TRNG H TN C THNG

KHOA IN-IN T
CHUYN NGNH IN T-VIN THNG

BO CO TH NGHIM MN
IU KHIN T NG

SVTH : TRN NG PHAN

MSSV : 910467D
Lp

: 09DD2N

Tp.HCM, ngy 3 thng 1 nm 2009

TN IU KHIN T NG

SV : TRN NG PHAN

BI TH NGHIM 1 :
NG DNG MATLAB PHN TCH CC H THNG IU
KHIN T NG.
I.

Tm hm truyn tng ca h thng :

G1

G2

G3

G1

s1 1
( s 3)( s 5)

; G2

H1

s
1
; G3 ; H1=s+2
s
s 2s 8
2

Tm hm truyn tng ng theo l thuyt :

G13=G1 //

s 1
G3 = ( s 3)( s 5)

1
s

2s 2 9s 15
= 3
s 8s 2 15s

s
s
s 2s 8
2
G2H1= G2 ht H1 =
s
1 2
( s 2) 2s 4s 8
s 2s 8
2

Gnt = G13 nt G2H1 =

2s 2 9s 15
s
2s 3 9s 2 15s
.

s 3 8s 2 15s 2 s 2 4s 8 2s 5 20s 4 70 s 3 124s 2 120s

2s 3 9s 2 15s
2s 3 9 s 15
2s 5 20s 4 70s 3 124s 2 120s
G(s)=
2s 3 9s 2 15s
2s 5 20s 4 72s 3 133s 2 135s
1 5
2s 20s 4 70s 3 124 s 2 120s

Tm hm truyn tng ng bng Matlab:

>> G1 = tf([1 1],conv([1 3],[1 5]))
% nhap ham truyen G1
Transfer function:
s+1
-------------TRANG 2

TN IU KHIN T NG

SV : TRN NG PHAN

s^2 + 8 s + 15
>> G2 = tf([1 0],[1 2 8])

% nhap ham truyen G2

Transfer function:
s
------------s^2 + 2 s + 8
>> G3 = tf(1,[1 0])

% nhap ham truyen G3

Transfer function:
1
s
>> H1= tf([1 2],1)

% nhap ham truyen H1

Transfer function:
s+2
>> G13=parallel(G1,G3)

% tinh ham truyen tuong duong cua G1 va G3

Transfer function:
2 s^2 + 9 s + 15
-----------------s^3 + 8 s^2 + 15 s
>> G2H1=feedback(G2,H1)

% tinh ham truyen tuong duong cua G2,H1

Transfer function:
s
--------------2 s^2 + 4 s + 8
>> Gtd = series(G13,G2H1)

% tinh ham truyen tuong duong cua G13,G2H1

Transfer function:
2 s^3 + 9 s^2 + 15 s
----------------------------------------2 s^5 + 20 s^4 + 70 s^3 + 124 s^2 + 120 s
>> G = feedback(Gtd,1)

% ham truyen vong kin

TRANG 3

TN IU KHIN T NG

SV : TRN NG PHAN

Transfer function:
2 s^3 + 9 s^2 + 15 s
----------------------------------------2 s^5 + 20 s^4 + 72 s^3 + 133 s^2 + 135 s
II.Kho st h thng dng biu Bode:
Khao sat he thong phan hoi am n v co ham
truyen vong h
K
G(s)= s 0.2 s 2 8s 20

a) Vi K=10 ve bieu o bode bien o va pha he

thong trong khoang tan so(0.1,100)
>> TS=10
% nhap tu so cua G(s)
TS =
10
>> MS = conv([1 0.2],[1 8 20])

% nhap mau so cua G(s)

MS =
1.0000

8.2000 21.6000

>> G = tf(TS,MS)

4.0000

% nhap ham truyen G(s)

Transfer function:
10
-------------------------s^3 + 8.2 s^2 + 21.6 s + 4
>> bode(G,{0.1,100})
% ve bieu do bode cua ham truyen trong khoang
(0.1,100)
>>grid on
% ke luoi

TRANG 4

TN IU KHIN T NG

SV : TRN NG PHAN

b) da vao bieu o bode tm tan so cat bien,o

d tr pha,o d tr bien ca he thong:
Tm theo ly thuyet:
Tan so cat bien ( Wc ) la tan so ma tai o bien o
cua ac tnh tan so bang 1 (hay bang 0 dB)
Tan so cat pha (W-II ) la tan so tai o pha cua ac tnh
tan so bang II (hay bang 1800c)
o d tr bien : GM = -L(W-II) (dB)
o d tr pha: M = 1800+ (wc)
Tm bang Matlab
T
-

bieu o Bode xac nh o

Tan so cat bien wc = 0,454rad/s
Tan so cat pha w-x = 4,66rad/s
o d tr bien : GM = 24.8 dB
o d tr pha : M = 103.30
So VD xac nh bang ly thuyet va bang Matlab th
ket qua la giong nhau.
- ieu kien on nh cua he thong da vao bieu
o Bode la:
- :
GM >0
M>0
Theo bieu o Bode ta nhan thay :
GM = 24,8dB>0
M1800 + (-76,70) =103,30 >0
Vay he thong on nh

