Chuong8 CSTD

Mon hoc Mon hoc
C S T ONG C S T ONG
Bin son: TS. Hunh Thi Hong
B mn iu khin t ng
Khoa in in T
i hc Bch Khoa TPHCM
Email: hthoang@hcmut.edu.vn
Homepage: www4.hcmut.edu.vn/~hthoang/
Ging vin: HTHong, NVHo, NHong, BTHuyn, HHPhng, HMTr
9 September 2011 H. T. Hong - HBK TPHCM 1
Chng 8 Chng 8
PHAN TCH PHAN TCH
HE THONG IEU KHIEN RI RAC HE THONG IEU KHIEN RI RAC
9 September 2011 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 2
iu kin n nh ca h ri rc
Noi dung chng 8 Noi dung chng 8
iu kin n nh ca h ri rc
Tieu chuan Routh-Hurwitz m rong
Tieu chuan Jury
Qu o nghim s
Sai so xac lap
Chat lng qua o cua he rac
ieu kien on nh cua he ri rac ieu kien on nh cua he ri rac
ieu kien on nh cua he ri rac ieu kien on nh cua he ri rac
He thong on nh BIBO (Bounded Input Bounded Output) neu
tn hieu vao b chan th tn hieu ra b chan.
IIm s Im z
Re s
Mien on nh
Re z Mien on nh
1
Ts
e z =
{ } 0 Re < s
1
1 | | < z
Mien on nh cua he lien Mien on nh cua he ri rac la
tuc la na trai mat phang s vung nam trong vong tron n v
Phng trnh ac trng cua he ri rac Phng trnh ac trng cua he ri rac
He thong ieu khien ri rac mo ta bi s o khoi:
G
C
(z)
Y(s)
+
T
G(s) ZOH
R(s)
He thong ieu khien ri rac mo ta bi s o khoi:
H(s) ( )
Phng trnh ac trng:
0 ) ( ) ( 1 = + z GH z G
C
He thong ieu khien ri rac mo ta bi PTTT:
+ = + ) ( ) ( ) 1 ( k r k k B x A x
=
+ = +
) ( ) (
) ( ) ( ) 1 (
k k y
k r k k
d
d d
x C
B x A x
Phng trnh ac trng: 0 ) det( =
d
z A I
Phng phap anh gia tnh on nh cua he ri rac Phng phap anh gia tnh on nh cua he ri rac
Tieu chuan on nh ai so Tieu chuan on nh ai so
Tieu chuan Routh Hurwitz m rong
Tieu chuan Juryy
Phng phap quy ao nghiem so
Phng phap ac tnh tan so
Tieu chuan Routh Tieu chuan Routh--Hurwitz m rong Hurwitz m rong
Tieu chuan Routh Tieu chuan Routh Hurwitz m rong Hurwitz m rong
PTT cua he ri rac:
0
1
+ + + +
n n
Im z Im w
PTT cua he ri rac:
0
1
1
1 0
= + + + +
n n
n n
a z a z a z a
Re z Mien on nh
Re w
Mien on nh
z
1
Re w
w
w
z
+
=
1
1
Mien on nh: trong vong Mien on nh: na trai g g
tron n v cua mat phang Z mat phang W
Tieu chuan Routh Hurwitz m rong: oi bien z w, sau o ap dung
tieu chuan Routh Hurwitz cho phng trnh ac trng theo bien w.
Th du xet on nh dung tieu chuan Routh Th du xet on nh dung tieu chuan Routh Hurwitz m rong Hurwitz m rong
anh gia tnh on nh cua he thong: anh gia tnh on nh cua he thong:
Y(s)
+
G(s) ZOH
R(s)
5 0 = T 5 . 0 = T
H(s)
3
3
) (
+
=

s
e
s G
s
(s)
1
1
) (
+
=
s
s H
Biet rang:
3 + s 1 + s
Giai:
Ph h h h Phng trnh ac trng cua he thong:
0 ) ( 1 = + z GH

H G ) ( ) (
s
)
`
= -

s
s H s G
z z GH
) ( ) (
) 1 ( ) (
1
Z

3e
s
1
) 3 (
3
) (
+
=

s
e
s G
s
) (
2 1
+ B Az z
)
`
+ +
=

) 1 )( 3 (
3
) 1 (
1
s s s
e
z Z
) 1 (
1
) (
+
=
s
s H
) )( )( 1 (
) (
) 1 ( 3
5 . 0 1 5 . 0 3
2 1

+
=
e z e z z
B Az z
z z
0673 0
) 1 ( 3 ) 1 (
5 . 0 5 . 0 3

e e
A
) )( )( 1 (
) (
) )( (
1
e z e z z
B Az z
b s a s s
bT aT

+
=
)
`
+ +

Z
0346 0
) 1 ( ) 1 ( 3
0673 . 0
) 3 1 ( 3
) ( ) (
5 . 0 3 5 . 0 5 . 0 5 . 0 3

=
=

e e e e
B
A
) 1 ( ) 1 (
) (
) 1 ( ) 1 (
e be e ae
a b ab
e a e b
A
aT bT bT aT
bT aT

=

0346 . 0
) 3 1 ( 3
) ( ) (
=
= B
104 . 0 202 . 0
) (
+
=
z
z GH
) (
) 1 ( ) 1 (
a b ab
e be e ae
B
) 607 . 0 )( 223 . 0 (
) (
2

