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Co So Dieu Khien Tu Dong PDF
Co So Dieu Khien Tu Dong PDF
C S
IU KHIN T NG
(Dng cho sinh vin h o to i hc t xa)
Lu hnh ni b
H NI - 2006
C S
IU KHIN T NG
Bin son :
Ths. NG HOI BC
LI NI U
Lch s pht trin ca iu khin t ng c ghi nhn t trc cng nguyn, bt u t
ng h nc c phao iu chnh Ktesibios Hy Lp. H iu chnh nhit u tin do Cornelis
Drebble (1572 - 1633) ngi H Lan sng ch. H iu chnh mc u tin l ca Polzunou ngi
Nga (1765) H iu chnh tc c ng dng trong cng nghip u tin l ca Jame Watt
(1769). Th chin ln th hai i hi s pht trin v l thuyt v ng dng c nhng my bay
li t ng, nhng h iu khin v tr ca loi pho, iu khin cc loi v kh khc, iu khin
t ng cc raa v.v Nhng nm 1950, cc phng php ton hc v phn tch pht trin v
a vo ng dng nhanh chng. M thnh hnh hng nghin cu trong min tn s vi cc
cng trnh ng dng ca Bode, Nyquist v Black cc trung tm th nghim in tn. Trong khi
y, Lin X (c) ng tr lnh vc l thuyt v ng dng trong min thi gian.
T nhng nm 1980, my tnh s bt u c s dng rng ri, cho php iu khin vi
chnh xc cao cc i tng khc nhau. Cc phng php ca Liapunou, Minorsky cng nh l
thuyt iu khin ti u hin i ca L.S. Pontryagin (Lin X c), ca R.Belman (M) c
ngha rt ln. Cc nguyn tc iu khin thch nghi, iu khin bn vng, iu khin m, cc h
thng minh v.v ra i v c p dng c hiu qu vo thc tin.
Nhn chung, c s iu khin t ng l mn hc trang b cho sinh vin nhng kin thc c
bn phn tch v tng hp h thng iu khin k thut trong min thi gian v min tn s
bng cng c ton hc. Trong sch hng dn hc tp ny, chng ta tp trung xt cc h thng
trong min lin tc v min ri rc, cp n cc vn c bn nht ca l thuyt h thng iu
khin c ng dng cho k thut. Cc phng php c cp n phn tch v tng hp h
thng l phng php kinh in kho st theo hm truyn t ca h thng v phng php khng
gian trng thi. Ni dung chnh s bao gm 7 chng:
Chng 1: M t ton hc h thng KT lin tc.
Chng II. Cc c tnh ca h thng KT lin tc.
Chng III. Kho st tnh n nh ca h thng KT lin tc.
Chng IV. Kho st cht lng h thng KT lin tc.
Chng V. Tng hp h thng KT lin tc.
Chng VI. M t ton hc h thng KT ri rc.
Chng VII. Phn tch v tng hp h thng KT ri rc.
Ngy nay, cc cng c iu khin u bin i nhanh chng v hon thin, nhng nhng
nguyn l c bn vn khng thay i hoc thay i khng ng k. Cc vn c cp trong
sch hng dn ny da trn cc gio trnh v iu khin t ng trong v ngoi nc nhng
c tm tt v c ng gip hc vin nm c nhng vn c bn nht ca mn hc.
V thi gian c hn, chc cn mt s sai st khng trnh khi, nhm bin son mong nhn
c cc gp ca ngi c hon thin trong cc ln xut bn sau.
Tc gi
f
M
Hnh 1.1. S khi h thng iu khin t ng in hnh
Cc tn hiu tc ng trong h thng:
u : tn hiu vo (input)
y : tn hiu ra (output)
x : tn hiu iu khin tc ng ln i tng (O)
e : sai lch iu khin
f : tn hiu phn hi
H thng KT lun tn ti mt trong hai trng thi l trng thi xc lp (trng thi tnh)
v trng thi qu (trng thi ng). Trng thi xc lp l trng thi m tt c cc i lng ca
h thng u t c gi tr khng i. Trng thi qu l trng thi k t thi im c tc
ng nhiu cho n khi h thng t c trng thi xc lp mi. L thuyt iu khin t ng tp
trung m t v phn tch trng thi qu ca h thng. Trng thi xc lp nh gi chnh xc
ca qu trnh iu khin. Nu trng thi xc lp vn cn tn ti sai lch gia tn hiu ch o v
tn hiu o, gi tr ny c gi l sai lch d (hay sai lch tnh), k hiu l , h thng c gi
l h thng c sai lch d. Nu = 0 th gi l h thng khng c sai lch d.
1.1.2 Phn loi h thng iu khin t ng.
C rt nhiu cch phn loi h thng KT. Mc ch ca phn ny khng phi nhm i
su cc cch phn loi h thng m i su mt cch phn loi chng ta thy c v tr, gii
hn ca phn l thuyt m mnh ang nghin cu. Vi mc ch , h thng KT c phn
lm hai loi chnh, ph thuc vo tnh cht ca cc phn t trong h thng l h thng tuyn tnh
v h thng phi tuyn.
- H tuyn tnh l h thng m tt c cc phn t ca n u l tuyn tnh.
- H phi tuyn l h thng m ch cn mt trong cc phn t ca n l phi tuyn.
Ni dung c bn nht ca l thuyt iu khin t ng l i su nghin cu h tuyn tnh.
c trng c bn nht ca cc phn t tuyn tnh l nguyn l xp chng, ngha l khi c mt t
hp tn hiu tc ng u vo ca phn t th tn hiu ra s bng t hp tng ng ca cc tn
hiu ra thnh phn. H thng phi tuyn khng c tnh cht ny.
5
Y ( p ) = W ( p ) .U ( p )
6
(1.1)
Y ( p ) l tn hiu ra ca h thng
U ( p ) l tn hiu vo ca h thng
W ( p ) l hm truyn t ca h thng
nh ngha: Hm truyn t ca h thng l t s gia tn hiu ra v tn hiu vo ca h
thng biu din theo bin i Laplace vi iu kin u trit tiu.
W ( p) =
L { y ( t )}
(1.2)
L {u ( t )}
vi L l bin i Laplace.
Mt h thng iu khin t ng thng c biu din di dng phng trnh vi phn
(PTVP) dng tng qut:
dy
dmu dm1y
du
a0 n + a1 n1 +... + an1 + an y = b0 n +b1 n1 ++bm1 +bmu
dt
dt
dt
dt
dt
dt
dn y
dn1y
(1.3)
trong a 0 an , b0 bm l cc h s v n m
Vi iu kin u trit tiu:
(1)
(n)
y ( 0 ) = y ( 0 ) = ... = y ( 0 ) = 0
(1)
( n)
u ( 0 ) = u ( 0 ) = ... = u ( 0 ) = 0
(1.4)
W ( p) =
Y ( p ) b0 p m + b1 p m1 + ... + bm1 p + bm
=
U ( p ) a0 p n + a1 p n1 + ... + an1 p + an
a0 p n + a1 p n1 + ... + an1 p + an = 0
(1.5)
(1.6)
(1.6) c gi l phng trnh c tnh hay phng trnh c trng (PTT) ca h thng
KT.
Trong biu thc (1.5), cc nghim ca a thc t s c gi l cc im khng (zero), cn
cc nghim ca a thc mu s c gi l cc im cc (pole).
1.2.1.2 Phng trnh trng thi m t h thng
hiu r v cch xy dng phng trnh trng thi, ta hy xt mt mch lc tng t
RLC nh sau:
L
R
U1
U2
di 1
U
=
iR
+
L
+
idt
1
dt C
U = 1 idt
2 C
(1)
(2)
Ta thy rng cc trng thi ca mch s ph thuc i v U2. xy dng m hnh ton ta
t:
U2 = x1
i = x2
x1, x2 c gi l bin trng thi, to ra mt khng gian trng thi m t cc trng thi ca
mch in trn. Trong bi ton iu khin t ng ngi ta quan tm n tc bin thin ca
trng thi: x1, x2 (o hm hay vi phn bc 1 ca x1, x2).
1
1
x2
x1 = 0.x1 + .x2 + 0.U1
C
C
1
1
R
R
1
1
(1) x2 = x1 x2 + U1 x2 = x1 x2 + U1
L
L
L
L
L
L
(2) x1 =
x1 0
=
1
x 2 L
X
1 x
1
0
C
+ 1 U1
R
x L
L 2
B.U
X = AX + BU
(*)
x = f ( x, u , t )
y = g ( x, u , t )
trong : x, x, f : l cc vector n chiu
u : l cc vector r chiu
8
(1.7)
y, g : l cc vector m chiu
Nu h tuyn tnh th (1.7) c vit di dng phng trnh trng thi dng tng qut
m t mt h thng KT bt k nh sau:
x = A ( t ) x + B ( t ) u
y = C ( t ) x + D ( t ) u
(1.8)
x = Ax + Bu
y = Cx + Du
(1.9)
trong :
a11 a12
a
a
A = 21 22
...
...
an1 an 2
... a1n
b11 b12
b
... a2n
b
, B = 21 22
... ...
... ...
... ann
bn1 bn 2
c11 c12
c
c22
C = 21
...
...
cm1 cm 2
c1n
d11 d12
d
... c2n
d 22
, D = 21
...
... ...
...
... cmn
d m1 d m 2
... b1r
... b2r
... ...
... bnr
...
d1r
... d 2 r
... ...
... d mr
...
Sau khi c biu din bi phng trnh trng thi nh (1.8), (1.9) ta s c s cu trc
dng tng qut biu din nh hnh v
D
u (t )
x (t )
B
+
0 (
) d
x (t )
y (t )
A
Hnh 1.2 S cu trc tng qut theo phng trnh trng thi ca h lin tc
1.2.1.3 Thnh lp phng trnh trng thi t hm truyn t cho trc.
* Nu c tnh ng hc ca h thng c m t bng PTVP dng:
9
a0
dn y
dt
+ a1
n
dn1y
dt
n1
+... + an1
dy
+ any = ku
dt
(1.10)
vi u l tc ng u vo ca h thng.
Hm truyn t ca h c dng:
W ( p) =
k
n
a0 p + a1 p
n 1
(1.11)
+ ... + an1 p + an
t:
y1 = y
dy
1 = y2 A1 y1
dt
dy
2 = y3 A2 y1
dt
...
dyn1
= yn An1 y1
dt
dyn
dt = ku An y1
x = Ax + Bu
y = Cx
A1 1 ...
A 0 ...
2
vi A =
... ... ...
An 0 ...
u
yn
k0
An
1 yn
p
0
0
0
0
, B = , C = [1 0 ... 0]
...
...
0
k
yn1
An1
y2
1
p
1 y2
p
A2
10
y1
A1
1
p
y = y1
u (t )
B
+
0 (
) d
y (t )
A
Hnh 1.4 S cu trc trng thi ca h
* Nu c tnh ng hc ca h thng c m t bng PTVP dng:
dy
dmu dm1y
du
a0 n + a1 n1 +... + an1 + an y = b0 n +b1 n1 ++bm1 +bmu
dt
dt
dt
dt
dt
dt
dn y
dn1y
(1.12)
W ( p) =
B0 p m + B1 p m1 + ... + Bm1 p + Bm
p n + A1 p n1 + ... + An1 p + An
vi Bi = bi a0 , Ai = ai a0 .
t:
y1 = y
dy
1 = y2 A1 y1 + B0u
dt
dy
2 = y3 A2 y1 + B1u
dt
...
dyn1
= yn An1 y1 + Bm1u
dt
dyn
dt = Bmu An y1
x = Ax + Bu
y = Cx
A1 1 ...
A 0 ...
2
vi A =
... ... ...
An 0 ...
0
B0
B
0
, B = 1 , C = [1 0 ... 0]
...
...
0
Bm
11
(1.13)
Bm1
yn
Bm
yn1 1
p
1 yn
p
An
B0
B1
y2 1
p
y1
A2
An1
1 y = y1
p
A1
u (t )
B
+
0 (
) d
+
+
y (t )
A
Hnh 1.6 S cu trc trng thi ca h
1.2.2 M t h thng trong min tn s
xc nh cc c tnh tn s ca h thng, trc ht phi xc nh hm truyn t ca n,
sau thay p = j vo, ta s nhn c hm truyn tn s t xt cc c tnh tn s ca h
thng.
Thng thng, h thng KT c phn ra thnh h thng h v h thng kn.
Wh ( p )
Wh ( p )
(a)
(b)
Wk ( p ) =
Wh ( p )
1 + Wh ( p )
12
(1.14)
Wh ( p ) = W1 ( p ) .W2 ( p ) ...Wn ( p )
(1.15)
Wi ( j ) = Ai ( ) .e
ji ( )
(1.16)
Wh ( j ) =
Ai ( ) .e
j i ( )
i =1
(1.17)
i =1
Cc c tnh tn s ca h h s l:
- c tnh bin tn (BT):
A ( ) =
Ai ( )
(1.18)
i =1
( ) = i ( )
(1.19)
i =1
L ( ) = 20 lg A ( ) =
20 lg Ai ( ) =
i =1
Li ( )
(1.20)
i =1
(1.21)
j ( )
= cos ( ) j sin ( )
ta c:
13
(1.22)
Wk ( j ) =
A ( )
A ( ) + cos ( ) j sin ( )
(1.23)
Wk ( j ) =
A ( ) A ( ) + cos ( )
1 + A ( ) + 2 cos ( ) A ( )
2
+j
A ( ) sin ( )
(1.24)
1 + A ( ) + 2 cos ( ) A ( )
2
- c tnh BT ca h kn
Ak ( ) =
A ( )
(1.25)
1 + A ( ) + 2 cos ( ) A ( )
2
- c tnh PT ca h kn:
k ( ) = arctg
sin ( )
A ( ) + cos ( )
(1.26)
W1
U1
W2
U2
Wn
W1.W2 ...Wn
W1 = U1 U
W2 = U 2 U1
Wn = Y U n 1
Vy hm truyn t ca h thng:
W ( p) =
Y
= W1.W2 ...Wn
U
14
(1.27)
Y1 = W1U
Y2 = W2U
Yn = WnU
Vi Y = Y 1 + Y2 + ... + Yn
Vy hm truyn t ca h thng:
W ( p) =
U1 = U
Y
= W1 + W2 + ... + Wn
U
(1.28)
W1
Y1
U2 = U
Y2
W2
W1 + W2 + ... + Wn
Yn
Un = U
Wn
Hnh 1.9 S h thng gm cc phn t mc song song
W1
W1
F +
W2
W2
(a)
(b)
e =U F
Y= W1.e
Z = W2 .Y
Gii ra ta c:
W ( p) =
Y
W1
=
U 1 + W1W2
(1.29)
W ( p) =
Y
W1
=
U 1 W1W2
(1.30)
U1
U1
U2
U2
(a)
(b)
U1
U2
U1
W
(a)
1W
W
U2
(b)
Y1
U
Y1
1W
U
Y2
Y2
W
(b)
(a)
Hnh 1.13 Chuyn tn hiu ra t trc ra sau mt khi
* T sau ra trc mt khi:
Y1
U
Y1
W
U
Y2
Y2
W
(b)
(a)
Hnh 1.14 Chuyn tn hiu ra t sau ra trc mt khi
U1
U3
U2
U1
(a)
(b)
Y
U
Z1
U2
U3
U
Z2
Z2
Z1
(b)
(a)
W6
W1
W2
W3
W4
W5
Hnh 1.16
tnh c hm truyn t ca h thng, ta phi chuyn h thng v dng c th p dng
c cc cng thc trong phn 1.3. C nhiu cch thc hin nh:
-
Cch 1: Chuyn A v B (chuyn tn hiu ra t sau ra trc khi W3), sau hon i v tr
ca A v B.
