Bo co Th nghim iu khin s

Bo co th nghim iu khin s
Sinh vin:Trn Th Thoan
Mssv: 20102754
Lp K TH 4 K55
Nhm : Kp 2 sng th 4 tun 29,32,37
S liu c giao: Gi6, Lz1, Gw3

BI 1. TM M HNH GIN ON CA CMC

M hnh gin on ca CMC

Hnh 1: S cu trc ca CMC kch thch c lp

Cc tham s c bn ca ng c mt chiu:

- in tr phn ng: RA = 250m

- Momen qun tnh: J = 0,012kgm2

- in cm phn ng: LA = 4mH

- Hng s ng c: ke = 236,8, kM = 38,2

- T thng danh nh: R = 0,04VS

1.1 M hnh gin on ca i tng dng phn ng

M hnh i tng dng phn ng

( )=

1
1+

1
1+

Lnh Matlab

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Tt=100e-6; Ra=250e-3; La=4e-3;
Ta=La/Ra; T1=0.1e-3; T2=0.01e-3;
>> km=38.2; ke=236.8;J=0.012;xi=0.04;
>> Gi=tf(1,[Tt 1])*(1/Ra)*tf(1,[Ta 1])
Transfer function:
4
--------------------------1.6e-006 s^2 + 0.0161 s + 1

a, S dng lnh c2d ca MATLAB tm hm truyn t trn

min nh z theo phng php ZOH, FOH, Tustin vi 2 chu k T1=0.1ms, T2 =
0.01ms
Lnh matlab
Gzi1=c2d(Gi,T1,'zoh')
Transfer function:
0.009176 z + 0.006577
---------------------z^2 - 1.362 z + 0.3656
Sampling time (seconds): 0.0001
>> Gzi2=c2d(Gi,T1,'foh')
Transfer function:
0.003298 z^2 + 0.01046 z + 0.001998
----------------------------------z^2 - 1.362 z + 0.3656
Sampling time (seconds): 0.0001
>> Gzi3=c2d(Gi,T1,'tustin')
Transfer function:
0.004154 z^2 + 0.008307 z + 0.004154
-----------------------------------z^2 - 1.327 z + 0.3313
Sampling time (seconds): 0.0001
>> Gzi4=c2d(Gi,T2,'zoh')
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Transfer function:
0.0001209 z + 0.0001169
----------------------z^2 - 1.904 z + 0.9043
Sampling time (seconds): 1e-005
>> Gzi5=c2d(Gi,T2,'foh')
Transfer function:
4.064e-005 z^2 + 0.0001585 z + 3.865e-005
----------------------------------------z^2 - 1.904 z + 0.9043
Sampling time (seconds): 1e-005
>> Gzi6=c2d(Gi,T2,'tustin')
Transfer function:
5.951e-005 z^2 + 0.000119 z + 5.951e-005
---------------------------------------z^2 - 1.904 z + 0.9042
Sampling time (seconds): 1e-005

b,S dng phng php hc gin on ha m hnh

thay

=
Ta c T =T1
7=

0.0004 z^2
0.0162 z^2 0.0161 z + 1.6e 006

7=

4e 005 z^2
0.01611 z^2 0.0161 z + 1.6e 006

T = T2

Lnh matlab
Gzi7=tf([ 0.0004 0 0],[0.0162 -0.0161 1.6e-006],T1)
Gzi8=tf([4e-005 0 0],[0.01611 -0.0161 1.6e-006],T2)

c, th
Lnh matlab
step(Gi)

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hold on
step(Gzi1)
step(Gzi2)
step(Gzi3)
step(Gzi4)
step(Gzi5)
step(Gzi6)
step(Gzi7)
step(Gzi8)

Hnh 1: th p ng ca cc hm truyn dn on tnh tay v matlab ca i

tng dng phn ng

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Hnh 2: Hnh nh phng to cc th p ng i tng dng phn ng