=
z z z
z GH
h h Phng trnh ac trng:
0 ) ( 1 = + z GH
0
) 607 . 0 )( 223 . 0 (
104 . 0 202 . 0
1
2
=

+
+
z z z
z
0 104 . 0 202 . 0 135 . 0 83 . 0

2 3 4
= + + + z z z z
1
oi bien:
w
w
z
+
=
1
1
2 3 4
| | | | | | | |
104 . 0 202 . 0
) (
2
+
=
z
z GH
0 104 . 0
1
1
202 . 0
1
1
135 . 0
1
1
83 . 0
1
1
2 3 4
= +
|
.
|
\
|
+
+
|
.
|
\
|
+
+
|
.
|
\
|
|
.
|
\
|
+
w
w
w
w
w
w
w
w

) 607 . 0 )( 223 . 0 (
) (
2
z z z
G
0 611 . 0 52 . 1 354 . 6 648 . 5 867 . 1
2 3 4
= + + + + w w w w
B R h Bang Routh
Ket luan: He thong on nh do tat ca cac he so cot 1 cua
bang Routh eu dng
0 611 . 0 52 . 1 354 . 6 648 . 5 867 . 1
2 3 4
= + + + + w w w w
Tieu chuan Jury Tieu chuan Jury
Tieu chuan Jury Tieu chuan Jury
Xet tnh on nh cua he ri rac co PTT: Xet tnh on nh cua he ri rac co PTT:
0
1
1
1 0
= + + + +

n n
n n
a z a z a z a
Bang Jury: gom co (2n+1) hang Bang Jury: gom co (2n+1) hang.
Hang 1 la cac he so cua PTT theo th t ch so tang dan.
Hang chan (bat ky) gom cac he so cua hang le trc o viet
theo th t ngc lai.
Hang le th i = 2k+1 (k>1) gom co (nk+1) phan t, phan t
hang i cot j xac nh bi cong thc: hang i cot j xac nh bi cong thc:
3 , 2 1 , 2
1
+
=
k j n i i
ij
c c
c c
c
Tieu chuan Jury: ieu kien can va u e he thong ri rac on nh
3 , 1 1 , 1
1 , 2
+
k j n i i
i
j
c c
c
y g
la tat ca cac he so hang le, cot 1 cua bang Jury eu dng.
Th du xet on nh dung tieu chuan Jury Th du xet on nh dung tieu chuan Jury
0 1 3 2 5
2 3
X t t h h h i PTT l
0 1 3 2 5
2 3
= + + + z z z
Xet tnh on nh cua he ri rac co PTT la:
Bang Jury
Do cac he so hang le cot 1 bang Jury eu dng nen he thong
Do cac he so hang le cot 1 bang Jury eu dng nen he thong
on nh.
Phng phap quy ao nghiem so (QNS) Phng phap quy ao nghiem so (QNS)
Quy ao nghiem so la tap hp tat ca cac nghiem cua phng Quy ao nghiem so la tap hp tat ca cac nghiem cua phng
trnh ac trng cua he thong khi co mot thong so nao o trong he
thay oi t 0 .
Xet he ri rac co phng trnh ac trng:
0
) (
1 = +
z N
K 0
) (
1 = +
z D
K
) (
) (
z N
K G
) (
) (
) (
0
z D
K z G =
at:
Goi n va m la so cc va so zero cua G
0
(z)
Cac qui tac ve QNS he lien tuc co the ap dung e ve QNS
cua he ri rac ch khac qui tac 8

0
(z)
cua he ri rac, ch khac qui tac 8.
Quy ao nghiem so he ri rac Quy ao nghiem so he ri rac
Qui tac ve QNS Qui tac ve QNS Qui tac ve QNS Qui tac ve QNS
Qui tac 1: So nhanh cua quy ao nghiem so = bac cua phng
trnh ac tnh = so cc cua G
0
(z) = n.
Qui tac 2:
Khi K = 0: cac nhanh cua quy ao nghiem so xuat phat t cac q y g p
cc cua G
0
(z).
Khi K tien en + : m nhanh cua quy ao nghiem so tien en
G ( ) h h l i ti th ti m zero cua G
0
(z), nm nhanh con lai tien en theo cac tiem
can xac nh bi qui tac 5 va qui tac 6.
Qui tac 3: Quy ao nghiem so oi xng qua truc thc Qui tac 3: Quy ao nghiem so oi xng qua truc thc.
Qui tac 4: Mot iem tren truc thc thuoc ve quy ao nghiem so

neu tong so cc va zero cua G
0
(z) ben phai no la mot so le.
Qui tac ve QNS (tt) Qui tac ve QNS (tt) Qui tac ve QNS (tt) Qui tac ve QNS (tt)
Qui tac 5: : Goc tao bi cac ng tiem can cua quy ao nghiem
so vi truc thc xac nh bi :
Qui tac 6: : Giao iem gia cac tiem can vi truc thc la iem A
m n
l
+
=
t
o
) 1 2 (
) , 2 , 1 , 0 ( = l
Qui tac 6: : Giao iem gia cac tiem can vi truc thc la iem A
co toa o xac nh bi:
z p
m n

