TRNG I HC BCH KHOA H NI

----------

Bo co th nghim h thng iu
khin s
H v tn :Nguyn Vn Tam
MSSV: 20122369
Lp: K&TH4-K57
Kp: Kp 1 sng th 4,tun 5,9,13
Sliu
: Final value :2369

H NI 2014

BI THC HNH S 3
Tng hp vng iu chnh tc quay
B.Theo tiu chun tch phn bnh phng:
B iu chnh PI s c dng:
r0 r1z 1 R( z 1 )
GRn ( z )

1 p1 z 1 P( z 1 ) chn
1

p1 1

i tng iu khin:
1

Gn( z

0.0004318 z +0.0003656 z
=
)
11.607 z1 +0.6065 z2

=B(z)/A(z)

Sai lch iu chnh :E(z)=W(z)/(1+Gr*Gn)

=>>E(z)*(P(z)*A(z)+R(z)*B(z))=P(z)*A(z)*W(z)
=>>E(z)*[ z3+ (-1+a1+b1.r0).z2+ (a2-a1+b1.r1+b2.r0).z +(b2.r1 -a2)]= W(z)*[z3+(a11) z2+ (a2-a1)*z-a2]
a v dng sai phn:
ek= -ek-1*k1 - ek-2*k2 - ek-3*k3 + wk+ wk-1*k4 + wk-2*k5 - wk-3*a2
vik1=(a1-1+b1.r0); k2= (a2-a1+b1.r1+b2.r0); k3=(b2.r1 -a2); k4=(a1-1); k5= (a2-a1);
Tiu chun tch phn bnh phng:

I = e 2 ( t ) dt min
0

I Q = ek min
2

k=0

M phng kho st:

S dng Optimization toolbox ca Matlab:
Ta c m hnh hm truyn c tnh theo phng php gin on ha t phn
trc:
Gn( z )=
1

0.0004318 z1+0.0003656 z2
11.607 z1 +0.6065 z2

To file fuction2.m lu folder lin kt vi Matlab c ni dung nh sau:

function Ik = bai3(r)
b0= 0; b1= 0.0004318; b2= 0.0003656;
a0= 1; a1= -1.607; a2= 0.6065;
k1=(a1-1+b1*r(1)); k2= (a2-a1+b1*r(2)+b2*r(1)); k3=(b2*r(2)-a2); k4=(a11); k5= (a2-a1);
e0=1;
e(1)=1-b1*r(1);
e(2)=-e(1)*k1-k2+1+k4+k5;

e(3)=-e(2)*k1-e(1)*k2-k3;
k=4:23;
w(k)=1; w(k-1)=1; w(k-2)=1; w(k-3)=1;
Ik =0;
for k = 4:1:23
e(k)= -e(k-1)*k1 - e(k-2)*k2 - e(k-3)*k3 + w(k)+ w(k-1)*k4 + w(k-2)*k5 w(k)-3*a2;
Ik = Ik + e(k)^2;
end
Ca s lnh Matlab thc hin cc lnh tm ti u nh sau:
>>options=optimset('fminunc');
>>options=optimset(options,'Display','iter','LargeScale','off');
>> r0=[0 -120];
>> [r1,fval]=fminunc('function2',r0,options);
Iteration Func-count
f(x)
Step-size
optimality
0
3
1.27015e+06
7.99e+04
1
9
478961 0.000125138
3.31e+04
2
12
223318
1
1.66e+04
3
15
95098.1
1
7.74e+03
4
18
41525.4
1
3.7e+03
5
21
17748
1
1.74e+03
6
24
7547.87
1
823
7
27
3167.05
1
386
8
30
1312.22
1
181
9
33
535.293
1
84
10
36
214.898
1
38.8
11
39
85.2389
1
17.8
12
42
34.1072
1
8.04
13
45
14.6866
1
3.57
14
48
7.74028
1
1.54
15
51
5.50318
1
0.626
16
54
4.91131
1
0.23
17
57
4.8043
1
0.0737
Ktquthuc:
>> r1
r1 =
69.7770 -69.0900
>>fval
fval =
4.8043
T kt qu trn ta c r0=69.777;r1=-69.09 v gii hn ca
Tm hm truyn h kn:

IQ

tin n 4.8043.

>> Gr=filt([69.7768 -69.0897],[1 -1],0.1e-3)

Gr =
69.78 - 69.09 z^-1
-----------------1 - z^-1
>> Gz=filt([0 0.0004318 0.0003656],[1 -1.607 0.6065],0.1e-3)
Gz =
0.0004318 z^-1 + 0.0003656 z^-2
------------------------------1 - 1.607 z^-1 + 0.6065 z^-2
Hm truyn h kn l:
>> Gk=feedback(Gr*Gz,1)
Gk =
0.03013 z^2 - 0.004323 z - 0.02526
---------------------------------z^3 - 2.577 z^2 + 2.209 z - 0.6318
Kim tra tnh n nh:
>> pole(Gk)
ans =
0.9893
0.7938 + 0.0921i
0.7938 - 0.0921i
>> step(Gk4)

Nhn xt:H n nh v bm st gi tr t =1.

M phng bng simulink:

Kt qu m phng:

Nhn xt:
- qu iu chnh nh.
- Thi gian xc lp ngn

th v cc tiu bnh phng sai lch:

S simulink:

Kt qu m phng:

Khi c tc ng ca nhiu u vo:

S Simmulink:

Kt qu m phng vi final value=69.

