NGHA CA iU KHIN S

iu khin ch yu l dng thit b s (my

tnh, vi x l, PLC)
NGHA CA IU KHIN S

Cc h thng iu khin phn b, ni mng
M HNH H KHNG LIN TUC
(H thi gian ri rc-discrete time system)
Tn hiu ri rc
Khi h thng iu khin c s tham gia ca my tnh th tn hiu c my
tnh x l l tn hiu s, kt qu ca chuyn i tn hiu lin tc u(t) thnh tn
hiu ri rc u
*
(t) bi chuyn i ADC thng qua kha ly mu chu k T
s
v
lng t ha.
Tn hiu ri rc ny chuyn i bi mch ci v DAC, gi chung l mch gi
bc 0 (zero order hold), tr thnh tn hiu lin tc u
h
(t)
CHU K LY MU
Chn chu k ly mu T
s
<t/e
m
, e
m
l kh sng ti a ca
tn hiu c ly mu
Thc t chn T
s
nh hn gi tr t/e
m
chng 10

ln do tn
hiu thc s thng c kh sng khng gii hn
Tn hiu cn thit thng c xen ln nhiu tn s cao do
cn phi c b lc lm suy gim thnh phn tn s cao ny,
nu khng s gy ra aliasing (frequency folding)
BIN I Z
u
*
(t) = u(t
k
) cc thi im t
k
=kT
s
, ngoi ra u
*
(t) =0
) kT (t u(kTs) ) kT (t u(t) (t) u
s
0 k 0 k
s
*

=

=

=
o l hm xung Dirac
Ly bin i Laplace hai v

}
= =

0
0
0
0
0
*
) (
) ( ) ( ) ( ) ( ) (
k
skT
s
k
st
s s
k
st
s s
s
e kT u
e kT t kT u e kT t kT u s U o o
t
z e u kT u
s
sT
k s
= =

, ) (
) ( ) ( , ) ( ,
*
z U s U u kT u e z
k s
sT
s
= = =

=

=

0
) (
k
k
k
z u z U
BIN Z
Bin i Z ca x
k-m
(tr m chu k) l z
-m
X(z)
Bin i Z ca x
k+m
l
(

m
i
i
i
m
z x z X z
0
) (
Bin i Z ca a
k
x
k
l X(z/a)
Gii hn u: x(0) = lim X(z) z ->
Gii hn cui: x() = lim(z-1)X(z), z 1
Bin i ca l X(z).z/(z-1)

=
k
i
i
x
0
Bin i

kx
k
l

-z dX(z)/dz
Bin i z

V d: bin i z ca tn hiu nc ly mu
n
k
k
z z z z z X

=

+ + + + =

= .. 1 ) (
2 1
0
Nhn z vi hai v ri tr vi biu thc c
1
) (
) ( ) 1 (

=
=
z
z
z X
z z X z
V d: bin i Z ca a
k
x
k


l
) ( ) (
0 0
a
z
X
a
z
x z x a
k
k
k
k
k
k
k
= =

V d: bin i Z ca e
-kT
l bin i ca 1.(e
-T
)
k

T
T
T
e z
z
e
z
e
z
z X

=
1
) (
V d: dng Matlab
>> syms t z ; ztrans (t)
ans =
z/(z-1)^2
BNG BIN I Z
Laplace Z Hm thi gian
1 1 Xung Dirac
Hm nc

t

e
-at


te
-at

s
1
1 z
z
2
1
s
2
) 1 ( z
Tz
a s +
1
aT
e z
z

2
) (
1
a s + 2
) (
aT
aT
e z
z Te

BNG BIN I Z
Laplace Z Hm thi gian
2 2
) ( b a s
b
+ +
aT aT
aT
e z bT e z
z bT e
2 2
) cos 2 (
) sin (

