GII THIU M PHNG BNG CCH TRUY VN

Abstract: M phng l qu trnh "bt chc" mt hin tng c thc vi mt tp cc cng thc ton hc. Cc chng trnh my tnh c th m phng cc iu kin thi tit, cc phn ng ho hc, qu trnh sinh hc thm ch cn m phng thit b thng tin v knh thng tin. Trong topic ny ch nghin cu mt phn trong qu trnh m phng l cch to li tn hiu a v u pht bng cch truy vn nh m hnh n gin ca Backlash and Hysteresis. iu ny xut pht t thc t ngi ta c th s dng Trigger Schmitt to li tn hiu a v u pht bng phng php hi tip m. I. Gii thiu: Bi vit ny gii thiu m phng bng mt c cu ph BANG-BANG vi t chc cc lnh tng ng ng thi phn tch mt s tham s c bn nh: gi tr tuyt i, cc gi tr cc i, cc tiu ca tn hiu. ng thi m t nhiu trong lng t ha tn hiu iu ny khng th trnh khi trong qu trnh m ha tn hiu. Do vy, trong qu trnh m phng tn hiu ta cn phi m phng lng t ha tn hiu nhiu bng cc lnh trong lp trnh DYNAMIC. Ngoi ra trong topic ny cn gii thiu S
m phng bng cc truy vn l phng php ti to li tn hiu bng phng php hi tip nh m hnh n gin ca Backlash and Hysteresis v mt vi so snh gia

phng php ny vi thit b c th s dng linh kin Trigger Schmitt. II. Ni dung:
1.1 S dng cc bc ton t v iu khin bc tch hp mang tnh kinh nghim Cch tt hn c s tch hp chnh xc ca hm s chuyn mch v gii hn hm s l thit lp tt c cc php tnh theo cu lnh DESIRE step c t phn cui ca mt phng trnh vi phn. Ly mu d liu theo OUT v/hoc mu m, nu c, sau s c lp trnh theo sau bc ch nh. Bi tp sau y theo cu lnh DESIRE step khng thc hin tt c cc cuc gi pht sinh nhng ch ti t=to v ti im cui ca mi bc tch hp. Giao thc th nghim phi khi to cc mc tiu ca nhim v sau tng bc, nu khng giao thc th nghim s khng c xc nh ti t=to. Thc ra, chng l bin s trng thi c lin quan n qu kh v hin ti, ging nh mu d liu u vo. S dng bc khai bo gii quyt mt cch r rng vn ca chng ta. Nh chng ta lu trong mc 2-9, gii quyt thi gian chuyn mch chnh xc i hi giao thc th nghim thit lp mt gi tr thp ca DT cho quy tc tch hp ca bc c nh., hoc ca DTMAX hoc TMAX/(NN-1) cho quy tc tch hp ca bc bin s. Nhng chng ta c th lm tt hn nhiu. Quy tc tch hp DESIRE 2 ,3 v 5 (tch bit quy tc Euler v Runge-Kutta v tr th 2 v th 4) cho php ngi s dng lp trnh

thay i cc bc tch hp DT trong sut qu trnh vn hnh s m phng. Theo cch , chng ta c th bt u vi mt s gi tr mong mun DT=DT0 v gim DT khi chng ta gn vi thi gian chuyn mch, v d, khi gi tr tuyt i ca mt li servo l nh. K thut ny lm gim s mt thi gian tnh ton, c bit cho s m phng rng ch cn chuyn mch hoc nh gii hn khng thng xuyn. 1.2 V d - s m phng mt cu trc ph Bang-Bang Cu trc ph Bang-bang theo hnh 2-6a l ng vi vic lin tc iu khin sot servo trong phn 1-14, ngoi tr vic iu khin in p hin ti khng thay i mt cch lin tc nhng o chiu gia gi tr dng v m. Chng ta lp trnh ch nh voltage = sgn(k * error + r * xdot 0.01* voltage) Theo sau bc khai bo ti cui phn on ng lc hc. i vi vic thm phn lun, chng ta thc thi mt kch hot Schmitt (phn 2-16a) thay v mt s so snh mu n gin bng cch tr phn s ca in p trong i s sgn. Tp lnh giao thc th nghim thit lp mt gi tr ban u cho in p, m nu khng s khng xc nh ti t=0. DESIRE l nguyn tc ly tch phn 5 (nguyn tc 5) thc hin ln 2 trt t Runge cch ly tch phn Kutta v cho php mt chng trnh DT = DT0 * SAT(abs(error * pp) + DTMIN ni DT0, DTMIN, v pp l nhng thng s c thit lp bi giao thc th nghim. DT gim thnh DTMIN khi li ph l nh. Hnh 2-6a lit k chng trnh, v hnh 2-6b a ra kt qu, bao gm qu trnh ng quan tm ca bc tch hp chng trnh. Nu c nhiu hn mt hm s khng lin tc, chng ta phi nhn hai hay nhiu hn mt biu thc vi nhau.

