Chuong3 LTDKTD

26 September 2006 H. T.
Hong - HBK TPHCM 1

LY THUYET IEU KHIEN T ONG
LY THUYET IEU KHIEN T ONG
Giang vien: TS. Huynh Thai Hoang
Bo mon ieu Khien T ong
Khoa ien ien T
ai hoc Bach Khoa TP.HCM
Email: hthoang@hcmut.edu.vn
Homepage: http://www2.hcmut.edu.vn/~hthoang/
Mon hoc
Mon hoc
26 September 2006 H. T. Hong - HBK TPHCM 2
KHAO SAT
KHAO SAT
TNH ON NH CUA HE THONG
TNH ON NH CUA HE THONG
Chng 3
Chng 3
Khai niem on nh
Tieu chuan on nh ai so
ieu kien can
Tieu chuan Routh
Tieu chuan Hurwitz
Phng phap quy ao nghiem so (QNS)
Khai niem ve QNS
Phng phap ve QNS
Xet on nh dung QNS
Tieu chuan on nh tan so
Khai niem ve ac tnh tan so
ac tnh tan so cua cac khau c ban
ac tnh tan so cua he thong t ong
Tieu chuan on nh Bode
Tieu chuan on nh Nyquist
Noi dung chng 3
Noi dung chng 3
Khai niem on nh
Khai niem on nh
Khai niem on nh
Khai niem on nh
nh ngha on nh BIBO
nh ngha on nh BIBO
He thong
r(t)
c(t)
He thong c goi la on nh BIBO (Bounded Input Bounded
Output) neu ap ng cua he b chan khi tn hieu vao b chan.
Th du minh hoa khai niem on nh
Th du minh hoa khai niem on nh
HT on nh HT khong on nh
HT bien
gii on nh
Cho he thong t ong co ham truyen la:
Khai niem on nh
Khai niem on nh
Cc va zero
Cc va zero
n n
n n
m m
m m
a s a s a s a
b s b s b s b
s R
s C
s G
+ + + +
+ + + +
= =
1
1
1 0
1
1
1 0
) (
) (
) (
K
K
n n
n n
a s a s a s a s A + + + + =

1
1
1 0
) ( K
m m
m m
b s b s b s b s B + + + + =

1
1
1 0
) ( K
at: mau so ham truyen
t so ham truyen
Zero: la nghiem cua t so ham truyen, tc la nghiem cua phng
trnh B(s) = 0. Do B(s) bac m nen he thong co m zero ky hieu la z
i
,
i =1,2,m.
Cc: (Pole) la nghiem cua mau so ham truyen, tc la nghiem cua
phng trnh A(s) = 0. Do A(s) bac n nen he thong co n cc ky
hieu la p
i
, i =1,2,m.
Khai niem on nh
Khai niem on nh
Gian o cc zero la o th bieu dien v tr cac cc va cac zero
cua he thong trong mat phang phc.
Gian o cc
Gian o cc
-
-
zero
zero
Khai niem on nh
Khai niem on nh
Tnh on nh cua he thong phu thuoc vao v tr cac cc.
He thong co tat ca cac cc co phan thc am (co tat ca cac cc
eu nam ben trai mat phang phc): he thong on nh.
He thong co cc co phan thc bang 0 (nam tren truc ao), cac cc
con lai co phan thc bang am: he thong bien gii on nh.
He thong co t nhat mot cc co phan thc dng (co t nhat mot
cc nam ben phai mat phang phc): he thong khong on nh.
ieu kien on nh
ieu kien on nh
Khai niem on nh
Khai niem on nh
Phng trnh ac trng: phng trnh A(s) = 0
a thc ac trng: a thc A(s)
Phng trnh ac trng (PTT)
Phng trnh ac trng (PTT)
0 ) ( ) ( 1 = + s H s G
He thong hoi tiep
Phng trnh ac trng
He thong mo ta bang PTTT
=
+ =
) ( ) (
) ( ) ( ) (
t t c
t r t t
Cx
B Ax x&
Phng trnh ac trng
( ) 0 det = A I s
ieu kien can e he thong on nh la tat ca cac he so cua phng
trnh ac trng phai khac 0 va cung dau.
ieu kien can
ieu kien can
Khong on nh
Khong on nh
Cha ket luan c
0 1 2 3
2 3
= + + s s s
0 3 5 2
2 4
= + + + s s s
0 1 2 5 4
2 3 4
= + + + + s s s s
Th du: He thong co phng trnh ac trng:
Cho he thong co phng trnh ac trng:
Tieu chuan on nh ai so: Tieu chuan Routh
Qui tac thanh lap bang Routh
Qui tac thanh lap bang Routh
0
1
1
1 0
= + + + +

