Examples (Bachelor) PDF

i khi iu khin s iu khin s
(Di it l C t l S t ) (Digital Control Systems) (Digital Control Systems)

Cc v d: nh s th t theo Cc v d: nh s th t theo
chng ca gio trnh cng tn chng ca gio trnh cng tn g g g
(V i 7 8/2013) (Version 7, 8/2013) ( , )
M EE4435 M s: EE4435 s: 35
19 August 2013 Prof Hon Prof Dr Ing habil Ng Ph Quang 1 19 August 2013 Prof. Hon.-Prof. Dr.-Ing. habil. Ng. Ph. Quang
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1 M hnh tn hiu v h thng 1. M hnh tn hiu v h thng t u t g
1 2 i i 1.2 M hnh tn hiu trn min nh z 1.2 M hnh tn hiu trn min nh z
V d 1.2.1
Mt tn hiu gin on v
1
V d 1.2.1
Mt tn hiu gin on v
thi i t bi
( )
1 z
U z = =
thi gian c m t bi:
( )
1
1 1
U z
z z
-
= =
- -
Hy i tm nh U(z) v min hi t ca tn hiu !
Li gii:
y t U( ) v t ca t u !
Li gii:
D dng tm nh z ca tn hiu k trn bng cch tnh tng D dng tm nh z ca tn hiu k trn bng cch tnh tng
Laurent:
k
Laurent:
( )
( )
k
k k
a
U

-

( )
( )
k k
U z a z
z
= =

( )
0 0 k k
z
= =

Chui trn ch hi t khi , tc l vng pha ngoi ng trn c bn knh a. 1 a z < Chui trn ch hi t khi , tc l vng pha ngoi ng trn c bn knh a. 1 a z <
V d 1.2.2 Hy i tm nh z ca hm bc nhy n v 1(t) !
( ) ( ) ( )
( )
1
1 khi 0 1 khi 0, 1, 2,
1 1 1
k
k
t k
U

- -

=

.
( ) ( ) ( )
( )
1
0 0
, , ,
1 1 1
0 khi 0 0 khi 0
k
k
k k
u t u U z z z
t k
- -

= = = = =

< <

0 0
0 khi 0 0 khi 0
k k
t k
= =
< <

( )
r
( )
1
s
r
r q =
Khi thay vo chui: cc gi tr q = z

-1
v r = 1 ta thu c: ( )
0
1
s
q
q
=
-
1 z
y g q
( )
1
1
1 1
z
U z
-
= = ( )
1
1 1 z z - -
Kt qu trn ng vi mi gi tr trn ton min z tr im z = 1 Kt qu trn ng vi mi gi tr trn ton min z, tr im z = 1.
19 August 2013 Assoc Prof Hon Prof Dr Ing habil Ng Ph Quang 2 19 August 2013 Assoc. Prof. Hon.-Prof. Dr.-Ing. habil. Ng. Ph. Quang
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V d 1.2.3 Hy tm nh z ca hm e m (hm exponent) ! V d 1.2.3 Hy tm nh z ca hm e m (hm exponent) !
( ) ( ) ( )
( )
1
0 0 1 2
k
at akT akT k aT
f f kT f k F

- -

( ) ( ) ( )
( )
1
0 0
; 0 ; 0, 1, 2,
at akT akT k aT
k
k k
f t e t f kT f e k F z e z e z
- -
= = = = = =

.
0 0 k k = =
Kt qu tnh tng ca chui l:
( )
1
aT
e z
F
-
Kt qu tnh tng ca chui l:
( )
1
1 1
aT aT
F z
e z e z
- -
= =
- - 1 1 e z e z
V d 1.2.4
Hy tm nh z ca hm dc tuyn tnh ! ( ) ; 0; const f t at t a = =
y y ( ) f
D d i h F( ) d i d h i h ( )
k
F kT
D dng vit c nh F(z) di dng chui nh sau: ( )

0
k
k
F z a kTz
-
=

0 k=
tnh tng trn ta phi p

tnh tng trn ta phi p
d l t h ti
1 2 3
Tz Tz Tz
- - -

+ + +

dng nguyn l tnh tin v

d h h b
( )
2 3
Tz Tz
- -

+ +

s dng nh z ca hm bc
h 1( ) i l i
( )
3
Tz Tz
F z a
T
-
+ +

=

+
nhy 1(t) v vit li cng
Tz +

thc trn:

.
1 2 1 2
z z z

1 2 1 2
1 1 1
z z z
aT z z aT z z
- - - -

= + + = + +

1 1 1 z z z

- - -

1
z z aTz
aT z
-
= =
( )
2
1 1
1
aT z
z z
z
= =
- -
- ( ) 1 z
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V d 1.2.5 V d 1.2.5
B xung l thuyt:
Tm hm gc ca nh z cho trc bng phng php tch phn thc hu t thnh g g p g p p p
cc phn thc ti gin. Sau ln lt tm hm gc ca cc phn thc ti gin. p g g p g
k

1
; 1, 2,
k m
k
z
a m
- +

im cc n:
im cc lp li m ln:
z
( )
; 1, 2,
1
m
a m
m
z a

-

-
p
k
z
a
( )
1 k

z a -
( )
1
m
k m
k
z a a
-
-

-
-

( )
1
z a a
m

-

Cho trc nh z c dng phn thc:
V d:
Cho trc nh z c dng phn thc:
( )
0 9z z z
( )
2
0, 9
0 5 0 4 0 1 0 2
z z z
F z
z z z z
= = -
+ 0, 5 0, 4 0,1 0, 2 z z z z - + - -
p dng cng thc tm hm gc: p g g g
( ) 0 5 0 4
k
k
f ( ) 0, 5 0, 4
k
k
f = - -
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V d 1.2.6 B xung l thuyt: Tm hm gc ca nh z cho trc bng phng php tnh V d 1.2.6 B xung l thuyt: Tm hm gc ca nh z cho trc bng phng php tnh
Residuum Khi z = z l im cc
1
Residuum. Khi z z
n
l im cc
- lp li m ln:
( ) ( )( )
1
1 1
1
Res lim
m
m
k k
d
F z z F z z z z
-
- -

= -

- lp li m ln:
( )
( )
( )( )
1
z
Res lim
1 !
m
z z
F z z F z z z z
m dz n n
n
-
= -

-
n:
( )
( ) ( )( )
1 1
R li
k k
F F
- -
- n:
( ) ( )( )
1 1
z
Res lim
k k
z z
F z z F z z z z
n
- -

= -

z z z
n n
Hm gc c dng: ( )
1
Res
n
k
f F z z
-

=

Hm gc c dng: ( )
1
Res
k
f F z z
n=
=

1 n
( )
0, 9z
F
Xt h h h d 1 2 5 ( )
( )( )
,
0, 5 0, 4
F z
z z
=
- +
Xt hm nh cho v d 1.2.5:
( )( ) 0, 5 0, 4 z z +
( )
1
0 9 0 5
k-

( )
( )
( )( )
1
1
1
0, 9 0, 5
0, 5 Res lim 0, 5
k
k k
z z z
z F z z
-

-
= = =

( )
( )( )
1
1
0,5 z
0, 5 es 0, 5
0, 5 0, 4
z
z z
- +

C h i i khi
( )
1
0 9 0 4
k
k
z z z
-

+

C hai im cc z
1
, z
2
, vy khi:
( )
( )
( )( )
( )
1
2
0 4
0, 9 0, 4
0, 4 Res lim 0, 4
0 5 0 4
k
k
z z z
z F z z
-
+

=- = =- -

+
( )
( )( )
( )
2
0,4 z
0, 5 0, 4
z
z z
-

- +
H d ( ) 0 5 0 4
k
k
f
Hm gc c dng sau: ( ) 0, 5 0, 4
k
k
f = - -
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1 3 i 1.3 M hnh h thng trn min nh z 1.3 M hnh h thng trn min nh z
V d 1.3.1 M t khu c bn cht gin on bng phng trnh sai phn V d 1.3.1 M t khu c bn cht gin on bng phng trnh sai phn
Hy tm gi tr trung bnh [x
k
], tnh t 4 gi tr mi nht ca dy [u
k
] ! y t g t t u g b [x
k
], t t g t t ca dy [u
k
] !
Ch : Cn gi l php tnh trung bnh trt. Ch : Cn gi l php tnh trung bnh trt.
( )
1
+ + + ( )
1 2 3
4
k k k k k
x u u u u
- - -
= + + +
4
C th gim nhu cu tnh ton bng cch s dng gi tr va tnh trc : C th gim nhu cu tnh ton bng cch s dng gi tr va tnh trc :
( )
1
( )
1
( )
1 1 2 3 4
4
k k k k k
x u u u u
- - - - -
= + + +
Vy:
( )
1 4
4
k k k k
x x u u
- -
= + -
4 4
Php tnh trn c gi l thut ton tnh gi tr trung bnh trt c trng cho mt khu c Php tnh trn c gi l thut ton tnh gi tr trung bnh trt, c trng cho mt khu c
bn cht gin on bn cht gin on.
V d 1.3.2 M t khu c bn cht gin on bng hm truyn t V d 1.3.2 M t khu c bn cht gin on bng hm truyn t
Tip v d 1.3.1:
( ) ( ) ( ) ( ) ( ) ( )
4
1 4
1 1 1 1 z
X X U U U
-
- -
-

+ +
p
( ) ( ) ( ) ( ) ( ) ( )
1 4
1
4 4 4 1
k k k k
x x u u X z z X z U z z U z U z
z
- -
-

= + - = + - =

- 4 4 4 1 z
Thut ton tnh gi trung bnh trt c th c m t bi hm truyn t sau: Thut ton tnh gi trung bnh trt c th c m t bi hm truyn t sau:
( )
4
1 1
X z
z
-
( )
( )
( )
1
1 1
4 1
X z
z
G z
U
-
-
= = ( )
( )
1
4 1 U z z -
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V d 1.3.3 M t khu c bn cht lin tc vi tn hiu vo bc thang bng hm V d 1.3.3 M t khu c bn cht lin tc vi tn hiu vo bc thang bng hm
truyn t truyn t
Hy tm hm truyn t ca khu t l c qun tnh bc nht (khu PT1): ( )
1
G s = Hy tm hm truyn t ca khu t l c qun tnh bc nht (khu PT1): ( )
1
1
G s
sT
=
+

1
Cch 1:
T nh G(s) ta tm nh H(s) sau tm hm gc h(t)
( ) ( ) ( ) ( )
1
1 1
1 1

t
T
G s H s h t e t ( ) ( )
( )
( ) ( )
1
1 1
1 1
1 1
= = = -

+ +
G s H s h t e t
sT s sT ( )
1 1

Sau khi gin on ha hm gc h(t) ( )
1
1
kT
T kT
k
z z
h e H z
-
= - = - Sau khi gin on ha hm gc h(t),
ta tm nh z ca tn hiu gin on h :
( )
1
1
1
k
T T
h e H z
z z e
-
= =
- -
ta tm nh z ca tn hiu gin on h
k
:
( )
1
1 1
T T
z e
-
Vy hm truyn t c dng:
( )
( )
( )
1
1 1
1
1 1
1 1
T T T T
z e
G z z H z
-
- -
- -
= - = - = ( )
( )
( )
1 1
T T T T
z e z e - -
1
Cch 2:
C th tch nh H(s) thnh 2
( )
1
1
1 1 T
Cch 2:
C th tch nh H(s) thnh 2
phn thc ti gin:
( )
( )
1
1 1
1
1
T
H s
s
s
= = -
+ phn thc ti gin:
( )
1
1
1
1
s
s
s s
T
T
+
+
( )
1
D dng tm nh z ca H(s) bng
( ) { } ( )
z z
H s H z Z = =
D dng tm nh z ca H(s) bng
cch tm nh ca tng phn thc
( ) { } ( )
1
1
T T
H s H z
z z e
-
Z = = -
- -
cch tm nh ca tng phn thc
ti gin:
( )
( )
( )
1
1
1
1
T T
e
G H
-
-
ti gin:
( )
( )
( )
1
1
1
T T
e
G z z H z
z e
-
-
= - =
- z e
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truyn t truyn t

