Bi tp ln

Mn iu khin s
bi: Thit k theo tiu chun tch phn s kt hp vi Dead-Beat, iu chnh
tc ng c DC Servo Harmonic RH 11D -6001
1. M t i tng iu khin
+ Cc phng trnh in ca ng c servo
- Phng trnh dng in.
IA = 1/Ru (U-E)
1+Tup
- Phng trnh tc .
=

1
(M-Mc)
Jp+Bf

- Sc in ng.
EA = Ke
- Phng trnh momen.
M= Kt
+ Xy dng m hnh ng c trn min thi gian lin tc
Lnh trn m-file khai bo cc thng s ca ng c:
Kt=4.91
Ke=0.5
J=43e-3
Bf=0.17
Ru=4.7
Lu=1.6e-3
Tu=Lu/Ru

Hnh 1.1. M hnh ng c DC servo trn simulink

Hnh 1.2. p ng tc vi in p 24v

- p ng dng in:

Hnh 1.3. p ng dng in

a. Tng hp b iu khin Dead-beat cho mch vng dng in
iA*

Ri

_A-

uA

1/Ru
Tu.S+1

iA

Khu C
dng

Hm truyn i tng (coi b chnh lu l khu t l nm trong Ri):

( )
+ Tm b iu khin dng in theo Dead-beat vi L(z-1) = L0+L1*z-1

num=[0 1/Ru];
den=[Tu, 1];
Gsis=tf(num,den)%doi tuong cua Ri tren mien s
Gsiz=c2d(Gsis,1e-4,'zoh')%doi tuong c?a RI tren mien z
[B,A]=tfdata(Gsiz,'v');
disp('========Doi tuong cua bo Ri:------')
Gsiz=filt(B,A,1e-4)
%Tim bo dieu khien dong dien Ri L(z^-1)=L0+L1*z^-1; num=L(z^-1)*A(z^-1);
%den=1-L(z^-1)*B(z^-1)
L0=(A(1)/(A(1)-A(2)))*(1/(B(1)+B(2)))
L1=(-A(2)/(A(1)-A(2)))*(1/(B(1)+B(2)))
L=filt([L0 L1],1,1e-4)
B=filt(B,1,1e-4)
A=filt(A,1,1e-4)
disp('=========Bo dieu khien dong dien:')
Griz=L*A/(1-L*B) %tim dc bo dk Ri
Giz=feedback(Gsiz*Griz,1)% he kin Gi
Step(Giz)
Tm c b iu khin:
10.58 - 8.882e-016 z^-1 - 5.879 z^-2
--------------------------------------------1 - 0.5729 z^-1 - 0.4271 z^-2

Hnh 1.4. p ng dng in mch vng kn vi tn hiu step

Hnh 1.5. M phng trn simulink vi b iu khin dng

Hnh 1.6. p ng dng in vi tn hiu t l 2

b. Tm R khi b qua nh hng ca E v mch vng dng in
w*

Rw

Gs

w
iu chnh
tc

Hnh 1.10. Mch vng tc

+ Tm i tng ca mch vng tc :
>>num=[0 0 Kt/Ru];
>>den=[Tu*J (Tu*Bf+J) Bf];
>>Gsw=tf(num,den)
>>Gzw=c2d(Gsw,1e-4,'zoh')
Gsw =
0.5234
-------------------------------------------3.745e-06 s^2 + 0.01101 s + 0.018

Gzw =
0.0006351 z + 0.0005759
--------------------------------z^2 - 1.745 z + 0.7453
>>b0=0;b1=0.0006351;b2= 0.0005759;
>>a0=1;a1=- 1.745;a2=0.7453;
>>Gzw=filt([b0 b1 b2],[a0 a1 a2],1e-4)
Gzw =
0.0006351 z^-1 + 0.0005759 z^-2
-------------------------------------------1 - 1.745 z^-1 + 0.7453 z^-2
+ Tm b iu khin theo tiu chun tch phn bnh phng sai lch:
B iu khin:
( )
Chn r0=24 tm r1 theo iu kin r1<= -r0*(1-r0*b1) v tng bnh phng sai
lch b nht c th
>>syms r1
>>r0=24;
>>e0=1
>>e1=1+1*(a1-1)-e0*(a1-1+r0*b1)
>>e2=1+1*(a1-1) + 1*(a2-a1) - e1*(a1-1+r0*b1)- e0*(a2-a1+r0*b2+b1*r1)
>>e3=1+ 1*(a1-1)+ 1*(a2-a1)-a2- e2*(a1-1+r0*b1)-e1*(a2-a1+r0*b2+r1*b1)e0*(r1*b2-a2)
>>iq=e0^2 + e1^2 + e2^2 + e3^2
T biu thc iq v c th:

Hnh 1.11. th tng bnh phng sai lch theo r1

Biu thc iu kin:
>>dk=-r0*(1-r0*b1)
dk =
-23.6342
Nh vy chn r1 = dk=-23.6342 b iu khin
>>Grw=filt([24 dk],[1 -1],1e-4)
Grw =
24 - 23.63 z^-1
--------------1 - z^-1
Hm truyn ca h kn:
>>Gw=feedback(Grw*Gzw,1)
Gw =
0.01524 z^-1 - 0.001188 z^-2 - 0.01361 z^-3
-------------------------------------------------------1 - 2.73 z^-1 + 2.489 z^-2 - 0.7589 z^-3
>>step(Gw)

Hnh 1.12. p ng mch vng kn vi tn hiu step

+ M phng trn simulink

Hnh 1.13. M phng b iu khin tc trn simulink

Hnh 1.14. p ng tc vi tn hiu t 60

+ Kt hp b iu khin dng in v b iu khin tc :

Hnh 1. M phng b iu khin tc kt hp vi b iu khin dng in

Hnh 1. p ng tc vi tn hiu t 60

Hnh 1. p ng dng in