I HC NNG

TRNG I HC BCH KHOA

CHNG TRNH O TO K S CHT LNG CAO

Bi ging
gi ng mn
mn hc
h c

T NG HA
V IU KHIN TI U

Trn nh Khi Quc

Email: tdkquoc@dng.vnn.vn

Mc lc
MC LC
Chng 1: GII THIU CHUNG V IU KHIN T NG
1 Khi nim ......................................................................................................................... 4
2 Cc nguyn tc iu khin t ng.................................................................................... 4
2.1 Nguyn tc gi n nh .............................................................................................. 4
2.2 Nguyn tc iu khin theo chng trnh ................................................................... 4
3 Phn loi h thng KT ................................................................................................. 4
3.1 Phn loi theo c im ca tn hiu ra....................................................................... 4
3.2 Phn loi theo s vng kn.......................................................................................... 4
3.3 Phn loi theo kh nng quan st tn hiu ................................................................... 5
3.4 Phn loi theo m t ton hc..................................................................................... 5
4 Biu iu khin t ng trong mt nh my ................................................................. 6
5 Php bin i Laplace ....................................................................................................... 6
Chng 2: M T TON HC CC H THNG TUYN TNH
1 Khi nim chung............................................................................................................... 8
2 Hm truyn t ................................................................................................................. 8
2.1 nh ngha : ............................................................................................................... 8
2.2 Phng php tm hm truyn t................................................................................ 8
2.3 i s s khi ......................................................................................................10
3 Phng trnh trng thi ....................................................................................................13
3.1 Phng trnh trng thi tng qut ..............................................................................13
3.2 Chuyn i gia hm truyn t v phng trnh trng thi.......................................15
Chng 3: PHN TCH CC H THNG TUYN TNH
1 Khi nim ........................................................................................................................17
2 p ng thi gian ca h thng........................................................................................17
2.1 Tm p ng thi gian t hm truyn t...................................................................17
2.2 Tm p ng thi gian t phng trnh trng thi ......................................................19
3 c tnh tn s .................................................................................................................20
3.1 Hm truyn t tn s................................................................................................20
3.2 c tnh tn s ..........................................................................................................21
4 Tnh n nh ca h thng................................................................................................22
4.1 Khi nim chung .......................................................................................................22
4.2 Xc nh tnh n nh t phng trnh trng thi .......................................................23
5 Cht lng ca qu trnh iu khin.................................................................................24
5.1 Khi nim chung .......................................................................................................24
5.2 nh gi cht lng ch xc lp ........................................................................24
5.3 nh gi cht lng qu trnh qu .....................................................................25
5.4 Tnh iu khin c v quan st c ca h thng.................................................25
6 Gii thiu v h thng iu khin s ................................................................................27
6.1 Khi nim chung .......................................................................................................27
6.2 Ly mu v gi mu..................................................................................................27
Chng 4: GII THIU V NHN DNG
1 Khi nim chung..............................................................................................................30
2 Nhn dng m hnh khng tham s ..................................................................................30
2.1 Gii thiu chung........................................................................................................30
2.2 Nhng kt lun tng qut ..........................................................................................31
2.3 Nhn dng mt s m hnh c bn ............................................................................32
3 Nhn dng m hnh c tham s ........................................................................................34
3.1 c im chung ........................................................................................................34
3.2 Tn hiu kch thch cho nhn dng.............................................................................34
3.3 Cc m hnh ca i tng v ca nhiu ...................................................................37
2

Mc lc
3.4
3.5
3.6
3.7
3.8

M hnh ARX ...........................................................................................................37

M hnh OE )(output error)(sai lch tn hiu ra) ........................................................38
M hnh Box-Jenkin..................................................................................................38
Mt s thut ton nhn dng khng hi qui ...............................................................38
nh gi kt qu nhn dng ......................................................................................41

Chng 5: MATLAB TRONG IU KHIN T NG

1 Control System Toolbox ..................................................................................................42
1.1 nh ngha mt h thng tuyn tnh...........................................................................42
1.2 Bin i s tng ng ......................................................................................44
1.3 Phn tch h thng.....................................................................................................45
1.4 V d tng hp ..........................................................................................................47
2 SIMULINK......................................................................................................................50
2.1 Khi ng Simulink ..................................................................................................51
2.2 To mt s n gin.............................................................................................51
2.3 Mt s khi thng dng ..........................................................................................52
2.4 V d.........................................................................................................................53
3 Identification Toolbox......................................................................................................54
3.1 Np d liu nhn dng..........................................................................................54
3.2 Chn m hnh v thc hin nhn dng.......................................................................54
3.3 nh gi kt qu nhn dng ......................................................................................55

Gii thiu chung v iu khin t ng

Chng 1

Chng 1
GII THIU CHUNG V IU KHIN T NG
1

Khi nim
Mt h thng KT c xy dng t 3 b phn ch yu theo s sau :
f
u

M
Trong :
- O : i tng iu khin
- C : b iu khin, hiu chnh
- M : c cu o lng
Tn hiu
- u : tn hiu ch o/ tn hiu vo/ tn hiu diu khin
- y : tn hiu ra
- f : nhiu
- z : tn hiu phn hi
- e : sai lch iu khin
V d v mt h thng iu khin

Cc nguyn tc iu khin t ng

2.1 Nguyn t
c gi n nh

y = const
- Nguyn tc b tc ng bn ngoi
- Nguyn tc iu khin theo sai lch
- Nguyn tc hn hp
2.2 Nguyn t
c iu khin theo ch ng trnh
y = y(t) theo mt chng trnh c nh sn.
- PLC (Programmable Logic Controller)
- CLC (Computerized Numerical Control)

Phn loi h thng KT

3.1 Phn lo
i theo c im ca tn hi u ra
- Tn hiu ra n nh
- Tn hiu ra theo chng trnh
3.2 Phn lo
i theo s vng kn
- H h
- H kn
4

Gii thiu chung v iu khin t ng

Chng 1
3.3 Phn lo
i theo kh nng quan st tn hi u

3.3.1 H thng lin tc

Quan st c tt c cc trng thi ca h thng theo thi gian.
M t ton hc : phng trnh i s, phng trnh vi phn, hm truyn
3.3.2 H thng khng lin tc
Quan st c mt phn cc trng thi ca h thng.
- Do khng th t c tt c cc cm bin
- Do khng cn thit phi t cc cm bin iu khin
a) H thng gin on (S. discret)
- Quan st cc trng thi ca h thng theo chu k (ly mu)
- Mt dng ca h thng lin tc
b) H thng vi cc s kin gin on (S vnement discret)
- c trng bi cc s kin khng chu k
- Quan tm n cc s kin/ tc ng
V d v h thng lin tc, gin on, h thng vi cc s kin gin on

Tapis 1

Poussoirs
3

Poussoir
1

Tapis 3

Tapis 2

3.4 Phn lo
i theo m t ton hc
- H tuyn tnh: c tnh tnh ca tt c cc phn t c trong h thng l tuyn tnh. c
im c bn: xp chng.
- H phi tuyn: c t nht mt c tnh tnh ca mt phn t l mt hm phi tuyn.
- H thng tuyn tnh ha.

Gii thiu chung v iu khin t ng

Chng 1

Biu iu khin t ng trong mt nh my

Qun l nh my

Qun l sn xut,
lp k hoch sx.

iu khin, gim st,

bo dng

B iu khin, iu chnh, PLC

Cm bin, c cu chp hnh

Niv 4

Niv 3

Niv 2

Niv 1

Niv 0

Php bin i Laplace

Gi s c hm f(t). nh Laplace ca f(t) qua php bin i laplace, k hiu l F(s) c

tnh theo nh ngha:

F ( s ) = f (t )e st dt
0

- s: bin laplace
- f(t): hm gc
- F(s): hm nh
*Mt s tnh cht
1. nh laplace ca o hm hm gc
L f ' (t ) = sF (s ) f (0)

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

2. nh laplace ca tch phn hm gc

t

F ( s )
L f ( )d =
s
0

3. nh laplace ca hm gc c tr
6

Ch ng 1

Gii thiu chung v iu khin t ng

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

4. Tnh tuyn tnh

L {af1 (t ) + bf 2 (t )} = aF1 (s ) + bF2 ( s )
5. Hm nh c tr
L {e at f (t )} = F (s + a )
6. Gi tr u c a hm gc
f (0) = lim sF ( s )
s

7. Gi tr cui ca hm gc
f () = lim sF (s )
s 0

MT S HM THNG DNG
f(t)
(t)
1

F(s)
1
1
s
1
s2

1
2t 2

1
s3

e-at

1
s+a
a
a ( s + a)

1-e-at

sinat

F(z)
1
z
z 1
Tz

( z 1)
T 2 z ( z + 1)
3
2 ( z 1)
2

z
z e aT
(1 eaT ) z

( z 1) ( z e aT )

a
s + a2
s
2
s + a2
2

cosat

Chng 2

M t ton hc cc h thng tuyn tnh

Chng 2
M T TON HC CC H THNG TUYN TNH
1

Khi nim chung

-

phn tch v thit k mt h thng iu khin t ng, cn phi bit nguyn tc lm

vic c a cc phn t trong s , cc m i quan h v vt l, nng lng c a tng
phn t trong h thng
Quan h gia cc tn hiu vo ra c a tng phn t hay h th ng thng c biu din
qua cc phng trnh ng hc, thng l phng trnh vi phn.
thun li hn trong vic phn tch, gii quyt cc bi ton trong iu khin t
ng, ngi ta m t ton hc bng hm truyn t (transfer function), phng
trnh trng thi, v.v

Hm truyn t

2.1 nh ngha :

Hm truyn t ca mt khu (hay h thng) l t s gia tn hiu ra vi tn hiu
vo biu din theo ton t laplace, k hiu l G(s), vi cc iu kin ban u trit tiu.

U(s)

Y(s)
G(s)

trong

vi

Y (s)
G (s) =
U ( s)

y(0) = y(0) = = y(n-1)(0) = 0

u(0) = u(0) = = u(m-1)(0) = 0

* Trng hp h th ng c nhiu tn hiu vo/ra (MIMO) (m tn hiu vo, r tn hiu ra, hm

truyn t l mt ma trn trong m i thnh phn c a ma trn l hm truyn t thnh phn
gia tn hiu ra th j i vi tn hiu vo th i.
G11 ( s ) G12 ( s ) ... G1m ( s )
G ( s) G (s ) ... G ( s )
22
21

G (s ) = 21
...

...

Grm ( s ) rxm
Gr1 (s )
2.2 Ph ng php tm hm truyn
t
T phng trnh vi phn t ng qut ca mt khu (h th ng) c dng
d n y (t )
dy (t )
d m u (t )
du(t )
an
+
...
+
a
+
a
y
(
t
)
=
b
+ ... + b1
+ b0u(t )
1
0
m
n
m
dt
dt
dt
dt
bin i laplace vi cc iu kin ban u bng 0 v theo nh ngha, ta c dng t ng qut ca
hm truyn t
bm s m + ... + b1s + b0 M ( s )
G (s) = n
=
an s + ... + a1s + a0 N ( s )

N(s) : a thc c tnh

ngha

Chng 2
-

M t ton hc cc h thng tuyn tnh

Quan st hm truyn t, nhn bit cu trc h thng

Xc nh tn hiu ra theo thi gian (bin i laplace ngc)
Xc nh cc gi tr u, gi tr xc lp ca h th ng\
Xc nh h s khuch i tnh
...

