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CHNG I
GII THIU S LC V MATLAB
I.TM HIU V CNG TY MATHWORKS:
Cng ty MathWorks c thnh lp vo nm 1984 l mt cng ty hng u v vic
cung cp v pht trin phn mm k thut cho my tnh. Cng ty c hn 500 nhn vin ang
lm vic cho hai vn phng chnh M v Anh quc.

II.GII THIU C S MATLAB:

II.1. Gii thiu chng trnh MATLAB:
Chng trnh MATLAB l mt chng trnh vit cho my tnh PC nhm h tr cho
cc tnh tn khoa hc v k thut vi cc phn t c bn l ma trn trn my tnh c nhn do
cng ty "The MATHWORKS" vit ra.
Thut ng MATLAB c c l do hai t MATRIX v LABORATORYghp li.
Chng trnh ny hin ang c s dng nhiu trong nghin cu cc vn tnh tn ca cc
bi tn k thut nh: L thuyt iu khin t ng, k thut thng k xc sut, x l s cc tn
hiu, phn tch d liu, d bo chui quan st, v.v
MATLAB c iu khin bi cc tp lnh, tc ng qua bn phm. N cng cho php
mt kh nng lp trnh vi c php thng dch lnh cn gi l Script file. Cc lnh hay b
lnh ca MATLAB ln n s hng trm v ngy cng c m rng bi cc phn TOOLS
BOX( th vin tr gip) hay thng qua cc hm ng dng c xy dng t ngi s dng.
MATLAB c hn 25 TOOLS BOX tr gip cho vic kho st nhng vn c lin quan
trn. TOOL BOX SIMULINK l phn m rng ca MATLAB, s dng m phng cc h
thng ng hc mt cch nhanh chng v tin li.
MATLAB 3.5 tr xung hot ng trong mi trng MS-DOS.
MATLAB 4.0, 4.2, 5.1, 5.2, hot ng trong mi trng WINDOWS. Cc version
4.0, 4.2 mun hot ng tt phi s dng cng vi WINWORD 6.0. Hin ti c version
5.31 (kham kho t Website ca cng ty). Chng trnh Matlab c th chy lin kt vi cc
chng trnh ngn ng cp cao nh C, C++, Fortran, Vic ci t MATLAB tht d dng
v ta cn ch vic dng thm vo cc th vin tr gip hay mun lin kt phn mm ny vi
mt vi ngn ng cp cao.
Cn cc version MATLAB khc th lm vic vi h iu hnh UNIX.

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Hnh 1.1 : Khi ng MATLAB t mi trng WINDOWS

Hnh 1.2 : Giao din biu tng ca MATLAB (Version 5.1)

Vic khi ng MATLAB trn mi h thng khc nhau. Trong mi trng WINDOWS
hay MACINTOSH, chng trnh thng c khi ng thng qua vic nhp chut trn cc
icon hay cn gi l biu tng. Cn vi mi trng UNIX, MS-DOS ,vic khi ng thng
qua dng lnh:
:\ MATLAB
Giao din ca MATLAB s dng hai ca s: ca s lnh (command window) v ca s
th (Figure window).

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Hnh 1.3 : Giao din ca s lnh ca MATLAB khi khi ng xong

-

Ca s lnh dng a lnh v d liu vo ng thi in ra kt qu.

Ca s th tr gip cho vic truy xut ha th hin nhng lnh hay kt qu
u ra di dng ha.

Hnh 1.4 : Giao din ca s th ca MATLAB

Vic ngt chng trnh ang thc hin hoc cc chng trnh khng ng theo yu cu
u c thng qua phm nng Ctrl + C.
tht khi chng trnh MATLAB ta c th dng lnh
>> exit hoc >> quit ( : nhn ENTER)
hoc t menu th xung hoc nhn vo trn gc phi mn hnh ca ca s chnh
MATLAB.
MATLAB c iu khin bng nhng cu lnh c kt hp theo mt trt t nht
nh v gi l chng trnh. Chng trnh cha nhiu cu lnh v nhng hm chc nng
gii nhng bi tn ln hn.
Cc cu lnh trong MATLAB rt mnh v c nhng vn ch cn mt cu lnh l
gii quyt bi tn. M phng trong MATLAB s cho ta hnh nh ta khng gian hai chiu
(2D) v ba chiu(3D).
II.2. Cc phm chc nng t bit (chuyn dng) v cc lnh dng cho h thng:
Ctrl + P hoc

Gi li lnh va thc hin trc t ca s lnh ca MATLAB

Ctrl + n hoc

Gi li lnh nh vo trc

Ctrl + f hoc

Chuyn con tr sang phi mt k t

Ctrl + b hoc

Chuyn con tr sang tri mt k t.

Ctrl + l hoc Ctrl +

Chuyn con tr sang phi mt t

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Ctrl + r hoc Ctrl +

Chuyn con tr sang tri mt t

Ctrl + a hoc HOME

Chuyn con tr v u dng.

Ctrl + k

X cho n dng cui cng

Cc lnh h thng :
Cc lnh trn cng nh sau ny c vit t ca s lnh ca MATLAB
Casesen off

B thuc tnh phn bit ch hoa v ch thng

Casesen on

S dng thuc tnh ch hoa v ch thng.

Clc

Xa ca s dng lnh

Clf

X ca s ha

computer

Lnh in ra mt xu k t cho bit loi my tnh.

exit hoc quit

Tht khi chng trnh MATLAB

Ctrl + C

Dng chng trnh khi n ri vo tnh trng lp khng kt thc .

help

Xem tr gip

input

Nhp d liu t bn phm.

load

Ti cc bin lu trong mt file a vo vng lm vic.

pause

Ngng tm thi chng trnh.

save

Lu gi cc bin vo file c tn l matlab.mat

Demo

Lnh cho php xem cc chng trnh mu (minh ha kh nng lm vic ca

MATLAB).

