1

B GIO DC V O TO
I HC NNG

NGUYN TH M DUNG

THIT K B IU KHIN PID THCH NGHI

IU KHIN TC NG C IN MT CHIU
C MMEN QUN TNH THAY I

LUN VN THC S K THUT

Nng Nm 2011

B GIO DC V O TO

I HC NNG

NGUYN TH M DUNG

THIT K B IU KHIN PID THCH NGHI

IU KHIN TC NG C IN MT CHIU
C MMEN QUN TNH THAY I
Chuyn ngnh : T ng ha
M s ngnh : 60.52.60

LUN VN THC S K THUT

Ngi hng dn khoa hc: TS. NGUYN HONG MAI

Nng Nm 2011

LI CAM OAN
Ti xin cam oan y l cng trnh nghin cu ca ring ti.
Cc s liu, kt qu nu trong lun vn l trung thc v cha tng c
ai cng b trong bt k cng trnh no khc.
Tc gi lun vn

NGUYN TH M DUNG

MC LC
Trang
Trang ph ba
Li cam oan ................................................................................................... i
Mc lc ............................................................................................................ ii
Danh mc cc k hiu ....................................................................................... v
Danh mc cc bng .......................................................................................... vi
Danh mc cc hnh v ...................................................................................... vii
M U ......................................................................................................... 01
1. L do chn ti ..................................................................................... 01
2. i tng v phm vi nghin cu................................................................. 03
3. Phng php nghin cu .............................................................................. 03
4. ngha khoa hc v thc tin ca ti ...................................................... 04
5. Cu trc lun vn ......................................................................................... 04
CHNG 1

TNG QUAN NG C IN MT CHIU ..................... 06

1.1. KHI QUT NG C IN MT CHIU ........................................... 06

1.1.1. Nguyn l cu to ng c in mt chiu ............................................. 06

1.1.2. Phn loi ng c in mt chiu ........................................................... 07
1.1.3.iu khin ng c in mt chiu ......................................................... 08
1.2. M T TON HC NG C IN MT CHIU KCH T C LP...........09
1.2.1. Ch xc lp ng c in mt chiu .................................................. 09
1.2.2. Ch qu ng c in mt chiu ................................................... 10
1.2.2.1. M t chung......................................................................................... 10
1.2.2.2. Trng hp khi t thng kch t khng i ......................................... 12

1.3. M T TON HC CHNH LU IU KHIN ................................... 14

1.4. M PHNG.............................................................................................. 16
CHNG 2

TNG HP B IU KHIN NG C IN MT CHIU

DNG PID...................................................................................................................................18
2.1. THAM S NG C ............................................................................... 18
2.2.1. Khi qut v b iu khin PID ............................................................................18

2.2.2. Cc phng php xc nh tham s b iu khin PID............................................20

2.2.2.1. Phng php Ziegler-Nichols .............................................................. 20
2.2.2.2. Phng php Chien-Hrones -Reswick ................................................. 22
2.2.2.3.Phng php ti u modul.................................................................... 24
2.2.2.4. Phng php ti u i xng............................................................... 28
2.2. TNG HP H THNG IU KHIN NG C IN MT CHIU......... 29
2.2.1. Tng hp mch vng iu chnh dng in ............................................ 29
2.2.2. Tng hp mch vng iu chnh tc .................................................. 32
2.3. M PHNG H THNG IU CHNH TC NG C ............... 37
CHNG 3

IU KHIN THCH NGHI............................................... 42

3.1. GII THIU CHUNG .............................................................................. 42

3.2. H THNG THCH NGHI THEO M HNH MU (MRAS)................. 42
3.3. LUT THCH NGHI ................................................................................ 45
3.3.1.Phng php nhy (MIT ) .................................................................. 46
3.3.2.Gradient v phng php bnh phng b nht da trn tiu ch nh gi
hm chi ph sai s............................................................................................. 47
3.3.3. Hm Lyapunov....................................................................................... 48
CHNG 4 THIT K B IU KHIN PID THCH NGHI CHO NG
C IN MT CHIU C MMEN QUN TNH THAY I....................53

4.1. B CHNH LU ...................................................................................... 50

4.2. O LNG TC .............................................................................. 51
4.3. BIN DNG............................................................................................. 51
4.4. TNG HP MCH VNG DNG IN ............................................... 52
4.5. TNG HP MCH VNG TC ...................................................... 54
4.6. GII THUT............................................................................................ 56
4.7. S M PHNG ................................................................................. 58
CHNG 5

KT QU M PHNG ......................................................... 61

5.1. KT QU M PHNG B IU KHIN THCH NGHI ...................... 61

5.2. SO SNH B IU KHIN PID VI B IU KHIN THCH NGHI
TRONG TRNG HPM MEN QUN TNH TI J1= 0.01 kg.m2.............63
5.3. SO SNH B IU KHIN PID VI B IU KHIN THCH NGHI
TRONG TRNG HPM MEN QUN TNH TI J1= 0.05 kg.m2.............64
5.4. SO SNH B IU KHIN PID VI B IU KHIN THCH NGHI
TRONG TRNG HPM MEN QUN TNH TI J1= [0:0.5] kg.m2.........64
5.5. KT QU M PHNG B IU KHIN PID KHI TC NG C
THAY I..........................................................................................................65
5.5. KT QU M PHNG B IU KHIN THCH NGHI KHI TC
NG C THAY I.......................................................................................65
KT LUN V KIN NGH .......................................................................... 67
1. Nhng ng gp ca lun vn ...................................................................... 67
2. Nhng kin ngh v hng nghin cu tip theo .......................................... 68
DANH MC TI LIU THAM KHO .......................................................... 69
QUYT NH GIAO TI LUN VN
PH LC

DANH MC CC K HIU
f

Tn s dng in

Pm

Cng sut danh nh

nm

Tc nh mc

Um

in p nh mc

Im

Dng in nh mc

M men qun tnh

Kb

Hng s sc phn in ng

Ka

Hng s t thng ng c

Ra

in tr phn ng

La

in cm phn ng

Ia

Dng in phn ng

Ua

in p phn ng

eb

Sc phn in ng

Vdk

in p iu khin

Lkt

in cm cun kch t

Rkt

in tr cun kch t

Ukt

in p kch t

ikt

Dng in kch t

M men quay trn trc ng c

Mc

M men ti

DANH MC CC BNG
S hiu
bng
2.1

Tn bng

Trang

Cc tham s PID theo phng php Ziegler-Nichols th nht

21

2.2

Cc tham s PID theo phng php Ziegler-Nichols th hai

22

2.3

Cc tham s PID theo phng php Chien-Hrones-Reswick 1

23

2.4

Cc tham s PID theo phng php Chien-Hrones-Reswick 2

23

2.5

Cc tham s PID theo phng php Chien-Hrones-Reswick 3

24

2.6

Cc tham s PID theo phng php Chien-Hrones-Reswick 4

24

DANH MC CC HNH V

Hnh

Ni dung

Trang

1.1

Cc loi ng c in mt chiu

1.2

S cu trc ng c in mt chiu

11

1.3

S cu trc tuyn tnh ho ng c in mt chiu

12

1.4

S cu trc khi t thng khng i

13

1.5

Cc s cu trc gn

13

1.6

Mch thay th chnh lu

15

1.7

Hm truyn ca chnh lu tiristo

16

2.1

Cu trc b iu khin PID

18

2.2

iu khin hi tip vi b iu khin PID

19

2.3

p ng nc ca h h c dng S

20

2.4

Xc nh hng s khuch i ti hn

21

2.5

p ng nc ca h kn khi k = kth

22

2.6

p ng nc ca h thch hp cho phng php Chien-

23

Hrones-Reswick
2.7

S khi h thng iu khin kn.

25

2.8

Cu trc mch vng iu chnh dng in.

31

2.9

S khi ca mch vng dng in.

31

2.10

S khi

33

2.11

S khi ca h iu chnh tc

34

2.12

Qu trnh dng in v tc khi c nhiu ti

35

2.13

M hnh m phng h thng vi hai vng iu chnh

37

10

3.1

S khi ca h thng thch nghi theo m hnh mu

43

3.2

S khi ca b iu khin thch nghi theo m hnh mu trc tip

44

3.3

S khi ca b iu khin thch nghi theo m hnh mu gin tip

45

3.4

M hnh sai s

46

3.5

Cc trng thi cn bng

48

4.1

Cu trc mch vng iu chnh dng in Ml

52

4.2

Cu trc mch vng iu chnh tc c mch vng iu

54

chnh dng in Ml
4.3

Cu trc thu gn mch vng iu chnh tc c mch vng

iu chnh dng in Ml

54

M U
1. L do chn ti
Cho n nay ng c in mt chiu ng mt vai tr quan trng trong
nghnh cng nghip cng nh trong cuc sng ca chng ta. ng c in mt
chiu c ng dng rt ph bin trong cc nghnh cng nghip c kh, cc
nh my cn thp,nh my xi mng, tu in ngm v cc cnh tay Robot.
thc hin cc nhim v trong cng nghip in t vi chnh xc cao, lp rp
trong cc dy chuyn sn xut, yu cu c b iu khin tc .
i vi cc phng php iu khin kinh in, do cu trc n gin v
bn vng nn cc b iu khin PID (t l, tch phn, o hm) c dng ph
bin trong cc h iu khin cng nghip. Cht lng ca h thng ph thuc
vo cc tham s KP, TI, TD ca b iu khin PID. Nhng v cc h s ca b
iu khin PID ch c tnh ton cho mt ch lm vic c th ca h thng,
do vy trong qu trnh vn hnh lun phi chnh nh cc h s ny cho ph hp
vi thc t pht huy tt hiu qu ca b iu khin. th ta phi bit chnh xc
cc thng s v kiu ca i tng cn iu khin. Hn na, b iu khin ny
ch chnh xc trong giai on tuyn tnh cn trong giai on phi tuyn th cc
phng php iu khin kinh in khng thc hin c.
Mc tiu ca iu khin l nng cao cht lng cc h thng iu khin t
ng. Tuy nhin, trn thc t c rt nhiu i tng iu khin khc nhau, vi
cc yu cu v c tnh phc tp khc nhau. Do cn phi tin hnh nghin
cu, tm ra cc phng php iu khin c th cho tng i tng. Mc ch
cui cng l tm kim cc b iu khin cho cc h truyn ng in ngy cng
t c cht lng iu chnh cao, mc chi ph thp, v hiu qu t c l

cao nht, p ng cc yu cu t ng ho truyn ng in v trong cc dy

chuyn sn xut.
Nhng nm gn y, khoa hc k thut pht trin rt mnh m, nht l
ngnh in t hc iu khin, cng ngh vi x l va to iu kin thun li, va
t ra vn i hi l phi nghin cu hon thin cc h iu khin, p ng
yu cu ngy cng cao ca thc t cuc sng v ph hp vi xu th pht trin
khoa hc cng ngh. Vic nghin cu xy dng b iu khin tc cho ng
c in mt chiu da trn cc l thuyt iu khin hin i l mt vn rt cn
thit, trong vic gn lin gia nhim v nghin cu v thc tin cuc sng.
phc v cho cng tc nghin cu, mt phng php c nhiu nh
khoa hc trong v ngoi nc s dng rt nhiu l phng php iu khin
thch nghi.Trong lun vn tc gi s dng phung php iu khin thch nghi v
phn mm Matlab Simulink, xy dng m hnh ho v m phng h thng iu
khin, y l cng c kh c lc tr gip trong vic nghin, c kh nng ng
dng vo vic nghin cu m phng h truyn ng ng c mt chiu.
ng c in mt chiu thng dng trong cc h thng truyn ng in
i hi cht lng cao. Chnh v vy m h thng iu khin cho cc h truyn
ng ny cng phi p ng nhiu ch tiu rt cht ch. V ni chung, phn ln
cc h thng truyn ng trong thc t u c cu trc v tham s khng c nh
hoc khng th bit trc.
i vi ng c in mt chiu, cc thng s thng b thay i lm nh
hng cht lng iu chnh c th l: Khi mch t ca my in b bo ha lm
in cm mch phn ng Lu ca ng c suy gim. in tr mch phn ng Ru
ca my in thay i theo nhit lm vic, do hng s thi gian mch phn
ng Tu = Lu/Ru cng s thay i trong qu trnh lm vic. Vi mch kch t, t

thng c th b thay i dn n hng s thi gian c hc Tc cng thay i.