(p
i
va z
i
la cac cc
Q i 7 i h h ( ) hi
m n
z p
m n
OA
i
i
i
i
=

= = 1 1
zero cc
(p
i
va z
i
la cac cc
va cac zero cua G
0
(z) )
Qui tac 7: : iem tach nhap (neu co) cua quy ao nghiem so nam
tren truc thc va la nghiem cua phng trnh:
0
dK
0 =
dz
Qui tac ve QNS (tt) Qui tac ve QNS (tt) Qui tac ve QNS (tt) Qui tac ve QNS (tt)
Qui tac 8: : Giao iem cua quy ao nghiem so vi vong tron n
v co the xac nh bang cach ap dung tieu chuan RouthHurwitz g p g
m rong hoac thay z=a+jb (a
2
+b
2
=1) vao phng trnh ac trng.
Q i t 9 G h hi i h Qui tac 9: Goc xuat phat cua quy ao nghiem so tai cc phc p
j
c xac nh bi:

+
n m
0
) ( ) ( 180 u

=
= =
+ =
j i
i
i j
i
i j j
p p z p
1 1
0
) arg( ) arg( 180 u
Dang hnh hoc cua cong thc tren la: Dang hnh hoc cua cong thc tren la:
u
j
= 180
0
+ (goc t cac zero en cc p
j
)
(goc t cac cc con lai en cc p
j
)
(goc t cac cc con lai en cc p
j
)
Th du ve QNS he ri rac Th du ve QNS he ri rac
Cho he thong ri rac co s o khoi: Cho he thong ri rac co s o khoi:
Y(s)
+
G(s) ZOH
R(s)
1 0 = T 1 . 0 = T
) 5 (
5
) (
+
=
s s
K
s G
Giai:
Hay ve QNS cua he thong khi K = 0 +. Tnh K
gh
Giai:
Phng trnh ac trng cua he thong:
0 ) ( 1+ z G
0 ) ( 1 = + z G

s G ) (
5K
)
`
= -

s
s G
z z G
) (
) 1 ( ) (
1
Z
`
5
1
K
) 5 (
5
) (
+
=
s s
K
s G
)
`
+
=

) 5 (
5
) 1 (
2
1
s s
K
z Z
|
|
|
+ +

)] 5 . 0 1 ( ) 1 5 . 0 [(
) 1 (
5 . 0 5 . 0 5 . 0
1
e e z e z
K
|
|
.
|
\
|

+ +
=

) ( ) 1 ( 5
)] 5 . 0 1 ( ) 1 5 . 0 [(
) 1 (
5 . 0 2
1
e z z
e e z e z
z K
018 . 0 021 . 0
) (
+ z
K G
) 607 . 0 )( 1 (
) (

=
z z
K z G
Phng trnh ac trng:
0
018 . 0 021 . 0
1
+ z
| | ) 1 ( ) 1 (
aT aT aT
aTe e z e aT z a

+ +
=
`
Z
Phng trnh ac trng:
0
) 607 . 0 )( 1 (
018 . 0 021 . 0
1 =

+
+
z z
z
K
Cc:
1
1
= p 607 . 0
2
= p
) ( ) 1 ( ) (
2 2 aT
e z z a a s s

=
)
`
+
Z
1
p 607 . 0
2
p
Zero:
857 . 0
1
= z
Tiem can: Tiem can:

1 2
) 1 2 ( ) 1 2 (
+
=
+
=
t t
o
l
m n
l
t o =
1 2
) 857 . 0 ( ] 607 . 0 1 [ zero
+
=
=

m n
OA
cc
464 . 2 = OA
iem tach nhap:

(PTT)
607 . 0 607 . 1 ) 607 . 0 )( 1 (
2
+
=

=
z z z z
K
1 2 m n
(PTT)
018 . 0 021 . 0 018 . 0 021 . 0 +
=
+
=
z z
K
2
2
042 . 0 036 . 0 021 . 0 +
=
z z dK
2
) 018 . 0 021 . 0 ( + z dz
0
dK
Do o

= 506 . 2
1
z
0 =
dz
Do o
= 792 . 0
2
z
Giao iem cua QNS vi vong tron n v: Giao iem cua QNS vi vong tron n v:
(PTT)
0 ) 018 . 0 021 . 0 ( ) 607 . 0 )( 1 ( = + + z K z z
(*)
0 ) 607 0 018 0 ( ) 607 1 021 0 (
2
= + + + K z K z
Cach 1: Dung tieu chuan Routh Hurwitz m rong:

( )
0 ) 607 . 0 018 . 0 ( ) 607 . 1 021 . 0 ( + + + K z K z
i bi
1 + w
(*) t th h oi bien
1
=
w
z , (*) tr thanh:
0 ) 607 . 0 018 . 0 (
1
1
) 607 . 1 021 . 0 (
1
1
2
= + +
|
.
|
\
|
+
+
|
.
|
\
|
+
K
w
w
K
w
w
1 1
. \

