i hc Bch Khoa TPHCM P N KIM TRA GIA K 1.

Nm hc 2012-2013
Khoa in in T Mn: C s t ng
B mn KT Ngy thi: 12/10/2012
---o0o--- Thi gian lm bi: 60 pht

Bi 1: (2.5 im) Tm hm truyn tng ng
0 ) (
) (
) (
) (
=
=
s R
N
s N
s Y
s G ca h thng c s khi Hnh 1.

Bi gii:
- S dng tn hiu tng ng : c th v nhiu cch (0.5 im)

Cch 1:









Cch 2:



- ng tin : (0.5 im) - Vng kn : (0.5 im)
P
1
= G
2
G
3
L
1
= G
2
G
4
G
1

P
2
= G
6
L
2
= G
3
G
5
L
3
= G
2
G
3
G
1

R(s)
1
N(s)
G
1
G
2

1
1
G
3

Y(s)
G
4
G
5

1 1
1
G
6


G
1
(s)
R(s)
Y(s)
Hnh 1
+ G
2
(s)
G
6
(s)
G
4
(s)
_
+
G
5
(s)
+
_
G
3
(s)
+
_
N(s)
_
+
-1 G
2 N(s)
1 G
3
-G
5
Y(s)
-G
4
G
1
G
6
-G
1
- nh thc : (0.5 im)

= 1 (L
1
+ L
2
+ L
3
) + L
1
L
2

1
= 1

2
= 1 L
1

- Hm truyn tng ng : (0.5 im)

1 1 2 2
( ) 0
2 3 6 2 4 1
2 4 1 3 5 2 3 1 1 2 3 4 5
( ) 1
( ) ( )
( )
1
( (1 ))
1 ( )
N
R s
Y s
G s P P
N s
G G G G G G
G G G G G G G G G G G G G
=
= = A + A
A
= + +
+



Bi 2: (1.0 im) Hy vit PTTT m t h thng di y vi cc bin trng thi chn sn trn s .


Li gii:
1 2 3
1
( ) ( ( ) ( ))
2
X s X s X s
s
=
+
=>
1 1 2 3
( ) 2 ( ) ( ) ( ) x t x t x t x t = + (0.25 im)
( )
2 1
2
( ) ( ) ( )
5
X s R s X s
s
=
+
=>
2 1 2
( ) 2 ( ) 5 ( ) 2 ( ) x t x t x t r t = + (0.25 im)
3 1
3
( ) ( )
1
X s X s
s
=
+
=>
3 1 3
( ) 3 ( ) ( ) x t x t x t = (0.25 im)

Phng trnh bin trng thi:

| |
2 1 1 0
( ) 2 5 0 ( ) 2 ( )
3 0 1 0
( ) 1 0 0 ( )
x t x t r t
y t x t
( (
( (
= +
( (
( (

=
(0.25 im)

Bi 3: (3.0 im) Cho h thng hi tip m n v c hm truyn vng h nh sau:
) 10 (
) 1 (
) (
2
+
+
=
s s
s K
s G
2.1. (2.0 im) V QNS ca h thng khi K = 0 +. Tm iu kin ca K h thng n nh.
2.2. (1.0 im) Hy xc nh v tr cc cc ca h kn khi K=12 . Tnh POT v t
q
(tiu chun 2%) cho
trng hp ny da vo cp cc quyt nh.
r(t)
y(t)
+ _
Hnh 2
2
1
+ s

x
1
x
2

_
+
5
2
+ s

1
3
+ s

x
3

Li gii:
Cu 3.1:
+ Cc:
1 2 3
0; 10 p p p = = = (0.25 im)
+Zero:
1
1 z = ;

+ im tch nhp:
3 2
10
1
s s
K
s
+
=
+

( )( )
2 3 2
0 3 20 1 10 0
dK
s s s s s
ds
= + + =
3 2
2 13 20 0 s s s + + =
0 ( )
2.5 ( )
4 ( )
s tach
s cuctieu nhap
s cucdai tach
=

(0.5 im)