Khi xt n ti ca cc h truyn ng th m men qun tnh ca ti thng b
thay i, lm cho mmen qun tnh ca h qui i v trc ca ng c thay i.
Nu bng cc phng php iu khin kinh in th chng ta gp rt nhiu
kh khn trong vic tnh ton, thit k b iu khin t c cht lng cao. Do
vy vic nghin cu v ng dng phng php iu khin thch nghi iu
khin tc ng c in mt chiu ang l hng nghin cu c rt nhiu
ngi quan tm v l hng nghin cu c nhiu trin vng, cng nh c nhiu
gi tr ng dng trong thc tin.
Vi cc l do trn, tc gi la chn vic nghin cu m hnh v thit k
b iu khin thch nghi cho ng c in mt chiu c mmen qun tnh thay
i lm ti nghin cu vi mong mun t c p ng ng ra v cc c
tnh ca h thng iu khin tha mn cc yu cu ra.
2. i tng v phm vi nghin cu
i tng nghin cu l ng c in mt chiu c mmen qun tnh thay i.
Phm vi nghin cu ca ti l nghin cu phng php iu khin thch
nghi iu khin tc ng c in mt chiu.
3. Phng php nghin cu
thc hin nghin cu ti khoa hc ny, th cn phi kt hp 2
phng php sau:
- Phng php nghin cu l thuyt: Nghin cu cc vn v ng dng
iu khin thch nghi, cc m hnh ng c in mt chiu, cc hm ti u trong
Matlab v cc tnh ton h tr cc hm ti u.
- Phng php m phng: S dng cng c tnh ton tm ti u trong
phn mm Matlab, to d liu m phng, m phng kim

4. ngha khoa hc v thc tin ca ti

Kt qu nghin cu ca ti s gp phn hon thin mt phng php iu
khin mi khc phc c mt s nhc im ca cc phng php K kinh in, t
m ra mt tim nng p dng ci t vo cc thit b iu khin trong cng nghip
lm nng cao hn na cht lng iu khin cho ng c in mt chiu.
5. Cu trc lun vn
Ngoi chng m u, trong lun vn cn c cc phn v chng k tip nh sau:
M u
Chng 1. Tng quan v ng c in mt chiu
M t ton hc ng c in mt chiu
M t ton hc mch ng lc.
Chng 2.Tng hp b iu khin ng c din mt chiu.
Cc phng php xc nh b iu khin PID
Cu trc iu khin ng c in mt chiu
Chng 3. iu khin thch nghi.
Gii thiu tng quan v l thuyt iu khin thch nghi.
Cc phng php thit k lut thch nghi.
Chng 4. Tng hp b iu khin PID thch nghi .
Thit k b iu khin thch nghi cho ng c in mt chiu vi tham s
mmen qun tnh khng xc nh.
La chn hm Lyapunov d kin, xc nh thut ton iu khin, xy
dng lut thch nghi chnh nh tham s b iu khin v phn tch s n nh
ca h thng iu khin.

Da vo kt qu thit k b iu khin chng 4, p dng m phng

h thng iu khin thch nghi cho ng c in mt chiu trn phn mm
Matlab.
So snh v bn lun v cc c tnh ca 2 b iu khin: PID kinh in v
thch nghi.
Chng 5. Kt qu m phng
Kt lun v kin ngh

CHNG 1

TNG QUAN NG C IN MT CHIU

1.1. KHI QUT V NG C IN MT CHIU

Hin nay ng c in mt chiu vn c dng rt ph bin trong cc h
thng truyn ng in cht lng cao, di cng sut ng c mt chiu t vi
W n hng MW. y l loi ng c a dng v linh hot, c th p ng yu
cu mmen, tng tc, v hm vi ti trng nng. ng c in mt chiu cng
d dng p ng vi cc truyn ng trong khong iu khin tc rng v o
chiu nhanh vi nhiu c tuyn quan h mmen tc .
Trong ng c in mt chiu, b bin i in chnh l cc mch chnh
lu iu khin. Chnh lu c dng lm ngun iu chnh in p phn ng
ng c. Chnh lu y s dng chnh lu cu 3 pha.
1.1.1. Nguyn l cu to ng c in mt chiu
Ging nh cc loi ng c in khc, ng c in mt chiu cng gm c
stator v rotor.ng c in mt chiu gm c stator, rotor, c gp v chi in.

Mt ct ngang trc my in mt chiu

Stator: cn gi l phn cm, gm dy qun kch thch c qun tp trung
trn cc cc t stator. Cc cc t stator c ghp cch in t cc l thp k

thut in c dp nh hnh sn c b dy 0,5-1mm, v c gn trn gng t

bng thp c, cng chnh l v my.
Rotor: cn c gi l phn ng, gm li thp phn ng v dy qun phn
ng. li thp phn ng c hnh tr, c ghp t cc l thp k thut in ghp
cch in vi nhau. Dy qun phn ng gm nhiu phn t, c t vo cc
rnh trn li thp rotor. Cc phn t dy qun rotor c ni tip nhau thng qua
cc l gp trn c gp. Li thp phn ng v c gp c c nh trn trc rotor.
C gp v chi in: lm nhim v o chiu dng in trong dy qun
phn ng.
1.1.2. Phn loi ng c in mt chiu
Da vo hnh thc kch t, ngi ta chia ng c in mt chiu thnh cc
loi sau:
ng c in mt chiu kch t c lp: Dng in kch t c ly t
ngun ring bit so vi phn ng. Trng hp c bit, khi t thng kch t
c to ra bng nam chm vnh cu, ngi ta gi l ng c in mt chiu
kch thch vnh cu.
ng c in mt chiu kch t song song: Dy qun kch t c ni
song song vi mch phn ng.
ng c in mt chiu kch t ni tip: Dy qun kch t c mc ni
tip vi mch phn ng.
ng c in mt chiu kch t hn hp: Dy qun kch t c hai cun, dy
qun kch t song song v dy qun kch t ni tip. Trong , cun kch t song
song thng l cun ch o. Hnh 1.1 trnh by cc loi ng c in mt chiu.

Hnh 1.1: Cc loi ng c in mt chiu

a) ng c in mt chiu kch t c lp
b) ng c in mt chiu kch t song song
c) ng c in mt chiu kch t ni tip
d) ng c in mt chiu kch t hn hp
1.1.3. iu chnh tc ng c in mt chiu
u im c bn ca ng c in mt chiu so vi cc loi ng c in
khc l kh nng iu chnh tc d dng, cc b iu chnh tc n gin,
d ch to. Do , trong iu kin bnh thng, i vi cc c cu c yu cu
cht lng iu chnh tc cao, phm vi iu chnh tc rng, ngi ta
thng s dng ng c in mt chiu.
i vi cc h thng truyn ng in mt chiu c yu cu iu chnh
tc cao thng s dng ng c in mt chiu kch t c lp. Trong phm
vi lun vn ny, xt kh nng iu chnh tc ng c in mt chiu kch t
c lp.

1.2. M T TON HC NG C IN MT CHIU KCH T C LP

1.2.1. Ch xc lp ng c in mt chiu
Khi t ln dy qun kch t mt in p uk no th trong dy qun kch
t s c dng in ik v do mch t ca my s c t thng . Tip t
mt gi tr in p U ln mch phn ng th trong dy qun phn ng s c dng
in I chy qua. Tng tc gia dng in phn ng v t thng kch t to
thnh mmen in t , gi tr ca mmen in t c tnh nh sau:
M =

Trong :

p '.N
. I = k I
2 .a

(1.1)

p' - s i cc ca ng c.

N - s thanh dn phn ng di mt cc t.
a - s mch nhnh song song ca dy qun phn ng.
k = pN/2.a - h s kt cu ca my.
Mmen in t ko cho phn ng quay quanh trc, cc dy qun phn ng
qut qua t thng v trong cc dy qun ny cm ng sc in ng:
E=

Trong :

p' N
. = k
2a

(1.2)

- tc gc ca rto.

Trong ch xc lp, c th tnh c tc qua phng trnh cn bng

in p phn ng:
=

Trong :

U Ru I
k

Ru - in tr mch phn ng ca ng c.

(1.3)

10

1.2.2. Ch qu ca ng c in mt chiu
1.2.2.1. M t chung
Nu cc thng s ca ng c l khng i th c th vit c phng
trnh m t s thay th nh sau:
Mch kch t c hai bin dng in kch t ik v t thng my l ph
thuc phi tuyn bi ng cong t ho ca li st:
Uk(p) = RkIk(p) +Nk.P.(p)
Trong

(1.4)

Nk- s vng dy cun kch t;

Rk- in tr cun dy kch t.

Mch phn ng:

U(p)= Ru.I(p)+ Lu p I(p) NN p (p) + E(p)

(1.5)

Hoc dng dng in:

I ( p) =

1 Ru
[U ( p ) N N p ( p ) E ( p )]
1 + pTu

Trong

Lu - in cm mch phn ng;

NN - s vng dy cun kch t ni tip;
Tu - Lu/Ru - hng s thi gian mch phn ng.

Phng trnh chuyn ng ca h thng:

M ( p) M c ( p) = Jp

(1.6)

Trong J l mmen qun tnh ca cc phn chuyn ng quy i v trc

ng c.
T cc phng trnh trn thnh lp c s cu trc ca ng c mt
chiu (hnh 1.2). Thy rng s cu trc ny l phi tuyn mnh, trong tnh ton
ng dng thng dng m hnh tuyn tnh ho quanh im lm vic.

