Gi ng vin: Nguy n c Hong

B mn i u Khi n T ng
Khoa i n i n T
i H c Bch Khoa Tp.HCM
Email: ndhoang@hcmut.edu.vn
MN H C MN H C
C TNH NG H C
C TNH NG H C
CH NG 3 CH NG 3
N i dung ch ng 3
N i dung ch ng 3
3.1 Khi ni m
3.2 c tnh th i gian
3.3 c tnh t n s
3.4 c tnh ng h c c a cc khu
i n hnh
3.5 c tnh ng h c c a h th ng t
ng
3.6 Kh o st c tnh ng h c dng
MatLab
Khi ni m
Khi ni m
c tnh ng c a h th ng m t s thay i
c a tn hi u u ra theo th i gian khi c tc
ng u vo.
Tn hi u vo: hm xung n v
hm n c n v
hm i u ha
C 2 lo i: c tnh th i gian
c tnh t n s
c tnh th i gian
c tnh th i gian
Tn hi u vo: hm xung n v ho c hm
n c n v
r(t)
R(s)
c(t)
C(s)
Tn hi u vo: hm xung n v
( ) ( )
r t t
( ) ( ) ( ) ( )
( ) ( ) { } ( ) { } ( )
1 1
* C s R s G s G s
c t L C s L G s g t



g(t): p ng xung ho c hm tr ng l ng
c tnh th i gian
c tnh th i gian
Tn hi u vo: hm n c n v ( ) ( )
1 r t t
( ) ( ) ( )
( )
( ) ( ) { }
( )
( ) ( )
1 1
1
*
t
G s
C s R s G s
s
G s
c t L C s L g d h t
s





' )


h(t): p ng n c ho c hm qu
V d : c tnh th i gian
V d : c tnh th i gian
Cho h th ng: ( )
1
1
G s
s

+
( ) ( ) ( )
1 1 1
1
1
1
t
g t L G s L e
s

_


+
,
p ng qu
p ng xung
( )
( )
( )
1 1 1
1
1
1
t
G s
h t L L e
s s s

_
_




+
,
,
V d : c tnh th i gian
V d : c tnh th i gian
Matlab: G = tf([5],[1 5]); impulse(G); step(G)
p ng xung p ng qu
c tnh t n s
c tnh t n s
Tn hi u vo: hm i u ha
r(t)
R(s)
c(t)
C(s)
Tn hi u vo: hm sin ( ) ( )
1 1
sin
m
m
R
r t R t R s
s

+
( ) ( )
1 1
1
n
m i
i
i
R
C s G s
s s j s j s p



_
+ +

+ +
,

Gi s G(s) c n c c p
i
phn bi t th a: p
i

t j
c tnh t n s
c tnh t n s
( ) ( )
( )
1
1
i
n
p t j t j t
i
i
c t L C s e e e

+ +

N u h th ng n nh th: Re{p
i
} < 0
1
lim 1
i
n
p t
i
t
i
e

( )
j t j t
xl
c t e e

+
( ) ( ) ( )
( )
sin
xl m
c t R G j t G j +
Tn hi u ra xc l p l hnh sin cng t n s .
c tnh t n s
c tnh t n s
Tn hi u ra xc l p l hnh sin cng t n s .
G
G
(
(
s
s
)
) G
G
(
(
s
s
)
)
r r( (t t) = ) = A A sin( sin(

t t) )
c c( (t t) = ) = |G( |G(

t t)| )| A A sin( sin(

t + t +

) )
c tnh t n s
c tnh t n s
nh ngh a: c tnh t n s =
( )
( )
C j
R j

T ng qut: G(j) l hm ph c
( ) ( )
s j
G j G s

( ) ( ) ( ) ( )
( )
j
G j P jQ M e

+
( ) ( ) ( ) ( )
( ) ( )
( )
( )
1 1
M G j P Q
Q
G j arctg
P

+
_



,
c tnh t n s
c tnh t n s
C 2 d ng th bi u di n c tnh t n s :
Bi u Bode
Bi u Nyquist
Bi u Bode bin : bi u di n L( ) theo
V i L( ) = 20logM() (dB)
Bi u Bode pha: bi u di n () theo
Cn g i l ng cong Nyquist: bi u di n
G(j) theo trong h t a c c khi = 0
.
V d : c tnh t n s
V d : c tnh t n s
Cho h th ng:
( )
1 1
1
G s
s s s

+ +
Bi u Bode:
G=tf([1],[1 1 1
0]);
bode(G);
ho c
bode(G,
{0.01,100});
V d : c tnh t n s
V d : c tnh t n s
Cho h th ng:
( )
1 1
1
G s
s s s

