Mon hoc

C S T ONG
Giang vien: TS. Huynh Thai Hoang Bo mon ieu Khien T ong Khoa ien ien T ai hoc Bach Khoa TP.HCM Email: hthoang@hcmut.edu.vn Homepage: http://www4.hcmut.edu.vn/~hthoang/

7 September 2010

H. T. Hong - HBK TPHCM

Chng 2

MO HNH TOAN HOC HE THONG IEU KHIEN LIEN TUC

7 September 2010

H. T. Hong - HBK TPHCM

Noi dung chng 2 Khai Khai niem ve mo hnh toan hoc ve mo toan hoc Ham truyen Phep bien oi Laplace nh h ha h ngha h m truyen Ham truyen cua mot so phan t Ham truyen cua he thong t ong y ai so s o khoi S o dong tn hieu Phng trnh trang thai (PTTT) trang thai Khai niem ve PTTT Cach thanh lap PTTT t phng trnh vi phan Quan h gia PTTT va h m truyen Q he i ha Mo hnh tuyen tnh hoa he phi tuyen Phng trnh trang thai phi tuyen g p y Phng trnh trang thai tuyen tnh hoa
7 September 2010 H. T. Hong - HBK TPHCM 3

Khai niem ve mo hnh toan hoc

7 September 2010

H. T. Hong - HBK TPHCM

Khai niem ve mo hnh toan hoc He thong i u khi n thc te rat d ng va co b n chat vat l h ie khie h a da ba h ly khac nhau. Can co c s chung e phan tch, thiet ke cac he thong ieu g p , khien co ban chat vat ly khac nhau. C s o chnh la toan hoc. Quan he gia tn hieu vao va tn hieu ra cua mot he thong tuyen tnh bat bien lien tuc co the mo ta bang phng trnh vi phan bat bien lien tuc co the mo ta bang phan tuyen tnh he so hang: u(t) () He thong tuyen tnh thong tuyen bat bien lien tuc y( ) y(t)

d n y (t ) d n 1 y (t ) dy d (t ) d mu (t ) d m 1u (t ) du d (t ) a0 + a1 + L + an 1 + an y (t ) = b0 + b1 + L + bm 1 + bmu (t ) dt n dt dt n 1 dt m dt dt m 1

n: bac cua he thong, he thong hp thc neu nm. ai, bi: thong so cua he thong
7 September 2010 H. T. Hong - HBK TPHCM 5

Mot so th du mo ta he thong bang phng trnh vi phan Th d 2 1 ac tnh ng h c toc xe o to h du 2.1: h o ho o

dv (t ) M + Bv (t ) = f (t ) dt d
M: kho l M kh i l ng xe, B h so ma sat: thong so cua h thong he h he h f(t): lc keo cua ong c: tn hieu vao v(t): toc o xe: tn hieu ra

7 September 2010

H. T. Hong - HBK TPHCM

Mot so th du mo ta he thong bang phng trnh vi phan Th d 2 2 ac tnh ng h c h thong giam chan cua xe h du 2.2: h o ho he h i h

d 2 y (t ) dy (t ) y M +B + Ky (t ) = f (t ) 2 dt dt

M: khoi lng tac ong len banh xe, B he so ma sat, K o cng lo xo f(t): lc do soc: tn hieu vao lc soc: vao y(t): dch chuyen cua than xe: tn hieu ra
7 September 2010 H. T. Hong - HBK TPHCM 7

Mot so th du mo ta he thong bang phng trnh vi phan Th d 2 3 ac tnh ng h c thang may h du 2.3: h o ho h
d 2 y (t ) dy (t ) +B + M T g = K (t ) + M g MT 2 dt dt

MT: kh i l ng b ng thang, M: kh i l ng i trong kho l buo h kho l o B he so ma sat, K he so t le (t): moment keo cua ong c: tn hieu vao y(t): v tr buong thang: tn hieu ra
7 September 2010 H. T. Hong - HBK TPHCM 8

Han che cua mo hnh toan di dang phng trnh vi phan Phng trnh vi phan bac n (n>2) rat kho giai phan rat kho giai
d mu (t ) d m 1u (t ) du (t ) d n y (t ) d n 1 y (t ) dy (t ) + b1 + L + bm 1 + bmu (t ) + a1 + L + an 1 + an y (t ) = b0 a0 dt m dt m 1 dt dt n dt n 1 dt

Phan tch he thong da vao mo hnh toan la phng trnh vi p phan gap rat nhieu kho khan (mot th du n gian la biet tn g ( g hieu vao, can tnh ap ng cua he thong, neu giai phng trnh vi phan th khong n gian chut nao!!!.) Thiet ke Thiet ke he thong da vao phng trnh vi phan hau nh khong thong da vao phan hau khong the thc hien c trong trng hp tong quat. Can cac dang mo ta toan hoc khac giup phan tch va thiet ke he thong t ong de dang hn. Ham truyen Phng trnh trang thai g g
7 September 2010 H. T. Hong - HBK TPHCM 9

Ham truyen

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Phep bien oi Laplace nh ngha: Cho f(t) la ham xac nh vi moi t 0, bien oi Laplace cua f(t) la:

L { f (t )} = F ( s ) =
Trong o: s : bien phc (bien Laplace) p ( p ) L : toan t bien oi Laplace.

f (t ).e st dt

F(s) : bien oi Laplace cua ham f(t). Bien oi Laplace ton tai khi tch phan bieu thc nh ngha tren hoi tu.

7 September 2010

H. T. Hong - HBK TPHCM

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Phep bien oi Laplace (tt) Tnh chat: chat: Cho f(t) va g(t) la hai ham theo thi gian co bien oi Laplace la

L { f (t )} = F ( s )

L {g (t )} = G ( s )

Tnh tuyen tnh nh ly cham tre Anh cua ao ham Anh cua tch phan nh ly gia tr cuoi ly gia cuoi
7 September 2010

L {a. f (t ) + b.g (t )} = a.F ( s ) + b.G ( s )

L { f (t T )} = e Ts .F ( s )

df (t ) L = sF ( s ) f (0 + ) dt t F ( s) L f ( )d = s 0 lim f (t ) = lim sF ( s )
s 0
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H. T. Hong - HBK TPHCM

Phep bien oi Laplace (tt) Bien oi Laplace cua cac ham c ban: l h b Ham nac n v (step): tn hieu vao he thong ieu khien on nh hoa hoa u(t)

1 u (t ) = 0

neu t 0 neu t < 0

1 0 t

1 L {u (t )} = s

Ham dirac: thng dung e mo ta nhieu

0 neu t 0 (t ) = neu t = 0
+

(t)
1 0 t
13

L { (t )} = 1

dt (t )d = 1

7 September 2010

H. T. Hong - HBK TPHCM

Phep bien oi Laplace (tt) Bien oi Laplace cua cac ham c ban (tt): l h b Ham doc n v (Ramp): tn hieu vao he thong ieu khien theo doi doi r(t)

t r (t ) = tu (t ) = 0
Ham mu

neu t 0 neu t < 0

1 0 f(t) 1 0 1 t

1 L {t.u (t )} = 2 s

f (t ) = e

at

e .u (t ) = 0

at

neu neu t 0 neu t < 0

L e
t

at

1 .u (t ) = s+a

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H. T. Hong - HBK TPHCM

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Phep bien oi Laplace (tt) Bien oi Laplace cua cac ham c ban (tt): l h b Ham sin: f(t) 0 t

neu sin t neu t 0 f (t ) = (sin t ).u (t ) = neu t < 0 0

L {(sin t )u (t )} =

s2 + 2

Bang bien oi Laplace: SV can hoc thuoc bien oi Laplace cua p p cac ham c ban. Cac ham khac co the tra BANG BIEN OI LAPLACE phu luc sach Ly thuyet ieu khien t ong.

7 September 2010

H. T. Hong - HBK TPHCM

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nh ngha ham truyen Xet Xet he thong mo ta bi phng trnh vi phan: thong mo ta bi phan: u(t) He thong tuyen tnh ba bie lie tu b t bi n li n t c y(t)

d n y (t ) d n 1 y (t ) dy (t ) a0 + a1 + L + an 1 + an y (t ) = n n 1 dt dt dt d mu (t ) d m 1u (t ) du (t ) b0 + b1 + L + bm 1 + bmu (t ) m m 1 dt d dt d dt d
Bien oi Laplace 2 ve phng trnh tren, e y tnh chat anh cua ao ham, gia thiet ieu kien au bang 0, ta c:

a0 s nY ( s ) + a1s n 1Y ( s ) + L + an 1sY ( s ) + anY ( s ) = b0 s mU ( s ) + b1s m 1U ( s ) + L + bm 1sU ( s ) + bmU ( s )

7 September 2010 H. T. Hong - HBK TPHCM 16

nh ngha ham truyen (tt) Ham truyen cua Ham truyen cua he thong: thong: Y ( s ) b0 s m + b1s m 1 + L + bm 1s + bm = G (s) = U ( s ) a0 s n + a1s n 1 + L + an 1s + an nh ngha: Ham truyen cua he thong la t so gia bien oi g y g Laplace cua tn hieu ra va bien oi Laplace cua tn hieu vao khi ieu kien au bang 0. Chu y: Mac du ham truyen c nh ngha la t so gia bien p p oi Laplace cua tn hieu ra va bien oi Laplace cua tn hieu vao nhng ham truyen khong phu thuoc vao tn hieu ra va tn hieu vao ma ch phu thuoc vao cau truc va thong so cua he thong. Do o co the dung ham truyen e mo ta he thong o co the dung ham truyen e mo ta thong.
7 September 2010 H. T. Hong - HBK TPHCM 17

Ham truyen cua cac phan t Cach Cach tm ham truyen ham truyen Bc 1: Thanh lap phng trnh vi phan mo ta quan he vao ra cua phan t bang cach: Ap du A d ng cac h l t Ki h ff quan h d ngap tren i n nh lua Kirchoff, he do ie tr, tu ien, cuon cam, oi vi cac phan t ien. Ap dung cac nh luat Newton, quan he gia lc ma sat va van toc, quan he gia lc va bien dang cua lo xo, oi vi cac phan t c kh. Ap dung cac Ap dung cac nh luat truyen nhiet, nh luat bao toan nang truyen bao toan nang lng, oi vi cac phan t nhiet. Bc 2 Bi n i L l 2: Bie o Laplace h i ve phng t h vi phan va hai h trnh i h thanh lap bc 1, ta c ham truyen can tm. Chu y: oi vi cac mach ien co the tm ham truyen theo phng phap tong tr phc.
7 September 2010 H. T. Hong - HBK TPHCM 18

Ham truyen cua cac bo ieu khien (khau hieu chnh) Cac khau Cac khau hieu chnh thu ong thu Mach tch phan bac 1: p
R C

1 G (s) = (s RCs + 1

Mach vi phan bac 1:

G(s) =

RCs RCs RC + 1

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Ham truyen cua cac bo ieu khien (khau hieu chnh) Cac khau Cac khau hieu chnh thu ong (tt) thu
C

Mach sm pha:
R1 R2

G ( s) = KC

Ts + 1
Ts + 1

R2 KC = R1 + R2
Mach tre pha:

R2 R1C T= R1 + R2
R2 R1 C

R1 + R2 = >1 R2

G (s) = KC

Ts + 1
Ts + 1

KC = 1
7 September 2010

T = ( R1 + R2 )C
H. T. Hong - HBK TPHCM

R2 = <1 R1 + R2
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Ham truyen cua cac bo ieu khien (khau hieu chnh) Cac khau Cac khau hieu chnh tch cc cc Khau t le P: (Proportional)

G (s) = K P

R2 KP = R1
Khau tch phan t le PI: (Proportional Integral) p ( p g )

KI G( s) = K P + s

R2 KP = R1
7 September 2010 H. T. Hong - HBK TPHCM

1 KI = R1C
21

Ham truyen cua cac bo ieu khien (khau hieu chnh) Cac khau Cac khau hieu chnh tch cc (tt) cc Khau vi phan t le PD: (Proportional Derivative)

G (s) = K P + K D s

R2 KP = R1

K D = R2C

Khau vi tch phan t le PID: (Proportional Integral Derivative) p ( p g )

KI G(s) = K P + + KDs s 1 R1C1 + R2C2 KI = KP = R1C2 R1C2 K D = R2C1

7 September 2010 H. T. Hong - HBK TPHCM 22

Ham truyen cua cac oi tng thng gap Ham truyen Ham truyen ong c DC

L : ien cam phan ng R : i n tr phan ng ie h U : ien ap phan ng E : sc phan ien ong

7 September 2010

: toc o ong c Mt : moment tai B : he so ma sat J : moment quan tnh

H. T. Hong - HBK TPHCM

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Ham truyen cua cac oi tng thng gap (tt) Ham truyen Ham truyen ong c DC (tt) Ap dung nh luat Kirchoff cho mach ien phan ng: di (t ) (t U (t ) = i (t ).R + L + E (t ) dt E (t ) = K (t ) trong o: K : he so : t thong kch t Ap dung nh luat Newton cho chuyen ong quay cua truc .c: d (t ) (3) M (t ) = M t (t ) + B (t ) + J dt (4) trong o: M (t ) = K i (t ) (1) (2)

7 September 2010

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Ham truyen cua cac oi tng thng gap (tt) Ham truyen Ham truyen ong c DC (tt) Bien oi Laplace (1), (2), (3), (4) ta c:

U ( s ) = I ( s ).R + L sI ( s ) + E ( s )

(5) (6) (7) (8)

E ( s ) = K ( s ) M ( s ) = M t ( s ) + B ( s ) + Js ( s )
M ( s ) = K i ( s )
at:

L T = R J Tc = B

hang so thi gian ien t cua ong c hang so thi gian ien c cua ong c

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Ham truyen cua cac oi tng thng gap (tt) Ham truyen Ham truyen ong c DC (tt) (5) va (7) suy ra:

U ( s ) E ( s ) I (s) = R (1 + T s ) M (s) M t (s) ( s) = B(1 + Tc s )

(5) (7)

T (5), (6), (7) va (8) ta co s o khoi ong c DC:

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Ham truyen cua cac oi tng thng gap (tt) Ham truyen lo Ham truyen lo nhiet u(t) Cong C suat i n t ie cap cho lo 100% y(t) (t) y(t) (t) y(t) Nhie o lo Nhi t l

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Ham truyen cua cac oi tng thng gap (tt) Ham truyen lo Ham truyen lo nhiet (tt)

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Ham truyen cua cac oi tng thng gap (tt) Xe o to M: khoi lng xe B he so ma sat so sat f(t): lc keo v(t): toc o xe Phng trnh vi phan: Ham truyen: vi
7 September 2010

dv (t ) M + Bv (t ) = f (t ) dt

V (s) 1 G(s) = = F ( s) M + B Ms
1 K= B M T= B

G(s) =

K Ts T +1

H. T. Hong - HBK TPHCM

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Ham truyen cua cac oi tng thng gap (tt) He thong giam xoc cua o to, xe may h i M: khoi lng tac ong len banh xe, , B he so ma sat, K o cng lo xo f(t): lc do xoc y(t): dch chuyen cua than xe chuyen cua than

Phng trnh vi phan: Ham truyen: Ham truyen:

7 September 2010

d 2 y (t ) dy (t ) M +B + Ky (t ) = f (t ) 2 dt dt

Y ( s) 1 G( s) = = F ( s) Ms 2 + Bs + K
H. T. Hong - HBK TPHCM 30

Ham truyen cua cac oi tng thng gap (tt) Thang may may MT: khoi lng buong thang, M: khoi lng oi trong B he so ma sat, K he so t le (t): moment keo cua ong c y(t): v tr buong thang buong Phng trnh vi phan:
d 2 y (t ) dy (t ) +B + M T g = K (t ) + M g MT 2 dt dt

Neu khoi lng oi trong bang khoi lng buong thang: Ham truyen:

d 2 y (t ) dy (t ) +B = K (t ) MT 2 dt dt

Y (s) K G (s) = = ( s ) M T s 2 + Bs
H. T. Hong - HBK TPHCM 31

Neu khoi lng buong thang khong bang khoi lng oi trong?
7 September 2010

Ham truyen cua cam bien y(t) Cam bien yh (t) ht

Tn hieu yht(t) co la tn hieu t le vi y(t), do o ham truyen cua () y( ), y cam bien thng la khau t le:

H ( s ) = K ht
TD: Gia s nhiet o lo thay oi trong tam y(t) = 05000C, neu cam bien nhiet bien oi s thay oi nhiet o thanh s thay oi ie i n ap trong tam yht( ) 0 5 th h m truyen cua cam bi n l : (t) 05V, h ha bie la

H ( s ) = K ht = 0.01
Neu cam bien co tre, ham truyen cam bien la khau quan tnh bac 1: K ht

H ( s) =

1 + Tht s
32

7 September 2010

H. T. Hong - HBK TPHCM

Ham truyen cua he thong t ong

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ai so s o khoi S o khoi o khoi S o khoi cua mot he thong la hnh ve mo ta chc nang cua cac phan t va s tac ong qua lai gia cac phan t trong he thong. S o khoi co 3 thanh phan chnh la Khoi chc nang: tn hieu ra bang ham truyen nhan tn hieu vao Bo tong: tn hieu ra bang tong ai so cac tn hieu vao tong: bang tong ai so cac vao iem re nhanh: tat ca tn hieu tai iem re nhanh eu bang nhau

bo tong
7 September 2010

khoi chc nang

H. T. Hong - HBK TPHCM

iem re nhanh
34

ai so s o khoi Ham truyen cua cac Ham truyen cua cac he thong n gian (tt) thong gian He thong noi tiep
U(s) U1 (s)

G1

Y1 (s) U2(s)

G2

Y2 (s)
n

Un (s)

Gn

Yn (s)

Y(s)

Gnt ( s ) = Gi ( s )
i =1

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ai so s o khoi Ham truyen cua cac Ham truyen cua cac he thong n gian (tt) thong gian He thong song song
U1 (s) U(s)

G1 G2

Y1 (s) Y2 (s) Y(s)

U2(s)

Un (s)

Gn

Yn (s)

Gss ( s ) = Gi ( s )
i =1
7 September 2010 H. T. Hong - HBK TPHCM 36

ai so s o khoi Ham truyen cua cac Ham truyen cua cac he thong n gian (tt) thong gian He thong hoi tiep am R(s) + E(s) G(s) H(s) Y(s) R(s) He thong hoi tiep am n v + E(s) G(s) Y(s)

Yht( ) (s)

Yht( ) (s)

G( s) Gk ( s) = 1 + G(s) H (s) ).

G( s) Gk ( s) = 1 + G( s)

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ai so s o khoi Ham truyen cua cac Ham truyen cua cac he thong n gian (tt) thong gian He thong hoi tiep dng R(s) ++ E(s) G(s) H(s) He thong hoi tiep dng n v Y(s) R(s) ++ E(s) G(s) Y(s)

Yht( ) (s)

Yht( ) (s)

G( s) Gk ( s) = 1 G ( s).H ( s)

G( s) Gk ( s) = 1 G ( s)

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ai so s o khoi Ham truyen cua Ham truyen cua he thong hoi tiep nhieu vong thong hoi tiep nhieu vong oi vi cac he thong phc tap gom nhieu vong hoi tiep, ta thc hien cac phep bien oi tng ng s o khoi e lam xuat hien p g g cac dang ghep noi n gian (noi tiep, song song, hoi tiep 1 vong) va tnh ham truyen tng ng theo th t t trong ra ngoai. Hai s o khoi c goi la tng ng neu hai s o khoi o co quan he gia cac tn hieu vao va tn hieu ra nh nhau.

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ai so s o khoi Cac phep bien oi Cac phep bien oi tng ng s o khoi o khoi Chuyen iem re nhanh t pha trc ra pha sau 1 khoi:

7 September 2010

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40

ai so s o khoi Cac phep bien oi Cac phep bien oi tng ng s o khoi o khoi Chuyen iem re nhanh t pha sau ra pha trc 1 khoi:

7 September 2010

H. T. Hong - HBK TPHCM

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ai so s o khoi Cac phep bien oi Cac phep bien oi tng ng s o khoi o khoi Chuyen bo tong t pha trc ra pha sau 1 khoi:

7 September 2010

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ai so s o khoi Cac phep bien oi Cac phep bien oi tng ng s o khoi o khoi Chuyen bo tong t pha sau ra pha trc 1 khoi:

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ai so s o khoi Cac phep bien oi Cac phep bien oi tng ng s o khoi o khoi Chuyen v tr hai bo tong:

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ai so s o khoi Cac phep bien oi Cac phep bien oi tng ng s o khoi o khoi Tach 1 bo tong thanh 2 bo tong :

7 September 2010

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ai so s o khoi Chu y Chu y Khong c chuyen v tr iem re nhanh va bo tong :

Khong c chuyen v tr 2 bo tong khi gia 2 bo tong co iem re nhanh :

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ai so s o khoi Th du 1 du Tnh ham truyen tng ng cua he thong co s o khoi nh sau:

Y(s)

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ai so s o khoi Bai giai th du 1: Bien oi tng ng s o khoi Bai giai du Bien oi o khoi Chuyen v tr hai bo tong va Rut gon GA(s)=[G3(s)//G4(s)] g ( ) [ ( ) ( )] ,

Y(s)

G A ( s ) = G3 ( s ) G4 ( s )

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ai so s o khoi Bai giai th du 1: Bien oi tng ng s o khoi Bai giai du Bien oi o khoi GB(s)=[G1(s) // ham truyen n v ] , GC (s)= vong hoi tiep[G2(s),GA(s)]: (s) vong hoi tiep[G Y(s)

GB ( s ) = 1 + G1 ( s )

GC ( s ) =

G2 ( s ) G2 ( s ) = 1 + G2 ( s ) GA ( s ) 1 + G2 ( s ) [G3 ( s ) G4 ( s )] ). ).[

Ham truyen tng ng cua he thong: Gtd ( s ) = GB ( s ).GC ( s )

[1 + G1 ( s )].G2 ( s ) Gtd ( s ) = d 1 + G2 ( s ).[G3 ( s ) G4 ( s )]

7 September 2010 H. T. Hong - HBK TPHCM 49

ai so s o khoi Th du 2 du Tnh ham truyen tng ng cua he thong co s o khoi nh sau:

Y(s)

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ai so s o khoi Bai giai th du 2: Bien oi tng ng s o khoi Bai giai du Bien oi o khoi Chuyen v tr hai bo tong va Chuyen iem re nhanh Chuyen iem re nhanh ra sau G2(s)

Y(s)

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ai so s o khoi Bai giai th du 2: Bien oi tng ng s o khoi Bai giai du Bien oi o khoi GB(s) = vong hoi tiep[G2(s), H2(s)] GC(s) = [GA(s)// ham truyen n v ] ham truyen Y(s)

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ai so s o khoi Bai giai th du 2: Bien oi tng ng s o khoi Bai giai du Bien oi o khoi GD(s) = [GB (s) noi tiep GC(s) noi tiep G3(s)] Y(s) Y( )

GE(s) = vong hoi tiep [GD(s), H3(s)]

Y(s) ()

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ai so s o khoi Bai giai th du 2: Bien oi tng ng s o khoi Bai giai du Bien oi o khoi Tnh toan cu the:

* GA =

H1 G2

G2 * GB = 1 + G2 H 2 H1 G2 + H1 * GC = 1 + GA = 1 + = G2 G2
G2 G2 + H1 G G + G3 H1 G3 = 2 3 * GD = GB .GC .G3 = 1 + G2 H 2 G2 1 + G2 H 2
7 September 2010 H. T. Hong - HBK TPHCM 54

ai so s o khoi Bai giai th du 2: Bien oi tng ng s o khoi Bai giai du Bien oi o khoi Tnh toan cu the (tt):

G2G3 + G3 H1 GD 1 + G2 H 2 * GE = = 1 + GD H 3 1 + G2G3 + G3 H1 H 3 1 + G2 H 2 G2G3 + G3 H1 GE = 1 + G2 H 2 + G2G3 H 3 + G3 H1H 3

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ai so s o khoi Bai giai th du 2: Bien oi tng ng s o khoi Bai giai du Bien oi o khoi Ham truyen tng ng cua he thong:

G2G3 + G3 H1 G1. G1GE 1 + G2 H 2 + G2G3 H 3 + G3 H1H 3 * Gtd = = G2G3 + G3 H1 1 + G1GE 1 + G . 1 1 + G2 H 2 + G2G3 H 3 + G3 H1H 3

G1G2G3 + G1G3 H1 G= 1 + G2 H 2 + G2G3 H 3 + G3 H1H 3 + G1G2G3 + G1G3 H1

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ai so s o khoi Th du 3 du Tnh ham truyen tng ng cua he thong co s o khoi nh sau:

Y(s)

7 September 2010

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ai so s o khoi H d n giai th du 3: Bien oi tng ng s kh i Hng da i i d 3 Bi t o kho Chuyen bo tong ra trc G1(s), sau o oi v tr 2 bo tong va o oi tong va Chuyen iem re nhanh ra sau G2(s)

Y(s)

7 September 2010

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ai so s o khoi Ke K t qua th d 3 du Sinh vien t tnh

7 September 2010

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59

ai so s o khoi Mo M t so nhan xet h t Phng phap bien oi s o khoi la mot phng phap n gian. Khuyet iem cua Khuyet iem cua phng phap bien oi s o khoi la khong phap bien oi o khoi la khong mang tnh he thong, moi s o cu the co the co nhieu cach bien oi khac nhau, tuy theo trc giac cua ngi giai bai toan. Khi tnh ham truyen tng ng ta phai thc hien nhieu phep ham truyen phai thc nhieu phep tnh tren cac phan thc ai so, oi vi cac he thong phc tap cac phep tnh nay hay b nham lan. Phng phap bien oi tng ng s o khoi ch thch hp e tm ham truyen tng ng cua cac he thong n gian. oi vi cac oi vi cac he thong phc tap ta co mot phng phap hieu qua thong phc tap co phap qua hn, o la phng phap s o dong tn hieu se c e cap en muc tiep theo

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S o dong tn hieu nh ngha

Y(s) Y(s)

S o dong tn hieu la mot mang gom cac nut va nhanh. Nut: la mot iem bieu dien mot bien hay tn hieu trong he thong. y g g Nhanh: la ng noi trc tiep 2 nut, tren moi nhanh co ghi mui ten ch chieu truyen cua tn hieu va co ghi ham truyen cho biet moi quan he gia gia tn hieu 2 nut nut. Nut nguon: la nut ch co cac nhanh hng ra. Nut ch: la nut ch co cac nhanh hng vao. Nut hon hp: la nut co ca cac nhanh ra va cac nhanh vao.
7 September 2010 H. T. Hong - HBK TPHCM 61

S o dong tn hieu nh h h ngha (tt) ng tien: la ng gom cac nhanh lien tiep co cung hng tn hieu i t nut nguon en nut ch va ch qua moi nut mot lan. t nut nguon en nut va moi nut lan. o li cua mot ng tien la tch cua cac ham truyen cua cac nhanh tren ng tien o. Vong kn: la ng khep kn gom cac nhanh lien tiep co cung hng tn hieu va ch qua moi nut mot lan. o li cua mot vong kn tch cua cac ham truyen cua cac nhanh li cua vong cua cac ham truyen cua cac nhanh tren vong kn o.
Y(s) Y(s)

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S o dong tn hieu Cong thc Cong thc Mason

Ham truyen tng ng t mot nut nguon en mot nut ch cua he thong t ong bieu dien bang s o dong tn hieu c cho bi: 1 G = k Pk k

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S o dong tn hieu Th du 1 du Tnh ham truyen tng ng cua he thong co s o dong tn hieu nh sau:
R(s) Y(s)

Giai: Giai: ng tien: P = G1G2G3G4G5 1 P2 = G1G6G4G5 P3 = G1G2G7

7 September 2010

Vong kn: L1 = G4 H1 L2 = G2G7 H 2 L3 = G6G4G5 H 2 L4 = G2G3G4G5 H 2

H. T. Hong - HBK TPHCM 64

S o dong tn hieu Th du 1 (tt) du nh thc cua s o dong tn hieu: = 1 ( L1 + L2 + L3 + L4 ) + L1L2 Cac nh thc con: 1 = 1 2 = 1

3 = 1 L1
Ham truyen tng ng cua he thong: 1 Gtd = ( P 1 + P2 2 + P3 3 ) 1
Gtd = G1G2G3G4G5 + G1G6G4G5 + G1G2G7 (1 + G4 H1 ) 1 + G4 H1 + G2G7 H 2 + G6G4G5 H 2 + G2G3G4G5 H 2 + G4 H1G2G7 H 2
H. T. Hong - HBK TPHCM 65

7 September 2010

S o dong tn hieu Th du 2 du Tnh ham truyen tng ng cua he thong co s o khoi nh sau:
R(s) Y(s)

Giai:
R(s) Y(s)

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S o dong tn hieu Th du 2 (tt) du

R(s) R( )

Y(s) Y( )

ng tien:

P = G1G2G3 1

Vong kn: L1 = G2 H 2

P2 = G1H1G3

L2 = G2G3 H 3 L3 = G1G2G3 L4 = G3 H1H 3 L5 = G1G3 H1

67

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S o dong tn hieu Th du 2 (tt) du nh thc cua s o dong tn hieu: = 1 ( L + L + L + L + L ) 1 2 3 4 5 Cac nh thc con: 1 = 1 2 = 1 Ha H m truyen tng ng cua h thong: he h 1 Gtd = ( P 1 + P2 2 ) 1

G1G2G3 + G1G3 H1 Gtd = 1 + G2 H 2 + G2G3 H 3 + G1G2G3 + G3 H1H 3 + G1G3 H1

7 September 2010 H. T. Hong - HBK TPHCM 68

S o dong tn hieu Th du 3 du Tnh ham truyen tng ng cua he thong co s o khoi nh sau:

Y(s)

Giai:
Y(s)

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S o dong tn hieu Th du 3 (tt) du

Y(s)

ng tien:

P = G1G2G3 1

Vong kn: L1 = G1H 2

P2 = G4

L2 = G1G2 H1 L3 = G1G2G3 L4 = G2G3 H 3 L5 = G4

70

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S o dong tn hieu Th du 3 (tt) du nh thc cua s o dong tn hieu: = 1 ( L1 + L2 + L3 + L4 + L5 ) + ( L1L4 + L1L5 + L2 L5 + L4 L5 ) L1L4 L5 Cac nh thc con: 1 = 1 2 = 1 ( L1 + L2 + L4 ) + ( L1L4 ) Ha H m truyen tng ng cua h thong: he h 1 Gtd = ( P 1 + P2 2 ) 1

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Phng trnh trang thai

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Trang thai cua he thong Trang thai: Trang thai cua Trang thai: Trang thai cua mot he thong la tap hp nho nhat thong la hp nho nhat cac bien (goi la bien trang thai) ma neu biet gia tr cua cac bien nay tai thi iem t0 va biet cac tn hieu vao thi iem t > t0, ta hoan toan co the xac nh c ap ng cua he thong tai moi thi iem t t0. He thong bac n co n bien trang thai Cac bien trang thai co the thong co bien trang thai. Cac bien trang thai co the chon la bien vat ly hoac khong phai la bien vat ly. Vector trang thai: n bien trang thai hp thanh vector cot goi la vevtor trang thai.

x = [x1

x2 K

]T xn

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Phng trnh trang thai Bang cach s dung cac bien trang thai, co the chuyen Bang cach s dung cac bien trang thai, ta co the chuyen phng trnh vi phan bac n mo ta he thong thanh he gom n phng trnh vi phan bac nhat, (he phng trnh trang thai) trong o & Ax x(t ) = A (t ) + Bu (t ) y (t ) = Cx(t )
b1 b B = 2 M bn
(*)

a11 a12 K a1n a a22 K a2 n A = 21 M M M an1 an 2 K ann

C = [c1 c 2 K c n ]

Chu y: Tuy theo cach at bien trang thai ma mot he thong co the y c mo ta bang nhieu phng trnh trang thai khac nhau. Neu A la ma tran thng, ta goi (*) la phng trnh trang thai dang thng, neu la dang thng neu A la ma tran cheo ta goi (*) la phng trnh cheo, goi la trang thai dang chnh tac.
7 September 2010 H. T. Hong - HBK TPHCM 74

Vai th du ve phng trnh trang thai Th du 1: He thong giam xoc cua o to, xe may du thong giam xoc cua o to, may Phng trnh vi phan: at:
d 2 y (t ) dy (t ) M +B + Ky (t ) = f (t ) 2 dt dt

( ) (*)

& x1 (t ) = x2 (t ) x1 (t ) = y (t ) K B 1 & x2 (t ) = x1 (t ) x2 (t ) + f (t ) & (t ) x2 (t ) = y M M M 1 x (t ) 0 & x1 (t ) 0 B . 1 + 1 f (t ) = K x (t ) x2 (t ) &2 M M M x1 (t ) y (t ) = [1 0] x2 (t ) 1 0 0 & x(t ) = Ax(t ) + Bf (t ) B B = 1 C = [1 0] A= K M M M y (t ) = Cx(t )

7 September 2010 H. T. Hong - HBK TPHCM 75

Vai th du ve phng trnh trang thai Th du 2: ong c DC du

L : ien cam phan ng R : i n tr phan ng ie h U : ien ap phan ng E : sc phan ien ong

7 September 2010

: toc o ong c Mt : moment tai B : he so ma sat J : moment quan tnh

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Vai th du ve phng trnh trang thai Th du 2: ong c DC (tt) du Ap dung nh luat Kirchoff cho mach ien phan ng: di (t ) (t U (t ) = i (t ).R + L + E (t ) dt trong o: E (t ) = K (t ) K : he so : t thong kch t Ap dung nh luat Newton cho chuyen ong quay cua truc .c (e n gian gia s moment tai bang 0):

(1) (2)

trong o: o:
7 September 2010

d (t ) M (t ) = B (t ) + J dt M (t ) = K i (t )
H. T. Hong - HBK TPHCM

(3) ( ) (4)
77

Vai th du ve phng trnh trang thai Th du 2: ong c DC (tt) du

di (t ) R 1 K (1) & (2) = i (t ) (t ) + U (t ) dt L L L d (t ) K B i (t ) (t ) = (3) & (4) dt J J x1 (t ) = i (t ) at: x2 (t ) = (t )

1 R K & x1 (t ) = L x1 (t ) L x2 (t ) + L U (t ) (5) & (6) x2 (t ) = K x1 (t ) B x2 (t ) & J J
7 September 2010 H. T. Hong - HBK TPHCM

(5) (6)

78

Vai th du ve phng trnh trang thai Th du 2: ong c DC (tt) du

R x1 (t ) L & x (t ) = K &2 J K x1 (t ) 1 L + L U (t ) B x2 (t ) 0 J

x1 (t ) (t ) = [0 1] x2 (t )
& x(t ) = Ax(t ) + BU u (t ) (t ) = Cx(t )

trong o:

R L A= K J

K L B J

1 B = L 0

C = [0 1]

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Cach thanh lap PTTT t PTVP

Trng hp 1: Ve phai cua PTVP khong cha ao ham cua tn hieu vao Trng hp Ve phai cua khong cha ao ham cua vao

He thong mo ta bi PTVP

d n y (t ) d n 1 y (t ) dy (t ) a0 + a1 + L + an 1 + an y (t ) = b0u (t ) n n 1 dt dt dt
at bien trang thai theo qui tac: Bien au tien at bang tn hieu ra: Bien th i (i=2..n) at bang ao ham cua bien th i1:

x1 (t ) = y (t ) & x2 (t ) = x1 (t ) & x3 (t ) = x2 (t ) M & xn (t ) = xn 1 (t )

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Cach thanh lap PTTT t PTVP

Trng hp 1 (tt) Trng hp

Phng trnh trang thai: trong o: (t x1 (t ) x (t ) 2 x(t ) = M xn1 (t ) xn (t )

& x(t ) = Ax(t ) + Bu (t ) y (t ) = Cx(t )

1 0 M 0 an1 a0 0 1 M 0 an2 a0 0 K 0 M K 1 a1 K a0

0 0 A= M 0 an a0

0 0 B= M 0 b0 a0

C = [1 0 K 0 0]

Chng minh: xem LT KT, trang 64-65

7 September 2010 H. T. Hong - HBK TPHCM 81

Cach thanh lap PTTT t PTVP

Th du trng hp 1 du trng hp

Viet PTTT mo ta he thong co quan he vao ra cho bi PTVP sau: & & 2&y&(t ) + 5 &&(t ) + 6 y (t ) + 10 y (t ) = u (t ) y at cac bien trang thai: Phng trnh trang thai: trong o:
0 A= 0 a 3 a0
7 September 2010

x1 (t ) = y (t ) & x2 (t ) = x1 (t ) x (t ) = x (t ) &2 3

& x(t ) = Ax(t ) + Br (t ) Cx y (t ) = C (t )

