TRƯỜNG ĐẠI HỌC BÁCH KHOA HÀ NỘI

KHOA ĐIỆN
BỘ MÔN ĐIỀU KHIỂN TỰ ĐỘNG

BÁO CÁO THÍ NGHIỆM

LÝ THUYẾT ĐIỀU KHIỂN TỰ ĐỘNG

Sinh viên: Nguyễn Văn Trung

MSSV : 20082797
Lớp TN : 18038

HÀ NỘI 9/2010
III.1.Khảo sát các đặc tính của các khâu động cơ học cơ bản
a.Khâu tích phân

>> w=tf(5,[1 0])

Transfer function:
5
-
s

>> step(w)
>> impulse(w)
>> nyquist(w)
>> bode(w)
>> ltiview({'step','impulse','nyquist','bode'},w)
b.Khâu vi phân thực tế

>> w=tf(20,[0.1 1])

Transfer function:
20
---------
0.1 s + 1

>> step(w)
>> impulse(w)
>> nyquist(w)
>> bode(w)
>> ltiview({'step','impulse','nyquist','bode'},w)
c.Khâu quán tính bậc nhất
K=20; T=50

>> w=tf(20,[50 1])

Transfer function:
20
--------
50 s + 1

>> step(w)
>> impulse(w)
>> nyquist(w)
>> bode(w)
>> ltiview({'step','impulse','nyquist','bode'},w)
K=20; T=100

>> w=tf(20,[100 1])

Transfer function:
20
---------
100 s + 1

>> step(w)
>> impulse(w)
>> nyquist(w)
>> bode(w)
>> ltiview({'step','impulse','nyquist','bode'},w)
d.Khâu bậc hai
K=20;T=10;d=0,0.25,0.5,0.75,1

>> w=tf(20,[100 0 1])

Transfer function:
20
-----------
100 s^2 + 1

>> step(w)
>> hold on
>> w=tf(20,[100 5 1])

Transfer function:
20
-----------------
100 s^2 + 5 s + 1

>> step(w)
>> w=tf(20,[100 10 1])

Transfer function:
20
------------------
100 s^2 + 10 s + 1

>> step(w)
>> w=tf(20,[100 15 1])

Transfer function:
20
------------------
100 s^2 + 15 s + 1

>> step(w)
>> w=tf(20,[100 20 1])

Transfer function:
20
------------------
100 s^2 + 20 s + 1

>> step(w)
>> hold off
 Đặc tính trong miền thời gian h(t)
>> w=tf(20,[100 0 1])

Transfer function:
20
-----------
100 s^2 + 1
>> impulse(w)
>> hold on
>> w=tf(20,[100 5 1])

Transfer function:
20
-----------------
100 s^2 + 5 s + 1

>> impulse(w)
>> w=tf(20,[100 10 1])

Transfer function:
20
------------------
100 s^2 + 10 s + 1
>> impulse(w)
>> w=tf(20,[100 15 1])

Transfer function:
20
------------------
100 s^2 + 15 s + 1

>> impulse(w)
>> w=tf(20,[100 20 1])

Transfer function:
20
------------------
100 s^2 + 20 s + 1

>> impulse(w)
>>hold off

Đặc tính trong miền thời gian w(t)

>> w=tf(20,[100 0 1])

Transfer function:
20
-----------
100 s^2 + 1

>> nyquist(w)

Đặc tính trong miền tần số nyquist

>>hold on
>> w=tf(20,[100 5 1])

Transfer function:
20
-----------------
100 s^2 + 5 s + 1

>> nyquist(w)
>> w=tf(20,[100 10 1])

Transfer function:
20
------------------
100 s^2 + 10 s + 1

>> nyquist(w)
>> w=tf(20,[100 5 1])

Transfer function:
20
-----------------
100 s^2 + 5 s + 1

>> nyquist(w)
>> hold on
>> w=tf(20,[100 10 1])

Transfer function:
20
------------------
100 s^2 + 10 s + 1

>> nyquist(w)
>> w=tf(20,[100 15 1])

Transfer function:
20
------------------
100 s^2 + 15 s + 1

>> nyquist(w)
>> w=tf(20,[100 20 1])

Transfer function:
20
------------------
100 s^2 + 20 s + 1

>> nyquist(w)
>>hold off
 Đặc tính trong miền tần số nyquist

>> w=tf(20,[100 0 1])

Transfer function:
20
-----------
100 s^2 + 1

>> bode(w)
>> hold on
>> w=tf(20,[100 5 1])

Transfer function:
20
-----------------
100 s^2 + 5 s + 1

>> bode(w)
>> w=tf(20,[100 10 1])

Transfer function:
20
------------------
100 s^2 + 10 s + 1

>> bode(w)
>> w=tf(20,[100 15 1])