Edit

Lnh vo ca s son tho (dng vit mt chng trnh)

II.3.Bin trong Matlab :

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Tn cc bin trong MATLAB c th di 19 k t bao gm cc ch ci cng cc ch s

cng nh mt vi k t c bit khc nhng lun phi bt u bng ch ci. Tn cc hm
c t cng c th c s dng lm tn ca bin vi iu kin hm ny s khng c s
dng trong sut qu trnh tn ti ca bin cho n khi c lnh clear x cc bin trong b nh
hay clear + tn ca bin.
Bnh thng Matlab c s phn bit cc bin to bi ch ci thng v ch ci hoa.Cc
lnh trong Matlab ni chung thng s dng ch ci thng. Vic phn bit c th c
b qua nu chng ta thc hin lnh.
>> casensen off % b thuc tnh phn bit ch hoa v ch thng.
Vic kim tra s tn ti ca cc bin trong b nh thng b qua lnh.
Hin th danh sch cc bin c nh ngha.
who
whos

Hin th cc bin c nh ngha cng kch thc ca chng v thng

bo chng c phi l s phc khng.

who global

Hin th cc bin cc b.

exist(namesrt)

Hin th cc bin ph thuc vo cch cc bin c nh ngha trong

chui namestr. Hm s tr li gi tr sau:
Nu namestr l tn ca mt bin.
Nu namestr l tn ca mt file.m.
Nu namestr l tn ca mt Mex file
Nu namestr l tn ca hm dch bi Simulink.
Nu namestr l tn ca hm c nh ngha trc bi Matlab.

ln ca bin
ln hay chiu di ca bin vector cng nh ma trn c th c xc nh thng qua
mt s hm c sn ca Matlab.
size (A)

Cho ra mt vector cha kch thc ma trn A. Phn t u tin

ca vector l s hng ca ma trn, phn t th hai l s ct ca
matrn.

[ m n] = size(A)

Tr gi tr ln ca ma trn A vo vector xc nh bi hai bin

m v n .

size(A ,p)

a ra s hng ca ma trn A nu p=1 v s ct ca A nu p 2

size (x)

a ra vector m t ln ca vector x. Nu x l vector hng m

phn t th gi tr u ca vector l m v gi tr th hai l 1.
Trng hp x l vector ct n th gi tr th nht s l 1 v th hai
l n.

lengh(x)

Tr gi tr chiu di ca vector x

lengh(A)

Tr gi tr chiu di cu ma trn A . Gi tr thu c s l m nu

m>n v ngc li s l n nu n>m.

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II.4.Cc lnh thng dng trong ha Matlab:

Matlab rt mnh trong vic x l ha, cho hnh nh minh ha mt cch sinh ng v
trc quan trong khng gian 2D v 3D m khng cn n nhiu dng lnh.
plot (x,y)

V th trong ta (x,y)

plot (x,y,z)

V th theo ta ( x,y ,z)

title

a cc tiu vo trong hnh v.

xlabel

a cc nhn theo chiu x ca th.

ylabel

a cc nhn theo chiu y ca th.

zlabel
grid

a cc nhn theo chiu z ca th.

Hin th li trn th

plot (y)

V th theo y b qua ch s theo y.

Nu y l s phc (complex) th th c v l phn thc v phn o ca y

plot (x,y,S)

V theo x,y ; S: l cc ch s v mu sc v kiu ng theo bin str ca cc

ng trn th c lit k di.

plot(x,y,z,S
)

V theo x,y,z; S: l cc ch s v mu sc v kiu ng theo bin str ca

cc ng c lit k di.

polar (x,y)

V th theo h trc ta cc

bar

V th dng ct

Cc ch s v mu sc:
Gi tr cu bin Str trong hm plot v mu sc hay kiu dng ca ng c lit k
theo bng di y.
Kiu ng
Mu sc
Y: vng
. : im
G : xanh l cy
* : Sao
M : ti
X : Ch ci x
B : xanh lam
O : Ch ci o
C : xanh l m.
+ : Du cng
W : mu trng
- : ng lin nt
R :
-- : ng t nt
K : en
-. : ng chm gch
: : ng chm
V d v ha b mt (3D)

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Ngi cc lnh c bn trn cn c cc lnh lin quan n v th Vector, v th theo h

trc loga,cc lnh lin quan n ha b mt (3D) ,cc lnh lin quan n vic kim st
th
II.5 .Cc dng file s dng trong MATLAB:
II.5 .1. Script file (M-files):
Cc chng trnh do ngi s dng son tho ra c lu tr trong cc file c phn m
rng l *.m. File dng ny cn c gi l Script file. File c di dng k t ASCII v c
th s dng trong cc chng trnh son tho ni chung to n.
Ta c th chy cc file ging nh cc lnh, th tc ca MATLAB. Tc l g tn file
khng cn c phn m rng sau Enter. Khi s dng ni dung ca file khng c hin th
trn mn hnh.
Trong Simulink s m phng cng c lu di dng *.m (trong cc version 5.x
tr ln th c lu di dng * .mdl) nhng c gi l S-function.
Mt s lnh h thng tng tc vi *.m files thng gp
echo

Lnh cho php xem cc lnh c trong *.m files khi chng c thc hin.