( )
Hy tm hm truyn t trn min nh z cho i tng sau:
( )
( ) x s
K
G s T T T ( )
( )
( ) ( )( ) ( )
1 2
1 2
1 1 1
S m
G s T T T
u s sT sT sT
= =
+ + +
.
. ( ) ( )( ) ( )
1 2
1 1 1
m
u s sT sT sT + + + .
Tch H (s) thnh cc phn thc ti gin: Tch H
S
(s) thnh cc phn thc ti gin:
1 1 1
( )
1 1 1
K
G s
T T T A A A A
( )
( )
1 2 0 1 2
S
m m
S
G s
T T T A A A A
H s = = = + + + +

( )
1 1 1
1 1 1
S
H s
s s
s s s
+ + + +

+ + +

+ + +
1 2
1 2
m
s s s
s s s s
T T T
T T T
+ + +

+ + +

.
1 2
1 2
m
m
T T T

1 1 1
1 2
m m
A K A K i

+
0
1 1
; 1, 2, ,
i
i j i i j i
A K A K i m
T T T

= =- - + =

.
1; 1; i j i i j i j i j
T T T
= =

Ch H ( ) i h

Chuyn H
S
(s) sang min nh z:

( ) ( ) { }
0 0
m m
i i
A A A A

( ) ( ) { }
0 0
1
1
1
i i
S S
T
A A A A
H s H s
s z
-

= + Z = +

{ }
1 1
1
1
1
1
i
i i
T
s z
s
z e
T
-
= =
-

-

+

-

1
i
z e
T

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1 M hnh tn hiu v h thng 1. M hnh tn hiu v h thng 1. M hnh tn hiu v h thng
1.3 M hnh h thng trn min nh z
V d 1.3.4 M t khu c bn cht lin tc vi tn hiu vo bc thang bng hm
1.3 M hnh h thng trn min nh z
V d 1.3.4 M t khu c bn cht lin tc vi tn hiu vo bc thang bng hm
truyn t truyn t

( )
1 1 1
T
T
m m m
T
T
-
-

Quy ng mu s:
( )
1 1 1
0
1 1 1
j
i
T
T
i
A z e z A z e
- - -
- + - -

( )
( )
( ) { }
( )
1 1; 1
1
1
i j j i i
G H
= = =
-

Z

( )
( )
( ) { }
1
1
S S
T
m
G z z H s

= - Z =

1
1
i
m
T
z e
-
-

Nhn xt: Khi tng dn T

1
1
i
z e
=
Nhn xt: Khi tng dn T

Gi t th h

Gi tr cc tham s a
i
nh
d
V d bng s c th: m = 3; K = 1; T
1
= 10s; T
2
= 7,5s; T
3
= 5s
dn.
Gi h b
g ; ;
1
;
2
, ;
3
Bng: H s ca G
S
(z) vi cc chu k trch mu T khc nhau
Gi tr cc tham s b
i
tng
Bng: H s ca G
S
(z) vi cc chu k trch mu T khc nhau
dn.
T [s] 2 4 6 8 10 12 Tng b
i
=1+a
i
tng dn.
b
1
0,00269 0,0186 0,05108 0,09896 0,15867 0,22608
Khi T ln, ta c:
1
b
2
0,00926 0,0486 0,1086 0,17182 0,22570 0,26433
1 ; a a b b +

2
b
3
0,00186 0,0078 0,01391 0,01746 0,01813 0,01672
3 3
1 ;
i i
a a b b +

a
1
-2,25498 -1,7063 -1,2993 -0,99538 -0,76681 -0,59381
v v vy c th b qua a
3
,
a
2
1,68932 0,958 0,54723 0,31484 0,18243 0,10645
y q
3
,
b
3
. M hnh ban u thc
a
3
-0,42035 -0,1767 -0,07427 -0,03122 -0,01312 -0,00552
b
3
. M hnh ban u thc
t ch cn l m hnh bc 2
b
i
=1+a
i
0,01399 0,0750 0,17362 0,28824 0,40250 0,50712
t ch cn l m hnh bc 2.
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truyn t truyn t
V d xt khu t l c qun tnh bc 2 (khu PT2), c iu khin bi tn hiu vo c dng
bc thang. y l khu lin tc mang tnh in hnh. d so snh, ta chn i tng l ng g y g g g
c mt chiu (CMC), c iu khin bi in p nui phn ng. ( ), p p g
Gi u
A
(t) l in p nui v n(t) l tc quay, CMC c m hnh trn min nh Laplace sau: G u
A
(t) p u v n(t) tc quay, C C c t ap ace sau:
( ) N s
K
J Mmen qun tnh ca cc
( )
( )
( )
2
1
N s
K
G s
U T T T
= =
J Mmen qun tnh ca cc
khi gn vo trc CMC
( )
( )
2
1
A mech mech el
U s sT s T T + +
g
y
0
T thng (coi l const)
( )
1 6 1 1 1
sec; sec; sec
A A
J R L
T T K V
-
= = = = = = Vi:
R
A
in tr mch phn ng
L i h h
( )
2
0 0
sec; sec; sec
5 6 8
mech el
A
T T K V
R c ck y y
= = = = = = Vi:
L
A
in cm mch phn ng
c k Cc hng s ca CMC c, k Cc hng s ca CMC
Sau khi thay s c th ta bit rng khu PT2
1
Sau khi thay s c th, ta bit rng khu PT2
trn c th c thay th bi 2 khu PT1 vi
( )
8
K
G s
trn c th c thay th bi 2 khu PT1, vi
T = 1sec v T = 0 2sec:
( )
( )( ) 2
1 2
6 1
1 1
1
= =
+ +
+ +
G s
sT sT
T
1
= 1sec v T
2
= 0,2sec:
( )( ) 2
1 2
1 1
1
5 5
+ +
+ +
sT sT
s s
5 5
Ta bit cng thc:
( ) ( ) ( ) { } ( )
( )
( ) { }
1
1 G G G G H
-
Z Z Ta bit cng thc:
( ) ( ) ( ) { } ( )
( )
( ) { }
1
1
S H S
G z G s G s G z z H s =Z = - Z
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V d 1.3.5 (tip) V d 1.3.5 (tip)
( )
( )
1
1 1

( )
( )
( )( )
1
1 1
1 ;
1 1 8
-
= - Z =

+ +
S
G z K z K
s sT sT
Thay H(s) vo ta c: ( )
( )
( )( )
1 2
1 1 8

+ +

s sT sT
Sau khi tch phn thc trong ngoc {} thnh cc phn thc ti gin v p dng cng p g g { } p g p g g
thc (trang 17, mc 1.3.2b ca gio trnh) ta c: ( g , g )
5 1 1 5

5 1 5 6 2
5 1 1 5
1
1 4 4 4 4
T T T T T
e e z e e e z
- - - - - - -

- + + - +

( )
( )
1 4 4 4 4
;
S
G z K K

= = ( )
( )
5 1 6 2
;
8
1
S
T T T
e e z e z
- - - - -
- + +
( )
Nu chn chu k trch mu l T = 0,2 sec ta c hm truyn t ca CMC trn min
nh z sau y:
( )
1 2
0, 00857 0, 00575 z z
G z
- -
+
( )
1 2
1 1,18661 0, 30119
S
G z
z z
- -
=
- + 1 1,18661 0, 30119 z z +
D dng kim tra kt qu trn bng cch chn tn hiu vo U(z) = z/(z-1) tm p ng D dng kim tra kt qu trn bng cch chn tn hiu vo U(z) z/(z 1) tm p ng
ra X(z) = G
S
(z) U(z) Sau chuyn X(z) sang chui s ti cc thi im t = 0 2k (vi ra X(z) G
S
(z) U(z). Sau , chuyn X(z) sang chui s ti cc thi im t 0,2k (vi
k = 0 1 2 ) Bng cch c th so snh vi tn hiu x(t) trn min gc k 0, 1, 2, ). Bng cch c th so snh vi tn hiu x(t) trn min gc.
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V d 1.3.6 M t khu c bn cht lin tc vi tn hiu vo bc thang bng m V d 1.3.6 M t khu c bn cht lin tc vi tn hiu vo bc thang bng m
hnh trng thi gin on hnh trng thi gin on
V d ny s dng CMC v d 1 3 5 V d ny s dng CMC v d 1.3.5
minh ha phng thc m t bng m hnh minh ha phng thc m t bng m hnh
t thi i V CMC l i t trng thi gin on. V CMC l i tng
SISO h h h h h b SISO, m hnh c cu trc nh hnh bn.
CMC c th c m t bi phng trnh vi phn bc 2 (xut pht im ca khu PT2 C C c t c t b p g t v p bc ( ut p t ca u
v d 1.3.5) sau y:

v d 1.3.5) sau y:
2 1 0 A
a n a n a n u + + =
2 1 0 A
3 2
8 48
8
A A
L J R J
V V V y
Vi
3 2
2 1 0 0
0 0
8 8
sec ; sec ; 8 sec
5 5
A A
a V a V a c V
k k
y
y y
= = = = = =
Vi:
0 0
5 5 k k y y
Cc bin iu khin v bin M hnh trng thi

Cc bin iu khin v bin

t thi h h
M hnh trng thi
d b
1 2
q q
trng thi c chn nh sau: c dng bn:

0 1
1 a a
1
q n x
= =
0 1
2 1 2
q q q u
a a a
=- - +
1
;
A
q
u u

2 2 2
a a a
2
;
A
q n
1
x q =

HBK H Ni
12
HBK H Ni
V d 1.3.6 (tip)
C th vit li m hnh trng thi di dng ma trn:
V d 1.3.6 (tip)
C th vit li m hnh trng thi di dng ma trn:
0 1 0
0
0 1

( ) ( ) ( ) t t u t
= +
q Aq b
[ ]
0
0 1
; ; 1 0 ; 0 1
5
d a a

= = = = = =

T
A b c vi:
( ) ( ) ( )
( ) ( ) x t t
T
c q
[ ]
0 1
; ; 1 0 ; 0 1
5
5 6
8
d a a

= = = = = =

- -
- -

A b c vi:
( ) ( ) x t t
c q
2 2 2
8
a a a

tm c phng trnh chuyn trng thi: tm c phng trnh chuyn trng thi:
( ) ( ) ( ) ( ) ( )
t
( ) ( ) ( ) ( ) ( ); 0, 1, 2, n n = - + - =
F F
k k k
t
t t t t t d u t k q q b
hi u( ) h( )
( ) ( ) ( ) ( )
( )
( )
k
t
h
ta cn phi tm c u(t) v h(t):
( ) -
k
t t h
C th tm ma trn chuyn trng thi
( ) ( )
{ }
1
1 t
t L
-
- A
I A F
C th tm ma trn chuyn trng thi
bng bin i Laplace ngc:
( ) ( )
{ }
1 t
t e L s = = -
A
I A F
bng bin i Laplace ngc:
{ }
( ) ( )
1
1 6 1
1
s s
-

