BO CO TH NGHIM

Bi 1: Tm m hnh gin on ca CMC

Cc tham s ca ng c:
-

in tr phn ng RA=250m
in cm phn ng LA=4mH
R 0,04Vs
T thng danh nh
L
TA A
RA

- M men qun tnh J=0,012 kgm2

- Hng s ng c ke=236,8; kM=38,2

Hinh 1.1. S cu trc CMC kch thch c lp

Hinh 1.2. S h thng iu khin CMC theo cu trc Casecade

1. Xc nh hm truyn t trn min nh z thch hp thit k vng trong cng
K dng phn ng
Hm truyn ca i tng :
Gi ( s )=

1
1
1
R A s T t +1 s T A +1

Hm truyn trn min Z:

Gi ( z )=( 1z1 ) Z {Hi ( s ) }

BO CO TH NGHIM
Trong :

Hi ( s )=

Gi ( s )
=
s

A=

1
RA

B=

Tt
1
R A T AT t

C=

1 TA
R A T t T A

Z { Hi ( s ) }=

1
RA T t T A
1
1
s+
Tt
TA

( )(

s s+

A
B
C
+
+
s
1
1
s+
s+
Tt
TA

( A+ B+C ) z 2[ A ( e1 +e 2 ) +B ( e2 +1 ) +C ( e1 +1 ) ] z +B e2 +C e 1 + A e 1 e 2
2

z ( e 1 + e2 ) z+ e1 e 1

Do A + B+C=0 :
Z { Hi ( s ) }=

[ A ( e 1 +e 2 )+ B ( e2 +1 ) +C ( e1 +1 ) ] z+ B e 2 +C e 1+ A e1 e 2
z 2( e 1 + e2 ) z+ e1 e 1
T

T
T
Trong : e 1=e ;e2 =e
t

Thay s vo ta c:
Vi Ttm1=0.1ms

Giz 1=

0.009176376 z+ 0.006577356
z 1.361648932 z +0.365587365
2

BO CO TH NGHIM
Vi Ttm2=0.01ms

Giz 2=

0.00012091 z +0.000116922
z 1.904212613 z+ 0.904272071
2

2.S dng lnh c2d ca matlab tm hm truyn t trn min nh z theo

phng php ZOH, FOH v Tustin
Lnh trn Matlab:
Ra=250e-3;La=4e-3;J=0.012;ke=236.8;km=38.2;phi=0.04;Ta=La/Ra;Tt=100e6;Tm1=0.1e-3; Tm2=0.01e-3;
>> Gi=tf([1],[Tt 1])*(1/Ra)*tf([1],[Ta 1])
Hm truyn trn min Laplace :
Gi=

4
1.6e-6 s +0.0161 s +1
2

>> step(Gi)

BO CO TH NGHIM
S dng lnh c2d vi cc chu k trch mu T1 v T2, ta s thu c 6 m hnh gin on
ca Gi(s), v 6 m hnh gin on ca Gk(s) :
>> Giz3=c2d(Gi,Ttm1,'zoh')
Giz 3=

0.009176 z +0.006577
z2 1.362 z +0.3656

>> Giz4=c2d(Gi,Ttm1,'foh')
0.003298 z 2+ 0.01046 z+0.001998
Giz 4=
z 21.362 z +0.3656

>> Giz5=c2d(Gi,Ttm1,'tustin')
Giz 5=

0.004154 z 2 +0.008307 z +0.004154

z 21.327 z +0.3313

>> Giz6=c2d(Gi,Ttm2,'zoh')
Gi z 6=

0.0001209 z +0.0001169
z 21.904 z +0.9043

>> Giz7=c2d(Gi,Ttm2,'foh')
Giz 7=

4.064e-5 z 2+ 0.0001585 z +3.865e-5

z21.904 z+ 0.9043

>> Giz8=c2d(Gi,Ttm2,'tustin')
Giz 8=

5.951e-05 z 2 +0.000119 z +5.951e-05

2
z 1.904 z +0.9042

3. M phng v kho st
>> step(Gi); hold on
>> step(Gzi1)
>> step(Gzi2)
4

BO CO TH NGHIM
>> step(Gzi3)
>> step(Gzi4)
>> step(Gzi5)
>> step(Gzi6)
>> step(Gzi7)
>> step(Gzi8)