type

Lnh cho php xem ni dung,ngm nh file dng M-file

what

Lnh ny cho bit tt c cc file M file v Mat-file c trong vng lm vic hin
hnh hay khng.
Mt v d v Script file:

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II.5.2.Files d liu:
Cc ma trn biu din thng tin c lu tr trong cc files d liu. Matlab phn bit
hai loi file d liu khc nhau Mat- files v ASCII files.
Mat files lu tr cc d liu dng s nh phn, cn cc ASCII- files lu cc d liu
di dng cc k t. Mat-file thch hp cho d liu c to ra hoc c s dng bi chng
trnh MATLAB. ASCII- files c s dng khi cc d liu c chia x (export import) vi
cc chng trnh ca MATLAB
.
ASCII- files c th c to bi cc chng trnh son tho ni chung hay cc chng
trnh son tho bng ngn ng my. N c th c to ra bi chng trnh Matlab bng cch
s dng cu lnh sau y:
>> save <tn file>.dat <tn ma trn>./ascii;
Nhn chung Mat lab rt mnh trong vic m phng cho cc bi tn k thut. Phn mm
Matlab hin nay tr nn thng dng v l cng c c lc cho vic ging dy, ng dng
trong nghin cu cc trng i hc.

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CHNG II
CCH KT NI V CC THUC TNH CA
BLOCKS
I. KHI NIM V SIMULINK:
Simulink l mt phn mm m rng ca MATLAB (1 Toolbox ca Matlab) dng
m hnh h, m phng v phn tch mt h thng ng. Thng thng dng thit k h
thng iu khin, thit k DSP, h thng thng tin v cc ng dng m phng khc.
Simulink l thut ng m phng d nh c ghp bi hai t Simulation v Link.
Simulink cho php m t h thng tuyn tnh,h phi tuyn, cc m hnh trong min thi gian
lin tc, hay gin on hoc mt h gm c lin tc v gin on.
m hnh h, Simulink cung cp cho bn mt giao din ha s dng v xy
dng m hnh s dng thao tc "nhn v ko" chut. Vi giao din ha ta c th xy m
hnh v kho st m hnh mt cch trc quan hn. y l s khc xa cc phn mm trc
m ngi s dng phi a vo cc phng vi phn v cc phng trnh sai phn bng mt
ngn ng lp trnh.
im nhn mnh quan trng trong vic m phng mt qu trnh l vic thnh lp c
m hnh. s dng tt chng trnh ny, ngi s dng phi c kin thc c bn v iu
khin, xy dng m hnh tn hc theo quan im ca l thuyt iu khin v t thnh lp
nn m hnh ca bi tn.

II. TM HIU V SIMULINK V CC BLOCKS LIBRARY:

II.1 CCH KHI TO SIMULINK V V S M PHNG:
II.1.1 Khi to SIMULINK:
vo Simulink trong Matlab, ta t ca s lnh ca Matlab nh dng lnh:
>> simulink
Khi khi ng Simulink xong ta c mn hnh ca s Simulink. Ca s ny hot ng
lin kt vi ca s lnh MATLAB.
Ta thy ca s Simulink c nhiu khi chc nng (blocks library), trong c nhiu
khi chc nng c th.

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Hnh 2.5 : Cch vo toolbox SIMULINK trong MATLAB

T ca s lnh ta thy c cc khi th vin: Khi ngun (Sources), khi u o
(Sinks), khi phi tuyn (nonlinear), khi tuyn tnh (linear), khi u ni
(Connections)

Hnh 2.6 : Mn hnh ca s th vin SIMULINK

Th vin ca Simulink bao gm cc khi chun trn, ngi s dng cng c th thay
i hay to ra cc khi cho ring mnh. Simulink cng ging nh cc phn mm m phng
thit k mch in t nh : MicroSim Eval, EWB, Circuit Maker.
v s m phng cng nh xy dng m hnh nh th no.Vic xy dng m hnh
v cc thao tc xy dng m hnh. Ta th thit k m phng v d sau (Hnh 2.7) bit
c vic v v m phng s :
v c m hnh ny bn phi lmm cc thao tc sau:
1.T ca s Matlab nh lnh simulink. Ca s th vin cc khi s xut hin
2.T ca s th vin ta nhp chut vo File/New/Model hoc nhn Ctrl+ N. Mn hnh
ca s m hnh mi Untitled c m ra(Hnh 8).T ta bt u xy dng m hnh.
3 . Chn cc block cc th vin thch hp:

Hnh 2.7 : M hnh phn tch sng hnh sin

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Hnh 2.8 : Chn v mt Model (Scheme) mi

Trong s ny chn cc khi t cc th vin:
+ Th vin cc ngun tn hiu (Sources): Chn Sin wave.
+ Th vin cc khi nhn tn hiu (Sinks): Chn Scope.
+ Th vin cc hm tuyn tnh (Linear): Chn Integrator.
+ Th vin cc u ni ( Connections): Chn Mux.
chn mt th vin trong Simulink ta nhp kp (Double Click) vo khi (icon) .
Simulink s hin th mt ca s cha tt c cc khi ca th vin . Trong th vin ngun tn
hiu cha tt cc khi u l ngun tn hiu. Th vin ngun tn hiu c trnh by nh hnh
2.9.
Ngi s dng thm vo s ca mnh bng cch ghp khi t th vin hay t m
hnh bt k no khc. Trong v d ny ta chn khi pht sng hnh sin. t con tr chut ln
khi n v gi phm tri chut, ko khi ti ca s v s Untitled.
Khi di chuyn khi ta c th thy khi v tn ca n di chuyn cng vi con tr chut.