V d 1 : ng c in m t chiu kich t c lp

i
J

Gi s t thng = const, J l mmen qun tnh qui v trc ng c, B l h s ma st

tr c.
Thnh lp hm truyn t c a ng c vi:
u: tn hiu vo l in p phn ng
: tn hiu ra l gc quay ca tr c ng c.
Gii:
Phng trnh quan h v in p phn ng:
di
u = Ri + L + eu
dt
eu = K e
Suy ra
di
u = Ri + L + K e
(1)
dt
Phng trnh quan h v momen trn tr c ng c:
d
K i i = J
+ B
(2)
dt
Thay (2) vo (1), ta c:
R d
L d 2
d

+
u=
J
B
J 2 +B
+ K e

K i dt
dt
K i dt

V y

u=

LJ d 2 RJ + LB d RB
+
+
+ Ke
2
K i dt
K i dt K i

U ( s ) = a2 s 2 + a1s + a0 (s )

Hm truyn t ca ng c in m t chiu l:
( s)
1
G (s) =
=
2
U ( s ) a2 s + a1s + a0

Chng 2

M t ton hc cc h thng tuyn tnh

V d 2:

u(t)

r
y(t)

Trong :
u(t): lu lng cht l ng vo; y(t) l lu lng cht l ng ra; A l din tch y ca b cht
lng
G i p(t) l p sut ca cht lng ti y b, bit cc quan h sau:
p (t )
y (t ) =
(r l h s)
r
p(t ) = h(t )
Tm hm truyn t ca b cht lng.
Gii
Theo cc quan h trong gi thit, ta c:
p (t )
y (t ) =
= h
(3)
r
r
gia tng chiu cao ct cht lng l:
dh u (t ) y (t )
(4)
=
dt
A
T (3) v (4), suy ra:
dy u (t ) y(t )
dy

=
rA + y (t ) = u (t )
dt r
A
dt
Hm truyn t ca b cht lng trn l:
Y ( s)

K
G (s) =
=
=
U ( s ) rAs + 1 Ts + 1
2.3
i s s  khi
- Mc ni tip
- Mc song song
- Mc phn hi

U(s)

Y(s)
+

G1

G (s )=

G1
1 G1G2

G2
- Chuyn tn hiu vo t trc ra sau m t khi
- Chuyn tn hiu ra t sau ra trc m t kh i
MT S V D V XY DNG S IU KHIN CA H THNG
V d 1 : IU KHIN MC CHT LNG TRONG B CHA

10

Chng 2

M t ton hc cc h thng tuyn tnh

Cho m t h th ng iu khin mc cht l ng trong b nh hnh v, bit rng:

Hm truyn c a b chuyn i mc cht l ng/dng in
1
GLT ( s ) =
; vi Tc=1
Tc s + 1
Phng trnh vi phn biu din mc cht lng trong b
dh(t )

+ h (t ) = Qi (t ) + Qa (t ) vi =25
dt
Hm truyn c a b cht lng
H (s)
1
1
G (s) =
=
=
Qe ( s) s + 1 25s + 1
Hm truyn c a c b chuyn i dng in sang p sut v van t ng l
1
Q ( s)
; Tv=4
=
GV ( s ) = e
N (s ) TV s + 1
X

P
LI

LIC

Qi

Qa

LV

LT : chuyn i mc cht lng

LIC : B hiu chnh
LY : chuyn i dng in/p sut
LV : van diu chnh t ng
VT : van iu khin bng tay

H0 h
Qo
LT
VT

Yu cu :
1. Thnh lp s iu khin ca h th ng.
2. Tm cc hm truyn t GHU ( s),WHQa (s ),WHQ0 ( s )
3. Gi s cha c b iu khin C(s) = 1. Tm gi tr xc lp c a ct nc ng ra nu u(t)=
5.1(t) v Qa = 2.1(t).
S

Qa

X
C(s)

Qi
GV(s)

G(s)

Y
GLT(s)

Qo

V d 2 : Xy dng s iu khin ca mt b iu ha nhit cht l ng

Cho m hnh ca mt b iu ha nhit cht lng nh hnh v

11

Chng 2

M t ton hc cc h thng tuyn tnh

Ti : nhit cht lng vo b

T : nhit cht l ng trong/ra khi b
Ta : nhit mi trng
T
Qe

Ta

Ti

* Cc lng nhit trao i vi b g m :

- Nhit lng cht lng mang vo b :
Qi = VHTi
H l h s nhit, V l lu lng cht l ng vo b.
- Nhit lng in tr cung cp cho b Qe
- Nhit lng cht lng mang ra khi b Q0 = VHT
- Nhit lng tn tht qua thnh b do chnh lch vi mi trng :
1
Qs = (T Ta )
R
* Bit nhit l ng cht lng nhn c s lm tng nhit cht l ng theo biu thc
dT
Ql = C
dt
Hi : Thnh lp s iu khin c a b trao i nhit trn.
S :

Qe
Ti

1
a1s + a0

b0

c0
Ta

12

Chng 2

M t ton hc cc h thng tuyn tnh

Phng trnh trng thi

3.1 Ph ng trnh tr
ng thi tng qut
3.1.1 Khi nim
- i vi m t h th ng, ngoi tn hiu vo v tn hiu ra cn quan tm, i khi ta cn quan st
cc trng thi khc. V d : i vi ng c in l dng in, gia t c ng c, tn hao, v.v
- Cc trng thi ny c g khc vi tn hiu ra ? Nu l tn hiu ra th phi o lng c bng
cc b cm bin, cn bin trng thi th hoc o c, hoc xc nh c thng qua cc i
lng khc.
- T ngi ta xy dng mt m hnh ton cho php ta c th xc nh c cc bin trng
thi.
3.1.2 Dng tng qut ca phng trnh trng thi
Xt h th ng c m tn hiu vo v r tn hiu ra.

y1(t)

u1(t)
ur(t)

H thng

ys(t)

H thng c :
u1

- m tn hiu vo: u1(t), u2(t), , um(t), vit
U = ... , U
m
u
m
y1

- r tn hiu ra: y1(t), y2(t), , yr(t), vit
Y = ... , Y
r
y
r
x1

- n bin trng thi : x1(t), x2(t), , xn(t), vit X = ... , X
n
x
n
Phng trnh trng thi dng t ng qut ca h th ng c biu din di dng :
X = AX + BU

Y = CX + DU

Vi
A
nxn , B
nxu , C
rxn , D
rxm
A, B, C, D g i l cc ma trn trng thi, nu khng ph thu c vo thi gian g i l h thng
dng.
Nhn xt :
- Phng trnh trng thi m t ton h c ca h thng v mt thi gian di dng cc
phng trnh vi phn.
- H thng c biu din di dng cc phng trnh vi phn bc nht.
V d 1 :
Xy dng phng trnh trng thi c a m t h thng cho di dng phng trnh vi phn nh
sau :
d 2 y dy
2 2 + + 5y = u
dt
dt

13

Chng 2

M t ton hc cc h thng tuyn tnh

Gii :
H c m t tn hiu vo v m t tn hiu ra.
x1 = y
t
dy
x2 =
= y
dt
T phng trnh trn, ta c :
2 x2 + x2 + 5 x1 = u
Nh vy :
x1 = y = x2

5
1
1
x2 = 2 x1 2 x2 + 2 u
1
0
0
x1
x1

1 + 1 u
x = 5
x2
2
2

2
2
x1
y = [ 0 1]
x2
X = AX + BU

Y = CX + DU

t A, B, C, D l cc ma trn tng ng, suy ra

V d 2 :
Cho mch in c s nh hnh v sau, hy thnh lp phng trnh trng thi cho
mch in ny vi u 1 l tn hiu vo, u2 l tn hiu ra.

ui

u0

Gii :
Gi s mch h ti v cc iu kin u bng 0. Gi i l dng in chy trong mch, ta c :
t

di 1
u
=
Ri
+
L
+
idt
i
dt C 0

t
u = 1 idt
0 C

0
t cc bin trng thi l :
x1 = i, x2 = u0 , ta c :

ui = Rx1 + Lx1 + x2

Cx2 = x1

hay

R
1
1

x1 = L x1 L x2 + L ui
v x2 = u0

x = 1 x
2 C 1

V y :

14

Ch ng 2

M t ton hc cc h thng tuyn tnh

x1 L
x = 1
2
C

1

1
L x1
+ L ui

x
0 2 0

x
u0 = [ 0 1] 1
x2

* Trng hp t x1 = u0 , x2 = i , hy xy d ng phng trnh trng thi.

* Nhn xt :
- Vi cng h thng s c nhiu phng trnh trng thi khc nhau.
- Hm truyn t ca h th ng l duy nht.
3.2 Chuyn i gia hm truyn
t v ph ng trnh tr
ng thi
3.2.1 Chuyn t hm truyn t sang phng trnh trng thi trong mt s trng
hp c bit
Khai trin thnh cc tha s n gin
Hm truyn t c biu din d i dng tch cc tha s :
n
Y ( s)
1
G (s) =
= K
U ( s)
i =1 ( s si )

x1
K
s s1

x2

1
s s2

1
s sn

xn

t cc bin trung gian nh hnh v, ta c :

x1 = s1 x1 + Ku
x = s x + x
2
2 2
1
v y = xn

...

xn = sn xn + xn1

Suy ra phng trnh trng thi l :

x1 s1
K
x 1 s
0
2
2 =
+ u




1 sn 0
xn 0
y = [0 0

1][ x1

x2

xn ]

Khai trin thnh tng cc phn thc n gin

Hm truyn t c khai trin di dng :
n
n K
K
Y ( s)

G (s) = i =
Y (s) = i U ( s)
U ( s)
i =1 s si
i =1 s si

S cu trc nh sau :

15

Ch ng 2

M t ton hc cc h thng tuyn tnh

X1

1
s s1

1
s s2

X2

Xn

Nh vy : sX i = si X i + U

Hay

y = [ K1

s2

K2

Y2
K2

1
s sn

x1 s1
x
2 =


xn 0

Y1
K1

Yn

Kn

xi = si xi + u

1
1
+ u
1

sn 1
K n ][ x1

x2

xn ]

S dng m hnh tch phn c bn

Hm truyn t c d ng
Y (s)
K
G (s) =
=
n
U ( s) an s + ... + a1s + a0
t
x1 = y, x2 = x1 = y , x3 = x2 = 
y,..., xn = y ( n1) , xn = y ( n )
Suy ra :
x1 = x2

x2 = x3
...
xn =

a1
a
K
x1 ... n1 xn + u
an
an
an

3.2.2 Chuyn i t phng trnh trng thi sang hm truyn

G (s ) = C ( sI A)1 B + D

16

Ch ng 3

Phn tch cc h thng tuyn tnh

Chng 3
PHN TCH CC H THNG TUYN TNH
1

Khi nim

Nhim v c a chng :
- Xy dng p ng thi gian
- Xy dng p ng tn s
- Phn tch tnh n nh
- Phn tch cht lng

p ng thi gian ca h thng

2.1 Tm p ng thi gian t hm truyn

t
2.1.1 Khu qun tnh bc 1

K
Ts + 1

G (s) =

Hm qu :
h (t ) = K 1 e t / T

y
K

K/T

2.1.2 Khu dao ng bc 2

G (s) = K

02
s 2 + 20 s + 02

Hm qu

1
h(t ) = K 1
e0t sin 0 1 2 t + arccos
2

1
Mt s quan h :

max 100 exp

2
1

17

Ch ng 3
Tmax

Phn tch cc h thng tuyn tnh

4

arctg

1 + 4 4 2 2
2

r 0 1 2 2 (tn s c ng hng nh)

Step Response
14

12

Amplitude

10

10

15

20

25

30

35

40

Time (sec)

Hm qu ca khu dao ng bc 2
2.1.3 Khu tng qut
y(t ) = L1 {G( s )U (s )}
Tm p ng thi gian c a m t khu bt k bng ph ng php gn ng Tustin (s ha)
a) Phng php : s ha tn hiu lin tc thnh tn hiu gin o n tm p ng thi gian.
Ngha l : chuyn hm truyn t t h lin tc sang h gin on.
- Trong h gin o n, quan tm n y(kT)
- Bin i ton h c trong h gin o n l Y(z)
- c im : y(kT) -> Y(z)
y(k+m)T -> zmY(z)
b) Tm mi lin h gia h lin t c v h gin o n
Xt m t quan h gia Y(p) v U(p) d i d ng hm truyn t :
Y (s) 1
G (s) =
=
(1)
U ( s) s
Phng trnh vi phn tng ng l :
t

y(t ) = u (t )dt

(gi thit cc iu kin u b ng 0)

Trn ng cong u(t), y(t) chnh l din tch xc nh bi ng cong u(t) vi tr c honh.
Ta c :

