i hc Bch Khoa TPHCM KIM TRA GIA K 1.

Nm hc 2010-2011
Khoa in in T Mn: C s t ng
B mn KT Ngy thi: 02/11/2010
---o0o--- Thi gian lm bi: 60 pht
(Sinh vin khng c php s dng ti liu in hoc photo)
Bi 1: (2.0 im) Tnh hm truyn tng ng ca h thng c s khi hnh 1
Bi 2: (2.0 im) Chn 1 trong 2 cu 2A hoc 2B
2A. Vit phng trnh trng thi m t h kn hnh 2 vi hai bin trng thi x
1
(t) v x
2
(t) cho trn s
, bin x
3
(t) t chn.
2B. Cho h th ng phi tuyn bc 2 nh sau vi u(t) la ti n hiu u vao, y(t) la ti n hiu u ra.
) ( ) ( 2 ) (
) ( 2 ) ( ) ( ) ( ) (
) ( ) ( ) ( ) (
1
2 2 1 2
2 2 1 1
t u t x t y
t u t x t x t x t x
t x t x t x t x
+
+

Vi t phng trinh bin trang thai tuyn ti nh ho a tai im lam vic 1 , ] 4 1 [ u

T
x .
Bi 3: (3.0 im) Cho h thng hnh 3.
3.1 V QNS ca h thng khi + < K 0 . Tm iu kin ca K h thng n nh.
3.2 Tm cc thuc QNS c dng
2
1 s j + vi
=0.5
, tm K lc .
Bi 4: (3.0 im) Cho h thng hi tip m n v c hm truyn h l
2 2
1 . 0
) 10 (
) 4 . 0 ( 200
) (
+
+

s s
e s
s G
s
4.1 V biu Bode bin v pha ca G(s).
4.2. nh gi tnh n nh ca h kn
4.3. Da vo c tnh tn s ca G(s), bn hy cho nhn xt v vt l, thi gian qu v sai s xc
lp khi tn hiu vo lm nc n v.
(Ht)

CNBM
r(t)
y(t)
+_
Hnh 2
5
2
+ s 3 2
1
2
+ + s s
x
1
x
2
R(s)
Y(s)
+_
Hnh 3
) (s G
) 9 (
) ( 25
) (
2
+
+

s s
K s
s G
G
1
(s)
R(s)
Y(s)
Hnh 1
G
2
(s)
+
_
G
3
(s) G
4
(s)
G
5
(s)
_
_
+
+
+
+
+
p n
Cu 1. (2im)
ng tin:
1 1 3 4 2 1 4
; P G G G P G G

(0.5)
Vng kn:
1 1 2 2 3 3 4 5 4 1 3 4 5 1 4
; ; ; ; L G G L G L G G L G G G L G G

(0.5)
nh thc chnh:

( )
1 2 3 4 5 1 3 2 3
1 2 3 4 5 1 3 4 1 4 1 2 4 5 3 4 5
1
1
L L L L L L L L L
G G G G G G G G G G G G G G G G G
+ + + + + +
+ + + +
(0.5)
nh thc con:
1 2
1; 1
Hm truyn tng ng:
( )
( )
( )
1 1 2 2
1 3 4 1 4
1 2 3 4 5 3 4 5 1 2 4 5 1 3 4 1 4
1
td
C s
G s
R s
P P
G G G G G
G G G G G G G G G G G G G G G G G

+ + + +
(0.5)
(Sinh vin gii dng phng php bin i s khi ra kt qu ng vn c tnh im)
Cu 2A. (2im)
T s , ta c:
( ) ( ) ( ) ( ) ( )
1 2 1 1 2
2
5 2
5
X s X s x t x t x t
s
+
+
&
(1) (0.5)
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )
2 1 2 2 2 1 2
1
2 3
2 3
X s R s X s x t x t x t r t x t
s s
1 + +
]
+ +
&& &
(2) (0.5)
t :
) ( ) (
2 3
t x t x
(3)
Thay vo (2) ta c:
) ( ) ( ) ( 2 ) ( 3 ) (
1 3 2 3
t r t x t x t x t x +
(4) (0.5)
Kt hp vi (1), (3) v (4) ta c PTTT:
( ) ( ) ( )
( ) ( )
( ) ( ) ( ) ( ) ( )
( ) ( )
( )
( )
( )
( )
( )
( )
( )
( ) [ ]
( )
( )
( )
1 1 2
2 3
3 3 2 1
1
1 1
2 2
3 2
1
2
2
5 2
2 3
5 2 0 0
0 0 1 0
1 3 2 1
1 0 0
x t x t x t
x t x t
x t x t x t x t r t
y t x t
x t x t
x t x t r t
x t x t
x t
y t x t
x t

'
'

1 1
1 1
1 1
1 1
+
1 1
1 1
1 1
1 1
] ]
] ]

'
1

]
&
&
&
&
&
&
(0.5)
Cu 2B. (2im)
1 1 2 2
2 1 2 2
1
( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) 2 ( )
( ) 2 ( ) ( )
f t x t x t x t
f t x t x t x t u t
h t x t u t

+
+
( )
( )
( )
[ ]
( )
1 1
2 1
1 2
1
2
1 2
1
2
,1
4 2 2
,
1
, 2 1 2
,
,
( ) ( ) 1
4 0
( )
3
( ) 1
2
2 ( )
4
0
, 2 0 , 1
2
x u
x u
x u
x u
f f
x t x t
x x
x t A
x t
f f
x t
x x
f
h h h
u
B C D
f x x u
u
_ _