Cch 2: Chuyn B v A (chuyn tn hiu ra t trc ra sau khi W3), sau hon i v tr
ca A v B.
Sau y ta s thc hin theo cch 1, khi ta c h thng tng ng nh trn hnh 1.17.
W236 =
W2
1 W2 .W3 .W6
W6
W1
W3
W2
W5
Hnh 1.17
18
B
A
W3
W4
W1
W236
W3
W4
W5
Hnh 1.18
T hnh 1.18:
W12356 =
W1.W236
1 + W5.W1.W236
Hm truyn t h ca h thng:
Wk =
Wh
1 + Wh
Cc nhnh ni tip:
X1
X2
W1
X3
X2
X1
W1
W1.W2
Hnh 1.20
19
W1
X1
X2
X1
X2
W1+W2
W2
Hnh 1.21
-
W1
X1
W1
1 W1.W2
W2
Hnh 1.22
-
X2
X1
X2
W2
X1
X3
X3
X1
W1.W3
1 W2
W1 X2 W1
Hnh 1.23
* S tng quan gia s cu trc h thng v graph tn hiu trong h thng iu khin
Hnh 1.23 l graph tn hiu biu din h thng c s cu trc nh hnh 1.24.
X1
X2
W1
+
W2
Hnh 1.24
Theo hnh 1.23 ta c:
X 2 = W1 X1 + W2 X 2
20
W3
X3
X 3 = W3 X 2
W13 =
Vy:
X 3 W1W3
=
X1 1 W2
W13 =
X3
WW
1
= W1
W3 = 1 3
X1
1 W2
1 W2
TM TT NI DUNG HC TP CHNG 1
Trong chng ny ta cn nh cc khi nim sau:
+ Mt h thng iu khin t ng bao gm ba thnh phn c bn l i tng iu khin,
thit b iu khin v thit b o lng. Cc h thng iu khin m ta xt y u s dng
phng thc iu khin theo sai lch.
+ c trng c bn nht ca cc phn t tuyn tnh l nguyn l xp chng, ngha l khi c
mt t hp tn hiu tc ng u vo ca phn t th tn hiu ra s bng t hp tng ng ca
cc tn hiu ra thnh phn.
+ C th m t mt h thng iu khin t ng bng hm truyn t, bng phng trnh
trng thi v s cu trc ca h thng s th hin mi lin h gia hai phng php m t ny.
+ Chng ny cng a ra cc nguyn tc bin i s khi nh chuyn i v tr cc tn
hiu vo/ra mt khi; tm hm truyn t tng ng ca cc khu mc ni tip, song song, hi
tip... t , ta tm hm truyn t ca ton h thng.
+ Graph tn hiu cng l mt cch m t h thng, c dng tm hm truyn t ca h
thng. Cc quy tc bin i gia cc nhnh ca n cng tng ng nh cc quy tc bin i
gia cc khi trong s cu trc ca h thng.
BI TP
Bi 1:
S khi ca mt h thng iu khin in hnh?
Bi 2:
Th no l hm truyn t ca h thng?
a. Hm truyn t ca h thng l t s gia tn hiu ra v tn hiu vo ca h thng biu
din theo thi gian.
b. Hm truyn t ca h thng l t s gia tn hiu ra v tn hiu vo ca h thng biu
din theo bin i Laplace vi iu kin u khng i.
c. Hm truyn t ca h thng l t s gia tn hiu ra v tn hiu vo ca h thng biu
din theo bin i Laplace vi iu kin u trit tiu.
21
a0
dn y
dt
+ a1
dn1y
dt
n1
+... + an1
dy
+ any = ku
dt
Bi 5:
c tnh tn s ca h thng h?
Bi 6:
c tnh tn s ca h thng kn?
Bi 7:
Cho h thng nh hnh sau:
W1
U1
W2
U2
W3
Hm truyn t ca h thng l:
a. W = W1 + W2 + W3
b. W = W1.W2 .W3
c. W =
W1
W2 + W3
Bi 8:
Khi chuyn tn hiu vo t trc ra sau mt khi th:
a. Tn hiu phi i qua mt khi mi c hm truyn t chnh bng khi .
b. Tn hiu phi i qua mt khi mi c hm truyn t bng nghch o ca khi .
Bi 9:
Khi chuyn tn hiu ra t trc ra sau mt khi th:
a. Tn hiu phi i qua mt khi mi c hm truyn t chnh bng khi .
b. Tn hiu phi i qua mt khi mi c hm truyn t bng nghch o ca khi .
22
U(p)
W1(p)
W2(p)
W3(p)
Tm hm truyn t ca h thng?
Bi 11:
Cho h thng nh hnh sau
Tm hm truyn t ca h thng?
U(p)
Wa(p)
Wb(p)
Wc(p)
Wd(p)
Y(p)
Bi 12:
Xj
Wij
Xi
Graph tn hiu nh hnh trn biu th hm truyn t Wij bng bao nhiu?
a. Wij = X j X i
b. Wij = X i X j
Bi 13:
Hm truyn t ca h thng trong hnh sau s bng:
Wh ( p )
23
Y(p)
a. Wk ( p ) =
Wh ( p )
1 + Wh ( p )
b. Wk ( p ) =
Wh ( p )
1 Wh ( p )
c. Wk ( p ) =
1
1 + Wh ( p )
d. Wk ( p ) =
Wh ( p )
1 + Wh 2 ( p )
Bi 14:
Nghim a thc mu s ca hm truyn t c gi l g?
a. Cc im khng
b. Cc im cc
c. Cc im cc tr
d. Cc im un
24
Phn t
Tn hiu ra
y
y = Kx
(2.1)
y=
1
Ti
x.dt
(2.2)
y = Td
dx
dt
(2.3)
y (t ) = x (t )
(2.4)
25
a0
dn y
dn1y
dt
dt
+ a1
n
+... + an1
n1
dy
dmu dm1y
du
+ an y = b0 n +b1 n1 ++bm1 +bmu
dt
dt
dt
dt
(2.5)
0 khi t 0
1( t ) =
1 khi t > 0
(2.6)
* Tn hiu xung n v ( t ) :
(t ) =
0
d
1( t ) =
dt
khi t 0
khi t = 0
(2.7)
Hm ( t ) c tnh cht:
( t ) = 1
(2.8)
(t )
1( t )
1
0
(a)
(b)
sin (t + ) hay e jt +
(2.9)
x ( t ) = x ( ) .1( t ) +
-
dx ( )
.1( t ) d
d
(2.10)
x (t ) =
t +
x ( ) . ( t ) d
(2.11)
1
Nu x ( t ) = 1( t ) th L 1( t ) =
p
Mi lin h gia hm truyn t v hm qu ca phn t l:
W ( p) =
L ( h (t ))
L (1( t ) )
= p.L h ( t ) . Vy :
L h ( t ) =
W ( p)
p
(2.12)
* ng qu :
c k hiu l H ( t ) , l phn ng ca phn t khi tn hiu tc ng u vo l nhiu
bc thang c bin bng A dng A.1( t ) . Da vo nguyn l xp chng ca phn t tuyn tnh:
H ( t ) = A.h ( t ) . Vy:
L ( H (t )) =
AW
. ( p)
p
(2.13)
( t ) = 1' ( t ) . Vy L ( t ) = 1 . Ta c:
L k ( t ) = W ( p )
(2.14)
* ng qu xung:
c k hiu l K ( t ) , l phn ng ca phn t khi tn hiu tc ng u vo l nhiu
xung n v c bin bng A dng A. ( t ) . Theo tnh cht ca ( t ) ta c th vit:
t
x ( t ) = x ( t ) . ( t ) .d =
0 x ( ) ( t ).d
(2.15)
trong : x ( ) l gi tr hm x ( t ) ti thi im t = .
y (t ) =
0 x ( ) k ( t ) .d
(2.16)
x ( t ) = Av sin (t )
(2.17)
y ( t ) = Ar sin (t + )
(2.18)
x ( t ) = Av e jt
(2.19)
Ta c:
28
(2.20)
d n x (t )
dt
d n y (t )
dt n
= Av ( j ) .e jt
n
= Ar ( j ) .e
j t + ( )
(2.21)
(2.22)
(2.24)
R ( ) + jI1 ( )
j
W ( j ) = A ( ) .e ( ) = 1
R2 ( ) + jI 2 ( )
(2.25)
R ( ) .R2 ( ) + I1 ( ) .I 2 ( )
R ( ) .I1 ( ) R1 ( ) .I 2 ( )
j
A ( ) .e ( ) = 1
+j 2
2
2
R2 ( ) + I 2 ( )
R22 ( ) + I 22 ( )
R ( ) =
R1 ( ) .R2 ( ) + I1 ( ) .I 2 ( )
(2.26)
(2.27)
R22 ( ) + I 22 ( )
I ( ) =
R2 ( ) .I1 ( ) R1 ( ) .I 2 ( )
(2.28)
R22 ( ) + I 22 ( )
A ( )
BT
( )
PT
I ( )
TBP
=
=
R ( )
=0
A ( ) = R 2 ( ) + I 2 ( )
(2.29)
( ) = arctg
I ( )
R ( )
(2.30)
ln W ( j ) = ln A ( ) + j ( )
Hm s ln A ( ) c gi l c tnh bin tn logarithm (BTL) v ( ) c gi l c
tnh pha tn logarithm (PTL) ca phn t.
c tnh BTL thng c o bng decibel (dB). Khi tnh theo decibel, c tnh BTL c
xc nh theo cng thc:
L ( ) = 20 lg A ( )
30
(2.31)
2.4 CC KHU NG HC C BN
Mt h thng gm cc phn t ni tip vi nhau theo cc phng thc chung nh ni tip,
song song, hi tip. Tnh cht ca qu trnh qu ton h thng ph thuc vo tnh cht ng
hc ca cc phn t hp thnh. Cc phn t hp thnh thng c phn tch thnh nhng
khu c bn.
Cc khu ng hc c bn l cc phn t ca h thng KT c cc tnh cht sau:
-
Ch c mt tn hiu vo v mt tn hiu ra
y = k .x
(2.32)
trong k l h s khuch i.
Cc phn t c hm truyn t l khu khuch i: cc phn t o lng (sensor, bin tr,
b pht tn hiu cm ng), phn t khuch i (b khuch i in t, bn dn, ion).
* Hm truyn t ca khu: W ( p ) = k
* Cc c tnh thi gian:
-
Hm qu : h ( t ) = k .1( t )
Hm trng lng: k ( t ) = k . ( t )
Cc c tnh thi gian c m t trn hnh 2.4.
h (t )
k . ( t )
k
0
t
0
Hnh 2.4. Cc c tnh thi gian ca khu khuch i
* Cc c tnh tn s:
31
Hm truyn tn s: W ( j ) = k
c tnh BT: A ( ) = k
c tnh PT: ( ) = 0
A ( )
( )
BT
I ( )
0
PT
L ( )
BTL
TBP
R ( )
20.lg k
lg
dy
+ y = kx
dt
k
Tp + 1
dh ( t )
+ h ( t ) = k vi iu kin
dt
h ( 0 ) = 0 v h ( ) = k , ta c:
h ( t ) = k 1 e t vi = 1 T
-
32
h (t )
k (t )
k
t
Hm truyn tn s:
W ( j ) =
k
Tj + 1
(T )
+1
kT
(T )2 + 1
= R ( ) + jI ( )
c tnh BT: A ( ) = R 2 ( ) + I 2 ( ) =
(T )2 + 1
I ( )
= arctg (T )
R ( )
c:
2
k
2
R ( ) + I ( ) =
2
c tnh BTL:
(T )2 + 1
33
A ( )
( )
BT
I ( )
PT
L ( )
TBP
=0
0 =
BTL
20.lgK
-20dB/dec
R ( )
0
lg c
lg
T 2.
d2y
dt 2
+ 2. .T .
dy
+ y = k .x
dt
(2.33)
trong : T : hng s
: h s truyn
: h s ( < 1)
Cc phn t thuc khu dao ng: mch in R-L-C, ng c in mt chiu kch t c
lp lng vo l in p phn ng, lng ra l tc quay; h c hc n hi; con quay hi
chuyn trong b phn li my bay
* Hm truyn t ca khu:
Chuyn PTVP sang dng ton t p , ta c:
34
(T 2 . p2 + 2. .T . p + 1) .Y ( p ) = k.X ( p )
(2.34)
Y ( p)
k
= 2 2
X ( p ) T . p + 2. .T . p + 1
(2.35)
Vy hm truyn t l:
W ( p) =
* Cc c tnh thi gian:
-
Hm qu :
Phng trnh c trng ca khu dao ng:
T 2 . p 2 + 2. .T . p + 1 = 0
Phng trnh c hai nghim phc lin hp l: p1,2 =
(2.36)
1 2
= j
T
k
1
h ( t ) = L1 2 2
.
T . p + 2. .T . p + 1 p
(2.37)
trong : = .0 ; = 1 2 .0 ; 0 =
-
1
T
Hm trng lng:
(t ) =
dh ( t ) k .02
=
.1( t ) .e t .sin t
dt
(2.38)
k (t )
h (t )
A1
A2
k 1 + e t
A1
k
0
k 1 e t
A2
T1
T1
Hnh 2.8 Cc c tnh thi gian ca khu dao ng
35
= T
1
1
A
= .ln 1
T1
A2
0 = 2 + 2 = 1
T
= .T
(2.39)
* c tnh tn s:
-
Hm truyn tn s:
W ( j ) =
-
k
2
T . + 2 .T . j + 1
c tnh BT:
A ( ) =
(1 .T )
2
2 2
(2.41)
2
+ 4. . .T
c tnh PT:
( ) = arctg
mn
-
(2.40)
2. ..T
(2.42)
1 2 .T 2
c tnh BTL:
(1 2.T 2 )
+ 4. 2 . 2 .T 2
Nhn xt:
(2.43)
lg
-40 dB/dec
+ Hm qu h(t) ca khu qun tnh bc 1 cho ta thy, khu qun tnh bc 1 khng t
ngay gi tr k m dao ng tin n gi tr k. Mun h dao ng, trong h phi c b tch ng
nng v mt b tch th nng, v d trong mch R-L-C th C tch th nng cn L tch ng nng.
+ Hm trng lng k(t) ca khu dao ng cho ta thy, khi hm qu h(t) t gi tr xc
lp hm trng lng k(t) s gim v 0, c ngha l lc ny khu dao ng c gii phng sc
qun tnh.
