Khao sat ng dung MATLAB trong ieu khien t ong

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GII THIEU LY THUYET IEU KHIEN T ONG

ieu khien t ong ong vai tro quan trong trong s phat trien cua khoa hoc va
ky thuat. Lnh vc nay hu hieu khap ni t he thong phi thuyen khong gian, he
thong ieu khien ten la, may bay khong ngi lai, ngi may, tay may trong cac
quy trnh san xuat hien ai, va ngay ca trong i song hang ngay: ieu khien nhiet
o, o am...
Phat minh au tien khi au cho viec phat trien cua lng vc ieu khien t
ong la bo ieu toc ly tam e ieu chnh nhiet o may hi nc cua Jame Watt
nam 1874. Cac cong trnh ang chu y trong bc au phat trien ly thuyet ieu
khien la cua cac nha khoa hoc Minorsky, Hazen, Nyquist...nam 1922. Minorky
thc hien he thong ieu khien t ong cac con tau va chng minh tnh on nh cua
he thong co the c xac nh t phng trnh vi phan mo ta he thong. Nam 1932,
Nyquist a a ra mot nguyen tac tng oi n gian e xac nh tnh on nh cua
he thong vong kn da tren c s ap ng vong h oi vi cac tnh hieu vao hnh
sin trang thai xac lap. Nam 1934, Hazen a gii thieu thuat ng ieu chnh c t
ong (servo mechanism) cho nhng he thong ieu khien nh v vaa thao luan en
viec thiet ke he thong relay ieu chnh ong c vi ngo vao tn hieu thay oi.
Trong suot thap nien 40 cua the ky 20 phng phap ap ng tan so a giup cjo
cac ky s thiet ke cac he thong vong kn tuyen tnh thoa cac yeu cau chat lng
ieu khien. T cuoi thap nien 40 cho en au thap nien 50 phng phap quy ao
nghiem cua Evan c phat trien kha toan ven.
Phng phap quy ao nghiem va ap ng tan so c xem la cot loi cua ly
thuyet ieu khien co ien cho phep ta thiet ke c nhng he thong on nh va
thoa cac ch tieu chat lng ieu khien. Nhng he thong nay c chap nhan
nhng cha phai la toi u, hoan thien nhat. Cho ti cuoi thap nien 50 cua the ky 20
viec thiet ke mot hay nhieu he thong dan dan c chuyen qua viec thiet ke mot
he thong toi u vi y ngha ay u hn.
Khi cac may moc hien ai ngay cang phc tap hn vi nhioeu tn hieu vao va
ra th viec mo ta he thong ieu khien hien ai nay oi hoi mot lng rat ln cac
phng trnh. Ly thuyet ieu khien co ien lien quan cac he thong mot ngo vao va
mot ngo ra tr nen bat lc e phan tch cac he thong nhieu au vao, nhieu au ra.
Ke t khoang nam 1960 tr i nh may tnh socho phep ta phan tch cac he thong
phc tap trong mien thi gian, ly thuyet ieu khien hien ai phat trien e oi pho
vi s phc tap cua cac he thong hien ai. Ly thuyet ieu khien hien ai da tren
phan tch trong mien thi gian va tong hp dung cac bien trang thai, cho phep giai
Khao sat ng dung MATLAB trong ieu khien t ong
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cac bai toan ieu khien co cac yeu cau chat che ve o chnh xac, trong lng va
gia thanh cua cac he thong trong lnh vc ky nghe khong gian va quan s.
S phat trien gan ay cua ly thuyet ieu khien hien ai la trong nhieu lnh vc
ieu khien toi u cua cac he thong ngau nhien va tien nh. Hien nay may vi tnh
ngay cang re, gon nhng kha nang x ly lai rat manh nen no c dung nh la mot
phan t trong cac he thong ieu khien. Nhng ap dung gan ay cua ly thuyet ieu
khien hien ai vao ngay ca nhng nganh ky thuat nh: sinh hoc, y hoc, kinh te,
kinh te xa hoi.

