>> Ru=23.35;Lu=70.5e-3;Tu=Lu/Ru;Tt=100e-6;T=0.1e-3;>> Ke=28.69;J=0.09;phi=0.06;Km=26.67;>> Gi=tf([1],[Tt 1])*(1/Ru)*tf([1],[Tu 1]) Transfer function: 0.04283-------------------------------3.019e-007 s^2 + 0.003119 s + 1 >> Giz=c2d(Gi,T,'zoh') Transfer function:0.0005157 z + 0.0003663-----------------------z^2 - 1.335 z + 0.3559 Sampling time: 0.0001Tng hp vng iu chnh dng phn ng (iu khin mmen quay)i tng Giz (tnh theo phng php ZOH, chu k trch mu T=0.1e -3 s)Giz=0.0005157 z + 0.0003663-----------------------z^2 - 1.335 z + 0.3559 Sampling time: 0.0001Vi L() bc 1: L1(z-1)=l0 + l1.z-1

Thit k b iu khin theo phng php Dead Beat>> T = 0.1e-3;>> b0 = 0; b1 = 0.0005157; b2 =0.0003663;>> a0 = 1; a1= -1.335; a2 = 0.3559;>> MTC = (a0 - a1)*(b0 + b1 + b2);>> l0 = a0/MTC>> l1 = -a1/MTC>> Az = filt([a0 a1 a2] , [1], T)>> Bz = filt([b0 b1 b2], [1], T)>> Lz = filt([l0 l1], [1], T)>> Giz = filt([b0 b1 b2], [a0 a1 a2], T)>> GRi = (Lz*Az)/(1-Lz*Bz)>> Giz = Bz/Az>> Gk = feedback((GRi*Giz), [1])>> pole(Gk)>> zero(Gk)>> step(Gk)

Kt qu>> GRi = (Lz*Az)/(1-Lz*Bz) Transfer function: 485.6 - 692.6 z^-2 + 230.7 z^-3-------------------------------------------1 - 0.2504 z^-1 - 0.5122 z^-2 - 0.2374 z^-3Sampling time: 0.0001

>> Gk = feedback((GRi*Giz), [1]) Transfer function: 0.2504 z^-1 + 0.1779 z^-2 - 0.3572 z^-3 - 0.1347 z^-4 + 0.08451 z^-5---------------------------------------------------------------------------1 - 1.335 z^-1 + 0.3559 z^-2 + 5.551e-017 z^-3 + 2.776e-017 z^-4 - 1.388e-017 z^-5Sampling time: 0.0001

>> pole(Gk)ans = 0 0 0 0.9669 0.3681 -0.0000 + 0.0000i -0.0000 - 0.0000i 0.0000

Hnh 1.1. p ng ca h thng.Nhn xt:H thng n nh sau 3 chu k trch mu (0.03ms).Tt c cc im cc u nm trong vng trn n v.

Tng hp vng iu chnh tc quay (BK tc )

GRnGRn

n* + n _

Hnh 2.1. S cu trc mch vng iu khin tc quay.i tng tc bi ny c tnh bng :

Gk(bi 2) c tnh xp x thnh 1 khu qun tnh bc nht:

>>Gk= tf([1], [2*Tt 1]) Transfer function: 1------------0.0002 s + 1Suy ra:

Thay s : Tt=100.10-6 s, Km= 26.67 , J= 0.09, ta c:

>> Gns=Gk*tf([Km*phi],[2*pi*J 0])Transfer function: 1.6------------------------0.0001131 s^2 + 0.5655 sThit k b iu chnh PI theo phng php gn im cc

>> Gnz=c2d(Gns,T,'zoh') Transfer function:6.029e-005 z + 5.105e-005------------------------- z^2 - 1.607 z + 0.6065Sampling time: 0.0001 >> Gn(z-1) = filt([0 6.029e-005 5.105e-005 ],[1 -1.607 0.6065 ],T) Transfer function:6.029e-005 z^-1 + 5.105e-005 z^-2--------------------------------- 1 - 1.607 z^-1 + 0.6065 z^-2 Sampling time: 0.0001Hm truyn i tng

B iu khin:

Hm truyn h kn vng iu khin tc :

a thc c tnh ca hm truyn ch o:N(z) = P(z)A(z) + R(z)B(z) = (z + p1)(a0z2 + a1z + a2) + (r0z + r1)(b0z2 + b1z + b2)N(z) = Gi im cc ca hm truyn ch o l z1 , z2 , z3 ta c:N(z) = (z z1 )( z z2 )( z z3 )N(z) = z3 + z2( z1z3+z2z3+z1z2) + z( z1+ z2 +z3 ) + ( -z1z2z3 )ng nht h s, chn z1 , z2, t z1+z2=k1 z1.z2=k2 v t z3 l n, ta cn gii h phng trnh 4 n s : r1 , p , z3 (r0 =0)

Thc hin bng MATLAB>> b0 = 0;b1 =6.029e-005 ; b2 =5.105e-005; >> a0 = 1; a1 = -1.607 ; a2 =0.6065;>> z1 = 0.85; z2 = 0.8;>> k1 = z1 + z2; k2 = (z1)*(z2);>> A = [b0 a0 1;b1 a1 -k1;b2 a2 k2];>> B = [-k1 - a1; k2-a2; 0];>> X = A\BKt qu, m phng.

X = 218.0265 -0.2464 0.2034

Hnh 2.2. S khi ca h thng.

Hnh 2.4. p ng ca h thng.

Hnh 2.5. Sai lch bnh phng.

Kim tra tnh n nh ca h thng.

Hnh 2.6. S khi ca h thng khi c nhiu vo v nhiu ph ti.

Hnh 2.7. th p ng ca h thng khi c nhiu vo v nhiu ph ti.

Hnh 2.8. Sai lch bnh phng ca h thng khi c nhiu vo v nhiu ph ti.