. \
w w
0 ) 003 . 0 214 . 3 ( ) 036 . 0 786 . 0 ( 039 . 0

2
= + + K w K Kw
Theo he qua cua tieu chuan Hurwitz ieu kien on nh la: Theo he qua cua tieu chuan Hurwitz, ieu kien on nh la:
>
>
0 036 . 0 786 . 0
0
K
K
83 . 21 =
gh
K
<
>
83 . 21
0
K
K
> 0 003 . 0 214 . 3 K

gh
<1071 K
Th i t K 21 83 h t h (*) t Thay gia tr K
gh
= 21.83 vao phng trnh (*), ta c:
0 1 1485 . 1
2
= + z z 8187 . 0 5742 . 0 j z =
8187 . 0 5742 . 0 j z =
Vay giao iem cua QNS vi vong tron n v la:
Cach 2: Thay z = a + jb vao phng trnh (*) :
0 ) 607 0 018 0 ( ) )( 607 1 021 0 ( ) (
2
= + + + + + K jb a K jb a 0 ) 607 . 0 018 . 0 ( ) )( 607 . 1 021 . 0 ( ) ( = + + + + + K jb a K jb a
+ + + + b K j a K b ab j a ) 607 . 1 021 . 0 ( ) 607 . 1 021 . 0 ( 2
2 2
0 ) 607 0 018 0 ( = + K
0 ) 607 . 0 018 . 0 ( = + K
+
= + + +
0 ) 607 1 021 0 ( 2
0 ) 607 . 0 018 . 0 ( ) 607 . 1 021 . 0 (
2 2
b K j b j
K a K b a

0 ) 607 . 0 018 . 0 ( ) 607 . 1 021 . 0 (
2
= + + + K z K z
= + 0 ) 607 . 1 021 . 0 ( 2 b K j ab j
Ket hp vi ieu kien a
2
+ b
2
=1 ta c he phng trnh: Ket hp vi ieu kien a
2
+ b
2
=1, ta c he phng trnh:
+
= + + +
0 ) 607 1 021 0 ( 2
0 ) 607 . 0 018 . 0 ( ) 607 . 1 021 . 0 (
2 2
b K j ab j
K a K b a
= +
= +
1
0 ) 607 . 1 021 . 0 ( 2
2 2
b a
b K j ab j
Giai he phng trnh tren, ta c 4 giao iem la:
khi 1 = z 0 = K
khi 1 = z 1071 = K
8187 . 0 5742 . 0 j z = khi
83 . 21 = K
83 . 21 =
gh
K

Im zz
0 5742+j0 8187
+j
2 506 0 792
0.5742+j0.8187
0.607
0.857
0 +1
3
Re z
1
2
2.506 0.792
j j
0.5742j0.8187
ac tnh tan so cua he ri rac ac tnh tan so cua he ri rac
ac tnh tan so he ri rac ac tnh tan so he ri rac
ac tnh tan so chnh xac: thay vao ham truyen G( )
T je
ac tnh tan so chnh xac: thay vao ham truyen G(z)
T j
e z
e
=
) (
T j
e G
e
10
Th du: Ham truyen:
) 6 . 0 (
10
) (
=
z z
z G
h
10
) (
T j
G
e
Ve bieu o Bode chnh xac cua he ri rac:
ac tnh tan so:
) 6 . 0 (
) (
=
T j T j
T j
e e
e G
e e
e

Kho khan
Khong s dung c tnh chat cong bieu o Bode vi truc
hoanh chia theo thang logarith hoanh chia theo thang logarith
Chu y: Theo nh ly lay mau:
f
f
t
2
s
f
f s
T
t
e s
Th d Th d ac tnh tan so he ri rac ac tnh tan so he ri rac
Cho he thong ri rac co s o khoi: Cho he thong ri rac co s o khoi:
Y(s)
+
G(s) ZOH
R(s)
1 0 = T
) 3 (
12
) (
+
=
s s
s G
1 . 0 = T
Hay khao sat ac tnh tan so cua he ri rac h
Giai:
Ham truyen ri rac:
`
=

s G
z z G
) (
) 1 ( ) (
1
Z
0493 . 0 0544 . 0
) (
+
=
z
z G
)
`
=
s
z z G ) 1 ( ) ( Z
741 . 0 741 . 1
) (
2
+
=
z z
z G
ac tnh tan so:

0493 . 0 0544 . 0
) (
+
=
T j
T j
e
e G
e
e
ac tnh tan so:
741 . 0 741 . 1 ) (
) (
2
+
=
T j T j
e e
e G
e e
Th d Th d ac tnh tan so he ri rac ac tnh tan so he ri rac
Bieu o Bode ve chnh xac dung Matlab Bieu o Bode ve chnh xac dung Matlab
Phep bien oi song tuyen Phep bien oi song tuyen
Phep bien oi song tuyen (bilinear transformation): Phep bien oi song tuyen (bilinear transformation):
2 / 1
2 / 1
Tw
Tw
z
+
=
(
=
1
1 2
z
z
T
w
2 / 1 Tw

je
je
w
o
1
o
w
1
M t h Z
M t h W
Mat phang Z
Mat phang W
ac tnh tan so cua he ri rac qua phep bien oi song tuyen
e j
e z
z G
=
) (
w
j w
w G
e =
) (
Quan he gia tan so trong mat phang W va tan so cua he lien tuc Quan he gia tan so trong mat phang W va tan so cua he lien tuc
Tren truc ao cua mat phang W: Tren truc ao cua mat phang W:
w
j w e =
Tren vong tron n v cua mat phang Z:
|
.
|
\
|
=
(
=
(
2
tan
2
1
1 2
1
1 2 T
T
j
e
e
T z
z
T
T j
T j
T j
e
e
e
e
Tren vong tron n v cua mat phang Z:
Do phep bien oi song tuyen:
(
=
1
1 2
z
z
T
w
. \

