CHNG 2: PHN TCH H THNG LIN TC TRONG MIN THI GIAN

Ni dung 2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 2.9 M u p ng ni ti ca h thng: p ng khi ng vo l zr p ng xung h(t) p ng vi ng vo: p ng trng thi zr Gii phng trnh vi phn bng phng php truyn thng n nh ca h thng D on v p ng ca h thng Ph chng Tm tt

Ti liu tham kho: B.P. Lathi, Signal Processing and Linear Systems, Berkeley-Cambridge Press, 1998 Ti liu xem xt hai phng php phn tch h thng tuyn tnh bt bin (TTBB) hay (LTI). Phng php min thi gian v phng php min tn s. Chng ny kho st phng php phn tch trong min thi gian ca h thng tuyn tnh, bt bin, v lin tc (h LTIC). 2.1 M u Xt h phng trinh vi phn tuyn tnh, y l dng tuyn tnh, bt bin, lin tc trnh by trong chng 1, theo quan h gia ng vo f(t) v ng ra y(t) c dng phng trnh vi phn tuyn tnh:
dny d n-1 y dy dm f d m -1 y df + a + L + a + a y ( t ) = b + b + L + b1 + b0 ) f (t ) (2.1a) n -1 1 0 m m -1 n n -1 m m -1 dt dt dt dt dt dt

Cc h s ai v bi l hng s. Dng ton t D thay cho d / dt vit li phng trnh

( D n + a n-1 D n-1 + L + a1 D + a0 ) y (t ) = (bm D m + bm-1 D m -1 + L + b0 ) f (t ) hay: Q ( D ) y (t ) = P( D ) f (t )

(2.1b) (2.1c)

Cc a thc Q( D) v P( D ) l: Q ( D ) = D n + an -1 D n-1 + L + a1 D + a0

(2.2a) (2.2a)

P( D) = bm D m + bm-1 D m-1 + L + b1 D + b0

V mt l thuyt, cc gi tr ly tha m v n trong cc phng trnh trn c th c l bt k. Tuy nhin, trong thc t, do tc ng ca nhiu, nn cn c m n . Nhiu l

dng tn hiu khng mong mun, c nguyn nhn t nhin hay nhn to, lm nhiu lon ln tn hiu mong mun. Mt s ngun nhiu l: bc x in t cc v sao, dch chuyn hn lon ca in t trong cc linh kin ca h thng, nhiu t cc trm pht thanh v pht hnh, t h thng nh la trn xe t, n hunh quang, v.v, Chng 6 s chng minh l h c trng bi phng trnh (2.1) s hot ng nh b vi phn bc (m-n) tn s cao, nu m > n. iu khng may l nhiu l tn hiu c bng thng rng cha cc thnh phn tn s t 0 n . Nh th, nhiu cha ng phn ln cc thnh phn thay i nhanh, do o hm ca chng s c gi tr rt ln. Do , h thng vi phng trnh (2.1) c m > n khuch i cc thnh phn tn s cao ca nhiu khi to vi phn, nh hng xu n cht lng tn hiu c ch. Trong ti liu ny, ta mc nh l m n . d kho st, cho iu kin m = n trong trong phng trnh (2.1). Chng 1 chng t c h thng c trng bi phng trnh (2.1) l h tuyn tnh, nn p ng c th c vit thnh tng ca hai thnh phn: thnh phn p ng vi ng vo zr v thnh phn trng thi zr. Vy: p ng tng = p ng vi ng vo zr + p ng trng thi zr Thnh phn p ng vi ng vo zr l p ng ca h thng khi ng vo f (t ) = 0 , nn kt qu ch ph thuc cc iu kin bn trong ca h thng (nh vic tch ly nng lng, cc iu kin u) v c lp vi ng vo bn ngoi f (t ) . Ngc li, thnh phn trng thi zr l p ng ca h thng vi ng vo bn ngoi f (t ) khi h thng ang trnh thi zr, khng tn ti vn tch chc nng lng ni ti; tc l mi iu kin u u bng zr. 2.2 p ng ca h thng vi iu kin ni ti: p ng khi ng vo l zr. p ng ng vo zr y0 (t ) l nghim ca phng trnh (2.1) khi ng vo f (t ) = 0 , Vy: Q( D) y0 (t ) = 0 (2.4a) Hay: (2.4b) D n + an-1 D n-1 + L + a1 D1 + a0 ) y0 (t ) = 0 Nghim ca phng trnh c th tm theo phng php c in. y, ta th lm tt dng suy din heuristic. Phng trnh (2.4b) cho thy t hp tuyn tnh gia y0 (t ) v n o hm lin tip ca y0 (t ) l bng zr, khng phi vi mt s gi tr ca t, m l vi mi t. Kt qu ny c c nu v ch nu y0 (t ) v n o hm lin tip ca y0 (t ) u c cng dng. Ch hm dng m e lt l c c tnh cht ny. Gi s: y0 (t ) = celt L nghim ca phng trnh (2.4b), th dy Dy0 (t ) = 0 = cle lt dt d 2 y0 D 2 y0 (t ) = = cl2 e lt 2 dt LLLLLLLLL

D n y0 (t ) =

d n y0 = cln e lt dt n

Thay vo phng trnh (2.4b), c c: c(ln + an-1ln-1 + L + a1l + a 0 )e lt = 0 Cc nghim khng tm thng (nontrivial) c ln + an-1ln-1 + L + a1l + a 0 = 0
lt

(2.5a)

Kt qu ny cho thy ce l nghim ca phng trnh (2.4), v l tha phng trnh (2.5a). Ch , a thc trong phng trnh (2.5a) ging a thc Q(D) trong (2.4b), khi thay l cho D. Vit li (2.5a) (2.5b) Q(l ) = 0 Chuyn Q(l ) thnh dng tha s, vit li phng trnh (2.5b): (2.5c) Q(l ) = (l - l1 )(l - l2 ) L (l - ln ) = 0 R rng, l c n nghim: l1 , l2 ,..., ln . Nn phng trnh (2.4) c kh nng c n nghim l: c1e l1t , c 2 e l2t ,..., c n e lnt trong c1 , c 2 ,..., c n l cc hng s bt k. Nghim tng qut l tng ca n nghim, nn: y 0 (t ) = c1e l1t + c 2 e l2t + L + c n e lnt (2.6)
c1 , c 2 ,..., c n l cc hng s bt k, xc nh t n rng buc ca nghim (iu kin ph). Do a thc Q (l ) mang c tnh ca h thng, khng lin quan g n cc ng vo, nn phng trnh (2.7) Q(l ) = 0

c gi l phng trnh c tnh ca h thng. Phng trnh (2.5c) chng t l1 , l2 , L , ln l nghim ca phng trnh c tnh; c gi l nghim c tnh ca h thng. Ngoi ra nghim c tnh cn c gi l gi tr c tnh, nghim ring, v tn s t nhin. Hm m e lit (i = 1,2, L , n) trong p ng ng vo - zr l cc ch c tnh (characteristic modes) cn c gi l ch (modes) hay ch t nhin (natural modes) ca h thng. Mi nghim c tnh ca tng h thng c ch c tnh, v p ng ng vo zr l t hp tuyn tnh cc ch c tnh ca h thng. Thuc tnh quan trng nht ca h LT-TT-BB (lin tc, tuyn tnh, bt bin) l cc ch c tnh. Ch c tnh khng ch xc nh p ng ng vo - zr m cn quan trng khi xc nh p ng trng thi zr. Ni cch khc, ch c tnh quyt nh dng p ng chung ca h thng. Phn cn li ca chng cho thy nh hng ca cc c tnh i vi mi dng v hot ng ca h thng. Nghim lp li Nghim phng trnh (2.4) cho (2.6) l cc nghim c tnh l1 , l2 ,L, ln c gi s l phn bit. Trng hp c nghim lp li, dng ca nghim c thay i mt t. Dng php th trc tip, nghim ca phng trnh
( D - l ) 2 y0 (t ) = 0

l y (t ) = (c1 + c2 t )e lt

Trng hp ny nghim l c lp li hai ln, nn ch c tnh l e lt v te lt . T , chng minh c l vi phng trnh vi phn
( D - l ) r y 0 (t ) = 0

(2.8)

Cc ch c tnh l e lt , te lt , t 2 e lt , L , t r -1 e lt v nghim ca phng trnh vi phn l:

y0 (t ) = (c1 + c2t + L + cr t r -1 )e lt

(2.9)

Vy, khi h thng c a thc c tnh

Q(l ) = (l - l1 )r (l - lr +1 )L(l - ln )

C cc ch c tnh l el1t , tel1t ,L, t r -1el1t , elr +1t ,L, eln t v nghim l
y0 (t ) = (c1 + c2t + L + cr t r -1 )e lt + cr +1e l r +1t + L + cn el n t

Nghim phc Phng thc x l cc nghim phc tng t nh trng hp cc nghim thc, vi cc ch phc v dng nghim phc. Tuy nhin, c th trnh c dng phc ni chung thng qua cch chn dng thc ca nghim, nh sau: Trong h thc, nghim phc phi c dng cp nghim phc lin hp khi cc h s ca a thc c tnh Q (l ) l thc. Nh th, nu nghim c tnh l a + jb , th a - jb cng l nghim. p ng ng vo zr tng ng cp nghim phc lin hp l:
y0 (t ) = c1e (a + jb ) t + c2e (a - jb ) t

(2.10a)

Trong h thc, p ng y0 (t ) phi l thc. iu ny ng khi c1 v c2 l lin hp. t

c1 = y 0 (t ) = c jq e 2

c2 =

c - jq e , th 2

c j q (a + j b ) t c - j q (a - j b ) t c a t j ( b t + q ) e e + e e = e [e + e - j ( bt +q ) ] = ceat cos(bt + q ) (2.10b) 2 2 2

Do , p ng ng vozr tng ng vi cp nghim phc lin hp a jb c th biu din theo dng phc (2.10a) hay dng thc (2.10b). Dng th hai thch hp hn khi tnh ton do khng dng dng s phc.

 Th d 2.1: (a) Tm thnh phn p ng ng vo zr y0 (t ) ca h LT TT BB m t bi phng trnh vi phn:

( D 2 + 3D + 2) y (t ) = Df (t ) & 0 (0 ) = -5 . Ghi ch: y0 (t ) l thnh phn ng vo zr Vi iu kin u y0 (0) = 0, y

( f (t ) = 0) l nghim ca ( D 2 + 3D + 2) y0 (t ) = 0 .

a thc c tnh ca h thng l l2 + 3l + 2 . Phng trnh c tnh ca h thng l l2 + 3l + 2 = (l + 1)(l + 2) = 0 . Cc nghim c tnh ca h l l1 = -1 v l2 = -2 v ch c tnh ca h l e - t v e -2t . Do , thnh phn ng vo- zr ca dng in mch vng l
y 0 (t ) = c1e - t + c 2 e -2t

(2.11a)

Mun xc nh hng s c1 v c2, o hm hai v ca phng trnh (2.11a):

& 0 (t ) = -c1e -t - 2c2 e -2t y

(2.11b)

Cho t = 0 trong phng trnh (2.11a) v (2.11b), thay iu kin u y0 (0) = 0 v & 0 (0) = -5 , ta c y

0 = c1 + c2 - 5 = -c1 - 2c2
Vy
y 0 (t ) = -5e - t + 5e -2t l thnh phn ng vo zr ca y (t ) khi t 0 .

(b) Tng t, cho trng hp nghim lp. Th d, h c trng bi

( D 2 + 6 D + 9) y (t ) = (3D + 5) f (t ) Xc nh y0 (t ) l thnh phn ng vo zr ca p ng khi cc iu kin u l & 0 (0 ) = -7 y0 (0) = 3, y

a thc c tnh ca h thng l l2 + 6l + 9 . Phng trnh c tnh ca h thng l l2 + 6l + 9 = (l + 3) 2 = 0 . Cc nghim c tnh ca h l l1 = -3 v l2 = -3 (nghim lp) v ch c tnh ca h l e -3t v te -3t . Do , thnh phn ng vo- zr ca dng in mch vng l
y0 (t ) = (c1 + tc 2 )e -3t

& 0 (0 ) = -7 theo cc bc Mun xc nh hng s c1 v c2, t iu kin u y0 (0) = 3, y thc hin phn (a), tm c c1 = 3 v c2 = 2 :
& 0 (t ) = -c1e -t - 2c2 e -2t y

(2.11b)

Vy

y0 (t ) = (3 + 21)e -3t l thnh phn ng vo zr ca y (t ) khi t 0 .

(c) Trng hp nghim phc, xt th d: tm thnh phn p ng ng vo zr y0 (t ) ca h LT TT BB m t bi phng trnh vi phn:

( D 2 + 4 D + 40) y (t ) = ( D + 2) f (t ) & 0 (0 ) = 16,78 khi cc iu kin u l y0 (0) = 2, y

a thc c tnh ca h thng l l2 + 4l + 40 . Phng trnh c tnh ca h thng l l2 + 4l + 40 = (l + 2 - j 6)(l + 2 + j 6) = 0 . Cc nghim c tnh ca h c th vit thnh dng phc (2.10a) hay dng thc (2.10b). Dng phc l y0 (t ) = c1e l1t + c2 e l2 t , trong l1 = -2 - j 6 v l2 = -2 + j 6 v dng thc l
y0 (t ) = ce -2t cos(6t + q )

(2.12a)

& 0 (0) = 16,78 . Trong c v q l cc hng s xc nh t iu kin u y0 (0) = 2 v y o hm phng trnh (2.12a), ta c
& 0 (t ) = -2ce -2t cos(6t + q ) - 6ce -2t sin(6t + q ) y

(2.12b)

Cho t = 0 trong phng trnh (2.12a) v (2.12b), ri thay iu kin u vo, ta c

2 = cosq

16,78 = -2c cosq - 6c sin q

Hay
c cosq = 2

(2.13a) (2.13b)

c sin q = -3,463
Hay
c 2 = (2) 2 + (-3,464) 2 = 16 c = 4

Chia (2.13b) cho (2.13b)

tan q = - 3,463 p - 3,463 q = tan -1 =2 3 2

p y0 (t ) = 4e -2t cos 6t - 3
Th d C2.1 dng my tnh Tm nghim ca a thc l2 + 4l + 40 a=[1 4 40]; r=roots(a) r = 2.0000 + 6.0000i 2.0000 - 6.0000i Th d C2.2 dng my tnh

v c v hnh B.11c

H LT TT BB c trng bng phng trnh vi phn

( D 2 + 4 D + k ) y (t ) = (3D + 5) f (t )

Xc nh p ng thnh phn ng vo zr vi cc iu kin u y0 (0) = 3 v & 0 (0) = -7 vi hai gi tr ca k: (a) 3 (b) 40 y (a) y0=dsolve(D2y+4*Dy+3*y=0, y(0)=3,Dy(0)=-7,t) y0=2*exp(-3*t)+exp(-t) (b) y0=dsolve(D2y+4*Dy+4*y=0,y(0)=3.Dy(0)=-7.t) y0=3*exp(-2*t) - exp(-2t)*t (c) y0=dsolve(D2y+4*Dy+40*y=0,y(0)=3.Dy(0)=-7.t) y0=3*exp(-2*t)*cos(6*t)-1/6*exp (-2t)*sin(6*t)

D Bi tp E 2.1 Tm p ng ng vo - zr ca h thng LT TT BB c m t bng phng trnh (D + 5)y(t) =f(t) khi vi iu kin u y(0) = 5. p s: y0 (t ) = 5e -5t t 0 . D Bi tp E 2.2 Gii phng trnh (D2 +2D)y0(t) =f(t) khi vi iu kin u y0(0) = 1 v & 0 (t ) = 4 . y

p s: y 0 (t ) = 3 - 2e -2t

t 0.

