Professional Documents
Culture Documents
1.SIMULINK
1.KhingSinulink:khingSimulinktatheoccbcsau:
khingMATLAB
click vo icon ca Simulink trn MATLAB toolbar hay nh lnh
SimulinktrongcasMATLAB.
LcnytrnmnhnhxuthincasSimulinkLibraryBrowser,trong
cccthvincckhicaSimulink.
2.Tomtmhnhmi:tomtmhnhmi,clickvoicontrncas
Simulink Library Browser hay chn menu File | New | Model trn ca s
MATLAB.
3.Thayimtmhnhc:TacthclickvoicontrncasSimulink
LibraryBrowserhaychnOpentrncasMATLAB.Filechamhnhs
mvtacththayiccthngscngnhbnthnmhnh.
5.Chnnhiuitng:Tacthchnnhiuitngcnglcbngcch
dng phm Shift v chut hay v mt ng bao quanh cc i tng
bngcchbmchutkothnhhnhchnhtvthkhihnhchnht
baolyccitngcnchn.
7.Cckhi:KhilccphntmSimulinkdngtomhnh.Tacth
mhnhhobtkmththngnghcnobngcchtomilinhgia
cckhitheocchthchhp.Khitomtmhnhtacnthyrngcckhi
ca Simulink c 2 loi c bn: khinhn thy v khikhng nhn thy.Cc
khikhngnhnthycngvaitrquantrngtrongvicmphngmt
hthng.Nutathmhayloibmt khikhngnhnthyc ta thay
ithuctnhcamhnh.Cckhinhnthyc,ngcli,khngng
438
vaitrquantrngtrongmhnhho.Chngchgiptaxydngmhnh
mt cch trc quan bng ho. Mt vi khi ca Simulink c th l thy
c trong mt s trng hp v li khng thy c trong mt s trng
hpkhc.Cckhinhvycgilcckhinhnthyciukin.
8.Copycckhitmtcassangmtcaskhc:Khitaxydngmt
mhnhtathngphicopycckhitthvinkhicaSimulinksangca
smhnh.lmvicnytatheoccbcsau:
mcasthvinkhi
kokhitamundngtcasthvinvocasmhnhvth
TacthcopycckhibngcchdnglnhCopy&Pastetrongmenu
Editquaccbcsau:
chnkhitamuncopy
chnCopytmenuEdit
lmchocascncopytihotng
chnPastetmenuEdit
Simulink gn mt tn cho mi bn copy. Nu n l khi u tin trong m
hnhthtncangingnhtrongthvinSimulink.Nunlbnth2
hayth3thsaunscchs1hay2v.v.Trncasmhnhcli.
hinthlinytcasMATLABnhvo:
set_param(<modelname>,showgrid,on)
thayikhongcchlinhlnh:
set_param(<modelname>,gridspacing,<numberofpixels>)
Vd:thayilithnh20pixels,nhlnh:
set_param(<modelname>,gridspacing,20)
nhnbnmtkhitagiphmCtrlvkokhitimtvtrkhcvth.
10.DeletingBlocks:Munxomthaynhiukhitachnkhivnhn
phmDel.
11.Thayihngcakhi:Tacthxoayhngcakhibngvomenu
Formatri:
o
chnFlipBlockquaykhi180 .
o
chnRotateBlockquaykhi90 .
12.nhlikchthccakhi:thayikchthccakhitaacon
tr chut vo mt gc ca khi ri bm v ko cho n kch thc mong
munrith.
13.Xltnkhi:Mikhictn,philduynhtvphichatnhtmt
kt.Mcnhtnkhinmdikhi.Vitnkhitacththchincc
thaotcsauy:
Thayitnkhibngcchbmchutvotncvnhplitn
mi. Nu mun thay i font ch dng cho tn khi hy chn khi v vo
menuFormatvchnFont.
Thayivtrttnkhitdilntrnhayngclibngcch
kotnkhitivtrmongmun.
KhngchohinthtnkhibngcchvomenuFormatvchnHide
NameshayShowNames
14.Hinthccthngsbndikhi:TacthbtSimulinkhinthmt
hay nhiu thng s bn di khi. lm iu ny ta nhp vo mt dng
votrngAttributesformatstringhpthoiBlockProperties.
15.Ctcckhi:ctkhikhistabmphmShiftvkokhinv
trmi.
16.Nhpvxutccvect:Huhtcckhichpnhnilnguvol
vec t hay v hng v bin i thnh i lng u ra l vec t hay v
hng.Tacthxcnhuvononhnilngvectbngcchchn
440
Mrnguvo:khidngkhivinhiuuvotacthtrnln
ccilngvectvilngvhng.Khinyccuvovhng
cmrngthnhvectvisphntnhcauvovect,ccphnt
uctrsnhnhau
Mrngthngs:tacthctccthngsivikhicvec
thothnhilngvecthayilngvhng.Khitactccthng
s vec t, mi mt phn t thng s c kt hp vi phn t tng ng
trongvectuvo.Khitactccthngsvect,Simulinkpdngm
rngvhngbinichngthnhvectckchthcphhp.
18.Gnutinchokhi:Tacthgnutinchokhikhngnhn
thytrongmhnh.Khicutincaohncnhgitrckhic
utinnhhn.Tacthgnutinbngcchdnglnhtngtc
haydngchngtrnh.dngchngtrnhtadnglnh:
set_param(b,Priority,n)
Trongblkhivnlmtsnguyn,scngthp,utincngcao.
gn u tin bng lnh ta nhp u tin vo trng Priority trong
hpthoiBlockPrioritiescakhi.
19.SdngDropShadows:TacththmDropShadowvokhichn
bngcchchnShowDropShadowtmenuFormat
21.Thayimtthvinc:Khitammtthvin,ntngkhov
ta khng th thay i cc thnh phn ca n c. Mun m kho ta chn
UnlocktmenuEdit.
22.Copymtkhitthvinvomhnh:Tacthcopymtkhitth
vinvomhnhbngcopyhaypastehaykonvthvocasmhnh.
tcontrchutlncngracakhiutin,contrcdngdu+
nhnvgichut
kocontrchutticngvocakhithhai
thchut
vnggpkhc,nhnphmShiftkhiv.
25.Chnkhivomtng:Tacthchnmtkhivomtngbng
cchkovthkhilnngni.Khimtachnvochcmtu
vovmtura.
442
28.Ghich:Ghichlonvnbncungcpthngtinvmhnh.Tac
ththmghichvobtktrngnocamhnh.tomtghich,nhn
pchutvovngtrngcamhnh.Khinytrnmnhnhxuthinmt
hnhchnhtcconnhytrong.Tacthnhvnbnghichvokhung
ny.Khimundichuynphnghichnmtvtrkhc,tabmchutvo
vkonvtrmirithchut.samtghich,bmchutvon
hinthkhungvnbnvbtusa.
29.Cckiudliu:Simulinkchpnhncckiudliusau:
double
sthcvichnhxcgpi
single
sthcvichnhxcn
int8
snguyncdu8bit
uint8
snguynkhngdu8bit
int16
snguyncdu16bit
uint16
snguynkhgdu16bit
int32
snguyncdu32bit
uint32
snguynkhngdu32bit
31.Mtcckiudliudngchothamskhi:Khinhpvothamsca
mtkhi,kiudliucancngidngmtbnglnhtype(value)
vitypeltncakiudliuvvaluelgitrcathams.
Vd:single(1.0)
dliulsthcctrl1
int8(2)
dliulsnguynctrl2
int32(3+2i)
dliulsphc,phnthcvphnolsnguyn
32bit
32.Totnhiuckiudliucmt:Tacthemvomhnhmt
tnhiuckiudliucmtbngmttrongccphngphpsauy:
nptnhiuckiudliumongmuntMATLAB
tomtkhihngvtthngscanckiudliumongmun.
sdngkhibinikiudliu
443
34.Tnhiuphc:Mcnh,ccgitrcatnhiuSimulinklsthc.Tuy
nhinccmhnhc thtovxlcctn hiulsphc.Tacth a
mttnhiulsphcvomhnhbngmttrongccphngphpsau:
nptnhiuphctMATLAB
tomtkhihngtrongmhnhvchongitrphc.
tomttnhiuthctngngviphnthcvphnocatnhiu
phc v kt hp cc phn ny thnh tn hiu phc bng cch s dng khi
binitnhiuthcothnhtnhiuphc.
Ta c th x l tn hiu phc nh cc khi chp nhn tn hiu phc.
PhnlncckhicaSimulinkchpnhntnhiuvolsphc.
copykhihthngcontthvinSignal&Systemvomhnh
mkhihthngconbngcchclickplnn
trongcaskhiconrng,tohthngcon.Sdngcckhiinport
biudinuvovcckhioutportbiudinura.
36.Tohthngconbngcchnhmcckhic:Numhnhcata
c mt s khi m ta mun nhm thnh khi h thng con th ta c th
nhm
cckhinythnhkhihthngconbngsau:
baocckhivngnigiachngbngmtngtnt(bm
chutvkotgcnyngckiacacckhi)rithchut
chnCreateSubsystemtmenuEdit
inporthayoutportthchhptrongkhihthngconvchnHideNamet
menuFormat
38.Mphngmtphngtrnh:PhngtrnhdngbiniCelcius
thnhFahrenheitl:
TF=(9/5)TC+32
Trchttakhostcckhicntomhnh:
khiramptrongthvinSourcesinputtnhiunhit
khiConstanttrongthvinSourcestohngs32
khiGaintrongthvinMathtorahs9/5
khiSumtrongthvinMathcnghaiilng
khiScopetrongthvinSinkshinthktqu.
Tiptaacckhivocasmhnh,gnccgitrthngschoGain
v Constant bng cch nhp p ln chng m khi. Sau ta ni cc
khi.KhiRampanhitCelciusvmhnh.Mkhinyvthayi
gi tr khi gn Initial output v 0. Khi Gain nhn nhit ny vi h s
9/5.KhiSumcnggitr32viktquvaranhitFahrenheit.Khi
Scope xem kt qu. S m phng nh sau. By gi Start t menu
Simulationchysimulation.Simulationchy10giy,tngngvinhit
Celciusbinit0n10o.
