Mon hoc

LY THUYET IEU KHIEN T ONG

Giang vien: TS. Huynh Thai Hoang

Bo mon ieu Khien T ong
Khoa ien ien T
ai hoc Bach Khoa TP.HCM
Email: hthoang@hcmut.edu.vn
Homepage: http://www2.hcmut.edu.vn/~hthoang/

26 September 2006 H. T. Hong - HBK TPHCM 1

 Chng 4

ANH GIA CHAT LNG

HE THONG IEU KHIEN

26 September 2006 H. T. Hong - HBK TPHCM 2

 Noi dung chng 4

Cac tieu chuan chat lng

Sai so xac lap
ap ng qua o
Cac tieu chuan toi u hoa ap ng qua o
Quan he gia chat lng trong mien tan so va chat lng trong
mien thi gian

26 September 2006 H. T. Hong - HBK TPHCM 3

 Cac tieu chuan chat lng

26 September 2006 H. T. Hong - HBK TPHCM 4

 Cac tieu chuan chat lng

Sai so xac lap

cht(t)
exl
r(t)

e(t) exl
t
0

Sai so: la sai lech gia tn hieu at va tn hieu hoi tiep.

e(t ) = r (t ) cht (t ) E ( s ) = R ( s ) Cht ( s )
Sai so xac lap: la sai so cua he thong khi thi gian tien en vo
cung.
exl = lim e(t ) exl = lim sE ( s )
t 0 s 0

26 September 2006 H. T. Hong - HBK TPHCM 5

 Cac tieu chuan chat lng

ap ng qua o: o vot lo
Hien tng vot lo: la hien tng ap ng cua he thong vt qua
gia tr xac lap cua no.
c(t) c(t)
vot lo
cmax
cmax cxl
cxl cxl

cxl
khong vot lo t t
0 0

o vot lo: (Percent of Overshoot POT) la ai lng anh gia

mc o vot lo cua he thong, o vot lo c tnh bang cong thc:
cmax cxl
POT = 100%
cxl
26 September 2006 H. T. Hong - HBK TPHCM 6
 Cac tieu chuan chat lng

ap ng qua o: Thi gian qua o Thi gian len

Thi gian qua o (tq): la thi gian can thiet e sai lech gia ap
ng cua he thong va gia tr xac lap cua no khong vt qua %.
% thng chon la 2% (0.02) hoac 5% (0.05)
Thi gian len (tr): la thi gian can thiet e ap ng cua he thong
tang t 10% en 90% gia tr xac lap cua no.
c(t) c(t)

(1+)cxl
cxl cxl
(1) cxl 0.9cxl

0.1cxl t
t
0
0 tq tr

26 September 2006 H. T. Hong - HBK TPHCM 7

 Sai so xac lap

26 September 2006 H. T. Hong - HBK TPHCM 8

 Sai so xac lap

Bieu thc sai so xac lap

R( s)
Ta co: E (s) =
1 + G (s) H (s)

sR ( s )
Suy ra: exl = lim sE ( s ) = lim
s 0 s 0 1 + G ( s ) H ( s )

Nhan xet: sai so xac lap khong ch phu thuoc vao cau truc va
thong so cua he thong ma con phu thuoc vao tn hieu vao.

26 September 2006 H. T. Hong - HBK TPHCM 9

 Sai so xac lap

Sai so xac lap khi tn hiu vao la ham nac

Neu tn hieu vao la ham nac n v: R( s ) = 1 / s
1
exl = vi K p = lim G ( s ) H ( s ) (he so v tr)
1+ K p s 0

cht(t) cht(t)

1 1

t t
0 0
G(s)H(s) khong co khau G(s)H(s) co t nhat 1 khau
tch phan ly tng tch phan ly tng
26 September 2006 H. T. Hong - HBK TPHCM 10
 Sai so xac lap

