TRNG I HC BCH KHOA H NI KHOA IN B MN IU KHIN T NG

CC BI TH NGHIM MN HC L THUYT IU KHIN T NG PHN PHI TUYN KHI IU KHIN T NG; O LNG TH V T NG HO ( 4 bi)

H NI 8/2008
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CC BI TH NGHIM L THUYT IU KHIN T NG

H THNG IU KHIN XUNG S V IU KHIN PHI TUYN

I. MC CH : SIMULINK l mt cng c rt mnh ca Matlab xy dng cc m hnh mt cch trc quan v d hiu. m t hay xy dng h thng ta ch cn lin kt cc khi c sn trong th vin ca SIMULINK li vi nhau. Sau , tin hnh m phng h thng xem xt nh hng ca b iu khin n p ng qu ca h thng v nh gi cht lng h thng. II. CHUN B : thc hin cc yu cu trong bi th nghim ny, sinh vin cn phi chun b k v hiu r cc khi c bn cn thit trong th vin ca SIMULINK. Sau khi khi ng Matlab 6.5, ta g lnh simulink hoc nhn vo nt simulink trn thanh cng c th ca s SIMULINK hin ra: 2 th vin chnh p dng trong bi th nghim ny Cc th vin con trong

Ch : o Sinh vin phi c k v chun b cc bi th nghim (Bao gm gii p cc vn c gch chn nu trong bi). o Trc khi vo phng th nghim, cn b hng dn th nghim s kim tra bi chun b ca tt c cc bi th nghim s tin hnh trong bui. Sinh vin khng c bi chun b s khng c tin hnh th nghim. o Phi np bo co th nghim sau khi th nghim ti a 1 tun. o Cn b hng dn th nghim: ThS. Nguyn Vit Dng, lin h:04 38692985 KS. on Th Thu H, lin h: 04 38692985
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II.1. Cc khi c s dng trong bi th nghim: a. Cc khi ngun tn hiu vo (source): Khi Step ( th vin Simulink \ Sources) c chc nng xut ra tn hiu hm bc thang. Double click vo khi ny ci t cc thng s: Step time : khong thi gian u ra chuyn sang mc Final value k t lc bt u m phng. Ci t gi tr ny bng 0. Initial value : Gi tr ban u. Ci t bng 0. Final value : Gi tr lc sau. Ci t theo gi tr ta mun tc ng ti h thng. Nu l hm bc thang n v th gi tr ny bng 1. Sample time : thi gian ly mu. Ci t bng 0. Khi Signal Generator ( th vin Simulink \ Sources) l b pht tn hiu xut ra cc tn hiu sng sin, sng vung, sng rng ca v ngu nhin (ci t cc dng sng ny trong mc Wave form). b. Cc khi ti thit b kho st ng ra (sink): Khi Mux ( th vin Simulink \ Signals Routing) l b ghp knh nhiu ng vo 1 ng ra, t ng ra ny ta a vo Scope xem nhiu tn hiu trn cng mt ca s. Double click vo khi ny thay i s knh u vo (trong mc Number of inputs) Khi Scope ( th vin Simulink \ Sinks) l ca s xem cc tn hiu theo thi gian, t l xch ca cc trc c iu chnh t ng quan st tn hiu mt cch y . Khi XY Graph dng xem tng quan 2 tn hiu trong h thng (quan st mt phng pha). c.Cc khi x l khi ng hc : Khi Sum ( th vin Simulink \ Math Operations) l b tng (cng hay tr) cc tn hiu, thng dng ly hiu s ca tn hiu t vi tn hiu phn hi. Double click thay i du ca b tng. Khi Gain ( th vin Simulink \ Math Operations) l b t l. Tn hiu sau khi qua khi ny s c nhn vi gi tr Gain. Double click thay i gi tr li Gain. Khi Transfer Fcn ( th vin Simulink \ Continuous) l hm truyn ca h tuyn tnh. Double click thay i bc v cc h s ca hm truyn. Ci t cc thng s: _ Numerator : cc h s ca a thc t s _ Denominator : cc h s ca a thc mu so Khi Relay ( th vin Simulink \ Discontinuities) l b iu khin rle 2 v tr c tr (cn gi l b iu khin ON-OFF). Cc thng s : _ Switch on point : nu tn hiu u vo ln hn gi tr ny th ng ra ca khi Relay ln mc on _ Switch off point : nu tn hiu u vo nh hn gi tr ny th ng ra ca khi Relay xung mc off _ Output when on : gi tr ca ng ra khi mc on _ Output when off : gi tr ca ng ra khi mc off Nu tn hiu u vo nm trong khong (Switch on point, Switch off point) th gi tr ng ra gi nguyn khng i.