39.Mphngmthphngtrnhtuyntnh:Taxthphngtrnhtuyn
tnhchain:
z 1 + z 2 = 1
z 1 + z 2 = 1
mphngtadngcckhi:
haikhiAlgebricConstrainttrongthvinMathgiiphngtrnh
haikhiSumtrongthvinMathtophptnh
haikhiDisplaytrongthvinSinkhinthgitrnghim
445
khiConstanttrongthvinSourcestogitr1
40.Mphngmtphngtrnhbccao:Taxtphngtrnh:
x2+3x+1=0
mphngtadngcckhi:
khiAlgebricConstrainttrongthvinMathgiiphngtrnh
khiDisplaytrongthvinSinkhinthtrscanghim
khiConstanttrongthvinSourcestogitr1
khiSumtrongthvinMathtophpcng
2
khiMathFunctiontrongthvinMathtohmx
khiGaintrongthvinMathtohs3
Smphngnhsau
446
x( t ) = 2 x( t ) + u( t )
viu(t)lmtsnghnhchnhtcbinbng1vtns1rad/s.m
phnghtadngcckhi:
khiGaintrongthvinMathtohs2
khiSumtrongthvinMathtophptnh
khiScopetrongthvinSinkxemktqu
khiSignalGeneratortrongthvinSourcestongun
khiIntegratortrongthvinContinuoustchphn
Smphngnhsau:
42.Mphnghphngtrnhviphnbccao:Taxthmtbiphng
trnhviphnbchaisau:
d2x
dx
+3
+ 2 x( t ) = 4 u( t)
2
dt
dt
Trongu(t)lhmbcnhy,x(0)=0vx(0)=0.BiniLaplacecah
chota:
p X(p)+3pX(p)+2X(p)=4U(p)
Hmtruyncahl:
4
T( p) = 2
p + 3p + 2
Tamphnghbngccphnt:
khiSteptrongthvinSourcestohmbcnhyu(t)
khiTransferFcntrongthvinContinuoustohmtruyn
khiScopetrongthvinSinkxemktqu
Smphngnhsau:
447
43.Mphnghciukinukhckhng:
a.Phngtrnhviphncp1:Taxthmtbiphngtrnh:
dx
+ x( t) = 0
dt
iukinucahlx(0)=1.Tacntmx(t)trongon0t10s.Doiu
kinukhckhngnntabiniphngtrnhvdngkhnggiantrng
thi.
dx = Ax + B
dt
y = Cx + Du
Trongxlbintrngthi,ultnhiuvo,yltnhiura.
Chny(t)=x(t)tac:
dx
= x( t )
dt
y(t)=x(t)
NhvyA=1;C=1;u(t)=0;B=0vD=0.Smphnggmccphn
t:
khiStateSpacetrongthvinContinuous
khiScopetrongthvinSink
Smphngnhsau:
b.Phngtrnhviphncpcao:Taxthmtbiphngtrnh:
d2x
dx
+
3
+ 2 x( t ) = 4 u( t)
dt 2
dt
Trongu(t)lhmnv,x(0)=1vx(0)=2.
448
dx1
. Nh
dt
2
dx 2 d 2 x 1 d x
vyiukinul:x1(0)=1vx2(0)=2.Ngoira
=
=
dt
dt
dt
dx 2
+ 3x 2 ( t ) + 2x1 ( t ) = 4u( t )
dt
Phngtrnhcphaicavhaiphngtrnhcp1:
dx1 =x ( t )
2
dt
dx 2
= 3x 2 ( t ) 2x1 ( t ) + 4 u( t)
dt
dx 2
dt
Vitdidngmatrntac:
dx1
1 x1 ( t ) 0
dt 0
=
dx 2 2 3 x ( t ) + 4 u( t )
2
dt
x1 ( t )
y( t ) = [1 0 ]
x 2 ( t )
Thnytasuyraccmatrncahkhnggiantrngthil:
1
0
0
A=
B
=
4 C = [1 0] D = 0
2 3
Smphnggmcckhisau:
khiStateSpacetrongthvinContinuous
khiScopetrongthvinSink
Smphngnhsau
44.Mphnghchobiskhi:Xtmthccutrcskhinh
sau:
449
1
+
k
s2 + s
Tamphnghbngccphnt:
khiSteptrongthvinSources
khiGaintrongthvinMath
khiTransferFcntrongthvinContinuous
Smphngnhsau
45.Mhnhhohphituyn:
a.Hchobiphngtrnhviphncpcao:TaxtphngtrnhValder
Pol:
y (1 y 2 )y + y = 0
iukinuy(0)=2vy(0)=0
Taty=y1vy=y2vcchphngtrnhviphncp1:
y1 = y 2
y2 = (1 y 12 ) y 2 y 1
Hphngtrnhcmphngbngccphntsau:
khihmFcntrongthvinFunctions&Tablestohm
khiProducttrongthvinMathtophpnhn
haikhiIntegratortrongthvinContinous
khiSumtrongthvinMath
khiMuxtrongthvinSignal&Systemstrntnhiu
khiScopetrongthvinSinkxemktqu.
Smphngnhsau:
450
a
sin(
a
)
0
.
2
a
1
2
2
viiukinula1(0)=a2(0)=1.3
Tamphnghbngccphnt:
haikhiIntegratortrongthvinContinous
khiFcntrongthvinFunctions&Tables
khiGaintrongthvinMath
haikhiScopetrongthvinSink
khiSumtrongthvinMath
Smphngnhsau:
451
inhthnghinhnhvcchthngdintrongphnlpmhnh
inhthnghinhnhvcchthngtrnntrongphnlpmhnh
inttccchthngtrongmhnh
inmimhnhmtkhungoverlay
48.Duytquamhnh:CasModelBrowserchophpta:
duytquamhnhcphnlp
mcchthngtrongccmhnh
xcnhnidungcckhitrongmtmhnh
hin th Model Browser, chn n t menu View. Ca s xut hin
cchialm2phn.PhatrilBrowser.Cutrccycamhnhhinth
bnphi.Midu+tngngvimththngcon.
2.SYMBOLICMATLABTOOLBOX
1. Khi nim chung: Symbolic Math Toolboxes kt hp tnh ton bng ch
vomitrngMATLAB.Cctoolboxnybsungcctinchsvth
vicckiutnhtontonhckhcnhau.
Tinch
Nidung
Calculus
o hm, tch phn, gii hn, tng v chui
Taylor
LinearAlgebra
nghcho,nhthc,gitrring,phntchv
dngchnhtccamatrn.
Simplification
phngphprtgnccbiuthcis
SolutionofEquations
gii bng ch v bng s cc phng trnh i
svviphn
VariablePrecision
nhgichnhxccaccbiuthcis
Arithmetic
452
Transform
biniLaplace,Fourriervz
Special
Mathematical cc hm ton hc c bit ca cc ng dng
Function
tonhckinhin
nglctnhtonnmdicctoolboxlnhnMaple,mththng
tnhtoncphttrinutintrngihcWaterloo,Canadavsau
ti Eidgenroessiche Technische Hochschule Zurich, Thu s. Maple c
thngmihovhtrcacngtyWaterlooMaple.
2.KhingTOOLBOX:
a.Ccitngch:Trongphnnychngtasxemxtcchtov
dng cc i tng ch. Chng ta cng s xem xt cc bin ch mc nh.
SymbolicMathToolboxnhnghamtkiudliuMATLABmigili
tngchhaysym.Bntrong,mtitngchlmtcutrcslium
nlubiudinchuicckt. SymbolicMathToolboxdngccitng
chbiudinccbinch,ccbiuthcch,ccmatrnch.
b. To cc bin v cc biu thc ch: Lnh sym cho php ta xy dng
ccbinvccbiuthcch.Vdlnh:
x=sym(x)
a=sym(alpha)
toraccbinchlxvavixlxvalalpha.
rho=sym((1+sqrt(5))/2)
Bygitacththchinccphptonkhcnhauvirho.Vd:
f=rho^2rho1
f=
(1/2+1/2*5^(1/2))^23/21/2*5^(1/2)
Tartgnbiuthc:
453
simplify(f)
ans=
0
Bygigistamungiiphngtrnhbc2 f = ax 2 + bx + c .Phtbiu:
f=sym(a*x^2+b*x+c)
a=sym(a)
b=sym(b)
c=sym(c)
x=sym(x)
haynginl:
symsabcx
2.Binigiasvch:
a.Toccbinthcvphc:Lnhsymchophptamtccthuctnh
tonhccaccbinchbngcchdngtuchnreal.Phtbiu:
x=sym(x,real);
y=sym(y,real);
hayhiuquhn:
symsxyreal
454
z=x+i*y
torabinchxvycthuctnhlsthc.cbit:
f=x^2+y^2
thcslskhngm.Nhvyzlbinphcvcclnh:
conj(x)
conj(z)
expand(z*conj(z))
choktqu:
returnthecomplexconjugatesofthevariables
x
xi*y
x^2+y^2
symsxunreal
hay:
x=sym(x,unreal)
Lnhclearxkhngxothuctnhsrealcax.
b.Tocchmtrutng:Nutamuntomthmtrtng(ngha
lmthmkhngxcnh)f(x)cndnglnh:
f=sym(f(x))
Khinyfhotngnhlf(x)vcthxlbngcclnhtoolbox.Vd
tnhviphnbc1tavit:
df=(subs(f,x,x+h)f)/h
455
hay
symsxh
df=(subs(f,x,x+h)f)/h
trv:
df=
(f(x+h)f(x))/h
ngdngnycahmsymsrthuchtrongbiniFourrier,Laplacev
z.
c.DngsymtruycpcchmcaMaple:Tacthtruycphmgiai
thak!caMaplekhidngsym.
kfac=sym(k!)
tnh6!hayk!tavit:
symskn
subs(kfac,k,6)
ans=
720
subs(kfac,k,n)
ans=
n!
haynutnh12!tacngcthvit:
prod(1:12)
d.Vdtomatrnch:Mtmatrnvnglmatrnmhngsauc
cbngcchdchccphntcahngtrci1ln.Tatomtmatrn
vngAbngccphnta,bvc:
symsabc
A=[abc;bca;cab]
456
ktqu:
A=
[a,b,c]
[b,c,a]
[c,a,b]
DoAlmatrnvngtngmihngvctnhnhau:
sum(A(1,:))
ans=
a+b+c
sum(A(1,:))==sum(A(:,2))
ans=
1
BygitathayA(2,3)bngbetavbbngalpha:
symsalphabeta
A(2,3)=beta;
A=subs(A,b,alpha)
A=
[a,alpha,c]
[alpha,c,beta]
[c,a,alpha]
Hmtonhc
LnhMATLAB
f=xn
f=x^n
g=sin(at+b)
g=sin(a*t+b)
h=Jv(z)
h=besselj(nu,z)
457
Nutatmohmcacchmnynhngkhngmtbinclp
(nghalohmtheobinno)thktqul:
f=nxn1
g=acos(at+b)
h=Jv(z)(v/z)Jv+1(z).
