Be GrAo DUC vA uio r4o TRUdNG DAr Hec nAcn KHoA nA ngr

DB rgr ruvEx shrH cAo Hoc NAM 2013 vrON THr: LY rHUyEr DrEU rcirEN T.rJ Do. NG Thoi gian lAm bii: 180 phirt (Thf sinh khdng du-ry. c sri dUng tdi liQu)

Bii

1: Xdt d6i ttrqng DT c6 dO

thi bi6n

dQ

Logarith .L(a;) thu duqc bang thryc nghiQm nhu &

hinh

Hl.

a)

H6y x6c dinh dO thi pha logarith E&t) ,hAm truydn G(s), him qu.l dO

h(t)

vA <td ttri

b) ilXlffi;3+T#n?#hia,

c)
Bii2:

bang bQ diau khi6n prD vd khau quanrinh bac nhat PTr nhu 6 hinh HZ.Hdy x6c dinh c6c tham,s5 cho PID vd PT1 dC he 6n AimVOi tIO dU tr0 6n dinh l&n nh6t, d6ng thdi c6 t10 qu6 diAu chinh nh6, Vcvi cdc tham s6 bQ diAu khiAn tim dugc o cdu b), h6y xdc dinh dq du trt 6n dinh cria hQ kin.

Cho hQ SISO vcvi u

(o 1 o\ /r\

li

dAu,

li

dAu ra, gldvector tr4ng thdi, m6

t{boi:

[q)

#=[_',
b)

: z),.[?]",
mc.ri

,=q*xs

trongd6

r=[;:J

a)H6yki6mtratinhdiAukhi5ndugc,quans6tduqc(biQnlufntheoo).

"

c)

Cho o = 1 . HEy tim bO di6u khiOn phAn hdi dAu ra theo nguydn ly t6ch Ae n9 kin c6 t6t citcitc <li6m cgc d6u b[ng -2. Tt dbxfuc dinh hdm truyAn cua he kin. (Ri0ng cho hQ th4c s! khoa hqc) Cho a = 0 . Chimg r,ninh rlng lu6n tgn tai b0 diAu t'hi6n dua h tu
di6m trqng tluli

diu

xo =

(a, fr , d - P)?, tron! db a, B ld fiy !,

vA d6n g6c tqa d$ trong khoang

thoi gian htru han.

Phan bO di6m:
1a)

1b)
1.5 1.5

lc)
2
2

2a)
1.5 2

2b)
1.5

2c\
2

ThS. khoa hoc ThS. ky thuAt

1.5

2.5