TRNG AI HOC S PHAM KY THUAT

THANH PHO HO CH MINH

KHOA C KH CHE TAO MAY






I EU KHI EN T ONG













TP. HCM , 2006
Bien soan : Nguyen TheHung
TRNG AI HOC S PHAM KY THUAT
THANH PHO HO CH MINH
KHOA C KH CHE TAO MAY













I EU KHI EN T ONG







TP. HCM , 2006
Bien soan : Nguyen TheHung


LI M AU

Giao trnh nay c bien soan tren c s e cng mon hoc ieu
Khien T ong danh cho sinh vien cac nganh thuoc Khoa C kh Che tao
may va sinh vien nganh May cong nghiep cua Trng ai hoc S pham Ky
thuat TPHCM. Noi dung giao trnh bao g!m cac kien thc c ban ve ly
thuyet ieu khien t ong he tuyen tnh va c trnh bay trong 7 chng:
Chng 1 : Tong quan ve ieu khien t ong
Chng 2 : Mo ta toan hoc phan t va he thong lien tuc
Chng 3 : ac tnh ong hoc
Chng 4 : Khao sat tnh on nh cua he thong
Chng 5 : anh gia chat lng he thong ieu khien
Chng 6 : Thiet ke va hieu chnh he thong
Chng 7 : He thong ieu khien ri rac.
ng dung cac phan mem may tnh trong hoc tap, nghien cu la ieu
hu ch va la xu hng pho bien hien nay trong ao tao, ac biet la cac mon
hoc ky thuat vi khoi lng kien thc ln va thi lng len lp gii han.
Trong phan phu luc cuoi tai lieu, tac gia gii thieu bo cong cu Control
System Toolbox cua phan mem MATLAB, bao gom cac ham chuyen dung
trong mo phong va phan tch he thong ieu khien. Noi dung phu luc nham
ho tr sinh vien tm hieu them mot cong cu manh e co the t kiem chng
ly thuyet cua mon hoc va nhanh chong tiep can vi cac bai toan phc tap,
oi hoi khoi lng tnh toan ln trong thc te.
Do kha nang va kinh nghiem bien soan con han che nen tai lieu cha c
chan khong tranh khoi sai sot. Ra t mong nhan c s ong gop y kien cua
quy thay co, cac ban sinh vien va oc gia e tai lieu ngay cang c hoan
thien hn. Cac y kien ong gop xin gi ve: Khoa C kh Che tao may,
Trng ai hoc S pham Ky thuat TPHCM -So 01 Vo Van Ngan, Thu c.
T: 8.960986.
Tac gia
MUC LUC

Chng 1
TONG QUAN VE IEU KHIEN T O NG
1.1 Cac khai niem c ban 1
1.2 He thong ieu khien 2
1.3 Cac nguyen tac ieu khien 4
1.4 Phan loai he thong ieu khien 6
1.5 Cac bai toan c ban 8
1.6 V du ng dung 8
1.7 S lc lch s phat trien 12
Chng 2
MO TA TOAN HOC PHAN T VA HE THONG LIEN TUC
2.1 Phng trnh vi phan 13
2.2 Phep bien oi Laplace 15
2.3 Ham truyen 28
2.4 S o khoi 30
2.5 Ham truyen cua cac khau vat ly ien hnh 37
2.6 Graph tn hieu 58
2.7 Phng trnh trang thai 62
Chng 3
AC TNH ONG HOC
3.1 ac tnh thi gian 73
3.2 ac tnh tan so 75
3.3 ac tnh ong hoc cua oi tng 78
3.4 ac tnh ong hoc cua bo ieu chnh 91
3.5 ac tnh tan so cua he thong t ong 103
Chng 4
TNH ON NH CUA HE THONG
4.1 Khai niem 105
4.2 Tieu chuan on nh ai so 107
4.3 Tieu chuan on nh tan so 113
4.4 Phng phap quy ao nghiem 122
Chng 5
CHAT LNG HE THONG IEU KHIEN
5.1 Cac ch tieu chat lng 132
5.2 Phan tch sai so xac lap 133
5.3 Phan tch ap ng qua o 135
5.4 Cac tieu chuan toi u hoa ap ng qua o 144
5.5 Giai phng trnh trang thai 146
5.6 Tnh ieu khien c va tnh quan sat c 151
Chng 6
THIET KE VA HIEU CHNH HE THONG
6.1 Chon bo ieu chnh 153
6.2 Xac nh thong so cua bo ieu chnh 153
Chng 7
HE THONG IEU KHIEN RI RAC
7.1 Gii thieu chung 158
7.2 Phep bien oi Z 161
7.3 Ham truyen cua he ri rac 166
7.4 Mo hnh trang thai he ri rac 171
7.5 Phan tch he thong ieu khien ri rac 175
7.6 Thiet ke bo ieu khien PID so 181
Phu luc
NG DU NG MATLAB KHAO SAT HE THONG IEU KHIEN 185
Tai lieu tham khao 201


1
Chng 1
TONG QUAN VE IEU KHIEN T ONG
1.1 Cac khai niem c ban
ieu khien : ieu khien mot he thong c hieu la qua trnh thu thap thong tin,
x ly thong tin va tac ong len he tho ng e bien oi, hieu chnh sao cho ap ng
cua he at muc ch nh trc. Qua trnh ieu khien khong can s tham gia trc
tiep cua con ngi goi la ieu khien t ong.
V du 1.1: Xet qua trnh lai (ieu khien) mot xe may e xe luon chay vi toc o
on nh 40 km/h. e at c muc ch nay trc het mat ngi lai xe phai quan
sat ong ho toc o e biet toc o hien tai cua xe (thu thap thong tin). Tiep theo, bo
nao se so sanh toc o hien tai vi toc o mong muon va ra quyet nh tang ga neu
toc o <40 km/h va giam ga neu toc o >40km/h (x ly thong tin). Cuoi cung tay
ngi lai xe phai van tay ga e thc hien viec tang hay giam ga (tac ong vao he
thong). Ket qua la toc o xe c hieu chnh lai va gi on nh nh mong muon.
Trong cac he thong ieu khien t ong, qua trnh ieu khien cung dien ra
tng t nhng cac bo phan: mat, bo nao, tay cua con ngi c thay the bang cac
thiet b ky thuat co chc nang tng ng.
ieu khien hoc (Cybernetic): Nganh khoa hoc nghien cu cac qua trnh ieu
khien va truyen thong trong cac he thong goi la ieu khien hoc. Tuy theo ac
iem cua oi tng nghien cu, ieu khien hoc c chia thanh: ieu khien hoc
ky thuat, ieu khien hoc kinh te, ieu khien hoc sinh hoc,...Trong cac nganh ke
tren, ieu khien hoc ky thuat trung vi t ong hoc, la nganh phat trien nhat
hien nay. Trong tai lieu nay, chung ta ch e cap en cac van e cua ieu khien
hoc ky thuat.
Tn hieu : Thong tin trong he thong ieu khien c the hien bang cac tn hieu.
Cac tn hieu co the la dong ien, ien ap, lc, ap suat, lu lng, nhiet o, v tr,
van toc, Moi phan t ieu khien nhan tn hieu vao t mot so phan t cua he
thong va tao nen tn hieu ra a vao phan t khac. He thong cung giao tiep vi
moi trng ben ngoai thong qua cac tn hieu vao, ra cua no. Thay v ten goi tn
hieu vao, tn hieu ra ngi ta con s dung khai niem tac ong va ap ng vi
ngha la: khi tac ong vao he thong mot tn hieu vao th he thong se co ap ng
la tn hieu ra. Thong thng tn hieu c bieu dien toan hoc bang ham so cua
thi gian. Trong s o he thong, cac tn hieu vao, ra thng c bieu dien bang
cac mui ten nh tren hnh 1.1.



Hnh 1.1 S o mo ta tn hieu vao, ra
Phan t /
He thong
Tn hieu vao
(tac ong)
Tn hieu ra
(ap ng)


2
Bang di ay trnh bay mot so oi tng thng gap trong ky thuat va cac tn
hieu vao, tn hieu ra tng ng.
oi t ng Tn hieu vao Tn hieu ra
ong c ien ien ap Van toc, goc quay
Van V tr nong van Lu lng
Xylanh lc Lu lng, ap suat Van toc, v tr, lc piston
Lo nhiet Cong suat cap nhiet Nhiet o
Chi$t ap V' tr con tr*+t ien ap
1.2 He thong ieu khien








Hnh 1.2 Cau truc c ban cua he thong ieu khien
Hnh 1.2 trnh bay cau truc c ban cua mot he thong ieu khien. He thong gom
ba thanh phan c ban la oi tng ieu khien, thiet b o va bo ieu khien.
Trong o:
r(t) : tn hieu vao, chuan tham chieu (reference input), gia tr at trc.
y(t): tn hieu ra (output), bien/ai lng can ieu khien, gia tr thc.
y
ht
(t) : tn hieu hoi tiep
e(t) : tn hieu sai lech, sai so
u(t) : tn hieu ieu khien
z(t) : tn hieu nhieu
oi tng ieu khien : la he thong vat ly can ieu khien e co ap ng mong
muon. TK bao gom a dang cac loai ma y, thiet b ky thuat, qua trnh cong
nghe. TK la may, thiet b thng c ac trng bang cac c cau chap hanh
nh ong c, xylanh, he ban trt vi tn hieu ra la chuyen ong vat ly nh van
toc, v tr, goc quay, gia toc, lc. Ca c qua trnh cong nghe thng co tn hieu ra
la nhiet o, ap suat, lu lng, mc.
Thiet b o (ca m bien): thc hien chc nang o va chuyen oi ai lng ra cua
he thong thanh dang tn hieu phu hp e thuan tien so sanh, x ly, hien th. S
chuyen oi la can thiet khi cac tn hieu vao, ra khong cung ban chat vat ly: Tn
hieu ra co the la van toc, v tr, nhiet o, lc... trong khi tn hieu vao a phan la
tn hieu ien. Nguyen tac chung e o cac ai lng khong ien bang phng
phap ien la bien oi chung thanh tn hieu ien (ien ap hoac dong ien).
y(t)
z(t)
r(t)
e(t) Bo
ieu khien
u(t)
Bo so
y
ht
(t)
Thiet b o
oi tng
ieu khien


3
Mot so thiet b o ien hnh la:
- o van toc: bo phat toc (DC tachometer, AC tachometer, optical tacho.)
- o lng dch chuyen: chiet ap (potentiometer), thc ma hoa.
- o goc quay: chiet ap xoay, bo ma hoa goc quay (rotary encoder).
- o nhiet o: cap nhiet ngau (thermocouple), ien tr nhiet (thermistor, RTD).
- o lu lng, ap suat : cac bo chuyen oi lu lng, ap suat.
- o lc: cam bien lc (loadcell,...)
Bo so : so sanh va phat hien o sai lech e gia tn hieu vao chuan va tn hieu
hoi tiep (hay gia tr o c cua tn hieu ra).
Thong thng, cac thiet b o thc hien chuyen oi t le nen :
y
ht
=Ky vi K la he so chuyen oi.
Neu: K=1 th: e = r -y
ht
= r-y
Trong he thong thc te bo so thng c ghep chung vao bo ieu khien.
Bo ieu khien : dung thong tin ve o sai lech e e tao tn hieu ieu khien u
thch hp, t o tac ong len oi tng. Thuat toan xac nh ham u(t) goi la
thuat toan ieu khien hay luat ieu khien. Bo ieu khien lien tuc co the thc
hien bang c cau c kh, thiet b kh nen, mach ien RLC, mach khuech ai
thuat toan. Bo ieu khien so thc chat la cac chng trnh phan mem chay tren
vi x ly hay may tnh.
Nhieu : Cac tac ong len he thong gay nen cac anh hng khong mong muon
c goi chung la nhieu. Nhieu luon ton tai va co the tac ong vao bat c phan
t nao trong he thong, nhng thng c quan tam nhieu nhat la cac nhieu tac
ong len oi tng ieu khien, loai nay goi la nhieu au ra hay nhieu phu tai.
Tren ay chung ta ch mi e cap en cac thanh phan c ban cua he thong ieu
khien. Trong thc te, cau truc hoan chnh cua he thong ieu khien thng a dang
va phc tap hn. V du, trong he con co c cau thiet a t tn hieu vao chuan, ca c c
cau ta c ong co vai tro trung gian gia bo ieu khien va oi tng nh van ieu
khien, bo khuech ai cong suat, mach cach ly, ong c, cac bo truyen ong. Trong
he thong ieu khien so con co cac bo chuyen oi A/D, D/A, card giao tiep,...
V du 1.2 : Xet he thong ieu khien mc nc tren hnh 1.3.








Hnh 1.3 He thong ieu khien mc nc n gian
e
h
H
0

z
u
2
1
4
3
h e
z
2
4
3 1
H
0


4
Trong he thong ieu khien t ong nay, oi tng ieu khien la bon nc (1).
Muc tieu ieu khien la gi mc nc trong bon luon on nh va bang tr so H
0
a t
trc cho du lng nc tieu thu thay oi nh the nao.
- Tn hieu ra y = h : mc nc thc te.
- Tn hieu vao r = H
0
: mc nc yeu cau.
- Nhieu z : s thay oi lng nc tieu thu .
- Thiet b o la phao (2); Bo ieu khien la he thong on bay (3) co chc nang
khuech ai sai lech va ieu khien ong m van; C cau tac ong la van (4).
- Tn hieu ieu khien u : o nang cua van (4).
- Tn hieu sai lech : e= r-y = H
0
- h
Mc nc yeu cau co the thay oi bang cach ieu chnh o dai oan noi t
phao en on bay.
1.3 Cac nguyen tac ieu khien
Nguyen tac ieu khien the hien ac iem lng thong tin va phng thc hnh
thanh tac ong ieu khien trong he thong. Co ba nguyen tac ieu khien c ban:
nguyen tac gi on nh, nguyen tac ieu khien theo chng trnh va nguyen tac
ieu khien thch nghi. Khi thiet ke he thong ta da vao muc tieu ieu khien, yeu
cau chat lng va gia thanh e chon nguyen tac ieu khien phu hp nhat.
1.3.1 Nguyen tac gi o n nh : Nguyen tac nay nham gi tn hieu ra on nh va
bang gia tr hang so nh trc. Co ba nguyen tac ieu khien gi on nh :
ieu khien bu nhieu
Nguyen tac nay c dung khi cac tac ong ben ngoai len TK co the kiem
tra va o lng c, con ac tnh cua TK a c xac nh ay u. Bo ieu
khien s dung gia tr o c cua nhieu e tnh toan tn hieu ieu khien u(t).
Nguyen tac ieu khien nay co y ngha phong nga, ngan chan trc. He thong co
kha nang bu tr sai so trc khi nhieu thc s gay anh hng en tn hieu ra. Tuy
nhien, v trong thc te khong the d oan va kiem tra het moi loai nhieu nen vi
cac he phc tap th ieu khien bu nhieu khong the cho chat lng cao.




Hnh 1.4 S o ieu khien bu nhieu
ieu khien san bang sai lech
Nguyen tac nay c dung khi cac tac ong ben ngoai khong kiem tra va o
lng c, con ac tnh cua TK th cha c xac nh ay u.
Tn hieu ra y(t) c o va phan hoi ve so sanh vi tn hieu vao r(t). Bo ieu
khien s dung o sai lech vao-ra e tnh toan tn hieu ieu khien u(t), ieu chnh
lai tn hieu ra theo hng lam triet tieu sai lech.
Bo K
TK
u y
z
r


5
Nguyen tac ieu khien nay co tnh linh hoat, th nghiem va sa sai. He thong
co kha nang lam triet tieu anh hng cua cac nhieu khong biet trc va/hoac
khong o c. Nhc iem cua no la tac ong hieu chnh ch hnh thanh sau khi
o sai lech a ton tai va c phat hien, tc la sau khi tn hieu ra a thc s b anh
hng. Cac qua trnh tre trong he lam cho tn hieu ra khong gi c on nh mot
cach tuyet oi ma thng co dao ong nho quanh gia tr xac lap.




Hnh 1.5 S o ieu khien san bang sai lech
ieu khien phoi hp
e nang cao chat lng ieu khien, co the ket hp nguyen tac bu nhieu va
nguyen tac san bang sai lech. Mach bu nhieu se tac ong nhanh e bu tr sai so tao
ra bi cac nhieu o c, con mach ieu khien phan hoi se hieu chnh tiep cac sai
so tao ra bi cac nhieu khong o c.





Hnh 1.6 S o ieu khien phoi hp
1.3.2 Nguyen tac ieu khie n theo chng trnh
Nguyen tac nay gi cho tn hieu ra thay oi ung theo mot ham thi gian
(chng trnh) nh trc.
1.3.3 Nguyen tac ieu khie n thch nghi (t chnh nh)
Khi can ieu khien cac oi tng phc tap, co thong so de b thay oi do anh
hng cua moi trng, hoac nhieu oi tng ong thi ma phai am bao cho mot
tn hieu co gia tr cc tr, hay mot ch tieu toi u nao o... th cac bo ieu khien vi
thong so co nh khong the ap ng c, khi o ta phai dung nguyen tac thch
nghi. S o he thong thch nghi nh hnh 1.7. Tn hieu v(t) chnh nh lai thong so
cua bo ieu khien sao cho he thch ng vi moi bien ong cua moi trng.






Hnh 1.7 S o he thong ieu khien thch nghi
z
r
y
ieu khien

TK
u
Chnh nh

v
r y e
Bo K TK
u
z
r y e
Bo K TK
z
u


6
1.4 Phan loai he thong ieu khien
Co nhieu cach phan loai he thong ieu khien. Sau ay la mot so cach phan
loai thng dung.
1.4.1 Phan loai theo mach phan hoi
- He tho ng kn : la he thong ieu khien co phan hoi, tc la tn hieu ra c o
va hoi tiep ve so sanh vi tn hieu vao. Bo ieu khien s dung o sai lech vao-ra
e tnh toan tn hieu ieu khien u(t), hieu chnh lai tn hieu ra theo hng lam triet
tieu sai lech. Cau truc h- kn c th. c m0t ho1c nhi4u vng h!i ti$p. S o khoi cua
he kn m0t vng h!i ti$p c mo ta tren cac hnh (1.2) va (1.5).
- He thong h : khong dung mach phan hoi, tc la khong co s so sanh ket qua
thc te vi tr so mong muon sau tac ong ieu khien. Cac h - th5ng ieu khien da
tren c s thi gian eu la he h. Mot v du la may giat trong o cac thao tac giat,
xa, vat c tac ong tuan t bang rle thi gian, ket qua au ra la o sach cua
quan ao khong c may kiem tra (o) lai. He h co cau truc n gian va thch hp
vi cac ng dung khong oi hoi cao ve chat lng ap ng.
1.4.2 Phan loai theo ac iem mo ta toan hoc
- He lien tuc : Cac tn hieu truyen trong he eu la ham lien tuc theo thi gian.
He lien tuc c mo ta bang phng trnh vi phan.
- He ri rac: Tn hieu mot hay nhieu iem cua he la dang chuoi xung hay ma
so. He ri rac c mo ta bang phng trnh sai phan.
- He tuye n tnh : Moi phan t cua he eu co quan he vao-ra la ham tuyen tnh.
He tuyen tnh c mo ta bang phng trnh vi phan (hoac sai phan) tuyen tnh.
ac trng c ban cua he tuyen tnh la ap dung c nguyen ly xep chong, tc la
neu he co nhieu tac ong vao ong thi th ap ng au ra co the xac nh bang
cach lay tong cac ap ng do tng tac ong rieng re tao nen.
- He phi tuyen : He co t nhat mot phan t co quan he vao-ra la ham phi tuyen.
He phi tuyen khong ap dung c nguyen ly xep chong. He tuyen tnh ch la mo
hnh ly tng. Cac he thong ieu khien thc te eu co tnh phi tuyen. V du
trong cac bo khuech ai ien, ien t, thuy lc, kh nen luon co s bao hoa tn
hieu ra khi tn hieu vao u ln; trong truyen ong c kh, thuy lc, kh nen luon
ton tai ca c khau khe h, vung khong nhay vi tn hieu vao nho; cac he thong
ieu khien ON/OFF la phi tuyen vi moi gia tr tn hieu vao.
e n gian hoa qua trnh phan tch va thiet ke, he phi tuyen co pham vi
bien thien cua cac bien tng oi nho thng c tuyen tnh hoa e a gan
ung ve he tuyen tnh.
- He bat bien theo thi gian (he dng) : Cac thong so cua he khong thay oi
trong suot thi gian hoat ong cua he thong. He bat bien c mo ta bang
phng trnh vi phan/sai phan he so hang. ap ng cua he nay khong phu thuoc
vao thi iem ma tn hieu vao c at vao he thong.


7
- He bien oi theo thi gian (he khong dng): Cac thong so cua he la tham so
phu thuoc thi gian, v du he thong ieu khien ten la vi khoi lng cua ten
la giam dan do s6 tieu thu nhien lieu trong qua trnh bay. Phng trnh mo ta
he bien oi theo thi gian la phng trnh vi phan/sai phan he so ham. ap ng
cua he nay phu thuoc vao thi iem ma tn hieu vao c at vao he thong.
1.4.3 Phan loai theo nguyen tac ieu khien - muc tieu ieu khien
- He thong on nh hoa : Khi tn hieu vao r(t) khong thay oi theo thi gian ta
co he thong on nh hoa hay he thong ieu chnh. Muc tieu ieu khien cua he
nay la gi cho sai so gia tn hieu vao va tn hieu ra cang nho cang tot.
He thong ieu khien on nh hoa c ng dung rong rai trong dan dung va
cong nghiep, ien hnh la ca c he thong ieu chnh nhiet o, ien ap, toc o, ap
suat, lu lng, mc nc, nong o, o pH, ...
- He thong ie u khien theo chng trnh : Neu tn hieu vao r(t) la mot ham
nh trc theo thi gian, yeu cau ap ng ra cua he thong sao chep lai cac gia
tr tn hieu vao r(t) th ta co he thong ieu khien theo chng trnh. ng dung
ien hnh cua loai nay la cac he thong ieu khien may CNC, robot cong nghiep.
- He thong theo doi: Neu tn hieu vao r(t) la mot ham khong biet trc theo thi
gian, yeu cau ieu khien e ap ng y(t) luon bam sat c r(t), ta co he thong
theo doi. ieu khien theo doi thng c s dung trong cac he thong ieu
khien phao phong khong, raa, ten la, tau ngam,...
- He thong ieu khien thch nghi : He thong hoat ong theo nguyen tac ieu
khien thch nghi.
1.4.4 Phan loai theo dang nang l ng s dung
- He thong ieu khien c kh
- He thong ieu khien ien
- He thong ieu khien kh nen
- He thong ieu khien thuy lc
- He thong ieu khien ien-kh nen, ien-thuy lc,...
1.4.5 Phan loai theo so lng ngo vao, ngo ra
- He SISO (Single Input - Single Output : mot ngo vao - mot ngo ra)
- He MIMO (Multi Input-Multi Output : nhieu ngo vao - nhieu ngo ra)
Trong khuon kho cua chng trnh mon hoc, tai lieu nay ch tap trung e cap
en cac van e cua he thong ieu khien tuyen tnh bat bien mot ngo vao - mot ngo
ra.


8
1.5 Cac bai toan c ban
Ly thuyet ieu khien t ong nham giai quyet hai bai toan c ban:
Phan tch he thong: Cho he thong ieu khien t ong a biet cau truc va
thong so cua cac phan t. Bai toan a t ra la khao sat tnh on nh cua he thong,
tm ap ng va anh gia chat lng qua trnh ieu khien cua he.
Thiet ke he tho ng: Biet cau truc va thong so cua oi tng ieu khien. Can
thiet ke bo ieu khien e he thong thoa man cac yeu cau chat lng e ra.
Thiet ke he thong ieu khien t ong thc chat la van e cac nh cau truc
va thong so cua bo ieu khien (thiet b ieu khien). Trong qua trnh thiet ke thng
kem theo bai toan phan tch. Cac bc thiet ke bao gom:
1) Xuat phat t muc tieu ieu khien, yeu cau ve chat lng ieu khien va
ac iem cua oi tng c ieu khien, ta xay dng mo hnh toan hoc
cua oi tng.
2) T mo hnh, muc tieu ieu khien, yeu cau chat lng ieu khien, cac
nguyen ly ieu khien, kha nang thiet b ieu khien co the s dung c
hoac che tao c, ta chon mot nguyen tac ieu khien cu the. T o la
chon cac thiet b cu the e thc hien nguyen tac ieu khien a e ra.
3) Tren c s nguyen ly ieu khien va thiet b c chon, kiem tra ve ly
thuyet hieu qua ieu khien tren cac mat: kha nang ap ng muc tieu,
chat lng, gia thanh, ieu kien s dung, hieu qua... T o hieu chnh
phng an chon thiet b, chon nguyen tac ieu khien khac hoac hoan
thien lai mo hnh.
4) Neu phng an a chon at yeu cau, chuyen sang bc che tao, lap rap
thiet b tng phan. Sau o tien hanh kiem tra, th nghiem thiet b tng
phan va hieu chnh cac sai sot.
5) Che tao, lap rap thiet b toan bo. Sau o kiem tra, th nghiem thiet b toan
bo. Hieu chnh va hoan thanh toan bo he thong ieu khien.

1.6 V du ng du ng
1) Bo ieu toc ly tam
Hnh 1.8 gii thieu mot bo ieu toc ly tam e gi on nh toc o ong c
Diesel hay tuabin hi. che o lam viec bnh thng, ong c quay eu, lc ly tam
cua hai con lac quay can bang vi ap lc lo xo. Moi v tr on nh cua con lac tng
ng vi mot toc o at trc cua ong c.
Neu phu tai thay oi ot ngot lam cho toc o thc cua ong c giam i so vi
toc o mong muon th lc ly tam cung giam, con lac ha thap, ca van ieu khien
m, dau ep t nguon cap chay qua van vao buong tren cua xylanh, ay piston i
xuong lam tang o m cua van nhien lieu, nhien lieu cap vao ong c nhieu hn
nen toc o ong c lai tang len en toc o mong muon.


9
Trng hp ngc lai, neu toc o ong c vt qua gia tr a t trc, he thong
se t ong ieu chnh e giam lng nhien lieu cung cap.
Trong he thong nay, oi tng ieu khien la ong c, ai lng can ieu
khien la toc o ong c, thiet b o la con la c ly tam, tn hieu sai lech la o chenh
lech gia toc o mong muon va toc o thc te, tn hieu ieu khien la v tr cua van
hay lng nhien lieu, nhieu chnh la s thay oi cua tai.













Hnh 1.8 He ieu khien toc o dung bo ieu toc ly tam
2) He ieu khien toc o ong c DC
Hnh 1.9 gii thieu mot phien ban n gian cua he thong ieu khien toc o
ong c DC. Toc o yeu cau c at chnh bang chiet ap va co gia tr trong
khoang 010V. Bo phat toc (Tachometer) o so vong quay cua ong c va chuyen
thanh tn hieu ien ap 010V. Bo khuech ai vi sai (1) so sanh gia tr at vi toc o
thc te, sau o tn hieu sai lech c chuyen en bo khuech ai cong suat (2) e
hnh thanh tn hieu ieu khien ong c. e co sai so xa c lap bang 0 va ca i thien
ac tnh ong hoc cua ong c tot hn, ngi ta thay bo khuech ai vi sai bang bo
ieu khien PID va mach chnh lu ien t.









Hnh 1.9 S o he thong ieu khien toc o ong c DC

ong c
Tai
Tachometer
Toc o
at
n
V+

V-

(1)
(2)
R

R

R

n
R

Xy lanh
truyen lc
Dau ep
Nhien lieu
ong c
Tai
Con lac
ly tam
Van nhien lieu
Van ieu khien
Banh
rang


10

Trong cac ng dung ieu khien toc o va nh v chnh xac, hien nay ngi ta
thng dung ong c servo DC va AC. ong c servo co quan tnh nho, kha nang
gia toc tot, lam viec tin cay, hau nh khong can bao dng. ong c servo DC cong
suat nho c s dung trong cac thiet b van phong nh ong c quay o a may
tnh, ong c quay rulo may in,...ong c servo DC cong suat trung bnh va ln
c s dung trong cac he thong robot, he thong ieu khien may CNC,...
Hnh 1.10 gii thieu he thong ieu khien ong c servo DC dung bo ieu
khien ien t theo nguyen tac ieu bien o rong xung (PWM). Tn hieu phan hoi
c lay t bo phat toc va/hoac bo ma hoa goc quay (encoder) lap at san tren
ong c.








Hnh 1.10 S o he thong ieu khien toc o ong c servo DC

3) He thong ieu khien may tron













Hnh 1.11 S o he thong ieu khien may tron

Toc o
at Mach
PWM
ieu khie n
cong suat
Khuech ai
dong
Boieu khien servo
ong c
servo DC
Bophat toc
Phan hoi toc o
Phan hoi dong ien
Bo
tch phan
Chat A
Giatr
dat trc
420 mA
420 mA
Boieu
khien van
Tn hieu o
nong o
Bo
ieu khien
Thung
tron
ong c
tron
Chat B
Boo
nong o
Chat C


11

ieu khien mot may tron (hnh 1.11) la duy tr mot hon hp cua hai chat A
va B sao cho nong o cua chung khong oi. Hai chat A va B c a vao thung
tron va c may tron khuay eu e cho ra mot hon hp C co t le % thanh phan A
ung theo gia tr at trc. Bo o nong o la mot may phan tch e xac nh t le
phan tram cua thanh phan A trong hon hp C va cho ra tn hieu dong ien tng
ng t 420 mA. Tn hieu nay dan ve bo ieu khien bang ien t tao nen mot tn
hieu ieu khien tac ong vao van (thong qua bo ieu khien van) e khong che lu
lng chat A chay vao thung tron.
4) He thong ieu khien nhiet o
Hnh 1.12 gii thieu s o mot he thong ieu khien nhiet o lo nung ien.
Nhiet o trong lo la ai lng lien tuc. Nhiet o nay c o bang cam bien, sau
o chuyen thanh tn hieu so nh bo chuyen oi lien tuc/so (A/D - Analog/Digital)
va a vao may tnh thong qua mach giao tiep. Nhiet o yeu cau cung la dang tn
hieu so va c at chnh bang chng trnh phan mem. May tnh so sanh nhiet o
hoi tiep vi nhiet o at va neu co sai lech th may tnh se xuat tn hieu ieu khien
mach nung thong qua giao tiep, khuech ai, rle cap ien cho ien tr nung hoac
quat lam mat trong lo.









Hnh 1.12 S o he thong ieu khien nhiet o

Khuech
ai
Giao
tiep
Giao
tiep
A/D
Rle
Cam bien
Lo nhiet
Bo nung
Chng
trnh


12
1.7 S lc lch s phat trien
- Nam 1765, Polzunov che tao bo ieu chnh mc nc noi hi. Nam 1784, James
Watt che tao bo ieu toc ly tam e ieu chnh toc o may hi nc. Cac sang
che nay c xem la cac c cau t ong xuat hien au tien trong cong nghiep.
- Nam 1868, Maxwell phat trien phng trnh vi phan cho bo ieu toc, tuyen tnh
hoa tai iem can bang va chng minh tnh on nh cua he thong phu thuoc vao
cac nghiem co phan thc am cua phng trnh ac tnh. Cac tieu chuan on nh
cho he tuyen tnh c phat trien bi Routh (1877) va Hurwitz (1895).. Nam
1922, Minorsky la ngi at nen mong cho ly thuyet ieu khien t ong tau
thuy. Nam 1917, O.Block a s dung ly thuyet vect va ham bien phc vao viec
nghien cu ly thuyet ieu khien t ong. Tren c s o, Nyquist (1932) a a
ra phng phap o th e xac nh tnh on nh cua he thong kn t ap ng tan
so cua he h vi tn hieu vao hnh sin.
- Trong suot thap nien 1940, phng phap ap ng tan so, ac biet la phng
phap bieu o Bode, a c s dung rong rai e phan tch va thiet ke cac he
thong ieu khien vong kn tuyen tnh. T cuoi thap nien 1940 en au thap nien
1950, Evans phat trien va hoan chnh phng phap quy ao nghiem. ay la hai
phng phap cot loi cua ly thuyet ieu khien co ien, cho phep thiet ke c
nhng he thong ieu khien on nh va ap ng c cac yeu cau ieu khien c
ban, cac bo ieu khien c thiet ke chu yeu la bo PID va bo ieu khien sm
tre pha.
Ly thuyet ieu khien co ien (trc 1960) chu yeu ap dung cho he tuyen
tnh bat bien vi mot ngo vao - mot ngo ra .
- T khoang 1960, s xuat hien cua may tnh so va ly thuyet ieu khien so a tao
ieu kien cho s ra i ly thuyet ieu khien hien ai da tren s phan tch va
tong hp ap ng thi gian s dung bien trang thai. Ly thuyet ieu khien hien
ai rat thch hp e thiet ke cac bo ieu khien la ca c chng trnh phan mem
chay tren vi x ly va may tnh so. ieu nay cho phep thiet ke cac he thong phc
tap nhieu ngo vao, nhieu ngo ra vi chat lng ieu khien cao.
- Trong nhng thap nien gan ay ly thuyet ieu khien hien ai phat trien theo cac
hng: ieu khien toi u cac he tien nh va ngau nhien, ieu khien thch nghi
va ieu khien thong minh. Cac phng phap ieu khien thong minh nh ieu
khien m, mang than kinh nhan tao, thuat toan di truyen bat chc cac he thong
thong minh sinh hoc, ve nguyen tac khong can dung mo hnh toan hoc e thiet
ke he thong, do o co kha nang ng dung thc te rat ln. Xu hng ket hp cac
phng phap ieu khien trong mot he thong ieu khien cung c phat trien vi
s tr giup cua may tnh so.
Ngay nay, ly thuyet ieu khien co ien van gi vai tro quan trong. No cung
cap cac kien thc c ban e lam nen tang cho viec tiep can cac he thong ieu
khien hien ai, ngay cang phc tap hn.

13
Chng 2
MO TA TOAN HOC
PHAN T VA HE THONG LIEN TUC

Noi dung chng nay nham giai quyet hai van e:
- Xac nh mo hnh toan hoc cho cac phan t.
- Xac lap moi lien ket gia cac mo hnh toan hoc rieng thanh mot mo hnh
toan hoc chung cho toan bo he thong.
He thong ieu khien trong thc te rat a dang. Cac phan t cua he thong co
the la c, ien, nhiet, thuy lc, kh nen,... e nghien cu cac he thong co ban chat
vat ly khac nhau chung ta can da tren mot c s chung la toan hoc.
Khi nghien cu he thong trc het chung ta can biet he thong gom nhng
thiet b g, co nhng phan t nao va tm cach mo ta chung bang cac mo hnh toan
hoc. Mo hnh can phai am bao o chnh xac nhat nh, phan anh c cac tnh
chat ac trng cua he thong thc, nhng ong thi phai n gian cho viec bieu
dien, phan tch. Trong nhieu trng hp, e co mot mo hnh toan tng oi n
gian, chung ta phai xem xet bo qua mot vai thuoc tnh vat ly t quan trong trong he
thong va ly tng hoa mot so hien tng vat ly thc te.
e mo ta phan t va he thong tuyen tnh bat bien lien tuc ngi ta thng
dung cac dang mo hnh toan hoc sau ay :
- Phng trnh vi phan tuyen tnh he so hang.
- Ham truyen
- Phng trnh trang thai.
Hai dang mo hnh phng trnh vi phan va ham truyen thch hp vi he SISO.
Mo hnh phng trnh trang thai ac biet thch hp vi he MIMO.
2.1 Mo hnh phng trnh vi phan
Tong quat, moi quan he gia tn hieu vao r(t) va tn hieu ra y(t) cua he thong
tuyen tnh bat bien lien tuc co the mo ta bang phng trnh vi phan :

1 1
1 0 1 0
1 1
n n m m
n n m m
n n m m
d y(t) d y(t) d r(t) d r(t)
a a ... a y(t) b b ... b r(t)
dt dt dt dt



+ + + + + +
(2-1)
Trong o:
a
i
,

b
i
la cac hang so, c xac nh t thong so cua cac phan t .
So mu n la bac cua he thong. He thong co mn c goi la he thong hp thc.
Ch co cac he thong hp thc mi ton tai trong thc te.
Mo hnh phng trnh vi phan c xay dng theo phng phap ly thuyet, tc
la c thiet lap da tren cac nh luat vat ly bieu dien cac qua trnh ong hoc xay
ra ben trong va cac quan he giao tiep vi moi trng ben ngoai cua he thong.

14
- Cac nh luat c ban chi phoi ca c phan t c kh la nh luat II Newton,
quan he gia lc va bien dang, quan he gia ma sat va van toc.
- Cac nh luat c ban chi phoi cac phan t ien la nh luat Kirchhoff, quan
he dong ien- ien ap tren ien tr, ien cam, tu ien.
- Cac nh luat c ban chi phoi cac phan t nhiet la nh luat truyen nhiet va
nh luat bao toan nang lng.
- ...
V du 2.1. Xac nh phng trnh vi phan mo ta he c kh gom lo xo - khoi lng -
giam chan co s o nh hnh 2.1a.







(a) (b) (c) (d)
Hnh 2.1
Bo giam chan (hnh 2.1b) gom mot xylanh dau va mot piston, mot trong hai
thanh phan nay c lap co nh con phan kia di ong. Khi co chuyen ong tng
oi gia piston va xylanh, dau se chay t buong nay sang buong kia cua xylanh
qua khe h gia piston va xylanh hoac qua mot lo nho trong piston. Lc ay dau
qua khe h co tac dung can tr chuyen ong, ta goi la lc ma sat nht hay lc giam
chan. Lc giam chan F
d
ngc chieu va t le vi van toc v:
F
d
= b.v vi b la he so ma sat nht, [N.s/m ]
Bo giam chan cung c bieu dien n gian nh hnh 2.1c va 2.1d.
Gia s tai t=0 he ang trang thai can bang. Theo nh luat II Newton, ta co
phng trnh can bang lc:

2
2 i
d y dy
m F F(t) b k.y(t)
dt dt

Trong o :
- Tn hieu vao : lc F(t) tac dung t ben ngoai, [N]

- Tn hieu ra : lng di ong y(t) cua khoi lng m, [m]
m : khoi lng [kg]
b : he so ma sat nht (he so giam chan), [N.s/m]
k : o cng lo xo, [N/m]

2
2
d y
m
dt
: lc quan tnh ;
d
dy
b F
dt
: lc giam chan
k.y(t) : lc lo xo

y(t)
F(t)

b
k
m
v
F
d


15
Phng trnh vi phan bac hai mo ta quan he vao-ra :

2
2
d y dy
m b k y(t) F(t)
dt dt
+ +
V du 2.2. Xac nh phng trnh vi phan cua mach ien RC noi tiep.



- Tn hieu vao : ien ap ngo vao u , [Volt]
- Tn hieu ra : ien ap ra u
c
gia hai ban tu ien, [Volt]
Theo nh luat Kirchhoff, ta co:

R c c
u u u Ri u + +
ma :
c
c
du 1
u idt i C
C dt

Phng trnh vi phan bac nhat mo ta quan he vao-ra :

c
c
du
u RC u
dt
+
2.2 Phep bien oi Laplace
e xac nh ham tn hieu ra cu a he thong khi biet ham tn hieu vao, ta can
phai giai phng trnh vi phan mo ta he thong. Phep bien oi Laplace giup ta giai
phng trnh vi phan mot cach n gian, thuan li hn so vi cach giai thong
thng.
2.2.1 nh ngha
Cho ham th7i gian f(t) xac nh vi t 0, bien oi Laplace cua f(t) la:

st
0
F(s) L[f (t)] f (t)e dt

(2-2)
Trong o:
L -la ky hieu phep bien oi Laplace (toan t Laplace).
F(s) -goi la anh Laplace hay bien oi Laplace cua ham f(t).
s -la bien phc, goi la bien Laplace.
ieu kien e f(t) co bien oi Laplace la tch phan cong thc nh ngha
(2-2) hoi tu.
Qua trnh toan hoc ngc lai -Tm ham goc f(t) t ham anh F(s)- c goi la
phep bien oi Laplace ngc va ky hieu la L
-1
.
Cho ham phc F(s), bien oi Laplace ngc cua F(s) la:

1 ts
C
1
f (t) L [F(s)] F(s)e ds
2 j

(t 0) (2-3)
vi C la ng cong kn c la chon trong mien s; j la so ao n v.
u
c
R
C

u

i


16
2.2.2 Tnh chat
Tnh n anh
Bien oi Laplace la phep bien oi mot-mot, tc la ng vi moi ham f(t) cho
trc ch co duy nhat mot anh F(s) va ngc lai.
Tnh tuyen tnh
Neu F(s), F
1
(s), F
2
(s) la anh Laplace cua f(t), f
1
(t), f
2
(t) va k la hang so th :
L [f
1
(t) t f
2
(t)] = F
1
(s) t F
2
(s) va L[kf(t)] = kF(s)
L
-1
[F
1
(s) t F
2
(s)] = f
1
(t) t f
2
(t) va L
-1
[kF(s)] = kf(t)
Tnh chat nay xuat phat t tnh tuyen tnh cua phep tch phan trong cong
thc nh ngha bien oi Laplace va Laplace ngc.
Anh cua ao ham
Lay tch phan tng phan

vdu uv udv vi
st
; u e v f (t)

ta co:

0 0
st st st
0
df (t)
L L[f (t)] f (t)e dt f (t)e s f (t)e dt sF(s) f (0)
dt

+
1

1
]

& &

trong o: f(0) la gia tr cua ham f(t) tai thi iem t = 0.
Vi mot ham f(t) cho trc, gia tr f(0+) va f(0-) co the khac nhau. Khi o co
s phan biet:
L [f (t)] sF(0) f (0 )
+
+
&

L [f (t)] sF(0) f (0 )

&

T ket qua tren ta co the suy ra anh cac ao ham bac cao nh sau:

2
L[f (t)] L{f[f (t)]} sL[f (t)] f (0) s F(s) sf (0) f (0)
&& && & & &


(3) 3 2
L[f (t)] s F(s) s f (0) sf (0) f (0)
& &&

.........

( ) ( 1)
1
[ ( )] ( ) (0)

n
n n n i i
i
L f t s F s s f (2-4)
vi
(n 1)
f (0), f (0), f (0), ..., f (0)

& &&
la gia tr cua ham f(t) va cac ao ham tai thi
iem t= 0, c goi la cac ieu kien au.
Neu xet s khac nhau gia L
+
va L

th thay v t=0 ta dung t=0+ hoac t=0- .
Neu cac ieu kien au bang 0, ta co cong thc n gian:

( ) n n
L[f (t)] s .F(s) (2-5)
Anh cua tch phan

0
t
F(s)
L f (t)dt
s
1

1
]

(2-6)

17
Anh cua ham tre
Ham tre (hay ham chuyen dch) c nh ngha:
f(t-T) = f(t) khi t T
= 0 khi t<T

Ham tre ac trng cho mot hien tng vat ly co ng bieu dien giong vi
ham f(t) nhng b dch chuyen T n v theo thi gian.
at = t-T , ta co :

st s( T) Ts s
T 0 0
L[f (t T)] f (t T)e dt f ( )e d e f ( )e d

+



Do :
s st
0 0
f ( )e d f (t)e dt F(s)





Nen :
Ts
L[f (t T)] e F(s)

(2-7)
Anh cua tch chap
Tch chap cua hai ham f
1
(t) va f
2
(t) c nh ngha:

t t
1 2 1 2 1 2
0 0
f (t) f (t) *f (t) f ( ).f (t )d f (t ).f ( )d


Neu f(t) la tch chap cua f
1
(t) va f
2
(t) th :

1 2
F(s) L[f (t)] F (s).F (s) (2-8)
Nhan ham f(t) vi e
- t

Neu f(t) co bien oi Laplace la F(s) th :

t t st
0
L[e f (t)] e f (t)e dt F(s )

(2-9)
ieu nay cho thay viec nhan ham f(t) vi
t
e

( co the la so thc hoac so

phc) tng ng vi viec thay s bang (s+ ) trong bien oi Laplace.
nh ly gia tr cuoi
Neu f(t) co anh Laplace la F(s) va neu
t
limf (t)

hu han th :

t s 0
limf (t) lims.F(s)

(2-10)
nh ly gia tr cuoi giup ta xac nh gia tr on nh (xac lap) cua ham f(t)
ma khong can phai bien oi ngc ham F(s). Tuy nhien can lu y la neu ham f(t)
khong ton tai trang tha i on nh, v du trng hp f(t) la ham sin t hay
at
e sin t
vi a>0 th nh ly gia tr cuoi khong ap dung c.
f(t-T) f(t)
T 0 t

18
2.2.3 Bien oi Laplace cua cac ham c ban
Trong muc nay chung ta tm bien oi Laplace cua cac ham c ban thng
dung trong phan tch he thong ieu khien.
Ta gia thiet la ch xet ca c ham f(t) trong mien t 0 va coi f(t)=0 khi t<0. ieu
nay phu hp vi thc te v thong thng chung ta ch nghien cu hoat ong cua he
thong ieu khien sau mot thi iem a c la chon bat ky va at la t=0. Tn hieu
ra cua he thong moi thi iem t>0 hoan toan co the xac nh neu biet cac ieu
kien ban au va ham tac ong (tn hieu vao) thi iem t=0.
- Ham bac thang n v
Ham bac thang n v c nh ngha:
1
1(t)
0

'

Anh Laplace:

st st
0
0
1 1 1
F(s) L[1(t)] e dt .e (0 1)
s s s

Xet trng hp ham bac thang K(t)=K.1(t) ta co:

K
F(s) L[K.1(t)] K.L[1(t)]
s

Ham bac thang tac ong tai t=0 tng ng vi mot tn hieu hang so a ot
ngot vao he thong tai thi iem t=0.
- Ham xung n v (xung Dirac)
Xet ham xung ch nhat f(t):
( ) [ ]
0
h
f t h 1(t) 1(t t )
0

'

Neu lay dien tch ht
0
bang 1 n v, th h=1/ t
0
. Khi t
0
0 th chieu cao h
nhng dien tch van bang 1. Trng hp ac biet nay cua ham xung c goi la
ham xung n v, hay ham xung Dirac, ky hieu la (t).
( )
0
d1(t)
t
dt


'

Ham (t) co tnh chat:
0
0
(t)dt (t)dt 1
+ +

Anh Laplace:

0 0
st 0
0 0 0
F(s) L[ (t)] (t)e dt (t)e dt (t)dt 1
+ +




Ham xung Dirac co o rong bang 0 va o ln vo cung nen ch la ham toan
hoc thuan tuy, trong thc te ch ton tai cac tn hieu gan ung vi xung Dirac.
khi t 0
khi t = 0
0
1
1(t)
t
khi t 0
khi t < 0
0
(t)
t
khi 0t t
0
khi t< 0 & t > t
0

K
K.1(t)
0
t
f(t)
0 t
0
t
h

19
Ham xung Dirac thng c dung e mo ta cac nhieu tac ong trong khoang
thi gian rat ngan (tc thi). Ngoai ra, khai niem xung Dirac cung rat hu ch e
mo ta qua trnh ri rac hoa mot tn hieu lien tuc bat ky nh chung ta se e cap en
sau nay.
- Ham mu e
-t
( > 0)

(s )t
t t st (s )t
0
0 0
e 1
F(s) L[e ] e e dt e dt
s s

+

+

+ +


- Ham doc n v

t
r(t) t.1(t)
0

'

Lay tch phan tng phan

vdu uv udv vi t u va
st
e
v
s

ta co:

2 2
st st
st
0
0 0
te e 1 1
F(s) L[t] te dt dt 0
s s s s

+ +

Cung co the dung tnh chat anh cua tch phan :

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

1
1
]

Theo cach tng t ta co the tnh c anh cua ham
2 3 n
t , t ,..., t .
- Ham lng gia c
S dung cong thc Euler :
j t
cos t jsin t e
t
t , ta co the bien oi :

j t j t j t j t
e e e e
sin t ; cos t
2j 2

+

Suy ra:
j t j t
st st
2 2
0 0
e e 1 1 1
L[sin t] (sin t)e dt e dt
2j 2j s j s j s



_


+ +
,


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



_ +
+

+ +
,


j t j t (s j )t (s j )t
- t t st
2 2
0 0
e e e e
L[e sin t] = e e dt dt
2j 2j (s )

+ ++



+ +


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

+ ++

+ + +

+ +


Nhan xet:
Cac anh
t
L[e sin t]

va
t
L[e cos t]

cung co the tnh bang cong thc (2-9).

khi t 0
khi t < 0
0
r(t)
t

20
- Bang tom tat cac bien oi Laplace thng dung:
STT f(t) F(s)
1. 1(t)
1
s

2. (t) 1
3. e
-t
( >0)
+ s
1

4. 1 e
-t

s(s )

+

5.
K (
T
t
1 e

)
) 1 Ts ( s
K
+

6. t
2
1
s

7. t
n
1 n
n!
s
+

8. t. e
-t

2
1
(s ) +

9.
1 n
t
t
e
(n 1)!

n
1
(s ) +

10. ( )
at bt
1
e e
b a

1
(s a)(s b) + +

11.
1 2
T T 1 2
1 2 1 2
t t
T T
1 e e
T T T T

+


) 1 s T )( 1 s T ( s
1
2 1
+ +

12.
at bt
1 e e
ab a(a b) b(b a)

+ +


) b s )( a s ( s
1
+ +

13. ( )
2
at at
1
1 e ate
a


2
1
s(s a) +

14. ( )
2
at
1
at 1 e
a

+
2
1
s (s a) +

15. cos t
2 2
s
s +

16. sin t
2 2
s

+

17.
t
e cos t

2 2
) s (
s
+ +
+

18.
t
e sin t

2 2
) s ( + +

21
2.2.4 Tm bien oi Laplace ngc
Bai toan at ra la tm ham th7i gian y(t) khi biet anh Laplace Y(s).
Thong thng, anh Laplace Y(s) co dang ham hu t :
m m 1
m m 1 0
n n 1
n n 1 0
b s b s ... b P(s)
Y(s)
Q(s)
a s a s ... a