36
1
Tp
Hm qu : h ( t ) = k . 1( t ) .dt = kt
h (t )
k (t )
tg = k
0
Hnh 2.10 Cc c tnh thi gian ca khu tch phn
* Cc c tnh tn s:
A ( )
BT
0 =
R ( )
=0
( )
TBP
I ( )
L ( )
PT
20.lg T
BTL
lg
20dB/dec
1
1
=j
T . j
T
Hm truyn tn s: W ( j ) =
c tnh BT: A ( ) =
c tnh PT: ( ) = 2
1
T
dx
dt
Hm qu : h ( t ) = T .1' ( t ) = T . ( t )
h (t )
k (t )
T . ( t )
T . ' ( t )
Hm truyn tn s: W ( j ) = T . j
38
c tnh BT: A ( ) = T
c tnh PT: ( ) = 2
A ( )
TBP
I ( )
BT
( )
PT
R ( )
=0
L ( )
BTL
20.lgT
20dB/dec
lg
Nhn xt:
+ Cc c tnh qu h(t) v trng lng k(t) ca khu vi phn cho thy khu vi phn c xu
hng mt n nh.
+ Khu vi phn c tn hiu ra ca khu vi phn lun sm pha hn tn hiu vo mt gc bng
2 , y l c tnh ni bt ca khu vi phn khin cho h thng tc ng nhanh.
2.4.4 Khu tr
* Phng trnh vi phn: y ( t ) = x ( t )
* Cc c tnh thi gian:
-
Hm qu : h ( t ) = 1( t )
39
h (t )
1
0
k (t )
1( t )
(t )
Hm truyn tn s: W ( j ) = e j.
c tnh BT: A ( ) = 1
c tnh PT: ( ) =
A ( )
-1
( )
0
TBP
I ( ) 1
BT
R ( )
-1
L ( )
PT
BTL
lg
40
dc 0db/dec
n=1
dc 20 db/dec
n=2
dc 40 db/dec
TM TT NI DUNG HC TP CHNG 2
Cc vn cn quan tm chng ny bao gm:
+ Cc c tnh thi gian ca phn t
+ Cc c tnh tn s ca phn t
+ Cc khu ng hc c bn:
o Khu khuych i.
o Khu qun tnh bc 1.
o Khu dao ng.
o Khu tch phn.
o Khu vi phn.
o Khu tr.
BI TP
Bi 1.
Hm qu ca mt khu l p ng ca khu khi tn hiu vo l nhiu c dng:
a. ( t )
b.
A. ( t )
c. 1( t )
41
d.
A.1( t )
Bi 2.
Hm trng lng ca mt khu l p ng ca khu khi tn hiu vo l nhiu c dng:
a. ( t )
b.
A. ( t )
c. 1( t )
d.
A.1( t )
Bi 3.
Khi xt cc c tnh tn s ca mt khu, ta cn xt cc c tnh no?
a. BT, PT
b. TBP
c. BTL
d. C bn c tnh trn
Bi 4.
Nu cc c im ca cc khu ng hc c bn?
Bi 5.
S khc nhau c bn gia khu tch phn v khu vi phn?
Bi 6.
Ti sao khi xy dng cc c tnh tn s, ta ch cn xt s thay i ca t 0 n .
Bi 7.
Mun tm hm truyn t tn s ca mt khu hay mt h thng, ta thay p bng g vo
hm truyn t ca n?
a.
p =
b.
p =
c.
p = j
d.
p = j
Bi 8.
Ti sao c tnh TBP ca khu tr li l ng trn c bn knh bng 1?
Bi 9.
Nu hm truyn t ca phn t c biu din di dng: W ( j ) = R ( ) + jI ( ) th
a.
A ( ) = R 2 ( ) I 2 ( )
b.
A ( ) = R ( ) + I ( )
c.
A ( ) = R 2 ( ) + I 2 ( )
d.
A ( ) = R ( ) I ( )
Bi 10.
Trong khu khuch i, mi quan h v pha gia tn hiu vo v tn hiu ra l?
Wh ( p ) =
Cho bit h h gm nhng khu c bn no?
43
10 p + 4
8 p3 + 5 p 2
44
yqd (t)
(4)
(1)
(2)
(5)
(3)
Hnh 3 1
bit h thng KT c n nh hay khng, ta phi gii PTVP m t qu trnh ng hc
ca n. Dng tng qut:
a0
dn y
dtn
+ a1
dn1y
dt
+... + an1
n1
dy
dmu dm1y
du
+ an y = b0 n +b1 n1 ++bm1 +bmu
dt
dt
dt
dt
(3.1)
dn y
dt
+ a1
dn1y
dt
n1
+... + an1
dy
+ an y = 0
dt
(3.2)
a0 p n + a1 p n1 + ... + an1 p + an = 0
(3.3)
yqd ( t ) =
ci e p t
i
i =1
(3.4)
pi = ji
lim e
khi
khi
i < 0
i > 0
nghim
n
nh
lim e(
i + ji )t 0
khi
khi
ji
i < 0
i > 0
nghim
khng n
x nh
x
x
x x
x
x
x
bin gii
n nh
Nh vy:
- h thng KT n nh ( lim yqd 0 khi t ) nu tt c cc nghim ca PTT c
phn thc m (cc nghim nm na bn tri mt phng phc).
- h thng KT khng n nh ( lim yqd khi t ) nu PTT ch cn c mt
nghim c phn thc dng (nghim nm na bn phi mt phng phc).
- h thng KT s nm bin gii n nh nu PTT ch cn c 1 nghim c phn thc =
0 v cc nghim cn li c phn thc <0 (c 1 nghim nm trn trc o, cc nghim cn li nm
trn mt tri mt phng phc).
0.2 p3 + 3 p 2 + 0.1 p + 5 = 0
c cc h s ai > 0 nn h c th n nh. (Mun bit h c n nh hay khng th cn phi
xt c iu kin ).
46
a0 p n + a1 p n1 + + an1 p + an = 0
(3.5)
z0
z1
a2
a3
b2
b3
a4
a5
b4
b5
a6
a7
b6
b7
...
...
...
...
b0 =
b1 =
a0
a2
a1
a3
a1
a3
b0
b2
b2 =
b3 =
a0
a4
a1
a5
a1
a5
b0
* Cch lp bng:
+ Dng u tin ca bng Routh ghi cc s hng c ch s chn, dng th hai ghi cc s
hng c ch s l.
+ Mi s hng trong mt hng ca bng Routh l mt s m c gi tr l mt nh thc bc
hai vi ct th nht l ct th nht ca hai hng ngay st trn hng c s hng ang tnh; ct th
hai l hai hng ngay st trn v nm bn phi hng c s hng ang tnh.
+ Bng Routh s kt thc khi no dng cui cng ch cn mt s hng.
* Tnh cht ca bng Routh:
- C th nhn hoc chia cc s hng trn cng mt hng ca bng Routh vi mt s dng
th kt qu tnh ton vn khng thay i.
- S ln i du ca cc s hng trong ct u tin ca bng Routh bng s nghim ca
phng trnh c trng c phn thc dng.
- Nu ct u tin ca bng c mt s hng bng khng th h cng khng n nh.
* ng dng:
- Tiu chun ny c s dng xt n nh cho c h h v kn.
V d 3.2: Xt tnh n nh ca h thng c phng trnh c trng:
12 p 5 + 6 p 4 + 18 p3 + 6 p 2 + 6 p + 1 = 0
* iu kin cn:
Ta nhn thy ai , (i = 0 5)> 0 nn tho mn iu kin cn h n nh.
47
12 18 6
6 6 1
b0 b2
b1 b3
2 3 1
6 6 1
b0 b2
b1 b3
hay
c0
c1
c0
c1
b0 =
2 3
=6,
6 6
c0 =
6 4
= 12 ,
12 6
b2 =
2 1
6 6
= 4 , b1 =
= 12 ,
6 1
6 4
c1 =
b3 =
6 1
=6
6 0
12 6
= 72
12 0
Ta nhn thy cc s hng thuc ct u tin ca bng Routh u dng nn tho mn iu kin n
nh. Vy h thng cho l n nh.
V d 3.3: Cho h thng c i tng iu khin:
W0 ( p ) =
1
3
p +5p +8p + 4
Wh ( p ) = W0 ( p ).WC ( p ) =
1
3
p +5p +8p + 4
.( K P + K D p )
A( p ) = p3 + 5 p 2 + (8 + K D ) p + (4 + K P ) = 0
48
WC(p)
W0(p)
K >8
8 + K D > 0
D
4 + K P > 0
K P > 4
KD 0
Trn thc t,
. Nu K D = 0 , ta c b iu khin P (t l).
KP > 0
* iu kin : Xt n nh theo tiu chun Routh:
- Lp bng Routh:
1 8 + KD
5 4 + KP
b0
b1
Ta c: b0 =
5
1 8 + KD
= 36 + 5K D K p , b1 =
5 4+ Kp
b0
4+ Kp
0
= (4 + K p )b0
iu kin n nh:
b0 > 0
36 + 5 K D K p > 0
K p < 36 + 5 K D
b1 > 0
4 + K p > 0
K p > 4
Kt hp vi iu kin cn, ta c iu kin h n nh l:
KD 0
KP > 0
K < 36 + 5 K
D
P
KP
K p = 36 + 5 K D
36
Min n nh
-36/5
KD
Hnh 3.4 Bi u din min n nh trong v d 3.3
49
A( p ) = a0 p n + a1 p n1 + + an 1 p + an = 0
a1
a3
a5
a0
a2
a4
n = 0
a1
a3
(3.6)
nh thc Hurwitz bc n :
ng cho chnh ca n bt u t a1 n an . Trong
cng mt ct, cc s hng trn s hng thuc ng cho
chnh c ch s tng dn; cc s hng di s hng thuc
ng cho chnh c ch s gim dn. Nu ch s ln hn n
hoc nh hn 0 th ghi 0. C tt c n nh thc Hurwitz t bc
1 n bc n .
* ng dng:
- Tiu chun ny thng dng cho h thng c phng trnh c trng bc thp ( n < 4 ).
- Tiu chun ny cng c dng xt n nh cho c h h v kn.
V d 3.4: Xt n nh ca h thng c phng trnh c trng bc 2:
a0 p 2 + a1 p + a2 = 0
Gii:
* iu kin cn: a0 , a1, a2 > 0
* iu kin n nh theo Hurwitz:
1 = a1 > 0
a1 0
2 = a a > 0
0
2
a1 > 0
a2 > 0
50
A( p ) = a0 p n + a1 p n1 + + an 1 p + an = 0
(3.7)
A ( p ) = a0
( p pi )
(3.8)
i =1
pi
pi
j
Hnh 3.5 Vector j pi
A ( p ) = a0
( p pi ) = a0 j pi .e
i =1
Vy, argA ( j ) =
-
j arg( j -pi )
i =1
i =1
arg ( j -pi ) = ( n k ) k = ( n 2k )
i =1
argA ( j ) = n
-
T nhng phn tch trn, Mikhailope pht biu thnh tiu chun n nh nh sau:
51
(3.9)
Im[]
n=1
n=1
Re[]
n=3
n=3
n=4
Re[]
n=4
(b)
(a)
.
* Khi nim ng cong bao mt im:
K mt vector c chn l im c bao cn u trn ng cong. Cho u vector trt
t u ng cong n cui ng cong. Gc quay ca vector bng bao nhiu th ta ni ng
cong bao im cho by nhiu (vector quay theo chiu kim ng h th gc quay ly du m cn
quay ngc chiu kim ng h th gc quay ly du dng).
M1
= 2
=0
M2
52
Q ( p)
P ( p)
(3.10)
Wk ( p ) =
Wh ( p )
Q ( p)
=
1+Wh ( p ) Q ( p ) + P ( p )
(3.11)
arg Q ( j ) +P ( j ) = n 2
(3.12)
Xt biu thc J ( j ) = 1 + Wh ( j ) =
Q ( j ) + P ( j )
P ( j )
(3.13)
Khi h kn n nh th
argJ ( j ) = n 2 ( n 2k ) 2 = k
(3.14)
( 1,
chng minh).
C+
C-
C+
-1
C1
khng bao im ( 1, j 0 ) .
( 1,
A ( p ) = a0 p n + a1 p n1 + ... + an1 p + an = 0
(3.15)
A( p) = N ( p) + M ( p) = 0
(3.16)
=
Gi: p ''j
( j = 1, 2,..., m )
N ( p)
M ( p)
M ( p) =
( p p''j )
j =1
N ( p) =
( p pi' )
i =1
54
(3.17)
A( p) =
( p pi )
i =1
A( p) =
( p ) + ( p p''j ) = 0
pi'
i =1
(3.18)
j =1
N ( p) = 0 .
2. Xc nh im kt thc ca qu o nghim s
ng vi gi tr = . PTT (3.18) c th vit di dng:
A( p) =
p ) + ( p p ''j ) = 0
(
pi'
i =1
(3.19)
j =1
M ( p) = 0 .
Vy, ng vi gi tr = , qu o nghim s s kt thc m im l nghim p ''j ca
M ( p) = 0 .
3. Xc nh s lng qu o trn mt phng nghim:
ng vi mt gi tr xc nh, PTT A ( p ) c n nghim s c biu din tng ng n
v tr trn mt phng phc. Khi bin i t 0 n , cc nghim pi s bin i, do n
nghim s vch nn n ng trn qu o nghim s.
+ Nu m < n , qu o nghim s c m ng khi u t n nghim pi' v kt thc m
nghim p ''j . V qu o nghim s c n ng nn s c ( n m ) ng khi u t ( n m )
nghim pi' v tin xa v cng.
55
( n m ) ng .
p
1
2 k +1
j
n
e n m
R0 =
vi
( k = 0, 1,.., n m 1)
+ R0
n
1
pi'
n m i =1
(3.20)
p ''j
j =1
(3.21)
2k + 1
nm
( k = 0, 1,..., n m 1)
(3.22)
V d 3.5:
+ Nu ( n m ) = 1 th t (3.22) ta c:
0 =
nm
R0
(a)
20
3
2
(b)
R0
5
3
56
j
0 3
(c)
0 =
nm 2
2 1 + 1
3
1 =
=
2
2
( k = 0)
( k = 1)
0 =
nm 3
2 1 + 1
1 =
=
3
2 2 +1
5
2 =
=
3
3
( k = 0)
( k = 1)
( k = 2)
N ( p)
M ( p)
(3.23)
A ( j ) = PA (c ) + jQA (c ) = 0
(3.24)
Trong (3.24) cn c thng s c cha bit nn phi hp gii hai phng trnh:
PA (c c ) = 0
QA (c c ) = 0
ta s xc nh c gi tr tn s c v c giao im qu o nghim s v trc o.
57
(3.25)
im u ca qu o ng vi n nghim ca N ( p ) = 0
im cui ca qu o ng vi m nghim ca M ( p ) = 0
R0 =
-
n
1
pi'
n m i =1
p ''j
j =1
k =
2k + 1
nm
( k = 0, 1,..., n m 1)
3.6 D TR N NH
nh gi c chnh xc qu trnh qu ta phi bit chnh xc nghim ca PTT, c
ngha l phi gii c PTT, nhng vic ny rt kh thc hin. Tuy nhin, c th khng cn gii
PTT m bit c vng phn b nghim s ca n trn na mt phng nm bn tri trc o. V
d, c th tm c gi tr l gi tr phn thc ca nghim s gn trc o nht so vi cc
nghim khc. Nh vy, vng gch sc trn hnh 3.10a l vng phn b nghim s ca PTT. Gi
tr c gi l h s tt dn, mc n nh hay d tr n nh ca h thng. Nh vy, vi
d tr nh, h thng c th t n nh tr nn mt n nh khi thng s ca n v mt l do no
m b thay i mt cch ng k. Bi vy, khi thit k cn phi la chn d tr n nh c
ln cn thit.
