tim hieu simulink trong matlab va ung dung

7/31/2019 Tim Hieu Simulink Trong Matlab Va Ung Dung

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Luan an tot nghiep Trang 1

CHNG I

GII THIEU S LC VE MATLABI.TM HIEU VE CONG TY MATHWORKS:

Cong ty MathWorks c thanh lap vao nam 1984 la motcong ty hang au ve viec cung cap va phat trien phan mem kthuat cho may tnh. Cong ty co hn 500 nhan vien ang lam vieccho hai van phong chnh My va Anh quoc.

Moi chi tiet ve viec to chc, nhan s va ao tao phattrien xin xem them tai ia ch WebSite : http:/ www.Mathworks.com/

II.GII THIEU C S MATLAB:

II.1. Gii thieu chng trnh MATLAB:

Chng trnh MATLAB la mot chng trnh viet cho may tnh PCnham ho tr cho cac tnh toan khoa hoc va k thuat vi cacphan t c ban la ma tran tren may tnh ca nhan do cong ty"The MATHWORKS" viet ra.

Thuat ng MATLAB co c la do hai t MATRIX vaLABORATORYghep lai. Chng trnh nay hien ang c s dungnhieu trong nghien cu cac van e tnh toan cua cac bai toank thuat nh: Ly thuyet ieu khien t ong, k thuat thong kexac suat, x ly so cac tn hieu, phan tch d lieu, d baochuoi quan sat, v.v

MATLAB c ieu khien bi cac tap lenh, tac ong quaban phm. No cung cho phep mot kha nang lap trnh vi cuphap thong dch lenh con goi la Script file. Cac lenh hay bolenh cua MATLAB len en so hang tram va ngay cang c mrong bi cac phan TOOLS BOX( th vien tr giup) hay thong quacac ham ng dung c xay dng t ngi s dung. MATLAB co

hn 25 TOOLS BOX e tr giup cho viec khao sat nhng van eco lien quan tren. TOOL BOX SIMULINK la phan m rong cuaMATLAB, s dung e mo phong cac he thong ong hoc motcach nhanh chong va tien li.

MATLAB 3.5 tr xuong hoat ong trong moi trng MS-DOS .MATLAB 4.0, 4.2, 5.1, 5.2, hoat ong trong moi trng

WINDOWS. Cac version 4.0, 4.2 muon hoat ong tot phai s dungcung vi WINWORD 6.0. Hien tai a co version 5.31 (kham khao tWebsite cua cong ty). Chng trnh Matlab co the chay lien ket vicac chng trnh ngon ng cap cao nh C, C++, Fortran, Viec caiat MATLAB that de dang va ta can chu y viec dung them vaocac th vien tr giup hay muon lien ket phan mem nay vimot vai ngon ng cap cao.

GVHD : NGUYEN MINH TAM SVTH :NGUYEN THANH DUAN
http://www.mathworks.com/http://www.mathworks.com/


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Con cac version MATLAB khac th lam viec vi he ieuhanh UNIX.

Hnh 1.1 : Khi ong MATLAB t moi trng WINDOWS

Hnh 1.2 : Giao dien bieu tng cua MATLAB (Version 5.1)

Viec khi ong MATLAB tren moi he thong khac nhau. Trongmoi trng WINDOWS hay MACINTOSH, chng trnh thng c khiong thong qua viec nhap chuot tren cac icon hay con goi labieu tng. Con vi moi trng UNIX, MS-DOS ,viec khi ongthong qua dong lenh:

:\ MATLAB

Giao dien cua MATLAB s dung hai ca so: ca so lenh(command window) va ca so o th (Figure window).



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Hnh 1.3 : Giao dien ca so lenh cua MATLAB khi khiong xong

- Ca so lenh dung e a lenh va d lieu vao ongthi in ra ket qua.

- Ca so o th tr giup cho viec truy xuat o hoa e thehien nhng lenh hay ket qua au ra di dang o hoa.

Hnh 1.4 : Giao dien ca so o th cua MATLAB

Viec ngat chng trnh ang thc hien hoac cac chng trnhkhong ung theo yeu cau eu c thong qua phm nong Ctrl + C .

e thoat khoi chng trnh MATLAB ta co the dung lenh>> exit hoac >> quit ( : nhan ENTER)

hoac t menu tha xuong hoac nhan vao tren goc phai

man hnh cua ca so chnh MATLAB.



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MATLAB c ieu khien bang nhng cau lenh c ket hptheo mot trat t nhat nh va goi o la chng trnh. Chng trnhcha nhieu cau lenh va nhng ham chc nang e giai nhngbai toan ln hn.

Cac cau lenh trong MATLAB rat manh va co nhng van ech can mot cau lenh la u giai quyet bai toan. Mo phongtrong MATLAB se cho ta hnh anh toa o khong gian hai chieu (2D)va ba chieu(3D).

II.2. Cac phm chc nang at biet (chuyen dung) va caclenh dung cho he thong:

Ctrl + P hoac

Ctrl + n hoac

Ctrl + f hoac

Ctrl + b hoac

Ctrl + l hoac Ctrl+

Ctrl + r hoac Ctrl+

Ctrl + a hoacHOME

Ctrl + k

Goi lai lenh va thc hien trc o t cuaso lenh cua MATLAB

Goi lai lenh a anh vao trc o

Chuyen con tro sang phai mot k t

Chuyen con tro sang trai mot k t.

Chuyen con tro sang phai mot t

Chuyen con tro sang trai mot t

Chuyen con tro ve au dong.

Xoa cho en dong cuoi cung

Cac lenh he thong :

Cac lenh tren cung nh sau nay c viet t ca so lenhcua MATLAB

Casesenoff

Casesen on

Clc

Clf

computer

exit hoacquit

Bo thuoc tnh phan biet ch hoa va ch thngS dung thuoc tnh ch hoa va ch thng.