Hnh 2-6a. Chng trnh DESIRE cho c cu ph Bang-bang

Hnh 2-6b. t l di biu hin th cho c ch ph bang-bang GII HN HM S, HM S NGHCH O, V PHNG TRNH VI PHN 1.3 B hn ch, gi tr tuyt i, v im cc i/cc tiu Trong hu ht cc my tnh k thut s, ly phi tuyn nhanh- im hot ng khng l gii hn hm s n gin (phn 2-8, cng xem [2-4,10]) nh l gi tr tuyt i hm s Trong hu ht cc my tnh k thut s, ly phi tuyn nhanh- im hot ng khng l gii hn hm s n gin (phn 2-8, cng xem [2-4,10]) nhng l hm s gi tr tuyt i -x abs(x)=|x|= { x (x<0) (x>0) (2-9)

(chnh lu ton phn) m ch cn thay i mt im ca s th ni. Do , l im thun li nh cc mi quan h. lim(x) = 0.5 * [x + abs(x)] = 0.5 * x + abs(0.5 * x) sat(x) = lim(x + 1) lim(x 1) 1 = 0.5 * [abs(x + 1) abs(x 1)] SAT(x) = lim(x) lim(x 1) = 0.5 * [1 + abs(x) abs(x 1)] deadz(x) = x sat(x) = x 0.5 * [abs(x + 1) abs(x 1)] tri(x) = 1 abs(x) lim[tri(x)] = tri[sat(x)] = TRI(x) (2-10) (2-11) (2-12) (2-13) (2-14)

Thc t, cc ng nht thc thng thi hnh hm DESIRE. tm s ln nht v nh nht ca hai i s x, y, chng ta dng: max(x, y) = x + lim(y x) = y + lim(x y) = 0.5 * [x + y + abs(x y)] min(x, y) = x lim(x y) = y lim(y x) = 0.5 * [x + y abs(x y)] cng lu : max(x, y) min(x, y) = x + y lim(x) = max(x, 0) 1.4 u ra-gii hn ly tch phn S tch hp ca hm s nghch o ydot = swtch(max y) * lim(x) + swtch(y min) * lim(x) (min < max) (2-18) im dng bt c khi no vi s nguyn y to ra bi d/dty=ydot vt qu gii hn nh v trc. Ch rng iu ny khng ging vi tch phn c to ra bi b gii hn u ra. 1.5 lng t ha m hnh tn hiu Cc m hnh ca b iu chnh k thut s trong phn 2-6 v 2-7 x l s im th ni theo cch thng thng [4]. Nhng mt c th mun nghin cu nh hng ca lng t ha tn hiu trong h thng iu khin k thut s hoc trong b x l tn hiu m phng v (2-16) (2-17) (2-15b) (2-15a)

Hnh 2-7. Lng t ha tn hiu v lng t ha nhiu. h thng o lng k thut s. Hnh 2-7 minh ha lng t ha ca mt hnh sin vi ch nh y = a * round(x/a) ni a l khong cch lng t ha. Li y-x gy ra bi lng t ha tn hiu l lng t ha ting n [4]. Hm s DESIRE chu k (x) chuyn i s im th ni xung quanh gi tr

