E THI KIEM TRA CUOI KY

Mon: C s ieu khien t ong

Ngay thi: 07.01.2005
Thi gian lam bai: 90 phut
(Sinh vien c phep xem tai lieu)

ai hoc Bach Khoa TP.HCM

Khoa ien ien T
Bo mon KT
---o0o---

Bai 1: (2 iem) Cho he thong ieu khien hoi tiep am n v co ham truyen h la G (s ) . Biet rang
ap ng cua he thong oi vi tn hieu vao la ham nac n v co dang nh hnh 1.
1. Da vao o th, hay xac nh o vot lo, thi gian qua o (tieu chuan 5%) va sai so xac lap
cua he thong. (0.5 iem)
K
2. Xac nh ham truyen h G (s ) , biet rang G (s ) co dang : G ( s ) = 2
. (1.5 iem)
s + as + b
p ng nc

Bin

0.84
0.8
0.76
0.6

0.4

Hnh 1

0.2

0
0

0.5

1.5

2.5

Thi gian (giy)

Bai 2: (2.0 iem) Cho he thong ieu khien hoi tiep trang thai co s o khoi nh hnh 2. Biet rang
cac ma tran trang thai cua oi tng ieu khien la:
1
4 3
=
A=
B
D = [0 1]
0
0

1
1. Hay xac nh o li hoi tiep trang thai K sao cho he kn co cc kep tai 4. (1.5 iem)
2. Tnh o vot lo cua he thong kn vi gia tr K va tm c. (0.5 iem)
r(t)

u(t)

x
(t ) = Ax(t ) + Bu (t )

x(t)

c(t)

K
Hnh 2
Xem tiep trang 2

Bai 3: (3.0 iem) Cho he thong ieu khien co s o

khoi hnh 3, ac tnh tan so cua oi tng G ( s )

R(s)

GC(s)

G(s)

C(s)

(ng lien net) va bo ieu khien GC ( s ) (ng t

net) cho trang 3 cua e thi.
1. Xac nh ham truyen G ( s ) va GC ( s ) (1.0 iem)

Hnh 3

2. Ve bieu o Bode cua he thong h sau khi hieu chnh. Xac nh tan so cat bien, tan so cat pha,
o d tr bien va o d tr pha cua he thong sau khi hieu chnh. (1.0 iem)
3. Khau hieu chnh GC ( s ) ang s dung tai co khuyet iem la lam giam bang thong cua he
Ts + 1
thong, do o lam cham ap ng qua o. Hay thiet ke khau hieu chnh sm pha GC ( s ) =
Ts + 1
( > 1) e at c yeu cau o d tr pha va o d tr bien nh a tnh cau 2, ong thi m
rong bang thong e tang toc o ap ng cua he thong. (1.0 iem)
Bai 4: (3.0 iem) Cho he thong ieu khien ri rac co s o khoi nh hnh 4:

R(s)

e(k)

GC(z)

u(k) 1 e Ts
s

G(s)

C(s)
Hnh 4

K
1
, GC ( z ) = K P + D (1 z 1 ) , K P = 1 , K D = 5 , T = 0.1sec .
2
T
s
1. Viet phng trnh sai phan e thc thi bo ieu khien GC (z ) tren may tnh (0.5 iem).

Biet rang G ( s ) =

2. Xac nh ham truyen cua he thong kn (0.5 iem).

3. anh gia tnh on nh cua he kn dung tieu chuan Routh-Hurwitz m rong hoac tieu chuan
Jury (1.0 iem)
4. Tnh ap ng c(k) (k=1,..,7), o vot lo, sai so xac lap khi tn hieu vao la ham nac n v
(1.0 iem).

Chu y: Sinh vien nop lai bieu o Bode kem theo bai lam
Het

H va ten SV:

Ma so SV:
2

Biu Bode dng trong cu 3.1 v 3.2

60
-20dB/dec

Bin (dB)

40
20
0
-20

-20dB/dec

-40

-40dB/dec

-60
-80
i tng
B iu khin

-100
-120
90

Pha ()

45
0
-45
-90
-135
-180
10

-3

10

-2

10

-1

10

10

10

10

10

Tn s (rad/sec)

Biu Bode dng trong cu 3.3

60
-20dB/dec

Bin (dB)

40
20
0
-20

-40dB/dec

-40
-60
-80
-100
-120
90

Pha ()

45
0
-45
-90
-135
-180
10

-3

10

-2

10

-1

10

10

Tn s (rad/sec)

10

10

10

ap an
Bai 1:
1. o vot lo: POT =

c max c xl
1 0.8
.100% =
.100% = 25%
c xl
0.8

Thi gian qua o la t qd = 1.5 giay.

