o Bode bien o va pha he thong tren trong khoang tan so (0.1, 100). b. Da vao bieu o Bode, tm tan so cat bien, o d tr pha, tan so cat pha, o d tr bien cua he thong. Lu bieu o Bode thanh file *.bmp e chen vao file word Trang I/ 2

phuc vu viet bao cao. Chu y phai ch ro cac gia tr tm c len bieu o Bode trong file *.bmp. c. He thong tren co on nh khong, giai thch. d. Ve ap ng qua o cua he thong tren vi au vao ham nac n v trong khoang thi gian t = 0 10s e minh hoa ket luan cau c. Lu hnh ve ap ng nay e viet bao cao. e. Vi K = 400, thc hien lai cac yeu cau cau a d. Hng dan: e ve bieu o Bode cua G trong khoang tan so (a,b) ta nhap lenh bode(G,{a,b}). Go lenh grid on e ke li hnh ve. V du : Nhap lenh ve bieu o Bode cua G(s) khi K=10 nh sau:
>> TS = 10 >> MS = conv([1 0.2],[1 8 20]) >> G = tf(TS,MS) >> bode(G,{0.1,100}) >> grid on % nhap tu so cua G(s) % nhap mau so cua G(s) % nhap ham truyen G(s) % ve bieu do Bode cua G(s) trong khoang (0.1,100) % ke luoi

Khi can xac nh iem nao tren bieu o Bode ta ch viec nhap chuot vao v tr o. Luc o, gia tr bien o hay goc pha se hien th ra nh hnh ve: e chen chu thch len hnh ve ta vao menu Insert/ Text sau o go ky t vao v tr can chu thch. e lu hnh ve ta vao menu File/ Export. Mot ca so Export hien ra. Trong muc Save as type ta chon muc Bitmap files (*.bmp). Luc nay, ta lu file di dang file *.bmp. Ngoai ra ta cung co the lu di dang file *.jpg hay *.wmf.

e ve ap ng nac cua he thong kn trong khoang thi gian (0, T) ta nhap lenh step(Gk,T), trong o Gk la ham truyen vong kn. V ham truyen G(s) tren la ham truyen vong h nen trc tien ta phai tnh ham truyen vong kn bang lenh Gk = feedback(G,1) sau o mi nhap lenh step(Gk,T). Tien hanh lu hnh ve giong nh ca so cua bieu o Bode. III.3. Khao sat he thong dung bieu o Nyquist: Muc ch: T bieu o Nyquist cua he h G(s), ta tm o d tr bien, o d tr pha cua he thong vong kn hoi tiep am n v. Da vao ket qua tm c e xet tnh on nh cua he thong kn. Th nghiem: Khao sat he thong phan hoi am n v co ham truyen vong h nh phan III.2: K G(s) = ( s + 0.2)( s 2 + 8s + 20) a. Vi K = 10, ve bieu o Nyquist cua he thong. Trang I/ 3

b. Da vao bieu o Nyquist, tm o d tr pha, o d tr bien cua he thong. So sanh vi ket qua phan III.2. Lu bieu o Nyquist thanh file *.bmp va ch ro cac gia tr tm c tren len bieu o Nyquist. c. He thong tren co on nh khong. Giai thch. So sanh vi ket qua phan III.2. d. Vi K = 400, thc hien lai cac yeu cau cau a c. III.4. Khao sat he thong dung phng phap QNS: Muc ch: Khao sat ac tnh cua he thong tuyen tnh co he so khuech ai K thay oi, tm gia tr gii han Kgh cua K e he thong on nh. Th nghiem: He thong hoi tiep am n v co ham truyen vong h: K G(s) = , K 0 2 ( s + 3)( s + 8s + 20) a. Ve QNS cua he thong. Da vao QNS, tm Kgh cua he thong, ch ro gia tr nay tren QNS. Lu QNS nay thanh file *.bmp e viet bao cao. b. Tm K e he thong co tan so dao ong t nhien n = 4 . c. Tm K e he thong co he so tat = 0.7 . d. Tm K e he thong co o vot lo POT = 25% e. Tm K e he thong co thi gian xac lap (tieu chuan 2%) t xl = 4 s Hng dan: Khi nhap ham truyen cho G ta khong nhap tham so K trong lenh tf. Dung lenh grid on e ke li:
>> TS = 1 >> MS = conv([1 3],[1 8 20]) >> G = tf(TS,MS) >> rlocus(G) >> grid on % nhap tu so cua G(s) khong chua K % nhap mau so cua G(s) % nhap ham truyen G(s) % ve quy dao nghiem so % ke luoi