Cc iu kin u thc t v ngha ca 0- v 0+

& 0 (0) c cho trc. Trong bi ton Th d 2.1, c cc iu kin u y0 (0) v y thc t, ta phi tm iu kin ny t cc trng thi vt l. Th d, trong mch RCL, thng ta c cc iu kin nh in p ban u ca t, dng in u ca cun dy, & (0),L ca S cc bin nh th d tip y. v.v, T thng tin ny, tm ra c y (0), y

Trong phn ln ti liu, ng vo c gi nh l bt u ti t = 0 , tr khi c nh ngha khc. Nh th, t = 0 l im tham chiu. Cc iu kin ngay tc thi trc t = 0 (ngay trc khi p tn hiu ng vo) l iu kin ti t = 0 - , v iu kin ngay tc thi sau t = 0 (ngay sau khi p tn hiu ng vo) l cc iu kin t = 0 + . Trong thc t, ta thng cn cc iu kin u ti t = 0 - thay v ti t = 0 + . Thng thng hai tp gi tr iu kin ny khc nhau, mt d trong mt s trng hp, chng c th ging nhau. Ta ang kho st p ng tng y (t ) , bao gm hai thnh phn; thnh phn ng vo zr y0 (t ) (p ng do iu kin u to nn v ng vo f (t ) = 0 ) v thnh phn trng thi zr do tc ng ca ng vo vi cc iu kin u l zr. Ti t = 0 - , p ng y (t ) ch gm thnh phn ng vo zr y0 (t ) do lc ny cha c tn hiu vo. Nn cc
& (0 - ) = y & 0 (0 - ) , iu kin u ca y (t ) ging trng hp y0 (t ) . Vy, y (0 - ) = y0 (0 - ) , y v.v , Hn na, y0 (t ) l p ng ch do iu kin u v khng ph thuc ng vo

f (t ) , nn khi p tn hiu hiu vo ti t = 0 khng nh hng ln y0 (t ) . iu ny c

ngha l iu kin u tc ng ln y0 (t ) ti ti t = 0 - v t = 0 + l nh nhau; tc l
& 0 (0 - ) , , ln lt ging vi y0 (0 + ), y & 0 (0 + ) . R rng l vi y0 (t ) , khng c y0 (0 - ), y

s phn bit gia t = 0 - ,0 v 0 + , chng u c xem l ging nhau. iu ny khng ng cho p ng tng y (t ) , p ng ny gm cc thnh phn ng vo zr v thnh & (0 - ) y & (0 + ) , v,v,. phn trng thi zr. Nh th, thng th y (0 - ) y (0 + ) , y Th d 2.2: p ngun p ti ng vo ca mch RCL hnh 2.1a. Tm dng in vng y (t ) khi t 0 nu dng in ban u qua cun dy l zr, tc l y (0 - ) = 0 v in p ban u qua t l 5 vn, tc l vC (0 - ) = 5 . Phng trnh vi phn (phng trnh vng) m t quan h gia y (t ) v f (t ) l:
( D 2 + 3D + 2) y (t ) = Df (t )

Thnh phn trng thi zr ca y (t ) c ngun gc t f (t ) , vi gi s l mi iu kin u u l zr, tc l y (0 - ) = vC (0 - ) = 0 , s c tnh trong th d 2.5. Th d ny nhm tm thnh phn ng vo zr y0 (t ) , nn cn hai iu kin u l y0 (0) v

y0 (t ) l dng in vng khi hai u vo b ngn mch ti t = 0 , nn f (t ) = 0 (ng vo & 0 (0) l gi tr dng in vng v o hm ti zr) nh v hnh 2.1b. Tnh y0 (0) v y t = 0 t iu kin u ca dng in qua cun dy v in p qua t. Cn nh rng dng in qua cun dy v in p qua t khng thay i tc thi khi cha c xung dng in. Nh th, khi u vo b ngn mch ti t = 0 , th dng in qua cun dy vn gi nguyn l zr v in p qua t vn l 5 vn. Nh th, y 0 ( 0) = 0 & 0 (t ) , dng phng trnh vng trong mch hnh 2.1b. in p qua cun Nhm xc nh y & 0 (t ) , vit c phng trnh: cm l L(dy0 / dt ) hay y & 0 (t ) + 3 y0 (t ) + vC (t ) = 0 y

& 0 (0) . Cc iu kin ny tnh t iu kin u y (0 - ) = 0 v vC (0 - ) = 5 . Nhc li l y

Cho t = 0 , ta c
& 0 (0) + 3 y0 (0) + vC (0) = 0 y

Do y0 (0) v vC (0) = 5 nn
& 0 (0) = -5 y

Tm c iu kin u l
y 0 ( 0) = 0

& 0 (0) = -5 y

Nn bi ton rt gn tm thnh phn ng vo zr y0 (t ) ca y (t ) trong h c trng bi phng trnh ( D 2 + 3D + 2) y (t ) = Df (t ) khi cc iu kin u l & 0 (0) = -5 . Bi ton ny c gii trong th d 2.1a, ta tm c: y0 (0) = 0 v y
y0 (t ) = -5e -t + 5e -2t
t0

(2.15)

chnh l thnh phn ng vo zr ca dng in vng y (t ) . Tm iu kin u ti t = 0 - v 0 + nhm xc nh p ng tng y (t ) . Vit cp phng trnh vng v hnh 2.1a ti thi im t = 0 - v ti t = 0 + . Ch c mt khc bit gia hai tnh hung l ti t = 0 - th ng vo f (t ) = 0 , trong khi ti t = 0 + , ng vo f (t ) = 10 (do f (t ) = 10e -3t ), do cp phng trnh trn c vit thnh
& (0 - ) + 3 y (0 - ) + vC (0 - ) = 0 y

& (0 + ) + 3 y (0 + ) + vC (0 + ) = 10 y

Phng trnh vng y (0 + ) = y (0 - ) = 0 do khng thay i tc thi kh khng c xung in p. Tng t cho trng hp in p qua t, nn vC (0 + ) = vC (0 - ) = 5 . Thay cc gi tr
& (0 - ) = -5 v y & (0 + ) = 5 , vy: u ny vo cp phng trnh trn, ta c y & (0 - ) = 0 v y (0 + ) = 0, y & (0 + ) = 5 y (0 - ) = 0, y

(2.16)

D Bi tp E 2.3 Trong mch hnh 2.1a, in cm L = 0 v in p ban u qua t l vC (0) = 30 vn. Chng t thnh phn ng vo zr ca dng in vng c cho bi y 0 (t ) = -10e -2t / 3 khi t 0 .

S c lp gia p ng ng vo zr v trng thi zr. Trong th d ny ta tnh thnh phn ng vo zr khng dng ng vo f (t ) . Thnh phn trng thi zr c tnh ch dng kin thc ng vo f (t ) ; cc iu kin u c gi s l zr (h trng thi zr). Hai thnh phn ca p ng h thng (thnh phn ng vo zr v thnh phn trang thi zr) l c lp vi nhau. Vai tr ca iu kin ph khi gii phng trnh vi phn Nghim ca phng trnh vi phn i hi phi c thm mt phn thng tin (cc iu kin ph). Ti sao? Ta s chng minh l thng phng trnh vi phn cn thm rng buc (iu kin) tnh c nghim duy nht. L do, nh tho lun v tnh kh nghch th phng trnh vi phn khng kh nghch tr khi mt phn thng tin v y (t ) . T , php tnh vi phn l php tnh khng kh nghch khi mt mt phn thng tin. Do , cn c thm thng tin v y (t ) ti to li y (t ) gc. L lun tng t, ta chng minh c l t gi tr d 2 y / dt 2 , ta tm c nghim duy nht y (t ) nu c thm hai thng tin (rng buc) v y (t ) . Thng thng, xc nh tr duy nht y (t ) t o hm th n, ta cn c n thng tin ph v y (t ) . Cc thng tin ny cn c gi l cc iu kin ph. Khi cc iu kin ny cho ti t = 0 , th c gi l iu kin u. 2.2-1 Mt s hiu bit v hot ng ca p ng ng vo zr ca h thng T nh ngha, p ng ng vo zr l p ng ca h thng i vi iu kin ni ti vi gi s cc ng vo l zr. Hiu bit c hin tng ny cung cp hiu bit th v v hot ng ca h thng. Nu h thng tm thi b xo trn khi v tr cn bng tc thi v nu khi loi nhiu, h thng khng th tc thi v v tr cn bng. Thng thng, h thng s v v tr ny sau mt khong thi gian v ch qua mt dng vn ng c trng bi h thng. Th d, nu ta y nh vo chn bn ca xe t v bung ra ti thi im t = 0 , nh th khng cn lc tc ng bn ngoi vo xe ti thi im t > 0 .

Thn xe cui cng tr v v tr cn bng, nhng khng cn mt vn ng bt k no. iu ny thc hin ch nh vo dng p ng m h thng duy tr c, khng cn lc tc ng t ngoi, do lc vo l zr. Ch c cc ch c tnh l tha c iu kin ny. H thng t t hp cc ch c tnh ca mnh tr v v tr cn bng trong khi vn tha mn cc iu kin bin (iu kin u) thch hp. Nu h thng nhn (gim chn) ca xe cn hot ng tt ( h s gim chn cao), th ch c tnh s gim n iu theo dng hm m, v thn xe s nhanh chng v v tr cn bng m khng b dao ng. Ngc li, trng hp h thng nhn ti (h s giam chn thp), cc ch c tnh s c dao ng tt dn theo hm m, v thn xe tr v v tr cn bng vi dch chuyn c dao ng. Khi ngn mch, mch RC ni tip c in tch ban u qua t, th t s bt u phng in theo dng m qua in tr. p ng ca mch RC nay hon ton do iu kin ni tai v c h thng duy tr m khng cn c tc ng t ngoi. Dng sng dng in c dng hm m ny l ch c tnh ca mch RC.

V mt ton hc, ta bit rng t hp bt k cc ch c tnh c th c h thng t duy tr m khng cn tc ng t ngoi vo. iu ny c minh chng dng mch RL trong hnh 2.2. Phng trnh vng ca h thng l
( D + 2) y (t ) = f (t )

C mt nghim c tnh l = -2 v ch c tnh l e -2t . Kim nghim li xem dng in vng y (t ) = ce -2t c th duy tr mch m khng cn ngun in p vo. in p vo f (t ) cn thit vn ng cho mch l y (t ) = ce -2t c cho bi
f (t ) = L dy d + Ry (t ) = (ce -2t ) + 2ce -2t = -2ce -2t + 2ce -2t = 0 dt dt

R rng dng in vng y (t ) = ce -2t c mch RL t duy tr, khng cn c ngun ngoi vo. Hin tng cng hng Ta thy l tn hiu bao gm ch c tnh ca h thng c t duy tr. Th tng tng vic g s xy ra nu ta cho h thng hot ng vi ng vo li l mt trong

nhng ch c tnh. iu ny cng ging nh du vo la, hay thu mt tay nghin ru nm ru. Tay nghin ny sn sng lm vic m khng cn lng, v tng tng xem vic g xy ra khi tr lng theo s lng ru c nm!. p ng ca h thng i vi ch c tnh s rt cao mt cch t nhin. Hin tng ny c gi l hin tng cng hng. Hiu hin tng ny s gip ta hiu su hn v p ng trng thi zr, nn c dnh cho nghin cu sau ti phn 2.7-7. 2.3 p ng xung h(t). Hm xung d (t ) cn c dng xc nh p ng ca h thng tuyn tnh vi ng vo bt k f (t ) . Chng 1 gii thch v p ng ca h thng vi ng vo f (t ) c th tm bng cch ct ng vo ny thnh nhiu xung vung hp, v hnh 1.27a, ri ly tng cc p ng ca cc thnh phn. Xung vung tr thnh xung khi rng tin v zr. Nh th, p ng ca h thng l tng ca ca cc p ng vi nhiu thnh phn xung vo. Tho lun ny cho thy khi bit c p ng ca h thng vi xung vo, th xc nh c p ng ca h thng vi ng vo bt k f (t ) . Tip tc tho lun v phng php xc nh p ng xung h(t ) ca h LT TT BB m t t t phng trnh vi phn bc n (2.17a) Q( D ) y (t ) = P ( D ) f (t ) Trong Q(D) v P(D) l cc a thc cho bi phng trnh (2.2). Nhc li, gim nh hng ca nhiu, ta cn c h thng thc t vi m n . T rng buc ny, thng chn trng hp m = n . Phng trnh (2.17a) c th vit thnh
( D n + an-1 D n-1 + L + a1 D + a0 ) y (t ) = (bn D n + bn-1 D n-1 + L + b1 D + b0 ) f (t )

(2.17b)

Trc khi tm biu thc tng qut cho p ng xung n v h(t ) , ta cn hiu thm mt cch nh tnh v bn cht ca h(t ) . p ng xung h(t ) l p ng ca h thng khi p ti ng vo xung n v d (t ) ti thi im t = 0 . Xung ng vo d (t ) , tng t nh tia chp, le ln v tt ngay tc thi. Nhng ngay trong thi im kch thch ny, tia chp sp xp li li mi vic c tc ng. Tng t, xung ng vo d (t ) xut hin tc thi ti t = 0 , ri ra i vnh vin. Nhng ngay trong thi im ny, xung to nng lng tn tr; tc l to cc iu kin u khc zr ti thi gian t = 0 + . Cho d ng vo d (t ) c trit tiu khi t > 0 , tc l khi h thng khng cn tn hiu vo sau khi xung c p vo, th h thng vn cn p ng c to ra t cc iu kin u va c sn sinh ra. Nh th, p ng xung h(t ) phi cha cc ch c tnh ca h thng khi t 0 + . Kt qu l h(t) = cc tha s ch c tnh t 0 + p ng ny tn ti khi t > 0 . Nhng vic g xy ra ti t = 0 ? Ngay ti thi im t = 0 , p ng ny hu nh l xung, nn p ng xung y l

h(t) = A0d (t ) + cc tha s ch c tnh t 0 +

(2.18)

Nghin cu su hn v qu trnh tm p ng xung c trnh by trong ph lc 2.1 cui chng. H LT TT BB c trng t phng trnh (2.17), c p ng xung h(t) l:
h(t ) = bnd (t ) + [ P( D) yn (t )]u (t )

(2.19)

Trong bn l h s ca tha s bc n trong P(D), [xem phng trnh (2.17b)], v yn(t) l t hp tuyn tnh cc ch c tnh ca h thng chu nh hng ca cc iu kin u sau:
( n -1) ( n -2 ) & n (0) = & &n (0) = L = yn yn (0) = 1, v y n (0) = y y (0) = 0

(2.20)

(k ) Vi yn (0) l gi tr ca o hm bc k ca yn (t ) ti t = 0 . Ta c th vit iu kin ny cho nhiu dng gi tr ca n (bc ca h thng) nh sau:

n = 1 : y n ( 0) = 1 & n ( 0) = 1 n = 2 : yn (0) = 0 v y & n (0) = 0 v & &n (0) = 1 n = 3 : y n ( 0) = y y & n ( 0) = & &n (0) = 0 v &y &&n (0) = 1 n = 4 : y n ( 0) = y y

(2.21)

v.v,, Khi bc ca P(D) nh hn bc ca Q(D), bn = 0 v tha s xung bnd (t ) trong h(t ) l zr. Th d 2.3: Tm p ng xung h(t) ca h thng c trng bng phng trnh vi phn
( D 2 + 3D + 2) y (t ) = Df (t )

(2.22)

y l h thng bc hai (n = 2) c a thc c tnh

(l2 + 3l + 2) = (l + 1)(l + 2)

Cc nghim c tnh ca h thng l l = -1 v l = -2 , nn

yn (t ) = c1e - t + c2 e -2t

(2.23a)

Ly o hm phng trnh
& n (t ) = -c1e -t - 2c2 e -2t y

(2.23b)

Cc iu kin u [xem phng trnh (2.21) vi n = 2]

& n ( 0) = 1 y

y n ( 0) = 0

Trong phng trnh (2.23a) v (2.23b) cho t = 0, th cc iu kin u vo, ta c

0 = c1 + c2

1 = -c1 - 2c2
Nghim ca hai phng trnh ng thi cho

(2.24)

c1 = 1

c2 = -1 , vy
(2.25)

yn (t ) = e -t - e -2t

Hn na, theo (2.22), P(D)=D, vy

& n (t ) = -e -t + 2e -2t P( D) yn (t ) = Dyn (t ) = y

Trng hp ny, bn = b2 = 0 [khng c tha s bc hai trong P(D)]. Nn

h(t ) = bnd (t ) + [ P ( D ) yn (t )]u (t ) = (-e - t + 2e -2t )u (t )

(2.26)

Nhn xt Trong phn trn, ta gi s m n , nh trong phng trnh (2.17b). Ph lc 2.1 trnh by biu thc h(t ) dng vi mi trng hp ca m v n l
h(t ) = P( D)[ yn (t )u (t )]

Vi yn (t ) l t hp tuyn tnh cc ch c tnh ca h thng c iu kin u (2.20). Biu thc ny thnh (2.19) khi m n . Vic xc nh p ng xung h(t ) theo phng php trnh by trong chng ny tng i n gin. Tuy nhin, trong chng 6, phng php cn n gin hn khi dng bin i Laplace.