Sai so xac lap khi tn hiu vao la ham doc

Neu tn hieu vao la ham nac n v: R( s ) = 1 / s 2
1
exl = vi K v = lim sG ( s ) H ( s ) (he so van toc)
Kv s 0

cht(t) cht(t) cht(t)

r(t) r(t) r(t)

exl 0 exl = 0
e(t)

t t t
0 0 0
G(s)H(s) khong G(s)H(s) co 1 G(s)H(s) co nhieu
co khau TPLT khau TPLT hn 1 khau TPLT
26 September 2006 H. T. Hong - HBK TPHCM 11
 Sai so xac lap

Sai so xac lap khi tn hiu vao la ham parabol

Neu tn hieu vao la ham parabol: R( s) = 1 / s 3
1
exl = vi K a = lim s 2G ( s ) H ( s ) (he so gia toc)
Ka s 0

cht(t) cht(t) cht(t)

r(t) r(t) r(t)
exl0 exl = 0
e(t)

t t t
0 0 0
G(s)H(s) co t hn G(s)H(s) co 2 G(s)H(s) co nhieu
2 khau TPLT khau TPLT hn 2 khau TPLT
26 September 2006 H. T. Hong - HBK TPHCM 12
 Sai so xac lap

Moi lien he gia so khau tch phan trong G(s)H(s) va sai so xac lap
Tuy theo so khau tch phan ly tng co trong ham truyen G(s)H(s) ma cac he so
Kp, Kv, Ka co gia tr nh sau:

Nhan xet:
Muon exl cua he thong oi vi tn hieu vao la ham nac bang 0 th ham truyen
G(s)H(s) phai co t nhat 1 khau tch phan ly tng.
Muon exl cua he thong oi vi tn hieu vao la ham doc bang 0 th ham truyen
G(s)H(s) phai co t nhat 2 khau tch phan ly tng.
Muon exl cua he thong oi vi tn hieu vao la ham parabol bang 0 th ham
truyen G(s)H(s) phai co t nhat 3 khau tch phan ly tng.
26 September 2006 H. T. Hong - HBK TPHCM 13
 ap ng qua o

26 September 2006 H. T. Hong - HBK TPHCM 14

 ap ng qua o

He quan tnh bac 1

R(s) K C(s)
Ts + 1
K
Ham truyen he quan tnh bac 1: G ( s ) =
Ts + 1
1
He quan tnh bac 1 co mot cc thc: p1 =
T
1 K
ap ng qua o: C ( s ) = R ( s )G ( s ) = .
s Ts + 1
c(t ) = K (1 e t /T )

26 September 2006 H. T. Hong - HBK TPHCM 15

 ap ng qua o

He quan tnh bac 1 (tt)

Im s c(t)

(1+).K
K
(1).K
Re s
0 0.63K
1/T

t
0
T tq

Gian o cc zero ap ng qua o cua khau quan tnh

cua khau quan tnh bac 1 bac 1 tang theo qui luat ham mu
c(t ) = K (1 e t /T )

26 September 2006 H. T. Hong - HBK TPHCM 16

 ap ng qua o

Nhan xet ve he quan tnh bac 1

He quan tnh bac 1 ch co 1 cc thc (1/T), ap ng qua o
khong co vot lo.
Thi hang T: la thi iem ap ng cua khau quan tnh bac 1 at
63% gia tr xac lap.
Cc thc (1/T) cang nam xa truc ao th thi hang T cang nho,
he thong ap ng cang nhanh.
Thi gian qua o cua he quan tnh bac 1 la:

1
t q = T ln

vi = 0.02 (tieu chuan 2%) hoac = 0.05 (tieu chuan 5%)

26 September 2006 H. T. Hong - HBK TPHCM 17

 ap ng qua o

Quan he gia v tr cc va ap ng he quan tnh bac 1

Cc nam cang xa truc ao ap ng cua he quan tnh bac 1 cang
nhanh, thi gian qua o cang ngan.
Im s c(t)

