C S T NG

Ging vin: Nguyn c Hong

B mn iu Khin T ng
Khoa in in T
i Hc Bch Khoa Tp.HCM
Email: ndhoang@hcmut.edu.vn
MN HC
M HNH TON HC
M HNH TON HC
H THNG LIN TC
H THNG LIN TC
CHNG 2
Phng trnh trng thi
Phng trnh trng thi
Trng thi ca mt h thng l tp hp nh nht cc
bin (bin trng thi) m nu bit gi tr cc bin ny ti
t
0
v cc tn hiu vo t > t
0
, ta hon ton c th xc
nh c p ng ca h thng ti mi thi im t t
0
.
Vector trng thi :
[ ]
T
1 2 n
x x x ... x
Phng trnh trng thi
Phng trnh trng thi
S dng bin trng thi c th chuyn PTVP bc n m
t h thng thnh h gm n PTVP bc nht (h PTTT)
x(t) Ax(t) Bu(t)
y(t) Cx(t) Du(t)
+

'
+

&
Trong (h SISO)
11 12 1n
21 22 2n
n1 n2 nn
a a a
a a a
A
a a a
1
1
1

1
1
]
L
L
M M O M
L
1
2
n
b
b
B
b
1
1
1

1
1
]
M
[ ]
1 2 n
C c c c L
D d
V d 1: H thng gim xc
K C 1
y y y P(t)
m m m
+
&& &
t
1
2
x y
x y

'

&
1 2
2 1 2
x x
K C 1
x y x x P(t)
m m m

'
+

&
& &&
Phng trnh trng thi
Phng trnh trng thi
V d 1: H thng gim xc (tt)
{ {
{
{
1 1
2 2
u
x
x
B
A
0 1 0
x x
* *P(t)
K C 1
x x
m m m
1 1
1 1
1 1
+
1 1
1 1

] ]
] ]
&
&
&
1 442 4 43
{
[ ]
{
{
1
1
2
y
C
x
x
y x 1 0 *
x
1

1
]
Phng trnh trng thi
Phng trnh trng thi
V d 2: Mng RLC
t
1 2
2 2
x v (t)
P
x v (t)
1

?
'

&
1 2
2
2
x v (t)
PTTT ?
x i(t)

'

Phng trnh trng thi

Phng trnh trng thi
V d 2: Mng RLC (tt)
{ {
{
{
1
1 1
1
2 2
u
x
x
B
A
0 1 0
x x
* *v (t)
1 R
PTTT :
1
x x
LC L LC
1 1
1 1
1 1
+
1 1
1 1

] ]
] ]
&
&
&
1 442 4 43
{ {
{
{
1 1
1
2
2
2
u
x
x
B
A
1
0
0
x x
C
* *v (t)
1
x x 1 R
T
L
P
L
L
TT :
1
1
1
1 1
1
+
1
1 1
1
] ]
1

]
1
]
&
&
&
1 4 2 4 3
Phng trnh trng thi
Phng trnh trng thi
V d 3:
1 1 2 2 1 1 1 1 1
2 2 2 2 1
m y K ( y y ) K y P( t ) C y
m y K ( y y )
+

&& &
&&
t
1 1
2 1
3 2
4 2
x y
x y
PTTT?
x y
x y

'

&
&
Phng trnh trng thi
Phng trnh trng thi
Thnh lp PTTT t PTVP
Thnh lp PTTT t PTVP
TH1: V phi PTVP khng cha o hm tn hiu vo
H thng m t bi PTVP
n n 1
0 1 n 1 n 0
n n 1
d y( t ) d y( t ) dy( t )
a a a a y( t ) b u ( t )
dt dt dt

+ + + + L
t bin trng thi theo quy tc

Bin u tin bng tn hiu ra

Bin tip theo bng o hm

bin trc
1
2 1
n n 1
x ( t ) y( t )
x ( t ) x ( t )
x ( t ) x ( t )

&
M
&
Thnh lpPTTT t PTVP
Thnh lpPTTT t PTVP
TH1: V phi PTVP khng cha o hm
tn hiu vo (tt)
PTTT x(t) Ax(t) Bu(t)
y(t) Cx(t) Du(t)
+

'
+

&
n n 1 n 2 1
0 0 0 0
0 1 0 0
0 0 1 0
A
0 0 0 1
a a a a
a a a a

1
1
1
1

1
1
1

1
]
L
L
M M M O M
L
L
0
0
0
0
B
0
b
a
1
1
1
1

1
1
1
1
]
M
[ ]
C 1 0 0 0 L
D 0
[ ]
T
1 2 n 1 n
x(t) x (t) x (t) x (t) x (t)

