Bai Giang DKTD - Chuong 2

GV.
NGUYN TH HNG 1
1
Ba Ba i gi a i gi a ng ng mon ho mon ho c c
i e i e u K h i e u K h i e n T n T o o n g n g
GV: Nguyen TheHung 01/ 2009
01/2009 GV. NGUYN TH HNG 2
Chng 2: M t ton hc
Phn t v h thng lin tc
2.1 Phng trnh vi phn
2.2 Php bin i Laplace
2.3 Hm truyn
2.4 S khi
2.5 Hm truyn ca cc khu vt l in hnh
2.6 Graph tn hiu
2.7 Phng trnh trng thi
GV. NGUYN TH HNG 2
2.1 Phng trnh vi phn
a
i
, b
i
: thng s ca h thng (khi lng, ma st, R,L,C,)
r(t) : tn hiu vo
y(t) : tn hiu ra
n = bc ca h thng = bc ph.trnh vi phn
Vi h thng thc t : m n (nguyn l nhn qu)
1 1
1 0 1 0 1 1
n n m m
n n m m n n m m
d y d y d r d r
a a ... a y(t) b b ... b r(t)
dt dt dt dt

+ + + + + +
Tng qut, quan h gia tn hiu vo, tn hiu ra ca mt
h thng lin tc tuyn tnh bt bin SISO c th m t bng
phng trnh vi phn tuyn tnh h s hng:
V d 2.1: H l xo khi lng gim chn
m : khi lng, [kg]
b : h s ma st nht, [N.s/m]
k : cng lo xo, [N/m]
n Tn hiu vo: lc tc dng F(t), [N]
n Tn hiu ra: lng di ng y(t), [m]
2
2

i ms lx
d y
m F F(t) F F
dt
p dng nh lut II Newton :
2
2
d y dy
m b ky(t) F(t)
dt dt
+ +
ms
dy
F b
dt
lx
F ky(t)
Lc gim chn :
Lc l xo :
F(t)
F
ms
F
lx
m
(+)
GV. NGUYN TH HNG 3
V d 2.2: Mch in RLC ni tip
Theo nh lut Kirchhoff :
Tn hiu vo: in p u
Tn hiu ra: in p u
c
+ +
R L C
u u u u
L
di
u L
dt
1
C
u idt
C
R
u Ri
2
2
C C
C
d u du
LC RC u u
dt dt
+ +
Trong :

C
du
i C
dt
C
du
RC
dt
2
2
C
d u
LC
dt
V d 2.3: c tnh ng hc vn tc xe t
+
dv
m bv(t) f(t)
dt
m : khi lng xe
b : h s cn (ma st nht)
n Tn hiu vo: Lc y ca ng c, f(t)
n Tn hiu ra: vn tc ca xe , v(t)
f(t) b
v(t)
GV. NGUYN TH HNG 4
V d 2.4: B gim xc ca xe t, xe my
m : khi lng, [kg]
b : h s ma st nht, [N.s/m]
k : cng lo xo, [N/m]
n Tn hiu vo: lng di ng r(t), [m]
n Tn hiu ra: lng di ng y(t), [m]
2
2
d y dy dr
m b ky(t) b kr(t)
dt dt dt
+ + +
V d 2.5: Mch in RLC
2
C C
C
d u du
RLC L Ru Ru
dt dt
+ +
2
C C
C
d u du du
RLC L Ru L
dt dt dt
+ +
i
i
2
+ +
d i di du
LC RC i C
dt dt dt
GV. NGUYN TH HNG 5
Nghie m y(t)
Nghie m Y(s)
2.2.1 nh ngha
n Cho hm thi gian f(t) xc nh vi mi t 0, bin i
Laplace ca f(t) l:
s : bin Laplace (bin s phc)
L : ton t bin i Laplace
F(s): bin i Laplce hay nh Laplace ca f(t)
Bin i Laplace tn ti khi tch phn trong bi u thc
nh ngha trn l hi t (hu hn).
st
0
F(s) L[f (t)] f (t)e dt
GV. NGUYN TH HNG 6

n Cho hm phc F(s), bin i Laplace ngc ca F(s) l
mt hm thi gian f(t) xc nh bi:
Trong :
q C l ng cong kn c la chn trong min s
q j l s o n v (j
2
=-1)
1 ts
c
1
f (t) L [F(s)] F(s)e ds
2 j

t 0
2.2.2 Tnh cht
1) Tuyn tnh
2) nh ca o hm
Gii phng trnh vi phn bc n cn n iu kin u:
(n 1)
f (0), f (0), f (0), ..., f (0)
& &&
L [f
1
(t) t f
2
(t)] = F
1
(s) t F
2
(s)
L[kf(t)] = kF(s)
0 y( ) &
l vn tc ban u (ti t=0).
2 iu kin u: y(0) l v tr ban u (ti t=0)
300 5 20 100 + + && & y(t) y(t) y(t)
V d : Gii ph.trnh vi phn m t chuyn ng bc hai:
GV. NGUYN TH HNG 7
2a) Nu cc iu kin u khc 0
( ) ( 1)
1
[ ( )] ( ) (0)

n
n n n i i
i
L f t s F s s f
2
300 5 20 100 s Y(s) sY(s) Y(s) R(s) + +
2
300 5 20 100 ( s s )Y(s) R(s) + +
2
L[f (t)] s F(s) sf (0) f (0)
&& &
(3) 3 2
L[f (t)] s F(s) s f (0) sf (0) f (0)
& &&
300 5 20 100 y(t) y(t) y(t) r(t) + + && &
Bin i Laplace 2 v vi K =0 ta c:
V d, xt ptvp:
( )
[ ( )] ( )
n n
L f t s F s 2b) Nu cc iu kin u = 0
3) nh ca tch phn
0
( )
( )
1
1
]
t
F s
L f t dt
s
4) nh ca hm tr
f(t-T) = f(t) khi t T
= 0 khi t<T
Ts
L[f (t T)] e F(s)

5) nh ca tch chp
t t
1 2 1 2 1 2
0 0
f (t) *f (t) f ( ). f (t )d f (t ). f ( )d
N

1 2 1 2
L[f (t)*f (t)] F (s).F (s)
GV. NGUYN TH HNG 8
6) Nhn hm f(t) vi e
- t
0
[ ( )] ( ) [ ( )] ( )

+ +
t t st
L e f t e f t e dt L f t F s
8) nh l gi tr u
t 0 s
f (0) limf (t) lim [s.F(s)]

Nhn f(t) vi e
-t
thay s bng (s+) trong nh Laplace.
7) nh l gi tr cui
t s 0
f ( ) limf (t) lim[s.F(s)]

2.2.3 Bin i Laplace ca cc hm c bn
1) Hm bc thang (hm bc) n v
Xt hm bc thang K(t)=K.1(t):
st st
0
0
1 1 1
L[1(t)] e dt .e (0 1)
s s s
K
L[K.1(t)] K.L[1(t)]
s

GV. NGUYN TH HNG 9
2) Hm xung n v (xung Dirac)
0 0
st 0
0 0 0
(t)e dt (t)e dt (t)dt 1
+ +

3) Hm m e
-t
( <0)
t st (s )t
0 0
e e dt e dt

+

(s ) t
0
e 1
s s
+

+ +
t
L[e ]
L[ (t)]
t
(t)
0
t
0
1
a0
a
h
4) Hm dc n v
t
r(t) t.1(t)
0

'
khi t 0
khi t < 0
st
e
u t ; v
s
2 2
st st
st
0
0 0
te e 1 1
L[t.1(t)] te dt dt 0
s s s s

