BG DKTD - Nguyen Xuan Nguyen

TRNG AI HOC CONG NGHE SAI GON
-----------------------------------------
BAI GIANG
LY THUYET IEU KHIEN T ONG
ThS. NGUYEN XUAN NGUYEN
Tp. Ho Ch Minh, thang 9.2007
Page1- Bai GiangKT
Gii thieu chng trnh
M au
Chng 1. Khai niem ve ieu khien t ong.
Chng 2. C s toan hoc.
Chng 4. Khao sat tnh on nh cua he thong.
Chng 5. anh gia chat lng he thong ieu khien.
Chng 3. Mo ta toan hoc he tuyen tnh lien tuc.
Chng 6. Thiet ke he thong ieu khien lien tuc.
Page2 - Bai GiangKT
Khai niemve ieu khien t ong
Chng 1
I. Khai niemve ieu khien
1. ieu khien la g ?
V du lai xe vi toc o mong muon la 50 Km/h.
Mat quan sat ong ho o toc o:
thu thap thong tin
Bo nao ieu khien:
tang toc neu v < 50 Km/h
giam toc neu v >50 Km/h
x l thong tin
Page3 - Bai GiangKT
Tay giam hoac tang ga:
tac ong len he thong
Ket qua cua qua trnh ieu khien la xe chay vi
toc o gan bang 50 Km/h.
nh ngha:
ieu khien la qua trnh thu thap thong tin, x l
thong tin va tac dong len he thong e ap ng cua he
thong gan vi muc tieu nh trc.
ieu khien t ong la qua trnh ieu khien khong
can s tac ong cua con ngi.
Page4 - Bai GiangKT
2. Tai sao phai ieu khien ?
Co hai ly do chnh e thc hien ieu khien, o la:
Con ngi khong thoa man vi cac ap
ng cua he thong.
- ieu hoa nhiet o : v khong thoa man vi nhiet
o nong qua hay qua lanh.
- On nh ien ap : v khong thoa man vi viec
ien ap thay oi that thng,...
Page5 - Bai GiangKT
Muon tang o chnh xac, tang nang suat
va hieu qua kinh te.
- ieu khien cac xe hay may bay t ni nay en
ni khac mot cach an toan va chnh xac,
- Cac qua trnh san xuat vi vo so cac muc tieu
can ieu khien e thoa man cac yeu cau ve s an
toan, o chnh xac va hieu qua kinh te,
Page6 - Bai GiangKT
3. Cac thanh phan c ban cua he thong ieu khien ?
He thong ieu khien gom co 3 thanh phan
c ban:
- oi tng ieu khien,
- Cam bien hay thiet b o lng,
- Bo ieu khien.
Page7 - Bai GiangKT
Cac ky hieu
r(t) : tn hieu vao
c(t) : tn hieu ra
c
ht
(t) : tn hieu hoi tiep
Bo ieu khien oi tng
Cam bien
r(t)
e(t) u(t)
c(t)
c
ht
(t)
e(t) : tn hieu sai lech
u(t) : tn hieu ieu khien
Page8 - Bai GiangKT
II. Phan loai ieu khien
S phan loai he thong ieu khien ch mang tnh
qui c. Tuy theo muc ch, co nhieu cach phan loai
khac nhau.
1. Phan loai theo cau truc he thong
- He thong vong h : La he thong co tac ong
ieu khien oc lap vi tn hieu ngo ra.
- He thong vong kn : La he thong co tac ong ieu
khien phu thuoc vao tn hieu ngo ra.
Page9 - Bai GiangKT
He thong ieu khien vong h
Page10 - Bai GiangKT
He thong ieu khien vong kn
Page11- Bai GiangKT
2. Phan loai theo muc tieu ieu khien
- ieu khien on nh hoa
Tn hieu vao chuan r(t) khong oi theo thi gian.
V du nh on nh nhiet o, on nh ien ap,..
Muc tieu ieu khien thng gap nhat la sai so
gia tn hieu ra va tn hieu vao cang nho cang
tot.Tuy theo dang tn hieu vao ma co cac loai ieu
khien khac nhau.
- ieu khien theo chng trnh
Tn hieu vao chuan r(t) la ham thay oi theo thi
gian nhng a biet trc.
V du nh ieu khien may cong cu CNC, thu thap
va truyen so lieu he thong ien,..
- ieu khien theo doi
Tn hieu vao chuan r(t) la ham khong biet trc.
V du nh ieu khien lai tau, ieu khien an ao,
III. Nhiem vu cua ieu khien
Trong ieu khien t ong, co ba bai toan c ban
can giai quyet, o la:
1. Phan tch he thong
Cho he thong t ong a biet trc cau truc va
thong so, tm ap ng va anh gia chat lng he
thong.
2. Thiet ke he thong
Biet cau truc va thong so cua oi tng ieu
khien, thiet ke bo ieu khien e he thong thoa
man cac yeu cau ve chat lng cho trc.
3. Nhan dang he thong
Xac nh cau truc va thong so cha biet cua he
thong.
Mon hoc ly thuyet ieu khien t ong ch giai
quyet bai toan phan tch va thiet ke he thong.
III. Nhiem vu cua ieu khien
Chng 2
C S TOAN HOC
C s toan hoc
Chng 2
oi tng ieu khien rat a dang. Do o can co c s toan
hoc e phan tch, thiet ke cac he ieu khien co ban chat vat ly
khac nhau.
I. Phng trnh vi phan
R
C v
i
(t)
v
o
(t)
i
Xet mach RC nh hnh ve.
0
v iR v
i
+ =
Ta co:
ma:
dt
dv
C i
o
=
nen:
i o
o
v v
dt
dv
RC = +
Xet he vat - lo xo - emnh hnh ve.
Theo nh luat 2 Newton, ta co:
a m F
h
=
ma:
2
2
dt
x d
dt
dv
a = =
dt
dx
C Kx F Cv Kx F F
h
= =
nen:
2
2
dt
x d
m
dt
dx
C Kx F =
F Kx
dt
dx
C
dt
x d
m = + +
2
2
m
F(t)
o
x
Mot cach tong quat, quan he gia tn hieu vao
va tn hieu ra cua he thong tuyen tnh lien tuc co
the c bieu dien dang phng trnh vi phan:
r(t) c(t)
He TTLT
) t ( r b
dt
) t ( dr
b ...
dt
) t ( r d
b
dt
) t ( r d
b
) t ( c a
dt
) t ( dc
a ...
dt
) t ( c d
a
dt
) t ( c d
a
m m
m
m
m
m
n n
n
n
n
n
+ + + +
= + + + +
1
1
1
1 0
1
1
1
1 0
Viec khao sat he thong da vao phng trnh vi
phan bac cao thng gap nhieu kho khan.
Phng phap ham truyen at mo ta he thong
giup cho viec khao sat de dang hn bang viec
chuyen quan he phng trnh vi phan thanh quan
he phan thc ai so nh phep bien oi Laplace.
II. Bien oi Laplace
1. nh ngha
Cho f(t) xac nh vi moi t 0, bien oi Laplace
cua f(t) c xac nh:
= =
0
dt e ). t ( f ) s ( F )} t ( f { L
st
Trong o
s = +j la bien Laplace
L la toan t Laplace
Page21- Bai GiangKT
II. Bien oi Laplace
2. Tnh chat
Tnh tuyen tnh
) s ( bF ) s ( aF )} t ( bf ) t ( af { L
2 1 2 1
+ = +
nh ly cham tre
) s ( F e )} t ( f { L e )} T t ( f { L
Ts Ts
= =
II. Bien oi Laplace
Anh cua ao ham
) ( f ) s ( sF
dt
) t ( df
L
+
=
0
Anh cua tch phan
nh ly gia tr cuoi
s
) s ( F
dt ) t ( f L
t
=
0
0
lim ( ) lim ( )
t s
f t sF s
+
=
II. Bien oi Laplace
3. Bien oi Laplace ngc
1
{ ( )} ( ) L F s f t
=
Cho ham so phc F(s), bien oi Laplace ngc
cua ham so F(s) c ky hieu la:
Thong thng e tm bien oi Laplace ngc, ta
thc hien bien oi F(s) ve dang c ban, sau o s
dung bang tra bien oi Laplace.
II. Bien oi Laplace
4. Bien oi Laplace cua cac hamc ban
Hamnac n v
u(t)
t
O
1
<
=
0 0
0 1
t if ,
t if ,
) t ( u
s
)} t ( u { L
1
=
II. Bien oi Laplace
Hamxung n v
(t)
t
O
=
0
0 0
t if ,
t if ,
) t (
Va thoa he thc:
+

