Chuong2 LTDKTD

Mon hoc
LY THUYET IEU KHIEN T ONG

Giang vien: Huynh Thai Hoang
Bo mon ieu Khien T ong
Khoa ien ien T
ai hoc Bach Khoa TP.HCM
Email: hthoang@dee.hcmut.edu.vn
9 February 2006
H. T. Hong - HBK TPHCM
Chng 2
MO HNH TOAN HOC

HE THONG IEU KHIEN LIEN TUC
9 February 2006
Noi dung chng 2
Khai niem ve mo hnh toan hoc

Ham truyen
Phep bien oi Laplace
nh ngha ham truyen
Ham truyen cua mot so phan t
Ham truyen cua he thong t ong
ai so s o khoi
S o dong tn hieu
Phng trnh trang thai (PTTT)
Khai niem ve PTTT
Cach thanh lap PTTT t phng trnh vi phan
Quan he gia PTTT va ham truyen
9 February 2006
9 February 2006
He thong ieu khien thc te rat a dang va co ban chat vat ly

khac nhau.
Can co c s chung e phan tch, thiet ke cac he thong ieu
khien co ban chat vat ly khac nhau. C s o chnh la toan hoc.
Quan he gia tn hieu vao va tn hieu ra cua mot he thong tuyen
tnh bat bien lien tuc co the mo ta bang phng trnh vi phan
tuyen tnh he so hang:
r(t)
He thong tuyen tnh

bat bien lien tuc
c(t)
d n c(t )
d n1c(t )
dc(t )
d m r (t )
d m1r (t )
dr (t )
+
+
L
+
+
a
c
(
t
)
=
a0
a
a
+
+
L
+
+ bm r (t )
b
b
b
1
n 1
n
m 1
0
1
n
n 1
m
m 1
dt
dt
dt
dt
dt
dt
n: bac cua he thong, he thong hp thc neu nm.

ai, bi: thong so cua he thong
9 February 2006
Mot so th du mo ta he thong bang phng trnh vi phan

Th du 2.1: ac tnh ong hoc toc o xe o to
dv (t )
M
+ Bv (t ) = f (t )
dt
M: khoi lng xe, B he so ma sat: thong so cua he thong
f(t): lc keo cua ong c: tn hieu vao
v(t): toc o xe: tn hieu ra
9 February 2006

Th du 2.2: ac tnh ong hoc he thong giam chan cua xe
d 2 y (t )
dy (t )
M
+B
+ Ky (t ) = f (t )
2
dt
dt
M: khoi lng tac ong len banh xe,

B he so ma sat, K o cng lo xo
f(t): lc do soc: tn hieu vao
y(t): dch chuyen cua than xe: tn hieu ra
9 February 2006

Th du 2.3: ac tnh ong hoc thang may
dy (t )
d 2 y (t )
MT
+
B
+ M T g = K (t ) + M g
2
dt
dt
MT: khoi lng buong thang, M: khoi lng oi trong

B he so ma sat, K he so t le
(t): moment keo cua ong c: tn hieu vao
y(t): v tr buong thang: tn hieu ra
9 February 2006
Han che cua mo hnh toan di dang phng trnh vi phan
Phng trnh vi phan bac n (n>2) rat kho giai
d n1c(t )
dc(t )
d n c(t )
d m r (t )
d m1r (t )
dr (t )
+
a
+
L
+
a
+
a
c
(
t
)
=
a0
+
+
L
+
+ bm r (t )
b
b
b
n 1
n
1
0
1
m 1
n
n 1
m
m 1
dt
dt
dt
dt
dt
dt
Phan tch he thong da vao mo hnh toan la phng trnh vi

phan gap rat nhieu kho khan (mot th du n gian la biet tn
hieu vao, can tnh ap ng cua he thong, neu giai phng trnh
vi phan th khong n gian chut nao!!!.)
Thiet ke he thong da vao phng trnh vi phan hau nh khong
the thc hien c trong trng hp tong quat.
Can cac dang mo ta toan hoc khac giup phan tch va thiet ke he
thong t ong de dang hn.
Ham truyen
Phng trnh trang thai
9 February 2006
Ham truyen
9 February 2006
10
Phep bien oi Laplace
nh ngha:
Cho f(t) la ham xac nh vi moi t 0, bien oi Laplace cua f(t)
la:
L { f (t )} = F ( s) =
f (t ).e st dt
Trong o:
s : bien phc (bien Laplace)
L : toan t bien oi Laplace.
F(s) : bien oi Laplace cua ham f(t).
Bien oi Laplace ton tai khi tch phan bieu thc nh ngha
tren hoi tu.
9 February 2006
11
Phep bien oi Laplace (tt)
Tnh chat:
Cho f(t) va g(t) la hai ham theo thi gian co bien oi Laplace la
L { f (t )} = F ( s ) va L {g (t )} = G ( s )
Tnh
tuyen tnh
L {a. f (t ) + b.g (t )} = a.F ( s ) + b.G ( s )
nh
ly cham tre
L { f (t T )} = e Ts .F ( s )
Anh
cua ao ham
Anh
cua tch phan
nh
9 February 2006
ly gia tr cuoi
df (t )
+
L
=
sF
(
s
)
f
(
0
)
dt
F ( s)
t
L f ( )d =
s
0
lim f (t ) = lim sF ( s )
t
s 0
12
Bien oi Laplace cua cac ham c ban:

Ham nac n v (step): tn hieu vao he thong ieu khien on
nh hoa
u(t)
1
1 neu t 0
1
L {u (t )} =
u (t ) =
s
0 neu t < 0
Ham
dirac: thng dung e mo ta nhieu
0 neu t 0
(t ) =
neu t = 0
+
(t )dt = 1
(t)
1
0
L { (t )} = 1
t
9 February 2006
13
Bien oi Laplace cua cac ham c ban (tt):

Ham doc n v (Ramp): tn hieu vao he thong ieu khien
theo doi
r(t)
t
r (t ) = tu (t ) =
0
Ham
neu t 0
neu t < 0
9 February 2006
mu
e
f (t ) = e .u (t ) =
0
at
1
L {t.u (t )} = 2
s
at
neu t 0
neu t < 0
f(t)
L e
at
1
.u (t ) =
s+a
14
Bien oi Laplace cua cac ham c ban (tt):

Ham sin:
sin t neu t 0
f (t ) = (sin t ).u (t ) =
neu t < 0
0
r(t)
0
L {(sin t )u (t )} =
s2 + 2
Bang bien oi Laplace: SV can hoc thuoc bien oi Laplace cua

cac ham c ban. Cac ham khac co the tra BANG BIEN OI
LAPLACE phu luc sach Ly thuyet ieu khien t ong.
9 February 2006
15
nh ngha ham truyen
Xet he thong mo ta bi phng trnh vi phan:

r(t)
He thong tuyen tnh

bat bien lien tuc
c(t)
d n1c(t )
dc(t )
d nc(t )
a0
+ a1
+ L + an1
+ anc(t ) =
n
n 1
dt
dt
dt
d m1r (t )
dr (t )
d m r (t )
b0
+ b1
+ L + bm1
+ bm r (t )
m
m 1
dt
dt
dt
Bien oi Laplace 2 ve phng trnh tren, e y tnh chat anh cua

ao ham, gia thiet ieu kien au bang 0, ta c:
a0 s nC ( s ) + a1s n1C ( s ) + L + an1sC ( s ) + anC ( s ) =
b0 s m R( s ) + b1s m1R( s ) + L + bm1sR ( s ) + bm R( s )
9 February 2006
16
nh ngha ham truyen (tt)
Ham truyen cua he thong:
C ( s ) b0 s m + b1s m1 + L + bm1s + bm
G (s) =
=
R ( s ) a0 s n + a1s n1 + L + an1s + an
nh ngha: Ham truyen cua he thong la t so gia bien oi

Laplace cua tn hieu ra va bien oi Laplace cua tn hieu vao khi
ieu kien au bang 0.
Chu y: Mac du ham truyen c nh ngha la t so gia bien
oi Laplace cua tn hieu ra va bien oi Laplace cua tn hieu vao
nhng ham truyen khong phu thuoc vao tn hieu ra va tn hieu
vao ma ch phu thuoc vao cau truc va thong so cua he thong.
Do o co the dung ham truyen e mo ta he thong.
9 February 2006
17
Ham truyen cua cac phan t
Cach tm ham truyen

Bc 1: Thanh lap phng trnh vi phan mo ta quan he vao ra
cua phan t bang cach:
Ap dung cac nh luat Kirchoff, quan he dongap tren ien
tr, tu ien, cuon cam, oi vi cac phan t ien.
Ap dung cac nh luat Newton, quan he gia lc ma sat va
van toc, quan he gia lc va bien dang cua lo xo, oi vi
cac phan t c kh.
Ap dung cac nh luat truyen nhiet, nh luat bao toan nang
lng, oi vi cac phan t nhiet.
Bc 2: Bien oi Laplace hai ve phng trnh vi phan va

thanh lap bc 1, ta c ham truyen can tm.
Chu y: oi vi cac mach ien co the tm ham truyen theo
phng phap tong tr phc.
9 February 2006
18
Ham truyen cua cac bo ieu khien (khau hieu chnh)

Cac khau hieu chnh thu ong
Mach tch phan bac 1:
Mach vi phan bac 1:
9 February 2006
1
G(s) =
RCs + 1
G(s) =
RCs
RCs + 1
19

Cac khau hieu chnh thu ong (tt)
C
Mach sm pha:
R1
R2
KC =
R1 + R2
Mach tre pha:
R2
R2 R1C
T=
R1 + R2
R2
R1
C
KC = 1
9 February 2006
T = ( R1 + R2 )C
G (s) = KC
Ts + 1
Ts + 1
R1 + R2
=
>1
R2
G (s) = KC
Ts + 1
Ts + 1
R2
=
<1
R1 + R2
20

Cac khau hieu chnh tch cc
Khau t le P: (Proportional)
G (s) = K P
R2
KP =
R1
Khau tch phan t le PI: (Proportional Integral)
KI
G(s) = K P +
s
R2
KP =
R1
9 February 2006
1
KI =
R1C
21

Cac khau hieu chnh tch cc (tt)
Khau vi phan t le PD: (Proportional Derivative)
G (s) = K P + K D s
R2
KP =
R1
K D = R2C
Khau vi tch phan t le PID: (Proportional Integral Derivative)
KI
G (s) = K P +
+ KDs
s
1
R1C1 + R2C2
KI =
KP =
R1C2
R1C2
K D = R2C1
9 February 2006
22
Ham truyen cua cac oi tng thng gap