18

Ch ng 3

Phn tch cc h thng tuyn tnh

kT
y[(k + 1)T y (kT ) =

(k+1)T

T
[u (k + 1)T + u (kT ) ]
2

Chuyn phng trnh sai phn trn sang ton t Z, ta c :

T
( z 1) Y ( z ) = ( z + 1)U ( z)
2
Y ( z) T z + 1

G( z) =
=
(2)
U ( z) 2 z 1
T (1) v (2), ta c m i lin h :
1
T z +1
2 z 1

hay
s
s
2 z 1
T z +1
c) Cch thc hin :
- Xc nh Y(s)
- Tm Y(z) tng ng
- Tm y(kT)
V d : V c tnh thi gian ca h thng c hm truyn t :
Y (s)
10
G (s) =
= 3
U (s) s + 2s 2 + s + 1
vi u(t) = 1t).
Gii :
Chn T = 1s, ta c :
s s 3 + 2 s 2 + s + 1 Y (s ) = 10

3
2
2 z 1 2 z 1
2 z 1 2 z 1
+
2

T z + 1 + T z + 1 + 1 Y ( z ) = U ( z )
T z + 1 T z + 1

Thay T = 1, ta c :
2
2( z 1) 8( z 1)3 + 8 ( z 1) ( z + 1) + 2 ( z 1) ( z + 1) 2 + ( z + 1)3 Y ( z ) = ( z + 1) 4 U ( z )

4
3
2
4
3
2

a4 z + a3 z + a2 z + a1 z + a0 Y ( z ) = b4 z + b3 z + b2 z + b1 z + b0 U ( z )

a4 y ( k + 4) = a3 y ( k + 3) a2 y ( k + 2) a1 y ( k + 1) a0 y( k ) + ( b4 + b3 + b2 + b1 + b0 )

2.2 Tm p ng thi gian t ph ng trnh tr

ng thi
Nghim ca phng trnh trng thi :

X=AX+BU
Y=CX+DU
c dng sau :

19

Ch ng 3

Phn tch cc h thng tuyn tnh

t

X (t ) = e At X (0) + e A(t ) BU ( )d
0
t
At

Y (t ) = C e X (0) + e A( t ) BU ( )d + DU
0

Trong :

e At = L1

{( pI A) }
1

Ch :
A 1 =

Aadj

vi Aadj l ma trn c cc phn t

det( A)
trn c c bng cch b i hng th j, ct th i.

aij = (1)i + j det( Aji ) vi Aji l ma

V d : Cho h th ng c biu din d i dng phng trnh trng thi :

2 1
0
X =
X + u
0 1
1
y = x1
Tm p ng thi gian c a h thng v i u(t) = 1(t) vi trng thi ban u X = [0 0]T.
Gi i
Tnh eAt
Ta c :

1
1 p + 2
p + 2 1
p +1
1
1
=
=
( pI A ) =

p + 1
( p + 1)( p + 2 ) 0 p + 2 0
0

2 t
t
2 t
e
e e
1
e At = L1 ( pI A ) =

et
0
Theo cng thc trn, ta c :
1 t e2t
t
e 2(t ) e (t ) e 2(t ) 0
e +

X (t ) =
2
1( )d = 2
( t )
1
0
e

t
1 e

y(t ) = x1 =

( p + 1)( p + 2 )

p +1

1 t e2t
e +
2
2

c tnh tn s

3.1 Hm truyn
t tn s
3.1.1 nh ngha:
Hm truyn t tn s ca mt khu (hay h thng), k hiu l G(j), l t s gia
tn hiu ra vi tn hiu vo trng thi xc lp khi tn hiu vo bin thin theo qui lut
iu ha u(t)= Umsin(t).

- trng thi xc lp: y(t)= Ymsin(t + )

- Biu din d i dng s phc :
20

Ch ng 3
u (t ) e

Phn tch cc h thng tuyn tnh

j ( t )

y (t ) Ym e

j ( t + )

y (t ) Y e ( ) Y
G ( j ) = = m j (t ) = m e j
u (t )
Um
U me
j t +

- Theo nh ngha :

Nhn xt:
- Hm truyn t tn s l mt s phc
- Ph thu c vo tn s tn hiu.

C th biu din HTTS d i d ng

G ( j ) = Ae j
G ( j ) = P( ) + jQ( )
3.1.2 Cch tm hm truyn t tn s t hm truyn t ca mt khu
C th chng minh c hm truyn t tn s c tm c t hm truyn t ca
mt khu (h thng) theo quan h sau :
G ( j ) = G ( s ) s = j
ngha ca G(j)
- Xc nh c h s khu ch i / gc lch pha i vi tn hiu xoay chiu
- Xc nh c phng trnh c a tn hiu ra trng thi xc lp.
3.2 c tnh tn s
3.2.1 c tnh tn s bin pha (Nyquist)
Xu t pht t cch biu din hm truyn t tn s G ( j ) = P( ) + jQ( )
- Xy dng h tr c vi tr c honh P, trc tung Q.
- Khi bin thin, v nn c tnh tn s bin pha.
nh ngh a : c tnh tn s bin pha l qu o ca hm truyn t tn s G(j) trn mt
phng phc khi bin thin t - n .
jQ

c im :
- TTSBP i xng qua trc honh nn ch cn xy dng c tnh.
- Xc nh c mdun A, gc pha t TTSBP
3.2.2 c tnh tn s logarit (Bode)
Quan st s bin thin ca bin v gc pha theo tn s
Xy dng h gm 2 c tnh :

21

Ch ng 3

Phn tch cc h thng tuyn tnh

L

log

log

* c tnh tn s bin logarit TBL

- Honh l hay log [dec]
- Tung L [dB]. Hm L c xc nh
L = 20 log A( )
TBL biu din bin thin ca h s khu ch i tn hiu theo tn s tn hiu vo.
* c tnh tn s pha logarit TPL
- Honh l hay log [dec]
- Tung [rad], c xc nh trong W(j).
TPL biu din bin thin c a gc pha theo tn s tn hiu vo.
* c im ca c tnh logarit
Khi h th ng c nhiu khu ni tip :
L = L1 + L2 + ...

= 1 + 2

Tnh n nh ca h thng

4.1 Khi ni m chung

Kho st mt h th ng iu khin t ng c m t ton h c d i dng hm truyn
t :
b s m + ... + b1s + b0 Y (s )
G (s) = m n
=
(1)
an s + ... + a1s + a0 U ( s)
Phng trnh vi phn tng ng ca h th ng l :
dny
dy
d mu
du
(2)
an n + ... + a1
+ a0 y = bm m + ... + b1
+ b0u
dt
dt
dt
dt
Nghim ca phng trnh vi phn (2) c d ng nh sau :
y(t ) = y0 (t ) + yqd (t )
(3)
Trong :

y0(t) l nghim ring ca phng trnh (2) c v phi, c trng cho qu trnh xc lp.

ydq(t) l nghim tng qut c a (2), c trng cho qu trnh qu .
Tnh n nh ca mt h thng ch ph thuc vo qu trnh qu , cn qu trnh
xc lp l mt qu trnh n nh.

22

Ch ng 3

Phn tch cc h thng tuyn tnh

nh ngha :
a) Mt h thng KT n nh nu qu trnh qu tt d n theo thi gian.
lim yqd (t ) = 0
t

b) Mt h th ng KT khng n nh nu qu trnh qu tng dn theo thi gian.

lim yqd (t ) =
t

c) M t h thng KT bin gii n nh nu qu trnh qu khng i hay dao ng

khng tt d n.
Xt nghim ydq(t) trong (3), d ng tng qut c a nghim qu nh sau :
n

i =1

i =1

yqd (t ) = Ci esi t = yqd ,i

vi n l b c v si l nghim ca phng trnh c tnh

N ( s) = an s n + ... + a1s + a0 = 0
Ci l cc hng s (tnh theo cc iu kin u).
* Kho st cc trng hp nghim si :
i) si l nghim thc
si = i
yqd ,i = Ci ei t

(4)
(5)

0, i < 0

lim yqd ,i = lim Ci e = Ci , i = 0

t
t
, > 0
i

ii) si l cp nghim phc lin hp:

si ,i +1 = i j i

yqd ,i + yqd ,i +1 = 2 Ai ei t cos( i t + i )

i t

0, i < 0

lim( yqd ,i + yqd ,i +1 ) = dao dong, i = 0

t
, > 0
i

Kt lun :
i) H thng iu khin t ng n nh nu tt c cc nghim c a phng trnh c tnh c
phn thc m.
ii) H thng iu khin t ng khng n nh nu c t nht m t nghim ca phng trnh
c tnh c phn thc dng.
iii) H th ng iu khin t ng bin gii n nh nu c t nht mt nghim ca phng
trnh c tnh c phn thc bng 0, cc nghim cn li c phn thc m.
4.2 Xc nh tnh n nh t ph ng trnh tr
ng thi
Ta bit hm truyn t c a h thng c tnh t ph ng trnh trng thi nh sau :
( sI A)adj
1
G (s ) = C ( sI A) B + D = C
B+D
det(sI A)
C th thy rng :
- Nghim ca phng trnh c tnh det(sI-A) = 0 l gi tr ring c a ma trn A.

Pht biu :
Mt h thng tuyn tnh n nh khi v ch khi ma trn A c tt c cc gi tr ring u
nm bn tri mt phng phc.
23

Ch ng 3

Phn tch cc h thng tuyn tnh

V d : Cho h th ng c biu din d i dng phng trnh trng thi :

2 1
0
X =
X + u
0 1
1
y = x1
Xt tnh n nh ca h th ng.

Gii :
Tm gi tr ring ca ma trn A
det(sI-A) = 0
s + 2 1

det
=0
s + 1
0

(s + 1)(s + 2) = 0

s1 = -1, s2 = -2
V y h thng trn n nh.

Cht lng ca qu trnh iu khin

5.1 Khi ni m chung

Cht lng c a m t h th ng iu khin t ng c nh gi qua 2 ch : ch xc
lp v qu trnh qu .
- Ch xc lp
Cht lng iu khin c nh gi qua sai s xc lp (sai lch tnh) St l sai lch khng i
sau khi qu trnh qu kt thc.
- Qu trnh qu
Cht lng ca h th ng c nh gi qua 2 ch tiu chnh :
a) qu iu chnh cc i max : l sai lch cc i trong qu trnh qu so vi gi tr xc
lp, tnh theo n v phn trm.
y y
max = max *100%
y
b) Th i gian qu ln nht Tmax :
V mt l thuyt, qu trnh qu kt thc khi t . Trong iu khin t ng, ta c
th xem qu trnh qu kt thc khi sai lch ca tn hiu c iu khin vi gi tr xc lp
ca n khng vt qu 2%. Khong thi gian gi l Tmax.

Thc t iu khin cho thy : khi gim max th Tmax tng v ngc li.
Thng thng, qui nh cho mt h thng iu khin :
max = (20 30)%
Tmax = 2 n 3 chu k dao ng quanh gi tr xc lp
c) Th i gian tng tm : l thi gian t 0 n lc tn hiu iu khin t c gi tr xc lp ln
u tin.
5.2 nh gi cht lng  ch  xc lp
Xt mt h thng kn phn hi -1.