Xoa ca so dong lenh

Xo ca so o hoa

Lenh in ra mot xau k t cho biet loai may tnh.

Thoat khoi chng trnh MATLAB

Dng chng trnh khi no ri vao tnh trang lap khong



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Ctrl + C

help

inputload

pause

save

Demo

Edit

ket thuc .

Xem tr giup

Nhap d lieu t ban phm.

Tai cac bien a lu trong mot file a vao vung lamviec.

Ngng tam thi chng trnh.

Lu gi cac bien vao file co ten la matlab.mat

Lenh cho phep xem cac chng trnh mau (minh hoakha nang lam viec cua MATLAB).

Lenh e vao ca so soan thao (dung e viet motchng trnh)

II.3.Bien trong Matlab :

Ten cac bien trong MATLAB co the dai 19 k t bao gom cacch cai cung cac ch so cung nh mot vai k t ac bietkhac nhng luon phai bat au bang ch cai. Ten cacham a c at cung co the c s dung lam ten cua

bien vi ieu kien ham nay se khong c s dung trongsuot qua trnh ton tai cua bien cho en khi co lenh clearxoa cac bien trong bo nh hay clear + ten cua bien .

Bnh thng Matlab co s phan biet cac bien tao bi ch caithng va ch cai hoa.Cac lenh trong Matlab noi chung thngs dung ch cai thng. Viec phan biet o co the c bo quaneu chung ta thc hien lenh.>> casensen off % bo thuoc tnh phan biet ch hoa va chthng.Viec kiem tra s ton tai cua cac bien trong bo nh thong boqua lenh.who

whos

who global

exist(namesrt)

Hien th danh sach cac bien a c nh ngha.

Hien th cac bien a c nh ngha cung kchthc cua chung va thong bao chung co phai laso phc khong.

Hien th cac bien cuc bo.

Hien th cac bien phu thuoc vao cach cac bienc nh ngha trong chuoi namestr. Ham se tra laigia tr sau:Neu namestr la ten cua mot bien.Neu namestr la ten cua mot file.m.



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Neu namestr la ten cua mot Mex fileNeu namestr la ten cua ham dch bi Simulink.Neu namestr la ten cua ham c nh ngha trcbi Matlab.

o ln cua bieno ln hay chieu dai cua bien vector cung nh ma tran co

the c xac nh thong qua mot so ham co san cua Matlab.

size (A)

[ m n] =size(A)

size(A ,p)

size (x)

lengh x)lengh(A)

Cho ra mot vector cha kch thc ma tran A.Phan t au tien cua vector la so hang cuama tran, phan t th hai la so cot cuamatran.

Tra gia tr o ln cua ma tran A vao vectorxac nh bi hai bien m va n .

a ra so hang cua ma tran A neu p=1 va socot cua A neu p 2

a ra vector mo ta o ln cua vector x. Neux la vector hang m phan t th gia tr aucua vector la m va gia tr th hai la 1.

Trng hp x la vector cot n th gia tr th

nhat se la 1 va th hai la n. Tra gia tr chieu dai cua vector x

Tra gia tr chieu dai cua ma tran A . Gia trthu c se la m neu m>n va ngc lai se lan neu n>m.

II.4.Cac lenh thong dung trong o hoa Matlab:

Matlab rat manh trong viec x ly o hoa, cho hnh anh minh hoamot cach sinh ong va trc quan trong khong gian 2D va 3D makhong can en nhieu dong lenh.

plot (x,y) Ve o th trong toa o (x,y)

plot (x,y,z! Ve o th theo toa o ( x,y ,z)

title a cac tieu e vao trong hnh ve.

xlabel a cac nhan theo chieu x cua o th.

ylabel a cac nhan theo chieu y cua o th.



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zlabel a cac nhan theo chieu z cua o th.grid Hien t` li tren o th

plot (y) Ve o th theo y bo qua ch so theo y.Neu y la so phc (complex) th o th c ve laphan thc va phan ao cua y

plot(x,y,S)

Ve theo x,y ; S: la cac ch so ve mau sac va kieung theo bien str cua cac ng tren o th cliet ke di.

plot(x,y,z,S)

Ve theo x,y,z; S: la cac ch so ve mau sac vakieu ng theo bien str cua cac ng c liet ke di.

polar (x,y) Ve o th theo he truc toa o cc

bar Ve o th dang cot

Cac ch so ve mau sac:Gia tr cua bien Str trong ham plot ve mau sac hay kieu

dang cua ng c liet ke theo bang di ay.Kieu ng Mau sac

. : iem* : Sao

X : Ch cai xO : Ch cai o + : Dau cong- : ng lien net-- : ng t net-. : ng cham gach: : ng cham

Y: vangG : xanh la cay

M : o tiB : xanh lamC : xanh la ma.W : mau trangR : oK : en

V du ve o hoa be mat (3D)



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Ngoai cac lenh c ban tren con co cac lenh lien quan enve o th Vector, ve o th theo he truc loga,cac lenh lien quanen o hoa be mat (3D) ,cac lenh lien quan en viec kiemsoat o th

II.5 .Cac dang file s dung trong MATLAB:

II.5 .1. Script file (M-files):

Cac chng trnh do ngi s dung soan thao ra c lu trtrong cac file co phan m rong la *.m. File dang nay con c goila Script file. File c di dang k t ASCII va co the s dungtrong cac chng trnh soan thao noi chung e tao no.

Ta co the chay cac file giong nh cac lenh, thu tuc cuaMATLAB. Tc la go ten file khong can co phan m rong sau oEnter. Khi s dung noi dung cua file khong c hien th tren manhnh.

Trong Simulink s o mo phong cung c lu di dang *.m(trong cac version 5.x tr len th c lu di dang * .mdl) nhngc goi la S-function.

