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CSDKTD
CSDKTD
C S
IU KHIN T NG
(Dng cho sinh vin h o to i hc t xa)
L u hnh n i b
H N I - 2006
HC VIN CNG NGH BU CHNH VIN THNG
C S
IU KHIN T NG
LI NI U
3
Chng 1. M t ton hc h thng iu khin t ng
Trong k thut thng s dng phng thc iu khin theo sai lch, trong tn hiu iu
khin l s sai lch gia gi tr mong mun v gi tr o c ca i lng cn iu khin. S
cu trc ca h iu khin t ng theo sai lch c m t trn hnh 1.1.
u e x y
C O
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
Chng 1. M t ton hc h thng iu khin t ng
Da vo tnh cht truyn tn hiu m h thng tuyn tnh li c phn ra lm hai loi l h
thng lin tc tuyn tnh v h thng ri rc tuyn tnh. Cc khi nim lin tc v ri rc y
c hiu theo bin thi gian.
- H thng lin tc tuyn tnh nu tt c cc tn hiu xut hin trong h thng u l
tn hiu lin tc theo thi gian.
- H thng ri rc tuyn tnh nu ch cn mt tn hiu xut hin trong h thng tn
hiu ri rc theo thi gian.
Da vo lng thng tin thu thp c ban u v i tng iu khin v tnh cht ca n
m ta phi xy dng c h thng thit b iu khin thch hp, m bo c cht lng ca
iu khin. Do , h thng lin tc tuyn tnh c phn ra lm hai loi l h iu khin thng
thng v h iu khin t thch nghi.
H thng tuyn tnh c xy dng cho nhng i tng m cc thng tin ban u v
chng kh y . Trong h thng ny, cu trc v tham s ca thit b iu khin l khng i
vi i tng iu khin c th. i vi nhng i tng iu khin m thng tin ban u khng
y hay qu trnh cng ngh c yu cu c bit th h thng tuyn tnh khng p ng c
th phi xy dng h thng thch nghi. i vi h thng thch nghi, ngoi cu trc thng thng,
trong thit b iu khin cn c mt s thit b c bit khc thc hin chc nng ring ca n
nhm m bo cht lng ca qu trnh iu khin.
H thng KT cn c phn ra lm hai loi l h thng h v h thng kn. i vi h
thng h, tn hiu ca i lng cn iu chnh khng c s dng trong qu trnh to ra tc
ng iu khin. H thng kn s dng phng php iu khin theo sai lch. Tn hiu o c
ca i lng cn iu khin c a phn hi tr li u vo h thng v c s dng trong
qu trnh to ra tc ng iu khin.
Vic phn loi cc h thng KT trn y ch l mt cch. Tuy nhin, gia cc loi h thng
ny c lin quan mt thit vi nhau, v d nh trong h tuyn tnh c h lin tc v h ri rc
Cc c tnh quan trng ca h thng iu khin t ng bao gm: c tnh tnh, c tnh
ng, cc c tnh thi gian v cc c tnh tn s.
c tnh tnh a ra quan h vo ra ca h th ng trng thi xc lp, n th hin chnh
xc iu khin ca h thng.
c tnh ng ca h thng thng c m t bng hm truyn t. Nu thay p = j
trong cng thc tnh hm truyn t, ta nhn c hm truyn tn s v t y c th kho st c
tnh ng hc ca h thng thng qua c tnh tn s ca n.
1.2.1.1 Hm truy n t c a h th ng
Y ( p ) = W ( p ) .U ( p ) (1.1)
6
Chng 1. M t ton hc h thng iu khin t ng
trong :
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
L { y ( t )}
W ( p) = (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:
(1) (n)
y ( 0 ) = y ( 0 ) = ... = y ( 0 ) = 0
(1.4)
(1) ( n)
u ( 0 ) = u ( 0 ) = ... = u ( 0 ) = 0
Bin i Laplace ca (1.3) ta c hm truyn t ca HTKT l:
Y ( p) b0 p m + b1 p m1 + ... + bm1 p + bm
W ( p) = = (1.5)
U ( p) a0 p n + a1 p n1 + ... + an1 p + an
(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).
U1 i C U2
7
Chng 1. M t ton hc h thng iu khin t ng
di 1
dt C
U1 = iR + L + idt (1)
U = 1 idt
2 C
(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
(2) x1 = x2 x1 = 0.x1 + .x2 + 0.U1
C C
1 R 1 1 R 1
(1) x2 = x1 x2 + U1 x2 = x1 x2 + U1
L L L L L L
Biu din di dng ma trn, ta c:
x1 0 1 x
1 0
= C
+ 1 U1
1
R
x 2 x L
L L 2
X X B.U
A
X = AX + BU (*)
(*): gi l phng trnh trng thi m t hot ng ca mch RLC trn.
Nh vy thay v ta phi nghin cu t mch in c th, t phng trnh trng thi, di
gc ton hc ta hon ton c th th hin ton b cc hot ng ca mch in vi cc kt qu
tng t nh khi nghin cu trn mch c th.
Vi A, B l cc ma trn trng thi quyt nh vic thay i cc trng thi ca h. Ma trn A
c gi l ma trn chuyn trng thi.
i vi cc h thng phc tp, ta c dng tng qut ca phng trnh trng thi v phng
trnh ra l:
x = f ( x, u , t )
(1.7)
y = g ( x, u , t )
u : l cc vector r chiu
8
Chng 1. M t ton hc h thng iu khin t ng
y, g : l cc vector m chiu
Nu h tuyn tnh th (1.7) c vit di dng ph ng trnh trng thi dng t ng qut
m t mt h thng KT bt k nh sau:
x = A ( t ) x + B ( t ) u
(1.8)
y = C ( t ) x + D ( t ) u
x = Ax + Bu
(1.9)
y = Cx + Du
trong :
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
+
u (t ) x (t ) x (t ) + y (t )
B t C
+
0 ( ) d
Hnh 1.2 S cu trc tng qut theo phng trnh trng thi ca h lin tc
9
Chng 1. M t ton hc h thng iu khin t ng
dn y dn1y dy
a0 n
+ a1 n1
+... + an1 + any = ku (1.10)
dt dt dt
vi u l tc ng u vo ca h thng.
Hm truyn t ca h c dng:
k
W ( p) = n n 1
(1.11)
a0 p + a1 p + ... + an1 p + an
y1 = y
dy
1 = y2 A1 y1
dt
dy
2 = y3 A2 y1
dt
t:
...
dyn1
= yn An1 y1
dt
dyn
dt = ku An y1
x = Ax + Bu
y = Cx
A1 1 ... 0 0
A 0 ... 0 0
vi A = , B = , C = [1 0 ... 0]
2
... ... ... ... ...
An 0 ... 0 k
u yn1 y2 y = y1
k0
yn 1 yn 1 1 y2 y1 1
p p p p
An An1 A2 A1
10
Chng 1. M t ton hc h thng iu khin t ng
+
u (t ) y y + y (t )
B t C
+
0 ( ) d
B0 p m + B1 p m1 + ... + Bm1 p + Bm
W ( p) = (1.13)
p n + A1 p n1 + ... + An1 p + An
vi Bi = bi a0 , Ai = ai a0 .
y1 = y
dy
1 = y2 A1 y1 + B0u
dt
dy
2 = y3 A2 y1 + B1u
dt
t:
...
dyn1
= yn An1 y1 + Bm1u
dt
dyn
dt = Bmu An y1
x = Ax + Bu
y = Cx
A1 1 ... 0 B0
A 0 ... 0 B
vi A =
2
, B = 1 , C = [1 0 ... 0]
... ... ... ... ...
An 0 ... 0 Bm
11
Chng 1. M t ton hc h thng iu khin t ng
Bm1 B1 B0
Bm
yn 1 yn yn1 1 y2 1 y1 1 y = y1
u p p p p
An An1 A2 A1
+
u (t ) y y + y (t )
B t C
+
0 ( ) d
U Y U Y
Wh ( p ) Wh ( p )
(a) (b)
Hnh 1.7 S h thng h (a) v h thng kn (b)
Gi Wh ( p ) l hm truyn t ca h h v Wk ( p ) l hm truyn t ca h kn th ta c
mi quan h gia chng l:
Wh ( p )
Wk ( p ) = (1.14)
1 + Wh ( p )
12
Chng 1. M t ton hc h thng iu khin t ng
1.2.2.1 Cc c tnh t n s c a h h
Gi s h thng h c m t bi hm truyn t:
Cc c tnh tn s ca h h s l:
- c tnh bin tn (BT):
n
A ( ) = Ai ( ) (1.18)
i =1
1.2.2.2 c tnh t n s c a h kn
A ( ) e ( )
j
A ( )
Wk ( j ) = = (1.21)
1 + A ( ) e ( ) e ( ) + A ( )
j j
ta c:
13
Chng 1. M t ton hc h thng iu khin t ng
A ( )
Wk ( j ) = (1.23)
A ( ) + cos ( ) j sin ( )
A ( ) A ( ) + cos ( ) A ( ) sin ( )
Wk ( j ) = +j (1.24)
1 + A ( ) + 2 cos ( ) A ( )
2
1 + A ( ) + 2 cos ( ) A ( )
2
- c tnh BT ca h kn
A ( )
Ak ( ) = (1.25)
1 + A ( ) + 2 cos ( ) A ( )
2
- c tnh PT ca h kn:
sin ( )
k ( ) = arctg (1.26)
A ( ) + cos ( )
1.3 CC QUY TC BI N I S KH I
1.3.1 H th ng g m cc ph n t m c n i ti p
U U1 U2 Y U Y
W1 W2 Wn W1.W2 ...Wn
T hnh 1.8 ta c:
W1 = U1 U
W2 = U 2 U1
Wn = Y U n 1
Vy hm truyn t ca h thng:
Y
W ( p) = = W1.W2 ...Wn (1.27)
U
14
Chng 1. M t ton hc h thng iu khin t ng
Y2 = W2U
Yn = WnU
Vi Y = Y 1 + Y2 + ... + Yn
Vy hm truyn t ca h thng:
Y
W ( p) = = W1 + W2 + ... + Wn (1.28)
U
U1 = U
W1
Y1
U2 = U Y2 Y U Y
U W2 W1 + W2 + ... + Wn
Yn
Un = U
Wn
1.3.3 H th ng c mch m c ph n h i (h i ti p)
U e Y U e Y
W1 W1
F F +
W2 W2
(a) (b)
Z = W2 .Y
Gii ra ta c:
Y W1
W ( p) = = (1.29)
U 1 + W1W2
1.3.4 Chuy n i v tr cc tn hi u
* T tr c ra sau m t kh i:
U1 U1 W
Y
Y
U2 W U2
W
(a) (b)
U1 U1 1W
Y Y
U2 W U2 W
(a) (b)
* T tr c ra sau m t kh i:
Y1
Y1 1W
U U Y2
W Y2 W
(a) (b)
* T sau ra tr c m t kh i:
Y1
Y1 W
U U Y2
W Y2 W
(a) (b)
Y Y
U1 U1
U2 U3 U3 U2
(a) (b)
U Y U Y
Z1 Z2 Z2 Z1
(b)
(a)
17
Chng 1. M t ton hc h thng iu khin t ng
W6
+
U + B Y
W1 W2 W3 W4
A
W5
Hnh 1.16
W6 W3
+
U + B Y
W1 W2 W3 W4
A
W5
Hnh 1.17
18
Chng 1. M t ton hc h thng iu khin t ng
U W1 W236
B
W3 W4 Y
W5
Hnh 1.18
T hnh 1.18:
W1.W236
W12356 =
1 + W5.W1.W236
Hm truyn t h ca h thng:
Wh = W12356 .W3 .W4
Hm truyn t kn ca h thng:
Wh
Wk =
1 + Wh
X1 X2 X3 X1 X2
W1 W1 W1.W2
Hnh 1.20
19
Chng 1. M t ton hc h thng iu khin t ng
X1 X2
X1 X2
W1+W2
W2
Hnh 1.21
W1
X1 X2
X1 X2
W1
W2 1 W1.W2
Hnh 1.22
W2
X1 X3 X1 X3
W1 X2 W1 W1.W3
1 W2
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 X3
W1 W3
+
W2
Hnh 1.24
20
Chng 1. M t ton hc h thng iu khin t ng
X 3 = W3 X 2
X 3 W1W3
Vy: W13 = =
X1 1 W2
TM TT N I DUNG HC T P CH NG 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 T P
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
Chng 1. M t ton hc h thng iu khin t ng
dn y dn1y dy
a0 n
+a1 n1
+... + an1 + any = ku
dt dt 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:
U U1 U2 Y
W1 W2 W3
Hm truyn t ca h thng l:
a. W = W1 + W2 + W3
b. W = W1.W2 .W3
W1
c. W =
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
Chng 1. M t ton hc h thng iu khin t ng
Bi 10:
Cho h thng nh hnh sau:
U(p) Y(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) Y(p)
Wa(p) Wb(p)
Wc(p) Wd(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:
U Y
Wh ( p )
23
Chng 1. M t ton hc h thng iu khin t ng
Wh ( p )
a. Wk ( p ) =
1 + Wh ( p )
Wh ( p )
b. Wk ( p ) =
1 Wh ( p )
1
c. Wk ( p ) =
1 + Wh ( p )
Wh ( p )
d. Wk ( 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
Chng 2. Cc c tnh ca h thng iu khin t ng lin tc
N I DUNG
2.1 GI I THIU CHUNG
thun tin cho vic nghin cu, h thng KT c phn ra nhng phn nh gi l
cc phn t (hay cc khu) ca h thng. Mi phn t c tc ng ngoi vo gi l tn hiu vo,
k hiu l x , v tn hiu biu hin phn ng ca phn t i vi tc ng u vo gi l tn hiu
ra ca phn t, k hiu l y . M hnh phn t c m t nh hnh 2.1.
