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iu khin s(Digital Control Systems)
Phn A:
Mn hc truyn t cc kin thc phc vphntch, thit k cc h thng iu khin t ng sdng vi x l (P, C, DSP).Phn A bao gm cc ni dung thuc chng
trnh dnh cho i hc.(Version 6, 8/2011)
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iu khin sChng 1: M hnh tn hiu v h thng
1. Cu trc csca h thng K s2. M hnh tn hiu trn min nh z3. M hnh h thng trn min nh z
Chng 2:iu khin c phn hi u ra1. Xt n nh ca h thng s2. Thit k trn min thi gian xp x lin tc
3. Thit k trn min thi gian gin on4. Mt s dng mrng
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iu khin s
Chng 3: iu khin c phn hi trng thi1. n li cc kin thc cs
2. M hnh tr ng thi gin on3. Tnh Kc, QS c v c c dng chun4. Cu trc cbn ca h thng K s trn khng
gian trng thi5. Mt s dng mrng
Chng 4: Thc hin k thut h thng K s1. nh hng ca s ha (lng t ha) bin 2. Thit k h thng bng my tnh (MATLAB)
3. Thit k h thng vi iu khin
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iu khin sTi liu tham kho:[1] Isermann R.:Digitale Regelsysteme. Bd. I und II, Springer-Verlag, 2.
Auflage, 1987-1988[2] Franklin G.F., Powell J.D., Workman M.L.:Digital Control of DynamicSystems. Addison Wesley, 2nd 1994
[3] Quang Ng.Ph.:MATLAB & Simulink dnh cho ks iu khin t ng.Nh xut bn KH&KT, 2004
[4] Quang Ng.Ph., Dittrich A.-J.: Vector Control of Three-Phase ACMachines. Springer, Berlin Heidelberg, 2008
Ch : Gio trnh ny s dng dy c c lp i hc vi thi
lng 45 tit, bao gm l thuyt v v d. Vi c c lp 60tit, s dy ging nh lp 45 tit nhng c thm bi tp ln12-15 tit.
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1. M hnh tn hiu v h thng1.1 Cu trc csca h thng K s
1 1 0
0 1 1
k k k
k k k
p u p u p u
q e q e q e
+ + + =
+ + +
( )( )( )
110 1
C 1 10 1
Q zq q z q zG z
p p z p z z
+ + += =
+ + +
Khu iu chnh:1. Pt. Sai phn
2. Hm truyn t trnmin nh z
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1. M hnh tn hiu v h thng1.1 Cu trc csca h thng K s
Khu C: s dng vi xl (microprocessor: P),
vi iu khin (microcontroller: C) hoc vi xltn hiu (digital signal processor: DSP) Khu DAC: c th khng tn ti mt cch tng
minh, m n di dng thit b c chc nng DA.V d: khu iu chvectorin p (khi iukhin digital ng cba pha)
Khu ADC: thng s dng khi o c gi tr thc ca i lng ra (v d: o dng). i khi tnti di dng khc nh: o tc quay bng IE
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1. M hnh tn hiu v h thng1.1 Cu trc csca h thng K s
Khu ADC v qu
trnh trch mu o
( ) ( ) ( ) ( )
[ ] [ ]0 1 2
0 , 1 , 2 , hay
, , ,k
u k u u u
u u u u
= =
( ) ( ) ( )
( ) ( )
*
0
0
k
k
u t u kT t kT
u t t kT
=
=
=
=
Sau khi trch mu ( l tng)
bng ADC ta thu c chuigi tr s:
kho st tn hiu gin onbng cng c Laplace (hayphn tch ph), ng thi toiu kin m t hn hp vi cckhu lin tc, ta nhn chui vihm (t) v thu c dy xung:
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1. M hnh tn hiu v h thng1.1 Cu trc csca h thng K s
Khu DAC v qu trnh
lu gi (nh) khi xut
( ) ( ) ( ){ }0
1 1 1kk
u t u t kT t k T
=
= +
( )0
1 sT skTk
k
eU s u e
s
=
=
( )( )
( )*1 sT
H
U s eG s
sU s
= =
M hnh tn hiu c dng bc thang trn
min thi gian:
Chuyn sang min nh Laplace:
T thu c hm truyn t ca khugi chm:
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1. M hnh tn hiu v h thng1.2 M hnh tn hiu trn min nh z
( ) ( ) ( ) ( )* *
0 0
skTk
k k
u t u kT t kT U s u e
= =
= =
Chuyn phng trnh m t dy xung u*(t) sang min nh Laplace:
Thay: ta thu c:Tz e= ( ) ( )*0
sT
kke z
k
U s U z u z
==
= =
V d: Mt tn hiu gin on v thi gian cho trc bi0 0
0k k
ku
a k
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1. M hnh tn hiu v h thng1.3 M hnh h thng trn min nh z
H thng K s bao gm2 loi khu cbn:
1.Khu c bn cht ginon: Cc tn hiu vo/ra/trng thi u gin onv thi gian v v mc.Khu m t cc thit b
K digital.2.Khu c bn cht lintc: M t i tngiukhin. Khi gin on has a n m hnh nhhnh bn. Vic gin onha xut pht t m hnhtrng thi lin tc ca itng.
