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PHN A: NG DUNG MATLAB PHAN TCH

CAC HE THONG IEU KHIEN T ONG
I. MUC CH :
Matlab la mot trong nhng phan mem thong dung nhat dung e phan tch, thiet ke va
mo phong cac he thong ieu khien t ong. Trong bai th nghiem nay, sinh vien s dung cac
lenh cua Matlab e phan tch he thong nh xet tnh on nh cua he thong, ac tnh qua o, sai
so xac lap
II. CHUAN B :
e thc hien cac yeu cau trong bai th nghiem nay, sinh vien can phai chuan b ky
trc cac lenh c ban cua Matlab. Khi khi ong chng trnh Matlab 6.5, ca so Command
Window xuat hien vi dau nhac lenh >>. e thc hien cac lenh, sinh vien se go lenh t
ban phm theo sau dau nhac nay.
Sinh vien can tham khao phan phu luc chng 2 (trang 85) trong sach Ly thuyet ieu
khien t ong (tac gia Nguyen Th Phng Ha Huynh Thai Hoang) e hieu ro cac lenh c
ban ve nhan chia a thc, bieu dien ham truyen he thong va ket noi cac khoi trong he thong.
Ngoai ra, e phan tch ac tnh cua he thong, sinh vien can phai hieu ky cac lenh sau:

bode(G) : ve bieu o Bode bien o va pha cua he thong co ham truyen G

nyquist(G) : ve bieu o Nyquist he thong co ham truyen G
rlocus(G) : ve QNS he thong hoi tiep am n v co ham truyen vong h G
step(G) : ve ap ng nac cua he thong co ham truyen G
hold on : gi hnh ve hien tai trong ca so Figure. Lenh nay hu ch khi ta can ve
nhieu bieu o trong cung mot ca so Figure. Sau khi ve xong bieu o th nhat, ta go
lenh hold on e gi lai hnh ve sau o ve tiep cac bieu o khac. Cac bieu o luc sau
se ve e len bieu o th nhat trong cung mot ca so Figure nay. Neu khong muon gi
hnh na, ta go lenh hold off.
grid on : ke li tren ca so Figure. Neu khong muon ke li, ta go lenh grid off.
plot(X,Y) : ve o th vector Y theo vector X
V du : Ve o th y = x2 vi x = -10 10
>> X = -10:0.1:10;
>> Y = X.*X;
>> plot(X,Y);

% tao vector X tu -10 10 voi khoang cach 0.1

% tinh y = x*x
% ve do thi y = x*x

subplot(m,n,p) : chia Figure thanh (mxn) ca so con va thao tac tren ca so con th p.
V du : Chia Figure thanh 2 ca so con, sau o ve Y len ca so th 1 va Z len ca so th
2
>> subplot(2,1,1), subplot(Y);
>> subplot(2,1,2), subplot(Z);

% ve Y len cua so thu 1

% ve Z len cua so thu 2

Chu y: sinh vien nen tham khao phan Help cua Matlab e nam ro chc nang va cu
phap cua mot <lenh> bang cach go vao dong lenh : help <lenh>
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III. TH NGHIEM :
III.1. Tm ham truyen tng ng cua he thong:
Muc ch:
Giup sinh vien lam quen vi cac lenh c ban e ket noi cac khoi trong mot he thong.
Th nghiem:
Bang cach s dung cac lenh c ban conv, tf, series, parallel, feedback phan phu
luc chng 2 (trang 85) trong sach Ly thuyet ieu khien t ong, tm bieu thc ham truyen
tng ng G(s) cua he thong sau :

+
_

G1

+
_

G3

G1

G2
H1

s 1
s
1
, G2 2
, G3 , H 1 s 2
( s 3)( s 5)
s 2s 8
s

Hng dan:
Bc au tien nhap ham truyen cho cac khoi G1, G2 dung lenh tf. Sau o, tuy theo
cau truc cac khoi mac noi tiep, song song hay hoi tiep ma ta go cac lenh series, parallel hay
feedback tng ng e thc hien viec ket noi cac khoi vi nhau. Trong bao cao, ch ro trnh
t viec thc hien cac lenh nay.
V du :

>> G1 = tf([1 1],conv([1 3],[1 5]))

>> G2 = tf([1 0],[1 2 8])
>> G3 = tf(1,[1 0])
>> H1 = tf([1 2],1)
>> G13 = parallel(G1,G3)

% nhap ham truyen G1

% nhap ham truyen G2
% nhap ham truyen G3
% nhap ham truyen H1
% tinh ham truyen tuong duong cua G1, G3

Tiep tuc tnh tng t cho cac khoi con lai.

