Chuong3 LTDKTD PDF

Mon hoc
LY THUYET IEU KHIEN T ONG
Giang vien: TS. Huynh Thai Hoang

Bo mon ieu Khien T ong
Khoa ien ien T
ai hoc Bach Khoa TP.HCM
Email: hthoang@hcmut.edu.vn
Homepage: http://www2.hcmut.edu.vn/~hthoang/
26 September 2006 H. T. Hong - HBK TPHCM 1

Chng 3
KHAO SAT
TNH ON NH CUA HE THONG

Noi dung chng 3
Khai niem on nh
Tieu chuan on nh ai so
ieu kien can
Tieu chuan Routh
Tieu chuan Hurwitz
Phng phap quy ao nghiem so (QNS)
Khai niem ve QNS
Phng phap ve QNS
Xet on nh dung QNS
Tieu chuan on nh tan so
Khai niem ve ac tnh tan so
ac tnh tan so cua cac khau c ban
ac tnh tan so cua he thong t ong
Tieu chuan on nh Bode
Tieu chuan on nh Nyquist

Khai niem on nh

Khai niem on nh
nh ngha on nh BIBO
He thong c goi la on nh BIBO (Bounded Input Bounded
Output) neu ap ng cua he b chan khi tn hieu vao b chan.
r(t) c(t)
He thong

Th du minh hoa khai niem on nh
HT on nh HT bien HT khong on nh
gii on nh

Khai niem on nh
Cc va zero
Cho he thong t ong co ham truyen la:
C ( s ) b0 s m + b1s m1 + K + bm1s + bm
G (s) = =
R ( s ) a0 s n + a1s n1 + K + an1s + an
at: A( s ) = a0 s n + a1s n1 + K + an1s + an mau so ham truyen
B ( s ) = b0 s m + b1s m1 + K + bm1s + bm t so ham truyen

Cc: (Pole) la nghiem cua mau so ham truyen, tc la nghiem cua
phng trnh A(s) = 0. Do A(s) bac n nen he thong co n cc ky
hieu la pi , i =1,2,m.
Zero: la nghiem cua t so ham truyen, tc la nghiem cua phng
trnh B(s) = 0. Do B(s) bac m nen he thong co m zero ky hieu la zi,
i =1,2,m.
Khai niem on nh
Gian o cc - zero
Gian o cc zero la o th bieu dien v tr cac cc va cac zero

cua he thong trong mat phang phc.

Khai niem on nh
ieu kien on nh
Tnh on nh cua he thong phu thuoc vao v tr cac cc.
He thong co tat ca cac cc co phan thc am (co tat ca cac cc
eu nam ben trai mat phang phc): he thong on nh.
He thong co cc co phan thc bang 0 (nam tren truc ao), cac cc
con lai co phan thc bang am: he thong bien gii on nh.
He thong co t nhat mot cc co phan thc dng (co t nhat mot
cc nam ben phai mat phang phc): he thong khong on nh.

Khai niem on nh
Phng trnh ac trng (PTT)

Phng trnh ac trng: phng trnh A(s) = 0
a thc ac trng: a thc A(s)
He thong hoi tiep He thong mo ta bang PTTT
x& (t ) = Ax(t ) + Br (t )

c(t ) = Cx(t )
Phng trnh ac trng Phng trnh ac trng

1 + G(s) H (s) = 0 det (sI A) = 0


ieu kien can
ieu kien can e he thong on nh la tat ca cac he so cua phng

trnh ac trng phai khac 0 va cung dau.
Th du: He thong co phng trnh ac trng:

s 3 + 3s 2 2 s + 1 = 0 Khong on nh
s 4 + 2 s 2 + 5s + 3 = 0 Khong on nh
s 4 + 4 s 3 + 5s 2 + 2 s + 1 = 0 Cha ket luan c

Tieu chuan on nh ai so: Tieu chuan Routh
Qui tac thanh lap bang Routh

Cho he thong co phng trnh ac trng:
a0 s n + a1s n1 + K + an1s + an = 0
Muon xet tnh on nh cua he thong theo tieu chuan Routh, trc
tien ta thanh lap bang Routh theo qui tac:
Bang Routh co n+1 hang.
Hang 1 cua bang Routh gom cac he so co ch so chan.
Hang 2 cua bang Routh gom cac he so co ch so le.
Phan t hang i cot j cua bang Routh (i 3) c tnh theo
cong thc:
cij = ci 2, j +1 i .ci 1, j +1
ci 2,1
vi i =
ci 1,1
Dang bang Routh

Phat bieu tieu chuan

ieu kien can va u e he thong on nh la tat ca cac phan t
nam cot 1 cua bang Routh eu dng. So lan oi dau cua cac
phan t cot 1 cua bang Routh bang so nghiem cua phng trnh
ac trng nam ben phai mat phang phc.

