BO CO TH NGHIM

IU CHNH T NG TRUYN NG IN
***$$$***

BI TH NGHIM 1: TNG HP MCH VNG DNG IN

I.TNG HP MCH VNG DNG IN:

U id

Ui

( )

U dk ( p)

Ud

(+ )

K
( )

1 Ru/
( 1+ p u T

1
Jp

Ki
(1 + pT)i
Hnh 1: s mch vng iu chnh dng in
Trong :
Lu
: Hng s thi gian in t ca mch phn ng
Ru
Ru = Rv + Rk + Rud + Rs
Lu = Lb + Lk + Lud
K i = Rs : in tr ca sensor
Ti = Rs C : Hng s thi gian ca sensor dng in
Vit gn li ta c s nh trn hnh 2 ,ta c hm truyn ca i tng iu khin ca mch vng
iu chnh dng in:
Tu =

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U i ( p)
U
I( p )
id

Ri

Soi

()
T s trn hnh 1 v hnh 2 ta c hm truyn ca i tng iu khin ca mch vng iu chnh
dng in :
U ( p)
Kcl .Ki / Ru
Soi ( p ) = i
=
(1)
U dk ( p ) (1 + pTdk )(1 + pT1 )(1 + pTu )
Trong :
Tdk 100 s , X v 2.5 2.5ms , Tu 100ms
Thay Tsi = Ti + Tv + Tdk << Tu , b qua cc h s bc cao ta c :
K cl .Ki / Ru
Soi ( p ) =
(2)
(1 + pTsi )(1 + pTu )
p dng tiu chun ti u mdul ta c hm truyn ca h thng kn nh sau:
1
FoMi ( p) =
(3)
1 + 2p + 22 p 2
Mt khc trn hnh 2 ta c:
Ri ( p ).Soi
FoMi ( p) =
1 + Ri ( p ).Soi
FoMi
Ri ( p ) =
Soi FoMi .Soi
1
1 + 2p + 22 p 2

Ri ( p ) =
K cl .Ki / Ru
1
(1
)
(1 + pTsi )(1 + pTu )
1 + 2p + 22 p 2
Chn = min( Tsi , Tu ) = Tsi
Vy ta c hmh truyn ca b iu chnh dng in :
1 + pTu
Ru .Tu
1
Ri ( p ) =
=
(1 +
)
(4)
2 p.K cl .Ki .Tsi / Ru 2.Kcl .Ki .Tsi
pTu
Ri ( p ) l khu tch phn ti l (PI).
Kt qu khi tng hp mch vng dng in bng tiu chun ti u mdul ta c :

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BO CO TH NGHIM
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***$$$***
FoMi ( p) =

U i ( p)
1
=
U id ( p) 1 + 2Tsi p + 2Tsi2 p 2

(5)

II.TNH TON CC THNG S CA H TRUYN NG NG C IN 1 CHIU

KCK T C LP V TIN HNH M PHNG TRN MY TNH BNG PHN MM
MATLAB
CC THNG S CHO TRC
Pdm : Cng sut nh mc ca ng c
=
1.5 KW
U dm : in p inh mc phn ng
=
272 V
ndm : Tc o quay nh mc
=
1552 v/ph
dm : Hiu sut danh nh ca ng c
=
90 %
L : in cm phn ng
=
0.2H
Ti : Hng s thi gian my bin dng
=
0.002 s
Tv : Hng s thi gian b chnh lu
=
0.0025 s
Tdk : Hng s thi gian mch iu khin mch chnh lu =
0.0001 s
T : Hng s thi gian my pht tc
=
0.001 s
Cc phng trnh phn ng phn ng ng c in 1 chiu:
U u = Eu + Iu ( Ru + R f )
U u : in p phn ng
Eu : Sc in ng phn ng
Ru : in tr mch phn ng
R f : in tr ph trong mch phn ng
I u : Dng in trong mch phn ng
Ru = ru + rcf + rb + rct
ru
rcf
rb
rct

p
N

: in tr cun dy phn ng
: in tr cc t ph
: in tr cun b
: in tr tip xc chi than
pN
Eu = K . =
..
2a
: s i cc
: s thanh dn tc dng ca cun dy phn ng
: t thng
:tc gc