Tn hiu vo Tn hiu ra
Phn t y
x
Mi phn t c hai c tnh c bn l c tnh tnh v c tnh ng. Hai c tnh ny biu
din hai trng thi ca n l trng thi tnh v trng thi ng.
* c tnh tnh ca phn t: l mi lin h gia tn hiu ra v tn hiu vo ca phn t
trng thi xc lp. Da vo c tnh tnh m cc phn t tuyn tnh c chia ra lm bn loi l
phn t nguyn hm, phn t tch phn, phn t vi phn v phn t tr.
- Phn t nguyn hm: c c tnh tnh c m t bi cng thc:
y = Kx (2.1)
y (t ) = x (t ) (2.4)
25
Chng 2. Cc c tnh ca h thng iu khin t ng lin tc
c tnh thi gian ca phn t l s thay i ca phn t theo thi gian khi tc ng u
vo l nhng tn hiu chun. Cc c tnh bao gm hm qu , ng qu , hm qu
xung v ng qu xung.
Cc hm thi gian ny u m t s bin thin ca tn hiu ra khi phn t chuyn t trng
thi cn bng ny sang trng thi cn bng khc do s tc ng ca mt trong cc nhiu chun.
n gin, ta xt trng thi cn bng ban u ca cc phn t l khng ( y ( 0 ) = 0 )
2.2.1 Tn hi u tc ng u vo
* Tn hiu bc thang n v 1( t ) :
0 khi t 0
1( t ) = (2.6)
1 khi t > 0
* Tn hiu xung n v ( t ) :
d 0 khi t 0
(t ) = 1( t ) = (2.7)
dt khi t = 0
Hm ( t ) c tnh cht:
( t ) = 1 (2.8)
1( t ) (t )
0 t 0 t
(a) (b)
Hnh 2.2. (a). th hm 1( t )
(b). th hm ( t )
26
Chng 2. Cc c tnh ca h thng iu khin t ng lin tc
* Tn hiu iu ha:
t dx ( )
x ( t ) = x ( ) .1( t ) + 0 d
.1( t ) d (2.10)
t +
x (t ) = x ( ) . ( t ) d (2.11)
2.2.2 Ph n ng c a ph n t
* Hm qu :
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:
L ( h (t ))
W ( p) = = p.L h ( t ) . Vy :
L (1( t ) )
W ( p)
L h ( t ) = (2.12)
p
* ng qu :
H ( t ) = A.h ( t ) . Vy:
. ( p)
AW
L ( H (t )) = (2.13)
p
* Hm qu xung (hm trng lng):
27
Chng 2. Cc c tnh ca h thng iu khin t ng lin tc
( t ) = 1' ( t ) . Vy L ( t ) = 1 . Ta c:
L k ( t ) = W ( p ) (2.14)
* ng qu xung:
t t
0
x ( t ) = x ( t ) . ( t ) .d = 0 x ( ) ( t ).d (2.15)
trong : x ( ) l gi tr hm x ( t ) ti thi im t = .
t
y (t ) = 0 x ( ) k ( t ) .d (2.16)
2.3 C TNH T N S C A PH N T
x ( t ) = Av sin (t ) (2.17)
y ( t ) = Ar sin (t + ) (2.18)
x ( t ) = Av e jt (2.19)
y ( t ) = Ar e (
j t + )
(2.20)
Ta c:
28
Chng 2. Cc c tnh ca h thng iu khin t ng lin tc
d n x (t )
= Av ( j ) .e jt
n
(2.21)
n
dt
d n y (t ) n j t + ( )
= Ar ( j ) .e (2.22)
dt n
Thay (2.21) v (2.22) v (2.5):
I1 ( ) , I 2 ( ) : c tnh phn o ca t s v mu s
R1 ( ) .R2 ( ) + I1 ( ) .I 2 ( )
R ( ) = (2.27)
R22 ( ) + I 22 ( )
R2 ( ) .I1 ( ) R1 ( ) .I 2 ( )
I ( ) = (2.28)
R22 ( ) + I 22 ( )
29
Chng 2. Cc c tnh ca h thng iu khin t ng lin tc
A ( )
BT
( )
PT
I ( )
TBP
= R ( )
= =0
A ( ) = R 2 ( ) + I 2 ( ) (2.29)
ln W ( j ) = ln A ( ) + j ( )
L ( ) = 20 lg A ( ) (2.31)
30
Chng 2. Cc c tnh ca h thng iu khin t ng lin tc
c tnh PTL c tnh theo n v . Khi xy dng cc c tnh logarithm, thun tin,
ly trc honh theo logarithm ca tn s ( lg ) v n v tnh ca n l decade (dec). 1 dec ng
vi tn s tng 10 ln.
2.4 CC KHU NG HC C B N
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
- Hm qu : h ( t ) = k .1( t )
- Hm trng lng: k ( t ) = k . ( t )
h (t ) k . ( t )
0 t 0 t
Hnh 2.4. Cc c tnh thi gian ca khu khuch i
* Cc c tnh tn s:
31
Chng 2. Cc c tnh ca h thng iu khin t ng lin tc
- Hm truyn tn s: W ( j ) = k
- c tnh BT: A ( ) = k
- c tnh PT: ( ) = 0
A ( ) BT ( ) PT
k
0 0
0
k R ( ) lg
0
Hnh 2.5 Cc c tnh tn s ca khu khuch i
dy
* Phng trnh vi phn: T . + y = kx
dt
trong k l h s truyn v T l hng s thi gian ca khu.
Cc phn t thuc khu qun tnh bc nht: khuch i t, my pht in mt chiu, mch
in R-C, L-R, l in tr, ng c in khng ng b hai pha v ba pha nu lng ra l tc
quay
k
* Hm truyn t ca khu: W ( p ) =
Tp + 1
* Cc c tnh thi gian:
dh ( t )
- Hm qu : Hm h ( t ) nhn c do gii PTVP 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
Chng 2. Cc c tnh ca h thng iu khin t ng lin tc
h (t ) k (t )
k
k
t t
0 0
Hnh 2.6 c tnh thi gian ca khu qun tnh bc 1
* Cc c tnh tn s:
- Hm truyn tn s:
k k kT
W ( j ) = = j = R ( ) + jI ( )
Tj + 1 (T ) 2
+1 (T )2 + 1
k
- c tnh BT: A ( ) = R 2 ( ) + I 2 ( ) =
(T )2 + 1
I ( )
- c tnh PT: ( ) = arctg = arctg (T )
R ( )
33
Chng 2. Cc c tnh ca h thng iu khin t ng lin tc
A ( ) ( ) PT
BT
K
0
0
2
BTL
I ( )
TBP L ( )
20.lgK
=0
0 = -20dB/dec
R ( )
0 lg c lg
Nh n xt:
+ 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 tin t t n gi tr k theo quy lut hm m (v th khu qun tnh bc 1 cn
c gi l khu phi chu k). Nh vy, qu trnh tch lu nng lng v gii phng nng lng
khng xy ra ng thi, gy ra hin tng qun tnh.
+ Hm trng lng k(t) ca khu qun tnh bc 1 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 qun tnh bc 1 c gii
phng sc qun tnh.
+ c tnh BT A() cho ta thy, khu qun tnh bc 1 khng lm vic c vi tn hiu cao
tn (c tnh A() ging nh b lc thng thp)
+ c tnh PT ( ) cho ta thy tn hiu ra ca khu qun tnh bc 1 lun chm pha so vi
tn hiu vo mt gc t 0 n /2, ngha l khu qun tnh bc 1 c tc ng chm.
d2y dy
T 2. + 2. .T . + y = k .x (2.33)
dt 2 dt
trong : T : hng s
k : h s truyn
: h s ( < 1)
34
Chng 2. Cc c tnh ca h thng iu khin t ng lin tc
(T 2 . p2 + 2. .T . p + 1) .Y ( p ) = k.X ( p ) (2.34)
Vy hm truyn t l:
Y ( p) k
W ( p) = = 2 2 (2.35)
X ( p ) T . p + 2. .T . p + 1
T 2 . p 2 + 2. .T . p + 1 = 0 (2.36)
1 2
Phng trnh c hai nghim phc lin hp l: p1,2 = j = j
T T
k 1
h ( t ) = L1 2 2 .
