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Giao Trinh LTDKTD - Full PDF
Giao Trinh LTDKTD - Full PDF
Li ni u
Chng 1: I CNG V H THNG T NG .................................................................. 3
Chng 2: M T TON HC PHN T V H THNG IU KHIN ............................ 12
Chng 3: C TNH NG HC CA H THNG ............................................................ 55
Chng 4: KHO ST TNH N NH H THNG IU KHIN ...................................... 71
Chng 5: NH GI CHT LNG H THNG ............................................................... 93
Chng 6: THIT K H THNG LIN TC ........................................................................ 104
Chng 7: M T TON HC H THNG RI RC ......................................................... 144
Chng 8: THIT K H THNG IU KHIN RI RC .................................................. 171
Chng 9: H THNG IU KHIN PHI TUYN ................................................................ 206
Ph lc Bng bin i Laplace .................................................................................................. 224
i
LI NI U
L thuyt iu khin t ng l mn hc dnh cho sinh vin ngnh in t - T
ng. Gio trnh L thuyt iu khin t ng gm c chn chng:
Chng 1: i cng v h thng iu khin t ng
Chng 2: M t ton hc phn t v h thng iu khin
Chng 3: c tnh ng hc ca h thng t ng
Chng 4: Kho st tnh n nh ca h thng t ng
Chng 5: nh gi cht lng h thng iu khin t ng
Chng 6: Thit k h thng iu khin lin tc
Chng 7: M t ton hc h thng ri rc
Chng 8: Thit k h thng iu khin ri rc
Chng 9: H thng iu khin phi tuyn
y l nhng ni dung tm tt gip sinh vin tip thu c mn hc mt cch nhanh
chng. Ln u bin son chc chn cn nhiu thiu st, mong nhn c s nhng
kin ng gp ca cc bn ng nghip.
B mn iu khin t ng
Ths. Trn Th Hong Oanh
ii
Chng 1: i cng v h thng t ng
Chng 1
I CNG V
H THNG IU KHIN T NG
3
Chng 1: i cng v h thng t ng
e(t) c(t)
r(t) u(t) i tng
B iu khin
cht(t)
Cm bin
4
Chng 1: i cng v h thng t ng
n(t)
5
Chng 1: i cng v h thng t ng
Th d:
- H thng iu khin giao thng th hin i
- H thng iu khin dy chuyn sn xut
Nguyn tc 6: Nguyn tc cn bng ni
Mi h thng cn xy dng c ch cn bng ni c kh nng t gii quyt
nhng bin ng xy ra.
1.3. PHN LOI H THNG IU KHIN
S phn loi cc h thng iu khin ch mang tnh qui c, c nhiu cch phn loi
khc nhau
6
Chng 1: i cng v h thng t ng
7
Chng 1: i cng v h thng t ng
c im:
- Ch p dng i vi h tuyn tnh bt bin mt ng vo mt ng ra
- K thut thit k trong min tn s
iu khin hin i: m t ton hc dng phn tch v thit k h thng l h
phng trnh bin trng thi.
- iu khin ti u
- Lc Kalman (c lng trng thi ti u)
- iu khin thch nghi
- iu khin phi tuyn
- iu khin bn vng
c im:
- p dng c vi h thng nhiu ng vo, nhiu ng ra, h thng bin i theo
thi gian.
- K thut trong min thi gian.
iu khin thng minh: v nguyn tc khng cn dng m hnh ton hc thit
k h thng.
- iu khin dng logic m
- iu khin dng mng nron
- iu khin dng thut ton di truyn
-
- M phng/bt chc cc h thng thng minh sinh hc.
- Thit k da vo kinh nghim (K dng logic m), thng s b iu khin thay
i thng qua qu trnh hc (K dng mng nron),
1.4. MT S TH D V CC H THNG T NG
hiu c tng tn v c th thit k c cc h thng iu khin t ng,
ngoi l thuyt iu khin t ng, cn phi c kin thc lin quan n mt s mn hc
khc. V vy, vi mc ch cung cp cho sinh vin ci nhn tng quan v h thng t
ng, cc th d di y ch trnh by s khi.
1.4.1. iu khin nhit
- Nhit l i lng tham gia vo nhiu qu trnh cng ngh sn xut xi mng, gch
men, nha, cao su, ho du, thc phm,
8
Chng 1: i cng v h thng t ng
1.4.2. iu khin ng c:
- ng c l thit b truyn ng c s dng rt ph bin trong my mc, dy
chuyn sn xut.
- C 3 bi ton iu khin ng c thng gp:
iu khin tc
iu khin v tr
iu khin moment
9
Chng 1: i cng v h thng t ng
Th d: H thng iu khin tc ng c DC
10
Chng 1: i cng v h thng t ng
11
Chng 2: M t ton hc
Chng 2
M T TON HC
PHN T& H THNG IU KHIN LIN TC
i tng iu khin rt a dng v c bn cht vt l khc nhau, nh ng c, l
nhit, my bay, phn ng ho hc cn c c s phn tch, thit k cc h thng
iu khin c bn cht vt l khc nhau. C s chnh l ton hc.
C 2 phng php m t ton hc h thng t ng l phng php hm
truyn t v phng php bin trng thi.
2.1. PHNG PHP HM TRUYN T
2.1.1. PHP BIN I LAPLACE
nh ngha:
Cho hm f(t) l hm xc nh vi mi t 0 , bin i Laplace ca f(t) l:
L [ f (t )] F ( s) f (t ).e
st
dt
0
Trong :
s: bin phc (bin Laplace) s j
: phn thc
: phn o
L : ton t Laplace
F(s): bin i Laplace ca hm f(t)
Bin i Laplace tn ti khi tch phn biu thc nh ngha trn hi t.
Bin i Laplace dng chuyn phng trnh vi phn phng trnh i s vi
bin s.
Tnh cht ca php bin i Laplace:
a. Tnh tuyn tnh:
Cho f1(t) v f2(t)l hai hm theo thi gian. Gi s:
L [ f1 (t )] F1 (s)
L [ f 2 (t )] F2 (s)
Th L [af1 (t ) bf 2 (t )] aF1 (s) bF2 (s)
b. nh l chm tr:
12
Chng 2: M t ton hc
e. nh l gi tr cui:
Cho hm f(t) c bin i Laplace l L [ f (t )] F (s) th:
Th lim f (t ) lim sF (s)
t s 0
u(t)
1 t0 1
u (t )
0 t 0
Ta c :
L u (t ) u (t ).e st dt (theo nh ngha)
0
e st .dt (do biu thc ca u(t))
0
e st e s e 0
0
s s s
13
Chng 2: M t ton hc
L u (t )
1
s
b. Hm dirac: (hm xung n v)
0 t0
(t )
t0
(t)
(t ).dt 1
Ta c: L (t ) (t ).e st dt (theo nh ngha)
0
0
(t ).e
st
= dt
0
0
(t ).e 0 dt 1
0
Vy L (t ) 1
c. Hm dc n v: (RAMP)
f(t)
t t0
r (t ) t.u (t ) 1
0 t 0
t
1
Cch 1: dng nh ngha
L f (t ) f (t ).e
st
dt t.e st dt
0 0
t. e st e st 1
2 2
s s 0 s
L t.u (t ) 2
1
Vy:
s
Cch 2: dng tnh cht nh ca tch phn
Ta c: r (t ) t.u (t ) u (t ) dt
0
Mt khc: L u (t )
1
s
Nn theo tnh cht ca tch phn ta c:
14
Chng 2: M t ton hc
t L u (t ) 1
L r (t ) L u (t )dt 2
0 s s
Dng tnh cht nh ca tch phn c th d dng chng minh c:
n!
L t n u (t ) n 1
s
d. Hm m:
f(t)
e at t0
f (t ) e at .u (t ) 1
0 t 0
t
Ta c: L e at .u (t ) e at .e st .dt ( theo nh ngha)
0
e ( s a )t 1
e ( s a )t
.dt
0 s a 0 sa
Vy:
L e at .u (t ) 1
sa
e. Hm sin:
f(t)
1
sin t t0
t
f (t ) (sin t ).u (t )
0 t 0
15
Chng 2: M t ton hc
nh ngha:
c(t) r(t)
H thng t ng
Ng vo Ng ra
Quan h ng vo ng ra ca mi h thng tuyn tnh lin tc u c th m t bi
phng trnh vi phn:
d n c(t ) d n 1c(t ) dc(t )
a0 n
a 1 n 1
... a n 1 a n c(t )
dt dt dt
(2.1)
d m r (t ) d m1 r (t ) dr (t )
b0 m
b 1 m 1
... b1m1 bm r (t )
dt dt dt
n m, n gi l bc ca h thng
Nhn xt: Kho st h thng da vo phng trnh vi phn (2.1) rt l kh
khn. Mt th d n gin l gi s ta bit tt c cc thng s ca h thng v bit
tn hiu vo, mun tm p ng ca h thng ta phi gii phng trnh vi phn cp
n, mt cng vic khng d dng cht no.
Cn mt biu din ton hc khc gip cho vic nghin cu h thng t ng d
dng hn. Nh php bin i Laplace, ta c th thc hin c iu ny.
Gi s iu kin u bng 0, rng:
- L c(t ) C (s)
dc(t )
- L sC( s) ( tnh cht nh ca o hm)
dt
d 2 c(t ) d dc(t )
- L 2 L 2 ssC( s) s 2 C ( s)
dt dt dt
..
d n c(t )
- L n s n C ( s)
dt
i vi r(t) ta cng c cc biu thc tng t
Bin i Laplace hai v phng trnh (2.1) ta c:
d n c(t ) d n 1c(t ) dc(t )
L a 0 n
a 1 n 1
... a n 1 a n c(t )
dt dt dt
d m r (t ) d m 1 r (t ) dr (t )
L b0 m
b 1 m 1
... b1m1 bm r (t )
dt dt dt
p dng tnh cht tuyn tnh v nhn xt trn ta c:
a0 s n C ( s) a1 s n1C ( s) ... a n1 sC( s) a n C ( s)
b0 s m R( s) b1 s m1 R( s) ... bm1 sR( s) bm R( s)
a0 s n a1 s n1 ... a n1 s a n C ( s)
b s
0
m
b1 s m1 ... bm1 s bm R( s)
16
Chng 2: M t ton hc
C ( s) b0 s m b1 s m1 ... bm1 s bm
Lp t s:
R( s) a0 s n a1 s n1 ... a n1 s a n
C ( s) b0 s m b1 s m1 ... bm1 s bm
t: G( s) (2.2)
R( s) a0 s n a1 s n1 ... a n1 s a n
G(s) gi l hm truyn (transfer function) ca h thng.
nh ngha: Hm truyn ca mt h thng l t s gia bin i Laplace ca tn hiu
ra v bin i Laplace ca tn hiu vo khi iu kin u bng 0.
Ch :
- Mc d hm truyn c nh ngha l t s gia bin i Laplace ca tn hiu ra
v bin i Laplace ca tn hiu vo nhng hm truyn khng ph thuc vo tn hiu
ra v tn hiu vo m ch ph thuc vo cu trc v thng s ca h thng ( v
phi ca biu thc (2.2) ch ph thuc vo cu trc v thng s ca h thng).
- V hm truyn ch ph thuc vo cu trc v thng s ca h thng nn r rng ta
c th dng hm truyn m t h thng. Ni cch khc ch da vo hm truyn ta c
th nh gi c c tnh ng ca h thng.
- Vic nghin cu h thng t ng da vo hm truyn (phn thc i s, biu thc
(2.2) d dng hn da vo phng trnh vi phn (2.1)
Hm truyn t ca cc khu hiu chnh th ng
a. Mch tch phn bc 1
b. Mch vi phn bc 1
C p dng cng thc phn p ta c:
R
V0 ( s) Vi ( S )
R R ZC
vi vo Lp t s v ch
1
ZC
, ta c:
Cs
V ( s) R RCs
G( s) 0
Vi ( s) R 1 / Cs RCs 1
17
Chng 2: M t ton hc
R2 R2 ( R1Cs 1) R2 ( R1Cs 1)
G(s)
R1 R1 R2 ( R1Cs 1) R1 R2 R2 R1Cs
R1Cs R2
R2 R1Cs 1
G ( s)
R1 R2 R2 R1C
s 1
R1 R2
R2 R RC R R2
t K C ;T 2 1 ; 1 ( 1)
R1 R2 R1 R2 R2
T R1C
Thay vo biu thc trn ta c:
Ts 1
G( s) K C
Ts 1
Khu hiu chnh trn c hm truyn c dng trn vi >1 c gi l khu hiu
chnh sm pha.
d. Khu hiu chnh tr pha
p dng cng thc phn p ta c:
Z V0 ( s)
Z
Vi ( S )
R1 R1 Z
vi vo V ( s) Z
G( s) o
Vi ( s) R1 Z
C M :
1 R Cs 1
Z R2 2
Cs Cs
Nn:
18
Chng 2: M t ton hc
R2 Cs 1
Cs R2 Cs 1 R2 Cs 1
G( s)
R Cs 1 R1Cs R2 Cs 1 ( R1 R2 )Cs 1
R1 2
Cs
R2
t: T ( R1 R2 )C ; ( 1)
R1 R2
T R2 C
Thay vo biu thc trn, ta c:
Ts 1
G( s)
Ts 1
Khu hiu chnh c hm truyn trn hay c dng tng qut hn l:
Ts 1
G( s) K C
Ts 1
Vi 1 c gi l khu hiu chnh tr pha
Hm truyn t ca cc khu hiu chnh tch cc
a. Khu t l P: (Proportional)
D thy:
R2 Vo ( s) R
G( s) 2
Vi ( s) R1
- t:
R1 R2
vi KP
+ vo R1
Ta c hm truyn:
G( s) K P
Ti sao gi l khu t l?
Ta c:
Vo ( s)
KP Vo ( s) K PVi ( s) vo (t ) K P vi (t )
Vi ( s)
T kt qu trn ta thy tn hiu ra t l vi tn hiu vo, v l do m khu hiu
chnh trn c gi l khu t l.
b. Khu tch phn t l PI: (Proportional Integral)
19
Chng 2: M t ton hc
Ta c:
Z 1
R2 R2
C Vo ( s) Z Cs
G( s)
Vi ( s) R1 R1
R 1
- G( s) 2
R1 R1Cs
R1
vi vo R
t: K P 2 K I
1
+ R1 R1C
Ta c hm truyn:
KI
G( s) K P
s
Ti sao gi l khu tch phn t l?
V0 ( s) K
Ta c: G( s) K P I
Vi ( s) s
V ( s)
Vo ( s) K PVi ( s) K I i
s
t
Vo (t ) K PVi (t ) K I vi (t )dt
0
20
Chng 2: M t ton hc
V0 ( s)
G( s) K P K D s
Vi ( s)
Vo (s) K PVi (s) K D sVi (s)
dvi (t )
vo (t ) K P vi (t ) K D
dt
T kt qu trn ta thy tn hiu ra t l vi tn hiu vo v t l vi vi phn ca tn
hiu vo, v l do m khu hiu chnh trn c gi l khu vi phn t l.
d. Khu tch phn t l PID: (Proportional Integral Derivative)
Ta c:
Z2 R2 C2 Vo ( s) Z
G( s) 2
Vi ( s) Z1
Z1 R1 R1
1
Cs R1
- - Z1
1 R1Cs 1
R1
vi Cs
vo Z 2 R2
1 R C s 1
2 2
C1 + -
Cs C2 s
( R1C1 s 1)( R2 C 2 s 1)
G( s)
R1C 2 s
R1C1 R2 C 2 1
G( s) R2 C1 s
R1C 2 R1C 2 s
R1C1 R2 C 2 1
t: K P ; KI K D R2 C1
R1C 2 R1C 2
Ta c hm truyn:
KI
G( s) K P KDs
s
Ta c:
V0 ( s) K
G( s) K P I K D s
Vi ( s) s
Vi ( s)
Vo ( s) K PVi ( s) K I K D sVi ( s)
s
21
Chng 2: M t ton hc
t
dvi (t )
vo (t ) K P vi (t ) K I vi(t )dt K D
0
dt
- L: in cm phn ng - : tc ng c
- R: in tr phn ng - Mt: moment ti
- U: in p phn ng - J: moment qun tnh
- E: sc phn in ng
22
Chng 2: M t ton hc
U(s) Mt(s)
1 / Ru 1/ B (s)
1 sTu K 1 sTC
E(s)
K
Hm truyn ng c:
( s)
.....
U u ( s)
b. L nhit
23
Chng 2: M t ton hc
Cp nhit ti a cho l (cng sut vo P = 100%) nhit l tng dn. Sau mt thi
gian nhit l t n gi tr bo ho. c tnh theo thi gian c th biu din nh hnh
v.
0 0
C C
t (sec) t (sec)
T1 T2 T1 T2
K
K
D dng chng minh c: F ( s)
s(1 T2 s)
Ke T1
Nn p dng nh l chm tr ta c: C ( s)
s(1 T2 s)
Ke T1s
Suy ra: G ( s)
1 T2 s
2.3. S KHI
24
Chng 2: M t ton hc
x x
-x
C2(s) C (s)
R(s) R2(s)
G1(s) G2(s) Gn(s)
Rn(s) Cn(s)
R1(s) C1(s)
25
Chng 2: M t ton hc
C ( s) C n ( s ) C1 ( s).C n ( s) C ( s) C ( s).C n ( s)
G( s) G1 ( s). n G1 ( s). 2
R( s) R1 ( s) R1 ( s).C1 ( s) R2 ( s ) R2 ( s).C 2 ( s)
C n ( s)
G1 ( s).G2 ( s) ... G1 ( s).G2 ( s)...Gn ( s)
R3 ( s)
n
Vy: G( s) Gi ( s)
i
R1(s) C1(s)
G1(s)
R(s) C2(s) C (s)
R2(s)
G2(s)
Rn(s) Cn(s)
Gn(s)
Hm truyn ca h thng song:
C ( s) C1 ( s) C 2 ( s) ... C n ( s) C1 ( s) C 2 ( s) C ( s)
G( s) ... n
R( s ) R( s ) R1 ( s) R2 ( s) Rn ( s )
n
Vy: G( s) Gi ( s)
i 1
26
Chng 2: M t ton hc
C ( s)
Gk ( s )
R( s )
Ta c:
- C(s) = E(s).G(s)
- R(s) = E(s) + Cht(s) (do E(s)=R(s) - Cht(s))
= E(s) + C(s).H(s) (do Ch (s) = C(s).H(s))
= E(s) + E(s).G(s).H(s) (do C(s) = E(s).G(s))
Lp t s gia C(s) v R(s) ta c:
G( s)
Gk ( s )
1 G ( s).H ( s)
H thng hi tip m n v (H(s) = 1)
R(s) Gk ( s )
G( s)
E(s) C(s) 1 G( s)
+ G (s)
-
Cht(s)
G( s)
Gk ( s )
1 G( s).H ( s)
R(s) E(s) C(s)
+ G (s)
+
Cht(s)
H(s)
27
Chng 2: M t ton hc
x1
x3
G(s)
x1 x3
G(s) x2
x2 1/G(s)
x2 = x 1 x3 = x 1 G
x3 = x 1 G x2 = x3.(1/G) = x1G.(1/G) = x1
x1 x3 x1 x3
G(s) G(s)
x2 x2
G(s)
x3 = x 1 G x3 = x 1 G
x2 = x 3 = x 1 G x2 = x1 G
x1 x2 x2
+- G(s) G(s) +
x1 -
x3
x3
G(s)
28
Chng 2: M t ton hc
x1 x2 x2
G(s) + + G(s)
-
x1 -
x3
x3
1/G(s)
x1 x4 x4
+ + + +
- +
x1 + +
x2 x3 x3 x2
x4 = ( x1 x2 ) + x3 x4 = ( x1 + x3 ) x2
x3 x3
x1 x1 x4
+ x4 + ++
+ +
-
x2 x2
x4 = x1 x2 + x3 x4 = ( x1 x2 ) + x3
29
Chng 2: M t ton hc
[1 G1 ( s)].G2 ( s)
GC ( s)
1 G2 ( s).[G3 ( s) G4 ( s)]
30
Chng 2: M t ton hc
G2 G2 H 1 G G G3 H 1
- GD GB .GC .G3 G3 2 3
1 G2 H 2 G2 1 G2 H 2
G 2 G3 G3 H 1
GD 1 G2 H 2
- GE
1 GD H 3 G G G3 H 1
1 2 3 H3
1 G2 H 2
G2 G3 G3 H 1
GE
1 G2 H 2 G2 G3 H 3 G3 H 1 H 3
31
Chng 2: M t ton hc
G1G2 G3 G1G3 H 1
G
1 G2 H 2 G2 G3 H 3 G3 H 1 H 3 G1G2 G3 G1G3 H 1
R(s) C(s)
+ E(s) R(s) 1 E(s) G(s) C(s)
- G (s)
H(s)
-H(s)
nh ngha:
Graph tn hiu l mt mng gm cc nt v cc nhnh.