U(s)

E(s)

Y(s)
Gh(s)

24

Ch ng 3

Phn tch cc h thng tuyn tnh

Theo nh ngha, ta c :
St = lim e(t ) = lim sE ( s)
t

s 0

Theo s kh i trn, ta c : E ( s ) =

U ( s)
1 + Gh ( s)

U ( s)
t
p 0 1 + G ( s )
h
Nhn xt : sai lch tnh St ph thuc
- Hm truyn t ca h h
- Tn hiu kch thch.
Hm truyn t ca h h c dng tng qut nh sau :
K b ' s m + ... + b1' s + 1 K
= G0 (s )
Gh ( s ) = m ' n
s
an s + ... + 1
s
l b c tch phn
V y

St = lim e(t ) = lim s

5.2.1 Khi u(t) = U0.1(t)

1
U ( p) =

s 0

1
K
1 + G0 ( s)
s

U0
1+ K
Vi = 1,2,.. St = 0

Vi = 0 : St =

5.2.2 Khi u(t) = U0.t

U
U ( s) = 20

St = lim

U0
p 0
K

s 1 + G0 (s )
s

St = lim

Vi = 0 :

St =
U
Vi = 1:
St = 0
K
Vi = 2,3,.. St = 0

5.3 nh gi cht lng  qu trnh qu 

Phi v c p ng qu c a h thng.
5.4 Tnh iu khin c v quan st c ca h thng
5.4.1 iu khin c
Xt mt h thng c m t ton hc d i d ng phng trnh trng thi :
X = AX + BU

Y = CX + DU

Vi

A
nxn , B
nxu , C
rxn , D
rxm

Mt h thng c g i l iu khin c n u t mt vect ban u X0 bt k, ta lun

c th tm c vect tn hiu Ud chuyn h thng t trng thi X0 n trng thi Xd mong
mun.
Pht biu

25

Ch ng 3

Phn tch cc h thng tuyn tnh

iu kin cn v mt h thng m t ton hc di dng phng trnh trng

thi iu khin c l rank(P) = n.
Vi P = [B, AB, A2B,, An-1B]
Nhn xt :
- Tnh iu khin c ch ph thuc vo cc ma trn trng thi A, B.
- Lin quan n vic ch n cc bin trng thi

V d :
Cho h thng c m t ton hc d i dng hm truyn t nh sau :
20
G (s) = 2
2s + s + 4
Gi s t cc bin trng thi l :
x1 = y
x1 = x2
Xc nh tnh iu khin c ca h th ng.
Gi i
Ta c :
x1 = x2
1 x1 0
x 0
hay 1 =
+ u
x2 = 2 x1 0.5 x2 + 10u
x2 2 0.5 x2 10
Ma trn P
0 0
1 0 0 10
P = [ B, AB ] =

10 2 0.5 10 10 5
det(P) = -100 0 nn rank(P) = 2.
V y h thng vi cch t bin trng thi nh trn l iu khin c.
5.4.2 Tnh quan st c
Mt h thng c gi l quan st c nu t cc vect U v Y c, ta c th xc
nh c cc bin trng thi X ca h thng.
Pht biu
iu kin cn v mt h thng m t ton hc di dng phng trnh trng
thi quan st c l rank(L) = n.
Vi L = [C, AC, (A)2C,, (A)n-1C]
Nhn xt :
- Tnh iu khin c ch ph thu c vo cc ma trn trng thi A, C.

V d :
Xt trong v d trn, ma trn trng thi C s l :
C = [1 0]
Ma trn quan st
1 0 2 1 1 0
L = [C ' A ' C '] =
=

0 1 0.5 0 0 1
Do rank(L) = 2 nn h trn quan st c.

26

Ch ng 3

Phn tch cc h thng tuyn tnh

Gii thiu v h thng iu khin s

6.1 Khi ni m chung

- Trong iu khin, ngi ta phn thnh 2 loi h thng : h lin t c v h khng lin tc.
Trong h khng lin tc li c 2 loi chnh l : h gin on (h xung s ) v h th ng vi cc
s kin gin o n. V c im c a h gin on l ta ch c th quan st cc trng thi c a h
th ng m t cch gin on nhng c chu k (T).
- Nguyn nhn hnh thnh cc h thng gin on l :
S hnh thnh ca cc b iu khin s : linh ho t, d dng thay i v khng ch cc
thng s .
Gim st cc tn hiu bng cc thit b in t s.
- Qu trnh bin i tn hiu lin tc thnh gin on gi l lng t ha (trong k thu t g i l
ly mu). C 3 hnh thc ly mu :
Theo thi gian (a)
Theo mc (b)
Hn hp (c)

a)

b)

c)

6.2 Ly mu v gi mu

c th a b iu khin s vo h thng, cn c qu trnh l y mu v gi mu.
- L y mu l chuyn tn hiu lin t c thnh tn hiu gin on.
- Gi mu l qu trnh chuyn tn hiu gin o n thnh tn hiu lin t c.

Ly mu

K s

Gi mu

Wh(p)

Kho st m t qu trnh ly mu v gi mu n gin nh hnh v sau, trong tn hiu gin

on khng qua b t k mt khu bin i no.
e(t)
E(p)

Ly mu

e*(t)

K s

E*(p)

e*(t)
E*(p)

Gi mu

e(t)
E(p)

c im thi gian c a cc tn hiu trn nh sau :

27

Ch ng 3

Phn tch cc h thng tuyn tnh

e*(t)

a)

e(t)

2T 3T

iT

b)

2T 3T

iT

c)

Nhn xt :
e (t ) l tn hiu lin tc tng o n. Sau qu trnh bin i (l y mu v gi mu), e (t ) khc
vi e(t) ban u. Khi tn s l y mu ln cng ln (T b) th e (t ) cng gn ging dng ca
e(t).
6.2.1 Ly mu
Phng trnh c a tn hiu e*(t) sau khi c ly m u l :

e* (t ) = e(iT ) (t iT )
i =0

Do :

E * ( s ) = e(iT )e isT
i =0

(6.6)
S thay th ca b ly mu l tng nh sau :
e(t)
E(p)

e*(t)
E*(p)

Nu bit nh laplace ca tn hiu cn l y mu E(s), ta c th tm c nh laplace ca tn hiu

c ly mu l tng theo biu thc sau :
1
2 e(0)
E * ( s ) = E s + jn
+
T n =
T
2
Ghi ch : c kh nng nhiu tn hiu khc nhau sau khi c l y mu s c phng trnh ton
hc nh nhau.
6.2.2 Gi mu bc 0
c im c a b gi mu b c 0 l tn hiu c gi mu khng i gia 2 ly ly mu v
b ng gi tr ca ln gi mu trc (xem hnh v trn)
e (t ) = e(0) [1(t ) 1(t T )] + e(T ) [1(t T ) 1(t 2T )] + ...

28

Ch ng 3

Phn tch cc h thng tuyn tnh

1
1 1

E ( s) = e(0) e sT + e(T ) e sT e 2 sT + ...

s
s s

sT
1 e
sT
2 sT
=
+ ...
e(0) + e(T )e + e(2T )e
s

1 e sT
isT
=
e(iT )e
s i =0
1 e sT *
E ( s) =
E ( s)
s
Nh vy, m t ton hc ca b gi mu bc 0 (Zero Order Hold) l :

E*(s)

1 e sT
s

E ( s)

Hm truyn t ca b gi mu bc 0 l :
1 e sT
GZOH ( s) =
s
Ghi ch : B ly mu v gi mu trong s trn khng th l m hnh ton hc cho m t
thit b c th no trong thc t. Tuy nhin, s kt hp gia b ly m u v gi mu li l m
hnh chnh xc ca b chuyn i ADC va DAC.

29

Ch ng 4

Gii thiu v nhn dng

Chng 4
GII THIU V NHN DNG
1

Khi nim chung

Khi tin hnh iu khin mt i tng, ta cn bit thng tin v i tng, hay c th hn l
m hnh ton c a i tng cn iu khin (hm truyn t, graph tn hiu hay phng trnh
trng thi). Vic xy dng m hnh cho i tng c g i l m hnh ha. C 2 phng php
m hnh ha :
- Phng php l thuyt.
- Phng php thc nghim.
Trong phng php l thuyt, c c m hnh ton ca mt i tng no , ta cn phi :
- Thnh lp cc phng trnh vi phn m t cc qui lu t ha, l, qui lut cn b ng,
- S dng php bin i Laplace thnh lp cc hm truyn t.
- Ho c t cc bin trng thi xy dng cc phng trnh trng thi
Phng php ny v l thuyt s m t mt cch chnh xc m hnh ton ca i tng. Tuy
nhin, trong thc t, phng php ny gp phi mt s hn ch nh sau :
- Ta khng bit mt cch y tt c cc thng tin vit cc phng trnh vi phn.
- M hnh l thuyt i khi qu phc tp trong khi yu cu iu khin ch cn mt m hnh g n
ng n gin hn rt nhiu.
- Mt s tham s ca m hnh khng th xc nh bng phng php l thuyt nu trn.
V d : i vi ng c in m t chiu, hm truyn t c a ng c c dng
K
G (s) =
(T1s + 1)(T2 s + 1)
trong K, T1, T2 i vi m i ng c l khc nhau, thay i theo thi gian lm vic,
Phng php thc nghim xem i tng l m t hp en m ta cn xc nh tham s cho m
hnh ca i tng ny. Nh vy, s c th c nhiu m hnh khc nhau cho cng mt i tng.
V qu trnh xc nh tham s cho mt i tng no g i l nhn dng.
nh ngha
Nhn dng l phng php thc nghim nhm xc nh mt m hnh c th c a m t i tng
trn c s quan st cc tn hiu vo ra.

Phn loi : c hai loi m hnh

- M hnh khng tham s (hm tr ng lng, hm qu )
- M hnh c tham s

Nhn dng m hnh khng tham s

2.1 Gi i thi u chung

y l phng php nhn dng c in, c s dng r ng ri t nh ng nm 1960 n
1975. M hnh khng tham s c s d ng trong phng php nhn dng ny chnh l hm qu
c a i tng (ngha l u(t) = u0.1(t)). Bng cch so snh hm qu c a cc khu chu n vi
hm qu thc t nhn c t i tng, ta tm c cc tham s c a m hnh.

30

Ch ng 4

Gii thiu v nhn dng

i tng

ya(t)

u(t)
M hnh

ym(t)

Phng php nhn dng m hnh khng tham s nhn d ng hm truyn t lin t c c a
i tng. Dng t ng qut ca hm truyn c vit nh sau :
Y ( s ) bm s m + ... + b1s + b0
G (s) =
=
U (s ) an s n + ... + a1s + a0
Nh vy c th xem y l phng php nhn dng cho m hnh c tham s t m hnh khng
tham s .
2.2 Nhng kt lun tng qut
Da trn hm qu c a i tng, trc tin, ta c th nhn c mt s kt lu n tng
qut v bc c a m hnh, v d ng cc im cc v im zero ca m hnh cng nh kt lun v
cc thnh phn c bn nh khu khuch i, tch phn, vi phn, v.v
2.2.1 Kt lun 1
1) Nu h(+0) = 0 th n > m. Nu khng, n = m

2) Nu

d
d
h(+0) = 0 th n - m > 1. Ngc li, nu
h(+0) 0 th n = m + 1.
dt
dt

3) Nu h() = th a0 = 0 hay trong G(s)c m t khu tch phn n i tip

G (s) =

bm s m + ... + b1s + b0
s ( an p n1 + ... + a1 )

4) Nu h() = 0th b 0= 0 hay trong G(s) c mt vi phn n i tip

s ( bm s m1 + ... + b1 )
G (s) =
an s n 1 + ... + a1s + a0
5) Nu h() 0 th a0 0 v b 0 0. H s khuch i tnh ca i tng lc ny l K = b0/a0.
2.2.2 Kt lun 2
Gi s m hnh c a i tng c biu din bi hm truyn t sau :
1 + Tm' s ) ... (1 + T2' s )(1 + T1' s ) ..
(
G (s) = K
1 + Tn s ... (1 + T2 s )(1 + T1 s )

T h(t), ta nhn bit c i tng c thnh phn khuch i K. Cc tham s Ti c gi l

hng s thi gian ca a thcmu s, v Ti l hng s thi gian ca a thc t s . Khng mt
tnh t ng qut, ta gi thit :
Tn ... T2 T1 v Tn' ... T2' T1'
Kt lu n : Nu h(t) khng ln sng v khng gim, tc l h(t) khng cha cc thnh phn qu
iu chnh th cc tham s Ti, Ti ca m hnh trn phi l nhng s thc v phi tha mn :
Tn > Tn' , Tn 1 > Tn'1 ,..., Tn m1 > T1'

31

Ch ng 4

Gii thiu v nhn dng

2.2.3 Kt lun 3
Nu h(t) khng ln sng, c qu iu chnh nh ng sau gim dn v gi tr xc lp
h() = k v khng nh hn k th tham s Ti, Ti ca m hnh trong kt lun 2 tng ng phi l
nh ng s thc v phi tn ti duy nht mt ch s l {1,2,,m} mt trong cc bt ng th c
ca kt lu n trn khng th a mn.
2.2.4 Kt lun 4
Nu h(t) c m im cc tr, trong im cc i nm trn ng h() = k v im cc
tiu nm di ng h() = k th nhng tham s c a m hnh trong kt lu n 2 phi l nhng s
thc v tn ti m ch s trong kho ng {1,2,,m} c m bt ng thc trong kt lun 2 khng
tho mn.
2.2.5 Kt lun 5
Nu h(t) c v s im cc tr cch u nhau, trong im cc i nm trn ng h()
= k v im cc tiu nm d i ng h() = k th m hnh trong kt lu n 2 phi c cc im cc
l nh ng gi tr phc..
2.3 Nhn d
ng mt s m hnh c bn
2.3.1 M hnh PT1
G (s) =

- Hm truyn t

K
Ts + 1

- Hm qu h(t ) = K 1 e t / T
- Mt s tnh cht :
d
h(0) = 0 v
h ( +0 ) 0
dt

h() = k

h(t) khng c dng ln sng, xu hng tg n gi tr xc lp K

tg =

hoc do h(t ) = K (1 e t / T ) nn h(T ) = K (1 e 1 ) 0.632 K

dh
K
= (t ) t =0 = lim sG (s ) =
p0
dt t =0
T

Phng php nhn dng

1) K ng tim cn vi h(t) ti t = v xc nh K= h().
2) Xc nh im c tung b ng 0.632 ca h(t)
3) Honh c a im va xc nh trn l T.