+ Gc tim cn:
0
180
90
3 2
q =

;
+ Giao im tim cn v trc honh:
0 0 10 1
4.5
3 1
OA
+ +
= =

(0.25 im)

QNS: (0.75 im)
-12 -10 -8 -6 -4 -2 0 2
-8
-6
-4
-2
0
2
4
6
8
Root Locus
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s

+ T QNS suy ra h thng n nh vi mi K>0 (0.25 im)


Cu 3.2:
K=12 PTT ca h thng tr thnh:
3 2
10 12 12 s s s + + +
Nghim ca PTT:
1
2,3
8.79
0.605
s
s i
=
=
(0.25 im)

=
=
1 1
6 . 0
2
e
e
n
n

=
6 . 0
1
6 . 0
2

e
n
(0.25 im)
s t
n
qd
67 . 6
6 . 0
4 4
= = =
e
; (0.25 im)
( )
2
exp exp 0.6 15.18%
1
POT

t t

| |
| = = =
|

\ .
(0.25 im)

Bi 4: (3.5 im) Cho h thng nh Hnh 3.


4.1. (2.5 im) Cho K
C
=1. V biu Bode bin v pha ca h h trong min tn s t 0.01 n 20 rad/sec.
Xc nh tn s ct bin e
c
v tn s ct pha e
t
. nh gi tnh n nh ca h kn.
4.2. (0.5 im) Cho K
C
=1. Tnh sai s xc lp ca h thng khi tn hiu vo l hm dc n v.
4.3. (0.5 im) Xc nh min gi tr K
C
sao cho h kn n nh.

Li gii:
4.1 Hm truyn vng h:
0.1
2
100( 0.5)
( ) ( )
( 10)( 5)
s
h C
s e
G s K G s
s s s

+
= =
+ +

a hm truyn h v dng:
0.1
2
(2 1)
( )
(0.1 1)(0.2 1)
s
h
s e
G s
s s s

+
=
+ +


Cc tn s ct:
1 2 3
0.5( / ), 5( / ), 10( / ) rad s rad s rad s e e e = = =

(0.25 im)

Xc nh im A: (0.25 im)

0
0
0.1( / )
:
( ) 20log(1) 2*20log(0.1) 40
rad s
A
L dB
e
e
=

= =

hoc

= =
=
dB L
s rad
A
80 ) 01 . 0 log( * 2 ) 1 log( 20 ) (
) / ( 01 . 0
:
0
0
e
e

Biu thc pha v bng: (0.25 im)
180
( ) 180 arctan(2 ) arctan(0.1 ) arctan(0.2 ) 0.1 e e e e e
t
= +

R(s) Y(s)
+ _
Hnh 3
K
C

) 5 )( 10 (
) 5 . 0 ( 100
) (
2
1 . 0
+ +
+
=

s s s
e s
s G
s
G(s)

Lp bng xc nh mt s im: (0.25 im)

e (rad/s) 0.1 0.5 1 5 10 20
(e) (deg) -171 -146 -139 -196 -259 -345

Biu Bode (1.0 im), ch :
- biu di y trong min 0.1-20rad/s, SV v trong min 0.01 n 20 rad/s vn tnh im.
- ch c trn vn 1 im nu ch thch y dc, tn s ct, d tr.



Tn s ct bin: ) / ( 2 s rad
C
= e , tn s ct pha: ) / ( 2 s rad =
t
e
d tr bin: ) ( 5 dB GM = , d tr pha:
0
30 = uM
T cc kt qu trn biu Bode, ta suy ra h kn n nh. (0.5 im)

4.2 (0.5 im)
H s vn tc:
0
lim ( )
V C
s
K sK G s

= =
Suy ra, sai s xc lp:
1
0
xl
V
e
K
= =
4.3 (0.5 im)
T biu Bode ta thy, nu dch Bode bin ln 5dB th lc d tr bin s m v h kn s khng n
nh, do :
5
20
20log( ) 5 10 1.8
C C
K K < < ~
0 1.8
C
K < <
Lu : do d tr bin xc nh gn ng nn gi tr K
C
c th khc nhau. (tnh chnh xc theo
Matlab th 0 2.8
C
K < < )