Dai hoc Bach Khoa TP,HCM DAP AN DE THI HQC KY 2. Nam hge 2016-2017 Khoa Dign — ign Tir Mon: Co sé diéu khién ty dong BQ mén DKTD Ngay thi: 23/5/2017 Ke Thoi gian lam bai: 120 phit (Sinh vién khéng duge phép sir dung tai li Bai 1.1 (1.04/ CDR2) z 2(K,+K,s) TBT : le ee) PTBT: 1+G,(8)G(s) Deano = 5° +55? +(442K,)s42K, =0 Ap dung hé qua Hurwitz cho hé bae 3 : fa, >0 0,3 aa, aya, >0 442K, >0 = 2K, >0 5(4+2K,)-2K, >0 Ky>-2 =>) K,>0 K, <5K, +10 Mién én dinh duge gigi han bi 3 duemg : K, =~2, K, = OK, 5K, +10 in hoge photo) 1.2 (1.5€/ CDR2) 1s ts Biéu dé Bode hé ho : G,(s) = G(s) G(s) (4) PCr) ese sl s43 Céc tin $6 gay: @=1/5=0.2 0, =3 (rad/ see) " @ =0.1 A: Pia ida la Tinh Bode pha : P(@) =-90? + arctan(Se)—arctan(w /3)— 180" 9 ay x [oe 0. 1 4 10 20 40 60 100 TO) 90 35 2112" | -147 | =2047 [320 | 434] 663 DO déc Bode bién : o(rad/sec) o<02 o<3 3 GM=-L()=-7 dB Kétludn, hg kin khong én dinh vi dM <0 va GM <0,: (sypes) fouenbay, £20 91="0 ,o La 5 OL TT T 5 D/P OZ= Se ee oe cent ee eee i i L weiBeiq epog ge 7 9 3 8 (Gap) eseyg a&& (gp) epniubew ° g 8 3Bai2: 2.1, (1.04 / CDR3) : Phuong trinh dac trung hé théng: acs i __ 8s+6) 14+G,(s)G(s)=0 khi_ G(s) =1,6(s) wens 4 88+6) s(s+1(s+5) 5° +65? +1384+48=0 Nehigm ca phuong trinh : him cia phurong trinh dpe trang: ae 72.997 = Cap ce quyét dinh: s, , = -0.368 + /2.997 => $=0.122;0, =3.02rad /s D6 votlé: POT =e7*' Thoi gian xéc lap(T/e 2%) : Tea 2.2. (2.04 / CDR4) i ‘Yéu cdu thiét ké nhiim cai thign dap tmg qua d6 (thay di vj tri cap eye quyét dinh) va gidm sai sé xac lap, do d6 G(s) 18 b6 diéu khién sém tré pha. GAS) = Goy(8).Gea(s) * Thiét ké b6 diéu khién G(s) sao cho hé kin c6 cap cye s,, =-2+ /3 Cae bude thiét ké: j ‘© Xée dinh gée pha edn bi: 9° =-180° ~arg(s+6)+args+ arg (s+1)+arg(s+5) =-180" -36.87° +123.69° +108.43° +.45° = 60.25° sot Chon b6 diu khién som pha : G.,(s)=K,, StL 6 nghém zero tai s = = 7, * Xée dinh cye cia khau higu chinh : * Ham truyén cia b§ digu khién : * Xéedinh K.,: K; pce 1053 1 gu chinh cdi é la: =1534 ‘Vay khau higu chinh edn thiét ké la: G,, (s) SataSau higu chinh sém pha : Ky = lim sGcy(3)G(s) = tim s1.53 88+) ss+427545 07° Dé sai s6 van téc la: ¢, 0.02 > K; =50 a ‘Str dung b9 diéu khién tré pha: Gry (s)=K,» Bh. 3B<1 Phuong trinh dac trung sau hiéu chinh sém tr? pha: 1+ Ge\(8)G¢3(s)G(s) = 0 stl S+0.1 8(5+6) 141.53 fry So een (FAO) Me 5+4.66 *'s+0.016 s(s+I)(s+5) => Ke, © 1.05 Ham truyén b6 digu khign tré pha: Gp, (s) = 1,050 $+0.016 Két ludn: Ham truyén b6 digu khién can thiét ké la: 541 )(_s+04 = Gey(s).Gex(s) = 1.6{ +1 }(_s+0.1_ Gel8) = Ger(s) Gea) (334) Bai 3: Cich 3.1 (LS d/ CDRA) Tim hy, hat ‘Dat bién trang thai nhw hinh ve, ¥(s) = Xi(s) > y(t) = x(t) 40-140 20-20) 5 BO=T3 U(s) > %, (8) = Su(t)-3x,(t)y=[l ox PTDT hé kin: det(s! — 4+ BK) =0 s <} = =a(| seaeae |? +(3+5k,)s-+ 5k, ‘Theo yéu cau thiét ké; & = 0.65, @,=4 phuong trinh dic trung mong muén: s? +5.2s + 16 = 0 Cn bing hé s6 2 PTDT: K=[k, &]=[32 044] 3.2 (0.5 d/ CDR4) Tinh ko: Ham truyén kin: G (8) = kC[s! — A+ BK}'B Dap img cia hé théng: ¥(3) = Gc (s)R(s) = kClsl - A+ BRKT" BR(s), Gia tri xée lap: >) = lim s¥(s skC{sI — A+ oxy 2) = kC[-4+ BKT'B = 0.3125k, 5 ma Sai s6 xée Ip biing 0 > y(c0) =1 Shea32 Gach 2 :Him truyén kin ciia hé théng (tinh dya vao so dé khéi): Ys) Sky Ges Rs) 8° +B+5k)s+5k, Phuong trinh de trung cita hé théng : 9° +B+5k)s+5k, =0 (a) Phuong trinh dac trung mong muén : °4+5.25+16=0 (2) 9° +2E0,5+02Déngnbit (1) va 2): K = [% &]=[B2 0.44] 3.2. Tinh= k, dée,, = 0: Khi tin higudatvaolahamndc ,désaisdbang 0 thi Shak al, S+B45k)8+5k 's Yu = lin s¥(s) = lig 5G, (8) R(s) =lims 4.1 (1d/ CRDI) z-1 5 0.9 Gola) = E=0 2086) 0.06 re rT => Go(z) li b6 diéu khién PD rai rae voi K, =0.9, K, =0.06. ~ Bigu thire quan hé gitta u(&) va ek): UG CO ae Bea 06S se gig! => u(k) = 1.5e(k) ~0.6e(k -1) 4.2 (0.54 / CRD2) ~ Phuong trinh dac trung ctia hé théng: 1+G.(z)G(z)=0 @ 2-052?-0.472+0.24=0 ~ PTDT c6 3 nghigm z, =-0.6886, z, = 0.5258, 2; = 0.6628 déu c6 |z,|<1 nén hé théng én din, 43 (1.04 / CDR3) Tinh y(&) (4-03), Tinh 49 vot 16 va sai s6 xéc lép Khi tin higu vao la ham née don vi. - Ham truyén ving kin ctia hé théng Ge(zZ)G(z) 0.92? ~ 0.962 +0.24 G@= OGG) Z 0.527 -0.472 +024 # 9K) =0.5y(k-)+ 0.47 y(k -2)—0.24y(k-3) + 0.9u(k —1) -0.96u(k -2) +0.24u(k -3) 6~ V6i dau vao him née dom vi: ¥(0)= 0: y(1) =0.9, y(2) = 039, y) = 0.7980 ~ Gia tri xdc Ip cia ng6 ra véi dau vao ham néc don vi: Yo = lit -21).G,(z).R(z) = im G,(z) Vay = 0.6667 ~ POT = Yam =Yst 1999, . 9.9=0.6667 jyoy, _ 359, 0.6667 ‘st + eg =u(k)— yy =1-0,6667 = 0.3333 ‘Thang diinh gié (Rubric): mire a6 dyt chuin dau ra mdi edu héi duge dénh gid qua S mie: [0 [Khong tim gi 1 [Lam sai phuong phap | -2_| Lam ding phuong phép, nhumg 66 nhigu sai s6t trong tinh todn 56 Ti 3_| Lam diing phuwong php, 06 vai sai s6t nhé trong tinh todn sb ligu 4 | Lim diing phuong phép, tinh todn s6 ligu ding hoan toan Cach chim diém, ghi diém: ~ Danh gié mi céu hoi dya vao thang danh gid 6 trén, 5 i ; Nhip s6 ligu vio file excel dinh kém: may tinh s ty tinh diém qui d6i, 06 thé copy & paste vao bang diém online; déng théi may tinh cling s@ tinh mite a9 dat chuan du ra ciia SV dé phe vu kiém dinh ABET.