+
bt e
at
sin

2 2
) ( b a s
a s
+ +
+
aT aT
aT
e z bT e z
z bT e z
2 2
2
) cos 2 (
) cos (

+

bt e
at
cos

) ( a s s
a
+
) )( 1 (
) 1 (
aT
aT
e z z
z e

at
e

1
) )( ( a s b s
a b
+ +

bt at
e e

bT aT
e z
z
e z
z

Hm truyn z h ri rc

H ri rc biu th bng phng trnh sai phn
c(k+n)+a
n-1
c(k+n-1)++a
1
c(k+1)+a
0
c(k)=
b
m
r(k+m)+b
m-1
r(k+m-1)+..+b
1
r(k+1)+b
0
r(k)

Ly bin i Z hai v, gi s s kin bng 0
z
n
C(z) + a
n-1
z
n-1
C(z) +..+ a
1
zC(z) = b
m
z
m
R(z) + b
m-1
z
m-1
R(z) +..+ b
1
zR(z) + b
0
R(z)

Hm truyn Z:
0 1
1
1
1
1
0 1
1
1
..
..
) (
) (
) (
a z a z a z a z
b z b z b z b
z R
z C
z G
n
n
n
n
n
m
m
m
m
+ + + + +
+ + + +
= =

Phng trnh trng thi h ri rc

Phng trnh trng thi h ri rc
T hm truyn h ri rc ta c th vit phng trnh
trng thi di dng sau
x(k+1) = Fx(k) + Gr(k)
y(k) = Cx(k) + Dr(k)
Cc ma trn c to ra ging nh h lin tc
V d:
2 5 4
7 13 12 4
) 2 ( ) 1 (
7 13 12 4
) (
2 3
2 3
2
2 3
+
+
=

+
=
z z z
z z z
z z
z z z
z G
M HNH H KHNG LIN TUC
(H thi gian ri rc-discrete time system)
Phng trnh trng thi h ri rc, v d
Dng first companion
| | ) ( 4
) (
) (
) (
4 7 1 ) (
) (
1
0
0
) (
) (
) (
4 5 2
1 0 0
0 1 0
) 1 (
) 1 (
) 1 (
3
2
1
3
2
1
3
2
1
k u
k x
k x
k x
k y
k u
k x
k x
k x
k x
k x
k x
+
(
(
(

=
(
(
(

+
(
(
(

(
(
(

=
(
(
(

+
+
+
Dng Jordan
2
3
1
1
) 1 (
2
4 ) (
2

+ =
z z z
z G
| | ) ( 4
) (
) (
) (
3 1 2 ) (
) (
1
1
0
) (
) (
) (
2 0 0
0 1 0
0 1 1
) 1 (
) 1 (
) 1 (
3
2
1
3
2
1
3
2
1
k u
k x
k x
k x
k y
k u
k x
k x
k x
k x
k x
k x
+
(
(
(

=
(
(
(

+
(
(
(

(
(
(

=
(
(
(

+
+
+
V d MATLAB
>> htz = tf ([4 -12 13 -7] ,conv ([1 -2], conv ([1 -1], [1 -1])))
Transfer function:
4 z^3 - 12 z^2 + 13 z - 7
-------------------------
z^3 - 4 z^2 + 5 z - 2
Sampling time: unspecified
>> ptttz = canon (htz, 'companion')
a =
x1 x2 x3
x1 0 0 2
x2 1 0 -5
x3 0 1 4
b =
u1
x1 1
x2 0
x3 0
c =
x1 x2 x3
y1 4 9 17
d =
u1
y1 4
Sampling time: unspecified
Discrete-time model.
Hm truyn Z t phng trnh trng thi

Tng t nh vi h lin tc, hm truyn Z tnh theo cng thc
X(z) = (zI-F)
-1
zx
0
+ (zI-F)
-1
gU(z)
Y(z) = c (zI-F)
-1
zx
0
+ [c (zI-F)
-1
g+d]U(z)

