n n ut u n n

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............................. 1
I I . ......................... 2
I .................................................................................................................................. 3
CHG I G HH H H HG ........................ 4
I. H H G H ...................................... 4
1. H ........................................................................................................... 4
2. ....................................................................................................... 5
3. .................................................................... 6
4. ................................................................................. 6
4.1 ....................................................................................................... 6
4.2 ........................................................................................................... 6
5. X ............................................................................................ 6
5.1 .................................................................................................... 7
5.2 ...................................................................................... 8
II. G G HH H I ............... 8
HG II HH H I HH H G
H H G H .......................................................................... 10
I. HH H G ................................................................... 10
1. ............................................................................................. 10
2. S ................................................................................................ 13
II. H H G H G H ................................. 16
HG III HI H I HI H I I ............. 20
I. G I HI I I ................................................... 20
1. ................................................................................................ 20
2. hn (PI) ............................................................................ 21
3. I ........................................................................ 23
II. HI I HI I I ........................................................ 27
1. 1 .......................................... 27
2. Matlap ................................................................................. 34
3. .......................................................................... 45
HG I I HI I G H ............................................
I I H H ...................................................................................................

n n ut u n n

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I I




hi
T
1986
2











T y em
I I


Em xn n tn m n o m n n n vn mn ut u
n n nt tn bo m tron sut qu trn t n n.Trong qu
trn t n n,m d n nn s khng trn k nn tu xt, em
mon nn c s n p kn t p t v bn b.




Em xin chn cm !



n n ut u n n

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i


220V U= 10V 200
0

U= 5V 30
o

:

T[s] 0-10 30 50 70 100 150 200 250 300 350
T[
o
C] 30 30 58 80 98 116 124 127 130 130

u cu
1. X
2. S

3. T : I
I T

4. T I














n n ut u n n

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1 1
0 1 1
1
( ) ( ) ( )
... ( )
n n
n n
n n
d c t d c t d c t
a a a a c t
dt dt dt

+ + + + =
1 1
0 1 1
1 1
( ) ( ) ( )
... ( )
m m
m m
m m
d r t d r t d r t
b b b b r t
dt dt dt

= + + + +
HG I G HH H H HG

I. H H G H
1. Hm truyn t

:

Q
:





T : a
i
( 0, i n = ), b
j
( 0, j m = ;
0
0
0
0;
.
G 0 2 :
1 1
0 1 1 0 1 1
( ... ) ( ) ( ... ) ( )
n n m m
n n m n
a s a s a s a C s b s b s b s b R s


+ + + + = + + + +
1
0 1 1
1
0 1 1
... ( )
( ) ...
m m
m n
n n
n n
b s b s b s b C s
R s a s a s a s a

+ + + +
=
+ + + +

:
1
0 1 1
1
0 1 1
... ( )
( )
( ) ...
m m
m n
n n
n n
b s b s b s b C s
G s
R s a s a s a s a

+ + + +
= =
+ + + +

=>G
: H
0
* p bn pl
f 0 f
{f} = F = f
-S(t)
dt
T :
n n ut u n n

n vn u un
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S

FS f

S



V

tnh .
V
.
2. hnh ton hc

phn tch v
.
V m hnh ha.
SISO
IO
ISO 1 SIO
1 .
3. c loi m hnh ton hc ca h thng
- P
- H G
vo.
.
- P .
4. c tnh ng hc ca h thng



T

4.1 c tnh thi gian


n n ut u n n

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c(t) = L
-1
{C(s)} = L
-1
{G(s)} = g(t) ( Do R(s)=1 )


c(t) = L
-1
{C(s)} = L
-1
{
( ) G s
s
} =
0
( )
t
g d t t
}
= h(t) ( Do R(s) =
1
s
)
4.2 c tnh tn s




vo hnh sin.
=
( )
( )
C jw
R jw



5. c nh hm truyn t.
:
W
d
(p)=K
d
.W
1
(p).

(t) l hm so chun: ()

()

W 1 3 :
- 1 :

(p)=

(I)
- :

(p)=

)(

)
(II)
- Khu :

(p)=

)(

(III)
W
1
(p)
n n ut u n n

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Hnh 1.1 : Xc Hm Truy T Hm Qu
:
T 07

7
T
3
=

t
7
(t
3

(t
3
W
1

:
(t
3
> 031 W
1
I
031 (t
3
W
1
II
019< (t
3
W
1
III
X
T
TT
1
, T
2
, ). T I:
W
1
(p)=

5.1. hng php th
1.2
T ,
T dc ln
nh m un), m ca tip tuyn ny v ng trc thi gian cho ta thi
gian tr xp x , 0623

cho T+ .
V
Ngoi ra,

.
n n ut u n n

n vn u un
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Hnh 1.2: Phng Php K T T Trn T ng


5.2. hng php th gii tch.
:

