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
NH GI TNH N NH
CA H THNG
CHNG 4

4.1 Khi nim n nh
4.2 Cc tiu chun n nh i s
iu kin cn
Tiu chun Routh
Tiu chun Hurwitz
4.3 Phng php qu o nghim s (QNS)
Khi nim QNS
Phng php v QNS
Xt tnh n nh dng QNS
4.4 Tiu chun n nh tn s
Khi nim c tnh tn s
c tnh tn s ca cc khu c bn
c tnh tn s ca h thng t ng

nh ngha
Qy o nghim s (QNS) l tp hp tt c cc nghim
ca PTT ca h thng khi c mt thng s no
trong h thng thay i t 0

V d QNS
c
K
G (s)
s
=
1
G(s)
s 4
=
+
G(s) G
c
(s)
R(s) C(s)
+
-
Xt h thng sau
PTT ca h thng l
c
2
K 1
1 G (s)G(s) 1 0
s s 4
s 4s K 0
+ = + =
+
+ + =

V d QNS
Nghim ca PTT ng vi vi gi tr K khc nhau
K Nghim
0 s = 0, -4
4 s = -2 j0
8 s = -2 j2
16 s = -2 j3.26

Quy tc v QNS
Bin i PTT v dng
N(s)
1 K 0 (1)
D(s)
+ =
t
0
N(s)
G (s) K
D(s)
=
Gi n, m ln lt l s cc, zero ca G
0
(s)
0
0
0
(1) 1 G (s) 0
G (s) 1
G (s) (2l 1)
+ =
=

Z = + t

Quy tc v QNS
QT1: S nhnh ca QNS = n
QT2:
Khi K = 0 cc nhnh ca QNS xut pht t cc
cc G
0
(s)
Khi K , m nhnh ca QNS tin n m zero
ca G
0
(s), n-m nhnh cn li tin v theo cc tim
cn xc nh bi QT5 v QT6.
QT3: QNS i xng qua trc thc
QT4: Mt im trn trc thc thuc QNS nu tng
s cc v zero ca G
0
(s) bn phi n l s l

Quy tc v QNS
QT5: Gc to bi cc tim cn ca QNS vi trc thc
QT7: im tch nhp (nu c) ca QNS l nghim
ca PT:
(2l 1)
(l 0, 1, 2,...)
n m
+ t
o = =

QT6: Giao im gia cc tim cn vi trc thc (A)

n m
i i
i 1 i 1
p z
OA
n m
= =

dK
ds
= 0

Quy tc v QNS
QT8: Giao im ca QNS vi trc o c xc nh
bng cch p dng tiu chun Routh-Hurwitz hoc thay
s = je vo PTT
QT9: Gc xut pht ca QNS ti cc phc p
j

m n
0
j j i j i
i 1 i 1,i j
180 arg(p z ) arg(p p )
= = =
u = +


V d 8
V QNS ca h thng sau khi a = 0 +
c
s a
G (s)
s 8
+
=
+
10
G(s)
s(s 1)
=
+
G(s) G
c
(s)
R(s) C(s)
+
-
c
s a 10
1 G (s)G(s) 0 1 0 )
s 8 s(s 1)
| | +
| |
+ = + = (1
| |
+ +
\ .
\ .
PTT ca h thng
3 2
10
1 a 0
s 9s 18s
+ =
+ +
Cc cc: p
1
= 0, p
2
= -3, p
3
= -6

V d 8
Tim cn
/ 3 (l 1)
(2l 1)
/ 3 (l 0)
3 0
(l 1)
1
2
3
o = t =

+ t
o = = o = t =

o = t =

n m
i i
i 1 i 1
p z
OA
n m
= =

0 36 0
= = = 3
30

im tch nhp
3 2 2
s 9s 18s da 3s 18s 18
(1) a
10 ds 10
+ + + +
= =
1
2
s 3 3 1.2679
da
0
ds
s 3 3 4.7321

= + =

=

= =

Loi

V d 8
Giao im QNS vi trc o
3 2
(1) s 9s 18s 10a 0 (2) + + + =
1
2
3
s i3 2
s i3 2
s 9

Dng tiu chun Hurwitz a

gh
= 16.2
Thay a
gh
= 16.2 vo (2), ta c cc giao im
C th thay s = je vo (2) tm cc giao im ny.

V d 8

V d 9
V QNS ca h thng sau khi K = 0 +
c
K
G (s)
s
=
2
1
G(s)
s 4s 13
=
+ +
G(s) G
c
(s)
R(s) C(s)
+
-
c
2
K 1
1 G (s)G(s) 0 1 0 )
s s 4s 13
| || |
+ = + = (1
| |
+ +
\ .\ .
PTT ca h thng
3 2
1
1 K 0
s 4s 13s
+ =
+ +
Cc cc: p
1
= 0,
p
2
= -2+3i, p
3
= -2-3i

V d 9
Tim cn
/ 3 (l 1)
(2l 1)
/ 3 (l 0)
3 0
(l 1)
1
2
3
o = t =

+ t
o = = o = t =

o = t =

n m
i i
i 1 i 1
p z
OA
n m
= =

4
= =
3

im tch nhp
3 2 2
dK
(1) K s 4s 13s 3s 8s 13
ds
= =
1
2
s 1.333 1.5986i
dK
0
s 1.333 1.5986i ds
= +

=

=

Khng c im
tch nhp

V d 9
Giao im QNS vi trc o
3 2
(1) s 4s 13s K 0 (2) + + + =
3.6
K 52
e=

Thay s = je vo (2)
3 2
(2) ( j ) 4( j ) 13( j ) K 0 e + e + e + =

V d 9
Gc xut pht ca QNS ti cc phc p
2

0
2 2 1 2 3
0
0
180 arg(p p arg(p p
180 arg( 2 3i arg(6i
180
0 0 0
0
u = ) )
= + ) )
= (90 + 33.69 ) 90
= 33.69

V d 9
5) V QNS ca h thng vng kn khi K = 0 +
c
c
a) G (s) K
b) G (s) K(s 0.5)
=
= +
2
1
G(s)
s (s 1)
=
+

G(s) G
c
(s)
R(s) C(s)
+
-

p s 5a

p s 5b
6) V QNS ca h thng vng kn khi K = 0 +
c
1
G (s)
s(s 6)
=
+
( )
( )
2
K(s 4)
G(s)
s 2s 2 s 8
+
=
+ + +

G(s) G
c
(s)
R(s) C(s)
+
-

p s 6