Th du 1
Xet tnh on nh cua he thong co phng trnh ac trng la:
s 4 + 4 s 3 + 5s 2 + 2 s + 1 = 0
Giai: Bang Routh
Ket luan: He thong on nh do tat ca cac phan t cot 1 bang

Routh eu dng.
Th du 2
Xet tnh on nh cua he thong co s o khoi:
50
G ( s) =
s ( s + 3)( s 2 + s + 5)
1
H (s) =
s+2
Giai: Phng trnh ac trng cua he thong la:

1 + G ( s ).H ( s ) = 0
50 1
1+ . =0
s ( s + 3)( s + s + 5) ( s + 2)
2
s ( s + 3)( s 2 + s + 5)( s + 2) + 50 = 0
s 5 + 6 s 4 + 16 s 3 + 31s 2 + 30 s + 50 = 0
Th du 2 (tt)
Bang Routh
Ket luan: He thong khong on nh do tat ca cac phan t cot 1

bang Routh oi dau 2 lan.
Th du 3
Tm ieu kien cua K e he thong on nh:
K
G ( s) =
s ( s 2 + s + 1)( s + 2)
Giai: Phng trnh ac trng cua he thong la:

1 + G(s) = 0
K
1+ 2
=0
s ( s + s + 1)( s + 2)
s 4 + 3s 3 + 3s 2 + 2 s + K = 0

Th du 3 (tt)
Bang Routh
ieu kien e he thong on nh:

9
2 K >0 14
7 0<K <
K > 0 9

Trng hp ac biet 1
Neu bang Routh co he so cot 1 cua hang nao o bang 0, cac he
so con lai cua hang o khac 0 th ta thay he so bang 0 cot 1 bi
so dng nho tuy y, sau o qua trnh tnh toan c tiep tuc.

Th du 4
s 4 + 2 s 3 + 4 s 2 + 8s + 3 = 0
Giai:
Bang Routh
Ket luan: V cac he so cot 1 bang Routh oi dau 2 lan nen

phng trnh ac trng cua he thong co hai nghiem nam ben phai
mat phang phc, do o he thong khong on nh .
Trng hp ac biet 2
Neu bang Routh co tat ca cac he so cua hang nao o bang 0:
Thanh lap a thc phu t cac he so cua hang trc hang co tat
ca cac he so bang 0, goi a thc o la A0(s).
Thay hang co tat ca cac he so bang 0 bi mot hang khac co
cac he so chnh la cac he so cua a thc dA0(s)/ds, sau o qua
trnh tnh toan tiep tuc.
Chu y: Nghiem cua a thc phu A0(s) cung chnh la nghiem cua
phng trnh ac trng.

Th du 5
s 5 + 4 s 4 + 8s 3 + 8s 2 + 7 s + 4 = 0
Giai: Bang Routh

Th du 5 (tt)
a thc phu:
dA0 ( s )
A0 ( s ) = 4 s 2 + 4 = 8s + 0
ds
Nghiem cua a thc phu (cung chnh la nghiem cua phng trnh
ac trng):
A0 ( s ) = 4 s 2 + 4 = 0 s=j
Ket luan:
Cac he so cot 1 bang Routh khong oi dau nen phng trnh ac
trng khong co nghiem nam ben phai mat phang phc.
Phng trnh ac tnh co 2 nghiem nam tren truc ao.
So nghiem nam ben trai mat phang phc la 5 2 = 3.
He thong bien gii on nh

Tieu chuan on nh ai so: Tieu chuan Hurwitz
Qui tac thanh lap ma tran Hurwitz

Cho he thong co phng trnh ac trng:
a0 s n + a1s n1 + K + an1s + an = 0
Muon xet tnh on nh cua he thong theo tieu chuan Hurwitz,
trc tien ta thanh lap ma tran Hurwitz theo qui tac:
Ma tran Hurwitz la ma tran vuong cap nn.
ng cheo cua ma tran Hurwitz la cac he so t a1 en an .
Hang le cua ma tran Hurwitz gom cac he so co ch so le theo
th t tang dan neu ben phai ng cheo va giam dan neu
ben trai ng cheo.
Hang chan cua ma tran Hurwitz gom cac he so co ch so chan
theo th t tang dan neu ben phai ng cheo va giam dan
neu ben trai ng cheo.

