Professional Documents
Culture Documents
C5-Feedback Control Analysis
C5-Feedback Control Analysis
Ni dung chng 5
5.1 5.2 5.3 5.4 5.5 Cu hnh chun ca h iu khin phn hi Chun ha m hnh Pht biu bi ton chun nh gi cht lng trn min thi gian nh gi cht lng trn min tn s
2006 - HMS
Mc ch bi ging
Lm r cc yu t lin quan ti cht lng ca mt h thng iu khin phn hi Nhng nguyn tc c bn nht trong thit k mt b iu khin phn hi
2006 - HMS
Gd u K
+
G
+ +
ym r u y ym d n tn hiu t, gi tr t tn hiu iu khin tn hiu ra c iu khin tn hiu o, tn hiu phn hi nhiu qu trnh (khng c o) nhiu o
G Gd K P
2006 - HMS
2006 - HMS
2006 - HMS
2006 - HMS
2006 - HMS
2006 - HMS
dx = (w1 + w2 )((x1 x 2 )R x + x 2 ) dt Tuyn tnh ha xung quanh im lm vic Ah V d x + x = (x1 x 2 )R + Rx1 + (1 R)x 2 w dt Gp (s) = x1 x 2 1 R 1 R , Gd = s + 1 s + 1
= V / w
2006 - HMS
10
2006 - HMS
11
Chun ha tn hiu:
y = y / Sy , u = u / Su , d = d / Sd Sy l di tn hiu o, Su l di tn hiu iu khin v Sd l di nhiu qu trnh
M hnh chun ha
y(s) = G(s)u(s) + Gd (s)d(s) G(s) = Gm (s) Gp (s)SuGv (s) = Gm (s)Gp (s)Gv (s) Sy Gm (s) SdGd (s) = Gm (s)SdGd (s) Sy
2006 - HMS
12
Gd (s) =
Sy = Su = 16 mA
Gd =
F2,max 0 Sd = 0
0 T1,max 0
0 0 T2,max
r =
Cc quan h c bn
p ng h kn
2006 - HMS
15
Cc yu cu cn tha hip
Tc p ng v cht lng p ng c tnh bm gi tr t/loi b nhiu qu trnh v tnh bn vng vi nhiu o p ng u ra v p ng tn hiu iu khin Cht lng iu khin ti u v tnh bn vng vi sai lch m hnh
2006 - HMS
17
2006 - HMS
18
p ng vi thay i gi tr t
2006 - HMS
19
qu iu chnh (overshoot): Chnh lch gia gi tr nh v gi tr xc lp (A) chia cho gi tr u ra xc lp. Thng thng,
qu iu chnh c qui nh khng c php vt qu 20%-25%.
Sai lch tnh (steady state error, ): Sai lch gia gi tr xc lp ca u ra so vi gi tr t (e = r y). Sai lch tnh cng nh cng
tt, thng thng ch yu cu nm trong mt gii hn no .
Chng 5: Phn tch h iu khin phn hi 2006 - HMS
20
= (
e( ) 2 d )1 / 2
e( ) d
e( ) d )
1/2
+ (
u( ) 2 d )1 / 2
2006 - HMS
21
p ng qu vi nhiu qu trnh
2006 - HMS
22
2006 - HMS
23
c tnh bm tim cn
iu kin bm tim cn: Gi thit h n nh ni v d = n = 0. a) Nu r thay i dng bc thang th sai lch iu khin tin ti khng (khi cho ) khi v ch khi S(s) c t nht mt im khng ti gc ta , hoc L(s) c t nht mt im cc ti gc ta . b) Nu r thay i dng tn hiu dc th sai lch iu khin tin ti khng (khi cho ) khi v ch khi S(s) c t nht hai im khng ti gc ta , hoc L(s) c t nht hai im cc ti gc ta .
Chng 5: Phn tch h iu khin phn hi 2006 - HMS
24
Nguyn l m hnh ni
h kn c c tnh bm tim cn th hm truyn h h L(s) phi cha bn trong mt m hnh ni ca cc im cc khng n nh ca tn hiu t.
2006 - HMS
25
Di thng ca h kn
Di thng: Phm vi tn s ca mt tn hiu u vo m h thng cho qua vi mt h s khuch i (hay ni cch khc l bin ca c tnh tn) ln hn hoc bng 1 2 0.707 Di thng phn nh c tnh p ng vi gi tr t, nhiu qu trnh v nhiu o
Chng 5: Phn tch h iu khin phn hi 2006 - HMS
26
2006 - HMS
27
2006 - HMS
28
2006 - HMS
29
c tnh tn h h
L(s) = G(s)K (s)
a) th Bode
Chng 5: Phn tch h iu khin phn hi
b) th Nyquist
2006 - HMS
30
Tn s ct c(crossover frequency):
Tn s nh nht m L( jc ) = 1 ngha gn tng ng vi di tn