Nu x
0
= 0
d g F zI c
z U
z Y
z G + = =
1
) (
) (
) (
) (
Tnh x(k) v y(k)
T phng trnh trng thi x(k+1) = Fx(k) + gu(k)
Ta suy ra x(1) = Fx(0) + gu(0) ; x(2)=Fx(1)+gu(1)

=

+ =
1
0
1
) ( ) 0 ( ) (
k
i
i k k
i gu F x F k x
p ng h thng

t |(k) = F
k
,

|(0) = I , |(k) gi l ma trn chuyn trng thi

=
+ =
1
0
) ( ) 1 ( ) 0 ( ) ( ) (
k
i
i gu i k x k k x | |
Tnh |(k)
Dng Z o
|(k)= Z
-1
[(zI-F)
-1
z]
V d:
(

=
1 16 . 0
1 0
F
1
1
1 16 . 0
1
) (

=
z
z
F zI
Tnh p ng dng Z o

(
(
(

+
+
+

+
+
+

+ +

+
=
(
(
(
(

+ + + +

+ + + +
+
=
8 . 0
3 / 4
2 . 0
3 / 1
8 . 0
3 / 8 . 0
2 . 0
3 / 8 . 0
8 . 0
3 / 5
2 . 0
3 / 5
8 . 0
3 / 1
2 . 0
3 / 4
) 8 . 0 )( 2 . 0 ( ) 8 . 0 )( 2 . 0 (
16 . 0
) 8 . 0 )( 2 . 0 (
1
) 8 . 0 )( 2 . 0 (
1
z z z z
z z z z
z z
z
z z
z z z z
z
(
(
(

=
k k k k
k k k k
k
) 8 . 0 (
3
4
) 2 . 0 (
3
1
) 8 . 0 (
3
8 . 0
) 2 . 0 (
3
8 . 0
) 8 . 0 (
3
5
) 2 . 0 (
3
5
) 8 . 0 (
3
1
) 2 . 0 (
3
4
) ( |
Tnh p ng dng Z o

Cho g = [1 1]
T
,c=[1 0], x
0
= [1 1]
T
, u(t)=1(t),

ta tnh c
18
25
) 8 . 0 (
9
22
) 2 . 0 (
6
17
) ( + + =
k k
k y Dng cng thc
1 ;
1
1
1
0
=

=
+
=

a
a
a
a
k
k
j
j
Dng MATLAB
>> t=0:0.1:10;
>> u=ones(size(t));
>> F=[0 1;-0.16 -1];
>> g=[1;1];
>> c=[1 0];
>> d=0;rr=ss(F,g,c,d,0.1);
>> [y,x]=lsim(rr,u,t,x0);
>> stairs(t,y)
Tnh F
k
dng nh l Cayley Hamilton

F I F
F
k
1 0
2 1
1
2 1
1 0
| |

+ =
= =
(

=
Cc h s tnh t phng trnh
1
1
1 0
|
| |
=
+ =
k
k
k
Suy ra
(

+

=
=
=
k k
k k
F
k
k
k k
k
k
1
) 1 (
) 1 (
) 1 (
) 1 )( 1 (
1
0
|
|
Hm truyn h lin tc ly mu

Khu ZOH c hm truyn
s
e
sT
1
T l thi gian ly mu
Bin i Z ca h thi gian ri rc l
)
) (
(
1
)) (
1
( ) (
s
s G
Z
z
z
s G
s
e
Z z G
sT

=

k hiu G
ho
G(z)
Tnh p ng dng hm truyn z


) ( ) ( 1
) ( ) (
) (
) (
0
0
z GH G z D
z G G z D
z R
z Y
h
h
+
=
Vi cc thng s: D(z) = 1, H(s) = 1, G(s) =1/s(s+1); T = 1, r(t) l hm nc
) )( 1 (
) 1 ( ) 1 (
1 ) 1 (
1
(
1
1 1 1 1
(
) 1 (
1 1
(
1
( ) (
2 2
2
0
T
T T T
T
h
e z z
Te e e T z
e z
z
z
z
z
Tz
z
z
s s s z
z
s s z
z
s
G(s)
z
z
z G G

