L THUYT IU KHIN T NG

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:

Hnh 1.1: S iu khin ca l hi pht in

iu khin: 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: Mt b mn khoa hc nghin cu nguyn tc xy dng cc h
iu khin.
iu khin t ng: Qu trnh iu khin hoc iu chnh c thc hin m
khng c s tham gia trc tip ca con ngi.
H thng iu khin: Tp hp tt c cc thit b m nh qu trnh iu khin
c thc hin.
H thng iu khin t ng (iu chnh t ng): Tp hp tt c cc thit b k
thut, m bo iu khin hoc iu chnh t ng mt qu trnh no (i khi gi
tt l h thng t ng HTT).
ngha ca iu khin t ng:
- p ng ca h thng khng tha mn yu cu cng ngh
- Tng chnh xc
- Tng nng sut
- Tng hiu qu kinh t

1.2. Cc phn t c bn ca h thng iu khin t ng

1.2.1. Cc phn t c bn
S tng qut ca h thng iu khin t ng

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).
Trong :
u(t) tn hiu vo ; r(t)
e(t) Sai lch iu khin ;
x(t) Tn hiu iu khin ;
y(t) Tn hiu ra ; c(t)
z(t) Tn hiu phn hi (hi tip)
1.2.2. Bi ton c bn trong lnh vc iu khin t ng
- Phn tch h thng: Cho h thng t ng bit cu trc v thng s. Bi
ton t ra l tm p ng ca h thng v nh gi cht lng ca h.
- Thit k h thng: Bit cu trc v thng s ca i tng iu khin. Bi
ton t ra l thit k b iu khin c h thng tha mn cc yu cu v cht
lng.
- Nhn dng h thng: Cha bit cu trc v thng s ca h thng. Vn dt
ra l xc nh cu trc v thng s ca h thng.
Mn hc L thuyt KT ch gii quyt bi ton phn tch h thng v thit
k h thng. Bi ton nhn dng h thng s c nghin cu trong mn hc khc.
1.3. Cc nguyn tc iu khin c bn
1.3.1. Nguyn tc thng tin phn hi (1)
Mun h thng iu khin c cht lng cao th bt buc phi c phi hi thng
tin, tc phi c o lng cc tn hiu t i tng iu khin.
- iu khin san bng sai lch

Hnh 1.3: S nguyn tc iu khin theo 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.
- iu khin theo b nhiu

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 hn hp (theo sai lch v b nhiu)

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.
1.3.2. Nguyn tc a dng tng xng
Mun qu trnh iu khin c cht lng th s a dng ca b iu khin phi
tng xng vi s a dng ca i tng. Tnh a dng ca b iu khin th hin
kh nng thu thp thng tin, lu tr thng tin, truyn tin, phn tch x l, chn quyt
nh,...
ngha: Cn thit k b iu khin ph hp vi i tng.
Th d: Hy so snh yu cu cht lng iu khin v b iu khin s dng
trong cc h thng sau:
- iu khin nhit bn l (chp nhn sai s ln) vi iu khin nhit l
sy (khng chp nhn sai s ln).
- iu khin mc nc trong bn cha ca khch sn (ch cn m bo lun c
nc trong bn) vi iu khin mc cht lng trong cc dy chuyn sn xut (mc
cht lng cn gi khng i).
1.3.3. Nguyn tc b sung ngoi
Mt h thng lun tn ti v hot ng trong mi trng c th v c tc ng
qua li cht ch vi mi trng . Nguyn tc b sung ngoi tha nhn c mt i
tng cha bit (hp en) tc ng vo h thng v ta phi iu khin c h thng ln
hp en.

 ngha: Khi thit k h thng t ng, mun h thng c c cht lng cao th
khng th b qua nhiu
1.3.4. Nguyn tc d tr
V nguyn tc 3 lun coi thng tin cha y phi phng cc bt trc xy
ra v khng c dng ton b lc lng trong iu kin bnh thng. Vn d tr
khng s dng, nhng cn m bo cho h thng vn hnh an ton.
1.3.5. Nguyn tc phn cp
Mt h thng iu khin phc tp cn xy dng nhiu lp iu khin b sung
cho trung tm. Cu trc phn cp thng s dng l cu trc hnh cy.
a s h thng iu khin trong cc dy chuyn sn sut hin nay c th chia
lm 3 cp:
- Cp thc thi: iu khin thit b, c tn hiu t cm bin.
- Cp phi hp
- Cp t chc v qun l

1.3.6. Nguyn tc cn bng ni

Mi h thng cn xy dng c ch cn bng ni c kh nng t gii quyt
nhng bin ng xy ra.
1.4. Phn loi cc h thng iu khin t ng
1.4.1. Phn loi da trn m t ton hc ca h thng
H thng lin tc: H thng lin tc c m t bng phng trnh vi phn.
H thng ri rc: H thng ri rc c m t bng phng trnh sai phn.
H thng tuyn tnh: h thng c m t bi h phng trnh vi phn/sai phn
tuyn tnh.
H thng phi tuyn: H thng m t bi h phng trnh vi phn/sai phn phi
tuyn.
H thng bt bin theo thi gian: h s ca phng trnh vi phn/ sai phn m
t h thng khng i.
H thng bin i theo thi gian: h s ca phng trnh vi phn/ sai phn m
t h thng thay i theo thi gian.
1.4.2. Phn loi da trn s ng vo ng ra h thng
H thng mt ng vo mt ng ra (h SISO): (Single Input Single Output).

H thng nhiu ng vo nhiu ng ra (h MIMO): (Multi Input Multi

Output).
1.4.3. Phn loi theo chin lc iu khin.
Mc tiu iu khin thng gp nht l sai s gia tn hiu ra v tn hiu vo
chun cng nh cng tt. Ty theo dng tn hiu vo m ta c cc loi iu khin sau:
iu khin n nh ha: Nu tn hiu chun x(t) = const, ta gi l iu khin n
nh ha.
iu khin theo chng trnh: Tn hiu vo x(t) l hm thay i theo thi gian
nhng bit trc.
iu khin theo di: Tn hiu vo x(t) l hm khng bit trc theo thi gian.
1.4.4. Lch s pht trin l thuyt iu khin
a. iu khin kinh in:
M t ton hc dng phn tch v thit k h thng l hm truyn.
c im:
- n gin
- p dng thun li cho h thng tuyn tnh bt bin mt ng vo, mt ng ra.
- K thut thit k trong min tn s.
Cc phng php phn tch v thit k h thng:
- Qu o nghim s.
- c tnh tn s: biu Nyquist, biu Bode.
B iu khin:
- Sm tr pha
- PID (Proportional Integral Derivative)
b. iu khin hin i:
M t ton hc dng phn tch v thit k h thng l phng trnh trng
thi.
c im: C th p dng cho h thng phi tuyn, bin i theo thi gian,
nhiu ng vo, nhiu ng ra. K thut thit k trong min thi gian
Cc phng php thit k h thng:
- iu khin ti u.
- iu khin thch nghi.
- iu khin bn vng
B iu khin: Hi tip trng thi
c. iu khin thng minh:
Nguyn tc khng cn dng m hnh ton hc thit k h thng.
c im:
- M phng (bt chc) cc h thng thng minh sinh hc.
- B iu khin c kh nng x l thng tin khng chc chn, c kh nng hc,
c kh nng x l lng ln thng tin.

Cc phng php iu khin thng minh:

- iu khin m (Fuzzy Control).
- Mng thn kinh nhn to (Neural Network).
- Thut ton di truyn (Genetic Algorithm).
Ni dung chnh ca mn hc L thuyt iu khin t ng ch yu cp n
cc phng php kinh in phn tch, thit k h thng tuyn tnh, bt bin, mt ng
vo, mt ng ra. Do vy kin thc c c t mn hc gip k s c th phn tch,
thit k h thng iu khin cp thc thi (cp iu khin thit b trong h thng iu
khin phn cp).
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.
- 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.

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?

CHNG 2: M HNH TON HC CA H THNG IU

KHIN
2.1. Khi nim v m hnh ton hc
2.1.1. M hnh ton hc dng phng trnh vi phn
H thng iu khin thc t rt a dng v c bn cht vt l khc nhau do
cn c c s ton hc chung phn tch, thit k cc h thng iu khin c bn cht
vt l khc nhau.
Tn hiu u vo u(t) v tn hiu u ra y(t) thng l cc hm s theo thi gian.
Quan h gia tn hiu vo v tn hiu ra ca mt h thng tuyn tnh bt bin
lin tc c th m t bng phng trnh vi phn tuyn tnh h s hng:

a0

dny
d n 1 y
dy
d mx
d m 1 x
dx

...

a
y
(
t
)

b
... bm 1 bm x(t )
n 1
n 1
n
0
m 1
n
n 1
m
m 1
dt
dt
dt
dt
dt
dt

Trong :
n - bc ca h thng, h thng hp thc nu n m.
ai, bi - thng s ca h thng
2.1.2. Mt s v d m t h thng bng phng trnh vi phn
- c tnh ng hc tc xe t

Phng trnh ng hc ca tc xe t theo lc ko ca ng c

dv(t )
M
B.v(t ) f (t )
dt
Trong :
M - khi lng xe, B - h s ma st: thng s ca h thng
f(t) - lc ko ca ng c: tn hiu vo
v(t) - tc xe: tn hiu ra
- c tnh ng hc h thng gim chn ca xe