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pN
h s cu to ca ng c
2a
Eu = Ke ..n
n : tc rto
2n
n
=
=
60 9,55
n
1552
dm = dm =
= 162 rad/s
9.55 9.55
K
Ke =
= 0.105K
9,55
Phng trnh c tnh c in :
Ru + R f
U
= u
Iu
K ( K )2
Phng trnh c tnh c :
R + Rf
U
= u u
M
K ( K )2
Trong :
M
I u = dt
K
M dt = M co = M
Tnh mmen nh mc:
Pdm = M dm .dm
P
M dm = dm = 1552 = 9.58 Nm

dm
162
K=

I dm =

(6)
(7)
(8)

(9)

Pdm 1552
= 5.71 A
=
U dm
272

M dm 9.58
= 1.7
=
I dm
5.71
Tnh gn ng Ru theo cong thc :
U
Ru = 0,5(1 dm ) dm = 0.5(1 0,9) 272 = 2.3
I dm
5.95
Lu = Lb + Lk + Lud = 0.2H
L
Tu = u : Hng s thi gian phn ng

Ru

K =

(10)

(11)

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BO CO TH NGHIM
IU CHNH T NG TRUYN NG IN
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Tu =

0.2
= 0,087 s
2.3

(12)

T s cu trc h iu khin tc trn hnh 2-3 ta c:

U dm = K cl .U dk
U
272
K cl = dm =
= 27 (13)
Chn U dk = 10V ta c :
U dk
10
Hm truyn ca b iu chnh dng in :
Ru .Tu
1
Ri =
(1 +
)
2.K cl .Ki .Tsi
pTu
Tsi = Ti + Tv + Tdk =0.002+0.0025+0.0001=4.6* 10 3 s
Tu =0.087 s
Ru =2.3
K cl =27
Chn U id = 7V
U
K i = id = 7 = 1.23
I dm
5.71
2.3 * 0.087
1
1
(1 +
) = 0.655 (1 +
)

Ri =
3
0.087 * p
0.087 * p
2 * 27 *1.23 * 4.6 *10
JRu
2.45 * 2.3
Tc =
=2 s
2 =
( K )
(1.7) 2
Ru
2.3
= 0.6765
2 =
Tc ( K)
1.7 * 2

(14)

(15)
(16)
(17)
(18)

S m phng mch vng dng in c th dng m hnh sau:

Vi step c th nh sau:

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BO CO TH NGHIM
IU CHNH T NG TRUYN NG IN
***$$$***

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BO CO TH NGHIM
IU CHNH T NG TRUYN NG IN
***$$$***
BI TH NGHIM 2: TNG HP MCH VNG TC

Kt qu khi tng hp mch vng dong in bng tiu chun mdul ti u ta c: FoMi ( p) =

U i ( p)
=
U id ( p)

1
(19)
1 + 2Tsi p + 2Tsi2 p 2
Vy s cu trc ca h diie chnh tc cn lai nh tren hnh 3, trong ta ly hm truyn t
ca mch vng dng in l khu qun tnh bc nht, b qua cc bc cao.

U d U

U id

( )

1
1 + 2Tsi p )

U i ( p)

Ru
( K ).Tc p

K
1 + T p )
Hnh 3 : S cu trc h iu chnh tc
I.TNG HP MCH VNG TC :
Vit gn s hnh 2-3 ta c s mch vng iu chnh tc nh hnh 2-4 :
Ru K
So ( p ) =
(20)
K i ( K )Tc (1 + pTs )
Vi : Ts = 2Ti + T Ts rt nh
p dng tiu chun mdul ti u:

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BO CO TH NGHIM
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U d

U ( ) p

( )

S o

Hnh 4
1
1 + 2p + 22 p 2
FoM
R ( p ) =
So FoM .So
FOM ( p ) =

R ( p ) =

(21)

1
1 + 2p + 22 p 2

Ru .K
1
(1
)
K i .( K ).Tc p(1 + Ts )
1 + 2p + 22 p 2
1
R ( p ) =
Ru .K
.2p(1 + p)
K i .( K ).Tc p(1 + Ts )
Chn = Ts ta c:
K ( K )Tc
R ( p ) = i
(22)
Ru .K .2.Ts
Vy khu ny l khu t l (P)
Tiu chun ny c s dng khi h thng khi ng mang ti,lc ta khng coi Tc l nhiu
na.
p dng tiu chun ti u i xng mdul :
1 + 4p
FODx ( p ) =
(23)
1 + 4p + 82 p 2 + 83 p3
FoMi
R ( p ) =
So FoMi .S

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1 + 4p
1 + 4p + 82 p 2 + 83 p3

R ( p ) =
Ru .K
1 + 4p
(1
)
K i .( K ). pTc (1 + pTs )
1 + 4p + 82 p 2 + 83 p3
Chn = Ts ta c:
1 + 4Ts p
R ( p ) =
Ru .K
(24)
.82 p 2
K i .( K )Tc
Vy R l khu t l,tch phn (PI).

l khu v sai cp 2 i vi i lng t v v sai cp 1 i vi i lng nhiu I c .

