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Dap Ung Tan So
Dap Ung Tan So
NHM LNH V P NG TN S
(Frequency Response)
1. Lnh BODE
a) Cng dng:
Tm v v p ng tn s gin Bode.
b) C php:
[mag,phase,w] = bode(a,b,c,d)
[mag,phase,w] = bode(a,b,c,d,iu)
[mag,phase,w] = bode(a,b,c,d,iu,w)
[mag,phase,w] = bode(num,den)
[mag,phase,w] = bode(num,den,w)
c) Gii thch:
Lnh bode tm p ng tn s bin v pha ca h lin tc LTI. Gin Bode
dng phn tch c im ca h thng bao gm: bin d tr, pha d tr, li DC,
bng thng, kh nng min nhiu v tnh n nh.
Nu b qua cc i s v tri ca dng lnh th lnh bode s v ra gin Bode
trn mn hnh.
bode(a,b,c,d) v ra chui gin Bode, mi gin tng ng vi mt ng vo ca
h khng gian trng thi lin tc:
.
x Ax Bu
y = Cx + Du
vi trc tn s c xc nh t ng. Nu p ng thay i nhanh th cn phi
xc nh nhiu im hn.
bode(a,b,c,d,iu) v ra gin Bode t ng vo duy nht iu ti tt c cc ng ra
ca h thng vi trc tn s c xc nh t ng. i lng v hng iu l ch s ng
vo ca h thng v ch ra ng vo no c s dng cho p ng gin Bode.
bode(num,den) v ra gin Bode ca hm truyn a thc h lin tc
G(s) = num(s)/den(s)
trong num v den cha cc h s a thc theo chiu gim dn s m ca s.
bode(a,b,c,d,iu,w) hay bode(num,den,w) v ra gin Bode vi vector tn s w
do ngi s dng xc nh. Vector w ch ra cc im tn s (tnh bng rad/s) m ti
p ng tn s gin Bode c tnh.
Nu vn gi li cc i s v tri ca dng lnh th:
[mag,phase,w] = bode(a,b,c,d)
[mag,phase,w] = bode(a,b,c,d,iu)
[mag,phase,w] = bode(a,b,c,d,iu,w)
[mag,phase,w] = bode(num,den)
[mag,phase,w] = bode(num,den,w)
0
-10
-20
-30
-40
0
-50
-100
-150
-1
10
10
Frequency (rad/sec)
2. Lnh FBODE
a) Cng dng:
V p ng tn s gin Bode cho h tuyn tnh lin tc.
10
x Ax Bu
y = Cx + Du
vi trc tn s c xc nh t ng. Nu p ng thay i nhanh th cn phi
xc nh nhiu im hn.
fbode(a,b,c,d,iu) v ra gin Bode t ng vo duy nht iu ti tt c cc ng ra
ca h thng vi trc tn s c xc nh t ng. iu l ch s ng vo ca h thng v
ch ra ng vo no c s dng cho p ng gin Bode. fbode nhanh hn nhng km
chnh xc hn bode.
fbode(num,den) v ra gin Bode ca hm truyn a thc h lin tc
G(s) = num(s)/den(s)
trong num v den cha cc h s a thc theo chiu gim dn s m ca s.
fbode(a,b,c,d,iu,w) hay fbode(num,den,w) v ra gin Bode vi vector tn s w
do ngi s dng xc nh. Vector w ch ra cc im tn s (tnh bng rad/s) m ti
p ng tn s gin Bode c tnh.
Nu vn gi li cc i s v tri ca dng lnh th:
[mag,phase,w] = fbode(a,b,c,d)
[mag,phase,w] = fbode(a,b,c,d,iu)
[mag,phase,w] = fbode(a,b,c,d,iu,w)
[mag,phase,w] = fbode(num,den)
[mag,phase,w] = fbode(num,den,w)
s khng v ra gin Bode m to ra cc ma trn p ng tn s mag, phase v
w ca h thng. Ma trn mag v phase c s ct bng s ng ra v c s hng l
length(w).