TRANG 5

TN IU KHIN T NG

SV : TRN NG PHAN

c) V p ng qu ca hm nc :
>> Gk=feedback(G,1)

% ham truyen vong kin

Transfer function:
10
--------------------------s^3 + 8.2 s^2 + 21.6 s + 14
>> step(Gk,10)

% ve ham nac

d) K = 400.
>> TS=400%nhap tu so cua G(s)
TS =
400
>> MS=conv([1 0.2],[1 8 20])

%nhap mau so cau G(s)

MS =

TRANG 6

TN IU KHIN T NG

1.0000

SV : TRN NG PHAN

8.2000 21.6000

4.0000

>> G=tf(TS,MS)

%nhap ham truyen G(s)

Transfer function:
400
-------------------------s^3 + 8.2 s^2 + 21.6 s + 4
>> bode(G,{0.1,100})
(0.1,100)
>>grid on

%ve bieu do bodecua ham truyen trong khoang

%ke luoi

>> Gk=feedback(G,1)

%ham truyen vong kin

Transfer function:
400
---------------------------s^3 + 8.2 s^2 + 21.6 s + 404
>> step(Gk,10)

%ve ham nac

TRANG 7

TN IU KHIN T NG

SV : TRN NG PHAN

IV. Kho st h thng dng QNS :

a)Ve QNS cua he thong, tm Kgh cua he thong :
>> TS=1
%nhap tu so cua G(s)
TS =
1
>> MS=conv([1 3],[1 8 20])

%nhap mau so cau G(s)

MS =
1

11 44

60

>> G=tf(TS,MS)

%nhap ham truyen G(s)

Transfer function:
1
-----------------------TRANG 8

TN IU KHIN T NG

SV : TRN NG PHAN

s^3 + 11 s^2 + 44 s + 60
>> rlocus(G)
>>grid on

%ve QDNS cua ham truyen

%ke luoi

e tm Kgh cua ham ta nhap chuot vao giao iem cua

QNS vi trc ao.
a) Tm K e he thong co tan so dao ong t nhien W n
=4
Ta nhap chuot vao giao iem cua QNS vi vong
tro Wn = 4
b) Tm K e he thong co he so tat =0.7
Ta nhap chuot vao giao iem cua QNS vi ng
thang =0.7 .
c) Tm K e he thong co o vot lo POT =25%
POT=EXP(-

1 2

Vay muon tm K e he thong co o vot lo POT =

25% ta nhap chuot vao giao iem cua QNS vi
ng thang =0.7 .
d) Tm K e he thong co thi gian xac lap (tieu chuan
2%) la 4s
Ta co :
TRANG 9

TN IU KHIN T NG

SV : TRN NG PHAN
4

Txl=

4 s n 1
n

Vay e he thong co txl = 4s ta nhap chuot vao

giao iem cua QNS ng thang n 1
Da vao QNS ta xac nh
Kgh = 426
K = 52,4 e he thong co Wn = 4
K = 19,8 e he thong co = 0,7
K = 78,6 e he thong co POT = 25%
- K = 174 e he thong co txl = 4s

V. nh gi cht lng ca h thng:

Khao sat nh tnh qua o vi au vao ham nac n
v e tm o vot lo va sai so xac lap cua he thong.
a) Vd K= Kgh tm phan tren , voi K=Kgh=424
>> Gk=feedback(424*G,1)
%ham truyen vong kin
Transfer function:
424
------------------------s^3 + 11 s^2 + 44 s + 484
>> step(Gk)
>>grid on

%ve ham nac

TRANG 10

TN IU KHIN T NG

SV : TRN NG PHAN

Vi K = Kgh th he thong se nam bien gii on nh

nen ap ng ngo ra co dao ong
voi K=73
>> Gk = feedback(73*G,1)

%ham truyen vong kin

Transfer function:
73
------------------------s^3 + 11 s^2 + 44 s + 133
>> step(Gk,5)
>> grid on

POT=

Ta co:

%ve ham nac

%ke luoi

c max c xl
0.69 0.56
.100
.100 23.21 %
c xl
0.56

Nh vy vi K=73 th he thong co POT=25%

Sai so xac lap cua he thong:
1

Exl = 1 Kp voi Kp=limGk=0.57

1

Vay exl = 1 Kp 1 0.57 0.64

K=178
TRANG 11

TN IU KHIN T NG

SV : TRN NG PHAN

>> Gk = feedback(178*G,1)

