Gio trnh L thuyt iu khin t ng 1

CHNG 1 : M T MT H THNG IU KHIN T NG

1.1 Cc khi nim c bn
hiu c khi nim v h thng iu khin t ng trc ht ta xem v d
sau

Va
Va
Va

Tu
c
bi

L HI

O2

My
pht
in

Khng
ch tc

o
thng
s v
in
U, I

My tnh

Tn hiu ch o
Hnh 1.1: S iu khin ca l hi pht in
iu khin l tp hp tt c cc tc ng c mc ch nhm iu khin mt qu
trnh ny hay qu trnh kia theo mt quy lut hay mt chng trnh cho trc.
iu khin hc l mt b mn khoa hc nghin cu nguyn tc xy dng cc
h iu khin.
Qu trnh iu khin hoc iu chnh c thc hin m khng c s tham
gia trc tip ca con ngi, th chng ta gi l qu trnh iu khin v iu
chnh t ng.
Tp hp tt c cc thit b m nh qu trnh iu khin c thc hin gi
l h thng iu khin .
1

Gio trnh L thuyt iu khin t ng 1

Tp hp tt c cc thit b k thut, m bo K hoc C t ng mt qu
trnh no c gi l h thng K hoc C t ng (i khi gi tt l h
thng t ng HTT).
1.2 Cc phn t c bn ca h thng iu khin t ng
i tng iu khin (Object), Thit b iu khin (Controller ), Thit b o
lng (Measuring device).
- S tng qut
u(t)

e(t)

x(t)

y(t)

z(t)

Hnh 1.2: S tng qut h thng iu khin t ng

Mi h thng iu khin t ng u bao gm 3 b phn c bn :
- Thit b iu khin C (Controller device).
- i tng iu khin (Object device).
- Thit b o lng (Measuring device).
u(t) tn hiu vo ; e(t) Si lch iu khin ; x(t) Tn hiu iu khin ; y(t) Tn
hiu ra ; z(t) Tn hiu phn hi
1.3 Cc nguyn tc iu khin c bn
C 3 nguyn tc iu khin c bn :
-Nguyn tc iu khin theo sai lch (Hnh 1.3).
u(t)

e(t)
-

x(t)
C

y(t)
O

z(t)

Hnh 1.3: S nguyn tc iu khintheo sai lch

Tn hiu ra y(t) c a vo so snh vi tn hiu vo u(t) nhm to nn tn
hiu tc ng ln u vo b iu khin C nhm to tn hiu iu khin i
tng O.

Gio trnh L thuyt iu khin t ng 1

-Nguyn tc iu khin theo phng php b nhiu (Hnh 1.4)
y1(t)

K
u(t)

e(t)

x(t)
C

y(t)
O

Hnh 1.4: S nguyn tc iu khin b nhiu

Nguyn tc b nhiu l s dng thit b b K gim nh hng ca nhiu l
nguyn nhn trc tip gy ra hu qu cho h thng (hnh 1.4).
-Nguyn tc iu khin theo sai lch v b nhiu (Hnh 1.5)
y1(t)

K
u(t)

e(t)
-

x(t)
C

z(t)

y(t)
O

Hnh 1.5: S nguyn tc iu khin hn hp

Nguyn tc iu khin hn hp l phi hp c hai nguyn tc trn, va c hi
tip theo sai lch va dng cc thit b b nhiu.
1.4 Phn loi cc h thng iu khin t ng.
1.4.1 Phn loi theo nguyn l xy dng.
Cc phn t c phn chia thnh cc loi: h thng K theo mch h, h
thng K theo mch kn v h thng K hn hp .
Ngoi nhng nguyn l trn, t nhng nm 60 ca th k XX, trn c s p
dng iu khin hc trong c th sng vo k thut ra i mt loi hnh h
thng t ng m phng hot ng ca c th sng: l cc h t chnh, thch
nghi. Nguyn l t chnh v thch nghi khng i hi phi bit y cc c
tnh ca qu trnh iu khin v trong qu trnh lm vic, cc h thng ny t
chnh v thch nghi vi cc iu kin bn ngoi thay i.
L thuyt cc h K t chnh v thch nghi tr thnh mt nhnh pht trin
quan trng ca l thuyt KT.
3