I. NHNG KHAI NIEM C BAN
1. ieu khien hoc (Cybernctics):
La khoa hoc nghien cu nhng qua trnh ieu khien va truyen thong may moc,
sinh vat va kinh te. ieu khien hoc mang ac trng tong quat va c phan chia
thanh nhieu lnh vc khac nhau nh: toan ieu khien, ieu khien hoc ky thuat,
ieu khien hoc sinh vat (phong sinh vat: bionics), ieu khien hoc kinh te.
2. Ly thuyet ieu khien t ong:
La c s ly thuyet cua ieu khien hoc ky thuat. ieu khien t ong la thuat
ng ch qua trnh ieu khien mot oi tng trong ky thuat ma khong co s tham
gia cua con ngi (automatic) no ngc lai vi qua trnh ieu khien bang tay
(manual).
3. He thong ieu khien t ong:
Mot he thong ieu khien t ong bao gom 3 phan chu yeu:
Thiet b ieu khien (TBK).
- oi tng ieu khien (TK).
- Thiet b o lng.
Hnh 1.1 la s o khoi cua he thong ieu khien t ong.
Hnh 1.1
Trong o:
C: tn hieu can ieu khien, thng goi la tn hieu ra (output).
N
C
TBK TK
TBL
F
R
Khao sat ng dung MATLAB trong ieu khien t ong
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U: tn hieu ieu khien.
R: tn hieu chu ao, chuan, tham chieu (reference) thng goi la tn hieu vao
(input).
N: tn hieu nhieu tac ong t ben ngoai vao he thong.
F: tn hieu hoi tiep, phan hoi (feedback).
4. He thong ieu khien kn (closed loop control system):
La he htong ieu khien co phan hoi (feeback) ngha la tn hieu ra c o
lng va a ve thiet b ieu khien. Tn hieu hoi tiep phoi hp vi tn hieu vao e
tao ra tn hieu ieu khien. Hnh 1.1 chnh la s o cua he thong kn. C s ly
thuyet e nghien cu he thong kn chnh la ly thuyet ieu khien t ong.
5. He thong ieu khien h:
oi vi he thong h, khau o lng khong c dung en. Moi s thay oi cua
tn hieu ra khong c phan hoi ve thiet b ieu khien. S o hnh 1.2 la he thong
ieu khien h.



Hnh 1.2: He thong ieu khien h
C s ly thuyet e nghien cu he thong h la ly thuyet ve relay va ly thuyet
otomat hu han.

II. PHAN LOAI HE THONG IEU KHIEN T ONG
He thong ieu khien co the phan loai bang nhieu cach khac nhau. Sau ay la
mot so phng phap phan loai:
1. He tuyen tnh va phi tuyen:
Co the noi hau het cac he thong vat ly eu la he phi tuyen, co ngha la trong
he thong co t nhat mot phan t la phan t phi tuyen (quan he vao ra la quan he
phi tuyen). Tuy nhien, neu pham vi thay oi cua cac bien he thong khong ln, he
thong co the c tuyen tnh hoa trong pham vi bien thien cua cac bien tng oi
nho. oi vi he tuyen tnh, phng phap xep chong co the c ap dung.
2. He bat bien va bien thien theo thi gian:
He bat bien theo thi gian (he dng) la he thong co cac tham so khong oi
(theo thi gian). ap ng cua cac he nay khong phu thuoc vao thi iem ma tn
hieu vao c at vao he thong ieu khien phi thuyen khong gian, vi khoi lng
giam theo thi gian do tieu thu nang lng trong khi bay.
3. He lien tuc va gian oan theo thi gian:
R
TBK TK
U C
Khao sat ng dung MATLAB trong ieu khien t ong
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Trong he lien tuc theo thi gian, tat ca cac bien la ham lien tuc theo thi gian.
Cong cu phan tch he thong lien tuc la phep bien oi Laplace hay Fourier. Tronh
khi o, he gian oan la he thong co t nhat mot tn hieu la ham gian oan theo thi
gian. Ngi ta phan biet he thong gian oan gom:
- He thong xung: la he thong ma trong o co mot phan t xung (khoa ong
ngat) hay la tn hieu c lay mau (sample) va gi (hold). (Hnh 1.3)

Hnh 1.3: He thong ieu khien xung.