11

1 / Ru
1 + p u

Mc

NN
NK

UK

1
JP

K
1
PN K

RK
NK

Hnh 1.2: S cu trc ca ng c mt chiu

i vi ng c mt chiu kch t c lp (NN = 0) th c th vit cc
phng trnh sau:
Mch phn ng:
U o + U ( p ) = Ru [ I o + I ( p )] + p Lu [ I o + I ( p )] +
+ K [ o + ( p )].[ B + ( p )]

(1.7)

Mch kch t:
U ko + U k ( p) = Rk [ I ko + I k ( p)] + pLk [ I ko + I k ( p)]

(1.8)

Phng trnh chuyn ng c hc:

K [ o + ( p)].[I o + I ( p)] [ M B + M c ( p)]
= J p [ B + ( B)]

(1.9)

Nu b qua cc gi tr v cng b bc cao th t cc phng trnh trn c

th vit c cc phng trnh ca gia s:
U ( p) [ K.B .( p) + K. o .( p)] = Ru .I ( p).(1 + pTu )

(1.10)

12

U k = Rk I k ( p).(1 + pTk )

(1.11)

K .I o .( p) + K.o I ( p) M c = J . p( p)

(1.12)

Hnh 1.3 trnh by s cu trc c tuyn tnh ho theo cc phng

trnh (1.10), (1.12) ca ng c mt chiu kch t c lp.
B
U
-

1 Ru I
K o
1 + pTu

MC
-

1
Jp

K o

KI o

Uk

1 Rk Ik K
k
1 + pTk

K B

Hnh 1.3: S cu trc tuyn tnh ho ng c in mt chiu

1.2.2.2. Trng hp khi t thng kch t khng i
Khi dng in kch t ng c khng i, hoc khi ng c c kch
thch bng nam chm vnh cu th t thng kch t l hng s:
K = const = Cu
U(p) = Ru.I(p).(1+pTu) +Cu.(p)

(1.13)

Cu.I(p) - Mc(p) = Jp.(p)

(1.14)

S cu trc ng c khi t thng khng i c th hin trn hnh 1.4.

Bng phng php i s s cu trc ta c s thu gn hnh 1.5.
Trong t: h s khuych i ng c: K = 1/Cu , hng s thi gian c hc:
R J
Tc = u
Cu2

(1.15)

13

U ( p ) p.Tc M c ( p )
+
Ru
Cu
I ( p) =
TuTc p 2 + Tc p + 1

(1.16)
Cu

-E

1 Ru
1 + pTu

1
Jp

Cu

MC

Hnh 1.4: S cu trc khi t thng khng i

K
Tu Tc p 2 + Tc p + 1

Ru
Cu2

(1 + Tu p)

Tu Tc p 2 + Tc p + 1

a)

Tc
.p
Ru

Ig

Tu Tc p 2 + Tc p + 1

It
K
2

Tu Tc p + Tc p + 1

b)

Mc

Hnh 1.5: Cc s cu trc gn

a) Theo tc ; b) Theo dng in.

14

1.3. M T TON HC CHNH LU IU KHIN

B bin i Thyristor vi chuyn mch t nhin v c in p (dng in) ra
l mt chiu l cc thit b in, bin ngun in xoay chiu ba pha thnh in p
mt chiu iu khin c. Hot ng ca mch, do ngun xoay chiu quyt nh
v nh m c th thc hin c chuyn mch dng in gia cc phn t lc.
Phn mch quan trng ca chnh lu l phn iu khin, ti cc xung
m Thyristor c pht ra theo mt trt t nh. Quy lut hot ng ca mch
iu khin c xc nh bi loi chnh lu (o chiu, khng o chiu) v bi
c tnh ph ti.
Trong thc t truyn ng in hay dng nht l h thng pht xung ng b
nhiu knh, trong vic ng b c thc hin nh vic ng b ho in p ta
vi li. in p ta thng c dng rng ca qut ngc hoc l hnh sin.
Cc h thng lm vic vi in p ta kiu rng ca l bt bin khi bin
in p ngun thay i. Xung iu khin xut hin ti thi im m in p
ta bng in p iu khin.
Phn mch lc ca chnh lu thng c phn thnh hai nhm chnh,
chnh lu hnh tia v hnh cu. Trong s chnh lu hnh tia (ant chung hoc
catt chung) mi pha ca ngun xoay chiu ch dn dng trong mt na chu k.
S chnh lu cu bao gm hai chnh lu hnh tia. Cc van Thyristor c th
c ni theo kiu iu khin i xng hoc khng i xng.
Trong truyn ng in, a s cc trng hp chnh lu c iu khin
bng tn hiu bin thin chm. Trong trng hp ny nh hng ca tnh cht
xung v tnh bn iu khin n qu trnh qu l nh v do , gn ng c
th coi chnh lu l mch iu chnh lin tc vi s thay th nh hnh 1.7.

15

Rb
Ed

Lb

Id

Hnh 1.6: Mch thay th chnh lu

Trong

Rb = R f (1

m
m
)+
e L f .
4
2

Lb = L f

m - s xung p u ra;
- gc chuyn mch cc i;

Lf, Rf - in cm v in tr ca mt pha xoay chiu.

Trong trng hp bin thin nh ca tn hiu, khi hin tng chuyn mch
khng c nh hng n gi tr trung bnh ca in p th in tr Rb=Rf.
Do tnh cht xung v tnh cht bn iu khin ca chnh lu nn thi im
ca tn hiu iu khin thay i khng trng vi thi im thay i gc iu
khin . di ca khong thi gian tr ny c c tnh ngu nhin. Theo kinh
nghim, nn chn gi tr ca thi gian tr l:
Tvo =

.
m e

(1.17)

Khi tn s in p xoay chiu ln, c th dng biu din gn ng bi

khai trin Mc.Laurin:
e pTvo =

1
1
2
1 + pTvo + p 2Tvo
+L
2!

v khi ny c th thay th hm tr bi mt khu qun tnh.

(1.18)

16

uk

e pTvo

Hnh 1.7: Hm truyn ca chnh lu tiristo

uk

1
1 + pTvo

Hnh 1.8: Hm truyn ca b chnh lu trong trng hp gn ng

1.4. M PHNG
M phng trn Matlab-Simulink vi m hnh m phng ng c in mt
chiu, m hnh chnh lu c.
Tin hnh kho st m hnh ch khng ti. in p ban u t vo
phn ng ca ng c bng in p nh mc. iu chnh tc ng c ta
thay i in p t vo phn ng ca ng c. T , v th p ng dng

in phn ng v tc ca ng c khi khng ti

xt nh hng ca ph ti i vi ng c, ta t tr mmen ti vo m
hnh vi gi tr nh mc. T , v th p ng dng in phn ng v tc
ca ng c khi ti thay i
T p ng tc trn 2 th, ta rt ra rng cng vi mt gi tr in p

t, khi ph ti thay i tc ng c thay i theo.

17

M hnh m phng ng c in mt chiu

KT LUN CHNG 1
Trn c s kho st cc c tnh vng h ng c in mt chiu kch t c
lp, h T-, ta rt ra c kt lun sau:

u im ni bt ca h T- l tc ng nhanh cao, khng gy n v d

t ng ho do cc van bn dn c h s khuch i cng sut rt cao, iu
rt thun tin cho vic thit lp cc h thng t ng iu chnh nhiu vng
nng cao cht lng cc c tnh tnh v cc c tnh ng ca h thng.

18

CHNG 2 TNG HP B IU KHIN NG C IN

MT CHIU DNG PID
2.1. THAM S CA NG C
Cng sut nh mc:

Pdm = 3750[W];

in p phn ng:

Udm = 240[V];

in p kch t:

Uktdm = 300[V];

Tc nh mc

ndm = 1750[vng/pht];

in tr phn ng:

R = 2,581[];

in cm phn ng:

L = 0,028 [H];

in tr kch t:

Rkt = 281,3[];

in cm kch t:

Lkt = 156[H];

M mem qun tnh:

J = 0,0185;

2.2.1. Khi qut v b iu khin PID

Cu trc ca b iu khin PID (hnh 2.1) gm c ba thnh phn l khu
khuch i (P), khu tch phn (I) v khu vi phn (D). Khi s dng thut ton
PID nht thit phi la chn ch lm vic l P, I hay D v sau l t tham
s cho cc ch chn. Mt cch tng qut, c ba thut ton c bn c s
dng l P, PI v PID.

Hnh 2.1: Cu trc b iu khin PID

19

B iu khin PID c cu trc n gin, d s dng nn c s dng rng

ri trong iu khin cc i tng SISO theo nguyn l hi tip (hnh 2.2). B
PID c nhim v a sai lch e(t) ca h thng v 0 sao cho qu trnh qu
tha mn cc yu cu c bn v cht lng:
- Nu sai lch tnh e(t) cng ln th thng qua thnh phn up(t), tn hiu iu
chnh u(t) cng ln.
- Nu sai lch e(t) cha bng 0 th thng qua thnh phn uI(t), PID vn cn
to tn hiu iu chnh.
- Nu s thay i ca sai lch e(t) cng ln th thng qua thnh phn uD(t),
phn ng thch hp ca u(t) s cng nhanh.

Hnh 2.2: iu khin hi tip vi b iu khin PID

B iu khin PID c m t bng m hnh vo-ra:
u (t ) = k p [e(t ) +
trong :

1 t
de(t )
e( )d + TD
]

TI 0
dt

(2.1)

e(t) tn hiu u vo;

u(t) tn hiu u ra;
kp h s khuch i;
TI hng s tch phn;
TD hng s vi phn.

T m hnh vo ra trn, ta c c hm truyn t ca b iu khin PID:

20

1
R (s) = k p 1 +
+ TD s
TI s

(2.2)

C nhiu phng php xc nh tham s ca b iu khin PID [4]:

- Phng php Ziegler-Nichols
- Phng php Chien-Hrones-Reswick
- Phng php tng T ca Kuhn
- Phng php ti u modul v phng php ti u i xng
- Phng php ti u theo sai lch bm

2.2.2. Cc phng php xc nh tham s b iu khin PID

2.2.2.1. Phng php Ziegler-Nichols
Phng php Ziegler-Nichols l php thc nghim xc nh tham s b

iu khin P, PI, hoc PID bng cch d vo p ng qu ca i tng iu

khin. Ty theo c im ca tng i tng, Ziegler v Nichols a ra hai
phng php la chn tham s ca b iu khin:

Phng php Ziegler-Nichols th nht: Phng php ny p dng cho cc i

tng c p ng i vi tn hiu vo l hm nc c dng ch S (hnh 2.4) nh
nhit l nhit, tc ng c

Hnh 2.3: p ng nc ca h h c dng S

21

Thng s ca cc b iu khin c chn theo bng sau:

Bng 2.1: Cc tham s PID theo phng php Ziegler-Nichols th nht

Thng s

kp

TI

TD

T2/(k.T1)

PI

0,9T2/(k.T1)

T1/0,3

PID

1,2T2/(k.T1)

2T1

0,5T1

BK

Phng php Ziegler-Nichols th hai: Phng php ny p dng cho i

tng c khu tch phn l tng nh mc cht lng trong bn cha, v tr h
truyn ng dng ng c p ng qu ca h h ca i tng tng n
v cng. Phng php ny c thc hin nh sau [4]:

Hnh 2.4: Xc nh hng s khuch i ti hn

- Thay b iu khin PID trong h kn bng b khuch i (hnh 2.4).
- Tng h s khuch i ti gi tr ti hn kth h kn ch bin gii n

nh, tc l h(t) c dng dao ng iu ha.