Nhn xt : p ng bc nhy ca hai hm truyn tnh bng tay v 6 hm truyn gin

on bng lnh c2d gn nh trng vi p ng ca hm truyn trn min lin tc
4.Xy dng m hnh trng thi CMC trn min thi gian lin tc.
Hm truyn ng c:
Gk ( s)

81, 06
0, 016 s 2 s 767,8

Chuyn v khng trng thi ta dng lnh:

>> [a,b,c,d]=tf2ss(81.06,[0.016 1 767.8])
a = 1.0e+004 *
-0.0063 -4.7987
0.0001
0
b=1
0
5

BO CO TH NGHIM
c = 1.0e+003 *
0 5.0663
d=0
Gin on ha m hnh:
Chu k trch mu T = 0.01s
>> [Az1,Bz1] = c2dm(a,b,c,d,0.01)
Az1 =
-0.4987 -133.8787
0.0028 -0.3243
Bz1 =
0.0028
0.0000
>> K1 = ss(Az1,Bz1,c,d,0.01)
a=
x1
x2
x1 -0.4987 -133.9
x2 0.00279 -0.3243
b=
u1
x1 0.00279
x2 2.76e-005
c=
x1 x2
y1 0 5066
d=
u1
y1 0
Sampling time: 0.01
6

BO CO TH NGHIM
Discrete-time model.
Chu k trch mu T = 0.1s
>> [Az2,Bz2] = c2dm(a,b,c,d,0.1)
Az2 =
-0.0438 -2.9585
0.0001 -0.0399
Bz2 =
1.0e-004 *
0.6165
0.2167
>> K2 = ss(Az2,Bz2,c,d,0.1)
a=
x1
x2
x1 -0.04378 -2.959
x2 6.165e-005 -0.03993
b=
u1
x1 6.165e-005
x2 2.167e-005
c=
x1 x2
y1 0 5066
d=
u1
y1 0
Sampling time: 0.1
Discrete-time model.
th thu c ca hm truyn
7

BO CO TH NGHIM
>> step(K1); hold on
>> step(K2)

Nhn xt: vi chu k trch mu 0,1s, p ng bc nhy gn nh b qua qu trnh qu .

Cn vi chu k trch mu 0,01s, p ng bm gn ging vi p ng ca h lin tc.

Bi 2: Tng hp vng iu chnh dng phn ng (iu khin mmen quay)

Trong bi 1 ta tm c hm truyn phn ng trn min nh z bng phng php ZOH
vi chu k trch mu Ts1=0.1ms l:
8

BO CO TH NGHIM

Giz 3=

0.009176 z +0.006577
z2 1.362 z +0.3656

Giz3 = filt([0 0.009176

0.006577 ],[1 -1.362 0.3656],0.1e-3)

0.009176 z 1 +0.006577 z2
Giz3 = 11.362 z1 +0.3656 z2

B(z)
A (z)

2.1Thit k b iu khin dng theo phng php Dead-Beat

L( z 1 )
Vi a thc

l bc 2 c dng:

L( z 1 ) l0 l1 z 1

>> a0=1;a1=-1.362;a2=0.3656;
>> b0=00;b1=0.009176;b2=0.006577;
>> l0=a0/((a0 a1).(b0+b1+b2))
>> l1=- a1/((a0 a1).(b0+b1+b2))
L( z 1 )
a thc

>> Lz1=filt([l0 l1],1,0.1e-3)

>> Bz=filt([0 0.009176 0.006577],[1],0.1e-3)

>> Az=filt([1 -1.362 0.3656],[1],0.1e-3)
Hm truyn ca b iu chnh dng theo phng php dead-beat:
>> GRi=Lz1*Az/(1-Lz1*Bz)