+ +

t
2
0
L[1(t)] 1
L[t.1(t)] L 1(t)dt
s s
1

1
]
Ly tch phn tng phn

Cng c th dng tnh cht nh ca tch phn:
udv uv vdu

Theo cch tng t, ta tnh c nh ca t
2
, t
3
, t
n
t.1(t)
t 0
GV. NGUYN TH HNG 10
5) Hm lng gic sint, cost,
j t
j t
cos t jsin t e
cos t jsin t e

+
'

( )
( ) ( )
( )
s j t s j t j t j t st
0 0
1 1
e e e dt L[cos t] e e dt
2 2

+
+ +

Cng thc Euler:
( ) ( )
j t j t j t j t
1 1
cos t e e ; sin t e e
2 2j

+
1 1 1
...
2j s
L[sin
s j
t]
j
_

+
1 1 1
2 s j s j
_
+

+
,
2 2
s
s
+
2 2
s

+
Mt s bin i Laplace thng dng (trang 20)
17
18
9
8
3
1(t) 1
F(s) f(t) TT
2 2
s
(s )
+
+ +
2 2
(s )
+ +
t
e cos t
t
e sin t
1
n
(s ) +
1
s +
2
1
(s ) +
1/ s
t
e
t
te
n 1
t
t
e
(n 1)!
GV. NGUYN TH HNG 11

Bi ton : Bit hm Y(s) , tm hm thi gian y(t)=?
Y(s) thng c dng t s ca hai a thc theo s:
2.2.4. Tm bin i Laplace ngc
m m 1
m m 1 0
n n 1
n n 1 0
b s b s ... b P(s)
Y(s)
Q(s) a s a s ... a
+ + +

+ + +
n PP gii: Phn tch Y(s) thnh tng cc phn thc
n gin, sau p dng cc cng thc c bn.
n Cch phn tch Y(s) hon ton ph thuc vo loi
nghim ca mu s Q(s) (nghim n/ bi/ phc).
n n
1 1
i i
i 1 i 1
y(t) L [Y(s)] L [Y (s)] y (t)

(m<n)
1) Mu s ca Y(s) ch c nghim n
Cc h s A
i
(i=1,2,,n) xc nh bi:
n 1 2 n
Q(s) a (s s )(s s )...(s s )
1 2 i n
1 2 i n
A A A A P(s)
Y(s) ... ...
Q(s) s s s s s s s s
+ + + + +

i
i
s s i i i
s s
A lim [(s s ).Y(s)] [(s s ).Y(s)]

i 1 2 n
n
s t s t s t s t
i 1 2 n
i 1
y(t) A e A e A e ... A e
+ + +
Tra bng ta c:
i
1 i
i
i
s t A
L A e
s s
Gi s Q(s) c n nghim n s
1
, s
2
,, s
n
Khi c th phn tch :
GV. NGUYN TH HNG 12
2
s 2 s 2
5s 3 7
A lim [(s 2)Y(s)] lim
2s(s 5) 12

+
+
+
V d : Tm y(t) bit
3 1 2
A A A 5s 3
Y(s)
2s(s 2)(s 5) s s 2 s 5
+
+ +
+ + + +
1
s 0 s 0
5s 3 3
A lim[s.Y(s)] lim
2(s 2)(s 5) 20

+

+ +
Gii. Mu s ca Y(s) c 3 nghim n s
1
=0, s
2
=-2 , s
3
=-5
v h s a
n
=2. Do c th phn tch :
2
5s 3
Y(s)
s(2s 14s 20)
+
+ +
3
s 5
A lim [(s 5)Y(s)]
+
s 5
5s 3 22 11
lim
2s(s 2) 30 15
+

+
3 7 11
Y(s)
20s 12(s 2) 15(s 5)
+
+ +
2t 5t
3 7 11
y(t) e e
20 12 15

+
t 0
y(0) lim[y(t)] 0

t
y( ) lim[y(t)] 3/ 20

s 0
y( ) lim[s.Y(s)] 3/ 20

s
y(0) lim[s.Y(s)] 0

Nhn xt:
GV. NGUYN TH HNG 13
2) Mu s ca Y(s) c nghim bi
r
n 1 n r k
Q(s) a (s s )...(s s )(s s )

( ) ( )
1 n r r 2 1
r 2
1 n r k
k k
A A B B B
Y(s) ... ...
s s s s s s
s s s s
+ + + + + +

i
i i
s s
A lim[(s s ).Y(s)]

Gi s Q(s) c (n-r) nghim n s
1
, s
2
,, s
n-r
v mt nghim bi s
k
lp r ln
Khi c th phn tch :
s s
k
r i
r
i k
r i
1 d
B lim (s s ) .Y(s)
(r i)! ds

1

' ;
]

( i=r,r-1,,1)
( i=1,2,,n-r)
s s
k
r i
r
i k
r i
1 d
B lim (s s ) .Y(s)
(r i)! ds

1

' ;
]

2 2
2 k 1 k
s s s s
k k
d
B lim (s s ) .Y(s) ; B lim (s s ) .Y(s)
ds

1 1
' ;
] ]

i k k k
r 1 n r
s t s t s t s t
i r 2 1
i 1
t
y(t) A e B e ... B te B e
(r 1)!

+ + + +
( ) ( )
1 n r r 2 1
r 2
1 n r k
k k
A A B B B
Y(s) ... ...
s s s s s s
s s s s
+ + + + + +

n Nu r =2 (nghim kp), cn tm 2 h s B
2
, B
1
:
( i=r,r-1,,1)
GV. NGUYN TH HNG 14
V d : Tm y(t) bit
( )
1 2 2 1
2 2
A A B B 5s 24
Y(s)
s(s 4)(s 3) s s 4 s 3
s 3
+
+ + +
+ + + +
+
1
2
s 0 s 0
5s 24
A lim[s.Y(s)] lim
(s 4)(s 3)

+

+ +
Gii. Mu s ca Y(s) c 2 nghim n s
1
=0 ; s
2
=-4
v mt nghim kp s
k
=-3 nn c th phn tch :
2
5s 24
Y(s)
s(s 4)(s 3)
+
+ +
2
2
s 4 s 4
5s 24
A lim [(s 4)Y(s)] lim
s(s 3)

+
+
+
2
2
s 3 s 3
5s 24
B lim [(s 3) Y(s)] lim
s(s 4)

+
+
+
24 2
36 3
4
1
4

9
3
3


2
1
s 3 s 3
d d 5s 24
B lim [(s 3) Y(s)] lim
ds ds s(s 4)

1 +
+
' ; ' ;
1
+

]
1
2 2
s 3
5s(s 4) (2s 4)(5s 24) 3 1
B lim
9 3 s (s 4)
+ + +

+
( )
( )
2
2 1 3 1
Y(s)
3s s 4 3(s 3)
s 3
+
+ +
+
4t 3t 3t
2 1
y(t) e 3te e
3 3

+
2
'
u u v v u
v v
_

,
Lu :
GV. NGUYN TH HNG 15
3) Mu s ca Y(s) c nghim phc
n 1 n 2 1 2
Q(s) a (s s )...(s s )(s p )(s p )