nguyn gn nht. chu k (x) l mt hm s chuyn mch m cn theo tng bc, OUT hoc mu m ti im cui ca phn lp trnh DYNAMIC. Chu k (x) cng c th thi hnh cc tp lnh giao thc th nghim. 1.6 Hm s sai phn bin s lin tc vi h iu hnh o chiu v gii hn (a) gii thiu Phn ny gii thiu mt s th thut m hnh ha mnh m thi hnh cc bi tp quy n gin q = F(t; q) (2-19) trong phn lp trnh DYNAMIC, chng ta cng tho lun bi tp mu d liu ca hnh thc ny trong phn 2-2, nhng khng cn phi ly q lm bin mu d liu.q c th l bin lin tc c s dng trong phng trnh vi phn. Trong nhiu trng hp, DESIRE nhn ra bi tp quy (2-19) nh phng trnh vi phn v t ng ch nh phng trnh vi phn vi trng thi bin q vi gi tr 0 mc nh ban u, nh trong phn 2-2. nh lu cho trng thi bin mu d liu (phn 2-5), trng thi bin ca hm s sai phn khng t ng c iu chnh bi cu lnh reset hoc drunr. Giao thc thc nghim phi iu chnh chng mt cch r rng nh nhu cu. Nu hm s F trong Eq. (2-19) bao gm gii hn hoc s o chiu (nh trong v d sau), theo hm s sai phn nn theo mt cu lnh step, OUT, hoc mu m ti im cui cn phn lp trnh DYNAMIC. (b) S m phng c truy vn Hm s sai phn y = y + swtch(ctrl) * (x y) (2-20) M hnh vng trn truy vn. Hm s sai phn lin tc vi trng thi bin y theo u vo x khi bin kim sot ctrl l dng v cha gi tr cui ca n khi ctrl l nh hn hay bng 0. hnh 2-8 minh ha hnh ng truy vn.

Hnh 2-8. h iu hnh track-hold lm mu vi hm s sai phn y = y + swtch(ctrl)*(x y). hnh sng i chng c thu c vi lp trnh ca hnh 2-14.

Hnh 2-9. im cc i v cc tiu c dng trong phng trnh vi phn (2-21) v (2-22) (c) gi tr cc i gi tr cc tiu Trng thi bin s ca phng trnh vi phn max = x + lim(max x) (2-21) Theo di v gi li gi tr qu kh ln nht ca x = x(t) (hnh.2-9; cng xem hnh 213; [3].). DESIRE t ng ch nh gi tr 0 ban u c c i; khi s gi im cc i t nh gi tr m ca bin x, chng ta cho gi tr cc i ban u vi mt gi tr m ln nht nh 1.0E+30. Nh cng ch ra hnh 2-9, trng thi bin s ca phng trnh vi phn min = x lim(x min) (2-22) gia mt gi tr qu kh x nh nht; chng ta cho gi tr cc tiu ban u vi 1.0E+30. Mt v d trong sch CD ng dng Eq.(2-21) gi gi tr |x| qu kh ln nht cho s m gp th hin t ng [9] (d) M hnh n gin Backlash and Hysteresis Phng trnh vi phn y = y + a * deadz((x y)/a) (2-23) m hnh chuyn giao tiu biu ca khe h n gin mt chiu (vv.., khe h bnh rng) t x n y (hnh.2-10; [3]). Chng ta c th s dng y truyn ng chc nng tip din khc nhau, v d, z = tanh(10 * y) c c c im chuyn giao khc biu din hysteresis hoc b nh ca gi tr u vo trong qu kh (hnh.2-11). Mc d thc t kiu hysteresis nn c pht trin mt cch trc tip t vt l hc; chng c kh nng lin quan n hm s vi phn cng nh hm s sai phn. Mt v d khc, hm s sai phn

y = deadc(A * y x )

(2-24)

ko di chuyn tip c trng ca mt khng gian tnh vi hysteresis (hnh 2 -12). iu nay c dng to m hnh iu hnh ca cc cp khng gian- phng tin tt-m vernier. (e) Cc snh vi Hysteresis (Schmitt Trigger) Hu ht li ch ca hysteresis-kiu cn bng khc p = A * sgn(p x) (2-25) to m hnh mt kiu so snh trc tip vi cch to tn hiu nh hi tip, mch trigger Schmitt c s dng rng ri bi cc k s in t (hnh.2-13; [2,3,10]). Hm s sai phn

Hnh 2-10. y l hin th Cygwin

Hnh 2-11. Mt hysteresis n chuyn tip c trng

Hnh 2-12. Chuyn tip c trng (y vert x) ca khng gian tnh vi hysteresis.