d) V d:
V p ng bin v pha ca h bc 2 vi tn s t nhin n= 1 v h s tt dn
= 0.2
[a,b,c,d] = ord2(1,0.2);
fbode(a,b,c,d); grid on
v ta c p ng nh sau:
0
-10
-20
-30
-40
0
-50
-100
-150
-1
10
10
10
Frequency (rad/sec)
3. Lnh DBODE
a) Cng dng:
Tm v v p ng tn s gin Bode ca h gin on.
b) C php:
[mag,phase,w] = dbode(a,b,c,d,Ts)
[mag,phase,w] = bode(a,b,c,d,Ts,iu)
[mag,phase,w] = bode(a,b,c,d,Ts,iu,w)
[mag,phase,w] = bode(num,den,Ts)
[mag,phase,w] = bode(num,den,Ts,w)
c) Gii thch:
Lnh dbode tm p ng tn s bin v pha ca h lin tc LTI. Lnh dbode
khc vi lnh freqz m trong p ng tn s t c vi tn s cha chun ha. p
ng c c t dbode c th c so snh trc tip vi p ng lnh bode ca h thng
lin tc tng ng. Nu b qua cc i s v tri ca dng lnh th lnh dbode s v ra
gin Bode trn mn hnh.
dbode(a,b,c,d,Ts) v ra chui gin Bode, mi gin tng ng vi mt ng vo
ca h khng gian trng thi lin tc:
x[n+] = Ax[n] + Bu{n]
y[n] = Cx[n] + Du[n]
vi trc tn s c xc nh t ng. Cc im tn s c chn trong khong t
/Ts (rad/sec), trong /Ts (rad/sec) tng ng vi na tn s ly mu (tn s Nyquist).
Nu p ng thay i nhanh th cn phi xc nh nhiu im hn. Ts l thi gian ly
mu.
2 z 2 3.4 z 1.5
z 2 1.6 s 0.8
20
10
0
-10
100
50
0
-50
-1
10
10
10
10
Frequency (rad/sec)
4. Lnh FREQS
a) Cng dng:
Tm p ng tn s ca php bin i Laplace.
b) C php:
h = freqs(b,a,w)
[h,w] = freqs(b,a)
[h,w] = freqs(b,a,n)
freqs(b,a)
c) Gii thch:
Lnh freqs tr thnh p ng tn s H(j) ca b lc analog.
H ( s)
A( s )
a (1) s na a ( 2) s na 1 ...... a ( na 1)
0.2 s 2 0.3s 1
s 2 0.4 s 1
% Khai bo hm truyn:
a = [1 0.4
1];
b = [0.2
0.3 1];
% Xc nh trc tn s:
w = logspace(-1,1);
% Thc hin v th:
freqs(b,a,w)
1
Magnitude
10
10
-1
10
-1
10
10
Frequency (radians)
10
Phase (degrees)
0
-50
-100
-150
-1
10
10
Frequency (radians)
5. Lnh FREQZ
a) Cng dng:
Tm p ng tn s ca b lc s.
b) C php:
[h,w] = freqz(b,a,n)
[h,f] = freqz(b,a,n,Fs)
[h,w] = freqz(b,a,n,whole)
[h,f] = freqz(b,a,n,whole,Fs)
h = freqz(b,a,w)
h = freqz(b,a,f,Fs)
freqz(b,a)
c) Gii thch:
10
b(1) b( 2) z 1 ...... b( nb 1) z nb
B( z )
A( z )
a (1) a ( 2) z 1 ...... a ( na 1) z na
100
0
-100
-200
-300
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
Normalized frequency (Nyquist == 1)
0.9
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
Normalized frequency (Nyquist == 1)
0.9
Phase (degrees)
0
-100
-200
-300
-400
-500
6. Lnh NYQUIST
a) Cng dng:
V biu p ng tn s Nyquist.
b) C php:
[re,im,w] = nyquist(a,b,c,d)
[re,im,w] = nyquist(a,b,c,d,iu)
[re,im,w] = nyquist(a,b,c,d,iu,w)
[re,im,w] = nyquist(num,den)
[re,im,w] = nyquist(num,den,w)
c) Gii thch:
Lnh nyquist tm p ng tn s Nyquist ca h lin tc LTI. Biu Nyquist
dng phn tch c im ca h thng bao gm: bin d tr, pha d tr v tnh n
nh.