T 2 :
A
=0,283

;
B
=0,623

12 T
:
T=1,5.(t
B
- t
A
)
=1,5.( t
B
- t
A
/3)= t
B


II. G G HH H I

30
o
C
V :
T[s] 0-10 30 50 70 100 150 200 250 300 350
T[
o
C] 0 0 28 50 68 86 94 97 100 100

T ta v c ng cong hi m gia tn vo v tn
hi ra:
n n ut u n n

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T : 1 :

(p)=

vi =30
T :

T th c cc tham s: y
xl
= 100; = 30
V =

= 20.
X =0623
xl
=62,3

T th c t = 90,5 =>
T = t = 90,5 30 = 60,5
V :
W(p)=
1 5 , 60
20
+ p
e
-30p





n n ut u n n

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HG II. HH H I HH H G
H S H H H HG

I. HH H G
1. ho st p ng u ra
T :
W(p)=
1 5 , 60
20
+ p
e
-30p
V S
V S :
S:


n n ut u n n

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Tf F:


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T :

T :


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T :

S :
>> plot(T);
>> grid on
S :

2. So snh v chnh nh.
S :
H : W(p) =

t[s] 0-
30
50 70 100 150 200 250 300 350
T[

0 28 50 68 86 94 97 100 100
T[] 0 26,95 47,514 68,03 86,1 93,9 97,323 98,827 99,49
n n ut u n n

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sau

Sai : 1223%

H
T :
G T 5795 :
W(p) =

Ta t Tf F :



n n ut u n n

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S :

S :
>> plot(T);
>> grid on



Ta c bng s liu sau:
t[s] 0-30 50 70 100 150 200 250 300 350
T[

0 28 50 68 86 94 97 100 100
T[]
sau
0 27,95 48,98 69,59 87,17 94,58 97,72 99,04 99,58

S : 0962%
V

n n ut u n n

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:
W(s)=
1 95 , 57
20
+ S
.
e
S 30


3. hn tch cc ng c tnh ng hc.
3.1 Hm qu
Nhp vo Command Window nhng dng lnh sau:
>> w=tf([20],[57.95 1]);
>> set(w,'inputdelay',30);
>> step(w)
>> grid on
T th :

Nhn xt:
- H =20
- 30
- H 1 0
- G 20 0623 T 104
3.2 Hm trng lng
Tip tc nhp vo Command Window dng lnh sau :
>>impulse(w)
>>grid on
Ta nh th sau:
n n ut u n n

n vn u un
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Nhn xt:
- H suy
0
- T
T
K
=0,345.
- H
3.3 th ode
W :
>> [num,den]=pade(2,3);
>> wtre=tf(num,den);
>> w=tf(20,[57.95 1]);
>> wtd=w*wtre;
>> margin(wtd);
>> grid on
T :

n n ut u n n

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:
- : 726 : 0345/
- T : 0796 / : 534
- T .
- T i w=(1/T)= 0,017256
20logK=26,02.
- -20dB/dec.

3.4 c tnh yquist
W :
>>nyquist(wtd)
>>grid on

n n ut u n n

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T :


:
- Wj) khi
-
- H 1 (-
1,0j -1,0j).
- 200 =0.




n n ut u n n

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HG III HI H I HI H I I.

I. G I I HI II.
1. iu khin iu khin t l
- T U
r
U
v
(t)
- :
U
r
(t) =K
p
.U
v
(t)
T :
U
r
(t) :
U
v
(t) :
K
p
:
:
V
V
0% 100%
l .
:
V ="20%" 20 %
100%
V ="500%" 100 %
20% Q : K= 100/ % P band.
:



:
H


p
.
n n ut u n n

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Mn d t l

2. iu khin t l - tch phn (PI)
T V T




(offset) .

- tch phn.
T :

T : :
:

1 2
1
( ) ( ) ( ) ( ( ) ( ) )
d m
i
U t K e t K e t dt K e t e t dt
T
= + = +
} }
1 m
K K =
1
2
i
K
T
K
=
0%
50%
100%
Gi

t Gii t l
n n ut u n n

n vn u un
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- H :
)
p T
1
1 ( K
) p ( E
) p ( U
) p ( W
i
p
+ = =
- H :

) ( j
i
p
e ). ( A )
j T
1
1 ( K
) j ( E
) j ( U
) j ( W
e
e =
e
+ =
e
e
= e
T :

2 2
i
p
T
1
1 K ) ( A
e
+ = e ;
)
T
1
( arctg ) (
i
e
= e
T 0
,
I I
).
R I
H
I Kp v Ti khc nhau.






