3 ѬӟFOѭӧng thӡi gian trӉ cӫa hӋ thӕng vӟi bӝ ÿLӅu khiӇn Mӡ .... 34 2.4ĈLӅu khiӇn hӋ thӕng có trӉ sӱ dөng bӝ ÿLӅu khiӇn Smith predictor Mӡ .... DANH MӨC HÌNH ҦNH SӰ DӨNG TRONG LUҰ19Ă1 Hìn
Tính cҩp thiӃt cӫDÿӅ tài
+ӋWKӕQJFyWUӉÿѭӧFELӃWÿӃQQKѭWKӡLJLDQWUӉFӫDPӝWTXiWUuQKWKӵFOjP FKRWiFÿӝQJÿLӅXNKLӇQFӫDEӝÿLӅXNKLӇQÿӃQTXiWUuQKEӏFKұPOҥL7KӡLJLDQWUӉ WtQKWӯNKLFyWiFÿӝQJFӫDEӝÿLӅXNKLӇQYjWURQJVXӕWNKRҧQJWKӡLJLDQWUӉQj\ NK{QJFyÿiSӭQJQjRFӫDKӋWKӕQJ[ҧ\UDÿӕLYӟLWiFÿӝQJÿLӅXNKLӇQÿy&iFTXi WUuQKQKѭWUrQWKѭӡQJJһSWURQJÿLӅXNKLӇQQKLӋWÿӝOѭXOѭӧQJiSVXҩWSKҧQӭQJKyD KӑF7KӡLJLDQWUӉJk\UDQKLӅXNKyNKăQWURQJYLӋFÿLӅXNKLӇQTXiWUuQKOjPPҩW WtQKәQÿӏQKFӫDKӋWKӕQJVX\JLҧPÿһFWtQKJk\NKyNKăQWURQJYLӋFWtQKWRiQYj OӵDFKӑQSKѭѫQJSKiSÿLӅXNKLӇQFNJQJQKѭFiFEӝÿLӅXNKLӇQ7URQJWKӵFWӃFiFKӋ WKӕQJÿӅXFyWKӡLJLDQWUӉGRÿyFiFEӝÿLӅXNKLӇQWӕWSKҧLFyNKҧQăQJJLҧLTX\ӃW WKӡLJLDQWUӉFӫDTXiWUuQKÿLӅXNKLӇQ
;XҩWSKiWWӯYLӋFWuPKLӇXFiFKӋWKӕQJFyWUӉYjFiFWKXұWWRiQQKҵPORҥLWUӯ WKӡLJLDQWUӉFӫDKӋWKӕQJWURQJWKӵFWӃ ÿӅWjL³ ĈL͉XNKL͋QK SKLWX\͇QFyWU͍ V͵
GͭQJE͡GEiR6PLWKYjE͡ÿL͉XNKL͋Q PI M ͥ ´ÿmJySSKҫQ FҧLWKLӋQFKҩWOѭӧQJ ÿLӅXNKLӇQÿӕLYӟLQKӳQJKӋWKӕQJFyWUӉ.
Mөc tiêu cӫDÿӅ tài
Xây dӵng bӝ ѭӟFOѭӧng Mӡ
ĈҫXWLrQFKRJLiWUӏNKӣLÿҫXFӫDWKӡLJLDQWUӉP{KuQKș m =WDÿѭӧFÿiSӭQJ ngõ ra y, y m và A(k) QKѭKuQK
Hình 1.7ĈiSͱng ngõ ra y, y m và A(k) khi thͥi gian tr͍ P{KuQKș m =0
.KLFKѭDFKӍQKWKӡLJLDQWUӉFӫDP{KuQKT m zT, ngõ ra y FӫDKӋWKӕQJYjy m
FӫDP{KuQKNK{QJWUQJQKDXGүQÿӃQA(k) WăQJQKDQKYjÿk\OjNӃWTXҧNK{QJ PXӕQ0ӛLNKLT m #T thì A(k) VӁNK{QJWăQJQӳDWҥRWKjQKPӝWÿѭӡQJWKҷQJQҵP QJDQJ 9u Yұ\A(k) WăQJ QӃXy, y m NK{QJ WUQJ QKDX KRһFA(k) QҵP QJDQJ NKL m #
&ҩXWU~FFѫEҧQFӫDÿLӅXNKLӇQ0ӡÿѭӧFWKӇKLӋQWURQJKuQK7URQJÿyFѫ EӕQWKjQKSKҫQFKӫ\ӃXFӫDÿLӅXNKLӇQ0ӡOjPӡKyDSKѭѫQJSKiSVX\GLӉQKӋTXL WҳFYjJLҧLPӡ[8]
.KӕLÿҫXWLrQWURQJKӋPӡFѫEҧQOjNKӕLPӡKyDNKӕLQj\FyFKӭFQăQJELӃQ ÿәLJLiWUӏU}VDQJJLiWUӏQJ{QQJӳKD\QyLFiFKNKiFVDQJWұSPӡYuKӋTXLWҳFPӡ FKӍFyWKӇVX\GLӉQWUrQFiFWұSPӡ4XL WҳFPӡOjSKiWELӇXQӃX-WKuWURQJÿyPӋQK ÿӅÿLӅXNLӋQYjPӋQKÿӅNӃWOXұQOjFiFPӋQKÿӅPӡ
/XұWi1ӃXe là M j và ǻe là N k thì ǻT là O l
*LҧLPӡOjELӃQÿәLWұSPӡJLiWUӏQJ{QQJӳVDQJFiFJLiWUӏU}
1J}UDKӋPӡOjELӃQWKLrQWKӡLJLDQWUӉP{KuQK'T1J}YjRKӋPӡOje và ǻH OjVDLVӕFӫDA(k) YjELӃQWKLrQVDLVӕFӫDA(k) WҥLPӛLOҫQOҩ\PүX
/XұWPӡÿѭӧFWKӇKLӋQWURQJEҧQJ 7URQJÿyFiFJLiWUӏQJ{QQJӳ1%
NM, N, Z, P, S, M, B, PM và PB là negative big, negative medium, negative, zero, positive , small, medium, big, positive, positive medium và positive big
Hình 1.8: C̭u trúc h th͙ng logic mͥ ĈӏQKQJKƭDFiFJLiWUӏQJ{QQJӳFӫDELӃQe, ǻe, ǻT QKѭKuQK
Hình 1.9: Giá tr͓ ngôn ngͷ bi͇n vào/ra
&iFTXLWҳFPӡVӱGөQJKӋPӡ0DPGDQL QKѭEҧQJ
PKѭѫQJSKiSVX\OXұQPӡ0$;-0,1SKѭѫQJSKiSJLҧLPӡWUӑQJ tâm
KӃt quҧ mô phӓng
7KӵFKLӋQP{SKӓQJYӟLÿӕLWѭӧQJFyKjPWUX\ӅQVDX
%ӝÿLӅXNKLӇQ3'FKRÿӕLWѭӧQJWUrQOj
'QJEӝÿLӅXNKLӇQ0ӡѭӟFOѭӧQJWKӡLJLDQWUӉNӃWKӧSYӟLEӝGӵEiR6PLWK WDFyÿѭӧFQKӳQJNӃWTXҧVDX
Hình 1.106˯ÿ͛ kh͙i mô ph͗ng trong Matlab
7UѭӡQJKӧSѬӟFOѭӧQJFKtQK[iFÿӕLWѭӧQJÿѭӧFiSGөQJWURQJEӝGӵ báo Smith 3 21.2 2
Hình 1.11ĈiSͱng ngõ ra vͣLÿ͙LW˱ͫQJÿ˱ͫF˱ͣFO˱ͫng chính xác
Hình 1.12ĈiSͱng y và y m , A(k), thͥi gian tr͍ cͯDP{KuQKș m ắ ӃWOXұQNJ}UDFӫDKӋWKӕQJFyWUӉEiPWKHRWtQKLӋXÿһW.KLy và y m OӋFK nhau thì A(k) WăQJQKDQKNKLy và y m trùng nhau thì A(k) EmRKzD%ӝÿLӅX NKLӇQ0ӡÿmѭӟFOѭӧQJWKӡLJLDQWUӉP{KuQKT m T 1.5(s)
7UѭӡQJ KӧS *Lҧ Vӱ Pô hình ÿӕL WѭӧQJ Fy VDL Vӕ YӟL ÿӕL WѭӧQJ là:
Hình 1.13ĈiSͱng ngõ ra khi mô hình có sai s͙
Hình 1.14ĈiSͱng y và y m , A(k) và thͥi gian tr͍ cͯDP{KuQKș m ắ ӃWOXұQ.KLP{KuQKFyVDLVӕQJ}UDKӋWKӕQJ FҫQQKLӅXWKӡLJLDQÿӇEiPWKHRWtQKLӋXÿһWĈiSӭQJy và y m khác nhau nên A(k) OX{QWăQJGүQ ÿӃQYLӋFѭӟFOѭӧQJWKӡLJLDQWUӉKӋWKӕQJT m z1.5(s).
Giҧi pháp thӵc hiӋn
6DXNKLWuPKLӇXWәQJTXDQWuQKKuQKQJKLrQFӭXYjP{SKӓQJSKѭѫQJSKiS ѭӟFOѭӧQJWKӡLJLDQWUӉFӫDKӋWKӕQJGQJEӝѭӟFOѭӧQJ0ӡJLҧLSKiSÿѭӧFÿѭDUD ÿӇKRjQWKjQKPөFWLrXFӫDÿӅWjLQKѭVDX
- ѬӟF OѭӧQJWKDPVӕ ÿӕLWѭӧQJ EҵQJ WKXұWWRiQ ÿӋ TXLNK{QJWtQKPD WUұQ QJKӏFKÿҧR>9]
- 6ӱGөQJJLҧLWKXұWѭӟFOѭӧQJWKӡLJLDQWUӉFӫDKӋWKӕQJWKHR>10]
- 6ӱGөQJEӝÿLӅXNKLӇQ3,-0ӡNӃWKӧSYӟLEӝGӵEiR6PLWKÿӇÿLӅXNKLӇQKӋWKӕQJ
KӃt luұQFKѭѫQJ
&KѭѫQJÿmSKkQWtFKWәQJTXDQWuQKKuQKQJKLrQFӭXNӃWOXұQU~WUDWӯYLӋF SKkQWtFKQKѭVDX
1rXNKiLTXiWPӝWVӕF{QJWUuQKQJKLrQFӭXFyOLrQTXDQÿӃQÿLӅXNKLӇQKӋ WKӕQJFyWKӡLJLDQWUӉ
;k\GӵQJEӝѭӟFOѭӧQJ0ӡGQJÿӇѭӟFOѭӧQJWKӡLJLDQWUӉFKѭDELӃWFӫD KӋWKӕQJQKѭQJYүQFKѭDѭӟFOѭӧQJÿѭӧFWKDPVӕ ÿӕLWѭӧQJ 7X\QKLrQSKѭѫQJ SKiSѭӟFOѭӧQJWKӡLJLDQWUӉQj\FҫQFyP{KuQKFKtQK[iFFӫDÿӕLWѭӧQJGRÿyNKy iSGөQJYjRWKӵFWӃ
3ĈѭDUDÿѭӧFJLҧLSKiSWKӵFKLӋQPөFWLrXÿӅWjLJӗPJLҧLWKXұWѭӟFOѭӧQJWKӡLJLDQWUӉFӫDKӋWKӕQJJLҧLWKXұWQKұQGҥQJWKDPVӕÿӕLWѭӧQJYjEӝÿLӅXNKLӇQ
Bӝ dӵ báo Smith
;pWKӋWKӕQJQKѭWURQJKuQKWURQJÿyG * (s) OjKӋWKӕQJNK{QJFyWKӡL JLDQWUӉG m * (s) OjP{KuQKFӫDKӋWKӕQJG(s) exp(Ts)G (s) * OjKӋWKӕQJFyWUӉ c (s)
G OjEӝÿLӅXNKLӇQWKѭӡQJÿѭӧFVӱGөQJOjEӝÿLӅXNKLӇQ3,'
Hình 2.1: 6˯ÿ͛ ÿL͉u khi͋QGQJP{KuQKÿ͙LW˱ͫng
Ngõ ra mô hìnhy * m ( )s G s u s m * ( ) ( ) P{SKӓQJQJ}UDFӫDKӋWKӕQJNK{QJWUӉ 1ӃXP{KuQKFKtQK[iFG m * (s) G (s) * WKuVѫÿӗÿLӅXNKLӇQÿѭӧFWKӇKLӋQOҥLWURQJ hình 2.2
Hình 2.2: 6˯ÿ͛ ÿL͉u khi͋n h th͙QJW˱˯QJÿ˱˯QJYͣi hình 2.1
Ngõ ra quá trình lúc này là: y(s) y (t * T) YӟLWKӡLJLDQWUӉOjș9ӟLVѫÿӗ NKӕLӣWUrQWKuFyWKӇORҥLEӓҧQKKѭӣQJFӫDWKӡLJLDQWUӉUDNKӓLKӋWKӕQJEӣLYuNK{QJ FyWKӡLJLDQWUӉWURQJYzQJOһS
Tuy nhiên, P{KuQKOX{QOX{QFyVDLVӕVRYӟLÿӕLWѭӧQJYjFNJQJNK{QJWKӇWiFKWKӡLJLDQWUӉUDNKӓLKӋWKӕQJ6ѫÿӗÿLӅXNKLӇQ EVDLVӕP{KuQKYjORҥLEӓҧQKKѭӣQJFӫDWKӡLJLDQWUӉOrQKӋWKӕQJÿѭӧFWKӇKLӋQWURQJKuQK