III.2. Khao sat he thong dung bieu o Bode:
Muc ch:
T bieu o Bode cua he h G(s), ta tm c tan so cat bien, o d tr pha, tan so cat
pha, o d tr bien cua he thong h. Da vao ket qua tm c e xet tnh on nh cua he
thong hoi tiep am n v vi ham truyen vong h la G(s).
Th nghiem:
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 tren trong khoang tan so
(0.1, 100).
b. Da vao bieu o Bode, tm tan so cat bien, o d tr pha, tan so cat pha, o d tr
bien cua he thong. Lu bieu o Bode thanh file *.bmp e chen vao file word phuc
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vu viet bao cao. Chu y phai ch ro cac gia tr tm c len bieu o Bode trong file
*.bmp.
c. He thong tren co on nh khong, giai thch.
d. Ve ap ng qua o cua he thong tren vi au vao ham nac n v trong khoang
thi gian t = 0 10s e minh hoa ket luan cau c. Lu hnh ve ap ng nay e viet
bao cao.
e. Vi K = 400, thc hien lai cac yeu cau cau a d.
Hng dan:
e ve bieu o Bode cua G trong khoang tan so (a,b) ta nhap lenh bode(G,{a,b}). Go
lenh grid on e ke li hnh ve.
V du : Nhap lenh ve bieu o Bode cua G(s) khi K=10 nh sau:
>> TS = 10
>> MS = conv([1 0.2],[1 8 20])
>> G = tf(TS,MS)
>> bode(G,{0.1,100})
>> grid on

% nhap tu so cua G(s)

% nhap mau so cua G(s)
% nhap ham truyen G(s)
% ve bieu do Bode cua G(s) trong khoang (0.1,100)
% ke luoi

Khi can xac nh iem nao tren bieu o Bode ta ch viec nhap chuot vao v tr o. Luc
o, gia tr bien o hay goc pha se hien th ra nh hnh ve:

e chen chu thch len hnh ve

ta vao menu Insert/ Text sau
o go ky t vao v tr can chu
thch.
e lu hnh ve ta vao menu
File/ Export. Mot ca so
Export hien ra. Trong muc
Save as type ta chon muc
Bitmap files (*.bmp). Luc nay,
ta lu file di dang file *.bmp.
Ngoai ra ta cung co the lu
di dang file *.jpg hay *.wmf.

e ve ap ng nac cua he thong kn trong khoang thi gian (0, T) ta nhap lenh
step(Gk,T), trong o Gk la ham truyen vong kn. V ham truyen G(s) tren la ham truyen
vong h nen trc tien ta phai tnh ham truyen vong kn bang lenh Gk = feedback(G,1) sau
o mi nhap lenh step(Gk,T). Tien hanh lu hnh ve giong nh ca so cua bieu o Bode.
III.3. Khao sat he thong dung bieu o Nyquist:
Muc ch:
T bieu o Nyquist cua he h G(s), ta tm o d tr bien, o d tr pha cua he thong
vong kn hoi tiep am n v. Da vao ket qua tm c e xet tnh on nh cua he thong kn.
Th nghiem:
Khao sat he thong phan hoi am n v co ham truyen vong h nh phan III.2:
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K
( s 0.2)( s 2 8s 20)
Vi K = 10, ve bieu o Nyquist cua he thong.
Da vao bieu o Nyquist, tm o d tr pha, o d tr bien cua he thong. So sanh
vi ket qua phan III.2. Lu bieu o Nyquist thanh file *.bmp va ch ro cac gia
tr tm c tren len bieu o Nyquist.
He thong tren co on nh khong. Giai thch. So sanh vi ket qua phan III.2.
Vi K = 400, thc hien lai cac yeu cau cau a c.
G( s)

a.
b.

c.
d.