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Khi Saturation ( th vin Simulink \ Discontinuities) l mt khu bo ha. Cc thng s ci t: _ Upper limit : gii hn trn. Nu gi tr u vo ln hn Upper limit th ng ra lun bng gi tr Upper limit _ Lower limit : gii hn di. Nu gi tr u vo nh hn Lower limit th ng ra lun bng gi tr Lower limit Khu bo ho dng th hin gii hn bin ca cc tn hiu trong thc t nh : p ra cc i ca b iu khin t vo i tng, p ngun Khi PID controller ( th vin Simulink Extras \ Additional Linear) l b iu khin PID vi hm truyn ( ) KP : h s t l (proportional term) KI: h s tch phn (integral term) KD: h s vi phn (derivative term) II.2. Cc bc tin hnh xy dng mt ng dng mi trong SIMULINK: _ Sau khi khi ng Matlab, g lnh simulink hoc nhn vo nt simulink trn thanh cng c th ca s SIMULINK hin ra (nh hnh v Trang 1) _ Trong ca s SIMULINK, vo menu File / New m ca s cho mt ng dng mi. Kch chut vo cc th vin gii thiu mc II.1 chn khi cn tm. Kch chut tri vo khi ny, sau ko v th vo ca s ng dng va mi to ra. Double click vo khi ny ci t v thay i cc thng s. _ C th nhn s lng cc khi bng cch dng chc nng Copy v Paste. Kch chut tri ni cc ng vo / ra ca cc khi hnh thnh s h thng. _ C th di mt hoc nhiu khi t v tr ny n v tr khc bng cch nhp chut chn cc khi v ko n v tr mi. Dng phm Delete xa cc phn khng cn thit hay b sai khi chn. _ C th vit ch thch trong ca s ng dng bng cch double click vo mt v tr trng v g cu ch thch vo. Vo menu Format / Font thay i kiu ch. _ Nh vy, m hnh h thng xy dng xong. By gi tin hnh m phng h thng bng cch vo menu Simulation / Simulation Parameters ci t cc thng s m phng. Ca s Simulation Parameters hin ra nh sau: _ Start time : thi im bt u m phng. Mc nh chn bng 0. _ Stop time : thi im kt thc m phng. Gi tr ny chn theo c tnh ca h thng. Nu h thng c thi hng ln th gi tr Stop time cng phi ln quan st ht thi gian qu ca h thng. _ Cc thng s cn li chn mc nh nh hnh k bn. _ Chy m phng bng cch vo menu Simulation / Start. Khi thi gian m phng bng gi tr Stop time th qu trnh m phng dng li. Trong qu trnh m phng, nu ta mun dng na chng th vo menu Simulation / Stop.

BI TH NGHIM 1 KHO ST C TNH NG HC V TNH N NH CA H XUNG S 1. Kho st c tnh ng hc ca h xung s a. Mc ch: - Xc nh hm truyn ca h thng iu khin xung s - Kho st c tnh ng hc ca h thng iu khin xung s b. Ni dung - Cho mt h thng iu khin s
zoh X T=1 1 e sT s i tng 1 s ( s + 1) Y

Thi gian ly mu T=1s Phng php gi mu bc 0 : 'ZOH' ZERO ORDER HOLD - Xc nh hm truyn ca h thng xung h
zoh X T=1 1 e s
sT

i tng 1 s ( s + 1) Y

X(z)

G1(z)

Y(z)

- Xc nh hm truyn ca h thng xung kn

X(z) G1(z) Y(z)

- Xc nh hm qu v hm trng lng ca h thng xung kn c. Chng trnh

>>G=tf(1,[1 1 0]) >>G1=c2d(G,1,'zoh') >>Gk=feedback(G1,1) >>step(Gk) >>impulse(Gk)