Hình 2.3: 6˯ÿ͛ ÿL͉u khi͋n vͣi Smith predictor
7ӯVѫÿӗNKӕLEӝGӵEiR6PLWKWURQJKuQK7DÿѭӧF SKѭѫQJWUuQKÿһFWUѭQJ FӫDKӋWKӕQJlà:
G T và G m exp(T m s) G (s) * m OjÿӕLWѭӧQJYjP{KuQKÿӕL WѭӧQJ
1ӃXP{KuQKNK{QJFyVDLVӕG(s) G (s) m 0WKuEӝÿLӅXNKLӇQG c (s) VӁ ÿѭӧFFKӍQKFKRG m * (s) YӟLG m * (s)NK{QJFyWKӡLJLDQWUӉ
1ӃX P{ KuQK Fy VDL Vӕ WKHR /HH et al 1999 [1] [ҩS [Ӎ
G G | T ÿѭӧF[HPQKѭOjVDLVӕP{KuQK6DXÿy iSGөQJFiFOXұWFKӍQK3,'FKRG (s) k exp( * m eq T eq s)YӟL k eq t 1.0, T eq t 0.0 Các WKDPVӕ k eq ,T eq ÿLӅXFKӍQKEӝGӵEiR6PLWK
%ӝGӵEiR6PLWKÿLӅXNKLӇQKӋWKӕQJFyWUӉEiPWKHRWtQKLӋXÿһWWӕWNKLYLӋF ѭӟFOѭӧQJWKDPVӕmô hình FӫDÿӕLWѭӧQJ là WѭѫQJÿӕLFKtQK[iFVDLVӕQKӓFyWKӇ GүQGӃQVӵPҩWәQÿӏQKFӫDKӋWKӕQJNKLÿӝOӧLFӫDEӝÿLӅXNKLӇQOӟQ%ӝGӵEiR 6PLWKFyWKӇÿѭӧFFKӍQKNKL[HP[pWP{KuQKVDLVӕWKHR/HHet al 1999 [1]
1KѭYұ\PXӕQÿLӅXNKLӇQKӋWKӕQJFyWUӉYӟLEӝGӵEiR6PLWKWKuFҫQFyQKӳQJSKѭѫQJSKiSѭӟFOѭӧQJWKDPVӕYjWKӡLJLDQWUӉFӫDKӋWKӕQJ
2.2 ѬӟFOѭӧng tham sӕ hӋ thӕng
2.2.1 Giҧi thuұWѭӟFOѭӧng tham sӕ ÿӕi Wѭӧng
2.2.1.1 Mô hình h ͛ i qui tuy ͇ n tính
&KRÿӕLWѭӧQJFyWtQKLӋX vào là u(k),WtQKLӋXUDOjy(k) QKѭKuQK
Hình 2.4: Tín hi u vào, ra cͯDÿ͙LW˱ͫng
*LҧVӱTXDQKӋJLӳDWtQKLӋXYjRYjWtQKLӋXUD FӫDKӋWKӕQJFyWUӉÿѭӧF P{Wҧ EҵQJSKѭѫQJWUuQKVai phân:
7URQJÿya i i ( 0, ),n b j i ( 0, )m OjFiFKҵQJVӕÿѭӧF[iFÿӏQKWӯWK{QJVӕFӫD FiFSKҫQWӱ; k OjFKӍVӕUӡLUҥFN ô ; d OjWKӡLJLDQWUӉFӫDKӋWKӕQJÿӕLYӟLKӋ UӡLUҥFWKud OjVӕQJX\rQ ; e(k) OjQKLӉXWUҳQJ
7tQKLӋXUDFӫDKӋWKӕQJ
4XDQKӋYjRUDFӫDÿӕLWѭӧQJFyWKӇYLӃWOҥLGѭӟLGҥQJ
1ӃXEӓTXDQKLӉu e(k), WDFyEӝGӵEiRKӗLTXLWX\ӃQWtQK ệ( , ) T ( )ệ (2.7) y k T M k T
2.2.1.2 C ̭ u trúc mô hình h phi tuy ͇ n
7KHR>@FyWKӇVӱGөQJPӝWWURQJQKӳQJSKѭѫQJSKiSVDXÿk\ÿӇQKұQGҥQJ P{KuQKKӋSKLWX\ӃQ
- Mô hình Hammerstein: khâu phi tX\ӃQWƭQKJKpSQӕLWLӃSNKkXWX\ӃQWtQK QKѭ hình 2.5
9ӟLѭӟFOѭӧQJQJ}UDFӫDKӋWKӕQJOj ệ( , , ) ( , ) ( ( ), ) (2.8) y k T K G q T f u k K
- 0{KuQK:LHQHU.KkXWX\ӃQWtQKJKpSQӕLWLӃSNKkXSKLWX\ӃQWƭQKQKѭKuQK 2.6
9ӟLѭӟFOѭӧQJQJ}UDFӫDKӋWKӕQJOj ệ( , , ) ( , ) ( ), (2.9) y k T K f G q T u k K
- %ҵQJFiFKFKӑQFiFSKҫQWӱKӗLTXLWKtFKKӧSFyWKӇGӵEiRWtQKLӋXUDFӫD KӋSKLWX\ӃQEҵQJEӝGӵEiRKӗLTXLWX\ӃQWtQK ệ( , ) T ( ) (2.10) y k T M k T 7URQJÿyFiFSKҫQWӱKӗLTXLOjKjP SKLWX\ӃQEҩWNǤFӫDWtQKLӋXYjRYjWtQ KLӋXUDWURQJTXiNKӭ
- 0{KuQKKӝSÿHQSKLWX\ӃQ%ӝGӵEiRWәQJTXiWFKRKӋSKLWX\ӃQFyGҥQJ: ệ( , ) ( ( ), ) (2.12) y k T Mg k T
7\WKXӝFYjRFiFKFKӑQ vHFWRUKӗLTXLij(k) WӯWtQKLӋXYào YjWtQKLӋXUDWURQJ TXiNKӭYjKjPSKLWX\ӃQg(ij(k),ș) mjWDFyFiFGҥQJP{KuQKSKLWX\ӃQNKiFQKDX
1JRjLUDFzQFyWKӇWKDPNKҧRQKұQGҥQJP{KuQKKӋSKLWX\ӃQEҵQJFiFK GQJPҥQJWKҫQNLQKKRһFP{KuQK0ӡWURQJ>]
7URQJÿӅWjLQj\FKӑQSKѭѫQJSKiS GӵEiRWtQKLӋXUDFӫDKӋSKLWX\ӃQEҵQJ EӝGӵEiRKӗLTXLWX\ӃQWtQK
2.2.1.3 Thu ̵WWRiQÿ TXL˱ͣFO˱ͫ ng tham s ͙
7KXұWWRiQѭӟFOѭӧQJÿӋTXLWKѭӡQJÿѭӧFVӱGөQJWURQJFiFKӋWKӕQJÿLӅX NKLӇQWKtFKQJKLQKҵPÿҧPEҧRFKҩWOѭӧQJÿLӅXNKLӇQNKLWKDPVӕP{ KuQKWKD\ÿәL, hình 2.7
+uQK6˯ÿ͛ kh͙LÿL͉u khi͋n thích nghi
9LӋFWtQKWRiQWKDPVӕP{KuQKWUӵFWX\ӃQSKҧLÿѭӧFWKӵFKLӋQVDRFKRYLӋF [ӱOêGӳOLӋXÿRWҥLPӛLWKӡLÿLӇPOҩ\PүXSKҧLFKҳFFKҳQKRjQWҩWWURQJNKRҧQJWKӡL JLDQQKӓKѫQFKXNǤOҩ\PүX 9ӟLVѫÿӗѭӟFOѭӧQJEuQKSKѭѫQJWӕLWKLӇXÿѭӧFWKӇ KLӋQWURQJKuQK
+uQK6˯ÿ͛ ˱ͣFO˱ͫQJEuQKSK˱˯QJW͙i thi͋u
Do V OjKjPWRjQSKѭѫQJQrQJLi WUӏ ệT làm V ÿҥWFӵF WLӇXOjQJKLӋPFӫD SKѭѫQJWUuQK
*LҧVӱÿӃQWKӡLÿLӇPkWKXWKұSÿѭӧFk PүXGӳOLӋX&KӍWLrXѭӟFOѭӧQJEuQK SKѭѫQJWӕLWKLӇXFyWUӑQJVӕWҥLWKӡLÿLӇPk là:
&{QJWKӭFѭӟFOѭӧQJWKDPVӕWҥLWKӡLÿLӇPk:
&{QJWKӭFWUrQNK{QJWKӇiSGөQJWKӡLJLDQWKӵFYuNKLWKӡLJLDQKӋWKӕQJKRҥW ÿӝQJFjQJGjLVӕPүXGӳOLӋXVӁWăQJOrQGүQÿӃQWăQJWKӡLJLDQWtQKWRiQYjWUjQEӝ QKӟ'RÿyFҫQF{QJWKӭFÿӋTXLNK{QJFҫQOѭXWUӳWRjQEӝFiFPүXGӳOLӋXYjNKӕL OѭӧQJWtQKWRiQNK{QJWăQJOrQWKHRWKӡLJLDQ
7KXұWWRiQѭӟFOѭӧQJÿӋTXL ệ( ) ệ( 1) 1( ) ( ) ( )
O M M 7URQJÿy Ȝ OjKӋVӕTXrQWK{QJWKѭӡQJÿѭӧFFKӑQWURQJNKRҧQJ98÷0,995
&KӭQJPLQKWKXұWWRiQѭӟFOѭӧQJÿӋTXL
9HFWRUWKDPVӕ ệT FyWKӇѭӟFOѭӧQJWUӵFWX\ӃQWӯF{QJWKӭFWUrQ'Rÿyngừ UDFӫDTXiWUuQKFyWKӇѭӟFOѭӧQJRQOLQH
2.2.2 Giҧi thuұWѭӟFOѭӧng thӡi gian trӉ cӫa hӋ thӕng
*LҧVӱKӋWKӕQJFyWUӉÿѭӧFP{WҧEӣLP{KuQKKӗLTXL$5; [8] sau:
Và mô hình ѭӟFOѭӧQJFӫDÿӕLWѭӧQJOj ệ ( ) ệ( ) ( ) d k ệ( ) ( ) ( ) (2.25)
T ơ ẳ Oj JLi WUӏ ѭӟF OѭӧQJ FӫD
T WҥLWKӡLÿLӇPk, d kệ( ) là JLiWUӏѭӟFOѭӧQJWKӡLJLDQWUӉFӫDKӋ
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+jPPөFWLrXÿӇQKұQGҥQJWKDPVӕÿѭӧF[iFÿӏQKOj
*LҧVӱT Tệ , d k ệ( )zd k( ) ÿӇFӵFWLӇXKjPPөFWLrXJ(k)WKӡLJLDQWUӉ ệ( )d k
FyWKӇÿѭӧFFKӑQQKѭVDX
'RÿyJLҧLWKXұWQKұQGҥQJWKӡLJLDQWUӉOj:
D ¦ , Į OjKӋVӕFұSQKұW ệ( ) d k QrQFKX\ӇQWKjQKOjPӝWVӕQJX\rQ
6DXNKLѭӟFOѭӧQJÿѭӧFWKDPVӕÿӕLWѭӧQJYjWKӡLJLDQWUӉKӋWKӕQJNӃWKӧSYӟLEӝÿLӅXNKLӇQ3,± 0ӡVѫÿӗÿLӅXNKLӇQ6PLWKSUHGLFWRU0ӡFӫDKӋWKӕQJÿѭӧFWKӇKLӋQWURQJKuQK
+uQK6˯ÿ͛ kh͙LÿL͉u khi͋n Smith predictor Mͥ
Bӝ ÿLӅu khiӇn PI ± Mӡ
2.3.1 Cҩu trúc bӝ ÿLӅu khiӇn Mӡ ӬQJGөQJÿҫXWLrQFӫDÿLӅXNKLӇQ0ӡOjÿLӅXNKLӇQÿӝQJFѫKѫLQѭӟFGQJ KӋTXLWҳFPӡ0DPGDQLQăP1Jj\QD\FyUҩWQKLӅXKӋWKӕQJÿLӅXNKLӇQWURQJ F{QJQJKLӋSYjGkQGөQJiSGөQJSKѭѫQJSKiSÿLӅXNKLӇQ0ӡQKѭĈLӅXNKLӇQKӋ WKӕQJWKҳQJYjWăQJWӕFFӫD[HOӱDKӋWKӕQJOiL[HÿLӅXNKLӇQURERWÿLӅXNKLӇQPi\ JLһWPi\ҧQKWӵÿӝQJô ĈLӅXNKLӇQ0ӡFXQJFҩSSKѭѫQJ SKiSÿӇELӉXGLӉQ[ӱOêYjWKӵFWKLWULWKӭF WUӵFJLiFFӫDFRQQJѭӡLYjNLQKQJKLӋPFKX\rQJLDÿѭӧFWtFKKӧSYjREӝÿLӅXNKLӇQ 0ӡWURQJTXiWUuQKWKLӃWNӃKӋWKӕQJ
6ѫÿӗNKӕLFӫDEӝÿLӅXNKLӇQ0ӡWUuQKEj\ӣKuQK JӗPWKjQKSKҫQFKtQKOjEӝÿLӅXNKLӇQ0ӡFѫEҧQYӟLEDNKӕLFKӭFQăQJOjPӡKyDKӋTXLWҳFPӡYjJLҧLPӡ7KӵFWӃWURQJPӝWVӕWUѭӡQJKӧSNKLJKpSEӝÿLӅXNKLӇQ0ӡYjRKӋWKӕQJÿLӅX
NKLӇQFҫQWKrPKDLNKӕLWLӅQ[ӱOêYjKұX[ӱOê&KӭFQăQJFӫDWӯQJ NKӕLWURQJVѫ ÿӗWUrQÿѭӧFP{WҧVDXÿk\