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1. M hnh tn hiu v h thng1.3 M hnh h thng trn min nh z
1.3.1 M hnh khu c bn cht gin on
Quy lut tnh ton (c gi l thutton) xc nh c tnh truyn t cakhu.
a) M tbng phng trnh sai phn
1k k ku u u+ =
1k k ku u u = 2
1
2 12k k k
k k k
u u u
u u u+
+ +
=
= +
( )
1 11
0
1
n n nk k k
nn
k n
u u u
nu
+
+ =
=
=
*Sai phn bc nht:
Sai phn tin:
Sai phn li
*Sai phn bc 2:
*Sai phn bc n:
Mt phng trnh sai phn c t nht 2 gitr uk+n v ukc gi l p hng trnhsai phn bc n.
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1. M hnh tn hiu v h thng1.3 M hnh h thng trn min nh z
1.3.1 M hnh khu c bn cht gin on
a) M tbng phng trnh sai phn
0 1 1 0 1 1k n n k n k k m m k m k a x a x a x b u b u b u+ + + ++ + + = + + +
0 1 1 0 1 1k k n k n k k m k ma x a x a x b u b u b u + + + = + + +
*Pt. sai phn bc n s dng sai phn tin:
*Pt. sai phn bc n s dng sai phn li:
Gii pt. sai phn bng phng php tnh truy hi (recursive method)
Gi s ta xut pht tpt. sai phn li vi a0=1
0 1 1 1 1 2 2k k k m k m k k n k nx b u b u b u a x a x a x = + + +
Qu trnh tnh xkc bt u t k=0, ln lt nng thm 1:0 0 0
1 0 1 1 0 1 0
0
1
k x b u
k x b u b u a x
= =
= = +
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1. M hnh tn hiu v h thng1.3 M hnh h thng trn min nh z
1.3.1 M hnh khu c bn cht gin on
a) M tbng phng trnh sai phn Gii pt. sai phn trn min nh z
{ } { }0 1 1 0 1 1k n n k n k k m m k m k a x a x a x b u b u b u+ + + + + + + = + + +
* Bc 1: Chuyn ng thi 2 v ca pt. sai phn sang min nh z:
* Bc 2: Gi thit cc gi trban u x0,x1,, u0, u1, bng 0, ta c:
( ) ( )1
0 11
0 1
m mm
n nn
b z b z bz U z
a z a z a
+ + +=
+ + +
* Bc 3: p dng bin i ngc tm xk
Ch : C th gii pt. sai phn trn min nh z, xut pht t pt. sai phn tinhoc li, kt qu thu c bao gi cng l duy nht.
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1. M hnh tn hiu v h thng1.3 M hnh h thng trn min nh z
1.3.1 M hnh khu c bn cht gin on
b) M tbng hm truyn t trn min nh z
Vi: ( ) { } ( ) { };k kX z x U z u= = l nh z ca chui gi tr (tn hiu digital) u r a / u vo, ta s chm truyn t sau:
( )( )
( )
10 1
10 1
;m
mn
n
X z b b z b zG z m n
U z a a z a z
+ + += = =
+ + +
Tng t h lin tc, hm truyn t G(z) c th c coi l nh zca hm trng lng gin on [gk] (chui trng lng). Vy:
( ){ }10
k
k k k i ii
g G z x g u =
= =
( )( )
( )
( )
[ ] ( )
4
1
1 4 4
1 1
4 11 1
1 14 1 1 4
1 1 1 1, , , ,0,0,4 4 4 4
k kk
k
X z zG z
U z zz z
g zz z
g
= =
= =
=
V d: Khi uk=1kta c:1 2 1 0
0 0
1 1 0
2 2 1 0
3 3 2 1 0
4 4 3 2 1 0
0,25
0,5
0,75
1
1
k k k k x g g g g g
x g
x g g
x g g g
x g g g g
x g g g g g
= + + + + +
= == + == + + == + + + == + + + + =
Ch : Trn cscc
phng trnh vector saiphn, c th m t khutruyn t gin on nhiuchiu tuyn tnh bi:
( ) ( ) ( )z z z=X G U
Trong G(z) l ma trntruyn t gin on.
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1. M hnh tn hiu v h thng1.3 M hnh h thng trn min nh z
1.3.1 M hnh khu c bn cht gin on
c) M tbng m hnh trng thi gin on
* *
+1
* *
+
+
k k k
k k k
q A q B u
x C q D u
= =
* *
+1
* *
+
+
k k k
k k k
u
x d u
q A q b
c q
= =
H MIMO:
H SISO:
M hnh thu c tphng trnh sai phn, hay hm truyn t (trn min nh z) m tthut ton m khu thc hin (thut ton C, lc s vv).
C th thc hin bin i sang cc dng chun tc (chun K, chun QS) thng dng m t hoc tnh ton.
