MN HC

C S T NG
Ging vin: Nguyn c Hong
B mn iu Khin T ng
Khoa in in T
i Hc Bch Khoa Tp.HCM
Email: ndhoang@hcmut.edu.vn

CHNG 2

M HNH TON HC
H THNG LIN TC

Phng trnh trng thi

Trng thi ca mt h thng l tp hp nh nht cc
bin (bin trng thi) m nu bit gi tr cc bin ny ti
t0 v cc tn hiu vo t > t0 , ta hon ton c th xc
nh c p ng ca h thng ti mi thi im t t0.
Vector trng thi :

x x1

x 2 ... x n

Phng trnh trng thi

S dng bin trng thi c th chuyn PTVP bc n m
t h thng thnh h gm n PTVP bc nht (h PTTT)

& Ax(t) Bu(t)

x(t)

y(t) Cx(t) Du(t)

Trong (h SISO)

a11 a12
a
a 22
21
A
M M

a n1 a n2

L
L
O
L

a1n

a 2n
B
M

a nn

b1
b 2 C c1

M
Dd

b n

c2 L

cn

Phng trnh trng thi

V d 1: H thng gim xc

K
C
1
&
y& y y& P(t)
m
m
m
t

x1 y

x 2 y&

x&1 x 2
K
C
1
y& x1 x 2 P(t)
x&2 &
m
m
m

Phng trnh trng thi

V d 1: H thng gim xc (tt)

0
1

x
x&1

K
C *

x2
{x&2
{
m
1 4m

4 2 4 43
x
x&
A

x1
y

1
0
*

1
x
{
{
2

y
{
C
x

0
1 * P(t)
{

u
{
m
B

Phng trnh trng thi

V d 2: Mng RLC

x1 v 2 (t)
x1 v 2 (t)
P
PTTT2 ?

x 2 v&2 (t)
x 2 i(t)

Phng trnh trng thi

V d 2: Mng RLC (tt)

x&1

PTTT1 :
1
R


{x&2
LC2 4 4
L3
1 44
x&
A

1
0

x&1
C
PTTT2 :

{x&2
1 R
L

x&
L
14243
A

x1
1 * v (t)
*

x
{1

{
2
u
LC

{
x
B

x1
1 * v (t)
*

x
{1

{
2
u
L

{
x
B

Phng trnh trng thi

V d 3:

m1&
y&1 K 2 (y 2 y1 ) K1y1 P(t) C1y&1
m 2&
y&2 K 2 (y 2 y1 )

x1 y1
x y&
2
1
x3 y2
x 4 y&2

PTTT ?

Thnh lp PTTT t PTVP

TH1: V phi PTVP khng cha o hm tn hiu vo
H thng m t bi PTVP
n

n 1

d y(t)
d y(t)
dy(t)
a 0 n a1 n 1 L a n 1
a n y(t) b0 u(t)
dt
dt
dt
t bin trng thi theo quy tc
Bin u tin bng tn hiu ra
Bin tip theo bng o hm
bin trc

x1 (t) y(t)
x 2 (t) x&1 (t)
M
x n (t) x&n 1 (t)

Thnh lpPTTT t PTVP

TH1: V phi PTVP khng cha o hm
tn
hiu vo x(t)
(tt) Ax(t) Bu(t)
PTTT
&

y(t) Cx(t) Du(t)

x(t) x1 (t) x 2 (t) L

x n 1 (t) x n (t)

0
0

1
0

0
1

L
L

M
0
a
n
a0

M
0
a
n 1
a0

M
0
a
n 2
a0

O
L
L

0
0

1
a1

a 0

0
0

M
B
0
b 0

a 0

C 1 0 L

D0

0 0

Thnh lpPTTT t PTVP

TH1: V phi PTVP khng cha o hm tn hiu vo (tt)
Vit PTTT m t h thng c m t bng
PTVP sau
&
& y(t)
& 4y(t) 6u(t)
2y(t)
x1 (t) y(t)

x 2 (t) x&1 (t)

0
a2

a0

PTTT

1
1
0

a1

0.5

a 0

& Ax(t) Bu(t)

x(t)

y(t) Cx(t) Du(t)

0
0

B b0

3

a 0

C 1 0

D0

Thnh lpPTTT t PTVP

TH2: V phi PTVP cha o hm tn
hiu
vo m t bi PTVP
H
thng
n

n 1

d y(t)
d y(t)
dy(t)
a 0 n a1 n 1 L a n 1
a n y(t)
dt
dt
dt
d n 1u(t)
d n 2 u(t)
du(t)
b0 n 1 b1 n 2 L b n 2
b n 1u(t)
dt
dt
dt

t bin trng thi theo quy tc

x1 (t) y(t)
Bin u tin bng tn
x 2 (t) x&1 (t) 1u(t)
hiu ra
Bin tip theo bng M
x n (t) x&n 1 (t) n 1u(t)
o hm

Thnh lpPTTT t PTVP

TH2: V phi PTVP cha o hm tn hiu
vo (tt)
& Ax(t) Bu(t)
x(t)
PTTT

y(t) Cx(t) Du(t)

x(t) x1 (t) x 2 (t) L

x n 1 (t) x n (t)

0
0

1
0

0
1

L
L

M
0
a
n
a0

M
0
a
n 1
a0

M
0
a
n 2
a0

O
L
L

0
0

1
a1

a 0

1

2
B M

n 1
n

C 1 0 L

D0

0 0

Thnh lpPTTT t PTVP

TH2: V phi PTVP cha o hm tn hiu
vo (tt)
Cc h s c xc nh nh sau

b0
1
a0
b1 a11
2
a0
M
b n 1 a1n 1 a 2n 2 L a n 11
n
a0

Thnh lpPTTT t PTVP

TH2: V phi PTVP cha o hm tn hiu
vo (tt)
Vit PTTT m t h thng c m t bng
PTVP
&
&sau y(t)
& 4y(t) 6u(t)
& 3u(t)
2y(t)
x1 (t) y(t)

x 2 (t) x&1 (t) 1u(t)

0
a2

a0

C 1 0

PTTT

1
1
0

a1

0.5

a 0
D0

& Ax(t) Bu(t)

x(t)

y(t) Cx(t) Du(t)

b0
a0

b1 a11

a
0

3

0

Thnh lpPTTT t PTVP

dng phng php ta
pha
(Xem sch)

Thnh lpPTTT t s
khi

X1 (s)
10

sX1 (s) 5X1 (s) 10X 2 (s)

X 2 (s) s 5
x&1 5x1 10x 2

Thnh lpPTTT t s
khi
x&1
5 10 0
x& 0 0 1 *
2

x&3
1 0 1
x1

y 1 0 0 * x 2

x 3

x1 0
x 1 * u
2
x 3 0

Tnh hm truyn t PTTT

Cho PTTT

& Ax(t) Bu(t)

x(t)

y(t) Cx(t) Du(t)

Suy ra hm truyn ca
h thng l

G(s) D C *(sI A) * B

Mi quan h
gia cc m t ton hc
PTVP

Hm
truyn

PTTT