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Bai tap Ly thuyet dieu khien tu dong 01

Bai tap Ly thuyet dieu khien tu dong 01

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Published by: api-26870292 on Dec 03, 2009
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03/18/2014

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 Bµi tËp thuyÕt ®iÒu khiÓn ®éng §µo V¨n S¬n T§H K47 daonui3000@yahoo.com
1
  Bµi tËp lý thuyÕt ®iÒu khiÓn tù ®éng
 Hä tªn
: §µo V¨n S¬n
 Líp
: Tù ®éng ho¸47
 §Ò bµi 
: HÖ thèng cã hµm truyÒn ®¹t
W(p)
=
1335
23
+++
p p p
 -Thµnh lËp ph
− 
¬ng tr×nh vi ph©n tæng qu¸t cña hÖ-Thµnh lËp hÖ ph
− 
¬ng tr×nh tr¹ng th¸i-Gi¶i hÖ ph
− 
¬ng tr×nh tr¹ng th¸i kh«ng thuÇn nhÊt,dõng víi ®iÒu kiÖn ®Çu: 
 x 
1
(0) = 0, x 
 2
(0) = 1, x 
 3
(0) = 1, u(t) = 1.
 
 Bµi lµm
-Tõ hµm truyÒn ®¹t cña hÖ thèng
W(p)
=
)()(1335
23
 p p p p p
=+++
 
)(5)()133(
23
 p p p p p
=+++
 
u y y y y
533
=+++
&&&&&&
 
 §ã chÝnh lµ ph
− 
¬ng tr×nh vi ph©n cña hÖ thèng.
- §Æt:
u x x x x  y x x x  x x x x x y x
533
3213 123123121
+= =======
&&&&&&&&&& &&&&
 
VËy ta cã hÖ ph
− 
¬ng tr×nh tr¹ng th¸i:
+= ==
u x x x x  x x x x
533
3213 3221
&&&
 
 
 Bµi tËp thuyÕt ®iÒu khiÓn ®éng §µo V¨n S¬n T§H K47 daonui3000@yahoo.com
2Hay:
u x x x x x x
+=
500331100010
321321
&&&
 
-Gi¶i ph
− 
¬ng tr×nh tr¹ng th¸i kh«ng thuÇn nhÊt, dõng :
=
331100010
 A
;
=
500
 B
 X¸c ®Þnh
 At 
e
=Φ
)(
theo biÕn ®æi Laplace:
[ ]
1
)(
=Φ
A pI  p
 
[ ]
+==
3311001331100010100010001
 p p p p A pI 
 
3232
)1(1331)33()det(
+=+++=+++=
p p p p p p p A pI 
 
1222
11333 133)(
++ ++ =
 p p p p p p  p p p A pI adj
=
++++
222
13311333
 p p p p p p p p p
 
( )
+++++++++++++==Φ
323333233332
)1()1( 13)1()1()1( 3)1(1)1(1)1(3)1(33)det()(
 p p p p p p p p p p p p p p p p p p A pI  A pI adj p
 Tra b¶ng biÕn ®æi Laplace ta cã:
e p L
=+
2)1(1
231
 
e p p L
=+
)2()1(
231
 
e p p L
+=+
)221()1(
2321
 Suy ra:
e p p p L
++=+++=Φ
)21()1(33)(
232111
 
e p L
=+=Φ
2)1(1)(
23121
 
e p p L
=+=Φ
)2()1()(
23131
 
 
 Bµi tËp thuyÕt ®iÒu khiÓn ®éng §µo V¨n S¬n T§H K47 daonui3000@yahoo.com
3 
e p p L
+=++=Φ
)()1(3)(
23112
 
e p p p L
+=++=Φ
)1()1(3)(
232122
 
e p p L
+=+=Φ
)3()1(13)(
23132
 
e p L
=+=Φ
2)1(1)(
23113
 
e p p L
=+=Φ
)2()1()(
23123
 
e p p L
+=+=Φ
)221()1()(
232133
 
++ + +++=Φ
eee eee eee
)221()3() 2()2()1( 22)()21()(
222222222
 
+=××Φ +=××Φ
)(2)(2)(2222
]2)()(21[5 ]2)()[(52)(5)()221(5 )2(525)(
τ  τ  τ  
τ  τ  τ  τ  τ  τ  
eee Beee B
 Suy ra:
+=××Φ
∫ ∫ ∫ ∫ 
eeeu B
0)(20)(20)(20
]2)()(21[5 ]2)()[(52)(5)()(
τ  τ  τ  τ  τ  τ  τ  τ  τ  τ  τ  
τ  τ  τ  
 Tr
− 
íc tiªn ta tÝnh c¸c tÝch ph©n sau:
1
0)(
+=
∫ 
ee
τ  
τ  
 
1)1()(
0)(
++=
∫ 
ee
τ  τ  
τ  
 
2)22()(
20)(2
+++=
∫ 
ee
τ  τ  
τ  
 Do ®ã ta cã:

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