Dang ma tran Hurwitz
a1 a3 a5 a7 K 0
a a a4 a6 K 0
0 2

0 a1 a3 a5 K 0

0 a0 a2 a4 K 0
M M M M M

0 K K K K an
Phat bieu tieu chuan
ieu kien can va u e he thong on nh la tat ca cac nh thc
con cha ng cheo cua ma tran Hurwitz eu dng
Th du 1
s 3 + 4s 2 + 3s + 2 = 0
Giai: a1 a3 0 4 2 0
Ma tran Hurwitz a a2 0 = 1 3 0
0
0 a1 a3 0 4 2
Cac nh thc: 1 = a1 = 1
a1 a3 4 2
2 = = = 4 3 1 2 = 10
a0 a2 1 3
a1 a3 0
a1 a3 4 2
3 = a0 a2 0 = a3 = 2 = 2 10 = 20
a0 a2 1 3
0 a1 a3
Ket luan: He thong on nh do cac nh thc eu dng
Cac he qua cua tieu chuan Hurwitz

He bac 2 on nh neu phng trnh ac trng thoa man ieu kien:
ai > 0, i = 0,2

ai > 0, i = 0,3

a1a2 a0 a3 > 0

ai > 0, i = 0,4

a1a2 a0 a3 > 0
a a a a a 2 a 2 a > 0
1 2 3 0 3 1 4

Phng phap quy ao nghiem so

nh ngha
Quy ao nghiem so la tap hp tat ca cac nghiem cua phng
trnh ac trng cua he thong khi co mot thong so nao o trong he
thay oi t 0 .
2
Th du: QNS cua he thong co PTT s + 4 s + K = 0 co dang
nh hnh ve di ay:

Qui tac ve QNS

Muon ap dung cac qui tac ve quy ao nghiem so, trc tien ta
phai bien oi tng ng phng trnh ac trng ve dang:
N (s)
1+ K =0 (1)
D( s)
N (s)
at: G0 ( s ) = K
D( s)
Goi n la so cc cua G0(s) , m la so zero cua G0(s)
(1) 1 + G0 ( s ) = 0
G0 ( s ) = 1 ieu kien bien o

G0 ( s ) = (2l + 1) ieu kien pha
Qui tac ve QNS
Qui tac 1: So nhanh cua quy ao nghiem so = bac cua phng
trnh ac tnh = so cc cua G0(s) = n.
Qui tac 2:
Khi K = 0: cac nhanh cua quy ao nghiem so xuat phat t cac
cc cua G0(s).
Khi K tien en + : m nhanh cua quy ao nghiem so tien en
m zero cua G0(s), nm nhanh con lai tien en theo cac tiem
can xac nh bi qui tac 5 va qui tac 6.
Qui tac 3: Quy ao nghiem so oi xng qua truc thc.
Qui tac 4: Mot iem tren truc thc thuoc ve quy ao nghiem so
neu tong so cc va zero cua G0(s) ben phai no la mot so le.

Qui tac ve QNS (tt)
Qui tac 5: : Goc tao bi cac ng tiem can cua quy ao nghiem
so vi truc thc xac nh bi :
( 2l + 1)
= (l = 0,1,2, K)
nm
Qui tac 6: : Giao iem gia cac tiem can vi truc thc la iem A
co toa o xac nh bi:
n m
pi zi (pi va zi la cac cc
OA = cc zero i =1
= i =1 va cac zero cua G0(s) )
nm nm
Qui tac 7: : iem tach nhap (neu co) cua quy ao nghiem so nam
tren truc thc va la nghiem cua phng trnh:
dK
=0
ds
Qui tac ve QNS (tt)
Qui tac 8: : Giao iem cua quy ao nghiem so vi truc ao co the
xac nh bang cach ap dung tieu chuan RouthHurwitz hoac thay
s=j vao phng trnh ac trng.
Qui tac 9: Goc xuat phat cua quy ao nghiem so tai cc phc pj
c xac nh bi:
m n
j = 180 + arg( p j zi ) arg( p j pi )
0
i =1 i =1
i j
Dang hnh hoc cua cong thc tren la:

j = 1800 + (goc t cac zero en cc p j )
(goc t cac cc con lai en cc p j )

Th du 1
Ve QNS cua he thong sau ay khi K=0+.
K
G( s) =
s ( s + 2)( s + 3)
Giai:
Phng trnh ac trng cua he thong:
K
1 + G(s) = 0 1+ =0 (1)
s ( s + 2)( s + 3)
Cac cc: p1 = 0 p2 = 2 p3 = 3
Cac zero: khong co
Th du 1 (tt)
Tiem can:
1 = (l = 0)
3
(2l + 1) (2l + 1)
= = 2 = (l = -1)
nm 30 3
3 = (l = 1)
OA =
cc zero [0 + (2) + (3)] 0
= =
5
nm 30 3
iem tach nhap:
(1) K = s ( s + 2)( s + 3) = ( s 3 + 5s 2 + 6 s )
dK
= (3s 2 + 10 s + 6)
ds
dK s1 = 2.549 (loai)
Do o =0
ds s2 = 0.785
Th du 1 (tt)
Giao iem cua QNS vi truc ao:
Cach 1: Dung tieu chuan Hurwitz
(1) s 3 + 5s 2 + 6s + K = 0 (2)
ieu kien on nh:
K > 0 K > 0 0 < K < 30 K gh = 30

