TRNG I HC BCH KHOA H NI

VIN IN
B MN IU KHIN T NG

BO CO
TH NGHIM IU KHIN S
Nhm sinh vin thc hin:
1.L Vn Tn

SHSV:20072923

2.Nguyn Kim Tn SHSV:20072534

3.Nguyn Thanh Tng SHSV:20073331
Lp:
Gz4

TB1-K52
T=0.01ms

Phng php trch mu: ZOH

H Ni , 28/4/2011

BO CO TH NGHIM IU KHIN S
Bi thc hnh s 1 : Tm m hnh gin on ca CMC
ng c c cc tham s :
- in tr phn ng : RA=250m.
- in cm phn ng : LA=4mH.
- T thng danh nh : R=0,04Vs.
- Mmen qun tnh : J=0,012kgm2.
- Hng s ng c : ke=236,8, km=38,2.
M hnh ng c 1 chiu :

1. Tm hm truyn t ca m hnh
-Hm truyn t vng h :
Gh(s)=

1
1
1
.
.kM . .
RA 1 s.TA
2. .J .s

- Thay s ta c :
Gh(s)=

81, 06
0, 016s 2 s

Hm truyn t ca m hnh ng c :
Gk(s)=

81, 06
Gh
=
0, 016 s 2 s 767,8
1 Gh .ke .

2.S dng lnh trong MATLAB tm hm truyn t trn min nh z

theo cc phng php FOH, ZOH, TUSTIN.
Chng trnh Matlab:
>> num=[81.06];
>> den=[0.016, 1, 767.8];
>> Gk=tf(num,den) % Hm truyn t ca h kn m hnh ng c.
Transfer function:
81.06
--------------------------0.016 s^2 + s + 767.8
Vi chu k trch mu 0,1ms:
>> Gz1=c2d(Gk,0.0001,'foh') % Phng php FOH
Transfer function:
8.43e-006 z^2 + 3.367e-005 z + 8.404e-006
----------------------------------------------------z^2 - 1.993 z + 0.9938
Sampling time: 0.0001
>> Gz3=c2d(Gk,0.0001,'zoh') % Phng php ZOH
Transfer function:
2.528e-005 z + 2.522e-005
--------------------------------z^2 - 1.993 z + 0.9938
Sampling time: 0.0001
>> Gz5=c2d(Gk,0.0001,'tustin') % Phng php TUSTIN
Transfer function:
1.262e-005 z^2 + 2.525e-005 z + 1.262e-005
-----------------------------------------------------z^2 - 1.993 z + 0.9938
Sampling time: 0.0001
Vi chu k trch mu 0,01ms:
>> Gz2=c2d(Gk,0.00001,'foh') % Phng php FOH
Transfer function:
8.442e-008 z^2 + 3.376e-007 z + 8.44e-008
----------------------------------------------------z ^2 - 1.999 z + 0.9994
3

Sampling time: 1e-005

>> Gz4=c2d(Gk,0.00001,'zoh') % Phng php ZOH
Transfer function:
2.533e-007 z + 2.532e-007
------------------------z^2 - 1.999 z + 0.9994
Sampling time: 1e-005
>> Gz6=c2d(Gk,0.00001,'tustin') % Phng php TUSTIN
Transfer function:
1.266e-007 z^2 + 2.532e-007 z + 1.266e-007
------------------------------------------------------z^2 - 1.999 z + 0.9994
Sampling time: 1e-005
Ta thu c hm truyn t trn min nh z theo cc phng php trn nh sau:
.

+) FOH : Gz1=

.
.

.
.
.

.
.

+)TUSTIN : Gz5=

( T=0,1ms)

Gz4=

( T=0,01ms)

+)ZOH : Gz3=

( T=0,1ms)

Gz2=

Gz6=

( T=0,01ms)

.
.

.
.

( T=0,1ms)
(T=0,01ms)

3.M phng cc m hnh gin on thu c :

S simulink:
4

 Vi T=0,1ms

 Vi T=0,01ms

Nhn xt:
+ Vi T=0,1ms
-Da vo th trn ta thy php bin i Z theo cc phng php FOH, ZOH,
TUSTIN cho kt qu m phng ging nhau.
-Tuy nhin: Xt khong thi gian [0.02660.027]s:
6

Ta thy trong 1 chu k trch mu phng php FOH v TUSTIN cho kt qu xp

x nhau, khc vi phng php ZOH.

