Tieu Luan Matlab Simulink

Gii thiu chung iu khin t ng ho ng vai tr quan trng trong s pht trin ca khoa hc v k thut.
Lnh vc ny hu hiu khp ni t h thng phi thuyn khng gian, h thng iu khin tn la, my bay khng ngi li, ngi my tay, my trong cc qu trnh sn xut hin i v ngay c trong i sng hng ngy: iu khin nhit , m Trong l thuyt iu khin t ng c in cc nh bc hc Jame Watt, Hazen, Minorsky, Nyquist, Evan. a ra nhng phng php gii qut nhiu vn n gin nh: b iu tc ly tm iu chnh nhit my hi nc, chng minh tnh n nh ca h thng c th c xc nh t phng trnh vi phn m t h thng, xc nh tnh n nh ca h thng vng kn trn c s p ng vng h i vi cc tn hiu vo hnh Sin trng thi xc lp Khi cc my mc hin i ngy nay cng phc tp hn nhiu tn hiu vo v ra th vic m t h thng iu khin hin i ny i hi mt lng rt ln cc phng trnh. L thuyt iu khin c in lin quan cc h thng mt ng vo v mt ng ra tr nn bt lc phn tch h thng nhiu u vo, nhiu u ra. K t khong nm 1960 tr i nh my tnh s cho php ta phn tch cc h thng phc tp trong min thi gian, l thuyt iu khin hin i pht trin i ph vi s phc tp ca h thng hin i. L thuyt iu khin hin i da trn phn tch min thi gian v tng hp dng cc bin trng thi, cho php gii cc bi ton iu khin c cc yu cu cht ch v chnh xc, trng lng v gi thnh ca cc h thng trong lnh vc k ngh khng gian v qun s. S pht trin gn y ca l thuyt iu khin hin i l trong nhiu lnh vc iu khin ti u ca cc h thng ngu nhin v tin nh. Hin nay my vi tnh ngy cng r, gn nhng kh nng x l li rt mnh nn n c dng nh l mt phn t trong cc h thng iu khin. Matlab l mt chng trnh phn mm ln ca lnh vc tnh ton s. Matlab chnh l ch vit tt t MATrix LABoratory, th hin nh hng chnh ca chng trnh bao gm mt s hm ton cc chc nng nhp / xut cng nh cc kh nng lp trnh vi c php thng dng m nh ta c th dng nn cc Scripts. Matlab c rt nhiu phin bn nh: 3.5, 4.0, 4.2, 5.0, 5.2,6.0, 6.5 . Hin ti c phin bn mi nht 7.1. Trong bi tiu lun ny chng ta ch yu tm hiu v phin bn 6.5. Simulink l mt phn mm m rng ca Matlab (1 Toolbox ca Matlab) dng m hnh ho, m phng v phn tch mt h thng ng. Thng thng dng thit k h thng iu khin, thit k DSP, h thng thng tin v cc ng dng m phng khc. Simulink l thut ng m phng d nh c ghp hai t Simulation v Link, Simulink cho php m t h thng tuyn tnh, h phi tuyn, cc m hnh trong min thi gian lin tc, hay gin on hoc mt h gm c lin tc v gin on.
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Phn I : C s v MATLAB
MATLAB l mt chng trnh phn mm ln v lnh vc ton s . Tn b chng trnh chnh l ch vit tt t MATrix LABoratory, th hin nh hng ca chng trnh l nhng php tnh vector v ma trn . Phn ct li ca chng trnh bao gm mt s hm ton , cc chc nnng nhp /xut cng nh cc kh nng iu khin chu trnh m nh c th dng trn cc Scripts . Trong phn nay bao gm cc Toolbox lin quan ti iu Khin T ng ha nh: Control System Toolbox, Signal Processing Toolbox, Optimization Toolbox, Stateflow Blockset, Power System Blockset , Real Time Workshop va SIMULINK. SIMULINK l mt toolbox c vai tr bc bit quan trng: Vi tr ca mt cng c mnh phc v m hnh ha v m phng cc h thng K thut Vt l trn c s s cu trc dng khi . Cng vi SIMULINK , Statefow Blockset to cho ta kh nng m hnh ha v m phng cc automat trng thi hu hn. 1.1. Nhng bc i du tin vi MATLAB 1.1.1 Mn hnh MATLAB Sau khi khi ng MATLAB , mi trng tch hp vi nhng ca s chnh nh hnh di :
- Ca s Launch Pad : Ca s ny cho php ngi s dng truy cp nhanh cc cng c ca MATLAB, Phn Help (tr gip) hoc Online Documents (ti liu trc tuyn), m Demos (chng trnh trnh din).
- Ca s th mc hin ti Current Directory Browser : Nh ca s ny ngi s dng nhanh chng nhn bit, chuyn i th mc hin ti ca mi trng cng tc, m File, to th mc mi. - Ca s mi trng cng tc Workspace Browser : Tt c cc bin, cc hm tn ti trong mi trng cng tc u c hin th ti ca s nyvi y cc thng tin nh: Tn loi bin/hm, kch thc ty theo Bytes v loi d liu. Ngoi ra cn c th ct vo b nh cc d liu , hoc s dng chc nng Array Editor (son tho mng) thay i cc bin - Ca s lnh Command Windows : y l ca s chnh ca MATLAB . Ti y ta thc hin ton b vic nhp d liu v xut kt qu tnh ton. Du nhp nhy >> bo hiu chng trnh sp hot ng: - Mi ln nhp d liu c kt thc bng ng tc nhn phm ENTER. Nguyn tc nhn, chia thc hin trc cng , tr v th t u tin ca du ngoc vn nh bnh thng . S c gi tr ln thng c nhp vi hm e m (c th vit E) . C th kt thc chng trnh bng cch ng mn hnh MATLAB , hoc gi lnh quit, exit hoc nhn t hp phm Ctrl+q - Ca s qu kh Command History : Tt c cc lnh s dng trong Command Windows c lu gi v hin th ti y, c th lp li lnh c bng cch nhy chut kp vo lnh . Cng c th ct, sao hoc xa c nhm lnh hoc tng lnh ring r. 1.1.2 Tin ch tr gip (Help) ca MATLAB Tin ch tr gip ca MATLAB l v cng phong ph . Ty theo nhu cu , hoc gi Help [command] xem ni dung h tr ca lnh command trc tip trn Command Windows hoc s dng cng c truy cp Help
C th gi ca s Help bng cch gi trn Menu , gi lnh helpwin hay doc trc tip trn ca s Command Windows . Bng lnh loockfor searchstring ta c th tm chui k t searchstring trong dng u ca mi MATLAB File trong th mc MATLAB >> help log LOG Natural logarithm.
LOG(X) is the natural logarithm of the elements of X. Complex results are produced if X is not positive. See also LOG2, LOG10, EXP, LOGM. Overloaded methods help gf/log.m help sym/log.m help fints/log.m help designdev/log.m >> Cc lnh lin quan ti tin ch help c tp hp trong bng sau:
Help
help[command] helpwin[command] doc[command] lookforsearchstring Tin ch Help trc tuyn ca MATLAB trong ca s lnh Commmand Workspace Tin ch Help trc tuyn ca MATLAB trong ca S truy cp Help T liu trc tuyn ca MATLAB trong ca s truy cp Help Tm chui k t searchstringtrong dng u tin ca mi MATLAB Files trong th mc MATLAB
1.1.3 Cc bin Thng thng , kt qu cu cc bin c gn cho ans . S dng du bng ta c th nh ngha mt bin , ng thi gn gi tr cho bin d . Khi nhp tn ca mt bin m khng gn gi tr , ta thu gi tr hin ti ca bin . Tt c cc bin u l bin global trong Workspace. Tn ca bin c th cha ti 32 ch ci , gch ngang thp (_) cng nh ch s . Ch vit hoa to v ch vit nh u c phn bit . Vic nhp gi tr c th c thc hin thnh mt chui trong cng mt dng , ch cch nhau bi du (;) . Nu s dng du phy(,) tch cc lnh khi y cc gi tr s c xut ra mn hnh : >> x=25; y=10; >> x
x= 25 >> a=x+y,A=x/y a= 35 A= 2.5000 Mt s bin nh : pi , i , j v inf c MATLAB dng r ch cc hng s hay k hiu, vy ta phi trnh s dng chng . i vi cc php tnh bt nh (v d 0/0), trn mn hnh s xut hin kt qu NaN (Not a Number) . esp cho ta bit cp chnh xc tng i khi biu din s vi du phy ng (v d : esp = 2.2204e-016): >> 1/0 Warning: Divide by zero. (Type "warning off MATLAB:divideByZero" to suppress this warning.) ans = Inf >> 0/0 Warning: Divide by zero. (Type "warning off MATLAB:divideByZero" to suppress this warning.) ans = NaN = +-*/^ ; , esp i j inf NaN pi NaN: not defined (bt nh ) Inf: infinite (v cng)
Cc k hiu
Gn gi tr cho bin Cc php tnh Nhp gi tr (cn gi vai tr du cch khi nhp nhiu gi tr trong cng mt dng ) Du cch khi xut nhiu gi tr trong cng mt dng Cp chnh xc tng i khi s dng gi tr du phy ng Ton t o V cng ( ) Not a Number Hng s
1.1.4 Cc hm ton hc Chng trnh MATLAB c sn rt nhiu hm ton tp hp trong bng sau y . Tt c cc hm trong bng u c kh nng s dng tnh ca vector
Cc hm ton
sqrt(x) exp(x) log(x) log10(x) abs(x) sign(x) real(x) imag(x) phase(x) sin(x) cos(x) tag(x) Cn bc hai Hm m c s e Logarit t nhin Logarit c s thp phn Gi tr tuyt i Hm du Phn thc Phn o Gc pha ca s phc Hm sin Hm cos Hm tg rem(x,y) round(x) ceil(x) floor(x) sum(v) prod(v) min(v) max(v) mean(v) atan(x) atan2(x,y) sinc(x) S d ca php chia x/y Lm trn s Lm trn ln Lm trn xung Tng cc phn t vector Tch cc phn t vector Phn t vector b nht Phn t vector ln nht Gi tr trung bnh cng Hm arctg 900 Hm arctg 1800 Hm sin( x)/ ( x)
Cc hm lng gic
1.2 Vector v ma trn MATLAB c mt s lnh c bit khai bo hoc s l vector v ma trn . Cch n gin nht khai bo , to ln vector hoc ma trn l nhp trc tip . Khi nhp trc tip cc phn t ca mt hng c cch bi du phy hoc v tr cch b trng1, cc hng c cch bi du (;) hoc ngt dng. >> vector=[3 4 5] vector = 3 4 5 >> matran=[vector; 1 2 3] matran = 3 1 nh Ton t (:) nh sau (start: increment; destination) (xut pht : bc; ch). Nu ch nhp start v destination , MATLAB s t ng t increment l +1. Cng c th nhp cc vector tuyn tnh cng nh vector c phn hng logarithm bng cch dng lnh linspace(start, destination, number) (Trong number l s lng phn t ca vector). Ta cng c th nhp bng lnh logspace, start v destination c nhp bi s m thp phn , v d : thay v nhp 100 = (102)ta ch cn nhp 2. >> long=1:5 long = 1 deep = 10 8 6 4 2 >> longer=linspace(1,15,5) 2 3 4 5 >> deep = 10:-2:2 4 2 5 3
Vector c cc phn t tip din vi mt bc nht nh , c th nhp mt cch n gin
longer = 1.0000 4.5000 licreace = 10.0000 17.7828 31.6228 56.2341 100.0000 Bng cc hm ones(line,column)v zeros(line, column) ta to cc ma trn c phn t l 1 hoc 0. Hm eye(line) to ra ma trn n v, ma trn ton phng vi cc phn t 1 thuc ng cho , tt c cc phn t cn li l 0. Kch c ca ma trn hon ton ph thuc ngi nhp: >> M= ones(2, 3) M= 1 1 1 1 1 1 8.0000 11.5000 15.0000 >> licreace=logspace(1,2,5)
Vic truy cp tng phn t ca vector hoc ma trn c thc hin bng cch khai bo ch s ca phn t , trong cn lu rng : ch s b nht l 1 ch khng phI l 0. c bit , khi cn xut tng hng hay tng ct , c th s dng ton t (:) ng mt mnh , iu y c ngha l : phi xut mi phn t ca hng hay ct : >> matran(2,2) ans = 2 >> matran(2,:) ans = 1 2 3 MATLAB c mt lnh rt hu ch , phc v to ma trn vi chc nng tn hiu th l : rand(m,n). Khi gi ta thu c ma trn m hng v n ct vi phn t mang cc gi tr ngu nhin: >> mt_ngaunhien=rand(2,3) mt_ngaunhien = 0.4565 0.8214 0.0185 0.4447 0.6154 0.7919
Khai bo vector v ma trn