Mot so lenh he thong tng tac vi *.m files thng gap

ech

o

Lenh cho phep xem cac lenh co trong *.m files khi chung

c thc hien.type Lenh cho phep xem noi dung,ngam nh file dang M-file

what

Lenh nay cho baet tat ca cac file M file va Mat-file cotrong vung lam viec hien hanh hay khong.

Mot v du ve Script file:

II.5.2.Files d lieu:

Cac ma tran bieu dien thong tin c lu tr trong cac filesd lieu. Matlab phan biet hai loai file d lieu khac nhau Mat- filesva ASCII files.



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Mat files lu tr cac d lieu dang so nh phan, con cacASCII- files lu cac d lieu di dang cac k t. Mat-file thch hp chod lieu c tao ra hoac c s dung bi chng trnh MATLAB.ASCII- files c s dung khi cac d lieu c chia xe (export import) vi cac chng trnh cua MATLAB .

ASCII- files co the c tao bi cac chng trnh soan thao noichung hay cac chng trnh soan thao bang ngon ng may. No cothe c tao ra bi chng trnh Matlab bang cach s dung caulenh sau ay:

>> save .dat ./ascii;

Nhn chung Mat lab rat manh trong viec mo phong cho cac baitoan k thuat. Phan mem Matlab hien nay a tr nen thong dungva la cong cu ac lc cho viec giang day, ng dung trong nghiencu cac trng ai hoc.



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Luan an tot nghiep Trang10

CHNG II

CACH KET NOI VA CAC THUOC TNH

CUA BLOCKSI. KHAI NIEM VE SIMULINK:

Simulink la mot phan mem m rong cua MATLAB (1 Toolboxcua Matlab) dung e mo hnh hoa, mo phong va phan tch mothe thong ong. Thong thng dung e thiet ke he thong ieukhien, thiet ke DSP, he thong thong tin va cac ng dung mophong khac.

Simulink la thuat ng mo phong de nh c ghep bi hait Simulation va Link. Simulink cho phep mo ta he thong tuyentnh,he phi tuyen, cac mo hnh trong mien thi gian lien tuc, haygian oan hoac mot he gom ca lien tuc va gian oan.

e mo hnh hoa, Simulink cung cap cho ban mot giao dien ohoa e s dung va xay dng mo hnh s dung thao tac "nhanva keo" chuot. Vi giao dien o hoa ta co the xay mo hnh vakhao sat mo hnh mot cach trc quan hn. ay la s khac xacac phan mem trc o ma ngi s dung phai a vao cacphng vi phan va cac phng trnh sai phan bang mot ngon ng

lap trnh.iem nhan manh quan trong trong viec mo phong mot qua

trnh la viec thanh lap c mo hnh. e s dung tot chng trnhnay, ngi s dung phai co kien thc c ban ve ieu khien,xay dng mo hnh toan hoc theo quan iem cua ly thuyet ieukhien va t o thanh lap nen mo hnh cua bai toan.

II. TM HIEU VE SIMULINK VA CAC BLOCKSLIBRARY:

II.1 CACH KHI TAO SIMULINK VA VE S O MOPHONG:

II.1.1 Khi tao SIMULINK:

e vao Simulink trong Matlab, ta t ca so lenh cua Matlabanh dong lenh:

>> simulink Khi khi ong Simulink xong ta c man hnh ca so Simulink.

Ca so nay hoat ong lien ket vi ca so lenh MATLAB. Ta thay ca so Simulink co nhieu khoi chc nang (blockslibrary), trong o co nhieu khoi chc nang cu the.



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Hnh 2.5 : Cach vao toolbox SIMULINK trongMATLAB

T ca so lenh ta thay c cac khoi th vien: Khoi nguon(Sources), khoi au o (Sinks), khoi phi tuyen (nonlinear), khoi tuyentnh (linear), khoi au noi (Connections)

Hnh 2.6 : Man hnh ca so th vienSIMULINK

Th vien cua Simulink bao gom cac khoi chuan tren, ngis dung cung co the thay oi hay tao ra cac khoi cho rieng mnh.Simulink cung giong nh cac phan mem mo phong thiet kemach ien t nh : MicroSim Eval, EWB, Circuit Maker.

e ve s o mo phong cung nh xay dng mo hnh nh thenao.Viec xay dng mo hnh va cac thao tac e xay dng mohnh. Ta th thiet ke mo phong v du sau (Hnh 2.7) e biet cviec ve va mo phong s o:

e ve c mo hnh nay ban phai lamm cac thao tac sau:1.T ca so Matlab anh lenh simulink . Ca so th vien

cac khoi se xuat hien 2.T ca so th vien ta nhapchuot vao File/New/Model hoac nhan Ctrl+ N . Man hnh ca so



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Luan an tot nghiep Trang12mo hnh mi Untitled c m ra(Hnh 8).T o ta bat au xaydng mo hnh.

3 . Chon cac block cac th vien thch hp:

Hnh 2.7 : Mo hnh phan tch song hnh sin

Hn` 2.8 : Chon ve mot Model (Scheme) mi

Trong s o nay chon cac khoi t cac th vien:+ Th vien cac nguon tn hieu (Sources): Chon Sin wave.+ Th vien cac khoi nhan tn hieu (Sinks): Chon Scope.+ Th vien cac ham tuyen tnh (Linear): Chon Integrator.+ Th vien cac au noi ( Connections): Chon Mux.

e chon mot th vien trong Simulink ta nhap kep (Double Click)vao khoi (icon) o. Simulink se hien th mot ca so cha tatca cac khoi cua th vien o. Trong th vien nguon tn hieu chatat cac khoi eu la nguon tn hieu. Th vien nguon tn hieu ctrnh bay nh hnh 2.9.

Ngi s dung them vao s o cua mnh bang cach ghepkhoi o t th vien hay t mo hnh bat k nao khac. Trong v du nay ta chon khoi phat song hnh sin. at con tro chuot len khoian va gi phm trai chuot , keo khoi ti ca so ve s oUntitled.

