Bài tập lớn LTĐKTĐ-Tong 1

Bi tp ln L thuyt iu khin t ng Phm Nguyn Tng-KT8
Page 1


Page 2

Yu cu: Kho st tnh n nh ca h thng ban u
v tng hp h thng bm in c dng xenxin s
dng c cu hiu chnh ni tip.(phng n BTL s
27).

1. Ta c s ca h thng :

Trong :
- CCCT : C cu chng trnh dng to tn hiu vo
di dng gc quay
o v
o .
- HTXX: H thng xenxin bao gm xenxin pht (XX-P)
v xenxin thu ( XX-T ).
- KT: Khuch i in t.
- KM: Khuch i my in.
- CCH: ng c chp hnh in 1 chiu.
- T: C cu i tc.
- TC: i tng iu chnh.

Page 3

2. Cc thng s cho trc ca cc phn t trong h thng
trong bng sau:
Tn
phn t
HTXX KT KT CCH T
K hiu
cc
thng
s v
th
nguyn
K
XX
[v/]
K
KT
[mA/v]
T
KT
[sec]
K
KM
[v/mA]
T
KM
[sec]
K
CCH
[/v]
T
CCH
[sec]
K
=1/i
[/]
Gi tr 40 260 0,004 3,2 0,045 1,8 0,2 0,003

Tng hp h thng s dng c cu hiu chnh ni tip
tha mn cc ch tiu sau:
- qu chnh : 26(%)
ax m
o = .
- Thi gian qu : 1.25(sec)
d
t
q
= .
- S dao ng : 2 n= .
- Tc bm cc i : 18
ax
V
m
= .
- Sai s bm : 0.18 V A = .


Page 4

Bi lm:
I . Lp s khi, s chc nng , s cu trc ca h
thng v xc nh hm s truyn h thng ban u.
1. Lp s khi.
KT CCH T KM TK HTXX CCCT

Nguyn l lm vc ca h thng bm dng xenxin: H thng xen-xin
dng xen-xin pht (XX-P) v xen-xin thu (XX-T) lm vic ch bin
p o sai lch gc gia trc pht v trc thu l
o v ra
o o o A = ,
bin i thnh in p ra ca h thng xen-xin
XX
U , in p ny c
a n b khuch i in t (KT) , y tn hiu c khuch i
s b, to thnh dng I iu khin chy trong cun dy iu khin ca
b khuch i my in (KM). B KM c vai tr khuch i cng
sut v tn hiu ra l in p( ) U iu khin ng c chp hnh 1 chiu
(CCH) lm vic. ng c chp hnh quay , qua hp i tc (T), lm
i tng iu khin (TK) quay, ng thi qua trc phn hi c kh ,
rto ca XX-T cng quay, lm cho gc sai lch gim dn. Qu trnh iu
khin chm dt khi TK v rto XX-T quay ln gc
o ra v
o o = , tc
l khi gc sai lch gc 0 o A = . l ch lm vic kh sai lch ca
h thng. Ch ny bo m iu khin gc quay ca TK 2 chiu
khc nhau (chiu quay thun v chiu quay ngc kim ng h).
Ch bm ca h thng bm ng b gc: Khi gc quay ca rto XX-P
(trc vo) ( ) t o lin tc thay i, th do lun c sai lch gc o A , h

Page 5

thng lun lm vic, gc quay ca TK
ra
o cng thay i lin tc,
bm theo s thay i ca trc iu khin
o v
o .

2. Lp s chc nng.
o
lng
v Bin
i
Khuch
i cng
sut
C cu
chp
hnh
Khuch
i s b
i
tc
So
snh
C
cu
pht
o v
o
ra
o
ra
o o A
U
XX
I
U
|
i
tng
iu
khin