+ + +

+ + +
(m<n)
Bien oi ngc L
-1
[Y(s)] co the tnh bang cong thc nh ngha nhng cach
nay phc tap. Co mot cach tien dung hn, o la phan tch Y(s) thanh tong cac phan
thc n gian roi ap dung cac cong thc bien oi c ban cho tng thanh phan cua
tong.

n n
1 1
i i
i 1 i 1
y(t) L [Y(s)] L [Y(s)] y (t)




(2-11)
Dang ham y(t) phu thuoc vao nghiem cua m9u s5 Q(s). Cac nghiem nay co
the la nghiem n (nghiem thc rieng biet), nghiem boi, hoac nghiem phc. Di
ay chung ta se lan lt khao sat cac trng hp cu the.
1) Mau so cua Y(s) ch co cac nghiem n
Gia s Q(s) co n nghiem n la s
1
, s
2
, ..., s
n
.
Khi o co the phan tch :

1 2 n n
Q(s) a (s s )(s s )...(s s )

1 2
1 2
i n
n i
A A A A P(s)
Y(s) ... ...
Q(s) s s s s s s s s
+ + + + +


trong o A
i
(i = 1,2,,n) la cac he so hang.
Nhan ca hai ve cua phng trnh vi (s-s
i
), ta c:
n
i n
i
i i
i
s s
) s s ( A
... A ...
s s
) s s ( A
s s
) s s ( A
) s ( Y ) s s (

+ + + +

2
2
1
1

Neu lay gii han khi s s
i
th tat ca ca c thanh ph;n co cha (s-s
i
) ve phai
eu bang 0, t o ta xac nh c:
i
i
i i
s s
i s s
A lim [(s s )Y(s)] [(s s )Y(s)]

(2-12)
Tra bang, ta co :
1 i
i
i
i
s t A
L A e
s s

]

Suy ra:
1 2
n
1 2 n
i 1
i
i
s t s t s t s t
n
y(t) A e A e A e ... A e

+ + +

(2-13)
V du 2.3. Tm bien oi Laplace ngc cua
2
2s 1
Y(s)
2s 6s 4
+

+ +

Giai. Mau so cua Y(s) co a
n
=2 va hai nghiem s=-1 ; s=-2 nen co the phan tch:

1 2
2 2
A A 2s 1 2s 1 2s 1
Y(s)
2(s 1)(s 2) s 1 s 2 2s 6s 4 2(s 3s 2)
+ + +
+
+ + + + + + + +


22
Xac nh cac he so :

1
s 1 s 1
2s 1 1
A lim [(s 1)Y(s)] lim
2(s 2) 2

+
+
+


2
s 2 s 2
2s 1 3
A lim [(s 2)Y(s)] lim
2(s 1) 2

+
+
+


1 3
Y(s)
2(s 1) 2(s 2)
+
+ +

Bien oi Laplace ngc ta c:

t 1 t 2
1 3
y(t) L [Y(s)] e e
2 2

+
2) Mau so cua Y(s) co nghiem boi
Neu Q(s) co (n-r) nghiem n va mot nghiem boi s
k
lap r lan, ta phan tch :

1 2
r
n n r k
Q(s) a (s s )(s s )...(s s )(s s )

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

+ + + + + +



Cac he so A
i
(i =1,2,,n-r) xac nh nh trng hp nghiem n a biet.
Cac he so B
i
(i= r,,2,1) c xac nh bang cach nhan ca hai ve cua phng
trnh tren vi ( )
k
r
s s , sau o lay ao ham bac (r-i) cua ca hai ve roi lay gii han
khi s s
k
. Ta co ket qua cuoi cung nh sau:

{ }
k
r i
r
i k
r i
s s
1 d
B lim (s s ) .Y(s)
(r i)!
ds

1

1

]
(2-14)
Nhan xet:
- Neu s
k
la nghiem kep, can xac nh hai he so B
2
, B
1
:

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

1
1

1
]
]

- Neu s
k
la nghiem boi ba, can xac nh ba he so B
3
, B
2
, B
1
:

3 3
k k
3 k 2 k
s s s s
d
B lim (s s ) Y(s) ; B lim (s s ) Y(s) ;
ds

1
1

1
]
]


2
3
2
k
1 k
s s
1 d
B lim (s s ) Y(s)
2
ds

1

1
]

Bien oi Laplace ngc ham anh Y(s) ta c:

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

+ + + +

(2-15)
V du 2.4. Cho anh Laplace
2
2
Y(s)
s(s 3)(s 1)

+ +
. Hay xac nh ham y(t).
Giai. Mau so cua Y(s) co hai nghiem n s
1
=0 ; s
2
=-3 va mot nghiem kep s
k
= -1

23
Do o co the phan tch :
1 2 2 1
2
A A B B
Y(s)
s (s 3) (s 1) (s 1)
+ + +
+ + +

Xac nh cac he so :

1
2
s 0 s 0
2 2
A lim[sY(s)] lim
3 (s 3)(s 1)


+ +


2
2
s 3 s 3
2 1
A lim [(s 4)Y(s)] lim
6 s(s 1)

+
+

2
2
s 1 s 1
2
B lim [(s 1) Y(s)] lim 1
s(s 3)

+
+

2
1
2 2
s 1 s 1 s 1
d d 2 2(2s 3) 1
B lim (s 1) Y(s) lim lim
ds ds s(s 3) 2 s (s 3)

1 _ + 1
+
1
1
+ + ]
, ]


2
2 1 1 1
Y(s)
3s 6(s 3) 2(s 1) (s 1)

+ + +

Bien oi Laplace ngc ta c:

1 3t t t
2 1 1
y(t) L [Y(s)] e te e
3 6 2


3) Mau so cua Y(s) co nghiem phc
Nghiem phc luon co tng cap lien hp, ta ky hieu la p
1,2
= t j a .
Gia chung co moi quan he : (s-p
1
)(s-p
2
) = (s-a-j)(s-a+j) = (s-a)
2
+
2
.
Trng hp nghiem phc cung co the phan tch tng t nh trng hp
nghiem n nhng e thuan tien hn, ta thng dung cach neu di ay.
Neu Q(s) co (n-2) nghiem n va 2 nghiem phc p
1,2
th co the phan tch :

1 2 1 2 n n
Q(s) a (s s )...(s s )(s p )(s p )

2 2
1 2 n n
a (s s )...(s s )[(s a) ]

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

+
+ + +
+

Cac he so A
i
, C
1
va C
2
co the xac nh bang phng phap ong nhat he so a
thc, hoac ap dung cong thc sau :

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

(i=1,2,...,n-2)
[ ]
{ }
1
1 1 2 s p
1
C Im (s p )(s p )Y(s)

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

(2-16)
trong o : Im_Phan ao ; Re_Phan thc
Bien oi Laplace ngc ham anh Y(s) ta c:

i
n 2
s t at at
i 1 2
i 1
y(t) A e C e cos t C e sin t

+ +

(2-17)

24
Bieu thc nay the hien ham sin tat dan theo ham mu khi phan thc a<0, tang
dan khi a>0 va dao ong khong oi khi a= 0 .
e a ve dang ham sin ta co the ap dung cong thc :

2 2
2 2 2 2
sin t cos t sin t cos t
_

t + t

+ +
,
(2-18)
Neu at
2 2
cos

+
th
2 2
sin

+

( )
2 2
sin t cos t sin t cos sin cos t t + t

2 2
sin( t ) + t
V du 2.5. Xac nh ham y(t) khi biet anh Laplace
) s s ( s
) s (
) s ( Y
5 2
1 5
2
+ +
+

Giai. Mau so cua Y(s) co mot nghiem n s = 0 va hai nghiem phc p
1,2
= -1t 2j
Do o co the phan tch :

1 2
2
C (s 1) 2C A
Y(s)
s s 2s 5
+ +
+
+ +


2
s 0
s 0
5(s 1)
A lim[sY(s)] lim 1
s 2s 5

+ _


+ + ,


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

s 1 2j
1 5(s 1)
Im 1
2 s
+
+

' ;


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

s 1 2j
1 5(s 1)
Re 2
2 s
+
+

' ;


Cung co the dung phng phap ong nhat he so a thc :
2
1 2 1 1 2
2 2 2
C (s 1) 2C (A C )s (2A C 2C )s 5A 5(s 1) A
Y(s)
s s(s 2s 5) s 2s 5 s(s 2s 5)
+ + + + + + + +
+
+ + + + + +

5A = 5 A = 1
A + C
1
= 0 C
1
= -1
2A+ C
1
+ 2C
2
= 5 C
2
= 2

2 2 2 2 2
1 (s 1) 2(2) 1 s 1 2(2)
Y(s)
s s s 2s 5 (s 1) (2) (s 1) (2)
+ + +
+ +
+ + + + + +

Bien oi Laplace ngc ta thu c :
y(t) =
t t
1 e cos 2t 2e sin2t

+
=
t
2 1
1 e . 5 sin 2t cos 2t
5 5

_
+

,

=
t
1 5 e sin(2t )

+
trong o:
2 1
arccos arcsin 26, 57
5 5


25
Chu y: Neu phan tch nh trng hp nghiem n va dung cong thc Euler e
chuyen ham mu phc ve dang sin, cos ta cung nhan c ket qua tren.
1 2 2
2
5(s 1) A A A
Y(s)
s(s 2s 5) s s 1 2j s 1 2j
+
+ +
+ + + + +

1
s 0
A lim[s.Y(s)] 1

;
2
s 1 2 j
1
A lim [(s 1 2j)Y(s)] j
2
+
+ ;
3
s 1 2 j
1
A lim [(s 1 2j)Y(s)] j
2

+ + +

(1 2 ) (1 2 ) j t j t
1 1
y(t) 1 j e j e
2 2
+ _ _
+

, ,

( ) ( )
t t
1 1
1 j e cos 2t j sin 2t j e cos 2t j sin 2t
2 2

_ _
+ +

, ,

t t
1 e cos 2t 2e sin2t

+
4) Trng hp tong quat
Xet anh Laplace:

m m 1
m m 1 0
n n 1
n n 1 0
b s b s ... b P(s)
Y(s)
Q(s)
a s a s ... a

+ + +

+ + +
(m n)
Gia s Q(s) co l nghiem n, rj

nghiem boi s
k
lap r lan va q cap nghiem phc.
Ta co the phan tch Y(s) thanh tong cac thanh phan toi gian:

rj q r
i i i i i i
i 2 2
i i 1 j 1 i 1 i 1 kj i i
A B C (s a ) D
Y(s) K
s s
(s s ) (s a )
l

+
+ + +

+

(2-19)
trong o:
- Hang so K la ket qua phep chia P(s) cho Q(s) khi m=n. Neu m<n th K=0.
- Cac hang so A
i
, B
i
, C
i
, D
i
co the xac nh theo cac cong thc (2-12), (2-14),
(2-16) a neu hoac dung phng phap ong nhat he so a thc.
Ap dung cac bien oi c ban cho tng thanh phan cua tong, ta c:
1)
1
L [K] K (t)

2)
i
1 i
i
i
s t
A
L A e .1(t)
s s

]

3)
kj
i 1
1 i
i
i
kj
s t B t
L B e
(i 1)!
(s s )

1
1

1
]

4)
i
a t 1 i
i i
2 2
i
C (s a)
L C e cos( t)
(s a )

1
+
1
]

5)
i
a t 1 i i
i i
2 2
i i
D
L D e sin( t)
(s a )

1
+
1
]

Ham thi gian y(t) = L
-1
[Y(s)] se la tong cac bien oi ngc cua cac thanh
phan rieng le.

26
2.2.5 ng dung bien oi Laplace giai phng trnh vi phan
Xet he thong tuyen tnh lien tuc bat bien co tn hieu vao r(t), tn hieu ra y(t),
c mo ta bang phng trnh vi phan tuyen tnh he so hang :
1 1
1 0 1 0
1 1
n n m m
n n m m
n n m m
d y(t) d y(t) d r(t) d r(t)
a a ... a y(t) b b ... b r(t)
dt dt dt dt



+ + + + + +
Hay di dang tng ng:

(n) (n-1) (m) (m-1)
n n-1 0 m m-1 0
a y (t)+ a y (t)+...+ a y(t) = b r (t)+ b r (t)+ ...+ b r(t) (2-20)
Bai toan at ra la tm nghiem y(t) khi biet trc tn hieu vao r(t) va cac ieu
kien ban au cua he thong.
Vi phng phap co ien th viec tm nghiem toan phan yeu cau phai xac
nh hang so tch phan t cac ieu kien au. Neu dung phng phap bien oi
Laplace th ieu nay la khong can thiet v ieu kien au a bao gom trong bien oi
Laplace cua cac thanh phan ao ham.
Trnh t ng dung bien oi Laplace e giai phng trnh vi phan co the tom
tat theo s o di ay:










Bien oi Laplace tng so hang cua phng trnh vi phan (2-20), ta c :
(n) n
n n n
L[a y (t)] a s Y(s) I(s)
(n 1) n 1
n 1 n 1 n 1
L[a y (t)] a s Y(s) I(s)




(m) m
m m m
L[b r (t)] b s R(s) I(s)
(m 1) m 1
m 1 m 1 m 1
L[b r (t)] b s R(s) I(s)




trong o :
I(s)
n
, I(s)
n-1
, la cac a thc cha cac ieu kien au y(0), , y
(n-1)
(0).
I(s)
m
, I(s)
m-1
, la cac a thc cha cac ieu kien au r(0),, r
(m-1)
(0).
Thay cac bien oi vao phng trnh vi phan va sap xep lai, ta c:

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


+ + + + + + +
Nghiem y(t)
Bien oi
Laplace L
Ham goc
Ham anh
Bien oi
Laplace ngc L
-1
giai
phng trnh ai so
giai trc tiep
Phng trnh vi phan
theo bien t
Nghiem Y(s)
Phng trnh ai so
theo bien s

27
Vi
1 1 n n m m
I(s) I(s) I(s) ... I(s) I(s) ...

+ +

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

+ + + +

+ + +
(2-21)
Sau khi tnh c Y(s) ta co the xac nh nghiem y(t) bang cach lay bien oi
Laplace ngc :

1
y(t) L [Y(s)]

V du 2.6. Gia i phng trnh vi phan :
2
2
d y dy
3 2y(t) 0
dt dt
+ +
vi ieu kien au y(0) = a va (0)
dy
b
dt
.
Giai. Lay bi$n <=i Laplace ca hai ve phng trnh a cho, ta c :
2
[ ( ) (0) (0)] & s Y s sy y + 3[sY(s) - y(0)] + 2Y(s) = 0
[s
2
Y(s) - as - b] + 3[sY(s) - a] + 2Y(s) = 0
(s
2
+3s+2)Y(s) = as + (3a+b)

2
as (3a b) as (3a b) 2a b a b
Y(s)
(s 1)(s 2) s 1 s 2 s 3s 2
+ + + + + +

+ + + + + +

Suy ra:

1 2 t t
y(t) L [Y(s)] (2a b)e (a b)e

+ + vi t 0
V du 2.7. Gia i phng trnh vi phan :
2
2
d y dy
2 10y(t) 8r(t)
dt dt
+ +
vi ieu kien ban au
(0)
(0) 0
dy
y
dt
, tn hieu vao r(t) =1(t).
Giai. Bien oi Laplace ca hai ve phng trnh a cho, ta c :

2
(s 2s 10)Y(s) 8R(s) + +
Tn hieu vao bac thang n v r(t)=1(t) R(s)=
1
s


2 2 2 2 2
8 4 4(s 1) (4/ 3)(3)
Y(s)
5s s(s 2s 10) 5[(s 1) 3 ] 5[(s 1) 3 ]
+

+ + + + + +

Ham thi gian:
1
y(t) L [Y(s)]

t t
4 4 4
y(t) e cos3t e sin3t
5 5 15

vi t 0

t
4 4 10 1 3
e sin3t cos 3t
5 15
10 10

_
+

,

t
4 4 10
e sin(3t )
5 15

+
vi:
1 3
arccos arcsin 71, 57
10 10


28
2.3 Ham truyen
Xet he thong tuyen tnh lien tuc bat bien co tn hieu vao r(t), tn hieu ra y(t),
c mo ta bang phng trnh vi phan tuyen tnh he so hang :
1 1
1 0 1 0
1 1
n n m m
n n m m
n n m m
d y(t) d y(t) d r(t) d r(t)
a a ... a y(t) b b ... b r(t)
dt dt dt dt



+ + + + + +
Gia thiet ca c ieu kien au bang 0, bien oi Laplace hai ve ta c :

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


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

+ + +

+ + +
(2-22)
c goi la ham truyen (hay ham truyen at) cua he thong.
nh ngha: Ham truyen la t so gia anh Laplace cua tn hie u ra va a nh Laplace
cua tn hieu vao khi cac ieu kien au bang 0.
e co ham truyen ta thc hien cac bc sau ay:
1) Viet phng trnh vi phan mo ta he thong (hay phan t).
2) Lay bien oi Laplace cua phng trnh vi phan, vi gia thiet tat ca cac ieu
kien ban au bang 0.
3) Lap t so tn hieu ra Y(s) tren tn hieu vao R(s). T so nay chnh la ham truyen.
Nhan xet:
- Khai niem ham truyen ch dung cho phan t va he thong tuyen tnh bat bien.
- Bieu thc ham truyen ch phu thuoc vao cac thong so a
i
, b
i
va bac n cua he
thong ma khong phu thuoc vao the loai va gia tr (bien o) tn hieu vao, tn
hieu ra.
- Viec gia thiet ca c ieu kien au bang 0 la da tren quan iem dung ham
truyen e nghien cu ban chat ong hoc cua he thong. ieu kien au khac 0
ch phan anh ac tnh ong hoc ng vi cac trng hp rieng cu the.
- V ham truyen la phan thc ai so khong co phep vi phan va tch phan nen
dung ham truyen e mo ta va nghien cu he thong se thuan li hn nhieu so
vi dung phng trnh vi phan. Vi khai niem ham truyen, quan he gia tn
hieu vao va tn hieu ra co the bieu dien di dang phng trnh ai so :
Y(s) = R(s). G(s) (2-23)
(tn hieu ra = tch cua tn hieu vao va ham truyen)
ieu nay giup cho cong viec xac nh tn hieu ra cua he thong ng vi mot
tn hieu vao cho trc c n gian hn nhieu.
a thc mau so cua ham truyen c goi la a thc a c tnh:

1
1 0
n n
n n
A(s) a s a s .... a

+ + + (2-24)
Neu cho mau so cua ham truyen bang 0, ta co phng trnh ac tnh:

1
1 0
n n
n n
a s a s .... a 0

+ + + (2-25)

29
Tren c s khao sa t cac nghiem hoac ca c he so cua phng trnh ac tnh, ta
co the anh gia tnh on nh cua he thong. Van e xet tnh on nh cua he thong se
c trnh bay rieng chng 4.
Ham truyen G(s) cung c viet di dang zero-cc nh sau:

m
i
i 1 1 m
n
1 n
i
i 1
(s z )
(s z )....(s z ) Y(s)
G(s) K K
R(s) (s p )...(s p )
(s p )

(2-26)
Trong o :
z
i
(i=1m) -la nghiem cua a thc t so, goi la cac zero.
p
i
(i=1n) -la nghiem cua a thc mau so, goi la cac c c (pole).
p
i
cung chnh la nghiem cua phng trnh ac tnh.
m
n
b
K
a
- o li (gain).
Vi he thong MIMO co q ngo vao va p ngo ra ta phai viet ham truyen rieng
cho tng cap ngo vao-ra:

ij
i
j
Y (s)
G
R (s)
(i=1,..,p ; j=1,,q) (2-27)
Quan he vao-ra cua he MIMO c viet dang ma tran:
Y(s) G(s).R(s)
11 1q
1 1
p p1 pq q
G ... G
Y (s) R (s)
Y (s) G G R (s)
1 1 1
1 1 1

1 1 1
1 1 1
] ] ]
M M O M M
L
(2-28)
trong o :

T
1 p
Y(s) [Y (s) Y (s)] L - la anh Laplace cua vect tn hieu ra

T
1 q
R(s) [R (s) R (s)] L - la anh Laplace cua vect tn hieu vao

11 1q
p1 pq
G ... G
Y(s)
G(s)
R(s)
G G
1
1

1
1
]
M O M
L
- la ma tran ham truyen. (2-29)
Mot he thong hay phan t tuyen tnh co tn hieu vao r(t), tn hieu ra y(t), sau khi
a c mo hnh hoa va co ham truyen G(s) thng c bieu dien n gian,
trc quan bang mot khoi nh hnh ve:

Hay:

Cach bieu dien nay rat tien cho viec cho viec xay dng mo hnh cua mot he
thong phc tap gom nhieu khoi ghep noi tiep, song song hoac phan hoi.

G(s)
r(t) y(t)
G(s)
R(s) Y(s)

30
2.4 S o khoi
2.4.1 Cac thanh phan cua s o khoi
S o khoi cua mot he thong la hnh ve mo ta chc nang cua cac phan t va
s ta c ong qua lai gia cac phan t trong he thong. S o khoi co ba thanh phan
c ban la khoi chc nang, bo tong ( hay bo so) va iem re nhanh.
Khoi chc nang:


Quan he vao-ra: Y(s) = U(s). G(s)
(tn hieu ra cua khoi = tch cua tn hieu vao va ham truyen)
Bo tong: Tn hieu ra cua bo tong bang tong ai so cua cac tn hieu vao.




Lu y : - Dau cong trong s o thng c lc bo.
- Cac bieu dien sau ay la tng ng :


iem re: Tn hieu tren nhanh chnh va cac nhanh re la nh nhau.


2.4.2 ai so s o khoi
ai so s o khoi la thuat toan bien oi tng ng cac s o khoi. Hai s
o khoi c goi la tng ng nhau neu chung co quan he gia tn hieu vao, tn
hieu ra nh nhau.
e tm ham truyen cua he thong co s o khoi phc tap, ta thng tm ca ch
bien oi s o khoi e lam xuat hien ca c dang ket noi n gian roi lan lt tnh
cac ham truyen tng ng theo nguyen tac rut gon dan t trong ra ngoai.
Sau ay la mot so quy tac bien oi s o khoi thng dung.
1) He noi tie p



Theo s o khoi ta co:
1 2 n
Y(s) U(s).G (s).G (s)...G (s)
Ham truyen tng ng:

1 2
1
( )
( ) ( ). ( )... ( ) ( )
( )
i
i
n
n
Y s
G s G s G s G s G s
U s

(2-30)

Y U
i
i 1
n
G (s)

G(s)
U(s) Y(s)
e= xy
x
y
+
x
y
u= x+ y
U
Y
G
1
(s)

G
2
(s) G
n
(s)
Y
n-1
Y
2
Y
1
x
x
x

31
2) He song song






Theo s o khoi ta co:
1 2 n
Y(s) U(s)G (s) U(s)G (s) ... U(s)G (s) + + +
Ham truyen tng ng:

1 2
1
( )
( ) ( ) ( ) ... ( ) ( )
( )

+ + +
n i
i
n
Y s
G s G s G s G s G s
U s
(2-31)
3) He hoi tie p mot vong
Hoi tiep a m




T s o khoi ta co cac phng trnh mo ta quan he vao-ra:
-Y(s)H(s) + R(s) = E(s)
E(s)G(s) = Y(s)
[-Y(s)H(s) + R(s)] G(s) = Y(s)
Ham truyen cua he kn hoi tiep am :

k
Y(s) G(s)
G (s)
R(s) 1 G(s)H(s)

+
(2-32)
Trng hp ac biet khi ham truyen mach phan hoi H(s)=1, ta co he thong
hoi tiep am n v. Khi o cong thc (2-32) tr thanh:

k
Y(s) G(s)
G (s)
R(s) 1 G(s)

+
(2-33)
Hoi tiep dng




T s o khoi ta co cac phng trnh quan he :
Y(s)H(s) + R(s) = E(s)
E(s)G(s) = Y(s)
[Y(s)H(s) + R(s)] G(s) = Y(s)
Ham truyen :
k
Y(s) G(s)
G (s)
R(s) 1 G(s)H(s)

(2-34)

i
i 1
n
G (s)

U Y
G
2
(s)
G
1
(s)
G
n
(s)
U Y


+
Y
R
G(s)
1 G(s)H(s)

R
H(s)
G(s)
Y E

Y
R
G(s)
1 G(s)H(s) +

R
H(s)
G(s)
Y

32
He hoi tie p co nhieu ta c ong
Xet he hoi tiep (he kn) co s o khoi:




Neu coi nhieu z
1
(t)=z
2
(t)=0, ta co phng trnh quan he:
[-Y(s)H(s)+R(s)].G
c
(s).G(s) = Y(s)
Ham truyen cua tn hieu vao r(t):
(thng c coi la ham truyen cua he kn, neu khong tnh en nhieu)

R
c
k
c
G (s)G(s) Y(s)
G (s) G (s)
R(s) 1 G (s)G(s)H(s)

+
(2-35a)
Neu coi tn hieu vao r(t)=0 va nhieu z
2
(t)=0, ta co :
[-Y(s)H(s)G
c
(s)t Z
1
(s)].G(s) = Y(s)
Ham truyen cua nhieu z
1
(t):

1 Z
1 c
Y(s) G(s)
G (s)
Z (s) 1 G (s)G(s)H(s)
t

+
(2-35b)
Neu coi tn hieu vao r(t)=0 va nhieu z
1
(t)=0, ta co :
-Y(s)H(s)G
c
(s)G(s) t Z
2
(s) = Y(s)
Ham truyen cua nhieu z
2
(t):

2 Z
2 c
Y(s) 1
G (s)
Z (s) 1 G (s)G(s)H(s)
t

+
(2-35c)
Ap dung nguyen ly xep chong ap ng, ta co the bieu dien quan he vao-ra
cua he kn co nhieu nh sau:

1 2 c
i
c c c
G (s)G(s)R(s) G(s)Z (s) Z (s)
Y (s) Y (s)
1 G (s)G(s)H(s) 1 G (s)G(s)H(s) 1 G (s)G(s)H(s)

t t
+ + +

(2-35d)
Nhan xet:
Neu lay
c
G (s)H(s) 1 >> va
c
G (s)G(s)H(s) 1 >> th
1 z
G (s) va
2 z
G (s) se xa p
x 0, tc la anh hng cua nhieu se b suy giam manh.
Mat khac, neu
c
G (s)G(s)H(s) 1 >> th
R
G (s) Y(s) / R(s) 1/ H(s) , nen
Y(s) R(s) / H(s) , tc la khi o ap ng cua he kn khong con phu thuoc vao G
c
(s)
va G(s) ma ch phu thuoc vao H(s).
Nh vay, he kn co u iem la t nhay cam vi nhieu cung nh vi s thay
oi cua cac thong so ben trong cua he thong. ay la ieu khong the c oi vi
he h. Tuy nhien cung can lu y la ieu kien
c
G (s)G(s)H(s) 1 >> se lam tang tnh
dao ong cua ap ng nen van e on nh cua he kn se phc tap hn he h.
t
R
Y
E
G
c
(s)
Z
1
H(s)
Z
2 t
G(s)

33
4) Chuyen iem re ra trc mo t khoi



5) Chuyen iem re ra sau mot khoi



6) Chuyen bo tong (bo so) ra tr c mot khoi




7) Chuyen bo tong (bo so) ra sau mot khoi




8) Hoan v, nhap hoac tach ca c bo tong





9) Chuyen ve dang hoi tiep n v




Lu y: Cac bien oi sau ay la khong tng ng.
Chuyen v tr iem re va bo tong:



Chuyen v tr hai bo tong khi gia hai bo tong o co iem re:
U
1

U
2
U
3
Y

U
1
U
2
U
3
Y

U
3
U
2
Y

U
1
Y= U
1
-U
2
+U
3
Y= U
1
+U
3
-U
2

Y= U
1
-U
2
+U
3
G

G
1/G
U
1
U
2
Y=U
1
G U
2
Y=U
1
G U
2 U
1
U
2

G
G
G
U
1
Y=(U
1
-U
2
)G

U
2
Y=U
1
G-U
2
G

U
2
U
1
U

G(s)
Y

Y
Y U
Y
G(s)
G(s)

U
Y
G(s)
1 /G(s)
U
U
Y
U
G(s)
G
H
R
Y


GH
1
H

Y

R


U
1
U
2
U
3
U
4
=U
1
+U
3

U
5
U
1
U
3
U
2
U
5
U
4
=U
1
-U
2


U
2
U
1
U
3
=U
4
=U
1
-U
2

U
4
=U
1
-U
2

U
1
U
3
=U
1

U
2
U
4
=U
1
-U
2


34
V du 2.8. Tm ham truyen tng ng cua he thong sau :






Giai. Lan lt rut gon s o khoi t trong ra ngoai, ta c:
Ham truyen cua mach kn hoi tiep am G
1
H
1
:

1
1 1
G
G
1 G H

+
1 t

Ham truyen cua mach kn hoi tiep am G
t1
G
2
H
2
:

1 2
2 1 1 2 1 1
1 2 2
2 2 1 1 1 2 2 1
1 1
2
G G
G G G G 1 G H
G
G G H
1 G G H 1 G H G G H
1
1 G H
+

+ + +
+
+
t
t
t

Ham truyen G
k
(s) cua he thong cung la ha m truyen cua mach kn hoi tiep
am G
t2
G
3
H
3
. Ta co:

3 2
2
1 2 3
3 3 1 1 1 2 2 1 2 3 3
G G G G G Y(s)
G (s)
R(s) 1 G G H 1 G H G G H G G G H

+ + + +
t
k
t

V du 2.9. Tm ham truyen tng ng cua he thong sau :







CACH GIAI 1 : Chuyen iem re A ra sau khoi G
3
ta c s o tng ng :







(Lu y la tren s o nay, cac ie m A va B co the hoan v nhau hoac at trung
nhau eu c v khong co n khoi nao gia chung.)
r

y

1
1
+ s

s
1

2(s+1)
G
1 G
2
G
3
G
4
G
5
B

A

20
2
1
+ s

r

y

2
1
+ s

1
1
+ s

s
1

2(s+1)
G
1
G
2 G
3
G
4
G
5
A

B

20
3
1 G
Y(s)

R(s)

G
1
G
2
G
3

H
1
H
2
H
3


35
Ham truyen cua mach kn hoi tiep dng G
2
G
3
G
5
:

2 3
2 3 5
G G
G
1 G G G

1 t

Ham truyen cua mach kn hoi tiep am G
1
G
t1
1/G
3


:






1 2 3
1 2 3 5 1 2 3
1 2
2 3 5 1 2
1
3 2 3 5
G G G
G G 1 G G G G G G
G
1 G G
1 G G G G G
1 G G 1
G 1 G G G

+
+ +

1
2
1
t
t
t

Cuoi cung, he thong tng ng vi he hoi tiep am n v G
t2
G
4
1 :




Do o ham truyen tng ng cua toan he thong la:

1 2 3 4
4 2 3 5 1 2 1 2 3 4
1 2 3 4
4 2 3 5 1 2 1 2 3 4
2 3 5 1 2
G G G G
G G 1 G G G G G G G G G
G
G G G G
1 G G 1 G G G G G G G G G
1
1 G G G G G
+

+ + +
+
+
t2
t
t2

Thay so vao ta c:
3 2
Y(s) 20
G
R(s) s 21s 40s 20

+ + +
t

CACH GIAI 2 :
Trc tien, chuyen iem re B ra trc khoi G
3
ta c s o tng ng :







Ham truyen cua mach kn hoi tiep dng G
2
G
3
G
5
:

2
2 3 5
G
G
1 G G G

1 t

Ham truyen cua mach kn hoi tiep am n v G
1
G
t1
1 :
r

y

G
t2
G
4

r

y

G
t1
G
1

3
1 G
G
4

A

r

y

1
1
+ s

s
1

G
5

G
1
G
2 G
4
G
3

1
s 2 +

20
G
3
B


36





1 1 2
1 2 3 5 1 2
G G G G
G
1 G G 1 G G G G G

+ +
1
2
1
t
t
t

Cuoi cung, he thong tng ng vi he hoi tiep am n v G
t2
G
3
G
4
1 :




Suy ra ham truyen tng ng cua he thong la:

3 4 1 2 3 4
3 2
3 4 2 3 5 1 2 1 2 3 4
G G G G G G G 20
G
1 G G G 1 G G G G G G G G G s 21s 40s 20

+ + + + + +
2
2
t
t
t

CACH GIAI 3 :
Trc tien, chuyen bo so cuoi ra trc khoi G
1
va chuyen iem re B ra trc
khoi G
3
ta c s o tng ng:






Ham truyen cua mach kn hoi tiep dng G
1
G
2
G
3
G
5
1/G
1
:

1 2 1 2
1 2 3 5 1 2 3 5
G G G G
G
1 G G G G (1/ G ) 1 G G G


1 t

Ham truyen cua mach kn hoi tiep am n v G
t1
1 :

1 2
2 3 5 1 2
G G G
G
1 G 1 G G G G G

+ +
1
2
1
t
t
t

Cuoi cung, he thong t *,ng <*,ng v>i he hoi tiep am n v G
t2
G
3
G
4
1.
Suy ra ham truyen tng ng cua he thong la:

3 4 1 2 3 4
3 2
3 4 2 3 5 1 2 1 2 3 4
G G G G G G G 20
G
1 G G G 1 G G G G G G G G G s 21s 40s 20

+ + + + + +
2
2
t
t
t

Nhan xet : Ca ba cach giai tren eu cho ket qua nh nhau.
r
y

G
t2
G
3
G
4

r

G
3
G
t1
G
4
G
1

r

y

A

B

G
2
1/G
1
G
5
G
3

G
4
G
3
G
1

37
2.5 Ham truyen cua cac khau vat ly ien hnh
Cac khau (phan t) cua he thong ieu khien co the la c kh, ien, thuy lc,
kh nen, nhiet,... Trong muc nay chung ta se xay dng ham truyen cua cac khau
vat ly thng gap trong ky thuat.
2.5.1 Phan t c kh
Cac he c kh chuyen ong thang co 3 thong so c ban la khoi lng, o
cng va ma sat nht. Vi chuyen ong quay th 3 thong so tng ng la momen
quan tnh, o cng xoan va ma sat nht. Khoi lng ac trng cho quan tnh. o
cng ac trng cho hoat ong cua lc an hoi tng t nh lc cua lo xo. Ma sat
nht (hay giam chan) ac trng cho phan t hap thu nang lng.
He lo xo - khoi lng - giam chan






Hnh 2.2 He lo xo - khoi lng - giam chan
- Tn hieu vao : lc F(t) tac dung t ben ngoai, [N]

- Tn hieu ra : lng di ong y(t) cua khoi lng m, [m]
Gia s ta i t=0 he ang trang thai can bang va khong tnh en lc trong
trng. Theo nh luat II Newton ta co phng trnh can bang lc:

2
2 i
d y dy
m F F(t) b k.y(t)
dt dt

Trong o, m : khoi lng, [kg]
b : he so ma sat nht (giam chan), [N.s/m ]
k : o cng lo xo, [N/m ]

2
2
d y
m
dt
: lc quan tnh, [N]

dy
b
dt
: lc giam chan, [N]
k.y(t) : lc lo xo, [N]
Phng trnh vi phan mo ta quan he vao - ra :

2
2
d y dy
m b k y(t) F(t)
dt dt
+ +
Bien oi Laplace hai ve vi ieu kien au bang 0, ta c:

2
(ms bs k)Y(s) F(s) + +
Lap t so tn hieu ra tren tn hieu vao ta c ham truyen bac hai:
F(t)

b
k
m
y(t)

y(t)
F(t)

b
k
m
y(t)
F(t)

b
k
m

38

2
Y(s) 1
G(s)
F(s)
ms bs k

+ +
(2-36)
S o khoi :


Nhan xet:
- Neu khoi lng m la nho, khong ang ke, ta co ham truyen bac nhat:

Y(s) 1
G(s)
F(s) bs k

+

- Neu ch co thanh phan lo xo, ta co ham truyen t le:

Y(s) 1
G(s)
F(s) k

- Neu ch co thanh phan giam chan, ta co ham truyen tch phan:

Y(s) 1
G(s)
F(s) bs

Phan t quay





Hnh 2.3
Xet mot truc mang tai quay co quan tnh J nh hnh 2.3.
Tai cac be mat tiep xuc khi quay (o , phanh ham,...) se xuat hien momen
ma sat M
ms
ngc chieu chuyen ong va t le vi van toc goc .

ms
d
M b b
dt

vi b : he so ma sat nht
Truc quay cung chu bien dang an hoi tng t nh mot lo xo xoan. Momen
an hoi xoan M
x
ngc chieu chuyen ong va t le vi goc quay cua truc.

x
M k (t) k dt

vi k: o cng lo xo xoan
Trong thc te anh hng cua an hoi xoan tren truc ong c va cac tai quay
thng c bo qua (noi cach khac, coi truc la cng tuyet oi). Ap dung nh luat
II Newton cho chuyen ong quay, ta co phng trnh can bang momen :

i
d
J M M b
dt

trong o: M : momen tac ong, [Nm]
J : momen quan tnh cua vat quay, [kg.m
2
]
: van toc goc, [ rad/s]
b : he so ma sat nht (giam chan quay), [Nm.s/rad]
Y(s)
2
1
ms bs k + +

F(s)

M

J

,
M

1
s(Js b) +

M

1
Js b +


39
Xet M la tn hieu vao, la tn hieu ra, ta co :

d
J b M
dt

+
Bien oi Laplace hai ve vi ieu kien au bang 0, ta c:
Js (s) b (s) M(s) +
Lap t so tn hieu ra tren tn hieu vao ta c ham truyen:

(s) 1
G(s)
M(s) Js b

+
(2-37a)
Xet M la tn hieu vao, goc quay la tn hieu ra, ta co :

(s) 1
G(s)
M(s) s(Js b)

+
(2-37b)
Hop giam toc ba nh rang
Cac hop giam toc banh rang thng c
s dung e giam toc o, tang momen, hoac e
at hieu suat truyen nang lng cao nhat t
ong c sang tai.
Trong thc te cac banh rang va cac bo
truyen ong c kh noi chung eu co khe h
(o r) nhat nh gia cac khp. o r se gay
nen cac hanh trnh chet, anh hng en o
chnh xac truyen ong va tnh on nh cua he thong. Cac anh hng nay mang tnh
phi tuyen. Trong phan nay ta gia nh bo truyen khong co khe h va coi he la
tuyen tnh.
Xet he c kh gom mot tai quay co momen quan tnh J, ma sa t nht b va mot
hop giam toc gom 4 banh rang nh hnh ve 2.4.
Goi
1
,
1
lan lt la van toc goc, goc quay cua truc ngo vao hop giam toc

2
,
2
lan lt la van toc goc, goc quay cua truc ngo ra hop giam toc
M
1
, M
2
lan lt la momen tac ong len truc vao va ra hop giam toc.
z1, z2, z3, z4 lan lt la so rang cua cac banh rang.
Gia thiet la cac truc banh rang va tai co o cng rat ln (khong co an hoi),
bo qua ma sat trong hop giam toc. Ta co:

1 2 2
2 1 1
M z1 z3 1
. k
M z2 z4 i



V>i i l t so truyen cua hop giam toc.

2
2 1
2 1
(s) k (s) 1
M (s) M (s) Js b


+

1
2 2
1 1 1
(s) 1 1
M (s) J s b k Js k b

+ +

Vi
2
1
J k J la momen quan tnh quy ve truc vao hop giam toc

2
1
b k b la he so ma sat quy ve truc vao hop giam toc
Nhan xet: Vi h0p gi@m t5c th i>1, k<1 va J
1
<J ; b
1
<b ;
2
<
1
; M
2
>M
1
.
M
1
J
z3
z1
z2
z4
b
M
2
Hnh 2.4

40
Bo truyen truc vtme- ai oc
Xet bo truyen vitme- ai oc nh hnh ve:





Tn hieu vao : van toc goc (t) cua vtme [rad/s]
Tn hieu ra: lng di ong y(t) cua ban may gan lien vi ai oc, [m]
Goi P [m] la bc cua vtme, ta co phng trnh quan he:

t
0
P
y(t) . (t)dt
2

Bien oi Laplace hai ve vi ieu kien au bang 0, ta c:

P (s)
Y(s) .
2 s

Lap t so tn hieu ra tren tn hieu vao ta c ham truyen tch phan:

Y(s) P K
(s) 2 s s



vi
P
K
2

: he so tch phan
2.5.2 Phan t ien
Mach RL noi tiep
- Tn hieu vao : ien ap u(t)
- Tn hieu ra : dong ien i(t)
Ap dung nh luat Kirchhoff ta co:

L R
di
u u u L Ri
dt
+ +
Bien oi Laplace hai ve ta c: U(s) (Ls R)I(s) +
Ham truyen :
I(s) 1
G(s)
U(s) Ls R

+
(2-38)
Mach RC noi tiep
- Tn hieu vao : ien ap u
- Tn hieu ra : ien ap u
c
tu ien C.
Theo nh luat Kirchhoff ta co:

R c c
u u u Ri u + +
ma :
c
c
du 1
u idt i C
C dt

(t)
y(t)
u
c
R
C

u

i

i

R

u

L


41
Phng trnh vi phan bac nhat :
c
c
du
u RC u
dt
+
Ham truyen:
c
U (s) 1
G(s)
U(s) RCs 1

+
(2-39)
Mach RLC noi tiep
- Tn hieu vao : ien ap u
- Tn hieu ra : ien ap u
c

Theo nh luat Kirchhoff ta co:
R L c
u u u u + +


c
di
u L Ri u
dt
+ + (*)
ma :
c
c
du 1
u idt i C
C dt

;
2
2
c
d u di
C
dt dt

The vao (*), ta c phng trnh vi phan bac hai :

2
2
c c
c
d u du
u LC RC u
dt dt
+ +
Ham truyen:
2
c
U (s) 1
G(s)
U(s) LCs RCs 1

+ +
(2-40)
Bo khuech ai cach ly
Xet he thong tren hnh 2.5. He thong gom hai mach RC ghep noi vi nhau
bang mot bo khuech ai cach ly co he so khuech ai K.





Hnh 2.5
Bo cach ly co tac dung tao cach ly ve ien gia cac tang mach ien hay
gia mach ieu khien va mach ong lc. Thong thng, cac bo cach ly co tong tr
vao rat ln con tong tr ra rat nho. Do o no khong tao ra tac ong phu tai (nhieu)
khi ghep tang cac mach thanh phan. Ham truyen chung se la ham truyen he noi
tiep :

1 1 2 2
o
i
U (s) 1 1
.K.
U (s) R C s 1 R C s 1

+ +
(2-41)
Cam bien
Cac cam bien thng co tn hieu ra y
ht
(t) t le vi tn hieu vao y(t). V du:
Mot cam bien o ap suat trong tam 0 10 bar va chuyen thanh ien ap trong tam
010V se co ham truyen la H(s)=K =1; Mot cam bien nhiet o nhiet o trong tam
0500C va chuyen thanh ien ap 010V se co ham truyen la H(s)=K =0,02.
R
1 C
1
u
i u
o
R
2
C
2
Bo
khuech ai
cach ly
- K -
R

C

u

u
c
L

i


42
Khuech ai thua t toan (op-amp)
Khuech ai thuat toan (op-amp, operation amplifier) la mot vi mach i -n tB
(IC) co chc nang khuech ai tn hieu vi he so khuech ai rat ln. Op-amp
thng c ghep noi thanh cac mach cam bien, bo loc tn hieu, bo ieu khien.
Hnh 2.6 bieu dien ky hieu va hnh dang vo ngoai cua mot op-amp ien hnh.
Nguon ien cung cap (V+,V-) co gia tr t15Volt. Ve c ban op-amp co 2 ngo vao
(ngo ao va ngo khong ao) va mot ngo ra. Thong thng th chon at la 0V va o
cac tn hieu vao, ra so vi a t. Tn hieu u
1
va o ngo (-) se b ao con u
2
vao ngo (+)
khong b ao. Tn hieu ngo ra u
0
t le vi hieu cua hai tn hieu vao:

0 2 1 1 2
u K(u u ) K(u u )







Hnh 2.6. Ky hieu va hnh dang thc te cua mot op-amp.
Tn hieu vao u
1
va u
2
co the la tn hieu mot chieu hay xoay chieu. K la he so
khuech ai, gia tr K10
5
10
6
vi tn hieu mot chieu va xoay chieu khi tan so
<10Khz. He so nay giam khi tan so tang va K1 tan so 1Mhz 50Mhz.
Bo khuech ai la tuyen tnh ly tng khi khong co dong vao ca vao va ien
ap ra khong b anh hng (sut ap) bi tai noi vao no. Noi cach khac, tong tr vao
cua bo khuech ai la vo cung ln va tong tr ra cua bo khuech ai bang 0.
Trong thc te, co mot dong rat nho i vao c a vao op-amp va ton tai mot anh
hng nho cua ta i len ien ap ra. Trong tnh toan ly thuyet ta thng gia nh op-
amp la mot bo khuech ai tuyen tnh ly tng.
Bo khuech ai ao
Xet mach khuech ai ao dung
op-amp bieu dien tren hnh 2.7.

- Tn hieu vao: ien ap u
i

- Tn hieu ra: ien ap u
0



Hnh 2.7 Bo khuech ai ao

u
0
u
1
u
2
V+
V
i
2
R
2
R
1
u
0
i
1 i
V
u
V
u
i
i
V
-15V rail 4
Non-Inverting Input 3
Inverting Input 2
Dot beside
Pin 1
Pin 1
8
Output 6
5
741 Op Amp
8-pin DIP
Top View
The Most usual 741 Pakage
+15V rail 7

43
Ta co:
v
1
1
i
u u
i
R

;


v 0
2
2
u u
i
R

V dong vao op-amp rat nho, co the bo qua (i
V
0), nen ta co i
1
= i
2


v v 0
1 2
i
u u u u
R R

V
v 0
K(0 u ) u va K>>1, nen u
V
0 .
Do o :
0
1 2
i
u u
R R

Ham truyen:
0 0 2
i 1 i
U (s) u (t) R
G(s)
U (s) u (t) R

He so khuech ai :
2
1
R
K
R

Neu R
1
=R
2
th mach op-amp hoat ong nh mot mach ao dau.
Bo khuech ai vi sai
Bo khuech ai vi sai la ma ch khuech ai hieu ien ap cua 2 tn hieu vao, ma
ca hai khong bang 0. S o mach c trnh bay hnh 2-8.








Hnh 2.8 Bo khuech ai vi sai (bo so ien ap)
- Tn hieu vao : u
a
va u
b
; Tn hieu ra : u
0

Gia nh u
1
= u
2
(hay u
V
0 ) va dung bo phan ap R
b
va R
g
:
u
1
= u
2
=
g
b
b g
R
.u
R R +

Dong ien chay qua R
a
va R
2
c the hien nh sau:

1 1
2
a 0
a
u u u u
R R


T ay rut ra:
u
0
=
g
2 2 2 2
1 b
b g
a a
a a a a
R
R R R R
1 u u 1 u u
R R R R R R
_
_ _
+ +


+
, ,
,
(2-42)
T phng trnh (2-42) va khi cho R
2
= R
a
= R
g
, ta co : u
0
= u
b
u
a

R
2
u
1
u
b
u
V
u
a
R
a
R
b
R
g
u
0
u
2

44
2.5.3 ong c ien DC
ien hnh cua loai nay la ong c ien mot chieu kch t oc lap, ieu
khien bang ien ap phan ng. S o nguyen ly cua loai ong c nay c the hien
tren hnh 2.9, trong o dong kch t i
k
c gi khong oi.






Hnh 2.9 S o nguyen ly ong c ien DC
- Tn hieu vao la ien ap u at vao phan ng, [Volt;V]
- Tn hieu ra la van toc goc cua ong c, [rad/s; s
-1
]
S dung ba phng trnh c ban :
1) Phng trnh mach ien phan ng :

e
di
u L Ri K
dt
+ + (2-43)
Trong o: R_ ien tr phan ng, [ ]
L_ ien cam phan ng, [Henry; H=V.s/A]
i_ dong ien phan ng, [A]
K
e
_hang so sCc ien ong, [V.s /rad]

e
K e : sc ien ong phan ng, [V].
Bien oi Laplace hai ve phng trnh, ta c:

e
U(s) LsI(s) RI(s) K (s) + +
( )
e
U(s) K (s) Ls R I(s) +
S o khoi tng ng :




2) Phng trnh momen ien t cua ong c :
Vi dong kch t i
k
khong oi th t thong khe kh
2 k
k i la khong oi va
momen ien t M cua ong c t le vi dong ien phan ng:
M = K
m
i (2-44)
Trong o K
m
la hang so momen cua ong c , [N.m/A]
2 1 1 k m
K k k k i , vi k
1
la hang so phu thuoc ket cau ong c, k
2
la hang
so ac trng oan tuyen tnh cua t thong thay oi theo i
k
.
e
K
I(s)

U(s)

(s)

1
Ls R +

E(s)


L
R
i
k
= const
i
M
t
e J

u

45
Bien oi Laplace hai ve ta c: M(s) = K
m
I(s)
S o khoi tng ng:


3) Phng trnh can bang momen tren truc ong c :

+ +
t
d
M J B M
dt
(2-45)
Trong o:
J _mo men quan tnh cua ong c va tai quy ve truc ong c, [kg.m
2
]
B_he so ma sat nht cua ong c va tai quy ve truc ong c, [Nm.s]
M
t
_mo men phu tai (nhieu), [Nm]
Bien oi Laplace hai ve ta c:

t
M(s) Js (s) B (s) M (s) + +
( )
t
M(s) M (s) Js B (s) +
S o khoi tng ng :




Ket noi cac s o khoi thanh phan tren ta co s o khoi cua ong c :





Ham truyen cua ong c DC vi tn hieu ra van toc :

m
m
m e
m e
K
K (s) (Ls R)(Js B)
G(s)
K K
U(s) (Ls R)(Js B) K K
1
(Ls R)(Js B)
+ +

+ + +
+
+ +
(2-46)
Hay:
( )
m
2
m e
K (s)
G(s)
U(s)
LJs (LB RJ)s K K RB

+ + + +
(2-47)
at
t
L
R
: hang so thi gian ien t.

c
J
B
: hang so thi gian c.
1
Js B +

M(s)

(s)

M
t
(s)

m
K
M(s)

I(s)

I(s)

(s)
1
Ls R +

e
K
U(s)

(s)

m
K
1
Js B +

M(s)

M
t
(s)

E(s)


46

m m
2 m e t c m e
t c t c
K K / RB (s)
G(s)
K K U(s) RB( s 1)( s 1) K K
s ( )s 1
RB

+ + + _
+ + + +

,

Hay:
2
1 2
(s) K
G(s)
U(s)
T s T s 1

+ +
(2-48)
trong o:
t c
1
m e
RB
T
K K RB

+
;
t c
2
m e
( )RB
T
K K RB
+

+
;
m
m e
K
K
K K RB

+

ien cam L cua phan ng rat nho, thng co the bo qua, khi o ta co :

m
m e m
m e
m e
K
RB K K K (s) K
G(s)
RJ
U(s) RJs RB K K Ts 1
s 1
RB K K
+

+ + +
+
+
(2-49)
trong o:
m
m e
K
K
RB K K

+
: he so khuech ai

m e
RJ
T
RB K K

+
: hang so thi gian
Nhan xet:
- Tong quat, ong c DC ieu khien van toc c mo ta bang ham truyen bac
hai. Neu bo qua ien cam th co the mo ta bang ham truyen bac nhat.
- ong c DC ieu khien bang ien ap phan ng t ban than no la mot he kn
co tn hieu hoi tiep la sc ien ong.
Neu tn hieu ra goc quay (ieu khien nh v), ta co s o khoi:





Ham truyen vi tn hieu ra goc quay (ieu khien nh v):

[ ]
m
m
m e
m e
K
K (s) 1 (Ls R)(Js B)
G(s)
K K
U(s) s s (Ls R)(Js B) K K
1
(Ls R)(Js B)
+ + _


+ + +
,
+
+ +
(2-50)
Neu bo qua ien cam cua phan ng, ta co:

( )
m
m e m
m e
m e
K
RB K K (s) K K
G(s)
U(s) s(RJs RB K K ) s Ts 1
RJ
s s 1
RB K K
+

+ + + _
+

+
,
(2-51)
trong o K va T c xac nh tng t nh cong thc (2-49).
I(s)

(s)

1
Ls R +

e
K
U(s)

(s)

m
K
1
Js B +

M(s)

M
t
(s)

(s)
1
s


47
2.5.4 Bo servo thuy lc
Xet bo servo thuy lc (con goi la kch thuy lc) gom hai bo phan c ban la van
ieu khien va xylanh lc nh tren hnh 2.10.










