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BiDu Bode ;&+ - ./ lg<&+ - ./ lg7 E ./lg T 22 +1 c d$c gim E./dBFdecade 6 7h5u vi !h5n bCc 0: :m truyn 9t G&#+ - 7&G# H 0+ Gin Bode ;&+ - ./ lg<&+ - ./ lg7 H ./lg T 22 +1 c d$c tIng ./dBFdecade 6 7h5u tBch !h5n: :m truyn 9t G&#+ K s
(0 t )
. . .
+ K .. t .
B2I T34
B5i 61 LM gin Bode hN th$ng hi ti8! 'n v ca hm truyn vOng h( #au: G&#+ P num - 0/Q P den - R/%0 0 /SQ P bode&numTden+ 78t Au:
Bode Diagrams
10 s(1+0.1 s)
10
10
10
Frequency (rad/sec)
:N th$ng gm 0 4h5u 4hu8ch 9i bUng 0/T mt 4h5u tBch !h5n v mt 4h5u Au3n tBnh bCc 0 G"n #$ gVy: 0/% | G&,W+|dB - ./dB E ./log G9i t"n #$ - 0radF#ec | G&,W+|dB - ./dB v d$c E./dBFdecade &do 4h5u tBch !h5n+% d$c E./dBFdecade ti8! t)c cho 8n 4hi gX! t"n #$ cYt - 0/radF#ecT t9i t"n #$ ny ta cng thm E./dBFdecade &do 4h5u Au3n tBnh bCc nhZt+ v t9o ra d$c JK/dBFdec%
P num - 0/////6R0 0//SQ P den - R0 0/00 00/0/ 0////SQ P bode&numTden+ 78t Au:
Bode Diagrams
50
-50
10
10
10
10
10
Frequency (rad/sec)
:N th$ng gm mt 4h5u 4hu8ch 9i 0/ [T mt 4h5u vi !h5n bCc nhZt v 2 4h5u Au3n tBnh bCc 0% G"n #$ gVy: 0T0/T0//T0///% | G&,W+|dB|W - / - \/dB G9i t"n #$ gVy - 0radF#ec c l]i \/dB v d$c E./dBFdecade &v^ 4h5u Au3n tBnh bCc 0+% d$c E./dBFdecade =]c ti8! t)c 8n 4hi gX! t"n #$ gVy 0/radF#ec t9i 5y ta cng thm J./dBFdecade&v^ 4h5u Au3n tBnh bCc 0+T t9o ra d$c E K/dBFdec% d$c J ./dB ( t"n #$ - 0//radFdec &do 4h5u vi !h5n bCc 0+% G9i t"n #$ gVy - 0//radF#ec tIng ./dB &v^ 4h5u vi !h5n bCc 0+% G9o ra d$c c d$c J./dB% G9i t"n #$ gVy - 0///radF#ec gim ./dB &v^ 4h5u Au3n tBnh bCc 0+% G9o ra d$c J K/dB%
40 20 Phase (deg); Magnitude (dB) 0 -20 -40 -60 -100 -150 -200 -250 10
-1
10
10
10
Frequency (rad/sec)
:N th$ng gm mt 4h5u 4hu8ch 9i 0/T mt 4h5u tBch !h5n v 0 thnh !h"n c_c 4`!% G"n #$ gVy: 0/% | G&,W+|dB - ./dB E ./log G"n #$ gVy nha nhZt - /%0 radF#ec t9i t"n #$ ny c l]i K/dB v d$c E ./dB &do 4h5u tBch !h5n+% d$c ny ti8! t)c cho t@i t"n #$ gVy 4`! - 0/% b t"n #$ ny #M gim K/dBFdecadeT t9o ra d$c E\/dBFdec% B7i :1 G&#+ 2 10 (s +10 ) s(s +1 )(s +100 )
P num - 0//6R0 0/SQ P den - R0 0/0 0// /SQ P bode&numTden+ 78t Au:
Bode Diagrams
50
-50
10
-1
10
10
10
10
Frequency (rad/sec)