Nu b qua cc i s v tri ca dng lnh th nyquist s v ra biu Nyquist
trn mn hnh.
Lnh nyquist c th xc nh tnh n nh ca h thng hi tip n v. Cho biu
Nyquist ca hm truyn vng h G(s), hm truyn vng kn:
G(s)
Gcl (s) = 1 G ( s )
l n nh khi biu Nyquist bao quanh im 1+j0 P ln theo chiu kim ng
h, trong P l s cc vng h khng n nh.
nyquist(a,b,c,d) v ra chui biu Nyquist, mi th ng vi mi quan h gia
mt ng vo v mt ng ra ca h khng gian trng thi lin tc:
x Ax Bu
y = Cx + Du
vi trc tn s c xc nh t ng. Nu p ng thay i cng nhanh th cn
phi xc nh cng nhiu im trn trc tn s.
nyquist(a,b,c,d,iu) v ra biu Nyquist t ng vo duy nht iu ti tt c cc ng
ra ca h thng vi trc tn s c xc nh t ng. i lng v hng iu l ch s
ng vo ca h thng v ch ra ng vo no c s dng cho p ng Nyquist.
nyquist(num,den) v ra biu Nyquist ca hm truyn a thc h lin tc
G(s) = num(s)/den(s)
trong num v den cha cc h s a thc theo chiu gim dn s m ca s.
nyquist(a,b,c,d,iu,w) hoc nyquist(num,den,w) v ra biu Nyquist vi vector
tn s w do ngi s dng xc nh. Vector w ch ra cc im tn s (tnh bng rad/s) m
ti p ng Nyquist c tnh.
Nu vn gi li cc i s v tri ca dng lnh th:
[re,im,w] = nyquist(a,b,c,d)
[re,im,w] = nyquist(a,b,c,d,iu)
[re,im,w] = nyquist(a,b,c,d,iu,w)
[re,im,w] = nyquist(num,den)
[re,im,w] = nyquist(num,den,w)
khng v ra biu Nyquist m to ra p ng tn s ca h thng di dng cc
ma trn re, im v w. Cc ma trn re v im c s ct bng s ng ra v mi hng ng vi
mt thnh phn trong vector w.
d) V d:
V biu Nyquist ca h thng c hm truyn:
H ( s)
2 s 2 5s 1
s 2 2s 3
num = [2 5
1];
den = [1
2 3];
nyquist(num,den); title(Bieu do Nyquist)
v ta c biu Nyquist nh hnh v:
7. Lnh DNYQUIST
a) Cng dng:
V biu p ng tn s Nyquist ca h gin on.
b) C php:
[re,im,w] = dnyquist(a,b,c,d,Ts)
[re,im,w] = dnyquist(a,b,c,d,Ts,iu)
[re,im,w] = dnyquist(a,b,c,d,Ts,iu,w)
[re,im,w] = dnyquist(num,den,Ts)
[re,im,w] = dnyquist(num,den,Ts,w)
c) Gii thch:
Lnh dnyquist tm p ng tn s Nyquist ca h gin on LTI. Biu Nyquist
dng phn tch c im ca h thng bao gm: bin d tr, pha d tr v tnh n
nh. p ng tn s dng lnh dnyquist c th so snh trc tip vi p ng nyquist ca
h lin tc tng ng.
Nu b qua cc i s v tri ca dng lnh th dnyquist s v ra biu
Nyquist trn mn hnh.
Lnh dnyquist c th xc nh tnh n nh ca h thng hi tip n v. Cho biu
Nyquist ca hm truyn vng h G(s), hm truyn vng kn:
G( z)
Gcl (z) = 1 G ( z )
l n nh khi biu Nyquist bao quanh im 1+j0 P ln theo chiu kim ng
h, trong P l s cc vng h khng n nh.
dnyquist(a,b,c,d,Ts) v ra chui biu Nyquist, mi th ng vi mi quan h
gia mt ng vo v mt ng ra ca h khng gian trng thi gin on:
2 z 2 3.4 z 1.5
z 2 1.6 z 0.8
8. Lnh NICHOLS
a) Cng dng:
V biu p ng tn s Nichols.
b) C php:
[mag,phase,w] = nichols(a,b,c,d)
[mag,phase,w] = nichols(a,b,c,d,iu)
[mag,phase,w] = nichols(a,b,c,d,iu,w)
[mag,phase,w] = nichols(num,den)
[mag,phase,w] = nichols(num,den,w)
c) Gii thch:
Lnh nichols tm p ng tn s Nichols ca h lin tc LTI. Biu Nichols
c dng phn tch c im ca h vng h v h vng kn.
