GII THIU M PHNG H NG HC

Abstract: M phng c th nghim vi cc m hnh. Phn ny m t chng trnh my tnh mi cho m hnh tng tc v m phng ca cc h thng ng hc, chng hn nh hng khng v tr, h thng iu khin v cc h thng sinh hc. Phn ny trnh by ngha ca vic m phng v m phng h thng ng hc bng cc phng trnh ton hc vi tch phn. ng thi gii thiu cc phn mm m phng thng mi c sn nh ACSLTM. Tip theo l hng dn cc ni dung chy m phng nh ly mu bin on DINAMIC, la chn gn bin xc nh. Cui cng l mt v d ng dng nh s dng lnh DYNAMIC trong chng trnh DESIRE.

I. Gii thiu:
Chng ny gii thiu tng quan mi quan h gia m hnh ng hc v m hnh trng thi, tc dng ca cng c m phng trong cuc sng. Ni dung chnh gm m hnh phng trnh vi phn, m hnh tng tc giao thc th nghim, phn mm m phng v cch chy m phng.

II. Ni dung:
1.1 M hnh v m phng my tnh: M phng c th nghim vi cc m hnh. M phng thit k k thut, nghin cu v nghin cu gio dc phi nhanh chng thc hin nhiu m hnh v sau lu tr v truy cp s lng ln kt qu. iu ny thit thc vi cc m hnh lp trnh trn my tnh. M hnh h thng ng hc lin quan n h thng m hnh trng thi cho cc trng thi trc . Trong vt l hc c in, v d d on cc thay i lin tc v s lng nh v tr, vn tc hoc in p theo lin tc thi gian. My tnh m phng cc h thng nh vy bt u trong nghnh cng nghip hng khng v tr v hin nay khng th thiu trong sinh hc, y hc, sinh thi hc nng nghip cng nh trong tt c cc nghnh k thut. ng thi, m phng cc s kin ri rc t c tm quan trng cho kinh doanh v k hoch qun s. M phng l lc tt nht khi kt hp vi phn tch ton hc. Nhng kt qu m phng thng c th cung cp ci nhn su sc v quyt nh hu ch khi phn tch chnh xc l khng thc t. iu ny ng i vi nhiu h thng iu khin ti u u. Mt v d khc, m phng Monte Carlo l o thng k lp i lp li cc th nghim gii quyt cc vn qu phc tp cho phn tch l thuyt xc sut. Kt qu m phng cui cng phi c xc nhn bi cc th nghim thc t, ging nh kt qu phn tch. My tnh m phng c th c y nhanh ln hoc chm li bi s thun tin ca th nghim. C th m phng mt chuyn bay n sao ha hoc Alpha Centauri trong mt giy.nh k ngt ng h ng b ph hp phm vi m phng vi thi gian thc cho php Phn cng trong vng lp:bn c th bay nh mt phi cng li my bay hoc mt ngi phi cng thc trn nn tng iu khin bng mt my tnh m phng chuyn bay.

