P N KIM TRA HC K 1.

Nm hc 2010-2011
(Tng thang im l 11, SV lm c hn 10 th lm trn v 10)
Bi 1A: (2.5)
1.1. Tm hm truyn G(s)
PTT :
K
K
GK ( s )
2
s ( s a ) K s as K
s 2 as K 0

s 2 2n s n2 0

(0.25 )

a 2n 2

2
K n 2

G(s)

2
s ( s 2)

(0.25 )

1.2 vt l v thi gian qu :

POT exp

ts

100% 4.32%

1 2

(0.25 )

3
3

3sec
n 1/ 2 * 2

(0.25 )

1.3 Thit k GC(s)

Yu cu cht lng qu khng i nhng ci thin sai s xc lp chn b tr pha :
s (1/ T )
s (1/ T )
H s vn tc trc hiu chnh :
GC ( s ) KC

K V lim sG ( s ) lim s
s 0

s 0

( 1)

2
1
s ( s 2)

(0.25 )

H s vn tc mong mun sau hiu chnh :

1
KV* * 1/ 0.01 100
exl
Xc nh :
K
V* 1/100 0.01
KV
Chn zero :
Cc ca h thng trc hiu chnh :

(0.25 )

(0.25 )

(0.25 )

s1,2 n jn 1 2 1 j
Chn :
1
1
= Re s1 1
0.1
T
T
Tnh cc :
1
1

0.01*0.1 0.001
T
T
Vy :
s 0.1
GC ( s) K C
s 0.001

(0.25 )

(0.25 )

 Tnh KC :
GC ( s )G ( s ) s s 1
1

KC

s 0.1
2
(1 j 0.1)
2
*
KC
*
1
s 0.001 s ( s 2) s s1
(1 j 0.001) (1 j )(1 j 2)

K C 1.0507
Kt lun :
s 0.1
GC ( s ) 1.05
s 0.001
Bi 1B: (2.5)
1.1 Hm truyn G(s) c dng:
K
G( s)
(T1s 1)(T2 s 1) 2
(0.25 )
Theo biu Bode, ta c:
K 7
20 lg K 16.9 (dB)
1
0.5 (rad/sec)
T1
1
2 (rad/sec)
T2

Do : G ( s )

T1 2
T2 0.5

7
( 2 s 1)(0.5s 1) 2

(0.25 )
1.2 H s v tr:
K P lim G ( s ) lim
s 0

s 0

7
7
(2 s 1)(0.5s 1) 2

(0.25 )

Sai s xc lp khi tn hiu vo l hm nc n v:

e xl

1
1
0.125
1 K P 8

(0.25 )

e xl 0.125

1.3 Thit k khu hiu chnh GC(s):

- Tnh KC
H s v tr mong mun:
e*xl

1
0.02
1 K P*

K P*

1
1
1
1
*
e xl
0.02

K P* 49

(0.25 )
K * 49
KC P

KC 7
7
KP
(0.25 )
- t G1(s) = KCG(s) .
Biu Bode bin ca G1(s) nng ln 20 lg K C 16.9 (dB) so vi b. Bode bin ca G(s),
Biu Bode pha ca G1(s) khng i so vi biu Bode pha ca G(s)
Theo biu Bode:

M 40 0

khng th b sm pha GC(s) l khu tr pha

GC ( s ) K C
2

Ts 1
Ts 1

Tn s ct mi: ( ) 180 M 5 0
C

( C ) 115 0

Theo biu Bode: 0.9 (rad/sec)

C

(0.25 )

1
1
0.09 (rad/sec) T 11
C (rad/sec)
T
T
(0.25 )
Tnh
Chn :

0.04

20 lg L1 ( C ) 28 (dB)

T
Kt lun: Hm truyn ca khu hiu chnh cn thit k l:
GC ( s ) 7

11
275
0.04

(0.25 )
(0.25 )

11s 1
275s 1

(Sinh vin gii ra kt qu gn ng nh trn u c tnh im)

Bi 2: (3.5)
2.1 Tm PTTT m t h h
2
g
X1 s
s 2 x 2 x 2u

1
1
U s 1 2
s2
s
g
X2 s
3

x2 3x1 3 x2
X1 s s 3

(0.5 )

Y s X 2 s y x2

2 0 2
x u
3 3 0
y 0 1 x
g

(0.5 )