Gio trnh L thuyt iu khin t ng 1

V hu ht cc h thng KT trong k thut l nhng h mch kn v qu
trnh iu khin cc thit b k thut chung quy li l qu trnh iu chnh cc
tham s ca n, nu di y chng ta s cp n s phn loi cc h thng
KT mch kn v l thuyt v cc h .
1.4.2/ Phn loi theo tnh cht ca lng vo.
Tu theo tnh cht ca tc ng u vo, cc h thng KT c 3 loi:
H thng n nh t ng (iu chnh theo hng s) l h thng c lng vo
khng i. Nhim v ca h thng l duy tr mt hoc mt vi i lng vt l
gi tr khng i. Th d nh h thng KT tc ng c nhit, h thng
KT in p, tn s ca my pht, h n nh ng bay ca my bay khi gc
li khng thay i ...
H thng iu chnh theo chng trnh l h thng c lng vo l cc hm
bit trc, c th di dng chng trnh.Th d h iu khin ng bay
nh trc ca my bay khng ngi li, h thng iu khin cc my cng c:
bo, phay vi chng trnh nh trc trong b nh my tnh...
H t ng bm, gi tt l h bm l h thng c lng vo l cc hm thi
gian khng bit trc, c th thay i theo quy lut bt k. Nhim v ca h l
bo m lng ra phi "bm" theo s thay i ca lng vo. Th d cc h nh
l h bm ng b gc, cc h bm v tuyn in t ca cc i radar...
1.4.3/ Phn loi theo dng tn hiu s dng trong h thng.
Theo dng tn hiu s dng trong h thng, chng ta c cc tc ng lin tc
v cc h thng gin on (hay h ri rc).
H tc ng lin tc (gi tt l h lin tc) l h m tt c cc phn t ca h
c lng ra l cc hm lin tc theo thi gian.
Tn hiu di dng hm lin tc c th l tn hiu mt chiu (cha bin iu)
hoc tn hiu xoay chiu ( c bin iu) tng ng chng ta c h KT
mt chiu (DC) v h thng KT xoay chiu (AC) (th d h thng bm ng
b cng sut nh dng ng c chp hnh 2 p ha).

Gio trnh L thuyt iu khin t ng 1

H tc ng gin on (gi tt l h gin on hay h ri rc) l cc h c
cha t nht mt phn t gin on, tc l phn t c lng vo l mt hm lin
tc v lng ra l mt hm gin on theo thi gian.
Tu theo tnh cht gin on ca lng ra, cc h gin on c th phn chia
thnh cc loi: h thng KT xung, h thng KT kiu r le v h thng
KT s.
Nu s gin on ca tn hiu ra xy ra qua nhng thi gian xc nh (ta gi l
gin on theo thi gian) khi tn hiu vo thay i, th ta c h KT xung.
Nu s gin on ca tn hiu xy ra khi tn hiu vo qua nhng gi tr ngng
xc nh no (chng ta gi l gin on theo mc), th c th KT kiu rle.
H rle thc cht l h phi tuyn, v c tnh tnh ca n l hm phi tuyn. y l
i tng nghin cu ca mt phn quan trng trong l thuyt K .
Nu phn t gin on c tn hiu ra di dng m s (gin on c theo mc
v c theo thi gian), th ta c h KT s. H thng KT s l h cha cc
thit b s (cc b bin i A/D, D/A, my tnh in t (PC), b vi x l.
1.4.4/ Phn loi theo dng phng trnh ton hc m t h thng.
V mt ton hc, cc h thng KT u c th m t bng cc phng trnh
ton hc: phng trnh tnh v phng trnh ng. Da vo tnh cht ca cc
phng trnh, chng ta phn bit h thng KT tuyn tnh v h KT khng
tuyn tnh (phi tuyn).
H thng KT tuyn tnh l h thng c m t bng phng trnh ton
hc tuyn tnh. Tnh cht tuyn tnh ca cc phn t v ca c h thng KT
ch l tnh cht l tng. V vy, cc phng trnh ton hc ca h thng l cc
phng trnh c tuyn tnh ho, tc l thay cc s ph thuc gn ng
tuyn tnh.
H tuyn tnh c phng trnh ng hc vi cc tham s khng thay i th
gi l h KT tuyn tnh c tham s khng thay i, hay h KT tuyn tnh
dng, cn nu h thng c phng trnh vi tham s thay i th gi l h
KT tuyn tnh c tham s bin thin, hay h KT tuyn tnh khng dng.
5

