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GS.TSKH. B. Heimann GS.TSKH. W. Gerth' GS.TSKH. K. Popp

Co' dien tiF

Cc thnh phn - Cc phiFcng php - Cc thi du

NfiTig ngwi djch GS TSKH. Nguyn Vn Khang PGSTS. Nguyn Phong Oin TS. Nguyn Quang Hong PGSTS. Hong Minh San

DAI HOC QUC GI HA NOI TRUNG TMTHNGTINTHIJVIN

\LiMLJum^^
NH X U A T B N K H O A HOC VA KY THUAT Ha Noi 2008

Muc lue
M d u va cc k h i n i m ed b n 1.1 1.2 1.3 1.4 2.1 2.2 Cc khi niem ed bn ca Cd dien tii Phn tch qua trnh trong ce he ed dien tii M hnh ha va dinh nghia chiic nng trong ed dien tuf Thit k cc he ed dien tii Cu tao va nguyn tae hoat dong ca cc ed cu dn dong . . . Cc Cd cu dn dong dien tu 2.2.1 2.2.2 2.2.3 2.2.4 2.3 Cd so ca cc bo chuyn di dien dong Cc kiu cu tao ca bo chuyn di dien dong Cd so ve bo chuyn di dien tu . 1 1 4 8 16 19 19 25 25 30 33 40 44 45 48 53 55 56 56 61 63 67 67 70 70 72 75

C c Cd c u d n d o n g

Cc dang va cc thng so dac tru!ng ca ed cu dn dong dien tu Cc Cd cu dn dong thuy kh 2.3.1 2.3.2 2.3.3 So snh giita cc ed cu dn dong thuy liic va kh nn , Cd so ca cc bo chuyn di thuy lire Cc dang va cc thng so dac trirng ca cc ed cu dn dong thuy lite

2.4

Cc Cd cu dn dong kiu mi 2.4.1 Tng quan 2.4.2 2.4.3 Cd so ly thuyt ca bo chuyn di p dien

Cu tao va thng so ky thuat ca ed cu dn dong p dien 2.5 So snh cc ed cu dn dong chon loc Cc c m b i n 3.1 Mire tch hdp va ce yu cu di vi cm bin 3.2 Cc thng so dac trirng ca cm bin 3.2.1 Cc khi niem va dinh nghia 3.2.2 Dac tinh tlnh ca cc he thng do 3.3 Ce nguyn tc do cc d^i lit<3ng dpiig hoc va dong lue hpc . .

xvr
3.4 Do qung ditng va gc quay 3.4.1 PhircJng php do bang dien th 3.4.2 Phirdng php do cm ling 3.4.3 Cc phirdng php do bang cm bin tir trirng 3.4.4 Cc phirdng php do bang dien dimg 3.4.5 Cc phirdng php do bang song siii m 3.4.6 Dan do dich chuyn tu gio 3.4.7 Du do tri so tuyt di
3.4.8 3.5 3.6 Phirdng php do gi tng so dm Cc he thng do van toc Cc he thng do gi toc 3.6.1 3.6.2 Cc gi toc k p dien Cc gi toc k vi ed

Muc lue ^g ^^ y g, g^ oc oo gq
gn qn qo QA gg

3.7

Php do mot thnh phn liTc va mmen 3.7.1 3.7.2 3.7.3 3.7.4 Cc du do lire va mmen vi day do bin dang Do lire bang cc phudng php quang hoc Cc cm bin do lire va mmen kiu p din Cc cm bin do lire kiu tir dn hi

97 98 102 105 105 106 107 . j^^ ...

. . ' . .

3.7.5 Do lue bang ce phUdng php hiu ehnh b 3.8 Ce cm bin do nhieu thnh phn lue Xu- ly t i n hiu 4.1 Phn bai va biu din ce tin hiu 4.1.1 4.1.2
^^^ng

Ili
113

Cc gi tri tin hiu dac trung va cc hm tin hiu dac

4.2

Sy: nh hirng ca ce ciia so thi gian di vi php bin doi Fourier 119 4.1.3 Su chng chat ca ce tin hiu . . . . . . . . . . . . . . 122 Cc tin hiu ri rac 127 ^^" ^ f p F T f ^'' ^^' F O U R I E R ri rac (DPT) va F O U R I E R nhanh 13^ . . 137 137 139 139

^ 4.2.2 Dnh gi cc m hnh tfn hiu (b loc hnh thc) Xuf ly dvt liu c a cc q u a t r n h 5.1 Khi nim ve xir ly dir liu thi gian thire 5.2 Cu trc Cd so ca lp trnh phn ng 5.2.1

Truy vn tun tir theo chudng trnh, Polling . . . . . . .

tluc lue 5.2.2 5.2.3 5.2.4 5.3 5.3.1 5.3.2 5.3.3 5.4 5.5 Tt'uy vn theo ngt thi gian Truy vn diu khin theo nhm ngt He thng ngt ifu tin He da nhim ddn gian Kin trc x ly song song Vn de quyn itu tin (chen hng)

XVII 140 I43 I43 I45 I45 151 152 154 156 159 162 163 164 166 168 168 169 173 177 178 179 181 . . 186 191 196 199 204 208 209 212 217

He da nhiem va da x ly

Lap lich trnh theo sit kin va thi gian Sii dong bo ha cc cju trnh 5.5.1 5.5.2 5.5.3 5.5.4 5.5.5 5.5.6 5.5.7 Su: b Semaphore (Co hiu) Monitor Bin Bolt Semaphore dm Rendezvous Cc knh tc (Deadlock)

Nhmig tnh hung xung dot khi co nhiu qua trnh . . . 156

5.6 5.7 5.8

'.