a1a2 a0 a3 > 0 5 6 1 K > 0
Thay gia tr Kgh = 30 vao phng trnh (2), giai phng trnh ta
c giao iem cua QNS vi truc ao
s1 = 5
3 2
s + 5s + 6s + 30 = 0 s2 = j 6
s = j 6
3
Th du 1 (tt)
Cach 2:
(1) s 3 + 5s 2 + 6s + K = 0 (2)
Thay s=j vao phng trnh (2):
( j )3 + 5( j )2 + 6( j ) + K = 0 j 5 + 6 j + K = 0
3 2
= 0

j 3 + 6 j = 0 K = 0

5 2
+K =0 = 6

K = 30

Th du 1 (tt)
Im s
j 6
Re s
3 2 0
j 6

Th du 2
K
G ( s) =
s ( s 2 + 8s + 20)
Giai:
K
1 + G(s) = 0 1+ 2
=0 (1)
s ( s + 8s + 20)
Cac cc: p1 = 0 p2,3 = 4 j 2
Cac zero: khong co
Th du 2 (tt)
Tiem can:
1 = (l = 0)
3
(2l + 1) (2l + 1)
= = 2 = (l = -1)
nm 30 3
3 = (l = 1)
OA =
cc zero [0 + (4 +
=
j 2) + (4 j 2)] (0)
=
8
nm 30 3
iem tach nhap:
(1) K = ( s 3 + 8s 2 + 20s )
dK
= (3s 2 + 16 s + 20)
ds
dK s1 = 3.331 + K
Do o =0 (hai ie =0
2 m tach nhap)
ds s2 = 2.00 s ( s + 8s + 20)
Th du 2 (tt)
(1) s 3 + 8s 2 + 20s + K = 0 (2)
( j )3 + 8( j ) 2 + 20( j ) + K = 0
j 3 8 2 + 20 j + K = 0
= 0

8 2 + K = 0 K = 0

3
+ 20 = 0 = 20
K
K = 160 1 + 2
=0
s ( s + 8s + 20)
Th du 2 (tt)
Goc xuat phat cua QNS tai cc phc p2:
2 = 1800 [arg( p2 p1 ) + arg( p2 p3 )]
= 1800 {arg[(4 + j 2) 0] + arg[(4 + j 2) (4 j 2)]}
1 2
0
= 180 tg + 90
4
= 1800 {153.5 + 90}
2 = 63.50
m n
j = 1800 + arg( p j zi ) arg( p j pi )
i =1 i =1
i j

Th du 2 (tt)
Im s
j 20
+j2
63.50
Re s
4 2 0
j2
j 20

Th du 3
K ( s + 1)
G ( s) =
s ( s + 3)( s 2 + 8s + 20)
Giai:
K ( s + 1)
1 + G(s) = 0 1+ 2
=0 (1)
s ( s + 3)( s + 8s + 20)
Cac cc: p1 = 0 p2 = 3 p3, 4 = 4 j 2
Cac zero: z1 = 1
Th du 3 (tt)
Tiem can:
1 = (l = 0)
3
(2l + 1) (2l + 1)
= = 2 = (l = -1)
nm 4 1 3
3 = (l = 1)
OA = cc zero [0 + (3) + (4 +
=
j 2) + (4 j 2)] (1)
=
10
nm 4 1 3
iem tach nhap:
s ( s + 3)( s 2 + 8s + 20) dK 3s 4 + 26 s 3 + 77 s 2 + 88s + 60
(1) K = =
( s + 1) ds ( s + 1) 2
dK s1, 2 = 3,67 j1,05 K ( s +(kho

1) ng co
Do o =0 1+ =0
ds s3, 4 = 0,66 sj(0s.97 ie
2 m tach nhap)
+ 3)( s + 8s + 20)
Th du 3 (tt)
(1) s 4 + 11s3 + 44s 2 + (60 + K ) s + K = 0 (2)
4 11 j 3 44 2 + (60 + K ) j + K = 0
= 0

K = 0
4 44 2 + K = 0 = 5,893

11 3
+ ( 60 + K ) = 0
K = 322
= j1,314
(loai)
K = 61,7 K ( s + 1)
1+ 2
=0
Vay giao iem can tm la: s = j 5,893 HSK + 3i)(ha
s ( s gi s n+la8:sK+gh20
= )322
Th du 3 (tt)
3 = 180 + 1 ( 2 + 3 + 4 )
= 180 + 146,3 (153,4 + 116,6 + 90)
3 = 33.70

Th du 3 (tt) Im s
+j5,893
+j2
33.70
3 1 2 Re s
4 3 1 0
4
j2
j5,893

Th du 4
Cho he thong ieu khien co s o khoi nh sau:
10
G(s) = 2
( s + 9 s + 3)
KI
GC ( s ) = K P +
s
Cho KI = 2.7, hay ve QNS cua he thong sau ay khi KP =0+,

biet rang dKP / ds=0 co 3 nghiem la 3, 3, 1.5.
Khi KP =270, KI = 2.7 he thong co on nh hay khong?