Hnh 2.10. Bo servo thuy lc
- Tn hieu vao : lng di ong x cua van
- Tn hieu ra : lng di ong y cua piston va tai trong.
Nguyen ly lam viec :
Van ieu khien la loai van can bang, tc la trang thai on nh, cac lc tac
dung len no luon c can bang.
Neu di ong nong van sang phai, dau t nguon cap se qua ca van vao buong
phai cua xylanh, ay piston qua trai, dau buong trai cua xylanh se qua ca van
ve be dau. Ngc lai, neu di ong nong van sang trai th piston se qua phai.
e ieu khien v tr cua tai trong ta ch ca n lam dch chuyen nong van bang
mot lc rat nho. Noi cach khac, ch can tac ong len van mot cong suat vao ra t
nho, ta co the ieu khien mot cong suat ra rat ln.
ng du ng : Bo servo thuy lc c dung rong rai trong cac may nang chuyen,
may ep nha, he ieu khien ban trt cua cac may cong cu co cong suat ln,
he thong ieu chnh toc o ong c Diesel,
Mo ta toan hoc :
Goi Q la lu lng dau chay vao xylanh, [m
3
/sec]
p=p
1
-p
2
la hieu ap gia hai buong xylanh, [N/m
2
]
x la lng di ong cua van, [m]
Trong cac van va xy lanh thuy lc, lu lng Q la ham cu a hai bien: x va p.
Moi quan he gia Q, x va p la quan he phi tuyen: Q= f(x, p)
Tuyen tnh hoa phng trnh phi tuyen nay tai lan can iem lam viec ( Q, x ,
p ) bang cach khai trien Taylor va gi lai cac so hang tuyen tnh ta co:

f f
Q Q (x x) ( p p)
x p

+ +

(2-52)
Trong o Q f (x, p) . Cac ao ham rieng lay tai x x ; p p .
Dau vao
Dau ra
y
x
Tai
p
1
p
2
Dau ra
Van
ieu khien
Xylanh lc
Q

Q


48
at:

1
f
K 0
x x; p p x

>



2
f
K 0
x x; p p p

>

(2-53)
Do ieu kien lam viec bnh thng tng ng vi Q=0 , x =0, p =0
nen t (2-52) va (2-53) ta co phng trnh tuyen tnh hoa:

1 2
Q K x K p (2-54)
(Dau tr ve phai the hien khi p tang th Q giam va ngc lai.)
Quan he tuyen tnh hoa gia Q, x va p c bieu dien tren hnh (2.11). Ho
ng ac tnh nay bao gom cac ng thang song song cach eu theo thong so x.
Mien gan goc toa o c quan tam nhieu nhat v s hoa t ong cua he thong
thng xay ra gan iem nay.










Hnh 2.11 ng ac tnh tuyen tnh hoa cua bo servo thuy lc
Lu lng dau Q chay vao xylanh bang toc o thay oi the tch dau trong
xylanh, tc la bang tch cua tiet dien piston A va van toc piston :

dy
Q A
dt
(2-55)
Lc F tao ra bi piston bang tch cua tiet dien piston va hieu ap:
F A. p (2-56)
Ket hp (2-56) vi (2-54) va (2-55) ta c:

1
2
A dy
F K x A
K dt
_


,
(2-57)
Vi mot lc toi a nh trc, neu hieu ap u ln th dien tch piston hoac the
tch xylanh co the nho. Nh vay e toi thieu hoa trong lng cua bo servo thuy lc
th chung ta phai co ap suat nguon u ln.
Gia thiet la piston lc dch chuyen mot tai bao gom khoi lng tai va lc ma
sat. Theo nh luat II Newton ta co:
x=0
p
Q
x=x
1
x=2x
1
x=-x
1
x=-2x
1

49

2
2
d y dy
m b F
dt dt
+ (2-58)
T (2-58) va (2-57) ta c:

2
1
2
2
d y dy A dy
m b K x A
dt K dt dt
_
+

,

Suy ra phng trnh vi phan cua bo servo thuy lc:

2 2
1
2
2 2
AK d y A dy
m b x
K dt K dt
_
+ +

,
(2-59)
Trong o m la khoi lng cua tai, b la he so ma sat nht.
Bien oi Laplace hai ve, ta c:

2
2 1
2 2
AK A
ms Y(s) b sY(s) X(s)
K K
_
+ +

,

Ham truyen cua bo servo thuy lc:

2
2 2
1 1
Y(s) 1 K
G(s)
X(s) s(Ts 1)
mK bK A
s s
AK AK

+ 1 _ +
+
1
, ]
(2-60)
Vi:
1
2
2
AK
K
bK A

+
: he so khuech ai

2
2
2
mK
T
bK A

+
: hang so thi gian
Trong thc te, hang so thi gian
2
2
2
mK
T
bK A

+
thng co gia tr rat nho nen
co the bo qua. Ham truyen n gian hoa se co dang tch phan:

Y(s) K
G(s)
X(s) s
(2-61)
Neu phan tch chi tiet hn ve s ro dau, o an hoi cua dau, lc thuy
ong..., ham truyen se co dang:

1 2
Y(s) K
G(s)
X(s) s(Ts 1)(T s 1)

+ +
(2-62)
vi T
1
, T
2
la ca c hang so thi gian. Thc te cac hang so thi gian phu thuoc
vao the tch dau trong toan bo he thong, the tch nay cang nho th cac hang so thi
gian cang nho.

50
2.5.5 He thong chat long
Khi khao sat ca c he thong co lien quan en dong chay cua chat long, ta can
phan biet hai trng hp: chay tang va chay roi. Neu ch so Reynold Re<2000 th
o la dong chay tang. Neu Re>4000 th o la dong chay roi.
He thong co dong chay tang c mo ta bang phng trnh vi phan tuyen
tnh. He thong co dong chay roi c mo ta bi phng trnh vi phan phi tuyen, he
thong nay co the tuyen tnh hoa vi gia thiet cac bien ch thay oi nho t gia tr on
nh (tuyen tnh hoa tai iem lam viec).
He chat long co thuy tr, dung lng va quan tnh thuy lc. Cac thong so nay
tng t nh ien tr, ien dung va ien cam he thong ien.
1) Thuy tr (tr khang thuy lc)
Thuy tr ac trng cho tac dung can tr dong chay cua van, ong dan.
Cong thc tong quat e xac nh thuy tr :

d( p)
R
dQ
s thay o i hieu ap
s thay o i lu lng

(2-63)
n v SI e o thuy tr la:
2
5
3 3
Pa N/ m
N.s / m
m / s m / s

Vi dong chay tang (tuyen tnh), hieu ap t le
vi lu lng:
p = p
1
p
2
= R.Q (2-64)
Thuy tr dong chay tang la mot hang so:

4
128 L
R
d

= hang so (2-65)
_o nht ong lc cua chat long, Pa/s hay N.s/m
2

L, d _chieu dai va ng knh trong cua ong dan, m
Vi dong chay roi (phi tuyen), hieu ap c tnh theo cong thc Fanning :

2
r
p K Q (2-66)
trong o:
2 5
r
8 f L
K
d

: he so chay roi (2-67)

_khoi lng rieng cua chat long , kg/m
3

f_he so ma sat cua ong dan, N.s/m
Thuy tr dong chay roi R
r
xac nh bi :



r r r
d( p)
R 2K Q 2 K . p
dQ

(2-68)
Thuy tr cung co the xac nh da vao o th ap suat-lu lng thu c t
thc nghiem nh tren hnh 2.12b) bang cach lay o doc cua tiep tuyen vi ng
cong tai iem lam viec. oi vi tng loai van, do tng hang san xuat, se co cac
ng cong thc nghiem p f (Q) cu the.
Q
p
1
p
2

51
2) Dung lng (dung khang thuy lc)
Dung lng C cua bon cha c xac nh bang
s thay oi the tch chat long trong bon cha can thiet
e tao nen s thay oi mot n v ap suat, tc la:

d
C
dp
V
[m
3
/Pa hay m
5
/N] (2-69)
Ap suat trong bon cha phu thuoc vao chieu cao h cua cot chat long, gia toc
trong trng g, va khoi lng rieng cua chat long: p gh
dp gdh (2-70)
S thay oi the tch chat long trong bon:
dV A.dh Q.dt (2-71)
vi A_tiet dien ngang cua bon cha,[m
2
]
T (2-69), (2-70), (2-71) ta co:
dV Adh
C
dp gdh g


A
(2-72)
T (2-69) va (2-71) ta co: dV C.dp Q.dt

1
p Qdt
C

vi
A
C
g

(2-73)
3) Quan tnh thuy lc
Lc tac dung len tiet dien A
0
cua ong dan bang tiet dien nhan vi hieu ap :
F = A
0
.p
Theo nh luat II Newton ta co:
0
dv
F A . p m
dt
(2-74)
v-toc o dong chay[m/s] ; A
0
-tiet dien ong dan [m
2
]; m-khoi lng chat long
[kg] ;
0
m LA -khoi lng rieng cua chat long[kg/m
3
]; L-chieu dai ong[m]
Do:
0
dv
dQ A
dt

Nen:
0
L dQ
p .
A dt

(2-75)
ai lng
0
p L
J
dQ/ dt A

[ Pa.s
2
/m
3
] goi la quan tnh thuy lc. No ac trng
cho hieu ap can thiet e lam tang mot n v lu lng trong 1 giay.
Dung khai niem quan tnh thuy lc J ta co the bieu dien hieu ap can thiet e
tang toc dong chat long trong ong dan nh sau:

dQ
p J
dt
vi
0
L
J
A

(2-76)
Ket hp ca ba yeu to thuy tr, dung lng, quan tnh thuy lc ta co phng
trnh tong quat cua he thong co dong chay tang :

dQ 1
J RQ Qdt p
dt C
+ +

(2-77)
Q
p
h


52
V du 2.10. Xet he thong mot bon cha nc tren hnh 2.12a), cac bien c nh
ngha nh sau:
Q : lu lng on nh ban au (hang so), m
3
/s
q
1
: thay oi nho cua lu lng vao so vi gia tr on nh, m
3
/s
q
2
: thay oi nho cua lu lng ra so vi gia tr on nh, m
3
/s
H : mc nc on nh (hang so), m
h : thay oi nho cua mc nc so vi gia tr on nh, m.








Hnh 2.12. a) He thong mc chat long b) ng cong ap suat - lu lng
Gia thiet dong chay la chay tang va v vay he thong la tuyen tnh. Neu chay
roi, he thong cung co the tuyen tnh hoa vi s thay oi cua cac bien la nho.
Lng thay oi the tch chat long trong bon:

1 2
dV Adh (q q )dt (2-78)
Bo qua quan tnh thuy lc. Vi dong chay tang ta co:

2
p p gh
q
R R R

(2-79)
Thay (2-79) vao (2-78) ta c:

1
dh gh
A q
dt R

+

1
A dh R
R h q
g dt g
_
+


,


1
dh R
RC h q
dt g
+

(2-80)
Bien oi Laplace hai ve vi gia thiet ieu kien au bang 0, ta c:
( )
1
R
RCs 1 H(s) Q (s)
g
+

(2-81)
( )
1
s 1 H(s) KQ (s) + (2-82)
Vi
RA
RC
g

: hang so thi gian

R
K
g

: he so khuech ai
R
2
Q q +
H h +
C,p
1
Q q +
Van ieu khien
Q
(p)
Q
p
Q
( P)
R
Q

0
p
(a) (b)

53
Xet q
1
la tn hieu vao, h la tn hieu ra, ta co ham truyen bac nhat:

1
H(s) R / g K
Q (s) RCs 1 s 1

+ +
(2-83)
Xet q
1
la tn hieu vao, q
2
la tn hieu ra, ta co ham truyen bac nhat:

2
1
Q (s) 1 1
Q (s) RCs 1 s 1

+ +
v
2
g
Q (s) H(s)
R

(2-84)
V du 2.11.
Xet he thong tren hnh 2.13. Trong he co hai bon cha noi thong vi nhau
bang mot oan ong ngan. ay la dang he thong bac hai co ta c ong tng ho,
ngha la he co hai phan t tch nang trong o phan t th hai co tac ong vao phan
t th nhat. Gia thiet ca c bien cua he ch thay oi nho tnh t gia tr on nh (tuyen
tnh hoa) va bo qua quan tnh thuy lc. Ta co cac phng trnh sau:
( )
1 2 1 2 1 1
p p g h h R q (2-85)

1
1 1
dh
C g q q
dt
(2-86)

2 2 2 2
p gh R q (2-87)

2
2 1 2
dh
C g q q
dt
(2-88)







Hnh 2.13. He thong mc chat long co s tac ong tng ho

T cac phng trnh (2-85) en (2-88) ta lap cac s o khoi hnh 2.14a
Bang viec noi cac tn hieu thch hp, ta co s o khoi cua toan bo he thong
nh hnh 2.14b.
Bang cac phep bien oi s o khoi, ta co s o khoi n gian nh hnh 2.14e
Neu q la tn hieu vao,
2
q la tn hieu ra, ta co ham truyen cua he la:

2
2
1 1 2 2 1 1 2 2 2 1
Q (s) 1
Q(s) R C R C s (R C R C R C )s 1

+ + + +

1
Q q +
1 1
H h +
C
1
, p
1
Q q +
Van ieu khien
2 2
H h +
2
Q q +
R
1
R
2
C
2
, p
2

54




a)






b)



c)


d)


e)


Hnh 2.14. a) S o khoi cac phan t cua he thong tren hnh 2.13
b) S o khoi toan bo he thong
c) e) Cac s o khoi rut gon.


2
g
R

H
2
(s)

Q
2
(s)

H
2
(s)

H
1
(s)

1
g
R

Q
1
(s)

Q
1
(s)

Q(s)

1
1
C gs

H
1
(s)

Q
2
(s)

Q
1
(s)

H
2
(s)

2
1
C gs

Q
1
(s)

Q(s)

H
1
(s)

H
2
(s)

1
g
R

Q
2
(s)

2
g
R

Q
2
(s)

Q
2
(s)

2 1
R C s
Q(s)

1 1
1
R C s 1 +

2 2
1
R C s 1 +

Q
2
(s)

Q(s)

2
1 1 2 2 1 1 2 2 2 1
1
R C R C s (R C R C R C )s 1 + + + +

1
1
C gs

2
1
C gs

Q
1
(s)

2 1
R C s
Q(s)

2
g
R

2
1
C gs

1
g
R

1
1
C gs


55
2.5.6 Phan t nhiet
Phan t nhiet co hai thong so ac trng la nhiet tr va nhiet dung.
1) Nhiet tr
Nhiet tr la ac tnh ngan can s truyen nhiet cua moi trng (vat the hay lu
chat). Nhiet tr R khi truyen nhiet gia hai moi trng c nh ngha :
R
S thay o i hieu nhie t o ; [ K]
S thay o i toc o truye n nhie t; [W]

Cach xac nh nhiet tr phu thuoc vao phng phap truyen nhiet. Co ba
phng phap truyen nhiet la: dan nhiet, oi lu nhiet va bc xa nhiet.
Truyen nhiet bang dan nhiet hoac oi lu :
q K. (2-89)
trong o:
q _ toc o truyen nhiet (thong lng nhiet), W
_ hieu nhiet o, K
K_ he so , W/K
He so K c cho bi:

kA
K
X

neu dan nhiet

K HA neu oi lu nhiet
vi k : he so dan nhiet cua vat dan, W/(m. K)
A : dien tch be mat truyen nhiet, m
2
X : o day vat dan nhiet, m
H : he so oi lu nhiet gia hai moi trng, W/(m
2
.K)
- Nhiet tr dan nhiet va oi lu nhiet:

d( ) 1
R
dq K

[K/W] (2-90)
V k va H hau nh khong oi nen nhiet tr cua hai loai nay la hang so.
Truyen nhiet bang bc xa nhiet gia hai vat the:

4 4
1 2 r
q K ( ) (2-91)
trong o:
q _ toc o truyen nhiet (thong lng nhiet), W
K
r
_he so phu thuoc vao o phat xa, kch thc, cau truc be mat pha t
xa va kch thc, cau truc be mat nhan nhiet.

1
_ nhiet o tuyet oi cua bo phat , K

2
_ nhiet o tuyet oi cua phan thu, K


56
V hang so Kr rat nho nen truyen nhiet bc xa la ang ke khi nhiet o cua
bo phat ln hn nhieu so vi phan thu, tc la
1
>>
2
. Trng hp nay phng
trnh (2-91) co the viet lai la:

4
r
q K
vi
4 4
4
1 2
la o chenh lech nhiet hieu qua cua bo phat va phan thu.
Nhiet tr bc xa nhiet :

3
r
d 1
R
dq 4K

(2-92)
Nhiet tr bc xa co the xem la hang so trong mot dai ieu kien hoat ong
nho quanh iem lam viec (tuyen tnh hoa).
Nhiet dung:
Nhiet dung C la nhiet lng can thiet e lam thay oi mot n v nhiet o.
C mc
Vi m _ khoi lng cua vat hay lu chat ang xet, kg
c _ nhiet dung rieng cua vat hay lu chat ang xet, J/(kg. K)
C _nhiet dung cua he thong nhiet, J/ K
Goi q
1
la dong nhiet chay vao va q
2
la dong nhiet chay ra, (q
1
-q
2
) c tch tu
lai trong phan t di dang noi nang. Ta co phng trnh can bang nhiet:

1 2
d d
q q mc C
dt dt

(2-93)
V du 2.12. Xet mot buong trao oi nhiet nh mo ta tren hnh 2.15. Gia s rang
buong nhiet c cach ly e loa i bo s that thoat nhiet ra moi trng chung quanh,
khong co nhiet lu tr trong bo phan cach ly va chat long trong buong c tron
hoan hao tc la co nhiet o ong nhat. V vay ch can dung mot bien nhiet o duy
nhat e mo ta nhiet o cua chat long trong buong va chat long chay ra.
Goi:
i
_ nhiet o cua chat long vao trang thai xac lap, K

o
_ nhiet o cua chat long ra trang thai xac lap, K
G _ lu toc khoi lng cua chat long xac la p, kg/s
m _khoi lng chat long trong buong, kg
c _nhiet dung rieng cua chat long, J/kg. K
C _nhiet dung, J/ K
R _nhiet tr, K/W
H _ toc o gia nhiet xac lap, W
Gia thiet nhiet o cua chat long vao c gi khong oi
i
va toc o gia
nhiet bi ien tr nung thay oi ot ngot t H en H+h
i
, trong o h
i
la lng thay
oi nho cua toc o gia nhiet. Toc o truyen nhiet trong chat long luc o thay oi
ot ngot t H en H+h
O
. Nhiet o cua chat long ra se thay oi t
o
en
o
+.

57
Trong trng hp nay ta co :

o
o
1
h Gc ; C mc ; R
h Gc

Phng trnh vi phan bieu dien s can bang nhiet theo (2-93) :

i o
d
C h h
dt

; hay
i
d
RC Rh
dt

+
Ham truyen gia va h
i
la:

i
(s) R
H (s) RCs 1

+

vi: [ ] (s) L (t) va [ ]
i i
H (s) L h (t)






(a) (b)
Hnh 2.15. S o nguyen ly va s o khoi cua buong trao oi nhiet
Trong thc te nhiet o cua chat long chay vao co the dao ong va tac ong
nh mot nhieu phu tai. (Neu muon nhiet o chat long ra khong oi th phai lap at
mot bo ieu khien toc o gia nhiet e bu vao s dao ong cua nhiet o chat long
vao). Neu nhiet o cua cha t long vao thay oi ot ngot t
i
en
i i
+ trong
khi toc o gia nhiet H va toc o dong chay G c gi khong oi. Khi o toc o
truyen nhiet se thay oi t H en H+ h
O
va nhiet o cua chat long ra se thay o i
t
o
en
i o
+ . Phng trnh can bang nhiet trong trng hp nay la:

i o
d
C h h
dt

i o
d
C Gc h
dt

i
d
RC
dt

+
Ham truyen gia va
i
la:

i
(s) 1
(s) RCs 1

+
(2-94)
trong o: [ ] (s) L (t) va [ ]
i i
(s) L (t)
Neu he thong nhan ca hai ta c ong vao la
i
h va
i
trong khi toc o gia
nhiet H va toc o dong chay G c gi khong oi th s thay oi cua nhiet o
chat long ra co the bieu dien bang phng trnh vi phan:

i i
d
RC Rh
dt

+ + (2-95)
S o khoi cua he thong nhiet cho trng hp nay c bieu dien tren hnh 2.15b .
1
RCs

(s)

i
(s)
H
i
(s)

R
Bo nung
lanh
nong
Mixer

58
2.6 Graph tn hieu
Ben canh phng phap bieu dien he thong ieu khien bang s o khoi, ngi
ta con dung graph tn hieu (s o dong tn hieu) do S.J. Mason a ra nam 1953.
Phng phap nay co u iem la a ra c cong thc tong quat e tnh ham
truyen cua he thong co cau truc phc tap ma khong can phai bien oi s o.
1) nh ngha
Graph tn hi-u la mot s o gom cac nhanh va nut.
- Nut: Moi nut la mot iem bieu dien mot bien hay mot tn hieu trong he thong.
- Nhanh: Moi nhanh la mot ng noi trc tiep hai nut, tren moi nhanh co ghi
mui ten ch chieu cua tn hieu va ghi ham truyen cho biet moi quan he gia
tn hieu hai nut.


- Nut nguon: la nut ch co cac nhanh h*>ng ra.
- Nut ch: la nut ch co cac nhanh h*>ng vao.
- Nut hon hp: la nut co ca cac nhanh ra va cac nhanh vao.
- ng tien: la ng gom cac nhanh lien tiep co cung hng tn hieu i t
nut nguon en nut ch va ch qua moi nut mot lan. Ham truyen cua mot
ng tien bang tch cac ham truyen cua cac nhanh tren ng tien o.
- Vong kn: la ng khep kn bao gom cac nhanh lien tiep co cung mot hng
tn hieu va ch i qua moi nut mot lan. Ha m truyen cua mot vong kn bang
tch cac ham truyen cua cac nhanh tren vong kn o.
2) ai so graph tn hieu
- Cac nhanh noi tiep:


- Cac nhanh song song:




- Nut hon hp:





3 1 1 2 2
X X G X G + ;
4 3 3 1 1 3 2 2 3
X X G X G G X G G +
X
2
X
1
X
2 X
1 1 2
G G +
G
1
G
2

X
2
= G.X
1

X
1
G

X
3 X
1
X
2
X
3 X
1 G
1
G
2
G
1
G
2

X
1
X
2
X
3
X
4
G
1
G
2
G
3
G
2
G
3

X
2
X
4
G
1
G
3

X
1


59
- Kh vong kn:






3 2 2
2 1 1 3 3
X X G
X X G X G

'
+

3 1 1 2 3 2 3
X X G G X G G +
1 2
3 1
2 3
G G
X X
1 G G

- S tng quan gia s o khoi va graph tn hieu :




































G(s)
R(s) Y(s)
R(s)
Y(s)

G(s)

R(s)
H(s)
G(s)
Y(s)
E(s)
R(s)
Y(s)
E(s)
G
2
(s)
)
G
1
(s)
Z(s)
H(s)
R(s) E(s)
G(s)
Z(s)
H(s)
Y(s)
R
1
(s)
G
11

Y
1
(s)
G
12

R
2
(s)
G
21

G
22

Y
2
(s)
-H(s)
R
2
(s)
R
1
(s) G
11

G
22
Y
2
(s)
Y
1
(s)
G
21
G
12

-H(s)

E(s)
Y(s)

R(s)

1

G(s)

1

Y(s)

R(s)

G
2
(s)

E(s)

G
1
(s)

-H(s)

1

Z(s)

X
3
X
1
1 2
2 3
G G
1 G G


X
1
G
3
G
1 X
2
G
2
X
3 X
3
X
1
G
1
G
2
G
2
G
3

1

Y(s)

R(s)

G(s)

E(s)

1

Z(s)

1

Y(s)


60
3) Cong thc Mason
Ham truyen tng ng cua he thong t ong bieu dien bang graph tn
hieu co the tnh theo cong thc:

k k
k
1
G P

trong o : P
k
: Ham truyen cua ng tien th k
: nh thc cua graph tn hieu

i i j i j m
i i, j i, j,m
1 L L L L L L ... + +



i
L

: Tong cac ham truyen cua cac vong kn co trong s o graph.

i j
L L

: Tong cac tch ham truyen cua hai vong kn khong dnh nhau.
(khong dnh = khong co nut nao chung; dnh = co t nhat mot nut chung)

i j m
L L L

: Tong cac tch ham truyen cua ba vong kn khong dnh nhau.

k
: nh thc con th k, suy ra t bang cach bo i cac vong kn co dnh vi
ng tien th k.
Neu he thong cho dang s o khoi, muon ap dung c cong thc Mason,
trc het ta phai chuyen s o khoi thanh s o graph. Khi chuyen t s o khoi
sang graph tn hieu can lu y:
- Co the gop hai bo tong (hoac hai iem re) lien nhau thanh mot nut.
- Co the gop mot bo tong va mot iem re nhanh lien sau no thanh mot nut.
- Khong the gop mot iem re va mot bo tong lien sau no thanh mot nut.
V du 2.13. Tm ham truyen cua he thong co s o khoi nh hnh ve:






Giai. Graph tn hieu tng ng :





He c hai <*7ng ti$n:
1 1 2 3
P G G G ;
2 1 4
P G G
He co nam vong kn:
R(s)

Y(s)

G
2

G
4

G
1

G
3

H
2

H
1

G
1 G
2
G
3 1

1

-1

-H
1
-H
2
G
4
R(s)

Y(s)


61

1 1 2 3
L G G G ;
2 1 4
L G G ;
3 2 1
L G H ;
4 2 3 2
L G G H ;
5 4 2
L G H
Nhan xet:
- Cac vong kn va ng tien co chung t nha t mot nhanh G
i
th se co t nhat hai nut
chung nen chung dnh nhau. Trng hp nay ch can kiem tra nhanh ham truyen ca c
vong kn va ng tien tng ng, khong nhat thiet phai kiem tra tren graph.
- Cac vong kn va ng tien kho ng co nhanh G
i
nao chung van co the dnh nhau
mot nut hoac khong dnh, khi can kiem tra cu the tren graph.
He thong cho v du nay co 5 vong kn eu dnh nhau nen:

1 2 3 4 5
1 (L L L L L ) + + + +
Ca 5 vong kn eu dnh vi cac ng tien P
1
va P
2
nen:
1
1 ;
2
1
Ham truyen cua he thong tnh theo cong thc Mason:
( )
1 2 3 1 4
1 1 2 2
1 2 3 1 4 2 1 2 3 2 4 2
G G G G G 1
G(s) P P
1 G G G G G G H G G H G H
+
+
+ + + + +

V du 2.14. Tm ham truyen cua he thong mo ta bi s o graph sau ay:







Giai.
Ham truyen cua cac ng tien:

1 1 2 3 4 5
P G G G G G ;
2 1 6 4 5
P G G G G ;
3 1 2 7
P G G G
Ham truyen cua cac vong kn :

1 4 1
L G H ;
2 2 7 2
L G G H ;
3 6 4 5 2
L G G G H ;
4 2 3 4 5 2
L G G G G H
Vong mot khong dnh vao vong hai nen:

1 2 3 4 1 2
1 (L L L L ) L L + + + +
Ca bon vong kn eu dnh vi P
1
va P
2
. Nh vay, bo i L
1
, L
2
, L
3
, L
4
va
L
1
L
2
trong , ta c:

1 2
1
Vong L
1
khong dnh vi P
3
nen:
3 1
1 L
Ham truyen cua he thong tnh theo cong thc Mason:

1 1 2 2 3 3
Y(s) 1
G(s) (P P P )
R(s)
+ +

1 2 3 4 5 1 6 4 5 1 2 7 4 1
4 1 2 7 2 6 5 4 2 2 3 4 5 2 4 1 2 7 2
G G G G G G G G G G G G (1 G H )
1 G H G G H G G G H G G G G H G H G G H
+ + +

+ + + + +

G
7
Y(s)
R(s)

G
1
-H
2
G
2
G
3
G
4
G
5 1

G
6
-H
1

62
2.7 Mo hnh phng trnh trang thai
2.7.1 Khai quat
Dung ham truyen e mo ta va nghien cu he thong thuan li hn dung
phng trnh vi phan nhng van con mot so han che:
- Ch ap dung c vi ieu kien ban au bang 0.
- Ch mo ta c quan he tuyen tnh mot vao, mot ra (he SISO).
- Ch ap dung c cho he thong tuyen tnh bat bien, khong ap dung c
cho he phi tuyen hay he co thong so bien oi theo thi gian.
e giai quyet cac van e tren, ngi ta dung phng phap khong gian trang
thai. Phng phap nay s dung kien thc ve ai so ma tran thay cho ham bien
phc va khao sat c khong ch rieng quan he gia cac tn hieu vao, ra ma ca s
thay oi ca c bien so khac ben trong he thong va anh hng cua cac gia tr ban au
cua chung ti tn hieu ra. V du, ben canh tn hieu ra cua ong c la van toc chung
ta cung muon quan sat ca gia toc, dong ien, ton hao nang lng,
Trang thai cua he thong la tap hp nho nhat cac bien (goi la bien trang thai)
ma neu biet gia tr cac bien nay tai thi iem t=t
0
va biet cac tn hieu vao t t
0
, ta
hoan toan co the xac nh c ap ng cua he thong tai moi thi iem t t
0
. V i
he thong tuyen tnh bat bien, thi iem au thng c chon la t
0
=0.
Bien trang thai khong nhat thiet phai la nhng thong so o c (bien vat ly).
Cac bien khong ai dien cho cac ai lng vat ly (ch la bien toan hoc) cung co
the chon lam bien trang thai. Mot he thong co the mo ta bang cac mo hnh trang
thai khac nhau, tuy theo ca ch chon bien tra ng thai. e mo ta he thong bac n can
dung n bien trang thai, hp thanh vect cot goi la vect trang tha i, ky hieu la:
[ ]
T
1 2 n
x x x ... x (2-96)
Dung bien trang thai ta co the chuyen phng trnh vi phan bac n mo ta he
thong thanh he n phng trnh vi phan bac nhat viet di dang ma tran nh sau :
x(t) Ax(t) Br(t) + & : phng trnh trang thai (2-97)
y(t) Cx(t) Dr(t) + : phng trnh au ra (2-98)
trong o: x(t) la vect trang thai
r(t) la tn hieu vao, y(t) la tn hieu ra cua he.
Vi he tuyen tnh bat bien MIMO th A, B, C, D la cac ma tran he so hang.
Vi he tuyen tnh bat bien SISO th A la ma tran, B la vect co t, C la vect
hang, D la mot hang so.

11 12 1
21 22 2
1 2
n
n
n n nn
a a ... a
a a ... a
A
... ... ... ...
a a ... a
1
1
1

1
1
]
;
1
2
n
b
b
B
b
1
1
1

1
1
]
M
; C = [ c
1
c
2
c
n
] ; D = d
1

Neu he tuyen tnh bat bien SISO co ham truyen vi bac t so nho hn bac
mau so (goi la he hp thc chat) th D = 0.

63
V du 2.15. Viet phng trnh trang thai mo ta he thong tren hnh 2.16.









Gia i phong cac lien ket va viet cac phng trnh can bang lc, ta c:

2
2 1 2
2 2 2 1 2 2
dy dy d y
F b k (y y ) m
dt dt dt
1

1
]


2
2 1 1 1
2 2 2 1 1 1 1 1 2
dy dy dy d y
b k (y y ) b k y m
dt dt dt dt
1
+
1
]

at cac bien trang thai :

1 1
x y ;
2 2
x y ;
1
3
dy
x
dt
;
2
4
dy
x
dt

Ta viet c cac phng trnh trang thai :

1 3
x x &

2 4
x x &

2
1 2 1 2 2
3 1 2 1 2 3 4 2
1 1 1 1
d y 1 k b b b
x (k k )x x x x
m m m m dt
+
+ + + &

2
2 2 2 2 2
4 1 2 3 4 2
2 2 2 2 2
d y k k b b F(t)
x x x x x
m m m m m dt
+ + &
Hay:

x(t) Ax(t) Br(t)
y(t) Cx(t)
+
'

&

Vi:
1
2
3
4
x
x
x
x
x
1
1
1

1
1
]
;
1
2
3
4
x
x
x
x
x
1
1
1

1
1
]
&
&
&
&
&
;
1 2 2 1 2 2
1 1 1 1
2 2 2 2
2 2 2 2
0 0 1 0
0 0 0 1
k k k b b b
A
m m m m
k k b b
m m m m
1
1
1
1 + +

1
1
1

1
]
;

2
0
0
B 0
1
m
1
1
1
1
1
1
1
]
;
1 0 0 0
C
0 1 0 0
1

1
]
;
1 1
2 2
y x
y(t)
y x
1 1

1 1
] ]
; r(t)=F(t)
F(t)

k
1
m
1
m
2
k
2 b
2
b
1
y
2
(t)

y
1
(t)

Hnh 2.16
m
1
m
2
F(t)

k
2
(y
2
-y
1
)
2 2 1
b (y -y ) & &
k
1
y
1
1 1
b y&

64
2.7.2 Lap phng trnh trang thai t phng trnh vi phan
1) Phng trnh vi phan khong cha ao ham tn hieu vao
Xet he thong tuyen tnh SISO co tn hieu va o r(t), tn hieu ra y(t), mo ta bi
phng trnh vi phan:

n n 1
n 1 0 0
n n 1
d y d y
a ... a y(t) b r(t)
dt dt

+ + + (2-99)
e y la ve trai co he so a
n
= 1. Neu a
n
1 ta co the chia hai ve cho a
n
e
a ve dang tren.
at n bien trang thai theo qui tac: Bien sau bang ao ham cu a bien trc,
bien th nhat bang tn hieu ra.

1 2 1 n n 1
x y(t), x x , ..., x x

& & (2-100)

n 1 n
2 3 n n
n 1 n
d y d y
x y(t) , x y(t) , ... , x , x
dt dt

& && &

Thay cac bien trang thai vao phng trnh vi phan, ta c :

n n 1 n 1 2 0 1 0
x a x ... a x a x b r

+ + + + & (2-101)
Ket hp (2-100) va (2-101) ta c:

1 2
2 3
n 1 n
n 0 1 1 2 n 1 n 0
x x
x x
...
x x
x a x a x ... a x b r

'

&
&
&
&
(2-102)
Viet di dang ma tran ta c:

1 1
2 2
n 1 n 1
0 1 2 n 1 0 n n
x x 0 1 0 0 0
0 0 1 0 0 x x
r
0 0 0 ... 1 0 x x
a a a ... a b x x

1 1 1 1
1 1 1 1
1 1 1 1
1 1 1 1 +
1 1 1 1
1 1 1 1
1 1 1 1

] ] ] ]
& L
& L
M M M O M M M M
&
&

ap ng cua he thong :
[ ]
1
2
n 1
n
x
x
y(t) 1 0 ... 0 0
x
x

1
1
1
1
1
1
1
]
M
Vay he phng trnh trang thai mo ta he thong la:

x Ax Br
y Cx Dr
+

'
+

&
(2-103)

65
Trong o :
1
2
n 1
n
x
x
x
x
x

1
1
1
1
1
1
1
]
M ;
0 1 2 n 1
0 1 0 0
0 0 1 0
A
0 0 0 ... 1
a a a ... a

1
1
1
1
1
1
1

]
L
L
M M M O M ;
0
0
0
B
0
b
1
1
1
1
1
1
1
]
M ;
C = [1 0 0 0] ; D= 0.
S o khoi cua he thong co the bieu dien nh hnh ve:






V du 2.16. Xet he thong c kh tren hnh 2.18. Gia thiet he thong la tuyen tnh.
Lc tac ong F(t) t ben ngoai la tn hieu vao va khoang dch chuyen y(t) cua
khoi lng m la tn hieu ra. y(t) c o t v tr can bang.
Theo nh luat II Newton ta co :

2
2 i
d y dy
m F F(t) b k.y(t)
dt dt

my by ky F + + && &
at cac bien trang thai :

1 2 1
x y, x x y & &

2
x y & &&
Thay vao phng trnh vi phan, ta c :

1 2
2 1 2
x x
k b 1
x x x F
m m m

'
+

&
&

Phng trnh au ra :
1
y x
Viet lai di dang ma tran :

1 1
2 2
0 1 0
x x
F
k b 1
x x
m m m
1 1
1 1
1 1
+
1 1
1 1

] ]
] ]
&
&

[ ]
1
2
x
y 1 0
x
1

1
]

Hnh 2.18
F(t)

b
k
m
y(t)

x
n
a
n-2
a
1
a
0
x
n-1 x
2
x
1
=y r

b
0
a
n-1

2
x
x
1
=y r = F

b/m
k/m

1
m

Hnh 2.17

66
2) Phng trnh vi phan co cha ao ham tn hieu vao
Xet he thong mo ta bi phng trnh vi phan :

n n 1 n n 1
n 1 0 n n 1 0
n n 1 n n 1
d y d y d r d r
a ... a y(t) b b ... b r(t)
dt dt dt dt



+ + + + + + (2-104)
Vi tn hieu vao r(t), tn hieu ra y(t). Cac he so b
n
, b
n-1
,,b
0
co the bang 0.
at n bien trang thai nh sau:
- Bien th nhat : Neu bac ve phai < n (tc b
n
=0), at x
1
= y
Neu bac ve phai = n (tc b
n
0), at x
1
= y
0
r
- Bien th i (i=2,3,,n):
i i 1 i 1
x x r

&
va at:
n n 1 n n 2 n 1 1 2 0 1 n
x a x a x ... a x a x r

+ &
Vi cach at bien trang thai nh tren, ta se xac nh c cac he so:

0 n
1 n 1 n 1 0
2 n 2 n 1 1 n 2 0
n 1 1 n 1 n 2 n 2 n 3 2 1 1 0
n 0 n 1 n 1 n 2 n 2 1 1 0 0
b
b a
b a a
b a a ... a a
b a a ... a a

'

M
(2-105)
Phng trnh trang thai cua he thong se la :

x Ax Br
y Cx Dr
+

'
+

&
(2-106)
trong o :
0 1 2 n 1
0 1 0 0
0 0 1 0
A
0 0 0 ... 1
a a a ... a

1
1
1
1
1
1
1

]
L
L
M M M O M ;
1
2
n 1
n
B

1
1

1
1
1

1
1

]
M ; C = [ 1 0 0 0] ; D=
0
=b
n

S o khoi cua he thong co the bieu dien nh hnh ve:







r(t)

x
n
a
n-1

n-1
a
1
a
0
x
2
y(t)

0
x
1

n
Hnh 2.19

67
V du 2.17. Viet phng trnh trang thai cua he co phng trnh vi phan :
y(t) 5y(t) 6y(t) 8y(t) 8r(t) 24r(t) + + + + & &&& && & (1)
Giai. a t cac bien trang thai nh sau:

1
2 1 1
3 2 2
x y
x x r
x x r

'

&
&

va at:
3 2 3 1 2 0 1 3 3 2 1 3
x a x a x a x r 5x 6x 8x r + + &
Ta c:
1
1 2 1
2 1 3 2 1
y x
y x x r
y x r x r r

+
'

+ + +

& &
& & && &


3 2 1 3 2 1 3 2 1
y x r r 5x 6x 8x r r r + + + + + & && & && &&& &

3 2 1 3 2 1
y 5y 6y 8y ( 5x 6x 8x r r r) + + + + + + & && &&& && &

3 2 1 2 1 1
(5x 5 r 5 r) (6x 6 r) 8x + + + + + + &

1 2 1 3 2 1
y 5y 6y 8y r ( 5 )r ( 5 6 )r + + + + + + + + && & &&& && & (2)
ong nhat (2) vi phng trnh (1) ta c :

1
2 1 2
3 2 1 3 2 1
0
5 8 8
5 6 24 24 5 6 16

+
'

+ +

Vay he phng trnh trang thai cua he thong la:

1 2 1 2
2 3 2 3
3 3 2 1 3 1 2 3
x x r x
x x r x 8r
x 5x 6x 8x r 8x 6x 5x 16r
+

+ +
'

&
&
&

Hay di dang ma tran:

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

ap ng cua he thong :
[ ]
1
1 2
3
x
y x 1 0 0 x
x
1
1

1
1
]

V du 2.18. Viet phng trnh trang thai cua he co phng trnh vi phan :
y(t) 8y(t) 4y(t) 2u(t) 10u(t) 3u(t) + + + + && & && &
Giai. a t cac bien trang thai nh sau:

1 0
2 1 1
x y u
x x u

'

&


68
va at:
2 1 2 0 1 2 2 1 2
x a x a x u 8x 4x u + + &
Ta c:
1 0
y x u +

1 0 2 1 0
y x u x u u + + + & & & &

2 1 0 2 1 2 1 0
y x u u 8x 4x u u u + + + + + && & & && & &&

2 1 2 1 0
y 8y 4y ( 8x 4x u u u) + + + + + && & & &&

2 1 0 1 0
(8x 8 u 8 u) (4x 4 u) + + + + + &

0 1 0 2 1 0
y 8y 4y u ( 8 )u ( 8 4 )u + + + + + + + && & && &
ong nhat he so vi phng trnh a cho, ta c :

0
1 0 1 0
2 1 0 2 1 0
2
8 10 10 8 6
8 4 3 3 8 4 43

+
'

+ +

Vay he phng trnh trang thai cua he thong la:

1 2 1 2
2 2 1 2 1 2
x x u x 6u
x 8x 4x u 4x 8x 43u
+
'
+ +

&
&

Hay di dang ma tran:

1 1
2 2
x x 0 1 6
u
4 8 x x 43
1 1 1 1
+
1 1 1 1

] ] ] ]
&
&

ap ng cua he thong:
[ ]
1
2
x
y 1 0 2u
x
1
+
1
]

2.7.3 Lap phng trnh trang thai t ham truyen va s o khoi
Cach 1: Bien oi ham truyen thanh phng trnh vi phan, sau o s dung cac
phng phap a neu phan trc.
V du 2.19. Lap phng trnh trang thai mo ta he thong co s o khoi nh sau:





Giai. Ham truyen cua he thong:

2 4
.
8(s 3) s (s 2)
G(s)
2 4 1
s(s 2)(s 3) 8
1 . .
s (s 2) (s 3)
+ +

+ + +
+
+ +


3 2
Y(s) 8(s 3) 8s 24
R(s) s(s 3)(s 2) 8
s 5s 6s 8
+ +

+ + +
+ + +


3 2
(s 5s 6s 8)Y(s) (8s 24)R(s) + + + +
r

y
e

4
s 2 +

2
s

1
s 3 +


69
Bien oi Laplace ngc hai ve ta thu c phng trnh vi phan:
y(t) 5y(t) 6y(t) 8y(t) 8r(t) 24r(t) + + + + & &&& && &
T ket qua v du 2.17 ta c phng trnh trang thai cua he la :

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

[ ]
1
1 2
3
x
y x 1 0 0 x
x
1
1

1
1
]

Cach 2: at bien trang thai trc tiep tren s o khoi.
Hay xet bai toan v du 2.19 va at ca c bien trang thai ngay tren s o khoi.





Vi cach at bien trang thai nh tren, ta co cac quan he:

1 2
4
X (s) X (s)
s 2

+


1 1 2
sX (s) 2X (s) 4X (s) +

1 1 2
x (t) 2x (t) 4x (t) + & (1)

2 3
2 2
X (s) E(s) [R(s) X (s)]
s s


2 3
sX (s) 2X (s) 2R(s) +

2 3
x (t) 2x (t) 2r(t) + & (2)
3 1
1
X (s) X (s)
s 3

+


3 3 1
sX (s) 3X (s) X (s) +

3 1 3
x (t) x (t) 3x (t) & (3)
Ket hp (1), (2) va (3) ta c he phng trnh trang thai:
1 1
2 2
3 3
x (t) x (t) 0 2 4 0
x (t) 0 0 2 x (t) 2 r(t)
1 0 3 0 x (t) x (t)
1 1 1 1
1 1 1 1
+
1 1 1 1
1 1 1 1
] ] ] ]
&
&
&

ap ng cua he thong :
r

x
1
=y
e

4
s 2 +

2
s

1
s 3 +

x
2
x
3

70
[ ]
1
1 2
3
x (t)
y(t) x (t) 1 0 0 x (t)
x (t)
1
1

1
1
]

Nhan xet: Vi cung mot s o khoi, ham truyen, hay phng trnh vi phan
nhng tuy theo cach at ca c bien trang thai ma ta co the lap c cac he phng
trnh trang thai khac nhau. Do o, mot he thong co the mo ta bang nhieu mo hnh
trang thai.
V du 2.20 Hay lap phng trnh trang thai mo ta he thong co s o khoi nh sau:





Giai. Ve lai s o khoi cua he thong tren vi cac bien trang thai c at nh sau:





Vi cach at bien trang thai nh tren, ta co cac quan he:

1 2
8
X (s) X (s)
s 3

+


1 1 2
sX (s) 3X (s) 8X (s) +

1 1 2
x (t) 3x (t) 8x (t) + & (1)

2 3
1
X (s) X (s)
s 2

+


2 2 3
sX (s) 2X (s) X (s) +

2 2 3
x (t) 2x (t) x (t) + & (2)
3 1
1
X (s) [R(s) X (s)]
s


3 1
sX (s) R(s) X (s)

3 1
x (t) x (t) r(t) + & (3)
Ket hp (1), (2) va (3) ta c he phng trnh trang thai:

1 1
2 2
3 3
x (t) x (t) 0 3 8 0
x (t) 0 2 1 x (t) 0 r(t)
1 0 0 1 x (t) x (t)
1 1 1 1
1 1 1 1
+
1 1 1 1
1 1 1 1
] ] ] ]
&
&
&

r

y

8
s(s 2)(s 3) + +

r

1
s

x
1
= y
8
s 3 +

1
s 2 +

x
2
x
3

71
ap ng cua he thong : [ ]
1
1 2
3
x (t)
y(t) x (t) 1 0 0 x (t)
x (t)
1
1

1
1
]

Nhan xet: Neu chuyen oi th t cac khoi trong s o khoi ta se thu c cac mo
hnh trang thai khac nhau.
2.7.4 Tm ham truyen t phng trnh tra ng thai
Cho he SISO co mo hnh trang thai :

x Ax Br
y Cx Dr
+

'
+

&

Bien oi Laplace hai ve phng trnh th nhat vi ca c ieu kien au bang 0, ta
c :
sX(s) = AX(s)+ BR(s)
(sI A)X(s) = BR(s) ( vi I la ma tran n v)
X(s) = (sI A)
1
BR(s)
Tng t, anh Laplace cua phng trnh th hai la:
Y(s) = CX(s)+ DR(s)
Vi hai ket qua tren ta suy ra:
Y(s) = [C(sI A)
1
B + D] R(s)
Ham truyen cua he thong :

1
Y(s)
G(s) C(sI A) B D
R(s)

+
Nhan xet :
- e tranh phai tnh ma tran nghch ao, co the dung cong thc:

1
det(sI A BC)
G(s) C(sI A) B D 1 D
det(sI A)

+
+ +

- Phng trnh det(sIA) = 0 chnh la phng trnh ac tnh cua he thong.
Noi cach khac, cac gia tr rieng cua ma tran A chnh la cac cc cua G(s).

V du 2.21. Cho he thong co phng trnh trang thai :

1 1
2 2
x (t) x 5 1 2
r(t)
x (t) x 1 0 0
1 1 1 1
+
1 1 1 1
] ] ] ]
&
&

[ ]
1
2
x (t)
y(t) 1 0,5
x (t)
1

1
]

Hay xac nh ham truyen cua he thong.