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7KjQKSKҫQFKtQKFӫDEӝÿLӅXNKLӇQ0ӡFѫEҧQOjKӋTXLWҳFÿLӅXNKLӇQKӋ TXLWҳFQj\FyWKӇU~WUDWӯNLQKQJKLӋPFKX\rQJLDWURQJYLӋFÿLӅXNKLӇQÿӕLWѭӧQJ
- KkXPӡKyDFKX\ӇQJLiWUӏU}SKҧQKӗLWӯQJ}UDFӫDÿӕLWѭӧQJWKjQKJLiWUӏ PӡÿӇKӋTXLWҳFFyWKӇVX\OXұQÿѭӧF
- +ӋTXLWҳFPӡOjSKiWELӇXQӃX-WKuWURQJÿyPӋQKÿӅÿLӅXNLӋQYjPӋQKÿӅ NӃWOXұQOjFiFPӋQKÿӅPӡ7URQJPӋQKÿӅÿLӅXNLӋQFyWKӇ có các phép giao, phép KӧSKRһFSKpSSKӫÿӏQK +ӋTXLWҳFPӡFyWKӇ[HPOjP{KuQKWRiQKӑFELӇXGLӉQWUL WKӭFNLQKQJKLӋPFӫDFRQQJѭӡLWURQJYLӋFJLҧLTX\ӃWEjLWRiQGѭӟLGҥQJFiFSKiW ELӇXQJ{QQJӳ
- 3KѭѫQJSKiSVX\GLӉQOjVӵNӃWKӧSFiFJLiWUӏQJ{QQJӳFӫDQJ}YjRVDXNKL PӡKyDYӟLKӋTXLWҳFÿӇU~WUDNӃWOXұQJLiWUӏPӡFӫDQJ}UD+DLSKѭѫQJSKiSVX\ GLӉQWKѭӡQJGQJWURQJÿLӅXNKLӇQOj0$;-MIN và MAX-PROD
&yKDLORҥLTXLWҳFÿLӅXNKLӇQWKѭӡQJGQJ
- KKkXJLҧLPӡOjFKX\ӇQÿәLJLiWUӏPӡӣQJ}UDFӫDKӋPӡWKjQKJLiWUӏU} Trong các bjLWRiQYӅÿLӅXNKLӇQWKѭӡQJ VӱGөQJJLҧLPӡGӵDYjRÿLӇPWUӑQJWkP
3KѭѫQJSKiSWUӑQJ WkPĈk\ Oj SKѭѫQJ SKiS JLҧL PӡWKѭӡQJGQJQKҩW WURQJÿLӅXNKLӇQ3KѭѫQJSKiSQj\ ÿѭӧFWUuQKEj\ӣKuQKJLiWUӏJLҧLPӡOj
3KѭѫQJSKiSWUXQJEuQKFyWUӑQJVӕ3KѭѫQJSKiSQj\FKӍVӱGөQJNKLQJ} UDOjKӧSFӫDFiFKjPOLrQWKXӝFÿӕL[ӭQJ3KѭѫQJSKiSQj\ÿѭӧFPLQKKӑDӣKuQK JLiWUӏJLҧLPӡOj
7URQJWUѭӡQJKӧSFiFJLiWUӏPӡӣQJ}UDFӫDFiFTX\WҳFÿѭӧFÿӏQKQJKƭDWUrQWұSFѫVӣFKXҭQWKuJLiWUӏU}VDXNKLJLҧLPӡSKҧLÿѭӧFQKkQYӟLPӝWKӋVӕWӹOӋÿӇ
WUӣWKjQKJLiWUӏYұWOê.KӕLKұX[ӱOêWKѭӡQJJӗPFiFPҥFKNKXӃFKÿҥLFyWKӇFKӍQK ÿӝOӧLÿ{LNKLNKӕLKұX[ӱOêFyWKӇFyNKkXWtFKSKkQ
2.3.2 ThiӃt kӃ bӝ ÿLӅu khiӇn Mӡ dӵa vào kinh nghiӋm
0ӝWEӝÿLӅXNKLӇQ0ӡÿѭӧFWKLӃWNӃWӕWKD\NK{QJKRjQWRjQSKөWKXӝFYjR NLQKQJKLӋPFӫDQJѭӡLWKLӃWNӃ7URQJPөFQj\ÿѭDUDPӝWVӕÿӅQJKӏYӅWUuQKWӵWKLӃW NӃPӝWEӝÿLӅXNKLӇQ0ӡ [8]
%ѭӟF;iFÿӏQKELӃQYjRELӃQUDYjELӃQWUҥQJWKiLQӃXFҫQFӫDÿӕLWѭӧQg
%ѭӟF&KXҭQKyDELӃQYjRELӃQUDYӅPLӅQJLiWUӏ>@KD\>-1,1]
%ѭӟFĈӏQKQJKƭDFiFJLiWUӏQJ{QQJӳFKRELӃQYjRYjELӃQUDÿӏQKOѭӧQJ
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%ѭӟF&KӑQSKѭѫQJSKiSVX\GLӉQ0$;-MIN hay MAX-PROD)
%ѭӟF&KӑQSKѭѫQJSKiSJLҧLPӡWUӑQJWkPKD\WUXQJEuQKFyWUӑQJ Vӕ
%ѭӟF0{SKӓQJKRһFWKӵFQJKLӋPÿiQKJLiNӃWTXҧWLQKFKӍQKFiFWK{QJ
VӕFӫDEӝÿLӅXNKLӇQÿӇÿҥWFKҩWOѭӧQJPRQJPXӕQ
7URQJFiFEѭӟFWKLӃWNӃWUrQWKuEѭӟFYjOjTXDQWUӑQJQKҩW%ѭӟF FKXҭQKyDQJ}YjRQJ}UDQrQOjPFKӭNK{QJEҳWEXӝc
1KѭYұ\YLӋFWKLӃWNӃEӝÿLӅXNKLӇQPӡWUӵFWLӃSPDQJWtQKWKӱVDLYuYLӋF FKӑQVӕOѭӧQJKuQKGҥQJYӏWUtWұSPӡFKӑQKӋTXLWҳFôÿӅXWK{QJTXDTXiWUuQK ³WKӱYjVDL´YjSKөWKXӝFYjRNLQKQJKLӋPFӫDQJѭӡLWKLӃWNӃ9uYұ\PXӕQÿѭӧFEӝ ÿLӅXNKLӇQ0ӡFKRNӃWTXҧWӕWWKuQJѭӡLWKLӃWNӃSKҧLDPKLӇXYӅÿӕLWѭӧQJ
%ӝÿLӅXNKLӇQ3,'QӃXÿѭӧFWKLӃWNӃWӕWFyNKҧQăQJÿLӅXNKLӇQKӋ WKӕQJYӟL FKҩWOѭӧQJTXiÿӝWӕWÿiSӭQJQKDQKÿӝYӑWOӕWKҩSYjWULӋWWLrXVDLVӕ[iFOұSYuOê do trên FiFEӝÿLӅXNKLӇQ3,'ÿѭӧFVӱGөQJSKәELӃQWURQJFiFTXiWUuQKF{QJQJKLӋS 7X\QKLrQEӝÿLӅXNKLӇQ3,'NLQKÿLӇQFKӍNKӕQJFKӃWtQKLӋXUDFӫDÿӕLWѭӧQJYӟL FKҩWOѭӧQJWӕWQӃXKӋWKӕQJOjPYLӋFWURQJPLӅQWtQKLӋXQKӓKӋWX\ӃQWtQK1ӃXÿӕL WѭӧQJÿLӅXNKLӇQOjSKLWX\ӃQWKuEӝÿLӅXNKLӇQ3,'NLQKÿLӇQNK{QJWKӇÿҧPEҧRFKҩW OѭӧQJÿLӅXNKLӇQWҥLPӑLÿLӇPOjPYLӋF'RYұ\ÿӇÿLӅXNKLӇQFiFÿӕLWѭӧQJSKL WX\ӃQWDFҫQVӱGөQJFiFEӝÿLӅXNKLӇQ3,'-0ӡ&yQJKƭDOjWtQKLӋXUDFӫDEӝÿLӅX NKLӇQWӹOӋSKLWX\ӃQYӟLWtQKLӋXYjRYӟLWtFKSKkQWtQKLӋXYjRYjYLSKkQWtQKLӋX YjRWKHRTXLOXұW[iFÿӏQKEӣLTXLWҳFKӋPӡ [8]
%ӝÿLӅXNKLӇQӣKuQKOjEӝÿLӅXNKLӇQ3'± 0ӡYuWtQKLӋXUDFӫDEӝÿLӅX NKLӇQPӡSKөWKXӝFYjRWtQKLӋXYjRYjYLSKkQFӫDWtQKLӋXYjR%ӝÿLӅXNKLӇQ3' ± 0ӡWKѭӡQJÿѭӧFVӱGөQJWURQJFiFWUѭӡQJKӧSVDXÿk\
- ĈӕLWѭӧQJFyNKkXWtFKSKkQOêWѭӣQJKRһF
- ӘQÿӏQKKyDWUҥQJWKiLFӫDÿӕLWѭӧQJ[XQJTXDQKÿLӇPFkQEҵQJ u x , ,
1ӃXÿӕLWѭӧQJNK{QJFyNKkXWtFKSKkQOờWѭӣQJQKѭOzQKLӋWEӗQFKӭDôWKuVӱGөQJEӝÿLӅXNKLӇQ3'± 0ӡNK{QJWKӇWULӋWWLrXVDLVӕ[iFOұS
%ӝÿLӅXNKLӇQ3,± 0ӡÿѭӧFWKӇKLӋQӣKuQKWtQKLӋXUDFӫDEӝÿLӅXNKLӇQ PӡFyTXDQKӋSKLWX\ӃQYӟLWtQKLӋXYjRYjWtFKSKkQWtQKLӋXYjR
%ӝÿLӅXNKLrQ3,± 0ӡQӃXWKLӃWNӃWӕWFyWKӇÿLӅXNKLӇQÿӕLWѭӧQJWURQJPLӅQ OjPYLӋFUӝQJYӟLVDLVӕ[iFOұSEҵQJ7X\QKLrQEӝÿLӅXNKLӇQ3,OjPFKұPÿiS ӭQJFӫDKӋWKӕQJYjWURQJQKLӅXWUѭӡQJKӧSOjPFKRTXiWUuQKTXiÿӝFyGDRÿӝQJ
%ӝÿLӅXNKLӇQ3,'± 0ӡFyFiFѭXÿLӇPFӫDEӝÿLӅXNKLӇQ3,± 0ӡYj3'± 0ӡWӭFOjFyWKӇÿLӅXNKLӇQY{VDLWKӡLJLDQÿiSӭQJQKDQKÿӝYӑWOӕWKҩS6ѫÿӗ NKӕLEӝÿLӅXNKLӇQ3,'WKѭӡQJGQJÿѭӧFWUuQKEj\ӣKuQK
Hình 2.15: B͡ ÿL͉u khi͋n PID ± Mͥ g͛m b͡ ÿL͉u khi͋n PD ± Mͥ và PI-Mͥ ghép song song 2.3.3.4 Thi ͇ t k ͇ b ͡ ÿL͉ u khi ͋ n PI ± M ͥ cho b ͛ n ch ͱ a ÿ˯Q
&KREӗQFKӭDÿѫQQKѭKuQK :
0{KuQKWRiQKӑFFӫDKӋWKӕQJQKѭVDXNKLEӓTXDWKӡLJLDQWUӉSKҧQKӗLWtQ KLӋXWӯFҧPELӃQYjWKӡLJLDQWUӉOѭXFKҩWGLFKX\ӇQWURQJÿѭӡQJӕQJ
7URQJÿy u(t)WtQKLӋXÿLӅXNKLӇQPi\Eѫm r: bán kính FӫDEӗQFKӭDFP b7LӃWGLӋQYDQ[ҧcm 2 )
C+ӋVӕ[ҧ k+ӋVӕWӍOӋYӟLF{QJVXҩWPi\EѫP h(t)ĈӝFDRPӵFFKҩWOӓQJWURQJEӗQcm) g*LDWӕFWUӑQJWUѭӡQJ981cm/sec 2 )
%jLWRiQÿһWUDOjWKLӃWNӃEӝÿLӅXNKLӇQ0ӡÿӇÿLӅXNKLӇQPӵFFKҩWOӓQJWURQJ EӗQFKӭDEiPWKHRWtQKLӋXÿһW
9uKӋEӗQFKӭDNK{QJFyNKkXWtFKSKkQOêWѭӣQJQrQÿӇKӋ WKӕQJWULӋWWLrXVDL Vӕ[iFOұSÿӕLYӟLWtQKLӋXYjRGҥQJKjPQҩFWDSKҧLVӱGөQJEӝÿLӅXNKLӇQ3,± 0ӡ
&iFJLiWUӏQJ{QQJӳFӫDFiFELӃQYjRYjELӃQUDFӫDKӋPӡÿѭӧFÿӏQKQJKƭDӣKuQK 2.17+ӋTXLWҳFÿLӅXNKLӇQ3,± 0ӡÿѭӧFWUuQKEj\ӣEҧQJ 2.1
Tín KLӋXYjREӝÿLӅXNKLӇQ0ӡFѫEҧQOjVDLVӕE YjYLSKkQVDLVӕDE
7tQKLӋXUDEӝÿLӅXNKLӇQ0ӡFѫEҧQDU
&iFWұSPӡWѭѫQJӭQJYӟLFiFJLiWUӏQJ{QQJӳFӫDFiFELӃQYjRUD
Hình 2.17: Các t̵p mͥ W˱˯QJͱng vͣi các giá tr͓ ngôn ngͷ cͯa các bi͇n vào/ra
NB NE ZE PO PB
NB NB NB NM NS ZE
NE NB NM NS ZE PS
ZE NM NS ZE PS PM
PO NS ZE PS PM PB
PB ZE PS PM PB PB
3KѭѫQJSKiSJLҧLPӡWUXQJEuQKWUӑQJVӕ
6DXNKLÿmÿѭDUDFѫVӣOêWKX\ӃWÿӇѭӟFOѭӧQJWKDPVӕÿӕLWѭӧQJѭӟFOѭӧQJWKӡLJLDQWUӉFӫDKӋWKӕQJYj[k\GӵQJEӝÿLӅXNKLӇQ3,-0ӡNӃWTXҧP{SKӓQJNLӇPFKӭQJWtQKNKҧWKLFӫDFѫVӣOêWKX\ӃWWUrQVӁÿѭӧFWUuQKEj\ӣSKҫQNӃWLӃS.
