110 3 Control System Toolbox: Cong cy khéo sat - thiét ké hé thong diéu khién Column. 3 : -1.0000 + 1.0000" : >> [evalfr(sys,w(1)) ; evalfr(sys,w(2)) ; evalfr(sys,w(3))} ans = 0 - 1,0000i 0.5846 - 0.32311 0.6000 + 0.8000i >> H = freqresp(sys,w) H(:,:,1) = 1.00001 (2,242) 0.5846 - 0.32311 H(:,2,3) = 0.6000 + 0.80004 D6 thi BODE Dé thi BODE biéu dién die tinh tan sé cia F(jo) thanh hai dé thi riéng ré bién va pha vdi tryc tan sé duge chia theo thang }bgarithm. Dé thi thit nhat co tén la dic tinh bién t4n logarithm, duge chia thang véi thtt nguyén 1A decibe} (4B, vdi 1B = 20logyg |F (jw)|). Dé thi thet hai duge goi 1a dae tinh pha tin logarithm chia thang theo dé (). : Cach biéu dién nay c6 uu diém, vi dic tinh tan sé F(a) c6 c&u tric mie néi tiép cha nhiéu hé LT con (tich cia ting dac tinh tan sé con F,(ja)) , Sale) F(jw)=[]]A (ile! : @4t) va vi vay c6 bién d@ logarithm 1a téng cia cdc bién dé Jogarithm thanh phn |F,Ga)| va géc pha la téng cia céc géc pha thanh phan (jo). « Dac tinh bién tan logarithm: logio|F (jw)| = logs | (jt)| + logia [Fs (Jw)]+-+- + logy + Dic tinh pha tan logarithm: ow) =a (4) +m2(w) + +¢,(¥) @.43) Trong MATLAB ta cé thé vé dé thi BODE cia hé sys mét cach rat don gidn nhé cac lénh sau: bode (sys) bode (sys ,w) (mag, phase,w] = bode (sys) C6 thé khai bao vector tan sé w mét cach don gian chi bang gidi han duéi wmin va gidi han trén wmax (tinh bang rad/s, viét trong ngo&c méc), hay dang Iénh logspace (mye 1.2) dé khai bdo veetor tén so véi khong cach logarithm gitta cdc diém tan sé. F, (jw) (3.42)3.3 Khao sat mé hinh LTT 11 w = wmin:increment:wmax w ={wmin ,wmax} w = logspace (start, destination , number) Néu ta sit dung phuong 4n lénh tht 3, khi dy bode sé cat dac tinh bién trong mag, dac tinh pha trong phase va vector tan sé kém theo trong w. Can chu ¥ ring mag va phase la céc trung 3 chiéu véi kich cd Ny x Nu x k véi k = length (w). Trong truéng hgp sys 14 hé MIMO, mag (i,j,k) va phase (i,j,k) chinh 1A gid tri bién tan va pha tén ng véi nhanh truyén dat tit ddu vao thir j tdi ddu ra thit i. Khi sys 14 hé SISO, ta sé phai truy cap gia tri bién/pha tdn cho gia tri @, cy thé bang lénh mag (1,1,k) va phase (1,1,2) . Déi véi hé lién tuc, pode chi tinh véi cdc gid tri tan sé @ duong trén truc ao. Déi vdi hé gién doan, bode chi tinh ham truyén dat tng véi nia trén cha dudng tron don vi (mién anh z) theo: zoel (3.44) ‘Trong (3.44), wy la tin sé Nyquist. Nita dudi cha dudng trén don vi trang véi nia trén do tinh tudn hoan vdi chu ky 2@y cla ham truyén dat z. Chu y: Néu ta can in dac tinh tdn sé cla nhiéu hé trén cng mét dé thi BODE hay NYQUIST, ta c6 thé goi cdc lénh bode va nyquist nhu sau: bode (sys1, sys2, sysN(,w]) bode (sys1,’styll’, ... ,sysN,'stylN’) nyquist (sysl,sys2, ... ,sysN[{,w}) nyquist (sys1,'styll’, ... ,sysN,'stylN’) Trong cach viét lénh 4 trén, sys1, sys2 ... la cae hé LT ging nhau vé so lugng dau vao, déu ra. Néu khai bao dang cita nét ve dé thi bdi (' styl1", ’ styl2" ta phai khai béo cho t&t cd cdc hé (khéng logi trit hé nao), va khi dy ta sé ong thé khai vector tan s due nita. Dé khac phuc nhuge diém nay ta sé