Khi di chuyen khoi ta co the thay khoi va ten cua no dichuyen cung vi con tro chuot.



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Hnh 2.9 : Ca so th vien Phan Nguon tn hieu.(SOURCES)

Hnh 2.10 : Khoi va ten di chuyen cungkhoi .

Khi con tro chuot di chuyen ti ni ban can at khoi trong so bang cach nha phm chuot , mot ban copy cua khoi a trong man hnh mo phong. Khi ta khong va y cho at ta co thedi chuyen khoi bang cach nh tren.

Theo cach nay chep nhng khoi con lai vao trong man hnhmo phong e tiep tuc xay dng s o.

Muon copy tiep mot khoi Sin na trong mot mot s o, talam bang cach gi phm Ctrl + phm trai chuot va di chuyen tiiem can at khoi, luc o mot khoi a c copy.

Vi tat ca cac khoi a chep vao ca so man hnh mophong se c hien th nh tren hnh 2. 11.

Neu xem k tng khoi, chung ta thay dau > ben phai cuakhoi la dau au noi danh cho ngo ra cua tn hieu, con dau > ben trai la dau au noi danh cho ngo vao. Tn hieu i tau ra cua mot khoi ti au vao cua khoi khac theo mot



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Luan an tot nghiep Trang14ng noi gi hai khoi. Khi mot khoi a c noi th bieu tng> cung mat i.

Hnh 2.11. Ca so s o vi cac khoi ac copy.

Hnh 1.12 .au vao - ra cua mot khoi

T hnh 1.11 ta thay khoi Mux co ba cong vao nhng ta canco hai cong nen ta phai thay oi thong so cua Mux, bang cachnhap kep len khoi Mux va thay oi gia tr thong so "Number of

Input" la 2 (hnh 2.13).Sau o nhan phm Apply va o ca ca soMux. Simulink se ieu chnh so cong vao theo gia tr a nhap.

Hnh 2.13. Ca so thong so khoi Mux.

Bay gi ta co the noi cac khoi lai vi nhau. au tien haynoi au ra khoi phat Sin tn hieu ti au vao tren khoi Mux.Cong viec thc hien noi cac khoi, noi chung khong theo th t bat buoc nao ca. Cong viec thc hien noi cac s o cunggiong nh cac phan mem thiet ke ien t nao o la at contro chuot tai au noi (ra) cua khoi nay (con tro chuot bienthanh dau cong), gi tro chuot va keo ti au noi (vao)cua khoi khac. Trong qua trnh noi, ong noi co hnh net tva con tro se thay oi thanh dau cong kep khi lai gan kho cannoi.


INPUT PORT OUTPUT PORT


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Hnh 2.14. Ca so mo hnh trc khi noiday.

Hnh 2.15. Ca so mo hnh khi ang noiday.

Ban co the noi bang cach nha phm chuot khi con tro ben trong khoi. Khi o ng noi se noi vao cong gan v tr con

tro nhat.

Hnh 2.15. Hnh kho Sin a noi vao trenkhoi Mux.

Phan ln cac ng noi i t au ra cua mot khoi tiau vao cua mot khoi khac. Co ng noi t mot ng naoo i ti au vao cua mot khoi ta goi o la ng re nhanh.

Viec ve ng re nhanh co s khac biet so vi ve ngnoi chnh. e ve c re nhanh ta thc viec nh sau:

1. at con tro vao iem can ve ng re nhanh.



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Hnh 2.16. Con tro at vao iem can renhanh.

2. An phm Ctrl + gi phm trai chuot ,keo con tro chuot tiau vao cua khoi.

3. Nha phm chuot , Simulink se ve mot ng t iem batau ti cong vao cua khoi.

Tuy nhien chung ta cung co the noi day t au vao (aura) cua mot khoi ti ng noi chnh, ma khong can gi phmCtrl . Tuy nhien viec noi day se bat tien do moi noi hnh thanhkhong theo y muon hoac khong noi c.

Hnh 2.17.Mot oan day khong nh y .

Ket thuc viec noi day, mo hnh c hien th nh tren hnh2.19.

Tuy nhien trong qua trnh noi day co the co nhng ongnoi day khong nh y ta muon, ta co the bo i hoac s a chalai bang cach nhap chuot vao oan day o, sau o ta nhanphn Delete hoac di chuyen oan day e sa lai.



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Hnh 2.18. Mot oan day a c chon.

Hnh 2. 19. Ca so mo hnh a c ve xong.

Bay gi ta m khoi Scope e hien th tn hieu ra va chay mophong trong 10s. au tien ta phai at thong so mo phong banglenh Parameter trong menu Simulation . at thi gian mo phong(Stop time) la 10.0. Sau o nhan vao Apply e Simulink ap dungcac thong so do ta at va ong hop hoi thoai bang cach nhanvao Close.

Hnh 2.20 . Hop hoi thoai Parameter cua Simulink

Chon Start trong menu Simulation e chay mo phong va taDouble Click vao khoi Scope e xem dang song ra cua tn hieu.

Muon dng mo phong th chon Stop hay Pause t menuSimulation .



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Hnh 2.21 . Ca so hien th tn hieu ra cua so.

e lu s o nay ta chon Save t menu File , nhap ten file. Filenay se cha mo hnh a ve.

II.2 CAC BLOCKS LIBRARY:

Sau ay la cac BLOCK LIBRARY cua Simulink. Giup cho co cachnhn khai quat th vien cua Simulink.

