Cô Sôû Töï Ñoäng Cô Sôû Töï Ñoäng: Moân Hoïc Moân Hoïc

Mon hoc Mon hoc
C S T ONG C S 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: www4.hcmut.edu.vn/~hthoang/
27 September 2010 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 1
Chng 4 Chng 4
KHAO SAT KHAO SAT
TNH ON NH CUA HE THONG TNH ON NH CUA HE THONG
27 September 2010 H. T. Hong - HBK TPHCM 2
Khai niem on nh
Noi dung chng 4 Noi dung chng 4
Khai niem on nh
Tieu chuan on nh ai so
ieu kien can
Ti h R h 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 Xet on nh dung QNS
Tieu chuan on nh tan so
Tieu chuan on nh Bode
Ti h h N i t Tieu chuan on nh Nyquist
27 September 2010 H. T. Hong - HBK TPHCM 3
Khai niem on nh Khai niem on nh
nh ngha on nh BIBO nh ngha on nh BIBO nh ngha on nh BIBO nh ngha on nh BIBO
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
He thong
r(t)
c(t)
Output) neu ap ng cua he b chan khi tn hieu vao b chan.
Cc va zero Cc va zero Cc va zero Cc va zero
m m
b b b b C + + + +
1
) (
Cho he thong t ong co ham truyen la:
n n
A
1
) ( h
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 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
i =1,2,m.
hieu la p
i
, i =1,2,m.
Gian o cc Gian o cc zero zero
Gian o cc zero la o th bieu dien v tr cac cc va cac zero

Gian o cc Gian o cc -- zero zero
cua he thong trong mat phang phc.
ieu kien on nh ieu kien on nh
Tnh on nh cua he thong phu thuoc vao v tr cac cc.
H th t t h th ( t t
ieu kien on nh ieu kien on nh
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 g p g ( ),
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
b h i h h ) h h kh h cc nam ben phai mat phang phc): he thong khong on nh.
Phng trnh ac trng (PTT) Phng trnh ac trng (PTT)
Phng trnh ac trng: phng trnh A(s) = 0
th t th A( )
Phng trnh ac trng (PTT) Phng trnh ac trng (PTT)
a thc ac trng: a thc A(s)
Chu y:
He thong hoi tiep He thong mo ta bang PTTT
+ ) ( ) ( ) ( t r t t B Ax x&
=
+ =
) ( ) (
) ( ) ( ) (
t t c
t r t t
Dx
B Ax x
0 ) ( ) ( 1 G
Phng trnh ac trng Phng trnh ac trng
( )
0 ) ( ) ( 1 = + s H s G ( ) 0 det = A I s
Tieu chuan on nh ai so Tieu chuan on nh ai so
Tieu chuan on nh ai so Tieu chuan on nh ai so
ieu kien can ieu kien can
ieu kien can e he thong on nh la tat ca cac he so cua phng
t h t h i kh 0 d
ieu kien can ieu kien can
trnh ac trng phai khac 0 va cung dau.
Th du: He thong co phng trnh ac trng:
2 3

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
Khong on nh
Khong on nh
Ch k l
0 1 2 5 4
2 3 4
= + + + + s s s s
Cha ket luan c
Tieu chuan on nh ai so: Tieu chuan Routh Tieu chuan on nh ai so: Tieu chuan Routh
Qui tac thanh lap bang Routh Qui tac thanh lap bang Routh
Cho he thong co phng trnh ac trng:
Qui tac thanh lap bang Routh Qui tac thanh lap bang Routh
0
1
1
1 0
= + + + +
n n
a s a s a s a 0
1 1 0
= + + + +
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: p g q
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
th cong thc:
1 , 1 1 , 2
.
+ +
=
j i i j i ij
c c c
1 , 2
=
i
c
i
1 , 1
=
i
i
c
vi
Dang bang Routh Dang bang Routh Dang bang Routh Dang bang Routh
1 , 1 1 , 2
.
+ +
=
j i i j i ij
c c c
1 , 2
=
i
c