Nhvyccbinclplx,tvz.MATLABhiuccbinclpl
ccchthngvnmcuibngchcinhx,y,z.Khikhngthycc
chciny,MATLABstmchgnnhtvcoilbinclp.Ccbin
khcnhn,a,bvvccoilhnghaythngs.Tuynhintacthly
ohmcaftheonbngcchvitrbinclpra.Tadngcclnhsau
toracchm:
symsabnnutxz
f=x^n;
g=sin(a*t+b);
ohmhmftavit:
diff(f);
ans=
x^n*n/x
Trongvdtrnxlbinclp.Numuntnhohmcaftheontacn
vit:
diff(f,n)
ans=
x^n*log(x)
4.Tocchmtonhcbngch:
a.Dngccbiuthcch:Cclnh:
symsxyz
r=sqrt(x^2+y^2+z^2)
t=atan(y/x)
f=sin(x*y)/(x*y)
458
toraccbiuthcchr,tvf.Tacthdngcclnhdiff,int,subshaycc
lnhSymbolicMathToolboxkhcxlccbiuthcnhvy.
b.ToccMfile:Mfilechophptadngcchmtngquthn.Vd
tamuntorahmsinc=sin(x)/xtasvitmtMfilecnidungnhsau:
functionz=sinc(x)
ifisequal(x,sym(0))
z=1;
else
z=sin(x)/x;
end
Tacthmrngccvdnhvychocchmvbinkhcnhau.
5.Tnhton:
a.ohm:Tatobiuthcch:
symsax
f=sin(a*x)
Vyth:
df=diff(f)
tnhohmcahmf(x)theox.Ktqul:
df=
cos(a*x)*a
tnhohmcaftheoatavit:
dfa=diff(f,a)
ktqu:
dfa=
459
cos(a*x)*x
Hmtonhc
f=xn
f=nxn1
g=sin(at+b)
g=acos(at+b)
LnhMATLAB
f=x^n
diff(f)haydiff(f,x)
g=sin(a*t+b)
diff(g)haydiff(g,t)
tnhohmbc2caftheoxvatavit:
diff(f,2)
ans=
sin(a*x)*a^2
diff(f,x,2)
ans=
sin(a*x)*x^2
Hmdiffcthdngislmatrn.Trongtrnghpnyohmc
thchintrntngphnt.Vd:
symsax
A=[cos(a*x),sin(a*x);sin(a*x),cos(a*x)]
ktqu:
A=
[cos(a*x), sin(a*x)]
[sin(a*x), cos(a*x)]
lnh:
dy=diff(A)
choktqu:
dy=
[sin(a*x)*a,
cos(a*x)*a]
sin(a*x)*a]
[cos(a*x)*a,
460
TakhostbinittoEuclid(x,y,z)sangtocu(r,,)thchin
bngcccngthc:
x=rcoscos
y=rcossin
z=rsin
tnhmatrnJacobiJcaphpbininytadnghm jacobian.nh
nghatonhccaJl:
( x , y , z )
J=
(r , , )
dvittadngktlthaychovfthaycho.Cclnh
symsrlf
x=r*cos(l)*cos(f);
y=r*cos(l)*sin(f);
z=r*sin(l);
J=jacobian([x;y;z],[rlf])
chotaktqu:
J=
[cos(l)*cos(f), r*sin(l)*cos(f),r*cos(l)*sin(f)]
[cos(l)*sin(f),
r*sin(l)*sin(f), r*cos(l)*cos(f)]
r*cos(l),
0]
[sin(l),
vlnh:
detJ=simple(det(J))
cho:
detJ=
cos(l)*r^2
Chlisthnhtcahmjacobianphilvectctvisthhai
lvecthng.HnnadonhthccamatrnJacobianlbiuthclng
gickhphctpnntadnglnhsimplethaythvrtgn.
Bngsautnghphmdiffvhmjacobian
461
Tonttonhc
f=exp(ax+b)
df
dx
df
da
d2f
d 2a
r=u2+v2
t=arctan(v/u)
J=
( r , t )
( u , v )
LnhMATLAB
symsabx
f=exp(a*x+b)
diff(x)hay
diff(f,x)
diff(f,a)
diff(f,a,2)
symsrtuv
r=u^2+v^2
t=atan(v/u)
J=jacobian([r;t],[u,v])
b.Giihn:ohmcamthmlgiihnsauynuntnti:
f ( x + h ) f ( x)
f ( x) = lim
h 0
h
Symbolic Math Toolbox cho php gii hn ca mt hm mt cch trc tip
hn.Lnh:
symshnx
dc=limit((cos(x+h)cos(x))/h,h,0)
choktqu:
dc=
sin(x)
v:
limit((1+x/n)^n,n,inf)
cho:
ans=
exp(x)
462
limit(1/x,x,0)
cho:
ans=
NaN
Lnh:
limit(1/x,x,0,left)
cho:
ans=
inf
Lnh:
limit(1/x,x,0,right)
cho:
ans=
inf
Nhvylimit(f)tngngvilimit(f,x,0).Bngsauchoccgiihn:
463
Hmtonhc
LnhMATLAB
lim f( x)
limit(f)
x 0
lim f( x)
limit(f,x,a)haylimit(f,a)
lim f( x)
limit(f,x,a,left)
lim f( x)
limit(f,x,a,right)
x a
x a
x+a
Hmtonhc
LnhMATLAB
n +1
x
int(x^n)hay
n
x dx = n + 1
int(x^n,x)
int(sin(2*x),0,pi/2)hay
2
int(sin(2*x),x,0,pi/2)
sin( 2x)dx = 1
0
g=cos(at+b)
1
g( t)dt = a sin(at + b)
g=cos(a*t+b)
int(g)hay
int(g,t)
KhiMATLABkhngtmctchphnnvitlilnhnhpvo.Vd:
symsx
f=exp((k*x)^2);
int(f,x);
ezplot(f)
tnhtchphnbtnhcahm.tnhtchphnxcnhtavit:
symsx
f=exp((k*x)^2);
a=int(f,x,0,1);
a=double(a)
464
d.Tnhtng:Tacthtnhtngbiuthcchkhichngtntibng
cchdnglnhsymcum.Vdchui:
1
1
1 + 2 + 2 +
2
3
chotngl2/6cnchui:
1+x2+x3+...
chotngl1/(1x).Cctngctnhnhsau:
symsxk
s1=symsum(1/k^2,1,inf)
s2=symsum(x^k,k,0,inf)
e.ChuiTaylor:Chohmf(x).Phtbiu:
T=taylor(f,8)
choktqu:
T=
1/9+2/81*x^2+5/1458*x^4+49/131220*x^6
lkhaitrinTaylorcaf(x)lncnx=0(khaitrinMacLaurin)ccha8s
hngkhc0.Phtbiu:
symsx
g=exp(x*sin(x))
t=taylor(g,12,2)
torakhaitrinTaylorcaf(x)tix=2vchan12shngkhc0.Tav
cc hm ny ln cng mt th thy c kh nng xp x ca chui
Taylorvihmthcg:
xd=1:0.05:3;
yd=subs(g,x,xd);
ezplot(t,[1,3]);
holdon;
plot(xd,yd,r.)
465
title(XapxiTaylor);
legend(Ham,Taylor)
Xap xi Taylor
Ham
Taylor
6
1
1
1.5
2
2.5
3
x
Tiptadnglnhpretty(T)inktqudidngccbiuthctonhc
dc.
6.Rtgnbiuthc:Taxt3biuthckhcnhau:
symsx
f=x^36*x^2+11*x6
g=(x1)*(x2)*(x3)
h=x*(x*(x6)+11)6
Thchincclnhpretty(f),pretty(g),pretty(h)tanhnc:
f=x36x2+11x6
g=(x1)(x2)(x3)
h=x(x(x6)+11)6
SymbolicMathToolboxcungcpmtshmdngbiniccbiu
thc i s v lng gic thnh cc biu thc n gin hn. Chng gm:
collect,expand,horner,factor,simplify,vsimple.
a.collect:Phtbiu:
collect(f)
xemfnhmtathcgmccbinchxvgpttccchcngbcca
x.isth2cachrbinnhgpnucnhiuintrongbiuthc.Sau
ylmtsvd:
f
collect(f)
(x1)(x2)(x3)
x^36*x^2+11*x6
x*(x*(x6)+11)6
x^36*x^2+11*x6
(1+x)*t+x*t
2*x*t+t
b.expand:Phtbiu:
expand(f)
khaitrinbiuthc.Sauylmtsvd:
f
expand(f)
a*(x+y)
a*x+a*y
(x1)*(x2)*(x3) x^36*x^2+11*x6
x*(x*(x6)+11)6 x^36*x^2+11*x6
exp(a+b)
exp(a)+exp(b)
cos(x+y)
cos(x)*cos(y)sin(x)*sin(y)
cos(3*acos(x))
4*x^33*x
c.horner:Phtbiu:
horner(f)
binimtathcthnhdngHornerhaybiudinlngnhau.Vd:
f
horner(f)
x^36*x^2+11*x6 6+(11+(6+x)*x)*x
1.1+2.2*x+3.3*x^2
11/10+(11/5+33/10*x)*x
d.factor:Nuflathchshut,phtbiu:
467
factor(f)
biudinfnhltchcaccathccbcthphnvihshut.V
d:
f
factor(f)
x^36*x^2+11*x6 (x1)*(x2)*(x3)
x^36*x^2+11*x5 x^36*x^2+11*x5
x^6+1
(x^2+1)*(x^4x^2+1)
ylmtvdkhcvphntchathcxn+1thnhthas:
symsx;
n=1:9;
x=x(ones(size(n)));
p=x.^n+1;
f=factor(p);
[p;f].
