H v tn

:Don Trng t

MSSV

:20121482

Lp

:KSTN-KT-K57
BO CO TH NGHIM MN H THNG IU KHIN S
BI THC HNH S 3

S cu trc iu khin Cascade

in tr phn ng : RA = 250 m
in cm phn ng : LA = 4 mH
Hng s ng c : ke = 236.8 v kM = 38.2
T thng danh nh : R = 0.04 Vs
Momen qun tnh: J = 0.012 kgm2
Hng s thi gian ca chnh lu : Tt = 100 s
Chu k trch mu : T1 = 0.1 ms v T2 = 0.01 ms
T3 = 0.1 s v T4 = 0.01 s
M hnh h kn bi 2 c xp x gn ng l:
Gki=

1
2 T t s+1

M hnh ca i tng l:
Gi=

k 1
1
. M .
2T t s +1 2 J s

Tnh ton m hnh bng Matlab ta c:

Gi=tf(1,[2*Tt 1])*(kM*phi/(2*pi*J))*tf(1,[1 0])
M hnh lin tc ca i tng l:

Gi=

20.27
2
0.0002 s + s

Xy dng m hnh khng lin tc ca i tng s dng MATlab

Giz=c2d(Gh,T1,'zoh')
M hnh khng lin tc ca i tng l:
Giz =

0.0004318 z +0.0003656
z21.607 z +0.6065

Xc nh tham s b iu khin PI theo phng php bnh phng cc tiu:

M hnh khng lin tc ca b iu khin PI l:
GPI =

r o z +r 1 R
= vi p1 =1
z+ p 1 P

Sai lch ca h kn l:
E( z )=

W ( z)
1+Giz GPI

Khai trin hm truyn ca sai lch e ta c:

w k a o +w k1 ( a 1+ ao p 1 ) +w k2 ( a 2+ a1 p1 ) + wk3 a2 p 1
1
e k=
ao
ek1 ( a1 +a o p1 +r o b 1) e k2 ( a2 +a1 p 1+ r 1 b 1+ r o b2 )ek3 ( a2 p1+ r 1 b 2 ) ]

Xy dng hm tnh bnh phng sai lch trn Matlab:

function Ik=bpsl(r)
a0=1;a1=-1.607;a2=0.6065;b1=0.0004318;b2=0.0003656;p1=-1;
e(1)=1/a0*(a0+(a1+a0*p1)-(a1+a0*p1+r(1)*b1));
e(2)=1/a0*(a0+(a1+a0*p1)+(a2+a1*p1)-(a1+a0*p1+r(1)*b1)*e(1)(a2+a1*p1+r(2)*b1+r(1)*b2));
e(3)=1/a0*(a0+(a1+a0*p1)+(a2+a1*p1)+a2*p1-(a1+a0*p1+r(1)*b1)*e(2)(a2+a1*p1+r(2)*b1+r(1)*b2)*e(1)-(a2*p1+r(2)*b2));
Ik=1+e(1)^2+e(2)^2+e(3)^2;

for k=4:1:2000
e(k)=1/a0*(a0+(a1+a0*p1)+(a2+a1*p1)+a2*p1-(a1+a0*p1+r(1)*b1)*e(k-1) (a2+a1*p1+r(2)*b1+r(1)*b2)*e(k-2)-(a2*p1+r(2)*b2)*e(k-3));
Ik=Ik+e(k)^2;
end
S dng Toolbox Optimazation tm cc tr ca hm I(r) :
options=optimset('fminunc');
options=optimset(options,'Display','iter','LargeScale','off');
r0=[19 -18];
[r,fval]=fminunc(@bpsl,r0,options)
Kt qu tnh ton:
r o=320.7954
r 1=321.2089
I min=2.5558

M phng h kn trn Simulink :

Kt qu m phng:
2500

2000

1500

1000

500

0.005

0.01

0.015

Nhn xt: Sau mt vi chu k trch mu h kn n nh ti gi tr t. Khi gi tr

t thay i h kn nhanh cng n nh ti gi tr t mi. Khi c tc ng ca
nhiu h tr v gi tr xc lp trc khi c nhiu tc ng.

2.5

x 10

1.5

0.5

0.005

Bnh phng sai lch gim dn v khng

0.01

0.015

BI THC HNH S 4
Xy dng b iu khin phn hi trng thi
T kt qu bi mt ta c m hnh trng thi ca ng c vi thi gian trch mu
T3 = 0.1s l:

0.04376
2.927
6.098 105 0.03995

A=

B=

6.098 105
2.166 105

C=[ 0 5068 ]
D=0

B iu khin dead-beat gn im cc p1 = p2 = 0
p=[0 0];
K1=acker(Ak1,Bk1,p)
Kt qu:
K 1=[0.0275 10

3.7862 10

B iu khin gn im cc p1 = p2 = 0.6614
p=[0.6614 0.6614];
K2=acker(Ak1,Bk1,p)
Kt qu:
K 2=[0.7812 104 4.2932 104 ]

Tng t vi chu k trch mu T4 = 0.01s :

A= 0.4989 133.9
0.002789 0.3245

B=

0.002789
2.759 105

C=[ 0 5068 ]
D=0

B iu khin dead-beat gn im cc p1 = p2 = 0
p=[0 0];
K3=acker(Ak2,Bk2,p)
Kt qu:
K 3=[0.0022 10

2.7649 10

B iu khin gn im cc p1 = p2 = 0.501
p=[0.501 0.501];
K4=acker(Ak2,Bk2,p)
Kt qu:
K 2=[0.0230 10 4 4.2934 104 ]

M phng h kn bng Matlab:

G1= ss(Ak1-Bk1*K1,Bk1,C,D,T3)
G2= ss(Ak1-Bk1*K2,Bk1,C,D,T3)
G3= ss(Ak2-Bk2*K3,Bk2,C,D,T4)
G4= ss(Ak2-Bk2*K4,Bk2,C,D,T4)
step(G1)

H n nh sau 2 chu k trch mu

step(G2)

H c p ng ging khu qun tnh bc nht vi sai lch tnh bng 0 step(G3)

H n nh sau 2 chu k trch mu

step(G4)

H c p ng ging khu qun tnh bc nht vi sai lch tnh bng 0