1 , 1
=
i
i
c
Phat bieu tieu chuan Phat bieu tieu chuan
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
g g
phan t cot 1 cua bang Routh bang so nghiem cua phng trnh
ac trng nam ben phai mat phang phc.
Th du 1 Th du 1
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
Ket luan: He thong on nh do tat ca cac phan t cot 1 bang
Routh eu dng.
Th du 2 Th du 2
Xet tnh on nh cua he thong co s o khoi:
Th du 2 Th du 2
50
) ( G
) 5 )( 3 (
) (
2
+ + +
=
s s s s
s G
1
) ( = s H
Giai: Phng trnh ac trng cua he thong:
2
) (
+ s
s H
g g g
0 ) ( ). ( 1 = + s H s G
0
1 50
1 = + 0
) 2 (
.
) 5 )( 3 (
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) 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
g g p
bang Routh oi dau 2 lan.
Th du 3 Th du 3
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: g g g
0 ) ( 1 = + s G
0 1
K
0
) 2 )( 1 (
1
2
=
+ + +
+
s s s s
0 2 3 3
2 3 4
= + + + + K s s s s
0 2 3 3 + + + + K s s s s
Bang Routh
ieu kien e he thong on nh:
> 0
7
9
2 K 14
0 < < K
> 0
7
K
9
0 < < K
Trng hp ac biet 1 Trng hp ac biet 1 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 g y g
so dng nho tuy y, sau o qua trnh tnh toan c tiep tuc.
Th du 4 Th du 4
Th du 4 Th du 4
0 3 8 4 2
2 3 4
= + + + + s s s s
Giai:
Bang Routh
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
phng trnh ac trng cua he thong co hai nghiem nam ben phai
mat phang phc, do o he thong khong on nh .
Trng hp ac biet 2 Trng hp ac biet 2 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 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
Th du 5 Th du 5
0 4 7 8 8 4
2 3 4 5
= + + + + + s s s s s
Giai: Bang Routh
Th du 5 (tt) Th du 5 (tt)
a thc phu:
4 4 ) (
2
0
+ = s s A
0 8
) (
0
+ = s
d
s dA
Nghiem cua a thc phu (cung chnh la nghiem cua phng trnh
ac trng):
ds
ac trng):
Ket luan:
0 4 4 ) (
2
0
= + = s s A
j s =
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
Tieu chuan on nh ai so: Tieu chuan Hurwitz Tieu chuan on nh ai so: Tieu chuan Hurwitz
Qui tac thanh lap ma tran Hurwitz Qui tac thanh lap ma tran Hurwitz
Cho he thong co phng trnh ac trng:
Qui tac thanh lap ma tran Hurwitz Qui tac thanh lap ma tran Hurwitz
0
1
1
1 0
= + + + +
n n
a s a s a s a 0
1 1 0
= + + + +
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: p z q
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 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 Dang ma tran Hurwitz Dang ma tran Hurwitz
a a a a K 0
7 5 3 1
a a a
a a a a
K
K
0 0
0
5 3 1
6 4 2 0
a a a
M M M M M
K 0 0
4 2 0
5 3 1
n
a K K K K
M M M M M
0
ieu kien can va u e he thong on nh la tat ca cac nh thc
g
con cha ng cheo cua ma tran Hurwitz eu dng
Th du 1 Th du 1 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
2 0
3 1
a a
a a
Giai:
Ma tran Hurwitz
2 4 0 0
3 1
a a
1
1 1
= = a
Cac nh thc:
10 2 1 3 4
3 1
2 4
2 0
3 1
2
= = = =
a a
a a
0 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
3 1
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 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 2 , 0 , 0 = > i a
i
>
= >
0
3 , 0 , 0
3 0 2 1
a a a a
i a
i
3 0 2 1
>
= >
0
4 , 0 , 0
2 2
3 0 2 1
a a a a
i a
i
> 0
4
2
1 3
2
0 3 2 1
a a a a a a a
Phng phap quy ao nghiem so Phng phap quy ao nghiem so
Phng phap quy ao nghiem so (QNS) Phng phap quy ao nghiem so (QNS)
nh ngha nh ngha 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 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 0 4
2
= + + K s s
Qui tac ve QNS Qui tac ve QNS 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: phai bien oi tng ng phng trnh ac trng ve dang:
0
) (
) (
1 = +
s D
s N
K
(1)
) (
) (
) (
) (
0
s D
s N
K s G =
at:
) (
0 ) ( 1+ s G
Goi n la so cc cua G
0
(s) , m la so zero cua G
0
(s)
(1)
= o bien kien ieu 1 ) (