Phng trnh ng hc h thng

d 2 y (t )
dy(t )

B
K . y(t ) f (t )
dt 2
dt
Trong :
M - khi lng tc ng ln bnh xe, B h s ma st, K cng
l xo (thng s h thng)
f(t) - lc do sc: tn hiu vo
y(t) - dch chuyn ca thn xe: tn hiu ra
M

- c tnh ng hc thang my

Phng trnh ng hc h thng

d 2 y(t )
dy(t )
B
M T .g K . (t ) M .g
2
dt
dt
Trong :
MT - khi lng bung thang, M - khi lng i trng,
B - h s ma st, K - h s t l
(t) - moment ko ca ng c: tn hiu vo
y(t) - v tr bung thang: tn hiu ra
MT

Qua cc v d trn ta c th thy rng hu ht cc h thng iu khin t ng

u c m t bng cc phng trnh ng hc l cc phng trnh vi phn bc 1, 2,
n
Phng trnh vi phn bc n (n > 2) rt kh gii

Phn tch h thng da vo m hnh ton l phng trnh vi phn gp rt nhiu

kh khn (mt th d n gin l bit tn hiu vo, cn tnh p ng ca h thng, nu
gii phng trnh vi phn th khng n gin). Thit k h thng da vo phng trnh
vi phn hu nh khng th thc hin c trong trng hp tng qut.
Trong thc t cn cc dng m t ton hc khc gip phn tch v thit k h
thng t ng d dng hn: Hm truyn, Phng trnh trng thi.

2.2. Hm truyn
2.2.1. Bin i Laplace
a. Khi nim v tnh 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 Laplace 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.
- Khi nim: Cho hm f(t) l hm xc nh vi t 0, bin i Laplace ca hm
f(t) l:

F ( s) L{ f ( x)} f (t )e st dt
0

(2.7)

trong :

s bin phc (bin Laplace)

L ton t bin i Laplace
e-st l ht nhn ca php bin i
F(s) hm phc
f(t) 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:
1. f(t) = 0 khi t < 0
2. f(t) lin tc khi t 0, trong khong hu hn bt k cho trc ch c hu hn
cc im cc tr.

3. Tch phn I f (t )e st dt hi t.
0

- Tnh cht :
Gi thit f(t) v g(t) l hai hm theo thi gian c bin i Laplace tng ng:

L f (t ) F (s)
Lg (t ) G(s)
Tnh tuyn tnh
La. f (t ) b.g (t ) a.F (s) b.G(s)
nh l chm tr
L f (t T ) e Ts F (s)

nh ca o hm

d ( f (t ))

L
s.F ( s) F (0 )
dt
nh ca tch phn

F ( s)
L f (t )dt
s
0

nh l gi tr cui
lim f (t ) lim s.F ( s)
t

s 0

b. Bin i Laplace ca cc hm c bn:

- Hm nc n v (step): tn hiu vo h thng iu khin n nh ha

Lu (t )

1
s
- Hm dirac: thng dng m t nhiu

Bin i Laplace ca u(t)

Bin i Laplace ca (t)

L (t ) 1

(t )dt 1

- Hm dc n v (Ramp): tn hiu vo h thng iu khin theo di

Bin i Laplace ca r(t)

- Hm m

Lt.u (t )

1
s2

Le at .u (t )

Bin i Laplace
- Hm sin

1
sa

L(sin t ).u (t )

Bin i Laplace
Bng bin i Laplace ca cc hm c bn

s 2
2

TT

f(t)

F(s)

TT

f(t)

(t )

14

e at sin t

u (t )

1
s

15

e at cost

sa
( s a) 2 2

1
s2

16

sinht

s 2

t n 1
,n Z
(n 1)!

1
sn

17

cosht

s
s 2

e at

1
sa

18

df (t )
dt

s.F (s) f (00 )

t.e at

1
( s a) 2

19

d 2 f (t )
dt 2

8
9

t n 1
e at , n Z
(n 1)!

1 e

at

1
(e at e bt )
ab

1
( s a) n

20

a
s( s a)

21

d n f (t )
dt n

t.dt

1
22 f (t ).ut )
( s a)( s b)

F(s)

( s a) 2 2

s 2 .F ( s) f (00 )
s n .F ( s ) f (00 )
...

df (0)
dt

d n f (0)

dt n

df (0)
dt

F ( s) f 1 (0)

s
s
a st F (s)

10

sin t

11

cost

12

13

s 2
s
2
s 2
2

23 a. f 1 (t ) b. f 2 (t )
24

sin(t )

s. sin . cos
25
s2 2

cos(t )

s. cos . sin
s2 2

a.F1 (s) b.F2 (s)

e at f (t )
t. f (t )

F ( s a)

dF ( s )
ds

Ghi ch: S dng bng phi nhn vi hm u(t), hay tha mn iu kin f(t) = 0
khi t < 0
2.2.2. Hm truyn
a. Khi nim
Xt h thng tuyn tnh bt bin lin tc, m t bi phng trnh vi phn:

d n c(t )
d n 1c(t )
dc(t )

a
... a n 1
an c(t )
1
n
n 1
dt
dt
dt
d m r (t )
d m 1 r (t )
dr(t )
b0

b
... bm 1
bm r (t )
1
m
m 1
dt
dt
dt
Bin i Laplace 2 v phng trnh trn, tnh cht nh ca o hm, gi
thit iu kin u bng 0, ta c:
a0

a0 s n C ( s) an 1 s n 1C ( s) ... an 1 sC ( s) an C ( s)
b0 s m R( s) bm 1 s m 1 R( s) ... bm 1 sR( s) bm R( s)

Hm truyn ca h thng:
G( s)

a0 s n C ( s) an 1 s n 1C ( s) ... an 1 sC ( s) an C ( s)
b0 s m R( s) bm 1 s m 1 R( s) ... bm 1 sR( s) bm R( s)

nh ngha: Hm truyn ca h thng l t s gia bin i Laplace ca tn hiu

ra v bin i Laplace ca tn hiu vo khi iu kin u bng 0.
Ch : Mc d hm truyn c nh ngha l t s gia bin i Laplace ca
tn hiu ra v bin i Laplace ca tn hiu vo nhng hm truyn khng ph thuc
vo tn hiu ra v tn hiu vo m ch ph thuc vo cu trc v thng s ca h
thng. Do c th dng hm truyn m t h thng.
b. Cch tm hm truyn
Bc 1: Thnh lp phng trnh vi phn m t quan h vo ra ca phn t
bng cch:

- p dng cc nh lut Kirchoff, quan h dng p trn in tr, t in, cun

cm, i vi cc phn t in.
- p dng cc nh lut Newton, quan h gia lc ma st v vn tc, quan h
gia lc v bin dng ca l xo, i vi cc phn t c kh.
- p dng cc nh lut truyn nhit, nh lut bo ton nng lng, i vi
cc phn t nhit.
Bc 2: Bin i Laplace hai v phng trnh vi phn va thnh lp bc 1,
ta c hm truyn cn tm.
Ch : i vi cc mch in c th tm hm truyn theo phng php tng tr
phc.
c. Hm truyn ca cc b iu khin (khu hiu chnh)
- Khu hiu chnh th ng
+ Mch tch phn bc 1:

1
RC.s 1
+ Mch vi phn bc 1:

Hm truyn: G ( s)

Hm truyn: G ( s)

RC.s
RC.s 1

+ Mch sm pha:

Hm truyn: G ( s) K C

Ts 1
Ts 1

Trong : K C
+ Mch tr pha:

R2
RRC
R R2
; T 1 2 ; 1
1
R1 R2
R1 R2
R2

Hm truyn: G ( s) K c

Ts 1
Ts 1

Trong :

Kc 1;

T ( R1 R2 )C ;

- Cc khu hiu chnh tch cc

+ Khu t l P (Proportional)

Hm truyn: G( s) K p
Trong :

Kp

R2
R1

+ Khu tch phn t l PI: (Proportional Integral)

Hm truyn: G ( s) K p
Trong :

Ki
s
Kp

R2
R1

Ki

1
R1C

+ Khu vi phn t l PD: (Proportional Derivative)

Hm truyn: G(s) K p K d .s
Trong :

Kp

R2
R1

K d R2 C

+ Khu vi tch phn t l PID: (Proportional Integral Derivative)

R2
1
R1 R2

Hm truyn: G( s) K p
Trong :

Ki
K d .s
s
1
R
; K d R2 C
K p 2 ; Ki
R1C
R1

d. Hm truyn ca cc i tng thng gp

- ng c in mt chiu

- L : in cm phn ng
- : tc ng c
- R : in tr phn ng
- Mt : moment ti
- U : in p phn ng
- B : h s ma st
- E : sc phn in ng
- J : moment qun tnh
p dng nh lut Kirchoff cho mch in phn ng:
di (t )
U u (t ) iu (t ) Ru Lu u Eu (t )
dt
Eu (t ) K .. (t )
Trong :
K h s
t thng kch t
p dng nh lut Newton cho chuyn ng quay ca trc ng c:
d (t )
M (t ) M t (t ) B (t ) J
dt
M (t ) K ..iu (t )
Trong :
Bin i Laplace cc phng trnh trn ta c:
U u (s) I u (s) Ru Lu sI u (s) Eu (s)
Eu (s) K .. (s)
M (s) M t (s) B(s) Js(s)
M (s) K ..I u (s)

t : Tu

Lu
- hng s thi gian in t ca ng c
Ru

J
- hng s thi gian in c ca ng c
B
Thay vo cc phng trnh ta c h phng trnh in v ng hc ca ng c
in mt chiu:
U ( s ) Eu ( s )
I u ( s) u
Ru (1 sTu )
Tc