Hnh 2.22: Th vien Phan Ri Rac (DISCRETE)

Hnh 2.23 : Th vien o th (SINKS)



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Hnh 2.24 : : Th vien Phan Tuyen tnh (LINEAR)

Hnh 2.24:Th vien Phan Phi Tuyen (NONLINEAR)

Hnh 2.26: Th vien Phan au Noi (CONECTIONS)



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Hnh 2.27: Th vien BLOCKSETS va TOOLBOXES

III. THUOC TNH CUA MOT BLOCK VA CAC PHNGPHAP GIAI BAI TOAN TRONG SIMULINK.

Nh chung ta a biet phan t e xay dng nen mot s otrong Simulink o chnh la Block. Mot Block c quy nh bi haithuoc tnh: Van phong va cau truc.

Thuoc tnh ve van phong c mo ta trong ban Style :

Style

Drop ShadowsOrientation

TitleFontForeground ColorBackground ColorScreen Color

Bao gom : Drop Shadows : Bat tat bong cua Block.

Orientation : nh hng chon Block. S nh hng nay cothe chon phm nong Ctrl +R e xoay 90 0 hoac Ctrl + F exoay 180 0 Title : at ten cho Block.

Displayed Hien ten Block



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Hidden Top/Left

Bottom/Right

An ten Block Ten cua Block nam trennh block hay ben trai.

Ten cua Block nam d block hay ben phai.

Font :nh dang Font cho Block Color : mau nen, khung mau ch cho Block.

Thuoc tnh ve cau truc c mo ta trong hop hoi thoai cuaBlock. M no bang cach Double Click chuot vao bieu tng Block.

Trong hop hoi thoai co nhng thanh phan sau:

Ten khoi (block name) Mo ta ngan gon ve at iem cua khoi (Brief explanation)

Nhng mang thong so (parameters) neu khoi o can nhngthong so.

Giai thch ve ac iem cua khoi. (Help button)

Nhng mo ta ve nhng cau truc thuoc tnh cua cac blockstrong Simulink se c mo ta trong chng III.

Hnh 2.28: Thuoc tnh cau truc cuamot Block

III.2 .Cac phng phap giai bai toan mo phong trongSimulink :

Trong Simulink viec giai cac bai toan mo phong co nhieuphng phap giai khac nhau. Sau ay la cac cach giai c apdung trong Simulink.


Block name

Brief explanatio

Parameter For further


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-Phng phap Euler : la phng phap co ien vi bien labc. Phng phap nay kha thi cho bat c he thong naoco nhng bc nho. Do o nhng bai toan co lien quanen viec tnh toan qua nhieu th khong bao gi chnh xac.Phng phap nay ch nen dung cho viec kiem tra ketqua.-Phng phap Runge-Kutta 3 va Runge-Kutta 5: ay laphng phap thong dung ap dung cho moi loai bai toan vano co the at ch tieu chat lng so vi cac phngphap ac biet khac. Phng phap nay thch hp cho chohe lien tuc va he phi tuyen. Khong lam viec vi he coma sat.-Phng phap Adams :la phng phap t chnh ap dungcho he khong co ma sat.-Phng phap Gear : la phng phap t chnh ap dung chohe co ma sat. Phng phap nay khong lam viec tot khihe b roi loan do ngo vao thay oi lien tuc.-Phng phap Adams / Gear : C`on gia hai phngphap Adams va Gear. -Phng phap LinSim : la phng phap dung cho he tuyentnh. Neu he mang tnh chat tuyen tnh nhng co vai khoiphi tuyen th he cung lam viec tot.

CHNG IIIBLOCKS LIBRARY

(Cac khoi chc nang trong th vien Simulink)

Nhng khoi cua SIMULINK c mo ta trong chng nay.Nhng mo ta trong chng nay la nhng mo ta ngan gon giupch cho viec tra cu va s dung.

Theo o, tat ca cac khoi c xem nh co the lam viectrong moi trng a bien (co hng) va vo hng.

III. 1 . SOURCES:

ay la nhom bao gom cac khoi phat va nhan tn hieu .



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Man hnhhien th

1.CLOCK : Cung cap vector theo thi gian

M trong suot thi gian mo phong, hien th thi gian lien tucma cuoc mo phong ang xay ra. iem quan trong la Clock khongphai la khoi phat thi gian, ma ch la khoi hien th thi gianmo phong. c phep noi vi To Workspace e chuyen vectorthi gian vao trong Matlab.

Man hnh cai at thong sola hang so

2. CONSTANT:Phat ra gia tr la hang soNhng thong so : Gia tr constant.

3. Sine Wave:

Khoi phat ra song co dang sin.Nhng thong so : Gia tr bien o, tan so ( rad/s, hezt),pha, thi gian lay mau (ch ap dung cho he gian oan).

Man hnh cai at thong socho khoi sin

4. Signal Generator:



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Cung cap cho 4 dang song khac nhau (giong nh may phatsong):

+ Song Sin+ Song vuong (square)+ Song rang ca (sawtooth)+ Song ngau nhien ( random).

Nhng thong so : Dang song, gia tr bien o (gia trnh), tan so, n v tan so.

Nhung gia tr nay co the thay oi trong qua trnh mophong.

5. Repeating sequency:Lap lai dang song a cho mot cach tuan t

Nhng thong so : vector thi gian va quan he gia tr cuaham vector (cung chieu)

Khi mo phong thi gian ri vao trong pham vi cua vector thigian cua ngo ra th no c xem nh From Workspace . Noi cachkhac, ham nay la phan m rong bi mot dang song c ban cochu k lap. Tn haeu c phat ra vi chu k tuan hoan co bien obang vector.

6. Step input:Phat ra dang song co tnh chat ham bc:



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Nhng thong so : Thi gian chuyen oi (Steptime), gia trau, gia tr cuoi.

Thi gian chuyen oi co the am va ieu kien au co theln hn gia tr cuoi 1 n v.

7. Chirp Signal:

Phat ra mot tn hieu ma tan so tang tuyen tnh theo thigian .

Nhng thong so : Tan so ban au (Hz), thi gian chcan at (s),tan so tai thi

gian ch.

