Dieu Kien Tu Dong

HC VIN CNG NGH BU CHNH VIN THNG
BI GING MN
C S IU KHIN T NG
Ging vin:
Ths. V Anh o
in thoi/E-mail:
anhdaoptit@gmail.com
B mn:
K thut in t
Hc k/Nm bin son: 2009
Gii thiu mn hc
Mc ch:
Trang b cho sinh vin nhng kin thc c bn phn tch v tng hp h thng
iu khin k thut trong min thi gian v min tn s bng cng c ton hc, tp
trung ch yu l cc vn trong min lin tc. Mn hc thuc lnh vc l thuyt
iu khin, v l nhng c s c bn nht ca l thuyt h thng iu khin c
ng dng cho k thut. Cc phng php c cp n phn tch v tng hp
h thng l phng php kinh in v phng php khng gian trng thi. Sinh
vin c lm quen vi phng php s dng phn mm Matlab dng m phng
v tng hp h thng
Thi lng: 3 vht
L thuyt : 37 tit
Kim tra : 2 tit
Th nghim: 6 tit
im thnh phn:
Chuyn cn
: 10%
Kim tra
: 10%
Th nghim
: 10%
Thi kt thc hc phn: 70%
Ni dung mn hc
PHN I. H THNG KT TUYN TNH LIN TC
Chng 1: M t ton hc h thng KT lin tc
Chng 2: c tnh ca cc khu c bn v ca h thng KT lin tc
Chng 3: Kho st tnh n nh ca h thng KT lin tc
Chng 4: Kho st cht lng h thng KT lin tc
Chng 5: Tng hp h thng KT lin tc
PHN II. H THNG KT TUYN TNH RI RC
Chng 6: M t ton hc h thng KT ri rc
Chng 7: Phn tch v thit k h thng KT ri rc
Ti liu tham kho

[1]. V Anh o, ng Hoi Bc, Bi ging C s iu khin t ng,
HVCNBCVT, 2008.
[2]. Phm Cng Ng, L thuyt iu khin t ng, NXB KHKT, 2001
[3]. Nguyn Vn Ho, C s L thuyt iu khin t ng, NXB KHKT, 2001.
[4]. Nguyn Thng Ng, L thuyt iu khin t ng thng thng v hin
i, NXB KHKT, 2005.
[5]. Benjamin C. Kuo, Automatic Control Systems, Prentice - Hall
International Editions, Seventh Edition 1995.
Chng 1. M t ton hc h thng KT

1.1 Gii thiu chung
K hc l khoa hc nghin cu v cc qu trnh thu thp, x l tn hiu v iu

khin trong mi lnh vc i sng x hi, khoa hc cng ngh, mi trng...
iu khin hc k thut l khoa hc nghin cu v qu trnh thu thp, x l tn hiu
v iu khin cc qu trnh v h thng thit b k thut. Khi nim iu khin c
hiu l tp hp tt c cc tc ng mang tnh t chc ca mt qu trnh nhm t
c mc ch mong mun ca qu trnh . H thng iu khin m khng c s
tham gia trc tip ca con ngi trong qu trnh iu khin c gi l iu khin
t ng.
Mt HTKT h (khng c ng phn hi) m t trong hnh 1.1 gm hai thnh
phn c bn l i tng iu khin (Object) v thit b iu khin (Controller):
Tn hiu vo
Thit b Tn hiu iu khin i tng Tn hiu ra

iu khin
iu khin
Hnh 1.1 H thng iu khin h
Nhim v c bn ca iu khin to ra tn hiu iu khin c c gi tr u ra

mong mun. Nhng tc ng t bn ngoi ln h thng c gi l tc ng nhiu
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Chng 1. M t ton hc h thng KT...

1.1.1 S khi
H thng c ng phn hi gi l h kn, m t trong hnh 1.2. f c gi l tn

hiu phn hi, e l sai lch. Trong thc t, cc h thng iu khin c s dng
u l cc h kn, tc thng tin u ra c a quay tr v u vo gp phn
to ta tn hiu iu khin.
e
Thit b Tn hiu iu khin i tng Tn hiu ra

iu khin
iu khin
x
y
f
Thit b
o
Hnh 1.2 H thng iu khin kn
C ba phng thc iu khin l phng thc iu khin theo chng trnh,

phng thc b nhiu v phng thc iu khin theo sai lch (y l phng php
iu khin ph bin nht)
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1.1.2 Phn loi h thng KT
Theo tnh cht ca cc phn t, HTKT c phn lm 2 loi chnh l h

tuyn tnh v h phi tuyn.
H tuyn tnh: tt c cc phn t u tuyn tnh.
H phi tuyn: c t nht 1 phn t c tnh phi tuyn.
Da vo tnh cht truyn tn hiu, HTKT c phn lm 2 loi l h
lin tc v h ri rc (cc khi nim lin tc v ri rc y c hiu theo
bin thi gian).
H lin tc: thng tin truyn i lin tc tt c cc khu.
H ri rc: thng tin truyn i b gin on mt khu no
Da vo lng thng tin thu thp ban u v TK v tnh cht ca n, HTLTTT

c phn ra lm 2 loi l h thng thng v h thch nghi
H thng thng: cu trc v tham s ca thit b iu khin l khng

i vi i tng iu khin c th
H thch nghi: Khi i tng iu khin c thng tin ban u khng
y hay qu trnh cng ngh c yu cu c bit
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1.2 Cc phng php m t ng hc
1.2.1 M t trong min thi gian
Hm truyn t: : l t s gia tn hiu ra v tn hiu vo theo bin i Laplace vi

iu kin u trit tiu
Mt HTKT thng c biu din di dng PTVP dng tng qut:
W ( p) =
L { y ( t )}
L {u ( t )}
Bin i Laplace 2 v, ta c hm truyn t:
a0
dny
dt n
+ a1
d n1 y
dt n1
+ ... + an1
dy
d mu
d m1 y
du
+ an y = b0 m + b1 m1 + + bm1
+ bmu
dt
dt
dt
dt
V phng trnh c trng:
a0 p n + a1 p n1 + ... + an1 p + an = 0
Nghim t s ca hm truyn t c gi l cc im khng (zero) v nghim mu
s c gi l cc im cc (pole)
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H phng trnh khng gian trng thi

x = Ax + Bu
y = Cx + Du
a11 a12
a
a
A = 21 22
...
...
an1 an 2
... a1n
b11 b12
b
... a2 n
b
, B = 21 22
... ...
... ...
... ann
bn1 bn 2
... b1r
c11 c12
c
... b2r
c22
C = 21
...
... ...
...
... bnr
cm1 cm 2
c1n
d11 d12
d
... c2n
d 22
, D = 21
...
... ...
...
... cmn
d m1 d m 2
...
d1r
... d 2r
... ...
... d mr
...
x, dx/dt l cc vector cc bin trng thi n chiu, u l vector tn hiu vo r chiu, y l

vector tn hiu ra m chiu
D
u (t )
x (t )
x (t )
( ) d
+
C
y (t )
Hnh 1.3 S cu trc

trng thi h lin tc
A
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Chuyn t hm truyn t sang h phng trnh trng thi:

Nu h thng c hm truyn t dng:
W ( p) =
t:
y = x1
dx
1 = x2 A1x1
dt
dx
2 = x3 A2 x1
dt
...
dxn1
= xn An1x1
dt
dxn
dt = Ku An x1
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Y ( p)
U ( p)
K
n
p + A1 p
n 1
+ ... + An1 p + An
x = Ax + Bu
y = Cx + Du
Ta c h PTTT:
x1 0
x 0
2 =
... ...

xn An
1
0
...
...
...
...
An 1
x1 0
x 0
2 + u
... ...

A1 xn K
0
0
...
x1
x
y ( t ) = [1 0 ... 0] 2
...

xn
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Trn c s cc phng trnh trn, ta d dng xy dng m hnh h thng

(hnh 1.5) v s cu trc trng thi ca h thng (hnh 1.6)
y = x1
dx
1 = x2 A1x1
dt
dx
2 = x3 A2 x1
dt
...
dxn1
= xn An1x1
dt
dxn
dt = Ku An x1
yn
k0
1 yn
p
yn1
y2
1
p
An1
An
1 y2
p
A2
y1
1
p
y = y1
A1
Hnh 1.5 M hnh h thng

u (t )
x = Ax + Bu
y = Cx + Du
0 (
) d
y (t )
Hnh 1.6 S cu trc trng thi ca h thng
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Nu h thng c hm truyn t dng:
W ( p) =
Y ( p ) B0 p m + B1 p m1 + ... + Bm1 p + Bm
=
U ( p)
p n + A1 p n1 + ... + An1 p + An
t:
y = x1
dx
1 = x2 A1x1 + B0u
dt
dx
2 = x3 A2 x1 + B1u
dt
...
dxn1
= xn An1x1 + Bm1u
dt
dxn
dt = Bmu An x1
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Ta c h PTTT:
x = Ax + Bu
y = Cx + Du
x1 A1 1 ...
x A 0 ...
2 = 2
... ... ... ...

xn An 0 ...
0 x1 B0
0 x2 B1
+
u
... ... ...

0 xn Bm
x1
x
y ( t ) = [1 0 ... 0] 2
...

xn
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Ch : H lun phi tho mn iu kin n-m=1 bng cch thm vo t s cc h s

B0=0, B1=0 Trn c s cc phng trnh trn, ta d dng xy dng m hnh h
thng (hnh 1.7) v s cu trc trng thi ca h thng (hnh 1.8)
y = x1
dx
1 = x2 A1x1 + B0u
dt
u
dx
2 = x3 A2 x1 + B1u
dt
...
dxn1
= xn An1x1 + Bm1u
dt
dxn
dt = Bmu An x1
Bm1
yn
Bm
1
p
yn1 1
p
yn
An
B0
B1
y2 1
p
y1
A2
An 1
1 y = y1
p
A1
Hnh 1.7. M hnh h thng

u (t )
x = Ax + Bu
y = Cx + Du
0 (
) d
y (t )
Hnh 1.8. S cu trc trng thi ca h thng
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1.2.2 M t h thng trong min tn s
xc nh cc c tnh tn s ca h thng, trc ht ta phi xc nh c hm

truyn t tn s bng cch thay p = j vo hm truyn t ca h thng cho
U
Wh ( p )
(a)
Wh ( p )
(b)
Hnh 1.9 S h thng h (a) v h thng kn (b)
1.2.2.1 Cc c tnh tn s ca h h
Gi s h thng h c m t bi hm truyn t:
Wh ( p ) = W1 ( p ) .W2 ( p ) ...Wn ( p )
Nu hm truyn tn s ca cc phn t c m t di dng:

j
W j = A .e i ( )
i
( )
th hm truyn tn s ca h h c tnh theo biu thc:

n
n
j i ( )
Wh ( j ) =
Ai ( ) .e i =1
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i =1
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Cc c tnh tn s ca h h l:
c tnh bin tn (BT):
A ( ) =
Ai ( )
i =1
c tnh pha tn (hay pha tn logarithm PT- PTL)

n
( ) = i ( )
i =1
c tnh bin tn logarithm (BTL)

L ( ) = 20 lg A ( ) =
20 lg Ai ( ) =
i =1
Li ( )
i =1
Nh vy, c tnh BTL v PTL ca h h bng tng i s ca cc c tnh

BTL v PTL ca cc phn t thnh phn.
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1.2.2.2 Cc c tnh tn s ca h kn
Hm truyn t tn s ca h kn l:
j
A ( ) e ( )
A ( )
=
Wk ( j ) =
j ( )
j ( )
1 + A ( ) e
+ A ( )
e
S dng cng thc Eurler:
ta c:
j ( )
Wk ( j ) =
= cos ( ) j sin ( )
A ( )
A ( ) + cos ( ) j sin ( )
Tch phn thc v phn o, ta c:

Wk ( j ) =
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A ( ) A ( ) + cos ( )
1 + A2 ( ) + 2 cos ( ) A ( )
+j
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A ( ) sin ( )
1 + A2 ( ) + 2 cos ( ) A ( )
16
Cc c tnh tn s ca h h l:
c tnh bin tn (BT):
Ak ( ) =
A ( )
1 + A2 ( ) + 2 cos ( ) A ( )
c tnh PT
k ( ) = arctg
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sin ( )
A ( ) + cos ( )
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1.3 Cc nguyn tc bin i s khi
1.3.1 H thng gm cc phn t mc ni tip
Cc phn t mc ni tip nhau nu tn hiu ra ca phn t trc l tn hiu vo ca

phn t sau (hnh 1.10)
U
W1
U1
W2
U2
Wn
W1.W2 ...Wn
Hnh 1.10 S h thng gm cc phn t mc ni tip
T hnh 1.10 ta c:
W1 = U1 U , W2 = U 2 U1 , Wn = Y U n1
Vy hm truyn t ca h thng:
W ( p) =
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Y
= W1.W2 ...Wn
U
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1.3.2 H thng gm cc phn t mc song song
Cc phn t mc song song nu chng c cng tn hiu vo, tn hiu ra bng tng
i s ca cc tn hiu ra thnh phn(hnh 1.11).
T hnh 1.11, ta c:
U1 = U
W1
Y1 = W1U
Y1
Y2 = W2U , ...
Yn = WnU
Un = U
Hm truyn t:
W ( p) =
W2
Y2
W1 + W2 + ... + Wn
Yn
Y = Y1 + Y2 + ... + Yn
U2 = U
Wn
Hnh 1.11. S h thng gm cc phn t mc song song
Y
= W1 + W2 + ... + Wn
U
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1.3.3 H thng gm cc phn t mc phn hi (hi tip)
H thng c mch mc phn hi gm hai loi l phn hi m v phn hi dng

(hnh 1.12).
U
W1
W1
F +
W2
W2
(a)
(b)
Hnh 1.12 S h thng c mch phn hi m (a) v dng (b)
H phn hi m (hnh 1.12a)
H phn hi dng (hnh 1.12b):
E = U F
W1
Y
Y = W1E W ( p ) = =
U 1 + W1W2
F = W Y
2
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E = U + F
W1
Y
Y = W1E W ( p ) = =
U 1 W1W2
F = W Y
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1.3.4 Chuyn i v tr cc tn hiu
1.3.4.1 Chuyn i tn hiu vo
T trc ra sau mt khi (hnh 1.13):
T hnh 1.13 (a):
Y = (U1 + U 2 )W
U1
U1
U2
T hnh 1.13 (b):
U2
(a)
Y = U1W + U 2W = (U1 + U 2 )W
(b)
Hnh 1.13 Chuyn tn hiu vo t trc ra sau mt khi
Vy tn hiu chuyn t trc ra sau mt khi th tn hiu phi i qua mt

khi mi c hm truyn t chnh bng khi .
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T sau ra trc mt khi (hnh 1.14):

T hnh 1.14 (a):
Y = U1 + U 2W
U1
T hnh 1.14 (b): U 2

Y = (U1. (1 W ) + U 2 )W
= U1 + U 2W
U1
Y
W
(a)
1W
W
U2
(b)
Hnh 1.14 Chuyn tn hiu vo t sau ra trc mt khi
Vy tn hiu chuyn t sau ra trc mt khi th tn hiu phi i qua mt

khi mi c hm truyn t chnh bng nghch o ca khi .
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1.3.4.1 Chuyn i tn hiu ra
T trc ra sau mt khi (hnh 1.15):

T hnh 1.15 (a):
Y1
U
Y1 = U
Y2 = UW
T hnh 1.15 (b):
1W
U
Y2
Y1
Y2
(a)
(b)
Hnh 1.15 Chuyn tn hiu ra t trc ra sau mt khi
Y1 = UW (1 W ) = U
Y2 = UW
Vy mun chuyn tn hiu ra t trc ra sau mt khi th tn hiu phi i
qua mt khi mi c hm truyn t chnh bng nghch o ca khi
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T sau ra trc mt khi (hnh 1.16):

T hnh 1.16 (a):
Y1 = UW
U
W
Y
=
UW
2
T hnh 1.16 (b):
Y1
W
U
Y2
(a)
Y1 = UW
Y2 = UW
Y1
Y2
(b)
Hnh 1.16 Chuyn tn hiu ra t sau ra trc mt khi
Vy mun chuyn tn hiu ra t sau ra trc mt khi th tn hiu phi i

qua mt khi mi c hm truyn t chnh bng chnh khi
1.3.4.3 Cc b cng lin nhau c th i ch cho nhau (hnh 1.17)
Y
U1
U3
U2
Hnh 1.17
(a)
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U1
U2
U3
(b)
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V d 1.1. Xc nh hm truyn t ca h thng c s nh hnh 1.18:

Cch 1: Chuyn A v B (chuyn tn hiu ra t sau ra trc khi W3), sau
hon i v tr ca A v B.
Cch 2: Chuyn B v A (chuyn tn hiu ra t trc ra sau khi W3), sau
hon i v tr ca A v B.
W6
U
W1
W2
W3
W4
W5
Hnh 1.18
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Theo cch 1, h thng tng ng hnh 1.19.