KӃt quҧ mô phӓng
2.4.1 Nhұn dҥng tham sӕ ÿӕLWѭӧng dùng thuұWWRiQÿӋ qui ѬӟFOѭӧQJWKDPVӕFӫDEӗQFKӭDÿѫQ (NKLEӓTXDWKӡLJLDQWUӉFӫDKӋWKӕQJ)
VHFWRUWKDPVӕYjYHFWRUKӗLTXLÿѭӧFFKӑQQKѭVDX ệ ệ ệ ệ
M êơ ºẳ 6ѫÿӗNKӕLP{SKӓQJWUrQ Matlab:
+uQK6˯ÿ͛ kh͙i nh̵n d̩QJÿ͙i W˱ͫng
Hình 2.19: 1J}UD˱ͣFO˱ͫng cͯDÿ͙LW˱ͫng
Hình 2.20: K͇t qu̫ nh̵n d̩ng dùng thu̵WWRiQÿ qui ắ 1J}UDѭӟFOѭӧQJWѭѫQJÿӕLFKtQK[iFYӟLQJ}UDÿӕLWѭӧQJ7KXұWWRiQÿӋ TXLFKRNӃWTXҧѭӟFOѭӧQJWѭѫQJÿӕL WӕW
2.4ĈLӅu khiӇQÿӕLWѭӧng dùng bӝ ÿiӅu khiӇn PI-Mӡ
6ӱGөQJEӝÿLӅXNKLӇQ3,-0ӡÿmÿѭӧFWKLӃWNӃӣSKҫQWUrQÿӇÿLӅXNKLӇQEӗQ FKӭDÿѫQNKLEӓTXDWKӡLJLDQWUӉKӋWKӕQJ
6ѫÿӗNKӕLP{SKӓQJWUrQ0DWODE
+uQK6˯ÿ͛ 6LPXOLQNÿL͉u khi͋n PI-Mͥ cho b͛n chͱDÿ˯Q
Hình 2.22: Tín hi XÿL͉u khi͋QYjÿiSͱng h th͙ng khi b͗ qua thͥi gian tr͍ ắ ӃWOXұQ%ӝÿLӅXNKLӇQ3,-0ӡFKRNӃWTXҧÿLӅXNKLӇQWӕWÿiSӭQJQJ}UD KӋWKӕQJEiPWKHRWtQKLӋXÿһW
2.4.3 ĈLӅu khiӇn hӋ thӕng có trӉ sӱ dөng bӝ ÿLӅu khiӇn Smith predictor Mӡ
7KӡLJLDQWUӉEDQÿҫXFӫDKӋWKӕQJOjW d 1sVDXWKӡLJLDQP{SKӓQJOjV WăQJWKӡLJLDQWUӉFӫDKӋWKӕQJOjW d 4sWKӡLJLDQWUӉWәQJFӝQJFӫDTXiWUuQKP{ SKӓQJOjW d 5s)
3KҫQGѭӟLWUuQKEj\OҫQOѭӧWNӃWTXҧP{ SKӓQJNKLVӱGөQJEӝÿLӅXNKLӇQ3,- 0ӡYjEӝÿLӅXNKLӇQ6PLWKSUHGLFWRU0ӡÿӕLYӟLKӋWKӕQJFyWKӡLJLDQWUӉ và so sánh FiFNӃWTXҧÿLӅXNKLӇQ YӟLQKDX
KLVӱGөQJEӝÿLӅXNKLӇQ3,-0ӡNKLKӋWKӕQJFyWKӡLJLDQWUӉ
Hình 2.23: Tín hi XÿL͉u khi͋QYjÿiS ͱng h th͙ng khi có thͥi gian tr͍ ắ ӃWOXұQ'RҧQKKѭӣQJFӫDWKӡLJLDQWUӉOrQKӋWKӕQJQrQFKҩWOѭӧQJÿLӅX NKLӇQNK{QJWӕW
KLVӱGөQJEӝÿLӅXNKLӇQ6PLWKSUHGLFWRU0ӡ
6ѫÿӗNKӕLP{SKӓQJWURQJ0DWODE
+uQK6˯ÿ͛ 6LPXOLQNÿL͉u khi͋n Smith predictor Mͥ
Hình 2.25: Tín hi XÿL͉u khi͋QYjÿiSͱng h th͙ng khi s͵ dͭng b͡ ÿL͉u khi͋n
Hình 2.26: K͇t qu̫ ˱ͣFO˱ͫng thͥi gian tr͍ h th͙ng ắ 7DWKҩ\NKLWKӡLJLDQWUӉFyVӵWKD\ÿәLO~FQj\JLiWUӏÿһWYүQJLӳQJX\rQ QrQFKѭDFyWKD\ÿәLNKLѭӟFOѭӧQJWKӡLJLDQWUӉNKLJLiWUӏÿһWWKD\ÿәLWD PӟLѭӟFOѭӧQJÿѭӧFVӵWKD\ÿәLFӫDWKӡLJLDQWUӉ
Time (sec) Time Delay Estimation ắ 9ұ\NKLVӱGөQJEӝÿLӅXNKLӇQ6PLWKSUHGLFWRU0ӡFKRNӃWTXҧWӕWKѫQWtQ KLӋXUDFӫDKӋWKӕQJEiPWtQKLӋXÿһW
&KѭѫQJÿmQrXUDFѫVӣOêWKX\ӃWYjQKӳQJNӃWTXҧP{SKӓQJNLӇPWUDWtQK NKҧWKLFӫDFѫVӣ OêWKX\ӃW ÿyNӃWOXұQU~WUDWӯFKѭѫQJQKѭVDX Ĉm[k\GӵQJÿѭӧFWKXұWWRiQѭӟFOѭӧQJWKDPVӕÿӕLWѭӧQJѭӟFOѭӧQJWKӡL JLDQWUӉFӫDKӋWKӕQJYjEӝÿLӅXNKLӇQ3,-0ӡ.ӃWTXҧP{SKӓQJFKRWKҩ\FyWKӇiS GөQJEӝÿLӅXNKLӇQ6PLWKSUHGLFWRU0ӡYjRKӋWKӕQJWKӵFFyWKӡLJLDQWUӉ
2 6DXNKLÿmKRjQWKLӋQFѫVӣOêWKX\ӃWWULӇQNKDLWKXұWWRiQÿӕLYӟLP{KuQKWKӵF, NӃWTXҧWKӵFQJKLӋPVӁÿѭӧFWUuQKEj\ӣQKӳQJFKѭѫQJWLӃSWKHR
&KѭѫQJMÔ HÌNH THӴC NGHIӊM
6ѫOѭӧc vӅ mô hình thӵc nghiӋm
0{KuQKKӋWKӕQJWKӵFQJKLӋPÿѭӧF[k\GӵQJYӟLErQQJRjLOjPӝWQJ}YjRYj PӝWQJ}UDErQWURQJOjKӋWKӕQJÿLӅXNKLӇQPӵFFKҩWOӓQJ
+uQK6˯ÿ͛ mô hình thc nghi m
+ӋWKӕQJÿLӅXNKLӇQPӵFFKҩWOӓQJ ÿѭӧFYұQKjQKWUrQEӝÿLӅXNKLӇQFKtQKOj PLC S7-NӃWKӧSFҧPELӃQUDGDUÿRPӵFFKҩWOӓQJWURQJEӗQ 7KXұWWRiQ[ӱOê ÿѭӧFYLӃWWUrQ3/&0DWODENӃWQӕLYӟL3/&WK{QJTXD.EPServerEx quan sát các JLiWUӏWK{QJVӕQKұQGҥQJP{KuQKWtQKLӋXGӵEiRWtQKLӋXÿLӅXNKLӇQYjÿiSӭQJ ngõ ra
0ӝWVӕKuQKҧQKYӅP{KuQKWKӵFQJKLӋPÿѭӧFWKӇKLӋQWURQJcác hình 3.2 ÿӃQ3.4
Hình 3.2: Mô hình thc nghi m
Hình 3.4: M̿t bên mô hình thc nghi m
3.2 ThiӃt bӏ sӱ dөng trong mô hình thӵc nghiӋm
3/&3URJUDPPDEOH/RJLF&RQWUROOjWKLӃWEӏÿLӅXNKLӇQFyWKӇOұSWUuQKÿѭӧF WKLӃWNӃFKX\rQGQJWURQJF{QJQJKLӋSÿӇÿLӅXNKLӇQFiFTXiWUuQK[ӱOêWӯÿѫQJLҧQ ÿӃQSKӭFWҥS
+LӋQQD\FyPһWYӟLUҩWQKLӅXKmQJVҧQ[XҩWQKѭ6LHPHQV2PURQ0LWVXELVKL 5RFNZHOO6KQHLGHUôYӟLQKӳQJOӧLWKӃNKiFELӋWÿӃQWӯPӛLKmQJFNJQJQKѭVӵQkQJ FҩSWUrQFiFGzQJWKLӃWEӏFӫD3/&ĈLӅXÿyPDQJOҥLWtQKOLQKKRҥWFNJQJQKѭQkQJ FDRVӭFPҥQKÿLӅXNKLӇQQKLӅXWKLӃWEӏÿDGҥQJÿӗQJWKӡLÿiSӭQJ\rXFҫXÿLӅXNKLӇQ WӵÿӝQJQJj\FjQJFDR
0{KuQKWKӵFQJKLӋPVӱGөQJ3/&6-1200 CPU 1214C DC/DC/DC
Hình 3.5: PLC S7-1200 CPU 1214C DC/DC/DC
%LӃQWҫQ6KLKOLQOjWKѭѫQJKLӋXQәLWLӃQJKjQJÿҫXĈjL/RDQYjWKӃJLӟLFӫD WұSÿRjQ6KLKOLQ(OHFWULFOLrQGRDQK YӟL0LWVXELVKL(OHFWULF1KұW %ҧQYӅFiFVҧQ SKҭPWKLӃWEӏÿLӋQYjWӵÿӝQJKyD7KLӃWEӏÿLӋQ6KLKOLQVӱGөQJF{QJQJKӋYjOLQK NLӋQFӫD0LWVXELVKLWҥRUDPӝWFKҩWOѭӧQJYѭӧWWUӝLEӅQEӍYӟLJLiWKjQKFҥQKWUDQK QKҩW%LӃQWҫQ6KLKOLQFyÿӝEӅQFDRÿӝәQÿӏQKFDRWXәLWKӑWUXQJEuQKFDRFyPүX PmÿҽSFӭQJWK{QJVӕFjLÿһWWѭѫQJWӵQKѭWK{QJVӕFjLÿһWELӃQWҫQ0LWVXELVKL 1KұW EҧQ OLQK NLӋQ FKtQK WURQJ ELӃQ WҫQ 6KLKOLQ Oj ÿѭӧF WKӯD KѭӣQJ FӫD Kãng 0LWVKXELVKL1KұWEҧQ
Hình 3.6: Bi͇n t̯n Shihlin SS2-021-0.75K 6˯ÿ͛ c ̭ p ngu ͛QYjÿ̭ u n ͙Lÿ͡QJF˯FKREL͇ n t ̯ n Shihlin SS2
Hình 3.71J}YjRSKD9$&1J}UDÿ͡QJF˯SKD9$& éQJKƭDFiFFKkQÿҩXQӕL
U/T1 - V/T2 - W/T3 &KkQÿҩXQӕLWӟLÿӝQJFѫSKD
(+/P) - PR &KkQÿҩXQӕLÿLӋQWUӣKmP
(+/P) - (-/N) &KkQÿҩXQӕLWӟLEӝÿLӋQWUӣKmP
GND &KkQQӕLÿҩWFKRELӃQWҫQ
6˯ÿ͛ ÿ̭ u n ͙ i dây tín hi XÿL͉ u khi ͋ n cho bi ͇ n t ̯ n
Hình 3.86˯ÿ͛ ÿ̭u n͙i dây tín hi XÿL͉u khi͋n cho bi͇n t̯n éQJKƭDFiFFKkQÿLӅXNKLӇQ
&KkQFKXQJFKRFiFFKkQ67)6755(6000YӟLÿLӅX NLӋQSKҧLJҥWF{QJWҳF6,1.6285&(YӅSKtD6285&(&KkQ Qj\FҩSQJXӗQ9DC
NLӋQSKҧLJҥWF{QJWҳF6,1.6285&(YӅSKtD6,1
3 STF 0һFÿӏQKFyFKӭFQăQJFKҥ\WKXұQ&yWKӇWKD\ÿәLEҵQJWKDP
VӕFKkQQj\FyWiFGөQJNKLFKӑQFKӃÿӝKRҥWÿӝQJErQQJRjL
