Dai hoe Bach Khoa TPHCM DE THI HQC KY 2. Nam hge 2017-2018 Khoa Dién - Dién Ter Mon: Co sé didu khién ty dgng BQ mén DKTD Ngdy thi: 01/06/2018 —oo— Théi gian lam bai: 90 phut (Sinh vién khéng dugc phép six dung tai ligu in hoc photo) .04) Cho hé théng ¢6 so dé khéi & hinh 1. Gs) __8 © s(s+2) 1.1 (1.04 — CDR3 ) Cho Gc(s) = 1, tinh 46 vot 14, thoi gian qua dé (tiéu chudn 2%) va sai sé xéc lap hi tin higu vao la ham dée don vi 7 1.2 (2.04 ~ CDR4) Thiét ké b9 diéu khién sém tré pha Gc(s) sao cho hé théng sau khi thiét ké 06 cap cue phitc véi ¢ = 0.8, @, = 3 va sai s6 xéc lap khi tin higu vio la ham déc don vi 14 0.02. Bai 2: (3.04) Cho hé théng diéu khién & hinh 2. R)_ > Ys) 20 OO) Fas 16) 2.1 (2.0d - CDR4) Thiét ké b6 didu khién Ge(s) sao cho hé kin c6 46 dur trit pha ©M" > 60°, vi sai sé xdc lp khi tin higu vao la ham dée e’, < 0.02 2.2 (1.04 - CDR4) Ve ud Bode ca hé théng sau khi thiét ké. tir dé kiém tra lai'd6 dy trit bién cia hg théng sau khi thiét ké. Bai 3: (2.04 - CDR2) Sit dung tiéu chudn Jury hog tiéu chudn Routh-Hurwitz mé réng danh gié tinh én dink cia hé théng diéu Khién cé so 43 khéi o hinh 3, biét ring G.(@)=2410244 va as So} 0.00852 + 0.0072 2 =1,562+0.61 o-zh2{% s 260% st4 Bai 4: (2.04) Cho hé théng diéu khién ¢6 so 46 khéi 6 hinh 3, biét ring u(k) = 2e(k) va G(s) = 4.1 (1.04 - CDR3) Tinh dap img y(k), (k= 0+8) khi tin higu vao la ham nde don vi. 4.2 (1.04 — CDR3) Tinh d6 vot 16, thoi gian qué dé (tiéu chudn 5%) va sai s6 xde lap khi tin higu vao laham nde don vi 1s ppd Vn HiBai hoc Bach Khoa TP.HCM DAP AN DE THI HQC KY 2. Nam hoc 2017-2018 Khoa Dign - Bign Tir ‘Mon: Co sé ditw Khién ty dng BQ mén BKTD gay thi: 01/06/2018 = Thai gian lam bai: 90 phiit (Sinh vien khOng duge phép sir dung tai liu in hoac photo) Bai I: 1.1 (1.04 / CBR3) ~ Phuong trinh dac trung cia hé théng kin: 14+Ge(s)G(s)H(s)=0 8 10 + 56542) 5+10 =) 412s? +2084+80=0 Hé kin c6 3 eye p, = 10.836, p,, = -0.582+ j2.654 =I Do eye p, = 10.836 nim céch xa truc o so véi cap eye phite p,, ciia khau dao dng béc 2 nén c&p cue quyét djnh cua hé théng 1a: Pas =-0.582+ j2.654 = Eo, + jo,Ji-F (=0215 NT Suy ra: POT = 50.09% faq (2%) = 6.85(se¢) + Sai s6 véi dau vao ham dée t 025 = =4 K, = limsG(s)H(s) Rene 1.2. 2.04 / CDR4) Khau HC sém tré pha c6 dang: G,(s) = Gy(s)G2(s) ‘Thidt ké khdu som pha: ~Khdu HC som pha G,,(s) = K,,2¢/@h s+l/T, to, + jo,\l-F? =-2.441.8) = Géc pha cdn ba: * = -180 + 143.14 102.5 +13.3= 79° + C&p cyre quyét djnh: 5}. ~ Cye va zero cita khdu sém pha (the pp duding phan gidc): 1 =1L7, =5.27 oe at,= Tinh Ky: s+171 545.38 G(s)H(s)} > Ky =0.95 Thiét ké khan tré pha: = Khdu HC t8 pha G(s) = Ky 2 BR s¥l/T, ~ Hé s6 van téc sau khi HC sém pha: K, = lim sGu(5)G(s)H (3) = 1.23 ~ Hé 56 vain tc sau mong muén: = Ay 2123 9, panei ak ise - me <<|Re{sta}}, Chon i =02 102 GyG(Hia] <1 Kay =1.05 => Khau HC sém tré pha can thiét ké: sth 71 5402 5+5.27 $+0.05 GAS) = Ges )Gea() = Bai 2: 2.1 @.04/ CDRS) ‘Thiét ké b6 diéu khién G(s) 48 hé théng c6 46 dy trit pha 4M" 2 60" va sai s6 khi tin higu vao la him déc e', < 0.02. Theo yéu cu cia dé bai ta chon b9 didu khién tré pha, ~ Xée dinh K, aTs+1_ 20 He Ts +1 s(s7 +45 +16) K, =limsG,(s)G(s) = limsK, => K,=40 + Tiryéu cdu thiét ké, pha tai tin s6 cét méi la: (0%, 10° + OM #49 =-115°(8=5") ot) 3 90? + aretg. 