Control System Toolbox & Simulink

1

Control System Toolbox & SIMULINK
Ung dung d phn tch, thit k v m phong cc h thong tuyn tnh
Trn Dnh Khi Quc, BM. Tu dng ha. Email : tdkquoc@dng.vnn.vn

GII THIEU
MATLAB, tn vit tt cua tu ting Anh MATrix LABoratory, l mt mi truong manh
dnh cho cc tnh ton khoa hoc. N tch hop cc php tnh ma trn v phn tch s dua trn cc
hm co ban. Hon nua, cu trc d hoa huong di tuong cua Matlab cho php tao ra cc hnh v
cht luong cao. Ngy nay, Matlab tro thnh mt ngn ngu chun duoc su dung rng ri trong
nhiu ngnh v nhiu quc gia trn th gioi.
V mt cu trc, Matlab gm mt cua s chnh v rt nhiu hm vit sn khc nhau. Cc
hm trn cng linh vuc ung dung duoc xp chung vo mt thu vin, diu ny gip nguoi su dung
d dang tm duoc hm cn quan tm. C th k ra mt s thu vin trong Matlab nhu sau :
- Control System (dnh cho diu khin tu dng)
- Finacial Toolbox (linh vuc kinh t)
- Fuzzy Logic (diu khin mo)
- Signal Processing (xu l tn hiu)
- Statistics (ton hoc v thng k)
- Symbolic (tnh ton theo biu thuc)
- System Identification (nhn dang)
-
Mt tnh cht rt manh cua Matlab l n c th lin kt voi cc ngn ngu khc. Matlab c th
goi cc hm vit bng ngn ngu Fortran, C hay C++, v nguoc lai cc hm vit trong Matlab c
th duoc goi tu cc ngn ngu ny
Cc ban c th xem phn Help trong Matlab d tham khao cch su dung v v du cua tung
lnh, hoc download (min ph) cc file help dang *.pdf tai trang Web cua Matlab o dia chi
http://www.mathworks.com
1 Control System Toolbox
Control System Toolbox l mt thu vin cua Matlab dng trong linh vuc diu khin tu dng.
Cng voi cc lnh cua Matlab, tp lnh cua Control System Toolbox s gip ta thit k, phn tch
v dnh gi cc chi tiu cht luong cua mt h thng tuyn tnh.
1.1 jnh ngha mt h thng tuyn tnh
1.1.1 inh ngha bng hm truyn
H thng mt tn hiu vo/ra

Cu lnh: sys=tf(num,den,T)

- num: vecto chua cc h s cua da thuc o tu s, bc tu cao dn thp theo ton tu Laplace
(h lin tuc) hoc theo ton tu z (h gin doan)
- den: vecto chua cc h s cua da thuc o mu s, bc tu cao dn thp
- T: chu ky ly mu, chi dng cho h gin doan (tnh bng s)

V du:
Dinh nghia mt hm truyn trong Matlab
Control System Toolbox & Simulink
2
4 2
2
3 ) (
2
+ +
+
=
p P
p
p F num=3*[1 2];den=[1 2 4];sys1=tf(num,den);
4 , 0 56 , 0
6 , 0
* 1 , 2 ) (
2
+

=
z z
z
z F num=2.1*[1 -0.6];den=[1 -0.56];
T=0.5;sys2=tf(num,den,T)

H thng nhiu tn hiu vo/ra








Cu lnh :
G11=tf(num11,den11,T); G12=tf(num12,den12,T);...; G1n=tf(num1n,den1n,T);
G21=tf(num21,den21,T); G22=tf(num22,den22,T);...; G2n=tf(num2n,den2n,T);

Gp1=tf(nump1,denp1,T); G12=tf(nump2,denp2,T);...; Gpn=tf(numpn,denpn,T);
sys=[G11,G12,...,G1n;G21;G22;...;G2n;...;Gp1,Gp2,...,Gpn];
1.1.2 inh ngha bng zero v cuc
H thng mt tn hiu vo/ra

Cu lnh: sys=zpk(Z,P,K,T)