trvmatrnviccathcctthnhtvccthasctth2:
x+1]
[x+1,
x^2+1]
[x^2+1,
[x^3+1, (x+1)*(x^2x+1)]
[x^4+1,x^4+1]
[x^5+1,(x+1)*(x^4x^3+x^2x+1)]
[x^6+1,(x^2+1)*(x^4x^2+1)]
[x^7+1,(x+1)*(1x+x^2x^3+x^4x^5+x^6)]
[x^8+1,x^8+1]
[x^9+1,(x+1)*(x^2x+1)*(x^6x^3+1)]
Hmfactorcthphntchccitngchcchasnguynthnhtha
s.Vd:
one=1
forn=1:11
N(n,:)=sym(one(1,ones(1,n)));
end
[Nfactor(N)]
468
choktqu:
[1,1]
[11,(11)]
[111,(3)*(37)]
[1111,(11)*(101)]
[11111,(41)*(271)]
[111111,3)*(7)*(11)*(13)*(37)]
[1111111,(239)*(4649)]
[11111111,(11)*(73)*(101)*(137)]
[111111111,(3)^2*(37)*(333667)]
[1111111111,(11)*(41)*(271)*(9091)]
[11111111111,(513239)*(21649)]
f
simplify(f)
x*(x*(x6)+11)6
x^36*x^2+11*x6
(1x^2)/(1x)
x+1
(1/a^3+6/a^2+12/a+8)^(1/3)
((2*a+1)^3/a^3)^(1/3)
symsxypositivelog(x*y)
log(x)+log(y)
exp(x)*exp(y)
exp(x+y)
cos(x)^2+sin(x)^2
1
symsx
simple(cos(x)^2+sin(x)^2)
Trongmtstrnghp,tapdngsimple2lnnhnchiuqurt
gncaohn.Vd:
469
symsa
f=(1/a^3+6/a^2+12/a+8)^(1/3);
simple(simple(f))
chota:
1/a+2
Trongkhilnh:
symsa
simple(f)
chota:
(2*a+1)/a
Hmsimplecbitchiuqutrnccbiuthclnggic.Sauylmt
svd:
f
simple(f)
cos(x)^2+sin(x)^2
1
2*cos(x)^2sin(x)^2
3*cos(x)^21
cos(x)^2sin(x)^2
cos(2*x)
cos(x)+(sin(x)^2)^(1/2)
cos(x)+i*sin(x)
cos(x)+i*sin(x)
exp(i*x)
cos(3*acos(x))
4*x^33*x
7.Thays:Taxtvdgiiphngtrnhbchaiax2+bx+c=0.Cclnh
thchinnhimvnyl:
symsabcx
s=solve(a*x^2+b*x+c);
Bygitamuntnhcthgitrcaxvia=1,b=2,c=4thdngcc
lnh:
a=1;
b=2;
c=4;
470
x=subs(s)
Lnhsubscthkthpvilnhdoubletnhtrscamtbiuthcch.
Gistac:
symst
M=(1t^2)*exp(1/2*t^2);
P=(1t^2)*sech(t);
vmunxemtrnthPvMkhcnhaunhthno.Tadngcclnh:
ezplot(M);
holdon;
ezplot(P)
T=6:0.05:6;
MT=double(subs(M,t,T));
PT=double(subs(P,t,T));
plot(T,MT,b,T,PT,r.)
title()
legend(M,P)
xlabel(t);
grid
torathnhiumu.
8.Giiphngtrnh:
a.Giiccphngtrnhis:NuSlbiuthcchth:
solve(S)
tmgitrcabinkttrongSS=0.Vd:
symsabcx
S=a*x^2+b*x+c;
solve(S)
471
chota:
ans=
[1/2/a*(b+(b^24*a*c)^(1/2))]
[1/2/a*(b(b^24*a*c)^(1/2))]
ylvectchmccphntcanl2nghimcaphngtrnh.
Nutamuntmnghimvimtbincmt,taphichrbin
nhmtthngsph.VdnutamungiiStheobthphivit:
b=solve(S,b)
vnhncktqu:
b=
(a*x^2+c)/x
Ch rng v d ny gi thit phng trnh c dng f(x) = 0. Nu ta mun
giiphngtrnhcdngf(x)=q(x)taphisdngchui.cbitlnh:
s=solve(cos(2*x)+sin(x)=1)
cho4nghim:
s=
[0]
[pi]
[1/6*pi]
[5/6*pi]
Phngtrnhx^32*x^2=x1giptahiucchgiiphngtrnh.nhvo
lnh:
s=solve(x^32*x^2=x1)
chotaktqu:
s=
[1/6*(28+84*i*3^(1/2))^(1/3)+14/3/(28+84*i*3^(1/2))^(1/3)+2/3]
[1/12*(28+84*i*3^(1/2))^(1/3)7/3/(28+84*i*3^(1/2))^(1/3)
+2/3+1/2*i*3^(1/2)*(1/6*(28+84*i*3^(1/2))^(1/3)
14/3/(28+84*i*3^(1/2))^(1/3))]
472
[1/12*(28+84*i*3^(1/2))^(1/3)7/3/(28+84*i*3^(1/2))^(1/3)
+2/31/2*i*3^(1/2)*(1/6*(28+84*i*3^(1/2))^(1/3)
14/3/(28+84*i*3^(1/2))^(1/3))]
Tatnhgitrscanghim:
double(s)
ans=
2.24697960371747+0.00000000000000i
0.80193773580484+0.00000000000000i
0.554958132087370.00000000000000i
Nchothyttcccnghimcaphngtrnhlsthc.iunykhng
ng.Dnglnhvpaxcnhchnhxc:
vpa(s,10)
tora:
ans=
[2.246979604+.1e9*i]
[.8019377357+.3e9*i]
[.5549581323.5e9*i]
iu ny ngha l phn o ca s rt nh nhng khc 0. Ta xem mt v d
khc:
symsx
s=solve(tan(x)+sin(x)2);
Ktqulmtvect41.Nhtrn,tadnglnhdouble:
X=double(s)
X=
0.88628729156094
1.89793604072796
2.07662070137841
2.07662070137841
473
b.Hphngtrnhis:Bygitaxthphngtrnh.Gistac
hphngtrnh:
x 2 y 2 = 0
y
x
2
vtacntmxvy.Trchttatoraccitngcnthit:
symsxyalpha
Cnhiucchbiudinnghim.Mttrongcccchlvit:
[x,y]=solve(x^2*y^2,x(y/2)alpha)
vccktqu:
x=
[0]
[0]
[alpha]
[alpha]
y=
[2*alpha]
[2*alpha]
[0]
[0]
Sauvitvectnghim:
v=[x,y]
chota:
v=
[0,2*alpha]
[0,2*alpha]
[alpha,0]
[alpha,0]
Taxttipphngtrnh:
474
eqs1=x^2*y^2=1,x1/2*yalpha
[x,y]=solve(eqs1)
toraccnghim:
x=
[1/2*alpha+1/2*(alpha^2+2)^(1/2)]
[1/2*alpha1/2*(alpha^2+2)^(1/2)]
[1/2*alpha+1/2*(alpha^22)^(1/2)]
[1/2*alpha1/2*(alpha^22)^(1/2)]
y=
[alpha+(alpha^2+2)^(1/2)]
[alpha(alpha^2+2)^(1/2)]
[alpha+(alpha^22)^(1/2)]
[alpha(alpha^22)^(1/2)]
Cchgnccnghimnhtrnchthchhpvihctphngtrnh.Vih
cnhiuphngtrnh, solvetoramtcutrcmcctrngcanlcc
nghim.Takhosthphngtrnh:
u 2 + v 2 = a 2
u + v = 1
2
a 2a = 3
Lnh:
S=solve(u^2v^2=a^2,u+v=1,a^22*a=3)
Choktqu:
S=
a:[2x1sym]
u:[2x1sym]
v:[2x1sym]
CcnghimlcctrngcaS.l:
S.a
Tora:
ans=
[1]
475
[3]
Tng t ta tm c nghim u v v. Cu trc S by gi c th c x l
bngtrngvchstruycpnccphnringbitcanghim.Vd
nutamunkimtranghimth2,tacthdngphtbiusau:
s2=[S.a(2),S.u(2),S.v(2)]
trchthnhphnt2camitrng.
s2=
[3,5,4]
Phtbiu:
M=[S.a,S.u,S.v]
ToramatrnnghimM:
M=
[1,1,0]
[3,5,4]
mmihnglmtnghimcah.
Nuhphngtrnhltuyntnhtacthdngmatrngiih.Vd:
clearuvxy
symsuvxy
S=solve(x+2*yu,4*x+5*yv);
sol=[S.x;S.y]
v:
A=[12;45];
b=[u;v];
z=A\b
cho:
sol=
[5/3*u+2/3*v]
[4/3*u1/3*v]
z=
[5/3*u+2/3*v]
[4/3*u1/3*v]
476
Nhvytaccngmtnghimchodphngphpgiikhcnhau.
c. Gii phng trnh vi phn: Hm dsolve tnh nghim bng ch ca
phng trnh vi phn thng. Cc phng trnh c m t bng cc biu
thcchchaccchciDchccohm.KhiuD2,D3,...,Dntng
ng vi o hm cp 1,cp 2,..,cp n. Nh vy D2y trong Symbolic Math
d2 y
Toolboxl 2 .BinphthuclbincxlbiDvbinclpmc
dx
nhlt.NhvytnccbinktkhngccD.Cthdngbinc
lp khc bng cch ch ra n nh l thng s cui cng trong lnh dsolve.
iukinucthmtnhlmtphngtrnhph.Nuiukinu
khng c, nghim s cha cc hng s tch phn C1, C2 v.v. C php ca
dsolvecmttrongbngsau:
Cphp
Phmvi
y=dsolve(Dyt=y0*y)
Mtphngtrnh,mtnghim
[u,v]=dsolve(Du=v,Dv=u)
Haiphngtrnh,hainghim
S=dsolve(Df=g,Dg=h,Dh=f) Baphngtrnh,ralcutrc
S.f,S.g,S.h
nghim
Vd1:Tadnglnh:
dsolve(Dy=1+y^2)
vcktqu:
ans=
tan(tC1)
mtiukinu,tadng:
y=dsolve(Dy=1+y^2,y(0)=1)
vc:
y=
tan(t+1/4*pi)
Ch l y trong vng lm vic ca MATLAB nhng bin c lp t th
khng. Nh vy lnh diff(y, t) gy ra li. t t vo vng lm vic ca
MATLABphidngsymst
477
Vd2:Ccphngtrnhphituyncthcnhiunghim,thmchngay
ckhichoiukinu.
x=dsolve((Dx)^2+x^2=1,x(0)=0)
choktqu:
x=
[sin(t)]
[sin(t)]
Vd3:ylmtphngtrnhbc2vi2iukinu.Lnh:
y=simplify(dsolve(D2y=cos(2*x)y,y(0)=1,Dy(0)=0,x))
tora:
y=
2/3*cos(x)^2+1/3+4/3*cos(x)
giiphngtrnh:
d3u
=u
dx 3
u(0) = 1, u(0) = 1, u(0) =
tadngcclnhsau:
u=dsolve(D3u=u,u(0)=1,Du(0)=1,D2u(0)=pi,x)
y=3f+4g
g=4f+3g
giihtadnglnh:
S=dsolve(Df=3*f+4*g,Dg=4*f+3*g)
NghimctnhvtrvdidngcutrcS:
S=
f:[1x1sym]
g:[1x1sym]
478
Tacthxcnhgitrcafvgbnglnh:
f=S.f
f=
exp(3*t)*(cos(4*t)*C1+sin(4*t)*C2)
g=S.g
g=
exp(3*t)*(sin(4*t)*C1cos(4*t)*C2)
Nutachociukinuthvit:
[f,g]=dsolve(Df=3*f+4*g,Dg=4*f+3*g,f(0)=0,g(0)=1)
f=
exp(3*t)*sin(4*t)
g=
exp(3*t)*cos(4*t)
BngsaumtmtvivdvcphpcaSymbolicMathToolbox.
Phngtrnhviphn
LnhMATLAB
dy
y=dsolve(Dy+4*y=exp(t),y(0)=1)
+ 4 y( t ) = e t
dt
y(0) = 1
d2 y
y=dsolve(D2y+4*y=exp(2*x),y(0)=0,
+ 4 y( x) = e 2 x
2
y(pi)=0,x)
dx
y(0) = 0 , y( ) = 0
d2 y
y=dsolve(D2y=x*y,y(0)=0,
xy
(
x
)
=
y(3)=besselk(1/3,2*sqrt(3))/pi,x)
dx 2
1
y(0) = 0 , y( 3) = K 1 ( 2 3 )
3
(phngtrnhAiry)
9.BiniFouriervFourierngc:
479
a.BiniFourier:BiniFourierdngbiniphngtrnhvi
phnthnhphngtrnhis.Cphp:
F=fourier(f)
F=fourier(f,v)
F=fourier(f,v,u)
TacthxemccbiniFouriertrongbngsau:
BiniFourier
LnhMATLAB
2
f=exp(x^2)
f ( x) = e x
fourier(f)cho:
2
F[f ]( w) = f( x)e iwxdx = e w / 4
pi^(1/2)*exp(1/4*w^2)
g( w ) = e w
F[g ]( t ) =
f( x) = xe
g( w)e
|x|
F[f ]( u) =
iwt
dt =
1 + t2
f( x)e
ixu
dx =
4i
(1 + u 2 )2 u
g=exp(abs(w))
fourier(g)cho
2/(1+t^2)
f=x*exp(abs(x))
f=x*exp(abs(x))cho
4*i/(1+u^2)^2*u
f=ifourier(F)
f=ifourier(F,u)
f=ifourier(F,v,u)
BiniFourierngc
LnhMATLAB
w2
symsareal
4a 2
f( w) = e
f=exp(w^2/(4*a^2))
a ( ax ) 2 F=ifourier(f)
F 1[f ]( x) = f( w)e iwxdw =
e
F=simple(F)cho
|x|
g( x ) = e
ha*exp(x^2*a^2)/pi^(1/2)
g=exp(abs(x))
480
F 1[g ]( t ) =
g(x)e
itx
dx =
1 + t2
f( w) = 2e |w| 1
1
F [f ]( t ) = f( w)e iwtdw =
2 ( t )(1 t 2 )
(1 + t )
ifourier(g)cho
1/(1+t^2)/pi
f=2*exp(abs(w))1
simple(ifourier(f,t))cho
(2pi*Dirac(t)pi*Dirac(t)*t^2)/
(pi+pi*t^2)
10.BiniLaplacevLaplacengc:
laplace(F)
laplace(F,t)
laplace(F,w,z)
BiniLaplace
LnhMATLAB
4
f( t) = t
f=t^4
laplace(f)cho
24
L[f ] = F( t )e stdt = 5
24/s^5
s
0
1
g=1/sqrt(s)
g( s ) =
s
laplace(g)cho
1/(s^(1/2))*pi^(1/2)
L[g ]( t ) = g(s)e st ds =
s
0
at
f( t) = e
f=exp(a*t)
laplace(f)cho
1
L[f ]( x) = f( t )e txdt =
1/(x+a)
x+a
0
b.BiniLaplacengc:Khicnhcahm,tacthtmlihmgc
bngbiniLaplacengc.Cphp:
F=ilaplace(L)
F=ilaplace(L,y)
F=ilaplace(L,y,x)
481
BiniLaplacengc
LnhMATLAB
1
f=1/s^2
2
s
ilaplace(f)cho
c + i
1
t
L1[f ] =
f(s)e stds = t
2 i c i
1
g=1/(ta)
g( t ) =
ta
ilaplace(g)cho
c + i
1
x*exp(a*x)
L 1[g ] =
g( t )e xtdt = xe ax
2 i c i
1
f=1/(u^2a^2)
f( u) = 2
2
u a
ilaplace(f)cho
c + i
1
1
1
L 1[f ] =
g( u)e xudu =
1/(2*a*exp(a*x)) 1/(2*a*exp(
ax
ax
2 i c i
2ae
2ae
a*x))
f ( s) =
3.POWERSYSTEMBLOCKSET
1. Khi nim chung: Power System Blockset c thit k cung cp cho
chng ta cng c hiu qu v tin li m phng nhanh v d cc mch
in,cchthngin.Thvincanchaccphntcbncamch
innhmybinp,ngdy,ccmyinvccthitbintcng
sut.Giaodinhocungcpccthnhphncahthngin.Ccthnh
phn ny dc lu trong th vin powerlib. m th vin ny t ca s
MATLABtanhlnh powerlib.KhinyMATLABmmtcaschacc
khihthngconkhcnhau.Cchthngconnybaogm:
ElectricalSources
Elements
PowerElectronics
Machines
Connectors
Measuremets
Extras
Demos
Tacthmcchthngconnytoracccaschacckhim
tacncopyvomhnh.Mimtthnhphncbiudinbngmticon
cbit.
482
2.Mhnhhomtmchinngin:PowerSystemBlocksetchophpta
xydngvmphngmtmchinchaccphnttuyntnhcngnh
R
phituyn.Taxtmtmchinnhhnhv:
e= 2 .220sin(314+10)V
R=10
L
E
L=0.1H
C=100F
mphngmchinnytadngcckhi:
C
ngun,intr,inkhng,indungvdng
co.oinptadngkhiVmet.Nchotrstcthicainp.
thy c gi tr hiu dng ta dng khi RMS. Cc bc thc hin nh
sau:
Tmenu Filecacaspowerlibchn Newrichn Modelscha
mchinvgilctcircuit.mdl
nhpvobin,phasevtnstheoccgitrchotrongs.Chl
binlgitrmaxcainp.
Dokhiintrkhngcnncopykhi Series RLCBranchvtgi
trintrnhchovtLlvcngvClzero.
ThchintngtviphntLvC.
LykhioinptronghthngconMeasurement
xeminp,dngkhiScopecaSimulinkchun.MSimulinkv
Smphng(lutrongctcircuit.mdl)nhsau:
483
Bygitacthbtumphngtmenusimulation.tavomenu
ny,chnccthngschoquatrnhmphngvbmntstart.
ddngchovicphntchtrngthixclpcamchinchng
ta, th vin powerlib cung cp giao din ho(GUI). Copy khi giao din
Powerguivocasctcircuit.mdlvnhnpvoiconmn.Midng
coilngracxcnhbngmichuitngngvitncan.
Ccbintrngthichinthtngngviccgitrxclpcadng
invinp.Tnccbinchatncckhi,btubngtipungIl
hay Uc_. Du quy c c s dng vi dng in v in p v cc bin
trngthicxcnhbnghngcacckhi:
dng in in cm chy theo hng mi tn tng ng vi du
dng
inptrntCbnginpratriinpvo
ChnmenuTool|SteadyStateVoltagesandCurrentsxemcctrsxc
lpcadnginvinp.
[A,B,C,D,x0,states,inputs,outputs]=power2sys(ctcircuit);
484
Hm power2systrvmhnhkhnggiantrngthicamchtrong4
ma trn A, B, C, D, x0 l vec t cc iu kin u m ta va hin th vi
Powergui.Tncaccbintrngthi,ccilngvovccilngra
ctrvtrong3matrnchui.
Mtkhimhnhtrngthibit,ncthphntchctrongvng
tn s. V d cc mode ca mch ny c th tm t cc gi tr ring ca ma
trnA(dnglnhMATLABeig(A)):
eig(A)
ans=
1.0e+002*
0.5000+3.1225i
0.50003.1225i
freq=0:1500;
w=2*pi*freq;
[bien,pha,w]=bode(A,B,C,D);
semilogy(w,mag1(:,2));
semilogy(w,mag1(:,2));
3.Mhnhhoqutrnhqu:Mttrongnhngphmvingdngca
PowerSystemBlocksetlsimulationqutrnhqutrongccmchin.
iunycthlmccvicudaockhvmchint.Taxtqu
trnh qu khi ng mt mch RL vo ngun in xoay chiu. S m
phng(lutrongcttransient.mdl)nhsau:
485
Trcqutrnhqu,cudao(cmphngbngphntbreaker)
trngthim.Saukhongthigian1.5chuk,cudaong,nimchRL
vongune= 2 sin314t.
4.Mhnhhongdydi:ngdydilngdycthngsri.
N c m phng bng khi Distributed Parameter Line. N c xy
dngtrncsxtqutrnhtruynsngtrnngdy.Taxtmtng
dydi1000kmcmhnh(lutrongctlongline.mdl)nhsau:
Khisdngmhnhtaphikhaibointr,indungvincm
cangdytrnmtnvdi,sphavchiudicangdy.
5.Mhnhhongdybngcconhnh:Mcchcamhnhny
l thc hin ng dy 1 pha vi thng s c tp trung trn tng on.
Khi PI Section Line thc hin ng dy truyn ti mt pha vi thng s
486
tptrungtrntngon.ivingdytruynti,intr,incm
vindungphnbutrnsutchiudi.Mtmhnhxpxngdy
thng s phn b c c bng cch ni nhiu on pi ging nhau. Khng
gingnhngdythngsricstrngthilvhn,mhnhtuyn
tnhcconcshuhncctrngthichophpmhnhkhnggian
trngthicdngrtrapngtns.Soncdngphthuc
votnscbiudin.Xpxttnhtthchintheophngtrnh:
Nv
fmax =
8l
Trong:
N:sonpi
v:tctruynsng(km/s=1/L(H/km)C(F/km)
l:chiudingdy(km)
Taxtngdytrnkhngdi100kmctctruynsng300000km/s,
tnslnnhtbiudinckhidng1onl375Hz.Mhnhngin
nydngtronghthngtruyntinnglng.Taxydngmhnh(lu
trongctpiline7_7.mdl)nhsau:
Tanhpintr,incmvindungtrnmtnvdivo3utin
cahpthoi.Nhpdivsonpimongmunvo2cui.
6.Mhnhhomyin:Ccmyinnmtrongthvin Machines.Cc
myincmphngdatrnccphngtrnhcbncanvc
chiathnh2dng:myintronghnvtngivmyintrongh
nvSI.taxtqutrnhmmybngintrmtngcinmtchiu.
Smphng(lutrongctdcmachine.mdl)nhsau:
487
7.Giithiuvintcngsut: PowerSystemBlocksetcthitk
simulationccthitbintcngsut.Chngtakhostmtmchinc
thyristor cung cp cho mt mch RL. S m phng (lu trong
ctthyristor.mdl)nhsau:
.
8. M hnh ho mch in 3 pha: Ta m hnh ho mt mch in 3 pha c
ngun i xng nhng ti khng i xng. S m phng (lu trong
ctthreephases.mdl)nhsau:
488
inpccngunctrhiudngl231V.TiphathnhtlR=1,
L=1H,phathhaiR=15,L=2Hvphath3lR=10,L=1HvC=
1F.
Rs>0,Rs>Rm,Lm0,LsLm
489
intrcadyqunphidngvlnhnintrhcm.incmh
cmphikhc0nhngintrhcmcthbng0.Dyquncthth
ni,nghalkhngnivitngtrhayphncnlicamch.
10. M hnh nhnh RLC ni song song: Phn t ny thc hin nhnh RLC
nisongsong.KhiParallelRLCBranchthchinintr,incmvin
dung ni song song. b mt phn t R,L hay C ta phi t cc thng s
tngnglInf,Infv0.Tacthdnggitrmchoccthngs.c
p ng tn ca b lc tn s bc 7 660Hz ta dng mch nh trong file
ctpararlc.mdl.
Tngtrcamch:
V(s) RLCs 2 + Ls + R
Z(s) =
=
I(s)
LCs 2 + RCs
c p ng tn ca tng tr ta phi xc nh m hnh khng giantrng
thi(matrnABCD)cahthng(lutrongctpararlcm.m)
[A,B,C,D]=power2sys(ctpararlc);
freq=logspace(1,4,500);
w=2*pi*freq;
[Z,phaseZ]=bode(A,B,C,D,1,w);
subplot(2,1,1)
loglog(freq,Z)
grid
title(Bolocsonghaibac11)
xlabel(Tanso,Hz)
ylabel(TongtroZ)
490
subplot(2,1,2)
semilogx(freq,phaseZ)
xlabel(Tanso,Hz)
ylabel(PhaZ)
grid
11.MhnhtiRLCnisongsong:PhntnythchintiRLCnisong
song.Khi ParallelRLCLoadthchintituyntnhnhthpnisong
song ca cc phn t R, L v C. xc nh tham s ta nhp in p nh
mcvtnsnhmcvo2mcutin.Nhpcngsuttcdng,cng
sutphnkhngtrncundyvcngsutphnkhngtrntinvo3
mccui.Cccngsutphnkhngphidng.Titnsmt,tisc
tngtrhngvcngsuttlvibnhphnginptvo.Tatmcc
gi tr xc lp ca in p v dng in ti trong mch trong file
ctloadrclp.mdl.
12.MhnhnhnhRLCninitip:PhntnythchinnhnhRLCni
nitip. Khi SeriesRLCBranchthchinintr,incmvindung
ninitip.loitrR,LhayCtachochngbng0,0hayInf.Ccgitr
ny c th t l s m. Ta xt mt m hnh nh trong file ctserierlc.mdl.
Tngtrcanhnhl:
V(s) LCs 2 + RCs + 1
Z(s) =
=
I(s)
Cs
nhn c p ng tn s ca tng tr ta phi xy dng m hnh
khnggiantrngthicahthng:
491
[A,B,C,D]=power2sys(ctserierlc);
freq=logspace(1,4,500);
w=2*pi*freq;
[Y,phaseY]=bode(A,B,C,D,1,w);
Z=1./Y;
phaseZ=phaseY;
subplot(2,1,1)
loglog(freq,Z)
grid
title(Bolocsongbac5)
xlabel(Tanso,Hz)
ylabel(TongtroZ)
subplot(2,1,2)
semilogx(freq,phaseZ)
xlabel(Tanso,Hz)
ylabel(PhaZ)
grid
12.MhnhtiRLCninitip:PhntnythchintiRLCninitip
tuyntnh.
Khi Series RLC Load thc hin ti RLC ni ni tip tuyn tnh. Ta
nhpgitrinpvtnsnhmcvo2ucahpthoi.Nhpcng
suttcdng,cngsutphnkhngtrnincmvcngsuttcdngtrn
in dung vo 3 cui.Cc cng sut phn khng phi c tr s dng. Ti
tn s m t, ti c tng tr xc nh hng v cng sut ca n t l vi
492
bnhphnginptvo.Tatmgitrxclpcainpvdngin
catitrongfilectloadrlcs.mdl.
4.NGDNGMATLABTRONGIUKHINTNG
1.Ccdngmhnhhthng:xydngmhnhcahthng,MATLAB
cung cp mt s lnh. M hnh h thng m t bng hm truyn c xy
dngnhlnh tf(ts,ms)vitslathctsvmslathcmus.Hm
zpk(z, p, k) vi z l vec t im khng, p l vec t im cc v k l h s
khuychitonnmhnhimkhngimcc.Hm ss(a,b,c,d)via,
b,c,dlccmatrntonnmhnhkhnggiantrngthi.
V d: Ta to ra mt s m hnh nh cc lnh MATLAB sau(lu trong
ctspacestate.m):
clc
ts=[12];
ms=[154];
sys1=tf(ts,ms)
sys2=zpk([611],[51],3)
sys3=ss([12;34],[11;01],[01;12;31],0)
Ktqul:
Transferfunction:
s+2
s^2+5s+4
Zero/pole/gain:
3(s+6)(s1)^2
(s+5)(s1)
a=
x1x2
x112
x234
b=
u1u2
x111
493
x201
c=
x1x2
y101
y212
y331
d=
u1u2
y100
y200
y300
Continuoustimemodel.
2.imccvimzerocahmtruyn:binihthngchobihm
truynthnhhchobiimcc,imzerovhskhuchidnghm
tf2zp.Tacngcthdnghmpole(sys)tmimcccahthngsysv
dunghmzero(sys)tmimkhngcahthngsys
TadngcclnhMATLABsau(lutrongctzp2tf.m):
z=[6;5;0];
k=1;
p=[3+4*i;34*i;2;1];
[ts,ms]=zp2tf(z,p,k)
K t qu l :
ts=
0111300
ms=
19458750
sys=zpk([611],[51],3)
axisequal
494
pzmap(sys)
sgrid
r=[0.00.25*i;0+0.25*i;2];
p=[0+2*i;02*i;1];
k=2;
[ts,ms]=residue(r,p,k)
K t qu l :
ts=
2091
ms=
1144
4.Binihmtruynthnhkhnggiantrngthi:Chophngtrnhvi
phn:
d n 1y
dy
dn y
a n n + a n 1 n 1 + L + a1
+ a 0 y = u( t )
dx
dx
dx
tx1=y;x2=y;x3=yv.vtachphngtrnhtrngthi:
x=Ax+Bu
y=Cx+Du
gilphngtrnhkhnggiantrngthi
Numthiukhintngchobihmtruyntacthbiniv
khnggiantrngthibnglnhtf2ss.
