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 THCH NGHI

TC NG C DC

Thc hin:
Khoa:
Trng i hc:

B mn iu khin T ng
in in t
Bch khoa TP. HCM

TP. HCM, thng 2, 2008

Dng ti liu
Tiu

Hng dn th nghim
IU KHIN THCH
NGHI TC NG
C DC

Version

1.0

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in in t
iu khin T ng
Trng nh Chu
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MC LC

1. MC CH ................................................................................................................ 4
2. C S L THUYT...................................................................................................... 4
2.1. IU KHIN PID THNG ..................................................................................... 4
2.1.1. S IU KHIN ........................................................................................ 4
2.1.2. NGUYN L LM VIC ..................................................................................... 4
2.2. IU KHIN PID THCH NGHI ................................................................................ 4
2.2.1. S IU KHIN ........................................................................................ 4
2.2.2. NGUYN L LM VIC ..................................................................................... 5
3. CU TRC KT NI CC THNH PHN CA BI TH NGHIM .......................................... 6
4. TH NGHIM.............................................................................................................. 7
5. YU CU BO CO................................................................................................... 11
6. TI LIU THAM KHO............................................................................................... 12

1. MC CH
Bi th nghim gip sinh vin lm quen vi iu khin tc ng c DC, s dng cc
b iu khin PI, PID thng v PID thch nghi. Trn c s cc kt qu nhn c trng thi
qu v xc lp, sinh vin nhn ra cc u im ca b iu khin PID thch nghi so vi b
iu khin PI v PID thng.
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
2.1. IU KHIN PID THNG
2.1.1. S IU KHIN
S iu khin c th hin qua hnh 1.

Hnh 1

2.1.2. NGUYN L LM VIC

B iu khin PID ri rc c hm truyn nh sau:

G( z ) =

U ( z ) a0 + a1 z 1 + a2 z 2
=
E1 ( z )
1 z 1

Trong :

a0 = K p + K iT / 2 + K d / T ; a1 = K p + K iT / 2 2 * K d / T ; a2 = K d / T

Tham kho thm phn l thuyt bi th nghim l nhit hiu hn v b iu khin

PID.

2.2. IU KHIN PID THCH NGHI

2.2.1. S IU KHIN
S iu khin c th hin hnh 2.

e2(k)
e1(k)
w(k)

PID
Thch nghi

u(k)

ng c
DC

y(k)

Hnh 2

2.2.2. NGUYN L LM VIC

Cc kt qu th nghim cho thy, b iu khin PID thch nghi cho cht lng tt hn so
vi b iu khin PID truyn thng nhng iu kin hot ng khc nhau.
Cc ng vo b iu khin PID thch nghi l e1(k), e2(k) v ng ra l u(k). Ta nhn
thy, ng vo b iu khin PID thch nghi ph thuc vo e1(k) v e2(k) trong khi b iu
khin PID truyn thng th ng ra ch ph thuc vo e1(k). Ng ra e2(k) c th c tm nh
sau:

e2 (k ) = w(k ) u (k )
Ly bin i Z hai v ta c:

E2 ( z ) = W ( z ) U ( z )

E2 ( z ) = W ( z )

a0 + a1 z 1 + a2 z 2
* E1 ( z )
1 z 1

Hm mc tiu ton phng c to ra da vo cc tiu E2(z) theo cc tham s iu

khin:

J (a0 , a1 , a2 ) =

1 2
E2
2

a + a z 1 + a z 2
1
J (a0 , a1 , a2 ) = W ( z ) 0 1 1 2 * E1 ( z )
2
1 z

Ly o hm ring bc nht theo cc tham s iu khin:

a0 + a1 z 1 + a2 z 2 1 2
J
1
= W
E
+
1

E1
a0
1 z 1

1 z 1
1 z 1
a0 + a1 z 1 + a2 z 2 z 1 2
z 1
J
= W
E1 +

E1
a1
1 z 1

1 z 1
1 z 1
a0 + a1 z 1 + a2 z 2 z 2 2
z 2
J
E
= W
+
1

E1
a2
1 z 1

1 z 1
1 z 1

S dng xp x bc nht, gradient m l tch ca tc t (W) v sai s tc (E1).

Thng thng s dng E1 v E2 cho kt qu hi t tt hn. Do , phng php gradient chnh
sa c s dng cp nht cc tham s PID.

an (k + 1) = an (k ) + e2 (k )e1 (k n)
Trong :

n = 0, 1, 2.

: kch thc bc (tc thch nghi)

an(k+1)

: cc h s iu khin ti thi im k+1.

an(k)

: cc h s iu khin ti thi im k.

e2(k)

: ng vo ti thi im k [w(k)-u(k)].

e1(k-n): sai s ti thi im k.

lm ni bt cht lng b PID thch nghi trng thi qu v xc lp, cc b iu

khin PI v PID thng cng c thc thi. Cng thc sau y c s dng tm RMSE
(Root Mean Square Error) :
N

RMSE =

( w(k ) y (k ) )

k =1

Trong :
RMSE

: cn trung bnh bnh phng sai s tc (tr hiu dng).

w(k)

: tc t (vng/pht).

y(k)

: tc thc (vng/pht).

