i hc Bch Khoa TPHCM

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

KIM TRA GIA K 1. Nm hc 2010-2011

Mn: C s t ng
Ngy thi: 02/11/2010
Thi gian lm bi: 60 pht
(Sinh vin khng c php s dng ti liu in hoc photo)

Bi 1: (2.0 im) Tnh hm truyn tng ng ca h thng c s khi hnh 1

R(s)

_
+_

_
+

G1(s)

G3(s)

+
+

Y(s)

G4(s)

G2(s)
+
+

Hnh 1

G5(s)
Bi 2: (2.0 im) Chn 1 trong 2 cu 2A hoc 2B
2A. Vit phng trnh trng thi m t h kn hnh 2 vi hai bin trng thi x1(t) v x2(t) cho trn
s , bin x3(t) t chn.
r(t)

x2
x1 y(t)
1
2
s 2 2s 3
s5

+_

Hnh 2

2B. Cho h thng phi tuyn b c 2 nh sau viu(t) l tn hi u u vo, y(t) l tn hi u u ra.
x 1 (t ) x1 (t ) x2 (t ) x2 (t )

x 2 (t ) x1 (t ) x2 (t ) x2 (t ) 2u (t )
y (t ) 2 x1 (t ) u (t )

Vit phng trnh bin trng thi tuyn tnh ha ti im lm vi c x [1 4]T , u 1 .

Bi 3: (3.0 im) Cho h thng hnh 3.
R(s)

+_

Y(s)

G (s)

G(s)

Hnh 3

25( s K )
s 2 ( s 9)

3.1 V QNS ca h thng khi 0 K . Tm iu kin ca K h thng n nh.

3.2 Tm cc thuc QNS c dng s j 1 2 vi =0.5 , tm K lc .
Bi 4: (3.0 im) Cho h thng hi tip m n v c hm truyn h l G ( s )

200( s 0.4)e 0.1s

s 2 ( s 10) 2

4.1 V biu Bode bin v pha ca G(s).

4.2. nh gi tnh n nh ca h kn
4.3. Da vo c tnh tn s ca G(s), bn hy cho nhn xt v vt l, thi gian qu v sai s
xc lp khi tn hiu vo lm nc n v.
(Ht)
CNBM
p n

Cu 1. (2im)
ng tin: P1 G1G3G4 ; P2 G1G4
(0.5)
Vng kn:
(0.5)

L1 G1G2 ; L2 G3 ; L3 G4G5 ; L4 G1G3G4 ; L5 G1G4

nh thc chnh:
1 L1 L2 L3 L4 L5 L1 L3 L2 L3

(0.5)

1 G1G2 G3 G4G5 G1G3G4 G1G4 G1G2G4G5 G3G4G5

nh thc con: 1 1; 2 1
Hm truyn tng ng:
C s
Gtd s
R s

1 P1 2 P2

(0.5)

G1G3G4 G1G4
1 G1G2 G3 G4G5 G3G4G5 G1G2G4G5 G1G3G4 G1G4

(Sinh vin gii dng phng php bin i s khi ra kt qu ng vn c tnh im)
Cu 2A. (2im)
T s , ta c:
2
X1 s
X s x&1 t 5 x1 t 2 x2 t
s5 2
1
&
R s X 1 s &
X2 s 2
x&
2 t 2 x 2 t 3 x 2 t r t x1 t
s 2s 3
x 3 ( t ) x 2 ( t )
t :
Thay vo (2) ta c: x 3 ( t ) 3 x2 ( t ) 2 x3 ( t ) x1 ( t ) r ( t )

(1)

(0.5)

(2)

(0.5)

(3)
(4)

(0.5)

Kt hp vi (1), (3) v (4) ta c PTTT:

x&1 t

x&2 t

x&3 t

y t

5 x1 t 2 x2 t
x3 t

2 x3 t 3 x2 t x1 t r t
x1 t

x&1 t
5 2 0

x&2 t 0 0 1

1 3 2
x&3 t

x1 t

y
t

1
0
0
x
t

x2 t

x1 t

x2 t

x2 t

0
0 r t

(0.5)