W2
1 W2 .W3 .W6
W236 =
W6
T hnh 1.20:
W12356
W1.W236
=
1 + W5.W1.W236
W1
W3
+
W2
B
A
W3
W4
W3
W4
W5
Hm truyn t h:
Wh = W12356 .W3 .W4
Hm truyn t kn:
Wk =
Wh
1 + Wh
W12356 .W3 .W4

1 + W12356 .W3 .W4
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Hnh 1.19
U
W1
W236
W5
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Hnh 1.20
26

1.4 Graph tn hiu
cc nhnh ca Graph nh du mi tn v hm truyn tng ng.

cc nt ca Graph nh du mi lin h gia cc phn t.
Graph c dng xc nh hm truyn t ca h thng iu
khin t ng vi cc c im sau:
Graph l hnh gm cc nhnh v cc nt.
Mi mt nt ca graph c biu din bng mt im v ghi tn mt i
lng no . Nt gc l lng vo, nt ngn l lng ra.
Mt nhnh ni nt gc v nt ngn c mi tn, trn ghi gi tr hm
truyn t tng ng vi mt khu no (hnh 1.21). Hm truyn t ca
mt nhnh bng t s gia gi tr nt ngn v gi tr nt gc:
yi
aij
yj
aij = y j yi
Hnh 1.21 Cc biu hin nhnh v nt ca Graph

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Cc tnh cht quan trng ca Graph tn hiu:

Graph tn hiu ch s dng cho cc h thng tuyn tnh.
Cc phng trnh dng v Graph phi l cc phng trnh i s.
Cc nt c dng biu th cc bin. Thng thng cc nt c sp xp t
tri qua phi, t u vo n u ra.
Trong nhnh, cc tn hiu ch i theo hng mi tn.
Nhnh hng t nt n biu din s ph thuc ca vo ch khng c chiu
ngc li.
Tn hiu i qua nhnh t n s c nhn vi h s khuch i ca nhnh, .
V d 1.2. Dng Graph biu din h phng trnh sau:

y2 = a12 y1 + a32 y3
y3 = a23 y2 + a43 y4
y4 = a24 y2 + a34 y3 + a44 y4

y5 = a25 y2 + a45 y4
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a32
a12
y1
y3
y2
y4
y5
y4
y5
a. y2 = a12 y1 + a32 y3
a43
a32
a12
a23
y1
b.
y3
y2
y2 = a12 y1 + a32 y3
a44
y3 = a23 y2 + a43 y4
a43
a32
a12
a34
a23
y1
y3
y2
y4
y5
a24
y2 = a12 y1 + a32 y3
c. y3 = a23 y2 + a43 y4
y4 = a24 y2 + a34 y3 + a44 y4

a43
a32
a12
a45
a34
a23
y1
a44
y3
y2
y4
a24
y5
a25
y2 = a12 y1 + a32 y3
d.
y3 = a23 y2 + a43 y4
y4 = a24 y2 + a34 y3 + a44 y4
y5 = a25 y2 + a45 y4
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a2
a1
y1
y2
a1 + a2 + a3
a3
Hnh 1.23. Graph ca nhnh mc song song
y1
y3
y2
a2
a1
y4
y4
y1
a3
a1.a2 .a3
Hnh 1.24 Graph ca nhnh mc ni tip
y1
a1
y2
y2
y1
a1
1 + a1a2
a2
Hnh 1.25. Graph ca nhnh mc phn hi
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Chng 2. Cc c tnh ca h lin tc

2.1 Gii thiu chung
C hai loi tn hiu bn ngoi tc ng v h thng, l tn hiu t trc v

nhiu. Trong cc HTK, tn hiu t trc thng l mt hng s.
Nhiu s lm cho u ra ca h thng b lch khi gi tr mong mun. N c th l
nhng t bin tng (ng 1) hay gim (ng 2), c th theo mt ng nht
nh (tin nh) (ng 3) hay ngu nhin (ng 4 hnh 2.1).
Da vo min lm vic ca tn hiu th HTKT c hai c tnh c bn l c tnh
thi gian v c tnh tn s. Da vo c tnh ca h thng th ta c c tnh ng
(c trng cho qu trnh qu ) v c tnh tnh (c trng cho qu trnh xc lp).
x(t)
3
1
2
Hnh 2.1
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2.2 c tnh thi gian ca h thng
Khi phn tch mt HT, ta thng dng tn hiu chun lm tn hiu vo, c tnh ca
h thng c nh gi bng cch nghin cu p ng ca h thng trong min thi
gian. Vic nh gi cui cng cc c tnh ca HTK l da vo cc p ng thi
gian.
p ng thi gian thng c chia thnh hai phn l p ng trng thi qu
v p ng trng thi xc lp. K hiu y(t) l p ng ca mt h thng lin tc
th ta c th vit:
y ( t ) = yqd ( t ) + y xl ( t )
trong yqd(t) l p ng trng thi qu v yxl(t) l p ng trng thi xc lp.

p ng qu l phn p ng thi gian m n tin ti 0 sau mt khong thi
gian rt ln:
lim y t = 0
qd
t
()
p ng xc lp l phn p ng thi gian sau khi qu trnh qu kt thc. p

ng xc lp vn c th thay i trong nhng trng hp c nh, v d nh khi u
vo l sng sin, hm dc tng theo thi gian.
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n gin khi xt tnh cht ca mt h thng, ta thng chia nh n thnh cc

phn t. 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.
Tn hiu vo
Phn t
Tn hiu ra
y
Hnh 2.2 M hnh biu din phn t
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)
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2.2.1 Tn hiu tc ng u vo
Tn hiu bc thang n v 1(t):
0 khi t 0
1( t ) =
1 khi t > 0
Tn hiu xung n v (t):
0 khi t 0
d
( t ) = 1( t ) =
dt
khi t = 0
(t )
1( t )
1
1( t )
(a)
( t ) = 1
Tn hiu tuyn tnh:
1( t )
(b)
y ( t ) = atx ( t )
Hm (t) c tnh cht:
0
(c)
Hnh 2.3.
y ( t ) = atu ( t )
y ( t ) = at 2 x ( t )
t
0
(d)
(a). th hm 1( t ) ; (b). th hm ( t )
c. Hm tuyn tnh; d. Hm parabol
trong l hng s thc.

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Hm parabol:
y ( t ) = at 2 x ( t )
trong l hng s thc

Tn hiu c dng bt k x(t): c th c m t thng qua hm 1(t) v (t):
Biu din x(t) qua hm 1(t): da vo tch phn Duyamen (khi 0):
x ( t ) = x ( ) .1( t ) +
dx ( )
.1( t ) d
0 d
Biu din x(t) qua hm (t): (khi 0):

x (t ) =
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t +
x ( ) . ( t ) d
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2.2.2 Phn ng ca phn t
Hm qu h(t): l phn ng ca phn t khi u vo l hm 1(t).
Nu x ( t ) = 1( t ) th L 1( t ) = 1 p
Mi lin h gia hm truyn t v hm qu ca phn t l:
W ( p) =
L ( h (t ))
L (1( t ) )
= p.L h ( t )
L h ( t ) =
W ( p)
p
ng qu :
c k hiu l H(t), l phn ng ca phn t khi tn hiu tc ng u vo l
nhiu bc thang c bin bng A dng A.1(t). Da vo nguyn l xp chng ca
phn t tuyn tnh:
H ( t ) = A.h ( t ) L ( H ( t ) ) =
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AW
. ( p)
p
Hm qu xung (hm trng lng) k(t): l phn ng ca phn t khi u vo l

hm (t).
L ( t ) = 1 L k ( t ) = W ( p )
ng qu xung K(t):l phn ng ca phn t khi u vo l hm A.(t)

Theo tnh cht ca (t) ta c th vit:
t
x ( t ) = x ( t ) . ( t ) .d =
0 x ( ) ( t ).d
Trong x() l gi tr hm x(t) ti thi im t= v (t-) l gi tr hm (t) c

pht ti thi im t= .
Theo nguyn l xp chng, ta c th xc nh p ng y(t) ca phn t:
y (t ) =
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Mi lin h gia hm qu h(t) v hm trng lng k(t):
Ta nhn thy L h ( t ) =
W ( p)
v L k ( t ) = W ( p )
p
V L
dh
= p.L {h ( t )}.
dt
Vy:
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k (t ) = h '(t )
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2.3 c tnh tn s ca h thng
c tnh tn s ca phn t m t mi lin h gia tn hiu ra v tn hiu vo ca

phn t trng thi xc lp khi thay i tn s dao ng iu ha tc ng u
vo ca phn t.
Mun tm cc c tnh tn s ca h thng, trc ht ta phi tm hm truyn t tn
s ca h thng bng cch thay p=j vo hm truyn t ca n
m
m1
Ar j() b0.( j) +b1.( j) +... +bm1. j+bm
W( j) A=( ) =eA A =
Av r v a0.( j)n +a1.( j)n1 +... + an1. j+ an
Tch ring phn thc, phn o ca t s v mu s trong (2.29) ta c:
R ( ) + jI1 ( )
j
W ( j ) = A ( ) .e ( ) = 1
R2 ( ) + jI 2 ( )
Trong A ( ) = Ar Av l c tnh bin tn ca phn t; R1 ( ) , R2 ( ) l c tnh
phn thc ca t s v mu s; I1 ( ) , I 2 ( ) l c tnh phn o ca t s v mu s
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Tch phn thc v phn o ca biu thc trn ta c:
R ( ) .R2 ( ) + I1 ( ) .I 2 ( )
R2 ( ) .I1 ( ) R1 ( ) .I 2 ( )
j
A ( ) .e ( ) = 1
+
j
R22 ( ) + I 22 ( )
R22 ( ) + I 22 ( )
c tnh phn thc ca phn t:
R ( ) =
R22 ( ) + I 22 ( )
c tnh phn o ca phn t:
I ( ) =
R1 ( ) .R2 ( ) + I1 ( ) .I 2 ( )
R2 ( ) .I1 ( ) R1 ( ) .I 2 ( )
R22 ( ) + I 22 ( )
Ta nhn thy R() l hm chn, ngha l R() = R(-); cn I() l hm l, ngha l

I() = -R(-)
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10
c tnh bin tn ca phn t c xc nh theo biu thc:

A ( ) = R 2 ( ) + I 2 ( )
c tnh pha tn ca phn t c xc nh theo biu thc:

I ( )
R ( )
c tnh bin tn logarithm thng c o bng decibel (dB). Khi tnh theo
decibel, c tnh BTL c xc nh theo cng thc:
( ) = arctg
L ( ) = 20 lg A ( )
Cho thay i t - n , ta s xy dng c cc c tnh BT v PT. Trong h

to R() v I() s xy dng c c tnh tn bin pha (TBP) i xng qua
trc thc. Khi xy dng cc c tnh BT, PT, TBP, ta ch xt thay i t 0 n
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11

2.4 Cc khu ng hc c bn
Tnh cht ca qu trnh qu ton h thng ph thuc vo tnh cht ng hc ca

cc phn t hp thnh. Cc phn t hp thnh thng c phn tch thnh nhng
khu c bn
Cc khu ng hc c bn l cc phn t ca HTKT c cc tnh cht sau:
Ch c mt tn hiu vo v mt tn hiu ra
Tn hiu ch truyn i mt chiu
Qu trnh ng hc ca phn t c biu din bng ptvp khng qu bc hai.
C 4 khu ng hc c bn:
Khu nguyn hm (khu khuch i, khu qun tnh bc 1, khu dao ng bc 2)
Khu tch phn
Khu vi phn
Phn t tr
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2.4.1 Khu nguyn hm
2.4.1.1 Khu khuch i
Phng trnh vi phn: y=k.x

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).
h (t )
Hm truyn t: W(p)=k
k
Cc c tnh thi gian:
t
0
Hm qu : h(t)=k.1(t)
k . ( t )
Hm trng lng: k(t)=k.(t)
Cc c tnh thi gian c m t trn hnh 2.4
0
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Hnh 2.4. Cc c tnh thi

gian ca khu khuch i
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13
Cc c tnh tn s:
Hm truyn tn s: W(j)=k
c tnh BT: A()=k
c tnh PT: ()=0
c tnh BTL: L()=20.lgk
Cc c tnh tn s c m t trn hnh 2.5
Nhn xt:
Tn hiu vo v ra cng pha vi nhau.
A ( )
BT
( )
I ( )
0
L ( )
BTL
TBP
PT
R ( )
20.lg k
lg
Hnh 2.5 Cc c tnh tn s ca khu khuch i

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14

2.4.1.2 Khu qun tnh bc 1
Phng trnh vi phn:
dy
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
Hm truyn t: W ( p ) = k
Tp + 1
Cc c tnh thi gian:

W ( p ) 1
Hm qu h(t): h ( t ) = L1
=L
p (Tp + 1)
1
1
T 1 1
= L1 k
= L k
p Tp + 1
p p + 1 T
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= k (1 e t ) ,
=1 T
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15

k
h (t )
Hm trng lng: k ( t ) = h ' ( t ) = .k .e t

Cc c tnh thi gian c m t trn hnh 2.6
Cc c tnh tn s:
0
Hm truyn tn s:
k (t )
k
k
kT
=
W ( j ) =
j
R
jI
(
)
(
)
Tj + 1 (T )2 + 1
k
(T )2 + 1
c tnh BT:
k
A ( ) = R 2 ( ) + I 2 ( ) =
(T )2 + 1 0
I ( )
c tnh PT:
Hnh 2.6 c tnh thi gian
( ) = arctg
= arctg (T )
R ( )
ca khu qun tnh bc 1
c tnh TBP: T mi lin h A2()= R2()+ I2() , qua mt s php bin i

ta tm c:
2
k
2
R ( ) + I ( ) =
2
2
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16

y chnh l phng trnh ng trn c tm (k/2;0) v bn knh bng k/2. Nu ly
thay i t 0 n n l na ng trn nm gc phn t th IV.
c tnh BTL:
L ( ) = 20.lg A ( ) = 20.lg k 20.lg
(T )2 + 1
V chnh xc th L() l mt ng cong nhng ta c th v gn ng bng cch

tuyn tnh ha tng on:
A( )
( )
PT
+ << 1 T , L ( ) 20.lg k
BT
K
+ >> 1 T , L ( ) 20.lg k 20.lg T
0
c =1/T c gi l tn s ct
c tnh tn s ca khu qun tnh
bc 1 c m t trn hnh 2.7
I ( )
2
L ( )
TBP
0 =
=0
20.lgK BTL
R ( )
-20dB/dec
0
lg
lg c
Hnh 2.7 c tnh tn s ca khu qun tnh bc 1.