- Nt: l mt im biu din mt bin hay tn hiu trong h thng.
32
Chng 2: M t ton hc
33
Chng 2: M t ton hc
G6(s)
G7(s)
-H1 1
-H2
34
Chng 2: M t ton hc
H1(S)
1 6 C(S)
R(S) + 2 3 5 7
- G1(S) + + G2(S) ++ G3(S)
- -
4
H2(S)
H3(S)
//////////////////////////////////////////////////////
35
Chng 2: M t ton hc
- Cc ng tin:
P1 = G1G2G3
P2 = G1H1G3
- Cc vng kn:
L1 = -G2H2
L2 = -G2G3H3
L3 = - G1G2G3
L4 = - G3H1H3
L5 = - G1G3H1
- nh thc ca graph:
= 1- (L1+L2+L3+L4+L4+L5)
- Cc nh thc con:
1= 1
2= 1
Hm truyn tng ng ca h l:
1
G ( P1 1 P2 2 )
G1G2 G3 5 G1G3 H 1
+-
G
1 G2 H 2 G2 G3 H 3 G1G2 G3 G3 H 1 H 3 G1G3 H 1
2.4. PHNG PHP BIN TRNG THI
2.4.1. Khi nim
Trng thi: Trng thi ca mt h thng l mt tp hp nh nht cc bin (gi l
bin trng thi) m nu bit gi tr ca cc bin ny ti thi im to v cc tn
hiu vo cc thi im t > to ta hon ton c th xc nh c p ng ca h
thng ti mi thi im t t 0 .
H thng bc n c n bin trng thi
Cc bin trng thi c th chn l bin vt l hoc khng phi l bin vt l.
Th d: ng c DC l h bc 2, c hai bin trng thi c th chn l tc ng c v
dng in phn ng (bin vt l). Tuy nhin ta cng c th chn 2 bin trng thi khc.
Vector trng thi: n bin trng thi hp thnh vector ct, k hiu
x [ x1 x2 ... xn ]T
gi l vector trng thi s dng cc bin trng thi, ta c th chuyn phng trnh vi phn
bc n m t h thng thnh n phng trnh vi phn bc nht.
Phng php m t h thng bng cch s dng cc bin trng thi gi l phng
php bin trng thi.
36
Chng 2: M t ton hc
37
Chng 2: M t ton hc
x 2 (t ) x3 (t )
x (t ) x (t )
n 1 n
an a n 1 a2 a1 b0
x n (t ) a x1 (t ) a x1 (t ) ... a x n 1 (t ) a x n (t ) a r (t )
0 0 0 0 0
0 1 0 0 x
1
0
x1
x 0 0 1 0 x 0
2 2
Vit li di dng ma trn:
x n 1 0 0 0 1 x 0
an a n 1 an2 a n 1 b
x n a 1 x 0
0 a0 a0 a 0 n a0
38
Chng 2: M t ton hc
x1
x
2
p ng ca h thng: c(t ) x1 (t ) 1 0 0 0
x n 1
x n
x1 0 1 0 0 0
x 0 0 1 0 0
2
x A B =
D = 1 0 0 0
x n 1 0 0 0 1 0
x n a n
a n 1
an2
a1 b0
a 0 a0 a0 a 0 a 0
p ng ca h thng: c(t ) x1 (t )
39
Chng 2: M t ton hc
R(s) C(s)
10
+
- s( s 1)( s 3)
( s 3 4s 2 3s 10)C ( s) 10 R( s)
Phng trnh vi phn m t h thng:
c(t ) 4c(t ) 3c(t ) 10c(t ) 10r (t )
t cc bin trng thi nh sau:
x1 (t ) c(t )
x 2 (t ) x1 (t )
x3 (t ) x 2 (t )
Theo l thuyt, h phng trnh bin trng thi m t h thng c dng:
x1 0 1 0 x1 0
x 0 0 1 x 2 0 r
2 a a a1 b
x 3 3 2
3
x 0
a0 a0 a0 a0
Thay thng s ca h vo phng trnh trn, ta c:
40
Chng 2: M t ton hc
x1 0 1 0 x1 0
x 0 0 1 x 2 0 r
2
x 3 10 3 4 x3 10
- p ng ca h thng
x1
c(t ) x1 (t ) 1 0 0 x 2
x3
x1 (t ) c(t ) (1)
x 2 (t ) x1 (t ) 1 r (t ) c(t ) 1 r (t ) (2)
x3 (t ) x 2 (t ) 2 r (t ) c(t ) 1 r(t ) 2 r (t ) (3)
41
Chng 2: M t ton hc
b0 a0 1 0
b1 a0 2 a1 1 0
b2 a1 2 a 2 1
t: 3
a0
Thay vo (7) ta c:
a3 a a
x3 (t ) x1 (t ) 2 x1 (t ) 1 x3 (t ) 3 r (t ) (8)
a0 a0 a0
Kt hp (2),(3),v (8) ta c h phng trnh:
x1 ( t ) x 2 ( t ) 1 r( t )
x 2 ( t ) x3 ( t ) 2 r( t )
a3 a2 a
x 3 ( t ) x1 ( t ) x1 ( t ) 1 x1 ( t ) 3 r( t )
a0 a0 a0
b0
1
a0
b1 a1 1
Trong : 1
a0
b a1 2 a 2 1
1 2
a0
x1
p ng ra ca h thng: c(t ) x1 (t ) 1 0 0 x 2
x3
42
Chng 2: M t ton hc
R(s) C(s)
10
+
- s ( s 3)
10
( s 2)
Trong :
43
Chng 2: M t ton hc
b0 0
1 0
a 0 1
b1 a1 1 10 5 0
1 10
a0 1
b a1 2 a 2 1 20 5 10 6 0
1 2 30
a0 1
Thay thng s ca h vo phng trnh trn, ta c:
x1 0 1 0 x1 0
x 0 0 1 x 2 10 r
2
x 3 10 6 5 x3 30
x1
- p ng ca h thng: c(t ) x1 (t ) 1 0 0 x 2
x3
44
Chng 2: M t ton hc
x 2 (t ) 2 x1 (t ) 3x2 (t ) r (t ) (5)
Kt hp (3) v (5), 1 = 3, ta c h phng trnh sau:
x1 (t ) x2 (t ) 3r (t )
x 2 (t ) 2 x1 (t ) 3x2 (t ) r (t )
x (t ) 0 1 x1 (t ) 3
1 r (t )
x 2 (t ) 2 3 x2 (t ) 1
p ng ca h thng:
x (t )
c(t ) x1 (t ) [1 0] 1
x2 (t )
2.5.3 Cch thnh lp h phng trnh bin trng thi dng chnh tc
thnh lp h phng trnh bin trng thi dng chnh tc, ta thc hin theo cc
bc sau y:
1. Thnh lp h phng trnh bin trng thi dng thng:
x (t ) Ax (t ) Br (t )
(1)
c (t ) Dx(t )
2. Thc hin php bin i trng thi:
x(t ) My(t )
Thay vo phng trnh trn ta c:
My (t ) AMy(t ) Br (t )
c (t ) DMy(t )
y (t ) M 1 AMy(t ) M 1 Br (t )
c(t ) DMy(t )
y (t) Ay(t) Br (t )
(2)
c (t ) Dy(t)
Trong :
A=M 1
AM B = M 1B D = DM
H phng trnh bin trng thi (2) tng ng vi h phng trnh (1). (2) c
dng chnh tc, phi chn M sao cho ma trn M 1 AM ch c ng cho khc 0. Theo l
thuyt i s tuyn tinh, ma trn chuyn i M c chn nh sau:
45
Chng 2: M t ton hc
1 1 1 1
2 3 n
1
M 12 22 32 2n
1n1 n 1
2 n 1
3 nn1
____
Trong i , (i 1, n) l nghim ca phng trnh:
det(sI-A) = 0
Th d: Cho h thng c hm truyn:
C ( s) 3s 10
G( s) 2
R( s) s 3s 2
Hy thnh lp h phng trnh bin trng thi dng chnh tc m t h thng.
Gii:
Bc 1: Thnh lp h phng trnh bin trng thi dng thng
(xem th d 2, mc 2.5.2)
x1 (t ) 0 1 x1 (t ) 3
x (t ) 2 3 x (t ) 1 r (t )
2 2
p ng ca h thng:
x (t )
c(t ) x1 (t ) [1 0] 1
x2 (t )
x (t ) Ax (t ) Br (t )
Hay
c (t ) Dx(t )
0 1 3
Vi: A B D 1 0
2 3 1
Bc 2:
Thc hin php bin i: x(t) = My(t)
Ma trn M c xc nh nh sau:
Tm nghim ca phng trnh: det(sI-A) = 0
1 0 0 1 s 1
det s
0 det
0
0 1 2 3 2 s 3
s(s+3)+2 = 0 s2+ 3s+2 = 0
1
1
2 2
Suy ra:
1 1 1 2 1 2 1
M M 1
1 2 1 (2) (1) 1 1 1 1 1
46
Chng 2: M t ton hc
2 1 3 7
B = M 1B =
1 1 1 4
2 1
D = DM = 1 0 2 1
1 1
Vy h phng trnh bin trng thi chnh tc m t h thng l:
y 1 (t ) 1 0 y1 (t ) 7
y (t ) 0 2 y (t ) 4 r (t )
2 2
y (t )
c (t ) [2 1] 1
y 2 (t )
2.6. TNH HM TRUYN T H PHNG TRNH BIN TRNG THI:
Cho h thng m t bi h phng trnh:
x (t ) Ax (t ) Br (t )
c (t ) Dx(t )
Bin i Laplace hai v phng trnh trn (gi s iu kin u bng 0):
sX ( s) AX ( s) BR ( s) (1)
C ( s) DX ( s) (2)
(1) (sI-A)X(s) = BR(s)
X(s) = (sI-A)-1BR(s)
DX(s) = D(sI-A)-1BR(s)
C(s) = D(sI-A)-1BR(s)
C ( s)
G ( s) D( sI A) 1 B
R( s )
Th d: Cho h thng c h phng trnh bin trng thi l:
x1 (t ) 0 1 x1 (t ) 3
x (t ) 2 3 x (t ) 1 r (t )
2 2
47
Chng 2: M t ton hc
p ng ca h thng:
x (t )
c(t ) x1 (t ) [1 0] 1
x2 (t )
Tnh hm truyn tng ng ca h thng.
Gii:
Cc ma trn trng thi:
0 1 3
Vi: A B D 1 0
2 3 1
Hm truyn ca h thng l:
G(s) = D(sI-A)-1B
1 0 0 1 s 1
(sI-A) = s 2 3 2 s 3
0 1
1
s 1 1 s 3 1
-1
(sI-A) =
2 s 3 s( s 3) 2(1) 2 s
s 3 1
D(sI-A)-1 =
1
1 0 2
1
s 3 1
s 3s 2 2 s s 3s 2
2
s 3 1 3(2s 3) 1
1 3
D(sI-A)-1B =
s 3s 2
2
1 s 3s 2
3s 10
Vy : G ( s)
s 3s 2
2
48
Chng 2: M t ton hc
X ( s) ( s) x(0 ) ( s) BR( s)
Bin i Laplace ngc hai v phng trnh (3), ta c:
t
x (t ) (t ) x (0 ) (t )BR( )d
0
Trong :
(t ) L 1[(s)] L 1[(sI A) 1 ] ma trn qu
Tm li:
tnh nghim ca h phng trnh bin trng thi ta thc hin cc bc sau y:
1. Tnh ( s) ( sI A) 1
2. Tnh ma trn qu : (t ) L 1[(s)]
3. Tnh nghim ca phng trnh bin trng thi:
t
x (t ) (t ) x (0 ) (t ) BR( )d
0
Nu mun tm p ng ca h thng bng phng php bin trng thi, trc tin
tm nghim ca h phng trnh bin trng thi, sau tnh:
c(t) = Dx(t)
Ch : p ng ca h thng c th tnh t hm truyn:
c(t ) L 1[C (s)] L 1[ R(s).G(s)]
Hai cng thc nghch o ca ma trn:
1
a11 a12 1 a 22 a12
a
21 a 22 a11.a 22 a12a 21 a 21 a11
a 22 a 32 a 12 a 32 a 21 a 31
a 11 a 12 a 13
1
a 23 a 33 a 13 a 33 a 22 a 32
a 1 a 21 a 21
a 23
a 31 a 11 a 31 a
21 a 22 11
det A a 23 a 33 a 13 a 33 a 13 a 23
a 31 a 32 a 33
a 21 a 31 a a 31 a 11 a 21
11
a 22 a 32 a 12 a 32 a 12 a 22
49
Chng 2: M t ton hc
detA = a11 a22 a33 + a12 a23 a31 + a13 a32 a21 - a13 a22 a31 - a11 a23 a32 a33 a21 a12
Th d: Cho h thng m t bi hm truyn sau:
s
G (s)
(s 1)(s 2)
1. Vit h phng trnh bin trng thi m t h thng trn.
2. Tnh ma trn qu .
3. Tnh p ng ca h thng khi tn hiu vo l hm nc n v (gi s iu kin u
bng 0).
Gii:
1. Phng trnh vi phn m t h thng:
C ( s) s
R( s) ( s 1)( s 2)
( s 2 3s 2)C ( s) sR( s)
x 2 (t ) 2 x1 (t ) 3x2 (t ) 3r (t )
Vit li di dng ma trn:
x1 (t ) 0 1 x1 (t ) 1
x (t ) 2 3 x (t ) 3 r (t )
2 2
p ng ca h thng:
50
Chng 2: M t ton hc
x (t )
c(t ) x1 (t ) 1 0 1
x2 (t )
2. Tnh ma trn qu :
(t ) L 1 (s) L 1 (sI A) 1
Ta c:
1 s 1
sI A s
1 0 0
0 1 2 3 2 s 3
1 s 3 1 1 s 3 1
( s) ( sI A) 1 2 2 s ( s 1)(s 2) 2 s
s 3s 2
s3 1
( s 1)( s 2) ( s 1)( s 2)
(t ) L 1 ( s ) L 1
2 s
( s 1)( s 2) ( s 1)( s 2)
1 s3 1 1
L L
( s 1)( s 2) ( s 1)( s 2)
1 2 1 s
L L
( s 1)( s 2) ( s 1)( s 2)
1 2 1 1 1 1
L s 1 s 2 L s 1 s 2
L 1 2 2 1 2
L 1
s 1 s 2 s 1 s 2
(2e t 2e 2t ) (e t e 2t )
(t ) t 2t t 2t
(2e 2e ) (e 2e )
3. p ng ca h thng:
Trc tin ta tm nghim ca h phng trnh bin trng thi. Vi iu kin u
bng 0, nghim ca phng trnh trng thi l:
t
x(t ) (t ) BR( ) d
0
t 2e (t ) e 2(t )
e
(t )
e 1 d
2(t )
0 2e (t ) 2e 2(t ) e
(t )
2e 3
2(t )
t e (t ) 2e 2(t ) e (t ) e 2(t )
t
0 e
(t )
4e e 2e 2(t) 0
2(t ) d (t )
51
Chng 2: M t ton hc
x (t ) e t e 2t
1 t 2t
x2 (t ) 1 e 2e
p ng ca h thng l:
x (t )
c(t ) 1 0 1 x1 (t ) e t e 2t
x2 (t )
C th kim tra li kt qu tnh ton bng phng php hm truyn nh sau:
p ng ca h thng: C(s) = G(s)R(s)
1
M R( s) (tn hiu vo l hm nc n v)
s
s
G( s)
( s 1)(s 2)
1 s 1 1 1
Nn: C ( s)
s ( s 1)(s 2) ( s 1)(s 2) ( s 1) ( s 2)
1 1
Suy ra: c(t ) L 1 C ( s) L 1 t
e e
2t
s 1 s 2
Ch :
Tnh ma trn qu bng cng thc:
(t ) L 1[(s)] L 1[(sI A) 1 ]
tng i kh khn v mt tnh ton. Phng php sau y cho php tnh ma trn
qu d dng hn.
i vi h thng bc n, ngi ta chng minh c:
(t ) e At C0 I C1[ A] C2 [ A]2 ... C n1[ A]n1 (*)
_______
Thay A = vo phng trnh (*), ta s tnh c cc h s Ci , (i 0, n 1) trong
l ma trn cho:
1 0 0
0 2 0
0 0 n
52
Chng 2: M t ton hc
1 0 0 1
det 0
0 1 2 3
1
det 0
2 3
( 3) 2 0
1
1
1 2
1 0
Vy
0 2
Thay A = vo phng trnh (1), ta c:
e t 0 1 0 2 1
2t
C0 C1
0 e 0 1 0 3
e t C 0 2C1
2t
e C 0 3C1
C 2e t e 2t
0 t 2t
C1 e e
Thay C0 v C1 vo phng trnh (1), ta c:
(t ) C 0 I C1 [ A]
1 0 2t 0 1
(2e t e 2t ) ( e t
e ) 2 3
0 1
2e t e 2t
(t )
e t
e 2t
t
2e e
2t
e t
2e 2t
53
Chng 2: M t ton hc
54
Chng 3: c tnh ng hc
Chng 3
C TNH NG HC
r(t) c(t)
H thng
R(s) C(s)
Nu tn hiu vo l hm xung n v r (t ) (t ) th p ng ca h thng l:
C(s) = R(s).G(s) = G(s) (do R(s) = 1)
c(t ) L 1 C (s) L 1 G(s) g (t ) (1)
g(t) c gi l p ng xung hay cn gi l hm trng lng ca h thng.
Vy p ng xung l p ng ca h thng khi tn hiu vo l hm xung n v.
Theo biu thc (1) p ng xung chnh l bin i Laplace ngc ca hm truyn.
Nu tn hiu vo l hm nc n v r(t) = 1(t)th p ng ca h thng l:
G( s) 1
C ( s) R( s).G( s) (do R(s)= )
s s
G( s)
t
c(t ) L 1 C ( s) L 1 g ( )d (2)
s 0
Biu thc (2) c c do tnh cht nh ca tch phn ca php bin i Laplace. t:
55
Chng 3: c tnh ng hc
t
h(t ) g ( )d (3)
0
56
Chng 3: c tnh ng hc
Tn hiu ra ca h thng l:
Rm
C ( s) R( s).G( s) 2 G( s)
s
2
Do : c xl (t ) e jt e jt (6)
Nu G(s) c cc bi th ta cng c th chng minh c p ng xc lp ca h thng
c dng (6). Cc h s v xc nh bi cng thc:
R R G( j )
G( s) 2 m 2 ( s j ) s j m
s 2j
(7)
R R G( j )
G( s) 2 m 2 ( s j ) s j m (8)
s 2j
Thay (7) v (8) vo (6), rt gn biu thc ta c:
c xl (t ) Rm G( j ) sin(t G( j )) (9)
Biu thc (9) cho thy trng thi xc lp tn hiu ra ca h thng l tn hiu hnh sin,
cng tn s vi tn hiu vo, bin t l vi bin vo (h s t l l G( j ) v lch
pha so vi tn hiu vo ( lch pha l G( j ) )
nh ngha: c tnh tn s ca h thng l t s gia tn hiu ra trng thi xc lp
v tn hiu vo hnh sin.
C ( j )
c tnh tn s = (10)
R ( j )
T nh ngha (10) v biu thc (9) ra rt ra:
c tnh tn s = G(s) s j G( j )
V d 3: Nu h thng c hm truyn l:
10( s 3)
G( s)
s( s 1)
th c tnh tn s ca h thng l:
10( j 3)
G( j )
j ( j 1)
57
Chng 3: c tnh ng hc
58
Chng 3: c tnh ng hc
( ) 180 0
d tr bin (GM Gain Margin)
1
GM
M ( )
Hay GM L( ) (dB) (cng thc ny c s dung nhiu hn)
d tr pha ( M -Phase Margin)
. M 180 0 (c )
d tr bin v d tr pha cho bit h thng c n nh khng.