GRi(z) =

26.8840.03 z2+13.38 z3
1
2
3
10.2466 z 0.5126 z 0.2407 z

BO CO TH NGHIM

Hinh 2.3. S Simulink

Kt qu m phng:

Nhn xt : t th ta thy sau 4 bc i tng iu khin ui kp gi tr t ca i

lng ch o.
Hm truyn h kn tnh bng lnh: Gk=GRi*Giz3/(1+ GRi*Giz3)
Kt qu im cc ca hm truyn h kn c xc nh bng lnh:
>> pole(Gk)
c cc im cc l:
0.0000 + 0.0000i
0.0000 + 0.0000i
10

BO CO TH NGHIM
0.0000 + 0.0000i
0.0000 + 0.0000i
-0.3767 + 0.3144i
-0.3767 - 0.3144i
1.0000 + 0.0000i
0.9943 + 0.0000i
0.9943 + 0.0000i
0.3677 + 0.0000i
0.3677 + 0.0000i
-0.0000 + 0.0000i
-0.0000 - 0.0000i
2.2 Thit k b iu chnh dng theo phng php cn bng m hnh
Gi s sau 3 chu k trch mu p ng ca i tng bm vo gi tr t, nh vy hm
truyn ca i tng c dng:

Vi iu kin:

Gw3 ( z 1 ) x1 z 1 x2 z 2 x3 z 3

x1 x2 x3 1

x1 , x2 , x3 1

Chn x1= 0.3; x2= 0.3; x3= 0.4

Hm truyn ca i tng tm bng lnh:
>> Gw3=filt([0 0.3 0.3 0.4],[1],0.1e-3)
Hm truyn ca b iu chnh theo phng php cn bng m hnh tnh nh sau:
GRi ( z 1 )

Gw3
1
.
1 Gw3 Giz 3

11

BO CO TH NGHIM
Tnh trn matlab:
1

-1

GRi(z ) =

0.30.1086 z + 0.1011 z 0.4351 z +0.1462 z

1
2
3
4
0.009176+0.003824 z 0.004726 z 0.005644 z 0.002631 z

Kt qu m phng:

Nhn xt : t th ta thy sau 4 bc i tng iu khin ui kp gi tr t ca i

lng ch o.Sau chu k u tin t ti gi tr x1 ,n chu k th 4 t gi tr
x1 +x2 +x3 =1.
12

BO CO TH NGHIM
Hm truyn h kn xc nh bi: >> Gk=GRi*Giz3/(1+ GRi*Giz3)
Cc im cc ca hm truyn h kn:
ans =

0.0000 + 0.0000i
0.0000 + 0.0000i
0.0000 + 0.0000i
0.0000 + 0.0000i
-0.3767 + 0.3144i
-0.3767 - 0.3144i
1.0000 + 0.0000i
0.9943 + 0.0000i
0.9943 + 0.0000i
0.3677 + 0.0000i
0.3677 + 0.0000i
-0.0000 + 0.0000i
-0.0000 - 0.0000i

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BO CO TH NGHIM
Bi tp thc hnh s 3 Tng hp vng iu chnh tc quay
3.1Tm hm truyn t trn min z ca i tng vng tc
Hm truyn kn ca bi 2 xp x thnh khu qun tnh bc nht:
Gik ( s )

1
2Tt s 1

trong

Tt 100 s

l hng s thi gian ca b chnh lu.

Hm truyn i tng ca vng iu chnh tc l:

Gn ( s ) Gik ( s ).km .