Nu b qua cc i s v tri ca dng lnh th lnh nichols s v ra biu
Nichols trn mn hnh.
nichols(a,b,c,d) v ra chui biu Nichols, mi th tng ng vi mi quan h
gia mt ng vo v mt ng ra ca h khng gian trng thi lin tc:
.
x Ax Bu
y = Cx + Du
vi trc tn s c xc nh t ng. Nu p ng thay i nhanh th cn phi
xc nh cng nhiu im trn trc tn s.
nichols(a,b,c,d,iu) v ra biu Nichols t ng vo duy nht iu ti tt c cc ng
ra ca h thng vi trc tn s c xc nh t ng. i lng v hng iu l ch s
ng vo ca h thng v ch ra ng vo no c s dng cho p ng Nichols.
nichols(num,den) v ra biu Nichols ca hm truyn a thc h lin tc
9. Lnh DNICHOLS
a) Cng dng:
V biu p ng tn s Nichols ca h gin on.
b) C php:
[mag,phase,w] = dnichols(a,b,c,d,Ts)
[mag,phase,w] = dnichols(a,b,c,d,Ts,iu)
[mag,phase,w] = dnichols(a,b,c,d,Ts,iu,w)
[mag,phase,w] = dnichols(num,den,Ts)
[mag,phase,w] = dnichols(num,den,Ts,w)
c) Gii thch:
Lnh dnichols tm p ng tn s Nichols ca h gin on LTI. Biu Nichols
c dng phn tch c im ca h vng h v h vng kn. p ng t lnh
dnichols c th so snh trc tip vi p ng t lnh nichols ca h lin tc tng ng.
Nu b qua cc i s v tri ca dng lnh th lnh dnichols s v ra biu
Nichols trn mn hnh.
dnichols(a,b,c,d,Ts) v ra chui biu Nichols, mi th tng ng vi mi quan
h gia mt ng vo v mt ng ra ca h khng gian trng thi gin on:
x[n+] = Ax[n] + Bu{n]
y[n] = Cx[n] + Du[n]
vi trc tn s c xc nh t ng. Cc im tn s c chn trong khong t
0 ti /Ts radians. Nu p ng thay i nhanh th cn phi xc nh cng nhiu im
trn trc tn s.
dnichols(a,b,c,d,Ts,iu) v ra biu Nichols trn mn hnh t ng vo duy nht iu
ti tt c cc ng ra ca h thng vi trc tn s c xc nh t ng. i lng v
1.5
1.1z 1.36 z 2 0.88 z 0.31
3
num = 1.5;
den = [1
1.1 1.36 0.88 0.31];
ngrid(new)
dnichols(num,den,0.05)
title(Bieu do Nichols gian doan)
v ta c biu Nichols ca h gin on:
G-1(j)
S khi
G(s)
G-1(s)
Lnh
sigma(a,b,c,d)
sigma(a,b,c,d,inv)
1+G (j)
S khi
G(j)
G(s)
G-1(j)
G-1(s)
G(s)
1+ G(j)
G(s)
Lnh
dsigma(a,b,c,d)
dsigma(a,b,c,d, inv)
[a,b,c,d]= parallel(a,b,c,d,[ ],[ ],[ ],eye(d))
dsigma(a,b,c,d)
[a,b,c,d]=feedback([ ],[ ],[ ],eye(d),a,b,c,d)
1+G (j)
G-1(s)
CC BI TP V P NG TN S
Bi 1: hm margin (bi tp ny trch t trang 11-138 sch Control System Toollbox
hd=tf([0.04798 0.0464],[1 -1.81 0.9048],0.1)
Transfer function:
0.04798 z + 0.0464
--------------------z^2 - 1.81 z + 0.9048
Sampling time: 0.1 ; Thi gian ly mu: 0,1
[Gm,Pm,Wcg,Wcp]=margin(hd);
[Gm,Pm,Wcg,Wcp]
ans =
2.0517 13.5712
5.4374
4.3544
margin(hd)
Kt qu:
Bode Diagrams
Gm=6.2424 dB (at 5.4374 rad/sec), Pm=13.571 deg. (at 4.3544 rad/sec)
20
0
-20
-40
-60
-80
0
-100
-200
-300
10
Frequency (rad/sec)
Bi 2: lnh modred (bi tp ny trch t trang 11-142 sch Control System Toollbox
h( s )
s3 11s 2 36 s 26
s 4 14,6 s3 74,96 s 2 153,7 s 99,65
x1
x2
x3
x4
-3.6014 -0.82121 -0.61634 -0.058315
0.82121 -0.59297
-1.0273 -0.090334
-0.61634
1.0273
-5.9138
-1.1272
0.058315 -0.090334
1.1272
-4.4918
b=
x1
x2
x3
x4
u1
1.002
-0.10641
0.086124
-0.0081117
y1
x1
1.002
y1
u1
0
c=
x2
x3
x4
0.10641 0.086124 0.0081117
d=
Continuous-time model.