: s mu.

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 3, gm cc thnh
phn sau:
My tnh: c nhim v thu thp, hin th v iu khin thch nghi 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 3

4. TH NGHIM
Sinh vin to giao din iu khin PID thch nghi c dng nh hnh 4.

Hnh 4
Khi nhn nt Setting th mt hp thoi xut hin nhp cc gi tr A0, A1, A2, kch
thc bc , thi gian ly mu v tc t. Cc gi tr mc nh c chn nh trn hnh 5.

Hnh 5

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 v gi tr RMSE. (hnh 6)

Hnh 6

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: Trc ht sinh vin tin hnh th nghim vi tc t l 1000 (v/p). iu
chnh cc tham s Kp, Ki i vi b iu khin PI; Kp, Ki, Kd i vi b iu khin PID thng v
ao, a1, a2 i vi b iu khin PID thch nghi n khi t kt qu theo nh mong mun th ghi
kt qu ra bng 3. Sau , thay i tc t ri th nghim ln lt i vi cc b iu khin
tng ng. (Lu : khng thay i cc tham s iu chnh).

Gi :
Encoder c tc ng c c 720(xung/vng). B m 16 bit c s dng c xung.
(Tham kho ph lc 3 bit cch vit chng trnh c tn hiu xung).
Cc tn hiu phi i v in p trc khi p dng cc cng thc tnh ton.
dng ng c xut tn hiu iu khin U = 2.5V ra knh AO.0.
Cho bit quan h gia in p v tc ng c nh sau:
Khi 0.0 U < 2.4 : U = (2720.0-)/1133.8
Khi 2.4 U 2.6 : = 0
Khi 2.6 < U 5.0 : U = (2952.0-)/1135.4

4.1. TH NGHIM VI TC T 200 (v/p)

Bng 1
B

Thi gian

Thi gian

Sai s

iu khin

ln(s)

xc lp(s)

vt l(%)

xc lp (v/p)

RMSE

PI
PID
PID thch nghi

4.2. TH NGHIM VI TC T 500 (v/p)

Bng 2
B

Thi gian

Thi gian

Sai s

RMSE

iu khin

ln(s)

xc lp(s)

vt l(%)

xc lp (v/p)

(v/p)

PI
PID
PID thch nghi

4.3. TH NGHIM VI TC T 1000 (v/p)

Bng 3
B

Thi gian

Thi gian

Sai s

RMSE

iu khin

ln(s)

xc lp(s)

vt l(%)

xc lp (v/p)

(v/p)

PI
PID
PID thch nghi

4.4. TH NGHIM VI TC T 1500 (v/p)

Bng 4
B

Thi gian

Thi gian

Sai s

RMSE

iu khin

ln(s)

xc lp(s)

vt l(%)

xc lp (v/p)

(v/p)

PI
PID
PID thch nghi

4.5. TH NGHIM VI TC T 2000 (v/p)

Bng 5
B

Thi gian

Thi gian

Sai s

RMSE

iu khin

ln(s)

xc lp(s)

vt l(%)

xc lp (v/p)

(v/p)

PI
PID
PID thch nghi

4.6. TH NGHIM VI TC T -200 (v/p)

Bng 6
B

Thi gian

Thi gian

Sai s

RMSE

iu khin

ln(s)

xc lp(s)

vt l(%)

xc lp (v/p)

(v/p)

PI
PID
PID thch nghi

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4.7. TH NGHIM VI TC T -1000 (v/p)

Bng 7
B

Thi gian

Thi gian

Sai s

RMSE

iu khin

ln(s)

xc lp(s)

vt l(%)

xc lp (v/p)

(v/p)

PI
PID
PID thch nghi

4.8. TH NGHIM VI TC T -1500 (v/p)

Bng 8
B

Thi gian

Thi gian

Sai s

RMSE

iu khin

ln(s)

xc lp(s)

vt l(%)

xc lp (v/p)

(v/p)

PI
PID
PID thch nghi

4.9. TH NGHIM VI TC T -2000 (v/p)

Bng 9
B

Thi gian

Thi gian

Sai s

RMSE

iu khin

ln(s)

xc lp(s)

vt l(%)

xc lp (v/p)

(v/p)

PI
PID
PID thch nghi

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)

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So snh cht lng (sai s xc lp, thi gian xc lp, vt l, RMSE) ca cc b iu

khin PI, PID thng v PID thch nghi khi tc t thay i.(4)

6.

TI LIU THAM KHO

1. S.Paramasivam and R.Arumugam. Real time DSP-based adaptive controller implementation

for 6/4 pole switched reluctance motor drive.

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.

12