Gio trnh L thuyt iu khin t ng 1

H thng KT phi tuyn l h thng c m t bng phng trnh ton
hc phi tuyn. H phi tuyn l h c cha cc phn t phi tuyn in hnh, th d
l h c cha cc phn t rle.
1.4.5/ Phn loi theo tnh cht ca cc tc ng bn ngoi.
Cc tc ng bn ngoi vo h t ng c quy lut thay i bit trc hoc
mang tnh cht ngu nhin.
H thng tin nh l cc h c cc tc ng bn ngoi l tin nh, tc l
bit trc cc quy lut thay i ca n (th d xt h thng vi cc tc ng in
hnh).
H thng khng tin nh (hay h ngu nhin) l cc h c xem xt nghin
cu khi cc tc ng bn ngoi l cc tn hiu ngu nhin.
1.4.6/ Phn loi theo s lng i lng cn iu khin.
Tu theo s lng cn iu khin (lng ra ca h) chng ta c: h mt chiu
v h nhiu chiu.
H thng KT mt chiu c cha mt i lng cn iu khin, cn h
KT nhiu chiu l h c cha t hai i lng cn iu khin tr ln. Th d
v h nhiu chiu c th l h thng KT mt my pht in, nu h thng
KT cng mt lc iu khin t ng in p v tn s ca n.
Ngoi cc cch phn loi chnh xt trn, tu thuc vo s tn ti sai s
ca h trng thi cn bng, chng ta phn bit hai loi h thng: h thng tnh
(c sai s tnh) v h phim tnh (khng c sai s tnh). Tu thuc vo quy lut
(nh lut) iu khin (tc l dng ca tn hiu iu khin x(t) do c cu iu
khin to ra), chng ta phn bit cc b iu khin t l (b iu khin P), b
iu khin t l vi phn (b iu khin PD), b iu khin vi phn - tch phn
(b iu khin PID).
1.5 Qu trnh thit lp mt h thng iu khin
- Bc 1: Chuyn i cc yu cu k thut thnh mt h thng vt l.
-

Bc 2: V s khi chc nng. Chuyn i s miu t c tnh h

thng thnh mt s khi chc nng. y l s miu t v cc phn
chi tit ca h thng v mi quan h gia chng.
6

Gio trnh L thuyt iu khin t ng 1

Bc 3: Thit lp s nguyn l.

Bc 4: S dng s nguyn l thit lp s khi hoc graph tn

hiu hoc biu din khng gian trng thi.

Bc 5: Rt gn s khi.

Bc 6: Phn tch v thit k.

Gio trnh L thuyt iu khin t ng 1

Cu hi n tp chng 1
1. H thng iu khin t ng c th phn loi nh th no?
2. H thng iu khin c my phn t c bn?
3. Hy nu cc quy tc iu khin c bn iu khin mt h thng iu
khin?
4. Nu cc bc thit lp mt h thng iu khin?

Gio trnh L thuyt iu khin t ng 1

CHNG 2: M HNH TON HC CA H THNG IU KHIN
Mi h thng c th chia lm nhiu phn s thun tin hn v mi phn
s c biu din bng 1 hm ton hc gi l hm truyn t (transfer
function)
u vo

H thng
(System)

u ra

u vo

u ra
H thng con
H thng con
(subsystem)
(subsystem)

Hnh 2.1 : S phn chia h mt h thng iu khin thnh cc h thng

H thng con
(subsystem)