72
Giai.
Cach 1:
1
G(s) C(sI A) B

(D= 0)
Ta co:
1 0 5 1 s 5 1
(sI A) s
0 1 1 0 1 s
+
1 1 1

1 1 1

] ] ]

Ap dung cong thc tnh nghch ao ma tran cap hai :

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

1 1

1 1

] ]

Ta c:
1
2
s 1 s 1
1 1
(sI A)
1 s 5 1 s 5 det(sI A) s 5s 1

1 1

1 1
+ + + +
] ]


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

1 1 1

1 1 1
+ + + + +
] ] ]


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

1 +

1
+ + + +
]

Do o :
2
2s 1
G(s)
s 5s 1
+

+ +

Cach 2:

1 0 5 1 s 5 1
sI A s
0 1 1 0 1 s
+
1 1 1

1 1 1

] ] ]

[ ]
s 5 1 2 s 5 1 2 1 s 7 2
sI A BC 1 0,5
1 s 0 1 s 0 0 1 s
+ + +
1 1 1 1 1
+ + +
1 1 1 1 1

] ] ] ] ]


1
det(sI A BC)
G(s) C(sI A) B 1
det(sI A)

(D=0)

2
2 2
s 7s 2 2s 1
G(s) 1
s 5s 1 s 5s 1
+ + +

+ + + +



73
Chng 3
AC TNH ONG HOC
Noi dung chng nay e cap en hai van e:
- Khao sat ac tnh ong hoc cua cac khau ong hoc c ban.
- Xay dng ac tnh ong hoc, cu the la ac tnh tan so cua he thong.
chng 2, khi xay dng mo ta toan cho cac phan t ieu khien chung ta
nhan thay co nhng phan t mac du khac nhau ve ban chat vat ly nhng lai co
dang mo hnh toan hoc giong nhau (v du he lo xo-khoi lng-giam chan, mach
ien LRC, ong c ien DC eu co the mo ta bang phng trnh vi phan va ham
truyen bac hai; lo xo, cam bien, ien tr eu co ham truyen t le,...). e thuan tien
cho viec khao sat, ngi ta chia chung thanh tng nhom va goi la khau ong hoc, v
du khau t le, khau quan tnh bac nhat, khau bac hai,... Mot oi tng ieu khien,
bo ieu khien, hay toan bo he thong cung co the la mot khau ong hoc duy nhat
hoac bao gom nhieu khau ong hoc c ban ghep noi to hp vi nhau.
ac tnh ong hoc cua khau hay he thong chnh la s thay oi tn hieu ra theo
thi gian hay tan so khi co tn hieu tac ong au vao. ac tnh ong hoc xet trong
mien thi gian va mien tan so c goi tng ng la ac tnh thi gian va ac tnh
tan so. Trong thc te cac tn hieu tac ong vao he thong ieu khien thng khong
c biet trc. Do o, e khao sat cac a c trng cua ap ng ong hoc ngi ta
dung mot so tn hieu vao chuan, nh trc, nh ham bac thang n v, ham xung
n v, ham doc n v, ham sin. Cac tn hieu nay goi la tn hieu th hay ham th.
3.1 ac tnh thi gian (ac tnh qua o)
ac tnh thi gian cua khau hay he thong the hien s thay oi tn hieu ra theo
thi gian khi co tn hieu chuan tac ong au vao. ac tnh thi gian thng c
mo ta bang ham qua o, ham trong lng, ap ng doc. Cong cu toan hoc e
nghien cu ac tnh thi gian la phep bien oi Laplace.
1) Ham qua o
e th he thong on nh hoa ngi ta thng dung tn hieu vao la ham bac
thang n v 1(t). Neu tn hieu vao la ham bac thang n v th tn hieu ra goi la
ap ng ba c thang hay ham qua o, ky hieu la h(t).




Vi khau ong hoc co tn hieu vao x(t), tn hieu ra y(t), ta co:

) x(t) 1(t
h(t) y(t)


0
h(t)
t
1
(t)
0
t
1(t)

74
e tm ham qua o h(t) khi biet ham truyen G(s) ta thc hien hai bc:
Bc 1: Tm anh Laplace H(s) cua h(t)
Do:
1
H(s) X(s).G(s) L[1(t)].G(s) G(s)
s

Nen:
G(s)
H(s)
s
(3-1)
Bc 2: Bien oi Laplace ngc cua H(s) ta co ham qua o h(t)

1
h(t) L [H(s)]

(3-2)
2) Ham trong lng
Neu tn hieu vao la ham xung n v (t) th tn hieu ra goi la ap ng xung,
ham qua o xung, hay ham trong lng, ky hieu la g(t).

Tc la:
) x(t) (t
g(t) y(t)



Neu biet ham truyen G(s) co the tm ham trong lng g(t) nh sau :
Do
L[g(t)]
G(s) L[g(t)]
L[ (t)]

Nen
1
g(t) L [G(s)]

(3-3)
Neu biet ham qua o h(t) co the tm ham trong lng g(t) nh sau :
Do tn hieu vao:
d[1(t)]
(t)
dt

Nen tn hieu ra:
d[h(t)]
g(t)
dt
(3-4)
3) ap ng doc
Ham doc n v thng dung lam tn hieu vao e th he thong ieu khien
theo doi. Khi tn hieu vao la ham doc n v th tn hieu ra goi la ap ng doc.
4) ap ng vi tn hieu vao ba t ky
Tong quat, mot tn hieu x(t) xac nh va lien tuc vi t 0 bat ky co the bieu
dien thong qua ham (t) hoac 1(t) nh sau:

t t
0 0
x(t) x(t). (t )d x( ) (t )d

(3-5)

t
0
dx( )
x(t) 1(t )d
d

(3-6)
Vi: x() la gia tr xac nh cua ham x(t) tai thi iem t =
(t-) la xung n v c phat tai thi iem t =
1(t-) la ham bac thang n v c phat tai thi iem t = .
0
(t)
t t

g(t)

0

75
Da vao tnh chat xep chong cua he tuyen tnh ta co the xac nh tn hieu ra
y(t) thong qua ham trong lng g(t) hoac ham qua o h(t) nh sau:

t t
0 0
dx( )
y(t) x( )g(t )d h(t )d
d

(3-7)
3.2 ac tnh tan so
ac tnh tan so the hien moi lien he gia tn hieu ra va tn hieu vao cua he
thong trang thai xac lap khi thay oi tan so cua tn hieu vao dang ieu hoa.
3.2.1 Ham tan so
Khi tac ong vao he thong mot tn hieu ieu hoa
0
x x sin t th ap ng cua
he trang thai xac lap se la mot tn hieu tuan hoan co cung tan so, khac bien o va
lech pha so vi tn hieu vao mot goc , c mo ta bang ham t sin( y y
0
+ ).






Hnh 3.2 Tn hieu vao ieu hoa va ap ng
Tong quat, neu tn hieu vao la dao ong ieu hoa
0
j t
x x e

th trang thai
xac lap, tn hieu ra co dang
0
j( t )
y y e
+
.
Khi cho thay oi th va y
0
cung thay oi. Ham goc pha () va t so bien
o
0
0
y
( )
x
chnh la c s e nghien cu ac tnh tan so cua he thong.
Lay ao ham cua cac tn hieu ieu hoa x va y, ta c :

i
i j t
0
i
d x
( j ) x e
dt

(i=1,...m) (3-8)
i
i j( t )
0
i
d y
( j ) y e
dt
+
(i=1,...n) (3-9)
Thay cac bien oi cua x, y va cac ao ham cua chung vao phng trnh vi phan
tong quat (2-1) cua he thong roi sap xep va rut gon lai, ta c:

0
0
j
y
G( j ) e
x


0
1
1
0
1
1
a ... ) j ( a ) j ( a
b ... ) j ( b ) j ( b
n
n
n
n
m
m
m
m
+ + +
+ + +

(3-10)
Ham G(j) goi la ham truyen ta n so hay goi tat la ham tan so.
So sanh vi bieu thc ham truyen tong quat cua he thong :

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

+ + +

+ + +

Ta thay, neu khong ke en ieu kien ban au th ham truyen tan so co the xac
nh bang cach thay bien s =j vao bieu thc ham truyen. Tc la:

s j
G( j ) G(s)



t
y
0
x
0

y=y
0
sin(t+)
x=x
0
sint
0


76
3.2.2 Bieu dien ac tnh tan so
1) Bieu o Nyquist
Tong quat G(j) la ham phc nen co the bieu dien di dang ai so :
G(j ) = Re( )+ j Im( ) (3-11)
Vi: { } Re( ) Re G( j ) : phan thc cua ham G(j)
{ } Im( ) Im G( j ) : phan ao cua ham G(j)
Hoac di dang cc (dang moun-pha) :
G(j ) =A()e
j()
(3-12)
Trong o:
Bien o
2 2 0
0
y
A( ) ( ) G( j ) Re ( ) Im ( )
x
+ (3-13)
Goc pha ()
Im( )
G( j ) arctg
Re( )

(3-14)
Re()= A() cos () (3-15)
Im()= A() sin () (3-16)
Khi cho tan so goc cua tn hieu vao bien thien t 0 en th iem ngon cua
vect ham tan so se ve thanh mot ng cong tren mat phang phc va c goi la
ng ac tnh tan bien pha hay con goi la bieu o Nyquist .







Hnh 3.3 Bieu o Nyquist
2) Bieu o Bode
Bieu o Bode gom hai thanh phan :
- Bieu o Bode bien o : bieu dien bien o logarit L( ) theo tan so
L() tnh bang decibel [dB] theo cong thc: L( )= 20lgA()
- Bieu o Bode pha : bieu dien gia tr goc pha ( ) theo tan so
Goc pha ( ) thng lay n v la o [ ]
Ca hai o th nay eu co truc hoanh la tan so [rad/s] nhng khong chia eu
theo thang thap phan ma chia theo thang logarit, nh vay ch vi o dai truc hoanh
tng oi be ta van bieu dien c mot dai tan so rat ln. Truc tung lay theo L( )
[dB] cung rat hu ch: Neu he thong gom nhieu khau ong hoc ghep noi tiep th
bien o tong hp A() se la tch cac bien o A
i
() thanh phan, con lay theo bien
o logarit th L() la tong cac L
i
() thanh phan, nh vay rat thuan tien cho viec
cong bang o th e xay dng ac tnh tan so cua toan bo he thong.
K
=0
=
()
A()
0 Re
Im

77














Hnh 3.4 Bieu o Bode
Tren bieu o Bode, ngi ta thng dung cac n v sau :
- decibel, ky hieu dB.
Bien o A() co gia tr dB tng ng la L( )=20lgA() [dB].
- decade, ky hieu dec.
decade la khoang cach gia hai tan so cach nhau 10 lan.
1 dec =

10
lg = lg10.
Khoang dec gia hai tan so bat ky
1
va
2
se la :
2
1
lg

[dec]
- decibel/decade, ky hieu dB/dec
o doc cua ng L() c tnh bang n v dB/dec .






o doc cua ng L( ) co the xac nh t o th nh sau:
o doc
2 1 1
2 2
1 1
(L L ) L dB
tg
dec
lg lg

1

1

]


e n gian hoa viec xay dng bieu o Bode, ngi ta thng thay the ng
cong L() bang cac ng tiem can neu sai so nho hn gii han cho phep la t3 dB.

0
L()
20lgK
-20 dB/dec
1/T
3dB

0
L()

1
2

L
1

20
40
0
L() dB
0,1 1 2 3 4 5 6 7 8 9 10
(rad/s)
- 40dB/dec
0
-90
-180
() 1 dec
(rad/s)
1 dec

78
3.3 ac tnh ong hoc cua oi t ng ieu khien
oi tng ieu khien (hay he thong c ieu khien) la cac thiet b, may
moc, qua trnh cong nghe co cac a i lng ra can c ieu khien e at muc tieu
nhat nh, nh duy tr gia tr on nh, khong oi hoac thay oi theo mot chng trnh
nh trc,
Tn hieu vao cua oi tng la tn hieu ieu khien u(t) t bo ieu khien a
ti. Tn hieu ra chnh la ai lng ra y(t) ma ta can ieu khien, v du la nhiet o,
mc, ap suat, lu lng, lc, van toc, v tr, goc quay...




oi tng ieu khien co the la mot khau ong hoc duy nhat hoac bao gom
nhieu khau ong hoc c ban ghep noi to hp lai. Trong phan nay chung ta se khao
sat ac tnh cua cac khau ong hoc c ban, bao gom: khau t le, khau quan tnh bac
nhat, khau bac hai, khau tch phan ly tng, khau vi phan ly tng, khau vi phan
bac mot, khau tre,... Tren c s o, chung ta co the tien hanh xay dng ac tnh
ong hoc cua cac oi tng co cau truc phc tap.
1) Khau t le ( khau P )
Khau t le con goi la khau khuech ai, khau on nh bac 0, hay khau P.
Ham truyen : G(s) = K
Thong so ac trng: K _ goi la he so khuech ai hay o li
V du thc te: lo xo, on bay, bo truyen banh rang, bien tr, van tuyen tnh; cam
bien, chiet ap, mach khuech ai cong suat, bo khuech ai cach ly.
ac tnh thi gian:
- Ham qua o
h(t) = K.1(t) = K
- Ham trong lng
g(t) = K.(t)
ac tnh tan so:
- Ham tan so G(j) = K
- Bien o A( ) = K
L() = 20lgK
- Goc pha () = arctg
Im( )
0
Re( )

Do o khau t le co :
- Bieu o Nyquist la mot iem tren truc hoanh co toa o (K,j0)
- Bieu o Bode bien o la ng thang song song vi truc hoanh.
- Bieu o Bode pha : trung vi truc hoanh

Re K
Im
0
K
h(t)
0
t

20lgK
L()
0
-()
Hnh 3.5 Ham qua o va
ham trong lng cua khau P
Hnh 3.6 Bieu o Nyquist
va bieu o Bode cua khau P
0
g(t)
t
K.(t)
oi tng
ieu khien
u(t)
y(t)
tn hieu ieu khien tn hieu ra

79
2) Khau quan tnh bac nhat (khau PT
1
)
Ham truyen :

K
G(s)
Ts 1

+

Thong so ac trng: K la he so khuech ai .
T la hang so thi gian cua khau.
V du : lo nhiet, he lo xo-giam chan, mach RL, RC, tuabin, may phat ien mot
chieu, ong c ien khong ong bo hai pha vi lng ra la toc o quay
ac tnh thi gian:
- Ham qua o h(t):
T anh Laplace cua ap ng :

G(s) K
H(s)
s s(Ts 1)

+

Ta co ham qua o:

1 t / T
h(t) L [H(s)] K(1 e )


Nhan xet :
1) Neu goi gia tr xac lap cDa h(t) la h() th:
t
h( ) lim h(t) K

2) Tai t = T ta co
1
h(T) (1 e )K 0, 632K (63, 2%)K

Tc la thi iem t =T, tn hieu ra c 63,2% gia tr xac lap (on nh).
Tng t ta co h(2T)=86,5%K; h(3T)=95%K; h(4T)=98,2%K; h(5T)=99,3%K.
Ta thay hang so thi gian T ac trng cho mc o ap ng nhanh hay cham
cua khau. Khau co T nho se nhanh chong at en trang thai on nh, ngc lai T
ln th khau can nhieu thi gian mi at en trang thai on nh.
3) N$u kF ti$p tuy$n v>i h(t) tGi i.m 0 va goi goc cua tiep tuyen o la th:

t 0
dh K
t g
dt T

- Ham trong lng :
Nhan c bang cach lay ao ham
cua ham qua o :
t / T
dh K
g(t) e
dt T


ac tnh tan so :
- Ham truyen tan so
s j
K
G( j ) G(s)
Tj 1


+

Nhan t va mau vi (1-Tj), ta c :

2 2 2 2
K KT
G( j ) j Re( ) j Im( )
T 1 T 1

+ +
+ +

- Bien o
2 2
2 2
K
A( ) Re ( ) Im ( )
T 1
+
+

Hnh 3.7
Ham qua o cua khau PT
1
t
0,632K
h(t)
0
K
T

Hnh 3.8
Ham trong lng cua khau PT
1
t
T
0
g(t)
K
T


80
- Goc pha () = arctg
) Re(
) Im(

= arctg (T)
- Bien o logarit 1 ) T ( lg 20 K lg 20 ) ( A lg 20 ) ( L
2
+
- e ve bieu o Nyquist ta co nhan xet sau:
2 2 2
2
2 2 2 2
K K K KT
Re( ) Im ( )
2 2 T 1 T 1
_ _ _
+ +

+ +
, , ,


2 2 2 2 2 2 2
2 2 2 2 2 2
2 2 2 2 2 2 2 2
K (1 T ) 4T
K(1 T ) K T K
2(T 1) (T 1) 4(T 1) 4
1 +
_
]
+

+ + +
,

Mat khac, khi = 0 + th goc pha () = - arctg(T) 0. Do o bieu
o Nyquist cua khau PT
1
la na di cua ng tron tam (K/2, j0), ban knh K/2.
- e ve bieu o Bode, ta cho bien thien t 0 en + , tnh cac gia tr L()
va () tng ng roi the hien tren o th.









Hnh 3.9 Bieu o Nyquist va bieu o Bode cua khau PT
1

Cung co the ve gan ung bieu o Bode bien o bang hai ng tiem can :
Khi << 1/T th L() 20lgK ng tiem can nam ngang.
Khi >> 1/T th L() 20lgK20lg(T) ng tiem can nghieng co o
doc - 20 dB/dec
iem tan so = 1/T tai giao iem cua 2 tiem can goi la tan so gay. Tai tan so
gay, sai so gia ng cong L() chnh xac va cac ng tiem can co gia tr ln
nhat L() = - 20lg 2 -3 dB.
Mot so iem ac biet :
= 0 : Re()= K ; Im()= 0 ; L()= 20lgK ; ()=0
= 1/T : Re()= K/2 ; Im()= - K/2 ; L() 20lgK ; ()= -45
=+ : Re()= 0 ; Im()= 0 ; ()= -90
Re
=0
Im
0
=
K
K/2
=1/T
-K/2
-90

0
L()
20lgK
-()
-20 dB/dec
-45
1/T
3dB

81
3) Khau bac hai ( khau PT
2
)
3a) Khao sat trong mien thi gian
Ham truyen :

2 2
K
G(s)
T s 2 Ts 1

+ +

Trong o, T : hang so thi gian
K : he so khuech ai
: he so tat dan (he so suy giam)
V du : Cac he c kh gom lo xo-khoi lng-giam chan, mach ien RLC, ong
c ien DC ieu khien toc o bang ien ap phan ng, ...
ac tnh thi gian:
Xet nghiem cua phng trnh ac tnh: 0 1 Ts 2 s T
2 2
+ +
Biet so
2 2 2 2
' ( T) T T ( 1)
Ta phan biet hai trng hp : Khi 1, khau PT
2
c goi la khau quan tnh
bac hai; Khi 0 < 1, khau PT
2
c goi la khau dao ong bac hai.
Khau quan tnh bac hai
Khi > 1, phng trnh ac tnh co hai nghiem thc rieng biet. Neu ky hieu hai
nghiem nay la
1 1
s (1/ T ) va
2 2
s (1/ T ) ta se co :
T
1
.T
2
= T
2
va T
1
+T
2
= 2T

2 2 2
1 2 1 2
K K K
G(s)
T s 2 Ts 1 T (s s )(s s ) (Ts 1) (T s 1)

+ + + +

Do o khau quan tnh bac hai tng ng vi hai khau quan tnh bac nhat
ghep noi tiep co cac hang so thi gian T
1
va T
2
.

1 2 1 2
1 2 1 2
1 2
1 2
K
TT T T G(s) 1 1 1
H(s) K . .
1 1
s s T T T T
1 1
s s
s s s
T T
T T
1
1
1 +
_ _
1
+ +
+ +

1
]
, ,

Ham qua o

,
_

2 1
T / t
2 1
2
T / t
2 1
1
e .
T T
T
e .
T T
T
1 K ) t ( h
Ham trong lng
( )
1 2
t / T t / T
1 2
dh K
g(t) e e
dt T T

Khi = 1, phng trnh ac tnh co nghiem kep
1 2
s s (1/ T)
Ham qua o
t / T
t
h(t) K 1 1 e
T

1 _
+

1
, ]

Ham trong lng
t / T
2
dh K
g(t) te
dt T



82
Khau dao ong bac hai
Khi 0 < 1 Phng trnh ac tnh co hai nghiem phc.
Vi ky hieu
n
1
T
;
2
n
1 ; = arccos ; ta co :
Ham truyen
2
2 2 2 2
n
n n
K K
G(s)
T s 2 Ts 1 s 2 s

+ + + +


( )
( )
2 2
2 2 2
2
n
n
n n
n
s
1 K G(s) 1
H(s) K
s s s(s 2 s )
s
1
+ +
1

1

1
+ +
+ +
1
]


2
n
t
h(t) K 1 e cos t sin t
1

1 _

1 +

1
,
]

2
n
t
e
K 1 sin( t )
1

1
+ 1
1
]

Ham trong lng :

2 2
1 1
2 2
n n n
n
t
dh K
g(t) L [G(s)] L Ke sin t
dt (s )

1

1
+ +
]

Cac bieu thc tren cho thay ac tnh thi gian cua khau dao ong bac hai co
dang dao ong tat dan. Ham qua o suy giam ve gia tr xac lap K va ham trong
lng suy giam ve 0. Gia tr cang ln, dao ong suy giam cang nhanh, do o
goi la he so suy giam hay he so tat dan.
Khi = 0 th h(t)= K[1- sin (
n
t + 90)], ap ng cua khau la dao ong khong
oi vi tan so
n
=1/T. Do o
n
goi la tan so rieng cua khau dao ong bac hai.
Neu khao sat m rong vi < 0 th ap ng se la dao ong tang dan hoac
chuyen ong tang dan, h( ) = nen khi < 0 khau bac hai khong on nh.










Hnh 3.10 Ham qua o cua khau ba c hai
(a) Tong quat ; (b) he so khuech ai K=1
Suy ra ham qua o :

>1
=1
0<<1
t
h(t)
K
0
(a)

h(t)
(b)
t

83






Hnh 3.11 Ham trong lng cua khau ba c hai
3b) Khao sat trong mien ta n so
- Ham truyen tan so cua khau bac hai :

s j
G( j ) G(s)


2 2
K
T 2 Tj 1

+ +

Tach phan thc va phan ao ta c :
2 2
2 2 2 2 2 2 2 2
K(1 T ) 2K T
G( j ) j Re( ) jIm( )
(1 T ) 4( T ) (1 T ) 4( T )

+ +
+ +

- Bien o
2 2 2 2
2 2
) T ( 4 ) T 1 (
K
) ( Im ) ( Re ) ( A
+
+

2 2 2 2 2 2
L( ) 20lg A( ) 20lg K 20lg (1 T ) 4 T +
- Pha ()
2 2
Im( ) 2 T
arctg arctg
Re( ) 1 T




Mot so iem ac biet :
= 0 : Re()= K ; Im()= 0 ; L()= 20lgK ; ()=0
=
n
=1/T : Re()= 0 ; Im()= -K/2 ; L()= 20lg(K/2) ; ()= -90
= : Re()= 0 ; Im()= 0 ; A()=0 ; L()=- ; ()= -180
Tai tan so
ch
=
n
2
1 2 th ao ham dA/d = 0 nen bien o at cc ai
A
max
= A(
ch
)
2
K/(2 1 ) . Tan so
ch
c goi la tan so cong hng va ch ton
tai khi
2
1 2 0 > hay 0 0, 707 < . Neu cang nho th nh cong hng A
max
va
L(
ch
) cang cao. Khi 0 th
ch

n
va A
max
, L(
ch
) . Moi quan he
gia A
max
va c bieu dien bang o th tren hnh 3.14.
Bieu o Nyquist va bieu o Bode cua khau bac hai ng vi cac gia tr khac
nhau c bieu dien tren hnh 3.12 va 3.13.
Vi 0,38 0,707, bieu o Bode bien o cua khau bac hai co the ve gan
ung bang hai ng tiem can :
Khi << 1/T T <<1 th L() 20lgK ng tiem can nam ngang.
Khi >>1/T T >>1 th L() 20lgK20lg
2 2 2
( T ) = 20lgK- 40lg(T)
ng tiem can co o doc 40 dB/dec.
>1
=1
0<<1
t
0
g(t)

84
Hai ng tiem can giao nhau tai tan so
n
= 1/ T nen vi khau bac hai, tan so
dao ong rieng
n
cung la tan so gay.




























Nhan xet:
He so tat dan cang be th mc dao ong tren bieu o ham qua o cang
ln, gia tr bien o cong hng A
max
tren bieu o Nyquist va L(
ch
) tren bieu o
Bode cang cao.
Hnh 3.12
Bieu o Nyquist cua khau bac 2
0 << 0,707 A
max
> K
0,707 A
max
= K
Hnh 3.14
Moi quan he gia A
max
va cua khau dao ong bac hai
-180
= 0,05
= 0,2
= 0,4
= 1,0
= 1,5

n
-40 dB/dec
-20
0
-40
L()
[dB]
0,1 1 10

+ +
2
1
G(s)
T s 2 Ts 1

Bieu o Bode cua khau ba c 2

Hnh 3.13
Bieu o Bode cua khau ba c 2

Hnh 3.13
= 0,05
= 0,2
= 0,4
()
0
-90

n
0,1 1 10
= 1,5
= 1,0
A
max

2
max
K
A ; K 1
2 1



K
2

Im
Re
=
K

n

=0,4
=1,2
=0,8
A
max

= 0

85
4) Khau tch phan ly tng (khau I )
Ham truyen :

s . T s
K
) s ( U
) s ( Y
) s ( G
1

K goi la he so khuech ai hay he so tch phan, [sec
-1
]
T = 1/K goi la hang so thi gian tch phan, [sec]
V du : he van nc-be cha, phan t giam chan (ma sat nht), bo truyen vitme-
ai oc, bo servo thuy lc vi phu tai nho,...
ac tnh thi gian :
- Ham qua o
h ( t ) K 1( t )dt Kt.1( t )

- Ham trong lng
g(t)= dh/dt = K.1(t)
ac tnh tan so :
- Ham tan so
K K
G( j ) j
j



Re() =0 ; Im() = K/
- Bien o
K
A( ) G( j )

Khi =0 bien o A()=
Khi = bien o A()= 0
- Goc pha () = arctg
) Re(
) Im(

= arctg() = /2
Tn hieu ra cua khau tch phan ly tng luon cham pha so vi tn hieu vao
mot goc bang /2. Bieu o Nyquist la na truc ao am.
- Bien o logarit L() = 20lgA() = 20lg(K/)= 20lgK20 lg
Do truc hoanh c chia theo thang lg nen bieu o Bode bien o la ng
thang co o doc 20 dB/dec va i qua iem co toa o (1,20lgK); neu K=1 th L( )
i qua iem (1,0).










1
Hnh 3.15
Ham qua o
cua khau tch phan (I)
Hnh 3.16
Bieu o Nyquist va bieu o Bode cua khau tch phan
Re
=0
Im
0
=
/2
20lgK
0 K
L()
1

-20 dB/dec
90
()= 90


0
t
K
h(t)
o doc =K

86
5) Khau tch phan- quan tnh bac nhat (khau IT
1
)
Ham truyen :
) Ts ( s
K
) s ( U
) s ( Y
) s ( G
1 +

Trong o: K la he so tch phan
T la hang so thi gian
T bieu thc ham truyen, ta thay khau IT
1
tng ng vi khau I va khau PT
1

ghep noi tiep.



ac tnh thi gian
2 2
G(s) K 1 T T
H(s) K
s s s 1 T s (Ts 1) s
1
+
1
+ +
]

t
T
h(t) K[t T(1 e )]

Khi t th 0

T
t
e .
Do o h(t) co mot ng tiem can la K(t-T)
ac tnh tan so
K K
G( j )
j (Tj 1) ( T j)

+ +
2 2 2 2
KT K
j
T 1 (T 1)

+ +

Phan thc
2 2
KT
Re( )
T 1

+

Phan ao
2 2
K
Im( )
(T 1)

+

oan tan so thap:
0
lim G( j )

-KT-j nen A()=, ()=-90

oan tan so cao:
lim G( j )

-0-j0 nen A()=0, ()=-180

ng Nyquist tiem can vi ng thang ng i qua iem (-KT,j0).
Cac ai lng L() va () tren bieu o Bode cua khau IT
1
co the xac nh
bang cach cong ca c ai lng tng ng cua hai khau I va PT
1
. ng cong L()
chnh xac co the thay the bang 2 tiem can co o doc lan lt la -20 va -40 dB/dec,
giao nhau tai tan so gay
c
=1/ T (hnh 3.19).
2
K
(Ts 1) +

1
K
s

) Ts ( s
K
1 +

t
h(t)
T
K(t-T)
Hnh 3.17
Ham qua o khau IT
1

-KT
Im
Re
=
=0
Hnh 3.18
Bieu o Nyquist khau IT
1


87











Hnh 3.19 Bieu o Bode cua khau IT
1


6) Khau vi phan ly tng (khau D)
- Ham truyen : G(s) Ks
- ac tnh thi gian:

G(s) Ks
H(s) K
s s

h(t) K (t)
- ac tnh tan so:
G(j) = Kj
Re()=0 ; A()= Im()= K ;
() = arctg(K/0) = 90
Khi th A()
Bieu o Nyquist la na truc ao dng nh
tren hnh 3.20a. Tn hieu ra cua khau D luon
sm pha hn tn hieu vao mot goc bang 90
L()=20lg(K)
Neu K=1 th L()=20lg()
Bieu o Bode ng vi K>1 va K=1 c ve
tren hnh 3.20b.

7) Khau vi phan bac 1
Ham truyen : G(s) K(Ts 1) +
Nh vay khau vi phan bac mot chnh la to hp ghep song song cua khau vi
phan ly tng G
1
(s)= KTs va khau t le G
2
(s)=K.
ac tnh thi gian:

G(s) K(Ts 1) K
H(s) KT
s s s
+
+
h(t) KT. (t) K.1(t) +
Hnh 3.20
a) Bieu o Nyquist cua khau D
b) Bieu o Bode cua khau D
20lgK
0
90
L()
()= 90

1
+20 dB/dec

(b)
20 lg

20 lg(K)

Re
=0

m
0
=
(a)
/2
Im
-40 dB/dec
h(t)
t
K
0
L()

-20 dB/dec
-180
-()
1/T
-90
-135
20lgK

88
ac tnh tan so :
G(j) = K(Tj + 1)
Re()= K; Im()= KT
Bieu o Nyquist la na ng thang song song vi truc ao (hnh 3.21)
Bien o
2 2 2 2 2 2
A( ) K K T K T 1 + +
- Khi =0 bien o A()= K
- Khi = bien o A()=
Bien o Logarit
2 2
L( ) 20lg A( ) 20lg K 20lg T 1 + +
- Khi
2
T
2
<< 1, tc la << 1/T th L() = 20lgK tiem can ngang.
- Khi
2
T
2
>>1, tc la >> 1/T th L() = 20lgK + 20lgT
ng tiem can xien co o doc +20 dB/dec.
Goc pha ()
Im( ) K T
arctg arctg arctg( T)
Re( ) K

Khi = 0 th () = 0 ; Khi th () = /2 = 90.
Bieu o Bode va cac tiem can c ve tren hnh 3.22. Tn hieu ra luon sm
pha hn tn hieu vao mot goc t 0 en 90 .












8) Khau tre
Khau tre (khau cham tre) la khau ong hoc ma sau mot khoang thi gian
xac nh, lng ra lap lai lng vao ma khong b meo tn hieu.
V du : bang tai van chuyen (tn hieu vao, ra la lu lng vat lieu), ng ong
dan nhiet (tn hieu vao, ra la nhiet lng), ng ong dan kh nen (tn hieu vao,
ra la ap suat) la cac khau tre neu bo qua cac ton that tren ng truyen.
Mo ta toan :
Lam tre ham tn hieu vao u(t) mot khoang thi gian T ta c tn hieu ra:
y(t) = u(t-T)
Bien oi Laplace ham tre ta c:
Y(s) = L[u(t-T)] = e
-Ts
U(s)
u(t-T)
u(t)
T 0
t
Hnh 3.21
Bieu o Nyquist cua
khau vi phan ba c 1

0
L()

20 dB/dec
0
()
=1/T
90
45
20 lgK

Hnh 3.22
Bieu o Bode cua
khau vi phan ba c 1
=0
0
Re
=
Im
K
G(j)

89
Ham truyen :
Ts
Y(s)
G(s) e
U(s)


ac tnh thi gian:
Ham qua o : h(t) = 1(t-T)
Ham trong lng : g(t)= dh/dt = (t-T)






Hnh 3.23 Ham qua o va ham trong lng cua khau tre
ac tnh tan so :
- Ham truyen tan so G(j) = e
jT
= cosTjsinT
- Bien o A()=
2 2
(cos T) ( sin T) + = 1
- Bien o logarit L() = 20 lgA() = 20 lg(1) = 0 dB
- Goc pha () =
sin T
arctg arctg(tg T) T
cos T
_

,

Bien o luon bang 1 va goc pha thay oi tuyen tnh theo nen bieu o
Nyquist la ng tron n v.

L() luon bang 0 nen bieu o Bode bien o trung vi truc hoanh. Ham goc
pha () t le vi nhng do truc hoanh chia theo thang logarit nen bieu o
Bode pha () = -T la ng cong.







Hnh 3.24 Bieu o Nyquist va bieu o Bode cua khau tre

Cac gia tr ac biet :

0 0
lim Re( ) 1 ; lim Im( ) 0

; goc pha (0)= 0
lim Re( )

va lim Im( )

: khong ton tai

(t-T)
g(t)
t T 0
h(t)
1(t-T)

t T 0
1
Re
Im
0
()

0
L()= 0
()
L()
=0
1

90
9) oi tng ie u khien co tre
oi tng ieu khien co tre c mo ta bang ham truyen :

h
Ts
Y(s)
G (s) G(s)e
U(s)


Tng ng vi s o khoi:

Trong o G(s) la ham truyen cua thanh phan khong tre
ac tnh thi gian
Neu xac nh c ham qua o h(t) cua thanh phan khong tre th ham qua o
cua oi tng co tre se la h(t-T).
Vi ham trong lng ta cung co ket qua tng t.
ac tnh tan so
Ham truyen tan so
j T j j T
h
G ( j ) G( j )e A( )e e


Bien o
h
A ( ) A( ) G( j )
Goc pha
h
()= () T
Nh vay, khi co them khau tre th bien o A( ) va L( ) khong thay oi ma
ch them goc lech pha -T.
Neu ta biet bieu o Nyquist cua phan khong cham tre th ta co the xay dng
c bieu o Nyquist cua oi tng co tre. e lam ieu o ta ch viec quay vect
G(j
i
) i mot goc
i
T theo chieu kim ong ho. Lay nhieu iem
i
ta se ve c
toan bo ng G
h
(j). Khi tan so tang len th
i
T cung tang trong khi bien o tan
so cao lai giam ve 0 nen bieu o Nyquist co dang ng xoan oc.










a)
Ts
1
K
e
T s 1

+
b)
Ts
1 2
K
e
(T s 1)(T s 1)

+ +

Hnh 3.25 Bieu o Nyquist cua cac oi tng co tre
T
G(j)
G
h
(j)
Re
Im
G(j)
Im
Re
G
h
(j)
T

Ts
e

G(s)
u(t) y(t)
c)
Ts
1
K
e
s(T s 1)

+

T
G(j) G
h
(j)
Re
Im

91
3.4 ac tnh ong hoc cua cac bo ieu chnh
Bo ieu chnh (hay khau hieu chnh) chnh la cac bo ieu khien n gian
c s dung e bien oi ham truyen cua he thong nham cai thien ac tnh ong
hoc cua he, lam cho he thong co ap ng thoa man cac yeu cau chat lng nh
trc.
Tn hieu vao cua bo ieu chnh la tn hieu sai lech e(t) va tn hieu ra cua bo
ieu chnh la tn hieu ieu khien u(t). S o khoi tong quat cua cac bo ieu chnh
co the bieu dien n gian nh hnh ve :




Theo loai tn hieu lam viec ngi ta chia thanh ba loai chnh la bo ieu chnh
lien tuc, bo ieu chnh on-off (hai v tr, ba v tr,...) va bo ieu chnh so. Bo ieu
chnh lien tuc co the thc hien bang cac c cau c kh, thiet b kh nen, mach ien
RC, mach khuech ai thuat toan. Bo ieu chnh on-off thng c thc hien bang
cac ma ch rle ien t, rle kh nen, chng trnh PLC. Bo ieu chnh so c thc
hien bang cac chng trnh phan mem chay tren vi x ly hay may tnh PC.
Noi dung phan nay gii thieu cac bo ieu chnh lien tuc ien hnh bao gom
bo P, I, PI, PD, PID. Trong thc te, cac hang san xuat thiet b t ong thng cung
cap ca c bo ieu chnh PID thng mai che tao bang mach khuech ai thuat toan.
Cac bo PID c thiet ke che tao san nay rat tien dung. Ngi s dung co the chon
che o ieu khien P, I, PI, PD, PID tuy theo yeu cau bang cach tat m cac thanh
phan chc nang tng ng.
1) Bo ieu chnh t le (bo P)
Bo ieu chnh t le tao tn hieu ieu khien u(t) t le vi tn hieu sai lech e(t).
- Phng trnh vi phan: u(t) = K
P
. e(t)
Trong o : K
P
goi la he so khuech ai
- Ham truyen : G
P
(s) = K
P

- Ham tan so : G(j) = K
P

- ac tnh thi gian va ac tnh tan so tng t nh TK loai P
- Ky hieu bo ieu chnh P : Ben canh cach ghi ham truyen, ngi ta con dung
cach at o th ham qua o vao trong s o khoi e the hien trc quan ac tnh
ong hoc nh cac hnh ve di ay:
Cach 1:


Cach 2:

K
P
e(t)

u(t)

Bo
ieu chnh
e(t)
u(t)
tn hieu sai lech tn hieu ieu khien
K
P
e(t)

u(t)


92
- Bo P bang khuech ai thuat toan :






























2) Bo ieu chnh tch phan (bo I)
Bo ieu chnh tch phan tao nen tn hieu ieu khien u(t) t le vi tch phan cua
tn hieu sai lech e(t).
Phng trnh vi phan :

dt ) t ( e K ) t ( u
I

Ham truyen :
s . T s
K
) s ( E
) s ( U
) s ( G
I
I
1

Trong o:
K
I
: hang so tch phan

I
I
1
T
K
: hang so thi gian tch phan

Bo P ket hp bo so ien ap
P
u
r y
V
G(s) K
V V

1
P
0
R
K
R

P
G(s) K
1
P
0
R
K
R

Bo P ket hp bo so dong ien
V
r
V
u
R
1
V
y
R
0
R
0
R R R
1
R
0
R
R
V
u
V
r
V
y
Bo P kieu khong ao
Bo P kieu ao
P
o
i
V (s)
G(s) K
V (s)

1
P
0
R
K
R

P
G(s) K
1
P
0
R
K 1
R
+
R
1
V
o
V
i
R
0
V
e
V
o
R
1
R
0
V
i

93
ac tnh thi gian va ac tnh tan so tng t nh TK dang tch phan.
Ky hieu bo ieu chnh I :



Bo I bang khuech ai thuat toan:














3) Bo ieu chnh t le- tch phan (bo PI)
Bo ieu chnh PI la cau truc ghep song song cua khau P va khau I. Tn hieu ra
cua bo PI la tong tn hieu ra cua hai khau thanh phan.
Phng trnh vi phan :
u(t)=K
P
.e(t) + K
I

dt ) t ( e
Ham truyen :
I P I
PI P
K K s K
G (s) K
s s
+
+
Hoac:

N
PI P P
N N
1 T . s 1
G (s) K K 1
T . s sT
_ +
+

,

Trong o :
I
P
N
K
K
T goi la thi gian hieu chnh
ac tnh thi gian :

P I P
N
t
h(t) K K .t K 1
T
_
+ +

,

K
I
e(t)
u(t)

h(t)
t
K
P

-T
N

K
I

e(t)

u(t)

u
I
u
P
I
I
1
K
G(s)
s
2
K
R C

Bo I kieu khong ao
C

V
i
V
o
R

I
I
K
G(s)
s
1
K
RC

Bo I kieu ao
R
1
R
2
R
1
C

R
2
V
i V
o
e(t)
u(t)

I
K
s

hay thi gian tac ong tre

94

Ham tan so :
I
P P
N
K 1
G( j ) K j K 1 j
T
_



,

Phan thc: Re() = K
P

Phan ao:
I P
N
K K
Im( )
T .



Goc pha: ()
I
P N
K Im( ) 1
arctg arctg arctg
Re( ) K T

Khi = 0 th () = -/2
Khi = th () = 0
Tn hieu ra luon tre pha hn tn hieu vao mot goc t 0 en /2 tuy thuoc vao gia
tr cac tham so K
P
, K
I
va tan so cua tn hieu vao. Do o bo PI c xep vao loai
ieu chnh tre pha. Mat khac, bo PI con co tnh chat cua mot bo loc thong thap : ch
cho tn hieu vao tan so thap i qua, tn hieu tan so cao nhanh chong b suy giam.
Bieu o Nyquist cua bo PI nh hnh 3.26
Bien o:
2 2 2 P
N
N
K
A( ) Re ( ) Im ( ) 1 ( .T )
.T
+ +

Bien o logarit:
2
P N N
L( ) lg K lg T lg 1 ( T ) + +
Goc pha: () =
N
Im( ) 1
arctg arct g
Re( ) T

Bieu o Bode cua bo PI c the hien tren hnh 3.27.















Re
=0
Im
0
=
-45
G(j)
K
P

-K
P

N
c
1
T

Hnh 3.26
Bieu o Nyquist cua bo PI
Hnh 3.27
Bieu o Bode cua bo PI
1/TN
L()
()

95
Ky hieu bo PI :






Bo PI bang khuech ai thuat toan :




























N I
P P
N
2
P
1
P
N 3
I
sT 1 K
G(s) K K
s sT
R
K
R
K
T R C
K
+
+



Bo PI kieu ao, cac thong so ieu chnh oc lap
N I
P P
N
2
P I
1 1
N 2
sT 1 K
G(s) K K
s sT
R 1
K ; K
R R C
T R C
+
+

Bo PI kie u ao,1
N I
P P
N
2
P
1
N 1 2
T .s 1 K
G(s) K K
s T .s
R
K 1
R
T (R R ).C
+
+
+
+

Bo PI kieu ao,2
V
o
C
R
1
R
2
C

V
i
R
1
R
2
R
3
C

V
i
V
o
R
1
R
2 C

V
i
V
o
K
I
e(t)

u(t)

T
N
K
P

K
I
/s
e(t)

u(t)


96
4) Bo ieu chnh t le- vi phan (bo PD)
Bo ieu chnh PD ly tng la cau truc ghep song song cua khau P va khau D.
Tn hieu ra cua bo PD la tong tn hieu ra cua hai khau thanh phan.




Phng trnh vi phan :

P D P V
de(t) de(t)
u(t) K e(t) K . K . e(t) T .
dt dt
1
+ +
1
]

Trong o
P
D
V
K
K
T goi la thi gian tac ong sm (vt sm).
Ham truyen :

PD P D
G (s) K K s +
hoac: G
PD
(s) = K
P
(1+ T
V
.

s)
ac tnh thi gian:

PD P D P
D
G (s) K K s K
H(s) K
s s s
+
+

D P
h(t) K (t) K 1(t) +
Ta thay, trang thai xac lap, bo PD ly tng lam viec nh bo P. trang thai
chuyen tiep, no lam viec nh bo D, tc la tn hieu ra u(t) t le vi ao ham cua tn
hieu vao e(t).
ac tnh tan so :
Ham tan so : G(j)= K
P
(1+T
V
. j)
Goc pha : Goc pha ()= arctg (T
V
.)
= 0 th () = 0 con khi = th () = /2
ac tnh thi gian va ac tnh tan so cua bo PD tng t ac tnh cua TK
vi phan bac 1 (xem trang 87, 88). Tn hieu ra cua bo PD luon s m pha hn tn hieu
vao mot goc t 0 en /2 tuy thuoc vao gia tr cac tham so K
P
, K
D
va tan so cua
tn hieu vao. Do o bo PD c xep vao loa i ieu chnh sm pha. Ma t khac, bo PD
con co tnh chat cua mot bo loc thong cao: ch cho tn hieu vao tan so cao i qua,
tn hieu tan so thap nhanh chong b suy giam.
Ky hieu bo PD:

;

h(t)
t
K
P

u
P
e(t)

u(t)

u
D
K
P

K
D
.s
e(t)

u(t)


e(t)

u(t)


K
D

K
P


97
Bo PD bang khuech ai thuat toan :
Bo PD ly tng, kieu ao






Bo PD/PDT1 kieu ao ( khau sm pha, T
V
> T
1
)
Bo PPT
1
kieu ao ( khau tre pha, T
1
> T
V
)









Bo PD/PDT1 kieu khong ao ( khau sm pha )










Bo PD/PDT1 kieu ao ( sm pha, cac thong so ieu chnh oc lap)












R
1
R
2
V
i
V
o
C
V
P
1
1
P
0
V 0 0
1 s.T
G(s) K
1 s.T
R
K
R
T R C
+

R
1
V
i
R
0
C
0 C
1
V
o
R
1
R
0
C
0
V
o
V
i
V
P
1
P
V 0 1 0
1 0 0
1 s.T
G(s) K
1 s.T
K 1
T (R R ).C
T R C
+

V
i
R
1
V
o
R
2
C
2
R
3
R
0
V
P
1
1
P
0
V 2 3 2
1 3 2
1 s.T
G(s) K
1 s.T
R
K
R
T (R R ).C
T R C
+

+

+

G(s)= K
P
+ K
D
s
2
P D 2
1
K
K ; K R C
K


98
5) Bo ieu chnh t le- vi tch phan (bo PID)
Bo ieu chnh PID ly tng la cau truc ghep song song cua ba khau: P, I va D.
- Phng trnh vi phan cua bo PID ly tng :

+ +
dt
) t ( de
K dt ) t ( e K ) t ( e K ) t ( u
D I P

hay :
1
]
1

+ +

dt
) t ( de
K
K
dt ) t ( e
K
K
) t ( e K ) t ( u
P
D
P
I
P

Trong o
K
P
la he so khuech ai cua bo ieu chnh PID.
K
I
la toc o tch phan hay he so tch phan (s
-1
).
K
D
la he so vi phan hay hang so thi gian vi phan (s ).
N P
I
T K
K 1

vi T
N
goi la thi gian hieu chnh hay thi gian tac ong tre.
V
P
D
T
K
K

goi la thi gian tac ong sm.

- Ham truyen cua bo PID co the bieu dien theo nhieu cach :
Cach 1 :
2
I D P I
P D
K K s K s K
G(s) K K s
s s
+ +
+ +
Cach 2 :
s . T
s . T . T s . T
K s . T
s . T
. K ) s ( G
N
V N N
P V
N
P
2
1 1
1
+ +

1
]
1

+ +
Cach 3 :
1 2
R
(1 Ts)(1 T s)
G(s) K
s
+ +

trong o :
P
R
N
K
K
T
;
N 1 2
T T T + ;
N V 1 2
T .T T T +

- ac tnh qua o :






Hnh 3.28 ac tnh qua o cua bo PID
u(t)
t
K
P

T
N

K
I

u
I
e(t)

u(t)

u
D
u
P

99
- ac tnh tan so:
Bieu o Nyquist va bieu o Bode cua bo PID c the hien tren hnh 3.29














Hnh 3.29 Bieu o Nyquist va bieu o Bode cua bo PID
- u iem cua bo PID :
Neu sai lech e(t) cang ln th thong qua thanh phan u
P
(t), tn hieu ieu
khien u(t) cang ln (vai tro cua khuech ai K
P
).
Neu sai lech e(t) cha bang 0 th thong qua thanh phan u
I
(t), PID van con
tao tn hieu ieu khien (vai tro cua tch phan K
I
).
Neu toc o thay oi cua sai lech e(t) cang ln th thong qua thanh phan
u
D
(t), phan ng thch hp cua u(t) se cang nhanh (vai tro cua vi phan K
D
).
- Ky hieu bo PID :





- Bo PID bang khuech ai thuat toan :

Ham truyen :

I
P D
K
G(s) K K s
s
+ +
trong o:

1 1 2 2
P I D 2 1
1 2 1 2
R C R C 1
K ; K ; K R C
R C R C
+


C
2
R
1
R
2
V
i
V
o
C
1
Re
=0

m
0
= Im
K
P
e(t)

u(t)

K
P T
N
,T
V
e(t)

K
P

K
D
.s
K
I
/s
u(t)

L()
()

100












































Bo PID/PIDT
1
kieu noi tiep, ao
N V
P
N 1
2
P
0
N 2 2
V 0 1 1
1 1 1
(1 sT )(1 sT )
G(s) K
sT (1 sT )
R
K
R
T R C
T (R R ).C
T R C
1 + +

1
+
]

R
1
C
2
V
i
V
o
R
2
C
1
R
0
V
o
V
i
R
1
R
0
C
1
C
2
R
2
R
3
Bo PID/PIDT
1
kieu noi tiep, ao
N V
P
N 1
2
P
0
N 0 0
V 3 4 1
1 4 1
(1 sT )(1 sT )
G(s) K
sT (1 sT )
R
K
R
T R C
T (R R ).C
T R C
1 + +

1
+
]

Bo PID/PIDT
1
kieu noi tiep, ao
N V
P
N 1
1
P
0
N 1 1
V 2 3 1
1 3 2
(1 sT )(1 sT )
G(s) K
sT (1 sT )
R
K
R
T R C
T (R R ).C
T R C
1 + +

1
+
]

C
2
R
1
R
1
R
2
R
5
R
5
R
5
R
6
R
4 R
3 C
3
V
i
V
o
V
P
N 1
1 s.T
G(s) K 1
s.T 1 s.T
1
+ +
1
+
]

6
P
5
R
K
R

T
N
= R
2
C
2
T
V
= R
3
C
3

T
1
= R
4
C
3

V
i
V
o
C
1
C
0
R
1
R
2
R
3
R
4
R
0
Bo PID/PIDT
1
kieu song song, khong ao,
cac thong so ieu chnh oc lap

101
Di ay la hnh dang ngoai va s o cau truc mot bo ieu chnh PID thc te,
c che tao bang cac mach khuech ai thuat toan. Cau truc bo PID gom 4 nhom
phan t : nhom phan t so sanh tn hieu vao/ra, nhom phan t at chnh he so
khuech ai, nhom phan t P-I-D, cuoi cung la nhom mach cong tn hieu va khau
bao hoa e gii han giai gia tr tn hieu ieu khien u(t) xuat ra (0...10V hoac -10
...10V). Cau truc nay cho phep ieu chnh tng thong so K
P
, K
I
, K
D
cua bo PID
mot cach rieng biet, oc lap.