- Xc nh chu k Tth ca dao ng.

22

Hnh 2.5: p ng nc ca h kn khi k = kth

Thng s ca cc b iu khin c chn theo bng sau:

Bng 2.2: Cc tham s PID theo phng php Ziegler-Nichols th 2

Thng s

kp

TI

TD

0,5kth

PI

0,45kth

0,85Tth

PID

0,6kth

0,5Tth

0,125Tth

BK

2.2.2.2. Phng php Chien-Hrones-Reswick

Phng php ny cng p dng cho cc i tng c p ng i vi tn
hiu vo l hm nc c dng ch S (hnh 2.6) nhng c thm iu kin:

b
>3
a

(2.3)

23

Hnh 2.6: p ng nc ca h thch hp cho phng php Chien-Hrones-Reswick

Phng php Chien-Hrones-Reswick a ra bn cch xc nh tham s b

iu khin cho bn yu cu cht lng khc nhau [4]:

- Yu cu ti u theo nhiu v h kn khng c qu iu chnh:

Bng 2.3:Cc tham s PID theo phng php Chien-Hrones-Reswick 1

Thng s

kp

TI

TD

3b/10ak

PI

6b/10ak

4a

PID

19b/20ak

12a/5

21a/50

BK

- Yu cu ti u theo nhiu v h kn c qu iu chnh h khng vt

qu 20% so vi h = lim h(t ) :
t

Bng 2.4: Cc tham s PID theo phng php Chien-Hrones-Reswick 2

Thng s

kp

TI

TD

7b/10ak

PI

7b/10ak

23a/10

PID

6b/5ak

2a

21a/50

BK

24

- Yu cu ti u theo tn hiu t trc v h kn khng c qu iu chnh:

Bng 2.5: Cc tham s PID theo phng php Chien-Hrones-Reswick 3

Thng s

kp

TI

TD

3b/10ak

PI

7b/20ak

6b/5

PID

3b/5ak

a/2

BK

- Yu cu ti u theo tn hiu t trc v h kn c qu iu chnh h

khng vt qu 20% so vi h = lim h(t ) :
t

Bng 2.6: Cc tham s PID theo phng php Chien-Hrones-Reswick 4

Thng s

kp

TI

TD

7b/10ak

PI

6b/5ak

PID

19b/20ak

27b/20

47a/100

BK

2.2.2.3. Phng php ti u modul

Phng php ti u modul l phng php la chn tham s b iu khin PID
cho i tng c p ng i vi tn hiu vo l hm nc c dng hnh ch S [4].
Xt mt h thng iu khin kn nh trn hnh 2.7. B iu khin R(s) iu
khin cho i tng S(s).

25

Hnh 2.7: S khi h thng iu khin kn

Phng php ti u modul c p dng chn tham s b iu khin PID

iu khin cc i tng S(s) c bn cht qun tnh.

i vi i tng iu khin l khu qun tnh bc nht:
S (s) =

k
1 + Ts

(2.4)

Phng php ti u modul a ra b iu khin l khu tch phn:

R(s) =

kp
TI s

(2.5)

Hm truyn t ca h kn:
G ( s) =
vi TR =

k
TR s (1 + Ts ) + k

(2.6)

TI
= 2kT
kP

Trng hp i tng iu khin c dng:

S ( s) =

k
(1 + T1 s )(1 + T2 s )...(1 + Tn s )

vi T1, T2, , Tn rt nh, dng phng php tng cc hng s thi gian nh

chuyn m hnh v dng xp x khu qun tnh bc nht. B iu khin ti u

modul s l khu tch phn vi tham s:
TR =

n
TI
= 2k Ti
kP
i =1

(2.7)

26

i vi i tng iu l khu qun tnh bc hai:

k
(1 + T1 s )(1 + T2 s)

S (s) =

(2.8)

B iu khin ti u modul l b iu khin PI:

T
1 k p (1 + TI s) (1 + TI s )
=
; TR = I
R ( s ) = k p 1 +
=
TI s
TR s
kp
TI s
Vi cc tham s TI = T1; k P =

(2.9)

T1
2kT2

Trng hp i tng iu khin c dng:

k
(1 + T1 s )(1 + T2 s )...(1 + Tn s )

S ( s) =

vi T2, T3, , Tn rt nh so vi T1, dng phng php tng cc hng s thi gian
nh chuyn m hnh v dng xp x:
n
k
; T = Ti
(1 + T1 s )(1 + Ts )
i =2

S (s) =

(2.10)

B iu khin ti u modul s l b iu khin PI c cc tham s:

- TI = T1
- kP =

T1
n

2k Ti
i =2

i vi i tng khin l khu qun tnh bc ba:

S (s) =

k
(1 + T1 s )(1 + T2 s )(1 + T3 s )

(2.11)

B iu khin ti u modul l b iu khin PID:

(1 + TA s )(1 + TB s )
1
T
R( s ) = k p 1 +
+ TD s =
;TR = I
TR s
kp
TI s

(2.12)

27

Vi cc tham s:
- TI = T1 + T2
- TD =

T1T2
T1 + T2

- kP =

T1 + T2
2kT3

Trng hp i tng iu khin c dng:

k
(1 + T1 s )(1 + T2 s )...(1 + Tn s )

S ( s) =

vi T3, T4, , Tn rt nh so vi T1 v T2, dng phng php tng cc hng s thi

gian nh chuyn m hnh v dng xp x:

S (s) =

k
(1 + T1s )(1 + T2 s )(1 + Ts )

(2.13)

trong T = Ti
i =3

B iu khin ti u modul s l b iu khin PID c cc tham s:

- TI = T1+T2
- TD =
- kP =

T1T2
T1 + T2

T1 + T2
n

2k Ti
i =3

2.2.2.4. Phng php ti u i xng

Vic thit k b iu khin PID theo phng php ti u modul c nhc

im l i tng S(s) phi n nh, hm qu h(t) ca n phi i t 0 v c

28

dng hnh ch S. Trong trng hp ny, c th chn tham s PID theo nguyn
tc ti u i xng [4].

i vi i tng iu khin l khu tch phn-qun tnh bc nht:

Hm truyn t ca i tng:
S (s) =

k
s (1 + T1 s )

(2.14)

B iu khin ti u i xng s l b iu khin PI:

R ( s ) = k p (1 +

1
s)
TI

(2.15)

B PI ny c cc tham s xc nh nh sau :
- Xc inh a t qu iu chnh h cn c ca h kn theo:

D
h = exp
2
1 D

4 ln 2 (h)
a= 2
+ ln 2 (h)

(2.16)

Hoc a t chn vi a>1 t yu cu cht lng ra. Gi tr a c chn cng

ln, qu iu chnh cng nh. Nu a 1, h kn s khng n nh.
- Tnh TI: TI = aT1.
- Tnh kp: k p =

1
kT1 a

i vi i tng iu khin l khu tch phn-qun tnh bc hai:

Hm truyn t ca i tng:
S ( s) =

k
(1 + T1 s )(1 + T2 s )

(2.17)

B iu khin ti u i xng s l b iu khin PID:

R ( s ) = k p (1 +

k (1 + TA s )(1 + TB s )
1
s + TD s ) = p
TI
TI s

(2.18)

29

Vi: - TA+ TB = TI
- TATB = TITD v TA = T1
Cc tham s ti u i xng ca b iu khin PID c chn nh sau:
- Chn TA = T1.
- Xc nh 4>a>1 t qu iu chnh h cn c ca h kn, hoc chn a>1
t yu cu cht lng ra. Gi tr a c chn cng ln, qu iu chnh
cng nh. h kn khng c dao ng, chn a4. H kn s khng n nh vi
a1.
- Tnh TB = aT2. T suy ra TI = TA + TB v TD =
- Tnh ri suy ra k p =

TATB ~
1
kp =
TI
kT2 a

~
k pTI
TB

2.2. TNG HP H THNG IU KHIN NG C IN MT CHIU

2.2.1. Tng hp mch vng iu chnh dng in
Trong cc h thng truyn ng t ng cng nh cc h thng chp hnh
th mch vng iu chnh dng in l mch vng c bn. Chc nng c bn ca
mch vng dng in trong cc h thng truyn ng mt chiu v xoay chiu l
trc tip (hoc gin tip) xc nh mmen ko ca ng c, ngoi ra cn c chc
nng bo v, iu chnh gia tc
Mt phng n n gin nht iu chnh dng in c cu trc nh
hnh 2.8, dng b iu chnh tc hoc in p R c dng b khuych i tng
v mch phn hi dng in phi tuyn P. Khi tn hiu dng in cha khu
phi tuyn ra khi vng km nhy th b iu chnh lm vic nh b iu chnh
tc (hay in p) m khng c s tham gia ca mch phn hi dng in. Khi

30

dng in ln, khu P s lm vic vng tuyn tnh ca c tnh v pht huy
tc dng hn ch dng ca b iu chnh R.
Phng n th hai c m t trn hnh 2.8b. C hai mch vng vi hai
b iu chnh ring bit R1, R2, trong R2 l b iu chnh dng in vi gi
tr t I. Cu trc kiu ny cho php iu chnh c lp tng mch vng.
Phng n iu chnh dng in c s dng rng ri nht trong truyn

ng in t ng nh trn hnh 2.8c, trong R1 l b iu chnh dng in,

R l b iu chnh tc . Mi mch vng c b iu chnh ring c tng
hp t i tng ring v theo cc tiu chun ring.
R

S01

S02

MC

p
a)

R1

S01

S02
MC

R2
-

b)

MC
R
-

RI

S01

S02

c)

Hnh 2.8: Cu trc mch vng iu chnh dng in

31

Mch vng iu chnh dng in khi b qua sc in ng ng c

S khi ca mch vng iu chnh dng in nh trn hnh 2.9, trong

F l mch lc tn hiu, Ri l b iu chnh dng in, B l b bin i mt

chiu, Si l xenx dng in.
Xenx dng in c th thc hin bng cc bin dng mch xoay chiu
hoc bng in tr sun hoc cc mch do cch ly trong mch mt chiu.
B
Ui

F
1
1 + pT f

Ri

Ki
1 + pTi

Ui

U d

1
(1 + pTk )(1 + pTvo )

-E
1 Ru I
1 + pTu

Si

Hnh 2.9: S khi ca mch vng dng in

Trong : Tf, Tk, Tvo, Tu, Ti - cc hng s thi gian ca mch lc, mch

iu khin chnh lu, s chuyn mch chnh lu, phn ng v xenx dng in.
Ru - in tr mch phn ng.
U d
- h s khuych i ca chnh lu.