- +

A A ( ) ( )
1
2
1
5 6 5 5 6
s s
s s s s
+

- = - =

+ + +

I A I A
T:
5 6 5 5 6 s s s s

+ - + +

5 5
5
1
t t t t
e e e e
- - - -

- -

ta thu c: ( )
5 5
5
1
5 5 5
4
t t t t
e e e e
t
- - - -

=

F ( )
5 5
5 5 5
4
t t t t
e e e e

- + - +

HBK H Ni
13
HBK H Ni
V d 1.3.6 (tip)
C th tnh tch phn ( ) ( )
n
n n
=
F
t
t t d h b
V d 1.3.6 (tip)
C th tnh tch phn
th t b h
( ) ( )
0 n
n n
=
= -
F t t d h b
theo tng bc nh sau:

t
5 5
0
1 4 1
1 5 5
J J - - - -

- + - +
t
t t
e e e e
( ) ( )
0
1 5 5
thay
5 5 5
4 8 32
J n J J
- + - +
= - =- = =

F
e e e e
t t d h b ( ) ( )
5 5
y
4 8 32
J J - - - -

- -

t
t t
e e e e
0

e e e e
Vi T = t
k+1
- t
k
ta c:

( ) ( )
5 5
5
4 1
5 1
1 5
T T T T
T T
e e e e q k q k e e
- - - -
- -

+ + ( )
( )
( )
( )
( )
1 1
5 5
5 1
1 5
5 5
T T T T
e e e e q k q k e e
u k

- - + - +

= +

( ) ( )
( )
5 5
5
2 2
5 5
5 5 5 1 4 32
T T T T
T T
u k
e e e e q k q k
e e
- - - -
- -
+

- + - + +

( ) ( )
2 2
q q
e e

-

V d 1.3.7 Tm hm truyn t t m hnh trng thi gin on cho trc V d 1.3.7 Tm hm truyn t t m hnh trng thi gin on cho trc
Vi m hnh: Theo gio trnh (mc 1.3.2d) ta c:
( ) F dj I
V : eo g o t ( c .3. d) ta c:
( ) ( ) T T u
= + q q h F
( )
( ) -
=
F
T
adj z
G z
I
c h
( ) ( )
1 k k k
T T u
+
= +
q q h F
( )
( ) det -F
G z
z
c h
I
T
k k
x
c q ( )
k k
q
Gi s, CMC c m hnh trng thi gin on cho trc nh kt qu ca v d 1.3.6. Hy
tm hm truyn t gin on ca ng c !
HBK H Ni
14
HBK H Ni
V d 1.3.7 (tip) V d 1.3.7 (tip)
B h K hi d (A) i l b A M b d (A) B sung cng thc: K hiu adj(A) c gi l ma trn b ca ma trn A. Ma trn b adj(A)

k
c kch c ging A, vi cc phn t c tnh theo cng thc det(A
ik
) nhn vi (-1)
i+k
. Trong
, A
ik
l ma trn thu c t A sau khi b hng th i v ct th k ca A.

A A A
11 12 1 11 21 1

n n
a a a A A A
21 22 2 12 22 2

a a a A A A
( )
21 22 2 12 22 2

= =

. . . . . .
n n
a a a A A A
adj A A
( )

. . . . . .
j

a a a A A A
1 2 1 2

n n nn n n nn
a a a A A A
11 12 1

a a a
11 12 1

n
a a a
( ) ( )
21 22 2
1 d t
+

i k
n
a a a
A A A i
A b hng th i
( ) ( )
1 det

= - =

. . .
ik ik ik
A A A vi:
g

. . .
1 2

n n nn
a a a
1 2

n n nn
A b A b
ct th k ct th k
HBK H Ni
15
HBK H Ni
V d 1.3.7 (tip) 5 5
5 1 1 1
T T T T - - - -

+ +
V d 1.3.7 (tip) 5 5
4 4 4 4
T T T T
z e e e e - + - +

4 4 4 4
5 5 1 5
z

- =

I F
Vi:
5 5
5 5 1 5
4 4 4 4
T T T T
e e z e e
- - - -

- + -

4 4 4 4

( )
( ) ( )( )
2 5 6 5
det
- - - - -
- = - + + = - -
F
T T T T T
z z e e e z e z e I
ta tnh c:
( )
( ) ( )( )
1 5 1 1

ta tnh c:
5 5
1 5 1 1
- - - -
+ - -
T T T T
z e e e e
( )
4 4 4 4
+

F
z e e e e
adj zI ( )
5 5
5 5 5 1
- - - -
- =
+ +

F
T T T T
adj zI
5 5
4 4 4 4
- + - +

T T T T
e e z e e
4 4 4 4

Vi:
4 1

Vi:
[ ] ( )
5
4 1
5
T T
e e
- -

- +
[ ] ( )
5
1 0 ;
5 5
32
e e
T
+
= =

T
c h
D d ki khi h
[ ] ( )
5
32
T T
e e
- -

-

D dng kim tra sau khi thay vo:
ta tnh a thc t s ca hm truyn t:
e e

( )

-

F
T
adj z c I h ta tnh a thc t s ca hm truyn t:
( )

F
T
adj c I h
( )
( ) d

F
F
adj z c I h
( )

- =

F adj z c I h
( ) det -F zI
5 5 6
1 5 1 1 5
1

T T T T T
Ta s thu c hm truyn t G
S
(z)
5 5 6
1 5 1 1 5
1
8 4 4 4 4
- - - - -

- + + - +

T T T T T
e e z e e e
y
S
( )
ng nh v d 1.3.5.
8 4 4 4 4

g
HBK H Ni
16
HBK H Ni
V d 1.3.8 M t h trong khong gia 2 thi im trch mu bng V d 1.3.8 M t h trong khong gia 2 thi im trch mu bng
php bin i z m rng php bin i z m rng
CMC v d 1.3.5 c nui bi in p dng bc thang vi nh Laplace: CMC v d 1.3.5 c nui bi in p dng bc thang vi nh Laplace:
( )
5 8
T
( ) ( ) ( )
( )
( )( )
5 8
1
1 5
sT
S H
G s G s G s e
-
= = - ( ) ( ) ( )
( )
( )( ) 1 5
S H
s s s + +
Tra bng bin i z m rng ta c cng thc: g g g
1 1
aT bT
b
e e - -

1 1
aT bT
z b z e a z e
e e

+ -

( )( ) 1
aT bT
s s a s b ab z a b a b z e z e
- -
+

+ + - - - - -

( )( )

d h CMC h k p dng vo trng hp CMC ta thu c kt qu:
( ) ( )

( ) ( )
2 0,2 0,2
1 1, 25 0, 25 1,18661 1, 70985 0, 45468 z e e z e e
e e e e - - - -

- + - - +

( ) ( )
( )
0 2
, , , , ,

( )
( )
0,2
0, 30119 0, 45985 0, 20468
1
e e
e e - -

+ - +

( )
( )
( )( )
1
,
8 0 81873 0 36788
S
G z e

= ( )
( )( ) 8 0, 81873 0, 36788
S
z z - -
HBK H Ni
17
HBK H Ni
V d 1.3.8 (tip) V d 1.3.8 (tip)
kim tra ta thay gi tr bin e = 0 vo v thu c hm truyn t v d 1 3 5
( )
0 00857 0 00575 z +
kim tra ta thay gi tr bin e 0 vo v thu c hm truyn t v d 1.3.5
( )
( )( )
0, 00857 0, 00575
0 81873 0 36788
S
z
G z
+
= ( )
( )( ) 0, 81873 0, 36788 z z - -
Vi nh z m rng ca hm truyn t tng qut: Vi nh z m rng ca hm truyn t tng qut:
( ) ( ) ( ) ( ) ( ) ( )
, ,
S
X z G z U z e e =
ta c mt cng c kho st cc gi tr nm trong khong gia hai thi im trch mu
( ) ( ) ( )
g g g g g
( ) ( ) V d: Khi tn hiu vo c dng bc nhy v e = 0,5 (chnh gia k v k+1) ( ) ( ) 1 U z z z = -
2
0 002573 0 010595 0 001156

t ( )
2
1
0, 002573 0, 010595 0, 001156 z z
z
X

- +

ta c: ( )
( )( )
1
2
,
1 0 81873 0 36788
X z
z z z

=
- - - ( )( ) 1 0, 81873 0, 36788 z z z
Khi p dng php bin i z ngc ta thu c tn hiu s, cho php tnh gi tr ca p g p p g p p g
chui [x
k+
], trng vi cc gi tr ca x(t) chnh gia hai thi im trch mu. [
k+
], g g ( ) g
HBK H Ni
18
HBK H Ni
V d 1.3.9 M t h gin on c tr khi tn hiu vo c dng bc thang V d 1.3.9 M t h gin on c tr khi tn hiu vo c dng bc thang
Hy tm hm truyn t G
d
(z) ca h c tr hnh di y khi K
S
= 1, T
S
= 1sec: Hy tm hm truyn t G
d
(z) ca h c tr hnh di y khi K
S
1, T
S
1sec:
( )
( )
1
sT T

Cng thc tng qut tnh G
d
(z): ( )
( )
( )
1
1
1
d
sT sT
d
G z e e
s s
- -

=Z -

+
( )
( ) 1 s s

+

a) Khi d T /T l s nguyn ln: a) Khi d = T
d
/T l s nguyn ln:
( )
1 3

( )
( ) ( )
( )
( )
1 3
1
1 2 1 2 2
1
1 0, 6321
1 1
- -
-
- - - - -
-

Z

e z
z
G H ( )
( )
( )
( )
( )
( )
1 2 1 2 2
1 1 1
,
1 1
1 1 1 0 3679
- - -

= - Z = - = =

+ - -

d
G z z z z z H z z
s s e z z ( ) 1 1 1 0, 3679 +

s s e z z
b) Khi d = T
d
/T khng phi l s nguyn ln: Phi s dng php bin i z m rng. Gi s ta
c T = 1sec v T
d
= 1,6 sec Vy: T
d
= (dT - eT) vi d = 2 v e = 0,4
( )
( ) ( )
0,4 2 0,4 1 3
1
1
0 3297 0 3024
e z e e z
z
- - - - -
-
- + -
+
( )
( )
( )
( ) ( )
1 2 2
1 1 1
1
0, 3297 0, 3024
1 ; 0, 4
1 1 0 36 9
d
e z e e z
z
G z z z H z z
- - -
+
+
= - = = ( )
( )
( )
1 1 1
1 1 0, 3679
d
e z z
- - -
- -
Ch : Vic tm nh z (c hay khng c m rng) c tin hnh vi s tr gip ca bng C : V c t (c ay g c g) c t v s t g p ca b g
HBK H Ni
19
HBK H Ni
2 K c phn hi u ra 2. K c phn hi u ra c p u a
2 1 2.1 Xt n nh ca h thng K s 2.1 Xt n nh ca h thng K s
V d 2.1.1 S dng php bin i tng ng
1 1 z w - +
V d 2.1.1 S dng php bin i tng ng
1 1
w z
z w
= =
+ -
V d a):
1 1 z w +
V d a):
( )
2
Ch h h b ( )
2
1 2
N z z a z a = + + Cho trc a thc c tnh bn:
( )
2
1 1 w w

+ + 1 w +
( )
1 1 2
1 1
1 1
w w
N w a a
w w

+ +

= + +

Thay vo N(z) thu c N
1
(w):
1
1
w
z
+
=
2 2
1 1 w w - -
1 w -
( ) ( ) ( )( ) ( )
2 2
2 1 2
1 1 1 1 N w w a w w a w = + + + - + - Nhn N
1
(w) vi (1-w)
2
thu c N
2
(w): ( ) ( ) ( )( ) ( )
( ) ( ) ( )
2
1 2 1 1 a a w a w a a = + + + + +
1
( ) ( )
2
( )
( ) ( ) ( )
1 2 2 1 2
1 2 1 1 a a w a w a a = - + + - + + +