n n
n n
a s a s a s a K
Muon xet tnh on nh cua he thong theo tieu chuan Routh, trc
tien ta thanh lap bang Routh theo qui tac:
Bang Routh co n+1 hang.
Hang 1 cua bang Routh gom cac he so co ch so chan.
Hang 2 cua bang Routh gom cac he so co ch so le.
Phan t hang i cot j cua bang Routh (i 3) c tnh theo
cong thc:
1 , 1 1 , 2
.
+ +
=
j i i j i ij
c c c
1 , 1
1 , 2
=
i
i
i
c
c
vi
Dang bang Routh
Dang bang Routh
ieu kien can va u e he thong on nh la tat ca cac phan t
nam cot 1 cua bang Routh eu dng. So lan oi dau cua cac
phan t cot 1 cua bang Routh bang so nghiem cua phng trnh
ac trng nam ben phai mat phang phc.
Phat bieu tieu chuan
Xet tnh on nh cua he thong co phng trnh ac trng la:
Th du 1
Th du 1
0 1 2 5 4
2 3 4
= + + + + s s s s
Giai: Bang Routh
Ket luan: He thong on nh do tat ca cac phan t cot 1 bang
Routh eu dng.
Xet tnh on nh cua he thong co s o khoi:
Th du 2
Th du 2
) 5 )( 3 (
50
) (
2
+ + +
=
s s s s
s G
2
1
) (
+
=
s
s H
Giai: Phng trnh ac trng cua he thong la:
0 ) ( ). ( 1 = + s H s G
0
) 2 (
1
.
) 5 )( 3 (
50
1
2
=
+ + + +
+
s s s s s
0 50 ) 2 )( 5 )( 3 (
2
= + + + + + s s s s s
0 50 30 31 16 6
2 3 4 5
= + + + + + s s s s s

Th du 2 (tt)
Th du 2 (tt)
Bang Routh
Ket luan: He thong khong on nh do tat ca cac phan t cot 1
bang Routh oi dau 2 lan.
Tm ieu kien cua K e he thong on nh:
Th du 3
Th du 3
) 2 )( 1 (
) (
2
+ + +
=
s s s s
K
s G
Giai: Phng trnh ac trng cua he thong la:
0 ) ( 1 = + s G
0
) 2 )( 1 (
1
2
=
+ + +
+
s s s s
K
0 2 3 3
2 3 4
= + + + + K s s s s
Th du 3 (tt)
Th du 3 (tt)
Bang Routh
ieu kien e he thong on nh:
>
>
0
0
7
9
2
K
K
9
14
0 < < K

Trng hp ac biet 1
Trng hp ac biet 1
Neu bang Routh co he so cot 1 cua hang nao o bang 0, cac he
so con lai cua hang o khac 0 th ta thay he so bang 0 cot 1 bi
so dng nho tuy y, sau o qua trnh tnh toan c tiep tuc.
Th du 4
Th du 4
Ket luan: V cac he so cot 1 bang Routh oi dau 2 lan nen
phng trnh ac trng cua he thong co hai nghiem nam ben phai
mat phang phc, do o he thong khong on nh .
0 3 8 4 2
2 3 4
= + + + + s s s s
Giai:
Bang Routh
Trng hp ac biet 2
Trng hp ac biet 2
Neu bang Routh co tat ca cac he so cua hang nao o bang 0:
Thanh lap a thc phu t cac he so cua hang trc hang co tat
ca cac he so bang 0, goi a thc o la A
0
(s).
Thay hang co tat ca cac he so bang 0 bi mot hang khac co
cac he so chnh la cac he so cua a thc dA
0
(s)/ds, sau o qua
trnh tnh toan tiep tuc.
Chu y: Nghiem cua a thc phu A
0
(s) cung chnh la nghiem cua
phng trnh ac trng.
Th du 5
Th du 5
0 4 7 8 8 4
2 3 4 5
= + + + + + s s s s s
Giai: Bang Routh
a thc phu:
Th du 5 (tt)
Th du 5 (tt)
Nghiem cua a thc phu (cung chnh la nghiem cua phng trnh
ac trng):
Ket luan:
Cac he so cot 1 bang Routh khong oi dau nen phng trnh ac
trng khong co nghiem nam ben phai mat phang phc.
Phng trnh ac tnh co 2 nghiem nam tren truc ao.
So nghiem nam ben trai mat phang phc la 5 2 = 3.
He thong bien gii on nh
4 4 ) (
2
0
+ = s s A
0 8
) (
0
+ = s
ds
s dA
0 4 4 ) (
2
0
= + = s s A
j s =
Cho he thong co phng trnh ac trng:
Tieu chuan on nh ai so: Tieu chuan Hurwitz
Qui tac thanh lap ma tran Hurwitz
Qui tac thanh lap ma tran Hurwitz
0
1
1
1 0
= + + + +