0
s G
0 ) ( 1
0
= + s G (1)
+ = pha kien ieu ) 1 2 ( ) (

0
l s G
Qui tac ve QNS Qui tac ve QNS 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 q y g p
cc cua G
0
(s).
Khi K tien en + : m nhanh cua quy ao nghiem so tien en
G ( ) h h l i ti th ti 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 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 ve QNS (tt) Qui tac ve QNS (tt)
Qui tac 5: : Goc tao bi cac ng tiem can cua quy ao nghiem
so vi truc thc xac nh bi :
Qui tac 6: : Giao iem gia cac tiem can vi truc thc la iem A
m n
l
+
=

) 1 2 (
) , 2 , 1 , 0 ( K = l
Qui tac 6: : Giao iem gia cac tiem can vi truc thc la iem A
co toa o xac nh bi:
z p
m n

(p
i
va z
i
la cac cc
Q i 7 i h h ( ) hi
m n
z p
m n
OA
i
i
i
i
=

= = 1 1
zero cc
(p
i
va z
i
la cac cc
va cac zero cua G
0
(s) )
Qui tac 7: : iem tach nhap (neu co) cua quy ao nghiem so nam
tren truc thc va la nghiem cua phng trnh:
0
dK
0 =
ds
Qui tac ve QNS (tt) Qui tac ve QNS (tt) 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 g p g y
s=j vao phng trnh ac trng.
Q i t 9 G h hi i h Qui tac 9: Goc xuat phat cua quy ao nghiem so tai cc phc p
j
c xac nh bi:

+
n m
0
) ( ) ( 180

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

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

1) (
3
l
3
5
0 3
0 )] 3 ( ) 2 ( 0 [
zero
=
+ +
=
=

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

= ) ( 549 . 2
1
s loai
0 =
ds
Do o
= 785 . 0
) (
2
1
s
Giao iem cua QNS vi truc ao:
Cach 1: Dung tieu chuan Hurwitz
ieu kien on nh:
Cach 1: Dung tieu chuan Hurwitz
(1) 0 6 5
2 3
= + + + K s s s (2)
>
>
0
0
3 0 2 1
a a a a
K
>
>
0 1 6 5
0
K
K
30 0 < < K
30 =
gh
K
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
5
2
1
j s
s
= 6
3
j s
Cach 2: 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
= + 0 6
2
3
j j
=
=
0
0
K
= + 0 5
2
K
=
=
30
6
K

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

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

1) (
3
l
3
8
0 3
) 0 ( )] 2 4 ( ) 2 4 ( 0 [
zero
=
+ + +
=
=

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

= 33 . 3
1
s
h i i h h
0
) 20 8 (
1
2
=
+ +
+
s s s
0 =
ds
Do o
= 00 . 2
2
1
s
(hai iem tach nhap)
(1) 0 20 8
2 3
+ + + K s s s (2) (1) 0 20 8 = + + + K s s s (2)
2 3
0 ) ( 20 ) ( 8 ) (
2 3
= + + + K j j j
0 20 8
2 3
= + + K j j
= + 0 8
2
K
=
=
0
0
K
= + 0 20
3

=
=
160
20
K
0 1 = +
K
=160 K
0
) 20 8 (
1
2
=
+ +
+
s s s
Goc xuat phat cua QNS tai cc phc p
2
:
)] ( ) [ ( 180
0
)] 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
5 63