Cng c th khng cn gii PTT m tm c gi tr gc 2 , tng ng vi phn gch
sc trn hnh 3.10b, trong phn b tt c cc nghim s ca PTT. Gi tr m = cotg c
gi l mc dao ng ca h thng. C v m n l nhng ch tiu gin tip nh gi cht
lng ca qu trnh qu . Nu kt hp v m ta s c s phn b nghim ca PTT trong
phn gch sc trn hnh 3.10c.
58
(b)
Hnh 3.10 Cc vng phn b nghim s
(a)
(c)
U ( p)
1
k 1 +
2p
(3 p
1
2
Y ( p)
+ 2 p + 1 ( p + 1)
Gii:
* Hm truyn t ca h h:
Wh ( p ) =
k ( 2 p + 1)
2 p 3 p 2 + 2 p + 1 ( p + 1)
* Hm truyn t ca h kn:
Wk ( p ) =
k ( 2 p + 1)
2 p 3 p 2 + 2 p + 1 ( p + 1) + k ( 2 p + 1)
2 p 3 p 2 + 2 p + 1 ( p + 1) + k ( 2 p + 1) = 0
hay
6 p 4 + 10 p3 + 6 p 2 + 2 p ( k + 1) + k = 0
(3.26)
s . C hai trng hp xy ra: hoc PTT c nghim thc bng 0 ( s = 0 ), hoc PTT c nghim
thun o.
59
s=0
Phng trnh ny c nghim nm bn tri trc o v a1.a2 = 25.536 > a0 .a3 = 8.7
Vy khi k = 0.187 , h c h s tt dn bng 0.1 v nghim gn trc o nht l mt nghim
thc.
+ Trng hp phng trnh c tnh c nghim thun o: ta c th dng tiu chun Routh
hoc Hurwitz xt. Gi s dng tiu chun Routh.
Lp bng Routh:
3.36
0.8k 0.1494
7.6
2k + 1.076
19.08 12k
6.08 1.13544
2
24k 20.96k + 29.16 = 0
TM TT NI DUNG HC TP CHNG 3
Vn quan trng nht trong chng 3 l iu kin h thng KT n nh. Tnh n
nh s ph thuc vo nghim ca phng trnh c trng, h thng s n nh khi v ch khi tt
c cc nghim ca PTT c phn thc m, hay ni cch khc tt c cc nghim ca PTT phn
b bn tri mt phng phc.
Chng ny cng cp n mt s phng php thng dng khi xt tnh n nh ca
h thng, mt trong nhng yu cu u tin khi s dng mt h thng iu khin t ng. Ta lu
mt s c im:
+ Nu phng trnh c trng ca h thng c t nht mt h s m th c th kt lun h
thng khng n nh
+ Tiu chun Routh thng c dng xt n nh ca h thng v i vi cc h thng
c phng trnh c tnh bc cao, vic tnh ton cc nh thc Hurwitz rt phc tp
+ Cc tiu chun n nh tn s (Mikhailope, Nyquist) thng c dng khi c s tr gip
ca my tnh (v thng dng phn mm Matlab) v chng xt n nh ca h thng da vo biu
vector a thc c trng.
60
BI TP
Bi 1.
H thng KT c hm truyn t ca h h nh sau:
Wh ( p ) =
3 p +1
3 p 4 p 4 + 2 p3 + 6 p 2 + 2 p + 1
H h:
a. n nh
b. Khng n nh
c. bin gii n nh
Bi 2.
Xt tnh n nh ca h kn c hm truyn t ca h h nh trn? Hy xt xem h kn tho
mn nhn xt no sau ?
a. n nh
b. Khng n nh
c. bin gii n nh
Bi 3.
Cho h thng c i tng iu khin dng
W0 ( p ) =
v b iu khin Wc ( p ) = K P +
1
3
p +5p +8p + 4
KI
p
U ( p)
k+
1
2p
(2 p
61
1
2
+ 3 p + 1 ( p + 1)
Y ( p)
U ( p)
( 2 p3 + 2 p2 + 3 p + 1) ( p + 1)
Y ( p)
R0
(a)
3
2
20
(b)
R0
5
3
0 3
(c)
a. a
b. b
c. c
Bi 8.
Mun xt tnh n nh ca mt h thng KT, ta ch phi xt qu trnh xc lp, ng hay sai?
a. ng
b. Sai
Bi 9.
62
R0
(a)
3
2
20
(b)
R0
5
3
j
0 3
(c)
a. a
b. b
c. c
Bi 10.
Theo tiu chun Mikhailope, h thng KT c a thc c tnh bc n vi cc h s
dng s n nh nu biu vector a thc c tnh A ( j ) xut pht t mt im trn phn
dng trc thc quay mt gc bng bao nhiu quanh gc ta v ngc chiu kim ng h khi
thay i t 0 n .
a. n.
b. n . 4
n. 2
c.
Bi 11.
Theo tiu chun Nyquist, nu h h n nh hay bin gii n nh ( k = 0 ), lc h kn
s n nh nu c tnh TBP ca h h c c im g?
a. Bao im ( 1, j 0 )
b. Khng bao im ( 1, j 0 )
Bi 12.
Theo tiu chun Nyquist, nu PTT ca h h c k nghim nm bn phi trc o th h
thng kn s n nh nu c tnh TBP ca h h bao im ( 1, j 0 ) mt gc bng bao nhiu khi
thay i t 0 n .
a. k
b. k 2
c. 2k
Bi 13.
63
Wh ( p ) =
4
2
Tp + p + 1
Vi T = 2 th h kn tng ng c n nh khng?
Bi 14.
Hm truyn t ca h h c dng: Wh ( p ) =
kn tng ng n nh?
64
k
2
p + p +1
. Vi iu kin no ca k th h
= lim e ( t )
(4.1)
Wh ( p ) =
U ( p)
E ( p)
Y ( p ) k b0 p m + b1 p m1 + ... + 1
=
E ( p ) pi a0 p ni + a1 p ni 1 + ... + 1
(4.2)
Y ( p)
Wh ( p )
Wk ( p ) =
Wh ( p )
Y ( p)
=
1 + Wh ( p ) U ( p )
(4.3)
1
U ( p)
1 + Wh ( p )
(4.4)
Vy:
E ( p) =
lim e ( t ) = lim pE ( p )
(4.5)
p0
p
U ( p)
p 0 1 + Wh ( p )
= lim e ( t ) = lim
Vy:
0 khi t < 0
1. Khi tn hiu vo u ( t ) = 1( t ) =
1 khi t 0
1
p 0 1 + Wh ( p )
Ta c: = lim
2. Khi u ( i ) = kt U ( p ) = k p 2
66
U ( p) =
1
p
(4.6)
1
k
.
p0 1 + Wh ( p ) p
Ta c: = lim
V d 4.1:
= lim
p0
1+
k
Tp + 1
1
p
k
th sai lch tnh c xc nh:
Tp + 1
1
1
=
p k +1
1
=0
p0
1 k p
1+
p Tp + 1
= lim
= lim
p0
1+
1 k p2
p Tp + 1
1
k
Wh ( p ) =
b0 p m + b1 p m1 + ... + 1
p r a0 p nr + a1 p nr 1 + ... + 1
(4.7)
67
Bc v sai tnh
r =0
r =1
r=2
Tn hiu vo
u ( t ) = 1( t ) , U ( p ) = 1 p
1 1+ K p
u (t ) = t, U ( p ) = 1 p2
1 kv
u ( t ) = (1 2 ) t 2 , U ( p ) = 1 p3
1 ka
Bng 4.1
4.3 KHO ST CHT LNG CA H THNG QU TRNH QU
Mt h thng KT c gi l n nh khi tn hiu ra ca h thng tt dn theo thi gian:
lim yqd ( t ) = 0
(4.8)
y (t )
y
Hnh 4.2 Hm qu ca
mt h iu khin
t
tm t
tqd
= lim e ( t ) = lim pE ( p )
t
p 0
(4.9)
2. qu iu chnh
qu iu chnh c xc nh bi tr s cc i ca hm qu so vi tr s xc lp ca
n:
68
% =
ymax y
100
y
(4.10)
3. Thi gian qu
Thi gian qu tqd c xc nh bi thi im m hm qu y ( t ) khng vt ra khi
bin gii ca min gii hn quanh tr s xc lp. = 5% y hay c khi dng = 2% y .
4. Thi gian p ng
Thi gian p ng tm xc nh bi thi im m hm qu ln u tin t c tr s
xc lp y khi c qu iu chnh.
6. S ln dao ng
S ln dao ng N c tnh bi s ln m hm qu dao ng quanh tr s xc lp trong
thi k qu ( 0 < t < tqd ).
Wk ( p ) =
Y ( p) Q ( p)
=
U ( p) P ( p)
(4.11)
69
e ( t ) = e0 .e t
(4.12)
= ln [ e0 ] td
(4.13)
(4.14)
e (T 2 ) = e0 .e mT
= e0 .e m
(4.15)
e (T 2 )
= e m
e0
(4.16)
m=
ln
(4.17)
I1 =
e
0 e ( t ) dt
(4.18)
2
1
t
Hnh 4.4 Qu khng dao ng
I1 chnh l din tch hnh c to bi ng cong v hai trc ta . Theo hnh 4.4, qu
trnh qu trng hp 1 tt hn, gi tr ca I1 trong trng hp 1 nh hn. Vy I1 cng nh th
qu trnh qu xy ra cng nhanh v ngc li. Qu trnh qu s tt nht nu I1 min .
71
1
2
t
Hnh 4.5 Qu c dao ng
i vi h c dao ng th I1 li khng s dng c v lc , gi tr tch phn c lc
dng, lc m ph thuc vo du ca e nn I1 c gi tr nh nhng li khng phn nh ng cht
lng v h thng. Theo hnh 4.5, ta nhn thy qu trnh qu theo ng 1 tt hn nhng nu
tnh theo I1 th n li cho gi tr ln hn. Trong trng hp ny, ta phi s dng tch phn dng:
I2 =
e dt
(4.19)
Vi cng thc ny, du ca e khng cn nh hng ti gi tr ca tch phn na. Theo hnh
4.5, gi tr I 2 ca ng 1 nh hn ng 2 v qu trnh iu khin s tt nht nu I 2 min .
Tuy I 2 c th s dng nh gi cht lng ca qu trnh qu c hay khng c dao
ng nhng trn thc t n t c s dng v mun tnh theo (4.19) th phi bit trc ng
bin thin ca e .
thun tin cho vic nh gi qu trnh qu , ngi ta s dng tiu chun tch phn
bnh phng sai lch c tnh theo cng thc dng:
2
e dt
0
I3 =
(4.20)
1
2
e (t ) =
E ( j ) e
jt
(4.21)
I3 =
2
e
0
I3 =
2
e
0
E ( j )
1
2
jt
dt = E ( j )
0 e ( t ) e
v
nn cui cng
( t ) dt =
( t ) dt =
1
2
72
0 e ( t ) e
E ( j ) d
jt
dt d
(4.22)
I3 =
b ( p)b ( p)
dp
2 j j a ( p ) a ( p )
(4.23)
b ( p ) = b0 p n1 + b1 p n2 + ... + bn1
trong :
a ( p ) = a0 p n + a1 p n1 + ... + an
b02
Vi n = 1, I 3 =
2a1a2
b2a + b2a
Vi n = 2, I3 = 0 2 1 0
2a2 a1a0
Vi n = 3, I3 =
I4 =
2
e
0
2
de
+ dt
dt
(4.24)
tqd
6
< <
tqd
3
Wk ( p ) =
1
p3 + Ap 2 + Bp + 1
v xc nh thng s ti u ca A, B I 3 t cc tiu?
73
E ( p)
U ( p)
Wh ( p )
Y ( p)
Hnh 4.6 H thng KT
in hnh
E ( p) =
1
U ( p ) = 1- Wk ( p ) U ( p )
1 + Wh ( p )
1
1
E ( p ) = 1 3
2
p + Ap + Bp + 1 p
=
p 2 + Ap + B
p3 + Ap 2 + Bp + 1
Vi n = 3, I3 =
a0 = 1
a = A
1
trong :
,
a
B
=
2
a3 = 1
Vy I 3 =
b1 = A
b = B
2
B + A2 2 B + AB 2
2 ( 1 + AB )
B ( AB 1) + A2
2 ( AB 1)
B
A2
+
2 2 ( AB 1)
I3 1 A
=
B
( AB 1)2
2
v xc nh c A* = 1, B* = 2 ng vi I 3min = 1.5 .
c tnh qu ca e ( t ) nh hnh 4.7. R rng l theo ch tiu cht lng I3 , qu iu
chnh kh ln. hnh 4.7 c ba ng cong c cng mt tr s I3 nhng ng 1 c cht lng
ng xu nht v ng 3 c cht lng tt nht.
74
e (t )
e ( 0)
3
1
2
10
5
15
20
25
TM TT NI DUNG HC TP CHNG 4
n nh mi ch l ch tiu u tin ni rng h thng c lm vic c hay khng, cn
cht lng qu trnh qu mi ni ti vic h thng iu khin t ng c s dng c hay
khng? C ba ch tiu cht lng c bn l:
+ Ch tiu trng thi tnh: c nh gi da vo sai lch d ca iu khin v c tnh
theo cng thc: = lim e ( t )
t
BI TP
Bi 1.
Nu hm truyn t h ca h thng c dng:
Wh ( p ) =
b0 p m + b1 p m1 + ... + 1
p r a0 p nr + a1 p nr 1 + ... + 1
th r l
a.
b.
c.
d.
v sai cp 1 ca h thng
v sai cp 2 ca h thng
v sai cp 3 ca h thng
bc v sai tnh ca h thng
75
= lim e ( t )
b.
= lim pE ( p )
c.
= lim pE ( p )
d.
= lim E ( p )
t 0
p
p0
p 0
Bi 3.
qu iu chnh c xc nh theo cng thc:
a.
% =
ymax y
100
y
b.
% =
ymax y
100
ymax
c.
% =
ymax y
y
d.
% =
ymax y
100
Bi 4.
i vi h khng dao ng, nh gi cht lng ca h thng, ta c th dng tiu chun
tch phn I1 =
a.
I1 min
b.
I1 max
Bi 5.
Vi h khng dao ng, c th s dng tiu chun tch phn I 2 =
cht lng ca h thng khng?
a.
b.
Khng
C
Bi 6.
Sai s xc lp ca h thng c hm truyn t h:
76
e ( t ) dt nh gi
Wh ( p ) =
1
2
p + p+k
1k
k
(1 + k ) k
k ( k + 1)
Bi 7.
qu iu chnh ca h thng cng nh cng tt, ng hay sai?
a.
b.
ng
sai
Bi 8.
Trong cc tiu chun tch phn, tiu chun no cho ta nh gi chnh xc nht cht lng
qu ca h thng?
a.
I1 =
b.
I2 =
c.
I3 =
d.