Transfer function:
20
------------------
100 s^2 + 15 s + 1

>> bode(w)
>> w=tf(20,[100 20 1])

Transfer function:
20
------------------
100 s^2 + 20 s + 1

>> bode(w)
>> hold off

Đặc tính trong miền tần số bode

III.2.Tìm hàm truyền tương của hệ thống

>> G1=tf([1 1],conv([1 3],[1 5]))

Transfer function:
s+1
--------------
s^2 + 8 s + 15

>> G2=tf([1 0],[1 2 8])

Transfer function:
s
-------------
s^2 + 2 s + 8

>> G3=tf(1,[1 0])

Transfer function:
1
-
s

>> H1=tf(1,[1 2])

Transfer function:
1
-----
s+2
>> G13=G1+G3

Transfer function:
2 s^2 + 9 s + 15
------------------
s^3 + 8 s^2 + 15 s

>> G2H1=feedback(G2,H1)

Transfer function:
s^2 + 2 s
-----------------------
s^3 + 4 s^2 + 13 s + 16

>> Gt=G13*G2H1

Transfer function:
 2 s^4 + 13 s^3 + 33 s^2 + 30 s
-------------------------------------------
s^6 + 12 s^5 + 60 s^4 + 180 s^3 + 323 s^2

+ 240 s

>> Wk=feedback(Gt,1)

Transfer function:

2 s^4 + 13 s^3 + 33 s^2 + 30 s

-------------------------------------------
s^6 + 12 s^5 + 62 s^4 + 193 s^3 + 356 s^2

+ 270 s

>> step(Wk)
>> impulse(Wk)
>> ltiview({'step','impulse'},Wk)
>> Wh=Gt

Transfer function:

2 s^4 + 13 s^3 + 33 s^2 + 30 s

-------------------------------------------
s^6 + 12 s^5 + 60 s^4 + 180 s^3 + 323 s^2

+ 240 s

>> nyquist(Wh)
>> bode(Wh)
>> ltiview({'nyquist','bode'},Wh)
III.3.Khảo sát các đặc tính của hệ thống
K=8

>> G1=tf(8,[1 2])

Transfer function:
8
-----
s+2

>> G2=tf(1,conv([0.5 1],[1 1]))

Transfer function:
1
-------------------
0.5 s^2 + 1.5 s + 1

>> G3=tf(1,[0.005 1])

Transfer function:
1
-----------
0.005 s + 1

>> G12=G1*G2

Transfer function:
8
---------------------------
0.5 s^3 + 2.5 s^2 + 4 s + 2

>> Gk=feedback(G12,G3)

Transfer function:
0.04 s + 8
------------------------------------------------
0.0025 s^4 + 0.5125 s^3 + 2.52 s^2 + 4.01 s + 10

>> step(Gk)
>> impulse(Gk)
>> ltiview({'step','impulse'},Gk)
>> Gh=G12*G3

Transfer function:
8
-----------------------------------------------
0.0025 s^4 + 0.5125 s^3 + 2.52 s^2 + 4.01 s + 2

>> nyquist(Gh)
>> bode(Gh)
>> ltiview({'nyquist','bode'},Gh)
K=17.564411

>> G1=tf(17.564411,[1 2])

Transfer function:
17.56
-----
s+2

>> G12=G1*G2

Transfer function:
17.56
---------------------------
0.5 s^3 + 2.5 s^2 + 4 s + 2
>> Gk=feedback(G12,G3)

Transfer function:
0.08782 s + 17.56
---------------------------------------------------
0.0025 s^4 + 0.5125 s^3 + 2.52 s^2 + 4.01 s + 19.56

>> step(Gk)
>> impulse(Gk)
>> ltiview({'step','impulse'},Gk)
>> Gh=G12*G3

Transfer function:
17.56
-----------------------------------------------
0.0025 s^4 + 0.5125 s^3 + 2.52 s^2 + 4.01 s + 2

>> nyquist(Gh)
>> bode(Gh)
>> ltiview({'nyquist','bode'},Gh)

K=20

>> G1=tf(20,[1 2])

Transfer function:
20
-----
s+2

>> G12=G1*G2

Transfer function:
 20
---------------------------
0.5 s^3 + 2.5 s^2 + 4 s + 2

>> Gk=feedback(G12,G3)

Transfer function:
0.1 s + 20
------------------------------------------------
0.0025 s^4 + 0.5125 s^3 + 2.52 s^2 + 4.01 s + 22

>> step(Gk)
>> impulse(Gk)
>> ltiview({'step','impulse'},Gk)
>> Gh=G12*G3

Transfer function:
20
-----------------------------------------------
0.0025 s^4 + 0.5125 s^3 + 2.52 s^2 + 4.01 s + 2

>> nyquist(Gh)
>> bode(Gh)
>> ltiview({'nyquist','bode'},Gh)

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