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1297_Ly_Thuyet_Dieu_Khien_Tu_Dong_full

1297_Ly_Thuyet_Dieu_Khien_Tu_Dong_full

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1TR
NG
I H
C BÁCH KHOA
KHOA
I
N
B
MÔN T
 

NG HÓA
 
 
 
 
 Lý thuy
 
I
U KHI
N T
 

NG
Liên h
:tdkquoc@dng.vnn.vn 
 
2
M
C L
C
Ph
n m
 
 

u1 Khái ni
m.......................................................................................................................52 Các nguyên t
c
i
u khi
n t
 

ng..................................................................................62.1 Nguyên t
c gi
 
n

nh...........................................................................................62.2 Nguyên t
c
i
u khi
n theo ch
 
ng trình................................................................63 Phân lo
i h
th
ng
KT
...............................................................................................63.1 Phân lo
i theo

c
i
m c
a tín hi
u ra....................................................................63.2 Phân lo
i theo s
vòng kín......................................................................................63.3 Phân lo
i theo kh
n
ng quan sát tín hi
u................................................................73.4 Phân lo
i theo mô t
toán h
c..................................................................................74 Biêu

 
i
u khi
n t
 

ng trong m
t nhà máy...............................................................85 Phép bi
n

i Laplace.....................................................................................................8Ch
 
ng 1: MÔ T
TOÁN H
C CÁC PH
N T
 
H
TH
!
NG
I
"
U KHI
#
N T
 
%
NG 1 Khái ni
m chung...........................................................................................................102 Hàm truy
n

t.............................................................................................................102.1

nh ngh
 & 
a :..........................................................................................................102.2 Ph
 
ng pháp tìm hàm truy
n

t...........................................................................102.3 M
t s
ví d
'
v
cách tìm hàm truy
n

t...............................................................112.4 Hàm truy
n

t c
a m
t s
thi
t b
 
i
n hình.........................................................132.5

i s
s
 
 

kh
i..................................................................................................133 Ph
 
ng trình tr
ng thái.................................................................................................163.1 Ph
 
ng trình tr
ng thái t
ng quát..........................................................................163.2 Xây d
ng ph
 
ng trình tr
ng thái t
(
hàm truy
n

t.............................................183.3 Chuy
n

i t
(
ph
 
ng trình tr
ng thái sang hàm truy
n........................................20Ch
 
ng 2:
 
)
C TÍNH
%
NG H
C C
*
A CÁC KHÂU VÀ C
*
A H
TH
!
NG TRONGMI
"
N T
N S
!
 1 Khái ni
m chung...........................................................................................................242 Ph
n
+
ng c
a m
t khâu.................................................................................................242.1 Tín hi
u tác

ng vào m
t khâu (các tín hi
u ti
n

nh).........................................242.2 Ph
n
+
ng c
a m
t khâu.........................................................................................243

c tính t
n s
c
a m
t khâu........................................................................................253.1 Hàm truy
n

t t
n s
...........................................................................................253.2

c tính t
n s
......................................................................................................264

c tính

ng h
c c
a m
t s
khâu c
 
b
n...................................................................274.1 Khâu t
,
l
..............................................................................................................274.2 Khâu quán tính b
-
c 1.............................................................................................274.3 Khâu dao

ng b
-
c 2.............................................................................................294.4 Khâu không
n

nh b
-
c 1.....................................................................................314.5 Khâu vi phân t
 
ng...........................................................................................324.6 Khâu vi phân b
-
c 1...............................................................................................324.7 Khâu tích phân t
 
ng........................................................................................334.8 Khâu ch
-
m tr
.
.......................................................................................................33Ch
 
ng 3: TÍNH
/
N
0
NH C
*
A H
TH
!
NG
I
"
U KHI
#
N T
 
%
NG1 Khái ni
m chung...........................................................................................................352 Tiêu chu
1
n
n

nh

i s
.............................................................................................362.1
i
u ki
n c
n

h
th
ng
n

nh.........................................................................362.2 Tiêu chu
1
n Routh..................................................................................................362.3 Tiêu chu
1
n
n

nh Hurwitz..................................................................................373 Tiêu chu
1
n
n

nh t
n s
.............................................................................................373.1 Tiêu chu
1
n Nyquist theo