+ Vi T=0,01ms
- Da vo th ta thy s khc bit r rng hn gia 3 phng php.
So vi trng hp T=0.1ms th h dao ng nhiu hn do cc im cc b y
ra xa hn, gn vi bin ca ng trn n v.

Bi thc hnh s 2 : Tng hp vng iu chnh dng phn ng

(iu khin mmen quay).
-Hm truyn t ca m hnh i tng K dng :
Gi(s)=

1
1
1
. .
Tt .s 1 RA TA .s 1

-Thay s ta c :
Gi(s)=

4
.
1, 6.10 .s 0, 0161s 1
6

-S dng lnh c2d ta tm c hm truyn t trn min nh z ca i tng theo

phng php ZOH (vi chu k trch mu 0,00001s):
% Chng trnh Matlab:
>> G=tf(4,[1.6e-6 0.0161 1])
Transfer function:
4
--------------------------1.6e-006 s^2 + 0.0161 s + 1
>> Gz=c2d(G,0.01e-3,'zoh')
Transfer function:
0.0001209 z + 0.0001169
----------------------z^2 - 1.904 z + 0.9043
Sampling time: 1e-005
>> Gz4=filt([0 0.0001209 0.0001169],[1 -1.904 0.9043],0.01e-3)
Transfer function:
0.0001209 z^-1 + 0.0001169 z^-2
------------------------------1 - 1.904 z^-1 + 0.9043 z^-2
Sampling time: 1e-005
8

 Ta thu c hm truyn ca i tng dng nh sau:

Gi(z) =

.
.

1.Thit k b iu khin theo phng php Dead-Beat

vi L(z-1)=l0+l1.z-1.
-T Gi(z) trn, ta c
B(z-1)=b0+b1.z-1+b2.z-2.
A(z-1)=a0+a1.z-1+a2.z-2.
vi b0=0 , b1=0.0001209, b2=0,0001169.
a0=1, a1= -1.904 , a2=0.9043.
-Theo phng php Dead-Beat ta tm c :
l0=

a0
2

a1

=1448.1 ; l1=

(a0 a1 ) bi
i 0

= 2757.1

(a0 a1 ) bi
i 0

Do : L(z-1)=1448.1+2757.1z-1
-T ta xc nh c b iu khin
GR(z-1) =

L( z 1 ). A( z 1 )
1 L( z 1 ).B( z 1 )

% Chng trnh Matlab tm b iu khin:

>>l0=1448.1;l1=2757.1;
>>L=filt([l0 l1],[1],0.01e-3)
Transfer function:
1448 + 2757 z^-1
Sampling time: 1e-005
>>Gr=L*A/(1-L*B) % Hm truyn ca b iu khin
Transfer function:
1448 - 3940 z^-2 + 2493 z^-3
-----------------------------------------------------1 - 0.1751 z^-1 - 0.5026 z^-2 - 0.3223 z^-3
>>Gk=L*B % Hm truyn t ca h kn.
9

Transfer function:
0.1751 z^-1 + 0.5026 z^-2 + 0.3223 z^-3
Sampling time: 1e-005
>>step(Gk) % M phng c tnh ca h kn khi c b iu khin.
Ket qua mo phong:
Step Response
1
0.9
0.8
0.7

Amplitude

0.6
0.5
0.4
0.3
0.2
0.1
0

Time (sec)

x 10

-4

2.Thit k b iu khin theo phng php Dead-Beat

vi L(z-1)=l0+l1.z-1+l2.z-2
-Theo phng php Dead-Beat ta tm c :
=2102.9 ; l1= (
l0= (
).
l2= (

).

).

= 4004;

= -1901.7

10

-Do : L(z-1)=2102.9+4004z-1 1901.7z-2

-T ta xc nh c b iu khin
GR(z-1) =

L( z 1 ). A( z 1 )
1 L( z 1 ).B( z 1 )

%Chng trnh s dng Matlab xc nh cng thc b iu khin

>>l0=2102.9;l1=4004;l2=-1901.7
>>L=filt([l0 l1 l2],[1],0.01e-3)
Transfer function:
2103 + 4004 z^-1 - 1902 z^-2
Sampling time: 1e-005
>>Gr=L*A/(1-L*B) %Hm truyn t ca b iu khin
Transfer function:
2103 - 7624 z^-2 + 7242 z^-3 - 1720 z^-4
------------------------------------------------------------------------1 - 0.2542 z^-1 - 0.7299 z^-2 - 0.2382 z^-3 + 0.2223 z^-4
Sampling time: 1e-005
>>Gk=L*B % Hm truyn t ca h kn khi c b iu khin
Transfer function:
0.2542 z^-1 + 0.7299 z^-2 + 0.2382 z^-3 - 0.2223 z^-4
Sampling time: 1e-005
>>step(Gk) % Hm m phng c tnh ca h kn khi c b iu khin