= 1 dt ) t (
1 = )} t ( { L
II. Bien oi Laplace
Hamdoc n v
r(t)
t
O
1
1
<
= =
0 0
0
t if ,
t if , t
) t ( tu ) t ( r
2
1
s
)} t ( u . t { L =
Dung tnh chat tch phan, chng minh c:
1 +
=
n
n
s
! n
)} t ( u . t { L
II. Bien oi Laplace
Hamso mu
u(t)
t
O
1
<
= =

0 0
0
t if ,
t if , e
) t ( u e ) t ( f
at
at
a s
)} t ( u . e { L
at
+
=

1
II. Bien oi Laplace
Hamso sin
<
=
0 0
0
t if ,
t if , t sin
) t ( f
2 2
+
=
s
)} t ( u . t {sin L
u(t)
t
O
1
II. Bien oi Laplace
Hamso cosin
<
=
0 0
0
t if ,
t if , t cos
) t ( f
2 2
+
=
s
s
)} t ( u . t {cos L
u(t)
t
O
1
Chng 3
MO TA HE THONG
Page31- Bai GiangKT
Mo ta he tuyen tnh lien tuc
Chng 3
I. Ham truyen at
1. Khai niem
r(t) c(t)
He TTLT
R(s)
C(s)
He tuyen tnh lien tuc c mo ta bi PTVP:
) t ( r b
dt
) t ( dr
b ...
dt
) t ( r d
b
dt
) t ( r d
b
) t ( c a
dt
) t ( dc
a ...
dt
) t ( c d
a
dt
) t ( c d
a
m m
m
m
m
m
n n
n
n
n
n
+ + + +
= + + + +
1
1
1
1 0
1
1
1
1 0
Bien oi Laplace hai ve vi ieu kien au bang khong:
I. Ham truyen at
0 1 0 1
1
0 1 1
1
0 1 1
( ) .. ( ) ( ) ( ) .. ( ) ( )
.. ( )
( )
( ) ..

+ + + = + + +
+ + + +
= =
+ + + +
n m
n n m m
m m
m m
n n
n n
a s C s a sC s a C s b s R s b sR s b R s
b s bs b s b C s
G s
R s a s a s a s a
G(s) c goi la ham truyen cua he thong.
Ham truyen he thong la t so gia bien oi Laplace
cua tn hieu ra va bien oi Laplace cua tn hieu vao khi
ieu kien au bang khong.
nh ngha:
I. Ham truyen at
S o khoi cua he thong la hnh ve mo ta chc nang
cua cac phan t va s tac ong qua lai gia cac phan
t trong he thong.
2. S o khoi va ai so s o
2.1 Khai niem
S o khoi gom 3 thanh phan chnh:
G(s)
R(s)
C(s)
Khoi chc nang
x
iem re nhanh
x x
Bo tong
I. Ham truyen at
2.2 Bieu dien ham truyen bi s o khoi
He thong mac noi tiep:
G(s) G (s).G (s) =
1 2
I. Ham truyen at
He thong mac song song:
1 2
= + G( s) G ( s) G ( s)
1
2
I. Ham truyen at
He thong mac hoi tiep:
1
=
+
k
G( s )
G ( s )
G( s )H( s )
I. Ham truyen at
2.3 Chuyen v s o khoi
Chuyen iem re nhanh:
I. Ham truyen at
Chuyen v bo tong so vi khoi:
I. Ham truyen at
Chuyen v hai bo tong:
Tach bo tong lam hai:
II. ac tnh ong hoc he thong
c tnh ong hoc mo ta s thay oi cua tn hieu ra theo
thi gian khi co tac ong au vao.
1. Khai niem ve ac tnh ong hoc
1. 1 ac tnh thi gian
c tnh thi gian mo ta s thay oi cua tn hieu ra khi
au vao la ham xung hay ham nac.
Khi au vao la ham xung:
(t)
t
O
{ } ) ( ) ( ) (
) ( ) ( ). ( ) (
) ( ) (
1
t g s G L t c
s G s G s R s C
t t r
= =
= =
=
Page41- Bai GiangKT

Ham g(t) c goi la ap ng xung hay con goi la ham
trong lng cua he thong. ap ng xung chnh la bien oi
Laplace ngc cua ham truyen.
Khi au vao la ham nac:
=
= =
=
t
dt t g s G
s
L t c
s G
s
s G s R s C
t u t r
0
1
) ( ) (
1
) (
) ( .
1
) ( ). ( ) (
) ( ) (
Ta at:

=
t
dt t g t h
0
) ( ) (
u(t)
t
O
1
Ham h(t) c goi la ap ng nac hay con goi la
ham qua o cua he thong. ap ng nac chnh la tch
phan cua ap ng xung.
1. 2 ac tnh tan so
c tnh tan so mo ta quan he gia tn hieu ra va
tn hieu vao trang thai xac lap khi thay oi tan so
tn hieu dao ong ieu hoa au vao he thong.
Gia s au vao he thong di dang:
t R t r
m
sin ) ( =
Chng minh c ngo ra xac lap se la:
[ ]
( ) .sin ( )
xl m
c R G j t G j = +
nh ngha
c tnh tan so cua he thong la t so gia tn hieu ra
trang thai xac lap va tn hieu vao hnh sin.
) (
) ( ) (
) (
) (

j
e M j G
j R
j C
DTTS = = =
e bieu dien ac tnh tan so mot cach trc quan,
co the s dung o th.
Hai dang o th c dung pho bien la bieu o
Bode va bieu o Nyquist.
Bieu o Nyquist:
Bieu dien ng cong G(j) khi bien thien t 0
en .
Bieu o Bode:
- Bieu o bode bien o:
Truc hoanh la lg , n v decade.
Truc tung la L()=20lgM(), n v dB.
- Bieu o bode pha:
Truc hoanh la lg , n v decade.
Truc tung la () , n v o.
III. Cac khau ong hoc ien hnh
1. Khau t le
K
R(s)
C(s)
C ( s ) K .R ( s ) =
- ac tnh thi gian
ap ng xung
ap ng nac
{ }
g ( t ) L K K ( t )
= =
1
t
h ( t ) g ( t ) d t K u ( t ) = =
0
K
K
G( j ) K =
- ac tnh tan so
-Bien o :
-Pha :
L ( ) l g K = 2 0
( ) = 0
L()
lg
O
20lgK
1 2
()
lg
90
0
1 2
-90
0
3. Khau tch phan ly tng
1/s
R(s)
C(s)
C(s) R(s)
s
=
1
- ac tnh thi gian
ap ng xung
ap ng nac
g ( t ) L u ( t )
s

= =

1
1
t
h ( t ) g ( t ) d t t .u ( t ) = =
0
G(j ) j
j

= =
1 1
- ac tnh tan so
-Bien o :
-Pha :
L ( ) l g = 2 0
( ) =
0
9 0
()
lg
90
0
0 1
-90
0
-1
-20
L()
lg
20
0 1 -1
-20 dB/dec
3. Khau vi phan ly tng
S
R(s)
C(s)
C(s) s.R(s) =
- ac tnh thi gian
ap ng xung
ap ng nac
{ }
g ( t ) L s ( t )
= =
1
t
h ( t ) g ( t ) d t ( t ) = =
0
1
Page51- Bai GiangKT
G( j ) j =
- ac tnh tan so
-Bien o :
-Pha :
L ( ) l g = 2 0
( ) =
0
9 0
()
lg
90
0
0 1
-90
0
-1
-20
L()
lg
20
0 1 -1
20 dB/dec
4. Khau quan tnh bac nhat
G(s)
R(s)
C(s)
1 1
1 1
= =
+ +
G(s) C(s) R(s)
Ts Ts
- ac tnh thi gian
ap ng xung
ap ng nac
t
T
g ( t ) L e .u ( t )
T s T

= =

+

1
1 1
1
t t
T
h ( t ) g ( t ) dt ( e ) .u ( t )
= =
0
1
G( j )
Tj
=
+
1
1
- ac tnh tan so
-Bien o :
-Pha :
L( ) lg T = +
2 2
20 1
( ) arctan(T ) =
-20
L()
lg
0 1 -1
-20 dB/dec
1/T
()
lg
-90
0
0 1
-45
0
-1
1/T
PHNG PHAP VE
BIEU O BODE TIEM CAN
BC 1
Xac nh cac tan so gay:
Sap xep cac tan so gay:
1
, 1,
i
i
i n
T
= =
1 2 3 n
< < < <
BC 2
Xac nh iem A:
Qua A ve ng thang co o doc:
Keo dai en tan so gay tiep theo.
1 /
( ) 20lg
rad s
L K
20 / dB dec
20 / dB dec +
Neu G(s) cha khau tch phan ly tng
Neu G(s) cha khau vi phan ly tng
BC 3
Tai tan so gay
i
, o doc c cong them:
20 / dB dec
Neu
i
cua khau quan tnh bac nhat
20 / dB dec +
Neu
i
cua khau vi phan bac nhat
40 / dB dec
Neu
i
cua dao ong bac hai
40 / dB dec +
Neu
i
cua vi phan bac hai
Gi la boi nghiem tai tan so gay
i
BC 4
Lap lai bc 3 cho en khi ve xong
ng tiem can tai tan so gay cuoi cung.
MO TA TOAN HOC CAC HE
THONG VAT LY
CAC HE THONG C
Page61- Bai GiangKT
( ) ( ) ( )
i o
Pt K x t x t =

1. S dch chuyen lo xo
O CNG TRONG HE THONG C
2. S quay xoan lo xo
( ) ( ) ( )
i o
T t K t t =

S SUY GIAM TRONG HE THONG C
1. S dch chuyen bo suy giam
( )
( ) . ( ) .
dx t
P t C v t C
dt
= =
2. S quay bo suy giam
( )
( ) . ( ) .
d t
T t C t C
dt
= =
1. Chuyen ong thang
KHOI LNG TRONG HE THONG C
2
2
.
d x
F m
dt
=

KHOI LNG TRONG HE THONG C
2. Chuyen ong quay
2
2
.
d
T I
dt

V DU VE MO TA HE THONG C
1. Tm quan he gia o di x
i
(t) va x
0
(t). Xet trng
hp bo qua khoi lng cua vat.
Khao sat co the t do m
( )
2
2
( ) ( )
. ( ) ( ) . .
o o
i o
dx t d x t
K x t x t C m
dt dt
=
2
2
( ) ( )
. . . ( ) . ( )
o o
o i
d x t dx t
m C K x t K x t
dt dt
+ + =
Neu bo qua khoi lng m
2
2
. 0
d x
F m
dt
= =
( )
( )
. ( ) ( ) . 0
o
i o
dx t
K x t x t C
dt
=
( )
. . ( ) . ( )
o
o i
dx t
C K x t K x t
dt
+ =
2. Tm quan he gia moment quay T(t) theo van
toc goc (t). Biet banh rang co moment quan tnh
I, he so suy giam moment la C.
Page71- Bai GiangKT
Phng trnh chuyen ong quay
2
2
.
d
T I
dt
( )
( ) . ( ) .
d t
T t C t I
dt
=
( )
. . ( ) ( )
d t
I C t T t
dt
+ =
3. Cho he thong giam toc truyen ong bang ong c.
Xac nh quan he gia moment ong c T
m
(t) vi v
tr goc quay
0
(t) cua truc ra.
Phng trnh chuyen ong cua truc ong c
2
2
( )
.
m
m
d t
T I
dt
2
2
( ) ( )
( ) . . ( ) .
m m
m m m
d t d t
T t C aX t I
dt dt