Gn ( s )
Suy ra:

1
2 Js

1.528
1,508.105 s 2 0,0754 s

Tm hm truyn trn min z theo ZOH, chu k trch mu T1=0,1ms:

Lnh: Gnz=c2d(Gn,T1,'ZOH')
Gnz(z) =

0.0004318 z +0.0003656
z 21.607 z +0.6065

Chuyn sang m m:
1

Gnz(z-1) =

0.0004318 z +0.0003656 z
11.607 z1+0.6065 z 2

z
(1)
= B n A (z1)
n

b0 =0; b1= 0.0004318 ; b2 = 0.0003656 ; a0 =1;a1= -1.607;a2 = 0.6065;

3.2.Thit k b iu chnh PI cho tc ng c
a) Theo tiu chun tch phn bnh phng
r r z 1 R( z 1 )
GRn ( z 1 ) 0 1 1
1 p1 z
P ( z 1 )
B iu chnh PI s c dng:

chn

p1 1

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BO CO TH NGHIM
Ta c:
E ( z ) W( z )

1
r r z b b z 1 b2 z 2
1 0 1 1 . 0 1 1
1 z
1 a1 z a2 z 2
1

E ( z ) (1 r0b0 ) (a1 1 r0b1 r1b0 ) z 1 (a2 a1 r0b2 r1b1 ) z 2 (r1b2 a2 ) z 3

W( z ). 1 ( a1 1) z 1 ( a2 a1 ) z 2 ( a2 ) z 3
Sai lch iu chnh vit di dng sai phn:
ek .(1 r0b0 ) w k wk 1 (a1 1) wk 2 (a2 a1 ) wk 3 (a2 )
ek 1 (a1 1 r0b1 r1b0 ) ek 2 (a2 a1 r0b2 rb
1 1 ) ek 3 (r1b2 a 2 )

w k 1k
Trong

k 0 e0
k 1 e1

1
1 r0b0

1
a1 e0 (a1 1 r0b1 rb
1 0 )
1 r0b0

k 2 e2

1
a2 e1 (a1 1 r0b1 rb
1 0 ) e0 ( a2 a1 r0b2 rb
1 1 )
1 r0b0

k 3 e3

1
e2 (a1 1 r0b1 rb
1 0 ) e1 ( a2 a1 r0b2 rb
1 1 ) e0 ( rb
1 2 a2 )
1 r0b0

k 4 e4

1
e3 (a1 1 r0b1 rb
1 0 ) e2 ( a2 a1 r0 b2 rb
1 1 ) e1 ( rb
1 2 a2 )
1 r0b0

To hm function trong mfile :

%function1.m
function F = function1(r)
b0 =0; b1= 0.0004318 ; b2 = 0.0003656 ; a0 =1;a1= -1.607;a2 = 0.6065;
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BO CO TH NGHIM
F=(1/(1+r(1)*b0))^2+((a1-(1/(1+r(1)*b0))*(a1-1+r(1)*b1+r(2)*b0))/(1+r(1)*b0))^2+
((a2-((a1-(1/(1+r(1)*b0))*(a1-1+r(1)*b1+r(2)*b0))/(1+r(1)*b0))*(a11+r(1)*b1+r(2)*b0)-(1/(1+r(1)*b0))*(a2-a1+r(1)*b2+r(2)*b1))/(1+r(1)*b0))^2+((((a2-((a1-(1/(1+r(1)*b0))*(a1-1+r(1)*b1+r(2)*b0))/(1+r(1)*b0))*(a11+r(1)*b1+r(2)*b0)-(1/(1+r(1)*b0))*(a2-a1+r(1)*b2+r(2)*b1))/(1+r(1)*b0))*(a11+r(1)*b1+r(2)*b0)-((a1-(1/(1+r(1)*b0))*(a1-1+r(1)*b1+r(2)*b0))/(1+r(1)*b0))*(a2a1+r(1)*b2+r(2)*b1)-(1/(1+r(1)*b0))*(r(2)*b2-a2))/(1+r(1)*b0))^2+((-((-((a2-((a1-(1/
(1+r(1)*b0))*(a1-1+r(1)*b1+r(2)*b0))/(1+r(1)*b0))*(a1-1+r(1)*b1+r(2)*b0)-(1/
(1+r(1)*b0))*(a2-a1+r(1)*b2+r(2)*b1))/(1+r(1)*b0))*(a1-1+r(1)*b1+r(2)*b0)-((a1(1/(1+r(1)*b0))*(a1-1+r(1)*b1+r(2)*b0))/(1+r(1)*b0))*(a2-a1+r(1)*b2+r(2)*b1)-(1/
(1+r(1)*b0))*(r(2)*b2-a2))/(1+r(1)*b0))*(a1-1+r(1)*b1+r(2)*b0)-((a2-((a1-(1/
(1+r(1)*b0))*(a1-1+r(1)*b1+r(2)*b0))/(1+r(1)*b0))*(a1-1+r(1)*b1+r(2)*b0)-(1/
(1+r(1)*b0))*(a2-a1+r(1)*b2+r(2)*b1))/(1+r(1)*b0))*(a2-a1+r(1)*b2+r(2)*b1)-((a1(1/(1+r(1)*b0))*(a1-1+r(1)*b1+r(2)*b0))/(1+r(1)*b0))*(r(2)*b2-a2))/(1+r(1)*b0))^2;
end