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1. M hnh tn hiu v h thng1.3 M hnh h thng trn min nh z
1.3.2 M hnh khu c bn cht lin tc v tn hiu vo dng bc thang
a) c im ca qu trnh nh
(xem trang 7)
( )
( )( )*
0
1
H
sTskT
kkG s
U s
eU s u e
s
=
=
( )( )
( )*1 sT
H
U s eG s
sU s
= =
Dng bc thang ca tn hiu vo doqu trnh nhto nn. Trn minnh Laplace c dng:
Kt lun: Khi xt TK khng bao gi c php qunkhu gi chm (c trng cho qu trnh nh)
b) M tbng hm truyn t
( ) ( ) ( )*s G s U s=Vi X(s) l nh Laplace ca bin ra, U*(s)l nh Laplace ca chui xung u vo
Gi nh Laplace ca p ng bc nhy
n v (ca hm qu h(t))l H(s) ta c:( ) ( ) ( ) ( ) ( )
( ) ( ) ( )
1
1
sT sT
sT
H
G s H s e H s e H s
eG s G s G s
s
= =
= =
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1. M hnh tn hiu v h thng1.3 M hnh h thng trn min nh z
1.3.2 M hnh khu c bn cht lin tc v tn hiu vo dng bc thang
b) M tbng hm truyn t trn min nh z
( ) ( ) ( )z G z U z=Vi c tnh theo mt trong hai cchm t hnh bn
( )G z
V d: i tng K l mt khu qun tnh
bc nht. Theo cch i thuc nhnh bn tri:( ) ( )
( )( ) ( ) ( )1
1 1
1 11 1
1 1= = =
+ +t TG s H s h t e t
sT s sT
11 kT TkTkh e=
( )11 T T
z zH z
z z e=
( )1
1
1
11
1
T T
T T
T T
zG zz e
e
z e
=
=
*Chui sau gin on ha:
*Chuyn sang nh z:
*Hm truyn t cai tng trn minnh z:
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1. M hnh tn hiu v h thng1.3 M hnh h thng trn min nh z
1.3.2 M hnh khu c bn cht lin tc v tn hiu vo dng bc thang
b) M tbng hm truyn t trn min nh z
Lu , khi hm truyn t c dng phn thc hu ts c kh nng tch thnh cc phn thc ti gin nh sau:
( ) ( )( ) ( ) ( )( )B s B sG s H sA s s A s
= =
a)H(s) c cc cc sbt k, khc nhau:
b)H(s) c cc s lp li m ln:
1s T
z
s s e
=
( ) ( )
1
11 1
1 !
m
m m s T z
m s es s
=
Tip tc v d trang trc bng cch i theo nhnh bn phi:
*Tch H(s) thnh cc phn thc ti gin: ( )
( )
1
1 1
1 1 1
+1 T +1 T
TH s
s s s s
= =
( ){ } ( )11 T T
z zH s H z
z z e = =
*Tm H(z) nhtm nh ca cc phn thc ti gin:
*Hm truyn t ca i tng trn min nh z: ( )1
1
1T T
T T
eG z
z e
=
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1. M hnh tn hiu v h thng1.3 M hnh h thng trn min nh z
1.3.2 M hnh khu c bn cht lin tc v tn hiu vo dng bc thang
c) M tbng m hnh trng thi gin on
( ) ( ( )t t t
= +q Aq Bu
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
0
0
0
0 0 0 0 0, 1, 2,
= +
= + =
ttt t
t
t e t e d
t t t t t t k
AAq q Bu
q u
( ) ( ) ( )
( ) ( )
1 1 1
1
k k k k k k k
T T
k k k
t t t t t t t
T T
+ + +
+
= +
= +
q q u
q q u
( ) ( )1T T = H A I B
Cho trc i tng MIMO:
Nghim tng qut vi t> t0 v :
Vi t0=tkv chn t=tk+1 ta c:
Vi:
u im: D dng tm c m hnhgin on ca cc i tng MIMO
( )= tt eA
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1. M hnh tn hiu v h thng1.3 M hnh h thng trn min nh z
1.3.2 M hnh khu c bn cht lin tc v tn hiu vo dng bc thang
d) Quan h gia m hnh trng thi v m hnh truyn t
M hnh y ca i tng MIMO c dng:( ) ( )1+ = + = +
k k k
k k k
T Tq q u
x Cq Duvi phng trnh c tnh: [ ]det 0 =z I
Ma trn truyn t G(z) trn min nh z ca i tng MIMO:
( ) ( ) ( )( ) ( ) ( )
( )
( )( )
1
det
= + = = +
z z T Tz z z adj z T
Tz T
G C I H Dx G u I
C H DI
( ) ( ) ( )( )
( )( )
1
det
= =
z z T Tadj z T
Tz T
G C I HI
C HI
Khuqun tnh
Hm truyn t G(z) trn min nh z ca i tng SISO:
( )( )
( )
( ) ( ) ( )
( )
( )( )
1
det
= + = = +
T
T
G z z T T d x z
G z adj z T u z T dz T
c I h
Ic h
I
( ) ( ) ( )
( )
( )( )
1
det
= =
T
T
G z z T T
adj z T T
z T
c I h
Ic h
I
Khuqun tnh
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1. M hnh tn hiu v h thng1.3 M hnh h thng trn min nh z
1.3.3 M t h trong khong gia hai thi im trch mu
c im khng tng minh
ca php bin i z ngc
Gia 2 thi im
trch mu:( ) ; 0 1t k T = +
Chn s lng ln,ta c th m t x(t) bi:
( )( ) kx k T x + +
Bin i z m rng { } ( )
( ) ( )
0
,
,
0, 1, 2, , 0 1
kk k
k
x X z x z
G z U z
k
+ +=
= =
=
=
Hai trng hp c bit c t h dng kim tra:
( ) { } ( )
( ) { } ( )1 0
0 ,0
1 ,1
k
k
X z Z x X z
X z Z x z X z x
+
= = =
= = =
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1. M hnh tn hiu v h thng1.3 M hnh h thng trn min nh z