2. Kho st tnh n nh ca h thng xung s a. Ni dung - Cho mt h thng iu khin s nh sau

X T=0.1 D(z) zoh 1 e sT s i tng 1 s ( s + 1) Y

Thi gian ly mu T=0.1s Phng php gi mu bc 0 : 'zoh' ZERO ORDER HOLD Hm truyn D(z)=K Hm truyn 1 G(s) = s(s + 1) - Xc nh hm truyn ca h thng xung h H(z)=D(z)*G1(z) - V qu o nghim s v xc nh tr s gii hn K theo tiu chun n nh ca h xung s - Thay tr s Kgh vo h thng v kim tra qu trnh qu trong h thng kn - Chnh nh K h thng n nh v c qu trnh qu t cc ch tiu cht lng b. Chng trnh
>>G=tf(1,[1 1 0]) >>G1=c2d(G,0.1,'zoh') >>rlocus(G1); hold on >>x=[-1 :0.01:1]; y=sqrt(1-x.^2); >>plot(x,y,x,-y) >>[K,p]=rlocfind(G1) >>Gk=feedback(K*G1,1) >>hold off >>step(Gk,10)

YU CU VIT BO CO - V s ca h thng iu khin s, s ca h thng xung h v h thng xung kn - Xc nh hm truyn ca h thng xung h v h thng xung kn - V qu o nghim v xc nh Kgh - V hm qu ca h thng kn khi K=Kgh - Chnh nh K v v hm qu ca h thng xung kn, xc nh cc ch tiu cht lng

BI TH NGHIM S 2. KHO ST CC C TNH PHI TUYN V PHNG PHP MT PHNG PHA I. KHO ST CC C TNH PHI TUYN 1.Mc ch Kho st c tnh ca cc khu phi tuyn tnh c bn y=F(x) ( S liu lm theo nhm) a. Khu bo ho b.Khu c khe h
y a x -a x y

-b

c. Khu rle 2 v tr l tng

y a x -a

d. Khu rle 2 v tr c tr
y a x -b -a b

e.Khu rle 3 v tr l tng

y a -b -a b

Khu rle 3 v tr c tr
y a -c -b x

x -a

S liu theo nhm Khu Khu Khu r le Khu r le 2 Khu r le Khu r le 3 Khu bo ho khe h 2 v tr l v tr c tr 3 v tr l v tr c tr phi tng tng tuyn a b a a b a b a b c Nhm 1 1 0.5 1.5 1.5 0.5 1.5 0.5 1.5 0.5 1 Nhm 2 2 1 2.5 2.5 1 2.5 1 2.5 1 2 Nhm 3 1.5 1.5 1 1 1.5 1 1.5 1 1.5 3 Nhm 4 2.5 2 2 2 1 2 1 2 1 2 Nhm 5 0.5 2.5 0.5 1.5 0.5 1 1.5 1 1.5 2.5 2.Ni dung a. Thnh lp m hnh ca cc khu phi tuyn c bn b. Kho st quan h vo ra ca cc khu phi tuyn v ghi li cc c tnh phi tuyn in hnh ( c tn hiu vo l hnh sin hoc rng ca)
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3.Bo co th nghim - V s khi ca cc khu phi tuyn tnh c bn - V c tnh ca cc khu phi tuyn tnh c bn II. PHNG PHP MT PHNG PHA 1.Mc ch p dng phng php mt phng pha phn tch cc h thng tuyn tnh v phi tuyn. 2.Ni dung a. Kho st qu o pha ca mt h thng tuyn tnh bc 2 c s nh sau:

S kin: x1(0)=10; x2(0)=0; Thi gian m phng: 100s - Quan st qu o pha ca h thng tuyn tnh bc 2 c dao ng - Quan st qu o pha ca h thng tuyn tnh bc 2 khng n nh ( thay i hm truyn ca khu qun tnh thnh khu khng n nh: truyn ca khu qun tnh thnh khu tch phn:
1 ) 10s 1 ) 10 s 1