D Bi tp E 2.4 Xc nh p ng xung ca cc h LT TT BB m t bi cc phng trnh vi phn sau: (a) ( D + 2) y (t ) = (3D + 5) f (t ) (b) D ( D + 2) y (t ) = ( D + 4) f (t ) (c) ( D 2 + 2 D + 1) y (t ) = Df (t ) p s: (a) 3d (t ) - e -2t u (t ) (b) (2 - e -2t )u (t ) (c) (1 - t )e - t u (t ) .
Th d C2.3 dng my tnh Tm p ng xung h(t ) ca h thng LT TT BB m t bi phng trnh vi phn
( D 2 + 3D + 2) y (t ) = Df (t )

y l h bc hai vi bn = b2 = 0 . u tin, tm thnh phn ng vo zr dng

& n (0 - ) = 1 v yn (0 - ) = 0 cc iu kin u y

Yzi = dsolve(D2y+3*Dy+2*y=0,y(0)=0.Dy(0)=1.t) Yzi = -exp(-2*t)+exp(-t) Do P(D) = D, ta ly vi phn p ng ng vo zr: PYzi = sumdiff(Yzi) Pyzi = 2*exp(-2*t)-exp(-t) Do h(t ) = b2d (t ) + [ Dy0 (t )]u (t ) = (2e -2t - e - t )u (t )

p ng ca h thng vi xung tr Nu h(t ) l p ng ca h LT TT BB vi ng vo d (t ) , th h(t - T ) l p ng ca cng h thng vi ng vo d (t - T ) . Kt lun ny c c nh c tnh bt bin theo thi gian ca h LT TT BB . Nh th, khi bit c p ng xung h(t ) , ta c th tm c p ng ca h thng vi xung tr d (t - T ) . 2.4 p ng ca h thng vi ng vo ngoi: p ng trng thi - zr. Phn ny nhm xc nh p ng trng thi-zr ca h LT TT BB. y l p ng y (t ) ca h thng vi tn hiu vo f (t ) khi h thng trng thi zr; tc l khi mi iu kin u u l zr. Ta gi s l h thng c tho lun trong phn ny l trng thi zr tr khi c ghi ch khc. Do , p ng trng thi zr l p ng chung ca h thng. Dng nguyn l xp chng tm p ng ca h thng tuyn tnh vi mt s ng vo bt k f (t ) , v biu din f (t ) thnh cc xung. Ta bt u xp x f (t ) dng cc xung vung hp, v hnh 2.3a. Phng php ny cho thy php xp x bc thang ca f (t ) cng c ci thin khi rng xung thu hp li. Khi cho rng xung tin v zr, php biu din ny tr nn chnh xc. p ng h thng vi ng vo f (t ) l tng cc p ng ca h thng i vi tng thnh phn xung (b tr) ca f (t ) . Ni khc i, ta

c th xc nh p ng h thng y (t ) vi ng vo bt k f (t ) , nu ta bit c p ng xung ca h thng. c tnh tng qut, ta khng t hn ch no cho f (t ) nh im bt u v im kt thc. Tc l tn hiu f (t ) c gi s l tn ti vi mi t, bt u t t = - . p ng chung ca h thng i vi tn hiu ny c tnh t tng cc p ng vi tng thnh phn xung ca tn hiu. Phng php ny c v hnh 2.3. Hnh 2.3a v f (t ) l tng ca cc xung vung, mi xung c rng Dt . Khi cho Dt 0 , cc xung vung ny tr thnh xung (impulse) c cng bng vi phn din tch ca xung. Th d, khi Dt 0 , phn xung vung t bng ti v tr t = nDt trong hnh 2.3a s bin thnh xung ti v tr ny v c cng l f (nDt )Dt (vng din tch ca xung vung). Xung ny c biu din l [ f (nDt )Dt ]d (t - nDt ) , nh v hnh 2.3d. Nu p ng ca h thng vi xung n v d (t ) l h(t ) (hnh 2.3b), cc p ng vi tng xung tr d (t - nDt ) l h(t - nDt ) (hnh 2.3c). Do , p ng ca h thng vi ng vo [ f (nDt )Dt ]d (t - nDt ) s l [ f (nDt )Dt ]h(t - nDt ) nh v hnh 2.3d. Kt qu ny c th c v thnh cc cp vo ra vi chiu mi tn. Phn bn phi biu din ng vo, v phn bn tri biu din p ng tng ng ca h thng.

d (t ) h(t )
d (t - nDt ) h(t - nDt )
Ng vo: [ f (n Dt )Dt ]d (t - nDt ) [ f (nDt )Dt ]h(t - nDt ) : ng ra (2.27)

Hnh v ln lt cc cp vo ra trong hnh 2.3b, c, v d. Cp cui biu din p ng h thng ch vi mt thnh phn xung ca f (t ) . p ng tng y (t ) c tnh bng cch ly tng cc thnh phn v v hnh 2.3e. Ly tng hai v (v vi Dt 0 )
lim

D t 0

n = -

f (nDt )d (t - nDt )Dt lim f (nDt )h(t - nDt )Dt t

D 0 n = -

ng vo f (t )

ng ra y (t )

V bn tri l ng vo f (t ) biu din thnh tng ca tt c cc thnh ph xung theo phng php m t hnh 2.3a. V bn tri l ng ra y (t ) l tng ca cc thnh phn ra v hnh 2.3e. Hai v phi v tri l tch phn cho bi

f (t )d (t - t )dt f (t )h(t - t )dt

-

(2.28)

Tm li, p ng (trng thi zr) ca y (t ) vi ng vo f (t ) l

y (t ) = f (t )h(t - t )dt
-

(2.29)

T y, ta c c p ng h thng y (t ) vi ng vo f (t ) theo p ng xung h(t ) . Khi bit c h(t ) ta xc nh c p ng y (t ) vi cc ng vo bt k. Quan st mt ln na v bn cht ca cc ch c tnh, th khi p ng xung c th dng p ng h thng vi ng vo bt k, th p ng xung cn to ra cc ch c tnh ca h thng. iu quan trng cn ghi nh v cc gi s dng tm phng trnh (2.29). Ta gi s l h thng l TT BB. Tuyn tnh cho php ta dng nguyn l xp chng, v tnh bt bin cho php biu din p ng h thng theo d (t - nDt ) l h(t - nDt ) . 2.4-1 Tch phn chp p ng trng thi zr y (t ) ly t phng trnh (2.29) l dng tch phn thng gp trong khoa hc vt l, k thut v ton hc v c gi l tch phn chp (convolution integral). Tch phn chp gia hai hm f1 (t ) v f 2 (t ) c vit thnh f1 (t ) * f 2 (t ) v c nh ngha l:

f1 (t ) * f 2 (t ) f1 (t ) f 2 (t - t )dt
-

(2.30)

Mt s c tnh ca tch phn chp 1. Tnh giao hon

f1 (t ) * f 2 (t ) = f 2 (t ) * f1 (t )
Chng minh bng cch thay bin trong phng trnh (2.30), nu t x = t - t th t = t - x v dt = - dx , ta c:

f1 (t ) * f 2 (t ) -
2. Tnh phn phi

f 2 ( x) f1 (t - x)dx = f 2 ( x) f1 (t - x)dx = f 2 (t ) * f1 (t )
-

(2.31)

f1 (t ) * [ f 2 (t ) + f 3 (t )] = f1 (t ) * f 2 (t ) + f1 (t ) * f 3 (t )

(2.32)

3. Tnh kt hp
f1 (t ) * [ f 2 (t ) * f 3 (t )] = [ f1 (t ) * f 2 (t )] * f 3 (t )

(2.3)

Phn chng minhj (2.32) v (2.33) dng trc tip nh ngha ca tch phn chp v xem l bi tp cho c gi. 4. Tnh di Nu Th

f1 (t ) * f 2 (t ) = c(t ) f1 (t ) * f 2 (t - T ) = c(t - T ) f1 (t - T ) * f 2 (t ) = c(t - T )

(2.34a) (2.34b) (2.34c)

V Chng minh: Nn

f1 (t - T1 ) * f 2 (t - T2 ) = c(t - T1 - T2 )
f1 (t ) * f 2 (t ) = f1 (t ) f 2 (t - t )dt = c(t )
- -

f1 (t ) * f 2 (t - T ) = f1 (t ) f 2 (t - T - t )dt = c(t - T )

Phng trnh (2.34b) ly t (2.34a) v c tnh giao hon ca php tch phn chp; phng trnh (2.34c) ly t (2.34a) v (2.34b) 5. Tch chp vi xung n v

f1 (t ) * d (t ) = f1 (t )d (t - t )dt
-

(2.35)

Do d (t - t ) l xung tn ti v tr t = t , theo c tnh ly mu ca xung [phng trnh (1.24), tch phn ca phng trnh trn l gi tr ca f (t ) ti t = t , chnh l f (t ) . Do

f1 (t ) * d (t ) = f (t )
6. c tnh rng

(2.36)

Nu thi gian tn ti ( rng) ca f1 (t ) v f 2 (t ) ln lt l T1 v T2, th thi gian tn ti ( rng) ca f1 (t ) * f 2 (t ) l T1 + T2 (hnh 2.4). Phn chng minh v c tnh ny s c tho lun t th trong phn 2.4-2. Tuy nhin, lut ny c th b vi phm trong mt s trng hp c bit c tho lun sau.

p ng trng thi zr v tnh nhn qu p ng (trng thi zr) y (t ) ca h LT TT BB l

y (t ) = f (t ) * h(t ) = f (t )h(t - t )dt

-

(2.37)

Khi tm phng trnh (2.37), ta gi s h thng l tuyn tnh v bt bin theo thi gian. Khng c thm hn ch no cho h thng hay cho tn hiu vo f (t ) . Trong thc t, hu ht cc h thng u l nhn qu, nn p ng ra khng th bt u trc khi c tn hiu vo. Hn na, hu ht tn hiu vo l nhn qu, tc l u bt u ti t = 0 . Cc hn ch ca c tn hiu v h thng gip n gin ha gii hn ca tch phn trong phng trnh (2.37). Do nh ngha nn p ng ca h nhn qu khng th bt u trc khi c tn hiu vo. Do , p ng ca h nhn qu i vi xung n v d (t ) (tn ti t = 0) khng th bt u trc t = 0 . Nh th, p ng xung n v ca h nhn qu h(t ) l tn hiu nhn qu. iu quan trng cn nh l tch phn trong phng trnh (2.37) c thc hin theo t (ch khng theo t). Nu ng vo f (t ) l nhn qu, f (t ) = 0 khi t < 0 . Nh th, f (t ) = 0 khi t < 0 , v hnh 2.5a. Tng t, nu h(t ) l nhn qu, th khi t - t < 0 ; tc l vi t > t , nh v hnh 2.5a. Do , tch f (t )h(t - t ) = 0 ti mi ni tr vng

khng t bng 0 t t v hnh 2.5a (gi s t 0 ). Nhn thy khi t c gi tr m, f (t )h(t - t ) = 0 vi mi t nh v hnh 2.5b. Nh th, phng trnh (2.37) rt gn thnh
t - f (t )h(t - t )dt y (t ) = f (t ) * h(t ) = 0 0

t0 t<0

(2.38)

Cn di ca tch phn trong phng trnh (2.38) c ly t 0 - nhm trnh kh khn khi ly tch phn vi f(t) c cha xung ti gc. Trong tho lun tip theo, cn di c th l 0 v phi c hiu l 0 - . Kt qu ny cho thy l nu c f(t) v h(t) u l nhn qu th p ng y(t) cng l nhn qu. T c tnh giao hon ca php tch chp [phng trnh (2.31)], ta vit c phng trnh (2.38) thnh [gi s l f(t) v h(t) u l nhn qu]

y (t ) = h(t ) f (t - t )dt
t 0

t0

(2.39)

Tng t phng trnh (2.38), kt qu ny gi s l c ng vo v h thng u l nhn qu. Th d 2.4: H LT TT BB c p ng xung l h(t ) = e -2t u (t ) , tm y(t) khi tn hiu vo l f (t ) = e - t u (t ) (2.40) Trng hp ny, c f(t) v h(t) u l nhn qu, nn ch cn ly tch phn chp trong tm t (0, t) [xem phng trnh (2.38)]. p ng ca h thng l

y (t ) = h(t ) f (t - t )dt
0

t0

Do f (t ) = e -t u (t ) v h(t ) = e -2t u (t )

f (t ) = e -t u (t )

h(t - t ) = e -2( t -t ) u (t - t )

Cn nh l tch phn c thc hin theo t (khng theo t), v khong ly tch phn l 0 t t . Ni cch khc, t nm gia 0 v t. Nh th, nu t 0 , th t 0 v t - t 0 , nn u (t ) = 1 v u (t - t ) = 1 , do

y (t ) = e -t e -2( t -t ) dt
0

t0

Do tch phn ny c ly theo t, ta c th a e -2t ra ngoi du tch phn, v

y (t ) = e -2t e -t dt = e -2t (e t - 1) = e -t - e - 2t
0 t

t0

(2.41)

ng thi y (t ) = 0 khi t < 0 [xem phng trnh (2.38)], kt hp kt qu ny vi phng trnh (2.41), c
y (t ) = (e -t - e -2t )u (t )

(2.42)

p ng c v hnh 2.6c.

D Bi tp E 2.5 H LT TT BB c p ng xung h(t ) = 6e - t u (t ) , tm p ng ca h thng khi c tn hiu vo: (a) 2u (t ) (b) 3e -3t u (t )

p s: (a) 12(1 - e -t )u (t )

(b) 9(e - t - e -3t )u (t )

D Bi tp E 2.5 Lm li bi E 2.5 khi tn hiu vo f (t ) = e -t u (t ) , p s: 6te -t u (t )

Bng cc tch phn chp Vic tnh tch chp c n gin ha ng k khi dng bng (bng 2.1), bng cho php tm c p ng y (t ) t tn hiu vo f (t ) m khng cn tnh ton tch phn. Th d, ta c th tm tch phn chp trong th d 2.4 dng cp th 4 ( l1 = -1 v

l2 = -2 ) l (e -t - e -2t )u (t ) . Th d tip theo y minh ha hiu qu ca bng.

Bng 2.1: Bng tch phn chp ST T 1 2

f1 (t )

f 2 (t )

f1 (t ) * f 2 (t ) = f2 (t ) * f1 (t )

f (t )
e lt u (t )

d (t - T )
u (t )

f (t - T )
1 - e lt u (t ) -l
tu (t )

3 4

u (t )

u (t )

e l1t u (t )

e l2t u (t )

e l1t - e l2t u (t ) l1 - l2 te lt u (t )
1 2 lt t e u (t ) 2

5 6

e lt u (t ) te lt u (t )

e lt u (t ) e lt u (t ) e lt u (t )

t nu (t )

t m u (t ) te l1t u (t ) t m e lt u (t )

t n u (t ) e l2t u (t ) t n e lt u (t )

10

11

t m e l1t u (t )

t n e l2t u (t )

12

e lt u (t )

13

e lt u (t ) e l1t u (-t )

e l2t u (-t ) e l2t u (-t )

14

Th d 2.4: Tm dng in vng y (t ) ca mch RCL trong th d 2.2 f (t ) = 10e -3t u (t ) khi cc iu kin u u bng zr. khi ng vo

Phng trnh vng cho mch [xem th d 1.11 hay phng trnh (1.55)] l
( D 2 + 3D + 2) y (t ) = Df (t )

p ng xung h(t ) ca h thng, tm c t th d 2.3, l

h(t ) = (2e -2t - e -t )u (t )

Khi ng vo f (t ) = 10e -3t u (t ) , p ng ra y (t ) l

y (t ) = f (t ) * h(t ) = 10e -3t u (t ) * [(2e -2t - e -t )u (t )]

T tnh phn phi ca php tch chp [phng trnh (2.32)], ta c:

y (t ) = 10e -3t u (t ) * 2e -2t u (t ) - 10e -3t u (t ) * e -t u (t ) = 2 0[ e -3t u (t ) * e -2t u (t )] - 10e -3t u (t ) * e - t u (t )

Dng cp th 4 trong bng 2.1 , th

y (t ) = 20 10 [e -3t - e -t ]u (t ) [ e -2t - e -t ]u (t ) - 3 - (-2) - 3 - (-1)

= -20(e -3t - e -t ) u (t ) + 5( e -2t - e -t ) u (t ) = (-5e - t + 20e -2t - 15e -3t )u (t )

D Bi tp E 2.7 Lm li bi E 2.5 v 2.6 dng bng t ch phn chp

(2.43)

D Bi tp E 2.8 Dng bng tch phn chp, xc nh e -2t u (t ) * (1 - e -t )u (t ) 1 1 p s: ( - e -2t + e -2t )u (t ) 2 2 D Bi tp E 2.9 H LT TT BB c p ng xung h(t ) = e -2t u (t ) , xc nh p ng trng thi zer y (t ) khi ng vo l f (t ) = sin 3tu (t ) : Gi : Dng bng tch phn chp, cp th 12 vi cc gi tr xc nh thch hp ca a, b , q v l.

p s:

1 1 [3e -2t + 13 cos(3t - 146,32 0 )]u (t ) hay [3e -2t + 13 cos(3t + 33,680 )]u (t ) 13 13

Trng hp nhiu ng vo C th x l nhiu ng vo ca h TT BB dng nguyn l xp chng, xem xp ring bit tng ng vo, khi cho tt c cc ng vo cn li l zr. Tng ca cc p ng ring bit to ng ra chung khi p ng thi cc ng vo. 2.4-2 Tm hiu tch phn chp t th hiu hot ng ca php tch phn chp, ta cn hiu bit ngha tch phn chp dng biu din dng th, iu ny gip ta c lng tch phn chp ca cc tn hiu phc tp hn nhiu. Hn na, tch chp trn th cn cho php ta cm nhn v nhn thy c kt qu, gip ta hiu c cc vn v ly mu, lc, v nhiu vn khc. Cui cng, khi c nhiu tn hiu khng c c m t toan hc chnh xc, m ch c minh ha trn th. Trng hp ny th phi dng phng php th khi tnh tch phn chp. Ta hy gii thch phng php tch phn chp ca hai tn hiu f(t) v g(t), v hnh 2.7a v 2.7b. gi c(t) l tch phn chp ca f(t) v g(t), th:

c(t ) = f (t ) g (t - t )dt
-

(2.44)