Sai so xac lap la e xl = 1 0.8 = 0.2 .
2. Ham truyen kn cua he thong:
Gk ( s) =

G (s)
K
= 2
1 + G ( s ) s + as + b + K

(1)

Mau so cua he kn co dang: s 2 + 2 n s + n2 , trong o:

POT = exp
1 2

3
t qd =
= 1 .5

= 0.25 = 0.4

n = 5

Do o mau so ham truyen kn la: s 2 + 4s + 25

(1) & (2) suy ra:

(2)

a=4
b + K = 25

He so v tr: K P = lim G ( s ) =
s 0

Sai so xac lap: e xl =

K
b

b
1
=
= 0 .2
1+ KP b + K

b = 0.2(b + K ) = 0.2 25 = 5
K = 25 b = 20
G (s) =

Vay:

Bai 2:
1. Phng trnh ac trng cua he kn:

20
s + 4s + 5
2

det( sI A + BK ) = 0

1 0 4 3 1
[k1
+
det s

0 0
0 1 1
s ( s + 4 + k1 ) + (3 + k 2 ) = 0

k 2 ] = 0

s + 4 + k1 3 + k 2
=0
det
s
1
s 2 + (4 + k1 ) s + (3 + k 2 ) = 0

(1)

s 2 + 8s + 16 = 0

(2)

Phng trnh ac trng mong muon:

( s + 4) 2 = 0

4 + k1 = 8
k =4
1
3 + k 2 = 16
k 2 = 13

(1) & (2)

2. He kn khong co vot lo v cap cc cua he kn la cap cc thc. POT = 0%.

Bai 3:
Biu Bode dng trong cu 3.1 v 3.2
60

Bin (dB)

40

-20dB/dec

20
0
-20dB/dec

-20
-40

-40dB/dec

-60
-80
i tng
B iu khin

-100

Pha ()

-120
90
45
0
-45
-90
-135
-180
10

-3

10

-2

10

-1

10

10

10

10

10

Tn s (rad/sec)

1. Theo bieu o Bode, ham truyen G (s) co dang:

G (s) =

Do:

K
(T1 s + 1)(T2 s + 1)

20 lg K = 40
1
=1

T1
1
= 10

T2

(Ts + 1)

G (s) =

GC ( s ) =

K = 100

T1 = 1
T1 = 0.1

Tng t : ham truyen GC (s) co dang:

(Ts + 1)
GC ( s ) = K C

100
( s + 1)(0.1s + 1)

( < 1)

(2 s + 1)
(20 s + 1)

20 lg K C = 0
KC = 1
1
= 0 .5

T = 2
T
1
= 0.05

T = 20
T
2. ac tnh tan so GC ( s)G ( s) : xem hnh ve.

Do

Theo hnh ve ta co: tan so cat bien la C = 7rad / sec , tan so cat pha la = , o d
tr bien la GM = , o d tr pha la M = 60 0 (gia tr khac xap x 60 0 cung chap nhan,
mien xac nh ung M tren o th)
5

3. Thiet ke lai khau hieu chnh GC ( s) =

Ts + 1
Ts + 1

(>1)

Biu Bode dng trong cu 3.3

60
40

-20dB/dec

Bin (dB)

20
0
-20
-40

-40dB/dec

-60
-80
-100
-120
90

Pha ()

45
0
-45
-90
-135
-180
10

-3

10

-2

10

-1

10

10

Tn s (rad/sec)

- Tan so cat bien trc khi hieu chnh: C = 30rad / sec .

- o d tr pha trc khi hieu chnh: M = 20 0 (theo o th)
- o d tr pha mong muon M * = 60 0
- Goc pha can bu: max = M * M + = 60 20 + [5 20 0 ] .
max = 45
1 + sin max
= 5.8
=
1 sin max
- Tan so cat mi xac nh t ieu kien:
L( C ) = 10 lg = 10 lg 5.8 = 7.6dB.
T o th ta c C 50rad / sec
- Xac nh T: C =

1
T

T=

T = 5.8 0.008 = 0.046

0.046 s + 1
Vay: GC ( s ) =
0.008s + 1

50 5.8

= 0.008

10

10

10

Bai 4:
K
U ( z)
= K P + D (1 z 1 )
T
E( z)
K
K

U ( z ) = K P + D (1 z 1 ) E ( z ) = K P + D
T
T

1. Ta co:

GC ( z ) =

K 1

E ( z) D z E ( z)
T

K
K

u (k ) = K P + D e(k ) D e(k 1)
T
T

u (k ) = 51e(k ) 50e(k 1)