%ham truyen vong kin

Transfer function:
178
------------------------s^3 + 11 s^2 + 44 s + 238
>> step(Gk,5)
>> grid on

Ta co:

%ve ham nac

%ke luoi

POT =

c max c xl
1.1 0.75
.100
.100 46.6%
c xl
0.75

Sai s xc lp ca h thng:
e xl

exl =

1
1 K p

voi KP=limGk =1.25

1
1

0.44
1 K P 1 1.25

V p ng
>> Gk=feedback(73*G,1)

%ham truyen vong kin

Transfer function:
73
------------------------s^3 + 11 s^2 + 44 s + 133

TRANG 12

TN IU KHIN T NG

>> step(Gk,5)
>>grid on
>> hold on
>> Gk=feedback(178*G,1)

SV : TRN NG PHAN

%ve ham nac

%ke luoi
%ham truyen vong kin

Transfer function:
178
------------------------s^3 + 11 s^2 + 44 s + 238
>> step(Gk,5)
>> grid on

%ve ham nac

%ke luoi

TRANG 13

TN IU KHIN T NG

SV : TRN NG PHAN

BI TH NGHIM 2 :
NG DNG SIMULINK M PHNG V NH GI CHT
LNG H THNG
I.A Khao sat he h,nhan dang he thong theo
mo hnh Ziegler-Nichols:
Mo hnh he thong lo nhiet vong h:

a) Chnh gia tr ham nac bng 1,thi gian mo

phong Stop time=600s
>> plot(ScopeData.time,ScopeData.signals.values)
>> grid on
%ke luoi

T=120; L=30

TRANG 14

TN IU KHIN T NG

SV : TRN NG PHAN

b) Khao sat mo hnh ieu khien nhit o ON-OFF:

Mo hnh ieu khien nhiet o ON-OFF nh sau:

Tn hieu at vao ham nac u(t)=100

A + C.Chnh thi gian mo phong Stop time=600s

TRANG 15

TN IU KHIN T NG

SV : TRN NG PHAN

b.
Vun
g
tre
1/-1
5/-5
10/10
20/20

e1

e2

4
12
17

1.5
7
12

Chu ky
ong ngat
(s)
60
100
125

30

22

170

Vung tr cang ln th sai so ngo ra va chu ky

cua khau Relay cang ln

ngat

d.e sai so ngo ra xap x bang 0 th ta thay oi gia

tr vung tr bang 0.Chu ky ong ngat luc nay giam
xuong va rat nho.Trong thc te , ta khong the thc
hien bo ieu khien ON-OFF nh the c.v kho
ieu khien ong c.Vung tre la chon bang 5/-5 la
hp ly.v sai so ngo ra va u va de ieu khien
ong c nhat
c) Khao mo hnh ieu khien nhiet o dung
phng phap Ziegler-Nichol(ieu s khien PID):
Mo hnh ieu khien nhiet o PID nh sau:
-Tn hieu at vao au ham nac u(t)=100
-Khau bao hoa Saturation co gii han la upper
limit=1,lower limit=0
-Tnh gia tr cac thong so:
PID(s)=KP +

KI
s

+ KDs

Vi:
KP =

1,2T 1,2.120

0,016 ;KI
LK
30.300

KP
0 ;KD
2 LK

TRANG 16

0,5 K P L
0 ;K
K

=300.

TN IU KHIN T NG

SV : TRN NG PHAN

II.A Khao sat mo hnh ieu khien toc o

ong c DC:
Mo hnh ieu khien PID toc o ong c DC

TRANG 17

TN IU KHIN T NG

SV : TRN NG PHAN

-Tn hieu at vao au ham nac u(t)=100

-Khau Saturation co gii han la upper limit=30,lower
limit= -30
a.Chnh thi gian mo phong Stop time =10s.Thc hien
khao sat he thong v bo ieu khien P (K I =0,KD =0)
va tnh o vot lo,sai so xac lap,thi gian xac lap
cua ngo ra theo bang sau:
KP
50
1
10
20
100
POT
-0,17 -0,01 0,0025 0,003
0,001
exl
0.5
0,09
0,047 0,0196 0,0099
6
txl
0.7
0,6
0,55
0,55
0,55