Phan t
so sanh
at chnh
he so
khuech ai
Phan t
P, I, D
Phan t tong
hp va khau
bao hoa
r
y
u

102

















1 Nguon 24V
2 Mass nguon (0V)
3 Nguon cap cho cam bien 15V
4 Mass nguon cua cam bien (0V- analogue ground)
5 Ngo vao tn hieu vao chuan (gia tr at - setpoint)
6 Ngo vao tn hieu hoi tiep(gia tr thc qua o lng) .
7 iem so sanh (iem tong hp cac tn hieu ngo vao)
8 en bao tn hieu vao vt mc gii han
9 iem o kiem tn hieu vao chuan
10 iem o kiem tn hieu hoi tiep
11 iem o kiem tn hieu o sai lech
12 iem o kiem ngo ra t le (P)
13 iem o kiem ngo ra tch phan (I)
14 iem o kiem ngo ra vi phan (D)
15 Nut xoay chnh tinh K
P

16 Nut xoay chon tho K
P

17 en ch bao co tn hieu ngo ra P
18 Nut xoay chnh tinh K
I

19 Nut xoay chon tho K
I

20 en ch bao co tn hieu ngo ra I
21 Nut xoay chnh tinh K
D

22 Nut xoay chon tho K
D

23 en ch bao co tn hieu ngo ra D
24 iem tong hp tn hieu ra
25 Nut offset tn hieu ra (tn hieu ieu khien u )
26 Nut chon khoang gii han bao hoa tn hieu ra
27 Ngo ra cua bo ieu chnh (tn hieu ieu khien u )
r
y
u

103
3.5 ac tnh tan so cua he thong t ong
Xet he thong ieu khien h bao gom nhieu khau ong hoc c ban mac noi
tiep. Ham truyen cua he thong h se bang tch cac khau ong hoc thanh phan va co
the bieu dien dang tong quat :

( )
( )
( )
1 2
1 2
i 1i
i 1 i 1
h
2 2
2i 3i 3i
i 1 i 1
m m
n n
N
K T s 1
G (s)
s T s 1 T s 2 T s 1


+

+ + +



Trong o:
1
i
i 1
m
K K

_la he so khuech ai chung cua he thong.

1i 2i 3i
T , T , T _la cac hang so thi gian cua cac khau.

1 2
N n n n + + _ la bac cua he thong.
Neu thay s=j vao va tnh ta se co:

n
i
i 1
j ( ) n
j ( )
i
i 1
h
G ( j ) A( ).e A ( )e

Trong o:
Bien o:
i
i 1
n
A( ) A ( )

Goc pha:
i
i 1
n
( ) ( )

Hay viet di dang phan thc, phan ao:
G( j ) Re( ) j Im( ) +
Thay cac gia tr t 0 en vao A() va () (hoac Re() va Im()), tnh
gia tr roi the hien len o th ta co the ve c bieu o Nyquist cua he thong.
Bien o logarit cua he thong h:

n n
i i
i 1 i 1
L( ) 20lgA ( ) L ( )




Nh vay bieu o Bode cua he thong h bang tong cac bieu o Bode cua cac
khau ong hoc thanh phan. ieu nay giup ta de dang xay dng c bieu o Bode
cua he thong h bang phng phap cong o th.
e ve gan ung bieu o Bode bien o cua he thong bang tiem can ta tien
hanh cac bc nh sau:
Xac nh cac tan so gay
1
1
1
T
;
2
2
1
T
,... va sap xep theo th t tan so
tang dan, gia s ta co
1
<
2
<
3
< ... ( hay T
1
> T
2
> T
3
> ... )
Tai iem co =1 tren truc hoanh (v du goi la iem H) ta ve mot oan thang
HA vuong goc vi truc hoanh co o dai HA=20lgK.

104
-Neu K>1 th 20lgK>0 nen HA nam pha tren truc hoanh
-Neu K<1 th 20lgK<0 nen HA nam pha di truc hoanh.
Qua iem A ta ve mot ng thang co o doc -20 dB/dec x N va keo dai ti
tan so gay
1
. Gia tr N> 0 tng ng vi so khau tch phan ly tng, gia tr N<0
tng ng vi so khau vi phan ly tng. neu N=0 (khong co cac khau tch phan, vi
phan ly tng) th oan khi au ng vi

1
se la ng nam ngang vi bien o
L()= 20lgK = const.
Sau tan so
1
th tuy theo v tr cua T
1
trong ham truyen,

ng thang nay se
thay oi o doc nh sau:
-Neu T
1
thuoc khau vi phan bac1 ( t so) th o doc cong them +20 dB/dec.
-Neu T
1
thuoc khau PT
1
( mau so) th o doc cong them -20 dB/dec.
-Neu T
1
thuoc khau PT
2
dao ong ( mau so) th o doc cong them -40 dB/dec.
-Neu T
1
thuoc m khau PT
1
th o doc cong them -20m dB/dec.
C sau moi tan so gay th o doc lai thay oi theo nh quy luat tren.
V du : Ve bieu o Bode cua he thong h co ham truyen:

2
2 2 2
1 3 4 4
K(T s 1)
G(s)
s(Ts 1)(T s 1) (T s 2 T s 1)
+

+ + + +

trong o : K>1; T
1
>T
2
>T
3
>T
4
.
Giai. Trc tien ta xac nh cac tan so gay

1
1
1
T
;
2
2
1
T
;
3
3
1
T
;
4
4
1
T

va sap xep theo th t t nho en ln
1
<
2
<
3
<
4

Sau o ap dung quy tac ve a neu ta c bieu o Bode nh hnh 3.30.
e ve bieu o Bode pha, ta tnh goc pha tong:

4
i 1 2 3
2 2
i 1 4
n
2 T
( ) ( ) 90 arctg( T ) arctg( T ) 2arctg( T ) arctg
1 T

Vi ca c gia tr khac nhau ta tnh gia tr goc pha tng ng va ve c bieu
o Bode pha cua he thong.











Hnh 3.30
20lgK
-20dB/dec
-40dB/dec
-20dB/dec
-60dB/dec
-100dB/dec

1
2

4
1

L() dB
A
H

105
Chng 4
TNH ON NH CUA HE THONG
4.1 Khai niem
On nh la ch tieu c ban cua he thong ieu khien t ong. Mot he thong
muon s dung c th trc het phai at yeu cau ve on nh. Tnh on nh ac
trng cho kha nang duy tr c trang thai ca n bang cua he khi chu cac tac ong t
ben ngoai. Do co hai nguon tac ong t ben ngoai ma ta thng quan tam la tn
hieu vao va tn hieu nhieu nen tng ng cung co hai nh ngha ve on nh.
- On nh BIBO: He thong c goi la on nh BIBO (Bounded Input -
Bounded Output) neu vi tn hieu vao hu han th tn hieu ra cung hu han.
- On nh tie m can (Lyapunov): He thong c goi la on nh ta i iem can
bang x
0
neu nh khi co mot tac ong tc thi anh bat he ra khoi x
0
th sau
o he co kha nang t quay ve iem can bang x
0
ban au.
oi vi he tuyen tnh th hai nh ngha tren la tng ng. He tuyen tnh ch
ton tai mot iem trang thai can bang la x
0
=0.
Xet he thong tuy$n tnh co tn hieu vao r(t), tn hieu ra y(t), c mo ta bang
phng trnh vi phan :

n n 1 m m 1
n n 1 0 m m 1 0
n n 1 m m 1
d y(t) d y(t) d r(t) d r(t)
a a ... a y(t) b b ... b r(t)
dt dt dt dt



+ + + + + +
ap ng cua he thong xac nh bang nghiem y(t) bao gom hai thanh phan:
y(t) = y
0
(t) + y
q
(t)
y
0
(t) la nghiem rieng cua phng trnh khi co ve phai, a c trng cho
qua trnh xac lap.
y
q
(t) la nghiem tong quat cua phng trnh khi ve phai bang 0, a c
trng cho qua trnh qua o.
Nghiem rieng y
0
(t) phu thuoc tac ong au vao. Neu tac ong au vao la hu
han th y
0
(t) cung hu han nen no luon la mot thanh phan on nh. e xet tnh on
nh cua he thong ta ch can xet ap ng qua o.
ap ng qua o co dang tong quat :
y
q
(t) =
i
n
s t
i
i 1
C e

trong o:
C
i
la hang so phu thuoc vao thong so cua he va ieu kien au (trang thai au).
s
i
(i=1,2,,n) la nghiem cua phng trnh ac tnh:
n n 1
n n 1 0
a s a s ... a 0

+ + +
s
i
con goi la cc cua he thong.
s
i
co the la so thc (s
i
=
i
) hay so phc (s
i
=
i
tj
i
).
T phan tch neu tren, ta co cach nh ngha khac ve he on nh:

106
Mot he thong tuyen tnh c goi la on nh neu qua trnh qua o tat dan theo
thi gian. He thong khong on nh neu qua trnh qua o tang dan. He thong gii
han on nh, neu qua trnh qua o khong oi, hoac dao ong vi bien o khong oi.
Nh vay, he on nh neu :
i
n
s t
i
t t
i 1
lim (t) lim C e 0
q
y

Xet cac trng hp cu the ta thay :
0 neu
i
< 0 he on nh
C
i
neu
i
= 0,
i
=0 he gii han on nh
A
i
sin(
i
t+
i
) neu
i
= 0,
i
0 he gii han on nh
neu
i
> 0 he khong on nh





a) He on nh b) he gii han on nh c) he khong on nh
Hnh 4.1 Cac dang qua trnh qua o
Ket lua n :
1. He thong on nh, neu tat ca cac nghiem cua phng trnh ac tnh eu co
phan thc am. Neu bieu dien tren mat phang phc th cac nghiem nay nam
ben tra i truc ao (thng goi tat la nghiem trai).
2. He thong khong on nh, neu co t nhat mot nghiem co phan thc dng.
Nghiem nay nam ben phai truc ao (thng goi tat la nghiem phai).
3. He thong gii han on nh, neu co t nhat mot nghiem co phan thc bang
0 va cac nghiem con lai co phan thc am, t c la co t nhat mot nghiem nam
tren truc ao va cac nghiem con lai nam ben trai truc ao.






Hnh 4.2 Phan bo nghiem tren mat phang phc s
T cac phan tch tren, ta thay phng phap trc tiep e anh gia tnh on nh
cua he thong la giai phng trnh ac tnh roi xet dau phan thc cua nghiem hoac
xet s phan bo nghiem tren mat phang phc.
e tranh phai giai phng trnh ac tnh, ta co cac phng phap gian tiep, tien
li hn, o la :
- Tieu chuan on nh ai so : bao gom tieu chuan Routh, Hurwitz.
- Tieu chuan on nh tan so : bao gom tieu chuan Mikhailov, Nyquist.
i
s t
i
t
limC e

i
= 0
y
q
(t)
t

i
> 0
t
y
q
(t)

i
< 0
y
q
(t)
t
Re
Im
Mien khong on nh
0

i
> 0

Mien on nh

i
< 0


107
- Phng phap quy ao nghiem va phng phap chia mien on nh. Hai
phng phap nay thng dung e xet tnh on nh cua he thong khi co mot thong so
bien oi trong mot pham vi nao o.
4.2 Tieu chuan on nh ai so
Cac tieu chuan on nh ai so tm ieu kien rang buoc gia cac he so cua
phng trnh ac tnh e he thong on nh. Cac tieu chuan nay ap dung cho he h
hay he kn eu c.
4.2.1 ieu kien can
ieu kien can e he thong on nh la tat ca cac he so cua phng trnh ac tnh
eu dng. (Neu cac he so eu am, chung co the oi thanh dng bang cach nhan
hai ve cho -1)
V du 4.1. He thong co phng trnh ac tnh:
s
3
+ 5s
2
3s + 1 = 0 khong on nh v he so a
1
<0
s
4
+ 5s
2
+ 3s +1 = 0 khong on nh v he so a
3
=0
s
4
+ 4s
3
+ 5s
2
+ 3s +1 = 0 mi thoa ieu kien can, cha ket luan c.
ieu kien can co the kiem chng nh sau:
Mot a thc cu a s co cac he so thc luon co the phan tch thanh cac tha so
bac nhat nh (s+a) va bac hai nh (s
2
+bs+c) trong o a, b, c la cac so thc. Tha so
bac nhat (s+a) cho nghiem thc am khi va ch khi a dng. Tha so bac hai
(s
2
+bs+c) cho cac nghiem co phan thc am khi va ch khi b va c eu dng. e a
thc co ta t ca cac nghiem co phan thc am (he on nh) th cac he so a, b, c, trong
tat ca ca c tha so eu phai dng. Tch cua cac tha so ba c nhat va bac hai ch bao
gom cac he so dng luon luon tao ra mot a thc vi ca c he so dng, nhng ieu
ngc lai th co the khong ung (v du
3 2 2
s s 4s 30 (s 3)(s 2s 10) + + + + + ), do o
phat bieu a neu ch la ieu kien can.
4.2.2 Tieu chuan Routh
Cho he thong bac n co phng trnh ac tnh

n n 1
n n 1 1 0
a s a s ... a s a 0

+ + + +
e xet on nh theo tieu chuan Routh, trc tien ta can lap bang Routh :
a
n
a
n-2
a
n-4

a
n-1
a
n-3
a
n-5

n 1 n 2 n n 3
1
n 1
a a a a
c
a

n 1 n 4 n n 5
2
n 1
a a a a
c
a

n 1 n 6 n n 7
3
n 1
a a a a
c
a

1 n 3 2 n 1
1
1
c a c a
d
c

1 n 5 3 n 1
2
1
c a c a
d
c

- Bang Routh gom (n+1) hang.
- Hai hang au cha cac he so cua PTT sap xep theo hnh , t a
n
en a
0
.

108
- T hang th 3 tr i, muon tnh phan t cot th i, ta lay bon phan t cua hai
hang nam lien trc, bao gom hai phan t cot 1 va hai phan t cot (i+1). Sap
xep 4 phan t theo th t t tren xuong di va t trai qua phai e c mot
nh thc. Tnh so oi cua nh thc o roi em chia cho gia tr cot 1 cua hang
lien trc hang ang tnh.
Phat bieu :
- ieu kien can va u e he thong on nh la cac phan t H cot th nhat cua
bang Routh eu dng.
- So lan oi dau cua cac phan t cot th nhat bang so nghiem cua phng
trnh ac tnh co phan thc dng (nam ben phai truc ao).
Nhan xet:
- Neu phng trnh ac tnh co he so nao o am hoac bang 0, tc la khong thoa
ieu kien can, th co the ket luan ngay la he thong khong on nh ma khong can
dung tieu chuan Routh.
- Bang Routh cung co the ket thuc ngay khi cot 1 co he so am hoac bang 0 va
ket luan he thong khong on nh.
- Co the nhan hay chia tat ca ca c he so trong cung mot hang cua bang Routh vi
mot hang so dng e n gian hoa viec tnh toan ma khong lam thay oi ket
qua xet on nh.
V du 4.2. Xet he thong co phng trnh ac tnh
s
4
+ 2s
3
+ 5s
2
+ 4s +1 = 0
Lap bang Routh:
1 5 1
2 4 0
1
1 5
2 4 2(5) 1(4)
c 3
2 2

2
1 1
2 0 2(1) 1(0)
c 1
2 2

0
1
2 4
3 1 3(4) 2(1) 10
d
3 3 3

2
2 0
3 0
d 0
3

0
1 2 1
1 2
1
d (c ) c (0)
e c 1
d

e
2
= 0 0
V ca c phan t cot 1 eu dng nen he thong on nh. Tat ca cac nghiem
cua phng trnh ac tnh eu co phan thc am (nam ben trai truc ao).

109
V du 4.3. Xet he thong co phng trnh ac tnh
s
4
+ 4s
3
+ s
2
+ 8s + 2 = 0
Giai. Lap bang Routh: (cac o trong c xem la bang 0)
1 1 2
4 8 0
-1 2
16 0
2
Cac he so cot 1 khong cung dau nen he khong on nh. Hn na chung oi
dau hai lan (t 4 qua -1 va t -1 qua 16) nen phng trnh ac tnh co 2 nghiem co
phan thc dng.
V du 4.4. Cho he thong co s o khoi nh hnh (4.3). Hay xac nh khoang gia tr
cua tham so K e he thong on nh.


2
1
G(s)
s(2s 1)(s s 1)

+ + +

Hnh 4.3
Giai. Ham truyen cua he kn: G
k
(s) =
K.G(s)
1 K.G(s) +

Phng trnh ac tnh cua he kn: 1+ K.G(s) = 0

2
K
1 0
s(2s 1)(s s 1)
+
+ + +

2s
4
+ 3s
3
+ 3s
2
+ s + K = 0
Bang Routh:
2 3 K
3 1 0
7/3 K
1 (9/7)K 0
K
Theo tieu chuan Routh, ieu kien e he thong on nh la:
9
1 K 0 7
0 K
7
9
K 0

>

< <
'

>

Cac trng hp ac biet
Ngay khi cot 1 bang Routh co he so bang 0 ta co the ket luan la he thong
khong on nh. Tuy nhien e xac nh ro so nghiem co phan thc dng, am
va/hoac so nghiem ao th can xem xet tiep nh sau:
G(s)
R(s)
Y(s)
K

110
Trng hp 1 : Neu he so cot 1 cua hang nao o bang 0, nhng cac he so con
lai cua hang o khac 0 th ta thay he so bang 0 o bang so dng nho tuy y va
tiep tuc tnh.
V du 4.5. Xet he thong co phng trnh ac tnh :

5 4 3 2
s 2s 3s 6s 5s 6 0 + + + + +
Lap bang Routh :
1 3 5
2 6 6
0 >0 2 0
d
1
6 0
e
1
0
6

1
6 4
d

;
2
1
1
1
2d 6 12 8 6
e
d 6 4




V >0 nho tuy y nen d
1
< 0 ; va e
1
= 2 khi 0. Do o cot 1 co hai lan oi dau.
He khong on nh, co hai nghiem co phan thc dng.
Trng hp 2 : Tat ca cac he so cua hang nao o bang 0. Neu cac he so cu a
PTT eu dng, tc la a thoa ieu kien can, th ieu nay cho biet PTT co
mot hoac mot so cap nghiem ao oi nhau.
- Lap a thc phu P(s) t cac he so cua hang trc hang co cac he so bang 0,
sau o thay cac he so 0 bang cac he so cua ao ham dP(s)/ds va tiep tuc tnh.
Nghiem cua a thc phu P(s) cung chnh la nghiem cua phng trnh ac tnh.
V du 4.6. Xet he thong co phng trnh ac tnh :

5 4 3 2
s 3s 5s 15s 4s 12 0 + + + + +
Lap bang Routh :
s
5
1 5 4
s
4
3 15 12
s
3
0 12 0 30 0
s
2
15/2 12
s
1
54/5 0
s
0
12
Lap a thc phu P(s) t cac he so cua hang s
4
:

4 2
P(s) 3s 15s 12 + +

3 2
dP(s)
12s 30s
ds
+ Thay 12 va 30 vao hang s
3

Nghiem cua a thc phu :

4 2 2 2
P(s) 3s 15s 12 3(s 1)(s 4) 0 + + + +
s = t j va s = t 2j
Cac nghiem nay cung chnh la nghiem cua phng trnh ac tnh.

111
Ket luan :
- Cac he so cot 1 bang Routh khong oi dau nen phng trnh ac tnh
khong co nghiem vi phan thc dng.
- Phng trnh ac tnh co bon nghiem ao, mot nghiem thc am.
- He thong gii han on nh.
Ket luan tren co the kiem chng bang cach bieu dien phng trnh ac tnh a
cho di dang tch cac tha so :

5 4 3 2 2 2
s 3s 5s 15s 4s 12 (s 3)(s 1)(s 4) 0 + + + + + + + +
4.2.3 Tieu chuan Hurwitz
Cho he thong bac n co phng trnh ac tnh :

n n 1
n n 1 1 0
a s a s ... a s a 0

+ + + +
e xet tnh on nh cua he thong theo tieu chuan Hurwitz, can lap n nh
thc Hurwitz H
i
(i=1,2,...,n) theo qui tac:
ng cheo chnh cua nh thc H
i
cha cac he so t a
1
en a
i
.
Cac he so cung mot cot, pha tren ng cheo chnh co ch so tang dan,
pha di ng cheo chnh co ch so giam dan.
Cac v tr con trong c ien so 0.

1 1 3 5 7
2 0 2 4 6
3 1 3 5
4 0 2 4
n n
H a a a a 0
H a a a a 0
H 0 a a a 0
H 0 a a a 0
H 0 a
L
L
L
L
M M M M M O M
L L L L

Phat bieu :
- ieu kien can va u e he thong on nh la cac he so cu a phng trnh ac
tnh va cac nh thc Hurwitz eu dng.
- So lan oi dau trong day H
1
, H
2
,
3 2
1 2 1
n
n
H H H
, , ,
H H H

L bang so nghiem co
phan thc dng (nam ben phai truc ao).
V du 4.7. Xet he thong bac ba co phng trnh ac tnh :
a
3
s
3
+ a
2
s
2
+ a
1
s + a
0
= 0
e he on nh ta phai co a
0
, a
1
,

a
2
,

a
3
>0 va cac nh thc Hurwitz:
1 1
H a 0 >
1 3
2 1 2 0 3
0 2
a a
H a a a a 0
a a
>

112
1 3
1 1 3 3
3 0 2 1 3 3 2
0 0 2 2
1 3
a a 0
a 0 a a a 0
H a a 0 0 a a a H 0
a 0 a a a 0
0 a a
+ >
Tom lai, he bac ba on nh neu:
a
0
, a
1
,

a
2
,

a
3
> 0

1 2 0 3
a a a a 0 >
V du 4.8. Xet he thong bac bon co phng trnh ac tnh :
a
4
s
4
+ a
3
s
3
+ a
2
s
2
+ a
1
s + a
0
= 0
e he on nh ta phai co a
0
, a
1
,

a
2
,

a
3
, a
4
>0 va:

1 1
H a 0 >

1 3
2 1 2 0 3
0 2
a a
H a a a a 0
a a
>

1 3
2
3 0 2 4 3 1 2 0 3 1 4
1 3
a a 0
H a a a a (a a a a ) a a 0
0 a a
>

1 3
0 2 4
4 4 3
1 3
0 2 4
a a 0 0
a a a 0
H a H 0
0 a a 0
0 a a a
>
Tom lai, he bac bon on nh neu:
a
0
, a
1
,

a
2
,

a
3
, a
4
> 0

2
3 1 2 0 3 1 4
a (a a a a ) a a 0 >
Nhan xet:
- Vi he thong bac1 va bac 2 th ieu kien can (a
0
, a
1
,

a
2
>0 ) cung la ieu kien u.
- Tieu chuan Hurwitz thng ap dung cho he bac thap (n 4). Vi he bac cao, viec
tnh nh thc se ton nhieu thi gian.
- Xet hai phng trnh ac tnh co he so oi ngau :

n n 1
1 n n 1 1 0
A (s) a s a s ... a s a 0

+ + + + (1)

n n 1
2 0 1 n 1 n
A (s) a s a s ... a s a 0

+ + + + (2)
Ta thay
n 1
2 1
A (s) s A (s )

. V vay neu
i
s (i=1,2,,n) la nghiem cua phng
trnh (1) th
1
i
s

se la nghiem cua phng trnh (2). Nhng v
i
s va
1
i
s

luon co
phan thc cung dau nhau nen neu he co phng trnh ac tnh (1) on nh th he co
phng trnh ac tnh (2) cung on nh. Tng t ta co ieu ngc lai. Do o :
Cac nh thc Hurwitz va bang Routh a trnh ba y trong chng nay co the
ap du ng e xet on nh cho ca c he thong co phng trnh a c tnh da ng (1) hoac (2)
eu c.

113
4.3 Tieu chuan on nh tan so
Tieu chuan on nh tan so da tren cac bieu o ac tnh tan so e xet tnh on
nh cua he thong.
4.3.1 Nguyen ly goc quay
Xet phng trnh ac tnh bac n co cac nghiem s
i
(i=1,2,,n) :

n n 1
n n 1 1 0
A(s) a s a s ... a s a 0

+ + + +
a thc ac tnh A(s) ve trai co the viet di dang:

n 1 2 n
A(s) a (s s )(s s )...(s s )
Thay s=j ta c a thc ac tnh tan so:

n 1 2 n
A( j ) a ( j s )( j s )...( j s )
Moi so phc co the bieu dien tren mat phang phc bang mot iem hoac mot
vect. V du nghiem s
i
=
i
+j
i
co the bieu dien bang iem s
i
co toa o (
i
,j
i
) hoac
vect s
i
co goc trung vi goc toa o, thanh phan (j -s
i
) bieu dien bang vect co goc
iem s
i
va ngon nam tren truc ao (xem hnh 4.4). Khi thay oi, o dai va goc
cua vect (j-s
i
) cung thay oi theo. Neu quy c chieu quay dng la chieu ngc
kim ong ho th khi thay oi t - en + , moi vect thanh phan (j -s
i
) se quay
mot goc la + neu nghiem tng ng nam ben trai truc ao, la - neu nghiem tng
ng nam ben phai truc ao, la 0 neu nghiem tng ng nam tren truc ao.







Hnh 4.4.
Dung ky hieu arg e ch goc quay, ta co :

i
arg ( j s )
0
<<
+

'

Gia s phng trnh ac tnh co m nghiem nam ben phai truc ao va (n-m)
nghiem nam ben trai truc ao. Khi o :

m
i
i 1
arg ( j s ) m
<<

n m
i
i 1
arg ( j s ) (n m)

<<

n m m
i i
i 1 i 1
arg A( j ) arg ( j s ) arg ( j s ) (n 2m)

<< << <<

+


j
s
i

s-s
i
s

j
s
i

j-s
i
j
s
i +
-

j-s
i

(+)
neu
i
s nam ben trai truc ao.
neu
i
s nam ben phai truc ao.
neu
i
s nam tren truc ao.


114
Trong thc te ta ch can xet thay oi t 0 en +. Theo hnh (4.5) ta thay:
Neu s
i
la nghiem thc nam ben trai truc ao th (j - s
i
) quay mot goc +/2
Neu s
i
va s
i+1
la cap nghiem phc lien hp

nam ben trai truc ao th tong hai
goc quay cua (j- s
i
) va (j- s
i+1
) la +2/2 v :
- ng vi s
i
ta co (j- s
i
) quay mot goc /2+
- ng vi s
i+1
ta co (j- s
i+1
) quay mot goc /2-
Neu s
i
la nghiem thc nam ben phai truc ao th (j - s
i
) quay mot goc -/2
Neu s
i
va s
i+1
la cap nghiem phc lien hp

nam ben phai truc ao th tong hai
goc quay la -2/2.






Hnh 4.5. Goc quay cua ca c vect khi thay oi t 0 en +
Do o neu phng trnh ac tnh co m nghiem nam ben phai truc ao va (n-m)
nghiem nam ben trai truc ao th khi thay oi t 0 en + :

m
i
0
i 1
arg ( j s ) m
2
<<

n m
i
0
i 1
arg ( j s ) (n m)
2

<<

n m m
i i
0 0 0
i 1 i 1
arg A( j ) arg ( j s ) arg ( j s ) (n 2m)
2

<< << <<

+


4.3.2 Tieu chuan Mikhailov
Phat bieu:
ieu kien can va u e he tuyen tnh bac n on nh la ng ac tnh A(j )
xuat phat t truc thc dng va quay n goc phan t (noi cach khac la bao goc toa
o mot goc bang n(/2)) theo chieu ngc kim ong ho khi thay oi t 0 en +.
Chng minh:
Xet he thong bac n co phng trnh ac tnh :

n n 1
n n 1 1 0
A(s) a s a s ... a s a 0

+ + + +
a thc ac tnh tan so:

n n 1
n n 1 1 0
A( j ) a ( j ) a ( j ) ... a ( j ) a

+ + + +
ieu kien can e he on nh la cac he so cua phng trnh ac tnh phai
dng. Do o khi =0 th
0
A( j ) a 0 > , tc la ng ac tnh A(j ) phai xuat
phat t iem (a
0
, j0) nam na truc thc dng.
j
s
i
/2

j
s
i
-/2

s
i



s
i+1
j
s
i



s
i+1
j
/2+
-/2-
/2-
-/2+

115
He thong bac n on nh neu tat ca n nghiem eu nam ben trai truc ao. Theo
nguyen ly goc quay ta co ieu phai chng minh:

0
n
arg A( j )
2
<<

Hnh 4.6. Minh hoa tieu chuan Mikhailov.
Nhan xet:
- Tieu chuan Mikhailov co the dung e xet on nh cho ca he h va he kn.
- e xay dng ng ac tnh A(j) ta thay s= j vao phng trnh ac tnh roi
tach rieng phan thc va phan ao:

n n 1
n n 1 1 0
A( j ) a ( j ) a ( j ) ... a ( j ) a

+ + + +
P( ) jQ( ) +
Sau o cho bien thien t 0 en + , tnh cac gia tr P() va Q() tng ng
roi the hien tren o th.
Viec xay dng ng ac tnh A(j ) cua cac a thc A(s) co bac cao la phc
tap hn nhieu so vi cac tnh toan ai so tieu chuan Routh- Hurwitz. Chnh v han
che nay ma tieu chuan Mikhailov t c dung trong thc te.
4.3.3 Tieu chuan Nyquist
Tieu chuan Nyquist xet tnh on nh cua he thong kn thong qua bieu o
Nyquist cua he thong h. Tieu chuan nay rat hu dung v trong nhieu trng hp
thc te viec tm ham truyen cua he kn bang giai tch rat phc tap, trong khi ac
tnh tan so he h th co the xac nh c t thc nghiem. Mot u iem khac la tieu
chuan Nyquist ap dung thuan li cho ca he thong co khau tre.
Xet he kn hoi tiep am nh tren hnh 4.7a. Neu ngat mach phan hoi ngay
trc bo so ta co he h (he vong h, he trang thai h) nh hnh 4.7b.





a) He kn b) He h tng ng
Hnh 4.7. He kn va he h tng ng
G(s)
R(s) Y(s)
Y
h
(s)
H(s)
G(s)
R(s) Y(s)
Y
h
(s)
e

H(s)
He on nh
Im
n=1
n=5
n=4
n=3
n=2
Re
=0
a
0


Re
He khong on nh
Im
=0
n=4


116
Phat bieu:
a) He kn on nh khi he h on nh va ng Nyquist cua he h khong bao
iem (-1,j0).
b) He kn on nh khi he h khong on nh va ng Nyquist cua he h bao
iem (-1,j0) mot goc bang m theo chieu ngc kim ong ho khi thay
oi t 0 en + ; vi m la so nghiem co phan thc dng cua phng
trnh ac tnh he h.
iem (-1,j0) goi la iem ti han, neu ng Nyquist he h i qua iem nay th
he kn gii han on nh.








Chng minh:
a) Khi he h on nh
Ham truyen cua he h co the bieu dien di dang :

h
B(s)
G (s) G(s)H(s)
A(s)

Trong o A(s) va B(s) la cac a thc theo s. e he thong ton tai va kha thi
trong thc te th bac cua B(s) bac cua A(s).
Ham truyen cua he kn :

k
h
G(s) G(s)
G (s)
1 G(s)H(s) 1 G (s)

+ +

Phng trnh ac tnh cua he h : A(s) = 0
Phng trnh ac tnh cua he kn :

k
h
A (s) B(s) A(s) B(s)
1 G (s) 1 0
A(s) A(s) A(s)
+
+ +
Nghiem cua phng trnh ac tnh he kn se la nghiem cua:

k
A (s) A(s) B(s) 0 +
Do bac cua B(s) bac cua A(s) nen neu phng trnh ac tnh he h co bao
nhieu nghiem th phng trnh ac tnh he kn cung co bay nhieu nghiem.
Goi s
i
la nghiem cua phng trnh ac tnh he h va
i
s la nghiem cua phng
trnh ac tnh he kn vi i=1,2,,n. Ta c:

1 2
1 2
k n
h
n
A (s) (s s )(s s )...(s s )
1 G (s) K
A(s) (s s )(s s )...(s s )

+


a thc a c tnh he kn
a th c ac tnh he h

trong o K la hang so.
Hnh 4.8. Minh hoa tieu chuan
Nyquist cho ba trng hp he h
on nh va ket qua:
(1) He kn on nh
(2) He kn gii han on nh
(3) He kn khong on nh
Re
(-1,j0)
Im
=0
=
(1)
(2)
(3)

117
Re
(-1,j0)
Im
G(j)
1+G(j
)
=0
Thay s = j ta co dang tan so:

1 2
1 2
k n
n
A ( j ) ( j s )( j s )...( j s )
1 G( j ) K
A( j ) ( j s )( j s )...( j s )

+


T bieu thc tren ta thay vect 1+G(j ) ac trng cho moi quan he gia he h
va he kn. Ham G(j) la ham truyen tan so cua he h. ng cong G(j ) chnh la
ng Nyquist cua he h. Vect 1+G(j ) noi t iem (-1,j0) ti ng cong G(j ).
Goc bao iem (-1,j0) cua ng G(j ) cung chnh la goc quay cua vect 1+G(j ).
Khi he h on nh, phng trnh ac tnh A(s)= 0 co n nghiem eu ben trai
truc ao nen theo nguyen ly goc quay:

0
n
arg A( j )
2
<<

He thong kn muon on nh th phng
trnh
k
A (s) 0 cung phai co n nghiem ben
trai truc ao nen :

k
0
n
arg A ( j )
2
<<

Khi o goc quay cua vect 1+G(j ):

[ ]
k
0 0 0
n n
arg 1 G( j ) arg A ( j ) arg A( j ) 0
2 2
<< << <<

+
ieu nay ong ngha vi ng Nyquist G(j ) cua he h phai khong bao iem
(-1,j0) .
b) Khi he h khong on nh
He h khong on nh nen phng trnh ac tnh he h A(s)=0 co t nhat mot
nghiem nam ben phai truc ao. Gia s co m nghiem nam ben phai truc ao va (n-m)
nghiem nam ben trai truc ao. Theo nguyen ly goc quay ta co:

0
arg A( j ) m (n m) (n 2m)
2 2 2
<<

+
He kn muon on nh th:

k
0
n
arg A ( j )
2
<<

Khi o goc quay cua vect 1+G(j ):

[ ]
k
0 0 0
arg 1 G( j ) arg A ( j ) arg A( j ) n (n 2m) m
2 2
<< << <<

+
ieu nay ong ngha vi ng Nyquist G(j ) phai bao iem (-1,j0) mot goc
ung bang m khi thay oi t 0 en +.

Hnh 4.9

118
-1
Re
Im
0

1+G(j)
=0
=
Chu y:
- Trc khi ap dung tieu chuan Nyquist phai xet xem he h co on nh hay
khong. Co the giai phng trnh ac tnh he h hoac ap dung cac tieu chuan on
nh ai so e xet he h.
- oi vi cac he thong co khau tch phan ly tng th he h co nghiem cc
bang 0 (nam tren truc ao). e ap dung tieu chuan Nyquist, ta ve them mot cung
tron
2

co ban knh vo cung ln, vi la so khau tch phan ly tng trong ham
truyen he h.
V du 4.9. Cho he h co ham truyen:

5
10
G(s)
(s 3)(s 1, 24)

+ +

va bieu o Nyquist he h nh hnh ben canh.
Hay dung tieu chuan Nyquist e xet
tnh on nh cua he kn tng ng.
Giai.
Phng trnh ac tnh he h :

5
(s 3)(s 1, 24) 0 + +
Phng trnh co mot nghiem s =-3 va nam nghiem s=-1,24 . Cac nghiem nay
eu am nen he h on nh.
He h on nh va ng Nyquist he h khong bao iem (-1; j0) nen theo tieu
chuan Nyquist, he kn tng ng cung on nh.
V du 4.10. Cho he h co ham truyen:

3
4
G(s)
(0,8s 1)(s 1)

+

va bieu o Nyquist he h nh hnh ben canh.
Hay dung tieu chuan Nyquist e xet
tnh on nh cua he kn tng ng.
Giai.
Phng trnh ac tnh he h :

3
(0,8s 1)(s 1) 0 +
Phng trnh nay co : mot nghiem thc am
s =-1,25 va ba nghiem thc dng s=1 nen he h
khong on nh.
He h khong on nh va ng Nyquist he
h bao iem (-1; j0) mot goc la (3) theo
chieu ngc kim ong ho khi thay oi t 0 en
nen theo tieu chuan Nyquist, he kn tng ng
khong on nh.
-1
Re
Im
0
-1
Re
Im

119
V du 4.11. Xet tnh on nh cua he hoi tiep am co ham truyen cua he h la:

1 2
K
G(s)
s(Ts 1)(T s 1)

+ +

Vi gia tr T
1
, T
2
co nh, tuy theo gia tr cua tham so K ma bieu o Nyquist
he h co the co mot trong ba dang sau:







Hnh 4.10
Trng hp nay he h gii han on nh (co 1 cc bang 0, cac cc con lai la
nghiem thc am). Tng ng vi khau tch phan, ta ve them cung tron 90 ban knh
vo cung ln roi ap dung tieu chuan Nyquist tng t trng hp he h on nh.
- Trng hp (1): K nho, G(j ) khong bao iem (-1,j0) he kn on nh.
- Trng hp (2): K=Kgh

, G(j) i qua iem (-1,j0) he kn gii han on nh.
- Trng hp (3): K ln, G(j ) bao iem (-1,j0) he kn khong on nh.
4.3.4 o d tr on nh
Trong thc te he thong khong nhng can phai on nh ma con phai at mc
o on nh can thiet. e anh gia mc o on nh cua he thong ngi ta a ra
khai niem o d tr bien o va o d tr pha.
Tan so tai o bien o A()=1, tc L()= 0 dB goi la tan so cat bien
c

Tan so tai o goc pha ()=- =-180 goi la tan so cat pha

o d tr bien o GM (Gain Margin) ac trng cho mc o tiep can gii han on
nh ve phng dien bien o.

1
GM
A( )

(khong n v) dung vi bieu o Nyquist

hay GM L( )

(n v la dB) dung vi bieu o Bode

Nhan xet: Khi A(

) tang th GM giam. Gia tr GM=1 (khong n v) hoac 0
(n v dB) ac trng cho gii han on nh. Bien o A( ) chnh la t so gia bien o
cua tn hieu ra va tn hieu vao sin, do o o d tr bien o cung bieu th mc cho
phep tang he so khuech ai K cua he h ma van gi c he kn on nh.
o d tr pha PM (Phase Margin) ac trng cho mc o tiep can gii han on
nh ve phng dien goc pha.
PM = 180 + (
c
)
Re
(-1,j0)
Im
=0
= (1)
(2)
(3)
R=

120
o d tr on nh bien o va pha co the xac nh t bieu o Nyquist hay
bieu o Bode.
Da vao bieu o Nyquist:
T giao iem gia ng Nyquist va truc thc am ta xac nh c bien o
A( ) 1/ GM

. T giao iem gia ng Nyquist va ng tron n v ta xac nh

c goc = PM. Neu ng Nyquist hoan toan nam ben trong ng tron n v
th PM=. Neu ng Nyquist khong cat truc thc am th GM=1/0=.







Hnh 4.11 Xac nh o d tr bien va pha t bieu o Nyquist
Da vao bieu o Bode:
o d tr bien GM tnh t ng L( ) en truc . o d tr pha PM tnh t
ng thang - (hay -180) en ng cong ().










Hnh 4.12 Xac nh o d tr bien va pha tren bieu o Bode
Sau khi xac nh c o d tr bien o GM va o d tr pha PM cua he h
ta co the xet on nh he kn nh sau:
He kn on nh neu he h co o d tr bien va o d tr pha eu dng.
( He kn on nh he h co GM>0 dB va PM>0 )
Trong thc te, e am bao he thong hoat ong on nh th :
o d tr bien GM = 10 15 dB
o d tr pha PM = 30 60
-

0

c
GM<0

0
L() dB
()

c
-

GM>0
PM>0

L() dB
()

-

PM<0

-
0 0



-1
Re
Im

-1
Im
=180

c
=1
1
Re PM =
-1
Re
Im

1
GM

(
c
)

c


121
4.3.5 On nh cua he thong co khau tre
Xet cac he thong co khau tre nh hnh ve :





a) b)
Hnh 4.13
Ham truyen he h trong ca hai trng hp a) va b):

Ts
h
G (s) G(s)e

Ham truyen cua he kn:

ka
Ts
G(s)
G (s)
1 G(s)e

+
;
Ts
kb
Ts
G(s)e
G (s)
1 G(s)e

+

Phng trnh ac tnh he kn trong ca hai trng hp:

Ts
1 G(s)e 0

+
Khai trien Taylor:
2 2 3 3
Ts
T s T s
e 1 Ts
2! 3!

+ +L
Neu dung tieu chuan on nh ai so cho he thong co khau tre th ta phai thay
gan ung
Ts
e

bang tong hu han (v du thay

Ts
e 1 Ts

), nh vay viec tnh toan

phc tap ma ket qua xet on nh co the khong chnh xac. e tien li hn, ngi ta
thng dung tieu chuan Nyquist.
Ham truyen tan so he h :

j T j j T
h
G ( j ) G( j )e A( )e e


Bien o:
h
A ( ) A( ) G( j )
Goc pha:
h
()= () T
Nh vay, khau tre khong anh hng ti
bien o ma ch tao them goc lech pha - T.
Da vao bieu o Nyquist cua phan
khong tre ta co the xay dng c bieu o
Nyquist cua he thong co tre. e lam ieu o
ta ch viec quay vect G(j
i
) i mot goc
i
T
theo chieu kim ong ho. Lay nhieu iem
i
ta
se ve c toan bo ng G
h
(j). Khi tan so
tang len th goc
i
T cung tang trong khi bien
o tan so cao lai giam ve 0 nen bieu o
Nyquist co dang ng xoan oc.
T bieu o ta thay khi co them khau cham tre th o d tr on nh cua he
thong se giam i.
Ts
e

G(s)
Ts
e

G(s)
G(j)
Im
Re
G
h
(j)
T
Hnh 4.14

122
V du 4.12. Cho ham truyen cua he h la:
Ts
1
Ke
G(s)
Ts 1

+

Hay tm gia tr T gii han e he kn hoi tiep am luon on nh.
Giai. Xet trng hp gii han on nh, ng Nyquist i qua iem (-1,j0), khi o
tan so gii han
gh
=
c
=

. Tc la tai tan so gii han
gh
th bien o A()=1 va
goc pha ()=-.
Bien o A() khong b anh hng bi khau tre. Do o:

2 2
1
1
gh gh
gh
gh
K K
A( ) G( j ) 1
T j 1
T 1

+
+


2
1
gh
K 1
T

; K >1
Goc pha cua he thong khi cha co khau tre
Ts
e

:

2
1 gh gh
( ) arctg(T ) arctg K 1
Goc pha cua he thong bao gom ca khau tre:
(
gh
)
2
gh gh gh gh gh
( ) T arctg K 1 T
Suy ra gia tr gii han cua thi gian tre T :

( )
2
2 1
2
gh
gh
T arctg K 1
T arctg K 1
K 1

e he kn luon on nh th:
gh
T T
4.4 Phng phap quy ao nghiem
4.4.1 Khai niem
Quy ao nghiem (QN) la o th bieu dien tap hp tat ca ca c nghiem cua
phng trnh ac tnh khi co mot thong so nao o cua he thong thay oi t 0 I.
Quy ao nghiem c dung e khao sat anh hng cua thong so thay oi
en chat lng he thong, v du khao sat tnh on nh cua he thong khi he so khuech
ai (hay hang so thi gian,) thay oi t 0 I.
Xet he thong co s o khoi nh hnh ve :




Ham truyen cua he h:
0
G (s) G(s)H(s)
Phng trnh ac tnh cua he kn:
0
1 G (s) 0 +

0
G (s) 1

0
G (s) 1 : ieu kien bien o
[ ]
0
arg G (s) i t (i=1,3,5) : ieu kien pha
G(s)
H(s)
Hnh 4.15

123
Muon ve quy ao nghiem khi K la thong so thay oi, trc tien can bien oi
phng trnh ac tnh ve dang tuyen tnh theo K :

0
M(s)
1 G (s) 0 1 K 0
N(s)
+ +
N(s) K.M(s) 0 +
Trong o M(s) la a thc bac m; N(s) la a thc bac n. Thong thng m n.
G
0
(s) co m zero la nghiem cua M(s)=0 va n cc la nghiem cua N(s)=0.
4.4.2 Qui tac xay dng quy ao nghiem
1. So nhanh cua quy ao nghiem = so cc cu a G
0
(s) = ba c cua phng trnh
ac tnh = n.
2. Cac nhanh cua quy ao nghiem xuat phat t cac cc cua G
0
(s) khi K =0.
3. Khi K co m nhanh tien ti m zero cua G
0
(s), con lai (n-m) nhanh tien
ti theo cac tiem can.
4. Goc cua cac tiem can vi truc thc xac nh bi:

i
(2i 1)
n m

vi i= 1,2,n-m
5. Cac tiem can cung giao nhau tai mot iem tren truc thc co hoanh o:

n m
i i
i 1 i 1
0
p z
zero
R
n m n m
cc

vi p
i
: cc cua G
0
(s) ; z
i
: zero cua G
0
(s)
6. Quy ao nghiem oi xng qua truc thc v cac nghiem phc luon co tng
cap lien hp.
7. iem ta ch: la iem tai o hai nhanh QN gap nhau va sau o tach ra khi
K tang. iem ta ch nam tren truc thc va la nghiem cua phng trnh
dK
0
ds
.