2.1 Cc khu c bn
Ta c mt h thng iu khin:
R
E
B iu
khin

Chp
hnh

i
tng

o
lng

C1

Hnh 2.2 : S mt h thng iu khin tng qut

a phn cc mch phn hi ca h thng iu khin l mch phn hi m.
Khi chng ta tin hnh phn tch h thng tt hay xu hay thit k b iu khin
cho h thng u phi xut pht t m hnh ton hc ca h thng hay ni cch
khc ta phi tm c quan h gia u vo v u ra ca h thng.
2.1.1 Khu khuch i

y
K

Hnh 2.3 : S khu khuch i tnh

- Khu khuch i l tn hiu u ra l khuch i ca tn hiu u vo
y = K.x
trong : K l h s khuch i
( Khuch i tnh l c c tn hiu u vo th tm c tn hiu u ra)
9

(2.1)

Gio trnh L thuyt iu khin t ng 1

- Cng c h thng c khuch i nhiu tng
x
K1

K3

K2

Hnh 2.4: S khu khuch i tng

2.1.2 Khu tch phn
y (t ) =

1
Ti

x(t )dt (+ y

(2.2)

t0

Vi Ti l thi gian tch phn

2.1.3 Khu vi phn
y = TD

dx
dt

(2.3)

TD l hng s thi gian vi phn

2.1.4 Khu bc nht
T

dy
+ y = K .x
dt

(2.4)

trong : K l h s truyn ca khu

T l hng s thi gian ca khu
Phn ng ca h thng tt hay xu ph thuc vo h s K, nhanh hay chm ph
thuc vo T.
2.1.5 Khu bc hai
T2

(2.5)

dy
dy
+ 2T
+ y (t ) = Kx (t )
dt
dt

Trong : K l h s khuch i
T l hng s thi gian
suy gim tn hiu
y l m hnh ton hc ca mch RLC.
2.1.6 Khu bc n
a0

dny
d n 1 y
d y
dmx
d m 1 x
d x
+
a
+
...
+
a
+
a
y
(
t
)
=
b
+
b
+ ... + bm 1
+ bm x(t ) (2.6)
1
n 1
n
0
1
n
n 1
m
m 1
dt
dt
dt
dt
dt
dt

thng thng nm.

2.2 M hnh trong min tn s
2.2.1 Khi nim v php bin i Laplace v ng dng
10

Gio trnh L thuyt iu khin t ng 1

2.2.1.1 Khi nim v bn cht ca php bin i Laplace :
Khi s dng cc php bin i tn hiu h thng t min thi gian sang min
khc thun tin trong vic x l tn hiu. Nh trong h thng lin tc ngi ta
hay s dng php bin i Lpalace bin i t min thi gian sang min tn
s phc. Cc phng trnh vi tch phn s chuyn i thnh cc phng trnh i
s thng thng.
Trong cc h thng ri rc ngi ta hay s dng php bin i Z chuyn
tn hiu t min thi gian sang min tn s phc. Trong thc t ngi ta cn s
dng cc php bin i khc x l tn hiu nh gii tng quan, m ho c
hiu qu, chng nhiu,.
Thc hin cc php bin i c cng c ton hc nh my tnh s, cng c
ph bin v hiu qu l phn mm Matlab hay thc hin bin i bng tay.
a) Bin i Laplace thun
nh ngha: Gi F(s) l bin i Laplace ca hm f(t), khi ta c:

F ( s ) = L [ f (t )] = f (t )e st dt

(2.7)

trong :
-

s = + j

- e st l ht nhn ca php bin i.

- F(s) l hm phc.
- f(t) l hm biu din trn min thi gian xc nh trn R.
thc hin c bin i Laplace hm f(t) phi l hm thc v tho mn
mt s iu kin sau:
- f(t) l hm gc khi tho mn cc iu kin sau:
1. f(t) = 0 khi t < 0
2. f(t) lin tc khi t0, trong khong hu hn bt k cho trc ch c hu hn
cc m cc tr.
3. Hm f(t) gi l hm bc s m khi t nu tn ti mt s thc 0 v
M >0 th f (t ) Met , t > 0 , c gi l ch s tng ca hm f(t). Khi
hm f(t) l hm bc s m nu hm f(t) tng khng nhanh hn hn hm et.
+

- Nu f(t) l hm gc c ch s tng th tch phn I = e st f (t )dt s hi t

0

trong min Re(s) = > . Khi I = e st f (t )dt = F ( s ) s l mt hm phc.