Vi trng thi bin p mc nh n 0 nhng l thng xuyn c cho gi tr ban u n A hoc +A. Th thut m hnh ny c s dng vi c nh u - khi im s m phng ngn ng [2,3]. M phng bng triggers Schmitt thng thay th cch so snh khng gian tnh trong h thng kim sot (v d2.1), nhng c l hu ht li ch ca chng l s pht sinh ca tn hiu nh k (phn 2-17).

Hnh 2-13. So snh tn hiu hi tip trong trigger Schmitt

Hnh 2-14. Mch hi tip ca trigger Schmitt to xung vung v xung rng ca 1.7 To tn hiu v s iu bin tn hiu Cung cp thi gian-tch hp u ra ca mt phn cng hoc phn mm trigger Schmitt tr ngc li u ra (hnh. 2-14) ti to bng phng php c in HewlettPackard to ra tn hiu. iu ny c thc hin vi mt chng trnh n gin

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giao thc th nghim thng cho gi tr ban u trng thi bin p ca phng trnh sai phn v trng thi bin x ca phng trnh vi phn vi p=A v x=-A. Khi p = A, u ra my tch phn x tng cho n khi x vt qua trigger Schmitt c khuynh hng m p = A trong Eq. (2-25). By gi p o chiu A, v x gim cho n khi n t n trigger mi cp A. qu trnh ny lp li v pht ra mt sng vung p = p(t) v mt sng tam gic x = x(t), c hai bin A v tn s a/(4 * A) (hnh. 2-15). Cch gii tn s c xc nh bi cch gii chuyn mch thi gian, l, bi gi tr ln nht DT c s dng trong cch tnh tch phn bnh thng (phn 2-10 v 2-11). Nhng hm s tun hon c cng dng nh my tnh-kim tra tn hiu v to ra tn hiu iu khin. y=p*x (2-27)

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Hnh 2-15 chng trnh Cygwin ny(Unix chy trn nn WindowsTM) mt thit b u cui trn nm hnh, mt ca s son tho, v ha th hin cc chng trnh to ra tn hiu Phn 2-17. Mn hnh hin th ban u cho thy cc ng cong khc nhau c mu sc khc nhau. To ra mt dng sng hnh rng ca y m ng cong gia A v A vi tn s 0.5*a/A. Mt c th sn xut ra mt s khc bit ln ca dng sng tun hon ph bin hn bng cch cung cp p(t) hoc y(t) cho thit b khc to tn hiu, nh trong z = f(y) (2-28) f(y) c th l mt th hin cc chc nng, mt hm user-c nh ngha, hoc mt bng cc chc nng Chng ta c th iu chnh tn s tt c nhng dng sng tun hon bng cch to tham s a mt bin s. Mt cng c th thm vo mt bin s thay i trng mod dng sng hnh rng ca y v gi kt qu n mt my so snh mu m cng sut z = sgn(y mod) l mt chui ca nhng lot xung iu chnh rng (hnh 2-15). Chng ta lu y rng k hiu hm Sin do my tnh to ra s = A * sin(w * t + phi) cng c th l bin - , tn sut-, v/hoc iu chnh pha bng cch to mt tham s a, w, v bin fi.

III. Ti liu tham kho:

1.U.M.Asher and L.Petzold,Computer Methods for Ordinary Differential Equations and Differential-Algebraic Equations, SIAM Press, New York, 1998. 2..Elmquist, Dymola Users Manual , DynaSim A.B,Lund, Sweden, 2004. 3.L.Petzold, A Description of DASSL, a Differential-Algebraic-Equation Solver, in Scientific Computing (R. S. Stepleman, ed.), North Holland, Amsterdam, 1989.

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4.J.Stoer, et al. Introduction to Numerical Analysis, Springer, New York, 2002 5.G.A.Korn and J.V.Wait,Digital Englewood Cliffs, NJ, 1978. Continuous-System Simulation, PrenticeHall,

6.M.M.Tiller, Introduction to Physical Modeling with Modelica, Publishers (now Springer), New York, 2004.

Kluwer Academic

7.P.Fritzon, Principles of Object-Oriented Modeling and Simulation with Modelica 2.1, Wiley, New York, 2004. 8.DYMOLA Manual, Dynasim A.B., Lund, Sweden, 2005. 9.G.A.Korn, Interactive Dynamic System Simulation with Microsoft Windows,Taylor and Francis,London,1998.

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