T . p + 2. .T . p + 1 p (2.37)
= k .1( t ) . 1 e t cos t + sin t
1
trong : = .0 ; = 1 2 .0 ; 0 =
T
- Hm trng lng:
dh ( t ) k .02
(t ) = = .1( t ) .e t .sin t (2.38)
dt
Hnh 2.8 m t cc c tnh thi gian ca khu dao ng.
k (t )
h (t )
A1
A2 (
k 1 + e t ) A1
k A2 t
0
0
(
k 1 e t ) t
T1
T1
35
Chng 2. Cc c tnh ca h thng iu khin t ng lin tc
2
= T
1
1 A
= .ln 1
T1 A2 (2.39)
0 = 2 + 2 = 1
T
= .T
* c tnh tn s:
- Hm truyn tn s:
k
W ( j ) = 2 2
(2.40)
T . + 2 .T . j + 1
- c tnh BT:
k
A ( ) = (2.41)
(1 .T )
2 2 2 2 2
+ 4. . .T 2
- c tnh PT:
2. ..T
mn ( ) = arctg (2.42)
1 2 .T 2
- c tnh BTL:
(1 2.T 2 )
2
L ( ) = 20.lg A ( ) = 20.lg k = 20.lg + 4. 2 . 2 .T 2 (2.43)
36
Chng 2. Cc c tnh ca h thng iu khin t ng lin tc
+ c tnh BT A() cho ta thy, khu dao ng cng khng lm vic c vi tn hiu cao
tn v t gi tr Amax() ti
+ c tnh PT ( ) cho ta thy tn hiu ra ca khu dao ng cng lun chm pha so vi
tn hiu vo tc l khu dao ng c tc ng chm.
1
* Hm truyn t ca khu: W ( p ) =
Tp
* Cc c tnh thi gian:
-
Hm qu : h ( t ) = k . 1( t ) .dt = kt
t t
0 0
Hnh 2.10 Cc c tnh thi gian ca khu tch phn
* Cc c tnh tn s:
A ( ) TBP
I ( )
BT 0 = R ( )
=0
0
( )
PT L ( ) BTL
0 0
lg
20.lg T
20dB/dec
2
37
Chng 2. Cc c tnh ca h thng iu khin t ng lin tc
1 1
- Hm truyn tn s: W ( j ) = =j
T . j T
1
- c tnh BT: A ( ) =
T
- c tnh PT: ( ) = 2
dx
* Phng trnh vi phn: y = T
dt
trong T l hng s thi gian vi phn
* Hm truyn t ca khu: W ( p ) = Tp
- Hm qu : h ( t ) = T .1' ( t ) = T . ( t )
h (t ) k (t )
T . ( t ) T . ' ( t )
0 t 0 t
* Cc c tnh tn s:
- Hm truyn tn s: W ( j ) = T . j
38
Chng 2. Cc c tnh ca h thng iu khin t ng lin tc
- c tnh BT: A ( ) = T
- c tnh PT: ( ) = 2
A ( ) TBP
I ( )
BT =
=0 R ( )
0
0
( )
PT L ( ) BTL
2
20.lgT 20dB/dec
lg
0 0
Nh n 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
- Hm qu : h ( t ) = 1( t )
39
Chng 2. Cc c tnh ca h thng iu khin t ng lin tc
h (t ) k (t )
1( t ) (t )
1
0 t 0 t
* Cc c tnh tn s
- Hm truyn tn s: W ( j ) = e j.
- c tnh BT: A ( ) = 1
- c tnh PT: ( ) =
1 R ( )
-1 0
0 -1
( )
PT L ( ) BTL
0
0 lg
Nh n xt:
+ Ta thy rng khu tr khng lm bin i hnh trng tn hiu nhng khu tr lun c tn
hiu ra chm pha so vi tn hiu vo.
40
Chng 2. Cc c tnh ca h thng iu khin t ng lin tc
T NG K T CC KHU NG HC C B N.
TM TT N I DUNG HC T P CH NG 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 T P
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
Chng 2. Cc c tnh ca h thng iu khin t ng lin tc
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.
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?
a. Tn hiu vo chm pha hn so vi tn hiu ra mt gc l 2
Nu R ( ) l hm chn v I ( ) l hm l th ( ) l hm chn?
a. ng
b. Sai
Bi 12.
Cho h thng c hm truyn t h dng:
10 p + 4
Wh ( p ) =
8 p3 + 5 p 2
Cho bit h h gm nhng khu c bn no?
43
Chng 3. Kho st tnh n nh ca h thng iu khin t ng lin tc
N I DUNG
3.1 GI I THIU CHUNG
3.2 I U KIN N NH C A H TH NG
44
Chng 3. Kho st tnh n nh ca h thng iu khin t ng lin tc
yqd (t)
(4)
(1) (1): H thng n nh v khng dao ng.
(2) (2): H thng n nh v dao ng.
(3): H thng khng n nh v khng dao ng.
(4): H thng khng n nh v dao ng.
t
(5): H thng dao ng vi bin khng i
(3) (5) (bin gii n nh).
Hnh 3 1
dn y dn1y dy
a0 n
+ a1 n1
+... + an1 + an y = 0 (3.2)
dt dt dt
n
yqd ( t ) = ci e p t i (3.4)
i =1
45
Chng 3. Kho st tnh n nh ca h thng iu khin t ng lin tc
+ Nghim thc: pi = i
+ Nghim phc: pi = i ji
+ Nghim thun o: pi = ji
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).
3.3.1 i u ki n c n.
0.2 p3 + 3 p 2 + 0.1 p + 5 = 0
a0 p n + a1 p n1 + + an1 p + an = 0 (3.5)
* 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
Chng 3. Kho st tnh n nh ca h thng iu khin t ng lin tc
* iu kin :
- Lp bng Routh:
12 18 6 2 3 1
6 6 1 6 6 1
b0 b2 b0 b2
hay
b1 b3 b1 b3
c0 c0
c1 c1
6 4 12 6
c0 = = 12 , c1 = = 72
12 6 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.
Hm truyn t ca h thng h:
1
Wh ( p ) = W0 ( p ).WC ( p ) = 3 2
.( K P + K D p )
p +5p +8p + 4
Hm truyn t ca h thng kn:
Wh ( p) KP + KD p
Wk ( p) = = 3 2
1 + Wh ( p ) p + 5 p + (8 + K D ) p + (4 + K P )
A( p ) = p3 + 5 p 2 + (8 + K D ) p + (4 + K P ) = 0
48
Chng 3. Kho st tnh n nh ca h thng iu khin t ng lin tc
u y
+ WC(p) W0(p)
B c 2: Xt n nh:
* iu kin cn: Cc h s ai (i = 0 3) > 0
8 + K D > 0 K >8
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
1 8 + KD 5 4+ Kp
Ta c: b0 = = 36 + 5K D K p , b1 = = (4 + K p )b0
5 4+ Kp b0 0
iu kin n nh:
KD 0
36
Min n nh
-36/5
KD
Hnh 3.4 Bi u din min n nh trong v d 3.3
49
Chng 3. Kho st tnh n nh ca h thng iu khin t ng lin tc
A( p ) = a0 p n + a1 p n1 + + an 1 p + an = 0 (3.6)
nh thc Hurwitz bc n :
a1 a3 a5
ng cho chnh ca n bt u t a1 n an . Trong
a0 a2 a4
cng mt ct, cc s hng trn s hng thuc ng cho
n = 0 a1 a3
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
0 0 0 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
1 = a1 > 0
a1 > 0
a1 0
2 = a a > 0 a2 > 0
0 2
Nh n xt:
+ Cc tiu chun i s c th c s dng xt n nh cho c h thng h v h thng
kn. Tuy nhin, nu xt v mc phc tp th vic tnh ton cc nh thc Hurwitz phc tp hn
vic lp bng Routh rt nhiu, nht l i vi cc phng trnh c tnh bc cao. V vy, trong
thc t thng hay dng tiu chun Routh hn.
50
Chng 3. Kho st tnh n nh ca h thng iu khin t ng lin tc
A( p ) = a0 p n + a1 p n1 + + an 1 p + an = 0 (3.7)
n
A ( p ) = a0 ( p pi ) (3.8)
i =1
n
Vy, argA ( j ) = arg ( j -pi ) = ( n k ) k = ( n 2k )
- i =1
T nhng phn tch trn, Mikhailope pht biu thnh tiu chun n nh nh sau:
51
Chng 3. Kho st tnh n nh ca h thng iu khin t ng lin tc
Hnh 3.6 l biu vector a thc c tnh cho h thng n nh (a) v khng n nh (b).
Im[]
n=2 Im[]
n=1
n=1 Re[]
Re[] n=4
n=3
n=4
(b)
n=3
(a)
Hnh 3.6 Cc dng biu vector a thc c trng
=0
M1 = 2 M2
52
Chng 3. Kho st tnh n nh ca h thng iu khin t ng lin tc
argP ( j ) = ( n k ) 2 k 2 = ( n 2k ) 2 (3.10)
0
arg Q ( j ) +P ( j ) = n 2 (3.12)
0
Q ( j ) + P ( j )
Xt biu thc J ( j ) = 1 + Wh ( j ) =
P ( j )
Khi h kn n nh th
argJ ( j ) = n 2 ( n 2k ) 2 = k (3.14)
0
3.5.1 t v n
Xt h thng c PTT bc n :
A( p) = N ( p) + M ( p) = 0 (3.16)
T (3.16) ta c:
N ( p)
= (3.17)
M ( p)
m
M ( p) = ( p p''j )
j =1
n
N ( p) = ( p pi' )
i =1
54
Chng 3. Kho st tnh n nh ca h thng iu khin t ng lin tc
m
A( p) = ( p pi )
i =1
pht t pi' .
2. Xc nh im kt thc ca qu o nghim s
ng vi gi tr = . PTT (3.18) c th vit di dng:
n m
A( p) =
1
( p ) + ( p p ''j ) = 0
pi' (3.19)
i =1 j =1
55
Chng 3. Kho st tnh n nh ca h thng iu khin t ng lin tc
1
n m
vi R0 =
n m i =1
pi' p ''j
(3.21)
j =1
V d 3.5:
+ Nu ( n m ) = 1 th t (3.22) ta c:
0 = =
nm
ng thng tim cn chnh l mt na trc honh tin ra xa v cng nh hnh 3.9a.
j = j j =
=
20
R0 0 3 R0 0 3
2 5
(a) = (b) (c) =
3
56
Chng 3. Kho st tnh n nh ca h thng iu khin t ng lin tc
0 = = ( k = 0)
nm 2
2 1 + 1 3
1 = = ( k = 1)
2 2
+ Nu ( n m ) = 3 th t (3.22) ta c ba ng tim cn l (hnh 3.9c):
0 = = ( k = 0)
nm 3
2 1 + 1
1 = = ( k = 1)
3
2 2 +1 5
2 = = ( k = 2)
3 3
5. Xc nh hng dch chuyn ca qu o nghim
T PTT (3.16) ta vit li thnh:
N ( p)
= (3.23)
M ( p)
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
(3.25)
QA (c c ) = 0
57
Chng 3. Kho st tnh n nh ca h thng iu khin t ng lin tc
1
n m
R0 =
n m i =1
pi' p ''j
j =1
- Gc to bi cc tia ca hnh sao v trc honh:
2k + 1
k = ( k = 0, 1,..., n m 1)
nm
3. Xc nh im tch khi trc thc v hng dch chuyn ca qu o
- V th hm tm hng dch chuyn ca qu o:
- Tnh o hm ( df ( p ) dp = 0 ) tm im tch khi trc thc.
Nu c nhiu im cc i. ta phi chn im c < 0 ph hp vi phng trnh
(3.23)
4. Xc nh giao im ca trc o v qu o nghim
Gii cc phng trnh (3.25) tm ra c v c .