I
1:
Kp Ti T
2 :
Kp Ti T

3 :
2 t
m
K
i
T
2 t
e(t)
1
2
3
5
4
0

t
n n ut u n n

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Kp Ti T

4:
T Kp Ti T Q

5 :
Kp v Ti V
T
i

I
V
I

I
V g
I

3. iu khin t l vi tch phn (I)
I
.
I I


:
X I :







H 141 S I
H - :
R
R
R
C
d

R
d


C
i

R
i

R
R
R
U
v

U
v

n n ut u n n

n vn u un
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|
|
.
|

\
|
+ + = + + =
} }
dt
de
T dt . e
T
1
e K
dt
de
. K dt . e . K e . K ) p ( W
d
i
p d I p

T :
{

( )
( )
( )



Ta c:

}
+ + =
t
0
v
i i
v
d d
2
1
dt ) t ( U .
C . R
1
dt
dU
. C . R Uv .
R
R
Ur
Nn
|
|
.
|

\
|
+ + =
P . C R
1
P .
R
C R R
1
R
R
U
U
i i 2
d d 1
1
2
v
r

- H :
|
|
.
|

\
|
e +
e
+ =
e
e
= e j . T
j . T
1
1 . Km
) j ( E
) j ( U
) j ( W
i
d


H 41 I


e
2
t

) (e
2
t

t
a
)
b
)
c
)
e =
e = 0
Im
0 0
0
arctg = o
i
T
1

h(t
)
Km
d
)
e
)
n n ut u n n

n vn u un
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:
:
:
:
:
- I T -Tch phn-V :
I 3 I

V
ff
I
u khin t l (Kp) c ng lm gim thi gian ln v s lm gi
loi b sai s xc l u khin tch phn (Ki) s loi b sai s xc l lm
x u khin vi phn (Kd) c tc d nh ca h
thng, gi u chnh v ci thi . ng ca mi tham s
u khin Kp, Ki, Kd ln h th c tm tt b i :
T

T
(Rise time)

(Overshoot)
T
(Settling time)
S
(Steady-state err)

p
K
G T T

I
K
G T T

D
K
G G T
I
T I
I I
: K
m
,T
I
v T
D :

Khi ta cho T
I
= T
D
= 0 ;
Khi T
I
= -vi phn;
Khi T
D
= 0 - tch phn.
T ,(
2 2
t
< o <
t


n n ut u n n

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I



T
T
I
v T
D


V I

2
I :
Q I

V I
I





S
I
ng
chnh xc.
I


, ,
:

T
T T T
T G G G
T T G G
P
K
I
K
D
K
P
K
I
K
D
K
n n ut u n n

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T T G
H T T G
S G T T
T T T T
G G T
G T G

I

II. HI I HI I I
1. hng php Zeigler ichols 1 v hiu chnh bng tay.
H :

(S)=

=
1 95 , 57
20
+ S
.
e
S 30

T II :

Kp Ti Td
P
t . K
T

0
PI
t K
T 9 , 0

3
10t

0
PID
t .
2 , 1
K
T

2 05

V =20; T=5795; = 30 T T :
Kp Ti Td
P 0.09658 0
PI 0.086925 100 0
PID 0.1159 60 15
Ki=
Ti
Kp
; Kd= Kp.Td ;
n n ut u n n

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II :
T =3 :
>> T=57.95 ; t=30 ; n=3 ; k=20 ;
>> [num,den] = pade(t,n);
>> wtr=tf(num,den)
Transfer function:
-s^3 + 0.4 s^2 - 0.06667 s + 0.004444
-----------------------------------
s^3 + 0.4 s^2 + 0.06667 s + 0.004444

>> wdt=tf(k,[T 1])*wtr

Transfer function:
-20 s^3 + 8 s^2 1.333 s + 0.08889
---------------------------------------------------
57.95 s^4 + 24.18 s^3 + 4.263 s^2 + 0.3242 s + 0.004444

- :

>> Kp= T/(k*t)
Kp =
0.0966
>> wpid=Kp;
>> who=wpid*wdt;
>> wkin=feedback(who,1)
Transfer function:
-1.932 s^3 + 0.7727 s^2 - 0.1288 s + 0.008585
n n ut u n n

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----------------------------------------------------
57.95 s^4 + 22.25 s^3 + 5.036 s^2 + 0.1954 s + 0.01303
>> step(wkin)
>> grid on


t:
+ T : 267 s
+ T : 207 s
+ S : 429 %
S :
>> Kp =0.03;
>> wpid =Kp;
>> who =wpid*wdt;
>> wkin =feedback(who,1);
>> step(wkin)
n n ut u n n

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t:
+ H
+ T : 101 s
+ T : 49.9 s
+ S : 0773%

- I :
>> Kp= 0.9*T/(k*t)
Kp =
0.0869
>> Ti= 10*t/3
Ti =
100
>> Ki= Kp/Ti
Ki =
8.6925e - 004
>> wpid= Kp+ tf(Ki,[1 0])
n n ut u n n