Trong trng hp u(t) = u 0*1(t), do tnh cht tuyn tnh nn y(t) = u 0*h(t). Ta xc nh cc tham
s nh sau :
1) K ng tim cn vi h(t) ti t = v xc nh K= y()/u 0.
2) Xc nh im c tung b ng 0.632 ca y(t).
3) Honh chnh l tham s T.
2.3.2 M hnh dao ng bc 2 tt dn
K
- Hm truyn t
G (s) = 2 2
T s + 2 Ts + 1

32

Ch ng 4

Gii thiu v nhn dng

1 2

e t / T
- Hm qu h(t ) = K 1
sin
t + ar cos
T

1 2

- Mt s tnh cht :
d
h(0) = 0 v
h (0) = 0 (b c ca mu s ln hn b c ca t s t nht l 2 b c)
dt

h() l m t hng s.

h(t) c v s im cc tr phn b xen k, cch u nhau, im cc i ln hn h()

v im cc tiu nh hn h() (nhu v y phi c cac im cc l cc nghim phc
lin hp).

T hm qu , ta tnh c :
h = lim h (t ) = K
t

1 2
dh(t )
e t / T
=K
t
sin
2

dt
T
T 1

dh(t )
Gii phng trnh
= 0 , ta tm c cc im cc tr
dt
iT
i = 0,1,
Ti =
1 2

hmax

= h(T1 ) = K 1 + e

ln 2

T1 =

h = Ke
max

1 2

1+

Do

1 2

hmax
K

T=

T1 1 2

1 2
Phng php nhn dng
1) K ng tim cn vi h(t) v xc nh K = h().
2) Xc nh hmax, hmax tm .
3) Xc nh T1 v t suy ra T.
Trong trng hp u(t) = u 0*1(t), do tnh cht tuyn tnh nn y(t) = u 0*h(t). Ta xc nh cc tham
s nh sau :
1) K ng tim cn vi y(t) v xc nh K = y/u0.
2) Cc tham s khc tm c gi ng nh trn, trong ta thay h(t) bi y(t).

33

Ch ng 4

Gii thiu v nhn dng

Nhn dng m hnh c tham s

3.1 c im chung

Khc vi vic nhn dng m hnh khng tham s, nhn dng m hnh c tham s l ch
ng to ra chu i tn hiu (vo/ra) v x l cc tn hiu thu nhn c xc nh tham s c a
m hnh. M hnh c chn c cu trc bt k (nhng hp l), v cc tham s ca m hnh
c tnh ton ch khng thng qua mt php so snh no.
Khi tin hnh nhn dng m hnh c tham s , thng ngi ta thc hin trn m hnh
gin on. Nguyn nhn l do :
- Cc tn hiu o lng c a vo my tnh thng l nhng tn hiu gin on
- Thch hp hn cho vic iu khin v iu chnh cc h th ng, c bit l iu khin theo thi
gian thc.
- C th s dng cc tn hiu kch thch cc k b nhng em li cc kt qu chnh xc.

S khi tng qut thc hin qu trnh nhn dng nh sau :

u(t)

D/A
+ ZOH

y(t)
i tng

A/D

(t)

y(t )

M hnh
nhn d ng

Tham s
ca m hnh

Thut ton
nhn dng

Nh vy, vic nhn d ng m t m hnh c tham s cn 4 bc sau :

1) Thu thp cc d liu vo/ra ;
2) Chn cu trc c a m hnh ;
3) D on tham s c a m hnh ;
4) nh gi m hnh nhn d ng ;
Trong , vic chn cu trc ca m hnh c th thc hin nh cc thng tin bit trc ca i
tng cn nhn d ng, ho c qua phn tch c tnh qu c a i tng (xem phng php
nhn dng b ng m hnh khng tham s).
- Sai lch (t) : l sai lch gia .tn hiu ra ca i tng tht vi tn hiu ra ca m hnh khi c
cng kch thch u(t) ti u vo.
- Tn hiu kch thch thung l mt chu i nh phn PRBS vi bin rt b, to ra bi my tnh.
3.2 Tn hi u kch thch cho nhn d
ng
3.2.1 t vn
Trong l thuyt nhn dng, s ng qui v 0 ca sai lch d on khng ng ngha vi
vic ng qui ca cc tham s nhn dng c v cc gi tr ng ca n.
V d : xt mt m hnh gin o n cn nhn dng ca i tng cho bi :
y(k + 1) = a1 y (k ) + b1u (k )
(4.1)

34

Ch ng 4

Gii thiu v nhn dng

Gi s m hnh thc hin nhn dng nh sau :

y (k + 1) = a1 y(k ) + b1u (k )
vi y(k + 1) l tn hiu ra d on.

(4.2)

Gi s tn hiu kch thch u(k) = const, v cc tham s a1 , b1 , a1 , b1 tha mn quan h sau :

b1
b
(4.3)
= 1
1 + a1 1 + a1
ngha l h s khuch i t nh ca i tng v m hnh nhn dng l bng nhau m khng c n
phi c b1 = b1 v a1 = a1 .
Nu tn hiu vo u(t) = const, trng thi xc lp, tn hiu ra ca i tng l :
b
(4.4)
y(k + 1) = y (k ) = 1 u
1 + a1
v c a m hnh nhn dng l :
b
(4.5)
y ( k + 1) = y ( k ) = 1 u
1 + a1
Nu s dng gi thit (4.3), ta s c :
(u = const)
(k + 1) = y (k + 1) y (k + 1) = 0
a a , b b
(4.6)
1

Phn tch chi tit hn v d trn, sai lch d on bng 0, ta c :

( k + 1) = y ( k + 1) y ( k + 1) = [ a1 a1 ] y ( k ) + b1 b1 u ( k ) = 0

(4.7)

T (4.1), ta c th biu din y(k) theo hm c a u(k) :

b q 1
(4.8)
y(k ) = 1 1 u (k )
1 + a1q
Thay biu thc c a y(k) trong (4.8) vo (4.7), ta nhn c
( a1 a1 ) b1q 1 + ( b1 b1 ) (1 + a1q 1 ) u (k ) = ( b1 b1 ) + q 1 ( b1a1 a1b1 ) u (k ) = 0
(4.9)

t
(4.10)
b1 b1 = 0 ; b1a1 a1b1 = 1
phng trnh (4.9) thnh :
(4.11)
( 0 + 1q 1 ) u (k ) = 0
y l phng trnh hi qui ca u(k), li gii l hm m .
Nu u(k) l tn hiu khng chu k
u(k ) = e Tk ( s thc)

(4.12)

ta lun c th tm c (4.11) (v v v y 2.7) tha mn khng rng buc a1 = a1 ; b1 = b1

(trng hp trong v d nu trn ng vi = 0). Hay ni cch khc, ta khng th nhn dng
chnh xc cc tham s .
Nu u(k) l tn hiu chu k
u(k ) = e jTk hay u(k ) = e jTk
phng trnh (4.11) tr thnh
( e jT 0 + 1 ) e jT ( k 1) = 0

(4.13)
(4.14)

jTe

Do 0, 1 l cc s thc, e
khng th l nghim ca phng trnh c tnh, v vy phng
trnh (4.14) ch th a mn ( (t)= 0) khi v ch khi :
0 = 1 = 0 b1 = b1 , a1 = a1
(4.14)

35

Chng 4

Gii thiu v nhn dng

Kt lun : Vy nhn dng c tt c cc tham s, tn hiu kch thch phi mang tn s

0 .

Trong trng hp t ng qut, tn hiu ra c dng :

n

i =1

i =1

y ( k ) = ai y ( k i ) + biu ( k d i )

(4.15)

nhn dng c tt c cc tham s (n + m), tn hiu kch thch u(k) phi chn l tng c a p tn
hiu sinus phn bit :
p

u(k ) = sin iTk

(4.16)

i =1

trong :
o Nu (n + m) l : p

n+m
2

o Nu (n + m) chn : p

n + m +1
2

Hay ni cch khc, tn hiu kch thch phi mang nhiu tn s khc nhau.
Trong thc t nhn dng, ngi ta th ng to ra mt chui nh phn ngu nhin (PRBS Pseudo Random Binary Signal) lm tn hiu kch thch cho nhn dng.
3.2.2 Chui nh phn ngu nhin PRBS
Chu i nh phn ngu nhin l mt chui xung ch nht k tip, c rng khc nhau, v
c xem nh l mt tn hiu nhiu trng giu v tn s . N c to ra bng cc thanh ghi dch
(cu to tht hay chng trnh) to thnh vng kn.
Gi N l s bit c a thanh ghi dch. Nh v y, chiu di c a chu i nh phn PRBS l 2N-1.
rng ln nht ca m t xung trong chui PRBS l tim = NT, vi T l chu k l y mu. Ti thi
im ban u, phi c t nht 1 trong cc bit ca thanh ghi c gi tr khc 0 (thng ngi ta t
tt c cc bit bng 1).
Chn s bit ca thanh ghi dch
- nhn dng c h s khuch i tnh ca i tng, rng ln nht ca tn hiu kch
thch phi ln hn thi gian tng (tM) ca i tng:
tim = NT > tM
(4.17)
- Ngoi ra, th i sch ph tn s v tn d ng chui nh phn PRBS, chiu di c a tn hiu kch
thch phi ln hn chiu di chu k do chui PRBS to ra:
L > 2N-1.T
(4.18)
Trong thc t, thng ngi ta ch n tn s l y mu bng m t h s nhn c a tn s ca thanh
ghi dch, hay:
fe = p*fPRBS
(4.19)
iu kin (4.17) th thnh:
tim = p*N*T > tM
(4.20)
Chn bin ca chui PRBS
Bin ca chui nh phn PRBS c th chn rt b, nhng phi ln hn bin c a nhiu. Nu
t s gia tn hiu/nhiu qu b, cn phi chn m t chui PRBS di hn c th nhn dng tt
cc tham s.