:N th$ng gm mt 4h5u 4hu8ch 9i 0//T mt 4h5u tBch !h5n v . 4h5u Au3n tBnh bCc 0T 0 4h5u vi !h5n% G"n #$ gVy: 0T0/T0// | G&,W+|dB|W - / - ./log0/ E ./log Ga chc d`t tr=@c t"n #$ gVy nha nhZt 0decade% G9i t"n #$ gVy - /%0radF#ec c l]i K/dB v d$c E./dBFdecT d$c E./dBFdec ti8! t)c cho 8n 4hi gX! t"n #$ gVy 0radF#ecT ta cng thm E./dBFdec &v^ 4h5u Au3n tBnh bCc 0+ v t9o ra d$c EK/dBFdec% G9i t"n #$ -0/ #M tIng ./dBFdec &v^ 4h5u vi !h5n+ t9o ra d$c E./dBFdecT d$c E ./dbFdec =]c ti8! t)c cho 8n 4hi gX! t"n #$ gVy - 0//radF#ec #M gim ./dBFdec &v^ 4h5u Au3n tBnh bCc 0+ #M t9o d$c EK/dBFdecade% B7i ;1 Bi ny trBch te trang 00J.0 #3ch <=ontro+ >(st?@ Too++AoBC LM gin bode ca hN th$ng hi ti8! fgfh c hm #au: f.H/0%#Hi%[ :&#+ - JJJJJJJJJJJJJJJJJJJJJJJ f.H/%0.#2Hj#. P g-tk&R0 /%0 i%[STR0 /%0. j / /S+Q P bode&g+
100
101
Frequency (rad/sec)
B7i D1 Grang 00J0[2 #3ch <=ontro+ >(st?@ Too+AoBC LM gian o bode ca hm r>i r9c #auT v@i th>i gian lZy mlu l: /T0% m2J.%nK0m.H.%ni[mJ0%//K :&m+ - JJJJJJJJJJJJJJJJJJJJJJJJJJJJJJJJJJ m2H.%K0im.H.%//2mJ/%[Knn P :-tk&R0 J.%nK0 .%ni[ J0%//KSTR0 J.%K0i .%//2 J/%[KnnST/%0+Q P norm&:+ an# 0%.K2n P RninkTk!ea4S-norm&:Tink+ nink .%[Knn k!ea4 2%/nKK
P bode&:+
Bode Diagrams
From: U(1) 10
Frequency (rad/sec)
B7i E1 GrBch te trang [J0n #3ch <=ontro+ >(st?@ Too+AoBC Bi ny cho ta dem cong d)ng ca lNnh chia tr)c suAF+ot P h-tk&RK n%K 2/%n \/STR0 K%0. 0i%K 2/%n \/S+Q P #ub!lot&0.0+ 78t Au:
P h-tk&RK n%K 2/%n \/STR0 K%0. 0i%K 2/%n \/S+Q P #ub!lot&0.0+ P bode&h+ 78t Au:
P h-tk&RK n%K 2/%n \/STR0 K%0. 0i%K 2/%n \/S+Q P #ub!lot&...+ P bode&h+ 78t Au:
P h-tk&RK n%K 2/%n \/STR0 K%0. 0i%K 2/%n \/S+Q P #ub!lot&0.0+ P bode&h+ P #ub!lot&...+ P bode&h+ P #ub!lot&..K+ P bode&h+ 78t Au:
Biu G !i*ho+s
LH thu(It1
Kho st ng dng MATLAB trong iu khin t ng Cng dng: D d3c nh pn nh v 3! qng t"n #$ vOng 4Bn ca hN th$ng hi ti8! ta #r d)ng biDu sichol#% f_ pn nh =]c 3nh gi3 te =>ng cong vM m$i Auan hN ca l]i theo Xc tBnh !ha ca hm truyn vOng h(% ng th>i 3! qng t"n #$ vOng 4Bn ca hN th$ng ctng =]c d3c nh bUng c3ch #r d)ng =>ng cong bin v di !ha vOng 4Bn 4hong pi !h ln =>ng cong bin E !ha vOng h(% C php: RmodT!ha#eT!ul#S- nichol#&uTBTvTw+Q RmodT!ha#eT!ul#S- nichol#&uTBTvTwTui+Q RmodT!ha#eS- nichol#&uTBTvTwTuiTW+Q RmodT!ha#eT!ul#S- nichol#&numTden+Q RmodT!ha#eS- nichol#&numTdenTW+Q shxng cZu tryc trn cho l@n l nhxng gi3 tr t_ nhinT !ha l v vect' ca diDm t"n #$ l radF#% f_ tn t9i ca iDm t"n #$ m 3! qng t"n #$ =]c nh gi3 bUng vect' WT v ui l bi8n 4hai b3o v@i hN th$ng nhiu ngz vo% Ch : H 4hi #r d)ng lNnh nichol# v@i cZu tryc 4hong c bi8n nga ra th^ ta =]c biDu nichol#% H lNnh nichol# luon luon cho !ha trong 4hong RJ2\//T//S B7i J1 cho hN th$ng c hm truyn #au:
G ( s) = 30 s 2 + 7s + 1 s (s + 1 )
3
v3c b=@c th_c hiNn: P num-2/6R0 i 0SQ P den-R!oly&RJ0 J0 J0S+ /SQ P hold onT !lot&J0n/T/T{6r{+T hold onQ P nichol#&numTden+ Gr v biDu nichol# v@i iDm t@i h9n K*riti*5+ FointL &J0n// T/+ =]c biDu di|n nh= h^nh #au:
%M!G B2I T34 V BIN. "# !/)./>T V2 K- $ >OT P! "Q!%R!G GI ! "# B$%& L, T-./0T1 } -S thTng Un Vnh W trXng thi hW' sY Un Vnh W trXng thi kZn nIu Aiu G !([uist kh\ng A5o i@ ]^6_i`a trbn @ct Fhdng Fh*e } -S thTng kh\ng Un Vnh W trXng thi hW' sY Un Vnh W trXng thi kZn nIu Aiu G !([uist A5o i@ ]^6_i`aF +fn nggh* *hiu ki@ Gng hG ]F +7 sT ** G- ni@ W Fhi @ct Fhdng Fh*ae B2I T341 Ge dZu nhYc ca cra #p <uG;uBT ta nhC!: P num - Rnhp cc h s ca t s theo chiu gim dn ca s mS% P den - Rnhp cc h s ca mu s theo chiu gim dn ca s mS% P nyAui#t&numTden+ B7i j1 G:&#+ k P num - 0/Q P den - RJ0 0SQ P nyAui#t&numTden+ 78t Au:
k ]v@i 4 -0/T t -0a 1st
&u+
-2 -3 -4 -5 0 2 4 Real Ax is 6 8 10
shCn d`t: hm truyn vOng h( c 0 c_c nUm bn !hi mXt !h?ng !hqc% BiDu syAui#t 4hong bao iDm u &J0H,/+% iDm E0 4~ hiNu &++ nUm trn tr)c th_c 5m &eal udi#+T iDm / nUm trn tr)c o &gmaginary udi#+% 78t luCn: hN 4hong pn nh% l %mng +Snh @5rgin tn@ Aibn d tro p7 Fh5 d troe Ge dZu nhYc ca cra #p lNnh <uG;uB ta dng lNnh margin: P num - 0/Q P den - RJ0 0SQ P margin&numTden+Q
Bode Diagrams Gm = 0 dB, Pm = 0 (unstable closed loop) 20 15 Phase (deg); Magnitude (dB) 10 5 0 80 60 40 20 10
0
Frequency (rad/sec)
78t luCn: d_ trx bin &Gm - / dB+% d_ trx !ha &1m - /+% arning: vlo#ed loo! i# un#table &hN vOng 4Bn 4hong pn nh+% B7i 6`1 vho hm ttuyn: G:&#+ k
k s(1st ) ]4 - 0/T t - 0a
Nyquist Diagrams 1000 800 600 400 Imaginary Ax is 200 0 -200 -400 -600 -800 -1000 0 2 4 Real Ax is 6 8 10
&u+
shCn d`t: hm truyn vOng h( c 0 c_c nUm bn !hi mXt !h?ng !hqc v 0 c_c nUm t9i g$c t*a % BiDu syAui#t 4hong bao iDm u &J0H,/+% iDm E0 4~ hiNu &++ nUm trn tr)c th_c 5m &eal udi#+ T iDm / nUm trn tr)c o &gmaginary udi#+% 78t luCn: hN 4hong pn nh% l %mng +Snh @5rgin tn@ Aibn d tro p7 Fh5 d troe Ge dZu nhYc ca cra #p lNnh <uG;uB ta dng lNnh margin: P num - 0/Q P den - RJ0 0 /SQ Pmargin&numTden+
Bode Diagrams Gm = 0 dB, Pm = 0 (unstable closed loop) 60 40 Phase (deg); Magnitude (dB) 20 0 -20
10
Frequency (rad/sec)
78t luCn: d_ trx bin &Gm - / dB+% d_ trx !ha &1m - /+% arning: vlo#ed loo! i# un#table &hN vOng 4Bn 4hong pn nh+% B7i 661 vho hN th$ng #au k G:&#+ k ( t1s +1)( t2s +1) &4 -0/T t0 - 0T t. - .+ P num - 0/Q P den - R. 2 0SQ P nyAui#t&numTden+