1.2 M hnh gin on DCMC

- Hm truyn t ca ng c trn min nh laplace c xc nh nh sau:
Vng h :
( )=

1
1+

.
2

Vng kn:
( )=

1+

Lnh matlab
Gh=tf(1/Ra)*tf(1,[Ta 1])*tf(km*xi)*tf(1,[2*pi*J 0])
Transfer function:
6.112
----------------------0.001206 s^2 + 0.0754 s
Gk=feedback(Gh,ke*xi)
Transfer function:
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6.112
------------------------------0.001206 s^2 + 0.0754 s + 57.89

a, S dng lnh c2d ca MATLAB tm hm truyn t trn

min nh z theo phng php ZOH, FOH, Tustin vi 2 chu k T1=0.1ms, T2 =
0.01ms
Lnh matlab
Gk1=c2d(Gk,T1,'zoh')
Transfer function:
2.528e-005 z + 2.523e-005
------------------------z^2 - 1.993 z + 0.9938
Sampling time (seconds): 0.0001
>> Gk2=c2d(Gk,T1,'foh')
Transfer function:
8.431e-006 z^2 + 3.367e-005 z + 8.404e-006
-----------------------------------------z^2 - 1.993 z + 0.9938
Sampling time (seconds): 0.0001
>> Gk3=c2d(Gk,T1,'tustin')
Transfer function:
1.263e-005 z^2 + 2.525e-005 z + 1.263e-005
-----------------------------------------z^2 - 1.993 z + 0.9938
Sampling time (seconds): 0.0001
>> Gk4=c2d(Gk,T2,'zoh')
Transfer function:
2.533e-007 z + 2.532e-007
------------------------z^2 - 1.999 z + 0.9994
Sampling time (seconds): 1e-005
>> Gk5=c2d(Gk,T2,'foh')
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Transfer function:
8.443e-008 z^2 + 3.377e-007 z + 8.44e-008
----------------------------------------z^2 - 1.999 z + 0.9994
Sampling time (seconds): 1e-005
>> Gk6=c2d(Gk,T2,'tustin')
Transfer function:
1.266e-007 z^2 + 2.532e-007 z + 1.266e-007
-----------------------------------------z^2 - 1.999 z + 0.9994
Sampling time (seconds): 1e-005

b,S dng phng php hc gin on ha m hnh

Tnh tay Gkz7, Gkz8:
1
1
1
kM
*
* kM *

RA 1 STA
2 JS 2 JRA S (1 STA )
kM
GH ( S )
2 JRA S (1 STA )
GK ( S )

k M ke 2
1 G H (S ) * ke
1
2 JRA S (1 STA )
1/ ke
5066

2
2 JRA
2 JRA
T S2
S 1 s 62.5s 47987
2 A
2
kM ke
k M ke
G (S )
5066
A
Bs C
A
B( s a )
C Ba
b
H (S ) K

2
2
2
2
2
S
s(s 62.5s 47987) S (s a) b
S (s a ) b
b (s a ) 2 b 2
GH ( S )

z
z ( z e aT cos(bT ))
C Ba
ze aT sin(bT )
Z {H ( S ) A
B 2

z 1
z 2 ze aT cos(bT ) e 2 aT
b z 2 2 ze aT cos(bT ) e2 aT
G ( z ) (1 z 1 ) H ( z )

( A B ) z 2 ((2 A B)e aT cos(bT ) C1e aT sin(bT ) B ) z Ae 2 aT Be aT cos(bT ) C1e aT sin(bT )

z 2 2 ze aT cos(bT ) e2 aT

Vi C1

C Ba
b

a=31.25;b=216.82;A=0.105570258;B=-0.105570258;C=-6.598141163;
C1 =-0.015215711
+Vi chu k trch mu: T1 =0,1ms
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2.2576547*105 2.522394922*10 5
z 2 1.993291132 z 0.99376949
+Vi chu k trch mu: T1 =0,01ms
Giz 7

