DEATBET CHO ĐỘNG CƠ CHIỀU Ri %mo hinh dong co J=0.012; km = 38.2; Ra = 250e-3; La = 4e-3; Ta = La/Ra; phi = 0.04; %cac gia tri cuc dai va toi han ki = 2;% he so du tru ve dong Idm = 150; %dong dien phan ung dinh muc Udkmax = 10; %dien ap dieu khien cuc dai %Khai bao cac ham truyen f = 50; Tf = 1/(2*f); Tcl = Tf/6; Vcl =25; Gcl = tf(Vcl, [Tcl 1]); Gam = tf(1/Ra,[Ta 1]); Gis = Gcl*Gam; %Chon thoi gian trich mau va ham truyen gian doan Ti = Tcl*3/5;%Ti = ms Giz = c2d(Gis, Ti, 'zoh'); [b, a] = tfdata(Giz, 'v'); Giz = filt(b, a, Ti); B = filt(b, 1, Ti); A = filt(a, 1, Ti); Btong = b(1) + b(2) + b(3); Atong = a(1) + a(2) + a(3); %bo dieu khien DeadBead bac l0 = Udkmax/(ki*Idm); l1 = -l0*a(2); l2 = -l0*a(3)-l1*a(2); l3 = -l1*a(3)-l2*a(2); l4 = -l2*a(3)-l3*a(2); l5 = -l3*a(3)-l4*a(2); l6 = 1/Btong - l0-l1-l2-l3-l4 - l5; L = filt([l0 l1 l2 l3 l4 l5 l6], 1, Ti); %Cac ham truyen cua he thong Gu = L*A; Gik = L*B; Gr = Gu/(1-Gik); Gie = 1-Gik; [numRi, denRi] = tfdata(Gr, 'v'); step(300*Gu, 'ro-', 300*Gik, 'bo-'); grid Rw s=tf('s'); Tw = 8e-3; Gws = km*phi/s/J; Gw = c2d(Gws, Tw, 'zoh'); Gikw = d2d(Gik, Tw); Gwz = Gw*Gikw; [b, a] = tfdata(Gwz, 'v'); Gwz = filt(b, a, Tw); %r0 = 2.5; %r1 = 1-1/100; %Gwr = filt([r0 r1], [1 -1], Tw); Vr = 2.5; Tc = 100*Tw; r0 = Vr; r1 = -Vr*(1-Tw/Tc); r1 = -2.4681; Gwr = filt([r0 r1], [1 -1], Tw); Gh=Gwr*Gwz; Gwk = feedback(Gh, 1); Gwe = 1-Gwk; Gwi = Gwk/Gwz; Gwu = Gwe * Gwr; [numwr, denwr] = tfdata(Gwr, 'v'); step(120*Gwe, 'g-');grid; Rw-deadbeat s=tf('s'); Tw = 8e-3; t=0:Tw:1; wdm = (220 - Ra*Idm)/km/phi; kw = 1.2; Gws = km*phi/J/s; Gw = c2d(Gws, Tw, 'zoh'); Gikw = d2d(Gik, Tw); Gwz = Gw*Gikw; [b, a] = tfdata(Gwz, 'v'); Gwz = filt(b, a, Tw) B = filt(b, 1, Tw); A = filt(a, 1, Tw); Btong = b(1) + b(2) + b(3)+b(4); lmax = ki*Idm/wdm; Lw = [] deg = round(1/Btong/lmax) 1/Btong - lmax*deg for i = 0:1:deg-1 Lw = [Lw, lmax]; end Lw = [Lw, 1/Btong - lmax*deg]; L = filt(Lw, 1, Tw); Gwu = L*A; Gwk = L*B; Gwr = Gwu/(1-Gwk); Gwe = 1-Gwk; [numwr, denwr] = tfdata(Gwr, 'v'); step(120*Gwk, 'b-', 120*Gwu, 'r-', 120*Gwe, 'g-');grid; Rw s=tf('s'); Tw = 8e-3; t=0:Tw:1; Gws = km*phi/s/J; Gw = c2d(Gws, Tw, 'zoh'); Gikw = d2d(Gik, Tw); Gwz = Gw*Gikw; [b, a] = tfdata(Gwz, 'v'); Gwz = filt(b, a, Tw) r0 = 2.5; r1 = -.74633906598667617717291879990331e-1; Gwr = filt([r0 r1], [1 -1], Tw); Gh=Gwr*Gwz; Gwk = feedback(Gh, 1); Gwu = Gwr/(1+Gh); Gwe = 1-Gwk; Gwi = Gwk/Gwz; [numwr, denwr] = tfdata(Gwr, 'v'); step(120*Gwk, 'b-', 120*Gwu, 'r-', 120*Gwe, 'g-');grid; hoan chinh %mo hinh dong co J=1.2; km = 38.2; Ra = 250e-3; La = 4e-3; phi = 0.04; Tmech = J*Ra/(km*phi)^2; Ta = La/Ra; Gs = tf(1/km/phi, [Tmech*Ta Tmech 1]); f = 50; Tf = 1/(2*f); Tcl = Tf/6; Vcl = 22; Gcl = tf(Vcl, [Tcl 1]); Gam = tf(1/Ra,[Ta 1]); Gis = Gcl*Gam; %Ta co, Tcl = 5/3ms > lay Chu ky trich mau vong dieu khien dong dien Tsi = Tcl/2.5 = 2/3ms %bo dieu khien Deadbeat co bac la 4, dong dien dau se bi tre + = %chu ky lay mau cua vong dieu khien dong dien tuc la tre 6*2/3 = ms %Chon chu ky lay mau cua vong dieu khien toc Tsw = 2ms = 16/8 ms %nhu vay, thiet ke vong dieu khien toc do, ta thay toan bo vong dieu %khien dong dien bang khau tre chu ky lay mau Ti = Tcl/2.5; Giz = c2d(Gis, Ti, 'zoh'); [b, a] = tfdata(Giz, 'v'); Giz = filt(b, a, Ti); B = filt(b, 1, Ti); A = filt(a, 1, Ti); %bo dieu khien DeadBead bac Btong = b(1) + b(2) + b(3); Atong = a(1) + a(2) + a(3); %Bac 2: %l0 = 1/Btong/(1 - a(2) + a(3)); l1 = - l0*a(2); l2 = 1/Btong - l0 - l1; %Bac 3: %l0 = 1/Btong/(1-a(2)+a(2)^2-a(3)+a(3)^2/a(2)-a(2)*a(3)); l1 = -a(2)*l0; l2 = -l0*a(3)-l1*a(2); l3 = -a(3)/a(2)*l2; %Bac 4: bien dau bang %l0 = 1/Btong/(1-a(2)+(a(2)^2-a(3))-(a(2)*a(3))+a(3)^2);l1 = -a(2)*l0; l2 = (a(2)^2-a(3))*l0; l3 = -(a(2)*a(3))*l0; l4=a(3)^2*l0; %Bac 4: bien dau bang l0 = 1/Btong/(1-a(2)+(a(2)^2-a(3))+(2*a(2)*a(3)-a(2)^3)+(2*a(3)^2+a(3)*a(2)^2));l1 = -a(2)*l0; l2 = (a(2)^2-a(3))*l0; l3 = (2*a(2)*a(3)-a(2)^3)*l0; l4=(-2*a(3)^2+a(3)*a(2)^2)*l0; %Bac 7: cac he so cua da thuc L bang %l0 = 1/Btong/9;l1 = 1/Btong/8; l2 = l1; l3 = l1; l4 = l1; l5 = l1; l6 = l1; l7 = 1/Btong - l0-l1-l2-l3 - l4 - l5-l6; L = filt([l0 l1 l2 l3 l4], 1, Ti); Giu = L*A; Gik = L*B; Gir = Giu/(1-Gik); Gie = 1-Gik; [numir, denir] = tfdata(Gir, 'v'); step(240*Gie, 'ro-', 240*Vcl*Giu, 'go-', 240*Gik, 'bo-'); pause % dung de quan sat ket qua cua khau dieu chinh dong dien %bo dieu khien PI dieu chinh toc Gws = km*phi/s/J; Gw = c2d(Gws, Tw, 'zoh'); [b, a] = tfdata(Gw, 'v'); Gw = filt(b, a, Tw); Gikw = d2d(Gik, Tw); Gwz = Gwz*Gikw; r1 = 1/200-1; TH =[]; t = 0:Tw:10 Vr = 5; %for r1 = -0.999:1e-3:-0.99 r1 = -1+1/200; Gwr = Vr*tf([1 r1], [1 -1], Tw); Gh=Gwr*Gwz; Gwk=feedback(Gh, 1); Gwi = Gwk/Gwz; TH = [TH, 100*Gwk]; [Vr, r1] step(100*Gwi, t);grid [numwr, denwr] = tfdata(Gwr, 'v'); % pause %end %ltiview('step',TH, t);grid [numwr, denwr] = tfdata(Gwr, 'v'); ... %r1 = 1- 1 /10 0; %Gwr = filt([r0 r1], [1 -1] , Tw); Vr = 2.5; Tc = 10 0*Tw; r0 = Vr; r1 = -Vr* (1- Tw/Tc); r1 = -2.46 81; Gwr = filt([r0 r1], [1 -1] , Tw); Gh=Gwr*Gwz; Gwk = feedback(Gh, 1) ; Gwe = 1- Gwk;... Gwz*Gikw; r1 = 1/ 200 -1; TH =[]; t = 0:Tw :10 Vr = 5; %for r1 = -0.999:1e-3:-0.99 r1 = -1+ 1/200; Gwr = Vr*tf( [1 r1], [1 -1] , Tw); Gh=Gwr*Gwz; Gwk=feedback(Gh, 1) ; Gwi = Gwk/Gwz; TH = [TH, 10 0*Gwk];... %l0 = 1/ Btong/9;l1 = 1/ Btong/8; l2 = l1; l3 = l1; l4 = l1; l5 = l1; l6 = l1; l7 = 1/ Btong - l0-l1-l2-l3 - l4 - l5-l6; L = filt([l0 l1 l2 l3 l4], 1, Ti); Giu = L*A; Gik = L*B; Gir = Giu/ (1- Gik);