Kho st ng dng MATLAB trong iu khin t ng

V GIN BODE, NyQuist, Nichols

L THUYT:
Gin Bode gm hai th: th logarith bin ca hm truyn v gc pha
theo logarith tn s. (mt n v trc honh gi l mt decade).
Bin : G(j)
Pha

:=

= 20 log10 G(j)

(2.22)

G(j) (hay arg G(j))

(2.23)

dB

Gin Bode ca cc khu c bn:

* Khu khuch i:
Hm truyn t G(s) = K
Gin Bode L() = 20 lgM() = 20 lgK l 1 ng thng song song vi trc
honh.
* Khu qun tnh bc 1:
Hm truyn t G(s) =

K
Ts 1

Biu Bode L() = 20 lgM() = 20 lgK 20lg T 22 1 c dc gim

20dB/decade
* Khu vi phn bc 1:
Hm truyn t G(s) = K(Ts + 1)
Gin Bode L() = 20 lgM() = 20 lgK + 20lg T 22 1 c dc tng
20dB/decade
* Khu tch phn:
Hm truyn t G(s) =

K
s

Gin Bode L() = 20 lgM() = 20 lgK 20lg

* Khu bc 2:

n2
Hm truyn t G(s) = 2
s 2 n s n2
Gin Bode L() = -20lg

2 2 2

4 2 2 t 2

Kho st ng dng MATLAB trong iu khin t ng

BI TP
Bai 1:
V gin Bode h thng hi tip n v ca hm truyn vng h sau:
10
s(1 0.1s)

G(s) =
num = 10;
den = [0.1 1 0];
bode(num,den)
Kt qu:

Bode Diagrams
40

Phase (deg); Magnitude (dB)

20
0
-20
-40
-100
-120
-140
-160
-1

10

10

10

10

Frequency (rad/sec)

H thng gm 1 khu khuch i bng 10, mt khu tch phn v mt khu qun
tnh bc 1
Tn s gy: 10.
G(jw)dB = 20dB 20log
Ti tn s = 1rad/sec G(jw)dB = 20dB v dc 20dB/decade (do khu tch
phn).
dc 20dB/decade tip tc cho n khi gp tn s ct = 10rad/sec, ti tn s ny ta
cng thm 20dB/decade (do khu qun tnh bc nht) v to ra dc -40dB/dec.

Bi 2:
G(s) =

10 5 ( s 100)
( s 1)( s 10)( s 1000)

Kho st ng dng MATLAB trong iu khin t ng

num = 100000*[1 100];

den = [1 1011 11010 10000];
bode(num,den)
Kt qu:
Bode Diagrams

Phase (deg); Magnitude (dB)

50

-50

-50
-100
-150
-1

10

10

10

10

10

10

Frequency (rad/sec)

H thng gm mt khu khuch i 10 5, mt khu vi phn bc nht v 3 khu

qun tnh bc 1.
Tn s gy: 1,10,100,1000.
G(jw)dBw = 0 = 60dB
Ti tn s gy = 1rad/sec c li 60dB v dc 20dB/decade (v khu
qun tnh bc 1). dc 20dB/decade c tip tc n khi gp tn s gy =
10rad/sec ti y ta cng thm -20dB/decade(v khu qun tnh bc 1), to ra dc
40dB/dec. dc - 20dB tn s = 100rad/dec (do khu vi phn bc 1). Ti tn s
gy = 100rad/sec tng 20dB (v khu vi phn bc 1). To ra dc c dc -20dB.
Ti tn s gy = 1000rad/sec gim 20dB (v khu qun tnh bc 1). To ra dc 40dB.

Bi 3:
G(s) =

10
s(1 0.1s)2

num = 10;
den = [0.01 0.2 1 0 ];
bode(num,den)

Kho st ng dng MATLAB trong iu khin t ng

Kt qu:
Bode Diagrams
40

Phase (deg); Magnitude (dB)

20
0
-20
-40
-60
-100
-150
-200
-250
-1

10

10

10

10

Frequency (rad/sec)

H thng gm mt khu khuch i 10, mt khu tch phn v 1 thnh phn cc

kp.
Tn s gy: 10.
G(jw)dB = 20dB 20log
Tn s gy nh nht = 0.1 rad/sec ti tn s ny c li 40dB v dc
20dB (do khu tch phn). dc ny tip tc cho ti tn s gy kp = 10. tn s
ny s gim 40dB/decade, to ra dc 60dB/dec.
Bi 4:
G(s) =

