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Tn

:Nguyn Hunh Phi Long

MSSV

:1570350
Homework #1

Consider the pendulum model given in the lecture (in the case of without torque
input).
1. Make a simulation model of the system in Simulink. Simulate the system
from various initial states. Is the system stable? Is the equilibrium point
unique? Explain the physical intuition behind your findings.
2. Use the function linmod in Matlab to find the linearized models for the
equilibrium points. Compare with the linearizations that given in the lecture.
3. Use a phase plane tool (pplane) to construct the phase plane of the system.
Compare with the results from (a).
Bi lm
1. a) Xy dng m hnh Simulink cho h thng :

Phng trnh ng lc hc:

ml =mgsinKl

Trong :
- m : khi lng ca vt.
- l : chiu di ca dy.
- K : h s nht ca mi trng.
- g : gia tc trng trng.
T phng trnh (1), ta suy ra:
)+ Kl (t)+mgsin

u ( t ) =ml (t
(u(t) l ngoi lc)

(1)

(2)

T (2) ta c phng trnh vi phn ca h l:

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K
g

=u
(t) . (t
) . sin
m
l

(3)

T phng trnh (3), ta xy dng h thng Simulink trong matlap :

Trong :
- Khi Constant l lc tc ng vo h thng trong qu trnh lm vic.
- Khi Scope xem biu v tr ca con lc.
- Khi Subsystem dung biu din cc phng trnh ton hc.

Trong :
- Khi Fcn l khi dng biu din phng trnh ton hc vi phn cp 2 ca
gc theta theo cc i lng cn li.
K
g
u(1) u(3) . sin ( u(2)) (u(1) l ngoi lc)
m
l

- Khi 1/s l khi tch phn.

Vy l ta xy dng xong m hnh Simulink cho h thng con lc.
b. Kim tra tnh n nh ca h thng :
Vi gc <<0, th sin = th (1) ta c:

ml =mgKl

(4)

Xt phng trnh c trng suy ra t phng trnh (4):

( s 2)
2
s +as+ b=( s 1) .

(5)

Trong :
a=

K
g
, b=
m
l

Phng trnh trn c nghim khi:

2

a 4 b 0

hay

K
g
( ) 4. 0
m
l

(6)

Gii phng trnh trn ta thu c:

1=(a+ a2 4 b)/2

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(7)

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2=(a a24 b)/2

(8)

V b>0, 1 , 2 <0 nn h thng n nh.

Vy: nu tha mn phng trnh (6) h thng n nh.
c. im cn bng:
Thnh lp phng trnh trng thi:

x 1 (t)=(t)
t) (9)
x 2 ( t )=(

Phng trnh trng thi m t h con l:

x ( t )=f ( x ( t ) u ( t ) )

(10)

Trong :

x 2 (t )
f ( x ,u )= u ( t ) K
g
x 2 (t) .sin ( x 1 ( t ) )
ml m
l

(11)

im cn bng phi l nghim ca phng trnh:

x =0

hay

x 2=0

g
K
. sin ( x 1) x 2=0
l
m

Gii ra ta c 2 nghim l:

x 2=0
x 1=k (k =0, 1, 2,)

y l 2 v tr cn bng ca con lc, 1 v tr hng xung ( nu k: chn ng vi

x1) , 1 v tr hng ln (nu k: l ng vi x1) .
Gii thch c tnh vt l im cn bng:
- Ta thy rng 2 im cn bng ny rt khc nhau.Trong khi con lc c th ngh
ti v tr cn bng (0,0) th n kh c th duy tr trng thi ngh im cn li
( ,0

v c bt k s tc ng nh no th con lc s b a i ra khi

im cn bng.
- Tm li: im khc bit l s n nh ca chng.
Kim tra bng cng c Simulink ca matlap: V l kim tra trng thi cn
bng nn khi constant ta cho bng 0, tc khng c ngoi lc tc ng vo con
lc.( Thng s ban u: g=9,81; k=0,1; l=0,5; m=1).
- ng vi x 2=0 : ta cho thng s ban u khi tch phn th 2 ca m
hnh Simulink bng 0.
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Ta c biu trong khi Scope:

ng vi x 1=k , ta cho thng ban u ca khi tch phn 2 trong m hnh

Simulink bng .

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Ta c biu trong khi Scope:

Kt lun: y l 2 im cn bng.
2. Tuyn tnh ha v so snh kt qu l thuyt:
Dng hm linmod trong matlap, ta c:
[A,B,C,D]=linmod(maplap_mophong);
Ta thu c kt qu:

01

A= 19.620.4

B=Empty Matrix 2-by-0.

C= Empty Matrix 2-by-0.
D=[].

Vy: = A .
l thuyt ta hc th h thng ny thuc dng : H thng khng thay i theo
thi gian (time invariant system) nn hon ton ph hp.
3. Dng cng c pplane7.m, so snh kt qu t cu 1:
Ta t :

x 1 (t)=(t)
t)
x 2 ( t )=(

(12)

Trng hp 1: gc 0

x1 =x2
g
K
x2=
x x
l 1 m 2

(13)

Dng phng trnh trn kt hp vi cc thng s ban u nh ta cho trong file

Simulink nh bng sau:

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Sau khi dung cng c pplane7.m ta th c kt qu:

im cn bng x2=0( cng l nghim x1=k khi k chn)

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V biu din c phng trnh (13) th 0 , tc l nghim x1( ng vi k

l) s khng th no tn ti c nn kt qu ta tnh ton v dng cng c

pplane.m hon ton ging nhau.
Trng hp 2: gc ty

x2=

x1 =x2
g
K
. sin ( x1 ) x 2
l
m

(14)

Dng phng trnh trn kt hp vi cc thng s ban u nh ta cho trong file

Simulink nh bng sau:

Sau khi dng cng c pplane7.m ta th c kt qu:

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im cn bng x 1=k , x2=0

Da vo biu trn ta nhn thy kt qu ny hon ton ph hp vi im

cn bng x1 , x2 v thc cht nghim x2 chnh l nghim x1 khi k=0.
Kt lun: kt qu tnh ton v dng cng c pplane.m ta thu c nhng kt qu
ging nhau.

Thc hin: Nguyn Hunh Phi Long- 1570350

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