+ =
n
i j
m
i j j
p p z p
0
) arg( ) arg( 180
2
5 . 63 =
= =
j i
i i 1 1
Im s
20 j
63 5
0
+j2
63.5
0
Re s
4 2
j2
20 j
) 20 8 )( 3 (
) 1 (
) (
2
+ + +
+
=
s s s s
s K
s G
Giai:
) )( (
0 ) ( 1 = + s G (1)
0
) 1 (
1 =
+
+
s K
0 ) ( 1 = + s G (1)
0
) 20 8 )( 3 (
1
2
=
+ + +
+
s s s s
Cac cc:
3
2
= p
2 4
4 , 3
j p =
0
1
= p
Cac zero:
1
1
= z
Tiem can:
0) (
3
) 1 2 ( ) 1 2 (
1
= =
+ +
l
l l
1) (
) 1 (
3

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

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

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

0
) 20 8 )( 3 (
1
2
=
+ + +
+
s s s s
ds
iem tach nhap)
= 97 . 0 66 , 0
4 , 3
j s
(1) (2)
0 ) 60 ( 44 11
2 3 4
= + + + + + K s K s s s
(1) (2)
0 ) 60 ( 44 11 = + + + + + K s K s s s
0 ) 60 ( 44 11
2 3 4
= + + + K j K j 0 ) 60 ( 44 11 + + + K j K j
=
=
0
0
K
= + +
= +
0 ) 60 ( 11
0 44
3
2 4

K
K
=
=
322
893 , 5
K
0
) 1 (
1 =
+
+
s K
=
=
7 , 61
314 , 1
K
j
(loai)
0
) 20 8 )( 3 (
1
2
=
+ + +
+
s s s s
Vay giao iem can tm la: HSK gii han la:

893 , 5 j s = 322 =
gh
K
3
:
) ( 180
4 3 2 1 3
+ + + =
) 90 6 , 116 4 , 153 ( 3 , 146 180 + + + =
0
3
7 . 33 =
Im s
+j5,893
33.7
0
+j2
1

2
3
33.7
0
Re s
3
1 4
4
j2
j5,893
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
+ = ) (
s
Cho K
I
= 2.7, hay ve QNS cua he thong sau ay khi K
P
=0+,
biet rang dK / ds=0 co 3 nghiem la 3 3 1 5 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?
P
,
I
g y g
Giai:
Phng trnh ac trng cua he thong: Phng trnh ac trng cua he thong:
0 ) ( ) ( 1 = + s G s G
C

0
3 9
10 7 . 2
1
2
=
+ +
+ +
s s s
K
P
(1) 0
) 3 )( 9 (
10
1
2
=
+ +
+
s s
s K
P
Cac zero: 0 z
Cac cc:
9
1
= p
3
2
j p + =
3
3
j p =
Cac zero: 0
1
= z
Tiem can:
0) (l 2 /
) 1 2 ( ) 1 2 (
=
+ +

l l
1) (l 2 /
0) (l 2 /

1 3
) 1 2 ( ) 1 2 (
=
=
+
=
+
=
l
m n
l
9 ) 0 ( )] 3 ( ) 3 ( 9 [

j j
2
9
1 3
) 0 ( )] 3 ( ) 3 ( 9 [ zero
=
+ +
=
=

j j
m n
OA
cc
iem tach nhap:
0 =
dK
P

=
=
3
3
2
1
s
s
0
ds
(loai)
= 5 . 1
3
3
2
s
s
QNS co hai iem tach nhap trung nhau tai 3
QNS co hai iem tach nhap trung nhau tai 3
2
:
)] ( ) [ ( ) ( 180
0
)] arg( ) [arg( ) arg( 180
3 2 1 2 1 2
0
2
p p p p z p + + =
))] 3 ( 3 arg( )) 9 ( 3 [arg( ) 0 3 arg( 180
0
j j j j + + =
+ =