g=
0.1394
0.0095
0.0006
0.0000
g'
ans =
0.1394 0.0095 0.0006 0.0000
hmdc=modred(hb,2:4,'mdc')
a=
x1
x1
-4.6552
u1
1.1392
y1
x1
1.1392
y1
u1
-0.017857
c=
d=
Continuous-time model.
hdel=modred(hb,2:4,'del')
a=
x1
x1
-3.6014
x1
u1
1.002
y1
x1
1.002
y1
u1
0
b=
c=
d=
Continuous-time model.
bode(h,'-',hmdc,'x',hdel,'*')
Kt qu:
-40
-60
-80
0
-50
To: Y(1)
-20
-100
-150
-200
-1
10
10
10
Frequency (rad/sec)
[sys,g]=balreal(sys)
a=
x1
x2
x3
x1
-4.9697
-0.2399
-0.22617
x1
x2
x3
u1
1
0.024121
0.022758
b=
x2
x3
0.2399 -0.22617
-4.2756
9.4671
-9.4671 -25.755
10
10
c=
y1
x1
1
y1
u1
0
x2
-0.024121
d=
Continuous-time model.
g=
0.1006
0.0001
0.0000
g'
ans =
0.1006 0.0001 0.0000
sysr=modred(sys,[2 3],'del')
a=
x1
x1
-4.9697
x1
u1
1
y1
x1
1
y1
u1
0
b=
c=
d=
Continuous-time model.
x3
0.022758
From: U(1)
-30
-40
-50
0
-20
To: Y(1)
-20
-40
-60
-80
-100
0
10
10
10
Frequency (rad/sec)
0.3
0.2
To: Y(1)
Imaginary Axis
0.1
-0.1
-0.2
-0.3
-0.4
-1
-0.9
-0.8
-0.7
-0.6
-0.5
-0.4
-0.3
-0.2
Real Axis
-0.1
20
10
To: Y(1)
15
-5
-10
-15
-600
-500
-400
-300
-200
-100
40
0 dB
30
0.25 dB
0.5 dB
20
1 dB
-1 dB
3 dB
10
-3 dB
6 dB
-6 dB
0
-10
-12 dB
-20
-20 dB
-30
-40
-350
-300
-250
-200
-150
Open-Loop Phase (deg)
-100
-50
-40 dB
0
1. Lnh IMPULSE
a) Cng dng:
Tm p ng xung n v.
b) C php:
[y,x,t] = impulse(a,b,c,d)
[y,x,t] = impulse(a,b,c,d,iu)
[y,x,t] = impulse(a,b,c,d,iu,t)
[y,x,t] = impulse(num,den)
[y,x,t] = impulse(num,den,t)
c) Gii thch:
Lnh impulse tm p ng xung n v ca h tuyn tnh. Nu b qua cc i s
bn tri th lnh impulse s v ra p ng xung trn mn hnh.
impulse(a,b,c,d) to ra chui th p ng xung, mi th ng vi mt mi quan
h vo ra ca h lin tc LTI:
.