102(s 10)
s(s 1)(s 100)

num = 100*[1 10];

den = [1 101 100 0];
bode(num,den)
Kt qu:

Kho st ng dng MATLAB trong iu khin t ng

Bode Diagrams

Phase (deg); Magnitude (dB)

50
0
-50

-100
-120
-140
-160
-2

10

-1

10

10

10

10

10

Frequency (rad/sec)

H thng gm mt khu khuch i 100, mt khu tch phn v 2 khu qun tnh
bc 1, 1 khu vi phn.
Tn s gy: 1,10,100
G(jw)dBw = 0 = 20log10 20log
Ta ch xt trc tn s gy nh nht 1decade. Ti tn s gy = 0.1rad/sec c
li 40dB v dc 20dB/dec, dc 20dB/dec tip tc cho n khi gp tn s gy =
1rad/sec, ta cng thm 20dB/dec (v khu qun tnh bc 1) v to ra dc 40dB/dec.
Ti tn s =10 s tng 20dB/dec (v khu vi phn) to ra dc 20dB/dec, dc
20db/dec c tip tc cho n khi gp tn s gy = 100rad/sec s gim 20dB/dec (v
khu qun tnh bc 1) s to dc 40dB/decade.
Bi 5: Bi ny trch t trang 11-21 sch Control System Toollbox
V gin bode ca h thng hi tip SISO c hm sau:
S2+01.s+7.5
H(s) = ----------------------S2+0.12s3+9s2
g=tf([1 0.1 7.5],[1 0.12 9 0 0]);
bode(g)

Kho st ng dng MATLAB trong iu khin t ng

Bode Diagrams
40

From: U(1)

0
-20
-40
0
-50
To: Y(1)

Phase (deg); Magnitude (dB)

20

-100
-150
-200
-1
10

10

Frequency (rad/sec)

Bi 6: Trang 11-153 sch Control System Toolbox

V gian o bode ca hm ri rc sau, vi thi gian ly mu l: 0,1.
z3-2.841z2+2.875z-1.004
H(z) = ---------------------------------z3+2.417z2+2.003z-0.5488
H=tf([1 -2.841 2.875 -1.004],[1 -2.417 2.003 -0.5488],0.1);
norm(H)
ans =
1.2438
[ninf,fpeak]=norm(H,inf)
ninf =
2.5488
fpeak =
3.0844

10

Kho st ng dng MATLAB trong iu khin t ng

bode(H)
Bode Diagrams
From: U(1)

10

-5
100
0
To: Y(1)

Phase (deg); Magnitude (dB)

-100
-200
-300
-400

10

Frequency (rad/sec)

20*log(ninf)
ans =
18.7127

Bi 7: Trch t trang 5-18 sch Control System Toolbox

Bi ny cho ta xem cng dng ca lnh chia trc subplot
h=tf([4 8.4 30.8 60],[1 4.12 17.4 30.8 60]);
subplot(121)
Kt qu:

10

Kho st ng dng MATLAB trong iu khin t ng

h=tf([4 8.4 30.8 60],[1 4.12 17.4 30.8 60]);

subplot(121)
bode(h)
Kt qu:

Kho st ng dng MATLAB trong iu khin t ng

h=tf([4 8.4 30.8 60],[1 4.12 17.4 30.8 60]);

subplot(222)
bode(h)
Kt qu:

Kho st ng dng MATLAB trong iu khin t ng

h=tf([4 8.4 30.8 60],[1 4.12 17.4 30.8 60]);

subplot(121)
bode(h)
subplot(222)
bode(h)
subplot(224)
bode(h)
Kt qu:

Kho st ng dng MATLAB trong iu khin t ng

Biu Nichols
L thuyt:

Kho st ng dng MATLAB trong iu khin t ng

Cng dng: xc nh n nh v p ng tn s vng kn ca h thng hi tip
ta s dng biu Nichols. S n nh c nh gi t ng cong v mi quan h ca
li theo c tnh pha ca hm truyn vng h. ng thi p ng tn s vng kn ca
h thng cng c xc nh bng cch s dng ng cong bin v di pha vng
kn khng i ph ln ng cong bin pha vng h.
C php:
[mod,phase,puls]= nichols(A,B,C,D);
[mod,phase,puls]= nichols(A,B,C,D,ui);
[mod,phase]= nichols(A,B,C,D,ui,w);
[mod,phase,puls]= nichols(num,den);
[mod,phase]= nichols(num,den,w);
Nhng cu trc trn cho ln l nhng gi tr t nhin, pha l v vect ca dim
tn s l rad/s. S tn ti ca im tn s m p ng tn s c nh gi bng vect w,
v ui l bin khai bo vi h thng nhiu ng vo.
Ch :
+ khi s dng lnh nichols vi cu trc khng c bin ng ra th ta c biu
nichols.
+ lnh nichols lun lun cho pha trong khong [-3600,00]
Bi 8: cho h thng c hm truyn sau:
G( s) 30

s 2 7s 1
s s 1

Cc bc thc hin:
num=30*[1 7 1];
den=[poly([-1 -1 -1]) 0];
hold on, plot(-180,0,'*r'), hold on;
nichols(num,den)
Tr v biu nichols vi im ti hn critical point
(-1800 ,0) c biu din nh hnh sau:

Kho st ng dng MATLAB trong iu khin t ng

Hnh: Biu Nichols

DNG BI TP V BIU NYQUYST V KHO ST N NH

DNG GIN BODE
L THUYT:
H thng n nh trng thi h, s n nh trng thi kn nu biu
Nyquist khng bao im (-1+i0) trn mt phng phc.
H thng khng n nh trng thi h, s n nh trng thi kn nu biu
Nyquist bao im (-1+i0)p ln ngc chiu kim ng h (p l s cc GH nm
phi mt phng phc).
BI TP:
T du nhc ca ca s MATLAB, ta nhp:
num = [nhp cc h s ca t s theo chiu gim dn ca s m].
den = [nhp cc h s ca mu s theo chiu gim dn ca s m].
nyquist(num,den)
Bi 9:
GH(s) =

k
(vi k =10, t =1)
1 st

num = 10;
den = [-1 1];
nyquist(num,den)
Kt qu:

Kho st ng dng MATLAB trong iu khin t ng

Nyquist Diagrams
5
4

Imaginary Ax is

3
2
1
0
-1

(A)-2
-3
-4
-5
0

10

Real Ax is

Nhn xt: hm truyn vng h c 1 cc nm bn phi mt phng phc. Biu Nyquist

khng bao im A (-1+j0).
im 1 k hiu () nm trn trc thc m (Real Axis), im 0 nm trn trc o
(Imaginary Axis).
Kt lun: h khng n nh.
* Dng lnh margin tm bin d tr v pha d tr.
T du nhc ca ca s lnh MATLAB ta dng lnh margin:
num = 10;
den = [-1 1];
margin(num,den);

Kho st ng dng MATLAB trong iu khin t ng

Bode Diagrams
Gm = 0 dB, Pm = 0 (unstable closed loop)
20

Phase (deg); Magnitude (dB)

15
10
5
0
80
60
40
20
0

10

Frequency (rad/sec)

Kt lun:
d tr bin (Gm = 0 dB).
d tr pha (Pm = 0).
Warning: Closed loop is unstable (h vng kn khng n nh).
Bi 10: Cho hm ttuyn:
GH(s) =

k
(k = 10, t = 1)
s 1 st

num = 10;
den = [-1 1 0];
nyquist(num,den)

Kho st ng dng MATLAB trong iu khin t ng

Nyquist Diagram s
1000
800

Im aginary Ax is

600

(A)

400
200
0
-200
-400
-600
-800
-1000
0

10

Real Ax is

Nhn xt: hm truyn vng h c 1 cc nm bn phi mt phng phc v 1 cc nm ti

gc ta . Biu Nyquist khng bao im A (-1+j0).
im 1 k hiu () nm trn trc thc m (Real Axis) , im 0 nm trn trc o
(Imaginary Axis).
Kt lun: h khng n nh.
* Dng lnh margin tm bin d tr v pha d tr.
T du nhc ca ca s lnh MATLAB ta dng lnh margin:
num = 10;
den = [-1 1 0];
margin(num,den)

Kho st ng dng MATLAB trong iu khin t ng

Bode Diagrams
Gm = 0 dB, Pm = 0 (unstable closed loop)
60

Phase (deg); Magnitude (dB)

40
20
0
-20

-20
-40
-60
-80
-1

10

Frequency (rad/sec)