( )
1 n 2 1 2
2
2
1 n 2
A A C (s a) C
Y(s) ...
s s s s
s a
+
+ + +

+
Gi s Q(s) c (n-2) nghim n s
1
, s
2
,, s
n-2
v 2 nghim phc p
1,2
= a j
Khi c th phn tch :
2 2
n 1 n 2
Q(s) a (s s )...(s s )[(s a) ]
+
Cc h s A
i
, C
1
,C
2
xc nh bng :
- Phng php ng nht h s a thc,
- hoc Tnh theo cng thc:
i i
s s
i
A lim [(s s )Y(s)]

[ ]
{ } 1 1 2
1
s p
1
C Im (s p )(s p )Y(s)

[ ]
{ } 2 1 2
1
s p
1
C Re (s p )(s p )Y(s)

( )
1 n 2 1 2
2
2
1 n 2
A A C (s a) C
Y(s) ...
s s s s
s a
+
+ + +

+
(i=1,,n-2)
i
n 2
s t at at
i 1 2
i 1
y(t) A e C e cos t C e sin t
+ +
Bin i ngc Laplace hm nh Y(s) ta c :

GV. NGUYN TH HNG 16
Nhn xt : C th a kt qu v dng hm sin hay cos
ca tng/hiu.
2 2
2 2 2 2
sin t cos t sin t cos t
_

t + t

+ +
,
( )
2 2
sin t cos cos t sin + t
2 2
sin( t ) + t
Trong :
2 2 2 2
arccos arcsin

+ +
V d: Tm y(t) bit
1 2
2 2
C (s 3) 4C 2s 5 A
Y(s)
s(s 6s 25) s s 6s 25
+ + +
+
+ + + +
Gii. Mu s ca Y(s) c mt nghim n s=0 v hai
nghim phc p
1,2
=-3 4j nn c th phn tch :
2
2s 5
Y(s)
s(s 6s 25)
+
+ +
2
1 1 2
2
(A C )s (6A 3C 4C )s 25A
Y(s)
s(s 6s 25)
+ + + + +
+ +
25A 5
1
A C 0 +
1 2
6A 3C 4C 2 + +
A 1/ 5
1
C 1/ 5
2
C 7 / 20
So snh vi Y(s) cho, ta c:
GV. NGUYN TH HNG 17

2 2 2 2 2
1 7 1 7
(s 3) (4) (s 3) ( )
1 1
5 20 5 20
Y(s)
5s s 6s 25 5s (s 3) 4 (s 3)
4
4
+ + +
+ + +
+ + + + + +
1 3t 3t
1 1 7
y(t) L [Y(s)] e cos 4t e sin 4t
5 5 20

+
3t
1 1
e (7sin 4t 4cos 4t)
5 20

+
3t
1 65 7 4
e sin 4t cos 4t
5 20 65 65
_
+

,
3t
1 65
e sin(4t )
5 20

+
7 4
arccos arcsin
65 65
Vi
2
0 0 s s
2s 5 1
A lim [sY(s)] lim
5 s 6s 25

+

+ +
[ ]
1 2 3 4j
1
s p s
2s 5
D (s p )(s p )Y(s)
s
+
+
_

,
{ }
1
1 1 4 1
C Im D
4 5 5
_ _

, ,
n Cng c th tnh A, C
1
, C
2
bng cng thc :
( )( )
2
1 8j 3 4j 1 8j 35 20j 7 4
D j
3 4j 25 5 5 9 16j
+ +

+
{ }
2
1 1 7 7
C Re D
4 5 20
_ _

, ,
GV. NGUYN TH HNG 18
Bi tp: Cho Y(s), tm y(t)=?
2
18s 126
Y(s)
s(s 23s 126)
+
+ +
2
s 20
Y(s)
s(2s 16s 30)
+
+ +
(1)
(2)
(3)
(4)
(5)
(6)
2
3s 40
Y(s)
s(s 5)(s 3)
+
+ +
2
6s 15
Y(s)
s(s 1)(s 8s 16)
+
+ + +
2
s 5
Y(s)
s(s 4s 5)
+
+ +
2
15s 225
Y(s)
s(s 18s 225)
+
+ +
9t 14t
4 9
y(t) 1 e e
5 5

+
9t 9t
1
y(t) 1 e cos12t e sin12t
2
-

+
2t
y(t) 1 2e sin t
4
_
+

,
3t 5t
2 17 3
y(t) e e
3 12 4

+
t 4t 4t
15 3 1
y(t) e te e
16 4 16
- - +

5t 3t 3t
8 5 31 13
y(t) e te e
9 4 6 36
- -

+
2.3 Hm truyn
1) nh ngha: Hm truyn ca h thng l t s gia
nh Laplace ca tn hiu ra v nh Laplace ca tn hiu vo
khi cc iu kin u bng 0.
T PTVP m t h thng tuyn tnh bt bin lin tc :
n n 1 m m 1
n n 1 0 m m 1 0
n n 1 m m 1
d y d y d r d r
a a ... a y(t) b b ... b r(t)
dt dt dt dt

+ + + + + +
Bin i Laplace hai v vi K =0 ta c :
n n 1 m m 1
n n 1 0 m m 1 0
(a s a s ... a )Y(s) (b s b s ... b )R(s)

+ + + + + +
m m 1
m m 1 0
n n 1
n n 1 0
b s b s ... b Y(s)
G(s)
R(s) a s a s ... a
+ + +

+ + +
Lp t s Y(s)/ R(s) ta c hm truyn G(s):
GV. NGUYN TH HNG 19
2) Nhn xt
n Khi nim hm truyn ch dng cho h thng
(hay phn t) tuyn tnh bt bin.
n Hm truyn ch ph thuc vo cc thng s v bc ca
h thng m khng ph thuc vo loi v gi tr ca tn
hiu vo, tn hiu ra.
n Gi thit cc K =0 nhm mc ch dng hm truyn
nghin cu bn cht ng hc ca h thng.
n Dng hm truyn m t v phn tch h thng thun
li hn PTVP v hm truyn l phn thc i s.
Quan h vo-ra s n gin l phng trnh i s:
2.3 Hm truyn
G(s) Y(s) / R(s) Y(s) R(s).G(s)
Tn hiura =tn hiu vo * hmtruyn
2.3 Hm truyn
3) a thc c tnh, Phng trnh c tnh
- a thc mu s ca hm truyn gi l a thc c tnh:
Da vo cc nghimhoc h s ca phng trnh c
tnh c th xt tnh n nh ca h thng (chng 4).
n n 1
n n 1 0
A(s) a s a s ... a
+ + +
n n 1
n n 1 0
a s a s ... a 0
+ + +
- Cho mu s hm truyn =0 ta c phng trnh c tnh:
4) M t h MIMO
m t h MIMO phi dng ma trn cc hm truyn.
Mi hm truyn ch ng vi mt cp tn hiu vo, ra.
ij i j
G Y / R
H MIMO
1
Y
M
1
R
M
3
R
4
Y
GV. NGUYN TH HNG 20
2.3 Hm truyn
5) Biu din hm truyn theo dng zero-cc- li
Trong :
z
i
(i=1,2,,m) _ l nghi m a thc t s, gi l cc zero.
p
i
(i=1,2,,n)_ l nghi m a thc mu s, gi l cc cc
(pole); p
i
cng chnh l nghi m ca phng trnh c tnh.
1 2 m
1 2 n
Y(s) (s z )(s z )...(s z )
G(s) K
R(s) (s p )(s p )...(s p )

m
n
b
K
a
_ l li (gain).
2
2
4s 28s 40 (s 2)(s 5)
G(s) 4
(s 3)(s 10) s 13s 30
+ + + +