1 0 a 2 a0

0 0 1 0 1 = 0 0 1 a1 5 3 2.5 a0
H. T. Hong - HBK TPHCM

0 0 B= 0 = 0 b 0 0.5 a0
C = [1 0 0]
82

Cach thanh lap PTTT t PTVP

Trng hp 2: Ve phai cua PTVP co cha ao ham cua tn hieu vao Trng hp Ve phai cua co cha ao ham cua vao

He thong mo ta bi PTVP:

d n y (t ) d n 1 y (t ) dy (t ) a0 + a1 + L + an 1 + an y (t ) = n n 1 dt dt dt d n 1u (t ) d n 2u (t ) du (t ) b0 + b1 + L + bn 2 + bn 1u (t ) n 1 n 1 dt dt dt Chu y: ao ham ve phai thap hn ao ham ve trai 1 bac

at bien trang thai theo qui tac: Bien au tien at bang tn hieu ra: Bien th (i=2..n) Bien th i (i=2 n) at bang ao ham bang ao ham cua bien th i1 tr 1 lng t le vi tn hieu vao:

x1 (t ) = y (t ) & x2 (t ) = x1 (t ) 1r (t )

& x3 (t ) = x2 (t ) 2 r (t )

M & xn (t ) = xn 1 (t ) n 1r (t )
83

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Cach thanh lap PTTT t PTVP

Trng hp 2 (tt) Trng hp

Phng trnh trang thai: trong o:

x1 (t ) x (t ) 2 x(t ) = M xn1 (t ) xn (t ) (t 0 0 A= M 0 an a0

& x(t ) = Ax(t ) + Br (t ) y (t ) = Cx(t )

0 K 0 M K 1 a1 K a0 K

1 0 M 0 an1 a0

0 1 M 0 an2 a0

1 2 B= M n1 n

C = [1 0 K 0 0]
7 September 2010 H. T. Hong - HBK TPHCM 84

Cach thanh lap PTTT t PTVP

Trng hp 2 (tt) Trng hp

Cac he so trong vector B xac nh nh sau:

b0 1 = a0 b1 a11 2 = a0 b2 a1 2 a2 1 3 = a0 M

n =

bn1 a1 n1 a2 n2 K an11 a0

Chng minh trng hp n=3: xem LT KT, trang 67-68

7 September 2010 H. T. Hong - HBK TPHCM 85

Cach thanh lap PTTT t PTVP Viet PTTT mo ta he thong co quan he vao ra cho bi PTVP sau:
& & & 2&y&(t ) + 5 &&(t ) + 6 y (t ) + 10 y (t ) = 10u (t ) + 20u (t ) y

Th du trng hp 2 du trng hp

at cac bien trang thai:

x1 (t ) = y (t ) & x2 (t ) = x1 (t ) 1r (t ) x (t ) = x (t ) r (t ) &2 2 3 & x(t ) = Ax(t ) + Br (t ) Cx y (t ) = C (t )

Phng trnh trang thai: trong o:

0 A= 0 a 3 a0
7 September 2010

1 0 a 2 a0

0 0 1 0 1 = 0 0 1 a1 5 3 2.5 a0
H. T. Hong - HBK TPHCM

1 B = 2 3
C = [1 0 0]
86

Cach thanh lap PTTT t PTVP

Th du trng hp 2 (tt) du trng hp

Cac he so cua vector B xac nh nh sau:

b0 0 1 = a = 2 = 0 0 b a 10 5 0 2 = 1 1 1 = =5 a0 2 = b2 a1 2 a2 1 = 20 5 10 6 0 = 15 3 a0 2 0 B= 5 15
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Thanh lap PTTT t PTVP dung phng phap toa o pha Xet Xet he thong mo ta bi phng trnh vi phan thong mo ta bi phan
d n y (t ) d n 1 y (t ) dy (t ) + a1 + L + an 1 + an y (t ) = a0 n n 1 dt dt dt du (t ) d m1u (t ) d mu (t ) + b1 + L + bm 1 + bmu (t ) b0 m m 1 dt dt dt

at bien trang thai theo qui tac: bien trang thai tac: Bien trang thai au tien la nghiem cua phng trnh:
a dx (t ) a d n x1 (t ) a1 d n 1 x1 (t ) + + L + n 1 1 + n x1 (t ) = u (t ) dt n a0 dt n 1 a0 dt a0

Bien th i (i=2..n) at ao ham bien i1

& x2 (t ) = x1 (t ) & x3 (t ) = x2 (t ) M & xn (t ) = xn 1 (t )

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Thanh lap PTTT t PTVP dung phng phap toa o pha Phng trnh trang thai: trong o:

& Ax x(t ) = A (t ) + Br (t ) y (t ) = Cx(t )

0 K 0 M K 1 a1 K a0 K
0 K 0
89

(t x1 (t ) x (t ) 2 x(t ) = M xn (t )

0 0 A= M 0 an a0
bm C= a0

1 0 M 0 an1 a0

0 1 M 0 an2 a0

0 0 B = M 0 1

bm1 b0 K a0 a0

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H. T. Hong - HBK TPHCM

Th du thanh lap PTTT t PTVP dung PP toa o pha Viet Viet PTTT mo ta he thong co quan he vao ra cho bi PTVP sau: mo ta thong co vao bi
& & && 2&y&(t ) + &&(t ) + 5 y (t ) + 4 y (t ) = u (t ) + 3u (t ) y

at bien trang thai theo phng phap toa o pha, ta c phng bien trang thai phap toa pha c trnh trang thai: trong o:
0 A= 0 a 3 a0 1 0 a2 a0
x(t ) = Ax(t ) + Br (t ) Cx y (t ) = C (t )

0 0 1 0 1 = 0 0 1 a1 2 2.5 0.5 a0 b2 C= a0 b1 a0 b0 = [1.5 0 0.5] a0

0 B = 0 1

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Thanh lap PTTT t s o khoi

Th du du

Hay thanh lap he phng trnh trang thai mo ta he thong co s o khoi khoi nh sau:
R(s) +

10 s ( s + 1)( s + 3)

Y(s)

at bien trang thai tren s o khoi:

R(s) ( ) +

1
s

X3(s)

1 ( s + 1)

X2(s)

10 ( s + 3)

X1(s)

Y(s)

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Thanh lap PTTT t s o khoi

Th du (tt) du

Theo s o khoi, ta co: 10 X 1 (s) = X 2 (s) s+3

sX 1 ( s ) + 3 X 1 ( s ) = 10 X 2 ( s )
& x1 (t ) = 3 x1 (t ) + 10 x2 (t )

(1)

1 X 2 (s) = X 3 (s) s +1

sX 2 ( s ) + X 2 ( s ) = X 3 ( s )
& x2 (t ) = x2 (t ) + x3 (t )

(2)

1 X 3 ( s ) = (R ( s ) Y ( s ) ) s

sX 3 ( s ) = R ( s ) X 1 ( s )

& x3 (t ) = x1 (t ) + r (t )
7 September 2010 H. T. Hong - HBK TPHCM

(3)
92

Thanh lap PTTT t s o khoi

Th du (tt) du

Ket hp (1), (2), va (3) ta c phng trnh trang thai:

& x1 (t ) 3 10 0 x1 (t ) 0 x (t ) = 0 1 1 x (t ) + 0 r (t ) & 2 2 x3 (t ) 1 0 0 x3 (t ) 1 &23 4 244 123 { 1 1 4 3 B & x (t ) A x (t )

ap ng cua he thong:

(t x1 (t ) y (t ) = x1 (t ) = [1 0 0] x2 (t ) 1 24 4 3 x3 (t ) C
7 September 2010 H. T. Hong - HBK TPHCM 93

