Chng 4 4.

CHT LNG CA H THNG

Khi nim chung

Cht lng ca h thng KT c nh gi qua 2 ch : ch xc lp v ch ,oqu 4.1.1 Ch xc lp Cht lng iu khin c nh gi qua sai lch tnh( hay cn gi l sai s xc lp) Sai lch tnh (St) l sai lch khng i khi qu trnh qu kt thc St = lime(t) = limp E(p) t 4.1.2 Qu trnh qu Cht lng ca h thng c nh gi qua hai ch tiu chnh: a) qu iu chnh ln nht max: l sai lch cc i trong qu trnh qu so vi gi tr xc lp, tnh theo n v phn trm max =
y max y * 100% y

p0

b) Thi gian qu ln nht Tmax V mt l thuyt, qu trnh qu kt thc khi t.Trong iu kin t ng, ta c th xem qu trnh qu kt thc khi sai lch ca tn hiu c iu khin vi gi tr xc lp ca n khng vt qu 5%( mt s ti liu chn bin l 2% ) Khong thi gian gi l Tmax Thc t iu khin cho thy: khi gim max th Tmax tng v ngc li Thng thng, qui nh cho mt h thng iu khin: max= (20 30)% Tmax=2 n 3 chu k dao ng quanh gi tr xc lp c) Thi gian tng tm: l thi gian t 0 m lc tn hiu iu khin t c 90% gi tr xc lp ln u tin.

4.2

nh gi cht lng ch xc lp

Xt mt h thng kn phn hi-1

St = lime(t) = limp E(p) t

U ( p) 1 + Wh ( p ) U ( p) lim e(t ) = lim p 1 + W ( p)
t
p 0
h

p0

Theo s khi trn, ta c: E(p) =

Vy St =

Trng hp h thng kn bt k, ta chuyn v h thng kn phn hi -1 tng ng v p dng cng thc tnh sai lch tnh Nhn xt: St ph thuc hm truyn t ca h h v tn hiu kch thch 4.3 4.3.1 nh gi cht lng qu trnh qu Phn tch thnh cc biu thc n gin V p ng qu y(t) ca h thng Tn hiu ra Y(p) c phn tch thnh tng cc thnh phn n gin, s dng bng tra Laplace tm hm gc y(t) 4.3.2 Gii phng trnh trng thi Nghim ca phng trnh trng thi:

X =AX+BU
Y=CX+DU C dng sau: X(t) =
e At X (0) +
t o

e
t o

A( t r)

BU () d

Y(t) = C

e At X (0) +

r) e A( t BU () d +DU

Trong :

e At = L1 {( pI A) 1 }
Ghi ch:
A 1 = Aadj det( A)

vi Aadj l ma trn c cc phn t aij = ( 1)

i+ j

det( A ji ) trong Aji l ma

trn c c bng cch b i hang th j, ct th i V d: Cho h thng c biu din di dng phng trnh trng thi:
1 ) (0) X = ( 2 0 1 X + 1 u

y = x1
Tm p ng thi gian ca h thng vi u(t) =1(t) vi trng thi ban u X = [0 0]

Gii Tnh e At Ta c:
1 ) = ( pI A) 1 = ( p +2 0 p +1 1

1 ( p +01 ( p + 1)( p + 2)

1 p +2

) =

1 1 p +2 ( p +1)( p +2 ) 0 1 p +1

e At = L1 {( pI A) 1 } =

e 2 t e t e 2 t 0 e t

Theo cng thc trn, ta c: X(t) =

e 2 ( t ) 0

e ( t ) e 2 ( t ) 0 1( ) d = e ( t ) 1

1 / 2 e t + e 2 t / 2 1 e t

y(t) = x1 = - e-t + e-2t/2 4.4 4.4.1 4.4.2 nh gi thng qua d tr n nh d tr bin L = -L(-) d tr pha = 180o + (c)

4.5 4.5.1

Tnh iu khin c v quan st c ca h thng iu khin c

* nh ngha: Xt mt h thng c m t ton hc di dng phng trnh trng thi:

=AX+BU

Y= CX+DU Vi A R nxn , B R nxu , C R rxn , D R rxm Mt h thng c gi l iu khin c nu t mt vect ban u X 0 bt k, ta lun c th tm c vect tn hiu Ud chuyn h thng t trng thi X0 n trng thi Xd mong mun * iu kin: Xy dng ma trn iu khin P = [B,AB,A2B,.,An-1B] iu kin cn v mt h thng m t ton hc di dng phng trnh trng thi iu khin c l rank(P) = n * Nhn xt: Tnh iu khin c ch ph thuc vo cc ma trn trng thi A, B Lin quan n vic chn cc bin trng thi

* V d: Cho mt h thng c m t ton hc di dng hm truyn t nh sau:

W ( p) = 20 2p + p + 4
2

Gi s t cc bin trng thi l: x1 = y

x 1 = x2
Xc nh tnh iu khin c ca h thng 4.5.2 Tnh quan st c * nh ngha Mt h thng c gi l quan st c nu t cc vect U v Y c, ta c th xc nh c cc bin trng thi X ca h thng * iu kin Xy dng ma trn quan st L = [C,AC,(A)2C,,(A)n-1C] iu kin cn v mt h thng m t ton hc di dng phng trnh trng thi quan st c l rank(L) = n * Nhn xt: Tnh iu khin c ch ph thuc vo cc ma trn trng thi A,C

* V d: Xt trong v d trn, ma trn trng thi C s l: C = [1 0] Ma trn quan st L = [C AC]=

1 0 2 0 1 0 .5

) ( )] = [
1 0

10 01

Do rank (L) = 2 nn h trn quan st c