BI GING

IU KHIN TNG T V S

KHI NIM V H THNG IU KHIN T NG

1.1 Cc khi nim c bn
hiu c khi nim v h thng iu khin t ng trc ht ta xem v d
sau
Va
n
Va
n

Va
n

Tuc
bin

L HI

O2

My pht
in

Khng ch
tc

o
thng
s v
in
U, I

My tnh

Tn hiu ch o
Hnh 1.1: S iu khin ca l hi pht in
iu khin l tp hp tt c cc tc ng c mc ch nhm iu khin mt qu
trnh ny hay qu trnh kia theo mt quy lut hay mt chng trnh cho trc.
iu khin hc l mt b mn khoa hc nghin cu nguyn tc xy dng cc
h iu khin.
Qu trnh iu khin hoc iu chnh c thc hin m khng c s tham
gia trc tip ca con ngi, th chng ta gi l qu trnh iu khin v iu
chnh t ng.
Tp hp tt c cc thit b m nh qu trnh iu khin c thc hin gi
l h thng iu khin .

Tp hp tt c cc thit b k thut, m bo K hoc C t ng mt qu

trnh no c gi l h thng K hoc C t ng (i khi gi tt l h
thng t ng HTT).
1.2 Cc phn t c bn ca h thng iu khin t ng
i tng iu khin (Object), Thit b iu khin (Controller ), Thit b o
lng (Measuring device).
- S tng qut
u(t)

e(t)

x(t)

z(t)

y(t)

Hnh 1.2: S tng qut h thng iu khin t ng

Mi h thng iu khin t ng u bao gm 3 b phn c bn :
- Thit b iu khin C (Controller device).
- i tng iu khin (Object device).
- Thit b o lng (Measuring device).
u(t) tn hiu vo ; e(t) Si lch iu khin ; x(t) Tn hiu iu khin ; y(t) Tn
hiu ra ; z(t) Tn hiu phn hi
1.3 Cc nguyn tc iu khin c bn
C 3 nguyn tc iu khin c bn :
-Nguyn tc iu khin theo sai lch (Hnh 1.3).
u(t)

e(t)

x(t)

z(t)

y(t)

Hnh 1.3: S nguyn tc iu khin theo sai lch

Tn hiu ra y(t) c a vo so snh vi tn hiu vo u(t) nhm to nn tn
hiu tc ng ln u vo b iu khin C nhm to tn hiu iu khin i
tng O.

y1(t
K
-Nguyn tc iu khin theo phng php b nhiu (Hnh
) 1.4)
3
u(t)

e(t)

x(t)

y(t)

Hnh 1.4: S nguyn tc iu khin b nhiu

Nguyn tc b nhiu l s dng thit b b K gim nh hng ca nhiu l
nguyn nhn trc tip gy ra hu qu cho h thng (hnh 1.4).
-Nguyn tc iu khin theo sai lch v b nhiu (Hnh 1.5)
y1(t
)

K
u(t)

e(t)
z(t)

x(t)

y(t)

Hnh 1.5: S nguyn tc iu khin hn hp

Nguyn tc iu khin hn hp l phi hp c hai nguyn tc trn, va c hi
tip theo sai lch va dng cc thit b b nhiu.
1.4 Phn loi cc h thng iu khin t ng.
1.4.1 Phn loi theo nguyn l xy dng.
Cc phn t c phn chia thnh cc loi: h thng K theo mch h, h
thng K theo mch kn v h thng K hn hp .
Ngoi nhng nguyn l trn, t nhng nm 60 ca th k XX, trn c s p
dng iu khin hc trong c th sng vo k thut ra i mt loi hnh h
thng t ng m phng hot ng ca c th sng: l cc h t chnh, thch
nghi. Nguyn l t chnh v thch nghi khng i hi phi bit y cc c
tnh ca qu trnh iu khin v trong qu trnh lm vic, cc h thng ny t
chnh v thch nghi vi cc iu kin bn ngoi thay i.
L thuyt cc h K t chnh v thch nghi tr thnh mt nhnh pht trin
quan trng ca l thuyt KT.
V hu ht cc h thng KT trong k thut l nhng h mch kn v qu
trnh iu khin cc thit b k thut chung quy li l qu trnh iu chnh cc
4

tham s ca n, nu di y chng ta s cp n s phn loi cc h thng

KT mch kn v l thuyt v cc h .
1.4.2/ Phn loi theo tnh cht ca lng vo.
Tu theo tnh cht ca tc ng u vo, cc h thng KT c 3 loi:
H thng n nh t ng (iu chnh theo hng s) l h thng c lng vo
khng i. Nhim v ca h thng l duy tr mt hoc mt vi i lng vt l
gi tr khng i. Th d nh h thng KT tc ng c nhit, h thng
KT in p, tn s ca my pht, h n nh ng bay ca my bay khi gc
li khng thay i ...
H thng iu chnh theo chng trnh l h thng c lng vo l cc hm
bit trc, c th di dng chng trnh.Th d h iu khin ng bay
nh trc ca my bay khng ngi li, h thng iu khin cc my cng c:
bo, phay vi chng trnh nh trc trong b nh my tnh...
H t ng bm, gi tt l h bm l h thng c lng vo l cc hm thi
gian khng bit trc, c th thay i theo quy lut bt k. Nhim v ca h l
bo m lng ra phi "bm" theo s thay i ca lng vo. Th d cc h nh
l h bm ng b gc, cc h bm v tuyn in t ca cc i radar...
1.4.3/ Phn loi theo dng tn hiu s dng trong h thng.
Theo dng tn hiu s dng trong h thng, chng ta c cc tc ng lin tc
v cc h thng gin on (hay h ri rc).
H tc ng lin tc (gi tt l h lin tc) l h m tt c cc phn t ca h
c lng ra l cc hm lin tc theo thi gian.
Tn hiu di dng hm lin tc c th l tn hiu mt chiu (cha bin iu)
hoc tn hiu xoay chiu ( c bin iu) tng ng chng ta c h KT
mt chiu (DC) v h thng KT xoay chiu (AC) (th d h thng bm ng
b cng sut nh dng ng c chp hnh 2 p ha).
H tc ng gin on (gi tt l h gin on hay h ri rc) l cc h c
cha t nht mt phn t gin on, tc l phn t c lng vo l mt hm lin
tc v lng ra l mt hm gin on theo thi gian.

Tu theo tnh cht gin on ca lng ra, cc h gin on c th phn chia

thnh cc loi: h thng KT xung, h thng KT kiu r le v h thng
KT s.
Nu s gin on ca tn hiu ra xy ra qua nhng thi gian xc nh (ta gi l
gin on theo thi gian) khi tn hiu vo thay i, th ta c h KT xung.
Nu s gin on ca tn hiu xy ra khi tn hiu vo qua nhng gi tr ngng
xc nh no (chng ta gi l gin on theo mc), th c th KT kiu rle.
H rle thc cht l h phi tuyn, v c tnh tnh ca n l hm phi tuyn. y l
i tng nghin cu ca mt phn quan trng trong l thuyt K .
Nu phn t gin on c tn hiu ra di dng m s (gin on c theo mc
v c theo thi gian), th ta c h KT s. H thng KT s l h cha cc
thit b s (cc b bin i A/D, D/A, my tnh in t (PC), b vi x l.
1.4.4/ Phn loi theo dng phng trnh ton hc m t h thng.
V mt ton hc, cc h thng KT u c th m t bng cc phng trnh
ton hc: phng trnh tnh v phng trnh ng. Da vo tnh cht ca cc
phng trnh, chng ta phn bit h thng KT tuyn tnh v h KT khng
tuyn tnh (phi tuyn).
H thng KT tuyn tnh l h thng c m t bng phng trnh ton
hc tuyn tnh. Tnh cht tuyn tnh ca cc phn t v ca c h thng KT
ch l tnh cht l tng. V vy, cc phng trnh ton hc ca h thng l cc
phng trnh c tuyn tnh ho, tc l thay cc s ph thuc gn ng
tuyn tnh.
H tuyn tnh c phng trnh ng hc vi cc tham s khng thay i th
gi l h KT tuyn tnh c tham s khng thay i, hay h KT tuyn tnh
dng, cn nu h thng c phng trnh vi tham s thay i th gi l h
KT tuyn tnh c tham s bin thin, hay h KT tuyn tnh khng dng.
H thng KT phi tuyn l h thng c m t bng phng trnh ton
hc phi tuyn. H phi tuyn l h c cha cc phn t phi tuyn in hnh, th d
l h c cha cc phn t rle.

1.4.5/ Phn loi theo tnh cht ca cc tc ng bn ngoi.

Cc tc ng bn ngoi vo h t ng c quy lut thay i bit trc hoc
mang tnh cht ngu nhin.
H thng tin nh l cc h c cc tc ng bn ngoi l tin nh, tc l
bit trc cc quy lut thay i ca n (th d xt h thng vi cc tc ng in
hnh).
H thng khng tin nh (hay h ngu nhin) l cc h c xem xt nghin
cu khi cc tc ng bn ngoi l cc tn hiu ngu nhin.
1.4.6/ Phn loi theo s lng i lng cn iu khin.
Tu theo s lng cn iu khin (lng ra ca h) chng ta c: h mt chiu
v h nhiu chiu.
H thng KT mt chiu c cha mt i lng cn iu khin, cn h
KT nhiu chiu l h c cha t hai i lng cn iu khin tr ln. Th d
v h nhiu chiu c th l h thng KT mt my pht in, nu h thng
KT cng mt lc iu khin t ng in p v tn s ca n.
Ngoi cc cch phn loi chnh xt trn, tu thuc vo s tn ti sai s
ca h trng thi cn bng, chng ta phn bit hai loi h thng: h thng tnh
(c sai s tnh) v h phim tnh (khng c sai s tnh). Tu thuc vo quy lut
(nh lut) iu khin (tc l dng ca tn hiu iu khin x(t) do c cu iu
khin to ra), chng ta phn bit cc b iu khin t l (b iu khin P), b
iu khin t l vi phn (b iu khin PD), b iu khin vi phn - tch phn
(b iu khin PID).
1.5 Qu trnh thit lp mt h thng iu khin

Bc 1: Chuyn i cc yu cu k thut thnh mt h thng vt l.

Bc 2: V s khi chc nng. Chuyn i s miu t c tnh h

thng thnh mt s khi chc nng. y l s miu t v cc phn
chi tit ca h thng v mi quan h gia chng.

Bc 3: Thit lp s nguyn l.

Bc 4: S dng s nguyn l thit lp s khi hoc graph tn

hiu hoc biu din khng gian trng thi.

Bc 5: Rt gn s khi.

Bc 6: Phn tch v thit k.

Cu hi n tp chng 1
1. H thng iu khin t ng c th phn loi nh th no?
2. H thng iu khin c my phn t c bn?
3. Hy nu cc quy tc iu khin c bn iu khin mt h thng iu
khin?
4. Nu cc bc thit lp mt h thng iu khin?

CHNG 2:
C S TON HC CA L THUYT IU KHIN
Mi h thng c th chia lm nhiu phn s thun tin hn v mi phn
s c biu din bng 1 hm ton hc gi l hm truyn t (transfer
function)
u vo

H thng
(System)

u ra

u vo

u ra
H thng
H thng
H thng
con
con
con
(subsyste
(subsyste
(subsyste
Hnh 2.1 m)
: S phn chia h mt
h thng iu khin thnhm)
cc h thng
m)
H thng
H thng
2.1 Cc khu c bn
con
con
Ta c mt h thng iu khin:
R
E
C
B iu
Chp
i
khin
hnh
tng

C1

o lng

Hnh 2.2 : S mt h thng iu khin tng qut

a phn cc mch phn hi ca h thng iu khin l mch phn hi m.
Khi chng ta tin hnh phn tch h thng tt hay xu hay thit k b iu khin
cho h thng u phi xut pht t m hnh ton hc ca h thng hay ni cch
khc ta phi tm c quan h gia u vo v u ra ca h thng.
2.1.1 Khu khuch i
x
y
K
Hnh 2.3 : S khu khuch i tnh
- Khu khuch i l tn hiu u ra l khuch i ca tn hiu u vo
y = K.x
trong : K l h s khuch i
( Khuch i tnh l c c tn hiu u vo th tm c tn hiu u ra)

(2.1)

- Cng c h thng c khuch i nhiu tng

x
K1

y
K3

K2

Hnh 2.4: S khu khuch i tng

2.1.2 Khu tch phn
y (t )

1
Ti

x(t )dt ( y

(2.2)

t0

Vi Ti l thi gian tch phn

2.1.3 Khu vi phn
y TD

dx
dt

(2.3)

TD l hng s thi gian vi phn

2.1.4 Khu bc nht
T

dy
y K .x
dt

(2.4)

trong : K l h s truyn ca khu

T l hng s thi gian ca khu
Phn ng ca h thng tt hay xu ph thuc vo h s K, nhanh hay chm ph
thuc vo T.
2.1.5 Khu bc hai
T2

dy
dy
2T
y (t ) Kx (t )
dt
dt

(2.5)

Trong : K l h s khuch i
T l hng s thi gian
suy gim tn hiu
y l m hnh ton hc ca mch RLC.
2.1.6 Khu bc n
a0

dny
d n 1 y
d y
dmx
d m 1 x
d x

...

a
y
(
t
)

b
... bm1
bm x(t )
1
n 1
n
0
1
n
n 1
m
m 1
dt
dt
dt
dt
dt
dt

(2.6)

thng thng nm.

2.2 M hnh trong min tn s
2.2.1 Khi nim v php bin i Laplace v ng dng
2.2.1.1 Khi nim v bn cht ca php bin i Laplace :

10

Khi s dng cc php bin i tn hiu h thng t min thi gian sang min
khc thun tin trong vic x l tn hiu. Nh trong h thng lin tc ngi ta
hay s dng php bin i Lpalace bin i t min thi gian sang min tn
s phc. Cc phng trnh vi tch phn s chuyn i thnh cc phng trnh i
s thng thng.
Trong cc h thng ri rc ngi ta hay s dng php bin i Z chuyn
tn hiu t min thi gian sang min tn s phc. Trong thc t ngi ta cn s
dng cc php bin i khc x l tn hiu nh gii tng quan, m ho c
hiu qu, chng nhiu,.
Thc hin cc php bin i c cng c ton hc nh my tnh s, cng c
ph bin v hiu qu l phn mm Matlab hay thc hin bin i bng tay.
a) Bin i Laplace thun
nh ngha: Gi F(s) l bin i Laplace ca hm f(t), khi ta c:

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

(2.7)

trong :

s j

e st l ht nhn ca php bin i.