- Z,P l cc vecto hng chua danh sch cc dim zer v cuc cua h thng.
- K l h s khuch dai
Ch : nu h thng khng c dim zer (cuc) th ta dt l []

V du:
) 5 (
2
) (
+
+
=
p p
p
p F Z=-2;P=[0 -5];K=1;sys=zpk(Z,P,K);

H thng nhiu tn hiu vo/ra
Cu lnh :
G11=zpk(Z11,P11,T); G12=zpk(Z12,P12,T);...; G1n=zpk(Z1n,P1n,T);
G21=zpk(Z21,P21,T); G22=zpk(Z22,P22,T);...; G2n=zpk(Z2n,P2n,T);

Gp1=zpk(Zp1,Pp1,T); G12=zpk(Zp2,Pp2,T);...; Gpn=zpk(Zpn,Ppn,T);
sys=[G11,G12,...,G1n;G21;G22;...;G2n;...;Gp1,Gp2,...,Gpn];
1.1.3 Phuong trnh trang thi

Cu lnh: sys=ss(A,B,C,D,T)

- A,B,C,D l cc ma trn trang thi dinh nghia h thng
- T l chu ky ly mu.

G(r)
U
1

U
n

Y
1

Y
n

=
) ( ) ( ) (
...
) ( ) ( ) (
) ( ... ) ( ) (
) (
2 1
2 22 21
1 12 11
r G r G r G
r G r G r G
r G r G r G
r G
pn p p
n
n
Control System Toolbox & Simulink
3
1.1.4 Chuyn di gia cc dang biu din
- Chuyn tu phuong trnh trang thi sang hm truyn
[num,den] = ss2tf(A,B,C,D)
- Chuyn tu dang zero/cuc sang hm truyn
[num,den] = zp2tf(Z,P,K)
- Chuyn tu hm truyn sang phuong trnh trang thi
[A,B,C,D]=tf2ss(num,den)
1.1.5 Chuyn di gia h lin tuc v gin doan
S ha mt h thng lin tuc

Cu lnh: sys_dis=c2d(sys,T,method)

- sys, sys_dis h thng lin tuc v h thng gin doan tuong ung
- Ts thoi gian ly mu
- method phuong php ly mu: zoh ly mu bc 0, foh ly mu bc 1, tustin
phuong php Tustin
V du: chuyn mt khu lin tuc c hm truyn
1 5 . 0
2
) (
+
=
p
p G sang khu gin doan bng
phuong php giu mu bc 0, chu ky ly mu T=0.01s
num=2
den=[0.5 1]
sysc=tf(num,den)
sysd=c2d(sysc,0.01,zoh)

H lin tuc tuong duong cua mt h thng gin doan

Cu lnh: sys=d2c(sys_dis,method)
1.2 Bin di so d tuong duong
1.2.1 Mc ni tip







Cu lnh: sys=series(sys1,sys2)
1.2.2 Mc song song
Cu lnh: sys=parallel(sys1,sys2)
1.2.3 Mc phn hi
Cu lnh: sys=feedback(sys1,sys2,sign)





sys1 sys2
U
Y
Control System Toolbox & Simulink
4







sign = +1 nu phan hi duong v sign=-1 (hoc khng c sign) nu phan hi m.
1.3 Phn tch h thng
1.3.1 Trong min thi gian
Hm qu d h(t)
Cu lnh: step(sys)

V hm qu d cua h thng tuyn tnh sys. Khoang thoi gian v v buoc thoi gian do Matlab tu
chon.

Mt s truong hop khc
- step(sys,t_end): v hm qu d tu thoi dim t=0 dn thoi dim t_end.
- step(sys,T): v hm qu d trong khoang thoi gian T. T duoc dinh nghia nhu sau
T=Ti:dt:Tf. Di voi h lin tuc, dt l buoc v, di voi h gin doan, dt=Ts l chu
ky ly mu.
- step(sys1,sys2,sys3,) : v hm h(t) cho nhiu h thng dng thoi.
- [y,t]=step(sys): tnh dp ung h(t) v luu vo cc bin y v t tuong ung
Hm trong luong (t)
Cu lnh: impulse(sys)
1.3.2 Trong min tn s
Dc tnh bode
Cu lnh: bode(sys)

V dc tnh tn s Bode cua h thng tuyn tnh sys. Dai tn s v do Matlab tu chon.