I4 =
0 e ( t ) dt
e ( t ) dt
2
e dt
0
2
e
0
de
+
dt
dt
Bi 9.
k
th sai lch tnh bng bao nhiu, vi tn
Tp + 1
hiu vo u ( t ) = 1( t ) ?
Bi 10.
Mun trit tiu sai lch tnh trong khu qun tnh ( = 0 ) th phi mc ni tip khu qun
tnh vi khu c hm truyn t nh th no to thnh h v sai cp 1?
a. 1 p 2
b. 1 p
77
d.
p2
78
Z ( p)
Wb ( p )
i tng
W3 ( p )
U ( p)
E ( p)
W2 ( p )
W1 ( p )
Y ( p)
Wb ( p ) .W1 ( p ) .W2 ( p ) + W3 ( p ) = 0
(5.1)
Wb ( p ) =
W3 ( p )
W1 ( p ) .W2 ( p )
(5.2)
Wb ( p )
U ( p)
E ( p)
W1 ( p )
W2 ( p )
Y ( p)
Wb ( p ) .W2 ( p ) = 1
(5.3)
Wb ( p ) =
W2 ( p )
(5.4)
Khi cu trc ca khi b c xy dng hon ton chnh xc theo cng thc (5.4) th s
lun m bo u ( t ) = y ( t ) v ta c th ni h thng bt bin vi nhiu t trc.
Trong thc t, W2 ( p ) l hm truyn t ca i tng iu khin c cu trc phc tp nn
vic xy dng hm truyn t ca khi b theo (5.4) l hon ton khng th thc hin c, c
ngha l khng th to c bt bin tuyt i m ch c th xy dng h thng bt bin tng
i. Cu trc ca khi b phi chn kh thi v hm truyn t ca n gn vi cng thc (5.4)
nht. C th s dng php b tnh l php b n gin nht. Trong php b tnh, hm truyn t
ca khi b ch l khu khuch i c h s khuch i bng gi tr nghch o h s truyn ca
i tng.
5.2.2 Phng php xy dng h thng iu khin tng
Nhng nguyn nhn c bn lm cn tr tc tc ng ca thit b iu khin v v vy,
lm gim chnh xc ca iu khin l s chm tr v qun tnh trong vic truyn tn hiu theo
knh iu khin ca i tng. Trong trng hp ny, nhiu h thng iu khin c cu trc mch
vng khng p ng c yu cu v cht lng ca qu trnh iu khin ngay c khi s dng cc
81
U ( p)
E ( p)
Wm1 ( p )
X1 ( p )
Wm 2 ( p )
Y1 ( p )
W1 ( p )
Y ( p)
W2 ( p )
(Wm 2 ( p ) W2 ( p ) )
82
Wd1 ( p ) =
Wm 2 ( p ) .W1 ( p )
1 + Wm 2 ( p ) .W2 ( p )
(5.5)
x = K p .e
(5.6)
Trong K p l h s khuch i ca quy lut. Theo tnh cht ca khu khuch i (hay
khu t l) ta thy tn hiu ra ca khu lun lun trng pha vi tn hiu vo. iu ny ni ln u
im ca khu khuch i l c tc ng nhanh. V vy, trong cng nghip, quy lut t l lm
vic n nh vi mi i tng. Tuy nhin, nhc im c bn ca khu t l l khi s dng vi
cc i tng tnh, h thng iu khin lun tn ti sai lch tnh. gim gi tr sai lch tnh th
phi tng h s khuch i nhng khi , tnh dao ng ca h thng s tng ln v c th lm h
thng mt n nh.
Trong cng nghip, quy lut t l thng c dng cho nhng h thng cho php tn ti
sai lch tnh. gim sai lch tnh, quy lut t l thng c hnh thnh theo biu thc:
x = x0 + K p .e
(5.7)
K3
K1
K1 > K 2 > K3
K2
83
x = Ki e.dt =
1
Ti
e.dt
(5.8)
1
x = K p .e + Ki e.dt = K p e +
Ti
trong :
e.dt
(5.9)
K p l h s khuch i
Ti = K p Ki l hng s thi gian tch phn
1
W ( p ) = K p 1 +
Ti . p
(5.10)
1
W ( j ) = K p 1 j
Ti .
(5.11)
84
1
2
3
4
x = K p .e + K d .
trong :
de
de
= K P e + Td .
dt
dt
K p l h s khuch i
85
(5.12)
W ( p ) = K p (1 + Td . p )
(5.13)
W ( j ) = K p (1 + jTd . )
(5.14)
( ) = arctg (Td . )
(5.15)
x = K p .e + K I e.dt + K d .
trong :
de
1
= KP e +
dt
Ti
e.dt + Td .
de
dt
(5.16)
K p l h s khuch i
Ti = K p Ki l hng s thi gian tch phn
Td = K d K p l hng s thi gian vi phn
1
W ( p ) = K p 1 +
+ Td . p
Ti . p
86
(5.17)
W ( j ) = K p 1 +
1
j Td .
Ti .
(5.18)
Ti .Td . 2 1
( ) = arctg
Ti .
(5.19)
e(t)
Sai lch
e(t)
t
P
e(t)
t
PI
t
e(t)
PD
e(t)
PID
t
Hnh 5.6. Minh ho sai lch iu khin vi cc lut iu chnh
87
x ( t ) = A.x ( t ) + B.u ( t )
(5.20)
P = B
A.B
A2 .B ... An1.B
(5.21)
X = A. X + B.U
y = C. X
0.5 0
1
; B=
Trong A =
2 1
0
Xt tnh iu khin c ca h thng?
Gii: Theo cng thc (5.21), h thng iu khin c hon ton khi ma trn P sau c
hng bng 2:
P = [B
1 0.5 9 1 1 0.5
A.B ] =
2 1 0 = 0
0
2
Hng ca ma trn P :
rank ( P ) = 2 v det ( P ) = 2 0
88
u (t )
yn
1
p
10
1
p
y (t )
0.5
0.2
Hnh 5.6
Xt tnh iu khin c ca h thng trn?
Gii: T h thng nh hnh 5.6, ta xc nh c hm truyn t ca h kn l:
Wk ( p ) =
Y ( p)
20
= 2
U ( p) 2 p + p + 4
t:
x1 = y
x1 = x2
x = 2 x 0.5 x + 10u
1
2
2
Phng trnh trng thi tng ng l:
1 x1 0
x1 0
=
x 2 0.5 x + 10 u
2
2
Xt tnh iu khin c ca h thng theo cng thc (5.21):
P = [B
0 0
1 0 0 10
A.B ] =
10 2 0.5 10 10 5
Hng ca ma trn P :
89
x ( t ) = A.x ( t ) + B.u ( t )
y ( t ) = C.x ( t )
(5.22)
( A ')2 .C '
...
( A ')n1 .C '
(5.23)
X = A. X + B.U
y = C. X
1
0
0
0
30 65 5
30
Xt tnh quan st c ca h thng?
Gii: Theo cng thc (5.23), h thng quan st c hon ton khi ma trn L sau c hng
bng 3:
1
0 0.5 30
90
( A ')2 .C '
0 0.5 30 0 0.5
( A ') .C ' = A '. ( A '.C ') = 1 0.2 65 . 1 = 0.2
0 0.3 5 0 0.3
2
1 0 0.5
Vy L = 0 1 0.2
0 0 0.3
Hng ca ma trn L :
TM TT NI DUNG HC TP CHNG 5
Trong chng ny chng ta cn lu mt s ni dung sau:
+ C nhng h thng khng th tha mn c cc yu cu k thut t ra d cc tham s
ca b iu khin c chn ti u. Trong trng hp , ta phi thay i cu trc ca n theo
cc phng php khc nhau nh phng php b tc ng nhiu (nu bit c nhiu tc ng
vo h thng l nhiu ph ti hoc nhiu t trc), phng php xy dng h thng iu khin
tng, phng php phn ly
+ Theo chc nng, cc b iu chnh c phn ra thnh b iu chnh t l, b iu chnh
tch phn, b iu chnh t l - tch phn, b iu chnh t l - vi phn v b iu chnh t l vi tch
phn. B iu chnh P lm gim sai lch nhng khng th trit tiu v h s khuch i khng th
qu ln. B iu chnh I c th trit tiu sai lch tnh nhng c tc ng chm. B iu chnh
PI c th thay i c tc gim sai lch B iu chnh PD ci thin c cht lng ng
nhng khng trit tiu c sai lch tnh cn b iu chnh PID kt hp c cc c im ca c
ba thnh phn PID l h thng c th lm vic n nh vi mi i tng, trit tiu c sai lch
tnh ca h thng v b iu khin c tc ng nhanh.
+ Khi h thng c biu din trong khng gian trng thi, ta xt n hai c im ca h
thng l tnh iu khin c v tnh quan st c hon ton cc bin trng thi.
BI TP
Bi 1.
C th c b iu khin vi phn (D Derivative)?
a. ng
b. Sai
91
Bi 3.
Trong quy lut tch phn, tn hiu iu khin c xc nh theo biu thc:
1
x = Ki e.dt = e.dt (trong Ti = 1 Ki c gi l hng s thi gian tch phn). Vy ti
Ti
sao u im ca quy lut tch phn l trit tiu sai lch tnh?
Bi 4.
Theo tnh cht ca khu khuch i ta thy tn hiu ra ca khu lun lun trng pha vi tn
hiu vo. iu ny ni ln u im ca khu khuch i l c tc ng nhanh, iu ng
hay sai?
a. Sai
b. ng
Bi 5.
Khi thay i t 0 n th c tnh pha tn ca b iu khin PD s thay i nh th
no?
a. T 2 n 2
b. T 2 n 0
c. Bng 2 , khng thay i
d. T 0 n 2
92
Bi 7.
Ni v tc ng, quy lut PID cn c th nhanh hn c quy lut t l, iu ng hay
sai?
a. Sai
b. ng
Bi 8.
Tc dng ca khu tch phn trong b iu khin?
a. Trit tiu sai lch tnh
b. Rt ngn qu trnh qu ca h thng
c. Lm tng tc ca b iu khin
d. Lm gim tc ca b iu khin
Bi 9.
Cho h thng c hm truyn t h dng:
Wh ( p ) =
10 p + 4
8 p3 + 5 p 2
Bi 10.
H thng tuyn tnh c m t bi phng trnh trng thi cp n :
93
x ( t ) = A.x ( t ) + B.u ( t )
y ( t ) = C.x ( t )
c gi l iu khin c hon ton khi v ch khi ma trn P c hng bng n . Vy ma
trn P c xy dng nh th no?
a.
b.
c.
P = C
d. P = B
A '.C
A.B
( A ')2 .C '
( A ')2 .C
...
...
( A ')n1 .C '
( A ')n1 .C
A2 .B ... An1.B
Bi 11.
Cho h thng c m t bng phng trnh trng thi dng:
x ( t ) = A.x ( t ) + B.u ( t )
y ( t ) = C.x ( t )
0.5 1.5
1
vi A =
; B = ; C = [1 0]
2 3
0
H thng ny c quan st c hon ton khng?
Bi 12.
Cho h thng c m t bng phng trnh trng thi dng:
x ( t ) = A.x ( t ) + B.u ( t )
y ( t ) = C.x ( t )
0.5 3
1
vi A =
; B = ; C = [1 0]
2 1
0
H thng ny c iu khin c hon ton khng?
94
t
(a)
t
0
T 2T 3T 4T 5T
(b)
u1 ( t )
e ( t ) e ( iT )
WLG ( p )
WLT ( p )
T
u (t )
f (t )
y (t )
Hnh 6.2 HTKT
ri rc tuyn tnh
WFH ( p )
Nhn xt:
+ Trong h thng, ngoi T l phn t to xung l tng (xung Diract), cc phn t cn li
trong h thng l tuyn tnh nn h thng c gi l h thng ri rc tuyn tnh hay h xung - s.
+ Kha T c mc ni tip vi khu WLG ( p ) c tc dng nh hnh xung t dng xung l
tng. Phn lin tc WLT ( p ) l phn t c bn nht ca h thng xung - s.
+ phn tch h thng, ngi ta ghp hai khu WLG ( p ) v WLT ( p ) to nn phn t lin
tc quy i: WLTQD ( p ) = WLG ( p ) *WLT ( p ) .
6.1.2 B lu gi bc 0 (ZOH Zero Order Hold)
Trong h thng ri rc nh trn, WLG ( p ) l hm truyn
u1 ( t )
0 T 2T 3T 4T 5T
u1 ( t ) = u1 ( iT )
Hnh 6.3 B lu gi bc 0
u1 ( t )
1
iT t ( i + 1) T
(6.1)
( T + WLG ( p ) )
to ra
WLG ( p ) =
U1 ( p )
L { ( t )}
1
1- e- p
p
WLG ( p ) =
U1 ( p )
L { ( t )}
1
1- e- pT
p
(6.2)
x (t )
x ( 2T )
x ( 8T )
x ( 4T )
t
0
T 2T 3T 4T 5T 6T 7T 8T
x ( i ) = x ( i + 1) x ( i )
Sai phn cp 1 ca hm ri rc tng ng nh o hm cp 1 ca tn hiu lin tc x ( t ) .
Sai phn cp 2:
2 f ( i ) = f ( i + 1) f ( i ) = f ( i + 2 ) 2 f ( i + 1) + f ( i )
Vy c th trc tip xc nh sai phn bc 2 ca hm ri rc m khng cn phi thng qua
sai phn bc 1. y chnh l s khc nhau gia php tnh sai phn ca hm ri rc v php tnh
o hm ca hm lin tc. Sai phn cp n :
n f (i ) =
( 1)n j
j =0
n!
f (i + j )
j !( n j ) !
(6.3)
* Ph v nh ca tn hiu ri rc:
Tn hiu ri rc x* ( t ) c m t bng biu thc:
x (t ) =
*
x ( nT ) ( t nT )
n =0
97
(6.4)
( p ) = x ( nT ) 0 ( t nT ) e pt dt
(6.5)
n =0
X * ( p) =
x ( nT ) e pnT
(6.6)
n =0
X * ( j ) =
x ( nT ) e jnT
(6.7)
n =0
(6.8)
X ( z) =
x ( nT ) z n
(6.9)
n =0
98
(6.10)
{ f1 ( mT ) . f2 ( n m ) T } = Z { f1 ( n m ) T . f2 ( mT )}
= Z { f1 ( mT )}.Z { f 2 ( nT )} = F1* ( p ) .F2* ( p )
(6.11)
dy
dmu dm1y
du
a0 n + a1 n1 +... + an1 + an y = b0 n +b1 n1 ++bm1 +bmu
dt
dt
dt
dt
dt
dt
dn y
dn1y
(6.12)
a0 n y ( i ) + a1 n1 y ( i ) + ... + an1y ( i ) + an y ( i ) = u ( i )
(6.13)
hay
a0 y ( i + n ) + a1 y ( i + n 1) + ... + an1 y ( i + 1) + an y ( i ) = u ( i )
vi:
(6.14)
a0 , an 0
3 y ( i ) + 2 2 y ( i ) + 6 y ( i ) + 5 y ( i ) = 0
Ta bin i n v dng (6.13) bng cch dng cng thc (6.3):
y ( i + 3) y ( i + 2 ) + 5 y ( i + 1) = 0
t j = i + 1 ta c phng trnh sai phn tng ng:
y ( j + 2 ) y ( j + 1) + 5 y ( j ) = 0
Vy cp ca sai phn cao nht l 3 v cp cao nht ca phng trnh sai phn l 2.