Kt lun:
d tr bin (Gm = 0 dB).
d tr pha (Pm = 0).
Warning: Closed loop is unstable (h vng kn khng n nh).
Bi 11: Cho h thng sau
k
GH(s) =
t1s 1 t2s 1 (k =10, t1 = 1, t2 = 2)
num = 10;
den = [2 3 1];
nyquist(num,den)

10

Kho st ng dng MATLAB trong iu khin t ng

Nyquist Diagrams
6

Imaginary Ax is

4
2
0
-2

(A)

-4
-6
0

10

Real Ax is

Nhn xt: hm truyn vng h c 2 cc nm bn tri mt phng phc. Biu Nyquist

khng bao im A (-1+j0).
im 1 k hiu () nm trn trc thc m (Real Axis) , im 0 nm trn trc o
(Imaginary Axis).
Kt lun: h thng n nh.
* Dng lnh margin tm bin d tr v pha d tr.
T du nhc ca ca s MATLAB dng lnh margin.
num = 10;
den = [2 3 1];
margin(num,den)

Kho st ng dng MATLAB trong iu khin t ng

Bode Diagrams
20

Gm = Inf, Pm=38.94 deg. (at 2.095 rad/sec)

Phase (deg); Magnitude (dB)

10
0
-10
-20

-50
-100
-150
0

10

Frequency (rad/sec)

Kt lun: h thng n nh.

d tr bin (Gm = ).
d tr pha (Pm = 38.94), ti tn s ct bin 2.095 rad/sec.
Bi 12: Cho h thng c hm truyn sau:
k
GH(s) =
(k = 10 t1=1, t2 =2)
s t1s 1 t2s 1
num = 10;
den = [2 3 1 0];
nyquist(num,den)

Kho st ng dng MATLAB trong iu khin t ng

Nyquist Diagrams
1000
800

Imaginary Ax is

600
400
200
0
-200

(A)

-400
-600
-800
-1000
-30

-25

-20

-15

-10

-5

Real Ax is

Nhn xt: hm truyn vng h c 2 cc nm bn tri mt phng phc v 1 cc zero.

Biu Nyquist bao im A(-1+j0).
im 1 k hiu () nm trn trc thc m (Real Axis) , im 0 nm trn trc o
(Imaginary Axis).
Kt lun: h khng n nh.
* Dng lnh margin tm bin d tr v pha d tr.
T du nhc ca ca s MATLAB ta dng lnh margin kim chng li h:
num = 10;
den = [2 3 1 0];
margin(num,den)

Kho st ng dng MATLAB trong iu khin t ng

Bode Diagrams
Gm = 0 dB, Pm = 0 (unstable closed loop)
60

Phase (deg); Magnitude (dB)

40
20
0
-20
-40
-100
-150
-200
-250
-1

10

10

Frequency (rad/sec)

Kt lun: h thng khng n nh.

d tr bin (Gm = 0 dB).
d tr pha (Pm = 0)
Bi 12:
GH(s) =

k
s t1s 1 t2s 1 t3s 1

num = 10;
den = [6 11 6 1 0];
nyquist(num,den)

( t1 =1, t2 = 2, t3 = 3, k = 10)

Kho st ng dng MATLAB trong iu khin t ng

Nyquist Diagrams
1000
800

Imaginary Ax is

600
400
200
0

(A)

-200
-400
-600
-800
-1000
-60

-50

-40

-30

-20

-10

Real Ax is

Nhn xt: hm truyn vng h c 3 cc nm bn tri mt phng phc v 1 cc zero.

Biu Nyquist bao im A (-1+i0).
im 1 k hiu () nm trn trc thc m (Real Axis) , im 0 nm trn trc o
(Imaginary Axis).
Kt lun: h khng n nh.
* Dng lnh margin tm bin d tr v pha d tr.
T du nhc ca ca s MATLAB, dng lnh margin kim chng li h:
num = 10;
den = [6 11 6 1 0];
margin(num,den)

Kho st ng dng MATLAB trong iu khin t ng

Bode Diagrams
Gm = 0 dB, Pm = 0 (unstable closed loop)

Phase (deg); Magnitude (dB)

50
0
-50

-100
-200
-300
-2

10

-1

10

Frequency (rad/sec)

Kt lun: h thng khng n nh.

d tr bin (Gm = 0 dB).
d tr pha (Pm = 0).

10

Kho st ng dng MATLAB trong iu khin t ng