Cơ Sở Tự Động Học - Phạm Văn Tấn, 136 Trang

C S T ng Hc
Phm Vn Tn
Chng I:
NHP MN
Chng I
I CNG.
CC NH NGHA.
CC LOI H THNG IU KHIN
Nhp Mn
Trang I.1
C S T ng Hc
Phm Vn Tn
I. I CNG
Hi tip (feedback) l mt trong nhng tin trnh cn bn nht trong t nhin. N hin
din trong hu ht cc h thng ng, k c trong bn thn sinh vt, trong my mc, gia con
ngi v my mc Tuy nhin, khi nim v hi tip c dng nhiu trong k thut. Do
, l thuyt v cc h thng t iu khin (automatic control systems) c pht trin nh l
mt ngnh hc k thut cho vic phn tch, thit k cc h thng c iu khin t ng v
kim sot t ng. Rng hn, l thuyt cng c th p dng trc tip cho vic thit lp v
gii quyt cc vn thuc nhiu lnh vc khc nhau, khng nhng cho vt l hc, ton hc
m cn cho c cc ngnh khc nh: sinh vt hc, kinh t hc, x hi hc,
Hin nay, h thng t iu khin m ng mt vai tr quan trng trong s pht
trin v tin b ca cng ngh mi. Thc t, mi tnh hung trong sinh hot hng ngy ca
chng ta u c lin quan n mt vi loi iu khin t ng: my nng bnh, my git, h
thng audio-video ... Trong nhng c quan ln hay cc xng sn xut, t hiu sut ti
a trong vic tiu th in nng, cc l si v cc my iu ho khng kh u c kim
sot bng computer. H thng t iu khin c thy mt cch phong ph trong tt c cc
phn xng sn xut : Kim tra cht lng sn phm, dy chuyn t ng, kim sot my
cng c. L thuyt iu khin khng th thiu trong cc ngnh i hi tnh t ng cao nh :
k thut khng gian v v kh, ngi my v rt nhiu th khc na.
Ngoi ra, c th thy con ngi l mt h thng iu khin rt phc tp v th v.
Ngay c vic n gin nh a tay ly ng mt vt, l mt tin trnh t iu khin xy
ra. Quy lut cung cu trong kinh t hc, cng l mt tin trnh t iu khin
II. CC NH NGHA.
1. H thng iu khin:
L mt s sp xp cc b phn vt l, phi hp, lin kt nhau, cch sao iu khin,
kim sot, hiu chnh v sa sai chnh bn thn n hoc n iu khin mt h thng khc.
Mt h thng iu khin c th c miu t bi cc thnh phn c bn (H.1_1).
i tng iu khin (ch ch).

B phn iu khin.
Kt qu.
Ch ch
B phn
iu khin
Kt qu
(a)
H.1_1 : Cc b phn c bn ca h thng iu khin.
Inputs
u
B phn
iu khin
Outputs
c
(b)
Chng I
Nhp Mn
Trang I.2
C S T ng Hc
Phm Vn Tn
Ba thnh phn c bn c th c nhn dng nh ( H.1_1).

Cc inputs ca h thng cn c gi l tn hiu tc ng (actuating signals ) v cc
outputs c hiu nh l cc bin c kim sot (controlled variables ).
Mt th d n gin, c th m t nh (H.1_1) l s li xe t. Hng ca hai bnh
trc c xem nh l bin c kim sot c, hay outputs. Gc quay ca tay li l tn hiu
tc ng u, hay input. H thng iu khin trong trng hp ny bao gm cc c phn li v
s chuyn dch ca ton th chic xe, k c s tham gia ca ngi li xe.
Tuy nhin, nu i tng iu khin l vn tc xe, th p sut tc ng tng ln b
gia tc l input v vn tc xe l output.
Ni chung, c th xem h thng iu khin xe t l mt h thng iu khin hai
inputs (li v gia tc) v hai outputs (hng v vn tc). Trong trng hp ny, hai inputs v
hai outputs th c lp nhau. Nhng mt cch tng qut, c nhng h thng m chng
lin quan nhau.
Cc h thng c nhiu hn mt input v mt output c gi l h thng nhiu bin.
2.H iu khin vng h (open_loop control system).

Cn gi l h khng hi tip (Nonfeedback System), l mt h thng trong s
kim sot khng tu thuc vo output.
Nhng thnh phn ca h iu khin vng h thng c th chia lm hai b phn: b
iu khin (controller) v thit b x l nh (H.1_2).
Tham kho
r
Controller
Tn hiu tc ng
u
Thit b
c
Bin c
kim sot
Hnh H.1_2 : Cc b phn ca mt h iu khin vng h.

Mt tn hiu vo, hay lnh iu khin hay tn hiu tham kho (Reference) r a vo
controller. Tn hiu ra ca n l tn hiu tc ng u, s kim sot tin trnh x l sao cho bin
c s hon tt c vi tiu chun t trc ng vo.
Trong nhng trng hp n gin, controller c th l mt mch khuch i, nhng
c phn ni tip hoc nhng th khc, tu thuc vo loi h thng. Trong cc b iu khin
in t, controller c th l mt microprocessor.
Th d : Mt my nng bnh c gn timer n nh thi gian tt v m my.Vi
mt lng bnh no , ngi dng phi lng nh thi gian nng cn thit bnh chn,
bng cch chn la thi gian trn timer.
n thi im chn trc, timer iu khin tt b nung.
r
( chn mong
mun)
Timer
(Chn la
Thi gian)
B nung
( chn
thc t)
Nhiu
Ph ri
Hnh H.1_3: Th d v h iu khin vng h.
Chng I
Nhp Mn
Trang I.3
C S T ng Hc
Phm Vn Tn
D thy ngay rng mt h thng iu khin nh vy c tin cy khng cao.Tn hiu

tham kho c t trc, cn p ng ng ra th c th thay i theo iu kin xung
quanh, hoc nhiu. Mun a p ng c n tr gi tham kho r, ngi dng phi qui chun
li bng cch chn timer li.
3. H iu khin vng kn (closed loop control system).

Cn gi l h iu khin hi tip (feedback control system). iu khin c
chnh xc, tn hiu p ng c(t) s c hi tip v so snh vi tn hiu tham kho r ng
vo.
Mt tn hiu sai s (error) t l vi s sai bit gia c v r s c a n controller
sa sai. Mt h thng vi mt hoc nhiu ng hi tip nh vy gi l h iu khin
vng kn. (Hnh H.1_4)
Nhiu ph ri
Phn tch
saibit
r
Controller
Thit b
B chuyn
nng
Hi tip
H.1_4 : H iu khin vng kn.

Tr li v d v my nng bnh. Gi s b nung cp nhit u cc pha ca bnh v
cht lng ca bnh c th xc nh bng mu sc ca n. Mt s c n gin ho p
dng nguyn tc hi tip cho my nng bnh t ng trnh by nh (H.1_5).
Bnh
SW
~
B phn tch mu
Relay
Gng
Nt chnh mu
ng hi tip
H.1_5 : My nng bnh t ng
Chng I
Nhp Mn
Trang I.4
C S T ng Hc
Phm Vn Tn
Ban u, my nng c qui chun vi cht lng bnh, bng cch t nt chnh
mu. Khng cn phi chnh li nu nh khng mun thay i tiu chun nng. Khi SW
ng, bnh s c nng, cho n khi b phn tch mu "thy" c mu mong mun. Khi
SW t ng m, do tc ng ca ng hi tip (mch in t iu khin relay hay n
gin l mt b phn c kh). H.1_6. l s khi m t h thng trn.
Controller
Phn
Tch mu
+
Relay
SW
Mu
Mong mun
ng
M
My
nng
Bnh
C
Mu
Bnh
Thc
t
Gng
H.1_6 : S khi my nng bnh t ng

Mt th d khc v h thng iu khin vng kn nh hnh H.1_7: h thng iu khin
my nh ch in t (Electronic Typewriter).
Bn
phm
Vi
X l
K
Cng
sut
DC
motor
Bnh xe in
M ho
V tr
c
Hi tip
H.1_7: H thng iu khin my nh ch in t.
Bnh xe in (printwheel) c khong 96 hay 100 k t, c motor quay,t v tr ca
k t mong mun n trc ba g in. S chn la k t do ngi s dng g ln bn
phm. Khi mt phm no c g, mt lnh cho bnh xe in quay t v tr hin hnh n v
tr k tip c bt u. B vi x l tnh chiu v khong cch phi vt qua ca bnh xe, v
gi mt tn hiu iu khin n mch khuch i cng sut. Mch ny iu khin motor quay
thc bnh xe in. V tr bnh xe in c phn tch bi mt b cm bin v tr (position
sensor). Tn hiu ra c m ha ca n c so snh vi v tr mong mun trong b vi x
l. Nh vy motor c iu khin sao cho n thc bnh xe in quay n ng v tr mong
mun. Trong thc t, nhng tn hiu iu khin pht ra bi vi x l s c th thc bnh xe in
t mt v tr ny n v tr khc nhanh c th in mt cch chnh xc v ng thi gian.
Chng I
Nhp Mn
Trang I.5
C S T ng Hc
Phm Vn Tn
r(t)
c(t)
0
nh v
t1
in
t2
Thi gian
H.1_8: Input v output ca s iu khin bnh xe in.

Hnh H.1_8 trnh by input v output tiu biu ca h thng. Khi mt lnh tham kho
c a vo (g bn phm), tn hiu c trnh by nh mt hm nc (step function). V
mch in ca motor c cm khng v ti c hc c qun tnh, bnh xe in khng th chuyn
ng n v tr mong mun ngay tc khc. N s p ng nh hnh v v n v tr mi sau
thi im t1. T 0 n t1 l thi gian nh v. T t1 n t2 l thi gian in. Sau thi im t2, h
thng sn sng nhn mt lnh mi.
4. Hi tip v cc hiu qu ca n :
Trong nhng th d trn, vic s dng hi tip ch vi ch ch tht n gin,
gim thiu s sai bit gia tiu chun tham kho a vo v tn hiu ra ca h thng. Nhng,
nhng hiu qu c ngha ca hi tip trong cc h thng iu khin th su xa hn nhiu.
S gim thiu sai s cho h thng ch l mt trong cc hiu qu quan trng m hi tip c tc
ng ln h thng.
Phn sau y, ta s thy hi tip cn tc ng ln nhng tnh cht ca h thng nh
tnh n nh, nhy, li, rng bng tn, tng tr.
+
_
b
H
H.1_9: H thng c hi tip.
Xem mt h thng c hi tip tiu biu nh (H.1_9). Trong r l tn hiu vo. C l

tn hiu ra. G v H l cc li.
M =
Chng I
C
G
=
r
1 + GH
Nhp Mn
(1.1)
Trang I.6
C S T ng Hc
Phm Vn Tn
a) Hiu qu ca hi tip i vi li ton th (overall Gain).

So vi li ca h vng h (G), li ton th ca h vng kn
(c hi tip) c thm h s 1+GH. Hnh H.1_9 l h thng hi tip m, tn hiu hi tip b c
du (-).
Lng GH t n c th bao gm du tr. Do , hiu qu tng qut ca hi tip l
lm tng hoc gim li. Trong mt h iu khin thc t, G v H l cc hm ca tn s f.
Sut 1 + GH c th ln hn 1 trong mt khong tn s no v nh hn 1 mt khong
tn s khc . Nh vy, hi tip s lm tng li h thng trong mt khong tn s nhng
lm gim n khong tn s khc.
b) Hiu qu ca hi tip i vi tnh n nh.

Ni mt cch khc khng cht ch lm, mt h thng gi l bt n khi output ca n
thot khi s kim sot hoc l tng khng gii hn.
Xem phng trnh (1.1). nu GH = -1, output ca h thng s tng n v hn i vi
bt k input hu hn no. Nh vy, c th ni rng hi tip c th lm mt h thng (m lc
u n nh) tr nn bt n. Hi tip l mt thanh gm 2 li. Nu dng khng ng cch,
n s tr nn tai hi. Nhng cng c th chng t c rng, mi li ca hi tip li l to
c s n nh cho mt h thng bt n.
Gi s h thng hi tip (H.1_9) bt n v GH = -1. By gi, nu ta a vo mt
vng hi tip m na, nh (H.1_10) .
li ton th ca h thng by gi s l :
c
G
=
r
1 + GH + GF
(1.2)
Nu do nhng tn cht ca G v H lm cho vng hi tip trong bt n, v G.H = -1.

nhng ton th h thng c th vn n nh bng cch chn la li F ca vng hi tip
ngoi.
Chng I
Nhp Mn
Trang I.7
C S T ng Hc
Phm Vn Tn
c) Hiu qu ca hi tip i vi nhy. (Sensibility)

nhy thng gi mt vai tr quan trng trong vic thit k cc h thng iu
khin. V cc thnh phn vt l c nhng tn cht thay i i vi mi trng xung quanh v
vi tng thi k , ta khng th lun lun xem cc thng s ca h thng hon ton khng i
trong sut ton b i sng hot ng ca h thng. Th d, in tr dy qun ca mt ng
c in thay i khi nhit tng trong lc vn hnh.
Mt cch tng qut, mt h iu khin tt s phi rt nhy i vi s bin i ca cc
thng s ny c th gi vng p ng ra.
Xem li h thng (H.1_9). Ta xem G nh l mt thng s c th thay i. nhy
ton h thng c nh ngha nh sau:
M / M
G /G
(1.3)
M: li ton h thng.
Trong : M ch s thay i thm ca M
G.M/M v G/G ch phn trm thay i ca M v G. Ta c:
M
G
M G
1
=
G M
1 + GH
(1.4)
H thc ny chng t hm nhy c th lm nh tu bng cch tng GH, min

sao h thng vn gi c s n nh.
Trong mt h vng h, li ca n s p ng kiu mt - i - mt i vi s bin
thin ca G.
Mt cch tng qut, nhy ton h thng ca mt h hi tip i vi nhng bin
thin ca thng s th tu thuc vo ni ca thng s . Ngi c c th khai trin nhy
ca h thng (H.1_9) theo s bin thin ca H.
d) Hiu qu hi tip i vi nhiu ph ri t bn ngoi.

Trong sut thi gian hot ng, cc h thng iu khin vt l chu s ph ri ca vi
loi nhiu t bn ngoi. Th d, nhiu nhit (thermal noise) trong cc mch khuch i in
t, nhiu do tia la in sinh t chi v c gp trong cc ng c in
Hiu qu ca hi tip i vi nhiu th tu thuc nhiu vo ni m nhiu tc ng vo
h thng. Khng c kt lun tng qut no. Tuy nhin, trong nhiu v tr, hi tip c th gim
thiu hu qu ca nhiu.
Xem h thng (H.1_11)
Chng I
Nhp Mn
Trang I.8
C S T ng Hc
Phm Vn Tn
n (nhiu)
r
+
G1
G2
+
Hnh H.1 11
Ouput ca h c th c xc nh bng nguyn l chng cht (super position)
- Nu khng c hi tip, H = 0 th output
e = r
C = G 1 .G 2 .e + G 2 . n
(1 - 5)
T s tn hiu trn nhiu (signal to noise ratio) c nh ngha:
S
output do tn hi e u G 1 G 2 e
e
=
=
= G1 .
N
output do nhieu
G2n
n
(1.6)
tng t s S/N hin nhin l phi tng G1 hoc e/n. S thay i G2 khng nh
hng n t s.
- Nu c hi tip, output ca h thng khi r v n tc ng ng thi s l :
C =
G2
G 1G 2
n
r +
1 + G 1G 2 H
1 + G 1G 2 H
(1.7)
So snh (1.5) v (1.7), ta thy thnh phn do nhiu ca (1.7) b gim bi h s 1+ G1G2 H. Nhng thnh phn do tn hiu vo cng b gim cng mt lng.
T s S/N by gi l:
S/N =
G 1 G 2 r /(1 + G 1G 2 H)
r
= G1
G 2 n / (1 + G 1G 2 H)
n
(1.8)
V cng bng nh khi khng c hi tip. Trong trng hp ny, hi tip khng c
hiu qu trc tip i vi t s S/N ca h thng. Tuy nhin , s p dng hi tip lm ny ra
kh nng lm tng t s S/N di vi iu kin. Gi s rng sut G1 tng n G1v r n r,
cc thng s khc khng thay i , output do tn hiu vo tc ng ring (mt mnh) th cng
bng nh khi khng c hi tip. Ni cch khc ta c :
Chng I
Nhp Mn
Trang I.9
C S T ng Hc
C
n=0
Phm Vn Tn
G '1 G 2 r '
= G 1G 2 r
1 + G '1 G 2 H
(1.9)
Vi s tng G1, G1 output do nhiu tc ng ring mt mnh s l:

C
r = 0
G 2n
1 + G '1 G
(1.10)
Nh hn so vi khi G1 khng tng. By gi t s S/N s la:

G 1G 2 r
r
= G 1 (1 + G' 1 G 2 H)
G 2 n / (1 + G' 1 G 2 H)
n
(1.11).
Nhn thy n ln hn h thng khng hi tip bi h s (1+ G1G2H)

Mt cch tng qut, hi tip cng gy hiu qu trn cc tnh cht ca h thng, nh
rng dy tn, tng tr, p ng qu ( Transient Response) v p ng tn s.
III. CC LOI H THNG IU KHIN T NG.

C nhiu cch phn loi h thng iu khin.
Nu da vo phng php phn tch , thit k th chng gm cc loi tuyn tnh, phi
tuyn thay i theo thi gian (time varying ), khng thay i theo thi gian (time invariant).
Nu da vo loi tn hiu trong h thng th chng gm cc loi d liu lin tc(
continous data), d liu gin on (discrete data), bin iu v khng bin iu.
Nu da vo loi ca cc thnh phn ca h thng , th chng gm c cc loi in c
, thy lc, kh ng .Ty vo mc ch chnh ca h m ngi ta xp loi chng nh kiu no
.
1. H t iu khin tuyn tnh v phi tuyn.

Ni mt cch cht ch, cc h thng tuyn tnh u khng c trong thc t . V mi h
thng vt l u phi tuyn. H iu khin hi tip tuyn tnh ch l m hnh l tng ha
lm n gin vic phn tch v thit k.
Khi ln ca tn hiu ca h c gii hn trong mt vng m cc thnh phn
biu l tnh thng ( ngha l nguyn l chng cht p dng c ) th h thng c xem l
tuyn tnh . Nhng khi tn hiu vt qu vng hot ng tuyn tnh, ty vo s nghim ngt
ca tnh phi tuyn, h thng s khng c xem l tuyn tnh na. Th d : cc mch khuch
i c dng trong h iu khin thng bo ha khi tn hiu a vo chng tr nn qu
ln.
T trng ca mt motor thng c tnh bo ha. Hiu ng phi tuyn thng gp
trong cc h iu khin l vng cht (dead zone ) gia cc bnh rng ; tnh phi tuyn ca l
xo ; lc ma st phi tuyn .
Vi cc h tuyn tnh, c mt s phong ph v cc k thut gii tch v ha gip
cho vic thit k c d dng. Cn trong cc h phi tuyn , mt liu php(treat ) ton hc
Chng I
I.10
Nhp Mn
Trang
C S T ng Hc
Phm Vn Tn
thng l rt kh. V khng c phng php tng qut c th gii quyt mt s ln cc h

phi tuyn.
2. H thng c thng s thay i v khng thay i theo thi gian.

Khi cc thng s ca mt h iu khin c gi nguyn khng thay i trong sut
thi gian hot ng ca n, th h c gi l h khng thay i theo thi gian ( time
invariant). Trong thc t , hu ht cc h thng vt l u cha nhng thnh phn c thng s
b tri, hay thay i theo thi gian. Th d : in tr dy qun ca mt ng c in s thay
i khi t0 gia tng.
Th d khc, h thng iu khin ng i ca ha tin, trong khi lng ca ha tin
gim do s tiu th trn ng bay.
Mc d mt h c thng s thay i theo thi gian khng phi tuyn th vn l mt h
tuyn tnh, nhng s phn tch v thit k loi h ny thng l rt phc tp so vi cc h
tuyn tnh c thng s khng thay i .
3. H iu khin d liu lin tc .

Mt h iu khin s liu lin tc l mt h trong cc tn hiu nhng thnh phn
khc ca h l cc hm lin tc ca bin s thi gian t.
Trong cc h iu khin s liu lin tc, cc tn hiu c th l AC hoc DC. Khng
ging trong nh ngha tng qut ca AC v DC dng trong k thut in, AC v DC ca h
iu khin mang ngha chuyn bit. Khi ni mt h iu khin AC, c ngha l cc tn hiu
trong c bin iu bi mt kiu bin iu no , v khi ni mt h iu khin DC, c
ngha l tn hiu ca n khng bin iu nhng chng vn l tn hiu AC.
4. H iu khin d liu gin on.

L h c tn hiu khng lin tc .
a) Nu tn hiu c dng mt lot chui xung (pulse train ), th h c gi l h d
liu mu ha ( sample data system ).
b) Nu tn hiu l xung c m ha s thch hp cho vic s dng digital computer
th gi l h iu khin digital.
Th d: H iu khin my nh ch in t l mt h iu khin digital, v b x l
nhn v cho ra cc s liu digital.
Mt cch tng qut, mt h d liu mu ha ch nhn s liu v thng tin mt cch
ngt qung ti nhng thi im ring. Th d: tn hiu sai s trong h c th c cung cp
ngt qung di dng xung. Nh vy h s khng nhn thng tin v sai s sut trong giai
on gia hai xung lin tip.
e( t) e*( t)
r( t)
Gi mu
+
-
Chng I
I.11
h( t)
c( t)
iu khin
B ly mu
(sampler )
Nhp Mn
Trang
C S T ng Hc
Phm Vn Tn
H.1_12 : S khi mt h iu khin d liu mu ha.

Mt tn hiu vo lin tc r(t) c a vo h thng. Tn hiu sai s e(t) c ly mu
( sampling). Ng ra ca b phn ly mu ( sampler) l mt lot xung. Tn s ly mu c th
u hay l khng.
Hnh H.1_13 l s khi c bn ca h thng iu khin digital hng dn qu
o tn la autopilot t tm mc tiu.
Thit b li
c u khin
Input m
ha
Digital
computer
Ta mc
tiu
Air
frame
DAC
ADC
Ta thc
t
Cc b
cm bin
H.1_13 : S khi c bn ca h thng iu khin qu o tn la

t tm mc tiu.
5. Chnh c t ng ( servomechanism).
Mt loi h thng iu khin ng c c bit lu tm do tnh thnh hnh ca n
trong k ngh v ngn ng iu khin hc. l servomechanism.
Mt servomechanism l mt h iu khin t ng, trong bin s kim sot C l v
tr c hc, hoc o hm theo thi gian ca v tr( vn tc hay gia tc).
Th d : Xem mt b iu khin t ng ng m van nc.
P1
+
-
P2
radians
+
r
-
+
b
-
Bnh rng truyn ng

b
e
+
van
Servo
ampli
Servo
motor
c
radians
H.1_14: Servo mechanism iu khin van.