Eu (s) K .. (s)

( s)

M ( s) M t ( s)
B(1 sTc )

M (s) K ..I u (s)

Hnh (): S khi ca ng c in mt chiu

- Hm truyn l nhit dng in tr gia nhit

M hnh l in tr

a)
c tnh ca l in tr a) chnh xc

b)
b) gn ng

Hm truyn c xc nh gn ng theo:
C ( s)
G( s)
R( s )
Tn hiu vo ca h thng l nhit dng hm nc n v (cng sut trn in
tr 100%) R( s)

1
s

Tn hiu ra ca h thng gn ng c(t ) f (t T1 )

trong f (t ) K (1 e t / T )
2

T y: F ( s)

K
s(1 sT2 )

p dng tnh cht tr ca bin i Laplace

C ( s)

Ke sT
s(1 sT2 )
1

Hm truyn
G( s)

C ( s) Ke sT

R( s) 1 sT2
1

- Hm truyn t

Phng trnh vi phn ng hc ca t

dv(t )
M
Bv(t ) f (t )
dt
Trong :
M - khi lng xe, B - h s ma st
f(t) - lc ko
v(t) - tc xe
Hm truyn:
V ( s)
1
K
G( s)

F ( s) Ms B sT 1
1
M
; T
B
B
- H thng gim xc ca t, xe my

Trong : K

Phng trnh vi phn m t ng hc h thng

M

d 2 y (t )
dy(t )
B
K . y (t ) f (t )
2
dt
dt

Trong :

M - khi lng tc ng ln bnh xe, B h s ma st, K cng

l xo
f(t): lc do xc
y(t): dch chuyn ca thn xe
Hm truyn
G( s)

Y ( s)
1

2
F ( s) Ms Bs 1

- Hm truyn h thng thang my

Phng trnh vi phn m t ng hc h thng

d 2 y (t )
dy(t )
MT
B
M T .g K . (t ) M .g
2
dt
dt
Trong :
MT - khi lng bung thang, M - khi lng i trng,
B - h s ma st, K - h s t l
(t) - moment ko ca ng c: tn hiu vo
y(t) - v tr bung thang: tn hiu ra
Hm truyn: (khi MT = M)
Y ( s)
K
G(s)

( s) M T s 2 Bs

- Hm truyn ca cm bin

Tn hiu vo ca cn bin l tn hiu u ra ca h thng

Tn hiu ra ca cm bin l tn hiu hi tip
Tn hiu cht(t) l tn hiu t l vi c(t), do hm truyn ca cm bin thng l
khu t l:
H (s) K ht
V d: Gi s nhit l thay i trong tm c(t) = 0 5000C, nu cm bin
nhit bin i s thay i nhit thnh s thay i in p trong tm cht(t) = 0 5V,
th hm truyn ca cm bin l:
H (s) K ht 0,01

Nu cm bin c tr, hm truyn cm bin l khu qun tnh bc nht:

K ht
H (s)
1 Tht s
2.3. Hm truyn ca h thng t ng
2.3.1. i s s khi
a. S khi
S khi ca mt h thng l hnh v m t chc nng ca cc phn t v s
tc ng qua li gia cc phn t trong h thng.

Hnh (): S khi h thng iu khin t ng

S khi c 3 thnh phn chnh:

- Khi chc nng: tn hiu ra bng hm truyn nhn tn hiu vo
- B tng: tn hiu ra bng tng i s cc tn hiu vo
- im r nhnh: tt c tn hiu ti im r nhnh u bng nhau
b. Hm truyn ca cc h thng n gin
- H thng ni tip

Hm truyn: G ( s) Gi ( s)
i 1

- H thng song song

Hm truyn: G ( s) Gi ( s)
i 1

- H thng hi tip m

Hm truyn: Gk ( s)

G(s)
1 G(s) H ( s)

- H thng hi tip m n v

Hm truyn: Gk ( s)

G( s)
1 G( s)

- H thng hi tip dng

Hm truyn: Gk ( s)

G ( s)
1 G ( s) H ( s)

- H thng hi tip dng n v

Hm truyn: Gk ( s)

G( s)
1 G(s)

c. Hm truyn ca h thng hi tip nhiu vng

i vi cc h thng phc tp gm nhiu vng hi tip, ta thc hin cc php
bin i tng ng s khi lm xut hin cc dng ghp ni n gin (ni
tip, song song, hi tip 1 vng) v tnh hm truyn tng ng theo th t t trong
ra ngoi.
Hai s khi c gi l tng ng nu hai s khi c quan h gia
cc tn hiu vo v tn hiu ra nh nhau.
- Cc php bin i tng ng s khi

Chuyn im r nhnh t pha trc ra pha sau 1 khi:

x3 x1G

x2 x1

1 1
Gx1 x1
G G
Chuyn im r nhnh t pha sau ra pha trc 1 khi:
x3 x1G

x 2 x3

x3 x1G

x3 x1G

x2 x3 x1G

x2 x1G

Chuyn b tng t pha trc ra pha sau 1 khi:

x2 ( x1 x3 )G

x2 x1G x3G ( x1 x3 )G

Chuyn b tng t pha sau ra pha trc 1 khi:

x2 x1G x3

Chuyn v tr hai b tng:

x2 ( x1 x3

1
)G x1G x3
G

x4 ( x1 x2 ) x3

x4 ( x1 x3 ) x2

Tch 1 b tng thnh 2 b tng :

x4 x1 x2 x3

x4 ( x1 x2 ) x3

Mt s trng hp khng th bin i s

+ Chuyn v tr im r nhnh v b tng :

+ Chuyn v tr 2 b tng khi gia 2 b tng c im r nhnh :

d. V d tnh hm truyn h thng

V d 1: Tnh hm truyn tng ng ca h thng c s khi nh sau:

Bi gii:
Chuyn v tr hai b tng 1 v 2, rt gn GA(s)=[G3(s)//G4(s)]

GA (s) G3 (s) G4 (s)

GB(s) = [G1(s) // hm truyn n v ] , GC(s) = vng hi tip[G2(s),GA(s)]:

GB (s) 1 G1 (s)
GC ( s)

G2 ( s )
G2 ( s )

1 G A ( s).G2 ( s) 1 G2 ( s)[G3 ( s) G4 ( s)]

Hm truyn tng ng ca h thng

[1 G1 ( s)]G2 ( s)
Gt GB ( s)GC ( s)
1 G2 ( s)[G3 ( s) G4 ( s)]
V d 2: Tnh hm truyn tng ng ca h thng c s khi nh sau:

Bi gii:
Chuyn v tr hai b tng 2 v 3, chuyn im r nhnh ra sau G2(s)

GA

H1
G2

GB(s) = vng hi tip[G2(s), H2(s)], GC(s) = [GA(s)// hm truyn n v ]

GB

G2
1 G2 H 2

GC 1 G A 1

H 1 G2 H 1

G2
G2

GD(s) = [GB(s) ni tip GC(s) ni tip G3(s)]

GD GB GC G3

G G G3 H 1
G2
G2 H 1
G3 2 3
1 G 2 H 2 G2
1 G2 H 2

GE(s) = vng hi tip [GD(s), H3(s)]

G2 G3 G3 H 1
G2 G3 G3 H 1
GD
1 G2 H 2
GE

G G G3 H 1
1 GD H 3
1 G2 H 2 G2 G3 H 3 G3 H 1 H 3
1 2 3
H3
1 G2 H 2

Hm truyn tng ng ca h thng:

G2 G3 G3 H 1
G1
1 G2 H 2 G2 G3 H 3 G3 H 1 H 3
G1GE
Gt

G2 G3 G3 H 1
1 G1GE
1 G1
1 G2 H 2 G2 G3 H 3 G3 H 1 H 3
Gt

G1G2G3 G1G3 H1
1 G2 H 2 G2G3 H 3 G3 H1H 3 G1G2G3 G1G3 H1

V d 3: Tnh hm truyn tng ng ca h thng c s khi nh sau:

Bi gii:
Chuyn b tng 3 ra trc G1(s), sau i v tr 2 b tng 2 v 3. Chuyn
im r nhnh 4 ra sau G2(s)

Mt s nhn xt
Phng php bin i s khi l mt phng php n gin.
Khuyt im ca phng php bin i s khi l khng mang tnh h
thng, mi s c th c th c nhiu cch bin i khc nhau, ty theo trc gic ca
ngi gii bi ton.
Khi tnh hm truyn tng ng ta phi thc hin nhiu php tnh trn cc
phn thc i s, i vi cc h thng phc tp cc php tnh ny hay b nhm ln.
Phng php bin i tng ng s khi ch thch hp tm hm truyn
tng ng ca cc h thng n gin.
i vi cc h thng phc tp ta c mt phng php hiu qu hn, l
phng php s dng tn hiu s c cp n mc tip theo
2.3.2. S dng tn hiu
a. nh ngha

Hnh (): S khi v s dng tn hiu

S dng tn hiu l mt mng gm cc nt v nhnh.