Mt s truong hop khc
- bode(sys,{w_start,w_end}): v dc tnh bode tu tn s w_start dn tn s w_end.
- bode(sys,w) v dc tnh bode theo vecto tn s w. Vecto tn s w duoc dinh nghia
bng hm logspace. V du: w=logspace(-2,2,100) dinh nghia vecto w gm 100 dim,
tu tn s 10
-2
dn 10
2
.
- bode(sys1,sys2,sys3,) v dc tnh bode cua nhiu h thng dng thoi.
- [mag,phi,w]=bode(sys,) luu tt ca cc dim tnh ton cua dc tnh bode vo vecto
mag, phi ung voi tn s w tuong ung.

Ch : Di voi h thng gin doan, dai tn s d v phai thoa mn dinh l Shannon.
Dc tnh Nyquist
Cu lnh: nyquist(sys)
nyquist(sys,{w_start,w_end})
sys1
sys2
U Y
Control System Toolbox & Simulink
5
nyquist(sys,w)
nyquist(sys1,sys2,sys3,...,w)
[real,ima,w]=nyquist(sys,)
Dc tnh Nichols
Cu lnh: nichols(sys)
nichols(sys,{w_start,w_end})
nichols(sys,w)
nichols(sys1, sys2, sys3,...,w)
[mag,phi,w]=nichols(sys,)

Tnh ton G(), arg[G()] v v trong mt phng Black.

V du: V cc dc tnh tn s cua h thng sau

2
0 0
2
2
0
2
) (

+ +
=
p p
p G voi
0
=1rad/s v =0,5
w0=1 ;xi=0.5 ;num=w0^2 ;den=[1 2*xi*w0^2 w0^2] ;G=tf(num,den);
w=logspace(-2,2,100) ;
bode(G,w) ; % v dc tnh bode trong dai tn s w
nichols(G); % v dc tnh nichols trong dai tn s tu chon cua Matlab
nyquist(G); % v dc tnh nyquist
1.3.3 Mt s hm d phn tch
Hm margin
- margin(sys) v dc tnh Bode cua h thng SISO v chi ra d du tru bin d, d du tru
pha tai cc tn s tuong ung.
- [delta_L,delta_phi,w_L,w_phi]=margin(sys) tnh v luu d du tru bin d vo bin
delta_L tai tn s w_L, luu d du tru v pha vo bin delta_phi tai tn s w_phi.
Hm pole
vec_pol=pole(sys) tnh cc dim cuc cua h thng v luu vo bin vec_pol.
Hm tzero
vec_zer=tzero(sys) tnh cc dim zero cua h thng v luu vo bin vec_zer.
Hm pzmap
- [vec_pol,vec_zer]=pzmap(sys) tnh cc dim cuc v zero cua h thng v luu vo cc
bin tuong ung.
- pzmap(sys) tnh cc dim cuc, zero v biu din trn mt phng phuc.
Hm dcgain
G0=dcgain(sys) tnh h s khuch dai tinh cua h thng v luu vo bin G0.
1.3.4 Mt s hm dc bit trong khng gian trang thi
Hm ctrl
Cu lnh: C_com=ctrl(A,B)
C_com=ctrl(sys)

Control System Toolbox & Simulink
6
Tnh ma trn diu khin duoc C cua mt h thng. Ma trn C duoc dinh nghia nhu sau:
C=[B AB A
2
B A
n-1
B] voi A
nxn

Hm obsv
Cu lnh: O_obs=obsv(A,C)
O_obs=obsv(sys)

Tnh ma trn quan st duoc O cua mt h thng. Ma trn O duoc dinh nghia nhu sau:
O=[C CA CA
2
CA
n-1
]

Hm ctrbf
Cu lnh: [Ab,Bb,Cb,T,k]=ctrbf(A,B,C)

Chuyn v dang chun (canonique) diu khin duoc cua mt h thng biu din duoi dang
phuong trnh trang thi.
Trong d: A
b
=TAT
-1
, B
b
=TB, C
b
=CT
-1
, T l ma trn chuyn di.