Vp phng trnh sai phn c cp n khi a0 , an 0 .
99
x ( i + 1) = Ad x ( i ) + Bd u ( i )
y ( i ) = Cd x ( i ) + Dd u ( i )
(6.15)
Dd
u (i )
x ( i + 1)
Bd
Tr
x (i )
Cd
y (i )
Ad
Hnh 6.6 S cu trc trng thi ca h ri rc
6.3.4 Chuyn t h lin tc sang h ri rc
H thng lin tc tuyn tnh c m t di dng phng trnh trng thi dng:
x ( t ) = Ax ( t ) + Bu ( t )
y ( t ) = Cx ( t ) + Du ( t )
(6.16)
Ad = (T )
B = T ( ) Bd
d
0
Cd = C
Dd = D
(6.17)
trong , ( t ) = L1
A.
Cch 2: Tin hnh tnh gn ng o hm cp 1:
x
= x ( i + 1) x ( i ) T
T
100
(6.18)
Ad = I + TA
B = TB
d
Cd = C
Dd = D
(6.19)
x ( t ) x ( i + 1) x ( i ) T
x ( t ) = xtb = x ( i + 1) + x ( i ) 2
u = u ( i )
(6.20)
TA TA
Ad = I . I +
2
2
1
TA
Bd = I .T .B
2
C = C
d
Dd = D
(6.21)
a0 y ( i + l ) + a1 y ( i + l 1) + ... + al 1 y ( i + 1) + al y ( i ) = ku ( i )
(6.22)
y ( i ) = y1 ( i )
y1 ( i + 1) = y2 ( i ) A1 y1 ( i )
y2 ( i + 1) = y3 ( i ) A2 y1 ( i )
...
y ( i + l ) = k0u ( i ) Al y1 ( i )
(6.23)
t :
vi k0 = k a0 , Ai = ai a0
c gi l phng trnh trng thi ca h thng ri rc. Cc bin y 1, y2 ,..., yl c gi l
cc bin trng thi. H trn vit di dng vector ma trn:
y1 ( i + 1) A1 1 ... 0 y1 ( i ) 0
y2 ( i + 1) = A2 0 ... 0 . y2 ( i ) + 0 u ( i )
... ... ... ... ... ... ...
yl ( i + 1) Al 0 ... Al yl ( i ) k0
101
(6.24)
y1 ( i )
y2 ( i )
y ( i ) = [1 0 ... 0] .
...
yl ( i )
(6.25)
l o hm tn hiu ra ca n.
yl ( i + 1)
u (i )
k0
Al
yl 1 ( i + 1)
yl ( i )
y2 ( i + 1)
y1 ( i + 1)
y2 ( i )
A2
Al 1
y ( i ) = y1 ( i )
A1
W ( z) =
t:
y1 ( i ) = y ( i )
y1 ( i + 1) = y2 ( i ) A1 y1 ( i ) + B0u ( i )
y i +1 = y i A y i + B u i
) 3( ) 2 1( ) 1 ( )
2(
...
y ( i + 1) = y ( i ) A y ( i ) + B u ( i )
l
l 1 1
m1
l 1
yl ( i + 1) = Al y1 ( i ) + Bmu ( i )
102
(6.28)
y1 ( i + 1) A1 1 ... 0 y1 ( i ) B0
y2 ( i + 1) = A2 0 ... 0 . y2 ( i ) + B1 u ( i )
... ... ... ... ... ... ...
yl ( i + 1) Al 0 ... Al yl ( i ) Bm
(6.29)
y1 ( i )
y2 ( i )
y ( i ) = [1 0 ... 0] .
...
yl ( i )
(6.30)
z 1 l o hm tn hiu ra ca n.
B1
Bm1
yl ( i + 1)
u (i )
Bm
yl ( i )
Al
B0
yl 1 ( i + 1)
y2 ( i + 1)
z
A2
Al 1
y2 ( i )
y1 ( i + 1)
z
y ( i ) = y1 ( i )
A1
(6.32)
W ( z) =
Y ( z ) b0 z m + b1z m1 + ... + bm
=
U ( z ) a0 z n + a1z n1 + ... + an
(6.33)
x ( i + 1) = Ad x ( i ) + Bd u ( y )
y ( i ) = Cd x ( i )
(6.34)
W ( z) =
Y ( z)
1
= Cd ( ZI Ad ) Bd
U ( z)
(6.35)
u (t )
WLG ( p )
y (t )
WLT ( p )
Y ( z)
= Z {WLG ( p ) .WLT ( p )}
U ( z)
1
1- e- pT . Vy
p
W ( p )
Z {WLG ( p ) .WLT ( p )} = 1 z 1 .Z LT
(6.36)
6.4.2 Hm truyn t ca h kn
e ( t ) e ( iT )
u (t )
f (t )
Ta c:
WLG ( p )
u1 ( t )
WLT ( p )
y (t )
Hnh 6.10 H thng
KT ri rc tuyn
tnh
WFH ( p )
Y ( z ) = Z {WLG ( p ) .WLT ( p )} E ( z )
F ( z ) = Z { f ( iT )}
E ( z ) = Z {e ( iT )}
e ( iT ) = u ( iT ) f ( iT )
Vy hm truyn t ca h kn l:
Wk ( z ) =
Z {WLG ( p ) .WLT ( p )}
Y (z)
=
U ( z ) 1 + Z {WLG ( p ) .WLT ( p ) .WFH ( p )}
(6.37)
u1 ( t )
e ( t ) e ( iT )
WLG ( p )
T
u (t )
y (t )
a
p+a
f (t )
Gii: Theo trn ta c hm truyn t ca khu WLG ( p ) :
WLG ( p ) =
1
1- e- pT
p
1 e pT
a
.
p
p+a
1 e pT
a
y ( t ) = L1 WLTQD ( p ) = L1
.
p
p + a
1
1 e pT
= L1
p p + a
a t T
= 1 e at .u ( t ) 1 e ( ) .u ( t T )
Hm ri rc:
a i 1 T
y ( t ) = 1 e aiT .u ( iT ) 1 e ( ) .u ( iT T )
Do :
WLTQD ( z ) = Y ( z ) =
QLTQD ( z ) =
1
1 z
1
1
1 e
aT
.z
1 1
z 1
z
1
aT 1
1 z
1 e .z
)
(1 eaT .z 1 )
z 1 1 e aT
105
z 1 1 e aT
Z WLTQD ( p )
Y ( z)
Wk ( z ) =
=
=
U ( z ) 1 + Z WLTQD ( p ) 1 + 1 e aT .z 1
TM TT NI DUNG HC TP CHNG 6
+ H thng ri rc m ta xt trong chng ny ch c phn t to xung l tng l ri rc,
cc phn t cn li trong h thng u l cc phn t lin tc tuyn tnh. Phn t ZOH (khu lu
gi bc 0) c tc dng nh hnh xung t phn t to xung l tng.
+ Nu h thng lin tc c m t bng phng trnh vi phn th h thng ri rc c m
t bng phng trnh sai phn v trong phng trnh sai phn, cp cao nht ca phng trnh
khng trng vi cp ca sai phn cao nht. Phng trnh sai phn c bc n khi n tha mn iu
kin a0 , a0 0 .
+ C ba phng php chuyn t h lin tc sang h ri rc vi chu k ct mu T l dng
bin i Laplace, tnh gn ng o hm cp 1 v phng php hnh thang, trong phng php
hnh thang cho kt qu chnh xc nht.
BI TP
Bi 1.
Trong cc h thng iu khin ri rc tuyn tnh, phng php lng t ha no thng
c s dng?
a.
Lng t ha theo mc
b.
c.
Lng t ha hn hp
Bi 2.
u l hm truyn t ca khu WLG ( p ) trong mt h thng ri rc tuyn tnh?
a.
WLG ( p ) =
1
1- e- pT
p
b.
WLG ( p ) =
1
1- e-T
p
c.
WLG ( p ) = 1- e- pT
Bi 3.
Cho h thng c biu din di dng phng trnh sai phn (6.12):
106
3 y ( i ) + 4 2 y ( i ) + 5y ( i ) + 2 y ( i ) = 0
Chuyn phng trnh sai phn ny v dng (6.13)?
Bi 4.
Cp sai phn cao nht l cp cao nht ca phng trnh sai phn?
a.
ng
b.
Sai
Bi 5.
Phn lin tc tuyn tnh ca h thng ri rc c hm truyn t:
WLT ( p ) =
2 ( p + 1)
p ( 2 p + 1)( 5 p + 1)
Bi 6.
Phn lin tc tuyn tnh ca h thng ri rc c hm truyn t:
WLT ( p ) =
3 p +1
( 4 p + 1)( 2 p + 1)( p + 1)
Bi 7.
Cho h iu khin lin tc tuyn tnh c biu din di dng phng trnh trng thi:
0 0 x1 0
x =
. + u
1 1 x2 1
y 1 0 . x1
] x
=[
2
Bi 8.
Hm truyn t ca h kn c xc nh theo cng thc no sau y?
107
a.
Wk ( z ) =
Z {WLG ( p ) .WLT ( p )}
Y ( z)
=
U ( z ) 1 + Z {WLG ( p ) .WLT ( p )}
b.
Wk ( z ) =
c.
Wk ( z ) =
Z {WLG ( p ) .WLT ( p )}
Y (z)
=
U ( z ) 1 + Z {WLG ( p ) .WLT ( p ) .WFH ( p )}
Bi 9.
Nu h thng iu khin ri rc tuyn tnh c m hnh nh hnh 6.12 th hm truyn t ca
h kn c xc nh theo cng thc no nu hm truyn t ca khu ZOH l
1
WLG ( p ) = 1- e- pT ?
p
u (t )
u1 ( t )
e ( t ) e ( iT )
WLG ( p )
WLT ( p )
T
f (t )
y (t )
Hnh 6.12
WFH ( p )
a. Wk ( z ) =
Z {WLG ( p ) .WLT ( p )}
Y (z)
=
U ( z ) 1 + Z {WLG ( p ) .WLT ( p ) .WFH ( p )}
b. Wk ( z ) =
Z {WLG ( p ) .WLT ( p )}
Y (z)
=
U ( z ) 1 + Z {WLG ( p ) .WLT ( p ) .WFH ( p )}
c. Wk ( z ) =
Z {WLT ( p )}
Y (z)
=
U ( z ) 1 + Z {WLG ( p ) .WLT ( p ) .WFH ( p )}
d. Wk ( z ) =
Z {WLG ( p ) .WLT ( p )}
Y ( z)
=
U ( z ) 1 + Z {WLG ( p ) .WFH ( p )}
Bi 10.
Cch bin i t h thng lin tc sang h thng ri rc trong khng gian trng thi theo
phng php hnh thang? (Trong I l ma trn n v. A, B, C , D l cc ma trn trng thi
trong h lin tc v Ad , Bd , Cd , Dd l cc ma trn trng thi trong h ri rc)
108
a.
TA TA
TA
Ad = I . I + ; Bd = I .T .B; Cd = C ; Dd = D
2
2
2
b.
TA TA
TA
Ad = I . I + ; Bd = I .T .B; Cd = C ; Dd = D
2
2
2
c.
TA TA
TA
Ad = I . I + ; Bd = I
2
2
2
d.
TA TA
TA
Ad = I . I + ; Bd = I .T .B; Cd = C ; Dd = D
2
2
2
; Cd = C ; Dd = D
Bi 11.
Cch bin i t h thng lin tc sang h thng ri rc trong khng gian trng thi theo
phng php tnh gn ng o hm cp 1? (Trong I l ma trn n v. A, B, C , D l cc
ma trn trng thi trong h lin tc v Ad , Bd , Cd , Dd l cc ma trn trng thi trong h ri rc)
a. a. Ad = I TA; Bd = TB; Cd = C ; Dd = D
b.
Ad = I + TA; Bd = TB; Cd = C ; Dd = D
c.
Ad = I + A; Bd = TB; Cd = C ; Dd = D
d.
Ad = I + TA; Bd = B; Cd = C ; Dd = D
Bi 12.
Cho h thng c m t bng phng trnh trng thi dng:
x ( t ) = A.x ( t ) + B.u ( t )
y ( t ) = C.x ( t )
0.5 1.5
1
; B = ; C = [1 0]
vi A =
2 3
0
Hy chuyn h trn sang h ri rc tng ng vi thi gian ct mu T = 0.25s
109
a0 y ( i + n ) + a1 y ( i + n 1) + ... + an1 y ( i + 1) + an y ( i ) = u ( i )
(7.1)
Tng t nh PTVP, nghim ca phng trnh sai phn cng bao gm nghim ring v
nghim tng qut:
y ( nT ) = y qd ( nT ) + y0 ( nT )
(7.2)
Nghim tng qut yqd ( nT ) (gii bng cch cho v phi ca phng trnh sai phn bng 0)
c trng cho qu trnh qu v nghim ring y0 ( nT ) c trng cho qu trnh xc lp ca h
thng, ngha l n khng lm nh hng n tnh n nh ca h thng.
Nh vy, xt n nh ca mt h thng ri rc, tng t nh h thng lin tc, ta ch
phi gii phng trnh sai phn c dng:
a0 y ( i + n ) + a1 y ( i + n 1) + ... + an 1 y ( i + 1) + an y ( i ) = 0
(7.3)
+ j )T
= eT .e jT
110
(7.4)
z = eT . ( cos T + j sin T )
(7.5)
Trong biu thc (7.5), thnh phn ( cos T + j sin T ) lun c module gii hn bng 1, do
, module ca z l:
z = e T
(7.6)
z >1
z =1
z <1
(7.7)
Vy:
> 0,
= 0,
< 0,
Mt phng p
= 0 : Trc o j
z = 1 : Nm trn ng trn n v
mt phng p
j.Im[z]
j.
1
n nh
khng n nh
0
khng n nh
n nh
-1
Re[z]
-1
Hnh 7.1 Phn vng n nh trn mt phng nghim s
111
(c)
6
2
4
II
3
C
5
C
A
2
1
t
III
IV
(a)
(b)
(d)
a0 z l + a1z l 1 + ... + al 1z + al = 0
Thay z =
(7.8)
v +1
vo PTT v bin i, ta c phng trnh tng ng theo bin v l:
v 1
A0vl + A1vl 1 + ... + Al 1v + Al = 0
(7.9)
Hnh 7.3 minh ha mi quan h tng quan s phn b nghim v ca phng trnh (7.9)
vi nghim z ca phng trnh (7.8).
- Nu nghim v nm bn tri trc o ta c v + 1 < v 1 hay z < 1 , tng ng
vi nghim z nm trong ng trn n v.
- Nu nghim nm bn phi trc o th v + 1 > v 1 hay z > 1 , tng ng vi
nghim z nm ngoi ng trn n v.
- Nu nghim nm trn trc o th v + 1 = v 1 hay z = 1 , tng ng vi
nghim z nm trn ng trn n v.