+

+
=
2 1 1 T e T z T
e z
T je

+1 z T
|
.
|
\
|
=
2
tan
2 T
T
j j
w
e
e
. \
2 T
mien tan so thap thoa ta co nen
0 2 / ~ T e
2 2
tan
T T e e
~
|
.
|
\
|
. \
e e j j
w
~
Ve bieu o Bode gan ung cua he ri rac Ve bieu o Bode gan ung cua he ri rac
Bc 1: Thc hien phep bien oi song tuyen Bc 1: Thc hien phep bien oi song tuyen
2 / 1
2 / 1
Tw
Tw
z
+
=
2 / 1 Tw
Bc 2: Thay , sau o ap dung cac qui tac ve bieu o
Bode bang ng tiem can a trnh bay he lien tuc
w
j w e =
Bode bang ng tiem can a trnh bay he lien tuc
Chu y:
Khi xac nh tan so cat bien, tan so cat pha can nh quan he:
|
.
|
\
|
=
2
tan
2 T
T
j j
w
e
e
o d tr bien, o d tr pha xac nh nh he lien tuc
anh gia tnh on nh cua he ri rac da vao o d tr bien
anh gia tnh on nh cua he ri rac da vao o d tr bien
va o d tr pha nh he lien tuc
Chat lng cua he ri rac Chat lng cua he ri rac
ap ng cua he ri rac ap ng cua he ri rac
ap ng cua he ri rac co the tnh bang mot trong hai cach sau: ap ng cua he ri rac co the tnh bang mot trong hai cach sau:
Cach 1: neu he ri rac mo ta bi ham truyen th trc tien ta C y
tnh Y(z), sau o dung phep bien oi Z ngc e tm y(k).
Cach 2: neu he ri rac mo ta bi PTTT th trc tien ta tnh
nghiem x(k) cua PTTT, sau o suy ra y(k).
C h h i l Cap cc quyet nh cua he ri rac la cap cc nam gan vong tron
n v nhat.
Chat lng qua o Chat lng qua o
Cach Cach 11: anh gia chat lng qua o da vao ap ng thi gian Cach Cach 11: anh gia chat lng qua o da vao ap ng thi gian
y(k) cua he ri rac.
y y
o vot lo:
% 100
max
xl
xl
y
y y
POT

=
trong o y va y
l
la gia tr cc ai va gia tr xac lap cua y(k) trong o y
max
va y
xl
la gia tr cc ai va gia tr xac lap cua y(k)
Thi gian qua o:
T k t
q q
=
trong o k
q
thoa man ieu kien:
xl
l
k k
y
y k y > s
.
) (
c
q xl
k k y k y > s ,
100
) (
q xl xl
k k y k y y >
|
.
|
\
|
+ s s
|
.
|
\
|
, 1 ) ( 1
c c

q xl xl
y y y
|
.
\
|
.
\
,
100
) (
100
Chat lng qua o Chat lng qua o
Cach Cach 22: anh gia chat lng qua o da vao cap cc quyet nh Cach Cach 22: anh gia chat lng qua o da vao cap cc quyet nh.
Cap cc quyet nh:
j
re z =
*
2 , 1
=
2 2
) (ln
ln
r
r
+ =
2 2
) (ln
1
e r
T
n
o vot lo:
% 100
1
exp
2

|
|
.
|
\
|
t
POT
1
. \

Thi gian qua o: t
e
3
=
q
(tieu chuan 5%)
n
e
Sai so xac lap Sai so xac lap
G
C
(z)
Y(s)
+
T
G(s) ZOH
R(s) E(z)
H(s)
Bieu thc sai so:
) (
) (
z R
E
Bieu thc sai so:
) ( ) ( 1
) (
) (
z GH z G
z E
C
+
=
Sai so xac lap:
) ( ) 1 ( lim ) ( lim
1
1
xl
z E z k e e
z k

= =
Chat lng cua he ri rac. Th du 1 Chat lng cua he ri rac. Th du 1
Y( ) R( )
10
) ( = s G
Y(s)
+
G(s) ZOH
R(s)
1 . 0 = T
) 3 )( 2 (
) (
+ +
=
s s
s G
1. Tnh ham truyen kn cua he thong ieu khien tren.
2. Tnh ap ng cua he oi vi tn hieu vao la ham nac n v.
3. anh gia chat lng cua he thong: o vot lo, thi gian qua o, g g g , g q ,
sai so xac lap.
Gi i Giai:
1. Ham truyen kn cua he thong:
) ( 1
) (
) (
z G
z G
z G
k
+
=
) (

G ) (
10
)
`
= -

s
s G
z z G
) (
) 1 ( ) (
1
Z
) 3 )( 2 (
10
) (
+ +
=
s s
s G
)
`
+ +
=

) 3 )( 2 (
10
) 1 (
1
s s s
z Z
) )( )( 1 (
) (
) 1 ( 10
1 . 0 3 1 . 0 2
1

+
=
e z e z z
B Az z
z
) )( )( 1 (
) (
) )( (
1
e z e z z
B Az z
b s a s s
bT aT

+
=
)
`
+ +

Z
036 . 0 042 . 0
) (
+ z
z G
) 1 ( ) 1 (
) (
) 1 ( ) 1 (
e be e ae
a b ab
e a e b
A
aT bT bT aT
bT aT
) 741 . 0 )( 819 . 0 (
) (