e tm Kgh ta nhap chuot vao v tr cat nhau gia QNS vi truc ao. Luc nay, gia tr K se hien th len nh tren hnh ve sau:

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Gain : gia tr o li K tai v tr nhap chuot (gia tr K can tm). Pole : cc cua he thong vong kn tng ng vi gia tr K Dampling : he so tat Overshoot : o vot lo Frequency : tan so dao ong t nhien n (A) : vong tron cac iem co cung tan so dao ong t nhien n = 4 (B) : ng thang cac iem co cung he so tat = 0.68 4 = 4 n = 1 (C) : ng thang cac iem co cung t xl =

Muon tm K e he thong co tan so dao ong t nhien n = 4 , ta nhap chuot vao v tr giao iem cua QNS vi vong tron n = 4 (vong tron (A)). Chon giao iem gan truc ao (giao iem M) e gia tr K nay lam he thong co tnh dao ong. e he thong co = 0.7 ta nhap chuot tai v tr giao iem (N) cua QNS vi ng thang = 0.7 (ng thang (B)). Ta co the chon gan ung ng thang = 0.68 nh tren hnh ve. Tng t cho POT = exp( Vi t xl =
4 = 4s

1 2

) = 25%

= 0.4

n = 1 . Do o muon tm K e he thong co t xl = 4 ta nhap

chuot vao v tr giao iem (P) cua QNS vi ng thang n = 1 (ng thang (C)). III.5. anh gia chat lng cua he thong: Muc ch: Khao sat ac tnh qua o cua he thong vi au vao ham nac e tm o vot lo va sai so xac lap cua he thong. Th nghiem: Vi he thong nh phan III.4 : a. Vi gia tr K = Kgh tm c tren, ve ap ng qua o cua he thong vong kn vi au vao ham nac n v. Kiem chng lai ap ng ngo ra co dao ong khong? b. Vi gia tr K tm c cau d. phan III.4, ve ap ng qua o cua he thong vong kn vi au vao ham nac n v trong khoang thi gian t = 0 5s. T hnh ve, tm o vot lo va sai so xac lap cua he thong. Kiem chng lai he thong co POT = 25% khong? Lu hnh ve nay e viet bao cao. c. Vi gia tr K tm c cau e. phan III.4, ve ap ng qua o cua he thong vong kn vi au vao ham nac n v trong khoang thi gian t = 0 5s. T hnh ve, tm o vot lo va sai so xac lap cua he thong. Kiem chng lai he thong co t xl = 4 s khong? Lu hnh ve nay e viet bao cao. d. Ve 2 ap ng qua o cau b. va c. tren cung 1 hnh ve. Chu thch tren hnh ve ap ng nao la tng ng vi K o. Lu hnh ve nay e viet bao cao. Hng dan: Trang I/ 5

Ham truyen phan III.4 la ham truyen vong h nen trc tien ta phai chuyen sang ham truyen vong kn bang lenh Gk = feedback(70*G,1) (vi K = 70). e ve ap ng nac trong khoang thi gian (0, T) ta nhap lenh step(Gk,T). ap ng qua o hien th nh hnh ve ke ben. e hien th cac chu thch ve o vot lo, thi gian xac lap ta nhap chuot phai. Mot menu hien ra vi: Peak Response : tm POT. Settling Time : tm t xl .
Rise Time : tm thi gian len. Co the chon Grid e de dang cho viec tnh toan cac gia tr. Sau khi ve xong hnh th nhat, s dung lenh hold on e gi hnh, sau o neu tiep tuc ve hnh th hnh lan sau se khong xoa mat hnh ve th nhat.

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