Chuong6 LTDKTD PDF

Mon hoc
LY THUYET IEU KHIEN T ONG
Giang vien: TS. Huynh Thai Hoang

Bo mon ieu Khien T ong
Khoa ien ien T
ai hoc Bach Khoa TP.HCM
Email: hthoang@hcmut.edu.vn
Homepage: http://www2.hcmut.edu.vn/~hthoang/
26 September 2006 H. T. Hong - HBK TPHCM 1

Chng 6
MO TA TOAN HOC
HE THONG IEU KHIEN RI RAC

Noi dung chng 6
Khai niem
Phep bien oi Z
Ham truyen
Phng trnh trang thai

Khai niem

He thong ieu khien dung may tnh so
r(kT) u(kT) uR(t) c(t)

May tnh so D/A oi tng
cht(kT)
A/D Cam bien
May tnh so = thiet b tnh toan da tren c s ky thuat vi x

ly (vi x ly, vi ieu khien, may tnh PC, DSP,).
u iem cua he thong ieu khien so:
Linh hoat
De dang ap dung cac thuat toan ieu khien phc tap
May tnh so co the ieu khien nhieu oi tng cung mot luc

He thong ieu khien ri rac
r(kT) u(kT) uR(t) c(t)

X ly ri rac Khau gi oi tng
cht(kT)
Lay mau Cam bien
He thong ieu khien ri rac la he thong ieu khien trong o co

tn hieu tai mot hoac nhieu iem la (cac) chuoi xung.

Lay mau d lieu
Lay mau la bien oi tn hieu lien tuc theo thi gian thanh tn hieu
ri rac theo thi gian.
x(t) x (t)
*
Bieu thc toan hoc mo ta qua T

trnh lay mau: x(t)
+
X * ( s) = x(kT )e kTs t
k =0
0
nh ly Shannon x*(t)
1
f = 2 fc t
T 0
Neu co the bo qua c sai so lng t hoa th cac khau chuyen

oi A/D chnh la cac khau lay mau.
Khau gi d lieu
Khau gi d lieu la khau chuyen tn hieu ri rac theo thi gian

thanh tn hieu lien tuc theo thi gian
Khau gi bac 0 (ZOH): gi tn x*(t) xR (t)

ZOH
hieu bang hang so trong thi
x*(t)
gian gia hai lan lay mau.
t
0
Ham truyen khau gi bac 0. xR(t)
1 e Ts
GZOH ( s) = t
s
0
Neu co the bo qua c sai so lng t hoa th cac khau chuyen

oi D/A chnh la cac khau gi bac 0 (ZOH).
Phep bien oi Z

nh ngha phep bien oi Z
Cho x(k) la chuoi tn hieu ri rac, bien oi Z cua x(k) la:

+
X ( z ) = Z {x(k )} = x ( k ) z k
k =
Trong o:
z = eTs (s la bien Laplace)
Z
X(z) : bien oi Z cua chuoi x(k). Ky hieu: x(k ) X ( z )
Neu x(k) = 0, k < 0:

+
X ( z ) = Z {x(k )} = x ( k ) z k
k =0
Mien hoi tu (Region Of Convergence ROC)

ROC la tap hp tat ca cac gia tr z sao cho X(z) hu han.

Y ngha cua phep bien oi Z
Gia s x(t) la tn hieu lien tuc trong mien thi gian, lay mau x(t)
vi chu ky lay mau T ta c chuoi ri rac x(k) = x(kT).
Bieu thc lay mau tn hieu x(t)
+
*
X (s) = x ( kT ) e kTs
k =0
Bieu thc bien oi Z chuoi x(k) = x(kT).