K
Re s
0

t
0

Gian o cc zero ap ng qua o

cua khau quan tnh bac 1 cua khau quan tnh bac 1

26 September 2006 H. T. Hong - HBK TPHCM 18

 ap ng qua o

He dao ong bac 2

R(s) K C(s)
T 2 s 2 + 2Ts + 1
Ham truyen he dao ong bac 2:
K Kn2 1
G ( s) = 2 2 = 2 (n = , 0 < < 1)
T s + 2Ts + 1 s + 2n s + n2 T

He dao ong bac 2 co cap cc phc: p1, 2 = n jn 1 2

1 Kn2
ap ng qua o: C ( s ) = R ( s )G ( s ) = . 2
s s + 2n s + n2

c(t ) = K 1

e nt
1 2
[
sin (n 1 2 )t + ]



(cos = )

26 September 2006 H. T. Hong - HBK TPHCM 19

 ap ng qua o

He dao ong bac 2 (tt)

c(t)
Im s
cos =
j n 1 2 (1+).K
n K
Re s (1).K

n 0

j n 1 2

t
0
tq

Gian o cc zero ap ng qua o

cua khau dao ong bac 2 cua khau dao ong bac 2

26 September 2006 H. T. Hong - HBK TPHCM 20

 ap ng qua o

Nhan xet ve he dao ong bac 2

He dao ong bac 2 co cap cc phc, ap ng qua o co dang dao
ong vi bien o giam dan.
Neu = 0, ap ng cua he
=0
la dao ong khong suy = 0.2
giam vi tan so n n
= 0.4
goi la tan so dao ong t
nhien.
Neu 0< <1, ap ng cua
he la dao ong vi bien o
giam dan goi la he so
= 0.6
tat (hay he so suy giam),
cang ln (cc cang nam
gan truc thc) dao ong
suy giam cang nhanh.

26 September 2006 H. T. Hong - HBK TPHCM 21

 ap ng qua o

Nhan xet ve he dao ong bac 2

ap ng qua o cua he dao ong bac 2 co vot lo.

o vot lo
POT = exp .100%
1 2

cang ln (cap cc
cang nam gan truc
POT (%)

thc) POT cang nho

cang nho (cap cc
phc cang nam gan
truc ao) POT cang ln

Quan he gia he so
tat va o vot lo
26 September 2006 H. T. Hong - HBK TPHCM 22
 ap ng qua o

Nhan xet ve he dao ong bac 2

Thi gian qua o:
3
Tieu chuan 5%: tq =
n
4
Tieu chuan 2%: tq =
n

26 September 2006 H. T. Hong - HBK TPHCM 23

 ap ng qua o

Quan he gia v tr cc va ap ng he dao ong bac 2

Cac he dao ong bac 2 co cac cc nam tren cung 1 tia xuat phat
t goc toa o th co he so tat bang nhau, do o co o vot lo bang
nhau. He nao co cc nam xa goc toa o hn th co tan so dao
ong t nhien ln hn, do o thi gian qua o ngan hn.
Im s c(t)

K
cos = Re s

0

t
0
Gian o cc zero ap ng qua o
cua khau dao ong bac 2 cua khau dao ong bac 2
26 September 2006 H. T. Hong - HBK TPHCM 24
 ap ng qua o

Quan he gia v tr cc va ap ng he dao ong bac 2

Cac he dao ong bac 2 co cac cc nam cach goc toa o mot
khoang bang nhau th co cung tan so dao ong t nhien, he nao
co cc nam gan truc ao hn th co he so tat nho hn, do o o vot
lo cao hn, thi gian qua o dai hn.
Im s c(t)

n Re s K

t
0
Gian o cc zero ap ng qua o
cua khau dao ong bac 2 cua khau dao ong bac 2
26 September 2006 H. T. Hong - HBK TPHCM 25
 ap ng qua o

Quan he gia v tr cc va ap ng he dao ong bac 2

Cac he dao ong bac 2 co cac cc nam cach truc ao mot khoang
bang nhau th co n bang nhau, do o thi gian qua o bang
nhau. He nao co cc nam xa truc thc hn th co he so tat nho
hn, do o o vot lo cao hn.
Im s c(t)