4 STR 0һFÿӏQKFKkQQj\FKҥ\QJKӏFK&yWKӇWKD\ÿәLEҵQJWKDPVӕ
FKkQQj\FyWiFGөQJNKLFKӑQFKӃÿӝKRҥWÿӝQJErQQJRjL
0һFÿӏQKFyFKӭFQăQJUHVHWOҥLELӃQWҫQ&yWKӇWKD\ÿәLEҵQJ WKDPVӕFKkQQj\FyWiFGөQJNKLFKӑQFKӃÿӝKRҥWÿӝQJErQ ngoài
0һFÿӏQKFyFKӭFQăQJÿLӅXNKLӇQÿӝQJFѫFKҥ\ӣFҩSÿӝWKӭ QKҩWFyWKӇWKD\ÿәLEҵQJWKDPVӕ&KkQQj\FyWiFGөQJNKL FKӑQFKӃÿӝKRҥWÿӝQJErQQJRjL
0һFÿӏQKFyFKӭFQăQJÿLӅXNKLӇQÿӝQJFѫFKҥ\ӣFҩSÿӝWKӭ FyWKӇWKD\ÿәLEҵQJWKDPVӕ&KkQQj\FyWiFGөQJNKLFKӑQFKӃ ÿӝKRҥWÿӝQJErQQJRjL
0һFÿӏQKFyFKӭFQăQJÿLӅXNKLӇQÿӝQJFѫFKҥ\ӣFҩSÿӝWKӭ FyWKӇWKD\ÿәLEҵQJWKDPVӕ&KkQQj\FyWiFGөQJNKLFKӑQFKӃ ÿӝKRҥWÿӝQJErQQJRjL
9 10 &ҩSQJXӗQ9FKRELӃQWUӣÿLӅXNKLӇQWӕFÿӝÿӝQJFѫ
10 2 1ӕLYӟLFKkQFKҥ\FӫDELӃQWUӣKRһFWtQKLӋXÿLӅXNKLӇQDQDORJ a9ÿѭDYӅ
11 4 1ӕLYӟLFKkQFӫDWtQKLӋXÿLӅXNKLӇQ-P$KRһF-5, 0-
12 5 Chân chung cho các chân 2, 4, 10, AM
13 AM ĈҫXUDWtQKLӋXDQDORJa9QӕLYӟLEӝÿӗQJKӗKLӇQWKӏ&KӭF
QăQJFKkQQj\FyWKӇWKD\ÿәLEҵQJWKDPVӕ
14 SO ;XҩWWtQKLӋXÿҫXUD[XQJNKLWҫQVӕKRҥWÿӝQJFӫDELӃQWҫQ ÿҥWWӟLWҫQVӕÿһW&yWKӇWKD\ÿәLEҵQJWKDPVӕ
16 A 7LӃSÿLӇP 5HOD\WKѭӡQJPӣÿDFKӭFQăQJ0һFÿӏQKOjNKLFyOӛL
VӁÿyQJWLӃSÿLӇPQj\OҥL&yWKӇWKD\ÿәLEҵQJWKDPVӕ
17 B 7LӃSÿLӇP5HOD\WKѭӡQJÿyQJÿDFKӭFQăQJ0һFÿӏQKOjNKLFy
OӛLVӁPӣWLӃSÿLӇPQj\UD&yWKӇWKD\ÿәLEҵQJWKDPVӕ
18 C Chân chung cho hai chân A và B
19 RJ-45 &әQJNӃWQӕLWUX\ӅQWK{QJ56
3.2.3 Radar measurement Time-of-Flight Micropilot FMR51
Hình 3.9: Radar measurement Time-of-Flight Micropilot FMR51.
&ҧPELӃQUDGDUFMR51 ÿѭӧFVӱGөQJÿӇÿROLrQWөFNK{QJWLӃS[~FYӟLFKҩW OӓQJEӝWQKmRYjEQ9LӋFÿROѭӡQJNK{QJEӏҧQKKѭӣQJEӣLYLӋFWKD\ÿәLSKѭѫQJ WLӋQWKD\ÿәLQKLӋWÿӝNKtKRһFKѫL&yWKӇWUX\FұSYjRFҧPELӃQWӯ[DWK{QJTXD ӭQJGөQJ6PDUW%OXHFyVҹQ ĈһFÿLӇPFѫEҧQFӫDWKLӃWEӏ
0{LWUѭӡQJ-40 to 150 deg C / -40 to 302 deg F, 40 bar
7LrXFKXҭQF{QJQJKLӋS,31(0$;3 éQJKƭDFiFFKkQNӃWQӕL
Hình 3.100i\E˯P3DQDVRQLF*3-129JXK ĈһFÿLӇPQәLEұW
+ 7KLӃWNӃQKӓJӑQEӅQEӍ
+ LѭXOѭӧQJFҩSQѭӟFWӕLÿDÿӃQOtWSK~W
+ 7UDQJEӏFKXҭQFKӕQJQѭӟF,3;EҧRYӋWӕLѭXFKRÿӝQJFѫErQWURQJ + &KӕQJFKұSÿLӋQăQPzQYjQJҳQPҥFKYӟLOӟSFiFKÿLӋQ
+ &ҩSQѭӟFOrQÿӝFDRWӕLÿDPpW
+ $QWRjQWӕLÿDYӟLWtQKQăQJWӵQJҳWEѫPNKLQKLӋWÿӝEѫPFDR
3.3 KӃt nӕi PLC S7-1200 vӟi Matlab thông qua KEPServerEx
9LӋFNӃWQӕL ÿѭӧFFKLDOjPKDLEѭӟF.ӃWQӕL6-1200 YӟLKEPServerEx và NӃWQӕLMatlab YӟLKEPServerEx
7KӵFKLӋQOҫQOѭӧW FiFEѭӟFVDXÿk\
- &KӑQ Edit / Connectivity / New Channel và FKӑQFKXҭQNӃWQӕLYӟL6-1200 là Siemens TCP/IP Etherner QKѭKuQK
- &iFEѭӟFNӃWLӃS click Next U͛L Finish
- 7LӃSWKHRFKӑQ Click to add a device vjÿһWWrQWKLӃWEӏQKѭKuQK
- ;iFÿӏQKWKLӃWEӏNӃWQӕLQKѭKuQK
- ;iFÿӏQKÿӏD FKӍ,3FӫD6-1200 QKѭKuQK15
- &iFEѭӟFNӃWLӃSFOLFN Next, U͛L Finish
- 6DXNKLNӃWQӕLYӟL6-12FKӑQ Click to add a static tag ÿӇFKӑQÿӏDFKӍ FӫDELӃQWҫQFҧPELӃQKD\FѫFҩXFKҩSKjQKEҩWNǤ trong P{KuQKWKӵFQJKLӋP Hình 3.16 là ví dөYӅFKӑQÿӏDFKӍÿӇÿӑFJLiWUӏFҧPELӃQPӵFQѭӟF
- 6DXNKLWKӵFKLӋQFiFEѭӟFNӃWQӕLS7-YӟL.(36HUYHU([.ӃWTXҧNӃW QӕLÿѭӧFWKӇKLӋQӣKuQK.17
- 7DFyWKӇNLӇPWUDWUҥQJWKiLNӃWQӕLJLӳD6-YӟL.(36HUYHU([ EҵQJ cách click Quick Client QKѭKuQK
Hình 3.19: Ki͋m tra tr̩ng thái k͇t n͙i giͷa S7-1200 vͣi KEPServerEx
6DXNKLÿmNӃWQӕLS7-YӟL.(36HUYHU([EѭӟFWLӃSWKHROjNӃWQӕLMatlab YӟLKEPServerEx EҵQJFiFKVӱGөQJ23&7RROER[WURQJ0DWODE6LPXOLQN
Hình 3.20: OPC Toolbox trong Matlab Simulink
7DVӱGөQJEORFNWURQJ23&7RROER[QKѭVDX
+ 23&&RQILJXUDWLRQFҩXKuQKFKRNӃWQӕLJLӳD0DWODEYj.(36HUverEx + 23&5HDGĈӑFJLiWUӏFiFELӃQÿѭӧFWUX\ӅQTXD.(36HUYHU([
+ 23&:ULWH*KLJLiWUӏYjRFiFELӃQÿѭӧFWUX\ӅQTXD.(36HUYHU([
7UѭӟFWLrQWDFҩXKuQKFKREORFN23&&RQILJXUDWLRQFKӑQ&RQILJXUH23&
&OLHQWVVDXÿyFKӑQKepware.KEPServerEx.V6 QKѭhình 3.20
Hình 3.21: C̭u hình cho block OPC Configuration
7LӃSWKHRWDFҩXKuQKFKREORFN23&5HDGÿӇÿӑFJLiWUӏFiFELӃQFӫD3/& ÿѭӧFWUX\ӅQTXD.(36HUYHU([
7URQJ 23&5HDGWҥL NKXQJ&OLHQWWDFKӑQ HSZDUH.(36HUYHU([9; WҥL NKXQJ,WHP,'VWDFKӑn Add items ÿӇWKrPYjRFiFELӃQFҫQOҩ\GӳOLӋXWҥLNKXQJ 6DPSOHWLPHWDFKӑQӭQJYӟLJLk\ QKѭWUrQKuQK
Hình 3.22: C̭u hình cho block OPC Read
7LӃSWKHRWDFҩXKuQKFKREORFN23&:ULWHÿӇJKLJLiWUӏYjR FiFELӃQ FӫD PLC ÿѭӧFWUX\ӅQTXa KEPServerEx
7URQJ23&:ULWHWҥLNKXQJ&OLHQWWDFKӑQ.HSZDUH.(36HUYHU([9WҥL NKXQJ,WHP,'VWDFKӑQ$GGLWHPVÿӇWKrPYjRFiFELӃQFҫQJKLGӳOLӋXWҥLNKXQJ 6DPSOHWLPHWDFKӑQӭQJYӟLJLk\QKѭWUrQKuQK2
Hình 3.23: C̭u hình cho block OPC Write
6DXNKLÿmKRjQWKjQKFiFEѭӟFNӃWQӕLPLC S7-1200 YӟL0DWODEWK{QJTXDKEPServerExWDÿmFyWKӇWLӃQKjQKOұSWUuQKWUrQPLC ÿӇÿLӅXNKLӇQP{KuQKWKӵFQJKLӋP
6DX NKL ÿm WuP KLӇX Yj [k\ GӵQJ P{ KuQK WKӵF QJKLӋP, NӃW OXұQ U~W UD Wӯ FKѭѫQJQKѭVDX
1ĈmNӃWQӕL3/&67-YӟL.(36HUYHU([WK{QJTXDFKXҭQ(WKHUQHW 2ĈmNӃWQӕLMatlab YӟLKEPServerEx
37uPKLӇXÿӕLWѭӧQJÿLӅXNKLӇQJӗPFy bӗQFKӭDFҧPELӃQUDGDUELӃQWҫQ EѫPQѭӟF
4.ӃWTXҧWKӵFQJKLӋPYLӋFWULӇQNKDLWKXұWWRiQÿLӅXNKLӇQWUrQmô hình VӁ ÿѭӧFWUuQKEj\YjSKkQWtFKӣFKѭѫQJNӃWLӃS
&KѭѫQJ.ӂT QUҦ THӴC NGHIӊM