+
X ( z) = x ( k ) z k
k =0
Do z = eTs nen ve phai cua hai bieu thc lay mau va bien oi Z
la nh nhau, do o ban chat cua viec bien oi Z mot tn hieu
chnh la ri rac hoa tn hieu o .
Tnh chat cua phep bien oi Z
Cho x(k) va y(k) la hai chuoi tn hieu ri rac co bien oi Z la:

Z {x(k )} = X ( z ) Z {y (k )} = Y ( z )
Tnh tuyen tnh: Z {ax (k ) + by (k )} = aX ( z ) + bY ( z )
Tnh di trong mien thi gian: Z {x ( k k0 )} = z k0 X ( z )
T le trong mien Z: Z {a k x(k )}= X (a 1z )

dX ( z )
ao ham trong mien Z: Z {kx(k )} = z
dz
nh ly gia tr au: x(0) = lim X ( z )
z
nh ly gia tr cuoi: x() = lim(1 z 1 ) X ( z )

z 1

Bien oi Z cua cac ham c ban
Ham dirac: (k)
1 neu k = 0 1
(k ) =
0 neu k 0 k
0
Z { (k )} = 1
Ham nac n v: u(k)
1 neu k 0 1
u (k ) =
0 neu k < 0 k
0
z
Z {u (k )} =
z 1
Bien oi Z cua cac ham c ban
r(k)
Ham doc n v:
1
kT neu k 0
r (k ) = k
0 neu k < 0 0
Tz
Z {u (k )} =
(z 1)2
Ham mu: x(k)
e-akT neu k 0 1
x(k ) =
0 neu k < 0 k
0
z
Z {x(k )} =
z e aT
Ham truyen cua he ri rac

Tnh ham truyen t phng trnh sai phan
r(k) c(k)
He ri rac
Quan he vao ra cua he ri rac co the mo ta bang phng trnh

sai phan
a0c(k + n) + a1c(k + n 1) + ... + an1c(k + 1) + anc(k ) =
b0 r (k + m) + b1r (k + m 1) + ... + bm1r (k + 1) + bm r (k )
trong o n>m, n goi la bac cua he thong ri rac
Bien oi Z hai ve phng trnh tren ta c:

a0 z nC ( z ) + a1 z n1C ( z ) + ... + an1 zC ( z ) + anC ( z ) =
b0 z m R ( z ) + b1 z m1R ( z ) + ... + bm1 zR ( z ) + bm R ( z )

Tnh ham truyen t phng trnh sai phan
Lap t so C(z)/R(z) , ta c ham truyen cua he ri rac:
C ( z ) b0 z m + b1 z m1 + ... + bm1 z + bm
G( z) = =
R ( z ) a0 z n + a1 z n1 + ... + an1 z + an
Ham truyen tren co the bien oi tng ng ve dang:
C ( z ) z ( nm ) [b0 + b1 z 1 + ... + bm1 z m+1 + bm z m ]

G( z) = =
R( z ) a0 + a1 z 1 + ... + an1 z n+1 + an z n

Tnh ham truyen t phng trnh sai phan - Th du
Tnh ham truyen cua he ri rac mo ta bi phng trnh sai phan:

c(k + 3) + 2c(k + 2) 5c(k + 1) + 3c(k ) = 2r (k + 2) + r (k )
Giai: Bien oi Z hai ve phng trnh sai phan ta c:
z 3C ( z ) + 2 z 2C ( z ) 5 zC ( z ) + 3C ( z ) = 2 z 2 R( z ) + R( z )
C ( z) 2z2 + 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 + 3 z 3

Tnh ham truyen cua he ri rac t s o khoi
Cau hnh thng gap cua cac he thong ieu khien ri rac:
R(s) C(s)
+ GC(z) ZOH G(s)
T
H(s)
C ( z) GC ( z )G ( z )
Ham truyen kn cua he thong: Gk ( z ) = =
R ( z ) 1 + GC ( z )GH ( z )
trong o:
GC (z ) : ham truyen cua bo ieu khien, tnh t phng trnh sai phan
G(s)
1 1 G ( s) H ( s)
G ( z ) = (1 z )Z GH ( z ) = (1 z )Z
s s
Tnh ham truyen cua he ri rac t s o khoi. Th du 1
Tnh ham truyen kn cua he thong:

R(s) C(s)
+ ZOH G(s)
T = 0.5
3
G ( s) =
s+2
G (s)
1 1 3
Giai: G ( z ) = (1 z )Z = (1 z )Z
s s ( s + 2)
20.5
1 3 z (1 e )
= (1 z )
2 ( z 1)( z e 20.5 )

0.948 a z (1 e aT )
G( z) =
z 0.368 Z = aT
s ( s + a ) ( z 1)( z e )
Ham truyen kn cua he thong:
0.948
G( z)
Gk ( z ) = = z 0.368
1 + G ( z ) 1 + 0.948
z 0.368
0.948
Gk ( z ) =
z + 0.580


R(s) C(s)
+ ZOH G(s)
T = 0.5
H(s)
Biet rang: 3e s 1
G (s) = H (s) =
s+3 s +1
Giai:
G( z)
Gk ( z ) =
1 + GH ( z )

1 G ( s) 3e s
G ( z ) = (1 z )Z G (s) =
s ( s + 3)
s
1 3 e
= (1 z )Z
s ( s + 3)
30.5
1 2 z (1 e )
= (1 z ) z
( z 1)( z e 30.5 )
0.777
G( z) =
z 2 ( z 0.223)
a z (1 e aT )
Z = aT
s ( s + a ) ( z 1)( z e )
z = eTs = e0.5 s
s
G ( s ) H ( s ) 3 e
GH ( z ) = (1 z 1 )Z G (s) =
s ( s + 3)
s
1 3 e 1
= (1 z )Z H (s) =
s ( s + 3)( s + 1) ( s + 1)
1 2 z ( Az + B)
= 3(1 z ) z
( z 1)( z e 30.5 )( z e 10.5 )
(1 e 30.5 ) 3(1 e 0.5 )
A= = 0.0673
3(1 3) 1 z ( Az + B)

Z =
s3(s0+.5 a)( s + b) ( z 1)( z e aT )( z e bT )
3e 30.5 (1 e 0.5 ) e 0.5 (1 e ) aT
B= b(1 e = 0).0346
a(1 e bT )
3(1 3) A=
ab(b a)
0.202 z + 0.104 aeaT (1 e bT ) be bT (1 e aT )
GH ( z ) = 2
z ( z 0.223)( zB = 0.607) ab(b a)

0.777
G( z) z 2
( z 0.223)
Gk ( z ) = =
1 + GH ( z ) 0.202 z + 0.104
1+ 2
z ( z 0.223)( z 0.607)
Gk ( z ) =
0.777( z 0.607)
z 4 0.83z 3 + 0.135 z 2 + 0.202 z + 0.104
0.777
G( z) = 2
z ( z 0.223)
0.202 z + 0.104
GH ( z ) = 2
z ( z 0.223)( z 0.607)


R(s) e(k) u(k) C(s)
+ GC(z) ZOH G(s)
T=0.2
H(s)
Biet rang: 5e 0.2 s

G (s) = H ( s ) = 0.1
s2
Bo ieu khien Gc(z) co quan he vao ra mo ta bi phng trnh:

u (k ) = 10e(k ) 2e(k 1)

Giai:
GC ( z )G ( z )
Gk ( z ) =
1 + GC ( z )GH ( z )
Ta co:
u (k ) = 10e(k ) 2e(k 1)
U ( z ) = 10 E ( z ) 2 z 1E ( z )
U ( z)
GC ( z ) = = 10 2 z 1
E( z)

1 G ( s) 5e 0.2 s
G ( z ) = (1 z )Z G (s) =
s s2
0.2 s
1 5e 1 1 ( 0. 2) 2
z ( z + 1)
= (1 z )Z 3 = 5(1 z ) z 3
s 2 ( z 1 )
0.1( z + 1)
G( z) =
z ( z 1) 2
1 G ( s) H ( s)
GH ( z ) = (1 z )Z H ( s ) = 0.1
s
1 G ( s)
= 0.1(1 z )Z 2
1 T z ( z + 1)
s Z 3= 3
0.01( z + 1) s 2( z 1)
GH ( z ) =
z ( z 1) 2 z = eTs = e0.2 s

