Quy Dao Nghiem

Kho st ng dng MATLAB trong iu khin t ng
NHM LNH V QU O NGHIM

(Roots Locus)
1. Lnh PZMAP
a) Cng dng:
V biu cc-zero ca h thng.
b) C php:
[p,z]= pzmap(num,den)
[p,z]= pzmap(a,b,c,d)
c) Gii thch:
Lnh pzmap v biu cc-zero ca h LTI. i vi h SISO th cc cc v zero ca
hmtruyn c v.
Nu b qua cc i s ng ra th lnh pzmap s v ra biu cc-zero trn mn hnh.
pzmap l phng tin tm ra cc cc v zero tuyn t ca h MIMO.
pzmap(a,b,c,d) v cc cc v zero ca h khng gian trng thi trong mt phng phc. i
vi cc h thng MIMO, lnh s v tt c cc zero truyn t t tt c cc ng vo ti tt c cc
ng ra. Trong mt phng phc, cc cc c biu din bng du cn cc zero c biu din
bng du o.
pzmap(num,den) v cc cc v zero ca hm truyn trong mt phng phc. Vector num v
den cha cc h s t s v mu s theo chiu gim dn s m ca s.
pzmap(p,z) v cc cc v zero trong mt phng phc. Vector ct p cha ta cc cc v
vector ct z cha ta cc zero trong mt phng phc. Lnh ny v cc cc v zero c
tnh sn trong mt phng phc.
Nu gi li cc i s ng ra th :
[p,z]= pzmap(num,den)
to ra cc ma trn p v z trong p cha cc cc cn z cha cc zero.
d) V d: (Trch trang 11-174 sch Control system Toolbox)
V cc cc v zero ca h lin tc c hm truyn :
2 s 2 5s 1
H ( s)
s 2 2s 3
num = [2 5 1];
den = [1 2 3];
pzmap(num,den)
title(Bieu do cuc-zero)
2. Lnh RLOCFIND
a) Cng dng:
Tm li qu o nghim vi tp hp nghim cho trc.
b) C php:
[k,poles]= rlocfind(a,b,c,d)
[k,poles]= rlocfind(num,den)
[k,poles]= rlocfind(a,b,c,d,p)
[k,poles]= rlocfind(num,den,p)
c) Gii thch:
Lnh rlocfind to ra li qu o nghim kt hp vi cc cc trn quo nghim.
Lnh rlocfind c dng cho h SISO lin tc v gin on.
[k,poles]= rlocfind(a,b,c,d) to ra du x trong ca s ha m ta dng chn mt
im trn qu o nghim c sn. li ca im ny c to ra trong k v cc cc ng vi
li ny nm trong poles. s dng lnh ny th qu o nghim phi c sn trong ca s
ha.
[k,poles]= rlocfind(num,den) to ra du x trong ca s ha m ta dng chn mt
im trn qu o nghim ca h thng c hm truyn G = num/den trong c num v den
cha cc h s a thc theo chiu gim dn s m ca s hoc z.
[k,poles]= rlocfind(a,b,c,d,p) hoc [k,poles]= rlocfind(num,den,p) to ra vector li k
v vector cc cc kt hp pole vi mi thnh phn trong mi vector ng vi mi nghim trong p.
d) V d: (Trch t trang 11-180 sch Control System Toolbox)
Xc nh li hi tip cc cc vng kn ca h thng c h s tt dn = 0.707 v
c hm truyn :
2 s 2 5s 1
H ( s)
s 2 2s 3
num = [2 5 1];
den = [1 2 3];
% V qu o nghim:
rlocus(num,den);title(Do loi quy dao nghiem);
% Tm li ti im c chn:
rlocfind(num,den);
Sau khi nhp xong lnh, trn mn hnh ca Matlab s xut hin dng ch:
Select a point in the graphics window
v trn hnh v c thc ta ko chut v chn im
ta c qu o nghim:
3. Lnh RLOCUS
a) Cng dng:
Tm qu o nghim Evans.
b) C php:
r = rlocus(num,den)
r = rlocus(num,den,k)
r = rlocus(a,b,c,d)
r = rlocus(a,b,c,d,k)
c) Gii thch:
Lnh rlocus tm qu o nghim Evans ca h SISO. Qu o nghim c dng