Sau khi tng hp ra cc b iu chnh , ta c s cu trc ca h thng iu khin tc ng c
in 1 chiu nh hnh 5

U d

U ( ) p

R
( )

1
1 + 2Tsi p

U i ( p)

1
Ki

Ru
( K ).Tc p

K
1 + T p )
Hnh 5 : S cu trc h truyn ng T-
II.TNH TON CC THNG S CA H TRUYN NG NG C MT CHIU
KCH T MT CHIUV M PHNG TRN MY TNH BNG PHN MM MATLAB
Cng trn hnh 3 ta c:
U d = .K Chn : U d = 10V
10

K =
= 0.062
(25)
162
s = T + 2Tsi
Trong cng thc (2-14) ta c :
3
Vi s =1ms , Tsi =4,6.10 s

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BO CO TH NGHIM
IU CHNH T NG TRUYN NG IN
***$$$***
JRu
2.45 * 2.3
=
=2 s
( K ) 2
1.7 2
T S =10 3 +4.6*10 3 =5.6*10-3 s
Tc =

(26)

Khi tng hp mch vng tc theo tiu chun mdul ti u ta c:

K .( K ).Tc
1.23 * 1.7 * 2
R ( p ) = i
=
=2316
Ru .K .2s
2.6 * 0.062 * 2 * 5.6 * 10 3
(27)
Ru
2.3
=
=0.6765
(28)
( K ).Tc 1.7 * 2
Khi tng hp mch vng tc theo tiu chun mdul i xng ta c:
1+ 4s . p
R ( p ) =
Ru .K
.8.s2 p (Khu PI)
K i .( K ).Tc

R ( p) =

1 + 4 * 5.6 *10 3 * p
1 + 0.02 * p
1
=
=
+ 2339
5
5
2.3 * 0.062
0
.
855
*
10
*
p
0
.
855
*
10
*
p
3 2
* 8 * (5.6 *10 ) * p
1.23 *1.7 * 2

M phng h iu khin tc khi dng Simulink

a) B iu chnh tc tng hp theo tiu chun mdul i xng(PI)
S m phng tc khi tng hp theo phng php mdul i xng s dng b iu chnh
tng t PI

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BO CO TH NGHIM
IU CHNH T NG TRUYN NG IN
***$$$***

Trong Tc t c khai bo:

PID c khai bo:

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BO CO TH NGHIM
IU CHNH T NG TRUYN NG IN
***$$$***

Khi :
U iu khin:

Dng in:

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BO CO TH NGHIM
IU CHNH T NG TRUYN NG IN
***$$$***

Tc

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Tc 1:

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BO CO TH NGHIM
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b)Khi tng hp theo phng php modul ti u

Trong tc t c khai bo ging nh trn.

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BO CO TH NGHIM
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Khi :
U iu khin:

Dng ti:

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BO CO TH NGHIM
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Dng in:

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Tc :

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Tc 1:

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BI TH NGHIM 3:TNG HP MCH VNG V TR

I.Tng hp mch vng v tr:

S cu trc ca h iu khin v tr:

U d

R
( )

U id

U id
R

( )

1
1 + 2Tsi p

1
Ki

Ru
1
( K ).Tc p Jp

K
1 + T p
K
1 + Tp

( p )
1
1
=
.
: Khi tng hp mch vng tc theo tiu chun mdul ti u
2
d ( p ) 1 + 2Ts p + 2Ts p K
( p )
1
1
=
.
: Khi tng hp mch vng tc theo tiu chun
2 2
3 3
d ( p ) 1 + 4Ts p + 8Ts p + 8Ts p K .
mdul i xng
Ta c s cu trc nh sau :

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(p)
1
1
=
.
d ( p ) 1 2+T s p 22T+s p K
Kr
R
(p)
1
1
p
=
.
d ( p ) 1 4+T s p 82T+s 2 p 83T s 3+ p K .