n n
n n
a s a s a s a K
Muon xet tnh on nh cua he thong theo tieu chuan Hurwitz,
trc tien ta thanh lap ma tran Hurwitz theo qui tac:
Ma tran Hurwitz la ma tran vuong cap nn.
ng cheo cua ma tran Hurwitz la cac he so t a
1
en a
n
.
Hang le cua ma tran Hurwitz gom cac he so co ch so le theo
th t tang dan neu ben phai ng cheo va giam dan neu
ben trai ng cheo.
Hang chan cua ma tran Hurwitz gom cac he so co ch so chan
theo th t tang dan neu ben phai ng cheo va giam dan
neu ben trai ng cheo.
Dang ma tran Hurwitz
Dang ma tran Hurwitz
(
(
(
(
(
(
(
n
a
a a a
a a a
a a a a
a a a a
K K K K
M M M M M
K
K
K
K
0
0 0
0 0
0
0
4 2 0
5 3 1
6 4 2 0
7 5 3 1
ieu kien can va u e he thong on nh la tat ca cac nh thc
con cha ng cheo cua ma tran Hurwitz eu dng
Th du 1
Th du 1
0 2 3 4
2 3
= + + + s s s
(
(
(
=
(
(
(
2 4 0
0 3 1
0 2 4
0
0
0
3 1
2 0
3 1
a a
a a
a a
1
1 1
= = a
10 2 1 3 4
3 1
2 4
2 0
3 1
2
= = = =
a a
a a
20 10 2
3 1
2 4
2
0
0
0
2 0
3 1
3
3 1
2 0
3 1
3
= = = = =
a a
a a
a
a a
a a
a a
Giai:
Ma tran Hurwitz
Cac nh thc:
Ket luan: He thong on nh do cac nh thc eu dng
Cac he qua cua tieu chuan Hurwitz
Cac he qua cua tieu chuan Hurwitz
He bac 2 on nh neu phng trnh ac trng thoa man ieu kien:
2 , 0 , 0 = > i a
i
>
= >
0
3 , 0 , 0
3 0 2 1
a a a a
i a
i
>
>
= >
0
0
4 , 0 , 0
4
2
1
2
3 0 3 2 1
3 0 2 1
a a a a a a a
a a a a
i a
i
Phng phap quy ao nghiem so
Phng phap quy ao nghiem so
nh ngha
nh ngha
Quy ao nghiem so la tap hp tat ca cac nghiem cua phng
trnh ac trng cua he thong khi co mot thong so nao o trong he
thay oi t 0 .
Th du: QNS cua he thong co PTT co dang
nh hnh ve di ay:
0 4
2
= + + K s s
Qui tac ve QNS
Qui tac ve QNS
Muon ap dung cac qui tac ve quy ao nghiem so, trc tien ta
phai bien oi tng ng phng trnh ac trng ve dang:
0
) (
) (
1 = +
s D
s N
K
) (
) (
) (
0
s D
s N
K s G =
+ =
=
pha kien ieu
o bien kien ieu
) 1 2 ( ) (
1 ) (
0
0
l s G
s G
0 ) ( 1
0
= + s G
Goi n la so cc cua G
0
(s) , m la so zero cua G
0
(s)
at:
(1)
(1)

Qui tac ve QNS
Qui tac ve QNS
Qui tac 1: So nhanh cua quy ao nghiem so = bac cua phng
trnh ac tnh = so cc cua G
0
(s) = n.
Qui tac 2:
Khi K = 0: cac nhanh cua quy ao nghiem so xuat phat t cac
cc cua G
0
(s).
Khi K tien en + : m nhanh cua quy ao nghiem so tien en
m zero cua G
0
(s), nm nhanh con lai tien en theo cac tiem
can xac nh bi qui tac 5 va qui tac 6.
Qui tac 3: Quy ao nghiem so oi xng qua truc thc.
Qui tac 4: Mot iem tren truc thc thuoc ve quy ao nghiem so
neu tong so cc va zero cua G
0
(s) ben phai no la mot so le.
Qui tac ve QNS (tt)
Qui tac ve QNS (tt)
Qui tac 7: : iem tach nhap (neu co) cua quy ao nghiem so nam
tren truc thc va la nghiem cua phng trnh:
0 =
ds
dK
Qui tac 6: : Giao iem gia cac tiem can vi truc thc la iem A
co toa o xac nh bi:
m n
z p
m n
OA
m
i
i
n
i
i
=

= = 1 1
zero cc
(p
i
va z
i
la cac cc
va cac zero cua G
0
(s) )
Qui tac 5: : Goc tao bi cac ng tiem can cua quy ao nghiem
so vi truc thc xac nh bi :
m n
l
+
=

) 1 2 (
) , 2 , 1 , 0 ( K = l
Qui tac ve QNS (tt)
Qui tac ve QNS (tt)
Qui tac 8: : Giao iem cua quy ao nghiem so vi truc ao co the
xac nh bang cach ap dung tieu chuan RouthHurwitz hoac thay
s=j vao phng trnh ac trng.
Qui tac 9: Goc xuat phat cua quy ao nghiem so tai cc phc p
j
c xac nh bi:

= =
+ =
n
j i
i
i j
m
i
i j j
p p z p
1 1
0
) arg( ) arg( 180
Dang hnh hoc cua cong thc tren la:
j
= 180
0
+ (goc t cac zero en cc p
j
)
(goc t cac cc con lai en cc p
j
)
Giai:
Phng trnh ac trng cua he thong:
0 ) ( 1 = + s G
Cac cc:
0
1
= p
2
2
= p 3
3
= p
Cac zero: khong co
0
) 3 )( 2 (
1 =
+ +
+
s s s
K
(1)
Th du 1
Th du 1
) 3 )( 2 (
) (
+ +
=
s s s
K
s G
Ve QNS cua he thong sau ay khi K=0+.
Th du 1 (tt)
Th du 1 (tt)
Tiem can:
3
5
0 3
0 )] 3 ( ) 2 ( 0 [
zero
=
+ +
=
=

m n
OA
cc
iem tach nhap:
(1) ) 6 5 ( ) 3 )( 2 (
2 3
s s s s s s K + + = + + =
) 6 10 3 (
2
+ + = s s
ds
dK
1) (
) 1 (
3
0) (
3

0 3
) 1 2 ( ) 1 2 (
3
2
1
= =
= =
= =
+
=
+
=
l
- l
l
l
m n
l

0 =
ds
dK
Do o
=
=
785 . 0
) ( 549 . 2
2
1
s
s loai

>
>
0
0
3 0 2 1
a a a a
K
Th du 1 (tt)
Th du 1 (tt)
Giao iem cua QNS vi truc ao:
ieu kien on nh:
>
>
0 1 6 5
0
K
K
30 0 < < K
30 =
gh
K
Cach 1: Dung tieu chuan Hurwitz
(1) 0 6 5
2 3
= + + + K s s s (2)
Thay gia tr K
gh
= 30 vao phng trnh (2), giai phng trnh ta
c giao iem cua QNS vi truc ao
0 30 6 5
2 3
= + + + s s s
=
=
=
6
6
5
3
2
1
j s
j s
s

Th du 1 (tt)
Th du 1 (tt)
Cach 2:
(1) 0 6 5
2 3
= + + + K s s s (2)
Thay s=j vao phng trnh (2):
( ) ( ) ( ) 0 6 5
2 3
= + + + K j j j
0 6 5
2 3
= + + K j j
= +
= +
0 5
0 6
2
3
K
j j
=
=
0
0
K
=
=
30
6
K

Im s
Re s
Th du 1 (tt)
Th du 1 (tt)
0
3 2
6 j
6 j
Th du 2
Th du 2
Giai:
0 ) ( 1 = + s G
Cac zero: khong co
) 20 8 (
) (
2
+ +
=
s s s
K
s G
(1)
0
) 20 8 (
1
2
=
+ +
+
s s s
K
Cac cc:
0
1
= p
2 4
3 , 2
j p =
0
) 20 8 (
1
2
=
+ +
+
s s s
K
Th du 2 (tt)
Th du 2 (tt)
Tiem can:
1) (
) 1 (
3
0) (
3

0 3
) 1 2 ( ) 1 2 (
3
2
1
= =
= =
= =
+
=
+
=
l
- l
l
l
m n
l

3
8
0 3
) 0 ( )] 2 4 ( ) 2 4 ( 0 [
zero
=
+ + +
=
=

j j
m n
OA
cc
iem tach nhap:
(1)
) 20 8 (
2 3
s s s K + + =
) 20 16 3 (
2
+ + = s s
ds
dK
0 =
ds
dK
Do o

=
=
00 . 2
33 . 3
2
1
s
s
(hai iem tach nhap)
Th du 2 (tt)
Th du 2 (tt)
(1) 0 20 8
2 3
= + + + K s s s (2)
0 ) ( 20 ) ( 8 ) (
2 3
= + + + K j j j
0 20 8
2 3
= + + K j j
= +
= +
0 20
0 8
3
2

K
=
=
0
0
K
=
=
160
20
K
0
) 20 8 (
1
2
=
+ +
+
s s s
K

= =
+ =
n
j i
i
i j
m
i
i j j
p p z p
1 1
0
) arg( ) arg( 180
Th du 2 (tt)
Th du 2 (tt)
Goc xuat phat cua QNS tai cc phc p
2
:
)] arg( ) [arg( 180
3 2 1 2
0
2
p p p p + =
{ } )] 2 4 ( ) 2 4 arg[( ] 0 ) 2 4 arg[( 180
0
j j j + + + =
)
`
+
|
.
|
\
|
=

90
4
2
180
1 0
tg
{ } 90 5 . 153 180
0
+ =
0
2
5 . 63 =
Th du 2 (tt)
Th du 2 (tt)
63.5
0
Im s
0
Re s
4
+j2
j2
2
20 j
20 j
Giai:
0 ) ( 1 = + s G (1)
0
) 20 8 )( 3 (
) 1 (
1
2
=
+ + +
+
+
s s s s
s K
Th du 3
Th du 3
) 20 8 )( 3 (
) 1 (
) (
2
+ + +
+
=
s s s s
s K
s G
Cac cc:
3
2
= p
2 4
4 , 3
j p =
0
1
= p
Cac zero:
1
1
= z
0
) 20 8 )( 3 (
) 1 (
1
2
=
+ + +
+
+
s s s s
s K
Th du 3 (tt)
Th du 3 (tt)
Tiem can:
iem tach nhap:
1) (
) 1 (
3
0) (
3