Th du 4 (tt)
Giai:
1 + GC ( s )G ( s ) = 0

1 + KP +
2.7 10
2 =0
s s + 9 s + 3
10 K P s
1+ 2
=0 (1)
( s + 9)( s + 3)
Cac cc: p1 = 9 p2 = + j 3 p3 = j 3
Cac zero: z1 = 0

Th du 4 (tt)
Tiem can:
(2l + 1) (2l + 1) /2 (l = 0)
= =
nm 3 1 /2 (l = 1)
OA = cc zero [9 + ( j
=
3 ) + ( j 3 )] (0)
=
9
nm 3 1 2
iem tach nhap:
s1 = 3
dK P
=0 s2 = 3
ds s = 1.5
3 (loai)
QNS co hai iem tach nhap trung nhau tai 3

Th du 2 (tt)
2 = 1800 + arg( p2 z1 ) [arg( p2 p1 ) + arg( p2 p3 )]
= 1800 + arg( j 3 0) [arg( j 3 (9)) + arg( j 3 ( j 3 ))]

1 3
= 180 + 90 tg
0
+ 90
9
2 = 1690

Th du 4 (tt)
Khi KI =2.7, QNS cua

he thong nam hoan
toan ben trai mat phang
phc khi KP =0+,
do o he thong on nh
khi KI =2.7, KP =270.


Khai niem ac tnh tan so
Hay quan sat ap ng cua he thong tuyen tnh trang thai xac
lap khi tn hieu vao la tn hieu hnh sin.

Khai niem ac tnh tan so
He thong tuyen tnh: khi tn hieu vao la tn hieu hnh sin th
trang thai xac lap tn hieu ra cung la tn hieu hnh sin cung tan so
vi tn hieu vao, khac bien o va pha.
nh ngha: ac tnh tan so cua he thong la t so gia tn hieu ra

trang thai xac lap va tn hieu vao hnh sin .
C ( j )
ac tnh tan so =
R ( j )
Ngi ta chng minh c:
ac tnh tan so = G ( s) s = j = G ( j )

ap ng bien o ap ng pha
Tong quat G(j) la mot ham phc nen co the bieu dien di
dang ai so hoac dang cc:
G ( j ) = P( ) + jQ( ) = M ( ).e j ( )
Trong o:
M ( ) = G ( j ) = P 2 ( ) + Q 2 ( ) ap ng bien o
)
1 Q (
( ) = G ( j ) = tg ap ng pha
P ( )
Y ngha vat ly:
ap ng bien o cho biet t le ve bien o (he so khuech ai)
gia tn hieu ra va tn hieu vao theo tan so.
ap ng pha cho biet o lech pha gia tn hieu ra va tn hieu
vao theo tan so.
Bieu o Bode Bieu o Nyquist
Bieu o Bode: la hnh ve gom 2 thanh phan:
Bieu o Bode ve bien o: la o th bieu dien moi quan he gia
logarith cua ap ng bien o L() theo tan so
L( ) = 20 lg M ( ) [dB]
Bieu o Bode ve pha: la o th bieu dien moi quan he gia
ap ng pha () theo tan so .
Ca hai o th tren eu c ve trong he toa o vuong goc vi
truc hoanh c chia theo thang logarith c so 10.
Bieu o Nyquist: (ng cong Nyquist) la o th bieu dien ac

tnh tan so G(j) trong he toa o cc khi thay oi t 0.


ac tnh tan so cua cac khau c ban: Khau t le
Ham truyen: G(s) = K

ac tnh tan so: G ( j ) = K
Bien o: M ( ) = K L( ) = 20 lg K
Pha: ( ) = 0

ac tnh tan so cua cac khau c ban: Khau t le

ac tnh tan so cua cac khau c ban: Khau tch phan ly tng
Ham truyen: 1
G(s) =
s
1 1
ac tnh tan so: G ( j ) = =j
j
1
Bien o: M ( ) = L( ) = 20 lg

Pha: ( ) = 900

ac tnh tan so cua cac khau c ban: Khau tch phan ly tng

ac tnh tan so cua cac khau c ban: Khau vi phan ly tng
Ham truyen: G(s) = s
ac tnh tan so: G ( j ) = j
Bien o: M ( ) = L( ) = 20 lg
Pha: ( ) = 900

ac tnh tan so cua cac khau c ban: Khau vi phan ly tng

ac tnh tan so cua cac khau c ban: Khau quan tnh bac 1
Ham truyen: 1
G(s) =
Ts + 1
1 K (1 Tj )
ac tnh tan so: G ( j ) = =
Tj + 1 1 + T 2 2
1
Bien o: M ( ) = L ( ) = 20 lg 1 + T 2 2