(-)

K
1 + T p

1
: H s khuych i ca b truyn lc
i
s = T + 2Tsi = Ts + 2( Tdk + Tv + Ti )
Tng hp mch vng v tr cng tng t nh tng hp mch vng tc , ta dng tiu chun ti u
mdul v hm truyn t ca mch vng tc ly l khu bc 2 b qua cc khu bc cao.Vy :
( p )
1
1
=
.
: Khi tng hp theo tiu chun mdul ti u
d ( p ) 1 + 2Ts p K
( p )
1
1
=
.
: Khi tng hp theo tiu chun mdul i xng
d ( p ) 1 + 4Ts p K .
1)Nu tng hp mch vng tc theo tieu chun mdul ti u ta cos hm truyn ca i tng
K r .K / K .
S =
(1 + 2Ts p ).P.(1 + pT )
p dng tiu chun mdul ti u ta c:
Trong K r =

Hnh 6

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BO CO TH NGHIM
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***$$$***
R ( p ) =

1
K r .K
1 + p
.2p
K .(1 + 2Ts p )
1 + T

R ( p ) = K + K D . p
K =

K
K .Ts
KD =
K r .K .2T
Kr .K .T

Chn = T ta c :

R ( p ) = K + K D . p
Vi :

K =

K
K .Ts
v K D =
K r .K .2T
K r .K .T

R l khu t l o hm PD
2)Khi tng hp mch vng tc dng tiu chun ti u i xng ta c hm truyn ca i tng
K r .K / K .
S =
.p dng tiu chun ti u mdul ta c:
(1 + 4Ts p ).P.(1 + pT )
Chn = Ts ta c :
K
K =
.(1 + 4Ts p ) .y l khu t l o hm
K r .K .2T

II.TNH TON CC THNG S CA H TRUYN NG NG C MT

CHIU KCH T MT CHIUV M PHNG TRN MY TNH BNG
PHN MM MATLAB
Ta c :
l = .r = 2.n.r : Chiu di qung ng cn di chuyn = 100
r : Bn knh trc truyn ti cui cng
= 0.32
T : Hng s thi gian b cm bin vi tr
= 0.3
1
100
n=
=
= 497
(vng)
2r 2 * 0.32 *10 2
1
= = 2 n = 2 *497=994
(rad)
r
Tn hiu xc nh v tr t phi xp x tn hiu phn hi tc l:
10
K = U d
K =
=3.2*10-3
994
K r : H s khuych i ca b truyn lc

(m)
(cm)
(s)

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***$$$***
t

= K r .dt =K r ..t

Kr =

314
=
=0.97
.t 162 * 2

B iu chnh v tr :
K
R =
(1 + 2Ts p )
K r .K .2T
R =

0.062
(1 + 2 * 5.6 *10 3 * p ) = 33(1 + 0.01* p)
3
0.97 * 3.2 *10 * 2 * 0.3

(Khi mch vng tc tng hp theo tiu chun mdul ti u)

0.062
(1 + 4 * 5.6 *10 3 * p) = 33(1 + 0.02 * p )
4
0.97 * 3.2 *10 * 2 * 0.3
(Khi mch vng tc tng hp theo tiu chun mdul i xng)
R =

M phng h iu khin v tr khi dng Simulink

a)B iu chnh v tr tng hp theo tiu chun ti u(khi mch vng tc tng hp theo tiu
chun mdul i xng)
Trong b iu chnh tc (PID) c khai bo:

B iu chnh v tr c khai bo nh sau:

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BO CO TH NGHIM
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***$$$***

Tc t:

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BO CO TH NGHIM
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Khi :
U iu khin:

Dng ti:

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BO CO TH NGHIM
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***$$$***

Dng in:

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BO CO TH NGHIM
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Tc :

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BO CO TH NGHIM
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Tc 1:

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V tr:

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v tr 1:

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b) Khi tng hp b iu chnh v tr theo phng php modul ti u(Khi mch vng tc c
tng hp theo mdul ti u):

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BO CO TH NGHIM
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***$$$***
Trong b iu chnh v tr (PID) c khai bo nh sau:

Khi :
U iu khin:

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BO CO TH NGHIM
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***$$$***
Dng ti:

Dng in:

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Tc :

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BO CO TH NGHIM
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Tc 1:

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V tr:

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v tr 1:

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BO CO TH NGHIM
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