Hnh 2.9 : Ca s th vin Phn Ngun tn hiu. (SOURCES)

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Hnh 2.10 : Khi v tn di chuyn cng khi .

Khi con tr chut di chuyn ti ni bn cn t khi trong s bng cch nh phm
chut, mt bn copy ca khi trong mn hnh m phng. Khi ta khng va ch t ta
c th di chuyn khi bng cch nh trn.
Theo cch ny chp nhng khi cn li vo trong mn hnh m phng tip tc xy
dng s .
Mun copy tip mt khi Sin na trong mt mt s , ta lm bng cch gi phm Ctrl
+ phm tri chut v di chuyn ti im cn t khi, lc mt khi c copy.
Vi tt c cc khi chp vo ca s mn hnh m phng s c hin th nh trn
hnh 2. 11.
Nu xem k tng khi, chng ta thy du > bn phi ca khi l d u ni dnh cho
ng ra ca tn hiu, cn du > bn tri l du u ni dnh cho ng vo. Tn hiu i t u
ra ca mt khi ti u vo ca khi khc theo mt ng ni gi hai khi. Khi mt khi
c ni th biu tng > cng mt i.

Hnh 2.11. Ca s s vi cc khi c copy.

OUTPUT PORT

INPUT PORT

Hnh 1.12 .u vo - ra ca mt khi

T hnh 1.11 ta thy khi Mux c ba cng vo nhng ta cn c hai cng nn ta phi thay
i thng s ca Mux, bng cch nhp kp ln khi Mux v thay i gi tr thng s
"Number of Input" l 2 (hnh 2.13).Sau nhn phm Apply v ca ca s Mux. Simulink
s iu chnh s cng vo theo gi tr nhp.

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Hnh 2.13. Ca s thng s khi Mux.

By gi ta c th ni cc khi li vi nhau. u tin hy ni u ra khi pht Sin tn
hiu ti u vo trn khi Mux. Cng vic thc hin ni cc khi, ni chung khng theo th
t bt buc no c. Cng vic thc hin ni cc s cng ging nh cc phn mm thit k
in t no l t con tr chut ti u ni (ra) ca khi ny (con tr chut bin thnh
du cng), gi tr chut v ko ti u ni (vo) ca khi khc. Trong qu trnh ni, ng
ni c hnh nt t v con tr s thay i thnh du cng kp khi li gn kh cn ni.

Hnh 2.14. Ca s m hnh trc khi ni dy.

Hnh 2.15. Ca s m hnh khi ang ni dy.

Bn c th ni bng cch nh phm chut khi con tr bn trong khi. Khi ng
ni s ni vo cng gn v tr con tr nht.

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Hnh 2.15. Hnh kh Sin ni vo trn khi Mux.

Phn ln cc ng ni i t u ra ca mt khi ti u vo ca mt khi khc. C
ng ni t mt ng no i ti u vo ca mt khi ta gi l ng r nhnh.
Vic v ng r nhnh c s khc bit so vi v ng ni chnh. v c r nhnh
ta thc vic nh sau:
1. t con tr vo im cn v ng r nhnh.

Hnh 2.16. Con tr t vo im cn r nhnh.

2. An phm Ctrl + gi phm tri chut ,ko con tr chut ti u vo ca khi.
3. Nh phm chut, Simulink s v mt ng t im bt u ti cng vo ca khi.
Tuy nhin chng ta cng c th ni dy t u vo (u ra) ca mt khi ti ng ni
chnh, m khng cn gi phm Ctrl . Tuy nhin vic ni dy s bt tin do mi ni hnh thnh
khng theo mun hoc khng ni c.

Hnh 2.17.Mt on dy khng nh .

Kt thc vic ni dy, m hnh c hin th nh trn hnh 2.19.

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Tuy nhin trong qu trnh ni dy c th c nhng ng ni dy khng nh ta mun,

ta c th b i hoc s a cha li bng cch nhp chut vo on dy , sau ta nhn phn
Delete hoc di chuyn on dy sa li.

Hnh 2.18. Mt on dy c chn.

Hnh 2. 19. Ca s m hnh c v xong.

By gi ta m khi Scope hin th tn hiu ra v chy m phng trong 10s. u tin
ta phi t thng s m phng bng lnh Parameter trong menu Simulation. t thi gian
m phng (Stop time) l 10.0. Sau nhn vo Apply Simulink p dng cc thng s do ta
t v ng hp hi thoi bng cch nhn vo Close.

Hnh 2.20 . Hp hi thoi Parameter ca Simulink

Chn Start trong menu Simulation chy m phng v ta Double Click vo khi
Scope xem dng sng ra ca tn hiu.

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Mun dng m phng th chn Stop hay Pause t menu Simulation.

Hnh 2.21 . Ca s hin th tn hiu ra ca s .

lu s ny ta chn Save t menu File, nhp tn file. File ny s cha m hnh
v.
II.2 CC BLOCKS LIBRARY:
Sau y l cc BLOCK LIBRARY ca Simulink. Gip cho c cch nhn khi qut th
vin ca Simulink.

Hnh 2.22: Th vin Phn Ri Rc (DISCRETE)

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Hnh 2.23 : Th vin th (SINKS)

Hnh 2.24 : : Th vin Phn Tuyn tnh (LINEAR)

Hnh 2.24:Th vin Phn Phi Tuyn (NONLINEAR)

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Hnh 2.26: Th vin Phn u Ni (CONECTIONS)

Hnh 2.27: Th vin BLOCKSETS v TOOLBOXES

III. THUC TNH CA MT BLOCK V CC PHNG PHP GII

BI TN TRONG SIMULINK.
Nh chng ta bit phn t xy dng nn mt s trong Simulink chnh l
Block. Mt Block c quy nh bi hai thuc tnh: Vn phong v cu trc.
Thuc tnh v vn phong c m t trong bn Style:

Style
Drop Shadows
Orientation
Title
Font
Foreground Color
Background Color
Screen Color
Bao gm :
Drop Shadows : Bt tt bng ca Block.
Orientation
: nh hng chn Block. S nh hng ny c th chn phm nng
Ctrl +R xoay 900 hoc Ctrl + F xoay 1800
Title
: t tn cho Block.