Mc d c tc ng ca nhiu u vo nhng b iu khin vn a h thng

v gi tr cn bng mi.
Khi c tc ng ca nhiu u ra:

Kt qu m phng vi final value =369

Nhn xt:b iu khin vn a h thng v gi tr cn bng

BI THC HNH S 4
Tng hp b iu chinh tc quay trn khng gian trang thai
1.Tng hp b iu khin theo phng php phn hi trng thi

- Ta c s cu trc ca ng c mt chiu kch thch c lp.

Khai bo tham s ca ng c:
>> t3=0.1;t4=0.01;km=38.2;ke=236.8;J=0.012;phi=0.04
+ Hm truyn ca vng h:
>> gh=(1/Ra)*tf(1,[Ta 1])*km*phi*tf(1,[2*pi*J 0])
Transfer function:
6.112
----------------------0.001206 s^2 + 0.0754 s
gdc=gh/(1+gh*ke*phi)
gdc =
0.007373 s^2 + 0.4608 s
----------------------------------------------------1.455e-06 s^4 + 0.0001819 s^3 + 0.07553 s^2 + 4.365 s
Hm truyn t h kn:
>> gdc1=feedback(gh,ke*phi)
gdc1 =
6.112
------------------------------0.001206 s^2 + 0.0754 s + 57.89
Ta tm cc ma trn A, B, C, D bng lnh sau:
9

>> [A,B,C,D]=tf2ss(6.112,[0.001206 0.07536 57.89]);

A=
1.0e+004 *
-0.0062 -4.8002
0.0001
0
B=
1
0
C=
1.0e+003 *
0 5.0680
D=
0
Chuyn m hnh sang m hnh gin on vi t3=0.1 v t4=0.01 ta c:
>> [Ak1,Bk1]=c2d(A,B,t3)
Ak1 =
-0.0438 -2.9297
0.0001 -0.0400
Bk1 =
1.0e-004 *
0.6103
0.2167
>>p1=[0.7 0.62]
p1 =
0.7000 0.6200
>> K1=acker( Ak1,Bk1,p1)
K1 =
1.0e+04 *
-0.7750 -4.2962
>> G1=ss(Ak1-Bk1*K1,Bk1,C,D,0.1)
G1 =
a=
x1
x2
x1 0.4292 -0.3076
x2 0.168 0.8908
b=
u1
x1 6.103e-05
x2 2.167e-05
10

c=
x1 x2
y1 0 5068
d=
u1
y1 0
Sampling time: 0.1
Discrete-time model.
>>step(G1)
th m phng:

Nhn xt : vi t3=0.1 khi ta chn p2=[0.7 0.62] th kt qu cho ra ging vi

khu PT1,h bm st gi tr 1,h n nh v sai lch tnh nh,nh vy im cc
ta chn l hp l.
Vi t4=0.01s chn p2=[ p21 p22]= [0.5 0.5]
>> [Ak2,Bk2]=c2d(A,B,t4)
Ak2 =
-0.4989 -133.8752
0.0028 -0.3246
Bk2 =
0.0028
0.0000
Chn p2=[0.5 0.5]
11

>> p2=[0.5 0.5]

p2 =
0.5000 0.5000
>> K2=acker( Ak2,Bk2,p2)
K2 =
1.0e+04 *
-0.0229 -4.2914
>> G2=ss(Ak2-Bk2*K2,Bk2,C,D,0.01)
G2 =
a=
x1
x2
x1 0.1404 -14.19
x2 0.009114 0.8596
b=
u1
x1 0.002789
x2 2.76e-05
c=
x1 x2
y1 0 5068
d=
u1
y1 0
Sampling time: 0.01
Discrete-time model.
>>step(G2)
Kt qu m phng:

12

Nhn xt: vi t4=0.01s khi ta chn p2=[0.5 0.5] th kt qu cho ra ging vi

khu PT1 nh vy im cc ta chn l hp l
2.Phng php p ng hu hn( dead-beat)
Chn im cc ti gc ta vi c 2 chu k ly mu
Vi t3=0.1s
>> p11=[0 0]
p1 =
1 0
>> K1=acker( Ak1,Bk1,p1)
K11 =
1.0e+03 *
-0.0276 -3.7924
>> G1=ss(Ak1-Bk1*K11,Bk1,C,D,0.1)
G1 =
a=
x1
x2
x1 -0.04215 -2.698
x2 0.0006584 0.04215
b=
u1
x1 6.103e-05
x2 2.167e-05
c=

13

x1 x2
y1 0 5068
d=
u1
y1 0
Sampling time: 0.1
Discrete-time model.
>>step(G1)
Kt qu m phng:

Vi t4=0.01s
>> p2=[0 0]
p2 =
1 0
>> K22=acker(Ak2,Bk22,p2)
K22 =
1.0e+04 *
-0.0022 -2.7652
>> G2=ss(Ak2-Bk2*K22,Bk2,C,D,0.01)
G2 =
a=
x1
x2
x1 -0.4384 -56.75
14

x2 0.003387 0.4384
b=
u1
x1 0.002789
x2 2.76e-05
c=
x1 x2
y1 0 5068
d=
u1
y1 0
Sampling time: 0.01
Discrete-time model.
>>step(G2)
Kt qu m phng:

Nhn xt :trong trng hp ny vi c 2 t3= 0.1s v t4= 0.01s th khi ta chn

im cc gc ta th sai lch tnh l kh ln so vi yu cu.

15