1.3.4 M t h gin on c tr (tn hiu vo dng bc thang)
M hnh c trTd u vo
( ) ; 1, 2, ; 0 1d d dT d T d = =
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1. M hnh tn hiu v h thng
Ch chng 1: Sinh vin phi nm vng chng 1 v thnhtho cc phng php gn lin vi cc v d sau y
1. V d 1.3.3, 1.3.4, 1.3.5: M t khu c bn cht lin tcvi tn hiu vo bc thang bng hm truyn t (b tham s
ca ng cDC trong v d 1.3.5 sc s dng nhtqun trong nhiu v d tip theo)2. V d 1.3.6, 1.3.7: M t khu c bn cht lin tc vi tn
hiu vo bc thang bng m hnh trng thi gin on
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2.K c hi tip i lng ra2.1 Xt n nh ca h thng K s
2.1.1 n nh truyn t
( )( )
( )
adj
detT zG z d
z
= +
Ic h
I
( )( )
( )
adj
det
zz
z
= +
IG C H D
I
( )
( )
( )
( ( ) ( ) 11 2det
ni
in i
B z B z c z
z z z z z z z z z== = I H SISO:
H MIMO:
V cbn, khi h c qun tnh (d= 0, D = 0), haicu trc u c dng phn thc nh sau:
1 1 2 2 ; 0, 1, 2,k k k
k n ng c z c z c z k= + + + = Bin i z ngc
Theo nh ngha v n nh truyn t, dy gk ch c gi tr hn ch khi |zi|
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2.K c phn hi u ra2.1 Xt n nh ca h thng K s
2.1.2 Tiu chun i s
1. ng vi mi im bt k thuc min nh z: z u jv= +
ta thu c mt im mi trn min nh w:2 2
2 2 2 2
1 1 2
1 1 2 1 2
z u v vw j
z u v u u v u
+ + = =
+ + + + 2. ng trn n v , bin gii n
nh trn min nh z trthnh ng thng:
2 2 1u v+ =
1
vw j
u
=
3. Trck h i s dng tiu chun ROUTH hay HURWITZ ta phi chuyn a thc c tnh:
( ) ' ' ' 2 '0 1 2n
nN z a a z a z a z= + + + + sang min w:
( )2
' ' ' 20 1 2 0 1 2
1 10
1 1
+ + = + + + = + + + =
w wN w a a a h h w h w
w w
Nghim ca a thcc tnh N(z) ch nmtrong ng trnn v khi v ch khitt c nghim caN(w) u c phnthc m.
a) S dng php bin i tng ng (tip):
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2.K c phn hi u ra
2.1 Xt n nh ca h thng K s
( ) ( )
( )
( )
110 1 1
0 2 2
0
det ; det ; 1, 2, ,
0 0
;
0 0 0 0
k k k k k k
n nn kk
k nn k
k k
n
C D k n
a a aa a a
a a a a
a a
= + = =
= =
A B A B
A B
2.1.2 Tiu chun i s
a) S dng php bin i tng ng(tip):
b) S dng tiu chun Schur-Cohn-Jury: Tng t tiuchun HURWITZ, ta sphi thit lp cc nh thc tcc h s ca a thc c tnhN(z)
1. Tnh cc nh thc Ck,Dk:
2. iu kin cn v nghim caN(z) nm trong ng trn n v s l v
ng thi phi tha mn:
( )2 1
0 1 2 1
= + + + + +n n
n nN z a a z a z a z a z
2 2
4 4
6 6
0; 0
0; 0
0; 0
C D
C D
C D
< >< > ( ) ( )1 1 0n N >
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2.K c phn hi u ra
2.1 Xt n nh ca h thng K s2.1.2 Tiu chun i s
Ch mc 2.1.2:1. V d 2.1.1: S dng php bin i tng ng kho st n nh2. Sinh vin phi t to v d kim chng kh nng s dng tiu
chun Schur-Cohn-Jury trn cst thit lp a thc c tnh c
nghim nm trong ng trn n v.
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2.K c phn hi u ra2.1 Xt n nh ca h thng K s
2.1.3 S dng qu o im cc
Hm truynt vng h
Qu o im cctrn min z
Phng trnhc tnh
01
1K
z z
101
Dz zK z z
0 1
0 1
0z K z
z K z
+ =
= +
( )0 1 1
1 0 1
0
0
1
D
D
K z z z z
z K zz
K
+ =
+=+
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2.K c phn hi u ra2.1 Xt n nh ca h thng K s
2.1.3 S dng qu o im cc
Hm truynt vng h
Qu o im cctrn min z
Phng trnhc tnh
( )( )0 1 2
1K
z z z z
( )( )1
01 2
Dz z
K z z z z
( )2 1 2 1 2 02
1 2 1 2, 0
0
2 2
a b
z z z z z z K
z z z zz K
+ + + =
+ = +
( )2 1 2 0 1 2 0 1 0Dz z z z K z z K z + + =
( )2 2 2
r jc z r + =
( )
1
21 2 1 1 2 1
;r j D
D D
z z j z c z
r z z z z z z
= + =
= + +
Pt. ng trn:
Vi:
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2.K c phn hi u ra2.1 Xt n nh ca h thng K s
2.1.3 S dng qu o im cc
Hm truynt vng h
Qu o im cctrn min z
Phng trnhc tnh
( )( )
( )( )1 1
01 2
D Dz z zK z z z z
( ) ( )2 0 1 2 0 1 2
1 2 0 1 2
1
0
D D
D D
z K z z z K z z
z z K z z
+ + + + + + =
( )2 2 2
r jz c z r + =
( ) ( )
( ) ( )
( ) ( )
1 2 1 2
1 2 1 2
1 2 1 2 1 2 1 22
1 2 1 2
r j
D D
D D
D D D D
D D
z z j zz z z z
cz z z z
z z z z z z z zr c
z z z z
= +
=+ +
+ += +
+ +
Pt. ng trn:Vi:
Khi kho st n nh, b tham s h thng ti giao im ca ng trn n v viqu o im cc s l b tham s cn c kho st k. Khi tn ti nhiu giaoim, phi tm ra v tr ca im bt li nht.
