i hc Bch Khoa TPHCM

Khoa in in T
B mn KT
---o0o---

P N KIM TRA GIA K 1. Nm hc 2012-2013

Mn: C s t ng
Ngy thi: 12/10/2012
Thi gian lm bi: 60 pht

Bi 1: (2.5 im) Tm hm truyn tng ng GN ( s )

Y ( s)
N ( s)

ca h thng c s khi Hnh 1.

R ( s ) 0

N(s)
G6(s)
R(s)

_
+_

_
+

G1(s)

G2(s)

G3(s)

+_

G5(s)

G4(s)
Bi gii:
S dng tn hiu tng ng : c th v nhiu cch
Cch 1:

(0.5 im)

G6
-G1

G3

G2

-1

N(s)

Y(s)

-G5

-G4G1

Cch 2:

1
N(s)
1
R(s)

G1

G2

G 4
ng tin : (0.5 im)
P1 = G2G3
P2 = G6

G6
1

G3

1 Y(s)

G 5
Vng kn : (0.5 im)
L1 = G2G4G1
L2 = G3G5
L3 = G2G3G1

++

Y(s)

Hnh 1

 nh thc : (0.5 im)

= 1 (L1 + L2 + L3) + L1L2
1 = 1
2 = 1 L1
Hm truyn tng ng : (0.5 im)
GN ( s )

Y ( s)
1
( P11 P2 2 )
N ( s ) R ( s ) 0

1
(G2G3 G6 (1 G2G4G1 ))
1 (G2G4G1 G3G5 G2G3G1 ) G1G2G3G4G5

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

+_

Hnh 2

2 x2
s5

1
s2

+_
x3

x1

y(t)

3
s 1

Li gii:
1
( X 2 ( s) X 3 ( s))
s2
2
X 2 ( s)
R( s ) X 1 ( s )
s5
3
X 3 ( s)
X 1 ( s)
s 1
X1 ( s)

=> x1 (t ) 2 x1(t ) x2 (t ) x3(t )

(0.25 im)

=> x2 (t ) 2 x1(t ) 5 x2 (t) 2r(t)

(0.25 im)

=> x3 (t ) 3x1(t ) x3 (t )

(0.25 im)

Phng tr nh bin trng thi:

2 1 1
0

x(t ) 2 5 0 x(t ) 2 r (t )
3 0 1
0
y (t ) 1 0 0 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:

K ( s 1)
G( s) 2
s ( s 10)
2.1. (2.0 im) V QNS ca h thng khi K = 0 +. T m 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 tq (tiu chun 2%) cho
trng hp ny da vo cp cc quyt nh.

Li gii:
Cu 3.1:
+ Cc: p1 p2 0; p3 10
+Zero: z1 1 ;

(0.25 im)

+ im tch nhp:
K

s 3 10s 2
s 1

dK
0 3s 2 20s s 1 s 3 10s 2 0
ds
2s3 13s 2 20s 0
s 0 (tach)

s 2.5 (cuctieu nhap)

s 4 (cuc dai tach)

+ Gc tim cn: q

180
900 ;
3 2

+ Giao im tim cn v trc honh: OA

(0.5 im)

0 0 10 1
4.5
3 1

(0.25 im)

QNS: (0.75 im)

Root Locus
8

Imaginary Axis

-2

-4

-6

-8
-12

-10

-8

-6

-4

-2

Real Axis

+ 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: s3 10s 2 12s 12
Nghim ca PTT:

s1 8.79

(0.25 im)

s2,3 0.605 i

n 0.6

n 1 2 1
n 0.6

0.6
12

tqd

(0.25 im)

4
6.67s ;
0.6

POT exp

1 2

(0.25 im)

exp 0.6 15.18%

(0.25 im)

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

R(s)

+_

KC

G(s)

Y(s)
G( s)

Hnh 3

100( s 0.5)e 0.1s

s 2 ( s 10)( s 5)

4.1. (2.5 im) Cho KC =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 c v tn s ct pha . nh gi tnh n nh ca h kn.
4.2. (0.5 im) Cho KC =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 KC sao cho h kn n nh.
Li gii:
4.1 Hm truyn vng h: Gh ( s) KC G( s)

100( s 0.5)e0.1s
s 2 ( s 10)( s 5)

(2s 1)e0.1s
s 2 (0.1s 1)(0.2s 1)
Cc tn s ct: 1 0.5(rad / s), 2 5(rad / s), 3 10(rad / s)
a hm truyn h v dng: Gh ( s)

Xc nh im A:

(0.25 im)
(0.25 im)

0 0.1(rad / s)
A:
L(0 ) 20log(1) 2*20log(0.1) 40dB
0 0.01( rad / s )
hoc A :
L(0 ) 20 log(1) 2 * log( 0.01) 80dB
Biu thc pha v bng:

(0.25 im)
180
( ) 180 arctan(2 ) arctan(0.1 ) arctan(0.2 ) 0.1

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

(rad/s)
() (deg)

0.1
-171

0.5
-146

1
-139

5
-196

10
-259

20
-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: C 2(rad / s) , tn s ct pha: 2( rad / s)

d tr bin: GM 5(dB) , d tr pha: M 300
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:

KV lim sKC G(s)

s 0

Suy ra, sai s xc lp: exl

1
0
KV

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( KC ) 5 KC 10 1.8
0 KC 1.8
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 KC 2.8 )