1s? 1-0fT? a =1.575(rad Is) = 1.6(rad 13)=a=0031 (Néu SV sir dung biéu 43 Bode, tinh hg s6 a gan bling gid tri trén cing chap nan) Chon zero: Ls @f = 1.61 = 0.16 af = 6.25 ar at L =0.031"0.16 = 0.005 = 7 = 200 ‘ar 6.25541 F 200541 (SV chon cue va zero khde néu ding eding chép nhin) ‘Ham tuyén ciia b6 diéu khién tr8 pha: G,(s) = 40- 2.2 (1,04/ CBR4) Ve bigu 48 bode sau higu chinh: Ham truyén hé hé sau hiéu chi 625541 20 Gi) = G1).G18) = 0 Tan s6 gay : 0, = 0.004,0,, =0.16;0,, = 4 Bin d9 tai @, = 0.001(rad /sec) K =800/16=50 L(@,) = 20l0g K -20{-3-0]= 93.8 7 Biéu thie pha: . 2eTw = -90" + arctg6.250~ arctg2000 — arel oo) areig6.280)~ aretg2000-arctg “T° @ [0001 [0.005 [oor [003 [oI [016 T [a-16[ 4 [10 (@) | -101° | -133° | -150° | ~160° | -147" | ~135° | -114? | -120°_| -180"_| -245" 0, = 16 => ge.) =-120° = ©M = 60° = 4=5GM =8aB BO diéu khién tr8 pha da chon théa yéu céu thiét ké. Bigu dd Bode : (rang sau)ot ouz ae | wt spep= to) cr a cere i | | z \Bai 3: (2.06 | CDR2) Phuong trinh de trung: 14+6¢(2)G(2) = Oa1e(2+ P(z) = 23 — 2.4582? + 2.3242 — 0.55; (dang P(@) = ag2 + a2") +--+ dygz + dy = 0,09 > 0) 10(z+1)) 0.00882 49.0072 215624061 =0 idu kign cl 1. PL) = 0.314 > 0: théa 2. (-1)"P(-1) = 6.334 > 0: thoa, Digu kign da: 3. lal < ao: thoa Bang Jury: Hang 1[—0.552 2324 ASB 7 Hang? U =2.458 2.324 = 0.552 Hang 3 | —0.695 1.175 = 0.967 4. |bz| = 0.695 < |bo| = 0.967: hé théng khéng én djnh. (néu SV két lufin diing tinh én dink dyra vio vj tri cue thi déinh gid dat mite 2) Bai 4: (2.04 | CDR2) Vi u(k) = 2e(k) nen G(2) =2 Mat khéc: Gy (2) = = 2-92 {42} = a - Sey m0) = Sw Tit d6: ¥(z) = 0.499.2-1.¥(2) ~ 0.5506z"7¥ (2) + 0.55062~*, R(z) Nén: y(&) = 0.499. y(k ~ 1) ~ 0.5506. y(k — 2) + 05806 r(k — 2) ‘Theo dé bai ta c6: y(0)=y(1)=0, ham nde don vj nén r(k)=1 voi k>0 Suy ra: y2)-0.55, 7 YG) 0.796, co heed ul y(4)= 0.605, y)=0.38, ¥(6)=0.389, 8 (R016, ¥(8)0.56; Et (khong yéu chu SV te ve hinh dép img) ho “mn naa~ Chat ugng hé théng (Click 1: Tinh chinh xéc dua vao dp img, (A) 083 ~082 Pere eteaa ye(5%) = 275 Sai 6 xe I8p: eg) =r — yes = 1-052 = 048 100% = 59.6% ich 2: Tinh gin ding dy vao Ap eye Phuong tinh dic trung: 270.4592 +0.55=0 Ft0210.NE = 2,2 = 0.2245 £0.7073i = 0.746" ne = 47.6% > it, = 2sec ‘Thang dénh gid (Rubric): mic 46 dat chudn diu ra mbi cu hoi duge dinh gi qua 5 mite: Khong lam gi Lam sai phurong phap ‘Lam diing phyong php, nhung cé nhigu sai sot trong tinh toan 36 ligu ‘Lam ding phuong phap, c6 vai sai s6t nhé trong tinh toan s6 li ‘Lam diing phuong phap, tinh toan s6 ligu ding hoan toan ‘Céch chdm diém, ghi diém: ~ anh gid m6i cu hdi dya vao thang dénh gid 6 trén, pee = Nhfp s6 ligu vao file excel dinh kém: may tinh sé ty tinh diém qui di, c6 thé copy & paste vio bang diém online; ddng thoi may tinh cling sé tinh mite 4 dat chuan dau ra cua SV dé phuc vy kiém dinh ABET,