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2.K c phn hi u ra2.1 Xt n nh ca h thng K s
2.1.4 D bo c tnh ca h thngK s
a) D bo qu trnh qu trn c s v trim cc
( ) ( ) ( ) ( ) ( )( )
( )( )
00
01R w
X z G zG z G z G z G zW z G z
= = =+
( ) 0N z =
Xt h c hm truyn t sau:
vi phng trnh c tnh:
a thc N(z) l bc 1:
( ) 1N z z z= vi im cc thc: 1z=
Tn hiu r a c dng:
vi gi tr ban u:
( ) 11
kk
zz x z
z z= =
01x =
11 0 :z < > h = t f ( [ 1 - 0. 5] , [ 1 1 - 2] , 0. 01)
Tr ansf er f unct i on:z - 0. 5
- - - - - - - - - - -
z 2 + z - 2Sampl i ng t i me: 0. 01
M hnh ZPK:>> h = zpk ( 0. 5, [ - 2 1] , 1, 0. 01)Zer o/ pol e/ gai n:
( z- 0. 5)- - - - - - - - - - -( z+2) ( z- 1)Sampl i ng t i me: 0. 01
V d:
a) M phng bng cc lnh trc tip tToolboxca MATLAB:
) M h b l h t ti t T lb
4. Thc hin k thut h thngK s4.2 Thit k h thng bng my tnh
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4.2.2 M phng bng MATLAB & Simulink a) M phng bng cc lnh trc tip tToolboxca MATLAB (tip):
Phng php gin on ha: zoh , f oh , t ust i n , pr ewarp , mat ched
methodThay i c h u k trch mud2d(sys, TsChuyn h gin on thnh h lin tcd2c(sysd, methodChuyn h lin tc thnh h gin onc2d(sysc, Ts, method)
Chuyn i gia hai h LTI lin tc v gin on
Nhm lnh chuyn i gia hai loi m hnh gin on v lin tc (thuc Control Toolbox)V d:>> sysc = t f ( 1, [ 1 1] )
Tr ansf er f unct i on:1
- - - - -s + 1>> sysd = c2d ( sysc, 2)
Tr ansf er f unct i on:
0. 8647- - - - - - - - - -z - 0. 1353Sampl i ng t i me: 2>> sysdd =d2d ( sysd, 0. 7)
Tr ansf er f unct i on:
0. 5034- - - - - - - - - -z - 0. 4966Sampl i ng t i me: 0. 7>> st ep ( sysc, ' r - ' , sysd, ' c- ' , sysdd, ' g- - ' )
4 2 2 M h b MATLAB & Si li k a) M phng bng cc lnh trc tip t Toolbox
4. Thc hin k thut h thngK s4.2 Thit k h thng bng my tnh
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4.2.2 M phng bng MATLAB & Simulink a) M phng bng cc lnh trc tip tToolboxca MATLAB (tip):
Nhm lnh lc sFIR (Finite Impulse Response, thuc Signal Processing Toolbox)
V d:% To tp s liu x c chiu dI% length(x)=101>> t = 0: 0. 005: 0. 5;>> x = 5 + 8*si n( 2*pi *8*t ) + 4*cos( 2*pi *33*t ) ;% Thit k b lc FIR
>> Bw = f i r 1( 20, 0. 2, hammi ng( 20+1) ) ;% Dng Bw lc x theo 2 cch: filter% v filtfilt>> x_f = f i l t er ( Bw, 1, x) ;>> x_f f = f i l t f i l t ( Bw, 1, x) ;
( )
( )
( )
( )
( )
( ) ( ) ( ) ( )
( ) ( )
1 1
1
1 1
1 21 2 3 1
1 21 2 3 1
1 1 2 1
2 1
1
1
+
+
+
+
= =
+ + + +=
+ + + +
= + + +
mm
nn
m
n
y z B z
H z x z A z
b b z b z b z
a a z a z a z
a y k b x k b x k b x k m
a y k a y k n
p ng tn s ginon
f r eqz( num, den, points, samplingfreq)
Lc s liu c h iuchnh pha
f i l t f i l t ( num, den, data)Lc s liuf i l t er ( num, den, data)
Thit kb lc FIR(lc thng thp)
f i r 1( order, limitfrequency, window)
B lc FIR v hm ca sCng thc tng qut:
4 2 2 M h b MATLAB & Si li k a) M phng bng cc lnh trc tip t Toolbox
4. Thc hin k thut h thngK s4.2 Thit k h thng bng my tnh
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4.2.2 M phng bng MATLAB & Simulink a) M phng bng cc lnh trc tip tToolboxca MATLAB (tip):
Nhm lnh lc sIIR (Infinite Impulse Response, thuc Signal Processing Toolbox)
V d:>> t = 0. 01: 0. 01: 1;>> x = 5 + 8*si n( 2*pi *8*t ) + 4*cos( 2*pi *40*t ) ;>> [ B, A] = but t er ( 4, 20/ 50) ; %Thit k b lc IIR>> x_f = f i l t er ( B, A, x) ; %Lc tn hiu x>> x_f f = f i l t f i l t ( B, A, x) ; %Lc tn hiu x c b pha>> pl ot ( t , x, ' g- ' , t , x_f , ' r - ' , t , x_f f , ' b: ' ) ;>> axi s( [ 0 0. 5 - 10 30] ) ;>> t i t l e( ' Di scret e Fi l t er ' , ' FontSi ze' , 12) ;>> xl abel ( ' Ti me [ s] ' , ' Font Si ze' , 12) ;>> l egend( ' non- f i l t er ed' , ' I I R f i l t er ' , ' I I R f i l t f i l t ' ) ;