x = Ax + Bu
y = Cx + Du
vi vector thi gian c xc nh t ng.
impulse(a,b,c,d,iu) to ra p ng xung t ng vo duy nht iu ti ton b cc ng
ra ca h thng vi vector thi gian c xc nh t ng. iu l ch s ng vo ca h
thng v ch ra ng vo no c dng cho p ng xung.
impulse(num,den) to ra th p ng xung ca a thc hm truyn:
G(s) = num(s)/den(s)
trong num v den cha cc h s a thc theo chiu gim dn s m ca s.
impulse(a,b,c,d,iu,t) hay impulse(num,den,t) dng vector thi gian t do ngi s
dng quy nh. Vector t ch nh nhng thi im m p ng xung c tnh v vector t
phi c ch chia thnh cc khong u nhau.
Nu gi cc i s bn tri:
[y,x,t] = impulse(a,b,c,d)
[y,x,t] = impulse(a,b,c,d,iu)
[y,x,t] = impulse(a,b,c,d,iu,t)
[y,x,t] = impulse(num,den)
[y,x,t] = impulse(num,den,t)
khng v ra cc th m to ra cc ma trn p ng trng thi v p ng ng ra
ca h thng v vector thi gian t. Ma trn y v x cha cc p ng trng thi v p ng
ng ra ca h thng c xc nh ti nhng thi im t. Ma trn y c s ct l s ng ra
v mi hng ng vi mt thnh phn trong vector t. Ma trn x c s ct l s trng thi v
mi hng ng vi mt thnh phn trong vector t.
d) V d: (Trch t trang 11-95 sch control System Toolbox)
V p ng xung ca h khng gian trng thi bc 2 sau:
0.5 0.8 x 1
1
x. 1
0 x2 0
x2 0.8
.
x1
0 u
x2
y 1.9 6.5
% Khai bo h thng:
a = [-0.5 -0.8 ; 0.8 0];
b = [1 ; 0];
c = [1.9
6.5];
d = [0];
% V p ng xung:
impulse(a,b,c,d); title(Dap ung xung) (t tiu cho th)
v cui cng ta nhn c th p ng xung nh sau:
2. Lnh DIMPULSE
a) Cng dng:
Tm p ng xung n v ca h gin on.
b) C php:
[y,x] = dimpulse(a,b,c,d)
[y,x] = dimpulse(a,b,c,d,iu)
[y,x] = dimpulse(a,b,c,d,iu,n)
[y,x] = dimpulse(num,den)
[y,x] = dimpulse(num,den,n)
c) Gii thch:
Lnh dimpulse tm p ng xung n v ca h tuyn tnh gin on. Nu b qua
cc i s bn tri th th lnh dimpulse s v ra p ng xung trn mn hnh.
2 z 2 3 .4 z 1 .5
z 2 1 .6 0 .8
3. Lnh INITIAL
a) Cng dng:
Tm p ng iu kin ban u.
b) C php:
[y,x,t] = initial(a,b,c,d,x0)
[y,x,t] = initial(a,b,c,d,x0,t)
c) Gii thch:
Lnh initial dng tm p ng ca h tuyn tnh lin tc ng vi iu kin ban
u ca cc trng thi. Nu b qua cc i s bn tri th lnh initial s v ra p ng
iu kin ban u trn mn hnh.
initial(a,b,c,d,x0) v ra th p ng iu kin ban u ca tt c cc ng ra ca h
lin tc LTI:
.
x = Ax + Bu
y = Cx + Du
vi vector thi gian c xc nh t ng. x0 l vector trng thi ban u.
initial(a,b,c,d,x0,t) v ra th p ng ban u vi vector thi gian t do ngi s
dng xc nh. Vector t s ch ra nhng thi im m ti p ng iu kin ban u
c tnh.
Nu s dng cc i s v tri ca dng lnh th:
[y,x,t] = initial(a,b,c,d,x0)
[y,x,t] = initial(a,b,c,d,x0,t)
s khng v ra cc th p ng m to ra cc ma trn p ng trng thi x, p
ng ng ra y v vector thi gian t ca h thng i vi iu kin ban u x0. Ma trn y v
0.5572 0.7814
x
1
.