Nt: l mt im biu din mt bin hay tn hiu trong h thng.
Nhnh: l ng ni trc tip 2 nt, trn mi nhnh c ghi mi tn ch chiu
truyn ca tn hiu v c ghi hm truyn cho bit mi quan h gia tn hiu 2 nt.
Nt ngun: l nt ch c cc nhnh hng ra.
Nt ch: l nt ch c cc nhnh hng vo.
Nt hn hp: l nt c c cc nhnh ra v cc nhnh vo.
ng tin: l ng gm cc nhnh lin tip c cng hng tn hiu i t nt
ngun n nt ch v ch qua mi nt mt ln.
li ca mt ng tin l tch ca cc hm truyn ca cc nhnh trn ng
tin .
Vng kn: l ng khp kn gm cc nhnh lin tip c cng hng tn hiu v
ch qua mi nt mt ln.
li ca mt vng kn tch ca cc hm truyn ca cc nhnh trn vng kn
.

b. Cng thc Mason

Hm truyn tng ng t mt nt ngun n mt nt ch ca h thng t
ng biu din bng s dng tn hiu c cho bi:
1
G k Pk
k
Trong : Pk li ca ng tin th k i t nt ngun n nt ch ang
xt.
nh thc Graph tn hiu, c tnh theo cng thc
1 Li Li L j Li L j Lm ...
i

i, j

i, j,m

tng cc li vng ca cc vng kn c trong Graph tn hiu

L L
i

- tng cc tch li ca 2 vng khng dnh nhau

i, j

L L L
i

- tng cc tch li ca 3 vng khng dnh nhau

i , j ,m

k nh thc con ca Graph tn hiu, k c suy ra t bng cch b

i cc vng kn c dnh ti ng tin Pk.
V d: Tnh hm truyn tng ng ca h thng c s dng tn hiu nh
sau:

Bi gii:
- ng tin:
G1 G2 G3 G4 G5:

P1 G1G2G3G4G5

G1 G6 G4 G5:

P2 G1G4G5G6

G1 G2 G7:

P3 G1G2 G7

- Vng kn:
G4 H1:

L1 G4 H1

G2 G7 H2:

L2 G2 G7 H 2

G6 G4 G5 H2:

L3 G4 G5G6 H 2

G2 G3 G4 G5 H2:

L4 G2 G3G4 G5 H 2

- nh thc s dng tn hiu

1 ( L1 L2 L3 L4 ) L1 L2
1 G4 H1 G2 G7 H 2 G4 G5G6 H 2 G2 G3G4G5 H 2 G2 G4G7 H1 H 2

- Cc nh thc con
1 1
2 1
3 1 L4

- Hm truyn tng ng ca h thng:

1
Gt ( P11 P2 2 P3 3 )

G1G2 G3G4 G5 G1G4 G5G6 G1G2 G7 (1 G2 G3G4 G5 H 2 )

Gt
1 G4 H 1 G2 G7 H 2 G4 G5G6 H 2 G2 G3G4 G5 H 2 G2 G4 G7 H 1 H 2
V d: Tnh hm truyn tng ng ca h thng c s khi nh sau:
V d: Tnh hm truyn tng ng ca h thng c s khi nh sau:

Bi gii:
Bin i tng ng s khi v s dng tn hiu

- ng tin:
G1 G2 G3:

P1 G1G2 G3

G1 H1 G3

P2 G1G3 H1

- Vng kn:
G2 H2:

L1 G2 H 2

G2 G3 H3:

L2 G2 G3 H 3

G1 G2 G3 -1

L3 G1G2 G3

H1 G3 H3

L4 G3 H1 H 3

G1 H1 G3 -1

L5 G1G3 H1

- nh thc s dng tn hiu:

1 ( L1 L2 L3 L4 L5 )
1 G2 H 2 G2 G3 H 3 G1G2 G3 G3 H 1 H 3 G1G3 H 1

- nh thc con
1 1
2 1

- Hm truyn tng ng ca h thng:

1
Gt ( P11 P2 2 )

G1G2 G3 G1G3 H 1
Gt
1 G2 H 2 G2 G3 H 3 G1G2 G3 G3 H 1 H 3 G1G3 H 1

V d 3: Tnh hm truyn tng ng ca h thng c s khi nh sau

Bi gii:
Bin i s

- ng tin:
R(s) G1 G2 G3 C(s)
R(s) 1 G4 1 C(s)
- Vng kn:
L1: G1 -H2

P1 G1G2 G3

P2 G 4
L1 G1 H 2

L2: G1 G2 -H1

L2 G1G2 H1

L3: G1 G2 G3 -1

L3 G1G2 G3

L4: G2 G3 -H3

L4 G2 G3 H 3

L5: G4 -1

L5 G4

- nh thc Graph tn hiu

1 ( L1 L2 L3 L4 L5 ) ( L1 L4 L1 L5 L2 L5 L4 L5 ) L1 L4 L5
1 G1 H 1 G1G2 H 1 G1G2 G3 G2 G3 H 3 G4 G1G2 G3 H 2 H 3
G1G4 H 2 G1G2 G4 H 1 G2 G3G4 H 3 G1G2 G3 H 3

- nh thc con
1 1
2 1 ( L1 L2 L4 ) L1 L4

-Hm truyn h thng

1
G ( P11 P2 2 )

P G1G2 G3 G4 (1 G1 H 2 G1G2 H 1 G2 G3 H 3 G1G2 G3 H 2 H 3 )

G 1
1 G1 H 1 G1G2 H 1 G1G2 G3 G2 G3 H 3 G4 G1G2 G3 H 2 H 3
G1G4 H 2 G1G2 G4 H 1 G2 G3G4 H 3 G1G2 G3 H 3

2.3.3. Phng trnh trng thi

a. Trng thi
Trng thi ca mt h thng l tp hp nh nht cc bin (gi l bin trng thi)
m nu bit gi tr ca cc bin ny ti thi im t0 v bit cc tn hiu vo thi im
t > t0, ta hon ton c th xc nh c p ng ca h thng ti mi thi im t t0.
H thng bc n c n bin trng thi.
Cc bin trng thi c th chn l bin vt l hoc khng phi l bin vt l.
Vector trng thi: n bin trng thi hp thnh vector ct gi l vevtor trng thi
x x1 x2 ... xn
Bng cch s dng cc bin trng thi, ta c th chuyn phng trnh vi phn
bc n m t h thng thnh h gm n phng trnh vi phn bc nht, (h phng trnh
trng thi)
x (t ) A.x(t ) B.r (t )
Trong :
(*)
C (t ) C.x(t )
a11
a
A 21
...

a n1

a12
a 22
...
an 2

... a1n
... a 2 n
... ...

... a nn

b1
b
B 2
...

bn

C c1

c2

... cn

Ch : Ty theo cch t bin trng thi m mt h thng c th c m t

bng nhiu phng trnh trng thi khc nhau.
Nu A l ma trn thng, ta gi (*) l phng trnh trng thi dng thng,
nu A l ma trn cho, ta gi (*) l phng trnh trng thi dng chnh tc.
Vi th d v phng trnh trng thi
- H thng gim xc ca t, xe my

Phng trnh vi phn:

dv(t )
M
Bv(t ) f (t )
dt
Trong :
M - khi lng xe, B - h s ma st
f(t) - lc ko
v(t) - tc xe
x1 (t ) x2 (t )
x1 (t ) y (t )

t :

K
B
1
x 2 (t ) x1 (t )
x2 (t )
f (t )
x2 (t ) y (t )

M
M
M
x (t ) 0
1 x (t ) 0
B 1 1 f (t )
1 K

x (t )
x 2 (t ) M
M 2 M

x1 (t )
y (t ) 1 0

x2 (t )

x (t ) A.x(t ) B. f (t )
1
y (t ) C.x(t )

0
A K
M

1
B

M

0
B 1
M

C 1 0

CHNG 3: KHO ST TNH N NH CA H THNG

3.1. Khi nim n nh
3.1.1. Khi nim:
H thng c gi l n nh BIBO (Bounded Input Bounded Output) nu p
ng ca h b chn khi tn hiu vo b chn.