+ + + +
V d:
2.4 S khi
2.4.1 Cc thnh phn c bn
1) Khi chc nng: Tn hiura =tn hiu vo * hmtruyn
Y(s) = U(s)*G(s)
G(s)
U(s)
Y(s)
3) imr nhnh : Tn hiu cc nhnh l nh nhau
u u
u
e= u
1
- u
2
u
1
u
2
2) B tng : Tn hiura =tng i s cc tn hiu vo
u= u
1
+u
3
u
1
u
3
(B so)
GV. NGUYN TH HNG 21
2.4 S khi
n i s s khi l thut ton bin i tng ng
rt gn cc s khi.
n Hai s khi l tng ng nu chng c cng quan
h gia tn hiu vo v tn hiu ra.
n tm hm truyn ca h thng c cu trc phc tp, ta
thng tm cch:
1) Bin i SK lm xut hin cc kt ni c bn.
2) Ln lt tnh cc hm truyn tng ng theo
nguyn tc rt gn dn t trong ra ngoi.
n Sau y l mt s quy tc bin i c bn:
2.4.2 i s s khi
2.4.2 i s s khi
1) H ni tip: Hmtruyn chung G =tchcc hmtruyn G
i
G
1
U
G
2
Y
G
n
Y
1
Y
2
Y
G
U
1 2 n 1 2 n
Y
U.G .G ...G Y G G .G ...G
U

1 2 n
Y U.G U.G ... U.G + + +
1 2 n
Y
G G G ... G
U
+ + +
2) H song song:
Y
G
U
U
G
1
G
2
G
n
Y
Y
1
Y
2
Y
n
Hmtruyn chung G =tngcc hmtruyn G
i
U
U
U
GV. NGUYN TH HNG 22
2.4.2 i s s khi
3) H hi tip
n H hi tip m
k
Y G
( Y.H R)G Y G
R 1 G.H
+
+
Y R
k
G
G
1 G.H
+
k
Y G
(Y.H R)G Y G
R 1 G.H
+
R
Y
G
H
Y R
k
G
G
1 G.H
n H hi tip dng:
R
Y
G
H
Y
Y
ht
E
2.4.2 i s s khi
Y R
k
G
G
1 G
+
c
c k R
c
G .G Y
( Y.H R)G G Y G G
R 1 G .G.H
+
+
n H hi tip c nhiu
n H hi tip m n v (hm truyn hi tip H(s)=1 )
Xt ring tc ng ca tn hiu vo R(coi Z
1
& Z
2
=0):
R
Y
G
tZ
2
R Y
G
c
H
G
tZ
1
GV. NGUYN TH HNG 23
2.4.2 i s s khi
1
c 1 Z
1 c
Y G
[( Y.H.G ) Z ]G Y G
Z 1 G .G.H
t
t
+
2
c 2 Z
2 c
Y 1
( Y.HG G) Z Y G
Z 1 G .G.H
t
t
+
c 1 2
i
c c c
G .G.R G.Z Z
Y Y
1 G .G.H 1 G .G.H 1 G .G.H
t t
+ + +
p ng tng hp: (p dng nguyn l xp chng)

Xt ring tc ng ca nhiu Z
2
:
Xt ring tc ng ca nhiu Z
1
:
tZ
2
R Y
G
c
H
G
tZ
1
2.4.2 i s s khi
4) Chuyn imr ra trc mt khi: => Thmkhi G
Y
Y
U
G
Y
G
G
Y
U
5) Chuyn imr ra sau mt khi: => Thmkhi (1/G)
Y
G
U
U
Y
G
1/G
U
U
6) Chuyn b tng ra trc mt khi: => Thmkhi (1/G)
Y= U
1
G-U
2
U
1
G
U
2
1/G
U
1
G
U
2
Y= U
1
G-U
2
GV. NGUYN TH HNG 24
2.4.2 i s s khi
7) Chuyn b tng ra sau mt khi: => Thmkhi (G)
U
1
G
U
2
Y=(U
1
-U
2
)G
Y= U
1
G-U
2
G
U
1
G
U
2
G
8) o v tr, tch, nhp hai b tng lin nhau: c php
U
1
U
2
U
3
Y
U
2
U
1
U
3
Y
U
1
U
3
U
2
Y
Y=U
1
-U
2
+U
3
Y=U
1
+U
3
-U
2
2.4.2 i s s khi
Khng c o v tr im r v b tng.
U
1
U
2
U
4
=U
1
-U
2
U
3
=U
1
Khng c o v tr 2 b tng nu gia hai b tng c
im r.
U
1
U
2
U
3
U
5
U
4
=U
1
-U
2
U
1
U
3
U
2
U
4
=U
1
+U
3
U
5
U
1
U
2
U
4
=U
1
-U
2
U
3
=U
1
-U
2
=U
4
L Lu :
GV. NGUYN TH HNG 25
V d 2.8 Tm hm truyn tng ng
2 1 1 2
2 2 1 1 1 2 2 1
G G G G
G
1 G G K 1 G K G G K

+ + +
t
t2
t
3 1 2 3
3 3 1 1 1 2 2 1 2 3 3
2
2
G G G G G Y(s)
G (s)
R(s) 1 G G K 1 G K G G K G G G K

+ + + +
t
t
t
1
1 1
G
G
1 G K
+
t1
G
t1
G
t2
V d 2.9_ Cch gii 1
2 3
2 3 5
G G
G
1 G G G
t1
1
1 3
G G
G
1 G G .(1/ G )
+
t1
t2
t1
4
4
G G
G
1 G G
+
t2
t
t2
G
t1
G
t2
G
5
R
A
G
1
G
2
G
4
G
3
B
R Y
G
1
G
2
G
4
G
5
G
3
1/G
3
A
GV. NGUYN TH HNG 26
V d 2.9_ Cch gii 2
G
t1
G
t2
R Y
G
1
G
2
G
4
G
5
G
3
A
B
R Y
G
1
G
2
G
4
G
5
G
3
G
3
2
2 3 5
G
G
1 G G G
t1
1
1
G G
G
1 G G
+
t1
t2
t1
3 4
3 4
G G G
G
1 G G G
t2
t
t2
+
B
V d 2.9_ Cch gii 3
G
t1
G
t2
R Y
G
1
G
2
G
4
G
5
G
3
A
B
R Y
G
2
G
4
G
5
G
3
G
3
G
G
1 G
+
t1
t2
t1
3 4
3 4
G G G
G
1 G G G
t2
t
t2
+
G
1
1/G
1
1 2
2 3 5
G G
G
1 G G G
t1
GV. NGUYN TH HNG 27
Bi tp 1_ Tm hm truyn tng ng
1 2 3 1 4
1 2 3 1 4 1 2 1 2 3 2 4 2
G G G G G
G
1 G G G G G G G H G G H G H
td
+
+ + + + +
1 2 3 1 4
1 2 3 1 4 2 1 2 3 2 4 2
G G G G G
G
1 G G G G G G H G G H G H
td
+
+ + + + +
GV. NGUYN TH HNG 28
1 2 3 4
1 2 3 4 1 2 3 4 2 3 1
td
G G G G
G
1 G G G G G G G G G G H
+ + +
R
Y
G
1
G
2
G
4
H
1
G
3
1/G
4
1/G
1
1 2 3 4
1 2 3 4 1 2 3 2 3 4 1
G G G G
G
+ +
td
GV. NGUYN TH HNG 29
2.5.1 Phn t c kh
v H l xo-khi lng-gim chn
2
2
d y dy
m b ky(t) F(t)
dt dt
+ +
Phng trnh vi phn:
Bin i Laplace 2 v vi K =0 :
2
(ms bs k)Y(s) F(s) + +
Hm truyn bc hai:
2
Y(s) 1
G(s)
F(s) ms bs k