2 2
1+ T
Pha: ( ) = tg 1 (T )
Ve gan ung bieu o Bode bien o:
1
< : ng thang nam ngang trung truc hoanh
T
1
> : ng thang co o doc 20dB/dec
T

ac tnh tan so cua cac khau c ban: Khau quan tnh bac 1
tan so gay

ac tnh tan so cua cac khau c ban: Khau sm pha bac 1
Ham truyen: G ( s) = Ts + 1
ac tnh tan so: G ( j ) = Tj + 1
Bien o: M ( ) = 1 + T 2 2 L ( ) = 20 lg 1 + T 2 2
Pha: ( ) = tg 1 (T )

1
< : ng thang nam ngang trung truc hoanh
T
1
> : ng thang co o doc +20dB/dec
T

ac tnh tan so cua cac khau c ban: Khau sm pha bac 1
tan so gay

ac tnh tan so cua cac khau c ban: Khau dao ong bac 2
1
Ham truyen: G(s) = 2 2 (0 < < 1)
T s + 2Ts + 1
1
ac tnh tan so: G ( j ) =
T 2 2 + 2Tj + 1
1
Bien o: M ( ) =
(1 T 2 2 ) 2 + 4 2T 2 2
L( ) = 20 lg (1 T 2 2 ) 2 + 4 2T 2 2
2T
1
Pha: ( ) = tg 2 2
1 T
< 1 / T : ng thang nam ngang trung truc hoanh
> 1 / T : ng thang co o doc 40dB/dec

ac tnh tan so cua cac khau c ban: Khau dao ong bac 2
tan so gay

ac tnh tan so cua cac khau c ban: Khau tr hoan
Ham truyen: G ( s) = e Ts
ac tnh tan so: G ( j ) = e Tj
Bien o: M ( ) = 1 L ( ) = 0
Pha: ( ) = T

ac tnh tan so cua cac khau c ban: Khau tr hoan

ac tnh tan so cua he thong
Xet he thong t ong co ham truyen G(s) co the phan tch thanh
tch cua cac ham truyen c ban nh sau:
l
G ( s ) = Gi ( s )
i =1
l
ac tnh tan so: G ( j ) = Gi ( j )
i =1
l l
Bien o: M ( ) = M i ( ) L( ) = Li ( )
i =1 i =1
l
Pha: ( ) = i ( )
i =1
Bieu o Bode cua he thong (gom nhieu khau ghep noi tiep) bang
tong bieu o Bode cua cac khau thanh phan.
Ve gan ung bieu o Bode bien o bang ng tiem can
Gia s ham truyen cua he thong co dang:
G ( s ) = Ks G1 ( s )G2 ( s )G3 ( s )K
(>0: he thong co khau vi phan ly tng
<0: he thong co khau tch phan ly tng)
Bc 1: Xac nh tat ca cac tan so gay i =1/Ti , va sap xep theo

th t tang dan 1 <2 < 3
Bc 2: Bieu o Bode gan ung qua iem A co toa o:

= 0

L( ) = 20 lg K + 20 lg 0
0 la tan so thoa man 0 < 1 . Neu 1 > 1 th co the chon 0 =1.

Ve gan ung bieu o Bode bien o bang ng tiem can (tt)
Bc 3: Qua iem A, ve ng thang co o doc:
( 20 dB/dec ) neu G(s) co khau tch phan ly tng
(+ 20 dB/dec ) neu G(s) co khau vi phan ly tng
ng thang nay keo dai en tan so gay ke tiep.
Bc 4: Tai tan so gay i =1/Ti , o doc cua ng tiem can c
cong them mot lng:
(20dB/dec i) neu Gi(s) la i khau quan tnh bac 1
(+20dB/dec i) neu Gi(s) la i khau sm pha bac 1
(40dB/dec i) neu Gi(s) la i khau dao ong bac 2
(+40dB/dec i) neu Gi(s) la i khau sm pha bac 2
ng thang nay keo dai en tan so gay ke tiep.
Bc 5: Lap lai bc 4 cho en khi ve xong ng tiem can tai
tan so gay cuoi cung.
Th du 1: Ve bieu o Bode gan ung
Ve bieu o Bode bien o gan ung cua he thong co ham truyen:
100(0,1s + 1)
G (s) =
s (0,01s + 1)
Da vao bieu o Bode gan ung, hay xac nh tan so cat bien cua
he thong.
Giai:
Cac tan so gay:
1 1 1 1
1 = = = 10 (rad/sec) 2 = = = 100 (rad/sec)
T1 0,1 T2 0,01
Bieu o Bode qua iem A co toa o
= 1