59
Chng 3: c tnh ng hc
g(t) h(t)
K K
t t
a) Hm trng lng b) Hm qu
Hnh 3.2. c tnh thi gian ca khu t l
L( ) [dB]
20logK
jQ( )
-1 0 1 lg
G(j ) P( )
( ) []
K
+900
-1 0 1 lg
-900
a) Biu Bode b) Biu Nyquist
Hnh 3.3. c tnh tn s ca khu t l
3.2.2.Khu tch phn l tng
1
Hm truyn: G(s) =
s
R( s)
c tnh thi gian: C(s) = G(s)R(s) =
s
1
Hm trng lng: g (t ) L 1 G( s) L 1 1(t )
s
G( s) 1 1
Hm qu : h(t ) L 1 L 2 t.1(t )
s s
60
Chng 3: c tnh ng hc
1 1
c tnh tn s: G(j) = j
j
1 1
Bin : M() = L() = 20lgM( )=20lg =-20lg
Pha: () = -900
g(t) h(t)
K 1
t t
1
a) Hm trng lng b) Hm qu
Hnh 3.4. c tnh thi gian ca khu tch phn l tng
L( ) [dB] -20dB/dec
20 jQ( )
-1 0 1 lg
-20 P( )
( ) []
+900
-1 0 1 lg
=0
10-1 100 101
-900
61
Chng 3: c tnh ng hc
h(t)
20 jQ( )
-1 0 1 lg
10-1 100 101
-20 P( )
=0
( ) []
+900
-1 0 1 lg
-900
a) Biu Bode b) Biu Nyquist
Hnh 3.7. c tnh tn s ca khu vi phn l tng
62
Chng 3: c tnh ng hc
t t
0 0 T1 T2
a) Hm trng lng b) Hm qu
Hnh 3.8. c tnh thi gian ca khu qun tnh bc nht
1 1 Tj
c tnh tn s: G(j) =
Tj 1 1 T 2 2
1
Phn thc: P( )
1 T 2 2
T
Phn o: Q( )
1 T 2 2
Bin : M ( ) P 2 ( ) Q 2 ( )
T
2 2
1 1
2 2
2 2
1 T 1 T 1 T 2 2
L() = 20lgM( )=-20lg 1 T 2 2
Q( )
Pha: () = tg 1 tg 1 (T )
P( )
V gn ng biu Bode bin :
1
+ Nu : ng thng nm ngang trng trc honh
T
1
+ Nu : ng thng c dc 20dB/dec
T
63
Chng 3: c tnh ng hc
L( ) [dB]
20 jQ( )
-1 0 1/T 1 lg
1
10
10-1 100
-20dB/dec
-20 P( )
1
=0
G(j )
( ) []
-1 0 1 lg
-1 0 1
10 10 10
-450
-900
a) Biu Bode b) Biu Nyquist
Hnh 3.9. c tnh tn s ca khu qun tnh bc nht
3.2.5. Khu vi phn bc nht
Hm truyn: G(s) = Ts+1
c tnh thi gian: C(s) = G(s)R(s) = R(s)(Ts+1) h(t)
c tnh tn s: G( j) Tj 1
Bin :
M ( ) 1 T 2 2 L 20 lg 1 T 2 2 1
Pha: tg 1 T t
64
Chng 3: c tnh ng hc
L( ) [dB]
jQ( )
20
-1 0 1/T 1 lg
1
10 G(j )
10-1 100
-20dB/dec
=0 P( )
1
( ) []
900
450
-1 0 1 lg
-1 0 1
10 10 10
a) Biu Bode b) Biu Nyquist
Hnh 3.11. c tnh tn s ca khu vi phn bc nht
g(t) h(t)
t t
0 0
a) Hm trng lng b) Hm qu
Hnh 3.12. c tnh thi gian ca khu qun tnh bc nht
1
- c tnh tn s: G( j )
T 2Tj 1
2 2
65
Chng 3: c tnh ng hc
M
1
- Bin :
1 T 4
2 2 22
T 2 2
L 20 lg M ( ) 20 lg 1 T 2 2 2
4 2T 2 2
2T
- Pha: tg 1 2 2
1 T
V gn ng biu Bode bin :
1
+ Nu : ng thng nm ngang trng trc honh
T
1
+ Nu : ng thng c dc -40dB/dec
T
1 1
t t
T T
a) Hm trng lng b) Hm qu
Hnh 3.14. c tnh thi gian ca khu tr
66
Chng 3: c tnh ng hc
- c tnh tn s: G( j ) e Tj
- Bin : M 1 L 0
- Pha: T
( ) []
-1 0 1 lg -j G(j )
0 1
10-1 10 10
-900
-1800
67
Chng 3: c tnh ng hc
1 b s m b s m1 ... bm1 s bm bm
h() lim sH ( s) lim s 0 n 1 n1
a 0
s 0 s 0
s a0 s a1 s ... a n1 s a n n
1 b0 s m b1 s m1 ... bm1 s bm
h() lim sH ( s) lim s n 1
s 0 s 0
s a 0 s n
a1 s ... a n 1 s
Nu G(s) c vi phn l tng (bm=0) th hm qu suy gim v 0.
1 b0 s m b1 s m1 ... bm1 s
h() lim sH ( s) lim s n 1
0
s a0 s a1 s ... a n 1 s a n
s 0 s 0 n
Da vo c tnh ca h thng chng ta c th chn phng php phn tch, thit k
h thng cho ph hp.
3.3.2. c tnh tn s ca h thng
Xt h thng t ng c hm truyn G(s). G(s) c th phn tch thnh tch cc hm
truyn c bn sau:
l
G( s) Gi ( s)
i 1
c tnh tn s ca h thng:
l
G( j ) Gi ( j )
i 1
l l
- Bin : M ( ) M i ( ) L( ) Li
i 1 i 1
l
- Pha: ( ) i
i 1
Biu Bode ca h thng (gm nhiu khu ghp ni tip) bng tng biu Bode
ca cc khu thnh phn.
V gn ng biu Bode bin bng ng tim cn.
Gi s hm truyn ca h thng c dng:
G(s) Ks G1 (s)G2 (s)G3 (s)
0 : h thng c khu vi phn l tng
0 : h thng c khu tch phn l tng
Bc 1: Xc nh cc tn s gy i 1 / Ti v sp xp theo th t tng dn 1 2 3
Bc 2: Biu Bode gn ng i ngang qua im A c to :
0
L 20 lg K 20 lg 0
0 l tn s tho mn 0 1 . Nu 1 > 1 th c th chn 0 = 1.
68
Chng 3: c tnh ng hc
69
Chng 3: c tnh ng hc
54 26
- dc on CD: 40(dB / dec )
2 1.301
- Cc tn s gy:
40 26
lg g1 0 0.7 g1 10 0.7 5(rad / sec)
20
lg g 2 1.301 g 2 101.301 20(rad / sec)
lg g 3 2 g 3 10 2 100(rad / sec)
- Hm truyn cn tm c dng:
K T1 s 1T2 s 1
2
G( s)
sT3 s 1
2
20 lg K 40 K 100
1 1 1 1 1 1
T1 0.2 T2 0.05 T3 0.01
g1 5 g 2 20 g3 100
70
Chng 4: Kho st tnh n nh
Chng 4
KHO ST TNH N NH
CA H THNG T NG
4.1. KHI NIM V N NH
nh ngha: n nh BIBO
H thng c gi l n nh BIBO (Bounded Input Bounded Output) nu p ng
ca h b chn khi tn hiu vo b chn.
iu kin n nh
71
Chng 4: Kho st tnh n nh
72
Chng 4: Kho st tnh n nh
a0 s n a1 s n1 an1 s an 0
Mun xt tnh n nh ca h thng theo tiu chun Routh, trc tin ta thnh lp
bng Routh theo qui tc:
- Bng Routh c n+1 hng.
- Hng 1 ca bng Routh gm cc h s c ch s chn.
- Hng 2 ca bng Routh gm cc h s c ch s l.
- Phn t hng i ct j ca bng Routh (i 3) c tnh theo cng thc:
cij ci 2, j 1 i ci 1, j 1
ci 2,1
Vi: i
ci 1,1
sn c11a0 c12 a2 c13 a4 c14 a 6
s n 1 c21 a1 c22 a3 c23 a c24 a 7
s n2 c31 c12 3 c22 c32 c13 3 c23 c33 c14 3 c24 c34 c15 3 c25
c11
3
c 21
c 21 s n 3 c41 c22 4 c32 c42 c23 4 c33 c43 c24 4 c34 c44 c25 4 c35
4
c31
c n 2.1 s0 c xl cn2.2 n cn1.2
n
c n 1.1
73
Chng 4: Kho st tnh n nh
50 1
G( s) H ( s)
s( s 3)(s 2 s 5) s2
Gii:
Phng trnh c trng ca h thng l:
1 G( s ) H ( s ) 0
50 1
1 . 0
s ( s 3)( s s 5) ( s 2)
2
s( s 3)( s 2 s 5)( s 2) 50 0
s 5 6s 4 16s 3 31s 2 30s 50 0
Bng Routh:
s5 1 16 30
s4 6 31 50
1 s3 1 1 0
3 16 .31 10.83 30 .50 21.67
6 6 6
8 s2 6 50
4 31 21.67 18.99
9 10.83
10.83 s1 10.83 0
5 21.67 50 6.84
18.99 18.99
s0 50
V cc phn t ct 1 bng Routh i du 2 ln nn phng trnh c tnh u c 2
nghim nm bm phi mt phng phc, do h thng khng n nh.
Th d 3: Cho h thng c s khi nh sau:
K
G( s)
s( s s 1)( s 2)
2
74
Chng 4: Kho st tnh n nh
Gii:
Phng trnh c tnh:
1 G( s) 0
K
1 0
s( s s 1)( s 2)
2
s 4 3s 3 3s 2 2s K 0
Bng Routh:
s4 1 3 K
s3 3 2 0
1 s2 1 7 K
3 3 .2
3 3 3
9 s1 9 0
4 2 .K
7 7
s0 K
iu kin h thng n nh:
9
2 K 0 14
7 0K
9
K 0
Cc trng hp c bit:
Trng hp c bit 1: Nu bng Routh c h s ct 1 ca hng no bng 0, cc h
s cn li ca hng khc 0 th ta thay h s bng 0 ct 1 bi s dng nh ty ,
sau qu trnh tnh ton c tip tc.
Th d: Xt tnh n nh ca h thng c phng trnh c trng l:
s 4 2s 3 4s 2 8s 3 0
Gii:
Bng Routh:
s4 1 4 3
s3 2 8 0
1 s2 1 3
3 4 .8 0
2 2
s2 0 3
9 s1 9 0
4 2 .K
7 7
s0 K
Kt lun: V cc h s ct 1 bng Routh i du 2 ln nn phng trnh c trng ca
h thng c hai nghim nm bn phi mt phng phc, do h thng khng n nh .
Trng hp c bit 1: Nu bng Routh c tt c cc h s ca hng no bng 0:
- Thnh lp a thc ph t cc h s ca hng trc hng c tt c cc h s bng
0, gi a thc l A0(s).
75
Chng 4: Kho st tnh n nh
76
Chng 4: Kho st tnh n nh
77
Chng 4: Kho st tnh n nh
____
a i 0, i 0,4
a1 a 2 a 0 a3 0
a1 a 2 a3 a0 a3 a1 a 4 0
3 2
78
Chng 4: Kho st tnh n nh
N ( s)
t: G0 ( s ) K
D( s )
Gi n l s cc ca G0(s) , m l s zero ca Go(s).
(2) 1 G0 (s) 0
G ( s) 1 iu kin bin
0 iu kin pha
G0 ( s) (2l 1)
Sau y l 11 qui tc v qu o nghim s ca h thng c phng trnh c tnh c
dng (2):
Qui tc v QNS
Qui tc 1: S nhnh ca qu o nghim s = bc ca phng trnh c tnh
= s cc ca G0(s) = n.
Qui tc 2: Khi K = 0: cc nhnh ca qu o nghim s xut pht t cc cc ca G0(s).
Khi K tin n + : m nhnh ca qu o nghim s tin n m zero ca
G0(s), nm nhnh cn li tin n theo cc tim cn xc nh bi qui tc 5 v
qui tc 6.
Qui tc 3: Qu o nghim s i xng qua trc thc.
Qui tc 4: Mt im trn trc thc thuc v qu o nghim s nu tng s cc v zero
ca G0(s) bn phi n l mt s l.
Qui tc 5: Gc to bi cc ng tim cn ca qu o nghim s vi trc thc xc nh
bi :
(2l 1)
l 1,1,2
nm
Qui tc 6: Giao im gia cc tim cn vi trc thc l im A c ta xc nh bi:
n m
cuc zero p z i i
OA i 1 i 1
nm nm
Qui tc 7: im tch nhp (nu c) ca qu o nghim s nm trn trc thc v l
nghim ca phng trnh:
dK
0
ds
Qui tc 8: Giao im ca qu o nghim s vi trc o c th xc nh bng cch p
dng tiu chun RouthHurwitz hoc thay s=j vo phng trnh c trng (2),
cn bng phn thc v phn o s tm c giao im vi trc o v gi tr K.
Qui tc 9: Gc xut pht ca qu o nghim s ti cc phc pj c xc nh bi:
j 180 0 arg pi z i arg p j z i
m n
i 1 i 1
i j
79
Chng 4: Kho st tnh n nh
dK
ds
3s 2 10s 6
dK s1 2.549
0
ds s 2 0.785
80
Chng 4: Kho st tnh n nh
0
j 3 6 j 0 K 0
5 2 K 0
6
K 30
81
Chng 4: Kho st tnh n nh
Cc cc: 3 cc p1 0 p2,3 4 j 2
Cc zero: khng c
QNS gm 2 nhnh xut pht ti cc cc khi K = 0. Khi K , 3 nhnh tin n v
cng theo tim cn xc nh bi:
- Gc gia cc tim cn v trc thc:
1 l 0
3
2l 1 2l 1 l 1
2
nm 30 3
3 l 1
82
Chng 4: Kho st tnh n nh
1 K s 3 8s 2 20s
dK
ds
3s 2 16s 20
dK s 3.33
Do 0 3s 2 16s 20 1
ds s 2 2.00
Vy QNS c 2 im tch nhp.
- Giao im ca QNS vi trc o
- (1) s 3 8s 2 20s K 0
Thay s j ta c:
1 s 3 8s 2 20s K 0
j 3 8 j 2 20 j K 0 j 3 8 j 2 20 j K 0
0
8 j 3 K 0 K 0
3
20 0
20
K 160
2 180 0 arg p 2 p1 arg p 2 p3
180 0 arg 4 j 2 0 arg 4 j 2 4 j 2
2
180 0 tg 1 90
1
180 153.5 90
0
2 63.5 0
K ( s 1)
G( s)
s( s 3) s 2 8s 20
K ( s 1)
1 G( s) 0 1 0
s( s 3) s 2 8s 20
p1 0 p2 3 p3, 4 4 j 2
z1 1
83
Chng 4: Kho st tnh n nh
1 3 l 0
2l 1 2l 1
2
l 1
nm 4 1 3
3 l 1
OA
cuc zero 0 (3) (4 j 2) 4 j 2 1 10
nm 4 1 3
2
1 K s(s 3) s 8s 20 dK 3s 36s 77 s 2 88s 60
4 3 2
( s 1) ds s 1
dK s1, 2 3.67 j1.05
0
ds s3, 4 0.66 j 0.97
1 s 4 11s 3 44s 2 60 K s K 0 (2)
4 11 j 3 44 2 60 K j K 0
0
K 0
4 44 j 2 K 0 5.893 V
11 3 44 2 60 K K 322
j1.314
K 61.7
Vy giao im cn tm l: s j5.893
H s khuch i gii hn l: K gh 322
- Gc xut pht ca QNS ti cc phc
p3:
3 180 1 2 3 4
180 146,3 (153,4 116,6 90)
3 33.7 0
K
GC ( s) K P I
s
84
Chng 4: Kho st tnh n nh
85
Chng 4: Kho st tnh n nh
86
Chng 4: Kho st tnh n nh
Q
G j tg 1 : p ng pha
P
t: L 20 lg M : p ng bin tnh theo n v dB(decibel).
ngha vt l:
- p ng bin cho bit t l v bin (h s khuch i) gia tn hiu ra v tn hiu
vo theo tn s.
- p ng pha cho bit lch pha gia tn hiu ra v tn hiu vo theo tn s.
Biu Bode: l hnh v gm 2 thnh phn:
1. Biu Bode v bin : l th biu din mi quan h gia p ng bin L()
theo tn s .
2. Biu Bode v pha: l th biu din mi quan h gia pha () theo tn s .
C hai th trn u c v trong h to vung gc vi trc honh c chia theo
thang logarith (c s 10).
Biu Nyquist: (ng cong Nyquist) l th biu din c tnh tn s G(j) trong h
to cc khi thay i t 0.
c tnh tn s ca h thng c cc thng s quan trng sau y:
- nh cng hng (Mp): nh cng hng l gi tr cc tr i ca M()
- Tn s cng hng (p): l tn s ti c nh cng hng.
- Tn s ct bin (c): l tn s ti bin ca c tnh tn s bng 1 (hay bng
0dB)
M(c) = 1 Lc) = 0
- Tn s ct pha (-): l tn s ti pha ca c tnh tn s bng -
(hay bng -1800)
180 0 rad
- d tr bin (GM-Gain Margin)
GM L
1
GM [dB]
M
- d tr pha (M-Phase Margin)
- M 180 0 c
87
Chng 4: Kho st tnh n nh
88
Chng 4: Kho st tnh n nh
89
Chng 4: Kho st tnh n nh
n nh Khng n nh
Cho h thng h khng n nh c c tnh tn s nh cc hnh v di y. Hi
trng hp no h kn n nh.
90
Chng 4: Kho st tnh n nh
Khng n nh
Cho h thng h khng n nh c c tnh tn s nh cc hnh v di y. Hi
trng hp no h kn n nh.
n nh Khng n nh
Th d 4: Cho h thng h c hm truyn t l: G( s)
K
K 0, T 0, n 2
(Ts 1) n
Tm iu kin ca K v T h thng kn (hi tip m n v) n nh.
Gii:
K
c tnh tn s ca h thng l: G( j )
(Tj 1) n
- Bin : M
K
T 1
2 2
n
- Pha: ntg 1 T
Biu Nyquist:
91
Chng 4: Kho st tnh n nh
iu kin n nh: ng cong Nyquist khng bao im (-1, j0). Theo biu Nyquist,
iu ny xy ra khi:
M 1
Ta c: ntg T
1
tg 1 T T tg
n n
1
tg
T n
Do : M 1
K
n
1
2
T 2 1 tg 1
T n
n
K tg 2 1
n
92
Chng 5: nh gi cht lng h thng iu khin
Chng 5
NH GI CHT LNG
H THNG IU KHIN
5.1. CC TIU CHUN CHT LNG
5.1.1. Sai s xc lp
Xt h thng hi tip c s khi nh hnh v:
93
Chng 5: nh gi cht lng h thng iu khin
R( s )
Ta c: E ( s)
1 R( s ) H ( s )
sR( s)
e xl lim sE( s) lim
s 0 s 0 1 R( s ) H ( s )
Suy ra:
Nhn xt: sai s xc lp khng ch ph thuc vo cu trc v thng s ca h thng
m cn ph thuc vo tn hiu vo.
1
a. Tn hiu vo l hm nc n v: R( s) (h s v tr)
s
94
Chng 5: nh gi cht lng h thng iu khin
1
e xl vi K P lim G(s) H (s)
1 KP s 0
1
b. Tn hiu vo l hm dc n v: R( s ) (h s vn tc)
s2
1
e xl KV lim G(s) H ( s)
KV s 0
1
c. Tn hiu vo l hm parabol: R( s) (h s gia tc)
s3
1
e xl K a lim G(s) H (s)
Ka s 0
K
Hm truyn h qun tnh bc 1: G( s)
Ts 1
1
H qun tnh bc 1 c mt cc thc: p1
T
1 K
C ( s) R( s)G ( s) .
p ng qu : s Ts 1
c(t ) K 1 e
t / T
95
Chng 5: nh gi cht lng h thng iu khin
Gin cc zero p ng qu
ca khu qun tnh bc 1 ca khu qun tnh bc 1
Nhn xt v h qun tnh bc 1:
- H qun tnh bc 1 ch c 1 cc thc (1/T), p ng qu khng c vt l.