Nyquist Diagrams
Im aginary Ax is
&u+
-2
-4
-6 0 2 4 Real Ax is 6 8 10
shCn d`t: hm truyn vOng h( c . c_c nUm bn tr3i mXt !h?ng !hqc% BiDu syAui#t 4hong bao iDm u &J0H,/+% iDm E0 4~ hiNu &++ nUm trn tr)c th_c 5m &eal udi#+ T iDm / nUm trn tr)c o &gmaginary udi#+% 78t luCn: hN th$ng pn nh% l %mng +Snh @5rgin tn@ Aibn d tro p7 Fh5 d troe Ge dZu nhYc ca cra #p <uG;uB dng lNnh margin% P num - 0/Q P den - R. 2 0SQ P margin&numTden+
Bode Diagrams Gm = Inf, Pm=38.94 deg. (at 2.095 rad/sec) 20 10 Phase (deg); Magnitude (dB) 0 -10 -20
10
Frequency (rad/sec)
78t luCn: hN th$ng pn nh% d_ trx bin &Gm - +% d_ trx !ha &1m - 2n%jK+T t9i t"n #$ cYt bin .%/j[ radF#ec% B7i 681 vho hN th$ng c hm truyn #au: k G:&#a k &4 - 0/ t0-0T t. -.+ s( t1s +1)( t2s +1) P num - 0/Q P den - R. 2 0 /SQ P nyAui#t&numTden+
Nyquist Diagrams 1000 800 600 400 Imaginary Ax is 200 0 -200 -400 -600 -800 -1000 -30 -25 -20 -15 Real Ax is -10 -5
&u+
shCn d`t: hm truyn vOng h( c . c_c nUm bn tr3i mXt !h?ng !hqc v 0 c_c ( mero% BiDu syAui#t bao iDm u&J0H,/+% iDm E0 4~ hiNu &++ nUm trn tr)c th_c 5m &eal udi#+ T iDm / nUm trn tr)c o &gmaginary udi#+% 78t luCn: hN 4hong pn nh% l %mng +Snh @5rgin tn@ Aibn d tro p7 Fh5 d troe Ge dZu nhYc ca cra #p <uG;uB ta dng lNnh margin D 4iDm chqng l9i hN: P num - 0/Q P den - R. 2 0 /SQ Pmargin&numTden+
Bode Diagrams Gm = 0 dB, Pm = 0 (unstable closed loop) 60 40 20 Phase (deg); Magnitude (dB) 0 -20 -40
10
Frequency (rad/sec)
78t luCn: hN th$ng 4hong pn nh% d_ trx bin &Gm - / dB+% d_ trx !ha &1m - /+ B7i 681 G:&#+ k
k s( t1s + 1)( t2s + 1)( t3s + 1)
] t0 -0T t. - .T t2 - 2T 4 - 0/a
Nyquist Diagrams 1000 800 600 400 Im aginary Ax is 200 0 -200 -400 -600 -800 -1000 -60 -50 -40 -30 Real Ax is -20 -10 0
&u+
shCn d`t: hm truyn vOng h( c 2 c_c nUm bn tr3i mXt !h?ng !hqc v 0 c_c ( mero% BiDu syAui#t bao iDm u &J0Hi/+% iDm E0 4~ hiNu &++ nUm trn tr)c th_c 5m &eal udi#+ T iDm / nUm trn tr)c o &gmaginary udi#+% 78t luCn: hN 4hong pn nh% l %mng +Snh @5rgin tn@ Aibn d tro p7 Fh5 d troe Ge dZu nhYc ca cra #p <uG;uBT dng lNnh margin D 4iDm chqng l9i hN: P num - 0/Q P den - R\ 00 \ 0 /SQ P margin&numTden+
Bode Diagrams Gm = 0 dB, Pm = 0 (unstable closed loop) 50 Phase (deg); Magnitude (dB) 0 -50
-100
-200
-300
-2 -1 0
10
10
10
Frequency (rad/sec)
78t luCn: hN th$ng 4hong pn nh% d_ trx bin &Gm - / dB+% d_ trx !ha &1m - /+%