Hnh 4.16. Minh hoa cac dang cu a QN tai iem tach
K=
K=0 K=0
K=
K=
K=0 K=0
K=
K=
K=0
K=0
K=
K=0
K=0
K=
K=
K=0
K=0
K= K=

124
8. Mot iem tren truc thc thuoc ve QN neu tong so lng iem cc va zero
cua G
0
(s) ben phai no la mot so le.
9. Giao iem cua QN vi truc ao co the xac nh bang 2 cach :
- Cach 1: Dung tieu chuan Routh-Hurwitz e tm K gii han (K
gh
) roi thay
K
gh
vao phng trnh ac tnh va giai tm nghiem ao.
- Cach 2: Thay s=j vao phng trnh ac tnh roi cho phan thc va phan ao
bang 0, sau o giai ra tm va K.
10. Goc xuat phat va goc en cua cac nhanh c xac nh t ieu kien pha

m n
i i
i 1 i 1
arg(s z ) arg(s p ) i

t


Suy ra:
- Goc xuat phat tai cc s=
j
p khi K=0 :

i 1
i j
m n
pj j i j i
i 1
180 arg(p z ) arg(p p )

+


= 180 + (tong cac goc t cac zero en cc pj)
(tong cac goc t cac cc con lai en cc pj ).
- Goc en tai zero s=
j
z khi K= :

i 1
i j
m n
zj j i j i
i 1
180 arg(z z ) arg(z p )

+


11. Gia tr K doc theo QN co the xac nh t ieu kien bien o

0
M(s)
G (s) K 1
N(s)

Suy ra gia tr K tai iem s
k
bat

ky tren QN :

n
k i
i 1
m
k i
i 1
s p
M(s)
K
N(s)
s z

Khi he thong khong co zero th
n
k i
i 1
K s p

V du 4.13. Cho he thong co s o khoi nh hnh ve :



Hnh 4.17
Hay ve quy ao nghiem cua he thong khi K thay oi t 0 .
G(s)
R(s)
Y(s)
K
1
G(s)
s(s 1)(s 3)

+ +

Tch cac khoang cach t iem s
k
en cac cc
Tch cac khoang cach t iem s
k
en cac zero

125
Giai. Phng trnh ac tnh cua he thong :
1+ KG(s) = 0
K
1 0
s(s 1)(s 3)
+
+ +

So nhanh, iem xuat phat, iem ket thuc, cac tiem can
Cc: co ba cc la p
1
= 0 ; p
2
= -1 ; p
3
= -3
Zero: khong co
Do o quy ao nghiem gom ba nhanh xuat phat t cac cc khi K=0.
Khi K, ba nhanh tien ti theo cac tiem can xac nh bi:
- Goc gia cac tiem can va truc thc

i
(2i 1) (2i 1)
n m 3 0




1
2
3
(i 1)
3
(i 2)
5
(i 3)
3

'

- Giao iem gia cac tiem can va truc thc co hoanh o:

0
zero
[0 ( 1) ( 3)] 4
R
n m 3 0 3
cc
+ +




Xac nh iem tach cua QN
Ta viet lai phng trnh ac tnh :
s(s 1)(s 3) K 0 + + +

3 2
(s 4s 3s) K 0 + + +

3 2
K (s 4s 3s) + +

2
dK
(3s 8s 3)
ds
+ +
Do o:
dK
0
ds

2
(3s 8s 3) 0 + +
Gia i ra ta c hai nghiem s
1
=-0,451 ; s
2
= -2,215
Ta ch nhan gia tr phu hp s
1
= -0,451 la iem tach. Gia tr s
2
= -2,215 khong
phu hp v iem nay khong thuoc ve QN (kiem tra tong so cc va zero cua G
0
(s)
ben phai iem nay bang 2, la so chan).
Giao iem cua QN vi truc ao
Cach 1: Dung tieu chuan Routh
Phng trnh ac tnh
3 2
s 4s 3s K 0 + + +
Bang Routh:
1 3
4 K
3 K/4 0
K
Theo tieu chuan Routh, ieu kien e he on nh la:

126

K
3 0
0 K 12
4
K 0

>

< <
'

>

Vay he so khuech ai gii han la K
gh
=12.
Thay K
gh
=12 vao phng trnh ac tnh ta co:

3 2
s 4s 3s 12 0 + + +
Gia i ra ta c cac nghiem:

1 2, 3
s 4 ; s j 3 t
Do o QN cat truc ao tai hai iem: s j 3 t
tng ng vi gia tr gii han K=12
Cach 2:
Thay s=j vao PTT ta c

3 2
( j ) 4( j ) 3( j ) K 0 + + +

3 2
j 4 3j K 0 + +

2
3
4 K 0
3 0

'
+

0; K 0
3 ; K 12

'
t

Quy ao nghiem cua he thong c bieu dien tren hnh 4.18. Cac iem cc
cung la iem xuat phat c ky hieu bang dau x . Cac nghiem khi K=K
gh
=12 c
ky hieu bang dau . Vi ng quy ao nghiem ta co c ca i nhn trc quan ve s
phu thuoc chat lng he kn vao thong so K. V du, do quy ao nghiem cat truc ao
tai K=12 va nam ben phai truc ao khi K>12 nen he thong se khong on nh khi
K>12 va gii han on nh khi K=12 .
V du 4.14. Cho he thong co s o khoi nh hnh ve :




Hnh 4.19
Hay ve quy ao nghiem cua he thong vi 0< K < .
Giai. Phng trnh ac tnh cua he thong :

K
1 G(s) 0
s
+
2
K
1 0
s(s 6s 13)
+
+ +

Cc: co ba cc la p
1
= 0 ; p
2,3
= -3 tj2
Zero: khong co
Do o: Quy ao nghiem gom ba nhanh xuat phat t cac cc khi K=0.
(phan thc)
(phan ao)
Hnh 4.18
Im
Re
0 -1
-3 -4
3

3
G(s)
R(s)
Y(s) K
s

2
1
G(s)
s 6s 13

+ +


127
Khi K, ba nhanh tien ti theo cac tiem can xac nh bi:
- Goc gia cac tiem can va truc thc

i
(2i 1) (2i 1)
n m 3 0




5
; ;
3 3



- Giao iem gia cac tiem can va truc thc co hoanh o:

0
zero
[0 ( 3 j2) ( 3 j2)] 0
R 2
n m 3 0
cc
+ + +




Xac nh iem tach cua QN
Viet lai phng trnh ac tnh :

2
s(s 6s 13) K 0 + + +

2 3 2
K s(s 6s 13) (s 6s 13s) + + + +

2
dK
(3s 12s 13)
ds
+ +
Do o:
dK
0
ds

2
(3s 12s 13) 0 + +
Gia i ra ta c hai nghiem phc s
1,2
=-2t j0,58 nen QN khong co iem tach.
Giao iem cua QN vi truc ao:
Thay s=j vao phng trnh ac tnh ta c:

3 2
j 6 13j K 0 + +

2
3
6 K 0
13 0

'
+

0; K 0
13 ; K 78

'
t

Vay cac giao iem can tm la s j 13 j3, 6 t t tng ng vi K= 78.
Goc xuat phat t cc phc p
2
(-3+2j) :

p2 2 1 2 3
180 [arg(p p ) arg(p p )] +

2 1
0
2 3
2
arg(p p ) arg[( 3 j2) 0] arctg 33, 7
3
4
arg(p p ) arg[( 3 j2) ( 3 j2)] arctg 90
0
+

+



p2
180 ( 33, 7 90) 123, 7 + hay 56, 3

Re
0
(K=78)
Hnh 4.20
Im
-2
-56,3
2
-3
13
- 13
-2

128
V du 4.15. Cho he hoi tiep am co ham truyen vong h :

2 0
K(s 5)
G (s)
s(s 2)(s 6s 10)
+

+ + +

Hay ve quy ao nghiem vi 0< K < .
Giai.
Phng trnh ac tnh cua he thong :
1+ G
0
(s) = 0

2
K(s 5)
1 0
s(s 2)(s 6s 10)
+
+
+ + +

So nhanh, iem xuat phat, iem ket thuc, cac tiem can
Cc: co bon cc la p
1
= 0 ; p
2
= -2 ; p
3,4
= -3 tj
Zero: z
1
= -5
Quy ao nghiem gom bon nhanh xuat phat t bon cc khi K=0.
Khi K, mot nhanh tien en z
1
, ba nhanh con lai tien ti theo cac tiem
can xac nh bi:
- Goc gia cac tiem can va truc thc

i
(2i 1) (2i 1)
n m 4 1




5
; ;
3 3


- Giao iem gia cac tiem can va truc thc co hoanh o:

0
zero
[0 ( 2) ( 3 j) ( 3 j)] ( 5)
R 1
n m 4 1
cc
+ + + +




iem tach la nghiem cua phng trnh
dK
0
ds

Viet lai phng trnh ac tnh :

2
s(s 2)(s 6s 10) K(s 5) 0 + + + + +

2 4 3 2
s(s 2)(s 6s 10) s 8s 22s 20s
K
(s 5) (s 5)
+ + + + + +

+ +


4 3 2
2
dK (3s 36s 142s 220s 100)
ds
(s 5)
+ + + +

+

Do o:
dK
0
ds

4 3 2
3s 36s 142s 220s 100 0 + + + +
Gia i ra ta c bon nghiem, nhng ch co hai nghiem phu hp
s
1
= - 5,98
s
2
= - 0,76
s
3,4
= - 2,63 t 0,64j (loai bo)
Vay quy ao nghiem co hai iem tach s=-5,98 va s=-0,76.
Giao iem cua QN vi truc ao:
Phng trnh ac tnh:

2
s(s 2)(s 6s 10) K(s 5) 0 + + + + +

129

4 3 2
s 8s 22s (20 K)s 5K 0 + + + + +
Thay s=j vao ta c

4 3 2
8j 22 (20 K) j 5K 0 + + +

4 2
3
22 5K 0
8 (20 K) 0

'
+ +

0; K 0
j4, 74 ; K 199, 63
2,11; K 15, 63

t
'

(loai bo)
Vay cac giao iem can tm la s = t j2,11
tng ng vi K= 15,63
Goc xuat phat t cc phc p
3
(-3+j) :
p3 3 1 3 1 3 2 3 4
180 arg(p z ) [arg(p p ) arg(p p ) arg(p p )] + + +

3 1
1
arg(p z ) arg[( 3 j) 5] arctg 26, 6
2
+ +

3 1
1
arg(p p ) arg[( 3 j) 0] arctg 18, 4
3
+

3 2
0
3 4
1
arg(p p ) arg[( 3 j) 2] arctg 45
1
2
arg(p p ) arg[( 3 j) ( 3 j)] arctg 90
0
+ +

+

Suy ra:
p3
180 (26, 6) ( 18, 4 45 90) 180 + +

V du 4.16. Cho he hoi tiep am co ham truyen vong h :

0
400
G (s)
s(s 6)(s a)

+ +

Hay ve quy ao nghiem cua he thong khi he so a thay oi t 0 .
Giai.
Phng trnh ac tnh cua he thong :
1+ G
0
(s) = 0

400
1 0
s(s 6)(s a)
+
+ +

s(s 6)(s a) 400 0 + + +

3 2
s 6s 400 as(s 6) 0 + + + +

3 2
as(s 6)
1 0
s 6s 400
+
+
+ +

Cac cc:
1
p 10 ;
2
p 2 6j + ;
3
p 2 6j
Cac zero:
1
z 0 ;
2
z 6
Im
Re
0
Hnh 4.21
-5 -2 K=
K=
K=
1
K=
-3

130
Quy ao nghiem gom ba nhanh xuat phat t cac cc khi a=0. Khi a , hai
nhanh tien en cac zero, mot nhanh con lai tien ti theo tiem can.
Goc gia tiem can va truc thc

i
(2i 1) (2i 1)
n m 3 2



180 (i=1)
ng tiem can chnh la truc thc nen khong can tnh giao iem gia tiem
can va truc thc.
iem tach la nghiem cua phng trnh
da
0
ds

Viet lai phng trnh ac tnh :
3 2
s 6s 400 as(s 6) 0 + + + +

3 2
2
s 6s 400
a
s 6s
+ +

+


4 3 2
2 2
da s 12s 36s 800s 2400
ds
(s 6s)
+ +

+


da
0
ds

4 3 2
s 12s 36s 800s 2400 0 + +
Gia i ra ta c bon nghiem

1
2
3,4
s 2, 9
s 6, 9
s 8 j7, 48

+
'

Ta ch chon nghiem phu hp s=-2,9 la iem tach.
Giao iem cua QN vi truc ao:
Phng trnh ac tnh:

3 2
s 6s 400 as(s 6) 0 + + + +

3 2
s (6 a)s 6as 400 0 + + + +
Thay s=j vao ta c

3 2
j (6 a) 6aj 400 0 + + +

2
3
(6 a) 400 0
6a 0

+ +

'
+

Gia i ra ta c:

0 ; a
5,85; a 5, 7
j8, 38; a 11, 7

t
'

Vay cac giao iem can tm la s j5,85 t , tng ng vi gia tr gii han a=5,7

(loai bo)
(loai bo)
(chon)
(loai bo)

131
Goc xuat phat tai cc phc p
2
(2+j6):

m n
p2 2 i 2 i
i 1 i 1; i 2
180 arg(p z ) arg(p p )

+



2 1
2 2
6
arg(p z ) arg[(2 j6) 0] arctg 71, 6
2
6
arg(p z ) arg[(2 j6) 6] arctg 36, 9
8
+
+ +


2 1
6
arg(p p ) arg[(2 j6) 10] arctg 26, 6
12
+ +

0
2 3
12
arg(p p ) arg[(2 j6) (2 j6)] arctg 90
0
+

p2
180 (71, 6 36,9) (26, 6 90) 171, 9 + + +



Im
Re
Hnh 4.22
-2
a=
-4 -6 4
2
4
6
-4 -10
-2
-4
-6
a=
a=
a=0
a=0
2 -8
171,9

132
Chng 5
CHAT LNG HE THONG IEU KHIEN

5.1 Cac ch tieu chat lng
Yeu cau au tien cua mot he thong ieu khien la on nh. Tuy nhien, yeu
cau nay cha u e am bao he thong hoat ong tot. Trong thc te, he thong con
phai ong thi thoa man nhieu yeu cau khac, bao gom cac ch tieu chat lng cua
ap ng qua o (chat lng ong hoc) va sai so xac lap (chat lng tnh hoc), kha
nang chong nhieu,...
Thong thng, chat lng ong va tnh hoc cua cac he thong ieu khien
c anh gia thong qua ap ng qua o oi vi tn hieu vao bac thang n v v
de thc hien va u chnh xac (Neu biet c ap ng vi tn hieu vao bac thang
n v th co the tnh c ap ng cua tn hieu vao bat ky).
Khi tac ong vao he thong mot tn hieu ba c thang n v 1(t) th ap ng
au ra se co dang ien hnh la dao ong tat dan nh tren hnh 5.1.









Hnh 5.1 Cac thong so chat lng cua ap ng qua o
Chat lng cua he thong c anh gia qua cac thong so (ch tieu) sau:
- Thi gian qua o t
s
hay t
set
(settling time) : la thi gian can thiet e tn hieu
ra at va duy tr c gia tr xac lap y( ) vi sai so cho phep t 2% (hoac t 5% ).
- o vot lo % hay POT (o qua ieu chnh, Percent Overshoot): la sai lech
gia gia tr cc ai va gia tr xac lap cua ap ng, tnh theo phan tram :

max
y y( )
POT % 100%
y( )

(5-1)
Hai ch tieu o vot lo va thi gian qua o thng trai ngc nhau: e co o
vot lo nho th thi gian qua o se ln va ngc lai.
- Sai so xac lap e() hay e
ss
(steady-state error): la sai lech gia tn hieu vao
va tn hieu hoi tiep trang tha i xac lap. Sai so xac lap a c trng cho o chnh xac
cua he thong ieu khien.
t
s
t

t
r
0

y()

e()

y
max
90%y()

10%y()

y(t)

t 2%

r(t)=1(t)

1



133
Tong quat :
t s 0
e( ) lim e(t) lims.E(s)

(5-2)
Vi he hoi tiep am n v va tn hieu vao la ham 1(t) th :

k
t s 0
e( ) 1 y( ) 1 lim h(t) 1 lim G (s)

(5-3)
Ngoai cac thong so tren, ngi ta con xet en cac thong so phu la:
- Thi gian tang trng t
r
(rise time) : La thi gian can thiet e ap ng tang t
10% en 90% gia tr xac lap y( ).
- Thi gian e y(t) at 50% gia tr xac lap t
d
(delay time).
- Thi gian len nh t
p
hay t
peak
: thi gian can e ap ng at gia tr cc ai.
- So chu ky dao ong trc khi ap ng at gia tr xac lap.
5.2 Phan tch sai so xac lap
Sai so xac lap khong nhng phu thuoc vao cau truc va thong so cua he
thong ma con phu thuoc vao loai tn hieu vao.
Xet he thong hoi tiep am co s o nh hnh 5.2.




Ham truyen cua he thong trang thai h (he h) :

h
G (s) G(s)H(s)
Ham truyen cua he kn:

k
Y(s) G(s)
G (s)
R(s) 1 G(s)H(s)

+

Sai so cua he thong viet theo dang toan t Laplace:

R(s)G(s)H(s)
E(s) R(s) Y(s)H(s) R(s)
1 G(s)H(s)

+

R(s)
E(s)
1 G(s)H(s)

+

Sai so xac lap:

t s 0 s 0
sR(s)
e( ) lim e(t) limsE(s) lim
1 G(s)H(s)


+
(5-4)
1) Tn hieu vao bac thang n v
r(t)= 1(t) R(s) 1/ s

s 0
s 0
s 1 1
e( ) lim .
1 G(s)H(s) s 1 limG(s)H(s)

+ +

Neu goi
P
s 0
K lim G(s)H(s)

la he so sai so v tr th :

P
1
e( )
1 K

+
(5-5)
R(s)
H(s)
G(s)
Y(s) E(s)
Hnh 5.2

134
2) Tn hieu vao la ham doc n v
r(t)= t.1(t)
2
1
R(s)
s


2
s 0
s 0
s 1 1
e( ) lim .
1 G(s)H(s) limsG(s)H(s) s

+

Neu goi
V
s 0
K limsG(s)H(s)

la he so sai so van toc th :

V
1
e( )
K
(5-6)
3) Tn hieu vao la ham parabol

2
3
t 1
r(t) 1(t) R(s)
2 s


3 2
s 0
s 0
s 1 1
e( ) lim .
1 G(s)H(s) s lims G(s)H(s)

+

Neu goi
2
s 0
a
K lims G(s)H(s)

la he so sai so gia toc th :

a
1
e( )
K
(5-7)
Nhan xet:
Tuy theo so khau tch phan ly tng co trong ham truyen he h G(s)H(s) ma
K
P
, K
V
, K
a
co gia tr nh bang sau:
So khau tch phan
co trong G(s)H(s)
K
P
K
V

K
a

0 < (hu han) 0 0
1 < (hu han) 0
2 < (hu han)
3
- Neu he h khong co khau tch phan ly t ng th he thong kn theo kp s
thay oi cua tn hieu vao 1(t) vi sai so
P
1
e( )
1 K

+
va khong theo kp s thay
oi cua tn hieu vao la ham doc va ham parabol.
- Neu he h co mot khau tch phan ly tng th he thong kn theo kp s thay
oi cua tn hieu vao 1(t) vi sai so e( )=0 va theo kp s thay oi cua tn hieu vao
la ham doc vi sai so
V
e( ) 1/ K va khong theo kp s thay oi cua tn hieu vao
la ham parabol. He thong loai nay c goi la he vo sai bac mot.
- Neu he h co hai khau tch phan ly tng th he thong kn theo kp s thay
oi cua tn hieu vao 1(t) va ham doc vi sai so e( )=0 va theo kp s thay oi cua
tn hieu vao la ham parabol vi sai so
a
e( ) 1/ K . He thong loai nay c goi la
he vo sai bac hai.

135
- Neu he h co ba khau tch phan ly tng th he thong kn theo kp s thay
oi cua tn hieu vao 1(t), ham doc va ham parabol vi sai so e( )=0 . He thong
loai nay c goi la he vo sai bac ba.
- He thong co n khau tch phan ly tng goi la he vo sai bac n.
5.3 Phan tch ap ng qua o
1) He bac hai
Viec khao sat ap ng cua he bac hai rat c quan tam v:
- Nhieu he thong trong thc te co ham truyen bac hai, nh mach RLC, ong
c DC ieu khien toc o bang ien ap phan ng, cac he c kh mbk ,...
- Cac he thong bac cao co the c xap x ve he bac hai e tien hanh phan
tch va thiet ke s bo vi mot o chnh xac hp ly.
Xet he bac hai co ham truyen dang:

2
2
k
2 2 2
n
n n
Y(s) 1
G (s)
R(s) T s 2 Ts 1 s 2 s

+ + + +





Tn hieu vao la ham bac thang n v r(t)=1(t).
T chng 3 ta biet :
Khi > 1, he co hai cc thc rieng biet :
1 1
s (1/ T ) va
2 2
s (1/ T )
vi T
1
.T
2
= T
2
va T
1
+T
2
= 2T.
ap ng qua o khong dao ong :

1 2
t / T t / T 1 2
1 2 1 2
T T
y(t) 1 . e . e
T T T T

+

(5-8)
Khi = 1, he co cap cc thc, boi:
1 2 n
s s (1/ T)
ap ng qua o khong dao ong :

n n
n
t t t / T t / T
t
y(t) 1 e e 1 e te
T

(5-9)
Khi 0< < 1 he co cap cc phc lien hp
2
1,2 n n
s j 1 t
ap ng qua o la dao ong tat dan:
2
n
t
y(t) 1 e cos t sin t
1

+


,
2
n
t
e
1 sin( t )
1

+

(5-10)
trong o :
n
1
T
;
2
n
1 ; = arccos ; (5-11)
Chung ta se phan tch trng hp ien hnh la ap ng dao ong tat dan.

R(s) Y(s) E(s)
2
n
n
s(s 2 )

+

2
2 2
n
n
n
s 2 s

+ +

R(s) Y(s)

136
a) o vot lo POT :
o vot lo xay ra tai thi iem tng ng vi iem cc ai ln nhat cua y(t).
Do o can tnh ao ham cua y(t) va giai phng trnh ao ham e tm cc tr.

n n
n
2 2
t t
dy
e cos t sin t e sin t cos t
dt
1 1

_ _


+ +


, ,


n
n
2
t
dy
e sin t
dt
1

dy
0
dt

n
t

; n= 0,1,2,... (5-12)
n= 2k (k=0,1,2...) : ng vi cac cc tieu,
n= 2k+1 : ng vi cac cc ai.
iem cc ai ln nhat ng vi n=1 va
peak
t t / nen:

( )
2
max
/ 1
y 1 e

+
o vot lo :
max
max
y y( )
POT y 1
y( )

( )
2
1 /
POT e .100%

(5-13a)

at
2
1 th:
( ) /
POT e .100%

(5-13b)
Ta thay o vot lo POT cua he bac hai dao ong ch phu thuoc he so tat dan .
Khi tang th POT giam va ngc lai.
Vi = 0,7 th POT = 4,6%
Vi = 0,3 th POT = 37,2% .











Hnh 5.3
ng cong POT theo
Hnh 5.4
ap ng qua o he bac 2

POT
2
2 2
n
n n
G(s)
s 2 s

+ +


137
b) Thi gian qua o
- Theo tieu chuan 2% :

min,max
y y( ) 2%
( )
2
1 n /
e 0, 02



2 2
ln50 4
n 1 1

(5-14)
Do o so lan dao ong quanh gia tr xac lap trong thi gian qua o:

2
n 2
N 1
2

: c quy tron ve so nguyen gan nhat.

Thi gian qua o theo tieu chuan 2%:

s
n
n 4
t




n
s
4
t

(5-15)
- Theo tieu chuan 5% :
Tnh toan tng t ta co:
s
n
3
t

(5-16)
c) Thi gian tang trng :
c tnh theo cong thc:

( )
3 2
r
n
1
t 1, 589 0,1562 0, 924 1, 0141 + +

(5-17)
2) He bac cao
He bac cao co nhieu hn hai cc. ap ng tng ng vi cac cc nam cang
xa truc ao suy giam cang nhanh. Do o co the xap x he bac cao ve he bac hai vi
hai cc nam gan truc ao nhat, goi la cap cc troi hay cap cc quyet nh.










o d tr on nh : Trong mien thi gian, o d tr on nh c nh ngha la
khoang cach t truc ao en nghiem cc (thc hoac phc) gan nhat. Noi cach khac,
he co o d tr on nh Re(s
i
) vi s
i
(i=1,2,..n) la cac cc cua he.
Neu cang ln th qua trnh qua o cang nhanh ve xac lap, tnh on nh cua
he cang cao.
Im
Re
cap cc troi
Hnh 5.6
Cap cc troi cua he bac 5

Im
Re
n

2
n
1
2
n
1
Hnh 5.5 Cap cc cua
he bac hai dao ong

s
1
s
2

138
V du 5.1. Cho he thong co ham truyen:
2
1600
G(s)
s 20s 1600

+ +

Hay tm POT ; t
s
theo chuan 2%
Giai.
Ta co :
n
1600 40

n
2 20 0, 25

2 2
1 1 0, 25 0, 968

0, 25
0,81
0, 968

o vot lo :
0,811
POT e e .100% 44, 43%

Thi gian qua o:
s
n
4 4
t 0, 4sec
(0, 25).(40)

V du 5.2. Cho he thong co s o nh hnh 5.7. Xac nh gia tr he so K va a e he
co
n
5 rad/s va 0, 7 .






Giai. Ham truyen cua he thong :

k
2
K
K s(s 4)
G (s)
K(1 as)
s (4 Ka)s K
1
s(s 4)
+

+
+ + +
+
+

Suy ra:
2
n
K 25 ;
n
2 4 2(0, 7)(5) 4
a 0,12
25 25


V du 5.3. Xet he thong co s o khoi nh hnh ve .




a) Khao sat ap ng cua he thong vi :
Bo ieu khien P : G
C
(s) = K
P
=1
oi tng ieu khien PT
2
: G(s) =
2
20
s 8s 12 + +


r =1(t)

y

G
c
(s)
e

G(s)
r

y

K
s(s 4) +

e

1 as +
Hnh 5.7


139
b) Khao sat tnh on nh va sai so xac lap cua he vi :
Bo ieu khien P : G
C
(s) = K
P
> 0 tuy y
oi tng ieu khien PT
2
:
2 2
K
G(s)
T s 2 Ts 1

+ +

Giai.
a) Khao sat he thong vi K
P
= 1.
Ham truyen cua he thong:

2
P
2
P
2
k
20
K G Y(s) 20
s 8s 12
G (s)
20
R(s) 1 K G s 8s 32
1
s 8s 12
+ +

+ + +
+
+ +
(s)
(s)

Ham qua o
r(t) 1(t)
h(t) y(t)


Jnh Laplace cua ham qua o:

2 2 2
k
G (s) 20 20
H(s) L[h(t)]
s s(s 8s 32) s[(s 4) 4 ]

+ + + +


( )
( ) ( ) ( ) ( )
2 2 2 2
s 4
5 1 (4)
H(s)
8 s
s 4 4 s 4 4
_
+


+ + + +
,


( )
1 4t 4t
5
h(t) L [H(s)] 1 e cos 4t e sin 4t
8


( )
4t
5 5
e cos 4t sin 4t
8 8

+

4t
5 5 2
e sin(4t 45 )
8 8

+
Gia tr xac lap:
t
5
h( ) lim h(t)
8

Sai so xac lap: e() = 1- h()
5 3
1
8 8
> 0
e tnh toan o vot lo va cac ch tieu thi gian, ta can chuyen ham truyen cua
he ve dang chuan cua he bac hai nh sau:


n
n
2
2
2 2 2
k
n
20 K
G (s)
s 8s 32 s 2 s

+ + + +

Vi:
2
K 20/ 32 5/ 8 : he so khuech ai cua he.
Do he tuyen tnh thoa nguyen ly xep chong nen he so khuech ai K
2
ch co
tac dung nhan t le bien o, hoan toan khong lam thay oi dang ng ap ng
qua o. Do o K
2
ch lam thay oi gia tr xac lap h() va sai so xac lap e(). K
2
khong anh hng ti o vot lo POT (v tnh theo %) va cac thong so thi gian cua
he thong, cac thong so nay c tnh tng t nh khi K
2
=1.

140

n
32 4 2 5, 657

n
2 8
1 2
0, 707
2
2


2
1 1 (1/ 2) 2 / 2 0, 707

0, 707
3,14
0, 707

o vot lo :
( )
2
1 /
POT e e e .100% 4, 32%

Thi gian len nh:
peak
n
t
4



0,785 sec
Thi gian qua o:
s
n
4 4
t 1sec
4

(Neu giai phng trnh:
4t
5 5 2 5
h(t) e sin(4t 45 ) (1 0, 02)
8 8 8

+ t
, ta co gia tr chnh xac la t
s
=1,05 sec)
Thi gian tang trng:

( )
3 2
r
n
1
t 1, 589 0,1562 0, 924 1, 0141 + +

= 0,38 sec
ap ng cua he thong vi K
P
=1 c ve tren hnh 5.8 (a).













(a) (b)
Hnh 5.8 ap ng qua o cua he thong cho v du 5.3
b) Khao sat he thong khi he so khuech ai K
P
>0 thay oi tuy y.
Ham truyen cua he :

P
2 2
P
2 2
P P
2 2
k
KK
KK T s 2 Ts 1
G (s)
T s 2 Ts 1 KK KK
1
T s 2 Ts 1
+ +

_ + + +
+

+ +
,

t
r

t
s

K
P
=20
K
P
=10
K
P
=2
K
P
=1
1
0
0.5
0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 0

141
Phng trnh ac tnh cua he:

2 2
P
T s 2 Ts 1 KK 0 + + +
Ta biet ieu kien can va u e he bac hai on nh la cac he so cua phng
trnh ac tnh eu dng. Do o he thong luon on nh vi moi gia tr K
P
>0
Theo nh ly gia tr cuoi:

P
s 0
P
k
KK
h( ) limG (s) 1
1 KK
<
+
K
P
> 0
Do o sai so xac lap:
e() = 1- h()
P
1
1 KK

+
> 0 K
P
> 0
ap ng cua he kn khi K
P
thay oi c ve tren hnh 5.8(b).
Nhan xet:
- Neu dung bo P ket hp vi oi tng ieu khien loai PT
1
, PT
2
th he kn on
nh K
P
> 0

va luon co sai so xac lap e() 0. Khi tang he so khuech ai
K
P
th sai so xac lap se giam, rut ngan c thi gian qua o nhng lai lam
tang tnh dao ong cua ap ng (tc la tang o vot lo).
- Neu dung bo P ket hp vi oi tng co bac ham truyen >2 (v du, oi tng
gom n
1
khau PT
1
noi tiep vi n
2
khau PT
2
,) th phng trnh ac tnh cua he
kn cung co bac>2, v vay khi tang K
P
vt qua gia tr gii han, he thong se
mat on nh.
Tom lai, bo ieu chnh P vi he so K
P
chon phu hp cho phep ap ng cua
he kn nhanh chong at gia tr xac lap vi sai so nhat nh (tr L tr*7ng h+p ham
truyen he h co khau I th he kn co sai so xac lap bang 0).
V du 5.4. Xet he thong co s o khoi nh hnh ve:










a) Khao sat ap ng cua he thong vi :
Bo ieu khien PID co thong s 5 K
P
=12; K
I
=36; K
D
=1.
oi tng ieu khien PT
2
: G(s) =
2
20
s 8s 12 + +

b) Gi nguyen K
P
= 12 ; K
D
= 1 va thay oi gia tr K
I
>0 tuy y.
Khao sat tnh on nh va sai so xac lap cua he thong.
e

r

y

2
20
s 8s 12 + +

K
P

K
D
.s
K
I
/s
B0 PID

142
Giai. a) Khao sat he thong vi K
P
=12; K
I
=36; K
D
=1.
Ham truyen cua bo PID:

2 2
I D P I
PID P D
K K s K s K s 12s 36
G (s) K K s
s s s
+ + + +
+ +
Ham truyen mach h:

2
PID
2
h
s 12s 36 20
G (s) G (s).G(s)
s s 8s 12
_
+ + _


+ + ,
,


2
(s 6) 20 20(s 6)
s (s 2)(s 6) s(s 2)
_ _ + +


+ + +
, ,

Ham truyen cua he thong:

PID
2
PID
k
Y(s) G (s).G(s) 20(s 6)
G (s)
R(s) 1 G (s).G(s) s 22s 120
+

+ + +

Anh Laplace cua ham qua o:

2
k
G (s) 20(s 6) 20(s 6)
H(s) L[h(t)]
s s(s 10)(s 12) s(s 22s 120)
+ +

+ + + +

Mau so cua H(s) co 3 nghiem n s= 0 ; s= 10 ; s= 12
Do o co the phan tch:

3 1 2
A A A 20(s 6)
H(s)
s(s 10)(s 12) s s 10 s 12
+
+ +
+ + + +


[ ]
1
s 0 s 0
20(s 6)
A lim sH(s) lim 1
(s 10)(s 12)

+

+ +


[ ]
2
s 10 s 10
20(s 6) 80
A lim (s 10)H(s) lim 4
s(s 12) 20

+
+
+


[ ]
3
s 12 s 12
20(s 6) 120
A lim (s 12)H(s) lim 5
s(s 10) 24

+
+
+


1 4 5
H(s)
s s 10 s 12
+
+ +

Ham qua o:
t t 1 10 12
h(t) L [H(s)] 1 4e 5e

+
Gia tr xac lap :
t
h( ) limh(t) 1

Sai so xac lap : e( ) 1 h( ) 0
b) Khao sat he thong vi K
P
= 12; K
D
=1; K
I
>0
Ham truyen cua he thong :

2
I
2 2
PID I
3 2 2
PID I I
2
k
s 12s K 20
s s 8s 12
G (s).G(s) 20(s 12s K )
G (s)
1 G (s).G(s) s 28s 252s 20K s 12s K 20
1
s s 8s 12
_
+ + _

+ +
+ + ,
,

+ _ + + + + + _
+

+ +
,
,


143
Phng trnh ac tnh cua he:

3 2
I
s 28s 252s 20K 0 + + +
Lap bang Routh :
1 252
28 20K
I
I
(28)(252) 20K
28

0
20K
I
0
Theo tieu chuan Routh, ieu kien can va u e he thong on nh la cac he
so cot th nhat cua bang Routh eu dng. Tc la:

I
I
(28)(252) 20K 0
20K 0
>
'
>

I
0 K 352,8 < <
Do o he thong kn ch on nh khi thong so K
I
co gia tr trong gii han:

I
0 K 352,8 < <
Vi he thong on nh ta co the ap dung nh ly gia tr cuoi :

I
s 0 s 0
I
k
20K
h( ) limsH(s) limG (s) 1
20K


e() = 1 h() = 0 0< K
I
< K
Igh
=352,8
Nhan xet
- Neu ch s dung rieng thanh phan K
P
th sai so xac lap e() luon ton tai
( 0). Tang K
P
se lam tang toc o ap ng cua he kn, giam thi gian qua o va
sai so xac lap nhng lai lam tang tnh dao ong cua he (tang o vot lo). Vi oi
tng co bac ham truyen > bac 2 th khi K
P
tang qua cao, he thong se mat on nh.
- Neu s dung them thanh phan K
I
th trong pham vi he thong con on nh, sai
so xac lap e() luon bang 0. Tang K
I
se lam tang toc o ap ng cua he kn, giam
thi gian qua o nhng lai lam tang o vot lo . Khi K
I
tang qua gii han, he thong
se mat on nh.
- Thanh phan K
D
co tac dung lam giam dao ong, giam o vot lo nhng
khong anh hng en sai so xac lap cua he thong. Tn hieu ra cua thanh phan K
D
t
le vi ao ham cua e(t) nen tac dung hieu chnh cua no chu yeu la giai oan au
cua ap ng qua o.
Phoi hp ca ba thanh phan K
P
, K
D
, K
I
vi gia tr c la chon thch hp, ta
co the hieu chnh e he thong kn on nh, sai so e( )=0, thi gian qua o va o
vot lo at yeu cau mong muon.



144
5.4 Cac tieu chuan toi u hoa ap ng qua o
Ben canh phng phap trc tiep e anh gia chat lng qua o la tm va
phan tch ham qua o bang cach giai phng trnh vi phan hay ng dung phep bien
oi Laplace ngc, ngi ta con dung phng phap gian tiep la anh gia da vao
cac tieu chuan toi u hoa. Ca c tieu chuan na y tm ieu kien e ap ng cua he at
c s dung hoa tot nhat gia thi gian qua o va o vot lo. He thong at cha t
lng tot nhat khi gia tr cac tch phan di ay la cc tieu.
1) Tieu chuan IAE (Integral of the Absolute magnitude of the Error criterion
Tieu chuan tch phan cua tr tuyet oi bien o sai so )

1
0
S e(t) dt

min
oi vi he bac hai: S
1
min khi = 0,707
2) Tieu chuan ISE (Integral of the Square of the Error criterion Tieu chuan tch
phan cua bnh phng sai so )

2
2
0
S e (t)dt

min
oi vi he bac hai: S
2
min khi = 0,5
3) Tieu chuan ITAE (Integral of Time multiplied by the Absolute value of the
Error criterion Tieu chuan tch phan cua tch thi gian va tr tuyet oi sai so)

3
0
S t e(t) dt

min
oi vi he bac hai: S
3
min khi = 0,707
Trong ba tieu chuan tren, tieu chuan ITAE c s dung nhieu nhat.
e ap ng qua o cua he kn ba c n la toi u theo tieu chuan ITAE va he kn
co sai so xa c lap v tr bang 0 th ham truyen he kn bac n phai co t so la
n
n
va a thc mau so (cung chnh la a thc ac tnh cua he kn) co dang
nh bang sau :
Bac Mau so ham truyen
1
n
s +
2
2 2
n n
s 1, 414 s + +
3
3 2 2 3
n n n
s 1, 75 s 2,15 s + + +
4
4 3 2 2 3 4
n n n n
s 2,1 s 3, 4 s 2, 7 s + + + +
5
5 4 2 3 3 2 4 5
n n n n n
s 2,8 s 5 s 5, 5 s 3, 4 s + + + + +
6
6 5 2 4 3 3 4 2 5 6
n n n n n n
s 3, 25 s 6, 6 s 8, 6 s 7, 45 s 3, 95 s + + + + + +


145
V du 5.5.
- He kn bac hai se co sai so xac lap v tr e( )=0 va ITAE cc tieu neu co
ham truyen:

2
k 2 2
n
n n
G (s)
s 1, 414 s

+ +

- He kn bac ba se co sai so xac lap v tr e( )=0 va ITAE cc tieu neu co
ham truyen:

3
k 3 2 2 3
n
n n n
G (s)
s 1,75 s 2,15 s

+ + +

e ap ng qua o cua he kn ba c n la toi u theo tieu chuan ITAE va he kn
co sai so xac lap van toc bang 0 th ham truyen he kn bac n phai co dang:

1 0
k
1
1 0
n n
n
a s a
G (s)
s a s ... a

+ + +

Trong o a thc mau so cua ham truyen c lay theo bang sau :
Bac Mau so ham truyen
2
2 2
n n
s 3, 2 s + +
3
3 2 2 3
n n n
s 1, 75 s 3, 25 s + + +
4
4 3 2 2 3 4
n n n n
s 2, 41 s 4, 93 s 5,14 s + + + +
5
5 4 2 3 3 2 4 5
n n n n n
s 2,19 s 6, 5 s 6, 3 s 5, 24 s + + + + +
6
6 5 2 4 3 3 4 2 5 6
n n n n n n
s 6,12 s 13, 42 s 17,16 s 14,14 s 6, 76 s + + + + + +
V du 5.6.
- He kn bac hai se co sai so xa c lap van toc e( )=0 va ITAE cc tieu neu co
ham truyen:

2
k 2 2
n
n
n
n
3, 2 s
G (s)
s 3, 2 s
+

+ +

- He kn bac ba se co sai so xac lap van toc e( )=0 va ITAE cc tieu neu co
ham truyen:

2 3
k 3 2 2 3
n n
n n n
3, 25 s
G (s)
s 1,75 s 3, 25 s
+

+ + +




146
5.5 Giai phng trnh tra ng thai
1) Phng phap giai tch
Xet he thong co mo hnh trang thai:
(5-18)
(5-19)
Bai toan at ra la xac nh ap ng y(t) cua he thong khi biet tn hieu vao u(t)
va ieu kien au (trang thai au) x(0). e tm y(t), trc tien ta phai tnh c
nghiem x(t) cua phng trnh trang thai (5-18), sau o thay x(t) va tm c vao
phng trnh au ra (5-19).
Bien oi Laplace hai ve phng trnh (5-18), ta c:
sX(s) - x(0) = AX(s) + BU(s)
(sI - A) X(s) = x(0) + BU(s)

1 1
X(s) (sI A) x(0) (sI A) BU(s)

+ (5-20)
at
1
(s) (sI A)

, thay vao bieu thc (5-20) ta c:

X(s) (s)x(0) (s)BU(s) + (5-21)
Bien oi Laplace ngc hai ve cua (5-21) ta c:

t
0
x(t) (t)x(0) (t )Bu( )d +

(5-22)
trong o:
1 1 1
(t) L [ (s)] L [(sI A) ]

(5-23)
- Neu ieu kien au bang 0 th :

t
0
x(t) (t )B u( )d

(5-24)
- Neu tn hieu vao u(t)=0 th : x(t) (t)x(0) (5-25)
Ma tran (t) c goi la ma tran qua o hay ma tran chuyen trang tha i cu a
he thong. Tnh (t) theo cong thc (5-23) tng oi kho, v phai tnh ma tran
nghch ao va bien oi Laplace ngc. e tien li hn, ta co the tnh (t) theo
cach neu di ay.
Ta thay khi u(t)=0 phng trnh (5-18) co dang thuan nhat:
x(t) Ax(t) & (5-26)
Nghiem cua (5-26) la:
At
x(t) e x(0) (5-27)
So sanh (5-27) va (5-25) ta c:

At
(t) e (5-28)
Theo nh ly Cayley - Hamilton, ta co:

At 2 n 1
0 1 2 n 1
(t) e C I C A C A ... C A

+ + + + (5-29)
Thay A= vi la gia tr rieng cua ma tran A (tc la nghiem cua phng
trnh det( I A) 0 ) vao bieu thc (5-29) ta se tnh c cac he so C
i

(i=1,2,,n-1).
x(t) Ax(t) Bu(t)
y(t) Cx(t) Du(t)
+

'
+

&

147
Tom lai, e tnh ap ng cua he thong theo phng phap bien trang thai ta
thc hien cac bc :
1- Tnh ma tran qua o (t) theo cong thc (5-23) hoac (5-29) .
2- Tnh nghiem x(t) theo cong thc (5-22) hoac (5-24).
3- Thay x(t) vao phng trnh (5-19) e tnh y(t).
V du 5.7. Cho he thong co ham truyen:
2
Y(s) 2
G(s)
U(s)
s 3s 2

+ +

1- Thanh lap he phng trnh trang thai mo ta he thong tren.
2- Tm ap ng cua he thong khi tn hieu vao u(t)=1(t) theo phng
phap bien trang thai, gia s ieu kien au bang 0.
Giai. 1- Thanh lap he phng trnh trang thai:
T ham truyen ta c :

2
(s 3s 2)Y(s) 2U(s) + +
y 3y 2y 2u + + && &
at cac bien trang thai :
1 2 1
x y, x x &
Ta c:

1 2
2 1 2
x x
x 2x 3x 2u

'
+

&
&

Suy ra phng trnh trang thai:

x Ax Bu
y Cx
+

'

&
Vi
0 1 0
A ; B ; C [1 0]
2 3 2
1 1

1 1

] ]

2a) Tnh ma tran qua o (t).
Cach 1: Dung ma tran nghch ao va bien oi Laplace ngc.

1 1 1
(t) L [ (s)] L [(sI A) ]


Ta co:
1 0 0 1 s 1
sI A s
0 1 2 3 2 s 3

1 1 1

1 1 1
+
] ] ]


1
(s) (sI A)

2
s 3 1 s 3 1
1 1
2 s 2 s (s 1)(s 2) s 3s 2
+ +
1 1

1 1
+ + + +
] ]


s 3 1 2 1 1 1
(s 1)(s 2) (s 1)(s 2) (s 1) (s 2) (s 1) (s 2)
2 s 2 2 1 2
(s 1)(s 2) (s 1)(s 2) (s 1) (s 2) (s 1) (s 2)
+ 1 1

1 1
+ + + + + + + +
1 1

1 1
+ +
1 1
+ + + + + + + +
] ]

Lay Laplace ngc tng thanh phan cua ma tran (t) ta c :

148
[ ]
t 2t t 2t
1
t 2t t 2t
(2e e ) (e e )
(t) L (s)
( 2e 2e ) ( e 2e

1


1
+ + 1
]

Cach 2: Dung ma tran ham mu.
Vi he thong bac hai, ta co:

At
0 1
(t) e C I C A + (5-30)
Cac tr rieng cua A la nghiem cua phng trnh det( I-A)= 0

1 0 0 1
det 0
0 1 2 3
_ 1 1


1 1

] ] ,

1
det 0
2 3

1

1
+
]


2
3 2 0 + +

1
2
1
2

'

Thay A=
i
vao bieu thc ma tran qua o (5-30) ta c :

1
2
t
0 1 1
t
0 1 2
e C C
e C C

'
+

t
0 1
2t
0 1
e C C
e C 2C

'

t 2t
0
t 2t
1
C 2e e
C e e

'

Thay C
0
, C
1
va A vao (5-30) ta c:

t 2t t 2t
1 0 0 1
(t) (2e e ) (e e )
0 1 2 3

1 1
+
1 1

] ]


t 2t t 2t
t 2t t 2t
(2e e ) (e e )
(t)
( 2e 2e ) ( e 2e


1


1
+ + 1
]

2b) Nghiem cua phng trnh trang thai vi ieu kien au bang 0 :

t
0
x(t) (t )B.u( )d

[ ]
(t ) 2(t ) (t ) 2(t ) t
(t ) 2(t ) ( t ) 2( t )
0
(2e e ) (e e ) 0
1 d
2
( 2e 2e ) ( e 2e )


1
1

1
1
+ + ] 1
]

(t ) 2(t ) t
(t ) 2(t )
0
2(e e )
d
2( e 2e )


1

1
+ 1
]

=
t
(t ) 2(t )
t 2t
0 1
t 2t t
2
(t ) 2(t )
0
(2e 2e )d
x (t) 1 2e e
x (t)
2e 2e
( 2e 4e )d




1

1
1
+ 1 1

1
1 1
] 1
]
1
+
1
]

p Cng cDa h- th5ng:

t 2t
1
y(t) x (t) 1 2e e

+

149
2) Phng phap so
e tm nghiem cua phng trnh trang thai bang may tnh, ngi ta thng
s dung cac phng phap so nh phng phap RungeKutta, RungeKutta Gill,
phng phap Euler va Euler cai tien. Trong muc nay chung ta se nghien cu mot
ien hnh la phng phap RungeKutta e tnh toan ap ng ng vi tn hieu vao
bac thang.
Gia s can tm nghiem cua phng trnh vi phan vo hng:

dx
f (x, t)
dt
vi x(0) = x
0
(5-31)
Gia s trong mat phang tx , iem
i i
(t , x ) a c biet va can tm iem
i 1 i 1
(t , x )
+ +
nh tren hnh 5.9a). Khoang thi gian gia tang
i 1 i
(t t ) h
+
la khoang
thi gian tnh toan va thng c goi la chu ky lay mau.







(a) (b) (c)
Hnh 5.9 Minh hoa phng phap Runge- Kutta
Theo phng phap Runge-Kutta, vi gia tr
i i
(t , x ) a biet, co the xac nh
gia tr
i 1
x
+
tai thi iem
i 1
t t
+
theo trnh t cac bc nh sau:
Bc 1 Tai iem
i i
(t , x ) xac nh o doc cua ng cong. o doc nay bang
i i
f (t , x ) . S dung o doc nay e ve ng thang t iem
i i
(t , x ) va xac nh k
1

(xem hnh 5.9b)

vi k
1
la s thay oi gia tr cua x tai
i 1
t t
+
neu o doc nay van
duy tr trong toan bo khoang thi gian h. Tc la:

1 i i
k h.f (t , x )
Bc 2 Tai iem
i i
)
1
1 1
,
2 2
(t h x k + + , o t tang mot khoang
1
2
h va x tang
1
1
2
k , xac nh o doc cua ng cong. o doc nay bang
i i
)
1
1 1
,
2 2
f (t h x k + + . S
dung o doc nay e ve ng thang t iem
i i
(t , x ) va xac nh k
2
(xem hnh 5.9c)
la s thay oi cua x tai iem
i 1
t t
+
, tc la:

2 i i
)
1
1 1
,
2 2
k h.f (t h x k + +
(t
i
,x
i
)
k
1
k
2
k
3
k
4
(t
i+1
,x
i+1
)
k
1
t
i
t
i+1
t
i+1
t
i

h
2
h
2
h
2
h
2
t
i+1
h
2
t
i
+
t
i

(t
i
,x
i
)
(t
i
,x
i
)
x x
x
t t t
x
i

x
i+1


150
Bc 3 Tng t, tai iem
i i
)
2
1 1
,
2 2
(t h x k + + xac nh o doc cua ng cong.
o doc nay la
i i
)
2
1 1
,
2 2
f (t h x k + + . S dung o doc nay e ve ng thang t
iem
i i
(t , x ) va xac nh k
3
(xem hnh 5.9c) la s thay oi cua x tai iem
i 1
t t
+
,
tc la:

3 i i
)
2
1 1
,
2 2
k h.f (t h x k + +
Bc 4 Tng t, tai iem
i i
)
3
1 1
,
2 2
(t h x k + + xac nh o doc cua ng
cong. o doc nay la
i i
)
3
1 1
,
2 2
f (t h x k + + . S dung o doc nay e ve ng thang
t iem
i i
(t , x ) va xac nh k
4
(xem hnh 5.9c) la s thay oi cua x tai iem
i 1
t t
+
, tc la:

4 i i
)
3
1 1
,
2 2
k h.f (t h x k + +
Bc 5
Xac nh trung bnh trong so cua k
1
, k
2
, k
3
, k
4
vi trong so tng ng la 1, 2,
2 va 1. Ta co:

i i 1 i 1 2 3 4
1
x x x (k 2k 2k k )
6
+
+ + +
Nh vay, gia tr cua
i 1
x
+
co the xac nh theo bieu thc:

i 1 i i i 1 2 3 4
1
x x x x (k 2k 2k k )
6
+
+ + + + + (5-32)
Phng trnh (5-32) c goi la phng trnh Runge-Kutta bac 4 v no lien
quan en 4 gia tr cua k. Phng trnh Runge-Kutta bac 3 lien quan en ba gia tr
cua k co the xac nh nh sau:

i 1 i 1 2 3
1
x x (k 4k k )
6
+
+ + + (5-33)
Phng trnh Runge-Kutta bac 4 thng c dung e tnh nghiem cua
phng trnh vi phan. e co nghiem tnh toan cua phng trnh vi phan (5-31) ta
dch gia tr cua
i 1
x
+
en
i
x .

151
5.6 Tnh ieu khien c va quan sat c
1) Tnh ieu khien c
Cho he thong tuyen tnh mo ta bi phng trnh trang thai cap n:

x Ax Bu
y Cx Du
+

'
+

&
(5-34)
He thong (5-34) c goi la ieu khien c hoan toan neu ton tai t nha t
mot tn hieu ieu khien u(t) co kha nang chuyen he t trang thai ban au x(t
0
) en
trang thai cuoi x(T) bat ky trong khoang thi gian hu han [t
0
,T].
Khai niem ieu khien c do Kalman nh ngha nam 1960 va cung vi
nh ngha o ong a a ra tieu chuan xet tnh ieu khien c cua he tuyen tnh
bat bien nh sau:
Lap ma tran C, goi la ma tran ieu khien c:
C = [ B AB A
2
B A
n-1
B] (5-35)
ieu kien can va u e he tuyen tnh (5-34) ieu khien c la:
rank(C ) = n
Vi he thong SISO th C la ma tran vuong cap n. Do o ieu kien tren tng
ng vi:
det(C ) 0
V du 5.8. Cho he thong mo ta bi phng trnh trang thai:

x Ax Bu
y Cx
+

'

&

Vi
0 1 0
A ; B ; C [1 0]
2 3 2
1 1

1 1

] ]

Vi he bac hai ta co ma tran ieu khien c :
C = [ B AB]
=
0 0 1 0 0 2
2 2 3 2 2 6
1 1 1 1 1

1 1 1 1 1

] ] ] ] ]

V det(C ) = 4 0
nen rank(C ) = 2
Do o he thong tren ieu khien c hoan toan.

152
2) Tnh quan sat c
Quan sat mot tn hieu trong he thong c hieu la xac nh gia tr tn hieu
nh o trc tiep tn hieu o (nh cac thiet b cam bien) hoac thong qua cac tn hieu
o c khac. V du van toc co the quan sat c (xac nh c) nh o trc tiep
bang bo phat toc hoac gian tiep t viec o lng dch chuyen trong mot khoang
thi gian, gia toc xac nh c t viec o van toc, cong suat chan oan c nh
viec o dong ien va ien ap.
He thong (5-34) c goi la quan sat c hoan toan tai thi iem t
0
neu
vi moi T

>t
0
, ta luon co the xac nh c trang thai au x(t
0
) t cac tn hieu vao
ra u(t), y(t) trong khoang thi gian [t
0
,

T]

.
e kiem tra tnh quan sat c cua he thong (5-34) ta thanh lap ma tran O,
goi la ma tran quan sat c:
O
n 1
C
CA
CA

1
1
1

1
1
1
]
M
(5-36)
ieu kien can va u e he thong quan sat c la:
rank(O) = n
Vi he thong SISO th ma tran Ola ma tran vuong cap n. Do o ieu kien
tren tr thanh :
det(O) 0
V du 5.9. Cho he thong mo ta bi phng trnh trang thai:

x Ax Bu
y Cx
+

'

&

Vi
0 1 0
A ; B ; C [1 0]
2 3 2
1 1

1 1

] ]

Vi he bac hai a cho ta co ma tran quan sat c :

O
[ ]
[ ]
1 0
C 1 0
0 1
CA 0 1 1 0
2 3
1
1 1
1

1
1 1
1
] ]
1
1

] ]

V det(O) = 1 0
nen rank(O) = 2
Do o he thong quan sat c hoan toan.