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Displayed
Hidden
Top/Left
Bottom/Right

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Hin tn Block
n tn Block
Tn ca Block nm trn nh block hay
bn tri.
Tn ca Block nm d block hay
bn phi.

Font :nh dng Font cho Block

Color : mu nn, khung mu ch cho Block.
Thuc tnh v cu trc c m t trong hp hi thoi ca Block. M n bng cch
Double Click chut vo biu tng Block.
Trong hp hi thoi c nhng thnh phn sau:
Tn khi (block name)
M t ngn gn v t im ca khi (Brief explanation)
Nhng mng thng s (parameters) nu khi cn nhng thng s.
Gii thch v c im ca khi. (Help button)
Nhng m t v nhng cu trc thuc tnh ca cc blocks trong Simulink s c m t
trong chng III.

Block name
Brief
explanation

Parameter

For further information

Hnh 2.28: Thuc tnh cu trc ca mt Block

III.2 .Cc phng php gii bi tn m phng trong Simulink :
Trong Simulink vic gii cc bi tn m phng c nhiu phng php gii khc nhau.
Sau y l cc cch gii c p dng trong Simulink.

Phng php Euler : l phng php c in vi bin l bc. Phng php ny kh

thi cho bt c h thng no c nhng bc nh. Do nhng bi tn c lin quan

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n vic tnh tn qu nhiu th khng bao gi chnh xc. Phng php ny ch nn

dng cho vic kim tra kt qu.
Phng php Runge-Kutta 3 v Runge-Kutta 5: y l phng php thng dng
p dng cho mi loi bi tn v n c th t ch tiu cht lng so vi cc phng
php c bit khc. Phng php ny thch hp cho cho h lin tc v h phi tuyn.
Khng lm vic vi h c ma st.
Phng php Adams :l phng php t chnh p dng cho h khng c ma st.
Phng php Gear : l phng php t chnh p dng cho h c ma st. Phng
php ny khng lm vic tt khi h b ri lon do ng vo thay i lin tc.
Phng php Adams / Gear : Chn gia hai phng phpAdams v Gear.
Phng php LinSim : l phng php dng cho h tuyn tnh. Nu h mang tnh
cht tuyn tnh nhng c vi khi phi tuyn th h cng lm vic tt.

CHNG III
BLOCKS LIBRARY
(Cc khi chc nng trong th vin Simulink)
Nhng khi ca SIMULINK c m t trong chng ny. Nhng m t trong
chng ny l nhng m t ngn gn gip ch cho vic tra cu v s dng.
Theo , tt c cc khi c xem nh c th lm vic trong mi trng a bin (c
hng) v v hng.

III. 1 . SOURCES:
y l nhm bao gm cc khi pht v nhn tn hiu .

Mn hnh hin th
1.CLOCK :
Cung cp vector theo thi gian
M trong sut thi gian m phng, hin th thi gian lin tc m cuc m phng ang
xy ra. im quan trng l Clock khng phi l khi pht thi gian, m ch l khi hin th
thi gian m phng. c php ni vi To Workspace chuyn vector thi gian vo trong
Matlab.

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Mn hnh ci t thng s l hng s

2. CONSTANT:
Pht ra gi tr l hng s
Nhng thng s : Gi tr constant.
3. Sine Wave:
Khi pht ra sng c dng sin.
Nhng thng s : Gi tr bin , tn s ( rad/s, hezt), pha, thi gian ly mu (ch p
dng cho h gin on).

Mn hnh ci t thng s cho khi sin

4. Signal Generator:

Cung cp cho 4 dng sng khc nhau (ging nh my pht sng):

+ Sng Sin
+ Sng vung (square)
+ Sng rng ca (sawtooth)
+ Sng ngu nhin ( random).
Nhng thng s : Dng sng, gi tr bin (gi tr nh), tn s, n v tn s.
Nhng gi tr ny c th thay i trong qu trnh m phng.
5. Repeating sequency:
Lp li dng sng cho mt cch tun t

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Nhng thng s : vector thi gian v quan h gi tr ca hm vector (cng chiu)

Khi m phng thi gian ri vo trong phm vi ca vector thi gian ca ng ra th n

c xem nh From Workspace. Ni cch khc, hm ny l phn m rng bi mt dng sng
c bn c chu k lp. Tn hiu c pht ra vi chu k tun hn c bin bng vector.
6. Step input:
Pht ra dng sng c tnh cht hm bc:

Nhng thng s : Thi gian chuyn i (Steptime), gi tr u, gi tr cui.

Thi gian chuyn i c th m v iu kin u c th ln hn gi tr cui 1 n v.
7. Chirp Signal:

Pht ra mt tn hiu m tn s tng tuyn tnh theo thi gian .

Nhng thng s : Tn s ban u (Hz), thi gian ch cn t (s),tn s ti thi
gian ch.

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Khi ny c dng trong vic phn tch ph ca h khng tuyn tnh. Tn s t

ban u c th ln hn ti tn s t cui cng. Nhng sau thi gian ch t tn
s bt u tng ln.
8. Pulse Generator :
Pht ra mt chui xung tun t vi khong thi gian n nh.
Nhng thng s : Chu k xung, rng xung (h s chu k), bin xung, thi
gian bt u pht xung.

