1.

Xac inh ham truyn cua h

Ta co s 2:
W2
x

Y
W4

W1
W3
W5

W6
W7

Vi cac thng s cua h nh sau:

20

15

W1 = (5 + 0.3 p)2

W5 = p
3

W6 = 20(0,5 + 0, 05 p)

W2 = 0,152 p 2 + 2.0, 68.0,15 p + 1

2

W3 = p

W7 = 1 + 0, 0004 p
8

W4 = (10 + 0,8 p)2

- thay Wtd1=(w2 song song w3) ta c s tng ng:
3

0045 p 2 + 3408 p + 2

vi Wtd1= 0,152 p 2 + 2.0, 68.0,15 p + 1 + p =

00225 p 3 + 0204 p2 + p
U

Y
W4

Wtd1

W1

W5

W6
W7

Sinh vin: Nguyn Chi Lun

MSSV:11110740328

- S tng ng khi thay Wtd2=W1 ni tip Wtd1 ni tip W4

Vi

Wtd2=

72 p 2 + 5453 p + 320
0001296 p 7 + 008735 p6 + 2.386 p5 + 34 p4 + 272 p3 + 1210 p2 + 2500 p

Y
Wtd2

W5

W6
W7

- S tng ng khi thay Wtd3 = W5 ni tip W6

vi Wtd3 =

15 p + 150
p

Y
Wtd2
Wtd3
W7

- Chuyn Wtd3 v b cng trc thay Wtd4 = Wtd3 ni tip 1/Wtd2

=
0, 01944 p 7 + 1,505 p 6 + 48,89 p5 + 867,9 p 4 + 9181 p3 + 5,896.104 p 2 + 219000 p + 375000
7, 2 p 2 + 545,3 p + 320

Ta c:

Sinh vin: Nguyn Chi Lun

MSSV:11110740328

Y
Wtd2
Wtd4
W7

- S tng ng khi thay Wtd5 = Wtd4 song song W8 (W8=1)

Vi Wtd5 =
0, 01944 p 7 + 1,505 p6 + 48,89 p5 + 867,9 p4 + 9181 p3 + 5,896.104 p 2 + 219500 p + 375320
=
7, 2 p 2 + 545,3 p + 320

U
Wtd4

Wtd2
W7

- S tng ng khi thay Wtd6 = Wtd2 phan hi vi W7

Vi Wtd6=
0, 00288 p 3 + 7, 418 p 2 + 545, 4 p + 320
5,184.107 p8 + 0, 001331 p7 + 0, 0883 p6 + 2,399 p5 + 34,11 p4 + 272,5 p3 + 1218 p2 + 3045 p + 320

U
Wtd4

Wtd6

- Ta c WHT = Wtd6 ni tip vi Wtd5

Ham truyn cua h la: WHT =

2
5 , 5 9 9 .1-5 01 0 p + 0 ,1 4 89 5 p + 2 1 , 98 1 p + 1 1 97 2 p + +5 ,35,7336.11 .104 06p p + 5 , 76 24 3 .1 50 5 p + 3 , 76 73 3 .1 0 p + +2 1, 7, 845 1.1
40.1 p0 +p1 , 2 08
6 2
63
3 , 7 3 2 .1-6 01 0 p + 0 , 0 0 9 8 69 5 p + 1 , 3 68 2 p + 6 5 , 827 5,1p3 3+.1105 86p2 p+ 1+, 65 8 3 .1 04 5p + 7 ,+75 23 ,40.15 03 4.1
p 0 p + 1 ,1 4 9 .1
0 p+

2.Xet n inh cho h theo tiu chun huarwits

Ta co ham truyn cua h thng co dang:
Sinh vin: Nguyn Chi Lun

MSSV:11110740328

WHT=

B( p)
A( p )