=
2
2
( ) ( ) 1
( ) . ( ) . .
m m
m m m
d t d t
X t T t C I
a dt dt

=

Phng trnh chuyen ong cua truc ra tai
2
2
( )
.
o
o
d t
T I
dt
2
2
( ) ( )
. ( ) . .
o o
o o
d t d t
b X t C I
dt dt

=
( )
( )
2
2
1
. . .
o
o
o o
d t
d
X t I C
b dt dt

= +

Can bang cac phan lc
2 2
2 2
( ) ( ) ( ) ( ) 1 1
. ( ) . . . . .
m m o o
m m m o o
d t d t d t d t
T t C I I C
a dt dt b dt dt

= +

Theo quan he ong nang
2 2
2 2
( ) ( )
.
( ) ( )
( ) . ( )
.
m o
m o
m o
d t d t
b n
n
dt dt
a
d t d t
t n t
n
dt dt

=
=

Thay vao he thc can bang phan lc, ta co:
2 2
2 2
( ) ( ) ( ) ( )
. ( ) . . . . . .
o o o o
m m m o o
d t d t d t d t
n T t C n I n I C
dt dt dt dt

= +

( ) ( )
2
2 2
2
( ) ( )
. . . ( )
o o
o m o m m
d t d t
I n I C n C nT t
dt dt

+ + + =
( )
2
:
o m
I n I +
( )
2
:
o m
C n C +
Moment quan tnh tng ng cua truc ra.
He so suy giam tng ng cua truc ra.
CAC HE THONG NHIET
MO HNH TOAN HE THONG NHIET
1 2
.
T T
R Q =
.
T
R
K A
=

1. Nhiet tr R
T
MO HNH TOAN HE THONG NHIET
2. Nhiet dung C
T
( ) ( )
. .
p
dH t d t
mC
dt dt
=
( ) ( )
.
T T
dH t d t
Q C
dt dt
= =
( ) . . ( )
p
H t mC t =
Nhiet lng tch tr trong co the
Lay vi phan 2 ve, ta co dong nhiet lng
Page81- Bai GiangKT
Truyen nhiet qua vach ngan
V DU VE MO TA HE THONG NHIET
Xac nh phng trnh vi phan mo ta quan he ga cac nhiet
o
1
(t) va
2
(t).
V DU VE MO TA HE THONG NHIET
1 2
( ) ( )
( )
T
T
t t
Q t
R

=
2
( )
( ) .
T T
d t
Q t C
dt
=
2 1 2
( ) ( ) ( )
.
T
T
d t t t
C
dt R

=
2
2 1
( )
. ( ) ( )
T T
d t
R C t t
dt
+ =
Tai vach ngan
Tai tam tan nhiet
Can bang dong nhiet lng
CAC HE THONG IEN
MO HNH TOAN HE THONG IEN
1. Cac phan t c ban
1 2
( ) ( ) . ( ) v t v t Ri t =
1 2
( )
( ) ( ) .
di t
v t v t L
dt
=
1 2
1
( ) ( ) ( ). v t v t i t dt
C
=

2. Mach ien RC
1 2
( ) . ( ) ( ) v t R i t v t = +
2
( )
( ) .
dv t
i t C
dt
=
2
2 1
( )
. ( ) ( )
dv t
RC v t v t
dt
+ =
2. Mach ien RC phc hp
( )
2
2
1 2 1 2
2
2
1 1 1 2 2 2 2 1
( )
. . . .
( )
. ( ) ( )
d v t
R R C C
dt
dv t
RC RC R C v t v t
dt
+
+ + + + =
Chng 4
KHAO SAT ON NH
HE THONG
Khao sat on nh he thong
Chng 4
I. Khai niem ve on nh
1. The nao la on nh?
Co the minh hoa mot cach trc quan cac trang
thai cua he thong nh sau:
Khong on nh Bien gii on nh On nh
2. Moi lien he gia on nh va ham truyen
Xet he thong co ham truyen:
On nh la kha nang tr ve trang thai can bang cua
he thong sau khi ket thuc cac tac ong ben ngoai lam
cho no ri khoi trang thai can bang o.
1
0 1 1
1
0 1 1
.. ( )
( )
( ) ..
m m
m m
n n
n n
b s b s b s b C s
G s
R s a s a s a s a
+ + + +
= =
+ + + +
nh ngha:
Ta at:
Nghiem phng trnh B(s) = 0 goi la cac zero.
Co m zero, ky hieu la z
i
, i = 1,,m.
Nghiem phng trnh A(s) = 0 goi la cac cc.
Co n cc, ky hieu la p
j
, j = 1,,n.
1
0 1 1
1
0 1 1
( ) ..
( ) ..
m m
m m
n n
n n
B s b s b s b s b
A s a s a s a s a
= + + + +
= + + + +
Page91- Bai GiangKT
Cac cc va zero cua ham truyen co the la thc
hay phc. V tr cua chung bieu dien tren mat phang
phc goi la gian o cc-zero.
Ims
Res
Gian o cc-zero
x
x
x
x
O
O
O
x: cc
o: zero
- Co the phan tch ham truyen di dang:
0 1 2
0 1 2
( )( )...( )
( ) .
( )( )...( )

=

m
n
b s z s z s z
G s
a s p s p s p
- Khi tn hieu vao la ham nac th ap ng se la:
( )
0
0
1
1 2
0 1 2
( )( )...( ) 1
( ) ( ). ( ) . .
( )( )..
(
)
)
.(
n
i
i
m
n
i
b s z s z s z
C s R s G s
s a s p s p
C s
s p
s p
s
=
= +