+ +
- Tn hiu vo: lc tc dng F(t)
- Tn hiu ra: lng di ng y(t)
2.5.1 Phn t c kh
v Trc vt ai c (bn my)
Phng trnh chuyn ng:
Bin i Laplace 2 v :
Hm truyn tch phn:
-Tn hiu vo: vn tc gc (t)
-Tn hiu ra:lng di ng y(t)
n_s vng quay;
P_bc ren vt
t t
0 0
P
y(t) P n(t)dt . (t)dt
2

P (s) K
Y(s) . (s)
2 s s
Y(s) K
(s) s
(K=P/2 : h s tch phn)

GV. NGUYN TH HNG 30
Phng trnh vi phn:
U(s) (Ls R)I(s) +
Hm truyn bc nht:
I(s) 1
G(s)
U(s) Ls R

+
2.5.2 Phn t in
v Mch RL ni tip
-Tn hiu vo: in p u(t)
-Tn hiu ra: dng in i(t)
L R
di
u u u L Ri
dt
+ +
Phng trnh vi phn:
2
C
(LCs RCs 1)U (s) U(s) + +
Hm truyn bc hai:
C
2
U (s) 1
G(s)
U(s) LCs RCs 1

+ +
2.5.2 Phn t in
v Mch RLC ni tip
Tn hiu vo: in p u(t)
Tn hiu ra: in p u
c
(t)
2
2
C C
C
d u du
LC RC u u
dt dt
+ +
GV. NGUYN TH HNG 31
v Mch RLC ni tip & //
i
- Theo Kirchoff :
C
C C C
du 1
u i dt i C
C dt

L
C L L C
di 1
u u L i u dt
dt L

R L C
u Ri R i i ( ) +
2
C
RLCs Ls R U s LsU s ( ) ( ) ( ) + +
- Hm truyn:
C
2
U s Ls
G s
U s RLCs Ls R
( )
( )
( )

+ +
R C
u u u + (*)
- Ly Laplace 2 v, c:
C
C C
du R
RC u u dt u
dt L
+ +
-Th vo (*) , ta c:
2
C C
C
d u du du
RLC L Ru L
dt dt dt
+ + - Ly o hm 2 v, c:
v Khuch i thut ton (op-amp)
0 2 1 1 2
u K(u u ) K(u u )
- Op-amp thng c ghp ni thnh cc mch khuch
i, mch cm bin, b lc tn hiu, b iu khin.
- Tn hiu ng ra u
0
t l vi hiu ca hai tn hiu vo.
- H s khuch i K10
5
10
6
.
GV. NGUYN TH HNG 32
v Cm bin
Cc cm bin thng c tn hiu ra y
ht
(t) t l vi tn
hiu vo y(t). V d:
- Mt cm bin o p sut trong tm 0 10 bar v
chuyn thnh in p trong tm 010V s c hm truyn
l H(s)=K =10/10 = 1 [V/bar]
- Mt cm bin nhit o nhit trong tm 0500C v
chuyn thnh in p trong tm 010V s c hm truyn
l H(s)=K =10/500 = 0,02 [V/ C]
Nu cm bin c tr ng k th c m t bng
hm truyn bc nht.
U(s)
I(s)
(s)
2.5.3 ng c in DC
Tn hiu vo: in p u
Tn hiu ra: vn tc gc
R: in tr phn ng
L: in cm phn ng
K
e
: hng s sc in ng
e=K
e
: sc phn in ng
S dng 3 phng trnh c bn:
1) Phng trnh mch in phn ng :
e
di
u L Ri K
dt
+ +
e
U(s) LsI(s) RI(s) K (s) + +
( )
e
U(s) K (s) Ls R I(s) +
Bin i Laplace 2 v:
S khi (1):
1
Ls R +
Ke
GV. NGUYN TH HNG 33
2.5.3 ng c in DC
2) Phng trnh mmen in t:
m
M(t) K i(t)
m
M(s) K I(s)
K
m
: hng s mmen ca ng c
I(s) M(s)
Km
S khi (2):
t
d
M(t) J B (t) M (t)
dt
+ +
t
M(s) Js (s) B (s) M (s) + +
3) Phng trnh cn bng mmen c:
t
M(s) M (s) (Js B). (s) +
J: mmen qun tnh ca c
v ti quy v trc ng c
B: h s ma st ca c v
ti quy v trc ng c
M
t
: mmen ph ti (nhiu)
S khi (3):
M(s) (s)
M
t
(s)
1
Js B +
2.5.3 ng c in DC
Kt ni cc SK (1),(2),(3) ta c SK chung ca ng c DC:
Dng i s SK tm hm truyn ng c (coi nhiu M
t
=0):
Km
M(s) (s)
M
t
(s)
1
Js B +
U(s) I(s)
(s)
Ke
1
Ls R +
m
m
m e
m e
K
K (s) (Ls R)(Js B)
G(s)
K K
U(s) (Ls R)(Js B) K K
1
(Ls R)(Js B)
+ +

+ + +
+
+ +
( )
m
2
m e
K (s)
G(s)
U(s) LJs (LB RJ)s K K RB

+ + + +
(2-47 tr.45)
GV. NGUYN TH HNG 34
2.5.3 ng c in DC
Nu t :
Th hm truyn c dng:
t
L / R
_l hng s thi gian in
c
J / B _l hng s thi gian c
m m
2 m e
t c m e
t c t c
K K / RB
G(s)
K K
RB( s 1)( s 1) K K
s ( )s 1
RB

+ + + _
+ + + +

,
Nu b qua in cm:
m
m e m
m e
m e
K
RB K K (s) K K
G(s)
RJ
U(s) RJs RB K K Ts 1
s 1
RB K K
+

+ + +
+
+
n Nhn xt : Tng qut, ng c DC iu khin vn tc c
m t bng hm truyn bc hai, nu b qua in cm th c
th m t bng hm truyn bc nht.
(2-49)
(2-48 tr.46)
2.5.3 ng c in DC
n Nu ng c c iu khin gc quay (nh v); Do =d/dt
(s)=s.(s) nn s khi c thm khu tch phn 1/s.
Hm truyn:
Nu b qua in cm:
m
m e m
m e
m e
K
RB K K (s) K K
G(s)
U(s) s(RJs RB K K ) s(Ts 1) RJ
s s 1
RB K K
+

+ + + _
+

+
,
(2-50 tr.46)
Km
M(s) (s)
M
t
(s)
1
Js B +
U(s) I(s)
(s)
Ke
1
Ls R +
1
s
(s)
m
m e
(s) K
G(s)
U(s) s[(Ls R)(Js B) K K )

