Chng 1. Gii thiu v iu khin t ng. I.

Khi nim c bn
H thng KT bao gm 3 phn ch yu: - Thit b iu khin (TBK) - i tng iu khin (TK) - Thit b o lng v cm bin (TBL)
Nhiu N Ng vo R

Thit b iu khin
Tn hiu hi tip F

Tn hiu iu khin U

i tng iu khin

Ng ra C

Thit b o lng
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iu khin t ng

Chng 1. Gii thiu v iu khin t ng.

iu khin t ng

Chng 1. Gii thiu v iu khin t ng.

V d: Ng vo R Thit b iu khin Tn hiu iu khin
Tn hiu hi tip

i tng iu khin

sai lch

Gi tr mong mun cao h

iu khin t ng

Chng 1. Gii thiu v iu khin t ng.

+ H thng iu khin h: khng c tn hiu phn hi t ng ra v thit b iu khin

Ng vo

Ng ra TBK TK

H thng iu chnh nhit trong phng

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Chng 1. Gii thiu v iu khin t ng.

+ H thng iu khin kn: c tn hiu phn hi t ng ra v thit b iu khin Ng ra Ng vo TBK TK TBL

iu khin t ng

Chng 1. Gii thiu v iu khin t ng. II. Cc nguyn tc KT

1. Nguyn tc gi n nh a. iu khin sai lch Ng vo Ng ra TBK TK

+ -

TBL Tn hieu C c phan hoi va phoi hp vi tn hieu vao R tao ra sai lech = R C. Tn hieu sai lech nay c a vao TBK tao ra tn hieu ieu khien U at len TK.

iu khin t ng

Chng 1. Gii thiu v iu khin t ng.

b. Nguyen tac bu tac ong ben ngoai(feed forward control): N TBK U TK C

Loai he thong nay cho phep gi ngo ra khong oi va khong phu thuoc vao tac ong ben ngoai

c. Nguyen tac ieu khien hon hp (Sai lech + bu tac ong ben ngoai): N
+ TBL
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TBK

TK

Chng 1. Gii thiu v iu khin t ng.

2. iu khin theo chng trnh S dng cho h h. Ng ra thay i theo mt chng trnh nh sn. 3. Nguyn tc t nh chnh C kh nng t thch nghi, t ci tin i vi s thay i ca cc thng s. Nhiu TBK thch nghi Ng vo Ng ra TBK TBL
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TK

Chng 1. Gii thiu v iu khin t ng. III. Phn lai h thng iu khin.
- H tuyn tnh v h phi tuyn. Hau het cac he thong vat ly eu la he phi tuyen. Tuy nhien, neu pham vi thay oi cua he khong ln co the c tuyen tnh hoa trong pham vi bien thien cua cac bien tng oi nho - H bt bin v bin thin theo thi gian. He bien thien theo thi gian la he co t nhat mot tham so bien thien theo thi gian. He bat bien theo thi gian (he dng) la he co cac tham so khong oi theo thi gian

iu khin t ng

Chng 1. Gii thiu v iu khin t ng.

- H lin tc v gin an theo thi gian Trong he lien tuc theo thi gian, tat ca cac bien la ham lien tuc theo thi gian He gian oan la he co t nhat mot tn hieu la ham gian oan theo thi gian. He gian oan gom: + He thong xung. + He thong so - H n bin v a bin He n bien la he co mot ngo vao va mot ngo ra

He a bien la he co nhieu ngo vao va nhieu ngo ra

- H xc nh v ngu nhin.

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Chng 1. Gii thiu v iu khin t ng. IV. V d

1. iu khin tc ng c Khau hoi tiep la may phat toc, khau so sanh dung mach ien t va viec thay oi toc o bang cach thay oi ien ap at vao ong c bang cach thay oi ien ap vao ong c Tc ng c tng in p to ra t my pht tc tng hi tip m nn in p t vo ng c s gim tc ng c n nh li V d Matlab
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Chng 1. Gii thiu v iu khin t ng.

2. H thng iu khin s my cng c. Bo ieu khien co the la may tnh (he CNC), nhan gi lieu gia cong va gi lieu so chuyen oi t tn hieu hoi tiep v tr cua dao cat roi xac nh sai lech. Sai lech di dang so c chuyen thanh tng t ieu khien c cau chap hanh a dao cat ti v tr yeu cau

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Chng 1. Gii thiu v iu khin t ng.

3. iu khin lc nm ca cnh tay Robot

4. iu khin mc nc

Srt-demo1 (Matlab)

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Chng 1. Gii thiu v iu khin t ng. V. Nhim v ca l thuyt iu khin t ng

1. Xy dng m hnh tan hc da trn hin tng vt l ca h thng 2. Kho st tnh n nh ca h thng.

3. Kho st cht lng ca h theo cc ch tiu ra. 4. M phng h thng trn my tnh
5. Thc hin m hnh mu v kim tra bng thc nghim

6. Tinh chnh ti u ha ch tiu cht lng

7. Xy dng h thng thit k.
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