10 z 2 0.1( z + 1)
.
GC ( z )G ( z )
z z ( z 1) 2

Gk ( z ) = =
1 + GC ( z )GH ( z ) 10 z 2 0.01( z + 1)
1+ . 2
z z ( z 1)
z 2 + 0.8 z 0.2
Gk ( z ) = 4
z 2 z 3 + 1.1z 2 + 0.08 z 0.02G ( z ) = 10 2 z 1
C
0.1( z + 1)
G( z) =
z ( z 1) 2
0.01( z + 1)
GH ( z ) =
z ( z 1) 2
Phng trnh trang thai

Khai niem
Phng trnh trang thai (PTTT) cua he ri rac la he phng trnh

sai phan bac 1 co dang:
x(k + 1) = Ad x(k ) + Bd r (k )

c(k ) = Cd x(k )
trong o:
x1 (k ) a11 a12 K a1n b1

x (k ) a a K a b
x( k ) = 2 Ad = 21 22 2n
Bd = 2
M M M M M

xn (k ) a a
n1 n 2 K a nn bn
C d = [c1 c 2 K c n ]

Thanh lap PTTT t phng trnh sai phan (PTSP)
Trng hp 1: Ve phai cua PTSP khong cha sai phan cua tn

hieu vao
a0c( k + n) + a1c( k + n 1) + ... + an1c (k + 1) + an c (k ) = b0 r (k )
at bien trang thai theo qui tac:

Bien au tien at bang tn hieu ra: x1 (k ) = c(k )
Bien th i (i=2..n) at bang cach lam x2 (k ) = x1 (k + 1)
sm bien th i1 mot chu ky lay mau x3 (k ) = x2 (k + 1)
M
xn (k ) = xn1 (k + 1)

Thanh lap PTTT t PTSP
Trng hp 1 (tt)
x(k + 1) = Ad x(k ) + Bd r (k )
Phng trnh trang thai:
c(k ) = Cd x(k )
trong o:
0 1 0 K 0 0
x1 (k ) 0 0 1 K 0 0
x (k )
x( k ) = 2 Ad = M M M M Bd = M
M
0 0 0 K 1 0
x
n ( k ) an
an1

an2
K
a1 b0
a0 a0 a0 a0 a0
Cd = [1 0 K 0 0]

Th du trng hp 1
Viet PTTT mo ta he thong co quan he vao ra cho bi PTSP sau:
2c(k + 3) + c(k + 2) + 5c(k + 1) + 4c(k ) = 3r (k )
x1 (k ) = c(k )

at cac bien trang thai: x2 (k ) = x1 (k + 1)
x (k ) = x (k + 1)
3 2
Phng trnh trang thai: x(k + 1) = Ad x(k ) + Bd r (k )

c(k ) = Cd x(k )
trong o:
0 0
Bd = 0 = 0
0 1 0 0 1 0 b
Ad = 0 0 1 = 0 0 1 0 1.5
a0
a a a1
3 2 2 2.5 0.5
a0 a0 a0 C d = [1 0 0]
Trng hp 2: Ve phai cua PTSP co cha sai phan cua tn hieu

vao
a0c(k + n) + a1c(k + n 1) + ... + an1c(k + 1) + an c(k ) =
b0 r (k + n 1) + b1r (k + n 2) + ... + bn2 r ( k + 1) + bn1r ( k )

Bien au tien at bang tn x1 (k ) = c(k )
hieu ra x2 (k ) = x1 (k + 1) 1r (k )
Bien th i (i=2..n) at bang
cach lam sm bien th i1 x3 (k ) = x2 (k + 1) 2 r (k )
mot chu ky lay mau va tr 1 M
lng t le vi tnh hieu vao xn (k ) = xn1 (k + 1) n1r (k )

Trng hp 2 (tt)
x(k + 1) = Ad x(k ) + Bd r (k )
c(k ) = Cd x(k )
trong o:
0 1 0 K 0
1
x1 (k ) 0 0 1 K 0
x (k ) 2
x( k ) = 2 Ad = M M M M B = M
M d