L
Thnh lpPTTT t PTVP
Thnh lpPTTT t PTVP
TH1: V phi PTVP khng cha o hm tn hiu vo (tt)
PTTT
x(t) Ax(t) Bu(t)
y(t) Cx(t) Du(t)
+

'
+

&
2 1
0 0
0 1
0 1
A
a a
2 0.5
a a
1
1
1

1
1


]
1
]
0
0
0
0
B b
3
a
1
1
1

1
1
]
1
]
[ ]
C 1 0
D 0
1
2 1
x (t) y(t)
x (t) x (t)

'

&
Vit PTTT m t h thng c m t bng
PTVP sau
2y(t) y(t) 4y(t) 6u(t) + +
&& &
Thnh lpPTTT t PTVP
Thnh lpPTTT t PTVP
TH2: V phi PTVP cha o hm tn
hiu vo
H thng m t bi PTVP
n n 1
0 1 n 1 n
n n 1
n 1 n 2
0 1 n 2 n 1
n 1 n 2
d y( t ) d y( t ) dy( t )
a a a a y( t )
dt dt dt
d u ( t ) d u ( t ) du ( t )
b b b b u ( t )
dt dt dt

+ + + +
+ + + +
L
L
t bin trng thi theo quy tc

Bin u tin bng tn

hiu ra

Bin tip theo bng

o hm
bin trc tr 1
lng t l
vi tn hiu vo
1
2 1 1
n n 1 n 1
x ( t ) y( t )
x ( t ) x ( t ) u ( t )
x ( t ) x ( t ) u ( t )

&
M
&
Thnh lpPTTT t PTVP
Thnh lpPTTT t PTVP
TH2: V phi PTVP cha o hm tn hiu
vo (tt)
PTTT
x(t) Ax(t) Bu(t)
y(t) Cx(t) Du(t)
+

'
+

&
n n 1 n 2 1
0 0 0 0
0 1 0 0
0 0 1 0
A
0 0 0 1
a a a a
a a a a

1
1
1
1

1
1
1

1
]
L
L
M M M O M
L
L
1
2
n 1
n
B

1
1

1
1
1

1
1

]
M
[ ]
C 1 0 0 0 L
D 0
[ ]
T
1 2 n 1 n
x(t) x (t) x (t) x (t) x (t)

L
Thnh lpPTTT t PTVP
Thnh lpPTTT t PTVP
TH2: V phi PTVP cha o hm tn hiu
vo (tt)
Cc h s c xc nh nh sau
0
1
0
1 1 1
2
0
n 1 1 n 1 2 n 2 n 1 1
n
0
b
a
b a
a
b a a a
a






M
L
Thnh lpPTTT t PTVP
Thnh lpPTTT t PTVP
TH2: V phi PTVP cha o hm tn hiu
vo (tt)
PTTT
x(t) Ax(t) Bu(t)
y(t) Cx(t) Du(t)
+

'
+

&
2 1
0 0
0 1
0 1
A
a a
2 0.5
a a
1
1
1

1
1


]
1
]
0
0
1 1 1
0
b
a 3
B
0 b a
a
1
1
1
1

1

1
]
1
]
[ ]
C 1 0
D 0
1
2 1 1
x (t) y(t)
x (t) x (t) u(t)

'

&
Vit PTTT m t h thng c m t bng
PTVP sau
2y(t) y(t) 4y(t) 6u(t) 3u(t) + + +
&& & &
Thnh lpPTTT t PTVP
Thnh lpPTTT t PTVP
dng phng php ta
dng phng php ta
pha
pha
(Xem sch)
(Xem sch)
Thnh lpPTTT t s
Thnh lpPTTT t s
khi
khi
1
1 1 2
2
1 1 2
X (s) 10
sX (s) 5X (s) 10X (s)
X (s) s 5
x 5x 10x
+
+
+
&
[ ]
1 1
2 2
3 3
1
2
3
x 5 10 0 x 0
x 0 0 1 * x 1 *u
x 1 0 1 x 0
x
y 1 0 0 * x
x

1 1 1 1
1 1 1 1
+
1 1 1 1
1 1 1 1
] ] ] ]
1
1

1
1
]
&
&
&
Thnh lpPTTT t s
Thnh lpPTTT t s
khi
khi
Tnh hm truyn t PTTT
Tnh hm truyn t PTTT
Cho PTTT
x(t) Ax(t) Bu(t)
y(t) Cx(t) Du(t)
+

'
+

&
Suy ra hm truyn ca
h thng l
1
G(s) D C*(sI A) *B

+
Mi quan h
Mi quan h
gia cc m t ton hc
gia cc m t ton hc
PTVP
Hm
truyn
PTTT