9.Random Number:
B pht s ngu nhin ( nghi Zero) phn b chun (Phn b Gauss).

Nhng thng s: Gi tr trung bnh, khong bin i, gi tr bt u pht sinh

(seed), thi gian ly mu.
im khc bit cu khi ny s khc nhau ca gi tr "seed". Gi tr ny c th l
mt vector.
Trong h ri rc (ph thuc vo thi gian) lin quan n vn s n thng c
dng hn khi Band Limited White Noise.
10.From Workspace:
c d liu t ma trn MATLAB.
Nhng thng s: bng ma trn .

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Ma trn ny phi cha t nht hai ct, ct u tin phi l vector thi gian (n
phi
l gi tr tng n iu).
Nu gi tr ng ra cn thi gian ti gia hai gi tr chn th ng ra phi l ni suy
tuyn tnh gia hai gi tr thi gian yu cu t trong ngoc.
11. From File:
c d liu t mt file.

Nhng thng s : Tn file.

D liu phi ging nh mt ma trn. Mi ct phi phi c gi tr ca n ng vo ti
thi im cho trc (yu t u tin ca ct). Sau , hng th nht l mt vector thi
gian (so vi From Workspace hng v ct ngc nhau).
12. Digital Clock:
Cung cp thi gian cho h ri rc.

Nhng thng s: thi gian mu.

Khi ny khng ging khi Clock .
13. Band Limited White Noise:

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Pht ra mt dy tn hiu n trng.

Nhng thng s : Ph nng lng, thi gian mu, gitr "seed".

III.2 .SINKS:
1. Scope:
Hin th dng tn hiu trong sut thi gian m phng (ging nh Oscilloscope)

Nhp chut vo y thay

i thuc tnh ca
Scope( trc ngang v dc)

Nhng thng s : Phm vi

trc ngang (thi gian) v
trc dc.
Trc ngang c th cun
mi phm vi.

Mn hnh ca Scope v bn thuc tnh ca n

2. To Workspace:
Lu tr d liu di dng mt ma trn.

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Nhng thng s:Tn ma trn, s

mu ti a(maximum) xut ra.
Mi mt ct ma trn i din cho
mi gi tr khc nhau d liu c
truyn n MATLAB cho n khi
kt thc m phng.
N s m phng cn s bc ln hn gi tr maximum mt n v th khi ny ch
lu gi tr n cui cng ,vi n l gi tr ly mu maximum quy nh.
Thng s th hai cu hng trong maximum l tu (timestep: buc thi gian),
Matlab ch lu gi tr n chung. Thng thng vector thi gian khng cn khong cch
u; thng s th ba ca maximum cng tu nhng c c im l phi ph hp vi
thi gian ly mu vi d liu c thu thp.
V d nu bn ci t thng s cho maximum
[ 100, 3, 0.4]
Ng ra ca ma trn gm 100 hng (s ct tng ng vi chiu ca khi vo) m gi
tr mi ln tch tr T =3 0.4 giy (s) c ngh l ti To =0 ,T1=130.4 =1.2,
T2
=230.4 =2.4 , T3 =330.4 = 3.6Tk = k 30.4 (s).
3. To File:
Lu tr d liu di dng file.

Nhng thng s :
Tn file ,tn matrn.
D liu y l mt ma trn, hng
u tin l mt vetor thi gian, nhng
ct khc l bin ng ra (so vi To Workspace hng v ct o nhau)
Hng u tin lun l vector thi gian (khng cn thit phi ni n Clock hin
ra)
4.XY graph:
Hai th ca hai tn hiu s c v trn ca s ha ca Matlab .

Nhng thng s : bin dui v bin trn ca trc

5. Stop Simulation:
Ngng cuc m phng ngay ly tc khi ng vo bng khng.

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Khi nhiu tn hiu vo l a bin nu c mt thnh phn ng vo bng khng th

cuc m phng s ngng ngay lp tc.
6. Graph:
V s liu trn ca s ha.

Nhng thng s : phm vi trc thi gian, bin di v bin trn ca trc ngang, mu
sc ca mi ng.
Nu thi gian m phng vut qu thi gian t th th s bt u c v t cnh
tri ca Graph.

III.3. DISCRETE:
1. Unit Delay :

Ng vo b tr bi mt chu k ly mu .

Nhng thng s : Gi tr u (gi tr gi nh trong chu k m phng u tin khi

ng ra khng xc nh c), thi gian ly mu.
2 .Discrete Zero Pole:

Thc hin mt hm truyn ri rc

(theo thi gian) dng Cc v Zero.
Nhng thng s : Cc zero, Cc
cc, li, thi gian ly mu.

3. Discrete State- Space:

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Thc hin mt h ri rc di
dng h phung trnh trng thi.
Nhng thng s : H ma trn,
iu kin u, thi gian ly mu.

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4. Discrete Filter:
Ng ra b tr mt khong thi
gian khi ng ra c a vo
gia hai ln ly mu k tip.

Thc hin lc IIR v lc FIR.

Nhng thng s : H s t v mu ca
b lc, thi gian ly mu.

5.Discrete Tranfer Fcn:

Thc hin chc nng mt hm truyn ri
rc.

Nhng thng s : h s t v mu ca
hm truyn, thi gian ly mu.
6. Zero Order Hold: (khu gi bc
khng)
Thc hin mt hm gi v ly mu.