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Transfer function:
0.08693 s + 0.0008693
-------------------
s
>> who=wpid*wdt;
>> wkin=feedback(who,1)
Transfer function:
-1.739 s^4 + 0.678 s^3 - 0.1089 s^2 + 0.006568 s + 7.727e-005
------------------------------------------------------------
57.95 s^5 + 22.44 s^4 + 4.941 s^3 + 0.2153 s^2 + 0.01101 s

+ 7.727e-005
>> step(wkin)


t:
+ H
+ T : 324 s
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+ T : 31.1 s
+ S : 16 %
S :
>> Kp=0.07;
>> Ti= 10*t/3;
>> Ki=Kp/Ti;
>> wpid= Kp+ tf(Ki,[1 0])
Transfer function:
0.07 s + 0.0007
--------------------
s
>> who=wpid*wdt;
>> wkin=feedback(who,1);
>> step(wkin)


t:
+ H
n n ut u n n

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+ T : 363 s
+ T :427 s
+ S : 0252%
- PID :

>> Kp=1.2*T/(k*t)
Kp =
0.1159
>> Ki=Kp/(2*t)
Ki =
0.0019
>> Kd=Kp*0.5*t
Kd =
1.7385
>> wpid = tf([Kd Kp Ki],[1 0]);
>> who = wpid*wdt;
>> wkin=feedback(who,1);
>> step(wkin)
n n ut u n n

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t:
+ H
+ T : 145 s
+ T : 368 s
+ S : 0 %
2. hng php sisotool
S 1
I I
T S


ny.
-
+ c 1: S

=3
W
W(s)=
1 95 , 57
20
= S
e
-30S

n n ut u n n

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>> T=57,95 ; t=30 ; n=3 ; k=20 ;
>> [num,den] = pade(t,n);
>> Wtr=tf(num,den);
Wdt=tf(k,[T 1])*Wtr
Transfer function:
-20 s^3 + 8 s^2 1.33 s + 0.08889
---------------------------------------------------
57.95 s^4 + 24.18 s^3 + 4.263 s^2 + 0.3242 s + 0.004444
H=tf(1,1);
+ c 2 S T W >>SS
S E T SISO
Design for SiSo Design Task.

n n ut u n n

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+ c 3 : : S T
I f G H F
- G Wdt
- H 1
- F 1
- 1

T I ; trong khung Import moldel for ta
G
n n ut u n n

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+ c 4 : T I I T E
T T I T


n n ut u n n

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- P
U T
: C = 0,10879 (C = K p )


n n ut u n n

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:


t:
+ H
+ T : 317 s
+ T : 192 s
+ S qu : 521 %
T n
Internal Model Control (ICM) Tuning.
n n ut u n n

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:


t:
+ H
+ T : 78 s
+ T : 29.9 s
+ S 0 %
n n ut u n n

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- PI
I U T
: C = 0.00069715
s
s) 42 1 ( +
(C = K p )

T :


xt:
+ T : 316 s
+ T : 873
n n ut u n n

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+ S : 6.53 %
T
Internal Model Control (ICM) Tuning :
C= -2.3609e + 013
) 2 )^ 7 . 5 ( 4 . 2 1 )( 016 2 1 )( 1 . 2 1 (
) 2 )^ 9 . 5 ( 5 . 8 1 )( 58 1 )( 5 . 6 1 (
s s s e s
s s s s
+ + + +
+ + + +



n n ut u n n

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T :

xt:
+ T : 78 s
+ T : 299 s
+ S : 0 %
- I
I U T
: C= 0.000979
) 5 1 (
) 53 1 )( 8 . 9 1 (
s s
s s
+
+ +


n n ut u n n

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T :


t:
+ T : 182 s
+ T : 482 s
+ S : 479 %
T
I I T :
C= -2.3609e + 013
) 2 )^ 7 . 5 ( 4 . 2 1 )( 016 2 1 )( 1 . 2 1 (
) 2 )^ 9 . 5 ( 5 . 8 1 )( 58 1 )( 5 . 6 1 (
s s s e s
s s s s
+ + + +
+ + + +

n n ut u n n

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:


t:
+ H g .
+ T : 78 s
+ T : 299 s
+ S : 0 %
3. hng hp chnh bng simulink
H : W=
1 95 , 57
20
+ S
e
-30S

- Khu P :
n n ut u n n

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S Simulink :

=01

S :
>> plot(T);
>> grid on
T :
n n ut u n n

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p Page 47

: T ; T
; S .
- Khu PI :
S trong simulink :

= 005

n n ut u n n

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=00000009

Cho S :
>> plot(T);
>> grid on
T :


:
- Khu PID :
S trong simulink :
n n ut u n n

n vn u un
p Page 49

G= 0.05 (Kp); Gain1= 0.0000003 (Ki); Gain2= 0.0007
sau: