Co So Dieu Khien Tu Dong

HC VIN CNG NGH BU CHNH VIN THNG
C S
IU KHIN T NG
(Dng cho sinh vin h o to i hc t xa)
Lu hnh ni b
H NI - 2006
HC VIN CNG NGH BU CHNH VIN THNG
C S
IU KHIN T NG
Bin son :
Ths. NG HOI BC
Chng 1. M t ton hc h thng iu khin t ng
LI NI U
Lch s pht trin ca iu khin t ng c ghi nhn t trc cng nguyn, bt u t
ng h nc c phao iu chnh Ktesibios Hy Lp. H iu chnh nhit u tin do Cornelis
Drebble (1572 - 1633) ngi H Lan sng ch. H iu chnh mc u tin l ca Polzunou ngi
Nga (1765) H iu chnh tc c ng dng trong cng nghip u tin l ca Jame Watt
(1769). Th chin ln th hai i hi s pht trin v l thuyt v ng dng c nhng my bay
li t ng, nhng h iu khin v tr ca loi pho, iu khin cc loi v kh khc, iu khin
t ng cc raa v.v Nhng nm 1950, cc phng php ton hc v phn tch pht trin v
a vo ng dng nhanh chng. M thnh hnh hng nghin cu trong min tn s vi cc
cng trnh ng dng ca Bode, Nyquist v Black cc trung tm th nghim in tn. Trong khi
y, Lin X (c) ng tr lnh vc l thuyt v ng dng trong min thi gian.
T nhng nm 1980, my tnh s bt u c s dng rng ri, cho php iu khin vi
chnh xc cao cc i tng khc nhau. Cc phng php ca Liapunou, Minorsky cng nh l
thuyt iu khin ti u hin i ca L.S. Pontryagin (Lin X c), ca R.Belman (M) c
ngha rt ln. Cc nguyn tc iu khin thch nghi, iu khin bn vng, iu khin m, cc h
thng minh v.v ra i v c p dng c hiu qu vo thc tin.
Nhn chung, c s iu khin t ng l mn hc trang b cho sinh vin nhng kin thc c
bn phn tch v tng hp h thng iu khin k thut trong min thi gian v min tn s
bng cng c ton hc. Trong sch hng dn hc tp ny, chng ta tp trung xt cc h thng
trong min lin tc v min ri rc, cp n cc vn c bn nht ca l thuyt h thng iu
khin c ng dng cho k thut. Cc phng php c cp n phn tch v tng hp h
thng l phng php kinh in kho st theo hm truyn t ca h thng v phng php khng
gian trng thi. Ni dung chnh s bao gm 7 chng:
Chng 1: M t ton hc h thng KT lin tc.
Chng II. Cc c tnh ca h thng KT lin tc.
Chng III. Kho st tnh n nh ca h thng KT lin tc.
Chng IV. Kho st cht lng h thng KT lin tc.
Chng V. Tng hp h thng KT lin tc.
Chng VI. M t ton hc h thng KT ri rc.
Chng VII. Phn tch v tng hp h thng KT ri rc.
Ngy nay, cc cng c iu khin u bin i nhanh chng v hon thin, nhng nhng
nguyn l c bn vn khng thay i hoc thay i khng ng k. Cc vn c cp trong
sch hng dn ny da trn cc gio trnh v iu khin t ng trong v ngoi nc nhng
c tm tt v c ng gip hc vin nm c nhng vn c bn nht ca mn hc.
V thi gian c hn, chc cn mt s sai st khng trnh khi, nhm bin son mong nhn
c cc gp ca ngi c hon thin trong cc ln xut bn sau.
Tc gi
CHNG I. M T TON HC H THNG IU KHIN

T NG LIN TC
NI DUNG
1.1 GII THIU CHUNG
Trong mi hot ng ca con ngi, bt c lnh vc no, bt c v tr no u lin quan
n hai t iu khin. Trong khoa hc, tn ti mt ngnh khoa hc v ang pht trin mnh
m, l iu khin hc.
iu khin hc l khoa hc nghin cu v cc qu trnh thu thp, x l tn hiu v iu
khin trong mi lnh vc i sng x hi, khoa hc cng ngh, mi trng... iu khin hc chia
ra lm nhiu lnh vc khc nhau gm iu khin hc ton hc, iu khin hc sinh hc, iu khin
hc k thut...
iu khin hc k thut l khoa hc nghin cu v qu trnh thu thp, x l tn hiu v iu
khin cc qu trnh v h thng thit b k thut. Khi nim iu khin c hiu l tp hp tt c
cc tc ng mang tnh t chc ca mt qu trnh nhm t c mc ch mong mun ca qu
trnh . H thng iu khin m khng c s tham gia trc tip ca con ngi trong qu trnh
iu khin c gi l iu khin t ng.
Chng ny cp n cc vn sau:
+ Khi nim chung v h thng iu khin, phn tch s khi ca mt h thng iu
khin thng thng v cc phn lai cc h thng iu khin.
+ M t ton hc cc h thng iu khin trong min thi gian v trong min tn s. Cc
cch biu din h thng iu khin t ng (KT) v mi quan h gia chng.
1.1.1 S khi h thng iu khin t ng in hnh.
Mt h thng KT gm ba thnh phn c bn l i tng iu khin (Object - O), thit
b iu khin (Controller - C) v thit b o lng (Measuring Device - M).
i tng iu khin l thnh phn tn ti khch quan c tn hiu ra l i lng cn c
iu khin v nhim v c bn ca iu khin l phi tc ng ln u vo ca i tng iu
khin sao cho i lng cn iu khin t c gi tr mong mun. Thit b iu khin l tp hp
tt c cc phn t ca h thng nhm mc ch to ra gi tr iu khin tc ng ln i tng.
Gi tr ny c gi l tc ng iu khin.
i lng cn iu khin cn c gi l i lng ra ca h thng KT. Nhng tc
ng t bn ngoi ln h thng c gi l tc ng nhiu.
C ba phng thc iu khin l phng thc iu khin theo chng trnh, phng thc
b nhiu v phng thc iu khin theo sai lch.
Trong phng thc iu khin theo chng trnh, tn hiu iu khin c pht ra do mt
chng trnh nh sn trong thit b iu khin. Vi phng thc b nhiu, tn hiu iu khin
c hnh thnh khi xut hin nhiu lon tc ng ln h thng, tn hiu iu khin pht ra nhm
b li s tc ng ca nhiu lon gi cho gi tr ra ca i lng cn iu khin khng i. V
vy h b nhiu cn c gi l h bt bin.
4

Trong k thut thng s dng phng thc iu khin theo sai lch, trong tn hiu iu
khin l s sai lch gia gi tr mong mun v gi tr o c ca i lng cn iu khin. S
cu trc ca h iu khin t ng theo sai lch c m t trn hnh 1.1.
f
M
Hnh 1.1. S khi h thng iu khin t ng in hnh
Cc tn hiu tc ng trong h thng:
u : tn hiu vo (input)
y : tn hiu ra (output)
x : tn hiu iu khin tc ng ln i tng (O)
e : sai lch iu khin
f : tn hiu phn hi
H thng KT lun tn ti mt trong hai trng thi l trng thi xc lp (trng thi tnh)
v trng thi qu (trng thi ng). Trng thi xc lp l trng thi m tt c cc i lng ca
h thng u t c gi tr khng i. Trng thi qu l trng thi k t thi im c tc
ng nhiu cho n khi h thng t c trng thi xc lp mi. L thuyt iu khin t ng tp
trung m t v phn tch trng thi qu ca h thng. Trng thi xc lp nh gi chnh xc
ca qu trnh iu khin. Nu trng thi xc lp vn cn tn ti sai lch gia tn hiu ch o v
tn hiu o, gi tr ny c gi l sai lch d (hay sai lch tnh), k hiu l , h thng c gi
l h thng c sai lch d. Nu = 0 th gi l h thng khng c sai lch d.
1.1.2 Phn loi h thng iu khin t ng.
C rt nhiu cch phn loi h thng KT. Mc ch ca phn ny khng phi nhm i
su cc cch phn loi h thng m i su mt cch phn loi chng ta thy c v tr, gii
hn ca phn l thuyt m mnh ang nghin cu. Vi mc ch , h thng KT c phn
lm hai loi chnh, ph thuc vo tnh cht ca cc phn t trong h thng l h thng tuyn tnh
v h thng phi tuyn.
- H tuyn tnh l h thng m tt c cc phn t ca n u l tuyn tnh.
- H phi tuyn l h thng m ch cn mt trong cc phn t ca n l phi tuyn.
Ni dung c bn nht ca l thuyt iu khin t ng l i su nghin cu h tuyn tnh.
c trng c bn nht ca cc phn t tuyn tnh l nguyn l xp chng, ngha l khi c mt t
hp tn hiu tc ng u vo ca phn t th tn hiu ra s bng t hp tng ng ca cc tn
hiu ra thnh phn. H thng phi tuyn khng c tnh cht ny.
5

Da vo tnh cht truyn tn hiu m h thng tuyn tnh li c phn ra lm hai loi l h
thng lin tc tuyn tnh v h thng ri rc tuyn tnh. Cc khi nim lin tc v ri rc y
c hiu theo bin thi gian.
- H thng lin tc tuyn tnh nu tt c cc tn hiu xut hin trong h thng u l
tn hiu lin tc theo thi gian.
- H thng ri rc tuyn tnh nu ch cn mt tn hiu xut hin trong h thng tn
hiu ri rc theo thi gian.
Da vo lng thng tin thu thp c ban u v i tng iu khin v tnh cht ca n
m ta phi xy dng c h thng thit b iu khin thch hp, m bo c cht lng ca
iu khin. Do , h thng lin tc tuyn tnh c phn ra lm hai loi l h iu khin thng
thng v h iu khin t thch nghi.
H thng tuyn tnh c xy dng cho nhng i tng m cc thng tin ban u v
chng kh y . Trong h thng ny, cu trc v tham s ca thit b iu khin l khng i
vi i tng iu khin c th. i vi nhng i tng iu khin m thng tin ban u khng
y hay qu trnh cng ngh c yu cu c bit th h thng tuyn tnh khng p ng c
th phi xy dng h thng thch nghi. i vi h thng thch nghi, ngoi cu trc thng thng,
trong thit b iu khin cn c mt s thit b c bit khc thc hin chc nng ring ca n
nhm m bo cht lng ca qu trnh iu khin.
H thng KT cn c phn ra lm hai loi l h thng h v h thng kn. i vi h
thng h, tn hiu ca i lng cn iu chnh khng c s dng trong qu trnh to ra tc
ng iu khin. H thng kn s dng phng php iu khin theo sai lch. Tn hiu o c
ca i lng cn iu khin c a phn hi tr li u vo h thng v c s dng trong
qu trnh to ra tc ng iu khin.
Vic phn loi cc h thng KT trn y ch l mt cch. Tuy nhin, gia cc loi h thng
ny c lin quan mt thit vi nhau, v d nh trong h tuyn tnh c h lin tc v h ri rc
1.2 CC PHNG PHP M T NG HC H THNG IU KHIN T

NG.
Cc c tnh quan trng ca h thng iu khin t ng bao gm: c tnh tnh, c tnh
ng, cc c tnh thi gian v cc c tnh tn s.
c tnh tnh a ra quan h vo ra ca h th ng trng thi xc lp, n th hin chnh
xc iu khin ca h thng.
c tnh ng ca h thng thng c m t bng hm truyn t. Nu thay p = j
trong cng thc tnh hm truyn t, ta nhn c hm truyn tn s v t y c th kho st c
tnh ng hc ca h thng thng qua c tnh tn s ca n.
1.2.1 M t h thng trong min thi gian
1.2.1.1 Hm truyn t ca h thng
Mi quan h vo ra trong h thng KT thng c biu din thng qua hm truyn t:
Y ( p ) = W ( p ) .U ( p )
6
(1.1)

trong :
Y ( p ) l tn hiu ra ca h thng
U ( p ) l tn hiu vo ca h thng
W ( p ) l hm truyn t ca h thng
nh ngha: Hm truyn t ca h thng l t s gia tn hiu ra v tn hiu vo ca h
thng biu din theo bin i Laplace vi iu kin u trit tiu.
W ( p) =
L { y ( t )}
(1.2)
L {u ( t )}
vi L l bin i Laplace.
Mt h thng iu khin t ng thng c biu din di dng phng trnh vi phn
(PTVP) dng tng qut:
dy
dmu dm1y
du
a0 n + a1 n1 +... + an1 + an y = b0 n +b1 n1 ++bm1 +bmu
dt
dt
dt
dt
dt
dt
dn y
dn1y
(1.3)
trong a 0 an , b0 bm l cc h s v n m
Vi iu kin u trit tiu:
(1)
(n)
y ( 0 ) = y ( 0 ) = ... = y ( 0 ) = 0
(1)
( n)
u ( 0 ) = u ( 0 ) = ... = u ( 0 ) = 0
(1.4)
Bin i Laplace ca (1.3) ta c hm truyn t ca HTKT l:
W ( p) =
Y ( p ) b0 p m + b1 p m1 + ... + bm1 p + bm
=
U ( p ) a0 p n + a1 p n1 + ... + an1 p + an
a0 p n + a1 p n1 + ... + an1 p + an = 0
(1.5)
(1.6)
(1.6) c gi l phng trnh c tnh hay phng trnh c trng (PTT) ca h thng
KT.
Trong biu thc (1.5), cc nghim ca a thc t s c gi l cc im khng (zero), cn
cc nghim ca a thc mu s c gi l cc im cc (pole).
1.2.1.2 Phng trnh trng thi m t h thng
hiu r v cch xy dng phng trnh trng thi, ta hy xt mt mch lc tng t
RLC nh sau:
L
R
U1
U2

T s ny ta c cc phng tr nh m t vo ra h thng nh sau
di 1
U
=
iR
+
L
+
idt
1
dt C
U = 1 idt
2 C
(1)
(2)
Ta thy rng cc trng thi ca mch s ph thuc i v U2. xy dng m hnh ton ta
t:
U2 = x1
i = x2
x1, x2 c gi l bin trng thi, to ra mt khng gian trng thi m t cc trng thi ca
mch in trn. Trong bi ton iu khin t ng ngi ta quan tm n tc bin thin ca
trng thi: x1, x2 (o hm hay vi phn bc 1 ca x1, x2).
1
1

x2
x1 = 0.x1 + .x2 + 0.U1

C
C
1
1
R
R
1
1
(1) x2 = x1 x2 + U1 x2 = x1 x2 + U1
L
L
L
L
L
L
(2) x1 =
Biu din di dng ma trn, ta c:
x1 0
=
1
x 2 L
X
1 x
1
0
C
+ 1 U1
R
x L
L 2
B.U
X = AX + BU
(*)
(*): gi l phng trnh trng thi m t hot ng ca mch RLC trn.

Nh vy thay v ta phi nghin cu t mch in c th, t phng trnh trng thi, di
gc ton hc ta hon ton c th th hin ton b cc hot ng ca mch in vi cc kt qu
tng t nh khi nghin cu trn mch c th.
Vi A, B l cc ma trn trng thi quyt nh vic thay i cc trng thi ca h. Ma trn A
c gi l ma trn chuyn trng thi.
i vi cc h thng phc tp, ta c dng tng qut ca phng trnh trng thi v phng
trnh ra l:
x = f ( x, u , t )
y = g ( x, u , t )
trong : x, x, f : l cc vector n chiu
u : l cc vector r chiu
8
(1.7)
y, g : l cc vector m chiu
Nu h tuyn tnh th (1.7) c vit di dng phng trnh trng thi dng tng qut
m t mt h thng KT bt k nh sau:
x = A ( t ) x + B ( t ) u
y = C ( t ) x + D ( t ) u
(1.8)
(cc h s ca ma trn l hm thay i theo thi gian)

Nu h thng tuyn tnh l dng, tc A, B, C , D l ma trn hng s (khng i theo thi
gian) th ta c h phng trnh trng thi:
x = Ax + Bu
y = Cx + Du
(1.9)
trong :
a11 a12
a
a
A = 21 22
...
...
an1 an 2
... a1n
b11 b12
b
... a2n
b
, B = 21 22
... ...
... ...
... ann
bn1 bn 2
c11 c12
c
c22
C = 21
...
...
cm1 cm 2
c1n
d11 d12
d
... c2n
d 22
, D = 21
...
... ...
...
... cmn
d m1 d m 2
... b1r
... b2r
... ...
... bnr
...
d1r
... d 2 r
... ...
... d mr
...
Sau khi c biu din bi phng trnh trng thi nh (1.8), (1.9) ta s c s cu trc
dng tng qut biu din nh hnh v
D
u (t )
x (t )
B
+
0 (
) d
x (t )
y (t )
A
Hnh 1.2 S cu trc tng qut theo phng trnh trng thi ca h lin tc
1.2.1.3 Thnh lp phng trnh trng thi t hm truyn t cho trc.
* Nu c tnh ng hc ca h thng c m t bng PTVP dng:
9
a0
dn y
dt
+ a1
n
dn1y
dt
n1
+... + an1
dy
+ any = ku
dt
(1.10)
vi u l tc ng u vo ca h thng.
Hm truyn t ca h c dng:
W ( p) =
k
n
a0 p + a1 p
n 1
(1.11)
+ ... + an1 p + an
Gii phng trnh (1.10), ta tm c hm y ( t ) , ngha l bit c s thay i ca tn hiu

ra theo thi gian khi c tc ng u vo. C th chuyn (1.10) thnh n PTVP bc nht bng cch
thay i bin s:
t:
y1 = y
dy
1 = y2 A1 y1
dt
dy
2 = y3 A2 y1
dt
...
dyn1
= yn An1 y1
dt
dyn
dt = ku An y1
Vy ta c phng trnh trng thi m t h thng:
x = Ax + Bu
y = Cx
A1 1 ...
A 0 ...
2
vi A =
... ... ...
An 0 ...
u
yn
k0
An
1 yn
p
0
0
0
0
, B = , C = [1 0 ... 0]
...
...

0
k
yn1
An1
y2
1
p
1 y2
p
A2
Hnh 1.3 S cu trc h thng
10
y1
A1
1
p
y = y1
u (t )
B
+
0 (
) d
y (t )
A
Hnh 1.4 S cu trc trng thi ca h
* Nu c tnh ng hc ca h thng c m t bng PTVP dng:
dy
dmu dm1y
du
dt
dt
dt
dt
dt
dt
dn y
dn1y
(1.12)
th hm truyn t ca h thng c dng:
W ( p) =
B0 p m + B1 p m1 + ... + Bm1 p + Bm
p n + A1 p n1 + ... + An1 p + An
vi Bi = bi a0 , Ai = ai a0 .
t:
y1 = y
dy
1 = y2 A1 y1 + B0u
dt
dy
2 = y3 A2 y1 + B1u
dt
...
dyn1
= yn An1 y1 + Bm1u
dt
dyn
dt = Bmu An y1
Vy ta c phng trnh trng thi m t h thng:
x = Ax + Bu
y = Cx
A1 1 ...
A 0 ...
2
vi A =
... ... ...
An 0 ...
0
B0
B
0
, B = 1 , C = [1 0 ... 0]
...
...

0
Bm
11
(1.13)
Bm1
yn
Bm
yn1 1
p
1 yn
p
An
B0
B1
y2 1
p
y1
A2
An1
1 y = y1
p
A1
u (t )
B
+
0 (
) d
+
+
y (t )
A
Hnh 1.6 S cu trc trng thi ca h
1.2.2 M t h thng trong min tn s
xc nh cc c tnh tn s ca h thng, trc ht phi xc nh hm truyn t ca n,
sau thay p = j vo, ta s nhn c hm truyn tn s t xt cc c tnh tn s ca h
thng.
Thng thng, h thng KT c phn ra thnh h thng h v h thng kn.
Wh ( p )
Wh ( p )
(a)
(b)
Hnh 1.7 S h thng h (a) v h thng kn (b)

Gi Wh ( p ) l hm truyn t ca h h v Wk ( p ) l hm truyn t ca h kn th ta c
mi quan h gia chng l:
Wk ( p ) =
Wh ( p )
1 + Wh ( p )
12
(1.14)

1.2.2.1 Cc c tnh tn s ca h h
Gi s h thng h c m t bi hm truyn t:
Wh ( p ) = W1 ( p ) .W2 ( p ) ...Wn ( p )
(1.15)
Nu hm truyn tn s ca cc phn t c m t di dng:
Wi ( j ) = Ai ( ) .e
ji ( )
(1.16)
th hm truyn tn s ca h h c tnh theo biu thc:
Wh ( j ) =
Ai ( ) .e
j i ( )
i =1
(1.17)
i =1
Cc c tnh tn s ca h h s l:
- c tnh bin tn (BT):
A ( ) =
Ai ( )
(1.18)
i =1
- c tnh pha tn (hay pha tn logarithm PT- PTL)

n
( ) = i ( )
(1.19)
i =1
- c tnh bin tn logarithm (BTL)
L ( ) = 20 lg A ( ) =
20 lg Ai ( ) =
i =1
Li ( )
(1.20)
i =1
Nh vy, c tnh BTL v PTL ca h h bng tng i s ca cc c tnh BTL v PTL

ca cc phn t thnh phn.
1.2.2.2 c tnh tn s ca h kn
Nu hm truyn tn s ca h h c biu din theo cng thc (1.17) th theo (1.14),
(1.18), (1.19), ta c hm truyn tn s ca h kn l:
j
A ( ) e ( )
A ( )
Wk ( j ) =
=
j
j
1 + A ( ) e ( ) e ( ) + A ( )
(1.21)
S dng cng thc Eurler:
j ( )
= cos ( ) j sin ( )
ta c:
13
(1.22)
Wk ( j ) =
A ( )
A ( ) + cos ( ) j sin ( )
(1.23)
Tch phn thc v phn o ta c:
Wk ( j ) =
A ( ) A ( ) + cos ( )
1 + A ( ) + 2 cos ( ) A ( )
2
+j
A ( ) sin ( )
(1.24)
1 + A ( ) + 2 cos ( ) A ( )
2
- c tnh BT ca h kn
Ak ( ) =
A ( )
(1.25)
1 + A ( ) + 2 cos ( ) A ( )
2
- c tnh PT ca h kn:
k ( ) = arctg
sin ( )
A ( ) + cos ( )
(1.26)
Nh vy c th da vo cc cng thc trn xy dng cc c tnh tn s ca h thng

kn.
1.3 CC QUY TC BIN I S KHI

1.3.1 H thng gm cc phn t mc ni tip
Cc phn t c gi l mc ni tip nhau nu tn hiu ra ca phn t trc l tn hiu vo
ca phn t sau. Tn hiu vo ca h thng l tn hiu vo ca phn t u tin v tn hiu ra ca
h thng l tn hiu ra ca phn t cui cng. S ca cc phn t mc ni tip c m t trn
hnh 1.8.
W1
U1
W2
U2
Wn
W1.W2 ...Wn
Hnh 1.8 S h thng gm cc phn t mc ni tip

T hnh 1.8 ta c:
W1 = U1 U
W2 = U 2 U1
Wn = Y U n 1
Vy hm truyn t ca h thng:
W ( p) =
Y
= W1.W2 ...Wn
U
14
(1.27)

1.3.2 H thng gm cc phn t mc song song
H thng c xem l gm cc phn t mc song song nu tn hiu vo ca h thng l tn
hiu vo ca cc phn t thnh phn cn tn hiu ra ca h thng bng tng i s ca cc tn hiu
ta ca tng phn t thnh phn. S h thng gm cc phn t mc song song c m t trn
hnh 1.9.
T hnh 1.9 ta c:
Y1 = W1U
Y2 = W2U
Yn = WnU
Vi Y = Y 1 + Y2 + ... + Yn
Vy hm truyn t ca h thng:
W ( p) =
U1 = U
Y
= W1 + W2 + ... + Wn
U
(1.28)
W1
Y1
U2 = U
Y2
W2
W1 + W2 + ... + Wn
Yn
Un = U
Wn
Hnh 1.9 S h thng gm cc phn t mc song song
1.3.3 H thng c mch mc phn hi (hi tip)

H thng c mch mc phn hi gm hai loi l phn hi m v phn hi dng.
i vi phn hi dng: tn hiu ra ca h thng chnh l tn hiu c a v phn hi cn
trong phn hi m, tn hiu c thm du m.
W1
W1
F +
W2
W2
(a)
(b)
Hnh 1.10 S h thng c mch phn hi m (a) v dng (b)

15

*Xt h thng c phn hi m (hnh 1.10a):
e =U F
Y= W1.e
Z = W2 .Y
Gii ra ta c:
W ( p) =
Y
W1
=
U 1 + W1W2
(1.29)
* Xt h thng c phn hi dng: e = U + F
W ( p) =
Y
W1
=
U 1 W1W2
(1.30)
1.3.4 Chuyn i v tr cc tn hiu

Chuyn i v tr cc tn hiu l cng c chuyn s khi cc mch lin kt phc tp
sang cc mch lin kt n gin nh mc song song, ni tip, hi tip t c th s dng cc
quy lut nu trn nhm xc nh hm truyn t ca h thng. Nguyn tc ca vic chuyn i
l khng lm thay i s truyn tn hiu trong h thng.
1.3.4.1 Chuyn i tn hiu vo
* T trc ra sau mt khi:
U1
U1
U2
U2
(a)
(b)
Hnh 1.11 Chuyn tn hiu vo t trc ra sau mt khi

T hnh 1.11 (a) v (b) ta c: Y = WU1 + WU 2
Vy tn hiu U1 chuyn t trc ra sau mt khi th tn hiu phi i qua mt khi mi c
hm truyn t chnh bng khi .
* T sau ra trc mt khi:
U1
U2
U1
W
(a)
1W
W
U2
(b)
Hnh 1.12 Chuyn tn hiu vo t sau ra trc mt khi

16

T hnh 1.12 (a) v (b) ta c: Y = U1 + WU 2
Vy tn hiu U1 chuyn t sau ra trc mt khi th tn hiu phi i qua mt khi mi c
hm truyn t chnh bng nghch o ca khi .
1.3.4.2 Chuyn i tn hiu ra
* T trc ra sau mt khi:
Y1
U
Y1
1W
U
Y2
Y2
W
(b)
(a)
Hnh 1.13 Chuyn tn hiu ra t trc ra sau mt khi
* T sau ra trc mt khi:
Y1
U
Y1
W
U
Y2
Y2
W
(b)
(a)
Hnh 1.14 Chuyn tn hiu ra t sau ra trc mt khi
1.3.4.3 Cc b cng, im r nhnh lin nhau c th i ch cho nhau
U1
U3
U2
U1
(a)
(b)
Y
U
Z1
U2
U3
U
Z2
Z2
Z1
(b)
(a)
Hnh 1.15 Cc b cng, im r nhnh c th chuyn v tr cho nhau

17

V d 1.1: Xc nh hm truyn t ca h thng c s nh hnh 1.16:
W6
W1
W2
W3
W4
W5
Hnh 1.16
tnh c hm truyn t ca h thng, ta phi chuyn h thng v dng c th p dng
c cc cng thc trong phn 1.3. C nhiu cch thc hin nh:
-
Cch 1: Chuyn A v B (chuyn tn hiu ra t sau ra trc khi W3), sau hon i v tr
ca A v B.
Cch 2: Chuyn B v A (chuyn tn hiu ra t trc ra sau khi W3), sau hon i v tr
ca A v B.
Sau y ta s thc hin theo cch 1, khi ta c h thng tng ng nh trn hnh 1.17.
T hnh 1.17, ta c th tnh hm truyn t ca ba khu W2, W3, W6 v c h thng tng

ng nh hnh 1.18:
W236 =
W2
1 W2 .W3 .W6
W6
W1
W3
W2
W5
Hnh 1.17
18
B
A
W3
W4
W1
W236
W3
W4
W5
Hnh 1.18
T hnh 1.18:
W12356 =
W1.W236
1 + W5.W1.W236
Hm truyn t h ca h thng:
Wh = W12356 .W3 .W4

Hm truyn t kn ca h thng:
Wk =
Wh
1 + Wh
1.4 GRAPH TN HIU

c dng xc nh hm truyn t ca h thng KT vi cc c im sau:
-
Graph l hnh gm cc nhnh v cc nt.
Mi mt nt ca graph c biu din bng mt im v ghi tn mt i lng no

trong h thng iu khin. Nt gc l lng vo, nt ngn l lng ra ca mt khu no
.
Xj
Mt nhnh ni nt gc v nt ngn c mi tn, trn ghi gi tr
hm truyn t tng ng vi mt khu no (hnh 1.19). Hm
Wij
truyn t ca mt nhnh bng t s gia gi tr nt ngn v gi
tr nt gc:
Hnh 1.19
Xi
Wij = X j X i
Tng t nh s cu trc, s lin kt ca cc nhnh ring l to thnh mt graph tn hiu

cho mt h thng iu khin.
* Cc quy tc bin i ca graph:
-
Cc nhnh ni tip:
X1
X2
W1
X3
X2
X1
W1
W1.W2
Hnh 1.20
19

-
Cc nhnh song song:
W1
X1
X2
X1
X2
W1+W2
W2
Hnh 1.21
-
Phn hi dng (m)
W1
X1
W1
1 W1.W2
W2
Hnh 1.22
-
X2
X1
X2
Kh nhnh to vng kn:
W2
X1
X3
X3
X1
W1.W3
1 W2
W1 X2 W1
Hnh 1.23
* S tng quan gia s cu trc h thng v graph tn hiu trong h thng iu khin
Hnh 1.23 l graph tn hiu biu din h thng c s cu trc nh hnh 1.24.
X1
X2
W1
+
W2
Hnh 1.24
Theo hnh 1.23 ta c:
X 2 = W1 X1 + W2 X 2
20
W3
X3
X 3 = W3 X 2
W13 =
Vy:
X 3 W1W3
=
X1 1 W2
Theo hnh 1.24 ta c:
W13 =
X3
WW
1
= W1
W3 = 1 3
X1
1 W2
1 W2
Vy hai s l tng ng vi nhau.
TM TT NI DUNG HC TP CHNG 1
Trong chng ny ta cn nh cc khi nim sau:
+ Mt h thng iu khin t ng bao gm ba thnh phn c bn l i tng iu khin,
thit b iu khin v thit b o lng. Cc h thng iu khin m ta xt y u s dng
phng thc iu khin theo sai lch.
+ c trng c bn nht ca cc phn t tuyn tnh l nguyn l xp chng, ngha l khi c
mt t hp tn hiu tc ng u vo ca phn t th tn hiu ra s bng t hp tng ng ca
cc tn hiu ra thnh phn.
+ C th m t mt h thng iu khin t ng bng hm truyn t, bng phng trnh
trng thi v s cu trc ca h thng s th hin mi lin h gia hai phng php m t ny.
+ Chng ny cng a ra cc nguyn tc bin i s khi nh chuyn i v tr cc tn
hiu vo/ra mt khi; tm hm truyn t tng ng ca cc khu mc ni tip, song song, hi
tip... t , ta tm hm truyn t ca ton h thng.
+ Graph tn hiu cng l mt cch m t h thng, c dng tm hm truyn t ca h
thng. Cc quy tc bin i gia cc nhnh ca n cng tng ng nh cc quy tc bin i
gia cc khi trong s cu trc ca h thng.
BI TP
Bi 1:
S khi ca mt h thng iu khin in hnh?
Bi 2:
Th no l hm truyn t ca h thng?
a. Hm truyn t ca h thng l t s gia tn hiu ra v tn hiu vo ca h thng biu
din theo thi gian.
b. Hm truyn t ca h thng l t s gia tn hiu ra v tn hiu vo ca h thng biu
din theo bin i Laplace vi iu kin u khng i.
c. Hm truyn t ca h thng l t s gia tn hiu ra v tn hiu vo ca h thng biu
din theo bin i Laplace vi iu kin u trit tiu.
21

d. Hm truyn t ca h thng l t s gia tn hiu ra v tn hiu vo ca h thng biu
din theo bin i Laplace vi cc iu kin u khc nhau.
Bi 3:
Nghim a thc mu s ca PTT l:
a. Cc im cc (pole)
b. Cc im khng (zero)
Bi 4:
Xy dng phng trnh trng thi m t h thng lin tc tuyn tnh t PTVP m t qu
trnh ng hc ca h thng dng:
a0
dn y
dt
+ a1
dn1y
dt
n1
+... + an1
dy
+ any = ku
dt
Bi 5:
c tnh tn s ca h thng h?
Bi 6:
c tnh tn s ca h thng kn?
Bi 7:
Cho h thng nh hnh sau:
W1
U1
W2
U2
W3
Hm truyn t ca h thng l:
a. W = W1 + W2 + W3
b. W = W1.W2 .W3
c. W =
W1
W2 + W3
Bi 8:
Khi chuyn tn hiu vo t trc ra sau mt khi th:
a. Tn hiu phi i qua mt khi mi c hm truyn t chnh bng khi .
b. Tn hiu phi i qua mt khi mi c hm truyn t bng nghch o ca khi .
Bi 9:
Khi chuyn tn hiu ra t trc ra sau mt khi th:
22

Bi 10:
Cho h thng nh hnh sau:
U(p)
W1(p)
W2(p)
W3(p)
Tm hm truyn t ca h thng?
Bi 11:
Cho h thng nh hnh sau
Tm hm truyn t ca h thng?
U(p)
Wa(p)
Wb(p)
Wc(p)
Wd(p)
Y(p)
Bi 12:
Xj
Wij
Xi
Graph tn hiu nh hnh trn biu th hm truyn t Wij bng bao nhiu?
a. Wij = X j X i
b. Wij = X i X j
Bi 13:
Hm truyn t ca h thng trong hnh sau s bng:
Wh ( p )
23
Y(p)
a. Wk ( p ) =
Wh ( p )
1 + Wh ( p )
b. Wk ( p ) =
Wh ( p )
1 Wh ( p )
c. Wk ( p ) =
1
1 + Wh ( p )
d. Wk ( p ) =
Wh ( p )
1 + Wh 2 ( p )
Bi 14:
Nghim a thc mu s ca hm truyn t c gi l g?
a. Cc im khng
b. Cc im cc
c. Cc im cc tr
d. Cc im un
24
Chng 2. Cc c tnh ca h thng iu khin t ng lin tc
CHNG II. CC C TNH CA H THNG IU KHIN

T NG LIN TC
NI DUNG
2.1 GII THIU CHUNG
thun tin cho vic nghin cu, h thng KT c phn ra nhng phn nh gi l
cc phn t (hay cc khu) ca h thng. Mi phn t c tc ng ngoi vo gi l tn hiu vo,
k hiu l x , v tn hiu biu hin phn ng ca phn t i vi tc ng u vo gi l tn hiu
ra ca phn t, k hiu l y . M hnh phn t c m t nh hnh 2.1.
Tn hiu vo
x
Phn t
Tn hiu ra
y
Hnh 2.1 M hnh biu din phn t

Mi phn t c hai c tnh c bn l c tnh tnh v c tnh ng. Hai c tnh ny biu
din hai trng thi ca n l trng thi tnh v trng thi ng.
* c tnh tnh ca phn t: l mi lin h gia tn hiu ra v tn hiu vo ca phn t
trng thi xc lp. Da vo c tnh tnh m cc phn t tuyn tnh c chia ra lm bn loi l
phn t nguyn hm, phn t tch phn, phn t vi phn v phn t tr.
-
Phn t nguyn hm: c c tnh tnh c m t bi cng thc:
y = Kx
(2.1)
trong K l h s truyn ca phn t.

-
Phn t tch phn: c c tnh tnh c m t bi cng thc:
y=
1
Ti
x.dt
(2.2)
trong Ti l hng s thi gian tch phn ca phn t.

-
Phn t vi phn: c c tnh tnh c m t bi cng thc:
y = Td
dx
dt
(2.3)
trong Td l hng s thi gian vi phn ca phn t.

-
Phn t tr: c c tnh tnh c m t bi cng thc:
y (t ) = x (t )
(2.4)
25

Tt c cc phn t m c tnh tnh ca n khng c lit vo mt trong bn loi trn th
u thuc phn t phi tuyn.
* c tnh ng hc ca phn t: m t s thay i ca tn hiu ra theo thi gian khi c tc
ng u vo. c tnh ng m t qu trnh ng hc xy ra trong h thng v thng c
biu din bng PTVP dng tng qut:
a0
dn y
dn1y
dt
dt
+ a1
n
+... + an1
n1
dy
dmu dm1y
du
+ an y = b0 n +b1 n1 ++bm1 +bmu
dt
dt
dt
dt
(2.5)
Trong chng ny, ta cng s cp n cc c tnh thi gian, c tnh tn s ca cc phn

t cng nh c im ca cc khu ng hc c bn.
2.2 C TNH THI GIAN CA PHN T

c tnh thi gian ca phn t l s thay i ca phn t theo thi gian khi tc ng u
vo l nhng tn hiu chun. Cc c tnh bao gm hm qu , ng qu , hm qu
xung v ng qu xung.
Cc hm thi gian ny u m t s bin thin ca tn hiu ra khi phn t chuyn t trng
thi cn bng ny sang trng thi cn bng khc do s tc ng ca mt trong cc nhiu chun.
n gin, ta xt trng thi cn bng ban u ca cc phn t l khng ( y ( 0 ) = 0 )
2.2.1 Tn hiu tc ng u vo
* Tn hiu bc thang n v 1( t ) :
0 khi t 0
1( t ) =
1 khi t > 0
(2.6)
* Tn hiu xung n v ( t ) :
(t ) =
0
d
1( t ) =
dt
khi t 0
khi t = 0
(2.7)
Hm ( t ) c tnh cht:
( t ) = 1
(2.8)
(t )
1( t )
1
0
(a)
Hnh 2.2. (a). th hm 1( t )

(b). th hm ( t )
26
(b)

* Tn hiu iu ha:
sin (t + ) hay e jt +
(2.9)
* Tn hiu c dng bt k x ( t ) : c th c m t thng qua hm 1( t ) v ( t )

-
Biu din x ( t ) qua hm 1( t ) : da vo tch phn Duyamen (khi 0 ):
x ( t ) = x ( ) .1( t ) +
-
dx ( )
.1( t ) d
d
(2.10)
Biu din x ( t ) qua hm ( t ) (khi 0 ):
x (t ) =
t +
x ( ) . ( t ) d
(2.11)
2.2.2 Phn ng ca phn t

* Hm qu :
c k hiu l h ( t ) , l phn ng ca phn t khi tn hiu tc ng u vo l hm bc
thang n v 1( t ) .
1
Nu x ( t ) = 1( t ) th L 1( t ) =
p
Mi lin h gia hm truyn t v hm qu ca phn t l:
W ( p) =
L ( h (t ))
L (1( t ) )
= p.L h ( t ) . Vy :
L h ( t ) =
W ( p)
p
(2.12)
* ng qu :
c k hiu l H ( t ) , l phn ng ca phn t khi tn hiu tc ng u vo l nhiu
bc thang c bin bng A dng A.1( t ) . Da vo nguyn l xp chng ca phn t tuyn tnh:
H ( t ) = A.h ( t ) . Vy:
L ( H (t )) =
AW
. ( p)
p
(2.13)
* Hm qu xung (hm trng lng):

c k hiu l k ( t ) , l phn ng ca phn t khi tn hiu tc ng u vo l nhiu
xung n v c k hiu l ( t ) . Mi lin h gia 1( t ) v ( t ) l:
27
( t ) = 1' ( t ) . Vy L ( t ) = 1 . Ta c:
L k ( t ) = W ( p )
(2.14)
* ng qu xung:
c k hiu l K ( t ) , l phn ng ca phn t khi tn hiu tc ng u vo l nhiu
xung n v c bin bng A dng A. ( t ) . Theo tnh cht ca ( t ) ta c th vit:
t
x ( t ) = x ( t ) . ( t ) .d =
0 x ( ) ( t ).d
(2.15)
trong : x ( ) l gi tr hm x ( t ) ti thi im t = .
( t ) l hm xung n v c pht ti thi im t = .

Theo nguyn l xp chng, ta c th xc nh p ng y ( t ) ca phn t:
y (t ) =
0 x ( ) k ( t ) .d
(2.16)
2.3 C TNH TN S CA PHN T

c tnh tn s ca phn t m t mi lin h gia tn hiu ra v tn hiu vo ca phn t
trng thi xc lp khi thay i tn s dao ng iu ha tc ng u vo ca phn t.
Nu u vo ca phn t cho tc ng mt dao ng iu ha dng:
x ( t ) = Av sin (t )
(2.17)
th sau mt thi gian qu , u ra ca n s nhn c mt dao ng iu ha c cng tn

s nhng khc nhau v bin v pha:
y ( t ) = Ar sin (t + )
(2.18)
Nu gi Av = const v thay i th Ar v s thay i. S thay i ca theo

c gi l c tnh pha tn (PT), k hiu l ( ) cn s thay i ca A ( ) = Ar Av theo
c gi l c tnh bin tn (BT).
Nu u vo ca phn t chu tc ng ca dao ng iu ha dng tng qut:
x ( t ) = Av e jt
(2.19)
th trng thi xc lp, u ra ca phn t nhn c dao ng dng:

j t + )
y ( t ) = Ar e (
Ta c:
28
(2.20)
d n x (t )
dt
d n y (t )
dt n
= Av ( j ) .e jt
n
= Ar ( j ) .e
j t + ( )
(2.21)
(2.22)
Thay (2.21) v (2.22) v (2.5):
a .( j)n + a .( j)n1 +... + a . j+ a A e jt+() = b .( j)m +b .( j)m1 +...+b . j+b A e j

n1
n r
m1
m v
1
1
0
0
(2.23)
Vy:
m1
A j b .( j) +b1.( j) +... +bm1. j+bm

W( j) = r e ( ) = 0
n
n1
Av
a0.( j) + a1.( j) +... + an1. j+ an
(2.24)
(2.24) c gi l hm truyn t tn s ca phn t. Vy mun tm hm truyn t tn s

ca phn t, ta ch vic thay bin p = j vo hm truyn t ca n.
Tch ring phn thc, phn o ca t s v mu s trong (2.24) ta c:
R ( ) + jI1 ( )
j
W ( j ) = A ( ) .e ( ) = 1
R2 ( ) + jI 2 ( )
(2.25)
trong : A ( ) = Ar Av : c tnh bin tn ca phn t
R1 ( ) , R2 ( ) : c tnh phn thc ca t s v mu s

I1 ( ) , I 2 ( ) : c tnh phn o ca t s v mu s
Tch phn thc v phn o ca biu thc (2.25) ta c:
R ( ) .R2 ( ) + I1 ( ) .I 2 ( )
R ( ) .I1 ( ) R1 ( ) .I 2 ( )
j
A ( ) .e ( ) = 1
+j 2
2
2
R2 ( ) + I 2 ( )
R22 ( ) + I 22 ( )
R ( ) =
R1 ( ) .R2 ( ) + I1 ( ) .I 2 ( )
(2.26)
(2.27)
R22 ( ) + I 22 ( )
c gi l c tnh phn thc ca phn t
I ( ) =
R2 ( ) .I1 ( ) R1 ( ) .I 2 ( )
(2.28)
R22 ( ) + I 22 ( )
c gi l c tnh phn o ca phn t
R ( ) l hm chn, ngha l R ( ) = R ( ) , cn c tnh phn o l hm l, ngha l

I ( ) = I ( ) .
29
A ( )
BT

( )
PT

I ( )
TBP
=
=
R ( )
=0
Hnh 2.3 Cc c tnh tn s ca phn t

c tnh bin tn ca phn t c xc nh theo biu thc:
A ( ) = R 2 ( ) + I 2 ( )
(2.29)
v c tnh pha tn ca phn t c xc nh theo biu thc:
( ) = arctg
I ( )
R ( )
(2.30)
Cho thay i t n , ta s xy dng c cc c tnh BT, PT. ng thi, trong

h ta R ( ) v I ( ) s xy dng c ng c tnh gi l c tnh tn bin pha (TBP) v
ng c tnh ny i xng qua trc thc. V vy, khi xy dng cc c tnh BT, PT, TBP, ta ch
xt thay i t 0 n . Hnh 2.3 l mt v d v xy dng c tnh tn s ca phn t.
c tnh tn s cn c biu din di dng c tnh tn s logarithm:
Ly logarithm hai v ca (2.25) ta c:
ln W ( j ) = ln A ( ) + j ( )
Hm s ln A ( ) c gi l c tnh bin tn logarithm (BTL) v ( ) c gi l c
tnh pha tn logarithm (PTL) ca phn t.
c tnh BTL thng c o bng decibel (dB). Khi tnh theo decibel, c tnh BTL c
xc nh theo cng thc:
L ( ) = 20 lg A ( )
30
(2.31)

c tnh PTL c tnh theo n v . Khi xy dng cc c tnh logarithm, thun tin,
ly trc honh theo logarithm ca tn s ( lg ) v n v tnh ca n l decade (dec). 1 dec ng
vi tn s tng 10 ln.
2.4 CC KHU NG HC C BN
Mt h thng gm cc phn t ni tip vi nhau theo cc phng thc chung nh ni tip,
song song, hi tip. Tnh cht ca qu trnh qu ton h thng ph thuc vo tnh cht ng
hc ca cc phn t hp thnh. Cc phn t hp thnh thng c phn tch thnh nhng
khu c bn.
Cc khu ng hc c bn l cc phn t ca h thng KT c cc tnh cht sau:
-
Ch c mt tn hiu vo v mt tn hiu ra
Tn hiu ch truyn i mt chiu, ngha l khi c tn hiu vo th c tn hiu ra nhng tn

hiu ra khng nh hng n tn hiu vo.
Qu trnh ng hc ca phn t c biu din bng phng trnh vi phn khng qu bc

hai.
2.4.1 Cc khu nguyn hm

2.4.1.1 Khu khuch i
* Phng trnh vi phn:
y = k .x
(2.32)
trong k l h s khuch i.
Cc phn t c hm truyn t l khu khuch i: cc phn t o lng (sensor, bin tr,
b pht tn hiu cm ng), phn t khuch i (b khuch i in t, bn dn, ion).
* Hm truyn t ca khu: W ( p ) = k
* Cc c tnh thi gian:
-
Hm qu : h ( t ) = k .1( t )
Hm trng lng: k ( t ) = k . ( t )
Cc c tnh thi gian c m t trn hnh 2.4.
h (t )
k . ( t )
k
0
t
0
Hnh 2.4. Cc c tnh thi gian ca khu khuch i
* Cc c tnh tn s:
31
Hm truyn tn s: W ( j ) = k
c tnh BT: A ( ) = k
c tnh PT: ( ) = 0
c tnh BTL: L ( ) = 20.lg k

Cc c tnh tn s c m t trn hnh 2.5.
A ( )
( )
BT
I ( )
0
PT
L ( )
BTL
TBP
R ( )
20.lg k
lg
Hnh 2.5 Cc c tnh tn s ca khu khuch i

Nhn xt: Khu khuych i ch lm khuych i tn hiu ln k ln, tn hiu vo v ra ca
khu khuych i l cng pha vi nhau.
2.4.1.2 Khu qun tnh bc nht
* Phng trnh vi phn: T .
dy
+ y = kx
dt
trong k l h s truyn v T l hng s thi gian ca khu.

Cc phn t thuc khu qun tnh bc nht: khuch i t, my pht in mt chiu, mch
in R-C, L-R, l in tr, ng c in khng ng b hai pha v ba pha nu lng ra l tc
quay
* Hm truyn t ca khu: W ( p ) =
k
Tp + 1

-
Hm qu : Hm h ( t ) nhn c do gii PTVP T
dh ( t )
+ h ( t ) = k vi iu kin
dt
h ( 0 ) = 0 v h ( ) = k , ta c:
h ( t ) = k 1 e t vi = 1 T
-
Hm trng lng: k ( t ) = h ' ( t ) = .k .e t
32
h (t )
k (t )
k
t
Hnh 2.6 c tnh thi gian ca khu qun tnh bc 1

* Cc c tnh tn s:
-
Hm truyn tn s:
W ( j ) =
k
Tj + 1
(T )
+1
kT
(T )2 + 1
= R ( ) + jI ( )
c tnh BT: A ( ) = R 2 ( ) + I 2 ( ) =
c tnh PT: ( ) = arctg
c tnh TBP: T mi lin h A2 ( ) = R 2 ( ) + I 2 ( ) , qua mt s php bin i ta tm
(T )2 + 1
I ( )
= arctg (T )
R ( )
c:
2
k
2
R ( ) + I ( ) =
2
y chnh l phng trnh ng trn c tm ( k 2; 0 ) v bn knh bng k 2 . Nu ly
thay i t 0 n n l na ng trn nm gc phn t th IV.

-
c tnh BTL:
L ( ) = 20.lg A ( ) = 20.lg k 20.lg
(T )2 + 1
V chnh xc th L ( ) l mt ng cong nhng ta c th v gn ng bng cch tuyn

tnh ha tng on:
+ Khi << 1 T , L ( ) 20.lg k
+ Khi >> 1 T , L ( ) 20.lg k 20.lg T 20.lg
t c = 1 T , c gi l tn s ct, ta c c tnh tn s ca khu qun tnh bc 1 nh
hnh 2.7.
33
A ( )
( )
BT
I ( )
PT
L ( )
TBP
=0
0 =
BTL
20.lgK
-20dB/dec
R ( )
0
lg c
lg
Hnh 2.7 c tnh tn s ca khu qun tnh bc 1.

Nhn xt:
+ Hm qu h(t) ca khu qun tnh bc 1 cho ta thy, khu qun tnh bc 1 khng t
ngay gi tr k m tin t t n gi tr k theo quy lut hm m (v th khu qun tnh bc 1 cn
c gi l khu phi chu k). Nh vy, qu trnh tch lu nng lng v gii phng nng lng
khng xy ra ng thi, gy ra hin tng qun tnh.
+ Hm trng lng k(t) ca khu qun tnh bc 1 cho ta thy, khi hm qu h(t) t gi tr
xc lp hm trng lng k(t) s gim v 0, c ngha l lc ny khu qun tnh bc 1 c gii
phng sc qun tnh.
+ c tnh BT A() cho ta thy, khu qun tnh bc 1 khng lm vic c vi tn hiu cao
tn (c tnh A() ging nh b lc thng thp)
+ c tnh PT ( ) cho ta thy tn hiu ra ca khu qun tnh bc 1 lun chm pha so vi
tn hiu vo mt gc t 0 n /2, ngha l khu qun tnh bc 1 c tc ng chm.
2.4.1.3 Khu bc hai (khu dao ng)
* Phng trnh vi phn:
T 2.
d2y
dt 2
+ 2. .T .
dy
+ y = k .x
dt
(2.33)
trong : T : hng s
: h s truyn
: h s ( < 1)
Cc phn t thuc khu dao ng: mch in R-L-C, ng c in mt chiu kch t c
lp lng vo l in p phn ng, lng ra l tc quay; h c hc n hi; con quay hi
chuyn trong b phn li my bay
* Hm truyn t ca khu:
Chuyn PTVP sang dng ton t p , ta c:
34
(T 2 . p2 + 2. .T . p + 1) .Y ( p ) = k.X ( p )
(2.34)
Y ( p)
k
= 2 2
X ( p ) T . p + 2. .T . p + 1
(2.35)
Vy hm truyn t l:
W ( p) =
-
Hm qu :
Phng trnh c trng ca khu dao ng:
T 2 . p 2 + 2. .T . p + 1 = 0
Phng trnh c hai nghim phc lin hp l: p1,2 =
(2.36)
1 2
= j
T
k
1
h ( t ) = L1 2 2
.
T . p + 2. .T . p + 1 p
(2.37)
= k .1( t ) . 1 e t cos t + sin t
trong : = .0 ; = 1 2 .0 ; 0 =
-
1
T
Hm trng lng:
(t ) =
dh ( t ) k .02
=
.1( t ) .e t .sin t
dt
(2.38)
Hnh 2.8 m t cc c tnh thi gian ca khu dao ng.
k (t )
h (t )
A1
A2
k 1 + e t
A1
k
0
k 1 e t
A2
T1
T1
Hnh 2.8 Cc c tnh thi gian ca khu dao ng
T th ca h ( t ) ta xc nh c cc tham s: k , A1 , A2 v T . T tnh ra:
35
= T
1
1
A
= .ln 1
T1
A2
0 = 2 + 2 = 1
T
= .T
(2.39)
* c tnh tn s:
-
Hm truyn tn s:
W ( j ) =
-
k
2
T . + 2 .T . j + 1
c tnh BT:
A ( ) =
(1 .T )
2
2 2
(2.41)
2
+ 4. . .T
c tnh PT:
( ) = arctg
mn
-
(2.40)
2. ..T
(2.42)
1 2 .T 2
c tnh BTL:
L ( ) = 20.lg A ( ) = 20.lg k = 20.lg
(1 2.T 2 )
+ 4. 2 . 2 .T 2
Hnh 2.9 m t cc c tnh tn s ca khu dao ng.

L ( )
jQ ( )
20.lg k
=0
0
=
P ( )
k
c
2
Nhn xt:
(2.43)
lg
-40 dB/dec
Hnh 2.9 c tnh tn s ca khu dao ng
+ Hm qu h(t) ca khu qun tnh bc 1 cho ta thy, khu qun tnh bc 1 khng t
ngay gi tr k m dao ng tin n gi tr k. Mun h dao ng, trong h phi c b tch ng
nng v mt b tch th nng, v d trong mch R-L-C th C tch th nng cn L tch ng nng.
+ Hm trng lng k(t) ca khu dao ng cho ta thy, khi hm qu h(t) t gi tr xc
lp hm trng lng k(t) s gim v 0, c ngha l lc ny khu dao ng c gii phng sc
qun tnh.
36

+ c tnh BT A() cho ta thy, khu dao ng cng khng lm vic c vi tn hiu cao
tn v t gi tr Amax() ti
+ c tnh PT ( ) cho ta thy tn hiu ra ca khu dao ng cng lun chm pha so vi
tn hiu vo tc l khu dao ng c tc ng chm.
2.4.2 Khu tch phn (khu phi tnh)
* Phng trnh vi phn: y = k x.dt

trong T = 1 k l hng s thi gian tch phn
* Hm truyn t ca khu: W ( p ) =
1
Tp
Hm qu : h ( t ) = k . 1( t ) .dt = kt
Hm trng lng: k ( t ) = h ' ( t ) = k

Hnh 2.10 m t cc c tnh thi gian ca khu tch phn.
h (t )
k (t )
tg = k
0
Hnh 2.10 Cc c tnh thi gian ca khu tch phn
* Cc c tnh tn s:
A ( )
BT
0 =
R ( )
=0
( )
TBP
I ( )
L ( )
PT
20.lg T
Hnh 2.11 Cc c tnh tn s ca khu tch phn

37
BTL
lg
20dB/dec
1
1
=j
T . j
T
Hm truyn tn s: W ( j ) =
c tnh BT: A ( ) =
c tnh PT: ( ) = 2
c tnh BTL: L ( ) = 20.lg A ( ) = 20.lg T
1
T
Hnh 2.11 m t cc c tnh tn s ca khu tch phn.

Nhn xt:
+ Hm qu h(t), hm trng lng k(t) ca h thng ca tch phn cho ta thy, khu tch
phn c tnh cht c nh. Ngha l, khu tch phn s gi nguyn trng thi ti thi im dng tc
ng u vo.
+ c tnh PT ca khu tch phn bc n l tn hiu ra lun chm pha so vi tn hiu vo mt
gc bng 2 .
2.4.3 Khu vi phn
* Phng trnh vi phn: y = T
dx
dt
trong T l hng s thi gian vi phn

* Hm truyn t ca khu: W ( p ) = Tp
-
Hm qu : h ( t ) = T .1' ( t ) = T . ( t )
Hm trng lng: k ( t ) = h ' ( t ) = T . ' ( t )

Hnh 2.12 m t cc c tnh thi gian ca khu vi phn.
h (t )
k (t )
T . ( t )
T . ' ( t )
Hnh 2.12. Cc c tnh thi gian ca khu vi phn

* Cc c tnh tn s:
-
Hm truyn tn s: W ( j ) = T . j
38
c tnh BT: A ( ) = T
c tnh PT: ( ) = 2
c tnh BTL: L ( ) = 20.lg A ( ) = 20.lg T

Hnh 2.13 m t cc c tnh tn s ca khu vi phn.
A ( )
TBP
I ( )
BT
( )
PT
R ( )
=0
L ( )
BTL
20.lgT
20dB/dec
lg
Hnh 2.13 Cc c tnh tn s ca khu vi phn
Nhn xt:
+ Cc c tnh qu h(t) v trng lng k(t) ca khu vi phn cho thy khu vi phn c xu
hng mt n nh.
+ Khu vi phn c tn hiu ra ca khu vi phn lun sm pha hn tn hiu vo mt gc bng
2 , y l c tnh ni bt ca khu vi phn khin cho h thng tc ng nhanh.
2.4.4 Khu tr
* Phng trnh vi phn: y ( t ) = x ( t )
-
Hm qu : h ( t ) = 1( t )
Hm trng lng: k ( t ) = h ' ( t ) = ( t )

Hnh 2.14 m t cc c tnh thi gian ca khu tr.
39
h (t )
1
0
k (t )
1( t )
(t )
Hnh 2.14. Cc c tnh thi gian ca khu tr

* Cc c tnh tn s
j t
Nu tn hiu vo c dng: x ( t ) = A.e jt th tn hiu ra s c dng y ( t ) = A.e ( )
Hm truyn tn s: W ( j ) = e j.
c tnh BT: A ( ) = 1
c tnh PT: ( ) =
c tnh BTL: L ( ) = 20.lg A ( ) = 0
Hnh 2.15 m t cc c tnh tn s ca khu tch phn.
A ( )
-1
( )
0
TBP
I ( ) 1
BT
R ( )
-1
L ( )
PT
BTL
lg
Hnh 2.15 Cc c tnh tn s ca khu tr

Nhn xt:
+ Ta thy rng khu tr khng lm bin i hnh trng tn hiu nhng khu tr lun c tn
hiu ra chm pha so vi tn hiu vo.
40
TNG KT CC KHU NG HC C BN.

Sau khi nghin cu cc khu c bn trn ta thy rng:
+ Khu khuch i, khu qun tnh bc 1, khu dao ng lun a h thng n gi tr k
trng thi xc lp.
+ Khu khuych i c tn hiu ra trng pha tn hiu vo. Khu tch phn, khu qun tnh
bc 1, khu dao ng, khu tr l cc khu c tn hiu ra chm pha hn so vi tn hiu vo. Ch c
duy nht khu vi phn l tn hiu ra nhanh pha hn so vi tn hiu vo. Chnh v c im ny nn
khu vi phn thng dng cho cc c cu yu cu tc ng nhanh.
+ Cc c tnh bin tn s logarith BTL c nhng c im theo bc n ca PTT nh
sau:
n=0
dc 0db/dec
n=1
dc 20 db/dec
n=2
dc 40 db/dec
Du + cho bit tn hiu ra nhanh pha hn so vi tn hiu vo.

Du - cho bit tn hiu ra chm pha hn so vi tn hiu vo.
Cc vn cn quan tm chng ny bao gm:
+ Cc c tnh thi gian ca phn t
+ Cc c tnh tn s ca phn t
+ Cc khu ng hc c bn:
o Khu khuych i.
o Khu qun tnh bc 1.
o Khu dao ng.
o Khu tch phn.
o Khu vi phn.
o Khu tr.
BI TP
Bi 1.
Hm qu ca mt khu l p ng ca khu khi tn hiu vo l nhiu c dng:
a. ( t )
b.
A. ( t )
c. 1( t )
41
d.
A.1( t )
Bi 2.
Hm trng lng ca mt khu l p ng ca khu khi tn hiu vo l nhiu c dng:
a. ( t )
b.
A. ( t )
c. 1( t )
d.
A.1( t )
Bi 3.
Khi xt cc c tnh tn s ca mt khu, ta cn xt cc c tnh no?
a. BT, PT
b. TBP
c. BTL
d. C bn c tnh trn
Bi 4.
Nu cc c im ca cc khu ng hc c bn?
Bi 5.
S khc nhau c bn gia khu tch phn v khu vi phn?
Bi 6.
Ti sao khi xy dng cc c tnh tn s, ta ch cn xt s thay i ca t 0 n .
Bi 7.
Mun tm hm truyn t tn s ca mt khu hay mt h thng, ta thay p bng g vo
hm truyn t ca n?
a.
p =
b.
p =
c.
p = j
d.
p = j
Bi 8.
Ti sao c tnh TBP ca khu tr li l ng trn c bn knh bng 1?
Bi 9.
Nu hm truyn t ca phn t c biu din di dng: W ( j ) = R ( ) + jI ( ) th
c tnh bin tn ca phn t c xc nh theo cng thc no sau y?

42
a.
A ( ) = R 2 ( ) I 2 ( )
b.
A ( ) = R ( ) + I ( )
c.
A ( ) = R 2 ( ) + I 2 ( )
d.
A ( ) = R ( ) I ( )
Bi 10.
Trong khu khuch i, mi quan h v pha gia tn hiu vo v tn hiu ra l?
a. Tn hiu vo chm pha hn so vi tn hiu ra mt gc l 2

b. Hai tn hiu vo v ra l ng pha vi nhau
c. Tn hiu vo sm pha hn so vi tn hiu ra
d. Tn hiu vo sm pha hn so vi tn hiu ra mt gc l
Bi 11.
Nu R ( ) l hm chn v I ( ) l hm l th ( ) l hm chn?
a. ng
b. Sai
Bi 12.
Cho h thng c hm truyn t h dng:
Wh ( p ) =
Cho bit h h gm nhng khu c bn no?
43
10 p + 4
8 p3 + 5 p 2
Chng 3. Kho st tnh n nh ca h thng iu khin t ng lin tc
CHNG III. KHO ST TNH N NH CA H THNG

IU KHIN T NG LIN TC
NI DUNG
3.1 GII THIU CHUNG
Chng 1 v 2 trnh by m t ton hc v cc c tnh ca h thng KT lin tc.
Trong chng ny s s dng kin thc trong hai chng trc gii quyt nhim v u tin
khi phn tch h thng KT, l tnh n nh ca n. H thng mun s dng c th trc
ht n phi n nh.
H thng KT c gi l n nh nu sau khi b ph v trng thi cn bng do tc ng
ca nhiu, n s t iu chnh tr li trng thi cn bng. Nu n khng tr li trng thi cn
bng m tn hiu ra tin ti v cng th h thng s khng n nh. Trng thi trung gian gia n
nh v khng n nh c gi l bin gii n nh, khi tn hiu ra ca h thng dao ng vi
bin khng i.
Trong chng ny s trnh by iu kin mt h thng KT n nh; cc tiu chun
i s v tn s thng dng xt tnh n nh ca h thng c thng s bt bin; phng php
qu o nghim s dng xt tnh n nh cho h thng c thng s bt bin v khi nim d
tr n nh ca h thng.
3.2 IU KIN N NH CA H THNG

Vy iu kin n nh ca h thng l lim e ( t ) 0 (hoc mt gi tr c nh) .
t
H thng s khng n nh nu lim e ( t ) .

t
H thng s bin gii n nh nu lim e ( t ) dao ng c bin khng i.

t
Kho st tnh n nh ca h thng chnh l kho st h thng 2 qu trnh: qu v xc

lp. Ta thy rng qu trnh xc lp, h thng lun n nh.
Xt s n nh ca h thng ch yu l kho st h thng qu trnh qu .
Mt h thng tuyn tnh lin tc c gi l n nh nu qu trnh qu ca n tt dn
theo thi gian, khng n nh nu qu trnh qu ca n tng dn theo thi gian v bin gii
n nh nu qu trnh qu ca n dao ng vi bin khng i hoc bng hng s. Hnh 3.1
m t 5 trng thi qu ca h thng KT.
44
yqd (t)
(4)
(1)
(1): H thng n nh v khng dao ng.
(2)
(2): H thng n nh v dao ng.

(3): H thng khng n nh v khng dao ng.
(4): H thng khng n nh v dao ng.
(5): H thng dao ng vi bin khng i

(bin gii n nh).
(5)
(3)
Hnh 3 1
bit h thng KT c n nh hay khng, ta phi gii PTVP m t qu trnh ng hc
ca n. Dng tng qut:
a0
dn y
dtn
+ a1
dn1y
dt
+... + an1
n1
dy
dmu dm1y
du
+ an y = b0 n +b1 n1 ++bm1 +bmu
dt
dt
dt
dt
(3.1)
Nghim ca PTVP ny gm hai phn: y ( t ) = yqd ( t ) + y0 ( t )

Vi:
yqd ( t ) l nghim tng qut ca (3.1), c trng cho qu trnh qu
y0 ( t ) l nghim ring ca (3.1), c trng cho qu trnh xc lp.
yqd ( t ) c c bng cch gii PTVP ng nht:

a0
dn y
dt
+ a1
dn1y
dt
n1
+... + an1
dy
+ an y = 0
dt
(3.2)
Nghim ring ph thuc tc ng u vo, nu tc ng u vo c nh th y0 ( t ) cng c

nh, nh vy n khng nh hng n tnh n nh ca h thng.
Tnh n nh ca h thng c phn nh qua nghim tng qut, nghim ny hon ton
khng chu nh hng ca tc ng bn ngoi, vy tnh n nh l tnh cht bn trong ca h
thng, l bn cht ca h thng.
xc nh yqd ( t ) ta phi tm nghim ca PTT:
a0 p n + a1 p n1 + ... + an1 p + an = 0
(3.3)
Nghim tng qut ca yqd ( t ) l:
yqd ( t ) =
ci e p t
i
i =1
trong ci l cc hng s. Nghim pi c th tn ti mt trong cc dng sau:

45
(3.4)

+ Nghim thc: pi = i
+ Nghim phc: pi = i ji
+ Nghim thun o:
pi = ji
*nh hng ca cc loi nghim n tnh cht ca h thng:

Khi nghim ca PTT l nghim thc (h
khng dao ng):
i t 0
lim e
khi
khi
i < 0
i > 0
nghim
n
nh
Cn khi n l nghim phc (h dao ng):
lim e(
i + ji )t 0
khi
khi
ji
i < 0
i > 0
nghim
khng n
x nh
x
x
x x
x
x
x
bin gii
n nh
Hnh 3.2. Phn vng trn mt

phng phn b nghim s
Nu l nghim thun o th:
lim eit dao ng vi bin khng i.

t
Nh vy:
- h thng KT n nh ( lim yqd 0 khi t ) nu tt c cc nghim ca PTT c
phn thc m (cc nghim nm na bn tri mt phng phc).
- h thng KT khng n nh ( lim yqd khi t ) nu PTT ch cn c mt
nghim c phn thc dng (nghim nm na bn phi mt phng phc).
- h thng KT s nm bin gii n nh nu PTT ch cn c 1 nghim c phn thc =
0 v cc nghim cn li c phn thc <0 (c 1 nghim nm trn trc o, cc nghim cn li nm
trn mt tri mt phng phc).
3.3 CC TIU CHUN N NH I S

Khi khng th xc nh c nghim s ca PTT xt tnh n nh ca h thng theo
phng php trn, ngi ta dng cc tiu chun n nh i s v tn s.
3.3.1 iu kin cn.
iu kin cn thit mt h thng iu khin tuyn tnh n nh l cc h s ca phng
trnh c trng dng. Khi khng tn ti iu kin cn th h thng c lit vo loi c cu trc
khng n nh, v lc ta phi thay i cu trc ca n.
V d 3.1 : H thng KT c phng trnh c trng:
0.2 p3 + 3 p 2 + 0.1 p + 5 = 0
c cc h s ai > 0 nn h c th n nh. (Mun bit h c n nh hay khng th cn phi
xt c iu kin ).
46

3.3.2 Tiu chun Routh (1875).
* Pht biu: iu kin cn v h thng tuyn tnh n nh l tt c cc s hng trong
ct th nht ca bng Routh dng.
* Bng Routh:
Gi s h thng c phng trnh c trng bc n :
a0 p n + a1 p n1 + + an1 p + an = 0
(3.5)
Sp xp cc hng ca bng Routh:

a0
a1
b0
b1
z0
z1
a2
a3
b2
b3
a4
a5
b4
b5
a6
a7
b6
b7
...
...
...
...
Cch tnh cc h s ca bng Routh:
b0 =
b1 =
a0
a2
a1
a3
a1
a3
b0
b2
b2 =
b3 =
a0
a4
a1
a5
a1
a5
b0
* Cch lp bng:
+ Dng u tin ca bng Routh ghi cc s hng c ch s chn, dng th hai ghi cc s
hng c ch s l.
+ Mi s hng trong mt hng ca bng Routh l mt s m c gi tr l mt nh thc bc
hai vi ct th nht l ct th nht ca hai hng ngay st trn hng c s hng ang tnh; ct th
hai l hai hng ngay st trn v nm bn phi hng c s hng ang tnh.
+ Bng Routh s kt thc khi no dng cui cng ch cn mt s hng.
* Tnh cht ca bng Routh:
- C th nhn hoc chia cc s hng trn cng mt hng ca bng Routh vi mt s dng
th kt qu tnh ton vn khng thay i.
- S ln i du ca cc s hng trong ct u tin ca bng Routh bng s nghim ca
phng trnh c trng c phn thc dng.
- Nu ct u tin ca bng c mt s hng bng khng th h cng khng n nh.
* ng dng:
- Tiu chun ny c s dng xt n nh cho c h h v kn.
V d 3.2: Xt tnh n nh ca h thng c phng trnh c trng:
12 p 5 + 6 p 4 + 18 p3 + 6 p 2 + 6 p + 1 = 0
* iu kin cn:
Ta nhn thy ai , (i = 0 5)> 0 nn tho mn iu kin cn h n nh.
47

* iu kin :
- Lp bng Routh:
12 18 6
6 6 1
b0 b2
b1 b3
2 3 1
6 6 1
b0 b2
b1 b3
hay
c0
c1
c0
c1
(v cc s hng thuc hng 1 ca bng Routh u chia ht cho 6).

Ta c:
b0 =
2 3
=6,
6 6
c0 =
6 4
= 12 ,
12 6
b2 =
2 1
6 6
= 4 , b1 =
= 12 ,
6 1
6 4
c1 =
b3 =
6 1
=6
6 0
12 6
= 72
12 0
Ta nhn thy cc s hng thuc ct u tin ca bng Routh u dng nn tho mn iu kin n
nh. Vy h thng cho l n nh.
V d 3.3: Cho h thng c i tng iu khin:
W0 ( p ) =
1
3
p +5p +8p + 4
B iu khin c hm truyn t: WC ( p ) = K P + K D p (B PD)

Tm khong hiu chnh cc tham s ca b iu khin (Thc cht, y l bi ton tm iu
kin h n nh).
Gii:
Bc1: Tm a thc c trng ca h thng kn A(p) :
Hm truyn t ca h thng h:
Wh ( p ) = W0 ( p ).WC ( p ) =
1
3
p +5p +8p + 4
.( K P + K D p )
Hm truyn t ca h thng kn:

Wh ( p)
KP + KD p
= 3
Wk ( p) =
2
1 + Wh ( p ) p + 5 p + (8 + K D ) p + (4 + K P )
Phng trnh c trng ca h thng kn l:
A( p ) = p3 + 5 p 2 + (8 + K D ) p + (4 + K P ) = 0
48

u
WC(p)
W0(p)
Hnh 3.3 Biu din h thng s trong v d 3.3

Bc 2: Xt n nh:
* iu kin cn: Cc h s ai (i = 0 3) > 0
K >8
8 + K D > 0
D

4 + K P > 0
K P > 4
KD 0
Trn thc t,
. Nu K D = 0 , ta c b iu khin P (t l).
KP > 0
* iu kin : Xt n nh theo tiu chun Routh:
- Lp bng Routh:
1 8 + KD
5 4 + KP
b0
b1
Ta c: b0 =
5
1 8 + KD
= 36 + 5K D K p , b1 =
5 4+ Kp
b0
4+ Kp
0
= (4 + K p )b0
iu kin n nh:
b0 > 0
36 + 5 K D K p > 0
K p < 36 + 5 K D
b1 > 0
4 + K p > 0
K p > 4
Kt hp vi iu kin cn, ta c iu kin h n nh l:
KD 0
KP > 0
K < 36 + 5 K
D
P
Vy min n nh l vng gch cho trn hnh v 3.4.
KP
K p = 36 + 5 K D
36
Min n nh
-36/5
KD
Hnh 3.4 Bi u din min n nh trong v d 3.3
49
3.3.3 Tiu chun Hurwitz (1895).

* Pht biu: iu kin cn v h thng tuyn tnh n nh l h s a0 > 0 v cc nh
thc Hurwitz dng.
* Cch lp nh thc Hurwitz:
Gi s h thng c phng trnh c trng bc n :
A( p ) = a0 p n + a1 p n1 + + an 1 p + an = 0
a1
a3
a5
a0
a2
a4
n = 0
a1
a3
(3.6)
nh thc Hurwitz bc n :
ng cho chnh ca n bt u t a1 n an . Trong
cng mt ct, cc s hng trn s hng thuc ng cho
chnh c ch s tng dn; cc s hng di s hng thuc
ng cho chnh c ch s gim dn. Nu ch s ln hn n
hoc nh hn 0 th ghi 0. C tt c n nh thc Hurwitz t bc
1 n bc n .
* ng dng:
- Tiu chun ny thng dng cho h thng c phng trnh c trng bc thp ( n < 4 ).
- Tiu chun ny cng c dng xt n nh cho c h h v kn.
V d 3.4: Xt n nh ca h thng c phng trnh c trng bc 2:
a0 p 2 + a1 p + a2 = 0
Gii:
* iu kin cn: a0 , a1, a2 > 0
* iu kin n nh theo Hurwitz:
1 = a1 > 0
a1 0
2 = a a > 0
0
2
a1 > 0
a2 > 0
Kt hp c hai iu kin trn, ta c iu kin cn v mt h thng c phng trnh

c trng bc 2 n nh l: a 0 , a1 , a 2 > 0
Nhn xt:
+ Cc tiu chun i s c th c s dng xt n nh cho c h thng h v h thng
kn. Tuy nhin, nu xt v mc phc tp th vic tnh ton cc nh thc Hurwitz phc tp hn
vic lp bng Routh rt nhiu, nht l i vi cc phng trnh c tnh bc cao. V vy, trong
thc t thng hay dng tiu chun Routh hn.
50

+ C th dng tiu chun Routh hoc Hurwitz xt iu kin bin gii n nh ca h
thng. i vi tiu chun Routh: s hng cui cng trong ct u tin ca bng Routh bng 0 v
cc s hng cn li trong ct u tin ca bng Routh dng. i vi tiu chun Hurwitz: nh
thc n 1 bng 0 cn gi tr cc nh thc khc dng.
3.4 CC TIU CHUN N NH TN S

3.4.1 Tiu chun Mikhailope
- Da vo tnh cht tn s ca a thc c tnh xt tnh n nh ca h thng.
Gi s h thng KT c PTT dng:
A( p ) = a0 p n + a1 p n1 + + an 1 p + an = 0
(3.7)
c nghim l pi vi i = 1, 2,..., n th a thc c tnh ca n c th chuyn sang dng:
A ( p ) = a0
( p pi )
(3.8)
i =1
Nu xt trn mt phng phc th mi s hng trong a thc trn l mt vector c chn ti

im pi v nh nm trn trc o j .
Nu pi nm bn tri trc o th arg ( j pi ) = .
pi
Nu pi nm bn phi trc o th arg ( j pi ) = .
pi
j
Hnh 3.5 Vector j pi
(Vector quay theo chiu kim ng h ly du m cn

ngc li ly du dng).
trn mt phng phc

Biu vector a thc c tnh c th biu din nh sau:
A ( p ) = a0
( p pi ) = a0 j pi .e
i =1
Vy, argA ( j ) =
-
j arg( j -pi )
i =1
i =1
arg ( j -pi ) = ( n k ) k = ( n 2k )
i =1
Vi k l s nghim ca PTT c phn thc dng. H thng n nh khi k = 0 nn:
argA ( j ) = n
-
hay argA ( j ) = n. 2 v thng xt bin i t 0 n .

0
T nhng phn tch trn, Mikhailope pht biu thnh tiu chun n nh nh sau:
51
(3.9)

H thng KT c a thc c tnh bc n vi cc h s dng s n nh nu biu
vector a thc c tnh A ( j ) xut pht t mt im trn phn dng trc thc quay mt gc
bng n. 2 quanh gc ta v ngc chiu kim ng h khi thay i t 0 n .
Hnh 3.6 l biu vector a thc c tnh cho h thng n nh (a) v khng n nh (b).
Im[]
n=2
Im[]
n=1
n=1
Re[]
n=3
n=3
n=4
Re[]
n=4
(b)
(a)
Hnh 3.6 Cc dng biu vector a thc c trng
3.4.2 Tiu chun Nyquist

- Dng xt n nh cho c h h v h kn da vo c tnh tn bin pha ca h h.
* Pht biu: Nu PTT ca h h c k nghim nm bn phi trc o th h thng kn s n
nh nu c tnh TBP ca h h bao im ( 1, j 0 ) mt gc bng k khi thay i t 0 n
.
* Khi nim ng cong bao mt im:
K mt vector c chn l im c bao cn u trn ng cong. Cho u vector trt
t u ng cong n cui ng cong. Gc quay ca vector bng bao nhiu th ta ni ng
cong bao im cho by nhiu (vector quay theo chiu kim ng h th gc quay ly du m cn
quay ngc chiu kim ng h th gc quay ly du dng).
M1
= 2
=0
M2
Hnh 3.7 S m t gc bao

Trn hnh 3.7, ng cong khp kn bao im M1 mt gc bng 2 v khng bao im M2
(gc bao = 0 ).
* Chng minh tiu chun Nyquist:
Gi s h thng h c hm truyn t: Wh ( p ) =
52
Q ( p)
P ( p)

Trong P ( p ) l a thc c tnh bc n v Q ( p ) l a thc bc m vi m < n . Gi s
P ( p ) c k nghim nm bn phi trc o. Nh vy:

argP ( j ) = ( n k ) 2 k 2 = ( n 2k ) 2
(3.10)
Wk ( p ) =
Wh ( p )
Q ( p)
=
1+Wh ( p ) Q ( p ) + P ( p )
(3.11)
a thc c tnh ca h thng kn l Q ( p ) + P ( p ) . Theo tiu chun Mikhailope, h kn s

n nh nu:
arg Q ( j ) +P ( j ) = n 2
(3.12)
Xt biu thc J ( j ) = 1 + Wh ( j ) =
Q ( j ) + P ( j )
P ( j )
argJ ( j ) = arg Q ( j ) +P ( j ) argP ( j )

0
(3.13)
Khi h kn n nh th
argJ ( j ) = n 2 ( n 2k ) 2 = k
(3.14)
Nh vy, khi thay i t 0 n , biu vector J ( j ) s bao tm ta mt gc

bng k . Biu J ( j ) chnh l do c tnh TBP ca h thng h chuyn sang bn phi 1 n
v. Do , nu J ( j ) bao tm ta mt gc
bng k th c tnh TBP ca h h cng bao

im
( 1,
j 0 ) mt gc bng k (iu phi
chng minh).
C+
C-
C+
-1
C1
* Trong thc t thng gp h h n

nh hay bin gii n nh ( k = 0 ), lc h
kn s n nh nu c tnh TBP ca h h
Hnh 3.8 Cch xt n nh cho cc

ng c tnh TBP phc tp
khng bao im ( 1, j 0 ) .
Trong nhiu trng hp, h h n nh hay

bin gii n nh c c tnh TBP rt phc tp nn vic xc nh n bao hay khng bao im
( 1,
j 0 ) rt kh khn. i vi trng hp ny, ta c th s dng s ln chuyn t m sang
dng (C+) v t dng sang m (C-) ca c tnh TBP ca h h trn na ng thng t

n 1 thuc trc thc.
Nu C+ = C- th h kn n nh (c tnh TBP h h khng bao im ( 1, j 0 ) ).
Nu C+ C- th h kn khng n nh.
53
3.5 PHNG PHP QU O NGHIM S

3.5.1 t vn
Phng php ny dng phn min n nh ca h thng KT trong ta thay i
thng s ca n. ng vi mt gi tr c nh ca thng s bin i, h thng c mt trng thi n
nh no . Ta c th biu din trng thi n nh ca h bng v tr nghim s ca PTT trn
mt phng phc. Khi gi tr thng s bin i th v tr nghim ca PTT trn mt phng phc
cng thay i. Do s thay i m v tr cc nghim s phng trnh c tnh s to nn mt s
qu o no trong mt phng phc.
Nhng on qu o nghim s nm bn tri trc o ng vi h thng n nh; giao im
ca qu o nghim s vi trc o cho ta trng thi h thng bin gii n nh v nu qu o
nghim s nm bn phi trc o th h thng khng n nh.
Phng php ny thng dng cho h c mt thng s bin i tuyn tnh.
3.5.2 Phng php xy dng qu o nghim s
Xt h thng c PTT bc n :
A ( p ) = a0 p n + a1 p n1 + ... + an1 p + an = 0
(3.15)
Nu trong h thng c mt thng s bin i th PTT s c dng:
A( p) = N ( p) + M ( p) = 0
(3.16)
trong N ( p ) l a thc bc n v M ( p ) l a thc bc m vi m n .

T (3.16) ta c:
=
Gi: p ''j
( j = 1, 2,..., m )
N ( p)
M ( p)
l cc nghim ca phng trnh M ( p ) = 0
pi' ( i = 1, 2,..., n ) l cc nghim ca phng trnh N ( p ) = 0

pi ( i = 1, 2,..., n ) l cc nghim ca phng trnh A ( p ) = 0
Ta c th biu din M ( p ) , N ( p ) v A ( p ) thng qua dng tch ca cc tha s:
M ( p) =
( p p''j )
j =1
N ( p) =
( p pi' )
i =1
54
(3.17)
A( p) =
( p pi )
i =1
Khi (3.16) s c dng:
A( p) =
( p ) + ( p p''j ) = 0
pi'
i =1
(3.18)
j =1
xy dng qu o nghim s ta cn xc nh: im xut pht v im kt thc ca qu

o nghim s; s lng qu o trn mt phng nghim; cc ng tim cn ca qu o, hng
dch chuyn ca qu o v cc im c bit.
1. Xc nh im xut pht ca qu o nghim s.
ng vi gi tr = 0 . Theo (3.18), cc nghim pi ca A ( p ) = 0 cng chnh l nghim pi'
ca N ( p ) = 0 . V bc ca A ( p ) bng bc ca N ( p ) nn qu o nghim s c n im xut
pht t pi' .
Vy, ng vi gi tr = 0 , qu o nghim s s xut pht t n im l nghim pi' ca
N ( p) = 0 .
2. Xc nh im kt thc ca qu o nghim s
ng vi gi tr = . PTT (3.18) c th vit di dng:
A( p) =
p ) + ( p p ''j ) = 0
(
pi'
i =1
(3.19)
j =1
Khi = , theo (3.19) th cc nghim pi ca A ( p ) = 0 cng chnh l nghim p ''j ca
M ( p) = 0 .
Vy, ng vi gi tr = , qu o nghim s s kt thc m im l nghim p ''j ca
M ( p) = 0 .
3. Xc nh s lng qu o trn mt phng nghim:
ng vi mt gi tr xc nh, PTT A ( p ) c n nghim s c biu din tng ng n
v tr trn mt phng phc. Khi bin i t 0 n , cc nghim pi s bin i, do n
nghim s vch nn n ng trn qu o nghim s.
+ Nu m < n , qu o nghim s c m ng khi u t n nghim pi' v kt thc m
nghim p ''j . V qu o nghim s c n ng nn s c ( n m ) ng khi u t ( n m )
nghim pi' v tin xa v cng.
55

+ V cc nghim ca A ( p ) = 0 c th c cc nghim phc lin hp nn cc qu o
nghim s s i xng qua trc thc.
4. Xc nh cc ng thng tim cn
Do c ( n m ) ng tin xa v cng nn ta phi tm cc ng thng tim cn cho
( n m ) ng .
p
1
2 k +1
j
n
e n m
R0 =
vi
( k = 0, 1,.., n m 1)
+ R0
n
1
pi'
n m i =1
(3.20)
p ''j
j =1
(3.21)
(3.20) l phng trnh cc ng thng tim cn ca ( n m ) qu o tin xa v cng.

Theo (3.20), vi = 0 th p = R0 = const, tc ( n m ) ng tim cn u i qua 1 im
(tm) trn trc honh c honh R0 . Cc ng tim cn ny to nn mt hnh sao gm
( n m ) tia. Mi tia ca hnh sao to vi trc honh mt gc nghing l:

k =
2k + 1
nm
( k = 0, 1,..., n m 1)
(3.22)
V d 3.5:
+ Nu ( n m ) = 1 th t (3.22) ta c:
0 =
nm
ng thng tim cn chnh l mt na trc honh tin ra xa v cng nh hnh 3.9a.
R0
(a)
20
3
2
(b)
R0
5
3
Hnh 3.9 minh ha qu o nghim s trong v d 3.5
56
j
0 3
(c)

+ Nu ( n m ) = 2 th t (3.22) ta c hai ng tim cn l (hnh 3.9b):
0 =
nm 2
2 1 + 1
3
1 =
=
2
2
( k = 0)
( k = 1)
+ Nu ( n m ) = 3 th t (3.22) ta c ba ng tim cn l (hnh 3.9c):
0 =
nm 3
2 1 + 1
1 =
=
3
2 2 +1
5
2 =
=
3
3
( k = 0)
( k = 1)
( k = 2)
5. Xc nh hng dch chuyn ca qu o nghim

T PTT (3.16) ta vit li thnh:
N ( p)
M ( p)
(3.23)
Gi thit p l s thc, ta xy dng th hm f ( p ) = N ( p ) M ( p ) . Giao im ca

ng cong f ( p ) vi ng thng s xc nh cc nghim pi ca A ( p ) = 0 ng vi cc
tr s xc nh.
T cc im cc tr ( df ( p ) dp = 0 ) s xc nh cc im cc im tch khi trc thc ca
mt phng nghim.
T th f ( p ) v ng thng , ty thuc vo s bin i ca m ta xc nh c
hng dch chuyn ca qu o.
6. Xc nh cc giao im ca qu o nghim s vi trc o ca mt phng nghim
Nghim nm trn trc o c gi tr p = jc , khi PTT c dng:
A ( j ) = PA (c ) + jQA (c ) = 0
(3.24)
Trong (3.24) cn c thng s c cha bit nn phi hp gii hai phng trnh:
PA (c c ) = 0
QA (c c ) = 0
ta s xc nh c gi tr tn s c v c giao im qu o nghim s v trc o.
57
(3.25)
3.5.3 Trnh t xy dng qu o nghim s

1. Xc nh cc im u v im cui ca qu o
-
Vit PTT dng: N ( p ) + M ( p ) = 0
im u ca qu o ng vi n nghim ca N ( p ) = 0
im cui ca qu o ng vi m nghim ca M ( p ) = 0
2. Xc nh cc ng thng tim cn ca ( n m ) qu o tin ra xa v cng

-
Tm hnh sao ca cc tia tim cn c honh :
R0 =
-
n
1
pi'
n m i =1
p ''j
j =1
Gc to bi cc tia ca hnh sao v trc honh:
k =
2k + 1
nm
( k = 0, 1,..., n m 1)
3. Xc nh im tch khi trc thc v hng dch chuyn ca qu o

- V th hm tm hng dch chuyn ca qu o:
-
Tnh o hm ( df ( p ) dp = 0 ) tm im tch khi trc thc.
Nu c nhiu im cc i. ta phi chn im c < 0 ph hp vi phng trnh

(3.23)
4. Xc nh giao im ca trc o v qu o nghim
Gii cc phng trnh (3.25) tm ra c v c .
3.6 D TR N NH
nh gi c chnh xc qu trnh qu ta phi bit chnh xc nghim ca PTT, c
ngha l phi gii c PTT, nhng vic ny rt kh thc hin. Tuy nhin, c th khng cn gii
PTT m bit c vng phn b nghim s ca n trn na mt phng nm bn tri trc o. V
d, c th tm c gi tr l gi tr phn thc ca nghim s gn trc o nht so vi cc
nghim khc. Nh vy, vng gch sc trn hnh 3.10a l vng phn b nghim s ca PTT. Gi
tr c gi l h s tt dn, mc n nh hay d tr n nh ca h thng. Nh vy, vi
d tr nh, h thng c th t n nh tr nn mt n nh khi thng s ca n v mt l do no
m b thay i mt cch ng k. Bi vy, khi thit k cn phi la chn d tr n nh c
ln cn thit.
Cng c th khng cn gii PTT m tm c gi tr gc 2 , tng ng vi phn gch
sc trn hnh 3.10b, trong phn b tt c cc nghim s ca PTT. Gi tr m = cotg c
gi l mc dao ng ca h thng. C v m n l nhng ch tiu gin tip nh gi cht
lng ca qu trnh qu . Nu kt hp v m ta s c s phn b nghim ca PTT trong
phn gch sc trn hnh 3.10c.
58
(b)
Hnh 3.10 Cc vng phn b nghim s
(a)
(c)
V d 3.6: Tm k h thng KT nh hnh 3.11 c h s tt dn = 0.1 .
U ( p)
1
k 1 +
2p
(3 p
1
2
Y ( p)
+ 2 p + 1 ( p + 1)
Hnh 3.11 S khi h thng iu khin
Gii:
* Hm truyn t ca h h:
Wh ( p ) =
k ( 2 p + 1)
2 p 3 p 2 + 2 p + 1 ( p + 1)
* Hm truyn t ca h kn:
Wk ( p ) =
k ( 2 p + 1)
2 p 3 p 2 + 2 p + 1 ( p + 1) + k ( 2 p + 1)
* PTT ca h thng kn:
2 p 3 p 2 + 2 p + 1 ( p + 1) + k ( 2 p + 1) = 0
hay
6 p 4 + 10 p3 + 6 p 2 + 2 p ( k + 1) + k = 0
(3.26)
Thay p = s 0.1 ta c (3.23) tng ng vi:
6s 4 + 7.6s 3 + 3.36s 2 + ( 2k + 1.076 ) s + 0.8k 0.1494 = 0

H c h s tt dn trong ta p s tng ng vi h bin gii n nh trong ta
s . C hai trng hp xy ra: hoc PTT c nghim thc bng 0 ( s = 0 ), hoc PTT c nghim
thun o.
59

+ H c nghim thc bng 0 th h s an = 0 v phn cn li phi c nghim nm bn tri
trc o. Vy ta c: 0.8k 0.1494 = 0 k = 0.187
Thay k vo phn cn li ca phng trnh ta c:
s=0
6s 3 + 7.6 s 2 + 3.36 s + 1.45 = 0
Phng trnh ny c nghim nm bn tri trc o v a1.a2 = 25.536 > a0 .a3 = 8.7
Vy khi k = 0.187 , h c h s tt dn bng 0.1 v nghim gn trc o nht l mt nghim
thc.
+ Trng hp phng trnh c tnh c nghim thun o: ta c th dng tiu chun Routh
hoc Hurwitz xt. Gi s dng tiu chun Routh.
Lp bng Routh:
3.36
0.8k 0.1494
7.6
2k + 1.076
19.08 12k
6.08 1.13544
24k 2 20.96k + 29.16

Vy h bin gii n nh khi:
19.08 12k > 0
2
24k 20.96k + 29.16 = 0
k = 0.749 (ch ly k dng)
Vy khi k = 0.749 , h c h s tt dn bng 0.1 v nghim gn trc o nht l mt cp

nghim phc.
Vn quan trng nht trong chng 3 l iu kin h thng KT n nh. Tnh n
nh s ph thuc vo nghim ca phng trnh c trng, h thng s n nh khi v ch khi tt
c cc nghim ca PTT c phn thc m, hay ni cch khc tt c cc nghim ca PTT phn
b bn tri mt phng phc.
Chng ny cng cp n mt s phng php thng dng khi xt tnh n nh ca
h thng, mt trong nhng yu cu u tin khi s dng mt h thng iu khin t ng. Ta lu
mt s c im:
+ Nu phng trnh c trng ca h thng c t nht mt h s m th c th kt lun h
thng khng n nh
+ Tiu chun Routh thng c dng xt n nh ca h thng v i vi cc h thng
c phng trnh c tnh bc cao, vic tnh ton cc nh thc Hurwitz rt phc tp
+ Cc tiu chun n nh tn s (Mikhailope, Nyquist) thng c dng khi c s tr gip
ca my tnh (v thng dng phn mm Matlab) v chng xt n nh ca h thng da vo biu
vector a thc c trng.
60

+ Phng php xt n nh cho h thng c thng s thay i da trn qu o nghim s
t c s dng v chng ta thng xt cc h thng c thng s bt bin theo thi gian (h thng
dng).
+ d tr n nh ca h thng iu khin t ng khng nhng m bo kh nng n
nh ca h thng khi c thng s thay i m cn nh hng n tnh cht qu ca h thng.
Tr s c th ca d tr n nh c chn da vo yu cu ca qu trnh qu
BI TP
Bi 1.
H thng KT c hm truyn t ca h h nh sau:
Wh ( p ) =
3 p +1
3 p 4 p 4 + 2 p3 + 6 p 2 + 2 p + 1
H h:
a. n nh
b. Khng n nh
c. bin gii n nh
Bi 2.
Xt tnh n nh ca h kn c hm truyn t ca h h nh trn? Hy xt xem h kn tho
mn nhn xt no sau ?
a. n nh
b. Khng n nh
c. bin gii n nh
Bi 3.
Cho h thng c i tng iu khin dng
W0 ( p ) =
v b iu khin Wc ( p ) = K P +
1
3
p +5p +8p + 4
KI
p
Xc nh min hiu chnh ca cc tham s?

Bi 4.
H thng c s cu trc nh hnh sau:
U ( p)
k+
1
2p
(2 p
61
1
2
+ 3 p + 1 ( p + 1)
Y ( p)

Dng tiu chun i s tm k gii hn h thng kn n nh?
Bi 5.
H thng KT c s cu trc nh hnh sau
U ( p)
( 2 p3 + 2 p2 + 3 p + 1) ( p + 1)
Y ( p)
Dng tiu chun Nyquist xc nh gii hn k h n nh?

Bi 6.
H thng bin gii n nh nu:
a. Cc s hng trong ct u tin ca bng Routh dng
b. S hng u trong ct u tin ca bng Routh dng v cc s hng cn li trong ct u
tin ca bng Routh bng 0
c. S hng cui cng trong ct u tin ca bng Routh bng 0 v cc s hng cn li trong
ct u tin ca bng Routh dng
Bi 7.
Theo phng php qu o nghim s, hnh no di y m t ng tim cn ca h
thng tng ng vi n m = 1 ?
R0
(a)
3
2
20
(b)
R0
5
3
0 3
(c)
a. a
b. b
c. c
Bi 8.
Mun xt tnh n nh ca mt h thng KT, ta ch phi xt qu trnh xc lp, ng hay sai?
a. ng
b. Sai
Bi 9.
62

Theo phng php qu o nghim s, hnh no di y tng ng vi n m = 3 ?
R0
(a)
3
2
20
(b)
R0
5
3
j
0 3
(c)
a. a
b. b
c. c
Bi 10.
Theo tiu chun Mikhailope, h thng KT c a thc c tnh bc n vi cc h s
dng s n nh nu biu vector a thc c tnh A ( j ) xut pht t mt im trn phn
dng trc thc quay mt gc bng bao nhiu quanh gc ta v ngc chiu kim ng h khi
thay i t 0 n .
a. n.
b. n . 4
n. 2
c.
Bi 11.
Theo tiu chun Nyquist, nu h h n nh hay bin gii n nh ( k = 0 ), lc h kn
s n nh nu c tnh TBP ca h h c c im g?
a. Bao im ( 1, j 0 )
b. Khng bao im ( 1, j 0 )
Bi 12.
Theo tiu chun Nyquist, nu PTT ca h h c k nghim nm bn phi trc o th h
thng kn s n nh nu c tnh TBP ca h h bao im ( 1, j 0 ) mt gc bng bao nhiu khi
thay i t 0 n .
a. k
b. k 2
c. 2k
Bi 13.
63

Cho h thng h c hm truyn t:
Wh ( p ) =
4
2
Tp + p + 1
Vi T = 2 th h kn tng ng c n nh khng?
Bi 14.
Hm truyn t ca h h c dng: Wh ( p ) =
kn tng ng n nh?
64
k
2
p + p +1
. Vi iu kin no ca k th h
Chng 4. Kho st cht lng ca h thng iu khin t ng lin tc
CHNG IV. KHO ST CHT LNG H THNG IU

KHIN T NG LIN TC
NI DUNG
4.1 GII THIU CHUNG
n nh l iu kin cn i vi mt h thng KT. Tuy nhin, mt h thng n nh
nhng cht lng c th cha cao v mt s l do:
+ Sai lch iu khin ln hay ni cch khc l chnh xc iu khin km.
+ Thi gian qu trnh qu c th ko qu di gy ra tc ng chm,
+ dao ng ca h thng khi tin n trng thi xc lp ln dn n tn tht nng lng
ca h thng ln.
Do vy nhn chung, cht lng ca h thng KT c nh gi qua ch tiu tnh n nh

v ch tiu cht lng trng thi xc lp v qu trnh qu . Qu trnh qu ca h thng
c nh gi bng d tr dao ng v thi gian qu . C rt nhiu phng php nh
gi cht lng trng thi qu nh nh gi theo s phn b nghim s ca PTT, theo c tnh
TBP ca h hTrng thi xc lp ca h thng c nh gi qua sai s xc lp ca h thng.
C th c nhiu yu cu v cht lng cng mt lc c t ra khi h lm vic vi mt tn
hiu vo nht nh no . Khi kho st qu trnh iu khin ca cc h n nh, ngi ta dng tn
hiu vo c dng thng gp nh dng bc thang n v, dng hm tng dn u hay sng iu
ha kho st.
Do cc vn n nh ca h thng c xt chng 3, trong chng ny s cp v
cc ni dung sau:
- nh gi cht lng ca h thng trng thi xc lp
- Qu trnh qu ca h thng v phn tch cc ch tiu cht lng
- nh gi cht lng ca h thng qua tiu chun tch phn tnh sai s ca h
thng.
4.2 KHO ST CHT LNG CA H THNG TRNG THI XC LP

Trng thi xc lp ca h thng l trng thi khi h thng c tc ng u vo u ( t ) v sau
khi kt thc qu trnh qu (hay qu trnh chuyn trng thi) th h thng s thit lp mt trng
thi n nh mi. trng thi xc lp mi ny, h thng s c mt sai s no ty thuc vo
tham s v cu trc ca h thng.
Trng thi xc lp ca h thng c nh gi bng sai lch d ca iu khin. N l gi tr
sai lch cn tn ti sau khi qu trnh iu khin kt thc. Ch tiu v chnh xc ca iu khin
ny do yu cu ca quy trnh cng ngh t ra m h thng iu khin nht thit phi p ng
c. Gi tr sai lch d theo l thuyt c k hiu l v c tnh theo cng thc:
65
= lim e ( t )
(4.1)
trong e ( t ) l sai lch ng cn tn ti trong qu trnh iu khin.

* Tnh sai s ca h thng trng thi xc lp (sai lch tnh):
Tnh sai lch E ( p ) khi bit U ( p ) ?
Xt h thng nh hnh 4.1 vi Wh ( p ) l hm truyn t h ca h thng:
Wh ( p ) =
U ( p)
E ( p)
Y ( p ) k b0 p m + b1 p m1 + ... + 1
=
E ( p ) pi a0 p ni + a1 p ni 1 + ... + 1
(4.2)
Y ( p)
Wh ( p )
Hnh 4.1 HTKT in hnh
Wk ( p ) =
Wh ( p )
Y ( p)
=
1 + Wh ( p ) U ( p )
(4.3)
1
U ( p)
1 + Wh ( p )
(4.4)
Vy:
E ( p) =
Sai s trng thi xc lp, , l: = lim e ( t )

t
Theo nh l tin ti gii hn nh v gc trong bin i Laplace:
lim e ( t ) = lim pE ( p )
(4.5)
p0
p
U ( p)
p 0 1 + Wh ( p )
= lim e ( t ) = lim
Vy:
0 khi t < 0
1. Khi tn hiu vo u ( t ) = 1( t ) =
1 khi t 0
1
p 0 1 + Wh ( p )
Ta c: = lim
2. Khi u ( i ) = kt U ( p ) = k p 2
66
U ( p) =
1
p
(4.6)
1
k
.
p0 1 + Wh ( p ) p
Ta c: = lim
V d 4.1:
Tn hiu vo c dng bc thang n v u ( t ) = 1( t ) U ( p ) =

a. Nu h l khu qun tnh W ( p ) =
= lim
p0
1+
k
Tp + 1
1
p
k
th sai lch tnh c xc nh:
Tp + 1
1
1
=
p k +1
Sai s tnh hu nh t l nghch vi h s khuch i.

b. Nu h l khu qun tnh cng vi mt khu tch phn:
1
=0
p0
1 k p
1+
p Tp + 1
= lim
Sai lch tnh bng 0 v h c gi l v sai tnh hay v sai cp 1 (Astatic)

V d 4.2:
Nu tn hiu vo l hm tng dn u u ( t ) = t U ( p ) = 1 p 2 , h cng l khu qun tnh
v mt khu tch phn. Sai lch tnh c tnh nh trn:
= lim
p0
1+
1 k p2
p Tp + 1
1
k
H khng cn l v sai tnh v sai lch tnh t l nghch vi h s khuch i ca h thng.

Khu tch phn v h s khuch i c nh hng ln trong vic xc nh sai lch tnh
ca h thng. Nu tch ring hai thnh phn ny trong hm truyn t h ca h thng, ta c:
Wh ( p ) =
b0 p m + b1 p m1 + ... + 1
p r a0 p nr + a1 p nr 1 + ... + 1
(4.7)
v r l bc v sai tnh ca h thng.

Bng 4.1 l kt qu ca mt s trng hp thng gp. y k p , kv , ka tng ng l h
s khuch i vi trng hp tn hiu vo l khng i, tc tn hiu vo khng i v gia tc
ca tn hiu vo khng i.
67
Bc v sai tnh
r =0
r =1
r=2
Tn hiu vo
u ( t ) = 1( t ) , U ( p ) = 1 p
1 1+ K p
u (t ) = t, U ( p ) = 1 p2
1 kv
u ( t ) = (1 2 ) t 2 , U ( p ) = 1 p3
1 ka
Bng 4.1
4.3 KHO ST CHT LNG CA H THNG QU TRNH QU
Mt h thng KT c gi l n nh khi tn hiu ra ca h thng tt dn theo thi gian:
lim yqd ( t ) = 0
(4.8)
hay l tn hiu ra ca h khi tn hiu vo u ( t ) l hm n v ( u ( t ) = 1( t ) ) s tin ti mt

gi tr n nh l hng s.
Hnh 4.2 l hm qu ca mt h iu khin. Cc cht lng c nh gi trc tip gm:
y (t )
y
Hnh 4.2 Hm qu ca
mt h iu khin
t
tm t
tqd
1. Sai lch tnh

Sai lch tnh xc nh chnh xc tnh ca h thng:
= lim e ( t ) = lim pE ( p )
t
p 0
(4.9)
2. qu iu chnh
qu iu chnh c xc nh bi tr s cc i ca hm qu so vi tr s xc lp ca
n:
68
% =
ymax y
100
y
(4.10)
3. Thi gian qu
Thi gian qu tqd c xc nh bi thi im m hm qu y ( t ) khng vt ra khi
bin gii ca min gii hn quanh tr s xc lp. = 5% y hay c khi dng = 2% y .
4. Thi gian p ng
Thi gian p ng tm xc nh bi thi im m hm qu ln u tin t c tr s
xc lp y khi c qu iu chnh.
5. Thi gian c qu iu chnh

Thi gian c qu iu chnh t c xc nh bi thi im hm qu t cc i.
6. S ln dao ng
S ln dao ng N c tnh bi s ln m hm qu dao ng quanh tr s xc lp trong
thi k qu ( 0 < t < tqd ).
, t v N c trng cho tnh cht suy gim ca qu trnh qu .

tqd , tm c trng cho tnh cht tc ng nhanh ca h.
Nh vy, cht lng qu trnh qu c nh gi qua cc ch tiu nh qu iu
chnh, thi gian qu , thi gian p ng, thi gian c qu iu chnh
C hai phng php nh gi cht lng ny l phng php trc tip v phng php gin
tip. Phng php trc tip da trn vic o v xc nh cht lng ca h theo tn hiu u ra
nh hm qu . Phng php gin tip xc nh nh hng cu trc v thng s ca h thng i
vi tc ng nhanh ca qu trnh qu . y ta ch xt phng php trc tip, v c th l
nh gi cht lng qu theo s phn b nghim ca PTT.
H thng KT c hm truyn t:
Wk ( p ) =
Y ( p) Q ( p)
=
U ( p) P ( p)
(4.11)
Nu u vo ca h thng cho tc ng mt xung n v, ngha l U ( p ) = 1 th u ra s

nhn c hm trng lng v chuyn i Laplace ca n chnh l hm truyn t ca h thng.
69

Phn ny ta ch xt cho trng hp h thng n nh khi tt c cc nghim ca PTT
P ( p ) = 0 nm bn tri trc o. Da vo nghim ca PTT c th nh gi c phn no cht

lng ca qu trnh qu .
- Nu tt c cc nghim ca PTT phn b trn trc thc th h thng khng dao ng.
- Nu c nghim ngoi trc thc th h thng s dao ng.
Gii quyt vn ny ta c th da vo d tr n nh (h s tt dn) v d tr dao
ng ca h thng.
Mun cho h thng c d tr n nh cho trc, ta ch cn thay p = + j vo
PTT ca h thng v tin hnh phn vng n nh bit vng no c d tr n nh cao
hn.
Hnh 4.3 Cc vng phn b nghim s

Nu cn gii hn d tr dao ng ca h thng l m th phi thay p = ( m + j ) vo
PTT khi thay i t n 0 v thay p = ( m + j ) vo PTT khi thay i t 0 n
. Hai ng ny kt hp vi nhau to thnh mt ng ranh gii chia vng n nh thnh hai

phn, mt phn c d tr dao ng < m , cn phn kia c d tr dao ng > m . phn
bit c vng no h t dao ng hn cng s dng nguyn l gch sc nh phn min D. Vng
no c gch sc nhiu hn th h t dao ng hn.
Chng ta cng c th phn vng trong ta cc tham s sao cho h thng c d tr n
nh l v d tr dao ng l m . Mun vy ta chia thnh 3 on: on 1 thay i t
n m , on 2 t m n m v on 3 thay i t m n . Trong on th
2, vic phn vng da vo d tr n nh cn hai on kia da vo d tr dao ng m .
Kt qu ca 3 on ny s to ra mt vng n nh tha mn v gii hn v m .
Tnh tt dn ca qu trnh qu c bn c gii quyt bng gi tr v c xc nh
gn ng theo cng thc:
e ( t ) = e0 .e t
(4.12)
Trong e0 l gi tr sai lch ban u. Nu qu trnh iu khin i hi phi xy ra trong

khong thi gian td v sai lch tnh l th c th xc nh gi tr theo:
70
= ln [ e0 ] td
(4.13)
Tnh dao ng ca h thng KT c th c nh gi gn ng thng qua gi tr m , tc

thng qua nghim s ca PTT nm trn ng ranh gii vi m . Ta c:
m+ j )t
e ( t ) = e0 .e (
(4.14)
Bin dao ng sau thi gian mt na chu k t = T 2 l:
e (T 2 ) = e0 .e mT
= e0 .e m
(4.15)
qu iu chnh ca h thng c th xc nh theo cng thc:
e (T 2 )
= e m
e0
(4.16)
Nh vy c th xc nh gi tr m ti hn khi h thng i hi c qu iu chnh %

cho trc theo cng thc:
m=
ln
(4.17)
4.4. NH GI CHT LNG H THNG QUA TIU CHUN TCH PHN

y ta s nh gi cht lng h thng qua tiu chun tch phn. Qu trnh qu iu
khin c th c nh gi l tt hay xu thng qua gi tr tch phn ca sai lch gia gi tr ch
o v gi tr tc thi o c ca i lng cn iu khin.
Gi tn hiu ra ca h thng l y ( t ) , gi tr ca n trng thi xc lp l y0 , sai lch ca
c qu trnh iu khin l e ( t ) = y ( t ) y0 .
i vi h thng khng dao ng vi sai lch ca tn hiu iu khin c m t trong hnh
4.4 c th s dng tiu chun tch phn dng I1 nh gi cht lng ca qu trnh qu .
I1 =
e
0 e ( t ) dt
(4.18)
2
1
t
Hnh 4.4 Qu khng dao ng
I1 chnh l din tch hnh c to bi ng cong v hai trc ta . Theo hnh 4.4, qu
trnh qu trng hp 1 tt hn, gi tr ca I1 trong trng hp 1 nh hn. Vy I1 cng nh th
qu trnh qu xy ra cng nhanh v ngc li. Qu trnh qu s tt nht nu I1 min .
71
1
2
t
Hnh 4.5 Qu c dao ng
i vi h c dao ng th I1 li khng s dng c v lc , gi tr tch phn c lc
dng, lc m ph thuc vo du ca e nn I1 c gi tr nh nhng li khng phn nh ng cht
lng v h thng. Theo hnh 4.5, ta nhn thy qu trnh qu theo ng 1 tt hn nhng nu
tnh theo I1 th n li cho gi tr ln hn. Trong trng hp ny, ta phi s dng tch phn dng:
I2 =
e dt
(4.19)
Vi cng thc ny, du ca e khng cn nh hng ti gi tr ca tch phn na. Theo hnh
4.5, gi tr I 2 ca ng 1 nh hn ng 2 v qu trnh iu khin s tt nht nu I 2 min .
Tuy I 2 c th s dng nh gi cht lng ca qu trnh qu c hay khng c dao
ng nhng trn thc t n t c s dng v mun tnh theo (4.19) th phi bit trc ng
bin thin ca e .
thun tin cho vic nh gi qu trnh qu , ngi ta s dng tiu chun tch phn
bnh phng sai lch c tnh theo cng thc dng:
2
e dt
0
I3 =
(4.20)
Cc tiu ca I3 ng vi t s tt dn = 0.5 ca h bc hai, c qu iu chnh ln hn

I 2 . I 3 xem nh nhng din tch b v bnh phng ca mt s nh s nh hn tr s tuyt i
ca n. Tuy vy, I3 cho php tnh ton v thc hin n gin hn I 2 .
Bin i Fourier ngc c dng:
1
2
e (t ) =
E ( j ) e
jt
(4.21)
nn nu nhn hai v vi e ( t ) v ly tch phn theo t t 0 n , ta c:
I3 =
2
e
0
I3 =
2
e
0
E ( j )
1
2
jt
dt = E ( j )
0 e ( t ) e
v
nn cui cng
( t ) dt =
( t ) dt =
1
2
72
0 e ( t ) e
E ( j ) d
jt
dt d
(4.22)

y l biu thc Parseval cho php tnh I 3 v thng s ti u ca h thng theo I 3 .
Ta c th vit
I3 =
b ( p)b ( p)
dp
2 j j a ( p ) a ( p )
(4.23)
b ( p ) = b0 p n1 + b1 p n2 + ... + bn1
trong :
a ( p ) = a0 p n + a1 p n1 + ... + an
b02
Vi n = 1, I 3 =
2a1a2
b2a + b2a
Vi n = 2, I3 = 0 2 1 0
2a2 a1a0
Vi n = 3, I3 =
b02 a2 a3 + b12 2b0b2 a0 a3 + b22 a0 a1

2a0 a3 ( a0 a3 + a1a2 )
Cc tch phn trn c mt nhc im c bn l cha nh gi nh hng ca tc thay

i ca e ln cht lng qu trnh qu . V vy cha th khng nh chc chn l gi tr tch
phn nh nht s tng ng vi qu trnh iu khin tt nht. Trong nhiu trng hp, khi chn
c tham s ca h thng I 3 l nh nht nhng dn n kt qu l h thng dao ng rt ln
m thc t iu khin khng th chp nhn c. khc phc nhc im ny, c th s dng
tiu chun tch phn dng:
I4 =
2
e
0
2
de
+ dt
dt
trong l gi tr c nh, thng thng c chn trong khong
(4.24)
tqd
6
< <
tqd
3
I 4 cho ta s nh gi y v cht lng qu trnh qu . Khi I 4 min ngha l t

c I 3 nh nhng tc thay i ca sai lch cng khng cao. i vi tng h thng ring bit
phi chn c gi tr thch hp, c th chn nh cho qu trnh cho php dao ng ln.
V d 4.3:
Hy xc nh I 3 ca h c hm truyn t:
Wk ( p ) =
1
p3 + Ap 2 + Bp + 1
v xc nh thng s ti u ca A, B I 3 t cc tiu?
73

Gii:
E ( p)
U ( p)
Wh ( p )
Y ( p)
Hnh 4.6 H thng KT
in hnh
T mi quan h gia hm truyn t ca h h v kn, ta c:
E ( p) =
1
U ( p ) = 1- Wk ( p ) U ( p )
1 + Wh ( p )
Khi tn hiu vo c dng bc thang n v:
1
1
E ( p ) = 1 3
2
p + Ap + Bp + 1 p
=
p 2 + Ap + B
p3 + Ap 2 + Bp + 1
Vi n = 3, I3 =
a0 = 1
a = A
1
trong :
,
a
B
=
2
a3 = 1
Vy I 3 =
b02 a2 a3 + b12 2b0b2 a0 a3 + b22 a0 a1

2a0 a3 ( a0 a3 + a1a2 )
b0 = 1
b1 = A
b = B
2
B + A2 2 B + AB 2
2 ( 1 + AB )
B ( AB 1) + A2
2 ( AB 1)
B
A2
+
2 2 ( AB 1)
Ly o hm ring theo A v B , cn bng 0 ta c:

2
I3 2 A ( AB 1) A B
=
=0
2
A
2 ( AB 1)
3
I3 1 A
=
B
( AB 1)2
2
v xc nh c A* = 1, B* = 2 ng vi I 3min = 1.5 .
c tnh qu ca e ( t ) nh hnh 4.7. R rng l theo ch tiu cht lng I3 , qu iu
chnh kh ln. hnh 4.7 c ba ng cong c cng mt tr s I3 nhng ng 1 c cht lng
ng xu nht v ng 3 c cht lng tt nht.
74
e (t )
e ( 0)
3
1
2
10
5
15
20
25
Hnh 4.7 Cc dng c tnh qu ca sai lc e(t)
n nh mi ch l ch tiu u tin ni rng h thng c lm vic c hay khng, cn
cht lng qu trnh qu mi ni ti vic h thng iu khin t ng c s dng c hay
khng? C ba ch tiu cht lng c bn l:
+ Ch tiu trng thi tnh: c nh gi da vo sai lch d ca iu khin v c tnh
theo cng thc: = lim e ( t )
t
+ Ch tiu trng thi qu : c nh gi bng hai ch tiu c bn l thi gian ko di

ca qu trnh iu khin v tnh dao ng ca iu khin. Cc ch tiu ny do yu cu v cht
lng ca quy trnh cng ngh c ra. N c th hin qua mt s tiu ch nh thi gian iu
chnh, qu iu chnh, s ln dao ng
+ Ch tiu tch phn: Dng nh gi cht lng ca qu trnh qu . Da vo c im
ca tng loi qu trnh qu m ta c th dng cc ch tiu tch phn khc nhau nh qu trnh
qu c dao ng, khng c dao ng
BI TP
Bi 1.
Nu hm truyn t h ca h thng c dng:
Wh ( p ) =
b0 p m + b1 p m1 + ... + 1
p r a0 p nr + a1 p nr 1 + ... + 1
th r l
a.
b.
c.
d.
v sai cp 1 ca h thng
bc v sai tnh ca h thng
75

Bi 2.
Sai lch tnh ca h thng c tnh theo cng thc:
a.
= lim e ( t )
b.
= lim pE ( p )
c.
= lim pE ( p )
d.
= lim E ( p )
t 0
p
p0
p 0
Bi 3.
qu iu chnh c xc nh theo cng thc:
a.
% =
ymax y
100
y
b.
% =
ymax y
100
ymax
c.
% =
ymax y
y
d.
% =
ymax y
100
Bi 4.
i vi h khng dao ng, nh gi cht lng ca h thng, ta c th dng tiu chun
tch phn I1 =
0 e ( t ) dt , h thng t cht lng tt nht khi:
a.
I1 min
b.
I1 max
Bi 5.
Vi h khng dao ng, c th s dng tiu chun tch phn I 2 =
cht lng ca h thng khng?
a.
b.
Khng
C
Bi 6.
Sai s xc lp ca h thng c hm truyn t h:
76
e ( t ) dt nh gi
Wh ( p ) =
1
2
p + p+k
khi u vo u ( t ) = 1( t ) l bao nhiu?

a.
b.
c.
d.
1k
k
(1 + k ) k
k ( k + 1)
Bi 7.
qu iu chnh ca h thng cng nh cng tt, ng hay sai?
a.
b.
ng
sai
Bi 8.
Trong cc tiu chun tch phn, tiu chun no cho ta nh gi chnh xc nht cht lng
qu ca h thng?
a.
I1 =
b.
I2 =
c.
I3 =
d.
I4 =
0 e ( t ) dt
e ( t ) dt
2
e dt
0
2
e
0
de
+
dt
dt
Bi 9.
Nu h l khu qun tnh c dng W ( p ) =
k
th sai lch tnh bng bao nhiu, vi tn
Tp + 1
hiu vo u ( t ) = 1( t ) ?
Bi 10.
Mun trit tiu sai lch tnh trong khu qun tnh ( = 0 ) th phi mc ni tip khu qun
tnh vi khu c hm truyn t nh th no to thnh h v sai cp 1?
a. 1 p 2
b. 1 p
77

c.
d.
p2
78
Chng 5. Tng hp h thng iu khin t ng lin tc
CHNG V. TNG HP H THNG IU KHIN T NG

LIN TC
NI DUNG
5.1 GII THIU CHUNG
B iu khin l c cu c cu trc nht nh v thng s c th thay i trong phm vi nht
nh. Khc vi b iu khin, khu iu khin c lp rp vi thng s c nh, sau tnh ton
i vi mt i tng c th. Chc nng ca b iu khin v khu iu khin l nh nhau. C th
mc c khu iu khin v b iu khin trong cng mt h thng nng cao cht lng ca n.
Theo chc nng, b iu khin c phn thnh cc loi l b iu khin t l (P Proportional), b iu khin tch phn (I Integration), b iu khin t l - tch phn (PI), b iu
khin t l - vi phn (PD - Proportional Derivative) v b iu khin t l vi tch phn (PID). B
iu khin n gin nht l b iu khin t l (P), tc dng ca n nh mt khu khuch i vi
h s thay i c. Thay i h s khuch i c th lm thay i sai lch tnh nhng khng th
trit tiu c n. H s khuch i cng ln th h cng mt kh nng n nh. Tc dng ca
khu tch phn trong b iu khin l trit tiu sai lch tnh, cn chc nng ca phn t vi phn
(D) l ci thin qu trnh qu nu xc nh ng thng s ca n.
Trong chng ny, ta s cp n cc ni dung chnh sau:
+ Cc phng php nng cao cht lng h thng.
+ Lut iu chnh PID.
+ Tnh iu khin c, quan st c ca h thng.
5.2 CC PHNG PHP NNG CAO CHT LNG H THNG

Khi tng hp h thng iu khin t ng, iu ct li l phi m bo c cht lng ca
qu trnh iu khin theo yu cu ca quy trnh cng ngh, ngha l phi xc nh c tham s ti
u ca thit b iu khin. Tuy nhin, c nhiu trng hp, khi xc nh c tham s ti u ca
thit b iu khin nhng vn khng p ng c cht lng ca qu trnh iu khin. iu ny
i hi chng ta phi tm cc bin php khc nng cao cht lng bng cch thay i cu trc
ca h thng iu khin t ng. Sau y l mt s phng php thc hin vi mc ch .
5.2.1 Phng php b tc ng nhiu
Trong h thng iu khin t ng c nhng nhiu thng xuyn tc ng lm nh hng
cht lng ca qu trnh iu khin. Nu cc nhiu lon ny o c th c th s dng nguyn l
bt bin b tc ng nhiu nng cao cht lng iu khin ca h thng. Nu c mt nhiu no
tc ng ln h thng nhng tn hiu i lng cn iu khin v c sai lch u khng i th
h thng bt bin vi tc ng ca nhiu . Nh vy, nu chng ta xy dng c h thng bt
79

bin vi nhiu tc ng thng xuyn th cht lng ca qu trnh iu khin c nng cao rt
nhiu. Nhiu lon ca h thng c chia ra lm hai loi l nhiu ph ti v nhiu t trc.
Chng ta s xt h thng b cho cc nhiu ny.
5.2.1.1 B nhiu ph ti
H thng iu khin t ng chu tc ng ca nhiu ph ti z ( t ) . Yu cu t ra l phi
xy dng li h thng sao cho n bt bin vi tc ng . Mun vy, trong h thng phi ghp
thm phn t b vi hm truyn t Wb ( p ) nh hnh 5.1.
Z ( p)
Wb ( p )
i tng
W3 ( p )
U ( p)
E ( p)
W2 ( p )
W1 ( p )
Y ( p)
Hnh 5.1 Xy dng h thng bt bin vi nhiu ph ti

y ( t ) bt bin vi nhiu z ( t ) , ngha l khi c z ( t ) tc ng th y ( t ) vn c nh th
cu trc ca h thng phi tha mn iu kin:
Wb ( p ) .W1 ( p ) .W2 ( p ) + W3 ( p ) = 0
(5.1)
Vy, hm truyn t ca phn t b phi c xy dng theo cng thc:
Wb ( p ) =
W3 ( p )
W1 ( p ) .W2 ( p )
(5.2)
Khi khi b c hm truyn t nh (5.2) th y ( t ) s hon ton c nh khi c tc ng
z ( t ) . Ta ni y ( t ) bt bin tuyt i so vi tc ng z ( t ) . Tuy nhin trong thc t iu ny rt

kh thc hin, v vy thng ch tn ti h thng bt bin tng i. Lc phi chn cu trc
ca khi b sao cho va mang tnh thc thi, va c hm truyn t gn ging vi (5.2) nht.
5.2.1.2 B nhiu t trc
Trong h thng iu khin chng trnh, tn hiu ch o thng thay i lin tc. Vic xy
dng h thng iu khin chng trnh c chnh xc cao l rt cn thit. Nu ch s dng cc
h thng iu khin thng thng th lun tn ti sai lch d (xem chng 4). C th thay i h
80

thng iu khin c chnh xc cao bng cch s dng nguyn l bt bin theo tc ng ca tn
hiu t trc. Hnh 5.2 l s ca h thng c xy dng nhm mc ch ny.
Wb ( p )
U ( p)
E ( p)
W1 ( p )
W2 ( p )
Y ( p)
Hnh 5.2 S h thng iu khin b nhiu t trc

iu kin bt bin y l gi tr ra y ( t ) ca h thng phi lun lun bng gi tr t
u ( t ) , tc gi tr sai lch e ( t ) = 0 khi u ( t ) thay i. iu kin ny xy ra th cu trc ca h

thng phi m bo c ng thc:
Wb ( p ) .W2 ( p ) = 1
(5.3)
Nh vy, hm truyn t ca khi b phi c xy dng theo cng thc:
Wb ( p ) =
W2 ( p )
(5.4)
Khi cu trc ca khi b c xy dng hon ton chnh xc theo cng thc (5.4) th s
lun m bo u ( t ) = y ( t ) v ta c th ni h thng bt bin vi nhiu t trc.
Trong thc t, W2 ( p ) l hm truyn t ca i tng iu khin c cu trc phc tp nn
vic xy dng hm truyn t ca khi b theo (5.4) l hon ton khng th thc hin c, c
ngha l khng th to c bt bin tuyt i m ch c th xy dng h thng bt bin tng
i. Cu trc ca khi b phi chn kh thi v hm truyn t ca n gn vi cng thc (5.4)
nht. C th s dng php b tnh l php b n gin nht. Trong php b tnh, hm truyn t
ca khi b ch l khu khuch i c h s khuch i bng gi tr nghch o h s truyn ca
i tng.
5.2.2 Phng php xy dng h thng iu khin tng
Nhng nguyn nhn c bn lm cn tr tc tc ng ca thit b iu khin v v vy,
lm gim chnh xc ca iu khin l s chm tr v qun tnh trong vic truyn tn hiu theo
knh iu khin ca i tng. Trong trng hp ny, nhiu h thng iu khin c cu trc mch
vng khng p ng c yu cu v cht lng ca qu trnh iu khin ngay c khi s dng cc
81

quy lut iu khin phc tp vi tham s ti u ca n. nng cao cht lng ca cc h thng
iu khin , tt nht l s dng h thng iu khin tng c s cu trc c m t nh
trong hnh 5.3.
Z ( p)
U ( p)
E ( p)
Wm1 ( p )
X1 ( p )
Wm 2 ( p )
Y1 ( p )
W1 ( p )
Y ( p)
W2 ( p )
Hnh 5.3 H thng iu khin tng

Trong cu trc ca h thng khng ch c mt thit b iu khin nh h thng thng
thng m c hai thit b iu khin. i lng cn iu khin y l y ( t ) , tn hiu vo l
u ( t ) , h thng iu khin y chnh l thit b iu khin vi hm truyn t Wm1 ( p ) v i

tng c hm truyn t W1 ( p ) . Do tnh cht tr v qun tnh trong vic truyn tn hiu iu
khin theo knh W1 ( p ) nn cht lng ca h thng khng p ng c yu cu. Cht lng
ca h thng iu khin s c nng cao nu chng ta xy dng thm mt mch iu khin ph
t n nh v mt tham s trung gian ca i tng iu khin l y1 ( t ) , c hm truyn t l
W2 ( p ) . n nh i lng trung gian ny, thit b iu khin Wm 2 ( p ) c s dng.

iu c bn y l tn hiu truyn qua i tng theo knh W2 ( p ) phi nhanh hn knh
W1 ( p ) . Thit b iu khin Wm1 ( p ) khng tc ng trc tip ln i tng iu khin m tn

hiu ra ca n l tn hiu ch o cho thit b iu khin Wm 2 ( p ) .
Trong khi tng hp h thng phi m bo qu trnh qu ca mch vng trong
(Wm 2 ( p ) W2 ( p ) )
phi xy ra nhanh hn rt nhiu so vi mch vng ngoi (mch vng chnh
vi thit b iu khin Wm1 ( p ) ). Nh vy, khi c nhiu z ( t ) tc ng th my iu khin
Wm 2 ( p ) s nhanh chng tc ng theo tn hiu trung gian y1 ( t ) kh nh hng ca nhiu

ny ln mch vng chnh. R rng, cht lng ca qu trnh iu khin c nng cao rt nhiu.
i tng iu khin ca thit b iu khin Wm 2 ( p ) l W2 ( p ) , cn i tng iu khin
ca thit b iu khin Wm1 ( p ) phi c xc nh theo cng thc:
82
Wd1 ( p ) =
Wm 2 ( p ) .W1 ( p )
1 + Wm 2 ( p ) .W2 ( p )
(5.5)
5.3 H THNG IU KHIN T NG VI CC B IU CHNH CHUN PID.

B iu chnh l c cu c cu trc nht nh v thng s ca n c th thay i trong phm
vi nht nh. Cc h thng iu khin t ng trong cng nghip hin nay thng s dng cc b
iu chnh chun l b iu chnh t l, b iu chnh tch phn, b iu chnh t l - tch phn, b
iu chnh t l vi phn v b iu chnh t l vi tch phn. Trong phn ny chng ta s i su
phn tch cht lng ca h thng iu khin t ng s dng cc b iu chnh ny.
5.3.1 Quy lut t l (P)
Tn hiu iu khin trong quy lut t l c hnh thnh theo cng thc:
x = K p .e
(5.6)
Trong K p l h s khuch i ca quy lut. Theo tnh cht ca khu khuch i (hay
khu t l) ta thy tn hiu ra ca khu lun lun trng pha vi tn hiu vo. iu ny ni ln u
im ca khu khuch i l c tc ng nhanh. V vy, trong cng nghip, quy lut t l lm
vic n nh vi mi i tng. Tuy nhin, nhc im c bn ca khu t l l khi s dng vi
cc i tng tnh, h thng iu khin lun tn ti sai lch tnh. gim gi tr sai lch tnh th
phi tng h s khuch i nhng khi , tnh dao ng ca h thng s tng ln v c th lm h
thng mt n nh.
Trong cng nghip, quy lut t l thng c dng cho nhng h thng cho php tn ti
sai lch tnh. gim sai lch tnh, quy lut t l thng c hnh thnh theo biu thc:
x = x0 + K p .e
(5.7)
trong x0 l im lm vic ca h thng. Tc ng iu khin lun gi cho tn hiu iu

khin thay i xung quanh gi tr ny khi xut hin sai lch. Hnh 5.4 m t qu trnh iu khin
vi cc h s K p khc nhau.
K3
K1
K1 > K 2 > K3
K2
Hnh 5.4 Qu trnh iu khin vi cc h s K p khc nhau
83

5.3.2 Quy lut tch phn (I)
Trong quy lut tch phn, tn hiu iu khin c xc nh theo biu thc:
x = Ki e.dt =
1
Ti
e.dt
(5.8)
trong Ti = 1 Ki c gi l hng s thi gian tch phn

T cng thc ny ta thy gi tr iu khin x ch t c gi tr xc lp (qu trnh iu
khin kt thc) khi e = 0 . Nh vy u im ca quy lut tch phn l trit tiu sai lch tnh.
Xt c tnh ca khu tch phn, tn hiu ra ca n lun chm pha so vi tn hiu vo mt
gc 2 , iu ny ngha l quy lut tch phn c tc ng chm. Do s tc ng chm m
trong cng nghip, h thng iu khin t ng s dng quy lut tch phn km n nh. V vy,
quy lut ny hin nay t c s dng trong cng nghip.
5.3.3 Quy lut t l - tch phn (PI)
h thng va c tc ng nhanh, va trit tiu c sai lch d, ngi ta kt hp quy
lut t l vi quy lut tch phn to ra quy lut t l - tch phn.
Tn hiu iu khin c xc nh theo cng thc:
1
x = K p .e + Ki e.dt = K p e +
Ti
trong :
e.dt
(5.9)
K p l h s khuch i
Ti = K p Ki l hng s thi gian tch phn
Hm truyn t ca quy lut t l tch phn c dng:
1
W ( p ) = K p 1 +
Ti . p
(5.10)
Hm truyn tn s ca quy lut PI:
1
W ( j ) = K p 1 j
Ti .
(5.11)
Nh vy khi = 0 th ( ) = 2 , cn khi = th ( ) = 0 . Tn hiu ra chm pha

so vi tn hiu vo mt gc trong khong t 2 n 0 ph thuc vo cc tham s K p , Ti v
tn s tn hiu vo.
84

R rng, v tc tc ng th quy lut PI chm hn quy lut t l nhng nhanh hn quy
lut tch phn. Hnh 5.5 m t cc qu trnh qu ca h thng iu khin t ng s dng quy
lut PI vi cc tham s K p v Ti khc nhau.
1
2
3
4
Hnh 5.5 Cc qu trnh qu iu khin ca quy lut PI

ng 1 ng vi K p nh v Ti ln. Tc ng iu khin nh nn h thng khng dao
ng.
ng 2 ng vi K p nh v Ti nh. Tc ng iu khin tng i ln v thin v quy
lut tch phn nn h thng c tc ng chm, dao ng vi tn s nh v khng tn ti sai lch
d.
ng 3 m t qu trnh khi K p ln v Ti ln. Tc ng iu khin tng i ln nhng
thin v quy lut t l nn h thng dao ng vi tn s ln v tn ti sai lch d.
ng 4 tng ng vi qu trnh iu khin khi K p ln v Ti nh. Tc ng iu khin
rt ln. Qu trnh iu khin dao ng mnh, thi gian iu khin ko di v khng c sai lch d.
ng 5 c xem nh l qu trnh ti u khi K p v Ti thch hp vi i tng iu
khin.
Trong thc t, quy lut iu khin PI c s dng kh rng ri v p ng c cht
lng cho hu ht cc qu trnh cng ngh. Tuy nhin, do c thnh phn tch phn nn tc
ng ca quy lut b chm i. V vy, nu i tng c nhiu tc ng lin tc m h thng iu
khin li i hi chnh xc cao th quy lut PI khng p ng c.
5.3.4 Quy lut t l - vi phn (PD)
Tc ng iu khin ca quy lut PD c hnh thnh theo cng thc:
x = K p .e + K d .
trong :
de
de
= K P e + Td .
dt
dt
K p l h s khuch i
85
(5.12)
Td = K d K p l hng s thi gian vi phn

C thm thnh phn vi phn lm tng tc tc ng ca h thng.
Hm truyn t ca quy lut t l - vi phn c dng:
W ( p ) = K p (1 + Td . p )
(5.13)
Hm truyn tn s ca quy lut PD:
W ( j ) = K p (1 + jTd . )
(5.14)
( ) = arctg (Td . )
(5.15)
c tnh pha tn:
Nh vy khi thay i t 0 n th c tnh PT s thay i t 0 n 2 . Ta c th

khng nh tc tc ng ca quy lut PD cn nhanh hn c quy lut t l. Tuy nhin, do c
thm thnh phn vi phn nn h thng s phn ng vi cc nhiu cao tn c bin nh, l iu
m chng ta khng mong mun, ng thi quy lut PD cng khng lm gim sai lch d. V vy,
trong cng nghip, quy lut PD ch s dng u i hi tc tc ng nhanh nh iu khin
tay my
5.3.5 Quy lut iu khin t l vi tch phn (PID)
tng tc tc ng ca quy lut PI, trong thnh phn ca n ngi ta ghp thm thnh
phn vi phn v nhn c quy lut iu khin t l vi tch phn. Tc ng iu khin c tnh
ton theo cng thc:
x = K p .e + K I e.dt + K d .
trong :
de
1
= KP e +
dt
Ti
e.dt + Td .
de
dt
(5.16)
K p l h s khuch i
Ti = K p Ki l hng s thi gian tch phn
Td = K d K p l hng s thi gian vi phn
Hm truyn t ca quy lut t l - vi tch phn c dng:
1
W ( p ) = K p 1 +
+ Td . p
Ti . p
Hm truyn tn s ca khu PID:
86
(5.17)
W ( j ) = K p 1 +
1
j Td .
Ti .
(5.18)
c tnh pha tn:
Ti .Td . 2 1
( ) = arctg
Ti .
(5.19)
Nh vy khi = 0 th ( ) = 2 , cn khi = 1 Ti .Td th ( ) = 0 v khi =

th ( ) = 2 . R rng gc lch pha ca tn hiu ra so vi tn hiu vo nm trong khong t
2 n 2 , ph thuc vo cc tham s K p , Ti , Td v tn s ca tn hiu vo. Ngha l v

tc tc ng, quy lut PID cn c th nhanh hn c quy lut t l. Ni tm li, quy lut PID l
hon ho nht. N p ng c yu cu v cht lng ca hu ht cc quy trnh cng ngh
nhng vic hiu chnh cc tham s ca n rt phc tp, i hi ngi s dng phi c mt trnh
nht nh. V vy, trong cng nghip, quy lut PID ch s dng nhng ni cn thit, khi quy
lut PI khng p ng c yu cu v cht lng iu chnh.
e(t)
Sai lch
e(t)
t
P
e(t)
t
PI
t
e(t)
PD
e(t)
PID
t
Hnh 5.6. Minh ho sai lch iu khin vi cc lut iu chnh
87
5.4 TNG HP H THNG TRONG KHNG GIAN TRNG THI

Trong khng gian trng thi, ta xt tnh iu khin c v quan st c ca h thng.
Khi nim v iu khin c v quan st c (Controllability and Observability) ln u tin
do R. Kalman a ra.
Cc bin trng thi xut hin t cc bin i ton hc. S lng cc bin trng thi thng
ln hn s lng cc bin u ra c th o c. C phi tt c cc bin trng thi u c th iu
khin c hay khng? C th xc nh c tt c cc trng thi t cc u ra o c hay
khng?
5.4.1 Tnh iu khin c
Mt h thng c gi l iu khin c nu ta c th tm c mt vector iu khin
u ( t ) vi mt tc ng u vo, h thng chuyn t mt trng thi ban u bt k x ( 0 ) n

mt trng thi cui bt k x ( t ) trong mt khong thi gian hu hn t t0 .
nh l 5.1. H thng tuyn tnh c m t bi phng trnh trng thi cp n :
x ( t ) = A.x ( t ) + B.u ( t )
(5.20)
c gi l iu khin c hon ton khi v ch khi ma trn sau c hng bng n :
P = B
A.B
A2 .B ... An1.B
(5.21)
V d 5.1. Cho h thng c m t bng phng trnh trng thi sau:
X = A. X + B.U
y = C. X
0.5 0
1
; B=
Trong A =
2 1
0
Xt tnh iu khin c ca h thng?
Gii: Theo cng thc (5.21), h thng iu khin c hon ton khi ma trn P sau c
hng bng 2:
P = [B
1 0.5 9 1 1 0.5
A.B ] =
2 1 0 = 0
0
2
Hng ca ma trn P :
rank ( P ) = 2 v det ( P ) = 2 0
88

Kt lun: H thng cho iu khin c hon ton.
V d 5.2. Cho h thng nh hnh 5.6:
u (t )
yn
1
p
10
1
p
y (t )
0.5
0.2
Hnh 5.6
Xt tnh iu khin c ca h thng trn?
Gii: T h thng nh hnh 5.6, ta xc nh c hm truyn t ca h kn l:
Wk ( p ) =
Y ( p)
20
= 2
U ( p) 2 p + p + 4
t:
x1 = y
x1 = x2
x = 2 x 0.5 x + 10u
1
2
2
Phng trnh trng thi tng ng l:
1 x1 0
x1 0
=
x 2 0.5 x + 10 u
2
2
Xt tnh iu khin c ca h thng theo cng thc (5.21):
P = [B
0 0
1 0 0 10
A.B ] =
10 2 0.5 10 10 5
Hng ca ma trn P :
rank ( P ) = 2 v det ( P ) = 100 0
89

Kt lun: H thng cho iu khin c hon ton.
5.4.2 Tnh quan st c
H thng c gi l quan st c nu vi cc ta o c u ra ca h thng, ta c
th khi phc c cc vector trng thi x ( t ) trong mt khong thi gian hu hn.
nh l 5.2. H tuyn tnh dng lin tc c m t bi phng trnh trng thi:
x ( t ) = A.x ( t ) + B.u ( t )
y ( t ) = C.x ( t )
(5.22)
c gi l quan st c hon ton khi v ch khi ma trn L sau c hng bng n :
L = C ' A '.C '
( A ')2 .C '
...
( A ')n1 .C '
(5.23)
V d 5.3. Cho h thng c m t bi phng trnh trng thi sau:
X = A. X + B.U
y = C. X
1
0
0
0
Trong A = 0.5 0.2 0.3 ; B = 0 ; C = [1 0 0]

30 65 5
30
Xt tnh quan st c ca h thng?
Gii: Theo cng thc (5.23), h thng quan st c hon ton khi ma trn L sau c hng
bng 3:
L = C ' A '.C '
1
0 0.5 30
C ' = 0 ; A ' = 1 0.2 65

0
0 0.3 5
0 0.5 30 1 0
A '.C ' = 1 0.2 65 . 0 = 1
0 0.3 5 0 0
90
( A ')2 .C '
0 0.5 30 0 0.5
( A ') .C ' = A '. ( A '.C ') = 1 0.2 65 . 1 = 0.2
0 0.3 5 0 0.3
2
1 0 0.5
Vy L = 0 1 0.2
0 0 0.3
Hng ca ma trn L :
rank ( L ) = 3 v det ( L ) = 0.3 0

Kt lun: H thng cho quan st c hon ton.
Trong chng ny chng ta cn lu mt s ni dung sau:
+ C nhng h thng khng th tha mn c cc yu cu k thut t ra d cc tham s
ca b iu khin c chn ti u. Trong trng hp , ta phi thay i cu trc ca n theo
cc phng php khc nhau nh phng php b tc ng nhiu (nu bit c nhiu tc ng
vo h thng l nhiu ph ti hoc nhiu t trc), phng php xy dng h thng iu khin
tng, phng php phn ly
+ Theo chc nng, cc b iu chnh c phn ra thnh b iu chnh t l, b iu chnh
tch phn, b iu chnh t l - tch phn, b iu chnh t l - vi phn v b iu chnh t l vi tch
phn. B iu chnh P lm gim sai lch nhng khng th trit tiu v h s khuch i khng th
qu ln. B iu chnh I c th trit tiu sai lch tnh nhng c tc ng chm. B iu chnh
PI c th thay i c tc gim sai lch B iu chnh PD ci thin c cht lng ng
nhng khng trit tiu c sai lch tnh cn b iu chnh PID kt hp c cc c im ca c
ba thnh phn PID l h thng c th lm vic n nh vi mi i tng, trit tiu c sai lch
tnh ca h thng v b iu khin c tc ng nhanh.
+ Khi h thng c biu din trong khng gian trng thi, ta xt n hai c im ca h
thng l tnh iu khin c v tnh quan st c hon ton cc bin trng thi.
BI TP
Bi 1.
C th c b iu khin vi phn (D Derivative)?
a. ng
b. Sai
91

Bi 2.
B iu khin t l c tc dng nh mt khu:
a. Khuch i
b. Tch phn
c. Vi phn
d. Khu tr
Bi 3.
Trong quy lut tch phn, tn hiu iu khin c xc nh theo biu thc:
1
x = Ki e.dt = e.dt (trong Ti = 1 Ki c gi l hng s thi gian tch phn). Vy ti
Ti
sao u im ca quy lut tch phn l trit tiu sai lch tnh?
Bi 4.
Theo tnh cht ca khu khuch i ta thy tn hiu ra ca khu lun lun trng pha vi tn
hiu vo. iu ny ni ln u im ca khu khuch i l c tc ng nhanh, iu ng
hay sai?
a. Sai
b. ng
Bi 5.
Khi thay i t 0 n th c tnh pha tn ca b iu khin PD s thay i nh th
no?
a. T 2 n 2
b. T 2 n 0
c. Bng 2 , khng thay i
d. T 0 n 2
92

Bi 6.
Trong cng nghip, quy lut t l (P) thng c dng cho nhng h thng c c im
g?
a. Cho php tn ti sai lch tnh
b. Khng n nh
c. Yu cu tc ng rt nhanh
d. Yu cu chnh xc ca iu khin phi cao
Bi 7.
Ni v tc ng, quy lut PID cn c th nhanh hn c quy lut t l, iu ng hay
sai?
a. Sai
b. ng
Bi 8.
Tc dng ca khu tch phn trong b iu khin?
a. Trit tiu sai lch tnh
b. Rt ngn qu trnh qu ca h thng
c. Lm tng tc ca b iu khin
d. Lm gim tc ca b iu khin
Bi 9.
Cho h thng c hm truyn t h dng:
Wh ( p ) =
10 p + 4
8 p3 + 5 p 2
Tm sai s xc lp ca h thng nu tn hiu hiu vo u ( t ) = 1( t ) ?
Bi 10.
H thng tuyn tnh c m t bi phng trnh trng thi cp n :
93
x ( t ) = A.x ( t ) + B.u ( t )
y ( t ) = C.x ( t )
c gi l iu khin c hon ton khi v ch khi ma trn P c hng bng n . Vy ma
trn P c xy dng nh th no?
a.
P = B ' A.B ' A2 .B ' ... An1.B '
b.
P = C ' A '.C '
c.
P = C
d. P = B
A '.C
A.B
( A ')2 .C '
( A ')2 .C
...
...
( A ')n1 .C '
( A ')n1 .C
A2 .B ... An1.B
Bi 11.
Cho h thng c m t bng phng trnh trng thi dng:
x ( t ) = A.x ( t ) + B.u ( t )
y ( t ) = C.x ( t )
0.5 1.5
1
vi A =
; B = ; C = [1 0]
2 3
0
H thng ny c quan st c hon ton khng?
Bi 12.
x ( t ) = A.x ( t ) + B.u ( t )
y ( t ) = C.x ( t )
0.5 3
1
vi A =
; B = ; C = [1 0]
2 1
0
H thng ny c iu khin c hon ton khng?
94
Chng 6. M t ton hc h thng iu khin t ng ri rc
CHNG VI. M T TON HC H THNG IU KHIN

T NG RI RC
NI DUNG
6.1 KHI NIM CHUNG
Ph thuc vo tnh cht truyn tn hiu v h thng KT tuyn tnh c phn ra thnh h
thng lin tc tuyn tnh v h thng ri rc tuyn tnh.
+ Nu trong tt c cc mt xch ca h thng, tn hiu c truyn i lin tc th h c gi l
h lin tc.
+ Nu ti mt mt xch no , tn hiu khng c truyn i lin tc (b ri rc ho) th h
l h ri rc tuyn tnh (hay h xung-s).
Trong phn trc chng ta nghin cu v h thng lin tc tuyn tnh. Trong phn ny,
chng ta s nghin cu v h thng ri rc tuyn tnh.
Trong bt c mt h thng ri rc no cng tn ti t nht mt phn t ng vai tr chuyn
tn hiu t lin tc thnh ri rc. y c gi l qu trnh lng t ha. C ba phng php
lng t ha l lng t ha theo mc, lng t ha theo thi gian v lng t ha hn hp.
+ Lng t ha theo mc: gi tr tn hiu ra c quy nh theo nhng mc nht nh ph
thuc vo gi tr vo ca tn hiu.
+ Lng t ha theo thi gian: l php lng t c thc hin sau nhng khong thi gian
bng nhau gi l chu k ly mu T. Phn t thc hin php lng t ny l phn t xung. h
thng KT c phn t xung (hnh 6.2) c gi l h thng iu khin xung - s (hay h ri
rc). Qu trnh hnh thnh xung u ra ca phn t xung ph thuc vo bin ca tn hiu ti
thi im ly mu, v c gi l qu trnh iu ch xung. C bn phng php iu ch xung l
iu ch theo bin , iu ch theo rng, iu ch theo pha v iu ch theo tn s. Trong h
thng ny thng s dng cc phn t xung c phng php iu ch theo bin hoc theo
rng xung. Ngoi phn t xung, cc phn t cn li trong h thng l nhng phn t tuyn tnh, v
vy n c gi l h thng iu khin ri rc tuyn tnh. Trong phn ny ta s i su nghin cu
h thng dng ny.
+ Lng t hn hp: thc hin bng cch chia gi tr tn hiu ra nhng mc cch u nhau.
Khong cch gia cc mc ln cn c gi l mt bc lng t. Chu k ly mu l c nh, gi
tr tn hiu ra bng gi tr mc lng t gn vi gi tr tn hiu vo ti thi im ly mu nht.
e
e
4
3
2
1
t
(a)
(a). Lng t ha theo mc
t
0
T 2T 3T 4T 5T
(b)
Hnh 6.1 Mt s phng php lng t

95
(b). Lng
t ha theo thi gian (iu ch theo bin )
6.1.1 S khi h thng
u1 ( t )
e ( t ) e ( iT )
WLG ( p )
WLT ( p )
T
u (t )
f (t )
y (t )
Hnh 6.2 HTKT
ri rc tuyn tnh
WFH ( p )
Nhn xt:
+ Trong h thng, ngoi T l phn t to xung l tng (xung Diract), cc phn t cn li
trong h thng l tuyn tnh nn h thng c gi l h thng ri rc tuyn tnh hay h xung - s.
+ Kha T c mc ni tip vi khu WLG ( p ) c tc dng nh hnh xung t dng xung l
tng. Phn lin tc WLT ( p ) l phn t c bn nht ca h thng xung - s.
+ phn tch h thng, ngi ta ghp hai khu WLG ( p ) v WLT ( p ) to nn phn t lin
tc quy i: WLTQD ( p ) = WLG ( p ) *WLT ( p ) .
6.1.2 B lu gi bc 0 (ZOH Zero Order Hold)
Trong h thng ri rc nh trn, WLG ( p ) l hm truyn
u1 ( t )
t ca b lu gi bc 0. Ty thuc vo dng xung thc t ca b

to xung l tng T m WLG ( p ) c cc dng khc nhau.
B lu gi bc 0 l b m trong khong thi gian T , gi tr

hm ri rc c gi khng i vi T l chu k ct mu.
0 T 2T 3T 4T 5T
u1 ( t ) = u1 ( iT )
Hnh 6.3 B lu gi bc 0
Gi s phn t to xung thc t
u1 ( t )
1
iT t ( i + 1) T
(6.1)
( T + WLG ( p ) )
to ra
xung Diract (bin : 1, rng: ): u1 ( t ) = 1( t ) 1( t ) .
WLG ( p ) =
Hnh 6.4 Xung Diract
U1 ( p )
L { ( t )}
1
1- e- p
p
t = T trong l h s t l, 0 1 , thng = 1 v T l chu k ly mu.

Vy, hm truyn t ca khu lu gi bc 0:
WLG ( p ) =
U1 ( p )
L { ( t )}
1
1- e- pT
p
(6.2)
6.1.3 Tn s ct mu T (chu k ct mu)

+ Vic bin i t tn hiu lin tc sang ri rc c gi l qu trnh ct mu hay qu trnh
lng t ha.
96

+ Thng thng, trong h thng s, T = const , tc tn hiu c lng t ha theo thi
gian. x ( t ) l tn hiu lin tc v x ( iT ) l tn hiu ri rc tng ng.
x (t )
x ( 2T )
x ( 8T )
x ( 4T )
t
0
Hnh 6.5 Qu trnh lng

t ha theo thi gian
T 2T 3T 4T 5T 6T 7T 8T
6.2 M T TON HC TN HIU RI RC

* Sai phn ca hm ri rc:
- Nu dy xung x ( nT ) c rng v cng nh, ta c th xem l xung tc thi,
dy xung chnh l hm ri rc x ( i ) .
- i vi hm ri rc x ( i ) , khng c php tnh o hm, tch phn, vi phn nhng
c php tnh tng t l sai phn v tng.
Hm ri rc x ( i ) l tp hp mt dy xung tc thi x ( nT ) c gi tr bng gi tr tn hiu
lin tc ti thi im ly mu, rng ca xung bng 0 v thi im ly mu l nT vi T l chu
k ly mu v n = 0, 1,..., n . Sai phn cp 1 ca hm ri rc biu th s sai khc ca hai xung ln
cn v c tnh theo cng thc:
x ( i ) = x ( i + 1) x ( i )
Sai phn cp 1 ca hm ri rc tng ng nh o hm cp 1 ca tn hiu lin tc x ( t ) .
Sai phn cp 2:
2 f ( i ) = f ( i + 1) f ( i ) = f ( i + 2 ) 2 f ( i + 1) + f ( i )
Vy c th trc tip xc nh sai phn bc 2 ca hm ri rc m khng cn phi thng qua
sai phn bc 1. y chnh l s khc nhau gia php tnh sai phn ca hm ri rc v php tnh
o hm ca hm lin tc. Sai phn cp n :
n f (i ) =
( 1)n j
j =0
n!
f (i + j )
j !( n j ) !
(6.3)
* Ph v nh ca tn hiu ri rc:
Tn hiu ri rc x* ( t ) c m t bng biu thc:
x (t ) =
*
x ( nT ) ( t nT )
n =0
97
(6.4)

Chuyn i Laplace ca hm ri rc x* ( t ) c gi l chuyn i Laplace ri rc v c
xc nh theo biu thc:
( p ) = x ( nT ) 0 ( t nT ) e pt dt
(6.5)
n =0
Gi tr tch phn bng e pnT , nh vy nh ca hm ri rc x* ( t ) c dng:
X * ( p) =
x ( nT ) e pnT
(6.6)
n =0
Ph ca tn hiu ri rc c xc nh bng cch thay p = j vo (6.6):
X * ( j ) =
x ( nT ) e jnT
(6.7)
n =0
c trng c bn ca ph v nh ca hm ri rc l n c tnh chu k vi tn s

0 = 2 T v:
j k0 )nT
e (
= e j nT .e kn 2 j = 2 j nT
(6.8)
V vy, khi nghin cu ph v nh ca tn hiu ri rc, ta ch nghin cu trong gii tn s

0 2 0 2 .
6.3 M T TON HC H THNG RI RC

6.3.1 Bin i Z
Thay z = e pT vi p = + j vo (6.6), biu thc nh ca hm ri rc l:
X ( z) =
x ( nT ) z n
(6.9)
n =0
X ( z ) = Z { x ( n )} c gi l chuyn i z ca hm ri rc x* ( t ) . Sau y l mt s tnh

cht ca chuyn i Z :
+ Tnh tuyn tnh:
Z {ax1 [ n ] + bx2 [ n ]} = a.Z { x1 [ n ]} + b.Z { x2 [ n ]}
+ Tnh cht hm tr:

Nu Z { f [ n ]} = F ( z ) th Z { f [ n k ]} = z k F ( z )
+ Chuyn i Z ca sai phn:
98
(6.10)

Sai phn cp 1: Z x ( n ) = Z y ( n ) = Y ( z ) = ( z 1) X ( z ) zx ( 0 )
Sai phn cp 2: Z 2 x ( n ) = Z y ( n ) = ( z 1) Y ( z ) zy ( 0 )
Tng t nh vy, ta c th xc nh chuyn i Z ca cc sai phn bc cao hn trn c s

chuyn i Z ca cc sai phn bc thp hn xc nh.
+ Chuyn i Z ca hm tch chp hai hm s:
{ f1 ( mT ) . f2 ( n m ) T } = Z { f1 ( n m ) T . f2 ( mT )}
= Z { f1 ( mT )}.Z { f 2 ( nT )} = F1* ( p ) .F2* ( p )
(6.11)
6.3.2 M t ton hc bng phng trnh sai phn

- Trong h lin tc, m t ng hc ca h thng bng PTVP:
dy
dmu dm1y
du
dt
dt
dt
dt
dt
dt
dn y
dn1y
(6.12)
- Trong h ri rc, m t ng hc ca h thng bng phng trnh sai phn:
a0 n y ( i ) + a1 n1 y ( i ) + ... + an1y ( i ) + an y ( i ) = u ( i )
(6.13)
hay
a0 y ( i + n ) + a1 y ( i + n 1) + ... + an1 y ( i + 1) + an y ( i ) = u ( i )
vi:
(6.14)
a0 , an 0
y ( i ) , u ( i ) l tn hiu ra, vo ri rc.

Ch : i vi h lin tc, cp ca o hm cao nht ca PTVP chnh l cp ca PTVP, cn
h ri rc, cp ca sai phn cao nht khng trng vi cp cao nht ca phng trnh sai phn.
V d 6.1: H thng c m t bi phng trnh sai phn dng (6.13):
3 y ( i ) + 2 2 y ( i ) + 6 y ( i ) + 5 y ( i ) = 0
Ta bin i n v dng (6.13) bng cch dng cng thc (6.3):
y ( i + 3) y ( i + 2 ) + 5 y ( i + 1) = 0
t j = i + 1 ta c phng trnh sai phn tng ng:
y ( j + 2 ) y ( j + 1) + 5 y ( j ) = 0
Vy cp ca sai phn cao nht l 3 v cp cao nht ca phng trnh sai phn l 2.
Vp phng trnh sai phn c cp n khi a0 , an 0 .
99

6.3.3 M t trong khng gian trng thi
Tng t nh trong h lin tc, phng trnh trng thi m t h ri rc c dng:
x ( i + 1) = Ad x ( i ) + Bd u ( i )
y ( i ) = Cd x ( i ) + Dd u ( i )
(6.15)
Hnh 6.6 l s cu trc trng thi biu din h (6.14)
Dd
u (i )
x ( i + 1)
Bd
Tr
x (i )
Cd
y (i )
Ad
Hnh 6.6 S cu trc trng thi ca h ri rc
6.3.4 Chuyn t h lin tc sang h ri rc
H thng lin tc tuyn tnh c m t di dng phng trnh trng thi dng:
x ( t ) = Ax ( t ) + Bu ( t )
y ( t ) = Cx ( t ) + Du ( t )
(6.16)
Ad = (T )
B = T ( ) Bd
d
0
Cd = C
Dd = D
(6.17)
Cch 1: Dng bin i Laplace:
trong , ( t ) = L1
{( pI A) } vi I l ma trn n v c hng bng hng ca ma trn

1
A.
Cch 2: Tin hnh tnh gn ng o hm cp 1:
x
= x ( i + 1) x ( i ) T
T
100
(6.18)
Ad = I + TA
B = TB
d
Cd = C
Dd = D
(6.19)
Cch 3: Phng php hnh thang. Ta thay th gn ng o hm nh sau:
x ( t ) x ( i + 1) x ( i ) T
x ( t ) = xtb = x ( i + 1) + x ( i ) 2
u = u ( i )
(6.20)
TA TA
Ad = I . I +
2
2
1
TA
Bd = I .T .B
2
C = C
d
Dd = D
(6.21)
6.3.5 Quan h gia cc phng php m t

Gi s h thng ri rc c m t bng phng trnh sai phn dng:
a0 y ( i + l ) + a1 y ( i + l 1) + ... + al 1 y ( i + 1) + al y ( i ) = ku ( i )
(6.22)
y ( i ) = y1 ( i )
y1 ( i + 1) = y2 ( i ) A1 y1 ( i )
y2 ( i + 1) = y3 ( i ) A2 y1 ( i )
...
y ( i + l ) = k0u ( i ) Al y1 ( i )
(6.23)
t :
vi k0 = k a0 , Ai = ai a0
c gi l phng trnh trng thi ca h thng ri rc. Cc bin y 1, y2 ,..., yl c gi l
cc bin trng thi. H trn vit di dng vector ma trn:
y1 ( i + 1) A1 1 ... 0 y1 ( i ) 0

y2 ( i + 1) = A2 0 ... 0 . y2 ( i ) + 0 u ( i )
... ... ... ... ... ... ...

yl ( i + 1) Al 0 ... Al yl ( i ) k0
101
(6.24)

Tn hiu ra ca h thng c xc nh theo cng thc:
y1 ( i )
y2 ( i )
y ( i ) = [1 0 ... 0] .
...
yl ( i )
(6.25)
Hnh 6.7 l s cu trc h thng c m t bi (6.22). Ch , tn hiu vo trc khu
l o hm tn hiu ra ca n.
yl ( i + 1)
u (i )
k0
Al
yl 1 ( i + 1)
yl ( i )
y2 ( i + 1)
y1 ( i + 1)
y2 ( i )
A2
Al 1
y ( i ) = y1 ( i )
A1

Trn c s ny, ta d dng xy dng c s cu trc ca h thng ri rc m qu trnh
ng hc c m t bng phng trnh sai phn c dng:
a0y( i +l) + a1y( i +l 1) +...+ al1y( i +1) + an y( i) = b0u( i + m) +bu

1 ( i + m1) ++ bm1u( i +1) + bmu( i)
(6.26)
Chia c hai v cho a0 ta c:
y( i +l ) + A1y( i +l 1) +...+ Al1y( i +1) + An y( i) = B0u( i + m) + Bu

1 ( i + m1) ++ Bm1u( i +1) + Bmu( i)
(6.27)
Vi Ai = ai a0 , Bi = bi a0 .
Hm truyn t ca h thng c dng:
W ( z) =
t:
B0 z m + B1z m1 + ... + Bm1z + Bm

A0 z l + A1z l 1 + ... + Al 1z + Al
y1 ( i ) = y ( i )
y1 ( i + 1) = y2 ( i ) A1 y1 ( i ) + B0u ( i )
y i +1 = y i A y i + B u i
) 3( ) 2 1( ) 1 ( )
2(
...
y ( i + 1) = y ( i ) A y ( i ) + B u ( i )
l
l 1 1
m1
l 1
yl ( i + 1) = Al y1 ( i ) + Bmu ( i )
102
(6.28)

Vy l c h phng trnh trng thi vit di dng vector l:
y1 ( i + 1) A1 1 ... 0 y1 ( i ) B0

y2 ( i + 1) = A2 0 ... 0 . y2 ( i ) + B1 u ( i )
... ... ... ... ... ... ...

yl ( i + 1) Al 0 ... Al yl ( i ) Bm
(6.29)
Tn hiu ra ca h thng c xc nh theo cng thc:
y1 ( i )
y2 ( i )
y ( i ) = [1 0 ... 0] .
...
yl ( i )
(6.30)
Hnh 6.8 l s cu trc h thng c m t bi (6.27). Ch , tn hiu vo trc khu
z 1 l o hm tn hiu ra ca n.
B1
Bm1
yl ( i + 1)
u (i )
Bm
yl ( i )
Al
B0
yl 1 ( i + 1)
y2 ( i + 1)
z
A2
Al 1
y2 ( i )
y1 ( i + 1)
z
y ( i ) = y1 ( i )
A1
6.4 HM TRUYN T TRONG H THNG RI RC

Tng t nh trong h thng lin tc tuyn tnh, chuyn i Laplace ri rc ca hm trng
lng ri rc s l hm truyn t ca h thng ri rc.
6.4.1 Hm truyn t ca h h
* Xc nh hm truyn t theo phng trnh sai phn:
Gi s h ri rc c m t bng phng trnh sai phn dng:
a0 y ( i + n ) + a1 y ( i + n 1) + ... + an y ( i ) = b0u ( i + m ) + b1u ( i + m 1) + ... + bbu ( i )

(6.31)
Vi iu kin u trit tiu, nh cng thc bin i Z ta c:
103
( a0 z n + a1z n1 + ... + an ) Y ( z ) = (b0 z m + b1z m1 + ... + bm )U ( z )
(6.32)
Hm truyn t trong h ri rc l t s gia tn hiu ra v tn hiu vo theo bin i Z :
W ( z) =
Y ( z ) b0 z m + b1z m1 + ... + bm
=
U ( z ) a0 z n + a1z n1 + ... + an
(6.33)
Nu h thng c m t dng khng gian trng thi:
x ( i + 1) = Ad x ( i ) + Bd u ( y )
y ( i ) = Cd x ( i )
(6.34)
Vi iu kin u trit tiu, hm truyn t ma trn c dng:
W ( z) =
Y ( z)
1
= Cd ( ZI Ad ) Bd
U ( z)
(6.35)
* Xc nh hm truyn ri rc theo hm truyn t phn lin tc:
u (t )
WLG ( p )
y (t )
WLT ( p )
Y ( z ) = Z {WLG ( p ) .WLT ( p )}.U ( z ) W ( z ) =

M WLG ( p ) =
Hnh 6.9 H thng h
Y ( z)
= Z {WLG ( p ) .WLT ( p )}
U ( z)
1
1- e- pT . Vy
p
W ( p )
Z {WLG ( p ) .WLT ( p )} = 1 z 1 .Z LT
(6.36)
6.4.2 Hm truyn t ca h kn
e ( t ) e ( iT )
u (t )
f (t )
Ta c:
WLG ( p )
u1 ( t )
WLT ( p )
y (t )
Hnh 6.10 H thng
KT ri rc tuyn
tnh
WFH ( p )
Y ( z ) = Z {WLG ( p ) .WLT ( p )} E ( z )
F ( z ) = Z {WLG ( p ) .WLT ( p ) .WFH ( p )} E ( z )

E ( z) = U ( z) F ( z)
Trong :
104
F ( z ) = Z { f ( iT )}
E ( z ) = Z {e ( iT )}
e ( iT ) = u ( iT ) f ( iT )
Vy hm truyn t ca h kn l:
Wk ( z ) =
Z {WLG ( p ) .WLT ( p )}
Y (z)
=
U ( z ) 1 + Z {WLG ( p ) .WLT ( p ) .WFH ( p )}
(6.37)
V d 6.2: Cho h thng ri rc nh hnh 6.11. Hy xc nh hm truyn t ca h kn.
u1 ( t )
e ( t ) e ( iT )
WLG ( p )
T
u (t )
y (t )
a
p+a
Hnh 6.11 H thng

Trong v d 6.2
f (t )
Gii: Theo trn ta c hm truyn t ca khu WLG ( p ) :
WLG ( p ) =
1
1- e- pT
p
WLTQD ( p ) = WLG ( p ) .WLT ( p )

=
1 e pT
a
.
p
p+a
1 e pT
a
y ( t ) = L1 WLTQD ( p ) = L1
.
p
p + a
1
1 e pT
= L1
p p + a
a t T
= 1 e at .u ( t ) 1 e ( ) .u ( t T )
Hm ri rc:
a i 1 T
y ( t ) = 1 e aiT .u ( iT ) 1 e ( ) .u ( iT T )
Do :
WLTQD ( z ) = Y ( z ) =
QLTQD ( z ) =
1
1 z
1
1
1 e
aT
.z
1 1
z 1
z
1
aT 1
1 z
1 e .z
)
(1 eaT .z 1 )
z 1 1 e aT
105

Hm truyn t ca h kn l:
z 1 1 e aT
Z WLTQD ( p )
Y ( z)
Wk ( z ) =
=
=
U ( z ) 1 + Z WLTQD ( p ) 1 + 1 e aT .z 1
+ H thng ri rc m ta xt trong chng ny ch c phn t to xung l tng l ri rc,
cc phn t cn li trong h thng u l cc phn t lin tc tuyn tnh. Phn t ZOH (khu lu
gi bc 0) c tc dng nh hnh xung t phn t to xung l tng.
+ Nu h thng lin tc c m t bng phng trnh vi phn th h thng ri rc c m
t bng phng trnh sai phn v trong phng trnh sai phn, cp cao nht ca phng trnh
khng trng vi cp ca sai phn cao nht. Phng trnh sai phn c bc n khi n tha mn iu
kin a0 , a0 0 .
+ C ba phng php chuyn t h lin tc sang h ri rc vi chu k ct mu T l dng
bin i Laplace, tnh gn ng o hm cp 1 v phng php hnh thang, trong phng php
hnh thang cho kt qu chnh xc nht.
BI TP
Bi 1.
Trong cc h thng iu khin ri rc tuyn tnh, phng php lng t ha no thng
c s dng?
a.
Lng t ha theo mc
b.
Lng t ha theo thi gian
c.
Lng t ha hn hp
Bi 2.
u l hm truyn t ca khu WLG ( p ) trong mt h thng ri rc tuyn tnh?
a.
WLG ( p ) =
1
1- e- pT
p
b.
WLG ( p ) =
1
1- e-T
p
c.
WLG ( p ) = 1- e- pT
Bi 3.
Cho h thng c biu din di dng phng trnh sai phn (6.12):
106
3 y ( i ) + 4 2 y ( i ) + 5y ( i ) + 2 y ( i ) = 0
Chuyn phng trnh sai phn ny v dng (6.13)?
Bi 4.
Cp sai phn cao nht l cp cao nht ca phng trnh sai phn?
a.
ng
b.
Sai
Bi 5.
Phn lin tc tuyn tnh ca h thng ri rc c hm truyn t:
WLT ( p ) =
2 ( p + 1)
p ( 2 p + 1)( 5 p + 1)
Xc nh hm truyn t ca h ri rc h vi = 0.4, T = 0.01 ?
Bi 6.
Phn lin tc tuyn tnh ca h thng ri rc c hm truyn t:
WLT ( p ) =
3 p +1
( 4 p + 1)( 2 p + 1)( p + 1)
Xc nh hm truyn t ca h ri rc h vi = 0.5, T = 0.01 ?
Bi 7.
Cho h iu khin lin tc tuyn tnh c biu din di dng phng trnh trng thi:
0 0 x1 0
x =
. + u
1 1 x2 1
y 1 0 . x1
] x
=[
2
Vi chu k ly mu T = 0.1 ( s ) , chuyn h thng ny sang dng ri rc?
Bi 8.
Hm truyn t ca h kn c xc nh theo cng thc no sau y?
107
a.
Wk ( z ) =
Z {WLG ( p ) .WLT ( p )}
Y ( z)
=
U ( z ) 1 + Z {WLG ( p ) .WLT ( p )}
b.
Wk ( z ) =
Y ( z ) Z {WLG ( p ) .WLT ( p ) .WFH ( p )}

=
U ( z)
1 + Z {WLG ( p ) .WLT ( p )}
c.
Wk ( z ) =
Z {WLG ( p ) .WLT ( p )}
Y (z)
=
Bi 9.
Nu h thng iu khin ri rc tuyn tnh c m hnh nh hnh 6.12 th hm truyn t ca
h kn c xc nh theo cng thc no nu hm truyn t ca khu ZOH l
1
WLG ( p ) = 1- e- pT ?
p
u (t )
u1 ( t )
e ( t ) e ( iT )
WLG ( p )
WLT ( p )
T
f (t )
y (t )
Hnh 6.12
WFH ( p )
a. Wk ( z ) =
Z {WLG ( p ) .WLT ( p )}
Y (z)
=
b. Wk ( z ) =
Z {WLG ( p ) .WLT ( p )}
Y (z)
=
c. Wk ( z ) =
Z {WLT ( p )}
Y (z)
=
d. Wk ( z ) =
Z {WLG ( p ) .WLT ( p )}
Y ( z)
=
U ( z ) 1 + Z {WLG ( p ) .WFH ( p )}
Bi 10.
Cch bin i t h thng lin tc sang h thng ri rc trong khng gian trng thi theo
phng php hnh thang? (Trong I l ma trn n v. A, B, C , D l cc ma trn trng thi
trong h lin tc v Ad , Bd , Cd , Dd l cc ma trn trng thi trong h ri rc)
108

1
a.
TA TA
TA
Ad = I . I + ; Bd = I .T .B; Cd = C ; Dd = D
2
2
2
b.
TA TA
TA
2
2
2
c.
TA TA
TA
Ad = I . I + ; Bd = I
2
2
2
d.
TA TA
TA
2
2
2
; Cd = C ; Dd = D
Bi 11.
Cch bin i t h thng lin tc sang h thng ri rc trong khng gian trng thi theo
phng php tnh gn ng o hm cp 1? (Trong I l ma trn n v. A, B, C , D l cc
ma trn trng thi trong h lin tc v Ad , Bd , Cd , Dd l cc ma trn trng thi trong h ri rc)
a. a. Ad = I TA; Bd = TB; Cd = C ; Dd = D
b.
Ad = I + TA; Bd = TB; Cd = C ; Dd = D
c.
Ad = I + A; Bd = TB; Cd = C ; Dd = D
d.
Ad = I + TA; Bd = B; Cd = C ; Dd = D
Bi 12.
x ( t ) = A.x ( t ) + B.u ( t )
y ( t ) = C.x ( t )
0.5 1.5
1
; B = ; C = [1 0]
vi A =
2 3
0
Hy chuyn h trn sang h ri rc tng ng vi thi gian ct mu T = 0.25s
109
Chng 7. Phn tch v tng hp h thng iu khin t ng ri rc
CHNG VII. PHN TCH V TNG HP H THNG IU

KHIN T NG RI RC
NI DUNG
7.1 GII THIU CHUNG
Tng t nh khi nghin cu h thng KT lin tc, khi kho st, tng hp h thng
KT ri rc, chng ta cng phi cp n cc vn v tnh n nh, cht lng, tnh iu
khin c, quan st c ca h thng ri rc. Trong chng ny, ta s cp n cc ni dung
chnh nh sau:
- Xt tnh n nh ca h thng ri rc (bao gm cc tiu chun n nh i s v cc tiu
chun n nh tn s).
- Cc tiu chun nh gi cht lng ca mt h thng ri rc
- Tnh iu khin c, quan st c ca h thng ri rc.
7.2 TNH N NH CA H THNG RI RC

7.2.1 Khi nim n nh ca h thng ri rc
Tng t nh trong h thng lin tc, xt tnh n nh ca mt h thng ri rc, ta phi
gii phng trnh sai phn (6.13):
a0 y ( i + n ) + a1 y ( i + n 1) + ... + an1 y ( i + 1) + an y ( i ) = u ( i )
(7.1)
Tng t nh PTVP, nghim ca phng trnh sai phn cng bao gm nghim ring v
nghim tng qut:
y ( nT ) = y qd ( nT ) + y0 ( nT )
(7.2)
Nghim tng qut yqd ( nT ) (gii bng cch cho v phi ca phng trnh sai phn bng 0)
c trng cho qu trnh qu v nghim ring y0 ( nT ) c trng cho qu trnh xc lp ca h
thng, ngha l n khng lm nh hng n tnh n nh ca h thng.
Nh vy, xt n nh ca mt h thng ri rc, tng t nh h thng lin tc, ta ch
phi gii phng trnh sai phn c dng:
a0 y ( i + n ) + a1 y ( i + n 1) + ... + an 1 y ( i + 1) + an y ( i ) = 0
(7.3)
Nghim ca phng trnh ny c xc nh da vo nghim ca PTT:
a0 z n + a1z n1 + ... + an1z + an = 0

trong : z = e pT = e(
+ j )T
= eT .e jT
110
(7.4)
z = eT . ( cos T + j sin T )
(7.5)
Trong biu thc (7.5), thnh phn ( cos T + j sin T ) lun c module gii hn bng 1, do
, module ca z l:
z = e T
(7.6)
z >1
z =1
z <1
(7.7)
Vy:
> 0,
= 0,
< 0,
T ta c mi quan h gia mt phng p v mt phng z :

Mt phng z
Mt phng p
> 0 : Na bn phi mt phng p
z > 1 : Bn ngoi ng trn n v
= 0 : Trc o j
z = 1 : Nm trn ng trn n v
> 0 : Na bn phi mt phng p
z < 1 : Bn trong ng trn n v
Bng 7.1 Quan h n nh gia min lin tc v min ri rc.

mt phng z
mt phng p
j.Im[z]
j.
1
n nh
khng n nh
0
khng n nh
n nh
-1
Re[z]
-1
Hnh 7.1 Phn vng n nh trn mt phng nghim s
T nhng phn tch trn ta thy:

- H thng iu khin ri rc tuyn tnh s n nh nu PTT ca h thng c cc
nghim thc hoc nghim phc c module nh hn 1 ( z < 1 ).
- H thng iu khin ri rc tuyn tnh s khng n nh nu PTT ca h thng
c t nht mt nghim thc hoc phc c module ln hn 1 ( z > 1 ).
111

- H thng iu khin ri rc tuyn tnh s n nh nu PTT ca h thng c t
nht mt nghim thc hoc phc c module bng 1 ( z = 1 ) v cc nghim cn li l
nghim thc hoc phc c module nh hn 1.
Nh vy, nu tt c cc nghim ca PTT nm trn tia OA (hnh 7.2a), tt c cc nghim
u l nghim thc th qu trnh qu ca h thng s khng dao ng (hnh 7.2b). Nu c
nghim nm ngoi on OA (PTT c nghim phc) th qu trnh qu c dao ng. Tn s
dao ng ca h thng ph thuc vo v tr phn b ca cc nghim s. Nu tt c cc nghim ca
PTT phn b gc phn t th I v IV (nghim phc lun i thnh cp) th tn s dao ng ca
h thng nm trong khong 0 < < 2 (nghim nm trn trc OB c tn s dao ng
= 2 ). Nghim nm trn trc OC cho ta tn s dao ng = . Hnh 7.2b,c,d m t ng

bin thin ca tn hiu ra ng vi v tr cc nghim ca PTT trn mt phng z (hnh 7.2a).
B
(c)
6
2
4
II
3
C
5
C
A
2
1
t
III
IV
(a)
(b)
(d)
Hnh 7.2 c tnh qu theo s phn b nghim s
7.2.2 Tiu chun n nh i s

7.2.2.1 Phng php bin i bo ton hnh dng
Tng t nh h thng lin tc tuyn tnh, vic gii PTT ca h thng cng rt phc tp,
v vy ta phi dng cc phng php khc xt tnh n nh ca h thng khi khng th tm
c s phn b nghim s ca h thng.
Gi s h thng iu khin ri rc c PTT dng:
112
a0 z l + a1z l 1 + ... + al 1z + al = 0
Thay z =
(7.8)
v +1
vo PTT v bin i, ta c phng trnh tng ng theo bin v l:
v 1
A0vl + A1vl 1 + ... + Al 1v + Al = 0
(7.9)
Hnh 7.3 minh ha mi quan h tng quan s phn b nghim v ca phng trnh (7.9)
vi nghim z ca phng trnh (7.8).
- Nu nghim v nm bn tri trc o ta c v + 1 < v 1 hay z < 1 , tng ng
vi nghim z nm trong ng trn n v.
- Nu nghim nm bn phi trc o th v + 1 > v 1 hay z > 1 , tng ng vi
nghim z nm ngoi ng trn n v.
- Nu nghim nm trn trc o th v + 1 = v 1 hay z = 1 , tng ng vi
nghim z nm trn ng trn n v.
Nh vy, khi chuyn t mt phng z sang mt phng v th vic xt tnh n nh ca h
thng cng chuyn t iu kin z < 1 sang iu kin l tt c cc nghim ca phng trnh (7.9)
phi nm bn tri trc o. Cc tiu chun i s dng xt tnh n nh cho h thng iu khin
lin tc hon ton c th p dng xt n nh cho h ri rc trong mt phng v .
v 1
v +1
v 1 v
v +1
v 1
v +1
Hnh 7.3 Mi quan h gia nghim s v v module ca z
Mt phng z
Mt phng v
Hnh 7.4 S bin i tng ng gia hai mt phng
113

V d 7.1: Xt n nh ca h ri rc c PTT bc 2 dng:
2 z 2 + 3z + 4 = 0
Gii: Thay z =
v +1
vo PTT, sau khi bin i ta c phng trnh theo bin v dng:
v 1
9v 2 4v + 3 = 0
Theo tiu chun n nh i s cho h lin tc th h thng ny khng n nh v c

h s a1 = 4 < 0 . Vy h ri rc cho khng n nh.
V d 7.2: Xt n nh ca h ri rc c PTT bc nht dng:
a0 z + a1 = 0
Gii: Thay z =
v +1
vo PTT, sau khi bin i ta c phng trnh theo bin v dng:
v 1
( a0 + a1 ) v + a0 a1 = 0
Theo tiu chun n nh i s th h c PTT bc nht s n nh khi cc h s ca n
cng du:
( a0 + a1 )( a0 a1 ) > 0
Gii bt phng trnh ny ta c iu kin h n nh l a0 > a1
Nhn xt: H ri rc km n nh hn h lin tc. i vi h lin tc, nu h thng c
PTT bc nht hoc bc 2 vi cc h s dng th h thng lun n nh, cn trong h ri rc,
tnh n nh ca h thng ph thuc vo du gi tr ca cc h s trong PTT.
7.2.2.2 Tiu chun Jury
Tiu chun Jury l tiu chun kho st tnh n nh ca h ri rc i vi cc h thng c
PTT c bc l ln. Tiu chun Jury c xy dng nh sau:
Gi s h thng ri rc c PTT dng:
A ( z ) = a0 z l + a1z l 1 + ... + al 1z + al = 0
(7.10)
* Lp bng Jury:
S hng
1
al
al 1
a1
a0
a0
a1
al 1
al
bl 1
bl 2
b0
b0
b1
bl 1
( 2l 3)
114
trong :
bl 1 =
cl 2 =
al
a0
a0
al
bl 2 =
bl 1
b0
b0
bl 1
cl 3 =
al
a1
a0
al 1
bl 1
b1
b0
bl 2
bk =
ck =
al
al k 1
a0
ak +1
bl 1 bl k 2
b0
bk +1
* iu kin n nh theo tiu chun Jury

1. A (1) > 0
2. A ( 1) > 0 nu l chn v A ( 1) < 0 nu l l.
3. ( l 1) iu kin rng buc:
a. al < a0
b. bl 1 > b0
c. cl 1 > c0
Nhn xt: Nh vy bng Jury s c ( 2l 3) hng v khi xt tnh n nh ca h thng s c
( l + 1)
iu kin rng buc.
V d 7.3: Xt n nh ca h c PTT sau theo tiu chun Jury:
A ( z ) = 4 z3 + 2 z 2 5
Gii:
* iu kin h n nh:
1. A (1) = 4 + 2 5 = 1 > 0 : tha mn
2. l = 3 l, vy A ( 1) = 4 + 2 5 = 7 < 0 : tha mn
3. l 1 = 2 iu kin rng buc:
a. al = 5 < a0 = 4 : v l
Kt lun: H thng ri rc cho khng n nh.
V d 7.4: Xt n nh ca h c PTT sau theo tiu chun Jury:
A ( z ) = 16 z 4 + 16 z 3 4 z 1
Gii:
115

* Lp bng Jury: l = 4 , vy bng s c 2l 3 = 5 hng.
Hng
1
-1
-4
16
16
16
16
-4
-1
b3
b2
b1
b0
b0
b1
b2
b3
c2
c1
c0
Ta c:
b3 =
1 16
= 255
16 1
b2 =
1 16
= 252
16 4
b1 =
1 0
=0
16 0
b0 =
1 4
= 48
16 16
c2 =
b3
b0
c1 =
255
0
= 64260
48 252
c0 =
255 252
= 12096
48
0
b0 255 28
=
= 62721
b3
48 255
* iu kin n nh:
1. A (1) = 16 + 16 4 1 = 27 > 0 : tha mn
2. l = 4 chn, A ( 1) = 16 16 + 4 1 = 3 > 0 : tha mn
3. l 1 = 3 iu kin rng buc
a. al = 1 < a0 = 16 : tha mn
b. bl 1 = 255 > b0 = 48 : tha mn
c. cl 2 = 62721 > c0 = 12096 : tha mn
* Kt lun: Vy h cho l n nh.
7.2.3 Tiu chun n nh tn s
7.2.3.1 Nguyn l gc quay-Tiu chun Mikhailope
- Da vo tnh cht tn s ca a thc c tnh xt tnh n nh ca h thng.
Gi s h thng KT c PTT dng:
A ( z ) = a0 z l + a1z l 1 + + an1z + al = 0
116
(7.11)

c nghim l zi vi i = 1, 2,..., l th a thc c tnh ca n c th chuyn sang dng:
A ( z ) = a0
( z zi )
(7.12)
i =1
Nu xt trn mt phng z th mi s hng trong a thc trn l mt vector c chn ti im

zi v nh nm trn ng trn n v:
z = e jT = e j vi = T
Vy,
arg A ( z ) =

arg ( z zi )
i =1
(7.13)
Hnh 7.5 m t phn b ca cc vector ny cho hai trng hp zi nm trong ng trn

n v v zi nm ngoi ng trn n v.
zi
zi
C
Hnh 7.5 Cc vector z zi

-
Khi zi nm trong ng trn n v: vector z zi bt u quay t im A ( = )

ngc chiu kim ng h n im B ( = 0 ) v quay tip n im A ( = ) :
arg ( z zi ) = 2
(7.14)
Khi zi nm ngoi ng trn n v: vector z zi bt u quay t im A ( = )

ngc chiu kim ng h n im C c gc 1 , tip tc quay theo chiu kim ng h
n im D c gc , cui cng quay ngc chiu kim ng h v im A ( = )
c gc 2 . Nh vy, tng gc quay ca vector l 1 + 2 = 0
arg ( z zi ) = 0

117
(7.15)

H thng n nh khi cc nghim ca PTT u nm trong ng trn n v th gc quay
ca biu vector a thc c tnh l:
arg ( z zi ) = 2l
(7.16)
Trn thc t, do tnh i xng ca cc nghim phc nn chng ta ch cn xt khi thay

i t 0 n :
arg ( z zi ) = l
(7.17)
T nhng phn tch trn, tiu chun n nh theo nguyn l gc quay ca h thng ri rc,
tng ng vi tiu chun Mikhailope trong h lin tc, pht biu nh sau:
H thng iu khin ri rc c PTT bc l s n nh nu biu vector a thc c tnh
ca n quay mt gc bng l quanh gc ta khi thay i t 0 n .
V d 7.4: Xt n nh ca h thng ri rc c PTT bc nht:
a0 z + a1 = 0
Gii:
Thay z = e j = cos + j sin vo PTT ta c:
a0 cos + a1 + ja0 sin = 0

c tnh phn thc:
R ( ) = a0 cos + a1
c tnh phn o:
I ( ) = a0 sin
Hnh 7.6a m t biu a thc c tnh ca h n nh (khi a1 < a0 ) cn hnh 7.6b m

t biu a thc c tnh ca h khng n nh v bin gii n nh (khi a1 a0 )
I ()
I ()
4
R ()
R ()
3
3
a)
b)
Hnh 7.6 Biu a thc c tnh
Trong hnh 7.6a:

+ ng 1 tng ng vi c hai iu kin khi c hai h s a1 v a0 u dng.
+ ng 2 tng ng vi a1 m v a0 dng.
118

+ ng 3 tng ng vi a1 dng v a0 m.
Theo tiu chun Mikhailope th c ba trng hp ny h thng u n nh v biu a
thc c tnh ca n bao gc ta mt gc bng .
Trong hnh 7.6b:
+ ng 1 tng ng vi c hai iu kin khi c hai h s a1 v a0 u m.
+ ng 2 tng ng vi a1 m v a0 dng.
+ ng 3 tng ng vi a1 dng v a0 m.
Theo tiu chun Mikhailope th c ba trng hp ny h thng u khng n nh v biu
a thc c tnh ca n bao gc ta mt gc bng 0. ng 4 ng vi trng hp khi h
thng bin gii n nh ( a1 = a0 ) , biu a thc c tnh i qua tm ta .
7.2.3.2 Tiu chun Nyquist
- Dng xt n nh cho c h ri rc h v h ri rc kn da vo c tnh tn bin pha
ca h thng h.
* Pht biu: Nu h thng iu khin ri rc h n nh (tt c cc nghim zi < 1 ) hoc
bin gii n nh (c nghim zi = 1 ) th h thng kn s n nh nu c tnh TBP ca h h
khng bao im ( 1, j 0 ) .
* Khi nim ng cong bao mt im:
Khi nim bao v chng minh tiu chun ny hon ton tng ng nh i vi h thng
lin tc tuyn tnh.
Gi s h thng ri rc h n nh hoc bin gii n nh c hm truyn t:
Wh ( p ) =
Q( z)
R( z)
Trong R ( z ) l a thc c tnh ca h h, bc l v Q ( z ) l a thc t s c bc < l .

Do h h n nh nn:
arg R ( z ) = l
(7.18)
Wh ( z )
Q( z)
=
1 + Wh ( z ) R ( z ) + Q ( z )
(7.19)
Wk ( z ) =
a thc c tnh ca h thng kn l G ( z ) = Q ( z ) + R ( z ) . Theo tiu chun Mikhailope, h

kn s n nh nu:
119
arg G ( z ) = l
(7.20)
Xt biu ca vector: J ( z ) = 1 + Wh ( z ) =
Q( z) + R( z)
R(z)
Khi h kn v h h n nh th:
arg J ( z ) = arg Q ( z ) +R ( z ) arg R ( z ) = l l = 0

0
(7.21)
Biu vector J ( z ) khng bao tm ta . Nh vy, c tnh TBP ca h thng h khng

bao im
( 1,
j 0 ) , v biu vector J ( z ) chnh l c tnh TBP ca h h dch sang phi 1
n v.
7.3. KHO ST CHT LNG H THNG RI RC TUYN TNH

Tng t nh h thng KT lin tc, qu trnh hot ng ca mt h iu khin ri rc
cng c c trng bi s vn hnh ca n qu trnh qu v xc lp. Bn cnh , ngi ta
cng quan tm kho st qu trnh hot ng ca h thng khi c nhiu, s nhy cm ca h thng
khi c s thay i v thng s v cu trc h thng. Sau y, chng ta s kho st cht lng ca
h thng ri rc qu trnh qu v trng thi xc lp.
7.3.1 Kho st cht lng h thng ri rc qu trnh qu
Tiu ch qu trnh qu c xc nh theo hm qu nh h lin tc i vi h bc
2 v mt mt h bc 2, ch tiu cht lng c th c xc nh bng phng php gii tch, mt
khc cc mi quan h ny vn c ngha i vi cc h bc cao hn.
Nu chu k ly mu nh hn nhiu so vi chu k ring ca i tng th iu khin lin tc
hay gin on kiu bc thang nh b lu gi bc 0 cng cho p ng ging nhau. Nh vy, tng
t nh trong h lin tc, qu trnh qu ca h ri rc cng c nh gi theo cc tiu ch:
y (t )
y
Hnh 7.7 Hm qu ca
mt h iu khin RR
t
tm t
tqd
1. qu iu chnh
qu iu chnh c xc nh bi tr s cc i ca hm qu so vi tr s xc lp ca
n:
120
% =
ymax y
100
y
(7.22)
2. Thi gian qu
Thi gian qu tqd c xc nh bi thi im m hm qu y ( t ) khng vt ra khi
bin gii ca min gii hn quanh tr s xc lp. = 5% y hay c khi dng = 2% y .
3. Thi gian p ng
Thi gian p ng tm xc nh bi thi im m hm qu ln u tin t c tr s
xc lp y khi c qu iu chnh.
4. Thi gian c qu iu chnh
Thi gian c qu iu chnh t c xc nh bi thi im hm qu t cc i.
7.3.2 Kho st cht lng h thng ri rc trng thi xc lp
u (t )
e (t )
e ( iT )
T
WLG ( p )
f (t )
u1 ( t )
WLT ( p )
y (t )
Hnh 7.8 H thng
KT RR tuyn tnh
WFH ( p )
Cht lng ca h thng ca h thng ri rc cng c phn nh qua sai s xc lp, sai s
cng nh h thng c cht lng cng cao, nu h thng c cht lng l tng th sai s ny s
bng 0. Sau y ta s kho st sai s ny.
Da vo phn 6.4.2, ta c th tnh c sai lch gia tn hiu vo v ra ca h thng kn nh
sau:
E ( z) =
1
U (z)
1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
(7.23)
trong e ( t ) l sai lch tnh ch xc lp ( e ( ) ).

Theo nh l v mi quan h gia hm nh v hm gc trong bin i Z ta s xc nh
c sai s xc lp hay sai lch tnh ch xc lp nh sau:
(
z 1
z 1
E ( z)
z 1 z
e ( ) = lim e ( iT ) = lim 1 z 1 E ( z ) = lim

i T
+ Khi u ( t ) = 1( t ) U ( z ) =
(7.24)
z
. Ta c sai s xc lp c xc nh nh sau:
z 1
1
z 1 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
e ( ) = lim
121
(7.25)
+ Khi u ( t ) = t U ( z ) =
Tz
( z 1)
. Ta c sai s xc lp c xc nh nh sau:
T
z 1 ( z 1) 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
e ( ) = lim
(7.26)
7.4 TNG HP H RI RC
7.4.1 Tng hp h ri rc trong khng gian trng thi
Trong phn 6.3.3, ta bit cch m t mt h thng ri rc trong min khng gian trng
thi cng nh cch chuyn t h lin tc sang h ri rc. Cc tiu ch tng hp h thng trong
min trng thi l tnh iu khin c v quan st c ca n. Cc tiu chun ny ln u tin
cho Kalman a ra.
Gi s h thng c m t bi phng trnh trng thi:
x ( i + 1) = Ad x ( i ) + Bd u ( i )
y ( i ) = Cd x ( i ) + Dd u ( i )
(7.27)
Ta s xc nh cc iu kin quan st c v iu khin c nh sau.

7.4.1.1 Tnh iu khin c
Mt h thng c gi l iu khin c nu ta c th tm c mt vector iu khin
u ( i ) chuyn c h thng t mt trng thi ban u bt k x ( 0 ) n mt trng thi cui bt

k x ( n ) trong mt khong thi gian gii hn.
H thng ri rc c m t bi (7.27) s iu khin c hon ton khi v ch khi ma trn
sau c hng bng n .
M = Ad n1.Bd
Ad n2 .Bd
... Bd
rank ( M ) = n
V d 7.5: Cho h thng cp 2 sau:
x1 ( i + 1) 1 2 x1 ( i ) 1
=
x i + 1 u ( i )
+
x
i
1
2
1
(
)
2 ( )
x1 ( i )
=
y
i
1
0
(
)
[
]
x2 ( i )
Xt tnh iu khin c ca h thng?

Gii:
122
(7.28)
(7.29)
1 2
1
, Bd = , Cd = [1 0] , n = 2
H thng trn s c Ad =
2 1
1
Theo tiu chun iu khin c hon ton ca Kalman, ta tnh:
1 2 1 3
Ad .Bd =
. =
2 1 1 1
3 1
Vy M =
, det M = 4 0 nn rank ( M ) = 2
1 1
Kt lun: H thng l iu khin c hon ton.
7.4.1.2 Tnh quan st c
Mt h thng c gi l quan st c nu t cc s liu o c u ra, ta c th xc
nh c cc trng thi x ( i ) (cc c lng trng thi).
H thng ri rc c m t bi (7.27) s quan st c hon ton khi v ch khi ma trn
sau c hng bng n .
N = Cd '
Ad ' .Cd ' ...
(A )
d
' n 1
.Cd '
rank ( N ) = n
(7.30)
(7.31)
V d 7.6: Vn vi h thng cho v d 7.5, h thng c iu khin c hon ton

khng?
Gii: Vi cc s liu cho, ta c:
1 2 1 1
Ad ' .Cd ' =
. =
2 1 0 2
1 1
Vy: N =
, det N = 2 0 nn rank ( N ) = 2
0 2
Kt lun: H thng quan st c hon ton.
7.4.2 B iu chnh PID s
B iu chnh PID (Proportional Intergral - Derivative) lin tc c m t trn hnh 7.9
gm 3 knh song song l t l, tch phn v vi phn.
kp
e (t )
E ( p)
ki p
kd p
+
+
c (t )
C ( p)
123
Hnh 7.9 B iu
chnh PID lin tc

+ Khu t l c h s truyn k p
+ Khu tch phn c t s truyn ki p
+ Khu vi phn c t s truyn kd . p
i vi khu tch phn s, ta c nhiu cch th hin v nu theo phng php tch phn
k T ( z + 1)
.
hnh thang ta s c hm truyn l: i
2 ( z 1)
k . ( z 1)
Cn khu vi phn s, sau khi bin i ta s c hm truyn t l: d
T .z
Hm truyn t ca b iu chnh PID s c m t trn hnh 7.12.
WPID ( z ) = k p +
kiT ( z + 1) kd . ( z 1)
+
2 ( z 1)
T .z
(7.32)
kiT 2 + 2kd + 2k pT ) z 2 + ( k pT 2 2k pT 4kd ) z + 2kd

(
=
2Tz ( z 1)
kp
e ( iT )
E ( z)
kiT ( z + 1)
2 ( z 1)
kd ( z 1)
Tz
+
+
+
c ( iT )
C ( z)
Hnh 7.10 B iu
chnh PID s
V d 7.7: Cho h thng iu khin c hm truyn t:
W0 ( p ) =
10
( p + 1)( p + 2 )
v hm truyn t ca khu ZOH l WLG ( p ) =
1 e Tp
p
Xt hot ng ca h thng khi mc thm b iu khin PID vi chu k ly mu
T = 0.1( s ) ?
Gii:
Theo cng thc (6.36) ta c:
124
W ( p )
Z {WLG ( p ) .WLT ( p )} = 1 z 1 .Z LT
(7.33)
Dng cng thc bin i z ta tnh c:
WLTQD ( z ) = Z {WLG ( p ) .W0 ( p )}
10
= 1 z 1 .Z
( p + 1)( p + 2 )
Vy:
WLTQD ( z ) =
0.0453 ( z + 0.904 )
( z 0.905)( z 0.819 )
Hm truyn t mch kn khi khng c b PID l:
Wk ( z ) =
Y ( z ) 0.0453 ( z + 0.904 )
=
U ( z ) z 2 1.679 z + 0.782
(7.34)
+ Khi h thng c thm b iu chnh PID vi cc tham s:
k p = 1; ki = 0.997 v kd = 0
Hm truyn t ca b iu chnh PID l:
WPID ( z ) = 1.0499
z 0.905
z 1
(7.35)
Lc hm truyn t ca h kn (bao gm khu ZOH, i tng v b iu chnh PID) l:
Wh ( z ) = WPID ( z ) .WLTQD ( z ) =
0.0453 ( z + 0.904 )
( z 1)( z 0.819 )
(7.36)
Khi ta c th tnh c hm truyn t ca c h kn khi c b iu chnh PID.
7.4.3 Tng hp h n nh v tn
Mt c im quan trng ca h thng iu khin ri rc khc vi h thng tuyn tnh lin
tc l tn ti kh nng n nh v tn. y chnh l ch tiu tc ng nhanh ca h thng iu
khin ri rc m c s l thuyt ca n c th trnh by nh sau:
Nu tt c cc nghim pi ca PTT li xa n m v cng th n ch c nghim duy nht
zi = 0 . Trong trng hp ny, PTT ca h ri rc G ( z ) = 0 phi tn ti iu kin:

a1 = a2 = ... = al = 0
(7.37)
G ( z ) = a0 .z l = 0
(7.38)
v ch cn li dng:
125

Hm truyn t ca h thng c m = l 1 l:
W ( z) =
b0 z l 1 + b1z l 2 + ... + bl 2 z + bl 1
a0 z l
(7.39)
hay
W ( z ) = B0 z 1 + B1z 2 + ... + Bl 2 z l +1 + Bl 1z l
(7.40)
trong Bi = bi a0 .
Nh ni chng 6, chuyn i Laplace ri rc ca hm qu xung l hm truyn t
ca h thng ri rc, ngha l:
W * ( p) =
k ( nT ) e pnT
(7.41)
n =0
hay vit di dng ton t z :
W ( z) =
k ( nT ) z n
(7.42)
n =0
Hai cng thc (7.41) v (7.42) u m t hm truyn t ca h thng ri rc nn ta c th

rt ra kt lun:
k ( 0 ) = 0; k (T ) = B0 ; k ( 2T ) = B1;...; k ( lT ) = Bl 1
k ( nT ) = 0 khi n > l
(7.43)
Nh vy, qu trnh qu xung k ( nT ) ca h thng kt thc trong mt khong thi gian

nht nh t = lT .
Hm qu xung k ( nT ) l p ng u ra ca h thng khi tc ng u vo l xung
Diract. Khi u vo ca h thng cho tc ng bi mt hm bt k x ( nT ) th tn hiu ra ca h
thng c xc nh bng tch chp cc hm x ( nT ) v k ( nT ) theo cng thc:
n
x ( mT ) .k ( n m ) T
y ( nT ) =
(7.44)
m =0
t j = n m m = n j , ta c:
y ( nT ) =
x ( n j ) T .k ( jT )
(7.45)
j =n
t m = j v chuyn tng t j = n n 0 thnh j = 0 n n th t (7.45) ta c:
y ( nT ) =
x ( n m ) T .k ( mT )
m =0
126
(7.46)

Ta nhn thy rng, theo (7.46), khi tn ti iu kin (7.43) th qu trnh qu ca h thng
s kt thc sau mt khong thi gian nht nh m = l do cc s hng trong (7.46) bng 0 khi
m > l v cng thc ny c th chuyn thnh:
y ( nT ) =
x ( n m ) T .k ( mT )
(7.47)
m =0
Qu trnh qu ca h thng kt thc sau mt khong thi gian ngn nht td = lT . V vy

h thng cn c gi l ti u tc ng nhanh. Khi tn hiu vo l hm bc thang A.1( t ) th ta
gi tr ra theo thi gian c xc nh nhu sau:
y (0) = 0
y (T ) = A.k (T )
y ( 2T ) = A. k (T ) + k ( 2T )
y ( 3T ) = A. k (T ) + k ( 2T ) + k ( 3T )
......
y ( lT ) = A. k (T ) + k ( 2T ) + ... + k ( lT )
Do k ( nT ) = 0 khi n > l nn cc gi tr tip theo u bng y ( lT ) . Qu trnh qu kt
thc ti thi im t = lT .
Hnh 7.11 m t qu trnh qu ca h thng iu khin ri rc ti u tc ng nhanh khi
l = 1 . Qu trnh qu kt thc sau 1 bc ly mu.
y ( nT )
2T 3T
t
Hnh 7.11 Qu trnh qu trong h thng ti u tc ng nhanh
V mt kha cnh no , cc h thng ri rc tuyn tnh c mi tng ng so vi cc h
thng lin tc tuyn tnh:
+ V tnh n nh ca h thng, mi quan h gia iu kin n nh ca h thng trong
min p (h lin tc) v trong min z (h ri rc) c th hin qua bng 7.1. H thng ri rc s
n nh khi tt c cc im cc ca h thng (nghim ca PTT) nm hon ton trong vng trn
n v. ( z < 1 )
127

+ Nu sau khi dng phng php bin i bo ton hnh dng cho h ri rc, ta hon ton
c th p dng cc tiu chun xt tnh n nh cho h lin tc nh tiu chun Routh, Hurwitz
(phng php ny ch xt cho cc h c PTT bc thp). Nu PTT ca h thng c bc cao th
ta dng phng php i s xt n nh cho h thng theo tiu chun Jury. Mt ch l h ri rc
kh n nh hn h lin tc (v d, h lin tc c PTT bc nht vi cc h s dng s lun n
nh nhung h ri rc th phi km theo iu kin a0 > a1 ).
+ Tiu chun nguyn l gc quay trong h ri rc tng ng vi tiu chun Mikhailope
dng xt n nh cho h lin tc tiu tiu chun tn s.
+ Khi xt cc ch tiu cht lng ca h ri rc, ta cng ch n cc thng s nh qu
iu chnh cc i, thi gian qu v sai s ca h thng trng thi xc lp.
+ Xt c im ca h thng trong khng gian trng thi ta cng xt tnh iu khin c
hon ton v quan st c hon ton ca h thng.
Mt c im ca h thng ri rc m h thng lin tc khng c l tn ti kh nng n
nh v hn ca h thng.
BI TP
Bi 1.
iu kin mt h thng ri rc tuyn tnh n nh l cc nghim ca PTT:
a. C phn thc nh hn 0
b. C phn thc ln hn 0
c. Nm trong ng trn n v
d. Nm ngoi ng trn n v
Bi 2.
Sau khi t bin ph theo phng php bin i bo ton hnh dng, ta c th xt tnh n
nh ca mt h thng ri rc theo cc tiu chun n nh ca
a. H lin tc
b. H ri rc
Bi 3.
iu kin cn mt h thng ri rc n nh l cc h s ca PTT dng?
a. ng
b. Sai
Bi 4.
128

Khi tn hiu vo u ( t ) = t , sai s xc lp ca h ri rc c xc nh theo cng thc no?
a.
T
z 1 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
e ( ) = lim
1
b. e ( ) = lim
c.
T
z 1 ( z + 1) 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
e ( ) = lim
T
d. e ( ) = lim
Bi 5.
Hm truyn t ca b iu khin PID s?
k T ( z + 1) kd . ( z 1)
a. WPID ( z ) = k p + i
+
2 ( z 1)
T .z
k T ( z + 1) ki . ( z 1)
+
b. WPID ( z ) = k p + d
2 ( z 1)
T .z
c. WPID ( z ) = ki +
k pT ( z + 1)
2 ( z 1)
kd . ( z 1)
T .z
k T ( z + 1) k p . ( z 1)
d. WPID ( z ) = kd + i
+
2 ( z 1)
T .z
Bi 6.
Cho h thng c biu din trong khng gian trng thi dng:
x1 ( i + 1) 1 2 x1 ( i ) 1
=
x i + 1 u ( i )
+
x
i
1
2
1
(
)
2 ( )
2
x1 ( i )
=
y
i
1
0
(
)
[
]
x2 ( i )
Ma trn iu khin c v hng ca ma trn?
Bi 7.
Cho h thng c biu din trong khng gian trng thi dng:
129
x1 ( i + 1) 1 2 x1 ( i ) 1
=
x i + 1 u ( i )
+
x
i
1
2
1
(
)
2 ( )
2
x1 ( i )
=
y
i
1
0
(
)
[
]
x2 ( i )
Ma trn quan st c v hng ca ma trn?
Bi 8.
Vi tn hiu vo u ( t ) = 1( t ) , sai s xc lp ca h ri rc c xc nh theo cng thc
no?
a.
1
z 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
e ( ) = lim
1
z T 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
b. e ( ) = lim
c.
1
z 1 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
e ( ) = lim
d. e ( ) = lim
z 1 1 + Z
{WLT
1
( p ) .WFH ( p )}
Bi 9.
iu kin h thng c PTT bc nht dng: a0 z + a1 = 0 n nh theo phng php bo
ton hnh dng l g?
Bi 10.
Gi s h thng ri rc c PTT dng: 2 z 2 + 3 z + 4 = 0 .
Chuyn v h lin tc tuyn tnh tng ng theo phng php bin i bo ton hnh
dng?
Bi 11.
Mt trong nhng iu kin h thng ri rc c phng trnh c trng n nh theo tiu
chun Jury l:
a.
A ( 1) > 0 nu l chn v A ( 1) < 0 nu l l

130
b.
A ( 1) < 0 nu l chn v A ( 1) > 0 nu l l
c.
A ( 1) = 0 nu l chn v A ( 1) < 0 nu l l
d.
A ( 1) > 0 nu l chn v A ( 1) = 0 nu l l
131
Hng dn tr li v p n bi tp
HNG DN TR LI V P N BI TP
CHNG 1
Bi 1:
-
V c s khi ca h thng
Nu c chc nng ca cc khi
Nu c cc tn hiu c trong h thng

Bi 2: p n c.
c. Hm truyn t ca h thng l t s gia tn hiu ra v tn hiu vo ca h thng biu

din theo bin i Laplace vi iu kin u trit tiu.
Bi 3: p n c.
c. cc im cc (pole)
Bi 4:
-
T phng trnh vi phn c cc bin trng thi
Vit c phng trnh trng thi m t h thng dng
x = Ax + Bu
y = Cx
V c s dng tng qut biu din h thng trong khng gian trng thi.
Bi 5:
Nu cch xy dng hm truyn tn s
Trnh by cch tnh c tnh bin tn, pha tn, bin tn logarithm v pha tn logarithm ca
h h.
Bi 6:
Nu cch xy dng hm truyn tn s
Trnh by cch tnh c tnh bin tn, pha tn ca h kn

Bi 7:
p n c.
c. W = W1.W2 .W3
Bi 8:
p n a.
Bi 9:
132
p n b.
Bi 10:
-
Chuyn tn hiu ra t trc ra sau khi W3.
Tm hm truyn t ca h thng:
W ( p) =
W1W2W3
1 + W2W3 + W1W2
Bi 11:
-
Chuyn tn hiu ra t trc ra sau khi Wb(p).
Tm hm truyn t ca h thng:
W ( p) =
WaWb
1 + WaWc + WaWbWcWd
Bi 12:
p n a.
a. Wij = X j X i
Bi 13:
p n a.
a. Wk ( p ) =
Wh ( p )
1 + Wh ( p )
Bi 14:
p n b.
b. Cc im cc
CHNG 2
Bi 1.
p n c.
c. 1( t )
Bi 2.
p n a.
133
a. ( t )
Bi 3.
p n d.
d. C bn c tnh trn (BT, PT, TBP, PTL).
Bi 4.
-
Ch c mt tn hiu vo v mt tn hiu ra
Tn hiu ch truyn i mt chiu, ngha l khi c tn hiu vo th c tn hiu ra nhng tn

hiu ra khng nh hng n tn hiu vo.
Qu trnh ng hc ca phn t c biu din bng phng trnh vi phn khng qu bc

hai.
Bi 5.
-
Nu c s khc nhau v PTVP, hm truyn t
S khc nhau gia cc c tnh thi gian
S khc nhau gia cc c tnh tn s
S khc nhau v mi quan h gia tn hiu ra v tn hiu vo (theo pha)
Bi 6.
-
V cc c tnh tn s c tnh cht i xng.
Nu c c tnh tn s no i xng qua u? (BT, TBP i xng qua trc thc, PT i

xng qua gc ta )
Bi 7.
p n c.
c. p = j
Bi 8.
Chng minh rng khu tr c R 2 ( ) + I 2 ( ) = 1
Bi 9.
p n c.
134
c. A ( ) = R 2 ( ) + I 2 ( )
Bi 10.
p n b.
b. Hai tn hiu vo v ra l ng pha vi nhau
Bi 11.
p n b.
b. Sai
Bi 12.
-
Vit hm truyn t h h di dng tch ca cc khu c bn ni vi nhau
Kt lun l h h gm hai khu tch phn, mt khu qun tnh bc 1 v mt khu vi phn
CHNG 3
Bi 1.
p n c.
c. H h bin gii n nh
Bi 2.
p n a.
a. H thng kn bin gii n nh
Bi 3.
Thc cht y l bi ton tm cc tham s h n nh
Bc 1. Tm a thc c trng A ( p ) ca h thng kn
A ( p ) = p 4 + 5 p3 + 8 p 2 + ( 4 + K P ) p + K I
KI
16
Min n
nh
5.76
Bc 2. Xt n nh
KP
KP > 0
+ iu kin cn:
KI > 0
-4
+ iu kin : Xt n nh theo tiu chun Routh:

Bng Routh:
135
16
36
1
5
K P + 36
( 4 + K P )( K P + 36 ) 25K I
8
4 + KP
5K I
0
KI
0
K P < 36
iu kin n nh:
( K P + 4 )( K P + 36 )
KI <
25
Kt hp iu kin cn ta c iu kin h n nh l:
KP > 0
K > 0
I
K P < 36
K < ( K P + 4 )( K P + 36 )
I
25
Bi 4.
T s cu trc ta c hm truyn t ca h h:
Wh ( p ) =
2kp + 1
2 p 2 p + 3 p + 1 ( p + 1)
2
+ Hm truyn t ca h kn:
Wk ( p ) =
2kp + 1
2 p 2 p 2 + 3 p + 1 ( p + 1) + 2kp + 1
+ PTT ca h thng kn:
2 p 2 p 2 + 3 p + 1 ( p + 1) + 2kp + 1 = 0
4 p 4 + 10 p3 + 8 p 2 + 2 ( k + 1) p + 1 = 0
+ iu kin cn h n nh: k > 1
+ Lp bng Routh (sau khi chia cc phn t dng 2 cho 2):
4
5
36 4k
8
k +1
5
1
0
4k 2 + 32k + 11
iu kin n nh l cc s hng trong ct u tin ca bng Routh dng
136
k < 9
0.33 < k < 8.33

Kt vi iu kin cn, ta c iu kin h kn n nh l: 0.33 < k < 8.33
Bi 5.
+ Xt n nh ca h h:
PTT ca h h: 2 p 3 + 2 p 2 + 3 p + 1 ( p + 1) = 0
Phng trnh p + 1 = 0 cho ta nghim p = 1
Phng trnh
2 p 3 + 2 p 2 + 3 p + 1 = 0 cho cc nghim nm bn tri trc o v c
a1.a2 = 6 > a0 .a3 = 2 . Vy h h n nh. Trong trng hp ny, theo tiu chun Nyquist, h kn
n nh khi c tnh TBP h h khng bao im ( 1, j 0 ) v c th tng ng nh hnh
3.11.
I ( )
R ( )
-1
R ( a )
Hnh 3.11 c tnh TBP ca

h h khi h kn n nh
Vy h kn n nh khi:
1 < R (a )
( a l tn s m ti c tnh TBP ct trc thc)
k = R ( 0 ) > 1
+ Kho st c tnh TBP h h: thay p = j vo hm truyn t h h, tch phn thc v
phn o, ta c:
R ( ) =
k 2 4 5 + 1
( 2 4 5 + 1) + j ( 4 4 3 )
k ( 4 4 3 )
I ( ) =
2
2
( 2 4 5 + 1) + j ( 4 4 3 )
2
Cho I ( ) = 0 ta tm c a = 1 . Thay vo cng thc R ( ) ta c R ( ) = k 2 v
R ( 0 ) = k . Vy h n nh khi k 2 > 1 v k > 1 . Vy h kn n nh khi 1 < k < 2 .

137
Bi 6.
p n c.
c. S hng cui cng trong ct u tin ca bng Routh bng 0 v cc s hng cn li trong
ct u tin ca bng Routh dng
Bi 7.
p n a.
a.
Bi 8.
p n b.
b. Sai
Bi 9.
p n c.
c.
Bi 10.
p n c.
c. n 2
Bi 11.
p n b.
b. Khng bao im ( 1, j 0 )
Bi 12.
p n a.
a. k
Bi 13.
-
Thay T=2, tm c hm truyn t ca h thng kn:

4
Wk =
2 p2 + p + 5
138
Xc nh c phng trnh c trng ca h thng kn:
2 p2 + p + 5 = 0
-
Xt tnh n nh ca h thng theo mt trong cc tiu chun hc

* iu kin cn: a0 , a1, a2 > 0 , tho mn
* iu kin :
Tnh nghim ca phng trnh c trng:
p1,2 =
1 i 39
8
* Kt lun: h n nh
Bi 14.
-
Xc nh c phng trnh c trng:
p2 + p + k + 1 = 0
-
Xt n nh
+ iu kin cn: k > 1
+ iu kin :
Lp bng Routh, xc nh iu kin b0 > 0
b0 = k + 1 > 0 k > 1
+ Kt lun: h n nh khi k > 1
CHNG 4
Bi 1.
p n d.
d. bc v sai tnh ca h thng
Bi 2.
p n c.
c. = lim pE ( p )
p 0
Bi 3.
p n a.
139
y
y
a. % = max
100
y
Bi 4.
p n a.
a. I1 min
Bi 5.
p n b.
b. c
Bi 6.
p n d.
d. k ( k + 1)
Bi 7.
p n a.
a. ng
Bi 8.
p n d.
d. I 4 =
2
e
0
de
+
dt
dt
Bi 9.
-
Vit c biu thc tnh sai lch tnh ca h thng
Tm c U ( p )
Tm c sai s =
1
k +1
Bi 10.
p n b.
b. 1 p
140
CHNG 5
Bi 1.
p n b.
b. Sai
Bi 2.
p n a.
a. Khu khuch i
Bi 3.
-
V gi tr iu khin x ch t c gi tr xc lp (qu trnh iu khin kt thc) khi

e=0.
Cho v d minh ha
Bi 4.
p n b.
b. ng
Bi 5.
p n d.
d. T 0 n 2
Bi 6.
p n a.
a. Cho php tn ti sai lch tnh
Bi 7.
141
p n b.
b. ng
Bi 8.
p n a.
a. Trit tiu sai lch tnh
Bi 9.
-
Vit c cng thc tnh sai s xc lp ca h thng
p
U ( p)
p 0 1 + W ( p )
h
= lim
-
T u ( t ) tm U ( p ) theo bin i Laplace
Tm c sai s ca h thng: = 0
Bi 10.
p n d.
d. P = B
A.B
A2 .B ... An1.B
Bi 11.
-
Vit c cng thc tnh ma trn quan st c
N = [ C ' A ' C ']

-
Tnh ma trn quan st c theo cc thng s cho
1 0.5 2 1 1 0.5
N =
0 = 0 1.5
0
1.5
3
Xt iu kin h thng quan st c hon ton
det ( N ) = 1.5 0 rank ( N ) = 2 = n

Kt lun: H quan st c hon ton
142
Bi 12.
-
Vit c cng thc tnh ma trn iu khin c
P = [B
-
AB ]
Tnh ma trn iu khin c theo cc thng s cho
1 0.5 3 1 1 0.5
P=
=
2
0 2 1 0 0
-
Xt iu kin h thng iu khin c hon ton
det ( P ) = 2 0 rank ( P ) = 2 = n
Kt lun: H iu khin c hon ton.
CHNG 6
Bi 1.
p n b.
b. Lng t ha theo thi gian
Bi 2.
p n a.
a. WLG ( p ) =
1
1- e- pT
p
Bi 3.
y ( j + 1) + y ( j ) = 0 vi j = i + 2 .
Bi 4.
p n b.
b. Sai
Bi 5.
W ( z) =
0.008 0.00267
0.01067
+
z 1 1.005 z 1 1.002 z 1
Bi 6.
W ( z) =
0.000834
0.0025
0.00334
+
1.0025 z 1 1.005 z 1 1.01z 1

143
Bi 7.
0 x1 ( i ) 0
1
x ( i + 1) =
.
u (i )
+
0.1
e0.1 x2 ( i ) e0.1
1 e
x1 ( i )
=
y
i
0
1
.
(
)
[
]
x2 ( i )
Bi 8.
p n c.
c. Wk ( z ) =
Z {WLG ( p ) .WLT ( p )}
Y ( z)
=
Bi 9.
p n a.
a. Wk ( z ) =
Z {WLG ( p ) .WLT ( p )}
Y ( z)
=
Bi 10.
p n d.
TA
d. Ad = I
2
TA
TA
. I + ; Bd = I .T .B; Cd = C ; Dd = D
2
2
Bi 11.
p n b.
b. Ad = I + TA; Bd = TB; Cd = C ; Dd = D
Bi 12.
-
Vit c cng thc tnh Ad , Bd , Cd theo cc thng s trong h lin tc:
A d = I + TA
Bd = TB
C =C
d
Tnh c th Ad , Bd , Cd theo cc thng s cho

144
1.125 0.375
Ad =
0.5 1.75
0.25
Bd =
0
Cd = [1 0]
-
Vit c phng trnh trng thi biu din h xung - s
1.125 0.375
0.25
x
i
+
(
)
x ( i + 1) =
0 u (i )
0.5 1.75
y ( i ) = [1 0] x ( i )
CHNG 7
Bi 1.
p n c.
c. Nm trong ng trn n v
Bi 2.
p n a.
a. H lin tc
Bi 3.
p n b.
b. Sai
Bi 4.
p n d.
T
d. e ( ) = lim
Bi 5.
p n a.
k T ( z + 1) kd . ( z 1)
a. WPID ( z ) = k p + i
+
T .z
2 ( z 1)
145
Bi 6.
-
Vit c cng thc tnh ma trn iu khin c ca h thng s:
M = [ Ad .Bd
-
3 1
Tnh M =
, rank ( M ) = 2
1 1
Kt lun h iu khin c hon ton
Bd ]
Bi 7.
-
Vit c cng thc tnh ma trn iu khin c ca h thng s:
N = [Cd ' Ad '.Cd ']

-
1 1
Tnh N =
, rank ( N ) = 2
0 2
Kt lun h quan st c hon ton
Bi 8.
p n c.
1
z 1 1 + Z {W LG ( p ) .WLT ( p ) .WFH ( p )}
c. e ( ) = lim
Bi 9.
v +1
v 1
Vit c cng thc ca phng php bin i bo ton hnh dng: z =
Xt n nh ca h thng trong mt phng v theo phng php i s nh cho h lin tc

tuyn tnh
Kt lun iu kin h n nh l a0 > a1
Bi 10.
v +1
v 1
Vit c cng thc ca phng php bin i bo ton hnh dng: z =
Tm c phng trnh tng ng trong mt phng v l: 9v 2 4v + 3 = 0
146
Bi 11.
p n a.
a. A ( 1) > 0 nu l chn v A ( 1) < 0 nu l l
147
Ti liu tham kho
TI LIU THAM KHO

[1]. L thuyt iu khin t ng, Phm Cng Ng, NXB KHKT, 2001
[2]. C s iu khin t ng, Ng Vn Ho, NXB KHKT, 1999
[3]. L thuyt iu khin t ng thng thng v hin i, Nguyn Thng Ng,
NXB KHKT, 2005.
[4]. iu khin t ng, Nguyn Th Phng H, NXB KHKT, 1996
[5]. Bi tp iu khin t ng, Nguyn Th Phng H, NXBKHKT, 1996
[6]. Automatic Control Systems, Benjamin C. Kuo, Prentice - Hall International
Editions, Seventh Edition 1995.
[7]. Modern Control System Theory and Design, Stanley M. Shinners, New York,
1992.
[8]. Feedback Control Systems, John Van De Vegte, Prentice-Hall, 1991.
[9]. Modern Control Engineering, Katsuhiko Ogata, Prentice-Hall, 1990.
[10]. Digital Control System Analysis and Design, Charles L.Phillips & H.Troy Nagle,
Prentice-Hall, 1992.
[11]. Applied Digital Control Theory, Design and Implementation, Leigh J.R, London
1984.
[12]. Computer Controlled Sysytems Theory and Design, Karl j.Astrom and Bjorn
Wittenmark, Prentice-Hall Information and System Sciences Series, Thomas
Kailath, Editor, 1984.
148
Ti liu tham kho
MC LC
LI NI U .............................................................................................................................................. 3
CHNG I. M T TON HC H THNG IU KHIN T NG LIN TC...................... 4
NI DUNG ............................................................................................................................................... 4
1.1 GII THIU CHUNG ......................................................................................................... 4
1.2 CC PHNG PHP M T NG HC H THNG IU KHIN T NG. .... 6
1.3 CC QUY TC BIN I S KHI....................................................................... 14
1.4 GRAPH TN HIU ............................................................................................................ 19
TM TT NI DUNG HC TP CHNG 1 ................................................................................ 21
BI TP ................................................................................................................................................. 21
CHNG II. CC C TNH CA H THNG IU KHIN T NG LIN TC ............... 25
NI DUNG ............................................................................................................................................. 25
2.1 GII THIU CHUNG ....................................................................................................... 25
2.2 C TNH THI GIAN CA PHN T........................................................................ 26
2.3 C TNH TN S CA PHN T.............................................................................. 28
2.4 CC KHU NG HC C BN ................................................................................ 31
TNG KT CC KHU NG HC C BN. ................................................................. 41
BI TP ................................................................................................................................................. 41
CHNG III. KHO ST TNH N NH CA H THNG IU KHIN T NG LIN
TC ............................................................................................................................................................. 44
NI DUNG ............................................................................................................................................. 44
3.1 GII THIU CHUNG ....................................................................................................... 44
3.2 IU KIN N NH CA H THNG ....................................................................... 44
3.3 CC TIU CHUN N NH I S .......................................................................... 46
3.4 CC TIU CHUN N NH TN S ......................................................................... 51
3.5 PHNG PHP QU O NGHIM S ..................................................................... 54
3.6 D TR N NH .................................................................................................... 58
BI TP ................................................................................................................................................. 61
CHNG IV. KHO ST CHT LNG H THNG IU KHIN T NG LIN TC.... 65
149
Ti liu tham kho

NI DUNG ............................................................................................................................................. 65
4.1 GII THIU CHUNG ....................................................................................................... 65
4.2 KHO ST CHT LNG CA H THNG TRNG THI XC LP ............... 65
4.3 KHO ST CHT LNG CA H THNG QU TRNH QU ................... 68
4.4. NH GI CHT LNG H THNG QUA TIU CHUN TCH PHN .............. 71
BI TP ................................................................................................................................................. 75
CHNG V. TNG HP H THNG IU KHIN T NG LIN TC ................................. 79
NI DUNG.................................................................................................................................................. 79
5.1 GII THIU CHUNG ....................................................................................................... 79
5.2 CC PHNG PHP NNG CAO CHT LNG H THNG................................. 79
5.3 H THNG IU KHIN T NG VI CC B IU CHNH CHUN PID. ..... 83
5.4 TNG HP H THNG TRONG KHNG GIAN TRNG THI ................................ 87
BI TP ................................................................................................................................................. 91
CHNG VI. M T TON HC H THNG IU KHIN T NG RI RC ................... 95
6.1 KHI NIM CHUNG ....................................................................................................... 95
6.2 M T TON HC TN HIU RI RC ...................................................................... 97
6.3 M T TON HC H THNG RI RC ................................................................... 98
6.4 HM TRUYN T TRONG H THNG RI RC ................................................. 103
TM TT NI DUNG HC TP CHNG 6 .............................................................................. 106
BI TP ............................................................................................................................................... 106
CHNG VII. PHN TCH V TNG HP H THNG IU KHIN T NG RI RC 110
NI DUNG ........................................................................................................................................... 110
7.1 GII THIU CHUNG ..................................................................................................... 110
7.2 TNH N NH CA H THNG RI RC............................................................... 110
7.3. KHO ST CHT LNG H THNG RI RC TUYN TNH........................... 120
7.4 TNG HP H RI RC .............................................................................................. 122
TM TT NI DUNG HC TP CHNG 7 .............................................................................. 127
BI TP ............................................................................................................................................... 128
HNG DN TR LI V P N BI TP.................................................................................. 132
CHNG 1 .......................................................................................................................................... 132
CHNG 2 .......................................................................................................................................... 133
150
Ti liu tham kho

CHNG 3 .......................................................................................................................................... 135
CHNG 4 .......................................................................................................................................... 139
CHNG 5 .......................................................................................................................................... 141
CHNG 6 .......................................................................................................................................... 143
CHNG 7 .......................................................................................................................................... 145
TI LIU THAM KHO........................................................................................................................ 148
MC LC ................................................................................................................................................. 149
151
C S IU KHIN T NG
M s: 491LDK350
Chu trch nhim bn tho
TRUNG TM O TO BU CHNH VIN THNG 1
(Ti liu ny c ban hnh theo Quyt nh s: 828 /Q-TTT1 ngy
30/10/2006 ca Gim c Hc vin Cng ngh Bu chnh Vin thng)

Co So Dieu Khien Tu Dong

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HC VIN CNG NGH BU CHNH VIN THNG

HC VIN CNG NGH BU CHNH VIN THNG

Chng 1. M t ton hc h thng iu khin t ng

Chng 1. M t ton hc h thng iu khin t ng

CHNG I. M T TON HC H THNG IU KHIN

Chng 1. M t ton hc h thng iu khin t ng

Chng 1. M t ton hc h thng iu khin t ng

1.2 CC PHNG PHP M T NG HC H THNG IU KHIN T

Chng 1. M t ton hc h thng iu khin t ng

Bin i Laplace ca (1.3) ta c hm truyn t ca HTKT l:

Chng 1. M t ton hc h thng iu khin t ng

Biu din di dng ma trn, ta c:

(*): gi l phng trnh trng thi m t hot ng ca mch RLC trn.

Chng 1. M t ton hc h thng iu khin t ng

(cc h s ca ma trn l hm thay i theo thi gian)

Chng 1. M t ton hc h thng iu khin t ng

Gii phng trnh (1.10), ta tm c hm y ( t ) , ngha l bit c s thay i ca tn hiu

Vy ta c phng trnh trng thi m t h thng:

Hnh 1.3 S cu trc h thng

Chng 1. M t ton hc h thng iu khin t ng

th hm truyn t ca h thng c dng:

Vy ta c phng trnh trng thi m t h thng:

Chng 1. M t ton hc h thng iu khin t ng

Hnh 1.5 S cu trc h thng

Hnh 1.7 S h thng h (a) v h thng kn (b)

Chng 1. M t ton hc h thng iu khin t ng

Nu hm truyn tn s ca cc phn t c m t di dng:

th hm truyn tn s ca h h c tnh theo biu thc:

- c tnh pha tn (hay pha tn logarithm PT- PTL)

- c tnh bin tn logarithm (BTL)

Nh vy, c tnh BTL v PTL ca h h bng tng i s ca cc c tnh BTL v PTL

S dng cng thc Eurler:

Chng 1. M t ton hc h thng iu khin t ng

Tch phn thc v phn o ta c:

Nh vy c th da vo cc cng thc trn xy dng cc c tnh tn s ca h thng

1.3 CC QUY TC BIN I S KHI

Hnh 1.8 S h thng gm cc phn t mc ni tip

Chng 1. M t ton hc h thng iu khin t ng

1.3.3 H thng c mch mc phn hi (hi tip)

Hnh 1.10 S h thng c mch phn hi m (a) v dng (b)

Chng 1. M t ton hc h thng iu khin t ng

* Xt h thng c phn hi dng: e = U + F

1.3.4 Chuyn i v tr cc tn hiu

Hnh 1.11 Chuyn tn hiu vo t trc ra sau mt khi

Hnh 1.12 Chuyn tn hiu vo t sau ra trc mt khi

Chng 1. M t ton hc h thng iu khin t ng

1.3.4.3 Cc b cng, im r nhnh lin nhau c th i ch cho nhau

Hnh 1.15 Cc b cng, im r nhnh c th chuyn v tr cho nhau

Chng 1. M t ton hc h thng iu khin t ng

T hnh 1.17, ta c th tnh hm truyn t ca ba khu W2, W3, W6 v c h thng tng

Chng 1. M t ton hc h thng iu khin t ng

Wh = W12356 .W3 .W4

1.4 GRAPH TN HIU

Graph l hnh gm cc nhnh v cc nt.

Mi mt nt ca graph c biu din bng mt im v ghi tn mt i lng no

Tng t nh s cu trc, s lin kt ca cc nhnh ring l to thnh mt graph tn hiu

Chng 1. M t ton hc h thng iu khin t ng

Cc nhnh song song:

Phn hi dng (m)

Kh nhnh to vng kn:

Chng 1. M t ton hc h thng iu khin t ng

Theo hnh 1.24 ta c:

Vy hai s l tng ng vi nhau.

Chng 1. M t ton hc h thng iu khin t ng