M phng bao gm: 1. Nhp v chnh sa cc chng trnh trong ca s son tho thun tin 2. S dng lnh g phm v lnh giao tip ha bt u, dng v tm dng m phng la chn hin th v thay i cc thng s. Kt qu s xut hin ngay lp tc cung cp trc quan cho nhng nh hng ca thay i m hnh (M hnh tng tc) 3. Chng trnh c h thng tham s nh hng ca cc nghin cu v a ra th v bng. 4. Chng trnh thay i m hnh ti u cc bin php hiu qu v cc nh hng nghin cu v thay i tham s u vo ngu nhin hoc ngu nhin bng cch ly s liu thng k lp i lp li m phng (m phng Monte Carlo). 1.2 M hnh phng trnh vi phn: M hnh m phng h thng lin tc tr hon tng tc ca bin trng thi vt l x1,x2, vi cc phng trnh vi phn bc nht thng thng (phng trnh trng thi) (d/dt)xi = fi(t;x1,x2,;y1,y2,;a1,a2,) (i = 1,2,) y t m t thi gian v s lng Yj = gj(t ;x1,x2,... ;y1,y2,... ;b1,b2,...) (i = 1,2,...) (1-1b) l cc bin xc nh.a1,a2,...v b1,b2 l hng s tham s m hnh Chng trnh m phng thc hin m hnh nh vy bng cch gii quyt h thng phng trnh trng thi(1-1) a ra lch s thi gian ca bin h thng xi = xi(t) v yj = yj(t) vi t = t0 n t = t0+TMAX,bt u vi gi tr t0 v xi(t0). Trong phn 1-6 , chng 2 s b sung vo cc hot ng ly mu i din cho d liu u vo v u ra nh k, gi mu v iu khin s. Cc bin trng thi xi l kt qu u ra ca h thng.Chng bt u t t = t0 cho gi tr ban u ;cc gi tr tun t tip theo c to ra bng mt chng trnh con tch phn (Phn 1-7) t gi tr fi c to ra bi vic thc hin trc (gi hm) ca php ton. C ba kiu nh ngha bin yj : 1. u vo h thng (qui nh chc nng ca thi gian t) 2. H thng kt qu u ra 3. Kt qu trung gian cn tnh ton o hm fi N la chn gn bin xc nh vo trong th tc o hm lin tc tt c yi t bin trng thi xi hoc thi gian t khng lin quan hi qui hoc vng lp i s (Phn 1-9) Mt s h thng ng hc (v d cc h thng lin quan n kt ni k thut cc thit b c kh t v robot) c m hnh vi cc h thng phng trnh vi phn m khng th c gii quyt r rng vi o hm bin trng thi nh trong Eq(1-1). M phng sau i hi gii php ca phng trnh i s ti mi bc tch phn. Nh vy h thng phng trnh i s vi phn (DAE) khng c cp trong cun sch n.Tham kho [1-4] m t phng php ton hc v phn mm. (1-1a)

1.3 M hnh tng tc- giao thc th nghim v nghin cu m phng : My tnh m phng thc t khng n gin ch l vn lp trnh v gii cc loi phng trnh m hnh.Chng ta cng phi lm cho n thun tin sa i cc m hnh ca chng ti v th nhiu th nghim khc nhau (Xem thm phn 1-5). Ngoi vic phn on chng trnh DYNAMIC danh sch cc phng trnh m hnh (1-1), mi mt nghin cu m phng i hi mt chng trnh th nghim giao thc t,thay i iu kin ban u, tham s m hnh,gi my tnh chy v hin th hoc lp bng gii php cho cc cu hnh m hnh khc nhau. Cc giao thc th nghim n gin ch l tun t cc lnh k tip, pht biu:

Mi lnh drun gi chy mt m phng phng trnh vi phn v lnh reset thit lp li cc iu kin ban u. G lnh c thc thi ngay lp tc nn cho php lp m hnh tng tc.Hot ng kim tra u ra gii php sau mi ln chy m phng v sau cc lnh mi chy tip theo. Hot ng mode lnh cng cho php tng tc chng trnh g li. Mt nghin cu m phng kt hp lnh vo trong on chng trnh lu tr (M lnh giao thc th nghim) c th r nhnh v vng lp gi chy m phng lp i lp li vi s kt hp tham s khc nhau. Nghin cu m phng c th hng ngn m hnh v thay i tham s, do phi c lp trnh d dng v tnh ton phi nhanh chng.