1 4
) 1 2 ( ) 1 2 (
3
2
1
= =
= =
= =
+
=
+
=
l
- l
l
l
m n
l

3
10
1 4
) 1 ( )] 2 4 ( ) 2 4 ( ) 3 ( 0 [ zero
=
+ + + +
=
=

j j
m n
OA
cc
(1)
) 1 (
) 20 8 )( 3 (
2
+
+ + +
=
s
s s s s
K
2
2 3 4
) 1 (
60 88 77 26 3
+
+ + + +
=
s
s s s s
ds
dK
0 =
ds
dK
Do o
(khong co
iem tach nhap)
=
=
97 . 0 66 , 0
05 , 1 67 , 3
4 , 3
2 , 1
j s
j s

0
) 20 8 )( 3 (
) 1 (
1
2
=
+ + +
+
+
s s s s
s K
Th du 3 (tt)
Th du 3 (tt)
(1) (2)
0 ) 60 ( 44 11
2 3 4
= + + + + + K s K s s s
0 ) 60 ( 44 11
2 3 4
= + + + K j K j
= + +
= +
0 ) 60 ( 11
0 44
3
2 4

K
K

=
=
0
0
K
=
=
322
893 , 5
K
=
=
7 , 61
314 , 1
K
j
(loai)
Vay giao iem can tm la: HSK gii han la:
893 , 5 j s = 322 =
gh
K
Th du 3 (tt)
Th du 3 (tt)
3
:
0
3
7 . 33 =
) ( 180
4 3 2 1 3
+ + + =
) 90 6 , 116 4 , 153 ( 3 , 146 180 + + + =
Th du 3 (tt)
Th du 3 (tt)
1

2
3
33.7
0
Im s
0
Re s
+j2
3
1 4
j2
+j5,893
j5,893
Th du 4
Th du 4
Cho he thong ieu khien co s o khoi nh sau:
) 3 9 (
10
) (
2
+ +
=
s s
s G
s
K
K s G
I
P C
+ = ) (
Cho K
I
= 2.7, hay ve QNS cua he thong sau ay khi K
P
=0+,
biet rang dK
P
/ ds=0 co 3 nghiem la 3, 3, 1.5.
Khi K
P
=270, K
I
= 2.7 he thong co on nh hay khong?
Th du 4 (tt)
Th du 4 (tt)
Cac zero: 0
1
= z
Giai:
0 ) ( ) ( 1 = + s G s G
C
(1) 0
) 3 )( 9 (
10
1
2
=
+ +
+
s s
s K
P
0
3 9
10 7 . 2
1
2
=
|
.
|
\
|
+ +
|
.
|
\
|
+ +
s s s
K
P
Cac cc:
9
1
= p
3
2
j p + =
3
3
j p =
Th du 4 (tt)
Th du 4 (tt)
Tiem can:
iem tach nhap:
1) (l 2 /
0) (l 2 /

1 3
) 1 2 ( ) 1 2 (
=
=
+
=
+
=
l
m n
l
0 =
ds
dK
P
2
9
1 3
) 0 ( )] 3 ( ) 3 ( 9 [ zero
=
+ +
=
=

j j
m n
OA
cc
(loai)
=
=
=
5 . 1
3
3
3
2
1
s
s
s
QNS co hai iem tach nhap trung nhau tai 3

Th du 2 (tt)
Th du 2 (tt)
2
:
)] arg( ) [arg( ) arg( 180
3 2 1 2 1 2
0
2
p p p p z p + + =
)
`
+
|
|
.
|
\
|
+ =

90
9
3
90 180
1 0
tg
0
2
169 =
))] 3 ( 3 arg( )) 9 ( 3 [arg( ) 0 3 arg( 180
0
j j j j + + =
Th du 4 (tt)
Th du 4 (tt)
Khi K
I
=2.7, QNS cua
he thong nam hoan
toan ben trai mat phang
phc khi K
P
=0+,
do o he thong on nh
khi K
I
=2.7, K
P
=270.
Khai niem ac tnh tan so
Hay quan sat ap ng cua he thong tuyen tnh trang thai xac
lap khi tn hieu vao la tn hieu hnh sin.
He thong tuyen tnh: khi tn hieu vao la tn hieu hnh sin th
trang thai xac lap tn hieu ra cung la tn hieu hnh sin cung tan so
vi tn hieu vao, khac bien o va pha.
nh ngha: ac tnh tan so cua he thong la t so gia tn hieu ra
trang thai xac lap va tn hieu vao hnh sin .
) (
) (
j R
j C
= so tan tnh ac
Ngi ta chng minh c:
) ( ) (
j G s G
j s
= =
=
so tan tnh ac
ap ng bien o
ap ng bien o
ap ng pha
ap ng pha
Tong quat G(j) la mot ham phc nen co the bieu dien di
dang ai so hoac dang cc:
) (
). ( ) ( ) ( ) (

j
e M jQ P j G = + =
Trong o:
) ( ) ( ) ( ) (
2 2
Q P j G M + = =
ap ng bien o
(
= =