Lnh trong matlab:

>> options = optimset('fminunc');
>> options = optimset(options, 'Display','iter', 'LargeScale','off');
>> rn = [-1 1];
>> [r, fval]=fminunc('function1',rn,options)
Ta thu c kt qu :
r=

1.0e+03 *

0.8856 -1.2213

fval =

1.4677
Chn kt qu:
16

BO CO TH NGHIM
Chn r0 = 8856 ; r1 = -12213
GRn(z-1) =

885612213 z1
1z1

u ra khng n nh:
Ta chn li : r0 = 145 ; r1= -144 ;
Ta c s Simulink:

u ra :

17

BO CO TH NGHIM
Sai lch ek

Nhn xt :u ra b iu khin tin ti xc lp sau khong thi gian kh di,tuy nhin

vn khng thc s t gi tr mong mun.

p ng u ra khi c nhiu :
Nhiu gi tr t :t thm tn hiu bc nhy vo h thng sau khong thi gian
0.01s
S Simulink

Kt qu m phng:

18

BO CO TH NGHIM

Nhn xt: Khi c tc ng ca nhiu u vo b iu khin a h thng v gi tr

xc lp mi.
Nhiu ph ti: t thm tn hiu bc nhy vo h thng sau khong thi gian
0.01s
S Simulink

Kt qu m phng:

19

BO CO TH NGHIM

Nhn xt: Khi c tc ng ca nhiu u ra b iu khin dao ng mnh,sau a h

thng v gi tr cn bng nhanh chng.

b) Theo phng php gn im cc

a thc c tnh ca hm truyn ch o:
N ( z ) P( z ). A( z ) R ( z ).B( z )
( z 1)( z 2 a1 z a2 ) ( r0 z r1 )(b0 z 2 b1 z b2 )
(1 r0b0 ) z 3 (1 a1 b1r0 b0 r1 ) z 2 (a2 a1 b1r1 b2 r0 ) z (a2 b2 r1 )

Chn im cc ca i tng l

z1 , z2 , z3

th a thc c tnh l:

N ( z ) ( z z1 ).( z z2 ).( z z3 )
z 3 ( z1 z2 z3 ) z 2 ( z1 z2 z2 z3 z3 z1 ) z z1 z2 z3
Cn bng h s, ta c:
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BO CO TH NGHIM
1 a1 b1r0 b0 r1
z1 z2 z3

b
r
0 0

a2 a1 b1r1 b2 r0
z1 z2 z2 z3 z3 z1

1 b0 r0

a2 b2 r1
z1 z 2 z3

b
r
0 0

z1,2 0.89 j 0.04

Chn cp im cc phc
Gii h phng trnh 3 n r0, r1, z3:

b1 b0 ( z1 z2 ) .r0

b0

b2
a2
.r1 1 a1 ( z1 z2 )
z1 z2
z1 z2

z z
z z
(b2 b0 z1 z2 ).r0 b1 b2 1 2 .r1 z1 z2 a2 1 2 a2 a1
z1 z2
z1 z2

a2 b2 r1
z3
(1 b0 r0 ) z1 z2

Thay s vo h phng trnh ta gii c:

r 0 =76.77
r 1=72.3
z3 =0.794

S Simulink

21

BO CO TH NGHIM

Tn hiu ra :