Hm obsvf
Cu lnh: [Ab,Bb,Cb,T,k]=obsvf(A,B,C)

Chuyn v dang chun quan st duoc cua mt h thng biu din duoi dang phuong trnh
trang thi.
Trong d: A
b
=TAT
-1
, B
b
=TB, C
b
=CT
-1
, T l ma trn chuyn di.
1.4 V du tng hop
Cho mt h thng kn phan hi -1, trong d hm truyn cua h ho l

2
0 0
2
2
0
2
*
) 1 (
) (

+ + +
=
p p p p
K
p G voi K=1, =10s,
0
=1rad/s v =0.5
1. V dc tnh tn s Nyquist. Chung to rng h kn khng n dinh.
2. V dp ung qu d cua h kn.
3. D h thng n dinh, nguoi ta hiu chinh h s khuch dai K=0.111. Xc dinh tn s ct,
d du tru bin d v d du tru v pha cua h thng trong truong hop ny.
4. Xc dinh cc thng s qu d (thoi gian qu d lon nht T
max
, d qu diu chinh lon nht

max
) cua h thng d hiu chinh.

THUC HIEN
Cu 1
>>K=1;to=10;w0=1;xi=0.5;
>>num1=K;den1=[to 1 0];
>>num2=w0^2;den2=[1 2*xi*w0 w0^2] ;
>>G=tf(num1,den1)*tf(num2,den2)
Transfer function:
1
----------------------------
10 s^4 + 11 s^3 + 11 s^2 + s
>>w=logspace(-3,2,100) ; % tao vecto tn s d v cc dc tnh tn s
>>nyquist(G,w);
Dc tnh duoc biu din trn hnh 1.1
Control System Toolbox & Simulink
7

D xt tnh n dinh cua h kn dng tiu chun Nyquist, truoc tin ta xt tnh n dinh cua h ho.
Nghim cua phuong trnh dc tnh cua h ho duoc xc dinh :
>>pole(G)
ans =

0
-0.5000 + 0.8660i
-0.5000 - 0.8660i
-0.1000
H ho c 1 nghim bng 0 nn o bin gioi n dinh.


















Quan st dc tnh tn s Nyquist cua h ho trn hnh 1.1 (phn zoom bn phai), ta thy dc tnh
Nyquist bao dim (-1,j0), v do h ho o bin gioi n dinh nn theo tiu chun Nyquist, h thng
kn s khng n dinh.

Cu 2
>>G_loop=feedback(G,1,-1) ; % hm truyn h kn
>>step(G_loop) ;

















Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
Nyquist Diagrams
-12 -10 -8 -6 -4 -2 0 2
-1500
-1000
-500
0
500
1000
1500
From: U(1)
T
o
:

Y
(
1
)
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
Nyquist Diagrams
-1 -0.8 -0.6 -0.4 -0.2 0
-0.4
-0.3
-0.2
-0.1
0
0.1
0.2
0.3
From: U(1)
T
o
:

Y
(
1
)
Hnh 1.1 : Dc tnh tn s Nyquist cua h ho
Time (sec.)
A
m
p
l
i
t
u
d
e
Step Response
0 50 100 150 200 250 300 350 400 450 500
-10
-5
0
5
10
15
From: U(1)
T
o
:

Y
(
1
)
Hnh 1.2 :
Dp ung qu d h kn
Control System Toolbox & Simulink
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Time (sec.)
A
m
p
l
it
u
d
e
Step Response
0 50 100 150
0
0.2
0.4
0.6
0.8
1
1.2
1.4
From: U(1)
T
o
:

Y
(
1
)
Hnh 1.4
Dp ung qu d h
kn d hiu chinh
Cu 3
>>K=0.111 ;num1=K ; % thay di h s khuch dai K
>>GK=tf(num1,den1)*tf(num2,den2)
Transfer function:
0.111
----------------------------
10 s^4 + 11 s^3 + 11 s^2 + s
>>margin(GK)
Dc tnh tn s Bode cua h ho d hiu chinh duoc biu din trn hnh 1.3. Tu dc tnh ny, ta c
th xc dinh duoc
L=18.34dB ; = 44.78 ;
c
=0.085rad/s
























Cu 4
>>GK_loop=feedback(GK,1,-1) ;
>>step(GK_loop);















Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-150
-100
-50
0
50
Gm=18.344 dB (at 0.30151 rad/sec), Pm=44.775 deg. (at 0.084915 rad/sec)
10
-3
10
-2
10
-1
10
0
10
1
-400
-350
-300
-250
-200
-150
-100
-50
0
Hnh 1.3 : Dc tnh tn s Bode cua h ho d hiu chinh
Control System Toolbox & Simulink
9
Hnh 2.1 Cua s chnh cua Simulink


Su dung con tro chut v kch vo cc dim cn tm trn dc tnh, ta xc dinh duoc

max
=23%; T
max
= 70.7s
2 SIMULINK
Simulink duoc tch hop vo Matlab (vo khoang du nhung nm 1990) nhu mt cng cu d
m phong h thng, gip nguoi su dung phn tch v tng hop h thng mt cch truc quan.
Trong Simulink, h thng khng duoc m ta duoi dang dng lnh theo kiu truyn thng m o
duoi dang so d khi. Voi dang so d khi ny, ta c th quan st cc dp ung thoi gian cua h
thng voi nhiu tn hiu vo khc nhau nhu : tn hiu bc thang, tn hiu sinus, xung chu nht, tn
hiu ngu nhin bng cch thuc hin m phong. Kt qua m phong c th duoc xem theo thoi
gian thuc trn cc Oscilloscope trong mi truong Simulink, hay trong mi truong Matlab.
Simulink hon ton tuong thch voi Matlab, nhung n l mt dao din d hoa. V vy tt ca
cc hm trong Matlab du c th truy cp duoc tu Simulink, ngay ca cc hm do nguoi su dung
tao ra. Nguoc lai, cc kt qua tm duoc trong Simulink du c th duoc su dung v khai thc
trong mi truong Matlab.
Cui cng, Simulink cho php nguoi su dung kha nng tao ra mt thu vin khi ring. V
du, nu ban mun lm vic trong linh vuc diu khin cc my din, ban c th tao ra mt thu
vin ring chua cc m hnh my din Nhu vy, voi cng cu Simulink, ta c th tu tin hnh
m phong th nghim, quan st kt qua, kim chung voi l thuyt truoc khi tin hnh th nghim
trn m hnh tht.
2.1 Khi dng Simulink
D khoi dng Simulink tu mi truong Matlab, ta
g dng lnh simulink. Lc ny mt cua s nhu trn
hnh 2.1 s xut hin, trn d c cc thu muc chnh v
cc thu vin con cua Simulink. D bt du lm vic, ta
tao cua s moi bng cch kch vo biu tuong New .
C 8 thu vin chnh cua Simulink duoc phn loai nhu
sau :
- Continuous : h thng tuyn tnh v lin tuc
- Discrete : h thng tuyn tnh gin doan
- Nonliear : m hnh ha nhung phn tu phi tuyn
nhu role, phn tu bo ha
- Source : cc khi ngun tn hiu
- Sinks : cc khi thu nhn tn hiu
- Function & Table : cc hm bc cao cua Matlab
- Math : cc khi cua simulink voi cc hm ton hoc
tuong ung cua Matlab
- Signals & System : cc khi lin h tn hiu, h
thng con


2.2 Tao mt so d don gin
D lm quen voi Simulink, ta bt du bng mt v du don gian : phn tch hm qu d cua
mt khu bc hai c hm truyn
2
0 0
2
2
0
2
) (