TRANG 18

TN IU KHIN T NG

SV : TRN NG PHAN

TRANG 19

TN IU KHIN T NG

SV : TRN NG PHAN

-Nhn xet:
Khi KP cang tang th chat lng cua he thong cang
tot.V th gian xac lap nho, exl , POT nho, do chnh
xac cao
b. Thc hien khao sat he thong v bo ieu khien PI
(KP =2,KD =0) va tnh o vot lo,sai so xac lap,thi
gian xac lap cua ngo ra theo bang sau:
KI
1
2
0,5
0,1
0,8
POT
0,003 0,025 0,126
0,072 0,005 6
exl
0.333 0,333 0,333 0,333 0,333
txl
0.5
0,5
0,65
0,7
2,7
-Nhn xet:
Khi KI tang th chat lng cua he thong khong tot.V
POT,exl , txl ln
Chat lng cua bo ieu khien PI tot hn bo ieu
khien P v bo ieu khien PI co exl on nh
c. Thc hien khao sat he thong v bo ieu khien
PID (KP =2,KI =2) va tnh o vot lo,sai so xac lap,thi
gian xac lap cua ngo ra theo bang sau:
KD
1
2
0,1
0,2
0,5
POT
0,11
0.1
0,104 0,16
exl
0.333 0,333 0,333 0,333
TRANG 20

TN IU KHIN T NG

txl

SV : TRN NG PHAN

3.4

TRANG 21

3.8

TN IU KHIN T NG

SV : TRN NG PHAN

-Nhn xet: Khi KD tang th chat lng cua he thong

khong thay oi.V POT,exl , txl khong oi
Chat lng cua bo ieu khien PID tot hn bo ieu
khien P vaPI v bo ieu khien PID on nh

TRANG 22

TN IU KHIN T NG

SV : TRN NG PHAN

BI TH NGHIM 4:

NG DNG SIMULINK M PHNG H THNG IU

KHIN L NHIT
A . KHAO SAT HE THONG ON NH NHIET O :
1) Kho st h h, nhn dng h thng theo m hnh Ziegler-Nichols:

Chnh gia tr ham nac bng 1,thi gian mo phong Stop

time=600s
>> plot(ScopeData.time,ScopeData.signals.values)
>> grid on
%ke luoi

T=120;

L=30

2) Khao sat mo hnh he thong on nh nhiet ,

ieu khien ON OFF

TRANG 23

TN IU KHIN T NG

SV : TRN NG PHAN

- Lo nhiet c bieu dien bang hai khau quan tnh

noi tiep Transfer Fcn .
- Sum lay hieu so tn hieu at va phan hoi .
- Relay la kha rle co tre .
- Mux la bo ghep kenh , cho phep ca so Scope xem
c nhieu tn hieu , khoi Gan1 t le tn hieu ngo
ra Relay e de quan sat tren cung o th
- au vao ham nac : u = 1(t) ; e = at Phan hoi
khi he thong co dao ong on nh .
Vung tre : +0.2/-0.2
Khau relay: ngo ra cao:2
Ngo ra thap:0

TRANG 24

TN IU KHIN T NG

SV : TRN NG PHAN

Vung tre : +0.2/-0.2

Khau relay: ngo ra cao:2
Ngo ra thap:-2

Vung tre : +0.05/-0.05

TRANG 25

TN IU KHIN T NG

SV : TRN NG PHAN

Khau relay: ngo ra cao:2

Ngo ra thap:0

Vung tre : +0.05/-0.05

Khau relay: ngo ra cao:1
Ngo ra thap:0

3) He thong ieu khien nhiet o hieu chnh

Ziegler Nichols (ieu khien PID) :
Tnh gia tr cua bo hieu chnh PID theo Ziegler
Nichols chols t thong so L va T cua cau 1 .
Bo hieu chnh co ham truyen PID = KP + Ki/s + Kd.s
Trong o : KP =(1.2*T)/L = 1.2*120/30 = 4.8 ; Ki = KP/2*L =
4.8/2*30 = 0.08 ;
Kd = 0.5*KP*L = 0.5*4.8*30 = 72 ;
S o khoi cua khau hieu chnh nh sau :
TRANG 26

TN IU KHIN T NG

SV : TRN NG PHAN

at cac thong so KP , Ki , Kd a tm c tren vao

khoi PID , chnh he so Gan1 bang 0.3 , thi gian mo
phong bang 300s.

TRANG 27

TN IU KHIN T NG

SV : TRN NG PHAN

BI TH NGHIM 5:

NG DNG SIMULINK M PHNG H THNG IU

KHIN V TR NG C
I. Khao sat mo hnh he thong ieu khien v tr :
1 . He thong ieu khien dung mot khau hieu
chnh PID v tr :
a) Khao sat he thong ieu khien v tr hieu chnh
PD co tnh s bao hoa cua bo bien oi voi cac
ngo vao khac nhau :

U(t) =1
Ki = 48.83 ; KP = 29 ; Kd = 2.913 .
Chay mo phong , ta thay tn hieu co dang nh sau :

TRANG 28