0

11

Gio trnh L thuyt iu khin t ng 1

V d 1: Tm nh ca hm gc sau
f(t)
khi 0 t < 2
1
1

f (t ) = 1
0

khi 2 t < 3

khi t 3

-1

p dng cng thc bin i ta c

+

1
1
1
F ( s ) = e f (t )dt = e f (t )dt e f (t )dt = e st + e st = (1 2e 2 p + e 3 p )
s
s
s
0
0
2
0
2
V d 2: Cho hm
2

st

1
f (t ) =
0

st

st

khi t 0

f(t)
1

khi t < 0

Tm bin i Laplace?
Gii
+

F (s) = e

st

e st
=

f (t )dt
s

V du 3: Tm nh Laplace ca hm f(t) = 4t
T bng bin i Laplace ta c

=
0

1
s

p dng bin i tm nh Laplace ca hm f(t) = 4t2

b) Bin i Laplace ngc:

Bin i Laplace ngc l xc nh tn hiu f(t) t nh Laplace F(s) ca n.
Gi f(t) l gc ca nh F(s) Khi ta c:
c + j

1
L [ F ( s )] = f (t ) =
F ( s )e st ds

2j c j
1

(2.8)

nhng cng thc (2.8) ny t dng, ta hay p dng phng php bin i ngc
hm F(s) c dng hm hu t.
12

Gio trnh L thuyt iu khin t ng 1

Gi s f(t) c nh Laplace dng sau

B( s ) b0 + b1 s + L + bm s m
=
F (s) =
A( s ) a0 + a1 s + L + a n s n

(2.9)

vi n m.
Cc bc thc hin nh sau:
Bc 1: Phn tch F(s) thnh tng cc hm phn thc ti gin

Aki
Bk ( s k ) + C k k
+

i
( s k ) 2 + k2
k =1 i =1 ( s a k )
l

rk

F (s) = A +

(2.10)

trong A, Aki, Bk, Ck l cc hng s. ak l im cc thc bi rk v k + j k l

im cc phc ca F(s), ni cch khc chng l im m ti F(s) = .
Bc 2: Xc nh hm gc cho tng phn t.
-

L -1 {A} = A (t )

- L

-1

Aki
t i 1e a t
1(t )
= Aki

s
a
(
)
(
i
1
)!

Bk ( s k )
= Bk e t cos( k t )1(t )
2
2
(s k ) + k

- L -1

Ck k
= C k e t sin( k t )1(t )
2
2
(s k ) + k

- L -1

V d 1: Tm hm gc f(t) ca nh Laplace sau

F (s) =

1
s ( s + 1)
2

Gii:
Bc 1: Phn tch thnh tng cc phn thc ti gin

1
1 1
+ 2
s +1 s s
Bc 2: Xc nh hm gc cho tng thnh phn
f(t) = (e t 1 + t)1(t)
F (s) =

V d 2:
F (s) =

s 3 + 2s 2 + 6s + 7
s2 + s + 2

Ta thc hin chia t s cho mu s cho n khi s d cn li c bc ca t

nh hn bc ca mu.
13

Gio trnh L thuyt iu khin t ng 1

F (s) = s + 1 +

2
s +s+2
2

Thc hin bin i Laplace ngc c s dng bng bin i Laplace

f (t ) =

d (t )
2

+ (t ) + L 1 2

dt
s + s + 5

S dng phng php phn tch X ( s) =

2
thnh tng cc phn thc
s +s+5
2

n gin.
Ta xt mt s trng hp sau:
Trng hp 1: Nghim ca mu thc T(s) l thc v ring bit. Gi s nghim
ca mu thc T(s) c hai nghim s1 = -1 v s2 = - 2.
X ( s) =

2
( s + 1)( s + 2)

Nghim ca mu thc l ring bit nn tng phn thc s c bc l 1.