F(s) l hm phc.
f(t) l hm biu din trn min thi gian xc nh trn R.

thc hin c bin i Laplace hm f(t) phi l hm thc v tho mn

mt s iu kin sau:
- f(t) l hm gc khi tho mn cc iu kin sau:
1. f(t) = 0 khi t < 0
2. f(t) lin tc khi t0, trong khong hu hn bt k cho trc ch c hu hn
cc m cc tr.
3. Hm f(t) gi l hm bc s m khi t nu tn ti mt s thc 0 v
M >0 th f (t ) Me , t 0 , c gi l ch s tng ca hm f(t). Khi hm
f(t) l hm bc s m nu hm f(t) tng khng nhanh hn hn hm et.
t

st
- Nu f(t) l hm gc c ch s tng th tch phn I e f (t )dt s hi t
0

st
trong min Re(s) = > . Khi I e f (t )dt F ( s ) s l mt hm phc.
0

11

V d 1: Tm nh ca hm gc sau

khi 0 t 2
khi 2 t 3
khi t 3

f (t ) 1
0

f(t
)

1
0

1 2

-1

p dng cng thc bin i ta c

F (s) e
0

st

f (t )dt e

st

f (t )dt e

st

1
f (t ) dt e st
s

1
e st
s

1
(1 2e 2 p e 3 p )
s

V d 2: Cho hm

1
f (t )
0

khi t 0
khi t 0

f(t
)

1
0

Tm bin i Laplace?
Gii
F ( s)

st
e f (t )dt
0

e st
s

1
s

V du 3: Tm nh Laplace ca hm f(t) = 4t2

T bng bin i Laplace ta c

p dng bin i tm nh Laplace ca hm f(t) = 4t2

b) Bin i Laplace ngc:

Bin i Laplace ngc l xc nh tn hiu f(t) t nh Laplace F(s) ca n.
Gi f(t) l gc ca nh F(s) Khi ta c:
L1 [ F ( s )] f (t )

1
2j

c j

F ( s )e

st

ds

c j

(2.8)
nhng cng thc (2.8) ny t dng, ta hay p dng phng php bin i ngc
hm F(s) c dng hm hu t.
Gi s f(t) c nh Laplace dng sau
12

F ( s)

B( s ) b0 b1 s bm s m

A( s ) a0 a1 s an s n

vi n m.
Cc bc thc hin nh sau:
Bc 1: Phn tch F(s) thnh tng cc hm phn thc ti gin
l r
Aki
Bk ( s k ) C k k
F (s) A

i
( s k ) 2 k2
k 1 i 1 ( s a k )

(2.9)

(2.10)

trong A, Aki, Bk, Ck l cc hng s. ak l im cc thc bi r k v k jk l

im cc phc ca F(s), ni cch khc chng l im m ti F(s) = .
Bc 2: Xc nh hm gc cho tng phn t.

- L
- L
- L
- L

-1 A A (t )
-1

Aki
t i 1e a t
Aki
1(t )

i
(i 1)!
(s a k )
k

-1

Bk ( s k )
Bk e t cos( k t )1(t )
2
2
(s k ) k
k

-1

Ckk
C k e t sin( k t )1(t )
2
2
(s k ) k

V d 1: Tm hm gc f(t) ca nh Laplace sau

F (s)

1
s ( s 1)
2

Gii:
Bc 1: Phn tch thnh tng cc phn thc ti gin
F ( s)

1
1 1
2
s 1 s s

Bc 2: Xc nh hm gc cho tng thnh phn

f(t) = (e t 1 + t)1(t)
V d 2:
F (s)

s 3 2s 2 6s 7
s2 s 2

Ta thc hin chia t s cho mu s cho n khi s d cn li c bc ca t

nh hn bc ca mu.
F (s) s 1

2
s s2
2

Thc hin bin i Laplace ngc c s dng bng bin i Laplace

13

f (t )

d (t )
(t ) L
dt

S dng phng php phn tch X ( s)

s s 5

2
thnh tng cc phn thc n
s s5
2

gin.
Ta xt mt s trng hp sau:
Trng hp 1: Nghim ca mu thc T(s) l thc v ring bit. Gi s nghim
ca mu thc T(s) c hai nghim s1 = -1 v s2 = - 2.
X ( s)

2
( s 1)( s 2)

Nghim ca mu thc l ring bit nn tng phn thc s c bc l 1.

X ( s)

K
K
2
1 2
( s 1)( s 2) s 1 s 2

tm K1 ta nhn (2.) vi (s+1) tch K1 ring ra

( s 1) K 2
2
K1
( s 2)
( s 2)

Sau cho s - 1, rt ra c K1 = 2. Lm tng t v cho s - 2 ta rt ra

c K2 = - 2.
Lc
X (s)

2
2
2

( s 1)( s 2) s 1 s 2

Thc hin bin i Laplace ngc ca X(s) ta c

x(t ) ( 2e t 2e 2t )u (t )

Mt cch tng qut khi mu s ca F(s) cos nghim thc v ring bit, ta thc
hin nh sau:
F (s)

B( s)
B( s)

A( s) ( s p1 )( s p 2 ) ( s p m ) ( s p n )
K1
K2
Km
Kn

( s p1 ) ( s p 2 )
(s pm )
(s pn )

(2.11)

Nu bc ca t nh hn bc ca mu ta thc hin tm cc h s Ki nh sau:

Nhn hai v vi (s + pi) tm h s Ki.

Cho s - pi, rt ra c Ki.

Trng hp 2: Mu s c nghim thc v lp li. Gi s nghim ca mu thc

T(s) c ba nghim s1 = -1 v s2,3 = - 2. Lc ta phn tch X(s) nh sau:
X (s)

K3
K
K2
2
1

2
2
s 1 ( s 2)
( s 2)
( s 1)( s 2)

14

Tm cc h s K1, K2 v K3
K1

2
( s 2) 2

2
s 1

tm K2 ta nhn hai v ca (2.) vi (s + 2)2

( s 2) 2 K 1
2

K 2 ( s 2) K 3
( s 1)
s 1

Khi cho s - 2 ta tm c K2 = - 2
Tm K3 bng cch ly o hm (2.) theo bin s ta c
2
( s 2) s

K1 K 3
2
( s 1)
( s 1) 2

Cho s - 2 ta rt ra c K3 = - 2.
Thay K1, K2 v K3 ta c
X ( s)

2
2
2
2

( s 1)( s 2) 2 s 1 ( s 2) 2 ( s 2)

Thc hin bin i Laplace ngc ta c

x (t ) ( 2e t 2te 2 t 2e 2 t )u (t )

Tng qut cho trng hp ny

F (s)

B( s)
B( s)

r
A( s) ( s p1 ) ( s p 2 ) ( s p n )

Kn
K1
K2
Kr
Kr

r
r 1
( s p1 ) ( s p 2 )
(s pn )
( s p1 ) ( s p1 )

(2.12)

thc hin c phi c iu kin bc ca t nh hn bc ca mu v c r

nghim bi ti - p1. tm K1 n Kr cho phn thc c nghim bi, u tin ta
nhn hai v (2. 12) vi (s + p1)r ta c
F1 ( s) ( s p1 ) r F1 ( s)

( s p1 ) r B( s)
( s p1 ) r ( s p 2 ) ( s p n )

K 1 ( s p1 ) K 2 ( s p1 ) 2 K 3 ( s p1 ) r 1 K r

(2.13)

( s p1 ) K n
( s p1 ) K r 1

(s p2 )
(s p n )
r

Ta c th tm ngay c K1 khi cho s - p1. tm K2 ta ly o hm (2.12)

theo bin s v cho s - p 1. Ln lt ly o ta tm c K 3 n Kr. Cng thc
chung tm K1 n Kr l:
Ki

d i 1 F1 ( s )
1
(i 1)! ds i 1

i 1, r
s p1

0! 1

(2.14)

Trng hp 3: Mu thc c nghim phc hay nghim o. Gi s mu s ca

F(s) c nghim phc.
15

F (s)

3
s ( s 2 s 5)
2

F(s) c th phn tch thnh cc phn thc nh sau

K s K3
K
3
1 22
s s 2s 5
s ( s 2s 5)
2

D dng tm c K1 = 3/5 khi cho s 0. tm K 2 v K3 ta quy ng phn

thc vi mu s chung nh nht l s ( s 2 2s 5) b c cc phn thc
3
6

3 K2 s2 K3 s 3
5
5

Thc hin ng nht thc hai v ta c

3
3
K2 0 K2
5
5

6
6
K3 0 K3
5
5

Thay cc h s ta c
3
3
3 s2
F (s) 2
5 2
s( s 2 s 5) s 5 s 2 s 5

T bng tra nh ca tch hm m v hm sin v cos

A( s a)
( s a) 2 2

B
(s a) 2 2

L Ae at cos t

V
L Be at sin t

Cng hai cng thc trn ta c

L Ae at cos t Be at sin t

A( s a ) B
(s a) 2 2

Ta a cng thc (2.) v dng trn

3
1
3
3 s 1 2 2
5
F (s) 2

s( s 2s 5) s 5 s 1 2 2 2
Tra bng ta tm c hm gc nh sau
f (t )

3 3 t
1

e cos 2t sin 2t
5 5
2

Trong trng hp trn ta cng c th thc hin n gin bng cch phn tch
thng thng

16

F (s)

3
3

s ( s 2s 5) s ( s 1 j 2)( s 1 j 2)
K3
K
K2
1

s
s 1 j2 s 1 j2
2

K1 d dng tnh c v bng 3/5.

K2

3
s ( s 1 j 2)

s 1 j 2

3
(2 j )
20

Tng t ta tm c K3 l nghim phc lin hp ca K2.

Ta c
3

3 2 j
2 j

F ( s) 5

s 20 s 1 j 2 s 1 j 2

T ta tm c hm gc nh sau

3 3

2 j e 1 2 j 2 j e 12 j t
5 20
e j 2 t e j 2t
3 3 t e j 2t e j 2 t
2

e 4
5 20
2
2j

f (t )

p dng cng thc le ca hm sin v cos

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

Suy ra
f (t )

3 3 t
1

e cos 2t sin 2t
5 5
2

Bin i Laplace mt s hm n gin:

x(t)

X(s)

X(t)
n1

(t)

t e
(n 1)!

1(t)

1
s

sint

tu(t)
tnu(t)

1
s2
n!
sn1

cost
sin(t)e-t

X(s)
1
(s )n

2
s 2
s
2
s 2

(s )2 2

17

e-t
e at e bt
1
e at
e bt

ab a (b a ) b(b a )

1
s
ba
( s a )( s b)
1
s ( s a )( s b)

s
(s )2 2

cos(t)e-t

2.2.1.2 Cc tnh cht ca php bin i Laplace :

1. Tnh cht tuyn tnh: L[a.f(t)]= a.L[f(t)] = a.F(s).
2. Tnh cht xp chng: Nu f1(t) v f2(t) c nh bin i Laplace l F1(s) v
F2(s) th ta c:
L[f1(t) f2(t)] = L[f1(t)] L[f2(t)] = F1(s) F2(s)
V d : Tm nh ca hm hm f(t) = cosat trong a l hng s.
Theo cng thc le ta c
cos at

e jat e jat 1 jat 1 jat

e e
2
2
2

Thc hin php bin i Laplace

1 1
1 1
1 s ja s ja
s
1 jat 1 jat
e e

2
2
2
2
2 s ja 2 s ja 2
s a
s a2
2

L cos at L

3. Tnh cht tr (Chuyn dch thi gian -Translation in time):

Nu f(t) c nh l F(s), a l mt s thc v f(t-a) =0 khi 0<t<a th:
L[ f(t- a ) ] = e-as F(s) .
V d: Tm nh Laplace ca hm gc c th nh sau
f(t
)2
1 0 t 1

2 1 t 2

f (t )
1 2 t 3
0
t 3

1
0
-1

1 2

Ta c f(t) = [h(t)-h(t-1)]+2[h(t-1)-h(t-2)]-[h(t-2)-h(t-3)]
p dng tnh cht tr ta c
1
1
1 1 s
1

e 2 e s e 2 s e 2 s e 3s
s
s
s s

1 1
3
1
e s e 2 s e 3s
s s
s
s
s
2s
3s
1 e 3e e

F ( s)

18

4. Tnh cht vi phn phc (Complex diffirentiation):

Nu f(t) c nh l F(s) th:
L[tf (t )]

d
F (s)
ds

V d: L[t.e-as] = - dL[e-as]/ds = - d[1/(s+a)]/ds = 1/ (s+a)2

5. Tnh cht chuyn dch nh: Nu f(t) c nh l F(s), a l mt s thc bt k
hay l mt s phc khi :
L[e-at f(t) ] = F (s + a)
6. Tnh cht vi phn thc: Nu f(t) c nh l F(s) th :
L[f ' (t) ] = sF(s) - f(0+).
7. Tnh cht tch phn thc Nu F(s) l nh ca f(t) th
L[ f (t )dt ]

F (s)

f (0)
s

8. Tnh cht gi tr cui:

Nu bin i Laplace ca f(t) l F(s) v nu gii hn f(t) tn ti khi t
khi :

lim sF ( s ) lim f (t ) f ()
s 0

f (t ) th
9. Tnh cht gi tr u: Nu tn ti lim
t 0
f (0) lim f (t ) lim sF ( s )
t 0

2.2.1.3 ng dng ca php bin i Laplace

a) ng dng gii phng trnh vi phn tuyt tnh.
Khi chuyn phng trnh vi phn t min thi gian sang min nh phc tr
thnh phng trnh i s. Sau khi gii ra c nghim ta chuyn ngc v
min thi gian.
V d 1: Gii phng trnh vi phn sau vi cc s kin u bng khng.
d2y
dy
12
32 y 32u
2
dt
dt

y (0) 0
32
s 2Y ( s ) 12sY ( s ) 32Y ( s )
s

chuyn sang min nh Laplace vi y(0-) = 0 v

Rt Y(s) ra ta c
Y ( s)

32
32

s ( s 12 s 32) s ( s 4)( s 8)
2

Phn tch Y(s) thnh tng cc phn thc ti gin

Y (s)

K
K
K
32
1 2 3
s ( s 4)( s 8)
s
s 4 s8

Tm cc h s K1, K2 v K3.

19

32
( s 4)( s 8)
32
K1
s ( s 8) s 4
32
K1
( s 4 ) s s 8
K1

1
s 0

2
1

Vy
Y ( s)

1
2
1

s s 4 s8

Thc hin bin i Laplace ngc ta tm c

y (t ) (1 2e 4t e 8t )u (t )

Trong cng thc trn c cha u(t) ni ln rng cc p ng s bng 0 cho n

khi t = 0. V vy cc p ng u ra cng bng 0 cho n kho t = 0. thun
tin ta c th b k hiu u(t) i, vy p ng u ra c th vit nh sau
y (t ) 1 2e 4t e 8t

V d 2: Gii phng trnh vi phn bng ton t Laplace sau

d2y
dy
3 2y 0
2
dt
dt

vi s kin y(+0) = a v

dy ( 0)
b
dt

Chuyn c hai v sang min nh phc nh ton t Laplace

2
s Y ( s ) sy (0)

dy (0)
3 sY ( s ) y ( 0) 2Y ( s ) 0
dt

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

s 1
s2
( s 3s 2) ( s 1)( s 2)

Thc hin bin i Laplace ngc rt ra c y(t)

y (t ) ( 2a b)e t (a b)e 2 t

vi t 0.