- Quan st qu o pha ca h thng tuyn tnh bc 2 bin gii n nh ( thay i hm

b.Kho st qu o pha ca mt h thng tuyn tnh bc 2 c s nh sau:

Cho iu kin ban u: x1(0)=2; x2(0)=0,8; Khu phi tuyn F(x) c chn theo cc trng hp sau: c. F(x) l khu r le hai v tr d. F(x) l khu r le hai v tr c tr e. F(x) l khu r le ba v tr f. F(x) l khu r le ba v tr c tr 3.Bo co th nghim a. V s khi v v qu o pha ca h thng tuyn tnh trong cc trng hp : - H thng n nh, bin gii n nh v khng n nh - Nhn xt kt qu b. V s khi v qu o pha ca h thng phi tuyn tnh trong cc trng hp : g. F(x) l khu r le hai v tr h. F(x) l khu r le hai v tr c tr i. F(x) l khu r le ba v tr j. F(x) l khu r le ba v tr c tr k. Nhn xt kt qu
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BI TH NGHIM S 3. HIU CHNH H THNG PHI TUYN v H THNG iu khin ti u tc ng nhanh Phn 1. Hiu chnh h phi tuyn 1.Mc ch p dng phng php mt phng pha phn tch v hiu chnh h thng phi tuyn c s sau
F(x)

1 s

x2

1 s

x1

2.Ni dung a. Cho F(x) l khu r le 2 v tr, v qu o pha vi iu kin ban u cho trc: x1(0)=2; x2(0)=0.8; -Hiu chnh bng mch phn hi cc b tuyn tnh ( tham s K) - Kho st ch trt. Xc nh on qu o pha tng ng vi ch trt trn ng chuyn i b. . Cho F(x) l khu r le 2 v tr c tr. Hiu chnh bng mch phn hi cc b tuyn tnh kho st ch t dao ng 3.Bo co th nghim a. V s khi ca h thng phi tuyn tnh trong l. F(x) l khu r le hai v tr hiu chnh bng mch phn hi cc b tuyn tnh m. F(x) l khu r le hai v tr c tr hiu chnh bng mch phn hi cc b tuyn tnh b. V qu o pha ca h thng phi tuyn tnh trong cc trng hp : n. F(x) l khu r le hai v tr hiu chnh bng mch phn hi cc b tuyn tnh ( cho K=0,1) o. F(x) l khu r le hai v tr hiu chnh bng mch phn hi cc b tuyn tnh ( cho K tng dn) v ch trt p. F(x) l khu r le hai v tr c trhiu chnh bng mch phn hi cc b tuyn tnh ( ch t dao ng) c. Xc nh on qu o pha tng ng vi ch trt Phn II. H THNG iu khin ti u tc ng nhanh 1.Ni dung S h thng iu khin ti u tc ng nhanh
1 -1
y = x2 2 .x2

1 s

x2

1 s

x1

a. Thnh lp s h thng ti u tc ng nhanh trn Simulink b. V qu o pha vi s kin : - x1(0) = 2 v x2(0) = 0,8 - x1(0) = -2 v x2(0) = -0,8 c.Xc nh thi gian ca qu trnh qu trong h thng ti u tc ng nhanh v so snh vi thi gian qu ca h thng phi tuyn tnh c mch phn hi cc b tuyn tnh ( cng s kin) 2. Bo co th nghim - V s khi ca h thng ti u tc ng nhanh - v qu o pha vi cc s kin cho - V c tnh qu v kt lun v thi gian ca qu trnh qu trong h thng ti u tc ng nhanh v so snh vi thi gian qu ca h thng phi tuyn c mch phn hi cc b tuyn tnh ( cng s kin)

BI TH NGHIM PHI TUYN S 4 B IU KHIN GAIN-SCHEDULING PHN HI TRNG THI GN IM CC 1. Mc ch Tm hiu v m phng vic thit k b iu khin Gain-scheduling theo phng php phn hi trng thi gn im cc cho h phi tuyn. 2. Ni dung Cho h phi tuyn c m t bi h phng trnh trng thi sau: dx e x1 + u = f ( x, t ) = dt x1 3 x2 y = x1

(1)

a. Thit k b iu khin Gain-scheduling theo phng php phn hi trng thi gn im cc cho h (1). b. M phng b iu khin thit k cho h (1) trn Simulink. 3. Bo co th nghim a. Vi cc im cc mong mun ca h (1) l ( n, 3) ,( vi n l s th t theo danh sch lp), trnh by kt qu thit k b iu khin Gain-scheduling theo phng php phn hi trng thi gn im cc. b. V s khi, thc hin m phng trn Simulink b iu khin thit k. c. Nhn xt kt qu thu c.