phai tu dién vao dé thi nhi céc lénh loglog vA semilogx (xem muc 2.6.1). Hinh 3.14 minh hoa tac dung ciia lénh bode. Nita trai cdia hinh duge tao bdi doan ma sau, day: Truéc hét ta dinh nghia ham truyén dat sysPT1, tiép theo ta gidn doan héa ham dé véi chu ky trich mau 0,05 va thu duge sysPT1d. Dé thi BODE ctia ca hai hé due in 6 nifa trai ca hinh 3.14. >> sysPT1 = tf (1,[0.05 1]}) % Khai bdo khau PT1 Transfer function: 1 9.05 s+1 >> sysPTld = c2d (sysPT1,0.05) % Gidn doan héa khau- PT1 Transfer function: 0.6321112 3 Control System Toolbox: Céng cu khao sat - thiét kéhé thong diéu khién Sampling time: 0.05 >> subplot (121) % V@ nita trai cla hinh 3.14 >> bode (sysPT1,'r-', sysPT1d, 'b--') Bode Diagram ; Bode Diagram ° ob Magnitude (48) 3 10) 10" 40! Frequency (rad/sec) Frequency (rad/sec) Hinh 3.14 D6 thi BODE ciia sysP11, sysPT1d (trdi) vd sysPT2 (phai) Viée tao nita bén phai hinh 3.14 c6 phic tap hon: Ta vé dé thi BODE cia ham truyén dat sysPT2 (khau ty 1é cé quan tinh bac 2) véi cdc hé sé tat dan c6 gid tri khac nhau. Trong vong lap for dau tién ta dinh nghia mét mé hinh TF véi 4 dau vie (chi y: size(sysPT2) = length(d)+1) va 1 dau ra. Hé so tat dan D cia tiing ham truyén dat con dude lay tit vector d. Vi so lugng thanh phan cia vector d duge chon tuy y va cac dé thi BODE can duge biéu dién xép chéng trén cing mét hé truc, truéc khi goi lénh bode ta phai goi lénh hold on dé kich hoat chic nang diing - dgi sau tiing dé thi. Dang nét cha ting dé thi BODE duge khai bdo va cat trong Cell Array stil va sé lan ludt duge goi bang lénh stil{n}. >> sysPT2 = tf (10,[1 0.05 10}) % Dinh nghia sysPT2 Transfer function: s*2 + 0.05 s + 10 Poe ee eee ee ecmeees %& Vector dcé 4 gia tri3.8 Khéo sat mé hinh LTI 113 >> for n = 1:l:length(d) , ong le 24 sysPT2 = [sysPT2 ; t£(10,{1 din) 10])]s end; % Vong for 1: Khai bao % 4 hé con cia sysPT2 >> subplot (122) , % Vé nua trai hinh 3.14 Lénh ding-dgi Khai bdo nét vé >> hold on; oo stile tte De >> for n = 1:1:(length(d)+1) , bode (sysPT2(n),stil{n}); & & Vé sysPT2 tht n theo styl thir n oe oP end; Nita trai ctia hinh 3.14 chi cho ta thay: Do chu ky trich mAu cla sysPT1d duge chon qué lén, dé thi BODE cha sysPT1 va sysPT1d khong thé tring véi nhau. Dé minh hoa két luan nay, ta gién doan héa sysPT1 lai mt lan nifa véi chu ky trich m4u 0,01 va thu duge sysPTldnew, sau d6 ta so sanh dap tng buéc nhdy cha cd 3 ham trong hinh 3.15. >> sysPTldnew = d2d (sysPT1d,0.01) Transfer function: 0.1813 0.01 >> step (sysPT1, 'r-', sysPT1d, 'b--', bysPT1dnew, 'g-") Step Response | p Resp 2 goo { = i Eos} oe oa ' i o2tH t ol on, 02 03 04 05 Time (sec) Hinh 3.15 Dap ting bude nhdy cia sysPTl, sysPT1dva sysPTldnew114 3. Control System Toolbox: Céng cy khao sat - thiét ké hé théng diéu khién Du trit bién va pha Mét cong cu quan trong nifa, phuc vu khao st n dinh cta hé, la hai lénh margin va allmargin. Hai lénh do tinh du tra én dinh (vf du: dy trit bién va pha) eda hé LTI. © Dy tra bién: Duge dinh nghia 1a hé sO khuéch dai Fe, ma néu ta bé sung F, thém vao ham truyén dat cla vong hd, hé khép kin sé via vin dat téi gidi han gitta én dinh