153
Chng 6
THIET KE VA HIEU CHNH
HE THONG IEU KHIEN
Thiet ke he thong ieu khien bao gom viec la chon bo ieu chnh thch hp
cho oi tng ieu khien va xac nh cac thong so cua bo ieu chnh e he thong
lam viec on nh, at c muc tieu ieu khien. He thong ieu khien thng oi
hoi cac yeu cau chat lng c ban sau ay:
- He thong phai lam viec on nh di tac ong cua tn hieu vao (tn hieu at)
va tac ong cua nhieu.
- Sai lech tnh cua he bang 0 hoac tn hieu ra bam theo c tn hieu vao tren
mot dai tan so cang rong cang tot .
- ap ng nhanh vi s thay oi cu a tr so a t chnh. at cac ch tieu ve thi
gian qua o, o vot lo cho phep, o d tr bien, d tr pha...
- He thong nhanh chong kh c anh hng cua nhieu.
6.1. Chon bo ieu chnh
Theo kinh nghiem thc te, ngi ta thng chon nh sau:
- Bo ieu chnh P
Bo ieu chnh P thch hp cho cac oi tng ieu khien on nh bac 1 (PT
1
),
bac 2 (PT
2
) hoac bac n va cac oi tng ieu khien khong on nh.
- Bo ieu chnh I
Bo ieu chnh I thch hp cho cac oi tng ieu khien on nh bac 0 (khau
P) , bac 1(PT
1
) va oi tng ieu khien co khau dch tre.
- Bo ieu chnh PI va PID
Bo ieu chnh PI va PID thch hp cho cac oi tng ieu khien on nh bac
2 (PT
2
)

va bac n.
6.2. Xac nh thong so cua bo ieu chnh
Co nhieu phng phap e xac nh thong so toi u cua bo ieu chnh PID
nhng tien ch hn ca trong ng dung thc te van la cac phng phap thc nghiem :
Phng phap Ziegler-Nichols ,
Phng phap Chien, Hrones va Reswick
6.2.1 Phng phap Ziegler - Nichols :
Ziegler va Nichols a ra phng phap xac nh thong so toi u cua bo PID
hoac t ap ng qua o cua oi tng hoac t ap ng qua o cua he thong kn.
1) Dung ap ng qua o cu a oi t ng
Phng phap nay con co ten la phng phap th nhat cu a Ziegler - Nichols. No
co nhiem vu xac nh cac thong so K
P
, T
N
, T
V
cho cac bo ieu chnh P, PI va PID
tren c s oi tng co the mo ta xap x bi khau bac nhat co tre:

t
Ts
Ke
G(s)
Ts 1

+

154
sao cho he thong nhanh chong ve trang thai xac lap va o vot lo
max
khong
vt qua mot gii han cho phep, khoang 40% so vi h( )=
t
lim h(t)

:

max
max
h h( )
40%
h( )

Ba tham so T
t
(thi gian tre), K (he so khuech ai) va T (hang so thi gian
quan tnh) cua mo hnh xap x co the xac nh gan ung t o th ham qua o h(t)
cua oi tng. Neu oi tng co dang nh hnh (6.1a) mo ta th t o th ham h(t)
o ta oc ra c:
- T
t
la khoang thi gian tn hieu ra h(t) cha co phan ng ngay vi tn hieu
kch thch 1(t) tai au vao.
- K la gia tr gii han h()=
t
lim h(t)

.
- Goi A la iem ket thuc khoang thi gian tre, tc la iem tren truc hoanh co
hoanh o bang T
t
. Khi o T la khoang can thiet sau T
t
e tiep tuyen cua h(t)
tai A at c gia tr K.
a) b)





Hnh 6.1 Xac nh tham so cho mo hnh xap x bac nhat co tre
Trng hp ham qua o h(t) khong co dang ly tng nh hnh (8.1a), nhng
co dang gan giong hnh ch S cua khau quan tnh bac 2 hoac bac n nh mo ta
hnh (6.1b) th ba tham so K, T
t
,T c xac nh xap x nh sau :
- K la gia tr gii han h().
- Ke ng tiep tuyen cua h(t) tai iem uon cua no. Khi o T
t
se la hoanh o
giao iem cua tiep tuyen vi truc hoanh va T la khoang thi gian can thiet
e ng tiep tuyen i c t gia tr 0 ti c gia tr K.
Nh vay ta thay ieu kien e ap dung c phng phap xap x mo hnh bac
nhat co tre cua oi tng la oi tng phai on nh, khong co dao ong va t nhat
ham qua o cu a no phai co dang ch S. Sau khi a co cac tham so cho mo hnh xap
x cua oi tng, ta chon cac thong so cua bo ieu chnh theo bang 6.1 nh sau :
Bo ieu chnh K
P
T
N
T
V
P
t
T
K.T

_ _
PI
t
T
0,9
KT

t
10
T
3

_
PID
t
T
1, 2
KT

2T
t
0,5T
t


T
t
t
T
t
K
T

K
t
T

Bang 6.1
155
T bang (6.1), ta xac nh c cac thong so khac cua bo ieu chnh nh sau :
- He so tch phan : K
I
=
P
N
K
T

- He so vi phan : K
D
= K
P
. T
V
2) Dung ap ng qua o cu a he kn
Phng phap nay con co ten la phng phap th hai cua Ziegler Nichols,
c ap dung cho cac oi tng co khau tch phan ly tng nh mc chat long
trong bon cha, v tr he truyen ong dung ong c,. Phng phap nay s dung cac
gia tr ti han thu c t thc nghiem ap ng qua o cua he kn.
Trc tien, s dung bo P lap vao he kn (hoac dung bo PID va chnh cac
thanh phan K
I
va

K
D
ve gia tr 0). Khi ong qua trnh vi he so khuech ai K
P

thap, sau o tang dan K
P
ti gia tr ti han K
Pcrit
e he kn che o gii han on
nh, tc la tn hieu ra h(t) co dang dao ong ieu hoa. Xac nh chu ky ti han T
crit

cua dao ong.






Hnh 6.2 Xac nh he so khuech ai ti han
- Xac nh thong so cua bo ieu chnh theo bang 6.2 nh sau :
Bo ieu chnh K
P
T
N
T
V
P
0,5 K
Pcrit
- -
PI
0,45 K
Pcrit
0,83 T
crit
-
PID
0,6 K
Pcrit
0,5 T
crit
0,125 T
crit

Bang 6.2
6.2.2 Phng phap Chien, Hrones va Reswick
Ve mat nguyen ly, phng phap Chien, Hrones va Reswick ga n giong vi
phng phap th nhat cua Ziegler Nichols, nhng no khong s dung mo hnh
tham so gan ung dang quan tnh bac nhat co tre ma s dung trc tiep dang ham
qua o cua oi tng ieu khien.
Phng phap Chien, Hrones va Reswick cu ng gia thiet rang oi tng la on
nh, ham qua o khong dao ong va co dang hnh ch S . Tuy nhien phng phap
nay thch hp vi cac oi tng bac rat cao nh quan tnh bac n :

( )
n
K
G(s)
Ts 1

+

cu the la nhng oi tng vi ham qua o h(t) thoa man :
g u
T / T 3 >
x e
K
Pcrit
oi tng
ieu khien
y
h(t)
t

T
crit

1

156
trong o T
u
la hoanh o giao iem tiep tuyen cua h(t) tai iem uon U vi
truc hoanh va T
g
la khoang thi gian can thiet e tiep tuyen o i c t 0 en gia
tr
t
K lim h(t)

.






T dang ham qua o h(t) cua oi tng vi hai tham so T
u
va T
g
thoa man,
Chien, Hrones va Reswick a a ra bon ca ch xac nh thong so bo ieu chnh cho
bon yeu cau chat hng khac nhau nh sau:
1) Yeu cau toi u theo nhieu (giam anh hng nhieu) va he kn khong co o vot lo.
2) Yeu cau toi u theo nhieu (giam anh hng nhieu) va he kn co o vot lo 20%.
3) Ye u ca u to i u theo tn hie u a t (gia m sai le ch ba m) va he kn kho ng co o vo t lo .
4) Ye u ca u to i u theo tn hie u a t (gia m sai le ch ba m) va he kn co o vo t lo 20%.

ap ng he kn dang ch S,
khong co o vot lo
ap ng he kn dang dao ong
tat dan, o vot lo 20% Bo ieu
chnh
Thong
so Toi u theo
nhieu z
Toi u theo tn
hieu at x
Toi u theo
nhieu z
Toi u theo tn
hieu at x
P K
P
0,3
u
g
T
T K
0,3
u
g
T
T K
0,7
u
g
T
T K
0,7
u
g
T
T K

K
P
0,6
u
g
T
T K
0,35
u
g
T
T K
0,7
u
g
T
T K
0,6
u
g
T
T K

PI
T
N
4 T
u
1,2 T
g
2,3 T
u
T
g

K
P
0,95
u
g
T
T K
0,6
u
g
T
T K
1,2
u
g
T
T K
0,95
u
g
T
T K

T
N
2,4 T
u
T
g
2 T
u
1,35 T
g

PID
T
V
0,42 T
u
0,5 T
g
0,42 T
u
0,47 T
g

Bang 6.3 Thong so bo ieu chnh theo phng phap Chien, Hrones va Reswick
T bang 6.3, ta xac nh cac he so khac cua bo ieu chnh nh sau :
- He so tch phan : K
I
=
P
N
K
T

- He so vi phan : K
D
= K
P
. T
V

Hnh 6.3 Ham qua o oi tng
thch hp cho phng phap Chien,
Hrones va Reswick
T
u
U
T
g
K
t
g
u
T
3
T
>

h(t)
157
6.2.3. Phng phap giai tch
Mot phng phap khac cung thng dung trong thiet ke bo PID la phng
phap giai tch.
V d. Cho he thong ieu khien nh hnh ve:




Hay xac nh thong so cua bo ieu chnh PID sao cho he thong thoa man
yeu cau : He co cap c6c phc vi 0, 6 va
n
10 . He so van toc K
V
= 100.
Giai. Ham truyen cua bo PID can thiet ke:

I
c P D
K
G (s) K K s
s
+ +
He so van toc cua he sau khi hieu chnh:

I
V c P D
2
s 0 s 0
K 500
K limsG (s)G(s) lim s K K s
s s 20s 500

_ _
+ +

+ +
, ,

K
V
= K
I

Theo yeu cau e ra K
V
= 100 nen suy ra: K
I
=100
Phng trnh ac tnh cua he sau khi hieu chnh la:

c
1 G (s)G(s) 0 +

I
P D 2
K 500
1 K K s 0
s s 20s 500
_ _
+ + +

+ +
, ,


2 2
D P I
s(s 20s 500) 500(K s K s K ) 0 + + + + +

3 2
D P I
s (20 500K )s (500 500K )s 500K 0 + + + + + (*)
e he co 0, 6 va
n
10 th phng trnh ac tnh (*) phai co dang:

2 2
n n
(s a)(s 2 s ) 0 + + +

2
(s a)(s 12s 100) 0 + + +

3 2
s (a 12)s (12a 100)s 100a 0 + + + + + (**)
ong nhat cac he so cua cac phng trnh (*) va (**) ta c:

D
P
I
20 500K a 12
500 500K 12a 100
500K 100a
+ +

+ +
'

Vi K
I
=100, giai he phng trnh tren ta c:

P
D
a 500
K 11, 2
K 0,98

'

Do o ham truyen cua bo PID can thiet ke la:

c
100
G (s) 11, 2 0,98s
s
+ +
r

y

PID
2
500
s 20s 500 + +

158
Chng 7
HE THONG IEU KHIEN RI RAC
7.1 Gii thieu chung
7.1.1 Tn hieu va he thong ri rac
Lng t hoa la qua trnh bien oi tn hieu lien tuc thanh tn hieu ri rac. Tuy
thuoc vao phng phap lng t hoa tn hieu ma ta co ca c he thong x ly tn hieu
khac nhau. Phng phap lng t hoa theo thi gian cho tn hieu ri rac co dang
day xung vi bien o lien tuc, thi gian ri rac. He thong x ly loai tn hieu nay
goi la he ri rac. Neu phep lng t hoa c tien hanh theo thi gian va ca theo
bien o th ket qua nhan c la tn hieu so. He thong x ly tn hieu so goi la he
so. Trong he thong ri rac va he thong so, bien o tn hieu ch ton tai cac thi
iem ri rac cach eu nhau ung bang mot chu ky lay mau tn hieu. Ve mat toan
hoc, tn hieu ri rac va tn hieu so c bieu dien bang day gia tr bien o {x(0),
x(T), x(2T),...} va ky hieu n gian la x(kT) hay x(k), trong o k la so nguyen, T la
chu ky lay mau.








Hnh 7.1 Lng t hoa va ma hoa tn hieu
Do s phat trien manh me cua cac bo vi x ly va may tnh so vi gia thanh
ngay cang ha, toc o x ly va o tin cay ngay cang cao nen cac he ieu khien so
ngay cang c s dung rong rai trong ieu khien t ong. So vi he ieu khien
lien tuc th he ieu khien so co nhieu u iem hn nh uyen chuyen, linh hoat, de
dang thay oi thuat toan ieu khien, de dang ap dung cac thuat toan ieu khien
phc tap bang cach lap trnh. Hn na, ca c may tnh so con co kha nang ieu
khien nhieu oi tng cung mot luc.
Hnh 7.2 trnh bay s o khoi n gian hoa cua mot he thong ieu khien so.
Trong he thong co hai loai tn hieu: tn hieu lien tuc r(t), e(t), u(t), y(t) va tn hieu
so r(kT), y(kT), u(kT). Trung tam cua he thong la bo ieu khien so (may tnh hoac
bo vi x ly) co chc nang x ly thong tin phan hoi t cam bien va xuat ra tn hieu
ieu khien oi tng. V cam bien va oi tng la cac thanh phan lien tuc nen can
s dung bo chuyen oi A/D va D/A e giao tiep vi may tnh.
0
Tn hieu lien tuc
(lien tuc thi gian, bien o)
Tn hieu ri rac
(ri rac thi gian)
Tn hieu so
(ri rac thi gian, bien o)
0111
0110
0101
0100
0011
0010
0001
0000
0 T 2T 3T ... kT
x(t)
x(kT)
0
x(kT)
0 T 2T 3T ... kT t

159
e phan tch va thiet ke he thong ieu khien so trc tien ta phai mo ta toan
hoc c qua trnh chuyen oi A/D va D/A. Tuy nhien, hien nay khong co phng
phap nao cho phep mo ta chnh xac qua trnh chuyen oi phi tuyen A/D va D/A do
co sai so lng t hoa bien o. V vay thay v khao sat he thong so hnh 7.2 ta
khao sat he thong ri rac tng ng hnh 7.3. Neu bo qua sai so lng t bien o
th co the xem tn hieu so la tn hieu ri rac va ta co the dung ly thuyet ieu khien
ri rac trnh bay trong chng nay e mo ta, phan tch va thiet ke he thong so.







Hnh 7.2 S o khoi he thong ieu khien so







Hnh 7.3 S o khoi he thong ieu khien ri rac
7.1.2 Khau lay mau
Khau lay mau co ta c dung bien oi tn hieu lien tuc thanh tn hieu ri rac
theo thi gian. Khau lay mau ly tng hoat ong nh mot khoa ien t vi thi
gian ong ngat rat nho so vi chu ky lay mau.








Hnh 7.4 Qua trnh lay mau tn hieu
Xet bo lay mau co au vao la tn hieu lien tuc x(t) va au ra la tn hieu ri
rac x*(t). Qua trnh lay mau co the mo ta bang bieu thc toan hoc sau:
x*(t) = x(t). s(t) (7-1)
x*(t)
t
x(t)
t
T
x(t) x*(t)
s(t)
1
s(t)
t
... T 2T 3T kT -T 0
u(kT)
X ly
ri rac
Gi
d lieu
TK
Cam bien
Lay
mau
r(t)
u(t) y(t)
e(kT)
e(t)
r(t)
u(kT)
u(t)
Bo ieu
khien so
D/A TK
Cam bien
y(kT)
A/D
A/D
r(kT) y(t)

160
trong o s(t) la ham lay mau, co dang chuoi xung n v :

k
s(t) (t kT)

(7-2)
(t kT) la xung n v phat tai thi iem kT
Gia s x(t)=0 khi t <0, bieu thc lay mau tr thanh :

k 0 k 0
x *(t) x(t). (t kT) x(kT). (t kT)




(7-3)
Bien oi Laplace ca hai ve phng trnh tren ta c :

kTs
k 0
X*(s) x(kT)e

(7-4)
Trong ca c he tho ng ieu khien so thc te, ne u bo qua sai so lng t hoa th
cac bo chuyen oi ADC chnh la cac khau lay mau.
7.1.3 Khau gi d lieu
Khau gi d lieu la khau chuyen tn hieu ri rac theo thi gian thanh tn hieu
lien tuc theo thi gian. Khau gi d lieu co nhieu dang khac nhau, n gian nhat
va s dung nhieu nhat la khau gi bac 0 (Zero Order Hold - ZOH).












Hnh 7.5 Khau gi bac 0 (ZOH)
Neu tn hieu vao x
i
(t) cua khau ZOH la xung n v th tn hieu ra x
o
(t) la
xung vuong co bien o la 1, o rong la T, tc la: x
o
(t)= 1(t)1(tT)
X
i
(s)= L[(t)] =1
X
o
(s) = L[1(t)1(tT)] =
Ts Ts
1 e 1 e
s s s

Ham truyen cua khau ZOH :

Ts
o
ZOH
i
X (s) 1 e
G (s)
X (s) s

(7-5)
Trong ca c he tho ng ieu khien so thc te, ne u bo qua sai so lng t hoa th
cac bo chuyen oi DAC chnh la cac khau gi bac 0 ( ZOH).
x*(t) x
o
(t)
ZOH
T 2T 3T 4T 5T 6T 7T
x
o
(t)
t
0
x*(t)
t
0
T 2T 3T 4T 5T 6T 7T
T 0
x
o
(t)
t
1
x
i
(t)
t
1

161
7.2. Phep bien oi Z
Bang cach s dung phep bien oi Laplace ta co the mo ta qua trnh lay mau
va gi d lieu. Tuy nhien cac bieu thc mo ta lai cha ham
x
e nen neu ta s dung
e mo ta he thong ri rac th khi phan tch, thiet ke he thong se gap nhieu kho
khan. e giai quyet van e nay, ngi ta dung phep bien oi Z.
7.2.1 nh ngha
Cho tn hieu ri rac x(k). Bien oi Z cua x(k) la :

k
k
X(z) Z[x(k)] x(k)z

(7-6)
trong o:
Ts
z e
Neu x(k)=0 khi k<0 th bieu thc nh ngha tr thanh :

k
k 0
X(z) Z[x(k)] x(k)z

Mien hoi tu cua X(z) la tap hp tat ca ca c gia tr z sao cho X(z) hu han.
Neu so sanh vi bieu thc lay mau cua tn hieu lien tuc x(t):

kTs
k 0
X*(s) x(kT)e

Ta thay:

k
k 0
Ts
z e
X(z) x(k)z X*(s)

(7-7)
Qua trnh ngc lai e tm ham ri rac x(k) t ham phc X(z) c goi la
phep bien oi Z ngc, ky hieu la Z
-1
.
Cho ham phc X(z). Bien oi Z ngc cua X(z) la:

1 k 1
C
1
x(k) Z [X(z)] X(z).z dz
2 j

(7-8)
Vi C la ng cong kn bat ky thuoc mien hoi tu cua X(z) va bao goc toa
o.
7.2.2 Cac tnh chat c ban
1) Tnh tuyen tnh
neu X
1
(z) = Z[x
1
(k)] va X
2
(z) = Z[x
2
(k)]
th Z [a
1
x
1
(k) + a
2
x
2
(k)] = a
1
X
1
(z) + a
2
X
2
(z)
2) nh ly ham chuyen dch
neu X(z) = Z[x(k)]
th
n
Z[x(k n)] z X(z)

n
Z[x(k n)] z X(z) +
3) nh ly t le (thay oi thang t le khi nhan day x(k) vi ham mu a
k
)
n

k
k
x(k) x(k-n)

162
neu X(z) = Z[x(k)] th Z[a
k
.x(k)] = X
z
a
_

,

4) ao ham trong mien Z
neu X(z) = Z[x(k)] th Z[k.x(k)] =
dX(z)
z
dz

5) nh ly gia tr au
neu X(z) = Z[x(k)] th
z
x(0) lim X(z)

6) nh ly gia tr cuoi
neu X(z) = Z[x(k)] th
1
k z 1
x( ) lim x(k) lim(1 z )X(z)

7.2.3 Bien oi Z cua cac ham c ban
1) Ham xung Dirac
1
(k)
0

'

k 0
k 0
Z[ (k)] (k)z (0)z 1

2) Ham bac thang n v
1
1(t)
0

'

Ri rac hoa vi chu ky T ta c:
1
1(k)
0

'

Theo nh ngha:

k 1 2
k 0
Z[1(k)] 1(k)z 1 z z ... z

+ + + +

Neu
1
z 1

< (hay z 1 > ) th bieu thc tren la tong cua cap so nhan lui vo
han.
1
1 z
Z[1(k)]
z 1 1 z

( z 1 > )
T ket qua tren va ap dung nh ly t le ta suy ra:

k k
z / a z
Z[a ] Z[a .1(k)]
(z / a) 1 z a



3) Ham mu

kaT
kaT
e
x(k) e .1(k)
0

'

k aT 1 2aT 2
k 0
X(z) x(k)z 1 e z e z ...

+ + +

neu k=0
neu k0
neu t 0
neu t <0
neu k 0
neu k <0
neu k 0
neu k <0
... -1 0 1 2 3 ... k
1(k)
1
t
1(t)
1
k
e
-kaT
1
0
(k)
1
0 1 2 3 ... k

163

aT 1 aT 2
aT 1 aT
1 z
1 (e z) (e z) ...
1 (e z) z e


+ + +

(
aT
e z 1 > )
4) Ham doc

kT
x(k) kT.1(k)
0


'

neu k 0
neu k > 0


k 1 2 3
k 0
X(z) kT.z 0 Tz 2Tz 3Tz ...

+ + + +

1
1 1 2
1 2 2
Tz Tz
Tz (1 2z 3z ...)
1 (z ) (z 1)

+ + +

( z 1 > )
Bang tom tat cac anh Laplace va Z c ban :
TT x(t) x(k)= x(kT) X(s) X(z)
1. 1(t) 1(k)
1
s

z
z 1

2. (t) (k)={1,0,0,} 1 1
3.
at
e

akT
e

1
s a +

aT
z
z e

4.
t
T
a
a
k

T
Ts ln a

z
z a

5. t kT
2
1
s

2
Tz
(z 1)

6.
at
te

akT
kTe

2
1
(s a) +

aT
aT 2
e Tz
(z e )

7.
at
1 e

akT
1 e

a
s(s a) +

aT
aT
z(1 e )
(z 1)(z e )

8.
at
e cos t

akT
e cos( kT)

2 2
s a
(s a)
+
+ +

aT
2 aT 2aT
z(z e cos T)
z 2ze cos T e

+

9.
at
e sin t

akT
e sin( kT)

2 2
(s a)

+ +

aT
2 aT 2aT
z e sin T
z 2ze cos T e

+

10
at
at
1 e
ab a(a b)
be
b(b a)

1
s(s a)(s b) + +

aT bT
z(Az B)
(z 1)(z e )(z e )

+



1 1

aT bT
b( e ) a( e )
A
ab(b a)

1 1

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


0
k
kT

164
7.2.4 Tm X(z) t anh Laplace X(s)
T anh Laplcae X(s) cua tn hieu lien tuc x(t) ta co the thanh lap anh X(z)
cua tn hieu ri rac x(k) theo cac bc nh sau:
Bc1: Phan tch X(s) thanh tong cac thanh phan n gian X
1
(s), X
2
(s),...
Bc2: Tra bang bien oi Z e c X
1
(z), X
2
(z),... ng vi X
1
(s), X
2
(s),...
V du 7.1. Hay tm X(z) khi biet :
a)
a
X(s)
s(s a)

+
; b)
2
K
X(s)
s (s a)

+
; c)
1
X(s)
(s a)(s b)

+ +

Giai.
a)
aT
aT aT
a 1 1 z z z(1 e )
X(z) Z Z
s(s a) s s a z 1 z e (z 1)(z e )

1 1

1
1
+ + ]
]

Nhan xet: T ket qua tren ta suy ra:

aT
aT
K K a K z(1 e )
Z Z
s(s a) a s(s a) a (z 1)(z e )

1 1
_ _

1 1
+ + , ,
] ]

b)
2 2 2
K K 1 a 1
X(z) Z Z
(s a) s s (s a) a s
1 1
+
1 1
+ +
] ]


2 aT 2
K z aTz z
z 1 a z e (z 1)

_
+


,


aT 2 aT aT
2 2 aT
K (aT e 1)z (1 e aTe )z
a (z 1) (z e )

_
+ +

,

c)
1 1 1 1 1
X(z) Z Z
(s a)(s b) (b a) (s a) (a b) (s b)
1 1
+
1 1
+ + + +
] ]


1 1 1 1
Z Z
(b a) (s a) (a b) (s b)
1 1
+
1 1
+ +
] ]


bT aT
aT bT aT bT
1 z 1 z z(e e )
(b a) (a b) (z e ) (z e ) (b a)(z e )(z e )

+


7.2.5 Tm bien oi Z ngc
Tm bien oi Z ngc cua ham X(z) chnh la i tm chuoi gia tr goc hay ham
ri rac goc x(k). Dung cong thc nh ngha e tm bien oi Z ngc rat phc tap
nen ta thng dung cac cach sau ay :
Cach 1: Phan tch X(z) thanh tong cac phan thc n gian va tra bang bien oi Z.
V du 7.2. Cho X(z)=
z
(z 1)(z 2)
. Tm x(k).

165
Giai. Phan tch X(z) thanh tong:
( )
1 1 z z
X(z) z
z 1 z 2 z 1 z 2
_
+ +


,

Tra bang bien oi Z ta c:

1 k k k
x(k) Z [X(z)] 1 2 1 2

+ +
Cach 2: Khai trien X(z) thanh chuoi luy tha theo z
-1
Theo cong thc nh ngha phep bien oi Z :

k 0 1 2
k 0
X(z) x(k)z x(0)z x(1)z x(2)z ...

+ + +

Ta thay day gia tr x(k) chnh la cac he so cua chuoi.
V du 7.3. Cho X(z)=
z
(z 1)(z 2)
. Tm x(k).
Giai. X(z)=
2
z z
(z 1)(z 2)
z 3z 2

+

Thc hien phep chia a thc ta c :
z z
2
-3z+ 2
z-3+ 2z
-1
z
-1

+3

- 2z
-1
+3z
-2

+3- 9z
-1
+ 6z
-2

+7z
-1
- 6z
-2
+7z
-3

+7z
-1
- 21z
-2
+14z
-3

+15z
-2
-14z
-3
+15z
-4

+15z
-2
- 45z
-3
+30z
-4

Ket qua:
1 2 3 4
X(z) z 3z 7z 15z ...

+ + + +
Suy ra chuoi gia tr x(k):
x(0)=0 ; x(1)=1 ; x(2)=3 ; x(3)=7 ; x(4)=15 ;
Cach 3: Phng phap Residue (tnh thang d)
Neu X(z) co n cc z
1
,z
2
,z
n
ta se co chuoi gia tr goc x(k) nh sau:

i
n
k 1
z
i 1
x(k) Res[X(z)z ]

Neu z
i
la cc bac mot (rieng re, khong lap) th:

i i
k 1 k 1
i
z z z
Res[X(z)z ] lim[X(z)z (z z )]

Neu z
i
la cc bac m (lap m lan) th:

i i
m 1
k 1 k 1
i
m 1
z z z
1 d
Res[X(z)z ] lim [X(z)z (z z )]
(m 1)!
dz

166
V du 7.4. Cho X(z)=
z
(z 1)(z 2)
. Tm x(k).
Giai. Do X(z) co hai iem cc la z
1
= 1 va z
2
= 2 co bac bang 1 nen :

1
k
k 1 k
z 1 z
z
Res [X(z)z ] lim 1
z 2

2
k
k 1 k
z 2 z
z
Res [X(z)z ] lim 2
z 1

Suy ra:
k k
x(k) 1 2 +
7.3. Ham truyen he ri rac
7.3.1 Tm ham truyen t phng trnh sai phan


Xet he thong ri rac vi tn hieu vao r(k), tn hieu ra y(k) c mo ta bang
phng trnh sai phan :

n n 1 0 m m 1 0
a y(k n) a y(k n 1) ... a y(k) b r(k m) b r(k m 1) ... b r(k) + + - + + -

+ + + + + +
hay:
n k n n 1 k n 1 0 k m k m m 1 k m 1 0 k
a y a y ... a y b r b r ... b r
+ + + +
+ + + + + +
trong o n m, n goi la bac cua he thong ri rac.
Bien oi Z hai ve ta c:
n n 1 m m 1
n n 1 0 m m 1 0
a z Y(z) a z Y(z) ... a Y(z) b z R(z) b z R(z) ... b R(z)


+ + + + + +

m
n n 1 m m 1
n n 1 0 m 1 0
(a z a z ... a )Y(z) (b z b z ... b )R(z)


+ + + + + +

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

+ + +

+ + +
(7-9)
G(z) c go i la ham truyen cu a he thong ri rac.
Ham truyen cung co the bien oi ve dang:

(n m) 1 m 1 m
m m 1 1 0
1 n 1 n
n n 1 1 0
z [b b z ... b z b z ] Y(z)
G(z)
R(z) a a z ... a z a z
+

+ + + +

+ + + +
(7-10)
Hai cach bieu dien tren la tng ng nhau, trong thc te cach bieu dien
th hai c s dung nhieu hn.
V du7.5. Tm ham truyen cua he thong mo ta bi phng trnh sai phan :
y(k 3) 5y(k 2) 8y(k 1) 3y(k) 2r(k 2) r(k) + + + + + + +
Giai. Bien oi Z hai ve cua phng trnh sai phan ta c:

3 2 2
(z 5z 8z 3)Y(z) (2z 1)R(z) + + +

2
3 2
Y(z) 2z 1
G(z)
R(z) z 5z 8z 3
+

+ +

He thong ri rac
r(k) y(k)

167

2 2 1 2
3 1 2 3 1 2 3
Y(z) z (2 z ) z (2 z )
G(z)
R(z) z (1 5z 8z 3z ) 1 5z 8z 3z


+ +

+ + + +

7.3.2 Tm ham truyen t s o khoi
1) Hai khoi noi tiep qua khau lay mau





1 2 1 2
Y(z)
G(z) Z[G (s)].Z[G (s)] G (z).G (z)
U(z)

2) Hai khoi noi tr c tie p





1 2
Y(z)
G(z) Z[G (s).G (s)]
U(z)
= G
1
G
2
(z)
3) He h co khau ZOH




[ ]
Ts
ZOH
1
Y(z) 1 e
G(z) Z G (s).G(s) Z .G(s)
U(z) s
G(s) z 1 G(s)
(1 z ).Z Z
s z s

1

1
]

1 _ 1


1 1
] , ]

4) He kn-ca u truc 1




Ham truyen he kn:
k
Y(z) G(z)
G (z)
R(z) 1 G(z)

+

Ham truyen he h :
z 1 G(s)
G(z) Z
z s

_ 1

1
, ]

G
1
(s)

G
2
(s)

U(s) U*(s) Y*(s)
G
1
(s)

G
2
(s)

U(s) U*(s)
Y*(s)
Hnh 7.6
Hnh 7.7
G
1
(z)

G
2
(z)

U(z)
Y(z)

G
1
G
2
(z)
U(z) Y(z)

ZOH

G(s)

R(s) Y(s)
T
G(z)

R(z) Y(z)

G(z)

Y(z) U(z)
ZOH

G(s)

U(s) Y(s)
T
U*(s)
Hnh 7.8
Hnh 7.9

168
5) He kn-ca u truc 2



Ham truyen he kn:

k
Y(z) G(z)
G (z)
R(z) 1 GH(z)

+

Trong o :
z 1 G(s)
G(z) Z
z s

_ 1

1
, ]


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

1
, ]

6) He kn-ca u truc 3








Ham truyen he kn:

k
Y(z) D(z)G(z)
G (z)
R(z) 1 D(z)GH(z)

+

Trong o :
z 1 G(s)
G(z) .Z
z s

_ 1

1
, ]


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

1
, ]


ZOH

G(s)

R(s) Y(s)
T
H(s)

D(z)

G(s)

r(t) y(t)
H(s)

A/D
D/A

Bo K so oi tng
lien tuc

T
D(z)

G(s)

R(s) Y(s)
H(s)

ZOH
Hnh 7.10
Hnh 7.11

169
V du7.6. Tm ham truyen cua he thong co s o khoi nh hnh ve:




Cho K = 1; a= 6; T=0,1sec.
Giai. Ham truyen he h :

z 1 K z 1 K a
G(z) Z Z
z s(s a) z a s(s a)
1 1 _ _ _

1 1
+ +
, , ,
] ]


aT aT
aT aT
z 1 K z(1 e ) K (1 e )
z a a (z 1)(z e ) (z e )


_ _ _


, , ,

Thay K=1; a=6; T=0,1 ta c :

6T
6T
(1 e ) 0, 4512 0,0752
G(z)
6(z 0,5488) z 0,5488 6(z e )

Ham truyen he kn:

k
0,0752
G(z) 0, 0752
z 0,5488
G (z)
0, 0752
1 G(z) z 0, 4736
1
z 0,5488

+
+

V du7.7. Tm ham truyen cua he thong co s o khoi nh hnh ve:




Cho K=10, a= 1, b=5, Chu ky lay mau T= 0,1.
Giai. Ham truyen he kn :

k
Y(z) G(z)
G (z)
R(z) 1 G(z)

+


z 1 K
G(z) Z
z s(s a)(s b)
_

' ;

+ +
,



aT bT aT bT
z 1 Kz(Az B) K(Az B)
z (z 1)(z e )(z e ) (z e )(z e )

+ +
_


,

Vi:

aT bT
b(1 e ) a(1 e )
A
ab(b a)

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

R(s)

Y(s)

K
s a +

ZOH
T

R(s)

Y(s)

K
(s a)(s b) + +

ZOH
T


170
Thay K=10 ; a= 1, b=5, T= 0,1 ta c:

0, 04117z 0, 03372
G(z)
(z 0,9048)(z 0, 6065)
+

Do o ham truyen he kn :

k
2
0, 04117z 0, 03372
0,04117z 0,03372 (z 0,9048)(z 0, 6065)
G (z)
0,04117z 0,03372
z 1, 47z 0,5825
1
(z 0,9048)(z 0,6065)
+
+

+
+
+


V du7.8. Tm ham truyen cua he thong co s o khoi nh hnh ve:




Cho D(z) = 10; K =20 ; a= 5, chu ky lay mau T= 0,1.
Giai. Ham truyen he kn :

k
Y(z) D(z)G(z)
G (z)
R(z) 1 D(z)G(z)

+


2
z 1 K
G(z) Z
z s (s a)
_

' ;

+ ,



2 2
2 aT 2
z 1 K 1 a 1
Z
z (s a) s a s
K z 1 z aTz z
z z 1 a z e (z 1)

_ _
+
' ;

+
,
,

_
_
+

,
,


aT aT aT
2 2 aT
z (aT e 1)z (1 e aTe )
K z 1
z a (z 1) (z e )

_
1
+ +

_ ]

,
,


aT aT aT
2 aT
K (aT e 1)z (1 e aTe )
a (z 1)(z e )

_
+ +

,

The gia tr cua K, a, T vao ta c:

2
0, 08522z 0,07216 0,08522z 0, 07216
G(z)
(z 1)(z 0, 6065) z 1,6065z 0, 6065
+ +

+

Do o ham truyen he kn la:

2
k
2
2
(10)(0, 08522z 0,07216)
D(z)G(z) 0,8522z 0,7216
z 1, 6065z 0,6065
G (z)
(10)(0, 08522z 0,07216)
1 D(z)G(z) z 0,7543z 1,328
1
z 1,6065z 0, 6065
+
+
+

+
+ +
+
+

R(s)

Y(s)

K
s(s a) +

ZOH
T

D(z)

171
7.4 Mo hnh trang thai he ri rac
7.4.1 Lap phng trnh trang thai t phng trnh sai phan
1) Ve phai khong cha sai phan cua tn hieu vao
Xet he thong ri rac co quan he gia tn hieu vao va tn hieu ra mo ta bi
phng trnh sai phan:

n 1 0 0
y(k n) a y(k n 1) ... a y(k) b r(k)

+ + + + + (7-11)
Tng t nh a lam vi he lien tuc, ta cung at cac bien trang thai e bien
oi tng ng phng trnh sai phan bac n tren thanh n phng trnh sai phan
bac nhat.
at cac bien trang thai nh sau:

1
2 1
3 2
n n 1 n
x (k) y(k)
x (k) x (k 1) y(k 1)
x (k) x (k 1)) y(k 2)
x (k) x (k 1) y((k n 1) x (k 1) y(k n)

+ +
+ +
+ + + +
L

Thay vao phng trnh sai phan bac n ta c:

n n 1 n 1 2 0 1 0
x (k 1) a x (k) ... a x (k) a x (k) b r(k)

+ + + + +

n n 1 n 1 2 0 1 0
x (k 1) a x (k) ... a x (k) a x (k) b r(k)

+ +
Ket hp phng trnh tren vi cac bieu thc at bien trang thai ta c:

1 2
2 3
n 1 n
n 0 1 1 2 n 1 n 0
x (k 1) x (k)
x (k 1) x (k)
x (k 1) x (k)
x (k 1) a x (k) a x (k) ... a x (k) b r(k)

'

+ +

M
Viet lai di dang ma tran:

1 1
2 2
n 1 n 1
0 1 2 n 2 n 1 0 n n
0 1 0 0 0 0 x (k 1) x (k)
0 0 1 0 0 0 x (k 1) x (k)
r(k)
0 0 0 0 1 0 x (k 1) x (k)
a a a a a b x (k 1) x (k)


+ 1 1 1 1
1 1 1 1
+
1 1 1 1
1 1 1 1 +
1 1 1 1
+
1 1 1 1
1 1 1 1
+
] ] ] ]
L
L
M M M M M M M M M
L
L

ap ng cua he thong:

[ ]
1
2
n 1
n
x (k)
x (k)
y(k) 1 0 0 0
x (k)
x (k)

1
1
1
1
1
1
1
]
L M

172
Ta c he phng trnh trang thai:

x(k 1) Ax(k) Br(k)
y(k) Cr(k)
+ +

'

trong o:

1
2
n 1
n
x (k)
x (k)
x(k)
x (k)
x (k)

1
1
1
1
1
1
1
]
M ;
0 1 2 n 2 n 1
0 1 0 0 0
0 0 1 0 0
A
0 0 0 0 1
a a a a a

1
1
1
1
1
1
1

]
L
L
M M M M M M
L
L
;
0
0
0
B
0
b
1
1
1
1
1
1
1
]
M
[ ] C 1 0 0 0 L .

V du 7.9. Cho he thong mo ta bi phng trnh sai phan:
y(k 2) 5y(k 1) 3y(k) 2r(k) + + + +
Hay viet phng trnh trang thai cua he thong.
Giai. at cac bien trang thai:

1 2 1
x (k) y(k); x (k) x (k 1) y(k 1) + +
th:
2
x (k 1) y(k 2) 2r(k) 5y(k 1) 3y(k) + + +
hay viet lai la:

1 2
2 1 2
x (k 1) x (k)
x (k 1) 3x (k) 5x (k) 2r(k)
+
+ +

Phng trnh trang thai la:

0 1 0
x(k 1) x(k) r(k)
3 5 2
1 1
+ +
1 1

] ]

[ ] y(k) 1 0 x(k)
2) Ve phai cha sai phan cua tn hieu vao
Xet he thong ri rac mo ta bi phng trnh sai phan:

n 1 0 n n 1 0
y(k n) a y(k n 1) ... a y(k) b r(k n) b r(k n 1) ... b r(k)

+ + + + + + + + + +
at cac bien trang thai nh sau:

1 0
2 1 1
3 2 2
n n 1 n 1
x (k) y(k) r(k)
x (k) x (k 1) r(k)
x (k) x (k 1) r(k)
...
x (k) x (k 1) r(k)

+
'

173
va at :

n n 1 n 1 2 0 1 n
x (k 1) a x (k) ... a x (k) a x (k) r(k)

+ +
Ta se xac nh c:

0 n
1 n 1 n 1 0
2 n 2 n 1 1 n 2 0
n 0 n 1 n 1 n 2 n 2 1 1 0 0
b
b a
b a a
b a a ... a a

'

M

T o ta co phng trnh trang thai :

x(k 1) Ax(k) Br(k)
y(k) Cx(k) Dr(k)
+ +

'
+

trong o :
0 1 2 n 1
0 1 0 0
0 0 1 0
A
0 0 0 ... 1
a a a ... a

1
1
1
1
1
1
1

]
L
L
M M M O M ;
1
2
n 1
n
B

,
M ; C = [ 1 0 0 0] ; D=
0
= b
n


7.4.2 Lap phng trnh tra ng thai t ham truyen
Cho he thong mo ta bi ham truyen:

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

+ + +

+ + +
(m < n) (7-12)
Cach 1: Bien oi ham truyen thanh phng trnh sai phan, roi lap phng trnh
trang thai t phng trnh sai phan.
Cach 2: at bien phu E(z) sao cho:

m m 1
m m 1 0
Y(z) (b z b z ... b )E(z)

+ + +

n n 1
n 1 0
R(z) (z a z ... a )E(z)

+ + +
T nh ly ve ham chuyen dch ( trang 161), suy ra:

m m 1 0
n 1 0
y(k) b e(k m) b e(k m 1) ... b e(k)
r(k) e(k n) a e(k n 1) ... a e(k)

+ + + + +
+ + + + +

at cac bien trang thai:

1
2 1
x (k) e(k)
x (k) x (k 1) e(k 1)

+ +


174

n n 1
x (k) x (k 1) e(k n 1)

+ +
L

T o ta co phng trnh trang thai:

1 2
2 3
3 4
n 0 1 1 2 n 1 n
x (k 1) x (k)
x (k 1) x (k)
x (k 1) x (k)
...
x (k 1) a x (k) a x (k) ... a x (k) r(k)

+
+
+
+ +

Hay dang ma tran:

1 1
2 2
n 1 n 1
0 1 2 n 1 n n
x (k 1) 0 1 0 0 x (k) 0
x (k 1) 0 0 1 0 x (k) 0
r(k)
x (k 1) 0 0 0 0 1 x (k) 0
a a a a x (k) x (k 1) 1

+ 1 1 1 1
1 1 1 1
+
1 1 1 1
1 1 1 1 +
1 1 1 1
+
1 1 1 1
1 1 1 1
+
] ] ] ]
L
L
M M M M O M M M
L

ap ng cua he thong:

[ ]
1
2
0 1 m
n 1
n
x (k)
x (k)
y(k) b b ... b 0 ... 0
x (k)
x (k)

1
1
1
1
1
1
1
]
M
V du 7.10. Cho he thong ri rac co ham truyen:

2
3 2
Y(s) 2z 3z 4
G(z)
R(s) z 5z 6z 7
+ +

+ + +

Tm mo hnh khong gian trang thai cua he.
Giai. at bien phu E(z) sao cho:

2
Y(z) (2z 3z 4)E(z) + +

3 2
R(z) (z 5z 6z 7)E(z) + + +

y(k) 2e(k 2) 3e(k 1) 4e(k)
r(k) e(k 3) 5e(k 2) 6e(k 1) 7e(k)
+ + + +

'
+ + + + + +

175
at cac bien trang thai:

1
2 1
3 2
x (k) e(k)
x (k) x (k 1) e(k 1)
x (k) x (k 1) e(k 2)

+ +
+ +

T o ta co phng trnh trang thai:

1 2
2 3
3 1 2 3
x (k 1) x (k)
x (k 1) x (k)
x (k 1) 7x (k) 6x (k) 5x (k) r(k)
+
+
+ +

dang ma tran:

1 1
2 2
3 3
x (k 1) 0 1 0 x (k) 0
x (k 1) 0 0 1 x (k) 0 r(k)
x (k 1) 7 6 5 x (k) 1
+ 1 1 1 1
1 1 1 1
+ +
1 1 1 1
1 1 1 1 +
] ] ] ]

Phng trnh ap ng :
[ ]
1
2
3
x (k)
y(k) 4 3 2 x (k)
x (k)
1
1

1
1
]


7.5 Phan tch he thong ieu khien ri rac
7.5.1 Tnh on nh cua he thong ri rac
Khi khao sat he lien tuc, chung ta a biet la : He thong ieu khien lien tuc se
on nh neu tat ca cac nghiem cua phng trnh ac tnh eu nam ben trai mat
phang phc ( tc la
i
= Re(s
i
) <0) .
Vi he ri rac, do z= e
Ts
nen ta co ket luan tng ng:
He thong ie u khien ri ra c se on nh neu tat ca ca c nghie m cua phng
trnh ac tnh eu nam trong vong tron n v (t c la
i
z 1 < ).








Hnh 7.12 Quan he gia cac mat phang Z-S
Mien on nh
Im(z)
Re(s)
s z
Re(z)
Im(s)
1
Mat phang S
Mat phang Z

176
7.5.2 Tieu chuan RouthHurwitz m ro ng
e s dung c cac tieu chuan on nh RouthHurwitz cua he lien tuc cho
viec xet tnh on nh cua he ri rac ta phai dung phep oi bien :

w 1
z
w 1
+

(7-13)
Phep oi bien nay bien mien ngoai vong tron n v trong mat phang Z thanh
na phai cua mat phang W, va mien ben trong vong tron n v thanh na trai mat
phang W.
Thong qua phep bien oi z-w, phng trnh ac tnh F(z) = 0 cua he se c
bien oi thanh phng trnh ac tnh F(w) = 0 va ta co the s dung cac tieu chuan
RouthHurwitz vi phng trnh ac tnh F(w) = 0 nay.








Hnh 7.13 Quan he gia cac mat phang Z-W
V du 7.11 Xet tnh on nh cua he thong ri rac co phng trnh ac tnh :

3 2
6z 2z 4z 1 0 + + +
oi bien
w 1
z
w 1
+

, phng trnh ac tnh tr thanh:

3 2
w 1 w 1 w 1
6 2 4 1 0
w 1 w 1 w 1
+ + +
_ _ _
+ + +


, , ,


3 2 2 3
6(w 1) 2(w 1) (w 1) 4(w 1)(w 1) (w 1) 0 + + + + + +

3 2 3 2
6(w 3w 3w 1) 2(w w w 1) + + + + + +

3 2 3 2
4(w w w 1) (w 3w 3w 1) 0 + + +

3 2
13w 13w 15w 7w 0 + + +
Lap bang Routh:
13 15
13 7
8 0
7
Do tat ca cac he so cot 1 bang Routh eu dng nen he on nh.
z w
Re(w)
Im(w)
Mat phang W
Im(z)
Re(z)
1
Mat phang Z

177
Hoac: lap cac nh thc Hurwitz:

1 1
H a 15 0 >
( )
1 3
2
0 2
a a 15 13
H 15 13 7(13) 0
a a 7 13
>

1 3
3 0 2 3 2 2
1 3
a a 0
H a a 0 a H 13H 0
0 a a
>
Do cac nh thc eu dng nen he thong on nh.
7.5.3 Tieu chuan NyquistBode m rong
Ta khong the s dung trc tiep tieu chuan o n nh Bode cua he lien tuc cho
he ri rac trong mat phang Z v moi quan he gia z va s la z = e
sT
. Tuy nhien ta co
the s dung tieu chuan Bode cho he ri rac khi thc hien phep oi bien :

1 (T / 2)w
z
1 (T / 2)w
+

(7-14)
Vi phep bien oi nay, mien ben trong cua vong tron n v trong mat phang
Z c anh xa thanh na trai mat phang W.
Sau khi thc hien cac phep bien oi G(s) G(z) G(w) ta thay
w=jv va c ham tan so G(jv). Ve bieu o Bode vi G(jv) va ap dung tieu chuan
on nh Bode nh trng hp he lien tuc.