( ) ( ) ( )
( )1 1 2
1
2 +1
1
0+
= + +
+
= = =
m
n
a y k b x k b x k
b x k m
a a
Lc TschebyscheffTyp 1cheby1( order, ripple, limitfreq)Lc TschebyscheffTyp 2cheby2( order, ripple, limitfreq)Lc Elliptic (Cauer)el l i p( order, ripple, attenuation, limitfreq)
p ng tn s gin onf r eqz( num, den, points, samplingfreq)Lc s liuch iu chnh phaf i l t f i l t ( num, den, data)Lc s liuf i l t er ( num, den, data)
Lc Butterworthbutter( order, limitfreq)B lc IIR
Cng thc tng qut:
4 2 2 M phng bng MATLAB & Simulink b) M h b t Si li k
4. Thc hin k thut h thngK s4.2 Thit k h thng bng my tnh
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4.2.2 M phng bng MATLAB & Simulink b) M phng bng s cu trc ca Simulink:
Khi Discrete Transfer Function c c im ging khi Discrete Filterv c m tbi hm
truyn t bn:
Cc h s ca hai a thc t s v mu s c khai bo theo trnh t s m ca z gim dn, btu t m (t s) v n (mu s).
Discrete Transfer Function (scalar)
Khi Discrete Filterm t mt khulc s c hm truyn t nhbn:
Cc h s ca a thc t s v mu s c khai bo theo trnh t s m ca z gim dn, bt ut h s ca z0.
Discrete Filter (scalar)
Khi Discrete-Time Integrator(tch phn gin on) v cbn cng ging nh khi Integrator(tch phn) lin tc. Bn cnh chu k trch mu ta cn phi chnchomi khi thut ton tch
phn (tch phn Euler tin, tch phn Euler li hay tch phn hnh thang). Sau khi chn thutton tch phn, biu tng (Icon) ca khi li thay i tng ng.
Discrete-Time Integrator
Khi Unit Delay c tc dng trch mu tn hiuvovct gi gi tr thu c trong mt c h u k trch mu. V vy, khi c c im nh mt phn t cbn cacch gin on. Khi c t h
c s dng nh mt khu qu t tn s trch mu thp sang tn s trch mu cao.
Unit Delay
( ) ( )( )
1 21 2 3 1
1 21 2 3 1
+
+
+ + + += =+ + + +
m m mm
n n nn
B z b z b z b z bH zA z a z a z a z a
( ) ( )( )
( )( )
1 1 1 21 1 2 3 1
1 21 11 2 3 1
+
+
+ + + += = =
+ + + +
mm
nn
y z B z b b z b z b zH z
a a z a z a zx z A z
4 2 2 M phng bng MATLAB & Simulink b) M phng bng s cu trc ca Simulink
4. Thc hin k thut h thngK s4.2 Thit k h thng bng my tnh
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4.2.2 M phng bng MATLAB & Simulink b) M phng bng s cu trc ca Simulink(tip):
Khi Zero-Order Holdtrch mu tn hiu u vo v gi gi tr thu c n thi im trch mutip theo. Nn s dng khi Zero-Order Holdtrong cc h trch mu cha c mt trong cc khigin on c m t trn (tc lnhng khi c sn khu gi chm bc 0). Khi chn buctch phn cng, c th s dng khi Zero-Order Holdti c cv tr chuyn t tn s trch mu caosang tn s trch mu thp hn.
Zero-Order Hold
Khi Discrete State Space m t mt h thng gin on bng m hnh trng thi. Khic c im s dng ging nh khi State Space cacch lin tc.
Discrete State Space
Trong khi Discrete Zero-Pole, thay v phi khai bo cc h s, ta khai bo im cc - im khngca hm truyn t v mt h s khuch i.
Discrete Zero-Pole (scalar)
Ch : Mt h thng s k thut thng s dng nhiu chu k trch mu khc nhau (gi l hc chu k hn hp), v cn phi c lu c bit khi m phng.H lai l cc h c chac hai thnh phn lin tc v gin on.
4 2 2 M phng bng MATLAB & Simulink
4. Thc hin k thut h thngK s4.2 Thit k h thng bng my tnh
b) M phng bng s cu trc ca Simulink
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4.2.2 M phng bng MATLAB & Simulink b) M phng bng s cu trc ca Simulink(tip):
V d:M phng khu C 2 chiu (2-dimensional, khu MIMO) dng C vector dng statoris cang cxoay chiu 3 pha.