Ham truyen ong c DC
L : ien cam phan ng

R : ien tr phan ng
U : ien ap phan ng
E : sc phan ien ong
9 February 2006
: toc o ong c
Mt : moment tai
B : he so ma sat
J : moment quan tnh
23
Ham truyen cua cac oi tng thng gap (tt)

Ham truyen ong c DC (tt)
Ap dung nh luat Kirchoff cho mach ien phan ng:
di (t )
+ E (t )
U (t ) = i (t ).R + L
dt
E (t ) = K (t )
trong o:
(1)
(2)
K : he so
: t thong kch t
Ap dung nh luat Newton cho chuyen ong quay cua truc .c:
d (t )
(3)
M (t ) = M t (t ) + B (t ) + J
dt
(4)
trong o:
M (t ) = K i (t )
9 February 2006
24

Bien oi Laplace (1), (2), (3), (4) ta c:
at:
9 February 2006
U ( s ) = I ( s ).R + L sI ( s ) + E ( s )
(5)
E ( s ) = K ( s )
(6)
M ( s ) = M t ( s ) + B ( s ) + Js ( s )
(7)
M ( s ) = K i ( s )
(8)
L
T =
R
J
Tc =
B
hang so thi gian ien t cua ong c

hang so thi gian ien c cua ong c
25

(5) va (7) suy ra:
U ( s ) E ( s )
I (s) =
R (1 + T s )
(5)
M ( s) M t ( s)
( s) =
B (1 + Tc s )
(7)
T (5), (6), (7) va (8) ta co s o khoi ong c DC:
9 February 2006
26

Ham truyen lo nhiet
c(t)
r(t)
Cong suat ien
cap cho lo 100%
9 February 2006
Nhiet o lo
27

Ham truyen lo nhiet (tt)
9 February 2006
28

Xe o to
M: khoi lng xe
B he so ma sat
f(t): lc keo
v(t): toc o xe
Phng trnh vi phan:

Ham truyen:
vi
9 February 2006
dv (t )
M
+ Bv (t ) = f (t )
dt
V (s)
1
G(s) =
=
F ( s) Ms + B
1
K=
B
G( s) =
K
Ts + 1
M
T=
B
29

He thong giam xoc cua o to, xe may
M: khoi lng tac ong len banh xe,
B he so ma sat, K o cng lo xo
f(t): lc do xoc
y(t): dch chuyen cua than xe
Phng trnh vi phan:
dy (t )
d 2 y (t )
M
+B
+ Ky (t ) = f (t )
2
dt
dt
Ham truyen:
Y (s)
1
G(s) =
=
F ( s ) Ms 2 + Bs + K
9 February 2006
30

Thang may
MT: khoi lng buong thang,
M: khoi lng oi trong
B he so ma sat, K he so t le
(t): moment keo cua ong c
y(t): v tr buong thang
Phng trnh vi phan:
d 2 y (t )
dy (t )
MT
+
B
+ M T g = K (t ) + M g
2
dt
dt
Neu khoi lng oi trong

bang khoi lng buong thang:
Ham truyen:
d 2 y (t )
dy (t )
+B
= K (t )
MT
2
dt
dt
Y (s)
K
G (s) =
=
( s ) M T s 2 + Bs
Neu khoi lng buong thang khong bang khoi lng oi trong?
9 February 2006
31
Ham truyen cua cam bien

c(t)
Cam bien
cht(t)
Tn hieu cht(t) co la tn hieu t le vi c(t), do o ham truyen cua

cam bien thng la khau t le:
H ( s ) = K ht
TD: Gia s nhiet o lo thay oi trong tam c(t) = 05000C, neu

cam bien nhiet bien oi s thay oi nhiet o thanh s thay oi
ien ap trong tam cht(t) 05V, th ham truyen cua cam bien la:
H ( s ) = K ht = 0.01
Neu cam bien co tre, ham truyen cam bien la khau quan tnh bac
1:
K ht
H ( s) =
9 February 2006
1 + Tht s
32
Ham truyen cua he thong t ong
9 February 2006
33
ai so s o khoi
S o khoi
S o khoi cua mot he thong la hnh ve mo ta chc nang cua cac
phan t va s tac ong qua lai gia cac phan t trong he thong.
S o khoi co 3 thanh phan chnh la
Khoi chc nang: tn hieu ra bang ham truyen nhan tn hieu vao
Bo tong: tn hieu ra bang tong ai so cac tn hieu vao
iem re nhanh: tat ca tn hieu tai iem re nhanh eu bang nhau
bo tong
9 February 2006
khoi chc nang

iem re nhanh
34
ai so s o khoi
Ham truyen cua cac he thong n gian (tt)
He thong noi tiep
Gnt ( s ) = Gi ( s )
i =1
9 February 2006
35
ai so s o khoi
He thong song song
Gss ( s ) = Gi ( s )
i =1
9 February 2006
36
ai so s o khoi
He thong hoi tiep am
G(s)
Gk ( s ) =
1 + G ( s ).H ( s )
9 February 2006
He thong hoi tiep am n v
G( s)
Gk ( s) =
1 + G( s)
37
ai so s o khoi
He thong hoi tiep dng
G( s)
Gk ( s ) =
1 G ( s ).H ( s )
9 February 2006
He thong hoi tiep dng n v
G (s)
Gk ( s) =
1 G (s)
38
ai so s o khoi
Ham truyen cua he thong hoi tiep nhieu vong
oi vi cac he thong phc tap gom nhieu vong hoi tiep, ta thc
hien cac phep bien oi tng ng s o khoi e lam xuat hien
cac dang ghep noi n gian (noi tiep, song song, hoi tiep 1 vong)
va tnh ham truyen tng ng theo th t t trong ra ngoai.
Hai s o khoi c goi la tng ng neu hai s o khoi o co