) (
) (
) ( ) (
1

P
Q
tg j G
ap ng pha
Y ngha vat ly:
ap ng bien o cho biet t le ve bien o (he so khuech ai)
gia tn hieu ra va tn hieu vao theo tan so.
ap ng pha cho biet o lech pha gia tn hieu ra va tn hieu
vao theo tan so.
Bieu o Bode
Bieu o Bode
Bieu o Nyquist
Bieu o Nyquist
Bieu o Bode: la hnh ve gom 2 thanh phan:
Bieu o Bode ve bien o: la o th bieu dien moi quan he gia
logarith cua ap ng bien o L() theo tan so
Bieu o Bode ve pha: la o th bieu dien moi quan he gia
ap ng pha () theo tan so .
Ca hai o th tren eu c ve trong he toa o vuong goc vi
truc hoanh c chia theo thang logarith c so 10.
) ( lg 20 ) ( M L =
[dB]
Bieu o Nyquist: (ng cong Nyquist) la o th bieu dien ac
tnh tan so G(j) trong he toa o cc khi thay oi t 0.
Bieu o Bode Bieu o Nyqu
ist
ist
Ham truyen:
ac tnh tan so:
Bien o:
K s G = ) (
K j G = ) (
K M = ) ( K L lg 20 ) ( =
0 ) ( =

ac tnh tan so cua cac khau c ban:
ac tnh tan so cua cac khau c ban: Khau t le
Pha:
ac tnh tan so cua cac khau c ban: Khau t le
Ham truyen:
ac tnh tan so:
Bien o:
s
s G
1
) ( =

1 1
) ( j
j
j G = =
1
) ( = M lg 20 ) ( = L
0
90 ) ( =
ac tnh tan so cua cac khau c ban: Khau tch phan ly tng
Pha:

ac tnh tan so cua cac khau c ban: Khau tch phan ly tng
Ham truyen:
ac tnh tan so:
Bien o:
s s G = ) (
j j G = ) (
= ) ( M
lg 20 ) ( = L
0
90 ) ( =
ac tnh tan so cua cac khau c ban: Khau vi phan ly tng
Pha:

ac tnh tan so cua cac khau c ban: Khau vi phan ly tng
Ham truyen:
ac tnh tan so:
Bien o:
1
1
) (
+
=
Ts
s G
) ( ) (
1
T tg
=
ac tnh tan so cua cac khau c ban: Khau quan tnh bac 1
Pha:
2 2
1
) 1 (
1
1
) (
T
Tj K
Tj
j G
+

=
+
=
2 2
1
1
) (
T
M
+
=
2 2
1 lg 20 ) ( T L + =
Ve gan ung bieu o Bode bien o:
: ng thang nam ngang trung truc hoanh
: ng thang co o doc 20dB/dec
T
1
<
T
1
>
ac tnh tan so cua cac khau c ban: Khau quan tnh bac 1
tan so gay
Ham truyen:
ac tnh tan so:
Bien o:
1 ) ( + = Ts s G
) ( ) (
1
T tg
=
ac tnh tan so cua cac khau c ban: Khau sm pha bac 1
Pha:
1 ) ( + = Tj j G
2 2
1 ) ( T M + =
2 2
1 lg 20 ) ( T L + =
: ng thang co o doc +20dB/dec
T
1
<
T
1
>
ac tnh tan so cua cac khau c ban: Khau sm pha bac 1
tan so gay
Ham truyen:
ac tnh tan so:
Bien o:
ac tnh tan so cua cac khau c ban: Khau dao ong bac 2
Pha:

: ng thang co o doc 40dB/dec
T / 1 <
T / 1 >
1 2
1
) (
2 2
+ +
=
Ts s T
s G
) 1 0 ( < <
1 2
1
) (
2 2
+ +
=

Tj T
j G
2 2 2 2 2 2
4 ) 1 (
1
) (

T T
M
+
=
2 2 2 2 2 2
4 ) 1 ( lg 20 ) ( T T L + =
|
.
|
\
|
=

2 2
1
1
2
) (

T
T
tg
ac tnh tan so cua cac khau c ban: Khau dao ong bac 2
tan so gay
Ham truyen:
ac tnh tan so:
Bien o:
Ts
e s G

= ) (
T = ) (
ac tnh tan so cua cac khau c ban: Khau tr hoan
Pha:
Tj
e j G

= ) (
1 ) ( = M 0 ) ( = L
ac tnh tan so cua cac khau c ban: Khau tr hoan
ac tnh tan so cua he thong
ac tnh tan so cua he thong
Bieu o Bode cua he thong (gom nhieu khau ghep noi tiep) bang
tong bieu o Bode cua cac khau thanh phan.
Xet he thong t ong co ham truyen G(s) co the phan tch thanh
tch cua cac ham truyen c ban nh sau:
=
=
l
i
i
s G s G
1
) ( ) (
ac tnh tan so:
=
=
l
i
i
j G j G
1
) ( ) (
Pha:
=
=
l
i
i
1
) ( ) (
Bien o:
=
=
l
i
i
M M
1
) ( ) (