Nh vy, khi chuyn t mt phng z sang mt phng v th vic xt tnh n nh ca h
thng cng chuyn t iu kin z < 1 sang iu kin l tt c cc nghim ca phng trnh (7.9)
phi nm bn tri trc o. Cc tiu chun i s dng xt tnh n nh cho h thng iu khin
lin tc hon ton c th p dng xt n nh cho h ri rc trong mt phng v .
v 1
v +1
v 1 v
v +1
v 1
v +1
Mt phng z
Mt phng v
113
2 z 2 + 3z + 4 = 0
Gii: Thay z =
v +1
vo PTT, sau khi bin i ta c phng trnh theo bin v dng:
v 1
9v 2 4v + 3 = 0
a0 z + a1 = 0
Gii: Thay z =
v +1
vo PTT, sau khi bin i ta c phng trnh theo bin v dng:
v 1
( a0 + a1 ) v + a0 a1 = 0
Theo tiu chun n nh i s th h c PTT bc nht s n nh khi cc h s ca n
cng du:
( a0 + a1 )( a0 a1 ) > 0
Gii bt phng trnh ny ta c iu kin h n nh l a0 > a1
Nhn xt: H ri rc km n nh hn h lin tc. i vi h lin tc, nu h thng c
PTT bc nht hoc bc 2 vi cc h s dng th h thng lun n nh, cn trong h ri rc,
tnh n nh ca h thng ph thuc vo du gi tr ca cc h s trong PTT.
7.2.2.2 Tiu chun Jury
Tiu chun Jury l tiu chun kho st tnh n nh ca h ri rc i vi cc h thng c
PTT c bc l ln. Tiu chun Jury c xy dng nh sau:
Gi s h thng ri rc c PTT dng:
A ( z ) = a0 z l + a1z l 1 + ... + al 1z + al = 0
(7.10)
* Lp bng Jury:
S hng
1
al
al 1
a1
a0
a0
a1
al 1
al
bl 1
bl 2
b0
b0
b1
bl 1
( 2l 3)
114
trong :
bl 1 =
cl 2 =
al
a0
a0
al
bl 2 =
bl 1
b0
b0
bl 1
cl 3 =
al
a1
a0
al 1
bl 1
b1
b0
bl 2
bk =
ck =
al
al k 1
a0
ak +1
bl 1 bl k 2
b0
bk +1
( l + 1)
A ( z ) = 4 z3 + 2 z 2 5
Gii:
* iu kin h n nh:
1. A (1) = 4 + 2 5 = 1 > 0 : tha mn
2. l = 3 l, vy A ( 1) = 4 + 2 5 = 7 < 0 : tha mn
3. l 1 = 2 iu kin rng buc:
a. al = 5 < a0 = 4 : v l
Kt lun: H thng ri rc cho khng n nh.
V d 7.4: Xt n nh ca h c PTT sau theo tiu chun Jury:
A ( z ) = 16 z 4 + 16 z 3 4 z 1
Gii:
115
-1
-4
16
16
16
16
-4
-1
b3
b2
b1
b0
b0
b1
b2
b3
c2
c1
c0
Ta c:
b3 =
1 16
= 255
16 1
b2 =
1 16
= 252
16 4
b1 =
1 0
=0
16 0
b0 =
1 4
= 48
16 16
c2 =
b3
b0
c1 =
255
0
= 64260
48 252
c0 =
255 252
= 12096
48
0
b0 255 28
=
= 62721
b3
48 255
* iu kin n nh:
1. A (1) = 16 + 16 4 1 = 27 > 0 : tha mn
2. l = 4 chn, A ( 1) = 16 16 + 4 1 = 3 > 0 : tha mn
3. l 1 = 3 iu kin rng buc
a. al = 1 < a0 = 16 : tha mn
b. bl 1 = 255 > b0 = 48 : tha mn
c. cl 2 = 62721 > c0 = 12096 : tha mn
* Kt lun: Vy h cho l n nh.
7.2.3 Tiu chun n nh tn s
7.2.3.1 Nguyn l gc quay-Tiu chun Mikhailope
- Da vo tnh cht tn s ca a thc c tnh xt tnh n nh ca h thng.
Gi s h thng KT c PTT dng:
A ( z ) = a0 z l + a1z l 1 + + an1z + al = 0
116
(7.11)
A ( z ) = a0
( z zi )
(7.12)
i =1
z = e jT = e j vi = T
Vy,
arg A ( z ) =
arg ( z zi )
i =1
(7.13)
zi
zi
C
arg ( z zi ) = 2
(7.14)
arg ( z zi ) = 0
117
(7.15)
arg ( z zi ) = 2l
(7.16)
arg ( z zi ) = l
(7.17)
T nhng phn tch trn, tiu chun n nh theo nguyn l gc quay ca h thng ri rc,
tng ng vi tiu chun Mikhailope trong h lin tc, pht biu nh sau:
H thng iu khin ri rc c PTT bc l s n nh nu biu vector a thc c tnh
ca n quay mt gc bng l quanh gc ta khi thay i t 0 n .
V d 7.4: Xt n nh ca h thng ri rc c PTT bc nht:
a0 z + a1 = 0
Gii:
Thay z = e j = cos + j sin vo PTT ta c:
R ( ) = a0 cos + a1
c tnh phn o:
I ( ) = a0 sin
I ()
I ()
4
R ()
R ()
3
3
a)
b)
Hnh 7.6 Biu a thc c tnh
Wh ( p ) =
Q( z)
R( z)
arg R ( z ) = l
(7.18)
Wh ( z )
Q( z)
=
1 + Wh ( z ) R ( z ) + Q ( z )
(7.19)
Wk ( z ) =
119
arg G ( z ) = l
(7.20)
Xt biu ca vector: J ( z ) = 1 + Wh ( z ) =
Q( z) + R( z)
R(z)
Khi h kn v h h n nh th:
(7.21)
( 1,
n v.
y (t )
y
Hnh 7.7 Hm qu ca
mt h iu khin RR
t
tm t
tqd
1. qu iu chnh
qu iu chnh c xc nh bi tr s cc i ca hm qu so vi tr s xc lp ca
n:
120
% =
ymax y
100
y
(7.22)
2. Thi gian qu
Thi gian qu tqd c xc nh bi thi im m hm qu y ( t ) khng vt ra khi
bin gii ca min gii hn quanh tr s xc lp. = 5% y hay c khi dng = 2% y .
3. Thi gian p ng
Thi gian p ng tm xc nh bi thi im m hm qu ln u tin t c tr s
xc lp y khi c qu iu chnh.
4. Thi gian c qu iu chnh
Thi gian c qu iu chnh t c xc nh bi thi im hm qu t cc i.
7.3.2 Kho st cht lng h thng ri rc trng thi xc lp
u (t )
e (t )
e ( iT )
T
WLG ( p )
f (t )
u1 ( t )
WLT ( p )
y (t )
Hnh 7.8 H thng
KT RR tuyn tnh
WFH ( p )
Cht lng ca h thng ca h thng ri rc cng c phn nh qua sai s xc lp, sai s
cng nh h thng c cht lng cng cao, nu h thng c cht lng l tng th sai s ny s
bng 0. Sau y ta s kho st sai s ny.
Da vo phn 6.4.2, ta c th tnh c sai lch gia tn hiu vo v ra ca h thng kn nh
sau:
E ( z) =
1
U (z)
1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
(7.23)
(
z 1
z 1
E ( z)
z 1 z
+ Khi u ( t ) = 1( t ) U ( z ) =
(7.24)
z
. Ta c sai s xc lp c xc nh nh sau:
z 1
1
z 1 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
e ( ) = lim
121
(7.25)
+ Khi u ( t ) = t U ( z ) =
Tz
( z 1)
. Ta c sai s xc lp c xc nh nh sau:
T
z 1 ( z 1) 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
e ( ) = lim
(7.26)
7.4 TNG HP H RI RC
7.4.1 Tng hp h ri rc trong khng gian trng thi
Trong phn 6.3.3, ta bit cch m t mt h thng ri rc trong min khng gian trng
thi cng nh cch chuyn t h lin tc sang h ri rc. Cc tiu ch tng hp h thng trong
min trng thi l tnh iu khin c v quan st c ca n. Cc tiu chun ny ln u tin
cho Kalman a ra.
Gi s h thng c m t bi phng trnh trng thi:
x ( i + 1) = Ad x ( i ) + Bd u ( i )
y ( i ) = Cd x ( i ) + Dd u ( i )
(7.27)
M = Ad n1.Bd
Ad n2 .Bd
... Bd
rank ( M ) = n
x1 ( i + 1) 1 2 x1 ( i ) 1
=
x i + 1 u ( i )
+
x
i
1
2
1
(
)
2 ( )
x1 ( i )
=
y
i
1
0
(
)
[
]
x2 ( i )
122
(7.28)
(7.29)
1 2
1
, Bd = , Cd = [1 0] , n = 2
H thng trn s c Ad =
2 1
1
Theo tiu chun iu khin c hon ton ca Kalman, ta tnh:
1 2 1 3
Ad .Bd =
. =
2 1 1 1
3 1
Vy M =
, det M = 4 0 nn rank ( M ) = 2
1 1
Kt lun: H thng l iu khin c hon ton.
7.4.1.2 Tnh quan st c
Mt h thng c gi l quan st c nu t cc s liu o c u ra, ta c th xc
nh c cc trng thi x ( i ) (cc c lng trng thi).
H thng ri rc c m t bi (7.27) s quan st c hon ton khi v ch khi ma trn
sau c hng bng n .
N = Cd '
(A )
d
' n 1
.Cd '
rank ( N ) = n
(7.30)
(7.31)
1 2 1 1
Ad ' .Cd ' =
. =
2 1 0 2
1 1
Vy: N =
, det N = 2 0 nn rank ( N ) = 2
0 2
Kt lun: H thng quan st c hon ton.
7.4.2 B iu chnh PID s
B iu chnh PID (Proportional Intergral - Derivative) lin tc c m t trn hnh 7.9
gm 3 knh song song l t l, tch phn v vi phn.
kp
e (t )
E ( p)
ki p
kd p
+
+
c (t )
C ( p)
123
Hnh 7.9 B iu
chnh PID lin tc
k . ( z 1)
Cn khu vi phn s, sau khi bin i ta s c hm truyn t l: d
T .z
Hm truyn t ca b iu chnh PID s c m t trn hnh 7.12.
WPID ( z ) = k p +
kiT ( z + 1) kd . ( z 1)
+
2 ( z 1)
T .z
(7.32)
kp
e ( iT )
E ( z)
kiT ( z + 1)
2 ( z 1)
kd ( z 1)
Tz
+
+
+
c ( iT )
C ( z)
Hnh 7.10 B iu
chnh PID s
W0 ( p ) =
10
( p + 1)( p + 2 )
1 e Tp
p
T = 0.1( s ) ?
Gii:
Theo cng thc (6.36) ta c:
124
W ( p )
Z {WLG ( p ) .WLT ( p )} = 1 z 1 .Z LT
(7.33)
10
= 1 z 1 .Z
( p + 1)( p + 2 )
Vy:
WLTQD ( z ) =
0.0453 ( z + 0.904 )
( z 0.905)( z 0.819 )
Wk ( z ) =
Y ( z ) 0.0453 ( z + 0.904 )
=
U ( z ) z 2 1.679 z + 0.782
(7.34)
k p = 1; ki = 0.997 v kd = 0
Hm truyn t ca b iu chnh PID l:
WPID ( z ) = 1.0499
z 0.905
z 1
(7.35)
Wh ( z ) = WPID ( z ) .WLTQD ( z ) =
0.0453 ( z + 0.904 )
( z 1)( z 0.819 )
(7.36)
7.4.3 Tng hp h n nh v tn
Mt c im quan trng ca h thng iu khin ri rc khc vi h thng tuyn tnh lin
tc l tn ti kh nng n nh v tn. y chnh l ch tiu tc ng nhanh ca h thng iu
khin ri rc m c s l thuyt ca n c th trnh by nh sau:
Nu tt c cc nghim pi ca PTT li xa n m v cng th n ch c nghim duy nht
(7.37)
G ( z ) = a0 .z l = 0
(7.38)
v ch cn li dng:
125
W ( z) =
b0 z l 1 + b1z l 2 + ... + bl 2 z + bl 1
a0 z l
(7.39)
hay
W ( z ) = B0 z 1 + B1z 2 + ... + Bl 2 z l +1 + Bl 1z l
(7.40)
trong Bi = bi a0 .
Nh ni chng 6, chuyn i Laplace ri rc ca hm qu xung l hm truyn t
ca h thng ri rc, ngha l:
W * ( p) =
k ( nT ) e pnT
(7.41)
n =0
W ( z) =
k ( nT ) z n
(7.42)
n =0
k ( 0 ) = 0; k (T ) = B0 ; k ( 2T ) = B1;...; k ( lT ) = Bl 1
k ( nT ) = 0 khi n > l
(7.43)
x ( mT ) .k ( n m ) T
y ( nT ) =
(7.44)
m =0
t j = n m m = n j , ta c:
y ( nT ) =
x ( n j ) T .k ( jT )
(7.45)
j =n
y ( nT ) =
x ( n m ) T .k ( mT )
m =0
126
(7.46)
y ( nT ) =
x ( n m ) T .k ( mT )
(7.47)
m =0
y (0) = 0
y (T ) = A.k (T )
y ( 2T ) = A. k (T ) + k ( 2T )
y ( 3T ) = A. k (T ) + k ( 2T ) + k ( 3T )
......
y ( lT ) = A. k (T ) + k ( 2T ) + ... + k ( lT )
Do k ( nT ) = 0 khi n > l nn cc gi tr tip theo u bng y ( lT ) . Qu trnh qu kt
thc ti thi im t = lT .
Hnh 7.11 m t qu trnh qu ca h thng iu khin ri rc ti u tc ng nhanh khi
l = 1 . Qu trnh qu kt thc sau 1 bc ly mu.
y ( nT )
2T 3T
t
Hnh 7.11 Qu trnh qu trong h thng ti u tc ng nhanh
TM TT NI DUNG HC TP CHNG 7
V mt kha cnh no , cc h thng ri rc tuyn tnh c mi tng ng so vi cc h
thng lin tc tuyn tnh:
+ V tnh n nh ca h thng, mi quan h gia iu kin n nh ca h thng trong
min p (h lin tc) v trong min z (h ri rc) c th hin qua bng 7.1. H thng ri rc s
n nh khi tt c cc im cc ca h thng (nghim ca PTT) nm hon ton trong vng trn
n v. ( z < 1 )
127
BI TP
Bi 1.
iu kin mt h thng ri rc tuyn tnh n nh l cc nghim ca PTT:
a. C phn thc nh hn 0
b. C phn thc ln hn 0
c. Nm trong ng trn n v
d. Nm ngoi ng trn n v
Bi 2.
Sau khi t bin ph theo phng php bin i bo ton hnh dng, ta c th xt tnh n
nh ca mt h thng ri rc theo cc tiu chun n nh ca
a. H lin tc
b. H ri rc
Bi 3.
iu kin cn mt h thng ri rc n nh l cc h s ca PTT dng?
a. ng
b. Sai
Bi 4.
128
T
z 1 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
e ( ) = lim
1
z 1 ( z 1) 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
b. e ( ) = lim
c.