90
9
3
90 180
1 0
tg

9
0
2
169 =
Th d 4 (tt) Th d 4 (tt) Th du 4 (tt) Th du 4 (tt)
Khi K
I
=2.7, QNS cua
he thong nam hoan
toan ben trai mat phang toan ben trai mat phang
phc khi K
P
=0+,
do o he thong on nh
khi K
I
=2.7, K
P
=270.
Tieu chuan on nh tan so Tieu chuan on nh tan so
Nhac lai: Cac thong so quan trong cua ac tnh tan so Nhac lai: Cac thong so quan trong cua ac tnh tan so
T t bi ( ) l t t i bi t h t 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 ) ( = M
0 ) ( = L 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). bang 180 (hay bang radian).
0
180 ) ( =

rad ) (

=
o d tr bien (GM Gain Margin):

) (
1
=
M
GM

) (

= L GM
[dB]
) (

M
) (

o d tr pha ( M Phase Margin):
) ( 180
0
c
M + =
Bieu o Bode Bieu o Nyquist Bieu o Bode Bieu o Nyquist Bieu o Bode Bieu o Nyquist Bieu o Bode Bieu o Nyquist
Tieu chuan on nh Nyquist Tieu chuan on nh Nyquist
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).
Ti h N i t H th k G ( ) h 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)
.
Tieu chuan on nh Nyquist Tieu chuan on nh Nyquist Th du 1 Th du 1
Cho he thong hoi tiep am n v trong o he h G(s) co ng 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 Tieu chuan on nh Nyquist Th du 1 (tt) Th du 1 (tt)
Giai: 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 p yq g
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 Trng hp : G(j) bao iem ( 1, j0) he kn khong on nh.
H h i t h h h th h i ti bi t 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
) 1 )( 1 )( 1 (
3 2 1
+ + + s T s T s T s
Giai: 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 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 Trng hp : G(j) bao iem (1, j0) he kn 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.
On nh
Khong on nh
Khong on nh
On nh Khong on nh
h h h h h l Cho he thong h co ham truyen at la:
(K>0, T>0, n>2)
n
T
K
s G
) (
) (
1 +
=
n
Ts ) ( 1 +
Tm ieu kien cua K va T e he thong kn (hoi tiep am n v) on
nh nh.
Giai:
ac tnh tan so cua he thong la:
n
Tj
K
j G
) 1 (
) (
+
=
K
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) ieu kien on nh: ng cong Nyquist khong bao iem ( 1,j0).
Theo bieu o Nyquist, ieu nay xay ra khi:
1 ) ( <
M
) (

1
Ta co:

= =

) ( ) (
1
T ntg
T tg

) (
1
tg T

) (
n
n
= tg

n
tg
T

K
Do o: 1 ) ( <
M

1
1
1
2
2
<
n
tg T
K
n
tg
T
T
n
tg K
< 1
2

n
g
Tieu chuan on nh Bode Tieu chuan on nh Bode

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).
Ti h B d H th k G ( ) h h th h 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:
0
> GM
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 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?
5 =
c
Theo bieu o Bode:

GM
L(
)
2 =
dB L 35 =
) (

0
270 ) (
dB GM 35 =
0
270 = ) (
c

0 0 0
90 270 180 ) ( M
M
(
C
)
180
0 0 0
90 270 180 = + = ) ( M
Do GM<0 va M<0
nen he thong kn khong

C
g g
on nh.
Chu y Chu y 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) .

Cô Sôû Töï Ñoäng Cô Sôû Töï Ñoäng: Moân Hoïc Moân Hoïc

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Mon hoc Mon hoc

27 September 2010 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 13

27 September 2010 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 19

= o bien kien ieu 1 ) (

27 September 2010 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 31

+ = pha kien ieu ) 1 2 ( ) (

27 September 2010 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 37

27 September 2010 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 38

27 September 2010 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 46

Vay giao iem can tm la: HSK gii han la:

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

o d tr bien (GM Gain Margin):

27 September 2010 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 66

Tieu chuan on nh Bode Tieu chuan on nh Bode

Theo bieu o Bode:

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