nghin cu nh hng ca vic thay i li hi tip ln v tr cc ca h thng, cung cp cc
thng tin v p ng thi gian v p ng tn s. i vi i tng iu khin c hm truyn
G(s) v khu b chnh hi tip k*f(s), hm truyn vng kn l :
g ( s) g ( s)
h( s )
1 kg ( s ) f ( s ) q(s)
Nu b qua cc i s ng ra th lnh rlocus s v ra qu o trn mn hnh. Lnh rlocus
dng cho c h lin tc v gin on.
r = rlocus(num,den) v qu o nghim ca hm truyn :
num( s )
q(s) = 1 + k den( s ) = 0
vi vector li k c xc nh t ng. Vector num v den ch ra h t s v mu s theo
chiu gim dn s ca s hoc z.
num( s ) num(1) s nn 1 num( 2) s nn 2 ...... num( nn)

den( s ) den(1) s nd 1 den( 2) s nd 2 ...... den( nd )
r = rlocus(a,b,c,d) v ra qu o nghim ca h khng gian trng ti SISO lin tc v
gin on vi vector li c xc nh t ng
r = rlocus(num,den,k) hoc r = rlocus(a,b,c,d,k) v ra qu o nghim vi vector li
k do ngi s dng xc nh. Vector k cha cc gi tr v li m nghim h vng kn c
tnh.
Nu s dng cc i s ng ra th :
[r,k] = rlocus(num,den)
[r,k] = rlocus(num,den,k)
[r,k] = rlocus(a,b,c,d)
[r,k] = rlocus(a,b,c,d,k)
to ra ma trn ng ra cha cc nghim v vector li k. Ma trn r c length(k) hng v
(length(den) 1) ct, ng ra cha v tr cc nghim phc. Mi hng trong ma trn tng ng vi
mt li trong vector k. Qu o nghim c th c v bng lnh plot(r,x).
d) V d: (Trch t trang 11-183 sch Control System Toolbox)
Tm v v qu o nghim ca h thng c hm truyn :
2 s 2 5s 1
H ( s)
s 2 2s 3
% Xc nh hm truyn :
num = [2 5 1];
den = [1 2 3];
% V qu o nghim :
rlocus(num,den)
title(Quy dao nghiem)
4. Lnh SGRID
a) Cng dng:
To li cho qu o nghim v biu cc-zero lin tc.
b) C php:
sgrid
sgrid(new)
sgrid(z,wn)
sgrid(z,wn,new)
c) Gii thch:
Lnh sgrid to li cho qu o nghim v biu cc-zero lin tc trong mt phng s.
ng li v l cc ng hng s t s tt dn () v tn s t nhin (n). ng t s tt dn
c v t 0 ti 1 theo tng nc l 0.1.
sgrid(new) xa mn hnh ha trc khi v v thit lp trng thi hold on qu o
nghim hay biu cc-zero c v ln li bng cc lnh :
sgrid(new)
rlocus(num,den) hoc pzmap(num,den)
sgrid(z,wn) v cc ng hng s t l tt dn c ch nh trong vector z v v ng tn
s t nhin c ch nh trong vector wn.
sgrid(z,wn,new) xa mn hnh ha trc khi v cc ng t s tt dn v tn s t
nhin c ch nh trong vector z v wn. Trng thi hold on c thit lp.
d) V d: Trch t trang 11-200 sch Control System Toolbox
V li trong mt phng s trn qu o nghim ca h thng c hm truyn :
num = [2 5 1]; % ta c th thay i 2 dng num=, den= thnh dng lnh sau:
den = [1 2 3]; % H(s)=tf([2 5 1],[1 2 3]);

rlocus(num,den)
title(Quy dao nghiem)
sgrid
5. Lnh ZGRID
a) Cng dng:
V li t l tt dn v tn s t nhin cho qu o nghim gin on.
b) C php:
zgrid
zgrid(new)
zgrid(z,wn)
zgrid(z,wn,new)
c) Gii thch:
Lnh zgrid to li qu o cho nghim hoc biu cc-zero trong mt phng z. Cc
ng hng s t l tt dn () v tn s t nhin chun ha s c v. c thay i t 0 ti 1
theo tng nc thay i l 0.1 v tn s t nhin c v t 0 ti vi tng nc thay i l /.
zgrid(new) xa mn hnh ha trc khi v li v thit lp trng thi hold on qu
o nghim hoc biu cc-zero c v ln li s dng cc lnh :
zgrid('new')
rlocus(num,den) hoc pzmap(num,den)
zgrid(z,wn) v hng s tt dn c ch nh trong vector z v v hng s tn s t nhin

