P N KIM TRA HC K 1.

Nm hc 2010-2011
(Tng thang im l 11, SV lm c hn 10 th lm trn v 10)
Bi 1A: (2.5)
1.1. Tm hm truyn G(s)
PTT :
K
K
GK ( s ) =
= 2
s ( s + a ) + K s + as + K
s 2 + as + K = 0

s2 + 2 ns+ 2n= 0

a = 2n = 2

2
K = n = 2
2
G(s) =
s ( s + 2)
1.2 vt l v thi gian qu :

100 % = 4.32%
POT = exp
1 2

3
3
ts =
=
= 3sec
n 1/ 2 * 2

(0.25 )

(0.25 )

(0.25 )

(0.25 )

1.3 Thit k GC(s)

Yu cu cht lng qu khng i nhng ci thin sai s xc lp chn b tr pha :
s + (1/ T )
s + (1/ T )
H s vn tc trc hiu chnh :
GC ( s ) = KC

( < 1)

2
=1
s( s + 2)
H s vn tc mong mun sau hiu chnh :
1
KV* = * = 1/ 0.01 = 100
exl
Xc nh :
K
= V* = 1/100 = 0.01
KV
Chn zero :
Cc ca h thng trc hiu chnh :

(0.25 )

K V = lim sG ( s) = lim s
s 0

s 0

(0.25 )

(0.25 )

s1,2 = n jn 1 2 = 1 j

(0.25 )

Chn :
1
1
= Re { s1} = 1
= 0.1
T
T
Tnh cc :
1
1
=
= 0.01* 0.1 = 0.001
T
T
Vy :
s + 0.1
GC ( s ) = K C
s + 0.001

(0.25 )

(0.25 )

 Tnh KC :
GC ( s )G ( s) s = s = 1
1

KC

s + 0.1
2
(1 + j + 0.1)
2
*
= KC
*
=1
s + 0.001 s ( s + 2) s = s1
(1 + j + 0.001) (1 + j )(1 + j + 2)

K C = 1.0507
Kt lun :
s + 0.1
GC ( s ) = 1.05
s + 0.001
Bi 1B: (2.5)
1.1 Hm truyn G(s) c dng:
K
G(s) =
(T1s + 1)(T2 s + 1) 2
Theo biu Bode, ta c:

(0.25 )

20 lg K = 16.9 (dB)

K =7

1
= 0.5 (rad/sec)
T1

T1 = 2

1
= 2 (rad/sec)
T2

T2 = 0.5

Do : G ( s ) =

7
(2 s + 1)(0.5s + 1) 2

(0.25 )

1.2 H s v tr:
K P = lim G ( s) = lim
s 0

s 0

7
=7
(2 s + 1)(0.5s + 1) 2

(0.25 )

Sai s xc lp khi tn hiu vo l hm nc n v:

e xl =

1
1
= = 0.125
1+ K P 8

1.3 Thit k khu hiu chnh GC(s):

- Tnh KC
H s v tr mong mun:
1
e*xl =
= 0.02

1 + K P*
K P* 49
=
KC =
7
KP

e xl = 0.125

K P* =

1
1
1 =
1
*
0.02
e xl
KC = 7

(0.25 )

K P* = 49

(0.25 )

(0.25 )

- t G1(s) = KCG(s) .
Biu Bode bin ca G1(s) nng ln 20 lg K C = 16.9 (dB) so vi b. Bode bin ca G(s),
2

Biu Bode pha ca G1(s) khng i so vi biu Bode pha ca G(s)

Theo biu Bode: M 40 0

khng th b sm pha GC(s) l khu tr pha

GC ( s ) = K C

Tn s ct mi: ( ) = 180 + M + 5 0
C

Ts + 1
Ts + 1

( ) = 115 0
C

Theo biu Bode: 0.9 (rad/sec)

C

Chn :

(0.25 )

1
1
<< C (rad/sec)
= 0.09 (rad/sec) T = 11
T
T

(0.25 )

Tnh

= 0.04

20 lg = L1 ( C ) 28 (dB)

T=

11
= 275
0.04

(0.25 )

(0.25 )

Kt lun: Hm truyn ca khu hiu chnh cn thit k l:

GC ( s ) = 7

11s + 1
275 s + 1

(Sinh vin gii ra kt qu gn ng nh trn u c tnh im)

Bi 2: (3.5)
2.1 Tm PTTT m t h h
2
g
X1 ( s )
s = 2 x = 2 x + 2u
=
1
1
U ( s) 1+ 2
s+2
s
g
X2 ( s)
3
=
x2 = 3x1 3 x2
X1 ( s ) s + 3

(0.5 )

Y ( s ) = X 2 ( s ) y = x2

g 2 0 2
x =
x + u

3 3 0
y = 0 1 x
(
)

(0.5 )

2.2 Thit k hi tip trng thi

3

PTT h kn:
det ( sI A + BK ) = 0
s + 2 + 2k1
det
3

2k2
2
= ( s + 2 + 2k1 ) ( s + 3) + 6k2 = s + ( 2k1 + 5 ) s + 6k1 + 6k2 + 6 = 0
s + 3
(0.5 )

T POT v tq, ta c:

(0.5 )

Suy ra, cp cc quyt nh:

Do , PTT mong mun:

( s + 3 3i ) ( s + 3 + 3i ) = s 2 + 6s + 18 = 0
Cn bng h s hai PTT:

(0.5 )

2k1 + 5 = 6
k = 0.5
1

6k1 + 6k2 + 6 = 18 k2 = 1.5

(0.5 )

Vy lut iu khin l: u(t) = r(t) 0.5x1(t) 1.5x2(t)

2.3 Hm truyn kn:
GK ( s) = k 0C[ sI A + BK ]1 B ,

(0.25 )

p ng ca h thng:
Y ( s ) = GK ( s) R ( s ) = k 0C[ sI A + BK ]1 BR ( s ) ,
Gi tr xc lp:
1
1
y () = lim sY ( s) = lim sk 0C[ sI A + BK ]1 B = k 0C[ A + BK ]1 B = k 0
s 0
s 0
3
s
Suy ra, y () = 1 ta cn phi chn k 0 = 3

(0.25 )

Bi 3: (3.5)
3.1.
- Ham truyn vong h:
0.476
Gh ( z ) =
(0.25 )
z 0.905
- Phng trinh c trng cua h thng:
0.1( z + 1) 0.476
1 + KI
= 0 (0.25)
z 1 z 0.905
- Cc: p1 = 1, p2 = 0.905
Zero: z1 = 1
- Tim cn:
OA = 2.905
=
- im tach nhp:

(Hnh 0.25)

(0.25 )

z1* = 2.952, z2* = 0.952 (0.5 )

- Giao im QNS vi vong tron n vi:
z = 0.896 0.443 j
2. (1)
- Ham truyn vong kin:
Gc ( z )Gh ( z )
1.618 z 1.237
Gk ( z ) =
= 2
1 + Gc ( z )Gh ( z ) z 0.287 z 0.332
- ap ng ngo ra:
1.618 z 2 1.237 z
Y ( z ) = Gk ( z ) R ( z ) = 3
z 1.287 z 2 0.045z + 0.332
y (k ) = 1.287 y (k 1) + 0.045 y (k 2) 0.332 y ( k 3) + 1.618 (k 1) 1.237 (k 2)

(0.5 )

y (0) = 0, y (1) = 1.618, y (2) = 0.845,

(0.25 )
y (3) = 1.160, y (4) = 0.994, y (5) = 1.051
- Cht lng h thng
i tng bc 1, b iu khin PI nn exl = 0 i vi tin hiu vao ham nc. (0.25 )
1.618 1
POT =
100% = 61.8%
(0.25 )
1
3. Phng trinh c tinh cua h thng:
1 + Gc ( z )Gh ( z ) = 0
z + 1 0.476

1 + K P + 0.1K I
=0

z 1 z 0.905

z 2 + (0.476 K P + 0.048K I 1.905) z + (0.048KI 0.476 KP + 0.905) = 0

- Phng trinh c tinh mong mun:
*
= 0.707, n = 4 z1,2
= 0.480 0.304 j
z 2 0.960 z + 0.323 = 0

(0.25 )

(0.25 )

- Suy ra: K P = 1.60; K I = 3.78

(0.25 )

Bi 4:
4.1 S khi h thng ri rc v b quan st (0.25 )

4.2. Phng trnh c trng ca b quan st:

det( zI Ad + LC d ) = 0

1 0 0.90 0.16 l1

det z

+ [ 2 0] = 0 ,

0 1 0.50 0.23 l 2

z 0.90 + 2l1 0.16

det
= 0 ,
0
.
50
+
2
l
z

0
.
23
2

( z 0.90 + 2l1 )( z 0.23) + 0.16(0.50 + 2l 2 ) = 0 ,

z 2 + (2l1 1.13) z + 0.287 0.46l1 + 0.32l2 = 0 ,
Phng trnh c trng mong mun:
( z 0.01)( z 0.05) = 0 ,
z 2 0.06 z + 0.0005 = 0 ,
(0.25 )

T (1) v (2) suy ra:

2l1 1.13 = 0.06

0.287 0.46l1 + 0.32l2 = 0.0005

l1 = 0.5350

l2 = 0.1262

(1)

(0.5 )

(2)

(0.5 )

H v tn SV:..
M s SV: ...
Bode Diagram

40

33.8
16.9

28

20

Magnitude (dB)

-20dB/dec

-20

-40

-60

-60dB/dec

-80
0
-45

Phase (deg)

-90
-115

-135
-180

M
-225
-270
-2
10

-1

10

10

Frequency (rad/sec)

10

10