V d 3: Gii phng trnh vi phn sau

vi s kin y (0)

dy (0)
0
dt

d2y
dy
2 5y 3
2
dt
dt

Thc hin bin i Laplace

( s 2 2 s 5)Y ( s )
Y ( s)

3
s

3
3
3 2
3( s 1)

2
2
s 2 s 5 5s 10 ( s 1) 2
5 ( s 1) 2 2 2

Suy ra
y (t )

3
3 t
3

e sin( 2t ) e t cos( 2t ) vi
5 10
5

t 0.

b) Gii mch in
Cho mch in sau

20

Gi s khi mch in ng ti thi im t 0 th v C(0) = 1.0V. Tm dng in

i(t) chy trong mch in. (trong V(t) = 5V, C = 1F, R = 1k)
Gii:
Ta c phng trnh sau
v (t ) Ri

1
idt
C

hay
Cv (t ) RCi idt

thay cc thng s u bi cho vo

idt
i idt

5.10 6 10 3.10 6 i
5.10 6 10 3

Thc hin php bin i Laplace

I
5.10 6
10 3 I

s
s

idt

Theo u bi vC(0) = 1.0V nn ta c

VC (0)

idt

1
C
t 0

idt

t 0

1
10 6

t 0

idt

t 0

10 6

Thay vo cng thc trn ta c

I 10 6
5.10 6

10 3 I
s
s
s
5.10 6 10 6
4.10 6
1

10 3 I

s
s
s
s

1 10 3 s I 4.10 6
I

4.10 6
1
4.10 3
3
s 1000
1 10 s

Thc hin tra bng bin i Laplace ta tm c i(t) nh sau

i (t ) 4.10 3 e 1000t

2.2.2 Hm s truyn ca h thng KT.

Nhm n gin ho cc phng php phn tch v tng hp h thng t ng
ngi ta thng chuyn phng trnh ng hc ca h dng phng trnh vi
phn vit vi cc nguyn hm x(t), y(t) thnh phng trnh vit di dng cc
hm s X(s), Y(s) thng qua php bin i Laplace.
V d xt hm s x(t) hm s ca bin s t (bin s thc, y t l thi gian)
ta gi l nguyn hm. Ta cho php bin i hm s x(t) thng qua tch phn:
21

X (s)

x(t ).e

st

.dt

(2.15)

trong : s = + j - bin s phc, bin i (2.15) hm x(t) thnh hm bin

s X(s) c gi l l bin Laplace, v X(s) c gi hm nh. Nh vy hm
nh l mt hm bin s phc s. Php bin i Laplace c k hiu sau:
L{x(t)}=X(s) hoc x(t) X(s)
Gi s nguyn hm x(t) c cc iu kin ban u khng, tc l vi t=0 gi tr
ca hm x(t) v cc bc o hm d ix(t) / dti vi i = 1, 2, 3, , (n-1) u bng
0, tnh theo tnh cht ca php bin i Laplace (nh l v nh o hm ca
nguyn hm) chng ta c:

d i x (t )
i
L ai
a i .s . X ( s )
i
dt

i 1, 2, 3, , n

(2.16)

Nhn hai v ca phng trnh (2.6) vi e -st , sau ly tch phn theo t t 0
n , tc l ly bin i Laplace ca hai v phng trnh, vi gi thit rng cc
hm x(t), y(t) c cc iu kin ban u bng 0, da theo tnh cht tuyn tnh ca
php bin i Laplace , phng trnh (2.6) s c dng:
a 0 s n Y ( s ) a1 s n 1Y ( s) a n 1 sY ( s ) a n Y ( s )
b0 s n X ( s ) b1 s m 1 X ( s ) bm 1 X ( s ) bm X ( s )

(2.17)

y, Y(s), X(s) l cc bin i Laplace ca hm lng ra v hm lng

vo ca h.
Phng trnh (2.17) c gi l phng trnh ng hc m t quan h vo ra
ca h vit di dng ton t Laplace.y l phng trnh i s, vi n v m l
cc s m ca bin s s gii phng trnh (2.17) ng vi lng ra Y(s).
b0 s m b1 s m 1 bm 1 s bm
Y (s)
X (s)
a 0 s n a1 s n 1 a n 1 s a n

(2.18)

Chng ta k hiu:
b0 s m b1 s m 1 bm 1 s bm
W (s)
a 0 s n a1 s n 1 a n 1 s a n

(2.19)

v gi biu thc i s ny l hm s truyn (hoc hm truyn t) ca h thng

t ng (hay ca mt phn t ca n).
Khi
Y(s) = W(s)X(s)
(2.20)
Hoc
W(s) = Y(s) / X(s)
(2.21)

22

Vy hm s truyn (H S T) ca h thng (hay ca mt phn t ) t ng l t

s hm nh ca lng ra vi hm nh ca lng vo ca n (qua php bin i
Laplace) vi gi thit tt c cc iu kin u bng khng.
Biu thc (2.19) cho chng ta thy, HST l mt hm phn s hu t ca bin
s, c bc cc a thc tho mn m n. Gi thit iu kin ban u ca cc hm
lng vo v lng ra u bng khng l ph hp vi iu kin thng gp
trong cc h thng KT.
Phng trnh (2.20) cho php xc nh hm nh ca lng ra nu bit hm
nh ca lng vo v biu thc HST ca h. Nh vy HST hon ton xc nh
cc tnh cht ng hc ca h thng. xc nh nguyn hm ca lng ra, tc
l xc nh y(t) khi bit x(t) c th bin i ngc Laplace, theo :
y (t ) L1 Y ( s )

1 j
Y ( s).e st ds
2 j j

(2.22)

l phng php ton t gii phng trnh vi phn. Nu Y(s) l hm

n gin,chng ta c th s dng bng bin i Laplace ca cc hm n gin
in hnh, c trong ph lc cc sch ni v bin i Laplace, tra cu nguyn
hm y(t). Nu hm nh Y(s) l hm phc tp, cn phn tch chng thnh t hp
tuyn tnh cc hm n gin, m chng ta bit nguyn hm ca n. Nguyn
hm y(t) chnh l t hp tuyn tnh ca cc nguyn hm thnh phn.
2.2.3 Hm truyn t ca mch in
Trong mch in c cc phn t c bn l in tr (R), in cm (L) v t
in (C).
a) in tr R

Hnh 2.5: in tr
in p ri t l thun vi cng dng in I chy qua in tr:

23

v(t ) Ri

i (t )

1
v(t )
R

ZR

Thng qua php bin i Laplace ta c c hm truyn ca in tr l

GR

I
1

U R

(2.23)

b) in cm L

Hnh 2.6 : in cm L

in p ri trn in cm l
v (t ) L

di (t )
1
i (t ) v (t ) dt
dt
L0

(2.24)

Thng qua bin i Laplace ta tnh c tr khng Z v hm truyn ca in

cm L
Z Ls

GL

I
1

U L Ls

(2.25)

c) T in C

Hnh 2.7 : T in C
in p ri trn in dung l
v (t )

1
dv (t )
i (t ) dt i (t ) C

C 0
dt

(2.26)
24

Tr khng v hm truyn t ca t in
1
C

GC

I
Cs
UC

(2.27)

d) Cc phn t R, L v C mc ni tip

Hnh 2.8 : S cc phn t mch in RLC mc ni tip

UV Ri L
Ur

di
Ur
dt

dU r
d 2U r
1
di
idt

C
C 0
dt
dt
dt 2

LC

d 2U r
dt

RC

(2.28)

dU r
U r UV
dt

Thc hin php bin i Laplace ta c

(LCs2 + RCs + 1) Ur = Uv

(2.29)

Rt ra c hm truyn l:
G(s)

Ur

UV

1 LC
R
1
s2 s
L
LC

(2.30)

e) Cc phn t mc song song

Hnh 2.9: S cc phn t mch in RLC mc song song

Dng in ca mch in l
25

U
Z

(2.31)

Tng tr ca mch song song c tnh l

1 1 1
1
RLCs 2 Ls R

Z R Ls 1 / Cs
RLs

(2.32)

Hm truyn ca h thng l
I
1
G( s)
U Z

s2

1
1
s
RC
LC
1
s
C

(2.33)

2.2.4 Hm truyn ca h thng c kh

2.2.4.1 Phn t chuyn ng thng
a) L xo

Hnh 2.10: S biu din l xo

trong : K l h s n hi ca l xo
Nu ta n l xo c chiu di L, di ng c mt lng X th cn mt lc tc
ng ln l
F(t) = Kx(t)

(2.34)

Thng qua bin i Laplace to c hm truyn ca l xo nh sau:

Gloxo

F (s)
K
X ( s)

(2.35)

b) B gim chn du p (khng kh)

26

Hnh 2.11: S biu din b gim chn du p

di ng pt tng vi vn tc v, ta cn tc ng ln mt lc l f
f (t ) f v v(t ) f v

dx(t )
dt

(2.36)

trong fv l h s gim chn

Thc hin bin i Laplace
GVD

F ( s)
fvs
X ( s)

(2.37)

c) Trng khi

Hnh 2.12: S biu din trng khi

Theo nh lut II Newton tng cc lc bn ngoi tc ng vo mt trng
khi s bng tch ca trng khi v gia tc ta c

dv(t )
d 2 x(t )
f Ma M
M
dt
dt 2

(2.38)

Thc hin php bin i Laplace ta c hm truyn ca trng khi l

GM

F (s)
Ms 2
X ( s)

(2.39)

d) Thit b gim chn

Thit b gim chn bao gm trng khi l x0 - b gim chn
27

Hnh 2.13: S biu din thit b gim chn

tm c hm truyn ca h thng trc tin ta v biu din cc lc tc

ng trng khi

Hnh 2.14: S biu din lc tc ngln trng khi

S dng nh lut Newton vit phng trnh chuyn ng
M

d 2 x (t )
dx (t )
fv
Kx (t ) f (t )
2
dt
dt

(2.40)

Thc hin php bin i Laplace

Ms

f v s K X ( s) F ( s)

(2.41)

T ta rt ra hm truyn ca h thng l
G ( s)

X (s)
1

2
F ( s ) Ms f v s K

(2.42)

2.2.4.2 Phn t chuyn ng quay

Theo nh lut II Newton v chuyn ng quay th gia tc gc ca vt quay t
l thun vi tng momen tc ng ln n, ta c phng trnh sau
M J

d 2
dt 2

(2.43)
28

trong :
J l mmen qun tnh tc ng ln vt.
l v tr gc quay ca vt th
M l m men tc ng ln vt
Cc mmen bn ngoi c to bi ng c do ti trng tc ng ca l xo
hoc vt gim chn. Hnh biu din s ca mt a quay trong cht lng lm
cho trc lp trn n b bin dng i mt gc .
Nu ta quay a vi mmen xon x, trc s quay i mt gc to nn mmen
ca l xo xon:
M1 = k

(2.44)

Mmen cn thit thng lc ma st ca cht lng:

M2 C

d
dt

(2.45)

trong C l h s ma st ca cht lng

Nh vy ta c phng trnh:
d 2
dt 2

(2.46)

d 2
d
C
k
2
dt
dt

(2.47)

M x M1 M 2 J
Thay vo ta c:
xJ

2.2.5 S tng ng gia h c kh vi mt mch in

S tng ng gia mch c kh v mch in
trng khi
=M

in cm
=M
b gim chn = fv

in tr
= 1/fv
l xo
=K

in dung = 1/ K
lc tc ng = f(t)

ngun p
= f(t)
vn tc
= v(t)

dng vng = v(t)

29

Hnh 2.15: S biu din s tng ng gia mch c kh v mch in

Khi so snh vi dng vng ta c mch tng ng ni tip, nu dng
phng php nt, th mch tng ng ng l mch song song.
Phng trnh chuyn ng l
( Ms 2 f v s K ) X ( s ) F ( s )
(2.48)
i vi mch RLC ni tip l

Ls R

1
I ( s) E ( s )
Cs

(2.49)

hai cng thc trn khng tng thch vi nhau do khong cch v dng in
khng tng thch vi nhau. Ta bin i s tng thch bng cch chuyn i t
khong cch sang vn tc
Ms 2 f v s K
K
sX ( s ) ( Ms f v )V ( s ) F ( s )
s
s

(2.50)

Ta cng c th chuyn i sang h song song

trng khi = M

in cm = M
b gim chn = fv

in tr = 1/fv
l xo
=K

in dung = 1/ K
lc tc ng = f(t)
ngun dng = f(t)
vn tc
= v(t)
in p nt = v(t)
Cng thc mch song song l
(Cs

1
1

) E (s) I (s)
R Ls

(2.51)

30

2.2.6 Hm truyn ca cc phn t in t

Hnh 2.16 : Biu din phn t khuch i thut ton

- Sai lch in p u vo: v2(t) v1(t).
- Tr khng u vo cao: Z1 = (l tng).
- Tr khng u ra thp: Z0 = 0 (l tng).
- H s khuch i cao A = (l tng).
in p u ra c tnh l
v0(t) = A(v2(t) v1(t))
(2.52)
Nu v2(t) c ni t th b khuch i c gi l khuch i o.
Lc v0(t) = A v1(t).
Trong hnh 2.16 c, nu tr khng u vo cao th ta c I a(s) = 0 suy ra I1(s)=I2(s). Khi h s khuch i A ln, v1(t) = 0 th I1(s) = V1(s)/Z1(s) v - I2(s) = V0(s)/Z2(s).
Cho hai dng in ny bng nhau ta c
V0 ( s )
V0 ( s )
V ( s)
Z (s)
1
2
hay
l
Z 2 ( s)
Z1 ( s)
V1 ( s )
Z1 (s)

(2.53)

V d : Tm hm truyn ca mch khuch i o sau

Hnh 2.17 S h thng khuch i o

Tng tr Z1(s) l
Z1 (s)

1
C1 s

1
R1

1
5.6 x10 6 s

1
360 x10 3

360 x10 3

2.016 s 1

Tng tr Z2(s) l
31

Z 2 ( s ) R2

1
10 7
220 x10 3
C2 s
s

Thay Z1(s) v Z2(s) vo cng thc 2.

V0 ( s )
Z (s)
s 2 45.951s 22.547
2
1.232
V1 ( s )
Z 1 (s)
s

2.3 M hnh ton hc trong min thi gian

2.3.1 Khi nim trng thi v bin trng thi
2.3.1.1 Khi nim v trng thi
Khi nim trng thi c trong c s ca cch tip cn hin i trong m t
ng hc ca cc h thng c Turing ln u tin a ra nm 1936. Sau
khi nim ny c cc nh khoa hc Nga v M ng dng rng ri gii
cc bi ton iu khin t ng.
Trng thi ca h thng c c trng nh l lng thng tin ti thiu v
h, cn thit xc nh hnh vi ca h trong tng lai khi bit tc ng vo.
Ni mt cch khc, trng thi ca h c xc nh bi t hp cc to m
rng c trng cho h.
Trng thi ca mt h thng l tp hp nh nht cc bin (gi l bin trng
thi) m nu bit gi tr ca cc bin ny ti thi im t 0 v bit cc tn hiu vo
thi im t>t0 ta hon ton c th xc nh c p ng ca h thng ti mi
thi im t>t0.
H thng bc n c n bin trng thi. Cc bin trng thi c th chn l bin
vt l hoc khng phi l bin vt l.
Theo quan im phn tch v tng hp h thng thng, ngi ta chia cc
bin c trng h thng hay c quan h nht nh vi n v cc nhm nh sau:
Cc bin vo hay cc tc ng vo ui c to ra bi cc h thng nm
ngoi cc h c xt.
Cc bin ra yi c trng cho p ng ca h theo cc bin vo nh.
Cc bin trung gian xi c trng trng thi bn trong ca h.
2.3.1.2 Khi nim vc t trng thi:
n bin trng thi hp thnh vc t ct
x x1

x2

... x n

(2.54)

gi l vc t trng thi.
- Khng gian trng thi: khng gian n chiu l khng gian hp bi cc trc ca
cc bin trng thi.