quan he gia cac tn hieu vao va tn hieu ra nh nhau.
9 February 2006
39
ai so s o khoi
Cac phep bien oi tng ng s o khoi
Chuyen iem re nhanh t pha trc ra pha sau 1 khoi:
9 February 2006
40
ai so s o khoi
Chuyen iem re nhanh t pha sau ra pha trc 1 khoi:
9 February 2006
41
ai so s o khoi
Chuyen bo tong t pha trc ra pha sau 1 khoi:
9 February 2006
42
ai so s o khoi
Chuyen bo tong t pha sau ra pha trc 1 khoi:
9 February 2006
43
ai so s o khoi
Chuyen v tr hai bo tong:
9 February 2006
44
ai so s o khoi
Tach 1 bo tong thanh 2 bo tong :
9 February 2006
45
ai so s o khoi
Chu y
Khong c chuyen v tr iem re nhanh va bo tong :
Khong c chuyen v tr 2 bo tong khi gia 2 bo tong co iem re

nhanh :
9 February 2006
46
ai so s o khoi
Th du 1
Tnh ham truyen tng ng cua he thong co s o khoi nh sau:
9 February 2006
47
ai so s o khoi
Bai giai th du 1: Bien oi tng ng s o khoi
Chuyen v tr hai bo tong c va d,

Rut gon GA(s)=[G3(s)//G4(s)]
G A ( s ) = G3 ( s ) G4 ( s )
9 February 2006
48
ai so s o khoi

GB(s)=[G1(s) // ham truyen n v ] ,
GC (s)= vong hoi tiep[G2(s),GA(s)]:
GB ( s ) = 1 + G1 ( s )
GC ( s ) =
G2 ( s )
G2 ( s )
=
1 + G2 ( s ).GA ( s ) 1 + G2 ( s ).[G3 ( s ) G4 ( s )]
Ham truyen tng ng cua he thong:

Gtd ( s ) = GB ( s ).GC ( s )
[1 + G1 ( s )].G2 ( s )
Gtd ( s ) =
1 + G2 ( s ).[G3 ( s ) G4 ( s )]
9 February 2006
49
ai so s o khoi
Th du 2
9 February 2006
50
ai so s o khoi
Chuyen v tr hai bo tong d vae

Chuyen iem re nhanh f ra sau G2(s)
9 February 2006
51
ai so s o khoi
GB(s) = vong hoi tiep[G2(s), H2(s)]

GC(s) = [GA(s)// ham truyen n v ]
9 February 2006
52
ai so s o khoi
GD(s) = [GB (s) noi tiep GC(s) noi tiep G3(s)]
GE(s) = vong hoi tiep [GD(s), H3(s)]
9 February 2006
53
ai so s o khoi
Tnh toan cu the:
H1
* GA =
G2
G2
* GB =
1 + G2 H 2
H1 G2 + H1
* GC = 1 + GA = 1 +
=
G2
G2
G2 G2 + H1
G2G3 + G3 H1
* GD = GB .GC .G3 =
G3 =
1 + G2 H 2
1 + G2 H 2 G2
9 February 2006
54
ai so s o khoi
Tnh toan cu the (tt):
G2G3 + G3 H1
GD
1 + G2 H 2
=
* GE =
1 + GD H 3 1 + G2G3 + G3 H1 H
3
1 + G2 H 2
G2G3 + G3 H1
GE =
1 + G2 H 2 + G2G3 H 3 + G3 H1H 3
9 February 2006
55
ai so s o khoi
G2G3 + G3 H1
G1.
G1GE
1 + G2 H 2 + G2G3 H 3 + G3 H1H 3
* Gtd =
=
G2G3 + G3 H1
1 + G1GE 1 + G .
1
1 + G2 H 2 + G2G3 H 3 + G3 H1H 3
G1G2G3 + G1G3 H1
G=
1 + G2 H 2 + G2G3 H 3 + G3 H1H 3 + G1G2G3 + G1G3 H1
9 February 2006
56
ai so s o khoi
Th du 3
9 February 2006
57
ai so s o khoi
Hng dan giai th du 3: Bien oi tng ng s o khoi
Chuyen bo tong e ra trc G1(s),

sau o oi v tr 2 bo tong d vae
Chuyen iem re nhanh f ra sau G2(s)
9 February 2006
58
ai so s o khoi
Ket qua th du 3
Sinh vien t tnh
9 February 2006
59
ai so s o khoi
Mot so nhan xet
Phng phap bien oi s o khoi la mot phng phap n gian.
Khuyet iem cua phng phap bien oi s o khoi la khong
mang tnh he thong, moi s o cu the co the co nhieu cach bien
oi khac nhau, tuy theo trc giac cua ngi giai bai toan.
Khi tnh ham truyen tng ng ta phai thc hien nhieu phep
tnh tren cac phan thc ai so, oi vi cac he thong phc tap cac
phep tnh nay hay b nham lan.
Phng phap bien oi tng ng s o khoi ch thch hp e
tm ham truyen tng ng cua cac he thong n gian.
oi vi cac he thong phc tap ta co mot phng phap hieu qua
hn, o la phng phap s o dong tn hieu se c e cap en
muc tiep theo
9 February 2006
60
S o dong tn hieu
nh ngha
S o dong tn hieu la mot mang gom cac nut va nhanh.