[x1 x2 ; x3 x4 ] start: increment: destination linspace (start,destination ,number) logspace (start,destination ,number) eye(line) ones(line,column) zeros(line,column) rand(line,column) Nhp gi tr cho vector v ma trn Ton t (:) Khai bo tuyn tnh cho vector Khai bo logarithm cho vector Khai bo ma trn n v Khai bo ma trn vi cc phn t 1 Khai bo ma trn vi cc phn t 0 Khai bo ma trn vi cc phn t nhp ngu nhin
1.2.1 Tnh ton vi vector v ma trn Nhiu php tnh c th p dng cho vector v ma trn . V d : Php nhn vi k hiu(*) c dng tnh tch ca vector v ma trn . Vic chuyn v ca vector v ma trn c thc hin nh lnh transpose hoc () . Nu vector v ma trn l phc , ta dng thm lnh l ctranspose hoc () tm gi tr phc lin hp. i vi cc gi tr thc hai lnh trn nh nhau >> M*matran ans = 4 4 6 6 8 8
Nu nh trong cc php tnh * / ^ cn c thc hin cho tng phn t ca vector v ma trn , ta s phi t thm vo trc k hiu ca php tnh k hiu (.). Php tnh i vi cc bin v hng lun c thc hin cho tng phn t mt : >> M ./ matran ans = 0.3333 0.2500 1.0000 0.5000 0.2000 0.3333
Php tnh trn cng c hiu lc c khi ma trn c cc phn t phc: >> matranphuc = [1+i 1-i; 1 2 ] matranphuc = 1.0000 + 1.0000i 1.0000 - 1.0000i 1.0000 ans = 1.0000 + 1.0000i 4.0000 - 2.0000i 3.0000 + 1.0000i 5.0000 - 1.0000i >> matranphuc.*matranphuc ans = 0 + 2.0000i 1.0000 0 - 2.0000i 4.0000 2.0000 >> matranphuc*matranphuc
Lnh diff(vector [n]) tnh vector sai phn. Bng lnh conv(vector_1, vvector_2) ta chp hai vector vector_1 v vector_2. Nu hai vector cn chp c phn t l cc h s ca hai a thc, kt qu thu c s ng vi cc h s sau khi nhn hai a thc vi nhau : >> diff(vector) ans = 1 1 Hai lnh inv v det dng nghch o ma trn ton phng v tnh nh thc ca ma trn . Gi tr ring ca ma trn matrix c tnh bi lnh eig(matrix) v hng ca n c tnh bi lnh rank(matrix), Nu cn chuyn v ma trn ta dng lnh transpose(matrix): >> matrix=[1 2 3;3 4 5;5 6 7]
matrix = 1 3 5 ns = 2 >> eig(matrix) ans = 12.9282 -0.9282 0.0000 >> det(matrix) ans = 0 >> inv(matrix) Warning: Matrix is close to singular or badly scaled. Results may be inaccurate. RCOND = 1.850372e-018. ans = 1.0e+016 * 0.4504 -0.9007 0.4504 -0.9007 >> transpose(matrix) ans = 1 2 3 3 4 5 5 6 7 0.4504 0.4504 -0.9007 1.8014 -0.9007 2 4 6 3 5 7
>> rank(matrix)
Tnh ton vi vector v ma trn

.* ./ .^ transpose(matrix) hoc matrix ctranspose(matrix) hoc matrix inv(matrix) det(matrix) eig(matrix) rank(matrix) diff(vector[n]) conv(vector_1,vector_2) Cc php tnh vi tng phn t Chuyn v ma trn matrix Chuyn v ma trn matrix c phn t phc lin hp o ma trn Tnh nh thc ca ma trn Tnh gi tr ring ca ma trn Xc nh hng ca ma trn Tnh vector sai phn Chp vector (nhn a thc)
1.2
Cu trc v trng
1.2.1 Cu trc thun tin cho vic qun l v s dng , ta c th tp hp nhiu bin li trong mt cu trc . Trong mi mng c mt tn ring (mt chui k t string) t gia hai du ( ) c km theo gi tr . Mt cu trc c to nn bi lnh struct(name_1,value_1,name_2,value_2,..): >>my_structure = struct(data, matrix, size, [2 3]); Vic truy cp vo d liu c thc hin bi vi du cch(.); >>my_structure (2) . data = matrix.^(-1) ; ans = 1.0000 1.2.2 Trng Tng qut mt mc cao hn cu trc l trng (Cell Array). chnh l cc Array (mng nhiu chiu), cha Cell (t bo) vi d liu thuc cc loi v kch c khc nhau . Ta c th to ra Cell Array bng lnh cell , hoc n gin hn bng cch ghp cc phn t bn trong du ngoc {}. Tng phn t ca Cell Array c th c truy cp nh cc vector , ma trn thng thng nh cc Array nhiu chiu , ch cn lu rng : Thay v dng du ngoc trn ( ) ta s dng du ngoc mc {}. Gi s ta to ra mt Cell Array rng c tn my_cell nh sau : >> my_cell = cell(2,2) my_cell = [] [] [] [] 0.5000 0.3333 Ngoi ra MATLAB cn c cc lnh v cu trc mc vng nh cu trc nhp bi lnh componist .
By gi ta ln lt gn cho tng mng ca my_cell cc gi tr sau y: >> my_cell{1,1} ='chao cac ban'; >> my_cell{1,2} ='chuc cac ban hoc tap tot'; >> my_cell{2,1} =[1 2; 3 4]; >> my_cell{2,2} =10; Khi nhp tn ca Cell Array trn mn hnh xut hin ln y cu trc ca n. C th bit ni dung (hay gi tr ) ca mt hay nhiu Cell khi ta nhp cc ch s ca Cell: >> my_cell my_cell = 'chao cac ban' [1x24 char] [2x2 double] [ >> my_cell{1,1} ans = chao cac ban >> my_cell{1,2} 10]
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ans = chuc cac ban hoc tap tot >> my_cell{2,1} ans = 1 3 2 4
Cu trc (Structure) v trng (Cell Array)

Structure(n1,v1,n2,v2, ) Structure.name My_cell = {} Cell(n) Cell(m,n) Khai bo cu trc Truy cp vo phn t name To Cell Array rng To n n Cell Array To m n Cell Array
Phn trn l nhng khi nim khi qut v nhng v d c th gii thiu mt phn nh nhng ng dng m phn mm MATLAB c th thc hin .MATLAB l mt phn mm ln trong lnh vc ton s v cn c kh nng ca mt ngn ng lp trnh bc cao vi tnh nng ha phong ph. MATLAB vi nhng cng c nh : Control System Toolbox (cng c kho st thit k h thng iu khin ), Optimization Toolbox (cng c tnh ton ti u) v Signal Processing Toolbox (cng c s l tn hin ). MATLAB ang l phn mm m cc k s cc sinh vin s dng rng ri nh vo tnh nng u vit ca phn mm ny
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Phn II
Gii thiu mt s nhm lnh c bn MATLAB
I. LNH C BN
1. Lnh ANS a) Cng dng: (Purpose) L bin cha kt qu mc nh. b) Gii thch: (Description) Khi thc hin mt lnh no m cha c bin cha kt qu, th MATLAB ly bin Ans lm bin cha kt qu . 2. Lnh CLOCK a) Cng dng: (Purpose) Thng bo ngy gi hin ti. b) C php:(Syntax) c = clock c) Gii thch: (Description) thng bo d c ta dng hm fix. 3. Lnh COMPUTER a) Cng dng: (Purpose) Cho bit h iu hnh ca my vi tnh ang s dng Matlab. b) C php: (Syntax) computer [c,m] = computer c) Gii thch: (Description) c: cha thng bo h iu hnh ca my. m: s phn t ca ma trn ln nht m my c th lm vic c vi Matlab. 4. Lnh DATE a) Cng dng: (Purpose) Thng bo ngy thng nm hin ti b) C php: (Syntax) s = date 5. Lnh CD a) Cng dng: Chuyn i th mc lm vic. b) C php:
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cd cd diretory cd .. c) Gii thch: cd: cho bit th nc hin hnh. diretory: ng dn n th mc mun lm vic. cd .. chuyn n th mc cp cao hn mt bc. 6. Lnh CLC a) Cng dng: Xa ca s lnh. b) C php: clc 7. Lnh CLEAR a) Cng dng: Xa cc mc trong b nh. b) C php: clear clear name clear name1 name2 name3 clear functions clear variables clear mex clear global clear all c) Gii thch: clear: xa tt c cc bin khi vng lm vic. clear name: xa cc bin hay hm c ch ra trong name. clear functions: xa tt c cc hm trong b nh ph clear variables: xa tt c cc bin ra khi b nh. clear mex: xa tt c cc tp tin .mex ra khi b nh. clear: xa tt c cc bin chung. clear all: xa tt c cc bin, hm, v cc tp tin .mex khi b nh. Lnh ny lm cho b nh trng hon ton. 8. Lnh DELETE a) Cng dng: Xa tp tin v i tng ha. b) C php: delete filename
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delete (n) c) Gii thch: file name: tn tp tin cn xa. n: bin cha i tng ha cn xa. Nu i tng l mt ca s th ca s s ng li v b xa. 9. Lnh DEMO a) Cng dng: Chy chng trnh mc nh ca Matlab. b) C php: demo c) Gii thch: demo: l chng trnh c sn trong trong Matlab, chng trnh ny minh ha mt s chc nng ca Matlab. 10. Lnh DIARY a) Cng dng: Lu vng thnh file trn a. b) C php: diary filename c) Gii thch: filename: tn ca tp tin. 11. Lnh DIR a) Cng dng: Lit k cc tp tin v th mc. b) C php: dir dir name c) Gii thch: dir: lit k cc tp tin v th mc c trong th mc hin hnh. dir name: ng dn n th mc cn lit k. 12. lnh DISP a) Cng dng: Trnh by ni dung ca bin (x) ra mn hnh b) C php: disp (x) c) gii thch: x: l tn ca ma trn hay l tn ca bin cha chui k t, nu trnh by trc tip chui k t th chui k t c t trong du 13. Lnh ECHO
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a) Cng dng: Hin th hay khng hin th dng lnh ang thi hnh trong file *.m. b) C php: echo on echo off c) Gii thch: on: hin th dng lnh. off: khng hin th dng lnh. 14. Lnh FORMAT a) Cng dng: nh dng kiu hin th ca cc con s.
C php Format short Format long
Gii thch Hin th 4 con s sau du chm Hin th 14 con s sau du chm Hin th dng phn s ca phn nguyn nh nht Hin th s dng hay m 3.1416
V d
3.14159265358979
Format rat
355/133
Format +
15. Lnh HELP a) Cng dng: hng dn cch s dng cc lnh trong Matlab. b) C php: help help topic c) Gii thch: help: hin th vn tt cc mc hng dn. topic: tn lnh cn c hng dn. 16. Lnh HOME a) Cng dng: em con tr v u vng lm vic. b) C php:
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home 17. Lnh LENGTH a) Cng dng: Tnh chiu di ca vect. b) C php: l = length (x) c) Gii thch: l: bin cha chiu di vect. 18. Lnh LOAD a) Cng dng: Np file t a vo vng lm vic. b) C php: load load filename load filename load finame.extension c) Gii thch: load: np file matlap.mat load filename: np file filename.mat load filename.extension: np file filename.extension Tp tin ny phi l tp tin dng ma trn c ngha l s ct ca hng di phi bng s ct ca hng trn. Kt qu ta c mt ma trn c s ct v hng chnh l s ct v hng ca tp tin vn bn trn. 19. Lnh LOOKFOR a) Cng dng: Hin th tt c cc lnh c lin quan n topic. b) C php: lookfor topic c) Gii thch: topic: tn lnh cn c hng dn. 20. Lnh PACK a) Cng dng: Sp xp li b nh trong vng lm vic. b) C php: pack pack filename c) Gii thch:
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Nu nh khi s dng Matlap my tnh xut hin thng bo Out of memory th lnh pack c th tm thy mt s vng nh cn trng m khng cn phi xa bt cc bin. Lnh pack gii phng khng gian b nh cn thit bng cch nn thng tin trong vng nh xung cc tiu. V Matlab qun l b nh bng phng php xp chng nn cc on chng trnh Matlab c th lm cho vng nh b phn mnh. Do s c nhiu vng nh cn trng nhng khng cha cc bin ln mi. Lnh pack s thc hin: + lu tt c cc bin ln a trong mt tp tin tm thi l pack.tmp. + xa tt c cc bin v hm c trong b nh. + ly li cc bin t tp tin pack.tmp. + xa tp tin tm thi pack.tmp. kt qu l trong vng nh cc bin c gp li hoc nn li ti a nn khng b lng ph b nh. Pack.finame cho php chn tn tp tin tm thi cha cc bin. Nu khng ch ra tn tp tin tm thi th Matlab t ly tn tp tin l pack.tmp. Nu dng lnh pack m my vn cn bo thiu b nh th bt buc phi xa bt cc bin trong vng nh i. 21. Lnh PATH a) Cng dng: To ng dn, lit k tt c cc ng dn ang c. b) C php: path p = path path (p) c) Gii thch: path: lit k tt c cc dng dn ang c. p: bin cha ng dn. path (p): t ng dn mi. 22. Lnh QUIT a) Cng dng: Thot khi Matlab. b) C php: quit 23. Lnh SIZE a) Cng dng: Cho bit s dng v s ct ca mt ma trn. b) C php: d = size (x) [m,n] = size (x) m = size (x,1)
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n = size (x,2) c) Gii thch: x: tn ma trn. d: tn vect c 2 phn t, phn t th nht l s dng, phn t cn li l s ct. m,n: bin m cha s dng, bin n cha s ct 24. Lnh TYPE a) Cng dng: Hin th ni dung ca tp tin. b) C php: type filename c) Gii thch: filename: tn file cn hin th ni dung. Lnh ny trnh by tp tin c ch ra. 25. Lnh WHAT a) Cng dng: Lit k cc tp tin *.m, *.mat, *.mex. b) C php: what what dirname c) Gii thch: what: lit k tn cc tp tin .m, .mat, .mex c trong th mc hin hnh. dirname: tn th mc cn lit k. 26. Lnh WHICH a) Cng dng: Xc nh chc nng ca funname l hm ca Matlab hay tp tin. b) C php: which funname c) Gii thch: funname: l tn lnh trong Matlab hay tn tp tin d) V d: which inv inv is a build-in function which f c:\matlab\bin\f.m 27. Lnh WHO, WHOS a) Cng dng: Thng tin v bin ang c trong b nh.
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b) C php: who whos who global whos global c) Gii thch: who: lit k tt c cc tn bin ang tn ti trong b nh. whos: lit k tn bin, kch thc, s phn t v xt cc phn o c khc 0 khng. who global v whos: lit k cc bin trong vng lm vic chung.
II. CC TON T V K T C BIT

