Ch-6: Phn tch h thng lin tc dng bin i Laplace

Lecture-12
6.4. ng dng trong hi tip v iu khin

Signals & Systems FEEE, HCMUT

6.4. ng dng trong hi tip v iu khin

6.4.1. Vi ng dng ca h thng hi tip
6.4.2. C bn v h thng iu khin t ng

Signals & Systems FEEE, HCMUT

6.4.1. Vi ng dng ca h thng hi tip

a) Thc hin h thng nghch o ca h thng LTI
b) Gim nh hng ca s thay i thng s h thng
c) Tuyn tnh ha h thng phi tuyn
d) n nh cho h thng LTI khng n nh

Signals & Systems FEEE, HCMUT

a) Thc hin h thng nghch o ca h thng LTI

Xt h thng hi tip nh hnh v

F(s)

Y(s)

H(s)

K
T(s)=
1 KH(s)
Nu chn K sao cho KH(s)>>1

T(s)

1
[H thng nghch o ca HT LTI H(s)]
H(s)

Signals & Systems FEEE, HCMUT

b) Gim nh hng ca s thay i thng s h thng

Xt h thng hi tip sau:
f (t )

A
T(s)=
1 A
1
T(s)
; A>>1

V d: lm th no gim nh hng do s thay i ca li G

G
8 G 12
Signals & Systems FEEE, HCMUT

c) Tuyn tnh ha h thng phi tuyn

Xt h thng hi tip sau:
f (t )

y (e)

y(e)

Quan h vo ra: y(f)=y(e) ; vi: e(t)=f(t)-y(t)

dy dy de
df de df
de
dy
1-
df
df
Nu c dy/de

dy
df

1 th:

dy
df

dy
dy
1-
de
df

Signals & Systems FEEE, HCMUT

dy
dy/de
df 1+dy/de

y(f): tuyn tnh

c) Tuyn tnh ha h thng phi tuyn

V d:
xt b khuch i cng sut lp B nh di y, lm th no
khc phc mo?
Mo xuyn tm

Signals & Systems FEEE, HCMUT

d) n nh cho h thng LTI khng n nh

Xt h thng hi tip sau:

F(s)

H(s)

Y(s)

b
;a>0 khng n nh!!!
Gi s hm truyn vng h : H(s)=
s-a

H(s)
Hm truyn vng kn: T(s)=
1+H(s)
a
Vy T(s) n nh khi chn: >
b
Signals & Systems FEEE, HCMUT

b
T(s)=
s-a+b

6.4.2. C bn v h thng iu khin t ng

a) Phn tch mt h thng iu khin n gin
b) Phn tch qu h thng bc 2
c) Qu o nghim s
d) Hiu chnh h thng dng qu o nghim s

Signals & Systems FEEE, HCMUT

a) Phn tch mt h thng iu khin n gin

Xt h thng iu khin n gin

D( D a ) (t ) KT f (t )
a

B / J , K1

KT / J

La.Thi page 91 92
i

G (s)

Signals & Systems FEEE, HCMUT

KG(s)
T(s)=
1+KG(s)

a) Phn tch mt h thng iu khin n gin

1
Gi s: G(s)=
s(s+8)

K
T(s)= 2
s +8s+K

K
o (s)= 2
i (s)
s +8s+K

Phn tch qu : p ng vi u(t)

1
i (s)=
s

K
o (s)= 2
s(s +8s+K)

7
K=7: o (s)= 2
s(s +8s+7)

o (t)=(1- 76 e-t + 16 e-7t )u(t)

80
K=80: o (s)= 2
s(s +8s+80)

o (t)=[1- 25 e-4t cos(8t+1530 )]u(t)

16
K=16: o (s)= 2
s(s +8s+16)

o (t)=[1-(4t+1)e-4t ]u(t)

Signals & Systems FEEE, HCMUT

a) Phn tch mt h thng iu khin n gin

within 2% the FV
PO

21%

90%

Khng c
PO v tp

10%

tr

tp

ts

PO: percentage-overshoot
tr: rise time

tp: peak time

ts: settling time

Nhim v: Tm gi tr ca K t yu cu mong mun

Signals & Systems FEEE, HCMUT

a) Phn tch mt h thng iu khin n gin

Phn tch xc lp: sai s xc lp

e(t)=i (t)-o (t)

ess

lim e(t)
t

1
E(s)=i (s)-o (s)=i (s)[1-T(s)] =i (s)
1+KG(s)
(s)
ess lim sE(s) = lim s i
s 0
s 0 1+KG(s)

Vi i(t)=u(t): t K p = lim [KG(s)] ( hng s sai s v tr)

s

1/s
1
ess =es = lim s
=
s 0 1+KG(s) 1+K p
Vi i(t)=tu(t): t K v = lim s[KG(s)] (hng s sai s vn tc)
s

