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Chuong 5 Ly Thuyet Dieu Khien Tu Dong
Chuong 5 Ly Thuyet Dieu Khien Tu Dong
Chuong 5 Ly Thuyet Dieu Khien Tu Dong
THIET KE HE THONG
IEU KHIEN LIEN TUC
Khai niem Anh hng cua cac khau hieu chnh en chat lng cua he thong Thiet ke he thong dung phng phap QNS Thiet ke he thong dung phng phap bieu o Bode Thiet ke he thong dung phng phap phan bo cc Thiet ke bo ieu khien PID
Khai niem
Khai niem Thiet ke la toan bo qua trnh bo sung cac thiet b phan cng cung nh thuat toan phan mem vao he cho trc e c he mi thoa man yeu cau ve tnh on nh, o chnh xac, ap ng qua o,
Hieu chnh noi tiep Bo ieu khien noi tiep vi ham truyen cua he h.
R(s)
GC(s)
G(s)
C(s)
Cac bo ieu khien: sm pha, tre pha, sm tre pha,P, PD, PI, PID, Phng phap thiet ke: QNS, bieu o Bode
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Tat ca cac trang thai cua he thong c phan hoi tr ve ngo vao
Anh hng cua cac khau hieu chnh en chat lng cua he thong
Anh hng cua cc Khi them 1 cc co phan thc am vao ham truyen he h th QNS cua he kn co xu hng tien ve pha truc ao, he thong se kem on nh hn, o d tr bien va o d tr pha giam, o vot lo tang.
Im s Im s Im s
Re s
Re s
Re s
Anh hng cua zero Khi them 1 zero co phan thc am vao ham truyen he h th QNS cua he kn co xu hng tien xa truc ao, do o he thong se on nh hn, o d tr bien va o d tr pha tang, o vot lo giam.
Im s Im s Im s
Re s
Re s
Re s
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Thiet ke he thong ieu khien lien tuc dung phng phap quy ao nghiem so
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ap ng cua he thong
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ap ng cua he thong
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Thiet ke he thong ieu khien lien tuc dung phng phap bieu o Bode
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Ket luan: Khau hieu chnh sm pha can thiet ke co ham truyen la
1 + 0,224s GC (s) = 10 1 + 0,056s
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Trnh t thiet ke khau hieu chnh tre pha dung bieu o Bode
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Trnh t thiet ke khau hieu chnh tre pha dung bieu o Bode
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-20dB/dec
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-40dB/dec -60dB/dec
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Phng phap giai tch thiet ke bo ieu khien PID He so van toc cua he sau khi hieu chnh:
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Thiet ke bo ieu khien hoi tiep trang thai dung phng phap phan bo cc
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