7ҩWFҧFiFNӃWTXҧWKӵFQJKLӋPÿӅXÿѭӧFWULӇQNKDLWUrQP{KuQKWKӵFQJKLӋP WҥLSKzQJ%WUѭӡQJĈҥL+ӑF%iFK.KRD73+ӗ&Kt0LQK.KDLWULӇQWKXұWWRiQ ÿLӅXNKLӇQÿmÿѭӧFWUuQKEj\ӣFKѭѫQJ trên PLC S7-1200 ÿӇÿLӅXNKLӇQPӵFFKҩW OӓQJWURQJEӗQEiPWKHRWtQKLӋXÿһW&KXNǤOҩ\PүXFӫDWҩWFҧFiFWKӵFQJKLӋPOj 0.1 giây&iFNӃWTXҧÿLӅXNKLӇQӭQJYӟLFiFEӝÿLӅXNKLӇQNKiFQKDXVӁÿѭӧFWUuQK Ej\ӣSKҫQGѭӟL
7KӵFQJKLӋPÿLӅXNKLӇQKӋWKӕQJ FyWUӉ YӟLEӝÿLӅXNKLӇn PI-0ӡvà Smith 3UHGLFWRU0ӡNKLWtQKLӋXÿһWFӕÿӏQK KӃWTXҧÿLӅXNKLӇQÿѭӧFWKӇKLӋQӣFiFKuQK 4.1 ± 4.4
Hình 4.1: Tín hi XÿL͉u khi͋n u
Hình 4.2ĈiSͱng ngõ ra h th͙ng và tín hi Xÿ̿t ắ ӃWOXұQ1J}UDKӋWKӕQJEiPWKHRWtQKLӋXÿһWQKѭQJYүQFzQGDRÿӝQJ WKӡLJLDQOrQYjÿӝYӑWOӕOӟQ
Hình 4.3: Tín hi XÿL͉u khi͋n u
Hình 4.4ĈiSͱng ngõ ra h th͙ng và tín hi Xÿ̿t ắ ӃWOXұQ1J}UDKӋWKӕQJEiPWKHRWtQKLӋXÿһWQKѭQJYүQFzQGDRÿӝQJ WKӡLJLDQTXiÿӝWӕWKѫQEӝ3,0ӡ
%ӝÿLӅXNKLӇQ 7KӡLJLDQOrQ 7KӡLJLDQTXiÿӝ ĈӝYӑWOӕ
9ұ\WDWKҩ\ÿiSӭQJFӫDKӋWKӕQJNKLVӱGөQJEӝÿLӅXNKLӇQ6PLWK3UHGLFWRU 0ӡWӕWKѫQNKLVӱGөQJEӝÿLӅXNKLӇQ3,0ӡ
7KӵFQJKLӋPÿLӅXNKLӇQKӋWKӕQJ có WUӉ YӟLEӝÿLӅXNKLӇQ3,0ӡYj6PLWK PUHGLFWRU0ӡ NKLWtQKLӋXÿһWWKD\ÿәL6ѫÿӗÿLӅXNKLӇQYjNӃWTXҧÿLӅXNKLӇQÿѭӧF trình bày trong hình 4.5 ± 4.9
Hình 4.5: Tín hi XÿL͉u khi͋n u
Hình 4.6ĈiSͱng ngõ ra h th͙ng và tín hi Xÿ̿t
.ӃWOXұQ1J}UDKӋWKӕQJEiPWKHRWtQKLӋXÿһWQKѭQJYүQFzQGDRÿӝQJWKӡL JLDQOrQYjÿӝYӑWOӕFzQOӟQ
Hình 4.7: Tín hi XÿL͉u khi͋n u
+uQKĈiSͱng ngõ ra và tín hi Xÿ̿t
Hình 4.9: Thͥi gian tr͍ ˱ͣFO˱ͫng cͯa h th͙ng
9uWKӡLJLDQWUӉѭӟFOѭӧQJFӫDKӋWKӕQJÿѭӧFFKX\ӇQÿәLWKjQKVӕQJX\rQYj FKXNǤOҩ\PүXOjVQrQWKӡLJLDQWUӉѭӟFOѭӧQJFӫDKӋWKӕQJVӁOj0,8(s)
ӃWOXұQ9ӟLEӝÿLӅXNKLӇQ6PLWK3UHGLFWRU0ӡWKӡLJLDQWUӉFӫDKӋWKӕng ÿmÿѭӧFѭӟFOѭӧQJYjJL~SFKRÿiSӭQJQJ}UDFӫDKӋWKӕQJEiPWKHRWtQKLӋXÿһWYjNK{QJFzQGDRÿӝQJGDRÿӝQJWDWKҩ\WUrQÿӗWKӏÿiSӭQJQJ}UDGRYӏWUtÿһWӕQJGүQNRWӕWGүQÿӃQPһWQѭӟFQKҩSQK{NKLEѫPQѭӟFYjR
4.3 7KD\ÿәi chiӅXGjLÿѭӡng ӕng
7KӵFQJKLӋPÿLӅXNKLӇQKӋWKӕQJFyWUӉYӟLEӝÿLӅXNKLӇQ3,0ӡYj6PLWK 3UHGLFWRU0ӡNKLWtQKLӋXÿһWWKD\ÿәLYjWăQJFKLӅXGjLÿѭӡQJӕQJ6ѫÿӗÿLӅX NKLӇQYjNӃWTXҧÿLӅXNKLӇQÿѭӧFWUuQKEj\WURQJKuQK± 4.14
Hình 4.10: Tín hi XÿL͉u khi͋n u
+uQKĈiSͱng ngõ ra h th͙ng và tín hi Xÿ̿t ắ ӃWOXұQ7DWKҩ\QJ}UDKӋWKӕQJEiPWKHRWtQKLӋXÿһWQKѭQJÿiSӭQJKӋ WKӕQJ GDRÿӝQJ QKLӅXWKӡLJLDQOrQYjÿӝYӑWOӕUҩWOӟQ
Hình 4.12: Tín hi XÿL͉u khi͋n u
Hình 4.13ĈiSͱng ngõ ra h th͙ng và tín hi Xÿ̿t
Hình 4.14: Thͥi gian tr͍ ˱ͣFO˱ͫng cͯa h th͙ng
9uWKӡLJLDQWUӉѭӟFOѭӧQJFӫDKӋWKӕQJÿѭӧFFKX\ӇQÿәLWKjQKVӕQJX\rQYj FKXNǤOҩ\PүXOjVQrQWKӡLJLDQWUӉѭӟF OѭӧQJFӫDKӋWKӕQJVӁOj2,9(s) ắ ӃWOXұQ9ӟLEӝÿLӅXNKLӇQ6PLWKSUHGLFWRU0ӡWKӡLJLDQWUӉFӫDKӋWKӕQJ ÿmÿѭӧFѭӟFOѭӧQJYjJL~SFKRÿiSӭQJQJ}UDFӫDKӋWKӕQJEiPWKHRWtQ KLӋXÿһWYjNK{QJFzQGDRÿӝQJGDRÿӝQJWDWKҩ\WUrQÿӗWKӏÿiSӭQJQJ} ra GRYӏWUtÿһWӕQJGүQNRWӕWGүQÿӃQPһWQѭӟFQKҩSQK{NKLEѫPQѭӟF vào)
6DXNKLWKӵFQJKLӋPWUrQmô hìnhQKӳQJNӃWOXұQÿѭӧFU~WUDQKѭVDX 7URQJKӋWKӕQJWӗQWҥLWKӡLJLDQWUӉWӯWUDQVPLWWHUSKҧQKӗLYӅQӃXNK{QJ [ӱOêÿѭӧF WKӡLJLDQWUӉQj\WKuFKҩWOѭӧQJÿLӅXNKLӇQFKѭDÿiSӭQJÿѭӧF\rXFҫX ĈmiSGөQJJLҧLWKXұWQKұQGҥQJWKDPVӕÿӕLWѭӧQJJLҧLWKXұWѭӟFOѭӧQJWKӡLJLDQWUӉFӫDKӋWKӕQJNӃWKӧSYӟLEӝÿLӅXNKLӇQ3,-0ӡÿӇÿѭDUDEӝÿLӅXNKLӇQWUrQÿӕLWѭӧQJWKұW ĈmѭӟFOѭӧQJWKDPVӕÿӕLWѭӧQJWKӡLJLDQWUӉKӋWKӕQJJL~SFKRÿiSӭQJKӋWKӕQJEiPWKHRWtQKLӋXÿһWFKҩWOѭӧQJÿLӅXNKLӇQÿѭӧFFҧLWKLӋQ
KӃt luұQFKѭѫQJ
&KѭѫQJÿmQrXUDFѫVӣOêWKX\ӃWYjQKӳQJNӃWTXҧP{SKӓQJNLӇPWUDWtQK NKҧWKLFӫDFѫVӣ OêWKX\ӃW ÿyNӃWOXұQU~WUDWӯFKѭѫQJQKѭVDX Ĉm[k\GӵQJÿѭӧFWKXұWWRiQѭӟFOѭӧQJWKDPVӕÿӕLWѭӧQJѭӟFOѭӧQJWKӡL JLDQWUӉFӫDKӋWKӕQJYjEӝÿLӅXNKLӇQ3,-0ӡ.ӃWTXҧP{SKӓQJFKRWKҩ\FyWKӇiS GөQJEӝÿLӅXNKLӇQ6PLWKSUHGLFWRU0ӡYjRKӋWKӕQJWKӵFFyWKӡLJLDQWUӉ
2 6DXNKLÿmKRjQWKLӋQFѫVӣOêWKX\ӃWWULӇQNKDLWKXұWWRiQÿӕLYӟLP{KuQKWKӵF, NӃWTXҧWKӵFQJKLӋPVӁÿѭӧFWUuQKEj\ӣQKӳQJFKѭѫQJWLӃSWKHR
&KѭѫQJMÔ HÌNH THӴC NGHIӊM
6ѫOѭӧc vӅ mô hình thӵc nghiӋm
0{KuQKKӋWKӕQJWKӵFQJKLӋPÿѭӧF[k\GӵQJYӟLErQQJRjLOjPӝWQJ}YjRYj PӝWQJ}UDErQWURQJOjKӋWKӕQJÿLӅXNKLӇQPӵFFKҩWOӓQJ
+uQK6˯ÿ͛ mô hình thc nghi m
+ӋWKӕQJÿLӅXNKLӇQPӵFFKҩWOӓQJ ÿѭӧFYұQKjQKWUrQEӝÿLӅXNKLӇQFKtQKOj PLC S7-NӃWKӧSFҧPELӃQUDGDUÿRPӵFFKҩWOӓQJWURQJEӗQ 7KXұWWRiQ[ӱOê ÿѭӧFYLӃWWUrQ3/&0DWODENӃWQӕLYӟL3/&WK{QJTXD.EPServerEx quan sát các JLiWUӏWK{QJVӕQKұQGҥQJP{KuQKWtQKLӋXGӵEiRWtQKLӋXÿLӅXNKLӇQYjÿiSӭQJ ngõ ra
0ӝWVӕKuQKҧQKYӅP{KuQKWKӵFQJKLӋPÿѭӧFWKӇKLӋQWURQJcác hình 3.2 ÿӃQ3.4
Hình 3.2: Mô hình thc nghi m
Hình 3.4: M̿t bên mô hình thc nghi m
3.2 ThiӃt bӏ sӱ dөng trong mô hình thӵc nghiӋm
3/&3URJUDPPDEOH/RJLF&RQWUROOjWKLӃWEӏÿLӅXNKLӇQFyWKӇOұSWUuQKÿѭӧF WKLӃWNӃFKX\rQGQJWURQJF{QJQJKLӋSÿӇÿLӅXNKLӇQFiFTXiWUuQK[ӱOêWӯÿѫQJLҧQ ÿӃQSKӭFWҥS
+LӋQQD\FyPһWYӟLUҩWQKLӅXKmQJVҧQ[XҩWQKѭ6LHPHQV2PURQ0LWVXELVKL 5RFNZHOO6KQHLGHUôYӟLQKӳQJOӧLWKӃNKiFELӋWÿӃQWӯPӛLKmQJFNJQJQKѭVӵQkQJ FҩSWUrQFiFGzQJWKLӃWEӏFӫD3/&ĈLӅXÿyPDQJOҥLWtQKOLQKKRҥWFNJQJQKѭQkQJ FDRVӭFPҥQKÿLӅXNKLӇQQKLӅXWKLӃWEӏÿDGҥQJÿӗQJWKӡLÿiSӭQJ\rXFҫXÿLӅXNKLӇQ WӵÿӝQJQJj\FjQJFDR
0{KuQKWKӵFQJKLӋPVӱGөQJ3/&6-1200 CPU 1214C DC/DC/DC
Hình 3.5: PLC S7-1200 CPU 1214C DC/DC/DC