1 2 2 1 2
1 0; 1; 1 0 a a a a a - + > < + + > Tiu chun HURWITZ -iu kin 1:
-iu kin 2: Cc nh thc HURWITZ phi dng
V d b): Dng php bin i trn
( )
1
1 2
B
- V d b): g p p b t
xt n nh cho vng C vi: ( )
( )
( )
( )
1 2
1 2
;
S R
B z
b z b z
G z G z K
- -
+
= = = xt n nh cho vng C vi: ( )
( )
( )
1 2
1
1 2
;
1
S R
G z G z K
a z a z
A z
- -
-
+ +
( )
( )
( ) ( )
( ) ( )
1 1 2
0 0 N A K B b K b K
- -
+ + + + + Phng trnh c tnh:
( )
( ) ( )
( ) ( )
1 1 2
1 1 2 2
0 0 N z A z K B z z a b K z a b K = + = + + + + = Phng trnh c tnh:
( )
2 2
1 K a b
< -
Sau khi tm c N
2
(w) v
Gi b 0 1087 b 0 0729
( )
( ) ( )
2 2
1 K a a b b
> - - -
Sau khi tm c N
2
(w) v
p dng c 2 iu kin:
Gi s: b
1
=0,1087; b
2
=0,0729;
1 1197 0 3012
( ) ( )
( ) ( )
1 2 2 1
1
1
K a a b b
K b b
> - - -
p dng c 2 iu kin:
a
1
= -1,1197; a
2
=0,3012
V K 9 58 K 67 62 K 1 ( ) ( )
1 2 2 1
1 K a a b b
>- + + +
Vy: K<9,58; K<67,62; K>-1

HBK H Ni
20
HBK H Ni
V d 2.1.2 S dng qu o im cc Tip tc xt CMC vi tham s cho v d 1.3.5. V d 2.1.2 S dng qu o im cc Tip tc xt CMC vi tham s cho v d 1.3.5.
Hm truyn t G
S
(z) tm c trang 9

Hm truyn t G
S
(z) tm c trang 9.
C th G
S
(z) vit li nh sau:
5 6
5 4
T T T
e e e
z
- - -
- +
+
( )
5
5
5 1
4 5
1
T T
T T
z
e e
G z K e e
- -
- -
+

- +
( )
( )( )
5
1
4 4
S
T T
G z K e e
z e z e
- -
+
= - +

- -
( )( )
z e z e

Vi T 0 2sec v G ( ) r ta c hm Vi T = 0,2sec v G
R
(z) = r
0
ta c hm
t t h h truyn t vng h nh sau:
0 6714 +
( )
( )( )
0 0
0, 6714
0, 06856
0 818 0 36 9
z
G z r K
+
= ( )
( )( )
0 0
,
0, 8187 0, 3679 z z - -
M hnh trn c 1 im khng M hnh trn c 1 im khng
z
D
= -0 6714 v 2 im cc z
D
0,6714 v 2 im cc
z = 0 8187; z = 0 3679 z
1
0,8187; z
2
0,3679
Theo mc 2 1 3 cu trc trn s c qu o im Theo mc 2.1.3, cu trc trn s c qu o im
cc dng hnh trn vi bn knh r = 1 244 nh bn cc dng hnh trn vi bn knh r = 1,244 nh bn.
Tm ca ng trn q o trng i tr im Tm ca ng trn qu o trng vi v tr im
kh i ii h h l i i khng z
D
. im gii hn ca n nh l giao im
i K K 15 18 ca qu o vi ng trn K
0
= r
0
K = 15,18.
HBK H Ni
21
HBK H Ni
V d 2.1.3 D bo qu trnh qu trn c s v tr im cc (mc 2.1.4a) V d 2.1.3 D bo qu trnh qu trn c s v tr im cc (mc 2.1.4a)
Gi s CMC v d 1 3 5 c C tc quay nh mch vng chun (mc 2 3 1) Trong Gi s, CMC v d 1.3.5 c C tc quay nh mch vng chun (mc 2.3.1). Trong
G (z) ch l khu t l vi h s K l r Phng trnh c tnh (khi T = 0 2 sec) l: G
R
(z) ch l khu t l vi h s K l r
0
. Phng trnh c tnh (khi T = 0,2 sec) l:
( ) ( ) ( )
2
( ) ( ) ( )
2
0 0
0, 00857 1,18661 0, 00575 0, 30119 0 N z z z r r = + - + + = ( ) ( ) ( )
Chn: r 40; K 5 Chn: r
0
= 40; K
0
= 5
( )
2
0, 84381 0, 53119 N z z z = - + ( )
( )( ) 0 422 0 594 0 422 0 594 0 z j z j + ( )( ) 0, 422 0, 594 0, 422 0, 594 0 z j z j = - - - + =
Chn: r = 80; K = 10 Chn: r
0
= 80; K
0
= 10
( )
2
0 50101 0 76119 N( )
2
0, 50101 0, 76119 N z z z = - +
( )( ) 0 251 0 836 0 251 0 836 0 z j z j = - - - + = ( )( ) 0, 251 0, 836 0, 251 0, 836 0 z j z j = + =
Nhn xt: Theo biu mc 2 1 4 trng hp a thc c tnh l bc 2 vi cp im Nhn xt: Theo biu mc 2.1.4, trng hp a thc c tnh l bc 2 vi cp im
h li h t t h h th h cc phc lin hp nm trong ng trn n v s c p ng u ra n nh cha thnh
h i h ( th h h h h i ) phn iu ha (c thnh phn hnh sin).
HBK H Ni
22
HBK H Ni
V d 2.1.4 D bo c tnh ca h thng K s (mc 2.1.4b) V d 2.1.4 D bo c tnh ca h thng K s (mc 2.1.4b)
H thng K s vi CMC v d 2.1.2, khi p dng kin thc thit k ta s thu c t g s v C C v d . . , p d g t c t t ta s t u c
phm vi cht lng nh hnh di (bn tri). p ng qu n nh (bn phi) l ca phm vi cht lng nh hnh di (bn tri). p ng qu n nh (bn phi) l ca
trng hp T = 0,2sec v r
0
= 40 (K
0
= 5), ng vi im cc z
1 2
= 0,422 j0,594. trng hp T 0,2sec v r
0
40 (K
0
5), ng vi im cc z
1,2
0,422 j0,594.
( )
0 1
0, 96 55 4, 8sec
0 363
e e e e
T
h
d w
w w
-
-
= =

=
( )
1
, ,
0, 363
0 73 1 55 0 65
e e e e
T
h e
T
d w
d
d
- -

D = =
1
0, 73 1, 55sec 0, 65sec
e
T
e m e
e T
d
d p w
= = = =

2 2 1
5%
0
3 1, 94sec
5, 04sec
e
e e
T d
w d w
-

=

= + =

0
0 2%
,
4 2, 58sec
0 308 arccos 72
e e
e
T
D D
d
d w j

=
= = = =
0
0, 308 arccos 72
e
D D d w j

= = = =
HBK H Ni
23
HBK H Ni
2 2 i i i i i 2.2 Thit k trn min thi gian xp x lin tc 2.2 Thit k trn min thi gian xp x lin tc
V d 2.2.1 Khu C theo lut PI bit trc V d 2.2.1 Khu C theo lut PI bit trc
Ly CMC vi tham s cho trc v d 1 3 5 c nh Laplace sau lm xut pht im:
1 8 K
Ly CMC vi tham s cho trc v d 1.3.5, c nh Laplace sau lm xut pht im:
( )
1 8
S
K
G s = = ( )
( )( ) ( )( )
1 2
1 1 1 1 0, 2
G s
sT sT s s + + + + ( )( ) ( )( )
Vng C c thit k trn min tn s vi khu C (theo Reinisch) theo lut PI,
to qu C Dh = 20%. im khng ca khu C b im cc ln nht, hng s thi
gian ln nht T
1
. g
1
1 sT +
( )
1 2%
1
1sec; 48,19; 0, 645sec; 1, 6sec
C
R R C R m
sT
G s K T T K T T
T
+
= = = = = = ( )
1 2% R R C R m
C
sT
Khi p dng xp x thnh phn I theo phng php hnh ch nht v thnh phn D theo p d g p t p t eo p g p p c t v t p t eo
khai trin chui gn ng bc nht ta c khu C (gin on) thit k xp x lin tc sau. khai trin chui gn ng bc nht ta c khu C (gin on) thit k xp x lin tc sau.
1
( )
1
48,19 38, 55z
G
-
-
( )
1
, ,
1
R
G z
-
=
1
1 z -
HBK H Ni
24
HBK H Ni
2 3 i i i i i 2.3 Thit k trn min thi gian gin on 2.3 Thit k trn min thi gian gin on
V d 2.3.1 Thit k trn c s cc tiu chun tch phn (mc 2.3.1c) V d 2.3.1 Thit k trn c s cc tiu chun tch phn (mc 2.3.1c)
B l h B xung l thuyt:
V vic tnh b tham s ti u chnh xc theo TC tch phn thng kh khn, ta c th n gin
ha vn bng cch a ra mt s hn ch trc. T ta s d dng thu c b tham s cn
ti u (suboptimal). ( p )
C gng chn khu C c phng trnh sai phn bc cng thp cng tt. g g p g p g p g
( )
1
U z
r r z
-
+
Minh ha: Ta chn khu C c c tnh PI v chn p
1
= -1. Vy ta ( )
( )
( )
0 1
1
1
R
U z
r r z
G z
E
-
+
= =
p
1
y
ch phi tm r
0
v r
1
.
( )
( )
1
1
1
R
E z p z +
p
0 1
u u r e r e = + +
H c tr: Sai lch C c dng e = 1
k
cc gi tr u ra l v ta c:
1 0 1 1 k k k k
u u r e r e

= + +
u r =
H c tr: Sai lch C c dng e
k
= 1
k
, cc gi tr u ra l v ta c:
0 0
u r =
1 0 1 0 0 1
2 u r r u r r = + + = +
.
( )
1 0 1 2 k k k
.
( )
0 1 1 0 1
1 ; 0, 1, 2,
k k
u r r u k r k r k
= + + = + + =
V bin u tin u do chnh r quyt nh ta c th cho trc bin xc nh r V bin u tin u
0
do chnh r
0
quyt nh, ta c th cho trc bin xc nh r
0
.
Vy: Vy:
1 0 1 0
u u r r s s
1 0 1 0
HBK H Ni
25
HBK H Ni
B l h ( ) B xung l thuyt (tip):
H khng c tr: Ta phi xt c phn hi tip v tm r
1
:
(
( )
( ) ( ) ( ) ( )
( )
( ) ( )
1 1 1 1 1 1
U z P z A z R z B z W z R z A z

(
+ =

( )
( ) ( ) ( ) ( )
( )
( ) ( )

Vi b 0 v a 1 ta c: Vi b
0
= 0 v a
0
= 1 ta c:
( )
( )( ) ( )( ) ( )( )
( )
1 1 1 1 1 1
b
(
( )
( )( ) ( )( ) ( )( )
( )
1 1 1 1 1 1
1 0 1 1 0 1 1
1 1 1 U z z a z r r z b z r r z a z w z

(
+ + + + + = + + +

( )( ) ( )( ) ( )( )