1.4 Phn mm m phng:

Thng mi c sn chng trnh m phng phng trnh theo nh hng nh ACSLTM chp nhn cc phng trnh h thng trong mt hnh thc ca con ngi c th c c nhiu hn hoc t hn,la chn gn bin xc nh khi cn thit v ngun cung cp d liu c sp xp mt phng trnh Fortran ti u .Berkeley Madonna v DESIRE (xem bn di) c xy dng trong phng trnh bin dch ngn ng v thc hin ngay.S khi phin dch(v d chng trnh ngun m SimulinkTM, VissimTM v Scicos) cho php giao din ha s khi v thc hin phin dch ngay m phng chy.Cc chng trnh nh vy thng cung cp phng trnh ngn ng khi cho cc biu thc phc tp. Phin dch m chm;chy sn phm thnh thong bin dch sang C thc hin nhanh hn.Ngoi ra ACSLTM,Easy5TM v Berkeley Madonna c s khi b x l trc m phng cho cc chng trnh bin son. M hnh nng cao hn c th vi ngn ng Modelica. 1.5 M DISIRE v DESIRE: Cc chng trnh m phng m t trong cun sch ny v c bit k thut mi nhn rng m hnh (Vectorization), m phng Monte Carlo v m hnh ph(chng 3-7) s

dng gi phn mm m phng m OPEN DESIRE cho Linux, Unix gm c Cygwin (Unix trong Windows) v Microsoft WindowsTM hoc chng trnh kh dng DESIRE/2000 cho cc h thng m phng Windows. H thng m phng DESIRE cho php gim gi thnh my tnh c nhn v my tnh trm gii quyt hng ngn phng trnh vi phn trong mt giy. DESIRE s dng chnh xc gp i (64 bit) im ni s hc, chp nhn lnh v m hnh m t trong mt k hiu ton hc c th c c nh y = a*cos(x) + b d/dt x = -x+4*y Cc lnh c th bao gm cc cuc gi h iu hnh, cu trc lnh v cc cuc gi n chng trnh my tnh khc. Ngn ng kch bn lnh DESIRE ca chnh n l mt mc ch chung ngn ng v ton hc x l vc t,ma trn v thm ch l cc s phc (v d cho p ng tn s v th). Chng trnh c nhp vo v chnh sa trong ca s son tho (Xem hnh 1-1). Mi chng trnh bt u vi mt lnh giao thc th nghim c trnh by nh mt ngn ng c bn tin tin .Khi lnh giao thc th nghim bt gp mt lnh drun, mt chng trnh bin dch t ng bin dch mt on chng trnh DYNAMIC danh sch phng trnh m hnh. M phng chy sau a ra hin th gii php. Rt nhanh chng bin dch (tiu biu di 50 ms) m hnh tng tc. Th nghim ngay lp tc c th quan st kt qu c lp trnh hoc m hnh chnh sa mn hnh v cc thay i giao thc th nghim. C th nhp v chnh sa cc m hnh khc nhau trong nhiu ca s son tho v chy cc m hnh ny ln lt so snh kt qu (xem hnh 1-1). Chng trnh hin th m t gii php lch s thi gian v thng tin li sau mi ln chy m phng, c th tit kim thi gian bng cch hy b nhng phn chy khng mong mun trc khi chng kt thc. Bt u lnh giao thc th nghim tng chng trnh DESIRE xc nh mt th nghim.Tip theo on chng trnh DYNAMIC xc nh m hnh c s dng trong th nghim v xc nh yu cu chng trnh chy vo/ra. Mt giao thc th nghim c th gi nhiu on DYNAMIC vi nhiu m hnh khc nhau, cc phin bn khc nhau ca cng mt m hnh v cc hot ng u vo hoc u ra khc nhau.

Cch chy m phng

1.6 Ly mu bin on DYNAMIC : Khi drun gi chng trnh chy m phng, on chng trnh DYNAMIC gi chng trnh hot ng vo/ra ban u.Bin c lp t (m phng thi gian) v bin phng trnh vi phn trng thi bt u c gn gi tr u tin bng giao thc th nghim. Thng qua on m DYNAMIC[Eq.(1-1)] th nht a ra gi tr bin xc nh u tin

Hnh 1-1a OPEN DESIRE chy trong Linux. Mn hnh gim st th nht m t mt
ca s qun l file cho chng trnh ngi s dng gi,ca s lnh DESIRE, mt ca s th v mt ca s son tho. Mn hnh th hai c mt file qun l v ba ca s son tho; c th kch bt k file qun l hoc ca s son tho chy v so snh cc chng trnh khc. Trn mn hnh th ba, hai m phng chy c lp ring bit trong ca s lnh. Gii php th c t en trng, nhng thng mi hin th ng cong c mu khc nhau.