Nut: la mot iem bieu dien mot bien hay tn hieu trong he thong.
Nhanh: la ng noi trc tiep 2 nut, tren moi nhanh co ghi mui ten ch
chieu truyen cua tn hieu va co ghi ham truyen cho biet moi quan he
gia tn hieu 2 nut.
Nut nguon: la nut ch co cac nhanh hng ra.
Nut ch: la nut ch co cac nhanh hng vao.
Nut hon hp: la nut co ca cac nhanh ra va cac nhanh vao.
9 February 2006
61
S o dong tn hieu
nh ngha (tt)
ng tien: la ng gom cac nhanh lien tiep co cung hng tn
hieu i t nut nguon en nut ch va ch qua moi nut mot lan.
o li cua mot ng tien la tch cua cac ham truyen cua cac
nhanh tren ng tien o.
Vong kn: la ng khep kn gom cac nhanh lien tiep co cung
hng tn hieu va ch qua moi nut mot lan.
o li cua mot vong kn tch cua cac ham truyen cua cac nhanh
tren vong kn o.
9 February 2006
62
S o dong tn hieu
Cong thc Mason
Ham truyen tng ng t mot nut nguon en mot nut ch cua he

thong t ong bieu dien bang s o dong tn hieu c cho bi:
1
G = k Pk
k
9 February 2006
63
S o dong tn hieu
Th du 1
Tnh ham truyen tng ng cua he thong co s o dong tn hieu

nh sau:
Giai:
ng
tien:
P1 = G1G2G3G4G5
P2 = G1G6G4G5
P3 = G1G2G7
9 February 2006
Vong
kn:
L1 = G4 H1
L2 = G2G7 H 2
L3 = G6G4G5 H 2
L4 = G2G3G4G5 H 2
64
S o dong tn hieu
Th du 1 (tt)
nh thc cua s o dong tn

hieu: = 1 ( L1 + L2 + L3 + L4 ) + L1L2
Cac nh thc con:

1 = 1
2 = 1
3 = 1 L1

1
Gtd = ( P11 + P2 2 + P3 3 )
Gtd =
G1G2G3G4G5 + G1G6G4G5 + G1G2G7 (1 + G4 H1 )

1 + G4 H1 + G2G7 H 2 + G6G4G5 H 2 + G2G3G4G5 H 2 + G4 H1G2G7 H 2
9 February 2006
65
S o dong tn hieu
Th du 2
Giai:
9 February 2006
66
S o dong tn hieu
Th du 2 (tt)
ng
tien:
Vong
kn:
L1 = G2 H 2
P1 = G1G2G3
L2 = G2G3 H 3
L3 = G1G2G3
L4 = G3 H1H 3
L5 = G1G3 H1
P2 = G1H1G3
9 February 2006
67
S o dong tn hieu
Th du 2 (tt)

hieu: = 1 ( L + L + L + L + L )
1
2
3
4
5
Cac nh thc con:

1 = 1
2 = 1

1
Gtd = ( P11 + P2 2 )
G1G2G3 + G1G3 H1
Gtd =
1 + G2 H 2 + G2G3 H 3 + G1G2G3 + G3 H1H 3 + G1G3 H1
9 February 2006
68
S o dong tn hieu
Th du 3
Giai:
9 February 2006
69
S o dong tn hieu
Th du 3 (tt)
ng
tien:
Vong
kn:
L1 = G1H 2
P1 = G1G2G3
L2 = G1G2 H1
L3 = G1G2G3
L4 = G2G3 H 3
L5 = G4
P2 = G4
9 February 2006
70
S o dong tn hieu
Th du 3 (tt)
hie
= 1u: ( L1 + L2 + L3 + L4 + L5 ) + ( L1L4 + L1L5 + L2 L5 + L4 L5 ) L1L4 L5
Cac nh thc con:

1 = 1
2 = 1 ( L1 + L2 + L4 ) + ( L1L4 )

1
Gtd = ( P11 + P2 2 )
9 February 2006
71
9 February 2006
72
Trang thai cua he thong
Trang thai: Trang thai cua mot he thong la tap hp nho nhat
cac bien (goi la bien trang thai) ma neu biet gia tr cua cac bien
nay tai thi iem t0 va biet cac tn hieu vao thi iem t > t0, ta
hoan toan co the xac nh c ap ng cua he thong tai moi
thi iem t t0.
He thong bac n co n bien trang thai. Cac bien trang thai co the
chon la bien vat ly hoac khong phai la bien vat ly.
Vector trang thai: n bien trang thai hp thanh vector cot:
x = [x1
goi la vevtor trang thai.
9 February 2006
x2 K xn ]
73
Bang cach s dung cac bien trang thai, ta co the chuyen phng
trnh vi phan bac n mo ta he thong thanh he gom n phng
trnh vi phan bac nhat, (he phng trnh trang thai)
x& (t ) = Ax(t ) + Br (t )
c(t ) = Cx(t )
trong o
a11 a12 K a1n
a
a
K
a
22
2n
A = 21
M
M
M
a
a
K
a
nn
n1 n 2
b1
b
B = 2
M

bn
(*)
C = [c1 c 2 K c n ]
Chu y: Tuy theo cach at bien trang thai ma mot he thong co the
c mo ta bang nhieu phng trnh trang thai khac nhau.
Neu A la ma tran thng, ta goi (*) la phng trnh trang thai
dang thng, neu A la ma tran cheo, ta goi (*) la phng trnh
trang thai dang chnh tac.
9 February 2006
74
Vai th du ve phng trnh trang thai

Th du 1: He thong giam xoc cua o to, xe may
Phng trnh vi phan:
d 2 y (t )
dy (t )
M
+
+ Ky (t ) = f (t )
B
2
dt
dt
at:
(*)
x&1 (t ) = x2 (t )
x1 (t ) = y (t )
K
B
1

&
x
(
t
)
x
(
t
)
x
(
t
)
f (t )
=
+
&
1
2
x2 (t ) = y (t )
2
M
M
M
1 x (t ) 0
x&1 (t ) 0
1
K
B
=
.
+ 1 f (t )
x& (t )
x2 (t )
2 M
M
M
x1 (t )
y (t ) = [1 0]
x
t
(
)
2
1
0
0
x& (t ) = Ax(t ) + Bf (t )
B B = 1 C = [1 0]
A= K
M
M
M
y (t ) = Dx(t )
9 February 2006
75

Th du 2: ong c DC
L : ien cam phan ng

R : ien tr phan ng
U : ien ap phan ng
E : sc phan ien ong
9 February 2006
: toc o ong c
Mt : moment tai
B : he so ma sat
J : moment quan tnh
76

Th du 2: ong c DC (tt)
Ap dung nh luat Kirchoff cho mach ien phan ng:
di (t )
+ E (t )
U (t ) = i (t ).R + L
dt
trong o:
E (t ) = K (t )
(1)
(2)
K : he so
: t thong kch t
Ap dung nh luat Newton cho chuyen ong quay cua truc .c

(e n gian gia s moment tai bang 0):
trong o:
9 February 2006
d (t )
M (t ) = B (t ) + J
dt
M (t ) = K i (t )
(3)
(4)
77

di (t )
R
K
1
(1) & (2)
= i (t )
(t ) + U (t )
dt
L
L
L
B
d (t ) K
=
i (t ) (t )
(3) & (4)
J
dt
J
x1 (t ) = i (t )
at:
x2 (t ) = (t )
(5)
(6)
1
R
K
x&1 (t ) = L x1 (t ) L x2 (t ) + L U (t )
(5) & (6)

x&2 (t ) = K x1 (t ) B x2 (t )
J
J
9 February 2006
78

&
(
)
x
t
1
L
=
x& (t )
2 K
J
K
1
(
)
x
t
L 1 + U (t )
L
B x2 (t )
x1 (t )
(t ) = [0 1]
x2 (t )
x& (t ) = Ax(t ) + BU u (t )
(t ) = Dx(t )
trong o:
9 February 2006
R
L
A=
K
J
1
B = L

0
C = [0 1]
79
Cach thanh lap PTTT t PTVP

Trng hp 1: Ve phai cua PTVP khong cha ao ham cua tn hieu vao
He thong mo ta bi PTVP
dc(t )
d nc(t )
d n1c(t )
+ a1
+ L + an1
+ anc(t ) = b0 r (t )
a0
n
n 1
dt
dt
dt
at bien trang thai theo qui tac:

Bien au tien at bang tn hieu ra:
Bien th i (i=2..n) at bang ao ham
cua bien th i1:
x1 (t ) = c(t )
x2 (t ) = x&1 (t )
x3 (t ) = x& 2 (t )
M
xn (t ) = x& n1 (t )
9 February 2006
80

Trng hp 1 (tt)
Phng trnh trang thai:
trong o:
x1 (t )
x (t )
2
x(t ) = M
xn1 (t )
xn (t )
0
0
A= M
0
an
a0
x& (t ) = Ax(t ) + Br (t )
c(t ) = Cx(t )
1
0
0
1
M
0
an1
a0
M
0
an2
a0
0
0
1
K
a1
K
a0
K
K
0
0

B= M

0
b0
a0
C = [1 0 K 0 0]
Chng minh: xem LT KT, trang 64-65

9 February 2006
81

Th du trng hp 1
Viet PTTT mo ta he thong co quan he vao ra cho bi PTVP sau:

2&c&&(t ) + 5c&&(t ) + 6c&(t ) + 10c(t ) = r (t )
at cac bien trang thai:

trong o:
0
A= 0
a
3
a0
9 February 2006
1
0
a
2
a0
x1 (t ) = c(t )
x2 (t ) = x&1 (t )
x (t ) = x& (t )
2
3
x& (t ) = Ax(t ) + Br (t )
c(t ) = Cx(t )
0 0
1
0
1 = 0
0
1
a1
5 3 2.5
a0

0 0
B= 0 = 0
b
0 0.5
a0
C = [1 0 0]
82

Trng hp 2: Ve phai cua PTVP co cha ao ham cua tn hieu vao
He thong mo ta bi PTVP:
d n1c(t )
dc(t )
d nc(t )
+ a1
+ L + an1
+ anc(t ) =
a0
n
n 1
dt
dt
dt
d n1r (t )
d n2 r (t )
dr (t )
b0
+ b1
+ L + bn2
+ bn1r (t )
n 1
n 1
dt
dt
dt
Chu y: ao ham ve phai thap hn ao ham ve trai 1 bac
x1 (t ) = c(t )
Bien au tien at bang tn hieu ra:
x2 (t ) = x&1 (t ) 1r (t )
Bien th i (i=2..n) at bang ao ham
cua bien th i1 tr 1 lng t le vi x3 (t ) = x& 2 (t ) 2 r (t )
M
tn hieu vao:
xn (t ) = x& n1 (t ) n1r (t )
9 February 2006
83

