KHO ST H

TUYN TNH DNG (LTI)

M hnh i tng
Chuyn i gia cc cng c m t
Kho st cht lng h thng
M T I TNG
Matlab cung cp cho cc h LTI l SISO,
MIMO vi cc miu t sau:
Hm truyn t (tranfer function: TF)
M hnh im khng im cc (ZPK)
M hnh khng gian trng thi (Stat space: SS)
M hnh d liu c tnh tn s (Frequency
Response Data: FRD)
6.1. M hnh hm truyn t
Hm truyn t c dng:


Khai bo cho h SISO :
Lnh tf (num, den)
>> G = tf ([2 -3], [1 2 3])
Transfer function:
2 s - 3
-------------
s^2 + 2 s + 3
0
1
1
0
1
1
...
...
) (
) (
) (
b s b s b
a s a s a
s den
s num
s h
m
m
m
m
n
n
n
n
+ + +
+ + +
= =

6.1. M hnh hm truyn t (TF)

Khai bo thng qua bin s
>> s = tf ('s')
Transfer function:
s
>> g = (2*s -3)/(s^2 + 2*s +3)
Transfer function:
2 s - 3
-------------
s^2 + 2 s + 3
6.2. M hnh im khng im cc
(ZPK)
M hnh ZPK l m hnh c dng



Khai bo m hnh ZPK bng lnh ZPK
>> g = zpk ([0 2 3],[1 4 5],10)
Zero/pole/gain:
10 s (s-2) (s-3)
-----------------
(s-1) (s-4) (s-5)
) )...( )( (
) )...( )( (
) (
1 1
1 1
p s p s p s
z s z s z s
k s h
n n
m m


=

6.3. M hnh khng gian trng thi (SS)

M hnh khng gian trng thi c m t gm 2
phng trnh:
Phng trnh trng thi

Phng trnh u ra:
y = Cx + Du
hoc y = c
T
.x + d.u
Ch : C phi l ma trn hng
A: ma trn trng thi Nx Nx
B: ma trn u vo Nx Nu
C: ma trn u ra Ny Nx
D: ma trn lin thng Ny Nu


Bu Ax x + =

6.3. M hnh khng gian trng thi (SS)

Khai bo m hnh bng
lnh SS
>> A = [1 2 ; 3 4]
>> B = [5 ; 6]
>> c = [7, 8]
>> D =0
>> g = ss(A, B, c, D)
a =
x1 x2
x1 1 2
x2 3 4

b =
u1
x1 5
x2 6
c =
x1 x2
y1 7 8
d =
u1
y1 0
6.4. Chuyn i gia cc m hnh
TF
[z, p, k] = tf2zp (num, den)
[A, B, C, D] = tf2zp (num, den)
ZPK
[num, den] = zp2tf (z, p, k)
[A, B, C, D] = zp2tf (z, p, k)
SS
[num, den] = ss2tf ([A, B, C, D] )
[z, p, k] = ss2tf ([A, B, C, D] )
6.5. Thi gian tr trong cc h tuyn
tnh dng LTI
Thi gian tr thng tn ti trong cc h thng
k thut.
Trong min Laplace thi gian tr c miu t
bng
Khai bo trn Matlab:
set (sys, iodelay, dead_time)
>> H = tf (1, [1 1]);
>> set (H, iodelay, 1)


6.7. Ghp ni cc m hnh LTI
G = S1 * S2


G = S1 + S2


G = feedback (S1, S2)
sys1 sys1
sys1
sys1
sys1
sys1
6.8. Kho st m hinh gin on LTI
H s khuch i tnh
Dcgain (sys)
Tn s ring v h s tt dn
[, d] = damp (sys)
im khng v im cc
P = pole (sys)
R = roots (sys)

6.8. Kho st m hinh gin on LTI
th tn s bin
Bode (sys)
p ng xung Dirac (hm trng lng)
Impulse (sys, t)
Impulse (sys)
p ng bc nhy
Step (sys, t)
Step (sys)
6.9. M HNH KHNG GIAN
TRNG THI (STATE SPACE)
M t h thng di s dng m hnh khng
gian trng thi
Chuyn i t m hnh TF sang m hnh SS
Gii h thng khi vi m hnh SS
M phng kim chng trn vi Simulink
V D M T H THNG
Theo nh lut Kiachoff ta
c:




Vi R=2; L = 1H; C = 1F


E u
dt
du
RC
dt
u d
LC
u
dt
di
L R i E
c
c c
c
= + +
+ + =
2
2
.
E u
dt
du
dt
u d
c
c c
= + + 2
2
2
V D M T H THNG
t


Ta c:

Pt ca h:


Ta c m hnh khng
gian trng thi l:

dt
du
x x
u x
c
c
= =
=
1 2
1

E u
dt
du
dt
u d
c
c c
= + + 2
2
2

=
= =
=
1
1 2
2
2
2
2 1
2
x u
x x E
dt
u d
x
x x
c
c

| | E
x
x
y
E
x
x
x
x
. 0 . 0 1
.
1
0
.
2 1
1 0
2
1
2
1
2
1
+
(

=
(

+
(

=
(

V D M T H THNG
1. n = 100;
2. E = 10;
3. x1 = 5 % u
c
(0
-
) = 5V
4. x2 = 0 % i
L
(0
-
) = 0 A
5. dx1 = 0
6. dx2 = 0
7. y = zeros (1,n);
8. delta_t = 0.1
9. for i = 1 : (n-1)
10. dx1 = x2;
11. dx2 = E - x1 - 2*x2;
12. y(i) = x1;
13. x2 = x2 + delta_t*dx2;
14. x1 = x1 + delta_t * dx1;
15. end
16. tg = (1:100)*delta_t;
17. plot (tg,y);
18. grid on

V D M T H THNG