Re s K

n 0

t
0
Gian o cc zero ap ng qua o
cua khau dao ong bac 2 cua khau dao ong bac 2
26 September 2006 H. T. Hong - HBK TPHCM 26
 ap ng qua o

He bac cao
He bac cao co nhieu hn 2 cc
Neu he bac cao co 1 cap cc phc nam gan truc ao hn so vi cac
cc con lai th co the xap x he bac cao ve he bac 2. Cap cc phc
nam gan truc ao nhat goi la cap cc quyet nh cua he bac cao.
Im s c(t)
ap ng he bac cao

Re s
0 ap ng he bac 2 vi
cap cc quyet nh

t
0
He bac cao co nhieu hn 2 cc He bac cao co the xap x ve he
bac 2 vi cap cc quyet nh
26 September 2006 H. T. Hong - HBK TPHCM 27
 Cac tieu chuan toi u hoa ap ng qua o

26 September 2006 H. T. Hong - HBK TPHCM 28

 Cac tieu chuan toi u hoa ap ng qua o

Tieu chuan IAE

(Integral of the Absolute Magnitude of the Error )
+
J IAE = e(t ) dt
0
Tieu chuan ISE
(Integral of the Square of the Error)
+
J ISE = e 2 (t )dt
0
Tieu chuan ITAE
(Integral of Time multiplied by the Absolute Value of the Error)
+
J ITAE = t e(t ) dt
0

26 September 2006 H. T. Hong - HBK TPHCM 29

 Cac tieu chuan toi u hoa ap ng qua o

He bac 2:
J IAE min khi 0.707
J ISE min khi 0 .5
J ITAE min khi 0.707
=0.3
c(t)
=0.5

=0.707
=0.9

t
0

ap ng cua he bac 2

26 September 2006 H. T. Hong - HBK TPHCM 30

 Cac tieu chuan toi u hoa ap ng qua o

Tieu chuan ITAE c s dung pho bien nhat

e ap ng qua o cua he thong bac n la toi u theo chuan ITAE
th mau so ham truyen kn he bac n phai co dang

Neu mau so ham truyen he kn co dang nh bang tren va t so

ham truyen he kn cua he bac n la th ap ng qua o cua he
thong la toi u va sai so xac lap bang 0.

26 September 2006 H. T. Hong - HBK TPHCM 31

 Cac tieu chuan toi u hoa ap ng qua o

ap ng toi u theo chuan ITAE

c(t)
He bac 1

He bac 2

He bac 3

He bac 4

t
0

26 September 2006 H. T. Hong - HBK TPHCM 32

 Quan he gia ac tnh tan so va
chat lng trong mien thi gian

26 September 2006 H. T. Hong - HBK TPHCM 33

 Quan he gia ac tnh tan so va sai so xac lap

R(s) C(s)
+ G(s)

Sai so xac lap cua he kn ch phu thuoc vao bien o mien tan so
thap cua he h, khong phu thuoc vao bien o mien tan so cao.

He h co bien o mien tan so thap cang cao th he kn co sai so

xac lap cang nho.

Trng hp ac biet neu he h co bien o tan so thap vo cung

ln th he kn co sai so xac lap bang 0 oi vi tn hieu vao la ham
nac.
26 September 2006 H. T. Hong - HBK TPHCM 34
 Quan he gia ac tnh tan so va chat lng qua o

R(s) C(s)
+ G(s)

He h co tan so cat bien cang cao th he kn co bang thong cang

rong he thong kn ap ng cang nhanh, thi gian qua o cang
nho. (Chu y bang thong cua he kn xap x tan so cat bien cua he
h)

He h co o d tr pha cua cang cao th he kn co o vot lo cang

thap. Cac nghien cu thc nghiem cho thay o d tr pha cua he
h ln hn 600 th o vot lo cua he kn nho hn 10%.

26 September 2006 H. T. Hong - HBK TPHCM 35