Ng vo ca h thng l mt bin tr loi quay P1, c u vi ngun in. Chn th
3( con chy) c quy chun theo v tr gc ( radians) v u vo mt ng vo ca mch
khuch i servo. Mch khuch i ny cung cp in th cho mt ng c in gi l
Chng I
I.12
Nhp Mn
Trang
C S T ng Hc
Phm Vn Tn
servo motor. Trc ca motor c truyn ( c kh ) n mt van m hay kha nc. Nu

trc motor quay 3600 th van m hon ton.
P2 gi l bin tr hi tip. Chn th 3 c ni ( c kh ) vi trc motor nh mt bnh
rng v u ( in ) vi ng vo th hai ca mch khuch i servo.
Ty v tr con chy ca hai bin tr, m in th sai bit e c th dng, m hay bng
zero. in th ny c khuch i, sau t vo motor iu khin motor quay theo
chiu m van, ng van hay vn gi van v tr c ( e= 0; khi o motor khng quay). Gi s
van ang ng, ta quay P1 mt gc ( t mt tiu chun tham kho ng vo ). in th e
mt cn bng ( khc 0), lm cho motor quay mt gc ( thch ng vi gc quay ca con chy
P1 ) lm van m. ng thi, qua b bnh rng truyn ng , con chy P2 cng quay mt gc
sao cho in th sai bit e tr v 0 (motor khng quay ). Van c gi m y.
H thng trn c trnh by bng s khi nh sau :
Tiu
chun
r+
P1
r
radians
volt
Bin tr
tham kho
- b
Servo
amp
volt
u
volt
Servo
motor
Van
c
P2
Radians
Bin tr hi tip
H.1_15 : S khi servomechamism iu khin van.
Mt s th d :
1. Xem mt cu phn th nh hnh v. Output l v2 v input l v1. Mch th ng ny c th
m hnh ha nh l mt h vng h hoc nh mt h vng kn.
R1
v1
R2
V2
H.1_16
a. T cc nh lut Kirchhoff, ta c :
v2 = R2. i
i= v1/ (R1 + R2 )
Vy v2 =( R2 / (R1 + R2 )).v1= f(v1,R1,R2)
V1
Chng I
I.13
Nhp Mn
R2
R1+R2
H.1_17
V2
Trang
C S T ng Hc
Phm Vn Tn
b. Nu bit dng i di dng khc hn:

i = ( v1-v2 ) / R1 th:
v2 = R2 ( v1 v2 ) / R1 = v1 . R2 / R1 v2 .R2 /R1
= f (v1, v2, R1, R2 )
V1-V2
V1
+
R2
R1
V2
H.1_18
2. H thng t iu khin tay ngi chm n mt vt, c th nhn dng nh sau
: cc b phn chnh ca h l c, cnh tay, bn tay v mt.
Hnh 1.19
B c gi tn hiu thn kinh n cnh tay. Tn hiu ny c khuch i trong cc bp
tht ca cnh tay v bn tay, v xem nh cc tn hiu tc ng ca h thng. Mt dng nh
b cm bin, hi tip lin tc v tr ca cnh tay v v tr vt n c.
V tr tay l output ca h, v tr vt l input. Mc ch ca h iu khin l thu nh
khong cch ca v tr tay v v tr vt n zero.
r
V tr
vt
Chng I
I.14
Mt e
Nhp Mn
-
Controller
c
Cnh tay, tay
c
V tr tay
Trang
C S T ng Hc
Phm Vn Tn
H.1_20
3. nh lut cung cu ca kinh t hc c th c xem nh mt h iu khin t ng.
Gi bn ( gi th trng ) ca mt hng ha no l output ca h. Mc tiu ca h l gi
cho gi n nh.
nh lut cung cu cho rng gi th trng n nh nu v ch nu cung bng cu.
Ta chn 4 b phn chnh ca h thng l ngi cung, ngi cu, ngi nh gi th
trng, hng ha c mua v bn.
Input l s n nh ca vt gi, hay tin li hn, l s nhiu lon gi bng zero. Output
l gi thc t ca th trng.
S hot ng ca h thng c gii thch nh sau :

Ngi nh gi nhn mt tn hiu (zero) khi vt gi n nh. ng ta nh mt gi bn
vi s gip ca nhng thng tin t tr nh hay gi biu ca s giao dch trc . Gi ny
lm ngi cung sn xut a vo th trng mt lng hng ha no , v ngi cu mua
mt s trong s . S chnh lch (sai s ) gia cung v cu c iu chnh bi h thng
ny. Nu cung khng bng cu, ngi nh gi s thay i gi th trng theo hng sau cho
cung bng vi cu. Vy c cung v cu u c th xem l hi tip v chng xc nh tc ng
kim sot . H thng c biu din nh H.1_21.
Ngi cu
b2
-
r=0
S nhiu
lon gi
zero(gi
n nh)
Ngi nh
gi
c
Th trng
Gi
Th
trng
b1
Ngi
cung
H.1_21
*************
Chng I
I.15
Nhp Mn
Trang
C S T ng Hc
Phm Vn Tn
Chng II: HM CHUYN V S KHI

CA H THNG
I CNG.
P NG XUNG LC V HM CHUYN.
S KHI (BLOCK DIAGRAM).
I.I CNG
Bc quan trng th nht trong vic thit k mt h iu khin l vic miu t ton
hc v m hnh ha (modeling) cho thit b c kim sot.
Mt cch tng qut, nhng c tnh ng ca thit b ny s c xc nh trc bng
mt tp hp cc bin. Th d, xem mt ng c in trong h thng iu khin. Ta phi xc
nh in p t vo, dng in trong cun dy qun, moment c khai trin trn trc, gc
di v vn tc ca rotor, v nhng thng s khc na nu cn thit .Tt c nhng thng s y
c xem nh cc bin ca h. Chng lin h nhau thng qua nhng nh lut vt l c
thit lp v a n cc phng trnh ton hc di nhiu dng khc nhau. Ty bn cht ca
thit b, cng nh iu kin hot ng ca h, mt vi hoc tt c cc phng trnh y l
tuyn tnh hay khng, thay i theo thi gian hay khng, chng cng c th l cc phng
trnh i s, phng trnh vi phn hoc tng hp.
Cc nh lut vt l khng ch nguyn tc hot ng ca h iu khin trong thc t
thng l rt phc tp. S c trng ha h thng c th i hi cc phng trnh phi tuyn
v/hoc thay i theo thi gian rt kh gii. Vi nhng l do thc t, ngi ta c th s dng
Chng II Hm Chuyn S Khi Ca H Thng
Trang II.1
C S T ng Hc
Phm Vn Tn
nhng gi nh v nhng php tnh xp x , nghin cu cc h ny vi l thuyt h tuyn

tnh. C hai phng cch tng qut tip cn vi h tuyn tnh. Th nht, h cn bn l
tuyn tnh, hoc n hot ng trong vng tuyn tnh sao cho cc iu kin v s tuyn tnh
c tha. Th hai, h cn bn l phi tuyn, nhng c tuyn tnh ha xung quanh im
hot ng nh mc. Nhng nn nh rng, s phn tch cc h nh th ch kh dng trong
khong cc bin m s tuyn tnh cn gi tr.
II. P NG XUNG LC V HM CHUYN.

1. p ng xung lc(impulse).
Mt h tuyn tnh, khng i theo thi gian c th c c trng bng p ng
xung lc g(t) ca n. chnh l output ca h khi cho input l mt hm xung lc n v
(t).
Hm xung lc
(t) = 0
; t0.
(t)
; t=0.
d ( t ) dt
Tnh cht th ba l tng din tch trn xung lc l mt.

V tt c din tch ca xung lc th tp trung ti mt im, cc gii hn ca tch phn c
th di v gc m khng lm thay i tr gi ca n.
b
d ( t ) dt = 1
C th thy rng tch phn ca (t) l u(t) (hm nc).
a<0
b>0 .
1
(
t
)
dt
=
d
0
, t>0
= u (t)
, t<0
(t)
t
H thng
g(t)
Xung lc n v
Mt khi p ng xung lc ca h c bit, th output c(t) ca n vi mt input r(t) bt
k no c th c xc nh bng cch dng hm chuyn.
Trang II.2
C S T ng Hc
Phm Vn Tn
2. Hm chuyn ca h n bin.
Hm chuyn (transfer function) ca mt h tuyn tnh khng thay i theo thi
gian, c nh ngha nh l bin i Laplace ca p ng xung lc ca n, vi cc iu
kin u l zero. t G(s) l hm chuyn vi r(t) l input v c(t) l output.
G(s)= L [g(t)]
G(s ) =
Trong :
(2.1)
C(s )
R(s )
R(s)= L [r(t)]
(2.2)
C(s)= L [c(t)]
(2.4)
(2.3)
Vi tt c cc iu kin u t zero.
Mc d hm chuyn c nh ngha t p ng xung lc, trong thc t s tng quan
gia input v output ca h tuyn tnh khng thay i theo thi gian vi d liu vo lin tc,
thng c miu t bng phng trnh vi phn thch hp, v dng tng qut ca hm
chuyn c suy trc tip t phng trnh vi phn .
Xem phng trnh vi phn vi h s thc hng, m t s tng quan gia input v
output ca h tuyn tnh khng thay i theo thi gian.
d n c(t )
d n 1 c(t )
dc ( t )
+
a
+ ...... + a 2
+ a 1 c(t )
n
n 1
n
dt
dt
dt
d m r (t )
d m 1 r (t )
dr ( t )
+
b
+ ... + b 2
+ b 1 r (t )
m
m 1
m
dt
dt
dt
Cc h s a1,a2,..an v b1, b2bn l hng thc vnm.
= b m +1
(2.5)
Mt khi r(t) vi tto v nhng iu kin u ca c(t) v cc o hm ca n c xc

nh ti thi im u t=t0, th output c(t) vi tt0 s c xc nh bi phng trnh (2.5).
Nhng, trn quan im phn gii v thit k h thng, phng php dng phng trnh vi
phn m t h thng th rt tr ngi. Do , phng trnh (2.5) t khi c dng trong
dng ban u phn tch v thit k.
Thc quan trng nh rng, mc d nhng chng trnh c hiu qu trn my
tnh digital th cn thit gii cc phng trnh vi phn bc cao, nhng trit l cn bn ca
l thuyt iu khin h tuyn tnh l: cc k thut phn gii v thit k s trnh cc li gii
chnh xc ca h phng trnh vi phn, tr khi cc li gii trn my tnh m phng c i
hi.
c hm chuyn ca h tuyn tnh m t bi phng trnh (2.5) , ta ly bin i
Laplace c hai v, vi s gi nh cc iu kin u l zero.
(Sn+anSn-1++a2S+a1)C(S)=(bm+1Sm+bmSm-1++b2S+b1)R(S)
(2.6)
C(s ) b m +1 S m + b m S m 1 + ... + b 2 S + b 1
=
Hm chuyn: G(s ) =
R(s )
S n + a n S n 1 + ... + a 2 S + a 1
(2.7)
Trang II.3
C S T ng Hc
Phm Vn Tn
C th tm tt cc tnh cht ca hm chuyn nh sau:

*Hm chuyn ch c nh ngha cho h tuyn tnh khng thay i theo thi gian.
* Hm chuyn gia mt bin vo v mt bin ra ca h c nh ngha l bin i
Laplace ca p ng xung lc. Mt khc, hm chuyn l t s ca bin i Laplace ca
output v input.
* Khi xc nh hm chuyn, tt c iu kin u u t zero.
* Hm chuyn th c lp vi input ca h.
* Hm chuyn l mt hm bin phc S. N khng l hm bin thc theo thi gian,
hoc bt k mt bin no c dng nh mt bin c lp.
Khi mt h thuc loi d liu vo digital, vic m t n bng cc phng trnh vi phn s
tin li hn. V hm chuyn tr thnh mt hm bin phc Z. Khi , bin i Z s c
s dng.
3. Hm chuyn ca h a bin.
nh ngha ca hm chuyn d c m rng cho mt h thng vi nhiu input v
nhiu output. Mt h nh vy c xem l h a bin. Phng trnh (2.5) cng c m
t s tng quan gia cc input v output ca n.
Khi xt s tng quan gia mt input v mt output, ta gi s cc input khc l zero.
Ri dng nguyn l chng cht (super position) cho mt h tuyn tnh, xc nh mt bin
s ra no do hu qu ca tt c cc bin vo tc ng ng thi, bng cch cng tt c cc
output do tng input tc ng ring l.
Mt cch tng qut, nu mt h tuyn tnh c p input v c q output, hm chuyn gia
output th i v input th j c nh ngha l:
Gij(s) =
Ci (s)
R j (s)
(2.8)
Vi Rk(s)=0 ; k=1,2...p ; k j
Lu :phng trnh (2.8) ch c nh ngha vi input th j, cc input khc u zero.
Nu cc input tc ng ng thi, bin i Laplace ca output th i lin h vi bin
i Laplace ca tt c cc input theo h thc .
Ci(s) =Gi1(s).R1(s)+ Gi2(s).R2(s)+....+Gip(s).Rp(s)
C i ( s) =
C
j =1
ij
( s) R j ( s) ;
( i=1, 2, 3...9)
(2.9)
v Gij(s) xc nh bi phng trnh (2.8)

Tht tin li, nu din t phng trnh (2.9) bng mt phng trnh ma trn:
C(s) = G(s). R(s)
(2.10)
C1 (s )
C (s )
1
Trong : C(s ) =
...
C q (s )
(2.11)
Trang II.4
C S T ng Hc
Phm Vn Tn
L mt ma trn qx1, gi l vector output.

R 1 (s )
R (s )
2
R(s ) =
...
R p (s )
L mt ma trn px1, gi l vector input.
(2.12)
G 11 ( s ).... G 12 ( s )......... .G 1 p ( s )
G 21 ( s ).... G 22 ( s )......... .G 2 p ( s )
G (s ) =
.......... .......... .......... ........
G q 1 ( s ).... G q 2 ( s )......... .G qp ( s )
(2.13)
L mt ma trn qxp, gi l ma trn chuyn (transfer matrix)

Xem mt th d v mt h a bin n gin ca mt b iu khin ng c DC
Cc phng trnh cho bi :
v ( t ) = R .i ( t ) + L
T (t ) = J .
di ( t )
dt
(2.14)
d (t )
+ B (t ) + T L (t )
dt
(2.15)
Trong :
v(t): in p t vo rotor
i(t) : Dng in tng ng ca rotor.
R : in tr ni cun dy qun rotor.
L : in cm ca rotor.
J : Qun tnh ca rotor.
B : H s ma st.
T(t): moment quay.
TL(t): moment ph ri, hoc ti (moment cn).
(t): Vn tc ca trc motor.
Moment ca motor lin h vi dng rotor bi h thc :
T(t)=Ki.i(t)
(2.16)
Trong , Ki : l hng s moment
tm hm chuyn gia cc input (l v(t) v TL(t)) v output (l (t)), ta ly bin i
Laplace hai v cc phng trnh (2.14) n (2.16). Gi s iu kin u l zero.
V(s) = (R + LS) I(s)
(2.17)
T(s)= (B + JS) (s) + TL(s)
(2.18)
T(s)= KI .I(s)
(2.19)
Trang II.5
C S T ng Hc
=> (s) =
Phm Vn Tn
Ki
1
V (S )
TL (s)
(B + JS)(R + LS)
B + JS
(2.20)
Phng trnh ny c th vit li :

C(s)= G11(s).R1(s) + G12(s).R2(s)
(2.21)
Trong C(s) = (s) ; R1(s) = V(s) ; R2(s) = TL(s)
Ki
;
( B + JS )( R + LS )
1
(s ) =
B + JS
G 11 ( s ) =
G 12
G11(s) c xem nh hm chuyn gia in th vo v vn tc motor khi moment ti

l zero. G12(s) c xem l hm chuyn gi moment cn v vn tc motor khi in th vo
l 0 .
III. S KHI ( block diagram )

Trong cc h iu khin phc tp, vic v s chi tit i hi nhiu thi gian. V vy,
ngi ta hay dng mt k hiu gn gng gi l s khi. S t hp s khi v hm
chuyn ca h s trnh by bng hnh v s tng quan nhn qu gia input v output.
Chn hn, s khi H.2_1 biu din phng trnh:
C(s)= G(s)R(s).
R(s)
G(s)
C(s)
H.2_1
Mi tn trn s khi minh th rng, s khi c tnh nht hng (unilateral), tn
hiu ch c th truyn theo chiu mi tn.
Mc d mi h thng n bin c th trnh by bng mt khi duy nht gia input v
output, nhng s tin li ca nim v s khi nm ch: n c th din t nhng h a
bin v gm nhiu b phn m hm chuyn ca chng c xc nh. Khi ton b h
thng c trnh by bi s ghp nhiu khi ca cc b phn ring r, sao cho s tham gia
ca chng vo hnh trng chung ca h c lng gi .
Nu cc h thc ton hc ca cc b phn y c bit, th s khi c th c
dng tham kho cho li gii gii tch hoc cho my tnh.
Xa hn na, nu tt c cc b phn ca h u tuyn tnh, hm chuyn cho ton b
h thng c th tm c bng cch dng nhng php tnh i s v s khi.
Mt im rt cn bn cn lu , s khi c th dng biu din cho cc h tuyn
tnh cng nh phi tuyn. Hy tr li th d v ng c DC trn.
H.2_2a: b phn khuch i th phi tuyn. Motor c gi s tuyn tnh hay hot ng
vng tuyn tnh. Nhng tnh cht ng ca n biu din bng phng trnh (2.20).
Trang II.6
C S T ng Hc
Phm Vn Tn
H.2_2b: cng h thng trn nhng b phn khuch i th tuyn tnh.
TL(s)
vi(t)
v(t)
vi
B khuch i
phi tuyn
Ki
(R+LS)(B+JS)
V(s)
B khuch i
tuyn tnh
(s)
ng c
TL(s)
H.2_2a
Vi(s)
1
B+JS
Ki
(R+LS)(B+JS)
1
B+JS
(s)
ng c
H.2_2b
Lu l H.2_2a, v b khuch i l phi tuyn, nn khng c hm chuyn gia ng

vo v ng ra ca n. Gi s chng ch c th xc nh bng h thc lin h gia hai bin
vi(t) v v(t) m thi. Ngc li, H2_2b, hm chuyn gia ng vo v ng ra ca b khuch
i l K. V ,
V(s)=K.Vi(s).
1. S khi ca mt h thng iu khin .

Mt thnh phn c dng nhiu trong cc s khi ca h iu khin, l b cm
bin (sensing device), n ng vai tr so snh tn hiu v thc hin vi thut ton n gin
nh cng, tr, nhn v i khi t hp ca chng.
B cm bin c th l mt bin tr, mt nhit tr hoc mt linh kin chuyn nng khc
(transducer), cng c th l mt mch khuch i vi sai, mch nhn ...
S khi ca cm bin trnh by H.2_3a,b,c,d.
+ H.2_3a,b,c: mch cng tr th tuyn tnh. Nn cc bin ng vo v ra c th l
bin theo t hoc s ( bin i Laplace ).
e(t) = r(t) -c(t)
(2.22)
hoc E(s)=R(s)-C(s)
(2.23)
Trang II.7
C S T ng Hc
r(t)
R(s) +
_
c(t)
Phm Vn Tn
e(t)= r(t) c(t)

E(s)= R(s) C(s)
r(t)
R(s) +
e(t)= r(t) + c(t)

E(s)= R(s) + C(s)
+
c(t)
C(s)
H.2_3a
r2(t)
+
r1 (t)
R1(s) +
_
c(t)
C(s)
H.2_3b
R2(s)
e(t)= r1(t) +r2(t) c(t)
E(s)= R1(s) +R2(s) C(s)
r(t)
C(s)
e(t)= r(t) . c(t)
c(t)
H.2_3c
H.2_3d
H.2_3: S khi b cm bin.

H.2_3d, mch nhn th phi tuyn, nn lin h gia input v output ch c th phm
vi thi gian (Time domain). Ngha l,
e(t)=r(t).c(t)
(2.24)
Trong trng hp ny s khng a n E(s)=R(s) .C(s).
C th dng nh l chp phc (complexe_convolution) ca bin i Laplace a
(2.24) n :
E(s)=R(s)*C(s)
(2.25)
Mt h t iu khin tuyn tnh c th c trnh by bng s khi chnh tc nh
H.2_4. Trong :
r(t), R(s): tn hiu tham kho vo.
c(t), C(s): bin s c kim sot ng ra.
b(t), B(s): tn hiu hi tip.
e(t), E(s): tn hiu sai bit ( error ).
C(s)
: Hm chuyn vng h hoc hm chuyn ng trc tip
G(s) =
E(s)
(forward path).
C(s)
M(s) =
: Hm chuyn vng kn, hoc t s iu khin .
R(s)
H(s): Hm chuyn hi tip (feedback transfer )
G(s).H(s): Hm chuyn ng vng (loop transfer)
Trang II.8
C S T ng Hc
r(t)
R(s)
Phm Vn Tn
e(t)
E(s)
+
b(t)
B(s)
C(s)
G(s)
c(t)
H(s)
H.2_4:Dng chnh tc ca s khi mt h

t iu khin tuyn tnh.
T H.2_4 ta c :
C(s)=G(s).E(s)
E(s)=R(s) B(s)
B(s)=H(s).C(s)
(2.26)
(2.27)
(2.28)
Th (2.27) vo (2.26):
C(s)=G(s).R(s)-G(s).B(s)
(2.29)
Thay (2.28) vo (2.29):

C(s)=G(s)R(s)-G(s).H(s)C(s)
(2.30)
T phng trnh cui cng suy ra hm chuyn li vng kn:
M (s ) =
C (s )
G (s )
=
R ( s ) 1 + G ( s )H ( s )
(2.31)
2. S khi v hm chuyn ca h thng a bin.

H.2_5 trnh by s khi nhiu bin, vi p input v q output.
r1(t)
r2(t)
.
rp(t)
H thng a
bin
c1(t)
c2(t)
.
cq(t)
r(t)
H thng
a bin
c(t)
H.2_5b
H.2_5a
Trang II.9
C S T ng Hc
Phm Vn Tn
H.2_5b c dng nhiu v n gin. S nhiu input v output c biu din bng
vector .
H.2_6 ch s khi dng chnh tc ca h thng a bin.
R(s)
+
B(s)
E(s)
C(s)
G(s)
H(s)
H.2_6: S khi dng chnh tc ca h a bin.

Hm chuyn c suy bng cch dng php tnh i s cc ma trn.
C(s) = G(s). E(s)
(2.32)
E(s) = R(s) - B(s)
(2.33)
B(s) = H(s). C(s)
(2.34)
: C(s) l ma trn qx1: vector output
E(s), B(s), R(s): u l ma trn px1
G(s) v H(s) l ma trn qxp v pxq : ma trn chuyn.
Thay (2.34) vo (2.33) v ri thay (2.33) vo (2.32) :
C(s)=G(s). R(s) G(s). H(s).C(s)
(2.35)
Gii C(s) t (2.35) :
C(s)=[ I + G(s). H(s)]-1. G(s). R(s)
(2.36)
Gi s
I + G(s). H(s) khng k d (non singular).
Nhn thy rng s khai trin tng quan vo ra y cng tng t nh h n bin.
Nhng y khng th ni v t s C(s)/ R(s), v chng u l cc ma trn. Tuy nhin, vn
c th nh ngha ma trn chuyn vng kn nh sau:
M(s) = [ I + G(s). H(s)]-1. G(s)
(2.37)
Phng trnh (2.36) c vit li :
C(s) = M(s). R(s)
(2.38)
Th d 2.1: Xem ma trn hm chuyn ng trc tip v ma trn hm chuyn hi tip
ca h H.2_6 l :
G (s ) = s + 1
2
0
1
H (s ) =
1
0
s + 2
1
s
(2.39)
(2.40)
Ma trn hm chuyn vng kn c cho bi phng trnh (2.37) v c tnh nh sau:

II.10
Trang
C S T ng Hc
Phm Vn Tn
1
+
s +1
I + G (s ) H (s ) =
s + 2
= s +1
2
1
s
1
1+
s + 2
1
s
s + 3
s + 2
(2.41)
1
s + 3 1 1
1
1
s
M(s) = [I + G(s)H(s)] G(s) = s + 2 s s +1
1
2 s + 2 2
s
2
+
+
s
1
(2.42)
s + 2 s + 3 2 s2 + 5s + 2
=
+ =
s +1 s + 2 s
s(s +1)
Trong :
(2.43)
Vy:
3s 2 + 9 s + 4
s ( s + 1) s ( s + 1)( s + 2 )
M (s ) = 2
s + 5s + 2
2
s
3s + 2
s ( s + 1)
(2.43)
3. Nhng nh l bin i s khi.

a. Cc khi ni tip.
Mt s hu hn bt k cc khi ni tip c th kt hp bi mt php nhn i s.
l, n khi vi hm chuyn tng ng G1,G2,..Gn mc ni tip th tng ng
mt khi duy nht c hm chuyn l G cho bi:
G = G 1 .G 2 .G 3 ...G n =
G1
(2.44)
i =1
Th d 2.2:
R
G2
G1G2
H.2_7
Php nhn ca hm chuyn th giao hon :
II.11
Trang
C S T ng Hc
Vi mi i,j.
Phm Vn Tn
Gi.Gj=Gj.Gi
(2.45)
b. Cc khi song song:

n khi vi hm chuyn tng ng G1,G2,,Gn mc song song th tng ng mt
khi duy nht c hm chuyn G cho bi:
G1
n
G= G
i =1 i
G1+G2
G2
c. Bng bin i s khi .

S khi ca h iu khin phc tp c th n gin ha bng cch dng cc bin
i.
Trong bng sau y, ch P c dng ch mt hm chuyn bt k v W, X, Y, Z
ch nhng tn hiu trong phm vi tn s s.
Stt
1
Phng trnh
Y = (P1P2) X
S khi
X
P1
P2
S khi tng ng
Y
X
Y=P1X P2X
P1
Y
P1 P2
3)
Y=P1X P2X
P1P2
P2
P2
P1/P2

II.12
Trang
m
C S T ng Hc
4)
Phm Vn Tn
Y = P1(XP2Y)
X +
6a
Y=P1(X m P2Y)
Z = W X Y
P1
W +
6b
Z=WXY
Z = PX Y
Z = P[ X Y ]
Y = PX

II.13
1/P
X
Y
X
Y
X
Y
P1P2
1/P2
Y
X
W +
W +
X
Y
P2
P1
1P1P2
Trang
C S T ng Hc
Phm Vn Tn
Y=PX
10
X
Y
Z
Z=XY
11
1/P
+
X
Z
12
Z=XY
X
Y
X
X
4. Thu gn cc s khi phc tp.

S khi ca cc h t iu khin thc t th thng rt phc tp. c th a v
dng chnh tc, cn thu gn chng li. K thut thu gn, c th theo cc bc sau y :
- Bc 1: kt hp tt c cc khi ni tip, dng bin i 1.
- Bc 2: kt hp tt c cc khi song song, dng bin i 2.
- Bc 3: gim bt cc vng hi tip ph, dng bin i 4.
- Bc 4: di cc im tng v bn tri v cac im ly v bn phi vng chnh,
dng bin i 7, 10 v 12.
- Bc 5: lp li cc bc t 1-> 4, cho n khi c dng chnh tc i vi mt input
no .
- Bc 6: lp li cc bc t 1-> 5 i vi cc input khc nu cn .
Cc bin i 3, 5, 6, 8, 9 v 11 i khi cng cn n .
Th d 2.3 : Hy thu gn s khi sau y v dng chnh tc.
G3
+
G4
G1
G2
_-
H1
Bc 1:
H2
G1
G4

II.14
G1G4
Trang
C S T ng Hc
Phm Vn Tn
Bc 2:
G3
+
+
G1+G3
G1G4
G1G4
1-G1G4H1
G2
Bc 3:
+
+
H1
Bc 4: khng dng.
Bc 5:
G1G4
1-G1G4H1
G2+ G3
H2
R
G1G4(G2+G3)
1 G1G4H1
H2
Th d 2.4 :
( H1 ring)
Bc 1 v 2:
Hy thu gn s khi th d trn bng cch c lp H1
R +
G1G4
G2+ G3
2 C
H1
H2
Khng dng bc 3 lc ny, nhng i thng n bc 4 .

Bc 4: di im ly 1 v pha sau khi [ ( G2+G3 )]
R + 1
+ 2
G1G4
G2 +G3
H1
1
G2+ G3
12 C
H2
Sp xp li cc im tng
R + 2
+ 1
G1G4(G2+G3)
+
II.15
H2
H1
1
G2+ G3
2 1 C
Trang
C S T ng Hc
Phm Vn Tn
Bc 3: thu gn vng ph c cha H2 .

R +
G1G4(G2+G3)
1+G1G4H2(G2+ G3)
1
G2+G3
H1
Cui cng, p dng bin i 5 di chuyn [1/( G1+G3)] khi vng hi tip .
R
G1G4
1+G1G4H2(G2+ G3)
G2+G3
+
H1
Th d 2.5 : Hy thu gn h sau y v dng h iu khin hi tip n v.

Thnh phn
Phi tuyn
G(s)
1
S+1
Mt thnh phn phi tuyn ( trn ng truyn thng ) khng th thu gn nh bin i 5
c. Khi tuyn tnh trn ng hi tip c th kt hp v khi tuyn tnh ca ng
truyn thng. Kt qu l:
Thnh phn
Phi tuyn
S+1
G(s)
S+1

II.16
Trang
C S T ng Hc
Phm Vn Tn
Th d 2.6 : Hy xc nh output C ca h nhiu input sau y :

u1
+
R +
G1
G2
H1
H2
+
u2
Cc b phn trong h u tuyn tnh, nn c th p dng nguyn l chng cht .

- Cho u1=u2=0. S khi tr nn.
R +
CR
G1G2
+
H1H2
CR l output ch do s tc ng ring ca R. t phng trnh (2.31)
G1G 2
=
1 G1G 2 H 1 H 2
- Cho R=u2=0, S khi tr nn :
G1
u1
+
C1
G2
H1H2
C1 l p ng ch do s tc ng ring ca u1. Sp xp li cc khi :
u1 +
C1
G2
+
G1H1H2
Vy:
G
=
1 G 1G
2
2
H 1H

II.17
Trang
C S T ng Hc
-
Phm Vn Tn
Cho R=u1=0. S khi tr nn :

C2
G1G2
+
H1
H2
+
u2
C2 l p ng do tc ng ring ca u2 .
u2 +
C2
G1G2H1
+
H2
Vy:
C2 = [
G 1G 2 H 1
]u 2
1 G 1G 2 H 1 H 2
Bng s chng cht, p ng ca ton h l:

C = CR+C1+C2
C =
C2.
G 1G 2 R + G 2 U 1 + G 1G 2 H 1 u 2
1 G 1G 2 H 1 H 2
Th d 2.7:
S khi sau y l mt v d v h nhiu input v nhiu output. Hy xc nh C1 v
C1
R1
+
G1
-_
G2
G3
R2
-_
G4
+
II.18
C2
Trang
C S T ng Hc
Phm Vn Tn
a)Trc ht b qua C2. Xt h thng vi 2 input R1 ,R2 v output C1.

R1
C1
G1
-_
G3G4
G2
+
R2
- t R2 =0 v kt hp vi cc im tng:
R
+
G1
+
G2G3G4
Nh vy, C11 l output C1, ch do R1 gy ra.
C 11 =
-
G 1R 1
1 G 1G 2 G 3 G 4
t R1=0:
R2
C12
+
-G1G3G4
_
G2
C12 l output C1, ch do R2 gy ra.
C 12 =
G 1G 3 G 4 R 2
1 G 1G 2 G 3 G 4

II.19
Trang
C S T ng Hc
Phm Vn Tn
Vy:
C1 = C11 + C12 =
G1 R1 G1G 3G 4 R 2
1 G1G 2 G 3G 4
b. By gi, b qua C1. Xt h thng vi 2 input R1,R2 v output C2.

R2
C2
G4
_
-
G1G2
- _-
G3
+
R1
t R1=0.
R2
C22
+
G4
+
G1G2G3
t R2=0.
Vy :
C 22 =
G 4 R2
1 G1G 2 G3 G 4
R1 +
-G1G2G4
C21
G3
Vy :
G1G 2 G 4 R1
Chng II HmCChuyn
S Khi Ca H Thng
21 =
1
G1 G 2 G 3 G 4
II.20
Trang
C S T ng Hc
Phm Vn Tn
Cui cng: C2 =C21+C22 .
C2 =
R 2 G 4 G 1G 2 G 4 R 1
1 G 1G 2 G 3 G 4
BI TP CHNG II
2.1: Tm hm chun ca 1 h thng m input v output ca n lin h
trnh vi phn:
d2y
dy
dx
+3
+ 2y = x +
.
2
dt
dt
dt
bng phng
2.2 : Mt h thng cha thi tr c phng trnh vi phn:

II.21
Trang
C S T ng Hc
Phm Vn Tn
d
y ( t ) + y (t ) = x ( t T )
dt
Tm hm chuyn ca h.
2.3 : V tr Y ca 1 vt c khi lng khng i M lin h vi lc f t ln n bi phng
trnh vi phn:
d2y
=f
dt 2
Xc nh hm chuyn tng quan gia v tr v lc.
M
2.4 : Mt ng c dc mang ti cho 1 moment t l vi dng in vo i. Nu phng trnh

vi phn i vi ng c v ti l:
d
d 2
= B
= ki
J
2
dt
dt
Trong J l qun tnh rotor, B l h s ma st.
Xc nh hm chuyn gia dng in vo v v tr trc rotor.
2.5 : Mt xung lc c t vo ng vo ca 1 h thng v ng ra c 1 hm thi gian
e-2t .
Tm hm chuyn ca h.
2.6 : p ng xung lc ca 1 h l tn hiu hnh sin. Xc nh hm chuyn ca h v
phng trnh vi phn.
2.7 : p ng nc ca h thng l:
c = 1
7 t 3 2t 1 4t
e + e
e .
3
2
6
Tm hm chuyn.
2.8 : Tm hm chuyn ca cc mch b chnh sau y:
R1
R1
vi
vi
vo
Ca)1
i
b)
R2
R1
+
vi
C1
C2
i
R2
R2
R
+
vo
vi
-
vo

II.22
+
vo
Trang
C S T ng Hc
Phm Vn Tn
c)
R1
d)
C
R2
+
vi
i2
i1
C2
C1
e)
+
i
vi
vo
-
vo
f)
2.9 : Tm hm chuyn ca mch in gm 2 mch v bi tp 2.8f ni tip.

2.10 : Xc nh p ng dc (ramp) ca 1 h c hm chuyn:
s2
P (s) = 2
s + ( 3 / RC ) s + 1 / R 2 C 2
2.11 : Xem 2 Mch in v bi tp 2.8d v 2.8e. Hm chuyn ca mch 2.9d l:

P(s ) =
a
s + a
; vi a=1/RC.
a
Hi hm chuyn ca mch 2.9e c bng
s+a
khng? Ti sao?
II.12 : S khi chnh tc ca 1 h t kim c v nh sau :

R
+ E
E
K1
S(S+P)
B
K2S
Xc nh :
a) Hm chuyn ng vng GH.
b) Hm chuyn vng kn C/R.
c) T s sai bit E/R.
d) T s B/R.
e) Phng trnh c trng.
2.13 : Thu gn s sau y v dng chnh tc v tm output C. Cho k l hng so.

R
+
k
+
-
1
(S+1)
S
II.23
0.1
Trang
C S T ng Hc
Phm Vn Tn
II.14 : Xc nh hm chuyn ca h thng trong s khi sau y ri c H1 =1/G1 ;

H2 =1/G2 .
+
G1
G2
+
H1
H2
H3
II.15 : Xc nh C/R cho mi h sau y :

G2
a).
G1
+
H1
G2
b).
G1
+
H1
c).
G2
R
G1
+
H1
2.16 : Thu gn cc s khi sau y v dng chnh tc:
-
H3
+
+
R
G1
G2
+
Chng II Hm Chuyn S Khi
Ca
H
Thng
__II.24
H2
H1
G3
C
Trang
C S T ng Hc
Phm Vn Tn
2.17 : Xem s khi ca 1 h nh sau . Xc nh p ng ng ra.

x3 = t2
x2=cos2t
-
+
+
d/dt
x1=sint
LI GII CHNG II
2.1 : Ly bin i laplace phng trnh trn, b qua cc s hng do iu
kin u.
S2 Y(s)+3SY(s) +2Y(s)=X(s)+SX(s)
P (s) =
Y ( s)
s+1
= 2
X ( s) s + 3 s + 2
Hm chuyn ca h :
s +1
P (s) = 2
s + 3s + 2
2.2 : Ly bin i laplace phng trnh trn, b qua iu kin u:

SY(s)+Y(s)=e-STX(s).
Hm chuyn ca h l:
Y ( s ) e ST
P( s ) =
=
X ( s) s + 1
2.3 : Ly laplace phng trnh:
Ms2Y(s)=F(s)
Y (s)
1
=
F ( s ) Ms 2
2.4 : Bin i laplace ca phng trnh: (JS2+BS).(s)=KI(s)
(s )
K
=
Hm chuyn: P(s ) =
I(s ) s( Js + B )
Hm chuyn :
P(s) =
2.5 : Hm chuyn l : P(s)=C(s)/R(s).

V R(S) =1, khi r(t)=(t).

II.25
Trang
C S T ng Hc
Phm Vn Tn
P( s) = C ( s) =
Vy:
1
s+2
II.6 : Hm chuyn ca h l phng trnh laplace ca p ng xung lc ca

n:
1
s + 1
P (s) =
c
1
=
D +1 r
Dng ton t D: P ( D) =
D2c+c=r
hoc :
d 2c
+c =r
dt 2
2.7 :V o hm ca hm nc l 1 xung lc, nn p ng xung lc ca h l
p (t ) =
2
dc
7
= e t 3e 2 t + e 4 t
3
dt
3
Bin i laplace ca P(t) v hm chuyn:

P(s ) =
3
7
2
s+8
+
+
=
3(s + 1) s + 2 3(s + 4 ) (s + 1)(s + 2 )(s + 4 )
2.8 :
a) P( s) =
v0 ( s ) s + a
=
;
vi ( s ) s + b
b) P ( s ) =
a ( s + b)
b( s + a )
c) P( s) =
( s + a1 )(s + b2 )
( s + a 2 )(s + b1 )
1
1
1
+
v b =
R 1C
R 1C R 2 C
vi a =
1
1
v b =
(R 1 + R 2 )C
R 2C
1
1
v b 2 =
R 1 C1
R 2C2
1
b1a 2 = a1 b 2 ; b1 + a 2 = a1 + b 2 +
R 2 C1
vi a 1 =
d) P( s) =
RC ( s +
e) P( s ) =
vi a =
1
)
RC
1
R1R2C1C2 s + ( R1C1 + R1C2 + R2C2 ) s + 1
2
P( s) =
s+
1
RC
2.9 :
s2
P(s)= P ( s ) =
s2 + (
3
1
)s + 2 2
RC
R C

II.26
Trang
C S T ng Hc
Phm Vn Tn
2.10 :
c(t)= c ( t ) =
1 1 2t 1
e
+ t
4 4
2
2.11 : Sinh vin t gii.

2.12 :
K 1K 2
s+p
C
G
(vi du tr cho bit hi tip dng).
b)
=
R 1 GH
K1
C
=
R
s(s + p K 1 K 2 )
a) GH =
c)
E
1
s+ p
=
=
R 1 GH s + p K1K 2
K1 K 2
B
1
=
=
R 1 GH s + p K 1 K 2
e) Phng trnh c trng ca h c xc nh bi: 1 GH=0
Trng hp ny v l hi tip dng nn :1-GH=0
=>s+p-K1K2 = 0
d)
2.13 :
K1
(1 + K )s + 1
0.1
KR
C=
(1 + K ) s + (1 + 0.1K )
2.14 : Thu gn cc vng trong.
G1
1-G1H1
G1
1-G2H2
_
H3
R
G1G2
(1-G1H1)(1-G2H2)+G1G2H3
2.15 : Sinh vin t gii.

2.16 :

II.27
Trang
C S T ng Hc
Phm Vn Tn
G2G3
1+G1G2H1+G2H2
G3
II.17 :
H3
y(t)=5(cost-2sin2t t2).
*****************

II.28
Trang
C S T ng Hc
Phm Vn Tn
Chng III: HNH TRUYN TN HIU
I CNG.
NHNG NH NGHA.
TM LC NHNG TNH CHT C BN CA HTTH.
I S HC V HNH TRUYN TN HIU.
CCH V HNH TRUYN TN HIU.
P DNG DNG CNG THC MASON VO S KHI.
Chng III: hnh truyn tn hiu
Trang III.1
C S T ng Hc
Phm Vn Tn
I. I CNG.
hnh truyn tn hiu ( signal flow graph - HTTH) c gii thiu u tin bi S.J.
MASON c xem nh l k hiu n gin ha ca s khi, trnh by mi tng quan nhn
qu ca mt h tuyn tnh.
Bn cnh s khc bit v hnh trng vt l gia HTTH v s khi, ta c th thy
HTTH chc ch hn v nhng lin h ton hc. Nhng nhng nh lut dng cho s khi th
mm do hn nhiu v km r rng hn.
Mt HTTH c nh ngha nh l mt phng php ha miu t nhng lin h
vo - ra gia cc bin ca mt tp hp nhng phng trnh i s.
Xem mt h tuyn tnh c din t bi tp hp N phng trnh i s.
N
= akj. y
k =1
j= 1,2.3...N
(3.1)
N phng trnh ny c vit di dng tng quan nhn qu:

N
Hu qua th j =
( li t k n j) . (nguyn nhn th k)
(3.2)
k=1
Hay n gin hn:
Output = ( li).(input)
(3.3)
hnh truyn tn hiu c v da vo tin quan trng nht ny.

Trng hp h thng c m t bng cc phng trnh vi tch phn, trc nht ta phi bin
i chng thnh cc phng trnh bin i Laplace v sp xp chng theo dng phng trnh (3.1).
N
( s ) = G kj ( s ) y ( s )
k =1
j=1,2,.... ,N
(3.4)
Khi v HTTH , cc im ni hay l nt dng biu din cc bin yj hay yk . Cc nt

c ni vi nhau bi cc on thng gi l nhnh, tu thuc vo cc phng trnh nhn qu. Cc
nhnh c c trng bi li nhnh v chiu. Mt tn hiu ch c th truyn ngang qua nhnh
theo chiu mi tn.
Th d, xem mt h tuyn tnh c trnh bi bi phng trnh n gin.
y2 =a12 .y1
(3.5)
Trong , y1 l bin s vo , y2 l bin ra v a12 l li hay truyn dn (transmittansce)
gia hai bin s.
hnh truyn tn hiu biu din cho phng trnh (3.5) c v hnh H.3_1.
nt
a12
Nhnh
Nt
y1
y2
H.3_1
Chiu ca nhnh t nt y1 n nt y2 ch s ph thuc ca bin ra vi bin vo, v khng c

ngc li. V th, mc d phng trnh (3.5) c th vit li:
Trang III.2
C S T ng Hc
Phm Vn Tn
12
(3.6)
2
Nhng HTTH hnh H.3_1 khng a n mt tng quan nh vy. Nu phng trnh
(3.6) c gi tr nh l mt tng quan nhn qu theo ngha vt l, th phi v mt HTTH khc.
Mt th d khc, xem tp hp cc phng trnh i s :
y2 = a12 y1 + a32 y3
y3 = a23 y2 + a43 y4
y4 = a24 y2 + a34 y3 + a44 y4
(3.7)
y5 = a25 y2 + a45 y4
HTTH cho cc phng trnh ny c v tng bc nh hnh H.3_2. Cc nt biu din
cc bin y1 , y2 , y3 , y4 v y5 c t theo th t t tri sang phi.
a)
a32
a12
b)
y1
y2
y3
y4
a43
a32
a12
y1
a23
y2
y2
c)
y3
a32
y2
y3
y1
y5
y4
a43
a44
a12
y2
a23
y3
y2 y2
y2
A34
y2
y2
y4
a24
Trang III.3
C S T ng Hc
Phm Vn Tn
d)
a32
y3
a44
a12
y2
a43
y1
a23
y3
y2 y2
y2
y2
a34
y2
y2
a45
y2
y4
y5
y2
a24
y2
a25
H.3_2. : HTTH ca h phng trnh (3.7) .
II . NHNG NH NGHA.
1) Nt vo (ngun ) : Nt vo l mt nt ch c nhng nhnh ra. Th d nt y1 H.3_2 .
2) Nt ra : Nt ra l nt ch c nhng nhnh vo. Th d nt y5 H.3_2.
Tuy nhin khng phi lc no cng c sn nt ra tha nh ngha trn. Th d HTTH
hnh H.3_3a. khng c nt no ph hp nh ngha. Tuy nhin, c th xem y3 v/hoc y2 l
nt ra nu ta a vo cc nhnh vi li n v cho cc bin y3 v y2 nh H.3_3b. Cc nt
a thm vo gi l nt gi (dummy node).
a12
a12
y1
a23
a23
y2
y3
a32
H.3_3a : HTTH gc. y2
y2 (Nt ra gi)
1
y2 a23
a12
a23
y1
y2
y3
1
y2
y3
a32
y2
H.3_3b: HTTH ci bin vi 2 nt gi .
Mt cch tng qut ta c th thy rng, bt k mt nt no khng phi l nt vo u c th
lm mt nt ra theo cch trn. Tuy nhin, ta khng th i mt nt khng phi l nt vo thnh
mt nt vo theo cch tng t. Th d, nt y2 trong hnh H.3_3a khng phi l nt vo. Nhng
nu ta c i n thnh nt vo bng cch thm nt gi nh H.3_4 th phng trnh m t tng
quan ti nt y2 s l:
Trang III.4
C S T ng Hc
Phm Vn Tn
y2
1
a12
y1
a23
y2
y3
H.3_4.
a32
y2 = y2 + a12y1 + a32 y3
(3.8)
Phng trnh ny khc vi phng trnh gc, c vit t hnh H.3_3a:

y2 = a12 y1 + a32 y3
(3.9)
Trng hp mun chn y2 l nt vo, ta phi vit li phng trnh nhn qu, vi kiu xp
t : cc nguyn nhn nm bn v phi v hu qu nm bn v tri. Sp xp phng trnh (3.9) li,
ta c hai phng trnh gc cho HTTH hnh H. 3_3 nh sau:
y a y
a
a
12
32
12
y3 = a32 y2
(3.10)
(3.11)
HTTH cho hai phng trnh trn, v hnh H.3_5.

a23
y2
y1
y3
1/a12
- a32/a12
H.3_5: HTTH vi y2 l nt vo.
3) ng(path): L s ni tip lin tc theo mt hng ca cc nhnh , m dc theo n
khng c mt nt no c i qua qu mt ln.
4) ng trc tip (forward path): L ng t nt vo n nt ra. Th d HTTH hnh
H.3_2d, y1 l nt vo, v c 4 nt ra kh d : y2 , y3 , y4 v y5 . ng trc tip gia y1 v y2: l
nhnh gia y1 v y2. C hai ng trc tip gia y1 v y3: ng 1, gm cc nhnh t y1 n y2
n y3. ng 2, gm cc nhnh t y1 n y2 n y4 (ngang qua nhnh c li a24) v ri tr
v y3(ngang qua nhnh c li a43). Ngi c c th xc nh 2 ng trc tip t y1 n y4.
Tng t, c 3 ng trc tip t y1 n y5.
5) Vng(loop): L mt ng xut pht v chm dt ti cng mt nt, dc theo n khng c
nt no khc c bao qu mt ln. Th d, c 4 vng HTTH hnh H.3_2d.
Trang III.5
C S T ng Hc
Phm Vn Tn
a44
a32
a43
y2
y3
y3
a23
a23
y4
a43
a32
y2
y4
y3
y4
a24
H.3_6: 4 vng HTTH ca hnh H.3_2d.
6) li ng (path Gain) : Tch s li cc nhnh c nm trn mt ng.
Th d, li ng ca ng y1- y2- y3- y4 trong hnh H.3_2d l a12 a23 a34.
7) li ng trc tip ( forward_path Gain) : li ng ca ng trc tip.
8) li vng (loop Gain) : li ng ca mt vng. Th du, li vng ca vng y2 - y3 y4 - y2 trong hnh H.3_2d l a24 a43 a32.
III. TM LC NHNG TNH CHT C BN CA

HTTH.
1. HTTH ch p dng cho cc h tuyn tnh .
2. Cc phng trnh, m da vo v HTTH, phi l cc phng trnh i s theo dng
hu qu l hm ca nguyn nhn.
3. Cc nt biu din cc bin. Thng thng, cc nt c sp xp t tri sang phi, ni
tip nhng nguyn nhn v hu qu ngang qua h thng.
4. Tn hiu truyn dc theo nhnh, ch theo chiu mi tn ca nhnh.
5. Chiu ca nhnh t nt yk n yj biu din s ph thuc ca bin yj vo yk, nhng khng
ngc li.
6. Tn hiu yk truyn dc mt nhnh gia nt yk v yj th c nhn bi li ca nhnh
akj sao cho mt tn hiu akjyk nhn c ti nt yj .
IV. I S HC V HNH TRUYN TN HIU.

Da trn nhng tnh cht ca HTTH, ta c th tm lc nh sau:
1) Tr gi cu bin c biu din bng mt nt th bng tng ca tt c tn hiu i vo nt.
Nh vy, i vi HTTH H.3_7, tr gi ca y1 bng tng ca cc tn hiu c truyn
ngang qua mi nhnh vo :
y1= a21 y2 + a31 y3 + a41 y4 + a51 y5
(3.12)
Trang III.6
C S T ng Hc
Phm Vn Tn
y3
y2
y4
a41
a31
a21
a18
y8
y1
y5
a17
a51
a16
y7
y6
H.3_7: Nt nh l mt im tng, v nh l mt im pht .

2) Tr gi ca bin s c biu din bi mt nt th c truyn ngang qua tt c cc nhnh ri
khi nt. Trong HTTH hnh H.3_7 , ta c :
y6 = a16 y1
y7 = a17 y1
(3.13)
y8 = a18 y1
3) Cc nhnh song song theo cng mt chiu gia hai nt c th c thay bi mt nhnh duy
nht vi li bng tng cc li ca cc nhnh y.
Th d hnh H.3_8.
a
a+b+c
b
c
y2
y1
y2
y1
H.3_8 : S tng ng ca cc nhnh song song.

4) S ni tip nhiu nhnh, nh hnh H.3_9, c th c thay bi mt nhnh duy nht vi li
bng tch cc li nhnh.
a12
y1
a23
y2
a34
y3
a45
y4
a12a23a34a45
y5
y1
y5
H.3_9 : S tng ng ca cc nhnh ni tip.
Trang III.7
C S T ng Hc
Phm Vn Tn
V. CCH V HNH TRUYN TN HIU.

1) HTTH ca mt h t kim tuyn tnh m cc thnh phn ca n ch r bi cc hm chuyn
th c th c v mt cch trc tip bng cch tham kho s khi ca h. Mi mt bin ca s
khi s l mt nt. Mi khi s l mt nhnh.
Th d 3.1: T s khi di dng chnh tc ca mt h thng t kim nh hnh H.3_10, ta
c th v HTTH tng ng hnh H.3_11.
R(s) +
C(s)
G(s)
H(s)
H.3_10 : S khi chnh tc ca mt h t kim.
R(s) 1 E(s) G(s) C(s) 1 C(s)
m H(s)
H.3_11 : HTTH tng ng ca h.

Nh l du - hay + ca im tng th c kt hp vi H.
T H.3_11, vit phng trnh cho tn hiu ti cc nt E v C :
E (s ) = R(s ) m H (s ).C(s )
v C(s) = G(s).E(s)
Hm chuyn vng kn : (hay t s iu khin)
C (s)
G (s)
=
R(s) 1 G (s) H (s)
(3.14)
(3.15)
(3.16)
2) i vi cc h c m t bng phng trnh vi phn, ta v HTTH theo cch sau y:

a.Vit h phng trnh vi phn di dng :
X1 = A11` X1 + A 12X2 + ... + A 1nXn

X2 = A21X1 + A22X2 + ... + A2nXn
... . . .
.
. . .. .
X m= Am1 X1 + Am2X2 + ... + AmnXn
(3.17)
Nu X1 l nt vo, th khng cn mt phng trnh cho n.

b. Sp xp cc nt t tri sang phi sao cho khng gy tr ngi cho cc vng cn thit .
c. Ni cc nt vi nhau bng cc nhnh A11, A12 ...
Trang III.8
C S T ng Hc
Phm Vn Tn
d. Nu mun v mt nt ra, th thm nt gi c li nhnh bng 1 .

e. Sp xp li cc nt v /hoc cc vng c mt hnh r rng nht.
Th d 3.2 : Hy v HTTH cho mt mch in v hnh H.3_12 :
R1
R2
+
v1
i1
-
R4
i2
R3
H.3_12.
V3
-
C 5 bin s : v1, v2, v3, i1 v i2 . Trong v1 bit. Ta c th vit 4 phng trnh c lp

t cc nh lut Kirchhoff v th v dng.
1
1
=
i1 v1 v2
R1
R1
v = R i R i
3 1
(3.18)
3 2
1
1
i2 v2 v3
R2
R2
v3 = R 4 i 2
t 5 nt nm ngang nhau vi v1 l mt nt vo, ni cc nt bng nhng nhnh. Nu mun

v3 l mt nt ra, ta phi thm vo mt nt gi v li nhnh bng 1.
1/R1
v1
-1/R1
-R3
R3
1/R2
i1
-1/R2
R4
v2
1
i2
v3
v3
H.3_13
VI. CNG THC MASON.

chng trc, ta c th rt gn cc s khi ca nhng mch phc tp v dng chnh tc
v sau tnh li ca h thng bng cng thc:
C
G
=
R 1 + GH
V phn trn, ta cng c th dng hnh truyn tn hiu t tn th gi hn. V
y, ta li c th dng cng thc Mason, nh l cng thc tnh li tng qut cho bt k mt
hnh truyn tn hiu no.
p i i
(3.19)
T = i
li : yout/yin ; yout: bin ra, yin: bin vo.

pi : li ng trc tip th i.
Trang III.9
C S T ng Hc
Phm Vn Tn
= 1 p j1 + p j 2 p j 3 +....
j
=1-( tng
cc li vng)+(tng cc tch li 2 vng khng chm) (tng cc tch li ca 3 vng khng chm)+..
I = tr ca tnh vi cc vng khng chm vi cc ng trc tip th i.
( Hai vng, hai ng hoc 1 vng v 1 ng gi l khng chm (non_touching) nu chng
khng c nt chung).
Th d : xem li HTTH ca 1 h iu khin dnh chnh tc H.3_11.
Ch c mt ng trc tip gia R(s) v C(s). Vy :
P1=G(s)
P2=P3=...=0.
- Ch c 1 vong . Vy:
P11= G(s).H(s)
Pjk=0; j1, k1.
Vy, =1-P11=1 G(s).H(s),
Va, 1=1-0=1
Cui cng,
C(s ) p 1 1
G(s )
T =
=
=
(3.20)
R(s )
1 G(s )H (s )
R rng, ta tm li c phng trnh (3.16).
Th d : Xem li mch in VD3.2, m HTTH ca n v hnh H.3_13. Dng cng
thc mason tnh li in th T= v3/v1.
1/R1
v1
-1/R1
-R3
R3
1/R2
i1
v2
(vng 1)
H.3_14.
-1/R2
R4
i2
(vng 2) (vng 3)
v3
v3
- Ch c mt ng trc tip. li ng trc tip:

R R
p1 = 3 4
R1R 2
- Ch c 3 vng hi tip. Cc li vng:
R
R
R
p 11 = 3 ; p 21 = 3 ; p 31 = 4 .
R1
R2
R2
- C hai vng khng chm nhau (vng 1 v vng 3). Vy:
P12 = tch li ca 2 vng khng chm nhau:
R R
p 12 = p 11 p 31 = 3 4
R1R 2
-Khng c 3 vng no khng chm nhau. Do :
=1- ( P11+ P21+ P31)+ P12
Trang III.10
C S T ng Hc
= 1 +
Phm Vn Tn
R3 R3 R 4 R3 R 4 R1 R 2 + R1 R3 + R1 R 4 + R 2 R3 + R3 R 4
+
+
+
=
R1 R 2 R 2 R1 R 2
R1 R 2
V tt c cc vng u chm cc ng trc tip ( duy nht), nn:
1 =1- 0 =1
Cui cng
v3
R 3R 4
=
v1
R1R 2 + R1R 3 + R1R 4 + R 2 R 3 + R 3 R 4
(3.21)
VII. P DNG CNG THC MASON VO S KHI.

Do s tng t gia S khi v HTTH, cng thc li tng qut c th c dng
xc nh s lin h vo ra ca chng. Mt cch tng qut, t s khi ca 1 h tuyn tnh cho,
ta c th p dng cng thc li tng qut MASON trc tip vo . Tuy nhin, c th nhn
dng tt c cc vng v cc phn khng chm mt cch r rng, i khi cn n s gip ca
HTTH. Vy cn v HTTH cho s khi trc khi p dng cng thc.
Nu G(s) v H(s) l mt thnh phn ca dng chnh tc, th t cng thc Mason ta suy ra:
Hm chuyn ng trc tip G(s)= p i i (3.22)
i
Hm chuyn ng vng G(s).H(s) = - 1 (3.23)

Th d: Xc nh t s iu khin C/R v dng chnh tc ca mt h iu kim th d 2.1.
G3
+
G2
G4
G1
+
H1
H2
Hnh 3_15:
HTTH l :
R
y2
1
y2
G1 G4
y2
y2
G3
1
y2
G2
y2
H.3_16.
C
y2
-H2
a25
Trang III.11
C S T ng Hc
Phm Vn Tn
- C 2 ng trc tip :
P1 = G1.G2.G4
P2 = G1.G3.G4
- C 3 vong hi tip :
P11 = G1.G4.H1
P21 = - G1.G4.G2.H2
P31 = - G1.G3.G4.H2
= 1 - ( G1.G4.H1 - G1.G2.H4.H2 - G1.G3.G4.H2)
Khng c vng khng chm nhau, v tt c cc vng u chm vi cc ng trc tip. Vy
:
1 = 1 ; 2 = 1
Do t s iu khin l:
C P + P2 2
T= = 1 1
R
G 1 G 4 (G 2 + G 3 )
T=
1 G 1G 4 H 1 + G 1G 2 G 4 H 2 + G 1G 3 G 4 H 2
T phng trnh (3.23) v (3.24), ta c:
G=G1G4(G2+G3)
V: GH=G1G4(G3H2+G2H2-H1)
(3.24)
(3.25)
GH (G 2 + G 3 )H 2 H 1
=
G
G2 + G3
S dng chnh tc c v hnh H.3_17.
Vy: H =
(3.26)
C
G1G 4(G2+ G3)
(G2+ G3)H2-H1
G2+ G3
Hnh H.3_17.
Du tr im tng, l kt qu vic dng du cng trong cng thc tnh GH trn.

Th d: Xc nh t s iu khin (hoc hm chuyn vng kn) C/R ca mt h c s
khi nh hnh H.3_18.
Trang III.12
C S T ng Hc
Phm Vn Tn
G4
R
y2
y3
G1
_-
G2
_-
+
+
y1
G3
H2
H1
Hnh H.3_18:
hnh truyn tn hiu ca h c v hnh H.3_19:
y3
G1
y2 G2
G4
y2
y1 G3
-H2
y2
-H1
y
y
a H.3_19.
Hnh
C hai ng trc tip:
-1
P1= G1G2G3 ; P2= G1G4.
y2
C 5 vng hi tip :
P11= - G1G2H1 ; P21= - G2G3H2 ; P31= - G4H2 ; P41= - G1G2G3 ; P51= - G1G4.
Vy:
= 1- ( P11+ P21+ P31+ P41+ P51)
V 1 = 2 = 1.
=>
G1G2 G3 + G1G4
C P11 + P2 2
=
=
R
1 + G1G2 G3 + G1G2 H1 + G2 G3 H 2 + G4 H 2 + G1G4
Trang III.13
C S T ng Hc
Phm Vn Tn
BI TP CHNG III
3.1 : Hy xc nh t s C/R v dng s khi chnh tc ca mt h iu khin sau y:
G3
R
+
-
G4
G1
G2
+
H1
H2
3.2 : Xc nh hm chuyn cho s khi sau y, bng k thut dng HTTH:
H2
R
C
+
G1
G2
G3
+
+
H1
G4
3.3 : Xem TD2.4, gii bi ton bng HTTH.
u1
R
G1
G2
+
+
H2
H1
+
u2
Trang III.14
C S T ng Hc
3.4 :
Phm Vn Tn
Tm hm chuyn C/R ca h thng sau y, vi k l hng s.

R
C
1/s
1/(s+a)
-
S2
+
0.1
3.6 :
Dng k thut HTTH gii bi tp 2.13.
3.7 :
Tm C/R cho h iu khin sau y:

G4
R +
+
-
G1
G2
G3
H1
3.8 :
H2
V HTTH cho mch in sau:
i1
i1
R1
1 R2
V2
input voltage
source
i2
i1
R3
R4
V3 output
Trang III.15
C S T ng Hc
Phm Vn Tn
3.9 : V HTTH cho mch in sau:
R1
i1
R2
3
2
2 1
i2
R1
i3
R4
R3
i4
+
1
R4
R3
R2
V1
3.10 : V HTTH cho mch in sau, tnh li:
R2
R1
+
vi
ii
C1
C2
i2
v3
-
Gi : 5 bin v1, i1, v2, i2, v3. Vi v1 l input. Cn 4 phng trnh c lp.
GII BI TP CHNG III

3.1 :
hnh truyn tn hiu:

G3
1
R
G1G4
G2
1
H1
1
-H2
1
Dng cng thc Mason xc nh C/R.

C hai ng trc tip:
P1= G1G2G4 ; P2=G1G3G4
C 3 vng:
P11=G1G4H1; P21= - G1G2G4H2 ; P31= - G1G3 G4H2
Khng c vng khng chm. V tt c cc vng u chm c hai ng trc tip. Vy:
1= 1 ; 2= 1
Do , t s C/R:
P + P2 2
C
T =
= 1 1
R
Trang III.16
C S T ng Hc
Phm Vn Tn
Vi = 1 - (P11+P21+P31).
Suy ra:
G 1 G 4 (G 2 + G 3 )
C
=
R 1 - G1 G 4 H 1 + G1 G 2 G 4 H 2 + G1 G 3 G 4 H 2
G1 G 2 G 4 + G1 G 3 G 4
C
=
R 1 - G1 G 4 H 1 + G1 G 2 G 4 H 2 + G1 G 3 G 4 H 2
T ( 3.25 ) v (3.26) , ta c:
G = G1G4(G2 + G3)
V :
GH = G1G4(G3H2 +G2H2 - H1)
H =
(G 2 + G 3 )H 2 H 1
GH
=
G
G2 + G3
Dng chnh tc ca s khi ca h thng :

R
G1G4(G2+G3)
-(G2+G3)H2-H1
(G2+G3)
Du tr ti im tng l do vic dng du cng trong cng thc tnh GH trn.

S khi trn c th a v dng cui cng nh trong VD2.1 bng cch dng cc nh
l bin i khi.
3.2 :
hnh truyn tn hiu v trc tip t s khi:
-H2
-H1
R
G1
G3
G2
H1
G4
Trang III.17
C S T ng Hc
Phm Vn Tn
C hai ng trc tip, li l :

P1 = G1G2G3 ;
P2 = G4
C 3 vng hi tip, li vng l:
P11 = - G2H1 ;
P21 = G1G2H1 ;
P31 = - G2G3H2
Khng c vng no khng chm, vy:
= 1 - (P11 + P21 + P31) + 0 V
1 = 1 V c 3 vng u chm vi ng 1.
V khng c vng no chm vi cc nt ng trc tip th nh, nn:
2= ( C 3 vng u khng chm vi ng trc tip th 2).
Vy:
T
T =
P11+P22
G1G2G3+G4+G2G4H1-G2G1G4H1+G2G3G4H2
1+G2H1-G1G2H1+G2G3H2
Trang III.18
C S T ng Hc
Phm Vn Tn
3.3 : HTTH v trc tip t s khi.
u1
1
G1
G2
H2
H1
1
Vi u1 = u2 = 0. Ta c:
u2
R
P1 = G1G2
Vy:
G1G2
CR
H1H2
P11 = G1G2H1H2
= 1- P11 ; 1 = 1
T=
CR =
CR
R
P11
P11R
G1G2 R
=
1 G1G2 H1H 2
Vi u2 = R =0,
Ta c:
u1
P1 = G2 ;
P11 = G1G2H1H2
= 1 - G1G2H1H2 ;
1 = 1
G2u1
C2 = Tu2 =
1 G1G2 H1H 2
G2
G1H1H2
Vi R = u1 = 0
u2
H1G1G2
Trang III.19
C S T ng Hc
Phm Vn Tn
P1 = G1G2H1
= 1 - P11
C2 = Tu2 =
;
;
P11 = G1G2H1H2
1 = 1
P11u2
G1G2 H1u2
=
1 G1G2 H1H 2
Cui cng, ta c:
G G R + G2u1 + G1G2 H1u2
C= 1 2
1 G1G2 H1H 2
3.4 :
c)
a)
C
G1 + G2
=
R 1 G1H1 G2 H 2
b)
C G1 + G2
=
R 1 G1H1
C G1 + G2 (1 G1H1
=
R
1 G1H1
Trang III.20
C S T ng Hc
Phm Vn Tn
3.5 :
HTTH v trc tip t s khi:

R
1/(s+a)
1/s
-s2
k
1 1
P1 =
k =
s(s + a )
s + a s
-0.1
0 . 1k
1
P11 = ( s 2 ) = s; P21 =
s
s
= 1 ( P11 + P21 ); 1 = 1
P
k
C
= 1 1 =
2
R
(s + a )(s + s + 0 . 1k )
3.6 :
RE
1/(s+1)
C
V
-s
-0.1
R
1/(1+s)
k (s + 0 . 1) -(s+0.1)
k
; P11 =
s +1
s +1
k (s + 0 . 1)
=1+
; 1 = 1
s +1
P R
kR
c = TR = 1 1 =
(1 + k )s + 1 + 0 . 1k
P1 =
Trang III.21
C S T ng Hc
Phm Vn Tn
3.7 : HTTH v t s khi:
H1
G4
G1
G3
G2
H2
-1
C 2 vng chuyn tip:

P1= G1G2G3
;
P2 = G1G4
C 5 vng hi tip:
P11 = G1G2H1
;
P21 = G2G3H2
P41 = G4H2
;
P51 = - G1G4
= 1 - (P11 + P21 + P31 + P41 + P51)
P31 = - G1G2G3
1 = 2 = 1
Cui cng:
C P11 + P2 2
G1G2G3 + G1G4
=
=
R
1 + G1G2G3 G1G2 H1 G2G3 H 2 G4 H 2 + G1G4
3.10 :
5 bin v1, i1, v2, i2, v3. Vi v1 l input, cn 4 phng trnh c lp.
i1 =
i2 =
v
1
1
v1 2 ; v 2 =
R1
R1
C1
v
1
1
v 2 3 ; v3 =
R2
R2
C2
i
0
i1 dt
i dt
0
dt
-1/R1
v1
1
C1
1/R1
1
dt
c1
-1/R2
1/R2
i1
1
i1 dt
C1 0
v2
i2
1
c2
v3
dt
Trang III.22
C S T ng Hc
Phm Vn Tn
Bin i Laplace:
-1/R2
1/R1
V1
li:
v
v
1/SC1
I1
V2
Tnh theo cng thc Mason.
-1/C1S
-1/R2
-1/R2
-1/SC2
I2
I3
***********
Trang III.23
C T ng Hc
Phm Vn Tn
Chng IV: TRNG THI CA H THNG
I CNG.
PHNG TRNH TRNG THI V PHNG TRNH OUTPUT.
S BIU DIN BNG MA TRN CA PHNG TRNH TRNG
THI.
VI V D.
HNH TRNG THI.
Chng IV: Trng thi ca h thng
Trang IV.1
C T ng Hc
Phm Vn Tn
I. I CNG.
Trong cc chng trc, ta kho st vi phng php thng dng phn gii cc h
t kim. Php bin i Laplace c dng chuyn cc phng trnh vi phn m t h
thng thnh cc phng trnh i s theo bin phc S. Dng phng trnh i s ny ta c th
tm c hm chuyn m t tng quan nhn qu gia ng vo v ng ra.
Tuy nhin, vic phn gii h thng trong min tn s, vi bin phc, d l k thut rt
thng dng trong t ng hc, nhng c rt nhiu gii hn. S bt li ln nht, l cc iu
kin u b b qua. Hn na, phng php y ch c p dng cho cc h tuyn tnh, khng
i theo thi gian. V n c bit b gii hn khi dng phn gii cc h a bin.
Ngy nay, vi s pht trin ca my tnh, cc iu khin thng c phn gii trong
min thi gian. V v vy, cn thit phi c mt phng php khc c trng ha cho h
thng.
Phng php mi, l s dngbin s trng thi (state variable) c trng cho h
thng. Mt h thng c th c phn gii v thit k da vo mt tp hp cc phng trnh
vi phn cp mt s tin li hn so vi mt phng trnh c nht cp cao. Vn s c
n gin ha rt nhiu v tht tin li nu dng my tnh gii.
Gi s mt tp hp cc bin x1(t), x2(t)...xn(t) c chn m t trng thi ng ca
h thng ti bt k thi im cho sn t=t0 no, cc bin ny m t hon ton trng thi qu
kh ( past history ) ca h cho n thi im t0. Ngha l cc bin x1(t0), x2(t0) . . . xn(t0), xc
nh trng thi u ca h ti t=t0. Vy khi c nhng tn hiu vo ti t >= t0 c ch r, th
trng thi tng lai ca h thng s hon ton c xc nh .
Vy, mt cch vt l, bin trng thi ca mt h tuyn tnh c th c nh ngha nh
l mt tp hp nh nht cc bin x1(t),x2(t),... xn(t), sao cho s hiu bit cc bin ny ti thi
im t0 bt k no cng thm d kin v s kch thch (excitation) ng vo c p dng
theo sau, th xc nh trng thi ca h ti bt k thi im t >=t0 no.
r1(t)
r2(t)
rp(t)
x1(t), x2(t),...
xn(t)
c1(t)
c2(t)
cq(t)
Hnh 4_1
x1(t),x2(t) . . . xn(t)l cc bin trng thi .
r1(t),r2(t) . . . rp(t) l cc tn hiu vo.
c1(t),c2(t) . . . cq(t) l cc tn hiu ra.
Ci ngt in, c l l mt th d n gin nht v bin trng thi. Ngt in c th v
tr hoc ON hoc OFF, vy trng thi ca n c th l mt trong hai tr gi kh hu . Nn,
nu ta bit trng thi hin ti (v tr) ca ngt in ti t0 v nu c mt tn hiu t ng vo,
ta s c th xc nh c tr gi tng lai trng thi ca n.
Trang IV.2
C T ng Hc
Phm Vn Tn
II. PHNG TRNH TRNG THI V PHNG

TRNH OUTPUT.
Xem li s khi hnh H.4_1, din t mt h thng tuyn tnh vi p input v q output.
Ta gi s h thng c t trng bi tp hp sau y ca n phng trnh vi phn cp 1, gi
l nhng phng trnh trng thi.
d xi (t)
dt
= f i x1(t), x2(t), ..., xn(t), r1 (t), r2(t), ..., rp(t)
(4.1)
(i=1,2, ,n)
Trong : x ( t ) , x ( t ) , , x ( t ) l cc bin trng thi
1
r1( t ) ., r2 ( t ) , , rp (t ) l cc input
f i : hm tuyn tnh th i.
Cc output ca h thng lin h vi cc bin trng thi v cc input qua biu thc sau.
Ck (t) = gk x1(t),x2(t), ..., xn(t), r1(t),r2(t), ..., rp(t)
(4.2)
(k =1,2, ,q)
g k : hm tuyn tnh th k .
Phng trnh (4.2) gi l phng trnh output ca h. Phng trnh trng thi v
phng trnh output gi chung l cc phng trnh ng ca h.
Th d, xem mt h tuyn tnh vi mt input v mt output c m t bi phng trnh
vi phn :
dc ( t )
d 2 c( t )
d 3 c( t )
+2
+3
+ C( t ) = 2 r ( t )
3
2
dt
dt
dt
C (t ) : output ;
(4.3)
r (t ) : input.
Hm chuyn m t h thng d dng c c bng cch ly bin i Laplace hai v,

vi gi s cc iu kin u bng 0.
C (S )
2
= 3
2
R (S ) S + 2S + 3S + 1
(4.4)
Ta s chng t rng h thng cn c th m t bi mt tp hp cc phng trnh

ng nh sau :
Trc nht, ta nh ngha cc bin trng thi
(4.5)
phng trnh output
x 1 (t ) = C(t )
x 2 (t ) = x& 1 (t ) = C& (t )
(4.6)
x 3 (t ) = x& 2 (t ) = C& (t )
(4.7 )
Phng trnh trng

thi
Trang IV.3
C T ng Hc
Trong
Phm Vn Tn
x& 1 =
dx
dt
& = dc
C
dt
x& 2 =
dx
dt
Phng trnh 4.3 c sp xp li sau cho o hm bc cao nht v tri:

&C&&(t ) = 2 &c&(t ) 3 c
& (t ) c(t ) + 2 r (t )
(4.8)
By gi phng trnh 4.6 v 4.7, thay th cc h thc nh ngha ca bin trng thi vo
4.8 . Ta s c nhng phng trnh trng thi:
x& 1 (t ) = x 2 (t )
(4.9a)
x& 2 (t ) = x 3 (t )
(4.9b)
x& 3 (t ) = x1 (t ) 3x 2 (t ) 2x 3 (t ) + 2r(t )
(4.9c)
Ch c phng trnh (4.9c) l tng ng phng trnh ban u (4.3). cn hai phng
trnh kia ch l phng trnh nh ngha bin trng thi.
Trong trng hp ny, output c(t) cng c nh ngha nh l bin trng thi x1(t),
(khng phi lun lun nh vy). Vy phng trnh (4.5) l phng trnh output.
Tng qut hn, nu p dng phng phng php m t trn, th phng trnh vi phn
cp n:
d n c(t ) + a d n 1c(t ) + ... + a dc(t ) + a c(t ) = r (t )

n
n 1 dt
1
dt n
dt n 1
(4.10)
S c trnh by bi cc phng trnh trng thi sau :
x& 1 (t ) = x 2 (t )
x& (t ) = x (t )
2
M
( 4.11)
x& n 1 (t ) = x n (t )
x& n (t ) = a n x1 (t ) a n 1x 2 (t ) L a 2 x n 1 (t ) a1x1 (t ) + r(t )
V phng trnh output gin d l :
C(t ) = x
(t )
(4.12)
Phng php nh ngha cc bin trng thi c m t trn khng thch hp khi v
phi ca (4.10) c cha nhng o hm ca r(t).
Trang IV.4
C T ng Hc
Phm Vn Tn
dn1r(t)
dnr(t)
dc(t)
dn1c(t)
dnc(t)
+ a1 n1 +L+ an1
+ anc(t) = b0 n + b1 n1 +L
dt
dt
dt
dt
dtn
dr(t)
L+ bn1
+ bnr(t)
dt
(4.13)
Trong trng hp ny, nhng h thc ca cc bin trng thi cng phi cha r(t).
Cc bin trng thi c nh ngha nh sau:
x1 (t ) = c(t ) b 0 r(t )
x 2 (t ) = x& 1 (t ) h 1r(t )
M
(4.14)
x k (t ) = x& k 1 (t ) h k r(t )
(k = 2,3,L, n)
Vi cc gi tr :
h 1 = b1 a 1b 0
h 2 = (b 2 a 2 b 0 ) a 1 h 1
h 3 = (b 3 a 3 b 0 ) a 2 h 1 a 1 h 2
hk
M
=
(b
(4.15 )
a k b 0 a k 1 h 1 a k 2 h 2 L a 2 h k 1 a 1 h k
Dng (14) v (15) ta a phng trnh vi phn cp n(4.13) vo n phng trnh trng thi
sau y di dng bnh thng :
x&1 (t ) = x2 (t ) + h1r (t )
x& 2 (t ) = x3 (t ) + h2 r (t )
M
(4.16)
x& n 1 (t ) = xn (t ) + hn 1r (t )
x& n (t ) = an x1 (t ) a n 1 x2 (t ) L a 2 xn 1 (t ) a1 xn (t ) + hn r (t )
Phng trnh output, c c t biu thc th nht ca(4.14):
C( t ) = x
(t ) + b 0 r(t )
(4.17)
Trang IV.5
C T ng Hc
Phm Vn Tn
III. S BIU DIN BNG MA TRN CA PHNG

TRNH TRNG THI .
Nhng phng trnh trng thi ca mt h thng ng c th c vit di dng ma
trn, s dng ma trn trnh by trong cc h phc tp lm cho cc phng trnh c dng
c ng hn. Phng trnh (4.1) vit di dng ma trn th n gin sau:
& (t ) = f [X(t ), R(t )] = AX(t ) + BR(t )

X
(4.18)
Trong X(t) l ma trn ct biu din cc bin s trng thi gi l cc vct trng thi.
R(t) l ma trn ct, biu din input gi l cc vct input.
x 1 (t )
( )
x t
X (t ) = 2
M
x n (t )
r1 (t )
r (t )
2
R(t ) =
M
rp (t )
(4.19)
A l ma trn vung n x n :
a 11 a 1 n L a 1 n
a 21 a 22 L a 2 n
A =
L L L L L L L L
a n 1 a n 2 L a nn
B l ma trn n x p
(4.20)
(v c p input r )
b 11 b 12 L L b 1 p
b 21 b 22 L L b 2 p
B =
LLLLLLL
b n 1 b n 2 L L b np
(4.21)
Tng t nh vy, q phng trnh trong (4.2) cng c th c trnh by bng mt ma

trn duy nht
C(t ) = g [X(t ) + R(t )] = DX(t ) + ER(t )
(4.22)
Trong D l ma trn q x n v E l ma trn q x p.