Khoi nay c dung trong viec phan tch pho cua hekhong tuyen tnh. Tan so at

ban au co the ln hn tai tan so at cuoi cung. Nhng sauthi gian ch a at tan

so bat au tang len.

8. Pulse Generator :Phat ra mot chuoi xung tuan t vi khoang thi gian on

nh.

Nhng thong so : Chu k xung, o rong xung (he so chuk), bien o xung, thi gian bat au phat xung.



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9.Random Number:Bo phat so ngau nhien (y nghia Zero) phan bo chuan

(Phan bo Gauss).

Nhng thong so: Gia tr trung bnh, khoang bien oi,gia tr bat au phat sinh (seed), thi gian lay mau.

iem khac biet cua khoi nay s khac nhau cua gia tr"seed". Gia tr nay co the la mot vector.

Trong he ri rac (phu thuoc vao thi gian) lien quan envan e so no thng c dung hn khoi Band Limited WhiteNoise .

10.From Workspace:oc d lieu t ma tran MATLAB.

Nhng thong so: bang ma tran .

Ma tran nay phai cha t nhat hai cot, cot au tien phaila vector thi gian (no phai la gia tr tang n ieu).

Neu gia tr ngo ra can thi gian tai gia hai gia tr achon th ngo ra phai la noi suy tuyen tnh gia hai gia tr thigian yeu cau at trong ngoac.

11. From File:oc d lieu t mot file.



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Nhng thong so : Ten file.D lieu phai giong nh mot ma tran. Moi cot phai phai

co gia tr cua n ngo vao tai thi iem cho trc (yeu toau tien cua cot). Sau o, hang th nhat la mot vectorthi gian (so vi From Workspace hafg va cot ngc nhau).

12. Digital Clock:Cung cap thi gian cho he ri rac.

Nhng thong so: thi gian mau.Khoi nay khong giong khoi Clock .

13. Band Limited White Noise:

Phat ra mot day tn hieu on trang.

Nhng thong so : Pho nang lng, thi gian mau, giatr"seed".

III.2 .SINKS:



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1. Scope:Hien th dang tn hieu trong suot thi gian mo phong (giong

nh Oscilloscope)

Nhng thong so :Pham vi truc ngang(thi gian) va

truc doc . Truc ngang co thecuon moi phamvi.

Man hnh cua Scope va ban thuoc tnh cua no

2. To Workspace:Lu tr d lieu di dang mot ma tran.

Nhng thong so: Tenma tran, so mau toia( maximum ) e xuat ra.

Moi mot cot ma tranai dien cho moi gia trkhac nhau d lieu ctruyen en MATLAB cho

en khi ket thuc mophong.


Nhap chuot vaoay e thay oithuoc tnh cuaScope( truc ngang vadoc)


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Neu s mo phong can so bc ln hn gia tr maximummot n v th khoi nay ch lu gia tr n cuoi cung ,vi n lagia tr lay mau maximum a quy nh.

Thong so th hai cua hang trong maximum la tuy y(timestep: buc thi gian), Matlab ch lu gia tr n chung. Thngthng vector thi gian khong can khoang cach eu; thongso th ba cua maximum cung tuy y nhng co ac iem laphai phu hp vi thi gian lay mau vi d lieu c thuthap.

V du neu ban cai at thong so cho maximum

[ 100, 3, 0.4]Ngo ra cua ma tran gom 100 hang (so cot tng ng vi

chieu cua khoi vao) ma gia tr moi lan tch tr T =3 0.4giay (s) co ngh la tai T o =0 ,T 1=1 30.4 =1.2, T 2 =2 30.4

=2.4 , T 3 =3

3

0.4 = 3.6Tk = k

3

0.4 (s).3. To File:Lu tr d lieu di dang file.

Nhng thong so : Ten file ,ten matran.

D lieu ay la mot ma tran, hangau tien la mot vetor thi gian, nhngcot khac la bien ngo ra (so vi To Workspace hang va cotao nhau)

Hang au tien luon la vector thi gian (khong can thietphai noi en Clock e hien ra)

4.XY graph:Hai o th cua hai tn hieu se c ve tren ca so o hoa

cua Matlab .

Nhng thong so : bien dui va bien tren cua truc

5. Stop Simulation:Ngng cuoc mo phong ngay lay tc khi ngo vao bang

khong.



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Khi nhieu tn hieu vao la a bien neu co mot thanh phanngo vao bang khong th cuoc mo phong se ngng ngay laptc.

6. Graph:Ve so lieu tren ca so o hoa.

Nhng thong so : pham vi truc thi gian, bien di vabien tren cua truc ngang, mau sac cua moi ng.

Neu thi gian mo phong vut qua thi gian at th o thse bat au c ve t canh trai cua Graph.

III.3. DISCRETE:

1.Unit Delay :

Ngo vao b tre bi mot chu k lay mau .

Nhng thong so : Gia tr au (gia tr gia nh trong chuk mo phong au tien khi ngo ra khong xac nh c), thigian lay mau.

2 .Discrete Zero Pole:

Thc hien mot hamtruyen ri rac (theo thigian) dang Cc va Zero.

Nhng thong so :Cac zero, Cac cc, o li,thi gian lay mau.

3. Discrete State- Space:



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Thc hien mot he rirac di dang he phungtrnh trang thai.

Nhng thong so : Hema tran, ieu kien au,thi gian lay mau.

4. Discrete Filter:

Thc hien loc IIR va loc FIR.

Nhng thong so : He sot va mau cua bo loc, thi gianlay mau.

5.Discrete Tranfer Fcn:

Thc hien chc nang motham truyen ri rac.

Nhng thong so : he sot va mau cua ham truyen,thi gian lay mau.

6. Zero Order Hold: (khau gibackhong)

Thc hien mot ham gi valay mau.

Nhng thong so : thigian lay mau

7. First Order Hold:(khau gi bac

mot)

Nhng thongso : thi gian lay mau

Ngo ra b tre motkhoang thi gian khingo ra c a vaogia hai lan lay mauke tiep.


