H phi tuyn

V d 1: Bn nc

1
y& t ku t aCD 2gy t
A

H phi tuyn
bc 1

H phi tuyn
V d 2: Cnh tay my

&
& t

ml Mlc
B &
1
t
g cos
u t
2
2
2
J ml
J ml
J ml
H phi tuyn
bc 2

H phi tuyn
V d 3: H thng li tu

1 1

k
1
3
&
&
&& t
&
&
&& t

3 t t
1 2
1 2

12

H phi tuyn
bc 3

M t h phi tuyn dng

PTTT
H phi tuyn c th c m t bi PTTT
sau:

x& t f x t ,u t

y t h x t ,u t
Trong :
y(t) : tn hiu ra
u(t) : tn hiu vo
x(t) : cc bin trng thi
f(.), h(.) : cc hm phi
tuyn

M t h phi tuyn dng

PTTT
V d 1: Bn nc

1
y& t ku t aCD 2gy t
A

t x1(t) = y(t)

PTTT :

x& t

aCD 2gx1 t

y x1 t

k
u t
A

M t h phi tuyn dng

PTTT
V d 1: Cnh tay my

&
& t

ml Mlc
B &
1
t
g cos
u t
2
2
2
J ml
J ml
J ml

x1 t t , x 2 t & t
x2 t

x& t

ml Mlc

B
1

PTTT :

g
cos
x
t

x
t

u
t

1
2
2 2
2

ml
J

ml
J

ml

y x1 t

Phng php tuyn tnh

ha
Xt h phi tuyn c m t bi PTTT
sau:

x& t f x t ,u t

y t h x t ,u t
Trng thi
c gi l dng nu h ang
x
x
trng thi v
u tc ng iu khin c
nh khng i th h gi nguyn trng
thi
: im lm vic
x,u .
tnh

f x t ,u t

x x,u u

Tuyn tnh ha h phi tuyn

xung quanh im lm vic tnh
Xt h phi tuyn c m t bi PTTT
sau:
x& t f x t ,u t

y t h x t ,u t

Khai trin Taylor f(.) v h(.) xung quanh

im lm vic tnh ta c th m t h
thng bng PTTT tuyn tnh.

x&
% t Ax% t Bu% t
y% t Cx% t Du% t

x% t x t x t
u% t u t u t

y% t y t y t , y t h x,u

Tuyn tnh ha h phi tuyn

xung quanh im lm vic tnh
Cc ma trn trng thi:
f1 f1
x x L
1
2

f1
x n

f 2
f 2 f 2
L

x n
A x1 x 2

M M O M
f f

f
n
n
n
L
x n
x1 x 2
h h
C
L
x1 x 2

x n

x,u

x,u

f1
u

f n
B u
M

f n
u

x,u

h
D
u

x,u

Tuyn tnh ha h phi tuyn

xung quanh im lm vic tnh
V d 1: Bn nc

x& t 0.3544 x1 t 1.5u t

PTTT :

y x1 t

Tuyn tnh ha quanh im lm vic y(t)

= 20cm ?
im tnh:

x 20
f x,u 0.3544 20 0.9465u 0 u 1.0567

Tuyn tnh ha h phi tuyn

xung quanh im lm vic tnh
V d 1: Bn nc (tt)
Cc ma trn trng thi:
f1
f1
A
0.0396, B
1.5
x1 x,u
u x,u
h
C
1,
x1 x,u

h
D
0
u x,u

Vy PTTT quanh im y = 20cm:

x&
% t 0.0396x% t 1.5u% t
y% t x% t

Tuyn tnh ha h phi tuyn

xung quanh im lm vic tnh
V d 2: Cnh tay my

x2 t

x& t

32.7cos x1 t 0.1111x 2 t 22.2222u t

PTTT :

y x1 t

Tuyn tnh ha quanh im lm vic y(t)

=
/6 rad
im
tnh:?

x 6 , u 1.2744
0

Tuyn tnh ha h phi tuyn

xung quanh im lm vic tnh
V d 2: Cnh tay my (tt)
Cc ma trn trng thi:

1
0

A
, B

16.35

0.1111
22.2222

C 1 0 ,
D 0
0

Vy PTTT quanh im y = /6 (rad):

x&
% t Ax% t Bu% t
y% t Cx% t

M t h phi tuyn dng

PTTT
V d 3: Cho h bn nc i

L&1 t 0.2260 L1 t 0.2964Vp

L&2 t 0.0156 L 2 t 0.0051 L1 t

Tuyn tnh ha
quanh im lm vic L2 =
15cm?

M t h phi tuyn dng

PTTT
V d 4: Cho h
bn nc

L& t

Fin t 4 L t

314 36L t L2 t

Tuyn tnh ha
quanh im lm
15cm?

vic