III.4. Khao sat he thong dung phng phap QNS:

Muc ch:
Khao sat ac tnh cua he thong tuyen tnh co he so khuech ai K thay oi, tm gia tr
gii han Kgh cua K e he thong on nh.
Th nghiem:
He thong hoi tiep am n v co ham truyen vong h:
K
G( s)
,
K 0
2
( s 3)( s 8s 20)
a. Ve QNS cua he thong. Da vao QNS, tm Kgh cua he thong, ch ro gia tr nay
tren QNS. Lu QNS nay thanh file *.bmp e viet bao cao.
b. Tm K e he thong co tan so dao ong t nhien n 4 .
c. Tm K e he thong co he so tat 0.7 .
d. Tm K e he thong co o vot lo POT = 25%
e. Tm K e he thong co thi gian xac lap (tieu chuan 2%) t xl 4s
Hng dan:
Khi nhap ham truyen cho G ta khong nhap tham so K trong lenh tf. Dung lenh grid on
e ke li:

>> TS = 1
>> MS = conv([1 3],[1 8 20])
>> G = tf(TS,MS)
>> rlocus(G)
>> grid on

% nhap tu so cua G(s) khong chua K

% nhap mau so cua G(s)
% nhap ham truyen G(s)
% ve quy dao nghiem so
% ke luoi

e tm Kgh ta nhap chuot vao v tr cat nhau gia QNS vi truc ao. Luc nay, gia tr K
se hien th len nh tren hnh ve sau:

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Gain : gia tr o li K tai v tr nhap chuot (gia tr K can tm).

Pole : cc cua he thong vong kn tng ng vi gia tr K
Dampling : he so tat
Overshoot : o vot lo
Frequency : tan so dao ong t nhien n

(A) : vong tron cac iem co cung tan so dao ong t nhien n 4

(B) : ng thang cac iem co cung he so tat 0.68

4
(C) : ng thang cac iem co cung t xl
4 n 1

Muon tm K e he thong co tan so dao ong t nhien n 4 , ta nhap chuot vao v tr

giao iem cua QNS vi vong tron n 4 (vong tron (A)). Chon giao iem gan truc ao (giao
iem M) e gia tr K nay lam he thong co tnh dao ong.
e he thong co 0.7 ta nhap chuot tai v tr giao iem (N) cua QNS vi ng
thang 0.7 (ng thang (B)). Ta co the chon gan ung ng thang 0.68 nh tren
hnh ve.
Tng t cho POT exp(
Vi t xl

4s

1 2

) 25%

0.4

n 1 . Do o muon tm K e he thong co t xl 4 ta nhap

chuot vao v tr giao iem (P) cua QNS vi ng thang n 1 (ng thang (C)).

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III.5. anh gia chat lng cua he thong:

Muc ch:
Khao sat ac tnh qua o cua he thong vi au vao ham nac e tm o vot lo va sai so
xac lap cua he thong.
Th nghiem:
Vi he thong nh phan III.4 :
a. Vi gia tr K = Kgh tm c tren, ve ap ng qua o cua he thong vong kn vi
au vao ham nac n v. Kiem chng lai ap ng ngo ra co dao ong khong?
b. Vi gia tr K tm c cau d. phan III.4, ve ap ng qua o cua he thong vong
kn vi au vao ham nac n v trong khoang thi gian t = 0 5s. T hnh ve, tm
o vot lo va sai so xac lap cua he thong. Kiem chng lai he thong co POT = 25%
khong? Lu hnh ve nay e viet bao cao.
c. Vi gia tr K tm c cau e. phan III.4, ve ap ng qua o cua he thong vong
kn vi au vao ham nac n v trong khoang thi gian t = 0 5s. T hnh ve, tm
o vot lo va sai so xac lap cua he thong. Kiem chng lai he thong co t xl 4s
khong? Lu hnh ve nay e viet bao cao.
d. Ve 2 ap ng qua o cau b. va c. tren cung 1 hnh ve. Chu thch tren hnh ve ap
ng nao la tng ng vi K o. Lu hnh ve nay e viet bao cao.
Hng dan:
Ham truyen phan III.4 la ham truyen vong h nen trc tien ta phai chuyen sang
ham truyen vong kn bang lenh Gk = feedback(426*G,1) (vi K = Kgh = 426). e ve ap ng
nac trong khoang thi gian (0, T) ta nhap lenh step(Gk,T).
ap ng qua o hien th nh
hnh ve ke ben. e hien th cac chu
thch ve o vot lo, thi gian xac lap
ta nhap chuot phai. Mot menu hien
ra vi:
Peak Response : tm POT.
Settling Time : tm t xl .
Rise Time : tm thi gian len.
Co the chon Grid e de
dang cho viec tnh toan cac gia tr.
Sau khi ve xong hnh th
nhat, s dung lenh hold on e gi
hnh, sau o neu tiep tuc ve hnh th
hnh lan sau se khong xoa mat hnh
ve th nhat.