cho cc tn s chun ha c ch nh trong vector wn. Cc tn s chun ha c th c v
bng lnh zgrid(z,wn/Ts) vi tn s l thi gian ly mu.
zgrid(z,wn,new) xa mn hnh ha trc khi v t s tt dn v tn s t nhin c ch
nh trong vector z v wn. Trng thi hold on c thit lp.
zgrid([ ],[ ]) s v ra vng trn n v.
d) V d: Trch t 11-236 sch Control System Toolbox
V li trong mt phng cho qu o nghim ca h thng c hm truyn :
2 z 2 3.4 z 1.5
H ( z)
z 2 1.6 s 0.8
num = [2 -3.4 1.5];
den = [1 -1.6 0.8];
axis(square)
zgrid(new)
rlocus(num,den)
title(Ve luoi cho quy dao nghiem)
CC BI TPV QU O NGHIM
Bi 1:
k
KGH = vi k = 2
s(s 4)(s 5)
num = 2;
den = [1 9 20 0];
rlocus(num,den)
10
2
Imag Axis
-2
-4
-6
-8
-10
-7 -6 -5 -4 -3 -2 -1 0 1 2
Real Axis
T th cho ta:
1. im cc: 0 ,-4,-5.
2. Qu o nghim c 3 nhnh.
3. im zero v cng ( ).
4. im tch c xc nh bng cch t ca s MATLAB ta nhp:
num = 2;
den = [1 9 20 0];
rlocus(num,den);
rlocfind(num,den)
Sau khi nhp lnh th trn ca s lnh s xut hin hng ch:
Select a point in the graphics window (hy chn 1 im trn th minh ha).
Trn th s c thc cho ta chn im ko r chut chn im cn chn.
selected_point = -1.4516
im tch c gi tr: -1.4516
Giao im ca qu o nghim vi trc o (tng t nh tm im tch): +4.472j, -4.472j.
T gi tr ti giao im ca qu o nghim vi trc o ta th vo phng trnh c trng:
F(s) = s3+9s2+20s+k = 0
F(jw) = -jw3-9w2+20jw+k = 0
kgh = 180
Kt lun: h thng s n nh khi 0 < k < 180
Bi 2:
k
KGH = 2 (k = 2)
s(s 4)(s 4s 20)
num = 2;
den = [1 8 36 80 0];
rlocus(num,den)
1
Imag Axis
-1
-2
-3
-4
-5
-6 -5 -4 -3 -2 -1 0 1 2
Real Axis
T th cho ta:
1. im cc: 0,-4,-2+4j,-2-4j;
2. Qu o nghim c 4 nhnh
3. im zero v hn ( )
4. im tch c xc nh bng cch t ca s MATLAB ta nhp:
num = 2;
den = [1 8 36 80 0];
rlocus(num,den);
rlocfind(num,den);
selected_point = -2, -2.0184 + 2.4561j, -2.0184 - 2.4561j
im tch c gi tr: -2, -2.0184 + 2.4561j, -2.0184 - 2.4561j
Giao im ca qu o nghim vi trc o (tng t nh tm im tch): +3.16j, -3.16j
T gi tr ti giao im ca qu o nghim vi trc honh ta th vo phng trnh c trng:
F(jw) = w4-8jw3-36w2+80jw+k
kgh = 260
Kt lun : h thng s n nh khi 0 < k < 260
Bi 3:
k
KGH = (k = 2)
s2
num = 2;
den =[1 0 0 ];
rlocus(num,den)
1.5
Imag Axis 0.5
-0.5
-1
-1.5
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis
T th ta c:
1. im cc : 0
3. im zero v hn ( )
im tch c gi tr: 0
Kt lun: h thng khng n nh.
Bi 4:
k
KGH =
s3
num = 2;
den =[1 0 0 0];
rlocus(num,den)
0.8
0.6
0.4
0.2
Imag Axis
-0.2
-0.4
-0.6
-0.8
-1
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis
T th ta c:
1. im cc: 0.
3. im zero v hn ().
4. im tch c gi tr: 0
Kt lun: h thng khng n nh (v hai nhnh ca qu o nghim s lun nm na
phi mt phng phc).
Bi 5:
k
KGH = (k = 1, t = 2)
s(ts 1)
num = 1;
den = [2 1 0];
rlocus(num,den)
1.5
0.5
Imag Axis
-0.5
-1
-1.5
-2
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis
1. im cc : 0,-0.5
3. im zero v hn ( )
4. im tch c c xc nh bng cch t ca s MATLAB ta nhp:
num = 1;
den = [2 1 0 ];
rlocus(num,den);
rlocfind(num,den)
selected_point = -0.253
im tch c gi tr: -0.253-
Kt lun: h thng lun n nh (v qu o nghim lun nm na tri mt phng
phc).
Bi 6:
k(ts 1)
KGH = (k = 1, t = 1)
s2
num = [1 1];
den = [1 0 0];
rlocus(num,den)
0.8
0.6
0.4
0.2
Imag Axis
-0.2
-0.4
-0.6
-0.8
-1
-3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1
Real Axis
1. im cc: 0
3. im zero , -1
num = [1 1];
den = [1 0 0];
rlocus(num,den);
rlocfind(num,den)
selected_point = -2
im tch c gi tr: -2.
Kt lun: h thng bin n nh.
Bi 7:
k
KGH = (k = 1, t1 = 2, t2 = 1)
(t1s 1)(t2s 1)
num = 1;
den = [2 3 1];
rlocus(num,den)
1.5
0.5
Imag Axis
-0.5
-1
-1.5
-2
-2 -1.5 -1 -0.5 0 0.5 1
Real Axis
1. im cc: -0.5, -1.