0
x 2 0.7814
.
x1 1
x 0 u
2
x1
0 u
x2
y 1.9691 6.4493
vi iu kin ban u x0 = [1 0]
% Khai bo h thng, iu kin ban u v trc thi gian:
a = [-0.5572 -0.7814 ; 0.7814
0];
b = [1 ; 0];
c = [1.9691 6.4493];
d = [0];
x0 = [1 0];
t = 0:0.1:20;
% V p ng:
initial(a,b,c,d,x0,t)
title(Dap ung dieu kien ban dau)
x1[n1]
u
1
0 x2[n] 6.5049
x
[
n
1
]
2
x [n]
y 3.9321 0 1
x 2 [ n]
vi iu kin ban u x0 = [1 0]
a = [-0.7497
-0.2027 ; 1
0];
b = [-4.1841 ; -6.5049];
c = [3.9321
0];
d = [0];
dinitial(a,b,c,d,[1
0]);
title(Dap ung dieu kien ban dau cua he gian doan)
5. Lnh LSIM
a) Cng dng:
M phng h thng lin tc vi cc ng vo ty .
b) C php:
[y,c] = lsim(a,b,c,d,u,t)
[y,c] = lsim(a,b,c,d,u,t,x0)
[y,c] = lsim(num,den,u,t)
c) Gii thch:
Lnh lsim dng m phng h tuyn tnh lin tc vi cc ng vo ty .
Nu b qua cc i s v tri ca dng lnh th lnh lsim v ra ra th trn
mn hnh.
Cho h khng gian trng thi LTI:
.
x = Ax + Bu
y = Cx + Du
lsim(a,b,c,d,u,t) v ra th p ng thi gian ca h thng vi ng vo thi gian
ban u nm trong ma trn u. Ma trn u phi c s ct bng s ng vo u. Mi hng ca
ma trn u tng ng vi mt thi gian mi v ma trn u phi c s hng l length(t).
Vector t ch ra trc thi gian cho qu trnh m phng v phi chia thnh cc on bng
nhau. Nu dng thm i s x0 v phi th lnh lsim(a,b,c,d,u,t,x0) s ch ra iu kin
ban u ca cc trng thi.
lsim(num,den,u,t) v ra p ng thi gian ca hm truyn a thc:
G(s) = num(s)/den(s)
2 s 2 5s 1
s 2 2s 3
6. Lnh DLSIM
a) Cng dng:
2 z 2 3.4 z 1.5
z 2 1.6 z 0.8
7. Lnh STEP
a) Cng dng:
Tm p ng nc n v.
b) C php:
[y,x,t] = step(a,b,c,d)
[y,x,t] = step(a,b,c,d,iu)
[y,x,t] = step(a,b,c,d,iu,t)
[y,x,t] = step(num,den)
[y,x,t] = step(num,den,t)
c) Gii thch:
Lnh step tm p ng nc n v ca h tuyn tnh lin tc.
Nu b qua cc i s v tri ca dng lnh th lnh step v ra p ng nc trn
mn hnh.
step(a,b,c,d) v ra chui th p ng nc, mi th tng ng vi mi quan
h gia mt ng vo v mt ng ra ca h lin tc LTI:
.
x = Ax + Bu
y = Cx + Du
vi vector thi gian c xc nh t ng.
step(a,b,c,d,iu) v ra th p ng nc t mt ng vo duy nht ti tt c cc ng
ra ca h thng vi vector thi gian c xc nh t ng. i lng v hng iu l ch
s ng vo ca h thng v n ch ra ng vo no c s dng cho p ng xung.
step(num,den) v ra th p ng nc ca hm truyn a thc:
G(s) =num(s)/den(s)
.
0.5572 0.7814
x
1
.
0
x 2 0.7814
x1 1
x 0 u
2
x1
0 u
x2
y 1.9691 6.4493
8. Lnh DSTEP
a) Cng dng:
Tm p ng nc n v ca h gin on.
b) C php:
[y,x] = dstep(a,b,c,d)
[y,x] = dstep(a,b,c,d,iu)
[y,x] = dstep(a,b,c,d,iu,n)
[y,x] = dstep(num,den)
[y,x] = dstep(num,den,n)
c) Gii thch:
Lnh dstep tm p ng nc n v ca h tuyn tnh gin on.
