I HC QUC GIA TP. H CH MINH TRNG I HC BCH KHOA

KHOA IN IN T B MN IU KHIN T NG

HNG DN

TH NGHIM

IU KHIN TC & V TR NG C DC

Thc hin: B mn iu khin T ng Khoa: in in t Trng i hc: Bch khoa TP. HCM

TP. HCM, thng 2, 2008

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Dng ti liu Hng dn th nghim Tiu IU KHIN TC

& V TR NG C DC

Ngy Trang Hnh v Bng

18.02.2008 10 7 6

Version 1.0 Font Coding

Verdana Unicode

Soft MS-Word Khoa in in t B mn iu khin T ng Hng dn Thc hin C vn Ging dy

Trng nh Chu Nguyn c Hong Bi Thanh Huyn L Quang Thun Nguyn c Hong

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MC LC

1. MC CH ................................................................................................................ 4 2. C S L THUYT...................................................................................................... 4 3. CU TRC KT NI CC THNH PHN CA BI TH NGHIM .......................................... 4 4. TH NGHIM.............................................................................................................. 4 4.1. IU KHIN TC ............................................................................................ 4 4.2. IU KHIN V TR .............................................................................................. 7 5. YU CU BO CO................................................................................................... 10 6. TI LIU THAM KHO............................................................................................... 10

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1. MC CH

Bi th nghim gip sinh vin lm quen vi iu khin tc v v tr ng c DC, s dng b iu khin PID thng. Trn c s cc kt qu nhn c trng thi qu v xc lp, sinh vin nhn ra nh hng ca cc thnh phn ca b iu khin PID.

Ngoi ra, bi th nghim cn gip sinh vin bit cch vit chng trnh thc hin thut ton iu khin v giao din dng cng c lp trnh Microsoft Visual C++ 6.0 trn c c h thng my tnh, card PCI 1711 v i tng ng c.

2. C S L THUYT

Sinh vin tham kho bi th nghim iu khin nhit bng cc phng php iu khin c in hiu v b iu khin PID thng.

3. CU TRC KT NI CC THNH PHN CA BI TH NGHIM

S cu trc kt ni cc thnh phn ca bi th nghim nh hnh 1, gm cc thnh phn sau:

My tnh: c nhim v thu thp, hin th v iu khin PID ng c trong thi gian thc.

Card PCI-1711: giao tip gia my tnh v i tng vt l, c nhim v c tn hiu xung ri truyn v my tnh v xut tn hiu iu khin ra bn ngoi.

Ngoi ra gia card PCI-1711 v ng c DC c hai mch giao tip: mch khuch i bin i in p iu khin DC t 0 5V sang in p DC -24 +24V cp cho ng c, mch Encoder-Counter x l tn hiu xung c v t ng c (m xung t encoder).

Hnh 1

4. TH NGHIM

4.1. IU KHIN TC

Sinh vin to giao din iu khin tc c dng nh hnh 2.

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Hnh 2

Khi nhn nt Setting th mt hp thoi xut hin nhp cc gi tr Kp, Ki, Kd, thi gian ly mu v tc t. Cc gi tr mc nh c chn nh trn hnh 3.

Hnh 3

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Khi nhn nt Result mt hp thoi xut hin hin th cc kt qu: vt l, thi gian xc lp, thi gian ln, sai s xc lp. (hnh 4)

Hnh 4

Khi nhn nt Run th iu khin tc ng c. V th tc t, o, in p iu khin ng thi hin th cc gi tr tc t, o, sai s, in p iu khin v thi gian chy ln mn hnh tng thi im ly mu.

Khi nhn nt Stop th ch dng ng c cn nhng iu khin khc th gi nguyn.

Yu cu:

Sinh vin t vit chng trnh iu khin trn c s thut ton cung cp. Sau thc hin theo trnh t sau.

Bc 1: Tin hnh th nghim vi tc t l 1500(v/p), thi gian ly mu l 0.02 giy vi cc gi tr Kp = 0.0004, Ki = 0.015, Kd = 1e-6. Ghi kt qu ln bng 1.1.

Bc 2: Thay i Kp gi nguyn Ki, Kd nh trong bng 1.1, tc t, thi gian ly mu khng i. Ghi kt qu ln bng 1.1.

Bc 3: Thay i Ki gi nguyn Kp, Kd nh trong bng 1.2, tc t, thi gian ly mu khng i. Ghi kt qu ln bng 1.2.

Bc 4: Thay i Kd gi nguyn Kp, Ki nh trong bng 1.3, tc t, thi gian ly mu khng i. Ghi kt qu ln bng 1.3.

Gi : Encoder c tc ng c c 720(xung/vng). B m 16 bit c s dng c

xung. (Tham kho ph lc 2 bit cch vit chng trnh c tn hiu xung).

dng ng c xut tn hiu iu khin U = 2.5V ra knh AO.0.