va khong 6 6n dinh. Gia tri Fy duge tink ty nghjch dao cia bién do | F(ja)| tai tan s6 do pha a, (pha bat dau vuot -180"). * Dw trix pha: Duge dinh nghia JA khoang cach géc gp (tinh tit géc pha tai vi tri diém cat gitta |F(Ga)| cha ving hé véi duéng trdn dan vi) tdi -180°. Tén sé w, tai diém cat dé dude goi la tan sé cat bién. Dé bao dam cho hé én dinh cAn cé: 1 déngnghiavéi gn >0 Tai ranh gidi 6n dinh ta c6: @% = wpva Fy=1 va ge =0 Lénh margin duge viét nhu sau: margin (sys) (Gm, Pm, Weg, Wep] = margin (sys) (Gm,Pm, Weg, Wep| = margin (mag, phase, w) Néu margin dude goi khéng cé bién tra vé, lénh sé in dé thi BODE nhu é hinh 3.16. CAc bién dude yéu cdu tra lai 1a dy trit bién Gm vdi tan sé dao pha Weg, du trit pha Pm véi tan s6 ct bién Wep. Cac gia tri mag, phase, w tng véi dinh nghia da biét khi ta sit dung lénh bode. on = 8.0210 ft 1.702 ran), Ph =27. 182g (a 1.258 anc) wagase =) & & oh b BSS a Prane Oy, ad a + Frecuancy gute) Hinh 3.16 Dé thi BODE vdi dy trit bién va pha3.3 _Khéo sat mé hinh LTT 115 Dé thi BODE é hinh 3.16 duge vé bang doan lénh sau day: >> sys = zpk({],(-1 -1 -1],4) Zero/pole/gain: 4 (s+1)*3 >> margin (sys) Lénh allmargin cé tac dung réng hon Jénh margin: Lénh allmargin tinh nhiéu tham sé lién quan dén dn dinh cha hé trén cd sé mach vong hd va sau d6 cat cac tham sé tinh dude trong bién tén 1A stabil cé dang cAu tric Struct. stabil = allmargin(sys) Cac trutng thuéc c&u tric cia stabil cé y nghia nhu sau (tan sé tinh bing rad/s): GainMargin Dy triy bién: Gié tri dao cia bién dé tai tan sé GMFrequency GMFrequency Gia tri tén sé ma tai dé dé thi pha c&t duing thang nim ngang -180° PhaseMargin Dy tri pha: Khoang cach géc (>0) tit vi tri PMFrequency tdi -180° + PMFrequency Gia tri tan sé ma tai dé dé thi bién c&t duing thing nim ngang 0 dB (dng véi hé so khuéch dai 1) : DelayMargin Dy trit thdi gian tré: Gia tri thdi gian tré ma néu vugt qua, hé sé mat én dinkh DMFrequency Gia tri tan sO tng véi DelayMargin Stable = 1 khi mach vong khép kin én dinh = 0 cho cdc truéng hgp con lai Tiép tuc st dung vi dy cia hinh 3.16 sé gitip ta lam sang to y nghia cha céc tham s6 trén. Két qua tinh cha allmargin (sys) duge gan cho bién stabil: Hé sys 6n dinh, dy trit bién 1a 2,0003, dy trit pha 18 27,1424" va du trit théi gian t 14 0,3843s. Ta cling cé thé doc duge cac gia tri nay tiv hinh 3.16. >> stabil = allmargin (sys) stabil = GMFrequency: 1.7322 GainMargin: 2.0003 PMFrequency: 1.2328 PhaseMargin: 27.1424 DMFrequency: 1.2328 DelayMargin: 0.3843 Stable: 1 % Két luan: sys én dinh116 3 Control System Toolbox: Cong cu khao sat - thiét ké hé théng diéu khién. Néu bay gid ta thit gan thém cho sys khoang thdi gian tré véi gid tri stabil.DelayMargin+0.01, ttc ld vudt qua du trit thdi gian tré 0,01 giay. Két qua tinh toan méi cia allmargin sé théng bao tinh khong 6n dinh cia sys sau khi bj gan thdi gian tré. >> sys.ioDelay = stabil.DelayMargin + 0.01 $ G4n thoi gian tré cho sys Zero/pole/gain: exp (-0.39*s) * -- (s+1)*3 >> allmargin (sys) ans = GMFrequency: [1x8 double] GainMargin: [1x8 double] PMFrequency: 1.2328 PhaseMargin: -0.7063 DMFrequency: 