T
z 1 ( z + 1) 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
e ( ) = lim
T
z 1 ( z 1) 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
d. e ( ) = lim
Bi 5.
Hm truyn t ca b iu khin PID s?
k T ( z + 1) kd . ( z 1)
a. WPID ( z ) = k p + i
+
2 ( z 1)
T .z
k T ( z + 1) ki . ( z 1)
+
b. WPID ( z ) = k p + d
2 ( z 1)
T .z
c. WPID ( z ) = ki +
k pT ( z + 1)
2 ( z 1)
kd . ( z 1)
T .z
k T ( z + 1) k p . ( z 1)
d. WPID ( z ) = kd + i
+
2 ( z 1)
T .z
Bi 6.
Cho h thng c biu din trong khng gian trng thi dng:
x1 ( i + 1) 1 2 x1 ( i ) 1
=
x i + 1 u ( i )
+
x
i
1
2
1
(
)
2 ( )
2
x1 ( i )
=
y
i
1
0
(
)
[
]
x2 ( i )
Bi 7.
Cho h thng c biu din trong khng gian trng thi dng:
129
x1 ( i + 1) 1 2 x1 ( i ) 1
=
x i + 1 u ( i )
+
x
i
1
2
1
(
)
2 ( )
2
x1 ( i )
=
y
i
1
0
(
)
[
]
x2 ( i )
Bi 8.
Vi tn hiu vo u ( t ) = 1( t ) , sai s xc lp ca h ri rc c xc nh theo cng thc
no?
a.
1
z 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
e ( ) = lim
1
z T 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
b. e ( ) = lim
c.
1
z 1 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
e ( ) = lim
d. e ( ) = lim
z 1 1 + Z
{WLT
1
( p ) .WFH ( p )}
Bi 9.
iu kin h thng c PTT bc nht dng: a0 z + a1 = 0 n nh theo phng php bo
ton hnh dng l g?
Bi 10.
Gi s h thng ri rc c PTT dng: 2 z 2 + 3 z + 4 = 0 .
Chuyn v h lin tc tuyn tnh tng ng theo phng php bin i bo ton hnh
dng?
Bi 11.
Mt trong nhng iu kin h thng ri rc c phng trnh c trng n nh theo tiu
chun Jury l:
a.
b.
c.
A ( 1) = 0 nu l chn v A ( 1) < 0 nu l l
d.
A ( 1) > 0 nu l chn v A ( 1) = 0 nu l l
131
Hng dn tr li v p n bi tp
HNG DN TR LI V P N BI TP
CHNG 1
Bi 1:
-
V c s khi ca h thng
x = Ax + Bu
y = Cx
V c s dng tng qut biu din h thng trong khng gian trng thi.
Bi 5:
Trnh by cch tnh c tnh bin tn, pha tn, bin tn logarithm v pha tn logarithm ca
h h.
Bi 6:
Hng dn tr li v p n bi tp
p n b.
b. Tn hiu phi i qua mt khi mi c hm truyn t bng nghch o ca khi .
Bi 10:
-
Tm hm truyn t ca h thng:
W ( p) =
W1W2W3
1 + W2W3 + W1W2
Bi 11:
-
Tm hm truyn t ca h thng:
W ( p) =
WaWb
1 + WaWc + WaWbWcWd
Bi 12:
p n a.
a. Wij = X j X i
Bi 13:
p n a.
a. Wk ( p ) =
Wh ( p )
1 + Wh ( p )
Bi 14:
p n b.
b. Cc im cc
CHNG 2
Bi 1.
p n c.
c. 1( t )
Bi 2.
p n a.
133
Hng dn tr li v p n bi tp
a. ( t )
Bi 3.
p n d.
d. C bn c tnh trn (BT, PT, TBP, PTL).
Bi 4.
-
Ch c mt tn hiu vo v mt tn hiu ra
Bi 5.
-
Bi 6.
-
Bi 7.
p n c.
c. p = j
Bi 8.
Chng minh rng khu tr c R 2 ( ) + I 2 ( ) = 1
Bi 9.
p n c.
134
Hng dn tr li v p n bi tp
c. A ( ) = R 2 ( ) + I 2 ( )
Bi 10.
p n b.
b. Hai tn hiu vo v ra l ng pha vi nhau
Bi 11.
p n b.
b. Sai
Bi 12.
-
Kt lun l h h gm hai khu tch phn, mt khu qun tnh bc 1 v mt khu vi phn
CHNG 3
Bi 1.
p n c.
c. H h bin gii n nh
Bi 2.
p n a.
a. H thng kn bin gii n nh
Bi 3.
Thc cht y l bi ton tm cc tham s h n nh
Bc 1. Tm a thc c trng A ( p ) ca h thng kn
A ( p ) = p 4 + 5 p3 + 8 p 2 + ( 4 + K P ) p + K I
KI
16
Min n
nh
5.76
Bc 2. Xt n nh
KP
KP > 0
+ iu kin cn:
KI > 0
-4
16
36
Hng dn tr li v p n bi tp
1
5
K P + 36
( 4 + K P )( K P + 36 ) 25K I
8
4 + KP
5K I
0
KI
0
K P < 36
iu kin n nh:
( K P + 4 )( K P + 36 )
KI <
25
Kt hp iu kin cn ta c iu kin h n nh l:
KP > 0
K > 0
I
K P < 36
K < ( K P + 4 )( K P + 36 )
I
25
Bi 4.
T s cu trc ta c hm truyn t ca h h:
Wh ( p ) =
2kp + 1
2 p 2 p + 3 p + 1 ( p + 1)
2
+ Hm truyn t ca h kn:
Wk ( p ) =
2kp + 1
2 p 2 p 2 + 3 p + 1 ( p + 1) + 2kp + 1
2 p 2 p 2 + 3 p + 1 ( p + 1) + 2kp + 1 = 0
4 p 4 + 10 p3 + 8 p 2 + 2 ( k + 1) p + 1 = 0
+ iu kin cn h n nh: k > 1
+ Lp bng Routh (sau khi chia cc phn t dng 2 cho 2):
4
5
36 4k
8
k +1
5
1
0
4k 2 + 32k + 11
iu kin n nh l cc s hng trong ct u tin ca bng Routh dng
136
Hng dn tr li v p n bi tp
k < 9
Bi 5.
+ Xt n nh ca h h:
PTT ca h h: 2 p 3 + 2 p 2 + 3 p + 1 ( p + 1) = 0
Phng trnh p + 1 = 0 cho ta nghim p = 1
Phng trnh
a1.a2 = 6 > a0 .a3 = 2 . Vy h h n nh. Trong trng hp ny, theo tiu chun Nyquist, h kn
n nh khi c tnh TBP h h khng bao im ( 1, j 0 ) v c th tng ng nh hnh
3.11.
I ( )
R ( )
-1
R ( a )
Vy h kn n nh khi:
1 < R (a )
( a l tn s m ti c tnh TBP ct trc thc)
k = R ( 0 ) > 1
+ Kho st c tnh TBP h h: thay p = j vo hm truyn t h h, tch phn thc v
phn o, ta c:
R ( ) =
k 2 4 5 + 1
( 2 4 5 + 1) + j ( 4 4 3 )
k ( 4 4 3 )
I ( ) =
2
2
( 2 4 5 + 1) + j ( 4 4 3 )
2
Hng dn tr li v p n bi tp
Bi 6.
p n c.
c. S hng cui cng trong ct u tin ca bng Routh bng 0 v cc s hng cn li trong
ct u tin ca bng Routh dng
Bi 7.
p n a.
a.
Bi 8.
p n b.
b. Sai
Bi 9.
p n c.
c.
Bi 10.
p n c.
c. n 2
Bi 11.
p n b.
b. Khng bao im ( 1, j 0 )
Bi 12.
p n a.
a. k
Bi 13.
-
Hng dn tr li v p n bi tp
Xc nh c phng trnh c trng ca h thng kn:
2 p2 + p + 5 = 0
-
p1,2 =
1 i 39
8
* Kt lun: h n nh
Bi 14.
-
p2 + p + k + 1 = 0
-
Xt n nh
+ iu kin cn: k > 1
+ iu kin :
Lp bng Routh, xc nh iu kin b0 > 0
b0 = k + 1 > 0 k > 1
+ Kt lun: h n nh khi k > 1
CHNG 4
Bi 1.
p n d.
d. bc v sai tnh ca h thng
Bi 2.
p n c.
c. = lim pE ( p )
p 0
Bi 3.
p n a.
139
Hng dn tr li v p n bi tp
y
y
a. % = max
100
y
Bi 4.
p n a.
a. I1 min
Bi 5.
p n b.
b. c
Bi 6.
p n d.
d. k ( k + 1)
Bi 7.
p n a.
a. ng
Bi 8.
p n d.
d. I 4 =
2
e
0
de
+
dt
dt
Bi 9.
-
Tm c U ( p )
Tm c sai s =
1
k +1
Bi 10.
p n b.
b. 1 p
140
Hng dn tr li v p n bi tp
CHNG 5
Bi 1.
p n b.
b. Sai
Bi 2.
p n a.
a. Khu khuch i
Bi 3.
-
Cho v d minh ha
Bi 4.
p n b.
b. ng
Bi 5.
p n d.
d. T 0 n 2
Bi 6.
p n a.
a. Cho php tn ti sai lch tnh
Bi 7.
141
Hng dn tr li v p n bi tp
p n b.
b. ng
Bi 8.
p n a.
a. Trit tiu sai lch tnh
Bi 9.
-
p
U ( p)
p 0 1 + W ( p )
h
= lim
-
Tm c sai s ca h thng: = 0
Bi 10.
p n d.
d. P = B
A.B
A2 .B ... An1.B
Bi 11.
-
1 0.5 2 1 1 0.5
N =
0 = 0 1.5
0
1.5
3
142
Hng dn tr li v p n bi tp
Bi 12.
-
P = [B
-
AB ]
1 0.5 3 1 1 0.5
P=
=
2
0 2 1 0 0
-
det ( P ) = 2 0 rank ( P ) = 2 = n
Kt lun: H iu khin c hon ton.
CHNG 6
Bi 1.
p n b.
b. Lng t ha theo thi gian
Bi 2.
p n a.
a. WLG ( p ) =
1
1- e- pT
p
Bi 3.
y ( j + 1) + y ( j ) = 0 vi j = i + 2 .
Bi 4.
p n b.
b. Sai
Bi 5.
W ( z) =
0.008 0.00267
0.01067
+
z 1 1.005 z 1 1.002 z 1
Bi 6.
W ( z) =
0.000834
0.0025
0.00334
+
Hng dn tr li v p n bi tp
Bi 7.
0 x1 ( i ) 0
1
x ( i + 1) =
.
u (i )
+
0.1
e0.1 x2 ( i ) e0.1
1 e
x1 ( i )
=
y
i
0
1
.
(
)
[
]
x2 ( i )
Bi 8.
p n c.
c. Wk ( z ) =
Z {WLG ( p ) .WLT ( p )}
Y ( z)
=
U ( z ) 1 + Z {WLG ( p ) .WLT ( p ) .WFH ( p )}
Bi 9.
p n a.
a. Wk ( z ) =
Z {WLG ( p ) .WLT ( p )}
Y ( z)
=
U ( z ) 1 + Z {WLG ( p ) .WLT ( p ) .WFH ( p )}
Bi 10.
p n d.
TA
d. Ad = I
2
TA
TA
. I + ; Bd = I .T .B; Cd = C ; Dd = D
2
2
Bi 11.
p n b.
b. Ad = I + TA; Bd = TB; Cd = C ; Dd = D
Bi 12.
-
A d = I + TA
Bd = TB
C =C
d
Hng dn tr li v p n bi tp
1.125 0.375
Ad =
0.5 1.75
0.25
Bd =
0
Cd = [1 0]
-
1.125 0.375
0.25
x
i
+
(
)
x ( i + 1) =
0 u (i )
0.5 1.75
y ( i ) = [1 0] x ( i )
CHNG 7
Bi 1.
p n c.
c. Nm trong ng trn n v
Bi 2.
p n a.
a. H lin tc
Bi 3.
p n b.
b. Sai
Bi 4.
p n d.
T
z 1 ( z 1) 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
d. e ( ) = lim
Bi 5.
p n a.
k T ( z + 1) kd . ( z 1)
a. WPID ( z ) = k p + i
+
T .z
2 ( z 1)
145
Hng dn tr li v p n bi tp
Bi 6.
-
M = [ Ad .Bd
-
3 1
Tnh M =
, rank ( M ) = 2
1 1
Bd ]
Bi 7.
-
1 1
Tnh N =
, rank ( N ) = 2
0 2
Bi 8.
p n c.
1
z 1 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
c. e ( ) = lim
Bi 9.
v +1
v 1
Bi 10.
v +1
v 1
146
Hng dn tr li v p n bi tp
Bi 11.
p n a.
a. A ( 1) > 0 nu l chn v A ( 1) < 0 nu l l
147
148
MC LC
LI NI U .............................................................................................................................................. 3
CHNG I. M T TON HC H THNG IU KHIN T NG LIN TC...................... 4
NI DUNG ............................................................................................................................................... 4
1.1 GII THIU CHUNG ......................................................................................................... 4
1.2 CC PHNG PHP M T NG HC H THNG IU KHIN T NG. .... 6
1.3 CC QUY TC BIN I S KHI....................................................................... 14
1.4 GRAPH TN HIU ............................................................................................................ 19
TM TT NI DUNG HC TP CHNG 1 ................................................................................ 21
BI TP ................................................................................................................................................. 21
CHNG II. CC C TNH CA H THNG IU KHIN T NG LIN TC ............... 25
NI DUNG ............................................................................................................................................. 25
2.1 GII THIU CHUNG ....................................................................................................... 25
2.2 C TNH THI GIAN CA PHN T........................................................................ 26
2.3 C TNH TN S CA PHN T.............................................................................. 28
2.4 CC KHU NG HC C BN ................................................................................ 31
TNG KT CC KHU NG HC C BN. ................................................................. 41
TM TT NI DUNG HC TP CHNG 2 ................................................................................ 41
BI TP ................................................................................................................................................. 41
CHNG III. KHO ST TNH N NH CA H THNG IU KHIN T NG LIN
TC ............................................................................................................................................................. 44
NI DUNG ............................................................................................................................................. 44
3.1 GII THIU CHUNG ....................................................................................................... 44
3.2 IU KIN N NH CA H THNG ....................................................................... 44
3.3 CC TIU CHUN N NH I S .......................................................................... 46
3.4 CC TIU CHUN N NH TN S ......................................................................... 51
3.5 PHNG PHP QU O NGHIM S ..................................................................... 54
3.6 D TR N NH .................................................................................................... 58
TM TT NI DUNG HC TP CHNG 3 ................................................................................ 60
BI TP ................................................................................................................................................. 61
CHNG IV. KHO ST CHT LNG H THNG IU KHIN T NG LIN TC.... 65
149
150
151
C S IU KHIN T NG
M s: 491LDK350
Chu trch nhim bn tho
TRUNG TM O TO BU CHNH VIN THNG 1
(Ti liu ny c ban hnh theo Quyt nh s: 828 /Q-TTT1 ngy
30/10/2006 ca Gim c Hc vin Cng ngh Bu chnh Vin thng)