+ + +
GV. NGUYN TH HNG 35
Vi h thng c cu trc phc tp th s dng Graph tn hi u
tm hm truyn s tin li hn so vi SK.
2.6 Graph tn hiu (s dng tn hiu)
v ng tin (path, P): gm cc nhnh lin ti p ni t nt
ngun n nt ch v ch i qua mi nt mt ln. Hm truyn
ca ng tin bng tch cc hm truyn ca cc nhnh trn
ng tin .
2.6.1 Cc thnh phn ca graph
v Nt, nhnh:
- Mi nt l mt im, biu din mt tn hiu trong h thng.
- Nhnh l ng ni trc tip hai nt. Trn mi nhnh c v
mi tn ch hng tn hiu v ghi hm truyn gia hai nt.
- Nt ngun ch c nhnh i ra. Nt ch ch c nhnh i vo.
X
2
=G.X
1
G X
1
G
4
G
5
G
1
G
2
G
3
P
1
= G
1
G
2
G
3
G
4
P
2
= G
1
G
5
G
4
2.6 Graph tn hiu
v Vng kn (loop, L): l ng khp kn (nt u nt cui)
gm cc nhnh lin ti p v ch i qua mi nt mt ln. Hm
truyn ca vng kn bng tch cc hm truyn ca cc nhnh
trong vng kn .
L
1
dnh vi L
2
mt nt;
L
1
khng dnh vi L
3
(khng c nt chung)
L
2
dnh vi L
3
hai nt
L
1
, L
2
v L
3
u dnh vi ng tin P
1
P
1
= G
1
G
2
G
3
G
4
L
1
= -G
1
G
2
H
1
L
2
= G
3
G
4
H
2
L
3
= -G
4
H
3
G
1
G
2
-H
1
G
3
G
4
H
2
1
-H
3
1
GV. NGUYN TH HNG 36
2.6 Graph tn hiu
:Tng hm truyn ca tt c cc vng kn ctrong graph.
:Tng cc tch hm truyn ca hai vng kn khng dnhnhau.
:Tng cc tch hm truyn ca bavng kn khng dnh nhau.
: nh thc con th k, suy ra t bng cch b i cc vng kn
cdnhvi ng tin th k.
q Khng dnh (none-touching)= khng cnt no chung
q Dnh (touching)= ct nht mt nt chung.
i
L
i j m
L L L
i j
L L
2.6.2 Cng thc Mason

k k
k
1
G P
G : Hm truyn ca h thng;
P
k
: Hm truyn ca ng tin th k;
: nh thc ca graph tn hiu.
i i j i j m
i i, j i, j,m
1 L L L L L L ... + +

2.6 Graph tn hiu
n Nhn xt
q Nu cc vng kn v ng tin c chung mt nhnh Gi th
chng s dnh nhau. Trng hp ny ch cn kim tra cc
hm truyn L v P, khng nht thit phi kim tra trn s
graph.
q Cc vng kn v ng tin khng c nhnh Gi no chung
vn c th dnh nhau, hoc khng dnh. Khi phi kim tra
c th trn s graph.
q Nu h thng cho dng s khi, mun p dng c
cng thc Mason ta phi chuyn SK thnh s graph.
Khi chuyn cn lu :
- C th gp 2 b tng hoc 2 im r lin nhau thnh 1 nt
- C th gp 1 b tng v 1 im r lin sau n thnh 1 nt.
- Khng th gp 1 im r v 1 b tng lin sau n thnh 1 nt.
GV. NGUYN TH HNG 37
V d 1_ng dng Graph tn hiu
Graph tn hiu
S khi
Cc ng tin:
P
1
= G
1
G
2
G
3
; P
2
= G
1
G
4
Cc vng kn:
L
1
= -G
1
G
2
G
3
L
2
= -G
1
G
4
L
3
= -G
2
H
1
L
4
= -G
2
G
3
H
2
; L
5
= -G
4
H
2
C 5 vng kn u dnh nhau v dnh vi 2 ng tin P
1
, P
2
nn:
1 2 3 4 5 1 2
1 (L L L L L ) ; 1 + + + +
1 2 3 1 4 1 1 2 2
td
1 2 3 1 4 2 1 2 3 2 4 2
G G G G G P P
G
1 G G G G G G H G G H G H
+ +

+ + + + +
Hm truyn ca h tnh theo cng thc Mason:
GV. NGUYN TH HNG 38
( )
1 2 3 4
td 1 1
1 2 3 4 1 2 3 4 2 3 1
G G G G 1
G P

+ + +
S khi
Graph tn hiu
Cc ng tin:
P
1
= G
1
G
2
G
3
G
4
Cc vng kn:
L
1
= -G
1
G
2
L
2
= G
2
G
3
H
1
L
3
= -G
3
G
4
C 3 vng kn u dnh vi P
1
nn: 1
1
p dng cng thc Mason ta c hm truyn ca h :
Vng 1 khng dnh vi vng 3 nn:
1 2 1 3 3
1 (L L L L ) L + + +
( )
1 2 3 4
td 1 1
1 2 2 3 1 3 4 1 2 3 4
G G G G 1
G P
1 G G G G H G G G G G G

+ + +
GV. NGUYN TH HNG 39
V d 3_ ng dng Graph tn hiu
G
1
G
2
G
3
G
4
G
5
1
G
6
G
7
-H
2
-H
1
R Y
G
7
R
G
3
G
4
G
1
H
2
H
1
G
2
G
5
G
6
Y
V d 3_ ng dng Graph tn hiu ( = v d 2.14 tr. 61)
Cc ng tin:
P
1
= G
1
G
2
G
3
G
4
G
5
P
2
= G
1
G
6
G
4
G
5
P
3
= G
1
G
2
G
7
Cc vng kn:
L
1
= -G
4
H
1
; L
2
= -G
2
G
7
H
2
; L
3
= -G
2
G
3
G
4
G
5
H
2
; L
4
= -G
6
G
4
G
5
H
2
L
1
khng dnh vi L
2
nn = 1- (L
1
+L
2
+L
3
+L
4
) +L
1
L
2
C 4 vng kn u dnh vi P
1
v P
2
nn
1
=
2
=1
L
1
khng dnh vi P
3
nn
3
= 1- L
1
Hm truyn ca h :
1 2 3 4 5 1 6 4 5 1 2 7 4 1
4 1 2 7 2 6 5 4 2 2 3 4 5 2 4 1 2 7 2
G G G G G G G G G G G G (1 G H )
1 G H G G H G G G H G G G G H G H G G H
+ + +
+ + + + +
1 1 2 2 3 3
Y(s) 1
G(s) (P P P )
R(s)
+ +
G
1
G
2
G
3
G
4
G
5
1
G
6
G
7
-H
2
-H
1
R
Y
GV. NGUYN TH HNG 40
2.7 M hnh phng trnh trng thi
2.7.1 Gii thiu
n M hnh hm truyn c mt s im hn ch:
- Ch p dng c vi iu kin u bng 0.
- Ch m t c quan h tuyn tnh mt vo, mt ra (SISO).
- Ch p dng c cho h tuyn tnh bt bin, khng dng c
cho h phi tuyn hay h c thng s bin i theo thi gian.
khc phc, ngi ta dng m hnh phng trnh trng thi.
n Trng thi ca h thng l tp hp nh nht cc bin (gi l
bin trng thi) m nu bit gi tr cc bin ny ti thi im
t=t
0
v bit cc tn hiu vo t t
0
, ta hon ton c th xc nh
c p ng ca h thng ti mi thi im t t
0
. Vi h tuyn
tnh bt bin, thi im u thng c chn l t
0
=0.
n Bin trng thi khng nht thit phi l cc thng s o c
(bin vt l). Cc bin khng i din cho cc i lng vt l
(ch l bin ton hc) cng c th chn lm bin trng thi.
n m t h thng bc n cn dng n bin trng thi, hp thnh
vct ct gi l vct trng thi, k hiu l:
[ ]
T
1 2 n
x x x ... x
n S dng bin trng thi ta c th chuyn ph. trnh vi phn bc n
m t h thng thnh h gm n phng trnh vi phn bc nht
vit di dng ma trn nh sau :
x(t) Ax(t) Br(t)
y(t) Cx(t) Dr(t)
+
'
+
&
Trong : x(t) l vct trng thi
r(t) l tn hiu vo, y(t) l tn hiu ra ca h.
n Vi h tuyn tnh bt bin MIMO th A, B, C, D lcc ma trn h s.
n Vi h tuyn tnh bt bin SISO th A lma trn, B l vect ct, C l
vect hng, D lmt hng s.
: Phng trnh trng thi
: Phng trnh ng ra
GV. NGUYN TH HNG 41
11 12 1n
21 22 2n
n1 n2 nn
a a ... a
a a ... a
A
... ... ... ...
a a ... a
1
1
1
1
1
] n
1
2
b
b
B
b
1
1
1
1
1
]
M
[ ]
1 2 n
C c c ... c
1
D d const.
n Nu h tuyn tnh bt bin SISO c hm truyn vi bc t s
nh hn bc mu s (gi l h hp thc cht) th D = 0.
n Vic chn bin trng thi khng phi ch theo mt cnh duy nht.
Do : Mt h thng c th m t bng nhiu phng trnh trng
thi khc nhau, tu thuc vo cch chn cc bin trng thi.
V d : Lp ph.trnh trng thi m t ng c DC
m
M(t) K i(t)
d
M(t) J B (t)
dt
+
3 phng trnh c bn:
-Phng trnh in :
e
di
u L Ri K
dt
+ +
-Ph. trnh mmen in t:
-Phng trnh cn bng mmen c:
( n gin, xem mmen ti =0)
(1)
(2)
(3)
(1)
di
dt

