Ging vin: Nguyn c Hong

B mn iu Khin T ng
Khoa in in T
i Hc Bch Khoa Tp.HCM
Email: ndhoang@hcmut.edu.vn

MN HC
M HNH TON HC
H THNG LIN TC
CHNG 2

Mc ch ca m hnh trong h thng
iu khin :
M hnh ton ca h thng l c s phn
tch v thit k cc h thng iu khin.
M hnh chi tit cho php kim tra cht lng
ca h thng iu khin thng qua m phng,
trc khi thc thi h thng thc.
M hnh phn t in
i
+
v
_
i
+
v
_
i
+
v
_
in p/Dng in
in cm
in tr
in dung
di
v L
dt
=
2
2
d q
v L
dt
=
dq
v R
dt
=
q
v
C
=
1
v idt
C
=
}
v Ri =
in p/in tch
M hnh phn t c
M
x
f
x
B
f
f
x
Lc/vn tc Lc/v tr
Khi vt
Ma st
nht
L xo
dv
f M
dt
=
2
2
d x
f M
dt
=
f Bv =
dx
f B
dt
=
f kx =
f k vdt =
}
M hnh phn t c
T, u
J
B
T, u
T, u
s
Momen/vn tc Momen/v tr
Qun tnh
Ma st
nht
cng

d
T J
dt
e
=
2
2
d
T J
dt
u
=
T B = e
d
T B
dt
u
=
T s = u
T s dt = e
}

i
v
i

v
o

R
( )
( )
0
i
V s
1
, RC
V s 1 s
= t =
+ t

( )
( )
f
0
i i
1
R
V s
sC
V s R
+
=
i
v
i

v
o

R
i

R
f
C
_
+

s
f kx =
u(t)
x(t)
M
B
k
Lc l xo
Lc trt
b
dx
f Bv B
dt
= =
Hp lc
s b
u f f =
2
s b
d x
M u f f
dt
=
2
d x dx
M kx B u
dt dt
+ + =

( )
( )
2
X s
1
U s Ms Bs k
=
+ +
u(t)
x(t)
M
B
k
( )
( )
m m 1
0 1 m 1 m
n n 1
0 1 n 1 n
C s
b s b s ... b s b
G(s)
R s a s a s ... a s a

+ + + +
= =
+ + + +
N: Hm truyn ca h thng l t s gia bin i
Laplace ca tn hiu ng ra vi ng vo khi iu kin
u bng 0.
NX: Hm truyn ca h thng khng ph vo tn hiu
vo ra m ph thuc vo cu trc v tham s h
thng.

( )
( )
2
td 1 2
1
Y s
G (s) G G
U s
= =
H thng ni tip

( )
( )
td 1 2
Y s
G (s) G G
U s
= = +
H thng song song

( )
( )
1
td
1 2
Y s
G
G (s)
U s 1 G G
= =
+
Hm truyn hi tip m

i vi cc h thng phc tp, nhiu vng hi tip ta
thc hin cc php bin i tng ng s khi
lm xut hin cc dng n gin.
Hai s khi c gi l tng ng nu chng c
quan h gia tn hiu vo v tn hiu ra nh nhau.
Bin i tng ng s khi
Chuyn im r nhnh ra sau khi
Bin i tng ng s khi

Chuyn im r nhnh ra trc khi
Bin i tng ng s khi

Chuyn b tng ra sau khi
Bin i tng ng s khi

Chuyn b tng ra trc khi
Bin i tng ng s khi

Tm hm truyn tng ng ca h thng sau
V d 1
Chuyn im r nhnh ra sau khi
V d 1
Kh b tng
V d 1
n gin phn t ni tip
V d 1
n gin vng hi tip trong
V d 1
n gin vng hi tip trong
1 2
1 2 3 1 2
G (G 1)
G(s)
1 G G G G (G 1)
+
=
+ + +
V d 1
Tm hm truyn tng ng ca h thng sau
V d 2
Tm hm truyn tng ng ca h thng sau
V d 3
1 2 3 4
3 4 1 2 3 2 1 2 3 4 3
G G G G
G(s)
1 G G H G G H G G G G H
=
+ +
Tm hm truyn tng ng ca h thng sau
V d 4
1 2
2 1 1 2
C (s) C (s)
?, ?
R (s) 0 R (s) 0 R (s) R (s)
= =
= =