2.2 Thit k hi tip trng thi

PTT h kn:
det sI A BK 0
s 2 2k1
3

det

2k 2
2
s 2 2k1 s 3 6k2 s 2k1 5 s 6k1 6k2 6 0
s 3
(0.5 )

T POT v tq, ta c:

(0.5 )

Suy ra, cp cc quyt nh:

Do , PTT mong mun:

3

 s 3 3i s 3 3i s 2 6s 18 0
Cn bng h s hai PTT:

(0.5 )

2k1 5 6
k 0.5
1

6k1 6k2 6 18 k2 1.5

(0.5 )

Vy lut iu khin l: u(t) = r(t) 0.5x1(t) 1.5x2(t)

2.3 Hm truyn kn:
GK ( s ) k 0C[ sI A BK ]1 B ,

(0.25 )

p ng ca h thng:
Y ( s ) GK ( s ) R ( s ) k 0C[ sI A BK ]1 BR ( s ) ,

Gi tr xc lp:
1
1
1
k 0C[ A BK ] B k 0
3
s

y () lim sY ( s ) lim sk 0 C[ sI A BK ]1 B
s 0

s 0

Suy ra, y () 1 ta cn phi chn k 3

0

(0.25 )

Bi 3: (3.5)
3.1.
- Hm truyn vong h:
0.476
Gh ( z )
(0.25 )
z 0.905
- Phng trnh c trng ca h thng:
0.1( z 1) 0.476
1 KI
0 (0.25)
z 1 z 0.905

(Hnh 0.25)

- Cc: p1 1, p2 0.905
Zero: z1 1
(0.25 )
- Ti m c n:
OA 2.905

- im tch nh p:
z1* 2.952, z2* 0.952 (0.5 )
- Giao im QNS vi vong tron n v:
z 0.896 0.443 j
2. (1)
- Hm truyn vong kn:
Gc ( z )Gh ( z )
1.618 z 1.237
Gk ( z )
2
1 Gc ( z )Gh ( z ) z 0.287 z 0.332
- p ng ngo ra:
1.618 z 2 1.237 z
Y ( z ) Gk ( z ) R ( z ) 3
z 1.287 z 2 0.045 z 0.332
4

(0.5 )

y (k ) 1.287 y (k 1) 0.045 y (k 2) 0.332 y ( k 3) 1.618 (k 1) 1.237 ( k 2)

y (0) 0, y (1) 1.618, y (2) 0.845,
y (3) 1.160, y (4) 0.994, y (5) 1.051
- Cht lng h thng
i tng b c 1, b iu khin PI nn exl 0 i vi tn hi u vo hm nc.
1.618 1
POT
100% 61.8%
1
3. Phng trnh c tnh ca h thng:
1 Gc ( z )Gh ( z ) 0
z 1
0.476

1 K P 0.1K I
0

z 1 z 0.905

z 2 (0.476 K P 0.048K I 1.905) z (0.048K I 0.476 K P 0.905) 0

- Phng trnh c tnh mong mun:
*
0.707, n 4 z1,2
0.480 0.304 j

(0.25 )
(0.25 )
(0.25 )

(0.25 )

z 2 0.960 z 0.323 0

(0.25 )

- Suy ra: K P 1.60; K I 3.78

(0.25 )

Bi 4:
4.1 S khi h thng ri rc v b quan st (0.25 )

4.2. Phng trnh c trng ca b quan st:

det( zI Ad LC d ) 0

1 0 0.90 0.16
det z
0.50 0.23
0
1

z 0.90 2l1 0.16

det
z 0.23
0.50 2l 2

l1
2 0 0 ,

l2

0,

( z 0.90 2l1 )( z 0.23) 0.16(0.50 2l 2 ) 0 ,

z 2 ( 2l1 1.13) z 0.287 0.46l1 0.32l2 0 ,

(0.5 )
Phng trnh c trng mong mun:
( z 0.01)( z 0.05) 0 ,
z 2 0.06 z 0.0005 0 ,
(0.25 )

T (1) v (2) suy ra:

5

(1)

(2)

 2l1 1.13 0.06

0.287 0.46l1 0.32l2 0.0005

l1 0.5350

l2 0.1262

(0.5 )

H v tn SV:..
M s SV: ...
Bode Diagram

40

33.8

28

20

16.9

Magnitude (dB)

-20dB/dec

0
-20
-40
-60

-60dB/dec

-80
0
-45

Phase (deg)

-90

-115

-135
-180

-225
-270
-2
10

-1

10

10

Frequency (rad/sec)

10

10