Nhng thng s : thi gian ly mu

Khu ny cho bit c cu trc ca tn hiu. Tn hiu c ly mu v gi cho
n khi tn hiu k tip c ly mu.
7. First Order Hold: (khu gi bc
mt)

Nhng thng s :thi gian ly mu

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8. Discrete- Time Integrator:

Thc hin hm tch phn gin on.

Y =

Ts
U
Z 1

Nhng thng s : iu kin u, Gii

hn cn di v trn, thi gian ly mu.
N thc hin mt php bin i hm
truyn Z :
y Ts l gi tr thi gian ly mu.

III.4. LINEAR:
y l nhm tuyn tnh trong min thi gian v Laplace.
1. Sum:
Ng ra tng (hiu) cc ng vo.

Nhng thng s : Cc du ca ng vo.

S du s cho bit s ng vo ca khi
Nu tt c cc tn hiu vo l a bin ( cng chiu) th ng ra l tng. Nu ng
vo bao gm hai i lung a bin v v hng th tng cc thnh phn a bin l
lng v hng
2.Gain:
Nhn tn hiu vo vi mt hng s.

Nhng thng s : Gi tr li

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Nu thng s c dng trong Gain dng vector th ni dung hin th phi

trong ngoc n.
3.Derivative:
Tn hiu vo c ly vi phn theo thi
gian.

mi on ly vi phn c tnh trn c s ca t s vi phn i vi gi tr on

trc. Kt qu c th sai nu on ly vi phn c thi gian qu ln.
4. Tranfer Fcn:
Thc hin chc nng mt hm truyn.

Nhng thng s : H s t v mu ca
hm truyn
5. Integrator:
Tn hiu vo c ly tch phn.

Nhng thng s : iu kin u.

6. State-Space :
Thc hin mt h tuyn tnh khng thay i theo thi gian
.
7. Zero-pole:
Thc hin hm truyn di
Nhng thng s :dng
h macc
trn,
v iu
zero.kin u

Nhng thng s : Cc
Zero, cc cc, li
8. Matrix Gain:

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Ng vo l mt vector th ng ra l mt
ma trn.

Nhng thng s : li ma trn.

Chiu ca vector vo phi bng s ct ca ma trn. di ca vector ra phi bng
li ca hng ma trn.

9. Inner (dot) product:

Tnh tch v hng ca vector.

III.5 .NONLINEAR:
10. Slider Gain:
Tng tc li.

1. Abs:
Tnh gi tr tuyt i

ca ng vo.

Nhng thng s : Gi tr gain.

Nu c tn hiu l a bin th n c khuch i bi h s .

2.Product
Ng vo c nhn
vi nhau (ging SUM).

Nhng thng s :
S ng vo
3.Fcn
Tnh tn biu thc.

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Ng vo phi l mt hm u(I), gi tr phi l

i lng v hng .
Khi ny kh nng thc hin cho SISO (single
input single output) v MISO (multi input single
output).
4.Dead Zone
Ng ra c gi tr l Zero khi ng vo nm
trong vng cht (tt). Ngi ra ng ra s bng
ng vo khi ng vo khng nm trong on
Dead Zone.

Nhng thng s : Gi tr u v cu

c bit hn, nu cn trn v cn d

y=
6. Backlash : (khu khe
h)
M hnh x l h
thng c thi gian d
tr.

Nhng thng s :
rng Dead Zone, gi tr
u ca ng ra v vo.
Ng ra l hng s khi
ng vo nm trong on
Dead Zone.
6. Saturation :
Tnh tn mt khu
bo ha, ngha l gii
hn bin ca ng ra.

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Nhng thng s : Gi tr trn v di ca ng

ra.
7.Switch
Ng ra s l gi tr ca ng vo u tin cho
n khi mt gi tr th hai ln hn gi tr ngng
th ng ra mang gitr ng vo th hai, sau ng
ra li bng gi tr th ba.

8. Look-Up Table
Thi hnh mu th
tuyn tnh ca ng vo.

Nhng thng s : gi tr ngng.

Nhng thng s :
Gi tr vector ca ng ra
v vo
9. 2-D Look-Up Table.
Thi hnh mu th
tuyn tnh trong ta
hai chiu.

Nhng thng s: Gi
tr ca ch s X v Y v
quan h vi gi tr ng
ra.
10. Rate Limiter
Gii hn tc thay i
ca tnh hiu ng vo.

Nhng thng s: Gi
tr ti a ca s thay i.

11. Relay
M phng mt r le.

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Nhng thng s : Gi tr ngng ca ng ra

trng thi ON v OFF.
S chuyn i ca ng ra gia hai gi tr c
bit. Khi rle v tr ON, n gi nguyn khi gi
tr ng vo h xung thp hn ngng OFF,
ngc li th rle v tr OFF.

12. MATLAB Fcn

Cho php gi mt hm MATLAB trong s
SIMULINK.
Nhng thng s :
Khong thi gian lng
t
Nhng thng s : Tn hm, chiu ca ng
ng ra (-1 mang ngha l ng ra cng chiu vi
ng vo).

14. Coulombic Friction

M phng ma st
Coulomb.

SIMULINK khng c kh nng kim tra chiu

ca hm MATLAB l c im ring ca
khi.
13.Quantizer
M phng b lng t.

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Nhng thng s
:Gi tr offset ban u, t
s ma st thng.

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Lc ma st c gi tr l zero ti thi im t
gi tr offset.
15.Logical Operator
Ng ra mang gi tr 1 nu tn t logic ng vo
mang gi tr ng, ngc li mang gi tr 0.
Nhng thng s :
Tn t quan h.
Nhng thng s : Tn t logic, s cng vo

16. Combinatorial
Logic
Thc thi mt bng t
hp logic.

Nhng thng s :
Bng s tht.
Ch c phn ng ra
ca bng s tht c
ghi vo. Ng vo phi
c hiu ngm.
17. Transport Delay
Ng vo b tr bi
mt thi gian cho trc.