(2) v (3)
d
dt
d
J M(t) B (t)
dt

(4)
(5)
e
K R 1
i u
L L L
+
m
K B
i
J J

GV. NGUYN TH HNG 42
e 1 1
2 2 m
R / L K / L x x 1/ L
u
x x 0 K / J B/ J

1 1 1 1
+
1 1 1 1
] ] ] ]
&
&
V d : Lp ph.trnh trng thi m t ng c DC
e
1 1 2
K R 1
x x x u
L L L
+ &
m
2 1 2
K B
x x x
J J
&
t 2 bin trng thi 1 2
x i ; x
(4) v (5)
[ ]
1
2
x
0 1
x
1

1
]
e
m
R / L K / L
A
K / J B/ J

1
]
1/ L
B
0
1
1
]
x Ax Bu
Cx Du
+
'
+
&
[ ] C 0 1
D 0
V d 2.15 (trang 63) _Lp phng trnh trng thi
n Cc phng trnh cn bng lc:
2 2 1 2 2 1 2 2
F b (y y ) k (y y ) m y & & &&
[ ]
2 2 1 2 2 1 1 1 1 1 1 1
b y y k (y y ) b y k y m y + & & & &&
n t 4 bin trng thi: 1 1 2 2 3 1 4 2
x y ; x y ; x y ; x y & &
Ta vit c h phng trnh trng thi :
GV. NGUYN TH HNG 43
1 3
2 4
x x
x x
&
&
2 1 2 2
3 1 1 2 1 2 3 4
1 1 1 1
k b b b 1
x y (k k )x x x x
m m m m
+
+ + + & &&
2 2 2 2
4 2 1 2 3 4
2 2 2 2 2
k k b b F(t)
x y x x x x
m m m m m
+ + & &&
1 1
1 2 2 1 2 2
2 2
1 1 1 1 3 3
4 4 2 2 2 2
2
2 2 2 2
0 0 1 0
0
0 0 0 1
x x
0
k k k b b b
x x
0 . .F
m m m m x x
1
x x k k b b
m
m m m m
1
1
1
1 1
1
1
1 1
+ +
1
1

+
1 1
1
1
1 1
1
1
1 1
] ]
1
1
]
]
&
&
&
&
A
x B
r
&
x
V d 2.15 (trang 63)

1
1 2 1
2 3 2
4
x
y x x 1 0 0 0
y x x 0 1 0 0
x
1
1
1 1 1
1

1 1 1
1
] ] ]
1
]
V d 2.15 (trang 63)
C
x
y
x(t) Ax(t) B.F(t)
y(t) Cx(t) D.F(t)
+
'
+
& Dng tng qut :

Trong A, B, C c xc nh nh trn. Hng s D=0.
GV. NGUYN TH HNG 44
2.7.2 Lp ph.trnh trng thi t ph.trnh vi phn
1) Ph.trnh vi phn khng cha o hm tn hiu vo
n Xt h thng tuyn tnh SISO c ph.trnh vi phn:
p dng cch t bin nh trn, ta s tm c phng trnh
trng thi m t h thng (trng hp ny c D=0):
n n 1
n 1 0 0
n n 1
d y d y
a ... a y(t) b r(t)
dt dt

+ + +
(Nu a
n
1 ta chia hai v cho a
n
a v dng trn)
Quy tc t bin trng thi:
-Bin th nht bng tn hiu ra: x
1
=y
-Bin sau bng o hm ca bin trc: x
i
= x
i-1
(i=2,..,n)
x Ax Br
y Cx
+
'
&
2) Ph.trnh vi phn c cha o hm tn hiu vo
n Xt h thng tuyn tnh SISO c ph.trnh vi phn:
p dng cch t bin nh trn, ta s xc nh c cc h s .
T lp c ph.trnh trng thi m t h thng, trong :
n n 1 n n 1
n 1 0 n n 1 0
n n 1 n n 1
d y d y d r d r
a ... a y(t) b b ... b r(t)
dt dt dt dt

+ + + + + +
(Nu a
n
1 ta chia hai v cho a
n
a v dng trn)
Quy tc t bin trng thi:
- Nu bc v phi = v tri (tc b
n
0), t x
1
=y-
0
r
Nu bc v phi < v tri (tc b
n
=0), t x
1
=y
- t bin th i (i=2,3,,n):
- V t
n n 1 n n 2 n 1 1 2 0 1 n
x a x a x ... a x a x r

+ &
1 1 i i i
x x r

&
1 2 0
[ ... ] ;
T
n n
B D b
GV. NGUYN TH HNG 45
V d 1: Lp phng trnh trng thi ca h c ph.trnh vi phn:
Gii. t hai bin trng thi:
5y(t) 2y(t) 7y(t) r(t) + + && &
1 2 1
x y ; x x &
2
x y & &&
Phng trnh trng thi: 1 2
2 1 2
x x
7 2 1
x x x r
5 5 5
'
+
&
&
Vit theo dng ma trn:
1 1
2 2
x x 0 1 0
.r
x 7 / 5 2 / 5 x 1/ 5
1 1 1 1
+
1 1 1 1

] ] ] ]
&
&
[ ]
1
2
x
y 1 0
x
1
1
]
x Ax Br
y Cx
+
'
&

V t
Gii. t cc bin trng thi:
y 5y 6y 8y 8r 24r + + + + & &&& && &
1
2 1 1
3 2 2
x y
x x r
x x r

'