32

V d ta c cc bin trng thi in p ca in tr v R v in p ca t in

vC cc bin ny s hnh thnh 2 trc ca khng gian trng thi.
thun li trong thao tc vi cc i lng nhiu chiu, t hp cc bin
vo c th trnh by di dng vc t cc tc ng vo:
u (t ) u1 (t ) u 2 (t ) ...

u n (t )

(2.56 )

T hp cc bin ra trnh by di dng vct ra

y (t ) y1 (t )

y 2 (t ....

y n (t )

(2.57 )

Cc t hp cc to trung gian, c trng ni dung bn trong ca h c

vit dng vc t trng thi ca h .
x x1

x 2 ... x n

(2.58)

Theo nh ngha trng thi ca h ti thi im bt k t > t 0, trng thi ca h

l mt hm ca trng thi ban u x(t0)v vc t vo r(t0,t), tc l:
x(t) = F[x(t0),u(t0,t) ]
(2.59)
Vc t ra ti thi im t c quan h n tr vi x(t0) v u(t0 ,t)
y(t) = [x(t0),u(t0,t)]

(2.60)

Cc phng trnh (2.59) v (2.60) thng gi l phng trnh trng thi ca

h.
Nu h thng c m t bi cc phng trnh vi phn tuyn tnh ,th
phng trnh trng thi ca h c vit di dng sau : (Bng cch s dng cc
bin trng thi, ta c th chuyn phng trnh vi phn bc n m t h thng
thnh h gm n phng trnh vi phn bc nht)

x t A(t ).x(t ) B(t ).u(t )

y(t ) C (t ).x(t ) D(t )u(t )

trong :

(2.61)

x (n x1) vc t cc bin trng thi,

u (m x 1) vc t cc bin u vo
y (r x 1) vc t cc bin u ra.
A(t) - Ma trn h thng.
B(t) - Ma trn iu khin hay m trn u vo.
C(t) - Ma trn ra.
D(t) - Ma trn vng.
33

Cc ma trn c cc phn t ph thuc vo bin t, ln lt c kch thc

l: A(n x n), B(n x m), C(r x n ), D(r x m).

Hnh 2.18: S khi biu din h thng iu khin trong khng gian trng thi
Thc t cc h thng thc u c tnh qun tnh, do D l mt ma trn c
cc phn t u bng khng.
2.3.2 H tuyn tnh h s hng.
H thng c m hnh trng thi l:
x A x Bu
y C x Du

(2.62)

Trong cc ma trn A, B, C v D l cc ma trn hng s.

A c gi l ma trn h thng. Nu s lm cho phng trnh det(sI - A) = 0
th s c gi l gi tr ring ca ma trn A (y chnh l im cc ca h
thng). I l ma trn n v, s l mt s phc, det l k hiu ca php tnh nh
thc ma trn.
2.3.3 ng dng biu din m hnh ton hc trn khng gian trng thi
ng dng h phng trnh trng thi biu din cc h vt l phc tp.
Bc u tin l chn vct trng thi, vic la chn ny phi tun theo cc yu
cu sau:
- Cc bin trng thi phi l ti thiu nhng vn phi m bo biu din
y trng thi ca h thng.
-

Cc bin trng thi phi c lp tuyn tnh.

34

V d 1: Cho h thng vt l c s nh sau:

Hnh 2.19: S mch RLC mc hn hp

Xy dng m hnh trng thi cho i tng.
Gii:
Bc 1: t tn cc dng in nhnh bao gm iR, iL v iC.
Bc 2: Chn cc bin trng thi bng cc vit phng trnh vi phn cho cc
phn t cha nng lng bao gm t in C v in cm L
C

dvC
iC
dt

di
vL
dt

(2.63)

Ta chn iL v vC l cc bin trng thi, nhng do i C v vL khng phi l cc bin

trng thi nn ta phi vit di dng t hp tuyn tnh ca cc bin trng thi i L
v vC , bin u vo l v(t).
Bc 3: S dng l thuyt v mch in c th l vit phng trnh da vo
nh lut Kirchhoff. Ti nt 1 ta c
iC i R i L

1
vC i L
R

(2.64)

Mt khc ta c
vL = - vC + v(t)
Bc 4: Thay cng thc trn vi nhau ta thu c cng thc nh sau:
dvC
1
vC i L
dt
R
di
L
vC
v(t )
dt

(2.65)

(2.66)

hoc
dvC
1
1

vC i L
dt
RC
C
di
1
1

vC
v(t )
dt
L
L

(2.67)

35

Bc 5: Rt ra cng thc ca tn hiu u ra iR(t)

iR

1
vC
R

(2.68)

kt qu cui cng l

v.C RC
i L 1
L

1
0
C vC 1 v(t )

0 i L L

(2.69)

tn hiu u ra
1
iR
R

v
0 c
iL

(2.70)

V d 2: Cho mch in gm ba phn t R, Lv C mc ni tip

Hnh 2.20: S mch RLC mc ni tip

U1 l in p t vo mch. Tm m hnh trng thi.
Gii:
Ta c phng trnh in p ca mch l:
u1 = uR + uL + uC
thay cc cng thc tnh in p ca cc phn t
u1 i R L

trong

u 2 uC

1
idt
C

di
u2
dt

(2.71)
(2.72)
(2.73)

Trng thi ca mch c quyt nh bi in p ra u 2 v dng in i. Ta gi

u2 v i l cc bin trng thi.
t:
u2 = x1
i = x2
T cng thc (2.72 v (2.73) ta rt ra cng thc tnh dng in l

36

du 2
dt
di
R
1
1
i u 2 u1
dt
L
L
L

1
x2
C
1
R
1
x 2 x1 x 2 u1
L
L
L

iC

x1

(2.74)

Dng chnh tc c vit nh sau:

1
x2 0.u1
C
1
R
1
x 2 x x u1
L
L
L
x 1 0.x1

(2.75)

Vit h trn di dng vct ma trn

1

1
C

x
2 1 R
L
L

x1 0
x 1 u1
2 L

(2.76)

hay vit gn li
(2.77)
gi l phng trnh trng thi ca h thng. Khng gian hai chiu gm trng thi
dng in i = x2 v in p trn t l u2 = x1 c gi l khng gian trng thi.
V d 3:
x A x Bu

Hnh 2.21: S mch RLC mc ni tip

Ta c
iR L

Thay

i (t )

dq
vo
dt

di 1

idt v(t )
dt C

(2.78)

cng thc trn ta c

d 2q
dq 1
L 2 R
q v (t )
dt C
dt

(2.79)

Ta t i(t), q(t) l cc bin trng thi

37

dq

i
dt
di
1
R
1

q i v (t )
dt
LC
L
L

(2.80)

vit di dng vct ma trn

1
q 0
1
R

LC
L

i 0
1 v
q
L

(2.81)

in p vL l bin trng thi u ra

vL

hay

1
vL
C

1
q Ri v
C

q
R u
i

(2.82)
(2.83)

2.4 Chuyn t hm truyn t sang khng gian trng thi v ngc li

2.4.1 Chuyn t hm truyn t sang khng gian trng thi
c th m phng c mt h thng trn my tnh th m hnh ton hc
ca i tng phi c biu din trn khng gian trng thi. V vy khi ta a
m hnh ca i tng biu din bng hm truyn t ta phi chuyn sang
phng trnh trng thi.
- Chn cc bin trng thi, mi bin trng thi c xc nh bi o hm ca
bin trng thi trc .
- Ta xt phng trnh vi phn sau:
dny
d n 1 y
dy

a
... a1
a0 y b0 u
n 1
n
ni1
dt
dt
dt

(2.84)

Cch thun tin chn bin trng thi l chn bin u ra

x1 y
dy
dt
d2y
x3
dt 2
...
x2

x n 1

(2.85)

d n 1 y
dt n 1

38

Ly o hm hai v
dy
dt
d2y
x 2
dt 2
d3y
x 3
dt 3
...
x 1

x n 1

(2.86)

dny
dt n

Biu din trn khng gian trng thi

x 1 x2
x 2 x3
x 3 x4
...
x n 1 xn
x n a0 x1 a1 x2 ... an 1 xn b0u

(2.87)

Biu din di dng vct ma trn

x 1
x
2
x 3

0
0

0
a0

0
0

0
a1

1
0

0
a2

0
1

0
a3

0
0

0
a4

0
0

0
a5

x n 1

x n

0
0
0

an 1

x1 0
x 0
2
x3 0

u

xn 1 0

xn b0

(2.88)

Vit phng trnh trng thi u ra

y 1 0

x1
x
2
x
0 3

x n 1

x n

(2.89)

Cc bc thc hin bin i t hm truyn sang h phng trnh trng thi:

- B1: chuyn t hm truyn v phng trnh vi phn v thc hin php
bin i Laplace ngc vi cc iu kin u bng khng.
- B2: Thc hin chn cc bin trng thi v biu din trong khng gian
trng thi.

39

C (s)

25

V d 1: Mt i tng c hm truyn t l W ( s) R( s) s 2 5s 4 .
Xy dng m hnh trng thi cho i tng. Xc nh cc gi tr ring.
Gii
Bc 1: Tm phng trnh vi phn
C ( s ).( s 2 5s 4) 5.R( s)

d 2c
dc
5 4c 25r
2
dt
dt

(2.90)

Bc 2: La chn cc bin trng thi

x1 c
x1 x2

dc
x2 dt x1 x2 25r 4x1 5x2

(2.91)

0 1 0
x .x u
4 -5 25
y1 0x

(2.92)

Vit i dng vct ma trn

Tm gi tr ring
sI - A =

S
0

0
0

S
4

1
s

5
4

1
s 5

(2.93)

det(sI - A) = s(s + 5) + 4 = s2 + 5s + 4 = 0

(2.94)

25 16 9

(2.95)

Cc gi tr ring l s1 = -1, s2 = -4

40

V d 2: Cho hm truyn sau:

G( s)

C ( s)
24
3
2
R ( s ) s 9s 26s 24

Chuyn i sang h phng trnh trng thi.

Gii:
Bc 1: Tm phng trnh vi phn
Thc hin php nhn cho

9 s 2 26 s 24C ( s ) 24 R ( s )

(2.96)

Chuyn i thnh phng trnh vi phn bng cch dng php bin i
Laplace ngc vi iu kin u bng 0
c 9c
26c 24c 24r
(2.97)
Bc 2: La chn bin trng thi
Chn cc bin trng thi nh sau:
x1 c
x 2 c

(2.98)

x3 c

Ly o hm c hai v phng trnh (2.89) ta s thu c h phng trnh trng

thi
x 1
x2
x 2
x3
x 3 24 x1 26 x 2 9 x3 24r

(2.99)

y c x1

Vit di dng vct ma trn

1
0
x 1 0
x 0
0
1
2
x 3 24 26 9
x1
y 1 0 0 x 2
x3

x1 0
x 0 r
2
x3 24

(2.100)

M hnh c biu din nh sau:

41

Hnh 2.22: S biu din bng s khi trong gian trng thi

42

2.4.2 Chuyn t khng gian trng thi sang hm truyn t

M hnh ton hc trong gian trng thi c biu din nh sau:
x A x Bu
y C x Du

(2.101)

Thc hin chuyn i Laplace vi iu kin u bng 0

sX(s) = AX(s) + BU(s)
Y(s) = CX(s) + DU(s)

(2.102)
(2.103)

T rt X(s) ra:
(sI A)X(s) = BU(s)
(2.104)
-1
X(s) = (sI A) BU(s)
(2.105)
Trong I l ma trn n v
Thay X(s) vo (2.94) rt ra c
Y(s) = C(sI A)-1BU(s) + DU(s)
(2.106)
-1
Ta gi [C(sI A) BU(s) + DU(s)] l ma trn hm truyn bi v n quan h vi
vct bin ra Y(s) v vct bin vo U(s).
Nu U(s) = U(s) v Y(s) = Y(s) l cc i lng v hng ta c th tm hm
truyn nh sau:
T (s)

Y (s)
C ( sI _ A) 1 B D
U (s)

(2.107)

Vi d: Cho phng trnh trng thi bit u ra l Y(s) v u vo l U(s)

0
x 0
1
y 1

1
0
2

0 x

0
10

1 x 0 u
3
0

(2.108)

Gii: T u bi ta xc nh cc ma trn A, B, C v D
1
0

A 0
0
1 2

C 1 0 0

0
1

10
B 0
0

(2.109)

D0

Ta tm (sI - A)-1

43

 s
( sI A) 0
0

0
s
0

0
1
0

0 0
0
s
1 2

0
s

1 0
3
1

0
1
s 3

s 3s 2

s3

1
s

s ( s 3)
( 2s 1)

s
s 2

( sI A) 1

1
s

adj ( sI A)

det( sI A)

s 3 3s 2 2s 1

(2.110)

Thay (sI - A)-1, B, C, D vo ta c hm truyn

T (s)

10( s 2 3s 2)
s 3 3s 2 2 s 1

(2.111)

2.5 Tuyn tnh ha

- Cc h thng m ta xt vi gi thuyt l tuyn tnh. Trn thc t hu ht cc
i tng l phi tuyn.
- Trong h thng cng c th bao gm c i lng phi tuyn v tuyn tnh.
- Do thc t yu cu ngi thit k pha tuyn tnh ha mt s i lng phi
tuyn s dng.
- Cc bc thc hin tuyn tnh ha
+ Bc 1: Vit phng trnh vi phn ca h thng. Vi gi thit tn hiu u vo
nh
+ Bc 2: Tuyn tnh ha phng trnh vi phn, dng bin i Laplace vi iu
kin u = 0.

44

Bi tp chng 2
1. Tm hm truyn ca h thng sau
a) G(s) = V0(s)/Vi(s)

c) G(s) = VL(s)/V(s)

b) G(s) = V0(s)/Vi(s)

d) G(s) = X1(s)/F(s)

e) G(s) = V0(s)/Vi(s)

2. Gii phng trnh vi phn sau

d3y
d2y
dy

3
6
0
3
2
dt
dt
dt

vi y (0) 5,

dy (0)
d 2 y ( 0)
2,
14
dt
dt 2

3. Tm hm truyn G(s) ca h thng khi bit c dng biu din trn khng
gian trng thi
45

a)

1
0
0
0
x 0
0
1 x 0 r
3 2 5
10
y 1 0 0 x

b)

3
8
2
1
x 0
5
3 x 4 r
3 2 4
6
y 1 3 6 x

46

CHNG 3:
KHO ST S N NH CA H THNG
3.1 Khi nim v n nh h thng iu khin t ng
nh ngha:
n nh ca h thng l kh nng ca h thng t tr li trng thi xc lp
sau khi cc tc ng ph v trng thi xc lp c mt i. Thc cht khi ni
ti n nh l ni ti mt i lng c iu khin no n nh.
Mt h thng KT l mt h thng ng hc, thng c m t bng
phng trnh vi phn bc cao:
a0

dny(t)
dy(t)
dmy(t)
dx(t)

a
y
(
t
)

b
bm1
bmx(t) (3.1)
n1
n
0
n
m
dt
dt
dt
dt

Nghim ca phng trnh vi phn ny gm hai thnh phn :

y(t) = yq (t) + y0 (t)

(3.2)

- yq (t): l nghim tng qut ca (3.1) khi v phi bng 0, c trng cho
qu trnh qu .
- y0 (t): l nghim ring ca (3.1) khi c v phi, n c trng cho qu
trnh xc lp .
Qu trnh xc lp l qu trnh n nh, v vy ch cn xt qu trnh qu . Nu
qu trnh qu theo thi gian b trit tiu th h n nh, nu khng trit tiu th h
khng n nh. M nghim qu c biu din bng biu thc tng qut sau:
y

n
st
Ci e i
qd
i 1

(3.3)

Trong si l nghim ca phng trnh c trng :

a0sn + a1sn-1 + . . . + an = 0

(3.4)

T nhng nhn xt trn ta c th kt lun nh sau: Mt h thng c gi l

n nh nu qu trnh qu tt dn theo thi gian. H thng khng n nh nu
qu trnh qu tng dn theo thi gian. H thng bin gii n nh nu qu
trnh qu khng i hoc dao ng khng tt dn.
Biu din bng biu thc ton hc nh ngha trn ta c h thng n nh khi:

47

sit
n
y
(
t
)

lim
C
e
0

lim
i1 i
t qd

(3.5)

sit
n
y
(
t
)

lim
C
e

i
lim qd
t
i1

(3.6)

v h khng n nh khi:

H thng c xt l h dng, ngha l cc h s a i khng bin i theo thi

gian.
lim
Ci e s t lim
Ci e t 0
t
t
i

(3.7)

Nu i < 0 H n nh, nu i = 0 h bin gii n nh, nu i >0 h khng

n nh.
Khi si l cp nghim phc lin hp si = i j i
Ci e

(i j )t

Ci 1e

(i j )t

t
2 Ae i cos( t )

(3.8)

Nu i < 0 H n nh , nu i = 0 h bin gii n nh , nu i >0 h

khng n nh.
3.2 Nhn xt chung :
- H thng s n nh khi v ch khi tt c cc nghim ca phng trnh c
tnh c phn thc m (tt c cc nghim nm na bn tri mt phng phc).
- H thng s bin gii n nh nu phng trnh c tnh c t nht
mt nghim thun o cn tt c cc nghim khc l nghim thc m hoc
nghim phc c phn thc m (c t nht mt nghim nm trn trc o cn cc
nghim cn li nm na tri mt phng phc).
- H thng s khng n nh nu phng trnh c tnh c t nht mt
nghim c phn thc dng (c t nht mt nghim nm na phi mt phng
phc).
Nh vy xt tnh n nh ca h thng ta cn phi tm nghim ca phng
trnh vi phn (3.1) ri ly gii hn. Vic ny rt kh khn, nn xt n nh
ch cn tm nghim ca phng trnh c trng (3.3). Trong thc t ngi ta tm
mi quan h gia cc h s ca phng trnh c trng vi cc nghim c phn

48

thc m nh gi tnh n nh ca h. l cc tiu chun n nh. C hai

tiu chun n nh:
- Tiu chun n nh i s: Tm iu kin rng buc gia cc h s ca
phng trnh c tnh h n nh. l cc tiu chun Routh, Hurwitz.
- Tiu chun n nh tn s: Thng qua c tnh tn s ca h thng
xt tnh n nh. l cc tiu chun n nh Mikhailp, Nyquist.
3.3 Tiu chun n nh i s.
iu kin n nh cn thit ca HTKT:
Gi s h thng c phng trnh c tnh: a0sn + a1sn-1 + ... + an-1s + an = 0
Nh vy phng trnh c tnh c hai loi nghim :
C m nghim thc (si = -i) v (n - m)/2 nghim phc (si = -k jk ).
Vi i, k, k u dng.
Phng trnh c tnh c chuyn sang dng:
m

n m
2

i 1

k1

a0 (s i ). (s k jk )(s k jk ) 0

(3.9)

suy ra:
m

n m
2

i 1

k1

a0 (s i ). ((s k )2 2k ) 0

(3.10)

Nu ta khai trin phng trnh trn s c mt a thc c tt c cc h s

u dng. Nh vy iu kin cn thit h thng n nh l tt c cc h s
ca phng trnh c tnh phi dng (phi cng du).
3.3.1 Tiu chun Rao (Routh):
- Pht biu tiu chun: " iu kin cn v cho h thng tuyn tnh n
nh l tt c cc s hng trong ct th nht ca bng Routh dng ".
- Cch thnh lp bng Routh :
Gi s cho phng trnh c tnh sau:
a0sn + a1sn-1 + a2sn-2 + a3 sn-3 + + an-1s + an = 0

(3.11)

Hai hng u bng Routh c sp xp nh sau :

a0

a2

a4

a6

a1

a3

a5

a7
49

b0

b2

b4

b6

b1

b3

b5

b7

c0

c2

c4

c6

Cc s hng trong cc hng c tnh theo biu thc sau :

Nhn xt :
b0

b1

c0

a0

a2

a1

a3
a1

a1

a3

b0

b2
b0

b0
b1

b2
b3
b1

a0

a a5
a1a2 a0 a3
a a a0 a5
; b2 1
1 4
a1
a1
a1
a1

a4

a5

b b4
b0 a3 a1b2
b a a1b4
; b3 0
0 5
b0
b0
b0
b1b2 b0b3
; c2
b1

b0
b1

b4
b5
b1

b1b4 b0b5
b1

Mi mt s hng trong mt hng ca bng Routh l mt thng s c:

- T s: l mt nh thc hng hai mang du m vi ct th nht ca n cng
l ct th nht ca hai hng ng st trn hng c s hang ang tnh ,cn
ct th hai ca nh thc chnh l ct ng st bn phi s hng ang tnh
cng ca hai hng trn.
- Mu s: trong tt c cc s hng ca mt hng c chung mu s chnh l s
hng ng ct th nht v hng st ngay trn s hng ang tnh.
V d : Cho phng trnh c tnh ca h thng :
s4 + 2s3 + 8s2 + 4s + 3 = 0

(3.12)

Lp bng Routh :
1

3
H thng n nh v tt c cc s hng trong ct th nht dng.
Mt s tnh cht ca bng Routh

50

- Khi lp bng Routh, gin n trong tnh ton, c th nhn hay chia cc h
s trong ct vi cng mt i lng, kt qu vn khng thay i.
- Trong trng hp h khng n nh, bao nhiu ln i du ct 1 th c by
nhiu nghim na phi mt phng phc.
- Nu tr s gn cui ct mt bng 0 (C 1n = 0) c ngha l nghim kp thun
o. Tr s cui cng s khng tnh c v r n+1 = . Nu tr s cui cng bng 0
(C1n+1 = 0) th phng trnh c trng c mt nghim bng 0 v an = 0.
- Nu cc h s ca mt hng bng 0, h c nghim phi hoc cp nghim nm
trn trc o.
3.3.2 Tiu chun Hurwitz
Pht biu tiu chun.
iu kin cn v h tuyn tnh n nh l h s a0 > 0 v cc nh
thc Hurwitz dng.
Thnh lp nh thc Hurwtiz.
nh thc Hurwitz lp t ma trn h s theo quy tc sau:
- Theo ng cho ca ma trn, vit cc h s t a1 n an.
- Pha trn ng cho, cc h s tng dn, pha di gim dn.
- Cc h s nh hn a0 v ln hn an u bng 0.
Ma trn c dng nh sau:
1

a1
a0

a3
a2

a5
a4

a1

a3

0

a n

0
0

(3.13)

Cc nh thc Hurwitz dng tng ng vi :

1 a1 0
a1
a0

a3
a1a2 a0 a3 0
a2

a1

a3

a5

3 a0
0

a2
a1

a 4 a1 (a 2 a3 a1a4 ) a32 a0 a5 a1a0 0

a3

................................................................
n-1 > 0
51

n = an. n-1 > 0

Lu : Khi kho st tnh n nh vi a0 > 0, nu c h s bt k no m (ai <
0 ) th kt lun l h khng n nh.
Vi iu kin ai > 0 (i = 0,1,2...n) th ch cn xt i > 0 vi i = 2, ... n-1 l
c, v 1 = a1, n = an. n-1.
Ch : Tiu chun n nh Hurwitz ch l mt dng biu din khc ca tiu chun
Routh. N ch dng vi h thng c phng trnh c tnh bc thp (di bc 4).
3.3.3 Mt s trng hp ca tiu chun Routh Hurwitz
Hai trng hp c bit c th xy ra:
- Xut hin s 0 ct th nht.
- Xut hin mt hng ton s 0.
a) Trng hp th nht: S 0 ct th nht
Nu c s 0 ct th nht th vic to ra hng tip theo s chia cho s 0.
trnh trng hp ny ta gn mt gi tr thay th s 0. Sau dng tnh
ton v xt du cho ( ).
V d: Xc nh tnh n nh ca hm truyn h kn sau:
T (s)

10
s 2 s 3s 3 6 s 2 5 s 3
5

(3.14)

Lp bng Routh v xt du

52

1
2
0

s
s4
s3
5

6 7

s1

6 2 42 s 42
12 14

3
6
7/

5
3
0

s
s4
s3

1
2
0

2
3

s2

6 7

s1

6 2 42s 42
12 14

= -

=+
+
+
+

+
+
-

s0
3
0
0
3
+
+
Nhn bng xt du c trong hai trng hp = th ct th nht i du hai ln
s0

c ngha l phng trnh c tnh c hai nghim nm bn phi trc o. Do vy h

thng trn l khng n nh.
b) C mt hng ton s khng
Khi gp trng hp ny ta u tin ta quay li hng pha trn hng c ton s 0
v thnh lp mt a thc ph m s dng cc gi tr ca hng lm h s. a
thc bt u vi lu tha ca s ct k hiu s v b bin tip theo v thc hin h
bc a thc ph.
V d: Xc nh s nghim nm bn phi trc o ca h kn sau:
T (s)

10
s 7 s 6 s 42s 2 8s 56
5

(3.15)

Lp bng Routh
s5
s4
s3
s2
s1
s0

7
0 4

1
1
1
3
1/3
8

42
12

6
6
3
8
0
0

a thc ph : P(s) = s4 + 6s2 + 8

56
0 0

8
8
0
0
0
0
(3.16)

Ly vi phn a thc (3.16)

dP( s)
4s 3 12s 0
ds

(3.17)

53

S dng cc h s trong a thc 5.17 thay th hng c ton s 0. Sau khi

thay v tnh ton ta thy ct u tin cc h s u dng do vy khng c im
cc no nm bn phi trc o.
3.3.4 S dng tiu chun Routh Hurwitz thit k s n nh
Cho h thng sau:
E(s)

R(s)
+

C(s)

K
s ( s 7)( s 11)

Hnh 3.1 : H thng c h s khuch i K cha bit

Tm phm vi ca h s khuch i K h thng n nh, khng n nh hay
bin gii n nh.
Gii:
Hm truyn ca h kn l
T ( s)

K
s 18s 77 s K
3

(3.18)

Thnh lp bng Routh

s3
s2
s1
s0

1
18

1386 K
18

77
K

Gi thit K > 0. Cc phn t trong ct u tin u dng ngoi tr hng s 1. Gi

tr c th dng, m hay bng khng tu thuc vo gi tr ca K.
Nu K < 1386 th tt c cc phn t ca ct u tin u dng, khng c s
i du do vy cc im cc nm bn tri trc o. Vy h thng n nh vi K <
1386.
Nu K > 1386 th phn t hng s1 m v trong ct u tin c s i du hai
ln do vy c hai nghim nm bn phi trc o v mt nghim nm bn tri trc o.
iu ny c ngha l h thng khng n nh khi K > 1386.
Nu K = 1386 th s xut hin s o hng s1 quay li hng s2 v thay K = 1386.
Sau lp a thc ph
54

P(s) = 18s2 + 1386

(3.19)

Ly vi phn
dP ( s )
36 s 0
ds

(3.20)

Thay cc h s trong a thc 5.20 vo bng Routh

s3
s2
s1
s0

1
18
36
1386

77
1386

Nhn xt:
- Cc phn t trong ct th nht u dng v khng c s i du.
- a thc c bc chn (s2) c hai nghim nm trn trc o v nghim cn li nm
bn tri trc o.
Do vy h thng bin gii n nh khi K = 1386.
3.4 Xt n nh cho h c m t ton hc di dng m hnh trng thi.
Cho h thng c m hnh trng thi l nh sau:
A x Bu
x

(3.21)

y C x Du

iu kin cn v cho h thng n nh l cc gi tr ring ca ma trn

A phi nm bn tri trc o ca mt phng phc.
Trong tr ring ca ma trn A c tm bng cch gii phng trnh.
det(sI - A) = 0

(3.22)

V d 1: Cho h thng c m hnh trng thi:

1
0
0
x
x u

2 3
5
y 1 0 x

Ta c:

1
det( sI A) s
0

1
2

1
s

3
2

1
s3

(3.23)

s ( s 3) 2 s 2 3s 2 0

C hai nghim l: s1 = -1 v s2 = -2, y l cc gi tr ring ca ma trn A. V cc

gi tr ring ny u nm bn tri trc o cho nn h thng n nh.
V d 2: H thng c m t ton hc nh sau:

0
2

10
y 1 0

3
8
5

0 x

1
10

1 x 0 u

0
2

55

Tm xem c bao nhiu im cc nm trn, bn tri v bn phi trc o.

Gii:
Tnh det(sI - A):
1
det( sI A) s 0
0

0
1
0

0
0
0 2
10
1

3
8
5

1
1
2

s
2
10

3
s 8
5

1
1
s2

s 3 6 s 2 7 s 52 0

Thnh lp bng Routh

s3
s2
s1
s0

1
-6 -3
-47/3 -1
-26

-7
-52 -26
0
0

T bng Routh ta thy trong ct u tin i du mt ln, h thng c mt

im cc nm bn phi v hai im cc nm bn tri trc o suy ra h thng
khng n nh.

56

Bi tp chng 3
1. Cho phng trnh c tnh ca h thng
a) A(s) = s5 + 2s4 + 5s3 + 6s2 + 8s + 6
b) A(s) = s4 + 5s3 + 7s2 + 9s + 1
Dng tiu chun Routh xt n nh ca h thng.
2. H thng c hm truyn sau
T ( s)

1
s 8s 3s 4 11s 9
4

Dng tiu chun Hurwitz xt n nh ca h thng.

3. Xt n nh ca h thng theo h s K

4. Cho h thng sau m t bng phng trnh trng thi nh sau

0
x 0
1
y 1

1
0
2

0 x

0
10

1 x 0 u
0
3

Tm xem h thng c bao nhiu im cc nm trn, bn tri v bn phi trc

o.

57

CHNG 4:
TNG HP H THNG IU KHIN
4.1 Khi nim
Tng hp h iu khin l qu trnh chn cu trc b iu chnh v xc nh
tham s ca n cho h thng lm vic n nh v p ng yu cu t ra.
Xt h thng iu khin c cu trc nh hnh 7.1.

Hnh 4.1: Cu trc c bn ca mt h thng iu khin

Hm truyn ca i tng l Gp(s), c gi thit l bit. Hm truyn t
GC ( s ).G p ( s )

ca h kn khi s l: Wk ( s ) 1 G

C ( s ).G p ( s )

Trong thc t ngi ta c gng chn cu trc ca b iu khin G C(s) sao cho
hm truyn ca h kn c dng bc hai nh sau:
Wk ( s )

02
s 2 20 s 02

h(t ) 1
t

1
1

khi hm qu l:

e 0 t cos 0 1 2 t

0 1 2

% 100.e

t qd

1 2

4
4

ng vi vng gii hn a = 2%

Bng %

0,9
0,2

0,8
0,5

0,7
4,6

0,6
9,5

0,5
16,3

0,4
25,4

0,3
37,2

58

Trn c s yu cu qu iu chnh ca h thng, ta s chn , sau s

xc nh tham s ca b iu chnh.
4.2 Chn b iu chnh
4.2.1 Phn loi cc b iu chnh
a. Theo chc nng
+ B iu chnh t l P: W(s) = kP
+ B iu chnh tch phn I: W(s) =1/Tis
+ B iu chnh t l tch phn PI: W(s) =kP + 1/Tis
+ B iu chnh t l vi phn PD: W(s) =kP + Tds
+ B iu chnh t l vi tch phn PID: W(s) =kP + 1/Tis + Tds
b. Theo cch ghp ni gia cc phn t.
Theo cch ni ghp gia cc phn t ta c th phn ra lm 3 dng:
+ Ni tip
+ Song song
+ Hn hp
PI ni tip: GC(s) = (T1s +1)/Tis
PI song song: GC(s) = kP +1/Tis
PI hn hp: GC(s) = kp (1+1/Tis)
c. Theo bn cht vt l
Theo bn cht vt l, b iu chnh c phn thnh cc loi sau:
+ B iu chnh in t.
+ B iu chnh kh nn.
+ B iu chnh thu lc.
+ B iu chnh hn hp. Bao gm s kt hp gia cc b iu chnh in t,
kh nn v thu lc.
4.2.2 Phng php Ziegler- Nichols.
a, Phng php 1. Gi s i tng c hm qu nh hnh 7.2. Tham s
ca b iu chnh c chn nh sau:
B iu khin

Hm truyn

KP

Ti

Td
59

P
PI
PID

KP
KP(1+1/Tis)
KP(1+1/Tis +Tds)

T/
0,9T/
1,2T/

3T/
2T/

0,5T/

Phng php ny c s dng hiu qu khi tho mn iu kin: 01 < /T <

0,6

Hnh 4.2: c tnh qu

b, Phng php 2.
Cho h thng iu khin c cu trc nh hnh 7.3.
Thay i K ca b iu chnh P sao cho h thng lm vic bin gii n
nh, khi K = kgh. Tn hiu ra y c dng dao ng vi chu k Tgh.
x
-

G(s)

Hnh 4.3: S cu trc c h s khuch i K

Thng s ca b iu chnh PID c xc nh theo kgh v Tgh nh sau:
B iu chnh
P
PI
PID

Hm truyn
KP
KP(1+1/Tis)
KP(1+1/Tis +Tds)

KP
0,5kgh
0,45kgh
0,6kgh

Ti

Td

0,83Tgh
0,5Tgh

0,125Tgh

4.2.3 Tiu chun phng

Gi thit i tng c hm truyn: G ( s )

k
1 sTb

ns

1 sT
j 1

60

Tj l hng s thi gian tri ca i tng, n s s hng s thi gian tri ca i

tng, Tb tng cc hng s thi gian b ca i tng.
S h thng iu khin c cu trc nh hnh 7.4.
X(s)

GC(s)

Y(s)

G(s)

Hnh 4.4: Cu trc iu khin c phn hi n v

1
G( s)
sTi

Cu trc ca b iu chnh c chn nh sau:

nC

1 sTCj
j 1

Tham s ca b iu chnh c xc nh theo iu kin: nC = nS v TCj = TJ.

k
sTi (1 sTb )

Sau khi b , h h c hm truyn: Wh ( s )

Hm truyn ca h kn:

Ta c:

Wk (s)

Wh (s)

1 Wh (s)

1
1

1
Wh (s)

1
sT (1 sTb )
1 i
k

Wk2 ( j)
1

Ti Ti

2Tb 2 ....

k k

iu kin h ti u l:

Wk ( j) 1

B qua cc thnh phn bc cao ca , cho thnh phn th 2 bng khng ta c:

Ti/k = 2Tb, suy ra Ti =2kTb.
Cu trc v tham s ca b iu chnh c xc nh theo bng di y.
ns

B iu

1
2
3

chnh
PI
PID
PID2

Hm truyn

Tn

(sTn+1)/sTi
(sTn+1)(sTV +1)/sTi
(sTn+1)(sTV+1)(sTV2+1)/sTi

T1
T1
T1

TV

T2
T2

TV2

Ti

T3

2kTb
2kTb
2kTb

V d:
Cho i tng c hm truyn t l

G ( s)

10
(50 s 1)(10 s 1)(0,5s 1)(0,01s 1)

61

Thit k b iu khin theo tiu chun phng.

Tng hng s thi gian b l: Tb = 0,5 + 0,01 = 0,51
Cc hng s thi gian tri ca i tng l T1 = 50, T2 = 10.
V i tng c hai hng s thi gian tri cho nn ta chn cu trc ca b
iu khin l PID. Cc tham s c xc nh nh sau:
Tn = T1 = 50
Tv = T2 = 10
Ti = 2*k*Tb = 2*10*0,51 = 10,2
4.2.4 Phng php tng hng s thi gian (Kuhn).
Cho i tng c hm truyn:

G ( s ) k dt

B ( s ) s
e
A( s )

Trong :
B(s)= (1+sTd1) (1+sTd2)(1+sTdm) v A(s) = (1+T1s) (1+T2s)(1+Tns)
T

i 1

i 1

Ti Tdi

Cu trc v tham s ca b iu chnh c xc nh theo bng sau:

B iu chnh
PI
PID

Hm truyn
kP
Tn
TV
kP(sTn+1)/sTi
0,5kdt T/2 ....
kP(sTn+1)(sTV+1)/sTi 0,5kdt T/3 T/3

Ti
T/2
T/3

V d:
Cho i tng c hm truyn t nh sau:
Hng s thi gian tng

G (s)

10e 2 s
(50 s 1)(10 s 1)(5s 1)

T 50 10 5 2 67

kt = 10
- Nu ta chn b iu khin c cu trc l PI, th tham s ca b iu chnh
c xc nh nh sau:
Kp = 0,5kt = 0,5*10 = 5
Tn = T/3 = 67/2 = 33,5
TI = T/2 = 67/2 = 33,5
62

- Nu ta chn b iu khin c cu trc PID, th tham s ca n c xc

nh nh sau:
Kp = 0,5kt = 0,5*10 = 5
Tn = T/3 = 67/3 = 22,3
TV = T/3 = 67/3 = 22,3
TI = T/3 = 67/3 = 22,3
Trong thit k, ta c gng chn cu trc b iu chnh cng n gin cng tt,
cho nn ta s chn cu trc ca b iu chnh l PI, nu nh b PI khng p
ng c cc yu cu t ra th ta s chn cu trc PID
4.3 iu khin c v quan st c
Cho h thng c m hnh trng thi nh sau:
A x Bu
x
y C x Du

H thng c gi l iu khin c nu v ch nu tn ti tn hiu iu

khin u c th a h t trng thi ban u x(0) ti trng thi x(T) trong mt
khong thi gian hu hn T.
H thng l iu khin c nu v ch nu ma trn P = [B AB A 2B ...An-1B]
c hng bng n hay ma trn P khng suy bin.
H thng c gi l quan st c nu bin trng thi x(0) c xc nh
khi bit c u v y trong thi gian hu hn 0 < t < T.
H thng l quan st c nu v ch nu ma trn Q = [C T ATCT ... (AT)n-1CT]
c hng bng n hay nh thc ca Q khc khng.

4.4 H thng iu khin s

4.4.1 M u
My tnh c th hot ng nh mt b b hay b iu khin trong h thng
iu khin phn hi. Cc qu trnh v h thng c s dng my tnh s, c b
iu khin, c thit b bin i xung u thuc h lp h thng xung s. My
tnh ch nhn d liu ti mt khong thi gian nht nh.Vic pht trin phng

63

php miu t v phn tch s hot ng ca h thng iu khin c my tnh

l rt cn thit.
H thng my tnh s dng d liu c trch mu trong khong thi gian
xc nh, kt qu l tn hiu c ly mu lin tc. Cc tn hiu c trch
mu c th bin i t min s sang min z theo mi quan h z = e

sT

. Bin z

trong min tn s phc cng c cc tnh cht tng t nh trong min s Laplace.
Ta s dng hm truyn c bin i z phn tch s n nh v p ng tc
thi ca h thng. V vy chng ta c th xc nh c p ng ca h thng
iu khin c phn hi ca my tnh s m hot ng nh l mt b b hay b
iu khin. H thng iu khin c s dung my tnh s nh sau:

64

Tn hiu
iu

My tnh
(digital
) s

C cu chp
hnh

B bin Qu trnh
i D/A cng ngh

B bin
i A/D

o lng

(digital
)

(analog
g)

(digital (analog)
)
Hnh 5.1: S iu khin phn hi c s dng my tnh

Ngy nay my tnh s c s dng rng ri trong cng nghip n gi mt

vai tr quan trong trong qu trnh cng nghip, my tnh c s dng vi c
cp chp hnh thc hin cc nhim v iu khin.
65

My tnh khng c ni trc tip vi c cu chp hnh hay cc qu trnh

m qua b bin i s tng t(Digital/Analog Converter). Chng ta bit tt
c cc con s truyn vo my tnh hay i truyn ra u c thc hin trong mt
khong thi gian thi gian c nh v bng nhau, T c gi l chu k ly mu.
V vy tn hiu ch o s c dng l r(kT). Cc bin r(kT), m(kT) v u(kT) l
cc tn hiu ri rc.
B ly mu l tng l
B trch mu
Hnh
5.2:
Tn hiu c trch mu s dng
r(t)
r*(t)trong my tnh s
Tn hiu ra l r*(t), ti nT l thi gian ly mu hin thi v gi tr r*(t) l r(nT),
Tn hiu lin tc
Tn hiu trch mu
tng qut tn hiu ra l
Tn hiu
r*(nT) = r(nT)(t-nT)
(5.1)
iu
My tnh u(kT) B bin u(t)
C cu
Qu trnh
khin
r(2T)
r(kT)
s
i D/A
chp hnh
cng ngh
r(3T)
Hnh 5.3: Tn hiu r(t) c trch mu
r(t)
r(4T)
r(kT)
r(T)
Tn hiu khng lin tc m ta quan tm y l dy cc gi tr {r k} cch u
nhau vi rk = m(kT)
r(kT),trong
ct gi
l chu k trch mu ( hay l chu
p(t)
B Tbin
kT k
0 tr o
2Tim
3T{t=kT} k l cc
T nhng
i
A/D ch c gi
lng
lng t
). y2T
l loi3T
tn hiu
ti
0 ho T
4T
4T
s nguyn , v ngoi cc im ny th khng c nh ngha . Nu mi gi tr r k
c xem nh tch r(t)(t-T ) th ton b dy {rk} s l :
Lc ny {rk} gi l tn hiu xung .

rk r (t ) (t kT
k

s (t )

) r (t ) (t kT ) r (t ) s (t )
k

(t kT )

(5.2)

hiu r hn ta xem m hnh trch mu nh sau

66

Hnh 5.4: Tch ca dng sng theo thi gian v tn hiu trch mu
f(t) l dng sng lin tc, s(t) l hm mu c rng xung bng nhau v bng
Tw (c bin l mt hng s), f*Tw(t) l tn hiu u ra.

f T* (t ) f (t ) s (t ) f (t ) u (t kT ) u (t kT Tw )
w

(5.3)

k l s nguyn chy t - +, T l chu k trch mu, Tw l rng xung.

Gi s rng Tw rt nh so vi T, f(t) c th coi l hng s trong khong thi gian
trch mu v f(t) = f(kT).
f T* (t )
w

f (kT ) u (t kT ) u (t kT T )

(5.4)

thc hin bin i Laplace

FT* ( s )
w

e kTs e kTs T s
1 e T s kTs

f
(
kT
)

e
s
s
k
s

f (kT )

(5.5)

Thay e Tws khai trin

67

Tw s 2

1 1 Tw s
2!

f ( kT )

FT* ( s )
w

e kTs

(5.6)

V Tw l b nn
FT* ( s )
w

Tw s kTs
e

f ( kT )Tw e kTs

k
s

f ( kT )

(5.7)

Cui cng thc hin bin i v min thi gian

f T* (t ) Tw
w

f (kT ) (t kT )

(5.8)

4.4.2 M hnh gi mu bc khng

Bc cui cng trong vic xy dng m hnh ca my tnh s l m hnh gi
mu bc khng. Nu coi b trch mu l l tng th Tw =1 v xt ti thi im t
= 0 v t = T ta c

68

Gh ( s )

1 1 Ts
e
s s

(5.9)

B trch mu
l tng
f(t)

f*(t)

ZOH

f(t)

f(kT)(t-kT)

f*(t)

t
0

2T

fh(t)

3T 4T
fh(t)

2T

3T
4T

t
0

2T

3T

4T

Hnh 5.5: Tn hiu r(t) c trch mu

4.4.3 Bin i Z
Mc ch ca bin i z l a v hm tryn t cha ng thng tin v h
thng m ta c th phn tch v thit k c s n nh ca h thng.
Thc hin bin i Laplce vi b trch mu l l tng

FT* ( s ) f ( kT )e kTs
w

k 0

(5.10)

Thay th z = e Ts

F ( z ) f (kT )z k
k 0

(5.11)

V d: xc nh hm truyn z ca b ly mu sn dc
i vi tn hiu c sn dc f(kT) = kT

f * (t ) kT (t kT )
k 0

(8.12)

Thc hin bin i Laplace

69

F * ( s ) kT e kTs
k 0

(5.13)

Thc hin bin i z = e Ts

k 0

k 0

F ( z ) kT e kz T ke kz T ( z 1 2 z 2 3 z 3 )

(5.14)

Bin i a v dng zF(z)

zF ( z ) T (1 2 z 1 3 z 2 )

(5.15)

Ly cng thc (8.15) tr (8.14) ta c

zF ( z ) F ( z ) ( z 1) F ( z ) T (1 z 1 z 2 )

(5.16)

Mt khc
1
1 z 1 z 2
1
1 z

(5.17)

Thay (8.17) vo (8.16)

F ( z) T

z
( z 1) 2

(5.18)

Nu mun thc hin php bin i z ngc ta c hai cch:

- Phn tch thnh cc phn thc thnh phn.
- H bc phn thc.
V d : Tm f*(t) ca hm F(z) sau
F ( z)

0.5 z
( z 0.5)( z 0.7)

(5.19)

Thc hin chia cho z v phn tch thnh cc phn thc con
F ( z)
0.5
A
B
2.5
2.5

z
( z 0.5)( z 0.7) z 0.5 z 0.7 z 0.5 z 0.7

(5.20)

hay
F ( z)

0.5 z
2.5 z
2.5 z

( z 0.5)( z 0.7) z 0.5 z 0.7

(5.21)

Tra ngc li
70

f(kT) = -2.5(0.5)k + 2.5(0.7)k

(5.22)

Tm dng sng f*(t) l tng

f * (t )

f (kT ) (t kT ) - 2.5(0.5)k 2.5(0.7)k (t kT )

(5.23)

Nu thay k = 0, 1, 2 v 3 ta c 4 s hng u tin l

f * (t ) 0 (t ) 0.5 (t T ) 0.6 (t 2T ) 0.545 (t 3T )

(5.24)

Nu thc hin bng cch chia lin tip ta c

0.5 z 1 0.6 z 2 0.545 z 3
z 2 1.2 z 0.35

0.5 z
0.5 z 0.6 0.175 z 1
0.6 0.175 z 1

(5.25)

0.6 0.720 z 1 0.21

0.545 z 1 0.21

S dng t s v nh ngha z
F * ( s ) 0.5e Ts 0.6e 2Ts 0.545e 3Ts

(5.26)

T min thi gian

f * (t ) 0.5 (t T ) 0.6 (t 2T ) 0.545 (t 3T )

(5.27)

4.4.4 Hm truyn t
Ta c dng ca tn hiu
f (t )

f (kT ) (t kT )

(5.28)

Tn hiu trch mu u vo l

r * (t ) f ( nT ) (t nT )
n 0

(8.29)

71

R(s)

C(s)

G(s)

R(s)

R*(s
)
G(s)

R(s)

R*(s
)
G(s)

C(s)
C(s)

C*(t)

Hnh 5.6: H thng tn hiu trch mu

p ng xung ca h thng G(s) l g(t), tn hiu ra ca G(s) c th c vit
bng tng cc xung c to ra khi cho tn hiu tc ng u vo.

c (t ) r ( nT )g (t nT )

(5.30)

n 0

S dng cng thc 8.11 ta c

C ( z ) c (kT )z k

(5.31)

k 0

S dng cng thc 8.30 vi t = kT

c(kT ) r ( nT )g (kT nT )

(5.32)

n 0

Thay cng thc 8.32 vo cng thc 8.31 ta c

C ( z ) r ( nT )g ( k n)T z k
k 0 n 0

(5.33)

t m = k n

r (nT )g mT z

C ( z)

( m n )

m n 0 n 0

g mT z m

m 0

(5.34)

r (nT )g mT z n

n 0

Ti gii hn di m + n m. Mt khc m + n = 0 khi m < 0 v n > 0. Nhng

khi m < 0 th g(mT) = 0, m khng nh hn 0. Bn cnh g(t) = 0 khi t < 0.
p dng nh ngha bin i z ta c

72

C ( z )

g mT z

m 0

r (nT )g mT z

G ( z ) R( z )

n 0

(5.35)

V d: Ta c khu gi mu bc khng ghp ni tng vi

G1 ( s )

s2
s 1

1 e Ts s 2

s s 1

G( s)

hay

(5.36)

Tm hm truyn G(z) nu nh chu k trch mu l 0.5s

Gii
V khu z.0.h c mc ni tng vi G1(s) nn ta c th vit nh sau
G ( s ) 1 e Ts

G1 ( s )
s

(5.37)

t
z 1 G1 ( s)
G1 ( s)
z

s
z
s

G ( z ) (1 z 1 ) z

(5.38)

Thc hin bin i Laplace ngc

G2 ( s )

G1 ( s)
s2
A
B
2
1

s
s( s 1) s s 1 s s 1

(5.39)

Bin i Laplace ngc

g 2 (t ) 2 e t

(5.40)

v khi t = kT
g 2 (kT ) 2 e kT

(5.41)

Tra bng ta tm c G2(z)

G2 ( z )

2z
z

z 1 z e T

(5.42)

Thay T = 0.5 vo 8.42

2z
z
z 2 0.214 z
G1 ( s)
G2 ( z )

z 1 z 0.607 ( z 1)( z 0.607)
s

(5.43)

Thay vo 8.38 ta tm c G(z)

73

G( z)

z 1
z 0.214
G 2 ( s)
z
z 0.607

(5.44)

8.5 S n nh
S khc nhau v s n nh gia h thng iu khin phn hi tng t v s
nh sau
Im

Im
Mt phng s

Mt phng z

B
A

Re

Re

Hnh 5.7: Mt phng phn b s n nh

Trong mt phng phc s th min n nh nm bn tri trc o. H thng c
hm truyn G(s) c chuyn sang min gin on l G(z), min n nh c
xc nh nh sau:
z = esT = e( + j)T = e T T

(5.45)

trong s = + j
bn tri mt phng phc s, <0 tng ng vi 0 < z < 1 th h thng n nh.
V d: cho h thng sau
r(t)

e*(t)

c(t)
G0(s)

Gp(s)

Hnh 8.8: H thng iu khin phn hi c trch mu

Vi T = 1 v
G p ( s)

K
s ( s 1)

(5.46)
74

Thc hin bin i z ta c

G( z)

K (0.3678 z 0.2644)
K ( az b)
2
2
z 1.3678 z 0.3678 z (1 a ) z a

(5.47)

Vi a = 0.3678 v b = 0.2644
im cc ca h thng kn l nghim ca phng trnh q(z) = 1 + G(z) = 0
q(z) = 1 + G(z) = z2 (1-a)z + a + Kaz + Kb = 0

(5.48)

Khi K = 1
q(z) = z2 z + 0.6322
= (z 0.50 + j0.6182)(z 0.50-j0.6182) = 0

(5.49)

H thng n nh v cc nghim u nm trong ng trn n v.

Khi K = 10
q(z) = z2 + 2.310z + 3.012
= (z + 1.155 + j1.295)(z + 1.155 j1.295) = 0

(5.50)

H thng khng n nh v cc nghim nm bn ngoi ng trn n v.

Vi 0 < K < 2.39 th h thng n nh.
4.4.6 Sai s xc lp
Chng ta xem s nh hng ca vic trch mu n sai s xc lp trong h
thng s. a ra c cc kt lun tng qut v sai s xc lp l rt kh bi
v v tr trch mu c th lm thay i hm truyn t ca h h. Trong phn ny
ta gi thit v tr ca b trch mu nm sau tn hiu sai lch.
R(s)

E*(s)
T

C(s)
1 e
s

Ts

Gp(s)

Hnh 8.9: Sai s xc lp ca h iu khin s

Sai s trch mu l E*(s) = E(z)
T s ta c
75

E ( z ) R ( z ) E ( z )G ( z )
R( z )
hay E ( z )
1 G( z)

(4.51)

V p dng nh l v gi tr xc lp
e * () lim(1 z 1 ) E ( z ) lim(1 z 1 )
z 1

z 1

R( z )
1 G( z)

(4.52)

Nu tn hiu vo l tn hiu bc thang n v

z
z 1

R( z )

(4.53)

Thay R(z) vo
e * ( )

1
1 lim G ( z )

(4.54)

z1

Lc hng s sai s tnh l

K p lim
G( z)
z 1

(4.56)

1
1 Kp

(4.57)

Vit li theo Kp
e * ()

Nu tn hiu vo l tn hiu c sn dc th
R( z )

Tz
( z 1) 2

(4.58)

Sai s l
e ( )

trong

Kv

1
Kv

1
lim( z 1)G ( z )
T z 1

(4.59)
(4.60)

Nu tn hiu vo l ng Parabol
R( z )

T 2 z ( z 1)
2( z 1) 3

(4.61)

Sai s l
76

e ( )

trong K a

1
Ka

(4.62)

1
lim( z 1) 2 G ( z )
2 z 1
T

(4.63)

V d: tm sai s xc lp ca h thng khi

G p ( s)

10
s ( s 1)

(4.64)

Gii
u tin tm G(s)
10(1 e Ts )
1
1 1
G (s) 2
10(1 e Ts ) 2
s ( s 1)
s s 1
s

(4.65)

Thc hin bin i z

Tz
z
z

2
( z 1) z e T
( z 1)
Tz
z 1
1
z 1
z e T

G ( z ) 10(1 z 1 )

10

(4.66)

i vi tn hiu bc thang n v
K p lim
G( z)
z 1

e * ( )

1
0
1 Kp

(4.67)

i vi tn hiu sn dc
Kv

1
lim( z 1)G ( z ) 10
T z 1

e ( )

1
0.1
Kv

(4.68)

i vi tn hiu Parabol
Ka

1
lim( z 1) 2 G ( z ) 0
2 z 1
T

e ( )

Ka

(4.69)

77

Bi tp chng 4
1. Tm f(kT) ca cc hm truyn z sau:
a,

z ( z 1)
( z 0.5)( z 0.7)

F ( z)

b,

F ( z)

( z 1)( z 2)
z ( z 0.5)( z 0.7)

2. Tm hm truyn G(z) t cc hm truyn trong min phc G(s) vi T =

0.5s
a,
c,

G(s)

G(s)

( s 1)( s 2)
( s 3)( s 4)
30
G ( s)
2
( s 2)( s 4s 13)

s5
( s 1)( s 3)

s2
s 1

d,

b,

G(s)

3. Tm hm truyn G(z) ca cc h thng sau:

4. Tm K h thng sau l n nh.

5.Tm hng s sai s tnh sse ca h thng sau

Nu tn hiu u vo l
a, u (t )
b, tu (t )
c,

1 2
t u (t )
2

78

4.4 B iu khin m
4.4.1. Tp r v hm thnh vin
Tp r crisp set) l tp hp truyn thng theo quan im ca Cantor (crisp
set). Gi A l mt tp hp r, mt phn t x c th c x A hoc x A, C th
s dng hm m t khi nim thuc v. Nu x A, (x) = 1, nguc li nu
x A, (x) = 0. Hm c gi l hm c trng ca tp hp A.
4.4.2. Tp m v hm thnh vin
Khc vi tp r, khi nim thuc v c m rng nhm phn nh mc x
l phn t ca tp m A. Mt tp m fuzzy set): A c c trng bng hm
thnh vin v cho x l mt phn t (x) phn nh mc x thuc v A.
V d: Cho tp m High
Lan cao 1.5m, (Lan)=0.3
Hng cao 2.0 m, (Hng)=0.9

Hnh 4.5. ng biu din ca hm c trng v hm thnh vin

4.4.3. Cc dng ca hm thnh vin
Cc hm thnh vin ca tp m c 3 dng c bn l: dng tng, dng gim v
dn chung.
a) Dng S tng

79

 (x)=S(x,
,,)
=

0 nu x <=
2(x- )/( - ) nu < x <=
1 -[2(x- )/( - )] nu < x <
1 nu x >=

Hnh 4.6 Hm S tng

b) Dng S gim
(x)=1- S(x, , , )
c) Dng hnh chung
(x;
,)
=

S(x; - , - /2; ) if x <=

S(x; , + /2; + ) if x >

Hnh 9.3. Hm dng chung

4.4.4. Cc php ton trn tp m
Cho ba tp m A, B , C vi A(x), B(x), C(x)
C=A B: C(x) = min( A(x), B(x))
C=A B : C(x) = max( A(x), B(x))
C= A : C(x) = 1- A(x)
h thng iu khin m tiu biu.
80

4.4.5. CC H THNG M
Hm thnh vin cho cc bin ri rc
Cho tp v tr E = Tc = 20,50,80,100 n v l Km/g.
a. Xt tp m F = Nhanh xc nh bi hm membership
nhanh: E ---- 0,1
x1 ---- nhanh (X)
Khi ta gn nhanh (20) = 0 ngha l tc 20 Km/g c xem nh l khng
nhanh.

theo nguyn tc tp m nhanh = (20,0), (50,0.5), (80,0.6), 100, 1) hay vn

tt hn Nhanh = 0,0.5,0.6,1
Vy hm thnh vin nh gi mc ng ca cc tc trong tp v tr E vi
khi nim nhanh. Hm ny c tnh ch quan v do kinh nghim hay do thc
nghim.
b. Xt tp m trung_bnh vi hm thnh vin xc nh nh sau:

th tp Trung Bnh = { 0.3,1,0.5,0 }

Hm thnh vin trong khng gian cc bin lin tc
Chng hn nh cc tp m Nhanh v Trung bnh trn c th nh ngha nh l
cc hm
nhanh (x) = (x/100)2

81

0 if x<=20
trung-bnh (x) =

(x-20)/30 if 20<=x<=50
(100-x)/50 if 50<=x<=100 }

Trong phn sau ch xt cc hm thnh vin c bin lin tc

4.4.6 NGUYN L X L CC BI TON M

H thng m
Cc d liu nhp qua b m ho bin thnh cc tr m. Sau cc gi tr m
c a vo b lp lun m. Cc kt qu l cc gi tr m ng vi phn k
lut. B gii m s bin i tr m tr li tr r.
Bi ton 1
D liu Input l cc gi tr r.
V d: Xt bi ton m xc nh bi cc lut sau:
Lut 1:if x is A 1 and y is B1 Then z is C1
Lut 2:if x is A2 or y is B2 Then z is C2
Vo: tr x0, y0
-----------------------------------------------------------Ra : tr z0 tng ng
Bi ton c gii quyt nh sau:
ng vi tp m A1 ta c hm thnh vin A1 (x)
ng vi tp m A2 ta c hm thnh vin A2 (x)
ng vi tp m B1 ta c hm thnh vin B1 (y)
ng vi tp m B2 ta c hm thnh vin B2 (x)
ng vi tp m C1 ta c hm thnh vin C1 (x)
82

ng vi tp m C2 ta c hm thnh vin C2 (x)

Vn l khi cho cc gi tr Input x = x0 v y = y0 hy tm hm thnh vin ca

cc lut theo hnh v W1 l min ca hai giao im, W2 l max ca hai giao im:
chng gi l trng cc lut. Khi hm thnh vin ca kt lun l:
C(z) = W i K1i(z) i = 1N
vi K1i(z) l hm thnh vin ca kt lun cho lut th i. T suy ra tr Output
z0 l h thng m trn.
V d: Gii bi ton in khin t ng m cho h thng bm nc ly nc t
ging. Trong khi h ht nc v trong ging c nc th my bm t ng bm.

H.y

H.Lng

H.Cn

N.Cao

B.Va

B.Lu

N.Va

B.Va

B.HiLu
83

N.t

Vi bin ngn ng H c cc tp m h y (H.y), h lng (H.Lng)

v h cn (H.Cn).
Vi bin ngn ng Ging c cc tp m nuc cao (N.Cao), nuc va
(N.Va), nuc t (N.t).
Vi bin ngn ng kt lun xc nh thi gian bm s c cc tp m bm
va (B.Va), bm lu (B.Lu), bm hi lu(B.HiLu).
Cc tp m trn c xc nh bi cc hm thnh vin sau:
Hm thnh vin ca H nc:
H.y(x) = x/2 0<=x<=2
H.Lng(x) = { x if 0<=x<=1
(2-x) if 1<=x<=2 }
H.Cn(x)= 1-x/2 0<=x<=2
Hm thnh vin cho ging:
N.Cao(y)= y/10 0<=y<=10
N.Va(y) = { y/5 if 0<=y<=5
(10-y)/5 5<=y<=10 }
N.t(y)= 1-y/10 0<=y<=10
Hm thnh vin ca Kt lun cho tng lut:
B.Va(z) = { z/15 if 0<=z<=15
(30-z)/15 if 15<=z<=30 }
B.lu(z) = z 0<=z<=30
B.Hi lu(z) = { z/20 if 0<=z<=20
1+0.05(z-20) if 20<=z<=30 }
Trong x ch su ca H (0<=x<=2), y ch su ca Ging
(0<=y<=10) v z ch thi gian bm (0<=z<=30).

84

T bng trn ta c cc lut:

Lut 1: if x is H.Lng and y is N.Cao Then z is B.Va
Lut 2: if x is H.Cn and y is N.Cao Then z is B.Lu
Lut 3: if x is H.Lng and y is N.Va Then z is B.Va
Lut 4: if x is H.Cn and y is N.Va Then z is B.Hi lu
By gi nu ta nhp tr Input x0 = 1 ( cao ca nc trong h ), y0 = 3
( cao ca nc trong ging)

85

Cc Wi gi l cc trng s ca lut th i
Theo l thuyt hm thnh vin ca kt lun cho bi cng thc:
C(z) = Wi K1i(Z) i = 1 N
C(z) = W1.B.Va(z) + W2.B.Lu(z) + W3.B.Va(z) + W4.B.Hi
Lu(z)
C(z) = 3/10.B.Va(z) + 0.5.B.Lu(z) + 3/5.B.Va(z) +
0.5.B.HiLu(z)
Bc tip theo l ta phi gii m t hm thnh vin ca kt lun bng
cnh tnh trng tm ca hm C(z)
Moment C(z) l
v
Vy Defuzzy(z) =17.12/2.3=8.15
Do nu mc nc trong h v ging l 1m v 3m th thi gian cn bm
l 8 pht v 15 giy.
Bi ton 2
Khi cc tr Input l cc tp m th bi ton trn c gii quyt nh th no?
Xt v d sau:
Lut : If tri nng Then m khu nh
S kin : Tri rt nng
86

Kt lun : M khu bao nhiu?