Sau khi nhn ra v chuyn tr li min gc ta s
u r u u s

Sau khi nhn ra v chuyn tr li min gc ta s
thu c gi tr ca hai bin u tin cng
0 0 1 0
u r u u = s

thu c gi tr ca hai bin u tin cng
nh iu kin rng buc gia hai tham s bn:
( )
2
1 0 0 1
1 0 0 1 1
1
2
r r r b
u r r b r

s
= +

nh iu kin rng buc gia hai tham s bn:
( )
1 0 0 1
1 0 0 1 1
1
2
r r r b
u r r b r
s
+

Hy thit k khu C thut PI cho vng di y i tng l CMC v d 1 3 5 bit: Hy thit k khu C thut PI cho vng di y. i tng l CMC v d 1.3.5 bit:
( )
1 2
0 00857 0 00575 z z
- -
+
( )
1 2
0, 00857 0, 00575
1 1 18661 0 30119
S
z z
G z
z z
- -
+
=
+ 1 1,18661 0, 30119 z z - +
HBK H Ni
26
HBK H Ni
Chn sn p
1
= -1. Gi s bin u
max
= 20 ta c r
0
= 20. Vi b
1
= 0,00857 v iu kin rng C s p
1
. G s b u
max
0 ta c
0
0. V b
1
0,00857 v u g
buc trang trc ta s c: r
1
s -16,57.
N
buc trang trc ta s c: r
1
s 16,57.
Vic tm chnh xc r
1
phi da trn mt TC cht lng c th Gi s ta chn:
2
N
Q k
I e =
Vic tm chnh xc r
1
phi da trn mt TC cht lng c th. Gi s ta chn:
0
Q k
k
I e
=
=
Vi: ta tnh c sai lch C:

0 k=
( ) ( )
1 1 2
0 1 1 2
r r z b z b z
G G
- - -
+ +
( ) ( )
1
E W
Vi: ta tnh c sai lch C:
( ) ( )
0 1 1 2
1 2 1
;
1 1
S R
G z G z
a z a z z
- - -
+ +
= =
+ + -
( ) ( )
1 1 2
0 1
E z W z
r r z b z b z
- - -
=
+ +
1 2
1 1 a z a z z + + -
0 1 1 2
1 1 2
1
1 1
r r z b z b z
z a z a z
- - -
+ +
+
+ +
1 2
1 1 z a z a z - + +
Vit sai lch C di dng sai phn: Vit sai lch C di dng sai phn:
( ) ( ) ( )
1 1 e w w a w a a w a e a r b = + + +
( ) ( ) ( )
( ) ( )
1 1 2 2 1 3 2 1 1 0 1
1 1
k k k k k k
e w w a w a a w a e a r b

= + + +
1
20 17
-
-
=
z
G
( ) ( )
2 2 1 0 2 1 1 3 1 2 2 k k
e a a r b r b e r b a

+ +
1
1
-
=
-
R
G
z ( ) ( )
1 2 3 1
2 18661 1 4878 0 30119 2 01521
k k k k k
w w w w e = + +
( ) ( )
1 2 3 1
2,18661 1, 4878 0, 30119 2, 01521
1 6028 0 00857 0 30119 0 00575
k k k k k
w w w w e

= + +
( ) ( )
1 2 1 3
1, 6028 0, 00857 0, 30119 0, 00575
k k
r e r e

+ +
k
Khi cho trc p
1
, r
0
v w
k
= 1
k
, ta c th thay e
k
vo I
Q
Q
v tnh th vi N = 3. Phng trnh bc 2 ca r
1
c im
cc tiu (hnh bn) ti im r
1
~ -16, chn r
1
= -17.
1 1
HBK H Ni
27
HBK H Ni
V d 2.3.2 Tm b tham s C theo phng php gn im cc (mc 2.3.1e) V d 2.3.2 Tm b tham s C theo phng php gn im cc (mc 2.3.1e)
( )
1 2
0, 00857 0, 00575 z z
G z
- -
+
Hy tm b tham s C cho i tng CMC c m hnh
( )
1 2
1 1,18661 0, 30119
S
G z
z z
- -
=
- +
y g
v d 1.3.5. i tng K c hm truyn t bn:
1 1,18661 0, 30119 z z +
g y
1
Chn khu C l khu PI: ( )
1
0 1
r r z
G z
-
+
=
Cc tham s: b
1
= 0,00857; b
2
= 0,00575
Chn khu C l khu PI: ( )
1
1
1
R
G z
p z
-
=
+
Cc t a s: b
1
0,00857; b
2
0,00575
a
1
= -1,18661; a
2
= 0,301119
1
p +
a
1
1,18661; a
2
0,301119
Theo mc 2.3.1e) ca gio trnh
( ) ( )( )( )
3 ' 2 ' '
a thc bn c coi l bit:
( ) ( )( )( )
3 ' 2 ' '
1 2 3 2 1 0
N z z z z z z z z a z a z a = - - - = + + +
'
0
1
0 30119 0 00575 0
a
p

'
0
1
0 6462 0 4336 0 2909
a
p

-

0
1
'
0, 30119 0, 00575 0
1 18661 0 00857 0 00575 0 30119
p
r a

=

0
1
'
0, 6462 0, 4336 0, 2909
140 0639 22 7104 15 2374 0 30119
p
r a

=

1 1
'
1,18661 0, 00857 0, 00575 0, 30119
1 0 0 00857
r a

- = -

1 1
'
140, 0639 22, 7104 15, 2374 0, 30119
75 4023 50 5909 82 7402
r a

= - -

0
2
1 0 0, 00857
1,18661
r
a

+

0
2
75, 4023 50, 5909 82, 7402
1,18661
r
a

-
+

Theo mc 2.3.1b) ta c: p
1
= -1. Theo v d 2.1.3 ta chn: z
1 2
= 0,55 j 0,4. Vy: Theo mc 2.3.1b) ta c: p
1
1. Theo v d 2.1.3 ta chn: z
1,2
0,55 j 0,4. Vy:
( ) ( )( )( ) ( ) ( )
3 2
0 55 0 4 0 55 0 4 1 1 0 4625 1 1 0 4625 N z z j z j z z z z z z z z + + + + ( ) ( )( )( ) ( ) ( )
3 3 3 3
0, 55 0, 4 0, 55 0, 4 1,1 0, 4625 1,1 0, 4625 N z z j z j z z z z z z z z = - - - + - = - + + + -
Theo mc 2.3.1e) ca gio trnh, vic t p
1
= -1 dn n im cc th 3: z
3
= 0,895. Vy:
' ' '
0 1 2
0, 4139; 1, 447; 1, 995 a a a =- = =-
0 1 2
0, 39; , 7; , 995 a a a
So snh h s ca hai cng thc N(z): So snh h s ca hai cng thc N(z):
0 1
22, 29; 19, 63 r r = =-
0 1
22, 29; 19, 63 r r
HBK H Ni
28
HBK H Ni
V d 2.3.3 Thit k khu C theo kiu b, phng n ti gin (mc 2.3.3) V d 2.3.3 Thit k khu C theo kiu b, phng n ti gin (mc 2.3.3)
( )
1
B
-
( )
( )
1
1 2
0, 00857 0, 00575
B z
z z
G z
-
- -
+
= =
Hy tm b tham s C cho i tng
( )
( )
1 2
1
1 1,18661 0, 30119
S
G z
z z
A z
- -
-
= =
- +
y g
CMC c m hnh v d 1.3.5:
( )
, ,
A z
+
a) Khu C kiu b vi a thc truyn t bc 1: ) y
( ) ( )
1 2
1
116, 604 138, 364 35,12
- -
- + z z
G G ( ) ( )
1
1 2
116, 604 138, 364 35,12
;
1 0 329 0 6705
-
- -
+
= =
w R
z z
G z z G z
z z
(
4 3 2
1 0, 329 0, 6705 - - z z
(
4 3 2
116, 604 276, 729 234, 424 - + z z z
(
) 83 348 10 578 - + z
( )
)
4 3 2
83, 348 10, 578
1 5161 0 0218 0 6963 0 2019
- +
=
+ +
z
U z ( )
4 3 2
1, 5161 0, 0218 0, 6963 0, 2019 - + + - z z z z
b) Khu C kiu b vi a thc truyn t bc 2:
( ) ( )
1 2
1 1
1
- -
= + -
w
G z x z x z ( ) ( )
( )
1
116 604 116 604 254 97
-
+ x x z ( )
1 1
116, 604 116, 604 254, 97
+ -
x x z
( ) ( )
2 3
1 1
173, 484 138, 364 35,12 1
- -

+ - + -
x z x z
( )
( ) ( )
( ) ( ) ( )
1 1
1 2 3
173, 484 138, 364 35,12 1
1 0 6705 0 3295 1 0 6705 1
- - -
+ +
=
+ + +
R
x z x z
G z ( )
( ) ( ) ( )
1 2 3
1 1 1
1 0, 6705 0, 3295 1 0, 6705 1 + - + - + -
R
x z x z x z
HBK H Ni
29
HBK H Ni
V d 2.3.4 Thit k khu C theo kiu Dead - Beat (mc 2.3.3) V d 2.3.4 Thit k khu C theo kiu Dead Beat (mc 2.3.3)
( )
1
B
-
( )
( )
1
1 2
0, 00857 0, 00575
B z
z z
G z
-
- -
+
= =
Hy tm b tham s C cho i tng
( )
( )
1 2
1
1 1,18661 0, 30119
S
G z
z z
A z
- -
-
= =
- +
y g
CMC c m hnh v d 1.3.5:
( )
, ,
A z
+
) Kh D d B t i L(
1
) l a) Khu Dead - Beat vi L(z
-1
) = l
0
1
69 83 l
( th bn tri)
0
1 2
69, 83 = =
+
l
b b
( )
1 2
1 2
+ b b
( )
1 2
69, 83 82, 86 21, 03
- -
- +
=
z z
G z ( )
1 2
1 0, 598 0, 402
- -
=
- -
R
G z
z z , ,
b) Khu Dead - Beat vi )
L(z
-1
) = l
0
+l
1
z
-1
( )
0 1
( th bn phi)
31 936 37 896 l l
( p )
0 1
31, 936; 37, 896 l l = =
( )
2 3
31, 936 35, 348 11, 414 z z
- -
- +
( )
1 2 3
31, 936 35, 348 11, 414
1 0 2737 0 5084 0 2179
R
z z
G z
z z z
- - -
+
=
L(z
-1
) = l
0
L(z
-1
) = l
0
+l
1
z
-1
1 0, 2737 0, 5084 0, 2179 z z z - - -
HBK H Ni
30
HBK H Ni
3 K c phn hi trng thi 3. K c phn hi trng thi 3 c p t g t
3 1 i i 3.1 n li cc kin thc c s 3.1 n li cc kin thc c s
V d 3.1.1 Kim tra tnh K v QS c ca khu PT
2
(mc 3.1.1a, b) V d 3.1.1 Kim tra tnh K v QS c ca khu PT
2
(mc 3.1.1a, b)
Khu PT
2
c m t bi:
( ) ( ) ( )
1 1 b
t t u t
-

( ( = + x Ax b
u
2
c t b :
( ) ( ) ( )
| |
1
1 2
1 1
; ; ;
0 1
T
b
t t u t
c c
b
( ( = +
= = =
( (

x Ax b
A b c
( ) ( )
| |
1 2
2
0 1 T b
y t t
( (

c x
( ) ( )
T h K ki Q | |
1 1 2
b b b +
(
Q A Tnh K c kim tra trn c s Q
C
:

| |
1 1 2
,
C
b b
(
= =
(

Q b Ab
i tng s l khng K c hon ton nu:
2 2
b b

( )
2 1 2
det 2 0
C
b b b = = Q
( )
2 1 2
det 2 0
C
b b b Q
Tnh QS c kim tra trn c s Q
O
: Q Q
O
T
(
T
(
=
(
c
Q
O
T
=
(
(