22

BO CO TH NGHIM
Sai lch:

p ng u ra khi c nhiu:
Nhiu gi tr t :t thm tn hiu bc nhy vo h thng sau khong thi gian
0.01s
S Simulink

23

BO CO TH NGHIM
Kt qu m phng:

Nhiu ph ti: t thm tn hiu bc nhy vo h thng sau khong thi gian 0.01s
S Simulink:

Kt qu m phng:

24

BO CO TH NGHIM

25

BO CO TH NGHIM
Bi tp thc hnh s 4
tng hp b iu chnh tc quay trn khng gian trng
thi

Hm truyn t kn tm c trong bi 1:
Gk ( s)

81.06
0.016 s 2 s 767.8

Tm ma trn trn khng gian trng thi bng lnh:

>> [A,B,C,D]=tf2ss([81.06],[0.016 1 767.8])
Ma trn trn min gin on :
>>[Az1,Bz1]=c2d(A,B,0.1)
>>[Az2,Bz2]=c2d(A,B,0.01)
4.1.Phng php phn hi trng thi sao cho p ng
c dng PT1
>>p1=[0.54 0.46]
>>K1=acker(Az1,Bz1,p1)
>>G1=ss(Az1-Bz1*K1,Bz1,C,D,0.1)
>>step(G1)

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BO CO TH NGHIM

.
>> p2=[0.61 0.36]
>> K2=acker(Az2,Bz2,p2)
>> G2=ss(Az2-Bz2*K2,Bz2,C,D,0.01)
>>step(G2)

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BO CO TH NGHIM
4.2.Phng php p ng hu hn (Deat-beat-gn
im cc ti gc ta trn min nh z)
>> p3=[0 0]
>> K3=acker(Az1,Bz1,p3)
>> G3=ss(Az1-Bz1*K3,Bz1,C,D,0.1)
>> step(G3)

..
>>p4=[0 0]
>>K4=acker(Az2,Bz2,p4)
>>G4=ss(Az2-Bz2*K4,Bz2,C,D,0.01)
>>step(G4)

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Nhn xt :
Tng hp b iu khin tc quay theo phng php phn hi trng thi
sao cho p ng c dng PT1 th sau nhiu chu k trch mu u ra mi xc
lp. Nhng gi tr xc lp tin ti 1, sai lch tnh tin ti 0, t yu cu iu
khin.
Tng hp b iu khin tc quay theo phng php p ng hu hn th
sau 2 chu k trch mu u ra t gi tr xc lp do 2 im cc c gn u
nm gc ta , tuy nhin tn ti sai lch tnh rt ln.
4.3.Kim tra tnh iu khin c v quan st c
c) Tnh quan st c
Ma trn quan st:
>> Q1=obsv(Az1,C)
5066
0

0,3 202,3

Q1

>> Q2=obsv(Az2,C)
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BO CO TH NGHIM
5066
0
Q2

14,1 1643, 2

Kim tra hng ca 2 ma trn quan st:

>> rank(Q1)
ans=2
>> rank(Q2)
ans=2
Vy h l quan st c vi hai tn s trch mu T1 v T2
d) Tnh iu khin c
Ma trn iu khin :
>> Ct1=ctrb(Az1,B)
1 0,0438

0 0,0001

Ct1

>> Ct2=ctrb(Az2,B)
1 0, 4989
Ct2

0 0,0028

Kim tra hng ca hai ma trn iu khin :

>> rank(Ct1)
ans=2
>> rank(Ct2)
ans=2
Vy h l iu khin c vi hai tn s trch mu T1 v T2

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31