- Thi hng T: l thi im p ng ca khu qun tnh bc 1 t 63% gi tr xc
lp.
- Cc thc (1/T) cng nm xa trc o th thi hng T cng nh, h thng p ng
cng nhanh.
- Thi gian qu ca h qun tnh bc 1 l:
1
t qd T ln
vi = 0.02 (tiu chun 2%) ho = 0.05 (tiu chun 5%).
Quan h gia v tr cc v p ng h qun tnh bc 1
- Cc nm cng xa trc o p ng ca h qun tnh bc 1 cng nhanh, thi gian qu
cng ngn.
Gin cc zero p ng qu
ca khu qun tnh bc 1 ca khu qun tnh bc 1
H dao ng bc 2:
Hm truyn h dao ng bc 2:
96
Chng 5: nh gi cht lng h thng iu khin
K K n2 1
G( s) n ,0 1
T 2 s 2 2Ts 1 s 2 2 n s n2 T
H dao ng bc 2 c cc phc: p1, 2 n j n 1 2
1 K n2
C ( s) R( s)G ( s) . 2
s s 2 n s n2
p ng qu :
c(t ) K 1
e nt
1 2
sin n 1 2 t cos
Gin cc zero p ng qu
ca khu dao ng bc 2 ca khu dao ng bc 2
Nhn xt v h dao ng bc 2:
H qun tnh bc 1
97
Chng 5: nh gi cht lng h thng iu khin
Gin cc zero p ng qu
ca khu qun tnh bc 1 ca khu qun tnh bc 1
H dao ng bc 2
Hm truyn h dao ng bc 2:
K K n2 1
G( s) n ,0 1
T 2 s 2 2Ts 1 s 2 2 n s n2 T
p1, 2 n j n 1 2
- H dao ng bc 2 c cp cc phc:
- p ng qu :
1 K n2
C ( s) R( s)G ( s) . 2
s s 2 n s n2
c(t ) K 1
e nt
1 2
sin n 1 2 t cos
98
Chng 5: nh gi cht lng h thng iu khin
Gin cc zero p ng qu
ca khu dao ng bc 2 ca khu dao ng bc 2
Nhn xt v h dao ng bc 2
- H dao ng bc 2 c cp cc phc, p ng qu c dng dao ng vi
bin gim dn.
- Nu = 0, p ng ca h l dao
ng khng suy gim vi tn s n
n gi l tn s dao ng t
nhin.
- Nu 0< <1, p ng ca h l
dao ng vi bin gim dn
gi l h s tt (hay h s suy
gim), cng ln (cc cng nm
gn trc thc) dao ng suy gim
cng nhanh.
- Nhn xt v h dao ng bc 2
- p ng qu ca h dao ng bc 2 c vt l:
POT exp .100%
1 2
vt l:
99
Chng 5: nh gi cht lng h thng iu khin
Quan h gia h s tt v vt l
Gin cc zero p ng qu
ca khu dao ng bc 2 ca khu dao ng bc 2
Cc h dao ng bc 2 c cc cc nm cch gc ta mt khong bng nhau th c
cng tn s dao ng t nhin, h no c cc nm gn trc o hn th c h s tt nh
hn, do vt l cao hn, thi gian qu di hn.
100
Chng 5: nh gi cht lng h thng iu khin
Gin cc zero p ng qu
ca khu dao ng bc 2 ca khu dao ng bc 2
Gin cc zero p ng qu
ca khu dao ng bc 2 ca khu dao ng bc 2
H bc cao
H bc cao c nhiu hn 2 cc
Nu h bc cao c 1 cp cc phc nm gn trc o hn so vi cc cc cn li th c
th xp x h bc cao v h bc 2. Cp cc phc nm gn trc o nht gi l cp cc quyt
nh ca h bc cao.
101
Chng 5: nh gi cht lng h thng iu khin
Tiu chun ITAE (Integral of Time multiplied by the Absolute Value of the Error)
J ITAE t e(t ) dt
0
H bc 2:
J IAE min 0.707
J ISE min 0.5
J ITAE min 0.707
p ng ca h bc 2
Tiu chun ITAE c s dng ph bin nht
- p ng qu ca h thng bc n l ti u theo chun ITAE th mu s hm
truyn kn h bc n phi c dng.
Bc Mu s hm truyn
102
Chng 5: nh gi cht lng h thng iu khin
1 s n
2 s 2 1.414n s n2
3 s 3 1.75n s 2 2.15n2 s n3
4 s 4 2.1n s 3 3.4n2 s 2 2.7n3 s n4
103
Chng 6: Thit k h thng iu khin lin tc
Chng 6
104
Chng 6: Thit k h thng iu khin lin tc
105
Chng 6: Thit k h thng iu khin lin tc
1 aTj
c tnh tn s: Gc ( j ) ( 1)
1 Tj
Hnh 6.5 l biu Bode ca khu hiu chnh sm pha. Da vo biu Bode ca
khu sm pha chng ta thy c tnh pha lun dng ( 0, ), do tn hiu ra
lun lun sm pha hn tn hiu vo. Khu hiu chnh sm pha l mt b lc thng cao
(xem biu Bode bin ), s dng khu hiu chnh sm pha s m rng c bng
thng ca h thng, lm cho p ng ca h thng nhanh hn, do khu hiu chnh sm
pha ci thin p ng qu . Tuy nhin cng do tc dng m rng bng thng m khu
hiu chnh sm pha lm cho h thng nhy vi nhiu tn s cao.
106
Chng 6: Thit k h thng iu khin lin tc
1 j T 1 jT 1 jT
arg arg
1 jT 1 T 2 2
T 1
arg 1 T 2 2 jT 1 arctan
1 T
2 2
T 1 1 1
arctan arctan arcsin
2 T 2
1
1
Do : max arcsin
1
Du ng thc xy ra khi: 1 T 2 2 max max 1 / T
Thay max 1 / T vo biu thc bin ca khu sm pha ta d dng rt ra cng
thc (6.4).
6.2.2.2. Hiu chnh tr pha:
1 aTs
Hm truyn: Gc ( s) ( 1) (6.5)
1 Ts
1 aTj
c tnh tn s: Gc ( j )
1 Tj
Hnh 6.6 l biu Bode ca khu hiu chnh tr pha. Da vo biu Bode ca
khu tr pha ta thy c tnh pha lun m ( ( ) 0, ) nn tn hiu ra lun lun tr pha
hn tn hiu vo. Khu hiu chnh tr pha l mt b lc thng thp (xem biu Bode
bin ), s dng khu hiu chnh tr pha s thu hp bng thng ca h thng, lm cho h
s khuch i ca h thng i vi tn hiu vo tn s cao gim i, do khu hiu chnh
tr pha khng c tc dng ci thin p ng qu . Tuy nhin cng do tc dng lm gim
h s khuch i min tn s cao m khu tr pha c tc dng lc nhiu tn s cao nh
hng n h thng. Do h s khuch i min tn s thp ln nn khu hiu chnh tr
pha lm gim sai s xc lp ca h thng (xem biu thc sai s xc lp trnh by
chng 5).
Cc thng s cn ch trn c tnh tn s ca khu tr pha:
lch pha cc tiu:
1
min sin 1 (6.6)
1
Tn s ti lch pha cc tiu:
1
min (6.7)
T
Bin ti pha cc tiu:
Lmin 10 lg (6.8)
Chng minh: Tng t nh lm i vi khu sm pha.
107
Chng 6: Thit k h thng iu khin lin tc
108
Chng 6: Thit k h thng iu khin lin tc
Hnh 6.7 l biu Bode ca khu hiu chnh sm tr pha. min tn s cao tn
hiu ra sm pha hn tn hiu vo; min tn s thp tn hiu ra tr pha hn tn hiu vo
nn khu hiu chnh ny c gi l khu hiu chnh sm tr pha. Khu hiu chnh sm
tr pha l mt b lc chn di (xem biu Bode bin ), h s khuch i min tn s
cao ln lm ci thin ng qu ; h s khuch i min tn s thp ln lm gim sai s
xc lp, do khu hiu chnh sm tr pha kt hp cc u im ca khu hiu chnh sm
pha v tr pha.
6.2.3. Hiu chnh PID
6.2.3.1 Hiu chnh t l P: (Proportional)
Hm truyn: Gc (s) K P (6.11)
c tnh tn s ca khu hiu chnh t l c trnh by chng 2. Da vo cc
biu thc sai s xc lp trnh by chng 4 ta thy nu h s khuch i KP cng ln
th sai s xc lp cng nh, tuy nhin khi KP tng th cc cc ca h thng ni chung c
xu hng di chuyn xa ra trc thc, iu c ngha l p ng ca h thng cng dao
ng, vt l cng cao. Nu KP tng qu gi tr h s khuch i gii hn th h thng s
tr nn mt n nh. Do khng th mun sai s ca h thng bng 0 th khng th tng
h s khuch i ln v cng.
Th d 6.1: Kho st nh hng ca b iu khin t l.
Xt h thng hiu chnh ni tip c s khi nh hnh 6.1, trong hm truyn
10
ca i tng l: G( s) . B iu khin c s dng l b iu khin t l.
( s 2)(s 3)
ng lin nt trong hnh 6.8 l p ng ca h thng khi cha hiu chnh KP = 1. Theo
hnh v ta thy khi tng KP th sai s xc lp gim, ng thi vt l cng tng ln (cc
ng t nt).
109
Chng 6: Thit k h thng iu khin lin tc
110
Chng 6: Thit k h thng iu khin lin tc
Hnh 6.10. S thay i dng QNS khi thm khu hiu chnh PD vo h thng
Ta thy nu 0 < 1/TD < a th QNS ca h thng sau khi hiu chnh nm hon ton
trn trc thc (hnh 6.10b v 6.10c), do p ng ca h thng hon ton khng c dao
ng. Nu 1/TD > a th ty gi tr ca KP m h thng c th c nghim phc, tuy nhin
nghim phc ny gn trc thc hn so vi trc o (ngha l >0.707), do vt l ca
h thng thp hn so vi cha hiu chnh.
Hnh 6.11a trnh by p ng qu ca h thng khi thay i gi tr TD v gi h s
KP bng hng s. Ta thy TD cng ln th p ng cng nhanh, thi gian ln cng ngn.
Tuy nhin nu thi gian ln nhanh qu th s dn n vt l mt d p ng khng c dao
ng.
Khi xc nh c TD th nh hng ca KP tng t nh nh hng ca khu
khuch i, ngha l nu KP cng tng (nhng phi nh hn Kgh) th sai s xc lp cng
gim (hnh 6.11b), tuy nhin sai s xc lp lc no cng khc 0. Mt khc trong trng
hp h thng ang kho st, khi KP cng tng th QNS cng ri xa trc o nn thi gian
p ng cng nhanh ln. Tuy nhin nh hng ny khng phi l nh hng c trng
ca khu PD.
111
Chng 6: Thit k h thng iu khin lin tc
112
Chng 6: Thit k h thng iu khin lin tc
113
Chng 6: Thit k h thng iu khin lin tc
Theo cng thc sai s (5.xx), ta thy khu hiu chnh PI lm cho sai s xc lp ca
h thng i vi tn hiu vo l hm nc bng 0. Tuy nhin khu hiu chnh PI lm cho h
thng km n nh. Ta c th kim chng c iu ny bng cch phn tch s thay i
dng QNS ca h thng sau khi hiu chnh. Theo cng thc (4.xx), giao im ca tim
cn vi trc thc l: OA =(-a b+ 1/TI ) . Do khi 1/TI cng tng th QNS ca h
thng cng di chuyn v pha phi mt phng phc (hnh 6.13b, 6.13c), h thng cng
km n nh. Khi 1/TI ln tha iu kin 1/TI > a+ b th QNS c on nm bn phi
mt phng phc(hnh 6.13d), h thng khng n nh nu h s khuch i ca h thng
ln hn gi tr Kgh.
Hnh 6.14 minh ha p ng qu ca h thng khi thay i thng s ca b iu
khin PI. hnh 6.14a ta thy khi cng gim thi hng tch phn TI th vt l ca h
thng cng cao, h thng cng chm xc lp. T y ta rt ra kt lun khi thit k khu
hiu chnh PI nn chn zero 1/TI nm gn gc ta thi hng tch phn TI c gi tr
ln nhm hn ch vt l. Khi gi TI bng hng s th nh hng ca KP n cht lng
ca h thng chnh l nh hng ca khu khch i, KP cng tng th vt l cng tng,
tuy nhin thi gian qu gn nh khng i (hnh 6.14b). Nu KP vt qu gi tr h s
khuch i gii hn th h thng tr nn mt n nh.
114
Chng 6: Thit k h thng iu khin lin tc
1
GC ( j ) K P1 1 1 K D 2 j (6.21)
TI1 j
115
Chng 6: Thit k h thng iu khin lin tc
GC ( s)G ( s) 1 iu kin bin (6.23)
iu kin pha
GC ( s)G ( s) 180
0
116
Chng 6: Thit k h thng iu khin lin tc
Gii thch:
Bc 1: Do cht lng qu ph thuc vo v tr cp cc quyt nh nn thit k h
thng tha mn cht lng qu mong mun ta phi xc nh cp cc quyt nh tng
ng. Gi cp cc quyt nh mong mun l s1*, 2 .
Bc 2: h thng c cht lng qu nh mong mun th cp cc quyt nh s1*, 2
phi l nghim ca phng trnh c tnh sau khi hiu chnh (6.22).
Xt iu kin v pha:
GC (s)G(s) s s* 1800
GC (s) s s* G(s) s s* 1800
m
n
GC ( s) s s* arg s * zi arg s * pi 1800 (6.27)
i 1 i 1
Trong zi v pi l cc zero v cc cc ca h thng h trc khi hiu chnh. t gc
pha cn b * GC (s) ss , t biu thc (6.27) ta suy ra:
*
i 1 i 1
args 1 / T args* 1 / T `
* *
(6.28)
Do v s bit nn phng trnh (6.28) c hai n s cn tm l 1/ T v 1/T.
* *
117
Chng 6: Thit k h thng iu khin lin tc
T phn tch trn ta thy cc v zero ca khu hiu chnh sm pha phi nm ti im
B v C sao cho BP C * . y chnh l c s ton hc ca cch chn cc v zero nh
trnh by trong trnh t thit k.
Hnh 6.16: Quan h hnh hc gia v tr cc v zero ca khu hiu chnh sm pha vi gc
pha cn b
Bc 4: Mun s l nghim ca phng trnh c tnh (6.22) th ngoi iu kin v pha ta
*
phi chn KC sao cho s * tha iu kin bin . Do ta phi chn KC bng cng thc:
GC (s)G(s) ss* 1
Th d 6.4: Thit k khu hiu chnh sm pha dng phng php QNS.
Cho h thng iu khin nh hnh v. Hy thit k khu hiu chnh GC(s) p
ng qu ca h thng sau khi hiu chnh tha: POT<20%; tq < 0,5 sec (tiu chun
2%).
Li gii:
V yu cu thit k ci thin p ng qu nn s dng khu hiu chnh sm pha:
s (1 / T )
GC ( s) K C 1
s (1 / T )
Bc 1: Xc nh cp cc quyt nh
Theo yu cu thit k, ta c:
POT exp 0.2 ln 0.2 1.6
2
1 1 2
1,95 1 2 4.8 2 1 0.45
Chn 7.707
4 4
t qd 0.5 n n 11.4
n 0.5
Chn n 15
118
Chng 6: Thit k h thng iu khin lin tc
Vy cp cc quyt nh l:
s1*, 2 n jn 1 2 0.707 15 j15 1 0.707 2
s1*, 2 10.5 10.5
Bc 2: Xc nh gc pha cn b
Cch 1. Dng cng thc i s
* 1800 arg 10.5 j10.5 0 arg 10.5 j10.5 (5)
10.5 10.5
1800 arctan arctan
10.5 5.5
1800 135 117.6
* 72.60
Cch 2. Dng cng thc hnh hc
* 1800 1 2
1800 1350 117.60 72.60
Bc 3: Xc nh cc v zero ca khu hiu chnh bng phng php ng
phn gic.
- V PA l phn gic ca gc OP x
* *
- V PB v PC sao cho AP B , AP C
2 2
im B chnh l v tr cc v C l v tr zero ca khu hiu chnh.
1 1
OB OC
T T
p dng h thc lng trong tam gic ta suy ra:
OP x * 1350 72.60
sin
sin
2 2 2 2
OB OP 15 28.12
OP x * 1350 72.60
sin sin
2 2 2 2
119
Chng 6: Thit k h thng iu khin lin tc
OP x * 135 0 72.6 0
sin sin
2 2 2 2
OC OP 15 8.0
OP x * 135 0 72.6 0
sin sin
2 2 2 2
s 8
GC ( s) K C
s 28
Bc 4: Tnh K . C
GC (s)G(s) s s* 1
s 8 50
KC . 1
s 28 s ( s 5) s 10.5 j10.5
10.5 j10.5 8 50
KC .
10.5 j10.5 28 (10.5 j10.5)(10.5 j10.5 5)
10.79 50
KC 1
20.41 15 11.85
K C 6.7
Vy hm truyn ca khu hiu chnh sm pha cn thit k l:
s 8
GC ( s) 6.7
s 28
Nhn xt:
Qu o nghim s ca h thng trc khi hiu chnh khng qua im s* (hnh
6.17a) do h thng s khng bao gi t c cht lng p ng qu nh yu cu
d c thay i h s khuch i ca h thng.
Bng cch s dng khu hiu chnh sm pha, qu o nghim s ca h thng b sa
dng v qua im s* (hnh 6.17b). Bng cch chn h s khuch i thch hp (nh
thc hin bc 4) h thng s c cp cc quyt nh nh mong mun, do p ng
qu t yu cu thit k (hnh 6.18).
120
Chng 6: Thit k h thng iu khin lin tc
121
Chng 6: Thit k h thng iu khin lin tc
1 1
.
T T
Bc 4: Tnh KC bng cch p dng cng thc:
GC (s)G( s) ss* 1
1, 2
Trong s *
1, 2 l cp cc quyt nh ca h thng sau khi hiu chnh. Do yu cu thit
k khng lm nh hng ng k n p ng qu nn c th tnh gn ng: s1*, 2 s1, 2
Gii thch:
Bc 1: Ta c h s vn tc ca h thng trc v sau khi hiu chnh l:
KV lim sG( s )
s 0
lim sG( s )
s 1 / T K K
lim K C C V
s0 s 1/ T s 0
K K
C*V
KV
K C KV
Nu K C 1 th
KV*
Do ta chn bng cng thc trn. Cc bc thit k tip theo m bo K C 1.
Bc 2: Gi s1,2 l cp cc quyt nh ca h thng trc khi hiu chnh:
G ( s) s s 1
1 G( s) ss 0
1, 2
1, 2
G ( s) s s 1800
1, 2
GC ( s)G( s) s s*1, 2 1
1 GC ( s)G( s) s s*1, 2 0
G ( s)G( s) s s*1, 2 1800
C
Xt iu kin v pha. h thng c cht lng qu gn nh khng thay i th
s1*, 2 s1, 2 . Suy ra:
GC ( s)G( s) s s* 180 0
1, 2
GC ( s) s s* G( s) s s* 1800
1, 2 1, 2
GC ( s) s s* 180 0 G ( s) s s*
1, 2 1, 2
122
Chng 6: Thit k h thng iu khin lin tc
GC ( s) s s* 0 0 (6.29)
1, 2
Phn tch trn cho thy cc v zero ca khu hiu chnh tr pha phi tha mn biu thc
(6.29). Khi thit k ta thng chn khu hiu chnh tr pha sau cho
50 GC ( s) s s* 0 0 , t c iu ny c th t cc v zero ca khu hiu chnh
1, 2
C th d dng kim chng c rng do cch chn zero v cc ca khu hiu chnh
nh bc 2 v bc 3 m bc 4 ta lun tnh c KC 1.
Nh vy KC tha mn gi thit ban u khi tnh h s bc 1.
Th d 6.5: Thit k khu hiu chnh tr pha dng phng php QNS.