0 0 0 K 1
n1
xn (k ) an
an1

an2
K
a1
n
a0 a0 a0 a0
Cd = [1 0 K 0 0]

Trng hp 2 (tt)
Cac he so trong vector Bd xac nh nh sau:

b0
1 =
a0
b1 a11
2 =
a0
b2 a1 2 a2 1
3 =
a0
M
bn1 a1 n1 a2 n2 K an11
n =
a0

Th du trng hp 2
2c(k + 3) + c(k + 2) + 5c(k + 1) + 4c(k ) = r (k + 2) + 3r (k )
x1 (k ) = c(k )

at cac bien trang thai: x2 (k ) = x1 (k + 1) 1r (k )
x (k ) = x (k + 1) r (k )
3 2 2
Phng trnh trang thai: x(k + 1) = Ad x(k ) + Bd r (k )

c(k ) = Cd x(k )
trong o:
1

0 1 0 0 1 0 Bd = 2

Ad = 0 0 1 = 0 0 1 3
a a a1
3 2 2 2.5 0.5
a0 a0 a0 C d = [1 0 0]
Th du trng hp 2 (tt)
Cac he so cua vector Bd xac nh nh sau:

b0 1
1 = a = 2 = 0.5
0
b1 a11 0 1 0.5

2 = = = 0.25
a0 2
= b2 a1 2 a2 1 = 3 1 (0.25) 5 0.5 = 0.375
3 a0 2

0.5
Bd = 0.25

0.375

Thanh lap PTTT t PTSP dung phng phap toa o pha
Xet he ri rac mo ta bi phng trnh sai phan

a0c ( k + n) + a1c ( k + n 1) + ... + an1c ( k + 1) + an c ( k ) =
b0 r ( k + m) + b1r ( k + m 1) + ... + bm1r ( k + 1) + bm r ( k )
Bien trang thai au tien la nghiem cua phng trnh:
a1 an1 an
x1 ( k + n) + x1 ( k + n 1) + L + x1 ( k + 1) + x1 ( k ) = r ( k )
a0 a0 a0
Bien th i (i=2..n) at bang cach lam sm bien th i1 mot
chu ky lay mau: x (k ) = x (k + 1)
2 1
x3 (k ) = x2 (k + 1)
M
xn (k ) = xn1 (k + 1)

Thanh lap PTTT t PTSP dung phng phap toa o pha
x(k + 1) = Ad x(k ) + Bd r (k )
c(k ) = Cd x(k )
trong o:
0 1 0 K 0 0
x1 (k ) 0 0 1 K 0 0
x (k )
x( k ) = 2 Ad = M M M M Bd = M
M
0 0 0 K 1
0
xn (k ) an
an1

an2
K
a1
1
a0 a0 a0 a0
bm bm1 b0
Cd = K 0 K 0
a0 a0 a0
Th du thanh lap PTTT t PTSP dung PP toa o pha

2c(k + 3) + c(k + 2) + 5c(k + 1) + 4c(k ) = r (k + 2) + 3r (k )
at bien trang thai theo phng phap toa o pha, ta c phng
trnh trang thai:
x(k + 1) = Ad x(k ) + Bd r (k )

c(k ) = Cd x(k )
trong o:

0 1 0 0 1 0 0
Ad = 0 0 1 = 0 0 1 Bd = 0
a a a1
3 2 2 2.5 0.5 1
a0 a0 a0
b2 b1 b0
Cd = = [1.5 0 0.5]
a0 a0 a0
Thanh lap PTTT he ri rac t PTTT he lien tuc
Thanh lap PTTT mo ta he ri rac co s o khoi:

r(t) e(t) e(kT) eR(t) c(t)
+ ZOH G(s)
T
Bc 1: Thanh lap PTTT mo ta he lien tuc (h):
eR(t) c(t) x& (t ) = Ax(t ) + BeR (t )

G(s)
c(t ) = Cx(t )
Bc 2: Tnh ma tran qua o
(t ) = L 1[ ( s )]
vi ( s ) = (sI A)
-1