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17
Nhn 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.
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18

2.4.1.3 Khu dao ng bc 2
Phng trnh vi phn:
T .
d2y
2
+ 2. .T .
dy
+ y = k .x
dt
dt
trong : : T l hng s; k l h s truyn v l h s
Cc phn t thuc khu dao ng: mch in R-L-C, ng c in mt chiu kch
t c lp lng vo l in p phn ng, lng ra l tc quay; h c hc n
hi; con quay hi chuyn trong b phn li my bay
Hm truyn t ca khu:
Dng bin i Laplace, chuyn PTVP sang dng ton t p, ta c:
(T 2. p2 + 2. .T . p + 1) .Y ( p ) = k.X ( p )
Vy hm truyn t l:
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W ( p) =
Y ( p)
k
= 2 2
X ( p ) T . p + 2. .T . p + 1
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19

Ta nhn thy phng trnh c trng ca khu dao ng l phng trnh bc 2 nn n
s c hai nghim. Nu 0 th phng trnh ny s c hai nghim thc:
' = 2T 2 T 2 = T 2 ( 2 1) 0 1
V l h s nn >0. Vy iu kin phng trnh c trng c hai nghim thc l
1. Khi ta c th tch khu dao ng bc hai thnh hai khu qun tnh bc 1 :
W ( p) =
k1
k2
.
T1 p + 1 T2 p + 1
Nu nh vy th khu dao ng khng th c tnh cht dao ng c. Vy phng

trnh vi phn trn biu din khu dao ng bc 2 th 0< <1.
Cc c tnh thi gian:
Phng trnh c trng ca khu dao ng:
T 2 . p 2 + 2. .T . p + 1 = 0
Phng trnh c hai nghim phc lin hp l:
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p1,2 =
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1 2
= j
T
20

h (t )
A1
Hm qu h(t):
k
1
h ( t ) = L1 2 2
.
T . p + 2. .T . p + 1 p
k 1 + e t
= k .1( t ) . 1 e t cos t + sin t
1
2
Trong : = .0 ; = 1 .0 ; 0 =
T
Hm trng lng:
dh ( t ) k .02
=
.1( t ) .e t .sin t
k (t ) =
dt
Hnh 2.8 m t cc c tnh thi gian ca khu dao ng

T th ca h(t) ta xc nh c cc tham s
k, A1, A1 v T. T tnh ra: = 2 ; = 1 .ln A1
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A2
k 1 e t
T1
k (t )
A1
t
T1
A2
T1
2
2
0 = + =
T
= .T
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T1
Hnh 2.8 Cc c tnh thi

gian ca khu dao ng
21

jQ ( )
Cc c tnh tn s:
Hm truyn tn s: W ( j ) =
c tnh BT: A ( ) =
k
T 2 . 2 + 2 .T . j + 1
k
(1 2.T 2 )
c tnh PT: ( ) = arctg
k
2
L ( )
+ 4. 2 . 2 .T 2
2. ..T
1 2 .T 2
20.lg k
c tnh BTL:
L ( ) = 20.lg A ( ) = 20.lg k 20.lg
(1 2.T 2 )
+ 4. 2 . 2 .T 2
Hnh 2.9 m t cc c tnh tn s ca khu dao ng.
=0
P ( )
lg
-40 dB/dec
( )
c
Hnh 2.9 c tnh tn

s ca khu dao ng
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22
Nhn 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 dao ng tin n gi tr k. Mun h dao ng,
trong h phi c b tch ng nng v mt b tch th nng, v d trong mch
R-L-C th C tch th nng cn L tch ng nng.
Hm trng lng k(t) ca khu dao ng cho ta thy, khi hm qu h(t) t
gi tr xc lp hm trng lng k(t) s gim v 0, c ngha l lc ny khu dao
ng c gii phng sc qun tnh.
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
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.
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2.4.2 Khu tch phn
h (t )
Phng trnh vi phn: y = k x.dt

trong T=1/k l hng s thi gian tch phn
tg = k
1
Tp
Hm truyn t: W ( p ) =
Cc c tnh thi gian:

Hm qu : h ( t ) = k . 1( t ) .dt = kt
k (t )
k
Hm trng lng: k ( t ) = h ' ( t ) = k
Hnh 2.10 Cc c tnh thi

gian ca khu tch phn
Hnh 2.10 m t cc c tnh thi gian ca khu tch phn
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24
Cc c tnh tn s:
1
1
Hm truyn tn s:
=j
W ( j ) =
T
T . j
c tnh BT: A() = 1/T
A ( )
c tnh PT: ()= -/2
c tnh BTL:
L() =20.lgA()=-20.lgT
Hnh 2.11 m t cc c tnh
tn s ca khu tch phn.
TBP
I ( )
BT
=0
L ( )
( )
PT
20.lgT
R ( )
BTL
20dB/dec
lg
2
0
Hnh 2.11 Cc c tnh tn s ca khu tch phn

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25
Nhn xt:
Hm qu h(t), hm trng lng k(t) ca h thng ca tch phn cho ta thy,
khu tch phn c tnh cht c nh. Ngha l, khu tch phn s gi nguyn
trng thi ti thi im dng tc ng u vo.
c tnh PT ca khu tch phn bc 1 l tn hiu ra lun chm pha so vi tn
hiu vo mt gc bng /2.
h (t )
T . ( t )
2.4.3 Khu vi phn
Phng trnh vi phn: y = T dx dt

trong T l hng s thi gian vi phn
k (t )
Hm truyn t: W ( p ) = Tp
T . ' ( t )
Cc c tnh thi gian:
Hm qu : h ( t ) = T .1' ( t ) = T . ( t )
Hm trng lng: k ( t ) = h ' ( t ) = T . ' ( t )
0
Hnh 2.12 m t cc c tnh thi gian ca khu vi phn.
Hnh 2.12. Cc c tnh

thi gian ca khu vi phn
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Cc c tnh tn s:
Hm truyn tn s: W(j)=T. j
c tnh BT: A() = T
c tnh PT: ()= /2
A ( )
c tnh BTL:
L() =20.lgA()=20.lgT
TBP
I ( )
BT
Hnh 2.13 m t cc c tnh 0

tn s ca khu vi phn.
( )
PT
R ( )
=0
L ( )
BTL
20.lgT
20dB/dec
lg
Hnh 2.13 Cc c tnh tn s ca khu vi phn
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Nhn xt:
Cc c tnh qu h(t) v trng lng k(t) ca khu vi phn cho thy khu vi
phn c xu hng mt n nh.
Khu vi phn c tn hiu ra 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 Phn t tr
Phng trnh vi phn: y(t)=x(t-)

Hm truyn t:
Cc c tnh thi gian:
Hm qu : h(t)=1(t-)
Hm trng lng: k(t)=h(t)=(t-)
Hnh 2.14 m t cc c tnh
thi gian ca khu vi phn.
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h (t )
1( t )
1
0
k (t )
(t )
Hnh 2.14 Cc c tnh

thi gian ca khu tr
28

Cc c tnh tn s:
Nu tn hiu vo c dng: x(t)=A. ejt
th tn hiu ra s c dng: x(t)=A. ej(t- )
Hm truyn tn s: W(j)=ej
c tnh BT: A() = 1 A ( )
c tnh PT: ()= -
c tnh BTL:
L() =20.lgA()=0
-1
( )
Hnh 2.15 m t cc c
tnh tn s ca khu vi phn.
TBP
I ( ) 1
BT
R ( )
-1
L ( )
PT
BTL
lg
Hnh 2.15 Cc c tnh tn s ca khu tr

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Nhn xt:
Ta thy rng khu tr s lun c tn hiu ra chm pha so vi tn hiu vo
2.5 Tng kt
Sau khi nghin cu cc khu c bn trn ta thy rng:

Khu khuych i c tn hiu ra trng pha tn hiu vo. Khu tch phn, khu
qun tnh bc 1, khu dao ng, khu tr l cc khu c tn hiu ra chm pha
hn so vi tn hiu vo. Ch c duy nht khu vi phn l tn hiu ra nhanh pha
hn so vi tn hiu vo.
Cc c tnh bin tn s logarith BTL c nhng c im theo bc n ca
PTT nh sau:
n=0
dc 0db/dec
n=1
dc 20 db/dec
n=2
dc 40 db/dec
Du + cho bit tn hiu ra nhanh pha hn so vi tn hiu vo.
Du - cho bit tn hiu ra chm pha hn so vi tn hiu vo.
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Chng 3. Kho st tnh n nh ca h thng

3.1 Gii thiu chung
n nh l tiu ch t ln hng u khi xt mt h thng iu khin t ng. Mt

h thng nu khng th hot ng n nh th d n c tha mn rt nhiu tiu ch
t ra ti mt thi im no th h thng cng khng th s dng c.
HTKT c gi l n nh nu sau khi b ph v trng thi cn bng do tc
ng ca nhiu, n s t iu chnh tr li trng thi cn bng. Nu n khng tr
li trng thi cn bng m tn hiu ra tin ti v cng th h thng s khng n nh.
Trng thi trung gian gia n nh v khng n nh c gi l bin gii n nh,
khi tn hiu ra ca h thng dao ng vi bin khng i.
Trong chng ny s trnh by iu kin mt HTKT n nh; cc tiu chun
i s v tn s thng dng xt tnh n nh ca h thng c thng s bt bin;
phng php qu o nghim s dng xt tnh n nh cho h thng c thng s
bt bin v khi nim d tr n nh ca h thng.
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tn hiu ra y ( t )
3.2 iu kin n nh ca h thng
H thng s n nh nu lim e ( t ) 0
t
H thng s khng n nh nu . lim e ( t )
t
H thng s bin gii n nh nu lim e ( t )
t
dao ng c bin khng i
tq
Kho st tnh n nh ca h thng chnh
0
Hnh 3.1 p ng ca HTKT
l kho st h thng 2 qu trnh: qu v
xc lp. Ta thy rng qu trnh xc lp, h thng lun n nh. Xt s n nh ca h
thng chnh l kho st h thng qu trnh qu .
Mt h thng tuyn tnh lin tc c gi l n nh nu qu trnh qu ca n tt
dn theo thi gian, khng n nh nu qu trnh qu ca n tng dn theo thi
gian v bin gii n nh nu qu trnh qu ca n dao ng vi bin khng
i hoc bng hng s.
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Hnh 3.2 m t 5 trng thi qu ca HTKT:
(1): H thng n nh v khng dao ng.

(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.
(5): H thng dao ng vi bin khng i (bin gii n nh).
yq (t)
(4)
(1)
(2)
t
(3)
(5)
Hnh 3.2. Cc trng thi ca h thng KT

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Dng tng qut ca phng trnh vi phn:

dn y
dn1y
dy
dmu dm1y
du
a0 n + a1 n1 +... + an1 + an y = b0 m +b1 m1 ++bm1 +bmu
dt
dt
dt
dt
dt
dt
Nghim ca PTVP ny gm hai phn: y(t) = yc(t)+yr(t) = yqd(t)+yxl(t)
Vi: yqd(t) l nghim tng qut, c trng cho qu trnh qu v yxl(t) l nghim
ring, c trng cho qu trnh xc lp ca h thng
yqd(t) c c bng cch gii PTVP ng nht:
dn y
dn1y
dy
a0 n + a1 n1 +... + an1 + an y = 0
dt
dt
dt
yxl(t) ph thuc tc ng u vo, nu tc ng u vo c nh th yxl(t) cng c
nh, nh vy n khng nh hng n tnh n nh ca h thng.
Tnh n nh ca h thng c phn nh qua nghim tng qut, nghim ny hon
ton khng chu nh hng ca tc ng bn ngoi, vy tnh n nh l tnh cht
bn trong ca h thng, l bn cht ca h thng. Mt khi h thng n nh th
cc tc nhn bn ngoi khng th lm thay i tnh cht n nh ca h thng.
xc nh yqd(t), ta phi tm nghim ca PTT: a0 p n + a1 p n1 + ... + an1 p + an = 0
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n
i
Dng tng qut ca yqd(t) l:
i =1
trong ci l cc hng s. Nghim pi c th tn ti mt trong cc dng sau:
Nghim thc: pi =i
Nghim phc: pi =i ji
Nghim thun o: pi = ji
nh hng ca cc loi nghim n tnh cht ca h thng:
Nghim ca PTT l nghim thc (h khng dao ng):
i < 0
0 khi
lim eit
khi
i > 0
t
yqd ( t ) =
c e pit
Nghim ca PTT l nghim phc (h dao ng):

i < 0
+ j t 0 khi
lim e( i i )
i > 0
t
khi
Nghim ca PTT l nghim thun o:
lim eit dao ng vi bin khng i
t
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Nh vy:
HTKT n nh (lim yqd0 khi t) nu tt c cc nghim ca PTT c
phn thc m (cc nghim nm na bn tri mt phng phc).
HTKT 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).
HTKT 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).
V d 3.1:
H thng KT c phng trnh c trng l: 2p2-5p+1 = 0
H thng ny c n nh khng?
Gii:
Tm nghim ca phng trnh c trng:
= 25-4*2 = 17 p1,2 = 5 17 4
Vy h thng cho khng n nh
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3.3 Cc tiu chun n nh i s
3.3.1 iu kin cn
iu kin cn thit mt h thng iu khin tuyn tnh n nh l cc h s ca
phng trnh c trng dng.
V d 3.2:
HTKT c phng trnh c trng: 0.2p3+ 3p2 + 0.1p + 5 = 0
C cc h s ai > 0 nn h tho mn iu kin cn.
HTKT c phng trnh c trng: 2p4 + 5p2 + 3p + 2 = 0 ???
3.3.2 Tiu chun Routh (1875)
Pht biu: iu kin cn v h thng tuyn tnh n nh l tt c cc s hng
trong ct th nht ca bng Routh dng.
Bng Routh:
Gi s h thng c phng trnh c trng bc n:
a0 p n + a1 p n1 + + an1 p + an = 0
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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
Cch tnh cc h s ca bng Routh:
a0
a1
b0
b1
z0
z1
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a2
a3
b2
b3
a4
a5
b4
b5
a6
a7
...
...
...
...
b0 =
a0
a1
b1 =
a1 a3
a
, b3 = 1
b0 b2
b0
a5
0
a0
a6
b0
b2
a1
a7
b1
b3
b4 =
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a2
a
, b2 = 0
a3
a1
, c0 =
a4
a5
Tnh cht ca bng Routh:

C th nhn hoc chia cc s hng trn cng mt hng ca bng Routh vi mt
s dng
H n nh khi tt c cc s dng trong ct u tin ca bng Routh dng.
H khng n nh nu ct u tin ca bng c mt s hng bng m hoc
bng 0. 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.
H bin gii n nh khi cc s hng cui cng trong ct u tin ca bng
Routh bng 0, nhng s hng cn li dng.
ng dng:
Tiu chun ny c s dng xt n nh cho c h h v kn.
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V d 3.3: Xt tnh n nh ca h thng c phng trnh c trng:
12p5 + 6p4 + 18p3 + 6p2 + 6p + 1 = 0
Gii:
iu kin cn: Cc h s ai > 0 nn h tho mn iu kin cn.
iu kin : Xt n nh theo tiu chun Routh:
Lp bng Routh:
2 3 1
12 18 6
6 6 1
b0
b1
b2
b3
c0
c1
6 6 1
b0 b2
b1 b3
b0 =
2 3
2 1
= 6; b2 =
= 4;
6 6
6 1
b3 =
6 1
6 4
12 6
= 6; c0 =
= 12; c1 =
= 72
6 0
12 6
12 0
b1 =
6 6
= 12
6 4
c0
c1
(chia cc s hng thuc hng 1 ca bng Routh cho 6).

Cc s hng trong ct u tin ca bng Routh dng nn h thng n nh.
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1
V d 3.4: Cho h thng c i tng iu khin:
W0 ( p) = 3
p + 5 p2 + 8 p + 4
v b iu khin WC ( p) = K P + K D p (b iu khin PD)
Tm khong hiu chnh cc tham s ca b iu khin?
u
Gii:
WC ( p )
WO ( p )
+
Bc1: Tm a thc c trng ca h kn :
Hm truyn t ca h h:
1
Wh ( p) = W0 ( p).WC ( p ) = 3
.( K P + K D p) Hnh 3.3. H thng kn
2
p +5p +8p + 4
Hm truyn t ca h thng kn:
Wk ( p) =
Wh ( p )
KP + KD p
= 3
1 + Wh ( p ) p + 5 p 2 + (8 + K D ) p + (4 + K P )
Phng trnh c trng ca h thng kn l:

A( p) = p3 + 5 p 2 + (8 + K D ) p + (4 + K P ) = 0
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Bc 2: Xt n nh:
iu kin cn: Cc h s ai > 0:
K >8
8 + K D > 0
D
4 + K P > 0
KD > 8
K P > 4
Trn thc t KD > 0, KP 0 nn ta c iu kin cn h n nh l : K P 0
iu kin : Xt n nh theo tiu chun Routh:
Lp bng Routh:
1 8 + KD
1 8 + KD
b0 =
= 36 + 5K D K p
5 4+ Kp
5 4 + KP
5 4+ Kp
b0
b1 =
= (4 + K p )b0
b0
0
b1
iu kin n nh:
Kt hp iu kin cn:
b0 > 0
36 + 5K D K p > 0
K p < 36 + 5 K D
b1 > 0
4 + K p > 0
K p > 4
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KP
K p = 36 + 5 K D
Kt hp iu kin cn:
KD 0
KP > 0
K < 36 + 5K
D
P
36
Min n nh
-36/5
KD
3.3.3 Tiu chun Hurwitz (1895).