=
z z
z G
) (
) 1 ( ) 1 (
a b ab
e be e ae
B

=
) ( G
036 0 042 0 + z
) ( 1
) (
) (
z G
z G
z G
k
+
= -
) 741 . 0 )( 819 . 0 (
036 . 0 042 . 0
) (

+
=
z z
z
z G
036 0 042 0
) 741 . 0 )( 819 . 0 (
036 . 0 042 . 0

+
=
z z
z
) 741 . 0 )( 819 . 0 (
036 . 0 042 . 0
1

+
+
z z
z
643 . 0 518 . 1
036 . 0 042 . 0
) (
2
+
+
=
z z
z
z G
k
2 h th khi t hi l h
036 . 0 042 . 0
) (
+ z
z G
) ( ) ( ) ( z R z G z Y
k
=
2. ap ng cua he thong khi tn hieu vao la ham nac n v:
643 . 0 518 . 1
) (
2
+
=
z z
z G
k
) (
643 . 0 518 . 1
036 . 0 042 . 0
2
z R
z z
z
+
+
=
) (
643 0 518 1 1
036 . 0 042 . 0
2 1
2 1
z R
z z
z z

+
+
=
643 . 0 518 . 1 1 z z +
) ( ) 036 . 0 042 . 0 ( ) ( ) 643 . 0 518 . 1 1 (

2 1 2 1
z R z z z Y z z

+ = +
) 2 ( 036 . 0 ) 1 ( 042 . 0 ) 2 ( 643 . 0 ) 1 ( 518 . 1 ) ( + = + k r k r k y k y k y
) 2 ( 036 0 ) 1 ( 042 0 ) 2 ( 643 0 ) 1 ( 518 1 ) ( + + = k r k r k y k y k y
) 2 ( 036 . 0 ) 1 ( 042 . 0 ) 2 ( 643 . 0 ) 1 ( 518 . 1 ) ( + + = k r k r k y k y k y
0 1 ) ( > k k
T hi l h
0 , 1 ) ( > = k k r
Tn hieu vao la ham nac n v:
ieu kien au: 0 ) 2 ( ) 1 ( = = y y
Thay vao bieu thc e qui tnh y(k):
{
}
; . ; . ; . ; . ; . ; .
k y
... 6898 0 6985 0 6975 0 6817 0 6459 0 5860 0
... ; 0 ) (

0.5003; 0.3909; 0.2662; 0.1418; 0.0420; =
} ;... . ; . ; . ; . ; . ; . 6191 0 6251 0 6341 0 6461 0 6606 0 6760 0
) 2 ( 036 0 ) 1 ( 042 0 ) 2 ( 643 0 ) 1 ( 518 1 ) ( + + = k r k r k c k c k c
) 2 ( 036 . 0 ) 1 ( 042 . 0 ) 2 ( 643 . 0 ) 1 ( 518 . 1 ) ( + + = k r k r k c k c k c
Step Response Step Response
0.6
0.7
0.5
A
m
p
l
i
t
u
d
e
0.3
0.4
0.2
0
0.1
Time (sec)
0 0.5 1 1.5 2 2.5 3
0
036 0 042 0 + z
3 Ch t l h th
2
1
) (
643 . 0 518 . 1
036 . 0 042 . 0
) (
+
+
=
R
z z
z
z G
k
3. Chat lng cua he thong:
) ( ) 1 ( li
1
Y
Gia tr xac lap cua ap ng:

1
1
1
) (

=
z
z R
) ( ) 1 ( lim
1
1
z Y z y
z
xl
=
) ( ) ( ) 1 ( lim
1
1
z R z G z
k
z
=
|
.
|
\
|
|
.
|
\
|
+
+
=

1 2
1
1
1
1
643 . 0 518 . 1
036 . 0 042 . 0
) 1 ( lim
z z z
z
z
z
624 0 624 . 0 =
xl
y
Gia tr cc ai cua ap ng: 6985 . 0
max
= y
o vot lo:
% 100
624 . 0
624 . 0 6985 . 0
% 100
max

=
=
xl
xl
y
y y
POT
% 94 . 11 = POT
Thi i th ti h 5%
624 0
Thi gian qua o theo tieu chuan 5%:
Trc tien ta can xac nh k
q
thoa:
( ) ( ) k k k > s s 1 ) ( 1
05 . 0 % 5
624 . 0
= =
=
c
xl
c
( ) ( )
q xl xl
k k y k y y > + s s , 1 ) ( 1 c c
q
k k k y > s s , 655 . 0 ) ( 593 . 0
Theo ket qua tnh ap ng cau 2 ta thay:

14 =
q
k
1 . 0 14 = = T k t
q q
{
q q
sec 4 . 1 =
q
t
S i l
{
}
; . ; . ; . ; . ; . ; .
k c
... 6898 0 6985 0 6975 0 6817 0 6459 0 5860 0
... 0.5003; 0.3909; 0.2662; 0.1418; 0.0420; ; 0 ) ( =
Sai so xac lap:
Do he thong hoi tiep am n v nen ta co the tnh
624 0 1
376 0
} ;... . ; . ; . ; . ; . ; . 6191 0 6251 0 6341 0 6461 0 6606 0 6760 0
624 . 0 1 = =
xl xl xl
y r e
376 . 0
xl
= e