36

Chng 4

Gii thiu v nhn dng

3.3 Cc m hnh ca i tng v ca nhi!u

Khc vi ph ng php nhn dng cho m hnh khng tham s, phng php nhn dng ny
khng ch nhn dng c cc tham s c a i tng m cn m hnh ha c c tn hiu
nhiu. Gi s tn hiu ra c a i tng c vit di dng ton t Z nh sau :
Y ( z ) = G ( z )U ( z ) + H ( z ) E ( z )
trong , G(z), H(z) l cc hm truyn t cha cc a thc ca z.
Ta bit rng, khi biu din di dng phng trnh sai phn, c m i thnh phn z-rl y(z) y(k-l).
5z 1
V d : Y ( z ) =
U ( z ) + E ( z)
1 2 z 1

Thng thng ta qui c c th vit theo ch s q v tn hiu gin on y(k). Ph ng trnh trn
lc ny c th c vit bi :
5q 1
y(k ) =
u (k ) + e(k )
1 2q 1
Cch vit ny gip ngi s d ng c th nhn thy vn mtc cch nhanh chng hn.
Nh vy, tn hiu ra tng qut c a i tng c th c biu din bi :
y(k ) = G (q)u (k ) + H (q)e(k )
vi m s q-l lm tn hiu tng ng chm i l bc l y mu.
Gi s e(k) l m t chui nhiu trng, ngha l :
{e(k )} = 0
{e 2 (k )} = 2

T cc nh ngha v qui c nu trn, ta c m t s m hnh c a i tng cn nhn dng nh

sau :
3.4 M hnh ARX

Phng trinh sai phn (gin on) c a m hnh ny c vit di dng :

y(k ) + a1 y(k 1) + ... + ana y (k na) = b1u (k 1) + ... + bnb u (k nb) + e(k )
Thnh phn sai lch e(k) c a trc tip vo ph ng trnh sai phn nn m hnh ny thng
c gi l m hnh sai lch phng trnh. Vect cc tham s cn nhn dng l :
= a1 a 2 ... ana b1 ... bnb T

A( z ) = 1 + a1 z 1 + ... + a na z na

B ( z ) = b1 z 1 + ... + bnb z na
Nh vy : A( z )Y ( z ) = B( z )U ( z ) + E ( z )
B( z )
1
hay
G( z) =
; H ( z) =
A( z )
A( z )

e(k)
1
A

u(k)

y(k)
B
A

37

Chng 4

Gii thiu v nhn dng

3.5 M hnh OE )(output error)(sai l ch tn hi u ra)

Gi s rng quan h gia tn hiu vo vi tn hiu ra sch (khng b nh hng bi

nhiu) c m t bi phng trnh sai phn sau :
w(t ) + f1 w(t 1) + ... + f n f w(t n f ) = b1u (t 1) + ... + bnn u (t nb )
v

y(t ) = w(t ) + e(t )

Nh vy, vi cch t F ( z ) = 1 + f1 z 1 + ... + f n f z

B( z )
U (z) + E(z)
F ( z)
Vect tham s cn nhn dng l :
= f 1 f 2 ... f n fb b1 b2

n f

, ta c th vit m hnh di dng :

Y ( z) =

... bn ff

e(k)
u(k)

y(k)
B
F

3.6 M hnh Box-Jenkin

M hnh ny vit tn hiu ra di dng t ng qut nh sau :

B( z )
C (z)
Y ( z) =
U ( z) +
E( z)
F (z)
D( z )
S cu trc ca m hnh c biu din trn hnh sau :
e(k)
C
D
u(k)

B
F

y(k)

Cn phn bit m hnh i tng v m hnh nhn dng.

3.7 Mt s thut ton nhn d
ng khng hi qui
3.7.1 Cc phng php da trn sai lch d on
S khi c a phng php nhn dng da trn sai lch d on nh sau :

38

Chng 4

Gii thiu v nhn dng

u(k)
i tng

y(k)

(t)
M hnh
nhn dng

y(t )

Tn hiu d on y ca m hnh nhn dng ph thuc vo cc tham s cha bit v cc tn hiu

ra trc ca i tng.
Ng i ta chng minh rng , vi tp cc d liu c a u(k), y(k) thu thp c n thi
im k, ta lun c th d on c tn hiu ra c a m hnh bi :
y (k , ) = H 1 (q)G (q)u(k ) + (1 H 1 )y (k )
Trong , G, H l hm truyn t c a m hnh i tng

Kho st m hnh ARX :

y(k ) + a1 y(k 1) + ... + ana y (k na) = b1u (k 1) + ... + bnb u (k nb) + e(k )
T
= a ... a
b ... b

na

nb

( k ) = [ y ( k 1) ... y ( k n a ) u (k 1) ... u (k nb ) ]
Ta c th ghi li :
y ( k ) = T ( k ) + e ( k )
Vi m hnh ARX, tn hiu ra d on ca m hnh cn nhn dng c tnh bi :
y (k ) = H 1 (q)G (q)u (k ) + (1 H 1 (q) )y (k )
trong H(q)=1/A(q) v G(q) =B(q)/A(q)

y (k ) = B(q)u (k ) + (1 A(q)) y (k )

y ( k ) = a1 y ( k 1) ... a n y ( k n a ) + b1u ( k 1) + ... + bn u ( k nb )

hay
y (k ) = T (k )
T

Sai lch d on lc ny l:
(k ) = y (k ) y (k ) = e(k )

( k , ) = y (k ) T (k )
nh ngha : Phng php bnh phng b nht c nh ngha l chn g tr ca sao
cho tng bnh phng ca (k) l b nht, ngha l :

J ( ) =

(k , ) min

k = na

( N ) = [ y (n a ) ... y ( N ) ]

(N) = [ (n a ) ... (N) ]

(vecto)
(matran)

( N ) = [ ( n a ) ... ( N ) ] (vecto)
ta c th ghi li :
(N ) =
Cng thc bnh phng b nht lc ny c th ghi li di dng vect :
T

39

Chng 4

Gii thiu v nhn dng

J = T ( N , )( N , )
T
= (Y ) (Y )
= Y T Y T T Y Y T + T T

G i LS l gi tr t i u tm c, vi ngha l :
J ( ) J ( )
LS

ta c iu kin cn LS tha mn iu kin trn l o hm ca hm mc tiu J() ti LS

bng 0 :
J
= 0 2Y T + 2 T T = 0
=LS
hay
T LS = T Y
Khi kch thch l cht (v d chui nh phn ngu nhin PRBS), ngha l ma trn T c hng
y (full rang), nghim c a phng trnh trn l duy nht v bng :
1
= T T Y

LS

Ta c ng c th kim tra nghim duy nht bi :

2J
= 2 T
2
o hm ny lun dng nu ma trn T full rang.
3.7.2 Phng php da trn sai lch tn hiu ra
Phng php nhn dng ny s dng m hnh E c a i tng. S khi c a phng
php nhn dng ny nh sau :

u(k)
i tng

y(k)

(t)
M hnh
nhn dng

yM(k)

im khc bit ca phng php nhn dng ny l tn hiu ra d on ca m hnh ph

thuc vo cc tn hiu ra trc ca m hnh ch khng ph thu c vo tn hiu ra trc c a
i tng.
Ta c tn hiu ra c a m hnh nhn dng l :
B(q)
y M (k ) =
u (k )
F (q )

y M (k ) = f 1 y M (k 1) ... f nf y M (k nf ) + b1u (k 1) + ... + bnb u (k nb)

t

= f 1 ...

f nf

b1 ... bnb

M (k ) = [ y M (k 1) ... y M (k na ) u (k 1) ... u (k nb )]

ta c th vit :
y M (k ) = T (k )
Sai lch gia 2 tn hiu ra lc ny l :
(k ) = y (k ) y M (k ) = y(k ) MT (k )

40

Chng 4

Gii thiu v nhn dng

Sai lch (k) lc ny ph thu c vo v yM(k) l nhng gi tr ch a bit ; yM(k) li ph thu c

vo nn (k) phi tuyn so vi . Do vy, ta khng th dng thut ton trn xc nh .
Vecto tham s c ch n sao cho th a mn hm mc tiu :
J ( ) =

(k , ) min

k =n f

gii bi ton ny :
- Ta c th gn cc gi tr ban u ca yM (t 1 n nf) bng cc gi tr o lng c ca i
tng. Ta p dng tiu chun bt u t thi im th nf + 1.
- Hm mc tiu phi tuyn theo nn ta c th g i mt hm ti u phi tuyn tm (v d hm
fmincon trong MATAB).
3.8 nh gi kt qu nhn d
ng
Cn phi c tp d liu nh gi kt qu nhn dng. Tp d liu ny c th l :
- Mt tp d liu hon ton mi.
- Hoc m t phn c a tp d liu thu thp c
Vic nh gi kt qu nhn dng da trn mt s tiu ch sau :
- chnh xc cao
- M hnh n gin
- n nh ln

41

Chng 5

MATLAB trong iu khin t ng

Chng 5
MATLAB
TRONG IU KHIN T NG
GII THIU
MATLAB, tn vit tt ca t ting Anh MATrix LABoratory, l m t mi trng mnh
dnh cho cc tnh ton khoa hoc. N tch hp cc php tnh ma trn v phn tch s da trn cc
hm c bn. Hn na, cu trc h a hng i tng c a Matlab cho php to ra cc hnh v
cht lng cao. Ngy nay, Matlab tr thnh mt ngn ng chun c s d ng rng ri trong
nhiu ngnh v nhiu quc gia trn th gii.
V mt cu trc, Matlab gm mt ca s chnh v rt nhiu hm vit sn khc nhau. Cc
hm trn cng lnh vc ng dng c xp chung vo mt th vin, iu ny gip ng i s dng
d dng tm c hm cn quan tm. C th k ra mt s th vin trong Matlab nh sau :
- Control System (dnh cho iu khin t ng)
- Finacial Toolbox (lnh vc kinh t)
- Fuzzy Logic (iu khin m)
- Signal Processing (x l tn hiu)
- Statistics (ton h c v thng k)
- Symbolic (tnh ton theo biu thc)
- System Identification (nhn dng)
-
M t tnh cht rt mnh c a Matlab l n c th lin kt vi cc ngn ng khc. Matlab c th
gi cc hm vit bng ngn ng Fortran, C hay C++, v ngc li cc hm vit trong Matlab c
th c gi t cc ngn ng ny
Cc bn c th xem phn Help trong Matlab tham kho cch s dng v v d ca tng
lnh, hoc download (min ph) cc file help dng *.pdf ti trang Web c a Matlab a ch
http://www.mathworks.com

Control System Toolbox

Control System Toolbox l mt th vin ca Matlab dng trong lnh vc iu khin t ng.
Cng vi cc lnh c a Matlab, tp lnh c a Control System Toolbox s gip ta thit k, phn tch
v nh gi cc ch tiu cht lng c a mt h thng tuyn tnh.
1.1 nh ngha mt h thng tuyn tnh
1.1.1 nh ngha bng hm truyn
H thng mt tn hiu vo/ra

Cu lnh:
-

sys=tf(num,den,T)

num: vect cha cc h s ca a thc t s, bc t cao n thp theo ton t Laplace

(h lin tc) hoc theo ton t z (h gin on)
den: vect cha cc h s c a a thc mu s, bc t cao n thp
T: chu k l y mu, ch dng cho h gin on (tnh bng s)

V d :
nh ngha mt hm truyn trong Matlab
s+2
G (s) = 3 2
s + 2s + 4

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MATLAB trong iu khin t ng

num=3*[1 2];den=[1 2 4];sys1=tf(num,den);

z 0, 6
G ( z ) = 2,1* 2
z 0,56 z + 0, 4
num=2.1*[1 -0.6];den=[1 -0.56];
T=0.5;sys2=tf(num,den,T)
H thng nhiu tn hiu vo/ra

Y1

U1

G(r)

Un

Yn

G11 ( s ) G12 (s ) ... G1m ( s )

G ( s ) G ( s )
G2 m ( s )
22
G (s ) = 21
...

Grm ( s )
Gr 1 (s ) Gr 2 (s )

Cu lnh :
G11=tf(num11,den11,T); G12=tf(num12,den12,T);...; G1m=tf(num1n,den1n,T);
G21=tf(num21,den21,T); G22=tf(num22,den22,T);...; G2m=tf(num2n,den2n,T);
Gr1=tf(nump1,denp1,T); Gr2=tf(nump2,denp2,T);...; Grm=tf(numpn,denpn,T);
sys=[G11,G12,...,G1m;G21;G22,...;G2m,...;Gr1,Gr2,...,Grm];
1.1.2 nh ngha bng zero v cc
H thng mt tn hiu vo/ra

Cu lnh:

sys=zpk(Z,P,K,T)

- Z,P l cc vect hng cha danh sch cc im zer v cc c a h thng.