Q
c A
(

c A
i tng s l khng QS c hon i tng s l khng QS c hon
ton nu: ton nu:
( ) ( )
1 1 2
det 2 0
O
c c c = + = Q
( )
HBK H Ni
31
HBK H Ni
V d 3.1.2 Thit k khu C trng thi theo phng php gn cc (mc 3.1.2a) V d 3.1.2 Thit k khu C trng thi theo phng php gn cc (mc 3.1.2a)
i tng l khu PT
2
vit M hnh trng thi ca khu vit t g u
2
v t
di dng:
t g t ca u v t
di dng chun K l: di dng:
( )
2
0 S
K
G
e
(
di dng chun K l:
( )
0
2 2
2
S
S
G s
s D s e e
=
+ +
( ) ( )
0 1
0
x t x t
-
(
( (
(
(
0 0
2 s D s e e + +
( ) ( )
( )
( )
1 1
0 1
0
R R
x t x t
u t
( (
(
(
= +
( (
(
(
( )
( )
( )
2
2
0 0
1
2
R
u t
x t
D
x t
e e
-
+
( (
(
(

(

( )
( )
0 0
2 R
x t

(

( )
( )
1 2 R
x t (
(
( )
( )
( )
1 2
0
0
R
S
x t
y t K
x t
e
(
(
=
(

( )
( )
2 R
x t

Khi hi tip trng thi khu C Khi hi tip trng thi, khu C
(hnh trang tip theo) c dng: (hnh trang tip theo) c dng:
| |
T
| |
1 2
,
T
R R R
r r = r
| |
1 2 R R R
Hnh bn: th ca i lng K u(t) v Hnh bn: th ca i lng K u(t) v
ca hai bin trng thi x
R1 2
(t) khi c hi ca hai bin trng thi x
R1,2
(t) khi c hi
tip trng thi tip trng thi.
HBK H Ni
32
HBK H Ni
V d 3.1.2 (tip)

V d 3.1.2 (tip)
V d: Phi thit k khu C sao cho h thng khp kn cng c c tnh
PT
2
, trong cc gi tr e
0
*
v D
*
c t trc theo tiu chun cht
2
g g
0
lng. g
a thc mu s ca G
*
(s) ( )
s ng thi l a thc s g t a t c
c tnh vi dng: c tnh vi dng:
( )
* 2 * * *2
( )
* 2 * * *2
0 0
2 N s s D s e e = + +
i t K
( )
i tng K
(dng chun K) (dng chun K)
D dng tnh c cc g
gi tr ca khu C: g t ca u C:
*2 2
1 0 0 R
r e e =
Khu C
( )
1 0 0
* *
R
e e
trng thi
( )
* *
2 0 0
2
R
r D D e e =
( )
HBK H Ni
33
HBK H Ni
V d 3.1.3 Thit k h K trng thi c khu lc u vo (mc 3.1.3a) V d 3.1.3 Thit k h K trng thi c khu lc u vo (mc 3.1.3a)
1
Khi thit k khu lc u vo (cn gi l tng tin khuch
( )
1
1
T T
K

(
(
c b c A b
t t u c u vo (c g t g t uc
i) cho h thng SISO v d 3.1.2 ta s dng cng thc:
( )
VF R R R R R
K
(
=
(

c b c A b
i) cho h thng SISO v d 3.1.2 ta s dng cng thc:
2
Vi cc kt qu ca v d 3 1 2 ta c ngay:
2
0 1 R
r
K
e +
Vi cc kt qu ca v d 3.1.2 ta c ngay:
2
0
VF
S
K
K e
=
0 S
K e
V d 3.1.4 Thit k h K trng thi kt hp hi tip u ra (mc 3.1.3b) V d 3.1.4 Thit k h K trng thi kt hp hi tip u ra (mc 3.1.3b)
Hnh bn: Kt Hnh bn: Kt
hp gia khu hp gia khu
C trng thi C trng thi
cho i tng cho i tng
SISO i SISO vi vng
i PI t ngoi PI, trong
K 0 K
P
= 0.
HBK H Ni
34
HBK H Ni
V d 3.1.4 (tip) M hnh ca h thng sau khi m rng c dng di y: V d 3.1.4 (tip)
( ) ( )
-
(
( (
( (
A 0
M hnh ca h thng sau khi m rng c dng di y:
( ) ( )
( ) ( )
0 t t
u t w t
(
( (
( (
(
= + +
( (
( (
(
A 0 x x b
Li th ca gii php th hin
( )
( )
( ) ( )
0 1
0
T
u t w t
q t
q t
-
= + +
( (
( (
(

(

-c
g p p
r nht qua v d i tng l
( )
( )
q
q t

(

q g
khu qun tnh bc nht PT
1
.
1
( )
( )
( ) ( ) ( ) ( ) ( ) ( )
T T
t
K
-
(
(
(
x
( )
1
S
G s =
( )
( )
( )
( ) ( ) ( ) ( ) ( ) ( )
;
T T
I
u t K q t e t w t y t w t t
q t
(
= = = =
(

r c x
( )
2
S
G s
s +
( )
q t

h h
( )
( )
( ) ( )
0 1 0 x t a
x t
-
(
(
( ( (
(
(
a thc c tnh:
( )
( )
( )
( )
( ) ( )
0 1 0
1 0 0 1
x t a
x t
u t w t
e t
(
( ( (
(
= + +
(
( ( (
(

| | ( )
2
2 0 1
det 2 s r K s r s K
(
( (
+ + + +
(
( (
I
( )
( ) 1 0 0 1 e t
e t
(

-
| | ( )
det 2
1 0 0
I I
s r K s r s K + = + + +
(
( (

I
( ) | |
( )
x t (

( ) | |
( )
( )
I
x t
u t r K
e t
(
=
(

( )
e t

Gi 4 T Gi s cn gn cp cc s
1,2
= - 4. Tc
l h h l cn c a thc c tnh:
2
( ) ( )
2
* 2
4 8 16 N s s s s = + = + +
i tng l
khu PT1
( ) ( )
So snh h s ta thu c r = 6 v K
I
= 16
khu PT1
So snh h s ta thu c r 6 v K
I
16
dn ti:
16
dn ti:
( ) ( )
2
16
; 0 1
8 16
w w
G s G = =
( ) ( )
2
8 16
w w
s s + +
HBK H Ni
35
HBK H Ni
V d 3.1.5 Thit k khu QS trng thi cho i tng SISO (mc 3.1.3d) V d 3.1.5 Thit k khu QS trng thi cho i tng SISO (mc 3.1.3d)
Khi thit k khu C trng thi ta nn xut pht t dng chun K ca m hnh i tng. g p g g
Tng t, khi thit k khu QS trng thi ta s xut pht t dng chun QS. Xt i tng g , Q g p g Q g
SISO c hm truyn t sau y:
( )

+ + +
1
0 1 1
n
n
b b s b s
G

y y
( )

=
+ + + +
0 1 1
1
n
S
n n
G s
a a s a s s

+ + + +
0 1 1 n
a a s a s s
M hnh trng thi ca
( 0
M hnh trng thi ca
kh khi h
(
(
(
0
0
0 a
b
khu , khi chuyn sang

d h QS h
(
(
(
(
(
0
1
1 0
b
a
b
dng chun QS s cha

h b
| |
(
(
( = = =
(
(
1
2
; ; 0, , 0, 1 0 1 0
T
O O O
b
a A b c
. cc ma trn nh bn:
| |
(
(
(
(
2
; ; , , ,
O O O
.
. . . .
(
(
(

(

1
0 1
n
b
a
. . . .
1
0 1
n
a
Ma trn ng hc ca
khu QS c dng di y:
p dng cho khu PT2:
Q g y
(
0 1
0
O
a k
p dng cho khu PT2:
(
(
(
0 1
0
1 0
O
a k
a k
| |
e
e
(
(
(
(
2
0
0
0
0 1
S T
K
A b
(

(
(
1 2
1 0
O
T
a k
k A k

| |
e
(
= = =
(
(

0
0
; ; 0 1
0
1 2
S T
O O O
D
A b c
( =
(
2 3
0 1 0
T
O O O O
a k A k c
e

0
0
1 2D
i h h
(
(
. . . .
vi a thc c tnh:
(
(

1
0 1
n On
a k
( )
( )
e e
(
= + + + +

2 2
0 2 0 1
det 2
T
O O O O O
s s s D k k I A k c
1
0 1
n On
a k
( )
( )
e e + + + +

0 2 0 1
det 2
O O O O O
s s s D k k I A k c
HBK H Ni
36
HBK H Ni
V d 3.1.5 (tip)
Tng t v d 3 1 2 sau khi cho trc (gn) v tr cp im cc ta s
V d 3.1.5 (tip)
Tng t v d 3.1.2, sau khi cho trc (gn) v tr cp im cc, ta s
dng so snh h s ca a thc c tnh tm k v k dng so snh h s ca a thc c tnh tm k
O1
v k
O2
.
Vi k v k ta gi quyt xong Vi k
O1
v k
O2
ta gi quyt xong
hi t h t ( t) t
( )
nhim v tnh ton (quan st) vector
t thi d h QS Bi ( )
O
t x trng thi dng chun QS. Bi
kh C hi l hi k v khu C trng thi lun c thit k
(xem v d 3.1.2) dng chun K v

( )
R
t x
v vy cn vector trng thi dng
( )
chun K, ta s phi thc hin php
chuyn i tng ng gia hai dng y g g g g
chun . S cu trc ca h K
trng thi cho i tng PT2, s dng g c o g , s d g
khu QS trng thi y c minh khu QS trng thi y c minh
ha hnh thuc trang k tip

0 1
1

ha hnh thuc trang k tip.
( )

( )
2
0 1
1
1 2
R O
t t
D
K
x x

=

( ) ( )
2
0
0
1 2
R O
S
D
K
w
w

-

Kt qu m phng ca cu trc Kt qu m phng ca cu trc
vi tham s chn trang k tip vi tham s chn trang k tip
HBK H Ni
37
HBK H Ni
V d 3.1.5 (tip) V d 3.1.5 (tip)
Tham s chn cho khu C (v
i tng K
d 3.1.2) ng vi D = 0:
i tng K
( dng chun K)
* *
0 0
1; 2 D w w = =
( g )
0 0
;
im cc ca khu QS ng vi: im cc ca khu QS ng vi:
*
10
Khu QS
0 0
10
QS
w w =
Khu QS
trng thi
So snh h s gia a thc c
g
So snh h s gia a thc c
tnh cho trc vi cc tham s tnh cho trc vi cc tham s
t th t h t t
( dng chun QS)
trn v a thc c tnh tng qut:
( dng chun QS)
( )
2
2 2
2 0 1 0
10
O O
s s k k s w w + + + = + ( )
2 0 1 0
2 2
10
20 100
O O
s s k k s w w + + + +
Chuyn h cho
2 2
0 0
20 100 s s w w = + +
Chuyn h cho
cc bin trng thi
2
1 0 2 0
99 ; 20
O O
k k w w = = g
1 0 2 0
;
O O
Kt qu m phng khi chn
Khu C
e
0
= 1 v K
S
= 1 c gii
Khu C
trng thi
0 S
thiu trang trc.
g
g
HBK H Ni
38
HBK H Ni
3 2 i i 3.2 M hnh trng thi gin on 3.2 M hnh trng thi gin on
V d 3.2 M hnh gin on ca i tng bao gm DAC, khu I
2
v ADC V d 3.2 M hnh gin on ca i tng bao gm DAC, khu I v ADC
( ) ( ) ( )
| |
0 1 0
T
t t u t
-
( ( = +
x Ax b
Khu I
2
lin tc c m t
( ) ( ) ( )
( ) ( ) ( )
| |
0 1 0
; ; ; 1 0 ; 0
0 0 1
T
T
t t u t
d
( ( +
= = = =
( (

x Ax b
A b c
Khu I lin tc c m t
bi m hnh trng thi bao gm:
( ) ( ) ( )
0 0 1 T
y t t d u t