Hy thit k khu hiu chnh GC(s) sao cho h thng c s khi di y sau khi
hiu chnh c sai s i vi tn hiu vo l hm dc l 0,02 v p ng qu thay i
khng ng k.
Li gii:
H s vn tc ca h thng trc khi hiu chnh:
10
KV lim sG( s) lim s 0.83
s 0 s 0 s( s 3)(s 4)
Sai s xc lp ca h thng khi tn hiu vo l hm dc l:
1 1
exl 1.2
KV 0.83
V yu cu thit k lm gim sai s xc lp nn s dng khu hiu chnh tr pha:
s (1 / T )
GC ( s) K C 1
s 1 / T
Bc 1: Tnh
H s vn tc ca h sau khi hiu chnh:
123
Chng 6: Thit k h thng iu khin lin tc
1 1
KV* *
50
exl 0.02
Do :
KV 0.83
0.017
KV* 50
Bc 2: Chn zero ca khu hiu chnh
Cc cc ca h thng trc khi hiu chnh l nghim ca phng trnh:
10
1 G ( s) 0 1 0 s 3 7 s 2 12s 10 0
s( s 3)( s 4)
s1, 2 1 j
s3 5
Vy cp cc quyt nh trc khi hiu chnh l s1, 2 1 j
Res1 1
1 1 1
Chn sao cho: 0.1
T T T
Bc 3: Tnh cc ca khu hiu chnh:
0.017 0.1 0.0017
1 1 1
T T T
s 0.1
GC ( s) K C
s 0.0017
Bc 4: Tnh KC:
GC (s)G(s) ss* 1
s 0.1 10
KC . 1
s 0.0017 s( s 3)(s 4) s s*
124
Chng 6: Thit k h thng iu khin lin tc
125
Chng 6: Thit k h thng iu khin lin tc
Th d 6.6: Thit k khu hiu chnh sm tr pha dng phng php QNS.
Hy thit k khu hiu chnh GC(s) sao cho h thng sau khi hiu chnh c cp cc
phc vi 0.5, n 5 (rad/sec); h s vn tc KV 80 .
Li gii:
H cha hiu chnh c 0.125, n 2 (rad/sec); KV 8 . V yu cu thit k b hiu
chnh ci thin p ng qu v sai s xc lp nn GC(s) l khu hiu chnh sm tr
pha.
G1 (s) GC1 (s)GC 2 (s)
Bc 1: Thit k khu hiu chnh sm pha GC1 ( s) :
1
s
T1
GC1 ( s) K C1
1
s
T1
- Cp cc quyt nh sau khi hiu chnh:
s1*, 2 n jn 1 2
0.55 j 5 1 0.5
2
- Gc pha cn b:
* 180 0 1 2
180 0 120 0 1150
55
* 0
Hnh
6.21. Gc pha cn b
126
Chng 6: Thit k h thng iu khin lin tc
127
Chng 6: Thit k h thng iu khin lin tc
- Xc nh :
H s vn tc ca h sau khi hiu chnh sm pha:
25
KV lim sG1 ( s) lim s 5
s 0 s 0 s( s 5)
H s vn tc mong mun:
KV* 80
Suy ra:
KV 5 1
*
K
KV 80 16
- Xc nh zero ca khu tr pha:
1
Re( s* ) Re( 2.5 j 4.33) 2.5
T2
1
Chn 0.16
T2
- Xc nh cc ca khu tr pha:
.0.16 0.01
1 1 1
T2 T2 16
s 0.16
GC 2 ( s) K C 2
s 0.01
- Tnh KC2:
GC 2 (s)G1 (s) s s* 1
GC 2 ( s ) s s* G1 ( s ) s s* 1
GC 2 ( s ) s s* 1
2.5 j 4.33 0.16
KC 2 1
2.5 j 4.33 0.01
4.995
KC 2 1.01
4.992
s 0.16
GC 2 ( s ) 1.01
s 0.01
Tm li khu hiu chnh sm tr pha cn thit k l:
s 0.5 s 0.16
GC ( s) GC1 (s)GC 2 ( s) 6.25 1.01
s 5 s 0.1
GC ( s) 6.31
s 0.5s 0.16
s 5s 0.01
6.4. THIT K H THNG DNG PHNG PHP BIU BODE
6.4.1 Hiu chnh sm pha
Hm truyn khu hiu chnh sm pha cn thit k c dng:
128
Chng 6: Thit k h thng iu khin lin tc
1 Ts
GC ( s) KC 1
1 Ts
129
Chng 6: Thit k h thng iu khin lin tc
130
Chng 6: Thit k h thng iu khin lin tc
Hnh 6.22. Biu Bode ca h thng trc v sau khi hiu chnh sm pha
Bc 4: d tr pha ca h khi cha hiu chnh:
M 180 1 C
40 0 C
M 1800 arg 180 90 arctan
0
jC jC 2 2
6.17
M 1800 900 arctan 180 90 72
0 0 0
2
M 180
M 180 1
Bc 5: Gc pha cn b:
max M * M 5
0
131
Chng 6: Thit k h thng iu khin lin tc
C 4 C 6400 0
4 2
C 8.83
(rad/sec)
Bc 8: Tnh T:
1 1
T
C 8.83 4
T 0.057
T 4 0.057 0.228
1 0.228s
Vy: GC ( s) 10
1 0.057 s
Bc 9: Kim tra li iu kin v bin :
V tn s ct pha - trc v sau khi hiu chnh u bng v cng nn d tr
bin ca h trc v sau khi hiu chnh u bng v cng (>10dB).
Kt lun: Khu hiu chnh cn thit k l c hm truyn nh trn.
6.4.2 Hiu chnh tr pha
Hm truyn khu hiu chnh sm pha cn thit k c dng:
1 Ts
GC ( s) KC 1
1 Ts
Bi ton t ra l chn gi tr KC, va T p ng ca h thng tha mn yu
cu v d tr bin, d tr pha v sai s xc lp.
TRNH T THIT K
Khu hiu chnh : Tr pha
Phng php thit k : Biu Bode
Bc 1: Xc nh KC tha mn yu cu thit k v sai s xc lp
Bc 2: t G1 (s) KC G(s) . V biu Bode ca G1 ( s)
Bc 3: Xc nh tn s ct bin C ca h sau khi hiu chnh t iu kin:
1 C 1800 M *
Trong : M * l d tr pha mong mun 50 200
132
Chng 6: Thit k h thng iu khin lin tc
Bc 4: Tnh t iu kin:
L1 C 20 lg
1
G1 jC
Bc 5: Chn zero ca khu hiu chnh tr pha sao cho:
1
C T
T
Bc 6: Tnh hng s thi gian T:
1 1
T
T T
Bc 7: Kim tra li h thng c tha mn iu kin v d tr bin hay khng? Nu
khng tha mn th tr li bc 3.
Ch : Trong trng hp h thng qu phc tp kh tm c li gii gii tch th c th
xc nh 1 C , C (bc 3) v L1 C (bc 4) bng cch da vo biu Bode.
Th d 6.8: Thit k khu hiu chnh tr pha dng PP biu Bode.
Hy thit k khu hiu chnh tr pha sao cho h thng sau khi hiu chnh c:
K 5; M 40 ; GM * 10dB .
*
V
Li gii:
Hm truyn khu hiu chnh tr pha cn thit k l:
1 Ts
GC ( s) KC 1
1 Ts
Bc 1: Xc nh KC
H s vn tc ca h sau khi hiu chnh l:
1 Ts 1
KV lim sGC ( s)G ( s ) lim sK C
*
. KC
s 0 s 0 1 Ts s( s 1) 0.5s 1
KC KV*
KC 5
Bc 2:
t:
1
G1 ( s ) K C G ( s )
s ( s 1) 0.5s 1
1
G1 ( s)
s ( s 1) 0.5s 1
Biu Bode ca G1 ( s) v trang sau.
133
Chng 6: Thit k h thng iu khin lin tc
Bc 3: Xc nh tn s ct mi:
Cch 1: Tm C' bng phng php gii tch. Ta c:
1 C 1800 M *
900 arctan C arctan 0.5C 1800 400 50
arctan C arctan 0.5C 450
C 0.5C tan 450 1
1 0.5C
0.5 C 1.5C 1 0
2
C 0.56
(rad/sec)
Hnh 6.23. Biu Bode ca h thng trc v sau khi hiu chnh tr pha
134
Chng 6: Thit k h thng iu khin lin tc
5 1
j 0.56 j 0.56 1 0.5 j 0.56 1
5 1
0.56 0.562 1 0.282 1
5 1
0.56 11.46 1.038
0.133
Cch 2: Tnh t iu kin:
L1 C 20lg
Da vo biu Bode ta thy:
L1 C 18dB
18 20 lg
lg 0.9
100.9
0.126
Bc 5: Chn zero ca khu tr pha:
1
C 0.56
T
1
0.05
T
T 20
Bc 6: Tnh thi hng T
135
Chng 6: Thit k h thng iu khin lin tc
1 1
0.133 0.05 0.067
T T
T 150
(20s 1)
Vy: GC ( s) 5
(150s 1)
Bc 7: Kim tra li iu kin bin :
Da vo biu Bode ta thy d tr bin sau khi hiu chnh l:
GM * 10dB
Kt lun: Khu hiu chnh va thit k t yu cu v d tr bin.
Nhn xt:
Qua hai th d thit k khu hiu chnh sm pha v tr pha dng phng php biu
Bode ta c nhn xt sau:
- Nu G(s) l h bc 2 th bi thit k khu hiu chnh sm pha v tr pha hon ton
c th gii c bng cc cng thc gii tch, bc v biu Bode khng tht s cn
thit.
- Nu G(s) l h bc 3 tr ln th cc cng thc gii tch tm tn s ct bin, tn
s ct pha, d tr bin, d tr pha tr nn phc tp, trong trng hp ny nn v
biu Bode v xc nh cc thng s da vo biu Bode va v.
Biu Bode bin c v bng cc ng tim cn, biu Bode v pha c
v bng cch phn tch nh tnh v thay mt s gi tr tn s biu thc () c gi
tr nh lng.
- bng thng ca h sau khi hiu chnh sm pha v tr pha. Sau khi hiu chnh
sm pha bng thng ca h thng c m rng, p ng ca h i vi tn hiu tn s
cao tt hn, p ng qu c ci thin; trong khi sau khi hiu chnh tr pha bng
thng ca h thng b thu hp, p ng ca h i vi tn hiu tn s cao km i, p ng
qu ca h thng b chm li. V vy cn nhn mnh rng hai khu hiu chnh sm pha
v tr pha c c im hon ton khc nhau, khng th s dng ln ln c.
6.5. THIT K H THNG IU KHIN HI TIP TRNG THI
6.5.1. iu khin hi tip trng thi
136
Chng 6: Thit k h thng iu khin lin tc
137
Chng 6: Thit k h thng iu khin lin tc
138
Chng 6: Thit k h thng iu khin lin tc
139
Chng 6: Thit k h thng iu khin lin tc
Cch ny trc quan, d hiu hn cc phng php khc v cng rt d p dng trong
trng hp h bc thp (bc 3 tr xung).
TRNH T THIT K
B iu khin : Hi tip trng thi
Phng php thit k : Phn b cc bng cch cn bng cc h s
ca phng trnh c trng
Bc 1: Kim tra tnh iu khin c (v quan st c).
- Nu h khng iu khin c th kt thc v bi ton phn b cc khng c li
gii.
- Nu h iu khin c th tip tc bc 2.
Bc 2: Vit phng trnh c tnh ca h thng hi tip trng thi:
det[sI - A + BK] = 0 (1)
Bc 3: Vit phng trnh c tnh mong mun:
n
(s pi) 0
i 1
_____
Trong pi ( i 1...n ) l cc cc mong mun.
Bc 4: Cn bng cc h s ca hai phng trnh c tnh (1) v (2) s tm c vector
hi tip trng thi K.
Th d 6.11. Cho i tng iu khin m t bi h phng trnh bin trng thi:
x (t ) Ax Bu
c(t ) Cx(t )
0 1 0 0
Vi:
A 0 0 1 B 3 C 0 0 1
4 7 3 1
Hy xc nh lut iu khin u(t) = r(t) - Kx(t) sao cho h thng kn c cp cc phc
vi = 0,6; n =10 v cc th ba l cc thc ti - 20 .
Li gii:
Phng trnh c tnh ca h hi tip trng thi l:
det[sI - A + BK] =
1 0 0 0 1 0 0
det s 0 1 0 0 0 1 3k1 k2 k3 0
0 0 1 4 7 3 1
s 1 0 0 0 0
det s 0 s 1 3k1 3k 2 3k3 0
4 7 s 3 k k3
1 k2
140
Chng 6: Thit k h thng iu khin lin tc
s 1 0
det 3k1 s 3k 2 1 3k3 0
4 k 7 k s 3 k3
1 2
141
Chng 6: Thit k h thng iu khin lin tc
Mt phng php khc cng thng dng thit k b iu khin PID l phng
php gii tch. Sau y l mt th d:
Th d 6.13: Cho h thng iu khin nh hnh v:
142
Chng 6: Thit k h thng iu khin lin tc
143
Chng 7: M t ton hc h thng iu khin ri rc
Chng 7
M T TON HC
H THNG IU KHIN RI RC
144
Chng 7: M t ton hc h thng iu khin ri rc
cht(kT)
A/D Cm bin
cht(kT)
Ly mu Cm bin
k 0
145
Chng 7: M t ton hc h thng iu khin ri rc
146
Chng 7: M t ton hc h thng iu khin ri rc
147
Chng 7: M t ton hc h thng iu khin ri rc
Nn c gi l ton t lm tr 1chu k ly mu
3. T l trong min Z
Nu x(k ) X ( z)
148
Chng 7: M t ton hc h thng iu khin ri rc
Th a k x(k ) X (a 1 z) (7.13)
4. o hm trong min Z
Nu x(k ) X ( z)
dX ( z )
Th kx(k ) z (7.14)
dz
5. nh l gi tr u
Nu x(k ) X ( z)
Th x(0) lim X ( z ) (7.15)
z
6. nh l gi tr cui
Nu x(k ) X ( z)
Th x() lim (1 z 1 ) X ( z) (7.16)
z 1
7.2.3 Bin i Z ca cc hm c bn
7.2.3.1 Hm dirac
1 k 0
(k )
0 k 0
Theo nh ngha:
(k ) (k ) z k
(0) z 0 1
k
Vy (k ) 1
7.2.3.2 Hm nc n v
Hm nc n v (lin tc trong min
thi gian):
1 t0
u (t )
0 t0
Ly mu u (t) vi chu k ly mu T, ta
c:
1 k 0
u (k )
0 k 0
Theo nh ngha:
u (k ) u (k ) z k u (k ) z k
1 z 1 z 2 z
k k
1
Nu z 1 th biu thc trn l tng ca cp s nhn li v hn. p dng cng thc
tnh tng ca cp s nhn li v hn, ta d dng suy ra:
u (k )
1 z
1
1 z z 1
149
Chng 7: M t ton hc h thng iu khin ri rc
Vy:
1 z
u (k ) 1
( ROC : z 1 )
1 z z 1
7.2.3.3 Hm dc n v:
Hm dc n v (lin tc trong min
thi gian)
1 t0
r (t )
0 t0
Ly mu r(t) vi chu k ly mu l T, ta
c
kT k 0
r (k )
0 k 0
r (k ) kTu(k )
Tz 1 Tz
kTu(k )
1 z
1 2 1 z 1
Vy
Tz 1 Tz
r (k ) kTu(k ) ROC z 1
1 z
1 2 1 z 1
7.2.3.4 Hm m
Hm m lin tc trong min thi gian:
e at t0
x(t )
0 t0
Ly mu r(t) vi chu k ly mu l T, ta
c
e kaT k 0
x(k )
0 k 0
x(k ) e kaT u (k )
Theo nh ngha
150
Chng 7: M t ton hc h thng iu khin ri rc
x(k ) x( k ) z k
x(k ) z k
1 e aT z 1 e 2 aT z 2
k k
1 e aT z e z
1 aT 2
Nu e aT z <1 th biu thc trn l tng ca cp s nhn li v hn. p dng cng
1
Li gii
Phn tch X(z), ta c:
z z
X ( z)
( z 2) ( z 3)
Tra bng bin i Z:
z
a k u (k )
za
Suy ra: x(k ) (2 k 3k )u(k )
Cch 2: Phn tch X(z) thnh chui ly tha:
Theo nh ngha bin i Z:
X ( z ) x(k ) z k x(0).z 0 x(1).z 1 x(2).z 2 x(3).z 3
k 0
151
Chng 7: M t ton hc h thng iu khin ri rc
z
Cho X ( z ) . Tm x(k)
( z 2)( z 3)
Li gii
z z
X ( z) 2
( z 2)( z 3) z 5 z 6
Chia a thc, ta c
X ( z ) z 1 5z 2 19 z 3 65z 4
Suy ra
x(0) 0; x(1) 1; x(2) 5; x(3) 19; x(4) 65,....
Cch 3: Tnh x(k) bng cng thc qui
Th d 7.3:
z
Cho X ( z ) . Tm x(k)
( z 2)( z 3)
Li gii
Ta c:
z z z 1
X ( z) 2
( z 2)( z 3) z 5 z 6 1 5 z 1 6 z 2
1 5 z 1 6 z 2 X ( z ) z 1
X ( z ) 5 z X ( z ) 6 z 2 X ( z ) z 1
1
Bin i Z ngc hai v phng trnh trn ( tnh cht di trong min thi gian), ta
c:
x(k ) 5 x(k 1) 6 x(k 2) (k 1)
x(k ) 5 x(k 1) 6 x(k 2) (k 1)
Vi iu kin u:
x(k 1) 0
x
x(k 2) 0
Thay vo cng thc trn ta c:
x(0) 0; x(1) 1; x(2) 5; x(3) 19; x(4) 65
Cch 4: p dng cng thc thng d:
x(k ) Re s z k 1 X ( z) tai cac cuc cua z k 1X ( z )
Nu z 0 l cc bc 1 th :
Re s z k 1 X ( z ) z z0 ( z z0 ) z k 1 X ( z )
z z0
Nu z 0 l cc bc p th:
Re s z k 1 X ( z ) z z0
1 d p1
( p 1)! dz p 1
z z0 p z k 1 X ( z ) z z0
Th d 7.4:
z
Cho X ( z ) . Tm x (k)
( z 2)( z 3)
Li gii:
p dng cng thc thng d, ta c:
152
Chng 7: M t ton hc h thng iu khin ri rc
x(k ) Re s z k 1 X ( z) z 2 Re s z k 1 X ( z ) z 3
M
Re s z k 1 X ( z ) z 2 ( z 2) z k 1 X ( z )
z 2
z
( z 2) z k 1
( z 2)( z 3) z 2
k
z
2 k
( z 3) z 2
Re s z k 1
X ( z ) z 3 ( z 3) z k 1 X ( z )
z 3
z
( z 3) z k 1
( z 2)( z 3) z 3
k
z
3k
( z 2) z 3
Do :
x(k ) 2 k 3k
7.3. M T H THNG RI RC BNG HM TRUYN
7.3.1 Hm truyn ca h ri rc
Quan h gia tn hiu vo tn hiu ra ca h thng ri rc c m t bng phng
trnh sai phn:
a0 c(k n) a1c(k n 1) an1c(k 1) an c(k )
(7.17)
b0 r (k m) b1r (k m 1) bm1r (k 1) bm r (k )
Trong n m , n gi l bc ca h thng ri rc
Bin i Z hai v phng trnh (7.17), ta c:
a0 z n C ( z ) a1 z n1C ( z ) an1 zC ( z ) an C ( z )
b0 z m R( z ) b1 z m1 R( z ) bm1 zR( z ) bm R( z )
a0 z n a1 z n1 an1 z an C ( z ) b0 z m b1 z m1 bm1 z bm R( z )
m 1
C ( z ) b0 z b1 z bm1 z bm
m
R( z ) a0 z n a1 z n1 an1 z an
t
C ( z ) b0 z m b1 z m1 bm1 z bm
G( z ) (7.18)
R( z ) a0 z n a1 z n1 an1 z an
G(z) c gi l hm truyn ca h thng ri rc
Hm truyn (7.18) c th bin i tng ng v dng:
G( z )
C ( z ) z ( nm ) b0 b1 z 1 bm1 z m1 bm z m (7.19)
R( z ) a0 a1 z 1 an1 z n1 an z n
Hai cch biu din trn hon ton tng ng nhau, trong thc t hm truyn dng
th 2 c s dng nhiu hn
Th d 7.5: Cho h thng ri rc m t bi phng trnh sai phn:
c(k 3) 2c(k 2) 5c(k 1) 3c(k ) 2r (k 2) r (k )
153
Chng 7: M t ton hc h thng iu khin ri rc
Tm hm truyn ca h thng
Li gii:
Bin i Z hai v phng trnh sai phn m t h thng, ta c:
z 3C ( z ) 2 z 2 C ( z ) 5 zC ( z ) 3C ( z ) 2 z 2 R( z ) R( z )
C ( z) 2z 2 1
G( z) 3
R( z ) z 2 z 2 5 z 3
C ( z) z 1 (2 z 2 )
G( z)
R( z ) 1 2 z 1 5 z 2 3z 3
7.3.2 Tnh hm truyn h ri rc t s khi
Khi thm vo h thng lin tc cc khu ly mu, khu gi d liu (v b iu khin
s) ta c h thng iu khin ri rc. Bi ton t ra l tm hm truyn h ri rc theo
bin z t s khi c cc khu ly mu. Xt mt s s thng gp sau y:
7.3.2.1 Hai khu ni tip cch nhau bi khu ly mu
154
Chng 7: M t ton hc h thng iu khin ri rc
C ( z) G( z )
Gk ( z ) (7.22)
R( z ) 1 GH ( z )
Trong
G ( z ) G( s)
GH ( z ) G( s).H ( s)
Trng hp H(s) =1 (h thng hi tip m n v) ta c:
C ( z) G( z )
Gk ( z ) (7.23)
R( z ) 1 G ( z )
Th d 7.8:
1 1
Cho G( s) ; H ( s) . Tm hm truyn tng ng ca hai h thng c s
sa sb
khi hnh 7.7.