Hnh 1-1b DESIRE trn mn hnh windows m t ca s qun l file,hai ca s son

tho v mt ca s lnh. Phm OK mu trn ca s son tho DESIRE chuyn i

chng trnh son tho n DESIRE. iu ny lm thun li vic so snh hai hoc nhiu chng trnh.

Hnh 1-1c Cygwin (Unix trong Windows) hin th mt ca s giao din iu khin
Unix,ca s th RESIRE v mt ca s son tho s dng ngun m Crimson Editor. Mn hnh nguyn thy l mn hnh mu. [Eq.1-1)].Tr khi dng chy m phng t thi gian ban u t = t0 n t = t0+TMAX. C th dng chy m phng bng cch g ctrl c v space (zz i vi Windows) v bt u chy li vi drun. Thng DESIRE ly mu bin on DYNAMIC cho u ra (Thng hin th) hoc hot ng ly mu d liu ti khong cch thi gian ly mu ging nhau NN (thng tin thi gian): t = t0,t0+COMINT,t0+2 COMINT,, t0+(NN-1)COMINT = t0+TMAX vi COMINT=TMAX/(NN-1) (1-2a) (1-2b)

Lnh giao thc th nghim t gi tr thch hp t0, TMAX v NN hoc s dng gi tr mc nh c lit k trong hng dn s dng DESIRE. Nu on chng trnh DYNAMIC cha phng trnh vi phn (lnh d/dt hoc Vector d/dt), sau t0 mc nh t0 = 0 tr khi gi tr khc c qui nh.Bt u ti t = t0,chng trnh con tnh tch phn tng t k tip hoc thay i bc DT cho n khi t c im thng tin mu d liu k tip (xem hnh 1.2a).Tng bc tnh tch phn, s xp x tch phn lin tc cp nht bin m hnh t,xi v yj. Tng bc tch phn thng i hi nhiu hn mt cuc gi o hm thc hin phng trnh m hnh(1-1)(phn 1-7 ;[10-18].

Hnh 1.2a Lch s thi gian ca mt bin m phng,m t thi gian mu t = 0, t0+COMINT, t0+2COMINT, ..., t0+TMAX v vi bc tnh tch phn.Trong hnh, tt c cc bc tch phn cui cng trn mt im ly mu. iu ny lun ng i vi qui tt tch phn bc thay i nhng t bc tch phn c nh DT c th vt qu cc im ly mu bng mt t s nh DT, m t trong hnh 1.2b.
Tch phn bc thay i

Hnh 1.2b Danh sch ra DESIRE i vi tch phn bc thay i v tch phn bc
c nh.Cc tham s chn la lm tng nh hng DT c nh. Trong on chng trnh DYNAMIC khng c phng trnh vi phn, mc nh t0 = 1 tr khi lnh giao thc th nghim xc nh mt gi tr khc.Tt c cc hot ng trong an DYNAMIC nh vy c gn d liu ly mu v thc hin thng tin thi gian lin tip [Eq.1-2], ngoi tr gn trc bi lnh SAMPLE m, trong m l mt s nguyn >1. Gn nh vy ch thc hin ti t = t0 v sau ti mi im thng tin th m.iu ny cho php