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PHN B: NG DUNG SIMULINK MO PHONG

VA ANH GIA CHAT LNG HE THONG
I. MUC CH :
SIMULINK la mot cong cu rat manh cua Matlab e xay dng cac mo hnh mot cach
trc quan va de hieu. e mo ta hay xay dng he thong ta ch can lien ket cac khoi co san
trong th vien cua SIMULINK lai vi nhau. Sau o, tien hanh mo phong he thong e xem xet
anh hng cua bo ieu khien en ap ng qua o cua he thong va anh gia chat lng he
thong.
II. CHUAN B :
e thc hien cac yeu cau trong bai th nghiem nay, sinh vien can phai chuan b ky va
hieu ro cac khoi c ban can thiet trong th vien cua SIMULINK. Sau khi khi ong Matlab
6.5, ta go lenh simulink hoac nhan vao nut simulink tren thanh cong cu th ca so SIMULINK
hien ra:

Cac th vien con trong

2 th vien chnh ap dung
trong bai th nghiem nay

th vien Simulink. Kch

chuot vao cac th vien
con nay se hien ra cac
khoi can thiet dung e
xay dng he thong

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II.1. Cac khoi c s dung trong bai th nghiem:

a. Cac khoi nguon tn hieu vao (source):
Khoi Step ( th vien Simulink \ Sources) co chc nang xuat ra tn
hieu ham nac. Double click vao khoi nay e cai at cac thong so:
Step time : khoang thi gian ngo ra chuyen sang mc Final value
ke t luc bat au mo phong. Cai at gia tr nay bang 0.
Initial value : Gia tr ban au. Cai at bang 0.
Final value : Gia tr luc sau. Cai at theo gia tr ta muon tac ong
ti he thong. Neu la ham nac n v th gia tr nay bang 1.
Sample time : thi gian lay mau. Cai at bang 0.
Khoi Signal Generator ( th vien Simulink \ Sources) la bo phat
tn hieu xuat ra cac tn hieu song sin, song vuong, song rang ca va
ngau nhien (cai at cac dang song nay trong muc Wave form).
b. Cac khoi tai thiet b khao sat ngo ra (sink):
Khoi Mux ( th vien Simulink \ Signals Routing) la bo ghep kenh
nhieu ngo vao 1 ngo ra, t ngo ra nay ta a vao Scope e xem nhieu
tn hieu tren cung mot ca so. Double click vao khoi nay e thay oi
so kenh au vao (trong muc Number of inputs)
Khoi Scope ( th vien Simulink \ Sinks) la ca so xem cac tn hieu
theo thi gian, t le xch cua cac truc c ieu chnh t ong e quan
sat tn hieu mot cach ay u.
Khoi XY Graph dung e xem tng quan 2 tn hieu trong he thong
(quan sat mat phang pha).

c. Cac khoi x ly khoi ong hoc :

Khoi Sum ( th vien Simulink \ Math Operations) la bo tong
(cong hay tr) cac tn hieu, thng dung e lay hieu so cua tn hieu
at vi tn hieu phan hoi. Double click e thay oi dau cua bo tong.
Khoi Gain ( th vien Simulink \ Math Operations) la bo t le. Tn
hieu sau khi qua khoi nay se c nhan vi gia tr Gain. Double click
e thay oi gia tr o li Gain.

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Khoi Transfer Fcn ( th vien Simulink \ Continuous) la ham

truyen cua he tuyen tnh. Double click e thay oi bac va cac he so
cua ham truyen. Cai at cac thong so:
Numerator : cac he so cua a thc t so
Denominator : cac he so cua a thc mau so
Khoi Relay ( th vien Simulink \ Discontinuities) la bo ieu khien
rle 2 v tr co tre (con goi la bo ieu khien ON-OFF). Cac thong so :
Switch on point : neu tn hieu au vao ln hn gia tr nay th ngo
ra cua khoi Relay len mc on
Switch off point : neu tn hieu au vao nho hn gia tr nay th ngo
ra cua khoi Relay xuong mc off
Output when on : gia tr cua ngo ra khi mc on
Output when off : gia tr cua ngo ra khi mc off
Neu tn hieu au vao nam trong khoang (Switch on point, Switch off
point) th gia tr ngo ra gi nguyen khong oi.
Khoi PID controller ( th vien Simulink Extras \ Additional
Linear)
la
bo
ieu
khien
PID
vi
ham
truyen
K
PID( s) K P I K D s
s
K P : he so t le (proportional term)

