BO CO BI TP DI NHM 10

1. Xc nh phng tring sai phn

M hnh ca h thng c cho nh hnh di:
K1
1 T1.s 1 T2 .s

U(t)

y(t)

(-)

K2

T hm truyn h h trn min nh Laplace: Gh (s)

K1
(1 T1s)(1 T2s)

truyn h h trn min nh Z nh sau:

Gh (z) (1 z 1 ) H(z) (1 z 1 )(
Vi:
A0 K1
A1 K1

T1
T1 T2

A2 K1

T2
T2 T1

Gh (z)
Trong :

b0 b1 z 1 b2 z 2
a0 a1 z 1 a2 z 2

A0

1 z 1

A1
1 z 1.e

T1

A2
1 z 1.e

T
T2

. Ta c hm

b0 0
b1 K1 (T1 T2 T1e
b 2 K1[(T1 -T2 )e

T
T1

T2 e

T T
)
T1 T2

-T1e

T
T2

T
T2

+T2e

T
T1

a0 T1 T2
a1 (T1 T2 )(e
(

T
T1

T
T2

T T
)
T1 T2

a 2 (T1 T2 ) e
Vy hm truyn h kn s nh sau:
Gh
b1 z 1 b2 z 2
Gk (z)

1 K2Gh a0 (a1 K 2 b1 ) z 1 (a 2 K 2 b2 ) z 2
T y ta c:
[a0 (a1 K 2 b1 ) z 1 +(a 2 +K 2 b 2 )z 2 ].Y(z)=(b1z 1 +b 2 z 2 ).U(z)
Vy phng trnh sai phn ca h thng nh sau:
1
y (k) [ b1u(k 1) b 2 u(k 2) (a1 K 2 b1 ) y(k 1) (a 2 K 2 b 2 ) y(k 2)]
a0