BO CO IU KHIN S

H tn : Trn Mnh Duy Lp 5-TVT1

Vi La= 0,053H , Ra=0,9, J=0,08Kgm, Kt=0,42(Nm/A), Ke=0,42(s/rad)
I. M hnh ha ng c :
S :

Ta c phng trnh in p phn ng:



a
a a a a a
i t
U t L . R .i t E t
d
dt


Bin i Laplace 2 v pt trn

. ( ) R .
a a a a e
U s L I s I s K s

1
( ( ) . ( ))
.
a a e
a a
I s U s K s
R L s

Ia (s)= (Ua(s)+ 0,42.

Ta c s :

Vi dng kch t Nam Chm Vnh Cu l khng i nn t thng khe kh cng
khng thay i v Momen in t T
m
t l vi dng in phn ng:
T
m
= K
e
.I
a

Laplace 2 v:
T
m
(s) = K
e
. I
a
(s)
Tm(s) = 0,42. Ia(s)
S khi:



Ta c phng trnh cn bng momen trn trc ng c:
( ) . ( )
m L
d
T t T t b t J
dt

Bin i Laplace 2 v pt trn ta c:
( ) . ( ) . . ( )
m L
T s T s b s J s s


1
( ( ) ( ))
.
m L
s T s T s
b J s

S khi:


Kt hp cc phn ta c s khi:




Vi u ra Y(t) ta c s khi sau:

( )
( ) .60( )
2
t
y t rpm

W t =

Ta c hm truyn t:
W t =

2. Tng hp lut iu khin P, PI, PID v Deadbeat:
a. Lut iu khin P, PI, PID:
p dng phng php Ziegler Nichols v m phng trn Matlab ta c cc kt qu nh sau:




Lut P:

S khi ng c:


V kt qu:

th m phng:

Lut PI:

S khi ng c:

Kt qu:


V th m phng:



Lut PID:


Kt qu:

S khi:


th m phng:



B iu khin Deadbeat:



D(z)=

D(z)=