+ +
=
p p
p G voi
0
=1rad/s v =0,5. Cc buoc
thuc hin d duoc so d m phong nhu hnh 2.2 nhu sau :

Control System Toolbox & Simulink
10

- Khoi dng Simulink tu Matlab bng dng lnh simulink
- Trong cua s chnh cua Simulink, chon biu tuong New d tao cua s ung dung.
- Mun tao mt khi trong cua s ung dung, ta tm khi d trong cc thu vin cua Simulink,
kch chon v ko n vo cua s ung dung. V du, d tao khi Step, ta vo thu vin Simulink -
> Continuous -> Sources -> Step, khi Transfer Fcn trong Simulink -> Continuous ->
Transfer Fcn
- D dt thng s cho tung khi, ta mo khi d ra bng cch double-click chut vo n. Lc
ny dt cc thng s theo huong dn trn mn hnh.
- Duong ni giua cc khi duoc thuc hin bng cch dng chut ko cc mui tn o du (cui)
mi khi dn vi tr cn ni.

Sau khi tao duoc so d khi nhu hnh 2.2, ta c th bt du tin hnh m phong (voi cc tham s
mc dinh) bng cch chon Simulation -> Start. Xem kt qua m phong bng cch mo khi
Scope nhu hnh 2.3.
















D xem dng thoi tn hiu vo v ra trn cng mt Scope, ta tao so d m phong nhu hnh 2.4.
Kt qua m phong biu din trn hnh 2.5.













Hnh 2.3 : Kt qua m phong
Hnh 2. 4
Hnh 2. 5
Hnh 2.2 : Mt so d Simulink don gian
Control System Toolbox & Simulink
11
2.3 Mt s khi thung dng
2.3.1 Thu vin Sources
Step Tao ra tn hiu bc thang lin tuc hay gin doan.
Ramp Tao tn hiu dc tuyn tnh (rampe) lin tuc.
Sine Wave Tao tn hiu sinus lin tuc hay gin doan.
Constant Tao tn hiu khng di theo thoi gian.
Clock Cung cp dng h chi thoi gian m phong. C th xem duoc dng h ny khi
dang thuc hin m phong.
Ch : Mun khi clock chi dng thoi dim dang m phong, tham s Sample time duoc dt
nhu sau
0 : h lin tuc
>0 : h gin doan, clock lc ny s chi s chu ky ly mu dt trong Sample time.
2.3.2 Thu vin Sinks
Scope Hin thi cc tn hiu duoc tao ra trong m phong.
XY Graph V quan h giua 2 tn hiu theo dang XY. Khi ny cn phai c 2 tn hiu
vo, tn hiu thu nht tuong ung voi truc X, tn hiu vo thu hai tuong ung
voi truc Y.
To Workspace Tt cac cc tn hiu ni vo khi ny s duoc chuyn sang khng gian
tham s cua Matlab khi thuc hin m phong. Tn cua bin chuyn vo
Matlab do nguoi su dung chon.
2.3.3 Thu vin Continuous
Transfer Fcn M ta hm truyn cua mt h thng lin tuc duoi dang a thuc tu so/a
thuc mau so. Cc h s cua da thuc tu s v mu s do nguoi su dung nhp
vo, theo bc giam dn cua ton tu Laplace. V du d nhp vo hm truyn
c dang
1
1 2
2
+ +
+
s s
s
, ta nhp vo nhu sau :Numerator [2 1], Denominator [1
1 1].
State Space M ta hm truyn cua mt h thng lin tuc duoi dang phuong trnh trang
thi. Cc ma trn trang thi A, B, C, D duoc nhp vo theo qui uoc ma
trn cua Matlab.
Integrator Khu tch phn.
sDerivative Khu dao hm
Transport Delay Khu tao tr
2.3.4 Thu vin Discrete
Discrete Transfer Fcn M ta hm truyn cua mt h thng gin doan duoi dang a thuc
tu so/a thuc mau so. Cc h s cua da thuc tu s v mu s do
nguoi su dung nhp vo, theo bc giam dn cua ton tu z.
Discrete State Space M ta hm truyn cua mt h thng gin doan duoi dang phuong
trnh trang thi. Nguoi su dung phai nhp vo cc ma trn trang
thi A,B,C,D v chu ky ly mu.
Discrete-Time Integrator Khu tch phn cua h thng gin doan.
First-Order Hold Khu giu mu bc 1. Nguoi su dung phai nhp vo chu ky ly mu.
Zero-Order Hold Khu giu mu bc 0. Nguoi su dung phai nhp vo chu ky ly mu.
2.3.5 Thu vin Signal&Systems
Mux Chuyn nhiu tn hiu vo (v huong hay vecto) thnh mt tn hiu
ra duy nht dang vecto. Vecto ng ra c kch thuoc bng tng kch
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thuoc cua cc vecto vo. S cc tn hiu vo duoc dinh nghia khi
mo khi Mux. V du, nu dt tham s number of inputs l 3, nghia
l c 3 tn hiu vo phn bit, v huong. Nu dt number of inputs
l [1 2] th c 2 tn hiu vo phn bit : tn hiu thu nht v huong,
tn hiu thu hai l vecto 2 thnh phn.
Demux Chuyn 1 tn hiu vo thnh nhiu tn hiu ra, nguoc voi khi Mux.
In1 Chn mt cng vo. Khi ny cho php giao tip giua so d chnh
v so d con.
Out1 Chn mt cng ra.
2.3.6 Thu vin Math
Abs Tn hiu ra l gi tri tuyt di cua tn hiu vo.
Gain Tn hiu ra bng tn hiu vo nhn h s Gain (do nguoi su dung
dinh nghia).
Sign Tnh du cua tn hiu vo, bng 1 nu tn hiu vo > 0
bng 0 nu tn hiu vo = 0
bng -1 nu tn hiu vo < 0
Sum Tn hiu ra l tng cua cc tn hiu vo.
2.4 V du
D m phong h thng trong v du o muc 1.4, ta tao so d khi trong Simulink nhu hnh 2.6.
Thay di h s khuch dai K (K=1 v K=0.111), ta duoc cc dp ung qu d cua h kn trn hnh
2.7 v 2.8.

