Trong trng hp coi sc in ng ca ng c khng nh hng n

qu trnh iu chnh ca mch vng dng in tc l coi E = 0 hoc E = 0.
Hm truyn ca mch dng in (hm truyn ca i tng iu chnh) l
nh sau:
S oi ( P ) =

K cl .K i / Ru
(1 + PT f )(1 + PTk )(1 + PTvo )(1 + PTu )(1 + PTi )

(2.19)

32

Trong cc hng s thi gian Tf, Tk, Tvo, Ti l rt nh so vi hng s

thi gian in t Tu. t Ts = Tf + Tk + Tvo + Ti th c th vit li (2.1) dng
gn ng sau:
S oi ( p ) =

K cl K i / Ru
;
(1 + Ts p )(1 + Tu p )

Trong Ts <<Tu.

(2.20)

p dng tiu chun ti u mun ta tm c hm truyn ca b iu

chnh dng in c dng khu PI
Ri ( p ) =

1 + Tu p
K cl K i
.aTs p
Ru

(2.21)

Trong b hng s thi ln hn ( Tu ), ta chn T = Ts v hng s a c

th ly a = 4
Cui cng hm truyn ca mch vng s l:
I ( p)
1
1
1
1
=

U i ( p ) K i 2Ts p (1 + Ts p ) + 1 K i 1 + 2T s p + 2Ts2 p 2

(2.22)

2.2.2. Tng hp mch vng iu chnh tc

H thng iu chnh tc l h thng m i lng c iu chnh l
tc gc ca ng c in, cc h ny rt thng gp trong thc t k thut.
H thng iu chnh tc c hnh thnh t h thng iu chnh dng in.
Cc h thng ny c th l o chiu hoc khng o chiu. Do cc yu cu cng
ngh m h cn t v sai cp mt hoc v sai cp hai.Tu theo yu cu ca
cng ngh m cc b iu chnh tc R c th c tng hp theo hai tn
hiu iu khin hoc theo nhiu ti Mc. Trong trng hp chung h thng phi
c c tnh iu chnh tt c t pha tn hiu iu khin ln t pha tn hiu nhiu
lon.

33

S khi chc nng c trnh by trn hnh 2.10.

HCD
U

Uk Mc
Ui

R
U

Ri

FX

Ui

I
Si

Hnh 2.10: S khi

iu chnh tc dng b iu chnh tc t l
phn trn ta tng hp c mch dng in, trong phn ny s s
dng biu thc kt qu trong b qua nh hng ca s.. ca ng c:
I ( p)
1
1
=
.
U i ( p ) K i 1 + 2Ts p (1 + Ts p )

(2.23)

Do TS rt nh Ts2 0, do vy thun tin trong tnh ton tip theo, ta

c th thay (2.5) bi biu thc gn ng tnh hm truyn ca mch vng dng

in:
I ( p)
1
1
=
.
U i ( p ) K i 1 + 2Ts p

(2.24)

Hoc nu mch vng dng in c tng hp theo tiu chun ti u i

xng th:
I ( p)
1
1
=
.
U i ( p ) K i 1 + 4Ts p

(2.25)

S khi cu trc ca h iu chnh tc nh trn hnh 2.4, trong

S l xenx tc c hm truyn l khu qun tnh vi h s truyn K v
hng s thi gian (lc) T. Thng T c gi tr nh, khi t 2Ts=2Ts + T,

i tng iu chnh c hm truyn:

34

S o 2 ( p) =

Ru K
1
.
K i KTc P(2T ' s p + 1)

(2.26)

Theo tiu chun ti u mun, c th xc nh c hm truyn ca b

iu chnh tc l khu t l:
R ( p ) =

K i KTc
1
= K p'
.
Ru K 2T ' s a 2

(2.27)

Trong thng ly a2 = 4
Mc
1
K

HCD
U

1/ Ki
1 + 2Ts p

R
U

-Ic

K
1 + pT

Ru
KTc p

Hnh 2.11: S khi ca h iu chnh tc

Hm truyn ca mch vng iu chnh tc l:

( p)
U v ( p)

1
1
K 4T 's p(2Ts p + 1) + 1

(2.28)

Sau y ta kim tra nh hng ca nhiu ph ti n qu iu chnh v

chnh xc tnh ca h thng va nu. Theo s khi hnh 2.11 tnh c:

( p ) =

[I ( p) I c ( p)]Ru
KTc p

Ru I c ( p)
I ( p)
[1
]
KTc p
I c ( p)

(2.29)

Mt khc: [I(p) - Ic(p)].Fo(p) = -I(p)

Do :

I ( p)
F ( p)
= o
I c ( p) 1 + Fo ( p)

Trong Fo(p) l hm truyn mch vng ca h iu chnh tc .

35

Khi Ic = 1(t) th:

( p ) =

Ru I c
4T ' s I c Ru
2T ' s p + 1
1
.
=
.
K.Tc p 1 + Fo ( p )
K.Tc 4T ' s p(2T ' s p + 1) + 1

(2.30)

T biu thc (2.11) thy rng st tc tnh = Ic.Ru/K trong h

thng h s c gim i Tc/4Ts ln trong h kn. Trn hnh 2.5 m t qu trnh
thay i dng in v tc khi c t bin nhiu ti. Mch vng tc ny l
v sai cp 1 i vi tn hiu iu khin v l hu sai i vi tn hiu nhiu.
Gi tr ca sai lch tnh tu thuc vo cc thng s trong biu thc (1.12):

4Ts Ru
Ic
K.Tc

(2.31)

H s khuych i ca b iu chnh tc Kp c th thay i thng qua

tham s a2 theo (2.9).
,i

i(t)

(t)

Hnh 2.12: Qu trnh dng in v tc khi c nhiu ti

iu chnh tc dng b iu chnh tc tch phn t l PI
Trong nhiu thit b cng ngh thng c yu cu h thng iu chnh v
sai cp cao, khi ny c th s dng phng php ti u i xng tng hp cc
b iu chnh. Vi mch vng iu chnh tc hm truyn ca b iu chnh
c dng:
R ( p) =

1 + To p
KTo p

(2.32)

36

V hm truyn mch h s l:
Fo ( p ) =

1 + To p Ru K
1
.
.
KTo p K i KTc p (2T ' s p + 1)

(2.33)

T (2.15) c th tm c hm truyn mch kn F(p), ng nht F(P) vi

hm chun ti u i xng ta tm c tham s ca b iu chnh
Nu chn Ts = Ts th:
To = 8Ts
K=

Ru K 8(2T ' s ) 2
Ru K
.
=
.4T ' s
K i K.Tc
8T ' s
K i K.Tc

R ( p) =

K i K.Tc 1
1
.
(1 +
)
Ru K 4T ' s
8T ' s . p

(2.34)

Thy rng thnh phn t l ca b iu chnh (2.16) ng bng h s

khuych i ca b khuych i (2.5)
Khi tng hp h thng theo phng php ti u i xng thng phi
dng thm khu to tn hiu t trnh qu iu chnh. Khu to tn hiu t
ny thng c hm truyn t ca khu lc thng thp bc nht, c hng s thi
gian lc tu thuc vo gia tc cho php ca h thng. Tt nhin khu to tn hiu

t ny phi t bn ngoi mch vng iu chnh tc .

Hm truyn mch kn ca h thng:
F ( p ) =

U ( p)
1 + 8T ' s p
=
U ( p ) 8T ' s p[ 4T ' s p (1 + 2T ' s p ) + 1] + 1

(2.35)

Cn c vo cc biu thc nu trn ta c th tnh c hm truyn vi

tn hiu nhiu lon l dng in ti:
Fi ( p ) =

1 + 8T ' s p
I ( p )
=
I c ( p ) 8T ' s p[ 4T ' s p (1 + 2T ' s p ) + 1] + 1

(2.36)

37

v cng tnh c sai s tc tng ng khi nhiu ti c dng hng s:

( p ) =

[ I ( p ) I c ( p )]
Ru
K.Tc . p

4T ' s Ru I c
8T ' s p (1 + 2T ' s p )
=
K.Tc 8T ' s p [4T ' s p (1 + 2T ' s p ) + 1] + 1

(2.37)

Kt qu l, mch vng iu chnh tc l v sai cp hai i vi tn hiu

iu khin v l v sai cp mt i vi tn hiu nhiu. Nh vy khi n nh th

sai lch tc s bng khng.

2.3. M PHNG H THNG IU CHNH TC NG C

Da vo s cu trc h thng hai vng iu chnh nh ta xy dng m
hnh m phng h thng vi hai vng iu chnh trn nn Simulink
Kho st m hnh, t v th p ng dng phn ng v tc ca

ng c trong trng hp mmen qun tnh thay i.

Hnh 2.13: M hnh m phng h thng vi hai vng iu chnh

38

Trng hp mmen qun tnh ti J1 =0.01(kg.m2):

39

Trng hp mmen qun tnh ti thay i trong khong J1=[0:0.5]

40

41

KT LUN CHNG 2
Khi s dng cc b iu khin trong hai mch vng ca h thng trong
trng hp mmen qun tnh ng c khng thay i tc ng c t c

n tc t; hn ch c dng m my ca ng c. H thng iu khin

ng c c hai vng iu chnh c kh nng n nh c tc khi ti thay
i.Do ta thy cc b iu khin chn p ng c yu cu khi thit k.
Trong trng hp khi mmen qun tnh ng c thay i th thi gian p

ng tc ln 3s.

42

CHNG 3

IU KHIN THCH NGHI

3.1. GII THIU CHUNG

iu khin thch nghi l s tng hp cc k thut nhm t ng chnh
nh cc b iu chnh trong mch iu khin thc hin hay duy tr mt
mc nht nh cht lng ca h khi thng s ca qu trnh iu khin khng
bit trc hoc thay i theo thi gian.
H thng iu khin thch nghi gm c hai vng: vng hi tip thng
thng v vng hi tip iu khin thch nghi.

Cc b iu khin thch nghi thng l s la chn hp l, khi ta khng c

kh nng hoc khng kinh t, khi kho st mt cch hon ho s thay i ca cc
bin qu trnh.

C th phn loi cc h thch nghi theo cc tiu chun sau:

- H thch nghi theo m hnh mu (MRAS: Model Reference Adaptive
System).
- B t chnh nh (STR: Self Tuning Regulator).
- H t hc.
- H t t chc.

3.2. H THNG THCH NGHI THEO M HNH MU (MRAS)

M hnh MRAS (Hnh 3.1) u tin c ngh bi Whitaker vo nm
1958 vi hai tng mi c a ra: trc ht s thc hin ca h thng c

xc nh bi mt m hnh, th hai sai s ca b iu khn c hiu chnh bi

sai s ca m hnh mu v h thng. Cu trc h thng iu khin hnh 3.1 gi l
h MRAS song song.