ly mu nhiu tc .DESIRE ch chp nhn mt lnh SAMPLE m trn on chng trnh DYNAMIC. on phng trnh vi phn DNAMIC cng c th gm c gn d liu ly mu m n ch thc hin ti im ly mu nh k (1-2). V vy b iu khin m hnh gn d liu ly mu v b pht tp m phi c chn la trong cc phn theo lnh OUT hoc SAMPLE m ti phn cui ca on chng trnh DYNAMIC (xem phn 2-3). on vo /ra DYNAMIC (v d hin th v lit k) xut hin ti im thng tin NN(12) tr khi bin h thng MM mc nh l 1.Trong trng hp ny,u vo/ra xut hin ti t = 0,sau ti mi im ly mu th MM v cui cng ti t = t0+TMAX.NN v vy c th t gi tr ln hn s im u vo /ra i hi. iu ny c th cung cp ly mu nhanh vi tp m gi ngu nhin (Xem phn 5-4) hoc vi chuyn mch ly mu v gii hn chc nng (xem on 2-10 v 2-11). Vi bin gn xc nh (1-1b) khng nh hng bin trng thi nhng t l hoc u ra m hnh thay i .Cc hot ng nh vy khng nhng cn n mi cuc gi o hm m cn cn n ti cc im ly mu. M phng ch chy nhanh hn nu gn nh vy c lp trnh bng hot ng ly mu d liu theo lnh OUT. 1.7 S tch phn: (a) Tch phn Euler Th tc n gi nht l cp nht xp x lin tc bin trng thi x trong cc bc tch phn lin tip l qui tc tch phn Euler (Xem thm ph lc) xi(t+DT) = xi(t)+fi[t;x1(t),x2(t),,y1(t),y2(t),]DT (i = 1,2,...,n) (1-3) Trong fi l gi tr ca dx/dt c tnh bng o hm tt c cc phng trnh thc hin (11) ti thi gian t. Chng trnh con tch phn lp vng cho n khi t t n im thng tin tip theo (12), y gii php c ly mu cho u vo/u ra v cc hot ng ly mu d liu.Chy m phng kt thc sau khi truy cp mu cui cng ti t = t0+TMAX tr khi ngi s dng dng chng trnh hoc g lnh term kt thc chng trnh. (b) Qui tc tch phn nng cao Qui tc tch phn Euler[Eq.(1-3)] gia tng tng bin trng thi mt cch n gin bng tng t l o hm cho n o hm tnh ton cui cng ca n.iu ny khng xp x ng tch phn ngoi tr rt nh cc bc tch phn DT. Cp nht nng cao i hi nhiu cuc gi o hm trn bc tch phn DT[10-18]. iu ny thc t c th gim bt tng s cuc gi o hm (Ti chnh tnh ton m phng) c i hi cho mt chnh xc qui nh.C th : - Ngoi suy nhiu qui tc cp nht gi tr ca xi bng a thc da vo cc gi tr xi v fi ti vi gi tr thi im qu kh t-DT, t-2DT, ... - Qui tc Runge Kutta tnh trc hai hoc nhiu hn gi tr xp x o hm trong khong (t,t+DT) bng cc bc kiu Euler v s dng trng lng trung bnh ca chng cp nht.