Hnh 3.4. Phn b nghim ca h thng
Pht biu: iu kin cn v h thng tuyn tnh c phng trnh c trng
vi cc h s dng n nh l tt c cc nh thc Hurwitz dng.
Cch lp nh thc Hurwitz:
nh thc Hurwitz bc n:
ng cho chnh ca bt u t a1 n an. Trong cng mt ct, cc s hng trn
s hng thuc ng cho chnh c ch s tng dn; cc s hng di s hng thuc
ng cho chnh c ch s gim dn. Nu ch s ln hn n hoc nh hn 0 th ghi
0. C tt c n nh thc Hurwitz t bc 1 n bc n.
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Gi s h thng c phng trnh c trng bc n:
A( p ) = a0 p n + a1 p n1 + + an1 p + an = 0
a1
a0
a3
a2
a5
a4
0
0
0
0
0
0
a1
a3
0
0
0
0
0
0
0
0
0
an 2
an 3
an 4
an
an 1
an 2
0
0
an
n =
1 = a1
a1
a3
a0
a2
a1
a3
a5
3 = a0
a2
a4
a1
a3
2 =
ng dng:
Dng cho h thng c phng trnh c trng bc thp (n < 4).
Dng xt n nh cho c h h v kn.
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V d 3.5: Xt tnh n nh ca h thng c phng trnh c trng sau theo tiu chun
Hurwitz:
3p3 + 5p2 + 6p + 1 = 0
Gii:
iu kin cn: Cc h s ai > 0 nn h tho mn iu kin cn
iu kin n nh theo Hurwitz:
Lp nh thc Hurwitz:
a a3 5 1
1 = a1 = 5 > 0; 2 = 1
=
= 27 > 0
a0 a2 3 6
a1
a3
3 = a0
a2
0 = a3 . 2 = 1.27 = 27 > 0
a1
a3
Ta nhn thy tt c cc nh thc Hurwitz u dng nn h thng cho n nh.
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3.4 Cc tiu chun n nh tn s
3.4.1 Tiu chun Mikhailope
Da vo tnh cht tn s ca a thc c tnh xt tnh n nh ca h thng.
Gi s HTKT c PTT dng:
A( p ) = a0 p n + a1 p n1 + + an1 p + an = 0
a thc c trng c n nghim nn ta c:

A ( p ) = a0
( p pi )
i =1
pi
Nu xt trn mt phng phc th mi s
hng trong a thc trn l mt vector c

pi
chn ti im pi v nh nm trn trc o .
j
Vector quay theo chiu kim ng h, gc to
thnh mang du m cn ngc li ly du dng Hnh 3.5 Vector j pi trn mt phng phc
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Nu pi nm bn tri trc o th
arg ( j pi ) =
-
Nu pi nm bn phi trc o th arg ( j pi ) =

-
Biu vector a thc c tnh c th biu din nh sau:

A ( p ) = a0
( p pi ) = a0 j pi .e
i =1
Vy
arg A ( j ) =
-
j arg( j -pi )
i =1
i =1
arg ( j - pi ) = ( n k ) k = ( n 2k )
i =1
vi k l s nghim ca PTT c phn thc dng. H thng n nh khi k = 0 nn:

arg A ( j ) = n
-
hay arg A ( j ) = n. 2
0
v thng xt bin i t 0 n .
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T nhng phn tch trn, Mikhailope pht biu thnh tiu chun n nh nh
sau:
HTKT 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 n/2 quanh gc ta v ngc chiu kim ng h khi thay
i t 0 n .
Hnh 3.6 l biu vector a thc c tnh cho h thng n nh (a) v khng n
nh (b).
Im()
Im()
n=2
n=1
n=1
Re()
Re()
n=4
(a)
n=3
n=4
(b)
Hnh 3.6. Cc dng biu vector a thc c tnh

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3.4.2 Tiu chun Nyquist
Dng xt n nh cho h kn da vo c tnh tn bin pha ca h h
Pht biu: Nu PTT ca h h c k nghim nm bn phi trc o th h kn tng
ng s n nh nu c tnh TBP ca h h bao im (-1; j0) mt gc bng k
khi thay i t 0 n .
Khi nim ng cong bao mt im:
K mt vector c chn l im c bao cn u trn ng cong. Cho u
vector trt t u ng cong n cui ng cong. Gc quay ca vector bng
bao nhiu th ta ni ng cong bao im cho by nhiu.
M1
= 2
M2
=0
Hnh 3.7 S m t gc bao

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Chng minh tiu chun Nyquist:

Q ( p)
Gi s h thng h c hm truyn t: Wh ( p ) =
P ( p)
Trong P(p) l a thc c tnh bc n v l Q(p) a thc bc m vi m<n. Gi s
P(p) c k nghim nm bn phi trc o. Nh vy:
arg P ( j ) = ( n k ) 2 k 2 = ( n 2k ) 2
0
Hm truyn t ca h thng kn:

Wh ( p )
Q ( p)
Wk ( p ) =
=
1 + Wh ( p ) Q ( p ) + P ( p )
a thc c tnh ca h thng kn l Q(p) + P(p). Theo tiu chun Mikhailope,
h kn s n nh nu:
arg Q ( j ) + P ( j ) = n 2
0
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Q ( j ) + P ( j )
P ( j )
arg J ( j ) = arg Q ( j ) + P ( j ) arg P ( j )
J ( j ) = 1 + Wh ( j ) =
Xt biu thc
Khi h kn n nh th
arg J ( j ) = n 2 ( n 2k ) 2 = k
0
Nh vy, khi thay i t 0 n , biu vector J(j) s bao tm ta mt gc

bng k. Biu J(j ) chnh l do c tnh TBP ca h thng h chuyn sang bn
phi 1 n v. Do , nu J(j) bao tm ta mt gc bng k th c tnh TBP
ca h h s bao im (-1; j0) mt gc bng k.
Trong thc t thng gp h h n nh hay bin gii n nh (k = 0), lc h
kn s n nh nu c tnh TBP ca h h khng bao im (-1; j0).
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Trong nhiu trng hp, h h n nh hay bin gii n nh c c tnh TBP rt

phc tp nn vic xc nh n bao hay khng bao im (-1; j0) rt kh khn. i
vi trng hp ny, ta c th s dng s ln chuyn t m sang dng (C+) v t
dng sang m (C-) ca c tnh TBP ca h h trn na ng thng t - n 1
thuc trc thc.
Nu C+ = C- th h kn n nh (c tnh TBP h h khng bao im ).
Nu C+ C- th h kn khng n nh.
2
C+
-1
C+
C-
C-
=0
Hnh 3.8 Cch xt n nh cho cc ng c tnh TBP phc tp

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3.5 Phng php qu o nghim s
3.5.1 t vn
Qu o nghim s l qu tch cc nghim s ca phng trnh c trng khi thng
s ca h thay i t 0 n .
Phng php qu o nghim s dng phn min n nh ca HTKT trong
ta thay i thng s ca n. ng vi mt gi tr c nh ca thng s bin i,
h thng c mt trng thi n nh no . Ta c th biu din trng thi n nh
ca h bng v tr nghim s ca PTT trn mt phng phc. Khi gi tr thng s
bin i th v tr nghim ca PTT trn mt phng phc cng thay i. Do s thay
i m v tr cc nghim s phng trnh c tnh s to nn mt s qu o no
trong mt phng phc.
Nhng on qu o nghim s nm bn tri trc o ng vi h thng n nh; giao
im ca qu o nghim s vi trc o cho ta trng thi h thng bin gii n
nh v nu qu o nghim s nm bn phi trc o th h thng khng n nh.
Phng php ny thng dng cho h c mt thng s bin i tuyn tnh.
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3.5.2 Phng php xy dng qu o nghim s
Xt h thng c PTT bc n:
A ( p ) = a0 p n + a1 p n1 + ... + an1 p + an = 0
Nu trong h thng c mt thng s bin i th PTT s c dng:
A(p) = N(p) + M(p) = 0
trong N(p) l a thc bc n v M(p) l a thc bc m vi n m.
N ( p)
T phng trnh trn ta c:
=
M ( p)
Gi: pj (j = 0, 1, 2, , m) l cc nghim ca phng trnh M(p) = 0
pi (j = 0, 1, 2, , n) l cc nghim ca phng trnh N(p) = 0
pi (j = 0, 1, 2, , n) l cc nghim ca phng trnh A(p) = 0
Ta c th biu din M(p), N(p) v A(p) thng qua dng tch ca cc tha s:
M ( p) =
( p );
j =1
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p ''j
N ( p) =
( p );
pi'
i =1
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A( p) =
( p pi )
i =1
24
Khi , phng trnh trn s c dng:

A( p) =
(
i =1
) ( p p''j ) = 0
j =1
p pi' +
xy dng qu o nghim s ta cn xc nh: im xut pht v im kt thc

ca qu o nghim s; s lng qu o trn mt phng nghim; cc ng tim
cn ca qu o, hng dch chuyn ca qu o v cc im c bit.
1. Xc nh im xut pht ca qu o nghim s
ng vi gi tr = 0. Theo phng trnh trn, cc nghim pi ca N(p) = 0 cng
chnh l nghim pi ca A(p) = 0. V bc ca N(p) bng bc ca A(p) nn qu o
nghim s c n im xut pht t pi.
2. Xc nh im kt thc ca qu o nghim s
ng vi gi tr = , PTT trn c th vit di dng:
n
i =1
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) ( p p''j ) = 0
j =1
p pi' +
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Do , cc nghim pj ca M(p) = 0 cng chnh l nghim pi ca A(p) = 0. Vy,

vi = , qu o nghim s s kt thc m im l nghim pj ca M(p) = 0.
3. Xc nh s lng qu o trn mt phng nghim:
ng vi mt gi tr xc nh, PTT A(p) = 0 c n nghim s c biu din
tng ng n v tr trn mt phng phc. Khi bin i t 0 n , cc nghim pi s
bin i, do n nghim s vch nn n ng trn qu o nghim s.
+ Nu m < n, qu o nghim s c m ng khi u t n nghim pi v kt thc
m nghim pj. V qu o nghim s c n ng nn s c (n-m) ng khi u
t (n-m) nghim pi v tin xa v cng.
+ V cc nghim ca A(p) = 0 c th c cc nghim phc lin hp nn cc qu o
nghim s s i xng qua trc thc.
4. Xc nh cc ng thng tim cn
C (n-m) ng tin xa v cng nn ta phi tm cc ng thng tim cn cho (nm) ng .
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1
2 k +1
j
nm e nm
+ R0
( k = 0, 1,.., n m 1)
n
m
vi
1
'
R0 =
pi
p ''j
n m i =1
j =1
l phng trnh cc ng thng tim cn ca (n-m) qu o tin xa v cng

p
Theo , khi = 0 th p = R0 = const, tc (n-m) ng tim cn u i qua 1 im

(tm) trn trc honh c honh R0. Cc ng tim cn ny to nn mt hnh sao
gm (n-m) tia. Mi tia ca hnh sao to vi trc honh mt gc nghing l:
k =
2k + 1
nm
( k = 0, 1,..., n m 1)
V d 3.6.
=
Nu n-m =1 th t phng trnh trn: 0 =
nm
ng thng tim cn chnh l mt na trc honh tin ra xa v cng nh hnh 3.9a
Nu n-m =2 th ta c hai ng tim cn nh hnh 3.9b l:
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0 =
nm 2
2 1 + 1
3
1 =
=
2
2
( k = 0)
( k = 1)
Nu n-m =3 th ta c ba ng tim cn nh hnh 3.9c l:

0 =
khi ( k = 0 ) ; 1 =
nm 3
2 2 +1
5
2 =
=
khi ( k = 2 )
3
3
j
=
2 1 + 1
= khi ( k = 1)
3
R0
(a)
3
2
20
(b)
R0
5
3
j
0 3
(c)
Hnh 3.9. ng tim cn vi n m = 1, 2 v 3

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5. Xc nh hng dch chuyn ca qu o nghim
T phng trnh A(p) = N(p) + M(p) = 0 - = N(p)/M(p)
Gi thit p l s thc, ta xy dng th hm f(p) = N(p)/M(p). Giao im ca
ng cong f(p) vi ng thng - s xc nh cc nghim pi ca A(p) = 0 ng vi
cc tr s xc nh.
T cc im cc tr (df(p)/dp = 0) s xc nh cc im cc im tch khi trc
thc ca mt phng nghim.
T th f(p) v ng thng -, ty thuc vo s bin i ca m ta xc nh
c hng dch chuyn ca qu o.
6. Xc nh cc giao im ca qu o nghim s vi trc o ca mt phng nghim
Nghim nm trn trc o c gi tr p=jc, khi PTT c dng:
A(j) = PA(c) + jQA(c) = 0
Trong pt ny cn c thng s c cha bit nn phi hp gii hai phng trnh sau,
ta s tm c gi tr tn s c v c giao im qu o nghim s v trc o.
PA (c c ) = 0; QA (c c ) = 0
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29

3.5.3 Trnh t xy dng qu o nghim s
Xc nh cc im u v im cui ca qu o
Vit PTT dng: N(p) + M(p) = 0
im u ca qu o ng vi n nghim ca N(p) = 0
im cui ca qu o ng vi m nghim ca M(p) = 0
Xc nh cc ng thng tim cn ca (n-m) qu o tin ra xa v cng
n
m
1
pi'
p ''j
n m i =1
j =1
2k + 1
( k = 0, 1,..., n m 1)
Gc to bi cc tia ca hnh sao v trc honh: k =
nm
Tm hnh sao ca cc tia tim cn c honh :
R0 =
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 tm im tch khi trc thc (df(p)/dp = 0).
Nu c nhiu im cc i. ta phi chn im c ph hp vi phng trnh - = N(p)/M(p)
Xc nh giao im ca trc o v qu o nghim

Gii cc phng trnh PA (c c ) = 0; QA (c c ) = 0 tm ra c v c.
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30

V d 3.7. V qu o nghim s ca h thng c hm truyn t h:
k
Wh ( p ) =
p (1 + pT1 )(1 + pT2 )
vi k thay i t 0 n v T1=0.001s, T2=0,005s,
Gii: T hm truyn t ca h h, ta c PTT ca h kn tng ng:
1
1
k
A ( p ) = p p + p + +
=0
T1
T2 T1T2
Vi
1
1
k
M ( p ) = p p + p + ; N ( p ) = 1; =
T1
T2
T1T2
n=3, m=0, tc l n-m=3 nn h thng ny c ba ng tim cn (hnh 3.9c).

1
1
1000 200
= 400
Xc nh im R0: p1 = 0, p2 = = 1000; p2 = = 200 R0 =
T1
T2
3
1
1
Vy qu o nghim s xut pht t p1 = 0, p2 = T = 1000; p2 = T = 200
1
2
khi = 0 v tim cn vi 3 tia khi = .