1.2328 DelayMargin: -0.0100 Stable: 0 % Két luan: sys khéng én dinh D6 thi NYQUIST Mot kha nang mé ta dic tinh tdn sO khac cing rat hay duge sit dung 1a dé thi NYQUIST: Biéu dién cac gid tri thyc va do thuéc ham truyén dat phic cia mach vong hé F,(j@) trong dai tan sé ti’ w = 0 tdi w = w trén hé toa dé phuc. Dung cong do céc diém tao thanh duge goi 1a qiiy dao bién pha F,(ja). Trén co sé tiéu chudn én dinh NYQUIST ta cé thé rdt ra két luan vé tinh én dinh cia véng diéu chinh khép kin (cé phan héi don vi - 4m) tu dé thi NYQUIST. “Vong diéu chinh khép kin sé 1a én dinh néu, tia néi ti toa dé nguy hiém —1440 tdi aay dao bién pha 1-Fy(ja) quét mot géc 1a: ste Pa A g=na+n, = (3.45) w=0 2 khi @ bign thién tir 0 t6i «. Trong dé, ham Fo(/a) cling duge phép chita thanh phan td, 2,(s) eh No(s) Trong (3.45) va (3.46), mo va ny la-bée ca da thite tit va mau sO cia Fy, n,n, vA n, la nghiém cia No(s) nim phfa phai (khéng én dinh), trén (gidi han én dinh) va bén trai én dinh) tryc 4o ca mign anh Laplace. F(s 5 Ny >m,7 20 (3.46)3.3 Khao sat mé hinh LTT 117 Cu phap cia lénh vé dé thi NYQUIST nhu sau: nyquist (sys) nyquist (sys, w) {re,im,wJ = nyquist (sys) (re,im] = nyquist (sys,w) Khi khai bao vector tan sé w, hay khi vé nbiéu dac tinh xép chdng trén cing mét hé truc toa dé, ban doc c6 thé thuc hién gidng hét nhu déi véi lénh bode. Dé minh hoa hiéu luc cia lénh nyquist, ta thuc hién vi dy sau: Trude hét, khai bao mé Jhinh ZPK sys, sau dé tao tt sys ba mé hinh ZPK gian, doan véi chu ky trich m4u khac nhau. Cuéi cing, ta vé dé thi NYQUIST ctia ca ba chung trong hinh 3.17. >> sys = zpk({),{-l -l1 -1},4)7 >> sysdl = c2d(sys,0.3)7 >> sysd2 = c2d(sys,1.5); >> sysd3 = c2d(sys,4.0); >> nyquist (sys, 'r-',sysdl,' *, sysd2,"k-', sysd3, 'g--") Nyquist Diagram oe Imaginary Axis | 2 . a oO fe 2 3 4 Hinh 3.17 Dé thi NYQUIST ciia sys, sysdl, sysd2 vd sysd3 vdi chu ky trich mau khéc nhau Hinh 3.18 minh hoa dé thi NYQUIST cita cdc khau PT,, PT, da sit dung trong phn vi du thugc Iénh bode.118 3 Control System Toolbox: Céng cy khao sat - thiét ké hé thdng diéu khién. >> sysPT1 = tf (1,(0.05 11); | & Khai bao khau PTL >> sysPTld = c2d (sysPT1,0.05); % Gidn doan héa khau PT1 >> sysPT2 = t£ (10,(1 0.05 10]); % Khai bao khau PT2 >> subplot (121) % V6 nia hinh bén trai >> nyquist (sysPT1,'r-*,sysPT1d,'b--') >> d = [sqrt(2)/2 1.6 3]; % Khai bao 4 hé sé D >> for n = 1:l:length(d) , sysPT2 = (sysPT2 ; t£(10,[1 din) 10])]; end: % Khai bao 4 x sysPT2 >> subplot (122) , % Vé nua hinh bén phai >> hold on; >> stil = {trot tb--' tee! tg ie >> for n size(sysPT2,1) , nyquist (sysPT2(n),stil{1l+mod(n-1,size(sysPT2,1))}); end: Nyquist Diagram Nyquist Diagram l oy 7 . os aff 04 i 2h g o <2 3 e 2 oo go D> Do E02 ay ali 04 tf ahh, 06 . : a eo 05 | 2 Real Axis Hinh 3.18 Dé thi NYQUIST ciia sysPTI, sysPTid (trai) vd sysPT2 vdi cdc hé s6'tét dén D khée nhau (phai) Dap ting cua hé trén mién tan so bode Vé dé thi BODE evalfr Tim dp tung déi véi mét tan sé phtte freqresp Tim dap ting déi vdi nhiéu tan sé theo ua chon margin Tim dy trit bién va pha allmargin Tim cdc tham sd én dinh nyquist Vé dé thi NYQUIST.