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()
() ( )
Mt khc:
],
]
Nn h c th c tuyn tnh ha xung quanh im lm vic nh sau:
( )
3
1 0
2
0 1 3
v
v
v v
e dx
x u
dt
( (
= +
( (
Ta c
( ) ( ) ( )
0 3
3
3 , 3,
1
v
u v y v x v
e
v v v
c c c (
= = =
(
c c c
V vy, vi cc im cc cho trc l (-7,-3) th cc thnh phn ca b iu khin phi tha
mn h phng trnh sau:
{
( *
+ [
) ( )( )
]
Gii h phng trnh trn ta c:
{
[(
) ]
Kt qu thit k b iu khin
u(t)=
()
()(()
())
()(()
())
=-
(()
) [
] [
]
=-
(() ) (
)(
)
=-
(()
) (
)(
)
4.2 S trn simulink
2
4.3 Kt qu m phng
4.3.1.Tn hiu u vo bc nhy
3
+Nhn xt:
-Tn hiu ra c qu iu chnh :12%
- sai lch tnh=0.095=9.5%
-Thi gian qu : 11(s)
4.3.2.Tn hiu vo l hnh sin
+Nhn xt:
Vi tn hiu vo l sin th tn hiu ra cng c dng sin vi tn s xp xi tn hiu
vo v bin nh hn so vi tn hiu vo
4.4 Thay i thng s
4.4.1.Tn hiu vo l bc nhy step
+Vi im cc(-20,-3)
4
+Vi im cc (-30,-3)
+Nhn xt:Khi n tng th qu iu chnh v thi gian qu gim
4.4.2 Khi tn hiu vo l sin
+im cc(-20,-3)
5
-im cc(-30,-3)
+Nhn xt:Khi cc im cc ngy cng xa trc o v pha m th tn hiu u ra c dng
sin v c bin v tn s ngy cng gn vi tn hiu vo