Trong trng hp ny tr Input l mt tp hp m Rt Nng trong trng hp
bin lin tc n c xc nh qua hm thnh vin ca n.
Cc gia t trn tp m
Cho F l tp m trong tp v tr E
Ta c cc tp m pht sinh t F nh sau:
Very F =F2
More or less F=F1/2
Plus F= F1.25
V d: nu F ={0,0.1,0.5,1 } th very F=F2 = {0,0.01,0.25,1 }
gii quyt bi ton 2 ta xt m hnh sau:
Cho bi ton m xc nh bi cc quy lut
Lut 1 : if x is A1 and y is B1 Then z is C1
Lut 2 : if x is A2 and y is B2 Then z is C2
Input : x = A v y = B
(A c th l very A, more or less A, plus A Cng vy cho B)
Kt lun : Tr r ca Output l bao nhiu?
Gi s hm thnh vin ca cc lut trn c dng:

87

Trong lut 1 ta tm tr min ca giao im ca th A1 v A vi giao im ca

th B1 v B tr min ny lm trngW1 cho lut 1.
Tng t cho lut 2 nhng ln ny ta ly max (v ton t or) ta tm c trng
W2
Khi y hm thnh vin ca Kt lun s l:
C(z) = Wi K1i(z) i = 1 N
Cui cng dng cng thc m ta c tr r
V d: Trong bi ton 1 nu ta cho d liu Input l cc tp m nh:
x is H.Kh Cn (H kh cn)
y is N.Hi nhiu (Nc trong ging hi nhiu)
Gi s cc tp m ny c xc nh bi cc hm thnh vin l:
H.KhaCn(x) = { x+0.5
( 2-x)/1.5
N.HiNhiu(x) = { y

if 0<=x<=0.5
if 0.5<=x<=2 }
if 0<=y<=8

1+0.25(8-y) if 8<=y<=10 }

Tm cc trng Wi cho tng lut (ly min ca cc giao im)

Xy dng hm thnh vin ca kt lun
C(z) = W1.B.Va(z) + W2.B.Lu(z) + W3.B.Va(z) + W4.B.HiLu(z)
Cui cng l gii m tm tr r z0

88

Tm li : Mun gii cc bi ton m ta c cc bc:

B1: Xc nh cc lut m ca bi ton
B2: Xc nh cc hm thnh vin ca cc tp m c trong lut
B3: Tm cc trng Wi ca tng lut
B4: Nhp tr Input v tm hm thnh vin cho kt lun
C(z) = iWi K1i(z)
B5: Gii m c gi tr r
Ch thch:
1. Hm thnh vin cho kt un c th tnh bng cng thc:
a) C(z) = iWi K1i(z) x E
b) C(z) = iMin(Wi, K1i(z)) x E
c) C(z) = iMax(Min(Wi, K1i(z)) x E
2. Gii m ta c th p dng 1 trong 2 phng php sau:
a) Tm trng tm
b) Tm tr trung bnh
c) Defuzzy(z) =( i i.Wi)/ i i
Trong i l khong tin cy ca th ca lut th I (fere strength)
Wi l trng s ca lut th i
89

V D:
Xy dng b iu khin m trn my tnh
1. t vn
L thuyt m c nhc n rt nhiu trong nhng nm gn y. Trn th gii v Vit Nam
c nhiu tc gi nghin cu v p dng thnh cng l thuyt m trong cc lnh vc iu khin sn
xut cng nghip, trong cc sn phm gia dngvv. Tuy nhin mt b iu khin m trong thc t n
ra sao? Vn c cp nhiu trong cc sch bo, m ch mun gii thiu v qu trnh xy
dng b iu khin m trong thc t ly phng tin thc hin l my tnh PC.
2. Tng quan v b iu khin m v phng n thc hin
Cu trc c bn ca b iu khin m c ch ra trn hnh 1 di y:

Hnh 1: Cu trc b iu khin m.

B iu khin m c bn gm c cc thnh phn chnh sau:
- Khu m ho: thc hin bin i cc gi tr r u vo thnh mt min gi tr m vi hm thuc v
bin ngn ng tng ng.
- Khu thc hin lut hp thnh: bin i cc gi tr m ca bin ngn ng u vo thnh cc gi tr
m ca bin ngn ng u ra da trn cc lut hp thnh xy dng.
- Khu gii m: bin i cc gi tr m ca bin ngn ng u ra thnh cc gi tr r thc hin iu
khin i tng.
Vic thit k h iu khin m c th thc hin bng cc phng php khc nhau nh l thit k
h mm hoc thit k h cng. Mi phng php c nhng u nhc im ring, thit k h cng
cho php ngi thit k nh gi c cc lut m mt cch nhanh chng nhng vic thit k theo
cch ny thng rt tn km. Thit k h mm l cch tt nht xy dng nn mt h iu khin
m, bng cch s dng cc phn mm lp trnh c sn, v c th m phng h thng.
Thit k h mm c th s dng cc phn mm chuyn dng v x l m nh Matlab,
FuzzyTech, Winfact,Vic lm ny cho php xy dung rt nhanh mt h m, m phng v nh gi
c ngay h thng. Nhng tr ngi ln vn l vn kinh t.
Vic thit k h mm vn c th thc hin c vi cc ngn ng lp trnh thng dng nh C++,
Delphi, VB, Vic x l m s c thc hin trn my tnh bng phn mm t xy dng. Sau l
vic trao i d liu vi thit b chp hnh,v cc thit b o s do mt modul khc m nhn.Modul
cng c th t xy dng hoc cng cc Modul ca mt hng khc.
3. La chn ngn ng lp trnh v cng c pht trin
Nhng nhim v cn gii quyt:

90

- Ci t Cu trc d liu m t tp m v cc php ton trn tp m.

- Ci t Cu trc d liu m t cc lut suy din v cc thao tc x l lin quan.
- Ci t v vn hnh Motor suy din m.
- Ci t cc cng c ha cho php ngi s dng son tho trc quan cc tp m, cc lut suy
din.
- Ghp ni my tnh v thit b iu khin.
- Cc thao tc thng dng nh lu tr cng vic, kt xut d liu,...Ta chn ngn ng lp trnh C++,
l mt ngn ng cho php:
- Qun l tt m ngun.
- Th vin ci t cc cu trc d liu v gii thut c bn c cung cp y , s dng tin li.
Trn th trng hin nay c rt nhiu cng c pht trin s dng ngn ng lp trnh C/C++
nh Microsoft Visual C++ trong b Visual Studio, WatCom C++, Borland C++ Builder,.... Trong ta
chn Borland C++ Builder v nhng l do sau:
- Th vin lp ca C++ Builder rt phong ph v d dng m rng, tha k. y l u im vt tri
ca n so vi cc cng c pht trin khc.
- C++ Builder khng p buc ngi lp trnh phi theo mt khung ng dng no. Do vy, n rt thch
hp cho ngi lp trnh sng to, c yu cu iu chnh chi tit ti mi thnh phn ca chng trnh.
4. Cc module ca chng trnh
Phn loi cc Module:
- Nhm cc Module ci t cu trc d liu tp m v suy din m
- Nhm cc Module tin ch
- Nhm cc Module giao din d ho do C++ Builder t sinh c s chnh sa, b sung ca ti.

Hnh 2: Cu trc chng trnh trn my tnh.

91

Hnh 3: Giao din ca chng trnh.

6. Module phn cng thc hin chc nng giao tip
Thc cht vic thc hin phn cng p ng nhim v l truyn thng vi PC-ng vai tr l
Server c th c nhiu gii php. c th l mt modul giao din I/O t xy dng, hoc c th dng
nhng Module ca cc hng cung cp sn trn th trng c tch hp ADC, DAC,hoc cng c th
dng chnh mt my tnh khc ng vai tr l thit b o c thng tin v x l tn hiu sau giao tip
vi my Server. Nh vy phn cng thc hin y c th tm gi l Client. Vi h mm x l m
thit k trn th ta c th hon ton dng mt my tnh khc ng vai tr l thit b thu thp thng
tin v x l d liu. Di y ti cng thit k thm mt modul I/O s dng cc linh kin in t ri
rc, cc IC tch hp,vv thc hin chc nng trn.
S nguyn l Module I/O nh sau:
+5V
+5V
D3

D4

D5

R9

D6

1091QM

1091QM

1091QM

1091QM

1091QM

1091QM
2

R_LED4

R_LED5

R_LED6

400
+10V

400

600
+15V

600

J3_15V

-10V

1
2

1
2

10Volt

15Volt

J4_GND
-15V

1
2

Vref
OP07

REF

C105

R11

-5V

LT431P

10K

P0.7
P0.6
P0.5
P0.4
P0.3
P0.2
P0.1
P0.0

9
8
7
6
5
4
3
2

Ground
5Volt

RB1

J2_10V

-5V

1
2

1
1

+5V

J1_5V

4
8

R_LED3

200

U11

R_LED2

200

+5V
R_LED1

U12

7
1

D2

D1

+5V

10K

1
2
3
4
5
6
7
8
9

LCD Contrast

+5V

10
11
12
13
14
15
16

C104_LCD
10pF

LCD Contrast
P2.4
P2.5
P2.6
P1.0
P1.1
P1.2
P1.3
P1.4
P1.5
P1.6
P1.7

RESET

1
2
3
4
5
6
7
8

30

ALE/P ROG

P1.0
P1.1
P1.2
P1.3
P1.4
P1.5
P1.6
P1.7

PSEN
P3.7/RD
P3.6/WR

ALE

29
17

P3.7

16

P3.6

20
PC0
PC1
PC2
PC3
PC4
PC5
PC6
PC7

PB0
PB1
PB2
PB3
PB4
PB5
PB6
PB7

PC0
PC1
PC2

14
15
16
17
13
12
11
10

PC0
PC1
PC2
PC3
PC4
PC5
PC6
PC7

+5V

8255

+5V

AT89C51

CS

RD
WR
INTR

10K

150pF

1
2

+5V

+5V

VREF/2

C104_AD
10pF
+5V

PB0
PB1
PB2
PB3
PB4
PB5
PB6
PB7
P2.7

C104_82
10pF

2
3
5

13
14
17
18
11

3
4
7
8

U5
D0
D1
D2
D3
D4
D5
D6
D7

U4

G
OC

Q0
Q1
Q2
Q3
Q4
Q5
Q6
Q7

2
5
6
9
12
15
16
19

DO0
DO1
DO2
DO3
DO4
DO5
DO6
DO7

DO0
DO1
DO2
DO3
DO4
DO5
DO6
DO7

12
11
10
9
8
7
6
5

D0-LSB
D1
D2
D3
D4
D5
D6
D7-MSB

C9

16

COMP

0.1uF

Vee

14

REF(+)

-15V
VR_ref
1

15

REF(-)

R5

CS

18
19
20
21
22
23
24
25

VCC/VREF

VCC

PB0
PB1
PB2
PB3
PB4
PB5
PB6
PB7

J7_REF/2

+10V
3

+5V

Iq

74LS373

C104_89
10pF

C104_373
10pF

+5V

3
R_OP07

C104_DA
10pF

OP-07

2
R_U_i

100

J8_P3.2nP3.3
P3.2
P3.3

J9_P3.4nP3.5
P3.4
P3.5

1
2

J10P3.6nP3.7
P3.6
P3.7

P3.4nP3.5

1
2
P3.6nP3.7

J11_ALEnP2.7
ALE
P2.7

DO0
DO1
DO2
DO3
DO4
DO5
DO6
DO7

1
2
ALEnP2.7

2
1

J12_LIGHT

1
2
P3.2nP3.3

LIGHT SENSOR
+5V

J5_AOUT
1
2
A_OUT

+5V

SW2
LCD LIGHT

U9

4
+5V

NC(NOTE)
DAC0808

LCD

VR_out

-5V

5K
4
8

6
35

RD
WR
A0
A1

IN+IN-

R_LCD Contrast

+5V

9
8

C4

7
1

P1.0
P1.1
P1.2
P1.3
P1.4
P1.5
P1.6
P1.7

J13_LCD

5
36

1
2
R3

15

MAX232

P2.2
P2.3
P2.1
P2.0

P3.1/T xD
P3.0/RxD

+5V

PC COMPORT

P2.0
P2.1
P2.2
P2.3
P2.4
P2.5
P2.6
P2.7

26

40

P3.4/T O
P3.5/T 1

11
10

21
22
23
24
25
26
27
28

J6_IN+-

ADC0804

9
19
4

13

14
15

P2.0/A8
P2.0/A9
P2.0/A10
P2.0/A11
P2.0/A12
P2.0/A13
P2.0/A14
P2.0/A15

P3.2/INTO
P3.3/INT1

6
7

GND

P3.4
P3.5

10
9

XT AL2

GND

12
13

VREF/2
CLKR
CLKIN

Vcc

11
12

P3.2
P3.3

+IN
-IN

GND

T2IN(TxD -T TL)
R2OUT(RxD-TTL)

30pF

DB0
DB1
DB2
DB3
DB4
DB5
DB6
DB7

T1IN(TxD -T TL)
R1OUT(RxD-TTL)

(RxD-R S232)T2OUT
(T xD-R S232)R2IN

19
C2

1uF

18
17
16
15
14
13
12
11

10

(RxD-R S232)T1OUT
(T xD-R S232)R1IN

1uF
C6

PA0
PA1
PA2
PA3
PA4
PA5
PA6
PA7

10

7
8

TA
11.0592

PA0
PA1
PA2
PA3
PA4
PA5
PA6
PA7

PA0
PA1
PA2
PA3
PA4
PA5
PA6
PA7

14
13

3
4

8.2K

XT AL1

D0
D1
D2
D3
D4
D5
D6
D7

4
3
2
1
40
39
38
37

20

C2-

C5

18

P0.0/A D0
P0.0/A D1
P0.0/A D2
P0.0/A D3
P0.0/A D4
P0.0/A D5
P0.0/A D6
P0.0/A D7

U2

34
33
32
31
30
29
28
27

VCC

C1C2+

GND

1
6
2
7
3
8
4
9
5

R2

EA/VPP
RST

P0.0
P0.1
P0.2
P0.3
P0.4
P0.5
P0.6
P0.7

GND

V-

1uF

P1

GND

C8

C1+

30pF

P0.0
P0.1
P0.2
P0.3
P0.4
P0.5
P0.6
P0.7

20

V+

31
C1

39
38
37
36
35
34
33
32

GND

16

Vcc

1uF

+5V

+5V

U3

100uF

SW1
RESET

Vcc

100

+5V

+5V
U1

C3

C7

+5V

+5V

R1

+5V
C104_max
10pF

+5V

J14_Dout
1
2
3
4
5
6
7
8
9
10
D_OUT

Hnh 4: S nguyn l Module I/O.

Cc khi c bn trong s :
- Khi ngun.
- Khi x l trung tm s dng vi iu khin AT89C51.
- Khi giao tip my tnh s dng IC MAX232
- Khi bin i A/D s dng IC ADC0804, khi bin i DAC s dng DAC0808
- Khi hin th s dng mn hnh LCD 20x2line.

92

http://www.atmel.com
http://www.maxim-ic.com
http://www.fuzzyTech.com
http://www.datasheetarchive.com

Cu hi n tp chng 4
1. Tng hp b iu khin l g?
2. C my cch phn loi b iu khin? Nu chi tit cc cch .
3. Nu cch tng hp b iu khin theo phng php Ziegler-Nichols.
4. Ti sao phi xt tnh iu khin c v quan st c?
5. Nu lut m Nu Th.. dng tng qut, Gii thch cc thnh phn
trong lun.
6. Cu trc mt b iu khin m c bn v b iu khin m. Gii thch
ngha cc khi chc nng.

93

Ti liu tham kho

[1] Norman S.Nise, Control System Engineering, Addision-Wesley
Publishing Company, 1995.
[2] Richard C.Dorf, Robert H.Bishop, Modern Control System, Tenth
Edition, Pearson Prentice Hall, 2005.
[3] Nguyn Don Phc, L thuyt iu khin tuyn tnh, Nh xut bn
Khoa hc v k thut, 2004.
[4] Phm Cng Ng, L thuyt iu khin t ng, Nh xut bn Khoa hc
v k thut, 2006.
[5] Nguyn Phng, Nguyn Th Phng Giang, C s t ng ho s dng
trong ngnh c kh, Nh xut bn Khoa hc v k thut, 2005.
[6] Nguyn Hoi Nam, Bi ging l thuyt iu khin t ng, i hc K
thut cng nghip Thi Nguyn.
[7] Lng Thanh Bnh, Bi ging l thuyt iu khin t ng, i hc S
phm k thut Vinh.

94