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31

3.6 d tr n nh
nh gi c chnh xc qu trnh qu ta phi bit chnh xc nghim ca

PTT. C th khng cn gii PTT m vn bit c vng phn b nghim s ca
n trn mt phng phc. V d, c th tm c gi tr l gi tr phn thc ca
nghim s gn trc o nht so vi cc nghim khc. Vng gch sc trn hnh 3.10a
l vng phn b nghim s ca PTT. Gi tr c gi l h s tt dn, mc
n nh hay d tr n nh ca h thng. Nu d tr nh, h thng c th t
n nh tr nn mt n nh. Bi vy, khi thit k cn phi la chn d tr n
nh c ln cn thit.
j
j
j
(b)
(a)
(c)
Hnh 3.10 Cc vng phn b nghim s

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32

Cng c th khng cn gii PTT m tm c gi tr gc 2, tng ng vi phn
gch sc trn hnh 3.10b, trong phn b tt c cc nghim s ca PTT. Gi tr
m=-cotg c gi l mc dao ng ca h thng. C v m u l nhng ch
tiu gin tip nh gi cht lng ca qu trnh qu . Nu kt hp v m ta s
c s phn b nghim ca PTT trong phn gch sc trn hnh 3.10c.
V d 3.8.
Tm k HTKT sau c h s tt dn =0.1
U ( p)
1
k 1 +
2
p
(3 p
1
2
Y ( p)
+ 2 p + 1 ( p + 1)
Hnh 3.11 S khi h thng iu khin
Gii:
k ( 2 p + 1)
1
1
=
Hm truyn t ca h h: Wh ( p ) = k 1 + 2
2 p 3 p + 2 p + 1 ( p + 1) 2 p 3 p 2 + 2 p + 1 ( p + 1)
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Wh ( p )
k ( 2 p + 1)
=
1 + Wh ( p ) 2 p 3 p 2 + 2 p + 1 ( p + 1) + k ( 2 p + 1)
Hm truyn t ca h kn: Wk ( p ) =
PTT ca h thng kn: 6 p 4 + 10 p3 + 6 p 2 + 2 p ( k + 1) + k = 0

Thay p = s - 0.1vo phng trnh c trng:
6 s 4 + 7.6 s 3 + 3.36 s 2 + ( 2k + 1.076 ) s + 0.8k 0.1494 = 0
H c h s tt dn trong ta p s tng ng vi h bin gii n nh trong

ta s. Gi s dng tiu chun Routh xt h thng
Lp bng Routh:
6
3.36
0.8k 0.1494
7.6
2k + 1.076
19.08 12k
6.08 1.13544
24k 2 20.96k + 29.16
Vy h bin gii n nh khi:
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19.08 12k > 0
2
24k 20.96k + 29.16 = 0
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k = 0.749 ( k > 0 )
34

j
y(t)
mt phng p
mt phng p
y(t)
mt phng p
1
0
t
y(t)
mt phng p
0
0
t
y(t)
1
t
y(t)
mt phng p
0
Hnh 3.12 V tr phn b nghim trong mt phng p

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35

3.7 Kt lun
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 chng xt n nh ca h thng da vo biu vector a
thc c trng.
+ Phng php xt n nh cho h thng c thng s thay i da trn qu o
nghim s t c s dng v chng ta thng xt cc h thng c thng s bt
bin theo thi gian (h thng dng).
+ d tr n nh ca h thng iu khin t ng khng nhng m bo kh
nng n nh ca h thng khi c thng s thay i m cn nh hng n tnh cht
qu ca h thng. Tr s c th ca d tr n nh c chn da vo yu cu
ca qu trnh qu
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36
Chng 4. nh gi cht lng h thng

4.1 Gii thiu chung
n nh mi l tiu ch u tin xem h thng c lm vic c hay khng, cn

cht lng ca h thng ni ln rng h thng c s dng c hay khng? C
ba ch tiu cht lng c bn l ch tiu trng thi tnh, ch tiu qu v ch tiu
tch phn.
+ trng thi qu , h thng c nh gi thng qua cc tham s nh thi gian
iu khin, qu iu khin, thi gian qu , thi gian p ng...
+ trng thi xc lp, h thng c nh gi thng qua sai s trng thi xc lp.
4.2 Ch tiu cht lng h thng trng thi xc lp
Mt trong cc tiu ch ca hu ht cc h thng iu khin t ng l trng thi

xc lp, p ng u ra theo tn hiu chun u vo chnh xc n u? Sai lch
gia u ra v tn hiu chun u vo trng thi xc lp c gi l sai s xc
lp. Trn thc t, do ma st, do thit b khng hon ho, do iu kin mi trng...
nn him khi khng c sai s xc lp. Khi thit k h thng, mt trong cc tiu ch
t ra l lm cch no sai s xc lp l nh nht hoc thp hn sai s ngu nhin
v cng vi n l p ng qu phi tho mn cc ch tiu t ra.
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u (t )
Trng thi xc lp ca h thng c nh gi
bng sai lch d ca iu khin, n l gi tr y
sai lch cn tn ti sau khi qu trnh iu khin
kt thc. Ch tiu v chnh xc ca iu
khin ny do yu cu ca quy trnh cng ngh
tn hiu ra y ( t )
t ra m h thng iu khin nht thit phi
p ng c. Gi tr sai lch d theo l thuyt
c k hiu l v c tnh theo cng thc: 0
= lim e ( t )
U ( p)
Trong e(t) l sai lch ng.
Xt h thng nh hnh 4.2 vi Wh(p) l hm truyn t h:
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E ( p) =
1
U ( p)
1 + Wh ( p )
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Hnh 4.1 p ng ca h thng KT
E ( p ) = U ( p ) Y ( p )
Y ( p ) = E ( p ) .Wh ( p )
E ( p)
Wh ( p )
Y ( p)
Hnh 4.2. H thng kn
Theo nh l tin ti gii hn nh v gc trong bin i Laplace:

p
U ( p)
lim e ( t ) = lim pE ( p ) = lim e ( t ) = lim
t
p 0
t
p 0 1 + Wh ( p )
Khi tn hiu vo u ( t ) = 1( t ) =
0 khi t < 0
1 khi t 0
U ( p) =
1
p
1
p0 1 + Wh ( p )
Ta c = lim
Khi tn hiu vo u ( i ) = kt U ( p ) = k p 2
1
k
Ta c: = lim
.
p 0 1 + Wh
( p)
1
V d 4.1: Tn hiu vo c dng bc thang n v : u ( t ) = 1( t ) U ( p ) =
p
Nu h l khu dao ng bc 2:
W ( p) =
k
2
Tp + 2 Tp + 1
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= lim
p0
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1+
1
1
=
p k +1
Tp 2 + 2 Tp + 1
Nu h l khu dao ng bc hai mc ni tip vi mt khu tch phn:

p
1
= lim
=0
p 0
p
k
1
1 + 2
p Tp + 2 Tp + 1
V d 4.2: Nu tn hiu vo l hm tng dn u u(t)=t U(p)=1/p2, h vn l khu

dao ng bc hai mc ni tip mt khu tch phn. Sai lch tnh c tnh nh trn:
p
1
1
= lim
=
2
k
p 0
p
k
1
1 + 2
p Tp + 2 Tp + 1
Khu tch phn v h s khuch i c nh hng ln trong vic xc nh sai lch

tnh ca h thng. Tch ring hai thnh phn ny trong hm truyn t h:
Wh ( p ) =
b0 p m + b1 p m1 + ... + 1
p r a0 p n r + a1 p nr 1 + ... + 1
r c gi l bc v sai tnh ca h thng

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Bng 4.1 l kt qu ca mt s trng hp thng gp. y kp, kv, ka

tng ng l h s khuch i vi trng hp tn hiu vo l khng i, tc
tn hiu vo khng i v gia tc ca tn hiu vo khng i.
Bng 4.1
r=0
Bc v sai
r =1
r=2
tnh
Tn hiu vo
u ( t ) = 1( t ) , U ( p ) = 1 p
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1 1+ K p
u (t ) = t, U ( p ) = 1 p2
1 kv
u ( t ) = (1 2 ) t 2 , U ( p ) = 1 p3
1 ka
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4.3 Ch tiu cht lng qu trnh
qu
Xt h c u vo bc thang n v
y (t )
p ng qu ca mt h thng l
rt quan trng v c bin v thi 1.05
gian qu u phi c gi trong 0.951
0.9
phm vi cho php.
i vi mt h thng iu khin, p
ng qu thng c c bng
0.5
cch ta cho tn hiu vo h thng c
dng bc thang n v. u ra ca h
thng lc c gi l p ng
0.1
bc thang n v. Hnh 4.3 l p
0 td tm t
ng bc thang n v ca mt h iu
tr
khin tuyn tnh. Cc cht lng
c nh gi trc tip gm:
vo bc thang n v
tqd
Hnh 4.3 p ng qu ca mt h iu khin

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qu iu chnh cc i
= ymax y
hoc % =
ymax y
100
y
qu iu chnh cc i thng c s dng kim tra tnh n nh tng i

ca h thng iu khin. Mt h thng c qu iu chnh cc i ln thng
khng phi l mong mun. Khi thit k, ngi ta xem qu iu chnh cc i nh
l mt tiu ch trong min thi gian. Trn hnh 4.3, qu iu chnh cc i xy ra
ln qu iu chnh u tin. mt s h thng, qu iu chnh cc i c th xy
ra nh sau . Nu hm truyn t ca h thng c s im khng (zero) nm bn
phi mt phng p l th hin tng qu iu chnh m c th xy ra.
Thi gian tr:
Thi gian tr td c nh ngha l thi gian yu cu p ng t 50% gi tr xc lp.
Thi gian tng:
Thi gian tng l thi gian yu cu p ng tng t 10% ln 90% gi tr xc lp.
C mt cch nh ngha khc, thi gian tng l nghch o ca ng p ng ti thi
im n t 50% gi tr xc lp.
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Thi gian qu
Thi gian qu tqd c xc nh bi thi im m hm qu y(t) khng vt ra
khi bin gii ca min gii hn quanh tr s xc lp.
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.
Thi gian c qu iu chnh
Thi gian c qu iu chnh t c xc nh bi thi im hm qu t cc
i.
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 gian qu .
, t v N c trng cho tnh cht suy gim ca qu trnh qu .
tqd v tm c trng cho tnh cht tc ng nhanh ca h.
Trn y l cc ch tiu nh gi cht lng qu trnh qu ca p ng bc thang
n v. Cc ch s ny tng i d o i vi p ng bc thang. Tuy nhin, theo
php phn tch th nhng i lng ny rt kh xc nh tr khi h thng c bc
nh hn 3.
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4.4 nh gi cht lng h thng
nh gi cht lng h thng qua tiu chun tch phn. Qu trnh qu iu khin
c th c nh gi l tt hay xu thng qua gi tr tch phn ca sai lch gia gi
tr ch o v gi tr tc thi o c ca i lng cn iu khin.
Gi tn hiu ra ca h thng l y(t), gi tr ca n trng thi xc lp l y(0), sai
lch ca c qu trnh iu khin l e(t) = y(t) - y(0).
i vi h thng khng dao ng vi sai lch ca tn hiu iu khin c m t
trong hnh 4.4 c th s dng tiu chun tch phn dng I1 nh gi cht lng
ca qu trnh qu .
I1 =
e ( t ) dt
e
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 I1min
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Hnh 4.4 Qu khng dao ng
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i vi h c dao ng th I1 li khng s dng c. Theo hnh 4.5, qu trnh qu

theo ng 1 tt hn nhng nu tnh theo I1 th n li cho gi tr ln hn. Trong
trng hp ny, ta phi s dng tch phn dng:

I2 =
e dt
Vi cng thc ny, du ca khng cn nh hng ti gi tr ca tch phn na.

Theo hnh 4.5, gi tr I2 ca ng 1 nh hn ng 2 v qu trnh iu khin s tt
nht nu I2min.
Tuy I2 c th s dng nh gi cht lng ca qu trnh qu c hay khng c
dao ng nhng trn thc t n t c s dng v mun tnh I2 th phi bit trc
ng bin thin ca e.
e
thun tin cho vic nh gi qu trnh qu ,
1
ngi ta s dng tiu chun tch phn bnh phng
2
sai lch c tnh theo cng thc dng:
I3 =
2
e dt
0
I3 cho php tnh ton v thc hin n gin hn I2

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Hnh 4.5 Qu c dao ng

10
Cc tch phn trn c mt nhc im c bn l cha nh gi nh hng ca tc

thay i ca e ln cht lng qu trnh qu . khc phc nhc im ny,
c th s dng tiu chun tch phn dng:
I4 =
2
e
0
2
de
+ dt
dt
trong l gi tr c nh, thng thng c chn trong khong qd < < qd

6
3
I4 cho ta s nh gi y v cht lng qu trnh qu . Khi I4min ngha l
t c I4 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.
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11

4.5 Tng kt
+ Ch tiu trng thi tnh: c nh gi da vo sai lch d ca iu khin v

c tnh theo cng thc:
+ Ch tiu trng thi qu : c nh gi bng hai ch tiu c bn l thi gian
ko di ca qu trnh iu khin v tnh dao ng ca iu khin. Cc ch tiu ny
do yu cu v cht lng ca quy trnh cng ngh t ra. N c th hin qua mt
s tiu ch nh thi gian iu chnh, qu iu chnh, s ln dao ng
+ Ch tiu tch phn: Dng nh gi cht lng ca qu trnh qu . Da vo
c im ca tng loi qu trnh qu m ta c th dng cc ch tiu tch phn
khc nhau nh qu trnh qu c dao ng, khng c dao ng
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12
Chng 5. Thit k h thng KT

5.1 Gii thiu chung
Thit k mt h thng iu khin tuyn tnh c th c thc hin trong min thi
gian hoc trong min tn s. V d, khi u vo c dng bc thang, xung Diract
hoc l ng parabol v cn xc nh chnh xc th ta tin hnh phn tch h
thng trong min thi gian. Khi xt cc ch tiu nh qu iu chnh cc i, thi
gian p ng, thi gian qu th vic phn tch h trong min thi gian em li
hiu qu r rt. Trong min tn s, ta thng xt th Bode, to cc im cc,
thi bin - pha v biu Nichols. i vi h bc hai, ta c th d dng xc
nh mi quan h gia cc c im trong min thi gian v trong min tn s
nhng vi cc h thng c bc cao hn, vic ny rt kh thc hin.
Hu ht cc phng php thit k mt h thng iu khin thng thng u c cu
hnh cng. Nhim v y l phi chn b iu khin c cu trc nh th no?
B iu khin l c cu c cu trc nht nh v thng s c th thay i trong
phm vi nht nh. Khc vi b iu khin, khu iu khin c lp rp vi thng
s c nh, sau tnh ton i vi mt i tng c th. Chc nng ca b iu
khin v khu iu khin l nh nhau. C th mc c khu iu khin v b iu
khin trong cng mt h thng nng cao cht lng.
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Theo chc nng, b iu

khin c phn thnh
cc loi l b iu khin
t l (P - Proportional),
b iu khin tch phn
(I Integration), b iu
khin t l - tch phn
(PI), b iu khin t l vi phn (PD Proportional Derivative)
v b iu khin t l vi
tch phn (PID).
V tr ca b iu khin
trong mt h thng iu
khin tng i linh
hot. Hnh 5.1 biu din
mt s cu hnh h thng
thng c s dng
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a.
u
C1
C1
C2
O
C2
c.
b.
u
d.
C1
u
e
C2
e.
f.
Hnh 5.1. Cu hnh h thng iu khin t ng
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H thng trn hnh 5.1 a, b, c ch yu cu mt b iu khin, thm ch n dng

c cho h thng c nhiu hn mt tham s thay i. Nhc im ca cc h
thng ny l n gii hn cc ch tiu k thut yu cu.
B iu khin thng s dng trong cc hnh 5.1 d, e, f l PID v n x l tn hiu
vo theo ba thnh phn l t l, vi phn v tch phn. Do cc tn hiu ny rt d nhn
ra v phn bit trong min thi gian nn b iu khin PID c s dng phn
tch h thng trong min thi gian.
Sau khi chn c cu hnh cho b iu khin, ngi iu khin li phi chn
cch iu khin cho ph hp vi i tng nhm tho mn cc ch tiu k thut
t ra.
Tip theo l chn thng s cho b iu khin. Cc thng s ny thng l mt hoc
nhiu thng s ca hm truyn t ca b iu khin. Cch thng thng l s dng
cng c phn tch gii thiu cc chng trc xc nh s nh hng ca
tng tham s ring r ln h thng. Da vo thng tin ny m cc tham s c
chn nhm tho mn cc yu cu t ra
Khithit k phi vch ra c cc im chnh hay tm c lut thit k. Trong
min thi gian th s dng phng php bin i Laplace (mt phng p) cn trong
min tn s th s dng th bin - pha.
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5.2 Cc phng php nng cao cht lng h thng
Khi xc nh c tham s ti u ca thit b iu khin m vn khng p ng

c cht lng ca qu trnh iu khin th ta phi tm cc bin php khc nng
cao cht lng, l thay i cu trc ca h thng iu khin t ng.
5.2.1 Phng php b tc ng nhiu
Trong h thng iu khin t ng thng c nhiu tc ng lm nh hng cht

lng ca qu trnh iu khin. Nu cc nhiu ny o c th c th s dng
nguyn l bt bin b tc ng nhiu nng cao cht lng iu khin ca h
thng. Nu c mt nhiu no tc ng ln h thng nhng c tn hiu ra v sai
lch u khng i th h thng bt bin vi tc ng ca nhiu . Nh vy, nu
chng ta xy dng c h thng bt bin vi nhiu tc ng thng xuyn th cht
lng ca qu trnh iu khin c nng cao rt nhiu. Nhiu ca h thng c
chia ra lm hai loi l nhiu ph ti v nhiu t trc.
5.2.1.1 B nhiu ph ti
H thng iu khin t ng chu tc ng ca nhiu ph ti z(t). Yu cu t ra l
phi xy dng li h thng sao cho n bt bin vi tc ng . Mun vy, trong h
thng phi ghp thm phn t b vi hm truyn t Wb(p) nh hnh 5.2.
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y(t) bt bin vi nhiu z(t), ngha l khi c z(t) tc ng th y(t) vn c nh th

cu trc ca h thng phi tha mn iu kin:
Wb ( p ) .W1 ( p ) .W2 ( p ) + W3 ( p ) = 0
Vy, hm truyn t ca phn t b phi c xy dng theo cng thc:

W3 ( p )
Wb ( p ) =
W1 ( p ) .W2 ( p )
Khi khi b c hm
Z ( p)
truyn t nh trn th
i tng
Wb ( p )
y(t) s hon ton c nh
khi c tc ng z(t). Ta
W3 ( p )
ni y(t) bt bin tuyt
W2 ( p )
E ( p)
U ( p)
W1 ( p )
i so vi tc ng z(t).
Y ( p)
Hnh 5.2 Xy dng h thng bt bin vi nhiu ph ti