Trng hp 2 (tt)
x& (t ) = Ax(t ) + Br (t )
c(t ) = Cx(t )
trong o:
x1 (t )
x (t )
2
x(t ) = M
x
t
(
)
n1
xn (t )
0
0
A= M
0
an
a0
0
an1
a0
0
an2
a0
0
0
K
1
K
a1
K
a0
K
1

2
B= M
n1
n
C = [1 0 K 0 0]
9 February 2006
84

Trng hp 2 (tt)
Cac he so trong vector B xac nh nh sau:

b0
1 =
a0
b1 a11
2 =
a0
b2 a1 2 a2 1
3 =
a0
M
n =
bn1 a1 n1 a2 n2 K an11
a0
Chng minh trng hp n=3: xem LT KT, trang 67-68

9 February 2006
85

Th du trng hp 2

2&c&&(t ) + 5c&&(t ) + 6c&(t ) + 10c(t ) = 10r&(t ) + 20r (t )
at cac bien trang thai:
x1 (t ) = c(t )
x2 (t ) = x&1 (t ) 1r (t )
x (t ) = x& (t ) r (t )
2
2
3
x& (t ) = Ax(t ) + Br (t )
c(t ) = Cx(t )
trong o:
0
A= 0
a
3
a0
9 February 2006
1
0
a
2
a0
0 0
1
0
1 = 0
0
1
a1
5 3 2.5
a0
1
B = 2

3
C = [1 0 0]
86

Th du trng hp 2 (tt)
Cac he so cua vector B xac nh nh sau:
b0 0
1 = a = 2 = 0
0
b1 a11 10 5 0
=
=
=5
2
2
a0
= b2 a1 2 a2 1 = 20 5 10 6 0 = 15
3
2
a0
0
B= 5
15
9 February 2006
87
Thanh lap PTTT t PTVP dung phng phap toa o pha
Xet he thong mo ta bi phng trnh vi phan

dc(t )
d nc(t )
d n1c(t )
+
+
L
+
a
+ anc(t ) =
a0
a
1
n 1
n
n 1
dt
dt
dt
dr (t )
d n1r (t )
d n2 r (t )
+
+
L
+
b
+ bn1r (t )
b0
b
1
n2
n 1
n 1
dt
dt
dt

Bien trang thai au tien la nghiem cua phng trnh:
d n x1 (t ) a1 d n1 x1 (t )
an1 dx1 (t ) an
+
+L+
+ x1 ( k ) = r ( k )
n
n 1
a0 dt
a0 dt
a0
dt
Bien
th i (i=2..n) at ao ham
bien i1
x2 (t ) = x&1 (t )
x3 (t ) = x&2 (t )
M
xn (t ) = x&n1 (t )
9 February 2006
88
Thanh lap PTTT t PTVP dung phng phap toa o pha
x& (t ) = Ax(t ) + Br (t )
c(t ) = Cx(t )
trong o:
x1 (t )
x (t )
2
x(t ) =
M
xn (t )
0
0
A= M
0
an
a0
bm
C=
a0
9 February 2006
0
an1
a0
0
an2
a0
bm1
b0
K
a0
a0
0
0
K
1
K
a1
K
a0
K
0
0

B = M

0
1
0 K 0
89
Th du thanh lap PTTT t PTVP dung PP toa o pha

2&c&&(t ) + c&&(t ) + 5c&(t ) + 4c(t ) = &r&(t ) + 3r (t )
at bien trang thai theo phng phap toa o pha, ta c phng

trnh trang thai:
x(t ) = Ax(t ) + Br (t )
c(t ) = Cx(t )
trong o:
0
A= 0
a
3
a0
1
0
a2
a0
0 0
1
0
1 = 0
0
1
a1
2 2.5 0.5
a0
b2
C=
a0
9 February 2006
b1
a0
0
B = 0

1
b0
= [1.5 0 0.5]
a0
90
Thanh lap PTTT t s o khoi

Th du
Hay thanh lap he phng trnh trang thai mo ta he thong co s o

khoi nh sau:
R(s)
C(s)
10
s ( s + 1)( s + 3)
at bien trang thai tren s o khoi:

R(s)
9 February 2006
1
s
X3(s)
1
( s + 1)
X2(s)
10
( s + 3)
X1(s)
C(s)
91

Th du (tt)
Theo s o khoi, ta co:

10
X 1 (s) =
X 2 (s)
s+3
sX 1 ( s ) + 3 X 1 ( s ) = 10 X 2 ( s )
x&1 (t ) = 3 x1 (t ) + 10 x2 (t )
1
X 2 (s) =
X 3 (s)
s +1
sX 2 ( s ) + X 2 ( s ) = X 3 ( s )
x&2 (t ) = x2 (t ) + x3 (t )
X 3 (s) =
1
(R ( s ) C ( s ) )
s
(2)
sX 3 ( s ) = R ( s ) X 1 ( s )
x&3 (t ) = x1 (t ) + r (t )
9 February 2006
(1)
(3)
92