= +
c x
bi m hnh trng thi bao gm:
( ) | | ( ) ( )
T
-
( ) | | ( ) ( )
1 2 2 1
, ;
T
t x x x t x t = = x
V A
k
= 0 khi k > 2, ta s d dng tm c u(T) nh khai trin chui:

( )
1
T
T
T e T
A
I A F

= = + = ( )
0 1
T e T I A F

= = + =

( )
2
0 1
T T T

( ) ( )
( )
2
0
2
T T T
T
T d d d h b F
n s n n
n n n n

= = = =

( ) ( )
( ) ( ) 0 1
T d d d
T
h b F n n n n
s n s n

= = = =

( ) ( )
0 0 0
0 1
T
s n

ki t t h t h h t t Kt G ( ) h t t i kim tra ta hy tnh hm truyn t
i h k
Kt qu G
S
(z) hon ton trng vi
k h h h trn min nh z t kt qu trn: kt qu tm c theo phng php:
( ) ( )
1
T
S
G z z c I h F
-
= -
( ) ( ) ( ) { }
G z G s G s Z
( ) ( )
1
S
G z z c I h F =

( ) ( ) ( ) { }
S H S
G z G s G s =Z
[ ]
1
2 2
1
2 1
1 0
z T
T T z
-

- -
+

( ) { }
1 3
1 1 z s
-
= - Z
[ ]
( )
2
1 0
0 1 2
1
z
T
z

= =

-

( ) { }
1 1 z s Z
( )
0 1 2
1
z
T
z -

HBK H Ni
39
HBK H Ni
3 3 QS 3.3 Tnh K c v tnh QS c 3.3 Tnh K c v tnh QS c
V d 3.3.1 S ph thuc vo chu k trch mu T ca tnh K v QS c V d 3.3.1 S ph thuc vo chu k trch mu T ca tnh K v QS c
B xung l thuyt: Chuyn m hnh trng thi sang min nh Laplace
( ) ( ) ( )
t t t
-
= + x Ax Bu
xung l thuyt: C uy t g t sa g ap ace
ta c:
( ) ( ) ( )
t t t + x Ax Bu
( ) ( ) ( ) ( ) ( ) ( ) ( )
1 1
X AX BU X I A I A BU
- -
+ +
ta c:
( ) ( ) ( ) ( ) ( ) ( ) ( )
0 0
s s s s s s s s X x AX BU X I A x I A BU - = + = - + -
( ) ( )
{ }
( )
1
1 1
adj sI A
-

-

( ) ( )
{ }
( )
( )
1
1 1
0
j
,
det
t t s
s
I A
I A
F
- -

= - =

-

{ }
( ) det sI A

-

i tng l khu PT
2
nh cc v d 3 1 2 v 3 1 5 Khi 0 1 0
( ( i tng l khu PT
2
nh cc v d 3.1.2 v 3.1.5. Khi
1 D 0 K 1 (i t i k
| |
0 1 0
; ; 1 0
T
( (
= = =
( (
A b c
e
0
= 1, D = 0 v K
S
= 1 (i tng c cp im cc kp
j) t
| |
; ;
1 0 1
( (

s
1,2
= j) ta c:
( )
2; det 0
0 1 1 0
T
rang ( = =
( (

Q Q
c
Vy theo cng thc:
| |
( )
2; det 0
0 1 1 0
;
T
C C
C O
rang ( = =
( (

= = = =
(

( (
Q Q
c
Q b Ab Q
y g
h l K v QS c
| |
( )
;
1 0 0 1
2; det 0
C O
T
O O
rang
(

( (
= =
(

Q b b Q
Q Q
c A
QS
hon ton
( )

1

hon ton
( )
1
1 1
1 1 cos sin
1
s s t t
t F
-
- -

-

p dng phn b xung l thuyt
( )
1 1
2
1 1 sin cos
1
t
s s t t
s
F

= = =

- -
+

p dng phn b xung l thuyt
t t h t
1 1 sin cos
1
s s t t
s +

ta tnh c cc ma trn ca m
h h i
cos sin cos sin 0 1 cos
T
T T T
d h F
n n

-

hnh gin on:

;
sin cos sin cos 1 sin
d
T T T
h F n
n n

= = =

- -

0
sin cos sin cos 1 sin T T T n n

HBK H Ni
40
HBK H Ni
V d 3.3.1 (tip) V d 3.3.1 (tip)
Trn c s m hnh gin on ta hy i tm cc ma trn K v QS. phn bit vi ma trn c s g o ta y t cc a t v QS. p b t v a t
K v QS ca i tng trn min nh Laplace, ta b xung gch ngang bn trn cc k hiu: K v QS ca i tng trn min nh Laplace, ta b xung gch ngang bn trn cc k hiu:
Ma trn K:
[ ] Q h h F
Ta c rang = 2 ch khi T = v t (v = 1, 2, ).
C
Q
[ ]
C
Q h h F =
Khi , i tng l K c hon ton. Ngc
l i khi T t
C
Q

1 cos cos cos 2 T T T

- -

li, khi T = t ta c:
2 2
Q

-

1 cos cos cos 2
i i i 2
T T T
T T T

=

+
0 0
C
Q

=

sin sin sin 2 T T T

- +

tc l det = 0 i tng l khng K c
C
Q
0 0

tc l det = 0, i tng l khng K c.
C
Q
Ma trn QS:

Ta c rang = 2 ch khi T = v t (v = 1, 2, ).
Khi i t l QS h t N
O
Q
1 0
T
c
Q

Khi , i tng l QS c hon ton. Ngc
l i khi T t
O

cos sin
O
T
T T
Q
F

= =

li, khi T = t ta c:
1 0
Q

cos sin
T
T T
c F

1 0
O
Q

=

-

tc l det = 0 i tng l khng QS c
O
Q
1 0

tc l det = 0, i tng l khng QS c.
O
Q
HBK H Ni
41
HBK H Ni
V d 3.3.2 Xy dng Q
C
kim tra tnh K
V d 3.3.2 Xy dng Q
C
kim tra tnh K
c ca cc i tng qun tnh bc 1 2 v 3
Dng chun K:
c ca cc i tng qun tnh bc 1, 2 v 3
) i t b 1 ( )
1
1
1 1
b z
G b
-
h Q h F a) i tng bc 1: ( )
1
1 1
1
; 1; 1
1
S C
G z a b
a z
-
=- = = = =
+
h c Q h F
1
1 a z +
1 2
0 1 0 b

b) i tng bc 2:
( )
1 2
2
1 2
0 1 0
; ;
S
b
b z b z
G z
- -

+

= = = h c F b) i tng bc 2:
( )
1 2
2 1 1
1 2
; ;
1
1
S
G z
a a b
a z a z
- -

= = =

- -
+ +

h c F
2 1 1
1 2
0 1
+ +

[ ]
0 1
det det det 1
C

= = =-

Q h h F [ ]
1
det det det 1
1
C
a

-

Q h h F
c) i tng bc 3:
0 1 0 0 b

c) i tng bc 3:
( )
3
1 2 3
1 2 3
0 1 0 0 b
b z b z b z
- - -

+ +

( )
1 2 3
2
1 2 3
0 0 1 ; 0 ;
1
S
b z b z b z
G z b
- - -
+ +

= = =

h c F ( )
1 2 3
1 2 3
3 2 1 1
1
1
a z a z a z
a a a b

+ + +

- - -

3 2 1 1
1 a a a b

0 0 1

Nhn xt: C 3 i
2
det det det 0 1 1 a

= = - =

Q h h h F F
Nhn xt: C 3 i
t K 1
2
det det det 0 1 1
C
a = = - =

Q h h h F F
tng u K c v
kh h th
2
1 1 2
1 a a a

- -

khng ph thuc cc
h b
1 1 2

tham s a
i
, b
i
.
HBK H Ni
42
HBK H Ni
V d 3.3.3 Xy dng Q
O
kim tra tnh QS c ca V d 3.3.3 Xy dng Q
O
kim tra tnh QS c ca
cc i tng qun tnh bc 1 2 dng chun K cc i tng qun tnh bc 1, 2 dng chun K
( )
1
1
b z
-
a) i tng bc 1: ( )
1
1
1
1
S O
b z
G z b
-
= = =
+
Q c i tng l QS c khi b
1
0
1
1
1 a z +
( )
1 2
2 1
1 2
T
b b
b z b z
- -

+

c
b) i tng bc 2:
( )
( )
2 1
1 2
1 2
det det det
1
S O
T
b b
b z b z
G z
b a b a b
- -
+

= = =

+ +

c
Q
F
( )
( )
1 2
1 2 2 1 1
1 2
1
T
b a b a b
a z a z

- -
+ +

c F
2 2
2 2 1 1 1 2
0 b a b a b b = + +
2 2 1 1 1 2
0 b a b a b b = + +
1 i tng bc 2 l khng QS c: 1. i tng bc 2 l khng QS c:
khi b = b = 0 hoc
( ) b
khi b
1
= b
2
= 0, hoc
khi hm truyn t bn: ( )
( )
1 01
1 2
b z z
b z b
G z
-
+
= = khi hm truyn t bn:
c im khng z nhn gi tr ging
( )
( )( )
2
1 2
1 2
S
G z
z z z z
z a z a
= =
- -
+ +
c im khng z
01
nhn gi tr ging
1 t 2 i khi
( )( )
1 2
1 2
z a z a + +
1 trong 2 im cc z
1
, z
2
, v khi y
i i kh i
2
01 2 1 1 2 1 1 2
; 2 4 2 z b b z a a a =- =- -
vi z
01
= z
1
im khng s gin c
b 1 i d
01 2 1 1,2 1 1 2
2 2
;
0 b b b b bt 1 im cc v dn n:

2 2
2 2 1 1 1 2
0 b a b a b b + + =
2. i tng bc 2 l QS c i vi mi b tham s cn li nhng phi c b
1
0 hoc b
2
0.
Nu b
2
=0 th bt buc a
2
0.
HBK H Ni
43
HBK H Ni
3 4 C i i 3.4 Cu trc c bn trn khng gian trng thi 3.4 Cu trc c bn trn khng gian trng thi
V d 3.4 Thit k khu C kiu Dead Beat cho i tng I
2
(mc 3.4) V d 3.4 Thit k khu C kiu Dead Beat cho i tng I (mc 3.4)
2
1
2
T
T

Theo v d 3.2, i tng c m hnh vi: ( ) ( )
2
1
2
;
T
T
T T h F

= =

Theo v d 3.2, i tng c m hnh vi: ( ) ( ) ;
0 1
T T
T
h F

1

Bng khu C ta phi a c i tng t trng thi ban u [ ]
1 2
T
r r r = ( )
1
0
1
x

=

g p g g
ti c trng thi cui x(N) = 0 ch sau lng ti thiu N = n = 2 chu k T.
[ ]
1 2
( )
1

g ( ) g

2 2
T T

Thc hin gn 2 im cc vo gc ta
2
1
1
d t 2 2
T T
z T r

- + - +

trn c s cng thc (mc 3.4):
2
1
1
2
1
det 2 2 r
r
T

( )
(
2
1 2
1
3
T
T r z T r

- +

( )
2
det
T
z z
(
=

I hr F 2 2
2
3
r
T T

( )