L( ) = 20 lg K = 20 lg100 = 40

Th du 1 (tt)
L(), dB
A
40
20dB/dec
0dB/dec
20
20dB/dec
0 -1 0 1 2 3 lg
10-1 100 101 102 c
Theo hnh ve, tan so cat bien cua he thong la 103 rad/sec

Th du 2: Xac nh ham truyen da vao bieu o Bode
Xac nh ham truyen cua he thong co bieu o Bode bien o gan
ung nh sau:
L(), dB
60 0dB/dec
54
D E
A
40 20dB/dec
B C
26
20 0dB/dec
0
-1 0 1 1.301 2 lg
g1 g2 g3

Th du 2 (tt)
54 26
o doc oan CD: = +40 (dB/dec)
2 1.301
Cac tan so gay:
40 26
lg g1 = 0 + = 0.7 g1 = 100.7 = 5 (rad/sec)
20
lg g 2 = 1.301 g 2 = 101.301 = 20 (rad/sec)
lg g 3 = 2 g 3 = 102 = 100 (rad/sec)
2
Ham truyen can tm co dang: G ( s ) =
K (T1 s + 1)(T2 s + 1)
s (T3s + 1) 2
20 lg K = 40 K = 100
1 1 1 1 1 1
T1 = = = 0.2 T2 = = = 0.05 T3 = = = 0.01
g1 5 g 2 20 g 3 100
Cac thong so quan trong cua ac tnh tan so
Tan so cat bien (c): la tan so ma tai o bien o cua ac tnh tan
so bang 1 (hay bang 0 dB).
M (c ) = 1 L(c ) = 0
Tan so cat pha (): la tan so ma tai o pha cua ac tnh tan so
bang 1800 (hay bang radian).
( ) = 1800 ( ) = rad
o d tr bien (GM Gain Margin):
1
GM = GM = L( ) [dB]
M ( )
o d tr pha ( M Phase Margin):
M = 1800 + (c )

Tieu chuan on nh Nyquist
Cho he thong hoi tiep am n v, biet ac tnh tan so cua he h
G(s), bai toan at ra la xet tnh on nh cua he thong kn Gk(s).
Tieu chuan Nyquist: He thong kn Gk(s) on nh neu ng cong

Nyquist cua he h G(s) bao iem (1, j0) l/2 vong theo chieu
dng (ngc chieu kim ong ho) khi thay oi t 0 en +,
trong o l la so cc nam ben phai mat phang phc cua he h G(s)
.

Tieu chuan on nh Nyquist: Th du 1
Cho he thong hoi tiep am n v, trong o he h G(s) co ng
cong Nyquist nh hnh ve. Biet rang G(s) on nh. Xet tnh on
nh cua he thong kn.

Tieu chuan on nh Nyquist: Th du 1 (tt)
Giai:
V G(s) on nh nen G(s) khong co cc nam ben phai mat phang
phc, do o theo tieu chuan Nyquist he kn on nh neu ng
cong Nyquist G(j) cua he h khong bao iem (1, j0)
Trng hp c: G(j) khong bao iem (1, j0) he kn on nh.
Trng hp d: G(j) qua iem (1, j0) he kn bien gii on
nh;
Trng hp e: G(j) bao iem (1, j0) he kn khong on nh.

Hay anh gia tnh on nh cua he thong hoi tiep am n v, biet
rang ham truyen he h G(s) la: G ( s ) =
K
s (T1s + 1)(T2 s + 1)(T3 s + 1)
Giai:
Bieu o Nyquist:

V G(s) khong co cc nam ben phai mat phang phc, do o theo

tieu chuan Nyquist he kn on nh neu ng cong Nyquist
G(j) cua he h khong bao iem (1, j0)
Trng hp c: G(j) khong bao iem (1, j0) he kn on nh.
Trng hp d: G(j) qua iem (1, j0) he kn bien gii on
nh;
Trng hp e: G(j) bao iem (1, j0) he kn khong on nh.

Cho he thong h khong on nh co ac tnh tan so nh cac hnh
ve di ay. Hoi trng hp nao he kn on nh.
On nh Khong on nh
Khong on nh
On nh Khong on nh
Cho he thong h co ham truyen at la:
K
G(s) = (K>0, T>0, n>2)
(Ts + 1)n
Tm ieu kien cua K va T e he thong kn (hoi tiep am n v) on
nh.
Giai:
K
ac tnh tan so cua he thong la: G ( j ) =
(Tj + 1) n
K
Bien o: M ( ) =
(T +1
2 2
)
n
Pha: ( ) = ntg 1 (T )
Bieu o Nyquist:
ieu kien on nh: ng cong Nyquist khong bao iem (1,j0).