, ,
1
1
1 1

1
1 1


1
1 1
1
]
1
]

]
1
1
1 1

1
1 1

1 ] ]
1
]
(1.5 )
( ) ( )
( ) ( )
( ) ( )
( ) ( )
( )
( )
( )
( )
( )
( ) [ ]
( )
( )
( )
1
1 1
1 1
2 2 2 2
1
2
2 3
4 0
1 0
3
2 2
4
4
:
1
2 0
3
y x u
x t x t x t x t
u t
x t x t x t x t
PTTT
u t u t
x t
y t u t
y t y t
x t
+
1 1 1
1
1 1 + 1
1

1 1 ] 1
] ] ]

' '

1

+ 1


1
]
&
% % %
%
&
% % %
%
%
% %
%
%
(0.5 )
Cu 3. (3 im)
PTT: ( )
( )
( )
( )
3 2
2
25
1 0 1 0 9 25 25 0 1
9
s K
G s s s s K
s s
+
+ + + + +
+

( )
3 2
25
1 1 0
9 25
K
s s s
+
+ +
Zero : khng c
Pole :
1 2,3
9 19
0, 4.50 2.18
2 2
p p i i t t ; (0.5)
Tim cn:
1 2 3
3
3
3
3
p p p
OA

+ +

'

im tch nhp:
( )
3 2
2
1
2
9 25
1
25
6
3 2.18
3 18 25
3
0
25
6
3 3.82
3
s s s
K
s
K s s
s
s
+ +

+
+ +

'

;
;

(c 2 u thuc QNS) (0.5)
Giao im QNS vi trc o: p dng tiu chun n nh Routh cho PTT (1).
s
3
1 25 K n nh
s
2
9 25K
s
1
25-(25K/9) K<9
s
0
25K K>0
Vy iu kin h thng n nh: 0 < K < 9.
Ta c: K
gh
= 9. Thay vo (1) gii ra ta c: s
1
= -9, s
2
= 5i, s
3
= -5i
Vy giao im QNS vi trc o: s
2
= 5i, s
3
= -5i (0.5)
Gc xut pht ti cc phc p
2
:
( ) ( )
0
2 1 2 3
0
0 0 0 0
180 arg arg
9 19 9 19 9 19
180 arg 0 arg
2 2 2 2 2 2
180 154 90 64
p p p p
i i i

1 1
_ _ _
+ + 1 1

1 1
, , , ] ]

(0.25)
(Hnh v 0.75 im)
3.2
T QNS, ta suy ra: cc cn tm: 1.4 2.4 s i +
Thay vo PTT, ta tnh c K:

( ) ( ) ( )
3 2
1.4 2.4 9 1.4 2.4 25 1.4 2.4
1.91
25
i i i
K
+ + + + +

(0.5)
(SV gii ra kt qu gn ng hoc gii bng phng php gii tch cng c tnh im)
Cu 4.
4.1
Vit li hm truyn vng h:
( )
0.1
2
2
1
0.8 1
0.4
1
1
10
s
s
G s e
s s

_
+

,

_
+

,
Cc tn s ct: ( ) ( )
1 2
0.4 / , 10 / rad s rad s
im u:
( ) ( ) ( )
0
0
0.1
:
20log 0.8 2*20log 0.1 38
A
L dB

'

(0.5)
Tnh bode pha:
( )
0
0
180
180 arctan 2arctan 0.1
0.4 10

_ _
+

, ,
(rad/s)
0.1 0.4 1 2 4 10
() (
0
)
-168 -142 -129 -135 -162 -240
(0.5)
Biu Bode nh sau: (1.0)
(phi ch r trn biu e Bode tn s ct bin, tn s ct pha, d tr bin, d tr pha mi c
trn vn 1.0)
4.2
T biu Bode:
- Tn s ct bin:
sec / 2rad
C

- Tn s ct pha:
sec / 5rad

- d tr bin v pha:
0
10
45
GM dB
M

'

Nh vy h kn n nh. (0.5)
4.3 (Cu ny nhm phn loi sinh vin nn im t, SV lm c 2/3 yu cu xem nh t)
Cch 1: (0.5)
Sai s xc lp: Theo biu Bode, min tn s thp bin ca h h v cng ln, do sai s xc
lp i vi tn hiu vo l hm nc bng 0.
vt l: do d tr pha nh hn 60
0
nn vt l ln hn 10%.
Thi gian qu :
C
qd
C
t

4
< <
. Do
sec / 2rad
C

nn
(sec) 28 . 6 57 . 1 < <
qd
t


Cch 2: (0.5)
Xc nh h s tt dn da vo d tr pha.
0
2 4
2
arctan 45 0.42 23.4%
2 1 4
M POT

_



+ +
,
T Bode bin , ta c bng thng ca h thng: ( ) 3.5 /
BW
rad s
S dng quan h gia bng thng v h s tt dn, t
q
:
( )
2 4 2
4
1 2 4 4 2 3.5 3.7sec
BW qd
qd
t
t

+ +
Da vo bode bin : K
p
= e() = 0
Tnh chnh xc (t m phng Simulink): POT = 31%, t
q
= 5.7s, e() = 0.