K THUT

IU KHIN T NG
NHM 5
-TRN VN HONG
-HUNH B ANH NHT
-THI TRN HONG V
-NGUYN VN TUYN
-PHM NGC HIN
-TRN XUN THNH
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NI DUNG TRNH BY

Tng quan
Cc khi nim c bn
Phn loi h thng KT
Phng php m t h thng
Phng php bin trng thi
ng lc hc ca KT

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IU KHIN T NG
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TNG QUAN
Trong mi hot ng ca con ngi, bt c lnh vc no, bt c
v tr no u lin quan n hai t iu khin. Trong khoa hc, tn
ti mt ngnh khoa hc v ang pht trin mnh m, l
iu khin hc.
iu khin hc l khoa hc nghin cu v cc qu trnh thu thp,
x l tn hiu v iu khin trong mi lnh vc i sng x hi,
khoa hc cng ngh, mi trng... iu khin hc chia ra lm
nhiu lnh vc khc nhau gm iu khin hc ton hc, iu khin
hc sinh hc, iu khin hc k thut...
iu khin hc k thut l khoa hc nghin cu v qu trnh thu
thp, x l tn hiu v iu khin cc qu trnh v h thng thit b
k thut. Khi nim iu khin c hiu l tp hp tt c cc tc
ng mang tnh t chc ca mt qu trnh nhm t c mc
ch mong mun ca qu trnh . H thng iu khin m khng
c s tham gia trc tip ca con ngi trong qu trnh iu khin
c gi l iu khin t ng.
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I.CC KHI NIM C BN

H thng iu khin t ng la tp hp cac thanh phn vt li
co lin quan va tac ng qua lai ln nhau, chi huy,hiu
chinh ban thn iu khin h thng khac.
Mi h thng iu khin t ng u co tac ng vao va tac
ng ra,hay goi la tin hiu vao va tin hiu ra.

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S K IN HNH

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CC THNH PHN C BN

THIT B
IU
KHIN

THIT B
O
LNG

I
TNG
IU
KHIN

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PHN LOI H THNG IU KHIN

1. H THNG H

La h thng ma tin hiu

ra va tin hiu vao co
tinh c lp vi nhau.

S khi ca h thng h:

c im
chinh xac phu thuc vao kha nng iu chinh va
chinh xac iu chinh cua thit bi.
Tin hiu ra ap ng chm khi thy i tin hiu vao.
Bi anh hng bi cac yu t bn ngoai.
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2. H THNG KN

La h thng ma tin hiu

vao va tin hiu ra phu
thuc ln nhau.tin hiu
vao phu thuc vao tin
hiu ra thng qua b
phn phan hi.
c im

S khi ca h thng h:
u(s)

G(s)

y(s)

H(s)

at chinh xac cao.

Tc ap ng nhanh.
Giam c phi tuyn va nhiu.
Tng c b rng giai tn ma tai giai tn nay h ap ng tt
nht.
Nhc im: H co khuynh hng dao ng do quan tinh
cua s so sanh tin hiu.
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iu khin sai lch:

Thc hin so sanh san bng gia tri ap
ng ra va gia tri tin hiu vao,nguyn tc
nay ng dung cho mach co phan hi.

iu khin theo phng phap bu nhiu

S dung cac thit bi bu tr nhiu giam
anh hng cua nhiu n ap ng cua h.

iu khin phi hp
La kt hp gia iu khin sai lch va
iu khin bu nhiu.

Cac
nguyn
tc iu
khin c
ban
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II. Phng phap m t h thng

2.1.i s s khi:
2.1.1. Khi:

x(s)

G(s)

y(s)= G(s).x(s)

x(s)

2.1.2. im t:

u(s)

E(s)

E(s)=u(s) + x(s) F(s)

x(s)

F(s)

u(s)

y(s)

2.1.3. im tn:
u(s)=y(s) = x(s) = F(s)

F(s)
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2.2.Cac nguyn tc bin i s khi

u(s)

x1(s)
G1(s)

x2(s)

y(s)
G3(s)

G2(s)

2.2.1. Rt gn cac khi ni tip

u(s)

y(s)
G1(s). G2(s). G3(s)
G1(s)

2.2.2. Rt gn cac khi song song:

u(s)

y(s) =
x1() + x2(s) + x3(s)
= u(s)G1(s) + u(s).G2(s) + u(s).G3(s)
= u(s).[G1(s) +G2(s) G3(s)]

G2(s)

+ x1(s)
+
x3(s)
- x2(s)

y(s)

G3(s)

u(s)

y(s)
G1(s) + G2(s) - G3(s)
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2.2.3. Di chuyn t sang phi 1 khi

u(s)