%LӃQWҫQ6KLKOLQOjWKѭѫQJKLӋXQәLWLӃQJKjQJÿҫXĈjL/RDQYjWKӃJLӟLFӫD WұSÿRjQ6KLKOLQ(OHFWULFOLrQGRDQK YӟL0LWVXELVKL(OHFWULF1KұW %ҧQYӅFiFVҧQ SKҭPWKLӃWEӏÿLӋQYjWӵÿӝQJKyD7KLӃWEӏÿLӋQ6KLKOLQVӱGөQJF{QJQJKӋYjOLQK NLӋQFӫD0LWVXELVKLWҥRUDPӝWFKҩWOѭӧQJYѭӧWWUӝLEӅQEӍYӟLJLiWKjQKFҥQKWUDQK QKҩW%LӃQWҫQ6KLKOLQFyÿӝEӅQFDRÿӝәQÿӏQKFDRWXәLWKӑWUXQJEuQKFDRFyPүX PmÿҽSFӭQJWK{QJVӕFjLÿһWWѭѫQJWӵQKѭWK{QJVӕFjLÿһWELӃQWҫQ0LWVXELVKL 1KұW EҧQ OLQK NLӋQ FKtQK WURQJ ELӃQ WҫQ 6KLKOLQ Oj ÿѭӧF WKӯD KѭӣQJ FӫD Kãng 0LWVKXELVKL1KұWEҧQ
Hình 3.6: Bi͇n t̯n Shihlin SS2-021-0.75K 6˯ÿ͛ c ̭ p ngu ͛QYjÿ̭ u n ͙Lÿ͡QJF˯FKREL͇ n t ̯ n Shihlin SS2
Hình 3.71J}YjRSKD9$&1J}UDÿ͡QJF˯SKD9$& éQJKƭDFiFFKkQÿҩXQӕL
U/T1 - V/T2 - W/T3 &KkQÿҩXQӕLWӟLÿӝQJFѫSKD
(+/P) - PR &KkQÿҩXQӕLÿLӋQWUӣKmP
(+/P) - (-/N) &KkQÿҩXQӕLWӟLEӝÿLӋQWUӣKmP
GND &KkQQӕLÿҩWFKRELӃQWҫQ
6˯ÿ͛ ÿ̭ u n ͙ i dây tín hi XÿL͉ u khi ͋ n cho bi ͇ n t ̯ n
Hình 3.86˯ÿ͛ ÿ̭u n͙i dây tín hi XÿL͉u khi͋n cho bi͇n t̯n éQJKƭDFiFFKkQÿLӅXNKLӇQ
&KkQFKXQJFKRFiFFKkQ67)6755(6000YӟLÿLӅX NLӋQSKҧLJҥWF{QJWҳF6,1.6285&(YӅSKtD6285&(&KkQ Qj\FҩSQJXӗQ9DC
NLӋQSKҧLJҥWF{QJWҳF6,1.6285&(YӅSKtD6,1
3 STF 0һFÿӏQKFyFKӭFQăQJFKҥ\WKXұQ&yWKӇWKD\ÿәLEҵQJWKDP
VӕFKkQQj\FyWiFGөQJNKLFKӑQFKӃÿӝKRҥWÿӝQJErQQJRjL
4 STR 0һFÿӏQKFKkQQj\FKҥ\QJKӏFK&yWKӇWKD\ÿәLEҵQJWKDPVӕ
FKkQQj\FyWiFGөQJNKLFKӑQFKӃÿӝKRҥWÿӝQJErQQJRjL
0һFÿӏQKFyFKӭFQăQJUHVHWOҥLELӃQWҫQ&yWKӇWKD\ÿәLEҵQJ WKDPVӕFKkQQj\FyWiFGөQJNKLFKӑQFKӃÿӝKRҥWÿӝQJErQ ngoài
0һFÿӏQKFyFKӭFQăQJÿLӅXNKLӇQÿӝQJFѫFKҥ\ӣFҩSÿӝWKӭ QKҩWFyWKӇWKD\ÿәLEҵQJWKDPVӕ&KkQQj\FyWiFGөQJNKL FKӑQFKӃÿӝKRҥWÿӝQJErQQJRjL
0һFÿӏQKFyFKӭFQăQJÿLӅXNKLӇQÿӝQJFѫFKҥ\ӣFҩSÿӝWKӭ FyWKӇWKD\ÿәLEҵQJWKDPVӕ&KkQQj\FyWiFGөQJNKLFKӑQFKӃ ÿӝKRҥWÿӝQJErQQJRjL
0һFÿӏQKFyFKӭFQăQJÿLӅXNKLӇQÿӝQJFѫFKҥ\ӣFҩSÿӝWKӭ FyWKӇWKD\ÿәLEҵQJWKDPVӕ&KkQQj\FyWiFGөQJNKLFKӑQFKӃ ÿӝKRҥWÿӝQJErQQJRjL
9 10 &ҩSQJXӗQ9FKRELӃQWUӣÿLӅXNKLӇQWӕFÿӝÿӝQJFѫ
10 2 1ӕLYӟLFKkQFKҥ\FӫDELӃQWUӣKRһFWtQKLӋXÿLӅXNKLӇQDQDORJ a9ÿѭDYӅ
11 4 1ӕLYӟLFKkQFӫDWtQKLӋXÿLӅXNKLӇQ-P$KRһF-5, 0-
12 5 Chân chung cho các chân 2, 4, 10, AM
13 AM ĈҫXUDWtQKLӋXDQDORJa9QӕLYӟLEӝÿӗQJKӗKLӇQWKӏ&KӭF
QăQJFKkQQj\FyWKӇWKD\ÿәLEҵQJWKDPVӕ
14 SO ;XҩWWtQKLӋXÿҫXUD[XQJNKLWҫQVӕKRҥWÿӝQJFӫDELӃQWҫQ ÿҥWWӟLWҫQVӕÿһW&yWKӇWKD\ÿәLEҵQJWKDPVӕ
16 A 7LӃSÿLӇP 5HOD\WKѭӡQJPӣÿDFKӭFQăQJ0һFÿӏQKOjNKLFyOӛL
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17 B 7LӃSÿLӇP5HOD\WKѭӡQJÿyQJÿDFKӭFQăQJ0һFÿӏQKOjNKLFy
OӛLVӁPӣWLӃSÿLӇPQj\UD&yWKӇWKD\ÿәLEҵQJWKDPVӕ
18 C Chân chung cho hai chân A và B
19 RJ-45 &әQJNӃWQӕLWUX\ӅQWK{QJ56
3.2.3 Radar measurement Time-of-Flight Micropilot FMR51
Hình 3.9: Radar measurement Time-of-Flight Micropilot FMR51.
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0{LWUѭӡQJ-40 to 150 deg C / -40 to 302 deg F, 40 bar
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Hình 3.100i\E˯P3DQDVRQLF*3-129JXK ĈһFÿLӇPQәLEұW
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+ &ҩSQѭӟFOrQÿӝFDRWӕLÿDPpW
+ $QWRjQWӕLÿDYӟLWtQKQăQJWӵQJҳWEѫPNKLQKLӋWÿӝEѫPFDR
KӃt nӕi PLC S7-1200 vӟi Matlab thông qua KEPServerEx
9LӋFNӃWQӕL ÿѭӧFFKLDOjPKDLEѭӟF.ӃWQӕL6-1200 YӟLKEPServerEx và NӃWQӕLMatlab YӟLKEPServerEx
7KӵFKLӋQOҫQOѭӧW FiFEѭӟFVDXÿk\
- &KӑQ Edit / Connectivity / New Channel và FKӑQFKXҭQNӃWQӕLYӟL6-1200 là Siemens TCP/IP Etherner QKѭKuQK
- &iFEѭӟFNӃWLӃS click Next U͛L Finish
- 7LӃSWKHRFKӑQ Click to add a device vjÿһWWrQWKLӃWEӏQKѭKuQK
- ;iFÿӏQKWKLӃWEӏNӃWQӕLQKѭKuQK
- ;iFÿӏQKÿӏD FKӍ,3FӫD6-1200 QKѭKuQK15
- &iFEѭӟFNӃWLӃSFOLFN Next, U͛L Finish
- 6DXNKLNӃWQӕLYӟL6-12FKӑQ Click to add a static tag ÿӇFKӑQÿӏDFKӍ FӫDELӃQWҫQFҧPELӃQKD\FѫFҩXFKҩSKjQKEҩWNǤ trong P{KuQKWKӵFQJKLӋP Hình 3.16 là ví dөYӅFKӑQÿӏDFKӍÿӇÿӑFJLiWUӏFҧPELӃQPӵFQѭӟF
- 6DXNKLWKӵFKLӋQFiFEѭӟFNӃWQӕLS7-YӟL.(36HUYHU([.ӃWTXҧNӃW QӕLÿѭӧFWKӇKLӋQӣKuQK.17
- 7DFyWKӇNLӇPWUDWUҥQJWKiLNӃWQӕLJLӳD6-YӟL.(36HUYHU([ EҵQJ cách click Quick Client QKѭKuQK
Hình 3.19: Ki͋m tra tr̩ng thái k͇t n͙i giͷa S7-1200 vͣi KEPServerEx
6DXNKLÿmNӃWQӕLS7-YӟL.(36HUYHU([EѭӟFWLӃSWKHROjNӃWQӕLMatlab YӟLKEPServerEx EҵQJFiFKVӱGөQJ23&7RROER[WURQJ0DWODE6LPXOLQN
Hình 3.20: OPC Toolbox trong Matlab Simulink
7DVӱGөQJEORFNWURQJ23&7RROER[QKѭVDX
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+ 23&:ULWH*KLJLiWUӏYjRFiFELӃQÿѭӧFWUX\ӅQTXD.(36HUYHU([
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&OLHQWVVDXÿyFKӑQKepware.KEPServerEx.V6 QKѭhình 3.20
Hình 3.21: C̭u hình cho block OPC Configuration
7LӃSWKHRWDFҩXKuQKFKREORFN23&5HDGÿӇÿӑFJLiWUӏFiFELӃQFӫD3/& ÿѭӧFWUX\ӅQTXD.(36HUYHU([
7URQJ 23&5HDGWҥL NKXQJ&OLHQWWDFKӑQ HSZDUH.(36HUYHU([9; WҥL NKXQJ,WHP,'VWDFKӑn Add items ÿӇWKrPYjRFiFELӃQFҫQOҩ\GӳOLӋXWҥLNKXQJ 6DPSOHWLPHWDFKӑQӭQJYӟLJLk\ QKѭWUrQKuQK
Hình 3.22: C̭u hình cho block OPC Read
7LӃSWKHRWDFҩXKuQKFKREORFN23&:ULWHÿӇJKLJLiWUӏYjR FiFELӃQ FӫD PLC ÿѭӧFWUX\ӅQTXa KEPServerEx
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Hình 3.23: C̭u hình cho block OPC Write
6DXNKLÿmKRjQWKjQKFiFEѭӟFNӃWQӕLPLC S7-1200 YӟL0DWODEWK{QJTXDKEPServerExWDÿmFyWKӇWLӃQKjQKOұSWUuQKWUrQPLC ÿӇÿLӅXNKLӇQP{KuQKWKӵFQJKLӋP.