Giz 8

2.53249*107 2.531971794*107
z 2 1.999370398 z 0.999375195

-G lnh trn Matlab

>> Gk7=tf([ 2.2576547 e-5+ 2.522394922 e-5],[1 - 1.993291132 0.99376949 ],0.0001)
Transfer function:
2.258e-005 z + 2.522e-005
------------------------z^2 - 1.993 z + 0.9938
Sampling time: 0.0001
>>Gk8=tf([ 2.53249 e-7 2.531971794 e-7],[1 - 1.999370398 0.999375195 ],0.00001)
Transfer function:
2.532e-007 z + 2.532e-007
------------------------z^2 - 1.999 z + 0.9994
Sampling time: 1e-005

c, th
Lnh Matlab
step(Gk)
hold on
step(Gk1)
step(Gk2)
step(Gk3)
step(Gk4)
step(Gk5)
step(Gk6)
step(Gk7)
step(Gk8)

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Hnh 3: th p ng ca cc hm gin on v tnh tay hm truyn CMC

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1.3 M hnh trng thi ng c ca CMC trn min thi gian lin tc
Lnh matlab
Gh=tf(1/Ra)*tf(1,[Ta 1])*tf(km*xi)*tf(1,2*pi*J)
Transfer function:
6.112
------------------0.001206 s + 0.0754
Gk=feedback(Gh,ke*xi)
Transfer function:
6.112
------------------------------0.001206 s^2 + 0.0754 s + 57.89
T3= 0.1; T4= 0.01
[A,B,C,D]=tf2ss([ 6.112],[0.001206 0.0754 57.89])
A=
1.0e+004 *
-0.0063 -4.8002
0.0001
0

B=
1
0

C=
1.0e+003 *
0

5.0680

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D=
0
>> [Az1,Bz1]=c2d(A,B,T1)
Az1 =
0.9935 -4.7848
0.0001 0.9998

Bz1 =
1.0e-004 *
0.9968
0.0000
>> [Az1,Bz1]=c2d(A,B,T3)
Az1 =
-0.0438 -2.9271
0.0001 -0.0399

Bz1 =
1.0e-004 *
0.6098
0.2166
>> [Az2,Bz2]=c2d(A,B,T4)
Az2 =
-0.4989 -133.8566
0.0028 -0.3245

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Bz2 =
0.0028
0.0000
>> G2k1=ss(Az1,Bz1,C,D,T3)
a=
x1
x2
x1 -0.04376
-2.927
x2 6.098e-005 -0.03995
b=
u1
x1 6.098e-005
x2 2.166e-005
c=
x1 x2
y1 0 5068
d=
u1
y1 0
Sampling time (seconds): 0.1
Discrete-time state-space model.
>> G2k2=ss(Az2,Bz2,C,D,T4)
a=
x1
x2
x1 -0.4989 -133.9
x2 0.002789 -0.3245
b=
u1
x1 0.002789
x2 2.759e-005
c=
x1 x2
y1 0 5068
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d=
u1
y1 0
step(Gk)
hold on
step(G2k1)
step(G2k2)
th p ng

Hnh 4: th p ng ca cc m hnh trng thi lin tc v gin on

BI 2.TNG HP VNG IU KHIN DNG PHN NG

6=

5.951e 005 z^2 + 0.000119 z + 5.951e 005

z^2 1.904 z + 0.90422

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Chuyn sang min nh z m m
Lnh Matlab
Gi6=filt([5.951e-005 0.000119 5.951e-005],[1 -1.904 0.9042],T2)

Transfer function:
5.951e-005 + 0.000119 z^-1 + 5.951e-005 z^-2
-------------------------------------------1 - 1.904 z^-1 + 0.9042 z^-2

2.1. Thit k b iu khin dng theo phng php Dead-Beat

Vi a thc L1(z)= l0 +l1*z^-1
Chng trnh matlab
ao=1;a1=- 1.904;a2=0.9042;
bo=5.951e-005 ; b1= 0.000119;b2=5.951e-005;
Az=filt([ao a1 a2],1,T2)
Transfer function:
1 - 1.904 z^-1 + 0.9042 z^-2
Bz=filt([bo b1 b2],1,T2)
Transfer function:
5.951e-005 + 0.000119 z^-1 + 5.951e-005 z^-2
l0=ao/((ao-a1)*(bo+b1+b2))
l0 =
1.4467e+003
l1=-a1/((ao-a1)*(bo+b1+b2))
l1 =
2.7546e+003
L1z=filt([l0 l1],1,T2)
Transfer function:
1447 + 2755 z^-1
Gri=(L1z*Az)/(1-L1z*Bz)
Transfer function:
1447 - 3937 z^-2 + 2491 z^-3
------------------------------------------------

