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- QGHN
- QGHN
- QGHN
và
System
- QGHN
x = x0sin t y = y0(sin t+ )
m m-1
y0 j b m (j m-1 0
G(j n n-1
x0 a n (j n-1 0
y = y0(sin t+ ) (y = y0ej( t+ ))
Hàm góc pha ( 0/x0
- QGHN
, có
:
j (
G(j G(j
y0 2 2
A(
Re( x0
G(j Im(
Góc pha (
Im( G(j Re(
Re(
Im(
- QGHN
j (
G(j
y0 2 2
A(
x0
Im( (
Góc pha (
Re(
Re(
Im(
- QGHN
L(
pha
rad/s]
theo thang logarit.
L( dB]
L( là
các Li(
- QGHN
lg =0 =1
lg =1 =10
lg =2 =100
(
- QGHN
Bode
Bode pha
Nyquist
A( )
A( p)
- QGHN
Y(j
G(j s=j
X(j
j (
G(j G(j
Bode biên Bode pha
L( (
L( (
L( (
y0 Im(
A( =arctg
x0 Re(
= Re 2 ( 2
- QGHN
G(s) = K (K>0)
ly
G(j
Biên A( vector G(j
Im( .
Pha:
Re(
Bode pha
hoành 20lgK
-
K 5 L(
15
5
Magnitude (decibels)
-5
-15
0.1 1 10 100 103 104 105 106 7 109
1410 108
Frequency (rad/sec)
Im 0
K 5 tan -1 (
Re
) tan -1 ( ) 0
5
90o
30o
Phase (degrees)
0o
-300
-90o
0.1 1 10 100 103 104 105 106 7 109
1510 108
Frequency (rad/sec)
- QGHN
G(s) = K (K>0)
- QGHN
:
K K -K
G(j
j
K
Biên A(
K=1
Khi A(
Khi = A( )=0
-
- QGHN
:
K K -K
G(j
j
K
Biên A(
K=1
0.1 0.2 0.4 0.5 0.7 0.8 0.9 Bode 1
pha
L( )db 20 14 8 6 3 2 1 0
Slope=6b/octave
Slope=20db/decade
- QGHN
Bode pha
:
K K -K
G(j
j
Im(
Pha:
Re(
/2.
G(j
K=1 L(
30
20
10
Magnitude (decibels)
0 20db
decade
-10
-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
=tan -1 ( )=-90o
0
180o
60o
Phase (degrees)
0o
-600
-900
-180o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
- QGHN
G(j
K=1
Biên A(
Im(
Pha:
Re( Bode pha
°
- QGHN
G(j
Biên A(
K=1
0.1 0.2 0.4 0.5 0.7 0.8 0.9 Bode1pha
Slope=6b/octave
Slope=20db/decade
K=1 L(
30
10
Magnitude (decibels)
20db
decade
0
-10
-20
-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
-1 o
0
180o
900
60o
Phase (degrees)
0o
-600
-180o
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
- QGHN
G(j
tung do
G(j
- QGHN
tính
Hàm : K là
T là
K K -KT
G(j 2 2 2 2
Tj
K
Re(
T2 2
-KT
Im(
T2 2
2 2 K - Bode pha
A(
T2 2
2
L(
L(
- QGHN
tính
Hàm : K là
T là
2
L(
=0: L( )=20lgK
=1/T: L( ) 20lgK
)=-
-
Bode pha
Khi <<1/T thì L( ) 20lgK
tính
Hàm : K là
T là
-KT
Im( T2 2
Pha:
Re( K
2 2
T
tính
Hàm : K là
T là
2 2 2 2
K 2 K K -KT
Re(
2 T2 2 2 2
=0 +
(K/2, j0).
- QGHN
K K(1-T 2 2
G(j
-T 2 2 2 2 2 2 2 2 2 2
K(1-T 2 2
Re(
(1-T 2 2 2 2
-2K
Im( 2 2 2 2
(1-T
K
Biên A( 2 2
(1-T 2 2 2 2
2 2 2 2
L(
- QGHN
=0: L( )=20lgK
=1/T: L( ) =20lg(K/2 )
)= -
2
ch n dA/d
2 2 2 K
A max =A( A(
ch (1-T 2 2 2 2
2
ch 1-2
0 0.707 max và L( ch) càng cao.
Khi 0 thì ch n, Amax L( ch)
- QGHN
K K(1-T 2 2
G(j
-T 2 2 2 2 2 2 2 2 2 2
K(1-T 2 2
Re(
(1-T 2 2 2 2
-2K
Im( 2 2 2 2
(1-T
Pha: Im(
2 2
Re(
- QGHN
=0:
Re( )=K, Im( )=0, ( )=0
= n=1/T:
Re( )=0, Im( )=-K/2 , ( )=-90°
-j
G(j
Re(
Bode pha
Im(
2 2
A(
Biên
L(
Pha: -sin
coswT
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