Dnh gi gii php thi gian thitc Mang dn dong - cm bin thi gian thiic

X y dtfng m h n h c a cc h e n h i u v a t 6.1 Dong hoc he nhiu vat 6.1.1 6.1.2 6.1.3 6.1.4 6.1.5 6.1.6 6.1.7 6.2 6.2.1 6.2.2 6.2.3 Cc he toa d va cc php bin di toa d Cc thi du ve cc ma tran quay Cc toa d thun nht va php bin doi thun nht Cc m hnh ed hoc co cu trc ey Ky hiu D E N A V I T - H A R T E N B E R G (Ky hiu DH) Dong hoc thun va dong hoc ngitdc Dong hoc vi phn va ma tran J A C O B I Ce phirdng trnh ed bn ca vat rn Phirdng php N E W T O N - E U L E R Phudng php L A G R A N G E

Dong lire hoc cc he nhiu vat

XVIII 7

^!^vch^ 225 226 227 229 231 234 237 239 243 245 247 249

Lp trnh qui dao 7.1 Lp trnh qui dao dong hoc 7.1.1 M t cc dirng cong khng gian 7.1.2 7.1.3 7.1.4

7.2

Prphin ca vn toc qui dao Vic tao qui dao tng qut bang cc da thc ni suy . . Lap trnh qui dao di vi cc he dU bac tir do (du dn dng) Lp trnh qui dao va dng lire hoc ngiTdc 7.2.1 Tham so ho cc phUdng trnh chuyn dng 7.2.2 Cc ch y ve lp trnh qui dao

Diu khin cc he ed din tu' 8.1 Tuyn tinh ho cc phUdng trnh chuyn dng 8.1.1 8.1.2 8.2 8.2.1 8.2.2 8.2.3 8.2.4 8.2.5 8.2.6 8.3 M t khng gian trang thi ca cc he tuyn tnh . . .

Cc dang biu din khc ca cc he tuyn tnh - di^rng . 254 Cu trc ca cc he da bin Diu khin he da bin tuyn tnh Gn trUc cuc cho he diu khin co mot khu dn Diu khin dang ring Diu khin tuyn tnh ti uu (diu khin LQ) ... 256 259 268 271 273 280 283 284 286 293 299 304 313 ' " ' ' 313 3^5 318 222 326 33O

Thit k diu khin cc he tuyn tnh da bin vo/ra - MIMO . 255

Thit k diu khin bang cch gn truc dim cir . . . 262

8.2.7 Thit k b quan st va diu khin Diu khin s (Diu khin trch mau d liu)

8.3.1 Ly mu tin hiu va khu gi: tin hiu 8.3.2 He khng Hn tue trong min thi gian 8.3.3 He khng lin tue trong min tn s 8.3.4 Thit k diu khin so 8.4 Gii thiu cc phUdng php diu khin khc 9 Cc thi du chon loc ca cc he ed din tu 9.1 M hnh ha va tinh ton mot rbot cng nghip . 9.1.1 M hnh dng hoc 9.1.2 9.1.3 9.1.4 9.1.5 Dng hoc vi phn va tnh hoc " ' ' ' Lp trnh qui dao . . . . M lnh dng lue hoc . . . ' ' ' Diu khin ring r tng truc ...'.['.[[[

AAic lue 9.2 Lm n dinh ha con lc kp 9.2.1 M t he 9.2.2 M hnh ha he 9.2.3 Phirdng trnh chuyn dong tuyn tnh ha 9.2.4 9.2.5 9.2.6 9.2.7 9.3 9.3.1 9.3.2 9.3.3 9.3.4 9.4 9.4.1 9.4.2 9.4.3 9.4.4 9.4.5 9.4.6 9.4.7 9.4.8 9.4.9 Thit k bo quan st cho ce he con P h n hi trang thi ca ton he Cc t h a m so diu khin Thi.rc hin diu khin trn my tnh Xy drmg m hnh Diu khin tng bac tu! do Diu khin tng khi tch biet Kt qua do Dat bi ton Phirdng trnh vi phn chuyn dng Gii bang phUdng php chui FOURIER M hnh phn t u hu han ca dm Thit lap phiidng trnh vi phn M hnh ha b phn gi eilng P h p bin di dang ring Diu khin vi sir trd gip ca khu quan st P h n hi trang thi tuyn tinh

XIX 335 335 336 337 339 342 343 344 345 346 351 354 357 359 360 360 361 363 364 366 368 370 371 372 373 375 375 375 377
LAPLACE

Bn g tir cho my cng cu

M hnh ha va diu khin mot dm cu dn hoi

9.4.10 He thng do 9.4.11 Kt qua A C d so t o n h o c A.l Php bin di LAPLACE va php bin di FOURIER A.1.1 A.1.2 Php bin di Php bin di FOURIER

A.2 Php tnh ma tran 378 A.2.1 Cc khi nim va ce quy tc tnh ddn gian 378 A.2.2 Cc tri ring va cc vetd ring 380 A.2.3 Php bin di dong dang (php bin di ve cc truc ehnh)381 A.2.4 Ce he phiTdng trnh tuyn tinh va php phn tieh theo ce tri ky di ? 383

XX A.3 Cc he dong Ixlc tuyn tinh he so hng so A.3.1 Ma tran ed bn va ce tmh chat ea n A.3.2 Php bin di dang ring A.3.3 Tinh diu khin diTdc va tinh quan st dirdc Ti lieu tham kho Danh muc tu' kha

Mucine 385 386 387 388 391 392