=
=
l
i
i
L L
1
) ( ) (

Bc 1: Xac nh tat ca cac tan so gay
i
=1/T
i
, va sap xep theo
th t tang dan
1
<
2
<
3
Ve gan ung bieu o Bode bien o bang ng tiem can

Gia s ham truyen cua he thong co dang:
K ) ( ) ( ) ( ) (
3 2 1
s G s G s G Ks s G

=
(>0: he thong co khau vi phan ly tng
<0: he thong co khau tch phan ly tng)
Bc 2: Bieu o Bode gan ung qua iem A co toa o:
+ =
=
0
0
lg 20 lg 20 ) (

K L
0
la tan so thoa man
0
<
1
. Neu
1
> 1 th co the chon
0
=1.
Bc 3: Qua iem A, ve ng thang co o doc:
( 20 dB/dec ) neu G(s) co khau tch phan ly tng
(+ 20 dB/dec ) neu G(s) co khau vi phan ly tng
ng thang nay keo dai en tan so gay ke tiep.
(tt)
(tt)
Bc 4: Tai tan so gay
i
=1/T
i
, o doc cua ng tiem can c
cong them mot lng:
(20dB/dec
i
) neu G
i
(s) la
i
khau quan tnh bac 1
(+20dB/dec
i
) neu G
i
(s) la
i
khau sm pha bac 1
(40dB/dec
i
) neu G
i
(s) la
i
khau dao ong bac 2
(+40dB/dec
i
) neu G
i
(s) la
i
khau sm pha bac 2
ng thang nay keo dai en tan so gay ke tiep.
Bc 5: Lap lai bc 4 cho en khi ve xong ng tiem can tai
tan so gay cuoi cung.
Ve bieu o Bode bien o gan ung cua he thong co ham truyen:
Th du 1: Ve bieu o Bode gan ung
Th du 1: Ve bieu o Bode gan ung
) 1 01 , 0 (
) 1 1 , 0 ( 100
) (
+
+
=
s s
s
s G
Da vao bieu o Bode gan ung, hay xac nh tan so cat bien cua
he thong.
Giai:
Cac tan so gay:
(rad/sec) 100
01 , 0
1 1
2
2
= = =
T
(rad/sec) 10
1 , 0
1 1
1
1
= = =
T
Bieu o Bode qua iem A co toa o
= = =
=
40 100 lg 20 lg 20 ) (
1
K L

Th du 1 (tt)
Th du 1 (tt)
Theo hnh ve, tan so cat bien cua he thong la 10
3
rad/sec
A
20dB/dec
20dB/dec
0dB/dec
c
0
lg
10
0
10
1
10
-1
L(), dB
1 0
-1
40
2
10
2
20
3
Th du 2: Xac nh ham truyen da vao bieu o Bode
Th du 2: Xac nh ham truyen da vao bieu o Bode
20dB/dec
0
lg
L(), dB
1 0
-1
40
2
20
0dB/dec
26
1.301
60
0dB/dec
54
A
B
D
C
E
g1

g2

g3
Xac nh ham truyen cua he thong co bieu o Bode bien o gan
ung nh sau:
(dB/dec) 40
301 . 1 2
26 54
+ =

(rad/sec) 5 10
7 . 0
1
= =
g
Th du 2 (tt)
Th du 2 (tt)
o doc oan CD:
Cac tan so gay:
7 . 0
20
26 40
0 lg
1
=
+ =
g

Ham truyen can tm co dang:
2
3
2
2 1
) 1 (
) 1 )( 1 (
) (
+
+ +
=
s T s
s T s T K
s G
100 40 lg 20 = = K K
0.2
5
1 1
1
1
= = =
g
T
0.05
20
1 1
2
2
= = =
g
T
301 . 1 lg
2
=
g

(rad/sec) 20 10
301 . 1
2
= =
g
2 lg
3
=
g

(rad/sec) 100 10
2
3
= =
g
0.01
100
1 1
3
3
= = =
g
T

Cac thong so quan trong cua ac tnh tan so
Cac thong so quan trong cua ac tnh tan so
Tan so cat bien (
c
): la tan so ma tai o bien o cua ac tnh tan
so bang 1 (hay bang 0 dB).
1 ) ( =
c
M
0 ) ( =
c
L
Tan so cat pha (
): la tan so ma tai o pha cua ac tnh tan so

bang 180
0
(hay bang radian).
0
180 ) ( =

rad ) (

=
o d tr bien (GM Gain Margin):