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5.2.1.2 B nhiu t trc
Trong h thng iu khin chng trnh, tn hiu vo 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 lm cho h thng iu khin c chnh xc cao hn bng cch
s dng nguyn l bt bin theo tc ng ca tn hiu vo( hnh 5.3).
iu kin bt bin y l gi tr ra y(t) ca h thng phi lun lun bng gi tr
t u(t), tc gi tr sai lch e(t)=0 khi u(t) thay i. iu kin ny xy ra th cu
trc ca h thng phi m bo c ng thc:
Wb ( p ) .W2 ( p ) = 1
Nh vy, hm truyn t
ca khi b phi c
xy dng theo cng thc:
Wb ( p ) =
Wb ( p )
U ( p)
E ( p)
W1 ( p )
Y ( p)
W2 ( p )
W2 ( p )
Hnh 5.3 S h thng iu khin b nhiu t trc
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Khi cu trc ca khi b c xy dng hon ton chnh xc theo cng thc trn th
s lun m bo y(t)=u(t) v ta c th ni h thng bt bin vi nhiu t trc.
Trong thc t, W2(p) l hm truyn t ca i tng iu khin c cu trc phc
tp nn vic xy dng hm truyn t ca khi b theo cng thc trn khng th
thc hin c, c ngha l khng th to c bt bin tuyt i m ch c th xy
dng h thng bt bin tng i. C th s dng php b tnh l php b n gin
nht. Trong php b tnh, hm truyn t ca khi b ch l khu khuch i c h
s khuch i bng gi tr nghch o h s truyn ca i tng.
5.2.2 Phng php xy dng h thng iu khin tng
S chm tr v qun tnh trong vic truyn tn hiu theo knh iu khin ca i
tng l nhng nguyn nhn c bn lm cn tr tc tc ng ca thit b iu
khin v v vy, lm gim chnh xc ca iu khin. Trong trng hp ny,
nhiu h thng iu khin c cu trc mch vng khng p ng c yu cu v
cht lng ca qu trnh iu khin ngay c khi s dng cc 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 5.4.
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H thng c hai thit b iu khin. i lng cn iu khin y l y(t), tn hiu

vo l u(t), thit b iu khin c hm truyn t Wm1(p) v i tng c hm truyn
t W1(p). Do tnh cht tr v qun tnh trong vic truyn tn hiu iu khin theo
knh nn cht lng ca h thng khng p ng c yu cu. Cht lng ca h
thng iu khin s c nng cao nu chng ta xy dng thm mt mch iu
khin ph t n nh v mt tham s trung gian ca i tng iu khin y1(t), c
hm truyn t l W2(p). n nh i lng trung gian ny, thit b iu khin
Wm2(p) c s dng.
Z ( p)
U ( p)
E ( p)
Wm1 ( p )
X1 ( p )
Wm 2 ( p )
Y1 ( p )
W1 ( p )
Y ( p)
W2 ( p )
Hnh 5.4 H thng iu khin tng

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iu c bn y l tn hiu truyn qua i tng theo knh W2(p) phi nhanh hn

knh W1(p). Thit b iu khin Wm1(p) khng tc ng trc tip ln i tng iu
khin m tn hiu ra ca n l tn hiu ch o cho thit b iu khin Wm2(p).
Trong khi tng hp h thng phi m bo qu trnh qu ca mch vng trong
(Wm2(p)-W2(p)) phi xy ra nhanh hn rt nhiu so vi mch vng ngoi (mch
vng chnh vi thit b iu khin Wm1(p)). Nh vy, khi c nhiu z(t) tc ng th
my iu khin Wm2(p) s nhanh chng tc ng theo tn hiu trung gian y1(t)
kh nh hng ca nhiu ny ln mch vng chnh. R rng, cht lng ca qu
trnh iu khin c nng cao rt nhiu.
i tng iu khin ca thit b iu khin Wm2(p) l W2(p), cn i tng iu
khin ca thit b iu khin Wm1(p). phi c xc nh theo cng thc:
Wd 1 ( p ) =
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Wm 2 ( p ) .W1 ( p )
1 + Wm 2 ( p ) .W2 ( p )
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5.3 B iu khin
5.3.1 B iu khin t l (P)
Trong cc v d v h thng iu khin, b iu khin thng l mt b khuch i
n gin vi h s khuch i l hng s K. y c gi l b iu khin t l v
mi quan h gia tn hiu vo v ra tun theo quy lut t l.
Tn hiu iu khin trong quy lut t l c hnh thnh theo cng thc:
x=KP.e
Trong KP l h s khuch i ca quy lut.

c im:
Tn hiu ra lun trng pha vi tn hiu vo.
Tn ti sai lch tnh khi s dng cho cc i tng tnh.
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.
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x =x0 + KP.e
Trong x0 l im lm vic ca h thng. Tc ng iu khin lun gi cho tn
hiu iu khin thay i xung quanh gi tr ny khi xut hin sai lch. Hnh 5.5 m
t qu trnh iu khin vi cc h s KP khc nhau
e
K3
K1
K1 > K 2 > K3
K2
Hnh 5.5 Qu trnh iu khin vi cc h s K p khc nhau
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11

5.3.2 B iu khin tch phn (I)
Trong quy lut tch phn, tn hiu iu khin c xc nh theo biu thc:
X ( p)
1
1
1
L
x = Ki e.dt = e.dt
X ( p) =
E ( p )
W ( p) =
=
Ti
Ti p
E ( p ) Ti p
trong Ti=1/Ki c gi l hng s thi gian tch phn
Gi tr iu khin x ch t c gi tr xc lp khi e = 0. Nh vy u im ca quy
lut tch phn l trit tiu sai lch tnh.
Hm truyn t tn s ca khu tch phn:
W ( j ) =
1
1
=j
Re = 0; Im = 1 Ti
jTi
Ti
( ) = arctg
Im
= arctg ( ) =
Re
2
Vy, tn hiu ra lun chm pha so vi tn hiu vo mt gc /2 tc ng

chm h km n nh t c s dng
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12

5.3.3 B iu khin t l - vi phn (PD)
Tc ng iu khin ca quy lut PD c hnh thnh theo cng thc:
X ( p)
de
de
x = K P .e + K D . = K P e + TD .
W ( p) =
= K P + K D . p = K P (1 + TD . p )
dt
dt
E ( p)
Trong KP l h s khuch i v TD=KD/KP l hng s thi gian vi phn.

Hm truyn tn s ca quy lut PD:
W ( j ) = K P (1 + jTD . )
Re = K P ; Im = K P .TD .
( ) = arctg
Im
= arctg (TD . )
Re
Khi thay i t 0 n th thay i t 0 n /2, tc tc ng ca PD

nhanh hn P. PD ci thin qu trnh qu , gim qu iu chnh cc i. Do c
thnh phn vi phn nn h thng phn ng vi cc nhiu cao tn c bin nh,
PD cng khng lm gim sai lch d PD ch s dng khi cn tc tc ng
nhanh nh iu khin tay my
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13
Chng 5.y (Thit

k h thng KT
t)
1
e (t )
1
de dt
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t
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Hnh 5.7 Dng sng ca y ( t ) , e ( t ) v de dt
14

5.3.4 B iu khin t l - tch phn (PI)
PD ci thin qu trnh qu v thi gian ln ca h thng, tng bng thng v tn
s cng hng. Tuy nhin, n khng th trit tiu sai s xc lp, nht l vi cc h
thng c nhiu. Do vy, rt nhiu trng hp khng th s dng b iu khin PD.
Tc ng iu khin ca quy lut PI c hnh thnh theo cng thc:
X ( p)
K
1
1
x = K P .e + K I e.dt = K P e + e.dt
W ( p ) =
= K P + I = K P 1 +
E ( p)
p
TI
TI . p
Trong KP l h s khuch i v TI=KP/KI l hng s thi gian tch phn.
Hm truyn tn s ca quy lut PI:
K
1
W ( j ) = K P 1 j
Re = K P ; Im = P

TI .
TI .
1
Im
= arctg
Re
TI .
Khi thay i t 0 n th thay i t -/2 n 0.
( ) = arctg
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15
Phng php kh thi khi thit k b iu khin PI l chn im khng v tr

p=-KI/KP, v n rt gn vi gc to v xa cc im cc ca qu trnh, cc gi tr
ca Kp v Kp phi tng i nh.
e
1
2
3
4
Hnh 5.10 Cc qu trnh qu iu khin ca quy lut PI
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16

5.3.5 B iu khin t l -vi phn - tch phn (PID)
PID c to thnh t vic mc song song hai b iu khin PI v PD:
+ Nu ch s dng b iu khin PD: chn h s khuch i sao cho t c n
nh theo yu cu. Trong min thi gian, n nh c th c o bng qu
iu chnh cc i v trong min tn s l d tr pha.
+ La chn tham s ca hai thnh phn t l trong hai b iu khin tho mn
cc yu cu t ra trn c s tnh n nh ca h thng
Tc ng iu khin ca quy lut PI c hnh thnh theo cng thc:
x = K P .e + K I e.dt + K D .
W ( p ) = K P +
de
1
= KP e +
dt
TI
e.dt + TD .
de
dt
KI
1
+ K D . p = K P 1 +
+ TD . p
p
TI . p
Trong KP l h s khuch i v TI=KP/KI l hng s thi gian tch phn,

TD=KD/KP l hng s thi gian vi phn
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17
Hm truyn tn s ca khu PID:
1
1
W ( j ) = K P 1 +
+ jTD
Re = K P ; Im = K P TD
jTi
TI
c tnh pha tn:
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2TI .TD 1
Im
( ) = arctg
= arctg
Re
T
I
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18

5.4 Tnh iu khin c v quan st c
5.4.1 Tnh iu khin c
iu khin c nu c mt vector iu khin vi mt tc ng u vo, h
thng chuyn t trng thi ny n trng thi khc trong mt khong thi gian hu
hn .
p 1
x2
x2
x1
p 1
x1
Hnh 5.11 H thng khng iu khin c hon ton
Hnh 5.11, tn hiu u(t) khng c nh hng g n bin trng thi x1 nn h ny

khng iu khin c hon ton
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19
nh l 5.1. (nh l bt bin v tnh quan st c ca h thng): H thng tuyn

tnh c m t bi phng trnh trng thi cp n:
x ( t ) = A.x ( t ) + B.u ( t )
iu khin c hon ton khi v ch khi ma trn sau c hng bngn:
P = B
A.B
A2 .B ... An1.B
V d: Cho h thng:
0.5 0
1
.
X
+
X =
0 .U
2 1

y = 1 1 .X
[ ]
H c iu khin c hon ton khng?
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20

5.4.2 Tnh quan st c
Quan st c nu t cc ta o c u ra ca h thng c th khi phc
c cc vector trng thi x(t) trong mt khong thi gian hu hn.
u
x2
p 1
x1
x2
p 1
x1
Hnh 5.13 H thng khng quan st c hon ton
H thng trong hnh 5.13 khng quan st c hon ton v tn hiu ra y(t) khng
c thng tin g v bin trng thi x2.
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21
nh l 5.2. (y l nh l bt bin v tnh quan st c ca h thng): H tuyn

tnh dng lin tc c m t bi phng trnh trng thi:
x ( t ) = A.x ( t ) + B.u ( t )
c gi l quan st c hon ton khi v ch khi ma trn sau c hng bng n:
L = C '
A '.C '
( A ')2 .C '
( A ')n1 .C '
1
0
0
0

X = 0.5 0.2 0.3 . X + 0 .U
30 65 5
30
y = [1 0 0]. X
V d: Cho h thng:
Xt tnh quan st c ca h thng?
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...
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22

5.5 Tng kt
C nhng h thng khng th tha mn c cc yu cu k thut t ra d cc

tham s ca b iu khin c chn ti u. Trong trng hp , ta phi thay
i cu trc ca n theo cc phng php khc nhau nh phng php b tc ng
nhiu (nu bit c nhiu tc ng vo h thng l nhiu ph ti hoc nhiu t
trc), phng php xy dng h thng iu khin tng, phng php phn ly
Theo chc nng, cc b iu khin c phn ra thnh b iu khin t l, b iu
khin tch phn, b iu khin t l - tch phn, b iu khin t l - vi phn v b
iu khin t l vi tch phn. B iu khin P lm gim sai lch nhng khng th
trit tiu v h s khuch i khng th qu ln. B iu khin I c th trit tiu sai
lch tnh nhng c tc ng chm. B iu khin PI c th thay i c tc
gim sai lch B iu chnh PD ci thin c cht lng ng nhng khng trit
tiu c sai lch tnh cn b iu khin PID kt hp c cc c im ca c ba
thnh phn PID l h thng c th lm vic n nh vi mi i tng, trit tiu
c sai lch tnh ca h thng v b iu khin c tc ng nhanh.
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23
Chng 6. M t ton hc h ri rc
Ni dung
9
9
9
9
9
6.1 Gii thiu chung

6.2 M t ton hc tn hiu ri rc
6.3 M t ton hc h thng ri rc
6.4 Hm truyn t trong h ri rc
Tng kt
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6.1 Gii thiu chung
Chuyn tn hiu lin tc thnh gin on gi l qu trnh ly mu.

Theo mc: gi tr tn hiu ra chia theo nhng mc ph thuc vo
gi tr tn hiu vo.
Theo thi gian: thc hin sau nhng khong thi gian bng
nhau gi l chu k ly mu T. Phn t thc hin iu ny l
phn t xung
Hn hp: chia gi tr tn hiu ra nhng mc u nhau. Chu k
ly mu l c nh, gi tr tn hiu ra bng gi tr mc ly mu
gn vi gi tr tn hiu vo ti thi im ly mu nht.
H gin on s dng phn t xung gi l h xung. 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 theo bin , theo
rng, theo pha v theo tn s. H xung s dng phng php iu
ch theo bin hoc rng xung.
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5
4
3
2
1
T 2T 3T 4T 5T
(a)
(b)
5
4
3
2
1
Mt s phng php ly mu
(a). Ly mu theo mc
(b). Ly mu theo thi gian
(c). Ly mu hn hp
T 2T 3T 4T 5T
(c)
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6.1.1 S khi h thng
u (t )
e ( iT )
e (t )
u1 ( t )
ZOH
T
WLT ( p )
y (t )
f (t )
WFH ( p )
6.1.2 B lu gi bc 0 (ZOH Zero Order

Hold)
Trong khong thi gian T, gi tr hm ri
rc c gi khng i.
Hm truyn t ca khu ZOH:
WLG ( p ) =
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1
1- e- pT
p
)
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6.2 M t ton hc tn hiu ri rc
6.2.1 Bin i Z
nh ngha
Cho x(k) l chui tn hiu ri rc, bin i Z ca x(k):
X ( z ) = Z { x ( k )} =
Trong :
Z=eTp vi p l bin Laplace
X(z) l bin i z ca chui x(k)
Nu x(k)=0, k<0:
x (k ) z
k =
X ( z ) = Z { x ( k )} = x ( k ) z k
k =0
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Min hi t ROC (Region Of Convergence): L tp hp tt c cc

gi tr z sao cho X(z) hu hn
Gi x x(t) l tn hiu lin tc trong min thi gian, ly mu x(t) vi
chu k T ta c chui ri rc x(k)=x(kT).
Biu thc ly mu tn hiu x(t):
X * ( p ) = x ( kT ) e kTp
k =0
Biu thc bin i Z ca chui x(k)=x(kT):
X ( z ) = x ( k ) z k
k =0
nn v phi ca hai biu thc ly mu v bin i z l nh

Do
nhau. Vy bn cht ca vic bin i z mt tn hiu l ri rc ho tn
hiu .
z=epT
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Tnh cht ca bin i Z:
Cho x(k), y(k) l hai chui tn hiu ri rc c bin i Z l X(z), Y(z):
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Bin i Z ca cc hm c bn
Hm (t):
Hm 1(t):
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6.2.2 Sai phn
Nu dy xung x(nT) c rng v cng nh, c th xem l xung
tc thi (hm ri rc x(i)).
Vi hm ri rc x(i), khng c php tnh o hm, tch phn, vi phn
nhng c php tnh tng t l sai phn v tng.
6.3 M t ton hc h ri rc
6.3.1 M t ton hc bng phng trnh sai phn v hm truyn t
a0 y ( i + n ) + a1 y ( i + n 1) + ... + an1 y ( i + 1) + an y ( i )
= b0u ( i + m ) + b1u ( i + m 1) + ... + bm1u ( i + 1) + bmu ( i )
Trong n>m, n l bc ca h thng. Bin i Z hai v phng trnh:
a0 Z nY ( Z ) + a1Z n 1Y ( Z ) + ... + an 1ZY ( Z ) + anY ( Z )
= b0 Z mU ( Z ) + b1Z m 1U ( Z ) + ... + bm 1ZU ( Z ) + bmU ( Z )