K I : he so tch phan (integral term)

K D : he so vi phan (derivative term)

Khoi Saturation ( th vien Simulink \ Discontinuities) la mot khau

bao hoa. Cac thong so cai at:
Upper limit : gii han tren. Neu gia tr au vao ln hn Upper
limit th ngo ra luon bang gia tr Upper limit
Lower limit : gii han di. Neu gia tr au vao nho hn Lower
limit th ngo ra luon bang gia tr Lower limit
Khau bao hoa dung e the hien gii han bien o cua cac tn hieu
trong thc te nh : ap ra cc ai cua bo ieu khien at vao oi tng,
ap nguon
II.2. Cac bc tien hanh e xay dng mot ng dung mi trong SIMULINK:
Sau khi khi ong Matlab, go lenh simulink hoac nhan vao nut simulink tren thanh cong
cu th ca so SIMULINK hien ra (nh hnh ve Trang 1)
Trong ca so SIMULINK, vao menu File / New e m ca so cho mot ng dung mi.
Kch chuot vao cac th vien a gii thieu muc II.1 e chon khoi can tm. Kch chuot trai
vao khoi nay, sau o keo va tha vao ca so ng dung va mi tao ra. Double click vao
khoi nay e cai at va thay oi cac thong so.
Co the nhan so lng cac khoi bang cach dung chc nang Copy va Paste. Kch chuot trai
noi cac ngo vao / ra cua cac khoi e hnh thanh s o he thong.
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Co the di mot hoac nhieu khoi t v tr nay en v tr khac bang cach nhap chuot e chon
cac khoi o va keo en v tr mi. Dung phm Delete e xoa cac phan khong can thiet
hay b sai khi chon.
Co the viet chu thch trong ca so ng dung bang cach double click vao mot v tr trong va
go cau chu thch vao. Vao menu Format / Font e thay oi kieu ch.
Nh vay, mo hnh he thong a xay dng xong. Bay gi tien hanh mo phong he thong
bang cach vao menu Simulation / Simulation Parameters e cai at cac thong so mo
phong. Ca so Simulation Parameters hien ra nh sau:
Start time : thi iem bat au mo
phong. Mac nh chon bang 0.
Stop time : thi iem ket thuc mo
phong. Gia tr nay chon theo ac
tnh cua he thong. Neu he thong
co thi hang ln th gia tr Stop
time cung phai ln e quan sat
het thi gian qua o cua he
thong.
Cac thong so con lai chon mac
nh nh hnh ke ben.

Chay mo phong bang cach vao menu Simulation / Start. Khi thi gian mo phong bang
gia tr Stop time th qua trnh mo phong dng lai. Trong qua trnh mo phong, neu ta muon
dng na chng th vao menu Simulation / Stop.

III. TH NGHIEM:
III.1. Khao sat mo hnh he thong ieu khien nhiet o:
III.1.a. Khao sat he h, nhan dang he thong theo mo hnh Ziegler-Nichols:

Muc ch:
ac trng cua lo nhiet la khau quan tnh nhiet. T khi bat au cung cap nang lng
au vao cho lo nhiet, nhiet o cua lo bat au tang len t t. e nhiet o lo at ti gia tr
nhiet o can nung th thng phai mat mot khoang thi gian kha dai. ay chnh la ac tnh
quan tnh cua lo nhiet. Khi tuyen tnh hoa mo hnh lo nhiet, ta xem ham truyen cua lo nhiet
nh la mot khau quan tnh bac 2 hoac nh la mot khau quan tnh bac nhat noi tiep vi khau
tre. Trong bai th nghiem nay ta xem mo hnh lo nhiet nh la mot khau quan tnh bac 2.
Trong phan nay, sinh vien se khao sat khau quan tnh bac 2 cho trc. Dung phng
phap Ziegler-Nichols nhan dang he thong sau o xay dng lai ham truyen. So sanh gia tr cac
thong so trong ham truyen va tm c vi khau quan tnh bac 2 cho trc nay.
Sinh vien tham khao Bai th nghiem 5 e hieu ro phng phap Ziegler-Nichols.