&
&
3 2 3 1 2 0 1 3 3 2 1 3
x a x a x a x r 5x 6x 8x r + + &
1
1 2 1
2 1 3 2 1
y x
y x x r
y x r x r r
+
+ + +
& &
& & && &
Ta c:
3 2 1 3 2 1 3 2 1
y x r r 5x 6x 8x r r r + + + + + & && & && &&& &
3 2 1 3 2 1
y 5y 6y 8y ( 5x 6x 8x r r r) + + + + + + & && &&& && &
3 2 1 2 1 1
(5x 5 r 5 r) (6x 6 r) 8x + + + + + + &
GV. NGUYN TH HNG 46
H phng trnh trng thi ca h thng l:
So snh ph.trnh trn vi ph.trnh cho, ta c:
Dng ma trn:
1 2 1 3 2 1
y 5y 6y 8y r ( 5 )r ( 5 6 )r + + + + + + + + && & &&& && &
1
2 1 2
3 2 1 3 2 1
0
5 8 8
5 6 24 24 5 6 16

+
'
+ +
1 2 1 2
2 3 2 3
3 3 2 1 3 1 2 3
x x r x
x x r x 8r
x 5x 6x 8x r 8x 6x 5x 16r
+
+ +
'
&
&
&
1 1
2 2
3 3
x x 0 0 1 0
x 0 0 1 x 8 r
8 6 5 16 x x
1 1 1 1
1 1 1 1
+
1 1 1 1

] ] ] ]
&
&
&

V t:
Gii. t cc bin trng thi nh sau:
y 7y 4y 2r 8r 3r + + + + && & && &
{
1 0
2 1 1
x y r
x x r

&
2 1 2 0 1 2 2 1 2
x a x a x r 7x 4x r + + &
1 0
1 0 2 1 0
2 1 0 2 1 2 1 0
7x 4x r r r
y x r
y x r x r r
y x r r
+
+ + +
'
+ + +
+ + &
& & & &
& && & & && &
Ta c:
2 1 2 1 0
y 7y 4y ( 7x 4x r r r) + + + + + & && && &
2 1 0 1 0
(7x 7 r 7 r) (4x 4 r) + + + + + &
p ng ng ra:
[ ]
1
1 2
3
x
y x 1 0 0 x
x
1
1

1
]
GV. NGUYN TH HNG 47
H phng trnh trng thi ca h thng l:
Dng ma trn:
0
1 0 1
2 1 0 2 1 0
2
7 8 6
7 4 3 3 7 4 37

+
'
+ +
{
1 1 0 2
2 2 1 2 1 2
x x r x 2
x 7x 4x r 4x 7x 37r
+ +
+ +
&
&
1 1
2 2
x x 0 1 6
r
4 7 x x 37
1 1 1 1
+
1 1 1 1

] ] ] ]
&
&
[ ]
1
2
x
y 0 1 2r
x
1
+
1
]
So snh ph.trnh trn vi ph.trnh cho, ta c:
0 1 0 2 1 0
y 7y 4y r ( 7 )r ( 7 4 )r + + + + + + + && & && &
2.7.3 Lp ph.trnh trng thi t hm truyn, s khi
Cch 1: Hm truyn ph.trnh vi phn ph.trnh trng thi
(Xem cch gii v d 2.19 trang 69 sch KT )
V d:
Cch 2: t bin trng thi trc tip trn s khi
V d:
y 5y 6y 8y 8r 24r + + + + & &&& && &
3 2
Y(s) 8s 24
G(s)
R(s) s 5s 6s 8
+

+ + +
3 2
(s 5s 6s 8).Y(s) (8s 24).R(s) + + + +
(tip tc gii nh v d 2 mc 2.7.2 )
Ly Laplace ngc 2 v
GV. NGUYN TH HNG 48
2.7.4 Tm hm truyn t phng trnh trng thi
n Xt h thng tuyn tnh SISO c ph.trnh trng thi:
- trnh phi tnh ma trn nghch o, c th dng cng thc:
x Ax Br
y Cx Dr
+
'
+
&
H thng s c hm truyn: 1
Y(s)
G(s) C(sI A) B D
R(s)

+
1
det(sI A BC)
G(s) C(sI A) B D 1 D
det(sI A)
+
+ +
- Phng trnh c tnh ca h thng:

det(sI A) 0
(xem chng minh tr. 71_sch KT)
V d 2.21 (trang 71) Xt h thng c ph.trnh trng thi:
1
G(s) C(sI A) B D
+
Cch 1: Hm truyn
1 1
2 2
x (t) x 5 1 2
r(t)
x (t) x 1 0 0

1 1 1 1
+
1 1 1 1
] ] ] ]
&
&
[ ]
1
2
x (t)
y(t) 1 0,5
x (t)
1
1
]
1 0 5 1 s 5 1
(sI A) s
0 1 1 0 1 s
+
1 1 1

1 1 1
] ] ]
1
1
a b d b
1
M
c d c a det(M)
1 1

1 1
] ]
1
2
s 1 s 1
1 1
(sI A)
1 s 5 1 s 5 det(sI A) s 5s 1
1 1

1 1
+ + + +
] ]
Hm truyn
ca h thng =?
GV. NGUYN TH HNG 49
1
2
s 1 s 1
1 1
(sI A)
1 s 5 1 s 5 det(sI A) s 5s 1
1 1

1 1
+ + + +
] ]
1
2 2
s 1 2 2s
1 1
(sI A) B
1 s 5 0 2 s 5s 1 s 5s 1
1 1 1

1 1 1
+ + + + +
] ] ]
[ ]
1
2 2
2s
1 2s 1
C(sI A) B 1 0,5
2 s 5s 1 s 5s 1
1 +

1
+ + + +
]
1
2
2s 1
G(s) C(sI A) B D
s 5s 1
+
+
+ +
1 0 5 1 s 5 1
sI A s
0 1 1 0 1 s
+
1 1 1

1 1 1
] ] ]
[ ]
s 5 1 2
sI A BC 1 0, 5
1 s 0
+
1 1
+ +
1 1
] ]
1
det(sI A BC)
G(s) C(sI A) B 1
det(sI A)
2
2 2
s 7s 2 2s 1
G(s) 1
s 5s 1 s 5s 1
+ + +

+ + + +
Cch 2: Hm truyn
s 5 1 2 1 s 7 2
1 s 0 0 1 s
+ +
1 1 1
+
1 1 1

] ] ]
GV. NGUYN TH HNG 50

Tng kt chng 2
n Mt h thng c th m t bng mt trong ba dng m
hnh: Ph.trnh vi phn, hm truyn v ph.trnh trng thi.
Ba dng m hnh ny c th chuyn i qua li.
Ph.trnh
vi phn
Hm
truyn
Ph.trnh
trng thi
L
-1
L
t x
1
( ) ( )
+ G s C sI A B D

Bai Giang DKTD - Chuong 2

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Bai Giang DKTD - Chuong 2

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GV.

GV. NGUYN TH HNG 6

Ly tch phn tng phn

GV. NGUYN TH HNG 11

01/2009 GV. NGUYN TH HNG 28

Bin i ngc Laplace hm nh Y(s) ta c :

GV. NGUYN TH HNG 17

p ng tng hp: (p dng nguyn l xp chng)

(K=P/2 : h s tch phn)

2.6.2 Cng thc Mason

01/2009 GV. NGUYN TH HNG 86

& Dng tng qut :

01/2009 GV. NGUYN TH HNG 90

01/2009 GV. NGUYN TH HNG 92

- Phng trnh c tnh ca h thng:

GV. NGUYN TH HNG 50

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