3. im zero v hn ( )
num = 1;
den = [2 3 1];
rlocus(num,den);
rlocfind(num,den)
selected_point = -0.75.
im tch c gi tr: -0.75
Kt lun: h thng lun n nh.
Bi 8:
k
KGH = (k = 10)
s 1 s 1 s 4 2
num =10;
den = [ 1 8 15 -8 -16];
rlocus(num,den)
1
Imag Axis
-1
-2
-3
-4
-5
-6 -5 -4 -3 -2 -1 0 1 2 3
Real Axis
1. im cc : 1, -1 v 1 cc kp -4.
3. im zero: c 4 zero v cng ( ).
num =10;
den = [ 1 8 15 -8 -16];
rlocus(num,den);
rlocfind(num,den)
selected_point = 0.2308, -4
im tch c gi tr: 0.2308, -4
Kt lun: H thng lun khng n nh v tn ti 1 nghim ca phng trnh c trng
nm bn phi mt phng phc.
Bi 9: Trch t trang 5-19 sch Control System Toolbox

Bi ny tng hp cc lnh:
h=tf([4 8.4 30.8 60],[1 4.12 17.4 30.8 60]);
subplot(221)
bode(h)
subplot(222)
step(h)
subplot(223)
pzmap(h)
subplot(224)
plot(rand(1,100)
plot(rand(1,100))
Phase (deg); Magnitude (dB) Bode Diagrams Step Response

From: U(1)
From: U(1)
1.5
20
Amplitude
1
To: Y(1)
-20
100
To: Y(1)
0.5
0
-100 0
10-1 100 101 0 2 4 6 8 10 12
Frequency (rad/sec) Time (sec.)

Pole-zero map bai tong hop
1
4
0.8
2
Imag Axis
0.6
0
0.4
-2
0.2
-4
-3 -2 -1 0 1 0
0 50 100
Real Axis
Bi 10: Cho hm truyn nh sau:

s 4
G( s)
s 1s 2
Vit theo cu trc sau ta c c th biu din qu o nghim:
num=[1 4];
den=conv([1 1],[1 2])
rlocus(num,den)
Kt qu nh hnh sau:

Quy Dao Nghiem

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Kho st ng dng MATLAB trong iu khin t ng

NHM LNH V QU O NGHIM

Lnh rlocus tm qu o nghim Evans ca h SISO. Qu o nghim c dng

den = [1 2 3]; % H(s)=tf([2 5 1],[1 2 3]);

zgrid(z,wn) v hng s tt dn c ch nh trong vector z v v hng s tn s t nhin

Imag Axis 0.5

1. im cc: -0.5, -1.

Bi 9: Trch t trang 5-19 sch Control System Toolbox

Phase (deg); Magnitude (dB) Bode Diagrams Step Response

Frequency (rad/sec) Time (sec.)

Bi 10: Cho hm truyn nh sau:

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