i hc Bch Khoa TPHCM

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

P N KT GIA K 1. Nm hc 2011-2012
Mn: C s t ng
Ngy thi: 25/10/2011
Thi gian lm bi: 60 pht
(Sinh vin ch c php s dng ti liu vit tay)

Ch : Tng im cc cu hi trong thi l 13 im, bi lm hn 10 im s c lm trn v 10.

Bi 1: (3.0 im)
S dng tn hiu tng ng : (0.5)
G8
-G6
R(s)

G1

G3

G2

G4

G7

Y(s)

G5

ng tin :

P1 = G1G3G7

P2 = G1G4G7

Vng kn :

L1 = G1G2
L4 = G1G4G5

L2 = G6G7
L5 = G3G7G8

nh thc :

= 1 (L1 + L2 + L3 + L4 + L5 + L6) + L1L2

nh thc con :

1 = 1

(0.5)
L3 = G1G3G5
L6 = G4G7G8

(1.0)

(0.5)

2 = 1

Hm truyn tng ng :
(0.5)
1
G1G3G7 G1G4G7
Gtd ( P11 P2 2 )

1 G1G2 G6G7 G1G3G5 G1G4G5 G3G7G8 G4G7G8 G1G2G6G7

Bi 2: (3.0 im)
2.1 V qu o nghim s
PTT: 1 G ( s ) 0 1
Pole : p1 0, p2 1
Zero : z1 2, z 2 3
Tim cn: Khng c
im tch nhp:

K ( s 2)( s 3)
0 ( K 1) s 2 (5 K 1) s 6 K 0
s s 1

1
(0.5)

s ( s 1)
s 5s 6
s 2.35
4 s 2 10 s 6
K

2
0 1
( nh n )
2
s
( s 5 s 6)
s2 0.65

(c 2 nghim u thuc QNS)

(0.5)

Hnh v (1.0 nu v y cc du mi tn, k hiu ng cc, zero)

Root Locus
1.5

0.818

Imaginary Axis

0.5

K+

K=0

K=0

K+
-0.5

-1

-1.5

-3

-2.5

-2

-1.5

-1

-0.5

Real Axis

2.2 T gc ta k ng tip xc vi ng qu o nghim, ti im tip xc gc l ln nht, ti

cos l nh nht.
o di trc tip trn th 350 t suy ra cos 0.818 v

n 1.27

(0.5)

POT e / 1 .100% 1.15%

4
Thi gian xc lp : Ts
3.85 s

vt l :

(0.5)

Bi 3: (3.5 im)
3.1. Phng trnh c trng:

s ( s 4)( s p) 8( s z ) 0
s 3 ( p 4) s 2 (4 p 8) s 8 z 0

(0.5)

Bng Routh

s3

4p 8

s2

p4

8z

s1

(4 p 8)

s0

8z
p4

(0.5)

8z

iu kin HT n nh

p40

4p 8 0

( p 4)(4 p 8) 8 z 0

8z 0

(0.5 )

p 2

1 2

0 z 2 p 3 p 4
Vng n nh (0.5 im)

3.2. z=2, p=3. t bin trng thi nh s bn di:

R( s )

(0.5)

4
s4
1
s3

x3

x2

2
s

x1 Y ( s )

 x1 2 x2

x2 4 x2 4 (r x1 ) x3
x 3 x r x
3
1
3

(0.5)

x1 2 x2

x2 4 x1 4 x2 4 x3 4r
x x 3 x r
3
1
3

0
A 4
1
C 1 0

2 0
0
4 4 , B 4 ,
1
0 3
0

(0.5)

(Ch : Cch t bin trng thi x3 khc, nu lm ng, vn c chp nhn)

Bi 4: (3.5 im)
20 K ( s 5)
Gh ( s )
2
s( s 10 s 100)( s 1)
K (0.2 s 1)
Gh ( s)
s(0.01s 2 0.1s 1)( s 1)
Tn s gy: 1 1( rad / s ) , 2 5( rad / s ) , 3 10( rad / s ) ,
Khi K=1, biu Bode qua im A c ta :
0 1( rad / s

L(0 ) 20 lg K 0
Biu thc pha: khng cn xc nh, v bi cho biu pha
Khi K=10, biu Bode bin nng 20dB.

(0.25)

(0.25)

(Biu : 0.75 nu v y dc, C, , M, GM)

20dB/dec

40dB/dec
GM
20dB/dec

60dB/dec

(Biu : 0.75 nu v y dc, C, , M, GM)

40dB/dec

20dB/dec

GM
20dB/dec

60dB/dec

4.2 Da vo biu Bode, ta c:

Khi K = 1:
C 1( rad / sec)
8( rad / sec)

(C ) 1300
L( ) 32 dB

M 180 ( 130) 50 0 0 ,
GM 32 dB 0 ,

H thng kn n nh khi K = 1

(0.25)
(0.25)

Khi K = 10:
C 3.5( rad / sec)
8( rad / sec)

(C ) 1500
L( ) 10dB

M 180 ( 150) 30 0 0 ,
GM 10dB 0 ,

(0.25)
(0.25)

H thng kn n nh khi K = 10.

Ch : Nu SV tnh ton gii tch, tm c cc gi tr chnh xc nh di y cng c tnh im

M=570
(0.25)
- Khi K=1: tn s ct bin c=0.75rad/s, (c)= 1230
tn s ct pha: =7.82rad/s, L()=29.5dB GM=29.5dB
(0.25)
h thng kn n nh
- Khi K=10: tn s ct bin c=3.5rad/s, (c)= 1510
M=290
(0.25)
tn s ct pha: =7.82rad/s, L()=9.3dB, GM=9.3dB
(0.25)
h thng kn n nh

4.3 (0.5)
Cc h s
K p= lim G c ( s ) G ( s )
s 0

K v= lim sG c ( s ) G ( s ) K
s0

K v= lim s 2 G c ( s ) G ( s ) 0
s 0

Khi tng li K
Nu tn hiu vo l hm nc: sai s xc lp bng khng, vt l tng
Nu tn hiu vo l hm dc: sai s xc lp =1/K s gim , vt l tng