S cu trckhu C digital
S m hnhSimulink
4. Thc hin k thut h thngK s4.3 Thit k h thng vi iu khin
4 3 1 Phn loi vi x l l t t ( C P U )
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4.3.1 Phn loi vi x l
n v s
h c v l g i c( A L U )
n v x l t r u n g t m ( C P U )K h u i u k h i nK h u t n h t o n
K h u m
B u s t r n ph i n
T h a n h g h is l i u
T h a n h g h i a c h
G i i m l n h
m c h - n gt r n h
m B u ss l i u m B u s i u k h i n m B u s a c h
Ch vi trong khi nim trn c ci ngunt ch micro, k hiu l , c ngha l
mt phn triu hoc rt nh. Vi x l(Microprocessor) c ngha l b x l rtnh, k hiu l P.Khu tnh ton: gm c n v shc vlgic (Arithmetic Logic Unit: ALU), cc
thanh ghi sliu va ch.Khu iu khin: gm c b gii m lnhv b m chng trnh.Khu m: vi cc bm (thng l batrng thi: Tri-State), ghp ni Bus trnphin ca P vi cc Bus iu khin, sliu v a ch nm bn ngoi.
a) Khi nim vi xl
Ch : s dng trong cc h thng K s, P sphi c b sung thm cc phn t ngoi vi, phcv vic nhng (embed) P vo mi trng thit b.
Hnh trn: Cu trc bn trong ca mt P
4. Thc hin k thut h thngK s4.3 Thit k h thng vi iu khin
4.3.1 Phn loi vi x l (tip)
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4.3.1 Phn loi vi x l (tip)
Vi xl tn hiu =Digital Signal Processing(DSP).c thit k tng tc x l, tnh tng tch ly:
Bn cht DSP: l P c thm thanh ghi ACC (vib rng gp i b rng ca Bus) v b nhn cng.Nhiu thao tc trong 1 lnh: DSP cho php thc
hin cc thao tc (lm trn, dch tri/phi vv) ng thi vi nhn v tch ly ch trong mt nhplnh duy nht.Cu trc Bus: Bus trn phin (on-chip) c thchin theo cu trc Harward.
b) Khi nim vi xl tn hiuVi x l
N h c h - n g t r n h N h s l i u
B u s a c h
B u s s l i u
i u k h i n
Vi x l
N h c h - n g t r n ht r n c h i p
N h s l i ut r n c h i p
i u k h i nBu
ssliu
1
Bu
ssliu
2
Bu
sach1
Bu
sach2
a)
b)
Progra m
B us
D at a B us
( )i ia x
Hnh bn: Cu trc Bus a) kiuVon-Neumann; b) kiu Harward
4. Thc hin k thut h thngK s4.3 Thit k h thng vi iu khin
4.3.1 Phn loi vi x l (tip) c) Khi nim vi iu khin
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3 o (t p) c) Khi nim vi iu khin
Vi iu khin = P (hoc DSP) + ngoi vi + ngt khng cn th tc
Ch : C c phn bitvi P l do cc c im:a) c thm cc phn t ngoivi cbn trn phin(peripheries on-chip) v b) c
cch ngt khng cn th tcngt. iu ny cho php nngcao tc tnh ton, tng tin cy, ng thi gim githnh ca h thng.
C 1 6 6 - C o r e C 1 6 6 - C o r e
16 7
PL L
OS C
2KB
XR AM
P o r t 6
P
o r t 0
P o r t 4
P o r t 1 P o r t 5 P o r t 3 P o r t 2 P o r t 8 P o r t 7
CP U D u a l P o r t
R AM
2 K B y t e
I n t e r r u p t C o n t r o l l e r W a t c h d o g
P e r i p h e r a l D a t a
E x t e r n a lI n s t r . / D a t a
I n s t r . / D a t a
U S A R T
ASC
BRG BRG
SS C
S y n c .C h a n n e l
( S P I )
G P T 1
T3
T4
G P T 2
T2
T5
T6
C AP C O M 1 , 2
32C h a n n e l s
Timer7
Timer1
Timer0
Timer8
P W M M o d u l e
P T 1
P T 2
P T 3
P T 4
1 6 1 6 1 6 1 6 8 8
1 6
8
8
1 6
1 6
1 6
1 632
PE C
I n t e r r u p t B u s
D a t a
D a t a
E P R O M
R OM /
F l a s h
u p t o1 2 8 K B yt e
X B U S
(16-bitNON
MUXData/Addresses
)
E x t e r n a l B u s ,X B U S C o n t r o l ,5 * CSLogic
M u l t i F u n k t i on a l
1 0 - B i t
ADC1 6 C h a n n e l s
3 6 e x t . I R
XTAL
Hnh bn: Cu trc chi tit ca C16 Bit loi SAB C167 (Siemens)
4. Thc hin k thut h thngK s4.3 Thit k h thng vi iu khin
4.3.1 Phn loi vi x l (tip)
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( p)
d) Khi nim DSP Controller
A (1 5- 0)
D ( 1 5 - 0 )
5 4 4 W x 1 6
P r o g r a m R O M /
1 6 kW x 1 6
D a t a R A M
CPU
1 6 - B i tB a r r e l
Shifter
1 6 - B i t T - r e g i s t e r
1 6 x 1 6 M u l t i p l y
3 2 - B i t P - r e g i s t e r
S h i f t L ( 0 , 1 , 4 , - 6 )
3 2 - B i t A L U
3 2 - B i t A c c u m u l a t o r
S h i f t L ( 0 - 7 )
8 L e v e l H / W S t a c k2 S t a t u s R e g i s t e r s
R e p e a t C o u n t
8 A u x i l i a r y R e g i s t e r s
F l a s h
Three I/O Ports8 - B i t
1 0 - B i t A D C
1 0 - B i t A D C
W a t c h d o gT i m e r
SPI
SC I
E v e n t M a n a g e r
3 T i m e r s
1 2 P W M
O u t p u t s9 C o m p a r e
O u t p u t s
D e a d B a n dL o g i c
IGRInterface
Hnh bn: S khi ca DSP Controller khiu TMS 320C/F240 (Texas Instruments)
Cch nh ngha C nh ta
nu mc 4.3.1c cng c thc p dng i vi DSP.