T ham truyn cua h va tim c ta rut ra c phng trinh c tinh A(p) cua
h:A(p) =

-6 10
445
3 , 73 2 .10
p + 0 , 0 09 8 6 95 p + 1 , 36 82 p + 65 , 8 75 p 2 ,1
+ 13 53 82
.16 0p p+ + 1 , 6 853.1
0 p + 7 , 7 35 4 3.1 0 p + 2 , 10 ,1
56 3.1
42 9 .1
0 60p p++ 1 02 4

Ta thit lp c inh thc huarwits (10x10) t cac h s ai cua phng trinh c

tinh A(p) nh
a1 a3 a5 a7 a9 0
0
0
0
0
sau:
a0 a2 a4 a6 a8 a10 0
0
0
0
0
a1 a3 a5 a7 a9 0
0
0
0
0
a0 a2 a4 a6 a8 a10 0
0
0
0
0
a1 a3 a5 a7 a9 0
0
0
10 =
0
0
a0 a2 a4 a6 a8 a10 0
0
0
0
0
a1 a3 a5 a7 a9 0
0
0
0
0
a0 a2 a4 a6 a8 a10 0
0
0
0
0
a1 a3 a5 a7 a9 0
0
0
0
0
a0 a2 a4 a6 a8
a10
Trong o:
a0=3,732.106
a6=
1.683.105
a1= 0,009865
a7=7,734.105
a2= 1,362
a8=
2,053.106
a3= 65,85
a4= 1582
a5= 2,133.104

a9= 1,149.106
a10=102400

- Xet n inh theo tiu chun huarwits:

+ iu kin cn: tt ca cac h s cua phng trinh c tinh ai (i=010) dng c
thoa man.
+ iu kin
a1 a3 a5 a7 a9 0
0
0
0
0
u: cac gia
a0 a2 a4 a6 a8 a10 0
0
0
0
tri inh thc
0
a1 a3 a5 a7 a9 0
0
0
0
huarwits u
0
a0 a2 a4 a6 a8 a10 0
0
0
dng
0
0
a1 a3 a5 a7 a9 0
0
0
Ta co:
0
0
a0 a2 a4 a6 a8 a10 0
0
0
0
0
a1 a3 a5 a7 a9 0
0
0
0
0
a0 a2 a4 a6 a8 a10 0
4
Sinh vin: Nguy
n
Chi
Lu
n
0
0
0
0
a1 a3 MSSV:11110740328
a5 a7 a9 0
0
0
0
0
a0 a2 a4 a6 a8
a10

10 =

Det(10) =6,721497845607893.1034 >0 thoa man

9 =

a1
a0
0
0
0
0
0
0
0

a3
a2
a1
a0
0
0
0
0
0

a5
a4
a3
a2
a1
a0
0
0
0

a7
a6
a5
a4
a3
a2
a1
a0
0

a9
a8
a7
a6
a5
a4
a3
a2
a1

0
a10
a9
a8
a7
a6
a5
a4
a3

0
0
0
a10
a9
a8
a7
a6
a5

0
0
0
0
0
a10
a9
a8
a7

0
0
0
0
0
0
0
a10
a9

Det(9) =

6,563962739851458.1029 >0 thoa man

a1 a3
a0 a2
0
a1
0
a0
8 =
0
0
0
0
Sinh vin: Nguyn Chi0Lun 0
0
0

a5
a4
a3
a2
a1
a0
0
0

a7
a6
a5
a4
a3
a2
a1
a0

a9 0
0
0
a8 a10 0
0
a7 a9 0
0
a6 a8 a10 0
a5 a7 a9 0
a4 a6 a8 a10
a3 MSSV:11110740328
a5 a7 a9
a2 a4 a6 a8