Chu y: Ta co the tnh POT va t
q
da vao cap cc phc y
q
p p
Cap cc phc cua he thong kn la nghiem cua phng trnh
0 643 . 0 518 . 1
2
= + z z
3285 . 0 8019 . 0 2587 0 7590 0
*
2 , 1
Z = = . j . z
5579 0
8019 . 0 ln ln
=
=
r
5579 . 0
3285 . 0 ) 8019 . 0 (ln ) (ln
2 2 2 2
=
+
=
+
=
r
3958 0 3285 0 ) 8019 0 (ln
1
) (ln
1
2 2 2 2
= + = + = e r
% 11 12 % 100
14 . 3 5579 . 0
exp % 100 exp =
|
|
|
|

=
|
|
|
=
t
POT
3958 . 0 3285 . 0 ) 8019 . 0 (ln
1 . 0
) (ln = + = + = e r
T
n
% 11 . 12 % 100 .
5579 . 0 1
exp % 100 .
1
exp
2 2
=
|
|
.
\

=
|
|
.
\

=
POT
36 1
3 3
t
sec 36 . 1
3958 . 0 5579 . 0
=
= =
n
t
e
q
y(t)
+
ZOH
r(t)
T
e
R
(t) e(kT) e(t)
) (s G
) 5 ( 2 + s
Vi T = 0.1
1 Thanh lap he phng trnh trang thai mo ta he thong tren
) 3 )( 2 (
) 5 ( 2
) (
+ +
+
=
s s
s
s G
1. Thanh lap he phng trnh trang thai mo ta he thong tren.
2. Tnh ap ng cua he oi vi tn hieu vao la ham nac n v
(ieu kien au bang 0) da vao phng trnh trang thai va tm (ieu kien au bang 0) da vao phng trnh trang thai va tm
c.
3 T h t l thi i i l
3. Tnh o vot lo, thi gian qua o, sai so xac lap.
Gi i
1. Thanh lap phng trnh trang thai:
Giai:
6 5
10 2
) 3 )( 2 (
) 5 ( 2
) (
) (
) (
2
+ +
+
=
+ +
+
= =
s s
s
s s
s
s E
s Y
s G
R
0 ) ( 1 0 ) ( t t
( ( ( (
PTTT cua he lien tuc h theo phng phap toa o pha:

) (
1
0
) (
) (
5 6
1 0
) (
) (
2
1
2
1
t e
t x
t x
t x
t x
R
B
A
(
+
(

=
(
B
A
| |
(
=
) (
) (
2 10 ) (
1
t x
t x
t y


) (
2
t x

C
Ma tran qua o: Ma tran qua o:
( )
1 1
1
5 6
1
5 6
1 0
1 0
0 1
) (

|
|
.
|
\
|
(
=
|
|
.
|
\
|
(
= = u
s
s
s s s
-
A I
. \

. \

(
(
(
(
+ + + +
+
=
(
+
+
=
6
) 3 )( 2 (
1
) 3 )( 2 (
5
6
1 5
6 ) 5 (
1
s
s s s s
s
s
(
(
+ + + +

(
+
) 3 )( 2 ( ) 3 )( 2 (
6
6 6 ) 5 (
s s
s
s s
s s s
(

1 1 2 3
1 1
(
(
(
(
(
)
`
+
)
`
+
)
`
+
)
`
+
== u = u

3 2 6 6
3
1
2
1
3
2
2
3
)] ( [ ) (
1 1
1 1
1
s s s s
s t
L L
L L
L
(
(

= u

) ( ) 2 3 (
) (
3 2 3 2 t t t t
e e e e
t
(
)
`
+
+
+
)
`
+
+
+ 3 2 3 2 s s s s
L L
+ +
= u

) 3 2 ( ) 6 6 (
) (
3 2 3 2 t t t t
e e e e
t
+ = + ) ( ) ( ] ) 1 [( kT e kT T k B x A x
PTTT cua he ri rac h:
=
+ = +
) ( ) (
) ( ) ( ] ) 1 [(
kT kT y
kT e kT T k
d
R d d
x C
B x A x
(
=
(
+ +

= u =
=

5850 . 0 4675 . 0
0779 . 0 9746 . 0
) 3 2 ( ) 6 6 (
) ( ) 2 3 (
) (
1 . 0
3 2 3 2
3 2 3 2
T
T T T T
T T T T
d
e e e e
e e e e
T A
} }

)
+ +

= u =

T T
d
d
e e e e
e e e e
d
0
3 2 3 2
3 2 3 2
0
1
0
) 3 2 ( ) 6 6 (
) ( ) 2 3 (
) ( t t t
t t t t
t t t t
B B

+ + e e e e
0 0
1
) 3 2 ( ) 6 6 (
(
=
(
(
(
+
=

=

}
0779 0
0042 . 0
)
3 2
(
) (
) (
1 . 0
3 2
3 2
3 2
t t
t t
t t
t
e e
d
e e
T
| | 2 10 C C
(
)
`
+