= =

ap ng thi gian cua he thong:
0
1
( )
=
= +
i
n
p t
i
i
c t e
Tuy theo tr so cac cc p
i
, ap ng co 3 dang sau:
Tat ca cac cc co phan thc am He on nh.
Ton tai cc co phan thc bang khong, cac cc con lai co
phan thc am He bien gii on nh.
Ton tai t nhat mot cc co phan thc dng He khong
on nh.
c(t)
t
O
0
On nh
c(t)
t
O
0
Bien gii on nh
c(t)
t
O
0
Khong on nh
Ket luan:
He thong on nh neu
tat ca cac cc cua he eu
co phan thc am.
V v tr cac cc quyet nh tnh on nh cua he thong
nen phng trnh A(s) = 0 goi la phng trnh ac trng,
a thc A(s) goi la a thc ac trng cua he thong.
oi vi he hoi tiep:
Phng trnh ac trng la: 1+ G(s)H(S) = 0.
C(s)
G(s)
H(s)
R(s)
II. Tieu chuan on nh ai so
1. ieu kien can e on nh
ieu kien can e he thong on nh la cac he
so cua phng trnh ac trng phai khac khong
va cung dau.
s s s
s s
s s s s
+ + =
+ + =
+ + + + =
3 2
3
4 3 2
3 2 1 0
2 5 0
4 5 2 1 0
He khong on nh
He khong on nh
Cha ket luan c
V du ap dung
Xet on nh he thong t ong co PTT sau:
2. Tieu chuan on nh Routh
Cho he thong co phng trnh ac trng :
n n
n n
a s a s ... a s a
+ + + + =
1
0 1 1
0
e xet on nh, ta lap bang Routh nh sau :
- Bang Routh gom n+1 hang
- Hang 1 gom cac he so co ch so chan
- Hang 2 gom cac he so co ch so le
- Phan t hang i cot j ( i 3 ) xac nh nh sau:
i , i , j
ij i , j
i ,
c .c
c c
c
+
+
=
2 1 1 1
2 1
1 1
Tieu chuan Routh:
ieu kien can va u e he on nh la tat ca
cac phan t cot 1 bang Routh eu dng.
V du ap dung
Xet on nh he thong t ong sau:
C(s)
G(s)
H(s)
R(s)
Cho biet cac ham truyen
G(s)
s(s )(s s )
H(s)
s
=
+ + +
=
+
2
50
3 5
1
2
Bai giai
Phng trnh ac tnh cua he thong:
1+G(s).H(s) = 0
5 4 3
2
2
6 16 31
50 1
1 0
3 5 2
30 50 0
+ =
+ + + +
+ + + + + = s s s s s
.
s( s )( s s ) s
Lap bang Routh: S
5
1 16 30
S
4
6 31 50
S
3
10.83 21.67 0
S
2
18.99 50
S
1
-6.84
S
0
50
Xem xet
Cot 1 bang Routh oi dau 2
lan nen he khong on nh.
Page101- Bai GiangKT
CAC TRNG HP AC BIET CUA BANG ROUTH
Trng hp 1
Co mot phan t cot 1 la zero, cac phan t khac cung
hang vi no khac zero.
Phng phap: Thay phan t zero bi so dng nho tuy y.
V du ap dung
Xet on nh he thong co phng trnh ac trng:
4 3 2
5 4 3 2
4 3 2
2 2 4 3 0
2 2 4 6 8 0
2 4 8 3 0
+ + + + =
+ + + + + =
+ + + + =
s s s s
s s s s s
s s s
( i )
s
( ii )
( iii )
Trng hp 2
Co tat ca cac phan t tren mot hang la zero.
Phng phap:
Lap a thc phu P(s) t cac phan t cua hang trc o.
Thay hang zero bi cac he so cua ao ham a thc phu.
V du ap dung
5 4 3 2
4 3 2
5 4 3 2
5 4 3 2
2 6 12 8 16 0
4 7 16 12 0
4 8 8 7 4 0
2 24 48 25 50 0
+ + + + + =
+ + + + =
+ + + + + =
+ + + =
( i )
( ii )
( iii )
s s s s s
s s s s
s s s s s
s s ) s s ( i s v
3. Tieu chuan on nh Hurwitz
Cho he thong co phng trnh ac trng :
n n
n n
a s a s ... a s a
+ + + + =
1
0 1 1
0
e xet on nh, ta lap ma tran Hurwitz nh sau :
Tieu chuan Hurwitz:
ieu kien can va u e he on nh la tat ca cac
nh thc con cha ng cheo cua ma tran eu
dng.
V du ap dung
s
3
+ 4s
2
+ 3s + 2 = 0
Bai giai
Lap ma tran Hurwitz:
H =
4 2 0
1 3 0
0 4 2
Cac nh thc :
1
= 4 > 0
2
= 10 > 0
3
= 20 > 0
He thong on nh
II. Tieu chuan on nh tan so
1. Tieu chuan on nh Nyquist
Cho he thong co s o khoi nh di ay :
C(s)
G(s)
R(s)
Cho biet ac tnh tan so cua he h, bai toan at ra
la xet tnh on nh cua he kn.
Tieu chuan Nyquist:
He kn G
k
(s) se on nh neu ng cong Nyquist
cua he h G(s) bao iem (-1, j0) mot goc k theo
chieu dng khi thay oi t 0 en +.
Trong o, k la so cc cua he h nam ben phai
mat phang phc.
jQ()
P()
-1
= 0

K=1
He on nh
P()
jQ()
-1
= 0
K=2
He khong on nh
V du ap dung
Xet on nh he thong co ac tnh tan so he h di ay:
2. Tieu chuan on nh Bode
Cho he thong co s o khoi nh di ay :
C(s)
G(s)
R(s)
Cho biet ac tnh tan so cua he h, bai toan at ra
la xet tnh on nh cua he kn.
Gia s ac tnh tan so he h bieu dien dang bieu o
Bode. Ta nh ngha cac thong so quan trong sau ay.
Tan so cat bien,
c
L(
c
) = 0 dB
Tan so cat pha,
-
(
-
) = -
o d tr bien, GM
GM = -L(
-
)
o d tr pha, M
M = 180
0
+ (
c
)
Tieu chuan on nh Bode:
He kn G
k
(s) se on nh neu he h G(s) co o d
tr bien va o d tr pha eu dng.
GM > 0
M > 0
He kn on nh
V du ap dung
1 2 3
1 1 1
10
100 1000
10
= = = = K , T , T , T
1
2 3
1
1 1
+
=
+ +
K( T s )
G( s ) H( s )
s( T s )( T s )
1. Tm tan so cat bien, tan so cat pha cua he thong
1 2
1 1
=
+ +
K
G( s ) H( s )
s( T s )( T s )
2
1
1 1
100
10 100
= = = K , T , T
(i)
(ii)
Cho biet
Cho biet
3. Tm tan so cat pha cua he thong sau ay
1 2 3
1 1 1
=
+ + +
K
G( s ) H( s )
( T s )( T s )( T s )
1 2 3
1 1 1
=
+ + +
K
G( s ) H( s )
s( T s )( T s )( T s )
(i)
(ii)
2. Tm tan so cat bien, tan so cat pha cua he thong
20
3
=
+
G( s ) H( s )
s( s )
4. Cho he thong co ham truyen h nh sau
10
1 10
=
+ +
G( s )H( s )
s( s )( s )
(i) Tm tan so cat bien
(ii) Tm tan so cat pha
(iii) Tm cac o d tr on nh va ket luan ve tnh on
nh cua he thong.
III. Phng phap quy ao nghiem
1. nh ngha
2. Ve quy ao nghiem so
C(s)
G(s)
H(s)
R(s)
Xet he thong co s o khoi nh nh sau :
Quy ao nghiem so la tap hp tat ca cac nghiem cua
phng trnh ac trng khi co mot thong so nao o trong
he thong thay oi t 0 en +
Phng trnh ac trng la:
Bien oi phng trnh ve dang :
1 0 + =
N ( s )
K
D( s )
,
1 0 + = G( s ).H ( s )
K la thong so thay oi
Ta at :
0
=
N ( s )
G ( s ) K
D( s )
0
1 0 + = G ( s )
0
0
1
2 1
=