43

M hnh
ym

C cu
hiu chnh

y
B iu
khin

i tng

Hnh 3.1: S khi ca h thng thch nghi theo m hnh mu

M hnh mu c chn to ra mt p ng mong mun i vi tn

hiu t, ym, m ng ra ca h thng, y, phi bm theo. H thng c mt vng
hi tip thng thng bao gm i tng v b iu khin. Sai lch bm e l
hiu ca ng ra h thng v ng ra ca m hnh mu, e =ym y. B iu khin c
thng s thay i da vo sai s ny. H thng c hai vng hi tip: vng hi
tip trong l vng hi tip thng thng v vng hi tip ngoi hiu chnh tham
s cho vng hi tip bn trong. Vng hi tip bn trong c gi thit l nhanh
hn vng hi tip bn ngoi.
H thng thch nghi m hnh mu c th c phn thnh hai loi : trc
tip v gin tip. Trong b iu khin loi trc tip (DMRAC:Direct Model
Adaptive Control), vec t tham s ca b iu khin C() c cp nht trc
tip bi mt lut thch nghi, ngc li, trong b iu khin gin tip (IRMAC:
Indirect Model Adaptive Control) c tnh ton ti mi thi im t bng cch

44

gii phng trnh i s no c mi quan h ca tham s vi s c lng

trc tuyn cc tham s ca h thng.

M hnh

ym +

B iu
khin
C( )

i tng
P( * ) P( C* )

c lng
thng s online ca C*

Hnh 3.2: S khi ca b iu khin thch nghi theo m hnh mu trc tip

45

M hnh
ym +

B iu
khin
C( )

i tng
P( * )

c
c lng
thng s online ca *

Tnh
C (t ) = F ( (t ))

Hnh 3.3: S khi ca b iu khin thch nghi theo m hnh mu gin tip

3.3. LUT THCH NGHI

Theo Ionnaou and Sun, (1996), b iu khin thch nghi c th c xem
nh l s kt hp ca mt b c lng cc tham s trc tuyn (on-line) v mt
lut iu khin m n nhn c t trng hp tham s c bit r. S kt
hp ny lm xut hin nhiu kiu c lng tham s v lut thch nghi cho cc
b iu khin khc nhau vi cc tnh cht khc nhau. Trong cc ti liu nghin
cu v iu khin thch nghi, b c lng tham s on-line thng c xem
nh gm lut thch nghi, lut cp nht v c cu hiu chnh tham s. Vic thit
k lut thch nghi s quyt nh n cc tnh cht n nh ca b iu khin thch
nghi. Mt vi phng php c bn c s dng thit k lut thch nghi l:

46

lut MIT, hm Lyapunov xc nh dng, phng php gradient v phng

php bnh phng b nht da trn tiu ch nh gi hm chi ph sai lch bm.
3.3.1. Phng php nhy (lut MIT)
Phng php nhy c s dng thit k lut thch nghi sao cho cc
tham s c lng c iu chnh theo hng ti thiu ha mt hm c tnh

no . Lut thch nghi c cho bi o hm ring ca hm c tnh vi cc

tham s nh gi tng ng nhn vi sai s gia p ng mong mun v p

ng thc t.

e
= e
t

uC-y

Hnh 3.4: M hnh sai s

Cc thnh phn ca vec t

e
l o hm nhy ca sai s vi cc tham

s chnh nh . Thng s xc nh tc thch nghi. Lut MIT c th c

gii thch nh sau: gi s cc thng s thay i chm hn nhiu so vi cc

bin cc khc ca h thng, bnh phng sai s l b nht cn thay i cc
tham s theo hng gradien m ca bnh phng sai s (e2).
Tr ngi ca phng php ny l lut thch nghi khng th c thc thi
nu n khng th c to ra on-line. Vic s dng hm nhy c lng

c th thc hin c dn n cc s iu khin thch nghi m tnh n nh

ca n rt thp hoc khng th thit lp c.

47

Lut MIT ch c thc hin tt nu li thch nghi l nh. ln

ca ph thuc vo bin ca tn hiu mu v li ca i tng. V vy,

khng th c mt gii hn an ton. Do , lut MIT c th cho mt vng kn
khng an ton. S thiu n nh ca lut MIT cho nn cc nh nghin cu tm
ra cc phng php khc thit k lut thch nghi nh phng php Lyapunov
hoc phng php gradient v bnh phng nh nht sai s (Ionnaou and Sun,
1996).

3.3.2. Gradient v phng php bnh phng b nht da trn tiu ch

nh gi hm chi ph sai s
Phng php Gradient v cc hm chi ph c s dng cho vic trin
khai lut thch nghi c lng cc tham s quan tm trong m hnh tham s.
Phng php gradient bao gm vic khai trin mt phng trnh sai s

c lng i s lm ng c thc y vic la chn mt hm chi ph gn ng

J() m n l mt hm li trong ton b khng gian ca (t). Sau , hm chi ph
s c cc tiu ha theo tham s (t) bi phng php gradient nh sau:
.

= J ( )

Phng php bnh phng b nht l mt phng php kh xa c pht

trin bi Gauss th k 18, m thi im ng ta s dng xc nh qu

o ca cc hnh tinh. tng c bn ca phng php ny l xc nh mt m

hnh ton hc vi mt chui cc d liu quan st bng cch cc tiu ha tng
bnh phng ca cc hiu s gia d liu quan st v d liu tnh ton. Trong
cch lm nh vy, nhiu v s khng chnh xc trong d liu quan st c hy
vng l khng nh hng n chnh xc ca m hnh ton hc. Phng php
bnh phng b nht c s dng rng ri trong vic c lng tham s trong
c hai dng hi qui v khng hi qui. Phng php ny th n gin trong vic

48

p dng v phn tch trong trng hp cc tham s cha bit xut hin trong
z =Y*
T

dng tuyn tnh

3.3.3. Hm Lyapunov
Trong phng php ny, l thuyt v s n nh ca Lyapunop (tiu chun

n nh th hai) c th dng thit k lut thch nghi, m bo s n nh cho

h thng vng kn. Do , s iu khin thch nghi da trn l thuyt n nh
Lyapunov khng gp nhng tr ngi nh s s dng lut MIT.
Tiu chun n nh th hai Lyapunov ch l iu kin , khng phi l

iu kin cn. Nu tha tiu chun th h n nh, nu khng tha th vn kt

lun v tnh n nh cn b ng, ph thuc vo cch chn hm mc tiu xc

nh dng V(x) v bin trng thi x.

Minh ha tiu chun n nh th hai Lyapunov:

Hnh 3.5 (a), (b) v (c) biu din cc trng thi cn bng v nhng ng
cong tiu biu tng ng vi h thng n nh,n nh tim cn v khng n

nh. Trong hnh 3.5 cc vng S() gii hn cho trng thi ban u x0 v vng
S() tng ng vi gii hn cho qu o xut pht ti x0.
S()

S()
S()

S()

S()
S()
x0

x0
x0

a)

b)

Hnh 3.5 : Cc trng thi cn bng

a) Trng thi cn bng n nh
b) Trng thi cn bng tim cn
c) Trng thi cn bng khng n nh

c)

49

KT LUN CHNG 3
Chng ny nu ln mt cch tng quan v cc phng php thc thi
b iu khin thch nghi theo m hnh mu (MRAC) vi cc nh ngha v cc
tiu ch ca chng. S thun li hoc kh khn ca cc lut thch nghi cng c

trnh by mt cch ngn gn v c th. Thng qua s phn tch ny, trong
chng k tip, vic thit k b iu khin thch nghi theo m hnh mu s c
da trn l thuyt n nh ca Lyapunov (tiu chun n nh th hai) nhm t

c mt h thng iu khin n nh v c cc tiu ch v cc hm c tnh nh

mong mun.

50

CHNG 4 THIT K B IU KHIN PID THCH NGHI CHO

NG C IN MT CHIU C MMEN QUN TNH THAY I
4.1. B CHNH LU
Chnh lu thc hin nhim v bin i dng in xoay chiu thnh dng

in mt chiu. S dng b chnh lu PWM mt pha. Vi phng php PWM,

iu chnh tc ca m t thng qua vic iu ch rng ca xung, tc l
thi gian "y xung" ("on") ca chui xung vung cp cho m t. Vic iu
chnh ny s tc ng n cng sut trung bnh cp cho m t v do s thay

i tc ca m t cn iu khin.

Nh trn hnh, vi dy xung iu khin trn cng, xung ON c

rng nh nn ng c chy chm. Nu rng xung ON cng ln (nh dy
xung th 2 v th 3) ng c DC chy cng nhanh
Ta c th thay th khi PWM bng mt khu khuych i vi h s
khuych i bng in p t vo phn ng ca ng c.
Hm truyn t ca khu chnh lu cu 3 pha:

51

Wcl ( p) =

Kcl
Tcl p +1

(4.1)

Trong :
K cl =

U udm 220
=
= 22 : l h s khuych i ca khu chnh lu.
10
10

Tcl = 0,0017

4.2. O LNG TC
S dng my pht tc mt chiu FT. m bo yu cu l in p mt
chiu c cha t thnh phn xoay chiu tn s cao v t l vi tc ng c,
khng b tr nhiu v gi tr v du so vi bin i i lng o, ta s dng my
pht tc mt chiu c t thng khng i trong ton vng iu chnh tc . V
vy phi hn ch tn tht mch t bng vic s dng vt liu t c t tr hp v
s dng l thp k thut in mng (hn ch tn tht dng in xoy). loi b
sng iu ho tn s cao s dng b lc lp u ra my pht tc.
Hm truyn t ca my pht tc:

Wft (s) =

K ft
Tft p +1

(4.2)

Trong :
K ft =

Wdm 209,4395
= 0,0477 :l h s khuych i ca my pht tc.
10
10

Tft = 0,004 l hng s thi gian ca my pht tc.

4.3. BIN DNG
Tnh cht ca b bin dng l thay i gi tr ca dng in v th b bin
dng c cha phn khuch i. Li thp ca b bin dng phi tuyn mnh nn h

52

c thi gian tr tng ng nh b chnh lu ta cng c hm truyn ca bin

dng.
Hm truyn t ca cm bin dng in:
bd

(s) =

Kbd
Tbd p +1

(4.3)

Trong :

Kbd =

10 10
= = 0.5 l h s khuych i ca cm bin dng.
Iudm 20

Tbd = 0,001 l hng s thi gian ca cm bin dng.

4.4. TNG HP MCH VNG DNG IN
mT
i*A

RI
_

uA
kr
1 + Tr s
eA _
ki
1 + Ti s

1/ RA
1 + TA s

iA

kM

mM

1
Js

kM

Hnh 4.1:Cu trc mch vng iu chnh dng in Ml

Khi b qua sc in ng cm ng ca ng c.Hm truyn t Ml:

1
Ru
Ml( p) =
Tu . p +1

(4.4)

53

Hm truyn t ca i tng b iu chnh dng in l Soi c cu trc

nh sau:

Soi ( p) =

Soi ( p) =

Kbd .Kcl / Ru,

K
(Tu, p + 1)(Tcl p + 1)(Tbd p + 1) (Tu, p + 1)(Tcl p + 1)(Tbd p + 1)
=

22.0,5 / 2,58
4,2636
=
(0,019. p + 1)(0,0017. p + 1)(0,001. p + 1) (0,019p + 1)(0,0017. p + 1)(0,001. p + 1)

hm truyn trn, cc hng s thi gian Tcl v Tbd l rt nh so vi hng

s thi gian T. Hm truyn i tng Soi(s) tr thnh khu qun tnh bc 2.