Th nghiem:
Dung SIMULINK xay dng mo hnh he thong lo nhiet vong h nh sau:

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Step : la tn hieu ham nac the hien phan tram cong suat cung cap cho lo nhiet.
Gia tr cua ham nac t 01 tng ng cong suat cung cap 0%100%
Transfer Fcn Transfer Fcn1 : mo hnh lo nhiet tuyen tnh hoa.
a. Chnh gia tr cua ham nac bang 1 e cong suat cung cap cho lo la 100% (Step time =
0, Initial time = 0, Final time = 1). Chnh thi gian mo phong Stop time = 600s. Mo
phong va ve qua trnh qua o cua he thong tren.
b. Tren hnh ve cau tren, ve tiep tuyen tai iem uon e tnh thong so L va T theo nh
hng dan trong Bai th nghiem 5. Ch ro cac gia tr nay tren hnh ve. So sanh gia tr
L, T va tm c vi gia tr cua mo hnh lo nhiet tuyen tnh hoa.

Hng dan:
Sau khi chay xong mo phong, e xem qua trnh qua o cua tn hieu ta double click vao
khoi Scope. Ca so Scope hien ra nh sau:

Print :In trc tiep

hnh ve ra may in
Parameters : cai at
thong so cho scope
Autoscale : chnh t
le xch t ong e
xem toan bo cac tn
hieu

V ca so Scope ch co the xem ap ng hoac in trc tiep ra may in nhng khong lu

hnh ve thanh file *.bmp c nen ta phai chuyen Scope nay sang ca so Figure e lu. Thc
hien ieu nay bang cach nhap chuot vao o Parameters. Ca so Parameters hien ra, nhap
chuot vao trang Data history va tien hanh cai at cac thong so nh hnh ben di:

Bo dau chon trong muc

nay e xem toan bo
qua trnh qua o
Chon muc nay e cho
phep tn hieu c lu
vao bien ten

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Tien hanh chay mo phong lai e tn hieu lu vao bien ScopeData. Chu y neu sau khi
khai bao ma khong tien hanh chay mo phong lai th tn hieu se khong lu vao bien
ScopeData mac du tren ca so Scope van co hnh ve.
Sau o, vao ca so Command Window nhap lenh sau:
>> plot(ScopeData.time, ScopeData.signals.values)
>> grid on
%ke luoi

%ve dap ung

Luc nay ca so Figure hien ra vi hnh ve giong nh hnh ve ca so Scope. Vao

menu Insert/ Line, Insert/ Text e tien hanh ke tiep tuyen va chu thch cho hnh ve. Ket
qua cuoi cung nh hnh ben di :

Vao menu [File][Export] e lu thanh file *.bmp nh Bai th nghiem 1.

III.1.b. Khao sat mo hnh ieu khien nhiet o ON-OFF:

Muc ch:
Khao sat mo hnh ieu khien nhiet o ON-OFF, xet anh hng cua khau rle co tre.

Th nghiem:
Xay dng mo hnh he thong ieu khien nhiet o ON-OFF nh sau:

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 K oa

t - H c K oa PHCM

Trong o:
Tn hieu at au vao ham nac u(t) = 100 (nhiet o at 100oC)
Khoi Relay la bo ieu khien ON-OFF.
Gia tr o li khoi Gain = 150 dung e khuech ai tn hieu ngo ra khoi Relay
e quan sat cho ro. Lu y rang gia tr nay khong lam thay oi cau truc cua he
thong ma ch ho tr viec quan sat tn hieu.
a. Chnh thi gian mo phong Stop time = 600s e quan sat c 5 chu ky ieu khien.
Khao sat qua trnh qua o cua he thong vi cac gia tr cua khau Relay theo bang sau:
Vung tre
( Switch on /off point )
+1 / -1
+5 / -5
+10 / -10
+20 / -20

Ngo ra cao
(Output when on)
1 (cong suat 100%)
1 (cong suat 100%)
1 (cong suat 100%)
1 (cong suat 100%)

Ngo ra thap
(Output when off)
0 (cong suat 0%)
0 (cong suat 0%)
0 (cong suat 0%)
0 (cong suat 0%)

b. Tnh sai so ngo ra so vi tn hieu at va thi gian ong ngat ng vi cac trng hp
cua khau Relay cau a theo bang sau:
Vung tre
+1 / -1
+5 / -5
+10 / -10
+20 / -20

e1

-e2

Chu ky ong ngat (s)