Th du (tt)
Ket hp (1), (2), va (3) ta c phng trnh trang thai:

x&1 (t ) 3 10 0 x1 (t ) 0
x& (t ) = 0 1 1 x (t ) + 0 r (t )
2
2
x&3 (t ) 1 0 0 x3 (t ) 1
123 14
4244
3 123 {
B
x& (t )
A
x (t )
ap ng cua he thong:
x1 (t )
c(t ) = x1 (t ) = [1 0 0] x2 (t )
1424
3
x3 (t )
C
9 February 2006
93
Tnh ham truyen t PTTT
Cho he thong mo ta bi PTTT:
x& (t ) = Ax(t ) + Br (t )
c(t ) = Cx(t )
Ham truyen cua he thong la:
C (s)
-1
G (s) =
= C (sI A ) B
R( s)
Chng minh: xem LT KT, trang 78
9 February 2006
94

Th du
Tnh ham truyen cua he thong mo ta bi PTTT:
x& (t ) = Ax(t ) + Br (t )
c(t ) = Cx(t )
trong o
1
0
A=
3
B=
1
C = [1 0]
Giai: Ham truyen cua he thong la:
C (s)
-1
G (s) =
= C (sI A ) B
R( s)
9 February 2006
95

Th du (tt)
1 s 1
1 0 0
( sI A ) = s
+
0
1
3
2
s
3
( sI A )
s + 3 1
s 1
1
=
=
2 s
2
s
3
+
s
(
s
3
)
2
.(
1
)
+
s + 3 1
1
1
[
]
[s + 3 1]
C ( sI A ) = 2
= 2
1 0
s + 3s + 2
2 s s + 3s + 2
3 3( s + 3) + 1
1
1
[s + 3 1] = 2
C ( sI A ) B = 2
s + 3s + 2
1 s + 3s + 2
1
3s + 10
G(s) = 2
s + 3s + 2
9 February 2006
96
Nghiem cua phng trnh trang thai
Nghiem cua phng trnh trang thai x& (t ) = Ax (t ) + Br (t ) ?

t
x(t ) = (t ) x(0 ) + (t ) BR( )d

+
Trong o:
(t ) = L 1[ ( s )]
ma tran qua o
( s ) = ( sI A) 1
Chng minh: xem Ly thuyet ieu khien t ong
ap ng cua he thong?
c(t ) = Dx(t )
Th du: xem TD 2.15, Ly thuyet ieu khien t ong
9 February 2006
97
Tom tat quan he gia cac dang mo ta toan hoc
PT vi phan
-1
at x
Ham truyen
PT trang thai
G ( s ) = C ( sI A ) B
-1
9 February 2006
98

Chuong2 LTDKTD

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Chuong2 LTDKTD

Uploaded by

Copyright:

Available Formats

Mon hoc

LY THUYET IEU KHIEN T ONG

H. T. Hong - HBK TPHCM

MO HNH TOAN HOC

H. T. Hong - HBK TPHCM

Noi dung chng 2

Khai niem ve mo hnh toan hoc

H. T. Hong - HBK TPHCM

Khai niem ve mo hnh toan hoc

H. T. Hong - HBK TPHCM

Khai niem ve mo hnh toan hoc

He thong ieu khien thc te rat a dang va co ban chat vat ly

He thong tuyen tnh

n: bac cua he thong, he thong hp thc neu nm.

H. T. Hong - HBK TPHCM

Mot so th du mo ta he thong bang phng trnh vi phan

H. T. Hong - HBK TPHCM

Mot so th du mo ta he thong bang phng trnh vi phan

M: khoi lng tac ong len banh xe,

H. T. Hong - HBK TPHCM

Mot so th du mo ta he thong bang phng trnh vi phan

MT: khoi lng buong thang, M: khoi lng oi trong

H. T. Hong - HBK TPHCM

Han che cua mo hnh toan di dang phng trnh vi phan

Phng trnh vi phan bac n (n>2) rat kho giai

Phan tch he thong da vao mo hnh toan la phng trnh vi

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

Phep bien oi Laplace

H. T. Hong - HBK TPHCM

Phep bien oi Laplace (tt)

L {a. f (t ) + b.g (t )} = a.F ( s ) + b.G ( s )

cua tch phan

H. T. Hong - HBK TPHCM

Phep bien oi Laplace (tt)

Bien oi Laplace cua cac ham c ban:

dirac: thng dung e mo ta nhieu

H. T. Hong - HBK TPHCM

Phep bien oi Laplace (tt)

Bien oi Laplace cua cac ham c ban (tt):

H. T. Hong - HBK TPHCM

Phep bien oi Laplace (tt)

Bien oi Laplace cua cac ham c ban (tt):

Bang bien oi Laplace: SV can hoc thuoc bien oi Laplace cua

H. T. Hong - HBK TPHCM

nh ngha ham truyen

Xet he thong mo ta bi phng trnh vi phan:

He thong tuyen tnh

Bien oi Laplace 2 ve phng trnh tren, e y tnh chat anh cua

a0 s nC ( s ) + a1s n1C ( s ) + L + an1sC ( s ) + anC ( s ) =

b0 s m R( s ) + b1s m1R( s ) + L + bm1sR ( s ) + bm R( s )

H. T. Hong - HBK TPHCM

nh ngha ham truyen (tt)

Ham truyen cua he thong:

nh ngha: Ham truyen cua he thong la t so gia bien oi

H. T. Hong - HBK TPHCM

Ham truyen cua cac phan t

Cach tm ham truyen

Bc 2: Bien oi Laplace hai ve phng trnh vi phan va

H. T. Hong - HBK TPHCM

Ham truyen cua cac bo ieu khien (khau hieu chnh)

Mach tch phan bac 1:

Mach vi phan bac 1: