Dieu Khien Tu Dong

1
TRUNG DAI HOC BCH KHOA

KHOA DIJN
BQ MN TU QNG HA

vi ian nn no.

L thuyt
IU KHIEN TU QNG

Lin h : tdkquoc@dng.vnn.vn
2

MJC LJC

Phn mo du
1 Khi nim.......................................................................................................................5
2 Cc nguyn tc diu khin tu dng..................................................................................6
2.1 Nguyn tc giu n dinh...........................................................................................6
2.2 Nguyn tc diu khin theo chuong trnh ................................................................6
3 Phn loai h thng DKTD...............................................................................................6
3.1 Phn loai theo dc dim cua tn hiu ra....................................................................6
3.2 Phn loai theo s vng kn ......................................................................................6
3.3 Phn loai theo kha nng quan st tn hiu ................................................................7
3.4 Phn loai theo m ta ton hoc..................................................................................7
4 Biu d diu khin tu dng trong mt nh my...............................................................8
5 Php bin di Laplace.....................................................................................................8
Chuong 1: M TA TON HOC CC PHAN TU V HE THONG DIEU KHIEN TU
DONG
1 Khi nim chung...........................................................................................................10
2 Hm truyn dat .............................................................................................................10
2.1 Dinh nghia : ..........................................................................................................10
2.2 Phuong php tm hm truyn dat...........................................................................10
2.3 Mt s v du v cch tm hm truyn dat ...............................................................11
2.4 Hm truyn dat cua mt s thit bi din hnh.........................................................13
2.5 Dai s so d khi ..................................................................................................13
3 Phuong trnh trang thi .................................................................................................16
3.1 Phuong trnh trang thi tng qut ..........................................................................16
3.2 Xy dung phuong trnh trang thi tu hm truyn dat .............................................18
3.3 Chuyn di tu phuong trnh trang thi sang hm truyn ........................................20
Chuong 2: DAC TNH DONG HOC CUA CC KHU V CUA HE THONG TRONG
MIEN TAN SO
1 Khi nim chung...........................................................................................................24
2 Phan ung cua mt khu.................................................................................................24
2.1 Tn hiu tc dng vo mt khu (cc tn hiu tin dinh).........................................24
2.2 Phan ung cua mt khu.........................................................................................24
3 Dc tnh tn s cua mt khu ........................................................................................25
3.1 Hm truyn dat tn s ...........................................................................................25
3.2 Dc tnh tn s ......................................................................................................26
4 Dc tnh dng hoc cua mt s khu co ban ...................................................................27
4.1 Khu ti l ..............................................................................................................27
4.2 Khu qun tnh bc 1.............................................................................................27
4.3 Khu dao dng bc 2.............................................................................................29
4.4 Khu khng n dinh bc 1.....................................................................................31
4.5 Khu vi phn l tuong...........................................................................................32
4.6 Khu vi phn bc 1 ...............................................................................................32
4.7 Khu tch phn l tuong........................................................................................33
4.8 Khu chm tr.......................................................................................................33
Chuong 3: TNH ON DINH CUA HE THONG DIEU KHIEN TU DONG
1 Khi nim chung...........................................................................................................35
2 Tiu chun n dinh dai s .............................................................................................36
2.1 Diu kin cn d h thng n dinh.........................................................................36
2.2 Tiu chun Routh..................................................................................................36
2.3 Tiu chun n dinh Hurwitz..................................................................................37
3 Tiu chun n dinh tn s .............................................................................................37
3.1 Tiu chun Nyquist theo dc tnh tn s bin pha ..................................................37
3
3.2 Tiu chun Nyquist theo dc tnh tn s logarit .....................................................37
3.3 Tiu chun n dinh Mikhailov...............................................................................38
4 Phuong php qu dao nghim s ..................................................................................38
4.1 Phuong php xy dung QDNS ..............................................................................38
Chuong 4: CHAT LUONG CUA QU TRNH DIEU KHIEN
1 Khi nim chung...........................................................................................................41
1.1 Ch d xc lp ......................................................................................................41
1.2 Qu trnh qu d ...................................................................................................41
2 Dnh gi cht luong o ch d xc lp............................................................................41
2.1 Khi u(t) = U
0
.1(t) ..................................................................................................42
2.2 Khi u(t) = U
0
.t .......................................................................................................42
3 Dnh gi cht luong o qu trnh qu d.........................................................................42
3.1 Phn tch thnh cc biu thuc don gian..................................................................42
3.2 Phuong php s Tustin..........................................................................................42
3.3 Giai phuong trnh trang thi ..................................................................................44
3.4 Su dung cc hm cua MATAB..............................................................................44
4 Dnh gi thng qua d du tru n dinh...........................................................................45
4.1 D du tru bin d..................................................................................................45
4.2 D du tru v pha ...................................................................................................45
4.3 Mi lin h giua cc d du tru v cht luong diu khin........................................45
5 Tnh diu khin duoc v quan st duoc cua h thng ....................................................46
5.1 Diu khin duoc....................................................................................................46
5.2 Tnh quan st duoc................................................................................................46
Chuong 5: NNG CAO CHAT LUONG V TONG HOP HE THONG
1 Khi nim chung...........................................................................................................48
2 Cc b diu khin Hiu chinh h thng......................................................................48
2.1 Khi nim.............................................................................................................48
2.2 B diu khin ti l P..............................................................................................48
2.3 B b som pha Lead .............................................................................................48
2.4 B b tr pha Leg..................................................................................................49
2.5 B b tr-som pha Leg -Lead................................................................................50
2.6 B diu khin PI (Proportional Integral Controller) ...............................................51
2.7 B diu khin PD (Proportional Derivative Controller) .........................................51
2.8 B diu khin PID (Proportional Integral Derivative Controller) ...........................52
3 Tng hop h thng theo cc tiu chun ti uu ...............................................................53
3.1 Phuong php ti uu modun ...................................................................................53
3.2 Phuong php ti uu di xung ................................................................................54
Chuong 6: HE THONG DIEUKHIEN GIN DOAN
1 Khi nim chung...........................................................................................................56
2 Php bin di Z.............................................................................................................56
2.1 Dinh nghia ............................................................................................................56
2.2 Mt s tnh cht cua bin di Z.............................................................................57
2.3 Bin di Z nguoc ..................................................................................................57
3 Ly mu v giu mu .....................................................................................................58
3.1 Khi nim.............................................................................................................58
3.2 Ly mu................................................................................................................58
3.3 Giu mu................................................................................................................59
4 Hm truyn dat h gin doan.........................................................................................60
4.1 Xc dinh hm truyn dat W(z) tu hm truyn dat h lin tuc .................................60
4.2 Xc dinh hm truyn dat tu phuong trnh sai phn.................................................65
5 Tnh n dinh cua h gin doan ......................................................................................65
5.1 Mi lin h giua mt phng p v mt phng z........................................................65
5.2 Php bin di tuong duong ...................................................................................65
Phu luc: CONTROL SYSTEM TOOLBOX & SIMULINK TRONG MATLAB
4

1 Control System Toolbox...............................................................................................66
1.1 Dinh nghia mt h thng tuyn tnh ......................................................................66
1.2 Bin di so d tuong duong..................................................................................68
1.3 Phn tch h thng.................................................................................................69
1.4 V du tng hop......................................................................................................71
2 SIMULINK..................................................................................................................73
2.1 Khoi dng Simulink..............................................................................................73
2.2 Tao mt so d don gian.........................................................................................74
2.3 Mt s khi thuong dng ......................................................................................75
2.4 V du.....................................................................................................................76
2.5 LTI Viewer ...........................................................................................................77
Phn mo du
5

Tn Tn Tn Tnn n n n n n n no v vv vv vv v

iu khin hoc l khoa hoc nghin cuu nhng qu trnh diu khin v thng tin trong cc
my mc sinh vat. Trong diu khin hoc, doi tuong diu khin l cc thit bi, cc h thong kv
thuat, cc co c sinh vat
iu khin hoc nghin cuu qu trnh diu khin cc doi tuong kv thuat duoc goi l diu
khin hoc kv thuat. Trong d iu khin tu dong l co so l thuyt cua diu khin hoc kv
thut.
Khi nghin cuu cc qui luat diu khin cua cc h thong kv thuat khc nhau, nguoi ta su
dung cc m hnh ton thay th cho cc doi tuong khao st. Cch lm ny cho php chng ta
mo rong pham vi nghin cuu v tong qut bi ton diu khin trn nhiu doi tuong c m ta
ton hoc giong nhau.
Mn hoc Diu khin t dng cung cap cho sinh vin cc kin thuc co ban v xy dung
m hnh ton hoc cua mot doi tuong v cua ca h thong. Trn co so d, sinh vin c kha nng
phn tch, dnh gi chat luong cua h thong diu khin. Ngoi ra, bng cc phuong php
ton hoc, sinh vin c th tong hop cc bo diu khin thch hop d h thong dat duoc cc chi
tiu chat luong d ra.
1 Khi nim
Mt h thng DKTD duoc xy dung tu 3 b phn chu yu theo so d sau :

Trong d :
- O : di tuong diu khin
- C : b diu khin, hiu chinh
- M : co cu do luong
Cc loai tn hiu c trong h thng gm :
- u : tn hiu chu dao (cn goi l tn hiu vo, tn hiu diu khin)
- y : tn hiu ra
- f : cc tc dng tu bn ngoi
- z : tn hiu phan hi
- e : sai lch diu khin

V d v mt h thng diu khin
don gian

C O
M
u
f
y
e
z
h
l
Q
i

Q
0

Phn mo du
6

2 Cc nguyn tc diu khin t dng
2.1 Nguyn tc gi n djnh
Nguyn tc ny giu tn hiu ra bng mt hng s trong qu trnh diu khin, y = const. C 3
phuong php d thuc hin nguyn tc giu n dinh gm :
- Phuong php b tc dng bn ngoi (a)
- Phuong php diu khin theo sai lch (b)
- Phuong php hn hop (c)

2.2 Nguyn tc diu khin theo chuong trnh
Nguyn tc ny giu tn hiu ra y = y(t) theo mt chuong trnh d duoc dinh sn. D mt tn
hiu ra no d thuc hin theo chuong trnh, cn phai su dung my tnh hay cc thit bi c luu
tru chuong trnh. 2 thit bi thng dung chua chuong trnh diu khin l :
- PLC (Programmable Logic Controller)
- CLC (Computerized Numerical Control)
3 Phn loai h thng KT
3.1 Phn loai theo dc dim ca tn hiu ra
- Tn hiu ra n dinh
- Tn hiu ra theo chuong trnh
3.2 Phn loai theo s vng kn
- H ho: l h khng c vg kn no.
- H kn: c nhiu loai nhu h 1 vng kn, h nhiu vng kn,
C
O
M
u
f
y
e
a)
M
b)
f
C
u e
y
O
M
2

c)
f
C
u e
y
O
M
1

Phn mo du
7
3.3 Phn loai theo kh nng quan st tn hiu
3.3.1 H thng lin tuc
Quan st duoc tt ca cc trang thi cua h thng theo thoi gian.
M ta ton hoc : phuong trnh dai s, phuong trnh vi phn, hm truyn
3.3.2 H thng khng lin tuc
Quan st duoc mt phn cc trang thi cua h thng. Nguyn nhn:
- Do khng th dt duoc tt ca cc cam bin.
- Do khng cn thit phai dt du cc cam bin.
Trong h thng khng lin tuc, nguoi ta chia lm 2 loai:
a) H thong gin doan (S. discret)
L h thng m ta c th quan st cc trang thi cua h thng theo chu ky (T). V ban cht, h
thng ny l mt dang cua h thng lin tuc.
b) H thong voi cc su kin gin doan (S vnement discret)
- Dc trung boi cc su kin khng chu ky
- Quan tm dn cc su kin/ tc dng

V d v h thng lin tc, gin don, h thng vi cc s kin gin don

3.4 Phn loai theo m t ton hc
- H tuyn tnh: dc tnh tinh cua tt ca cc phn tu c trong h thng l tuyn tnh. Dc
dim co ban: xp chng.
- H phi tuyn: c t nht mt dc tnh tinh cua mt phn tu l mt hm phi tuyn.
- H thng tuyn tnh ha: tuyn tnh ha tung phn cua h phi tuyn voi mt s diu
kin cho truoc d duoc h tuyn tnh gn dng.
Bng
chuyn 2
Piston
3 2
Piston 1
Bng
chuyn 3
Bng
chuyn 1
Phn mo du
8
4 Biu d diu khin t dng trong mt nh my

5 Php bin di Laplace
Gia su c hm f(t) lin tuc, kha tch. Anh Laplace cua f(t) qua php bin di laplace, k
hiu l F(p) duoc tnh theo dinh nghia:
0
( ) ( )
pt
F p f t e dt
=
}

- p: bin laplace
- f(t): hm gc
- F(p): hm anh

Mt s tnh cht cua php bin di laplace

1. Tnh tuyn tnh
{ }
1 2 1 2
( ) ( ) ( ) ( ) L af t bf t aF p bF p + = +
2. Anh laplace cua dao hm hm gc
{ }
'
( ) ( ) (0) L f t pF p f =
Nu cc diu kin du bng 0 th:
{ }
( )
( ) ( )
n n
L f t p F p =
Qun l nh my
Diu khin, gim st,
bao dung
B diu khin, diu chinh, PLC
Cm bin, co cu chp hnh
Niv 4
Niv 2
Niv 1
Niv 0
Niv 3
Qun l sn xut,
lp k hoach sx.
Phn mo du
9
3. Anh laplace cua tch phn hm gc
0
( )
( )
t
F p
L f d
p

=
`

)
}

4. Anh laplace cua hm gc c tr
{ } ( ) ( )
p
L f t e F p

=
5. Hm anh c tr
{ }
( ) ( )
at
L e f t F p a
= +
6. Gi tri du cua hm gc
(0) lim ( )
p
f pF p
=
7. Gi tri cui cua hm gc
0
( ) lim ( )
p
f pF p
=

ANH LAPLACE V ANH Z CUA MT S HM THNG DJNG

f(t) F(p) F(z)
(t) 1 1
1 1
p

1
z
z

t
2
1
p

( )
2
1
Tz
z

2
1
2t

3
1
p

( )
( )
2
3
1
2 1
T z z
z
+

e
-at
1
p a +

aT
z
z e

1-e
-at

( )
a
p p a +

( )
( )( )
1
1
aT
aT
e z
z z e

sinat
2 2
a
p a +

2
sin
2 cos 1
z aT
z z aT +

cosat
2 2
p
p a +

2
2
cos
2 cos 1
z z aT
z z aT
+

Chuong 1 M ta ton hoc

10
(nuon 1
M TA TON HC CC PHAN TU
V HJ THNG DIEU KHIEN T DNG
1 Khi nim chung
- D phn tch mt h thng, ta phai bit nguyn tc lm vic cua cc phn tu trong so
d, ban cht vt l, cc quan h vt l,
- Cc tnh cht cua cc phn tu/h thng duoc biu din qua cc phuong trnh dng hoc,
thuong l phuong trnh vi phn.
- D thun loi hon trong vic phn tch, giai quyt cc bi ton diu khin, nguoi ta m
ta ton hoc cc phn tu v h thng bng hm truyn dt (transfer fuction), phuong
trnh trng thi (state space), v.v
2 Hm truyn dat
2.1 jnh ngha :
Hm truyn dt cua mt khu (hay h thng) l t s gia tn hiu ra vi tn hiu vo biu
din theo ton tu laplace, k hiu l W(p), vi cc diu kin ban du trit tiu.

trong d
( )
( )
( )
Y p
W p
U p
=
voi
y(0) = y(0) = = y
(n-1)
(0) = 0
u(0) = u(0) = = u
(m-1)
(0) = 0
2.2 Phuong php tm hm truyn dat
Tu phuong trnh vi phn tng qut cua mt khu (h thng) c dang
1 0 1 0
( ) ( ) ( ) ( )
... ( ) ... ( )
n m
n m n m
d y t dy t d u t du t
a a a y t b b b u t
dt dt dt dt
+ + + = + + + (1.1)
bin di laplace voi cc diu kin ban du bng 0 v theo dinh nghia, ta c dang tng qut cua
hm truyn dat
1 0
1 0
... ( )
( )
... ( )
m
m
n
n
b p b p b M p
W p
a p a p a N p
+ + +
= =
+ + +
(1.2)
N(p) : da thuc dc tnh

nghia
- Quan st hm truyn dat, nhn bit cu trc h thng
- Xc dinh tn hiu ra theo thoi gian (bin di laplace nguoc)
- Xc dinh cc gi tri du, gi tri xc lp cua h thng
- Xc dinh duoc h s khuch dai tinh cua h thng
-

W(p)
U(p) Y(p)

11
2.3 Mt s v d v cch tm hm truyn dat
Nguyn tc chung :
- Thnh lp phuong trnh vi phn ;
- Su dung php bin di laplace d dua v dang hm truyn dat theo dinh nghia.
V d 1 : Khuch dai luc bng cnh tay dn

Xt phuong trnh cn bng v mmen :
F
1
(t)*a = F
2
(t)*b F
1
(p)*a = F
2
(p)*b

2
1
F ( )
W(p)=
F ( )
p a
p b
=

V d 2 : Dng co din mt chiu kich tu dc lp

Gia su tu thng = const, J l mmen qun tnh qui v truc dng co, B l h s ma st o
truc.
Thnh lp hm truyn dat cua dng co voi:
u: tn hiu vo l din p phn ung
: tn hiu ra l gc quay cua truc dng co.
Giai:
Phuong trnh quan h v din p phn ung:

u
u e
di
u Ri L e
dt
e K
= + +
=

Suy ra

e
di
u Ri L K
dt
= + + (1.3)
Phuong trnh quan h v momen trn truc dng co:

i
d
K i J B
dt
= + (1.4)
Thay (1.4) vo (1.3), ta duoc:

2
2 e
i i
R d L d d
u J B J B K
K dt K dt dt

| |
| |
= + + + +
| |

\ .
\ .

a
b
F
1

F
2

J
u
i
B

12

2
2 e
i i i
LJ d RJ LB d RB
u K
K dt K dt K

| | +
= + + +
|

\ .

Vy

( )
2
2 2 0
( ) ( ) U p a p a p a p = + +
voi
2 1 0
; ;
e
i i i
LJ RJ LB RB
a a a K
K K K
| | +
= = = +
|

\ .

Hm truyn dat cua dng co din mt chiu l:

2
2 2 0
( ) 1
( )
( )
p
W p
U p a p a p a
= =
+ +

V d 3: Tm hm truyn dat cua mach din tu dng KDTT, gia thit khuch dai thut ton l
l tuong.

Ta c:
2
2
i
i
V V dV dV
C V V R C
R dt dt

= = + (1.5)
Xt dng din qua V
+

0
0
1 1
2
i
i
V V V V
V V V
R R
+ +
+

= = + (1.6)
Mt khc, do gia thit KDTT l l tuong nn V
-
= V
+
.
Tu (1.5) v (1.6)

0
2 0 2
i
i
dV dV
R C V R C V
dt dt
+ =
0 2
2
( ) 1
( )
( ) 1
i
V p R Cp
W p
V p R Cp
= =
+

V d 4:

V
i

V
0

R
1

R
1

R
2

C
+V
cc

-V
cc

y(t)
u(t)
r
h


13
Trong d: u(t): luu luong cht long vo; y(t) l luu luong cht long ra; A l din tch dy cua
b cht long.
Goi p(t) l p sut cua cht long tai dy b, bit cc quan h sau:
( )
( )
p t
y t
r
= (r l h s)
( ) ( ) p t h t =
Tm hm truyn dat cua b cht long.
Giai
Theo cc quan h trong gia thit, ta c:
( )
( )
p t
y t h
r r
= = (1.7)
D gia tng chiu cao ct cht long l:

( ) ( ) dh u t y t
dt A
= (1.8)
Tu (1.7) v (1.8), suy ra:

( ) ( ) dy u t y t
dt r A

= ( ) ( )
dy
rA y t u t
dt
+ =
Hm truyn dat cua b cht long trn l:

( )
( )
( ) 1 1
Y p K
W p
U p rAp Tp
= = =
+ +

2.4 Hm truyn dat ca mt s thit bj din hnh
- Cc thit bi do luong v bin di tn hiu: W(p) = K
- Dng co din mt chiu:
2
1 2 2
K
W(p)=
TT 1 p T p + +

- Dng co khng dng b 3 pha
K
W(p)=
T 1 p +

- L nhit
K
W(p)=
T 1 p +

- Bng tai
-
W(p)=
p
Ke

2.5 ai s so d khi
Dai s so d khi l bin di mt so d phuc tap v dang don gian hon d thun tin cho vic
tnh ton.
2.5.1 Mc ni tip
1 2
W(p)= . ...
n
W W W
2.5.2 Mc song song
1 2
W(p)= ...
n
W W W
2.5.3 Mc phn hi

1
1 2
W(p)=
1
W
WW

W
1

W
2

-
+
U(p) Y(p)

14
2.5.4 Chuyn tn hiu vo t truc ra sau mt khi

2.5.5 Chuyn tn hiu ra t sau ra truc mt khi

V d 1: DIEU KHIEN MUC CHAT LONG TRONG BE CHUA
Cho mt h thng diu khin tu dng muc cht long trong b chua nhu hnh v, bit
rng:
- Hm truyn cua b chuyn di muc cht long/dng din
1
1
) (
+
=
p T
p G
c
LT
voi T
c
=1
- Phuong trnh vi phn biu din qaun h giua luu luong v d cao ct cht long l:
) ( ) ( ) (
) (
t Q t Q t h
dt
t dh
a i
+ = + voi =25
- Hm truyn cua ca b chuyn di dng din sang p sut v van tu dng l:
LT
LIC
LI
VT
LV
h H
0

Q
i
Q
a

Q
o

M
X P
LT : chuyn di muc cht long
LIC : B hiu chinh
LY : chuyn di dng din/p sut
LV : van diu chinh tu dng
VT : van diu khin bng tay
W
U(p) Y(p)
W
U(p) Y(p)

Y(p)
W
Y(p)
W
U
1
(p) Y(p)

U
2
(p)
W
U
1
(p) Y(p)

U
2
(p)
W


15
T
i

T
T
T
a

Q
e

=
+
= =
1
1
) (
) (
) (
p T p N
p Q
p G
V
e
V
voi T
v
=4
Yu cu :
1. Thnh lp so d diu khin cua h thng.
2. Tm cc hm truyn dat
0
( ), ( ), ( )
a
HU HQ HQ
W p W p W p
3. Gia su chua c b diu khin C(p) = 1. Tm gi tri xc lp cua ct nuoc o ng ra nu u(t)=
5.1(t) v Q
a
= 2.1(t).

DS

V d 2 : Cho m hnh cua mt b diu ha nhit d cht long nhu hnh v

Trong d :
- T
i
: nhit d cht long vo b
- T : nhit d cht long trong b
- T
a
: nhit d mi truong

Bit rng :
- Nhit luong cht long mang vo b : Q
i
= VHT
i

voi H l h s nhit ; V l luu luong cht long vo b.
- Nhit luong din tro cung cp cho b Q
e
(t)
- Nhit luong cht long mang ra khoi b Q
0
= VHT

- Nhit luong tn tht qua thnh b do chnh lch voi mi truong ( )
1
s a
Q T T
R
=
Bit nhit luong cht long nhn duoc s lm tng nhit d cht long theo biu thuc
l
dT
Q C
dt
=
Hy thnh lp m hnh diu khin cua b trao di nhit o trn.

Giai
Phuong trnh cn bng nhit cua b cht long

0 l i e a
Q Q Q Q Q = +
Hay
C(p) G
V
(p) G(p) G
LT
(p)
Q
a

Q
o

Q
i
Y
U X H

16

a
i e
T T dT
C VHT Q VHT
dt R
= +

1 1
i e a
dT
C VH T VHT Q T
dt R R
| |
+ + = + +
|
\ .

( )
1 0 0 0
( ) ( ) ( ) ( )
i e a
a p a T p b T p Q p c T p + = + +
[ ]
0 0
1 0
1
( ) ( ) ( ) ( )
i e a
T p b T p Q p c T p
a p a
= + +
+

M hnh diu khin l :

Ngoi phuong php dai s so d khi, chng ta cn c th dng phuong php Graph tn hiu
d tm hm truyn dat tuong duong cua mt h thng phuc tap.
3 Phuong trnh trang thi
3.1 Phuong trnh trang thi tng qut
3.1.1 Khi nim
- Di voi mt h thng, ngoi tn hiu vo v tn hiu ra cn phai xc dinh, di khi ta cn quan
st cc trang thi khc. V du di voi dng co din l dng din, gia tc dng co, tn hao,
v.v
- Khc voi tn hiu ra phai do luong duoc bng cc b cam bin, cc bin trang thi hoc do
duoc, hoc xc dinh duoc thng qua cc dai luong khc.
- Tu d nguoi ta xy dung mt m hnh ton cho php ta c th xc dinh duoc cc bin trang
thi.
3.1.2 Dang tng qut ca phuong trnh trang thi
Xt h thng c m tn hiu vo v r tn hiu ra.

H thng c :

H thng
u
1
(t)
u
m
(t)
y
1
(t)
y
r
(t)
1 0
1
a p a +

b
0

c
0

Q
e

T
a

T
i

T

17
- m tn hiu vo: u
1
(t), u
2
(t), , u
m
(t), vit
1
...
m
u
U
u
| |
|
=
|
|
\ .
,
m
U
- r tn hiu ra: y
1
(t), y
2
(t), , y
r
(t), vit
1
...
r
y
Y
y
| |
|
=
|
|
\ .
,
r
Y
- n bin trang thi : x
1
(t), x
2
(t), , x
n
(t), vit
1
...
n
x
X
x
| |
|
=
|
|
\ .
,
n
X
Phuong trnh trang thi dang tng qut cua h thng duoc biu din duoi dang :

X AX BU
Y CX DU
= +
= +

Voi , , ,
nxn nxm rxn rxm
A B C D
A, B, C, D goi l cc ma trn trang thi, nu khng phu thuc vo thoi gian goi l h thng
dung.

Nhn xt :
- Phuong trnh trang thi m ta ton hoc cua h thng v mt thoi gian duoi dang cc phuong
trnh vi phn.
- H thng duoc biu din duoi dang cc phuong trnh vi phn bc nht.
3.1.3 V du thnh lp phuong trnh trang thi
V d 1
Xy dung phuong trnh trang thi cua mt h thng cho duoi dang phuong trnh vi phn nhu
sau :

2
2
2 5
d y dy
y u
dt dt
+ + =

Giai
H c mt tn hiu vo v mt tn hiu ra.
Dt
1
2
x y
dy
x y
dt
=
= =

Tu phuong trnh trn, ta c :

2 2 1
2 5 x x x u + + =
Nhu vy :

1 2
2 1 2
5 1 1
2 2 2
x y x
x x x u
= =
= +

[ ]
1 1
2 2
1
2
0 1 0
5 1 1
2 2 2
0 1
x x
u
x x
x
y
x
( (
( (
( (
= +
( (
( (

( (

(
=
(


18
Dt A, B, C, D l cc ma trn tuong ung, suy ra
X AX BU
Y CX DU
= +
= +

V d 2
Cho mach din c so d nhu hnh v sau, hy thnh lp phuong trnh trang thi cho
mach din ny voi u
1
l tn hiu vo, u
2
l tn hiu ra.

Giai
Gia su mach ho tai v cc diu kin du bng 0. Goi i l dng din chay trong mach, ta c :

0
0
0
1
1
t
i
t
di
u Ri L idt
dt C
u idt
C
= + +
}
}

Dt cc bin trang thi l :
1 2 0
, x i x u = = , ta c :

1 1 2
2 1
i
u Rx Lx x
Cx x
= + +
hay
1 1 2
2 1
1 1
1
i
R
x x x u
L L L
x x
C
= +
v
2 0
x u =
Vy :

[ ]
1 1
2 2
1
0
2
1
1
1
0 0
0 1
i
R
x x
L L
u L
x x
C
x
u
x
(
(
(
( (
(
= + (
( (
(
(
(

(

(
=
(

Hoi : Truong hop dt
1 0 2
, x u x i = = , phuong trnh trang thi cua mach din s c dang nhu
th no ?

Nhn xt
- Voi cng h thng s c nhiu phuong trnh trang thi khc nhau.
- Hm truyn dat cua h thng l duy nht.
3.2 Xy dng phuong trnh trang thi t hm truyn dat
3.2.1 Khai trin thnh cc tha s don gin
Nu hm truyn dat duoc biu din duoi dang tch cc thua s nhu sau :
R L
C
u
i
u
0


19

( )
1
( ) 1
( )
( )
n
i i
Y p
W p K
U p p p
=
= =

Dt cc bin trung gian nhu hnh v, ta c :

1 1 1
2 2 2 1
1
...
n n n n
x p x Ku
x p x x
x p x x

= +
= +
= +
v y = x
n
Suy ra phuong trnh trang thi l :

[ ][ ]
1 1
2 2
1 2
1 0
0 1 0
0 0 1
n n
T
n
x p K
x p
u
x p
y x x x
( ( (
( ( (
( ( (
= +
( ( (
( ( (
( (

=

3.2.2 Khai trin thnh tng cc phn thc don gin
Nu hm truyn dat duoc khai trin duoi dang :

1
( )
( )
( )
n
i
i i
K Y p
W p
p p U p
=
= =

1
( ) ( )
n
i
i i
K
Y p U p
p p
=
(
=
(

So d cu trc nhu sau :

Nhu vy :
i i i
pX p X U = +
i i i
x p x u = +
1
1
p p
2
1
p p
1
n
p p
U
X
1

X
2

Xn

K
1

K
2

K
n

Y
1

Y
2

Yn

Y
1
K
p p
2
1
p p
1
n
p p

U
Y x
1
x
2

x
n


20
Hay
[ ][ ]
1 1
2 2
1 2 1 2
1
1
1
0 1
n n
T
n n
x p
x p
u
x p
y K K K x x x
( ( (
( ( (
( ( (
= +
( ( (
( ( (
( (

=

3.2.3 S dung m hnh tch phn co bn
Truong hop hm truyn dat c dang

1 0
( )
( )
( ) ...
n
n
Y p K
W p
U p a p a p a
= =
+ + +

Dt
( 1) ( )
1 2 1 3 2
, , ,..., ,
n n
n n
x y x x y x x y x y x y
= = = = = = =
Suy ra :

1 2
2 3
1 1
1
...
...
n
n n
n n n
x x
x x
a a K
x x x u
a a a
=
=
= +

3.3 Chuyn di t phuong trnh trang thi sang hm truyn
1
( ) ( ) W p C pI A B D
= +

MT S BI TAP CHUONG 1
Bi tp 1 DIEU KHIEN LUU LUONG CHAT LONG TRONG ONG DN
Cho so d diu khin muc luu luong cua mt duong ng dn cht long nhu hnh v

Bit hm truyn cua co cu chuyn di tu dng din sang p sut + van LV + duong ng + b
chuyn di tu luu luong sang dng din l
1 2 . 2 ) (
) (
) (
+
= =
p
e
p X
p Y
p H
p

Hy thnh lp m hnh diu khin cua h thng.

Bi tp 2 DIEU CHINH NHIET DO CUA MY LOAI KH CHO NOI HOI
FE
FT
FIC FY
Y
X
FE : do luu luong
FT : chuyn di luu luong/ dng din
FIC : b diu khin luu luong
FY : chuyn di dng din/p sut
LV

21
Nuoc truoc khi duoc dua vo l hoi cn phai qua my loai kh nhm loai bot kh CO
2

v O
2
trong nuoc. Cc loai kh ny km tan, chnh v vy s lm p sut hoi thp, nhit d
cao. Nuoc trong my loai kh ny c p sut thp v nhit d bo ha khoang 104C. So d
diu chinh nhit d cua my loai kh nhu sau :

Hm truyn cua van diu chinh TV + ni hoi + b do TE l

1 8
2
) (
) (
) (
4
+
= =
p
e
p X
p Y
p T
p

B chuyn di din p/dng din TY c nhim vu chuyn di tn hiu din p ( vi micro
volt) ti l voi nhit d thnh tn hiu dng din I (4-20mA) d dua dn b diu chinh TIC.
Hm truyn cua b chuyn di TY l :

1 3 . 0
1
) (
) (
) (
+
= =
p p Y
p I
p C


Bi tp 3 DIEU CHINH NHIET DO CUA BO TRAO DOI NHIET
So d cua mt b trao di nhit nhu hnh v, trong d
1
>T
1
.

LT
TE
TY
TIC
Q
v

Q
e

Hoi
Dn ni
hoi
Nuoc
TE : du d nhit d TV : van tu dng diu chinh nhit d
TY : chuyn di din p/dng din LT : b chuyn di muc
TIC : b diu chinh nhit d LV : van diu chinh muc
LV
TV
Y
I
X
T

22

Yu cu diu khin l giu cho nhit d ra T
2
cua cht long cn lm nng khng di voi moi
luu luong Q
f
.
Mt tn hiu diu khin X dua dn van s khng ch nhit d T
2
cua cht long, nhit d ny
duoc th hin qua tn hiu do luong Y. Hm truyn cua van TV + b trao di nhit + b do
TT l
( )
3
1 2
4 . 1
) (
) (
) (
+
= =
p p X
p Y
p H . Mt khc, nu giu tn hiu diu khin X khng di nhung
luu luong Q
f
cua cht long cn lm nng thay di cung lm anh huong dn nhit d ra T
2
.
Anh huong cua Q
f
dn T
2
duoc cho boi hm truyn
( )
2
1 5 . 0
2
) (
) (
) (
+
= =
p p Q
p Y
p D
f


Bi tp 4 DIEU KHIEN NHIET DO CUA MOT MY HA LONG GA (liqufacteur)
So d khi cua mt my ha long ga duoc cho trong hnh sau :

Trong d :
TT : b chuyn di nhit d
TIC : b diu chinh nhit d
FT
1
: b chuyn di luu luong (din tu)
FT
2
: b chuyn di luu luong voi do luong tuyn tnh
M
FT
1

TIC
FT
2

TT
Q
2
, T
1

Q
2
, T
2

Q
1
, T
3

Q
1
, T
4

Ga cn ha long
Ga long
Cht lm lanh
Y X
FIC
X
1

TT
TIC
TV
FT
Q
f
,T
1

Q
f
,T
2

Q
c
,
2

Q
c
,
1

Cht long cn lm nng
Cht long
mang nhit
Y
X
TT : b chuyn di nhit d TV : van diu chinh nhit d
TIC : b diu chinh nhit d FT : b chuyn di luu luong

23

D diu khin nhit d cua ga d duoc ha long, nguoi ta di luu luong Q
1
cua cht
lm lanh boi b diu khin TIC. Ga truoc khi ha long c nhit d T
1
, sau khi duoc ha long
s c nhit d T
2
. Hm truyn cua cc khu trong so d duoc dinh nghia nhu sau :

p
e K
p Q
p T
p H
p
1
1
1
2
1
1 ) (
) (
) (
1
+
= =

) (
) (
) (
2
2
2
p Q
p T
p H =
) (
) (
) (
3
2
3
p T
p T
p H =
) (
) (
) (
1
2
4
p T
p T
p H = 1
) (
) (
) (
2
5
= =
p T
p Y
p H 1
) (
) (
) (
1
6
= =
p X
p Q
p H

Voi K
1
=2,
1
=1 min,
1
=4 min.

Chuong 2 c tnh dong hoc

24
(nuon 2
DAC TNH DNG HC CUA CC KHU
V CUA HJ THNG TRONG MIEN TAN S
1 Khi nim chung
- Nhim vu cua chuong : xy dung dc tnh dng hoc cua khu/h thng trong min tn s. Muc
dch :
+ Khao st tnh n tnh
+ Phn tch tnh cht
+ Tng hop b diu khin
- Khu dng hoc : nhung di tuong khc nhau c m ta ton hoc nhu nhau duoc goi l khu dng
hoc. C mt s khu dng hoc khng c phn tu vt l no tuong ung, v du ( ) 1 W p Tp = + hay
( ) 1 W p Tp = .
2 Phn ng ca mt khu
2.1 Tn hiu tc dng vo mt khu (cc tn hiu tin djnh)
2.1.1 Tn hiu bc thang don vj
1 0
( ) 1( )
0 0
t
u t t
t

= =

<

Dang tng qut

0 0
0 0
0
U
( ) 1( )
0
t t
u t U t t
t t

= =

<

2.1.2 Tn hiu xung don vj
0 0
1( )
( ) ( )
0
t
d t
u t t
t dt

= = =

=

Tnh cht :

0
( ) 1 t dt
=
}

2.1.3 Tn hiu diu ha
u(t) = U
m
sin(t + )
Biu din duoi dang s phuc
( )
( )
j t
m
u t U e
+

2.1.4 Tn hiu bt ky
Di voi mt tn hiu vo bt ky, ta lun c th phn tch thnh tng cua cc tn hiu don gian o trn.
2.2 Phn ng ca mt khu
Cho mt khu duoc m ta ton hoc nhu hnh v :

W(p)
U(p) Y(p)
u(t)
y(t)
t
u
1
t
(t)

25
Dinh nghia: Phan ng cua mt khu (h thng) di vi mt tn hiu vo xc djnh chnh l dc
tnh qu d hay dc tnh thi gian cua khu d.
2.2.1 Hm qu d ca mt khu
Hm qu d cua mt khu l phan ng cua khu di vi tn hiu vo 1(t).
K hiu : h(t)
Biu thuc :
1
( )
( )
W p
h t L
p

=
`
)

2.2.2 Hm trong luong ca mt khu
Hm trng lung cua mt khu l phan ng cua khu di vi tn hiu vo (t).
K hiu : (t)
Biu thuc : { }
1
( ) W(p) t L

= hay
( )
( )
dh t
t
dt
=

V du : Cho mt khu c hm truyn dat l

5
( )
2 1
W p
p
=
+

Tm phan ung cua khu di voi tn hiu u(t) = 2.1(t-2)-2.1(t-7).
3 c tnh tn s ca mt khu
3.1 Hm truyn dat tn s
3.1.1 jnh ngha:
Hm truyn dt tn s cua mt khu, k hiu l W(j ), l t s gia tn hiu ra vi tn
hiu vo o trng thi xc lp khi tn hiu vo bin thin theo qui lut diu ha ( ) sin
m
u t U t = .

- O trang thi xc lp (nu h thng n dinh): y
xl
(t)= Y
m
sin(t + )
- Biu din duoi dang s phuc :

( )
( )
j t
u t e

( )
( )
j t
m
y t Y e
+

- Theo dinh nghia :
( )
( )
( )
( )
( )
j t
j xl m m
j t
m m
y t Y e Y
W j e
u t U
U e

+
= = =
Nhn xt: Hm truyn dat tn s
- L mt s phuc
- Phu thuc vo tn s tn hiu.

Do W(j) l s phuc nn c th biu din n nhu sau :

( )
( ) ( )
( ) ( ) ( )
j
W j A e
W j P jQ

=
= +

3.1.2 Cch tm hm truyn dat tn s t hm truyn dat ca mt khu
C th chung minh duoc hm truyn dat tn s duoc tm duoc tu hm truyn dat cua mt
khu (h thng) theo quan h sau :
( ) ( )
p j
W j W p
=
=
V du : Tm hm truyn dat tn s cua khu c hm truyn
5
( )
2 1
W p
p
=
+
.
nghia cua W(j )

26
- Xc dinh duoc h s khuch dai / gc lch pha di voi tn hiu xoay chiu
- Xc dinh duoc phuong trnh cua tn hiu ra o trang thi xc lp.
3.2 c tnh tn s
3.2.1 c tnh tn s bin pha (Nyquist)
Xut pht tu cch biu din hm truyn dat tn s ( ) ( ) ( ) W j P jQ = +
- Xy dung h truc voi truc honh P, truc tung Q.
- Khi bin thin, v nn dc tnh tn s bin pha.
inh nghia : Dc tnh tn s bin pha (DTBP) l qu do cua hm truyn dt tn s W(j ) trn
mt phng phc khi bin thin t - dn .

Dc dim :
- DTBP di xung qua truc honh nn chi cn xy dung
dc tnh khi bin thin tu 0 dn v ly di
xung qua truc honh d duoc ton b dc tnh.
- C th xc dinh duoc mdun A, gc pha tu DTBP

3.2.2 c tnh tn s logarit (Bode)
Quan st su bin thin cua bin d v gc pha theo tn s
Xy dung h gm 2 dc tnh :

* D}c tnh tn s bin d logarit DTBL
- Honh d l hay log [dec]
- Tung d L [dB]. Hm L duoc xc dinh
20log ( ) L A =
DTBL biu din bin thin cua h s khuch dai tn hiu theo tn s tn hiu vo.

* D}c tnh tn s pha logarit DTPL
- Honh d l hay log [dec]
- Tung d [rad], duoc xc dinh trong W(j).
DTPL biu din bin thin cua gc pha theo tn s tn hiu vo.

* Dc dim cua dc tnh logarit
Khi h thng c n khu noi tip :
log

L
log

P
jQ
A


27

1 2
1 2
...
...
n
n
L L L L

= + + +
= + + +

4 c tnh dng hc ca mt s khu co bn
4.1 Khu t l
W(p) = K
4.1.1 Hm truyn dat tn s
4.1.2 c tnh Nyquist
P = K
Q = 0
4.1.3 c tnh Bode
20lg
0
L K
=
=

4.1.4 Hm qu d
( ) .1( ) h t K t =
4.2 Khu qun tnh bc 1
( )
1
K
W p
Tp
=
+

2 2 2 2
2 2
,
1 1
,
1
K KT
P Q
T T
K
A arctg T
T
= =
+ +
= =
+

4.2.2 c tnh Nyquist


28
-2 0 2 4 6 8 10
-5
-4
-3
-2
-1
0
1
2
3
4
5
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y
A
x
i
s

Dc tnh Nyquist cua khu qun tnh bc 1 (K = 10, T = 0.1)
4.2.3 c tnh Bode
2 2
20lg 20lg 1 L K T = +
arctg T =
-20
-10
0
10
20
30
40
M
a
g
n
i
t
u
d
e
(
d
B
)
10
-1
10
0
10
1
10
2
10
3
-90
-45
0
45
P
h
a
s
e
(
d
e
g
)
Bode Diagram
Frequency (rad/sec)

Dc tnh Bode cua khu qun tnh bc 1 (K = 10, T = 0.1)

Trn h truc logarit, c th v dc tnh bin pha gn dng cua khu qun tnh bc nht nhu sau :
* c tnh bin do logarit
- 0 : L L
1
= 20lgK;
- : L L
2
= 20lgK 20lg;
- =
g
= 1/T: L
1
(
g
) = L
2
(
g
)

* c tnh pha logarit
- 0 : 0;

29
- : -/2;
- =
g
= 1/T: (
g
) = -/4

Ch : sai lch giua dc tnh gn dng v dc tnh chnh xc khng duoc lon hon 3dB.
4.2.4 Hm qu d
( )
/
( ) 1
t T
h t K e
=
0 0.1 0.2 0.3 0.4 0.5 0.6
0
2
4
6
8
10
12
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e

Dc tnh qu d cua khu qun tnh bc 1 (K = 10, T = 0.1)
4.3 Khu dao dng bc 2
2
0
2 2
0 0
( )
2
W p K
p p

=
+ +

voi <1
( )
( ) ( )
( )
( )
2 2 2
3
0 0
0
2 2
2 2 2 2 2 2 2 2 2
0 0 0 0
2
0 0
2 2
2
2 2 2 2 2
0
0 0
2
,
4 4
2
,
4
K
K
P Q
K
A arctg

= =
+ +
= =
+


30
4.3.2 c tnh Nyquist
-2 0 2 4 6 8 10
-8
-6
-4
-2
0
2
4
6
8
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y
A
x
i
s

Dc tnh Nyquist cua khu dao dng bc 2 (K = 10,
0
= 0.5, = 0.9)

4.3.3 c tnh Bode
( )
2
2 2 2 2 2 2
0 0 0
20lg 20lg 4 L K = +
-80
-60
-40
-20
0
20
40
M
a
g
n
i
t
u
d
e
(
d
B
)
10
-2
10
-1
10
0
10
1
10
2
-180
-135
-90
-45
0
45
P
h
a
s
e
(
d
e
g
)
Bode Diagram
Frequency (rad/sec)

Dc tnh Bode cua khu dao dng bc 2 (K = 10,
0
= 0.5, = 0.9)

Cch v dc tnh bin pha gn dng :
* c tnh bin do logarit
- 0 : L L
1
= 20lgK;
- : L L
2
= 20lgK
0
2
40lg;
- =
g
=
0
: L
1
(
g
) = L
2
(
g
).

31
0
duoc goi l tn s dao dng tu nhin

* c tnh pha logarit
- 0 : 0;
- : -;
- =
g
=
0
: (
g
) = -/2
4.3.4 Hm qu d
( )
0
2
0
2
1
( ) 1 sin 1 arccos
1
t
h t K e t
(
= + (
(

0 5 10 15 20 25 30 35 40
0
2
4
6
8
10
12
14
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e

Dc tnh qu d cua khu dao dng bc 2 voi cc h s khc nhau

4.4 Khu khng n djnh bc 1
( )
1
K
W p
Tp
=

2 2 2 2
2 2
,
1 1
,
1
K KT
P Q
T T
K
A arctg T
T
= =
+ +
= =
+

4.4.2 c tnh Nyquist
4.4.3 c tnh Bode
2 2
20lg 20lg 1 L K T = +
arctg T =
4.4.4 Hm qu d
( )
/
( ) 1
t T
h t K e =

32
4.5 Khu vi phn l tung
( ) W p Kp =
0,
,
2
P Q K
A K

= =
= =

4.5.2 c tnh Nyquist
4.5.3 c tnh Bode
20lg 20lg L K = +
4.6 Khu vi phn bc 1
( ) ( ) 1 W p K Tp = +
2 2
,
1,
P K Q T K
A K T arctgT

= =
= + =

4.6.2 c tnh Nyquist
-2 0 2 4 6 8 10 12
-200
-150
-100
-50
0
50
100
150
200
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y
A
x
i
s

Dc tnh Nyquist cua khu vi phn bc nht

4.6.3 c tnh Bode
2 2
20log 20log 1
1
g
L K T
T
= + +
=


33
10
-1
10
0
10
1
10
2
10
3
0
45
90
135
P
h
a
s
e
(
d
e
g
)
0
10
20
30
40
50
60
M
a
g
n
i
t
u
d
e
(
d
B
)
Bode Diagram
Frequency (rad/sec)

Dc tnh Bode cua khu vi phn bc 1 (K = 10, T = 0.1)

4.7 Khu tch phn l tung
( )
K
W p
p
=
0,
,
2
K
P Q
K
A
= =
= =

4.7.2 c tnh Nyquist
4.7.3 c tnh Bode
20lg 20lg L K =
4.8 Khu chm tr
-
( )
p
W p e

=
( )
1,
j
W j e
A
=
= =

4.8.2 c tnh Nyquist
4.8.3 c tnh Bode
0 L

=
=


34
10
-1
10
0
10
1
10
2
10
3
-180
-135
-90
-45
0
45
P
h
a
s
e
( d
e
g
)
-20
-10
0
10
20
30
40
M
a
g
n
i t
u
d
e
( d
B
)
Bode Diagram
Frequency (rad/sec)

Dc tnh Bode cua khu qun tnh bc 1 (xanh blue) v
khu qun tnh bc nht c tr 0.5s (xanh verte)

Cc lnh thuc hin v dc tnh trn trong MATLAB :
num=10
den=[0.1 1]
W1=tf(num,den)
W2=W1;
set(W2,IODelay,0.5);
W2
bode(W1);
hold on
bode(W2);
Chuong 3 Tnh on dinh cua h thong
35
(nuon
TNH ON DJNH CUA HJ THNG DIEU KHIEN TJ DNG
1 Khi nim chung
Khao st mt h thng diu khin tu dng duoc m ta ton hoc duoi dang hm truyn dat :

1 0
1 0
... ( )
( )
... ( )
m
m
n
n
b p b p b Y p
W p
a p a p a U p
+ + +
= =
+ + +
(3.1)
Phuong trnh vi phn tuong ung cua h thng l :

1 0 1 0
... ...
n m
n m n m
d y dy d u du
a a a y b b b u
dt dt dt dt
+ + + = + + + (3.2)
Nghim cua phuong trnh vi phn (3.2) c dang nhu sau :

0
( ) ( ) ( )
qd
y t y t y t = + (3.3)
Trong d :
y
0
(t) l nghim ring cua phuong trnh (3.2) c v phai, dc trung cho qu trnh xc lap.
y
qd
(t) l nghim tong qut cua (3.2), dc trung cho qu trnh qu do.

Tnh n djnh cua mt h thng ch ph thuc vo qu trnh qu d, cn qu trnh xc lp
l mt qu trnh n djnh.

Djnh ngha :
a) Mt h thng DKTD n dinh nu qu trnh qu d tt dn theo thoi gian.
lim ( ) 0
qd
t
y t
=

b) Mt h thng DKTD khng n dinh nu qu trnh qu d tng dn theo thoi gian.
lim ( )
qd
t
y t
=
c) Mt h thng DKTD o bin gioi n dinh nu qu trnh qu d khng di hay dao dng khng tt
dn.

Xt nghim y
qd
(t) trong (3.3), dang tng qut cua nghim qu d nhu sau :

,
1 1
( )
i
n n
p t
qd i qd i
i i
y t Ce y
= =
= =

(3.4)
voi n l bc v p
i
l nghim cua phuong trnh dc tnh

1 0
( ) ... 0
n
n
N p a p a p a = + + + = (3.5)
C
i
l cc hng s (tnh theo cc diu kin du).
* Khao st cc trung hp nghim p
i
:
i) p
i
l nghim thuc

i i
p =
,
i
t
qd i i
y Ce
=

,
0, 0
lim lim , 0
, 0
i
i
t
qd i i i i
t t
i
y Ce C

<
= = =
>

ii) p
i
l cp nghim phuc lin hop:

, 1 i i i i
p j
+
=
, , 1
2 cos( )
i
t
qd i qd i i i i
y y Ae t

+
+ = +

, , 1
0, 0
lim( ) dao dong, 0
, 0
i
qd i qd i i
t
i
y y
<
+ = =
>

36
Kt lun :
1) H thng diu khin tu dng n dinh nu tat ca cc nghim cua phuong trnh dc tnh c
phan thuc m.
2) H thng diu khin tu dng khng n dinh nu c t nhat mt nghim cua phuong trnh dc
tnh c phan thuc duong.
3) H thng diu khin tu dng o bin gioi n dinh nu c t nht mt nghim cua phuong trnh
dc tnh c phan thuc bng 0, cc nghim cn lai c phan thuc m.
2 Tiu chun n d[nh dai s
2.1 iu kin cn d h thng n djnh
Xt mt h thng diu khin tu dng c phuong trnh dc tnh tng qut nhu sau :
1 0
( ) ... 0
n
n
N p a p a p a = + + + =
Pht biu :
Diu kin cn d mt h thng DKTD tuyn tnh n djnh l tt ca cc h s cua phuong trnh
dc tnh duong
2.2 Tiu chun Routh
2.2.1 Cch thnh lp bng Routh
p
n
a
n
a
n-2
a
n-4
a
0

p
n-1
a
n-1
a
n-3
a
n-5
(a
0
)
p
n-2
c
n-2,1
c
n-2,2

p
2
c
2,1
c
2,2

p
1
c
1,1
c
1,2

p
0
c
0,1

Voi :

2 4
1 3 1 5
2,1 2,2
1 1
;
n n n n
n n n n
n n
n n
a a a a
a a a a
c c
a a

= = ;

2,1 2,2
1,1 2,3
0,1
1,1
c c
c c
c
c
=
Quy tc :
Mi s hang trong bang Routh l mt ti s, trong d :
- Tu s l dinh thuc bc 2, mang du m. Ct thu nht cua dinh thuc l ct thu nht cua 2
hng dung st trn hng c s hang dang tnh ; ct thu hai cua dinh thuc l ct dung st bn
phai s hang dang tnh cung cua 2 hng trn.
- Mu s : Tt ca cc s hang trn cng mt hng c cng mu s l s hang o ct tu nht cua
hng st trn hng c s hang dang tnh.
2.2.2 Pht biu tiu chun Routh
Diu kin cn v du d h thng tuyn tnh n djnh l tt ca cc s hng trong ct th
nht cua bang Routh phai duong.
2.2.3 Cc tnh cht ca bng Routh
- C th nhn hoc chia tt ca cc s hang trn cng mt hng cua bang Routh voi mt s
duong.
- S ln di du cua cc s hang trong ct thu nht cua bang Routh bng s nghim cua
phuong trnh dc tnh c phn thuc duong.
37
- Nu trong ct thu nht cua bang Routh c mt s hang bng 0 th h thng cung khng n
dinh. D xc dinh s nghim m, c th thay s 0 bng s > 0 rt b d tip tuc xc dinh
cc s hang cn lai.
- Nu tt ca cc s hang trn cng 1 hng cua bang Routh bng 0 th h thng o bin gioi n
dinh.
- Truong hop h thng c khu chm tr, c th khai trin Fourrier hm mu nhu sau :
2
( ) ( )
1
1! 2!
p
p p
e

= + + +
2.3 Tiu chun n djnh Hurwitz
2.3.1 Pht biu
Diu kin cn v du d h thng tuyn tnh n djnh l cc h s a
n
v cc dinh thc Hurwitz
duong.
2.3.2 Cch thnh lp dinh thc Hurwitz
Dinh thuc
n
c :
- n ct v n hng
- Duong cho chnh cua
n
bt du tu a
1
lin tip dn a
n
.
- Cc s hang trong cng mt ct c chi s tng dn tu duoi ln trn.
- Cc s hang c chi s lon hon n hay nho hon 0 ghi 0.
3 Tiu chun n d[nh tn s
3.1 Tiu chun Nyquist theo dc tnh tn s bin pha
3.1.1 Pht biu
Diu kin cn v du d mt h thng kn phan hi -1 n djnh l :
- Khi h ho n djnh hoc o bin gii n djnh, dc tnh tn s bin pha cua h ho khng
bao dim M(-1,j0).
- Khi h ho khng n djnh, dc tnh tn s bin pha cua h ho bao dim M(-1,j0) m/2 vng
kn khi bin thin t 0 dn , vi m l s nghim cua phuong trnh dc tnh cua h ho
c phn thc duong.
3.1.2 p dung tiu chun
- Tiu chun ny chi p dung cho h kn. Truong hop khng phai h phan hi -1 th chuyn v dang
phan hoi 1 tuong duong.
- C th xc dinh s ln bao N cua dc tnh tn s ( bin thin tu 0 dn ) voi dim M nhu sau :

( ) ( ) ,0 ,0
2
C C
N
+

=

Voi :
+ C
+
giao dim duong : l giao cua W(j) voi truc thuc, c chiu theo chiu tng cua .
+ C
-
giao dim m : l giao cua W(j) voi truc thuc, c chiu theo chiu tng cua .
3.2 Tiu chun Nyquist theo dc tnh tn s logarit
3.2.1 Pht biu
Diu kin cn v du d h kn phan hi -1 n djnh khi h ho n djnh (hay o bin gii n
djnh) l s giao dim duong bng s giao dim m trong phm vi tn s d L( ) >0.
- Trong dc tnh logarit
38
+ C
+
giao dim duong : l giao cua () voi duong thng -, c chiu theo chiu tng cua
.
+ C
-
giao dim m : l giao cua () voi duong thng -, c chiu theo chiu tng cua .
- Tiu chun chi p dung cho h kn phan hi -1, h ho d n dinh.
3.3 Tiu chun n djnh Mikhailov
3.3.1 Pht biu
Diu kin cn v du d h thng tuyn tnh n djnh l biu d vecto da thc dc tnh
A(j ) xut pht t trc thc duong quay n gc phn tu nguc chiu kim dng h khi tng t 0
dn .
- Tiu chun ny duoc p dung d xt n dinh cho h bt ky (ho/kn)
- Da thuc dc tnh l da thuc o tu s cua hm truyn dat.
4 Phuong php qu dao nghim s
Phuong php qu dao nghim s (QDNS) thuong dng cho h thng c mt thng s bin di
tuyn tnh. Voi mi gi tri cua thng s, phuong trnh dc tnh cua h thng s c mt tp nghim,
mi nghim duoc biu din bng mt dim trn mt phng phuc. Khi thng s bin di, nghim cua
phuong trnh dc tnh cung bin di theo. Quv dao tao ra tu cc nghim cua phuong trnh dc tnh
trn mt phng phuc khi thng so bin doi goi l quv dao nghim so.
4.1 Phuong php xy dng QNS
Xt mt h thng tuyn tnh, trong d phuong trnh dc tnh chua mt thng s K bin di
duoi dang:
0 0
( ) ( ) ( ) 0 N p N p KM p = + = (3.6)
voi N(p), M(p) l hai da thuc bc n, m tuong ung.
Goi p
i
(i = 1,2,,n) l nghim cua phuong trnh N(p) = 0

'
i
p (i = 1,2,,n) l nghim cua phuong trnh N
0
(p) = 0

''
j
p (j = 1,2,,m) l nghim cua phuong trnh M
0
(p) = 0
C th vit

( )
'
0
1
( )
n
i
i
N p p p
=
=
;
( )
''
0
1
( )
m
j
j
M p p p
=
=

v
( ) ( )
' ''
1 1
( )
n m
i j
i j
N p p p K p p
= =
= +

4.1.1 Xc djnh dim xut pht ca QNS
Dim xut pht cua QDNS l vi tr nghim khi K = 0. Tu phuong trnh (3.6), dim xut pht cua
QDNS chnh l n nghim
'
i
p cua phuong trnh N
0
(p) = 0.
4.1.2 Xc djnh dim kt thc ca QNS
Dim kt thc cua QDNS l vi tr nghim khi K 0. Tu phuong trnh (3.6), c th vit :

( ) ( )
' ''
1 1
1
( ) 0
n m
i j
i j
N p p p p p
K
= =
= + =

(3.7)
R rng, khi K , nghim cua N(p) cung chnh l m nghim
''
j
p cua phuong trnh M
0
(p) = 0.
4.1.3 Xc djnh s luong qu dao trn mt phng nghim
Phuong trnh N(p) = 0 c n nghim xut pht, do vy khi K bin thin s vach nn n qu dao trn
mt phng nghim. Do c m dim kt thc cua qu dao nn nu m<n th :
39
- m qu dao xut pht tu
'
i
p v kt thc o
''
j
p ;
- (n m) qu dao xut pht tu
'
i
p v tin ra v cng.
Khi phuong trnh N
0
(p) = 0 c nghim phuc lin hop th cp qu dao tuong tung cua n s di xung
qua truc thuc.
4.1.4 Xc djnh cc dung tim cn
C (n-m) duong thng tim cn cho cc qu dao tin ra v cng.
- Tm tim cn :
' ''
0
1 1
1
n m
i j
i j
R p p
n m
= =

=

- Gc tao boi cc duong tim cn v truc honh :
2 1
k
k
n m

+
=
, k = 0,1,,n-m-1
4.1.5 Xc djnh dim tch khi truc thuc v hung djch chuyn ca qu dao
- Khao st hm s
0
0
( )
( )
( )
N p
f p
M p
= d xc dinh huong di chuyn cua qu dao
- Cc nghim cua phuong trnh
( )
0
df p
dp
= chnh l cc dim tch khoi truc thuc cua QDNS.
4.1.6 Xc djnh giao dim ca truc o vi QNS
Goi j
c
l dim cua QDNS voi truc ao. Thay p = j
c
vo phuong trnh dc tnh N(p) = 0,
c
duoc
xc dinh tu h phuong trnh :

Re ( ( )) 0
Im( ( )) 0
c
c
al N j
N j
=

=

V du : V QDNS cua mt h thng c phuong trnh dc tnh c thng s K bin thin nhu sau :

3 2
( ) 3 ( 2) 10 0 N p p p K p K = + + + + =
Giai :
Truoc tin, ta bin di phuong trnh o trn v dang 3.6 nhu sau :

( )
3 2
( ) 3 2 ( 10) 0 N p p p p K p = + + + + =
Nhu vy :
( )
3 2
0
( ) 3 2 N p p p p = + + v
0
( ) ( 10) M p p = +
- Cc dim xut pht cua QDNS :

' ' '
0 1 2 3
( ) 0 0; 1; 2; N p p p p =
- Cc dim kt thc cua QDNS :

''
0 1
( ) 0 10 M p p =
- Vy c 3 dim xut pht, 1 dim kt thc nn s c 2 qu dao tin ra v cng (tuong ung voi 2
tim cn)
- Tm tim cn : R
0
= 7
- Gc cc tim cn so voi truc honh :
3
(2 1) ;
2 2 2
k
k

= + =
- Giao dim voi truc ao :
20
7
c
= tai K = 6/7.

40
-10 -8 -6 -4 -2 0 2 4
-30
-20
-10
0
10
20
30
Root Locus
Real Axis
I
m
a
g
in
a
r
y

A
x
is

Hnh v trn biu din Qu dao nghim s cua h thng trong v du trn (duoc v bng MATLAB).

Chuong 4 Chat luong cua qu trnh diu khin
41
(nuon !
CHT LUNG CUA QU TRNH DIEU KHIEN
1 Khi nim chung
Cht luong cua mt h thng diu khin tu dng duoc dnh gi qua 2 ch d : ch d xc lp
v qu trnh qu d.
1.1 Ch d xc lp
Cht luong diu khin duoc dnh gi qua sai lch tinh (hay cn goi l sai s xc lp)
Sai lch tnh (S
t
) l sai lch khng di sau khi qu trnh qu d kt thc.
1.2 Qu trnh qu d
Cht luong cua h thng duoc dnh gi qua 2 chi tiu chnh :
a) o qu diu chinh lon nhat
max
: l sai lch cuc dai trong qu trnh qu d so voi gi tri xc lp,
tnh theo don vi phn trm.

max
*100%
max
y y
y
= (4.1)
b) Thoi gian qu do lon nhat T
max
:
V mt l thuyt, qu trnh qu d kt thc khi t . Trong diu khin tu dng, ta c th xem qu
trnh qu d kt thc khi sai lch cua tn hiu duoc diu khin voi gi tri xc lp cua n khng vuot
qu 5% (mt s ti liu chon bin d l 2%). Khoang thoi gian d goi l T
max
.

Thuc t diu khin cho thy : khi giam
max
th T
max
tng v nguoc lai.
Thng thuong, qui dinh cho mt h thng diu khin :
max
= (20 30)%
T
max
= 2 dn 3 chu ky dao dng quanh gi tri xc lp
c) Thoi gian tng t
m
: l thoi gian tu 0 dn lc tn hiu diu khin dt duoc 90% gi tri xc lp ln
du tin.

2 nh gi cht lung ch d xc lp
Xt mt h thng kn phan hi -1.

W
h
(p)
U(p)
Y(p)
E(p)
max

T
max
t
m

t
y
42
Theo dinh nghia, ta c :

0
lim ( ) lim ( )
t
t p
S e t pE p

= =
Theo so d khi o trn, ta c :
( )
( )
1 ( )
h
U p
E p
W p
=
+

Vy
0
( )
lim ( ) lim
1 ( )
t
t p
h
U p
S e t p
W p

= =
+
(4.2)

Truong hop h thong kn bat kv, ta chuyn v h thong kn phan hoi 1 tuong duong v p dung
cng thuc tnh sai lch tinh cho h tuong duong ny.

Nhn xt : sai lch tinh St phu thuc
- Hm truyn dat cua h ho
- Tn hiu kch thch.
Hm truyn dat cua h ho c dang tng qut nhu sau :

' '
1
0 '
... 1
( ) ( )
... 1
m
m
h n
n
b p b p K K
W p W p
p a p p

+ + +
= =
+ +

l bc tch phn
2.1 Khi u(t) = U
0
.1(t)
1
( ) U p
p
=
0
0
1
lim
1 ( )
t
p
S
K
W p
p
=
+

- Voi = 0 :
0
1
t
U
S
K
=
+

- Voi = 1,2,.. S
t
= 0
2.2 Khi u(t) = U
0
.t
0
2
( )
U
U p
p
=
0
0
0
lim
1 ( )
t
p
U
S
K
p W p
p
=
(
+
(

- Voi = 0 :
t
S =
- Voi = 1:
0
t
U
S
K
=
- Voi = 2,3,.. S
t
= 0
3 nh gi cht lung qu trnh qu d
Phai v duoc dp ung qu d y(t) cua h thng
3.1 Phn tch thnh cc biu thc don gin
Trong phuong php ny, tn hiu ra Y(p) duoc phn tch thnh tng cua cc thnh phn don
gian. Su dung bang tra Laplace hay hm ilaplace trong MATLAB d tm hm gc y(t).
3.2 Phuong php s Tustin
3.2.1 Ni dung phuong php
S ha tn hiu lin tuc thnh tn hiu gin doan d tm dp ung thoi gian, nghia l : chuyn hm
truyn dat tu h lin tuc sang h gin doan.
- Trong h gin doan, quan tm dn y(kT)
- Bin di ton hoc trong h gin doan l Y(z)
43
kT
(k+1)T
- Dc dim : y(kT) -> Y(z)
y(k+m)T -> z
m
Y(z)

Xc d|nh mi lin h gia h lin tc v h gin don
Xt mt quan h giua Y(p) v U(p) duoi dang hm truyn dat :

( ) 1
( )
( )
Y p
W p
U p p
= = (4.3)
Phuong trnh vi phn tuong ung l :

0
( ) ( )
t
y t u t dt =
}
(gia thit cc diu kin
du bng 0)
Trn duong cong u(t), y(t) chnh l din tch xc
dinh boi duong cong u(t) voi truc honh.
Ta c :
[ ] [( 1) ( ) ( 1) ( )
2
T
y k T y kT u k T u kT + = + +

Chuyn phuong trnh sai phn o trn sang ton tu Z,
ta c :
( ) ( ) 1 ( ) 1 ( )
2
T
z Y z z U z = +

( ) 1
( )
( ) 2 1
Y z T z
W z
U z z
+
= =
(4.4)

Tu (4.3) v (4.4), ta c mi lin h :

1 1
2 1
T z
p z
+
hay
2 1
1
z
p
T z
+
(4.5)

3.2.2 Cc buc tin hnh
- Xc dinh tn hiu Y(p) tu hm truyn dat W(p) v tn hiu vo U(p)
- Tm Y(z) tuong duong nho thay
2 1
1
z
p
T z
=
+
vo biu thuc cua Y(p)
- Bin di Z nguoc d tm y(kT)

V d : V dc tnh thoi gian cua h thng c hm truyn dat :
3 2
( ) 10
( )
( ) 2 1
Y p
W p
U p p p p
= =
+ + +

voi u(t) = 1t).
Giai :
Chon T = 1s, ta c :

( )
3 2
2 1 ( ) 10 p p p p Y p + + + =

3 2
2 1 2 1 2 1 2 1
2 1 ( ) ( )
1 1 1 1
z z z z
Y z U z
T z T z T z T z
(
| | | | | |
+ + + =
(
| | |
+ + + +
\ . \ . \ .
(

Thay T = 1, ta c :
( ) ( )
2
3 2 3 4
2( 1) 8( 1) 8 1 ( 1) 2 1 ( 1) ( 1) ( ) ( 1) ( ) z z z z z z z Y z z U z
(
+ + + + + + = +

( ) ( )
4 3 2 4 3 2
4 3 2 1 0 4 3 2 1 0
( ) ( ) a z a z a z a z a Y z b z b z b z b z b U z + + + + = + + + +
( )
4 3 2 1 0 4 3 2 1 0
( 4) ( 3) ( 2) ( 1) ( ) a y k a y k a y k a y k a y k b b b b b + = + + + + + + + +
44
Cc h s a
i
, b
j
duoc xc dinh tu phuong trnh trn. Gia thit bit truoc cc gi tri du y(0), y(1),
y(2), y(3), ta c th tnh ln luot cc gi tri cn lai cua tn hiu ra y(kT).

3.3 Gii phuong trnh trang thi
Nghim cua phuong trnh trang thi :

X=AX+BU
Y=CX+DU
(4.6)
c dang sau :

( )
0
( ) (0) ( )
t
At A t
X t e X e BU d
= +

(4.7)

( )
0
( (0) ( )
t
At A t
Y t C e X e BU d DU

= + +

(4.8)
Trong d :
( )
{ }
1
1 At
e L pI A

=
Ghi ch :

1
det( )
adj
A
A
A
= voi A
adj
l ma trn c cc phn tu ( 1) det( )
i j
ij ji
a A
+
= trong d A
ji
l ma
trn c duoc bng cch bo di hng thu j, cot thu i.

V d : Cho h thng duoc biu din duoi dang phuong trnh trang thi :

1
2 1 0
0 1 1
X X u
y x
| | | |
= +
| |
\ . \ .
=

Tm dp ung thoi gian cua h thng voi u(t) = 1(t) voi trang thi ban du X = [0 0]
T
.
Giai
Tnh e
At
Ta c :
( )
( )( )
( )( )
1
1
1 1
2 1 2 2 1 1 1
1
0 1 0 2 1 2 1
0
1
p p p p p
pI A
p p p p
p
| |
|
+ + + + + | | | |
|
= = =
| |
| + + + +
\ . \ .
|
+
\ .

( )
{ }
2 2
1
1
0
t t t
At
t
e e e
e L pI A
e

| |
= =
|
\ .

Theo cng thuc o trn, ta c :

2
2( ) ( ) 2( )
( )
0
1
0
( ) 1( )
2 2
1 0
1
t
t t t t t
t
t
e
e e e e
X t d
e
e

| |
| | | | +
|
= =
| |
|
\ . | \ .

\ .
}

2
1
1
( )
2 2
t
t
e
y t x e
= = +
3.4 S dng cc hm ca MATAB
- Hm step: tm hm qu d cua mt khu
- Hm impulse: tm hm trong luong cua mt khu

Hm lsim: phan ung cua khu di voi tn hiu vo bt ky.
45
Cu lnh: LSIM(sys,u,t)
Voi:
+ sys l tn cua hm truyn dat d duoc dinh nghia truoc
+ u l vecto tn hiu vo
+ t l vecto thoi gian.
V du:
t = 0:0.01:2*pi;
u = sin(t);
lsim(W1,u,t);
4 nh gi thng qua d d tr n d[nh
4.1 d tr bin d

( ) L L

=

4.2 d tr v pha
180 ( )
c
= +
C th xc dinh cc d du tru v bin d, v pha bng MATLAB
- MARGIN(SYS) : v dc tnh tn s bin pha logarit + ghi cc gi tri v d du tru n dinh
trn dc tnh
- [Gm,Pm]=MARGIN(SYS) : ghi cc gi tri Gm = L; Pm =

* Tnh cht : Yu cu cua qu trnh diu khin (tham khao)
L = 6 12 dB
45
4.3 Mi lin h gia cc d d tr v cht lung diu khin
- Khi tn s ct
c
tng : Tmax giam, t
m
giam.
- Khi tng , d qu diu lon nht
max
giam.
lg
lg
L

-
L

-

46
5 Tnh diu khin duc v quan st duc ca h thng
5.1 iu khin duc
5.1.1 jnh ngha
Xt mt h thng duoc m ta ton hoc duoi dang phuong trnh trang thi :
X AX BU
Y CX DU
= +
= +

Voi , , ,
nxn nxu rxn rxm
A B C D

Mot h thong duoc goi l diu khin duc nu tu mot vecto ban dau X
0
bat kv, ta lun c
th tm duoc vecto tn hiu U
d
d chuyn h thong tu trang thi X
0
dn trang thi X
d
mong muon.
5.1.2 iu kin
Xy dung ma trn diu khin
P = [B, AB, A
2
B,, A
n-1
B]
Diu kin cn v du d mt h thng m ta ton hc dui dng phuong trnh trng thi
diu khin duc l rank(P) = n.

Nhn xt :
- Tnh diu khin duoc chi phu thuc vo cc ma trn trang thi A, B.
- Lin quan dn vic chon cc bin trang thi

V du :
Cho h thng c m ta ton hoc duoi dang hm truyn dat nhu sau :

2
20
( )
2 4
W p
p p
=
+ +

Gia su dt cc bin trang thi l :

1
1 2
x y
x x
=
=

Xc dinh tnh diu khin duoc cua h thng.
Giai
Ta c :

1 2
2 1 2
2 0.5 10
x x
x x x u
=
= +
hay
1 1
2 2
0 1 0
2 0.5 10
x x
u
x x
( ( ( (
= +
( ( ( (

Ma trn P
[ ]
0 0 1 0 0 10
,
10 2 0.5 10 10 5
P B AB
( | || | (
= = =
( | | (

\ .\ .

det(P) = -100 0 nn rank(P) = 2.
Vy h thng voi cch dt bin trang thi nhu trn l diu khin duoc.
5.2 Tnh quan st duc
5.2.1 jnh ngha
Mot h thong duoc goi l quan st duc nu tu cc vecto U v Y d c, ta c th xc dinh
duoc cc bin trang thi X cua h thong.
5.2.2 iu kin
Xy dung ma trn quan st
L = [C, AC, (A)
2
C,, (A)
n-1
C]
47
Diu kin cn v du d mt h thng m ta ton hc dui dng phuong trnh trng thi
quan st duc l rank(L) = n.

Nhn xt :
- Tnh diu khin duoc chi phu thuc vo cc ma trn trang thi A, C.

V du :
Xt trong v du o trn, ma trn trang thi C s l :
C = [1 0]
Ma trn quan st
[ ]
1 0 2 1 1 0
' ' '
0 1 0.5 0 0 1
L C A C
( | || | (
= = =
( | | (
\ .\ .

Do rank(L) = 2 nn h o trn quan st duoc.
Chuong 6 H thong diu khin gin doan
48
(nuon
NNG CAO CHT LUNG V TONG HP HJ THNG
1 Khi nim chung
Trong mt h thng diu khin tu dng, vai tr cua b diu khin C l :
- On dinh ha h thng
- Nng cao cht luong diu khin.
2 Cc b diu khin Hiu chinh h thng
2.1 Khi nim
- C nhiu loai b diu khin (khc nhau v cu tao, m ta tan hoc, tc dung diu khin,)
- Muc dch l nhm thay di cc gi tri v L, , tn s ct thay di cht luong h thng

- Sau khi mc b diu khin, ta s c :
L = L
c
+ L
h

=
c
+
h

2.2 B diu khin t l P
2.2.1 Hm truyn dat
W(p ) = K
2.2.2 c tnh tn s logarit
L = 20lgK
= 0
Nhn xt :
- Tng (giam) bin d trn ton dc tnh
- Khng lm thay di v pha.
2.2.3 Tc dung diu khin
2.3 B b sm pha Lead
2.3.1 Hm truyn dat
1
( ) , 1
1
aTp
W p K a
Tp
+
= >
+

= arctg(aT) - arctg(T)
max
1
1
sin 0
1
max
T a
a
a
= >
+

W
h
(p)
U(p)
Y(p)
E(p)
W
c
(p)
49
-2
0
2
4
6
8
10
12
14
16
18
20
M
a
g
n
i t
u
d
e
( d
B
)
10
-1
10
0
10
1
10
2
10
3
0
45
90
P
h
a
s
e
( d
e
g
)
Bode Diagram
Frequency (rad/sec)

Dc tnh logarit cua b b som pha (K=1, T=0.1, a = 5)

Nhn xt :
- Dc tnh bin d lm tng h s khuch dai o vng tn s cao
- Gy ra su vuot pha o vng tn s trung bnh.
2.3.3 Tc dung hiu chinh
Ty thuc vo cch chon h s khuch dai K, cc thng s a, T m tc dung hiu chinh rt
khc nhau. Nn tn dung su vuot pha o tn s trung bnh d lm tng d du tru v pha cua h thng.
2.4 B b tr pha Leg
2.4.1 Hm truyn dat
1
( ) , 1
1
aTp
W p K a
Tp
+
= <
+

= arctg(aT) - arctg(T)
max
1
1
sin 0
1
max
T a
a
a
= <
+

50
-8
-7
-6
-5
-4
-3
-2
-1
0
1
2
M
a
g
n
i t
u
d
e
( d
B
)
10
0
10
1
10
2
10
3
-30
0
P
h
a
s
e
( d
e
g
)
Bode Diagram
Frequency (rad/sec)

Dc tnh logarit cua b b tr pha (K=1, T=0.1, a = 0.5)

Nhn xt :
- Dc tnh bin d lm giam h s khuch dai o vng tn s cao
- Gy ra su chm pha o vng tn s trung bnh.
- C th tng h s khuch dai cua h thng m khng anh huong dn tn s ct.
- Trnh su chm pha do b diu khin gy ra lm anh huong dn d du tru v pha.
2.5 B b tr-sm pha Leg -Lead
2.5.1 Hm truyn dat
1 1 2 2
1 2
1 2
1 1
( )
1 1
1, 1
a T p a T p
W p K
T p T p
a a
| || | + +
=
| |
+ +
\ .\ .
< >

1
max1 1
1 1 1
2
max 2 2
2 2 2
1 1
;sin 0
1
1 1
;sin 0
1
max
max
a
a T a
a
a T a

= = <
+
= = <
+

Nhn xt :
- B b leg-lead gm 2 b b ni tip.
- D pht huy uu dim cua b b, phn tr pha nn o tn s thp, phn som pha o tn s trung
bnh hay tn s cao. Do d diu kin cc thng s l :
2
1 2
2 1 1 1 2 2
1 1 T a
T a T a T a
| |
< >
|
\ .

51
- Chon cc thng s thch hop s lm tng
- Tng h s khuch dai cua h thng.
2.6 B diu khin PI (Proportional Integral Controller)
2.6.1 Hm truyn dat
1
( ) 1
i
W p K
T p
| |
= +
|
\ .

= arctg(T
i
) - /2
-20
-10
0
10
20
30
40
50
60
M
a
g
n
i t
u
d
e
( d
B
)
10
-1
10
0
10
1
10
2
10
3
-90
-60
-30
0
P
h
a
s
e
( d
e
g
)
Bode Diagram
Frequency (rad/sec)

Dc tnh logarit cua b diu khin PI (K=1, Ti=0.1)

Nhn xt :
- Tng 1 bc tch phn
- Gy ra su chm pha o vng tn s thp.
- Giam bc sai lch tinh.
- Tc dung hiu chinh phu thuc rt lon vo vic chon thng s b diu khin.
2.7 B diu khin PD (Proportional Derivative Controller)
2.7.1 Hm truyn dat
( ) ( ) 1
D
W p K T p = +
= arctg(T
D
)
52
-20
-10
0
10
20
30
40
M
a
g
n
i t
u
d
e
( d
B
)
10
-3
10
-2
10
-1
10
0
10
1
0
30
60
90
P
h
a
s
e
( d
e
g
)
Bode Diagram
Frequency (rad/sec)

Dc tnh logarit cua b diu khin PD (K=1, Td=10)

Nhn xt :
- Gy ra su vuot pha o vng tn s cao.
- Tng h s khuch o tn s cao
- Gp phn cai thin .
- Tng manh h s khuch dai tn hiu o tn s cao -> d bi anh huong cua nhiu.
2.8 B diu khin PID (Proportional Integral Derivative Controller)
2.8.1 Hm truyn dat
1
( ) 1
I
P d P D
i
K
W p K T p K K p
T p p
| |
= + + = + +
|
\ .

Ta c :

( ) ( )( )
2
1 2
1
( ) 1 1 1 1
p
I
p d i d i
i i
K
K
W p K T p T p T T p T p T p
T p T p p
| |
= + + = + + = + +
|
\ .

voi
= +
=
i
i d
T T T
T T T T
2 1
2 1
K
I
= K/T
i

Giai h phuong trnh o trn, ta duoc

|
|
.
|
\
|
=
|
|
.
|
\
|
+ =
i
d i
i
d i
T
T T
T
T
T T
T
4 1 1
2
4 1 1
2
2
1
nu
d
T 4 T
i
(gia thit T
1
>T
2
)
Hay
( )
1 2
1
1
( ) 1 1 ( ) * ( )
PI PD
W p KT T p W p W p
T p
| |
= + + =
|
\ .

Nhn xt :
- L su kt hop cua b diu khin PI v PD
53
- PI : giam bc sai lch tinh
- PD : tng
3 Tng hp h thng theo cc tiu chun ti uu
3.1 Phuong php ti uu modun
- Khao st h kn phan hi -1. Hm truyn h kn l
k
( ) * ( )
W ( )
1 ( ) * ( )
c h
c h
W p W p
p
W p W p
=
+

- Mt trong nhung tiu chun d chon b diu khin W
c
(p) l tn hiu ra lun bm theo tn hiu vo,
nghia l Y(p) = X(p) hay ( ) 1,
k
W p = .
- Thuc t, vic dat duoc tiu chun ny l v cng kh khn do : ban thn h thng c qun tnh,
dao dng, tr, Tuy nhin nhung h thng thuc t lai c mt dc dim tu nhin hop l l suy giam
manh o tn s cao, nho vy m n tn tai voi nhiu.
- D thoa thun giua yu cu l tuong v diu kin thuc t, yu cu l tng hop h thng sao cho
'
( ) 1
k
W j (*)
trong mt dai tn s cng rng cng tt.

hay ni cch khc 20lg 0
k k
L A = . Dai tn s lm L
k
= 0 cng lon th cht luong h thng kn
cng cao.
Phuong php ny hin nay chi moi duoc p dung cho mt s h ho dc bit duoi dy.
Truong hop cc h tng qut, ta dua v cc h dc bit nho phuong php gn dng.
3.1.1 H h l khu qun tnh bc nht
- H ho : ( )
1
h
K
W p
Tp
=
+

- B diu khin ( )
P
c
i
K
W p
T p
=
- H ho voi b diu khin :
( )
'
( )
1
h
R
K
W p
T Tp
=
+
voi ( )
i
R
P
T
T p
K
=
- Hm truyn h kn voi b diu khin

( )
'
( )
1
k
R
K
W p
T p Tp K
=
+ +

( ) ( )
'
2
2
2
( )
k
R R
K
W p
K T T T
=
+

Do d
2
2
'
2 2 2 2 2 4
( )
( 2 )
k
R R R
K
W p
K T KT T T T
=
+ +

D diu kin (*) thoa mn trong dai tn s cng rng cng tt, ta c th chon T
R
sao cho :
lg
L
L
k

54

2
2 0 2
i
R R R
P
T
T KT T T KT
K
= = =
3.1.2 H h l khu qun tnh bc 2
- H ho :
( )( )
1 2
( )
1 1
h
K
W p
T p T p
=
+ +

- B diu khin
1
( ) 1
c P
i
W p K
T p
| |
= +
|
\ .

- Truoc tin chon T
I
= T
1
d b mu s (T
1
p + 1). Thuc hin tuong tu phn cn lai, ta s duoc :
1
2
2
2
2
i
R P
P
T T
T KT K
K KT
= = =
3.1.3 H h l khu qun tnh bc 3
- H ho :
( )( )( )
1 2 3
( )
1 1 1
h
K
W p
T p T p T p
=
+ + +

- B diu khin
( )( )
' '
1 2
1 1
1
( ) 1
c P d
i R
T p T p
W p K T p
T p T p
+ +
| |
= + + =
|
\ .
voi ( )
i
R
P
T
T p
K
=
trong d :
' '
1 2
' '
1 2
i
i d
T T T
T T TT
+ =
=

- Du tin, ta chon
' '
1 1 2 2
; T T T T = =
Sau d don gian cc biu thuc v thuc hin nhu trn, ta duoc
1 2
3
2
P
T T
K
KT
+
= .
3.2 Phuong php ti uu di xng
- Nhuoc dim cua tng hop ti uu modun o trn l h ho phai n dinh, hm qu d h(t) c dang tip
xc voi truc honh tai gc 0.
- Xt h kn phan hi -1, ta c :

' '
' '
' '
1 1
h k
k h
h k
W W
W W
W W
= =
+

- Tu phuong php ti uu modun, thay v d
'
( ) 1
k
W j , ta phai xc dinh b diu khin sao cho

'
( ) 1
h
W j (**)
- Dc tnh tn s logarit mong mun l :

1

55
Dc tnh xy dung c 3 phn
+ Tn s thp : L cuc lon d sai lch tinh bng 0
+ Vng tn s trung bnh : lin quan truc tip dn cht luong cua h kn. Vng ny mang tnh cht
di xung
+ Vng tn s cao : L cuc b d giam anh huong cua nhiu.
- D c duoc dc tnh mong mun nhu trn, h ho voi b diu khin c dc tnh l :

'
2
1
(1 )
( )
(1 )
h i
h
K T p
W p
p T p
+
=
+

3.2.1 i tuong l khu tch phn - qun tnh bc nht
1
( )
(1 )
h
K
W p
p T p
=
+

1
( ) 1
c P
i
W p K
T p
| |
= +
|
\ .

3.2.2 i tuong l khu tch phn - qun tnh bc hai
1 2
( )
(1 )(1 )
h
K
W p
p T p T p
=
+ +

1
( ) 1
c P d
i
W p K T p
T p
| |
= + +
|
\ .

56
(nuon
HJ THNG DIEUKHIEN GIN DOAN
(H xung s)
1 Khi nim chung
- Trong diu khin, nguoi ta phn thnh 2 loai h thng : h lin tuc v h khng lin tuc. Trong h
khng lin tuc lai c 2 loai chnh l : h gin doan (h xung s) v h thng voi cc su kin gin
doan. V dc dim cua h gin doan l ta chi c th quan st cc trang thi cua h thng mt cch
gin doan nhung c chu ky (T).
- Nguyn nhn hnh thnh cc h thng gin doan l :
o Su hnh thnh cua cc b diu khin s : linh hoat, d dng thay di v khng ch cc thng
s.
o Gim st cc tn hiu bng cc thit bi din tu s.
- Qu trnh bin di tn hiu lin tuc thnh gin doan goi l luong tu ha (trong k thut goi l ly
mu). C 3 hnh thuc ly mu :
o Theo thoi gian (a)
o Theo muc (b)
o Hn hop (c)

2 Php bin di Z
D thun tin cho vic giai quyt cc bi ton lin quan dn tn hiu gin doan, nguoi ta dng
php bin di Z.
2.1 jnh ngha
Gia su f(t) l hm lin tuc duoc luong tu ha bng phuong php thoi gian voi chu ky ly mu
T. Trong giai tch, hm f(t) duoc vit nhu sau :
*
0
( ) ( ) ( )
i
f t f iT t iT
=
=
(6.1)
Trong d :
- f
*
(t) : l hm lin tuc d duoc ly mu (hm duoc luong tu ha)
- (t-iT) l xung dirc tai thoi dim t iT
Bin di laplace cua hm f
*
(t) nhu sau :

* *
0 0
0 0 0
( ) ( ) ( ) ( ) ( ) ( )
pt pt pt
i i
F p f t e dt f iT t iT e dt f iT t iT e dt

= =
(
= = =
(

} } }

*
0
( ) ( )
ipT
i
F p f iT e
=
=
(6.2)
Dt
pT
z e = (6.3)
Tu ( 6.2) v (6.3), ta c :
t
y
t
y
t
y
a) b)
c)
57

0
( ) ( )
i
i
F z f iT z
=
=
(6 .4)
F(z) duoc goi l bin di Z cua hm gin don f(iT). K hiu l :
F(z) = Z{f(iT)}
Hay f(iT) = Z
-1
{F(Z)}

Nhn xt :
- Bin di Z l dang bin di laplace.
- Chi c bin di Z cua hm gin doan chu khng c bin di Z cua hm lin tuc.

V d : Cho hm f(t) = e
-at
. Tm bin di Z cua hm f(iT).
Giai
Ta c f(t) = e
-at
nn f(iT) = e
-aiT
.
Theo dinh nghia

1 2 2
0
1
( ) ( ) 1 ...
1
( )
1
i aT a T
i
aT aT
F z f iT z e z e z
z
F z
e z z e

=

= = + + +
= =

voi diu kin e
-aT
z
-1
<1.
Mt s sch d don gian trong cch vit, nguoi ta bo thoi gian ly mu T, nghia l:
{ } ( ) ( )
a
z
F z Z f i
z e
= =

2.2 Mt s tnh cht ca bin di Z
- Tnh tuyn tnh
{ }
1 2 1 2
( ) ( ) ( ) ( ) Z af iT bf iT aF z bF z + = +
- Tnh dich chuyn hm gc
{ } ( 1) ( ) (0) Z f i T zF z zf + =
{ }
1
0
( ) ( ) ( )
m
m m j
j
Z f i m T z F z f j z
=
+ =

Nu tt ca cc diu kin du bng 0 th
{ } ( ) ( )
m
Z f i m T z F z + =
- Gi tri du cua hm gc
(0) lim ( )
z
f F z
=
- Gi tri cui cua hm gc
1
lim( 1) ( )
z
f z F z
=
2.3 Bin di Z nguc
2.3.1 Tra bng
Phn tch hm F(z) thnh cc thnh phn don gian v thuc hin tra bang.
2.3.2 Phuong php chui ly tha
Theo dinh nghia, ta c:
1 2
0
( ) ( ) (0) ( ) (2 ) ...
i
i
F z f iT z f f T z f T z

=
= = + + +

Do d nu c th phn tch hm F(z) thnh chui luy thua c chua cc thnh phn z
-i
, ta c th bit
duoc f(iT).
58

V d :

2
( )
3 2
z
F z
z z
=
+

Phn tch hm F(z) o trn ta duoc :

1 2 3 4
( ) 3 7 15 ... F z z z z z

= + + + +
Vy f(iT) = 2
i
-1.
3 Ly mu v gi mu
3.1 Khi nim
D c th dua b diu khin s vo h thng, cn c qu trnh ly mu v giu mu.
- Ly mu l chuyn tn hiu lin tuc thnh tn hiu gin doan.
- Giu mu l qu trnh chuyn tn hiu gin doan thnh tn hiu lin tuc.

Khao st mt qu trnh ly mu v giu mu don gian nhu hnh v sau, trong d tn hiu gin doan
khng qua bt ky mt khu bin di no.

Dc dim thoi gian cua cc tn hiu trn nhu sau :

Nhn xt :
( ) e t l tn hiu lin tuc tung doan. Sau qu trnh bin di (ly mu v giu mu), ( ) e t khc voi e(t)
ban du. Khi tn s ly mu lon cng lon (T b) th ( ) e t cng gn ging dang cua e(t).
3.2 Ly mu
Phuong trnh cua tn hiu e*(t) sau khi duoc ly mu l :
t
e
a)
t
e*(t)
b)
T 2T 3T iT
t
e(t)
c)
T 2T 3T iT
DK s Ly mu Giu mu
e(t)
e*(t) e*(t) e(t)
E(p)
E*(p) E*(p)
E(p)
DK s
W
h
(p)
Ly mu Giu mu
u
y
59
*
0
( ) ( ) ( )
i
e t e iT t iT
=
=
(6 .5)
Do d :

*
0
( ) ( )
ipT
i
E p e iT e
=
=
(6.6)
3.2.1 jnh ngha
Mt b ly mu duoc goi l l tuong nu sau khi ly mu, anh laplace cua tn hiu ly mu
c biu thuc nhu trong 6.6.

So d thay th cua b ly mu l tuong nhu sau :

Nu bit anh laplace cua tn hiu c ly mu E(p), ta c th tm duoc anh laplace cua tn hiu d
duoc ly mu l tuong theo biu thuc sau :

*
1 2 (0)
( )
2
n
e
E p E p jn
T T
=
| |
= + +
|
\ .
(6.7)

Ghi ch : c kha nng nhiu tn hiu khc nhau sau khi duoc ly mu s c phuong trnh ton hoc
nhu nhau.
3.2.2 jnh l ly mu (djnh l Shannon)
Mt tn hiu lin tuc theo thoi gian e(t) chi c th phuc hi sau qu trnh ly mu nu thoa
mn diu kin :
ax
2
m
f f (6.8)
Trong d :
- f l tn s ly mu (f = 1/T)
- f
max
l tn s cuc dai cua tn hiu cn ly mu
3.2.3 Tnh cht ca tn hiu E*(p)
Tnh cht 1
Hm E*(p) tun hon trong mt phng p voi chu ky j
p
trong d
2
p
T
= (T l chu ky ly mu)
Tnh cht 2
Nu E(p) c mt cuc tai p = p1 th E*(p) phai c cuc tai p = p
1
+ j
p
voi m = 0, 1, 2,
3.3 Gi mu
3.3.1 B gi mu bc 0
Dc dim cua b giu mu bc 0 l tn hiu duoc giu mu khng di giua 2 ly ly mu v bng gi
tri cua ln giu mu truoc d (xem hnh v trn)
[ ] [ ] ( ) (0) 1( ) 1( ) ( ) 1( ) 1( 2 ) ... e t e t t T e T t T t T = + +
e(t) e*(t)
T
E(p) E*(p)
60

2
2
0
1 1 1 1
( ) (0) ( ) ...
1
(0) ( ) (2 ) ...
1
( )
pT pT pT
pT
pT pT
pT
ipT
i
E p e e e T e e
p p p p
e
e e T e e T e
p
e
e iT e
p

=
( (
= + +
( (

(
( = + + +
(

(
=
(

Kt hop voi 6.6, ta duoc

*
1
( ) ( )
pT
e
E p E p
p
(
=
(

(6.8)
Nhu vy, m ta ton hoc cua b giu mu bc 0 (Zero Order Hold) l :

Hm truyn dat cua b giu mu bc 0 l :

1
( )
pT
ZOH
e
W p
p
= (6.9)
3.3.2 B gi mu bc 1
Tn hiu giu mu giua 2 ln ly mu lin tip nT v (n+1)T l
( ) ( ) '( )( )
n
e t e nT e nT t nT = + , ( 1) nT t n T < +
voi
[ ]
( ) ( 1)
'( )
e nT e n T
e nT
T

=
Chung minh tuong tu, ta tm duoc hm truyn dat cua b giu mu bc nht (First Order Hold) l :

2
1 1
( )
pT
FOH
pT e
W p
T p
| | + | |
=
| |
\ .
\ .

Nhu vy, so d thay th cua b ly mu v giu mu l :

Ch : B ly mu v giu mu trong so d trn khng th l m hnh ton hoc cho mt thit bi cu
th no trong thuc t. Tuy nhin, su kt hop giua b ly mu v giu mu lai l m hnh chnh xc
cua b chuyn di ADC va DAC.
4 Hm truyn dat h gin doan
D|nh nghia
Hm truyn dat h gin doan, k hiu l W(z), l ti s giua tn hiu ra voi tn hiu vo duoi
dang ton tu z.

( )
( )
( )
Y z
W z
U z
= (6.10)
4.1 Xc djnh hm truyn dat W(z) t hm truyn dat h lin tc
4.1.1 Mi lin h gia E*(p) v E(z)
Theo cng thuc (6.6), ta c anh laplace cua tn hiu lin tuc e(t) sau khi duoc luong tu ha
l :
1
pT
e
p
E*(p)
( ) E p
T
E(p)
1
pT
e
p
E*(p) ( ) E p
61
*
0
( ) ( )
ipT
i
E p e iT e
=
=

Cung tn hiu lin tuc e(t), sau khi duoc luong tu ha v thuc hin bin di Z, theo cng thuc (6.4),
ta c :

0
( ) ( )
i
i
E z e iT z
=
=

Tu 2 cng thuc o trn, c th thy rng :

*
( ) ( )
pT
e z
E z E p
=
= (6.11)

*
( ) ( )
pT
z e
E p E z
=
= (6.12)

V du : Cho mt tn hiu lin tuc c anh laplace l :

( )
1
( )
1 ( 2)
E p
p p
=
+ +

Tm anh E*(p) v E(z).
Giai
Ta c:
( ) ( )
1 1
( )
1 2
E p
p p
=
+ +

Tra bang c sn, ta c :

( ) ( )
( )
( )( )
2
2 2
( )
T T
T T T T
z e e
z z
E z
z e z e z e z e

= =

( )
( )( )
2
*
2
( )
pT T T
pT T pT T
e e e
E p
e e e e

=

Ch : chng ta s dng k hiu sau d biu din anh laplace cua tn hiu duoc luong tu ha
{ }
*
*
( ) ( ) E p E p = (6.13)

Tnh cht cua php bin di *(p)
Nu ta c quan h
F(p) = H(p).E
*
(p) (6.14)
th F
*
(p) = H
*
(p).E
*
(p) (6.15)
4.1.2 Hm truyn dat h h
Xt mt h ho gin doan c so d khi nhu hnh v

62

Hm truyn dat phn lin tuc quy di l :
( ) ( ) ( )
LTQD LG h
W p W p W p =
Tn hiu ra l :

* *
( ) ( ) ( ) ( ) ( ) ( )
LTQD LG h
Y p W p U p W p W p U p = =
Thuc hin bin di *(p) 2 v phuong trnh trn, ta duoc
{ }
*
* *
( ) ( ) ( ) ( )
LG h
Y p W p W p U p =
Bit rng bin di *(p) v bin di Z l tuong duong, do d :
{ } ( ) ( ) ( ) ( )
LG h
Y z Z W p W p U z =
Hm truyn dat h gin doan ho v vy duoc tnh :
{ }
( )
( ) ( ) ( )
( )
h LG h
Y z
W z Z W p W p
U z
= = (6.16)
Truong hop b giu mu l bc 0,
1
( )
pT
LG
e
W p
p
= , ta c :

( ) ( ) 1 1
( ) ( )
( )
pT
h
h h
W p Y z e z
W z Z W p Z
U z p z p

= = =
` `
) )
(6.17)

V du : Tm hm truyn dat h gin doan ho bit
1
( )
1
h
W p
p
=
+
v b giu mu l bc 0. Gia su tn
hiu vo l u(t) = 1(t). Tm phuong trnh cua tn hiu ra.
Giai
p dung cng thuc trn, ta c :

1 1 1
( )
( 1)
T
h T
z e
W z Z
z p p z e

= =
`
+
)

u(t) = 1(t) ( )
1
z
U z
z
=
.

(1 )
( ) ( ) ( )
( 1)( ) 1 ( )
T T
h T T
z e z e
Y z W z U z
z z e z z e

= = =

W
h
(p)
y(t)
u(t)
Ly mu + giu mu
W
h
(p)
y(t)
u(t) u*(t)
W
LG
(p)
( ) u t
U(p) U
*
(p)
( ) U p
Y(p)
a)
b)
y(t)
u(t) u*(t)
W
LTQD
(p)
U(p) U
*
(p)
Y(p)
c)
63
Bin di Z
-1
, ta duoc
y(iT) = 1 - e
-iT

Ch : Voi h thng gin doan, ta chi c th bit duoc gin tri cua tn hiu o ng ra tai nhung
thuoi dim ly mu. O giua cc khoang ly mu, ta khng th bit duoc gi tri chnh xc cua tn
hiu.
4.1.3 H h c b diu khin s
Xt h ho c b diu khin s nhu sau :

Trong d b diu khin s c hm truyn l :

( )
( )
( )
c
M z
W z
U z
= hay ( ) ( ) ( )
c
M z W z U z =
Ta c :

*
( ) ( ). ( ) ( ). ( ) ( )
h h LG
Y p W p M p W p W p M p = =
{ } { }
* * * * * *
( ) ( ). ( ) . ( ) ( ). ( ) . ( ). ( )
h LG h LG c
Y p W p W p M p W p W p W p U p = =
{ } ( ) ( ). ( ) . ( ). ( )
h LG c
Y z Z W p W p W z U z =
{ }
( )
( ) ( ). ( ) . ( )
( )
h LG c
Y z
W z Z W p W p W z
U z
= =
4.1.4 H kn
Xt h kn gin doan c so d khi nhu sau :

Ta c :

* *
( ) ( ). ( ) ( ). ( ). ( ) ( ). ( )
h h LG LTQD
Y p W p E p W p W p E p W p E p = = =

{ }
*
* *
( ) ( ) . ( )
LTQD
Y p W p E p =
Mt khc :

* * *
( ) ( ) ( ) ( ) ( ) ( ) E p U p Y p E p U p Y p = =

{ }
*
* * *
( ) ( ) ( ) ( )
LTQD
Y p W p U p Y p ( =

{ }
{ }
*
* *
*
( )
( ) ( )
1 ( )
LTQD
LTQD
W p
Y p U p
W p
=
+

hay
{ }
{ }
( )
( ) ( )
1 ( )
LTQD
LTQD
Z W p
Y z U z
Z W p
=
+

W
h
(p) W
LG
(p)
U(p) E
*
(p) ( ) E p
Y(p)
W
h
(p)
y(t)
u(t) u(kT)
DK s
( ) m kT
U(p) U
*
(p)
( ) M p
Y(p)
AD
DA
m(kT)
M
*
(p)
64

( )
( )
1 ( )
h
k
h
W z
W z
W z
=
+

4.1.5 H kn c b diu khin s

Chung minh tuong tu, ta duoc :

( ) ( )
( )
1 ( ). ( )
h c
k
h c
W z W z
W z
W z W z
=
+
voi { }
( )
( ) ( ) ( )
( )
h LG h
Y z
W z Z W p W p
U z
= =
4.1.6 H gin doan diu khin t my tnh
So d khi cua h thng nhu sau :

Ta c :

*
1 1
( ) ( ) ( ) ( ). ( ). ( )
LG
Y p W p M p W p W p M p = =
{ }
*
* *
1
( ) ( ). ( ) . ( )
LG
Y p W p W p M p = hay { }
1
( ) ( ). ( ) . ( )
LG
Y z Z W p W p M z =
Theo so d th :

* * * * * *
( ) ( ) ( ) ( ) ( ) ( )
c c
M p W p E p W p U p R p ( = =

hay [ ] ( ) ( ) ( ) ( )
c
M z W z U z R z =
Ngoi ra do :

*
2 1 2
( ) ( ). ( ) ( ). ( ). ( ). ( )
LG
R p W p Y p W p W p W p M p = =
nn { }
1 2
( ) ( ). ( ). ( ) ( )
LG
R z Z W p W p W p M z =
Suy ra { }
1 2
( ) ( ) ( ) ( ). ( ). ( ) ( )
c LG
M z W z U z Z W p W p W p M z ( =

Hay
{ }
1 1
( ). ( )
( )
1 ( ). ( ). ( ). ( )
c
c LG
W z U z
M z
W z Z W p W p W p
=
+

Thay vo cng thuc cua Y(z), ta duoc :
W
1
(p) DA
u(kT) e(kT)
( ) m t y(t)
W
c
(z)
m(kT)
W
2
(p) AD
r(t)
r(kT)
W
1
(p) W
LG
(p)
U
*
(p) E
*
(p) ( ) M p
Y(p)
W
c
(z)
M
*
(p)
W
2
(p)
R(p)
R
*
(p)
W
h
(p) W
LG
(p)
U(p) E
*
(p) ( ) M p
Y(p)
W
c
(z)
M
*
(p)
65

{ }
{ }
1
1 2
( ). ( ). ( )
( ) ( )
1 ( ). ( ). ( ). ( )
c LG
c LG
W z Z W p W p
Y z U z
W z Z W p W p W p
=
+

Hay
{ }
{ }
1
1 2
( ). ( ). ( )
( )
( )
( ) 1 ( ). ( ). ( ). ( )
c LG
c LG
W z Z W p W p
Y z
W z
U z W z Z W p W p W p
= =
+

V d :
Cho h diu khin gin doan kn phan hi -1 trong d
2 1
( )
c
z
W z
z
= v
1
( )
1
p
W z
p
=
+
. Tm
hm truyn dat cua h thng.
4.2 Xc djnh hm truyn dat t phuong trnh sai phn
Mt h thng gin doan c th duoc cho duoi dang phuong trnh sai phn tng qut nhu sau :
[ ] [ ] [ ] [ ]
1 0 1 0
( ) ... ( 1) ( ) ( ) ... ( 1) ( )
n m
a y i n T a y i T a y iT b u i m T b u i T b u iT + + + + + = + + + + +
Gia su cc diu kin du bng 0. Thuc hin bin di Z cho ca 2 v phuong trnh trn, ta duoc :

( ) ( )
1 0 1 0
... ( ) ... ( )
n m
n m
a z a z a Y z b z b z b U z + + + = + + +
Vy hm truyn dat l :

1 0
1 0
... ( )
( )
( ) ...
m
m
n
n
b z b z b Y z
W z
U z a z a z a
+ + +
= =
+ + +

5 Tnh n d[nh ca h gin doan
5.1 Mi lin h gia mt phng p v mt phng z
- Nhc lai :
pT
z e =
- Ung voi mt dim p j = + trong mt phng p s c dim
( )
( ) cos sin
j T T
z e e T j T

+
= = + trong mt phng z.
- Do
T
z e
= nn khi < 0 th 1 z <

Kt lun : Mt h thng gin don n djnh khi v ch khi tt ca cc nghim cua phuong trnh
dc tnh c mdun nho hon 1.
5.2 Php bin di tuong duong
D c th su dung cc tiu chun n dinh trong mt phng p, nguoi ta su dung php bin di tuong
duong nhu sau :

1
1
v
z
v
+
=

- Voi 1 z < real() < 0
- Voi 1 z = real() = 0
- Voi 1 z > real() > 0
Sau khi chuyn sang mt phng v, ta c th su dung cc tiu chun n dinh cua h tuyn tnh d xt
tnh n dinh cua h lin tuc tuong duong.
Control System Toolbox & Simulink
66
Phuluc
CONTROL SYSTEM TOOLBOX & SIMULINK TRONG MATLAB
Ung dung d phn tch, thit k v m phong cc h thong tuyn tnh

GII THIEU
MATLAB, tn vit tt cua tu ting Anh MATrix LABoratory, l mt mi truong manh
dnh cho cc tnh ton khoa hoc. N tch hop cc php tnh ma trn v phn tch s dua trn cc
hm co ban. Hon nua, cu trc d hoa huong di tuong cua Matlab cho php tao ra cc hnh v cht
luong cao. Ngy nay, Matlab tro thnh mt ngn ngu chun duoc su dung rng ri trong nhiu
ngnh v nhiu quc gia trn th gioi.
V mt cu trc, Matlab gm mt cua s chnh v rt nhiu hm vit sn khc nhau. Cc
hm trn cng linh vuc ung dung duoc xp chung vo mt thu vin, diu ny gip nguoi su dung
d dang tm duoc hm cn quan tm. C th k ra mt s thu vin trong Matlab nhu sau :
- Control System (dnh cho diu khin tu dng)
- Finacial Toolbox (linh vuc kinh t)
- Fuzzy Logic (diu khin mo)
- Signal Processing (xu l tn hiu)
- Statistics (ton hoc v thng k)
- Symbolic (tnh ton theo biu thuc)
- System Identification (nhn dang)
-
Mt tnh cht rt manh cua Matlab l n c th lin kt voi cc ngn ngu khc. Matlab c th
goi cc hm vit bng ngn ngu Fortran, C hay C++, v nguoc lai cc hm vit trong Matlab c th
duoc goi tu cc ngn ngu ny
Cc ban c th xem phn Help trong Matlab d tham khao cch su dung v v du cua tung lnh,
hoc download (min ph) cc file help dang *.pdf tai trang Web cua Matlab o dia chi
http://www.mathworks.com
1 Control System Toolbox
Control System Toolbox l mt thu vin cua Matlab dng trong linh vuc diu khin tu dng.
Cng voi cc lnh cua Matlab, tp lnh cua Control System Toolbox s gip ta thit k, phn tch v
dnh gi cc chi tiu cht luong cua mt h thng tuyn tnh.
1.1 jnh ngha mt h thng tuyn tnh
1.1.1 jnh ngha bng hm truyn
H thng mt tn hiu vo/ra

Cu lnh: sys=tf(num,den,T)

- num: vecto chua cc h s cua da thuc o tu s, bc tu cao dn thp theo ton tu Laplace (h
lin tuc) hoc theo ton tu z (h gin doan)
- den: vecto chua cc h s cua da thuc o mu s, bc tu cao dn thp
- T: chu ky ly mu, chi dng cho h gin doan (tnh bng s)

V du:
Dinh nghia mt hm truyn trong Matlab
4 2
2
3 ) (
2
+ +
+
=
p P
p
p F num=3*[1 2];den=[1 2 4];sys1=tf(num,den);
4 , 0 56 , 0
6 , 0
* 1 , 2 ) (
2
+
=
z z
z
z F num=2.1*[1 -0.6];den=[1 -0.56];
67
T=0.5;sys2=tf(num,den,T)

H thng nhiu tn hiu vo/ra

Cu lnh :
G11=tf(num11,den11,T); G12=tf(num12,den12,T);...; G1n=tf(num1n,den1n,T);
G21=tf(num21,den21,T); G22=tf(num22,den22,T);...; G2n=tf(num2n,den2n,T);

Gp1=tf(nump1,denp1,T); G12=tf(nump2,denp2,T);...; Gpn=tf(numpn,denpn,T);
sys=[G11,G12,...,G1n;G21;G22;...;G2n;...;Gp1,Gp2,...,Gpn];
1.1.2 jnh ngha bng zero v cuc
H thng mt tn hiu vo/ra

Cu lnh: sys=zpk(Z,P,K,T)

- Z,P l cc vecto hng chua danh sch cc dim zer v cuc cua h thng.
- K l h s khuch dai
Ch : nu h thng khng c dim zer (cuc) th ta dt l []

V du:
) 5 (
2
) (
+
+
=
p p
p
p F Z=-2;P=[0 -5];K=1;sys=zpk(Z,P,K);

H thng nhiu tn hiu vo/ra
Cu lnh :
G11=zpk(Z11,P11,T); G12=zpk(Z12,P12,T);...; G1n=zpk(Z1n,P1n,T);
G21=zpk(Z21,P21,T); G22=zpk(Z22,P22,T);...; G2n=zpk(Z2n,P2n,T);

Gp1=zpk(Zp1,Pp1,T); G12=zpk(Zp2,Pp2,T);...; Gpn=zpk(Zpn,Ppn,T);
sys=[G11,G12,...,G1n;G21;G22;...;G2n;...;Gp1,Gp2,...,Gpn];
1.1.3 Phuong trnh trang thi

Cu lnh: sys=ss(A,B,C,D,T)

- A,B,C,D l cc ma trn trang thi dinh nghia h thng
- T l chu ky ly mu.
Chuyn di gia cc dang biu din
- Chuyn tu phuong trnh trang thi sang hm truyn
[num,den] = ss2tf(A,B,C,D)
- Chuyn tu dang zero/cuc sang hm truyn
[num,den] = zp2tf(Z,P,K)
- Chuyn tu hm truyn sang phuong trnh trang thi
[A,B,C,D]=tf2ss(num,den)

G(r)
U
1

U
n

Y
1

Y
n

(
(
(
(
(
=
) ( ) ( ) (
...
) ( ) ( ) (
) ( ... ) ( ) (
) (
2 1
2 22 21
1 12 11
r G r G r G
r G r G r G
r G r G r G
r G
pn p p
n
n
68
1.1.4 Chuyn di gia h lin tuc v gin doan
S ha mt h thng lin tc

Cu lnh: sys_dis=c2d(sys,T,method)

- sys, sys_dis h thng lin tuc v h thng gin doan tuong ung
- Ts thoi gian ly mu
- method phuong php ly mu: zoh ly mu bc 0, foh ly mu bc 1, tustin phuong
php Tustin
V du: chuyn mt khu lin tuc c hm truyn
1 5 . 0
2
) (
+
=
p
p G sang khu gin doan bng phuong
php giu mu bc 0, chu ky ly mu T=0.01s
num=2
den=[0.5 1]
sysc=tf(num,den)
sysd=c2d(sysc,0.01,zoh)

H lin tc tuong duong cua mt h thng gin don

Cu lnh: sys=d2c(sys_dis,method)
1.2 Bin di so d tuong duong
1.2.1 Mc ni tip

Cu lnh: sys=series(sys1,sys2)
1.2.2 Mc song song
Cu lnh: sys=parallel(sys1,sys2)
1.2.3 Mc phn hi
Cu lnh: sys=feedback(sys1,sys2,sign)

sign = +1 nu phan hi duong v sign=-1 (hoc khng c sign) nu phan hi m.
sys1 sys2
U
Y
sys1
sys2
U Y
69
1.3 Phn tch h thng
1.3.1 Trong min thi gian
Hm qu d h(t)
Cu lnh: step(sys)

V hm qu d cua h thng tuyn tnh sys. Khoang thoi gian v v buoc thoi gian do Matlab tu
chon.

Mt s truong hop khc
- step(sys,t_end): v hm qu d tu thoi dim t=0 dn thoi dim t_end.
- step(sys,T): v hm qu d trong khoang thoi gian T. T duoc dinh nghia nhu sau
T=Ti:dt:Tf. Di voi h lin tuc, dt l buoc v, di voi h gin doan, dt=Ts l chu ky
ly mu.
- step(sys1,sys2,sys3,) : v hm h(t) cho nhiu h thng dng thoi.
- [y,t]=step(sys): tnh dp ung h(t) v luu vo cc bin y v t tuong ung
Hm trng lung (t)
Cu lnh: impulse(sys)
1.3.2 Trong min tn s
D}c tnh bode
Cu lnh: bode(sys)

V dc tnh tn s Bode cua h thng tuyn tnh sys. Dai tn s v do Matlab tu chon.

Mt s truong hop khc
- bode(sys,{w_start,w_end}): v dc tnh bode tu tn s w_start dn tn s w_end.
- bode(sys,w) v dc tnh bode theo vecto tn s w. Vecto tn s w duoc dinh nghia bng
hm logspace. V du: w=logspace(-2,2,100) dinh nghia vecto w gm 100 dim, tu tn s
10
-2
dn 10
2
.
- bode(sys1,sys2,sys3,) v dc tnh bode cua nhiu h thng dng thoi.
- [mag,phi,w]=bode(sys,) luu tt ca cc dim tnh ton cua dc tnh bode vo vecto
mag, phi ung voi tn s w tuong ung.

Ch : Di voi h thng gin doan, dai tn s d v phai thoa mn dinh l Shannon.
D}c tnh Nyquist
Cu lnh: nyquist(sys)
nyquist(sys,{w_start,w_end})
nyquist(sys,w)
nyquist(sys1,sys2,sys3,...,w)
[real,ima,w]=nyquist(sys,)
D}c tnh Nichols
Cu lnh: nichols(sys)
nichols(sys,{w_start,w_end})
nichols(sys,w)
nichols(sys1, sys2, sys3,...,w)
[mag,phi,w]=nichols(sys,)

Tnh ton G(), arg[G()] v v trong mt phng Black.

V du: V cc dc tnh tn s cua h thng sau
70

2
0 0
2
2
0
2
) (

+ +
=
p p
p G voi
0
=1rad/s v =0,5
w0=1 ;xi=0.5 ;num=w0^2 ;den=[1 2*xi*w0^2 w0^2] ;G=tf(num,den);
w=logspace(-2,2,100) ;
bode(G,w) ; % v dc tnh bode trong dai tn s w
nichols(G); % v dc tnh nichols trong dai tn s tu chon cua Matlab
nyquist(G); % v dc tnh nyquist
1.3.3 Mt s hm d phn tch
Hm margin
- margin(sys) v dc tnh Bode cua h thng SISO v chi ra d du tru bin d, d du tru pha
tai cc tn s tuong ung.
- [delta_L,delta_phi,w_L,w_phi]=margin(sys) tnh v luu d du tru bin d vo bin delta_L
tai tn s w_L, luu d du tru v pha vo bin delta_phi tai tn s w_phi.
Hm pole
vec_pol=pole(sys) tnh cc dim cuc cua h thng v luu vo bin vec_pol.
Hm tzero
vec_zer=tzero(sys) tnh cc dim zero cua h thng v luu vo bin vec_zer.
Hm pzmap
- [vec_pol,vec_zer]=pzmap(sys) tnh cc dim cuc v zero cua h thng v luu vo cc bin
tuong ung.
- pzmap(sys) tnh cc dim cuc, zero v biu din trn mt phng phuc.
Hm dcgain
G0=dcgain(sys) tnh h s khuch dai tinh cua h thng v luu vo bin G0.
1.3.4 Mt s hm dc bit trong khng gian trang thi
Hm ctrl
Cu lnh: C_com=ctrl(A,B)
C_com=ctrl(sys)

Tnh ma trn diu khin duoc C cua mt h thng. Ma trn C duoc dinh nghia nhu sau:
C=[B AB A
2
B A
n-1
B] voi A
nxn

Hm obsv
Cu lnh: O_obs=obsv(A,C)
O_obs=obsv(sys)

Tnh ma trn quan st duoc O cua mt h thng. Ma trn O duoc dinh nghia nhu sau: O=[C CA
CA
2
CA
n-1
]

Hm ctrbf
Cu lnh: [Ab,Bb,Cb,T,k]=ctrbf(A,B,C)

Chuyn v dang chun (canonique) diu khin duoc cua mt h thng biu din duoi dang
phuong trnh trang thi.
Trong d: A
b
=TAT
-1
, B
b
=TB, C
b
=CT
-1
, T l ma trn chuyn di.

Hm obsvf
Cu lnh: [Ab,Bb,Cb,T,k]=obsvf(A,B,C)
71

Chuyn v dang chun quan st duoc cua mt h thng biu din duoi dang phuong trnh trang
thi.
Trong d: A
b
=TAT
-1
, B
b
=TB, C
b
=CT
-1
, T l ma trn chuyn di.
1.4 V d tng hp
Cho mt h thng kn phan hi -1, trong d hm truyn cua h ho l

2
0 0
2
2
0
2
*
) 1 (
) (

+ + +
=
p p p p
K
p G voi K=1, =10s,
0
=1rad/s v =0.5
1. V dc tnh tn s Nyquist. Chung to rng h kn khng n dinh.
2. V dp ung qu d cua h kn.
3. D h thng n dinh, nguoi ta hiu chinh h s khuch dai K=0.111. Xc dinh tn s ct, d
du tru bin d v d du tru v pha cua h thng trong truong hop ny.
4. Xc dinh cc thng s qu d (thoi gian qu d lon nht T
max
, d qu diu chinh lon nht
max
) cua h thng d hiu chinh.

Giai
Cu 1
>>K=1;to=10;w0=1;xi=0.5;
>>num1=K;den1=[to 1 0];
>>num2=w0^2;den2=[1 2*xi*w0 w0^2] ;
>>G=tf(num1,den1)*tf(num2,den2)
Transfer function:
1
----------------------------
10 s^4 + 11 s^3 + 11 s^2 + s
>>w=logspace(-3,2,100) ; % tao vecto tn s d v cc dc tnh tn s
>>nyquist(G,w);
Dc tnh duoc biu din trn hnh 6.1

D xt tnh n dinh cua h kn dng tiu chun Nyquist, truoc tin ta xt tnh n dinh cua h ho.
Nghim cua phuong trnh dc tnh cua h ho duoc xc dinh :
>>pole(G)
ans =
0
-0.5000 + 0.8660i
-0.5000 - 0.8660i
-0.1000
H ho c 1 nghim bng 0 nn o bin gioi n dinh.

Real Axis
I
m
a
g
i
n
a
r
y
A
x
i
s
Nyquist Diagrams
-12 -10 -8 -6 -4 -2 0 2
-1500
-1000
-500
0
500
1000
1500
From: U(1)
T
o
:
Y
( 1
)
Real Axis
I
m
a
g
i
n
a
r
y
A
x
i
s
Nyquist Diagrams
-1 -0.8 -0.6 -0.4 -0.2 0
-0.4
-0.3
-0.2
-0.1
0
0.1
0.2
0.3
From: U(1)
T
o
:
Y
( 1
)
Hnh 6.1 : Dc tnh tn s Nyquist cua h ho
72

Quan st dc tnh tn s Nyquist cua h ho trn hnh 6.1 (phn zoom bn phai), ta thy dc tnh
Nyquist bao dim (-1,j0), v do h ho o bin gioi n dinh nn theo tiu chun Nyquist, h thng
kn s khng n d|nh.
Cu 2
>>G_loop=feedback(G,1,-1) ; % hm truyn h kn
>>step(G_loop) ;

Cu 3
>>K=0.111 ;num1=K ; % thay di h s khuch dai K
>>GK=tf(num1,den1)*tf(num2,den2)
Transfer function:
0.111
----------------------------
10 s^4 + 11 s^3 + 11 s^2 + s
>>margin(GK)
Dc tnh tn s Bode cua h ho d hiu chinh duoc biu din trn hnh 6.3. Tu dc tnh ny, ta c
th xc dinh duoc
L=18.34dB ; = 44.78 ;
c
=0.085rad/s

Time (sec.)
A
m
p
l
i
t
u
d
e
Step Response
0 50 100 150 200 250 300 350 400 450 500
-10
-5
0
5
10
15
From: U(1)
T
o
:
Y
( 1
)
Hnh 6.2 :
Dp ung qu d h kn
Frequency (rad/sec)
P
h
a
s
e
( d
e
g
)
;
M
a
g
n
i t
u
d
e
( d
B
)
Bode Diagrams
-150
-100
-50
0
50
Gm=18.344 dB (at 0.30151 rad/sec), Pm=44.775 deg. (at 0.084915 rad/sec)
10
-3
10
-2
10
-1
10
0
10
1
-400
-350
-300
-250
-200
-150
-100
-50
0
Hnh 6.3 : Dc tnh tn s Bode cua h ho d hiu chinh
73
Hnh 6.4
Dp ung qu d h
kn d hiu chinh
Hnh 6.5 Cua s chnh cua Simulink
Time (sec.)
A
m
p
li t
u
d
e
Step Response
0 50 100 150
0
0.2
0.4
0.6
0.8
1
1.2
1.4
From: U(1)
T
o
:
Y
( 1
)
Cu 4
>>GK_loop=feedback(GK,1,-1) ;
>>step(GK_loop);

Su dung con tro chut v kch vo cc dim cn tm trn dc tnh, ta xc dinh duoc

max
=23%; T
max
= 70.7s
2 SIMULINK
Simulink duoc tch hop vo Matlab (vo khoang du nhung nm 1990) nhu mt cng cu d m
phong h thng, gip nguoi su dung phn tch v tng hop h thng mt cch truc quan. Trong
Simulink, h thng khng duoc m ta duoi dang dng lnh theo kiu truyn thng m o duoi dang
so d khi. Voi dang so d khi ny, ta c th quan st cc dp ung thoi gian cua h thng voi
nhiu tn hiu vo khc nhau nhu : tn hiu bc thang, tn hiu sinus, xung chu nht, tn hiu ngu
nhin bng cch thuc hin m phong. Kt qua m phong c th duoc xem theo thoi gian thuc
trn cc Oscilloscope trong mi truong Simulink, hay trong mi truong Matlab.
Simulink hon ton tuong thch voi Matlab, nhung
n l mt dao din d hoa. V vy tt ca cc hm trong
Matlab du c th truy cp duoc tu Simulink, ngay ca
cc hm do nguoi su dung tao ra. Nguoc lai, cc kt
qua tm duoc trong Simulink du c th duoc su dung
v khai thc trong mi truong Matlab.
Cui cng, Simulink cho php nguoi su dung kha
nng tao ra mt thu vin khi ring. V du, nu ban
mun lm vic trong linh vuc diu khin cc my din,
ban c th tao ra mt thu vin ring chua cc m hnh
my din Nhu vy, voi cng cu Simulink, ta c th
tu tin hnh m phong th nghim, quan st kt qua,
kim chung voi l thuyt truoc khi tin hnh th
nghim trn m hnh tht.
2.1 Khi dng Simulink
D khoi dng Simulink tu mi truong Matlab, ta
g dng lnh simulink. Lc ny mt cua s nhu trn
hnh 6.5 s xut hin, trn d c cc thu muc chnh v
cc thu vin con cua Simulink. D bt du lm vic, ta
tao cua s moi bng cch kch vo biu tuong New .
C 8 thu vin chnh cua Simulink duoc phn loai nhu
sau :
74
- Continuous : h thng tuyn tnh v lin tuc
- Discrete : h thng tuyn tnh gin doan
- Nonliear : m hnh ha nhung phn tu phi tuyn nhu role, phn tu bo ha
- Source : cc khi ngun tn hiu
- Sinks : cc khi thu nhn tn hiu
- Function & Table : cc hm bc cao cua Matlab
- Math : cc khi cua simulink voi cc hm ton hoc tuong ung cua Matlab
- Signals & System : cc khi lin h tn hiu, h thng con
2.2 Tao mt so d don gin
D lm quen voi Simulink, ta bt du bng mt v du don gian : phn tch hm qu d cua mt
khu bc hai c hm truyn
2
0 0
2
2
0
2
) (

+ +
=
p p
p G voi
0
=1rad/s v =0,5. Cc buoc thuc hin
d duoc so d m phong nhu hnh 6.6 nhu sau :

- Khoi dng Simulink tu Matlab bng dng lnh simulink
- Trong cua s chnh cua Simulink, chon biu tuong New d tao cua s ung dung.
- Mun tao mt khi trong cua s ung dung, ta tm khi d trong cc thu vin cua Simulink, kch
chon v ko n vo cua s ung dung. V du, d tao khi Step, ta vo thu vin Simulink ->
Continuous -> Sources -> Step, khi Transfer Fcn trong Simulink -> Continuous -> Transfer
Fcn
- D dt thng s cho tung khi, ta mo khi d ra bng cch double-click chut vo n. Lc ny
dt cc thng s theo huong dn trn mn hnh.
- Duong ni giua cc khi duoc thuc hin bng cch dng chut ko cc mui tn o du (cui)
mi khi dn vi tr cn ni.

Sau khi tao duoc so d khi nhu hnh 6.6, ta c th bt du tin hnh m phong (voi cc tham s
mc dinh) bng cch chon Simulation -> Start. Xem kt qua m phong bng cch mo khi Scope
nhu hnh 6.7.

Hnh 6.7 : Kt qua m phong
Hnh 6.6 : Mt so d Simulink don gian
75
D xem dng thoi tn hiu vo v ra trn cng mt Scope, ta tao so d m phong nhu hnh 6.8. Kt
qua m phong biu din trn hnh 6.9.

2.3 Mt s khi thung dng
Thu vin Sources
Step Tao ra tn hiu bc thang lin tuc hay gin doan.
Ramp Tao tn hiu dc tuyn tnh (rampe) lin tuc.
Sine Wave Tao tn hiu sinus lin tuc hay gin doan.
Constant Tao tn hiu khng di theo thoi gian.
Clock Cung cp dng h chi thoi gian m phong. C th xem duoc dng h ny khi
dang thuc hin m phong.
Ch : Mun khi clock chi dng thoi dim dang m phong, tham s Sample time duoc dt nhu
sau
0 : h lin tuc
>0 : h gin doan, clock lc ny s chi s chu ky ly mu dt trong Sample time.
Thu vin Sinks
Scope Hin thi cc tn hiu duoc tao ra trong m phong.
XY Graph V quan h giua 2 tn hiu theo dang XY. Khi ny cn phai c 2 tn hiu
vo, tn hiu thu nht tuong ung voi truc X, tn hiu vo thu hai tuong ung
voi truc Y.
To Workspace Tt cac cc tn hiu ni vo khi ny s duoc chuyn sang khng gian tham
s cua Matlab khi thuc hin m phong. Tn cua bin chuyn vo Matlab do
nguoi su dung chon.
2.3.1 Thu vin Continuous
Transfer Fcn M ta hm truyn cua mt h thng lin tuc duoi dang a thuc tu so/a thuc
mau so. Cc h s cua da thuc tu s v mu s do nguoi su dung nhp vo,
theo bc giam dn cua ton tu Laplace. V du d nhp vo hm truyn c
dang
1
1 2
2
+ +
+
s s
s
, ta nhp vo nhu sau :Numerator [2 1], Denominator [1 1 1].
State Space M ta hm truyn cua mt h thng lin tuc duoi dang phuong trnh trang
thi. Cc ma trn trang thi A, B, C, D duoc nhp vo theo qui uoc ma trn
cua Matlab.
Integrator Khu tch phn.
sDerivative Khu dao hm
Transport Delay Khu tao tr
Hnh 6.8
Hnh 6.9
76
Thu vin Discrete
Discrete Transfer Fcn M ta hm truyn cua mt h thng gin doan duoi dang a thuc tu
so/a thuc mau so. Cc h s cua da thuc tu s v mu s do nguoi su
dung nhp vo, theo bc giam dn cua ton tu z.
Discrete State Space M ta hm truyn cua mt h thng gin doan duoi dang phuong trnh
trang thi. Nguoi su dung phai nhp vo cc ma trn trang thi
A,B,C,D v chu ky ly mu.
Discrete-Time Integrator Khu tch phn cua h thng gin doan.
First-Order Hold Khu giu mu bc 1. Nguoi su dung phai nhp vo chu ky ly mu.
Zero-Order Hold Khu giu mu bc 0. Nguoi su dung phai nhp vo chu ky ly mu.
Thu vin Signal&Systems
Mux Chuyn nhiu tn hiu vo (v huong hay vecto) thnh mt tn hiu ra
duy nht dang vecto. Vecto ng ra c kch thuoc bng tng kch thuoc
cua cc vecto vo. S cc tn hiu vo duoc dinh nghia khi mo khi
Mux. V du, nu dt tham s number of inputs l 3, nghia l c 3 tn
hiu vo phn bit, v huong. Nu dt number of inputs l [1 2] th c
2 tn hiu vo phn bit : tn hiu thu nht v huong, tn hiu thu hai
l vecto 2 thnh phn.
Demux Chuyn 1 tn hiu vo thnh nhiu tn hiu ra, nguoc voi khi Mux.
In1 Chn mt cng vo. Khi ny cho php giao tip giua so d chnh v
so d con.
Out1 Chn mt cng ra.
Thu vin Math
Abs Tn hiu ra l gi tri tuyt di cua tn hiu vo.
Gain Tn hiu ra bng tn hiu vo nhn h s Gain (do nguoi su dung dinh
nghia).
Sign Tnh du cua tn hiu vo, bng 1 nu tn hiu vo > 0
bng 0 nu tn hiu vo = 0
bng -1 nu tn hiu vo < 0
Sum Tn hiu ra l tng cua cc tn hiu vo.
2.4 V d
D m phong h thng trong v du o muc 1.4, ta tao so d khi trong Simulink nhu hnh 6.10. Thay
di h s khuch dai K (K=1 v K=0.111), ta duoc cc dp ung qu d cua h kn trn hnh 6.11 v
6.12.

Hnh 6.10 : So d m phong trong Simulink
77

2.5 LTI Viewer
Nhu ta d bit, khi thuc hin m phong trn Simulink, ta chi c th quan st duoc cc dc tnh
thoi gian cua h thng. D c th phn tch ton din mt h thng, ta cn cc dc tnh tn s nhu
dc tnh Bode, dc tnh Nyquist, qu dao nghim s v.v
LTI Viewer l mt giao din d hoa cho php quan st dp ung cua mt h thng tuyn
tnh, trong linh vuc tn s cung nhu thoi gian, m khng cn g lai lnh hay lp trnh theo tung
dng lnh nhu trong Control System Toolbox. N su dung truc tip so d khi trong Simulink.
2.5.1 Khi dng LTI Viewer
D khoi dng LTI Viewer tu Simulink, ta chon menu Tool -> Linear Analysis.
Lc ny, Matlab s mo 2 cua s moi:
- Cua s LTI Viewer (hnh 6.13) c 2 phn chnh:
o Phn cua s d hoa dng d biu din cc duong dc tnh.
o Thanh cng cu pha duoi chi dn cch su dung LTI Viewer
- Cua s chua cc dim input v output (hnh 6.14). Cc dim ny duoc dng d xc dinh dim
vo/ra trn so d Simulink cn phn tch.

2.5.2 Thit lp cc dim vo/ra cho LTI Viewer
Dng chut ko r cc dim input point, output point trn cua s hnh 6.14 v dt ln cc vi tr
tuong ung trn so d Similink.
Hnh 6.11 : Dp ung qu d (K=1)
Hnh 6.12 : Dp ung qu d (K=0.111)
Hnh 6.13 Hnh 6.14
78

Ch : Vic chon cc dim dt input, output phai ph hop yu cau phn tch. LTI Viewer tnh
hm truyn bng cch tuyn tnh ha h thong voi 2 dim input/output d duoc dinh nghia. Khi ve
cc dc tnh tan so cng nhu thoi gian, LTI su dung cc h thong d duoc tuyn tnh ha ny.
2.5.3 Tuyn tnh ha mt m hnh
D tm m hnh giua 2 dim input/output d dinh nghia, ta thuc hin nhu sau:
Chon cua s LTI Viewer (hnh 6.13) Chon memu Simulink Get linearized model
Lc ny, trong phn d hoa cua cua s LTI Viewer s xut hin dt tnh qu d cua m hnh tuyn
tnh ha tm duoc.
D xem cc dc tnh khc trn LTI Viewer, ta chi vic kch chut phai vo phn d hoa, chon menu
Plot Type chon loai dc tnh cn quan st.

Ghi ch:
- Cu mi ln thuc hin tuyn tnh ha mt m hnh (Simulink Get linearized model) th LTI
Viewer s nap m hnh hin hnh tai cua s Simulink vo khng gian cua n. Nu giua 2 ln
thuc hin tuyn tnh ha, m hnh khng c su thay di (cu trc hay thng s) th 2 m hnh
tm duoc tuong ung s ging nhau.
- C th bt/tt dc tnh cua mt hay nhiu m hnh d tm duoc trong LTI Viewer bng cch:
kch chut phai vo cua s d hoa chon Systems chon m hnh cn bt/tt. Tin ch ny
rt cn thit khi ta mun so snh tc dng do su bin di mt thng s no d dn h thng.
2.5.4 Luu v s dung cc thng s ca m hnh tuyn tnh ha
- D luu m hnh tuyn tnh ha vua tm duoc, chon memu File Export
- D su dung cc thng s cua m hnh :
o Dang hm truyn [num,den]=tfdata( bien file ,v)
o Dang phuong trnh trang thi [A,B,C,D]=ssdata( bien file )
2.5.5 V du s dung LTI Viewer
Gia su d c hm m hnh m phong trn cua s Simulink nhu hnh 2.6. Su dung LTI Viewer d
quan st cc dc tnh sau:
- Dc tnh tn s Nyquist cua h ho khi chua hiu chinh (K=1) v d hiu chinh (K=0.111).
- Dc tnh tn s Bode cua h ho d hiu chinh .
- Dc tnh qu d cua h kn chua hiu chinh v d hiu chinh.

THUC HIEN
Theo yu cu dt ra, ta cn phai c 4 h thng c thng s v cu trc khc nhau: h ho voi K=1, h
ho voi K=0.111, h kn K=1 v h kn K=0.111. Do vy, ta cn thuc hin 4 ln tuyn tnh ha d c
duoc 4 m hnh khc nhau trong LTI Viewer. Cc buoc thuc hin tun tu nhu trong hnh 6.15.
79

Sau 4 ln tuyn tnh ha trong LTI Viewer, ta duoc 4 h thng ln luot l baitap1_simulink_1 dn
baitap1_simulink_4 (so d trong Simulink c tn l baitap1_simulink).

Trn cua s d hoa lc ny s hin thi dng thoi dc tnh qu d cua ca 4 m hnh o trn.
- D xem dc tnh Nyquist cua h ho truoc v sau hiu chinh:
o Kch chut phai vo phn d hoa, chon Systems, chon 2 m hnh 1 v 2.
o Tip tuc kch chut phai vo phn d hoa, chon Plot Type Nyquist.
Trn cua s d hoa s xut hin 2 dc tnh Nyquist voi 2 mu phn bit.
- D xem dc tnh qu d cua h kn truoc v sau hiu chinh:
o Kch chut phai vo phn d hoa, chon Systems, chon 2 m hnh 3 v 4.
o Tip tuc kch chut phai vo phn d hoa, chon Plot Type Step.

Cc dc tnh khc duoc tin hnh mt cch tuong tu.

a)
b)
c)
d)
Hnh 6.15 : So d v cu trc d tuyn tnh ha

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