- Chuytn d6i [haM cae rna cua may tinh eho mO phong h¢ th6ng,
ethong diu khin
~e phClrlg qua trinh hlle
" .. .'
Thlet ke dleu khlen mau di~u khi~n
I Me phong thOi gian thl)'c
J
He thong dieu khien
m~ phong qua trinh duac
m6 phOng
.. ' " . .
Thlet ke dleu khlen "phan mem trang \long I~p
I
He thong dieu khien hllC qua trinh dUCfe ma phong Phan cung treng .
\long I~p
1. Ma phong khang giai h~n thai gian.
2. Ma phong thai gian thlle.
3. Ma phong nhanh han thai gian tht,re.
Ma phong thbi gian tht,re e6 nghia 1a rna ph6ng mQt thanh pMn duqe thue hi¢n sao eho cae tin hi¢u dau vao va dau ra the hi¢n ia ca.e gia trj phl}. thuQe eung thai gian nhu tMnh pMn ho~t dQng thlfc.
Cac phlIang phap rna ph6ng thai gian thlfc dlIqc tM hi¢n 6 hinh 4.2. Li do yeu du thai gian th,!C III vi gan nhlI cac thanh phfin clla M th6ng duqc kh3.o sat khang ph<ii duqc tai qo bang rna hlnh rna ]a thl!c.Ta c6 th~ chia thanh 3 truang hap:
• Qua trinh lhI!c (real process) co the duqc v~n hanh clIng vai diriu khien
dll,!C mo phong (simulated control) bang Slr dl}.ng phan cLffig khang 111 phan cLffig cu6i, duqc gQi Ia "mau dieu khien" (control prototyping).
• Qua trinh dlfr;C rna phong (simulated process) duqc v~n hanh vOi phan cling diriu khiin [hlfc (real control hardware), duqc gQi III rna phong phfin cUng trong m~ch l~p (hardware in- the-loop simulation).
• Qua trinh duqc rna phong ch~y v6i die'u khien dlfr;C ma phong trang thai
gian th\fC. Di~u nay co the duqc yeu du neu chua co pban cling cuoi ho~c neu xem xet buoc thiet ke tmoc rna ph6ng pharr dtng trong m~ch lap.
M6 phong phan drng trong mlilch I<)p (hardware in- the- loop simulation).
M6 phong phan cu-ng trong m~ch lijp (HIL) the hi¢n d~c tfnh hQat dQng cac thanh phan th\fc trong ket noi v6i d.c thanh pMn duqc rna phong thm gian thl!c. Thuang cae phfin cUng h¢ th6ng dieu khien va phfin mem Ia h¢ thong th\fc . Qua
tdnh duqc dieu khien (g6m actuators, cac qua trlnh v~t Ii va sensor) co the co cac thanh phan duqc rna ph6ng hOi!-c d.c thanh philn thl!c (hlnh 4.3). Nhln chung, co tM lh,!c h!en cac truang hqp ket hqp nhu the hi¢n trong hlnh 4.3. Nhlffig thmmg actuators Iii. thJ!c can qua trlnh va sensor duqc rna phong.
Ma ph6ng pMn cUng trong m~ch l~p (HIL) mang I<;li nhfrng lqi ich sau: - Thiet ke" va kiem nghi¢m philn clIng va. phfin mem di~u khien kh6ng dn
v~n Mnh mQt qua trlnh thJ!C (th\fc hi¢n trong phong thi nghi¢m).
- Kiem nghi¢m phan cUng dieu khien va phan m~m trang di~u ki¢n mai lruang khik nghi~t trang phong thi nghi¢m (nhi¢t dQ qua cao/tMlp, gia toc cao va bien dOng CO hQc m~nh, mai truang nh~y cam, kha nang tuang thlch di¢n-tlr).
- Kiern cac mc dQng !oi va thieu nang llfc clla ca.c actuator, sensor va may tinh tren toan the h¢ thong.
-V~n hanh va kitm nghi¢m cae dieu ki¢n lam vi~e nguy hi~m /thai qua. -Thil nghi¢m die khii n3.ng thuang I~p l'.Ii. (adsbygoogle = window.adsbygoogle || []).push({});
-V~n Mnh de dtl.llg v6'i eok giao di¢n ngum-may khfi.c nhau. - Tiel ki¢m Ihoi gian va kinh phf phat trien.
Th~c hi~n nguyen mau dieu khi~n (control prototyping)
I')
I')
Il,'nh 4.3: MIJ rllong /ilili gion ,II,/e: cac eau Irlle fa;
0) mIJ phong IlOrdwore-itl-l/'e loop