H s trong cng thc tch phn c la chn a thc tch phn N chnh xc (Cng thc tch phn th N). Qui tc tch phn nh E.q(1-3) biu din gi tr tng lai xi(t+DT) trong giai on gi tr bin trng thi qu kh tnh ton. Qui tc ngm, chn hn nh qui tc Euler, xi(t+DT) = xi(t)+fi[t+DT ;x1(t+DT),x2(t+DT),... ; y1(t+DT),y2(t+DT),...] DT (i = 1,2,...,n) (1-4) i hi mt chng trnh gii quyt phng trnh d on (1-4) i vi xi(t+DT) ti tng bc. Qui tc ngm bao hm nhiu tnh ton nhng chng c th chp nhn cc gi tr DT ln hn m khng thay i cc s. Tch phn bc thay i iu chnh ln bc tch phn duy tr c lng chnh xc nhn c bng cch so snh khc nhau tm thi c cp nht cc i lng gii php. iu ny c th tit kim nhiu bc. Hnh 1.5,7.7 v 7.8 m t cc v d.S tch phn thng thng gi thit hm b tch fi lin tc v o hm trong mi bc tch phn.Cc u vo bc chc nng ch chp nhn ti t = t0 v sau ti bc tch phn cui cng. Phn 210 n 2-12 tho lun vn ny trong kt ni vi m hnh bao hm hot ng ly mu d liu v chc nng chuyn mch. 1.8 Thi gian ly mu v cc bc tch phn : Lnh giao thc th nghim chn la chng trnh chy m phng TMAX v s mu NN cn hin th, lit k hoc m hnh ha d liu ly mu. DESIRE tr v mt tin nhn li nu chn mt gi tr tch phn DT ln hn COMINT = TMAX/(NN-1), i vi chng trnh khng bao gi ly mu d liu trong cc bc tch phn. D liu ly mu a ra hin th hoc gn d liu ly mu khng c xc nh ng. u vo d liu ly mu trong cc bc tch phn phi lm chng trnh con tch phn khng c gi tr (Xem thm phn 2-9 211) Chng trnh con tch phn bc thay i DESIRE t ng bt buc bc tch phn cui trong tng khong thng tin n im cui cng mt cch chnh xc trn mt trong nhng im thng tin ngi s dng la chn(1-2). Mt tin nhn cnh bo li nu gi tr ban u DT vt qu COMINT.Chng trnh con tch phn bc khng i c th phi b sung t l DT vo tng thi gian ly mu(1-2) m bo chc chn rng ly mu lun xy ra ti bc tch phn cui cng nh th hin trong Eq.(1-2b). iu ny khng gy ra li mn hnh hoc danh sch lit k,tng gi t x(t) vn tip tc vi gi tr t ng n ca n.Nhng nu cn n, danh sch u ra vo thi gian ly mu nh k ,mt trong hai phi dng tch phn bc thay i hoc t DT mt t l rt nh COMINT. 1.9 La chn gn bin xc nh : Php ton on DYNAMIC(1-1) trc mt lnh OUT hoc SAMPLE m(nu c) thc hin ti mi cuc gi o hm ca chng trnh con tch phn. Mt o hm hoc gn bin xc nh s dng gi tr t v gi tr bin trng thi xi c tnh ton bng cuc gi o hm cui cng. o hm v gi tr bin xc nh cho t = 0 nhn c t gi tr bin trng thi ban u v t0 bng cuc gi o hm c bit ban u. Gn gi tr bin xc nh(1-1b) phi thc hin chnh xc th t th tc nhn c t mi gi tr yj t gi tr bin trng thi v t c th s dng gi tr yi tnh ton. Mt gn th

t ra s khng chnh xc th s dng gi tr bin xc nh t mt cuc gi o hm sm. Phng trnh trng thi(1-1a) thng c lp trnh theo gn gi tr bin xc nh(1-1b). Chng trnh m phng nh ACSL t ng la chn gn gi tr bin v vy chng ch s dng gi tr yi tnh ton trong sut cuc gi o hm hin ti.Nu gi tr khng th gim xung vng lp i s,chng trnh tr v mt tin nhn li(loi li).H thng chng trnh DESIRE ni chung khng la chn lnh t ng.Nhng trong chng trnh khng dng bin k hiu hoc vc t(chng 3),DESIRE ngn gn bin khng xc nh v thm vng lp i s bng quay tr v mt tin nhn li(xem thm phn 3-5). V d ng dng n gin 1.10 Dao ng v hin th my tnh: (a)Dao ng iu ha tuyn tnh : Chng trnh nh hon thnh trong hnh 1.3 minh ha cc chc nng chnh ca mt m phng DESIRE.on chng trnh DESIRE theo lnh DYNAMIC trong hnh 1.3a xc nh m hnh. Ta c mt dao ng iu ha n hoc h thng mass-spring-dashpot vi phng trnh vi phn. d/dt x = xdot | d/dt xdot = -ww*x-r*xdot

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Hnh 1-3a Chng trnh m phng hon thnh cho mt dao ng tuyn tnh a ra 5
m phng chy vi cc h s r khc nhau

