1.

Xy dng hm truyn b PR Non-Ideal c b tr trong min lin tc

Ta xy ng b PR Non-Ideal da trn b PI kinh in, trong h ta tnh ta
c hm truyn b PI:
kI
G PI s k P
s

f 50 f c 2f
Khi xt n s sai lch tn s c bn ( ) gi ta c hm
truyn b PI:
kI
G PI s k P
s
1
c

s s jh0
Tng t nh vic xy ng b PR Ideal ta thay th ta c c
thnh phn th t thun v nghch ca b PI.
kI kI
G PI s k P G PI s k P
s jh0 s jh0
1 1
c c

Suy ra:
G PR s G PI s G PI

s

1 1
2k P k I
s jh0 s jh0
1 1
c
c
sc c2
2k P 2k I 2
s 2c s c2 h 2 02

c = 0 c2
Do nn nh c th b qua, ta c th sp x hm truyn trn thnh:
 sc
G PR s 2k P 2k I
s 2c s h 2 02
2

Ta thc hin b tr trn b PR Non-Ideal tng t vi b PR Ideal l thm

d
vo mt gc dn :
Ta c hm truyn thnh phn thun nghch ca b PI trong h ta c nh:
kI kI
G PI s k P e j d G PI s k P e jd
s jh0 s jh0
1 1
c c

e jd cos d jsin d
Vi cng thc Euler ta c
e jd cos d jsin d

Thay vo ta c:
G dPR s G PI

s G PI s


1 1
2k P k I e j d
e jd
s jh0 s jh 0
1 1
c c



cos d jsin d cos d jsin d
2k P k I
s jh0 s jh 0
1 1

c c
c2 cos d sc cos d h sin d c 0
2k P 2k I
s 2 2c s c2 h 2 02

c = 0
Do ta c th sp x thnh:
 sc cos d h sin d c 0
G dPR s 2k P 2k I
s 2 2cs h 2 02
(1)
Vy ta c hm truyn ca b PR Non-Ideal khi b tr nh (1), vit gn li
thnh:
sc cos d h sin d c 0
G dPR s K P 2K r
s 2 2c s h 2 02
(2)

2. Gin on b PR Non-Ideal c b tr:

Ta s dng phng php tustin kinh in gin on b PR Non-Ideal:
2 z 1
s
Ts z 1
Thay vo (2) ta c c:
2 z 1
c cos d h sin d c 0
Ts z 1
G dPR s K P 2K r 2
2 z 1 2 z 1
2c h 2 02
Ts z 1 Ts z 1

2K r 2Ts c cos d h0 sin d c Ts2 z 2 2Ts2 h sin d c 0 z 2Ts c cos d Ts2 h sin d c 0
KP
4 4 T T h z 2T h
c s s
2 2 2
0
2
s
2 2 2
0
8 z 4 4c Ts Ts2 h 2 20
Trong :
Kp,Kr l cc tham s c tnh ton phn trc.
Ts l thi gian trch mu.
d
l gc dn thm vo
0 , c
l tn s c bn v tn s cutoff tng ng.
Ta tin hnh m phng.
 Kt qu dng ra.

Tng mo sng hi xt c hi bc 3,5,7