- K l h s khuch i
Ch : nu h th ng khng c im zer (cc) th ta t l []
V d :

s+2
s (s + 5)
Z=-2;P=[0 -5];K=1;sys=zpk(Z,P,K);
G (s) =

H thng nhiu tn hiu vo/ra

Cu lnh :
G11=zpk(Z11,P11,T); G12=zpk(Z12,P12,T);...; G1m=zpk(Z1n,P1m,T);
G21=zpk(Z21,P21,T); G22=zpk(Z22,P22,T);...; G2m=zpk(Z2n,P2m,T);

Gr1=zpk(Zp1,Pp1,T); Gr2=zpk(Zp2,Pp2,T);...; Grm=zpk(Zpn,Prm,T);

sys=[G11,G12,...,G1m;G21;G22,...;G2m;...;Gr1,Gr2,...,Grm];
1.1.3 Phng trnh trng thi

Cu lnh:
-

sys=ss(A,B,C,D,T)
A,B,C,D l cc ma trn trng thi nh ngha h th ng
T l chu k l y mu.

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MATLAB trong iu khin t ng

1.1.4 Chuyn i gia cc dng biu din

- Chuyn t phng trnh trng thi sang hm truyn
[num,den] = ss2tf(A,B,C,D)
- Chuyn t dng zero/cc sang hm truyn
[num,den] = zp2tf(Z,P,K)
- Chuyn t hm truyn sang phng trnh trng thi
[A,B,C,D]=tf2ss(num,den)
1.1.5 Chuyn i gia h lin tc v gin on
S ha mt h thng lin tc

Cu lnh:

sys_dis=c2d(sys,T,method)

sys, sys_dis h thng lin t c v h th ng gin on tng ng

Ts thi gian l y mu
method phng php ly mu: zoh ly mu bc 0, foh ly mu bc 1, tustin
phng php Tustin
2
V d: chuyn mt khu lin tc c hm truyn G (s ) =
sang khu gin on bng
0.5 s + 1
phng php gi mu bc 0, chu k ly mu T=0.01s
num=2
den=[0.5 1]
sysc=tf(num,den)
sysd=c2d(sysc,0.01,zoh)
H lin tc tng ng ca mt h thng gin on

Cu lnh:

sys=d2c(sys_dis,method)

1.2 Bin i s  t ng ng
1.2.1 Mc ni tip

Cu lnh:

sys1

sys2

sys=series(sys1,sys2)

1.2.2 Mc song song

Cu lnh:
sys=parallel(sys1,sys2)
1.2.3 Mc phn hi
Cu lnh:
sys=feedback(sys1,sys2,sign)

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MATLAB trong iu khin t ng

sys1

sys2

sign = +1 nu phn h i dng v sign=-1 (hoc khng c sign) nu phn hi m.

1.3 Phn tch h thng
1.3.1 Trong min thi gian
Hm qu h(t)

Cu lnh:

step(sys)

V hm qu ca h th ng tuyn tnh sys. Khong thi gian v v bc thi gian do Matlab t

chn.
Mt s trng hp khc
- step(sys,t_end): v hm qu t thi im t=0 n th i im t_end.
- step(sys,T): v hm qu trong khong thi gian T. T c nh ngha nh sau
T=Ti:dt:Tf. i vi h lin tc, dt l bc v, i vi h gin on, dt=Ts l chu
k l y mu.
- step(sys1,sys2,sys3,) : v hm h(t) cho nhiu h th ng ng thi.
- [y,t]=step(sys): tnh p ng h(t) v lu vo cc bin y v t tng ng
Hm trng lng (t)
Cu lnh:
impulse(sys)
Phn ng i vi tn hiu vo bt k
Cu lnh:
lsim(sys,u,t)
Trong u l vect tn hiu vo theo vect thi gian t. Vect u c xy dng t m t hm bt
k.
Tm phn ng t hm nh laplace
Thc hin cc cu lnh sau:
- sys = ilaplace(SYS): tm hm gc t hm nh SYS. Hm gc lm hm theo bin thi
gian t.
- Xy dng bin thi gian t.
- subs(sys): thay bin t vo hm sys tm c
V d : tm p ng thi gian ca mt tn hiu ra cho di dng laplace
5
Y (s) =
3
s (s + 2 s 2 + s + 1)
trong khong thi gian t 0 n 10s, thc hin chui lnh nh sau:
syms s t;
Y=5/(s*(s^3+2*s^2+s+1));
y=ilaplace(Y);
t=0:0.1:10;
yt=subs(y);

45

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MATLAB trong iu khin t ng

1.3.2 Trong min tn s

c tnh Bode

Cu lnh:

bode(sys)

V c tnh tn s Bode c a h th ng tuyn tnh sys. Di tn s v do Matlab t ch n.

Mt s trng hp khc
- bode(sys,{w_start,w_end}): v c tnh bode t tn s w_start n tn s w_end.
- bode(sys,w) v c tnh bode theo vect tn s w. Vect tn s w c nh ngha
bng hm logspace. V d: w=logspace(-2,2,100) nh ngha vect w g m 100 im,
t tn s 10-2 n 102.
- bode(sys1,sys2,sys3,) v c tnh bode c a nhiu h th ng ng thi.
- [mag,phi,w]=bode(sys,) lu tt c cc im tnh ton ca c tnh bode vo vect
mag, phi ng vi tn s w tng ng.
Ch : i vi h thng gin on, di tn s v phi tha mn nh l Shannon.
c tnh Nyquist
Cu lnh:

nyquist(sys)
nyquist(sys,{w_start,w_end})
nyquist(sys,w)
nyquist(sys1,sys2,sys3,...,w)
[real,ima,w]=nyquist(sys,)
c tnh Nichols
Cu lnh:

nichols(sys)
nichols(sys,{w_start,w_end})
nichols(sys,w)
nichols(sys1, sys2, sys3,...,w)
[mag,phi,w]=nichols(sys,)

Tnh ton G(), arg[G()] v v trong mt phng Black.

V d : V cc c tnh tn s c a h thng sau
G (s) =

02
s 2 + 20 s + 02

vi 0=1rad/s v =0,5

w0=1 ;xi=0.5 ;num=w0^2 ;den=[1 2*xi*w0^2 w0^2] ;G=tf(num,den);

w=logspace(-2,2,100) ;
bode(G,w) ; % v c tnh bode trong di tn s w
nichols(G); % v c tnh nichols trong di tn s t ch n c a Matlab
nyquist(G); % v c tnh nyquist
1.3.3 Mt s hm phn tch
Hm margin

margin(sys) v c tnh Bode ca h th ng SISO v ch ra d tr bin , d tr

pha ti cc tn s tng ng.
[delta_L,delta_phi,w_L,w_phi]=margin(sys) tnh v lu d tr bin vo bin
delta_L ti tn s w_L, lu d tr v pha vo bin delta_phi ti tn s w_phi.

46

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MATLAB trong iu khin t ng

Hm pole

vec_pol=pole(sys) tnh cc im cc c a h thng v lu vo bin vec_pol.

Hm tzero
vec_zer=tzero(sys) tnh cc im zero ca h th ng v lu vo bin vec_zer.
Hm pzmap
-

[vec_pol,vec_zer]=pzmap(sys) tnh cc im cc v zero ca h thng v lu vo cc

bin tng ng.
- pzmap(sys) tnh cc im cc, zero v biu din trn mt phng phc.
Hm dcgain
G0=dcgain(sys) tnh h s khuch i tnh c a h thng v lu vo bin G0.
1.3.4 Mt s hm c bit trong khng gian trng thi
Hm ctrl

Cu lnh:

C_com=ctrl(A,B)
C_com=ctrl(sys)

Tnh ma trn iu khin c C ca mt h thng. Ma trn C c nh ngha nh sau:

C=[B AB A2B An-1B] vi Anxn
Hm obsv

Cu lnh:

O_obs=obsv(A,C)
O_obs=obsv(sys)

Tnh ma trn quan st c O c a m t h thng. Ma trn O c nh ngha nh sau: O=[C

CA CA2 CAn-1]
Hm ctrbf

Cu lnh:

[Ab,Bb,Cb,T,k]=ctrbf(A,B,C)

Chuyn v dng chun (canonique) iu khin c ca mt h th ng biu din di dng

phng trnh trng thi.
Trong :
Ab=TAT-1, Bb=TB, Cb=CT-1, T l ma trn chuyn i.
Hm obsvf

Cu lnh:

[Ab,Bb,Cb,T,k]=obsvf(A,B,C)

Chuyn v dng chun quan st c ca m t h thng biu din di dng phng trnh
trng thi.
Trong :
Ab=TAT-1, Bb=TB, Cb=CT-1, T l ma trn chuyn i.
1.4 V d" tng hp
Cho m t h th ng kn phn h i -1, trong hm truyn ca h h l

02
G (s) =
2
2
s(1 + s) s + 20 s + 0

vi K=1, =10s, 0=1rad/s v =0.5

47

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MATLAB trong iu khin t ng

1. V c tnh tn s Nyquist. Ch ng t rng h kn khng n nh.

2. V p ng qu c a h kn.
3. h thng n nh, ngi ta hiu chnh h s khuch i K=0.111. Xc nh tn s ct,
d tr bin v d tr v pha c a h thng trong trng hp ny.
4. Xc nh cc thng s qu (thi gian qu ln nht Tmax, qu iu chnh ln nht
max) ca h th ng hiu chnh.
THC HIN
Cu 1
>>K=1;to=10;w0=1;xi=0.5;
>>num1=K;den1=[to 1 0];
>>num2=w0^2;den2=[1 2*xi*w0 w0^2] ;
>>G=tf(num1,den1)*tf(num2,den2)
Transfer function:
1
---------------------------10 s^4 + 11 s^3 + 11 s^2 + s

>>w=logspace(-3,2,100) ;
% to vect tn s v cc c tnh tn s
>>nyquist(G,w);
c tnh c biu din trn hnh 1.1
xt tnh n nh ca h kn dng tiu chun Nyquist, trc tin ta xt tnh n nh ca h h.
Nghim ca phng trnh c tnh ca h h c xc nh :
>>pole(G)
ans =
0
-0.5000 + 0.8660i
-0.5000 - 0.8660i
-0.1000

H h c 1 nghim bng 0 nn bin gii n nh.

Nyquist Diagrams

Nyquist Diagrams

From: U(1)

From: U(1)

1500

0.3
1000
0.2

0.1
To: Y(1)

Imaginary Axis

To: Y(1)

Imaginary Axis

500

-0.1

-500
-0.2
-1000
-0.3

-1500
-12

-10

-8

-6

-4

-2

-0.4
-1

-0.8

Real Axis

-0.6

-0.4

-0.2

Real Axis

Hnh 1.1 : c tnh tn s Nyquist ca h h

Quan st c tnh tn s Nyquist c a h h trn hnh 1.1 (phn zoom bn phi), ta thy c tnh
Nyquist bao im (-1,j0), v do h h bin gii n nh nn theo tiu chun Nyquist, h thng
kn s khng n nh.

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MATLAB trong iu khin t ng

Cu 2
>>G_loop=feedback(G,1,-1) ;
>>step(G_loop) ;

% hm truyn h kn

Step Response
From: U(1)
15

Hnh 1.2 :
p ng qu h kn

5
To: Y(1)

Amplitude

10

-5

-10

50

100

150

200

250

300

350

400

450

500

Time (sec.)

Cu 3
>>K=0.111 ;num1=K ;
% thay i h s khuch i K
>>GK=tf(num1,den1)*tf(num2,den2)
Transfer function:
0.111
---------------------------10 s^4 + 11 s^3 + 11 s^2 + s

>>margin(GK)
c tnh tn s Bode ca h h hiu chnh c biu din trn hnh 1.3. T c tnh ny, ta c
th xc nh c
L=18.34dB ; = 44.78 ; c=0.085rad/s
Bode Diagrams
Gm=18.344 dB (at 0.30151 rad/sec), Pm=44.775 deg. (at 0.084915 rad/sec)
50

Phase (deg); Magnitude (dB)

-50

-100

-150

0
-50
-100
-150
-200
-250
-300
-350
-400
-3
10

10

-2

10

-1

10

10

Frequency (rad/sec)

Hnh 1.3 : c tnh tn s Bode ca h h hiu chnh

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MATLAB trong iu khin t ng

Cu 4
>>GK_loop=feedback(GK,1,-1) ;
>>step(GK_loop);
Step Response
From: U(1)
1.4

1.2

Hnh 1.4
p ng qu h
kn hiu chnh

0.8
To: Y(1)

Amplitude

0.6

0.4

0.2

50

100

150

Time (sec.)