- He thong so: la he thong gian oan trong o tn hieu c ma hoa thanh logic
1, 0. o la cac he thong co cac khau bien oi tng t / so (A/D), so/ tng t
(D/A) va e ket noi ket noi tn hieu vi may tnh so. (Hnh 1.4)


Hnh 1.4: He thong ieu khien so
Cong cu e phan tch he thong gian oan la phep bien oi Laplace, Fourier
gian oan hay phep bien oi Z.
4. He n bien va a bien:
He n bien la he ch co mot ngo vao va mot ngo ra. Cong cu e phan tch va
tong hp he n bien la ly thuyet ieu khien co ien. V du: he ieu khien nh v
(v tr).
He a bien la he co nhieu ngo vao va nhieu ngo ra. Cong cu e phan tch va
tong hp he a bien la ly thuyet ieu khien hien ai da tren c s bieu dien he
trong khong gian trang thai. V du: he ieu khien qua trnh (Process Control
System) co the gom co ieu khien nhiet o va ap suat.
5. He thong thch nghi va he thong khong thch nghi:
c(t)
H G(p)
F(p)
e(t)
r(t)
(-)
oi tng ieu khien
MTS G(p)
c(t)
G(p)
D/A
oi tng ieu khien
Nga vao
dang so
Khao sat ng dung MATLAB trong ieu khien t ong
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He thong thch nghi la he htong hoat ong theo nguyen tac t chnh nh, trong
o he thong t phat hien nhng thay oi cua cac tham so do anh hng cua moi
trng ben ngoai va thc hien viec ieu chnh tham so e at c ch tieu toi u
c e ra.
6. He xac nh (deterministic) va he ngau nhien (stochastic):
Mot he thong ieu khien la xac nh khi ap ng oi vi mot ngo vao nhat
nh co the c biet trc (predictable) va co the lap lai c (repeatable). Neu
khong thoa man 2 ieu kien tren, he thong ieu khien la ngau nhien.

III. NHIEM VU CUA LY THUYET IEU KHIEN T ONG
e khao sat va thiet ke mot he thong ieu khien t ong ngi ta thc hien
cac bc sau:
a) Da tren cac yeu cau thc tien, cac mo hnh vat ly ta xay dng mo hnh toan
hoc da tren cac quy luat, hien tng, quan he cua cac oi tng vat ly. Mo hnh
toan hoc cua he thong c xay dng t cac mo hnh toan hoc cua cac phan t
rieng le.
b) Da tren ly thuyet on nh, ta khao sat tnh on nh cua he thong. Neu he
thong khong on nh ta thay oi ac tnh cua he thong bang cach a vao mot
khau bo chnh (compensation) hay thay oi thay oi tham so cua he e he thanh
on nh.
c) Khao sat chat lng cua he theo cac ch tieu e ra ban au. Neu he khong
at ch tieu chat lng ban au, ta thc hien bo chnh he thong.
d) Mo phong he thong tren may tnh e kiem tra lai thiet ke.
e) Thc hien mo hnh mau (prototype) va kiem tra thiet ke bang thc nghiem.
f) Tinh chnh lai thiet ke e toi u hoa ch tieu chat lng va ha thap gia thanh
neu co yeu cau.
g) Xay dng he thong thc te.









Khao sat ng dung MATLAB trong ieu khien t ong
Thc hien: cdt39.mta@gmail.com - 6 - Hc Vin K Thut Qun S