K hau nay cho biet c cau truc cua tn hieu. Tn hieuc lay mau va gi cho en khi tn hieu ke tiep clay mau.


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III.4. LINEAR:

ay la nhom tuyen tnh trong mien thi gian vaLaplace.

Neu tat ca cac tn hieu vao la a bien ( cung chieu)th ngo ra la tong. Neu ngo vao bao gom hai ai lung a

bien va vo hng th tong cac thanh phan a bien la


8. Discrete- Time Integrator:

Thc hien ham tch phangian oan.

Nhng thong so : ieukien au, Gii

han can di va tren, thigian lay mau.

No thc hien mot phepbien oi ham truyen Z :

ay T s la gia tr thigian lay mau.

1. Sum:

Ngo ra tong (hieu)cac ngo vao.

Nhng thong so :Cac dau cua ngovao.

So dau se cho bietso ngo vao cua khoi

2.Gain:Nhan tn hieu vao

vi mot hang so.

Nhung thong so :Gia tr o li


U1Z

T Y s

=


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Neu thong so c dung trong Gain dang vector th noidung e hien th phai trong ngoac n.

3.Derivative: Tn hieu vao c lay vi

phan theo thi gian.

4. Tranfer Fcn: Thc hien chc nang mot

ham truyen.

Nhng thong so : He sot va mau cua ham truyen

5. Integrator:

Tn hieu vao c lay tchphan.

Nhng thong so : ieukien au.

6. State-Space : 7. Zero-pole: Thc hien hamtruyen di dang cc

va zero.

Nhng thong so: Cac Zero, cac cc,o li

8. Matrix Gain:

GV@D : NGUYEN MINH TAM SVTH :NGUYEN THANH DUAN

moi oan lay vi phan c tnh tren c s cua t sovi phan oi vi gia tr oan trc. Ket qua co the sai neu

Nhng thong so : he matran, ieu kien au

Thc hien mot he tuyen tnh khong thay oi theo thi


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Ngo vao la mot vector thngo ra la mot ma tran.

Nhng thong so : o lima tran.

9. Inner (dot) product: Tnh tch vo hng cua vector.

10. Slider Gain: Tng tac o li.

Nhng t`ong so : Gia tr gain.

III.5.NONLINEAR:

1.Abs:

Tnh gia trtuyet oi cuango vao.

2.ProductNgo vao cnhan vi nhau(giong SUM).

Nhng thongso : So ngovao


Chieu cua vector vao phai bang so cot cua ma tran. odai cua vector ra phai bang o li cua hang ma tran.

Neu co tn hieu la a bien th no c khuech ai bi


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Nhng thong so : Gia tr au va cuoi cua oan DeadZone.


3.Fcn Tnh toan bieu thc.

Ngo vao phai la mot hamu(I), gia tr phai la ai lng vohng .

Khoi nay kha nang thc hiencho SISO (single input single output)va MISO (multi input single output).

4.Dead ZoneNgo ra co gia tr la Zero khi

ngo vao nam trong vung chet(tat). Ngoai ra ngo ra se bangngo vao khi ngo vao khong namtrong oan Dead Zone.

6. Backlash :(khau khe h)

Mo hnh x lyhe thong cothi gian d tr.

Nhng thongso : o rongDead Zone, gia trau cua ngo rava vao.

Ngo ra lahang so khi ngovao nam trongoan Dead Zone.


ac biet hn, neu can tren va can di cua Dead Zonela D+ z va D -z,th ngo ra se la:

h

u- D-z neu u< D -z y= 0 neu D -z

u D+

z u- D+ z neu u


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6. Saturation : Tnh toan mot khau bao hoa,

ngha la gii han bien o cuango ra.

Nhng thong so : Gia trtren va di cua ngo ra.

7.SwitchNgo ra se la gia tr cua ngo

vao au tien cho en khi mot giatr th hai ln hn gia tr ngngth ngo ra mang giatr ngo vaoth hai, sau o ngo ra lai banggia tr th ba.

Nhng thong so : gia trngng.

8. Look-Up Table Thi hanh mau

o th tuyen tnhcua ngo vao.

Nhng thongso : Gia trvector cua ngo rava vao

9. 2-D Look-UpTable.

Thi hanh mauo th tuyen tnhtrong toa o haichieu.

Nhng thongso : Gia tr cuach so X va Yva quan he vigia tr ngo ra.

10. Rate Limiter



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Gii han toc o thay oi cua tnhhieu ngo vao.

Nhng thong so : Gia tr toia cua s thay oi.

11. RelayMo phong mot r le.

Nhng thong so : Gia trngng cua ngo ra trang thaiON va OFF.

S chuyen oi cua ngo ra giahai gia tr ac biet. Khi rle v tr ON, no gi nguyen khi gia tr ngovao ha xuong thap hn ngng

OFF, ngc lai th rle v tr OFF.

12. MATLAB FcnCho phep goi mot ham MATLABtrong s o SIMULINK.

37

Nhng thong so : Ten ham,chieu cua ngongo ra (-1 mang ngha la ngo racung chieu vi ngo vao).

SIMULINK khong co kha nangkiem tra chieu cua ham MATLAB

o la ac iemrieng cua khoi.

13.QuantizerMo phong bo

lng t.

Nhng thongso : Khoangthi gian lngt



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14. Coulombic FrictionMo phong ma sat Coulomb.

Nhng thong so :Gia tr offsetban au, t so ma sat thang.

Lc ma sat co gia tr la zero tai thi iem at gia tr offset.

15.Logical OperatorNgo ra mang gia tr 1 neu toan

t logic ngo vao mang gia trung, ngc lai mang gia tr 0.

Nhng thong so : Toan tlogic, so cong vao

Ngo ra manggia tr 1 neu hethc c ban cogia tr laung,ngc laimang gia tr 0.