Tnh ham truyen t PTTT Cho h h Ch he thong mo ta b i PTTT b PTTT:

& x(t ) = Ax(t ) + Bu (t ) Cx y (t ) = C (t )

Ham truyen cua he thong la:

Y ( s) 1 G ( s) = = C (sI A) B U (s)
Chng minh: xem LT KT, trang 78

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Tnh ham truyen t PTTT

Th du du

Tnh ham truyen cua he thong mo ta bi PTTT:

trong o

& x(t ) = Ax(t ) + Bu (t ) y (t ) = Cx(t )

1 0 A= 2 3

3 B= 1

C = [1 0]

Giai: Ham truyen cua he thong la:

Y (s) 1 G ( s) = = C (sI A ) B U ( s)

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Tnh ham truyen t PTTT

Th du (tt) du

1 s 1 1 0 0 ( sI A ) = s 2 3 = 2 s + 3 0 1

( sI A )

s 1 s + 3 1 1 = = s ( s + 3) 2.(1) 2 s 2 s + 3
1

s + 3 1 1 1 [1 0] C ( sI A ) = 2 = s 2 + 3s + 2 [s + 3 1] s + 3s + 2 2 s 3 3( s + 3) + 1 1 1 [s + 3 1] = 2 C ( sI A ) B = 2 s + 3s + 2 1 s + 3s + 2

3s + 10 G(s) = 2 s + 3s + 2
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Nghiem cua phng trnh trang thai

& Nghiem cua phng trnh trang thai x(t ) = Ax(t ) + Bu (t )?

x(t ) = (t ) x(0 + ) + (t ) Bu ( )d
0

Trong o: o:

(t ) = L 1[ ( s )] ( s ) = ( sI A) 1

ma tran qua o qua

Chng minh: xem Ly thuyet ieu khien t ong ap ng cua he thong?

y (t ) = Cx(t )

Th du: xem TD 2.15, Ly thuyet ieu khien t ong

7 September 2010 H. T. Hong - HBK TPHCM 97

Tom tat quan he gia cac dang mo ta toan hoc

PT vi phan

-1

at x

Ham truyen

PT trang thai

G ( s ) = C (s I A ) B
1

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Mo hnh tuyen tnh hoa he phi tuyen

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Khai niem ve he phi tuyen He hi tuyen l h th ng t H phi t la he tho trong quan h vao ra kh ng th mo o he kho the ta bang phng trnh vi phan tuyen tnh. Phan ln cac oi tng Phan ln cac oi tng trong t nhien mang tnh phi tuyen t nhien tuyen. He thong thuy kh (TD: bon cha chat long,), He thong nhiet ong hoc (TD: lo nhiet,), He thong c kh (TD: canh tay may,.), He thong ien t (TD: ong c, mach khuech ai,) He thong vat ly co cau truc hon hp, y p,

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Mo ta toan hoc he phi tuyen dung phng trnh vi phan Quan h vao ra cua h phi t Q he he hi tuyen li t c co th bi di di lien tu the bieu dien di dang phng trnh vi phan phi tuyen bac n:

d n1 y (t ) d n y (t ) dy d (t ) d mu (t ) du d (t ) = g n dt n1 ,L, dt , y (t ), dt m ,L, dt , u (t ) dt
trong o: u(t) la tn hieu vao, y(t) la tn hieu ra, g(.) la ham phi tuyen la ham tuyen

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Mo ta he phi tuyen dung phng trnh vi phan Th du 1 qin y(t) () qout a: ti t di n van xa tie die A: tiet dien ngang cua bon g: gia toc trong trng k: he so t le vi cong suat bm CD: he so xa

u(t)

Phng trnh can bang: trong o: o:

& Ay (t ) = qin (t ) qout (t )

qiin (t ) = ku (t )
qout (t ) = aCD 2 gy (t )

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1 & y (t ) = ku (t ) aC D 2 gy (t ) A

(he phi tuyen bac 1) tuyen

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Mo ta he phi tuyen dung phng trnh vi phan Th du 2

J: moment quan tnh cua canh tay may quan cua canh may M: khoi lng cua canh tay may m: khoi lng vat nang l: hi da l chieu d i canh tay may lC : khoang cach t trong tam tay may en truc quay B: he so ma sat nht g: gia toc trong trng u(t): moment tac ong len truc quay cua canh tay may (t): goc quay (v tr) cua canh tay may goc cua canh may

l u

Theo nh luat Newton

& & ( J + ml 2 )&(t ) + B (t ) + (ml + MlC ) g cos = u (t )

1 B &(t ) (ml + MlC ) g cos + u (t ) 2 2 2 ( J + ml ) ( J + ml ) ( J + ml )
(he phi tuyen bac 2)

& &(t ) =

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Mo ta he phi tuyen dung phng trnh vi phan Th du 3

: goc banh lai : hng chuyen ong

(t) (t) ()
Hng chuyen ong

cua tau k: he so i: he so so

Phng trnh vi phan mo ta ac tnh ong hoc he thong lai tau

1 1 1 3 k & && & &(t ) = + &(t ) & (t ) + (t ) + ( 3 (t ) + (t ) ) & 1 1 2 1 2 2

(he phi tuyen bac 3)

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Mo ta toan hoc he phi tuyen dung phng trnh trang thai He phi tuyen lien tuc co the mo ta bang phng trnh trang thai:
& ), x (t ) = f ( x (t ) u (t )) y (t ) = h( x (t ), u (t ))

trong o: u(t) la tn hieu vao, y(t) la tn hieu ra, x(t) la vector trang thai, x(t) = [x1(t), x2(t),,xn(t)]T f(.), h(.) la cac ham phi tuyen

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Mo ta he phi tuyen dung phng trnh trang thai Th du 1 qin y(t) () qout PTVP:

u(t)

& y (t ) =

1 ku (t ) aC D 2 gy (t ) A

at bien trang thai: x1 (t ) = y (t ) PTTT: trong o:

& x (t ) = f ( x (t ), u (t )) y (t ) = h( x (t ), u (t ))

aC D 2 gx1 (t ) k f ( x, u ) = + u (t ) A A

h( x (t ), u (t )) = x1 (t )

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Mo ta he phi tuyen dung phng trnh trang thai Th du 2 PTVP:

1 B (ml + MlC ) & (t ) g cos + u (t ) 2 2 2 ( J + ml ) ( J + ml ) ( J + ml )

l u

& &(t ) =

x1 (t ) = (t ) at bien trang thai: & x2 (t ) = (t )

PTTT: trong o:

& x (t ) = f ( x (t ), u (t )) ), y (t ) = h( x (t ) u (t ))

x2 (t ) B 1 f ( x , u ) = ( ml + MlC ) g x2 (t ) + u (t ) cos x1 (t ) 2 2 2 ( J + ml ) ( J + ml ) ( J + ml )

h( x (t ), u (t )) = x1 (t )
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iem dng cua he phi tuyen

& ), x (t ) = f ( x (t ) u (t )) Xet he phi tuyen mo ta bi PTTT phi tuyen: y (t ) = h( x (t ), u (t ))

iem trang thai x c goi la iem dng cua he phi tuyen neu nh he ang trang thai x va vi tac ong ieu khien u co nh, kho o h kh ng i cho trc th h se nam nguyen tai trang thai . h he h o Neu ( x , u ) la iem dng cua he phi tuyen th: p y

f ( x (t ), u (t )) x = x ,u =u = 0
iem dng con c goi la iem lam viec tnh cua he phi tuyen