Hnh 1.3b th(xdot i s x) i vi dao ng tuyn tnh trong hnh 1.3a

Ta c th b sung mt chi tit hin th : Dispt x,xdot hin th bin x and xdot i s thi gian m phng t. Dispxy x,xdot hin th i s xdot ( th pha). M hnh v hin th c thc hin bi lnh th nghim giao thc trc lnh DYNAMIC. Dng giao thc th nghim ni tip nhau xc nh -Hin th mu v dy ng cong -Chng trnh TMAX, bc tch phn DT v s NN im hin th -Tham s m hnh ww -Gi tr bin trng thi ban u x Gi tr thi gian t ban u v bin trng thi xdot khng xc nh v mc nh l 0. Chng trnh con tch phn mc nh n qui tc bc khng i Runge-Kutta. Vng lp giao thc th nghim n gin tip theo gi 5 m phng chy vi 5 gi tr tham s dao ng r khc nhau .Kt qu hin th nh hnh 1.3a. Hnh 1.3b m t th pha.

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(b) Phng trnh vi phn Duffing v dao ng phi tuyn: Phng trnh vi phn d/dt x = dot | d/dt xdot = -x*x*x-a*xdot M hnh ha mt dao ng l xo khng tuyn tnh.Hnh 1.4a m t kt qu lch s thi gian v th pha nhn c vi a = 0.02. Kt qu ny khc vi p ng dao ng tuyn tnh trong hnh 1.3. Nu iu khin dao ng khng tuyn tnh vi mt in p b cos(t), ta nhn c h thng phng trnh vi phn Duffing: d/dt x = xdot | d/dt xdot = -x*x*x-a*xdot+b*cos(t)

Hnh 1.4a th lch s thi gian v pha ca dao ng phi tuyn c m hnh ha
vi: d/dt x = xdot | d/dt xdot = -x*x*x-a*xdot+b*cos(t)

III. Ti liu tham kho:

1.U.M.Asher and L.Petzold,Computer Methods for Ordinary Differential Equations and Differential-Algebraic Equations, SIAM Press, New York, 1998. 2..Elmquist, Dymola Users Manual , DynaSim A.B,Lund, Sweden, 2004. 3.L.Petzold, A Description of DASSL, a Differential-Algebraic-Equation Solver, in Scientific Computing (R. S. Stepleman, ed.), North Holland, Amsterdam, 1989. 4.J.Stoer, et al. Introduction to Numerical Analysis, Springer, New York, 2002 5.G.A.Korn and J.V.Wait,Digital Englewood Cliffs, NJ, 1978. Continuous-System Simulation, Prentice- Hall, Kluwer Academic

6.M.M.Tiller, Introduction to Physical Modeling with Modelica, Publishers (now Springer), New York, 2004.

7.P.Fritzon, Principles of Object-Oriented Modeling and Simulation with Modelica 2.1, Wiley, New York, 2004. 8.DYMOLA Manual, Dynasim A.B., Lund, Sweden, 2005. 9.G.A.Korn, Interactive Dynamic System Simulation with Microsoft Windows,Taylor and Francis,London,1998.

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MC LC

Contents I. Gii thiu:...................................................................................................................1 II. Ni dung:..................................................................................................................1 1.1 M hnh v m phng my tnh:.........................................................................1 1.2 M hnh phng trnh vi phn:............................................................................2 1.3 M hnh tng tc- giao thc th nghim v nghin cu m phng : ...............3 1.4 Phn mm m phng:..........................................................................................3 1.5 M DISIRE v DESIRE:.....................................................................................3 1.6 Ly mu bin on DYNAMIC :........................................................................4 1.7 S tch phn: .......................................................................................................8 1.8 Thi gian ly mu v cc bc tch phn :..........................................................9 1.9 La chn gn bin xc nh :...............................................................................9 1.10 Dao ng v hin th my tnh:.......................................................................10 III. Ti liu tham kho:................................................................................................12 Contents.......................................................................................................................13

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