Mt trong nhng im quan trng cn nh l trong trng hp ny ta ly tch phn theo t, nn t c xem l tham s (tng t nh hng s). iu ny rt quan trng khi biu din trn th f(t) v g(t-t) xut hin trong phng trnh (2.44). Hai hm ny c v theo t, khng theo t. Hm f(t) ging f(t), vi t thay th t (hnh 2.7c). Do , f(t) v f(t) c cng dng th. Tng t, cho trng hp g(t) v g(t) (hnh 2.7d) Hm g(t-t) khng thc d hiu. tm hiu, hy bt u vi g(t) (hnh 2.7d). Gi f(t) l hm nghch theo thi gian ca g(t) (phn chiu qua trc dc t = 0), tc l hm g(-t) Hnh (2.7e), vi

f (t ) = g (-t )
Hm f(t) di mt khong t giy l f(t - t), cho bi

f (t - t ) = g[-(t - t )] = g (t - t )
Vy, u tin ta ly php nghch theo thi gian ca g(t) c g(-t) ri di g(- t) theo t c g(t - t). Khi t dng, c php di phi (hnh 2.7f) v khi t m, c php di tri (hnh 2.7g). Phn trn trnh by v biu din f(t) v g(t - t). Tch phn chp c(t) l din tch ca tch hai hm ny. Nh th, tnh c(t) ti thi im t = t1, trc ht ta ly nghch ca g(t) c g( -t). Tip n, di g( -t) thi gian t1 c g(t1 -t) (hnh 2.7f), ri nhn hm ny vi f(t), to tch f(t)g(t1 -t ) (hnh 2.7f). Din tch A1 ca tch ny l c1(t) ti t = t1. Ta v c c1(t)=A1 trn ng cong m t c(t) nh hnh 2.7i. Nhn thy phn din tch tng ng vi tch f(t)g(-t ) trn hnh 2.7e chnh l gi tr c(0), l gi tr ca tch phn cht ti t = 0 (ti gc). Tng t, khi tnh gi tr ca c(t), ti t = t2, khi t2 m (hnh 2.7g). Trng hp ny hm g( -t) di mt lng m (di tri) c g( t2-t). Nhn hm ny vi f(t), c tch f(t)g(t2 -t ). Vng din tch tng ng l c2(t)=A2 cho ta mt im khc trn ng cong c(t) ti t = t2 (hnh 2.7i). Phng php ny c thc hin lp li nhiu ln vi mi gi tr ca t, t - n . Kt qu c c l ng cong m t c(t) vi mi thi gian. Ch l khi t -3 , f(t) v g(t - t) khng b trng lp (xem hnh (2.7h); nh th c(t) = 0 khi t -3

Tm tt v phng php th Phng php tnh tch phn chp dng th c tm tt nh sau: 1. Gi f (t ) khng i 2. Xem hm g (t ) nh mt khung dy cnng, v xoay (hay o) khung quanh trc dc (t = 0) c g (-t ) . 3. Di khung o dc theo trc t mt khong t0 giy, khung di ny biu din g (t0 - t ) . 4. Din tch tng ng vi tch ca f (t ) v g (t0 - t ) l c(t 0 ) , gi tr ca tch phn chp ti t = t 0 . 5. Lp li bc ny, di khung vi nhiu gi tr khc nhau (dng v m) c c(t ) vi mi gi tr ca t. Trong phng php th, ta cn xc nh din tch tng ng vi tch f (t ) g (t 0 - t ) vi mi gi tr ca t t - n . Tuy nhin, m t ton hc f (t ) g (t 0 - t ) thng ch c gi tr trong mt tm ca t. Nh th, lp li phng php cho tng gi tr ca lng t ch l lp li trong vi thi gian trong cc tm khc nhau ca t. Ta cn c th dng tnh giao hon ca tch phn chp tnh f (t ) * g (t ) hay g (t ) * f (t ) , n gin ha c php tnh. Theo kinh nghim th tnh tch chp s n gin hn khi ta chn ly o hm n gin hn trong hai hm. Th d, nu m t ton hc ca g (t ) n gin hn so vi f (t ) , th tnh f (t ) * g (t ) s d hn tnh g (t ) * f (t ) , v ngc li. Ta minh ha phng php tnh tch chp bng th vi cc th d sau. Bc u, lm li th d 2.4 dng phng php th. Th d 2.4 Dng th, xc nh y (t ) = f (t ) * h(t ) vi f (t ) = e - t u (t ) v h(t ) = e -2t u (t ) . Hnh 2.8a v 2.8b ln lt v f (t ) v h(t ) , hnh 2.8c v f (t ) v h(-t ) l hm theo t. Tm hm h(t - t ) bng cch di h(-t ) mt khong t thi gian, khi t dng, c di phi (lm tr) v khi t m, ta c di phi (lm sm). Hnh 2.9d cho th, y l khi t m, h(t - t ) c t php di tri h(-t ) khng trng lp f (t ) , v tch f (t )h(t - t ) = 0 , nn t<0 y (t ) = 0 Hnh 2.8e v tnh trng khi t 0 . y, f (t ) v h(t - t ) trng lp, nhng ch c tch khc zr trong khong 0 t t (khong c t bng), nh th

y (t ) = f (t )h(t - t )dt
t 0

t0

iu cn thit l phi th ng biu thc ca f (t ) v h(t - t ) trong tch phn. Hnh 2.8a v 2.8b r rng cho thy cc phn on ca f (t ) v g (t ) dng trong tch phn chp c m t bi: f (t ) = e - t v h(t ) = e -2t , nn
f (t ) = e -t v h(t - t ) = e -2( t -t ) , do

Hn na, y (t ) = 0 khi t < 0 , nn y (t ) = (e -t - e -2t )u (t )

y (t ) = e -t e -2( t -t ) dt = e -2t et dt = e -t - e -2t t 0

0 0

 Th d 2.7 Tm c (t ) = f (t ) * g (t ) ca tn hiu v trong hnh 2.9a v 2.9b. Do f (t ) n gin hn g (t ) , nn tnh g (t ) * f (t ) d hn tnh f (t ) * g (t ) Tuy nhin, ta chn hng tnh kh f (t ) * g (t ) , nhm lm r hn cc im tinh t ca tch phn chp. Hnh 2.9a v 2.9b ln lt v f (t ) v g (t ) . Nhn thy g (t ) gm hai on A v B, c m t theo 2e - t A g (t ) = - 2t B - 2e Vy 2e - (t -t ) A g (t - t ) = (2.45) - 2 ( t -t ) B - 2e on ca f (t ) dng trong tch chp l f (t ) = 1 , nn f (t ) = 1 . Hnh 2.9c v f (t ) v g (-t ) . tnh c (t ) khi t 0 , ta di phi g (-t ) c g (t - t ) , nh v hnh 2.9d. R rng, g (t - t ) trng lp vi f (t ) trong vng t bng; tc l, trong tm t 0 . on A trng lp vi f (t ) trong khong (0, t ) , trong khi on B trng lp vi f (t ) trong tm (t , ) . Nhc li l f (t ) = 1 , ta c:

c(t ) = f (t ) g (t - t )dt = 2e -( t -t ) dt + - 2e 2( t -t ) dt = 2(1 - e -1 ) - 1 = 1 - 2e -t

t 0 0 t

t0

Hnh 2.9 v tnh trng khi t < 0 , phn trng lp l phn c to bng, tc l trong tm t 0 v ch gm on B trong g (t ) . Nh th,

c(t ) = f (t ) g (t - t )dt = g (t - t )dt = - 2e 2( t -t ) dt = -e 2t

0 0 0

t<0

Vy V c v hnh 2.9f

1 - 2e -2t c(t ) = 2t -e

t0 t<0

 Th d 2.8 Tm f (t ) * g (t ) ca hm f (t ) v g (t ) v hnh 2.10a v 2.10b. Trng hp ny, f (t ) c m t ton hc n gin hn so vi g (t ) , nn tt nht l ly o f (t ) . Nh th, cn xc nh g (t ) * f (t ) thay v f (t ) * g (t ) , do

c(t ) = g (t ) * f (t ) = g (t ) f (t - t )dt
-

u tin, xc nh biu thc cc on ca f (t ) v g (t ) dng tm c(t ) T hnh 2.10a v 2.10b, cc on ny c vit thnh 1 f (t ) = 1 v g (t ) = t , do 3 1 f (t - t ) = 1 v g (t ) = t , 3 Hnh 2.10c v g (t ) v f (-t ) , cn hnh 2.10d v g (t ) v f (t - t ) , l f (-t ) di mt khong t. Do hai bin ca f (-t ) l t = -1 v 1, cn bin ca f (t - t ) ln lt l -1 +t v 1 + t. Hai hm ny trng lp trong khong (0, 1+t) (phn t bng), tc l 1+ t 1+t 1 1 (2.46a) c(t ) = g (t ) f (t - t )dt = tdt = (t + 1) 2 -1 t 1 0 0 3 6 Phn ny c v hnh 2.10d, ch c gi tr trong - 1 t 1 . Khi t > 1 nhng <2, ta c hnh 2.10e. Hai hm ny ch trng lp trong tm -1 +t v 1 + t (vng t bng). Ch biu thc ca g (t ) v f (t - t ) khng thay i, ch tm ly tch phn l thay i, vy: 1+t 1 2 c(t ) = tdt = t (2.46b) 1 t 2 -1+t 3 3 Ch thm l biu thc trong phng trnh (2.46a) v (2.46b) u p dng ti t = 1, im chuyn tip gia cc tm, Ta cng thy l c hai biu thc trn u c gi tr l 2/3 ti t = 1, nn c(1) = 2/3. Tnh lin tc ca c(t) ti cc im chuyn tip cho thy xc sut c kt qu ng l rt cao. Hnh 2.10f v khi t 2 nhng <4, hm g (t ) v f (-t ) trng lp trong khong t - 1 + t n 3 (vng t bng), nn 3 1 1 (2.46c) c(t ) = tdt = - (t 2 - 2t - 8) -1+ t 3 6 Mt ln na, dng phng trnh (2.46b) v (2.46c) ti im chuyn tip t = 2. Ta thy hai phng trnh u cho kt qu c(2) = 4/3. Khi t 4 , f (t - t ) c di v phi nn khng cn trng lp vi g (t ) nh v hnh 2.10g, do : (2.26d) c (t ) = 0 t4 Xem xt vi cc gi tr m ca t. xc nh c c(t) khi t = -1. Khi t < -1 th hai hm ny khng trng lp nhau, nh hnh 2.10h, nn (2.26e) c(t ) = 0 t < -1 Hnh 2.10i v c(t) t cc phng trnh t (2.46a) n (2.46e)

 rng ca hm chp rng (thi gian tn ti) ca f (t ) , g (t ) v c(t ) trong th d 2.8 (hnh 2.10) ln lt l 2, 3, v 5. Ch , trong trng hp ny, rng ca c(t ) l tng ca f (t ) v g (t ) . y khng phi l s trng hp. T nim ca phng php tnh tch phn chp dng th, ta thy l nu f (t ) v g (t ) c rng hu hn ln lt l T1 v T2, th rng ca c(t ) thng l T1 + T2. L do l thi gian tn hiu c rng T1 qua hon ton tn hiu c rng T2 v chng khng b trng lp l T1 + T2 . Khi hai tn hiu khng trng lp, th tch phn chp tin v zr. Tuy nhin, c trng hp khi hai tn hiu hai tn hiu f (t ) v g (t - t ) trng lp, c phn din tch ca tch li trit tiu. l trng hp cc tn hiu trong hnh P2.4-14 khi t > 2p . Trng hp ny th c tnh v rng hon ton b vi phm.
D Bi tp E 2.10 Lm li bi th d 2.7 dng cch tnh g (t ) * f (t )

D Bi tp E 2.11 Trong hnh 2.11, dng phng php tnh tch phn chp trn th chng minh f (t ) * g (t ) = g (t ) * f (t ) = c(t ) D Bi tp E 2.12 Lm li bi tp E2.11 cho hm trong hnh 2.12 D Bi tp E 2.13 Lm li bi tp E2.11 cho hm trong hnh 2.13

Th d C2.4 dng my tnh Tm c (t ) = f (t ) * g (t ) ca cc tn hiu trong hnh 2.9. t1=-10:.01:0; t1 = t1; g1 = -2*exp(2*t1); t1= 0::.01:10; t2 = t2; g2 = -2*exp(-t2);

t = [t1; t2]; g = [g1; g2]; f = [zeros(size(g1)); ones(size(g2))]; t = - 20:.01:5; t = t; plot(t, c (length(t))) Mt s suy ngh v hm xung Khi nghin cu v tn hiu v h thng, ta thng chuyn tn hiu thnh dng xung, li khng d to c trong thc t. iu ngc nghin l ti sao li xem xt tn hiu ny. iu ny s c gii thch trong chng ny. Ngay c khi khng to c xung trong thc t, th ta vn tnh c p ng xung h(t ) t tn hiu ny theo phng php ti chng 2.3, v khi bit c h(t ) th tnh c p ng h thng vi tn hiu vo bt k. Hn na, t thn p ng xung h(t ) cung cp nhiu thng tin v hot ng ca h thng. Trong phn 2.7 ta chng minh l hiu bit v p ng xung cung cp cc thng tin quan trng, nh p ng theo thi gian, s phn tn ca xung, v cc c tnh lc ca h thng. Khi xem xt p ng xung h(t ) , ta hiu bit su thm v hot ng ca h thng. Tng t, khi phn tch h thng trong min tn s (trong chng k) khi ta dng cc hm khng dng dng m (hay sin) tuy khng tn ti trong thc t, nhng cung cp c mt phng tin hiu qu tnh ton p ng ca h thng vi tn hiu vo bt k. Ngoi ra, p ng h thng vi tn hiu khng dng m (hay sin) cung cp thng tin y gi tr v hiu bit su hn v hot ng ca h thng. 2.4-3 Trng hp rt c bit ca h TT BB: Hm m khng dng est C mt trng hp rt c bit khi ca h thng TT BB vi hm m khng dng st e . Ta chng minh l p ng ca h thng TT BB (trng thi zr) i vi ng vo m khng dng e st th chnh l hm m khng dng (c h s l hng s). Hn na, khng c dng hm no khc c tnh cht ny. Cc ng vo to p ng h thng nh trn c gi l hm c tnh (cn gi l hm ring: eigenfunction). Do hm sin l mt dng ca hm m, nn tn hiu sin khng dng cng l hm c tnh ca h TT BB. Ch l trng hp ny th cc hm m khng dng (hay hm sin khng dng) c bt u ti t = - . Nu h(t ) l p ng xung n v ca h thng, th p ng y (t ) ca h thng i vi tn hiu hm m khng dng l:

y (t ) = h(t ) * e st = h(t )e s ( t -t ) dt = e st h(t )e st dt

- -

Tch phn v phi l hm theo s. nh ngha H ( s ) theo: y (t ) = H ( s ) s st Vi

(2.47) (2.48)

H ( s ) = h(t )e -st dt
-

Ch l H ( s ) l hng s i vi s. Nh th, ng vo v ng ra l ging nhau (c h s l hng s) i vi tn hiu m khng dng.

H ( s ) c gi l hm truyn ca h thng, l hm theo bin phc s. nh ngha hm truyn H ( s ) ca h thng TT BB t phng trnh (2.47) l

(2.49) Hm truyn ch c nh ngha v ch c ngha i vi h TT BB, v thng khng tn ti cho cc h phi tuyn hay hay h thng thay i theo thi gian, Trong phn ny, ch tho lun v hm m khng dng, tc l bt u t t = - , ch khng dng tn hiu m nhn qu e st u (t ) , bt u t t = 0 . i vi h c trng t phng trnh (2.1), th hm truyn l P( s) (2.50) H ( s) = Q( s) Tip n xt trng hp ng vo f (t ) = e st . T phng trnh (2.47), ng ra l Thay f (t ) v y (t ) vo phng trnh (2.1), ta c st r st H ( s )[Q( D)e ] = P( D)e . Hn na, D e = d r e st / dt r = s r e st . Vy, P( D)e st = P( s )e st v Q( D)e st = Q( s )e st . Vy H ( s ) = P( s ) / Q ( s ) .
st

y (t ) = H ( s )e st .

D Bi tp E 2.14 Chng minh hm truyn khu tch phn l tng l H ( s ) = 1 / s v khu vi phn l tng l H ( s ) = s . Tm p s vi hai cch: dng phng trnh (2.49) v (2.50) .

2.4-4 p ng chung p ng chung ca h thng tuyn tnh c th vit thnh tng ca cc thnh phn p ng ng vo zr v p ng trng thi zr.

