i hc Bch Khoa TP.HCM KIM TRA HC K 1.

Nm hc 2010-2011
Khoa in in T Mn: C s t ng
B mn KT Ngy thi: 17/01/2011
---o0o--- Thi gian lm bi: 120 pht
(Sinh vin khng c php s dng ti liu in hoc photo)

R(s) G(s) C(s)

+ GC(s)
Sinh vin chn 1 trong 2 bi 1A hoc 1B:
Hnh 1

K
Bai 1A: (2.5 iem) Cho h thng c s khi hnh 1. Bit rng G( s) v nu
s ( s a)
GC ( s) 1 th h thng kn c cp cc phc vi h s tt 1 / 2 v tn s dao ng t nhin
n 2 (rad/sec).
1. Xc nh hm truyn G(s).
2. Tnh vt l v thi gian qu theo tiu chun 5% ca h thng trc khi hiu chnh.
3. Thit k GC (s) sao cho h kn sao khi hiu chnh c p ng qu thay i khng ng k,
ng thi sai s xc lp i vi tn hiu vo l hm dc bng 0.01.

Bai 1B: (2.5 iem) Cho he thong ieu khien co s o khoi hnh 1. Cho biu Bode ca i
tng km theo thi.
1. Xc nh hm truyn G(s).
2. Tnh sai s xc lp khi tn hiu vo l hm nc n v trc khi hiu chnh
3. Da vo biu Bode, thit k khu hiu chnh GC (s) sao cho h kn n nh c d tr pha
M * 600 , sai s xc lp i vi tn hiu vo l hm nc n v bng 0.02.

Bi 2: (3.0 iem) Cho h thng c s khi hnh 2.

Hnh 2

1. Thnh lp phng trnh trng thi ca h h.

2. Cho k0 1 . Thit k lut iu khin u(t ) k0 r (t ) k1 x1 (t ) k2 x2 (t ) sao cho p ng ng ra h
kn c POT = 4.32% v tq = 1(giy) (tiu chun 5%).
3. Vit hm truyn ca h kn vi k1, k2 tm c trn. Tm k 0 sao cho y xl lim y(t ) 1 khi tn
t
hiu vo l hm nc n v.
Bi 3: (3.0 iem) Cho he thong ieu khien co s o khoi nh hnh 3.
r(k) y(k)
+ GC(z) ZOH G(s)
T
Hnh 3

1
 5 K T z 1
G( s) , GC ( z ) K P I , T 0.2 sec
2s 1 2 z 1
1. Cho K P 0 , v QNS ca h thng khi K I 0 .
2. Thit k b iu khin GC (z ) sao cho h thng kn sau khi hiu chnh c cp cc phc vi
0.707 v n 4 .
3. Cho tn hiu vo l hm dc n v. Tnh p ng ca h thng y(k) vi k 0 5 , tnh sai s
xc lp.

Bi 4: (1.5 im) Cho i tng ri rc m t bi phng trnh trng thi

x(k 1) Ad x(k ) Bd u (k )

y ( k ) Cd x ( k )
0.90 0.16 0.18
vi Ad , Bd , Cd 2 0
0.50 0.23 0.12
c lng trng thi ca h thng, ngi ta s dng b quan st:
x (k 1) Ad x (k ) Bd u (k ) L[ y(k ) y (k )]

y (k ) Cd x (k )

1. Hy v s khi ca h thng v b quan st trng thi nu trn

Hy tnh li quan st trng thi L l1 l2 sao cho b quan st c hai cc ti 0.05 v 0.01
T
2.

(Het)

2
H v tn SV:..
M s SV: ...

Bode Diagram
40

20
16.9 -20dB/dec

0
Magnitude (dB)

-20

-60dB/dec
-40

-60

-80
0

-45

-90
Phase (deg)

-135

-180

-225

-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)