3.6 D TR N NH
58
Chng 3. Kho st tnh n nh ca h thng iu khin t ng lin tc
j j j
U ( p) 1 Y ( p)
1
k 1 +
2p
(3 p 2
)
+ 2 p + 1 ( p + 1)
Gii:
* Hm truyn t ca h h:
k ( 2 p + 1)
Wh ( p ) =
(
2 p 3 p 2 + 2 p + 1 ( p + 1))
* Hm truyn t ca h kn:
k ( 2 p + 1)
Wk ( p ) =
( )
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)
59
Chng 3. Kho st tnh n nh ca h thng iu khin t ng lin tc
TM TT N I DUNG HC T P CH NG 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
Chng 3. Kho st tnh n nh ca h thng iu khin t ng lin tc
BI T P
Bi 1.
H thng KT c hm truyn t ca h h nh sau:
3 p +1
Wh ( p ) =
(
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
1
W0 ( p ) = 3 2
p +5p +8p + 4
KI
v b iu khin Wc ( p ) = K P +
p
Xc nh min hiu chnh ca cc tham s?
Bi 4.
H thng c s cu trc nh hnh sau:
U ( p) 1 1 Y ( p)
k+
2p (2 p 2
)
+ 3 p + 1 ( p + 1)
61
Chng 3. Kho st tnh n nh ca h thng iu khin t ng lin tc
U ( p) k Y ( p)
( 2 p3 + 2 p2 + 3 p + 1) ( p + 1)
j = j j =
=
20
R0 0 3 R0 0 3
2 5
(a) = (b) (c) =
3
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
Chng 3. Kho st tnh n nh ca h thng iu khin t ng lin tc
j = j j =
=
20
R0 0 3 R0 0 3
2 5
(a) = (b) (c) =
3
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
c. n. 2
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
Chng 3. Kho st tnh n nh ca h thng iu khin t ng lin tc
Bi 14.
k
Hm truyn t ca h h c dng: Wh ( p ) = 2
. Vi iu kin no ca k th h
p + p +1
kn tng ng n nh?
64
Chng 4. Kho st cht lng ca h thng iu khin t ng lin tc
N I DUNG
4.1 GI I THIU CHUNG
65
Chng 4. Kho st cht lng ca h thng iu khin t ng lin tc
= lim e ( t ) (4.1)
t
Y ( p ) k b0 p m + b1 p m1 + ... + 1
Wh ( p ) = = (4.2)
E ( p ) pi a0 p ni + a1 p ni 1 + ... + 1
U ( p) E ( p) Y ( p)
Wh ( p )
Hnh 4.1 HTKT in hnh
Wh ( p ) Y ( p)
Wk ( p ) = = (4.3)
1 + Wh ( p ) U ( p )
Vy:
1
E ( p) = U ( p) (4.4)
1 + Wh ( p )
p
Vy: = lim e ( t ) = lim U ( p) (4.6)
t p 0 1 + Wh ( p )
0 khi t < 0 1
1. Khi tn hiu vo u ( t ) = 1( t ) = U ( p) =
1 khi t 0 p
1
Ta c: = lim
p 0 1 + Wh ( p )
2. Khi u ( i ) = kt U ( p ) = k p 2
66
Chng 4. Kho st cht lng ca h thng iu khin t ng lin tc
1 k
Ta c: = lim .
p0 1 + Wh ( p ) p
V d 4.1:
1
Tn hiu vo c dng bc thang n v u ( t ) = 1( t ) U ( p ) =
p
k
a. Nu h l khu qun tnh W ( p ) = th sai lch tnh c xc nh:
Tp + 1
p 1 1
= lim =
p0 k p k +1
1+
Tp + 1
Sai s tnh hu nh t l nghch vi h s khuch i.
b. Nu h l khu qun tnh cng vi mt khu tch phn:
p 1
= lim =0
p0 1 k p
1+
p Tp + 1
k b0 p m + b1 p m1 + ... + 1
Wh ( p ) = (4.7)
p r a0 p nr + a1 p nr 1 + ... + 1
67
Chng 4. Kho st cht lng ca h thng iu khin t ng lin tc
u (t ) = t, U ( p ) = 1 p2 1 kv 0
u ( t ) = (1 2 ) t 2 , U ( p ) = 1 p3 1 ka
Bng 4.1
4.3 KH O ST CH T L NG C A H TH NG QU TRNH QU
y (t )
+
Hnh 4.2 Hm qu ca
mt h iu khin
t
tm t tqd
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
Chng 4. Kho st cht lng ca h thng iu khin t ng lin tc
ymax y
% = 100 (4.10)
y
3. Thi gian qu
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 ).
69
Chng 4. Kho st cht lng ca h thng iu khin t ng lin tc
j j j
e ( t ) = e0 .e t (4.12)
70
Chng 4. Kho st cht lng ca h thng iu khin t ng lin tc
= ln [ e0 ] td (4.13)
e ( t ) = e0 .e (
m+ j )t
(4.14)
e (T 2 ) = e0 .e mT 2
= e0 .e m (4.15)
e
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
Chng 4. Kho st cht lng ca h thng iu khin t ng lin tc
e 1
2
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 .
2 1 jt
I3 = 0
e ( t ) dt =
2
E ( j )
0 e ( t ) e dt d
(4.22)
jt
v 0 e ( t ) e dt = E ( j )
2 1 2
nn cui cng I3 =
0
e ( t ) dt =
2 E ( j ) d
72
Chng 4. Kho st cht lng ca h thng iu khin t ng lin tc
Ta c th vit
1 j b ( p)b ( p)
2 j j a ( p ) a ( p )
I3 = dp (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 =
( )
b02 a2 a3 + b12 2b0b2 a0 a3 + b22 a0 a1
2a0 a3 ( a0 a3 + a1a2 )
2 de
2
I4 = e
0
+ dt
dt
(4.24)
tqd tqd
trong l gi tr c nh, thng thng c chn trong khong < < .
6 3
I 4 cho ta s nh gi y v cht lng qu trnh qu . Khi I 4 min ngha l t
c I 3 nh nhng tc thay i ca sai lch cng khng cao. i vi tng h thng ring bit
phi chn c gi tr thch hp, c th chn nh cho qu trnh cho php dao ng ln.
V d 4.3:
Hy xc nh I 3 ca h c hm truyn t:
1
Wk ( p ) =
p3 + Ap 2 + Bp + 1
v xc nh thng s ti u ca A, B I 3 t cc tiu?
73
Chng 4. Kho st cht lng ca h thng iu khin t ng lin tc
Gii:
U ( p) E ( p) Y ( p)
Wh ( p )
Hnh 4.6 H thng KT
in hnh
Vi n = 3, I3 =
( )
b02 a2 a3 + b12 2b0b2 a0 a3 + b22 a0 a1
2a0 a3 ( a0 a3 + a1a2 )
a0 = 1
a = A b0 = 1
1
trong : , b1 = A
a2 = B
a3 = 1 b2 = B
Vy I 3 =
(
B + A2 2 B + AB 2 ) =
B ( AB 1) + A2
=
B
+
A2
2 ( 1 + AB ) 2 ( AB 1) 2 2 ( AB 1)
I3 2 A ( AB 1) A B
2
= 2
=0
A 2 ( AB 1)
I3 1 A
=
3
( AB 1)2
B 2
v xc nh c A* = 1, B* = 2 ng vi I 3min = 1.5 .
74
Chng 4. Kho st cht lng ca h thng iu khin t ng lin tc
e (t )
e ( 0) 3
1
10 t
5 15 20 25
TM TT N I DUNG HC T P CH NG 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 T P
Bi 1.
Nu hm truyn t h ca h thng c dng:
k b0 p m + b1 p m1 + ... + 1
Wh ( p ) =
p r a0 p nr + a1 p nr 1 + ... + 1
th r l
a. v sai cp 1 ca h thng
b. v sai cp 2 ca h thng
c. v sai cp 3 ca h thng
d. bc v sai tnh ca h thng
75
Chng 4. Kho st cht lng ca h thng iu khin t ng lin tc
Bi 2.
Sai lch tnh ca h thng c tnh theo cng thc:
a. = lim e ( t )
t 0
b. = lim pE ( p )
p
c. = lim pE ( p )
p0
d. = lim E ( p )
p 0
Bi 3.
qu iu chnh c xc nh theo cng thc:
ymax y
a. % = 100
y
ymax y
b. % = 100
ymax
ymax y
c. % =
y
ymax y
d. % =
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 = 0 e ( t ) dt , h thng t cht lng tt nht khi:
a. I1 min
b. I1 max
Bi 5.
Vi h khng dao ng, c th s dng tiu chun tch phn I 2 = 0 e ( t ) dt nh gi
cht lng ca h thng khng?
a. Khng
b. C
Bi 6.
Sai s xc lp ca h thng c hm truyn t h:
76
Chng 4. Kho st cht lng ca h thng iu khin t ng lin tc
1
Wh ( p ) = 2
p + p+k
a. 1k
b. k
c. (1 + k ) k
d. k ( k + 1)
Bi 7.
qu iu chnh ca h thng cng nh cng tt, ng hay sai?
a. ng
b. 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 = 0 e ( t ) dt
b. I2 = 0 e ( t ) dt
2
c. I3 = 0
e dt
2 de
2
d. I4 = e
0
+
dt
dt
Bi 9.
k
Nu h l khu qun tnh c dng W ( p ) = 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
Chng 4. Kho st cht lng ca h thng iu khin t ng lin tc
c. p
d. p2
78
Chng 5. Tng hp h thng iu khin t ng lin tc
N I DUNG
5.1 GI I THIU CHUNG
bin vi nhiu tc ng thng xuyn th cht lng ca qu trnh iu khin c nng cao rt
nhiu. Nhiu lon ca h thng c chia ra lm hai loi l nhiu ph ti v nhiu t trc.
Chng ta s xt h thng b cho cc nhiu ny.
5.2.1.1 B nhi u ph t i
Z ( p)
Wb ( p ) i tng
W3 ( p )
U ( p) E ( p) W2 ( p )
W1 ( p ) Y ( p)
W3 ( p )
Wb ( p ) = (5.2)
W1 ( p ) .W2 ( p )
5.2.1.2 B nhi u t tr c
Trong h thng iu khin chng trnh, tn hiu ch o thng thay i lin tc. Vic xy
dng h thng iu khin chng trnh c chnh xc cao l rt cn thit. Nu ch s dng cc
h thng iu khin thng thng th lun tn ti sai lch d (xem chng 4). C th thay i h
80
Chng 5. Tng hp h thng iu khin t ng lin tc
thng iu khin c chnh xc cao bng cch s dng nguyn l bt bin theo tc ng ca tn
hiu t trc. Hnh 5.2 l s ca h thng c xy dng nhm mc ch ny.
Wb ( p )
U ( p) E ( p)
W1 ( p ) W2 ( p ) Y ( p)
Wb ( p ) .W2 ( p ) = 1 (5.3)
1
Wb ( p ) = (5.4)
W2 ( p )
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.
quy lut iu khin phc tp vi tham s ti u ca n. nng cao cht lng ca cc h thng
iu khin , tt nht l s dng h thng iu khin tng c s cu trc c m t nh
trong hnh 5.3.