= +
G ( s )
G ( s ) ( l )
Qui tac ve quy ao nghiem:
1. QNS oi xng qua truc thc.
2. So nhanh QNS bang so cc cua G
0
(s).
3. - Khi K=0 : n nhanh xuat phat tai n cc.
- Khi K : m nhanh tien en m zero, n-m nhanh con lai tien en
theo cac tiem can.
- Mot iem tren truc thc thuoc QNS neu tong so cc va zero ben
phai no la mot so le.
4. iem tach nhap la nghiem phng trnh:
0 =
dK
ds
6. Giao iem gia QNS va truc ao:
7. Goc xuat phat cua QNS tai cac cc phc:
5. Xac nh tiem can:
j
= 180
0
+ Goc t cac zero en cc p
j
- Goc t cac cc khac en cc pj
Thay j vao PTT can bang phan thc va ao.
2 1
+
=
( l )
n m
1 1 = =

n m
j i
j i
p z
OA ,
n m
G(s).H(s) + = 1 0
V du ap dung
Ve QNS cua he thong co ham truyen h la:
K
G(s)
s(s s )
=
+ +
2
8 20
Bai giai
- Phng trnh ac tnh cua he thong:
K
s(s s )
+ =
+ +
2
1 0
8 20
( l )
n m
+

= = +
3
3
2 1
- Cac cc va zero:
n m
j i
j i
p z
OA
n m
= =
= =

1 1
8
3
-Cac cc : p
1
= 0, p
2,3
= -4+j2
-Cac zero: khong co
- Tiem can:
dK
K (s s s) ( s s )
ds
s .
dK
ds
s .
= + + = + +
=
=

=
3 2 2
1
2
8 20 3 16 20
33
0
20
- iem tach-nhap:
- Goc xuat phat tai cac cc phc:
Tai cc phc p
2
= -2 + j4
0 0
2 1 2
180 634 = + = ( ) .
-4
p
2
p
1
Res
Ims
1
j2
-j2
Ims
Res
Quy ao nghiem so
x
x
x
K=0
K=0
K
K
- Giao vi truc ao:
PTT: s
3
+ 8s
2
+ 20s + K = 0
Thay s = j
Can bang phan
thc va ao, ta co:
= 20
K = 160
s = j20
CHNG 5
KHAO SAT CHAT LNG
HE THONG IEU KHIEN
anh gia chat lng ieu khien
Chng 5
I. Cac ch tieu chat lng
1. Sai so xac lap
t
f(t)
O
1
c(t)
r(t)
T
s
e(t) = r(t) - c(t)
- Sai so:
- Sai so xac lap:
) s ( sE lim ) t ( e lim
e
s t
ss
0
= =
2. Thi gian qua o
3. o vot lo
I. Cac ch tieu chat lng
La thi gian T
s
can thiet e sai lech e(t) nam trong
gii han cho trc.
La sai lech cc ai gia tn hieu ieu khien va tr
so xac lap.
% .
c
c c
POT
xl
xl max
100
=
1. Bieu thc sai so xac lap
II. Chat lng trang thai tnh
Chat lng cua he trang thai tnh c anh gia
bang sai so xac lap.
C(s)
G(s)
H(s)
R(s) E(s)
- Xet he thong nh hnh ve:
- Sai so cua he thong:
Sai so xac lap:
Sai so xac lap khong nhng phu thuoc vao thong so,
cau truc he thong ma con phu thuoc dang tn hieu vao.
) s ( H ) s ( G
) s ( R
) s ( E
+
=
1
) s ( H ) s ( G
) s ( sR
lim ) s ( sE lim e
s s
ss
+
= =