Li gii:
155
Chng 7: M t ton hc h thng iu khin ri rc
Gk ( z )
C ( z)
G( z)
z e aT
R( z ) 1 GH ( z )
1
z e bT e aT
b a z e aT z e bT
Gk ( z )
b a z e bT
b a z e aT
z e bT
z e bT
e aT
7.3.2.4 H thng ni tip c khu ly mu trong vng hi tip:
Trng hp ny khng tm c biu thc hm truyn, quan h gia tn hiu vo v
tn hiu ra nh sau:
RG ( z )
C( z) (7.24)
1 G( z ) H ( z )
Trong :
RG ( z ) R( s)G( s)
G( z ) H ( z ) G( s)( H ( s)
7.3.2.5 H thng hi tip c cc khu ly mu ng b trong nhnh thun
156
Chng 7: M t ton hc h thng iu khin ri rc
157
Chng 7: M t ton hc h thng iu khin ri rc
x1 (k ) c(k )
x2 (k ) x1 (k 1) x2 (k ) c(k 1)
x3 (k ) x2 (k 1) x3 (k ) c(k 2)
x (k 1) x (k )
n1 n
xn (k 1) axn (k ) an1 x2 (k ) an x1 (k ) b0 r (k )
Vit li di dng ma trn:
x1 (k 1) 0 1 0 0 0 x1 (k ) 0
x (k 1) x (k ) 0
2 0 0 1 0 0 2
r (k )
xn1 (k 1) 0 0 0 0 1 xn1 (k ) 0
xn (k 1) an an1 an2 a2 a1 xn (k ) b0
p ng ca h thng:
x1 (k )
x (k )
1
c(k ) x1 (k ) 1 0 0 0
xn1 (k )
xn (k )
t:
x1 (k 1) 0 1 0 0 0
x (k 1) 0
2 0 1 0 0
x(k ) Ad
xn1 (k 1) 0 0 0 0 1
xn (k 1) an an1 an 2 a2 a1
158
Chng 7: M t ton hc h thng iu khin ri rc
0
0
Bd Dd 1 0 0 0
0
b0
Ta c h phng trnh bin thi:
x(k 1) Ad x(k ) Bd r (k )
c(k ) Dd x(k )
Th d 7.9:
Cho h thng iu khin ri rc m t bi phng trnh sai phn:
2c(k 3) c(k 2) 5c(k 1) 4c(k ) 3r (k )
Hy vit h phng trnh bin trng thi m t h thng.
Li gii:
Ta c:
2c(k 3) c(k 2) 5c(k 1) 4c(k ) 3r (k )
c(k 3) 0.5c(k 2) 2.5c(k 1) 2c(k ) 1.5r (k )
t bin trng thi nh sau
x1 (k ) c(k )
x2 (k ) x1 (k 1)
x3 (k ) x2 (k 1)
H phng trnh bin trng thi m t h thng cho l:
x(k 1) Ad x(k ) Bd r (k )
c(k ) Dd x(k )
Trong :
x1 (k )
x(k ) x2 (k )
x3 (k )
0 1 0 0 1 0
Ad 0 0
1 0 0 1
a3 a2 a1 2 2.5 0.5
0 0
Bd 0 0
b0 1.5
Dd 1 0 0
7.4.1.2 V phi ca phng trnh sai phn c cha sai phn ca tn hiu vo
Xt h thng ri rc c quan h gia tn hiu vo v tn hiu ra m t bi phng trnh
sai phn:
c(k n) a1c(k n 1) an1c(k 1)an c(k )
(7.27)
b0 r (k n) b1r (k n 1) bn1r (k 1) bn r (k )
159
Chng 7: M t ton hc h thng iu khin ri rc
xn (k ) xn1 (k 1) n1r (k )
T cch bin trng thi trn ta rt ra phng trnh sau:
xn (k 1) an x1 (k ) an1 x2 (k ) a1 xn (k ) n r (k )
Trong :
0 b0
1 b1 a1 0
2 b2 a11 a2 0
3 b3 a1 2 a2 1 a3 0
4 b4 a13 a2 2 a3 1 a4 0
n bn a1 n 1 a2 n 2 a3 n 3 a4 n 4 an 11 an 0
Do h phng trnh bin trng thi m t h thng c dng:
x(k 1) Ad x(k ) Bd r (k )
c(k ) Dd x(k ) Ed r (k )
Trong :
x1 (k ) 0 1 0 0 0
x (k ) 0 0 1 0 0
2
x(k ) Ad
x n 1 (k ) 0 0 0 0 1
x n (k ) an an1 an 2 a2 a1
1
2
Bd Dd 1 0 0 0 Ed 0
n1
n
Th d 7.10:
Cho h thng ri rc m t bi phng trnh sai phn:
2c(k 3) c(k 2) 5c(k 1) 4c(k ) r (k 2) 3r (k )
Hy vit h phng trnh trng thi m t h thng trn.
Li gii:
Ta c:
160
Chng 7: M t ton hc h thng iu khin ri rc
c(k ) Dd x(k ) E d r (k )
Trong :
x1 (k )
x(k ) x 2 (k )
x3 (k )
0 1 0 0 1 0
Ad 0 0
1 0 0 1
a3 a 2 a1 2 2.5 0.5
0.5
Bd 0.25 Dd 1 0 0 Ed 0
0.375
7.4.2 Thnh lp phng trnh trng thi t hm truyn h ri rc
Cho h thng m t bi hm truyn:
C ( z ) b0 z m b1 z m1 bm1 z bm
G( z )
n (7.28)
R( z ) z a1 z n1 an1 z an
Ch : hm truyn trn h s a0 1 . Nu a0 1 ta chia t s v mu s cho a0 c
hm truyn c dng (7.28).
Cch 1: Bin i tng ng hm truyn v dng phng trnh sai phn:
C ( z ) b0 z m b1 z m1 bm1 z bm
G( z ) n
R( z ) z a1 z n1 an1 z an
z n a1 z n 1 a n 1 z a n C ( z ) b0 z m b1 z m1 bm1 z bm R( z )
c(k n)a1c(k n 1) a n 1c(k 1) a n c(k )
b0 r (k m) b1 r (k m 1) bn 1 r (k 1) bn r (k )
161
Chng 7: M t ton hc h thng iu khin ri rc
z 3 0.5 z 2 2.5 z 2 C ( z ) 0.5 z 2 1.5 R( z )
c(k 3) 0.5c(k 2) 2.5c(k 1) 2c(k ) 0.5r (k 2) 1.5r (k )
Xem tip li gii trnh by th d 7.10.
C ( z ) b0 z m b1 z m1 bm1 z bm
Cch 2: Do G( z ) n
R( z ) z a1 z n1 an1 z an
nn ta c th t bin ph E(z) sao cho:
C ( z ) b0 z m b1 z m1 bm1 z bm E ( z) (7.29)
R( z) z n
a1 z n 1
an1 z an E ( z) (7.30)
(7.30) e(k n) a1e(k n 1) an1e(k 1) ane(k ) r (k )
p dng phng php trnh by mc 7.4.1.1, t cc bin trng thi:
x1 (k ) e(k )
x2 (k ) x1 (k 1) x2 (k ) e(k 1)
x3 (k ) x2 (k 1) x3 (k ) e(k 2)
xn (k ) xn1 (k 1) xn (k ) e(k n 1) xn (k 1) e(k n)
Ta c phng trnh:
x1 (k 1) 0 1 0 x1 (k ) 0
0 0
x (k 1) x (k ) 0
2 0 0 1 2 0 0
r (k )
xn1 (k 1) 0 0 0 0 1 xn1 (k ) 0
xn (k 1) an an1 an2 a2 a1 xn (k ) b0
(7.29) c(k ) b0 e(k m) b1e(k m 1) bm 1e(k 1)(k 1) bm e(k )
c(k ) b0 x m 1 (k ) b1 x m (k ) bm 1 x 2 (k ) bm x1 (k )
x1 (k )
x (k )
2
c(k ) bm bm 1 b1 b0 0 0
x n 1 (k )
x n (k )
Tm li ta c h phng trnh trng thi:
162
Chng 7: M t ton hc h thng iu khin ri rc
x(k 1) Ad x(k ) Bd r (k )
c ( k ) Dd x ( k )
Trong :
x1 (k ) 0 1 0 0 0
x (k ) 0 0 1 0 0
2
x(k ) Ad
x n 1 (k ) 0 0 0 0 1
x n (k ) an an 1 an 2 a2 a1
0
0
Bd Dd bm bm1 b1 b0 0 0
0
1
Th d 7.12: Cho h thng m t bi hm truyn:
C ( z) z2 3
G( z ) 3
R( z ) 2 z z 2 5 z 4
Hy thnh lp h phng trnh trng thi.
c(k ) Dd x(k )
Trong :
x1 (k )
x(k ) x2 (k )
x3 (k )
163
Chng 7: M t ton hc h thng iu khin ri rc
0 1 0 0 1 0
Ad 0 0
1 0 0 1
a3 a2 a1 2 2.5 0.5
0
Bd 0
1
Dd b2 b1 b0 1.5 0 0.5
Th d 7.13: Hy thnh lp h phng trnh trng thi m t h thng c hm truyn l:
C( z) 2z 1
G( z ) 4
R( z ) z 2 z z 2 5 z 3
3
R( z ) z 2 z z 5 z 3
4 3 2
c(k ) 2e(k 1) e(k )
c(k ) Dd x(k )
x1 (k )
x (k )
Trong : x(k ) 2
x3 (k )
x4 ( k )
0 1 0 0 0 1 0 0
0 0 1
0 0 0 1 0
Ad
0 0 0 1 0 0 0 1
a4 a3 a2 a1 3 5 1 2
0
0
Bd Dd b1 b0 0 0 1 2 0 0
0
1
7.4.3 Thnh lp phng trnh trng thi h ri rc t phng trnh trng thi h
lin tc:
Phng php ny ch p dng c cho h thng c s khi nh sau:
164
Chng 7: M t ton hc h thng iu khin ri rc
x (t ) Ax (t ) Be R (t )
c(t ) Dx(t )
Bc 2: Tnh ma trn qu ca h lin tc:
(t ) L1 (s)
Vi: (s) (sI A) 1
Bc 3: Ri rc ha phng trnh bin trng thi bc 1, ta c:
x(k 1)T Ad x(kT ) Bd r (kT )
c(kT ) Dd x(kT )
Ad (T )
T
Trong : Bd Bd
0
Dd D
Bc 4: H phng trnh bin trng thi ca h ri rc cn tm vi tn hiu vo
r(kT) l:
x(k 1)T Ad Bd Dd x(kT ) Bd r (kT )
c(kT ) Dd x(kT )
Chng minh:
Bc 1 v bc 2 thnh lp phng trnh trng thi v tnh ma trn qu ca h lin tc
khng c g phi chng minh. Ta chng minh t bc 3, bc ny ta suy ra phng
trnh trng thi ca h ri rc t phng trnh trng thi ca h lin tc.
Bc 3: chng 2, ta bit nghim ca phng trnh trng thi h lin tc cho bi
cng thc:
T
x(t ) (t t 0 ) x(t 0 ) Be R d
0
Tng qut:
T
x(t ) (t t 0 ) x(t 0 ) t 0 Be R d
0
165
Chng 7: M t ton hc h thng iu khin ri rc
Ta c:
( k 1)T
x(k t )T (T ) x(kT ) kT Be d
R
kT
Ta li c:
eR e(kT ), : kT (k 1)T
(do eR ( ) l tn hiu ng ra ca khu gi ZOH)
Thay vo cng thc trn, ta c:
( k 1)T
Li gii:
Bc 1: Thnh lp h phng trnh bin trng thi m t h lin tc:
Theo hnh v ta c:
X 2 ( s)
X 1 ( s) sX1 ( s) X 2 ( s)
s
x1 (t ) x2 (t ) (7.32)
E ( s)
X 2 ( s) R ( s a) X 2 ( s) E R ( s)
sa
x2 (t ) ax2 (t ) eR (t )
x 2 (t ) ax2 (t ) eR (t ) (7.33)
Kt hp (7.32) v (7.33) ta c h phng trnh:
166
Chng 7: M t ton hc h thng iu khin ri rc
x 1 ( t ) x 2 ( t )
x 2 ( t ) ax 2 ( t ) e R ( t )
x ( t ) 0 1 x 1 ( t ) 0
1 e R (t )
x 2 ( t ) 0 a x 2 ( t ) 1
x (t ) Ax(t ) BeR (t ) (7.34)
p ng ca h thng:
x (t )
c(t ) Kx1 (t ) K
0 1 Dx(t )
x2 (t )
0 1 0
Do : A B 1 D K 0
0 a
Bc 2: Tnh ma trn qu
1
1 0 0 1 s 1
( s) ( sI A) s
1
0 s a
0 1 0 a
1 1
s s( s a)
1 s a 1
s( s a) 0 s 1
0
s a
1 1 1 1 1 1
1 s
L s L s ( s a)
(t ) L ( s ) L
1 s ( s a )
0 1 0 1
L1
s a s a
1
1
a
1 e aT
0 e aT
Bc 3: Ri rc ha cc phng trnh trng thi ca h lin tc, ta c:
x(k 1)T Ad x(kT ) Bd e(kT )
c(kT ) Dd x(kT )
Trong :
1 1
1 (1 e at ) 1 (1 e aT )
Ad (T ) a a
0 e at 0 e aT
t T
T 1 T 1
1 (1 e a ) 0 (1 e a ) 0
T
Bd ( ) Bd a 1 d a 1 d
0 0
a a
0
e 0
e
T
e a T e aT 1
2 a 2 a 2
a aa a
e e aT 1
a 0 a a
167
Chng 7: M t ton hc h thng iu khin ri rc
Dd D K 0
Trong :
T e aT 1
1 aT 2 2
(1 e ) a
Ad Bd Dd 1 a a a K 0
0 aT e aT
1
e
a a
T e aT 1
K 0
(1 e aT ) a a 2
1
1 a2
a
0 e aT 1
0
aT
e K
a a
T e aT 1 1
1 K 2 2 (1 e aT
Ad Bd D d a a a a
e aT
1
K e aT
a a
Th d bng s c th: a =2, T = 0.5 sec, K =10
0 1 0
Bc 1: A B D 10 0
0 2 1
1 1
1 (1 e at ) 1 (1 e 2t )
Bc 2: (t ) a 2
0 at e 2t
e 0
Bc 3:
1 1
1 (1 e aT ) 1 (1 e 20.5 ) 1 0.316
Ad
0 0.368
a 2
0 aT 20.5
e 0 e
T e aT
1 0.5 e 20.5
1
2 2 2
Bd a aaT a 2 2 2
2 0.092
e 1 e 20.5 1 0.216
a a 2 2
Dd D 10 0
Bc 4:
168
Chng 7: M t ton hc h thng iu khin ri rc
Ad Bd Dd
1 0.316 0.092
10 0
0 0.368 0.316
1 0.316 0.920 0 0.080 0.316
0 0.368 3.160 0 3.160 0.368
Kt lun: H phng trnh bin trng thi cn tm l:
x1 (k 1) 0.080 0.316 x1 (k ) 0.092
x (k 1) 3.160 0.368 x (k ) 0.316 r (k )
2 2
x (k )
c(k ) 10 0 1
x 2 (k )
C ( z ) Dd X ( z )
X ( z ) [ zI Ad ]1 Bd R( z )
C ( z ) Dd X ( z )
C ( z ) Dd [ zI Ad ]1 Bd R( z )
Lp t s, ta c:
C ( z)
G( z ) Dd [ zI Ad ]1 Bd (7.35)
R( z )
Th d 7.15: Cho h thng m t bi phng trnh trng thi:
x(k 1)T Ad Bd Dd x(kT ) Bd r (kT )
c(kT ) Dd x(kT )
0 1 0
Trong : Ad ; Bd ; Dd D 1 0
0.7 0.1 2
Hy vit hm truyn ca h thng trn.
Li gii:
p dng cng thc (7.35), hm truyn ca h thng l:
Dd zI Ad Bd
C ( z) 1
G( z )
R( z )
Ta c:
169
Chng 7: M t ton hc h thng iu khin ri rc
1 1
z 0 0 1 z 1
zI Ad 1
0 z 0.7 0.1 0.7 z 0.1
1 z 0.1 1
z ( z 0.1) 0.7 0.7 0.1
z 0.1 1 0 2
zI Ad 1 Bd
1
1
z ( z 0.1) 0.7 0.7 0.1 2 z ( z 0.1) 0.7 2 z
2
Dd zI Ad Bd
1 1 2
[1 0]
z ( z 0.1) 0.7 2 z z ( z 0.1) 0.7
2
Vy: G( z ) 2
z 0.1z 0.7
170
Chng 8: Phn tch v thit k h ri rc
Chng 8
171
Chng 8: Phn tch v thit k h ri rc
5 w3 3w2 3w 1 2 w3 w2 w 1 3 w3 w2 w 1 w3 3w2 3w 1 0
11w 11w 13w 5 0
3 2
172
Chng 8: Phn tch v thit k h ri rc
0 a1 a3 0 11 5
1 11 0
2 11x13 5 x11 0
3 5 2 0
Do cc nh thc con ca ma trn Hurwitz u dng nn h n nh
8.1.3 Tiu chun Jury
Xt h ri rc c phng trnh c trng:
a0 z n a1z n 1 ... an 1z an 0
nh gi tnh n nh ca h ri rc c phng trnh c trng (8.5) bng tiu
chun Jury, trc tin ta phi lp bng Jury theo qui tc sau:
1. Bng Jury gm c (2n+1) hng. Hng 1 l cc h s ca phng trnh c
trng (8.5) theo th t ch s tng dn.
2. Hng chn (bt k) gm cc h s ca hng l trc vit theo th t ngc
li.
3. Hng l th i 2k 1(k 1) gm c (n k 1) phn t, phn t cij hng i ct j
xc nh cng thc:
1 ci 2,1 ci 2, n j k 2
cij (8.6)
ci 2,1 ci 1,1 ci 1, n j k 2
Pht biu tiu chun Jury
iu khin cn v h thng ri rc c phng trnh c trng (8.5) n
nh l tt c cc h s hng l, ct 1 ca bng Jury u dng.
173
Chng 8: Phn tch v thit k h ri rc
G0 ( z ) 1 iu kin bin
iu kin pha
G0 ( z ) (2l 1)
V dng phng trnh c trng ca h lin tc kho st chng 4 v phng trnh
c trng (8.7) l nh nhau (ch thay bin s bng bin z) nn qui tc v QNS l nh
nhau, ch khc qui tc 8, thay v i vi h lin tc ta tm giao im ca QNS vi trc
o th i vi h ri rc ta tm giao im ca QNS vi ng trn n v. Sau y l 11
qui tc v qu o nghim s ca h thng ri rc c phng trnh c trng c dng
(8.7).
Ch : Nu phng trnh c trng ca h khng c dng (8.7) th ta phi bin i tng
ng v dng (8.7) trc khi p dng cc qui tc v QNS.
Qui tc 1: S nhnh ca qu o nghim s = bc ca phng trnh c trng = s cc
ca G0 ( z ) n
Qui tc 2: Khi K=0: cc nhnh ca qu o nghim s xut pht t cc cc ca G0 ( z )
Khi K tin n : nhnh ca qu o nghim s tin n m zero ca G0 ( z ) ,
n-m nhnh cn li tin n theo cc tim cn xc nh bi qui tc 5 v 6.
Qui tc 3: Qu o nghim s i xng qua trc thc.
Qui tc 4: Mt im trn trc thc thuc v qu o nghim s nu tng s cc v zero
ca G0 ( z ) bn phi n l mt s l.
Qui tc 5: Gc to bi cc ng tim cn ca qu o nghim s vi trc thc xc nh
bi:
(2l 1)
(l 0,1,2,) (8.11)
nm
Qui tc 6: Giao im gia cc tim cn vi trc thc l im A c to xc nh bi:
174
Chng 8: Phn tch v thit k h ri rc
n m
p z
OA
cuc zero i i
i 1 i 1
(8.12)
nm nm
( pi va zi l cc cc v cc zero ca G0 ( z ) )
Qui tc 7: im tch nhp (nu c) ca qu o nghim s nm trn trc thc v l
nghim ca phng trnh:
dK
0 (8.13)
dz
Qui tc 8: Giao im ca qu ao nghim s vi ng trn n v c th xc nh bng
1 trong 2 cch sau y:
- p dng tiu chun Routh Hurwitz m rng hoc tiu chun Jury.
- Thay z a jb (iu kin a 2 b2 1 do giao im nm trn ng trn n v)
vo phng trnh c trng (8.7), cn bng phn thc v phn o s tm c giao im
gia QNS vi ng trn n v v gi tr K gh.
Qui tc 9: Gc xut pht ca qu o nghim s ti cc phc pi c xc nh bi
m n
j 1800 arg( p j zi ) arg ( p j pi ) (8.14)
i 1 i 1
i j
Bit rng:
K
- Hm truyn khu lin tc l G( s)
s( s 5)
- Chu k ly mu T 0.1sec
- Hy v QNS ca h thng tren khi K thay i t 0 n . Tnh K gh .
Li gii:
Phng trnh c trng ca h c s khi nh trn l: 1 G( z ) 0
175
Chng 8: Phn tch v thit k h ri rc
Trong :
G ( z ) GZOH ( s )G ( s )
1 e Ts K
Z
s s ( s 5)
K
1 z 1 Z 2
5
5 s s 5
K z 1 z 0.5 1 e 0.5 z 1 e 0.5 0.5e 0.5
5 z
5 z 1 z e 0.5
2
0.021z 0.018
G( z ) K
z 1z 0.607
Phng trnh c trng l:
0.0042 z 0.0036
1 K 0 (*)
( z 1)( z 0.607)
- Cc cc p1 1, p2 0.607 (n 2)
- Cc zero: z1 0.857 (m 1)
- Gc to bi tim cn v trc thc:
(2l 1) (2l 1)
l 0
nm 2 1
- Giao im gia tim cn vi trc thc:
OA cuc zero 1 0.607 0.857 2.464
nm 2 1
dK
- im tch nhp l nghim ca phng trnh: 0
dz
Ta c:
* K z 1z 0.607 z 1.607 z 0.607
2
2 z 1.607 0.021z 0.018 z 2 0.607 z 0.607 0.021
0.021z 0.0182
0.021z 2 0.036 z 0.042
0.021z 0.0182
dK z 2.506
Do : 0 1
dz z2 0.792
C hai nghim u thuc QNS nn QNS c 2 im tch nhp.
- Giao im ca QNS vi ng trn n v:
(*) z 1z 0.607 K 0.021z 0.018 0
z 2 0.021K 1.607z 0.018K 0.607 0 (**)
Cch 1: Dng tiu chun Routh-Hurwitz m rng:
176
Chng 8: Phn tch v thit k h ri rc
w 1
i bin z , thay vo phng trnh (**) ta c:
w 1
w 1 w 1
2
177
Chng 8: Phn tch v thit k h ri rc
178
Chng 8: Phn tch v thit k h ri rc
Cng thc trn l cng thc tng qut, c th p dng cho mi h ri rc. Sau y
chng ta kho st biu thc sai s xc lp ca h ri rc ly mu trong knh sai s (hnh
8.4), y l h ri rc thng gp nht trong thc t.
t: K p lim GH ( z ) (8.28)
z 1
179
Chng 8: Phn tch v thit k h ri rc
1
t: Kv lim (1 z 1 ) GH ( z ) (8.31)
T z 1
Kv gi l h s vn tc. Thay vo biu thc (8.31) ta c:
1
exl (8.32)
Kv
Chng ta va kho st cc phng php nh gi cht lng h ri rc. Sau y l
mt s th d p dng.
Th d 8.4: Cho h thng iu khin ri rc c s khi nh hnh v,
Trong :
K
- Hm truyn khu lin tc: G( z ) ( K 10, a 2, b 3)
( s a)(s b)
- Chu k ly mu: T =0.1 sec
1. Tm hm truyn kn Gk (z )
2. Tnh p ng ca h i vi tn hiu vo l hm nc n v.
3. nh gi cht lng ca h thng: vt l, thi gian qu , sai s xc lp.
Li gii:
1. Hm truyn ca h ri rc:
G( z )
Gk ( z )
1 G( z )
Trong :
G ( z ) GZOH ( s )G ( s )
1 e Ts K
Z
s ( s a)( s b)
1
K (1 z 1 ) Z
s ( s a)( s b)
z 1 z ( Az B)
K aT
bT
z ( z 1)( z e )( z e )
Vi
b(1 e aT ) a(1 e bT )
A
ab(b a)
ae aT (1 e bT ) be bT (1 e aT )
B
ab(b a)
Thay K=10, a =2, b=3, T=0.1,ta c:
0.042 z 0.036
G( z )
( z 0.819)( z 0.741)
180
Chng 8: Phn tch v thit k h ri rc
( z 0.819)( z 0.741)
Do : Gk ( z )
0.042 z 0.036
1
( z 0.819)( z 0.741)
0.042 z 0.036
Gk ( z ) 2
z 1.518 z 0.643
2. p ng ca h:
C ( z ) Gk ( z ) R( z )
0.042 z 0.036 0.042 z 1 0.036 z 2
R ( z ) R( z )
z 2 1.518 z 0.643 1 1.518 z 1 0.643z 2
(1 1.518z 1 0.643z 2 )C ( z) (0.042 z 1 0.036 z 2 ) R( z)
c(k ) 1.518c(k 1) 0.643c(k 2) 0.042r (k 1) 0.036r (k 2)
c(k ) 1.518c(k 1) 0.643c(k 2) 0.042r (k 1) 0.036r (k 2)
Vi iu kin u: c(1) c(2) 0
r (1) r (2) 0
Thay vo cng thc qui trn, ta tnh c:
c(k ) {0;0420;0.418;0.2662;0.3909;0.5003;0.5860;0.6459;0.6817;...
0.6975;0.6985;0.6898;0.6760;0.6606;0.6461;0.6341;0.6251;0.6191;0...}
lim (1 z 1 )Gk ( z ) R( z )
z 1
0.042 z 0.036 1
lim (1 z 1 ) 2 1
z 1
z 1.518 z 0.643 1 z
0.042 z 0.036
lim 2
z 1 z 1.518 z 0.643
cxl 0.624
lt l:
181
Chng 8: Phn tch v thit k h ri rc
Trong :
K ( s a)
- Hm truyn khu lin tc: G( s)
( s b)(s c)
( K 2, a 5, b 2, c 3)
- Chu k ly mu: T=0.1 sec
182
Chng 8: Phn tch v thit k h ri rc
C nhiu cch thnh lp phng trnh trng thi h lin tc, trong th d ny ta p
dng phng php to pha. Ta c:
C ( s) 2( s 5) 2s 10
G( s) 2
ER ( s) ( s 2)(s 3) s 5s 6
t bin ph Y(s) sao cho:
C ( s) (2s 10)Y ( s) c(t ) 2 y (t ) 10 y(t ) (*)
E R ( s) ( s 5s 6)Y ( s) eR (t ) y(t ) 5 y (t ) 6 y(t )
2
(**)
t: x1 (t ) y(t )
x2 (t ) x1 (t ) y (t ) x 2 (t ) y(t )
Thay vo bin trng thi vo phng trnh (**), ta c:
eR (t ) x2 (t ) 5x2 (t ) 6 x1 (t )
x2 (t ) 6 x1 (t ) 5x2 (t ) eR (t )
Kt hp phng trnh trn vi cch t bin trng thi, ta c h phng trnh
trng thi vit di dng ma trn nh sau:
x1 (t ) 0 1 x1 (t ) 0
x (t ) 6 5 x (t ) 1 eR (t )
2 2
A B
x (t )
c(t ) 10 x1 (t ) 2 x2 (t ) 10 2 1
x
D
Bc 2: Tnh ma trn qu :
183
Chng 8: Phn tch v thit k h ri rc
1 1
1 0 0 1 s 1
( s ) ( sI A) 1
s
0 1 6 5 6 s 5
s5 1
1 s 5 1 ( s 2)( s 3) ( s 2)( s 3)
s ( s 5) 6 6 s 6 s
( s 2)(2 3) ( s 2)( s 3)
s5 1
( s 2)( s 3) ( s 2)( s 3)
(t ) L1 ( s ) L1
6 s
( s 2)(2 3) ( s 2)( s 3)
1 3 2 1 1 1
L s 2 s 3 L s 2 s 3
L1 6 6 L1 2 3
s 2 s 3
s 2 s 3
(3e 2t 2e 3t ) (e 2t e 3t )
(t ) 2t 3t )
(6e 6e (2e et 3e 3t )
Bc 3: Ri rc ho cc phng trnh trng thi ca h lin tc, ta c:
x[(k 1)T ] Ad x(kT ) Bd eR (kT )
c(kT ) Dx x(kT )
Trong :
(3e 2t 2e 3t ) (e 2t e 3t )
Ad (T ) 2t 3t )
(6e 6e (2e et 3e 3t ) t T 0.1
0.9746 0.0779
Ad
0.4675 0.5850
T T
3e 2 2e 3
Bd ( ) Bd
e 2
e 3 0
d
0 0
2
6e 6e 3
2e 2
3e 3
1
T
e e
2 3
d
0 2
2e 3e
3
0.1
e 2 e 3
2 3
2
e e 3
0
0.0042
Bd Dd D 10 2
0.0779
Bc 4: H phng trnh bin trng thi m t h thng ri rc vi tn hiu vo r(kT)
l:
x(k 1)T Ad Bd Dd x(kT ) Bd r (kT )
c(kT ) Dd x(kT )
184
Chng 8: Phn tch v thit k h ri rc
Trong :
Ad Bd Dd
0.9746 0.0779 0.0042
10 2
0.4675 0.5850 0.0779
0.9326 0.0695
Ad Bd Dd
1.2465 0.4292
Vy phng trnh trng thi cn tm l:
x1 (k 1) 0.9326 0.0695 x1 (k ) 0.0042
x (k 1) 1.2465 0.4292 x (k ) 0.0779 r (kT ) * * *
2 2
x (k )
c(k ) 10 2 1
x2 (k )
2. p ng ca h thng:
Trc tin ta tm nghim ca phng trnh trng thi:
x (k 1) 0.9326 x1 (k ) 0.0695 xx (k ) 0.0042r (k )
* * * 1
x2 (k 1) 1.2465 x1 (k ) 0.4292 x2 (k ) 0.0779r (t )
Vi iu kin u x1 (1) x2 (1) 0 , thay vo hai cng thc qui trn, ta c
nghim ca phng trnh trng thi l:
x1 (k ) 10 3 {0;4.2;13.5;24.2;34.2;42.6;49.1;54.0;57.4;59.7;
61.2;62.0;62.5;62.7;62.8;62.8;62.7;62.7;62.6;62.6;...}
x 2 (k ) 10 3 {0;77.9;106.1;106.6;93.5;75.4;57.2;41.2;28.3;18.5;
11.4;6.5;3.4;0.3;0.3;0.5;0.5;0.4...}
p ng ca h thng:
x (k )
c(k ) 10 2 1 10 x1 (k ) 2 x2 (k )
x2 (k )
c(k ) {0; 0.198; 0.348; 0.455; 0.529; 0.577; 0.606; 0.622; 0.631; 0.634;
0.635; 0.634; 0.632; 0.629; 0.627; 0.627; 0.626; 0.625; 0.625...}
185
Chng 8: Phn tch v thit k h ri rc
- Gi tr xc lp ca p ng l: cxl 0.635
vt l ca h thng l:
cmax c xl 0.635 0.625
POT 100% 100%
c xl 0.625
POT 1.6%
Thi gian qu theo tiu chun 5%.
Theo kt qu tnh p ng ca h thng trn ta thy:
(1 0.05)c xl c(k ) (1 0.05)c xl
t qd k qd T 6 0.1
t qd 0.6 sec
Sai s xc lp l:
0.594 c(k ) 0.656, k 6
kqd 6
exl rxl c xl 1 0.625
exl 0.375
8.2.4 nh hng ca chu k ly mu n cht lng h ri rc
Chu k ly mu T nh hng rt ln n tnh n nh v cht lng ca h ri rc.
T cng ln th h thng cng dao ng, vt l cng cao, thi gian qu cng ln. Nu
T ln hn mt gi tr gii hn no th h thng s tr nn mt n nh. V vy chn chu
k ly mu thch hp c ngha rt ln khi thit k h ri rc. nh l Shannon khng
nh tn s ly mu ch cn ln hn 2 ln tn s ct ca h thng th c th phc hi c
d liu m khng b mo dng, tuy nhin tn hiu ch khng b mo dng nu ta phc hi
sin( x)
d liu bng khu gi c dng hm , c gi tham kho thm cc ti liu v x l
x
tn hiu s bit thm chi tit v vn ny. Trong cc h thng iu khin thc t do ta
thng phc hi d liu bng khu gi ZOH nn vic ly mu nh hng khu ng
k n cht lng ca h thng ta cn chn tn s ly mu ln hn 10 ln tn s ct ca
h thng. Th d di y minh ho nh hng ca chu k ly mu T.
Th d 8.6: Cho h thng iu khin c s khi nh hnh v:
186
Chng 8: Phn tch v thit k h ri rc
G( z )
Gk ( z ) (*)
1 Gh ( z )
Trong :
Gh ( z ) GZOH ( s)G ( s)
1 e Ts K 1 1
K (1 z )
s ( s a) s( s a)
z (1 e aT )
K (1 z 1 )
a( z 1)( z e aT )
K (1 e aT )
Gh ( z )
a( z e aT )
Thay vo (*) ta c:
K (1 e aT )
Gk ( z )
a( z e aT ) K (1 e aT )
K a
e aT 1 (**)
K a
Nu a K d dng thy rng (**) lun tho mn vi mi T nn h thng lun n nh.
Nu a<K, gii (**) ta c:
1 K a
T ln
a K a
1 K a
Suy ra: Tgh ln
a K a
Thay s c th K = 10, a = 1, ta c:
Tgh 0.2 sec
2. Kho st p ng ca h thng khi T=0.02; T=0.1; T=0.12; T=0.22,
p ng ca h thng l:
187
Chng 8: Phn tch v thit k h ri rc
K (1 e aT )
C ( z ) Gk ( z ) R( z ) R( z )
a( z e aT ) K (1 e aT )
( K / a)(1 e aT ) z 1 Az 1
1 ( K / a)(1 e aT ) e aT z 1
R ( z )
1 Bz 1
R( z )
trong : A ( K / a)(1 e aT )
B ( K / a)(1 e aT ) e aT
Suy ra:
(1 Bz 1 )Cz Az 1 R( z )
c(k ) Bc(k 1) Ar (k 1) (***)
Thay gi tr c th K, a, T ta tnh c cc h s A v B, sau s dng cng thc
qui (***) vi iu kin u bng 0 v tn hiu vo r(k) l hm nc n v ta tnh c
gi tr c th ca p ng c(k).
188
Chng 8: Phn tch v thit k h ri rc
189
Chng 8: Phn tch v thit k h ri rc
e(k 1) e(k 1)
u (k ) K D
2T
zE( z ) z 1E ( z ) K D
U ( z) K D ( z z 1 ) E ( z )
2T 2T
U ( z) K D K z 2 1
GD ( z ) ( z z 1 ) D (8.36)
E ( z ) 2T 2T z
Cng thc sai phn ti v sai phn gia cn tn hiu e(k+1) l tn hiu sai s trong
tng lai, m trong cc bi ton iu khin thi gian thc ta khng th c c tn hiu
trong tng lai (tr khi s dng b d bo) nn thc t ch c cng thc sai phn li c
s dng ph bin nht, do trong gio trnh ny chng ta m t khu vi phn bng hm
truyn:
KD z 1
GD ( z ) (8.37)
T z
8.3.2.3 Khu tch phn
190
Chng 8: Phn tch v thit k h ri rc
( k 1)T
e(t )dt
2
(8.42)
191
Chng 8: Phn tch v thit k h ri rc
192
Chng 8: Phn tch v thit k h ri rc
z zC
GC ( z ) KC
z pC
Bi ton t ra l chn gi tr K C , z C , pC p ng ca h thng tho mn yu cu
v cht lng qu (cht lng qu th hin qua v tr ca cp cc quyt nh).
Nguyn tc thit k tng t nh thit k h lin tc, ngha l s dng khu hiu chnh
GC (z ) sa dng QNS ca h thng sao cho QNS i qua cp cc mong mun. Sau
y l trnh t thit k:
TRNH T THIT K
Bc 1: Xc nh cp cc quyt nh t yu cu thit k v cht lng ca h
thng trong qu trnh qu :
Do vot lo POT
s1*, 2 n j 1 2 z1*, 2 e Ts
*
Thoi gian qua do ... n
r z * e eTwn z * T n 1 2
Bc 2: Xc nh gc pha cn b cp cc quyt nh nm trn QNS ca h
thng sau khi hiu chnh bng cng thc:
180 arg z pi arg z* zi
n m
* 0 *
i 1 i 1
trong :
10
- Hm truyn khu lin tc: G( s)
s( s 5)
- Chu k ly mu: T = 0.1 sec
193
Chng 8: Phn tch v thit k h ri rc
- Hy thit k khu hiu chnh sm pha sao cho h thng sao khi hiu chnh c cp
cc quyt nh vi 0.707, n 10 (rad/sec)
Li gii:
Phng trnh c trng ca h trc khi hiu chnh:
1 G( z ) 0
trong :
G ( z ) GZOH ( s )G ( s )
1 e Ts K
s s ( s 5)
1
K (1 z 1 ) 2
s ( s 5)
K
z 1 z 0.5 1 e
0.5
z 1 e 0.5 0.5e 0.5
z
5z 1 z e 0.5
2
0.21 0.18
G( z)
( z 1)( z 0.607)
Cp cc quyt nh mong mun:
z1*, 2 re j
Trong :
r e T n e 0.10.70710 0.493
Tn 1 2 0. 10 1 0.707 2 0.707
z1*, 2 0.493e j 0.707 0.493cos(0.707) j sin(0.707)
z1*, 2 0.493e j 0.707 0.375 j 0.320
Gc pha cn b:
* 180 1 2 3
D dng tnh c: 1 152.90
2 125.9 0
3 14.6 0
* 180 (152.9 125.9) 14.6 84 0
Chn cc v zero ca khu hiu chnh bng phng php trit tiu nghim.
zC 0.607 zC 0.607
Tnh cc ca khu hiu chnh:
sin *
Ta c: AB PB
sin PAB
M: PB (0.607 0.375) 2 0.3202 0.388
^
PAB 2 * 125.90 840 41.90
sin 840
AB 0.388 0.578
sin 41.90
194
Chng 8: Phn tch v thit k h ri rc
Tnh K C t iu kin:
GC ( z )G( z ) z z* 1
( z 0.607) (0.21z 0.18)
KC 1
( z 0.029) ( z 0.029)( z 1)( z 0.607) z 0.375 j 0.320
KC
0.210.375 j 0.320 0.18 1
(0.375 j 0.320 0.029)(0.375 j 0.320 1)
0.267
KC 1
0.471 0.702
0.267 0.471 0.702
KC 1.24
0.471 0.702 0.267
z 0.607
Vy: GC ( z ) 1.24
z 0.029
Nhn xt:
195
Chng 8: Phn tch v thit k h ri rc
a) QNS trc khi hiu chnh b) QNS sau khi hiu chnh
Hnh 8.14 QNS ca h thng th d 8.7
8.3.3.2 Thit k b iu khin tr pha
Ta s dng khu hiu chnh tr pha khi mun lm gim sai s xc lp ca h thng
Xt h thng iu khin c s nh hnh v.