Thay v vit cng thc:C = P + ngoi vi
+ ngt khng cn th tc
ta vit:C = DSP + ngoi vi
+ ngt khng cn th tc= DSP Controller
4. Thc hin k thut h thngK s4.3 Thit k h thng vi iu khin
4.3.2 Khi qut v nhim v thit k
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q
Minh ha nhim v thit k thng qua v d c th: H thng K s cho truyn ng in xoay chiu 3 pha.
Cn phi lm r cc vn c th:Hardware: La chn vi x l (h 1 hay nhiu P, C)? Cn nhng ngoi vi g v vi tnh nng th no?Software: Cng c, quy trnh v qun l (management) pht trin? Chun b lp trnh (thut ton, chunha, th vin, test)?
4.3.3 Hardware: Yu cu i vi vi x l
4. Thc hin k thut h thngK s4.3 Thit k h thng vi iu khin
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Chn h 1 vi xl (Single Processor System) khi Hardware chphi thc hin cc bi ton K. Nhim v truyn thng vi mi
trng xung quanh mc rt hn ch. Chn h 2 vi xl (Double Processor System) khi Hardware
khng chphi thc hin cc thut ton thi gian thc m cn
phi cho php tch hp vo mt mi trng cng ngh t ng(v d: nhField Bus, K qua giao din vv...) phc hp.
Vi x l/cc vi x l cn phi c kh nngm ng ccnhim v ca ngoi vi (v d: ADC, iu ch, o tc quayvv...) ti mc ti a. V vy, nu l h 2 vi x l th 1 sphic chn l C.
4.3.3 Hardware: Yu cu i vi vi x l (tip)
4. Thc hin k thut h thngK s4.3 Thit k h thng vi iu khin
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V d v mt h 2 vi x
l, bao gm DSP loiTMS 320C25 (TexasInstruments) v C loiSAB C167 (Siemens).
Tn dng kh nng tnhton ca DSP thchin cc thut ton thigian thc phc hp.
Tn dng ngoi vi phongph ca C ghp vimi trng cng ngh.
4.3.4 Hardware: Yu cu i vi ngoi vi (trn c s v d mc 4.3.2)
4. Thc hin k thut h thngK s4.3 Thit k h thng vi iu khin
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Phi c n v PWM(Puls Width Modulation) vi phn giithi gian b nht (v d: 50ns ca SAB C167, TMS 320C/F240)phc v iu ch vectorin p.
o dng statorvi phn gii 10...12bit. i vi truyn ngcht lng cao phi l 12bit-ADC vi tc bin i
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Software
Tp hp tt c cc cng thc cn tnh (cc thut ton) cng vicc tham s ca i tng cng ngh (v d: s liu ng c).
Chun ha cc cng thc cn tnh, xc nh kch cca dliu(b rng word) cng nh chnh xc ca dliu (sbits saudu phy).
M t chu trnh tnh bng lu thut ton (flow chart). Xc nh chng trnh chnh, chng trnh con v chng trnh
ngt(chng trnh con theo mnh thi gian hay theo mc u
tin khc nhau). Xc nh cc module thvin.
4.3.5 Software: Cng c pht trin v cng tc qun l
4. Thc hin k thut h thngK s4.3 Thit k h thng vi iu khin
b) Chun b cng c pht trin( i t ht t i )
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(mi trng pht trin)
Editor: Trnh son tho m ngun
C Compiler: Trnh bin dch m ngun C
Assembler: Trnh thng dch hp ng Linker, Locater: Hai trnh ghp, nh v
cc modules. i khi l 1 trnh vi 2options khc nhau.
Librarian: Trnh qun l th vin
Format Converter: Trnh o nh dng Object/Hex Converter: Trnh o m
chy/m hexa
Debugger: Trnh gri
Emulator: Thit b m phng chip
Target System: Hardware
EPROM Burner: My np EPROM
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4.3.5 Software: Cng c pht trin v cng tc qun l
4. Thc hin k thut h thngK s4.3 Thit k h thng vi iu khin
d) Cc nguyn tc thc hin
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1) Cc bc pht trin
Xy dng danh mc yu cu i vi Software (theo nhu cuca th trng)
Khng nh kh nngp ng danh mc yu cu Phn tch phng n,phn tch h thng trn csHardware
thit k Xc nh cc modulesphn mm cn son tho Son tho cc modules c th Thnghim ring rtng module (Test Programs, Debugger,
Emulator, Hardware-in-the-Loop-Test) Thnghim tng thtrn thit b
4.3.5 Software: Cng c pht trin v cng tc qun l
4. Thc hin k thut h thngK s4.3 Thit k h thng vi iu khin
d) Cc nguyn tc thc hin (tip)
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2) Qun l Files v k hiu
Cu trc th mc trn PC: Source Files, .obj Files, vv
Tn Files: mang ngha d hiu
Tn k hiu, tn bin: mang ngha d hiu, khai bo tp trung d qun l (trnh lng ph b nh, tng tc )
3) Qun l v to phin bn4) Cu trc ca tng module
Chc nng ca module Mt module Giao din vi bn trong module Lch s ca module Giao din vi bn ngoi module Tn module
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