1
0 0
2. Sai so vi cac tn hieu vao khac nhau
2.1. Tn hieu vao la ham nac n v
) s ( H ) s ( G lim ) s ( H ) s ( G
s
. s
lim e
s
s
ss
0
0
1
1
1
1
+
=
+
=
s
) s ( R ) t ( u ) t ( r
1
= =
) s ( H ) s ( G lim K
s
p
0
=
- Ta at he so v tr:
- Ta co:
1
1
ss
p
e
K
=
+
2.2. Tn hieu vao la ham doc n v
) s ( H ) s ( sG lim ) s ( H ) s ( G
s
. s
lim e
s
s
ss
0
2
0
1
1
1
=
+
=
2
1
s
) s ( R ) t ( u . t ) t ( r = =
) s ( H ) s ( sG lim K
s
v
0
=
- Ta at he so toc o:
- Ta co:
1
ss
v
e
K
=
2.3. Tn hieu vao la ham parabol
) s ( H ) s ( G s lim ) s ( H ) s ( G
s
. s
lim e
s
s
ss
2
0
3
0
1
1
1
=
+
=
3
2
1
2
1
s
) s ( R ) t ( u . t ) t ( r = =
) s ( H ) s ( G s lim K
s
a
2
0
=
- Ta at he so gia toc :
- Ta co:
1
ss
a
e
K
=
Nhan xet:
Gia s ham truyen h G(s)H(s) co N khau tch
phan ly tng.
- Khi N = 0
= =
= =
+
= =
ss
ss
p
ss
e ) t ( u . t ) t ( r
e ) t ( u . t ) t ( r
K
e ) t ( u ) t ( r
2
2
1
1
1
Goi la he vo sai bac khong.
- Khi N = 1
= =
= =
= =
ss
v
ss
ss
e ) t ( u . t ) t ( r
K
e ) t ( u . t ) t ( r
e ) t ( u ) t ( r
2
2
1
1
0
Goi la he vo sai bac mot.
- Khi N = 2
a
ss
ss
ss
K
e ) t ( u . t ) t ( r
e ) t ( u . t ) t ( r
e ) t ( u ) t ( r
1
2
1
0
0
2
= =
= =
= =
Goi la he vo sai bac hai.
III. Chat lng trang thai qua o
1. He quan tnh bac nhat
C(s)
G(s)
R(s)
- Ham truyen h:
- Ham truyen kn:
Ts
) s ( G
1
=
1
1
+
=
Ts
) s ( G
k
- ap ng qua o:
T
t
k
e ) t ( c
T
s
s
) s ( G ). s ( R ) s ( C
s
) s ( R
=
+
= = =
1
1
1 1 1
c(t)
t
O
1
T T
s
0.632
Nhan xet:
ap ng qua o khong vot lo
Thi hang T cang nho ap ng cang nhanh
c(T) = 63.2%.c
xl
Sai so xac lap e
ss
= 0
Thi gian xac lap T
s
tnh theo tieu chuan
2% hay 5%.
2. He dao ong bac hai
- Ham truyen h:
- Ham truyen kn:
s s
) s ( G
n
n
2
2
2
+
=
2 2
2
2
n n
n
k
s s
) s ( G

+ +
=
C(s)
G(s)
R(s)
- ap ng qua o:
( )
arccos t . sin
e
) t ( c
s s
.
s
) s ( G ). s ( R ) s ( C
s
) s ( R
n
t
n
n n
n
k
+
=
+ +
= = =
2
2
2 2
2
1
1
1
2
1 1
c(t)
t
O
1
c
max
T
s

Nhan xet:
ap ng dao ong co bien o giam dan vi
he so tat .
Thi gian xac lap:
% : TC , T
n
s
5
3
=
hay
% : TC , T
n
s
2
4
=
o vot lo:
2 2
100
1 1
p
n
POT exp . %, t

= =

Cht lng ca h thng trang thai qua
o ch ph thuc vao thong so, cau truc he
thong ma khong phu thuoc vao dang tn hieu
vao.
Chng 6
THIET KE HE THONG
IEU KHIEN
THIET KE = B sung
Phn cng
Phn mm
H thng
Nhm mc ch
Vao
Thoa man cac yeu cau
n nh
ap ng qua o
Sai so xac lap
I. KHAI NIEM
Cach pho bien nhat la them bo ieu
khien noi tiep vi ham truyen cua he h,
phng phap nay goi la hieu chnh noi tiep.
Bo ieu khien c s dung co the la bo
hieu chnh sm pha, tre pha, sm-tre pha,
PD, PI, PID,
I. KHAI NIEM
C(s)
G(s)
R(s)
He thong trc khi hieu chnh
He thong sau khi hieu chnh noi tiep
I. KHAI NIEM
II. ANH HNG CUA CAC BK
Ham truyen
Bieu o Bode
1
1
1
+
= >
+
SF c
Ts
G ( s) K ( )
Ts

1. Hiu chnh sm pha
( )
1
1
1
1
20
max
max
m c
T
sin
L lg K

NHAN XET
- Do () > 0 vi moi Tn hieu ra luon
SM PHA hn tn hieu vao.
- Khau hieu chnh sm pha m rong bang
thong cua he thong.
Cai thien ap ng qua o

Nhay vi nhieu tan so cao
2. Hiu chnh tr pha
Ham truyen
1
1
1
+
= <
+
TF c
Ts
G ( s) K ( )
Ts

Bieu o Bode
( )
1
1
1
1
20
m in
m in
m c
T
sin
L lg K

NHAN XET
- Do ()< 0 vi moi Tn hieu ra luon
TRE PHA hn tn hieu vao.
- Khau hieu chnh tre pha thu hep bang
thong cua he thong.
Giam sai so xac lap

Cham ap ng qua o
3. Hiu chnh sm-tr pha
Ham truyen
1 1 2 2
1 2
1 1
1 1
=
+ +
=
+ +
STF TF SF
c
G ( s) G ( s) G ( s)
T s T s
K
T s T s

1 2
1 1 2 2
1 1
1 1
< >
<
,
T T

Vi iu kin:
Biu Bode
NHAN XET
- Khau hieu chnh sm-tre pha han che bang
thong tan so trung bnh, m rong bang
thong tan so thap va tan so cao.
Giam sai so xac lap

Nh vay, khau HCSTF ket hp cac u iem
cua khau HCSF va khau HCTF.
4. Hiu chnh PD
Ham truyen
1
= +
= +
PD P D
P D
G ( s ) K K s
K ( T s )
Vi
=
D
D
P
K
T
K
Bieu o Bode
0
90
= +
= +
max
max
m
L
Khau PD co ac iem
cua khau HCSF
Nhay vi nhieu tan so cao
5. Hiu chnh PI
Ham truyen
1
= +
+
=
I
PI P
I
I
K
G ( s ) K
s
T s
K
s
Vi
=
P
I
I
K
T
K
Bieu o Bode
0
0
90
=
= +
min
min
m
L
Khau PI co ac iem
cua khau HCTF
Giam sai so xac lap
Cham ap ng qua o
6. Hiu chnh PID
Ham truyen
1 1
= + +
+ +
=
I
PID P D
I D
K
G ( s ) K K s
s
( T s )( T s )
K
s
Vi
>
I D
T T
Bieu o Bode
Khau PID co ac iem
cua khau HCSTF
Giam sai so xac lap
III. THIET KE TRONG MIEN S
1. Hieu chnh smpha
Ham truyen can thiet ke co dang:
Phai chon cac he so K
c
, va T e ap ng cua
he thong thoa man cac yeu cau ve ap ng qua o.
1
1
1
+
= >
+
T
c c
T
s
G ( s ) K ( )
s

Phng phap thiet ke
Bc 1:
Xac nh cap cc quyet nh t yeu cau ve chat lng
qua o:
Bc 2:
Xac nh goc pha can bu e cap cc s
*
1,2
nam tren QNS
cua he thong sau khi hieu chnh:
Vi p
i
, z
i
la cac cc va zero cua he G(s) trc khi hieu chnh.
2
1 2
1 =
*
, n n
s j
n m
* * *
i i
i i
arg(s p ) arg(s z )
= =
= +