Hnh 2.6 : So d m phong trong Simulink
Hnh 2.7 : Dp ung qu d (K=1)
Hnh 2.8 : Dp ung qu d (K=0.111)
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2.5 LTI Viewer
Nhu ta d bit, khi thuc hin m phong trn Simulink, ta chi c th quan st duoc cc dc
tnh thoi gian cua h thng. D c th phn tch ton din mt h thng, ta cn cc dc tnh tn s
nhu dc tnh Bode, dc tnh Nyquist, qu dao nghim s v.v
LTI Viewer l mt giao din d hoa cho php quan st dp ung cua mt h thng
tuyn tnh, trong linh vuc tn s cung nhu thoi gian, m khng cn g lai lnh hay lp trnh theo
tung dng lnh nhu trong Control System Toolbox. N su dung truc tip so d khi trong
Simulink.
2.5.1 Khi dng LTI Viewer
D khoi dng LTI Viewer tu Simulink, ta chon menu Tool -> Linear Analysis.
Lc ny, Matlab s mo 2 cua s moi:
- Cua s LTI Viewer (hnh 2.9) c 2 phn chnh:
o Phn cua s d hoa dng d biu din cc duong dc tnh.
o Thanh cng cu pha duoi chi dn cch su dung LTI Viewer
- Cua s chua cc dim input v output (hnh 2.10). Cc dim ny duoc dng d xc dinh dim
vo/ra trn so d Simulink cn phn tch.

















2.5.2 Thit lp cc dim vo/ra cho LTI Viewer
Dng chut ko r cc dim input point, output point trn cua s hnh 2.10 v dt ln cc vi
tr tuong ung trn so d Similink.