X ( s) =

K
K
2
= 1 + 2
( s + 1)( s + 2) s + 1 s + 2

tm K1 ta nhn (2.) vi (s+1) tch K1 ring ra

( s + 1) K 2
2
= K1 +
( s + 2)
( s + 2)

Sau cho s - 1, rt ra c K1 = 2. Lm tng t v cho s - 2 ta rt ra

c K2 = - 2.
Lc
X ( s) =

2
2
2
=

( s + 1)( s + 2) s + 1 s + 2

Thc hin bin i Laplace ngc ca X(s) ta c

x(t ) = (2e t 2e 2t )u (t )

Mt cch tng qut khi mu s ca F(s) cos nghim thc v ring bit, ta thc
hin nh sau:
F (s) =

B( s)
B( s)
=
A( s ) ( s + p1 )( s + p 2 ) L ( s + p m ) L ( s + p n )
Km
Kn
K1
K2
=
+
+L+
+L+
( s + p1 ) ( s + p 2 )
(s + pm )
(s + pn )

(2.11)

Nu bc ca t nh hn bc ca mu ta thc hin tm cc h s Ki nh sau:

- Nhn hai v vi (s + pi) tm h s Ki.
- Cho s - pi, rt ra c Ki.
14

Gio trnh L thuyt iu khin t ng 1

Trng hp 2: Mu s c nghim thc v lp li. Gi s nghim ca mu thc
T(s) c ba nghim s1 = -1 v s2,3 = - 2. Lc ta phn tch X(s) nh sau:
X (s) =

K3
K
K2
2
= 1 +
+
2
2
s + 1 ( s + 2)
( s + 2)
( s + 1)( s + 2)

Tm cc h s K1, K2 v K3
K1 =

2
( s + 2) 2

=2
s 1

tm K2 ta nhn hai v ca (2.) vi (s + 2)2

( s + 2) 2 K 1
2
=
+ K 2 + ( s + 2) K 3
s +1
( s + 1)

Khi cho s - 2 ta tm c K2 = - 2
Tm K3 bng cch ly o hm (2.) theo bin s ta c
2
( s + 2) s
K1 + K 3
=
2
( s + 1)
( s + 1) 2

Cho s - 2 ta rt ra c K3 = - 2.
Thay K1, K2 v K3 ta c
X (s) =

2
2
2
2
=

2
2
s + 1 ( s + 2)
( s + 2)
( s + 1)( s + 2)

Thc hin bin i Laplace ngc ta c

x(t ) = (2e t 2te 2t 2e 2t )u (t )

Tng qut cho trng hp ny

F (s) =

B( s)
B( s)
=
r
A( s ) ( s + p1 ) ( s + p 2 ) L ( s + p n )
Kn
K1
K2
Kr
Kr
=
+
+L+
+
+L+
r
r 1
( s + p1 ) ( s + p 2 )
(s + pn )
( s + p1 )
( s + p1 )

(2.12)

thc hin c phi c iu kin bc ca t nh hn bc ca mu v c r

nghim bi ti - p1. tm K1 n Kr cho phn thc c nghim bi, u tin ta
nhn hai v (2. 12) vi (s + p1)r ta c
( s + p1 ) r B( s )
F1 ( s ) = ( s + p1 ) F1 ( s ) =
( s + p1 ) r ( s + p 2 ) L ( s + p n )
r

= K 1 + ( s + p1 ) K 2 + ( s + p1 ) 2 K 3 + L + ( s + p1 ) r 1 K r +
+

( s + p1 ) r K n
( s + p1 ) r K r +1
+L+
(s + p 2 )
(s + p n )

15

(2.13)

Gio trnh L thuyt iu khin t ng 1

Ta c th tm ngay c K1 khi cho s - p1. tm K2 ta ly o hm (2.12)
theo bin s v cho s - p1. Ln lt ly o ta tm c K3 n Kr. Cng thc
chung tm K1 n Kr l:
Ki =