Thanh lap PTTT he ri rac t PTTT he lien tuc
Bc 3: Ri rac hoa PTTT mo ta he lien tuc (h):

e(kT) c(kT)
ZOH G(s)
Ad = (T )
x[(k + 1)T ] = Ad x(kT ) + Bd eR (kT ) T
vi Bd = ( ) Bd
c(kT ) = Cd x(kT ) 0
Cd = C
Bc 4: Viet PTTT mo ta he ri rac kn (vi tn hieu vao la r(kT))
x[(k + 1)T ] = [ Ad Bd Cd ]x(kT ) + Bd r (kT )

c(kT ) = Cd x(kT )
Th du thanh lap PTTT he ri rac t PTTT he lien tuc
Thanh lap PTTT mo ta he ri rac co s o khoi:

r(t) e(t) e(kT) eR(t) 1 x2 1 x1 c(t)
+ ZOH K
T s+a s
Vi a = 2, T = 0.5, K = 10

Giai:
eR(t) 1 x2 1 x1 c(t)
Bc 1: 10
s+2 s
X 2( s )
X 1 (s) = sX 1 ( s ) = X 2( s ) x&1 (t ) = x 2 (t )
s
E R ( s)
X 2 ( s) = ( s + a) X 2 ( s) = E R ( s) x&2 (t ) = 2 x2 (t ) +e R (t )
s+2
x&1 (t ) 0 1 x1 (t ) 0
x& (t ) = 0 2 x (t ) + 1 eR (t )
2 1 424 3 2 {
A B
x1 (t )
c(t ) = 10 x1 (t ) = [10 0]
123 x2 (t )
C
Bc 2: Tnh ma tran qua o

1 1
1 0 0 1 s 1
( s ) = (sI A) = s =
-1

0 1 0 2 0 s + 2
1 1
1 s + 2 1 s s ( s + 2)
= =
s ( s + 2) 0 s 1
0
s + 2
1 1 1 1 1 1
L L
s ( s + 2)
(t ) = L 1[ ( s )] = L 1 s s ( s + 2) =
s
0 1 1 1
0 L
s + 2 s + 2
1 2t
1 (1 e )
(t ) = 2
0 e 2t

Bc 3: Ri rac hoa x[(k + 1)T ] = Ad x(kT ) + Bd eR (kT )

PTTT cua he lien tuc c(kT ) = Cd x(kT )
1 2t 1 20.5
1 (1 e ) 1 (1 e ) 1 0.316
Ad = (T ) = 2 = 2 =
0 0 0 . 368

e 2t 20.5
t =T 0 e
T
1 2 0 T 1 2
T
1 (1 e ) (1 e )
Bd = ( ) Bd = 2 d = 2 d
0 0 0 e 2 1 0 e 2

T
e 2
0.5 e 20.5 1
+ 2 + 2
= 2 2 = 2 2 2
2 = 0.092
0.316
e 2 e 20.5
1
+
2 0 2 2
Cd = C = [10 0]

Bc 4: PTTT ri rac mo ta he kn
x[(k + 1)T ] = [ Ad Bd Cd ]x(kT ) + Bd r (kT )

c(kT ) = Cd x(kT )
1 0.316 0.092 0.080 0.316

vi [ Ad Bd Cd ] = [10 0] =
0 0 . 368 0 . 316 3 . 160 0 . 368
Vay phng trnh trang thai cua he ri rac can tm la:

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
x1 (k )
c(k ) = [10 0].
x
2 ( k )
Tnh ham truyen t PTTT
Cho he ri rac mo ta bi PTTT

x(k + 1) = Ad x(k ) + Bd r (k )

c(k ) = Cd x(k )
Ham truyen cua he ri rac la:

C( z)
G( z) = = Cd ( zI Ad ) 1 Bd
R( z )

Th du tnh ham truyen t PTTT
Tnh ham truyen cua he ri rac mo ta bi PTTT

x(k + 1) = Ad x(k ) + Bd r (k )

c(k ) = Cd x(k )
0 1 0
Ad = Bd = Cd = [1 0]