) (
1
=
M
GM

) (

= L GM
[dB]
o d tr pha ( M Phase Margin):
) ( 180
0
c
M + =
ist
ist
Tieu chuan Nyquist: He thong kn G
k
(s) on nh neu ng cong
Nyquist cua he h G(s) bao iem (1, j0) l/2 vong theo chieu
dng (ngc chieu kim ong ho) khi thay oi t 0 en +,
trong o l la so cc nam ben phai mat phang phc cua he h G(s)
.
Cho he thong hoi tiep am n v, biet ac tnh tan so cua he h
G(s), bai toan at ra la xet tnh on nh cua he thong kn G
k
(s).
Tieu chuan on nh Nyquist: Th du 1
Cho he thong hoi tiep am n v, trong o he h G(s) co ng
cong Nyquist nh hnh ve. Biet rang G(s) on nh. Xet tnh on
nh cua he thong kn.
Tieu chuan on nh Nyquist: Th du 1 (tt)
Giai:
V G(s) on nh nen G(s) khong co cc nam ben phai mat phang
phc, do o theo tieu chuan Nyquist he kn on nh neu ng
cong Nyquist G(j) cua he h khong bao iem (1, j0)
Trng hp : G(j) khong bao iem (1, j0) he kn on nh.
Trng hp : G(j) qua iem (1, j0) he kn bien gii on
nh;
Trng hp : G(j) bao iem (1, j0) he kn khong on nh.
Hay anh gia tnh on nh cua he thong hoi tiep am n v, biet
rang ham truyen he h G(s) la:
) 1 )( 1 )( 1 (
) (
3 2 1
+ + +
=
s T s T s T s
K
s G
Giai:
Bieu o Nyquist:
V G(s) khong co cc nam ben phai mat phang phc, do o theo
tieu chuan Nyquist he kn on nh neu ng cong Nyquist
G(j) cua he h khong bao iem (1, j0)
Trng hp : G(j) khong bao iem (1, j0) he kn on nh.
Trng hp : G(j) qua iem (1, j0) he kn bien gii on
nh;
Trng hp : G(j) bao iem (1, j0) he kn khong on nh.
On nh
Khong on nh
Cho he thong h khong on nh co ac tnh tan so nh cac hnh
ve di ay. Hoi trng hp nao he kn on nh.
Khong on nh
On nh
Khong on nh
Cho he thong h co ham truyen at la:
(K>0, T>0, n>2)
n
Ts
K
s G
) (
) (
1 +
=
Tm ieu kien cua K va T e he thong kn (hoi tiep am n v) on
nh.
Giai:
ac tnh tan so cua he thong la:
n
Tj
K
j G
) 1 (
) (
+
=
Bien o:
( )
n
T
K
M
1
) (
2 2
+
=
Pha: ) ( ) ( T ntg
1
=
Bieu o Nyquist:
ieu kien on nh: ng cong Nyquist khong bao iem (1,j0).
Theo bieu o Nyquist, ieu nay xay ra khi:
1 ) ( <
M
Ta co:

= =

) ( ) (
1
T ntg
n
T tg

) (
1
|
.
|
\
|
=
n
tg T

) (
|
.
|
\
|
=
n
tg
T

Do o: 1 ) ( <
M

1
1
1
2
2
<
|
|
.
|
\
|
+
(
|
.
|
\
|
n
n
tg
T
T
K
n
n
tg K
|
|
.
|
\
|
+
|
.
|
\
|
< 1
2

Cho he thong hoi tiep am n v, biet ac tnh tan so cua he h
G(s), bai toan at ra la xet tnh on nh cua he thong kn G
k
(s).
Tieu chuan Bode: He thong kn G
k
(s) on nh neu he thong h
G(s) co o d tr bien va o d tr pha dng:
nh on thong He
0
0
>
>
M
GM
Tieu chuan on nh Bode: Th du
Tieu chuan on nh Bode: Th du
Cho he thong hoi tiep am n v, biet rang he h co bieu o Bode
nh hnh ve. Xac nh o d tr bien, o d tr pha cua he thong
h. Hoi he kn co on nh khong?
M
GM
L(
)
(
C
)
180
C
5 =
c
2 =
dB L 35 =
) (

dB GM 35 =
0
270 = ) (
c

0 0 0
90 270 180 = + = ) ( M
Do GM<0 va M<0
nen he thong kn khong
on nh.
Theo bieu o Bode:
Chu y
Chu y
Trng hp he thong hoi tiep am nh hnh ve, van co the ap dung
tieu chuan on nh Nyquist hoac Bode, trong trng hp nay ham
truyen h la G(s)H(s) .

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26 September 2006 H. T.

Hong - HBK TPHCM 1

26 September 2006 H. T. Hong - HBK TPHCM 18

26 September 2006 H. T. Hong - HBK TPHCM 21

26 September 2006 H. T. Hong - HBK TPHCM 33

26 September 2006 H. T. Hong - HBK TPHCM 38

26 September 2006 H. T. Hong - HBK TPHCM 39

26 September 2006 H. T. Hong - HBK TPHCM 40

26 September 2006 H. T. Hong - HBK TPHCM 48

QNS co hai iem tach nhap trung nhau tai 3

26 September 2006 H. T. Hong - HBK TPHCM 65

26 September 2006 H. T. Hong - HBK TPHCM 67

Ve gan ung bieu o Bode bien o:

26 September 2006 H. T. Hong - HBK TPHCM 77

Ve gan ung bieu o Bode bien o bang ng tiem can

Bieu o Bode qua iem A co toa o

26 September 2006 H. T. Hong - HBK TPHCM 80

26 September 2006 H. T. Hong - HBK TPHCM 83

Tan so cat pha (

): la tan so ma tai o pha cua ac tnh tan so

o d tr bien (GM Gain Margin):

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