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0.9139 - 0.3361 z^-1 - 0.4139 z^-2 - 0.1639 z^-3

Simulink

Hnh 5: M phng simulink cho b iu khin thit k bng phng php Dead-Beat

th p ng

Hnh 6: Kt qu m phng simulink vi b iu khin thit k bng phng

php Dead-Beat

2.2. Thit k b iu chnh dng theo phng php cn bng m hnh

Gw3=x1*z^-1+x2*z^-2+x3*z^-3
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x1+x2+x3=1
Chn x1=0.1 x2 =0.4 x3=0.5
Lnh matlab
Gw= filt([0 0.1 0.4 0.5],1,T2)
Transfer function:
0.1 z^-1 + 0.4 z^-2 + 0.5 z^-3
Gri2=Gw/(Gi6*(1-Gw))
Transfer function:

0.1 z^-1 + 0.2096 z^-2 - 0.1712 z^-3 - 0.5903 z^-4 + 0.4521 z^-5
---------------------------------------------------------------5.951e-005 + 0.000113 z^-1 + 2.381e-005 z^-2 - 8.331e
-005 z^-3 - 8.33e-005 z^-4 - 2.975e-005 z^-5

Simulink

Hnh 7: M phng simulink cho b iu khin thit k bng phng php

CBMH

th p ng

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Hnh 8: M phng simulink cho b iu khin thit k bng phng php CBMH

Lnh matlap kim tra im cc

Gk=Gri2*Gi6/(1+Gi6*Gri2)
Transfer function:

3.541e-010 z^-1 + 1.449e-009 z^-2 + 4.069e-010 z^-3 - 6.078e-009 z^

-4 - 6.092e-009 z^-5 + 9.179e-009 z^-6 + 1.33e-008 z^
-7 - 4.836e-009 z^-8 - 1.273e-008 z^-9 - 1.522e-009 z^
-10 + 5.762e-009 z^-11 + 2.532e-009 z^-12 - 1.005e-009 z^
-13 - 7.239e-010 z^-14
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------------------------------------------------------------------3.541e-009 + 3.234e-010 z^-1 - 1.493e-008 z^-2 - 2.666e-009 z^

-3 + 2.44e-008 z^-4 + 7.5e-009 z^-5 - 1.903e-008 z^-6
- 9.744e-009 z^-7 + 6.866e-009 z^-8 + 6.034e-009 z^-9
- 8.511e-010 z^-10 - 1.448e-009 z^-11 + 4.911e-025 z^
-12 + 1.823e-025 z^-13

Sampling time (seconds): 1e-005

>> pole(Gk)
ans =
0
0
0
0
1.0000
0.9979 + 0.0000i
0.9979 - 0.0000i
0.9061 + 0.0000i
0.9061 - 0.0000i
-0.4500 + 0.5454i
-0.4500 - 0.5454i
-0.9998 + 0.0183i
-0.9998 - 0.0183i
-0.9998 + 0.0183i
-0.9998 - 0.0183i
-0.0000
0.0000