7.5.4 ap ng qua o he ri rac
ap ng qua o cua he thong ri rac co the xac nh bang cach tnh Y(z),
sau o dung phep bien oi Z ngc e tm ham thi gian y(k).
Cac he thong bac cao co the xap x gan ung ve he bac hai co cap cc troi.
Vi he lien tuc, cap cc troi la cap cc na m gan truc ao nhat. Vi he ri rac, do
z= e
Ts
nen cap cc troi la cap cc nam gan vong tron n v nhat.
Xet he thong hoi tiep am n v co s o nh hnh ve:



ap ng qua o cua he vi tn hieu vao bac thang n v se co dang ien
hnh nh sau :
z w
R(s)

Y(s)

G(s) ZOH
T

D(z)

178







Hnh 7.14 ap ng qua o cua he ri rac
Thi gian qua o t
s
hay t
set
(settling time): la thi gian can thiet e tn hieu
ra at va duy tr c gia tr xac lap vi sai so cho phep. Thong thng sai so cho
phep la t 2% hoac t 5%.
o vot lo % hay POT (o qua ieu chnh, Percent Overshoot): la sai lech
gia gia tr cc ai va gia tr xac lap cua ap ng, tnh theo phan tram :

max
y y( )
POT % 100%
y( )

(7-15)
trong o: y
max
la gia tr cc ai cua y(k).
y() la gia tr xac lap cua y(k).
Sai so xac lap c tnh theo cong thc:

1
k z 1
e( ) lim e(k) lim(1 z )E(z)

(7-16)
hoac: e( ) r( ) y( ) (7-17)
Neu tn hieu vao bac thang n v r(t)= 1(t) th :
r() = 1 va:
1
R(z) z /(z 1) 1/(1 z )

Theo nh ly gia tr cuoi:

1
k z 1
1
k k
z 1 z 1
y( ) lim y(k) lim(1 z )Y(z)
lim(1 z )R(z)G (z) limG (z)

Do o:
k
z 1
e( ) r( ) y( ) 1 limG (z)

(7-18)

V du 7.12 Cho he thong ri rac:



trong o:
1
G(s)
s 6

+
; D(z) = 10; Chu ky lay mau T= 0,01.
Tm ap ng va sai so xac lap cua he vi tn hieu vao bac thang r(t)=1(t).
t
set
t


0

y()

y
max
y(k)

t 2%

r()

e()

R(s)

Y(s)

G(s) ZOH
T

D(z)
G(z)


179
Giai.
z 1 G(s)
G(z) Z
z s
_ 1

1
, ]


6T
6T
6T
6T
z 1 1 z 1 1 z(1 e )
Z
z s(s 6) z 6 (z 1)(z e )
(1 e ) 0,009706
z 0,9418 6(z e )

1 _ _ _

1
+ , , ,
]

Ham truyen he kn:

k
Y(z) D(z)G(z) 10G(z) 0, 09706
G (z)
R(z) 1 D(z)G(z) 1 10G(z) z 0,8447

+ +

Tn hieu vao:
z
r(t) 1(t) R(z)
z 1

k
z 0,09706
Y(z) R(z).G (z)
z 1 z 0,8447
_ _



, ,


1 2
A A Y(z) 0, 09706
z (z 1)(z 0,8447) (z 1) (z 0, 8447)
+



1
z 1 z 1
Y(z) 0,09706
A lim (z 1) lim 0,625
z z 0,8447

2
z 0,8447 z 0,8447
Y(z) 0, 09706
A lim (z 0,8447) lim 0, 625
z z 1

0, 625z 0,625z
Y(z)
z 1 z 0,8447



Bien oi Z ngc ta c:

k k
y(k) (0,625)(1 0,8447 )

Gia tr xac lap:

k
k z 1
y( ) lim y(k) limG (z) 0, 625


hoac:

k k
k k
y( ) lim y(k) 0, 625 lim(1 0,8447 )

0,625(1 0) 0, 625
Sai so xac lap:
e( ) 1 y( ) 0,375
ap ng cua he ng vi cac chu ky lay mau T khac nhau c bieu dien
tren hnh ve. Gia tr T cang nho th ng bieu dien cang trn va cang giong vi
ap ng cua he lien tuc.

T=0,01
T=0,001
T=0,05

180
V du 7.13. Cho he thong :



trong o:
K
G(s)
s(s a)

+
; K=20; a=5; T= 0,1sec.
Tm ap ng va sai so xac lap cua he vi tn hieu vao bac thang r(t)=1(t).
Giai.
2
z 1 G(s) z 1 K
G(z) Z Z
z s z s (s a)
1 _ 1 _

1
1
+
, ] ,
]


aT aT aT
2 aT
K (aT e 1)z (1 e aTe )
a (z 1)(z e )

_
+ +

,
(xem v du 7.8)
The gia tr cua K, a, T vao ta c:

2
0, 08522z 0, 07216 0, 08522z 0, 07216
G(z)
(z 1)(z 0, 6065) z 1, 6065z 0, 6065
+ +

+

Ham truyen he kn:

2
k
G(z) 0, 08522z 0, 07216
G (z)
1 G(z) z 1, 521z 0, 6787
+

+ +

ap ng cua he kn:

2
k
z 0, 08522z 0, 07216
Y(z) R(z).G (z)
z 1 z 1, 521z 0, 6787
_ + _


+ ,
,


2
3 2
0, 08522z 0, 07216z
Y(z)
z 2,521z 2.1997z 0,6787
+

+


1 2 3 4 5
6 7 8 9 10
0,0852z 0, 2870z 0,5362z 0,7783z 0,9775z
1,1163z 1,1921z 1, 2134z 1,1942z 1,1506z ...


+ + + +
+ + + + + +

Nh vay:
y(k)= {0; 0,0852; 0,2870; 0,5632; 0,7783; 0,9775; 1,1163; 1.1921; 1,2134;
1,1942; 1,1506; 1,0974; 1,0459; 1,0037; 0,9745; 0,9587; 0,9545;
0,9588; 0,9682; 0,9796; 0,9905; 0,9994; 1,0056; 1,0089; ... }
ap ng xac lap:

k
k z 1
y( ) lim y(k) limG (z) 1


Sai so xac lap:
e( ) 1 y( ) 1 1 0
Thi gian qua o (sai so 2%):
t
set2%
=20T=2 sec
tai o y(20) = 0,9905
ZOH

G(s)

R(s) Y(s)
T

181
7.6 Thiet ke bo ieu khien PID so
7.6.1 Khai quat
Co nhieu s o ieu khien khac nhau co the ap dung cho he ri rac. S o
ieu khien thng dung nhat trong cong nghiep la hieu chnh noi tiep vi bo ieu
khien PID so.
Thiet ke bo ieu khien PID so la xac nh ham truyen vi cac thong so toi u
cua bo PID so e he thong thoa man yeu cau ve o on nh, chat lng qua o, sai
so xac lap.
Thc te bo PID so noi rieng va cac bo ieu khien so noi chung chnh la cac
thuat toan phan mem chay tren may tnh PC hay vi x ly. T ham truyen cua bo
ieu khien ta suy ra c phng trnh sai phan mo ta quan he gia ngo vao va
ngo ra cua bo ieu khien. Quan he nay c s dung e lap trnh phan mem ieu
khien chay tren may tnh hoac vi x ly.
7.6.2 Mo ta toan bo PID so




Hnh 7.15 ieu khien vi bo PID so
Xuat phat t mo ta toan hoc cua bo PID lien tuc:

( )
P I D
t
P I D
0
u(t) u (t) u (t) u (t)
de(t)
K e t K e(t)d(t) K
dt
+ +
+ +

(7-19)
Khi chuyen sang mo hnh ri rac cua bo PID so th u(t) thay bang u
k
=u(k).

P I D
k k k k
u u u u + + (7-20)
1) Khau t le u
P
(t) = K
P
e(t) c thay bang :

P
k P k
u K e
Ham truyen :
P
P P
U (z)
G (z) K
E(z)
(7-21)
2) Khau vi phan
dt
) t ( de
K ) t ( u
D D
c thay bang sai phan lui :

D
k k 1
k D
e e
u K
T

Bien oi Z hai ve ta c:

1
1 D D
D D
E(z) z E(z) K K z 1
U (z) K (1 z )E(z) E(z)
T T T z

e(t)
T
PID so
oi tng
ieu khien
lien tuc
y(t) r(t)
e(k) u(k)
ZOH

182
Ham truyen :
D D
D
U (z) K z 1
G (z)
E(z) T z
_


,
(7-22)
3) Khau tch phan u
I
(t)=

t
o
I
dt ) t ( e K co nhieu cach tnh :
a) Tch phan ch nhat lui :
k
I I
k I i k 1 I k
i 1
u K Te u K Te

b) Tch phan ch nhat ti :
k
I I
k I i 1 k 1 I k 1
i 1
u K Te u K Te

c) Tch phan hnh thang:
k
I I i 1 i k 1 k
k I k 1
i 1
e e e e
u K T u T
2 2

+ +
+

Hnh 7.16. Minh hoa ba cach tnh tch phan so
Trong ba cach tnh tch phan trnh bay tren, tch phan hnh thang cho ket qua
chnh xac nhat, do o thc te ngi ta thng s dung cong thc:

I I
k 1 k
k k 1
e e
u u T
2

+
+
Bien oi Z hai ve:

( )
1 1
I
I
K T
U (z) z U(z) z E(z) E(z)
2

+ +
Ham truyen :
1
I I I
I
1
U (z) K T 1 z K T z 1
G (z)
E(z) 2 2 z 1 1 z

_
+ + _



,
,
(7-23)
T cac ham truyen c ban va phan tch tren, ta rut ra c ham truyen cua
bo PI, PD, PID so nh sau:

I
PI P
K T z 1
G (z) K
2 z 1
+ _
+

,
(7-24)

D
PD P
K z 1
G (z) K
T z
_
+

,
(7-25)
I D
PID P
K T z 1 K z 1
G (z) K
2 z 1 T z
+ _ _
+ +

, ,
(7-26)
t
e(t)

a)
t
e(t)

t
iT
e(t)

b)
c)
(i-1)T iT (i-1)T iT (i-1)T
e
i-1

e
i

e
i-1

e
i

e
i-1

e
i


183








Hnh 7.17 S o khoi bo PID so

7.6.3 Xac nh thong so bo PID so bang thc nghiem
Tng t nh phng phap thc nghiem cua Zigler-Nichole, Takahashi cung
a ra phng phap xac nh ba tham so K
P
, T
N
, T
V
cua bo PID so hoac t ap
ng qua o cua oi tng hoac t ap ng cua he kn.
1) S dung ap ng qua o cu a oi t ng
ieu kien e ap dung c phng phap Takahashi la oi tng phai on nh,
co ham qua o h(t) i t 0 va co dang hnh ch S, khong vot lo.





Hnh 7.18 bieu dien dang h(t) chung cho nhng oi tng co the ap dung c
phng phap Takahashi. T ng h(t) o ta lay c cac gia tr :
- k la he so khuech ai cua oi tng, c xac nh t h(t) theo ) t ( h lim k
t

- T
u
la gia tr xap x cua thi gian tre. No la giao iem cua ng tiep tuyen
vi h(t) tai iem uon vi truc thi gian.
- T
g
la gia tr ac trng cua qua trnh qua o. No la thi gian can thiet e
ng tiep tuyen vi h(t) tai iem uon i c t 0 ti k.
- T
95%
la iem thi gian ma h(t) at c gia tr 0,95k.
Thi gian lay mau T co the chon t o th h(t) cua oi tng nh sau:
- Xac nh t T
u
: Neu 12
T
T
u
g
< th
2
T
T
5
T
u u

- Xac nh t T
g
: lay
g
T 1 , 0 T
- Xac nh t T
95%
:
95% 95%
0, 05T T 0,1T
k
h(t)
0,95k
T
95 %

t
T
g
T
u

Hnh 7.18

U(z)
I
K T z 1
2 z 1
+

D
K z 1
T z

P
K

E(z)

184
Noi chung, neu nh thi gian lay mau T c chon a thoa man T 2T
u
th
ba tham so K
P
, T
N
, T
V
cua PID so se c xac nh t k, T
u
,T
g
nh sau:

Loai ieu khien K
P
T
N
T
V

P
( ) T T K
T
u S
g
+

_ _
PI

,
_

+
2
T
T K
T 9 , 0
u S
g

,
_

+
2
T
T 33 , 3
u

_
PID
( ) T T K
T 2 , 1
u S
g
+

T T
2
T
T 2
u
2
u
+

,
_

+

( ) T T 5 , 0
u
+
K
P
: He so khuech ai cua bo ieu khien so.

P
D
V
K
K
T

: Thi gian vt sm

I
P
N
K
K
T : Thi gian gi tre
2) S dung ap ng cua he kn
Phng phap nay thng ap dung cho cac oi tng co khau tch phan, v du
mc chat long trong bon cha, v tr he truyen ong dung ong c... ap ng qua
o cua cac oi tng nay tang dan, khong co dang on nh ch S nen ta phai dung
ap ng cua he kn.
1) Trc tien ieu chnh thanh phan tch phan va vi phan en tr so to i thieu,
tc la K
I
= 0 va K
D
= 0. Sau o khi ong qua trnh vi o khuech ai thap K
P
.
Tang dan K
P
en gia tr ti han K
th
e he kn co ap ng dao ong ieu hoa. Xa c
nh (o) chu ky T
th
cua dao ong.
2) Xac nh K
P
, T
N
, T
V
cua bo PID so nh sau:
Bo ieu chnh K
P
T
N
T
V

P
0,50 K
th
_ _
PI 0,45 K
th
0,83 T
th
_
PID 0,60K
th
0,50 T
th
0,125 T
th



185
PHU LUC
NG DUNG MATLAB
KHAO SAT HETHONG IEU KHIEN T ONG
N0i dung phM lMc ny gi>i thi-u b0 cng cM Control System Toolbox cDa Matlab, bao
g!m tNp h+p cc hm (l-nh) chuyn dng trong m phOng v phn tch h- th5ng <i4u khi.n.
Sau khi khHi <0ng Matlab, cBa s= l-nh Command window xuPt hi-n cng dPu nhQc >> .
TGi <y chng ta th6c hi-n vi-c nhNp l-nh v nhNn k$t qu@ tnh ton. Sau khi nhNp cu l-nh
v k$t thc bRng <0ng tc nhPn phm Enter, Matlab sS th6c thi v tr@ v4 k$t qu@ ngay d*>i
dng l-nh. Ngoi ra, bGn c th. g l-nh >>edit <. vo cBa s= Editor, vi$t, l*u v chGy ton
b0 ch*,ng trnh cng lc (thay v g tLng l-nh tGi command window). B*>c <;u lm quen
v>i Matlab ta c;n ch m0t s5 <i.m sau:
- Matlab phn bi-t chU hoa v chU th*7ng. Ni chung cc l-nh Matlab lun vi$t bRng
chU th*7ng. Cc bi$n do ng*7i dng t6 <1t c th. l chU hoa hay th*7ng tuV .
- DPu % dng <. ghi ch thch. Dng k t6 sau dPu % sS khng <*+c Matlab xB l.
- Bnh th*7ng Matlab lun hi.n th' k$t qu@ cu l-nh. N$u khng mu5n hi.n th' bGn
g thm dPu chPm phXy (;) vo cu5i cu l-nh.
- MYi l-nh c th. c nhi4u chCc nZng v <a dGng v4 c php. Trong ti li-u ny ch[
gi>i thi-u cch dng c, b@n. . tm hi.u v khai thc h$t cc chCc nZng cDa l-nh,
bGn g >> help tnlnh ho1c >>doc tnlnh.
8. 1 MOTAPHAN T VAHETHONG TUYEN TNH
8. 1. 1 Mot aphan t l i en t uc
1) Ph;n tB <*+c m t@ ton bRng m hnh hm truy4n :
m m 1
m m 1 0
n n 1
n n 1 0
b s b s ... b Y(s)
G(s)
U(s) a s a s ... a

+ + +

+ + +

c th. m t@ trong Matlab bRng 2 cch :
Cch 1 : Dng l-nh tf v>i c php :
SYS = tf(NUM,DEN)
Trong <, SYS l tn cDa ph;n tB hay h- th5ng.
NUM =[ b
m
b
m-1
b
o
] % <a thCc tB s5
DEN = [ a
n
a
n-1
a
o
]

% <a thCc m9u s5
Ghi ch : Khi sB dMng, cc chU in hoa trong c php l-nh c th. <=i tn tuV .
V d 8-1:
>> sys1= tf(5,[1 6 8]) % do t B s5 l b
o
=5 nn c th. nhNp [5] hay 5 <4u <*+c.
Transfer function:
5
-------------
s^2 + 6 s + 8
Cch 2 : Dng l-nh s = tf('s') <. khai bo m hnh hm truy4n v bi$n s, sau < nhNp
bi.u thCc ton cDa hm truy4n.
V d 8-2: >> s = tf('s') ; sys2 = 5*(s+1)/((s+4)*(s+3)^2)
Transfer function:
5 s + 5
--------------------------
s^3 + 10 s^2 + 33 s + 36

186
>> Kp=5; Ki=0.1; Kd= 3;
>> s = tf('s') ; Gpid=Kp+Ki/s+Kd*s
Transfer function:
3 s^2 + 5 s + 0.1
------------------
s
2) Ph;n tB <*+c m t@ ton bRng m hnh zero-c6c :
1 2
1 2
m
n
(s z )(s z ) ...(s z )
G(s) K
(s p )(s p ) ...(s p )

c th. m t@ trong Matlab bRng l-nh zpk v>i c php :
SYS = zpk(Z,P,K)
Trong <:
Z = [z
1
z
2
z
m
] % vct, cc zero (nghi-m cDa tB s5)
P = [p
1
p
2
p
n
] % vct, cc c6c (pole, nghi-m cDa m9u s5)
K = b
m
/ a
n
% 0 l+i (gain)
N$u tB s5 hm truy4n khng c nghi-m th lPy Z=[ ] (ma trNn rYng)
V d 8-3:
>> sys3 = zpk ( [ ], [-2 -4] , 5 )
Zero/pole/gain:
5
-----------
(s+2) (s+4)
N$u bi$t hm truy4n, ta c th. tm cc zero v c6c nh* sau:
z= zero(SYS) % Tm vect, z chCa cc zero cDa h- SYS
[z,K]= zero(SYS) % Tm vect, z v <0 l+i K cDa h- SYS
p= pole(SYS) % Tm vect, p chCa cc c6c cDa h- SYS
V d 8-4:
>>z= zero(sys2) % sys2 < m t@ H v dM 8-2
z=-1
>>p=pole(sys2)
p= -4
-3
-3
3) Ph;n tB <*+c m t@ ton bRng m hnh trGng thi :

'

+
+
Du Cx y
Bu Ax x&

Trong <: A,B,C,D l cc ma trNn trGng thi.
u l tn hi-u vo, y l tn hi-u ra, x l bi$n trGng thi
c th. m t@ trong Matlab bRng l-nh ss v>i c php:
SYS = ss (A,B,C,D)
V d 8-5: >> A=[-2 -4;2 0] ; B=[1;0] ; C=[0.5 1] ; D=0;
>> sys4 = ss (A,B,C,D)

187
a =
x1 x2
x1 -2 -4
x2 2 0
b =
u
x1 1
x2 0
c =
x1 x2
y 0.5 1
d =
u
y 0
Continuous-time model.
4) Ph;n tB c tr] : C^ng <*+c m t@ bRng cc l-nh tf, zpk, ss nh*ng c thm tham s5
'inputdelay' ho1c 'outputdelay' <. khai bo th7i gian tr].
V d 8.6: M t@ ph;n tB tr] c hm truy4n G(s) = e
-0,2s
*4/(s+50)
>> G_delay = tf(4,[1 50],'inputdelay',0.2)
Transfer function:
4
exp(-0.2*s) * ---------
s + 50
5) Chuy.n <=i giUa cc dGng m hnh
Cc dGng m hnh c th. chuy.n <=i qua lGi bRng cc l-nh ss, tf, zpk :
SYSS= ss(SYS); SYST=tf(SYS); SYSZ=zpk(SYS)
trong <:
SYS : m hnh bPt kV
SYSS : m hnh ss
SYST : m hnh tf
SYSZ : m hnh zpk

V d 8-7 :
>> G3 = tf(sys3) % chuy.n sys3 c m hnh zpk H v dM 8-3 v4 dGng hm truy4n
Transfer function:
5
---------------
s^2 + 6 s + 8
>> G4 = tf(sys4) % chuy.n sys4 c m hnh ss H v dM 8-5 v4 dGng hm truy4n
Transfer function:
0.5s+2
----------------
s^2 + 2s + 8
zpk model

ss model

tf model


188
8. 1.2 Mot aphan t r i r ac
Cc hm m t@ ph;n tB tuy$n tnh r7i rGc c dGng t*,ng t6 nh* khi m t@ ph;n tB lin tMc
nh*ng c thm thng tin v4 th7i gian lPy m9u T (T>0). N$u ch*a xc <'nh th7i gian lPy
m9u th <1t T= -1.
SYS = tf(NUM,DEN,T)
SYS = zpk(Z,P,K,T)
SYS = ss (A,B,C,D,T)
V d 8-8:
>> sys= tf([1 4],[1 2 8],0.1) % hay >> z= tf('z',0.1); sys= (z+4)/ (z^2 + 2* z + 8)
Transfer function:
z+4
------------------
z^2 + 2 z + 8
Sampling time: 0.1
>> sys= tf(4,[1 3 5],-1)
Transfer function:
4
------------------
z^2 + 3 z + 5
Sampling time: unspecified
C th. chuy.n m hnh h- lin tMc thnh m hnh h- r7i rGc bRng l-nh c2d:
SYSD=c2d(SYSC,T)
trong <: SYSC l m hnh h- lin tMc (continuous system)
SYSD l m hnh h- r7i rGc (discrete system)
T l th7i gian lPy m9u
Ho1c chuy.n m hnh h- r7i rGc thnh m hnh h- lin tMc bRng l-nh d2c :
SYSC=d2c(SYSD)
V d 8-9:
>> Gs= tf([1 3],[1 2 8]); % m t@ h- lin tMc c hm truy4n Gs
>> Gz=c2d(Gs,0.1) % chuy.n Gs thnh h- r7i rGc c hm truy4n Gz
Transfer function:
0.1034 z - 0.07638
----------------------
z^2 - 1.747 z + 0.8187
Sampling time: 0.1
>> Gs= d2c(Gz) % chuy.n trH lGi h- lin tMc
Transfer function:
s + 3
--------------
s^2 + 2 s + 8

189
8. 2 KET NOI CAC PHAN T
Cc dGng m hnh c th. chuy.n <=i v k$t n5i l9n nhau, tuy nhin thC t6 *u tin trong
Matlab l;n l*+t l: ss model > tf model > zpk model . Ngh_a l: khi k$t n5i m0t m hnh ss
v>i m hnh tf ho1c zpk th k$t qu@ cu5i cng sS <*+c Matlab bi.u di]n H dGng ss; T*,ng t6,
khi k$t n5i m0t m hnh tf v>i m hnh zpk ta nhNn <*+c k$t qu@ H dGng tf .
1) Ghp n#i ti'p 2 ph)n t+ : Dng l-nh series ho1c ton tB *
SYS = series (SYS1,SYS2)
SYS = SYS1* SYS2
L-nh series ch[ tnh <*+c hm truy4n t*,ng <*,ng cDa 2 ph;n tB n5i ti$p, cn ton tB
* c th. p dMng cho s5 ph;n tB n5i ti$p bPt kV (2,3,4,).
V d 8-10: Tm hm truy4n cDa ba ph;n tB n5i ti$p
>> G1= tf(1,[1 4]) ; G2= tf(1,[1 0]); G3 = tf(1,[1 3]) ;
>>G12= series (G1,G2) ; G = series (G12,G3)
% ho1c >> G = series(series (G1,G2),G3)
% ho1c >> G = G1*G2*G3
K$t qu@ :
Transfer function:
1
------------------
s^3 + 7 s^2 + 12 s
2) T#i gi.n ha hm truy/n :
L-nh minreal c tc dMng lm t5i gi@n ha hm truy4n cDa h- th5ng bRng cch loGi bO
b>t cc c1p zero/c6c gi5ng nhau. V>i h- c m hnh trGng thi, l-nh minreal sS loGi bO cc
bi$n khng <i4u khi.n <*+c ho1c khng quan st <*+c.
C php : SYS=minreal(SYS)
V d 8-11:
>> G1= tf([1 2],[1 4]) ; G2= tf(2,[1 2]);
>> G12= series (G1,G2)
Transfer function:
2 s + 4
-------------
s^2 + 6 s + 8
>>G12= minreal(G12)
Transfer function:
2
-----
s + 4
3) Ghp song song 2 ph)n t+ : Dng l-nh parallel ho1c ton tB +
SYS = parallel (SYS1,SYS2)
SYS = SYS1 + SYS2
L-nh parallel ch[ tnh <*+c hm truy4n t*,ng <*,ng cDa 2 ph;n tB ghp song song, cn
ton tB + c th. p dMng cho s5 ph;n tB song song bPt kV (2,3,4,).

190
V d 8-12: >> G1= tf(1,[1 4]) ; G2= tf(1,[1 0]); G3 = tf(1,[1 3]) ;
>>G12= parallel (G1,G2) ; G = parallel (G12,G3);
% ho1c >>G = parallel (parallel (G1,G2), G3)
% ho1c >>G = G1 + G2 + G3
Ket qua :
Transfer function:
3 s^2 + 14 s + 12
------------------------
s^3 + 7 s^2 + 12 s
4) Tm m t. ton c0a m1ch vng kn : Dng l-nh feedback
- Ph@n h!i m:

u --->O---->[ SYS1 ]----+---> y
-| | y = SYSK * u
+-----[ SYS2 ]<---+

SYSK = feedback(SYS1,SYS2)
V>i mGch ph@n h!i m <,n v' (SYS2=1) th: SYSK = feedback(SYS1,1)
- Ph@n h!i d*,ng:
SYSK = feedback(SYS1,SYS2,1) % c thm k ki-u ,1 sau SYS2
V>i mGch ph@n h!i d*,ng <,n v' (SYS2=1) th: SYSK = feedback(SYS1,1,1)
5) Tm m t. ton c0a h2 th#ng ph3c t1p
Cch 1: Bi$n <=i s, <! kh5i <. lm xuPt hi-n cc dGng k$t n5i <,n gi@n r!i dng cc
l-nh series , parallel, feedback hay cc ton tB *, + <. l;n l*+t rt g`n s, <! kh5i tL
trong ra ngoi.
Cch 2: Dng cc l-nh append v connect, theo thC t6 cc b*>c nh* sau:
1) VS s, <! kh5i cDa h- th5ng v <nh s5 thC t6 cc kh5i (cc ph;n tB, cc h- con).
V dM c;n xc <'nh hm truy4n cDa h- th5ng g!m 7 kh5i sau :







Vi-c <nh s5 thC t6 cc kh5i theo quy tQc : tL tri qua ph@i, tL trn xu5ng d*>i (ho1c tL
d*>i ln trn).
2) M t@ cc h- con SYSi trong Matlab bRng cch dng cc l-nh tf, ss, zpk < nu H
ph;n tr*>c.
3) Dng l-nh append <. khai bo cho Matlab cc h- con tham gia vo h- th5ng:
SYSA= append(SYS1,SYS2,SYS3,SYS4,SYS5,SYS6,SYS7);
y
x
G4(s)
G5(s)
G6(s)
G7(s)
G3(s) G2(s)
G1(s)
6
7
3 1 2
5
4

191
4) LNp ma trNn k$t n5i cc h- con v ch[ <'nh cc ng vo, ra cDa h- th5ng:
MYi hng cDa ma trNn k$t n5i Q t*,ng Cng v>i m0t h- con. S5 hGng <;u cDa mYi hng
l ch[ s5 cDa h- con, cc s5 hGng ti$p theo bi.u th' k$t n5i giUa ng vo cDa h- con < v>i
ng ra cDa cc h- con khc. V dM ng vo cDa h- 2 l ng ra cDa h- 1 v h- 5, h- 5 lGi l
ph@n h!i m, do < s5 hGng <;u trong hng l 2, hai s5 hGng k$ trong hng l 1 v 5, cc
s5 0 <*+c thm vo <. tGo Q l ma trNn chU nhNt.
Q= [1 0 0 0 0
2 1 -5 0 0
3 2 -6 0 0
4 2 -6 3 -7
5 3 0 0 0
6 3 0 0 0
7 4 0 0 0 ];
input=1; % v ng vo cDa h- th5ng l ng vo cDa kh5i 1
output=4; % v ng ra cDa h- th5ng l ng ra cDa kh5i 4
5) Dng l-nh connect tm m t@ ton cDa ton h- th5ng theo c php:
SYS = connect(SYSA,Q,input,output)
Cch 3: VS s, <! h- th5ng trong mi tr*7ng SIMULINK cDa Matlab (kch hoGt bRng
l-nh simulink) r!i dng l-nh linmod <. trch xuPt cc ma trNn A,B,C,D cDa h- th5ng :
[A,B,C,D] = linmod (model_filename)
Trong < tham s5 'model_filename' l tn cDa file m hnh. V dM, sau khi vS s, <! h-
th5ng trong SIMULINK ta l*u lGi thnh file ht1.mdl th dng l -nh linmod nh* sau :
[A,B,C,D] = linmod (ht1)
Sau < tuV nhu c;u c th. tm m t@ h- th5ng d*>i dGng m hnh trGng thi:
SYS = ss (A,B,C,D)
Ho1c chuy.n v4 dGng hm truy4n : SYS = tf(SYS)
V>i h- th5ng r7i rGc ta dng l-nh dlinmod thay cho l-nh linmod
[A,B,C,D] = dlinmod (model_filename,T )
V d 8-13: Tm hm truy4n cDa h- th5ng c s, <! kh5i nh* hnh vS :








Gi.i:
Cch 1: Tr*>c tin ta c;n bi$n <=i s, <! kh5i v4 dGng t*,ng <*,ng <. xuPt hi-n cc dGng
k$t n5i c, b@n, sau < m>i p dMng <*+c cc hm k$t n5i, t*,ng t6 nh* tnh ton <Gi s5 s,
<! kh5i trong l thuy$t <i4u khi.n t6 <0ng.
r

y

1
s 1 +

s
1

G
1
G
2
G
3 G
4
G
5
B

A

20
1
s 2 +

8s
s 2 +


192









Ch*,ng trnh Matlab:
g1=20;
g2=tf(1,[1 1]);
g3=tf(1,[1 2]);
g4=tf(1,[1 0]);
g5=tf([8 0],[1 2]);
gtd1=feedback(g2,g5*g3,1); % mGch h!i ti$p d*,ng
gtd2=feedback(g1*gtd1,1); % mGch h!i ti$p m <,n v'
SYS=feedback(gtd2*g3*g4,1); % mGch h!i ti$p m <,n v'
SYS=minreal(SYS) % t5i gi@n ho hm truy4n
K$t qu@ :
Transfer function:
20 s + 40
----------------------------------
s^4 + 25 s^3 + 80 s^2 + 104 s + 40
Cch 2: Tnh hm truy4n cDa h- th5ng tr6c ti$p tL s, <! kh5i < cho ban <;u, khng c;n
thi$t ph@i bi$n <=i s, <!.
Ch*,ng trnh Matlab :
g1=20;
g2=tf(1,[1 1]);
g3=tf(1,[1 2]);
g4=tf(1,[1 0]);
g5=tf([8 0],[1 2]);
SYSA=append(g1,g2,g3,g4,g5);
Q =[1 -2 -4 % ng vo c Da kh5i 1 l ng ra cDa cc kh5i ph@n h!i m 2 v 4
2 1 5 % ng vo c Da kh5i 2 l ng ra cDa cc kh5i 1 v 5
3 2 0 % ng vo c Da kh5i 3 l ng ra cDa kh5i 2
4 3 0 % ng vo c Da kh5i 4 l ng ra cDa kh5i 3
5 3 0] ; % ng vo c Da kh5i 5 l ng ra cDa kh5i 3
input=1; % ng vo cDa h- th5ng l ng vo cDa kh5i 1
output=4; % ng ra cDa h- th5ng l ng ra cDa kh5i 4
SYS=connect(SYSA, Q, input,output);
SYS=minreal(SYS)
r

y

s
1

G
1
G
2
G
3
G
4
G
5
20
2
1
+ s

G
3
2
1
+ s

1
1
+ s

8s
s 2 +


193
Ket qua :
Transfer function:
20 s + 40
----------------------------------
s^4 + 25 s^3 + 80 s^2 + 104 s + 40

Cch 3 : Th6c hi-n hai b*>c :
B*>c1: VS s, <! h- th5ng trong mi tr*7ng Simulink cDa MATLAB (kch hoGt
bRng l-nh >>simulink ), l*u tn file l baitap_sdk1.mdl.








B*>c 2: NhNp v th6c thi <oGn ch*,ng trnh sau :
>>[A,B,C,D]=linmod('baitap_sdk1');
>>sys=ss(A,B,C,D);
>>sys=tf(sys);
>>sys=minreal(sys)
Ket qua :
Transfer function:
20 s + 40
----------------------------------
s^4 + 25 s^3 + 80 s^2 + 104 s + 40

8. 3 TNH TOAN VAVEBIEU OAP NG THI GIAN
1) ap ng bac t hang
L-nh step dng <. tnh ton v vS <p Cng bNc thang (hm qu <0)
L$NH NGH&A
step(SYS)
VS bi.u <! <p Cng bNc thang cDa h- th5ng, kho@ng th7i
gian do Matlab t6 <0ng xc <'nh.
step(SYS,T) :
VS bi.u <! <p Cng bNc thang cDa h- th5ng trong th7i
gian tL 0 <$n T
step(SYS1,SYS2,...,T)
VS <p Cng cDa nhi4u h- th5ng trn cng 1 h- trMc toG <0
[ y, t ] = step(SYS)
Tr@ v4 dy gi tr' y t*,ng Cng v>i vect, th7i gian t
SYS,SYS1,SYS2, c th. l h- lin tMc ho1c r7i rGc c m hnh dGng tf, zpk, ho1c ss bPt
kV nh* < trnh by H ph;n tr*>c.
1
Out1
8s
s+2
Transfer Fcn5
1
s
Transfer Fcn4
1
s+1
Transfer Fcn2 Gain
1
s+2
Transfer Fcn 3
1
In1
20

194
Sau khi vS bi.u <! ta c th. xc <'nh cc thng s5 quan tr`ng cDa <*7ng <p Cng nh*
th7i gian tZng (Risetime, 10 90%), th7i gian qu <0 (Settlingtime, t 2%), <0 v`t l5
(Overshoot), gi tr' xc lNp y() bRng cch nhQp ph@i chu0t vo vng tr5ng bPt kV trn <!
th' <. xuPt hi-n menu danh sch th@ xu5ng (popup-menu) v ch`n mMc t*,ng Cng.
Hnh d*>i <y minh hoG k$t qu@ sau khi nhQp chu0t ph@i vo vng tr5ng trn <! th' v l;n
l*+t ch`n Characteristics > Settling Time, sau < nhQp chu0t tri vo dPu trn vLa xuPt hi-n
trn <! th' <. hi.n th' gi tr' th7i gian qu <0.
- . hi.n th' <0 v`t l5, ch`n Characteristics > Peak Response >...
- . hi.n th' gi tr' xc lNp y(), ch`n Characteristics > Steady State >...

N$u bGn nhQp chu0t tri vo <i.m bPt kV trn <*7ng <p Cng, MATLAB sS hi.n th'
cc gi tr' honh <0, tung <0 (t*,ng Cng l th7i gian v bin <0) tGi <i.m <. N$u bGn nhQp
tri r!i r chu0t d`c theo <*7ng <p Cng, cc gi tr' trn sS hi.n th' lin ti$p.
. tm <p Cng bNc thang cDa h- th5ng d)*i d-ng hm s/ theo th2i gian t (thay v
dGng <! th') khi bi$t hm truy4n G cDa h-, ta c th. p dMng cc hm xB l bi.u thCc chU nh*
sau:
[n,d]=tfdata(G,'v'); % tm vct, h- s5 cDa tB v m9u s5 hm truy4n G.
syms s % khai bo bi$n symbolic (bi$n chU) l s
num=poly2sym(n,s); % tGo bi.u thCc symbolic cDa tB s5 theo bi$n s
den=poly2sym(d,s); % tGo bi.u thCc symbolic cDa m9u s5 theo bi$n s
G=num/den % bi.u di]n hm truy4n G d*>i dGng bi.u thCc symbolic
Y=G/s % @nh Laplace Y(s) cDa hm qu <0
y=ilaplace(Y) % hm qu <0 y(t)
2) ap ng x ung
Dng l-nh impulse <. tnh v vS <p Cng xung (hm tr`ng l*+ng) cDa h- th5ng.
C php cDa l-nh impulse gi5ng nh* l-nh step.
impulse(SYS)
impulse(SYS,T)
impulse(SYS1,SYS2,...,T)
[y,t]=impulse(SYS)

195
3) ap ng t n hi eu vao bat ky
- Dng l-nh lsim <. tm <p Cng th7i gian cDa h- th5ng <5i v>i tn hi-u vo bPt kV.
lsim(SYS,u,t) : vS <p Cng v>i tn hi-u vo u bPt kV trong kho@ng th7i gian t.
[y,t] = lsim(SYS,u,t) : tr@ v4 dy gi tr' <p Cng y t*,ng Cng v>i vect, th7i gian t.
- M0t s5 v dM tGo tn hi-u vo:
>>t= 0:0.01:1;
>>u= ones(size(t)); plot(t,u) % unit step (bNc thang <,n v') u=1(t)
>>u= 5*ones(size(t)); % step (bNc thang) u=5(t)
>>u= [1;zeros(100,1)]; % impulse (xung nh`n <,n v')
>>u= t ; % ramp (hm d5c)
>>u= t.^2 ; % parabol
>>u= square(4*t) ; % xung vung
>>u =sin(t) % sng sin
C th. tGo nhanh cc tn hi-u vo dGng sng bRng hm gensig :
[u,t] = gensig(typ,tau)
[u,t] = gensig (typ,tau,Tf,Ts)
BRng tham s5 typ ta c th. khai bo loGi tn hi-u: sng sin ('sin'), sng vung ('square'),
ho1c dy xung nh`n ('pulse'). Tn hi-u do gensig tGo ra c bin <0 chuXn l 1<,n v'. Chu kV
cDa tn hi-u <*+c khai bo nh7 tham s5 tau. Tf l kho@ng th7i gian tc <0ng v Ts l th7i
gian lPy m9u (chu kV lPy m9u). Vct, th7i gian t <*+c Matlab t6 <0ng ch`n ho1c tnh theo Tf
v Ts.
8. 4 TNH TOAN VAVEBIEU OAP NG TAN SO
ChPt l*+ng cDa h2 kn trong mi4n t;n s5 <*+c <nh gi qua <p Cng t;n s5, cM th. l
bi.u <! Nyquist v bi.u <! Bode cDa h2 h5 t*,ng Cng.
Cc cPu trc l-nh sau <y th*7ng dng <. tnh v vS <p Cng t;n s5 :
L$NH NGH&A
nyquist(SYS) VS bi.u <! Nyquist cDa h- SYS
bode(SYS) VS bi.u <! Bode cDa h- SYS
margin(SYS)
VS bi.u <! Bode v hi.n th' gi tr' d6 trU bin <0, d6
trU pha,... ngay trn bi.u <!
[Gm,Pm,Wgm,Wpm]=
margin(SYS)

Tnh ton <0 d6 trU bin <0, d6 trU pha, t;n s5 cQt
bin, t;n s5 cQt pha
Gi tr' d6 trU bin <0 Gm do hm margin tnh ra l gi tr' t6 nhin (khng <,n v') , <.
chuy.n <=i sang gi tr' dB (decibel) ta dng cng thCc Gm_dB= 20*log10(Gm).
V>i h- r7i rGc , hm bode sS p dMng thuNt ton bi$n <=i z = e
jT
(trong < T l th7i
gian lPy m9u) <. nh xG vng trn <,n v' thnh trMc t;n s5 th6c . Do hm truy4n t;n s5 cDa
h- r7i rGc c tnh tu;n hon v>i chu kV 2/T nn v>i h- r7i rGc, hm bode ch[ tnh <p Cng
cho nhUng <i.m t;n s5 nhO h,n t;n s5 t>i hGn /T.

196
8. 5 GIAO DIEN LTIVi ew er
Giao di-n <! hoG LTIViewer <*+c kch hoGt bRng l-nh ltiview. V>i giao di-n
LTIViewer bGn c th. cng m0t lc kh@o st <1c tnh <0ng h`c cDa nhi4u h- th5ng tuy$n tnh
bPt bi$n, v <5i v>i mYi h- th5ng lGi c th. vS <*+c tPt c@ cc dGng <1c tnh <0ng h`c. Do c
th. vS <*+c trn cng m0t cBa s= nn bGn c th. d] dng nhNn thPy <*+c m5i lin h- giUa cc
dGng <1c tnh <0ng h`c, v dM <p Cng xung l <Go hm cDa <p Cng bNc thang, <[nh c0ng
h*Hng trn bi.u <! Bode c bin <0 cng cao th <0 v`t l5 trn <p Cng bNc thang cng cao,
s6 lin h- giUa bi.u <! Bode v bi.u <! Nyquist,
M0t s5 cch th*7ng dng cDa l-nh ltiview :
L$NH NGH&A
ltiview(PLOTTYPE, SYS)
VS cc bi.u <! ch[ <'nh bHi tham s5 PLOTTYPE .
PLOTTYPE c th. l 'step', 'impulse', 'nyquist',
bode', ho1c t= h+p {'step'; 'impulse'; 'nyquist';
bode',}
ltiview(SYS1,SYS2,,SYSN) VS bi.u <! step cDa nhi4u h- th5ng
ltiview(PLOTTYPE,SYS1,SYS2,,SYSN)
VS cc bi.u <! ch[ <'nh bHi PLOTTYPE cDa nhi4u
h- th5ng
V d 8-14:
>> G=tf(10,[1 2 10])
Transfer function:
10
--------------
s^2 + 2 s + 10
>> ltiview({'step';'impulse';'nyquist';'bode'},G)



TL menu edit ho1c tL
popup-menu khi nhQp chu0t
ph@i trong cBa s= LTIViewer,
bGn c th. ch`n l6a cc thi$t
<1t v4 cPu hnh nh* s5 l*+ng
<! th', loGi <! th', hi.n th'
ho1c tQt hi.n th' cc thng s5
chPt l*+ng trn cc <! th',


197
8. 6 V DU NG DUNG
V d 8-15 Cho h- th5ng c s, <! kh5i nh* hnh vS :






Ch`n K
P
=16; K
I
=60; K
D
=1
Vi$t ch*,ng trnh Matlab th6c hi-n cc yu c;u sau:
a) Tm hm truy4n, hm qu <0 v sai s5 xc lNp e() cDa h- th5ng.
b) VS bi.u <! hm qu <0 v xc <'nh gi tr' xc lNp y(), <0 v`t l5, th7i gian qu <0.
Gi.i. Ch*,ng trnh Matlab:
Kp =16; Ki =60; Kd =1;
s=tf('s'); Gc=Kp + Ki/s + Kd*s; % hm truy4n b0 PID
% Gc=tf ([1 16 60], [1 0]) % m0t cch khc <. khai bo hm truy4n b0 PID
G=tf(20,[1 12 20]); % hm truy4n cDa <5i t*+ng
Gk=feedback(Gc*G,1) ; % hm truy4n h- kn
Gk=minreal(Gk) % t 5i gi@n ho hm truy4n h- kn.
saisoxl=1-dcgain(Gk) % Tnh sai s5 xc lNp
step(Gk) % VS bi.u <! <p Cng qu <0
syms s
[n,d]=tfdata(Gk,'v');
n=poly2sym(n,s);
d=int16(d);
d=poly2sym(d,s);
Gk=n/d
Y=Gk/s;
y=ilaplace(Y)
K$t qu@ khi chGy ch*,ng trnh:
Transfer function:
20 s + 120
----------------
s^2 + 22 s + 120
saisoxl = 0
Gk = (20*s+120)/(s^2+22*s+120)
y = 1-5*exp(-12*t)+4*exp(-10*t) %
12t 10t
y(t) 1 5e 4e

+
TL <! th' step ta xc <'nh <*+c cc thng s5 chPt l*+ng :
Gi tr' xc lNp (Final value) =1
0 v`t l5 (Overshoot) = 8,78%
Th7i gian qu <0 ( settling time) = 0,461 sec
r =1(t)
y

PID
2
20
s 12s 20 + +

e


198
V d 8-16 Xc <'nh <0 d6 trU =n <'nh bin <0 v pha cDa h- th5ng cho H v dM 8-15.
Gi.i. Ch*,ng trnh Matlab:
Gc=tf ([1 16 60], [1 0]); % hm truy4n b0 PID
G=tf(20,[1 12 20]); % hm truy4n cDa <5i t*+ng
Gh= Gc*G ; % hm truy4n h- hH
Gh=minreal(Gh) % t 5i gi@n ho hm truy4n
nyquist (Gh) % VS bi.u <! Nyquist h- hH
figure(2); margin(Gh) % VS bi.u <! Bode h- hH
K$t qu@ :
Transfer function: % hm truy4n h- hH
20 s + 120
----------
s^2 + 2 s


TL bi.u <! ta xc <'nh <*+c <0 d6 trU bin <0 GM = ; <0 d6 trU pha
PM=79,4, t;n s5 cQt bin c = 20,7 rad/sec, t;n s5 cQt pha
(-180)
= (khng t!n tGi,
v bi.u <! Bode pha khng cQt <*7ng thang -180).

199
V d 8-17 Kh@o st <p Cng qu <0 cDa h- th5ng cho H v dM 8-15 v>i cc gi tr' thay <=i
cDa thng s5 b0 PID, v dM:
a) K
P
=16; K
D
=1; K
I
=1 c) K
P
=16; K
D
=1 ; K
I
=100
b) K
P
=16; K
D
=1; K
I
=20 d) K
P
=16; K
D
=1; K
I
=300
Gi.i. Cch 1: L;n l*+t khai bo tLng b0 PID v tnh cc hm truy4n h- kn.
G=tf(20,[1 12 20])

Gc1=tf ([1 16 1], [1 0]) , Gk1=feedback(Gc1*G,1)
Gc2=tf ([1 16 20], [1 0]) ; Gk2=feedback(Gc2*G,1)
Gc3=tf ([1 16 100], [1 0]) ; Gk3=feedback(Gc3*G,1)
Gc4=tf ([1 16 300], [1 0]) ; Gk4=feedback(Gc4*G,1)
step(Gk1,'b-', Gk2,'g--', Gk3,'m-.', Gk4,'k:', 1) % vS <! th' <p Cng qu <0.
legend('Ki=1','Ki=20','Ki=100','Ki=300') ; grid % t Go ch thch v l*>i cho <! th'.
Gi!i thch: L-nh step H trn vS cc <*7ng <p Cng trong kho@ng t=01(sec) k$t h+p
v>i ch[ <'nh mu sQc (b=blue; g=green; m=magenta; k=black) v nt vS (-, --, -. , :).
,n gi@n h,n, c th. dng l-nh: step(Gk1,Gk2,Gk3,Gk4,1).Khi <, Matlab sS t6 <0ng
ch`n mu theo thC t6 : blue, green, red, cyan, magenta, v m1c <'nh l ki.u nt li4n (-).
Cch 2: Khai bo bRng vng l1p
G=tf(20,[1 12 20]); Kp=16;Kd=1; Ki=[1, 20, 100, 300];
for n=1:length(Ki)
Gpid=tf([Kd Kp Ki(n)],[1 0]);
eval(['Gk',num2str(n),'=feedback(Gpid*G,1)'])
end
step(Gk1,'b-',Gk2,'g--',Gk3,'r-.',Gk4,'k:',1);
legend('Ki=1','Ki=20','Ki=100','Ki=300'); grid
K$t qu@ :















Dng chu0t ph@i <. thao tc trn <! th', ta c th. xc <'nh <*+c cc thng s5 chPt
l*+ng cDa <*7ng <p Cng t*,ng t6 nh* H v dM 8-15.
C^ng c th. nhNp cc cng thCc < nu H ch*,ng 5 vo Matlab <. th6c hi-n tnh ton
v ki.m tra cc thng s5 chPt l*+ng trn <! th'.
TL <! th' ta thPy khi tZng K
I
th <0 v`t l5 POT sS tZng nh*ng sai s5 e()=0, ngay c@
tr*7ng h+p K
I
=1 n$u vS <p Cng trong th7i gian di h,n ta sS thPy r h- c^ng v4 xc lNp v>i
sai s5 e() bRng 0 nh*ng th7i gian qu <0 l>n: 17,8 sec). N$u tZng K
I
v*+t qu gi tr' gi>i
hGn th h- kn sS mPt =n <'nh.

200
V d 8.18 Cho h- th5ng r7i rGc:




trong <:
1
G(s)
s 6

+
; D(z) = 10; Chu kV lPy m9u T= 0,01. Tn hi-u vo r(t)=1(t)
1) Tm hm truy4n <Gt v sai s5 xc lNp cDa h- .
2) VS <p Cng bNc thang v xc <'nh gi tr' xc lNp, th7i gian qu <0.
3) Tm dy gi tr' tn hi-u ra y(t) khi t thay <=i tL 0.1 <$n 0.2
Gi.i. Ch*,ng trnh Matlab:
Gs=tf(1,[1 6]);
Gz=c2d(Gs,0.01);
Dz=10;
Gk=feedback(Dz*Gz,1);
Gk=minreal(Gk)
saisoxl =1-dcgain(Gk)
step(Gk,0.4)
[y,t]=step(Gk,[0.1: 0.01: 0.2]);
y_t = [y,t]
K$t qu@ :
Transfer function:
0.09706
----------
z - 0.8447
Sampling time: 0.01
saisoxl =
0.3750
y_t =
0.5094 0.1000
0.5274 0.1100
0.5425 0.1200
0.5553 0.1300
0.5661 0.1400
0.5753 0.1500
0.5830 0.1600
0.5895 0.1700
0.5950 0.1800
0.5997 0.1900
0.6036 0.2000
R(s)

Y(s)

G(s)
ZOH
T

D(z)
G(z)

201



TAI LIEU THAM KHAO

1. Nguyen Th Phng Ha, Ly thuyet ieu khien t ong,
NXB ai hoc Quoc gia TP.HCM, 2003
2. Lng van Lang, C s t ong,
NXB ai hoc Quoc gia TP.HCM, 2002
3. Nguyen Doan Phc, Ly thuyet ieu khien tuyen tnh,
NXB Khoa hoc va Ky thuat, 2002.
4. Nguyen Ngoc Can, Ky thuat ieu khien t ong,
NXB ai hoc Quoc gia TP.HCM, 2001
5. Nguyen Ngoc Phng, ieu khien t ong tap 1,
H S Pham Ky Thuat TP.HCM, 2000.
6. Tran Sum, T ong ieu khien, NXB GTVT, 1999
7. Katsuhiko Ogata, Modern Control Engineering,
Prentice-Hall , 4th edition, 2002
8. Holger Lutz & Wolfgang Went,
Taschenbuch der Regelungstechnik, Verlag Harri Deutsch, 1998
9. R.C.Dorf and R.H.Bishop , Modern Control System,
9th edition , Addison Wesley, 2000
10. The Mathworks Inc. , Control system toolbox 6.2 User's Guide