Nhan xet s anh hng cua vung tre en sai so ngo ra va chu ky ong ngat cua
khau Relay (khoang thi gian ngo ra khau Relay thay oi 1 chu ky).
c. Lu qua trnh qua o cua trng hp vung tre (+5 / -5) e viet bao cao. Tren hnh ve
ch ro 2 sai so +e1 / -e2 quanh gia tr at va chu ky ong ngat.
d. e sai so cua ngo ra xap x bang 0 th ta thay oi gia tr vung tre bang bao nhieu? Chu
ky ong ngat luc nay thay oi nh the nao? Trong thc te, ta thc hien bo ieu khien
ON-OFF nh vay co c khong? Tai sao? Vung tre la chon bang bao nhieu la hp
ly. Hay giai thch s la chon nay.
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t - H c K oa PHCM

Hng dan:
Khi ieu khien ON-OFF , ngo ra cua he thong co dang dao ong quanh gia tr at, sai
so cua no c anh gia qua bien o cua sai lech nhiet o: e = at Phan hoi khi he
thong co dao ong on nh. Bao cao hai gia tr sai lech dng +e1 (ln hn) va am -e2
(nho hn) so vi tn hieu at.
Gia tr vung tre phai la chon sao cho dung hoa sai so ngo ra va chu ky ong ngat.
Neu vung tre nho th sai so ngo ra nho nhng chu ky ong ngat se tang len lam giam tuoi tho
bo ieu khien ON-OFF.

III.1.c. Khao sat mo hnh ieu khien nhiet o dung phng phap Ziegler-Nichols (ieu
khien PID):

Muc ch:
Khao sat mo hnh ieu khien nhiet o dung bo ieu khien PID, cac thong so cua bo
PID c tnh theo phng phap Ziegler-Nichols. T o so sanh chat lng cua he thong 2
bo ieu khien PID vi bo ieu khien ON-OFF.

Th nghiem:
Xay dng mo hnh he thong ieu khien nhiet o PID nh sau:

Trong o:
Tn hieu at au vao ham nac u(t) = 100 ( tng trng nhiet o at 100oC)
Khau bao hoa Saturation co gii han la upper limit = 1, lower limit = 0
(tng trng ngo ra bo ieu khien co cong suat cung cap t 0% en 100%).
Bo ieu khien PID co cac thong so can tnh toan.
Transfer Fcn Transfer Fcn1 : mo hnh lo nhiet tuyen tnh hoa.
a. Tnh gia tr cac thong so KP, KI, KD cua khau PID theo phng phap Ziegler-Nichols t
thong so L va T tm c phan III.1.a.
b. Chay mo phong va lu ap ng cua cac tn hieu Scope e viet bao cao. Co the chon
lai Stop time cho phu hp. Trong hnh ve phai chu thch ro ten cac tn hieu.
c. Nhan xet ve chat lng ngo ra 2 phng phap ieu khien PID va ON-OFF.

Hng dan:
Cach tnh cac thong so KP, KI, KD cua khau PID theo phng phap Ziegler-Nichols
nh sau:

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 K oa

PID( s) K P

KI
KD s
s

1.2T
LK

KI

Vi:

KP

KP
,
2L

t - H c K oa PHCM

K D 0.5K P L

Trong o L, T, K la cac gia tr a tm c phan III.1.a. Chu y, gia tr K a cho

trc mo hnh ham truyen lo nhiet K = 300.

III.2. Khao sat mo hnh ieu khien toc o, v tr ong c DC:

Trong phan nay, sinh vien tm hieu cach xay dng mo hnh ong c t ham truyen mo
ta ong c DC. Sau o, khao sat mo hnh ieu khien toc o va v tr ong c DC vi bo ieu
khien PID.
Sinh vien tham khao Bai th nghiem 4 e biet ro phng trnh mo ta ong c DC. T
phng trnh mo ta ong c, ta co s o khoi bieu dien mo hnh ong c DC nh sau:

Trong o:

Phan ng : R = 1, L = 0.03H => Tdt = 0.03s.

Ce : hang so ien t, Ce = 0.2 V.s / rad
M : Momen ong c, Mc : momen can
U : gia tr ien ap at vao ong c
J : momen quan tnh cua cac phan chuyen ong, J = 0.02 kgm/s2
toc o quay cua ong c (rad /s)
v tr goc quay cua ong c rad
n : t so truyen, trong khao sat: n = 10.