Nhng thng s:
Thi gian tr, iu kin
u (c gi nh khi
ng ra khng xc nh).
18. Variable Transport
Delay
Gii thiu mt bin
thi gian tr: Ng vo
th hai tr mt khong
thi gian so vi ng vo
th nht
Ng ra mang gi tr 1 nu h thc c bn c
gi tr l ng,ngc li mang gi tr 0.

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Nhng thng s : Thi gian tr, s mu c lu tr.

20.Memory
Tn hiu ng vo
c l tch phn tng
phn v c lu gi

Nhng thng s : iu
kin u.
Khi ny c p
dng cho vic gii cc
vng lng gic.
21. Sign
Thc thi mt hm
du.

l nhng th vin c bn , ngi ra cn cc th vin khc nh :th vin u ni

vv vic tm hiu ht cc chc nng ca chng cng rt nhiu kh khn v cng
khng c thi gian ni ra ht .
Ngi nhng th vin c ngi s dng c th to cho mnh mt th vin ring
bng cch ghp ni cc khi li vi nhau to thnh mt nhm (group) hay vit ring mt

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chng trnh (rt kh) (gi l S-function) chy m phng trong SIMULINK. y l
cng vic ging nh to cc linh kin mi, macro trong cc phn mm v mch in t.

CHNG IV
NG DNG
I. GII THIU S LC L THUYT IU KHIN T NG
L thuyt iu khin t ng l phn ch yu ca l thuyt iu khin. L thuyt
iu khin t ng l kin thc c s ca cc ngnh k thut t ng trong lnh vc in t,
in ng lc, c kh, hng hi, quc phng.
I.1 . Cc phn t c bn ca h thng iu khin t ng:
H thng iu khin t ng l h thng c xy dng t 3 b phn ch yu:
Thit b iu khin (C)
i tng iu khin (O)
Thit b o lung ( M)

U
Z

M
Hnh 2.29. S h thng iu khin t ng.

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Trong :
U : tn hiu vo
y : tn hiu ra
X : tn hiu iu khin tc ng ln i tng
e : tn hiu sai lch
Z : tn hiu phn hi.
I.2 .Cc nguyn tc iu khin c bn:
Trong iu khin t ng c 3 nguyn tc iu khin c bn sau:
Nguyn tc iu khin sai lch
Nguyn tc iu khin theo phng php b nhiu.
Hn hp hai nguyn tc trn.
Ngi 3 nguyn tc trn cn c thm cc nguyn tc

Nguyn tc iu khin theo chng trnh

Nguyn tc iu khin thch nghi.

I.3. Phn loi h thng iu khin t ng

Vic phn loi h thng iu khin t ng theo nhiu nguyn tc khc nhau. Nhng ta
c th phn loi theo cc h thng sau:

H thng iu khin tuyn tnh

H thng iu khin phi tuyn
H thng iu khin lin tc
H thng iu khin ri rc hay h thng xung s
H ngu nhin
H ti u
H thng thch nghi (t chnh)

I.4. Nhim v ca l thuyt iu khin t ng

Nhim v c bn ca l thuyt iu khin t ng l phn tch h thng v thit k h
thng.

II.P DNG SIMULINK VO THIT K V PHN TCH

Trong vic kho st nhng ng dng ta th xy s m phng cho h dao ng l
xo khi lng sau :

f
k

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m

H l xo khi lng trn c m t bi phng trnh vi phn:

m&y&+ ky = f
m: khi lng ; k: cng l xo
T ta c s khi sau :
f

&y&

y&

Hnh 2.30. S khi h dao ng

Sau ta th xy dng s m phng trong SIMULINK .

Hnh 2.31. S khi m phng h khi lng l xo.

Hnh 2.32. Dng sng ng ra ca Scope

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T s thit k ta c th thm vo cc khi kho st h nh: h s cng (gain),

thay i dng sng
Trong cc sch bi tp iu khin t ng c cc khi nhng khng bit c p
ng ca h nh th no. Vic dng SIMULINK kho st rt thun tin cho vic phn tch
bi tn

Hnh 2.33. S khi ca mt h di tc ng ca p ng bc

Hnh 2.34. p ng ca S
hnh 2.35 v 2.36 l s khi ca ng c in v p ng vn tc quay

Hnh 2.35 . S khi ca ng c in

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Hnnh 2.36 .p ng vn tc quay

Trong iu khin t ng thm vo khu cc P, PI, PID lm cho h thng hot ng
tt v n inh hn.
Cc s iu khin v m phng.

Hnh 2.37 .H thng iu khin c khu PI.

Hnh 2.38 .p ng ti khu bo h.

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Hnh 2.39 .p ng ng ra.

Hnh 2.40 .H thng m phng ca chuyn ng ri qu banh

Hnh 2.41 .Kt qu m phng.

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Hnh 2.41 .M hnh ng c DC di chuyn cnh tay Robot

Hnh 2.42: S m phng mt khu bc hai

Hnh 2.43: p ng ca khu bc hai di ng vo l hm dc v bc

Hnh 2.44 . M hnh ng c khng ng b

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Hnh 2.45. Kt qu m phng.

Hnh 2.46. S iu khin ng c DC

Hnh 2.47. p ng ca ng c vi khu P

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Hnh 2.48. p ng ca ng c vi khu PI

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