Nu b qua cc i s v tri ca dng lnh th lnh dstep v ra p ng nc
trn mn hnh.
dstep(a,b,c,d) v ra chui th p ng nc, mi th tng ng vi mi quan
h gia mt ng vo v mt ng ra ca h gin on LTI:
x[n + 1] = Ax[n] + Bu[n]
y[n] = Cx[n] + Du[n]
vi s im ly mu c xc nh t ng.
dstep(a,b,c,d,iu) v ra th p ng nc t mt ng vo duy nht ti tt c cc
ng ra ca h thng vi s im ly mu c xc nh t ng. i lng v hng iu
l ch s ng vo ca h thng v n ch ra ng vo no c s dng cho p ng xung.
dstep(num,den) v ra th p ng nc ca hm truyn a thc:
G(z) =num(z)/den(z)
2 z 2 3.4 z 1.5
z 2 1.6 z 0.8
9. Lnh LTITR
CC BI TP V P NG THI GIAN
Bi1: Lnh pade: Tnh ton sp x
Bi ny trch t trang 11-66 sch Control System Toollbox
pade(0.1,3)
Step response of 3rd-order Pade approximation
1.5
Amplitude
1
0.5
0
-0.5
-1
0.02
Phase (deg.)
0.04
0.06
0.08
0.1
0.12
Time (secs)
Phase response
0.14
0.16
0.18
0.2
-200
-400
-600
-800
-1000
1
10
10
Frequency (rad/s)
10
0.15
0.1
0.05
To: Y(1)
Amplitude
0
-0.05
-0.1
-0.15
-0.2
-0.25
10
15
20
Time (sec.)
2s2 + 5s + 1
s2 + 2s + 3
s-1
s2+s+5
25
30
35
40
1
0
Amplitude
-1
-2
0.4
To: Y(2)
0.2
0
-0.2
-0.4
-0.6
Time (sec.)
Bi 4: Dng lnh lsim, trch t trang 11-130 sch Control Systen Toollbox
Dch : V p ng khu bc 2 ca hm truyn sau:
2
h(s )
s2 + 2s + 2
= 62,83
w2=62.83^2
w2 =
3.9476e+003
h=tf(w2,[1 2 w2]);
t=0:0.1:5;
%vector of time sample:
u=(rem(t,1)>=0.5); %square ware value :
lsim(h,u,t)
Kt qu:
10
1.5
To: Y(1)
Amplitude
0.5
-0.5
-1
0.5
1.5
2.5
Time (sec.)
3.5
4.5
0.6
To: Y(1)
Amplitude
0.5
0.4
0.3
0.2
0.1
0.5
1.5
2.5
Time (sec.)
3.5
4.5
1.5
To: Y(1)
Amplitude
0.5
-0.5
-1
0.5
1.5
2.5
3.5
4.5
Time (sec.)
3
x1
2
0
x2
-1
x3
-2
4
5
Thoi gian-giay
x1
BAI GIAI BT16
1.5
1
0.5
0
-0.5
-1
x3
-1.5
-2
0.5
1.5
2
2.5
Thoi gian-giay
3.5
s 10
s 8s 25
2
x2
s 10
s 2s 25
2
V p ng xung ca h thng:
impulse([1 10],[1 2 25])
Gi s ta mun phn tch p ng xung thay i nh th no khi zero ca hm truyn
thay i, khng thay i dc gain ca h thng. ging nh v d phn trc ta c :
coef=[-4 -2 -1 0 1 2 4];
den=[1 2 25];
impulse([coef' 10*ones(length(coef),1)],den);
0.2
0.15
0.1
0.05
0
-0.05
-0.1
-0.15
-0.2
-0.25
10
20
30
40
50
60
70
80
90
100
Bi 13: p ng tng ng vo
Mt vn tng qut hn l ta c th tnh c tn hiu ng ra ca h thng LTI
vi mt tnh hiu ng vo khng ng nht.
V d nh h thng bc nht sau:
.
x x u
y x
Hnh : p ng tng ng vo