0
1 1
1 1
180
Bc 3:
Xac nh v tr cc va zero cua khau hieu chnh
bang cach ve hai na ng thang bat ky xuat phat
t cc s
*
sao cho chung tao vi nhau mot goc bang
*
. Giao iem cua hai na ng thang nay vi truc
thc la v tr cc va zero cua khau hieu chnh.
- Phng phap ng phan giac
- Phng phap triet tieu nghiem
2 2
2 2
2 2
2 2

+

=

=

+

^
*
O P x
^
*
O P x
^
*
O P x
^
*
O P x
s i n
O B O P
s i n
s i n
O C O P
s i n
1 1
= =
OB, OC
T T
Ims
Res
O
C
a
jb
B
PG
/2
P x
/2
Bc 4:
Tnh he so khuech ai K
c
bang cach ap dung cong thc:
1
1
=
=
*
c
s s
G ( s ) G( s )
2. Hieu chnh tre pha
c
, va T e ap ng cua
he thong thoa man cac yeu cau ve sai so xac lap
ma khong anh hng en ap ng qua o.
1
1
1
+
= <
+
T
c c
T
s
G ( s ) K ( )
s

Phng phap thiet ke
Bc 1:
Xac nh he so t yeu cau ve sai so xac lap:
Bc 2:
Chon zero cua khau hieu chnh:
Vi s
1,2
la cac cc cua he trc khi hieu chnh.
V
*
V
K
K
=
,
Re(s )
T
<<
1 2
1
Bc 3:
Xac nh cc cua khau hieu chnh:
Bc 4:
Tnh he so khuech ai K
c
bang cach ap dung cong thc:
Vi s
*
1,2
la cap cc cua he sau khi hieu chnh. V yeu cau thiet ke
khong anh hng ap ng qua o nen co the tnh gan ung:
T T
=
1 1
1 2
1
=
=
*
c
s s
,
G ( s )G ( s )
1 2 1 2
*
, ,
s s
3. Hieu chnh sm-tre pha
Phai thiet ke G
c
(s) e cai thien ap ng qua o
va sai so xac lap cua he thong.
=
c TF SF
G ( s ) G ( s )G ( s )
Trong o G
SF
(s) la khau hieu chnh sm pha.
G
TF
(s) la khau hieu chnh tre pha.
Phng phap thiet ke
Bc 1:
Thiet ke khau sm pha G
SF
(s) e thoa man yeu cau ve
ap ng qua o.
Co the s dung phng phap triet tieu nghiem e xac nh cc va zero
trong trng hp nay nham ha bac cua he thong.
Bc 2:
Thiet ke khau tre pha G
TF
(s) mac noi tiep G
1
(s) e thoa
man yeu cau ve sai so xac lap ma khong lam thay oi ang
ke ap ng qua o sau khi a hieu chnh sm pha.
Ta at: G
1
(s) = G
SF
(s).G(s)
II. THIET KE TRONG MIEN TAN SO
1. Hieu chnh sm pha
c
, va T e ap ng cua
he thong thoa man cac yeu cau ve sai so xac lap va
o d tr on nh mong muon.
1
1
1
+
= >
+
c c
Ts
G ( s ) K ( )
Ts

Phng phap thiet ke
Bc 1:
0
1
180 = +
c
M ( )
- Xac nh K
c
e thoa man yeu cau sai so xac lap.
- Ve bieu o Bode cua G
1
(s)=K
c
G(s), tm tan so
cat bien
c
va o d tr pha M.
Tm K
c
Bc 2:
= +
*
m
M M
- Xac nh goc pha can bu:
- Tnh he so :
1
1
+
=
m
m
sin
sin
- M
*
la d tr pha mong muon
- c chon t 5
0
en 20
0
Tm
Bc 3:
*
c
L ( ) lg =
1
10
- Xac nh tan so cat sau khi hieu chnh :
- Tnh hang so thi gian T :
*
c
T

=
1
Tm T
Bc 4:
Kiem tra lai cac o d tr on nh, neu khong at th
thc hien lai cac bc thiet ke t viec chon goc.
2. Hieu chnh tre pha
c
, va T e ap ng cua
he thong thoa man cac yeu cau ve sai so xac lap va
o d tr on nh mong muon.
1
1
1
+
= <
+
c c
Ts
G ( s ) K ( )
Ts

Phng phap thiet ke
Bc 1:
- Xac nh K
c
e thoa man yeu cau sai so xac lap.
- Ve bieu o Bode cua G
1
(s)=K
c
G(s).
Tm K
c
Bc 2:
0
1
180 = + +
, *
c
( ) M
- Xac nh tan so cat bien sau khi hieu chnh:
Tm
- Tnh he so :
Bc 3:
- Chon zero cua khau hieu chnh :
Tm T
- Tnh T :
*
c
T
T

< <
1
*
c
G ( j )
=
1
1
=
T
T


Bc 4:
Kiem tra lai cac o d tr on nh, neu
khong at th thc hien lai cac bc thiet ke
t viec chon goc .
III. THIET KE BO IEU KHIEN PID
S o khoi he ieu khien PID
1
1
P D
I
PID K T s
T s

= + +

1. Bo ieu khien PID
Co nhieu phng phap khac nhau e thiet ke
bo ieu khien PID. Mot trong nhng phng
phap thong dung va hieu qua la phng phap
Ziegler-Nichols. Phng phap nay at o vot
lo khoang 25%
2. Phng phap thiet ke
2.1. Phng phap da vao ap ng vong h
Tuy thuoc vao khau hieu chnh c s dung, cac
tham so ieu khien c xac nh nh bang sau
2.2. Phng phap dao ong ti han
Tuy thuoc vao khau hieu chnh c s dung, cac
tham so ieu khien c xac nh nh bang sau

BG DKTD - Nguyen Xuan Nguyen

Uploaded by

Document Information

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

BG DKTD - Nguyen Xuan Nguyen

Uploaded by

Copyright:

Available Formats

TRNG AI HOC CONG NGHE SAI GON

Page41- Bai GiangKT

Page66 - Bai GiangKT

Page67 - Bai GiangKT

Page77 - Bai GiangKT

Page139 - Bai GiangKT

Page146 - Bai GiangKT

Cai thien ap ng qua o

II. ANH HNG CUA CAC BK

Giam sai so xac lap

Giam sai so xac lap

Page159 - Bai GiangKT

III. THIET KE TRONG MIEN S

II. THIET KE TRONG MIEN TAN SO

You might also like