+ +
=
(

=
(

+
+

=
(

=
(

=
) )Z
)Z )Z
Tnh p ng dng hm truyn z
Vi T=1
3679 . 0 3679 . 1
2642 . 0 3679 . 0
) (
2
0
+
+
=
z z
z
z G G
h
6321 . 0
2642 . 0 3679 . 0
) (
) (
2
+
+
=
z z
z
z R
z Y
7 6
5 4 3 2 1
2 3
2
2
8015 . 0 8944 . 0
1469 . 1 3996 . 1 3996 . 1 3679 . 0
6321 . 0 6321 . 1 2
2642 . 0 3679 . 0
6321 . 0
2642 . 0 3679 . 0
1
) (


+ +
+ + + + =
+
+
=
+
+

=
z z
z z z z z
z z z
z z
z z
z
z
z
z Y
Dng Matlab
>> lt = tf([1],[1 1 0]);
>> ltd = c2d(lt,1,'zoh')
Transfer function:
0.3679 z + 0.2642
----------------------
z^2 - 1.368 z + 0.3679
>> htdk = feedback(ltd,1)
Transfer function:
0.3679 z + 0.2642
-----------------
z^2 - z + 0.6321
>> [y,t]=step(ltdk);
>> stairs(t,y)
Tnh p ng dng hm truyn z


0 5 10 15 20 25
0
0.2
0.4
0.6
0.8
1
1.2
1.4
PTTT h lin tc thi gian ri rc

H lin tc c tn hiu vo l u
+
(t) t khu ZOH, pttt h lin tc :
) ( ) ( ) (
) ( ) ( ) (
t du t cx t y
t bu t Ax t x
+
+
+ =
+ =
Gii pttt
}
+ =
+
t
t
t A t t A
d bu e t x e t x
0
0
) ( ) ( ) (
) (
0
) (
t t
t
u
+
(t) = u(kT), kT< = t < = (k+1)T
Trong khong thi gian kT< = t < = (k+1)T
}
+ =

t
kT
t A kT t A
kT u bd e kT x e t x ) ( ] [ ) ( ) (
) ( ) (
t
t
) ( ) (
) ( ] [ ) ( ) ) 1 ((
) 1 (
) ) 1 [(
kT gu kT Fx
kT u bd e kT x e t k x
T k
kT
T k A AT
+ =
}
+ = +
+
+
t
t
t o = t-kT, u = T-o
u
u
bd e g
T
A
}
=
0
PTTT h lin tc thi gian ri rc


V d: cho h ri rc vi
s T
s s
s G
z z
k z k z k
z D
1 . 0 ,
) 5 (
1
) (
) 1 (
) (
3 2
2
1
=
+
=

+ +
=
Phng trnh trng thi h lin tc
| | 0 1 ,
1
0
,
5 0
1 0
=
(

=
(

= c b A
Dng nh l Cayley Hamilton tnh e
At

(
(

t
t
At
e
e
e
5
5
0
1 (
5
1
1
(

=
(
(

= =

6065 . 0 0
0787 . 0 1
0
1 (
5
1
1
5
5
T
T
AT
e
e
e F
(

=
(
(
(

+
=
(
(
(

}
}

=
}
=

0787 . 0
0043 . 0
) 1 (
5
1
5
1
5
1
(
5
1
) 1 (
5
1
5
5
0
5
0
5
0
T
T
T
T
T
A
e
e T
d e
d e
d b e g
u
u
u
u
u
u
PTTT h lin tc thi gian ri rc