11

Kt qu m phng:

Step Response
1.4

1.2

Amplitude

0.8

0.6

0.4

0.2

1
Time (sec)

2
-4

x 10

Nhn xt:
Ta thy khi dng b K Deat-Beat 1 u ra t gi tr xc lp sau 3 chu k trch
mu, khi dng b K Deat-Beat 2 u ra t gi tr xc lp sau 4 chu k trch mu.
B K Deat-Beat 2 bt u lm cho i tng trn c dao ng, cht lng khng
bng b K Deat-Beat 1.
3.Thit k b iu chnh theo phng php cn bng m hnh :

A ) Gi s sau 2 bc, gi tr ca i tng iu khin s ui kp gi

tr t ca i lng ch o, tc hm truyn t vng kn s l :
Gw(z)=x1.z-1+x2.z-2. Vi iu kin x1+x2=1

+) Chn GW(z)=0.6.z-1+0.4.z-2
B iu khin cn tm :
12

GR=

1
G ( z)
. W
Gs ( z ) 1 GW ( z )

%Chng trnh Matlab tm hm truyn t b iu chnh v m

phng.
>> Gw=filt([0 0.6 0.4],[1],0.01e-3)
Transfer function:
0.6 z^-1 + 0.4 z^-2
Sampling time: 1e-005
>> B=filt([0 0.0001209 0.0001169],[1],0.01e-3)
Transfer function:
0.0001209 z^-1 + 0.0001169 z^-2
Sampling time: 1e-005
>> A=filt([1 -1.904 0.9043],[1],0.01e-3)
Transfer function:
1 - 1.904 z^-1 + 0.9043 z^-2
Sampling time: 1e-005
>> Gz4=B/A
Transfer function:
0.0001209 z^-1 + 0.0001169 z^-2
-----------------------------------------1 - 1.904 z^-1 + 0.9043 z^-2
Sampling time: 1e-005
>> Gr=Gw/[Gz4*(1-Gw)] % Hm truyn t ca b iu khin
13

Transfer function:
0.6 - 0.7424 z^-1 - 0.219 z^-2 + 0.3617 z^-3
-----------------------------------------------------------------------------------0.0001209 + 4.436e-005 z^-1 - 0.0001185 z^-2 - 4.676e-005 z^-3
Sampling time: 1e-005
+) Tng t ta chn GW(z)=0.1.z-1+0.9.z-2
B iu khin cn tm :
GR=

1
G ( z)
. W
Gs ( z ) 1 GW ( z )

% Chng trnh Matlab tm cng thc b iu khin

>> B=filt([0 0.0001209 0.0001169],[1],0.01e-3)
Transfer function:
0.0001209 z^-1 + 0.0001169 z^-2
Sampling time: 1e-005
>> A=filt([1 -1.904 0.9043],[1],0.01e-3)
Transfer function:
1 - 1.904 z^-1 + 0.9043 z^-2
Sampling time: 1e-005
>> Gz4=B/A
Transfer function:
0.0001209 z^-1 + 0.0001169 z^-2
---------------------------------------1 - 1.904 z^-1 + 0.9043 z^-2

14

Sampling time: 1e-005

>> Gw=filt([0 0.1 0.9],[1],0.01e-3)
Transfer function: 0.1 z^-1 + 0.9 z^-2

Sampling time: 1e-005

>> Gr=Gw/[Gz4*(1-Gw)]
Transfer function:
0.1 + 0.7096 z^-1 - 1.623 z^-2 + 0.8139 z^-3
-----------------------------------------------------------------------------0.0001209 + 0.0001048 z^-1 - 0.0001205 z^-2 - 0.0001052 z^-3
Sampling time: 1e-005

B.M phng kho st c im vng C thit k :

Kt qu m phng:

15

Nhn xt:
T th ta thy ng sau 2 bc i tng iu khin ui kp gi tr t ca
i lng ch o. Kt thc chu k trch mu u tin u ra t ti gi tr x1 ca
b iu khin(0.6 hoc 0.1). Da vo c im ny ta c th d dng chn b iu
khin ph hp vi yu cu t ra.