2
2
1 2 2 1
2
2 1
2 2
r
T T
T
z z r T r T r r

= - - - + - +

1 2 2 1
2 2

C th kim tra kt qu bng cch tnh:

( )
2
T
= x hr x F
C th kim tra kt qu bng cch tnh:
( )
2 0
= x hr x F
( )
2
2 1 2 4 T

( )
2 1 2 4
1 1 2
T
T
hr 0 F

- = =

D dng thy rng vi x
0
bt k ta lun c x
k
= 0 (k > 2) v:
( )
1 1 2 T

- -

g y g
0

k
( )
1 3
T

Chui gi tr K s l:
2
1 3
2
T
k k k
T T
u r x x

=- =-

T cng b, u
0
cng ln
2T T

1

1 3
T cng b, u
0
cng ln
Vi trng thi ban u cho ta tnh c gi tr K u tin:
( )
1
0
1
x

=

0
2
1 3
2T T
u =- - g g
( )
1

0
2
2T T
HBK H Ni
44
HBK H Ni
4 Thc hin k thut h thng K s 4. Thc hin k thut h thng K s c t ut t g s
4 1 ( ) i 4.1 nh hng ca s ha (lng t ha) bin 4.1 nh hng ca s ha (lng t ha) bin
V d 4.1.1 Hiu ng lng t ha cc bin (mc 4.1.2a) V d 4.1.1 Hiu ng lng t ha cc bin (mc 4.1.2a)
Tc ng ca sai s lng t ha ti khu ADC vo i lng K. i tng K l khu PT1.
i vi nhiu ngu nhin, khu C c thit k (ti u tham s) c c tnh PD.
Vi sai lch C: , thut ton C c dng: ( ) ( ) e k y k =- ( ) ( ) ( )
0 1
k k k 1 u r y r y =- - - V sa c C: , t ut to C c d g: ( ) ( ) e k y k ( ) ( ) ( )
0 1
k k k 1 u r y r y
D t l t h i l K h th Do tp m lng t ha, i lng K c xp chng thm:
( ) ( ) ( ) ( ) ( ) ( )
0 1
k k k 1 u r r
d
d d =- - -
Nu c khu PT1 (c im lc thng thp) lc ti mc p ng ra ( ) k u ( ) k 0 y Nu c khu PT1 (c im lc thng thp) lc ti mc p ng ra .
Khi y phng sai ca tn hiu ngu nhin c tch ly s l:
( ) k u
d
( ) k 0 y
d

( ) k u Khi y phng sai ca tn hiu ngu nhin c tch ly s l: ( ) k u
d
2 2 2 2
0 1
+
u
r r
d d
s s

0 1 ud d

i h h h i i ) i l h Gi s r
0
= 3 v r
1
= -1,5. Theo cng thc phng sai ti mc 4.1.2a), ta s tm c sai lch
nh sau:
( )
3 35 3 35 12 0 97 D D
( )
3,35 3,35 12 0,97
ud d
s s = D = D
( )
Nhn xt: i lng K b tp m do lng t ha ti khu ADC gy nn sai lch ln
c gp 3 ln sai lch ca khu ADC. V k vng xut hin sai lch l khc khng, nn u
tin chn gii php lm trn, khng nn ct b.
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V d 4.1.2 Hiu ng lng t ha cc bin (mc 4.1.2b) V d 4.1.2 Hiu ng lng t ha cc bin (mc 4.1.2b)
S i l h h hi d l h kh ADC Sai lch tnh xut hin do lng t ha trong khu ADC.
Xt i tng PT1 c m t bi:
( ) ( ) ( ) 5 ( ) ( ) ( )
1 1 1 1
k+1 k + k ; 0,5867; 0,4133 y a y b u a b =- =- =
Khu C c c tnh t l P: ( ) ( )
0
k k u r e = ( ) ( )
0
Sai lch C c tnh bi: ( ) ( ) ( )
Q
k k k e w y = - Sai lch C c tnh bi: ( ) ( ) ( )
Q
k k k e w y
T kh ADC i l C (k) l t 2 h d h th h (k) Trong khu ADC, i lng C y(k) c lm trn n 2 ch s sau du phy thnh y
Q
(k).
B h h di bi bi K C 2 h b l Bng sau cho thy din bin ca cc bin K v C trong 2 trng hp ct b v lm trn
khi (k) (k) i b l (k) (k) h khi w(k) = 1(k), cc gi tr ban u l y(k) = u(k) = 0 v tham s r
0
= 1,3.
k Khng lm trn Lm trn k Khng lm trn Lm trn
u(k) y(k) u(k) y(k) y (k) u(k) y(k) u(k) y(k) y
Q
(k)
0 1 3000 0 1 3000 0
n v lng t A = 0,01. i
0 1,3000 0 1,3000 0
1 0 6015 0 5373 0 5980 0 5373 0 54
n v lng t A 0,01. i
lng C sau khi lm trn
1 0,6015 0,5373 0,5980 0,5373 0,54
lng C sau khi lm trn
gi c nh ti gi tr y
Q
= 0 56
2 0,5670 0,5638 0,5720 0,5640 0,56
gi c nh ti gi tr y
Q
0,56.
Sai lch tnh Ay ~ 0 005 l c
3 0,5653 0,5651 0,5720 0,5649 0,56
Sai lch tnh Ay ~ 0,005 l c
th b qua c
4 0,5652 0,5652 0,5720 0,5649 0,56
th b qua c.
5 0,5652 0,5649 0,56 , , ,
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HBK H Ni
V d 4.1.3 Hiu ng lng t ha cc bin (mc 4.1.2b) V d 4.1.3 Hiu ng lng t ha cc bin (mc 4.1.2b)
k Kh l t L t
Dao ng xut hin do lng t ha trong
k Khng lm trn Lm trn
u(k) y(k) u(k) y(k) y (k)
g g g
khu ADC
u(k) y(k) u(k) y(k) y
Q
(k)
0 2 0000 0 2 0000 0 0
khu ADC
0 2,0000 0 2,0000 0 0
1 0 3468 0 8266 0 3400 0 8266 0 83
H s khuch i ca vng C trong v d
1 0,3468 0,8266 0,3400 0,8266 0,83
2 0 7434 0 6283 0 7400 0 6254 0 63
H s khuch i ca vng C trong v d
4 1 2 c nng ln r
0
= 2 0 Cch lm trn
2 0,7434 0,6283 0,7400 0,6254 0,63
3 0 6482 0 6759 0 6600 0 6727 0 67
4.1.2 c nng ln r
0
2,0. Cch lm trn
c gi nguyn v ta thu c bng gi
3 0,6482 0,6759 0,6600 0,6727 0,67
4 0 6711 0 6644 0 6600 0 6675 0 67
c gi nguyn v ta thu c bng gi
tr bn D dng nhn thy xut hin 4 0,6711 0,6644 0,6600 0,6675 0,67
5 0 6656 0 6672 0 6800 0 6644 0 66
tr bn. D dng nhn thy xut hin
dao ng bang bang vi chu k M= 3
5 0,6656 0,6672 0,6800 0,6644 0,66
6 0 6669 0 6665 0 6600 0 6708 0 67
dao ng bang-bang vi chu k M = 3.
Bin sai lch C l |Ay| ~ 0 003 (rt
6 0,6669 0,6665 0,6600 0,6708 0,67
7 : 0 6667 0 6600 0 6663 0 67
Bin sai lch C l |Ay| ~ 0,003 (rt
h) Bi d i l K
7 : 0,6667 0,6600 0,6663 0,67
8 : : 0 6600 0 6664 0 67
nh). Bin dao ng ca i lng K
L |A | 0 01 b l t
8 : : 0,6600 0,6664 0,67
9 : : 0,6800 0,6637 0,66
L |Au| = 0,01, ng bng n v lng t
i l C
9 : : 0,6800 0,6637 0,66
10 0,6600 0,6705 0,67
ca i lng C y.
10 0,6600 0,6705 0,67
11 0,6600 0,6661 0,67 0,6600 0,666 0,67
12 0,6800 0,6636 0,66 , , ,
13 0,6600 0,6703 0,67 , , ,
14 0,6600 0,6661 0,67 , , ,
15 0,6800 0,6636 0,66
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V d 4.1.4 Hiu ng lng t ha cc kt qu tnh trung gian (mc 4.1.4a) V d 4.1.4 Hiu ng lng t ha cc kt qu tnh trung gian (mc 4.1.4a)
k Kh l t L t
Dao ng xut hin do lm trn cc tch
k Khng lm trn Lm trn
u(k) y(k) u (k) y(k)
g
trung gian
u(k) y(k) u
Q
(k) y(k)
0 2 0000 0 2 00 0
trung gian
0 2,0000 0 2,00 0
1 0 3468 0 8266 0 34 0 8266
Tip tc xt vng C trong v d 4.1.2. Cc
1 0,3468 0,8266 0,34 0,8266
2 0 7434 0 6283 0 74 0 6255
Tip tc xt vng C trong v d 4.1.2. Cc
tha s v tch s c lm trn ti 2 ch
2 0,7434 0,6283 0,74 0,6255
3 0 6482 0 6759 0 66 0 6728
tha s v tch s c lm trn ti 2 ch
s sau du phy H s khuch i r
0
= 2 0
3 0,6482 0,6759 0,66 0,6728
4 0 6711 0 6644 0 66 0 6675
s sau du phy. H s khuch i r
0
2,0.
n v lng t = 0 01 Kt qu tnh
4 0,6711 0,6644 0,66 0,6675
5 0 6656 0 6672 0 68 0 6644
n v lng t = 0,01. Kt qu tnh
c ct trong bng bn D dng nhn
5 0,6656 0,6672 0,68 0,6644
6 0 6669 0 6665 0 66 0 6708
c ct trong bng bn. D dng nhn
thy xut hin dao ng bang bang vi
6 0,6669 0,6665 0,66 0,6708
7 : 0,6667 0,66 0,6664
thy xut hin dao ng bang-bang vi
h k M 3
7 : 0,6667 0,66 0,6664
8 : : 0,68 0,6637
chu k M = 3.
Bi i l h C l |A | 0 0034 ( t
8 : : 0,68 0,6637
9 : : 0,66 0,6705
Bin sai lch C l |Ay| ~ 0,0034 (rt
h) bi d i l K
, ,
10 0,66 0,6661
nh) v bin dao ng ca i lng K
, ,
11 0,68 0,6636
l |Au| = 0,01, mc d ch c mt php
, ,
12 0,66 0,6704
nhn duy nht trong thut ton.
13 0,66 0,6661
14 0,68 0,6636
15 0,66 0,6704
HBK H Ni
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HBK H Ni

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i khi iu khin s iu khin s

(Di it l C t l S t ) (Digital Control Systems) (Digital Control Systems)

Khi thay vo chui: cc gi tr q = z

D dng vit c nh F(z) di dng chui nh sau: ( )

dng nguyn l tnh tin v

Nhn xt: Khi tng dn T

Nhn xt: Khi tng dn T

Cc bin iu khin v bin

trng thi c chn nh sau: c dng bn:

Vy: K<9,58; K<67,62; K>-1

Vi: ta tnh c sai lch C:

khu , khi chuyn sang

dng chun QS s cha

(xem v d 3.1.2) dng chun K v

hnh gin on:

C th kim tra kt qu bng cch tnh:

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