Det(8) =
5,941124981342454.
1023 >0 thoa man

7 =

Det(7) =
3,576988125762979.
1017 >0 thoa man

6 =

Det(6) =
9,033684903968237.
1011 >0 thoa man

5 =

Det(5) =
9,709705973718060.
106 >0 thoa man
4 =

a1
a0
0
0
0
0
0

a3
a2
a1
a0
0
0
0

a5
a4
a3
a2
a1
a0
0

a7
a6
a5
a4
a3
a2
a1

a9
a8
a7
a6
a5
a4
a3

0
a10
a9
a8
a7
a6
a5

a1
a0
0
0
0
0

a3
a2
a1
a0
0
0

a5
a4
a3
a2
a1
a0

a7
a6
a5
a4
a3
a2

a9
a8
a7
a6
a5
a4

0
a10
a9
a8
a7
a6

a1
a0
0
0
0

a3
a2
a1
a0
0

a5
a4
a3
a2
a1

a7
a6
a5
a4
a3

a9
a8
a7
a6
a5

a1
a0
0
0

a3
a2
a1
a0

a5
a4
a3
a2

a7
a6
a5
a4

Sinh vin: Nguyn Chi Lun

0
0
0
a10
a9
a8
a7

MSSV:11110740328

Det(4) =7,716832199534566.102 >0 thoa man

3 =

a1
a0
0

a3
a2
a1

a5
a4
a3

Det(3)

=0,71541423529940 >0 thoa man

2 =

a1
a0

a3
a2

Det(2) =
0,01319037780000 >0 thoa man
1 = a1= 0,009865 >0 thoa man
0 = a0= 3,732.106 >0 thoa man
Kt lun:
Vy ca hai iu kin cn va u u c thoa man, theo tiu chun huarwits h
thng a cho n inh.
3. Phn vung n inh cho h thng K2 trong W2 :
- a s h thng iu khin v dang s kin vi phan hi (-1).
U

Y
Wh(p)

T s h thng (vi K2 la n s) bin i h v dang trn ta c WK nh sau:

WK =
7, 2 p 2 + (65, 28 + 160k ) p + 320
1, 296.103 p 7 + 0, 0873504 p6 + 2,38554 p5 + 34, 002 p4 + 272, 05 p3 +1217, 2 p2 +(2565, 28 +160 k) p +320

Sinh vin: Nguyn Chi Lun

MSSV:11110740328

Ta co h co phng trinh c tinh nh sau:

A(p) = 1, 296.10 3 p 7 + 0.0873504p 6 2.38554
+
p 5 34.002
+p

272.05
p+

1217.2
p 28+2 16
(2565.
0k ) p 320+

Ta co thng s bin i trong h la k. Vit phng trinh v dang:

A(p)=N(p)+k(M(P)
Ri rut k ra ta c:
k=
1, 296.103 p 7 + 0.0873504 p6 + 2.38554 p5 + 34.002 p4 + 272.05 p3 + 1217.2 p2 + 2565.28 p + 320
160 p

Thay p = j va tach k = R( ) +j. I( ) ta c:

R( ) = 8,1.106 6 + 0.0149 4 1.7003 2 + 16.033
I( ) = 5, 4594.104 5 0.2125 3 + 7.6075

20

Cho bin thin t - + ta lp c bang bin thin sau:

-
-6,5
-3,2
0
3,2

R( )
-30
0
16,033
0

I( )
-
0
-11
0
11

6,5
-30
0

+
-
+

T bang bin thin ta ve c ng cong gii han k.

Iw
II
IIII

11

I
-30

16

Rw

-11

Cho = - + gach soc bn trai ng cong vung c gach soc toan b la

vung n inh nht. T hinh ve ta co th kt lun vung II la vung n inh nht.
Th lai :
- cho k = 0.giai phng trinh c tinh A(p) cua h
A(p)=
1, 296.103 p 7 + 0, 0873504 p6 + 2,38554 p5 + 34, 002 p4 + 272, 05 p3 + 1217, 2 p2 + 2565, 28 p + 320

Ta c cac nghim nh sau:

-19.2046069021845
-14.8954529856173

3.8241655989792i

Sinh vin: Nguyn Chi Lun

MSSV:11110740328

-14.8954529856173 3.8241655989792i
-9.20412330410694
-4.533741769863
+ 4.88822775816092i
-4.533741769863
4.88822775816092i
-0.13288028274797
D thy tt ca u co phn thc m. Nh vy vung a xet n inh.
Vy khoang bin thin cua thng s k ma h n inh la: -30 < k < 16.033
4.Hiu chinh h thng bng phng phap mdun ti u
T s thng s cua h:
W2
x

Y
W4

W1
W3
W5

W6
W7

Vi cac thng s cua h nh sau:

20

15

W1 = (5 + 0.3 p)2

W5 = p
3

W6 = 20(0,5 + 0, 05 p)

W2 = 0,152 p 2 + 2.0, 68.0,15 p + 1

2

W3 = p

W7 = 1 + 0, 0004 p
8

W4 = (10 + 0,8 p)2

- Hiu chinh cac khu ta co:
k1

20

0,8

+ W1 la khu quan tinh W1 = T p + 1 = (5 + 0.3 p)2 = (1 + 0.012p)2

1
Sinh vin: Nguyn Chi Lun

MSSV:11110740328

vi 0,001(s) < T1 < 0,1(s) nn theo quy inh co th thay th bng mt khu tng
0,8

ng cung la khu quan tinh vi hng s thi gian t=2T1taco: W1 = 1 + 0.024p

k4

0, 08

k7

0, 08

0, 08

+ W4 = T p + 1 = (1 + 0, 008 p)2 = (1 + 0, 008 p)2 thay tng ng vi W4 = 1 + 0.016p

4
+ W7 = T p + 1 = 1 + 0, 0004 p vi hng s thi gian T7 =0,0004 < 0,001(s)
7
nn theo quy inh ta co th bo qua hng s thi gian T7 cua W7 nh vy W7 = 1
khi o W7 tr thanh phan hi n vi trong s h thng.
Cac khu con co hng s thi gian > 0,1 giy theo nh quy inh ta gi nguyn d
khao sat.
Sau khi hiu chinh cac khu ta co s h thng vi cac thng s mi a c
hiu chinh nh sau:
W2
x
U
Y
W4
W1
W3
W5

W6

- Bin i tng ng s tim Wh(p), d dang a s h thng v dang:

U
Wbk

WH(p
)

Vi WH(p) = W1 ni tip vi (W2 song song W3) ni tip vi W4

Sinh vin: Nguyn Chi Lun

MSSV:11110740328

10

= W1( W2 + W3) W4
0,8

0, 08

= 1 + 0,024p ( 0,152 p 2 + 2.0, 68.0,15 p + 1 + p ) 1 + 0,016p

0,8
0, 08
0, 045 p 2 + 3, 408 p + 2
= 1 + 0,024p
1 + 0,016p
3
2
0, 0225 p + 0, 204 p + p

2 2
p (1 +0,024p )(0,15 p+
2.0,68.0,15
+ p +1)(1 0,016p )
2 2
0,128.(0,15 p 2.5,68.0,15
+
+1).2
p
.(1
+
p ) p

Ta tim c ham truyn h h WH(p) dang cac khu c ban nh trn.

Ta phai tim khu hiu chinh WHC(p) sao cho ham truyn h thng kin WK(p) vi
phan hi (-1).
Y

WHC (p)

WH(p)

WK(p)
1

thoa man iu kin chun: WK(p) = 2 2 p 2 + 2 p + 1

WH (p ).WHC p(

WK (p

theo s ta co: WK(p) = 1 +W p .W p

suy ra WHC(p) = W p .[1 W p ]
H ( )
HC ( )
H ( )
K ( )
1

thay WK(p) = 2 2 p 2 + 2 p + 1 vao ta c WHC(p) = W ( p ) .2 p.(1 + p)