C. Gi s sau 3 bc, gi tr ca i tng iu khin s ui kp gi tr

t ca i lng ch o, tc hm truyn t vng kn s l :
-Vi tc p ng ca gi tr thc l 3 chu k TI
Ta c: GW(z)= 2 z 1 z 2 2 z 3
-Hm truyn t ca b iu chnh l:
GR(z)=

GW ( z )
1
G S ( z ) 1 GW ( z )

16

% Chng trnh s dng Matlab tm hm truyn t ca b iu khin v kt

qu m phng.
>> Gw=filt([0 2 1 -2],[1],0.01e-3)
Transfer function:
2 z^-1 + z^-2 - 2 z^-3
Sampling time: 1e-005
>> B=filt([0 0.0001209 0.0001169],[1],0.01e-3)
Transfer function:
0.0001209 z^-1 + 0.0001169 z^-2
Sampling time: 1e-005
>> A=filt([1 -1.904 0.9043],[1],0.01e-3)
Transfer function:
1 - 1.904 z^-1 + 0.9043 z^-2
Sampling time: 1e-005
>> Gz4=B/A
Transfer function:
0.0001209 z^-1 + 0.0001169 z^-2
------------------------------------------1 - 1.904 z^-1 + 0.9043 z^-2
Sampling time: 1e-005
>> Gr=Gw/[Gz4*(1-Gw)] % Hm truyn t ca b iu khin
Transfer function:
17

2 - 2.808 z^-1 - 2.095 z^-2 + 4.712 z^-3 - 1.809 z^-4

----------------------------------------------------------------------------------------------0.0001209 - 0.0001249 z^-1 - 0.0003547 z^-2 + 0.0001249 z^-3 + 0.0002338z^-4
Sampling time: 1e-005
>> step(Gw) % Hm m phng c tnh ca h khi c b iu khin.
Kt qu m phng

Step Response
3

2.5

Amplitude

1.5

0.5

1
Time (sec)

2
x 10

-4

18

Nhn xt:
T th ta thy ng sau 3 bc i tng iu khin ui kp gi tr t ca
i lng ch o. Kt thc chu k trch mu u tin u ra t ti gi tr x1 ca
b iu khin(0.8). Kt thc chu k trch mu th 2 u ra t ti gi tr x1+x2 ca
b iu khin(0.9).
Nhn xt chung:
+Thit k b iu chnh theo phng php cn bng m hnh th sai lch tnh sau N
bc tr v 0 theo qu o mong mun.
+Thit k b iu khin theo phng php Dead-Beat th sai lch tnh cng tr v
0 nhng ta khng th p t qu o mong mun.

19

Bi thc hnh s 3 : Tng hp vng iu chnh tc quay .

-Theo phng php cn bng m hnh ta c hm truyn h kn ca phn iu chnh
dng l : GiW(z)=0.6.z-1+0.4.z-2
-Do ta c hm truyn t ca i tng iu khin vng iu chnh tc l :
Gn(z)= GiW(z).kM..Z(
Gn(z)=

.
.

) ( Tnh nh Z theo ZOH, chu ki trch mu 0.00001s).

1.Tng hp b iu chnh PI theo tiu chun tch phn bnh phng

-B iu khin : GR(z)=

r0 r1.z 1
.
1 z 1

-i tng iu khin : Gn(z)=

(ai, bi xc nh theo hm Gn(z) trn ).
-Ta c sai lch iu chnh :
E(z)=W(z)..
.

-Vit sai lch iu chnh di dng sai phn :

ek= wk+(a11).wk-1 a1wk-2 (a11+r0.b1)ek-1
( a1+ro.b2+r1.b1)ek-2 (r0.b3+r1.b2)ek-3 r1.b3 ek-4
-Chn r0=20 v vi ai , bi xc nh theo Gn(z) ta cn tm r1 sao cho
n

IQ= ek2 nh nht .

k 0

u u 0
iu kin : 1
suy ra
r

r
(1

r
.
b
)
1
0
0 1

20

20

Ta ln lt tnh c :
e0=1
e1=1
e2=0.998
e3= 0.9924-1.27*10^-4*r1
e4= 0.9864-2.134*10^-4*r1
-T IQ nh nht ta tnh c r1 2.086
Kt hp vi iu kin trn ta chn r1= 20
Vy b iu khin theo tiu chun tch phn bnh phng :
GR(z)=.

