Bi tp 1.

IU KHIN THNG MINH

Ngy np: trc 9h00 ngy 01.03.2011
a ch np bi: hthoang@hcmut.edu.vn v hthoang.hcmut@yahoo.com

m1

Cho h xe - con lc ngc nh hnh v, bit quan h gia lc tc ng vo xe v gc lch

ca con lc m t bi phng trnh vi phn:
u cos ( M m1 ) g (sin ) m1l (cos sin )

m1l (cos ) 2 ( M m1 )l
Thng s ca h thng cho tng ng vi tn hc vin trong bng 1. Hc vin tham gia lp
hc nhng khng c tn lin h vi GV nhn d phng.
M: khi lng xe
m1: khi lng con lc
l : chiu di con lc
g 9.81 [m/s2] gia tc trng trng
u(t) : lc tc ng vo xe [N]
(t) : gc gia con lc v phng thng ng [rad]

1. Hy trnh by cc bc thit k b iu khin m gi cn bng con lc v tr thng

ng t iu gc lch ban u bt k nm trong min / 6 / 6 . V hnh minh
ha tng a ra 5 lut iu khin m khc nhau.
2. M phng h thng iu khin m va thit k dng Matlab. Chnh nh thng s b
iu khin m sau cho h thng p ng nhanh v t dao ng nht c th c.
Yu cu:
Bo co kt qu di dng file Word:
- trnh by y cc bc xy thit k b iu khin m theo yu cu ca cu 1
- trnh by th tn hiu iu khin u(t) v tn hiu ra u(t) ng vi 3 iu kin u
khc nhau: a) (0) / 6,(0) 0 ; b) (0) / 6, (0) 1 ; c) (0) / 6, (0) 1 .

 Np file chng trnh Matlab

Bi tp np qua email c nn thnh 1 file, t tn file di dng:
ten hoc vien_bai 1.zip (hoc .rar)
Nop bai tap ong thi vao hai a ch:
hthoang@hcmut.edu.vn
hthoang.hcmut@yahoo.com
Bai tap nop tre han khong c chap nhan.
Bng 1: Thng s ca h con lc ngc
Tn

M (kg)

m1 (kg)

l (m)

L Tun

Anh

2.6294

0.2703

0.7194

Trn Ngc

Duy

1.2543

0.3171

0.8828

Trn Vn

Duy

Trnh Ngc

1.1951

0.2572

0.7449

Nguyn Hng

Giang

1.5572

0.3514

0.7228

Phm Hong

Giang

2.0938

0.3507

0.8232

Nguyn Trung

Hu

2.9154

0.2761

0.8547

Trn Thi

Huy

2.9412

0.2108

0.8399

Nguyn Th Hng

2.9143

0.3062

0.8275

Phm Th

Ha

2.6006

0.3868

0.5595

Nguyn

Hoanh

1.2838

0.2261

0.7492

Ng. V Phng

Khanh

2.8315

0.2939

0.6702

Phm c

Ln

2.5844

0.2024

0.7926

Nguyn Vn

Nam

2.9192

0.2674

0.6119

Nguyn Thnh

Sn

1.0714

0.3589

0.6275

Ha Nguyn ng

Thy

2.6983

0.2622

0.7532

Minh

Triu

2.3575

0.2331

0.9455

Nguyn Hi

Triu

2.5155

0.3204

0.9796

Nguyt Vn

Tut

1.7845

0.3308

0.5693

Cao Hu

Tm

1.3424

0.3496

0.6288

Nguyn Hu

Tnh

1.5538

0.2458

0.9071

Hunh Xun

Tn

2.4121

0.2901

0.9204

Nguyn Vn

Tnh

1.0637

0.2168

0.6271

Nguyn Hu

Tnh

1.5538

0.2458

0.9071

L Hng

Vng

1.0923

0.3827

0.6218

Trn Vn

Duy

2.3897

0.3077

0.5983

DP1

1.6342

0.3992

0.6255

DP2

2.9004

0.2156

0.808

2.3897

0.3077

0.5983

DP3

1.0689

0.2885

0.7366