BT Matlab 2.

Xy dng m hnh simulink V d 2 (slide 93), v p

ng ng ra y(t)
chng t h thng c POT<10%, tqd < 0.3s vi u vo hm nc.
Thay i tn hiu u vo bng tn hiu xung tam gic vi tn s 0.25Hz,
v li p
ng ng ra v tnh POT, exl.
m = 0.1(kg),l =1(m),B = 0.01
bi lm :
M t khi hi tip tuyn tnh ha :
Dng khi Subsystem m t da theo phng trnh
u=

(-a(x)+v)

a(x)= -9.8sin
b(x)= 10

Nhp -9.8*sin(u(1))-0.1*u(2) vo khi a(x),nhp 10 vo khi b(x)

M t khi hi tip tuyn tnh ha bng khi Subsystem da theo

phng trnh:
Vi e =

 M t h thng phi tuyn bc 2 theo h phng trnh trng thi

Nhp f(u) = 0.1*u(2)+9.8*sin(u(1)) vo khi Fcn1,Nhp f(u) = u(2) vo

khi Fcn2

M t b lc thng thp bng khi Transfer Fcn ,vi G(s) =

Kt ni cc khi li nh hnh di y:

Chy m phng ta c kt qu sau :

1
0.9
0.8
0.7

y(t)

0.6
0.5
0.4
0.3
0.2
0.1
0

10

8
7
6
5

u(t)

4
3
2
1
0
-1
-2

10

Ta c POT = 0 < 10 % , = 0.61s > 0.3s .

khng tha k <
0.3s nguyn nhn l do b lc thong thp lm chm p ng ca h
thng .
Nu ta chn li b lc chng hn G(s) =
p ng nh sau:

th h thng c

1.4

1.2

y(t)

0.8

0.6

0.4

0.2

10

Lc ny POT= 3% <10%,
s < 0.3s tha mn iu kin
bi .
Thay i tn hiu u vo bng tn hiu xung tam gic vi tn s
0.25Hz

Lc ny p ng ca h thng s nh sau

2
1.5
1

y(t)

0.5
0
-0.5
-1
-1.5
-2

10

10

10
8
6
4

u(t)

2
0
-2
-4
-6
-8
-10