2.Tng hp b iu khin PI cho tc theo phng php gn im

cc
-Vit li hm truyn t ca i tng :
Gn(z)=

=.

-B iu khin c dng :
r0 r1.z 1 r0 .z r1
=
=
GR(z)=
z 1
1 z 1

( )
( )

-a thc c tnh ca hm truyn ch o :

N(z)=P(z).A(z)+R(z).B(z).
=(z-1).(z3+a1.z2)+(r0.z+r1).(b1.z2+b2z+b3)
N(z)=z4+(a1-1+b1.r0).z3+ (-a1+b1.r1+b2.r0).z2 +( b3.r0+b2.r1)z+ b3.r1
21

-Gi s im cc ca i tng ch o l z1,z2,z3,Z4 th ta c :

N(z)=(z-z1).(z-z2).(z-z3).(z-z4)
N(z)= z4 (z1+z2+z3+z4).z3 +( z1 z2+ z3 z4 z1 z3 z1 z4 z2 z3 z2 z4)z2

(z1.z2 z3+ z1.z2 z4+z1.z3 z4+z2.z3 z4)z + z1.z2.z3 .z4

Chn z1,2 = 0,5 i.0,35. Th :
N(z) = z4 (1+z3+z4).z3 + (0,3725+ z3 z4 - z3- z4).z2 (0.3725(z3+z4)+ z3 z4).z+
0,3725z3z4
Cn bng h s ta tnh c :
z3= 0.5+i.0,265
z4= 0.5-i.0.265
r0= 27.08
r1= - 26.24
Vy b iu khin : GR(z)=

3.M phngkho st vi b iu khin thu c :

a.Gi tr t ng c thay i di dng bc nhy :
1)Trong phng php theo tiu chun tch phn bnh phng : GR=.

22

c tnh thu c khi c b iu khin:

Sai lch iu chnh:

Nhn xt: Cht lng ca h p ng tt vi yu cu t ra

2)Trong phng php gn im cc :

Cng thc b iu khin: GR(z)=

23

c tnh ca h:

Sai lch tnh:

24

Nhn xt:Vi b iu khin thit k trn ta thy:

+) qu iu chnh ln,thi gian xc lp di Cha p ng c yu cu t
ra.
Cn hiu chnh li cc tham s ca b iu khin t c cht lng ng
hc tt hn:
B iu khin sau khi hiu chnh: : GR(z)=
+) S Simulink m phng vi b iu khin sau hiu chnh:

Kt qu m phng c tnh ca h:

25

Sai lch tnh:

Nhn xt: T th ta thy qu iu chnh vn tng i ln(khong 30%),

thi gian xc lp: 0.002s. cht lng ng hc tt hn ta nn chn im cc
nm gn gc ta .

b.Ph ti thay i t bin di dng bc nhy : (momen ti c dng

bc nhy)
Vi b iu khin PI lp theo tiu chun tch phn bnh phng :
GR=

26

+) Kt qu m phng c tnh ca h.

+)Sai lch iu chnh:

Vi b iu khin theo phng php gn im cc :

Cng thc b iu khin: GR(z)=

27

+) Kt qu m phng c tnh ca h khi c nhiu tc ng.

+)Sai lch tnh:

28

Nhn xt: Vi c 2 b iu khin, khi c ph ti thay i t bin di dng bc

nhy, cht lng ng hc ca h xu hn, sai lch iu chnh ln hn, thi gian
qu di hn .

29

Bi thc hnh s 4 : Tng hp b C tc quay trn KGTT

A.Tng hp b iu khin tc quay theo 2 phng php:
Phn hi trng thi sao cho p ng c dng PT1( im cc nhn gi tr thc
dng trn min z)
Chn 2 im cc: z1=0.5, z2=0.6
Gk l m hnh ng c xy dng bi 1.
S dng ln trong MATLAB:
Vi chu k trch mu l: T=0.1s
>> num=[81.06];
>> den=[0.016,1,767.8];
>> Gk=tf(num,den)
Transfer function:
81.06
--------------------0.016 s^2 + s + 767.8
>> [A,B,C,D]=tf2ss(num,den)% Cc ma trn trn min lin tc
A=
1.0e+004 *
-0.0063 -4.7987
0.0001
0
B=
1
0
C=
1.0e+003 *
0 5.0663
D=
0
>> [phi,H]=c2dm(A,B,C,D,0.1)% Chuyn sang gin on
phi =
-0.0438 -2.9585
0.0001 -0.0399
H=
1.0e-004 *
0.6165
0.2167
30