0 . 7 0 . 1 2
Giai: Ham truyen can tm la
G ( z ) = Cd ( zI Ad ) 1 Bd
1
1 0 0 1 0
= [1 0] z
2
0 1 0.7 0.1
2
G( z) =
z 2 + 0.1z + 0.7

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Mon hoc

LY THUYET IEU KHIEN T ONG

Giang vien: TS. Huynh Thai Hoang

26 September 2006 H. T. Hong - HBK TPHCM 1

26 September 2006 H. T. Hong - HBK TPHCM 2

26 September 2006 H. T. Hong - HBK TPHCM 3

26 September 2006 H. T. Hong - HBK TPHCM 4

r(kT) u(kT) uR(t) c(t)

A/D Cam bien

May tnh so = thiet b tnh toan da tren c s ky thuat vi x

26 September 2006 H. T. Hong - HBK TPHCM 5

r(kT) u(kT) uR(t) c(t)

Lay mau Cam bien

He thong ieu khien ri rac la he thong ieu khien trong o co

26 September 2006 H. T. Hong - HBK TPHCM 6

Bieu thc toan hoc mo ta qua T

Neu co the bo qua c sai so lng t hoa th cac khau chuyen

Khau gi d lieu la khau chuyen tn hieu ri rac theo thi gian

Khau gi bac 0 (ZOH): gi tn x*(t) xR (t)

Neu co the bo qua c sai so lng t hoa th cac khau chuyen

26 September 2006 H. T. Hong - HBK TPHCM 9

Cho x(k) la chuoi tn hieu ri rac, bien oi Z cua x(k) la:

Neu x(k) = 0, k < 0:

Mien hoi tu (Region Of Convergence ROC)

26 September 2006 H. T. Hong - HBK TPHCM 10

Bieu thc bien oi Z chuoi x(k) = x(kT).

Cho x(k) va y(k) la hai chuoi tn hieu ri rac co bien oi Z la:

Tnh tuyen tnh: Z {ax (k ) + by (k )} = aX ( z ) + bY ( z )

Tnh di trong mien thi gian: Z {x ( k k0 )} = z k0 X ( z )

T le trong mien Z: Z {a k x(k )}= X (a 1z )

nh ly gia tr cuoi: x() = lim(1 z 1 ) X ( z )

26 September 2006 H. T. Hong - HBK TPHCM 12

Ham dirac: (k)

26 September 2006 H. T. Hong - HBK TPHCM 15

Quan he vao ra cua he ri rac co the mo ta bang phng trnh

Bien oi Z hai ve phng trnh tren ta c:

b0 z m R ( z ) + b1 z m1R ( z ) + ... + bm1 zR ( z ) + bm R ( z )

26 September 2006 H. T. Hong - HBK TPHCM 16

Lap t so C(z)/R(z) , ta c ham truyen cua he ri rac:

Ham truyen tren co the bien oi tng ng ve dang:

C ( z ) z ( nm ) [b0 + b1 z 1 + ... + bm1 z m+1 + bm z m ]

26 September 2006 H. T. Hong - HBK TPHCM 17

Tnh ham truyen cua he ri rac mo ta bi phng trnh sai phan:

26 September 2006 H. T. Hong - HBK TPHCM 18

Tnh ham truyen kn cua he thong:

Ham truyen kn cua he thong:

26 September 2006 H. T. Hong - HBK TPHCM 21

Tnh ham truyen kn cua he thong:

26 September 2006 H. T. Hong - HBK TPHCM 22

Ham truyen kn cua he thong:

26 September 2006 H. T. Hong - HBK TPHCM 25

Tnh ham truyen kn cua he thong:

Biet rang: 5e 0.2 s

Bo ieu khien Gc(z) co quan he vao ra mo ta bi phng trnh:

26 September 2006 H. T. Hong - HBK TPHCM 26

26 September 2006 H. T. Hong - HBK TPHCM 27

Ham truyen kn cua he thong:

26 September 2006 H. T. Hong - HBK TPHCM 30