S dng con tr chut v kch vo cc im cn tm trn c tnh, ta xc nh c

max=23%; Tmax= 70.7s

SIMULINK

Simulink c tch hp vo Matlab (vo khong u nhng nm 1990) nh mt cng c

m ph ng h thng, gip ngi s d ng phn tch v t ng hp h thng mt cch trc quan.
Trong Simulink, h th ng khng c m t di dng dng lnh theo kiu truyn th ng m
di dng s khi. Vi dng s kh i ny, ta c th quan st cc p ng thi gian ca h
th ng vi nhiu tn hiu vo khc nhau nh : tn hiu bc thang, tn hiu sinus, xung ch nht, tn
hiu ngu nhin bng cch thc hin m ph ng. Kt qu m ph ng c th c xem theo thi
gian thc trn cc Oscilloscope trong mi trng Simulink, hay trong mi trng Matlab.
Simulink hon ton tng thch vi Matlab, nhng n l m t dao din h a. V vy tt c
cc hm trong Matlab u c th truy cp c t Simulink, ngay c cc hm do ngi s dng
to ra. Ngc li, cc kt qu tm c trong Simulink u c th c s d ng v khai thc
trong mi trng Matlab.
Cu i cng, Simulink cho php ngi s dng kh nng to ra mt th vin khi ring. V
d, nu bn mun lm vic trong lnh vc iu khin cc my in, bn c th to ra mt th
vin ring cha cc m hnh my in Nh vy, vi cng c Simulink, ta c th t tin hnh
m phng th nghim, quan st kt qu, kim chng vi l thuyt trc khi tin hnh th nghim
trn m hnh tht.

50

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MATLAB trong iu khin t ng

2.1 Khi ng Simulink

khi ng Simulink t mi trng Matlab, ta
g dng lnh simulink. Lc ny mt ca s nh trn
hnh 2.1 s xut hin, trn c cc th m c chnh v
cc th vin con c a Simulink. bt u lm vic, ta
to ca s mi bng cch kch vo biu tng New .
C 8 th vin chnh c a Simulink c phn loi nh
sau :
- Continuous : h thng tuyn tnh v lin tc
- Discrete : h th ng tuyn tnh gin on
- Nonliear : m hnh ha nhng phn t phi tuyn
nh rle, phn t bo ha
- Source : cc kh i ngun tn hiu
- Sinks : cc kh i thu nhn tn hiu
- Function & Table : cc hm bc cao ca Matlab
- Math : cc khi c a simulink vi cc hm ton hc
tng ng c a Matlab
- Signals & System : cc khi lin h tn hiu, h
thng con
2.2 T
o mt s  n gin
lm quen vi Simulink, ta bt u bng mt v

d n gin : phn tch hm qu c a m t khu bc hai c hm truyn G (s ) =

02
s 2 + 20 s + 02

vi 0=1rad/s v =0,5. Cc bc thc hin c s m phng nh hnh 2.2 nh sau :

M t s Simulink n gin
-

Khi ng Simulink t Matlab bng dng lnh simulink

Trong ca s chnh ca Simulink, chn biu tng New to ca s ng dng.
Mun to mt khi trong ca s ng dng, ta tm khi trong cc th vin ca Simulink,
kch ch n v ko n vo ca s ng dng. V d, to kh i Step, ta vo th vin Simulink > Continuous -> Sources -> Step, kh i Transfer Fcn trong Simulink -> Continuous ->
Transfer Fcn
t thng s cho tng khi, ta m khi ra bng cch double-click chu t vo n. Lc
ny t cc thng s theo hng dn trn mn hnh.
ng n i gia cc khi c thc hin bng cch dng chut ko cc mi tn u (cui)
mi khi n v tr cn n i.

Sau khi to c s kh i nh hnh trn, ta c th bt u tin hnh m ph ng (vi cc tham s

mc nh) bng cch ch n Simulation -> Start. Xem kt qu m ph ng bng cch m khi
Scope nh hnh sau:

51

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MATLAB trong iu khin t ng

Kt qu m phng

2.3 Mt s khi thng dng

2.3.1 Th vin Sources
Step
To ra tn hiu bc thang lin tc hay gin on.
Ramp
To tn hiu dc tuyn tnh (rampe) lin tc.
Sine Wave
To tn hiu sinus lin t c hay gin on.
Constant
To tn hiu khng i theo thi gian.
Clock
Cung cp ng h ch thi gian m ph ng. C th xem c ng h ny khi
ang thc hin m phng.
Ch : Mu n kh i clock ch ng thi im ang m ph ng, tham s Sample time c t
nh sau
0 : h lin t c
>0 : h gin on, clock lc ny s ch s chu k l y mu t trong Sample time.
2.3.2 Th vin Sinks
Scope
Hin th cc tn hiu c to ra trong m ph ng.
XY Graph
V quan h gia 2 tn hiu theo dng XY. Kh i ny cn phi c 2 tn hiu
vo, tn hiu th nht tng ng vi trc X, tn hiu vo th hai t ng ng
vi tr c Y.
To Workspace
Tt cc cc tn hiu ni vo khi ny s c chuyn sang khng gian
tham s c a Matlab khi thc hin m phng. Tn c a bin chuyn vo
Matlab do ngi s dng chn.
2.3.3 Th vin Continuous
Transfer Fcn
M t hm truyn c a m t h thng lin t c di dng a thc t s /a
thc mu s. Cc h s ca a thc t s v mu s do ngi s dng nhp
vo, theo bc gim dn ca ton t Laplace. V d nhp vo hm truy n
2s + 1
c dng 2
, ta nhp vo nh sau :Numerator [2 1], Denominator [1
s + s +1
1 1].
State Space
M t hm truyn ca mt h thng lin t c di dng phng trnh trng
thi. Cc ma trn trng thi A, B, C, D c nhp vo theo qui c ma
trn ca Matlab.

52

Chng 5
Integrator
sDerivative
Transport Delay

MATLAB trong iu khin t ng

Khu tch phn.
Khu o hm
Khu to tr

2.3.4 Th vin Discrete

Discrete Transfer Fcn
M t hm truyn ca m t h thng gin on di dng a thc
t s /a thc mu s . Cc h s ca a thc t s v mu s do
ngi s d ng nhp vo, theo bc gim dn c a ton t z.
Discrete State Space
M t hm truyn c a m t h thng gin on di dng phng
trnh trng thi. Ngi s dng phi nhp vo cc ma trn trng
thi A,B,C,D v chu k l y mu.
Discrete-Time Integrator
Khu tch phn ca h thng gin on.
First-Order Hold
Khu gi mu bc 1. Ngi s dng phi nhp vo chu k l y mu.
Zero-Order Hold
Khu gi mu bc 0. Ngi s dng phi nhp vo chu k l y mu.
2.3.5 Th vin Signal&Systems
Mux
Chuyn nhiu tn hiu vo (v h ng hay vect) thnh mt tn hiu
ra duy nht dng vect. Vect ng ra c kch th c bng tng kch
thc ca cc vect vo. S cc tn hiu vo c nh ngha khi
m kh i Mux. V d, nu t tham s number of inputs l 3, ngha
l c 3 tn hiu vo phn bit, v hng. Nu t number of inputs
l [1 2] th c 2 tn hiu vo phn bit : tn hiu th nht v hng,
tn hiu th hai l vect 2 thnh phn.
Demux
Chuyn 1 tn hiu vo thnh nhiu tn hiu ra, ngc vi kh i Mux.
In1
Chn m t cng vo. Khi ny cho php giao tip gia s chnh
v s con.
Out1
Chn m t c ng ra.
2.3.6 Th vin Math
Abs
Tn hiu ra l gi tr tuyt i c a tn hiu vo.
Gain
Tn hiu ra bng tn hiu vo nhn h s Gain (do ngi s dng
inh ngha).
Sign
Tnh du ca tn hiu vo,
bng 1 nu tn hiu vo > 0
bng 0 nu tn hiu vo = 0
bng -1 nu tn hiu vo < 0
Sum
Tn hiu ra l t ng ca cc tn hiu vo.
2.4 V d"
m phng h thng trong v d m c 1.4, ta to s kh i trong Simulink nh hnh v.
Thay i h s khuch i K (K=1 v K=0.111), ta c cc p ng qu ca h kn trn hnh
di.

S m phng trong Simulink

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MATLAB trong iu khin t ng

p ng qu (K=1)

p ng qu (K=0.111)

Identification Toolbox

3.1 N
p d li u  nhn d
ng
D liu nhn dng g m vect tn hiu kch thch u v vect tn hiu ra y.
1. D liu phi c to ra v lu vo file. Gi s file d liu dng nhn dng c lu ti

v tr
C:\DATA\data_iden.mat
2. Np cc vect u, y vo b nh ca MATLAB. Ch chiu di ca vect u v y phi bng
nhau
load(C:\DATA\data_iden.mat)
whos (kim tra c cc bin)
3. Np vo toolbox identification nhn dng
Chn ca s ident Menu Data Import
Trong ca s Import, ch n cc vect input, output v tn c a file d liu.
D liu ny s c a vo cc ca s d liu. Theo mc nh, d liu u tin ny s np
vo ca s d liu lm vic (working data) v d liu nh gi (validation data).
xem c tnh thi gian v ph c a tn hiu:
- Kch chn ca s d liu tng ng (in m)
-

Check box Time plot v Data spectra

4. Tin x l d liu:
Chn menu preprocess
Remove mean: loi b gi tr trung bnh
Remove trend :
3.2 Chn m hnh v th#c hi n nhn d
ng
Bc 1: Chn d liu nhn dng
Ko file d liu tng ng trong ca s d liu vo ca s working data.
Bc 2: Chn m hnh v cu trc ca m hnh

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Chng 5

MATLAB trong iu khin t ng

- Ch n menu Estimate Parametric models Ca s cc m hnh nhn dng

+ Struture: cu trc m hnh
+ Order: bc ca m hnh
+ Name: t tn cho m hnh nhn dng c
+ Estimate: bt u qu trnh nhn dng
- Cc loi m hnh

ARX [na nb nk]
Ay = Bu + e
A(q) y (k ) = B(q)u(k nk ) + e(k )
vi A(q) = 1 + a1q 1 + ... + ana q na ; B(q) = b1q 1 + ... + bnb q nb
y(k ) + a1 y (k 1) + ... + ana y (k na) = b1u(k nk ) + ... + bnb u(k nk nb + 1) + e(k )
V d : ch n m hnh nhn dng l bc nht
y(k ) + a1 y (k 1) = b1u(k 1) + e(k )
t na = 1, nb = 1, nk = 1

ARMAX [na nb nc nk]

A(q)y(k) = B(q)u(k-nk) + C(q)e(k)

OE [nb nf nk]

B(q)
u (t nk ) + e(k )
F (q)
BJ [nb nc nd nf nk]
y(k ) =

y(k ) =

B(q)
C (q)
u (t nk ) +
e(k )
F (q)
D( q )

Bc 3 : Nhn dng
Kch chn Estimate
3.3 nh gi kt qu nhn d
ng
- t d liu nh gi kt qu nhn dng vo ca s Validation data
- Kch ch n m hnh cn nh gi
- Ch n mc nh gi
Model output: tnh sai lch gia tn hiu ra ca m hnh v tn hiu ra ca i tng ( o lng
c)
FIT = [1 - NORM(Y - YHAT)/NORM(Y -MEAN(Y))]*100
M

k2

k = na
*100% vi = y y
fit = 1
k
k
k
M

( k )
k = na

M hnh c fit cng cao th chnh xc cng ln.

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