PTTT khi D(z) dng ng hnh th hai
| | ) (
) (
) (
1 0 ) (
) (
) (
) (
1 1
0 0
) 1 (
) 1 (
1
4
3
1 2
3
4
3
4
3
k e k
k x
k x
k u
k e
k k
k
k x
k x
k x
k x
+
(

=
(

+
+
(

=
(

+
+
e(k) l tn hiu sai lch: e(k) = r(k) - y(k) = r(k)-x
1
(k)
Phng trnh trng thi h kn
| |
(
(
(
(

=
(
(
(
(

+
+
(
(
(
(

(
(
(
(

=
(
(
(
(

+
+
+
+
) (
) (
) (
) (
0 0 0 1 ) (
) (
0787 . 0
0043 . 0
) (
) (
) (
) (
1 1 0 ) (
0 0 0
0787 . 0 0 6065 . 0 0787 . 0
0043 . 0 0 0787 . 0 0043 . 0 1
) 1 (
) 1 (
) 1 (
) 1 (
4
3
2
1
2 1
3
1
1
4
3
2
1
2 1
3
1
1
4
3
2
1
k x
k x
k x
k x
k y
k r
k k
k
k
k
k x
k x
k x
k x
k k
k
k
k
k x
k x
k x
k x
Dng Matlab
>> T=0.1; K1=1; K2=1; K3=1;
>> A=[0 1;0 -5]; b =[0;1]; c=[1 0]; d=0;
>> AR =[0 0;1 1]; BR=[K3;K1+K2]; CR=[0 1]; DR=K1;
>> pttt1=ss (A,b,c,d);
>> pttt1r = c2d(pttt1,T,'zoh');
>> pttt2r = ss(AR,BR,CR,DR,T);
>> PTTTK = feedback(pttt1r*pttt2r,1)

a =
x1 x2 x3 x4
x1 0.9957 0.07869 0 0.004261
x2 -0.07869 0.6065 0 0.07869
x3 -1 0 0 0
x4 -2 0 1 1
b =
u1
x1 0.004261
x2 0.07869
x3 1
x4 2
c =
x1 x2 x3 x4
y1 1 0 0 0
d =
u1
y1 0
Sampling time: 0.1
Discrete-time model.
HM TRUYN Z H C TR
Hm truyn ri rc:
( )
|
.
|

\
|
= Z =
s t 1 s t
ho
d d
e ) s ( G
s
1
Z ) z 1 ( e ) s ( G ) s ( G
) z ( U
) z ( Y
t t
d
=NT
s
+AT
s
, 0s A s1
|
.
|

\
|
=
A s T N 1
s
e ) s ( G
s
1
Z z ) z 1 (
) z ( U
) z ( Y
HM TRUYN Z H C TR- V D
|
|
.
|

\
|
+
=
|
|
.
|

\
|
+
=
+
=
A A

A

a s
e
s
e
Z z ) z 1 (
a
1
) a s ( s
e
Z z ) z 1 (
) z ( U
) z ( Y
a s
1
) s ( G
Ts Ts
N 1
Ts
N 1
) T t ( u e ) t ( g
a s
e
L
) T t ( u ) t ( g
s
e
L
) T t ( a
2
Ts
1
1
Ts
1
A = =
(

+
A = =
(

A
A

) T t ( u e ) t ( g
a s
e
L
) T t ( u ) t ( g
s
e
L
) T t ( a
2
Ts
1
1
Ts
1
A = =
(

+
A = =
(

A
A

u(t) l hm nc n v
Tm bin i z cc hm ri rc g
1
(kT) v g
2
(kT)
HM TRUYN Z H C TR- V D
... z e z e z e )) kT ( g ( Z
1 z
1
z 1
1
z ...) z z z 1 ( z
... z z z z ) kT ( g )) kT ( g ( Z
3 ) T T 3 ( a 2 ) T T 2 ( a 1 ) T T ( a
2
1
1 3 2 1 1
0 k
3 2 1 k
1 1
+ + + =