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iem dng cua he phi tuyen Th d 1 d

& ). x1 (t ) x1 (t ) x2 (t ) + u Cho he phi tuyen mo ta bi PTTT: = x (t ) + 2 x (t ) & x2 (t ) 1 2

Xac nh iem dng cua he thong khi u (t ) = u = 1 Giai: iem dng la nghiem cua phng trnh:

f ( x (t ), u (t )) x = x ,u =u = 0

x1.x2 + 1 = 0 x1 + 2 x2 = 0

x1 = 2 2 x2 = 2

hoac

x1 = 2 2 x2 = + 2
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iem dng cua he phi tuyen Th du 2 Cho he phi tuyen mo ta bi PTTT:

2 2 & x1 1 + x2 + x3 + u & x2 = x3 + sin( x1 x3 ) 2 x3 & x3 + u

y = x1

Xac nh iem dng cua he thong khi u (t ) = u = 0

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Tuyen tnh hoa he phi tuyen xung quanh iem lam viec tnh Xet Xet he phi tuyen mo ta bi PTTT phi tuyen: tuyen mo ta bi tuyen: & x (t ) = f ( x (t ), u (t )) y (t ) = h( x (t ), u (t )) Khai trien Taylor f(x,u) va h(x,u) xung quanh iem lam viec tnh ( x , u ) ta co the mo ta he thong bang PTTT tuyen tnh:
~ ~ ~ & x (t ) = Ax (t ) + Bu (t ) ~ ~ ~ y (t ) = Cx (t ) + Du (t )

(*)

trong : o

~ (t ) = x (t ) x x ~ u (t ) = u (t ) u ~ (t ) = y (t ) y y

( y = h( x , u ))
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Tuyen tnh hoa he phi tuyen xung quanh iem lam viec tnh Cac ma tran trang thai cua he tuyen tnh quanh iem lam viec tnh c tnh nh sau:
f1 x 1 f 2 A = x1 M f n x1
h C= x1
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f1 x2 f 2 x2 M f n x2
h x2

f1 xn f 2 L xn O M f n K xn ( x,u ) L
h K xn ( x,u )

f1 u f 2 B = u M f n u ( x,u )

h D= u ( x,u )
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Tuyen tnh hoa he phi tuyen Th du 1 Thong so Thong so he bon cha : bon cha u(t) qin y(t) qout

a = 1cm 2 , A = 100cm 2 k = 150cm3 / sec .V , CD = 0.8 g = 981cm / sec2

PTTT: trong o:

& x (t ) = f ( x (t ), u (t )) ), y (t ) = h( x (t ) u (t ))

aCD 2 gx1 (t ) k g f ( x, u ) = + u (t ) = 0.3544 x1 (t ) + 0.9465u (t ) A A h( x (t ), u (t )) = x1 (t )

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Tuyen tnh hoa he phi tuyen Th du 1 (tt) Tuyen Tuyen tnh hoa he bon cha quanh iem y = 20cm: hoa bon cha iem Xac nh iem lam viec tnh:

x1 = 20

f ( x , u ) = 0.3544 x1 + 1.5u = 0

u = 0.9465

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Tuyen tnh hoa he phi tuyen Th du 1 (tt) Xac nh X h cac ma t n t ng th i t i i l viec t h tra tra thai ta iem lam i tnh:
A= aC 2 g f1 = D x1 ( x,u ) 2 A x1 = 0.0396
( x,u )

f1 k = = 1.5 B= u ( x,u ) A ( x,u ) D= h =0 u ( x,u )

h C= =1 x1 ( x,u )

Va V y PTTT mo t h b cha quanh i l viec y=20cm l ta he bon h h iem lam i 20 la:

~ & ~ (t ) = 0.0396 ~ (t ) + 1.5u (t ) x x ~ ~ y (t ) = x (t ) aCD 2 gx1 (t )

f ( x, u ) =

k + u (t ) A

h( x (t ), u (t )) = x1 (t )
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Tuyen tnh hoa he phi tuyen Th du 2 Thong so canh Thong so canh tay may : may

l u

l = 0.5m, lC = 0.2m, m = 0.1kg M = 0.5kg , J = 0.02kg.m 2 B = 0.005, g = 9.81m / sec2

PTTT: trong o:

& x (t ) = f ( x (t ), u (t )) y (t ) = h( x (t ), u (t ))

x2 (t ) B 1 f ( x , u ) = ( ml + MlC ) g x2 (t ) + u (t ) cos x1 (t ) 2 2 2 ( J + ml ) ( J + ml ) ( J + ml )

h( x (t ), u (t )) = x1 (t )
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Tuyen tnh hoa he phi tuyen Th du 2 (tt) Tuyen Tuyen tnh hoa he tay may quanh iem lam viec y = /6 (rad): hoa may iem lam Xac nh iem lam viec tnh:
x1 = / 6
x2 =0 B 1 f ( x , u ) = ( ml + MlC ) g cos x1 x2 + u 2 2 2 ( J + ml ) ( J + ml ) ( J + ml )
x2 = 0 u = 1.2744

Do o iem lam viec tnh can xac nh la: x1 / 6 x= = x2 0

u = 1.2744

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Tuyen tnh hoa he phi tuyen Th du 2 (tt) Xac nh X h cac ma t n t ng th i t i i l viec t h tra tra thai ta iem lam i tnh:
a11 a12 A= a21 a22
a11 = f1 =0 x1 ( x,u ) (ml + MlC ) f 2 = sin x1 (t ) 2 x1 ( x,u ) ( J + ml ) ( x,u ) B = ( J + ml 2 ) ( x,u ) f1 a12 = x2 =1
( x,u )

a21 =

f 2 a22 = x2

( x,u )

x2 (t ) B 1 f ( x , u ) = ( ml + MlC ) g cos x1 (t ) x2 (t ) + u (t ) ( J + ml 2 ) ( J + ml 2 ) ( J + ml 2 )
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Tuyen tnh hoa he phi tuyen Th du 2 (tt) Xac nh X h cac ma t n t ng th i t i i l viec t h tra tra thai ta iem lam i tnh:
b1 B= b2

b1 =

f1 =0 u ( x,u )

b2 =

f 2 u

=
( x,u )

1 J + ml 2

x2 (t ) B 1 f ( x , u ) = ( ml + MlC ) g cos x1 (t ) x2 (t ) + u (t ) ( J + ml 2 ) ( J + ml 2 ) ( J + ml 2 )
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Tuyen tnh hoa he phi tuyen Th du 2 (tt) Xac nh X h cac ma t n t ng th i t i i l viec t h tra tra thai ta iem lam i tnh:
C = [c1 c2 ] D = d1

h c1 = =1 x1 ( x,u ) d1 = h =0 u ( x,u )

c2 =

h x2

=0
( x,u )

Vay phng trnh trang thai can tm la:

~ ~ & x (t ) = A~ (t ) + Bu (t ) x ~ ~ y (t ) = C~ (t ) + Du (t ) x

1 0 A= a21 a22

0 B= b2

C = [1 0]

D=0

h( x , u ) = x1 (t )
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ieu khien on nh hoa he phi tuyen quanh iem lam viec tnh

a he phi tuyen ve mien xung quanh iem lam viec tnh (n tuyen ve mien iem lam gian nhat co the dung bo ieu khien ON-OFF) Xung quanh iem lam viec, dung bo ieu khien tuyen tnh iem lam dung ieu khien tuyen K tuyen tnh ON-OFF Chon bo K

r(t)

e(t)

u(t) oi tng phi tuyen tuyen

y(t)

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