nh gi: khng c im cc nm ngoi vng trn n v

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BI 3.THIT K BK CHO I TNG TC QUAY Gn
3.1 Xc nh hm truyn t ca i tng v tm hm truyn t trn
min nh Z
1
G = G ( ) . k . .
2Js
Phng php ZOH thi gian trch mu 0.1 ms
Xp x Gw(bi 2)=1/(1+Tt*s);Tt=100us
Lnh Matlab
G1=tf([1],[2*pi*J 0])
Transfer function:
1
-------0.0754 s
>> Gik=tf([1],[2*Tt 1])
Transfer function:
1
-----------0.0002 s + 1
>> Gn=Gik*km*xi*G1
Transfer function:
1.528
------------------------1.508e-005 s^2 + 0.0754 s
>> Gnz=c2d(Gn,T2,'tustin')
Transfer function:
2.471e-006 z^2 + 4.943e-006 z + 2.471e-006
-----------------------------------------z^2 - 1.951 z + 0.9512
Sampling time (seconds): 1e-005
>> Gnz1=filt([2.471e-006 4.943e-006 2.471e-006],[1 1.951 0.9512],T2)
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Transfer function:
2.471e-006 + 4.943e-006 z^-1 + 2.471e-006 z^-2
---------------------------------------------1 + 1.951 z^-1 + 0.9512 z^-2

3.2 Tng hp b iu khin PI theo tiu chun tch phn bnh phng
-B iu khin c dng:
r +r z
G (z ) =
1 + pz
Chn p=-1
-i tng iu khin c dng:
b +b z +b z
G (z ) =
a +a z +a z
-Sai lch iu chnh: Ez

-Vit sai lch iu chnh di dng sai phn :

ek=wk+wk-1(a1-1)+wk-2(a2-a1)-wk-3(-a2)-ek-1(a1-1+r0b1)-ek-2(a2-a1+r0b2+r1b1)-ek3(r1b2-a2) ek-4(r1b3)
Wk=1
k=0 e = 1
k=1 e = 1 r b
k=2 e = 1 + (a b 2b b )r + b r b r
k=3 e = (a 1 + r b ). 1 + (a b 2b b )r + b r b r (a a +
r b + r b )(1 r b ) (r b a )
Tiu chun tch phn bnh phng:
( )

=
=

Lnh matlab
function F= function1(r)
b0=2.471e-006;b1= 4.943e-006 ; b2=2.471e-006 ;
a0=1; a1= 1.951; a2= 0.9512;
F= 1+(1-r(1)*b1)^2+(1+(a1*b1-2*b1-b2)*r(1)+b1^2*r(1)^2-b1*r(2))^2+(-(a11+r(1)*b1)*(1+(a1*b1-2*b1-b2)*r(1)+b1^2*r(1)^2-b1*r(2))-(a2a1+r(1)*b2+r(2)*b1)*(1-r(1)*b1)-(r(2)*b2-a2))^2;

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options=optimset('fminunc');
options=optimset(options,'Display','iter','LargeScale','off');
r0=[-100 100];
[r,fval]=fminunc('function1',r0,options)

r=
1.0e+005 *
2.0438

2.7231

fval =
1.0172
Simulink

Hnh 9: S m phng Simulink

th scope

Hnh 10: Kt qu m phng

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Nhn xt:
Vi b s chn c t cng c optimazation ta thy b iu khin lm khng lm h n
nh c. Vy ta phi chn b s [r0 r1] khc.
Ta chn [ro r1]= [99 -98]
Simulink

Hnh 11: Simulink

th scope

Hnh 12: kt qu m phng

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- Kho st h thng vi tc ng ca nhiu u vo
Simulink

Hnh 13: Simulink

th scope

Hnh 14: Kt qu m phng

Nhn xt: Mc d c tc ng ca nhiu u vo nhng b iu khin vn a

h thng v gi tr cn bng mi

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- Kho st h thng vi tc ng ca nhiu u ra
Simulink

Hnh 15: Simulink

th scope

Hnh 16: Kt qu m phng

Nhn xt: Mc d c tc ng ca nhiu u ra nhng b iu khin vn a

h thng v gi tr cn bng.
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- Kim tra sai lch

Simulink

Hnh 17: th Simulink

th scope

Hnh 18: Kt qu m phng

Nhn xt: Bnh phng sai lch tin v 0.