Trng hp nghim lp, thnh phn p ng ng vo zr c thay i mt t. Xt mch RCL ni tip trong th d 2,2 khi ng vo l f (t ) = 10e -3t u (t ) v iu kin u l y (0) = 0, vC (0 - ) = 5 , ta xc nh thnh phn ng vo zr trong th d 2.2

[phng trnh (2.15)]. Ta tm thnh phn trng thi zr trong th d 2.5. Dng kt qu trong th d 2.2 v 2.5, ta c p ng tng = (-5e - t + 5e -2t ) + (-5e -t + 20e -2t - 15e -3t ) t 0 = Dng ng vo zr + dng in trng thi zr

(2.51a)

Hnh 2.14a v p ng ng vo zr, trng thi zr, v p ng chung. p ng t nhin v p ng p Trong mch RCL ca th d 2.2, tm c ch c tnh l e - t v e -2t . Nh ta mong mun, p ng ng vo zr ch bao gm cc ch c tnh. Tuy nhin, cn ch l p ng trng thi zr [phng trnh (2.51a)] cng c cha cc tha s ch c tnh. iu ny, thng ng cho h TT BB. Ta c th gom li tt c cc ch c tnh trong p ng chung, cho ta thnh phn c gi l p ng t nhin yn (t ) . Phn cn li, bao gm hon ton cc tha s khng c tnh , c gi l p ng p yf (t ) . p ng chung ca mch RCL trong th d 2.2 c th vit theo thnh phn t nhin v thnh phn p bng cch gom li cc tha s trong phng trnh (2.51a) p ng tng = (-10e -t + 25e -2t ) - (-15e -3t ) t 0 =p ng t nhin yn (t ) + p ng p yf (t ) Hnh 2.14b v p ng t nhin, p ng p v p ng chung

(2.51b)

2.5 Gii phng trnh vi phn bng phng php c in. Trong phng php c in, ta gii phng trnh vi phn tm thnh phn t nhin v thnh phn p ch khng tm thnh phn ng vo zr hay thnh phn trng thi zr. Phng php ny tuy n gin hn so vi phng php trc, nhng cng c nhiu yu im. Trong phn 2.4-1, ta bit l khi tt c cc tha s ch c tnh ca p ng chung ca h thng c tnh gp li, to ra p ng t nhin ca h thng yn (t ) (cn gi l nghim thun nht hay nghim ph). Phn cn li ca p ng gm tt c cc tha s khng c tnh v c gi l p ng p yf (t ) (cn gi l nghim ring). Phng trnh (2.51b) cho thy hai thnh phn ca dng in vng trong mch RCL hnh 2.1a.

p ng chung ca h thng l y (t ) = yn (t ) + yf (t ) . Do y (t ) phi tha phng trnh h thng [phng trnh (2.1)]. Q( D)[ yn (t ) + yf (t )] = P( D) f (t ) Hay Q( D) yn (t ) + Q( D) yf (t ) = P( D) f (t ) Nhng yn (t ) gm ton b cc ch c tnh, nn Q( D) yn (t ) = 0 Nn (2.52) Q ( D ) yf (t ) = P ( D ) f (t ) p ng t nhin l t hp tuyn tnh cc ch c tnh ca h thng, c cng dng vi p ng ng vo zr, ch khc cc h s hng. Cc hng s ny c xc nh t iu kin ph, nh gii thch trc y. Ta tip tc trnh by phng php xc nh p ng p. 2.5-1 p ng p: phng php h s bt nh Vic xc nh p ng p yf (t ) ca h TT BB s tng i n gin khi ng vo f (t ) c mt s hu hn o hm c lp, nh cc ng vo c dng eVt hay t r .Th d eVt ch c mt o hm c lp, vic ly o hm lin tip eVt cho ta cng dng vi ng vo, tc l eVt . Tng t, khi lin tip ly o hm ca t r ta ch c r o hm c lp. p ng p i vi cc ng vo dng ny l 2at + b v 2a. Trong trng hp ny, ng vo ch c hai o hm c lp. Nh th, p ng p c th c gi s l t hp tuyn tnh ca f (t ) v hai o hm ca n. Dng thch hp cho yf (t ) trong trng hp ny l yf (t ) = b 2t 2 + b1t + b 0 Cc h s cha xc nh b 0 , b1 v b 2 c xc nh bng cch thay biu thc ny vo yf (t ) trong phng trnh (2.52)
Q( D) yf (t ) = P ( D) f (t ) Ri cn bng h s tng t trong hai v ca biu thc sau cng

Ghi ch: T nh ngha, yf (t ) khng th c bt k tha s c tnh no. Nu c tha s xut hin trong ct bn tay phi ca p ng p, th tha s ny cng l ch c tnh ca h thng, dng ng ca p ng p phi chuyn thnh t i yf (t ) , vi i l s nguyn b nht c th c dng v cn c th ngn t i yf (t ) khi c tha s ch c tnh. Th d, khi ng vo l eVt , p ng p (ct tay phi) s c dng beVt . Nhng nu eVt tr thnh ch c tnh ca h thng, th dng ng ca p ng p l bteVt (xem cp 2). Nu teVt cng tr thnhch c tnh ca h thng, th dng ng ca p ng p l bt 2 eVt , v.v,..

Cho d phng php ny ch c th dng cho ng vo vi c o hm hu hn, dng ng vo cn bao gm rt nhiu tn hiu c dng rt nhiu trong thc t. Bng 2.2 minh ha nhiu dng tn hiu vo v dng p ng p tng ng. Ta s trnh by phng php ny bng th d BNG 2.2 Ng vo f (t ) 1 2 3 4 5 p ng p

VT

V li (i = 1,2, L , n)

beVt bteVt b b cos(wt + q ) ( c r t r + b r -1t r -1 + L + b1t + b 0 )eVt

eVT V = li

k cos(wt + q )

(t r + a r -1t r -1 + L + a1t + a 0 )eVt

Th d 2.9 Gii phng trnh vi phn ( D 2 + 3D + 2) y (t ) = Df (t ) Khi tn hiu vo f (t ) = t 2 + 5t + 3 & (0 + ) = 3 V iu kin u l y (0 + ) = 2 v y a thc c tnh ca h thng l2 + 3l + 2 = (l + 1)(l + 2) Cc ch c tnh l e - t v e -2t . p ng t nhin l t hp tuyn tnh cc ch ny, tc l yn (t ) = K1e -t + K 2 e -2t t0 Cc gi tr K1 v K2 c xc nh t iu kin u Thay kt qu vo phng trnh (2.53) 2 b 2 + 3(2 b 2 + b1 ) + 2( b 2t 2 + b1t + b 0 ) = 2t + 5 Hay 2 b 2t 2 + (2 b1 + 6b 2 ) + (2 b 0 + 2b1 + 2b 2 ) = 2t + 5 Cn bng cc h s cng bc ly tha 2b 2 = 0 2 b1 + 6 b 2 = 2 2 b 0 + 3 b1 + 2 b 2 = 5 Gii ba phng trnh, ta c b 0 = 1 , b1 = 1 v b 2 = 0 , nn yf (t ) = t + 1 t>0 p ng chung y (t ) l tng ca nghim t nhin v nghim p, nn y (t ) = yn (t ) + yf (t ) = K1e -t + K 2 e -2t + t + 1 t>0
& (t ) = - K1e -t - 2 K 2 e -2t + 1 Vy y & (0) = 3 vo cc phng trnh trn, ta c Cho t = 0 ri th y (0) = 2 v y

2 = K1 + K 2 + 1
3 = - K1 - 2 K 2 + 1 T K1 = 4 v K 2 = -3 , do y (t ) = 4e -t - 3e -2t + t + 1

t0

Nhn xt v iu kin u Trong phng php c in, cn c iu kin u ti t = 0 + . L do l ti t = 0 - , ch tn ti thnh phn ng vo zr, v iu kin u ti t = 0 - c th p dng cho thnh phn ng vo zr m thi. Trong phng php c in, ta khng th tnh ring bit thnh phn ng vo zr v thnh phn trng thi zr. T , iu kin u phi c p dng cho p ng chung, c bt u ti t = 0 + .
D Bi tp E 2.15 H thng LT TT BB c trng bi phng trnh ( D 2 + 5D + 6) y (t ) = ( D + 1) f (t )

Ng vo l f (t ) = 6t 2 . Tm (a) p ng p yf (t ) (b) p ng chung y (t ) khi iu kin

25 2 & (0 + ) = - . v y 18 3 1 11 1 11 p s: (a) yf (t ) = t 2 + t (b) y (t ) = 5e -2t - 3e -3t + (t 2 + t - ) 3 18 3 18

u y (0 + ) =

Ng vo hm m ezt Tn hiu hm m l tn hiu quan trng nht khi nghin cu h TT BB. iu th v l p ng p ca ng vo hm m tr thnh rt n gin. T bng 2.2 ta thy p ng p ca ng vo eVt c dng beVt . Ta s chng minh l b = Q(V ) / P (V ) . xc nh hng s b, ta thay yf (t ) = beVt vo phng trnh h thng [phng trnh (2.52)] c
Q( D)[ beVt ] = P ( D)eVt

(2.54)

Ta thy
d Vt ( e ) = V e Vt dt d2 D 2 eVt = 2 ( eVt ) = V 2 eVt dt . D r eVt = V r eVt DeVt =

Do Q( D)eVt = Q(V )eVt v P( D)eVt = P(V )eVt Phng trnh (2.52) thnh bQ(V )eVt = P(V )eVt , v

P(V ) , Q(V ) Nn khi ng vo l f (t ) = eVt u (t ) , p ng p l

b=

yf (t ) = H (V )eVt
Vi
H (V ) =

(2.55)

P(V ) (2.56) Q(V ) y l kt qu th v v y ngha khi cho rng ng vo hm m eVt th p ng p yf (t ) l cng hm m nhn vi H (V ) = P(V ) / Q(V ) . p ng chung y (t ) ca h

thng khi hm m vo eVt c cho bi:

y (t ) = K j e
j =1

l jt

+ H (V )eVt

(2.57)

Trong cc hng s K1, K2, , Kn c xc nh t iu kin ph. Nhc li l tn hiu hm m bao gm nhiu dng tn hiu, nh tn hiu hng ( V = 0 ), tn hiu sin ( V = jw ), v hm sin tng dn hay gim dn ( V = s jw ). Xt mt s trng hp. Tn hiu vo l hng s f (t ) = C Do C = Ce 0t , ng vo hng s l trng hp c bit ca hm m CeVt khi V = 0 . Trng hp ny, p ng p l yf (t ) = CH (V )eVt = CH (0) khi V = 0 (2.58) Tn hiu vo l hm m e jwt Khi V = jw th
yf (t ) = H ( jw )e jwt

(2.59)

Tn hiu vo l hm m f (t ) = cos w0t Ta bit p ng p khi ng vo e jwt l H ( jw )e jwt . Do cos wt = (e jwt + e - jwt ) / 2 , nn p ng p to cos wt l 1 yf (t ) = [ H ( jw )e jwt + H (- jw )e - jwt ] 2 Hai tha s ca v phi l lin hp nhau, nn

yf (t ) = Re[ H ( jw )e jwt ]
Do
H ( jw ) = H ( jw ) e jH ( wt) , nn

yf (t ) = Re H ( jw ) e j[wt +H ( jw )] = H ( jw ) cos[wt + H ( jw )]

(2.60)

Kt qu c th tng qut cho ng vo f (t ) = cos(wt + q ) cho p ng p yf (t ) = H ( jw ) cos[wt + q + H ( jw )] Th d 2.10 Gii phng trnh vi phn ( D 2 + 3D + 2) y (t ) = Df (t ) & (0 + ) = 3 v ng vo C cc iu kin u y (0 + ) = 2 v y (a) 5 (c) e -2t (d) 10 cos(3t + 30 0 ) . 10e -3t (b) T th d 2.9, p ng t nhin trong trng hp ny l yn (t ) = K1e -t + K 2 e -2t Trng hp ny P(V ) V H (V ) = = 2 Q(V ) V + 3V + 2 (a) Khi ng vo f (t ) = 10e -3t , V = -3 v

(2.61)

- 3t -3 -3t yf (t ) = 10 H (-3)e -3t = 10 t>0 e = -15e 2 ( 3 ) + 3 ( 3 ) + 2 Nghim chung (tng ca p ng xung v p ng p) l y (t ) = K1e -t + K 2 e -2t + 45e -3t t>0 V & (t ) = - K1e -t - 2 K 2 e -2t + 45e -3t y t>0 + + & (0 ) = 3 . Cho t = 0 vo cc phng trnh trn v Cc iu kin u y (0 ) = 2 v y thay iu kin u vo, ta c K1 + K 2 - 15 = 2 v - K1 - 2 K 2 + 45 = 3 Cho K1 = -8 v K 2 = 25 , do y (t ) = -8e -t + 25e -2t - 15e -3t
t>0

(b) Khi ng vo f (t ) = 5 = 5e 0t , V = 0 yf (t ) = 5 H (0) = 0

t>0

Nghim chung l K1e -t + K 2 e -2t . T iu kin u, xc nh K1 v K 2 nh phn (a) (c) Trng hp ny V = -2 cng l nghim c tnh ca h thng. Nn (xem cp 2, bng 2.2, hay nhn xt phn trn) yf (t ) = bte -2t Tm b bng cch thay yf (t ) trong phng trnh h thng

( D 2 + 3D + 2) yf (t ) = Df (t )
Hay
( D 2 + 3D + 2)[ bte -2t ] = De -2t ,

Vy

D[ bte -2t ] = b (1 - 2t )e -2t

D 2 [ bte -2t ] = 4b (1 - 2t )e -2t D -2t ] = -2e -2t

Nn Hay

b (4t - 4 + 3 - 6t )e -2t = -2e -2t - be -2t = -2e -2t , c b = 2 v

yf (t ) = 2te -2t

Nghim chung K1e - t + K 2 e -2t + 2te -2t . T iu kin u, xc nh K1 v K 2 nh phn (a) (d) khi ng vo l f (t ) = 10 cos(3t + 30 0 ) , th p ng p [xem phng trnh (2.61)] l yf (t ) = 10[ H ( j 3)] cos[3t + 30 0 + H ( j 3)]

H ( j 3) =
Do :

0 P ( j 3) j3 j3 27 - j 21 = = = = 0,263e - j 37,9 2 Q( j 3) ( j 3) + 3( j3) + 2 - 7 + j9 130

[H ( j3)] = 0,263

H ( j 3) = -37,9 0

V yf (t ) = 10(0,263) cos(3t + 300 + -37,9 0 ) = 2,63 cos(3t - 7,2 0 ) Nghim chung l K1e -t + K 2 e -2t + 2,63 cos(3t - 7,2 0 ) . T iu kin u, xc nh K1 v K 2 nh phn (a) Th d 2.11 Dng phng php c in, tm dng in vng y (t ) trong mch RCL hnh 2.1, th d 2.2 khi in p vo f (t ) = 10e -3t v cc iu kin u y (0 - ) = 0 v vC (0 - ) = 5 . C p ng ng vo zr v trng thi zr c tm trong th d 2.2 v 2.5. p ng t nhin v p ng p xut hin trong phng trnh 2.51b. y, ta gii bi ton ny dng phng php c in, cn c iu kin u ti t = 0 + , Cc iu kin ny c trong phng trnh (2.16) l & (0 + ) = 5 y (0 + ) = 0 v y Phng trnh vng cho h thng [xem th d 2.2 hay phng trnh (1.55)] l ( D 2 + 3D + 2) y (t ) = Df (t ) a thc c tnh l l2 + 3l + 2 = (l + 1)(l + 2) . Do , p ng t nhin l
yn (t ) = K1e -t + K 2 e -2t p ng p, tm t th d 2.10(a) l yf (t ) = -15e -3t p ng chung l y (t ) = K1e -t + K 2 e -2t - 15e -3t o hm phng trnh, cho ta & (t ) = - K1e -t - 2 K 2 e -2t + 45e -3t y

& (0 + ) = 5 vo cc phng trnh trn Cho t = 0 + v thay iu kin u y (0 + ) = 0 v y vo, ta c:

0 = K1 + K 2 - 15 K1 = -10 5 = - K1 - 2 K 2 + 45 K 2 = 25
Nh th y (t ) = -10e -t + 25e -2t - 15e -3t Ging nghim tm c trong phng trnh 2.51b Th d C2.5 dng my tnh Gii phng trnh vi phn ( D 2 + 3D + 2) yt ) = f (t ) vi tn hiu vo f (t ) = 5t + 3 f = 5*t+3; mpa(f,f) yt=dsolve(D2y+3*Dy+2*y=f,y(0)=2,Dy(0)=3,t) yt=-9/4+5/2*t-19/4*exp(-2*t)+9*exp(-t)

nh gi v phng php c in Phn ny cho thy phng php c in tng i n gin so vi phng php tm p ng bng cch ly tng ca thnh phn p ng ng vo zr v thnh phn trng thi zr. iu khng may l phng php c in c yu im rt ln do cch tnh p ng tng khi khng cho php tch thnh phn do yu t ni ti v thnh phn do ng vo. Khi nghin cu h thng, quan trng nht l biu din c p ng h thng theo ng vo f (t ) thnh hm tng minh theo f (t ) . Phng php c in khng cho php thc hin iu ny. Mt khc, phng php c in cn gii hn vi mt s dng ng vo, khng dng c cho mi dng tn hiu vo. Mt vn nh na l do phng php c in tm p ng chung, nn cn c iu kin ph tn ti ti t 0 + . Trong thc t ta thng ch bit cc iu kin ti t = 0 - (trc khi c tn hiu ng vo). Nh th. Ta cn tm thm tp cc iu kin ph ti t = 0 + t iu bit ti t = 0 - . Khi cn gii tm nghim ring ca phng trnh vi phn hay khi cn tm p ng ca h thng TT BB c th, th phng php c in l phng php tt nht, Tuy nhin, khi nghin cu l thuyt v h thng TT BB , th phng php c in khng dng c. 2.6 n nh ca h thng. Do h thng c nhiu phng thc hot ng khc nhau, nn cng c nhiu nh ngha v tnh n nh. y, ta xem xt nh ngha thch hp cho h nhn qu, tuyn tnh v bt bin theo thi gian (TT BB). c th hiu mt cch trc gic v tnh n nh ca h thng, ta xem xt nim n nh vi ba trng thi cn bng khc nhau. - Cn bng n nh - Cn bng khng n nh

Cn bng bnh n (neutral equilibrium)

p dng iu ny quan st h thng. Nu, khi cha c tn hiu t ngoi vo, h thng duy tr trng thi c th (hay iu kin) khng r rng, th trng thi ny c gi l trng thi cn bng ca h thng. Trong h TT BB th trng thi cn bng ny l trng thi zr, vi mi iu kin u u l zr. Gi s h TT BB trng thi cn bng (trng thi zr) v ta thay i trng thi ny bng cch to ra mt s iu kin u khc zr. Nu h thng n nh, h thng s tr v trng thi zr. Ni cch khc, t thn ng ra ca h thng vi iu kin u khc zr s 0 , khi t . Tuy nhin, p ng ra ca h thng di nh hng ca iu kin u (p ng ng vo zr) li ph thuc vo cc ch c tnh. Do , ta nh ngha 63n nh nh sau: h thng l n nh (tim cn) nu v ch nu, mi ch c tnh 0 , khi t . Nu c ch c tnh tng v hn khi t , h thng c gi l khng n nh. Ngoi ra, cn c tnh trng bin khi p ng ng vo zr b chn (khng tin v zr hay v cng), tin v hng s hay dao ng vi bin khng i khi t , tnh trng ny c gi l bin gii n nh. H LT TT BB c n nghim phn bit l1 , l2 ,..., ln th p ng ng vo zr l

y0 (t ) = c j e l ,t
j =1

(2.62)

Ta chng minh c [xem phng trnh (B.14)] 0 Re l < 0 lim e lt = (2.63) t Re l > 0 iu ny rt hu ch khi ta xt n nh ca h thng theo v tr ca nghim c tnh trong mt phng phc. Trc ht gi s h thng ch c nghim phn bit. Nu nghim c tnh l nm bn tri mt phng phc (LHP), c phn thc m (Re l < 0) . Tng t nu l nm bn phi mt phng phc (RHP), th c phn thc dng (Re l > 0) . Dc theo trc o, phn thc l zr (Re l = 0) . Cc vng ny c m t hnh 2.15. Phng trnh (2.63) cho thy cc ch c tnh tng ng nghim trong LHP trit tiu khi t , cn cc ch tng ng vi nghim trong RHP tng v hn khi t . Tuy nhin, cc ch tng ng vi nghim n gin (khng lp li) trn trc o c dng e jbt ; c chn (khng trit tiu hay tin v v hn) khi t . T tho lun trn, th h thng n nh tim cn nu v ch nu, tt c cc nghim c tnh u nm bn tri mt phng phc. Nu ch cn c mt nghim nm bn phi mt phng phc, th h thng khng n nh. Nu khng c nghim nm bn phi mt phng phc, nhng c mt s nghim phc n nm trn trc o, th h thng gi l bin n nh. Sau khi kho st trng hp nghim n, ta xt tip trng hp nghim lp. Cc ch tng ng nghim l lp li r ln l e lt , te lt , t 2 e lt , L , t r -1e lt . Nhng khi t , t k e lt 0 . Nh th, cc nghim lp trong na tri mt phng phc (LHP) khng lm h thng mt n nh. Nhng khi nghim lp nm trn trc o (l = jw ) , th ch tng ng t k e jwt khi t . Nh th, nghim lp trn trc o lm h thng mt n nh. Hnh 2.16 v cc ch c tnh tng ng vi v tr khc nhau ca nghim c tnh trn

mt phng phc. Nhn xt l nghim hay ch c tnh ng vai tr quan trng nhm xc nh tnh n nh ca h thng.

Tm tt: 1. 2. H LT TT BB l tim cn n nh nu v ch nu tt c cc nghim c tnh nm bn tri mt phng phc (LHP) H LT TT BB l khng n nh nu v ch nu c cc iu kin sau: (i) C t nht mt nghim nm bn phi mt phng phc (RHP) (ii) c nghim lp trn trc o. H LT TT BB bin n nh nu v ch nu, khng c nghim nm bn phi mt phng phc (RHP), v c mt s nghim n trn trc o.

3.

Th d 2.12 Tm n nh ca h LT TT BB m t bi cc phng trnh sau: (a) ( D + 1)( D 2 + 4 D + 8) y (t ) = ( D - 3) f (t ) (b) ( D - 1)( D 2 + 4 D + 8) y (t ) = ( D + 2) f (t ) (c) ( D + 2)( D 2 + 4) y (t ) = ( D 2 + D + 1) f (t ) (d) ( D + 1)( D 2 + 4) 2 y (t ) = ( D 2 + 2 D + 8) f (t ) Cc a thc c tnh l (a) (l + 1)(l2 + 4l + 8) = (l + 1)(l + 2 - j 2)(l + 2 + j 2) ) (b) (l - 1)(l2 + 4l + 8) = (l - 1)(l + 2 - j 2)(l + 2 + j 2) ) (c) (l + 1)(l2 + 4) = (l + 2)(l - 2 j )(l + j 2) ) (d) (l + 1)(l2 + 4) 2 = (l + 2) l - 2 j ) 2 (l + j 2)

Do , cc nghim c tnh ca h thng l (xem hnh 2.17) (a) - 1,-2 j 2 (b) 1,-2 j 2 (c) - 2, j 2 (d) - 1, j 2, j 2. H thng (a) l n nh tim cn (tt c nghim nm bn tri mt phng phc, (b) bt n (c mt nghim bn phi mt phng phc, (c) Bin n nh (nghim phc n trn trc o) v khng c nghim bn phi mt phng phc, v (d) Khng n nh (c nghim lp trn trc o.

D Bi tp E 2.16 Cc h thng c trng bi cc phng trnh sau, v v tr nghim c tnh trn mt phng phc v xc nh tnh n nh (n nh tim cn, bin n nh, hay khng n nh) (a) D( D + 2) y (t ) = 3 f (t ) (b) D 2 ( D + 3) y (t ) = (2 D + 5) f (t )

(c) (d)

( D + 1)( D 2 + 2) y (t ) = (2 D + 3) f (t ) ( D 2 + 1)( D 2 + 9) y (t ) = ( D 2 + 2 D + 4) f (t )

(e) ( D + 1)( D 2 - 4 D + 9) y (t ) = ( D + 7) f (t ) p s: (a) bin n nh (b) khng n nh (e) khng n nh.

(c) n nh

(d) bin n nh

2.6-1 p ng ca h thng vi ng vo b chn Ta bit l khi h thng v tr cn bng n nh, khi p vo mt lc b, to p ng b. Ngc li, khi h thng khng cn bng n nh, khi p mt lc b vo to p ng khng b chn. Mt cch trc gic ta cm thy l tng ng vo b chn s to p ng ng b chn khi h thng l n nh, ngc li th khng ng vi h khng n nh. Ta s kim nghim li tnh ng n ca cm gic ny. Nhc li, trong h thng LT TT BB th

y (t ) = h(t ) * f (t ) = h(t ) f (t - t )dt

-

(2.64)

Do

y (t ) h(t ) f (t - t ) dt
-

Hn na nu f (t ) b chn, tc l f (t - t ) < K1 < , v

y (t ) K1 h(t ) dt
-

Do h(t ) cha cc tha s c dng e j hay t k e j , th h(t ) suy gim theo dng m theo thi gian nu Re l j < 0 . Do , i vi h thng n nh tim cn:

lt

lt

h(t ) dt < K 2 <

(2.65)

y (t ) K1 K 2 <

Vy, khi h thng n nh tim cn, tn hiu vo b chn thng to ng ra b chn. Hn na, ta cng chng minh c l h bin n nh, ng ra y (t ) li khng b chn i vi mt s ng vo b chn (xem bi tp 2.6-4). Cc kt qu ny a n cch nh

ngha khc v n nh gi l n nh khi ng vo b chn, ng ra b chn BIBO (boundedinput, bounded output): mt h thng BIBO l n nh nu khi tn hiu vo b chn, to tn hiu ra b chn. Nhn thy l h thng n nh tim cn thng l n nh BIBO. Tuy nhin, h bin n nh l h BIBO khng n nh. Hm ca n nh Mi h thng x l tn hiu thc t cn phi n nh. H thng khng n nh th khng dng c theo quan im x l tn hiu do cc gi tr u mong mun hay khng mong mun c th lm p ng ra khng b chn, c th php hy h thng (hay thng gp) l dn n mt s iu kin bo ha lm thay i bn cht ca h thng. Ngay c khi cc iu kin u c bit l bng zr th yu t in p r hay nhiu nhit c to ra t bn trong h thng s tc ng c nh l iu kin u. Do tnh cht tng theo hm m, in p r, d nh n u i na, cng thng to ng ra khng b chn trong h thng khng n nh. n nh bin c mt ng dng quan trng trong b to dao ng, l h thng to t tn hiu khng cn tc ng t ng vo bn ngoi. Do , ng ra b dao ng l p ng ng vo zr. Nu p ng to sng sin tn s w0 , th h thng n nh bin vi nghm c tnh l jw0 . Vy, mun thit k b dao ng ti tn s w0 , ta cn ly h thng c a thc c tnh l (l - jw0 )(l + jw0 ) = (l2 + w02 ) v c m t t phng trnh vi phn 2 ( D 2 + w0 ) y (t ) = f (t ) 2.7 Tm hiu trc gic v hot ng ca h thng. Phn ny nhm cung cp kin thc v hot ng ca h thng. Do dng yu t trc gic, nn trong phn ny quan tm n phn nh tnh. Ta s chng minh l thuc tnh quan trng ca h thng l nghim c tnh hay cc ch c tnh do chng xc nh khng ch p ng ng vo zr m cn c ton hot ng ca h thng. 2.7-1 S ph thuc ca hot ng h thng vo cc ch c tnh Nhc li l p ng ng vo zr ca h thng gm cc ch c tnh ca h thng. Khi h thng n nh, cc ch c tnh ny gim theo hm m v thng l trit tiu. iu ny to cm gic l cc ch ny khng thc s nh hng ln hot ng tng qut hay c th ca h thng. Cm gic ny hon ton sai! Ta s thy l cc ch c tnh tnh ny li du n trn tng dng v ca hot ng h thng. Ta c th so snh cc ch c tnh ca h thng (hay nghim) vi ht ging c ri trn mt t; tuy nhin, cy mc ln li ty thuc vo ht ging. Du n ca ht ging tn ti trong tng t bo ca cy. hiu c hin tng th v ny, nhc li l cc ch c tnh ca h thng l rt c bit vi h thng do chng duy tr cc tn hiu m khng cn c tn hiu t ngoi vo. Ni cch khc, h thng chp nhn v sn sng nhn cc tn hiu ny. Th tng tng vic g xy ra khi ta a vo h thng tn hiu c cng dng vi ch c tnh! Ta hy vng l h thng p ng mnh m hn (iu ny, tc l hin tng cng hng s c tho lun sau trong chng ny). Khi tn hiu khng ging hon ton ch c tnh nhng li rt gn vi cc ch ny, ta vn cn hy vng l h thng s p ng

mnh m. Tuy nhin, khi ng vo rt khc so vi cc ch c tnh, ta phi hy vng l p ng yu hn. By gi, ta s chng t l yu t din dch trc gic ny l ng. D ta ngh ra cch o lng tnh tng ng ca tn hiu (tng quan) trong chng 3, ta cng s tip cn s vi vn ny. Gii hn ng vo ca h thng l hm m c dng eVt , tong z thng l s phc. Tnh tng ng gia hai tn hiu m eVt v e lt c o bng gn gi gia z v l. Khi sai bit z - l nh, cc tn hiu ny ging nhau, nu z - l ln, hai tn hiu khng ging nhau. Xt h bc nht c mt ch c tnh e lt v ng vo eVt . p ng xung ca h thng l Ae lt , theo tr chnh xc ca A khng quan trng do ta ch kho st nh tnh. p ng y(t) ca h thng cho bi y (t ) = h(t ) * f (t ) = Ae lt u (t ) * eVt u (t ) T bng tch phn chp (bng 2.1), ta c A (2.66) y (t ) = [eVt - e lt ]u (t ) V -l R rng, nu ng vo eVt tng ng vi e lt , z - l nh, v p ng h thng l ln. Tn hiu vo f(t) cng gn vi ch c tnh, p ng ca h thng cng ln. Ngc li, nu tn hiu vo rt khc ch t nhin, z - l ln, th p ng ca h thng cng yu. iu ny ny cng minh chng c iu ta cn. Ta chng minh c vi h c ch n (bc nht). iu ny cn c th c tng qut cho h bc n, c n ch c tnh. p ng xung h(t) ca h ny l t hp ca n ch . Vy, nu f(t) tng t mt trong s cc ch ny, th p ng tng ng s cao; nu khng ging vi bt k ch no, p ng s b. R rng, cc ch c tnhc nh hng rt ln xc nh p ng ca h thng vi mt tn hiu vo. Dng phng trnh (2.66) kt lun l nu tn hiu vo ging vi ch c tnh, tc l khi z = l, th p ng tin v v cng. Tuy nhin, cn nh l nu z = l th mu s trong v phi phng trnh(2.66) l zr. Phn nghin cu v hot ng phc (hin tng cng hng) s c trnh by phn sau. Ta s chng minh l khi xem xt k p ng xung h(t) ( bao gm cc ch c tnh), cng lm l ra nhiu vn v hot ng ca h thng. 2.7-2 p ng theo thi gian ca h thng: Hng s thi gian ca h thng Ging con ngi, h thng cng c mt s p ng thi gian. Ni cch khc, khi ng vo(kch thch) vo h thng, cn c mt khong thi gian h thng p ng hon ton vi ng vo ny. Thi gian tr hay p ng thi gian c gi l hng s thi gian. Ta s thy l hng s thi gian ca h thng l bng vi rng ca p ng xung h(t ) . Ng vo d (t ) ca h thng l tc thi (c rng bng zr) nhng p ng xung h(t ) th c rng l Th . Nh th, h thng cn c thi gian Th p ng hon ton vi ng vo ny, v ta s chng t Th l p ng thi gian hay hng s thi gian. Ta cng kt lun dng phng php khc. Ng ra l tch phn chp ca tn hiu vo vi h(t ) . Nu ng vo l xung c rng T f , th xung p ng c rng T f + Th , ty thuc vo c tnh rng ca tch phn chp. kt lun ny cho thy, h thng cn Th giy p ng hon ton vi bt k tn hiu vo. Hng s thi gian ca h thng ch th tc hot ng ca h thng. H thng c hng s thi gian b hn s hot ng nhanh

hn vi tn hiu vo. H thng c hng s thi gian ln hn s p ng chm hn vi tn hiu vo. Ni mt cch chc ch hn, th rng ca p ng xung h(t ) l do cc ch c tnh tim cn v zr khi t . Tuy nhin, khi vt qu mt s gi tr ca t, h(t ) c th c b qua. Do , cn dng mt s o lng thch hp cho rng hiu qu ca p ng xung

Khng c mt nh ngha no v rng hiu qu ca tn hiu l tha mn c cho mi tnh hung. Trong trng hp hnh 2.18, nh ngha hp l nht cho rng h(t ) l (t ) l xung c din tch ging vi din tch ca h(t ) v cao T , rng ca xung vung h
h

ging vi trng hp h(t ) ti mt thi im thch hp t = t 0 . Trong hnh 2.18, t 0 c chn l thi im m h(t ) cc i. T nh ngha ny:

Th h(t 0 ) = h(t )dt

-

Hay

(2.67) h(t 0 ) Khi h thng l ch n h(t ) = Ae lt u (t ) Vi l l thc v m, th h(t ) l cc i ti t = 0 vi gi tr h(0) = A . Nh th, theo phng trnh (2.67) 1 1 (2.68) Th = Ae lt dt = A 0 l
Th

h(t )dt

Nh th, thi hng trong trng hp ny th n gin (l phn m ca) l phn tng h ca nghim c tnh. Trong trng hp nhiu ch , h(t ) l tng trng cc hng s thi gian c lin quan n n ch ca h thng. 2.7-3 Hng s thi gian v thi gian ln ca h thng. Hng s thi gian ca h thng cn c th c nhn theo mt quan im khc. p ng bc y (t ) ca h thng l tch phn chp gia u (t ) v h(t ) . t p ng xung h(t ) l xung vung c rng Th nh v hnh 2.19. Gi s ny nhm n gin ha tho lun theo dng nh tnh. Kt qu ca tch phn chp ny v hnh 2.19. Ch l ng ra khng tng t zr n gi tr tc thi sau cng nh trng hp ca tn hiu ng vo, m ng ra cn c thi gian Th giy hon tt. Nh th, thi gian ln Tr ca h thng l bn vi hng s thi gian ca h thng. Tr = Th (2.69) Kt qu v hnh 2.19 chng t l h thng khng th p ng tc thi vi ng vo. Nh th, h thng cn c thi gian Th p ng hon ton. 2.7-4 Hng s thi gian v tnh lc. Hng s thi gian ln lm h thng tc ng chm do h thng cn nhiu thi gian hn p ng hon ton vi ng vo. Cc h thng ny khng th p ng hiu qu vi thay i nhanh ca tn hiu vo. Ngc li, hng s thi gian nh hn cho thy h thng c kh nng p ng c vi thay i nhanh ca tn hiu vo. Nh th, c quan h trc tip gia hng s thi gian ca h thng vi c tnh lc. Xem xt tn hiu sin cao tn thay i nhanh theo thi gian. H thng c hng s thi gian ln s khng p ng c vi tn hiu ny. T , h thng ny s loi tr cc sng sin c tn s cao v cc tn hiu tn s cao khc, nn hot ng nh mch lc thng thp (mch lc ch cho tn hiu tn s thp i qua), Ta s chng minh l h thng c hng s thi gian Th hot ng nh mch lc thng thp c tn s ct l FC = 1 / Th Hz, nn cc sng sin c tn s thp hn FC c truyn qua v loi tr cc sng c tn s cao hn FC. minh ha tnh cht ny, ta xc nh p ng ca h thng vi ng vo sin f (t ) bng cch ly tch phn chp ng vo vi p ng xung hiu qu h(t ) trong hnh 2.20a. Hnh 2.20b v 2.20c v qu trnh tch phn chp gia h(t ) v tn hiu vo sin c hai tn s khc nhau. Sng sin hnh 2.20b c tn s tng i cao, trong khi tn s sng sin hnh 2.20c th thp. Nhc li l tch phn chp ca f (t ) v h(t ) bng vi phn din tch tng ng vi tch f (t )h(t - t ) . y l vng din tch c t bng trong hnh 2.20b v 2.20c cho hai trng hp. Trng hp sng sin tn s cao, th hnh 2.20b cho thy l din tch tng ng f (t )h(t - t ) ny rt b do phn dng v phn m hu nh trit tiu nhau. Trong trng hp ny, th ng ra y (t ) vn cn l tun hon nhng bin gim nh i. iu ny xy ra khi chu k ca sng sin l rt nh so vi hng s thi gian Th ca h thng. Ngc li, i vi sng sin tn s thp, c chu k ln hn Th , nn vng din tch tng ng f (t )h(t - t ) t b trit tiu nhau. Do , ng ra y (t ) ln hn, nh v hnh 2.20c.

Gia hai hot ng khc nhau ca h thng, c im chuyn tip khi chu k ca sng sin bng vi hng s thi gian Th . Tn s ny gi l tn s ct FC ca h thng. Do Th l chu k ca tn s ct FC nn 1 (2.70) FC = Th Tn s FC cng cn c gi l bng thng ca h thng do h thng truyn hay cho qua thnh phn sng sin c tn s thp hn FC . D nhin l qu trnh chuyn tip trong h thng c thc hin t t. H thng khng thay i t ngt ti FC = 1 / Th . Hn na, cc kt qu ny da trn p ng xung l tng (xung vung); trong thc t th cc kt qu ny co thay i mt t, ty thuc hnh dng chnh xc ca h(t ) . Cn nh l trong phn tho lun nh tnh ny th yu t cm nhn quan trng hn l p ng chnh xc ca h thng. Do hng s thi gian ca h thng bng vi thi gian ln, nn 1 1 hay FC = (2.71a) Tr = FC Tr Do , khi bng thng t l nghch vi thi gian ln ca h thng. Mc d phng trnh (2.71a) c vit cho trng hp p ng xung l tng (xung vung), nhng tng ny cng dng c cho cc mch lc LT TT BB ni chung. Trong trng hp tng qut, ta chng minh c l: k (2.71b) FC = Tr

Trong , tr chnh xc ca k ty thuc vo bn cht ca h(t ) . Mt k s lnh ngh thng c th c lng nhanh c bng thng ca h thng cha bit ch n gin l quan st p ng ca h thng vi ng vo bc trn dao ng k. 2.7-5 Hng s thi gian v tnh phn tn ca xung (ri xung). Thng thng, truyn xung qua h thng lm xung b phn tn (hay ri xung). Nh th, xung ra thng rng hn xung vo. Tnh cht ny ca h thng to nhng h qu nghim trng trong h thng thng tin, khi truyn bin xung. Tnh phn tn xung gy nhiu hay trng lp vi cc xung k cn, lm mo dng xung v to sai s ti thng tin nhn. Ta bit l khi tn hiu vo f (t ) l xung c rng T f v gi Ty l rng ca xung ra, th Ty = T f + Th (2.72) Kt qu ny cho thy l khi xung vo b phn tn khi i qua h thng. Do Th cn l hng s thi gian hay thi gian ln ca h thng, nn lng phn tn ca xung l bng vi hng s thi gian (hay thi gian ln) ca h thng. 2.7-6 Hng s thi gian v tc truyn thng tin. Trong h thng thng tin xung, khi thng tin c truyn bng bin xung, tc truyn thng tin t l vi tc truyn xung. Ta chng minh l trnh ph hng thng tin do nh hng ca xung phn tn khi qua knh truyn (mi trng truyn dn), th tc truyn tin khng nn vt qua bng thng ca knh thng tin. Do xung vo phn tn Th giy, cc xung lin tip nn cch nhau Th giy trnh giao thoa gia cc xung. Do , tc truyn tin khng vt qu 1 / Th xung/giy. Nhng 1 / Th = FC , l bng thng ca knh truyn, nn ta c th truyn xung qua knh thng tin vi tc FC xung/giy v trnh ng k c giao thoa gia cc xung. Do , tc truyn tin l t l vi bng thng knh truyn (hay tng h vi hng s thi gian) Phn tho lun trn (t 2.7-2 n 2.7-6) trnh by nh hng ln ca hng s thi gian ln hot ng ca h thng; nh c tnh lc, thi gian ln, phn tn xung, v.v, Ngc li, hng s thi gian li c xc nh t nghim c tnh ca h thng. R rng nghim c tnh v cc lng tng i trong p ng xung h(t ) xc nh hot ng ca h thng. 2.7-7 Hin tng cng hng. Cui cng, ta cng bn n hin tng cng hng th v. Nh ni nhiu ln trc y, hin tng ny c quan st khi tn hiu vo ging hay rt gn vi ch c tnh ca h thng. n gin v r rng, ta xem xt h thng bc mt ch c mt ch , e lt . Cho p ng xung ca h thng l (2.73) h(t ) = Ae lt V cho ng vo l f (t ) = e ( l -e ) t p ng ca h thng y (t ) l
y (t ) = Ae lt * e ( l -e )t

T bng tch phn chp, ta c 1 - e - et A y (t ) = e lt - e ( l -e ) t = Ae lt e e

(2.74)

Khi e 0 , th t s v mu s tin v zr. Dng lut LHpital: lim y (t ) = Ate lt

e 0

(2.75)

R rng, p ng khng v v cng khi e 0 , nhng li c thm tha s t, nn tin v v cng khi t . Nu l c phn thc m (nn nm bn tri mt phng phc), e lt gim nhanh hn t v y (t ) 0 khi t . Hin tng cng hng xut hin, nhng khng pht trin c do tn hiu m t suy gim. Tho lun trn cho thy hin tng cng hng l hin tng tch ly, ch khng tc thi. Hin tng ny c tch t t l theo thi gian t. Khi ch suy gim theo hm m, tn hiu suy gm theo vi tc rt nhanh v cng hng lm mt tc dung ca suy gim; v kt qu l tn hiu trit tiu trc khi c c hi c thit lp. Tuy nhin, nu ch gim vi tc 1 / t , ta s thy r hn v hin tng cng hng. iu kin c bit ny xut hin nu Re l 0 . Th d, khi Re l = 0 , th l nm trn trc o ca mt phng phc, v: l = jw Phng trnh (2.75) thnh (2.76) y (t ) = Ate jwt Trng hp ny, p ng tng t l vi t v tin v v cng Trong h thng thc, nu c nghim l = jw th l* = - jw cng l nghim; p ng xung c dng Ae jwt + Ae - jwt = 2 A cos wt . p ng ca h thng khi c ng vo A cos wt l 2 A cos wt * cos wt . c gi c th chng minh l tch phn chp ny c cha cc tha s c dng At cos wt . Hin tng cng hng c thy r. p ng ca h thng vi ch c tnh ny tng t l theo thi gian, c th v v cng, nh v hnh 2.21.

Nhc li l khi l = jw , h thng bin n nh. Nh ni, th nh hng ca hiu ng cng hng khng xut hin trong h thng n nh tim cn, m ch trong cc h bin n nh th hin tng cng hng lm tng cng mnh p ng h thng v v cng khi ng vo l ch c tnh. Nhng ngay c trong h n nh tim cn, ta thy biu hin ca hin tng cng hng khi cc nghim c tnh k cn trc o, tc l Re l l rt b. Ta cng chng minh c l khi nghim c tnh ca h thng l s jw , th p ng h thng vi tn hiu vo e jw0t hay dng l tn hiu sin c dng cos w0t ln so vi s. p ng gim rt nhanh khi tn s tn hiu vo vt khi w0 . Tnh chn lc tn s rt cn cho nghin cu p ng ca h thng theo tn s, nn dnh phn ny cho chng 7. S quan trng ca hin tng cng hng Hin tng cng hng rt quan trng khi cho php ta thit k cc h thng c tnh chn lc tn s qua vic chn ng cc nghim c tnh ca h. Lc thng thp, thng di, thng cao, v trit di l cc th d v mch chn lc tn s. Trong h thng c kh, s hin din khng bo trc ca cng hng c th lm tn hiu tng cc ln bin v lm hng thit b. Mt nt nhc (rung ng iu ha) vi tn s thch hp c th lm b knh nu tn s khp vi nghim c tnh ca gng, c xem l h thng c kh. Tng t, mt i i lnh khi cng nhp bc qua cu th t vo cu mt lc c tnh iu ha. Nu lc vo ny cng gn vi nghim c tnh ca cu, cu s p ng li (rung) mnh v sp. l trng hp sp cu Tacoma Narrow Bridge nm 1940. Cu c a vo lu thng vo thng by nm 1940. Sau bn thng hot ng (ngy 7 thng 10 nm 1940) cu sp, khng do cng mnh ca gi m t yu t cng hng gia tn s ca gi xoy trng vi tn s t nhin (nghim c tnh) ca cu to hin tng cng hng. T , khi thit k, cc k s u quan tm trnh hin tng cng hng trong cc h thng c kh vi nhiu bin php khc nhau. 2.8 Ph chng 2.1: Cch xc nh p ng xung. Phn ny nu cch tm p ng xung ca h LT TT BB ca h thng S, c trng bi phng trnh vi phn bc n (2.77a) Q( D) y (t ) = P( D) f (t ) Hay n (2.77b) ( D + an-1 D n-1 + L +1 aD + a0 ) y (t ) = (bn D n + bn-1 D n-1 + L + b1 D + b0 ) f (t ) Phn 2.3 cho p ng xung h(t ) l h(t ) = A0d (t ) + cc ch c tnh (2.78) h(t ) = bnd (t ) + cc ch c tnh (2.79) xc nh cc tha s ch c tnh trong phng trnh trn, ta xt h S 0 , c ng vo f (t ) v ng ra tng ng l x (t ) theo (2.80) Q( D) x(t ) = f (t ) Thy rng c hai h thng S v S 0 u c cng a thc c tnh; l Q(l ) , nn c cng cc ch c tnh. Hn na, S 0 ging vi S khi P( D) = 1 , tc l khi bn = 1 . Nh

th, theo phng trnh (2.79), p ng xung ca S 0 ch cha cc tha s ch c tnh vi xung ti t = 0 . Gi p ng xung ny ca S 0 l yn (t ) . Ta thy yn (t ) gm cc ch c tnh ca S . Vi yn (t ) l p ng ca S 0 vi ng vo d (t ) , nn theo phng trnh (2.80). Q( D) yn (t ) = d (t ) (2.81a)
( D n + an-1 D n-1 + L + a1 D + a0 ) yn (t ) = d (t ) Hay ( n) ( n-1) (1) yn (t ) + an-1 yn (t ) + L + a1 yn (t ) + a0 yn (t ) = d (t )

(2.81b) (2.81c)

(k ) Trong y n (t ) l o hm bc k ca yn (t ) . V phi ch cha tha s xung n v

( n -1) (t ) c bc nhy n v gin on ti t = 0 , nn d (t ) . iu ny ch xy ra nu yn ( n) yn (t ) = d (t ) . Hn na, tha s bc thp khng th c bc nhy gin on do iu ny

tc l c yu t o hm ca d (t ) . Th d, gi s yn (t ) c bc nhy gin on, th o & n (t ) cha o hm bc nht ca xung d (t ) , v v.v, Nhng, iu ny l khng hm y
( n -1) th do v phi ca phng trnh (2.81c) ch cha mi mt d (t ) . Do ch c yn (t ) l (n) c c bc nhy gin on nn yn (t ) l d (t ) . Khng c bc nh gin on ti cc bin cn li do iu ny s to cc o hm bc cao ca d (t ) trong v phi. Nh th (1) ( n-2 ) yn (0) = yn (0) = L = yn (0) = 0 (khng c gin on ti t = 0 ). Nh th, n iu kin u ca yn (t ) l ( n-1) yn ( 0) = 1
(1) ( n-2 ) y n (0) = y n (0) = L = yn (0) = 0

(2.82)

iu ny, tc l yn (t ) l p ng ng vo zr ca h thng S vi cc iu kin u (2.82). Ta chng minh tip l vi cng tn hiu vo f (t ) cho hai h thng S v S 0 , cc ng ra ln lt l y (t ) v x(t ) l (2.83) y (t ) = P( D ) x(t ) chng minh, nhn hai v ca (2.83) cho P( D) Q ( D ) P( D ) x (t ) = P( D ) f (t ) So snh phng trnh ny vi phng trnh (2.77a) ta c ngay phng trnh (2.83). By gi, nu ng vo l f (t ) = d (t ) , ng ra ca S 0 l yn (t ) , v ng ra ca S , theo phng trnh (2.83) l P( D) yn (t ) . Ng ra ny l h(t ) , p ng xung ca S . Tuy vy, do l p ng xung ca h nhn qu S 0 , nn hm yn (t ) l nhn qu. d th hin, nn chn hm ny l yn (t )u (t ) . Do , h(t ) , p ng xung ca h thng S l (2.84) Trong , yn (t ) l t hp tuyn tnh cc ch c tnh ca h thng vi iu kin u (2.82).
h(t ) = P ( D)[ yn (t )u (t )]

V phi ca phng trnh (2.84) l t hp tuyn tnh cc o hm ca yn (t )u (t ) . Vic c lng cc o hm ny thng rc ri v khng thch hp do c s hin din ca u (t ) . Cc o hm ny s to ra xung l cc o hm ca xung ti gc. May mn l khi m n [phng trnh (2.84)], ta trnh c kh khn ny dng quan st trong phng trnh (2.79), khng nh l ti t = 0 (ti gc), h(t ) = bnd (t ) . Nh th, ta khng cn b cng tm h(t ) ti gc. Yu t lt gin tc l thay v tm P( D)[ yn (t )u (t )] , ta ch cn tnh P( D) yn (t ) ri cng vi tha s bnd (t ) :
h(t ) = bnd (t ) + P ( D) yn (t )
t0