Vd:Chohmtruyn:
s2 + 7s + 2
H(s) = 3
s + 9s 2 + 26s + 24
Ta bin h v dng khng giantrng thi bng cc lnh MATLAB sau(lu
trongcttf2ss.m):
495
ts=[172];
ms=[192624];
[a,b,c,d]=tf2ss(ts,ms)
Ktqul:
a=
92624
100
010
b=
1
0
0
c=
172
d=
0
a=[010;001;123];
b=[10;0;0];
c=[100];
d=[0];
[ts,ms]=ss2tf(a,b,c,d,1)
K t qu l :
ts=
010.0030.0020.00
ms=
1.003.002.001.00
Nhvyhmtruynl:
496
G(s) =
10(s 2 + 3s + 2)
s 3 + 3s 2 + 2 s + 1
&
0
1 x 2 + 1 u( t )
x 2 = 0
x& 3 6 11 6 x 3 1
y=[110]x
Choiukinu x(0)=[10.50.5].Tm x(t),y(t)viu(t)lhmnv.Ta
dngcclnhMATLABsau(lutrongctlsim.m):
a=[010;001;6116];
b=[1;1;1];
c=[110];
d=0;
x0=[10.50.5];
t=0:0.05:4;
u=ones(1,length(t));
[y,x]=lsim(a,b,c,d,u,t,x0);
plot(t,x,t,y)
Doiukinunnnghimyxutphtt1.5
Khiu(t)lsin2ttatnhpngnhsau(lutrongctlsim1.m):
a=[010;001;6116];
b=[1;1;1];
c=[110];
d=0;
x0=[10.50.5];
t=0:0.05:4;
u=sin(2*pi*t);
[y,x]=lsim(a,b,c,d,u,t,x0);
plot(t,x,t,y)
497
7. Bin i s khi: Mt s khi iu khin thng rt phc tp. V
vytathngphibininvdngnginbnglnhconnect.
Vd:Xtskhisau:
1
4
1
+
+
1
0.5
s+3
s+4
- s+2
1
2
5
4
3
22
5 7
Xcnhphngtrnhtrngthivhmtruyncatonbs:
Gi ni v di l t s v mu s ca hm truyn ca khi th i. Ta c cc
lnh(lutrongctconnect.m):
n1=1;d1=1;
n2=.5;d2=1;
n3=4;d3=[14];
n4=1;d4=[12];
n5=1;d5=[13];
n6=2;d6=1;
n7=5;d7=1;
n8=1;d8=1;
nblocks=8;
blkbuild;
q=[10000
21678
32000
43000
54000
63000
74000
85000];
iu=[1];
iy=[5];
498
[A,B,C,D]=connect(a,b,c,d,q,iu,iy)
Ktqul:
A=
8.02.50.5
4.02.00
01.03.0
B=
0.5
0
0
C=
001
D=
0
[ts,ms]=ss2tf(A,B,C,D,1)
ts=
0002.0
ms=
1.013.056.080.0
Hmtruyncahl:
C(s)
1
= 3
2
R(s) s + 13s + 56s + 80
u1
sys1
y1
sys1
y
u
u2
sys2
y2
sys2
a
b
z1
v1
y1
u1
sys1
u1
sys1
y
u
499
c
d
y2
u2
u2
sys2
z2
sys2
v2
v2
a.Ghptheohng:Ghptheohng(hnha)cnghalghpuraca
cc h thng con c u vo khc nhau. Hm sys(sys1, sys2) thc hin vic
ghpny.TaccclnhMATLABsau(lutrongctrow.m):
clc
sys1=tf(1,[10])
sys2=ss(1,2,3,4)
sys=[sys1,sys2]
b.Ghptheoct:Ghptheoct(hnhb)cnghalghpuracah
thng con c chung u vo. Ta c cc lnh MATLAB sau(lu trong
ctcolumn.m):
clc
sys1=tf(1,[10])
sys2=ss(1,2,3,4)
sys=[sys1;sys2]
clc
sys1=tf(1,[10])
sys2=ss(1,2,3,4)
sys=append(sys1,sys2)
dng ghp song song cc h thng con. Cc lnh MATLAB (lu trong
ctparallel.m)nhsau:
500
clc
sys1=tf(1,[10])
sys2=ss(1,2,3,4)
sys=parallel(sys1,sys2)
e.Ghptunt:Tadngcchghpnhtrnhnhe.Hm seriesdng
ghp tun t cc h thng con. Cc lnh MATLAB(lu trong ctseries.m)
nhsau:
clc
sys1=tf(1,[10])
sys2=ss(1,2,3,4)
sys=series(sys1,sys2)
f.Ghpcphnhi:Tadngcchghpnhhnhf.Hmfeedbackdng
ghp c phn hi cc h thng con. Cc lnh MATLAB (lu trong
ctfeedback.m)nhsau:
clc
sys1=tf(1,[10])
sys2=ss(1,2,3,4)
sys=feedback(sys1,sys2)
g.Sdnghmconnect:Hmconnecttoramhnhkhnggiantrng
thitcchthngcon.Cphpcahm:
sysc=connect(sys,Q,inputs,outputs)
Mththngthngcchodidngcckhi.Ngayckhiskhng
phctp,victmcmhnhkhnggiantrngthicahthngkhkh.
tmcmhnhkhnggiantrngthi,trchttadnghmappend:
sys=append(sys1,sys2,...,sysN)
m t mi h thng con sysj h thng dng ng cho. Tip n dng
lnh:
sysc=connect(sys,Q,inputs,outputs)
sys2
sys1
u1 2 x& = Ax + Bu 2
y1
10 1 +
u2 y = Cx + Du 3
y2
uc
1 s+5
- 3
4
2(s + 1) 4
s+2
sys3
Tacnniura1v4vouvo3(u2)vura3(y2)vouvo4nn
matrnQl:
Q = [3 1 -4
430];
Sc2uvotcchthngkhclucvu1(uvo1v2casys)v
2uraancchthngkhcly1vy2(ura2v3casys).Nh
vymatrninputsvoutputsl:
inputs=[12];
outputs=[23];
Cc l nh MATLAB th c hi n vi c bi n
nh sau:
clc
A=[9.020117.7791
1.69433.2138];
B=[.5112.5362
.0021.8470];
C=[3.28972.4544
13.500918.0745];
D=[.5476.1410
is
(l u trong ctconnectsys.m)
502
.6459.2958];
sys1=tf(10,[15],inputname,uc)
sys2=ss(A,B,C,D,inputname,{u1u2},...
outputname,{y1y2})
sys3=zpk(1,2,2)
sys=append(sys1,sys2,sys3)
Q=[314
430];
inputs=[12];
outputs=[23];
sysc=connect(sys,Q,inputs,outputs)
9.pngcahthngbchai:Dngchuncahmtruyncahthng
bchail:
1
G(s) = 2
s + 2n s + 2n
Trongnltnstnhinvlhsttcahthng.torahm
truynnykhibitnvtadnglnh.
Vd:Tmhmtruynvmatrntrngthicahthngbchaibitn=2.4
rad/sv=0.4.CclnhMATLAB(lutrongctord2.m)nhsau:
[ts,ms]=ord2(2.4,0.4)
[a,b,c,d]=ord2(2.4,0.4)
pngthctcahlmtdaongttdncdng:
1
c( t ) = 1 e n t sin( n t + )
Trong = 1 2 v = tan 1 ( / )
Tagitrlthigiandpngtt10%gitrcuin90%gitrcui;
thi gian t n nh l tp; nhanh o bng tr v tp; thi gian tt l ts.
Thigiantnnhcxcnhbngcchchoohmcac(t)bng0.
tp =
(4.1)
1 2
Gitrnh(percentovershootp.o)khikchthchlbcnhyl:
p.o = e
1 2
100
(4.2)
503
G(s) = 2
s + 2n s + 2n
khin=5v=0.6.CclnhMATLAB(lutrongctstep.m)nhsau:
clc
ts=25;
ms=[1625];
sys=tf(ts,ms)
t=0:0.02:2;
c=step(sys,t);
plot(t,c)
xlabel(t(s));
ylabel(c(t));
Vd2:Chohcsnhhnhv:
d
C(s)
R(s)
s(s + 1)
1+es
clc
po=40;
z=log(100/po)/sqrt(pi^2+(log(100/po))^2)%theo(42)
zn=0.27999799333504
tp=0.8;
wn=pi/(tp*sqrt(1z^2))%theo(41)
ts=wn^2;
ms=[12*z*wnwn^2];
sys=tf(ts,ms);
504
t=0:0.02:4;
c=step(sys,t);
plot(t,c)
Tskhitac:
C(s)
d
= 2
Phngtrnhctnhl:
s2+(de+1)s+d=s2+2ns+ 2n
Vi 2n =wn=0.28vz==4.0906tacd=16.733ve=0.077
Khi c mt hm truyn ta c th xc nh h s tt v tn s t nhin n
bnglnhdamp.
Vd3:Chohchmtruyn:
2 s 2 + 5s + 1
H(s) = 2
s + 2s + 3
Tm h s tt v tn s t nhin n. Cc lnh MATLAB (lu trong
ctdamp.m)nhsau:
h=tf([251],[123]);
damp(h)
Ktqul:
EigenvalueDampingFreq.(rad/s)
1.00e+000+1.41e+000i5.77e0011.73e+000
1.00e+0001.41e+000i5.77e0011.73e+000
10.pngtrongminthigiancahthng:
a.pgitrbanu:pnggitrbanumtphnngcah
khikhngckchthchduvonhngtnticcgitrbanucavect
trng thi x0. Phn ng c gi l chuyn ng t do ca h. p ng
ny c xc nh bng hm initial. Ta c cc lnh MATLAB tm p ng
banucamththng(lutrongctinitial.m)nhsau:
clc
a=[0.55720.7814;0.78140];
c=[1.96916.4493];
505
x0=[1;0]
sys=ss(a,[],c,[]);
initial(sys,x0)
b.pngxungDirac:Tatmpngcahthngvixungnhhm
impulse.CclnhMATLAB(lutrongctimpulse.m)nhsau:
clc
a=[0.55720.7814;0.78140];
b=[11;02];
c=[1.96916.4493];
sys=ss(a,b,c,0);
impulse(sys)
Hnhbntrilpngcaknhthnhtvhnhbnphilpngca
knhth2.
c.pngivihmbcnhy:tmpngcahthngivi
hm bc nhy ta dng hm step. Cc lnhMATLAB (lu trong ctstep2.m)
nhsau:
clc
a=[0.55720.7814;0.78140];
b=[11;02];
c=[1.96916.4493];
sys=ss(a,b,c,0);
step(sys)
d. p ng vi tn hiu bt k: tm p ng ca h thng i vi
hmbtktadnghmlsim.CclnhMATLAB(lutrongctlsim.m)nh
sau:
clc
[u,t]=gensig(square,4,10,0.1);
H=[tf([251],[123]);tf([11],[115])]
lsim(H,u,t)
506
Tadnghmgensigtomtxunghnhvung,trong4chukvlymu
sau0.1strong10chuk.