Ch : Vic chon cc dim dt input, output phai ph hop yu cau phn tch. LTI Viewer
tnh hm truyn bng cch tuyn tnh ha h thong voi 2 dim input/output d duoc dinh nghia.
Khi ve cc dc tnh tan so cng nhu thoi gian, LTI su dung cc h thong d duoc tuyn tnh ha
ny.
2.5.3 Tuyn tnh ha mt m hnh
D tm m hnh giua 2 dim input/output d dinh nghia, ta thuc hin nhu sau:
Chon cua s LTI Viewer (hnh 2.9) Chon memu Simulink Get linearized model
Lc ny, trong phn d hoa cua cua s LTI Viewer s xut hin dt tnh qu d cua m hnh
tuyn tnh ha tm duoc.
D xem cc dc tnh khc trn LTI Viewer, ta chi vic kch chut phai vo phn d hoa, chon
menu Plot Type chon loai dc tnh cn quan st.
Hnh 2.9 Hnh 2.10
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Ghi ch:
- Cu mi ln thuc hin tuyn tnh ha mt m hnh (Simulink Get linearized model) th
LTI Viewer s nap m hnh hin hnh tai cua s Simulink vo khng gian cua n. Nu giua 2
ln thuc hin tuyn tnh ha, m hnh khng c su thay di (cu trc hay thng s) th 2 m
hnh tm duoc tuong ung s ging nhau.
- C th bt/tt dc tnh cua mt hay nhiu m hnh d tm duoc trong LTI Viewer bng cch:
kch chut phai vo cua s d hoa chon Systems chon m hnh cn bt/tt. Tin ch ny
rt cn thit khi ta mun so snh tc dng do su bin di mt thng s no d dn h thng.
2.5.4 Luu v s dung cc thng s ca m hnh tuyn tnh ha
- D luu m hnh tuyn tnh ha vua tm duoc, chon memu File Export ???
- D su dung cc thng s cua m hnh :
o Dang hm truyn [num,den]=tfdata( bien file ,v)
o Dang phuong trnh trang thi [A,B,C,D]=ssdata( bien file )
2.5.5 V du s dung LTI Viewer
Gia su d c hm m hnh m phong trn cua s Simulink nhu hnh 2.6. Su dung LTI Viewer d
quan st cc dc tnh sau:
- Dc tnh tn s Nyquist cua h ho khi chua hiu chinh (K=1) v d hiu chinh (K=0.111).
- Dc tnh tn s Bode cua h ho d hiu chinh .
- Dc tnh qu d cua h kn chua hiu chinh v d hiu chinh.

THUC HIEN
Theo yu cu dt ra, ta cn phai c 4 h thng c thng s v cu trc khc nhau: h ho voi K=1,
h ho voi K=0.111, h kn K=1 v h kn K=0.111. Do vy, ta cn thuc hin 4 ln tuyn tnh ha
d c duoc 4 m hnh khc nhau trong LTI Viewer. Cc buoc thuc hin tun tu nhu trong hnh
2.11.
























a)
b)
c)
d)
Hnh 2.11 : So d v cu trc d tuyn tnh ha
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Sau 4 ln tuyn tnh ha, trong LTI Viewer, ta duoc 4 h thng ln luot l baitap1_simulink_1
dn baitap1_simulink_4 (so d trong Simulink c tn l baitap1_simulink).

Trn cua s d hoa lc ny s hin thi dng thoi dc tnh qu d cua ca 4 m hnh o trn.
- D xem dc tnh Nyquist cua h ho truoc v sau hiu chinh:
o Kch chut phai vo phn d hoa, chon Systems, chon 2 m hnh 1 v 2.
o Tip tuc kch chut phai vo phn d hoa, chon Plot Type Nyquist.
Trn cua s d hoa s xut hin 2 dc tnh Nyquist voi 2 mu phn bit.
- D xem dc tnh qu d cua h kn truoc v sau hiu chinh:
o Kch chut phai vo phn d hoa, chon Systems, chon 2 m hnh 3 v 4.
o Tip tuc kch chut phai vo phn d hoa, chon Plot Type Step.

Cc dc tnh khc duoc tin hnh mt cch tuong tu.