3.1.2. Cc v zero
Cho h thng t ng c hm truyn l:
b 0 s m b1s m 1 ... b m 1s b m
G(s)
a 0 s n a 1s n 1 ... a n 1s a n

t:

A(s) a 0s n a 1s n 1 ... a n 1s a n - mu s hm truyn

B(s) b 0 s m b1s m 1 ... b m 1s b m - t s hm truyn

Cc (Pole): l nghim ca mu s hm truyn, tc l nghim ca phng trnh

A(s) = 0. Do A(s) bc n nn h thng c n cc, k hiu l pi, i =1,2,n.
Zero: l nghim ca t s hm truyn, tc l nghim ca phng trnh B(s) = 0.
Do B(s) bc m nn h thng c m zero k hiu l zi, i =1,2,m.
Gin cc zero
Gin cc zero l th biu din v tr cc cc v cc zero ca h thng
trong mt phng phc.

iu kin n nh
Tnh n nh ca h thng ph thuc vo v tr cc cc.
H thng c tt c cc cc c phn thc m (c tt c cc cc u nm bn tri
mt phng phc): h thng n nh.
H thng c cc c phn thc bng 0 (nm trn trc o), cc cc cn li c
phn thc bng m: h thng bin gii n nh.
H thng c t nht mt cc c phn thc dng (c t nht mt cc nm bn
phi mt phng phc): h thng khng n nh.
Phng trnh c trng (PTT)
Phng trnh c trng: phng trnh A(s) = 0
a thc c trng: a thc A(s)
- H thng hi tip

Phng trnh c trng: 1 G(s) H (s) 0

- H thng m t bng PTTT
x 1 ( t ) A.x ( t ) B.f ( t )

y( t ) C.x ( t )
Phng trnh c trng: det(sI A) 0
3.2. Tiu chun n nh i s
3.2.1. iu kin cn
iu kin cn h thng n nh l tt c cc h s ca phng trnh c
trng phi khc 0 v cng du.
V d: H thng c phng trnh c trng:

s 3 3s 2 2s 1 0 Khng n nh (c h s m)
s 4 2s 2 5s 3 0 Khng n nh (c h s bng 0)
s 4 4s 3 5s 2 2s 1 0

Cha kt lun c (tha mn iu kin cn)

3.2.2. Tiu chun Routh

- Qui tc thnh lp bng Routh
Cho h thng c phng trnh c trng:

a 0 s n a 1s n 1 ... a n 1s a n 0
Mun xt tnh n nh ca h thng theo tiu chun Routh, trc tin ta thnh
lp bng Routh theo qui tc:
+ Bng Routh c n+1 hng.
+ Hng 1 ca bng Routh gm cc h s c ch s chn.
+ Hng 2 ca bng Routh gm cc h s c ch s l.
+ Phn t hng i ct j ca bng Routh (i 3) c tnh theo cng thc:
c i , j c i 2, j1 i c i 1, j1
Vi i

c i 2,1
c i 1,1

sn

c11 a0

c12 a2

c13 a4

c14 a6

s n 1

c21 a1

c22 a3

c23 a5

c24 a7

c11
c21

s n 2 c31 c12 3c22 c32 c13 3c23 c33 c14 3c24 c34 c15 3c25

c21
c31

s n 3 c41 c22 4 c32

cn 3,1
cn 2,1

s1

cn 2,1
cn 1,1

s0

n 1

cn1 cn 2, 2
n cn 1, 2

Pht biu tiu chun Routh:

iu kin cn v h thng n nh l tt c cc phn t nm ct 1 ca
bng Routh u dng.
S ln i du ca cc phn t ct 1 ca bng Routh bng s nghim ca
phng trnh c trng nm bn phi mt phng phc.
V d: Xt tnh n nh ca h thng c phng trnh c trng l:

s 4 4s 3 5s 2 2s 1 0

Gii: Bng Routh

s4

s3

c31 c12 3 c22

c32 c13 3 c23

s2

c21
9 8
4:
c31
2 9

1
9
5 2
4
2
c41 c22 4 c32

1
1 0 1
4
c42 c23 4 c33

8
0 00
9

c31 9 10 81
:
c41 2 9 20

8 10
2 1
9
9
c51 c32 5 c42

s0

c
1
3 11
c21 4

81
0 1
20

Kt lun: H thng n nh do tt c cc phn t ct 1 bng Routh u dng

V d 2: Xt tnh n nh ca h thng c s khi:

G(s)

50
s(s 3)(s 2 s 5)

H(s)

1
s2

Bi gii:
Phng trnh c trng ca h thng:
1 G(s)H(s) 0
1

50
1
0
2
s(s 3)(s s 5) s 2

s(s 3)(s 2 s 5)(s 2) 50 0

s 5 6s 4 16s 3 31s 2 30s 50 0

Lp bng Routh

H thng khng n nh v ct 1 i du 2 ln
V d 3: Tm iu kin ca K h thng n nh

G(s)

K
s(s s 1)(s 2)
2

Bi gii:
Phng trnh c trng ca h thng
1 G(s) 0
1

K
0
s(s s 1)(s 2)
2

s(s 2 s 1)(s 2) K 0

s 4 3s 3 3s 2 2s K 0
Bng Routh:

iu kin
9
2 K 0
7

K 0

14

K 0

0K

14
9

Trng hp c bit
Nu bng Routh c h s ct 1 ca hng no bng 0, cc h s cn li ca
hng khc 0 th ta thay h s bng 0 ct 1 bi s dng nh ty , sau qu
trnh tnh ton c tip tc.
V d 4: Xt tnh n nh ca h thng c phng trnh c trng

s 4 2s 3 4s 2 8s 3 0
Gii:
Bng Routh

Kt lun: V cc h s ct 1 bng Routh i du 2 ln nn phng trnh c

trng ca h thng c hai nghim nm bn phi mt phng phc, do h thng
khng n nh .
Trng hp c bit 2:
Nu bng Routh c tt c cc h s ca hng no bng 0:
+ Thnh lp a thc ph t cc h s ca hng trc hng c tt c cc h s
bng 0, gi a thc l A0(s).
+ Thay hng c tt c cc h s bng 0 bi mt hng khc c cc h s chnh l
cc h s ca a thc dA0(s)/ds, sau qu trnh tnh ton tip tc.
Ch : Nghim ca a thc ph A0(s) cng chnh l nghim ca phng trnh
c trng.
V d 5: Xt tnh n nh ca h thng c phng trnh c trng

s 5 4s 4 8s 3 8s 2 7s 4 0
Bi gii:
Bng Routh

dA0 (s)
8s 0
ds
Nghim ca a thc ph (cng chnh l nghim ca phng trnh c trng:

a thc ph: A 0 (s) 4s 2 4

A 0 (s) 4s 2 4 0

s j

Kt lun:
+ Cc h s ct 1 bng Routh khng i du nn phng trnh c trng khng
c nghim nm bn phi mt phng phc.
+ Phng trnh c tnh c 2 nghim nm trn trc o.
+ S nghim nm bn tri mt phng phc l 5 2 = 3
H thng bin gii n nh
3.2.3. Tiu chun Hurwitz
Cho h thng c phng trnh c trng:

a 0 s n a 1s n 1 ... a n 1s a n 0
Mun xt tnh n nh ca h thng theo tiu chun Hurwitz, trc tin ta
thnh lp ma trn Hurwitz theo qui tc:
+ Ma trn Hurwitz l ma trn vung cp nn.
+ ng cho ca ma trn Hurwitz l cc h s t a1 n an.
+ Hng l ca ma trn Hurwitz gm cc h s c ch s l theo th t tng dn
nu bn phi ng cho v gim dn nu bn tri ng cho.
+ Hng chn ca ma trn Hurwitz gm cc h s c ch s chn theo th t tng
dn nu bn phi ng cho v gim dn nu bn tri ng cho.
- Dng ma trn Hurwitz

a1
a
0
0

0
...

a3
a2
a1
a0
...

a5
a4
a3
a2
...

a7
a6
a5
a4
...

0
0
0

0
...

an

...
...
...
...
...

- Pht biu tiu chun

iu kin cn v h thng n nh l tt c cc nh thc con cha ng
cho ca ma trn Hurwitz u dng
- V d 1: Xt tnh n nh ca h thng c phng trnh c trng

x 3 4x 2 3x 2 0
Bi gii:
Ma trn Hurwitz
a 1 a 3 0 4 2 0
a a a 1 3 0
2
4
0

0 a 1 a 3 0 4 2
Cc nh thc:
1 a 1 4
a1
a0

a3 4 2

4.3 2.1 10
a2 1 3

a1

a3

3 a 0

a2

a4 a3

a1

a3

a1

a3

a0

a2

2.

4 2
1 3

2(4.3 2.1) 20

Kt lun: H thng n nh do cc nh thc u dng

- Cc h qu ca tiu chun Hurwitz
+ H bc 2 n nh nu phng trnh c trng tha mn iu kin:

a i 0; i 0,2
+ H bc 3 n nh nu phng trnh c trng tha mn iu kin:
a i 0; i 0,3

a 1a 3 a 0 a 2 0
+ H bc 4 n nh nu phng trnh c trng tha mn iu kin:
a i 0; i 0,4

a 1a 3 a 0 a 2 0
a a a a a 2 a 2 a 0
0 3
1 4
1 2 3

3.3. Phng php qu o nghim s (QNS)

3.3.1. Khi nim v qu o nghim s
Qu o nghim s l tp hp tt c cc nghim ca phng trnh c trng
ca h thng khi c mt thng s no trong h thay i t 0 .
V d: Qu o nghim s ca h thng c phng trnh c trng
2
s 4s K 0 c dng nh hnh v di y:
K= 0
K= 1
K= 2

s1 = 0
s1 = -0,268
s1 = -0,586

s2 = -4
s2 = -3,732
s2 = - 3,414

K= 3
K= 4
K= 5
K= 6
K= 7
K= 8

s1 = -1
s1 = - 2
s1 = -2 + j
s1 = -2 + j1,41
s1 = -2 + j1,73
s1 = -2 + j2

s2 = -3
s2 = -2
s2 = -2 j
s2 = -2 j1,41
s2 = -2 j1,73
s2 = -2 j2

3.3.2. Phng php v QNS

Mun p dng cc qui tc v qu o nghim s, trc tin ta phi bin i
tng ng phng trnh c trng v dng:
N(s)
1 K
0
D(s)
t: G 0 (s) K

N(s)
D(s)

Gi n l s cc ca G0(s) , m l s zero ca G0(s)

1 G 0 (s) 0
G 0 (s) 1

iu kin v bin v iu kin pha

G
(
s
)

(
2
l

1
)

Qui tc v QNS
Qui tc 1: S nhnh ca qu o nghim s bng bc ca phng trnh c tnh
bng s cc ca phng trnh G0(s) = n.
Qui tc 2:
+ Khi K = 0: cc nhnh ca qu o nghim s xut pht t cc cc ca G0(s).
+ Khi K tin n +: m nhnh ca qu o nghim s tin n m zero ca
G0(s), n-m nhnh cn li tin n theo cc tim cn xc nh bi qui tc 5 v qui tc
6.
Qui tc 3: Qu o nghim s i xng qua trc thc.