E(s)

u(s)

y(s)

G(s)

x1(s)

y(s)

G(s)
-

- F(s)

F(s)

x2(s)

G(s)

y(s)= G(s).E(s) = G(s)[u(s) F(s)] = G(s).u(s) G(s).F(s) = x1(s) x2(s)

2.2.4. Di chuyn t sang trai 1 khi
u(s)

u(s)

y(s)

G(s)

H(s)

y(s)
G(s)

+ x(s)

- F(s)

F(s)

1
G(s)

y(s) = Gs.u(s) + F(s) = Gs.[u(s) + .Fs ]= G(s).[u(s) + x(s)]= G(s).H(s)

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2.2.5. Di chuyn im tan v bn phi 1 khi

u(s)

G(s)

u(s)

y(s)

F(s)

F(s)

y(s) = G(s).u(s)=G(s).F(s)
=>F(s) = y(s). 1/G(s)

y(s)

G(s)

1
G(s)

2.2.6. Di chuyn im tan v bn trai 1 khi

u(s)

G(s)

y(s)

u(s)

G(s)

F(s)
1
G(s)

y(s)

F(s)

y(s) = F(s) = G(s). u(s)

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2.2.7. Rt gn h chnh tc
u(s)

G1(s)

y(s)

- F(s)
+

G(s)
1 +_ G(s).H(s)

u(s)

H(s)

y(s)

2.2.8. Rt gn h phn hi n v
u(s)

G(s)
- F(s)
+

y(s)
u(s)

G(s)
1 +_ G(s)

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y(s)

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2.2.9. H c nhiu tn hiu vo ra

S dng nguyn l chng cht, tn hiu ra bng tng tn hiu ra khi chu
tac ng ca tng tn hiu vo
Vd:

u(s)

G1(s)

G2(s)

y(s)

+ F(s)

H(s)
Nguyn l: cho F(s)=0 =>
u(s) = 0 =>
=> y(s) = yu(s) + yF(s)

tm c yu
tm c yF

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(*) cho F(s) = 0

u(s)

G1(s)

G2(s)

yu(s)

u(s)

G1(s).G2(s)

yu(s)

u(s)

G1(s)G2(s)
1+G1(s).G2(s).H(s)

yu(s)

H(s)

H(s)

(*) cho u(s) = 0

F(s)

yF(s)

G2(s)

F(s)

G2(s)

yF(s)

F(s)

+
G1(s)

H(s)

G2(s)
1+ G1(s)G2(s).H(s)

- G1(s).H(s)

y(s) = yu(s) + yF(s)

(3)
thay (1) & (2) vo (3) ta tm c y(s)
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yF(s)

2.2.10. Nguyn tc chung

Rt gn khi ni tip
Rt gn khi song song
Di chuyn im t,im tn v cc v tr cn
thit (nu cn)
Rt gn h phn hi
Trnh t thc hin t vng trong ra vng ngoi

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Cac v d:
VD1

u(s)

y(s)

G1(s)

G2(s)

G3(s)

G4(s)
H(s)
1
G2(s)

u(s)

y(s)

+
-

G1(s)

G2(s)

G3(s)

G4(s)
H(s)
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u(s)

G1(s)

G3(s).G2(s) + G2(s) +1

G2(s)

y(s)

G2(s)

H(s)

u(s)

G1(s)

G3(s).G2(s) + G2(s) +1

G2(s)
1+G2(s)

y(s)

G2(s)

H(s)
u(s)

G1(s)
-

G2(s)
1+G2(s)

G3(s).G2(s) + G2(s) +1
G2(s)

H(s)
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y(s)

u(s)
-

W(s)

H(s)

u(s)

W(s)

y(s)

1+W(s).H(s)

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VD2

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t:

u(s)

y(s)
-

W(s)

u(s)

W(s)
y(s)
1 +W(s)H2(s)

H2(s)

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VD3:

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PHNG PHP BIN TRNG THI

KHI
NIM

S khi va
phep bin i
Laplace chi
ng dng
khao st cc
h tuyn tinh
va thich hp
cho cc h bc
thp.

Nu h co
cha khu phi
tuyn hoc
phng trinh
vi phn bc
cao thi dung
phng php
bin trang thi
khao st.

Phng php
bin trang thi
la phng php
chuyn h
phng trinh vi
phn bc cao v
h phng trinh
vi phn bc nht
giai va tim tin
hiu ra.