3. Lp s cu trc.
Lng vo
o v
o , lng ra
ra
o ; qua c cu so snh cho ra sai s gc o A .
C cu o lng v bin i ca h thng xenxin bin p l 1 khu khng
qun tnh vi lng vo o A v lng ra
XX
U th c hm s truyn:
( )
W ( )
1
( )
XX
XX
U s
s K
s o
= =
A
; (1)
Khuch i s b (Khuch i in t): lng vo
XX
U v lng ra I ; c
cu ny c hm truyn:
DD
DD
( )
W ( )
2
( ) 1 .
K T
XX K T
I s K
s
U s T s
= =
+
; (2)
Khuch i cng sut (Khuch i my in): lng vo I v lng ra
U ; c cu c hm truyn :
D
( )
W ( )
3
( ) 1 .
KDM
KDMD
I s K
s
U s T s
= =
+
; (3)
C cu chp hnh: lng vo U v lng ra | (gc quay ca ng c
chp hnh) cho ta hm truyn:
( )
W ( )
4
( ) .(1 . )
DCCH
DCCH
K U s
s
s s T s |
= =
+
; (4)
i tc: lng vo | v lng ra
ra
o ; cho ta hm truyn:

Page 6

( )
W ( )
5
( )
D
s
ra
s K
s
o
|
= = ; (5)
Ta c s cu trc sau:
XX
K
DD
DD
1 .
K T
K T
K
T s + 1 .
KDMD
KDMD
K
T s + .(1 . )
DCCH
DCCH
K
s T s +
D
K
-
ra
o
o v
o
o A
|
ra
o
XX
U I
U

4. Hm s truyn ca h thng ban u.
a) Hm truyn h thng h ban u.
1 2 3 4 5
W ( ) W( ).W ( ).W( ).W ( ).W( )
hbd
s s s s s s = =
DD
DD
. . . .
(1 . )(1 . )(1 . )
XX K T KDMD DCCH D
K T KDMD DCCH
K K K K K
s T s T s T s
= =
+ + +

179,712
(1 0,004 )(1 0,045 )(1 0,2 ) s s s s
=
+ + +
; (*)
b) Hm truyn h thng kn ban u.
W
W ( )
1 W
hbd
kbd
hbd
s =
+

179,712
179,712 (1 0,004 )(1 0,045 )(1 0,2 ) s s s s
=
+ + + +

5 4 3 3 2
179,712
3,6.10 9,98.10 0,249 179,712 s s s s

=
+ + + +


Page 7

I I . Kho st tnh n nh ca h thng ban u.
1. Kho st tnh n nh ca h thng h ban u.
a) Kho st theo l thuyt:
- Ta c a thc c trng ca h thng h:
( ) (0,004 1)(0,045 1)(0,2 1)
hbd
D s s s s s = + + +
Phng trnh c trng : ( ) 0
hbd
D s = c 4 nghim thc sau:
1
0;
0,004
1 1
;
0,045 0,2
s s
s s
= =
= =

H thng h c 3 nghim nm bn tri mt phng nghim v 1 nghim
nm trn trc o do vy h thng h ban u nm bin gii n nh.
b) Kho st dng Control System Toolbox trn Matlab.
%Khai bo hm truyn :
>> W1=40;
>> W2=tf(260,[0.004 1]);
>> W3=tf(3.2,[0.045 1]);
>> W4=tf(1.8,[0.2 1 0]);
>> W5=0.003;
>> Whbd=W1*W2*W3*W4*W5

Transfer function:
179.7
------------------------------------------
3.6e-005 s^4 + 0.00998 s^3 + 0.249 s^2 + s

% V c tnh qu :

>> step(Whbd) %c tnh qu h thng h

Page 8

c tnh qu ca h thng h ban u.

Nhn xt: c tnh qu ca h thng h nhn c l ng thng
tuyn tnh , tng dn theo thi gian , do vy h thng h ban u ny
nm bin gii n nh.
2. Kho st tnh n nh ca h thng kn ban u.
a) Kho st h thng kn theo l thuyt:
- Xt a thc c trng ca h thng kn:

5 4 3 3 2
( ) 3,6.10 9,98.10 0,249 179,712
kbd
D s s s s s

= + + + +

Vy ta c :
5 3
0 1
2 3 4
3,6.10 0; 9,98.10 0;
0,249 0; 1 0; 179,712 0
a a
a a a

= > = >
= > = > = >

Theo tiu chn n nh Hurwitz ta c cc iu kin n nh sau:

Page 9

5
0
3
1 1
3,6.10 0;
9,98.10 0
a
a
= >
A = = >

3
1 3
3
2
5
0 2
9,98.10 1
2,45.10 0
3,6.10 0,249
a a
a a
A = = = >

1
3 3 2 1
0 4
0 a
a a
a a
A = A

3
3 3
5
9,98.10 0
2,45.10 9,98.10
3,6.10 179,712
=

0,01545 0 = <

Kt lun: H thng kn ban u khng n nh v khng tha mn cc
iu kin n nh ca tiu chun Hurwitz.

b) Kho st h thng kn s dng Control System Toolbox trn Matlab:

%Khai bo hm truyn v c tnh qu h thng kn:

>> Wkbd=feedback(Whbd,1)

Transfer function:
179.7
--------------------------------------------------
3.6e-005 s^4 + 0.00998 s^3 + 0.249 s^2 + s + 179.7

>> step(Wkbd)

Page
10

c tnh qu h thng kn ban u.
Nhn xt: c tnh khng n nh theo thi gian, do vy h thng kn
ban u ny khng n nh.

Kt lun chung phn kho st: H thng h nm bin gii n nh, h
thng kn khng n nh. Do vy ta phi hiu chnh h thng trn n nh
theo ng cc ch tiu cht lng bi t ra.


Page
11

I I I . Tng hp c cu hiu chnh ni tip bng c tnh tn
s bin Lgarit.
- S dng c cu hiu chnh ni tip (l khu c mc ni tip vi cc
khu trong mch h chnh).
- S cu trc h thng iu khin t ng c mc khu hiu chnh c
dng sau:

-
W ( )
hc
nt
s
W ( )
hbd
s

Hm s truyn h h khi hiu chnh ni tip:
W ( ) W ( ).W ( )
hc
h nt hbd
s s s = ; (6)
1. Dng c tnh tn s bin Logarit ca h thng ban u
( )
bd
L e .


Page
12

- H thng h ban u c tn s ct 24,3( / )
c
rad s e = , h thng chp
nhn sai s khng i theo vn tc. Do vy, chn c tnh tn s bin
dng
2
1
.
2. Xy dng c tnh tn s bin Logarit mong mun ( )
m
L s
theo cc tiu chun cht lng t ra cho h thng.

- Da vo cc ch tiu cht lng cho trc, ta thc hin tm hm truyn
h thng mong mun v dng c tnh tn s bin Logarit ca n.

Tnh ton mi lin h gia cc ch tiu cht lng ca qu trnh qu
vi tn s ct v d tr n nh theo pha:

73 ( )
c
o e = A ; vi tiu chun 26(%)
ax m
o =
th ta chn ( ) 60
3
o
c
t
e A = = ;
;

2
2( 1)
( ) 0,52
2
2
b
m
m
c
b
c
m
e
e
t
e
= A =

9 7 7
5,6( / )
1,25
rad s
c
t
qd
e

= = =

Page
13

2
2
2
. 0,52.5,6
1,456( / )
2 2
1 1
0,69( )
1,456
c
m
m
m
b
rad s
T s
e
e
e
= = =
= = =

Ta c
ax
18
100
0,18
m
m
V
K
V
> = =
A
; chn 110 K
m
=
2
1
. 5,6.1,456
0,07( / )
110
c m
m
m
rad s
K
e e
e = = = ;
1
1
14,3( )
0,07
m
T s = = ;
Li c:
3
3
2 2.5,6
21,54( )
2 0,52
c c
m
m
b
s
b
e e
e
e
= = = ~ ;
3
3
1 1
0,046( )
21,54
m
m
T s
e
= = ;

vng tn s cao th tnh cht ng hc ca h thng ban u v h
thng mong mun khng khc nhau l bao nhiu. Do vy ta chn:
3
4 DD
0,045( )
0,004( )
m KDMD
m K T
T T s
T T s
= =
= =

Ta nhn c hm s truyn h thng h mong mun c c tnh tn
s bin Logarit dng 2/1:

2
2
1 3 4
.( 1)
W ( )
( 1)( 1) ( 1)
m m
hm
m m m
K T s
s
s T s T s T s
+
=
+ + +


Page
14

2
110.(0,69 1)
(14,3 1)(0,045 1) (0,004 1)
s
s s s s
+
=
+ + +

% Khai bo hm truyn v v c tnh qu , c tnh tn s Logarit
ca h thng h mong mun:
>> Km=110;
>> W1m=tf(1,[1 0]);
>> W2m=tf([0.69 1],1);
>> W3m=tf(1,[14.3 1]);
>> W4m=tf(1,[0.002025 0.09 1]);
>> W5m=tf(1,[0.004 1]);

>> Whm=Km*W1m*W2m*W3m*W4m*W5m

Transfer function:
75.9 s + 110
-------------------------------------------------------
0.0001158 s^5 + 0.03411 s^4 + 1.347 s^3 + 14.39 s^2 + s

>> Wkm=feedback(Whm,1)

Transfer function:
75.9 s + 110
------------------------------------------------------------------
0.0001158 s^5 + 0.03411 s^4 + 1.347 s^3 + 14.39 s^2 + 76.9 s + 110

>> step(Wkm) %ly c tnh qu
>> margin(Whm) %ly c tnh tn s bin Logarit


Page
15

c tnh qu ng ca h thng mong mun.
- qu chnh : 26(%) o = ;
- Thi gian qu : 1,2( ) T s
qd
= ;
- S chu k dao ng : 1 n= ;
- n nh ti gi tr cui cng : 1 h =
.


Page
16

c tnh tn s bin Logarit ca h thng h mong mun.
- d tr bin Logarit : 16( ) L dB A = ;
- d tr pha :
0
47,6 A = .
3. Xy dng c tnh tn s bin Logarit ca khu hiu chnh
( ) ( ) ( )
hc
nt m bd
L s L s L s =
.
Thc hin php tr th ta nhn c c tnh tn s Logarit ca khu
hiu chnh, do vy ta nhn c hm s truyn ca khu hiu chnh nh
sau:

e

-20dB/dc +20dB/dc
L(e)
0
2
1
m
T
1
1
bd
T
2
1
bd
T
1
1
m
T
0

Page
17

2 DCCH
1
.( 1)( 1)
W ( )
( 1)( 1)
hc m
hc
s
m KDMD
K T s T s
s
T T s
+ +
=
+ +
;
Vi
m
hc
bd
K
K
K
= ;
4.Chn khu hiu chnh hin thc ha trong h thng.
Lu : Chn khu hiu chnh tng ng phi m bo n gin v kh
thi v mt k thut:
Ta thc hin hiu chnh ha thc t bng cc khu sau:
a) Khu tch phn:
2 tp
R
tp
C
1 tp
R

C hm s truyn l:
1
2
.( 1)
W ( )
( 1)
tp tp
tp
tp
K T s
s
T s
+
=
+

Vi
1
tp
K =
;
1 1 2
. 0,69( )
tp tp tp m
T R C T s = = =
;
2
2 1 1
1
(1 ) 14,3( )
tp
tp tp m
tp
R
T T T s
R
= + = =
;

Page
18

1
2
1
. 0,69
(1 ) 20,72
tp tp
tp
tp
R C
R
R
=
+ =

Gii h phng trnh trn bng cch chn cc linh kin thc t:
Chn 1
10( )
tp
R k = O
ta nhn c :
2
210( ); 69( )
tp tp
R k C F = O =

Khi ny ta nhn c cc tham s thc t ca mch tch phn:
2 1
0,69( ); 15,18( )
1 2
m m
T T s T T s
tp tp
= = = =
b) Khu vi phn:
2 vp
R
vp
C
1 vp
R
3 vp
R

Ta c hm s truyn ca khu vi phn ny:
( 1)
1
W ( ) .
( 1)
2
T s
vp
s K
vp vp
T s
vp
+
=
+
;
Vi cc tham s:

Page
19

1 110
0,61
179,712
2 3
1
1 1
K
m
K
vp R R
K
vp vp
bd
R R
vp vp
= = = ~
+ +
;
.
1 1
0,2( )
vp vp vp DCCH
T R C T s = = = ;
1 3
2 1
1 2 3
. 0,045( )
vp vp
vp vp KDMD
vp vp vp
R R
T T T s
R R R
+
= = =
+ +
;
V
1
1 2 3
0,61
vp
vp
vp vp vp
R
K
R R R
= =
+ +