Soi ( p) =

K
(Tu, p + 1)(Tdd p + 1)

(4.5)

Tdd = Tcl+Tbd = 0,0027

Soi ( p) =

4,2636
(0,019p + 1)(0,0027. p + 1)

p dng phng php ti u modul cho i tng l khu qun tnh bc

2, ta c b iu khin s l khu t l - tch phn (PI):
RI ( p ) = K p ( 1 +

1
)
TI p

Vi TI = Tu, = 0,019 ;

Kp =

TI
= 2,0248
2 KTdd

Vy hm truyn ca b iu khin mch vng dng in s l:

RI ( p ) = K p ( 1 +

1
1
) = 2,0248( 1 +
)
TI p
0,019 p

54

GI ( P) =

1
1
1
1
=
. 2 2
K bd 2T dd P(T dd P + 1) + 1 K bd 2T dd p + 2T dd P + 1

1
1
.
K bd 2T dd P + 1

4.5. TNG HP MCH VNG TC

S cu trc ca mch vng nh sau:

U *

U iu*

RI

U k

Chnh
l u

Uu

Iu
Ml2

Ml1

U iu
Cm bin dng

Pht tc

Hnh 4.2: Cu trc mch vng iu chnh tc c mch vng iu chnh dng in Ml
n gin ta tng hp mch vng tc khi tng hp c mch

vng dng in ngha l s dng cc kt qu v cc gi thit trc (tc l E = 0).

Ta c m hnh i tng c mch vng iu chnh tc vi b iu chnh tc
R nh hnh:
U *

1
Kbd (2T p + 2Tdd p +1

Km

2
2
ddl

1
J.p

Mc

Kft
Tft p+1
Hnh 4.3: Cu trc thu gn mch vng iu chnh tc c
mch vng iu chnh dng in Ml

55

T ta cng c hm truyn t ca i tng b iu chnh tc l Sow:

So ( p) =

(K.m.K ft ) /(Kdd.J )
p(2T2dd p2 + 2Tdd p +1)(Tft p +1)

(4.6)

thun tin cho vic tnh ton ta c th tnh gn ng hm truyn ca

i tng b iu chnh. Lc l:

So ( p) =

(K.m.K ft ) /(Kdd .J )
p(2Tdd p +1)(Tft p +1)

Trong hng s thi gian Tdd = 0,0027 v Tft = 0,004 l rt nh nn c

th t Tt = 2Tdd + T ft = 0,0067 . Lc ny ta c th xp x hm truyn:

Sow( p) =
Sow(p) =

b=

K.m.K ft
Kbd.J

1
b
=
p(Tt p +1) p(Tt p +1)

(4.7)

b
p (0,0067 p + 1)

K.m.K ft
Kbd.J

p dng nguyn tc ti u i xng, chn b iu khin PI c dng:

R ( p) = K p ( 1 +

1
)
TI p

Do tham s J bin i nn tham s b cng bin i. Do b iu khin

kinh in khng th t cp nht theo thng s b ca qu trnh c. Vn t
ra l thit k mt b iu khin sao cho n c th thch nghi vi qu trnh khi
thng s b thay i theo thi gian trong mt khong tng i rng. B iu
khin thch nghi m hnh tham chiu (MRAS) c th gii quyt bi ton ny.

56

4.6. GII THUT

Hm truyn t ca vng h:
G(s) =

W ( s)
WT ( s )

b
s (0,0067 s + 1)

(4.8)

(0,0067s2+s)W(s) = bU(s)
(0,0067p2 + p)W = bU

(4.9)

Lut iu khin:
Chn Kp l tham s iu khin
U = Kp(Wdm W)

(4.10)

Thay (4.3) vo (4.2) ta c:

(0,0067p2 + p)W = bKp(Wdm W)
(0,0067p2 + p + bKp )W = bKpWdm
W=

bKp
Wdm
(0,0067 p 2 + p + bKp )

(4.11)
(4.12)

Sai s h thng vng kn:

e = W Wm

(4.13)

Wm ng ra tc ca hm truyn mu
T phng trnh (4.5) suy ra nhy ca sai s theo t l Kp:
e
W b(0,0067 p 2 + p + bKp) b 2 Kp
=
=
Wdm
Kp Kp
(0,0067 p 2 + p + bKp ) 2
e
b(0,0067 p 2 + p )
Wdm
=
Kp (0,0067 p 2 + p + bKp ) 2

(4.14)

Do theo lut MIT , lut cp nht h s t l Kp c dng:

dKp
b(0,0067p 2 + p)
' e
'
= e = (W Wm )[
]W
dt
k
(0,0067p 2 + p + bKp) 2 dm

(4.15)

57

Phng trnh (4.8) khng th s dng trc tip cp nht h s t l Kp

ca b iu khin c do thng s b ca qu trnh l khng bit c. Do
phi s dng php xp x loi b i thng s cha bit ny.
Hm truyn t mong mun ca h thng vng kn:
Gm(s) =

Wm ( s )
20
=
2
Wdm ( s ) 0,0067 p + p + 20

(0,0067 p 2 + p + 20)Wm ( s ) = 20Wdm ( s )

Wm =

20Wdm
(0,0067 p 2 + p + 20)

(4.16)
(4.17)

Khi hm truyn t ca h thng t ti hm truyn t mong mun th

phng trnh (4.4) s t ti phng trnh mong mun (4.9):
(0,0067p2 + p + bKp )W = bKpWdm trng ( 0,0067p2 + p + 20)Wm = 20Wdm
Hay bKp = 20. Do phng trnh (4.8) c th xp x:
dKp
e
b(0,0067 p 2 + p )
= ' e
= ' (W Wm )[
] Wdm
dt
k
(0,0067 p 2 + p + 20) 2

(4.18)

Hn na, t = ' b , mt ln na phng trnh (4.11) c th xp x:

(0,0067 p 2 + p)
dKp
= (W Wm )[
] Wdm
dt
(0,0067 p 2 + p + 20) 2

(4.19)

Phng trnh (4.12) lai b thng s b qua 2 ln xp x do c th s

dng cp nht h s t l Kp ca b iu khin.
Vi 2 php xp x ny th hm truyn t vng kn ca h thng ch c th
hi t v hm truyn t vng kn mong mun khi thng s c chn nh,
php xp x = 'b gp thng s b thay i theo thi gian vo , hay ni
cch khc cng tr thnh thay i theo thi gian.

58

tng trng cho tc hi t v hm truyn t vng kn mong mun ca

h thng ( tc thch nghi ). Do nu nh khi thng s b nh h thng s

hi t chm. Nu ln khi thng s b ln, tnh n nh ca h thng s khng
c m bo v h thng s khng iu khin c. Nh vy , b iu khin

ch c th thch nghi khi thng s b ca qu trnh thay i trong mt gii hn cho

php.
Php xp x bKp = 20 khng nh hng ng k n cht ln iu khin
v mt khi h thng vng kn tin n hm truyn t mong mun th php xp
x ny cng tin n mt php ton chnh xc.
Tm li, tnh n nh ca h thng ph thuc nhiu vo thng s b ca qu
trnh. Vic la chn thng s ' ca b iu khin thch nghi phi cn c vo tm
thay i ca thng s b khi h thng hot ng.
4.7. S M PHNG

59

Khi ng c:

Khi thch nghi:

Khi lut iu khin:

60

KT LUN CHNG 4

Ni dung chng ny ng dng b iu khin thch nghi theo m hnh mu vi

lut thch nghi MIT thit k c b iu khin PID thch nghi cho ng c in
mt chiu trong trng hp mmen qun tnh ca ng c thay i.

61

CHNG 5

KT QU M PHNG

5.1. KT QU M PHNG B IU KHIN THCH NGHI

Tm thay i ca mmen qun tnh ti J1 l [0 0.5] , tc t W = 209
rad/s.

62

63

5.2. SO SNH B IU KHIN PID VI B IU KHIN THCH NGHI

TRONG TRNG HP MMEN QUN TNH TI J1 = 0.01kg.m2

64

5.3.SO SNH B IU KHIN PID VI B IU KHIN THCH NGHI

TRONG TRNG HP MMEN QUN TNH TI J1 = 0.05kg.m2

5.4. SO SNH B IU KHIN PID VI B IU KHIN THCH NGHI

TRONG TRNG HP MMEN QUN TNH TI J1= [0:0.5] kg.m2

65

5.5. KT QU M PHNG B IU KHIN PID KHI TC CA

NG C THAY I

5.6. KT QU M PHNG B IU KHIN THCH NGHI KHI TC

CA NG C THAY I

66

KT LUN CHNG 5

Vi kt qu m phng trn ta nhn thy rng vi b iu khin thich

nghi nh thit k th cht lng ca h thng lun lun c m bo khi
mmen qun tnh ca ng c thay i.
Kt qu m phng thu c hon ton ph hp vi cc kt qu nghin cu
l thuyt, iu ny chng t rng thut ton v cch thc xy dng b iu khin
thch nghi l ng n v chnh xc.
Sai lch tnh, qu iu chnh, thi gian qu , s ln dao ng ca h
truyn ng u tt, nht l qu iu chnh v thi gian qu nh.
Kt qu m phng mt ln na minh chng v khng nh rng vic p
dng b iu khin thch nghi hon ton c th m ng c yu cu cht
lng iu khin ca h truyn ng.

67

KT LUN V KIN NGH

1. Nhng ng gp ca lun vn

Mc tiu ca cc h thng iu khin l ngy cng nng cao cht lng cc

h thng iu khin t ng. Trn thc t c rt nhiu i tng cn iu khin,
cc i tng ny thng thng khng c cc tham s cn thit, chnh v vy
nn vic thit k cc b iu khin da trn l thuyt iu khin kinh in gp
rt nhiu kh khn. Chnh v cc l do ny i hi chng ta phi ng dng cc
l thuyt iu khin hin i vo trong thc t. Lun vn ch trng mt mng
nghin cu xy dng h iu khin cho h truyn ng c th l ng c in
mt chiu da trn nn tng cc l thuyt iu khin cao cp.
Vi kt qu thu c t m phng, ng gp c cc vn sau:
+ xy dng c b iu khin thch nghi cho ng c in mt chiu khi
mmen qun tnh ca ng c thay i.
+ Vi b iu khin m lun vn xy dng, cc thng s v cht lng
iu chnh nh sai lch tnh, qu iu chnh, thi gian qu , s ln dao
ng ca h truyn ng u tt, nht l qu iu chnh v thi gian qu

rt nh. Nh vy b iu khin nghin cu trong lun vn hon ton p ng

c cc yu cu v cht lng iu khin cho h truyn ng v c kh nng
ng dng vo thc t iu khin.