Th d, cc phng trnh trng thi ca phng trnh (4.11) c vit di dng ma
trn:
Trang IV.6
C T ng Hc
nx1
x
& (t )
1
x
& 2 (t )
Phm Vn Tn
nxn
M
M
& n (t )
x
nx1
1
0
0
0 LL 0
0
0
1
0
0 LL 0
0
0
0
1
0 LL 0
LLLLLLLLL
0
0
0
0
0 LL 1
a n a n 1 LLLLLL a 1
x 1 (t )
( )
x1 t
M
M
M
x n (t )
nx1
0

0
M
r
M

M
1

(t )
(4.23)
Khi so snh phng trnh (4.23) vi phng trnh (4.18), cc ma trn A v B s c

ng nht d dng. Trng hp ny, phng trnh output (4.22) l mt phng trnh v
hng.
D = [1 0 0 L 0]
(4.24)
V E = 0 (ma trn khng

( 4.25 )
Tng t cc ma trn A, B,C,D i vi phng trnh (4.13) s l
A =
D =
E =
1
0
0
0 LL 0
0
0
0
1
0
0 LL 0
0
0
0
1
0 LL 0
LLLLLLLLL
0
0
0
0
0 LL 1
a n a n 1 LLLLLL a 1
h 1
h 2
M
h n
[1 0
[b 0 ]
(4.26)
(4.27)
0 L 0]
(4.28 )
(4.29)
IV. VI TH D.
Th d 4.1:
Xem mt h thng tuyn tnh, c hm chuyn cho bi:
G(S) =
C(S)
5
= 3
2
R (S) S + 8S + 9S + 2
(4.30)
Phng trnh vi phn tng ng din t h thng l:
Trang IV.7
C T ng Hc
Phm Vn Tn
d 3c
d 2c
dc
+8
+9
+ 2c = 5r
dt
dt 3
dt 2
(4.31)
Cc bin s trng thi c nh ngha:
x 1 (t ) = c (t )
x& 1 (t ) = x 2 (t )
x& 2 (t ) = x 3 (t )
x& 3 (t ) = 2 x 1 9 x 2 8 x 3 + 5 r
(4.32)
Do h thng c th c din t bng ma trn:
& = AX + BR
X
v
Vi
(4.33)
(4.34)
C = DX + ER
0 1 0
A = 0 0 1
2 9 8
0
R = 0
r
B=
0
0
x1
X = x 2
x 3
D = [1 0 0]
0
0
5
0
0
0
&1
x
& = x
&
X
2
x
&3
E=0
Th d 4.2:
Xem mt h thng iu khin nh H.4.2. Hm chuyn vng kn ca h l:
R(S) +
2
S (S + 1)
C(S)
2
= 2
R (S) S + S + 2
C(S)
Hnh 4.2
(4.35)
Phng trnh vi phn tng ng
d 2 c dc
+
+ 2c = 2 r
dt 2 dt
(4.36)
Trang IV.8
C T ng Hc
Phm Vn Tn
Cc bin trng thi:
x1 = c
x&1 = x 2
x& 2 = 2x1 x 2 + 2r
(4.37)
Vy h thng c th din t bng h thng vct:
& = AX + Br
X
(4.38)
C = DX+Er
Trong :
0
A=
2
D= [1
1
1
x1
X
=
;
x
2
0
B
=
;
2

&1
x
& 2 ;
x
&
; X=
0]
Th d 4.3 :
Xem mt mch RLC nh H. 4.3
il
nguon dong r(t)
vc
ic
L
C
v0
Trng thi ca h c th m t bi tp hp cc bin trng thi

x1 = vc(t)
( 4.39)
( 4.40)
x2 = iL(t)
i vi mch RLC th ng, s cc bin s trng thi cn thit th bng vi s cc b
phn tch tr nng lng c lp. Cc nh lut Kirchhoff cho:
ic = c
dv c
= r(t) iL
dt
di L
= Ri
dt
(4.41)
+ vC
(4.42)
(4.43)
Output ca h : v0 = RiL
Vit li(4.41) v (4.42) nh l tp hp cc phng trnh vi phn cp 1:
dv c
1
1
= x 2 + r(t)
dt
C
C
1
R
=
x1
x2
L
L
x1 =
x
Tn hiu ra
c(t) = v0 = Rx2
(4.44)
(4.45)
(4.46)
Trang IV.9
C T ng Hc
Phm Vn Tn
Dng cc phng trnh (4.44), (4.45), (4.46) v cc iu kin u ca mch x1(t0), x2(t0)
ta c th xc nh trng thi tng lai ca mch v tn hiu ra ca n.
Di dng vct, trng thi ca h c trnh by:
X = AX + Br
C = DX + Er
Trong :
A=
0
1
L
1
C
R ;
x
X = 1
x 2
1
B = C ; D = [0
0

.
X = x. 1
x 2
R]
E=0
Lu l cc bin trng thi ca h thng khng phi l duy nht. Ty theo cch chn
la, c th c nhng tp hp khc ca cc bin trng thi.
V. HNH TRNG THI .

hnh truyn tn hiu m ta ni chng 3 ch p dng cho cc phng trnh i
s. y, ta s a vo cc phng php hnh trng thi, nh l mt s m rng cho
hnh truyn tn hiu m t cc phng trnh trng thi ,v cc phng trnh vi phn.
ngha quan trng ca hnh trng thi l n to c mt s lin h kn gia phng trnh
trng thi, s m phng trn my tnh v hm chuyn.
Mt hnh trng thi c xy dng theo tt c cc qui tc ca hnh truyn tn
hiu. Nhng hnh trng thi c th c dng gii cc h tuyn tnh hoc bng gii tch
hoc bng my tnh.
Tr li mch RLC v d 4.3. din t ng lc 3 phng trnh (4.44) (4.45),
(4.46), ta c th dng gin hnh trng thi nh hnh H.4_4 sau y :
-R/L
1/C
1/S
.
x1
1/L
1/S
.
x1
x2
x2
v0
-1/C
H.4_4
, 1/s ch mt s ly tch phn.
Trang IV.10
C T ng Hc
Phm Vn Tn
Dng cng thc Mason v li tng qut, ta c hm chuyn:
V0 (S)
R / LCS 2
R / LC
=
=
R (S) 1 + ( R / LS) + (1 / LCS 2 ) S 2 + ( R / L)S + 1 / LC
(4.48)
Nhng ri thay, hu ht cc mch in, cc h thng in c hay nhng h iu khin

u khng n gin nh mch RLC trn y, v thng kh xc nh mt tp hp cc phng
trnh vi phn cp 1 din t h thng.V vy, n gin hn ,ta thng chuyn ha kiu mu
trng thi t hm chuyn.
Mt cch tng qut mt h c m t bng hm chuyn nh sau:
C(S) Sm + b m1Sm1 + ... + b1S + b 0

G (S) =
=
R (S) Sn + a n 1Sn 1 + ... + a 1S + a 0
(4.49)
n>=m v mi h s a u thc dng. Nu nhn t v mu cho S-n ta c:
G (S) =
S( n m ) + b m1S ( n m+1) + ... + b1S ( n 1) + b 0S n

1 + a n 1S1 + ... + a 1S( n 1) + a 0Sn
(4.50)
Cng thc Mason quen thuc gip ta tha nhn d dng rng t s l tng li trc
tip, v mu s l tng li vng hi tip.
Ta vit li cng thc Mason.
C(S)
=
T =
R(S)
p
i
(4.51)
Nu tt c cc vng hi tip u chm nhau v tt c cc ng trc tip u chm vng

hi tip th (4.51) thu li
P
T=
1 P
i
j1
Tongolicac
ng
trctiep
1 Tongolicac
vonghoitiep (4.52)
Th d 4.4 :
Trc ht xem hm chuyn ca h thng cp 4:
G (s) =
b0
C(s)
= 4
R (s) s + a 3 s 3 + a 2 s 2 + a 1s + a 0
(4.53)
b0s 4
C(s)
G(s) =
=
R(s) 1 + a 3s 1 + a 2s 2 + a1s 3 + a 0s 4
V h thng cp 4, ta s nh ngha 4 bin trng thi (x1,x2,x3,x4). Gi t cng thc
Mason, ta c th thy rng mu s ca (4.53) c th c xem nh l 1 cng vi li vng,
v t s ca hm chuyn th bng vi li ng trc tip ca hnh.
Trang IV.11
C T ng Hc
Phm Vn Tn
hnh trng thi phi dng s ln ly tch phn bng vi cp s ca h thng. Vy cn

ly tch phn 4 ln.
1/S
1/S
R(s)
X4
1/S
X3
1/S
X2
X1
C(s)
H.4-5
Ghp cc nt li. Nh rng

x = x2 , x2 = x3 , x3 = x4
Ta c hnh trng thi ca (4.53) 1
R(s)
X
4
1/S
- a3
x4
X
3
x3
1/S
X
2
1/S
x2
1/S
X
1
x1 b0
C(s)
- a2
- a1
- a0
H.4_6
Th d 4.5 :
By gi ta xem hm chuyn cp 4 khi t s l mt a thc theo S:
b3 s3 + b2 s2 + b1s1 + b0
G(s) = 4
s + a3 s3 + a2 s2 + a1s + a0
b3 s1 + b2 s2 + b1s3 + b0 s4
G(s) =
1 + a3 s1 + a2 s 2 + a1s3 + a0 s4
(4.54)
(4.55)
T s ca G(s) l tng li cc ng trc tip trong cng thc Mason. hnh trng
thi (HTT) v hnh H.4_7. Trong li cc ng trc tip l b3/s; b2/s2; b1/s3 v b0/s4.
Trang IV.12
C T ng Hc
Phm Vn Tn
b3
C(s)
b2
R(s)
X
4
x4
X
3
1/S
1/S
x3
1/S
x2
1/S
X
1
b1
x1 b0
- a3
- a2
- a1
-a
0
H.4_7
T HTT, ta suy ra mt tp hp phng trnh vi phn cp 1, din t trng thi ca h:
x1 = x2
(4.56)
x2 = x3
x3 = x4
x4 = - a0x1 - a1x2 - a2x3 - a3x4 + r
Ngoi ra, phng trnh output l
C(t) = b0 x1 + b1 x2 + b2 x3 + b3 x4
(4.57)
T o, di dng ma trn, ta c:
X = AX + Br
x1 0

d x 2 0
=
dt x 3 0

x a0
0
0
a1
1
0
a2
v output l:
C( t ) = D X + E r
0 x 1 0
0 x 2 0
+ r (t )
1 x 3 0

a3 x 4 1
(4.58)
(4.59)
Trang IV.13
C T ng Hc
Phm Vn Tn
C ( t ) = [b 0
b1
x1
x
b3] 2
x3
x 4
b2
(4.60)
Lu : din t phng trnh (4.54), HTT v hmh H.4_7 khng phi l duy
nht. Ta hy xem hnh H.4_8.
b2 b3
b1
X
3 1/S
` b0 X
4 1/S
R(s)
X
2 1/S
1/S
X
1
x11
- a3
C(s)
- a2
- a1
- a0
H.4_8a
1/S
1
X2
x1
H.4_8b
T HTT hnh H.4_8a, ta c mt tp hp phng trnh trng thi :
C ( t ) = x 1 (t )
x1(t) = - a3 x1 + x2 + b3 r
x2(t) = - a2 x1 + x3 + b2 r
x3(t) = - a1 x1 + x4 + b1 r
(4.61)
x4(t) = - a0 x1 + b0 r
vit phng trnh (4.61a), ta hy tham kho hnh H.4_8b. Gia hai nt x1 v x2 , ta
thm mt nt mi x2. Cc phng trnh khc cng lm tng t.
hnh H.4_8a trnh by cng mt hm chuyn nh hnh H.4_7. Nhng cc bin
trng thi ca mi hnh th khng ging nhau.
Th d 4.6 :
Ta hy xem mt h thng iu khin nh hnh H.4_9 c th dng HTT xc

nh trng thi ca h.
2(s + 1)(s + 3)
Chng IV: Trng -thi ca h thngs(s + 2)(s + 4)
R(s)
G (s ) =
C(s)
Trang IV.14
C T ng Hc
Phm Vn Tn
H.4_9
Hm chuyn vng kn ca h :
C(s)
2s 2 + 8s + 6
= 3
R (s) s + 8s 2 + 16s + 6
(4.64)
Nhn t v mu vi s-3 :
C
2s 1 + 8s 2 + 6s 3
=
R 1 + 8s 1 + 16s 2 + 6s 3
(4.47)
hnh ,trng thi cho bi hnh H.4_10

2
1
R(s)
X
3
S- 1 X2
S- 1 X1
x2
-8 x3
8
S- 1
C(s)
-16
-6
H.4_10
T hnh suy ra cc phng trnh trng thi.
x1 = x2
x2 = x3
(4.66)
x3 = - 6x1 - 16x2 - 8x3 + r

V phng trnh output :
C(t) = 6x1 + 8x2 + 2x3
Di dng ma trn :
1
0
0
0
X= 0
0
1 X + 0 r (t )
6 16 8
1
(4.67)
(4.68)
Trang IV.15
C T ng Hc
Phm Vn Tn
C(t ) = [6 8 2] X
(4.69)
Vi
x1
X = x 2
x3

x 1
X = x2

x3
Trang IV.16
C S T ng Hc
Phm Vn Tn
Chng V: M HNH HO CC H THNG

VT L
I CNG.
PHNG TRNH CA CC H THNG C KH.
Chng V M Hnh Ha Cc H Thng Vt L
Trang V.1
C S T ng Hc
Phm Vn Tn
I) I CNG.
Mt trong nhng cng vic quan trng nht trong vic phn gii v thit k cc h t
kim l m hnh ha h thng. nhng chng trc, ta a vo mt s phng php m
hnh ha h thng thng dng. Hai phng php chung nht l hm chuyn v phng trnh
trng thi. Phng php hm chuyn ch c gi tr i vi cc h tuyn tnh, khng i theo thi
gian. Trong khi cc phng trnh trng thi, l nhng phng trnh vi phn cp mt c th dng
m t cc h tuyn tnh v c phi tuyn. V trong thc t, tt c cc h vt l u phi tuyn trong
mt vi phm vi hot ng. Nn c th s dng hm chuyn chuyn v cc phng trnh
trng thi tuyn tnh, h thng phi c tuyn tnh ho, hoc l hot ng ca n phi c hn
ch trong vng tuyn tnh.
D s phn gii v thit k cc h iu khin tuyn tnh c pht trin tt, nhng bn
sao ca n cho cc h phi tuyn th thng rt phc tp.
K thut iu khin thng phi xc nh khng ch vic lm sao m t chnh xc h
thng mt cch ton hc, m cn phi, quan trng hn, lm sao t cc gi thuyt ng, v
php tnh xp x (nu cn thit) sao cho h thng c th c c trng ha mt cch tng
xng bi mt m hnh ton hc tuyn tnh.
Tht quan trng thy rng, k thut iu khin hin i phi da trn s m hnh ho
h thng sao cho vn phn gii v thit k c th ph hp vi cc li gii nh my tnh. Nh
vy, ch ch ca chng ny l:
- chng t s m hnh ho ton hc ca cc h thng iu khin v cc b phn.
- chng t bng cch no s m hnh ho s dn n cc li gii trn my tnh.
II. PHNG TRNH CA CC MCH IN.

Phng php c in vit cc phng trnh ca mch in c t trn c s hai nh
lut v nt v vng ca kirchhoff. Tuy hai nh lut ny th n gin nhng cc phng
trnh kt qu th khng t nhin i vi my tnh.
Mt phng php mi vit cc phng trnh mch in l phng php bin trng
thi. V cc mch in trong phn ln cc h t kim th khng phc tp lm, ta s trnh by
y ch mc gii thiu. Nhng l gii chi tit v cc phng trnh trng thi cho mch
in c th tm cc gio trnh l thuyt mch.
+
i(t)
e(t)
ec(t)
-
H.5_1.
Trang V.2
C S T ng Hc
Phm Vn Tn
Xem mch RLC nh hnh H.5_1. Phng cch thc hnh l xem dng in trong cun
cm L v in th ngang qua t C l cc bin trng thi (tc i(t) v ec(t)). L do ca s chn
la ny l v cc bin trng thi th lin h trc tip vi b phn tch tr nng lng ca mt
h thng. Trong trng hp ny, cun cm tch tr ng nng v t tch tr th nng.
Bng cch chn i(t) v ec(t) l cc bin trng thi, ta c mt s m t hon ton v qu
kh (tc tr gi u ca chng) hin ti v trng thi tng lai ca mch.
Ta c:
de (t )
Dng in trong t C :
(5.1)
C c = i (t )
dt
di(t )
= ec (t ) Ri(t ) + e(t )
in th ngang qua L : L
(5.2)
dt
Cc phng trnh trng thi di dng ma trn, c vit:
1
dec (t )
dt 0
ec (t ) 0
C
=
di (t ) 1 R
+ 1 e(t )

i (t ) L
L
dt L
Th d5_1 : Xem mch in nh hnh H.5_2.
+
L1
i1(t)
e(t)
(5.3)
L2
i2(t)
+
-ec(t)
R2
H.5_2
in th ngang qua t ec(t), cc dng in trong cc cun cm i1(t) v i2(t) c xem nh
l cc bin s trng thi.
Cc phng trnh trng thi c c bng cch vit in th ngang qua cc cun cm v
dng trong t.
di (t)
L1 1 = R1i1(t) ec(t) + e(t )
dt
di (t)
L 2 2 = R 2 i 2 (t ) + e c (t )
dt
de (t )
C c = i 1 (t ) i 2 (t )
dt
(5.4)
(5.5)
(5.6)
Sp xp li cc h s hng, cc phng trnh trng thi c vit di dng chnh tc nh

sau:
Trang V.3
C S T ng Hc
di 1 ( t ) R1
L
dt 1
di 2 ( t )
= 0
dt

(
)
de
t
c
1
dt
Phm Vn Tn
0
R2
L2
1
C
L1
1
L2
i (t)
1
1
1
i 2 (t) +
0 e ( t ) (5.7)
L
e (t)
1 0
c
III. M HNH
HO CC B PHN CA H THNG C.
Hu ht cc h t kim u c cha cc b phn c kh cng nh cc b phn in. Trn
quan im ton hc, s m t cc b phn c v in th tng ng nhau. Tht vy, ta c th
chng minh rng mt b phn c kh thng l mt bn sao ca mt b phn in tng ng,
v ngc li. D nhin, s tng ng ch trn ngha ton hc. Hai h thng th tng ng
nhau nu chng c din t bng cc phng trnh ging nhau.
S chuyn ng ca cc b phn c c th l tnh tin, quay hoc phi hp c hai. Cc
phng trnh ch ra chuyn ng ca cc h c th thng c vit mt cch trc tip hay gin
tip t nh lut chuyn ng ca Newton.
1. Chuyn ng tnh tin.

Chuyn ng tnh tin c nh ngha nh l mt chuyn ng di ch dc theo mt
ng thng. Cc bin c dng m t chuyn ng tnh tin l gia tc, vn tc v di.
nh lut Newton chng t rng tng i s cc lc tc ng ln mt c th theo mt
phng cho th bng tch s ca khi lng ca c th v gia tc ca n theo cng phng .
lc = Ma
(5.8)
Trong : M l khi lng v a l gia tc.
Trong chuyn ng tnh tin, cc b phn sau y thng c a vo:
a) Khi lng.
Khi lng c xem nh l mt c trng ca mt b phn tch tr ng nng trong
chuyn ng tnh tin. N tng ng vi cun cm ca mch in. Nu W l trng lng ca
c th, th M c cho bi:
M=W
g
(5.9)
g: Gia tc trng trng.

Trong h thng SI, n v ca M l kg, ca g l m/s2; ca lc l Newton(N).
Trang V.4
C S T ng Hc
Phm Vn Tn
y(t)
f(t)
Hnh H.5_3: H thng lc- khi lng.

HnhH. 5_3 m t v tr m mt lc tc ng ln mt c th c khi lng M.
Phng trnh c vit:
f (t ) = M a(t ) = M
dv(t )
d 2 y (t )
=M
dt
2
dt
(5.10)
Trong y(t) ch di; v(t): vn tc; a(t): gia tc.

Tt c c tham chiu theo hng ca lc p dng.
b) L xo tuyn tnh.
Mt cch tng qut, l xo c xem nh l mt b phn tch tr th nng. N tng
ng vi t in trong cc mch in.
Trong thc t, l xo tuyn tnh c th l mt l xo thc s, hoc mt dy courroir.
D tt c cc l xo u phi tuyn vi vng hot ng. Nhng, nu s bin dng ca l xo
nh, trng thi ca n c th c xp x ho (approximated) bng mt h thc tuyn tnh:
f(t)= Ky(t)
(5.11)
Vi K l hng s l xo, hoc hng s n hi (Stifness)
n v ca K: N/m
Phng trnh (5.11) cho thy lc tc ng ln l xo th t l trc tip vi di (
bin dng) ca l xo. M hnh biu din mt b phn l xo tuyn tnh v hnh H.5_4.
y(t)
f(t)
H.5_4: H thng lc-l xo.
Nu l xo c mang trc mt sc cng T th (5.12) s c ci bin thnh:
f(t)-T= Ky(t)
(5.12)
2. Lc ma st trong chuyn ng tnh tin.

Mi khi c s chuyn ng hoc khuynh hng chuyn ng gia hai vt, lc ma st
s xut hin. Lc ma st gp trong cc h vt l thng l phi tuyn. Nhng c tnh ca cc
loi lc ma st gia hai b mt tip xc thng ph thuc vo cc h s nh l s phi hp b
mt, p sut gia cc b mt, vn tc tng i ca chng v nhng th khc, lm cho vic m
Trang V.5
C S T ng Hc
Phm Vn Tn
t ton hc mt cch chnh xc lc ma st th rt kh. Tuy nhin, vi ch ch thc hnh, lc
ma st c th chia thnh ba loi nh sau: Ma st trt, ma st ngh v ma st coulomb.
a) Ma st trt ( ma st nht-Vicous Friction)

Ma st trt biu din mt lc cn c lin h tuyn tnh gia lc tc dng v vn tc.
Lc ma st trt thng c m hnh ho bng mt dashpot (ng m), c k hiu nh
hnh H.5_5.
y(t)
B
f(t)
Hnh H.5_5: Dashpot ca ma st trt.

Phng trnh biu din lc ma st trt:
f (t ) = B
dy(t )
dt
(5.13)
Trong : B l h s ma st trt. (N/m/sec)

Hnh H.5_5a, trnh by s tng quan gia lc ma st trt v vn tc.
b) Ma st ngh (Static Friction).

Ma st ngh biu din mt lc cn, c khuynh hng ngn cn chuyn ng lc va
bt u (khi chuyn ng bt u ma st ngh c tr cc i bng ma st trt). Ma st ngh
c biu din bi biu thc:
f(t) = (Fs)y=0
(5.14)
Trong : (Fs)y = 0 c nh ngha nh l lc ma st ngh tn ti ch khi vt ng
yn nhng ang c khuynh hng chuyn ng. Du ca lc ty thuc v chiu chuyn ng
hoc chiu ban u ca vn tc. S tng quan gia lc v vn tc v hnh H.5_5b. Nh l
mt khi chuyn ng bt u, lc ma st ngh bin mt, v loi lc ma st khc xut hin.
c) Ma st coulomb.
Lc ma st coulomb l mt lc cn, c ln khng i i vi s bin thin ca
vn tc. Du ca lc th thay i khi vn tc i chiu. Phng trnh ton hc ca lc ma st
coulomb:
dy
f (t ) = Fc
dt
dy
dt
(5.15)
Trong Fc l h s ma st coulomb. S tng quan gia lc v vn tc v hnh

H.5_5c.
Trang V.6
f
C S T ng Hc
f Vn Tn
Phm
Fs
Fc
dc=B
y
-Fc
-Fs
H.5_5a.
H.5_5b.
H.5_5c.
3. Chuyn ng quay.
Chuyn ng quay ca mt vt c th c nh ngha nh l chuyn ng ca vt
quanh mt trc c nh. Cc bin s thng dng m t chuyn ng quay l moment; gia
tc gc ; vn tc gc ; v gc di .
Cc b phn sau y thng c a vo m hnh ho chuyn ng quay.
a) Qun tnh (Inertia).

Qun tnh J, c xem nh l ch th tnh cht ca mt b phn tch tr ng nng
trong chuyn ng quay. Qun tnh ca vt ph thuc vo s tng hp hnh hc quanh trc
quay v khi lng ca n. J cn gi l moment qun tnh.
Th d: qun tnh ca mt da trn hoc mt trc trn quay quanh trc hnh hc l:
J= 1 Mr 2
2
(5.16)
Trong , M l khi lng ca da hoc ca trc v r l bn knh ca chng.

Khi mt moment c p dng vo mt c th vi qun tnh J, nh hnh H.5_7,
th phng trnh moment c vit:
d (t )
d 2 (t )
=J
T(x)= T ( x) = J (t ) J
(5.17)
dt
dt 2
J : Kg.m2 ; T :N.m ; :radian.
T(t)
J
(t)
H.5_7: H thng moment _qun tnh.
b) L xo xon (torsional spring).

Khi p dng mt moment ln mt thanh hay mt trc quay c khi lng khng
ng k, trc quay mt gc . Nu k l hng s xon, moment trn mt n v gc di, th h
thng c th biu din bng hnh H.5_8 v phng trnh:
T(t)=K(t)
(5.18)
Trang V.7
C S T ng Hc
Phm Vn Tn
K
T(t)
H.5_8: H thng moment(t) l xo xon.

Nu l xo xon c mang trc mt moment Tp, th phng trnh trn c ci tin.
T(t) TP =K(t)
(5.19)
c) Ma st trong chuyn ng quay.

C ba loi ma st m t trong chuyn ng tnh tin u c th p dng cho
chuyn ng quay. Do cc phng trnh (5.13), (5.14) v (5.15) c th vit li trong
trng hp ny nh sau:
d
T (t ) = B
(5.20)
dt
T(t)= (Fs)=0
(5.21)
d
dt
T (t ) = Fc
d
dt
(5.22)
Trong , B :H s ma st nht, moment trn mt n v vn tc gc.

(Fs)=0 l ma st ngh.
Fc : l ma st coulomb.
4. S tng quan gia chuyn ng tnh tin v chuyn ng quay.

Trong vn iu khin chuyn ng, thng khi ta cn i mt chuyn ng quay thnh
mt chuyn ng tnh tin. Th d,
- Hnh H.5_9 : b iu khin i mt chuyn ng quay thnh mt chuyn ng
thng nh motor v b screw (Vis Faraday)
- Hnh H.5_10: cng c chc nng tng t, nhng s chuyn i thc hin nh
thanh rng (rack) v pinion(nhng)./
- Hnh H.5_11: Mt b iu khin chuyn ng thng dng khc, dng pulley
(rng rc) v dy couroir .
Trang V.8
C S T ng Hc
Phm Vn Tn
T(t),(t)
x(t)
MOTOR
H.5_9
w
x(t)
H.5_10
Motor
thc
x(t)
(t)
T(t)
Motor
thc
H.5_11
T(t)
Cc h thng trn iu c th c biu din bng mt h thng n gin vi mt
qun tnh tng ng mc trc tip vo mt motor thc.
Th d, khi lng hnh H.5_11, c th xem nh l mt khi im (point mass)
chuyn ng quanh rng rc, bn knh r. B qua qun tnh ca rng rc, th qun tnh tng
w
ng do motor l: J = Mr 2 = r 2 (5.23)
g
- Nu bn knh ca pinion hnh H.5_10 l r, qun tnh tng ng do motor cho
bi phng trnh (5.23).
By gi ta xem h thng hnh H.5_9. Gi L l khong di chuyn thng ca khi
lng khi khong cch space convis xoay mt vng. V nguyn tc, hai h thng hnh
H.5_10 v H.5_11 th tng ng. hnh H.5_10 khong di chuyn thng ca khi lng
trn mi vng quay ca pinion lL=2r.
Do , dng phng trnh (5.23) tnh qun tnh tng ng ca h hnh H.5_9.
J=
w L
g 2
(5.24)
5. C nng v cng sut.

Nng lng v cng sut gi vai tr quan trng trong vic thit k cc h thng
in c.
Nng lng c tch tr di dng ng nng v th nng iu khin tnh ng ca h
thng. Tuy nhin, nng lng tiu tn thng dng nhit, cng cn c kim sot.
* Khi lng hoc qun tnh ca mt vt ch kh nng tch tr ng nng. ng
nng ca mt khi lng di chuyn vi vn tc v l:
Trang V.9
C S T ng Hc
Phm Vn Tn
Wk =
1
Mv 2
2
(5.25)
Wk: Joule, hoc Nm ; M: N/m/sec2 ;v: m/s.

i vi mt h thng quay, ng nng c vit:
1
Wk = J 2
(5.26)
2
J: moment qun tnh Kg.m2
: vn tc gc rad/s.
* l xo tuyn tnh b bin dng mt chiu di y , s tch tr mt th nng:
1
Wk = Ky 2
(5.27)
2
* l xo xon, tch tr th nng:
1
W p = K 2 (5.28)
2
: Gc xon.
i vi mt b phn ma st, nng lng biu din mt s mt hoc tiu hao bi h
thng khi i khng vi lc ma st. Cng sut tiu tn trong b phn c ma st l tch s
ca lc v vn tc.
P=f.v
(5.29)
V f= B.v, vi B l h s ma st, nn:
P=B.v2
(5.30)
( P: N.m/s2 hoc watt (w)).
Vy nng lng tiu tn trong b phn ma st la:
(5.31)
Wd = B v 2 dt
6. Bnh rng - n by dy courroir.

Bnh rng, n by hoc dy courroir v pu-li l nhng c phn truyn nng lng t
mt b phn ny n mt b phn khc ca h thng thay i lc, moment, vn tc v
di. Chng cng c xem nh l nhng b phn phi hp nhm t n s truyn cng sut
ti a.
Hai bnh rng ni nhau nh hnh H.5_12. Qun tnh v ma st ca chng c xem nh
khng ng k trong trng hp l tng.
Trang V.10
C S T ng Hc
Phm Vn Tn
T1,1
T2,2
H.5_12
Nhng h thc gia moment T1 v T2, gc di 1 v2 , s rng N1 v N2 ca b bnh

rng c dn xut t cc s kin sau y:
1_ S rng trn b mt cc bnh rng t l vi bn knh r1v r2 ca bnh rng:
r1N2=r2N1
(5.32)
2_ Khong dch dc theo b mt ca mi bnh rng th bng nhau.
1r1=2r2
(5.33)
3_ Gi s khng c s mt nng lng, cng to bi bnh rng ny bng cng ca
bnh rng kia.
T11=T22
(5.34)
Nu 1 v 2 l vn tc gc ca chng th:
T1 2 N1 2 r1
=
=
=
=
T2 1 N 2 1 r2
(5.35)
Thc t, cc bnh rng u c qun tnh v lc ma st thng khng b qua.
B1
N1
J1
T1,Fc1
B2
T,1
T2
N2
Fc2,J22
H.5_13
Trang V.11
C S T ng Hc
Phm Vn Tn
T= moment p dng
1, 2: gc di.
T1, T2: moment c truyn n bnh rng
J1, J2; qun tnh ca bnh rng
N1, N2: s rng
Fc1,Fc2: H s ma st coulomb.
B1, B2: H s ma st nht (trt).
Phng trnh moment ca bnh rng 2 c vit:
B
d 2 2 (t )
d (t )
T2 (t ) = J2
+ B 2 2 + Fc2 .2
2
dt
dt
1
(5.36)
Phng trnh moment ca bnh rng 1 l:

.
d 2 1 ( t )
d (t )
T2 (t ) = J1
+ B1 1 + Fc1 .1 + T1 (t ).
2
dt
dt
1
(5.37)
Dng (5.35), phng trnh (5.36) i thnh:

2
N
d1 (t ) N 1
N
d 2 1 ( t ) N 1
1
T1 ( t ) = 1 T2 (t ) = 1 J2
B
Fc
+
+
2
2
.
N
N2
dt 2
dt
N2
N2
2
1
(5.38)
Phng trnh (5.38) chng t rng c th phn x qun tnh, ma st,momen,vn tc

v di t pha na sang pha kia ca b bnh rng.
Nh vy, cc i lng sau y s c c khi phn x t bnh rng 2 sang bnh rng 1 :
N
Qun tnh : 1
N2
J 2
N
H s ma st nht : 1
N2
N
Momen : 1 T2
N2
N
Gc di : 2 2
N1
N
Vn tc gc : 2 2
N1
B2
Momen ma st coulomb :
N1
Fc 2 2
2
N2
Trang V.12
C S T ng Hc
Phm Vn Tn
2
,
Nu c s hin din ca l xo xon, hng s l xo cng c nhn bi N 1
N2
khi phn x t bnh rng 2 sang bnh rng 1.
By gi, thay (5.38) vo (5.37) :
d 2 1 (t )
d 1 (t )
B
T(t)= J 1e
+
+ TF
(5.39)
1
e
dt 2
dt
Trong :
N1
N2
J 1e = J 1 +
N
B1e = B1 + 1
N2
.
TF = Fc1
1
.
J 2
(5.40)
B2
(5.41)
.
+ 1 Fc 2 . 2
N2
(5.42)
Dy courroir v dy chain c dng cng mc ch nh b bnh rng. Nhng n cho php

chuyn nng lng vi khong cch xa hn m khng dng cc bnh rng vi s rng qu
ln. Hnh H.5_14 v s ca mt dy courroir (hoc chain) gia hai rng rc (pulley). Gi
s khng c s trt gia chng. D thy rng phng trnh (5.41) vn cn c p dng
trong trng
hp ny. Tht vy, s phn x (hay s truyn dn) ca momen, qun tnh ma st th tng t
nh trong mt b bnh rng.
r2
T2,2
r1
T1,1
H.5_14
n by (lever) nh trong hnh H.5_15 truyn chuyn ng thng v lc tng t

cch thc m b bnh rng truyn chuyn ng quay.
H thc gia lc v khong cch l :
f1
l
x
= 2 = 2
f2
l1
x1
x1
(5.43)
f1
l1
x2
l2
H.5_15
Trang V.13
C S T ng Hc
Phm Vn Tn
IV) PHNG TRNH CA CA CC H THNG C

KH.
vit cc phng trnh ca mt h c tuyn tnh , trc nht phi xy dng trc mt m hnh
ca h, bao gm cc b phn tuyn tnh ni nhau. Sau p dng nh lut Newton.
Th d 5.2 :
Xem mt h thng v hnh H. 5_16a . S vt th t do ca h v hnh H.5_16b.
Phng trnh lc ca h c vit :
d 2 y (t )
dy(t )
f (t ) = M
+B
+ Ky (t )
(5.44)
2
dt
dt
Md2y(t)
dt2
y(t)
K
M
f(t)
Ky(t)
Bdy(t)
dt
B
H.5_16a
y(t)
f(t)
H.5_16b
Phng trnh cp 2 (5.44) c th phn thnh hai phng trnh trng thi cp mt. t
dy
x1 =y v x 2 =
nh l cc bin s trng thi.
dt
dx1 (t )
= x 2 (t )
(5.45)
dt
dx 2 (t )
K
B
1
x1 (t ) x 2 (t ) +
f (t )
=
(5.46)
dt
M
M
M
h thng c trn y tng ng vi mch RLC ni tip ca mch in.
Vi s tng ng gia mt h thng c v mt h thng in, vic thnh lp trc tip
cc phng trnh trng thi cho mt h thng c s tr nn n gin.
Nu ta xem khi lng th tng ng vi in cm, hng s l xo K th tng
ng vi nghch o ca in dung 1/C .
Vy c th ch nh v(t): vn tc v fk(t): lc tc ng ln l xo nh l cc bin s trng
thi. L do l ci trc tng t dng in trong cun cm, v ci sau tng t nh in th
ngang qua t.
Do phng trnh trng thi ca h c vit bng:
Lc trn khi lng:
Trang V.14
C S T ng Hc
Phm Vn Tn
dv(t )
M
= Bv(t ) f k (t ) + f (t )
(5.47)
dt
Vn tc ca l xo :
1 df k (t )
(5.48)
= v(t )
k dt
Phng trnh trn th ging nh cch vit phng trnh in th ngang qua 1 cun cm.
Cn phng trnh di ging nh phng trnh ngang qua t.
Th d n gin trn cho thy cc phng trnh trng thi v bin s trng thi ca 1 h
thng ng th khng duy nht.
Th d 5.3:
Xem 1 h thng nh hnh H.5_17a. V l xo b bin dng khi chu tc dng ca lc
f(t) hai di y1 v y2 phi c ch nh cho 2 u mt ca l xo. S vt th t do ca
h v hnh H.5_17b.
y2(t)
y1(t)
M
B
d 2 y 2 (t )
M
dt 2
f(t)
M
M
B
dy 2 (t )
dt
H.5_17a: H thng khi lng

l xo- ma st.
H.5_17b : S vt th t do.
f(t)
K(y1-y2)
T H.5_17b, cc phng trnh lc c vit :

(5.49)
f(t)=K[y1(t)-y2(t)]
2
d y 2 (t )
dy (t )
+B 2
K [ y1 (t ) y 2 (t )] = M
(5.50)
2
dt
dt
vit cc phng trnh trng thi ca h thng, ta t:
X1(t)=y2(t)
dy (t )
X2(t)= 2
dt
Th cc phng trnh (5.49) v (5.50) c vit li:
dx1 (t )
(5.51)
= x 2 (t )
dt
dx 2 (t )
B
1
(5.52)
=
x 2 (t ) +
f (t )
dt
M
M
Nu ta ch nh vn tc v(t) ca khi lng M l 1 trng thi bin s , lc fk(t) trn l
xo l 1 bin s, th:
Trang V.15
C S T ng Hc
Phm Vn Tn
dv(t )
B
1
= v(t ) +
f k (t )
(5.53)
dt
M
M
fk(t)=f(t)
(5.54)
Mch in tng ng vi h c trn c v hnh H.5_18.
+
+
e(t)
iL
ec
H.5_18
Nu mun tm di y1(t) ti in m y(t) p dng vo, ta dng h thc:
f (t )
f (t ) t
(5.55)
y 2 = k + y 2 (t ) =
+ v( )d + y 2 (0)
0
k
k
Trong y2(0) l di ban u ca khi lng M .
Mt khc, c th gii cho y2(t) t 2 phng trnh trng thi (5.51) v (5.52) v y1(t)
c xc nh bng (5.49).
Th d 5.4:
H thng quay v hnh H.5_19 gm 1 u th c nh. Moment qun tnh ca da quanh
trc l J. Ra ca da c lt trn mt phng v h s ma st trt l B. B qua qun tnh ca
trc. Hng s xon l K.
(t)
J.d2
dt2
B.d
dt
k
T(t)
B
Gi s 1 moment
T(t) p dng vo h thng nh hnh v:
Phng trnh momen quanh trc c vit t hnh H.5_19bH.5_19b
H.5_19a
d 2 (t )
d (t )
+B
+ K (t )
(5.62)
T(t)= J
2
dt
dt
H thng ny tng t nh h thng chuyn ng tnh tin H.5_16. Cc phng
trnh trng thi c th vit bng cc nh ngha cc bin.
x1(t)= (t )
dx1 (t )
V
= x 2 (t )
dt
Ng c c th thc hin cc bc tip theo vit phng trnh trng thi nh l 1 bi
tp.
Trang V.16
C S T ng Hc
Phm Vn Tn
V. M HNH HA NG C DC.
1. S lc v cc lai ng c DC:
Motor DC c th c xp thnh 2 loi : loi c t thng thay i c v loi khng
c t thng thay i c.
-Trong loi th nht: T trng c to bi cun cm. M cun cm th u
vi 1 t trng ngoi. Loi ng c ny li c c th chia lm 2 loi: kch t ni tip
v kch t ring.
Cun cm
Ni tip
M
Cun cm
ring
H.5_19a:Kch t ni tip
H.5_19b:Kch
ring
H.5_19a, k hiu ca ng c DC
kch t nittip.
Cun cm u ni tip vi
phn ng.
H.5_19b ng c ni tip kch t ring. Cun cm cch ly vi phn ng v
c cp in bi 1 ngun in khc.
+ Trong loi kch t ni tip, t thng trong ng c th t l vi dng in cm,
m dng ny th thay i, s lin h gia moment v vn tc thng l phi tuyn. Nh vy
loi ng c ny ch dng trong nhng ng dng t bit cn n moment ln vi vn tc
thp. Momen ca motor gim rt nhanh khi vn tc tng.
+ i vi loi kch t ring t thng th c lp vi dng in ng. V vy n c th
c iu khin t bn ngoi trong 1 phm vi rng.
-Trong loi th 2 motor DC c t thng khng i, t trng phn cm l do 1
nam chm vnh cu v khng thay i . Loi ny gi l PM motor.
iu ny khin c tuyn moment-vn tc tng i tuyn tnh.
Cc ng c DC qui c u c chi v c gp. Nhng hin nay c loi ng c DC
m c gp c thay bng b phn in t . Loi ny c gi l ng c DC khng chi(DC
brushless motor).
2. M hnh ha ng c DC:
V cc ng c DC c dng rt nhiu trong cc h iu khin ta cn quan tm ti
vic thip lp 1 m hnh ton hc cho chng.
Trang V.17
C S T ng Hc
Phm Vn Tn
Sau y ta khai trin m hnh ton hc cho 2 lai ng c DC kch t ring v loi kch
t bng nam chm vnh cu (PM.motor).
a. ng c DC kch t ring:
Ra
ia
Rf
Lf
La
ea
+
if
ef
-
+
eb
TL
Tm
H.5_20: M hnh ca ng c DC kch t ring

Phn ng c m hnh ha nh l 1 mch vi in tr Ra, ni tip vi 1 cun
cm La. Mt ngun in th Eb biu din cho sc in ng sinh ra trong phn ng
khi rotor quay.
Phn cm c biu din bng 1 in tr Rf ni tip vi 1 cun in cm Lf .
T thng trong khe t l rng.
Cc bin s v thng s tm tt nh sau:
Ea(t): in th phn ng.
Ef(t): in th phn cm.
Ra: in tr phn ng.
Eb(t): sut in ng trong phn ng.
Rf: in tr phn cm.
La: in cm phn ng.
Lf: in cm phn cm.
I a(t): dng in phn ng.
I f(t): dng in phn cm.
Ki: hng s moment.
Kb: hng s sut in ng phn ng.
Tm(t): moment c khai trin bi ng c.
Jm: qun tnh ca rotor.
Bm: h s ma st trt.
m (t ) : gc di ca rotor.
B
m (t ) : vn tc di ca rotor.
TL(t): moment ti.
Gi s ef(t) c cung cp 1 cch hiu qu cho if(t) khng i. S iu khin
c t ln 2 u phn ng di dng in th ea(t). V phn gii tuyn tnh ta
gi s thm:
Trang V.18
C S T ng Hc
1- T thng khe t th t l vi dng in cm.
Phm Vn Tn
2- Moment khai trin bi ng c th t l vi t thng trong khe t v dng

in ng .
V K mKf If l hng s, nn:
Tm(t)=Ki ia(t)
(5.65)
Ki l hng s moment.
Bt u vi in th iu khin ng vo cc phng trnh nhn qu ca h
c vit li:
di a ( t )
1
R
1
=
ea (t) a ia (t)
eb (t)
(5.66)
dt
La
La
La
Tm(t)=Ki ia(t)
eb (t ) = K b
(5.67)
dm ( t )
= K b m ( t )
dt
d 2m ( t )
1
1
B d m ( t )
Tm ( t )
TL ( t ) m
=
2
dt
Jm
Jm
J m dt
(5.68)
(5.69)
Trong o, TL(t) l moment ti(cn). Mt cch tng qut TL(t) biu din 1 moment m
ng c phi vut qu mi c th thay i c. TL(t) cng c th l moment ma st khng i
th d ma st culomb.
* Cc phng trnh (5.66) n (5.69) l nguyn nhn ca cc nguyn nhn.
Phng trnh (5.56) xem diat)/dt l hu qu trung gian do ea(t) gy ra. Trong phng trnh
(5.57) ia(t) to nn moment Tm(t).
Phng trnh (5.68) nh nhga sut in ng phn ng v cui cng trong phng trnh
(5.69) moment gy ra gc di m.
Cc bin s trng thi ca h c th c nh nhga l m , Wm v ia.
Cc phng trnh trng thi ca ng c DC , c vit di dng ma trn (5.70):
di a ( t ) R a
dt L a
d ( t ) K
m = i
dt J m
d m ( t ) 0
dt
Kb
La
Bm
Jm
1
i (t) 1
0
0 a
L

a

m ( t ) 0
1
+
.e a ( t ) .TL ( t )
0 .

Jm
0
0
0 m ( t )
(5.70)
Nh l trong trng hp ny TL(t) l input th 2 trong cc phng trnh trng thi.

hnh trng thi ca h c v hnh H.5_27, bng cch dng phng trnh (5.70).
Hm chuyn gia di v in th suy c t hnh trng thi.
Trang V.19
C S T ng Hc
Phm Vn Tn
m(s)
Ki
=
Ea (s) LaJmS3 + (RaJm + BmLa )S2 + (KbKi + RaBm)S
(5.71)
Trong TL t Zero.
ia(to)
s-1
1/La
.
ia
ea
s-1
TL
m(to)
m(to)
-1/Jm
s-1
s-1
s-1
s-1
m -Bm/Jm
ia
s-1
.
m
-Ra/La
-Kb/La
H.5_21: hnh trng thi
Mt s khi ca h thng c trnh by nh hnh H.5_22.
TL(s)
Ea(s) +
1
Ra+LaS
Ia(s)
Ki
Ta(s)
+
1
JmS+Bm
m(s) 1/S
Eb(s)
Kb
H.5_22:
S khi ca h thng.
*************
Trang V.20
m(s)
C S T ng Hc
Phm Vn Tn
Chng VI: TNH N NH CA H

THNG
I CNG.
NH NGHA TNH N NH.
KHAI TRIN PHN B TNG PHN.
MC PHNG PHC V S N NH CA H THNG.
CC PHNG PHP XC NH TNH N NH CA H
THNG.
TIU CHUN N NH ROUTH.
TIU CHUN HURWITZ.
Chng VI Tnh n nh Ca H Thng
Trang VI.1
C S T ng Hc
Phm Vn Tn
I. I CNG.
C nhiu c tnh c dng trong thit k h thng t kim. Nhng yu cu
quan trng nht, l h thng c n nh theo thi gian hay khng?
Ni chung, tnh n nh c dng phn bit hai loi h thng: Hu dng v v
dng. Trn quan im thc t, ta xem mt h thng n nh th hu dng, trong khi mt
h thng bt n th v dng.
i vi nhiu h thng khc nhau: tuyn tnh, phi tuyn, khng i theo thi gian
v thay i theo thi gian, tnh n nh c th c nh ngha theo nhiu hnh thc
khc nhau. Trong chng ny, ta s ch xt tnh n nh ca nhng h tuyn tnh, khng
i theo thi gian.
Mt cch trc gic, tnh n nh ca mt h l kh nng quay tr v trng thi
ban u sau khi lch khi trng thi ny, khi tc ng ca cc ngun kch thch t
bn ngoi(hay cc nhiu) chm dt.
II. NH NGHA TNH N NH

Mt h thng l n nh nu p ng xung lc gim ti zero khi thi gian tin ti v
cc.
* Th d 6.1: cho p ng xung lc ca vi h iu khin sau y. Trong mi trng hp,
hy xc nh tnh n nh ca h thng.
a) g(t) = e-t.
b) g(t) = t.e-t.
c) g(t) = 1.
d) g(t) = e-t.sin3t.
e) g(t) = sint.
g(t)
g(t)
1.0
1.0
te-t
0.5
e-t
0.5
0
1
a)
b)
Trang VI.2
C S T ng Hc
Phm Vn Tn
g(t)
1.0
0.5
0
1
c)
g(t)
1.0
0
e-tsint
/3
2/3
-1.0
g(t)
d)
sint
1.0
0
2
-1.0
e)
Hnh .6_1.
Theo nh ngha, h thng:
a) n nh.
b) n nh.
c) bt n.
d) n nh.
e) bt n.
Trang VI.3
C S T ng Hc
Phm Vn Tn
III. KHAI TRIN PHN B TNG PHN (Parial

Fraction expansion)
C th tm p ng xung lc ca mt h thng bng cch ly bin i laplace ngc
hm chuyn ca h.
V khng phi dng n tch phn bin i laplace ngc.
1
f (t) =
2j
c + j
F ( s ) e st dt
c j
ta c th dng phng php khai trin phn s tng phn

Xem hm chuyn
G(s) = C(s)/ R(s).
(6.1)
Trong , C(s) v R(s) l nhng a thc theo s. Gi s R(s) c bc ln hn C(s). a
thc R(s) gi l a thc c trng v c th vit:
R(s) = sn + a1sn-1 +....+an-1s +an.
(6.2)
Trong , a1,...an l nhng h s thc.
Nhng nghim ca phng trnh c trng R(s) = 0 c th l thc, hay nhng cp phc
lin hp n hay a cp (c ly tha hay khng).
Ta xem trng hp nhng nghim ny thc v n cp, phng trnh (6.1) c th c
vit:
G(s) =
C(s)
C(s)
=
R(s) (s + s1 )(s + s 2 )...(s + s n )
(6.3)
Trong , -s1, -s2,....-sn l nhng nghim ca phng trnh c trng zero ca R(s) hay
l nhng cc ca G(s).
G(s) =
k
k
ks1
+ s2 + .... + sn
s + sn
s + s1 s + s 2
(6.4)
Nhng h s Ksi (i=1, 2, 3,...n) c xc nh bng cch nhm 2 v ca (6.3) hoc (6.4)
cho (s+si) ri t s = -si.
Th d, tm h s Ks1, ta nhm c hai v (6.3) cho (s+s1) v t s = -s1.
C (s )
C( s1 )
K S1 = (s + s1 )
=
R (s) S= S1 (s 2 s1 )(s3 s1 )....(s n s1 )
(6.5)
* th d 6.2: xem hm chuyn ca mt h thng.
G (s) =
5s + 3
(s + 1)(s + 2)(s + 3)
(6.6).
Hy tm p ng xung lc ca h.
Trang VI.4
C S T ng Hc
Phm Vn Tn
Trc ht, ta p dng k thut khai trin phn s tng phn.

G (s) =
K 1 K 2 K 3
+
+
s +1 s + 2 s + 3
(6.7)
cc h s K-1, K-2, K-3 c xc nh nh sau:

5( 1) + 3
= 1
( 1 + 2)(1 + 3)
5( 2) + 3
=
=7
(2 + 1)(2 + 3)
5(3) + 3
=
= 6
( 3 + 1)( 3 + 2)
K 1 = [(s + 1)G (s)]S= 1 =

K 2 = [(s + 2)G (s)]S= 2
K 3 = [(s + 3)G (s)]S= 3
Vy (6.7) tr thnh:
G (s) =
6
7
1
+
+
s +1 s + 2 s + 3
(6.8).
By gi ta c th dng bng bin i tnh p ng xung lc ca h thng.

g(t) =L-1[G(s)].
1
1
1
g(t) = -L-1 s + 1 +7L-1 s + 2 -6L-1 s + 3
(6.9)
g(t) = -e-t + 7e-2t -6e-3t.
(6.10)
* Th d 6.3: bi ton tng t nh trn, vi hm chuyn nh sau:
s 2 + 9s + 19
G( s) =
( s + 1)(s + 2)(s + 4)
G(s) =
g(t) =
11
5
1
3( s + 1) 2( s + 2) 6( s + 4)
11 -t 5 -2t 1 -4t
e - e - e .
3
2
6
(6.11)
(6.12)
(6.13)
* Th d 6.4:
G (s) =
1
( s + 1) 2 ( s + 2)
Khai trin phn s tng phn:
Trang VI.5
C S T ng Hc
K11
K12
K
+
+ 21
2
s + 1 ( s + 1)
s+2
G ( s) =
K 11 =
Phm Vn Tn
d
[(s + 1) 2 G(s)]S=1 = d 1 = 1
ds
ds s + 2 S= 1
K 12 = [(s + 1) 2 G(s)]S= 1 = 1
K 21 = ( s + 2) G ( s) S = 2 = 1
G(s) =
1
1
1
+
+
s + 1 ( s + 1) 2 s + 2
Bin i Laplace ngc : g(t) = - e-t + t e-t + e-2t.
IV. MT PHNG PHC V S N NH CA H

THNG
1. Hm chuyn l mt hm hu t, bao gm t s ca nhng a thc theo bin s
phc s.
b
G (s ) =
i= 0
n
i= 0
bi
s
b m
a is
m
=
(s
+ z
i1
(s
+ p
(6.14)
i=1
Trong cc (s+zi ) l nhng tha s ca a thc t v ( s+pi ) l nhng tha s ca

a thc mu.
a) Nhng gi tr ca s lm cho tr tuyt i ca |G(s)| bng zero th gi l cc zero ca
G(s).
b) Nhng gi tr ca s lm cho tr tuyt i ca |G(s)| tin ti v cc th gi l cc cc
(pole) ca G(s).
* Th d 6.5 : Xem mt h thng c hm chuyn
G(s) =
C th vit li:
G(s) =
2s2 2s 4
s3 + 5s2 + 8s + 6
2(s + 1)(s 2)
(s + 3)(s + 1 + j )(s + 1 j)
(6.16)
G(s) c cc zero ti s = -1 v s = 2
G(s) c cc cc ti s = -3 ; s = -1-j v s = -1+j
Cc v zero l nhng s phc, c xc nh bi hai bin s s = + j. Mt biu din
phn thc v mt biu din phn o cho s phc.
Trang VI.6
C S T ng Hc
Phm Vn Tn
Mt cc hay mt zero c th c biu din trong ta vung gc. Trc honh ch

trc thc v trc tung ch trc o. Mt phng xc nhbi h trc ny gi l mt phng phc
hoc mt phng s.
j
j
-3 -2
3
-1
j
H.6-2
Na mt phng m trong < 0 gi l na tri ca mt phng s. v na kia trong

> 0 gi l na phi ca mt phng s.
V tr ca mt cc trong mt phng s c k hiu bng du (X) v v tr mt zero bng
du (o).
2. trn ta thy p ng xung lc ca mt h thng tuyn tnh khng thay i theo thi gian
th gm tng cc hm expo theo thi gian, m cc s m ca chng l nghim ca phng
trnh c trng.
Vy m bo hm xung lc gim theo hm expo theo thi gian th cc nghim ca
phng trnh c trng phi c phn thc m.
Nghim ca phng trnh c trng ca h thng cng l cc ca hm chuyn.
Vy c th kt lun rng, iu kin cn mt h n nh l cc cc ca hm chuyn
phi nm na tri ca mt phng s.
Trc o, bao gm gc ta , th thuc v vng bt n.
j
Vng n nh
Vng bt n
Vng n nh
Vng bt n
H.6-3
* Th d 6.5 :
Xem mt h thng c hm chuyn m cc cc ti -1 v -5 v cc zero ti 1 v -2
Trang VI.7
C S T ng Hc
Phm Vn Tn
j
-5
-2
-1
H.6-4
Cc cc u nm na tri mt phng s. vy h thng n nh. Mc d c mt zero nm
na phi, nhng u khng tc ng ln tnh n nh ca h thng.
V. CC PHNG PHP XC NH TNH N NH

CA H THNG
Ta thy tnh n nh ca mt h t kim tuyn tnh khng i theo thi gian c th
xt bng cch kho st p ng xung lc, hoc tm v tr cc nghim ca phng trnh c
trng trong mt phng s. Nhng cc tiu chun y thng l kh thc hin trong thc t. Th
d, p ng xung lc c c bng cch ly bin i Laplace ngc ca hm chuyn, nhng
khng phi lc no cng n gin. Cn vic tm nghim ca phng trnh bc cao ch c th
nh vo my tnh.
V vy, trong thc t phn gii tnh n nh cho h thng, ngi ta c th dng phng
php sau y m khng cn n vic gii cc phng trnh c trng.
1. Tiu chun ROUTH v HURWITZ : l mt phng php i s, cho d kin v tnh
n nh tuyt i ca mt h tuyn tnh khng i theo thi gian. Cc tiu chun ny s th
ch c bao nhiu nghim ca phng trnh c trng nm na tri, na phi v trn trc
o.
2. hnh qu tch nghim s (Root Locus Plot): trnh by mt hnh ca qu tch cc
nghim ca phng trnh c trng khi mt thng s no ca h thng b thay i. Khi
qu tch nghim s nm trn na phi mt phng s, h thng vng knh b bt n.
3. Tiu chun NYQUIST : l mt phng php bn - - ha
(Semi graphical), cho d kin trn s khc bit gia s cc v zero ca hm chuyn vng
kn bng cch quan st hnh trng ca hnh NYQUIST. Phng php ny cn bit v tr
tng i ca cc zero.
4. S Bode : s Bode ca hm chuyn vng kn G(s) H(s) c th c dng xc
nh tnh n nh ca h vng kn. Tuy nhin, ch c th dng khi G(s) H(s) khng c cc
cc v zero trong na phi mt phng s.
5. Tiu chun LYAPUNOV : l phng php xc nh tnh n nh ca h phi tuyn,
nhng vn c th p dng cho cc h tuyn tnh. S n nh ca h c xc nh bng
cch kim tra cc tnh cht ca hm Lyapunov.
VI. TIU CHN N NH ROUTH

Tiu chun Routh c th xc nh tnh n nh ca h m phng trnh c trng n
bc n.
Trang VI.8
C S T ng Hc
Phm Vn Tn
ansn + an-1sn-1 + .. + a1s + a0 = 0

Tiu chun ny c p dng bng cch dng bng Routh nh ngha nh sau :
sn anan-2
an-4
an-3
an-5
sn-1 an-1
.
b1
b2
b3
.
c1
c2
c3
.
.
.
.
Trong an , an-1 , , a0 l cc h s ca phng trnh c trng, v :
b1
a n 1 a n 2 a n a n 3
a n 1
c1
b 1 a n 3 a n 1 b 2
b1
b2
a n 1 a n 4 a n a n 5
a n 1
....v...v
b 1 a n 5 a n 1 b 3
b1
.....v...v
c2
Bng c tip tc theo chiu ngang chiu dc cho n khi c ton zero.
Tc c nghim ca phng trnh c trng c phn thc m nu v ch nu cc phn t
ct th nht ca bng Routh c cng du (khng i du). Ni cch khc s nghim c phn
thc dng bng vi s ln i du.
* Th d 6 -6 : H thng c phng trnh c trng
s3 + 6s2 + 12s + 8 = 0
Xt tnh n nh
Bng Routh :
1
12
0
s3
6
8
0
s2
s1
s0
64
6
v khng c i du ct th nht, nn tt c cc nghim ca phng trnh c trng u

c phn thc m. Vy h n nh.
* Th d 6 -7 : Phng trnh c trng ca mt h thng l :
s3 + 3s2 + 3s + 1 + k = 0
Hy xc nh iu kin h n nh
Bng Routh :
s3
s2
s1
s0
1
3
8k
3
3
1+k
0
0
1+k
h n nh, cn c s khng i du ct 1. Vy cc iu kin l :

8-k > 0 v 1+k > 0
Trang VI.9
C S T ng Hc
Phm Vn Tn
vy phng trnh c trng c cc nghim vi phn thc m nu :

-1 < k < 8
* Th d 6 -8 : Lp bng Routh v xc nh s nghim c phn thc dng ca phng trnh
c trng
2s3 + 4s2 + 4s + 12 = 0
Bng Routh :
s3
s2
s1
s0
2
1
-1
3
4
3
0
Hng s2 c chia 4 trc khi

tnh hng s1. Hng s1 c chia
2 trc khi tnh hng s0
0
0
V c hai ln i du ct 1, nn phng trnh trn c hai nghim c phn thc dng.

* Th d 6 -9 : Xt tnh n nh ca h thng c phng trnh c trng :
s4 + s3 - s - 1 = 0
Bng Routh :
s4
s3
s2
s1
s0
1
1
1
0
-1
0
-1
-1
0
-1
0
0
H s hng s0 c tnh bng cch thay 0 hng s1 bng , ri tnh h s ca hng s0 nh

sau :
( 1) 0
= 1
Cn phng cch ny khi c mt zero ct mt. V c mt ln i du ct mt, nn

phng trnh c trng c mt nghim c phn thc dng. Do , h thng khng n nh.
VII. TIU CHUN HURWITZ

Tiu chun n nh Hurwitz l phng php khc xc nh tt c nghim ca
phng trnh c trng c phn thc m hay khng . Tiu chun ny c p dng thng qua
vic s dng cc nh thc to bi nhng h s ca phng trnh c trng.
Gi s h s th nht, an dng. Cc nh thc Ai vi i = 1, 2, .... , n-1 c to ra
nh l cc nh thc con (minor determinant) ca nh thc :
Trang VI.10
C S T ng Hc
Phm Vn Tn
a0 nu n l
a1 nu n chn
an-1
an-3 .....
an
an-2 ... a1 nu n l
0 0
a0 nu n chn
0 0
an-3
0
an-1
.. 0
An =
0
an
an-2
an- 4 ..
0
an-5
.
.
0
Cc nh thc con c lp nn nh sau :
1 = a n 1
a n 3
= a n 1 a n 2 a n a n 3
a n 2
a n 3 a n 5
a n 2 a n 4 = a n 1 a n 2 a n 3 + a n a n 1a n 5
a n 1 a n 3
a
2 = n 1
an
a n 1
3 = a n
0
a n a n2 3 a n 4 a 2n 1
V tng dn n n
Tt c cc nghim ca phng trnh c trng c phn thc m nu v ch nu i > 0
vi i = 1 , 2 , , n.
* Th d 6 -10: Vi n = 3
a2
3 = a 3
a0
a1
0
0 = a 2 a 1 a 0 a 02 a 3
a2
a0
a2
a0
a3
a1
2 =
= a 2 a1 a 0 a 3
1 = a 2
Tt c cc nghim ca phng trnh c trng c phn thc m nu
Trang VI.11
C S T ng Hc
Phm Vn Tn
a2 > 0 , a2 a1 a0 a3 > 0
a2 a1 a0 a02 a3 > 0
* Th d 6 -11 : Xt s n nh ca h thng c phng trnh c trng
s3 + 8s2 + 14s + 24 = 0
Lp cc nh thc Hurwitz
8 24 0
3 = 1 14 0 = 88 24 > 0
0 8 24
2 =
8 24
1 14
= 88 > 0
1 = 8 > 0
Cc nh thc u ln hn khng, cc nghim ca phng trnh c trng u c phn

thc m, nn h thng n nh.
* Th d 6 12 : Vi khong gi tr no ca k th h thng sau y n nh :
s2 + ks + ( 2k 1 ) = 0
2 =
k
0
= k (2K 1)
1 2k 1
1 = k
h n nh, cn c :
Vy k >
k (2k -1) > 0

k> 0
1
2
* Th d 6 13 :
Mt h thng thit k t yu cu khi mch khuch i ca n c li k = 2 . Hy xc
nh xem li ny c th thay i bao nhiu trc khi h thng tr nn bt n, nu phng
trnh c trng ca h l :
s3+ s2 (4+k) + 6s + 16 + 8k = 0
Thay cc tham s ca phng trnh cho vo iu kin Hurwitz tng qut th d 6
10. Ta c nhng iu kin h n nh :
4 + k > 0 , (4+k)6 (16+8k) > 0
(4+k) 6 (16+8k) (16 + 8k)2 > 0
Gi s li k khng th m, nn iu kin th nht tha.
iu kin th nh v th ba tha nu k < 4
Vy vi mt li thit k c gi tr l 2, h thng c th tng li ln gp i trc
khi n tr nn bt n.
li cng c th gim xung khng m khng gy ra s mt n nh.
Trang VI.12
C S T ng Hc
Phm Vn Tn
BI TP CHNG VI
VI. 1 Xem nghim ca phng trnh c trng ca vi h thng iu khin di y. Hy
xc nh trong mi trng hp s n nh ca h. (n nh, n nh l, hay bt n)
a) 1 ,-2
f) 2 , -1 , -3
b) 1 , +1
c)
d)
e)
f)
g) -6 , -4 , 7
3 , +2
1 + j , -1 j
2 +j , -2 j
2 , -1 , -3
h) -2 + 3j , -2 3j , -2
i) -j , j , -1 , 1
VI. 2 Mt h thng c cc cc 1 , -5 v cc zero 1, -2 . H thng n
nh khng?
VI. 3 Xt tnh n nh ca h thng c phng trnh c trng :

(s + 1) (s + 2) (s - 3) = 0
VI. 4 Phng trnh ca mt mch tch phn c vit bi :
dy/dt = x
Xc nh tnh n nh ca mch tch phn.
VI. 5 Tm p ng xung lc ca h thng c hm chuyn :
G (s ) =
s 2 + 2s + 2
(s + 1)(s + 2)
Xt tnh n nh ca h da vo nh ngha.
VI. 6 Khai trin G(s) thnh phn s tng phn. Ri tm p ng xung lc v xt tnh n
nh.
a) G (s) =
(s 2 + s 2 )
s(s + 1)(s + 2)
s 2 + 9 s +19
b) G (s) =
s(s + 1)(s + 2)(s + 4)
VI. 7 Dng k thut bin i laplace, tm p ng xung lc ca h thng din t bi phng
trnh vi phn :
d 3 y dy
+
= x
dt
dt 3
S : y(t) = 1 cost
VI. 8 Xc nh tt c cc cc v zero ca :
G (s ) =
s 2 26
5
s 7s 30s
S : s3 (s+3)(s-10)
Trang VI.13
C S T ng Hc
Phm Vn Tn
VI. 9 Vi mi a thc c trng sau y, xc nh tnh n nh ca h thng.

a) 2s4 +8s3 + 10s2 + 10s + 20 = 0
b) s3 + 7s2 + 7s + 46 = 0
c) s5 + 6s4 + 10s2 + 5s + 24 = 0
d) s3 - 2s2 + 4s + 6 = 0
e) s4 +8s3 + 24s2 + 32s + 16 = 0
f) s6 + 4s4 + 8s2 + 16 = 0
S : b , f : n nh
VI.10 vi gi tr no ca k lm cho h thng n nh, nu a thc c trng l :
S : k > 2
s3+ (4+k) s2+ 6s + 12 = 0
VI. 11 c bao nhiu nghim c phn thc dng, trong s cc a thc sau y :
a) s3 + s2 - s + 1
b) s4 +2s3 + 2s2 + 2s + 1
c) s3 + s2 2
d) s4 - s2 - 2s + 2
e) s3 + s2 + s + 6
S : a(2) , b(0) , c(1) , d(2) , e(2)
VI. 12 Vi gi tr dng no ca k lm cho a thc :
s4 +8s3 + 24s2 + 32s + k = 0
C cc nghim vi phn thc l zero? l nhng nghim no?
S : k = 80 , s = j2
VI. 13 H thng c phng trnh c trung sau y th nh nh?
s4 +3s3 + 6s2 + 9s + 12 = 0
VI. 14 Xc nh hm chuyn v tm iu kin mch sau y n nh.
R1
+
C1
vi
-
C2
R2
1
1
)(s +
)
v0 (s)
R1C1
R 2C 2
=
S :
1
vi (s) s 2 + ( 1 + 1 + 1 )s +
R 2C2 R 2C1 R1C1
R1C1R 2C2
(s +
VI. 15 Xc nh hm chuyn v tm iu kin mch sau y n nh.
Trang VI.14
C S T ng Hc
Phm Vn Tn
R1
vi
R2
i1
C1
+
i2
v0
C2
S :
v 0 (s)
1
=
v i (s) R 1R 2C1C 2s 2 + ( R 1C1 + R 1C 2 + R 2C 2 )s + 1
(Dng bng Routh)
VI.16 Xc nh nhng iu kin Hurwith cho s n nh ca h thng c phng trnh c

trng cp 4. Gi s a4 > 0
a4 s4 + a3 s3 + a2 s2 + a1 s + a0 = 0
S : a3 > 0 , a3 a2 a4 a1 > 0 , a3 a2a1 a0 a32 a4 a12 > 0
a3 (a2a1a0 a3 a02 ) a0 a12 a4 > 0
*****************
Trang VI.15
C S T ng Hc
Phm Vn Tn
Chng VII: PHNG PHP QU TCH

NGHIM S
I CNG.
QU TCH NGHIM S.
TIU CHUN V GC PHA V XUT.
S NG QU TCH.
QU TCH TRN TRC THC.
CC NG TIM CN.
IM TCH.
GC XUT PHT V GC N.
PHNG PHP V QTNS.
HM CHUYN VNG KN V P NG TRONG MIN THI GIAN.
Chng VII Phng Php Qu Tch Nghim s
Trang VII.1
C S T ng Hc
Phm Vn Tn
I . I CNG
Trong vic thit k v phn gii cc h iu khin, ngi ta thng cn phi quan st
trng thi ca h khi mt hay nhiu thng s ca n thay i trong mt khang cho sn no
. Nh , ta c th chn mt cch xp x tr gn ng cho thng s (chng hn, chn li
cho h, hoc kho st nhng bin i thng s do s la ha ca cc b phn ca h).
thc hin mc ch y, ta c th dng k thut qu tch nghim s (Root locus).
Ta bit, cc cc ca hm chuyn l nghim ca phng trnh c trng, c th hin
th trn mt phng S.
Hm chuyn vng kn ca h:
G (S)
1 + G (S).H (S)
l mt hm ca li vng h K. Khi K
thay i, cc cc ca hm chuyn vng kn di chuyn trn mt qi o gi l qi tch nghim

s (QTNS).
Trong chng ny, ta a vo nhng tch cht c bn ca QTNS v phng php v qi
tch da vo vi nh lut n gin.
K thut QTNS khng ch hn ch trong vic kho st cc h t kim. Phng trnh
kho st khng nht thit l phng trnh c trng ca h tuyn tnh. N c th c dng
kho st nghim ca bt k mt phng trnh i s no. V ngy nay, vic kho st thit k
mt h t iu khin (trong c k thut QTNS) tr nn d dng, nhanh chng v thun tin
nhiu nh cc phn mm chuyn dng trn my tnh, chng hn Matlab.
II. QU TCH NGHIM S