11.pngtrongmintnscahthng:Chomthmtruyncamt
hthng,thaysbngjtachmtruynttnscahthng.rng
bngcahthng Bltnsmtibincaggimi1/2.Tns
ngvigitrmaxcaG()gilrvctrsl:
r = n 1 2 2
vctnhtnbinphacamththngtadnglnhfreqs.
Vd:Chohmtruyncamththngl:
4
G(s) = 2
s + 2s + 4
Tm c tnh tn binpha ca h thng bng cc lnh MATLAB(lu trong
ctfreqs.m):
w=0:0.01:3;
ms=[124];
ts=[4];
freqs(ts,ms,w);
Tacngcthtothnhsau(lutrongctfreqplot.m):
ts=[4];
ms=[124];
w=0:0.01:3;
g=freqs(ts,ms,w);
mag=abs(g);
pha=angle(g);
subplot(2,1,1);
loglog(w,mag);
gridon;
subplot(2,1,2);
semilogx(w,pha);
gridon
507
ts=[123214];
ms=[12323];
[h,w]=freqz(b,a,64);
[tsm,msm]=invfreqz(h,w,4,5)
Tacngcthxydngctnhtnthco
Vd:Chohmtruyn:
10
G(s) = 3
s + 4.5s 2 + 9s + 10
Tm c tnh tn thc o ca h bng cc lnh MATLAB (lu trong
ctfreqsplot.m):
ts=[10];
ms=[14.5910];
w=[1:0.01:3];
h=freqs(ts,ms,w);
t=real(h);
a=imag(h);
subplot(2,1,1);
plot(w,t)
subplot(2,1,2);
plot(w,a)
vthBodecahthngtadnghmbode.ththnhtnht
lctnhbintnlogarit,cchiatheodB.ththhailctnhpha
tnlogaritchiatheo.
Ccdngcalnhbodegm:
bode(sys)
bode(sys,w)
[bien,pha,w]=bode(sys)
v th Bode ca mt h thng ta dng cc lnh MATLAB(lu trong
ctbode.m)nhsau:
508
clc
g=tf([10.17.5],[10.12900]);
figure(1)
bode(g)
figure(2)
bode(g,{0.1,100})
gd=c2d(g,0.5)
figure(3)
bode(g,r,gd,b)
Hm marginchobitdtrnnhcahthng.Dtrbingmlhs
khuychiFrmnutathmvohmtruyntcahhthhknva
tcgiihnnnh.Dtr phapmcnhnghalkhongcch
gcpharti180.Hmchobitgmtitnsophawcgvpmtitns
ctphawcp.Hm allmarginctcdngrnghnhm margin.Ccktqu
trvcaallmargingm:
GMFrequency:gitrtnsmtithphactngthngnm
ngang180
GainMargin: d tr bin gi tr o ca bin ti tn s
GMFrequency
PMFrequency:gitrtnsmtithbinctngthngnm
ngang0dB(ngvihskhuychi1)
PhaseMargin:dtrphakhongcchgc(>0)tvtrPMFrequency
n180.
DelayMargin:dtrthigiantrgitrthigiantrmnuvtqu,
hthngsmtnnh.
DMFrequency:gitrtnsngviDelayMargin.
Stable:=1khimachvngknnnh;bng0trongcctrnghpkhc.
Ccilngnycthcctthtobimargin.xcnh
dtrnnhcamththngcthtadngcclnhMATLAB(lutrong
ctmatgin6_32.m)nhsau:
clc
sys=zpk([],[111],4)
margin(sys)
509
allmargin(sys)
Ktquhthngnnh.NcDelayMargin=0.3s.Bygitagnchosys
mtkhongthigiantrlstabil.DelayMargin+0.01,nghalvtquthi
giantrnnh0.01s.Ktqutnhtoanmica allmarginsthngbotnh
khng n nh ca h thng. Cc lnh MATLAB (lu trong
ctnewstabil6_33.m)nhsau:
clc
sys=zpk([],[111],4)
margin(sys)
stabil=allmargin(sys)
sys.ioDelay=stabil.DelayMargin+0.01;
newstabil=allmargin(sys)
MtkhnngkhcmtctnhtnslthNyquist.Nbiu
din cc gi tr thc v o thuc hm truyn t phc ca mch vng h
F0(j)trongditns=0trnhtophc.ngcongdoccim
tothnhcgilquobinphaF0(j).Trncstiuchunnnh
Nyquisttacthrtraktlunvtnhnnhcahkn(cphnhinv
m)tthNyquist.vthNyquisttadnghm Nyquist.Taccc
lnhMATLAB(lutrongctnyquist6_34.m)nhsau:
clc
H=tf([251],[123])
nyquist(H)
12.Tnhnnh:Tiuchunnnhnirnghsnnhnuccnghim
caphngtrnhctnhcphnthcm.Phngtrnhctnhlathc
mu s ca hm truyn. Do vy ch cn tnh nghim ca a thc c tnh
bnglnhrootsltacthxcdnhhnnhhaykhng.
Vd:Xttnhnnhcahcphngtrnhctnhl:
s4+10s3+35s2+50s+24
CclnhMATLABl:
a=[110355024];
510
roots(a)
ans=
4.0000
3.0000
2.0000
1.0000
Nhvyhnnh.
13.nhy:nhycahthngcobngtsphntrmsthayi
cahmtruyntheosthayiphntrmcathngsb.Vdnhyca
hmtruynT(s)theobcxcnhbng:
T(s) / T(s) T(s) T(s)
=
S Tb =
b b
b / b
Khibgnn0tac:
T(s) b
S Tb =
b T(s)
nhytnhlgitrcaSkhit0.nhyngctnhbngcchthay
sbngjvvngStheo.BincaS(j)osaiscahthng.
Vd:Khosthiukhinnhhnhvsau:
Thitb
Bb
b
K
R(s)
C(s)
(s + 1)
Sensor
Trongbctrnhmcl4vhctrnhmcl0,5.TmnhyT(s)
theob,vmodulhmnhytheovihaigitrblK=2vK=0.5.Tm
nhyT(s)theoh,vmodulcahmnhytheohviK=2vK=0.5.
Hmtruyncahthngl:
Kb
(Ts) = 2
s + 1 + Kbh
Vib=4vh=0.5tacB=1+2K.
nhycaT(s)theobkhib=4vh=0.5l:
511
s+1
s+1
T(s) b
=
=
b T(s) s + 1 + Kbh s + 1 + 2K
Kbh
2K
T(s) h
S Th =
=
=
b T(s) s + 1 + Kbh s + 1 + 2K
CclnhMATLAB(lutrongctsensibility.m)nhsau:
k1=1;
k2=0.5;
ts=[11];
ms1=[11+2*k1];
ms2=[11+2*k2];
w=0:0.01:15;
stb1=abs(freqs(ts,ms1,w));
stb2=abs(freqs(ts,ms2,w));
subplot(2,1,1);
plot(w,stb1,w,stb2);
title(DonhaycuaTtheob);
ts1=2*k1;
ts2=2*k2;
stb1=abs(freqs(ts1,ms1,w));
stb2=abs(freqs(ts2,ms2,w));
subplot(212);
plot(w,stb1,w,stb2);
title(DonhaycuaTtheoh);
nhycahthngtheobgimkhihskhuchicavnghKtng
trong khi nhy theo h tng khi K tng. R rng l nhy theo b tng
nhanhbnngoiB.
14.Saisxclp:Khosthnhhnhv:
R(s)
G(s)
C(s)
H(s)
Hmtruyncahknl:
C(s)
G(s)
=
R(s) 1 + H(s)G(s)
S Tb =
512
Saiscahknl:
E(s)=R(s)H(s)C(s)=
R ( s)
1 + H(s)G(s)
Sdngnhlgitrcuitac:
sR(s)
e ss = lim
s 1 + G( s)H( s)
uvobcnhynv:
1
1
=
e ss =
1 + lim G(s)H(s) 1 + K p
s
uvotngtuyntnhnv:
1
1
e ss =
1 + lim sG(s)H(s) K v
s
uvoparabolnv:
1
1
e ss =
1 + lim s 2 G(s)H(s) K a
s
TacthdngSymbolicMathtnhccgiihntrn.
15.Phntchvthitkquonghim:Phngphpkinhintham
shokhuiukhincavngiuhnhlphngphpquonghim.
Qu o nghim l qu o im cc, hp thnh bi cc iu cc ca h
thng,phthucvohskhuychiphnhikvacbiuditrnmt
phngphcviphnthcRe()= trntrchonhxvphnoIm()=
trn trc tung y. v c qu o nghim ca h thng ta dung hm
rlocus.Taxththngsau:
u
y
Gc
G0
GM
k
Cphpcarlocusl
rlocus(sys[,k])
[r,k]=rlocus(sys)
r=rlocus(sys,k)
MhnhsystronglnhtrnlhmtruyntcahthnghGoGcGM
cxcnhbnglnhMATLAB:
sys=sysM*sysO*sysC
513
mchachskhuychiphnhik,lthamstuchnsckhai
boring.iucnghalsyscghpnibiccmhnhringl.Khi
gi rlocus(sys[, k]) m khng yu tr bin v ta nhn c th qu o
nghim ca sys. Nu ta khng khai bo cc h s khuych i trong vec t
thamstuchnk,MATLABstngquytnhgitrthchhp.Saukhi
dngrlocusvquoimcctatmccgitrlinquannimccbt
knmtnquobngcchnhpchutvomtimtrnquo.Lc
lnh rlocusfind c thc hin. Ta dng cc lnh MATLAB sau (lu trong
ctrlocus.m)vquonghimcamththng:
clc
sys=zpk([],[0.11j1+j],1)
rlocus(sys)
[r,k]=rlocus(sys)
sgrid
514