(2.85) = bnd (t ) + [ P( D) yn (t )]u (t ) Biu thc ny c gi tr khi m n [dng cho bi phng trnh (2.77b)]. Khi m > n , dng phng trnh (2.84) 2.9 Tm tt. Chng ny bn v phn tch h thng LT TT BB . p ng chung ca h thng tuyn tnh l tng ca p ng ng vo- zr v p ng trng thi zr. p ng ng vo zr l p ng ca h thng ch do iu kin ni ti (iu kin u) ca h thng to ra, vi gi s l mi tc ng bn ngoi l zr. p ng trng thi zr l p ng do tc ng t ng vo bn ngoi, vi gi s l mi iu kin u l zr, tc l h thng trng thi zr. Hm xung n v l dng m hnh ton hc l tng ca tn hiu khng to c trong thc t. Tuy nhin, tn hiu dng ny li l phng tin rt hu ch khi phn tch tn hiu v h thng. p ng xung ca h thng l t hp cc ch c tnh ca h thng do xung d (t ) = 0 khi t > 0 . Do , p ng khi t > 0 phi l p ng ng vo zr, nh ni, chnh l cc ch c tnh. p ng trng thi zr (p ng vi ng vo bn ngoi) ca h thng tuyn tnh c c bng cch chia ng vo thnh nhiu thnh phn n gin hn ri thc hin php cng tt c cc p ng thnh phn. Trong chng ny, ta cho cc ng vo bt k thnh tng ca nhiu xung vung rng hp [phng php xp x bc thang cho f (t ) ]. Khi cho rng xung 0 , xung vung bin thnh xung. Khi bit c p ng xung ca h thng, ta tm c p ng h thng ca tt c cc xung thnh phn v ri cng chng li c p ng h thng vi ng vo f (t ) . Tng cc p ng cc xung thnh phn c dng mt tch phn, c gi l tch phn chp. p ng h thng c c bng cch ly tch phn chp ca tn hiu vo f (t ) vi p ng xung h(t ) . Nh th, bit c p ng xung cho php ta xc nh p ng h thng vi ng vo bt k. H LT TT BB c quan h rt c bit v itn hiu khng dng m e st do p ng ca h LT TT BB vi tn hiu dng ny chnh l cng tn hiu nhn vi hng s. p ng ca h thng LT TT BB vi ng vo l tn hiu khng dng dng m e st l H ( s )e st , vi H ( s ) l hm truyn ca h thng. Cc phng trnh vi phn m t h LT TT BB c th c gii dng phng php c in, theo p ng c c l tng ca p ng t nhin v p ng p, iu ny khng ging vi p ng thnh phn ng vo zr v trng thi zr, cho d

chng u tha cng phng trnh. Phng php ny tuy n gin nhng c nhiu yu im do ch p dng c cho mt s dng tn hiu vo, v p ng h thng khng biu din c theo hm tng minh ca ng vo. Hn ch ny lm phng php khng dng c khi nghin cu l thuyt v h thng. H thng tuyn tnh trng thi zr khi mi iu kin u l zr. H thng trng thi zr khng c kh nng to ra bt k p ng no khi cha c tn hiu vo. Khi mt s iu kin u c a vo h thng, nu h thng c xu hng v zr khi khng c tn hiu ng vo, th c gi l n nh tim cn. Ngc li, nu p ng ca h thng tng v hn, th h thng l khng n nh, ngoi ra cn c trng hp h thng bin n nh. Cc tiu chun n nh theo v tr nghim c tnh ca h thng c tm tt thnh: 1. H LT TT BB l n nh tim cn nu v ch nu mi nghim nm bn tri mt phng phc. Cc nghim ny c th l nghim n hay nghim lp. 2. H LT TT BB l khng n nh nu v ch nu mi nghim nm bn phi mt phng phc. Cc nghim ny c th l nghim n hay nghim lp. 3. H LT TT BB l bin n nh tim cn nu v ch nu, khng c nghim nm bn phi mt phng phc, v c mt s nghim lp trn trc o ca mt phng phc. Da vo nh ngha khc v n nh l: n nh BIBO (bounded-input, bounded output), tc l h thng n nh nu cc ng vo b chn to cc ng ra b chn. Ngc li l h BIBO khng n nh. H BIBO bin n nh lun l h BIBO n nh, tuy nhin, iu ngc li khng ng. Hot ng c tnh ca h thng l cc k quan trng do khng ch xc nh p ng h thng vi iu kin ni ti (hot ng ng vo zr) m cn xc nh p ng vi ng vo (hot ng trng thi zr) v tn hn nh ca h thng. p ng ca h thng vi tn hiu t ngoi c xc nh dng p ng xung, m t thn p ng xung bao gm cc ch c tnh. rng ca p ng xung c gi l hng s thi gian ca h thng, ch th tc p ng ca h thng vi tn hiu vo. Hng s thi gian gi vai tr quan trng xc nh nhiu hot ng khc nhau ca h thng nh p ng theo thi gian v tnh lc ca h thng, s phn tn ca xung, v tc truyn xung qua h thng.

Ti liu tham kho

1. 2. 3. Lathi, B.P., Signals and Systems, Berkeley-Cambridge Press, Carmichael, California, 1987. Kailath, T., Linear Systems, Prentice-Hall, Englewood Cliffs, New Jersey, 1980. Lathi, B.P., Modern Digital and Analog Communication Systems, Third Ed,.Oxford University Press, New York, 1998.

Bi tp
2.2-1 H LT TT BB c trng bi phng trnh

( D 2 + 5 D + 6) y (t ) = ( D + 1) f (t ) (a) Tm a thc c tnh, phng trnh c tnh, nghim c tnh, v cc ch c tnh ca h thn gny (b) Tm y0 (t ) , thnh phn ng vo zr ca p ng y (t ) khi t 0 , nu & 0 (0) = -1 iu kin u l y0 (0) = 2 v y 2.2-2 Lm li bi tp 2.2-1 khi & 0 (0) = -4 ( D 2 + 4 D + 4) y (t ) = Df (t ) , iu kin u l y0 (0) = 3 v y 2.2-3 Lm li bi tp 2.2-1 khi & 0 ( 0) = 1 D ( D + 1) y (t ) = ( D + 2) f (t ) , iu kin u l y0 (0) = 1 v y 2.2-4 Lm li bi tp 2.2-1 khi & 0 (0) = 6 ( D 2 + 9) y (t ) = (3D + 2) f (t ) , iu kin u l y0 (0) = 0 v y 2.2-5 Lm li bi tp 2.2-1 khi & 0 (0) = 15,59 ( D 2 + 4 D + 13) y (t ) = 4( D + 2) f (t ) , iu kin u l y0 (0) = 5 v y 2.2-6 Lm li bi tp 2.2-1 khi & 0 (0) = -1 D 2 ( D + 1) y (t ) = ( D 2 + 2) f (t ) , iu kin u l y0 (0) = 4 v y 2.2-7 Lm li bi tp 2.2-1 khi & 0 (0) = -1 v & &0 (0) = 5 ( D + 1)( D 2 + 5D + 6) y (t ) = Df (t ) , iu kin u l y0 (0) = 2 , y y

2.3-1 Tm p ng xung ca h thng c trng bi phng trnh ( D 2 + 4 D + 3) y(t ) = ( D = 5) f (t ) 2.3-2 Lm li bi tp 2.3-1 nu ( D 2 + 5 D + 6) y (t ) = ( D 2 + 7 D + 11) f (t ) 2.3-3 Lm li bi tp 2.3-1 vi b lc bc mt ( D + 1) y (t ) = -( D - 1) f (t ) X 2.3-4 Tm p ng xung ca h LT TT BB c trng bi phng trnh ( D 2 + 6 D + 9) y (t ) = (2 D + 9) f (t ) 2.4-1 Nu c (t ) = f (t ) * g (t ) , chng minh l Ac = A f Ag , vi A f , Ag v Ac l din tch tng ng ln lt l f (t ), g (t ) v c (t ) . Kim tra c tnh din tch ca tch phn chp trong th d 2.6 v 2.8. 1 2.4-2 Nu f (t ) * g (t ) = c(t ) , chng minh l f (at ) * g (at ) = c(at ) . c tnh t l a thi gian ca tch phn chp cho l c f (t ) v g (t ) u c t l theo a, tch phn chp ca chng cng c t l theo a (v nhn vi 1 / a ). 2.4-3 C hng t l tch phn chp ca hm chn v hm l l hm l v tch phn chp gia hai hm l hay hai hm chn l hm chn. Hng dn: dng c tnh t l theo thi gian ca tch phn chp trong bi tp 2.4-2. 2.4-4 Dng phng php tch phn trc tip, tnh e - at u (t ) * e -bt u (t ) .

2.4-5 Dng phng php tch phn trc tip, tnh u (t ) * u (t ) , e - at u (t ) * e - at u (t ) v tu (t ) * u (t ) . 2.4-6 Dng phng php tch phn trc tip, tnh sin t.u (t ) * u (t ) , v cos t.u (t ) * u (t ) 2.4-7 p ng xung n v ca h LT- TT BB l h(t ) = e - t u (t ) . Tm p ng (trng thi zr) y (t ) khi tn hiu vo f (t ) l (a) u (t ) (b) e -t u (t ) (c) e -2t u (t ) (d) sin 3t.u (t ) -3t 2.4-8 Lm li bi tp 2.4-7 nu h(t ) = [2 e - e -2t ]u (t ) khi tn hiu vo f (t ) l (a) u (t ) (b) e -t u (t ) (c) e -2t u (t ) 2.4-9 Lm li bi tp 2.4-7 nu h(t ) = (1 - 2t ) e -2 tu (t ) khi tn hiu vo f (t ) = u (t ) 2.4-10 Lm li bi tp 2.4-7 nu h(t ) = 4 e -2 t cos 3t.u (t ) khi tn hiu vo f (t ) l (a) u (t ) (b) e -t u (t ) 2.4-11 Lm li bi tp 2.4-7 nu h(t ) = e - tu (t ) khi tn hiu vo f (t ) l (a) e -2t u (t ) , (b) e -2 ( t -3) u (t ) (c) e -2t u (t - 3) (d) xung vung v hnh P2.4-11, v v y (t ) trong trng hp (d). Hng dn: ng vo ti (d) c th c vit thnh u (t ) - u (t - 1) . Trng hp (c) v (d), dng tnh di theo thi gian (2.34) ca tch phn chp. (Ngoi ra, cn c th dng tnh bt bin v tnh xp chng)

2.4-12 H thng lc bc nht c p ng xung h(t ) = -d (t ) + 2e - t u (t ) (a) Tm p ng trng thi zr ca b lc khi c tn hiu vo e -t u (t ) (b) V ng vo v p ng trng thi zr tng ng 1 2.4-13 V hm f (t ) = 2 v u (t ) . Tm f (t ) * u (t ) v v kt qu. t +1

2.4-14 Hnh P2.4-14 v f (t ) v g (t ) . Tm v v c (t ) = f (t ) * g (t )

2.4-15 Tm v v c (t ) = f (t ) * g (t ) v hnh P2.4-15

2.4-16 Tm v v c(t ) = f1 (t ) * f 2 (t ) trong cp hm v hnh P2.4-16 2.4-17 H LT TT BB, nu p ng (trng thi zr) ca ng vo f (t ) l y (t ) , & (t ) l y & (t ) , chng minh l p ng p ng (trng thi zr) ca ng vo f v p ng khi ng vo
& (t ) * g (t ) = f (t ) * g & (t ) = c &(t ) 2.4-18 Nu f (t ) * g (t ) = c(t ) , chng minh f (m) ( n) (m+ n ) ) M rng kt qu chng minh l f (t ) * g (t ) = c (t ) (m) Trong x (t ) l o hm ca x(t ) , v mi o hm ca f (t ) v g (t ) tn ti Hng dn: Dng phn u trong hng dn trong bi tp 2.4-17 v c tnh di theo thi gian ca tch phn chp.

f (t )dt l

y (t )dt .

2.4-19 Nh bn trong chng 1 (hnh 1.27b), c th biu din ng vo theo cc thnh phn hm bc, nh v trong hnh P2.4-19. Nu g (t ) l hm bc n v ca h LT TT BB , chng minh l p ng (trng thi-zr) y (t ) ca h LT TT BB theo ng vo f (t ) c th biu din thnh
& (t ) g (t - t )dt = f & (t ) * g (t ) y (t ) = f -

Hng dn: t hnh P2.4-19, thnh phn p ng bc c t bng c cho bi . & (t )Dt ]u (t - nDt ) . p ng h thng l tng tt c cc thnh phn. Dfu (t - nDt ) @ [ f

2.4-20 in tch ng t dc theo truc x c mt in tch f ( x ) . Chng t l in trng E ( x) do in tch ng to nn ti im x l 1 E ( x ) = f ( x ) * h( x ) vi h( x) = 4pex 2 Hng dn: in tch trong khong Dt t ti t = nDt l f (nDt )Dt . ng thi, theo lut Coulomb, in trng E (r ) ti khong cch r n in tch q c cho bi q E (r ) = 4per 2 2.4-21 Xc nh H ( s ) , hm truyn ca b tr l tng theo thi gian T giy. Tm kt qu bng hai phng php: dng phng trnh (2.48) v dng phng trnh (2.49). 2.5-1 Dng phng php c in, gii ( D 2 + 7 D + 12) y (t ) = ( D + 2) f (t ) nu iu & (0 + ) = 1 v khi ng vo f (t ) kin u l y (0 + ) = 0 , y (a) u (t ) (b) e -t u (t ) (c) e -2t u (t ) 2.5-2 Dng phng php c in, gii ( D 2 + 6 D + 25) y (t ) = ( D + 3) f (t ) nu iu & (0 + ) = 2 v khi ng vo f (t ) = u (t ) . kin u l y (0 + ) = 0 , y 2.5-3 Dng phng php c in, gii ( D 2 + 4 D + 4) y (t ) = ( D + 1) f (t ) nu iu & (0 + ) = 5 , khi ng vo f (t ) (a) e -3t u (t ) (b) e -t u (t ) kin u y (0 + ) = 9 / 4 , y 2.5-4 Dng phng php c in, gii ( D 2 + 2 D) y (t ) = ( D + 1) f (t ) nu iu kin & (0 + ) = 1 , khi ng vo f (t ) = u (t ) . u y (0 + ) = 2 , y

2.5-5 Lm li bi tp 2.5-1, nu ng vo f (t ) = e -3t u (t ) 2.6-1 Gii thch, l lun v cho bit cc h LT TT BB c trng bi cc phng trnh sau l n nh tim cn, bin n nh hay khng n nh (a) ( D 2 + 8D + 12) y (t ) = ( D - 1) f (t ) (b) D( D 2 + 3D + 2) y (t ) = ( D + 5) f (t ) (c) D 2 ( D 2 + 2) y (t ) = ( D + 5) f (t ) (d) ( D + 1)( D 2 - 6 D + 5) y (t ) = (3D + 1) f (t ) 2.6-2 Lm li bi 2.6-1, nu (a) ( D + 1)( D 2 + 2 D + 5) y (t ) = ( D - 1) f (t ) (b) ( D + 1)( D 2 + 9) y (t ) = (2 D + 9) f (t ) (c) ( D + 1)( D 2 + 9) 2 y (t ) = (2 D + 9) f (t ) (d) ( D 2 + 1)( D 2 + 4)( D 2 + 9) y (t ) = 3Df (t ) 2.6-3 i vi h LT TT BB c p ng xung l h(t ) = u (t ) (a) Xc nh cc nghim c tnh ca h thng ny (b) H thng l nh tim cn, bin tim cn, hay khng n nh (c) H thng c n nhBIBO (d) H thng c th dng lm g? 2.6-4 Trong phn 2.6, ta chng minh l h LT TT BB th iu kin (2.65) l h n nh BIBO. Chng minh y cng l iu kin cn c n nh BIBO. Ni cch khc, chng minh l khi phng trnh (2.65) khng tha th tn ti ng vo b chn, to ng ra khng b chn. Hng dn: gi s l h thng tn ti c h(t ) vi phm phng trnh (2.65) v to ng ra b chn vi tng ng vo b chn. Thit lp nghch l ny qua vic xem mt ng vo f (t ) nh ngha vi f (t1 - t ) = 1 khi h(t ) 0 v f (t1 - t ) = -1 khi h(t ) < 0 , vi t1 l thi im hng.

2.7-1 D liu vi tc 1 triu xung trong mt giy c truyn qua knh thng tin. p ng bc n v g (t ) ca knh truyn c v hnh P2.7-1. (a) Cho bit knh truyn ny c truyn c d liu vi tc yu cu khng?

(b) C th truyn tn hiu gm cc thnh phn c tn s cao hn 15 kHz c th truyn qua knh vi trung thc cao hn? 2.7-2 Mt knh thng tin c kh sng 10kHz. Xung c rng 0,5 ms c truyn qua knh ny. (a) Xc nh rng ca xung thu c (b) Tm tc ti a m cc xung ny c th truyn qua knh m khng b giao thoa gia cc xung lin tip. 2.7-3 H LT TT BB bc mt c phng trnh c tnh l = -10 4 (a) Xc nh Tr , thi gian ln ca p ng bc n v (b) Xc nh bng thng ca h thng (c) Xc nh tc m xung thng tin c th truyn qua h thng.