Vi ieu kien khong tai th Mc = 0, thu gon s o khoi tr thanh :

1
333.4

U

10s
( s 31.2)( s 2.14)
III.2.a. Khao sat mo hnh ieu khien toc o ong c DC:

Muc ch:
Trong phan nay, sinh vien se xay dng mo hnh ieu khien toc o ong c DC dung
bo ieu khien PID co tnh en s bao hoa cua bo ieu khien. Khao sat anh hng cua bo
ieu khien PID en chat lng ap ng ngo ra vi tn hieu au vao la ham nac.
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t - H c K oa PHCM

Th nghiem:
Xay dng mo hnh he thong ieu khien PID toc o ong c DC nh sau:

Trong o:
Tn hieu at au vao ham nac u(t) = 100 (tng trng toc o at 100)
Khau bao hoa Saturation co gii han la +30 / -30 (tng trng ien ap cung
cap cho phan ng ong c t 30V en +30V)
Transfer Fcn Transfer Fcn1 the hien mo hnh toc o ong c DC.
a. Chnh thi gian mo phong Stop time = 10s. Thc hien khao sat he thong vi bo ieu
khien P (KI = 0, KD = 0) va tnh o vot lo, sai so xac lap, thi gian xac lap cua ngo ra
theo bang sau:
KP
POT
exl
txl

10

20

50

100

Nhan xet chat lng cua he thong thay oi nh the nao khi KP thay oi. Giai thch.
b. Thc hien khao sat he thong vi 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
POT
exl
txl

0.1

0.5

0.8

Nhan xet chat lng cua he thong thay oi nh the nao khi KI thay oi. Giai
thch. So sanh chat lng cua bo ieu khien PI vi bo ieu khien P.
c. Thc hien khao sat he thong vi 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
POT
exl

0.1

0.2

0.5

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 K oa

t - H c K oa PHCM

txl
Nhan xet chat lng cua he thong thay oi nh the nao khi KD thay oi. Giai
thch. So sanh chat lng cua bo ieu khien PID vi bo ieu khien P, PI.
d. Nhan xet anh hng cua cac khau P, I, D len chat lng cua he thong.
III.2.b. Khao sat mo hnh ieu khien v tr ong c DC :

Muc ch:
Trong phan nay, sinh vien se xay dng mo hnh ieu khien v tr ong c DC dung bo
ieu khien PID co tnh en s bao hoa cua bo ieu khien. Khao sat anh hng cua bo ieu
khien PID en ap ng ngo ra vi tn hieu au vao la ham doc.

Th nghiem:
Xay dng mo hnh he thong ieu khien PID v tr o ong c DC nh sau:

Trong o:
Tn hieu at au vao ham doc co bien o = 10, tan so 0.1Hz ( tng trng v tr
at thay oi theo dang song tam giac)
Khau bao hoa Saturation co gii han la +30 / -30
Transfer Fcn Transfer Fcn1 Transfer Fcn2 the hien mo hnh v tr ong
c DC.
a. Chnh thi gian mo phong Stop time = 50s. Thc hien khao sat he thong vi bo ieu
khien P (KI = 0, KD = 0) va tnh o vot lo, sai so xac lap, thi gian xac lap cua ngo ra
theo bang sau:
KP
POT
exl
txl

10

20

50

100

Nhan xet chat lng cua he thong thay oi nh the nao khi KP thay oi. Giai thch.
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 K oa

t - H c K oa PHCM

b. Thc hien khao sat he thong vi 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
POT
exl
txl

0.1

0.5

0.8

Nhan xet chat lng cua he thong thay oi nh the nao khi KI thay oi. Giai
thch. So sanh chat lng cua bo ieu khien PI vi bo ieu khien P.
c. Thc hien khao sat he thong vi bo ieu khien PID (KP = 2, KI = 1) va tnh o vot lo,
sai so xac lap, thi gian xac lap cua ngo ra theo bang sau:
KD
POT
exl
txl

0.1

0.2

0.5

0.8

Nhan xet chat lng cua he thong thay oi nh the nao khi KD thay oi. Giai
thch. So sanh chat lng cua bo ieu khien PID vi bo ieu khien P, PI.
d. Nhan xet anh hng cua cac khau P, I, D len chat lng cua he thong.
Hng dan:
Khoi Repeating Sequence ( th vien Simulink \ Sources) la khoi phat tn hieu lap
lai. Tuy theo gia tr lap trnh ma no co the phat ra tn hieu xung vuong, tam giac hay rang ca
vi bien o va tan so thay oi c.Double-click vao khoi Repeating Sequence e cai at
xung tam giac bien o bang 10, tan so 0.1Hz nh sau:

18 / 18