1 d i 1 F1 ( s )
(i 1)! ds i 1

i = 1, r

0!= 1

(2.14)

s p1

Trng hp 3: Mu thc c nghim phc hay nghim o. Gi s mu s ca

F(s) c nghim phc.
F (s) =

3
s ( s + 2 s + 5)
2

F(s) c th phn tch thnh cc phn thc nh sau

K s + K3
K
3
= 1 + 22
s
s ( s + 2 s + 5)
s + 2s + 5
2

D dng tm c K1 = 3/5 khi cho s 0. tm K2 v K3 ta quy ng phn

thc vi mu s chung nh nht l s ( s 2 + 2s + 5) b c cc phn thc
3
6

3 = K 2 + s 2 + K 3 + s + 3
5
5

Thc hin ng nht thc hai v ta c

3
3

K2 + = 0 K2 =
5
5

6
6

K3 + = 0 K3 =
5
5

Thay cc h s ta c
F (s) =

3
3
5 3 s+2
=
2
s 5 s 2 + 2s + 5
s ( s + 2 s + 5)

T bng tra nh ca tch hm m v hm sin v cos

A( s + a )
( s + a) 2 + 2

B
(s + a) 2 + 2

L Ae at cos t =

V
L Be at sin t =

Cng hai cng thc trn ta c

L Ae at cos t + Be at sin t =

Ta a cng thc (2.) v dng trn

16

A( s + a) + B
(s + a) 2 + 2

Gio trnh L thuyt iu khin t ng 1

F (s) =

( )

3
(s + 1) + 1 2 (2)
3
53
=
s 5 (s + 1)2 + 2 2
s ( s 2 + 2 s + 5)

Tra bng ta tm c hm gc nh sau

f (t ) =

3 3 t
1

e cos 2t + sin 2t
5 5
2

Trong trng hp trn ta cng c th thc hin n gin bng cch phn tch
thng thng
F ( s) =

3
3
=
s ( s + 2 s + 5) s ( s + 1 + j 2)( s + 1 j 2)
K3
K
K2
= 1+
+
s
s + 1 + j2 s + 1 j2
2

K1 d dng tnh c v bng 3/5.

K2 =

3
s ( s + 1 j 2)

=
s 1 j 2

3
(2 + j )
20

Tng t ta tm c K3 l nghim phc lin hp ca K2.

Ta c
3
3 2+ j
2 j

F ( s ) = 5 +
+
s
20 s + 1 + j 2 s + 1 j 2

T ta tm c hm gc nh sau

3 3
(2 + j )e (1+ 2 j ) + (2 j )e (12 j )t

5 20
e j 2t + e j 2t e j 2t e j 2t
3 3
+ 2
= e t 4
5 20
2
2j

f (t ) =

p dng cng thc le ca hm sin v cos

e j 2t + e j 2t
2
j 2t
e e j 2t
sin =
2j
cos =

Suy ra
f (t ) =

3 3 t
1

e cos 2t + sin 2t
5 5
2

17

Gio trnh L thuyt iu khin t ng 1

Bin i Laplace mt s hm n gin:
x(t)

X(s)

X(t)

X(s)

(t)

t n 1 e t
( n 1)!

1
(s + ) n

1(t)

1
s

sint

s + 2

tu(t)

1
s2

cost

s
s 2 + 2

tnu(t)

n!
s n +1

sin(t)e-t

(s + ) 2 + 2

e-t

1
s+

cos(t)e-t

s+
(s + ) 2 + 2

e at e bt

ba
( s + a )( s + b)

1
e at
e bt

ab a (b a ) b(b a )

1
s ( s + a)( s + b)

2.2.1.2 Cc tnh cht ca php bin i Laplace :

1. Tnh cht tuyn tnh: L[a.f(t)]= a.L[f(t)] = a.F(s).
2. Tnh cht xp chng: Nu f1(t) v f2(t) c nh bin i Laplace l F1(s) v
F2(s) th ta c:

L[f1(t) f2(t)] = L[f1(t)] L[f2(t)] = F1(s) F2(s)

V d : Tm nh ca hm hm f(t) = cosat trong a l hng s.
Theo cng thc le ta c
cos at =

e jat + e jat 1 jat 1 jat

= e + e
2
2
2

Thc hin php bin i Laplace

1
1 1
1 s + ja + s ja
s
1 1
1
L {cos at} = L e jat + e jat =
= 2
+
=
2
2
2
s +a
s + a2
2 s ja 2 s + ja 2
2