+ +
Bi u
Nyquist:
G=tf([1],[1 1 1
0]);
nyquist(G);
c tnh ng h c
c tnh ng h c
c a cc khu i n hnh
c a cc khu i n hnh
-
Khu t l
-
Khu tch phn l t ng
-
Khu vi phn l t ng
-
Khu qun tnh b c nh t
-
Khu s m pha b c nh t
-
Khu dao ng b c hai
-
Khu tr
Khu t l
Khu t l
Hm truy n: ( )
G s K
c tnh t n
s :
( )
G j K
Bin
:
( ) ( ) ( )
log 11 M K L K
Pha:
( )
1
Khu t l
Khu t l
Bi u Bode:
Khu tch phn l t ng
Khu tch phn l t ng
Hm truy n:
( )
1
G s
s

c tnh t n
s :
( )
1
G j
j

Bin
:
( ) ( ) ( )
1
log 11 M L

Pha:
( )
1
11
Khu tch phn l t ng
Khu tch phn l t ng
Bi u Bode:
Khu vi phn l t ng
Khu vi phn l t ng
Hm truy n: ( )
G s s
c tnh t n
s :
( )
G j j
Bin
:
( ) ( ) ( )
log 11 M L
Pha:
( )
1
11
Khu vi phn l t ng
Khu vi phn l t ng
Bi u Bode:
Khu qun tnh b c nh t
Khu qun tnh b c nh t
Hm truy n:
( )
1
1
G s
Ts

+
c tnh t n
s :
( )
1
1
G j
j T

+
Bin
:
( )
( )
( ) ( )
1 1
1
1
1 1 1
1
log 1 11
M
T
T M L
T M L T
T

+
<<
>>
Pha: ( ) ( )
arctg T
Khu qun tnh b c nh t
Khu qun tnh b c nh t
Bi u Bode:
Khu s m pha b c nh t
Khu s m pha b c nh t
Hm truy n: ( )
1 G s Ts +
c tnh t n
s :
( )
1 G j j T +
Bin
:
( )
( )
( ) ( )
1 1
1
1 1 1
log 1 11
M T
T M L
T M T L T



+
<<
>>
Pha:
( ) ( )
arctg T
Khu s m pha b c nh t
Khu s m pha b c nh t
Bi u Bode:
Khu dao ng b c hai
Khu dao ng b c hai
Hm truy n:
( )
1 1
1
, 11
1 1
G s
T s Ts

< <
+ +
c tnh t n
s :
( )
1 1
1
1 1
G j
T Tj

+
Bin
:
( )
( )
( )
( ) ( )
1
1 1 1 1 1
1 1
1
1 1
1 1 1
1
log 1 11
M
T T
T M L
T M L T
T

+
<<
>>
Pha:
( )
1 1
1
1
T
arctg
T

,
Khu dao ng b c hai
Khu dao ng b c hai
Bi u Bode:
Khu tr
Khu tr
Hm truy n: ( )
Ts
G s e

c tnh t n
s :
( )
jT
G j e

Bin
:
( ) ( )
1 1 M L
Pha:
( )
T
Khu tr
Khu tr
Bi u Bode:
c tnh t n s c a h
c tnh t n s c a h
th ng
th ng
Xt h th ng c hm truy n:
( ) ( )
1
k
i
i
G s G s

c tnh t n
s :
( ) ( )
1
k
i
i
G j G j

Bin
:
( ) ( ) ( )
( ) ( ) ( )
1 1
1 1
log 11
k k
i i
i i
k k
i i
i i
M G j M
L M L








Pha:
( ) ( )
1
k
i
i

PP v g n ng bi u
PP v g n ng bi u
Bode
Bode
Vi t hm truy n d ng:
( ) ( )
1
k
i
i
G s Ks G s

Cc G
i
(s) l cc khu c b n, l s khu
tch phn l t ng n u < 0, n u > 0 th h
th ng c khu vi phn l t ng.
Tm t t c cc t n
s gy:
Xc nh i m
A:
1 1 1
1
, ...
i k
i
T
< < <
( ) ( ) ( )
1 1
1 1
log log 11 11 L K


<

'
+

PP v g n ng bi u
PP v g n ng bi u
Bode
Bode
Qua A v ng th ng c d c 20 dB/dec,
ko di t i t n s gy
1
T i t n s gy
1
, d c c c ng thm
-20dB/dec n u c 1 khu qun tnh b c nh t
ho c -40dB/dec n u c 1 khu dao ng b c
2,. r i ko di n t n s gy ti p theo.
Qu trnh l p l i cho n h t cc t n s gy
PP v g n ng bi u
PP v g n ng bi u
Bode
Bode
i v i Bode pha, ta l p b ng. Tnh cc gc
t i m t s t n s r i n i l i

1

2

3
..
k
()
V d
V d
V Bode h th ng c hm truy n:
( )
( )
( ) ( )
1
11 1
1 11
s
G s
s s s
+

+ +
V d
V d
Tiu chu n n nh Bode
Tiu chu n n nh Bode
d tr bin v d tr pha:
M
GM

-
G(s)
H(s)
R(s) C(s)
+
+
-
-
Tiu chu n n nh Bode
Tiu chu n n nh Bode
Xt h th ng vng kn sau :
( ) ( ) ( ) ( )
k h
GM 0
G s ondinh G s G s H s co
M 0
>

'
>

H th ng vng kn n nh n u h h c
d tr bin v d tr pha d ng.
V bi u Bode
V bi u Bode
( ) ( )
( ) ( )
( ) ( )
( )
1
11
a) G(s)
s . s . s 111 111
111
b) G(s)
(s . ) s s 11 1 11
(s ) 11 1
c) G(s)
s s s 1 11
. 11
d) G(s)
s s s 1

+ +

+ + +
+

+ +

+ +
V bi u Bode
V bi u Bode
s
2
s
2
2
100e
e) G(s)
s(s 10s 50)
100e
f ) G(s)
s(s 10s 100)
10(s 5)
g) G(s)
s(s 5s 5)

+ +

+ +
+

+ +