Nn
1
1
1 2 3
. 0,2.0,61 0,122 0,045
vp
vp
vp vp vp
R
T
R R R
= = >
+ +

Do vy ta cn phi tng
bd
K ; cho tng n 650
bd
K = ;
Vy ta c :
110
0,17
650
m
vp
bd
K
K
K
= = ~ ;
1
1
1 2 3
. 0,2.0,17 0,034
vp
vp
vp vp vp
R
T
R R R
= =
+ +

3
1
1 2 3
. 0,045 0,034 0,011
vp
vp
vp vp vp
R
T
R R R
= =
+ +
;

Page
20

1
1
1 2 3
3
1 2 3
. 0,2
0,17
0,055
vp vp
vp
vp vp vp
vp
vp vp vp
R C
R
R R R
R
R R R
=
=
+ +
=
+ +

Chn
1
10( )
vp
R k = O ; ta nhn c cc gi tr thc t cn li:
2 3
20( ); 47( ); 3,3( );
vp vp vp
C F R k R k = = O = O
Khi ta c cc tham s thc t ca mch vi phn:
1 2
0,2( ); 0,044( ); 0,166
vp vp vp
T s T s K = = = ;
5. Phn tch kim tra cht lng ca h thng.
Hm s truyn ca khu hiu chnh chnh l ni tip 2 khu hiu chnh
tch phn v vi phn trn:
V vy ta c :
1 1
2 2
. .( 1)( 1)
W ( ) W ( ).W ( )
( 1)( 1)
tp vp tp vp
hc tp vp
tp vp
K K T s T s
s s s
T s T s
+ +
= =
+ +

0,166.(0,69 1)(0,2 1)
(15,18 1)(0,044 1)
s s
s s
+ +
=
+ +

Ta nhn c hm s truyn h thng h khi hiu chnh vi
110
650
0,166
m
bd
hc
K
K
K
= = ~


Page
21

W ( ) W ( ).W ( )
hc
h nt hbd
s s s = =

0,166.(0,69 1)(0,2 1) 650
.
(15,18 1)(0,044 1) (1 0,004 )(1 0,045 )(1 0,2 )
s s
s s s s s s
+ +
=
+ + + + +

110.(0,69 1)
(15,18 1)(0,044 1)(0,045 1)(0,004 1)
s
s s s s s
+
=
+ + + +

Kho st h thng ny bng Control System Toolbox trn Matlab:
>> K=110;
>> W1=tf([0.69 1],[1 0]);
>> W2=tf(1,[15.18 1]);
>> W3=tf(1,[0.045 1]);
>> W4=tf(1,[0.044 1]);
>> W5=tf(1,[0.004 1]);
>> Wh=K*W1*W2*W3*W4*W5

Transfer function:
75.9 s + 110
-------------------------------------------------------
0.0001202 s^5 + 0.03547 s^4 + 1.414 s^3 + 15.27 s^2 + s

>> Wk=feedback(Wh,1)


Page
22

Transfer function:
75.9 s + 110
------------------------------------------------------------------
0.0001202 s^5 + 0.03547 s^4 + 1.414 s^3 + 15.27 s^2 + 76.9 s + 110
>> step(Wk)
>> margin(Wh)

c tnh qu ca h thng sau khi hiu chnh.
- qu chnh :
26(%) o =
;
- Thi gian qu :
1,23( ) T s
qd
=
.
- H thng n nh dao ng vi s chu k
1 n=
.

Page
23

c tnh tn s bin Logarit ca h thng sau khi hiu chnh.
- d tr bin :
16,6( ) L dB A =
;
- d tr pha :
0
48,4 A =
.
Kt lun: H thng sau khi hiu chnh t c nhng ch tiu cht
lng t ra mt cch tng i. V th bi ton c gii quyt theo
yu cu ca bi.

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Bi tp ln L thuyt iu khin t ng Phm Nguyn Tng-KT8

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