1/s 2
1
ess =er = lim s
=
s 0 1+KG(s) K v
Signals & Systems FEEE, HCMUT

a) Phn tch mt h thng iu khin n gin

Vi i(t)=0.5t2u(t): t K a = lim s 2[KG(s)] (hng s sai s gia tc)
s

1/s3
1
ess =ep = lim s
=
s 0 1+KG(s) K a

C th cho h thng ang xt: G(s)=1/s(s+8)

K p = lim [KG(s)]
es =0
s

K v = lim s[KG(s)]

K/8

K a = lim s 2[KG(s)]

er =8/K
ep =

H thng ny cn gi l h thng iu khin v tr, c th dng

iu khin vn tc, khng th dng iu khin gia tc!!!
Nhim v: Tm gi tr ca K v cc khu hiu chnh h thng
trn c th iu khin c 3 loi!!! + bo m yu cu qu !!!
Signals & Systems FEEE, HCMUT

b) Phn tch tch qu h thng bc 2

Mc ch: xc nh nhanh chng cc thng s (PO, tr, ts) ca h
thng bc 2 vi T(s) khng c im zero da vo v tr ca cc
poles ca n.
2

n
T(s)= 2
s +2n s+ n2

Ti sao ch xt cho h thng bc 2 ny: c s cho cc h thng bc

cao hn nu tha mt s nguyn tc:
B tr cc poles khc rt xa trc o (j ) so vi cc ca h thng
bc 2 cha trong hm truyn vng kn T(s) ca h thng bc cao
ny.
B tr cc cp pole-zero rt gn nhau
Khi p ng qu ca h thng bc cao gn ging nh ca
h thng bc 2 c trong hm truyn vng kn T(s) ca n
Signals & Systems FEEE, HCMUT

b) Phn tch tch qu h thng bc 2

2n
V tr cc poles ca h thng bc 2: T(s)= 2
s +2n s+ n2
j
s1
n 1 2
n
s-plane
1
2
cos
s1,2 = n jn 1

s2

n 1 2

1
2n
1
s+2n
=
p ng qu : Y(s)= 2
s s +2n s+n2 s s 2 +2n s+n2
1
y(t)=[1
e n t sin(n 1 2 t+cos-1)]u(t)
1 2
Signals & Systems FEEE, HCMUT

b) Phn tch tch qu h thng bc 2

1

y(t)=[1

1 2

n t

sin(n 1 2 t+cos-1)]u(t)

y (t p ) y(t )
1
0.9

ts

tr

0.5

tp
0.1

td
tr

tp

ts

1 0.4167

2.917

td

n
Signals & Systems FEEE, HCMUT

/ 1

0.469

PO 100e

1.1 0.125
n

b) Phn tch tch qu h thng bc 2

PO 100e

ts

/ 1

4
n

tr

1 0.4167

2.917
n

Signals & Systems FEEE, HCMUT

b) Phn tch tch qu h thng bc 2

KG ( s )
V d: T ( s )
[1 KG ( s)]

s2

K
8s K

Yu cu thit k: chn K sao cho PO16%, tr0.5s, ts2s?

Xc nh min cho php ca cc poles

PO 16%; tr

0.5; ts

Xc nh qu tch cc poles khi K

thay i (qu o nghim s)

s 2 8s K 0
s1,2
4 16 K
Xc nh gi tr ca K

25 K

64

j
K 64

K 25

K 0

K 16

tr

0.5

K 25
K 64

PO 16%
Signals & Systems FEEE, HCMUT

2
4

ts

K 0

c) Qu o nghim s
Xt h thng vi h s khuch i K thay i nh sau:

F(s)

G(s)

Y(s)

H(s)

KG(s)
Hm truyn vng kn ca h thng: T(s)=
1+KG(s)H(s)
Phng trnh c trng ca h thng: 1+KG(s)H(s)=0
Chng ta s kho st qu o ca nghim phng trnh c trng
(poles ca h thng) khi K thay i t 0 n Qu o nghim s.

Signals & Systems FEEE, HCMUT

c) Qu o nghim s
Gi tr ca s trong mp-s lm cho hm truyn vng h KG(s)H(s)
bng -1 chnh l cc poles ca hm truyn vng kn
1 KG s H s

KG s H s

1
1800 2l 1

KG s H s

l
G s H s
G s H s

KG s H s

0,1, 2,
1K
180o 2l 1

0,1, 2,

Independent of K
Signals & Systems FEEE, HCMUT

c) Qu o nghim s
Qu o nghim s c phc ha tun theo cc quy lut sau:
p dng cc quy lut dng v d sau:
V qu o nghim s ca h thng sau khi K thay i

F(s)

1
s(s+1)(s+2)

Signals & Systems FEEE, HCMUT

Y(s)

c) Qu o nghim s

Lut #1
Gi s G(s)H(s) c n poles v m zeros:
n nhnh ca qu o nghim bt u (K=0) ti n poles.
m trong n nhnh kt thc (K= ) ti m zeros
n-m nhnh cn li kt thc v cng theo cc ng
tim cn.
Bc 1: V n poles v m zeros ca G(s)H(s) dng k hiu
x v o