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H phng trnh bin trng thi tng qut

PT vi phn
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THIT LP
1

S BIN
TRNG THI
BNG
S BC PT VI
PHN

BIN TRNG
THI SAU
BNG
O HM
BIN TRNG
THI TRC

C BAO NHIU
TN HIU
TRUNG GIAN
TH T
BY NHIU BIN
TRNG THI

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V D:

A
f

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III. ng lc hc ca h iu khin t ng
3.1. Cc tn hiu tc ng v phn ng ca h
3.1.1. Tn hiu vo: thang n v
G(t) = 1(t) = 0 vi t 0
1 vi t >0
Tn hiu ra l hm qu

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3.1.2. Tn hiu vo: xung n v

Tn hiu ra l hm qu xung ( = vi t = 0 )
( =0 vi t# 0 )

d(t)

x(t): hm qu d? xung

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3.1.3. Tn hiu vo: hm tuyn tnh v(t) = t

Tn hiu ra : hm vn tc
v(t)=t

y(t): hm v?n
t?c

45

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3.1.4. Tn hiu vo: hm iu ha x(t) = Xsint

Tn hiu ra : hm iu ha, lch pha, lch
bin
Y(t) = Ymsin(t- )

x(t)

A()

y(t)
t

()
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3.2. Cc ch tiu ca p ng qu
Ts: thi gian ap ng
: sai s ca h c xc lp
Tr : thi gian cn thit h at c gi tr iu khin
Tp: thi gian cn thit h at c inh nh ln nht
v u tin
D: vt kh
N: s dao ng tt dn, ta qui nh n 3

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Sai s ca h ch xc lp
u(s)

E(s)

F(s)

y(s)

G(s)

H(s)

E(s) = x(s) F(s)

t/h
x(t)

E(t)
F(t)

Khi t
E(t) =
= - sai s ca h ch xc lp
Hoc =
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3.3.AP NG TN S
p ng tn s la phn ng ca 1 khu (hay ca h) trang thi xc
lp khi tin hiu vao bin i theo quy lut iu hoa.

3.3.1.c tinh tn bin pha.

c tinh tn bin pha la quan h gia tin hiu ra va tin hiu vao
ca 1 khu ch xc lp.
Gia s cho h sau:
x(t)
y(t)
H

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c tinh tn bin pha cua h

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 thi quan h gia () va

thi mi quan h gia P() va

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3.3.2. c tinh tn s lgarit.

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c tinh tn s lgarit
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3.4.Phn loai c bn cc khu v c tnh ng lc hc cc khu

c bn
Khu khuch ai
Cc phn t c hm truyn l khu khuch ai nh : cam bin o lng(xenxin,
bin tr,), cc phn t khuch ai in t,ban dn

Khu qun tnh bc 1

Cc phn t thuc khu ny nh : khuch ai t, my pht in 1 chiu, mach R-G,
L-R, ng c khng ng b 3 pha
Khu vi phn
L khu m ch xc lp tn hiu ra y(t) ti l vi ao hm tn hiu vo d(x)/d(t)

Khu tch phn

ch xc lp tn hiu ra ti l vi tn hiu vo theo
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Khu dao ng
Cc phn t thuc khu ny nh: mach in RLC, ng c
kch t c lp, h c hoc an hi

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c tnh ng lc hc ca cc khu c bn.

Khu qun tnh bc 1

Theo thi gian

Ham qu

Ham qu xung

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Theo tn s

c tnh tn bin pha

c tinh logarit

K hiu

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Khu vi phn

K hiu

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Khu tch phn

K hiu

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Khu dao ng
Theo thi gian

Ham qu

Ham qu xung

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Theo tn s

K hiu

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3.5 B iu khin ti l tich phn vi phn (PID)

3.5.1. Chc nng: Dung cai thin c tinh ng lc hoc, lam h n nh,
chinh xac cao, thi gian ap ng ngn
PID gm co: - phn cng
- phn mm
3.5.2. M ta ton hc

- PID
I(t)= Kp.E(t)+KI E(t) + KD + KI
Matlab
I(s) = [Kp + + KD.s].E(s)

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- Ham truyn
W(s) = = Kp + + KD.s
KI : h s khuch ai - c trng cho thi gian ap ng
KD : h s khuch ai vi phn- n nh h thng
Kp : h s khuch ai ti l - c trng cho thi gian ap ng
ap ng qua : Kp

->

Ts

KI -> d
KD -> n1.D

3.5.3.B iu khin
Tuy theo yu cu ca tng th ma chon b iu khin P, PI, PD, PID
+ iu khin theo P:
= Kp =Wp(s)
+ iu khin theo PI
= Kp + = WPI(s)
+ iu khin theo PD
= Kp + KD.s = WPD(s)
+ Iu khin theo PID:
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3.5.3. S khi v c tnh qu ca b truyn PID

Kp
E(s)

KI
s

+
+

I(s)
+

K D .s

- c tnh qu ca b PID

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NHM 5

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