c tính t
n s
biên pha..................................................37
 
33.2 Tiêu chu
1
n Nyquist theo

c tính t
n s
logarit.....................................................373.3 Tiêu chu
1
n
n

nh Mikhailov...............................................................................384 Ph
 
ng pháp qu
2
 

o nghi
m s
..................................................................................384.1 Ph
 
ng pháp xây d
ng Q
NS..............................................................................38Ch
 
ng 4: CH
3
T L
4
NG C
*
A QUÁ TRÌNH
I
"
U KHI
#
N 1 Khái ni
m chung...........................................................................................................411.1 Ch
 

xác l
-
p......................................................................................................411.2 Quá trình quá

...................................................................................................412
ánh giá ch
5
t l
6 
ng
 
ch
 

xác l
-
p............................................................................412.1 Khi u(t) = U
0
.1(t)..................................................................................................422.2 Khi u(t) = U
0
.t.......................................................................................................423
ánh giá ch
5
t l
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ng
 
quá trình quá

.........................................................................423.1 Phân tích thành các bi
u th
+
c
 
n gi
n..................................................................423.2 Ph
 
ng pháp s
Tustin..........................................................................................423.3 Gi
i ph
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ng trình tr
ng thái..................................................................................443.4 S
7
d
'
ng các hàm c
a MATAB..............................................................................444
ánh giá thông qua

d
tr
 
n

nh...........................................................................454.1

d
tr
biên

..................................................................................................454.2

d
tr
v
pha...................................................................................................454.3 M
i liên h
gi
a các

d
tr
và ch
5
t l
6 
ng
i
u khi
n........................................455 Tính
i
u khi
n
6 
c và quan sát
6 
c c
a h
th
ng....................................................465.1
i
u khi
n
6 
c....................................................................................................465.2 Tính quan sát
6 
c................................................................................................46Ch
 
ng 5: NÂNG CAO CH
3
T L
4
NG VÀ T
/
NG H
4
P H
TH
!
NG1 Khái ni
m chung...........................................................................................................482 Các b
 
i
u khi
n – Hi
u ch
,
nh h
th
ng......................................................................482.1 Khái ni
m.............................................................................................................482.2 B
 
i
u khi
n t
,
l
P..............................................................................................482.3 B
bù s
m pha Lead.............................................................................................482.4 B
bù tr
.
pha Leg..................................................................................................492.5 B
bù tr
.
-s
m pha Leg -Lead................................................................................502.6 B
 
i
u khi
n PI (Proportional Integral Controller)...............................................512.7 B
 
i
u khi
n PD (Proportional Derivative Controller).........................................512.8 B
 
i
u khi
n PID (Proportional Integral Derivative Controller)...........................523 T
ng h
p h
th
ng theo các tiêu chu
1
n t
i
u...............................................................533.1 Ph
 
ng pháp t
i
u modun...................................................................................533.2 Ph
 
ng pháp t
i
u

i x
+
ng................................................................................54Ch
 
ng 6: H
TH
!
NG
I
"
UKHI
#
N GIÁN
O
N1 Khái ni
m chung...........................................................................................................562 Phép bi
n

i Z.............................................................................................................562.1

nh ngh
 & 
a............................................................................................................562.2 M
t s
tính ch
5
t c
a bi
n

i Z.............................................................................572.3 Bi
n

i Z ng
6 
c..................................................................................................573 L
5
y m
9
u và gi
m
9
u.....................................................................................................583.1 Khái ni
m.............................................................................................................583.2 L
5
y m
9
u................................................................................................................583.3 Gi
m
9
u................................................................................................................594 Hàm truy
n

t h
gián
o
n.........................................................................................604.1 Xác

nh hàm truy
n

t W(z) t
(
hàm truy
n

t h
liên t
'
c.................................604.2 Xác

nh hàm truy
n

t t
(
ph
 
ng trình sai phân.................................................655 Tính
n

nh c
a h
gián
o
n......................................................................................655.1 M
i liên h
gi
a m
t ph
:
ng p và m
t ph
:
ng z........................................................655.2 Phép bi
n

i t
 
ng
 
ng...................................................................................65Ph
'
l
'
c: CONTROL SYSTEM TOOLBOX & SIMULINK TRONG MATLAB

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