}
0779 . 0
) (
3 2
) 3 2 (
0
3 2
0
3 2
t t
t t
e e
e e
| | 2 10 = = C C
d
PTTT ri rac mo ta he kn PTTT ri rac mo ta he kn
| |
=
+ = +
) ( ) (
) ( ) ( ] ) 1 [(
kT kT y
kT r kT T k
d d d d
x C
B x C B A x
= ) ( ) ( kT kT y
d
x C
vi
| | | |
( ( (
0695 0 9326 0 0042 0 0779 0 9746 0
| | | |
(
=
(
=
4292 . 0 2465 . 1
0695 . 0 9326 . 0
2 10
0779 . 0
0042 . 0
5850 . 0 4675 . 0
0779 . 0 9746 . 0
d d d
C B A
Vay phng trnh trang thai cua he ri rac can tm la: Vay phng trnh trang thai cua he ri rac can tm la:
) (
0779 0
0042 . 0
) (
) (
4292 0 2465 1
0695 . 0 9326 . 0
) 1 (
) 1 (
1 1
kT r
k
k x
k
k x
(
+
(
=
(
+
| |
(
=
) (
) (
. 2 10 ) (
1
k
k x
k y
0779 . 0 ) ( 4292 . 0 2465 . 1 ) 1 (
2 2
k x k x
(
+
| |
(
) (
2
k x
2 ap ng cua he thong: 2. ap ng cua he thong:
+ + = + ) ( 0042 . 0 ) ( 0695 . 0 ) ( 9326 . 0 ) 1 (

2 1 1
k r k x k x k x
T PTTT ta suy ra:
Vi ieu kien au x
1
(1)=x
2
( 1)=0, tn hieu vao la ham nac n
+ + = + ) ( 0779 . 0 ) ( 4292 . 0 ) ( 2465 . 1 ) 1 (

2 1 2
t r k x k x k x
{
}
59.7;... 57.4; 54.0; 49.1; 42.6; 34.2; 24.2; 13.5; 4.2; ; 0 10 ) (
3
1
=

k x
v, suy ra nghiem cua PTTT la:
} ... 62.6 62.6; 62.7; 62.7; 62.8; 62.8; 62.7; 62.5; 62.0; 61.2;
{
} 0 4 0 5; 0 5; 0 5; 0 3; 0 3; 1 4; 3 4; 6 5; 11 4;
... 18.5; 28.3; 41.2; 57.2; 75.4; 93.5; 106.6; 106.1; 77.9; ; 0 10 ) (
3
2
- - - - -
k x =

} ... 0.4 0.5; 0.5; 0.5; 0.3; 0.3; 1.4; 3.4; 6.5; 11.4;
{ 0.634;... 0.631; 0.622; 0.606; 0.577; 0.529; 0.455; 0.348; 0.198; ; 0 ) ( = k y
) ( 2 ) ( 10 ) (
2 1
k x k x k y + = ap ng cua he thong:
{
} ... 0.625 0.625; 0.626; 0.627; 0.627; 0.629; 0.630; 0.632; 0.634; 0.635;
; ; ; ; ; ; ; ; ; ; ) ( y
Step Response Step espo se
0.6
0.7
0.5
A
m
p
l
i
t
u
d
e
0.3
0.4
0.2
0.3
0
0.1
Time (sec)
0 0.5 1 1.5 2 2.5
0
3 Chat lng cua he thong: 3. Chat lng cua he thong:
o vot lo:
63 0 635 . 0
max
= y
625 . 0 =
xl
y
% 6 . 1 % 100
max
=
=
xl
xl
y
y y
POT
Thi gian qua o theo chuan 5%:
( ) ( )
q xl xl
k k y k y y > + s s , 05 . 0 1 ) ( 05 . 0 1
6 , 656 . 0 ) ( 594 . 0 > s s k k y
Theo ap ng cua he thong:
{ 0.634;... 0.631; 0.622; 0.606; 0.577; 0.529; 0.455; 0.348; 0.198; ; 0 ) ( = k c
S i l
375 0 625 0 1
6 =
q
k
sec 6 . 0 = = T k t
q q

{
} ... 0.625 0.625; 0.626; 0.627; 0.627; 0.629; 0.630; 0.632; 0.634; 0.635;
) (
Sai so xac lap:
375 . 0 625 . 0 1 = = =
xl xl xl
y r e

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Mon hoc Mon hoc

0 104 . 0 202 . 0 135 . 0 83 . 0

9 September 2011 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 12

iem tach nhap:

Cach 1: Dung tieu chuan Routh Hurwitz m rong:

0 ) 003 . 0 214 . 3 ( ) 036 . 0 786 . 0 ( 039 . 0

9 September 2011 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 25

> 0 003 . 0 214 . 3 K

9 September 2011 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 26

9 September 2011 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 27

ac tnh tan so:

9 September 2011 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 40

) ( ) 036 . 0 042 . 0 ( ) ( ) 643 . 0 518 . 1 1 (

Gia tr xac lap cua ap ng:

Theo ket qua tnh ap ng cau 2 ta thay:

Chat lng cua he ri rac. Th du 1 Chat lng cua he ri rac. Th du 1

PTTT cua he lien tuc h theo phng phap toa o pha:

+ + = + ) ( 0042 . 0 ) ( 0695 . 0 ) ( 9326 . 0 ) 1 (

+ + = + ) ( 0779 . 0 ) ( 4292 . 0 ) ( 2465 . 1 ) 1 (

9 September 2011 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 59

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