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3.3 Thit k b iu chnh PI theo phng php gn im cc
a thc c tnh ca hm truyn ch o:
N ( z ) P( z ). A( z ) R ( z ).B ( z )

( z 1)( z 2 a1 z a2 ) ( r0 z r1 )(b0 z 2 b1 z b2 )
(1 r0b0 ) z 3 (1 a1 b1r0 b0 r1 ) z 2 (a2 a1 b1r1 b2 r0 ) z (a2 b2 r1 )
Chn im cc ca i tng l z1 , z 2 , z3 th a thc c tnh l:
N ( z ) ( z z1 ).( z z2 ).( z z3 )
z 3 ( z1 z 2 z3 ) z 2 ( z1 z2 z2 z3 z3 z1 ) z z1 z2 z3

1 a1 b1r0 b0 r1
z1 z2 z3

b
r
0
0

a a b r b r
Cn bng h s, ta c: 2 1 1 1 2 0 z1 z2 z2 z3 z3 z1
1 b0 r0

a2 b2 r1
z1 z2 z3

1 b0 r0

b2
a2
b1 b0 ( z1 z2 ) .r0
b0
.r1 1 a1 ( z1 z2 )
z1 z2
z1 z2

z z
z z

(b2 b0 z1 z 2 ).r0 b1 b2 1 2 .r1 z1 z2 a2 1 2 a2 a1

z1 z2
z1 z2

a2 b2 r1
z3
(1 b0 r0 ) z1 z2

Chn
z1,2 = 0.5 0,5j

Gii pt ta c [r0 r1]= [ -204087.522 369685.407]

Z3= 0.1521

Simulink

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Hnh 19: simulink

th scope

Hnh 20: kt qu m phng

chn li
z1,2 = 0.912 0,0412j

gii c [ro,r1]= [-393836.2877 393883.7988]

z3= -0.9877
Simulink

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Hnh 21: Simulink

th scope

Hnh 22: Kt qu M phng

chn li
z1,2 = 0.135 0.333j
gii c [ro r1] =[-5656110.03 1388606.737]
z3=0.2293
Simulink

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Hnh 23: Simulink

th scope

Hnh 24: kt qu m phng

Kt lun: Khng chn c cp im cc mong mun h n nh

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BI 4. TNG HP B IU KHIN TC QUAY TRN

KGTT
4.1 Phng php phn hi trng thi sao cho p ng c dng PT1
Ly s liu t bi 1.4
Lnh Matlab
p1=[0.59 0.72]
K1=acker(Az1,Bz1,p1)
G1=ss(Az1-Bz1*K1,Bz1,C,D,T3)
step(G1)

p2=[0.5 0.5]
K2=acker(Az2,Bz2,p2)
G2=ss(Az2-Bz2*K2,Bz2,C,D,T4)
step(G2)

4.2. Phng php p ng hu hn (Deat-beat-gn im cc ti gc ta trn

min nh z)
Lnh Matlab
p3=[0 0]
K3=acker(Az1,Bz1,p3)
G3=ss(Az1-Bz1*K3,Bz1,C,D,T3)
step(G3)

K4=acker(Az2,Bz2,p3)
G4=ss(Az2-Bz2*K4,Bz2,C,D,T4)
step(G4)

th
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Bo co Th nghim iu khin s

Hnh 25: th p ng

4.3. Kim tra tnh iu khin c v quan st c

a) Tnh quan st c
Ma trn quan st:
Q1=obsv(Az1,C)

Q1 =
1.0e+003 *
0 5.0680
0.0003 -0.2024
Q2=obsv(Az2,C)

Q2 =
1.0e+003 *
0 5.0680
0.0141 -1.6446
Kim tra tnh quan st c bng cch tnh hng ca ma trn Q1, Q2
rank(Q1)

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Bo co Th nghim iu khin s
ans =
2
rank(Q2)

ans =
2
Kt lun h quan st c vi 2 chu k trch mu T1, T2
b, Tnh iu khin c
Ma trn iu khin
Ct1=ctrb(Az1,B)
Ct1 =
1.0000 0.9935
0 0.0001
>> Ct2=ctrb(Az2,B)
Ct2 =
1.0000 -0.4989
0 0.0028
Kim tra hng ma trn iu khin
>> rank(Ct1)
ans =
2
>> rank(Ct2)
ans =
2
Vy H iu khin c

The end
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