Gk ( z ) =

2. Ham truyen kn:

GC ( z )G ( z )
1 + GC ( z )G ( z )

trong o:
2
2
1 e Ts

1 z 1 T z ( z + 1) T ( z + 1) 0.005( z + 1)
=
=
.
G( z) = Z
G ( s ) = (1 z 1 ).Z 3 =
z
2( z 1) 3
2( z 1) 2
( z 1) 2
s
s

K
51z 50
GC ( z ) = K P + D (1 z 1 ) = 51 50 z 1 =
T
z

Do o:
51z 50 0.005( z + 1)

z
0.005(51z 50)( z + 1)
( z 1) 2
=
Gk ( z ) =
51z 50 0.005( z + 1) z ( z 1) 2 + 0.005(51z 50)( z + 1)

1+
z
( z 1) 2

Gk ( z ) =

0.255 z 2 + 0.005 z 0.25

z 3 1.745 z 2 + 1.005 z 0.25

3. Cach 1: Dung tieu chuan Jury

Bang Jury
Hang
1
Hang
2
Hang
3
Hang
4
Hang
5
Hang
6
Hang
7

-1.745

1.005

-0.25

-0.25

1.005

-1.745

0.25
1 1
= 1.0625
1
1 0.25

1.005
1 1
= 1.494
1 0.25 1.745

1.745
1 1
= 0.569
1 0.25 1.005

0.569

-1.494

1.0625

1 1.0625 0.569
= 0.758
1.0625 0.569 1.0625

1 1.0625 1.494
= 0.694
1.0625 0.569 1.494

-0.694

0.758

0.758 0.694
1
= 0.123
0.758 0.694 0.758

Do cac phan t hang le, cot 1 bang Jury eu dng nen he thong on nh

Cach 2: Dung tieu chuan Routh-Hurwitz m rong

Phng trnh ac trng theo bien z:
z 3 1.745 z 2 + 1.005 z 0.25 = 0

oi bien z =

(1)

w +1
, ta c:
w 1

w + 1
w + 1
w + 1
0.25 = 0
+ 1.005
1.745

w 1
w 1
w 1
(w + 1)3 1.745(w + 1)2 (w 1) + 1.005(w + 1)(w 1) 2 0.25(w 1) 3 = 0

0.01w 3 + w 2 + 2.99w + 4 = 0
(2)
Tieu chuan Routh:
Bang Routh:
0.01
2.99
s3
1
4
s2
1
0
2.99-0.014=2.95
s
0
4
s
Do tat ca cac phan t cot 1 bang Routh eu dng nen he thong on nh
hoac
Tieu chuan Hurwitz:
Do cac he so cua (2) eu dng, ong thi a1 a 2 a0 a3 = 1 2.99 0.01 4 = 2.95 > 0
nen theo tieu chuan Hurwitz ta ket luan he thong on nh.
Cach 3: Dung may tnh so giai trc tiep nghiem cua phng trnh (1): z1 = 0.9796 ,
z 2,3 = 0.3827 j 0.3298 . Do ca 3 nghiem eu nam trong vong tron n v nen he thong on
nh. (Do e bai yeu cau phai xet on nh dung tieu chuan Jury hoac Routh-Hurwitz m
rong nen sinh vien giai theo cach nay ch c 0.5 iem neu ket luan ung)
4. Tnh ap ng cua he thong
0.255 z 2 + 0.005 z 0.25
R( z )
z 3 1.745 z 2 + 1.005 z 0.25
0.255 z 1 + 0.005 z 2 0.25 z 3
C( z) =
R( z )
1 1.745 z 1 + 1.005 z 2 0.25 3
(1 1.745 z 1 + 1.005 z 2 0.25 3 )C ( z ) = (0.255 z 1 + 0.005 z 2 0.25 z 3 ) R ( z )
C ( z ) = R ( z )Gk ( z ) =

c(k ) = 1.745c(k 1) 1.005c(k 2) + 0.25c(k 3) + 0.255r (k 1) + 0.005r (k 2) 0.25r (k 3)

Thay ieu kien au bang 0, r (k ) = 1, k 0 (ham nac n v) ta c:

c(k)= {0; 0.2550; 0.7050; 0.9839; 1.0822; 1.0858; 1.0631;}
0.255 z 1 + 0.005 z 2 0.25 z 3
1
=1

3
z 1
z 1
1 1.745 z + 1.005 z 0.25 1 z 1
c c
1.085 1
100% = 8.5%
o vot lo: POT = max xl 100% =
c xl
1
c xl = lim(1 z 1 )C ( z ) = lim(1 z 1 )

Sai so xac lap: e xl = rxl c xl = 1 1 = 0