THIT K B IU KHIN

ROTOR QUAY 120

o
Nhm: A08
Thnh vin: Ng Bu Anh Duy 41100568
Nguyn Thanh Hi 41100987
Hong Anh Hip 41101175
H Vn c 41100854
Ni DUNG
M hnh i tng motor DC
p ng h thng khi cha c b khin
Thit k b iu khin
So snh kt qu b iu khin
M hnh phn cng b iu khin

Tc quay ca mt ng c in mt chiu t
l vi in p t vo n, v ngu lc quay t l
vi dng in.

M hnh i tng motor DC
(1)
(2)
(3)
(4)
Vi V
a
in p phn ng (V)
R
a
in tr phn ng (ohm)
L
a
in cm phn ng (H)
I
a
dng in phn ng (V)
E
b
sc phn in ng (V)
w tc gc (rad/s)

( )
( ) . ( ) . ( )
a
a a a b
a
di t
t R i t L e t
dt
v
= + +
( ) . ( )
b b
e t k w t =
( ) . ( )
( )
( ) . . ( )
m T a
m m m
T t K i t
dw t
T t j B w t
dt
=
= +
T
m
momen ng c (N.m)
gc quay ng c (rad)
J
m
qun tnh rotor (kg.m
2
)
B
m
h s ma st nht (Nms/rad)
K
T
hng s momen (Nm/A)
K
b
hng s phn in ng (Vs/rad)
u
Kt hp (1) (2) (3) (4) :
(5)
(6)

Bin i laplace (5) (6) :
(7)
(8)
( )
( ) . ( ) . . ( )
a
a a a b
a
di t
t R i t L k w t
dt
v
= + +
( )
. ( ) . . ( )
T a m m
dw t
K i t j B w t
dt
= +
( ) . ( ) . ( ). . ( )
a a a a b
a
s R I s L I s s k W s
V
= + +
. ( ) . ( ). . ( )
T a m m
K I s J W s s B W s = +
2
1
( ) ( ). [ . . ( ). ( . . )]
a m a m a m a m b T
a
T
s W s L J s R J L B s R B K K
K
V
= + + + +
Thay I
a
(s) t (8) vo (7):


Suy ra hm truyn gia V
a
v w l:



Quan h gia vn tc gc w v gc quay l:






2
( )
( ) . . ( ). ( . . )
T
a m a m a m a m b T
a
K W s
s L J s R J L B s R B K K
V
=
+ + + +
1
( ) ( ) s W s
s
u =
T ta rt ra c quan h gia gc quay v
in p phn ng:

3 2
( )
( ) . . ( ). ( . . )
T
a m a m a m a m b T
a
K s
s L J s R J L B s R B K K s
V
u
=
+ + + +
p ng h thng khi cha c b
khin

V d s dng ng c dc 3.70 kW, 240V, 1750
rpm c cc thng s sau:
R
a
=11.2 (ohm)
L
a
= 0.1215 (H)
J
m
= 0.02215 (kg.m
2
)
B
m
= 0.002953 (Nms/rad)
K
T
= 1.28 (Nm/A)
K
b
= 1.28 (Vs/rad)


M hnh plant motor dc nh sau:

p ng hm truyn vng h:

p ng hm truyn vng kn:

Nhn xt:
H thng motor DC c sai s xc lp bng
khng i vi tn hiu hi tip l gc quay teta
v h thng c 1 khu tch phn.
Ta thy rng p ng ca h thng khi cha c
b iu khin c thi gian xc lp kh ln,
t
xl
> 5(s)
=> Yu cu phi thit k li h thng c
t
xl
< 1(s) v c POT< 10%
a) M hnh iu khin
b) Thit k h thng dng QNS
c) Thit k h thng dng PID

Thit k b iu khin
a) M hnh iu khin
b) Thit k h thng bng QNS
Hm truyn gn ng ca plant nh sau:




POT< 10% => chn
t
xl
< 1(s) (2%) => chn w
n
=14 (rad/s)
Cp cc quyt nh: s
12*
=


3 3 2
( ) 1, 28
( )
( ) 2, 69.10 . 0, 25. 1.67.
a
s
G s
s s s s
V
u

= =
+ +
0.6 =
8.4 11.2 j
* 51
o
| =
126.9 ,| | 14
o
OPx OP = =



=>
1 1
8.61, 22.76
T T o
= =
( ). ( ) 1 35
c c
G s G s K = =
8.61
( ) 35
22.76
c
s
G s
s
+
=
+
c) Thit k h thng bng PID
M hnh PID:

S dng phng php iu chnh bng tay cc
thng s ca PID theo bng sau:

Operation Rise time Overshoot Stability
K
p
tng Faster Increases
Decreases

T
D
tng Slower Decreases
Increases

1/T
I
tng
Faster

Increases

Decreases

Thc hin theo cc bc sau:

Loi b b tch phn v vi phn bng cch cho

T
D
= 0, 1/T
I
=0

Tng K
p
gim thi gian xc lp

Tip tc tng T
D
gim vt l

Tng 1/T
I
ly li thi gian xc lp theo yu
cu

Lp li t bc 2 n khi tha yu cu t ra
Vi motor Dc nh v d trn th c cc thng s
sau: P= 55 , I= 2.8 , D= 3.6
So snh kt qu cc b iu
khin
Khng c bk Pp QNS Pp PID
T
r
(s) 4.5 0.32 0.25
T
s
(s) 5.3 0.5 0.3
POT 0 9.5% 1.4%
e 0 0 0.01
Trc khi c b iu khin:

Dng b iu khin QNS:


Dng b iu khin PID:


M hnh phn cng BK
M hnh dng opamp thit k hm truyn.
S dng bin tr quay o gc quay v x l
tn hiu ri hi tip v b tng.