Z ( p)
X1 ( p )
U ( p) E ( p) Y ( p)
Wm1 ( p ) Wm 2 ( p ) W1 ( p )
Y1 ( p )
W2 ( p )
82
Chng 5. Tng hp h thng iu khin t ng lin tc
Wm 2 ( p ) .W1 ( p )
Wd1 ( p ) = (5.5)
1 + Wm 2 ( p ) .W2 ( p )
Tn hiu iu khin trong quy lut t l c hnh thnh theo cng thc:
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)
e
K3
K1 > K 2 > K3
K2
K1
0
t
83
Chng 5. Tng hp h thng iu khin t ng lin tc
Trong quy lut tch phn, tn hiu iu khin c xc nh theo biu thc:
1
x = Ki e.dt = e.dt (5.8)
Ti
1
x = K p .e + Ki e.dt = K p e + e.dt (5.9)
Ti
trong : K p l h s khuch i
1
W ( p ) = K p 1 + (5.10)
Ti . p
1
W ( j ) = K p 1 j (5.11)
Ti .
84
Chng 5. Tng hp h thng iu khin t ng lin tc
e
1
3 2
5
4
0
t
de de
x = K p .e + K d . = K P e + Td . (5.12)
dt dt
trong : K p l h s khuch i
85
Chng 5. Tng hp h thng iu khin t ng lin tc
W ( p ) = K p (1 + Td . p ) (5.13)
W ( j ) = K p (1 + jTd . ) (5.14)
tng tc tc ng ca quy lut PI, trong thnh phn ca n ngi ta ghp thm thnh
phn vi phn v nhn c quy lut iu khin t l vi tch phn. Tc ng iu khin c tnh
ton theo cng thc:
de 1 de
x = K p .e + K I e.dt + K d . = KP e + e.dt + Td . (5.16)
dt Ti dt
trong : K p l h s khuch i
1
W ( p ) = K p 1 + + Td . p (5.17)
Ti . p
86
Chng 5. Tng hp h thng iu khin t ng lin tc
1
W ( j ) = K p 1 + j Td . (5.18)
Ti .
Ti .Td . 2 1
( ) = arctg (5.19)
Ti .
e(t)
Sai lch
e(t) t
P
e(t) t
PI
e(t) t
PD
e(t) t
PID
t
87
Chng 5. Tng hp h thng iu khin t ng lin tc
Cc bin trng thi xut hin t cc bin i ton hc. S lng cc bin trng thi thng
ln hn s lng cc bin u ra c th o c. C phi tt c cc bin trng thi u c th iu
khin c hay khng? C th xc nh c tt c cc trng thi t cc u ra o c hay
khng?
X = A. X + B.U
y = C. X
0.5 0 1
Trong A = ; B=
2 1 0
Gi i: Theo cng thc (5.21), h thng iu khin c hon ton khi ma trn P sau c
hng bng 2:
1 0.5 9 1 1 0.5
P = [B A.B ] = 2 1 0 = 0
0 2
Hng ca ma trn P :
rank ( P ) = 2 v det ( P ) = 2 0
88
Chng 5. Tng hp h thng iu khin t ng lin tc
u (t ) yn y (t )
10 1 1
p p
0.5
0.2
Hnh 5.6
Y ( p) 20
Wk ( p ) = = 2
U ( p) 2 p + p + 4
t:
x1 = y
x1 = x2
x = 2 x 0.5 x + 10u
2 1 2
x1 0 1 x1 0
x 2 0.5 x + 10 u
=
2 2
0 0 1 0 0 10
P = [B A.B ] = =
10 2 0.5 10 10 5
Hng ca ma trn P :
89
Chng 5. Tng hp h thng iu khin t ng lin tc
x ( t ) = A.x ( t ) + B.u ( t )
(5.22)
y ( t ) = C.x ( t )
X = A. X + B.U
y = C. X
0 1 0 0
Trong A = 0.5 0.2 0.3 ; B = 0 ; C = [1 0 0]
30 65 5 30
Gi i: 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
C ' = 0 ; A ' = 1 0.2 65
0 0 0.3 5
0 0.5 30 1 0
A '.C ' = 1 0.2 65 . 0 = 1
0 0.3 5 0 0
90
Chng 5. Tng hp h thng iu khin t ng lin tc
0 0.5 30 0 0.5
( A ') .C ' = A '. ( A '.C ') = 1 0.2 65 . 1 = 0.2
2
0 0.3 5 0 0.3
1 0 0.5
Vy L = 0 1 0.2
0 0 0.3
Hng ca ma trn L :
TM TT N I DUNG HC T P CH NG 5
Trong chng ny chng ta cn lu mt s ni dung sau:
+ 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 T P
Bi 1.
C th c b iu khin vi phn (D Derivative)?
a. ng
b. Sai
91
Chng 5. Tng hp h thng iu khin t ng lin tc
Bi 2.
a. Khuch i
b. Tch phn
c. Vi phn
d. Khu tr
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.
a. T 2 n 2
b. T 2 n 0
d. T 0 n 2
92
Chng 5. Tng hp h thng iu khin t ng lin tc
Bi 6.
Trong cng nghip, quy lut t l (P) thng c dng cho nhng h thng c c im
g?
b. Khng n nh
c. Yu cu tc ng rt nhanh
Bi 7.
a. Sai
b. ng
Bi 8.
Tc dng ca khu tch phn trong b iu khin?
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:
10 p + 4
Wh ( p ) =
8 p3 + 5 p 2
Bi 10.
H thng tuyn tnh c m t bi phng trnh trng thi cp n :
93
Chng 5. Tng hp h thng iu khin t ng lin tc
x ( t ) = A.x ( t ) + B.u ( t )
y ( t ) = C.x ( t )
c. P = C
A '.C ( A ')2 .C ... ( A ')n1 .C
Bi 11.
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
Bi 12.
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
94
Chng 6. M t ton hc h thng iu khin t ng ri rc
N I DUNG
6.1 KHI NIM CHUNG
Ph thuc vo tnh cht truyn tn hiu v h thng KT tuyn tnh c phn ra thnh h
thng lin tc tuyn tnh v h thng ri rc tuyn tnh.
+ Nu trong tt c cc mt xch ca h thng, tn hiu c truyn i lin tc th h c gi l
h lin tc.
+ Nu ti mt mt xch no , tn hiu khng c truyn i lin tc (b ri rc ho) th h
l h ri rc tuyn tnh (hay h xung-s).
Trong phn trc chng ta nghin cu v h thng lin tc tuyn tnh. Trong phn ny,
chng ta s nghin cu v h thng ri rc tuyn tnh.
Trong bt c mt h thng ri rc no cng tn ti t nht mt phn t ng vai tr chuyn
tn hiu t lin tc thnh ri rc. y c gi l qu trnh lng t ha. C ba phng php
lng t ha l lng t ha theo mc, lng t ha theo thi gian v lng t ha hn hp.
+ Lng t ha theo mc: gi tr tn hiu ra c quy nh theo nhng mc nht nh ph
thuc vo gi tr vo ca tn hiu.
+ Lng t ha theo thi gian: l php lng t c thc hin sau nhng khong thi gian
bng nhau gi l chu k ly mu T. Phn t thc hin php lng t ny l phn t xung. h
thng KT c phn t xung (hnh 6.2) c gi l h thng iu khin xung - s (hay h ri
rc). Qu trnh hnh thnh xung u ra ca phn t xung ph thuc vo bin ca tn hiu ti
thi im ly mu, v c gi l qu trnh iu ch xung. C bn phng php iu ch xung l
iu ch theo bin , iu ch theo rng, iu ch theo pha v iu ch theo tn s. Trong h
thng ny thng s dng cc phn t xung c phng php iu ch theo bin hoc theo
rng xung. Ngoi phn t xung, cc phn t cn li trong h thng l nhng phn t tuyn tnh, v
vy n c gi l h thng iu khin ri rc tuyn tnh. Trong phn ny ta s i su nghin cu
h thng dng ny.
+ Lng t hn hp: thc hin bng cch chia gi tr tn hiu ra nhng mc cch u nhau.
Khong cch gia cc mc ln cn c gi l mt bc lng t. Chu k ly mu l c nh, gi
tr tn hiu ra bng gi tr mc lng t gn vi gi tr tn hiu vo ti thi im ly mu nht.
e e
4
3
2
t t
1
0 T 2T 3T 4T 5T
(a) (b)
Hnh 6.1 Mt s phng php lng t
(a). Lng t ha theo mc 95
(b). Lng t ha theo thi gian (iu ch theo bin )
Chng 6. M t ton hc h thng iu khin t ng ri rc
6.1.1 S kh i h th ng
u (t ) e ( t ) e ( iT ) u1 ( t ) y (t )
WLG ( p ) WLT ( p )
T
Hnh 6.2 HTKT
f (t ) 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.
+ 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 ) .
6.1.3 T n s c t m u T (chu k c t m u)
x (t )
x ( 2T ) x ( 8T )
x ( 4T )
Hnh 6.5 Qu trnh lng
t t ha theo thi gian
0 T 2T 3T 4T 5T 6T 7T 8T
x ( i ) = x ( i + 1) x ( i )
2 f ( i ) = f ( i + 1) f ( i ) = f ( i + 2 ) 2 f ( i + 1) + f ( i )
* Ph v nh ca tn hiu ri rc:
x (t ) =
*
x ( nT ) ( t nT ) (6.4)
n =0
97
Chng 6. M t ton hc h thng iu khin t ng ri rc
X * ( p) = x ( nT ) e pnT (6.6)
n =0
e (
j k0 )nT
= e j nT .e kn 2 j = 2 j nT (6.8)
V vy, khi nghin cu ph v nh ca tn hiu ri rc, ta ch nghin cu trong gii tn s
0 2 0 2 .
6.3 M T TON HC H TH NG R I R C
6.3.1 Bi n iZ
Nu Z { f [ n ]} = F ( z ) th Z { f [ n k ]} = z k F ( z )
98
Chng 6. M t ton hc h thng iu khin t ng ri rc
Sai phn cp 1: Z x ( n ) = Z y ( n ) = Y ( z ) = ( z 1) X ( z ) zx ( 0 )
Sai phn cp 2: Z 2 x ( n ) = Z y ( n ) = ( z 1) Y ( z ) zy ( 0 )
Tng t nh vy, ta c th xc nh chuyn i Z ca cc sai phn bc cao hn trn c s
chuyn i Z ca cc sai phn bc thp hn xc nh.
+ Chuyn i Z ca hm tch chp hai hm s:
Z { f1 ( mT ) . f2 ( n m ) T } = Z { f1 ( n m ) T . f2 ( mT )} (6.11)
= Z { f1 ( mT )}.Z { f 2 ( nT )} = F1* ( p ) .F2* ( p )
hay
vi: a0 , an 0
3 y ( i ) + 2 2 y ( i ) + 6 y ( i ) + 5 y ( i ) = 0
y ( i + 3) y ( i + 2 ) + 5 y ( i + 1) = 0
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
Chng 6. M t ton hc h thng iu khin t ng ri rc
x ( i + 1) = Ad x ( i ) + Bd u ( i )
(6.15)
y ( i ) = Cd x ( i ) + Dd u ( i )
Dd
+
u (i ) x ( i + 1) x (i ) + y (i )
Bd Tr Cd
+
Ad
H thng lin tc tuyn tnh c m t di dng phng trnh trng thi dng:
x ( t ) = Ax ( t ) + Bu ( t )
(6.16)
y ( t ) = Cx ( t ) + Du ( t )
Ad = (T )
B = T ( ) Bd
d
0 (6.17)
Cd = C
Dd = D
A.