Qui tc 4: Mt im trn trc thc thuc v qu o nghim s nu tng s cc

v zero ca G0(s) bn phi n l mt s l.
Qui tc 5: Gc to bi cc ng tim cn ca qu o nghim s vi trc thc
xc nh bi :
(2l 1)
vi l = 0, 1, 2

nm
Qui tc 6: Giao im gia cc tim cn vi trc thc l im A c ta xc
nh bi:
n

pole zero

OA

i 1

pi zi
i 1

nm
nm
Trong : (pi v zi l cc pole v cc zero ca G0(s) )
Qui tc 7: im tch nhp (nu c) ca qu o nghim s nm trn trc thc
v l nghim ca phng trnh:
dK
0
ds
Qui tc 8: Giao im ca qu o nghim s vi trc o c th xc nh bng
cch p dng tiu chun RouthHurwitz hoc thay s = j vo phng trnh c trng.
Qui tc 9: Gc xut pht ca qu o nghim s ti cc phc pj c xc nh
bi:
m

i 1

i 1
i j

j 180 o arg(p j z i ) arg(p j p i )

Dng hnh hc trn ca cng thc
= 180o + ( gc t cc zero n cc pj) - ( gc t cc cc cn li n cc pj )
V d 1: V QNS ca h thng sau y khi K = 0 .

G (s)

K
s(s 2)(s 3)

Gii:
Phng trnh c trng ca h thng:
K
1 G(s) 0 1
0
s(s 2)(s 3)
Cc cc: p1 = 0, p2 = -2, p3 = -3
Cc zero: khng c
Tim cn:

(2l 1) (2l 1)

nm
nm

OA

1 3

2
3

Pole Zero [0 (2) (3)] 0 5

nm

30

im tch nhp:
K s(s 2)(s 3) (s 3 5s 2 6s)
dK
(3s 2 10s 6)
ds
s 2,549
dK
0
1
ds
s 2 0,785
Giao im ca QNS vi trc o:
Cch 1: Dng tiu chun Hurwitz

loi

s 3 5s 2 6s K 0 (*)
iu kin n nh:
K 0
K 0

5.6 1.K 0
a 1a 2 a 0 a 3 0

0 K 30

K gh 30 thay vo phng trnh (*) gii phng trnh tm c giao

im QNS vi trc o
s1 5

s 2 j 6
s 3 5s 2 6s 30 0

s 3 j 6
Giao im vi trc o l cc nghim ch c phn o (s2 v s3) vi s1 = -5, giao
im ti gc ta
Cch 2:

s 3 5s 2 6s K 0
Thay s = j vo phng trnh
( j ) 3 5( j ) 2 6( j ) K 0
j 3 5 2 6 j K 0
j 3 6 j 0

2
5 K 0

K 0
6

K 30

V d 2: V QNS ca h thng sau y khi K= 0 +

G (s)

K
s(s 2 8s 20)

Gii:
Phng trnh c trng ca h thng:
1 G( s) 0
1

K
0
s(s 8s 20)
2

Cc cc: p1 0 , p 2,3 4 j2
Cc zero: khng
Tim cn :

(2l 1) (2l 1)

2
3
nm
nm

- Giao im cc tim cn vi trc thc (Re s):

Pole Zero
OA
nm

[0 (4 j2) (4 j2)] 0
8

30
3
- im tch nhp cc ng QNS
OA

K s(s 2 8s 20) (s 3 8s 2 20s)

dK
(3s 2 16s 20)
ds
s 3,33
dK
0
1
ds
s 2 2

Hai im tch nhp

- Giao im ca QNS vi trc o:

s 3 8s 2 20s K 0
Thay s = j vo phng trnh
( j ) 3 8( j ) 2 20( j ) K 0
j 3 8 2 20 j K 0
j 20 j 0

2
8 K 0
3

K 0
20

K 160

- Gc xut pht ca QNS ti cc phc p2:

2 180 o [arg(p 2 p1 ) arg(p 2 p 3 )]

2 180 o [arg((4 j2) 0) arg(4 j2 (4 j2))]

2 180 o [ tg 1 (

2
) 90]
4

2 180 o [153,5 90] 63,5o

V d 3: V QNS ca h thng sau y khi K = 0 +

G(s)

K(s 1)
s(s 3)(s 2 8s 20)

Gii:
Phng trnh c trng ca h thng:
1 G( s) 0
1

K ( s 1)
0
s( s 3)( s 2 8s 20)

s(s 3)( s 2 8s 20) K (s 1) 0

Cc cc: p1 = 0, p2 = - 3, p3,4 = - 4 j2
Cc zero: z1 = -1
Tim cn

(2l 1) (2l 1)

nm
nm

OA

2
3

Pole Zero [0 (3) (4 j2) (4 j2)] (1) 10

nm

4 1

- im tch nhp
K

s(s 3)(s 2 8s 20)

(s 1)

dK 3s 4 26s 3 77 s 2 88s 60

ds
(s 1) 2

s1, 2 3,67 j1,05

s 3, 4 0,66 j0,97
- Giao im ca QNS vi trc o:

dK
0
ds

Khng c im tch nhp

s 4 11s 3 44s 2 (60 K)s K 0

Thay s = j
( j) 4 11( j ) 3 44( j) 2 (60 K)( j ) K 0

4 11 j 3 44 2 (60 K) j K 0

 4 44 2 K 0

3
11 (60 K ) 0

K 0
5,893

K 322

j1,314
K 61,7

Vy giao im cn tm l s = j5,993 v HSK gii hn Kgh = 322

- Gc xut pht ca QNS ti cc phc p3:
3 180 1 ( 2 3 4 ) 180 146 ,3 (153,4 116 ,6 90)

3 33,7 o

V d 4: Cho h thng iu khin c s khi nh sau

K
10
GC ( s) K P I
s 9s 3
s
Cho KI = 2.7, hy v QNS ca h thng sau y khi KP = 0 +,
bit rng dKP / ds = 0 c 3 nghim l -3; - 3; 1,5.
Khi KP =270, KI = 2.7 h thng c n nh hay khng?
Gii:
Phng trnh c trng ca h thng:
1 GC (s)G(s) 0

G( s)

2,7
10

1 KP
0
2
s s 9s 3

3.4. Tiu chun n nh tn s

3.4.1. Khi nim c tnh tn s
H thng tuyn tnh: khi tn hiu vo l tn hiu hnh sin th trng thi xc lp
tn hiu ra cng l tn hiu hnh sin cng tn s vi tn hiu vo, khc bin v pha.

nh ngha: c tnh tn s ca h thng l t s gia tn hiu ra trng thi xc

lp v tn hiu vo hnh sin.
C ( j )
c tnh tn s
R ( j )
Ngi ta chng minh c:
c tnh tn s G(s) s j G( j )
3.4.2. p ng bin p ng pha
Tng qut G(j) l mt hm phc nn c th biu din di dng i s hoc
dng cc:
G( j ) P( ) jQ( ) M( )e j ( )

Trong :

M( ) G( j ) P 2 ( ) Q 2 ( )

( ) G ( j ) tg 1

Q( )
P( )

p ng bin
p ng pha

ngha vt l:
+ p ng bin cho bit t l v bin (h s khuch i) gia tn hiu ra
v tn hiu vo theo tn s.
+ p ng pha cho bit lch pha gia tn hiu ra v tn hiu vo theo tn s.
3.4.3. Biu Bode Biu Nyquist
Biu Bode: l hnh v gm 2 thnh phn:
Biu Bode v bin : l th biu din mi quan h gia logarith ca p
ng bin L() theo tn s
L() 20lgM() [dB]
Biu Bode v pha: l th biu din mi quan h gia p ng pha ()
theo tn s .
C hai th trn u c v trong h ta vung gc vi trc honh c
chia theo thang logarith c s 10.

Biu Nyquist: (ng cong Nyquist) l th biu din c tnh tn s G(j)

trong h ta cc khi thay i t 0 .