Signals & Systems FEEE, HCMUT

c) Qu o nghim s

p dng bc #1
V n poles v m zeros ca
G(s)H(s) dng k hiu x v o

GsH s

1
ss 1 s 2

C 3 poles:

0 ,s

1,s

Khng c zero

Signals & Systems FEEE, HCMUT

c) Qu o nghim s

Lut #2
Cc im trn trc thc thuc qu o nghim khi bn
phi n c tng s poles thc v zeros thc ca
G(s)H(s) l mt s l

Bc #2: Xc nh cc nghim trn trc thc. Chn

im kim tra ty . Nu tng s ca c poles thc v
zeros thc bn phi ca im ny l l th im
thuc qu o nghim s.

Signals & Systems FEEE, HCMUT

c) Qu o nghim s

p dng bc #2

Signals & Systems FEEE, HCMUT

c) Qu o nghim s

Lut #3
Gi s G(s)H(s) c n poles v m zeros:
Cc nghim s c gi tr ln phi tim cn theo ng thng
bt u ti im trn trc thc:
pi
s

n
0

zi
m

theo hng ca gc:

180o 2
1
n m

Bc #3: Xc nh n - m tim cn ca cc nghim. Ti s =

trn trc thc. Tnh v v cc ng tim cn theo gc
Signals & Systems FEEE, HCMUT

c) Qu o nghim s

p dng bc #3
s

p1
0

p2

p3

0 1 2
3
1

3 0
180 2

0 , 1, 2 ,
0

1800 2 0 1
3 0
1800 2 1 1
3 0

600
1800

Signals & Systems FEEE, HCMUT

c) Qu o nghim s

Lut #4
Phng trnh c trng ca h thng c th vit l: KG(s)H(s) = -1

im tch phi tha iu kin sau:

dK
ds

Bc #4: xc nh im tch. Biu din K di dng:

K

1
.
GsH s

Tnh v gii dK/ds=0 tm pole l im tch

Signals & Systems FEEE, HCMUT

c) Qu o nghim s

p dng bc #4
K
K

1
G( s ) H ( s )
s 3 3s 2 2 s

dK / ds

s1

ss 1 s 2

s3

3s 2

2s

3s 2 6 s 2 0
1.5774 , s2
0.4226

Signals & Systems FEEE, HCMUT

c) Qu o nghim s

Bc #5

V n-m nhnh kt thc v cng dc theo cc

ng tim cn

j?

Cho:

Th vo: 1 KG s H s

0 or

- j
Signals & Systems FEEE, HCMUT

d) Hiu chnh h thng dng qu o nghim s

Trong v d phn 6.4.2a ta thy: es =0 ; er =8/K; ep =
Trong v d phn 6.4.2b ta thy t c cc yu cu:
PO16%, tr0.5s, ts2s th 25 K 64
Nu yu cu thit k l er<0.125?
j
K 64

K 25

K 0

K 16

tr

0.5

K 25
K 64

PO 16%

K 0

pi
n

2
4

ts

Di sang tri

zi
m

Ni tip G(s) vi Gc(s):

Gc ( s )

s
s

Signals & Systems FEEE, HCMUT

B iu
chnh

d) Hiu chnh h thng dng qu o nghim s

H thng c b iu chnh:
G c (s)

F(s)

KG(s)

Y(s)

V d:
1
G(s)=
; PO 16%; t r
s(s+8)

er =8/K 0.05

0.5; t s

2; es =0; er

K 160

Gc ( s )

V chn K=600

PO=16%

K=900

Gi s chn:
s 8
s 30

0.05

K
KG c (s)G(s)=
s(s+30)
600
T(s)= 2
s +30s+600

-15
-30

K=900
PO=16%

Signals & Systems FEEE, HCMUT

d) Hiu chnh h thng dng qu o nghim s

n = 600 ; n =15

0.61

4
ts =
=4/15=0.266<2
n

PO=8.9%<16%
t r =0.0747<0.5

es =0
er =0.05
t c mi yu cu thit k!!!

Signals & Systems FEEE, HCMUT

d) Hiu chnh h thng dng qu o nghim s

Gc(s)=1/s (b tr pole ti 0) s bo m ci thin cht lng
xc lp. Tuy nhin li lm gim cht lng qu , v tnh n
nh ca h thng!!! dung ha ngi ta chn Gc(s) nh sau:

Gc ( s )

s
s

chn rt nh v t s / rt ln

pi
s
Kp

n
0

zi
m

=K p .G c (0)= / K p

hu nh khng thay i
es

=
c

1
1
<es =
1+(K p )c
1+K p

K v c =K v .G c (0)= / K v

e r c =1/(K v )c <e r =1/K v

K a c =K a .G c (0)= / K a

ep

=1/(K a )c <ep =1/K a

Signals & Systems FEEE, HCMUT