Cu 2B. (2im)
f1 ( t ) x1 ( t ) x2 ( t ) x2 ( t )
f 2 ( t ) x1 ( t ) x2 ( t ) x2 ( t ) 2u( t )
h( t ) 2 x1 ( t ) u( t )
f 1
x
1

f1
x2

f 2

x2

f 1

x 2

f1
u
B

f 2
u

x2 ( t )

x ,u

x2 ( t )

h
0
,C
2
x1

x1 ( t ) 1

x1 ( t )
1
2 x2 ( t )
h

x2

x ,u

1
,1

2 0 , D

0
3
4
(1.5 )
h
1
u x , u

x ,u

y 2 x1 u 3
x&
0 x%

4
%

0
1 t
1 t

2 u% t
3 x% t
&
2
%

x%
t

x
t

4
x
t

2
2
2

4 2
PTTT :
u% t u t 1
x%

1 t
y% t 2 0
u% t

y% t y t 3
%
x
t

x%
1 t x1 t 1

(0.5 )

Cu 3. (3 im)
PTT: 1 G s 0 1

1 1 K

25 s K
0 s 3 9 s 2 25 s 25 K 0
2
s s 9

25
0
s 9 s 2 25 s
3

Zero : khng c
9
19
Pole : p1 0, p2,3 i
; 4.50 2.18i
2
2

p1 p2 p3
3
3

3
3

OA

Tim cn:

im tch nhp:

(0.5)

 1 K

s 3 9 s 2 25 s
25

6 ; 2.18
K
3 s 2 18 s 25
s1 3
3

0
s
25
s2 3 6 ; 3.82
3

(c 2 u thuc QNS)

(0.5)

Giao im QNS vi trc o: p dng tiu chun n nh Routh cho PTT (1).
s3
s2
s1
s0

1
9
25-(25K/9)
25K

25
25K

K n nh
K<9
K>0

Vy iu kin h thng n nh: 0 < K < 9.

Ta c: Kgh = 9. Thay vo (1) gii ra ta c: s1 = -9, s2 = 5i, s3 = -5i
Vy giao im QNS vi trc o: s2 = 5i, s3 = -5i

(0.5)

Gc xut pht ti cc phc p2:

1800 arg p2 p1 arg p2 p3

9

19
9
1800 arg i

arg

2
2

2

1800 1540 900 640

19
9 19

2
2 2

(Hnh v 0.75 im)

3.2
T QNS, ta suy ra: cc cn tm: s 1.4 2.4i

(0.25)

Thay vo PTT, ta tnh c K:

K

1.4 2.4i

9 1.4 2.4i 25 1.4 2.4i

1.91
25
2

(0.5)

(SV gii ra kt qu gn ng hoc gii bng phng php gii tch cng c tnh im)
Cu 4.
4.1
Vit li hm truyn vng h:

G s

s 1
0.4

0.8

s 1
10

e 0.1 s

s2

Cc tn s ct: 1 0.4 rad / s , 2 10 rad / s

0 0.1

im u: A :

(0.5)

L 0 20 log 0.8 2* 20 log 0.1 38dB

Tnh bode pha:

1800

2arctan

0.1

0.4
10

1800 arctan
(rad/s)
() (0)

0.1
-168

0.4
-142

1
-129

2
-135

4
-162

10
-240
(0.5)

Biu Bode nh sau: (1.0)

(phi ch r trn biu e Bode tn s ct bin, tn s ct pha, d tr bin, d tr pha mi
c trn vn 1.0)

4.2
T biu Bode:
- Tn s ct bin: C 2rad / sec
- Tn s ct pha: 5rad / sec
GM 10 dB
- d tr bin v pha:
0
M 45
Nh vy h kn n nh.

(0.5)

4.3 (Cu ny nhm phn loi sinh vin nn im t, SV lm c 2/3 yu cu xem nh t)

Cch 1:
(0.5)
Sai s xc lp: Theo biu Bode, min tn s thp bin ca h h v cng ln, do sai s
xc lp i vi tn hiu vo l hm nc bng 0.
vt l: do d tr pha nh hn 600 nn vt l ln hn 10%.

Thi gian qu : tqd . Do C 2rad / sec nn 1.57 tqd 6.28(sec)

C
C
Cch 2:
Xc nh h s tt dn da vo d tr pha.

M arctan

450 0.42 POT 23.4%

2 2 1 4 4

T Bode bin , ta c bng thng ca h thng: BW 3.5 rad / s

S dng quan h gia bng thng v h s tt dn, tq:

BW

4
tqd

1 2
2

4 4 4 2 2 3.5 tqd 3.7 sec

Da vo bode bin : Kp = e() = 0

Tnh chnh xc (t m phng Simulink): POT = 31%, tq = 5.7s, e() = 0.

(0.5)