Cch 2: Tin hnh tnh gn ng o hm cp 1:
x
x = x ( i + 1) x ( i ) T (6.18)
T
100
Chng 6. M t ton hc h thng iu khin t ng ri rc
Ad = I + TA
B = TB
d
(6.19)
Cd = C
Dd = D
x ( t ) x ( i + 1) x ( i ) T
x ( t ) = xtb = x ( i + 1) + x ( i ) 2 (6.20)
u = u ( i )
1
TA TA
Ad = I . I +
2 2
1
Bd = I .T .B
TA (6.21)
2
C = C
d
Dd = D
a0 y ( i + l ) + a1 y ( i + l 1) + ... + al 1 y ( i + 1) + al y ( i ) = ku ( i ) (6.22)
t :
y ( i ) = y1 ( i )
y1 ( i + 1) = y2 ( i ) A1 y1 ( i )
y2 ( i + 1) = y3 ( i ) A2 y1 ( i ) (6.23)
...
y ( i + l ) = k0u ( i ) Al y1 ( i )
vi k0 = k a0 , Ai = ai a0
y1 ( i + 1) A1 1 ... 0 y1 ( i ) 0
y2 ( i + 1) = A2 0 ... 0 . y2 ( i ) + 0 u ( i ) (6.24)
... ... ... ... ... ... ...
yl ( i + 1) Al 0 ... Al yl ( i ) k0
101
Chng 6. M t ton hc h thng iu khin t ng ri rc
y1 ( i )
y2 ( i )
y ( i ) = [1 0 ... 0] . (6.25)
...
yl ( i )
Hnh 6.7 l s cu trc h thng c m t bi (6.22). Ch , tn hiu vo trc khu
1
z l o hm tn hiu ra ca n.
yl ( i + 1) yl 1 ( i + 1) y2 ( i + 1) y1 ( i + 1)
u (i ) yl ( i ) y2 ( i ) y ( i ) = y1 ( i )
k0 1 1 1 1
z z z z
Al Al 1 A2 A1
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
t: 2( ) 3( ) 2 1( ) 1 ( )
...
y ( i + 1) = y ( i ) A y ( i ) + B u ( i )
l 1 l l 1 1 m1
yl ( i + 1) = Al y1 ( i ) + Bmu ( i )
102
Chng 6. M t ton hc h thng iu khin t ng ri rc
y1 ( i + 1) A1 1 ... 0 y1 ( i ) B0
y2 ( i + 1) = A2 0 ... 0 . y2 ( i ) + B1 u ( i ) (6.29)
... ... ... ... ... ... ...
yl ( i + 1) Al 0 ... Al yl ( i ) Bm
Tn hiu ra ca h thng c xc nh theo cng thc:
y1 ( i )
y2 ( i )
y ( i ) = [1 0 ... 0] . (6.30)
...
yl ( i )
Hnh 6.8 l s cu trc h thng c m t bi (6.27). Ch , tn hiu vo trc khu
z 1 l o hm tn hiu ra ca n.
Bm1 B1 B0
yl ( i + 1) yl 1 ( i + 1) y2 ( i + 1) y1 ( i + 1)
yl ( i ) y2 ( i ) y ( i ) = y1 ( i )
Bm 1 1 1 1
z z z z
u (i )
Al Al 1 A2 A1
103
Chng 6. M t ton hc h thng iu khin t ng ri rc
Y ( z ) b0 z m + b1z m1 + ... + bm
W ( z) = = (6.33)
U ( z ) a0 z n + a1z n1 + ... + an
x ( i + 1) = Ad x ( i ) + Bd u ( y )
(6.34)
y ( i ) = Cd x ( i )
u (t ) y (t )
WLG ( p ) WLT ( p ) Hnh 6.9 H thng h
Y ( z)
Y ( z ) = Z {WLG ( p ) .WLT ( p )}.U ( z ) W ( z ) = = Z {WLG ( p ) .WLT ( p )}
U ( z)
M WLG ( p ) =
1
p
(
1- e- pT . Vy )
W ( p )
(
Z {WLG ( p ) .WLT ( p )} = 1 z 1 .Z LT
p
) (6.36)
6.4.2 Hm truy n t c a h kn
u (t ) e ( t ) e ( iT ) u1 ( t ) y (t )
WLG ( p ) WLT ( p )
T
Hnh 6.10 H thng
f (t ) KT ri rc tuyn
WFH ( p ) tnh
Ta c: Y ( z ) = Z {WLG ( p ) .WLT ( p )} E ( z )
E ( z) = U ( z) F ( z)
Trong :
104
Chng 6. M t ton hc h thng iu khin t ng ri rc
F ( z ) = Z { f ( iT )}
E ( z ) = Z {e ( iT )}
e ( iT ) = u ( iT ) f ( iT )
Vy hm truyn t ca h kn l:
u (t ) e ( t ) e ( iT ) u1 ( t ) a y (t )
WLG ( p )
T p+a
Hnh 6.11 H thng
f (t ) Trong v d 6.2
WLG ( p ) =
1
p
(
1- e- pT )
WLTQD ( p ) = WLG ( p ) .WLT ( p )
1 e pT a
= .
p p+a
1 e pT a
{
y ( t ) = L1 WLTQD ( p ) = L1 } p
.
p + a
1
= L1
1
p p + a
(
1 e pT
)
( ) (
= 1 e at .u ( t ) 1 e ( ) .u ( t T )
a t T
)
Hm ri rc:
( ) (
y ( t ) = 1 e aiT .u ( iT ) 1 e ( ) .u ( iT T )
a i 1 T
)
Do :
1 1 1 1 1
WLTQD ( z ) = Y ( z ) = 1 aT 1
z 1 1
z aT 1
1 z 1 e .z 1 z 1 e .z
QLTQD ( z ) =
(
z 1 1 e aT )
(1 eaT .z 1 )
105
Chng 6. M t ton hc h thng iu khin t ng ri rc
Hm truyn t ca h kn l:
Wk ( z ) =
Y ( z)
=
{
Z WLTQD ( p )
=
} (
z 1 1 e aT )
{ } ( )
U ( z ) 1 + Z WLTQD ( p ) 1 + 1 e aT .z 1
TM TT N I DUNG HC T P CH NG 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 .
BI T P
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. Lng t ha theo thi gian
c. Lng t ha hn hp
Bi 2.
a. WLG ( p ) =
1
p
(
1- e- pT )
b. WLG ( p ) =
1
p
(
1- e-T )
c. WLG ( p ) = 1- e- pT
Bi 3.
Cho h thng c biu din di dng phng trnh sai phn (6.12):
106
Chng 6. M t ton hc h thng iu khin t ng ri rc
3 y ( i ) + 4 2 y ( i ) + 5y ( i ) + 2 y ( i ) = 0
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:
2 ( p + 1)
WLT ( p ) =
p ( 2 p + 1)( 5 p + 1)
Bi 6.
Phn lin tc tuyn tnh ca h thng ri rc c hm truyn t:
3 p +1
WLT ( p ) =
( 4 p + 1)( 2 p + 1)( p + 1)
Xc nh hm truyn t ca h ri rc h vi = 0.5, T = 0.01 ?
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
Chng 6. M t ton hc h thng iu khin t ng ri rc
Y ( z) Z {WLG ( p ) .WLT ( p )}
a. Wk ( z ) = =
U ( z ) 1 + Z {WLG ( p ) .WLT ( 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 ) e ( t ) e ( iT ) u1 ( t ) y (t )
WLG ( p ) WLT ( p )
T
Hnh 6.12
f (t )
WFH ( p )
Y (z) Z {WLT ( p )}
c. Wk ( z ) = =
U ( z ) 1 + Z {WLG ( p ) .WLT ( p ) .WFH ( p )}
Y ( z) Z {WLG ( p ) .WLT ( p )}
d. Wk ( 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
Chng 6. M t ton hc h thng iu khin t ng ri rc
1
TA TA TA
a. Ad = I . I + ; Bd = I .T .B; Cd = C ; Dd = D
2 2 2
1
TA TA TA
b. Ad = I . I + ; Bd = I .T .B; Cd = C ; Dd = D
2 2 2
1 1
TA TA TA
c. Ad = I . I + ; Bd = I ; Cd = C ; Dd = D
2 2 2
1 1
TA TA TA
d. Ad = I . I + ; Bd = I .T .B; Cd = C ; Dd = D
2 2 2
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.
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
109
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
N I DUNG
7.1 GI I THIU CHUNG
Tng t nh khi nghin cu h thng KT lin tc, khi kho st, tng hp h thng
KT ri rc, chng ta cng phi cp n cc vn v tnh n nh, cht lng, tnh iu
khin c, quan st c ca h thng ri rc. Trong chng ny, ta s cp n cc ni dung
chnh nh sau:
- Xt tnh n nh ca h thng ri rc (bao gm cc tiu chun n nh i s v cc tiu
chun n nh tn s).
- Cc tiu chun nh gi cht lng ca mt h thng ri rc
- Tnh iu khin c, quan st c ca h thng ri rc.
7.2 TNH N NH C A H TH NG R I R C
7.2.1 Khi ni m n nh c a h th ng r i rc
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)
trong : z = e pT = e(
+ j )T
= eT .e jT
110
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
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)
Vy:
> 0, z >1
= 0, z =1 (7.7)
< 0, z <1
mt phng p mt phng z
j. j.Im[z]
1 khng n nh
n nh khng n nh n nh
0 -1 0 1 Re[z]
-1
111
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
3 B 4
t t t
(c)
6 2
4
t II B I t
3 A
C
6 5 2
C 0 1 A
t t
III IV
5 1
(a)
t t
(d) (b)
Tng t nh h thng lin tc tuyn tnh, vic gii PTT ca h thng cng rt phc tp,
v vy ta phi dng cc phng php khc xt tnh n nh ca h thng khi khng th tm
c s phn b nghim s ca h thng.
Gi s h thng iu khin ri rc c PTT dng:
112
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
v +1
Thay z = vo PTT v bin i, ta c phng trnh tng ng theo bin v l:
v 1
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).
v +1
v 1 v v 1 v v +1
v 1 v v +1
Mt phng z Mt phng v
113
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
2 z 2 + 3z + 4 = 0
v +1
Gii: Thay z = vo PTT, sau khi bin i ta c phng trnh theo bin v dng:
v 1
9v 2 4v + 3 = 0
Theo tiu chun n nh i s cho h lin tc th h thng ny khng n nh v c
h s a1 = 4 < 0 . Vy h ri rc cho khng n nh.
v +1
Gii: Thay z = 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
* L p b ng Jury:
S hng
1 al al 1 a1 a0
2 a0 a1 al 1 al
3 bl 1 bl 2 b0
4 b0 b1 bl 1
( 2l 3)
114
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
trong :
al a0 al a1 al al k 1
bl 1 = bl 2 = bk =
a0 al a0 al 1 a0 ak +1
bl 1 b0 bl 1 b1 bl 1 bl k 2
cl 2 = cl 3 = ck =
b0 bl 1 b0 bl 2 b0 bk +1
* i u kin n nh theo tiu chu n Jury
1. A (1) > 0
a. al < a0
b. bl 1 > b0
c. cl 1 > c0
A ( z ) = 4 z3 + 2 z 2 5
Gii:
* iu kin h n nh:
2. l = 3 l, vy A ( 1) = 4 + 2 5 = 7 < 0 : tha mn
a. al = 5 < a0 = 4 : v l
A ( z ) = 16 z 4 + 16 z 3 4 z 1
Gii:
115
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
Hng
1 -1 -4 0 16 16
2 16 16 0 -4 -1
3 b3 b2 b1 b0
4 b0 b1 b2 b3
5 c2 c1 c0
Ta c:
1 16 1 16
b3 = = 255 b2 = = 252
16 1 16 4
1 0 1 4
b1 = =0 b0 = = 48
16 0 16 16
b3 b0 255 28 255 0
c2 = = = 62721 c1 = = 64260
b0 b3 48 255 48 252
255 252
c0 = = 12096
48 0
* iu kin n nh:
a. al = 1 < a0 = 16 : tha mn
116
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
l
A ( z ) = a0 ( z zi ) (7.12)
i =1
z = e jT = e j vi = T
Vy,
l
arg A ( z ) = arg ( z zi ) (7.13)
i =1
D
zi
2
1
A B
zi
arg ( z zi ) = 2 (7.14)
arg ( z zi ) = 0 (7.15)
117
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
arg ( z zi ) = l (7.17)
0
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:
I () I ()
1 2
2 4
1
R () R ()
3 3
a) b)
+ ng 2 tng ng vi a1 m v a0 dng.
118
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
+ ng 3 tng ng vi a1 dng v a0 m.
+ ng 2 tng ng vi a1 m v a0 dng.
+ ng 3 tng ng vi a1 dng v a0 m.
Do h h n nh nn:
arg R ( z ) = l (7.18)
0
119
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
arg G ( z ) = l (7.20)
0
Q( z) + R( z)
Xt biu ca vector: J ( z ) = 1 + Wh ( z ) =
R(z)
Khi h kn v h h n nh th:
7.3.1 Kh o st ch t l ng h th ng r i rc qu trnh qu
y (t )
+
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
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
ymax y
% = 100 (7.22)
y
2. Thi gian qu
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.
u (t ) e (t ) e ( iT ) u1 ( t ) y (t )
WLG ( p ) WLT ( p )
T Hnh 7.8 H thng
f (t ) 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:
1
E ( z) = U (z) (7.23)
1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
i T z 1
( )
e ( ) = lim e ( iT ) = lim 1 z 1 E ( z ) = lim
z 1
z 1 z
E ( z) (7.24)
z
+ Khi u ( t ) = 1( t ) U ( z ) = . Ta c sai s xc lp c xc nh nh sau:
z 1
1
e ( ) = lim (7.25)
z 1 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
121
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
Tz
+ Khi u ( t ) = t U ( z ) = . Ta c sai s xc lp c xc nh nh sau:
2
( z 1)
T
e ( ) = lim (7.26)
z 1 ( z 1) 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
7.4 T NG H P H R I R C
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 )
(7.27)
y ( i ) = Cd x ( i ) + Dd u ( i )
rank ( M ) = n (7.29)
x1 ( i + 1) 1 2 x1 ( i ) 1
= x i + 1 u ( i )
x2 ( i + 1 ) 2 1 2 ( )
x1 ( i )
y ( i ) = [1 0 ]
x2 ( i )
Xt tnh iu khin c ca h thng?
Gii:
122
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
1 2 1
H thng trn s c Ad = , Bd = , Cd = [1 0] , n = 2
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.
N = Cd '
Ad ' .Cd ' ... (A )
d
' n 1
.Cd '
(7.30)
rank ( N ) = n (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 i u ch nh PID s
kp
+
e (t ) + c (t )
ki p Hnh 7.9 B iu
E ( p) C ( p) chnh PID lin tc
+
kd p
123
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
+ Khu t l c h s truyn k p
i vi khu tch phn s, ta c nhiu cch th hin v nu theo phng php tch phn
k T ( z + 1)
hnh thang ta s c hm truyn l: i .
2 ( z 1)
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.
kiT ( z + 1) kd . ( z 1)
WPID ( z ) = k p + + (7.32)
2 ( z 1) T .z
=
( kiT 2 + 2kd + 2k pT ) z 2 + ( k pT 2 2k pT 4kd ) z + 2kd
2Tz ( z 1)
kp
+
e ( iT ) kiT ( z + 1) + c ( iT )
Hnh 7.10 B iu
E ( z) 2 ( z 1) C ( z) chnh PID s
+
kd ( z 1)
Tz
Gii:
Theo cng thc (6.36) ta c:
124
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
W ( p )
(
Z {WLG ( p ) .WLT ( p )} = 1 z 1 .Z LT
)
p
(7.33)
Vy:
0.0453 ( z + 0.904 )
WLTQD ( z ) =
( z 0.905)( z 0.819 )
Hm truyn t mch kn khi khng c b PID l:
Y ( z ) 0.0453 ( z + 0.904 )
Wk ( z ) = = (7.34)
U ( z ) z 2 1.679 z + 0.782
7.4.3 T ng h p h n nh v t n
a1 = a2 = ... = al = 0 (7.37)
v ch cn li dng:
G ( z ) = a0 .z l = 0 (7.38)
125
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
Hm truyn t ca h thng c m = l 1 l:
b0 z l 1 + b1z l 2 + ... + bl 2 z + bl 1
W ( z) = (7.39)
a0 z l
hay
trong Bi = bi a0 .
k ( 0 ) = 0; k (T ) = B0 ; k ( 2T ) = B1;...; k ( lT ) = Bl 1
(7.43)
k ( nT ) = 0 khi n > l
n
y ( nT ) = x ( mT ) .k ( n m ) T (7.44)
m =0
t j = n m m = n j , ta c:
0
y ( nT ) = x ( n j ) T .k ( jT ) (7.45)
j =n
126
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
Ta nhn thy rng, theo (7.46), khi tn ti iu kin (7.43) th qu trnh qu ca h thng
s kt thc sau mt khong thi gian nht nh m = l do cc s hng trong (7.46) bng 0 khi
m > l v cng thc ny c th chuyn thnh:
l
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 )
T 2T 3T t
Hnh 7.11 Qu trnh qu trong h thng ti u tc ng nhanh
TM TT N I DUNG HC T P CH NG 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
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
+ Nu sau khi dng phng php bin i bo ton hnh dng cho h ri rc, ta hon ton
c th p dng cc tiu chun xt tnh n nh cho h lin tc nh tiu chun Routh, Hurwitz
(phng php ny ch xt cho cc h c PTT bc thp). Nu PTT ca h thng c bc cao th
ta dng phng php i s xt n nh cho h thng theo tiu chun Jury. Mt ch l h ri rc
kh n nh hn h lin tc (v d, h lin tc c PTT bc nht vi cc h s dng s lun n
nh nhung h ri rc th phi km theo iu kin a0 > a1 ).
BI T P
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
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
T
a. e ( ) = lim
z 1 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
1
b. e ( ) = lim
z 1 ( z 1) 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
T
c. e ( ) = lim
z 1 ( z + 1) 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
T
d. e ( ) = lim
z 1 ( z 1) 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
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
k pT ( z + 1) kd . ( z 1)
c. WPID ( z ) = ki + +
2 ( 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 )
x2 ( i + 1 ) 2 1 2 ( )
x1 ( i )
y ( i ) = [1 0 ]
x2 ( i )
Ma trn iu khin c v hng ca ma trn?
Bi 7.
Cho h thng c biu din trong khng gian trng thi dng:
129
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
x1 ( i + 1) 1 2 x1 ( i ) 1
= x i + 1 u ( i )
x2 ( i + 1 ) 2 1 2 ( )
x1 ( i )
y ( i ) = [1 0 ]
x2 ( i )
Ma trn quan st c v hng ca ma trn?
Bi 8.
1
b. e ( ) = lim
z T 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
1
c. e ( ) = lim
z 1 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
1
d. e ( ) = lim
z 1 1 + Z {WLT ( 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.
Bi 11.
Mt trong nhng iu kin h thng ri rc c phng trnh c trng n nh theo tiu
chun Jury l:
130
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
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
CH NG 1
Bi 1:
- V c s khi ca h thng
- Nu c chc nng ca cc khi
- Nu c cc tn hiu c trong h thng
Bi 2: p n c.
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.
Bi 3: p n c.
c. cc im cc (pole)
Bi 4:
- T phng trnh vi phn c cc bin trng thi
- Vit c phng trnh trng thi m t h thng dng
x = Ax + Bu
-
y = Cx
- V c s dng tng qut biu din h thng trong khng gian trng thi.
Bi 5:
- Nu cch xy dng hm truyn tn s
- Trnh by cch tnh c tnh bin tn, pha tn, bin tn logarithm v pha tn logarithm ca
h h.
Bi 6:
- Nu cch xy dng hm truyn tn s
- Trnh by cch tnh c tnh bin tn, pha tn ca h kn
Bi 7:
p n c.
c. W = W1.W2 .W3
Bi 8:
p n a.
a. Tn hiu phi i qua mt khi mi c hm truyn t chnh bng khi .
Bi 9:
132
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:
- Chuyn tn hiu ra t trc ra sau khi W3.
- Tm hm truyn t ca h thng:
W1W2W3
W ( p) =
1 + W2W3 + W1W2
Bi 11:
- Chuyn tn hiu ra t trc ra sau khi Wb(p).
- Tm hm truyn t ca h thng:
WaWb
W ( p) =
1 + WaWc + WaWbWcWd
Bi 12:
p n a.
a. Wij = X j X i
Bi 13:
p n a.
Wh ( p )
a. Wk ( p ) =
1 + Wh ( p )
Bi 14:
p n b.
b. Cc im cc
CH NG 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
- Tn hiu ch truyn i mt chiu, ngha l khi c tn hiu vo th c tn hiu ra nhng tn
hiu ra khng nh hng n tn hiu vo.
- Qu trnh ng hc ca phn t c biu din bng phng trnh vi phn khng qu bc
hai.
Bi 5.
- Nu c s khc nhau v PTVP, hm truyn t
- S khc nhau gia cc c tnh thi gian
- S khc nhau gia cc c tnh tn s
- S khc nhau v mi quan h gia tn hiu ra v tn hiu vo (theo pha)
Bi 6.
- V cc c tnh tn s c tnh cht i xng.
- Nu c c tnh tn s no i xng qua u? (BT, TBP i xng qua trc thc, PT i
xng qua gc ta )
Bi 7.
p n c.
c. p = j
Bi 8.
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.
- Vit hm truyn t h h di dng tch ca cc khu c bn ni vi nhau
- Kt lun l h h gm hai khu tch phn, mt khu qun tnh bc 1 v mt khu vi phn
CH NG 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 KI
Bc 1. Tm a thc c trng A ( p ) ca h thng kn 16
A ( p ) = p 4 + 5 p3 + 8 p 2 + ( 4 + K P ) p + K I Min n
5.76 nh
Bc 2. Xt n nh
KP
KP > 0 -4 16
+ iu kin cn: 36
KI > 0
+ iu kin : Xt n nh theo tiu chun Routh:
Bng Routh:
135
Hng dn tr li v p n bi tp
1 8 KI
5 4 + KP 0
K P + 36 5K I
( 4 + K P )( K P + 36 ) 25K I 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:
2kp + 1
Wh ( p ) =
( )
2 p 2 p + 3 p + 1 ( p + 1)
2
+ Hm truyn t ca h kn:
2kp + 1
Wk ( p ) =
( )
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
136
Hng dn tr li v p n bi tp
k < 9
0.33 < k < 8.33
Kt vi iu kin cn, ta c iu kin h kn n nh l: 0.33 < k < 8.33
Bi 5.
+ Xt n nh ca h h:
( )
PTT ca h h: 2 p 3 + 2 p 2 + 3 p + 1 ( p + 1) = 0
I ( )
R ( )
-1 k Hnh 3.11 c tnh TBP ca
h h khi h kn n nh
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
R ( ) =
(
k 2 4 5 + 1 )
( 2 4 5 + 1) + j ( 4 4 3 )
2 2
k ( 4 4 3 )
I ( ) =
( 2 4 5 + 1) + j ( 4 4 3 )
2 2
137
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.
- Thay T=2, tm c hm truyn t ca h thng kn:
4
Wk =
2 p2 + p + 5
138
Hng dn tr li v p n bi tp
2 p2 + p + 5 = 0
- Xt tnh n nh ca h thng theo mt trong cc tiu chun hc
* iu kin cn: a0 , a1, a2 > 0 , tho mn
* iu kin :
Tnh nghim ca phng trnh c trng:
1 i 39
p1,2 =
8
* Kt lun: h n nh
Bi 14.
- Xc nh c phng trnh c trng:
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
CH NG 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.
2 de
2
d. I 4 = e
0
+
dt
dt
Bi 9.
- Vit c biu thc tnh sai lch tnh ca h thng
- Tm c U ( p )
1
- Tm c sai s =
k +1
Bi 10.
p n b.
b. 1 p
140
Hng dn tr li v p n bi tp
CH NG 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.
Bi 7.
141
Hng dn tr li v p n bi tp
p n b.
b. ng
Bi 8.
p n a.
Bi 9.
p
= lim U ( p)
p 0 1 + W ( p )
h
- Tm c sai s ca h thng: = 0
Bi 10.
p n d.
Bi 11.
- Vit c cng thc tnh ma trn quan st c
N = [ C ' A ' C ']
- Tnh ma trn quan st c theo cc thng s cho
1 0.5 2 1 1 0.5
N = 0 = 0 1.5
0 1.5 3
- Xt iu kin h thng quan st c hon ton
det ( N ) = 1.5 0 rank ( N ) = 2 = n
142
Hng dn tr li v p n bi tp
Bi 12.
- Vit c cng thc tnh ma trn iu khin c
P = [B AB ]
- Tnh ma trn iu khin c theo cc thng s cho
1 0.5 3 1 1 0.5
P= =
0 2 1 0 0 2
- Xt iu kin h thng iu khin c hon ton
det ( P ) = 2 0 rank ( P ) = 2 = n
CH NG 6
Bi 1.
p n b.
b. Lng t ha theo thi gian
Bi 2.
p n a.
a. WLG ( p ) =
1
p
(
1- e- pT )
Bi 3.
y ( j + 1) + y ( j ) = 0 vi j = i + 2 .
Bi 4.
p n b.
b. Sai
Bi 5.
0.008 0.00267 0.01067
W ( z) = +
z 1 1.005 z 1 1.002 z 1
Bi 6.
0.000834 0.0025 0.00334
W ( z) = +
1.0025 z 1 1.005 z 1 1.01z 1
143
Hng dn tr li v p n bi tp
Bi 7.
1 0 x1 ( i ) 0
x ( i + 1) = . + u (i )
1 e
0.1
e0.1 x2 ( i ) e0.1
x1 ( i )
y ( i ) = [ 0 1 ] .
x2 ( i )
Bi 8.
p n c.
Y ( z) Z {WLG ( p ) .WLT ( p )}
c. Wk ( z ) = =
U ( z ) 1 + Z {WLG ( p ) .WLT ( p ) .WFH ( p )}
Bi 9.
p n a.
Y ( z) Z {WLG ( p ) .WLT ( p )}
a. Wk ( z ) = =
U ( z ) 1 + Z {WLG ( p ) .WLT ( p ) .WFH ( p )}
Bi 10.
p n d.
1 1
TA TA TA
d. Ad = I . I + ; Bd = I .T .B; Cd = C ; Dd = D
2 2 2
Bi 11.
p n b.
b. Ad = I + TA; Bd = TB; Cd = C ; Dd = D
Bi 12.
- Vit c cng thc tnh Ad , Bd , Cd theo cc thng s trong h lin tc:
A d = I + TA
Bd = TB
C =C
d
144
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]
- Vit c phng trnh trng thi biu din h xung - s
1.125 0.375 0.25
x ( i + 1) = x ( i ) + 0 u (i )
0.5 1.75
y ( i ) = [1 0] x ( i )
CH NG 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
d. e ( ) = lim
z 1 ( z 1) 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
Bi 5.
p n a.
k T ( z + 1) kd . ( z 1)
a. WPID ( z ) = k p + i +
2 ( z 1) T .z
145
Hng dn tr li v p n bi tp
Bi 6.
- Vit c cng thc tnh ma trn iu khin c ca h thng s:
M = [ Ad .Bd Bd ]
3 1
- Tnh M = , rank ( M ) = 2
1 1
- Kt lun h iu khin c hon ton
Bi 7.
- Vit c cng thc tnh ma trn iu khin c ca h thng s:
1 1
- Tnh N = , rank ( N ) = 2
0 2
- Kt lun h quan st c hon ton
Bi 8.
p n c.
1
c. e ( ) = lim
z 1 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
Bi 9.
v +1
- Vit c cng thc ca phng php bin i bo ton hnh dng: z =
v 1
- Xt n nh ca h thng trong mt phng v theo phng php i s nh cho h lin tc
tuyn tnh
Bi 10.
v +1
- Vit c cng thc ca phng php bin i bo ton hnh dng: z =
v 1
146
Hng dn tr li v p n bi tp
Bi 11.
p n a.
147
Ti liu tham kho
[1]. L thuyt iu khin t ng, Phm Cng Ng, NXB KHKT, 2001
[2]. C s iu khin t ng, Ng Vn Ho, NXB KHKT, 1999
[3]. L thuyt iu khin t ng thng thng v hin i, Nguyn Thng Ng,
NXB KHKT, 2005.
[4]. iu khin t ng, Nguyn Th Phng H, NXB KHKT, 1996
[5]. Bi tp iu khin t ng, Nguyn Th Phng H, NXBKHKT, 1996
[6]. Automatic Control Systems, Benjamin C. Kuo, Prentice - Hall International
Editions, Seventh Edition 1995.
[7]. Modern Control System Theory and Design, Stanley M. Shinners, New York,
1992.
[8]. Feedback Control Systems, John Van De Vegte, Prentice-Hall, 1991.
[9]. Modern Control Engineering, Katsuhiko Ogata, Prentice-Hall, 1990.
[10]. Digital Control System Analysis and Design, Charles L.Phillips & H.Troy Nagle,
Prentice-Hall, 1992.
[11]. Applied Digital Control Theory, Design and Implementation, Leigh J.R, London
1984.
[12]. Computer Controlled Sysytems Theory and Design, Karl j.Astrom and Bjorn
Wittenmark, Prentice-Hall Information and System Sciences Series, Thomas
Kailath, Editor, 1984.
148
Ti liu tham kho
MC LC
L I NI U .............................................................................................................................................. 3
CH NG I. M T TON HC H TH NG I U KHI N T NG LIN T C...................... 4
N I 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 N I DUNG HC T P CH NG 1 ................................................................................ 21
BI T P ................................................................................................................................................. 21
CH NG II. CC C TNH C A H TH NG I U KHI N T NG LIN T C ............... 25
N I 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 N I DUNG HC T P CH NG 2 ................................................................................ 41
BI T P ................................................................................................................................................. 41
CH NG III. KH O ST TNH N NH C A H TH NG I U KHI N T NG LIN
T C ............................................................................................................................................................. 44
N I 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 N I DUNG HC T P CH NG 3 ................................................................................ 60
BI T P ................................................................................................................................................. 61
CH NG IV. KH O ST CH T L NG H TH NG I U KHI N T NG LIN T C.... 65
149
Ti liu tham kho
N I DUNG ............................................................................................................................................. 65
4.1 GII THIU CHUNG ....................................................................................................... 65
4.2 KHO ST CHT LNG CA H THNG TRNG THI XC LP ............... 65
4.3 KHO ST CHT LNG CA H THNG QU TRNH QU ................... 68
4.4. NH GI CHT LNG H THNG QUA TIU CHUN TCH PHN .............. 71
TM TT N I DUNG HC T P CH NG 4 ................................................................................ 75
BI T P ................................................................................................................................................. 75
CH NG V. T NG H P H TH NG I U KHI N T NG LIN T C ................................. 79
N I DUNG.................................................................................................................................................. 79
5.1 GII THIU CHUNG ....................................................................................................... 79
5.2 CC PHNG PHP NNG CAO CHT LNG H THNG................................. 79
5.3 H THNG IU KHIN T NG VI CC B IU CHNH CHUN PID. ..... 83
5.4 TNG HP H THNG TRONG KHNG GIAN TRNG THI ................................ 87
TM TT N I DUNG HC T P CH NG 5 ................................................................................ 91
BI T P ................................................................................................................................................. 91
CH NG VI. M T TON HC H TH NG I U KHI N T NG R I R C ................... 95
6.1 KHI NIM CHUNG ....................................................................................................... 95
6.2 M T TON HC TN HIU RI RC ...................................................................... 97
6.3 M T TON HC H THNG RI RC ................................................................... 98
6.4 HM TRUYN T TRONG H THNG RI RC ................................................. 103
TM TT N I DUNG HC T P CH NG 6 .............................................................................. 106
BI T P ............................................................................................................................................... 106
CH NG VII. PHN TCH V T NG H P H TH NG I U KHI N T NG R I R C 110
N I DUNG ........................................................................................................................................... 110
7.1 GII THIU CHUNG ..................................................................................................... 110
7.2 TNH N NH CA H THNG RI RC............................................................... 110
7.3. KHO ST CHT LNG H THNG RI RC TUYN TNH........................... 120
7.4 TNG HP H RI RC .............................................................................................. 122
TM TT N I DUNG HC T P CH NG 7 .............................................................................. 127
BI T P ............................................................................................................................................... 128
H NG D N TR L I V P N BI T P.................................................................................. 132
CH NG 1 .......................................................................................................................................... 132
CH NG 2 .......................................................................................................................................... 133
150
Ti liu tham kho
CH NG 3 .......................................................................................................................................... 135
CH NG 4 .......................................................................................................................................... 139
CH NG 5 .......................................................................................................................................... 141
CH NG 6 .......................................................................................................................................... 143
CH NG 7 .......................................................................................................................................... 145
TI LIU THAM KH O........................................................................................................................ 148
M C L C ................................................................................................................................................. 149
151
C S IU KHIN T NG
M s : 491LDK350
Ch u trch nhi m b n th o
TRUNG TM O TO BU CHNH VIN THNG 1