1. Cc ton t s hc (Arithmetic Operators):
T on t + * .* \ .\ / ./ ^
.
Cng dng Cng ma trn hoc i lng v hng (cc ma trn phi c cng kch thc). Tr ma trn hoc i lng v hng (cc ma trn phi c cng kch thc). Nhn ma trn hoc i lng v hng (ma trn 1 phi c s ct bng s hng ca ma trn 2). Nhn tng phn t ca 2 ma trn hoc 2 i lng v hng (cc ma trn phi c cng kch thc). Thc hin chia ngc ma trn hoc cc i lng v hng (A\B tng ng vi inv (A)*B). Thc hin chia ngc tng phn t ca 2 ma trn hoc 2 i lng v hng (cc ma trn phi c cng kch thc). Thc hin chia thun 2 ma trn hoc i lng v hng (A/B tng ng vi A*inv(B)). Thc hin chia thun tng phn t ca ma trn ny cho ma trn kia (cc ma trn phi c cng kch thc). Ly tha ma trn hoc cc i lng v hng. Ly tha tng phn t ma trn hoc i lng v hng (cc ma trn phi c cng kch thc).
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2.. Ton t quan h (Relational Operators):
To n t < > >= <= == -= So snh nh hn. So snh ln hn.
Cng dng
So snh ln hn hoc bng. So snh nh hn hoc bng. So snh bng nhau c phn thc v phn o. So snh bng nhau phn o.
Gii thch: Cc ton t quan h thc hin so snh tng thnh phn ca 2 ma trn. Chng to ra mt ma trn c cng kch thc vi 2 ma trn so snh vi cc phn t l 1 nu php so snh l ng v l 0 nu php so snh l sai. Php so snh c ch u tin sau php ton s hc nhng trn php ton logic. 3. Ton t logig (Logical Operators):
Ton t & | ~
Cng dng Thc hin php ton logic AND. Thc hin php ton logic OR. Thc hin php ton logic NOT.
a) Gii thch: Kt qu ca php ton l 1 nu php logic l ng v l 0 nu php logic l sai. Php logic c ch u tin thp nht so vi php ton s hc v php ton so snh. b) V d: Khi thc hin php ton 3>4 & 1+ th my tnh s thc hin 1+2 c 3, sau ti 3>4 c 0 ri thc hin 0 & 3 v cui cng ta c kt qa l 0.
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4. K t c bit (Special Characters):
K hiu [] () = . , lnh. ; % !
Cng dng Khai bo vector hoc ma trn. Thc hin php ton u tin, khai bo cc bin v cc ch s ca vector. Thc hin php gn. Chuyn v ma trn tm lng lin hip ca s phc. im chm thp phn. Phn bit cc phn t ca ma trn v cc i s trong dng Ngn cch gia cc hng khi khai bo ma trn. Thng bo dng ch thch. M ca s MS DOS.
III. CC HM LOGIC (LOGICAL FUNCTION)

1. Lnh ALL a) Cng dng: Kim tra vector hay ma trn c gi tr 0 hay khng. b) C php: y = all(x) c) Gii thch: y: bin cha kt qu x: tn vedtor hay ma trn y = 1 khi tt c cc phn t khc 0 y = 0 khi c 1 phn t bng 0 2. Lnh ANY a) Cng dng: Kim tra vector hay ma trn c gi tr khc 0 hay khng. b) C php: y = any(x) c) Gii thch: y: bin cha kt qu.
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x: tn vector, hay ma trn. y = 1 khi c 1 phn t khc 0. y = 0 khi c 1 phn t bng 0. 3. Lnh EXIST a) Cng dng: Kim tra bin hay file c tn ti hay khng. b) C php: e = exist(item) c) Gii thch: item: l tn file hay tn bin. e: bin cha gi tr tr v. e 0 1 2 hnh) 3 4 5 item l MEX-file item l file c dch t phn mm Simulink item l hm ca Matlab ngha item khng tn ti trong vng lm vic item l bin ang tn ti trong vng lm vic item ang tn ti trn a (ch kim tra trong th mc hin
4. Lnh FIND a) Cng dng: Tm phn t trong vector hay ma trn theo yu cu. b) C php: k = find(x) [i,j] = find(x) [i,j,s] = find(x) c) Gii thch: k: ch v tr ca phn t cn tm trong vector. i,j: ch s hng v s ct tng ng ca phn t cn tm. s: cha gi tr ca phn t cn tm. x: tn vector, ma trn hay l yu cu ra. Nu khng nu ra yu cu th mc nhin l tm cc phn t khc 0.
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IV. NHM LNH LP TRNH TRONG MATLAB

1. Lnh EVAL a) Cng dng: Chuyn i chui k t thnh biu thc. b) C php: kq = eval(string) c) Gii thch: kq: bin cha kt qu. Nu string l cc k s th chuyn thnh nhng con s. Nu string l cu lnh th chuyn thnh cc lnh thi hnh c. 2. Lnh FOR a) Cng dng: Dng thc hin 1 cng vic cn lp i lp li theo mt quy lut, vi s bc lp xc nh trc. b) C php: for bin iu khin = gi tr u : gi tr cui, thc hin cng vic; end c) Gii thch: Cng vic chnh l cc lnh cn thi hnh, c th c nhiu lnh, kt thc lnh phi c du; 3. Lnh FUNCTION a) Cng dng: To thm hm mi. b) C php: function s = n(x) c) Gii thch: s: tn bin cha gi tr tr v sau khi thi hnh hm. n: tn gi nh. 4. Lnh INPUT a) Cng dng: Dng nhp vo 1 gi tr. b) C php: tn bin = input (promt) tn bin = input (promt, s) c) Gii thch: tn bin, l ni lu gi tr ngp vo.
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promt: chui k t mun nhp vo. s: cho bit gi tr nhp vo l nhiu k t. 5. Lnh IF ELSEIF ELSE a) Cng dng: Thc hin lnh khi tha iu kin. b) C php: if biu thc lun l 1 thc hin cng vic 1; elseif biu thc lun l 2 thc hin cng vic 2; else thc hin cng vic 3; end c) Gii thch: Khi biu thc lun k 1 ng th thc hin cng vic 1 tng t cho biu thc lun l 2. Nu c hai biu thc sai th thc hin cng vic sau lnh else. Biu thc lun l l cc php so snh ==, <, >, <=, >= cng vic chnh l cc lnh cn thi hnh, c th c nhiu lnh, kt thc lnh phi c du ; 6. Lnh MENU a) Cng dng: To menu chn chc nng. b) C php: tn bin = menu (Tn menu,chc nng1,chc nng2, . , chc nng n) c) Gii thch: tn menu: l tiu ca menu. tn bin: l ni ct gi tr nhn c sau khi chn chc nng ca menu. Chc nng 1, 2, .,n:khi chn chc nng no th tn bin c gi tr l s th t ca chc nng . 7. Lnh PAUSE a) Cng dng: Dng chng trnh theo mun. b) C php: pause on pause off pause (n) c) Gii thch:
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pause on: dng chng trnh, v ch nhn 1 phm bt k (tr cc phm iu khin) chng trnh thc hin tip. pause off: tt chc nng pause. pause (n): dng chng trnh ti n giy. d) V d: for n = 1 : 3; disp(Press any key to continue) pause end Press any key to continue Press any key to continue Press any key to continue 8. Lnh WHILE a) Cng dng: Dng thc hin 1 cng vic cn lp i lp li theo mt quy lut, vi s bc lp khng xc nh, ph thuc vo biu thc lun l. b) C php: while biu thc lun l thc hin cng vic; end c) Gii thch: Biu thc lun l l cc php so snh = =, <, >, <=, >= Cng vic chnh l cc lnh cn thi hnh, c th c nhiu lnh, kt thc lnh phi c du ; Khi thc hin xong cng vic th quay ln kim tra li biu thc lun l, nu vn cn ng th tip tc thc hin, nu sai th kt thc.
V. TP LNH X L CHUI
1. Lnh ABS a) Cng dng: To vector n c gi tr ca mi phn t l s th t tng ng vi k t trong bng m ASCII. Ly tr tuyt i ca mt s m. b) C php: n = ABS(s) x = ABS(a) c) Gii thch: n: tn vector. s: chui k t, hoc l tn bin cha chui k t.
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a: s m, hoc l tn bin cha s m. x: tr tuyt i ca a. 2. Lnh BLANKS a) Cng dng: To khong trng gia hai hay nhiu chui k t theo mong mun. b) C php: [S1 BLANKS(b1) S2 BLANKS(b2) BLANKS(bn) Sn] c) Gii thch: S1, S2, Sn: cc chui k t. b1, b2: s khong trng. 3. Lnh DEC2HEX a) Cng dng: i con s ca h 10 sang h 16. b) C php: s = dec2hex(n) c) Gii thch: s: bin cha chui k s ca h 16 n: con s nguyn h 10. 4. Lnh HEX2DEC a) Cng dng: i chui k s ca h 16 sang con s ca h 10. b) C php: n = hex2dec(s) c) Gii thch: n: con s ca h 10. s: chui k s h 16. 5. Lnh INT2STR a) Cng dng: Chuyn s nguyn sang dng chui. Chuyn cc k t trong mt chui sang s th t tng ng trong bng m ASCII. b) C php: kq = INT c) Gii thch: kq: bin STR(n)cha kt qu. n: tn bin cn chuyn. Nu n l s nguyn th kq l chui k s. Nu n l chui k t th kq l s tng ng trong bng m ASCII
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6. Lnh ISSTR a) Cng dng: Kim tra ni dung bin c phi l chui k t khng. b) C php: kq = isstr(n) c) Gii thch: kq: bin cha kt qu. n: tn bin cn kim tra. kq = 1 nu n l chui k t. 0 nu n khng l chui k t. 7. Lnh LOWER a) Cng dng: Cho ra chui k t vit thng. b) C php: b = lower(s) c) Gii thch: b: bin cha kt qu. s: tn bin cha chui k t hay chui k t. 8. Lnh NUM2STR a) Cng dng: Chuyn s thc sang dng chui. Chuyn cc k t trong mt chui sang s th t tng ng trong bng m ASCII. b) C php: kq = num2tr(n) c) Gii thch: kq: bin cha kt qu. n: tn bin cn chuyn. Nu n l s thc th kq l s tng ng trong bng m ASCII. 9. Lnh SETSTR a) Cng dng: Cho ra k t tng ng vi s th t trong bng m ASCII. b) C php: x = Set Str(n) c) Gii thch: x: bin cha k t tng ng (thuc bng m ASCII). n: s nguyn (0 n 255).
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10. Lnh STR2MAT a) Cng dng: To ma trn c cc phn t dng chui. b) C php: s = str2mat(s1, s2, ) c) Gii thch: s: tn ma trn kt qu. s1, s2: chui k t. 11. Lnh STR2NUM a) Cng dng: Chuyn chui (dng s) sang s thc. b) C php: n = str2num(s) c) Gii thch: s: chui dng s. n: s thc. 12. Lnh STRCMP a) Cng dng: So snh 2 chui k t. b) C php: l = strcmp(s1, s2) c) Gii thch: l: bin cha kt qu. s1, s2: chui cn so snh. 13. Lnh UPPER a) Cng dng: Cho ra chui vit hoa. b) C php: b = upper c) Gii thch: b: bin cha kt qu. s: tn bin cha chui k t.
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VI. CC HM TON HC C BN
1. Mt s hm lng gic: a) C php: kq = hlg(x) b) Gii thch: kq: tn bin cha kt qu. x: n v radian. hlg: tn hm lng gic.
Tn hm lng gic sin cos tan asin atan sinh cosh tanh 2. Lnh ANGLE a) Cng dng: Tnh gc pha ca s phc. b) C php: p = angle(z) c) Gii thch: p: tn bin cha kt qu, n v radians z: s phc 3. Lnh CEIL a) Cng dng: Lm trn s v pha s nguyn ln hn. b) C php: y = ceil(x) c) Gii thch: y: s sau khi c lm trn. x: s cn c lm trn.
Gii thch Tnh gi tr sine Tnh gi tr cosine Tnh gi tr tangent Nghch o ca sine Nghch o ca tangent Tnh gi tr hyperbolic sine Tnh gi tr hyperbolic cosine Tnh ga tr hyperbolic tangent
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4. Lnh CONJ a) Cng dng: Tnh lng lin hip ca s phc. b) C php: y = conj(z) c) Gii thch: y: tn bin cha lng lin hip z: s phc 5. Lnh EXP a) Cng dng: Tnh gi tr ex. b) C php: y = exp(x) 6. Lnh FIX a) Cng dng: Lm trn s v pha zero. b) C php: y = fix(x) c) Gii thch: y: s sau khi c lm trn. x: s cn c lm trn. 7. Lnh FLOOR a) Cng dng: Lm trn s v pha s nguyn nh hn. b) C php: y = floor(x) c) Gii thch: y: s sau khi c lm trn . x: s cn c lm trn 8. Lnh IMAG a) Cng dng: Ly phn o ca s phc. b) C php: y = imag(z) 9. Lnh LOG a) Cng dng: Tm logarithm c s e.
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b) C php: y = log(x) 10. Lnh LOG2 a) Cng dng: Tm logarithm c s 2. b) C php: y = log2(x) 11. Lnh LOG10 a) Cng dng: Tm logarithm c s 10. b) C php: y = log10(x) 12. Lnh REAL a) Cng dng: Ly phn thc ca s phc. b) C php: y = real(z) 13. Lnh REM a) Cng dng: Cho phn d ca php chia. b) C php: r = rem(a,b) c) Gii thch: r: bin cha kt qu a, b: s chia v s b chia 14. Lnh ROUND a) Cng dng: Lm trn s sao cho gn s nguyn nht. b) C php: y = round(x) 15. Lnh SIGN a) Cng dng: Xt du s thc. b) C php: y = sign(x) c) Gii thch:
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x: s thc cn xt du. y: kt qu tr v.
y 0 1 -1
x s 0 s dng s m
VII. TP LNH THAO TC TRN MA TRN

1. Cng, tr, nhn, chia tng phn t ca ma trn vi hng s a) C php: Ma trn kt qu = ma trn [+] [-] [.] [/] hng s. 2. Lnh DET a) Cng dng: Dng tnh nh thc ca ma trn. 3. Lnh DIAG a) Cng dng: To ma trn mi v x l ng cho theo quy c. b) C php: v = diag(x) v = diag(x,k) c) Gii thch: x: l vector c n phn t. v: l ma trn c to ra t x theo quy tc: s hng bng s ct v cc phn t ca x nm trn ng cho ca v. k: tham s nh dng cho v, s hng v ct ca v = n + abs(k). Nu k = 0 ng cho ca v chnh l cc phn t ca x Nu k > 0 cc phn t ca x nm pha trn ng cho v Nu k < 0 cc phn t ca x nm pha di ng cho v 4. Lnh EYE a) Cng dng: To ma trn n v. b) C php: y = eye(n) y = eye(n,m)
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c) Gii thch: n: to ma trn c n hng, n ct. m, n: to ma trn c m hng, n ct. 5. Lnh FLIPLR a) Cng dng: Chuyn cc phn t ca cc ma trn theo th t ct ngc li. b) C php: b = fliplr(a) c) Gii thch: b: tn ma trn c chuyn i. a: tn ma trn cn chuyn i. 6. Lnh FLIPUD a) Cng dng: Chuyn cc phn t ca ma trn theo th t hng ngc li. b) C php: b = flipud(a) c) Gii thch: b: tn ma trn c chuyn i. a: tn ma trn cn chuyn i. 7. Lnh INV a) Cng dng: Tm ma trn nghch o. b) C php: Ma trn nghch o = inv (ma trn) 8. Lnh to ma trn a) Cng dng: Dng to 1 ma trn gm c n hng v m ct. b) C php: Tn ma trn = [a11 a12a1m ; a21 a22 a2m ;;] c) Gii thch: a11, a12, a1m l cc gi tr ti hng 1 ct 1 n cc gi tr ti hng 1 ct m, c n du (;) l c n hng. 9. Lnh to vector n a) Cng dng: Lnh ny dng to 1 vector n gm c n phn t. b) C php 1: Tn vector = [pt1 pt2 pt3 ptn]
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c) Gii thch: pt1 pt2 ptn: l cc s thc. d) C php 2: Tn vector = gt:csc:gtkt e) Gii thch: gt: l gi tr bt u ca vector. csc: cp s cng. gtkt: gi tr kt thc. 10. Lnh LINSPACE a) Cng dng: To vector c gi tr ngu nhin gii hn trong khong nh trc. b) C php: y = linspace(x1, x2) y = linspace(x1, x2, n) c) Gii thch: y: tn ca vector. x1, x2: gii hn gi tr ln nht v nh nht ca vector y. n: s phn t ca vector y. Nu khng c gi tr n th mc nh n = 100. 11. Ma trn chuyn v a) Cng dng: Ma trn chuyn v = ma trn ang c. b) C php: To 1 ma trn chuyn v t 1 ma trn ang c. 12. Lnh MAGIC a) Cng dng: To 1 ma trn vung c tng ca cc phn t trong 1 hng, 1 ct hoc trn ng cho bng nhau. b) C php: Tn ma trn = magic(n) c) Gii thch: n: kch thc ma trn. Gi tr ca mi phn t trong ma trn l mt dy s nguyn lin tc t 1 n 2n. Tng cc hng, ct v cc ng cho u bng nhau. 13. Nhn ma trn a) Cng dng: Ma trn kt qu = ma trn 1* ma trn 2.
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14. Lnh ONES a) Cng dng: To ma trn m gi tr ca cc phn t l 1. b) C php: y = ones(n) y = ones(m,n) c) Gii thch: y = tn ma trn. n: to ma trn c n hng m, n: to ma trn c m hng, n ct. 15. Lnh PASCAL a) Cng dng: To ma trn theo quy lun tam gic Pascal. b) C php: pascal (n) c) Gii thch: n: l s hng (ct) 16. Lnh RAND a) Cng dng: To ma trn m kt m gi tr ca cc phn t l ngu nhin. b) C php: y = rand(n) y = rand(m,n) c) Gii thch: y: tn ma trn. n: to ma trn c n hng, n ct. m, n: to ma trn c m hng, n ct. Gi tr ca cc phn t nm trong khong [0 1] 17. Lnh RESHAPE a) Cng dng: nh dng li kch thc ma trn. b) C php: b = reshape(a,m,n) c) Gii thch: b: ma trn c nh dng li. a: ma trn cn c nh dng. m, n: s hng v s ct ca b. Ma trn a phi c s phn t l: m*n.
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18. Lnh ROT90 a) Cng dng: Xoay ma trn 900. b) C php: b = rot90(a) c) Gii thch: b: ma trn c xoay 900 a: ma trn cn xoay. 19. Lnh TRACE a) Cng dng: Tnh tng cc phn t ca ng cho ma trn. b) C php: d = trace(a) c) Gii thch: d: bin cha kt qu. a: tn ma trn. 20. Lnh TRIL a) Cng dng: Ly phn na di ma trn theo hnh. b) C php: I = tril(x) I = tril(x,k) c) Gii thch: I: tn ma trn kt qu. k: tham s. Nu k = o ly t ng cho tr xung. Nu k = n ly t ng cho tr ln n n v. Nu k = -n ly t ng cho tr xung n n v. 21. Lnh TRIU a) Cng dng: Ly phn na trn ma trn theo hnh tam gic. b) C php: I = triu(x) I = triu(x,k) c) Gii thch: I: tn ma trn kt qa. k: tham s
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Nu k = 0 ly t ng cho tr ln. Nu k = n ly t ng cho tr xung n n v. Nu k = -n ly t ng cho tr ln n n v. 22. Lnh ZEROS a) Cng dng: To ma trn m gi tr ca cc phn t b) C php: y = zeros(n) y = zeros(m,n) c) Gii thch: y: tn ma trn. n: to ma trn c n hng v n ct. m, n: to ma trn c m hng, n ct. 16. Lnh SQRT a) Cng dng: Tnh cn bc hai. b) C php: y = sqrt(x)
VII. TP LNH HA
1. Lnh AXES a) Cng dng: t cc trc ta ti v tr nh trc. b) C php: axes(propertyname, propertyvalue ) c) Gii thch: Tng ng vi mt propertyname i km vi 1 propertyvalue. 1. position,[left, bottom, width, height]: nh v tr v kch thc ca trc. left: khong cch t mp tri ca s n trc ng. bottom: khong cch t mp di ca s n trc ngang. width: chiu di ca trc ngang. height: chiu cao trc ng. Ghi ch: Lun ly im [0,0] lm gc ta . Trc ngang v trc ng c gi tr trong khong [0 1] v chia theo t l thch hp
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2. Lnh AXIS a) Cng dng: Chia li trc ta . b) C php: axis([xmin xmax ymin ymax]) axis([xmin xmax ymin ymax zmin zmax]) axis on axis off c) Gii thch: xmin, ymin, zmin: l gi tr nh nht ca cc trc x, y, z. xmax, ymax, zmax: l gi tr ln nht ca cc trc x, y, z. on: cho hin th trc ta . off: khng cho hin th trc ta . 3. Lnh BAR a) Cng dng: V th dng ct. b) C php: bar(x,y) c) Gii thch: V gi tr x theo gi tr y. d) V d: x = -pi:0.2:pi; bar(x,sin(x)); grid on title(Do thi ham sin(x) dang thanh) xlabel(truc x (rad)) ylabel(y = sin(x))
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4. Lnh CLA a) Cng dng: Xa tt c cc i tng nh: ng th, tn thnhng khng xa trc ta . b) C php: cla 5. Lnh CLF a) Cng dng: Xa hnh nh ( th) hin ti. b) C php: clf 6. Lnh CLOSE a) Cng dng: ng hnh nh ( th) hin ti. b) C php: close 7. Lnh COLORMAP a) Cng dng: To mu sc cho th trong khng gian 3 chiu. b) C php: colormap(map) colormap(default) c) Gii thch: Colormap l s trn ln ca 3 mu c bn: red, green, blue. Ty theo t l ca 3 mu c bn m cho ra cc mu sc khc nhau. default: mu c c l mu mc nh. map: bin cha cc thng s sau:
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Map Bone Cool Flag Gray Hot Pink gray + blue
mu c c
cyan + magenta red + white + blue + black gray black + red + yellow + white pink
8. Lnh FIGURE a) Cng dng: To mi hnh nh ( th). b) C php: figure 9. Lnh GCA a) Cng dng: To cc c tnh cho trc. b) C php: h = gca c) Gii thch: h: l bin gn cho lnh cga. Cc c tnh ca trc gm c:
C php Set(gca,XScale,log, Yscale,linear) Set(gca,Xgrid,on,YGrid', nomal) Set(gca,XDir',reverse, YDir,normal) Set(gca,XColor',red, Ycolor,yellow)
Gii thch nh n v trn trc ta : trc x c n v l log v trc y c n v tuyn tnh. To li cho th: trc x c to li v trc y khng to li. i trc ta : i trc x v pha i din, trc y gi nguyn. t mu cho li th: t li trc x mu , li trc y mu vng. Gm c cc mu: yellow, magenta, cyan, red, green, blue, white, black.
40
10. Lnh GRID a) Cng dng: To li ta . b) C php: grid on grid off c) Gii thch: on: hin th li ta . off: khng hin th li ta . 11. Lnh PLOT a) Cng dng: V th tuyn tnh trong khng gian 2 chiu. b) C php: plot(x,y) plot(x,y,linetype) c) Gii thch: x,y: v gi tr x theo gi tr y. linetype: kiu phn t to nn nt v bao gm 3 thnh phn: - Thnh phn th nht l cc k t ch mu sc:
K t y m c r g b w k
Mu Vng ti L Lc Lam Trng en
41
- Thnh phn th hai l cc k t ch nt v ca th: K t : -. -Loi nt v ng lin nt ng chm chm ng gch chm ng nt t on
- Thnh phn th ba l cc k t ch loi im nh du gm:., o, x, +, * d) V d: V th hm y = sin(x) vi th mu lam, ng lin nt v nh du cc im c chn bng du *, trc x thay i t 0 ti 2, mi bc thay i l /8 x = 0:pi/8:2*pi; y = sin(x); plot(x,y, b-* ) ylabel(y = sin(x)) xlabel(Truc x) title(Do thi ham y = sin(x)) grid on
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12. Lnh SUBPLOT a) Cng dng: To cc trc trong mt phn ca ca s ha. b) C php: subplot(m,n,p) subplot(mnp) c) Gii thch: subplot(m,n,p) hoc subplot(mnp)thnh ca s ha thnh mn vng v nhiu th trn cng mt ca s. m: s hng c chia. n: s ct c chia p: s th t vng chn v th. Nu khai bo p > mn th s xut hin mt thng bo li. d) V d: Chia ca s ha thnh 23 vng v hin th trc ca c 6 vng. subplot(231) subplot(232) subplot(233) subplot(234) subplot(235) subplot(236)
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13. Lnh SEMILOGX, SEMILOGY a) Cng dng: V th theo logarith. b) C php: semylogx(x,y) semylogx(x,y,linetype) semylogy(x,y) semylogy(x,y,linetype) c) Gii thch: semylogx v semylogy ging nh lnh plot nhng ch khc mt iu l lnh ny v th theo trc logarith. Do , ta c th s dng tt c cc loi linetype ca lnh plot. d) V d: V th hm y = x2 3x + 2 theo trc logarith ca x. x = 0:100; y = x.^2-3*x+2; semylogx(x,y,b) grid on
14. Lnh POLAR a) Cng dng: V th trong h trc ta cc. b) C php: polar(theta,rno)
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c) Gii thch: V gi tr x theo gi tr y. d) V d: t = -pi:0.01:pi; polar(t, sin(t)) V ta thu c dng th sau:
15. Lnh SET a) Cng dng: Thit lp cc c tnh cht cho i tng no . b) C php: set(h, propertyname, propertyvalue,) c) Gii thch: h: bin cha i tng. PropertyName v PropertyValue c cho trong bng sau:
C php Set(h,Marker,+) Set(h,LineWidth,1) Set(h,MarkerSize,9) Set(h,color,cyan)
PropertyName Marker LineWidth MarkerSize Color
PropertyValue -, --, :, -. , o, , +, * 1, 2, 3, 1, 2, 3, yellow,magenta, red,green,blue, cyan,white,black
Gii thch Chn kiu phn t dy nt v Kch thc cc im to nn h Chn mu cho i tng h
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d) V d: a = [1 2 h = plot(a) set(h,color,black) 3 4 5 4 3 4 5 6];
16. Lnh STAIRS a) Cng dng: V th dng bc thang. b) C php: stairs(x,y) c) Gii thch: V gi tr x theo gi tr y. d) V d: x = -pi:0.2:pi; stairs(x,sin(x)) xlabeL(Truc x) ylabel(y = stairs(x,sin(x)) grid on
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17. Lnh TITLE a) Cng dng: t tiu cho th. b) C php: title(text) c) Gii thch: text: tn tiu . 18. Lnh XLABEL, YLABEL, ZLABEL a) Cng dng: t tn cho trc X, Y, Z. b) C php: xlabel(nx) ylabel(ny) zlabel(nz) c) Gii thch: nx, ny, nz: tn trc x, y, z 19. Lnh WHITEBG a) Cng dng: Thay i mu nn ca ca s ha. b) C php: whitebg whitebg(color) c) Gii thch: whitebg chuyn i qua li mu nn ca s ha gia trng v en.
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whitebg(color) chuyn mu nn ca s ha thnh mu ca bin color. color c th l cc mu: yellow (vng), magenta ( ti), cyan (l), red (), green (lc), blue (lam), white (trng), black (en). MATLAB cn v c cc th nh sau :
48
VII. V GIN BODE, NyQuist, Nichols
L THUYT: Gin Bode gm hai th: th logarith bin ca hm truyn v gc pha theo logarith tn s. (mt n v trc honh gi l mt decade). Bin : G(j)dB = 20 log10 G(j) Pha := G(j) (hay arg G(j)) Gin Bode ca cc khu c bn: * Khu khuch i: Hm truyn t G(s) = K Gin Bode L() = 20 lgM() = 20 lgK l 1 ng thng song song vi trc honh. * Khu qun tnh bc 1: Hm truyn t G(s) = (2.22) (2.23)
K Ts + 1
Biu Bode L() = 20 lgM() = 20 lgK 20lg T 2 2 + 1 c dc gim 20dB/decade * Khu vi phn bc 1: Hm truyn t G(s) = K(Ts + 1) Gin Bode L() = 20 lgM() = 20 lgK + 20lg T 2 2 + 1 c dc tng 20dB/decade * Khu tch phn: Hm truyn t G(s) =
K s
Gin Bode L() = 20 lgM() = 20 lgK 20lg * Khu bc 2: Hm truyn t G(s) =

2 n 2 s 2 + 2 n s + n
Gin Bode L() = -20lg
(1 t )
2 2 2
+ 4 2 2 t 2
V d
V gin Bode h thng hi tip n v ca hm truyn vng h sau:
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G(s) =
10 s(1 + 0.1s)
>> num = 10; >> den = [0.1 1 0]; >> bode(num,den) Kt qu:
Bode Diagrams 40 20 Phase (deg); Magnitude (dB) 0 -20 -40 -100 -120 -140 -160 10
-1
10
10
10
Frequency (rad/sec)
H thng gm 1 khu khuch i bng 10, mt khu tch phn v mt khu qun tnh bc 1 Tn s gy: 10. | G(jw)|dB = 20dB 20log Ti tn s = 1rad/sec | G(jw)|dB = 20dB v dc 20dB/decade (do khu tch phn). dc 20dB/decade tip tc cho n khi gp tn s ct = 10rad/sec, ti tn s ny ta cng thm 20dB/decade (do khu qun tnh bc nht) v to ra dc -40dB/dec.
V gin Bode h thng hi tip n v ca hm truyn vng h sau: G(s) =

10 5 ( s + 100) ( s + 1)( s + 10)( s + 1000)
50
>> num = 100000*[1 100]; >> den = [1 1011 11010 10000]; >> bode(num,den) Kt qu:
Bode Diagrams
50
Phase (deg); Magnitude (dB)
-50
-50 -100 -150 10

-1
10
10
10
10
10
Frequency (rad/sec)
H thng gm mt khu khuch i 105, mt khu vi phn bc nht v 3 khu qun tnh bc 1. Tn s gy: 1,10,100,1000. | G(jw)|dB|w = 0 = 60dB Ti tn s gy = 1rad/sec c li 60dB v dc 20dB/decade (v khu qun tnh bc 1). dc 20dB/decade c tip tc n khi gp tn s gy = 10rad/sec ti y ta cng thm 20dB/decade(v khu qun tnh bc 1), to ra dc 40dB/dec. dc - 20dB tn s = 100rad/dec (do khu vi phn bc 1). Ti tn s gy = 100rad/sec tng 20dB (v khu vi phn bc 1). To ra dc c dc -20dB. Ti tn s gy = 1000rad/sec gim 20dB (v khu qun tnh bc 1). To ra dc - 40dB.
V gin Bode h thng hi tip n v ca hm truyn vng h sau:
G(s) = >> num = 10; >> den = [0.01 0.2 1 0 ];
10 s(1 + 0.1s) 2
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>> bode(num,den) Kt qu:
Bode Diagrams 40 20 Phase (deg); Magnitude (dB) 0 -20 -40 -60 -100 -150 -200 -250 10
-1
10
10
10
Frequency (rad/sec)
H thng gm mt khu khuch i 10, mt khu tch phn v 1 thnh phn cc kp. Tn s gy: 10. | G(jw)|dB = 20dB 20log Tn s gy nh nht = 0.1 rad/sec ti tn s ny c li 40dB v dc 20dB (do khu tch phn). dc ny tip tc cho ti tn s gy kp = 10. tn s ny s gim 40dB/decade, to ra dc 60dB/dec. V gin Bode h thng hi tip n v ca hm truyn vng h sau:
G(s) =
10 2 (s + 10) s(s + 1)(s + 100)
>> num = 100*[1 10]; >> den = [1 101 100 0]; >> bode(num,den) Kt qu:
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Bode Di agram s
50 0 -50
Phase (deg); Magnitude (dB)
-100 -120 -140 -160 10

-2
10
-1
10
10
10
10
Frequency (rad/sec)
H thng gm mt khu khuch i 100, mt khu tch phn v 2 khu qun tnh bc 1, 1 khu vi phn. Tn s gy: 1,10,100 | G(jw)|dB|w = 0 = 20log10 20log Ta ch xt trc tn s gy nh nht 1decade. Ti tn s gy = 0.1rad/sec c li 40dB v dc 20dB/dec, dc 20dB/dec tip tc cho n khi gp tn s gy = 1rad/sec, ta cng thm 20dB/dec (v khu qun tnh bc 1) v to ra dc 40dB/dec. Ti tn s =10 s tng 20dB/dec (v khu vi phn) to ra dc 20dB/dec, dc 20db/dec c tip tc cho n khi gp tn s gy = 100rad/sec s gim 20dB/dec (v khu qun tnh bc 1) s to dc 40dB/decade. Bi 5: Bi ny trch t trang 11-21 sch Control System Toollbox V gin bode ca h thng hi tip SISO c hm sau: S2+01.s+7.5 H(s) = ----------------------S2+0.12s3+9s2 >> g=tf([1 0.1 7.5],[1 0.12 9 0 0]); >> bode(g)
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B ode Diagram s
From: U(1) 40 20
P has e (deg); M agnitude (dB )
0 -20 -40 0
-50 To: Y (1) -100
-150 -200 10 -1
10 0
10 1
F requenc y (rad/s ec )
Biu Nichols
L thuyt Cng dng: xc nh n nh v p ng tn s vng kn ca h thng hi tip ta s dng biu Nichols. S n nh c nh gi t ng cong v mi quan h ca li theo c tnh pha ca hm truyn vng h. ng thi p ng tn s vng kn ca h thng cng c xc nh bng cch s dng ng cong bin v di pha vng kn khng i ph ln ng cong bin pha vng h. C php [mod,phase,puls]= nichols(A,B,C,D); [mod,phase,puls]= nichols(A,B,C,D,ui); [mod,phase]= nichols(A,B,C,D,ui,w); mod,phase,puls]= nichols(num,den); [mod,phase]= nichols(num,den,w); Nhng cu trc trn cho ln l nhng gi tr t nhin, pha l v vect ca im tn s l rad/s. S tn ti ca im tn s m p ng tn s c nh gi bng vect w, v ui l bin khai bo vi h thng nhiu ng vo Ch : + Khi s dng lnh nichols vi cu trc khng c bin ng ra th ta c biu nichols + Lnh nichols lun lun cho pha trong khong [-3600,00]
54
V biu nichols cho h thng c hm truyn sau:
G s = 30 ()
Cc bc thc hin: >> num=30*[1 7 1]; >> den=[poly([-1 -1 -1]) 0]; >> hold on, plot(-180,0,'*r'), hold on; >> nichols(num,den)
s2 + 7s + 1 s(s + 1)
3
Tr v biu nichols vi im ti hn critical point (-1800 ,0) c biu din nh hnh sau:
V BIU NYQUYST V KHO ST N NH

DNG GIN BODE L thuyt + H thng n nh trng thi h, s n nh trng thi kn nu biu Nyquist khng bao im (-1+i0) trn mt phng phc.
55
+ H thng khng n nh trng thi h, s n nh trng thi kn nu biu Nyquist bao im (-1+i0)p ln ngc chiu kim ng h (p l s cc GH nm phi mt phng phc). Cu trc lnh: >> num = [nhp cc h s ca t s theo chiu gim dn ca s m]. >> den = [nhp cc h s ca mu s theo chiu gim dn ca s m]. >> nyquist(num,den) V biu Nyquyist ca h thng c hm truyn sau:
GH(s) =
>> num = 10; >> den = [-1 1]; >> nyquist(num,den) Kt qu:
k 1 st
(vi k =10, t =1)
Nyqui st Di agram s 5 4 3 2 Imaginary Axis 1 0 -1 -2
(A)
-3 -4 -5 0 2 4 Real Ax i s 6 8 10
Nhn xt: hm truyn vng h c 1 cc nm bn phi mt phng phc. Biu Nyquist khng bao im A (-1+j0). im 1 k hiu (+) nm trn trc thc m (Real Axis), im 0 nm trn trc o (Imaginary Axis). Kt lun: h khng n nh. * Dng lnh margin tm bin d tr v pha d tr. >> num = 10; >> den = [-1 1];
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>> margin(num,den);
Bode Diagram s Gm = 0 dB, Pm = 0 (unstable closed loop) 20 15 Phase (deg); Magnitude (dB) 10 5 0 80 60 40 20 10
0
Frequency (rad/sec)
Kt lun: d tr bin (Gm = 0 dB). d tr pha (Pm = 0). Warning: Closed loop is unstable (h vng kn khng n nh). V biu Nyquyist ca h thng c hm truyn sau:
GH(s) = >> num = 10; >> den = [-1 1 0]; >> nyquist(num,den) Ta thu c d th sau:
k (k = 10, t = 1) s(1 st )
57
Nyqui st Di agram s 1000 800 600 400 Imaginary Axis 200 0 -200 -400
(A)
-600 -800 -1000 0 2 4 Real Ax i s 6 8 10
Nhn xt: hm truyn vng h c 1 cc nm bn phi mt phng phc v 1 cc nm ti gc ta . Biu Nyquist khng bao im A (-1+j0). im 1 k hiu (+) nm trn trc thc m (Real Axis) , im 0 nm trn trc o (Imaginary Axis). Kt lun: h khng n nh. * Dng lnh margin tm bin d tr v pha d tr. >> num = 10; >> den = [-1 1 0]; >>margin(num,den)
Bode Di agram s Gm = 0 dB, Pm = 0 (unstabl e cl osed l oop) 60 40 Phase (deg); Magnitude (dB) 20 0 -20
-20 -40 -60 -80 10

-1
10
Frequency (rad/sec)
Kt lun: d tr bin (Gm = 0 dB). d tr pha (Pm = 0).
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Warning: Closed loop is unstable (h vng kn khng n nh). V biu Nyquyist ca h thng c hm truyn sau: GH(s) = >> num = 10; >> den = [2 3 1]; >> nyquist(num,den)
Nyqui st Di agrams 6
(t 1s + 1)(t 2 s + 1)
(k =10, t1 = 1, t2 = 2)
4 2 0 -2 -4
Imaginary Axis
(A)
-6 0 2 4 Real Ax is 6 8 10
Nhn xt: hm truyn vng h c 2 cc nm bn tri mt phng phc. Biu Nyquist khng bao im A (-1+j0). im 1 k hiu (+) nm trn trc thc m (Real Axis) , im 0 nm trn trc o (Imaginary Axis). Kt lun: h thng n nh. * Dng lnh margin tm bin d tr v pha d tr. >> num = 10; >> den = [2 3 1]; >> margin(num,den) Ta thu c dng th sau:
59
Bode Di agram s Gm = Inf, Pm =38.94 deg. (at 2.095 rad/sec) 20 10 Phase (deg); M agnitude (dB) 0 -10 -20
-50 -100 -150 10

0
Frequency (rad/sec)
Kt lun: h thng n nh. d tr bin (Gm = ). d tr pha (Pm = 38.94), ti tn s ct bin 2.095 rad/sec. V biu Nyquyist ca h thng c hm truyn sau: GH(s) =
k s(t 1s + 1)(t 2 s + 1)
(k = 10 t1=1, t2 =2)
>>num = 10; >> den = [2 3 1 0]; >> nyquist(num,den)

Nyqui st Di agram s 1000 800 600 400 Imaginary Axis 200 0 -200 -400 -600 -800 -1000 -30 -25 -20 -15 Real Ax i s -10 -5
(A)
Nhn xt: hm truyn vng h c 2 cc nm bn tri mt phng phc v 1 cc zero. Biu Nyquist bao im A(-1+j0).
60
im 1 k hiu (+) nm trn trc thc m (Real Axis) , im 0 nm trn trc o (Imaginary Axis). Kt lun: h khng n nh. * Dng lnh margin tm bin d tr v pha d tr. >> num = 10; >> den = [2 3 1 0]; >>margin(num,den)
Bode Di agram s Gm = 0 dB, Pm = 0 (unstabl e cl osed l oop) 60 40 P a e ( e ) M g itu e ( B h s d g; a n d d ) 20 0 -20 -40 -100 -150 -200 -250 10
-1
10
Frequency (rad/sec)
Kt lun: h thng khng n nh. d tr bin (Gm = 0 dB). d tr pha (Pm = 0) V biu Nyquyist ca h thng c hm truyn sau: GH(s) =
k s(t 1s + 1)(t 2 s + 1)(t 3s + 1)
( t1 =1, t2 = 2, t3 = 3, k = 10)
>> num = 10; >> den = [6 11 6 1 0]; >> nyquist(num,den)

Nyqui st Di agram s 1000 800 600 400 Imaginary Axis 200 0 -200 -400 -600 -800 -1000 -60 -50 -40 -30 Real Ax i s -20 -10 0
(A)
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Nhn xt: hm truyn vng h c 3 cc nm bn tri mt phng phc v 1 cc zero. Biu Nyquist bao im A (-1+i0). im 1 k hiu (+) nm trn trc thc m (Real Axis) , im 0 nm trn trc o (Imaginary Axis). Kt lun: h khng n nh. * Dng lnh margin tm bin d tr v pha d tr. >> num = 10; >> den = [6 11 6 1 0]; >> margin(num,den)
Bode Di agram s Gm = 0 dB, Pm = 0 (unstabl e cl osed l oop) 50 P a e ( e ) M g itu e ( B h s d g; a n d d ) 0 -50
-100
-200
-300 10
-2
10
-1
10
Frequency (rad/sec)
Kt lun: h thng khng n nh. d tr bin (Gm = 0 dB). d tr pha (Pm = 0).
NHM LNH V QU O NGHIM
(Roots Locus)
1. Lnh PZMAP a) Cng dng: V biu cc-zero ca h thng. b) C php: [p,z]= pzmap(num,den) [p,z]= pzmap(a,b,c,d) [p,z]= pzmap(a,b,c,d)
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c) Gii thch: Lnh pzmap v biu cc-zero ca h LTI. i vi h SISO th cc cc v zero ca hmtruyn c v. Nu b qua cc i s ng ra th lnh pzmap s v ra biu cc-zero trn mn hnh. pzmap l phng tin tm ra cc cc v zero tuyn t ca h MIMO. pzmap(a,b,c,d) v cc cc v zero ca h khng gian trng thi trong mt phng phc. i vi cc h thng MIMO, lnh s v tt c cc zero truyn t t tt c cc ng vo ti tt c cc ng ra. Trong mt phng phc, cc cc c biu din bng du cn cc zero c biu din bng du o. pzmap(num,den) v cc cc v zero ca hm truyn trong mt phng phc. Vector num v den cha cc h s t s v mu s theo chiu gim dn s m ca s. pzmap(p,z) v cc cc v zero trong mt phng phc. Vector ct p cha ta cc cc v vector ct z cha ta cc zero trong mt phng phc. Lnh ny v cc cc v zero c tnh sn trong mt phng phc. Nu gi li cc i s ng ra th : [p,z]= pzmap(num,den) [p,z]= pzmap(a,b,c,d) [p,z]= pzmap(a,b,c,d) to ra cc ma trn p v z trong p cha cc cc cn z cha cc zero. d) V d: (Trch trang 11-174 sch Control system Toolbox) V cc cc v zero ca h lin tc c hm truyn :
H (s) = 2 s 2 + 5s + 1 s 2 + 2s + 3
num = [2 5
1];
den = [1 2 3]; pzmap(num,den) title(Bieu do cuc-zero)
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2. Lnh RLOCFIND a) Cng dng: Tm li qu o nghim vi tp hp nghim cho trc. b) C php: [k,poles]= rlocfind(a,b,c,d) [k,poles]= rlocfind(num,den) [k,poles]= rlocfind(a,b,c,d,p) [k,poles]= rlocfind(num,den,p) c) Gii thch: Lnh rlocfind to ra li qu o nghim kt hp vi cc cc trn quo nghim. Lnh rlocfind c dng cho h SISO lin tc v gin on. [k,poles]= rlocfind(a,b,c,d) to ra du x trong ca s ha m ta dng chn mt im trn qu o nghim c sn. li ca im ny c to ra trong k v cc cc ng vi li ny nm trong poles. s dng lnh ny th qu o nghim phi c sn trong ca s ha. [k,poles]= rlocfind(num,den) to ra du x trong ca s ha m ta dng chn mt im trn qu o nghim ca h thng c hm truyn G = num/den trong c num v den cha cc h s a thc theo chiu gim dn s m ca s hoc z. [k,poles]= rlocfind(a,b,c,d,p) hoc [k,poles]= rlocfind(num,den,p) to ra vector li k v vector cc cc kt hp pole vi mi thnh phn trong mi vector ng vi mi nghim trong p. d) V d: Xc nh li hi tip cc cc vng kn ca h thng c h s tt dn = 0.707 v c hm truyn :
H (s) =
num = [2 5 1];
2 s 2 + 5s + 1 s 2 + 2s + 3
den = [1 2 3]; +) V qu o nghim: rlocus(num,den); title(Do loi quy dao nghiem); + )Tm li ti im c chn: rlocfind(num,den); Sau khi nhp xong lnh, trn mn hnh ca Matlab s xut hin dng ch: Select a point in the graphics window v trn hnh v c thc ta ko chut v chn im ta c qu o nghim:
64
3. Lnh RLOCUS a) Cng dng: Tm qu o nghim Evans. b) C php: r = rlocus(num,den) r = rlocus(num,den,k) r = rlocus(a,b,c,d) r = rlocus(a,b,c,d,k) c) Gii thch: Lnh rlocus tm qu o nghim Evans ca h SISO. Qu o nghim c dng nghin cu nh hng ca vic thay i li hi tip ln v tr cc ca h thng, cung cp cc thng tin v p ng thi gian v p ng tn s. i vi i tng iu khin c hm truyn G(s) v khu b chnh hi tip k*f(s), hm truyn vng kn l :
h( s ) =
g ( s) g ( s) = 1 + kg ( s ) f ( s ) q( s)
Nu b qua cc i s ng ra th lnh rlocus s v ra qu o trn mn hnh. Lnh rlocus dng cho c h lin tc v gin on. r = rlocus(num,den) v qu o nghim ca hm truyn : q(s) = 1 + k
num( s ) =0 den( s)
vi vector li k c xc nh t ng. Vector num v den ch ra h t s v mu s theo chiu gim dn s ca s hoc z.

num( s ) num(1) s nn 1 + num(2) s nn 2 + ...... + num(nn) = den( s ) den(1) s nd 1 + den(2) s nd 2 + ...... + den(nd )
65
r = rlocus(a,b,c,d) v ra qu o nghim ca h khng gian trng ti SISO lin tc v gin on vi vector li c xc nh t ng r = rlocus(num,den,k) hoc r = rlocus(a,b,c,d,k) v ra qu o nghim vi vector li k do ngi s dng xc nh. Vector k cha cc gi tr v li m nghim h vng kn c tnh. Nu s dng cc i s ng ra th : [r,k] = rlocus(num,den) [r,k] = rlocus(num,den,k) [r,k] = rlocus(a,b,c,d) [r,k] = rlocus(a,b,c,d,k) to ra ma trn ng ra cha cc nghim v vector li k. Ma trn r c length(k) hng v (length(den) 1) ct, ng ra cha v tr cc nghim phc. Mi hng trong ma trn tng ng vi mt li trong vector k. Qu o nghim c th c v bng lnh plot(r,x). d) V d: Tm v v qu o nghim ca h thng c hm truyn :
H (s) = 2 s 2 + 5s + 1 s 2 + 2s + 3
+) Xc nh hm truyn : >>num = [2 5 1]; >>den = [1 2 3]; + )V qu o nghim : >>rlocus(num,den) title(Quy dao nghiem)
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4. Lnh SGRID a) Cng dng: To li cho qu o nghim v biu cc-zero lin tc. b) C php: sgrid sgrid(new) sgrid(z,wn) sgrid(z,wn,new) c) Gii thch: Lnh sgrid to li cho qu o nghim v biu cc-zero lin tc trong mt phng s. ng li v l cc ng hng s t s tt dn () v tn s t nhin (n). ng t s tt dn c v t 0 ti 1 theo tng nc l 0.1. sgrid(new) xa mn hnh ha trc khi v v thit lp trng thi hold on qu o nghim hay biu cc-zero c v ln li bng cc lnh : sgrid(new) rlocus(num,den) hoc pzmap(num,den) sgrid(z,wn) v cc ng hng s t l tt dn c ch nh trong vector z v v ng tn s t nhin c ch nh trong vector wn. sgrid(z,wn,new) xa mn hnh ha trc khi v cc ng t s tt dn v tn s t nhin c ch nh trong vector z v wn. Trng thi hold on c thit lp. d) V d:V li trong mt phng s trn qu o nghim ca h thng c hm truyn : >>num = [2 5 1]; % ta c th thay i 2 dng num=, den= thnh dng lnh sau: >>den = [1 2 3]; % H(s)=tf([2 5 1],[1 2 3]); >>rlocus(num,den) title(Quy dao nghiem) sgrid
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5. Lnh ZGRID a) Cng dng: V li t l tt dn v tn s t nhin cho qu o nghim gin on. b) C php: zgrid zgrid(new) zgrid(z,wn) zgrid(z,wn,new) c) Gii thch: Lnh zgrid to li qu o cho nghim hoc biu cc-zero trong mt phng z. Cc ng hng s t l tt dn () v tn s t nhin chun ha s c v. c thay i t 0 ti 1 theo tng nc thay i l 0.1 v tn s t nhin c v t 0 ti vi tng nc thay i l /. zgrid(new) xa mn hnh ha trc khi v li v thit lp trng thi hold on qu o nghim hoc biu cc-zero c v ln li s dng cc lnh : zgrid('new') rlocus(num,den) hoc pzmap(num,den) zgrid(z,wn) v hng s tt dn c ch nh trong vector z v v hng s tn s t nhin cho cc tn s chun ha c ch nh trong vector wn. Cc tn s chun ha c th c v bng lnh zgrid(z,wn/Ts) vi tn s l thi gian ly mu. zgrid(z,wn,new) xa mn hnh ha trc khi v t s tt dn v tn s t nhin c ch nh trong vector z v wn. Trng thi hold on c thit lp. zgrid([ ],[ ]) s v ra vng trn n v. d) V d:V li trong mt phng cho qu o nghim ca h thng c hm truyn :
H ( z) = 2 z 2 3.4 z + 1.5 z 2 1.6 s + 0.8
>>num = [2 -3.4 1.5]; >>den = [1 -1.6 0.8]; >>axis(square) >>zgrid(new) >>rlocus(num,den) title(Ve luoi cho quy dao nghiem)
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CC BI TPV QU O NGHIM
V d: Cho hm truyn sau: KGH = >> num = 2; >> den = [1 9 20 0]; >> rlocus(num,den)
k vi k = 2 s(s + 4)(s + 5)
10 8 6 4 Imag Axis 2 0 -2 -4 -6 -8 -10 -7 -6 -5 -4 -3 -2 Real Ax is -1 0 1 2
T th cho ta: 1. im cc: 0 ,-4,-5. 2. Qu o nghim c 3 nhnh. 3. im zero v cng ( ). 4. im tch c xc nh bng cch t ca s MATLAB ta nhp: >> num = 2; >> den = [1 9 20 0]; >> rlocus(num,den); >> rlocfind(num,den) Sau khi nhp lnh th trn ca s lnh s xut hin hng ch: Select a point in the graphics window (hy chn 1 im trn th minh ha).
Trn th s c thc cho ta chn im ko r chut chn im cn chn.
selected_point = -1.4516
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im tch c gi tr: -1.4516 Giao im ca qu o nghim vi trc o (tng t nh tm im tch): +4.472j, -4.472j. T gi tr ti giao im ca qu o nghim vi trc o ta th vo phng trnh c trng: F(s) = s3+9s2+20s+k = 0 F(jw) = -jw3-9w2+20jw+k = 0
kgh = 180
Kt lun: h thng s n nh khi 0 < k < 180 V d: Cho hm truyn nh sau:
Gs = ()
s+4 (s + 1)(s + 2)
Vit theo cu trc sau ta c c th biu din qu o nghim: >> num=[1 4]; >> den=conv([1 1],[1 2]) >> rlocus(num,den) Kt qu nh hnh sau:
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V d : Cho hm truyn sau : KGH = >> num = [1 1]; >>den = [1 0 0]; >> rlocus(num,den)
k(ts + 1) (k = 1, t = 1) s2
1 0.8 0.6 0.4 Imag Ax is 0.2 0 -0.2 -0.4 -0.6 -0.8 -1 -3 -2.5 -2 -1.5 -1 -0.5 Real Ax is 0 0.5 1
1. im cc: 0 2. Qu o nghim c 2 nhnh 3. im zero , -1 4. im tch c c xc nh bng cch t ca s MATLAB ta nhp: num = [1 1]; den = [1 0 0]; rlocus(num,den); rlocfind(num,den) Sau khi nhp lnh th trn ca s lnh s xut hin hng ch: Select a point in the graphics window (hy chn 1 im trn th minh ha).
Trn th s c thc cho ta chn im ko r chut chn im cn chn.
selected_point = -2 im tch c gi tr: -2. Kt lun: h thng bin n nh.
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V d: Trch t trang 5-19 sch Control System Toolbox Bi ny tng hp cc lnh: >> h=tf([4 8.4 30.8 60],[1 4.12 17.4 30.8 60]); >> subplot(221) >> bode(h) >> subplot(222) >> step(h) >> subplot(223) >> pzmap(h) >> subplot(224) >> plot(rand(1,100) >> plot(rand(1,100)) Kt qu ta thu c dng thi sau:
B ode Diagram s P has e (deg); M agnitude (dB )
From: U(1) 20 1.5
S tep Res pons e

From: U(1)
A m plitude
0 -20 100 To: Y (1) 0 -100 10 -1
To: Y (1)
0.5
10 0
10 1
0 0 2 4 6 8 10 12
Frequenc y (rad/s ec ) P ole-z ero m ap 1

4
Tim e (s ec .) bai tong hop
0.8 Im ag A x is
2
0.6
0 -2 -4 -3
0.4 0.2
-2 -1 0 1
50
100
Real A x is
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Phn III
Khi qut v Simulink
1. Khi ng Simulink: khi ng vo Matlab, sau c hai cch vo ca s Simulink Cch 1: vo trc tip Simulink bng cch nhp chut vo biu tng trong menu ca Matlab Cch 2: g lnh Simulink/ Enter () 2. c im ca Simulink Simulink phn bit (khng ph thuc vo th vin con) hai loi khi chc nng: khi o ( virtual) v khi thc (notvirtual). Cc khi thc ng vai tr quyt nh khi chy m phng m hnh Simulink. Vic thm hay bt mt khi thc s thay i c tnh ng hc ca h thng ang c m hnh Simulink m t. C th nu nhiu v d v khi thc nh: khi tch phn Integrator hay khi hm truyn t Tranfer Fcn ca th vin Continuous, khi Sum hay khi Product ca th vin con Math. Ngc li, cc khi o khng c kh nng thay i c tnh ca h thng, chng ch c nhim v thay i din mo ho ca m hnh Simulink. chnh la cc khi nh Mux, Demucx hay Enable thuc th vin con Signal v System. Mt s chc nng mang c tnh o hay thc tu thuc theo v tr hay cch thc s dng chng trong m hnh Simulink, cc m hnh c xp vo loi o c iu kin . 3. Cc thao tc c bn s dng trong Simulink Simulink gn nh ch c th s dng c nh chut. Bng cch nhy kp phm chut tri vo mt trong s cc th vin con thuc ca s th vin chnh Library ta s thu c mt ca s mi c cha cc khi thuc th vin con . Hoc cng c th thu c kt qu tng t bng cch nhy kp chut tri nhnh ca th vin con, nm phn bn phi ca ca s truy cp Library Browser. T cc khi cha trong th vin con ta c th xy dng c lu tn hiu mong mun. to nh dng (Format) v son tho ta c cc kh nng sau y:
Copy (sao chp ): bng cch gp v th Drag &Drop nh phm chut phi ta c th chp mt khi t th vin ( cng c th t mt th vin khc) Move (di chuyn): ta c th d dng di chuyn mt khi trong phm vi ca s ca khi nh phm chut tri. nh du : bng cch nhy phm chut tri vo khi ta co th nh du, la chn tng khi, hoc ko chut nh du nhiu khi mt lc. Delete (xo) : c th xo cc khi v cc ng ni b nh du bng cch gi lnh menu Edit / Clear . Bng menu Eit / Undu hoc t hp phm Ctrl + Z ta c th cu vn li ng tc xo va thc hin. H thng con: bng cch nh du nhiu khi c quan h chc nng, sau gom chng li thng qua menu Edit / Creat Subsystem, ta c th to ra mt h thng con mi. Ni hai khi : dng phm chut tri nhy vo u ra ca mt khi, sau di mi tn ca chut ti u vo cn ni. Sau khi th ngn tay khi phm chut, ng ni t ng c tao ra. C th r nhnh tn hiu bng cch nhy phm chut phi vo mt ng ni c c sn ko ng ni mi xut hin ti u vo cn ni. Di chuyn ng ni: lu tn hiu thong v d theo di, nhiu khi ta phi di chuyn, b tr li v tr cc. Sau khi nh ngn tay khi phm chut, ng ni t dng c to ra
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c th r nhnh tn hiu bng cch nhy phm chut phi vo mt ng ni c sn v ko ng ni mi xut hin ti u vo cn ni.
Di chuyn ng ni: lu tn hiu thong v d theo di, nhiu khi ta phi di chuyn, b tr li cc ng ni. Khi nhy chn bng chut tri ta c th di chuyn tu cc im gc hoc di chuyn song song on thng ca ng ni. Ch th kch c v dng d liu ca tn hiu: lnh chn qua menu Format/ Signal dimensions s hin th kch c ca tn hiu tn hiu i qua ng ni. Lnh menu Format / Port data types ch th thm loi d liu ca tn hiu qua ng ni. nh dng (Format) cho mt khi: sau khi nhy phm chut phi vo mt khi, ca s nh dng khi s m ra. Ti mc Format ta c th la chn kiu v kch c ch, cng nh v tr ca tn khi, c th lt hoc xoay khi. Hai mc Foreground Color v Background Color cho php ta t ch mu bao quanh cng nh mu nn ca khi. nh dng cho ng ni: sau khi nhy phm chut phi vo mt ng ni, ca s nh dng ng(ca c ng dn ti ng ni ) s m ra. Ti y ta c cc lnh cho php ct b, copy hoc delete ng ni Hp i thoi (Dialog Box) v c tnh ca khi (Block Properties): hoc i theo menu ca ca s m phng Edit/Block Properties, hoc chn mc Block Properties ca ca s nh dng khi, ta s thu c hp i thoi cho php t mt vi tham s tng qut v c tnh ca khi. Hp i thoi v c tnh ca tn hiu (Signal properties): c th ti c hp thoi nh Signal properties ca mt ng ni hoc bng cch nhy chut nh du trn ca s m phng, sau i theo menu Edit/ Signal properties, hoc chn mc Signal properties t ca s nh dng ng. Trong hp i thoi ta c th t tn cho ng ni hoc nhp mt on vn bn m t. Tuy nhin, t tn cho ng ni cng cn c cch khc n gin hn: nhy kp phm chut tri vo ng ni ta s t ng ti c ch nhp vn bn.
II. Tn hiu v cc loi d liu 1. Lm vic vi tn hiu i vi Simulink, khi nim tn hiu nhm ch vo d liu xut hin u ra ca cc khi chc nng trong qu trnh m phng: cc d liu chy dc theo ng ni t u ra ca khi chc nng ny ti u vo ca cc khi chc nng khc m khng tn thi gian. Tn hiu trong khun kh Matlab c nhng c im ring do ngi s dng xc nh. Trong Simulink ta phn bit ba loi kch c tn hiu:
Tn hiu n( Scalar). Vector tn hiu: cn c gi l tn hiu 1-D, v kch c ca tn hiu c xc nh theo hai chiu [m x n]. C vector hng [1 x n] v vector ct [m x 1] cng thuc v phm tr ma trn tn hiu. i khi, v d: lc khai bo nh dng, ma trn cng c gi l mng
Khi to mt cu trc Simulink, cc khi o s to nn cc ng tn hiu o, duy nht nhm mc ch lm cho s cu trc ch nn ri mt, ngi s dng d qun l hn. Tn hiu o c th coi l s tp hp hnh nh ca nhiu tn hiu o, khng o, hay hn hp c hai loi. Trong qu trnh m phng, Simulink s dng mt th tc tn Signal properties nhn bit: nhng tn hiu thc no c ghp vo tn hiu o. Din t mt cch khc: nhng khi chc nng no c ghp thc s u cui ca tn hiu
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2. Lm vic vi cc loi s liu Bn cnh cc c im c gii thiu, mi tn hiu thuc s cu trc Simulink u c gn mt loi s liu nht nh, v quyt nh n dung lng b nh dnh cho mt tn hiu. Simulink cng h tr tt c cc loi s liu ca Matlab
Double: chnh xc cao, du phy ng Sigle: chnh xc va, du phy ng Boolean (0 hoc 1, logic, c Simulink s l nh uint8)
Loi s mc nh sn ca Simulink l Double. Trong qu trnh m phng, Simulink s kim tra xem vic o gia cc loi s liu c ng hay khng nhm loi tr cc kt qu sai lm c th xy ra. Kh nng khai bo, xc nh loi s liu ca tn hiu cng nh ca tham s thuc cc khi chc nng trong Simulink l c bit c ngha, nu ta d nh to ra t m hnh Simulink m chy cho cc ng dng thi gian thc. Nhu cu v b nh v tc tnh ton ph thuc vo loi s liu c ta chn
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III. Th vin ca Simulink 1.Th vin Sources Trong th vin ny bao gm cc ngun pht tn hiu, cc khi cho php nhp s liu t mt File, hay t Matlab Workspace. Sau y ta ln lt im qua ngha tng khi. a. Constant: khi ny to nn mt hng s ( khng ph thuc thi gian) thc hoc phc. Hng s c th l vecter hay ma trn. Ta c th khai bo tham s constsnt value l vecter hng hay ct vi kch c [n x 1] hay [1 x n] di dng ma trn b. Step v Ramp: nh hai khi ny ta c th to nn cc tn hiu dng bc thang hay dng dc tuyn tnh dng kch thch cc m hnh Simulink. Trong hp thoi Block Parameters ca khi Step ta c th khai bo gi tr u- gi tr cui v c thi im bt u ca tn hiu bc nhy. i vi Ramp ta c th khai bo dc, thi im m gi tr xut pht ca tn hiu u ra. (Ch : hai khi Step v Ramp khng ch to ra mt tn hiu m c th to ra mt tp cc tn hiu c x l di dng vector hoc ma trn. ) V d:
c. Signal Generator v Pulse Generator Nh Signal Generator ta to ra cc dng tn hiu kch thch khc nhau.
Cung cp cho 4 dng sng khc nhau (ging nh my pht sng) + Sng Sin + Sng vung (Square) + Sng rng ca (Sawtood) + Sng ngu nhin (Random)
Vi Pulse Generator to chui xung hnh ch nht. Bin v tn s c th khai bo ty . i vi Pulse Generator ta cn c kh nng chn t l cho b rng xung( tnh bng phn trm cho c chu k)
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d. Repeating sequence Khi ny cho php ta to nn mt tn hiu tun hon ty . Tham s Time values phi l mt vecter thi gian vi cc gi tr n iu tng. Vecter bin ra Output values phi c kch c (chiu di) ph hp vi chiu di ca tham s Time values.Gi tr ln nht ca vecter thi gian quyt nh chu k lp li ca vecter bin ra.
e. Sine Wave Khi ny c s dng to tn hiu hnh Sin cho c hai loi m hnh: lin tc (tham s Sample time = 0)v gin on (tham s sample time = 1)
Mn hnh ci t thng s cho khi Sine Wave f. From Workspace Khi From Workspace c nhim v ly s liu t ca s Matlab Workspace cung cp cho m hnh Simulink. Cc s liu ly vo phi c dng ca biu thc Matlab, khai bo ti dng Data.
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g. From File Bng khi From File ta c th ly s liu t mt MAT-File c sn. MAT-File c th l kt qu ca mt ln m phng trc , c to nn v ct i nh khi To file trong s Simulink
2. Th vin Sinks Th vin ny bao gm cc khi xut chun ca Simulink. Ngoi kh nng hin th n gin bng s, cn c cc khi dao ng k biu din cc tn hiu ph thuc thi gian hay biu din hai tn hiu trn h ta XY. a. Scope Nh khi Scope ta c th hin th cc tn hiu ca qu trnh m phng. Khi nhn vo nt Properties, hp thoi Scope Properties (c im ca Scope) s m ra. Chn general ta c th t ch cho cc trc. Khi t Number of axes > 1, ca s Scope s c nhiu th con ging tng t nh lnh Subplot ca Matlab. Nu in mt s c th vo time range, th s ch c biu din ti thi im do gi tr ca s xc nh.
Ca s ca Scope sau khi m:
b. XY Graph Khi ny biu din hai tn hiu u vo trn h ta XY di dng ha Matlab u vo th nht (bn trn). ng vi trc X u th hai ng vi trc Y.
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c. To Workspace Khi To Workspace gi s liu u vo ca khi ti mi trng Matlab Workspace di dng mng (Array), Stracture hay Stracture with time v ly chui k t khai ti variable name t tn cho tp s liu c ghi.
d. To File Khi ny gip ta ct tp s liu (mng hay ma trn) u vo ca khi cng vi vct thi gian di dng Mat- File. Array nh dng ging nh nh dng m khi From File cn, v vy s liu do To File ct c th c From File c trc tip m khng cn phi x l g. V d: hai tn hiu hnh Sin v tn hiu hnh rng ca c hin th c lp, ng thi trn h ta XY, c thit lp nh hnh bn.
3. Th vin Math Th vin ny c mt s khi c chc nng ghp ton hc cc tn hiu khc nhau, c nhng khi n gin ch nhm cng hay nhn tn hiu cn c cc hm phc tp nh lng gic v logicSau y ta xt chc nng ca mt s khi quan trng trong th vin ny. a. Sum Tn hiu ra ca khi Sum l tng ca cc tn hiu u vo (V d nh tn hiu u vo l cc tn hiu hnh Sin th tn hiu u ra cng l cc tn hiu hnh Sin). Khi Sum cng c th tnh tng tng phn t( v d tn hiu vo gm hai tn hiu: Sin(x) v [5 9 3] th tn hiu ra s c dng [Sin(x)+5 Sin(x)+9 Sin(x)+3])
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b. Product v Dot Product Kh i Product th c hi n php nhn tng phn t hay nhn ma trn cng nh php chia gia cc tn hiu vo (dng 1-D hay 2- D) ca khi v d: nu mt khi Product c tham s Number of Inputs = */*, vi ba tn hiu vo l 5, sinx v [4 4 5 6] khi y tn hiu u ra c dng [20/Sinx 20/sinx 25/Sinx 30/Sinx]. Khi Dot Product tnh tch v hng ca cc Vector u vo. Gi tr u ra ca khi tng ng vi lnh Matlab y = Sum(conj(u1)*u2). c. Math Function v Trigonometric Function C hai khi ny u c th x l tn hiu 2-D. Khi Math Function c mt lng ln cc hm ton c chun b sn cho php ta la chn theo nhu cu s dng. Cn khi Trigonometric Function c tt c cc hm lng gic quan trng. d. Gain v Slider Gain Khi Gain c tc dng khuych i tn hiu u vo (nh dng 1-D hay 2-D) bng biu thc khai bo ti Gain. Biu thc ch c th l mt bin hay mt s bin. Bin phi tn ti trong mi trng Matlab Workspace th khi y Simulink mi tnh ton c vi bin.
Khi Slider Gain cho php thay i h s khuych i v hng trong qu trnh m phng. 4. Th vin Constinuous a.Integrator Khi Integrator ly tch phn tn hiu u vo ca khi. Gi tr ban u c khai bo hoc trc tip ti hp thoi Block Parameters hoc thng qua chn gi tr Internal ti Initial condition Source sau in gi tr ban u vo dng vit ca Initial condition. u ra ca khi Integrator c th c mt tn hiu bn ngoi lp v mt gi tr ban u bin trng thi ca khi. Bin trng thi ca khi thc cht ng nht v gi tr vi bin u ra nhng vi Simulink tnh hai bin (bin ra v bin trng thi) ti nhng thi im t nhiu c khc nhau. Nu m hnh Simulink cha cc bin trng thi chnh lch nhau v kch c gi tr, khi y nn khai bo tham s Absolute Tolerance ring r thm cho tng khi Integrator ca m hnh, mc d khai bo Absolute Tolerance chung ti hp thoi Simulation Parameters. Vic khai bo thm s buc Simulink bo m ng gi tr sai s yu cu i vi tng khi.
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b. Derivative Khi ny cho php ta tnh o hm tn hiu u vo. Tn hiu tm c u ra c dng u/t vi l bin thin ca i lng cn tnh k t bc tch phn lin trc . Gi tr ca ra ban u l 0
c. Transfer Fcn v Zero-Pole Khi Transfer Fcn cho php c th m hnh ha hm truyn t ca mt h tuyn tnh. Tham s ca khi l cc h s ca a thc t s v mu s, khai bo theo th t s m ca s gim dn. Bc ca mu s phi ln hoc bng bc ca t s. V d: nu nhp cho t s [5 7 3 1] v mu s [6 8 3 2 1] khi s to ra hm truyn t: y (s ) 5 s 3 + 7 s 2 + 3s + 1 W(s) = = 4 u (s ) 6 s + 8s 3 + 3s 2 + 2 s + 1
Khi Zero Pole s to nn t cc tham s Zeros, Poles v Gain mt hm truyn t di dng h s ha theo im khng, im cc.
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d. Transport Delay v Variable Transport Delay Khi Trasnport Delay lm tr tn hiu vo khong thi gian 0 khai bo ti Time Delay trc khi xut ti u ra. Ch n khi thi gian m phng bt u vt qu thi gian tr (so vi lc bt u m phng), khi Transport Delay mi xut gi tr khai ti Initial Input ti u ra.
Bng khi Variable Transport Delay c th iu khin tr tn hiu mt cch rt linh hot: tn hiu cha thi gian tr c a ti u vo th hai (u vo pha di) ca khi. Ti Maxmum Delay ta phi khai mt gi tr tr ti a, c tc dng gii hn (chn trn) gi tr ca tn hiu iu khin thi gian tr.
5. Th vin Tables a. Lookup Table Khi ny to tn hiu ra t tn hiu vo trn c s thng tin ct trong mt bng tra (Vector of input values x Vector of output values). Nu gi tr hin ti ca tn hiu vo trng vi mt gi tr thuc Vector of input values, gi tr tng ng trong bng thuc Vevtor of output values s c a ti u ra. Nu gi tr ca tn hiu vo nm gia hai gi tr thuc Vector of output values, Simulink thc hin ni suy hai gi tr tng ng ca Vector of output values. Nu gi tr ca tn hiu vo b hn / ln hn gi tr u tin / gi tr cui cng ca Vector of input values,
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Simulink s thc hin ngoi suy hai ga tr u tin / cui cng ca Vector of output values. Vector of input values c th l mt Vector hng hay mt Vector ct.
b. Lookup Table (2-D)1 Khi ny cho php to nn mt bng tra hai chiu. Bng tham s Table ta khai bo mt ma trn ct cc tn hiu u ra. Mun tm c gi tr a ti u ra ta cn bit Row tm hng v Column tm ct ca trong gi tr ma trn. Tn hiu t u vo pha trn c so vi Row tn hiu t u vo pha di c so vi Column.
II. p dng Simulink vo thit k v phn tch Trong vic kho st nhng ng dng ta th xy s m phng cho h dao ng l xo khi lng sau:
f k m y
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H l xo khi lng trn c m t bi phng trnh vi phn:
m&&+ ky = f y
m: khi lng; k: cng l xo T ta c s khi sau: f
&& y
& y
Hnh 1: S khi h dao ng Sau ta th xy dng s m phng trong Simulink
Hnh 2. S khi m phng h khi lng l xo
Hnh 3. Dng sng ng ra ca Scope T s thit k ta c th thm vo cc khi kho st h nh: h s cng (gain), thay i dng sng... Trong cc sch bi tp iu khin t ng c cc khi nhng khng bit c p ng ca h nh th no. Vic dng Simulink kho st rt thun tincho vic phn tch bi ton
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Hnh 4. S khi ca mt h di tc ng ca p ng bc
Hnh 5. p ng ca s hnh 2.35 v 2.36 l s ca ng c in v p ng vn tc quay
Hnh 6. S khi ca ng c in
85
Hnh 7. p ng vn tc quay Trong iu khin t ng thn vo khu cc P, PI, PID lm cho h thng hot ng tt v n nh hn. Cc s iu khin v m phng
Hnh 8. H thng iu khin c khu PI
Hnh 9. p ng ti khu bo ha
86
Hnh 2.39. p ng ng ra.
Hnh 10. H thng m phng ca chuyn ng ri qu banh
Hnh 11. Kt qu m phng
87
Hnh 12. S m phng mt khu bc hai
Hnh 13: p ng ca khu bc hai di ng vo l hm dc v bc
Hnh 14. M hnh ng c khng ng b
88
Hnh 2.45. Kt qu m phng
Hnh : S iu khin ng c DC
Hnh 15 : p ng ca ng c vi khu P
89
90

Tieu Luan Matlab Simulink

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Gii thiu chung iu khin t ng ho ng vai tr quan trng trong s pht trin ca khoa hc v k thut.

Vector c cc phn t tip din vi mt bc nht nh , c th nhp mt cch n gin

Khai bo vector v ma trn

Tnh ton vi vector v ma trn

Cu trc (Structure) v trng (Cell Array)

C php Format short Format long

II. CC TON T V K T C BIT

2.. Ton t quan h (Relational Operators):

To n t < > >= <= == -= So snh nh hn. So snh ln hn.

4. K t c bit (Special Characters):

III. CC HM LOGIC (LOGICAL FUNCTION)

IV. NHM LNH LP TRNH TRONG MATLAB

VII. TP LNH THAO TC TRN MA TRN

Map Bone Cool Flag Gray Hot Pink gray + blue

C php Set(gca,XScale,log, Yscale,linear) Set(gca,Xgrid,on,YGrid', nomal) Set(gca,XDir',reverse, YDir,normal) Set(gca,XColor',red, Ycolor,yellow)

Mu Vng ti L Lc Lam Trng en

c) Gii thch: V gi tr x theo gi tr y. d) V d: t = -pi:0.01:pi; polar(t, sin(t)) V ta thu c dng th sau:

C php Set(h,Marker,+) Set(h,LineWidth,1) Set(h,MarkerSize,9) Set(h,color,cyan)

PropertyName Marker LineWidth MarkerSize Color

PropertyValue -, --, :, -. , o, , +, * 1, 2, 3, 1, 2, 3, yellow,magenta, red,green,blue, cyan,white,black

d) V d: a = [1 2 h = plot(a) set(h,color,black) 3 4 5 4 3 4 5 6];

VII. V GIN BODE, NyQuist, Nichols

Gin Bode L() = 20 lgM() = 20 lgK 20lg * Khu bc 2: Hm truyn t G(s) =

Gin Bode L() = -20lg

V gin Bode h thng hi tip n v ca hm truyn vng h sau: G(s) =

Phase (deg); Magnitude (dB)

-50 -100 -150 10

V gin Bode h thng hi tip n v ca hm truyn vng h sau:

G(s) = >> num = 10; >> den = [0.01 0.2 1 0 ];

>> bode(num,den) Kt qu:

10 2 (s + 10) s(s + 1)(s + 100)

Phase (deg); Magnitude (dB)

-100 -120 -140 -160 10

P has e (deg); M agnitude (dB )

-50 To: Y (1) -100

V biu nichols cho h thng c hm truyn sau:

V BIU NYQUYST V KHO ST N NH

(vi k =10, t =1)

Nyqui st Di agram s 5 4 3 2 Imaginary Axis 1 0 -1 -2

-600 -800 -1000 0 2 4 Real Ax i s 6 8 10

-20 -40 -60 -80 10

Kt lun: d tr bin (Gm = 0 dB). d tr pha (Pm = 0).

-50 -100 -150 10

>>num = 10; >> den = [2 3 1 0]; >> nyquist(num,den)

k s(t 1s + 1)(t 2 s + 1)(t 3s + 1)

>> num = 10; >> den = [6 11 6 1 0]; >> nyquist(num,den)

NHM LNH V QU O NGHIM

den = [1 2 3]; pzmap(num,den) title(Bieu do cuc-zero)

vi vector li k c xc nh t ng. Vector num v den ch ra h t s v mu s theo chiu gim dn s ca s hoc z.

10 8 6 4 Imag Axis 2 0 -2 -4 -6 -8 -10 -7 -6 -5 -4 -3 -2 Real Ax is -1 0 1 2

selected_point = -2 im tch c gi tr: -2. Kt lun: h thng bin n nh.

S tep Res pons e

0 -20 100 To: Y (1) 0 -100 10 -1

Frequenc y (rad/s ec ) P ole-z ero m ap 1

Tim e (s ec .) bai tong hop

Ca s ca Scope sau khi m:

H l xo khi lng trn c m t bi phng trnh vi phn:

Hnh 1: S khi h dao ng Sau ta th xy dng s m phng trong Simulink

Hnh 2. S khi m phng h khi lng l xo

Hnh 5. p ng ca s hnh 2.35 v 2.36 l s ca ng c in v p ng vn tc quay

Hnh 8. H thng iu khin c khu PI

Hnh 2.39. p ng ng ra.

Hnh 10. H thng m phng ca chuyn ng ri qu banh

Hnh 11. Kt qu m phng