Xem mt h t iu khin chnh tc:
R
G
H
H.7-1
- Hm chuyn vng
kn:
C
G
=
R 1 + GH
- Hm chuyn vng h:
K (Sm + am1Sm1 + ... + a 0 ) KN (S)

=
GH =
Sn + bn1Sn1 + ... + b 0
D(S)
N(S) v D(S) l cc a thc hu hn theo bin phc S
mn ; K l li vng h.
Cc cc ca hm chuyn vng kn l nghim ca phng trnh c trng:
D(S) + KN(S) = 0
(7.1)
Trang VII.2
C S T ng Hc
Phm Vn Tn
V tr ca cc nghim ny trn mt phng S s thay i khi K thay i. Qi o ca

chng v trn mt phng s l mt hm ca K.
- Nu K = 0, nghim ca (7.1) l nghim ca a thc D(S), cng l cc ca hm
chuyn vng h GH. Vy cc cc ca hm chuyn vng h l cc cc ca hm
chuyn vng kn.
- Nu K tr nn rt ln, nghim ca (7.1), nghim ca (7.1) l nghim ca a thc
N(S), l cc zero ca hm chuyn vng h GH.
Vy khi K tng t 0 n , qi tch ca cc cc vng kn bt u t cc cc vng h v
tin n chm dt cc zeroca vng h. V l do , ta quan tm n hm chuyn vng h
G(S).H(S) khi v QTNS ca cc h vng kn.
Th d 7.1: Xem hm chuyn vng h ca mt h hi tip n v:
KN K (S + 1)
= 2
D
S + 2S
C
K (S + 1)
Vi H=1, hm chuyn vng kn: = 2
R S + 2S + K (S + 1)
GH =
1
1
S1 = (2 + K ) + 1 + K 2
2
4
1
1
S2 = ( 2 + K ) 1 + K 2
2
4
Cc cc vng kn:
- Khi K=0
;
S1=0
;
S2= -2
- Khi K=
;
S1= -1
;
S2= -
Qi tch cc nghim ny c v nh l mt hm ca K (vi K > 0)
j
K=
K=1,5
K=0
K=
-3
-2
-1
K=1,5
K=0
H. 7.1
QTNS gm hai nhnh:
- Nhnh 1: di chuyn t cc vng h ti gc ta (ng vi K=0) n zero vng h
ti -1 (ng vi K=).
- Nhnh 2: di chuyn t cc vng h ti -2 (ng vi K=0) n zero vng h ti -
(ng vi K=).
Trang VII.3
C S T ng Hc
Phm Vn Tn
III. TIU CHUN V GC PHA V SUT

mt nhnh ca QTNS i ngang qua mt im S1 trong mt phng S, iu kin cn l
S1 phi l nghim ca phng trnh (7.1) vi vi tr gia thc ca K.
D(S1) + KN(S1) = 0
(7.2)
G(S1).H(S1) =
Suy ra:
KN(S1)
= 1
D(S1)
(7.3)
Phng trnh (7.3) chng t:

- Sut: G(S1).H(S1) =1
K=
D(S1)
N(S1)
(7.4)
- Gc pha: arg G(S1).H(S1) = 1800 + 3600l

arg G(S1).H(S1) = (2l + 1)
;
ra
l = 0, 1, 2 ..
(7.5)
rad
;K > 0
N(S1 ) (2l + 1)
=
(7.6)
rad
;K < 0
D(S1 ) 2l
Phng trnh (7.4) gi l tiu chun ca sut v (7.6) gi l tiu chun v gc mt
im S1 nm trn QTNS.
Gc v sut ca G(S).H(S) ti mt im bt k no trong mt phng S u c th xc
nh c bng hnh v. Vi cch y, c th xy dng QTNS theo phng php th v sa sai
(Trial and error) nhiu im trn mt phng S.
* Th d 7.2: Xem hm chuyn vng h ca th d 7.1, chng t S1=-0,5 l mt im nm
trn QTNS, khi K=1.5
arg
GH(S1 ) =
1.5(0.5)
= 1
0.5(1.5)
Vy tha tiu chn v sut v pha, nn S1 nm trn QTNS. H.7.1, im S1=-0.5 nm

trn QTNS, l mt cc ca vng kn vi K=1.5.
Th d 7.3: Hm chuyn vng h ca h l GH(S) =
K
= . Tm
S(S + 2) 2
arg GH(j2) v GH ( j2) . Tr gi no ca K lm j2 nm trn QTNS?
Trang VII.4
C S T ng Hc
Phm Vn Tn
j
J2
J1
900
450
-2
-1
Hnh 7.2
K
j2( j2 + 2) 2
arg GH(j2) = -900-450-450 = -1800
K
K
GH( j2) =
=
2(2 2 ) 2 16
im j2 nm trn QTNS, th GH ( j2) = 1 khi K=16
GH ( j2) =
* Th d7.4: Chng t im S1 = 1 + j 3 nm trn QTNS. Cho

K
vi K > 0, v xc nh tr K ti im .
GH(S) =
(S + 1)(S + 2)(S + 4)
j
S1
300
-4
600
-2
j 3
900
-1
N(S1 )
1
= arg
= 90 0 60 0 30 0 = 180 0
D(S1 )
j 3 (1 + j 3 )(3 + j 3 )
tha tiu chun sut, GH (S1 ) = 1 th:
arg
Trang VII.5
C S T ng Hc
K =
Phm Vn Tn
D(S1 )
= j 3 (1 + j 3 ) 3 + j 3 = 3. 4 . 12 = 12
N(S1 )
S NG QU TCH:
S ng qu tch, hay l s nhnh QTNS, bng vi s cc ca hm chuyn vng h

GH.
Th d 7.4: Vi GH(S) =
K (S + 2)
, QTNS s c 3 nhnh.
S 2 (S + 4)
IV. QU TCH TRN TRC THC

Nhnh ca QTNS nm trn trc thc ca mt phng S c xc nh bng cch m
ton b s cc hu hn v s zero ca GH.
1. Nu K>0: Nhnh ca QTNS trn trc thc nm bn tri ca mt s l cc cc v
zero.
2. Nu K<0: Nhnh ca QTNS trn trc thc nm bn tri ca mt s chn cc cc v
zero.
Nu khng c im no trn trc thc nm bn tri mt s l cc cc v zero, th c
ngha l khng c phn no ca QTNS vi K>0 nm trn trc thc. iu tng t cng ng
vi K<0.
* Th d 7.5: Xem s cc v zero ca mt hm chuyn vng h GH nh hnh v
j
j
-4
-2
-1
0
-j
H. 7.3
-
Phn m trn trc thc, t 0 n -2 v t -4 n - l QTNS vi K>0

Phn cn li ca trc thc, t -4 n -2 v t -0 n + l QTNS vi K<0
Trang VII.6
C S T ng Hc
Phm Vn Tn
V. CC NG TIM CN .
Vi nhng khong xa gc trong mt phng s, cc nhnh ca QTNS tip cn vi mt tp
hp cc ng thng tim cn (asymptote)
Cc ng tim cn ny xut pht t mt im trn trc thc ca mt phng s, v gi l
tm tim cn c.
n
p z
i
c =
i =1
i =1
(7.6)
nm
Trong : -pi l cc cc ; -zI l cc zero ca GH.

n l s cc ; m l s zero .
Gc to cc ng tim cn v trc thc cho bi :
( 2 l + 1) 180
n m
Vi k > 0
=
( 2 l) 180
n m
l = 0 ,1, 2 , .. , n-m-1
a n kt qu : s ng tim cn = n m
* Th d 76 : Tm tim cn ca GH =
c =
(7.7)
(7.8)
k (s + 2)
cho bi :
s 2 (s + 4)
42
= 1
2
n m =2 c hai ng tim cn. Gc ca cng i vi trc trc l :

= 90o ; = 2700 ; k > 0
j
0
900
270
-4
H. 7-4
-1
Trang VII.7
C S T ng Hc
Phm Vn Tn
VI. IM TCH (Break away point, saddle point).

im tch b l mt im trn trc thc, ti hai hay nhiu nhnh QTNS i khi
(hoc n) trc thc.
Hai nhnh ri khi trc thc
Hai
im tch l nghim ca phng trnh :

n
i =1
1
b + pi
i =1
Trong : - p i : cc cc
1
b + zi
(7.8)
; -zi : cc zero
* Th d 7-7 : Xc nh im tch ca :
GH =
k
s (s + 1) (s + 2)
Gii phng trnh :
1
1
1
+
+
=0
b
b + 1 b + 2
3b2 + 6b + 2 = 0 . Phng trnh c hai nghim :
b1 = -0.423 ; k > 0
b2 = -1,577 ; k < 0
b
-2
-1
VII. GC XUT PHT V GC N

Trang VII.8
C S T ng Hc
Phm Vn Tn
1). Gc xut pht ca QTNS t mt cc phc cho bi :

D = 1800 + arg GH
(7.9)
Trong arg GH l gc pha ca GH c tnh ti cc phc, nhng b qua s tham

gia ca cc ny.
* Th d 7-8 : Xem hm chuyn vng h :
GH =
k (s + 2)
(s + 1 + j)(s + 1 j)
, k>0
1350
+j
450
-2
-1
900
-j
2250
-
Gc xut pht ca QTNS ti cc phc s = -1 +j tnh nh sau :

arg GH = 450 900 = -450
D = 1800 450 = 1350
H.7-7
- Gc xut pht ca QTNS ti cc phc
s = -1 -j tnh nh sau :
0
0
0
arg GH = 315 270 = 45
D = 1800 + 450 = 2250
2). Gc n mt zero phc ca QTNS cho bi :
A = 1800 - arg GH
(7.10)
Trong GH l gc pha ca GH c tnh ti zero phc , nhng b qua s tham

gia ca zero ny.
* Th d 7-9 : Xem :
GH =
-
k (s + j)(s j)
s(s + 1)
; k>0
Gc n ti zero phc s = j tnh nh sau :

arg GH = 900 900 - 450= - 450
A = 1800 (- 450 ) = 2250
Trang VII.9
C S T ng Hc
Phm Vn Tn
j
900
450
-1
-j
H.7-8
VIII. PHNG PHP V QTNS .

ve QTNS chnh xc v d dng, c th theo cc bc sau :
Xc nh cc nhnh nm trn trc thc.
Tnh tm, gc tim cn. V cc ng tim cn.
Xc nh cc gc xut pht t cc cc phc v gc n cc zero phc ( nu c).
Xc nh im tch.
V cc nhnh sao cho mi nhnh xut pht ti 1 cc ri chm dt ti mt zero, hoc
tin v dc theo mt ng tim cn.
- Ap dng tiu chun v gc pha cho cc im nm trn QTNS hnh v c chnh
xc.
- Tiu chun v sut dng xc nh cc tr gi ca k dc theo cc nhnh.
V cc cc phc ca h xut hin tng cp phc lin hp, nn QTNS th i xng qua
trc thc. Vy ch cn v na trn ca QTNS. Tuy nhin, cn nh l cc cc phc v zero
phc na di ca QTNS cng phi tha iu kin v sut v gc pha.
Thng thng, vi ch ch phn tch v thit k, mt QTNS chnh xc ch cn thit
mt vi vng ca mt phng s. Khi , tiu chun v gc v sut ch p dng cho nhng vng
ny c th v dng chnh xc ca qu tch.
-
Th d 7-10 : QTNS ca h kn c hm chuyn vng h l :
GH =
k
, k >0
s(s + 2) (s + 4)
c v nh sau :
- Nhnh trn trc thc nm t 0 n -2 v t -4 n -
- Tm tim cn, c xc nh bi phng trnh (7.6).
c = - (2+4) /3 = -2
C 3 ng tim cn, nh v bng cc gc c xc nh bi (7.7) :
= 600 , 1800 v 3000
- V c hai nhnh cng nm trn trc thc gia 0 v 2, nn c mt im tch tn ti
trong on ny. V tr im tch xc nh bi :
Trang VII.10
C S T ng Hc
Phm Vn Tn
1
1
1
+
+
=0
b
b + 2
b + 4
3 2b + 12 b + 8 = 0
b = 0.845
- Tiu chun v gc v sut c p dng ln tng im ln cn ca ng qu tch v
phng, xc nh v tr chnh xc ca cc nhnh trong phn phc ca mt phng s.
j
k=48
k=20
k=48 k=15 k=0
-6
-5
k=7
j 8
J2
J1
k=0
-4
k=7
k=20
H.7-9k=48
j 8
Hnh 7.10 V QTNS cho th d 7-10 trong trng hp k < 0
j
k=48
k=20
k=7
600
b
-4
k=7
k=0 k=7 k=15
-2
k=20
k=48
H.7-10
Trang VII.11
C S T ng Hc
Phm Vn Tn
Cch v cng tng t mh trng hp k>0.

b = -3.115 ;
= 00 ; 1200 ; 2400
IX. HM CHUYN VNG KN V P NG TRONG

MIN THI GIAN
Hm chuyn vng kn C/R c xc nh d dng t QTNS vi mt tr gi ring ca
k.
T , ta c th tm c p ng ca h min thi gian C(t) bng cch ly bin i
laplace ngc C(s)
Xem hm chuyn vng kn C/R ca mt h hi tip n v :
C
G
(7.9)
=
R
1+ G
Hm chuyn vng h l biu thc hu t
G=k
N (s) k (s + z 1 )(s + z 2 ) ...... (s + z n )

=
D(s) (s + p 1 )(s + p 2 ) ....... (s + p n )
(7.10)
-zi l cc zero ; -pi l cc cc ca G

C
kN
(7.11)
=
R D + kN
R rng C/R v G c cng zero, nhng khng cng cc ( tr khi k=0 ).
C k (s + z 1 )(s + z 2 )....(s + z m )
=
R (s + 1 )(s + 2 )....(s + n )
(7.12)
vi i l n cc vng kn. V tr cc cc ny c xc nh trc tip t QTNS vi v

tr gi ring ca li vng h k.
Th d 7.11:
Xem h thng c hm chuyn vng h l
k (s + 2)
GH =
; k>0
(s + 1) 2
QTNS c v hnh 7.11
Vi tr gi ca k c ch ti nhng im k hiu bng mt tam gic nh. y l cc
cc vng kn tng ng vi nhng tr ring ca k.
Vi k=2, cc cc l 1 = 2 + j v 2 = 2 j
Trang VII.12
C S T ng Hc
Phm Vn Tn
k=2
k=4
-3
k=1
- j1
-2
-1
k=1
k=2
- - j1
H.7.11
Vy
2(s + 2)
C
=
R (s + 2 + j)(s + 2 j)
Khi h c hi tip n v:
C
G
=
R 1 + GH
k
(7.13)
GH =
D
X. NGNG LI V NGNG PHA T QTNS .

Ngng li l h s m tr thit k ca k c th nhn vo trc khi h vng kn tr nn
bt n. N c th c xc nh t QTNS.
Tr ca k ti giao im ca QTNS vi trc o

Ngng li =
Tr thit k ca k
Nu QTNS khng ct trc o, ngng l li ca .
Th d 7.12:
Xem h hnh 7.12. Tr thit k ca k l 8. Ti giao im ca QTNS v trc o, k = 64.
Vy ngng li l 64/8 = 8.
Trang VII.13
C S T ng Hc
Phm Vn Tn
k=64
j12
k=8
3 cc
R
+
=
8
(s + 2)3
-1
-2
-j1
k=8
-j2
k=64
H.7.12
H.7.13
Ngng pha ca h cng c xc nh t QTNS. Cn thit phi tm im j1 trn trc

o cho GH ( j1) = 1 , vi tr thit k ca k
D( j1) / N ( j1) = k thit k
Thng cn n phng php th- v-sa sai nh vi j1.

tnh t argGH(j) l:
(7.15)
PM =1800 +argGH(j1)
Vy ngng pha c
Th d 7.13:
Xem h nh hnh 7.14. QTNS v hnh H.7.15.
R
=
+
=
1
s(s + 2)2
24
im trn trc o l lm cho GH( j1) =
24
jH
1( j7
1 + 4)
= 1.
vi 1 = 1.35
Gc pha ca GH(j1.35) l 129.60
Vy ngng pha l PM =1800 - 129.60 = 50.40
Lu :
xc nh tn s v li ti giao im ca trc o vi QTNS, c th dng bng Routh.
Ta bit rng mt hng cc zero trong hng s1 ca bng Routh cho bit a thc ca
mt cp nghim tho phng trnh h tr :
(7.16).
AS2 + B = 0
Trang VII.14
C S T ng Hc
Phm Vn Tn
Trong A, B l phn t th nht v th hai ca hng S2.

Nu A v B cng du, nghim ca phng trnh (7.16) l o ( nm trn trc j )
Vy nu bng Routh c vit cho hm c trng ca h, cc tr ca k v ng vi
giao in QTNS v trc o c th c xc nh.
Th d : Xem h vi GH nh sau GH =
k
S(S + 2) 2
Phng trnh c trng vng kn l: S3 + 4 S2 + 4S + k = 0.

Bng Routh:
S3
S2
S1
(16-k)/4
S0
Hng S1 th bng khng ng vi k=16.

Vy phng trnh h tr tr nn:
4 S2 + 16 = 0.
Vy vi k=16 phng trnh c trng
c cc nghim s = j 2 v QTNS ct
trc o ti j2
BI TP CHNG VII
VII.1: Xc nh nhnh ca QTNS nm trn trc thc trong cc trng hp:
k (s + 2)
k>0
a. GH =
;
(s + 1)(s + 3 + j)(s + 3 j)
k
k>0
b. GH =
;
s(s + 1) 2 (s + 2)
VII.2: Tm tm, gc v v cc ng tim cn cho
k (s + 2)
GH =
; k>0
(s + 1)(s + 3 + j)(s + 3 j)(s + 4)
VII.3: V cc ng tim cn khi k>0 v k<0 cho
k
GH =
s(s + 2)(s + 1 + j)(s + 1 j)
VII.4: Tm im tch cho
k (s + 2)
GH =
(s + 1 + j 3 )(s + 1 j 3 )
Trang VII.15
C S T ng Hc
Phm Vn Tn
VII.5: Xc nh gc xut pht v gc n ti cc cc v zero phc ca hm chuyn

vng h.
k (s + 1 + j)(s + 1 j)
k>0
GH =
;
s(s + 2 j)(s 2 j)
VII.6: V QTNS cho
GH =
k
;
(s + 1)(s + 2 j)(s + 2 + j)
k>0
VII.7: V QTNS cho

GH =
k (s + 2)
;
(s + 1)(s + 3 + j)(s + 3 j)
k>0
VII.8: V QTNS vi k>0 v k<0 cho

k
GH =
s(s + 1)(s + 3)(s + 4)
VII.9: V QTNS vi k>0 cho hm chuyn vng h trong cc trng hp sau:

k
a) GH =
s(s + 6)(s + 8)
k (s + 1)
b) GH = 2
s (s + 9)
k (s + 8)
c) GH =
(s + 14)(s + 10 + j10)(s + 10 j10)
k
d) GH =
(s + 5)(s + 10)(s + 15 + j9)(s + 15 j9)
VII.10: Xc nh ngng li v pha cho h thng vi hm chuyn vng h ca bi
tp 7.9d nu li k c thit k l 20,000.
***********************
Trang VII.16
C s t ng hc
Phm Vn Tn
THAM KHO
1. BENJAMIN C. KUO. Automatic Control Systems. Prentice - Hall Company
Ltd.
2. BRUCE A. CHUBB. Modem Analytical and Desin of Instrument
Servomechanism. Addison-Wesley publising company.
3. GEORGE J.THALER & ROBERT G. BROWN. Analytical and Desin of
Feedback Control System. Mc Graw-Hill Book Company.
4. JOSEPH.J. DISTEFANO, ALLEN R. STUBBERUD & JVAN
J. WILLIAMS. Feedback Control System. Mc Graw-Hill Book Company.
5. M. GOPAL. Digital control and stase variable methods. Mc Graw-Hill Book
Company.
6. RICHART C. DORF. Time Domain Analysis and Desin of Control System
- Addison-Wesley publising company.
7. Y.H.KU. Analysis and Control of Linear Systems. International Texbook
Company.
Trang ph lc 1
C s t ng hc
Phm Vn Tn
PH LC
Nhng cp bin i Laplace thng dng

trong vic phn tch cc h t ng.
Trang ph lc 1
C s t ng hc
Phm Vn Tn
Trang ph lc 1

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C S T ng Hc

i tng iu khin (ch ch).

Ba thnh phn c bn c th c nhn dng nh ( H.1_1).

2.H iu khin vng h (open_loop control system).

Hnh H.1_2 : Cc b phn ca mt h iu khin vng h.

Hnh H.1_3: Th d v h iu khin vng h.

D thy ngay rng mt h thng iu khin nh vy c tin cy khng cao.Tn hiu

3. H iu khin vng kn (closed loop control system).

H.1_4 : H iu khin vng kn.

H.1_6 : S khi my nng bnh t ng

H.1_8: Input v output ca s iu khin bnh xe in.

Xem mt h thng c hi tip tiu biu nh (H.1_9). Trong r l tn hiu vo. C l

a) Hiu qu ca hi tip i vi li ton th (overall Gain).

b) Hiu qu ca hi tip i vi tnh n nh.

Nu do nhng tn cht ca G v H lm cho vng hi tip trong bt n, v G.H = -1.

c) Hiu qu ca hi tip i vi nhy. (Sensibility)

H thc ny chng t hm nhy c th lm nh tu bng cch tng GH, min

d) Hiu qu hi tip i vi nhiu ph ri t bn ngoi.

Vi s tng G1, G1 output do nhiu tc ng ring mt mnh s l:

Nh hn so vi khi G1 khng tng. By gi t s S/N s la:

Nhn thy n ln hn h thng khng hi tip bi h s (1+ G1G2H)

III. CC LOI H THNG IU KHIN T NG.

1. H t iu khin tuyn tnh v phi tuyn.

thng l rt kh. V khng c phng php tng qut c th gii quyt mt s ln cc h

2. H thng c thng s thay i v khng thay i theo thi gian.

3. H iu khin d liu lin tc .

4. H iu khin d liu gin on.

H.1_12 : S khi mt h iu khin d liu mu ha.

H.1_13 : S khi c bn ca h thng iu khin qu o tn la

Bnh rng truyn ng

H.1_14: Servo mechanism iu khin van.

servo motor. Trc ca motor c truyn ( c kh ) n mt van m hay kha nc. Nu

b. Nu bit dng i di dng khc hn:

Cnh tay, tay

S hot ng ca h thng c gii thch nh sau :

Chng II: HM CHUYN V S KHI

nhng gi nh v nhng php tnh xp x , nghin cu cc h ny vi l thuyt h tuyn

II. P NG XUNG LC V HM CHUYN.

Tnh cht th ba l tng din tch trn xung lc l mt.

Chng II Hm Chuyn S Khi Ca H Thng

Mt khi r(t) vi tto v nhng iu kin u ca c(t) v cc o hm ca n c xc

Chng II Hm Chuyn S Khi Ca H Thng

C th tm tt cc tnh cht ca hm chuyn nh sau:

v Gij(s) xc nh bi phng trnh (2.8)

Chng II Hm Chuyn S Khi Ca H Thng

L mt ma trn qx1, gi l vector output.

.......... .......... .......... ........

L mt ma trn qxp, gi l ma trn chuyn (transfer matrix)

T(s)= (B + JS) (s) + TL(s)

Chng II Hm Chuyn S Khi Ca H Thng

Phng trnh ny c th vit li :

Trong C(s) = (s) ; R1(s) = V(s) ; R2(s) = TL(s)

G11(s) c xem nh hm chuyn gia in th vo v vn tc motor khi moment ti

III. S KHI ( block diagram )

Chng II Hm Chuyn S Khi Ca H Thng

H.2_2b: cng h thng trn nhng b phn khuch i th tuyn tnh.

Lu l H.2_2a, v b khuch i l phi tuyn, nn khng c hm chuyn gia ng

1. S khi ca mt h thng iu khin .

Chng II Hm Chuyn S Khi Ca H Thng

e(t)= r(t) c(t)

e(t)= r(t) + c(t)

e(t)= r(t) . c(t)

H.2_3: S khi b cm bin.

Chng II Hm Chuyn S Khi Ca H Thng