>> p1=[0.5 0.6];

>> Ka=acker(phi,H,p1)% B iu khin cn tm
Ka =
1.0e+004 *
-0.5440 -3.9147
p ng hu hn( Dead-Beat: gn im cc ti gc ta trn min nh z)
>> p2=[0 0];
>> Kb=acker(phi,H,p2)
Kb =
1.0e+003 *
-0.0272 -3.7854
Vi chu k trch mu l: T=0.01s
>> num=[81.06];
>> den=[0.016,1,767.8];
>> Gk=tf(num,den)
Transfer function:
81.06
--------------------0.016 s^2 + s + 767.8
>> [A,B,C,D]=tf2ss(num,den)
A=
1.0e+004 *
-0.0063 -4.7987
0.0001
0
B=
1
0
C=
1.0e+003 *
0 5.0663
D=
0
>>[phi,H]=c2dm(A,B,C,D,0.01)%
phi =
-0.4987 -133.8787
0.0028 -0.3243
H=
0.0028
0.0000
31

>> p1=[0.5 0.6];

Ka=acker(phi,H,p1)% B iu khin cn tm
Ka =
1.0e+004 *
-0.0255 -4.3918
p ng hu hn( Dead-Beat: gn im cc ti gc ta trn min nh z)
>> p2=[0 0];
Kb=acker(phi,H,p2)
Kb =
1.0e+004 *
-0.0022 -2.7639
B. M phng 2 b iu khin phn hi trng thi
Vi chu k trch mu l: T=0.1s
>> H1=ss(phi-H*Ka,B,C,D,0.1)
a=
x1
x2
x1 0.2916 -0.545
x2 0.1179 0.8084
b=
u1
x1 1
x2 0
c=
x1 x2
y1 0 5066
d=
u1
y1 0
Sampling time: 0.1
Discrete-time model.
>> H2=ss(phi-H*Kb,B,C,D,0.1)
a=
x1
x2
x1 -0.04211 -2.725
x2 0.0006506 0.04211
b=
u1
x1 1
x2 0
c=
32

x1 x2
y1 0 5066
d=
u1
y1 0
Sampling time: 0.1
Discrete-time model.
>>step(Gk)
>> step(H1)
>> step(H2)
% Kt qu m phng trn khng gian trng thi.
Step Response
0.18
0.16
0.14

Amplitude

0.12
0.1
0.08
0.06
0.04
0.02
0

0.02

0.04

0.06

0.08

0.1

0.12

0.14

0.16

0.18

0.2

Time (sec)

33

PT1

Deat-Beat:Cc ti gc

Vi chu k trch mu l: T=0.01s

>> H1=ss(phi-H*Ka,B,C,D,0.01)
a=
x1
x2
x1 0.2123 -11.35
x2 0.009823 0.8877
b=
u1
x1 1
x2 0
c=
x1 x2
y1 0 5066
d=
u1
y1 0
34

Sampling time: 0.01

Discrete-time model.
>> H2=ss(phi-H*Kb,B,C,D,0.01)
a=
x1
x2
x1 -0.4384 -56.77
x2 0.003386 0.4384
b=
u1
x1 1
x2 0
c=
x1 x2
y1 0 5066
d=
u1
y1 0
Sampling time: 0.01
Discrete-time model.
>> step(Gk)
>> step(H1)
>> step(H2)

% Kt qu m phng trn khng gian trng thi.

Step Response
0.18
0.16
0.14

Amplitude

0.12
0.1
0.08
0.06
0.04
0.02
0

0.02

0.04

0.06

0.08

0.1

0.12

0.14

0.16

0.18

0.2

Time (sec)

35

Step Response
250

200

Amplitude

150

100

50

0.05

0.1

0.15

0.2

0.25

Time (sec)

PT1

Step Response
18
16
14

Amplitude

12
10
8
6
4
2
0

0.02

0.04

0.06

0.08

0.1

0.12

0.14

0.16

0.18

0.2

Time (sec)

Nhn xt:
+ Tng hp b iu khin tc quay theo phng php phn hi trng thi sao
cho p ng c dng PT1 th sau nhiu chu k trch mu u ra mi xc lp.
+ Tng hp b iu khin tc quay theo phng php p ng hu hn th sau 2
chu k trch mu u ra t gi tr xc lp do 2 im cc c gn u nm gc
ta .
36

37