3. Tnh cht tr (Chuyn dch thi gian -Translation in time):

Nu f(t) c nh l F(s), a l mt s thc v f(t-a) =0 khi 0<t<a th:
L[ f(t- a ) ] = e-as F(s) .
18

Gio trnh L thuyt iu khin t ng 1

V d: Tm nh Laplace ca hm gc c th nh sau
f(t)
2
1 0 t <1

f (t ) =
1
0

1 t < 2

2t <3
t 3

1 2

-1

Ta c f(t) = [h(t)-h(t-1)]+2[h(t-1)-h(t-2)]-[h(t-2)-h(t-3)]
p dng tnh cht tr ta c
1
1
1 1
1
1

F ( s) = e s + 2 e s e 2 s e 2 s e 3s
s
s
s
s
s
s

1 1
3
1
= + e s e 2 s + e3s
s s
s
s
s
2s
3s
1 + e 3e + e
=
s

4. Tnh cht vi phn phc (Complex diffirentiation):

Nu f(t) c nh l F(s) th:
L[tf (t )] =

d
F ( s)
ds

V d: L[t.e-as] = - dL[e-as]/ds = - d[1/(s+a)]/ds = 1/ (s+a)2

5. Tnh cht chuyn dch nh: Nu f(t) c nh l F(s), a l mt s thc bt k
hay l mt s phc khi :
L[e-at f(t) ] = F (s + a)
6. Tnh cht vi phn thc: Nu f(t) c nh l F(s) th :
L[f ' (t) ] = sF(s) - f(0+).
7. Tnh cht tch phn thc Nu F(s) l nh ca f(t) th
L[ f (t )dt ] =

F ( s)
+
s

f (0)
s

8. Tnh cht gi tr cui:

Nu bin i Laplace ca f(t) l F(s) v nu gii hn f(t) tn ti khi t
khi :

lim sF ( s ) = lim f (t ) = f ()
s 0

9. Tnh cht gi tr u: Nu tn ti lim f (t ) th

t0

f (+0) = lim f (t ) = lim sF ( s )

t 0

19

Gio trnh L thuyt iu khin t ng 1

2.2.1.3 ng dng ca php bin i Laplace
a) ng dng gii phng trnh vi phn tuyt tnh.
Khi chuyn phng trnh vi phn t min thi gian sang min nh phc tr
thnh phng trnh i s. Sau khi gii ra c nghim ta chuyn ngc v
min thi gian.
V d 1: Gii phng trnh vi phn sau vi cc s kin u bng khng.
d2y
dy
+ 12 + 32 y = 32u
2
dt
dt
chuyn sang min nh Laplace vi y(0-) = 0 v y& (0) = 0
32
s 2Y ( s ) + 12sY ( s ) + 32Y ( s ) =
s

Rt Y(s) ra ta c
Y (s) =

32
32
=
s ( s + 12s + 32) s ( s + 4)( s + 8)
2

Phn tch Y(s) thnh tng cc phn thc ti gin

Y (s) =

K
K
K
32
= 1+ 2 + 3
s ( s + 4)( s + 8)
s
s+4 s+8

Tm cc h s K1, K2 v K3.
32
( s + 4)( s + 8)
32
K1 =
s ( s + 8) s 4
32
K1 =
( s + 4) s s 8
K1 =

=1
s 0

= 2
=1

Vy
Y (s) =

1
2
1

+
s s + 4 s +8

Thc hin bin i Laplace ngc ta tm c

y (t ) = (1 2e 4t + e 8t )u (t )

Trong cng thc trn c cha u(t) ni ln rng cc p ng s bng 0 cho n

khi t = 0. V vy cc p ng u ra cng bng 0 cho n kho t = 0. thun
tin ta c th b k hiu u(t) i, vy p ng u ra c th vit nh sau
y (t ) = 1 2e 4t + e 8t

V d 2: Gii phng trnh vi phn bng ton t Laplace sau

d2y
dy
+ 3 + 2y = 0
2
dt
dt

vi s kin y(+0) = a v

dy (+0)
=b
dt

Chuyn c hai v sang min nh phc nh ton t Laplace

20