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Hng dn s dng cc bi th nghim dng simulink Bi 1. Cch lp s trong simulink kho st cc c tnh ca cc khu phi tuyn in hnh 1.Khu bo ho 2. Khu c khe h

3. Khu rle 2 v tr l tng

4. Khu rle 2 v tr c tr

5. Khu rle 3 v tr l tng

6. Khu rle 3 v tr c tr

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Bi 2b. Cch thnh lp trong simulink v qu o pha ca h thng phi tuyn tnh trong trng hp

Trong khi F(x) ta ln lt thay l cc khu r le 2 v tr, r le 2 v tr c tr, r le 3 v tr, r le 3 v tr c tr Bi 3. phn1 a. Cch thnh lp trong simulink kho st qu o pha ca h thng phi tuyn tnh hiu chnh bng mch phn hi cc b tuyn tnh ( cho K = 0.7) c s nh hnh v sau tng dn K n ch trt

b. Cng s nh tr nhng thay khu r le 2 v tr bng r le 2 v tr c tr v qu o pha ca h thng phi tuyn ch t dao ng Bi 3.phn2 1 .S h thng iu khin ti u tc ng nhanh nh hnh v

HNG DN S DNG BI TH NGHIM 4 1. Thit k b iu khin - D dng thy h (1) c mt im lm vic ti xv = ( 3v, v ) . Khi h c th tham s ha nh sau: uo ( v ) = e3v , yv ( v ) = 3v, xv ( v ) = ( 3v, v ) . Mt khc:

f e x1 0 f 1 = = , x 1 3 u 0 Nn h c th c tuyn tnh ha xung quanh im lm vic nh sau: 1 dxv e 3v 0 = ( 2) xv + uv dt 1 3 0

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Ta c u0 ( v ) v

= 3e 3v ,

y ( v ) v

= 3,

x ( v )

3 = v 1

V vy, vi cc im cc cho trc l ( 5, 3) th cc thnh phn ca b iu khin phi tha mn h phng trnh sau:

e 3v 0 1 det sI K 3 = ( s + 5 )( s + 3) 3 0 1 3 3v 3e = K 2 + K 3 1 Gii h phng trnh ny thu c K 2 = 15 3v K3 = e 5 0 Kt qu thit k b iu khin u ( t ) = u0 ( v ) + K 2 ( v ) ( w ( t ) wv ( v ) ) + K 3 ( v ) ( x ( t ) xv ( v ) )

x 3v = e 3v + 15 ( w ( t ) yv ) + e 3v 5 0 1 x v 2 = e 3v + 15 ( w ( t ) 3v ) + e 3v 5 ( x1 3v )

= e 3 x2 + 15 ( w ( t ) 3 x2 ) + e 3 x2 5 ( x1 3 x2 )

2. S khi trn Simulink

dx 1/dt 1 s Integrator

x1 -1 Gain 1 e u w To Workspace1

Math Function

u Product w 15 Sine Wave Gain 3 e(-3*x2) e -5 u Math Function 1

Scope

y To Workspace

Manual Switch Constant

dx 2/dt Step 1 s Integrator 1

x2 -3 Gain

3. Kt qu m phng a. Tn hiu u vo bc nhy

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1.8 1.6 1.4 1.2 Dpu gh th n a n e og 1 0.8

0.6 0.4 0.2 0

10

15

20

25 t

30

35

40

45

50

b. Tn hiu u vo hnh sin

1.5

D pu gh th n a n e og

0.5

-0.5

-1

10

15

20

25 t

30

35

40

45

50

4. Nhn xt kt qu - Sai lch tnh tn ti do phng php thit k l cho h c tuyn tnh ha xung quanh im lm vic. - Thay i im cc xem p ng thay i ra sao.

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