- Nh vy, qu trnh thc hin lun vn ny, tc gi gii quyt trn vn

c vn t ra. Tuy nhin vi thi gian nghin cu hn ch v do phm vi

gii hn ca vn t ra, lun vn cha cp n vic nhn dng cc thng

s ca ng c m ch chn mt ng c khc c thng s tng, v y chnh
l vn tc gi d nh s tip tc pht trin nghin cu trong thi gian n.

68

2. Nhng kin ngh v hng nghin cu tip theo

- Thit k b iu khin thch nghi cho ng c in bt k.

69

DANH MC TI LIU THAM KHO

[1] Bi Quc Khnh, Nguyn Vn Lin, Phm Quc Hi, Dng Vn Ngh (2008),
iu chnh t ng truyn ng in, Nh xut bn khoa hc v k thut, tr.15-38.

[2] Nguyn Don Phc (2007), L thuyt iu khin nng cao, In ln th hai - c sa
i v b sung, Nh xut bn Khoa hc v k thut, H Ni tr.26-56.

[3] Nguyn Don Phc, Phan Xun Minh (2001), Nhn dng h thng iu khin,
Nh xut bn Khoa hc v k thut, H Ni, tr.12-46.

[4] Nguyn nh Thc (2000), Tr Tu Nhn To - Mng Nron - Phng php v

ng dng, Nh xut bn gio dc, tr.16-38.

[5] Nguyn Phng Quang (2005), Matlab &Simulink, Nh xut bn khoa hc v k

thut, H Ni, tr.6-65.
[6] PGS.TS Nguyn Th Phng H (2005), iu khin thch nghi, Gio trnh dnh
cho hc vin cao hc, H Bch khoa Tp H Ch Minh, tr.12-28.
[7] Phm Hu c Dc, Nguyn Cng Hin, (2005), Nghin cu ng dng mng
nron trong iu khin thch nghi h thng c thng s bin thin, Lun n tin s k

thut, tr.12-48.
[8] Phm Hu c Dc (2009), Mng nron v ng dng trong iu khin t ng,
Nh xut bn Khoa hc v k thut, H Ni, tr.8-28.

[9] Phan Vn Hin (2005), Nghin cu iu khin v tr h phi tuyn ng dng mng
nron, Bo co tng kt ti Khoa hc v Cng ngh cp B, M s B2005.15.53,

tr.16-38.
[10] M.Norgaard.O.Ravn.NK. Poulsen and I.K.Hansen (2000), Neural Network for
Modelling and Control of Dynamic System, Master thesis in Electrical Engineering,

National Central University, pp.12-49.

70

PH LC
%Thong so dong co
Pdm=3750;

%Cong suat dinh muc (w)

Uudm=220;

%Dien ap dinh muc (V)

ndm=2000;

% Toc do dinh muc [v/p]

Ru=2.58;

% Dien tro phan ung cua dong co[?]

Lu=0.049;

% Dien khang phan ung cua dong

co[H]
J0=0.0185;

% Mo men quan tinh[kg.m2]

J1=0;

% Mo men quan tinh tai

J=J1+J0;
kM = 0.17;

% He so cau tao cua dong co

kE = (2*pi*kM)/60;

% He so suc dien dong cua dong co

Tu=Lu/Ru

% Hang so thoi gian mach phan ung

wdm=ndm*2*pi/60

% Toc do goc [rad/s]

Mdm=Pdm/wdm;

% Mo men dinh muc [Nm]

Iudm=20;

% Dong dien phan ung dinh muc [A]

Eudm=Uudm-Ru*Iudm;

% Suc dien dong dinh muc [V]

Kfidm=Mdm/Iudm;

%Tu thong dinh muc [Wb]

Tu=Lu/Ru;

% Hang so thoi gian mach phan ung

% Thong so cua bo chinh luu

%----------------------------------------------------Uf=220;
Urcm=10;
Kcl=Uudm/Urcm;

% He so khuech dai cua bo chinh luu

71

Tcl=0.0001

% Hang so thoi gian mach chinh luu

% Thong so cua bo phat toc

%-----------------------------------------------------Kft=10/wdm

% He so khuyech dai bo phat toc

Tft=0.004;

% Hang so thoi gian bo phat toc

%Thong so bo bien dong

Kbd=10/Iudm;
Tbd=0.001;
%Bo qua anh huong cua SDD cam ung
Ko=Kcl*Kbd/Ru
Tsi=Tcl+Tbd;
%Thong so bo dieu khien PI vong dong dien (Toi uu
modul)
Tii=Tu;
Kpi=Tu/(2*Ko*Tsi)
%----------------Ks=(Kfidm*Kft)/Kbd;
Tsw=2*Tsi+Tft;
%Thong so bo dieu khien PI vong toc do (Toi uu doi
xung)
a=9;
Tiw=a*Tsw
Kpw=J/(Ks*Tsw*sqrt(a))

72

clc; clear;
thongso_ok;

% Chay m File

%% ---------------------------------------------------

sim('haivongkin');

figure(1);

% dung figire 1

hold on;

% ve nhieu hinh len 1 figure

grid on;
plot(tout,simout2(:,1),'-','LineWidth',1.5);

% ve

xlabel('Thoi gian [s]','Fontsize', 13);

title('Toc do PID','Fontsize',13)
hold off;
%% ---------------------------------------------------

sim('haivongkin');

figure(2);

% dung figire 2

hold on;

% ve nhieu hinh len 1 figure

grid on;
plot(tout,simout(:,1),'-','LineWidth',1.5);

% ve

xlabel('Thoi gian [s]','Fontsize', 13);

title('Dong dien phan ung PID','Fontsize',13)
hold off;
% ---------------------------------------------------

73

sim('haivongkin');

figure(3);

% dung figire 3

hold on;

% ve nhieu hinh len 1 figure

grid on;
plot(tout,simout3(:,1),'-','LineWidth',1.5);

% ve

xlabel('Thoi gian [s]','Fontsize', 13);

title('Sai lech toc do PID' ,'Fontsize',13)
hold off;
% --------------------------------------------------

sim('thichnghi2');

figure(4);

% dung figire 4

hold on;

% ve nhieu hinh len 1 figure

grid on;
plot(tout,simout2(:,1),'-','LineWidth',1.5);

% ve

xlabel('Thoi gian [s]','Fontsize', 13);

title('Toc do Thich nghi','Fontsize',13);
hold off;
% --------------------------------------------------sim('thichnghi2');

figure(5);

% dung figire 5

74

hold on;

% ve nhieu hinh len 1 figure

grid on;
plot(tout,simout(:,1),'-','LineWidth',1.5);

% ve

xlabel('Thoi gian [s]','Fontsize', 13);

title('Dong dien phan ung thich nghi','Fontsize',13);
hold off;
% ---------------------------------------------------

sim('thichnghi2');

figure(6);

% dung figire 6

hold on;

% ve nhieu hinh len 1 figure

grid on;
plot(tout,simout3(:,1),'-','LineWidth',1.5);

% ve

xlabel('Thoi gian [s]','Fontsize', 13);

title('Sai lech toc do thich nghi','Fontsize',13);
hold off;

% -------------------------------------------------sim('Sosanh_PID_thichnghi');
figure(7);

% dung figire 7

hold on;

% ve nhieu hinh len 1 figure

grid on;
plot(tout,simout(:,1),'-','LineWidth',1.5);

% ve

plot(tout,simout(:,2),'--','LineWidth',1.5); % ve

75

legend('Thichnghi','PID') % Chu thich duong ve

xlabel('Thoi gian [s]','Fontsize', 13);
title('So sanh bo dieu khien PID voi thich
nghi','Fontsize',13)
hold off;
% --------------------------------------------------sim('Sosanh_PID_thichnghi1');
figure(8);

% dung figire 8

hold on;

% ve nhieu hinh len 1 figure

grid on;
plot(tout,simout(:,1),'-','LineWidth',1.5);

% ve

plot(tout,simout(:,2),'--','LineWidth',1.5); % ve
legend('Thichnghi','PID') % Chu thich duong ve
xlabel('Thoi gian [s]','Fontsize', 13);
title('So sanh bo dieu khien PID voi thich nghi
J1=0.01','Fontsize',13)
hold off;
% --------------------------------------------------sim('Sosanh_PID_thichnghi2');
figure(9);

% dung figire 9

hold on;

% ve nhieu hinh len 1 figure

grid on;
plot(tout,simout(:,1),'-','LineWidth',1.5);

% ve

plot(tout,simout(:,2),'--','LineWidth',1.5); % ve
legend('Thichnghi','PID') % Chu thich duong ve

76

xlabel('Thoi gian [s]','Fontsize', 13);

title('So sanh bo dieu khien PID voi thich nghi
J1=0.05','Fontsize',13)
hold off;
% -------------------------------------------------sim('Sosanh_PID_thichnghi3');
figure(10);
hold on;

% dung figire 10
% ve nhieu hinh len 1 figure

grid on;
plot(tout,simout(:,1),'-','LineWidth',1.5);

% ve

plot(tout,simout(:,2),'--','LineWidth',1.5); % ve
legend('Thichnghi','PID') % Chu thich duong ve
xlabel('Thoi gian [s]','Fontsize', 13);
title('So sanh bo dieu khien PID voi thich nghi
J1=0.1','Fontsize',13)
hold off;
% -------------------------------------------------sim('Sosanh_PID_thichnghi4');
figure(10);
hold on;

% dung figire 10
% ve nhieu hinh len 1 figure

grid on;
plot(tout,simout(:,1),'-','LineWidth',1.5);

% ve

plot(tout,simout(:,2),'--','LineWidth',1.5); % ve
legend('Thichnghi','PID') % Chu thich duong ve
xlabel('Thoi gian [s]','Fontsize', 13);

77

title('So sanh bo dieu khien PID voi thich nghi

J1=0.5','Fontsize',13)
hold off;
% --------------------------------------------------sim('haivongkin1');
figure(12);
hold on;

% dung figire 12
% ve nhieu hinh len 1 figure

grid on;
plot(tout,simout2(:,1),'-','LineWidth',1.5);

% ve

xlabel('Thoi gian [s]','Fontsize', 13);

title('Toc do PID','Fontsize',13)
hold off;
%% --------------------------------------------------

sim('haivongkin1');
figure(13);
hold on;

% dung figire 13
% ve nhieu hinh len 1 figure

grid on;
plot(tout,simout(:,1),'-','LineWidth',1.5);

% ve

xlabel('Thoi gian [s]','Fontsize', 13);

title('Dong dien phan ung PID','Fontsize',13)
hold off;
% ---------------------------------------------------

sim('haivongkin1');

78

figure(14);
hold on;

% dung figire 14
% ve nhieu hinh len 1 figure

grid on;
plot(tout,simout3(:,1),'-','LineWidth',1.5);

% ve

xlabel('Thoi gian [s]','Fontsize', 13);

title('Sai lech toc do PID' ,'Fontsize',13)
hold off;
% --------------------------------------------------