H
Vy ta co c:
p (1 +0,024 p )(0,15 p2+ 2 2.0,68.0,15+p 1)(1
+ 0,016 p )
WHC(p) =
2 2
0,128.(0,15 p +
2.5,68.0,15 +p1).2 .(1
p+ ) p

thit b hiu chnh n gin ta chon trng vi hng s thi gian no ca WH

c th gin c c (b khu c hng s thi gian ln).
Ta thy T = 0,15 l ln nht
T=0,016 l nh nht
Chn =0,016 ri thay vao biu thc cua WHC(p) ta thu c khu hiu chinh theo
phng phap modul ti u:
(1 + 0, 024 p )(0,152 p 2 + 2.0, 68.0,15 p + 1)
WHC(p) =
=
0,004096.(0,152 p 2 + 2.5, 68.0,15 p + 1)

244.(1 + 0, 024 p )(0,152 p 2 + 2.0, 68.0,15 p +1)

(0,152 p 2 + 2.5, 68.0,15 p + 1)

5.anh gia cht lng cua h theo phng phap ai s

Sinh vin: Nguyn Chi Lun

MSSV:11110740328

11

Sau khi hiu chinh h thng ta thu c:

1

WK(p) = 2 2 p 2 + 2 p + 1 vi =0,016 nn ta co: WK(p) = p . 0, 000512 p 2 + 0, 032 p + 1

Khi o ta co ham anh
1

H(p) = p . WK(p) = p . 0, 000512 p 2 + 0, 032 p + 1

+ Xac inh ham qua h(t)
Theo khai trin Hvisai ta co:
1

A0

A1

A2

F1 ( P )

H(p) = P . 0, 000512 p 2 + 0, 032 p + 1 = P 0 + P P + P P = F ( P)

1
2
2
2
Giai phng trinh 0,000512p + 0,032p + 1 = 0
Ta c 2 nghim phc lin hp p1= - 31.25 + 31.25i va p2= - 31,25 - 31,25i
Ta c:
A0

A1

A2

H(p) = P 0 + P (31.25 + 31.25i) + P (31.25 31.25i) = H1(p) + H2(p)

Ta co:
F1(p) = 1
F2(p) = 0,000512p3+0,032p2+p ; F2(p)= 0,001536p2+0,064p+1
F2(0)=1
F (0)
A0 = 1'
= 1 31,25+31,25i)=0,001536(F2(F
(0)
2
2
31,25+31,25i) +0
,064(-31,25+31,25i)+1= -1-i
Ta tim c:

A1 =

F1 (31, 25 + 31, 25i)

1
2
=
= 0,
5 +0, 5i = ej135
'
F2 (31, 25 + 31, 25i) 1 i
2

Vy hm gc ca H(P) l:

2 5t
o
e . .cos(5
t+ 135
)
2
o
h(t) =1(t)[1+ 2.
e5t .(cos(5
t ).cos(135
) sin(5
tin(135
).s ))]o
h(t) =1(t)[1+2.

h(t) =1(t)[1 - e5t .(cos(5t +) sin(5t ))]

+ Khao sat ham qua h(t) vi t=0
h(0) = 0
t =0,6 h(1) = 1,04265152716361
t =1,9 h(2) = 1,00008262614102
t =3,2 h(3) = 1,00000015017077
t =4,4 h(4) = 1,00000000030094
t =5,7 h(5) = 1,00000000000055
t =6,9 h(6) = 1
t =(7 ) h(t) = 1
Ta ve c th ca hm qu h(t) nh sau :
Sinh vin: Nguyn Chi Lun

MSSV:11110740328

12

- thi gian qu :
Ta co tai t = 0,5(s) thi h(t) = 1,01676368121048 thi c tinh qua cua h thng
a i vao va nm trong vung gii han cho phep (3% yxl = 0,03).
Vy 0 < tq < 0,5 (s)
- qu iu chnh:

max =

hmax hxl
1,04265152716361 1
.100% =
.100%
hxl
1

Sinh vin: Nguyn Chi Lun

MSSV:11110740328

4, 265%

13