=
|
.
|

\
|

= + + + + =
+ + + = =
A A A

t thng s mi m=1-A
| |
aT
amT
1 aT
1 amT
2 aT 2 1 aT 1 amT
3 aT 2 amT 2 aT amT 1 amT
2
e z
e
z e 1
1
z e
... z e z e 1 z e
... z e e z e e z e )) kT ( g ( Z

=
(

=
+ + + =
+ + + =
Sau cng:
| |
) e z ( z
e e z ) e 1 (
a
1
) z ( U
) z ( Y
aT 1 N
aT amT amT
+

+
=
BNG BIN I C TR
) e z ( a
e
) 1 z ( a
1 amT
) 1 z (
T
) a s ( s
ae
) e z )( 1 z (
) e e ( z ) e 1 (
) a s ( s
ae
e z
e
e z
e
[
a b
1
) b s )( a s (
e
e z
e
a s
e
) 1 z (
) 1 m ( z ) 1 m 2 m 2 ( z m
T
s
e 2
) 1 z (
T
1 z
mT
s
e
1 z
1
s
e
aT
amT
2 2
Ts
aT
aT amT amT Ts
bT
bmT
aT
amT Ts
aT
amT Ts
3
2 2 2 2
2
3
Ts
2 2
Ts
Ts

A
A
A
A

+
+

+
+

+ +
+
(

+ + +

PTTT H ri rc c tr

Xt h SISO c thi gian tr t
d

A = s A s A + =
+ =
1 , 1 0 ,
) ( ) ( ) (
m T NT t
t t bu t Ax t x
d
d

Nu N = 0, ta thm bin trng thi x

n+1

} }
A
+ +
= = =
(

+
(

=
(

+
+
T mT
A A AmT AT
n n
bd e g bd e e g e F
k u
g
k x
k x g F
k x
k x
0 0
2 1
2
1
1
1
, ,
) (
1 ) (
) (
0 0 ) 1 (
) 1 (
o u
o u
Nu N>0,ta thm N+1 bin trng thi
) (
1
0
:
0
0
) (
) (
:
) (
) (
) (
0 .. 0 0 0 0
1
..
..
..
0
..
0
..
0
..
0
..
.. .. .. .. .. ..
0 .. 0 1 0 0
0 .. 0
) 1 (
) 1 (
:
) 1 (
) 1 (
) 1 (
1
2
1
2 1
1
2
1
k u
k x
k x
k x
k x
k x
g g F
k x
k x
k x
k x
k x
N n
N n
n
n
N n
N n
n
n
(
(
(
(
(
(

+
(
(
(
(
(
(
(

(
(
(
(
(
(
(

=
(
(
(
(
(
(
(

+
+
+
+
+
+ +
+
+
+
+ +
+
+
+
PTTT H ri rc c tr
V D
H ri rc
2387 . 0 e e d e e g
3935 . 0 e 1 d e g
3679 . 0 e F
5 . 0 m , 5 . 0 , 1 N
sec 1 T , ) 5 . 1 t ( u ) t ( x ) t ( x
1 5 . 0
5 . 0
0
5 . 0
1
5 . 0
5 . 0
0
2
1
1 1
= = o =
= = o =
= =
= = A =
= + =
o
o

}
}

Phng trnh ri rc
x
1
(k+1)=0.3679x
1
(k)+0.2387u(k-2)+0.3935u(k-1)
t bin x
2
(k)=u(k-2), x
3
(k)=u(k-1)
) k ( x ] 0 0 1 [ ) k ( y
) k ( u
1
0
0
) k ( x
) k ( x
) k ( x
0 0 0
1 0 0
3935 . 0 2387 . 0 3679 . 0
) 1 k ( x
) 1 k ( x
) 1 k ( x
3
2
1
3
2
1
=
(
(
(

+
(
(
(

(
(
(

=
(
(
(

+
+
+