KӃt luұQFKѭѫQg 3
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1ĈmNӃWQӕL3/&67-YӟL.(36HUYHU([WK{QJTXDFKXҭQ(WKHUQHW 2ĈmNӃWQӕLMatlab YӟLKEPServerEx
37uPKLӇXÿӕLWѭӧQJÿLӅXNKLӇQJӗPFy bӗQFKӭDFҧPELӃQUDGDUELӃQWҫQ EѫPQѭӟF
4.ӃWTXҧWKӵFQJKLӋPYLӋFWULӇQNKDLWKXұWWRiQÿLӅXNKLӇQWUrQmô hình VӁ ÿѭӧFWUuQKEj\YjSKkQWtFKӣFKѭѫQJNӃWLӃS
&KѭѫQJ.ӂT QUҦ THӴC NGHIӊM
7ҩWFҧFiFNӃWTXҧWKӵFQJKLӋPÿӅXÿѭӧFWULӇQNKDLWUrQP{KuQKWKӵFQJKLӋP WҥLSKzQJ%WUѭӡQJĈҥL+ӑF%iFK.KRD73+ӗ&Kt0LQK.KDLWULӇQWKXұWWRiQ ÿLӅXNKLӇQÿmÿѭӧFWUuQKEj\ӣFKѭѫQJ trên PLC S7-1200 ÿӇÿLӅXNKLӇQPӵFFKҩWOӓQJWURQJEӗQEiPWKHRWtQKLӋXÿһW&KXNǤOҩ\PүXFӫDWҩWFҧFiFWKӵFQJKLӋPOj 0.1 giây&iFNӃWTXҧÿLӅXNKLӇQӭQJYӟLFiFEӝÿLӅXNKLӇQNKiFQKDXVӁÿѭӧFWUuQKEj\ӣSKҫQGѭӟL
Tín hiӋXÿһt cӕ ÿӏnh
7KӵFQJKLӋPÿLӅXNKLӇQKӋWKӕQJ FyWUӉ YӟLEӝÿLӅXNKLӇn PI-0ӡvà Smith 3UHGLFWRU0ӡNKLWtQKLӋXÿһWFӕÿӏQK KӃWTXҧÿLӅXNKLӇQÿѭӧFWKӇKLӋQӣFiFKuQK 4.1 ± 4.4
Hình 4.1: Tín hi XÿL͉u khi͋n u
Hình 4.2ĈiSͱng ngõ ra h th͙ng và tín hi Xÿ̿t ắ ӃWOXұQ1J}UDKӋWKӕQJEiPWKHRWtQKLӋXÿһWQKѭQJYүQFzQGDRÿӝQJ WKӡLJLDQOrQYjÿӝYӑWOӕOӟQ
Hình 4.3: Tín hi XÿL͉u khi͋n u
Hình 4.4ĈiSͱng ngõ ra h th͙ng và tín hi Xÿ̿t ắ ӃWOXұQ1J}UDKӋWKӕQJEiPWKHRWtQKLӋXÿһWQKѭQJYүQFzQGDRÿӝQJ WKӡLJLDQTXiÿӝWӕWKѫQEӝ3,0ӡ
%ӝÿLӅXNKLӇQ 7KӡLJLDQOrQ 7KӡLJLDQTXiÿӝ ĈӝYӑWOӕ
9ұ\WDWKҩ\ÿiSӭQJFӫDKӋWKӕQJNKLVӱGөQJEӝÿLӅXNKLӇQ6PLWK3UHGLFWRU0ӡWӕWKѫQNKLVӱGөQJEӝÿLӅXNKLӇQ3,0ӡ
Tín hiӋXÿһWWKD\ÿәi
7KӵFQJKLӋPÿLӅXNKLӇQKӋWKӕQJ có WUӉ YӟLEӝÿLӅXNKLӇQ3,0ӡYj6PLWK PUHGLFWRU0ӡ NKLWtQKLӋXÿһWWKD\ÿәL6ѫÿӗÿLӅXNKLӇQYjNӃWTXҧÿLӅXNKLӇQÿѭӧF trình bày trong hình 4.5 ± 4.9
Hình 4.5: Tín hi XÿL͉u khi͋n u
Hình 4.6ĈiSͱng ngõ ra h th͙ng và tín hi Xÿ̿t
.ӃWOXұQ1J}UDKӋWKӕQJEiPWKHRWtQKLӋXÿһWQKѭQJYүQFzQGDRÿӝQJWKӡL JLDQOrQYjÿӝYӑWOӕFzQOӟQ
Hình 4.7: Tín hi XÿL͉u khi͋n u
+uQKĈiSͱng ngõ ra và tín hi Xÿ̿t
Hình 4.9: Thͥi gian tr͍ ˱ͣFO˱ͫng cͯa h th͙ng
9uWKӡLJLDQWUӉѭӟFOѭӧQJFӫDKӋWKӕQJÿѭӧFFKX\ӇQÿәLWKjQKVӕQJX\rQYj FKXNǤOҩ\PүXOjVQrQWKӡLJLDQWUӉѭӟFOѭӧQJFӫDKӋWKӕQJVӁOj0,8(s)
ӃWOXұQ9ӟLEӝÿLӅXNKLӇQ6PLWK3UHGLFWRU0ӡWKӡLJLDQWUӉFӫDKӋWKӕng ÿmÿѭӧFѭӟFOѭӧQJYjJL~SFKRÿiSӭQJQJ}UDFӫDKӋWKӕQJEiPWKHRWtQKLӋXÿһWYjNK{QJFzQGDRÿӝQJGDRÿӝQJWDWKҩ\WUrQÿӗWKӏÿiSӭQJQJ}UDGRYӏWUtÿһWӕQJGүQNRWӕWGүQÿӃQPһWQѭӟFQKҩSQK{NKLEѫPQѭӟFYjR
4.3 7KD\ÿәi chiӅXGjLÿѭӡng ӕng
7KӵFQJKLӋPÿLӅXNKLӇQKӋWKӕQJFyWUӉYӟLEӝÿLӅXNKLӇQ3,0ӡYj6PLWK 3UHGLFWRU0ӡNKLWtQKLӋXÿһWWKD\ÿәLYjWăQJFKLӅXGjLÿѭӡQJӕQJ6ѫÿӗÿLӅX NKLӇQYjNӃWTXҧÿLӅXNKLӇQÿѭӧFWUuQKEj\WURQJKuQK± 4.14
Hình 4.10: Tín hi XÿL͉u khi͋n u
+uQKĈiSͱng ngõ ra h th͙ng và tín hi Xÿ̿t ắ ӃWOXұQ7DWKҩ\QJ}UDKӋWKӕQJEiPWKHRWtQKLӋXÿһWQKѭQJÿiSӭQJKӋ WKӕQJ GDRÿӝQJ QKLӅXWKӡLJLDQOrQYjÿӝYӑWOӕUҩWOӟQ
Hình 4.12: Tín hi XÿL͉u khi͋n u
Hình 4.13ĈiSͱng ngõ ra h th͙ng và tín hi Xÿ̿t
Hình 4.14: Thͥi gian tr͍ ˱ͣFO˱ͫng cͯa h th͙ng
9uWKӡLJLDQWUӉѭӟFOѭӧQJFӫDKӋWKӕQJÿѭӧFFKX\ӇQÿәLWKjQKVӕQJX\rQYj FKXNǤOҩ\PүXOjVQrQWKӡLJLDQWUӉѭӟF OѭӧQJFӫDKӋWKӕQJVӁOj2,9(s) ắ ӃWOXұQ9ӟLEӝÿLӅXNKLӇQ6PLWKSUHGLFWRU0ӡWKӡLJLDQWUӉFӫDKӋWKӕQJ ÿmÿѭӧFѭӟFOѭӧQJYjJL~SFKRÿiSӭQJQJ}UDFӫDKӋWKӕQJEiPWKHRWtQ KLӋXÿһWYjNK{QJFzQGDRÿӝQJGDRÿӝQJWDWKҩ\WUrQÿӗWKӏÿiSӭQJQJ} ra GRYӏWUtÿһWӕQJGүQNRWӕWGүQÿӃQPһWQѭӟFQKҩSQK{NKLEѫPQѭӟF vào).
KӃt luұQFKѭѫQJ
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KӂT LUҰ19ơ+ѬӞNG PHÁT TRIӆ1Ĉӄ TÀI
KӃt luұn
KӃt quҧ ÿҥWÿѭӧc
- ѬӟF OѭӧQJWKDPVӕ ÿӕLWѭӧQJEҵQJ JLҧLWKXұWÿӋ TX\ NK{QJWtQKPD WUұQ QJKӏFKÿҧR
- ;k\GӵQJJLҧLWKXұWѭӟFOѭӧQJWKӡLJLDQWUӉFӫDKӋWKӕQJ
- ;k\GӵQJEӝÿLӅXNKLӇQ3,-0ӡNӃWKӧSYӟLEӝGӵEiR6PLWKÿѭDUDEӝÿLӅX NKLӇQ6PLWKSUHGLFWRU0ӡÿӇÿLӅXNKLӇQKӋWKӕQJFyWUӉ
- 7LӃQKjQKm{SKӓQJ WKXұWWRiQWUrQ0DWODEÿӇNLӇPWUDWtQKNKҧWKLFӫDJLҧL WKXұWÿLӅXNKLӇQ
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KӃt quҧ FKѭDÿҥWÿѭӧc
- ĈһFWtQK ÿӝQJKӑF FӫDYLӋFÿLӅXNKLӇQPӵc FKҩWOӓQJ WURQJEӗQFKӭDÿѫQ WKҩSQrQFKѭDQәLEұWOrQQKӳQJѭXÿLӇPFӫDEӝÿLӅXNKLӇQ6PLWKSUHGLFWRU0ӡ
- &KѭDFySKѭѫQJSKiSFKӍQKQKӳQJKӋVӕKӑFWURQJEӝÿLӅXNKLӇQ1KӳQJKӋ VӕKӑFWURQJEӝÿLӅXNKLӇQÿӅXFKӍQKWK{QJTXD quá WUuQK³WKӱ và VDL´
+ѭӟng phát triӇQÿӅ tài
- 6ӱGөQJJLҧLWKXұWGLWUX\ӅQ*$WӕLѭXKyDQKӳQJKӋVӕKӑFFӫDKӋWKӕQJ
- 6ӱGөQJFiFOHYHOWUDQVPLWWHUNKiFIHHGEDFNÿӇÿLӅXNKLӇQKӋWKӕQJ
- 7KD\ÿәLQKӳQJWKXұWWRiQÿLӅXNKLӇQNKiFNӃWKӧSYӟLEӝGӵEiR6PLWKQKѭ
%ӝÿLӅXNKLӇQ6PLWKSUHGLFWRU6OLGLQJPRGH6PLWKSUHGLFWRU3,DXWR-tuning
[1] S W Sung, J Lee, and I B Lee, Process Identification and PID Control
[2] Z Yang and G T Seested, ³Time-delay system identification using genetic algorithm - Part one: Precise FOPDT model estimation,´ IFAC Proc Vol., vol 3, no PART 1, pp 561±567, 2013
[3] Z Yang and G T Seested, ³Time-delay system identification using genetic algorithm - Part two: FOPDT/SOPDT model approximation,´ IFAC Proc
Vol., vol 3, no PART 1, pp 568±573, 2013
[4] C Khajorntraidet, K Ito, and T Shen, ³Adaptive time delay compensation for air-fuel ratio control of a port injection SI engine,´ in 2015 54th Annual
Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015, 2015, pp 1341±1346
[5] A Abu-Rmileh and W Garcia-Gabin, ³Wiener sliding-mode control for artificial pancreas: A new nonlinear approach to glucose regulation,´ Comput
Methods Programs Biomed., vol 107, no 2, pp 327±340, 2012
[6] H Zhang, J Hu, and W Bu, ³Research on fuzzy immune self-adaptive PID algorithm based on new smith predictor for networked control system,´ Math
[7] Y J Huang, T C Kuo, and H Y Tseng, ³Fuzzy estimator design for the control systems with unknown time-delay,´ World Congr Eng 2007, Vols 1
[8] H T Hoàng, ³+ 7K͙QJĈL͉X.KL͋Q7K{QJ0LQK´7S+ӗ&Kt0LQKNXB ĈҥLKӑF4XӕFJLD7S+ӗ&Kt0LQK
[9] L Ljung, ³System identification: Theory for the User´, Prentice Hall, 1987, pp 303-305
[10] D V Thanh and N T Tai, ³6WXG\RI$GDSWLYH)X]]\6PLWK&RQWUROIRU Time-GHOD\6\VWHPV´in Journal of Science & Technology Development
(VNU-HCM Publishing House), 2015, pp 143-149
*LҧLWKXұWÿӋTXLѭӟFOѭӧQJWKDPVӕÿӕLWѭӧQJ persistent P theta yy uu dem yhat; lamda=0.99; if isempty(P)
P = 125*eye(2,2); theta=zeros(2,1); yy=zeros(3,1); uu=zeros(2,1); dem=0; yhat=0; end %if if y=2; py=[-yy(2)]; pu=uu(2); phi=[py pu]';
L=(P*phi)/(lamda+phi'*P*phi); theta=theta+L*(y-phi'*theta);
P=(P-(P*phi*phi'*P)/(lamda+phi'*P*phi))/lamda; yhat=phi'*theta; end %if thamso=theta; yh=yhat;
*LҧLWKXұWѭӟFOѭӧQJ WKӡLJLDQWUӉ KӋWKӕQJ alpha=1.005; persistent d d1 yhh TS MS; if isempty(d) d=2;TS=0;MS=0;d1=2; yhh=zeros(2,1); end if (yh~=0)&&(abs(y-yh)>=0.7) yhh(1)=yh;
TS=TS+(y-yh)*(yhh(1)-yhh(2));
MS=MS+(yhh(1)-yhh(2))^2; delta_d=((1-alpha)*TS/MS); d1delta_d; d=round(d1); yhh(2)=yhh(1); else end delay=d; out