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10
Hm truyn t: W ( Z ) =
( n m )
b0 + b1Z 1 + ... + bm 1Z m +1 + bm Z m )
(
Y (z) z
W (Z ) =
=
U (z)
a0 + a1Z 1 + ... + an 1Z n +1 + an Z n
Hoc
Y ( z ) b0 Z m + b1Z m 1 + ... + bm 1Z + bm
=
U ( z ) a0 Z n + a1Z n 1 + ... + an 1Z + an
V d:Tm hm truyn t ca h c phng trnh sai phn:

5 y ( i + 4 ) 3 y ( i + 3) + y ( i + 1) 2 y ( i ) = 3u ( i + 3) 2u ( i + 1) + 2u ( i )
Gii: Bin i Z c hai v ca phng trnh, ta c:
5Z 4Y ( z ) 3Z 3Y ( z ) + ZY ( z ) 2Y ( z ) = 3Z 3U ( z ) 2ZU ( z ) + 2U ( z )
Hm truyn t ca h l: W ( z ) =
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Y (z)
3Z 3 2 Z + 2
=
U ( z ) 5 Z 4 3Z 3 + Z 2
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11
Cu hnh thng gp ca cc h iu khin ri rc:

u (t )
e ( iT )
e (t )
WC(p)
ZOH
u1 ( t ) W
LT ( p )
y (t )
f (t )
WFH ( p )
Hm truyn t ca h kn: Wk ( z ) =
W ( p )
Trong : WLT ( z ) = (1 z 1 ) Z LT
p
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Y ( z ) WC ( z ) .WLT ( z )
=
U ( z ) 1 + WC ( z ) .W ( z )
W ( p ) .WPH ( p )
W ( z ) = (1 z 1 ) Z LT
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12
V d: Tm hm truyn t ca h thng:
U(p)
WLT(p)
Y(p)
WLT ( p ) =
3
p+2
Hm truyn t h h
W ( p )
3
0.949
1
WLT ( z ) = (1 z 1 ) Z LT
= (1 z ) Z
=
p ( p + 2 ) z 0.368
p
Hm truyn t h kn:
Wk ( z ) =
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WLT ( z )
0.948
=
1 + WLT ( z ) z + 0.580
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13
U ( p)
T=0.5
ZOH
WLT ( p )
Y ( p)
WFH ( f )
3e p
WLT ( p ) =
p+3
1
WFH ( p ) =
p +1
W ( p )
3e p
1
1
WLT ( z ) = (1 z 1 ) Z LT
z
Z
=
) p ( p + 3)
(
0.777
= 2
z ( z 0.223)
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14
z ( Az + B )
W ( p ) .WPH ( p )
1
2
W ( z ) = (1 z 1 ) Z LT
=
3
1
z
z
(
)
p
z 1) ( z e 30.5 )( z e 10.5 )
(
1 e 30.5 3 1 e0.5
A=
= 0.0673
3 (1 3)
B=
) (
3e 30.5 (1 e 0.5 ) e 0.5 (1 e 30.5 )

3 (1 3)
= 0.0346
W ( p ) .WPH ( p )
0.202 z + 0.104
W ( z ) = (1 z 1 ) Z LT
= 2
p
z ( z 0.223)( z 0.607 )
Hm truyn t h kn:
Wk ( z ) =
Y ( z ) WLT ( z )
0.777 ( z 0.607 )
=
= 4
U ( z ) 1 + W ( z ) z 0.83 z 3 + 0.135 z 2 + 0.202 z + 0.104
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15
U ( p)
e(i)
T=0.5
WC ( z )
u(i)
ZOH
WLT ( p )
Y ( p)
WFH ( f )
Trong :
5e0.2 p
WLT ( p ) =
, WFH ( p ) = 0.1
p2
B iu khin c mi quan h vo ra theo phng trnh:
u ( i ) = 10e ( i ) 2e ( i 1)
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16
Hm truyn t ca b iu khin
WC ( z ) =
U (z)
= 10 2 z 1
E (z)
WLT ( p )
5e 0.2 p 0.1( z + 1)
1
WLT ( z ) = (1 z ) Z
= (1 z ) Z 3 =
2
p
p z ( z 1)
WLT ( p ) .WPH ( p )
5e 0.2 p 0.1 0.01( z + 1)
1
W ( z ) = (1 z ) Z
= (1 z ) Z
=
2
3
p
p
z ( z 1)
Hm truyn t h kn:
Y ( z ) WC ( z ) .WLT ( z )
z 2 + 0.8 z 0.2
Wk ( z ) =
=
=
U ( z ) 1 + WC ( z ) .W ( z ) z 4 2 z 3 + 1.1z 2 + 0.08 z 0.02
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6.3.2 M t trong khng gian trng thi
L phng trnh sai
phn bc 1 dng:
u (i )
x ( i + 1) = Ad x ( i ) + Bd u ( i )
y ( i ) = Cd x ( i ) + Dd u ( i )
Dd
x ( i + 1)
Bd
Tr
x (i )
+
Cd
+
Ad
Trong :
Hnh 6.6 S cu trc trng thi ca h ri rc
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18
y (i )
6.4 Thnh lp h PTTT t PTSP
6.4.1 V phi PTSP khng cha sai phn TH vo
a0 y ( i + n ) + a1 y ( i + n 1) + ... + an1 y ( i + 1) + an y ( i ) = ku ( i )
Cch 1: t bin trng thi theo quy tc:
Bin u tin t bng tn hiu ra
Bin th i (i=2..l) bng sm bin th i-1 mt chu k ly mu
x1 ( i ) = y ( i )
y ( i + n ) + A1 y ( i + n 1) + ...
x1 ( i + 1) = x2 ( i )
+ An1 y ( i + 1) + An y ( i ) = Ku ( i )
x i +1 = x i
) 3( )
2(
...
x ( i + 1) = x ( i )
n
n1
xn ( i + 1) = An x1 ( i ) An1x2 ( i ) ... A2 xn1 ( i ) A1xn ( i ) + Ku ( i )
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H PTTT:
x1 ( i + 1) 0
1
... 0

0
... 0
x2 ( i + 1) 0
=
...

0
... 0
xn1 ( i + 1) 0
x ( i + 1) A A
n 1 ... A2
n
n
x1 ( i )
x
i
(
)
2
y ( i ) = [1 0 ... 0 0]
x
i
(
)
1
n
xn ( i )
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0 x1 ( i ) 0
0 x2 ( i ) 0

+ u (i )

1 xn1 ( i ) 0
A1 xn ( i ) K
20
Cch 2: t
x1 ( i ) = y ( i )
x1 ( i + 1) = x2 ( i ) A1x1 ( i )
x1 ( i + 1) A1 1 ... 0 0 x1 ( i ) 0
x2 ( i + 1) = x3 ( i ) A2 x1 ( i )

x2 ( i + 1) A2 0 ... 0 0 x2 ( i ) 0
...
=
+ u (i )
...

xn ( i + 1) = Ku ( i ) An x1 ( i )

xn1 ( i + 1) An1 0 ... 0 1 xn1 ( i ) 0

x ( i + 1) A
0 ... 0 0 xn ( i ) K
n
n

x1 ( i )
H PTTT:
x2 ( i )
y ( i ) = [1 0 ... 0 0]
xn1 ( i )
x (i )
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21
xn ( i + 1)
u (i )
An
xn ( i )
xn1 ( i + 1)
z
x2 ( i + 1)
An1
A2
x2 ( i )
x1 ( i + 1)
z 1
x1 ( i ) = y ( i )
A1
V d: Cho h thng c biu din bng PTSP:
4 y ( i + 4 ) 3 y ( i + 3) 5 y ( y + 2 ) y ( i + 1) + 2 y ( i ) = 5u ( i )
Biu din h di dng h PTTT?
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22
Gii: Chia c hai v ca phng trnh cho 4 ta c:
y ( i + 4 ) 0.75 y ( i + 3) 1.25 y ( i + 2 ) 0.25 y ( i + 1) + 0.5 y ( i ) = 1.25u ( i )
t:
x1 ( i ) = y ( i )
x1 ( i + 1) = x2 ( i )
x2 ( i + 1) = x3 ( i )
x3 ( i + 1) = x4 ( i )
x ( i + 1) = 0.75 x ( i ) + 1.25 x ( i ) + 0.25 x ( i ) 0.5 x ( i ) + 1.25u ( i )
4
3
2
1
4
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23
H phng trnh trng thi biu din h thng
x1 ( i + 1) 0
1
0
0 x1 ( i ) 0
0
1
0 x2 ( i ) 0
x2 ( i + 1) = 0
+
u (i )
x3 ( i + 1) 0
0
0
1 x3 ( i ) 0
x4 ( i + 1) 0.5 0.25 1.25 0.75 x4 ( i ) 1.25
x1 ( i )
x
i
(
)
2
y ( i ) = [1 0 0 0]
x3 ( i )
x
i
(
)
4
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24
6.4.2 V phi PTSP cha sai phn tn hiu vo:
a0y( i +n) +a1y( i +n1) +...+an1y( i +1) + any( i)

= b0u( i +m) +bu
1 ( i + m1) ++bm1u( i +1) +bmu( i)
y ( i + n ) + A1 y ( i + n 1) + ... + An1 y ( i + 1) + An y ( i )
= B0u ( i + m ) + B1u ( i + m 1) + + Bm1u ( i + 1) + Bmu ( i )
t bin theo quy tc:

Bin u tin bng tn hiu ra
Bin thc i (i=2..n) t bng cch lm sm bin th i-1 mt chu k
ly mu v tr mt lng t l vi tn hiu vo:
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25
x1 ( i ) = y ( i )
x1 ( i + 1) = x2 ( i ) A1x1 ( i ) + B0u ( i )
x i +1 = x i A x i + B u i
) 3( ) 2 1( ) 1 ( )
2(
...
x ( i + 1) = x ( i ) A x ( i ) + B u ( i )
n
n 1 1
m 1
n1
xn ( i + 1) = An x1 ( i ) + Bmu ( i )
x1 ( i + 1) A1 1 ...

x2 ( i + 1) A2 0 ...
=
H PTTT:

+
x
i
1
(
)
1
n
An1 0 ...
xn ( i + 1) An 0 ...
y ( i ) = [1 0 ... 0 0] x ( i )
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0 0 x1 ( i ) B0
0 0 x2 ( i ) B1
+
u (i )

0 1 xn1 ( i ) Bm1
0 0 xn ( i ) Bm
26
Bm1
xn ( i + 1)
u (i )
z 1
Bm
An
B0
B1
xn1 ( i + 1)
x2 ( i + 1)
z 1
z 1
xn ( i )
An1
x1 ( i + 1)
x2 ( i )
A2
z 1
x1 ( i ) = y ( i )
A1
V d: Cho h thng c biu din bng PTSP:
4 y ( i + 4 ) 3 y ( i + 3) 5 y ( y + 2 ) y ( i + 1) + 2 y ( i ) = 3u ( i + 2 ) 2u ( i + 1) + 5u ( i )
Biu din h di dng h PTTT?
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27
Gii: Chia c hai v ca phng trnh cho 4 ta c:
t:
y ( i + 4 ) 0.75 y ( i + 3) 1.25 y ( i + 2 ) 0.25 y ( i + 1) + 0.5 y ( i )

= 0.75u ( i + 2 ) 0.5u ( i + 1) + 1.25u ( i )
x1 ( i ) = y ( i )
x1 ( i + 1) = x2 ( i ) + 0.75 x1 ( i )
x2 ( i + 1) = x3 ( i ) + 1.25 x1 ( i ) + 0.75u ( i )
x3 ( i + 1) = x4 ( i ) + 0.25 x1 ( i ) 0.5u ( i )
x ( i + 1) = 0.5 x ( i ) + 1.25u ( i )
1
4
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28
H phng trnh trng thi biu din h thng:

x1 ( i + 1) 0.75
1
0
0 x1 ( i ) 0
0
1
0 x2 ( i ) 0.75
x2 ( i + 1) = 1.25
u (i )
+
x3 ( i + 1) 0.25
0
0
1 x3 ( i ) 0.5
x4 ( i + 1) 0.5 0.25 1.25 0.75 x4 ( i ) 1.25
x1 ( i )
x2 ( i )
y ( i ) = [1 0 0 0]
x3 ( i )
x
i
(
)
BT: Chuyn h sau sang dng h PTTT v v m hnh h thng?
2 y ( i + 4 ) 5 y ( i + 2 ) + y ( i + 1) + 2 y ( i ) = 4u ( i + 1) 5u ( i )
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29
6.5 Chuyn t h lin tc sang h ri rc:
x ( t ) = Ax ( t ) + Bu ( t )
y
t
=
Cx
t
+
Du
t
(
)
(
)
(
)
x ( i + 1) = Ad x ( i ) + Bd u ( i )
y ( i ) = Cd x ( i ) + Dd u ( i )
Phng php 1: Dng bin i Laplace:

Ad
B
d
Cd
Dd
= (T )
=
0 ( ) Bd
=C
=D
Trong ( t ) = L1
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{( pI A) } vi I l ma trn n v
1
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30
Phng php 2:Tnh gn

ng o hm cp 1:
Phng php 3: Phng

php hnh thang
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Ad = I + TA
B = TB
d
Cd = C
Dd = D
1
TA TA
Ad = I . I +
2
2
1
TA
Bd = I .T .B
2
C = C
d
Dd = D
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31
V d: . Cho h lin tc:
0 1
0
=
+
x
t
x
t
(
)
(
)
0 2
1 u ( t )
y t = 10 0 x t
] ()
( ) [
Chuyn sang min ri rc vi chu k ly mu T=0.5(s)

Phng php 1: Tm ma trn qu (t):
1
1
p
1
p + 2 1 p
1
1
( p ) = ( pI A ) =
= p p + 2 0
=
p
p
0
2
+
(
)
1
1 e 2 t )
1
(
1
( t ) = L ( pI A ) =
2
e 2 t
0
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1 1
1
2 p p + 2
p+2
32
1
1
2T
e
1
1
1
1 e20.5 ) 1 0.316
(
)
(
Ad = (T ) =
=
=
2
2
0 0.368
2T
20.5
e
e
0
0
Bd = ( ) Bd ( t ) =
T
Cd = C = [10 0]
1 e 2 ) 0
0.092
(
=
d
2
0.316
1
2
1 0.316
0.092
x
i
+
1
=
x
i
+
(
)
(
)
0 0.368
0.316 u ( i )
H ri rc tng ng:
y i = 10 0 x i
] ()
( ) [
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33
Phng php 2:
Ri rc ho phng trnh trng thi ca h lin tc
Ad
Bd
C
d
1 0
0 1 1 0.5
0.5
= I + TA =
+
0 2 = 0 0
0 1
0 0
= TB = 0.5 =
1 0.5
= C = [10 0]
1 0.5
0
x
i
+
1
=
x
i
+
(
)
(
)
0 0
0.5 u ( i )
H ri rc tng ng:

y i = 10 0 x i
] ()
( ) [
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34
Phng php 2:
Ri rc ho phng trnh trng thi ca h lin tc
1
1
1
1 0 0.5 0 1
1 0.25
1 0.167
TA
I
=
=
0 0.667
0 1 2 0 2
0 1.5
TA 1 0 0.5 0 1 1 0.25
I + 2 = 0 1 + 2 0 2 = 0 0.5
1
1 0.167 1 0.25 1 0.334
TA
I + =
0 0.667 0 0.5 0 0.334

1
1 0.167
0 0.084
TA
0.5
Bd = I .T .B =
1 = 0.334
2
0 0.667

TA
Ad = I
2
Cd = C = [10 0]
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35
H ri rc tng ng:
1 0.334
0.084
x (i ) +
x ( i + 1) =
u (i )
0
0.334
0.334
y i = 10 0 x i
] ()
( ) [
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36
Chng 7. Tng hp h ri rc
Ni dung
9
9
9
9
9
7.1 Gii thiu chung

7.2 Tnh n nh ca h thng ri rc
7.3 nh gi cht lng h thng ri rc
7.4 Tng hp h ri rc
Tng kt
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7.1 Gii thiu chung
H ri rc c thit k phi tha mn nhng yu cu cht lng ra:

Tnh n nh ca h thng s quyt nh h thng hu dng hay v
dng. Cc tiu chun xt tnh n nh ca h thng:
Tiu chun Routh-Hurwitz m rng
Tiu chun Jury
Tiu chun Nyquyst
Tiu chun nguyn l gc quay...
Cht lng h ri rc ph thuc vo cht lng hai qu trnh qu v
xc lp. Qu trnh qu quan tm n qu iu chnh cc i, thi
gian qu Qu trnh xc lp nh gi s chnh lch gia gi tr
mong mun v gi tr o c thi im v cng - sai s xc lp.
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7.2 Tnh n nh
7.2.1 Khi nim n nh ca h thng ri rc
Cho h biu din bng PTSP:
a0 y ( i + n ) + a1 y ( i + n 1) + ... + an y ( i ) = b0u ( i + m ) + b1u ( i + m 1) + ... + bmu ( i )
Nghim ca PTSP y ( nT:) = y qd ( nT ) + y0 ( nT ) trong yqd ( nT ) l

nghim tng qut, c trng cho qu trnh qu , y0 ( nT ) l nghim
ring, c trng cho qu trnh xc lp.
Xt tnh n nh ca h thng bng cch tm nghim PTSP:
a0 y ( i + n ) + a1 y ( i + n 1) + ... + an1 y ( i + 1) + an y ( i ) = 0
Chuyn 2 v sang min Z:

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a0 z n + a1z n1 + ... + an1z + an = 0

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Ta c:
z=e
pT
+ j )T
= e(
= eT .e jT
z = eT
> 0,
= 0,
< 0,
z >1
z =1
z <1
Mt phng z
Mt phng p
> 0 : Na bn phi mt phng p
z > 1 : Bn ngoi ng trn n v
= 0 : Trc o j
z = 1 : ng trn n v
> 0 : Na bn phi mt phng p
z < 1 : Bn trong ng trn n v
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Min n nh ca h
lin tc l na mt
phng p
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Min n nh ca h ri
rc l vng nm trong
vng trn n v
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3
(c)
6
2
4
B
II
3
C
5
C
A
2
1
t
III
IV
t
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(d)
(a)
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(b)
t
6
Cho h thng c s khi:

e ( iT )
e (t )
u (t )
WC(p)
ZOH
u1 ( t ) W
LT ( p )
y (t )
f (t )
WFH ( p )
W ( p ) .WPH ( p )
Phng trnh c trng: WC ( z ) . 1 z 1 Z LT
=0
p
Cho h c PTTT:
x ( t ) = Ax ( t ) + Bu ( t )
y ( t ) = Cx ( t )
Phng trnh c trng: det ( zI Ad ) = 0

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7.2.2 Tiu chun n nh i s
7.2.2.1 Tiu chun Routh Hurwitz m rng
Phng trnh c trng h ri rc:
a0 z n + a1z n1 + ... + an1z + an = 0
v +1
v 1
t: z =
Phng trnh c trng tr thnh:
v 1
v +1
v 1
v +1
A0v n + A1v n1 + ... + An1v + An = 0

v 1
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v +1
8
Min n nh: na tri mt

phng V
Min n nh: trong vng trn

n v ca mt phng Z
Tiu chun Routh Hurwitz m rng: bin i z v, sau p dng

tiu chun Routh Hurwitz vi bin l v.
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V d: Xt tnh n nh ca h thng sau:
U ( p)
ZOH
T=0.5
WLT ( p )
WFH ( f )
Phng trnh c trng:
Y ( p)
3e p
WLT ( p ) =
p+3
1
WFH ( p ) =
p +1
1+W ( z ) = 0
W ( p ) .WPH ( p )
0.202 z + 0.104
Trong : W ( z ) = 1 z 1 Z LT
= 2
p
z ( z 0.223)( z 0.607 )
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10
Vy phng trnh c trng:
1+
0.202 z + 0.104
=0
z 2 ( z 0.223)( z 0.607 )
z 4 0.83 z 3 + 0.135 z 2 + 0.202 z + 0.104 = 0

i bin: t z =
4
v +1
ta c:
v 1
3
v +1
v +1
v +1
v +1
+
+
0.83
0.135
0.202
+ 0.104 = 0
v 1
v 1
v 1
v 1
0.611w4 + 1.79 w3 + 6.624 w2 + 5.378w + 1.597 = 0
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11
Bng Routh:
Kt lun: H n nh v tt c cc s hng trong ct u tin ca

bng Routh dng
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12
7.2.2.1 Tiu chun Routh Hurwitz m rng
Xt n nh ca h thng c phng trnh c trng:
a0 z n + a1z n1 + ... + an1z + an = 0
Bng Jury c (2n+1) hng:

Hng 1: Cc h s ca PTT theo th t ch s tng dn
Hng chn (bt k) gm cc s hng ca hng l trc vit
theo th t ngc li
Hng l (bt k) t hn hng chn trc mt ct.
iu kin n nh: Tt c cc s hng thuc hng l, ct 1 ca
bng Jury dng
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13
Bng Jury:
Hng th
1
a0
a1
an1
an
an
an1
a1
a0
b0
b1
bn1
bn1
bn2
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b0
14
Tnh bng Jury:

b0 =
c0 =
1 a0
a0 an
an
1 b0 bn1
b0 bn1 b0
an
b1 =
c1 =
1 a0
a0 an
an1
a1
1 b0 bn2
b0 bn1 b1
bk =
ck =
1 a0
a0 an
ank
ak
1 b0 bnk 1
bk
b0 bn1
V d: Xt n nh ca h ri rc c PTT:
5 z 3 + 2 z 2 + 3z + 1 = 0
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16
7.2.2 Tiu chun n nh tn s
7.2.3.1 Nguyn l gc quay
Da vo tnh cht tn s ca a thc c tnh xt tnh n nh.
Gi s HTKT c PTT dng:
A ( z ) = a0 z + a1 z
n
n 1
+ + an 1z + an = 0
A ( z ) = a0
( z zi )
i =1
Trn mt phng z, mi s hng trong a thc trn l mt vector c

chn ti im zi v nh nm trn ng trn n v:
z=e
jT
=e
, = T
arg A ( z ) =

arg ( z zi )
i =1
Hnh sau m t phn b ca cc vector ny cho hai trng hp zi

nm trong ng trn n v v zi nm ngoi ng trn n v.
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17
Khi zi nm trong ng trn n v:
arg ( z zi ) = 2
Khi nm ngoi ng trn n v:
arg ( z zi ) = 0
zi
zi
H n nh khi cc nghim ca PTT u nm trong ng trn

n v. Gc quay ca biu vector a thc c tnh l:
arg ( z zi ) = 2n
arg ( z zi ) = n

H ri rc c PTT bc n n nh nu biu vector a thc c

tnh quay mt gc n quanh gc ta khi thay i t 0 n .
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18
a0 z + a1 = 0
V d: Xt n nh ca h c PTT:
j
Gii: Thay z = e = cos + j sin vo PTT ta c:
R ( ) = a0 cos + a1
a0 cos + a1 + ja0 sin = 0
I ( ) = a0 sin
Hnh b: khng n nh a1 > a0
BGD: a1 = a0
Hnh a: n nh a1 < a0
I ()
I ()
R ()
R ()
3
3
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b)
19
7.2.3.2 Tiu chun Nyquist
- Dng xt n nh cho c h xung h v h xung kn da vo c
tnh tn bin pha ca h thng h.
Pht biu: Nu h thng iu khin xung h n nh hoc bin
gii n nh th h thng kn s n nh nu c tnh TBP ca h h
khng bao im (-1,j0).
C/m: Gi s h thng xung h n nh hoc bin gii n nh c
hm truyn t:
Q z
Wh ( z ) =
( )
R(z)
Trong R(z) l a thc bc n v Q(z) l a thc bc <n.

Do h h n nh nn:
arg R ( z ) = l
0
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20
Wh ( z )
Q( z)
=
1 + Wh ( z ) R ( z ) + Q ( z )
Hm truyn t ca h kn: Wk ( z ) =
Theo tiu chun Mikhailope, h kn s n nh nu:

arg ( Q ( z ) + R ( z ) ) = l
Q( z) + R( z)
R( z)
Xt: J ( z ) = 1 + Wh ( z ) =
Khi h kn v h h n nh th:
arg J ( z ) = arg Q ( z ) +R ( z ) arg R ( z ) = n n = 0

0
Biu vector J(z) khng bao tm ta . Nh vy, c tnh TBP

ca h h khng bao im (-1,j0), v biu vector J(z) chnh l c
tnh TBP ca h h dch sang phi 1 n v (pcm)
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21
7.3 nh gi cht lng h ri rc
7.3.1 Qu trnh qu
p ng h ri rc c th tnh theo 2 cch:
C1: Nu h m t bng hm truyn t th tnh Y(z), sau dng
bin i Z ngc tm y(i).
C2: Nu h m t bng h PTTT th tnh nghim x(i) ca PTTT,
sau tm y(i).
Cp cc quyt nh ca h ri rc l cp cc nm gn vng trn
n v nht
Cch 1: nh gi cht lng qu da vo p ng thi gian y(i)
ca h ri rc
qu iu chnh:
y
y
% = max 100
y
Trong ymax v y l gi tr cc i v gi tr xc lp ca y(i).
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V Anh o - PTIT
22
Thi gian qu : tqd = k qd .T
Trong k qd phi tho mn iu kin:
y ( i ) y
. y
, k kqd
100
+
1
y
y
i
1
(
)
y , k kqd
100
100
Cch 2: nh gi cht lng qu da vo cp cc quyt nh

Cp cc quyt nh: z1,2 = re
*
12/31/2009
ln r
=
2
ln r ) + 2
(
1
2
r
ln
=
+2
(
)
V Anh o - PTIT
23
qu iu chnh:
Thi gian qu :
( % ) = exp
tqd =
(i vi tiu chun 5%)
100
1 2
7.3.2 Qu trnh xc lp
u (t )
e ( iT )
e (t )
WC(p)
T
ZOH
u1 ( t )
WLT ( p )
y (t )
f (t )
WFH ( p )
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24
1
U ( z)
1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
Biu thc sai s: E ( z ) =
Sai s xc lp: e ( ) = lim e ( iT ) = lim 1 z 1 E ( z ) = lim
(
z 1
i T
Khi u ( t ) = 1( t ) U ( z ) =
z 1
E (z)
z 1 z
z
z 1
1
z 1 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
e ( ) = lim
Khi u ( t ) = t U ( z ) =
Tz
( z 1)2
T
z 1 ( z 1) 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
e ( ) = lim
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V Anh o - PTIT
25
7.4 Tng hp h ri rc
7.4.1 Tnh iu khin c
iu khin c khi c th chuyn h t trng thi ny n trng
thi khc trong mt khong thi gian gii hn.
Cho h RR:
x ( i + 1) = Ad x ( i ) + Bd u ( i )
y ( i ) = Cd x ( i ) + Dd u ( i )
Ma trn iu khin c
M = Ad n1.Bd
Ad n2 .Bd
... Bd
H K c hon ton khi v ch khi:
rank ( M ) = n
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26
7.4.2 Tnh quan st c
Quan st c nu t cc s liu o c u ra c th xc nh
c cc trng thi.
Ma trn quan st c
N = Cd '
Ad ' .Cd ' ...
( )
Ad '
n 1
.Cd '
H quan st c hon ton khi v ch khi:
rank ( N ) = n
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27
H ri rc tuyn tnh ging h lin tc tuyn tnh:

+ V tnh n nh ca h thng (bng Slice 4)
+ H bc thp: c th p dng tiu chun Routh Hurwitz m rng
ca h lin tc, H bc cao: dng tiu chun Jury.
+ Tiu chun nguyn l gc quay trong h ri rc tng ng vi
tiu chun Mikhailope dng xt n nh cho h lin tc tiu tiu
chun tn s.
+ Khi xt cc ch tiu cht lng ca h ri rc, ta cng ch n cc
thng s nh qu iu chnh cc i, thi gian qu v sai
s ca h thng trng thi xc lp.
+ Xt c im ca h thng trong khng gian trng thi ta cng xt
tnh iu khin c hon ton v quan st c hon ton ca h
thng.
Mt c im ca h thng ri rc m h thng lin tc khng c l
tn ti kh nng n nh v hn ca h thng.
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28
6.5 Tng kt
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 khi n
tha mn iu kin .
C ba phng php chuyn t h lin tc sang h ri rc vi chu
k ct mu l dng bin i Laplace, tnh gn ng o hm cp 1
v phng php hnh thang, trong phng php hnh thang cho
kt qu chnh xc nht
12/31/2009
V Anh o - PTIT
37

Dieu Kien Tu Dong

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Dieu Kien Tu Dong

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HC VIN CNG NGH BU CHNH VIN THNG

Hc k/Nm bin son: 2009

Ti liu tham kho

Chng 1. M t ton hc h thng KT

K hc l khoa hc nghin cu v cc qu trnh thu thp, x l tn hiu v iu

Thit b Tn hiu iu khin i tng Tn hiu ra

Hnh 1.1 H thng iu khin h

Nhim v c bn ca iu khin to ra tn hiu iu khin c c gi tr u ra

Chng 1. M t ton hc h thng KT...

H thng c ng phn hi gi l h kn, m t trong hnh 1.2. f c gi l tn

Thit b Tn hiu iu khin i tng Tn hiu ra

C ba phng thc iu khin l phng thc iu khin theo chng trnh,

Chng 1. M t ton hc h thng KT...

Theo tnh cht ca cc phn t, HTKT c phn lm 2 loi chnh l h

Da vo lng thng tin thu thp ban u v TK v tnh cht ca n, HTLTTT

H thng thng: cu trc v tham s ca thit b iu khin l khng

Chng 1. M t ton hc h thng KT...

Hm truyn t: : l t s gia tn hiu ra v tn hiu vo theo bin i Laplace vi

Bin i Laplace 2 v, ta c hm truyn t:

V phng trnh c trng:

Chng 1. M t ton hc h thng KT...

H phng trnh khng gian trng thi

x, dx/dt l cc vector cc bin trng thi n chiu, u l vector tn hiu vo r chiu, y l

Hnh 1.3 S cu trc

Chng 1. M t ton hc h thng KT...

Chuyn t hm truyn t sang h phng trnh trng thi:

Chng 1. M t ton hc h thng KT...

Trn c s cc phng trnh trn, ta d dng xy dng m hnh h thng

Hnh 1.5 M hnh h thng

Hnh 1.6 S cu trc trng thi ca h thng

Chng 1. M t ton hc h thng KT...

Chng 1. M t ton hc h thng KT...

Ch : H lun phi tho mn iu kin n-m=1 bng cch thm vo t s cc h s

Hnh 1.7. M hnh h thng

Hnh 1.8. S cu trc trng thi ca h thng

Chng 1. M t ton hc h thng KT...

xc nh cc c tnh tn s ca h thng, trc ht ta phi xc nh c hm

Hnh 1.9 S h thng h (a) v h thng kn (b)

Nu hm truyn tn s ca cc phn t c m t di dng:

th hm truyn tn s ca h h c tnh theo biu thc:

Chng 1. M t ton hc h thng KT...

c tnh pha tn (hay pha tn logarithm PT- PTL)

c tnh bin tn logarithm (BTL)

Nh vy, c tnh BTL v PTL ca h h bng tng i s ca cc c tnh

Chng 1. M t ton hc h thng KT...

S dng cng thc Eurler:

Tch phn thc v phn o, ta c:

Chng 1. M t ton hc h thng KT...

Chng 1. M t ton hc h thng KT...

Cc phn t mc ni tip nhau nu tn hiu ra ca phn t trc l tn hiu vo ca

Hnh 1.10 S h thng gm cc phn t mc ni tip

Chng 1. M t ton hc h thng KT...

Hnh 1.11. S h thng gm cc phn t mc song song

Chng 1. M t ton hc h thng KT...

H thng c mch mc phn hi gm hai loi l phn hi m v phn hi dng

Hnh 1.12 S h thng c mch phn hi m (a) v dng (b)

H phn hi m (hnh 1.12a)

H phn hi dng (hnh 1.12b):

Chng 1. M t ton hc h thng KT...

T hnh 1.13 (b):

Hnh 1.13 Chuyn tn hiu vo t trc ra sau mt khi

Vy tn hiu chuyn t trc ra sau mt khi th tn hiu phi i qua mt

Chng 1. M t ton hc h thng KT...

T sau ra trc mt khi (hnh 1.14):