Hnh (): Biu Bode v biu Nyquist

3.4.4. c tnh tn s ca cc khu c bn

- c tnh tn s ca cc khu c bn:
Khu t l:
Hm truyn:
G( s) K
c tnh tn s:

G( j ) K

Bin :

M ( ) K

Pha:

( ) 0

Khu tch phn l tng

Hm truyn:

G(s)

1
s

L( ) 20 lg K

c tnh tn s:

G ( j )

Bin :

M ( )

Pha:

Khu vi phn l tng

Hm truyn:
c tnh tn s:

1
1
j
j

( ) 90 o

G( s) s
G( j ) j

Bin :

M ( )

Pha:

( ) 90 o

Khu qun tnh bc 1

Hm truyn:

L( ) 20 lg( )

G( s)

1
Ts 1

L( ) 20 lg( )

c tnh tn s:

G( j )

Bin :

M ( )

Pha:

( ) tg 1 (T )

Tj 1

1
1 T
2

K (1 Tj _
1 T 2 2

L( ) 20 lg 1 T 2 2

V gn ng biu bin
1
ng thng nm ngang trng trc honh

T
1
ng thng c dc -20dB/dec

Khu sm pha bc 1
Hm truyn:
c tnh tn s:
Bin :

G(s) Ts 1
G( j ) Tj 1
M ( ) 1 T 2 2 L( ) 20 lg 1 T 2 2

( ) tg 1 (T )
V gn ng biu bin
Pha:

1
ng thng nm ngang trng trc honh
T
1

ng thng c dc + 20dB/dec
T

Khu dao ng bc 2
1
T s 2Ts 1

Hm truyn:

G( s)

c tnh tn s:

G( j )

Bin :

M ( )

0 1

1
T 2Tj 1
2

1
(1 T 2 2 ) 2 4 2T 2 2

L( ) 20 lg (1 T 2 2 ) 2 4 2T 2 2
Pha:

2T
2
2
1 T

( ) tg 1

V gn ng biu bin
1

ng thng nm ngang trng trc honh

T
1

ng thng c dc - 40dB/dec
T

Khu tr hon

Hm truyn:

G(s) e Ts

c tnh tn s:

G( j ) e Tj

Bin :

M ( ) 1

Pha:

( ) T

L( ) 0

3.4.5. c tnh tn s ca h thng t ng

Xt h thng t ng c hm truyn G(s) c th phn tch thnh tch ca cc
hm truyn c bn nh sau:
l

G ( s) Gi ( s)
i 1

c tnh tn s:
l

G ( j ) Gi ( j )
i 1

Bin :

M ( ) M i ( )
i 1

L( ) Li ( )
i 1

Pha:

( ) i ( )
i 1

Biu Bode ca h thng (gm nhiu khu ghp ni tip) bng tng biu
Bode ca cc khu thnh phn
V gn ng biu Bode bin bng ng tim cn
Gi s hm truyn ca h thng c dng:

G(s) K .s G1 (s)G2 (s)G3 (s)...

> 0: h thng c khu vi phn l tng
< 0: h thng c khu tch phn l tng
Bc 1: Xc nh tt c cc tn s gy i = 1/Ti, v sp xp theo th t tng dn
1 < 2 < 3
Bc 2: Biu Bode gn ng qua im A c ta :

L( ) 20 lg K 20 lg 0
0 l tn s tha mn 0 < 1. Nu 1 > 1 th c th chn 0 =1.
Bc 3: Qua im A, v ng thng c dc:
(- 20 dB/dec ) nu G(s) c khu tch phn l tng

(+ 20 dB/dec ) nu G(s) c khu vi phn l tng

ng thng ny ko di n tn s gy k tip.
Bc 4: Ti tn s gy i = 1/Ti, dc ca ng tim cn c cng thm
mt lng:
(-20dB/dec i) nu Gi(s) l i khu qun tnh bc 1
(+20dB/dec i) nu Gi(s) l i khu sm pha bc 1
(-40dB/dec i) nu Gi(s) l i khu dao ng bc 2
(+40dB/dec i) nu Gi(s) l i khu sm pha bc 2
ng thng ny ko di n tn s gy k tip.
Bc 5: Lp li bc 4 cho n khi v xong ng tim cn ti tn s gy cui
cng.
V d: V biu Bode bin gn ng ca h thng c hm truyn:
100 (0,1s 1)
G( s)
s(0,01s 1)
Da vo biu Bode gn ng, hy xc nh tn s ct bin ca h thng.
Gii:
Cc tn s gy:
1
1
1
10(rad / s)
T1 0,1

1
1

100 (rad / s)
T2 0,01

1
Biu Bode qua im A c ta
L( ) 20 lg K 20 lg 100 40

Theo hnh v, tn s ct bin ca h thng l 103 rad/sec

V d: Xc nh hm truyn da vo biu Bode

Xc nh hm truyn ca h thng c biu Bode bin gn ng nh sau:

Gii:
- dc on CD:

54 26
40(dB / s)
2 1,301

- Cc tn s gy:
40 26
0,7
20

1 10 0,7 5(rad / s)

lg 2 1,301

2 101,301 20(rad / s)

lg 3 2

3 10 2 100 (rad / s)

lg 1 0

Hm truyn cn tm c dng:
K (T1 s 1)(T2 s 1) 2
G( s)
s(T3 s 1) 2

20 lg K 40 K 100
T1
T2
T3

1
1

2
1

1
0,2
5

1
0,05
20

1
0,01
100

3.4.6. Cc thng s quan trng ca c tnh tn s

Tn s ct bin (c): l tn s m ti bin ca c tnh tn s bng 1 (hay
bng 0 dB).
M (c ) 1
L(c ) 0

Tn s ct pha (-): l tn s m ti pha ca c tnh tn s bng -180o (hay

bng - radian)

( ) 180 o

( ) (rad )

d tr bin (GM Gain Margin):

1

GM
GM L( )
M ( )
d tr pha (FM Phase Margin):

M 180 o (c )

3.4.7. Tiu chun n nh Nyquist

Cho h thng hi tip m n v, bit c tnh tn s ca h h G(s), bi ton
t ra l xt tnh n nh ca h thng kn Gk(s).

Tiu chun Nyquist: H thng kn Gk(s) n nh nu ng cong Nyquist ca

h h G(s) bao im (-1, j0) l/2 vng theo chiu dng (ngc chiu kim ng h)
khi thay i t 0 n +, trong l l s cc nm bn phi mt phng phc ca h
h G(s)
V d: Cho h thng hi tip m n v, trong h h G(s) c ng cong
Nyquist nh hnh v. Bit rng G(s) n nh. Xt tnh n nh ca h thng kn.

Gii:
V G(s) n nh nn G(s) khng c cc nm bn phi mt phng phc, do
theo tiu chun Nyquist h kn n nh nu ng cong Nyquist G(j) ca h h
khng bao im (-1, j0)
Trng hp 1: G(j) khng bao im (-1, j0) h kn n nh.
Trng hp 2: G(j) qua im (-1, j0) h kn bin gii n nh;
Trng hp 3: G(j) bao im (-1, j0) h kn khng n nh.
V d 2: Hy nh gi tnh n nh ca h thng hi tip m n v, bit rng
hm truyn h h G(s) l:
K
G(s)
s(T1s 1)(T2 s 1)(T3s 1)
Gii:
Biu Nyquist:

V G(s) khng c cc nm bn phi mt phng phc, do theo tiu chun

Nyquist h kn n nh nu ng cong Nyquist G(j) ca h h khng bao im (-1,
j0)
Trng hp 1: G(j) khng bao im (-1, j0) h kn n nh.
Trng hp 2: G(j) qua im (-1, j0) h kn bin gii n nh;

Trng hp 3: G(j) bao im (-1, j0) h kn khng n nh.

V d 3: Cho h thng h khng n nh c c tnh tn s nh cc hnh v
di y. Hi trng hp no h kn n nh.

n nh

Khng n nh

Cho h thng h khng n nh c c tnh tn s nh cc hnh v di y.

Hi trng hp no h kn n nh.

Khng n nh
Cho h thng h khng n nh c c tnh tn s nh cc hnh v di y.
Hi trng hp no h kn n nh.

n nh

Khng n nh

V d 4: Cho h thng h c hm truyn t l:

K
G( s)
(K > 0, T > 0, n > 2)
(Ts 1) n
Tm iu kin ca K v T h thng kn (hi tip m n v) n nh.

Gii:
c tnh tn s ca h thng l: G ( j )
Bin :

M ( )

K
(Tj 1) n
1

1 T
2

( ) n.tg 1 (T )

Pha:
Biu Nyquist:

iu kin n nh: ng cong Nyquist khng bao im (-1, j0). Theo biu
Nyquist, iu ny xy ra khi:
M ( ) 1
Ta c: ( ) n.tg 1 (T )
tg 1 (T )

1
tg
T n

Do : M ( ) 1

T tg
n

K
2

T 2 1 tg 1

T n

2 1

K T tg 1

T n

3.4.8. Tiu chun n nh Bode

Cho h thng hi tip m n v, bit c tnh tn s ca h h G(s), bi ton
t ra l xt tnh n nh ca h thng kn Gk(s).

Tiu chun Bode: H thng kn Gk(s) n nh nu h thng h G(s) c d

tr bin v d tr pha dng.

GM 0

M 0

H thng n nh

V d: Cho h thng hi tip m n v, bit rng h h c biu Bode nh

hnh v. Xc nh d tr bin, d tr pha ca h thng h. Hi h kn c n nh
khng?
Theo biu Bode:

c 5

2
L( ) 35dB

(c ) 270 0
GM 35dB

M 180 0 270 0 90 0
Do GM < 0 v FM < 0 nn h thng kn khng n nh.
Ch : Trng hp h thng hi tip m nh hnh v, vn c th p dng tiu
chun n nh Nyquist hoc Bode, trong trng hp ny hm truyn h l G(s)H(s).

