CST_Nguyn c Hong 2010 B mn KT - Khoa T - BKHCM

Bi tp ly t sch: Control Systems Engineering by Norman S. Nise 1

Bi tp v cht lng h thng


Bi tp 1: Cho h thng nh Hnh 1. Xc nh K h
thng c sai s xc lp bng 10%?




Gii:
V h thng l loi 0 nn e() 0 khi tn hiu vo l hm
nc. Do ,
( ) ( )
( )
( ) ( )
( )
0
0 0
12
lim lim
14 18 21
1 1 1
1 10
1
21
189
p c
s s
p
K s
K
K G s G s
s s
e
K
K
K

+
= = =
+ +
= = =
+
+
=


( )
( )( )
12
( )
14 18
( ) 1
O
C
K s
G s
s s
G s
+
=
+ +
=
Hnh 1
C(s)

R(s)

G
C
(s) G
o
(s)
CST_Nguyn c Hong 2010 B mn KT - Khoa T - BKHCM
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise 2

Bi tp 2: Xc nh sai s xc lp i vi nhiu:




Xt h thng nh Hnh 2, trong D(s) l tn hiu nhiu.
Ta c:
( ) ( ) ( ) ( ) ( ) ( )
0 0 c
C s E s G s G s D s G s = +

M:
( ) ( ) ( )
C s R s E s =

( )
( ) ( )
( )
( )
( ) ( )
( )
0
0 0
1
1 1
c c
G s
E s R s D s
G s G s G s G s
=
+ +

S dng nh l gi tr cui:
( ) ( )
( ) ( )
( )
( )
( ) ( )
( )
( ) ( )
0
0 0 0
0 0
lim lim lim
1 1
s s s
c c
R D
sG s
s
e sE s R s D s
G s G s G s G s
e e

= =
+ +
= +

Vi:
Hnh 2
E(s)

C(s)

R(s)

D(s)

G
C
(s) G
o
(s)
CST_Nguyn c Hong 2010 B mn KT - Khoa T - BKHCM
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise 3

( )
( ) ( )
( )
( )
( )
( ) ( )
( )
0
0
0
0
0
lim
1
lim
1
R
s
c
D
s
c
s
e R s
G s G s
sG s
e D s
G s G s

=
+
=
+

Ta bit,
( )
R
e
l sai s xc lp i vi tn hiu vo R(s).
Trong khi
( )
D
e
l sai s xc lp i vi nhiu vo D(s).
By gi ta tm cc iu kin gim sai s do nhiu u
vo.
Gi s nhiu l hm nc, D(s) = 1/s.

( )
( )
( ) ( )
( )
( )
0
0
0
0 0
0
1 1
lim
1
1
lim lim
D
s
c
c
s s
sG s
e
G s G s s
G s
G s

= =
+
+


Ta c nhn xt sau: gim sai s xc lp do nhiu hm
nc th phi tng li DC ca G
c
(s) hoc gim li DC
ca G
0
(s).

CST_Nguyn c Hong 2010 B mn KT - Khoa T - BKHCM
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise 4

Bi tp 3: Cho h thng nh Hnh 3. Xc nh K
1
v K
2
sao
cho h thng tha yu cu e
D
() = -0.000012 i vi
nhiu hm nc n v v e
R
() = 0.003 i vi tn hiu
vo hm ramp n v?






Gii:
Sai s ch do nhiu:
( )
( )
( )
1
0 0
0
1 3
1
2
lim lim
D
c
s s
e
K
G s
G s

= =
+

Sai s ch do tn hiu vo:
( )
( ) ( )
( )
0
0 1 2
6
lim
1
R
s
c
s
e R s
G s G s K K

= =
+

Theo bi:
Hnh 3
E(s)

C(s)

R(s)

D(s)

G
C
(s) G
o
(s)
( )
( )
( )
( )
( )
1
2
0
2
3
4
c
K s
G s
s
K
G s
s s
+
=
+
=
+
CST_Nguyn c Hong 2010 B mn KT - Khoa T - BKHCM
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise 5

( )
( )
1
1
2
1 2
3
0.000012 125000
2
6
0.003 0.016
D
R
e K
K
e K
K K
= = =
= = =


Bi tp 4: Xc nh sai s xc lp i vi nhiu v hi tip
khc 1: e() = r() - c().




Xt h thng nh Hnh 4, trong D(s) l tn hiu nhiu.
Ta c:
( ) ( )
( ) ( )
( ) ( ) ( )
( )
( )
( ) ( ) ( )
0 0
0 0
1 1
c
c c
G s G s G s
C s R s D s
G s G s H s G s G s H s
= +
+ +

M:
( ) ( ) ( )
E s R s C s =

( ) ( )
( ) ( )
( ) ( ) ( )
( )
( )
( ) ( ) ( )
0 0
0 0
1
1 1
c
c c
G s G s G s
E s R s D s
G s G s H s G s G s H s
(
= +
(
+ +



C(s)

R(s)

D(s)

Hnh 4
G
C
(s) G
o
(s)
H(s)
CST_Nguyn c Hong 2010 B mn KT - Khoa T - BKHCM
Bi tp ly t sch: Control Systems Engineering by Norman S. Nise 6

S dng nh l gi tr cui:
( ) ( )
( )
( ) ( )
( ) ( ) ( )
( )
( )
( ) ( ) ( )
0
0 0
0
0 0
lim
lim 1
1 1
s
c
s
c c
e sE s
G s G s G s
s R s D s
G s G s H s G s G s H s

=

(

=
` (
+ +


)

Nu tn hiu vo v nhiu l hm nc: R(s)=D(s)=1/s
( )
( ) ( )
( ) ( ) ( )
( )
( ) ( ) ( )
0 0
0 0
0 0
1 lim lim
1 1
c
s s
c c
G s G s G s
e
G s G s H s G s G s H s


(
( (

=
(
` ( (
+ +
(


)

Nu:
+ H thng n nh
+ G
C
(s) : h thng loi 1
+ G
O
(s) : h thng loi 0
+ H(s): h thng loi 0 v c li DC = 1 (tc l H(0) = 1)
Th e() = 0.
(SV t kim tra kt qu ny).