Theo bieu o Nyquist, ieu nay xay ra khi:
M ( ) < 1

Ta co: ( ) = ntg 1 (T ) =

tg (T ) =
1
(T ) = tg
n n
1
= tg
T n
K
Do o: M ( ) < 1 n
<1

2
T 2 tg + 1
1
T n
n

K < tg + 1
2
n

Tieu chuan on nh Bode
Cho he thong hoi tiep am n v, biet ac tnh tan so cua he h
G(s), bai toan at ra la xet tnh on nh cua he thong kn Gk(s).
Tieu chuan Bode: He thong kn Gk(s) on nh neu he thong h

G(s) co o d tr bien va o d tr pha dng:
GM > 0
He thong on nh
M > 0

Tieu chuan on nh Bode: Th du
Cho he thong hoi tiep am n v, biet rang he h co bieu o Bode
nh hnh ve. Xac nh o d tr bien, o d tr pha cua he thong
h. Hoi he kn co on nh khong?
Theo bieu o Bode:
c = 5
= 2
L( )
GM L( ) = 35dB
( c ) = 2700
GM = 35dB
M = 180 0 + (270 0 ) = 90 0
180
M Do GM<0 va M<0
(C)

nen he thong kn khong
C
on nh.

Chu y
Trng hp he thong hoi tiep am nh hnh ve, van co the ap dung
tieu chuan on nh Nyquist hoac Bode, trong trng hp nay ham
truyen h la G(s)H(s) .

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Mon hoc

LY THUYET IEU KHIEN T ONG

Giang vien: TS. Huynh Thai Hoang

26 September 2006 H. T. Hong - HBK TPHCM 1

26 September 2006 H. T. Hong - HBK TPHCM 2

26 September 2006 H. T. Hong - HBK TPHCM 3

26 September 2006 H. T. Hong - HBK TPHCM 4

26 September 2006 H. T. Hong - HBK TPHCM 5

26 September 2006 H. T. Hong - HBK TPHCM 6

at: A( s ) = a0 s n + a1s n1 + K + an1s + an mau so ham truyen

B ( s ) = b0 s m + b1s m1 + K + bm1s + bm t so ham truyen

Gian o cc zero la o th bieu dien v tr cac cc va cac zero

26 September 2006 H. T. Hong - HBK TPHCM 8

26 September 2006 H. T. Hong - HBK TPHCM 9

Phng trnh ac trng (PTT)

He thong hoi tiep He thong mo ta bang PTTT

Phng trnh ac trng Phng trnh ac trng

26 September 2006 H. T. Hong - HBK TPHCM 10

26 September 2006 H. T. Hong - HBK TPHCM 11

ieu kien can

ieu kien can e he thong on nh la tat ca cac he so cua phng

Th du: He thong co phng trnh ac trng:

26 September 2006 H. T. Hong - HBK TPHCM 12

Qui tac thanh lap bang Routh

Dang bang Routh

26 September 2006 H. T. Hong - HBK TPHCM 14

Phat bieu tieu chuan

26 September 2006 H. T. Hong - HBK TPHCM 15

Ket luan: He thong on nh do tat ca cac phan t cot 1 bang

Giai: Phng trnh ac trng cua he thong la:

Ket luan: He thong khong on nh do tat ca cac phan t cot 1

Giai: Phng trnh ac trng cua he thong la:

26 September 2006 H. T. Hong - HBK TPHCM 19

ieu kien e he thong on nh:

26 September 2006 H. T. Hong - HBK TPHCM 20

26 September 2006 H. T. Hong - HBK TPHCM 21

Ket luan: V cac he so cot 1 bang Routh oi dau 2 lan nen

26 September 2006 H. T. Hong - HBK TPHCM 23

26 September 2006 H. T. Hong - HBK TPHCM 24

26 September 2006 H. T. Hong - HBK TPHCM 25

Qui tac thanh lap ma tran Hurwitz

26 September 2006 H. T. Hong - HBK TPHCM 26

Dang ma tran Hurwitz

Cac he qua cua tieu chuan Hurwitz

He bac 3 on nh neu phng trnh ac trng thoa man ieu kien:

He bac 4 on nh neu phng trnh ac trng thoa man ieu kien:

26 September 2006 H. T. Hong - HBK TPHCM 29

26 September 2006 H. T. Hong - HBK TPHCM 30

26 September 2006 H. T. Hong - HBK TPHCM 31

Qui tac ve QNS

26 September 2006 H. T. Hong - HBK TPHCM 33

Dang hnh hoc cua cong thc tren la:

26 September 2006 H. T. Hong - HBK TPHCM 35

26 September 2006 H. T. Hong - HBK TPHCM 39

26 September 2006 H. T. Hong - HBK TPHCM 40

26 September 2006 H. T. Hong - HBK TPHCM 44

26 September 2006 H. T. Hong - HBK TPHCM 45

dK s1, 2 = 3,67 j1,05 K ( s +(kho