CHNG 4: NH GI CHT LNG H THNG IU

KHIN
4.1. Cc tiu chun cht lng
4.1.1. Sai s

Sai s: l sai lch gia tn hiu t v tn hiu hi tip.

e(t ) r(t ) c ht (t )
E(s) R (s) C ht (s)
Sai s xc lp: l sai s ca h thng khi thi gian tin n v cng.

e xl lim e( t )
e xl lim sE(s)
t

s 0

4.1.2. p ng qu :
vt qu
Hin tng vt qu: l hin tng p ng ca h thng vt qu gi tr xc
lp ca n.

vt qu: (Percent of Overshoot POT) l i lng nh gi mc vt

qu ca h thng, c tnh bng cng thc:
c c xl
POT max
100 %
c xl
Thi gian qu Thi gian ln
Thi gian qu (tq): l thi gian cn thit sai lch gia p ng ca h
thng v gi tr xc lp ca n khng vt qu e%, thng chn l 2% (0.02) hoc 5%
(0.05)
Thi gian ln (tr): l thi gian cn thit p ng ca h thng tng t 10%
n 90% gi tr xc lp ca n.

4.2. Sai s xc lp
4.2.1. Biu thc sai s xc lp

R( s )
1 G( s) H ( s)

Ta c:

E ( s)

Suy ra:

exl lim sE ( s) lim

s 0

s 0

sR( s)
1 G( s) H ( s)

Nhn xt: sai s xc lp khng ch ph thuc vo cu trc v thng s ca h

thng m cn ph thuc vo tn hiu vo.
4.2.2. Sai s xc lp khi tn hiu vo l hm nc
Nu tn hiu vo l hm nc n v: R( s)
e xl

1
1 K p

vi

1
s

K p lim G( s) H ( s) - h s v tr
s 0

a) G(s)H(s) khng c khu tch phn l tng

b) G(s)H(s) c t nht 1 khu tch phn l tng

4.2.3. Sai s xc lp khi tn hiu vo l hm dc

Nu tn hiu vo l hm dc:
Sai s xc lp:

e xl

1
1 Kv

G( s)

1
s2

vi

K v lim G(s) H ( s) - h s vn tc
s 0

b)
c)
a) G(s)H(s) khng c khu tch phn l tng
b) G(s)H(s) c mt khu tch phn l tng
c) G(s)H(s) c nhiu hn mt khu tch phn l tng
4.2.4. Sai s xc lp khi tn hiu vo l hm parabol
Tn hiu vo l hm parabol: G ( s)
Sai s xc lp:

a)

e xl

1
1 Ka

1
s3

vi

b)

K a lim G(s) H ( s) - h s gia tc

s 0

c)

a) G(s)H(s) c t hn 2 khu TPLT

b) G(s)H(s) c 2 khu TPLT
c) G(s)H(s) c nhiu hn 2 khu TPLT
4.2.5. Mi lin h gia s khu tch phn trong G(s)H(s) v sai s xc lp
Ty theo s khu tch phn l tng c trong hm truyn G(s)H(s) m cc h s
Kp, Kv, Ka c gi tr nh sau:

Nhn xt:
+ Mun exl ca h thng i vi tn hiu vo l hm nc bng 0 th hm truyn
G(s)H(s) phi c t nht 1 khu tch phn l tng.
+ Mun exl ca h thng i vi tn hiu vo l hm dc bng 0 th hm truyn
G(s)H(s) phi c t nht 2 khu tch phn l tng.
+ Mun exl ca h thng i vi tn hiu vo l hm parabol bng 0 th hm
truyn G(s)H(s) phi c t nht 3 khu tch phn l tng.
4.3. p ng qu
4.3.1. H qun tnh bc 1

K
Ts 1
1
H qun tnh bc 1 c mt cc thc: p1
T
1 K
p ng qu : C ( s) R( s)G( s)
s Ts 1

Hm truyn h qun tnh bc 1: G ( s)

t
T

c(t ) K (1 e )

a) Gin cc zero ca khu qun tnh bc 1

b) p ng qu ca khu qun tnh bc 1 tng theo qui lut hm m

t
T

c(t ) K (1 e )

Nhn xt v h qun tnh bc 1:

H qun tnh bc 1 ch c 1 cc thc (-1/T), p ng qu khng c vt

qu.
Thi hng T: l thi im p ng ca khu qun tnh bc 1 t 63% gi tr xc
lp.
Cc thc (-1/T) cng nm xa trc o th thi hng T cng nh, h thng p
ng cng nhanh.
Thi gian qu ca h qun tnh bc 1 l:
1
t q T ln

vi = 0,02 (tiu chun 2%) hoc = 0,05 (tiu chun 5%)

Quan h gia v tr cc v p ng h qun tnh bc 1

Cc nm cng xa trc o p ng ca h qun tnh bc 1 cng nhanh, thi gian
qu cng ngn.

Gin cc zero ca khu qun tnh bc 1

p ng qu ca khu qun tnh bc 1
4.3.2. H dao ng bc 2

Hm truyn h dao ng bc 2:
K n2
K
1
G(S ) 2 2
2
vi n ,0 1
2
T s 2Ts 1 s 2 n s n
T

H dao ng bc 2 c cp cc phc:

p1, 2 n jn 1 2
p ng qu :

K n2
1
C ( s) R( s)G( s) 2
s s 2 n s n2

e t

2
c(t ) K 1
sin(
1

1 2

Gin cc zero ca khu dao ng bc 2

p ng qu ca khu dao ng bc 2
Nhn xt v h dao ng bc 2
H dao ng bc 2 c cp cc phc, p ng qu c dng dao ng vi bin
gim dn.
Nu = 0, p ng ca h l dao ng khng suy gim vi tn s n n gi
l tn s dao ng t nhin.
Nu 0 < <1, p ng ca h l dao ng vi bin gim dn gi l h
s tt (hay h s suy gim), cng ln (cc cng nm gn trc thc) dao ng suy
gim cng nhanh.

p ng qu ca h dao ng bc 2 c vt qu.

POT exp
1 2

.100 %

Quan h gia h s tt v vt qu
cng ln (cp cc cng nm gn trc thc) POT cng nh
cng nh (cp cc phc cng nm gn trc o) POT cng ln

Thi gian qu :
Tiu chun 5%:

t q

Tiu chun 2%:

t q

n
4

Quan h gia v tr cc v p ng h dao ng bc 2

Cc h dao ng bc 2 c cc cc nm trn cng 1 tia xut pht t gc ta
th c h s tt bng nhau, do c vt l bng nhau. H no c cc nm xa gc
ta hn th c tn s dao ng t nhin ln hn, do thi gian qu ngn hn.

Gin cc zero ca khu dao ng bc 2

p ng qu ca khu dao ng bc 2
Quan h gia v tr cc v p ng h dao ng bc 2
Cc h dao ng bc 2 c cc cc nm cch trc o mt khong bng nhau th
c n bng nhau, do thi gian qu bng nhau. H no c cc nm xa trc thc
hn th c h s tt nh hn, do vt l cao hn.

Gin cc zero ca khu dao ng bc 2

p ng qu ca khu dao ng bc 2
H bc cao
H bc cao c nhiu hn 2 cc
Nu h bc cao c 1 cp cc phc nm gn trc o hn so vi cc cc cn li
th c th xp x h bc cao v h bc 2. Cp cc phc nm gn trc o nht gi l cp
cc quyt nh ca h bc cao.

H bc cao c nhiu hn 2 cc
H bc cao c th xp x v h bc 2 vi cp cc quyt nh
4.4. Cc tiu chun ti u ha p ng qu
- Tiu chun IAE
(Integral of the Absolute Magnitude of the Error )

J IAE e(t ) dt
0

- Tiu chun ISE

(Integral of the Square of the Error)

J ISE e 2 (t )dt
0

- Tiu chun ITAE

(Integral of Time multiplied by the Absolute Value of the Error)

J ITAE t e(t ) dt
0

H bc 2:
JIAE min
JISE min
JITAE min

khi 0,707
khi 0,5
khi 0,707

p ng ca h bc 2
Tiu chun ITAE c s dng ph bin nht
p ng qu ca h thng bc n l ti u theo chun ITAE th mu s
hm truyn kn h bc n phi c dng

Nu mu s hm truyn h kn c dng nh bng trn v t s hm truyn h

kn ca h bc n l th p ng qu ca h thng l ti u v sai s xc lp bng 0.
p ng ti u theo chun ITAE

4.5. Quan h gia cht lng trong min tn s v cht lng trong min thi
gian
- Quan h gia c tnh tn s v sai s xc lp

H h c bin min tn s thp cng cao th h kn c sai s xc lp cng

nh.
Trng hp c bit nu h h c bin tn s thp v cng ln th h kn
c sai s xc lp bng 0 i vi tn hiu vo l hm nc.
Sai s xc lp ca h kn ch ph thuc vo bin min tn s thp ca h
h, khng ph thuc vo bin min tn s cao.

H h c d tr pha ca cng cao th h kn c vt l cng thp. Cc

nghin cu thc nghim cho thy d tr pha ca h h ln hn 600 th vt l
ca h kn nh hn 10%.
H h c tn s ct bin cng cao th h kn c bng thng cng rng ? h thng
kn p ng cng nhanh, thi gian qu cng nh. (Ch bng thng ca h kn xp
x tn s ct bin ca h h)