Nhng thongso : Toan t quanhe.

16. Combinatorial

Logic Thc thi motbang to hp logic.

Nhng thongso : Bang s that.

Ch co phanngo ra cua bangs that c ghivao. Ngo vaophai c hieungam.

17. TransportDelay

Ngo vao btre bi motthi gian chotrc.



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Nhng thong so : Thi giantre, ieu kien au (c gia nhkhi ngo ra khong xac nh).

18. Variable Transport DelayGii thieu mot bien thi gian

tre: Ngo vao th hai tre motkhoang thi gian so vi ngo vaoth nhat

20.Memory Tn hieu ngo

vao c laytch phan tngphan va c lugi

Nhng thong

so : ieu kienau.

Khoi nay cap dung cho viecgiai cac vonglng giac.

21. Sign Thc thi mot

ham dau.


Nhng thong so : Thi gian tre, so mau c lu tr.


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o la nhng th vien c ban , ngoai ra con cac th vienkhac nh :th vien au noi vv viec tm hieu het cac chcnang cua chung cung rat nhieu kho khan va cung khongco thi gian e noi ra het .

Ngoai nhng th vien a co ngi s dung co the tao chomnh mot th vien rieng bang cach ghep noi cac khoi laivi nhau tao thanh mot nhom (group) hay viet rieng motchng trnh (rat kho) (goi la S-function) e chay mo phongtrong SIMULINK. ay la cong viec giong nh tao cac linh kienmi, macro trong cac phan mem ve mach ien t.

CHNG IVNG DUNG

I. GII THIEU S LC LY THUYET IEU KHIENT ONG

Ly thuyet ieu khien t ong la phan chu yeu cua lythuyet ieu khien. Ly thuyet ieu khien t ong la kien thc cs cua cac nganh ky thuat t ong trong lnh vc ien t, ienong lc, c kh, hang hai, quoc phong.

I.1 . Cac phan t c ban cua he thong ieu khien tong:

He thong ieu khien t ong la he thong c xay dngt 3 bo phan chu yeu:



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Thiet b ieu khien (C) oi tng ieu khien (O) Thiet b o lung ( M)

Hnh 2.29. S o he thong ieu khien t ong.

Trong o :U : tn hieu vaoy : tn hieu raX : tn hieu ieu khien tac ong len oi tnge : tn hieu sai lechZ : tn hieu phan hoi.

I.2 .Cac nguyen tac ieu khien c ban:Trong ieu khien t ong co 3 nguyen tac ieu khien cban sau:

Nguyen tac ieu khien sai lech Nguyen tac ieu khien theo phng phap bunhieu. Hon hp hai nguyen tac tren.

Ngoai 3 nguyen tac tren con co them cac nguyen tac

Nguyen tac ieu khien theo chng trnh Nguyen tac ieu khien thch nghi.

I.3. Phan loai he thong ieu khien t ong

Viec phan loai he thong ieu khien t ong theo nhieunguyen tac khac nhau. Nhng ta co the phan loai theo cac hethong sau:

He thong ieu khien tuyen tnh He thong ieu khien phi tuyen He thong ieu khien lien tuc


-yU C

M

OZ

e X


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He thong ieu khien ri rac hay he thong xung so He ngau nhien He toi u He thong thch nghi (t chnh)

I.4. Nhiem vu cua ly thuyet ieu khien t ong

Nhiem vu c ban cua ly thuyet ieu khien t ong la phantch he thong va thiet ke he thong.

II.AP DUNG SIMULINK VAO THIET KE VA PHANTCH

Trong viec khao sat nhng ng dung ta th xay s o mophong cho he dao ong lo xo khoi lng sau :

He lo xo khoi lng tren c mo ta bi phng trnh viphan:

m: khoi lng ; k: o cng lo xo T o ta co s o khoi sau :

Hnh 2.30. S o khoi he dao ong

Sau o ta th xay dng s o mo phong trong SIMULINK .


f yy

m

kf

y

f kyym =+


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Hnh 2.31. S o khoi mo phong he khoi lnglo xo.

Hnh 2.32. Dang song ngo ra cua Scope

T s o thiet ke ta co the them vao cac khoi e khao

sat he nh: he so cng (gain), thay oi dang song Trong cac sach bai tap ieu khien t ong co cac khoi

nhng khong biet c ap ng cua he nh the nao. Viec dungSIMULINK e khao sat rat thuan tien cho viec phan tch bai toan

Hnh 2.33. S o khoi cua mot he di tac ongcua ap ng bc



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Hnh 2.34. ap ng cua S o

hnh 2.35 va 2.36 la s o khoi cua ong c ien vaap ng van toc quay

Hnh 2.35 . S o khoi cua ong c ien

Hnnh 2.36 .ap ng van toc quay

Trong ieu khien t ong them vao khau cac P, PI, PID lamcho he thong hoat ong tot va on inh hn.

Cac s o ieu khien va mo phong.



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Hnh 2.37 .He thong ieu khien co khau PI.

Hnh 2.38 .ap ng tai khau bao hoa.

Hnh 2.39 .ap ng ngo ra.

Hnh 2.40 .He thong mo phong cua chuyen ongri qua banh



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Hnh 2.41 .Ket qua mo phong.

Hnh 2.41 .Mo hnh ong c DC di chuyencanh tay Robot

Hnh 2.42: S o mo phong mot khaubac hai



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Hnh 2.43: ap ng cua khau bac hai di ngovao la ham doc va bc

Hnh 2.44 . Mo hnh ong c khong ong bo

Hnh 2.45. Ket qua mo phong.



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Hnh 2.46. S o ieu khien ong c DC

Hnh 2.47. ap ng cua ong c vi khau P

Hnh 2.48. ap ng cua ong c vi khau PI

tim hieu simulink trong matlab va ung dung

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