196
Chng 8: Phn tch v thit k h ri rc
TRNH T THIT K
Bc 1: Xc nh t yu cu v sai s xc lp
KP
Nu yu cu v sai s xc lp cho di dng h s v tr K P* th
K P*
( K P : h s v tr ca h trc khi hiu chnh)
( K P* : h s v tr mong mun)
Nu yu cu v sai s xc lp cho di dng h s vn tc K v* th:
Kv
K v*
10
Hm truyn khu lin tc: G( s) , chu k lu mu : T = 0.1 sec.
s( s 5)
Hy thit k khu hiu chnh tr pha sao cho h thng sao khi hiu chnh c h s
vn tc l KV* 100 .
Li gii:
Phng trnh c trng ca h trc khi hiu chnh:
1 G( z ) 0
Trong :
197
Chng 8: Phn tch v thit k h ri rc
G ( z ) GZOH ( s ) g ( s )
1 e eT K
s s ( s 5)
1
K (1 z 1 ) 2
s ( s 5)
K
z 1 z 0.5 1 e
0.5
z 1 e 0.5 0.5e 0.5
z
5( z 1) 2 z e 0.5
0.21z 0.18
G( z)
( z 1)( z 0.607)
Cp cc quyt nh ca h thng trc khi hiu chnh l nghim ca phng trnh:
0.21z 0.18
1 0 z1, 2 0.699 j 0.547
( z 1)( z 0.607)
H s vn tc ca h thng trc khi hiu chnh l:
1
KV lim (1 z 1 )GH ( z )
T z 1
1 0.21z 0.18
KV lim (1 z 1 )
0.1 z 1 ( z 1)( z 0.607)
K V 9.9
Do :
KV 9.9
0.099
KV* 100
Chn zero ca khu hiu chnh rt gn im +1:
zC 0.99 zC 0.99
Suy ra cc ca khu hiu chnh:
pC 1 (1 zC ) 1 0.099(1 0.99)
pC 0.999
z 0.99
GC ( z ) K C
z 0.999
Tnh K C t iu kin:
( z 0.99) (0.21z 0.18)
KC 1
( z 0.999) ( z 1)( z 0.607) z 0.699 j 0.547
(0.699 j 0.547 0.99)
KC 1
(0.699 j 0.547 0.999)
0.6239
KC 1.007 1
0.6196
z 0.99
Vy: GC ( z )
z 0.999
Nhn xt:
198
Chng 8: Phn tch v thit k h ri rc
a) QNS trc khi hiu chnh b) QNS sau khi hiu chnh
Hnh 8.15 QNS ca h thng th d 8.8
8.3.3.3 Thit k b iu khin sm tr pha
Hm truyn khu hiu chnh sm tr pha cn thit k c dng:
GC ( z ) GC1 ( z )GC 2 ( z )
Trong GC1 ( z ) l khu hiu chnh sm pha.
GC 2 ( z ) l khu hiu chnh tr pha.
Bi ton t ra thit k GC (z ) ci thin p ng qu v sai s xc lp ca h thng.
TRNH T THIT K
Bc 1: Thit k khu sm pha tho mn yu cu v p ng qu (xem
phng php thit k khu hiu chnh sm pha mc 8.3.3.1)
Bc 2: t G1 ( z) GC1 ( z)G( z)
Thit k khu hiu chnh tr pha GC 2 ( z ) mc ni tip vo GC1 ( z ) tho mn
yu cu v sai s xc lp m khng thay i ng k p ng qu ca h thng
sau khi hiu chnh sm pha (xem phng php thit k khu hiu chnh tr pha
mc 8.3.3.2)
199
Chng 8: Phn tch v thit k h ri rc
x(k 1) Ad x(k ) Bd u (k )
c(k ) Dd x(k )
Tn hiu iu khin trong h hi tip trng thi l:
u(k ) r (k ) Kx(k )
H phng trnh bin trng thi m t h hi tip trng thi:
x(k 1) Ad x(k ) Bd [r (k ) Kx(k )]
c(k ) Dd x(k )
x(k 1) [ Ad Bd K ]x(k ) Bd r (k )
c(k ) Dd x(k )
Phng trnh c trng ca h hi tip trng thi:
det[zI Ad Bd K ] 0 (*)
Ngi ta CM c rng: Nu rank (P)= n, vi n l bc ca h thng v
P Bd Ad Bd Ad2 Bd Adn 1Bd th HT trn iu khin c, khi c th tm c
vector K phng trnh c trng (*) c nghim bt k.
TRNH T THIT K
Bc 1: Vit phng trnh c trng ca h thng sau khi hiu chnh:
det[zI Ad Bd K ] 0 (1)
Bc 2: Vit phng trnh c trng mong mun:
n
(z p ) 0
i 1
i (2)
200
Chng 8: Phn tch v thit k h ri rc
det[zI Ad Bd K ] 0
1 0 1 0.316 0.092
det z k1 k 2 0
0 1 0 0.368 0.316
z 1 0.092k1 0.316 0.092k 2
det 0
0.316k1 z 0.368 0.316k 2
z 1 0.092k1 z 0.368 0.316k 2 0.316k1 0.316 0.092k 2 0
z 2 0.092k1 0.316k 2 1.368z 0.066k1 0.316k2 0 (1)
Cp cc quyt nh mong mun:
z1*, 2 re j
Trong :
r e T n e 0.10.70710 0.493
T 1 2 0.110 1 0.707 2 0.707
z1*, 2 0.493e j 0.707 0.493cos0.707 j sin 0.707
z1*, 2 0.493e j 0.707 0.375 j 0.320
201
Chng 8: Phn tch v thit k h ri rc
Theo hnh v ta c:
X 2 ( s)
X 1 ( s) sX1 ( s) X 2 ( s) x1 (t ) x2 (t ) (1)
s
U ( s)
X 2 ( s) R ( s 1) X 2 ( s) U R (s)
s 1
x2 (t ) x2 (t ) uR (t )
x2 (t ) x2 (t ) u R (t ) (2)
Kt hp (1) v (2) ta c h phng trnh:
x1 (t ) 0 1 x1 (t ) 0
x (t ) 0 1 x (t ) 1uR (t )
2 2
p ng ca h thng:
x (t )
c(t ) 10 x1 (t ) 10 0 1 Dx(t )
x2 (t )
Do :
0 1 0
A B C 10 0
0 1 1
- Ma trn qu :
1 1
1 0 0 1 s 1
( s) ( sI A) s
1
0 s 1
0 1 0 1
1 1
1 s 1 1 s s( s 1)
s( s 1) 0 s 1
0
s 1
1 1 1 1 1 1
L L
(t ) L1 ( s) L1 s s( s 1) s s( s 1)
0 1 1
0 L1
s a s 1
1 1 e t
(t )
0 e t
- Ri rc ho cc phng trnh trng thi ca h lin tc, ta c:
x(k 1) Ad x(k ) Bd u (k )
c(k ) Dd x(k )
Trong :
1
Ad (T )
1 e 1
0.1
0.095
0 0.905
0 e 0.1
202
Chng 8: Phn tch v thit k h ri rc
T
Bd Bd
1
0.1
1 e 0d
0.1
1 e
d
0 e
1
0 e
0 0
e
0.1
0.1 e 0.1 1 0.005
0.1
e 0 e 1 0.095
Dd D 10 0
- Phng trnh c trng ca h thng kn:
det[zI Ad Bd K ] 0
1 0 1 0.095 0.005
det z k1 k 2 0
0 1 0 0.905 0.095
z 1 0.005k1 0.095 0.005k 2
det 0
0.095 k1 z 0.905 0.095 k 2
203
Chng 8: Phn tch v thit k h ri rc
10
G( s)
; H ( s) 0.05; T 2 sec
10s 1
Thit k khu hiu chnh GC (z ) h thng c cp cc phc vi 0.707 ;
n 2 rad/sec v sai s xc lp i vi tn hiu vo l hm nc n v bng 0.
Li gii:
Do yu cu sai s xc lp i vi tn hiu vo l hm nc bng 0 nn ta s dng khu
hiu chnh GC (z ) l khu PI.
K IT z 1
GC ( z ) K P
2 z 1
Phng trnh c trng ca h thng sau khi hiu chnh l:
1 GC ( z )GH ( z ) 0
Trong :
GH ( z) GZOH (s)G(s) H (s)
1 e Ts 10 0.05
s 10s 1
0.05
1 z 1
s ( s 0.1)
0.05 z (1 e 0.2 )
1 z 1
0.1( z 1)( z e 0.2 )
0.091
GH ( z )
( z 0.819)
Do phng trnh c trng ca h thng l:
K T z 1 0.091
1 KP I 0
2 z 1 z 0.819
K T z 1 0.091
1 KP I 0
2 z 1 z 0.819
204
Chng 8: Phn tch v thit k h ri rc
205
Chng 9: H thng iu khin phi tuyn
Chng 9
206
Chng 9: H thng iu khin phi tuyn
Ym sgn( n) ( u D)
y Ym sgn(u) y
0 ( u D)
207
Chng 9: H thng iu khin phi tuyn
Ym sgn( n) ( u D)
y
K (u D sgn( u ) ( u D)
Ku ( u D) y
0 ( u D)
( K Ym / D)
Ym sgn( n) neu u D
y
Ym sgn( n) neu u D
Khu khuch i bo ha c tr
1
h(t ) ku(t ) a 2 gh(t )
A
208
Chng 9: H thng iu khin phi tuyn
u(t) in p iu khin my bm
k: h s t l vi cng sut my bm
h1 (t )
1
A
ku(t ) a12 2 g h1 (t ) h2 (t )
h (t )
2
1
A
a12 2 g h1 (t ) h2 (t ) a 2 2 gh2 (t )
- H con lc ngc
Ch thch:
209
Chng 9: H thng iu khin phi tuyn
x (t ) f ( x(t ), u (t ))
y (t ) h( x(t ), u (t ))
Khai trin Taylor xung quanh im lm vic tnh ( x, u ) a c th m t h thng bng
phng trnh trng thi tuyn tnh:
~x (t ) A~
x (t ) Bu~(t )
~ ~ ~ (*)
y (t ) Cx (t ) Du (t )
Trong
~
x (t ) x(t ) x
~
u (t ) u (t ) u
~
y (t ) y (t ) y y h( x , u )
Cc ma trn trng thi ca h tuyn tnh gn ng c tnh nh sau:
210
Chng 9: H thng iu khin phi tuyn
f1 f 2 f n f1
x
x 2 x n u
1 f
f 2 f 2 f n
B u
2
A x x 2 x n
1
f f n f n f n
n u x ,u
x n x 2 x n x ,u
h h h h
C D
x1 x 2 x n x ,u u x ,u
211
Chng 9: H thng iu khin phi tuyn
e(t ) M sint
Tn hiu ra khu phi tuyn khng phi l tn hiu hnh sin. Phn tch Fourier ta thy
u(t) cha thnh phn tn s c bn v cc thnh phn hi bc cao 2, 3.
A0
u (t ) Ak sin kt Bk coskt
2 k 1
u (t ) sin kt d (t )
1
Ak
u (t ) cosnt d (t )
1
Bk
y(t ) Y1 sint 1
Hm m t
e(t ) M sint
212
Chng 9: H thng iu khin phi tuyn
A1 jB1
N (M )
M
A1 jB1
N (M )
M
Trong cc cng thc trn u(t) l tn hiu ra ca khu phi tuyn khi tn hiu vo l
M sin(t ) . Nu u(t) l hm l th:
u(t ) sinkt d (t )
2
A1 B1 0
- Khu relay 2 v tr
213
Chng 9: H thng iu khin phi tuyn
Do u(t) l hm l nn:
2Vm 4Vm
u(t ) sint d (t ) V cost
2 2
A1 sin (t )d (t )
m
0 t 0
B1 0
Do hm m t ca khu relay 2 v tr l:
A1 jB1 4Vm
N (M )
M M
- Khu relay 3 v tr
Do u(t) l hm l nn B1 0
214
Chng 9: H thng iu khin phi tuyn
2Vm 4Vm
u(t ) sint d (t ) cost
2 2
A1
Vm sin (t )d (t )
t
cos
B1 0
D D2
Theo th ta c: D M sin sin cos 1 2
M M
4Vm D2
A1 1
M2
Do hm m t ca khu relay 3 v tr l:
A1 jB1 4Vm D2
N (M ) 1 2
M M M
- Khu khuch i bo ha
Do u(t) l hm l nn B1 0
/2
0 D
215
Chng 9: H thng iu khin phi tuyn
sin 2t
/ 2
4 Vm M /2
t Vm cos t d (t ) t
2 D 2 t 0
sin 2
/ 2
4 Vm M M V m
Vm cos 2 sin 2
2 D 2 t 0 D
Do hm m t ca khu khuch i bo ha l:
A1 jB1 Vm D
N (M ) 2 sin2 sin
M M M
Do u(t) l hm l nn B1 0
/2
sin 2t D 2 sin 2t
/2
4 KM
t cost KM 1
2 M
A1 jB1 2 sin 2t D
N (M ) K 1 sin
M M
216
Chng 9: H thng iu khin phi tuyn
Ta c:
2
4Vm
u(t ) sint d (t ) Vm sin t d (t )
2 2
A1 cos
2
4Vm
u(t ) cost d (t ) cos t d (t )
2 2
B1
V
m
sin
Do hm m t ca khu relay 2 v tr c tr l:
A1 jB1 4Vm D
N (M ) cos j sin sin
M M
1
1 N ( M )G( j ) 0 G( j ) (*)
N (M )
217
Chng 9: H thng iu khin phi tuyn
1
G( j ) (*)
N (M )
G( j )
1
G( j )
N (M )
Th d 1:
218
Chng 9: H thng iu khin phi tuyn
10
G( s)
s(0.2s 1)(2s 1)
Gii:
Hm m t ca khu relay 2 v tr l:
4Vm
N (M )
M
Do ng cong Nyquist G( j ) v ng c tnh 1 / N (M ) lun lun ct nhau (xem
hnh v) nn trong h phi tuyn lun lun c dao ng.
Tn s dao ng l tn s ct pha ca G( j ) :
10
G ( j ) arg
j ( 0.2 j 1)( 2 j 1)
arctan(0.2 ) arctan 2 arctan(0.2 ) arctan 2
2 2
0.2 2
1 0.2
. 2 0 1.58rad / sec
1 0.2
. 2
Bin dao ng l nghim ca phng trnh:
G j
1 10
1.82
1 2 1.58
N (M )
1.58 1 (0.2 1.58) 2 2
M
1.82 M 13.90
4Vm
Kt lun: Trong h phi tuyn c dao ng y(t ) 13.90 sin(1.58t )
Th d 2:
Xt h phi tuyn c s nh sau:
219
Chng 9: H thng iu khin phi tuyn
10
G( s)
s(0.2s 1)(2s 1)
2. Hy xc nh bin v tn s dao
ng khi Vm 6, D 0.1 .
Gii:
A1 jB1 4Vm D2
Hm m t ca khu relay 3 v tr l N ( M ) 1 2
M M M
G j
1
N (M )
Gii:
Tn s ct pha G( j ) ca (xem cch tnh th d 1).
1.58(rad / sec)
dao ng xy ra ta phi c iu kin:
G j
1 10
1.82
N (M ) 1.58 1 (0.2 1.58) 2 1 (2 1.58) 2
N (M ) 0.55 (*)
Theo bt ng thc Cauchy:
220
Chng 9: H thng iu khin phi tuyn
4Vm D2 2V D 2 D 2 2Vm
N (M ) 1 2 m 1 2
M M 2D M M D
2Vm V
0.55 m 0.864
D D
Vm
Vy iu kin trong h c dao ng t kch l: 0.864
D
Bin dao ng l nghim ca phng trnh:
1 4Vm D2
1.82 N ( M ) 0.55 1 2 0.55
N (M ) M M
x f ( x, u)
x f ( x, u) u 0 0
221
Chng 9: H thng iu khin phi tuyn
x f ( x, u) u 0 0 (1)
Gi s h thng c im cn bng x * = 0
H thng c gi l n nh Lyapunov ti im cn bng 0 nu vi 0 bt k bao
gi cng tn ti ph thuc sao cho nghim x(t) ca phng trnh (1) vi iu kin
u x(0) tha mn:
x(0) x(t ) , t 0
lim x(t ) 0
t
x f ( x, u) (1)
Gi s xung quanh cn bng, h thng (1) c th tuyn tnh ha v dng:
x A~
~ x Bu~ (2)
nh l:
Nu h thng tuyn tnh ha (2) n nh th h phi tuyn (1) n nh tim cn ti
im cn bng x * .
Nu h thng tuyn tnh ha (2) khng n nh th h phi tuyn (1) khng n nh ti
im cn bng x * .
Nu h thng tuyn tnh ha (2) bin gii n nh th khng kt lun c g v
tnh n nh ca h phi tuyn ti im cn bng x * .
Phng php trc tip Lyapunov
nh l: Cho h phi tuyn khng kch thch m t bi phng trnh trng thi:
x f ( x, u) u 0 0 (1)
222
Chng 9: H thng iu khin phi tuyn
Gi s h thng c im cn bng x * = 0
Nu tn ti hm V(x) sao cho:
i) V (0) 0
ii ) V ( x) 0, x 0
iii ) V ( x) 0, x 0
Th h thng (1) n nh Lyapunov ti im 0.
Ch : Hm V(x) thng c chn l hm ton phng theo bin trng thi.
223
Ph lc
1 1 Hm Dirac (t) 1
2 1 Hm nc n v u(t)= 1(t) z
s z 1
3 1 t Tz
s2 ( z 1) 2
4 1 t2 T 2 z ( z 1)
s3 2 2( z 1) 3
5 1 tn (1) n n z
l im aT
s n 1 n! a 0 n! a z e
n
6 1 e-at z
sa z e aT
7 1 t.e-at Tze aT
( s a) 2 ( z e aT ) 2
8 a 1 - e-at (1 e aT ) z
s( s a) ( z 1)( z e aT )
9 1 1
(e at e bt ) (e aT e bT ) z
( s a)( s b) (b a) ( z e aT ( z e bT )
10 1 1
(1 at )e t z[ z e aT (1 aT )]
s( s a) 2 a 2
( z e aT ) 2
11 a 1 e at z[(aT 1 e aT ) z (1 e aT aTe aT )]
t
s ( s a)
2
a a( z 1) 2 ( z e aT )
12 a sinat z sin aT
s2 a2 z 2 z cos aT 1
2
224
Ph lc
13 s cosat z ( z cos aT )
s a2
2
z (2 cos aT ) z 1
2
14 e-atsin t z e aT sin T
( s a)
2 2
z 2 2 ze aT cos T e 2 aT
15 sa e-atcos t z 2 ze aT cos T
( s a) 2 2 z 2 2 ze aT cos T e 2 aT
17 1 1 e at be bt ( Az B) z
s( s a)( s b) ab a(a b) b(b a) ( z e )( z e bT )( z 1)
aT
b(1 e aT ) a(1 e bT )
A
ab(b a)
ae aT (1 e bT ) be bT (1 e aT )
B
ab(b a)
225
- Ti liu tham kho
[1]. Nguyn Phng H, L thuyt iu khin T ng, NXB H Quc gia, 2005.
[2]. Lng Vn Lng, C s t ng, NXB H Quc gia, 2002.
[3]. Benjamin C. Kuo, Automatic Control Systems, Prentice-Hall, 2002.
[4]. Katsuhiko Ogata, Modern Control Engineering, Prentice-Hall, 2002.
.
226