Bai hgc Bach Khoa TP.HCM DE KIEM TRA HOC KY 2. Nim hgc 2013-2014 Khoa Dign - Dién To Mén: LY THUYET DIEU KHIEN NANG CAO B6 mén DKTD Ned thi: 05/06/2014 —oo— Thai gian lam bai: 90 phist {Sinh vign chi durgc phép sir dung tai ligu viét tay) Bai 1: (2.5 diém) Cho di tugng c6 ham truyén roi rac G(2)nhur mé ta bén dus, trong d6 a va b la 2 thdng sé cn phai ude lvgng. G2) =2E 6 Utz) 2(z+a) a) Thiét ké bd diéu khién ty chinh G,(z) = K. tim K theo @ va 5 sao cho hé théng ving kin c6 cye tal z=0.740.2; v6i 4 va b la cdc gid tri ude lngng cdc thong sé a va b. 'b) Thue hign thu thap sé ligu dau vao - dau ra cla déi tugng trén ta c6 bang sau: ui) 05 05 1 i 1 oh) 0 0 0.25 0.49 0.98 Hay ude lugng a va 6 ding giai thudt binh phuong t6i ; sé i : ‘du khién vi K Bai 2: (2.5 diém) Cho dbit DC edn ditu khign vi tris y(0) = -—<___w 1i 2: (2.5 diém) Cho déi tugng dong co in digu khign vj tri: y(1) S ErET EET) Mo) 10 —_ ey, _ (pH2p + 4p+8y 7 Trong d6, céc thang sé K, a, b phy thuge vao thong sé vat ly ciia dong co, Hay t! 6 diéu khién thich nghi MRAS ding lugt MIT dé diéu khién hé thong bdm theo mé hinh chudn néu trén. V8 sor dd khéi cép nhat thong sé s, va m6 hinh chuan: y. (1) oO. Bai 3: (2.5 diém) Hay dénh gid tinh dn dinh bén ving cia he théng diéu khién nhu hinh ve, trong dé: G(s)= ss s+10 § it a6 + [al B | 7 Diu kign tn tai 10% giai: = Bm 66 thé phan tich dui dang: B, = BB = bac(4,) ~ bac(B,) > bae( A) — bac(B) 3 0 => Cae diéu kign ton du duge thea man Chon béc ctia Ao: bbac( 4) > 2bac( A) — bae( 4,) ~ bac(B*)—-1=6-3-0-1=2 =Chon A, =(s+1)° (0.34) Chon bac cla S va Ri: bac(R) = bac( 4,) + bac(4,) — bac( 4) + bac(B*) =2+3-3+0=2 bac(T) = bae( 4.) + bac(B,)=2+0=2bac(S)= min {bac( R),[bac( 4,) + bac(4,)— bac(B” )} = min {2,(2+3-0)} =2 oP tnptr, pi thptt (0.5 d) oP" + Spt 8: vit tinh tng quat, chon ro = 1. Lut MIT cp nhat cdc théng sé cén Iai nhu sau: 2 feceeeeeeeeeeePeeeeceeeseere pete 4p +8) Pp Seen pe + Ne + 4p +8) * 1 ‘ipa dpa daa! (p+1)"(p + 2p? + 4p +8) z peer ee eee D+ D+ Ie + 4p +8) Pp ee ae (Prive +2Kp 4p rs)” 1 Gee eeee de CeeECEEEEE pa p+ aip + 4p 48) seep SEES dt (p+)*(p+ 2X p? +4p+8) 1 Ore apa" (p+1)'(p+ 2p? + 4p +8) (id) = Vé so dé cap nhét ding (0.5) 5d) inh on dinh danh dinh: Phuong trinh dge trung: 1+ K(s)G(s)=1 (+4) )-0 35? +385+8=0 sl\se = Hé én dinh danh dinh theo hé qua tiéu chudn Hurwitz. (0.5 4) 6n dinh bén ving mé hinh nhiéu cng nguge: 1 1 me GS) was-( s dl Sey-aasiieesa (0.54) S+10)\5+6)5? 438548 (5+10)(s +37.78)(s + 0. Os? (io~'J(sae Waa) V8 biéu dé Bode: (1.0.4) W,G:‘Magnitude (48) geese es os 100 10 : 107 10" 10° 10° wo 10 Freeney (asec) Tir biéu dd Bode ta 06: 201og,9|¥,GS||, =-15.54B = 20log,.|¥GS], = 0.168 <1 (0.5 4) => Hé théng dn dinh bén ving Sa) 43 Bode W,{s) va Wrn(s). ~ Tir bigu d3 Bode ta thdy min WV, ( jo)],|17,.(je)|} < 0aB, vo => théa didu kign rang budc cia céc ham trong sé dé cé thé thiét ké bd digu khién bén ving. - Tir biéu dd Bode, ta thay mign tin sé thdp @ <2: |W, (jo)|>1>[¥,io)| mign tin s6 a0 > 50: |W/,( joo)| <1 <|W¥,(jo)| oe Daya Magne (8) 1 wo Frowarey (ode) = Chinh 46 Igi vong théa man cdc digu kign sau: [Je Oman tle: |zo> EI =|, io)] = 200B (0.5 4)1a) G mit tin sb cao: |4¢ jo] < [econ] Waa] 05d) Vé biéu dd Bode chinh d6 Igi vong: (0.5 d) 40 - 30 20 10 oO “10 20 “30 40 10° 10° 10° 10° ow 10° - Tir bidu dd Bode 1 (s)= 2G) ors ir bidu sy Ta Us) = Ey ase) Tacé: 20log,,(a) = 22 = @=12.6 022 > 7,205 0,26 => T,=0.17 0, #100 = 7, =001 12.6(0.175-+1) pec ou0seDe 0.54) M8) eee O.0ls =I) oo > K(s) = LES) 2 LS7SC0.175 + INS +4) (0.25 4) G(s) (0.55 +1)7(0.01s +1) Kiém tra lgi chi tigu chét Iuong bén ving: [w,,5]+|W,7|], = 0.987 <1 = dat yeu chu 10 a eee 10 107 0, 1 ° * 2 3 10 10 10 10 10° 10