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4.1.1. Th nghim vi Kp thay i, gi nguyn Ki = 0.015, Kd = 1e-6

Bng 1.1

Kp 0.0001 0.0002 0.0003 0.0004 0.0005 0.0006 0.0007

Thi gian ln(s)

Thi gian xc lp (s)

vt l(%)

Sai s xc lp (v/p)

4.1.2. Th nghim vi Ki thay i, gi nguyn Kp = 0.0004, Kd = 1e-6

Bng 1.2

Ki 0.009 0.011 0.013 0.015 0.017 0.019 0.21

Thi gian ln(s)

Thi gian xc lp (s)

vt l(%)

Sai s xc lp (v/p)

4.1.3. Th nghim vi Kd thay i, gi nguyn Kp = 0.0004,Ki = 0.015

Bng 1.3

Kd 1e-6 1e-5 1e-4 1e-3 1e-2 1e-1 1

Thi gian ln(s)

Thi gian xc lp (s)

vt l(%)

Sai s xc lp (v/p)

4.2. IU KHIN V TR

Sinh vin to giao din iu khin v tr c dng nh hnh 5.

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Hnh 5

Khi nhn nt Setting th mt hp thoi xut hin nhp cc gi tr Kp, Ki, Kd, thi gian ly mu v v tr t. Cc gi tr mc nh c chn nh trn hnh 6.

Hnh 6

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Khi nhn nt Result mt hp thoi xut hin hin th cc kt qu: vt l, thi gian xc lp, thi gian ln, sai s xc lp. (hnh 7)

Hnh 7

Khi nhn nt Run th iu khin tc ng c. V th tc t, o, in p ng thi hin th cc gi tr tc t, o, sai s, in p iu khin v thi gian chy ln mn hnh tng thi im ly mu.

Khi nhn nt Stop th ch dng ng c cn nhng iu khin khc th gi nguyn.

Yu cu:

Sinh vin t vit chng trnh iu khin trn c s thut ton cung cp. Sau thc hin theo trnh t sau.

Bc 1: Tin hnh th nghim vi v tr t l 1(rad) ( 57.3o ), thi gian ly mu l 0.02 giy vi cc gi tr Kp = 0.001, Ki = 0.05, Kd = 0.025. Ghi kt qu ln bng 2.1.

Bc 2: Thay i Kp gi nguyn Ki, Kd nh trong bng 2.1, v tr t, thi gian ly mu khng i. Ghi kt qu ln bng 2.1.

Bc 3: Thay i Ki gi nguyn Kp, Kd nh trong bng 2.2, v tr t, thi gian ly mu khng i. Ghi kt qu ln bng 2.2.

Bc 4: Thay i Kd gi nguyn Kp, Ki nh trong bng 2.3, v tr t, thi gian ly mu khng i. Ghi kt qu ln bng 2.3.

4.2.1. Th nghim vi Kp thay i, gi nguyn Ki = 0.05, Kd = 0.025

Bng 2.1

Kp 0.0007 0.0008 0.0009 0.001 0.002 0.003 0.004

Thi gian ln(s)

Thi gian xc lp (s)

vt l(%)

Sai s xc lp (v/p)

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4.2.2. Th nghim vi Ki thay i, gi nguyn Kp = 0.001, Kd = 0.025

Bng 2.2

Ki 0.02 0.03 0.04 0.05 0.06 0.07 0.08

Thi gian ln(s)

Thi gian xc lp (s)

vt l(%)

Sai s xc lp (v/p)

4.2.3. Th nghim vi Kd thay i, gi nguyn Kp = 0.001,Ki = 0.05

Bng 2.3

Kd 0.001 0.005 0.01 0.025 0.05 0.1 1

Thi gian ln(s)

Thi gian xc lp (s)

vt l(%)

Sai s xc lp (v/p)

5. BO CO

Bo co chng trnh iu khin (ch cn on chng trnh c tn hiu xung, x l tn hiu, tnh tn hiu iu khin v xut tn hiu iu khin).(3)

Bo co cc hnh v v bng s liu thu c.(3)

Nhn xt nh hng ca cc thnh phn Kp, Ki, Kd ca b iu khin PID (khi tng, gim Kp, Ki, Kd th cht lng h thng nh th no?).(4)

6. TI LIU THAM KHO 1. Nguyn Th Phng H & Hunh Thi Hong. L thuyt iu khin t ng.

Lu :

Sinh vin phi chun b k bi trc khi vo th nghim (vit chng trnh to cc giao din nh trong phn III). (xem cc ph lc).

Nu khng c bi chun b hoc chun b s si s khng c vo th nghim.

Nu cc nhm bo co ging nhau th s nhn 40% s im.