1

LI NI U

K thut iu khin l mt lnh vc k thut c bit, bi v n gn lin vi nhiu
ngnh khoa hc nghin cu v cc h thng ng rt a dng v bn cht, nh
cc h thng c kh, in, in t, cc qu trnh ha hc v sinh hc, v c cc h
thng kinh t, chnh tr v x hi. V vy, phm vi ng dng ca k thut iu
khin cng rt rng ln, t cc lnh vc k thut nh nng lng in, in t,
vin thng, c kh... n cc vn mang tnh x hi.
K thut iu khin s dng m hnh ton hc ca cc h thng ng trong
vic phn tch hnh vi ca h thng, trn c s p dng cc l thuyt iu
khin xy dng cc b iu khin nhm lm cho h thng hot ng nh c
mong mun. L thuyt iu khin c in tp trung vo cc vn ca iu khin
phn hi. Mc d nhng c s ton hc ca l thuyt iu khin phn hi xut
hin t th k 19 v nht l trong nhng nm 1920-1940, nh m hnh phng
trnh vi phn ca cc h thng ng, l thuyt v tnh n nh, cc phng php
phn tch trong min tn s..., nhng nm sau chin tranh th gii ln th hai cho
n thp k 60 ca th k 20 mi c coi l giai on pht trin thc s ca l
thuyt iu khin c in vi s ra i ca cc cng c phn tch v thit k h
thng. c im c bn ca l thuyt iu khin c in l vic s dng cc
phng php trong min tn s, da trn php bin i Laplace. Chnh do c
im nn l thuyt iu khin c in ch thch hp cho cc h thng tuyn
tnh bt bin.
Thp k 60 ca th k 20 l thi im nh du s m u ca k nguyn
khng gian trong lch s ca loi ngi. K t y, k thut iu khin bc vo
mt giai on mi giai on pht trin ca l thuyt iu khin hin i. Hai
khi nim quan trng nht trong k thut iu khin hin i l cc phng php
trong min thi gian v iu khin s. Vic thit k cc h thng iu khin phi
tuyn phc tp, v d nh h thng iu khin qu o ca v tinh nhn to, vt
qu kh nng ca cc phng php c in. Cc phng php trong min thi
gian, s dng m hnh bin trng thi, vt qua c nhng hn ch ca l
thuyt iu khin c in khi i mt vi cc h thng phi tuyn. Vi s pht
trin mnh m ca cc lnh vc ng dng ca iu khin phi tuyn nh trong k
thut hng khng v tr hay robotics, vai tr ca cc phng php trong min
thi gian cng tr nn ngy cng chim u th so vi cc phng php trong
min tn s trong k thut iu khin hin i. Ngy nay, tht kh tng tng
vic xy dng mt h thng iu khin nu thiu i my tnh hay cc b vi iu
khin. Cc l thuyt ca iu khin s gn lin vi s ra i ca my tnh, v
cng vi s ph bin ngy cng rng ri ca cc h thng iu khin s dng
my tnh, iu khin s tr thnh lnh vc quan trng hng u ca k thut
iu khin. Ngoi ra, k thut iu khin hin i cn quan tm ti nhng vn
nh iu khin thch nghi v iu khin ti u, do cc h thng cn iu khin
ngy cng tr nn phc tp, khng th m hnh ha c mt cch chnh xc, v
do tnh hiu qu i vi nhiu h thng iu khin hin i c xem l ch tiu
cht lng quan trng nht.
2
Cun sch ny c bin son vi mc ch lm ti liu gio khoa nhp mn
k thut iu khin cho sinh vin cc chuyn ngnh k thut. Phn ln ni dung
ca sch c bin son da trn hai cun sch c chn lm gio trnh chnh
cho mn hc k thut iu khin bc i hc ti nhiu trng i hc ln trn th
gii l Modern Control Systems ca Richard C. Dorf v Feedback Control of
Dynamic Systems ca Gene F. Franklin et al. Ti liu ny c duyt a vo
ging dy cho sinh vin chuyn ngnh in t - Vin thng ti trng i hc
Cng ngh, i hc Quc gia H Ni. Cc l thuyt iu khin c gii thiu
y l nhng l thuyt chung, c th p dng cho nhiu lnh vc khc nhau ch
khng thin v mt chuyn ngnh no. Ni dung ca sch s ch gii hn trong
phm vi cc vn ca iu khin cc h thng tuyn tnh bt bin. Gii hn
l cn thit i vi mn hc u tin ca k thut iu khin, nhm trnh cho
sinh vin khi b chong ngp trc qu nhiu vn khi mi bt u lm quen
vi lnh vc ny. Ni dung l thuyt trong sch c chia lm ba phn chnh: cc
m hnh ton hc ca h thng ng (Chng II, III), phn tch (Chng IV n
IX) v thit k h thng iu khin phn hi (Chng X, XI). Do i tng
nghin cu l cc h thng tuyn tnh bt bin, phn ln ni dung l thuyt trong
sch s l l thuyt iu khin c in, bao gm: m hnh hm chuyn da trn
php bin i Laplace (Chng II), phng php Routh-Hurwitz phn tch tnh
n nh ca h thng trong min tn s (Chng VI), phng php qu tch
nghim (Chng VII), cc phng php da trn p ng tn s (Chng VIII,
IX), v cc phng php thit k trong min tn s (Chng X). gip sinh
vin bc u tip cn vi mt s khi nim ca l thuyt iu khin hin i,
cun sch c a ra gii thiu mt s ni dung v m hnh bin trng thi
(Chng III), cc phng php phn tch v thit k h thng da trn m hnh
bin trng thi (mt phn chng VI v ton b chng XI) v iu khin s
(Chng XII). Mc d vic t cc khi nim ny vo trong khun kh ca cc
h thng tuyn tnh bt bin khng lm ni ln c s u vit ca cc cng c
hin i so vi cc cng c c in cng nh cc vn ca k thut iu khin
hin i, vic gii thiu chng vn l tin cn thit cho cc mn tip theo
trong h thng mn hc ca k thut iu khin m ni dung s bao gm cc lnh
vc ca k thut iu khin hin i nh iu khin s, iu khin phi tuyn,
iu khin thch nghi v iu khin ti u.
Mt phn rt quan trng thng c trong cc mn hc v k thut iu khin
l gii thiu cho sinh vin cc cng c phn tch, thit k v m phng h thng
iu khin trn my tnh. iu s gip mn hc tr nn l th hn v c tnh
thc tin cao hn. Trong cun sch ny ny, phn mm MATLAB ca hng
MathWorks v b chng trnh Control System Toolbox ca MATLAB c
chn lm cng c thc hnh. MATLAB l b phn mm tnh ton phc v cho
nhiu lnh vc k thut khc nhau, v vy phn ln sinh vin cc chuyn ngnh
k thut u quen thuc vi MATLAB. B chng trnh cng c Control System
Toolbox c xy dng trong mi trng MATLAB nh mt cng c phn tch,
thit k v m phng cc h thng tuyn tnh bt bin, s dng cc phng php
trong min tn s v c cc phng php trong min thi gian. Nh vy, b cng
c phn mm ny rt ph hp vi ni dung ca cun sch.

3
Cui cng, tc gi xin chn thnh cm n cc ng nghip ti Khoa in t -
Vin thng, Trng i hc Cng ngh, c bit l Gio s Hunh Hu Tu v
Tin s Trn Quang Vinh, gip tc gi hon thnh cun sch ny. Mi
kin ng gp v ni dung ca sch, xin gi v cho tc gi ti B mn X l
thng tin, Khoa in t - Vin thng, Trng i hc Cng ngh, i hc Quc
gia H Ni.
4
MC LC

LI NI U............................................................................................1
CHNG I. GII THIU V CC H THNG IU KHIN..................7
1.1. Gii thiu......................................................................................................... 7
1.2. Lch s ca iu khin t ng....................................................................... 9
1.3. V d v cc h thng iu khin hin i .................................................... 11
CHNG II. M HNH TON HC CA H THNG...........................15
2.1. Gii thiu....................................................................................................... 15
2.2. Phng trnh vi phn ca cc h thng vt l............................................... 16
2.3. Xp x tuyn tnh ca cc h thng vt l..................................................... 18
2.4. Bin i Laplace ........................................................................................... 20
2.5. Hm chuyn ca cc h thng tuyn tnh ..................................................... 25
2.6. M hnh s khi ....................................................................................... 30
2.7. M hnh lu tn hiu................................................................................. 34
CHNG III. CC M HNH BIN TRNG THI .................................44
3.1. Gii thiu....................................................................................................... 44
3.2. Bin trng thi ca mt h thng ng ......................................................... 45
3.3. Phng trnh vi phn ca vector trng thi ................................................... 47
3.4. p ng theo thi gian ri rc ...................................................................... 50
CHNG IV. C TRNG CA CC H THNG IU KHIN PHN
HI .........................................................................................................53
4.1. H thng iu khin vng h v vng kn .................................................... 53
4.2. nhy ca h thng iu khin i vi s bin thin ca cc tham s ..... 54
4.3. iu khin p ng nht thi ........................................................................ 57
4.4. Tn hiu nhiu trong h thng iu khin phn hi ...................................... 59
4.5. Sai s trng thi thng trc...................................................................... 62
CHNG V. HIU SUT CA CC H THNG IU KHIN PHN
HI .........................................................................................................66
5.1. Gii thiu....................................................................................................... 66
5.2. M t hiu sut trong min thi gian ............................................................ 67
5.3. Ch s hiu sut ............................................................................................. 74
5
5.4. Sai s trng thi thng trc ca h thng iu khin phn hi................ 76
CHNG VI. TNH N NH CA CC H THNG PHN HI TUYN
TNH.......................................................................................................80
6.1. Khi nim v tnh n nh............................................................................. 80
6.2. iu kin n nh Routh-Hurwitz................................................................. 81
6.3. Tnh n nh ca h thng trong min thi gian........................................... 84
6.4. Tnh n nh tng i ca cc h thng iu khin phn hi ..................... 86
CHNG VII. PHNG PHP QU TCH NGHIM...........................88
7.1. Gii thiu....................................................................................................... 88
7.2. Khi nim qu tch nghim........................................................................... 88
7.3. Phng php qu tch nghim...................................................................... 91
7.4. Thit k tham s bng phng php qu tch nghim.................................. 94
7.5. nhy v qu tch nghim......................................................................... 95
CHNG VIII. CC PHNG PHP P NG TN S...................99
8.1. Gii thiu....................................................................................................... 99
8.2. th ca p ng tn s............................................................................ 101
8.3. M t hiu sut trong min tn s............................................................... 108
CHNG IX. TNH N NH TRONG MIN TN S ........................ 113
9.1. Gii thiu..................................................................................................... 113
9.2. nh x ca cc chu tuyn trong mt phng s.............................................. 114
9.3. iu kin Nyquist ....................................................................................... 117
9.4. Tnh n nh tng i v iu kin Nyquist ............................................. 120
9.5. p ng tn s ca h thng vng kn........................................................ 126
9.6. Tnh n nh ca h thng iu khin vi tr ............................................. 129
CHNG X. THIT K CC H THNG IU KHIN PHN HI
TRONG MIN TN S ........................................................................ 132
10.1. Gii thiu................................................................................................... 132
10.2. Cc phng php b ................................................................................. 133
10.3. Cc mch b ni tip................................................................................. 134
10.4. B trn th Bode s dng mch sm pha ............................................. 140
10.5. B trong mt phng s s dng mch sm pha .......................................... 144
10.6. Phng php b s dng mch tch phn ................................................. 146
6
10.7. B trong mt phng s s dng mch chm pha ........................................ 149
10.8. B trn th Bode s dng mch chm pha ........................................... 151
10.9. Mch b sm-chm pha v b iu khin PID......................................... 153
CHNG XI. THIT K CC H THNG IU KHIN PHN HI
TRONG KHNG GIAN TRNG THI .................................................. 157
11.1. Gii thiu................................................................................................... 157
11.2. Tnh iu khin c v tnh quan st c............................................. 158
11.3. S trit tiu im cc-im khng............................................................ 161
11.4. Cc phng trnh bin trng thi tng ng......................................... 163
11.5. t im cc bng phn hi trng thi ..................................................... 164
11.6. iu khin ti u bc hai .......................................................................... 169
CHNG XII. H THNG IU KHIN S ....................................... 173
12.1. Gii thiu................................................................................................... 173
12.2. H thng ly mu ...................................................................................... 174
12.3. Bin i z................................................................................................... 175
12.4. Bin i z nghch....................................................................................... 179
12.5. Phn tch tnh n nh ca h thng trong mt phng z ............................ 180
12.6. Tnh n nh v hiu sut ca h thng ly mu bc hai .......................... 182
PH LC A. GII THIU MATLAB V B CHNG TRNH CONTROL
SYSTEM TOOLBOX CA MATLAB..................................................... 185
A.1. Gii thiu.................................................................................................... 185
A.2. S dng MATLAB..................................................................................... 186
A.3. Thit lp cc m hnh h thng bng Control System Toolbox................. 194
A.4. Phn tch m hnh....................................................................................... 201
A.5. Thit k h thng iu khin...................................................................... 203
TI LIU THAM KHO......................................................................... 206

7
Chng I

GII THIU V CC H THNG IU KHIN

Tm tt ni dung
Mc ch ca chng l gii thiu mt cch khi qut v cc phng php thit
k v xy dng h thng iu khin.
hiu c mc ch ca h thng iu khin, chng ta s xem xt cc v
d v cc h thng iu khin trong lch s pht trin ca loi ngi. Thm ch c
nhng h thng xut hin sm nht cng bao gm tng v phn hi, mt
khi nim c ngha trung tm i vi ton b cun sch ny.
ng dng ca k thut iu khin hin i bao gm vic s dng cc chin
lc iu khin cho cc thit b trong nhiu lnh vc nh hng khng, cng
nghip luyn kim, y hc... Trong chng ny, chng ta s cp ti nhiu ng
dng th v ca k thut iu khin.
1.1. Gii thiu
Nhim v ca cc k s iu khin l hiu r v iu khin cc thnh phn ca
mi trng lm vic, thng c gi l cc h thng, nhm to ra nhng sn
phm c ch cho x hi. c th iu khin mt cch hu hiu, cc h thng
cn iu khin phi c m hnh ha, v vy s hiu bit bn cht v nguyn l
hot ng ca cc h thng l v cng quan trng. Trong thc t, k thut iu
khin cn c p dng cho nhng h thng m hot ng ca chng cha c
l gii hon ton, v d nh mt s quy trnh ha hc. Thch thc i vi k
thut iu khin ngy nay l m hnh ha v iu khin cc h thng hin i,
phc tp, c nhiu quan h tng h, nh cc h thng iu khin giao thng,
cc qu trnh ha hc, hay cc h thng robot... Tuy nhin, lnh vc ln nht ca
k thut iu khin vn l cc h thng t ng ha cng nghip, mt lnh vc
v ang pht trin mnh m, mang li nhiu li ch cho nn kinh t v x hi.
L thuyt iu khin da trn cc nn tng ca l thuyt phn hi v phn
tch h thng tuyn tnh, kt hp cc khi nim ca mng truyn d liu v l
thuyt truyn thng. V vy, phm vi ca k thut iu khin khng hn ch
trong mt ngnh k thut c th no m c th p dng trong nhiu lnh vc khc
nhau nh hng khng, ha hc, c hc, mi trng, xy dng, in v in t...
V d, chng ta thng gp cc h thng iu khin trong bao gm cc b
phn in, c hc v c ha hc. Ngoi ra, nhng kin thc ngy cng tng v
ng lc ca cc h thng chnh tr, x hi v thng mi cho php m ra kh
nng ng dng ca k thut iu khin trong cc h thng nh vy.
Mt h thng iu khin (control system) l mt lin kt ca nhiu thnh
phn, to nn mt cu hnh h thng c kh nng p ng mt yu cu nht nh.
C s thc hin vic phn tch mt h thng l kin thc nn tng cung cp
bi l thuyt h thng tuyn tnh, trong gi thit mi quan h gia cc thnh
8
phn ca h thng l mi quan h nhn-qu. Mt thnh phn hay qu trnh
(process) cn c iu khin c th biu din bng mt khi c u vo v u
ra (Hnh 1.1). Quan h vo-ra th hin mi quan h nhn-qu ca qu trnh, trong
tn hiu vo c x l nhm to ra mt tn hiu ra, thng l vi cng sut
c khuych i. Mt h thng iu khin kiu vng h (open-loop) s dng
mt b iu khin nhm iu khin mt qu trnh p ng mt yu cu xc nh
trc c th hin trong Hnh 1.2.
Qu trnh Vo Ra
Hnh 1.1. Qu trnh cn iu khin

Tri vi cc h thng iu khin vng h, mt h thng iu khin kiu vng
kn (closed-loop) s dng thm mt gi tr o ca tn hiu ra thc s so snh
vi p ng u ra c mong mun cho qu trnh cn iu khin. Gi tr o ny
c gi l tn hiu phn hi (feedback signal). S ca mt h thng iu
khin phn hi kiu vng kn c th hin trong Hnh 1.3.
Qu trnh
p ng
mong mun
Ra
Hnh 1.2. H thng iu khin vng h
B iu
khin

nh ngha: mt h thng iu khin phn hi l mt h thng iu khin c
khuynh hng duy tr mt mi quan h c nh trc gia cc gi tr bin
thin ca h thng bng cc php so snh gia cc gi tr ny, s dng s sai
khc nh mt phng thc iu khin.

Qu trnh
p ng
mong mun
Ra
Hnh 1.3. H thng iu khin phn hi kiu vng kn
B iu
khin
So snh
H o

H thng iu khin phn hi thng s dng hm m t mt mi quan h
xc nh trc gia tn hiu ra v tn hiu vo i snh iu khin qu trnh.
Thng th s sai khc gia tn hiu ra ca qu trnh v tn hiu vo i snh
c khuych i v s dng iu khin qu trnh sao cho s sai khc lin tc
gim. Khi nim phn hi c coi l nn tng cho vic phn tch v thit k cc
h thng iu khin.
Do s phc tp ca cc h thng cn iu khin ngy cng ln v vic t
c hiu sut ti u ca cc h thng ngy cng c quan tm, tm quan trng
ca k thut iu khin v ang gia tng mt cch nhanh chng. Khi cc h
thng tr nn phc tp, chng ta cn xem xt ti mi quan h gia nhiu bin cn
iu khin ca h thng. Nhng h thng nh vy c gi l h thng iu
khin a bin (multi-variable control system hay cn gi l MIMO multiple-
9
input multiple-output), phn bit vi cc h thng n bin (SISO single-
input single-output). M hnh mt h thng iu khin a bin c biu din
trong Hnh 1.4.

Cc
gi tr
ra
Qu trnh
p ng
mong mun
Hnh 1.4. H thng iu khin a bin
B iu
khin
So snh
H o

1.2. Lch s ca iu khin t ng
ng dng phn hi iu khin mt h thng c qu trnh lch s v cng l
th. Nhng ng dng u tin ca iu khin phn hi xut hin cng vi s pht
trin cc c cu iu chnh dng phao ni ca ngi Hy Lp trong giai on 300
B.C. n 1 B.C., v d nh chic ng h nc ca Ktesibios. Vo khong nm
250 B.C., Philon sng ch ra mt loi n du, s dng mt phao ni khng
ch sao cho mc du trong n lun mt mc c nh. Ti thnh ph
Alexandria ca Ai Cp vo th k u tin sau cng nguyn, mt tc gi tn l
Heron vit mt cun sch mang tiu Pneumatica, trong m t vi dng
c cu iu khin mc nc s dng phao ni.
H thng phn hi u tin c pht minh chu u l thit b khng ch
nhit ca Cornelis Drebbel (1572 1633) H Lan. Dennis Papin (1647
1712) pht minh ra thit b iu chnh p sut cho ni hi vo nm 1681. y l
mt dng thit b an ton, tng t nh van an ton ca ni p sut.
Thit b iu khin phn hi t ng u tin c s dng trong mt h
thng cng nghip c ghi nhn l thit b iu tc do James Watt pht trin
vo nm 1769, dng iu khin tc ca ng c hi nc.

Hnh 1.5. Thit b iu tc bng cc qu cu (flyball governor) ca James Watt

Theo ngi Nga th h thng phn hi u tin l mt thit b iu chnh mc
nc, do I. Polzunov pht minh vo nm 1765. Thit b ny o mc nc trong
ni hi v iu khin vic ng m van cp nc.
Giai on trc 1868, s pht trin cc h thng iu khin t ng cn mang
tnh trc gic. Cc n lc nhm tng chnh xc ca cc h thng iu khin
10
dn n lm chm s suy gim ca cc dao ng nht thi, thm ch lm h
thng tr nn khng n nh. iu dn n s cp thit phi pht trin mt l
thuyt v iu khin t ng. Vo nm 1868, J.C. Maxwell l ngi thit lp
mt l thuyt ton hc lin quan ti l thuyt iu khin, s dng m hnh
phng trnh vi phn gii thch cc vn v tnh thiu n nh m thit b
iu tc ca James Watt gp phi. Nghin cu ca Maxwell quan tm ti nh
hng ca cc tham s ca h thng ti hiu sut ca h thng. Cng trong
khong thi gian , nh khoa hc Nga I.A. Vyshnegradskii thit lp mt l
thuyt ton hc v cc thit b iu chnh.
T giai on trc chin tranh th gii th II, l thuyt v k thut iu khin
pht trin theo hai xu hng khc nhau. Ti M v Ty u, mt trong nhng
ng lc chnh thc y cc ng dng ca phn hi l s pht trin cc h thng
in thoi v cc b khuych i phn hi in t, thc hin bi Bode, Nyquist
v Black ti Bell Telephone Laboratories (Bell Labs thnh lp bi AT&T vo
nm 1925, t nm 1996 tr thnh mt b phn ca Lucent Technologies). c
trng ca xu hng ny l s dng cc phng php trong min tn s, ch yu
m t hot ng ca cc b khuych i phn hi bng cc bin tn s nh di
thng. Xu hng th hai din ra Lin bang X vit, ni m l thuyt iu khin
l lnh vc thng lnh bi nhiu nh ton hc v c hc ng dng danh ting. V
vy, l thuyt iu khin X vit i theo hng dng cc m hnh ton hc trong
min thi gian, s dng cc phng trnh vi phn.
Mt ng lc to ln c tc dng thc y s pht trin v l thuyt cng nh
ng dng ca iu khin t ng xut hin trong thi gian din ra chin tranh th
gii th II, do s cn thit phi thit k v ch to cc h thng li t ng cho
my bay, ngm bn t ng, iu khin anten ca radar, cng nhiu h thng
thit b qun s khc da trn phng thc iu khin phn hi. S phc tp v
hiu sut c mong i ca cc h thng thit b qun s ny i hi phi m
rng cc k thut iu khin c v thc y s quan tm ti cc h thng iu
khin cng nh s pht trin cc l thuyt v phng php mi. Cho ti nm
1940, trong hu ht cc trng hp, vic thit k cc h thng iu khin l mt
ngh thut theo phng php th-v-sai. Trong nhng nm ca thp k 1940s,
cc phng php ton hc v phn tch tng c v s lng v tnh hu dng,
gip k thut iu khin tr thnh mt ngnh k thut c lp.
Cc k thut trong min tn s thng tr lnh vc iu khin sau chin tranh
th gii th II vi ng dng ngy cng ph bin ca phng php bin i
Laplace v mt phng tn s phc. Vo nhng nm 1950s, trng tm ca l
thuyt iu khin l s pht trin v ng dng ca cc phng php mt phng s
v c bit l phng php qu tch nghim. n nhng nm 1980s, vic s dng
my tnh s cho cc b phn iu khin tr nn ph bin. Nhng phn t iu
khin s dng my tnh ny c kh nng tnh ton mt cch nhanh chng v
chnh xc, iu trc kia nm ngoi kh nng ca cc k s iu khin. Ngy
nay, my tnh l khng th thiu trong cc h iu khin rt nhiu bin ca
h thng cn c o c v iu khin cng mt lc.
Vi s m u k nguyn khng gian, mt ng lc na ca k thut iu
khin xut hin, l s cn thit phi thit k cc h thng iu khin v cng
11
phc tp v c chnh xc cao cho cc h thng tn la v thm d khng gian.
Thm na, s cn thit phi gim ti mc ti thiu trng lng ca cc v tinh v
iu khin chng mt cch chnh xc khai sinh mt lnh vc quan trng: iu
khin ti u. Do nhng yu cu , cc phng php trong min thi gian ca
Lyapunov, Minorsky v mt s nh khoa hc khc ngy cng c quan tm.
Ngoi ra, nhng l thuyt v iu khin ti u c pht trin bi L.S.
Pontryagin (Nga) v R. Bellman (M) cng l nhng ch c quan tm.
1.3. V d v cc h thng iu khin hin i
iu khin phn hi l mt yu t quan trng trong nn cng nghip cng nh
trong i sng x hi hin i. iu khin t l mt v d. Li xe l mt cng
vic nh nhng khi chic t p ng mt cch nhanh chng nhng lnh ca
ngi li. Nhng chic t hin i c b phn tr lc tay li v phanh, s dng
cc b khuych i thy lc khuych i lc do ngi li xe tc ng ln tay
li v phanh. S khi n gin ca mt h thng iu khin tay li t c
th hin trong Hnh 1.6. Hng li ngi li xe mong mun c so snh vi gi
tr o ca hng chuyn ng thc s ca xe sinh ra mt gi tr o sai lch.
Hng chuyn ng thc s ca xe c cm nhn bi bn thn ngi li xe,
bng trc gic v cm gic v nghing ca c th. Ngoi ra cn c mt thng
tin phn hi na l cm gic tay li ca ngi li xe. Cc h thng iu khin li
ca tu thy hay my bay cng c nguyn l tng t. Tt c cc h thng
hot ng theo mt quy trnh vng kn, c biu din trong Hnh 1.7. Tn hiu
ra mong mun v tn hiu ra thc s c so snh v s sai khc s c
khuych i bng mt b khuych i cng sut. Tn hiu ra t b khuych i s
khin b phn chp hnh iu chnh qu trnh nhm lm gim sai lch ni trn.
V d, khi mt chic tu thy hng qu sang bn phi, bnh li ca tu s c
iu chnh li tu v bn tri. H thng biu din trong Hnh 1.7 l mt h
thng iu khin phn hi m, v tn hiu ra b tr vo tn hiu vo v s sai khc
c s dng lm tn hiu vo cho b khuych i.

_
t
Hng
mong
mun
Hng
thc s
Hnh 1.6. H thng iu khin tay li t
C cu
li
Li xe
Cm nhn ca li xe
(trc gic, xc gic)
Cm gic tay li
Sai
lch
+
_
Cc h thng iu khin quen thuc vi chng ta cng c nhng phn t c
bn nh h thng trong Hnh 1.7. mt h thng iu chnh mc cht lng trong
b cha bng tay, tn hiu vo l mt mc cht lng ngi vn hnh c lnh
phi duy tr (v c ghi nh bi ngi vn hnh), b khuych i cng sut l
bn thn ngi vn hnh v b cm bin l trc gic ca ngi vn hnh. B
phn chp hnh l mt van m ngi iu khin phi ng hay m iu chnh
12
mc cht lng trong b. Mt v d na rt quen thuc vi cuc sng ca chng ta
l chic t lnh. Ngi s dng c th t mt mc nhit mong mun, mt
nhit k s o nhit thc s trong t lnh v sai lch ca nhit thc s
vi nhit mong mun, cn ng c nn kh ca t lnh ng vai tr ca b
khuych i cng sut.
Qu trnh
Tn hiu
vo hay
i snh
Tn
hiu ra
Hnh 1.7. Mt h thng iu khin vng kn c bn
C cu
chp hnh
Khuych
i
H o
_
+
T ng ha c nh ngha nh mt cng ngh trong cc mnh lnh
c lp trnh c s dng vn hnh mt qu trnh nht nh, v c kt
hp vi s phn hi thng tin xc nh xem cc mnh lnh c c thc
hin mt cch ng n hay khng. T ng ha thng c p dng cho cc
qu trnh vn c vn hnh bi con ngi. Khi c t ng ha, qu trnh
c th vn hnh m khng cn ti s tr gip hay can thip ca con ngi. Trong
thc t, phn ln cc h thng t ng c kh nng thc hin cc chc nng ca
chng vi chnh xc cao hn v tn t thi gian hn so vi kh nng con
ngi c th lm c.
Mt trong nhng lnh vc c bit ca t ng ha l robotics. Robot l
nhng thit b t ng c iu khin bng my tnh. Robot cng nghip l mt
lnh vc c bit ca t ng ha, trong cc thit b t ng (robot) c thit
k thay th lao ng ca con ngi. lm c iu , robot cn phi
mang mt s nhng c tnh tng t nh con ngi. Mt trong nhng thit b
c c tnh tng t con ngi c s dng ph bin nht l cc cnh tay my,
thit b chp hnh c kh c cu trc phng theo cnh tay v c tay ca con
ngi.
Mt ng dng rt quan trng ca cng ngh iu khin l cc b phn iu
khin trong t hin i: cc h thng iu khin cho gim xc, tr li, iu
khin hiu sut lm vic ca ng c, hay cc h thng li bn bnh, iu khin
chng trt...
Ngi ta hay ni n khong cch gia l thuyt v thc tin trong k thut
iu khin. Cng ging nh nhiu ngnh khc, trong nhiu lnh vc ca k thut
iu khin l thuyt i trc ng dng kh xa. Tuy nhin, c mt lnh vc m
khong cch ny l khng ng k, l trong cng nghip nng lng in.
Ngnh nng lng in ch yu bao gm cc lnh vc chuyn ha nng lng
thnh in nng, kim sot v phn phi. Cc h thng iu khin bng my tnh
c s dng tng tnh hiu qu trong vic s dng cc ngun nng lng.
Ngoi ra, vic kim sot lng cht thi ca cc nh my in gim thiu
nhim tr thnh mt vn v cng quan trng. Cc nh my in hin i
vi cng sut ln ti hng trm megawatts cn nhng h thng iu khin t
13
ng chu trch nhim v cc mi quan h gia cc bin ca ton b qu trnh v
thc hin vic ti u ha qu trnh sn xut in nng. Mt qu trnh nh vy c
th c ti hn 90 bin t di mt s iu khin thng nht. V d, iu
khin hot ng ca l hi, h thng cn o cc gi tr bin thin nh nhit , p
sut, nng xy... v cung cp cho my tnh thc hin vic tnh ton. S
khi ca mt h thng iu khin bng my tnh c biu din trong Hnh 1.8.
Ngnh cng nghip nng lng in s dng c nhiu kha cnh hin i
ca k thut iu khin vo nhng ng dng c ngha quan trng. Bi hc ca
ngnh cng nghip nng lng in cho thy, yu t lm duy tr khong cnh
gia l thuyt v ng dng ca k thut iu khin trong nhiu lnh vc l vic
thiu nhng thit b dng o c tt c cc bin quan trng ca cc qu trnh,
bao gm c cht lng v thnh phn ca sn phm. Khi nhng thit b ny tr
nn sn c, cc ng dng ca l thuyt iu khin hin i vo cc h thng cng
nghip s tng ln nhanh chng.

Qu trnh
Tn hiu
i snh
Tn hiu
ra
Hnh 1.8. Mt h thng iu khin bng my tnh
C cu
chp hnh
My tnh
H o
_
+

ng dng ca khi nim iu khin phn hi v ang xut hin trong rt
nhiu lnh vc nh iu khin t ng vic tng tr hng ha, cc h thng t
ng ha trong nng nghip, cc h thng si m v lm lnh s dng nng
lng mt tri, cc ng dng ca l thuyt iu khin trong cc lnh vc y-sinh
hc nh th nghim, chn on, cy ghp b phn gi v cc h thng iu khin
sinh hc.
Cui cng, mt lnh vc ang thu ht nhiu s quan tm l m hnh ha cc
qu trnh phn hi ph bin trong cc h thng x hi, kinh t v chnh tr. Cc
m hnh nh vy rt c ch cho vic tm hiu, gii thch v d on cc hot ng
ca cc h thng ny, v d nh nh gi tc ng ca s iu tit v chi tiu
ca nh nc ti cc hot ng ca h thng kinh t.
Bi tp
Bi 1.1. Mt ngun pht laser c th iu khin mc nng lng ca nh sng
pht ra bao gm cc b phn sau: mt laser c iu khin bi mt dng in
vo pht ra nng lng di dng nh sng, mt b vi iu khin c chc
nng iu khin dng in cp cho laser v mt cm bin. Vi x l so snh mc
nng lng c mong mun vi mt tn hiu t b cm bin t l vi nng
lng thc s ang pht ra ca ngun laser. V s khi ca h thng iu
khin vng kn .
Bi 1.2. V s khi biu din mt h thng iu khin phn hi m t vic
iu khin tc ca xe t bi ngi li xe.
14
Bi 1.3. Mt my nh t ng s dng laser hay siu m xc nh khong
cch ti i tng c chp v t iu chnh tiu c ca ng knh cho ph hp.
V s khi ca h thng.
Bi 1.4. Chng ta c th coi vic tm nh l iu khin mt qu trnh c hai li
vo l ng nc nng v ng nc lnh vi lu lng c iu khin bi
hai van c lp vi nhau. Mc ch ca vic iu khin lng nc vo mi
ng l nc phun ra vi tm c lu lng v nhit nh mong mun.
V s khi ca h thng vng kn.
Bi 1.5. Mt ngi lnh dng chn hng ngy bn cnh mt ca hiu trn ng
ti doanh tri v chnh ng h eo tay ca anh ta theo ng h treo ti ca hiu
vo ng 9 gi sng mi ngy. Mt ngy, anh ta bc vo ca hiu v khen ngi
tnh chnh xc ca chic ng h ti ca hiu vi ngi ch ca hiu. ng ta tr
li rng ng chnh chic ng h hng ngy vo lc 5 gi chiu theo ting i
bc cho c ti doanh tri qun i. Ngi lnh ni, anh ta l mt pho th v
chnh anh ta l ngi bn pht i bc vo lc 5 gi chiu mi ngy .
Thng tin phn hi trong trng hp ny l phn hi m hay dng? Gi s
c sau 24 gi chy lin tc, chic ng h ti ca hiu s b chm mt pht v
chic ng h ca ngi lnh s b chm ba pht, sai lch v thi gian ca pht
i bc sau 15 ngy s l bao nhiu?
15
Chng II

M HNH TON HC CA H THNG

Tm tt ni dung
phn tch v thit k cc h thng iu khin, cn phi c c m hnh ton
hc nh lng ca nhng h thng ny. Chng ta s xem xt nhiu loi h thng
khc nhau nh cc h thng c hc hay in, cng vi cc phng trnh vi phn
c s dng m t ng lc ca nhng h thng ny. c th gii cc
phng trnh vi phn bng cch s dng phng php bin i Laplace, trc ht
cn phi thit lp cc phng php xy dng cc m hnh tuyn tnh cho cc
thnh phn ca mi h thng. Khi , chng ta c th kt hp tt c cc phng
trnh vi phn m t mt h thng v thc hin php bin i Laplace cho nhng
phng trnh ny.
Phn tip theo ca chng m t phng thc biu din cc mi quan h vo-
ra gia cc thnh phn hay h thng con di dng hm chuyn. Tp hp cc
hm chuyn th hin cc b phn lin kt vi nhau ca mt h thng c th biu
din c bng m hnh s khi hoc th dng tn hiu. Cc phng php
phn tch c s dng thit lp cc phng trnh cho cc bin ra ca mt h
thng iu khin vi mt s dng tn hiu vo chn lc.
2.1. Gii thiu
hiu v iu khin cc h thng phc tp, cn phi thit lp c cc m hnh
ton hc nh tnh ca nhng h thng ny. M hnh ton hc c thit lp da
trn s phn tch cc mi quan h gia cc bin ca h thng. Bi v cc h thng
chng ta cn quan tm l nhng h thng ng v bn cht, ngi ta thng dng
cc phng trnh vi phn m t chng. Nu nhng phng trnh c th
c tuyn tnh ha, phng php bin i Laplace c th c s dng n
gin ha vic gii chng. Trong thc t, do s phc tp ca h thng v do nhiu
yu t c lin quan khng c xc nh, chng ta phi s dng n cc gi thit
v h thng. V vy, khi nghin cu cc h thng vt l, cn phi a ra c
nhng gi thit cn thit tuyn tnh ha h thng. Khi , chng ta c th s
dng cc nh lut vt l m t h thng tuyn tnh thit lp c mt h
phng trnh vi phn tuyn tnh. Cui cng, cc cng c ton hc, v d nh bin
i Laplace, c s dng gii ra nghim ca h phng trnh m t hot
ng ca h thng. Tm li, phng php phn tch vn ca cc h thng
ng c th bao gm nhng bc nh sau:
1. Xc nh h thng v cc thnh phn ca h thng
2. Thit lp m hnh ton hc v cc gi thit cn thit
3. Vit cc phng trnh vi phn m t m hnh ca h thng
4. Gii cc phng trnh cho cc bin ra cn xc nh
5. Kim tra xem cc nghim tm c c ph hp vi cc gi thit
6. Phn tch li hoc chuyn sang bc thit k
16
2.2. Phng trnh vi phn ca cc h thng vt l
Cc phng trnh vi phn m t hot ng ca mt h thng vt l c thit lp
bng cch s dng cc nh lut vt l ca cc qu trnh. Phng php ny c th
p dng cho cc h thng c kh, in, cht lng, nhit ng...
V d, chng ta c th m hnh ha h thng gim xc ca t bng mt h
thng c hc n gin nh trong Hnh 2.1, bao gm mt vt c khi lng M
c treo bng mt l xo, c th trt theo phng thng ng bn trong mt
ng c vai tr cn dao ng (damper). H s ma st gia b mt vt v b mt
ng l f. H s n hi ca l xo l K. Vt c th chuyn ng theo chiu thng
ng y di tc ng ca mt ngoi lc F(t). Theo nh lut 2 ca Newton:
) ( ) (
) ( ) (
2
2
t F t Ky
dt
t dy
f
dt
t y d
M = + + (2.1)

y
F(t)
K
H s ma
st f
Hnh 2.1. H thng l xo-vt-cn
M

Ko vt ti mt v tr ban u ri th ra, khi chuyn ng ca vt s l mt
dao ng tt dn. Gii phng trnh (2.1) cho y(t) chng ta s thu c phng
trnh chuyn ng ca vt di dng:
) sin( ) (
1 1 1
1

+ =

t e K t y
t
(2.2)
V d th hai l mt mch RLC (Hnh 2.2) s dng mt ngun dng c cng
dng in l i(t) v sinh ra mt hiu in th v(t). Theo nh lut Kirchhoff,
chng ta c c phng trnh sau:
) ( ) (
1 ) ( ) (
0
t i d v
L dt
t dv
C
R
t v
t
= + +

(2.3)
Gi s i(t) = 0 v hiu in th v ban u khc khng, gii phng trnh (2.3) cho
v(t) chng ta s thu c phng trnh ca hiu in th c dng:
) cos( ) (
2 2 2
2

+ =

t e K t v
t
(2.4)
y cng l phng trnh ca mt dao ng tt dn (Hnh 2.3), tng t nh
phng trnh chuyn ng (2.2) ca h thng c hc trong Hnh 2.1.
17
R L C i(t) v(t)
Hnh 2.2. Mt mch RLC

thy r s tng t ca cc phng trnh vi phn ca hai h thng c hc
v in nu trn, chng ta lm mt php bin i nh: vit li phng trnh (2.1)
ca h thng c hc theo vn tc v(t) = dy(t)/dt, phng trnh s tr thnh:
) ( ) ( ) (
) (
0
t F d v K t fv
dt
t dv
M
t
= + +

(2.5)
Do s tng t ca hai phng trnh (2.5) v (2.3) cng nh ca hai bin: vn tc
v(t) trong (2.5) v hiu in th v(t) trong (2.3), hai bin c gi l hai bin
ng dng, v hai h thng cng c gi l cc h thng ng dng. Khi nim
ng dng gia cc h thng rt hu ch v l mt k thut mnh cho vic m
hnh ha h thng. Ngoi cc cp bin ng dng ca cc h thng in v c
hc l hiu in th-vn tc hay dng in-lc, ngi ta cn thng s dng s
ng dng ca cp hiu in th-lc.

t
v(t)
0
e
-2t

2/
2

Hnh 2.3. Dao ng tt dn ca hiu in th v(t) trong mch RLC

Cc h thng ng dng vi cc gii php tng t nhau bao gm c cc h
thng in, c hc, nhit v cht lng. S tn ti ca cc h thng v gii php
18
ng dng cho php chng ta m rng kt qu phn tch ca mt h thng cho tt
c cc h thng ng dng vi n, cng c m t bng chnh nhng phng
trnh vi phn ca h thng u tin. V vy nhng kin thc chng ta c c
trong vic phn tch v thit k mt loi h thng, v d nh cc h thng in, s
c th p dng ngay lp tc cho cc h thng c hc, nhit, cht lng...
2.3. Xp x tuyn tnh ca cc h thng vt l
Phn ln cc h thng vt l ch tuyn tnh trong nhng khong nht nh ca cc
bin. Tt c cc h thng trong thc t u tr thnh phi tuyn nu cc bin ca
chng c th thay i khng gii hn. V d, h thng dao ng l xo trong Hnh
2.1 l mt h thng tuyn tnh c biu din bng phng trnh 2.1, chng no
v tr ca vt, y(t), ch x dch trong mt khong nh nht nh. Nu ta tc dng
lc y(t) tng ln mi th n mt mc no l xo s khng cn chu c
v t. V vy, cu hi v s tuyn tnh v khong p dng c cn phi t ra
cho mi h thng.
Tnh tuyn tnh ca mt h thng c xc nh da trn mi quan h gia tn
hiu kch thch (tn hiu vo) v p ng ca h thng. Trong mng in Hnh
2.2, tn hiu kch thch l dng in i(t) v p ng ca h thng l hiu in th
v(t). Pht biu mt cch tng qut, mt h thng l tuyn tnh khi v ch khi n
tha mn c c iu kin sau:
1. Nguyn l chng: Nu p ng ca h thng l y
1
(t) khi tn hiu kch thch
l x
1
(t) v p ng ca h thng l y
2
(t) khi tn hiu kch thch l x
2
(t) th
p ng ca h thng s l y
1
(t)+y
2
(t) khi tn hiu kch thch l x
1
(t)+x
2
(t).
2. Tnh cht ng nht: Nu y l tn hiu ra ca h thng khi tn hiu vo l x
th khi tn hiu vo c nhn vi mt h s t l, tn hiu ra ca h thng
cng phi thay i theo cng t l, ngha l p ng ca h thng s l y
khi tn hiu kch thch l x, vi l mt gi tr bt k.
V d, h thng c m t bi quan h y = x
2
khng phi l mt h thng
tuyn tnh v khng tha mn c hai iu kin. H thng c m t bi quan h
y = mx+b cng khng tuyn tnh v khng tha mn c tnh cht ng nht.
Tuy nhin, h thng ny c th coi l tuyn tnh xung quanh mt im (x
0
, y
0
)
cho cc thay i x, y: x = xx
0
, y = yy
0
; v mi quan h gia x v y,
biu din bng phng trnh y = mx, tha mn c hai iu kin nu.
Phn ln cc h thng c hc v in u c th coi l tuyn tnh trong mt
min gi tr kh rng ca cc bin. iu thng khng ng vi cc h thng
nhit v cht lng, v nhng h thng ny c kh nhiu c trng phi tuyn. Tuy
nhin, chng ta c th tuyn tnh ha cc phn t phi tuyn vi gi thit tn hiu
thay i trong khong kh nh. Xt mt phn t vi tn hiu kch thch l x(t) v
p ng l y(t), mi quan h gia hai bin c biu din bng phng
trnh:
y(t) = g(x(t)) (2.6)
g biu th rng y(t) l mt hm ca x(t). Xc nh mt gi tr ca tn hiu
vo, x
0
, gi l im lm vic bnh thng ca phn t. Thc hin khai trin
Taylor ti x
0
, chng ta c:
19
...
! 2
) (
! 1
) ( ) (
2
0
2
2
0
0
0 0
+

+ = =
= =
x x
dx
g d x x
dx
dg
x g x g y
x x x x
(2.7)
Vi gi thit tn hiu thay i rt nh xung quanh im lm vic bnh thng,
chng ta c th xp x (2.7) bng phng trnh:
) (
! 1
) (
0 0
0
0
0
x x m y
x x
dx
dg
x g y
x x
+ =

+ =
=
(2.8)
hay:
y = mx (2.9)
chnh xc ca php xp x tuyn tnh ny ph thuc vo kh nng p dng gi
thit trong tng trng hp c th.
Nu bin ra y ph thuc vo nhiu bin vo, x
1
, x
2
, ..., x
n
, quan h gia y v
cc bin vo c th c biu din di dng:
y = g(x
1
, x
2
, ..., x
n
) (2.10)
Tng t nh i vi trng hp hm n bin, chng ta c th thc hin khai
trin Taylor ti im lm vic xc nh bi x
10
, x
20
, ..., x
n0
, v b qua cc thnh
phn c bc cao thu c xp x tuyn tnh:
) ( ... ) ( ) ,..., , (
0
0
0
0
1 1
0 0 0
1 1
1
2 1 n n
x x
n
x x
n
x x
x
g
x x
x
g
x x x g y
n n

+ +

+ =
= =
(2.11)
V d 2.1
Xt mt h thng con lc bao gm mt vt c khi lng M c treo bng mt
si dy c di L (Hnh 2.4). Gi thit si dy khng c khi lng v khng
n hi. Mmen quay trn vt c tnh bng cng thc:
T = MgLsin (2.12)

M
L

Hnh 2.4. H thng con lc

g l gia tc trng trng v l gc gia si dy vi phng thng ng.
20
im cn bng ca h thng l
0
= 0
o
. p dng khai trin Taylor ti o hm
bc nht ti
0
, chng ta c c xp x tuyn tnh ca T:

MgL MgL MgL T = =

=
=
) )( 0 (cos ) (
sin
0 0
0
(2.13)
Xp x ny tng i chnh xc vi -/4 /4. V d, sai s ca php xp x
khi con lc qua cc v tr 30
o
l khong 2%.
2.4. Bin i Laplace
Kh nng xp x tuyn tnh cc h thng vt l cho php chng ta xem xt ti
vic s dng bin i Laplace (Laplace transform). Phng php bin i
Laplace cho php bin cc phng trnh vi phn tuyn tnh thnh cc phng
trnh i s d gii hn. Vi phng php ny, vic xc nh p ng ca h
thng theo thi gian bao gm nhng bc sau:
1. Thit lp cc phng trnh vi phn m t hot ng ca h thng
2. p dng bin i Laplace cho cc phng trnh vi phn
3. Gii cc phng trnh i s thu c sau cc php bin i cho cc bin
cn quan tm
Bin i Laplace tn ti cho mt phng trnh vi phn nu tch phn khng
thc s ca bin i hi t. Ni mt cch khc, iu kin mt hm f(t) c
bin i Laplace l f(t) lin tc tng on trong min [0, ), v:
< >

0
) ( : 0 dt e t f s
st
(2.14)
Nu t > 0: |f(t)| < Me
t
vi cc gi tr thc M > 0 v > 0 no , tch phn trn
s hi t vi mi > s > . Gi tr nh nht c th ca c gi l gii hn
ca hi t tuyt i. Bin i Laplace ca hm f(t) tn ti vi mi s > v c
nh ngha nh sau:

= =
0
) ( )] ( [ ) ( dt e t f t f s F
st
L (2.15)
Php bin i Laplace nghch (inverse Laplace transform) ca F(s) c nh
ngha nh sau:

= =
i
i
st
ds e s F
i
s F t f

) (
2
1
)] ( [ ) (
1
L (2.16)
c chn sao cho tt c cc im cc (pole) ca F(s) u nm bn tri
ca ng bin ca tch phn trong mt phng phc, ngha l F(+i) hi t vi
mi nm trong khong (, +).
Mt s tnh cht ca bin i Laplace:
1. Tnh duy nht
21
F(s) G(s) f(t) g(t)
2. Tuyn tnh
L[f
1
(t) + f
2
(t)] = F
1
(s) + F
2
(s)
L
1
[F
1
(s) + F
2
(s)] = f
1
(t) + f
2
(t)
3. Vi phn
o hm bc 1
) 0 ( ) (
) (
f s sF
dt
t df
=

L
o hm bc 2
0
2
2
2
) (
) 0 ( ) (
) (
=
=

t
dt
t df
sf s F s
dt
t f d
L
o hm bc n

=
=

n
k
t
k
k
k n n
n
n
dt
t f d
s s F s
dt
t f d
1
0
1
1
) (
) (
) (
L
4. Tch phn
s
s F
d f
t
) (
) (
0
=

L
) ( ) ( ) ( ) (
0
s G s F d g t f
t
=

L
5. Dch tn s
L[e
t
f(t)] = F(s+)
6. Dch thi gian
L[f(t)] = e
s
F(s)
7. Nhn t l

s
F t f
1
)] ( [ L
8. Nhn chp
L[f
1
(t) f
2
(t)] = F
1
(s)F
2
(s)
9. Gi tr khi u
) ( lim ) 0 ( s sF f
s
=
10. Gi tr cui cng
) ( lim ) (
0
s sF f
s
=
Bng 2.1. Bin i Laplace ca mt s hm quan trng
f(t) (t 0) F(s)
Hm xung n v (t) 1 (s > 0)
1
s
1
(s > 0)
22
t
2
1
s
(s > 0)
t
n
(n
+
)
1
!
+ n
s
n
(s > 0)
e
t

+ s
1
(s > max(0,))
sin(t)
2 2

+ s
(s > 0)
cos(t)
2 2
+ s
s
(s > 0)
Xem xt h thng l xo-vt-cn c m t bi phng trnh (2.1). Bin i
Laplace ca phng trnh (2.1) l:
[ ] ) ( ) ( ) 0 ( ) ( ) 0 ( ) (
0
2
s F s KY y s sY f
dt
dy
sy s Y s M
t
= + +

=
(2.17)
Vi cc iu kin F(s) = 0, y(0) = y
0
v 0
0
=
= t
dt
dy
, chng ta c:
Ms
2
Y(s) Msy
0
+ fsY(s) fy
0
+ KY(s) = 0 (2.18)
Gii phng trnh (2.18) cho Y(s):

) (
) (
) (
) ( ) (
) (
2
0
2
0
s q
s p
M K s M f s
y M f s
K fs Ms
y f Ms
s Y =
+ +
+
=
+ +
+
= (2.19)
Phng trnh q(s) = 0 c gi l phng trnh c trng (characteristic
equation) ca Y(s) bi v nghim ca phng trnh ny quyt nh c trng ca
p ng theo thi gian ca h thng. Nghim ca phng trnh c trng c
gi l cc im cc (pole), cn nghim ca phng trnh p(s) = 0 c gi l cc
im khng (zero) ca Y(s). xc nh p ng theo thi gian y(t) ca h thng
bng bin i Laplace nghch ca Y(s), ngi ta thng dng phng php khai
trin phn thc n gin. Phng php ny c th pht biu nh sau: Gi s hm
Y(s) c th biu din c di dng:

) )...( )( (
) )...( )( (
) (
2 1
2 1
n
m
p s p s p s
z s z s z s
s Y


= (2.20)
z
i
(i = 1..m) l cc im khng ca Y(s) v p
j
(j = 1..n) l cc im cc ca
Y(s). Khi Y(s) c th khai trin c thnh tng ca cc phn thc n gin:

n
n
p s
k
p s
k
p s
k
s Y

+ +

= ... ) (
2
2
1
1
(2.21)
k
j
(j = 1..n) c gi l cc phn d (residue). tnh nhanh c k
1
, chng ta
nhn c hai v ca phng trnh (2.21) vi (s q
1
):
23

n
n
p s
p s
k
p s
p s
k k s Y p s

+ +

+ =
1
2
1
2 1 1
... ) ( ) ( (2.22)
Cho s = p
1
, v phi ca phng trnh (2.22) s ch cn li k
1
, ngha l:

1 1
) )...( )( (
) )...( )( (
) ( ) (
3 2
2 1
1 1
p s n
m
p s
p s p s p s
z s z s z s
s Y p s k
= =


= = (2.23)
Cc phn d cn li, k
2
, k
3
,..., k
n
, cng c tnh bng cch tng t.
Xt mt trng hp c th, vi K/M = 2, f/M = 3 v y
0
= 1. Khi phng
trnh (2.19) tr thnh:

) 2 )( 1 (
3
2 3
3
) (
2
+ +
+
=
+ +
+
=
s s
s
s s
s
s Y (2.24)
p dng phng php khai trin phn thc n gin vi (2.24):

2 1
) (
2 1
+
+
+
=
s
k
s
k
s Y (2.25)
k
1
v k
2
c tnh nh sau:
2
2
3
) ( ) 1 (
1 1
1
=
+
+
= + =
= = s s
s
s
s Y s k (2.26)
1
1
3
) ( ) 2 (
2 2
2
=
+
+
= + =
= = s s
s
s
s Y s k
p ng theo thi gian y(t) c xc nh bi bin i Laplace nghch ca Y(s):

t t
e e
s s
s Y t y
2 1 1 1
2
2
1
1
2
)] ( [ ) (

=

+
= = L L L (2.27)
Vic cui cng l xc nh trng thi thng trc (steady state) hay cn gi l
gi tr cui cng (final value) ca f(t):
0
) 2 )( 1 (
) 3 (
lim ) ( lim ) ( lim
0 0
=
+ +
+
= =
s s
s s
s sY t y
s s t
(2.28)
iu c ngha l, v tr cui cng ca vt khi h thng v tr cn bng bnh
thng l y = 0.
Tr li trng hp tng qut c biu din bng phng trnh (2.19). nh
ngha t s cn (damping ratio) ) 2 ( KM f = v tn s t nhin (natural
frequency) M K
n
= ca h thng. Phng trnh (2.19) tr thnh:

2 2
0
2
) 2 (
) (
n n
n
s
y s
s Y

+ +
+
= (2.29)
Phng trnh c trng ca Y(s) c cc nghim nh sau:
24
1
2
2 , 1
=
n n
s (2.30)
Khi > 1, s
1
v s
2
l cc nghim thc v p ng theo thi gian ca h thng
gim lin tc, h thng c coi l b cn qu mc (overdamped). Khi < 1,
phng trnh c trng c cc nghim phc:

2
2 , 1
1 =
n n
i s (2.31)
Trong trng hp th hai, p ng theo thi gian ca h thng l mt dao ng
tt dn, khi h thng c coi l b cn di mc (underdamped). Trng hp
= 1 c gi l iu kin tt dn ti hn (critical damping).
t
y(t)
0
< 1
y
0

Hnh 2.5. p ng ca mt h thng l xo-vt-cn
= 1
> 1

th ca cc im cc v im khng ca Y(s) trong mt phng phc (mt
phng s) c th hin Hnh 2.6, trong gc = arccos. Vi tn s t nhin

n
l mt hng s v t s cn thay i, cc nghim ca phng trnh c trng
c qu tch nm trn mt ng trn c bn knh
n
trong trng hp phng
trnh c nghim phc, hay nm trn trc thc (trc ) ca mt phng s trong
trng hp phng trnh c nghim thc (Hnh 2.7).
Mi quan h gia v tr ca cc im cc v dng ca p ng theo thi gian
ca h thng c th hin trn th ca cc im cc v im khng. Bin i
Laplace v phng php mt phng s l nhng k thut rt c hiu qu trong vic
phn tch v thit k h thng khi trng tm l hiu sut ca p ng nht thi v
trng thi thng trc. Trong thc t, vn c quan tm ch yu i vi cc
h thng iu khin chnh l hiu sut ca p ng nht thi v trng thi thng
trc, chnh v vy cc k thut s dng bin i Laplace c gi tr v cng to ln
25
i vi chng ta.

2
n

n

n
- im khng
- im cc
2
1
n
i
2
1
n
i
0
Hnh 2.6. th cc im cc v im khng ca Y(s) trong mt phng s

= 1 > 1

n
i
n
i
n
0
Hnh 2.7. Qu tch nghim ca phng trnh c trng khi
n
khng i
> 1
< 1
< 1

2.5. Hm chuyn ca cc h thng tuyn tnh
Hm chuyn
1
(transfer function) ca mt h thng tuyn tnh c nh ngha l
t s gia bin i Laplace ca bin ra v bin i Laplace ca bin vo, vi gi
thit tt c cc iu kin ban u u bng khng. Hm chuyn ca mt h thng
(hay mt phn t) biu th mi quan h m t ng lc ca h thng c quan
tm.
Hm chuyn ch c th nh ngha c cho cc h thng tuyn tnh bt bin
(linear time-invariant system hay LTI) do bin i Laplace khng s dng c
cho cc h thng phi tuyn hay cc h thng bin i (time-varying system).

1
Thut ng thng c dng t trc ti nay l hm truyn. Tuy nhin, do khi nim chng ta ang
cp ti c dng biu din cc h thng cc bin vo v ra c th khc nhau v bn cht, t hm
truyn c dng y khng tht chnh xc v n khng phn nh c s chuyn ha xy ra trong h
thng. V vy, tc gi ca gio trnh ny ngh s dng thut ng hm chuyn thay th.
26
Thm na, hm chuyn m t hnh vi ca mt h thng di dng quan h vo-
ra, v vy m t bng hm chuyn khng cha nhng thng tin v cu trc bn
trong ca h thng.
Xem xt h thng l xo-vt-cn, c m t bi phng trnh (2.1), c bin
i Laplace l phng trnh (2.17). Vi cc iu kin ban u bng khng,
phng trnh (2.17) tr thnh:
Ms
2
Y(s) + fsY(s) + KY(s) = F(s) (2.32)
Hm chuyn ca h thng khi c xc nh nh sau:

K fs Ms
s F
s Y
s G
+ +
= =
2
1
) (
) (
) ( (2.33)
V d 2.2
Xem xt mt h thng l xo-vt-cn s dng hai vt v hai cn, v mch in
ng dng vi n (Hnh 2.8), da trn cp ng dng lc-dng in. Vn tc v
1
(t)
v v
2
(t) ca cc vt trong h thng c hc ng dng vi hiu in th v
1
(t) v
v
2
(t) ti cc im ca mch in. Gi thit cc iu kin ban u bng khng,
chng ta c c cc phng trnh ca h thng c hc:
M
1
sV
1
(s) + (f
1
+ f
2
)V
1
(s) f
1
V
2
(s) = F(s) (2.34)
0
) (
)] ( ) ( [ ) (
2
1 2 1 2 2
= + +
s
s V
K s V s V f s sV M (2.35)
M
2

M
1

K
f
1

f
2

F(t)
v
2
(t)
v
1
(t)
R
2
L C
2
i(t)
v
1
(t)
C
1

R
1

v
2
(t)
Hnh 2.8. H thng hai vt v mch in hai nt ng dng

c c cc phng trnh ca mch in ng dng, ch cn thay F(s) = I(s),
M
1
= C
1
, M
2
= C
2
, R
1
= 1/f
1
, R
2
= 1/f
2
, v L = 1/K vo hai phng trnh trn. Bin
i hai phng trnh (2.34) v (2.35) tr thnh:
(M
1
s + f
1
+ f
2
)V
1
(s) f
1
V
2
(s) = F(s) (2.36)
0 ) ( ) (
2 1 2 1 1
=

+ + + s V
s
K
f s M s V f (2.37)
27
hay c th vit di dng ma trn nh sau:

+ +
+ +
0
) (
) (
) (
2
1
1 2 1
1 2 1 1
s F
s V
s V
s
K
f s M f
f f f s M
(2.38)
Gii phng trnh (2.38) cho bin ra V
1
(s):

2
1 1 2 2 1 1
1 2
1
) )( (
) ( ) (
) (
f s K f s M f f s M
s F s K f s M
s V
+ + + +
+ +
= (2.39)
Hm chuyn ca h thng:

2
1 1 2 2 1 1
1 2 1
) )( (
) (
) (
) (
) (
f s K f s M f f s M
s K f s M
s F
s V
s G
+ + + +
+ +
= = (2.40)
V d 2.3
ng c mt chiu l mt thit b dn ng c chc nng lm chuyn ng mt
ti trng. S ca mt ng c mt chiu c biu din trn Hnh 2.9. K
hiu gc quay ca trc ng c theo thi gian l (t), vn tc gc l (t), mmen
qun tnh ca ti trng l J v h s ma st ca ti trng l f.

i
f
(t)
v
a
(t)
i
a
(t)
R
a
L
a

Ti trng
,
v
f
(t)
R
f

L
f

Hnh 2.9. S ca mt ng c mt chiu
Phn ng Phn trng

Hm chuyn ca ng c mt chiu s c thit lp cho mt xp x tuyn
tnh ca ng c trong thc t, b qua cc hiu ng bc hai nh tr v st th.
Hiu in th vo ca ng c c th t vo phn trng hoc phn ng. T
thng ca phn trng trong ng c l mt i lng t l vi dng in i
f
:
(t) = K
f
i
f
(t) (2.41)
K
f
l mt hng s. Mmen quay ca trc ng c c coi l c quan h
tuyn tnh vi v dng in trong phn ng theo cng thc sau:
T
m
(t) = K
1
(t)i
a
(t) = K
1
K
f
i
f
(t)i
a
(t) (2.42)
h thng c m t bng phng trnh (2.42) tuyn tnh, mt trong hai dng
in phi c cng c gi khng i, dng in cn li c cng thay
i s l tn hiu vo ca h thng. Trc ht chng ta s xem xt ng c iu
khin bi dng in ca phn trng. Trong trng hp ny, dng in ca phn
ng c cng i
a
(t) = I khng i. p dng bin i Laplace cho phng trnh
28
(2.42), chng ta c:
T
m
(s) = (K
1
K
f
I)I
f
(s) = K
m
I
f
(s) (2.43)
K
m
= K
1
K
f
I c gi l h s ca ng c. Theo nh lut Kirchhoff, mi
quan h gia cng dng in v hiu in th ca phn trng c th hin
bng phng trnh:

dt
t di
L t i R t v
f
f f f f
) (
) ( ) ( + = (2.44)
hay di dng ca bin i Laplace:
V
f
(s) = R
f
I
f
(s) + L
f
[sI
f
(s) i
f
(0)] = (R
f
+ L
f
s)I
f
(s) (2.45)
Mmen quay trn trc ng c bao gm mmen ca ti trng v mmen to bi
tc ng ca nhiu:
T
m
(t) = T
L
(t) + T
d
(t) (2.46)
trong mmen ca ti trng T
L
(t) c tnh bi cng thc:

dt
t d
f
dt
t d
J t T
L
) ( ) (
) (
2
2

+ = (2.47)
Bin i Laplace ca (2.47):
T
L
(s) = J[s
2
(s) s(0) (0)] + f[s(s) (0)] = s(Js + f)(s) (2.48)
B qua tc ng ca nhiu, t cc phng trnh (2.43), (2.46) v (2.48) chng ta
s thu c:
K
m
I
f
(s) = s(Js + f)(s) (2.49)
T (2.45), chng ta c:

s L R
s V
s I
f f
f
f
+
=
) (
) ( (2.50)
Thay (2.50) vo (2.49):
) ( ) )( ( ) ( s s L R f Js s s V K
f f f m
+ + = (2.51)
Hm chuyn ca h thng bao gm c ng c v ti trng l:

) )( ( ) (
) (
) (
s L R f Js s
K
s V
s
s G
f f
m
f
f
+ +
= = (2.52)
hay:

) 1 )( 1 (
) (
) (
+ +
=
s s s
fR K
s G
L f
f m
f

(2.53)

f
= L
f
/R
f
l h s thi gian ca phn trng ca ng c v
L
= J/f l h s
thi gian ca ti trng. Thng th
L
>
f
v
f
c th b qua c. M hnh s
khi ca ng c iu khin bi phn trng c th hin trong Hnh 2.10,
29
vi (s) v (s) l cc bin i Laplace ca (t) v (t).
Vi ng c mt chiu iu khin bi phn ng, cng dng in ca
phn trng i
f
(t) = I khng i. Khi , mmen quay ca ng c, biu din di
dng bin i Laplace s l:
T
m
(s) = (K
1
K
f
I)I
a
(s) = K
m
I
a
(s) (2.54)
Quan h gia I
a
(s) v V
a
(s) c biu din bng phng trnh:
V
a
(s) = (R
a
+ L
a
s)I
a
(s) + V
b
(s) (2.55)
s L R
f f
+
1
K
m

V
f
(s) I
f
(s) T
m
(s) T
L
(s)
T
d
(s)
f Js +
1

(s)
s
1

(s)
Hnh 2.10. M hnh s khi ca ng c iu khin bi phn trng
+


Chng ta c th thy, khc vi trng hp ca ng c iu khin bi phn
trng c th hin trong phng trnh (2.45), y xut hin thnh phn V
b
(s)
l bin i Laplace ca hiu in th ca sut phn in ng v
b
(t). i lng
ny t l vi vn tc quay ca ng c:
V
b
(s) = K
b
(s) (2.56)
K
b
l h s ca sut phn in ng. T (2.54) v (2.56), chng ta c cng thc
biu din I
a
(s) theo V
a
(s):

s L R
s K s V
s I
a a
b a
a
+

=
) ( ) (
) ( (2.57)
Tng t nh phng trnh (2.49) ca ng c iu khin bi phn trng,
chng ta c:
K
m
I
a
(s) = s(Js + f)(s) (2.58)
Thay (2.57) vo (2.58):
K
m
[V
a
(s) K
b
(s)] = s(Js + f)(R
a
+ L
a
s)(s) (2.59)
hay:
K
m
V
a
(s) = s(Js + f) (R
a
+ L
a
s)(s) + K
b
K
m
s(s) (2.60)
Hm chuyn ca h thng bao gm c ng c v ti trng l:

] ) )( [( ) (
) (
) (
m b a a
m
a
a
K K s L R f Js s
K
s V
s
s G
+ + +
= = (2.61)
Trong nhiu ng c mt chiu, h s thi gian ca phn ng
a
= L
a
/R
a
c th
b qua c. Khi :
30

) 1 (
) (
] ) [(
) (
1
+
+
=
+ +
=
s s
K K fR K
K K R f Js s
K
s G
m b a m
m b a
m
a

(2.62)
vi
1
l h s thi gian ca h thng bao gm ng c v ti trng:

m b a
a
K K fR
JR
+
=
1
(2.63)
M hnh s khi ca ng c iu khin bi phn ng c th hin trong
Hnh 2.11. Trong m hnh ny, khi phn hi K
b
sinh ra do sut phn in ng
ca bn thn ng c ch khng phi s dng cho mc ch iu khin, v vy
y vn l mt h thng kiu vng h.
+
T
m
(s)
s L R
K
a a
m
+

V
a
(s) T
L
(s)
T
d
(s)
f Js +
1

(s)
s
1

(s)
Hnh 2.11. M hnh s khi ca ng c iu khin bi phn ng

+
K
b



Hm chuyn l mt khi nim v cng quan trng v n cung cp cho cc nh
phn tch v thit k m hnh ton hc ca cc phn t ca h thng. Chng ta s
cn c thy gi tr ca hm chuyn trong n lc nhm m hnh ha cc h
thng ng. Phng php s dng hm chuyn v cng hu ch bi v p ng
nht thi ca h thng c m t bi v tr cc im cc v im khng ca
hm chuyn trong mt phng s.
2.6. M hnh s khi
Cc h thng ng, bao gm c cc h thng iu khin t ng, c biu din
mt cch ton hc bng cc h phng trnh vi phn. Nh chng ta c bit
ti trong cc mc trc, vic s dng bin i Laplace cho php quy vn phn
tch h thng v vic gii cc phng trnh i s tuyn tnh. Bi v nhim v ca
cc h thng iu khin l iu khin mt s bin nht nh, cc mi quan h
tng h gia cc bin c iu khin v cc bin iu khin cn phi c xc
nh. Nhng mi quan h ny thng c biu din di dng hm chuyn ca
cc h thng con, th hin s lin h gia cc bin vo v ra. V vy chng ta c
th nhn nh rng hm chuyn l mt quan h quan trng trong k thut iu
khin.
Tm quan trng ca mi quan h nhn-qu biu th bi hm chuyn cn c
th hin khi chng ta cn biu din cc mi quan h gia cc bin ca h thng
di dng s . Biu din s khi ca cc mi quan h trong h thng c
s dng rt ph bin trong k thut iu khin. S khi bao gm cc khi vn
hnh mt chiu, biu din hm chuyn ca cc bin c quan tm. Chng ta
31
bit n v d v s khi mc trc (Hnh 2.10 v 2.11), biu din hm
chuyn ca cc phn t ca ng c mt chiu.
Hm chuyn ch th hin mi quan h gia mt bin vo v mt bin ra.
biu din mt h thng c nhiu bin cn c iu khin, s lin kt khi
c s dng. S lin kt khi ca mt h thng c hai bin vo v hai bin ra
c th hin trong Hnh 2.12. Chng ta c th vit h phng trnh cho cc bin
ra ca h thng nh sau:
C
1
(s) = G
11
(s)R
1
(s) + G
12
(s)R
2
(s) (2.64)
C
2
(s) = G
21
(s)R
1
(s) + G
22
(s)R
2
(s) (2.65)
G
ij
(s) l hm chuyn biu din mi quan h gia bin vo th j v bin ra
th i. Mt cch tng qut, cho mt h thng c J bin vo v I bin ra, chng ta
c th vit h phng trnh di dng ma trn:

) (
...
) (
) (
) (
...
) (
) (
...
...
...
...
) (
...
) (
) (
) (
...
) (
) (
2
1
2
1
1
21
11
2
1
s R
s R
s R
s G
s G
s G
s G
s G
s G
s C
s C
s C
J IJ
J
J
I I
(2.66)
hay:
C = GR (2.67)
C v R l cc ma trn ct cha I bin ra v J bin vo, cn ma trn G c
kch thc IJ c gi l ma trn hm chuyn. Biu din ma trn ca mi quan
h tng h gia nhiu bin c bit c gi tr i vi cc h thng iu khin a
bin phc tp.

G
11
(s)
G
22
(s)
G
21
(s)
G
12
(s)
R
1
(s)
R
2
(s)
C
1
(s)
C
2
(s)
+
+
+
+
Hnh 2.12. S lin kt khi ca mt h thng nhiu bin

S khi ca mt h thng c th rt gn c bng cc k thut rt gn s
khi tr thnh mt s khi n gin hn vi t khi hn s ban u.
Cc k thut bin i v rt gn s khi xut pht t cc php bin i i s
vi cc bin ca s . V d, vi mt s khi bao gm hai khi ni tip nhau
nh trong Hnh 2.13, chng ta c:
X
3
(s) = G
2
(s)X
2
(s) = G
2
(s)G
1
(s)X
1
(s) (2.68)
32
V vy, s khi trong Hnh 2.13 c th rt gn c thnh mt s ch c
mt khi vi bin vo l X
1
(s), bin ra l X
3
(s) v hm chuyn l G
1
(s)G
2
(s).
G
1
(s) G
2
(s)
X
1
(s) X
2
(s) X
3
(s)
Hnh 2.13. S khi ca h thng gm hai khi ni tip

V d th hai l mt h thng iu khin phn hi m (Hnh 2.14). Tn hiu
sai lch c a vo khi G(s) l:
E
a
(s) = R(s) B(s) = R(s) H(s)C(s) (2.69)
Tn hiu ra ca h thng:
C(s) = G(s)E
a
(s) = G(s)[R(s) H(s)C(s)] (2.70)
hay:
C(s)[1 + G(s)H(s)] = G(s)R(s) (2.71)
G(s)
H(s)
R(s) C(s) E
a
(s)
B(s)
+

Hnh 2.14. H thng iu khin phn hi m

V vy, s khi trong Hnh 2.14 c th rt gn c thnh mt s ch c
mt khi vi bin vo l R(s), bin ra l C(s) v hm chuyn l:

) ( ) ( 1
) (
) (
) (
s H s G
s G
s R
s C
+
= (2.72)
Hm chuyn vng kn (2.72) rt quan trng v n s c s dng rt nhiu trong
cc h thng iu khin trong thc t.
Mt s php bin i s khi thng dng c gii thiu trong bng di
y. Phn tch h thng bng phng php rt gn s khi gip ta hiu r hn
vai tr ca mi phn t trong h thng, so vi vic rt gn bng cch bin i cc
phng trnh.
Bng 2.2. Mt s php bin i s khi
Tn php
bin i
S ban u S tng ng
Kt hp
cc khi
ni tip

G
1
(s) G
2
(s)
X
1
(s) X
2
(s) X
3
(s)


G
1
(s)G
2
(s)
X
1
(s) X
3
(s)

33
Chuyn
im cng
tn hiu ra
sau khi
G(s)
X
1
(s) X
3
(s)
+

X
2
(s)


G(s)
X
1
(s) X
3
(s)
+

X
2
(s)
G(s)
Chuyn
im chia
tn hiu ra
trc khi
G(s)
X
1
(s) X
2
(s)
X
2
(s)

G(s)
X
1
(s) X
2
(s)
G(s)
X
2
(s)

Chuyn
im chia
tn hiu ra
sau khi
G(s)
X
1
(s) X
2
(s)
X
1
(s)


G(s)
X
1
(s) X
2
(s)
X
1
(s)
1/G(s)

Chuyn
im cng
tn hiu ra
trc khi
G(s)
X
1
(s) X
3
(s)
+

X
2
(s)


G(s)
X
1
(s) X
3
(s)
+

X
2
(s)
1/G(s)

Loi b
vng phn
hi

G(s)
X
1
(s)
+

X
2
(s)
H(s)


) ( ) ( 1
) (
s H s G
s G
m

X
1
(s) X
2
(s)

V d 2.4
Hnh 2.15 l s khi ca mt h thng iu khin phn hi nhiu vng. Cc
bc c thc hin rt gn s ny c th hin trong Hnh 2.16ad.
G
1
G
2
G
3
G
4

H
1

H
2

H
3

+

+
+
+

R(s) C(s)
Hnh 2.15. S khi ca mt h thng iu khin phn hi nhiu vng

Biu din cc h thng iu khin phn hi bng s khi l mt phng
php rt c gi tr v c s dng rng ri. S khi cung cp cho chng ta
hnh nh trc quan ca cc mi quan h tng h gia cc bin c iu khin
34
v cc bin vo ca h thng. Hn na, vic s dng s khi cho php chng
ta hnh dung c cc kh nng sa i s khi bng cch thm cc khi vo
s ang c nhm lm thay i v tng hiu sut ca h thng.

G
1
G
2
G
3
G
4

H
1

H
2
/G
4

H
3

+

+
+
+

R(s) C(s)
(a)

G
1
G
2

1 4 3
4 3
1 H G G
G G

H
2
/G
4

H
3

+

+

R(s) C(s)
(b)
G
1

2 3 2 1 4 3
4 3 2
1 H G G H G G
G G G
+
H
3

+

R(s) C(s)
(c)


3 4 3 2 1 2 3 2 1 4 3
4 3 2 1
1 H G G G G H G G H G G
G G G G
+ +
R(s) C(s)
(d)
Hnh 2.16(a) (d). Cc bc rt gn s khi ca h thng iu khin phn
hi nhiu vng trong Hnh 2.15

2.7. M hnh lu tn hiu
Cc m hnh s khi biu din cc mi quan h gia cc bin cn iu
khin v cc bin vo ca h thng. Tuy nhin, vi cc h thng tng i phc
tp, vic thc hin th tc rt gn s khi kh l rc ri v thng rt kh
hon thnh trn vn. Mt la chn khc cho vic xc nh mi quan h gia cc
35
bin ca h thng l phng php biu din h thng bng th, c pht trin
bi Mason v c gi l phng php lu tn hiu. im mnh ca phng
php ny l cng thc tnh gia lng (gain) ca lu , cho php xc nh quan
h gia cc bin h thng m khng cn ti vic rt gn hay bin i lu .
Vic chuyn i t dng biu din s khi sang dng th kh n gin.
Lu tn hiu (signal-flow graph) l mt th c nhiu nt c ni vi nhau
bi cc nhnh c hng nhm biu din mt tp hp cc quan h tuyn tnh. Lu
tn hiu c bit hu ch cho cc h thng iu khin phn hi bi v mi quan
tm ch yu ca l thuyt phn hi l s lu chuyn v x l tn hiu trong cc
h thng. Phn t c s ca mt lu tn hiu l mt on n hng c gi
l nhnh (branch), biu th s ph thuc gia mt bin vo v mt bin ra, tng
t nh mt khi trong s khi. Cc im vo v ra hay cc im chuyn tip
c gi l cc nt (node). Mt lu tng ng vi s khi trong Hnh
2.12 c th hin trong Hnh 2.17. Tt c cc nhnh xut pht t mt nt s
chuyn tn hiu ca nt ti nt ra ca mi nhnh. Tn hiu ti mi nt, tr cc
nt tn hiu vo, l tng ca tn hiu do tt c cc nhnh i vo nt mang ti.
Mt ng dn (path) l mt nhnh hay mt chui lin tip cc nhnh theo c
th i t mt nt (tn hiu) ti mt nt (tn hiu) khc. Mt vng (loop) l mt
ng dn ng kn xut pht v kt thc ti cng mt nt v trn ng dn
khng c nt no c i qua hn mt ln.

R
1
(s)
R
2
(s)
C
1
(s)
C
2
(s)
G
11
(s)
G
22
(s)
G
21
(s)
G
12
(s)
Hnh 2.17. th dng tn hiu ca mt h thng lin kt

Lu chnh l mt phng php trc quan biu din cc h phng trnh
i s, nhm th hin s ph thuc ln nhau ca cc bin. lm v d, xem xt
h phng trnh i s sau y:
a
11
x
1
+ a
12
x
2
+ r
1
= x
1
(2.73)
a
21
x
1
+ a
22
x
2
+ r
2
= x
2
(2.74)
r
1
, r
2
l cc bin vo v x
1
, x
2
l cc bin ra. Lu biu din h phng
trnh trn c th hin trong Hnh 2.18. Vit li h phng trnh di dng:
(1 a
11
)x
1
+ (a
12
)x
2
= r
1
(2.75)
(a
21
)x
1
+ (1 a
22
)x
2
= r
2
(2.76)
Nghim ca h phng trnh:
2
12
1
22
21 12 22 11
2 12 1 22
1
1
) 1 )( 1 (
) 1 (
r
a
r
a
a a a a
r a r a
x

=

+
= (2.77)
36
2
11
1
21
21 12 22 11
1 21 2 11
2
1
) 1 )( 1 (
) 1 (
r
a
r
a
a a a a
r a r a
x

=

+
= (2.78)
l nh thc ca h phng trnh (2.75)(2.76) v c tnh nh sau:
= (1 a
11
) (1 a
22
) a
12
a
21
= 1 (a
11
+ a
22
+ a
12
a
21
) + a
11
a
22
(2.79)
Trong lu Hnh 2.18 c tt c ba vng: a
11
, a
22
v a
12
a
21
, a
11
v a
22

c gi l cc vng khng ct nhau bi chng khng c nt no chung.

r
1

r
2

1
1
x
1

x
2

a
11

a
22

a
21
a
12

Hnh 2.18. Lu ca mt h phng trnh i s

Trng hp tng qut, s ph thuc tuyn tnh T
ij
gia mt bin c lp r
i

(thng c gi l bin vo) vi mt bin ph thuc x
j
c xc nh bng quy
tc vng ca Mason:

k
ij ij
ij
k k
P
T (2.80)
:
P
ij
k
: gia lng ca ng dn th k t nt r
i
n nt x
j
trong lu , c
tnh bng tch cc gia lng (hay hm chuyn) ca tt c cc nhnh ca
ng dn
: nh thc ca lu

ij
k
: nh thc ca lu sau khi loi tr cc vng ct vi ng dn
th k t nt r
i
n nt x
j

Phn tng trong cng thc (2.80) bao gm tt c cc ng dn c th t nt r
i

n nt x
j
. Gi s lu c tt c N vng vi gia lng ca cc vng l L
1
, L
2
,...,
L
N
, nh thc ca lu khi s c tnh nh sau:

=
=
N
i
i
L
1
1
+

{L
i
L
j
| 2 vng i v j khng ct nhau}

{L
i
L
j
L
k
| 3 vng i, j v k i mt khng ct nhau}
+ ...
37
V d 2.5
Quay li v d 2.4, lu tn hiu ca h thng iu khin phn hi nhiu vng
trong v d c th hin trong Hnh 2.19. Lu c ba vng vi gia lng
ca cc vng ln lt l L
1
= G
2
G
3
H
2
, L
2
= G
3
G
4
H
1
v L
3
= G
1
G
2
G
3
G
4
H
3
.
Tng i mt trong c ba vng ny u ct nhau. V vy, chng ta tnh c nh
thc ca lu nh sau:
= 1 (G
2
G
3
H
2
+ G
3
G
4
H
1
G
1
G
2
G
3
G
4
H
3
)
= 1 + G
2
G
3
H
2
G
3
G
4
H
1
+ G
1
G
2
G
3
G
4
H
3
(2.81)
R(s) C(s)
1 G
1
G
2
G
3
G
4

H
1

H
2

H
3

1 1
Hnh 2.19. Lu tn hiu ca mt h thng iu khin phn hi nhiu vng

ng dn duy nht t R(s) n C(s) trong lu c gia lng l:
P
1
= G
1
G
2
G
3
G
4
(2.82)
Do ng dn ny ct c ba vng ca lu , khi loi b ba vng ny lu s
khng cn vng no, v vy
1
= 1. T , chng ta tnh c hm chuyn ca h
thng:

3 4 3 2 1 1 4 3 2 3 2
4 3 2 1 1 1
1 ) (
) (
) (
H G G G G H G G H G G
G G G G P
s R
s C
s T
+ +
=

= = (2.83)
Lu tn hiu v cng thc tnh gia lng ca lu c th s dng c
trong vic phn tch cc h thng iu khin phn hi, my tnh tng t, cc
mch khuych i, cc h thng thng k, cc h thng c hc, v nhiu ng
dng khc na.
Bi tp
Bi 2.1. Mt nhit in tr c p ng vi nhit l R = R
0
e
0,1T
, gi tr
in tr R
0
= 10.000, R l in tr () v T l nhit (
o
C). Xc nh m hnh
tuyn tnh ca nhit in tr ti T = 20
o
C cho mt khong thay i nh ca nhit
.
Bi 2.2. Mt my in laser c v tr ca u laser c iu khin bi mt tn hiu
vo r(t). Bin i Laplace ca phng trnh biu din quan h gia r(t) v v tr
y(t) ca u laser l:
) (
500 60
) 100 ( 500
) (
2
s R
s s
s
s Y
+ +
+
=
(a) Xc nh p ng y(t) ca h thng khi tn hiu vo r(t) l hm nhy bc
n v (r(t) = 0 khi t < 0 v r(t) = 1 khi t 0).
38
(b) Xc nh gi tr cui cng (trng thi thng trc) ca y(t) trong trng
hp (a).
Bi 2.3. Mt mch lc c tc dng lc cc thnh phn c tn s cao (hnh v
di). Xc nh hm chuyn V
2
(s)/V
1
(s).
v
1
(t) v
2
(t)
C
1

L
C
2


Bi 2.4. Mt thit b phi tuyn c biu din bng phng trnh y = f(x) = x .
im lm vic ca thit b l ti x
0
= 0,5. Xc nh xp x tuyn tnh ca thit b.
Bi 2.5. Thit lp cc phng trnh vi phn m t hot ng ca mch in trong
hnh v di.
~ v(t)
R
1

R
2

C
1

L
1

L
2

C
2

i
1
(t) i
2
(t)

Bi 2.6. Mt h thng chng rung c th hin trong hnh v di. Khi lng
ca vt M
2
v h s n hi ca l xo K
2
c chn sao cho vt c khi lng M
1

s khng di chuyn nu lc F(t) = sin
o
t.
(a) Thit lp cc phng trnh vi phn m t h thng.
(b) V mch in ng dng vi h thng ny, da trn cp ng dng lc-
dng in.
39
F(t) K
1

K
2

M
1

M
2

f
y
1
(t)
y
2
(t)

Bi 2.7. Mt b khuych i phi tuyn c c tnh c m t nh sau:

<

=
0 khi
0 khi
) (
vo
2
vo
vo
2
vo
ra
v v
v v
t v
B khuych i hot ng trong khong 0,5V quanh im lm vic. M t b
khuych i bng mt xp x tuyn tnh khi im lm vic l v
vo
= 0V v khi
im lm vic l v
vo
= 1V.
Bi 2.8. S dng bin i Laplace tnh I
2
(s) trong bi 2.5, vi gi thit v(t) = 0,
i
1
(0) = 0, i
2
(0) = 0, hiu in th ban u trn t C
1
bng khng v hiu in th
ban u trn t C
2
bng 10V.
Bi 2.9. Xc nh hm chuyn ca mch vi phn trong hnh v di
v
1
(t) v
2
(t)
C
R
1

R
2


Bi 2.10. Cng nh sng ca mt bng n c gi khng i nh s dng
mt vng phn hi iu khin bng transitor quang. Lu ca h thng c
th hin trong hnh v di, I(s) l cng nh sng ca n v R(s) l
mc nh sng mong mun. Tnh hm chuyn I(s)/R(s).
40

R(s) I(s)
1 G
1
(s) G
2
(s)
H(s)

Bi 2.11. Mt h thng phanh chng b cng cho bn bnh ca t s dng
phn hi in t t ng iu khin lc phanh trn mi bnh. Lu n gin
ca h thng c biu din trong hnh v di, F
f
(s) v F
r
(s) l lc phanh
trn cc bnh trc v sau, cn R(s) l p ng mong mun ca xe trn ng
trn trt. Xc nh F
f
(s)/R(s).

R(s)
F
f
(s)
F
r
(s)
1 G
1
(s)
G
2
(s)
G
3
(s)
H
1
(s)
H
2
(s)

Bi 2.12. Lu tn hiu ca mt h thng li tu thy c th hin trong hnh
v di, C(s) l hng i thc s ca tu, R(s) l hng i mong mun v
A(s) l gc quay ca bnh li. Xc nh hm chuyn C(s)/R(s).

R(s) C(s)
A(s)
1 K 1 G
1
(s) G
2
(s)
H
2
(s)
H
3
(s)
H
1
(s)
1
1/s

Bi 2.13. Mt h thng gim xc ch ng cho xe chy trn nhng a hnh phc
tp s dng mt cm bin c kh nng nhn bit c iu kin ng x pha
trc. H thng c kh nng ch ng thch ng xe khng b ny khi xe i vo
nhng ch g gh. S khi ca h thng c biu din trong hnh v di.
Xc nh K
1
ph hp xe khng b xc ( ny mong mun R(s) = 0).
41

K
1

K
2
G(s)
ny
mong
mun
R(s)
ny
thc s
C(s)
ng lc
ca xe
Tr ngi trn ng
D(s)
Cm nhn tr ngi
trn ng
+

+
+

Bi 2.14. Mt mch cu T c hm chuyn nh sau:
2 2
2 1 2 1
2 2
2 1 1
vo
ra
) 2 ( 1
2 1
) (
) (
s C R R Cs R R
s C R R Cs R
s V
s V
+ + +
+ +
=
V th cc im cc v im khng khi R
1
= 0,5; R
2
= 1 v C = 0,5.
Bi 2.15. Amplidyne l mt thit b khuych i cng sut c h s khuych i
cc ln (hnh v di), c hm chuyn l:
) 1 )( 1 (
) (
) (
) (
+ +
=
q c
q c
c
d
s s
R R K
s V
s V


, K l mt hng s,
c
= L
c
/L
c
v
q
= L
q
/L
q
.
v
c
L
c

R
c

i
c

i
q

R
q

L
q

i
d

L
d

v
d

R
d


Mt h thng iu khin ng c s dng amplidyne c th hin trong hnh v
di. Xc nh hm chuyn (s)/V
c
(s) v v s khi ca h thng.
42
v
c
L
c

R
c

i
c

i
q

R
q

L
q

i
d

L
d

i
f
= I
R
d
R
a

L
a

J, f


Bi 2.16. Mt ng c mt chiu iu khin bi phn trng (i
a
= I khng i)
c biu din trong hnh v di. Chuyn ng ca trc ng c c truyn
ti trc ca ti trng bng c cu khp bnh rng c h s truyn l n = N
1
/N
2
.
Mmen qun tnh v h s ma st ca trc ng c l J
m
v f
m
. Mmen qun tnh
v h s ma st ca ti trng l l J
L
v f
L
. Tnh hm chuyn ca h thng

L
(s)/V
f
(s).

i
f

i
a

v
a

R
a
L
a

Ti trng
v
f

R
f

L
f

L
,
L

J
L
, f
L

J
m
, f
m

N
1

N
2


Bi 2.17. Xem xt mt h thng bao gm mt ng c mt chiu iu khin bi
phn trng v ti trng. Thi gian tc quay ca ti trng t c 1rad/s
l 0,5s khi a mt hiu in th u vo khng i l 100V. Tc ca ti
trng khi h thng t ti trng thi thng trc l 2rad/s. Xc nh hm chuyn
ca h thng (s)/V
f
(s), vi gi thit h s thi gian ca phn trng ca ng c
c th b qua c.
Bi 2.18. Mt h phng trnh i s c biu din di dng ma trn nh sau:
43

3
2
1
3
2
1
1
4
0
0
1
1
2
0
3
x
x
x
x
x
x

V lu tn hiu ca h phng trnh v tnh nh thc ca h thng bng quy
tc vng ca Mason.
Bi 2.19. Thit lp lu tn hiu cho h phng trnh sau, x
1
, x
2
l cc bin
ph thuc v hai gi tr 8 v 13 l cc gi tr vo:
x
1
+ 2 x
2
= 8
2x
1
+ 3x
2
= 13
Tnh gi tr ca cc bin ph thuc bng quy tc vng ca Mason.
Bi 2.20. Mt mch in c m t bng h phng trnh sau y:
i
1
= (v
1
v
a
)L
1

i
a
= (v
a
v
2
)L
2

v
a
= (i
1
i
a
)C
1

v
2
= i
a
C
2

v
1
l bin vo, v
2
l bin ra, cn i
1
, i
a
v v
a
l cc bin ph thuc khc. Thit
lp lu ca h v xc nh hm chuyn V
2
(s)/V
1
(s).
Bi 2.21. Lu tn hiu ca mt mch khuych i thut ton khng o c
biu din trong hnh v di, k = (R
1
+ R
f
)/R
1
. Tnh h s khuych i ca
mch v
ra
/v
vo
.

e
vo
v
vo
v
ra

1 A
k

Bi 2.22. Lu tn hiu ca mt h thng iu khin vi hai bin vo v hai
bin ra c th hin trn hnh v di. Xc nh C
1
(s)/R
1
(s) v C
2
(s)/R
1
(s) khi
R
2
(s) bng khng.
R
1

R
2

C
1

C
2

1
1
G
1
G
2

G
3
G
4

G
5
G
6

H
1

H
2


44
Chng III

CC M HNH BIN TRNG THI

Tm tt ni dung
Chng ta dng bin i Laplace m t hot ng ca cc h thng phn
hi. Tuy nhin, cn phi nh rng p ng ca h thng theo thi gian mi thc
s l vn c quan tm ch yu. Chng ny s cp ti mt phng php
phn tch h thng ngay trong min thi gian.
Cc phng trnh vi phn m t mt h thng iu khin s c xem xt v
mt dng phng trnh thch hp c chn. Mt tp cc bin trng thi c s
dng bin i cc phng trnh vi phn thnh h phng trnh vi phn bc
nht. Cc phng php tnh ton ma trn s c s dng xc nh p ng
theo thi gian ca mt h thng iu khin. Nhng phng php tnh ton ma
trn trong min thi gian cho php chng ta d dng xy dng gii thut gii
cc bi ton ny bng my tnh. Mt u im ca m hnh bin trng thi l n
cho php m hnh ha c cc h thng phi tuyn, l iu m cc m hnh da trn
bin i Laplace khng th lm c. Mc d vic phn tch cc h thng phi
tuyn khng nm trong phm vi ca cun sch ny, chng ta vn s a ra mt
phng php n gin cho php tnh ton p ng theo thi gian ca mt h
thng phi tuyn nhm minh ha cho s u vit ni trn ca m hnh bin trng
thi, l phng php xp x theo thi gian ri rc.
3.1. Gii thiu
Trong chng trc, chng ta nghin cu vic s dng bin i Laplace
bin cc phng trnh vi phn m t h thng thnh phng trnh i s ca mt
bin phc s. Chng ta c th d dng gii cc phng trnh i s ny thu
c hm chuyn biu din mi quan h gia bin vo v bin ra ca h thng.
Cc phng php trong min tn s v vn s l nhng cng c v cng quan
trng trong k thut iu khin. Tuy nhin, nhng hn ch ca cc phng php
trong min tn s i hi chng ta phi xem xt cc phng php gii phng
trnh vi phn biu din h thng trong min thi gian.
Nh chng ta bit, cc k thut trong min tn s thng ch p dng cho
cc h thng tuyn tnh c tham s bt bin theo thi gian. Thm na, kh nng
p dng cc k thut ny cho cc h thng a bin cng rt hn ch bi v hm
chuyn ch biu th mi quan h ca mt cp bin vo-ra. Ngc li, cc k thut
trong min thi gian c th s dng c cho cc h thng phi tuyn, cc h
thng bin i hay cc h thng a bin. V d v mt h thng bin i l mt
qu tn la, vi trng lng l mt tham s thay i do nhiu liu b t chy
trong khi bay. V d v cc h thng phi tuyn hay a bin cng rt nhiu, v
phn ln cc h thng iu khin trong thc t l cc h thng phi tuyn v a
bin.
Min thi gian bao gm c p ng v m t ca mt h thng theo i lng
45
thi gian, t. Biu din trong min thi gian ca cc h thng iu khin l c s
ca l thuyt iu khin hin i v ti u h thng. Trong chng ny, chng ta
s phn tch biu din trong min thi gian ca cc h thng iu khin v cc
phng php xc nh p ng theo thi gian ca h thng.
3.2. Bin trng thi ca mt h thng ng
Phng php phn tch v thit k cc h thng iu khin trong min thi gian
s dng khi nim trng thi ca h thng. Trong mt h thng ng, trng thi
(state) ca h thng c m t bng mt tp hp cc bin trng thi (state
variables) {x
1
(t), x
2
(t),..., x
n
(t)}. Cc bin trng thi l nhng bin quyt nh
hnh vi ca h thng trong trong tng lai khi trng thi hin thi ca h thng
v cc tn hiu vo c bit. Vi mt h thng nh vy, cho bit cc tn hiu
vo v gi tr khi u ca cc bin trng thi ti thi im t
0
l {x
1
(t
0
), x
2
(t
0
),...,
x
n
(t
0
)}, chng ta c th xc nh gi tr ca cc tn hiu ra v cc bin trng thi
ti bt c thi im no trong tng lai.
Mt v d n gin v bin trng thi l trng thi ca mt cng tc ON/OFF.
Cng tc c th v tr ON hoc OFF nn gi tr ca bin trng thi ca cng tc
ti mi thi im s l mt trong hai gi tr ny. Nu cng tc ang trng thi
OFF v c mt tn hiu vo (nhn cng tc) th trng thi tip theo ca cng tc
s l ON v ngc li.
Xem xt li v d v h thng l xo-vt-cn trong Hnh 2.1, c m t bng
phng trnh (2.1). m t h thng ny bng phng php bin trng thi,
chng ta chn hai bin trng thi l v tr v vn tc ca vt. S dng hai bin
trng thi x
1
v x
2
: x
1
(t) = y(t) v x
2
(t) = dy(t)/dt, phng trnh (2.1) c th vit li
nh sau:
) ( ) ( ) (
) (
1 2
2
t F t Kx t fx
dt
t dx
M = + + (3.1)
Do vy, chng ta c th bin i phng trnh vi phn bc hai (2.1) thnh mt h
hai phng trnh vi phn bc nht:

) (
1
1 2
2
2
1
t F
M
x
M
K
x
M
f
dt
dx
x
dt
dx
+ =
=
(3.2)
H phng trnh vi phn ny m t hnh vi ca h thng bng tc thay i ca
hai bin trng thi.
V d th hai l mt mch RLC (Hnh 3.1). Trng thi ca h thng c th m
t c bng hai bin x
1
v x
2
, x
1
l hiu in th v
c
(t) trn t in v x
2
bng
cng i
L
(t) ca dng in i qua cun cm. S la chn cc bin trng thi
ny da trn vic chng l hai i lng c dng xc nh nng lng tch
trong mch:

2
2 2
c L
Cv Li
E
+
= (3.3)
46
V vy, x
1
(t
0
) v x
2
(t
0
) i din cho nng lng tng cng ca mng, ngha l
trng thi ca mng, ti thi im t = t
0
. Trong mt mng RLC th ng, s bin
trng thi cn phi bng s lng cc phn t tch nng lng trong mch. p
dng cc nh lut Kirchhoff cho dng in v hiu in th, chng ta c c
cc phng trnh sau y:

dt
dv
C i
c
c
= (3.4)
v:

L c
L
Ri v
dt
di
L = (3.5)

R
L
C
i(t) v
ra

Hnh 3.1. Mt mch RLC
v
c

i
c

i
L


Dng in sinh ra bi ngun dng r thnh hai nhnh trong mch:
i(t) = i
c
+ i
L
(3.6)
T cc phng trnh (3.4), (3.5) v (3.6), chng ta thit lp c hai phng
trnh vi phn bc nht vi hai bin trng thi x
1
v x
2
:
) (
1 1
2
1
t i
C
x
C dt
dx
+ = (3.7)
2 1
2
1
x
L
R
x
L dt
dx
= (3.8)
Tn hiu ra ca h thng:
v
ra
(t) = Ri
L
= Rx
2
(3.9)
S dng cc phng trnh (3.7), (3.8), (3.9) v cc iu kin ban u x
1
(t
0
) v
x
2
(t
0
), chng ta c th xc nh hnh vi ca h thng trong tng lai cng nh tn
hiu ra ca n.
Tp hp cc bin trng thi c chn khng phi l mt tp hp duy nht,
m chng ta c th c nhiu la chn khc nhau. Trong v d trn, bt k hai t
hp tuyn tnh no ca x
1
(t) v x
2
(t) c lp vi nhau u c th l cp bin trng
thi ca h thng. Trong thc t, ngi ta thng chn cc bin trng thi l
nhng bin c th o c c mt cch d dng.
Mt phng php khc xy dng m hnh ca mt h thng l s dng
th lin kt. th lin kt c th s dng c cho cc h thng in, c, thy
lc, nhit... cng nh cc h thng kt hp nhiu loi phn t khc nhau. th
47
lin kt s sinh ra h phng trnh di dng bin trng thi.
Cc bin trng thi ca mt h thng c trng cho hot ng ca h thng
. Mi quan tm chnh ca chng ta l cc h thng vt l, trong cc bin l
hiu in th, cng dng in, vn tc, v tr, p sut, nhit v cc i
lng vt l tng t. Tuy nhin, khi nim trng thi ca h thng khng b gii
hn cho cc h thng vt l m cn c bit hu ch cho vic phn tch cc h
thng sinh hc, x hi, kinh t v chnh tr. Vi nhng h thng , khi nim
trng thi vt ra khi khi nim nng lng ca h thng vt l, tr thnh
nhng khi nim rng ln hn, cho php chng ta d bo c hot ng ca h
thng trong tng lai.
3.3. Phng trnh vi phn ca vector trng thi
Trng thi ca mt h thng tuyn tnh m t c bi mt tp hp cc phng
trnh vi phn bc nht ca cc bin trng thi x
1
, x
2
,..., x
N
. Cc phng trnh vi
phn ny c th biu din di dng tng qut nh sau:
dx
1
/dt = a
11
x
1
+ a
12
x
2
+ ... + a
1N
x
N
+ b
11
u
1
+ b
12
u
2
+ ... + b
1M
u
M

dx
2
/dt = a
21
x
1
+ a
22
x
2
+ ... + a
2N
x
N
+ b
21
u
1
+ b
22
u
2
+ ... + b
2M
u
M

... (3.10)
dx
N
/dt = a
N1
x
1
+ a
N2
x
2
+ ... + a
NN
x
N
+ b
N1
u
1
+ b
N2
u
2
+ ... + b
NM
u
M

H phng trnh vi (3.10) c th vit di dng ma trn:

M NM N N
M
M
N NN N N
n
N
n
u
u
u
b b b
b b b
b b b
x
x
x
a a a
a a a
a a a
x
x
x
dt
d
...
...
...
...
...
...
...
...
...
...
...
2
1
2 1
2 22 21
1 12 11
2
1
2 1
2 22 21
1 12 11
2
1
(3.11)
hay:
Bu Ax
x
+ =
dt
d
(3.12)
x l vector trng thi (state vector):

=
N
x
x
x
...
2
1
x (3.13)
u l vector ca cc bin vo:

=
M
u
u
u
...
2
1
u (3.14)
Ma trn A c kch thc NN v ma trn B c kch thc NM l cc ma trn h
48
s, vi M l s bin vo ca h thng v N l s bin trng thi. Phng trnh vi
phn ca vector trng thi (state vector differential equation) th hin mi quan
h gia tc thay i ca cc bin trng thi vi trng thi ca h thng v cc
tn hiu vo. Cc tn hiu ra ca h thng tuyn tnh c th xc nh c t cc
bin trng thi v cc tn hiu vo di dng tng qut nh sau:
y = Cx + Du (3.15)
y l vector biu din cc tn hiu ra ca h thng, C l mt ma trn h s c
kch thc KN v D l mt ma trn h s c kch thc KM, vi K l s bin
ra ca h thng.
gii phng trnh vi phn ca vector trng thi, trc ht chng ta xem xt
trng hp n gin vi mt bin vo v mt bin trng thi:
) ( ) ( t bu t ax
dt
dx
+ = (3.16)
Bin i Laplace ca phng trnh (3.16):
sX(s) x(0) = aX(s) + bU(s) (3.17)
hay:
) (
) 0 (
) ( s U
a s
b
a s
x
s X

= (3.18)
Ly bin i Laplace nghch ca phng trnh (3.18), chng ta c c bin
trng thi x(t):

+ =
t
t a at
d bu e x e t x
0
) (
) ( ) 0 ( ) (

(3.19)
Nghim ca phng trnh tng qut (3.12) cng c dng tng t:

+ =
t
t t
d e e t
0
) (
) ( ) 0 ( ) (

Bu x x
A
(3.20)
trong hm e
At
c nh ngha nh sau:

=
+ =
1
!
i
i i
t
i
t
e
A
I
A
(3.21)
I l ma trn n v c kch thc bng kch thc ca ma trn A. Hm ma trn
(t) = e
At
c gi l ma trn c s (fundamental matrix) hay ma trn chuyn
tip (transition matrix) ca h thng. Chng ta c th vit li phng trnh (3.20)
di dng nh sau:

+ =
t
d t t t
0
) ( ) ( ) 0 ( ) ( ) ( Bu x x (3.22)
49
Tnh (t) theo cng thc (3.21) kh phc tp nu khng c my tnh, v vy
chng ta s tm hiu mt phng php tnh ma trn ny mt cch n gin hn.
Nu tt c cc bin vo ca h thng u bng khng, ngha l u(t) = 0, phng
trnh (3.22) tr thnh:
x(t) = (t)x(0) (3.23)
Khi , phn t
ij
(t) ca ma trn (t) chnh l p ng ca trng thi x
i
(t) khi tt
c cc gi tr khi u ca cc bin trng thi u bng khng, tr x
j
(0) c t
bng mt, c ngha l:

ij
(t) = x
i
(t)|
xj(0) = 1,kj: x
k
(0) = 0
(3.24)
lm v d, ly h thng biu din trong Hnh 3.1, vi gi tr ca cc tham s
nh sau: R = 3, L = 1 v C = 0,5. Cc phng trnh vi phn ca cc bin trng
thi ca h thng l (3.7) v (3.8). tnh ma trn (t) ca h thng, trc ht
chng ta cho cho bin vo i(t) = 0 v thc hin bin i Laplace cho hai phng
trnh thu c cc phng trnh sau:
) ( 2 ) (
1
) 0 ( ) (
2 2 1 1
s X s X
C
x s sX = = (3.25)
) ( 3 ) ( ) ( ) (
1
) 0 ( ) (
2 1 2 1 2 2
s X s X s X
L
R
s X
L
x s sX = = (3.26)
Theo cng thc (3.24), tnh
11
(t) v
21
(t) cn phi t x
1
(0) = 1 v x
2
(0) = 0.
Khi , (3.25) v (3.26) tr thnh:
sX
1
(s) + 2X
2
(s) = x
1
(0) = 1 (3.27)
X
1
(s) (s + 3)X
2
(s) = 0 (3.28)
Gii h hai phng trnh trn chng ta thu c:
) 2 )( 1 (
3
) (
1
+ +
+
=
s s
s
s X (3.29)
) 2 )( 1 (
1
) (
2
+ +
=
s s
s X (3.30)
Ly bin i Laplace nghch ca hai hm trn, chng ta s c c
11
(t) v

21
(t):
t t
e e t x t
2
1 11
2 ) ( ) (

=

+ +
+
= =
2) 1)(s (s
3 s
L (3.31)
t t
e e t x t
2
2 21
1
) ( ) (

=

+ +
= =
2) 1)(s (s
L (3.32)
tnh
12
(t) v
22
(t) chng ta cn t x
1
(0) = 0 v x
2
(0) = 1. Khi , (3.25) v
(3.26) tr thnh:
sX
1
(s) + 2X
2
(s) = 0 (3.33)
X
1
(s) (s + 3)X
2
(s) = x
2
(0) = 1 (3.34)
50
Gii h hai phng trnh trn chng ta thu c:
) 2 )( 1 (
2
) (
1
+ +

=
s s
s X (3.35)
) 2 )( 1 (
) (
2
+ +
=
s s
s
s X (3.36)
Ly bin i Laplace nghch ca hai hm trn, chng ta s c c
12
(t) v

22
(t):
t t
e e t x t
2
1 12
2 2
2
) ( ) (

+ =

+ +

= =
2) 1)(s (s
L (3.37)
t t
e e
s
t x t
2
2 22
2 ) ( ) (

+ =

+ +
= =
2) 1)(s (s
L (3.38)
Chng ta c c hm ma trn (t):

+
+
=


) 2 ( ) (
) 2 2 ( ) 2 (
) (
2 2
2 2
t t t t
t t t t
e e e e
e e e e
t (3.39)
3.4. p ng theo thi gian ri rc
p ng ca mt h thng biu din bi mt phng trnh vi phn ca vector
trng thi c th c xc nh bng mt xp x theo thi gian ri rc (discrete-
time approximation). c c xp x , chng ta cn xc nh gi tr cc bin
trng thi ti cc thi im t = 0, T, 2T, 3T, 4T...
T nh ngha ca o hm:

t
t t t
dt
t d
t

+
=

) ( ) (
lim
) (
0
x x x
(3.40)
chng ta c th xp x o hm ca x(t) bng cng thc sau:

T
t T t
dt
t d ) ( ) ( ) ( x x x +
= (3.41)
nu T l mt gi tr rt nh. Thay vo phng trnh (3.12), chng ta c:
Bu Ax
x x
+ =
+
T
t T t ) ( ) (
(3.42)
hay:
x(t + T) = TAx(t) + x(t) + TBu(t) = (TA + I)x(t) + TBu(t) (3.43)
Nu gi tr khi u x(0) bit, chng ta c th xc nh gi tr ca vector trng
thi x(t) ti cc thi im t = T, 2T, 3T, 4T... bng cng thc quy:
x[(k + 1)T] = (TA + I)x(kT) + TBu(kT) (3.44)
Phng php xp x theo thi gian ri rc c bit hu ch i vi cc h
thng phi tuyn, khi chng ta khng th gii phng trnh bng cch s dng ma
51
trn chuyn tip nh trnh by mc trc. Trng hp tng qut nht, h
thng c biu din dng sau:
) , , ( t
dt
d
u x f
x
= (3.45)
S dng xp x (3.41), chng ta c:
] ), ( ), ( [
) ( ) (
t t t
T
t T t
u x f
x x
=
+
(3.46)
hay:
x(t + T) = x(t) + Tf[x(t), u(t), t] (3.48)
t t = kT, chng ta c c cng thc quy:
x[(k + 1)T] = x(kT) + Tf[x(kT), u(kT), kT] (3.49)
i vi cc h thng phi tuyn, s dng xp x theo thi gian ri rc l mt
phng php thch hp v d thc hin, v vy vai tr ca phng php ny ngy
cng ln k t khi my tnh c s dng trong cc h thng iu khin.
Bi tp
Bi 3.1. Mt h thng tay my mt khp c biu din bng phng trnh vi
phn sau y:
dv(t)/dt = k
1
v(t) k
2
y(t) + k
3
i(t)
v(t) l vn tc, y(t) l v tr v i(t) l cng dng iu khin ng c.
Biu din phng trnh trng thi ca h thng di dng ma trn.
Bi 3.2. Mt h thng c ma trn A ca phng trnh vi phn ca vector trng
thi c cho nh sau:

=
0 0
1 0
A
(a) Xc nh ma trn (t)
(b) Cho gi tr khi u ca cc bin trng thi l x
1
(0) = x
2
(0) = 1, xc nh
x(t)
Bi 3.3. Mt mch in c biu din trong hnh v di, tn hiu vo l
v(t) v tn hiu ra l v
c
(t).

~ v(t)
R L
C
v
c
(t)
i(t)

(a) Xc nh mt tp hp bin trng thi ph hp
52
(b) S dng cc bin trng thi thit lp cc phng trnh vi phn bc nht
m t h thng
(c) Biu din cc phng trnh trng thi ca h thng di dng ma trn
Bi 3.4. Mt mch cu cn bng c th hin trong hnh v di, v
1
v v
2

l cc bin vo. Xc nh cc ma trn A v B ca phng trnh vi phn ca
vector trng thi, vi hai bin trng thi l v
c
v i
L
.

v
1
(t)
R
2

L
C
v
c
(t)
i
L
(t)
~ ~
v
2
(t)
R
1
R
1

R
2


Bi 3.5. Mt h thng phi tuyn c biu din bng h phng trnh vi phn
sau:
2 1 2
2
2 1 1
1
x bx hx
dt
dx
x ax kx
dt
dx
+ =
+ =

Tnh x
1
(t) v x
2
(t) vi k = 1, h = 3, a = b = 0,5, x
1
(0) = x
2
(0) = 10.

53
Chng IV

C TRNG CA CC H THNG IU KHIN
PHN HI

Tm tt ni dung
Vi cc m hnh ton hc trnh by cc chng trc, chng ta c th
nghin cu cc cng c phn tch s dng cho vic m t cc c tnh ca h
thng iu khin phn hi. Trong chng ny, chng ta s tm hiu khi nim tn
hiu sai khc ca h thng. Tn hiu ny c dng iu khin qu trnh, vi
mc tiu cui cng l gim s sai khc ti mc nh nht c th.
Chng ta cng s tm hiu khi nim nhy ca h thng i vi s thay i
ca tham s, vi mc ch nhm gim thiu nhng nh hng gy ra bi nhng
bin thin khng c mong mun ca cc tham s. Chng ta s m t hiu sut
nht thi ca h thng phn hi v ch ra cch lm tng hiu sut ny.
Mt vn quan trng trong vic thit k cc h thng iu khin l lm gim
nh hng ca nhng tn hiu vo khng c mong mun (nhiu) ln tn hiu ra
ca h thng. cng s l mt ch trong chng ny.
4.1. H thng iu khin vng h v vng kn
Mt h thng iu khin l lin kt ca nhiu thnh phn to nn mt cu hnh h
thng nhm to ra mt p ng mong mun. Trong h thng iu khin phn hi,
mt tn hiu t l vi s sai khc gia p ng mong mun v p ng tht s
ca h thng c s dng iu khin qu trnh, to nn h thng vn hnh
theo mt chui vng kn: iu khin Qu trnh p ng Cm bin (o)
So snh iu khin. Vic s dng phn hi rt cn thit cho mc tiu nng
cao chnh xc ca h thng iu khin. Chng ta c th thy cc h thng
trong t nhin nh cc h thng sinh hc v sinh l u l cc h thng phn hi,
v d nh h thng iu khin nhp tim ca con ngi.
th hin cc c trng ca phn hi, chng ta s xem xt mt h thng
phn hi mt vng n gin. Mc d phn ln cc h thng iu khin trong thc
t l cc h thng phn hi nhiu vng, cch tt nht tm hiu y v phn
hi l nghin cu h thng phn hi mt vng. Nhng g chng ta rt ra c t
c th m rng ra cho cc h thng phn hi nhiu vng.
ngn gn, khi chng ta vit mt tn hiu s c ngha l tn hiu trong min
thi gian hoc bin i Laplace ca tn hiu . Mt h thng vng h c tn hiu
vo l R(s), tn hiu ra l C(s) v hm chuyn l G(s), c th hin bng mi
quan h:
C(s) = G(s)R(s) (4.1)
Sai s ca h thng l E(s) = R(s) C(s). S khc bit gia cc h thng vng h
v vng kn l, trong cc h thng vng kn, mt tn hiu sai khc (error signal)
54
c sinh ra v c dng iu khin qu trnh. Trong h thng vng kn
c biu din Hnh 4.1, tn hiu E
a
(s) l tn hiu sai khc:
E
a
(s) = R(s) H(s)C(s) (4.2)
G(s)
H(s)
R(s) C(s) E
a
(s)
B(s)
+

Hnh 4.1. H thng iu khin phn hi m

E
a
(s) s bng E(s) nu H(s) = 1. Vy ti sao chng ta khng dng cc h thng
phn hi vi H(s) = 1? Vn l, tn hiu vo ca cc h thng thng l cc tn
hiu in, trong khi tn hiu ra c th l nhit , v tr, vn tc..., v vy ngi ta
phi dng cm bin o c cc tn hiu ra v chuyn thnh tn hiu in
so snh vi tn hiu vo. Trong trng hp , H(s) chnh l hm chuyn ca b
phn cm bin.
Quan h gia bin vo v ra ca h thng trong Hnh 4.1 c th hin bng
cng thc:
) (
) ( ) ( 1
) (
) ( s R
s H s G
s G
s C
+
= (4.3)
Tn hiu sai khc dng iu khin qu trnh:
) (
) ( ) ( 1
1
) ( ) ( ) ( ) ( s R
s H s G
s C s H s R s E
a
+
= = (4.4)
T cng thc (4.4) chng ta thy rng nu tch G(s)H(s) cng ln th E
a
(s) s
cng nh. ngha ca iu l, nu ch xt ti sai s gy ra bi nhiu t mi
trng ch khng tnh sai s gy ra bi bn thn cc phn t ca h thng, th khi
cng sut ca cc phn t ca h thng iu khin phn hi cng ln h thng s
hot ng cng chnh xc.
4.2. nhy ca h thng iu khin i vi s bin thin ca cc tham s
Bt c qu trnh iu khin no u phi i mt vi nhng yu t t nhin c
nh hng ti hot ng ca n nh s thay i ca mi trng xung quanh, s
lo ha ca thit b... dn n vic xc nh khng chnh xc cc tham s ca h
thng. Trong h thng vng h, nhng sai s v thay i s lm thay i v
lm tng sai s ca p ng ca h thng. Vi h thng iu khin vng kn,
nhng thay i ca tn hiu ra gy ra bi nhng bin thin trong qu trnh c th
c cm nhn v khc phc. nhy (sensitivity) ca h thng iu khin i
vi s bin thin ca cc tham s h thng l yu t v cng quan trng. Mt
trong cc im mnh ca iu khin phn hi l kh nng lm gim nhy ca
h thng i vi s bin thin ca cc tham s.
T cng thc (4.3) suy ra, nu G(s)H(s) >> 1 trong ton b min gi tr c
55
quan tm ca s, chng ta c th dng cng thc xp x:
) (
) (
1
) (
) ( ) (
) (
) ( s R
s H
s R
s H s G
s G
s C = (4.5)
iu c ngha l, nu ln ca G(s)H(s) c tng ln rt ln th nh hng
ca G(s) ln tn hiu ra s suy gim ti mc khng ng k. Khi , nh hng
do bin thin ca cc tham s ca qu trnh biu din bi hm chuyn G(s) ln tn
hiu ra s khng ng k.
Tt nhin, cho d G(s)H(s) rt ln th s bin thin ca cc tham s vn s
lm thay i tn hiu ra. Gi s nhng thay i trong qu trnh lm hm chuyn
ca qu trnh tr thnh G(s) + G(s) v tn hiu ra tr thnh C(s) + C(s). Chng
ta c:
) (
) ( )] ( ) ( [ 1
) ( ) (
) ( ) ( s R
s H s G s G
s G s G
s C s C
+ +
+
= + (4.6)
S thay i ca tn hiu ra c tnh nh sau:

) (
)] ( ) ( 1 )][ ( ) ( ) ( ) ( 1 [
) (
) (
) ( ) ( 1
) (
) ( )] ( ) ( [ 1
) ( ) (
) (
s R
s H s G s H s G s H s G
s G
s R
s H s G
s G
s H s G s G
s G s G
s C
+ + +

=

+ +
+
=
(4.7)
Thng th G(s) >> G(s), do vy G(s)H(s) >> G(s)H(s), v vy chng ta c
th dng cng thc xp x:
) (
)] ( ) ( 1 [
) (
) (
2
s R
s H s G
s G
s C
+

(4.8)
Gi T(s) l hm chuyn ca h thng iu khin phn hi:

) ( ) ( 1
) (
) (
) (
) (
s H s G
s G
s R
s C
s T
+
= = (4.9)
nhy ca h thng c nh ngha l t l gia thay i ca hm chuyn ca
h thng (tnh theo phn trm) v thay i ca hm chuyn ca qu trnh (tnh
theo phn trm):

) ( ) (
) ( ) (
s G s G
s T s T
S

= (4.10)
hay:

) (
) (
s T
s G
G
T
S

= (4.11)
T (4.9) v (4.11), chng ta thu c:
56

) ( ) ( 1
1
)] ( ) ( 1 [ ) (
) (
)] ( ) ( 1 [
) ( ) ( ) ( ) ( 1
2
s H s G
s H s G s G
s G
s H s G
s H s G s H s G
S
+
=
+

+
+
=
(4.12)
Chng ta li thy mt ln na l nhy ca h thng i vi s bin thin ca
qu trnh c iu khin s cng nh khi tch G(s)H(s) cng ln.
S bin thin ca phn t phn hi H(s) cng gy ra thay i ca tn hiu ra.
nhy ca h thng i vi s bin thin ca phn t phn hi c nh ngha
nh sau:

) (
) (
s T
s H
H
T
S
H

= (4.13)
T (4.9) v (4.13), chng ta thu c:

) ( ) ( 1
) ( ) (
)] ( ) ( 1 [ ) (
) (
)] ( ) ( 1 [
) (
2
2
s H s G
s H s G
s H s G s G
s H
s H s G
s G
S
H
+

=
+

+

= (4.14)
Tri vi trng hp trc, y S
H
s xp x 1 khi G(s)H(s) >> 1. iu c
ngha l, i vi h thng iu khin phn hi vic s dng nhng b phn phn
hi c tin cy cao, tc l lun gi c cc tham s khng b bin i theo s
thay i ca mi trng, l iu v cng quan trng.
V d 4.1
Mt mch khuych i o s dng khuych i thut ton c biu din trong
Hnh 4.2. H s khuych i ca khuych i thut ton l A 10
4
. Do tr khng
ca khuych i thut ton rt ln, dng in i vo b khuych i c th coi l
khng ng k. V vy chng ta thit lp c phng trnh sau:
0
2
0
1
vo
=

R
v v
R
v v
n n
(4.15)

v
0

v
vo
v
n


+
A
+

R
1

R
2

Hnh 4.2. Mch khuych i o

Hiu in th u ra ca khuych i thut ton v
0
= Av
n
, v vy:

A
v
v
n
0
= (4.16)
Thay (4.16) vo (4.15):
57
0
2
0
2
0
1
vo
1
0
= +
R
v
AR
v
R
v
AR
v
(4.17)
hay:

1 2 1
vo 2
0
AR R R
v AR
v
+
= (4.18)
Hm chuyn ca h thng:

AK K
A
AR R R
AR
v
v
T
+
=
+
= =
1
1 2 1
2
vo
0
(4.19)
K = R
1
/R
2
. nhy ca h thng i vi s bin thin ca h s khuych
i A c tnh nh sau:

AK K
K
AK K A
A
AK K
K A AK K
T
A
A
T
S
A
+
+
=
+

+
+
=

=
1
1
) 1 (
) 1 (
) ( 1
2
(4.20)
nhy ca h thng i vi s bin thin ca h s K c tnh nh sau:

AK K
K AK
AK K A
K
AK K
A A
T
K
K
T
S
K
+

=
+

+

=

=
1 ) 1 (
) 1 (
) 1 (
2
(4.21)
Cho A = 10
4
v K = 0,1, chng ta tnh c S
A
10
3
v S
K
1. Nh vy, tn
hiu ra ca mch khuych i o chu nh hng rt t t s bin thin ca h s
khuych i A ca khuych i thut ton, nhng li b tc ng rt nhiu khi h
s K bin thin.
4.3. iu khin p ng nht thi
p ng nht thi (transient response) l p ng ca h thng trong mt
khong thi gian ngn khi xut hin mt s thay i t ngt trong tn hiu vo,
trc khi t c trng thi thng trc. Bi v mc ch ca h thng iu
khin l to ra mt p ng c mong mun, p ng nht thi ca h thng
thng phi c iu chnh cho ti khi tha mn c yu cu. Trong cc h
thng iu khin vng h, nu p ng ca h thng khng c nh mong
mun, qu trnh G(s) s cn phi c thay th bng qu trnh khc ph hp hn.
Tri li, p ng ca h thng vng kn c th iu chnh c bng cch iu
chnh cc tham s ca vng phn hi. Mt cch khc na lm thay i p
ng ca h thng l ni vo trc qu trnh mt b lc c hm chuyn l G
1
(s)
(Hnh 4.3). Khi , p ng ca h thng c th iu chnh c bng vic iu
chnh G
1
(s).
lm v d, xem xt mt h thng iu khin tc mt ng c mt chiu
iu khin bi phn ng vi hm chuyn l G(s) = (s)/V
a
(s). T cng thc hm
58
chuyn (2.62) ca ng c iu khin bi phn ng, chng ta c:

1 ) 1 (
) (
) (
1
1
1
+
=
+
+
=
s
K
s s
K K fR K
s s G
m b a m

(4.22)
:

m b a
m
K K fR
K
K
+
=
1
(4.23)
G
1
(s) G(s)
R(s) C(s)
Hnh 4.3. S dng b lc iu chnh p ng

thay i tc ca ng c, pht mt tn hiu vo r(t) l mt hm nhy bc
c dng r = kE, E l hiu in th ca ngun cung v k l mt tham s c
th iu chnh c bng mt bin tr. Bin i Laplace ca r(t):

s
kE
s R = ) ( (4.24)
Tnh (s):

) 1 (
) ( ) ( ) (
1
1
+
= =
s s
E kK
s R s G s

(4.25)
Ly bin i Laplace nghch ca (s), chng ta c c gi tr bin i tc
nht thi ca ng c:
) 1 ( ) (
1
1
1
t
e E kK t

= (4.26)
Nu p ng nht thi ny qu chm, cch thc t nht l thay ng c bng mt
c khc gim h s thi gian
1
. Tuy nhin, do h s ny ph thuc nhiu vo
qun tnh ca ti trng, vic thay ng c c th cng khng gip c g nhiu.
Chng ta c th dng mt h thng iu khin vng kn iu khin tc
ca ng c ni trn bng cch s dng mt tc k c hm chuyn l K
t

sinh ra mt tn hiu t l vi tc ca ng c (Hnh 4.4). Tn hiu sai khc
c khuych i vi mt h s l K
a
sinh ra tn hiu vo v
a
(t) iu khin
ng c. Hm chuyn ca ton b h thng vng kn l:

1 1
1
1 ) ( 1
) (
) (
) (
K K K s
K K
s G K K
s G K
s R
s
t a
a
t a
a
+ +
=
+
=

(4.27)
Thay (4.24) vo (4.27):

] ) 1 ( [ 1
) (
1 1
1 1
1 1
1

K K K s s
kE K K
s
kE
K K K s
K K
s
t a
a
t a
a
+ +
=
+ +
= (4.28)
Ly bin i Laplace nghch ca (4.28):
59
) 1 (
1
) (
1
1
1
1
1
t
K K K
t a
a
t a
e
K K K
kE K K
t

+
= (4.29)
V K
a
K
t
K
1
>> 1, chng ta c th ly xp x:
) 1 ( ) (
1
1
t
K K K
t
t a
e
K
kE
t

(4.30)
H s thi gian ca h thng vng kn ny l
1
1
K K K
t a
c

= . Cch d dng nht
tng tc p ng ca h thng l tng h s khuych i K
a
. Tuy nhin, K
a

ln ngha l hiu in th vo v
a
(t) ca ng c s ln. V vy trong h thng
vng kn ngi ta thng phi dng ng c ln hn so vi h thng vng h
trnh hin tng qu p cho ng c.

G(s)
R(s) (s)
Hnh 4.4. H thng iu khin tc vng kn
K
a

K
t

_
+
V
a
(s)

4.4. Tn hiu nhiu trong h thng iu khin phn hi
Hiu ng quan trng th ba ca phn hi trong mt h thng iu khin l s
iu khin v loi tr mt phn nh hng ca tn hiu nhiu. Mt tn hiu nhiu
(disturbance signal) l tn hiu khng c mong mun gy nh hng n tn
hiu ra ca h thng, lm tn hiu ra ca h thng b sai lch. Cc b khuych i
in t c nhiu sinh ra t bn trong cc mch tch hp hay transitor. Anten radar
thng b nhiu gy ra bi nhng cn gi mnh. Nhiu h thng pht ra nhng
tn hiu b bin dng gy ra bi cc phn t phi tuyn. Mt trong nhng im u
vit ca cc h thng phn hi l kh nng lm gim bt nh hng ca nhiu.
lm v d, xem xt h thng iu khin vn tc ca ng c mt chiu
iu khin bi phn ng, c s khi c biu din trong Hnh 4.5. T
d
(s) l
thnh phn ca mmen quay do ng c sinh ra bi tc ng ca nhiu. p dng
cc k thut bin s khi, chng ta tnh c hm chuyn ca h thng i
vi tn hiu nhiu T
d
(s):

) (
1
)] /( 1 ][ ) ( [ 1
)] /( 1 ][ ) ( [
) (
) (
s L R K K f Js
K f Js s L R K
f Js s L R K
K
s L R
s T
s
a a b m
b a a m
a a m
m
a a
d
+ + +
=
+ + +
+ +

+
=
(4.31)
Thay i ca vn tc gy ra do nhiu l:
60
) (
) (
1
) ( s T
s L R K K f Js
s
d
a a b m
+ + +
= (4.32)
Tip theo, xem xt h thng iu khin vn tc vng kn nh trong Hnh 4.4,
vi G(s) l h thng vng h trn. p dng cc k thut bin s khi, chng
ta tnh c hm chuyn ca h thng i vi tn hiu nhiu T
d
(s):

t a
a
m a
a a
d
K s G K
s G K
K K
s L R
s T
s
) ( 1
) (
) (
) (
+

+
= (4.33)
:

b m a a
m
b a a m
a a m
K K f Js s L R
K
K f Js s L R K
f Js s L R K
s G
+ + +
=
+ + +
+ +
=
) )( (
)] /( 1 ][ ) ( [ 1
)] /( 1 ][ ) ( [
) (
(4.34)

+
T
m
(s)
s L R
K
a a
m
+

V
a
(s)
T
L
(s)
T
d
(s)
f Js +
1
(s)
Hnh 4.5. H thng iu khin vn tc vng h

+
K
b



Thay (4.34) vo (4.33):

) ( ) (
1
) )( ( ) (
) (
s L R K K K K f Js
K K K K K f Js s L R
K K
K K
s L R
s T
s
a a t a b m
t m a b m a a
m a
m a
a a
d
+ + + +
=
+ + + +

+
=
(4.35)
Thay i ca vn tc gy ra do nhiu trong trng hp ca h thng vng kn l:
) (
) ( ) (
1
) ( s T
s L R K K K K f Js
s
d
a a t a b m
+ + + +
= (4.36)
So snh hai cng thc (4.32) v (4.36), chng ta thy r rng l nh hng ca
nhiu ti vn tc ca ng c gim i h thng vng kn so vi h thng vng
h.
Lu trong Hnh 4.6 biu din trng hp c tng qut t v d trn. S
dng quy tc vng ca Mason, chng ta tnh c nh hng ca tn hiu nhiu
T
d
(s) ti tn hiu ra nh sau:
61
) (
) ( ) ( 1
) (
) ( s T
s H s G K
s G
s C
d
a
+

= (4.37)
V K
a
G(s)H(s) >> 1, chng ta c th dng cng thc xp x:
) (
) (
1
) ( s T
s H K
s C
d
a
(4.38)
Theo cng thc ny, cch n gin nht lm gim nh hng ca tn hiu
nhiu trong trng hp ny l tng h s khuych i K
a
.

1 G(s)
T
d
(s)
H(s)
1
R(s) C(s)
Hnh 4.6. Lu tn hiu ca h thng vng kn
K
a

E
a
(s)

Mt vn chng ta thng gp trong cc h thng phn hi l nhiu sinh ra
bi cc b cm bin trong khi phn hi. Lc tn hiu trong Hnh 4.7 biu
din mt h thng phn hi trong c mt tn hiu nhiu N(s) tc ng ti vng
phn hi. S dng quy tc vng ca Mason, chng ta tnh c nh hng ca
tn hiu nhiu ny ti tn hiu ra:
) (
) ( ) ( ) ( 1
) ( ) (
) (
2 1
2
s N
s H s H s G
s H s G
s C
+

= (4.39)
V G(s)H
1
(s)H
2
(s) >> 1, chng ta c th dng cng thc xp x:
) (
) (
1
) (
1
s N
s H
s C (4.40)
Cng thc ny cho thy, nh hng ca nhiu trong khi phn hi ti tn hiu ra
ca h thng s cng gim khi H
1
(s) cng ln, ngha l t l tn hiu trn nhiu
(signal-to-noise ratio) ca b phn cm bin cng ln.

1 G(s)
H
1
(s) H
2
(s)
1
R(s) C(s)
N(s)
Hnh 4.7. H thng vng h vi nhiu ca cm bin

Lu tn hiu trong Hnh 4.8 biu din mt trng hp khc: tn hiu nhiu
62
tc ng trc tip vo tn hiu ra ca h thng. Trong trng hp ny, chng ta
tnh c nh hng ca tn hiu nhiu ti tn hiu ra:
) (
) ( ) (
1
) (
) ( ) ( 1
1
) ( s T
s H s G K
s T
s H s G K
s C
d
a
d
a

+

= (4.41)
Cng tng t nh trng hp biu din trong Hnh 4.6, cch n gin nht
lm gim nh hng ca tn hiu nhiu trong trng hp ny l tng h s
khuych i K
a
.

1 G(s)
T
d
(s)
H(s)
1
R(s) C(s)
Hnh 4.8. H thng vng kn vi nhiu tn hiu ra
K
a

E
a
(s)

4.5. Sai s trng thi thng trc
Sai s trng thi thng trc (steady-state error) l sai s ca p ng khi h
thng khi t c trng thi thng trc, ngha l khi p ng nht thi
trit tiu. Trong phn ny, chng ta s so snh sai s trng thi thng trc ca
cc h thng vng h v vng kn.
Sai s ca h thng vng h, di dng bin i Laplace:
E
o
(s) = R(s) C(s) = R(s) G(s)R(s) = [1 G(s)]R(s) (4.42)
tnh sai s ca h thng vng h trng thi thng trc, s dng nh l gi
tr cui cng:
(s) sE (t) e
o
s
o
t 0
lim lim

= (4.43)
S dng tn hiu vo l mt hm nhy bc n v lm v d so snh, bin i
Laplace ca tn hiu vo l:

s
s R
1
) ( = (4.44)
Sai s trng thi thng trc ca h thng vng h l:
) 0 ( 1
1
)] ( 1 [ lim ) (
0
G
s
s G s e
s
o
= =

(4.45)
Sai s ca h thng vng kn, di dng bin i Laplace:
) (
) ( ) ( 1
1
) (
) ( ) ( 1
) (
) ( ) ( s R
s H s G
s R
s H s G
s G
s R s E
c
+
=
+
= (4.46)
Sai s trng thi thng trc ca h thng vng kn vi tn hiu vo l hm
63
nhy bc n v:

) 0 ( ) 0 ( 1
1 1
) ( ) ( 1
1
lim ) (
0 H G s s H s G
s e
s
c
+
=
+
=

(4.47)
Trong cc h thng, cc gi tr G(0) v H(0) thng ln hn mt rt nhiu, v vy
sai s trng thi thng trc ca h thng vng kn thng thp hn so vi h
thng vng h.
Mc d vic s dng phn hi lm tng phc tp v lm gim n nh
ca h thng, ng thi lm gim h s khuych i gia tn hiu ra v tn hiu
vo, nhng li ch m phng php iu khin phn hi mang li bao gm lm
gim sai s ca h thng, gim nhy ca h thng i vi bin thin ca cc
tham s, iu chnh p ng nht thi d dng hn, gim nh hng ca nhiu v
gim sai s trng thi thng trc khin vic s dng phn hi trong cc h
thng iu khin l mt xu th tt yu bt k nhng nhc im nu trn.
Bi tp
Bi 4.1. Mt h thng vng kn bao gm mt qu trnh c hm chuyn G(s) =
100/(3s + 1) v khi phn hi m c hm chuyn H(s) = 1.
(a) Tnh nhy ca h thng i vi G(s).
(b) Tnh h s thi gian ca h thng.
Bi 4.2. Mt h thng m thanh s c s khi c biu din trong hnh v
di, trong D(s) l tn hiu nhiu.

+
V
vo
(s)
D(s)
+
+

V
ra
(s)
K
1
K
2


(a) Tnh nhy ca h thng i vi K
2
.
(b) Xc nh nh hng ca nhiu ln tn hiu ra.
(c) Chn gi tr no cho K
1
lm gim thiu nh hng ca nhiu?
Bi 4.3. Mt h thng c hm chuyn l:
2
) 2 (
) (
+
=
s
K
s G
Tnh sai s trng thi thng trc ca h thng khi tn hiu vo l mt hm
nhy bc c ln bng A.
Bi 4.4. Mt a t c mt ng c v u c/ghi. Hm chuyn ca h thng
bao gm ng c v u c/ghi ny l:
64
) 1 (
10
) (
+
=
s s
s G

= 0,001s. B phn iu khin s tnh sai s gia v tr thc s v v tr
mong mun ca u c/ghi v khuych i sai s vi h s khuych i K.
(a) Xc nh sai s v tr trng thi thng trc nu tn hiu vo (v tr mong
mun) l mt hm nhy bc n v.
(b) Xc nh K sai s trng thi thng trc l 1mm nu tn hiu vo l
hm r(t) = 10t (cm/s).
Bi 4.5. Mt h thng c lu tn hiu c biu din trong hnh v di.

R(s) C(s)
M(s)
U(s) Q(s)
G(s)
1

(a) Tnh hm chuyn ca ton h thng.
(b) Tnh nhy ca h thng i vi G(s).
(c) nhy ca h thng c ph thuc U(s) hay M(s) khng?
Bi 4.6. Mt h thng iu khin anten radar c s khi c biu din trong
hnh v di. Hm chuyn G(s) ca b phn gm ng c v amplidyne l:
2 2
2
2
) (
n n
n
s s
s G

+ +
=
vi = 0,4 v
n
= 10. Hm chuyn ca b khuych i t l:
1
) (
1
+
=
s
k
s G
a

vi = 0,2s. Tn hiu ra ca h thng l v tr gc ca anten, n v l radian.

+
R(s)
T
d
(s)

+

(s) G
1
(s) G(s)

(a) Xc nh nhy ca h thng i vi s thay i ca tham s k
a
.
(b) Gi s tn hiu nhiu T
d
(s) = 15/s, xc nh k
a
sai s trng thi thng
trc ca h thng nh hn 0,2
o
khi R(s) = 0.
(c) Xc nh sai s ca h thng vi tn hiu nhiu T
d
(s) = 15/s khi khng c
vng phn hi.
65
Bi 4.7. S khi ca h thng phn hi nhm gim s thay i nhit trn
mt mch in t c biu din hnh v di. S thay i nhit trn mch
c th hin bng hm chuyn:
400 20
400
) (
2
+ +
=
s s
s G
S suy gim nhit trong mi trng c th hin bng mt hm nhy bc
D(s). H thng s dng mt b phn sinh nhit nhm lm gim nh hng ca s
suy gim nhit trong mi trng, hm chuyn ca b phn ny l:
1 1 , 0
) (
1
+
=
s
k
s G

+
R(s)
D(s)
+
+

C(s) G
1
(s) G (s)

(a) Xc nh nhy ca h thng i vi s bin thin ca k.
(b) Xc nh nh hng ca D(s) ti nhit thc s ca mch l C(s).
Bi 4.8. Mt h thng phn hi n v m (h thng phn hi m c hm chuyn
ca khi phn hi bng mt) c hm chuyn ca qu trnh cn iu khin l
) 2 )( (
) 4 ( 10
) (
+ +
+
=
s a s s
s
s G . Xc nh nhy ca h thng i vi mt thay i rt
nh ca tham s a.
Bi 4.9. H thng iu khin li ca mt tu thy c s khi biu din trong
hnh v di. Nhiu gy ra bi sc gi tc ng ln tu c dng D(s) = 1/s. Tn
hiu vo ca h thng l v tr bnh li v tn hiu ra l gc lch gia hng ca
tu v hng mong mun. Hm chuyn
100 10
100
) (
2
+ +
=
s s
s G .

+
R(s)
D(s)
+
+

C(s)
K G (s)

(a) Xc nh nh hng ca D(s) khi K = 5 v khi K = 20.
(b) Chng t rng bnh li c th c dng a tu v ng hng, ngha
l C(s) = 0.
66
Chng V

HIU SUT CA CC H THNG IU KHIN
PHN HI

Tm tt ni dung
Kh nng iu chnh p ng nht thi cng nh p ng trng thi thng
trc l mt li ch ca vic s dng h thng iu khin phn hi. Cc s tham s
ca h thng c th cn phi c iu chnh h thng c c p ng nh
mong i. lm c iu , vic u tin chng ta cn lm l nh ngha p
ng mong mun di dng cc yu cu nh lng v hiu sut ca h thng.
Chng ta s s dng mt s dng tn hiu vo chn lc th p ng ca
mt h thng iu khin. p ng ny s c c trng ha bng mt tp hp
chn lc cc s o ca p ng nh s qu mc ca p ng vi tn hiu vo
dng nhy bc. Tip , chng ta s phn tch hiu sut ca h thng bng cch
phn tch v tr ca cc im cc v im khng ca hm chuyn ca h thng
trong mt phng s.
Chng ta s thy c rng, mt trong nhng s o quan trng nht ca hiu
sut l sai s trng thi thng trc. Khi nim ch s hiu sut, tc l phng
thc th hin hiu sut ca h thng bng mt gi tr (hay ch s), s c gii
thiu. Trong chng ny, chng ta s m t mt tp hp cc s o hiu sut nh
lng thch hp cho vic biu din hiu sut ca h thng iu khin. Cc ch s
hiu sut ca h thng chnh l c s cho cc bi ton iu khin ti u.
5.1. Gii thiu
Kh nng iu chnh hiu sut nht thi v hiu sut trng thi thng trc l
mt u im c trng ca cc h thng iu khin phn hi. phn tch v
thit k cc h thng iu khin, chng ta cn nh ngha v o c hiu sut
ca h thng. Sau , da trn nhng s o hiu sut, cc tham s ca h thng
c th c iu chnh t c p ng mong mun cho h thng. V cc h
thng iu khin l cc h thng ng, hiu sut ca chng thng c m t
di dng ca p ng theo thi gian cho mt tn hiu vo nht nh v sai s
trng thi thng trc.
Cc yu cu thit k cho h thng iu khin thng bao gm mt s ch s
ca p ng theo thi gian cho mt tn hiu vo nht nh cng chnh xc
c mong mun cho trng thi thng trc. Tuy nhin, trong qu trnh thit k,
cc yu cu thng c iu chnh li cho ph hp. V vy, cc yu cu thit k
him khi c coi l mt tp hp nhng yu cu cn phi tun th cht ch, m
thng c coi l c gng u tin nhm th hin hiu sut c mong mun.
Cc c im mong mun cho h thng c pht biu di dng cc s o ca
hiu sut nhm ch ra cho ngi thit k yu cu v cht lng ca h thng. Ni
mt cch khc, cc s o h sut chnh l cu tr li cho cu hi: h thng thc
67
hin nhim v c thit k cho n tt ti mc no?
5.2. M t hiu sut trong min thi gian
Cc m t nh lng yu cu v hiu sut trong min thi gian l nhng ch s
quan trng v cc h thng iu khin u l nhng h thng trong min thi
gian. iu c ngha l, hiu sut nht thi hay hiu sut theo thi gian ca h
thng l mi quan tm ch yu i vi cc h thng iu khin. iu cn lm
u tin l xc nh xem h thng c n nh hay khng. Chng ta s nghin cu
cc k thut phn tch tnh n nh ca h thng cc chng sau. Nu h thng
n nh, p ng ca h thng vi mt tn hiu vo nht nh s cung cp mt s
s o ca hiu sut. Tuy nhin, do tn hiu vo thc s ca h thng thng kh
xc nh, cc tn hiu vo th (test input signal) chun thng c s dng.
Phng php ny rt hu ch bi v tn ti mt tng quan gia p ng ca h
thng vi mt tn hiu vo th chun v kh nng ca h thng khi hot ng
nhng iu kin bnh thng. Hn na, vic s dng tn hiu vo chun cho php
ngi thit k so snh nhiu thit k khc nhau. Nhiu h thng iu khin c cc
tn hiu vo cng tng t cc tn hiu vo th chun.
Cc tn hiu th vo chun thng c s dng l: (1) tn hiu nhy bc
(step), (2) tn hiu dc (ramp), (3) tn hiu parabol v (4) tn hiu xung n v
(unit impulse). nh ngha v bin i Laplace ca cc tn hiu ny c trnh
by trong bng sau.
Bng 5.1. Cc tn hiu vo th chun
Tn hiu r(t) R(s)
Nhy bc

<

0 khi 0
0 khi
t
t K

s
K

Dc

<

0 khi 0
0 khi
t
t Kt

2
s
K

Parabol

<

0 khi 0
0 khi
2
t
t Kt

3
2
s
K

Xung n v
) ( lim ) (
0
t f t

= ,

> <

=

t t
t
t f
hay 0 khi 0
0 khi
1
) (
1
Dng tng qut

<

0 khi 0
0 khi
t
t Kt
n

1
!
+ n
s
n
K
68
Vi mt h thng vng h c tn hiu vo l r(t), tn hiu ra l c(t) v hm
chuyn l G(s): C(s) = G(s)R(s), nu tn hiu vo l hm xung n v (t), chng
ta s c R(s) = 1, ngha l C(s) = G(s) hay c(t) = g(t).
Mi quan h gia tn hiu ra v tn hiu vo ca mt h thng iu khin
phn hi c biu din bng phng trnh:
) (
) ( 1
) (
) ( s R
s G
s G
s C
+
= (5.1)
Xem xt mt h thng phn hi vi hm chuyn G(s) ca qu trnh c dng nh
sau:

) (
) (
p s s
K
s G
+
= (5.2)
Thay (5.2) vo (5.1), chng ta c:
) ( ) (
2
s R
K ps s
K
s C
+ +
= (5.3)
Vit li phng trnh (5.3) di dng ca t s cn v tn s t nhin
n
:
) (
2
) (
2 2
2
s R
s s
s C
n n
n

+ +
= (5.4)
, ) 2 ( K p = v K
n
= . Nu tn hiu vo r(t) l mt hm nhy bc
n v, ngha l R(s) = 1/s, phng trnh (5.4) tr thnh:

) 2 (
) (
2 2
2
n n
n
s s s
s C

+ +
= (5.5)
p ng theo thi gian ca h thng c dng nh sau:
) 1 sin(
1
1
1 ) (
2
2

=

t e t c
n
t
n
(5.6)

2
1
arctan

= . th ca c(t) vi tn hiu vo l hm nhy bc n v
cho cc gi tr khc nhau ca t s cn c biu din trong Hnh 5.1. Chng ta
c th thy c trn th, khi cng gim, bin dao ng ca p ng cng
tng.
Nu tn hiu vo r(t) l mt hm xung n v, ngha l R(s) = 1, phng trnh
(5.4) tr thnh:

2 2
2
2
) (
n n
n
s s
s C

+ +
= (5.7)
69
p ng theo thi gian ca h thng c dng nh sau:
) 1 sin(
1
) (
2
2
t e t c
n
t n
n

=

(5.8)
th ca c(t) vi tn hiu vo l hm xung n v cho cc gi tr khc nhau ca
t s cn c biu din trong Hnh 5.2. Chng ta c th chn vi s o hiu
sut t p ng nht thi ca h thng vi cc tn hiu vo l tn hiu nhy bc
hay tn hiu xung n v.
c(t)

n
t
= 0,1
= 0,2
= 0,4
= 0,8
= 1,0
= 2,0
Hnh 5.1. p ng nht thi ca h thng vi tn hiu vo l hm nhy bc n
v cho cc gi tr khc nhau ca t s cn

Cc s o hiu sut chun thng c nh ngha trn c s p ng ca h
thng vi tn hiu vo nhy bc (Hnh 5.3). Tc ca p ng c o bng
thi gian ln (rise time) T
r
v thi gian ti nh (peak time) T
p
. Thi gian ln T
r

l khong thi gian p ng ca h thng tng t 10% ln 90% ca gi tr cui
cng, cn thi gian ti nh T
p
l khong thi gian p ng ca h thng t
ti mc cc i. Mt s o na l phn trm qu mc (percent overshoot) P
o

c nh ngha nh sau:
% 100

=
fv
fv M
P
p
o
(5.9)
, M
p
l gi tr cc i ca p ng v fv l gi tr cui cng ca p ng. Vi
tn hiu vo nhy bc, fv thng c gi tr bng ln ca tn hiu vo.
Thi gian qu (settling time) T
s
c nh ngha l khong thi gian cn
thit h thng n nh trong mt khong nht nh ca gi tr cui cng fv.
70
Vi h thng c biu din bng phng trnh (5.4), gi tr ca T
s
vi bng
2% ca fv l bn ln gi tr ca h s thi gian ca h thng:

n
s
T

4
4 = = (5.10)

c(t)

n
t
= 0,1
= 0,2
= 0,4
= 0,8
= 1,0
Hnh 5.2. p ng nht thi ca h thng vi tn hiu vo l hm xung n v
cho cc gi tr khc nhau ca t s cn
= 2,0

xc nh thi gian ti nh T
p
, chng ta cn gii phng trnh sau:
0
) (
=
dt
t dc
(5.11)
Bin i Laplace ca o hm khi cc iu kin ban u bng khng l:
) (
) (
s sC
dt
t dc
=

L (5.12)
Thay (5.5) vo (5.12), chng ta c c phng trnh:

2 2
2
2
) (
n n
n
s s
dt
t dc

+ +
=

L (5.13)
Ly bin i Laplace nghch ca phng trnh (5.13):
) 1 sin(
1
) (
2
2
t e
dt
t dc
n
t n
n

=

(5.14)
T (5.11) v (5.14), chng ta c c phng trnh cn gii xc nh T
p
l:
71
0 ) 1 sin(
1
2
2
=

t e
n
t n
n

(5.15)
V tri ca phng trnh (5.15) bng khng khi 1
2
k t
n
= vi k l mt s
nguyn. Chng ta d dng thy c, khi k = 1, nghim ca phng trnh chnh
l T
p
, ngha l:
1
2
=
p n
T (5.16)
hay:

2
1

=
n
p
T (5.17)

c(t)
t
T
r

T
p

M
p

fv
fv+
fv
T
s

Hnh 5.3. Cc s o hiu sut trn p ng ca h thng vi tn hiu vo
nhy bc n v

Thay (5.17) vo (5.6), chng ta s tnh c gi tr cc i M
p
ca p ng:

sin
1
1
1 ) sin(
1
1
1
) 1 sin(
1
1
1 ) (
2 2
2
2
p n p n
p n
T T
p n
T
p p
e e
T e T c M

+ = +

=
+

= =
(5.18)
72

2
1
arctan

= , v vy sin c tnh nh sau:

2
2
1
1
arctan sin sin

= (5.19)
Thay (5.19) vo (5.18), chng ta c c gi tr ca M
p
theo v
n
:

2
1
1 1

+ = + = e e M
p n
T
p
(5.20)
y l gi tr cc i ca p ng vi tn hiu vo l hm nhy bc n v, trong
trng hp ny gi tr cui cng ca p ng l fv = 1. Gi tr phn trm qu mc
P
o
c tnh nh sau:

2
2
1
1
100 % 100
1
1 1




=
+
= e
e
P
o
(5.21)
Khi thit k h thng, chng ta thng mun p ng ca h thng c c P
o

v T
p
cng nh cng tt. Tuy nhin, trong khi P
o
gim theo chiu tng ca t s
cn th T
p
li tng, nh c th hin trn th ca v d ang xt (Hnh 5.4).
V vy, chng ta cn iu chnh li cc yu cu ban u ca P
o
v T
p
c th
xc nh c gi tr ph hp cho .

P
o


T
p

P
o

T
p

5,0
4,0
3,0
4,8
4,6
4,4
4,2
3,8
3,6
3,4
3,2
Hnh 5.4. th ca cc s o phn trm qu mc P
o
v thi gian ti nh T
p
ca
p ng h thng khi t s cn thay i (t
n
= 1)

V tr cc nghim ca phng trnh c trng ca h thng c biu din
73
bng phng trnh (5.4) th hin trong Hnh 5.5. th ny cho chng ta thy
c s tng quan gia p ng trong min thi gian ca h thng vi v tr cc
im cc ca hm chuyn trong mt phng s thng qua cc h s ,
n
v gc .

-
n

n
2
1
n
i
0
Hnh 5.5. th v tr cc nghim ca phng trnh c trng ca h thng
trong mt phng s

2
1
n
i

th trong Hnh 5.4 biu din cc s o hiu sut ca mt h thng bc hai.
Tuy nhin, trong nhiu trng hp, cc s o hiu sut ca h thng c bc ln
hn hai cng c th xp x c bng th ny. V d, xem xt mt h thng
bc ba c hm chuyn vng kn nh sau:

) )( 2 (
) (
2 2
2


+ + +
=
s s s
s T
n n
n
(5.22)
Phng trnh c trng ca h thng ni trn c hai nghim l cc nghim ca
phng trnh c trng ca h thng bc hai biu din bi phng trnh (5.4) v
nghim th ba bng . Cc s o hiu sut ca h thng ny s c gi tr xp x
cc s o hiu sut ca h thng bc hai nu nh:
| | 10 | |
n
(5.23)
Khi cp nghim ca h thng bc hai c gi l cc nghim tri (dominant
roots) ca h thng bc ba. Ni mt cch khc, p ng ca mt h thng bc ba
c th xp x c bng p ng ca mt h thng bc hai nu ln phn thc
ca cc nghim tri nh hn 1/10 ln phn thc ca nghim th ba ca
phng trnh c trng.
V d 5.1
Xem xt h thng c biu din bng phng trnh (5.3). Chng ta mun chn
gi tr cc tham s K v p sao cho gi tr phn trm qu mc P
o
ca p ng ca
h thng i vi tn hiu vo nhy bc khng vt qu 5% v thi gian qu T
s

khng qu 4s. T
s
c tnh theo biu thc (5.10), do vy chng ta c:
1 hay 4
4
=
n
n
s
T

(5.24)
74
S dng cng thc (5.21), chng ta tnh c iu kin P
o
5% l 2 1
hay 45
o
. tha mn cc yu cu, ng thi c c gi tr ca T
s
v T
p
cng
nh cng tt, chn gi tr nh nht c th cho l 2 1 v 2 1 = =
n
. Khi
, chng ta c c cc gi tr 2
2
= =
n
K v p = 2
n
= 2.
5.3. Ch s hiu sut
Ch s hiu sut (performance index) l mt s o nh lng hiu sut ca mt
h thng v c la chn sao cho ph hp vi cc yu cu t ra cho h thng.
Sau khi hiu sut c mong mun cho h thng c m t mt cch nh
lng, ch s hiu sut s c tnh ton hay o c v c dng nh gi
hiu sut ca h thng. Trong k thut iu khin hin i, ch s hiu sut l
mt khi nim rt quan trng v cn thit cho cc h thng iu khin thch nghi,
cho vic ti u ha cc tham s h thng mt cch t ng v thit k cc h
thng iu khin ti u.
Mt h thng c coi l h thng iu khin ti u (optimum control system)
khi cc tham s ca h thng c iu chnh c iu chnh sao cho cc ch s
t c cc tr, thng l gi tr cc tiu. Cc ch s hiu sut thng c s
dng bao gm:
1. Tch phn ca sai s bnh phng (ISE):

=
T
dt t e I
0
2
1
) ( (5.25)
Gii hn trn T l mt gi tr thi gian hu hn c chn sao cho tch
phn tip cn gi tr trng thi thng trc. Ngi ta thng chn T =
T
s
, tc l thi gian qu ca h thng. Ch s ny thng c dng
pht hin ra cc h thng c t s cn qu ln hay qu nh so vi mc ph
hp.
2. Tch phn ca sai s tuyt i (IAE):

=
T
dt t e I
0
2
| ) ( | (5.26)
Ch s ny thng c dng khi chng ta quan tm nhiu hn ti sai s
on cui ca p ng nht thi.
3. Tch phn ca thi gian nhn sai s tuyt i (ITAE):

=
T
dt t e t I
0
3
| ) ( | (5.27)
4. Tch phn ca thi gian nhn sai s bnh phng (ITSE):
75

=
T
dt t te I
0
2
4
) ( (5.28)
Cc ch s I
3
v I
4
c dng v chng khuych i s thay i ca sai s khi
cc tham s ca h thng thay i, trong ch s I
3
phn bit r nht, cng c
ngha l im cc tiu ca n c th hin r rng nht.
Ngoi cc ch s hiu sut nu trn, chng ta c th nh ngha cc ch s
khc di dng tng qut:

=
T
dt t t c t r t e f I
0
] ), ( ), ( ), ( [ (5.29)
f l mt hm ca sai s, tn hiu vo, tn hiu ra v thi gian.
V d 5.2
Xem xt mt h thng iu khin phn hi c hm chuyn ca ton h thng nh
sau:

1 2
1
) (
2
+ +
=
s s
s T

(5.30)
Cc th trong Hnh 5.6 th hin s bin thin ca cc ch s hiu sut ca h
thng khi t s cn bin i, vi tn hiu vo l mt hm nhy bc n v. Nhn
vo hnh v chng ta thy c ch s I
3
c s thay i r rng nht, v ch s
ny t c gi tr cc tiu khi t s cn c gi tr khong 0,7.

Hnh 5.6. th cc ch s hiu sut khi t s cn thay i



76
5.4. Sai s trng thi thng trc ca h thng iu khin phn hi
Mt trong nhng nguyn nhn ch yu ca vic s dng phn hi, cho d lm
tng gi thnh v phc tp ca h thng, l kh nng lm gim sai s trng
thi thng trc ca h thng. Nh c cp chng trc, sai s trng
thi thng trc ca mt h thng vng kn thng nh hn vi ln so vi sai s
ca h thng vng h. Chng ta dng k hiu E
a
(s) ch tn hiu sai khc
c dng iu khin qu trnh trong h thng vng kn. Tuy nhin, sai s
thc s ca h thng phi l E(s) = R(s) C(s). Vi h thng phn hi nh trong
Hnh 4.1, chng ta c:
) (
) ( ) ( 1
) ( ) ( ) ( 1
) (
) ( ) ( 1
) (
) ( ) ( s R
s H s G
s G s H s G
s R
s H s G
s G
s R s E
+
+
=
+
= (5.31)
Nu H(s) = 1:
) (
) ( 1
1
) ( s R
s G
s E
+
= (5.32)
Khi , E(s) = E
a
(s). Sai s trng thi thng trc ca h thng khi H(s) = 1 l:

) ( 1
) (
lim ) ( lim
0
s G
s sR
t e e
s t
ss
+
= =

(5.33)
Sai s trng thi thng trc ca h thng cho mt s tn hiu vo th chun
khi H(s) = 1 c xc nh nh sau:
Tn hiu nhy bc:

) 0 ( 1 ) ( 1
) (
lim
0
G
A
s G
s A s
e
s
ss
+
=
+
=

(5.34)
A l ln ca tn hiu nhy bc. Gi s hm chuyn G(s) ca qu
trnh c dng nh sau:

=
=

=
Q
j
j
N
M
i
i
p s s
z s K
s G
1
1
) (
) (
) ( (5.35)
Gi tr N chnh l s ln tch phn, hay cn gi l s nh kiu (type
number) ca h thng, bi v sai s trng thi thng trc ph thuc vo
gi tr ny, c th nh sau:
o H thng kiu-0 (type-zero):

p
Q
j
j
M
i
i
ss
K
A
p z K
A
e
+
=

+
=

= =
1
1
1 1
(5.36)
77
:

=
=

= =
Q
j
j
M
i
i
s
p
p
z
K s G K
1
1
0
) ( lim (5.37)
c gi l hng s sai s v tr (position error constant).
o H thng c N 1:
0
) ( ) (
lim
1 1
0
=
+
=

= =

Q
j
j
M
i
i
N
N
s
ss
p s z s K s
As
e (5.38)
Tn hiu dc r(t) = At:

) (
lim
) (
lim
) ( 1
) (
lim
0 0
2
0
s sG
A
s sG s
A
s G
s A s
e
s s s
ss

=
+
=
+
= (5.39)
o H thng kiu-0:
=

=

= =

Q
j
j
M
i
i
s
ss
p s z s sK
A
e
1 1
0
) ( ) (
lim (5.40)
o H thng kiu-1 (type-one):

v
Q
j
j
M
i
i
s
ss
K
A
p s z s K
A
e =

=

= =

1 1
0
) ( ) (
lim (5.41)
:

=
=

= =
Q
j
j
M
i
i
s
v
p
z
K s sG K
1
1
0
) ( lim (5.42)
c gi l hng s sai s vn tc (velocity error constant).
o H thng c N 2:
0
) ( ) (
lim
1 1
1
0
=

=

= =

Q
j
j
M
i
i
N
s
ss
p s z s K
As
e (5.43)
78
Tn hiu parabol, cn gi l tn hiu gia tc (acceleration) r(t) = At
2
/2:

) (
lim
) (
lim
) ( 1
) (
lim
2
0
2 2
0
3
0
s G s
A
s G s s
A
s G
s A s
e
s s s
ss

=
+
=
+
= (5.44)
o H thng c N < 2:
=

=

= =

Q
j
j
M
i
i
N
s
ss
p s z s K s
A
e
1 1
2
0
) ( ) (
lim (5.40)
o H thng kiu-2 (type-two):

a
Q
j
j
M
i
i
s
ss
K
A
p s z s K
A
e =

=

= =

1 1
0
) ( ) (
lim (5.41)
:

=
=

= =
Q
j
j
M
i
i
s
a
p
z
K s G s K
1
1 2
0
) ( lim (5.42)
c gi l hng s sai s gia tc (acceleration error constant).
o H thng c N 3:
0
) ( ) (
lim
1 1
2
0
=

=

= =

Q
j
j
M
i
i
N
s
ss
p s z s K
As
e (5.43)
Cc h thng iu khin thng c m t bng s nh kiu v cc hng s
sai s ca chng. Ch rng, cc hng s sai s K
p
, K
v
v K
a
tuy c nh ngha
khc nhau nhng c gi tr nh nhau, nn c th gi chung l hng s sai s.
Bi tp
Bi 5.1. Mt h thng phn hi n v m c hm chuyn ca qu trnh l
) 4 (
6
) (
+
+
=
s s
s
s G .
(a) Xc nh hm chuyn ca h thng vng kn.
(b) Tnh p ng theo thi gian ca h thng khi tn hiu vo l hm nhy bc
c ln bng A.
(c) Xc nh gi tr phn trm qu mc ca p ng.
(d) Tnh gi tr trng thi thng trc ca p ng.
79
Bi 5.2. H thng iu khin u c/ghi ca mt a my tnh c hm chuyn
vng kn nh sau:
) 1 3 , 0 )( 25 , 0 (
) 8 , 0 ( 313 , 0
) (
2
+ + +
+
=
s s s
s
s T
(a) V cc im cc v im khng ca h thng.
(b) c lng gi tr phn trm qu mc ca p ng khi tn hiu vo l mt
hm nhy bc.
Bi 5.3. Mt h thng phn hi n v m c hm chuyn ca qu trnh l
) 2 (
) (
+
=
s s
K
s G . p ng c mong mun cho h thng khi tn hiu vo l mt
hm nhy bc c m t bng hai gi tr: thi gian ti nh T
p
= 1s v phn trm
qu mc P
o
= 5%.
(a) C tn ti gi tr ca K p ng ca h thng tha mn c hai yu
cu trn hay khng?
(b) Nu khng tn ti gi tr ca K c hai yu cu trn c tha mn ng
thi, xc nh gi tr ca K p ng ca h thng tha mn c hai
yu cu c ni lng vi cng mt t l nh nhau.
Bi 5.4. Mt h thng phn hi n v m n gin c hm chuyn ca qu trnh
l G(s) = K/s. Tn hiu vo ca h thng l mt hm nhy bc c ln bng A.
iu kin khi u ca h thng ti thi im t
0
l c(t
0
) = Q, c(t) l tn hiu
ra ca h thng. nh ngha mt ch s hiu sut I nh sau:

=
0
2
) ( dt t e I
(a) Chng t rng I = (A Q)
2
/(2K).
(b) Xc nh K ch s hiu sut I t gi tr nh nht.
Bi 5.5. Mt b khuych i t vi tr khng u ra thp mc ni tip vi mt b
tin khuych i v mt mch lc thng thp nh trong hnh di. B tin
khuych i c tr khng u vo cao v h s khuych i bng mt, c dng
cng tn hiu.

1
20
+ s

v
vo

v
ra

+

R = 50
C
Khuych
i t

(a) Chn gi tr cho t in C h thng c t s cn bng 0,7.
(b) Tnh thi gian qu T
s
ca h thng.

80
Chng VI

TNH N NH CA CC H THNG PHN HI
TUYN TNH

Tm tt ni dung
Mt h thng thiu n nh s dn n nhng sai s v sai lm trong p ng. V
vy chng ta lun phi tm cch m bo sao cho h thng n nh v c p ng
nm trong mt khong xc nh.
Tnh n nh ca mt h thng phn hi lin quan n v tr ca cc nghim
ca phng trnh c trng ca hm chuyn ca h thng. Trong chng ny,
chng ta s nghin cu cc phng php xc nh xem mt h thng c n nh
hay khng v n nh mc no. Ngoi phng php s dng v tr cc
nghim ca phng trnh c trng, chng ta s xem xt c mt phng php xc
nh tnh n nh ca h thng khng dng n v tr cc nghim ca phng
trnh c trng m s dng cc h s a thc ca phng trnh c trng. Cc
phng php xc nh tnh n nh ca h thng c biu din bng m hnh
bin trng thi cng s c cp ti.
6.1. Khi nim v tnh n nh
Mt c tnh rt quan trng ca hiu sut nht thi ca mt h thng l tnh n
nh (stability) ca h thng. Mt h thng n nh c nh ngha l mt h
thng c p ng lun nm trong mt khong xc nh. iu c ngha l, nu
cc tn hiu vo v nhiu tc ng ti h thng u nm trong nhng khong xc
nh v p ng ca h thng c ln nm trong mt khong xc nh, th h
thng c coi l n nh.
Khi nim tnh n nh c th minh ha c bng vic t mt vt th hnh
nn trn mt phng ngang. Nu hnh nn nm trn y ca n, hnh nn s lun
c xu hng tr v trng thi cn bng khi chng ta tc dng mt lc lm n
nghing i mt cht. V tr v p ng trong trng hp ny c gi l n nh.
Nu hnh nn nm trn cnh, n s ln khi chng ta tc ng vo, nhng vn tip
tc nm trn cnh. V tr ny c gi l v tr n nh trung tnh. Nu chng ta
t hnh nn trn nh ca n, hnh nn s xung cnh nu khng c gi.
V tr ny c gi l khng n nh.
Tnh n nh ca mt h thng ng cng c nh ngha mt cch tng
t. p ng ca h thng vi tn hiu vo hay mt iu kin ban u s c dng
gim dn, trung tnh (khng thay i), hay tng dn theo thi gian. c bit, theo
nh ngha ca tnh n nh, mt h thng tuyn tnh n nh khi v ch khi tch
phn

0
) ( dt t y , vi y(t) l p ng ca h thng khi tn hiu vo l hm xung n
v, phi hu hn. V tr cc im cc ca hm chuyn ca h thng trong mt
81
phng s cng ch ra tnh n nh ca p ng nht thi. H thng c cc im cc
u nm bn tri trc o s c p ng gim dn, trong khi h thng c cc
im cc nm bn phi trc o c p ng trung tnh hoc tng dn. Nh vy,
c c mt h thng n nh, cc im cc ca hm chuyn ca h thng cn
phi nm bn tri ca trc o trong mt phng s.
Vi cc h thng tuyn tnh, chng ta nhn thy rng, yu cu v tnh n nh
c th nh ngha c di dng v tr ca cc im cc ca hm chuyn vng
kn. Hm chuyn ca mt h thng vng kn c th biu din c di dng
sau:

= =
= =
=
+ + +
+
+
=
+ + + +
+
=
=
Q
k
R
m m m m
m
k
k
Q
k
R
m
m m m k
M
i
i
s s
B
s
A
s s s
z s K
s q
s p
s T
1 1
2 2 2
1 1
2 2 2
1
2
) 2 ( ) (
) (
) (
) (
) (

(6.1)
Thc hin bin i Laplace nghch ca phng trnh (6.1), chng ta c c p
ng ca h thng vi tn hiu vo l hm xung n v s c dng:


=

+ =
R
m
m
t
m
m
Q
k
t
k
t e
B
e A t c
m k
1 1
) sin( ) (

(6.2)
p ng ca h thng c gii hn trong mt khong xc nh, iu kin cn
v l k:
k
> 0 v m:
m
> 0. iu c ngha l, tt c cc im cc ca
hm chuyn ca h thng cn phi nm na bn tri trc o ca mt phng s.
Nh vy, iu kin cn v mt h thng iu khin phn hi n nh l tt
c cc im cc ca hm chuyn ca h thng u c phn thc mang gi tr m.
Chng ta c th xc nh xem mt h thng c n nh hay khng bng cch
gii phng trnh c trng ca h thng tm cc nghim ca n. Tuy nhin,
nu ch tr li cu hi h thng c n nh hay khng th vic l qu tha.
Sau y, chng ta s xem xt cc phng php xc nh tnh n nh ca h
thng m khng cn phi gii phng trnh c trng.
6.2. iu kin n nh Routh-Hurwitz
Mt phng php xc nh tnh n nh ca cc h thng tuyn tnh c A.
Hurwitz v E.J. Routh nghin cu v cng b c lp vi nhau vo cui th k
19. Phng php Routh-Hurwitz a ra cu tr li cho cu hi v tnh n nh
bng cch xem xt phng trnh c trng ca h thng. Phng trnh c trng
ca h thng c th vit c di dng sau:
0 ... ) (
1
1
1 0
= + + + + =

n n
n n
a s a s a s a s q (6.3)
82
Thit lp bng Routh-Hurwitz t cc h s ca a thc q(s):
Bc 1: in hai hng u tin ca bng
Nu n chn:
s
n
a
0
a
2
a
4
... a
n

s
n1
a
1
a
3
a
5
... 0
Nu n l:
s
n
a
0
a
2
a
4
... a
n1

s
n1
a
1
a
3
a
5
... a
n

Bc 2: in cc hng t 3 n n+1
Gi s hng th k2 v k1 c in:
s
nk+3
x
1
... x
i
x
i+1
...
s
nk+2
y
1
... y
i
x
i+1
...
in tip hng th k:
s
nk+1
... z
i
... 0
:

1 1
1 1
1 1
1 1 1 1
1
+
+
+ +
=

=
i
i
i i
i
y y
x x
y y
y x y x
z (6.4)
iu kin Routh-Hurwitz c pht biu nh sau: S nghim ca phng
trnh c trng c phn thc dng ng bng s ln i du ca cc phn t
trong ct th nht ca bng Routh-Hurwitz. iu c ngha l, iu kin cn v
h thng n nh l tt c cc phn t ca ct th nht trong bng Routh-
Hurwitz u c cng du. Chng ta cn xt n hai trng hp c bit xy ra
khi trong ct th nht ca bng Routh-Hurwitz c t nht mt phn t bng
khng:
Nu mt phn t ca ct th nht bng khng, nhng trong cc phn t
cng hng vi n c t nht mt phn t khc khng: trong trng hp ny
h thng khng n nh.
Nu mi phn t cng hng vi mt phn t c gi tr bng khng ct
th nht u bng khng: gi s tt c cc phn t hng th k u bng
khng. iu c ngha l tt c cc phn t trong bng t hng th k tr
i u bng khng. Trng hp ny xy ra khi phng trnh c trng c
cc nghim nm trn trc o ca mt phng s v i xng nhau qua tm
ca trc ta phc. Cc nghim ny chnh l nghim ca mt phng
trnh ph c thit lp t cc phn t hng ngay trn ca hng u tin
ton gi tr khng, tc l hng th k1:
0 ... ) (
2
3 2
2
1
= + + + =
+ k n k n k n
s y s y s y s U (6.5)
Khi , chng ta s xc nh tnh n nh ca h thng qua cc nghim
cn li ca phng trnh c trng bng cch p dng iu kin Routh-
Hurwitz cho phng trnh sau:
0
) (
) (
=
s U
s q
(6.6)

83
V d 6.1
Xem xt mt h thng iu khin tay my c phng trnh c trng nh sau:
q(s) = s
5
+ s
4
+ 4s
3
+ 24s
2
+ 3s + 63 = 0 (6.7)
Bng Routh-Hurwitz cho q(s) c thit lp di y:
s
5
1 4 3
s
4
1 24 63
s
3
-20 -60 0
s
2
21 63 0
s
1
0 0 0
s
0
0 0 0
Phng trnh ph trong trng hp ny l:
U(s) = 21s
2
+ 63 = 0 (6.8)
Nghim ca phng trnh ph l 3 i s = , l hai nghim i xng nhau trn trc
o. Chng ta s xem xt cc nghim cn li ca phng trnh sau:
0 ) 21 (
21
1
) (
) (
2 3
= + + + = s s s
s U
s q
(6.9)
hay:
0 21
2 3
= + + + s s s (6.10)
Chng ta c c bng Routh-Hurwitz ca phng trnh (6.10):
s
3
1 1
s
2
1 21
s
1
-20 0
s
0
21 0
Trong bng ny, chng ta thy c hai ln i du ct th nht, tc l phng
trnh c trng ca h thng c hai nghim vi phn thc ln hn khng. V vy
h thng chng ta ang xem xt khng n nh.
V d 6.2
Mt a my tnh c s khi c biu din trong Hnh 6.1, G(s) l
hm chuyn th hin ng lc ca c cu u c ghi v D(s) l hm chuyn ca
b phn iu khin:

) 3 )( 2 (
1
) (
+ +
=
s s s
s G (6.11)

1
) (
) (
+
+
=
s
a s K
s D (6.12)
Chng ta tnh c phng trnh c trng ca h thng:
q(s) = s
4
+ 6 s
3
+ 11 s
2
+ (K+6)s + Ka = 0 (6.13)
Bng Routh-Hurwitz ca phng trnh ny c thit lp di y:
84
s
4
1 11 Ka
s
3
6 K+6 0
s
2

6
10
K
Ka 0
s
1

K
Ka
K

+
60
36
6
0 0
s
0
Ka 0 0

G(s)
R(s) C(s) D(s)
_
+
Hnh 6.1. S khi ca h thng trong v d 6.2

Theo iu kin Routh-Hurwitz, iu kin cn v h thng n nh l:
0
6
10 >
K
hay K < 60 (6.14)
v
0
60
36
6 >

+
K
Ka
K hay
K
K K
a
36
) 6 )( 60 ( +
< (6.15)
v
Ka > 0 (6.16)
6.3. Tnh n nh ca h thng trong min thi gian
Nh chng ta trnh by Chng III, mt h thng tuyn tnh c th biu din
c di dng phng trnh vi phn bc nht ca vector trng thi:
Bu Ax
x
+ =
dt
d
(6.17)
p ng ca h thng khi s l:
y = Cx + Du (6.18)
Thc hin bin i Laplace cho phng trnh (6.17), chng ta c c:
sX(s) = AX(s) + BU(s) (6.19)
hay:
X(s) = (sI A)
1
BU(s) (6.20)
trong I l ma trn n v c kch thc bng kch thc ca ma trn A. Thc
hin bin i Laplace cho phng trnh (6.18), chng ta c c:
Y(s) = CX(s) + DU(s) (6.21)
Thay (6.20) vo (6.21):
85
) ( ] ) ( [ ) (
1
s s s U D B A I C Y + =

(6.22)
Ma trn nghch o ca mt ma trn M c tnh bng cng thc sau:

) det(
) ( adj
1
M
M
M =

(6.23)
, adj(M) l ma trn lin hp ca M v det(M) l nh thc ca ma trn M.
p dng cng thc ny, phng trnh (6.22) tr thnh:
) (
) det(
) ( adj
) ( s
s
s
s U D
A I
B A I C
Y

= (6.24)
Phng trnh (6.24) th hin mi quan h gia tn hiu vo v tn hiu ra ca h
thng trong min tn s, v vy phng trnh c trng ca h thng l:
q(s) = det(sI A) = 0 (6.25)
Nh vy, kho st tnh n nh ca h thng tuyn tnh c biu din bng
phng trnh vi phn ca vector trng thi, chng ta c th dng iu kin Routh-
Hurwitz cho phng trnh c trng (6.25). Cc nghim ca phng trnh ny
chnh l cc gi tr ring (eigenvalues) ca ma trn A.
Mt phng php n gin hn xc nh tnh n nh ca h thng tuyn
tnh c biu din bng phng trnh vi phn ca vector trng thi l s dng
nh l Lyapunov. nh l Lyapunov c pht biu nh sau: iu kin cn v
tt c cc gi tr ring ca mt ma trn A u c phn thc m l nghim
ca phng trnh sau phi l mt ma trn xc nh dng i xng:
A
T
X + XA = N (6.26)
, A
T
l ma trn chuyn v ca ma trn A, N l mt ma trn xc nh dng
i xng bt k, cn ma trn X l n ca phng trnh. Ma trn xc nh dng
i xng (symmetric positive definite matrix) l ma trn i xng c cc gi tr
ring u ln hn khng. Cch d nht kim tra xem mt ma trn i xng c
phi l ma trn xc nh dng i xng hay khng l kim tra cc nh thc con
chnh (principal minor) ca ma trn. Nu tt c cc nh thc con chnh ca mt
ma trn i xng u ln hn khng, ma trn l ma trn xc nh dng i
xng.
V d 6.3
Mt h thng tuyn tnh c biu din bng phng trnh vi phn ca vector
trng thi vi ma trn A c cho nh sau:

=
a b
b a
A (6.27)
xc nh tnh n nh ca h thng, chng ta ly ma trn

=
1 0
0 1
N v gii
phng trnh sau:
86

1 0
0 1
22 21
12 11
22 21
12 11
a b
b a
x x
x x
x x
x x
a b
b a
(6.28)
trong x
12
= x
21
. Nghim ca phng trnh (6.28) l:

=
a
a
2
1
0
0
2
1
X (6.29)
Cc nh thc con chnh ca X l 1/(2a) v 1/(4a
2
). V vy, iu kin h thng
n nh l 1/(2a) > 0 hay a > 0.
6.4. Tnh n nh tng i ca cc h thng iu khin phn hi
Cc phng php ca Routh-Hurwitz v Lyapunov cho php chng ta xc nh
tnh n nh tuyt i ca h thng. Tuy nhin, vi mt h thng n nh, chng
ta c th cn mong mun xc nh tnh n nh tng i ca n. Tnh n nh
tng i (relative stability) ca mt h thng c th c nh ngha nh mt
thuc tnh o c bng thi gian qu tng i ca mi nghim hay mi cp
nghim i xng nhau qua trc thc ca phng trnh c trng ca h thng. V
vy, tnh n nh tng i ca h thng c biu din bi phn thc ca mi
nghim hay cp nghim i xng. Nghim c phn thc cng gn gi tr khng
th thi gian qu tng i ca n cng ln, ngha l tnh n nh tng i
ca n cng thp. Ngoi ra, tnh n nh tng i ca h thng cn c th c
nh ngha bng t s cn tng i ca mi cp nghim phc hay tc p
ng tng i v phn trm qu mc tng i thay cho thi gian qu tng
i.
Bi tp
Bi 6.1. Mt h thng c phng trnh c trng nh sau:
s
3
+ 3Ks
2
+ (2+K)s + 4 = 0
Hy xc nh khong gi tr ca K h thng n nh.
Bi 6.2. Mt h thng c phng trnh c trng nh sau:
s
3
+ 9s
2
+ 26s + 24 = 0
Dng iu kin Routh-Hurwitz chng t rng h thng ny n nh.
Bi 6.3. Mt h thng iu khin c s khi c th hin trong hnh v di.
Hy xc nh gi tr ca K m ti h thng bt u khng n nh.

+
R(s)
+

C(s)
1
2
+ s

) 2 ( + s s
K



Bi 6.4. Mt h thng iu khin phn hi c s khi c biu din trong
hnh v di, hm chuyn ca qu trnh c cho nh sau:
87
2
) 10 (
20
) (
+
+
=
s s
s
s G

G(s)
R(s) C(s) K
_
+

Hy xc nh khong gi tr K h thng n nh.
Bi 6.5. Mt h thng c biu din bng phng trnh vi phn Bu Ax
x
+ =
dt
d

ca vector trng thi x, trong ma trn A c cho nh sau:

=
2 1
1 0 0
0 1 0
k
A
Hy xc nh khong gi tr ca k h thng n nh.
Bi 6.6. Mt h thng iu khin u c ghi bng cassette c s khi c
biu din trong hnh v di.

2
) 50 (
10
+ s
R(s) C(s)
200 + s
K
_
+

(a) Xc nh khong gi tr ca K cho h thng n nh.
(b) Xc nh gi tr ca K phn trm qu mc ca p ng vi tn hiu vo
l hm nhy bc n v vo khong 5%.
Bi 6.7. H thng li t ng ca mt tu thy c biu din bi phng trnh
vi phn ca vector trng thi nh sau:
) (
0
0
03 , 0
2 , 0
) (
0 0 1 0
13 0 0 1
0 0 15 , 0 10
0 0 6 05 , 0
3
t t
dt
d

=

x
x

vector trng thi x(t) gm bn bin trng thi x
1
, x
2
, x
3
v x
4
.
(a) Xc nh xem h thng c n nh hay khng.
(b) Thm vng phn hi vo h thng, khi chng ta c (t) = k
1
x
1
k
2
x
3
.
C tn ti cc gi tr ca k
1
v k
2
h thng n nh hay khng?
88
Chng VII

PHNG PHP QU TCH NGHIM

Tm tt ni dung
Trong cc chng trc, chng ta thy hiu sut ca h thng phn hi c th
iu chnh c bng cch iu chnh cc tham s ca h thng, v chng ta c
th m t hiu sut bng v tr cc nghim ca phng trnh c trng trong
mt phng s. V vy, vic xc nh s thay i v tr ca cc nghim c trng
trong mt phng s khi mt tham s thay i l rt cn thit.
Qu tch ca cc nghim ca phng trnh c trng trong mt phng s c th
xc nh c bng phng php s dng th. Ni dung chng ny s cp
ti cc phng php c s dng phc ra c qu tch ca cc nghim ny.
Khng nhng c th xc nh c cc nghim dch chuyn nh th no khi
mt tham s thay i, chng ta cn c th biu din c s bin i ca cc
nghim khi c nhiu hn mt tham s thay i. iu cung cp cho chng
ta kh nng thit k mt h thng vi nhiu tham s iu chnh c nhm t
c hiu sut mong mun.
7.1. Gii thiu
Tnh n nh tng i v hiu sut nht thi ca mt h thng iu khin vng
kn c lin quan trc tip ti v tr cc nghim vng kn ca phng trnh c
trng trong mt phng s. Thm na, chng ta thng cn phi iu chnh mt vi
tham s ca h thng c c v tr ph hp cho cc nghim. V vy, s rt c
gi tr nu chng ta xc nh c cc nghim ca phng trnh c trng ca
mt h thng di chuyn nh th no trong mt phng s khi cc tham s thay i,
ngha l xc nh qu tch ca cc nghim trong mt phng s khi cc tham s
thay i. Phng php qu tch nghim (root locus) c Evans gii thiu vo
nm 1948 v c pht trin tr thnh mt phng php c ng dng rt
ph bin trong k thut iu khin. Phng php qu tch nghim l mt phng
php s dng th th hin qu tch ca cc nghim trong mt phng s khi
cc tham s thay i. Trong thc tin, phng php qu tch nghim cung cp
cho chng ta mt s o nhy ca cc nghim ca phng trnh c trng i
vi s thay i ca cc tham s c xem xt. Trong phng php ny, iu kin
Routh-Hurwitz c th c s dng xc nh khong bin i c php cho
cc tham s nhm m bo h thng lun n nh khi cc tham s thay i. Mc
d phng php qu tch nghim c thit k p dng cho cc h thng phn
hi mt vng, phng php ny cng c th p dng c cho cc h thng
nhiu vng vi nhiu tham s thay i.
7.2. Khi nim qu tch nghim
Vi h thng iu khin vng kn c s khi nh trong Hnh 7.1, phng
trnh c trng ca h thng l:
89
q(s) = 1 + G(s)H(s) = 0 (7.1)

G(s)
H(s)
R(s) C(s) +

Hnh 7.1. H thng iu khin phn hi

t F(s) = G(s)H(s), phng trnh (7.1) tr thnh:
1 + F(s) = 0 hay F(s) = 1 (7.2)
V s l bin phc, hm F(s) co th biu din di dng:
F(s) = r(s)cos(s) + ir(s)sin(s) (7.3)
r(s) l ln v (s) l gc cc ca F(s):

)] ( [ real
)] ( [ imag
arctan ) (
) ( ) (
s F
s F
s
s F s r
=
=

(7.4)
Thay (7.3) vo phng trnh (7.2), chng ta c c phng trnh sau:
r(s)cos(s) + ir(s)sin(s) = 1 (7.5)
V vy, iu kin cn thit phng trnh c trng ca h thng c tha
mn l:
r(s) = 1 (7.6)
v
(s) = (2k + 1) (7.7)
vi k l mt s nguyn. Chng ta s s dng k hiu F(s) = (s).
minh ha cho khi nim qu tch nghim, trc ht chng ta xem xt mt
h thng phn hi c G(s) = 1/[s(s + a)] v H(s) = K, K l mt gi tr c th
thay i trong khong t 0 n +. Trong trng hp ny, F(s) l biu thc sau:

) (
) (
a s s
K
s F
+
= (7.8)
tha mn iu kin (7.6), chng ta cn phi c:
1
) (
=
+ a s s
K
(7.9)
hay:
| s || s + a | = K (7.10)
Tip theo, chng ta cn xem xt ti gc cc ca hm F(s). lm iu ny,
90
chng ta s cn ti hai quy tc sau y:
1. Nu f(s) = a(s)b(s) th f(s) = a(s) + b(s) (7.11)
2. Nu f(s) = a(s)/b(s) th f(s) = a(s) b(s) (7.12)
V vy, gc cc ca hm F(s) nh (7.8) c th biu din c di dng:
F(s) = s (s + a) (7.13)
Thay (7.13) vo phng trnh (7.7), chng ta c c:
s (s + a) = (2k + 1) (7.14)
Phng trnh (7.14) ch c th tha mn c vi k = 0 hay k = 1, ngha l:
s (s + a) = (7.15)
iu kin (7.15) ch c tha mn nu nghim s ca phng trnh c trng
nm trn trc thc ca mt phng s hoc nm trn ng thng vung gc vi
trc thc v i qua im a/2. iu kin (7.10) c dng xc nh cc im
gii hn ca qu tch. Khi K = 0, phng trnh c trng ca h thng chnh l
phng trnh c trng ca h thng vng h vi cc nghim 0 v a. Phng
trnh c trng c nghim thc khi K 0 v K a
2
/4. Khi K = a
2
/4 th c hai
nghim ca phng trnh u l a/2. Qu tch ca cc nghim ca phng trnh
c trng khi K thay i c biu din trong Hnh 7.2. Cc mi tn trong hnh
v th hin chiu dch chuyn ca cc nghim trong mt phng s khi K tng t 0
n +.

0 a

i
K = 0
K = 0
a/2
K = a
2
/4
s
1

(s
1
+a)
s
1

Hnh 7.2. Qu tch nghim ca phng trnh c trng khi K thay i t 0 n +

th hin r hn kh nng ca phng php qu tch nghim, chng ta s
s dng li v d trn, nhng vi trng hp K c nh, cn a thay i. Phng
trnh c trng ca h thng l:
91
s
2
+ as + K = 0 (7.16)
S dng iu kin Routh-Hurwitz, chng ta s thy c rng h thng n
nh th cn c a 0. V vy, chng ta s ch tm qu tch ca cc nghim khi a
tng t 0 n +. Chia hai v ca phng trnh (7.16) cho s
2
+ K, chng ta c
c phng trnh:
0 1
2
=
+
+
K s
as
(7.17)
Phng trnh ny c dng rt ging phng trnh (7.2), ngha l F(s) trong trng
hp ny s l biu thc sau y:

K s
as
s F
+
=
2
) ( (7.18)
Tng t nh trong v d trn, chng ta s c c cc iu kin sau:
1
| |
| |
2
=
+ K s
s a
(7.19)
v
F(s) = s (s + K i ) (s K i ) = (7.20)
iu kin (7.20) ch c tha mn nu nghim s ca phng trnh c trng
nm trn trc thc ca mt phng s hoc nm trn ng trn c tm l gc ca
mt phng s v c bn knh l K . Khi a = 0, hai nghim ca phng trnh c
trng l K i . Phng trnh c nghim thc khi K a 2 . Khi K a 2 = , hai
nghim thc ca phng trnh u l K . Qu tch cc nghim ca phng
trnh c trng khi a thay i c biu din trong Hnh 7.3. Cc mi tn trong
hnh v th hin chiu dch chuyn ca cc nghim trong mt phng s khi a tng
t 0 n +.
7.3. Phng php qu tch nghim
Trong phng php qu tch nghim ca Evans, tc gi s dng mt quy trnh
phc ha nhanh qu tch ca cc nghim ca phng trnh c trng ca mt h
thng phn hi. Trc ht, chng ta c th biu din phng trnh c trng ny
di dng ca phng trnh (7.2). Gi s chng ta cn xc nh qu tch ca cc
nghim ca phng trnh c trng khi mt tham s K ca h thng thay i t 0
n +. s dng c quy trnh ny, F(s) cn phi biu din c di dng
tch ca tham s K v mt biu thc: F(s) = KP(s). Bc tip theo l chuyn biu
thc P(s) v dng cc im khng v im cc:

=
=

=
N
j
j
M
i
i
p s
z s
s P
1
1
) (
) (
) ( (7.21)
92
Khi , chng ta c th vit li phng trnh c trng ca h thng di dng
nh sau:
0 ) ( ) (
1 1
= +

= =
M
i
i
N
j
j
z s K p s (7.22)

0
K i +

i
a = 0
Hnh 7.3. Qu tch nghim ca phng trnh c trng khi a thay i t 0 n +
K i
K
a = 0
K a 2 =

Khi K = 0, cc nghim ca phng trnh c trng chnh l cc im cc ca
P(s). Cn khi K tin ti + th cc nghim ca phng trnh c trng tin ti
cc im khng ca P(s). V vy, qu tch ca cc nghim ca phng trnh c
trng s bt u ti cc im cc ca P(s) v kt thc ti cc im khng cng
ca P(s) khi tham s K tng t 0 n + (nu khng c im khng tng ng
th ng qu tch s tin ti v cng). S ng qu tch, tng ng vi s
nghim ca phng trnh c trng, ng bng s im cc ca P(s) nu P(s) c
s im cc ln hn hoc bng s im khng. Cn nu P(s) c s im cc t
hn s im khng th s ng qu tch s bng s im khng. Ch rng,
th qu tch cc nghim ca phng trnh c trng ca mt h thng lun i
xng qua trc thc v cc nghim phc ca phng trnh c trng lun l cc
cp lin hp ca nhau. Mt im cn bit na l phn qu tch trn trc thc ca
cc nghim lun nm trong cc on ca trc thc ngay pha bn tri ca cc
im cc hay im khng ca P(s) c th t l (khng phn bit im khng v
im cc) tnh t phi sang tri. iu ny c minh ha trong Hnh 7.4.
Nu s im khng ca P(s) t hn s im cc, mt s ng qu tch s kt
thc ti cc im khng v cng dc theo cc ng tim cn (asymptote). Tt
c cc ng tim cn ny u xut pht t mt im trn trc thc c ta
a

c xc nh nh sau:
93

M N
z p
M
i
i
N
j
j
a

=

= = 1 1
(7.23)
Gc ca cc ng tim cn ny c tnh nh sau:
) 1 ( 2,..., 1, 0, ,
) 1 2 (
=

+
= M N k
M N
k
k
a

(7.24)

o
o im khng
im cc
Cc on ca qu tch nghim
Hnh 7.4. Phn qu tch trn trc thc ca cc nghim

Khi K c mt gi tr lm phng trnh c trng c nghim kp thc, ng
qu tch nghim s ri khi trc thc ti im trn trc thc c ta bng gi tr
cc nghim kp . im ny c gi l im thot (breakaway point) ca qu
tch. Mt loi im quan trng na l giao im ca qu tch nghim vi trc o
ca mt phng s. Giao im ny c th xc nh c bng cch s dng iu
kin Routh-Hurwitz tm gi tr ca K h thng bt u chuyn t trng
thi n nh sang bt n nh v xc nh cc nghim ca phng trnh c trng
nm trn trc o ng vi gi tr K . Ngoi ra, s rt hu ch cho vic phc ha
qu tch nghim nu chng ta xc nh c gc ca ng qu tch ti im bt
u v im kt thc. Cc gc ny c th tnh c bng cch s dng iu kin
(7.7).
Tm li, cc bc c s dng c lng qu tch ca cc nghim ca
phng trnh c trng ca h thng bao gm:
1. Bin i phng trnh c trng v dng 1 + KP(s) = 0, K l tham s
c gi tr thay i.
2. Xc nh v tr cc im cc v im khng ca P(s) trong mt phng s.
3. Xc nh cc on ca cc ng qu tch nghim nm trn trc thc.
4. Xc nh s ng qu tch.
5. Xc nh im gc ca cc ng tim cn v gc ca cc ng tim
cn.
6. Xc nh im thot ca qu tch trn trc thc nu c.
7. S dng iu kin Routh-Hurwitz xc nh giao im ca qu tch v
trc o nu c.
8. Xc nh gc ca cc ng qu tch ti cc im khi u v kt thc.
V d 7.1
Xem xt mt h thng phn hi c phng trnh c trng nh sau:
94
0
) 4 )( 2 (
) 1 (
1
2
=
+ +
+
+
s s s
s K
(7.25)
Cc on ca qu tch nm trn trc thc l [1,0], [4,2] v [,4], v ti
im s = 4 c hai im cc. S ng qu tch trong trng hp ny s bng s
im cc ca P(s), ngha l bng bn. Qu tch c ba ng tim cn vi im
gc trn trc thc ca cc ng tim cn ny l:
3
1 4
) 1 ( ) 4 ( 2 ) 2 ( 0
=

+ +
=
a
(7.26)
Gc ca ba ng tim cn ln lt l:

3
5
1 4
5

1 4
3
3

1 4

3
2
1
=

=
=

=
=

=
a
a
a

(7.27)
tm im thot ca qu tch, trc ht cn bin i phng trnh (7.25) v
dng:

1
) 4 )( 2 (
2
+
+ +
=
s
s s s
K (7.28)
im thot ca qu tch l ti im trn trc thc c gi tr ca s tha mn iu
kin sau y:
0 =
ds
dK
(7.29)
hay:
3s
4
+ 24s
3
+ 62s
2
+ 64s + 32 = 0 (7.30)
Phng trnh (7.30) c bn nghim, nhng ch c hai nghim thc l s = 2,6 v
s = 4. Tuy nhin, chng ta c th thy c ngay l khi s = 4 th K = 0, phng
trnh c trng b trit tiu thnh mt ng thc, nn im s = 4 khng th l
im thot ca qu tch. V vy, im thot ca qu tch trn trc thc l im c
gi tr s = 2,6. Cn xc nh cc im giao ca qu tch vi trc o, chng ta
s dng iu kin Routh-Hurwitz v tnh ra c qu tch ct trc o ti hai im
c cc gi tr l s = i4,86. T cc gi tr tnh c, chng ta c th phc ha
c qu tch ca cc nghim ca phng trnh c trng khi K thay i (Hnh
7.5).
7.4. Thit k tham s bng phng php qu tch nghim
Phng php qu tch nghim vn c pht trin vi mc ch xc nh qu
tch ca cc nghim ca phng trnh c trng ca h thng phn hi khi h s
phn hi K thay i t 0 n +. Tuy nhin, nh chng ta thy, nh hng
95
ca cc tham s khc ca h thng cng c th c nghin cu bng cch s
dng phng php qu tch nghim. Cu hi c t ra l: bng cch no chng
ta c th nghin cu hot ng ca h thng khi c nhiu tham s thay i ch
khng phi ch c mt. Mc d phng php qu tch nghim l phng php
mt tham s, n c th c m rng p dng cho trng hp c hn mt
tham s thay i. y l phng php thit k tham s (parameter design), s
dng qu tch nghim la chn gi tr cho cc tham s.

0

i
Hnh 7.5. Qu tch nghim ca phng trnh c trng trong v d 7.1
o
1 2 4 3
o im khng
im cc

Gi s chng ta cn xem xt tc ng ca s thay i ca hai tham s v
ca mt h thng phn hi. lm iu , chng ta cn thc hin phng php
qu tch nghim hai lt. Trong lt u tin, t = 0 v v qu tch nghim
ca phng trnh c trng vi thay i. Sau khi nh gi c tc ng
ca , chn mt gi tr thch hp cho v thc hin phng php qu tch
nghim mt ln na vi thay i chn c gi tr ph hp cho . Tng t
nh th, chng ta c th m rng phng php qu tch nghim p dng trong
cc trng hp h thng c nhiu hn hai tham s thay i.
7.5. nhy v qu tch nghim
Nh chng ta tm hiu trong Chng IV, tc ng ca s bin thin ca cc
tham s ti p ng ca h thng c th m t c bng s o nhy
(sensitivity) ca h thng i vi s thay i ca mt tham s:

K K
T T
K
T
S
T
K

=
ln
ln
(7.31)
96
trong T(s) l hm chuyn ca c h thng v K l tham s c xem xt.
Bi v nghim ca phng trnh c trng quyt nh dng ca p ng nht
thi ca h thng, tc ng ca s bin thin ca tham s ti v tr ca cc
nghim l mt s o nhy quan trng. Khi nim nhy ca nghim (root
sensitivity) ca mt h thng c nh ngha nh sau:

K K
p
K
p
S
j j p
K
j

=
ln
(7.32)
p
j
l nghim th j ca phng trnh c trng ca T(s):

=
=

=
N
j
j
M
i
i
p s
z s A
s T
1
1
) (
) (
) ( (7.33)
nhy
T
K
S khi c th khai trin c nh sau:


= =

=
N
j
j
j
M
i
i
i T
K
p s K
p
z s K
z
K
A
K
T
S
1 1
1
ln
1
ln ln
ln
ln
ln
(7.34)
Do hai tham s A v K c lp vi nhau v gi thit l cc im khng ca T(s)
c lp vi tham s K, ngha l:

0
1
ln
0
ln
ln
1
=

=
M
i
i
i
z s K
z
K
A
(7.35)
T (7.34) v (7.35), chng ta c c:


= =

=

=
N
j
j
p
K
N
j
j
j
T
K
p s
S
p s K
p
S
j
1 1
1
ln
(7.36)
nhy ca nghim
j
p
K
S c th nh gi c bng cch xem xt ng cong ti
nghim s = p
j
ca qu tch nghim ca phng trnh c trng ca T(s) khi K
thay i.
S o nhy ca nghim i vi s bin thin ca mt tham s rt c gi tr
trong vic so snh nhy ca nhiu tham s thit k ti cc gi tr nghim khc
nhau. s dng c nhy ca nghim cho vic phn tch v thit k cc h
thng iu khin, mt lot php tnh ton phi c thc hin cho cc gi tr
khc nhau ca cc im khng v im cc ca hm chuyn. V vy, vic s
dng nhy ca nghim nh mt k thut thit k phn no b hn ch do khi
lng tnh ton ln trong khi thiu mt ch dn r rng cho vic iu chnh cc
tham s lm gim nhy. Tuy nhin, nhy ca nghim c th s dng
97
c nh mt phng php phn tch, cho php ngi thit k so snh cc thit
k khc nhau ca h thng. nhy ca nghim c dng nh mt ch s biu
din nhy ca mt h thng i vi nhng bin thin ca tham s c th
hin trong mt phng s.
Bi tp
Bi 7.1. Xem xt mt h thng phn hi c phng trnh c trng nh sau:
0
2 2
) 4 (
1
2
=
+ +
+
+
s s
s Ks

(a) V qu tch nghim ca phng trnh c trng ca h thng bng phng
php ca Evans.
(b) Xc nh K phng trnh c trng c hai nghim bng nhau v tnh
gi tr hai nghim ny.
(c) Xc nh thi gian qu ca h thng khi phng trnh c trng c hai
nghim bng nhau.
Bi 7.2. Mt thit b ghi bng s dng mt h thng iu khin tc phn hi
m vi hm chuyn ca khi phn hi l H(s) = 1. Hm chuyn ca qu trnh cn
iu khin l:
) 5 4 )( 2 (
) (
2
+ + +
=
s s s s
K
s G
V qu tch nghim ca phng trnh c trng ca h thng khi K thay i.
Bi 7.3. Xem xt mt h thng phn hi c phng trnh c trng nh sau:
0
) 6 )( 3 )( 1 (
1 =
+ + +
+
s s s
K

(a) Xc nh im thot ca qu tch trn trc thc.
(b) Tm im gc ca cc ng tim cn.
(c) Xc nh gi tr ca K ti im thot ca qu tch.
Bi 7.4. Mt thit b iu khin thang my s dng mt h thng iu khin phn
hi n v m c hm chuyn ca qu trnh l:
) 50 )( 20 )( 1 (
) 1 (
) (
+ + +
+
=
s s s s
s K
s G
S dng phng php qu tch nghim xc nh gi tr ca K sao cho t s
cn ca mt cp nghim phc c gi tr bng 0,8.
Bi 7.5. Xem xt mt h thng phn hi c phng trnh c trng nh sau:
0
) 4 )( 1 (
) 1 (
1
2
2
=
+ +
+
+
s s s
s K

(a) V qu tch nghim ca phng trnh khi K tng t 0 n +.
(b) Xc nh khong gi tr ca K h thng n nh.
98
(c) Vi gi tr no ca K trong khong 0 n + phng trnh ch c nghim
phc? Tnh gi tr ca cc nghim .
99
Chng VIII

CC PHNG PHP P NG TN S

Tm tt ni dung
Chng ta xem xt vic s dng cc tn hiu vo th nh tn hiu xung hay tn
hiu nhy bc trong vic phn tch h thng. Trong chng ny, chng ta s s
dng tn hiu vo c dng sin trng thi thng trc v xem xt p ng ca h
thng khi tn s ca tn hiu dng sin thay i.
Chng ta s nghin cu p ng ca G(s) khi s = i v vi dng th phc
cho G(i) khi thay i. Nhng th ny mang li cho chng ta cc hiu bit
su sc v hiu sut ca h thng. Mt vi s o hiu sut cho p ng tn s ca
h thng s c cp ti. Cc s o ny c th s dng c nh cc m t
nh lng cht lng ca h thng v chng ta c th iu chnh cc tham s
ca h thng tha mn cc yu cu c nh ngha trn cc s o hiu sut
.
8.1. Gii thiu
Trong cc chng trc, p ng v hiu sut ca h thng c m t di
dng ca bin tn s phc s v v tr cc im cc v im khng trong mt
phng s. Mt phng php khc rt quan trng v rt c tnh thc tin cho vic
phn tch v thit k h thng l phng php p ng tn s. p ng tn s
(frequency response) ca mt h thng c nh ngha l p ng trng thi
thng trc ca h thng vi tn hiu vo l mt tn hiu dng sin. Vi tn hiu
sin l tn hiu vo duy nht, tn hiu ra cho mt h thng tuyn tnh cng nh cc
tn hiu chuyn tip trong ton h thng u c dng sin trng thi thng trc,
ch khc tn hiu vo bin v gc pha.
Mt thun li i vi phng php p ng tn s l rt d tm cc ngun tn
hiu th dng sin vi nhiu khong bin v tn s khc nhau. V vy, vic xc
nh p ng tn s ca h thng bng th nghim rt d thc hin v l phng
php ng tin cy nht cng nh t phc tp nht trong vic phn tch h thng
bng thc nghim. Chng ta cn c th tm c hm chuyn ca h thng t
p ng tn s c xc nh bng thc nghim. Thm na, vic thit k h
thng trong min tn s cho php chng ta iu khin di thng ca h thng v
mt s s o khc ca p ng i vi nhiu.
Thun li th hai ca phng php p ng tn s l hm chuyn m t hnh
vi dng sin trng thi thng trc ca h thng c th xc nh c bng cch
dng i thay cho s trong hm chuyn T(s) ca h thng. Hm chuyn biu din
hnh vi dng sin trng thi thng trc ca h thng khi s l mt hm ca
bin phc i, v bn thn n cng l mt hm phc T(i), c c trng bi
ln v gc pha. ln v gc pha ca T(i) c biu din bng cc th,
cung cp cho chng ta nhng thng tin quan trng cho vic phn tch v thit k
100
h thng.
iu bt li c bn ca phng php p ng tn s trong vic phn tch h
thng l mi lin h khng trc tip gia tn s v min thi gian. Cc mi lin
h trc tip gia p ng tn s v cc c tnh ca p ng nht thi tng ng
kh mng manh, trong khi trong thc t, c tnh ca p ng tn s c iu
chnh bng cch s dng cc iu kin thit k thng c nhm mang li
p ng nht thi nh mong mun.
Trong cc chng trc, chng ta s dng cp bin i Laplace:

= =
0
) ( )] ( [ ) ( dt e t f t f s F
st
L (8.1)
v

= =
i
i
st
ds e s F
i
s F t f

) (
2
1
)] ( [ ) (
1
L (8.2)
bin phc s = + i. Tng t, chng ta c cp bin i Fourier:

= = dt e t f t f i F
t i
) ( )] ( [ ) ( F (8.3)
v

= =

d e i F

i F t f
t i
) (
2
1
)] ( [ ) (
1
F (8.4)
Bin i Fourier tn ti cho f(t) khi:
<

+

dt t f | ) ( | (8.5)
Bin i Fourier v bin i Laplace c mi quan h rt gn gi. Khi hm f(t) ch
xc nh vi t 0, khong ly tch phn ca hai bin i l nh nhau. Khi , hai
php bin i ch khc nhau v dng bin phc. V vy, nu chng ta c bin
i Laplace F(s) ca mt hm f(t), chng ta c c bin i Fourier cng ca
f(t) bng cch thay s bi i trong F(s).
Chng ta c th t hi, nu bin i Fourier v bin i Laplace gn nhau ti
nh vy, ti sao khng lun s dng bin i Laplace? Cu tr li l, bin i
Laplace cho php chng ta tm hiu v tr ca cc im cc v im khng ca
hm chuyn T(s) trong mt phng s, cn phng php p ng tn s s dng
bin i Fourier cho php chng ta xem xt hm chuyn T(i) cng cc c tnh
v ln v pha ca h thng, vi l tn s ca tn hiu vo v ra ca h
thng. Kh nng biu din tnh cht ca h thng bng cc phng trnh v th
ca ln v pha l mt thun li cho vic phn tch v thit k cc h thng
101
iu khin.
Xem xt p ng tn s ca mt h thng vng kn, vi tn hiu vo r(t) c
bin i Fourier l R(i). Khi , p ng tn s ca h thng iu khin phn
hi c xc nh bng cch thay s bi i trong phng trnh biu din mi quan
h ca h thng vng kn, C(s) = T(s)R(s), c c phng trnh sau:
) (
) ( ) ( 1
) (
) ( ) ( ) (

i R
i H i G
i G
i R i T i C
+
= = (8.6)
p dng bin i Fourier nghch cho C(i), chng ta s thu c p ng nht
thi c(t). Tuy nhin, vic c lng bin i nghch ny thng kh kh khn k
c cho nhng h thng n gin nht, v vy phng php tch phn bng th
c th c s dng. Ngoi ra, mt vi s o ca p ng nht thi c lin h ti
cc c tnh tn s cng c th s dng c cho cc mc ch trong vic thit k
h thng.
8.2. th ca p ng tn s
Hm chuyn G(s) ca mt h thng c th m t c trong min tn s bng
mi quan h nh sau:
G(i) = G(s)|
s = i
= R() + iI() (8.7)
:
R() = real[G(i)] v I() = imag[G(i)] (8.8)
Chng ta cng c th biu din hm chuyn bng ln |G()| v gc pha ():
G(i) = |G(i)|e
i()
(8.9)
:
) ( ) ( ) (
2 2
I R i G + = (8.10)
v:

) (
) (
arctan ) (

R
I
= (8.11)
Biu din th ca p ng tn s c th s dng phng trnh (8.7) hay (8.9).
th ca phng trnh (8.7) c gi l th cc (polar plot) ca p ng tn
s. Cc ta ca th cc l phn thc v phn o ca G(i).
V d 8.1
Mt b lc RC n gin c biu din trong Hnh 8.1. Hm chuyn ca b lc
ny l:

1
1
) (
) (
) (
1
2
+
= =
RCs s V
s V
s G (8.12)
102

v
1
(t) v
2
(t)
C
R
Hnh 8.1. B lc RC

Thay s bng i, chng ta c c hm chuyn dng sin trng thi thng trc:

1
1
1
1
) (
1
+
=
+
=

i RC i
i G (8.13)

1
= 1/(RC). v th cc ca G(i), chng ta cn biu din phng
trnh (8.13) di dng ca phng trnh (8.7) bng cch nh sau:

1 ) (
) (
1 ) (
1
1 ) (
) ( 1
) (
2
1
1
2
1
2
1
1
+

+
=
+

=




i
i
i G (8.14)
Qu tch ca hm chuyn G(i) khi tng t 0 n + l na ng trn c tm
ti im (1/2, 0) v bn knh 1/2 trong mt phng cc (Hnh 8.2).

R()
I()
1 0
= 0 =
Hnh 8.2. th cc cho b lc RC

Hn ch ca th cc l vic tnh ton p ng tn s kh rc ri v khng
th hin c nh hng ca tng im cc hay im khng trong th. V vy,
ngi ta s dng th logarit (logarithmic plot), thng gi l th Bode
(Bode plot), n gin ha vic xc nh biu din th ca p ng tn s.
Ly logarit t nhin ca G(i) biu din di dng ca phng trnh (8.9):
ln G(i) = ln |G(i)| + i() (8.15)
T , chng ta c th v th ca () v logarit ca ln |G(i)| khi thay
i. Ngi ta thng biu din logarit ca ln |G(i)| di dng logarit c s
10 bng cng thc 20log
10
|G(i)| vi n v l dB.
103
Tr li v d 8.1, h s thi gian ca b lc RC l = RC. Vit li phng
trnh (8.13) di dng sau:

1 1
1
1
1
1
1
) (
2 2 2 2
+

+
=
+
=
+
=




i
i RC i
i G (8.16)
Logarit ca ln hm chuyn l:
) 1 ( log 10
1
1
log 20 log 20
2 2
10
2 2
10 10


+ =
+
= G (8.18)
tn s rt nh, << 1/, chng ta c th dng cng thc xp x:
(dB) 0 1 log 10 log 20
10 10
= G (8.19)
Ti = 1/, chng ta c c:
(dB) 01 , 3 2 log 10 log 20
10 10
= = G (8.20)
Tn s = 1/ thng c gi l tn s gy (break frequency) hay tn s b
gc (corner frequency). Gc pha ca b lc l:
) arctan(
) ( real
) ( imag
arctan ) ( = =
G
G
(8.21)
th Bode ca hm chuyn G(i) c th hin trong Hnh 8.3.

20log
10
|G| (dB)
() (
o
)
(rad/s)
2
1

1

2
3

2

2
5

3

2
7

4

2
9

5

Hnh 8.3. th Bode ca hm chuyn G(i) = 1/( i + 1)

Trong th Bode, ngi ta thng s dng thang logarit cho tn s , v
104
th thay i rt chm khi tn s rt ln. Khong nm gia hai tn s
1
v
2
,

2
= 10
1
, c gi l mt qung mi (decade). Khi tn s rt ln, >>
1/, s sai khc ln ca hm chuyn gia im u v im cui mt qung
mi c th c lng c nh sau:

(dB) 20
10
1
log 20 log 20
) ( log 20 ) ( log 20
) ( log 10 ) ( log 10
) ( log 20 ) ( log 20
10
2
1
10
1 10 2 10
2 2
1 10
2 2
2 10
1 10 2 10
= = =
+ =
+

G G
(8.22)
th Bode ca hm chuyn s dng thang logarit cho trc c th hin
trong Hnh 8.4.

20log
10
|G| (dB)
() (
o
)
(rad/s)

1

10
Hnh 8.4. th Bode ca hm chuyn G(i) = 1/( i + 1) s dng thang
logarit cho trc
10
1


Li ch chnh yu trong vic s dng th logarit l vic chuyn i hm
chuyn t dng tch thnh tng. Trong trng hp tng qut, chng ta c th biu
din hm chuyn G(i) dng:
105



= =
=
+ + +
+
=
R
k
n n k
M
m
m
N
Q
l
l
k k
i i i i
i K
i G
1
2
1
1
] ) ( ) )( 2 ( 1 [ ) 1 ( ) (
) 1 (
) (

(8.23)
Hm chuyn ny c Q im khng, N im cc ti gc ta , M im cc nm
trn trc thc v R cp im cc lin hp phc. R rng l vic v th cc cho
mt hm nh th ny l vic cc k kh khn. Logarit ca ln hm chuyn
G(i) l:

=
= =
=

+ +
+
+ + =
R
k
n n
k
M
m
m
Q
l
N
Q
l
l
k k
i
i
i i
i K i G
1
2
10
1
10
1
10
1
10 10 10
2
1 log 20
1 log 20 ) ( log 20
1 log 20 log 20 ) ( log 20

(8.24)
Gc pha () l tng cc gc pha ca cc thnh phn:

= =
=

=
R
k
n
n k
M
m
m
Q
l
l
k
k
N
1
2 2
1
1
2
arctan ) arctan( ) 90 (
) arctan( ) (

o
(8.25)
T hai cng thc trn, chng ta thy th Bode c th v c bng cch cng
cc th ca cc thnh phn ring bit ca hm chuyn.
Nh vy, c bn kiu thnh phn khc nhau c th xut hin trong hm
chuyn:
1. Hng s (K).
2. im cc/im khng ti gc ta (i).
3. im cc/im khng trn trc thc (1 + i).
4. Cc cp im cc/im khng lin hp phc (1 + 2(/
n
)i + (i/
n
)
2
).
Chng ta c th xc nh th logarit ca ln v th gc pha cho tng
thnh phn ca hm chuyn, sau cng chng li c c th Bode cho
ton b hm chuyn. Chng ta cng c th n gin ha vic v th bng cch
s dng cc xp x tim cn ca cc ng cong v ch tnh cc gi tr chnh xc
ti mt s tn s c bit.
Hng s (K). Gi tr logarit ca hng s cng l mt hng s (20log
10
K), cn
gc pha bng khng.
im cc hay im khng ti gc ta (i). Vi mt im cc ti gc ta
106
, logarit ca ln l:
20log
10
|1/(i)| = 20log
10
(8.26)
v gc pha l () = 90
o
. Vi N im cc ti gc ta , chng ta s c:
20log
10
|1/(i)
N
| = 20Nlog
10
(8.27)
v gc pha l () = 90
o
N. Vi mt im khng ti gc ta , logarit ca
ln l:
20log
10
|i| = 20log
10
(8.28)
v gc pha l () = 90
o
.
im cc hay im khng nm trn trc thc (1 + i). im cc nm trn
trc thc tng ng vi 1/(1 + i) trong hm chuyn, chnh l v d 8.1 chng
ta xem xt. V vy, theo phng trnh (8.18), logarit ca ln l
) 1 ( log 10 log 20
2 2
10 10
+ = G v gc pha l () = arctan(). ng tim
cn ca 20log
10
|G| khi << c dc bng khng, cn ng tim cn khi gi
tr >> c dc l 20dB/decade. Giao im ca hai ng tim cn ny
chnh ti tn s gy = 1/. Vi im khng nm trn trc thc, tng ng vi
(1 + it) trong hm chuyn, logarit ca ln l
) 1 ( log 10 log 20
2 2
10 10
+ = G v gc pha l () = arctan(). Trong trng
hp ny, ng tim cn ca 20log
10
|G| khi << c dc cng bng khng
v ng tim cn khi >> c dc l 20dB/decade.
Cc cp im cc hay im khng lin hp phc (1 + 2(/
n
)i + (i/
n
)
2
).
Thnh phn ca hm chuyn tng ng vi mt cp im cc lin hp phc c
th biu din di dng 1/(1 + i2u u
2
), u = /
n
. Logarit ca ln khi
c tnh nh sau:

] 4 ) 1 [( log 10
4 ) 1 (
4 ) 1 (
log 20
4 ) 1 (
2
4 ) 1 (
1
log 20
2 1
1
log 20
2 2 2 2
10
2 2 2 2
2 2 2 2
10
2 2 2 2 2 2 2 2
2
10
2
10
u u
u u
u u
u u
u i
u u
u
u u i

+ =
+
+
=
+

+

=
+
(8.29)
v gc pha l:

2
1
2
arctan ) (
u
u

=

(8.30)
Khi u << 1, ngha l <<
n
, logarit ca ln s xp x 0dB v gc pha xp x
0
o
. Cn khi u >> 1, ngha l >>
n
, logarit ca ln s xp x 10log
10
(u
4
) =
107
40log
10
u v gc pha s xp x 180
o
. Nh vy, ng tim cn logarit ca
ln khi <<
n
c dc bng khng v ng tim cn logarit ca ln khi
>>
n
c dc bng 40dB/decade. Hai ng tim cn ny ct nhau ti tn
s =
n
. S sai khc gia th thc s v cc ng tim cn l mt hm ca
t s cn . th Bode ca thnh phn tng ng vi cp im cc lin hp
phc cho vi gi tr khc nhau ca t s cn c biu din trong Hnh 8.5. Gi
tr ln nht ca |G(i)|, ln ca p ng tn s, c k hiu l M
p

, cng l
mt hm ca . Gi tr ln nht ny xut hin ti tn s
r
, c gi l tn s
cng hng (resonant frequency), c tnh bng cch cho o hm bc nht
0
) (
=
du
u q d
, q(u) = 1 + i2u u
2
. Chng ta tnh c
r
:
2 1 khi 2 1
2
< =
n r
(8.31)

20log
10
|G| (dB)
() (
o
)
/
n

Hnh 8.5. th Bode ca hm chuyn G(i) = 1/[1 + 2(/
n
)i + (i/
n
)
2
]
cho cc gi tr khc nhau ca t s cn
0,1 1 10
= 1
= 1
= 0,0625
= 0,0625
= 0,5
= 0,5

Gi tr ln nht ca |G(i)| c tnh nh sau:
2 1 khi
1 2
1
) (
2
<

= =

r p
i G M (8.32)
Mt quan st th v l, nu chng ta i du phn thc ca cc im khng
hoc cc im cc ca hm chuyn, ln ca p ng tn s vn s gi
nguyn, ch c pha b dch. Tuy nhin, h thng n nh, tt c cc im cc
cn nm bn tri trc o, v vy chng ta ch quan tm ti cc im cc c phn
108
thc m. Cc im khng ca hm chuyn c th nm c hai bn ca trc o
m khng nh hng ti tnh n nh ca h thng, nhng nh hng n
dch pha ca tn hiu ra so vi tn hiu vo. Hm chuyn c tt c cc im
khng u nm bn tri trc o c gi l hm chuyn dch pha ti thiu
(minimum phase-shift transfer function), bi dch pha trong trng hp ny l
t nht. Cn hm chuyn c im khng nm bn phi trc o c gi l hm
chuyn dch pha khng ti thiu (non-minimum phase-shift transfer function).
iu ny c minh ha bi Hnh 8.6.

20log
10
|G| (dB)
() (
o
)
(rad/s)
Hnh 8.6. th Bode ca ba hm chuyn (1)
) 4 )( 3 )( 2 (
) 2 )( 1 (
) (
1
+ + +
+ +
=
s s s
s s
s G
(2)
) 4 )( 3 )( 2 (
) 2 )( 1 (
) (
2
+ + +
+
=
s s s
s s
s G v (3)
) 4 )( 3 )( 2 (
) 2 )( 1 (
) (
3
+ + +

=
s s s
s s
s G
0,1 1 10
(3)
(2)
(1)
100
(1)(2)(3)

8.3. M t hiu sut trong min tn s
Vi cc h thng bc hai n gin, chng ta m t hiu sut ca h thng bng
cc s o nh phn trm qu mc, thi gian qu v cc ch s hiu sut nh
tch phn ca sai s bnh phng (ISE). Xem xt mt h thng phn hi n v
m c hm chuyn ca qu trnh l:

) 2 (
) (
2
n
n
s s
s G

+
= (8.33)
Hm chuyn vng kn ca h thng s l:
109

2 2
2
2
) (
n n
n
s s
s T

+ +
= (8.34)
p ng tn s ca h thng c biu din trong Hnh 8.7. Bi v y l h
thng bc hai, chng ta c th lin h t s cn v phn trm qu mc ca h
thng vi gi tr M
p

. Khi M
p

tng, phn trm qu mc ca h thng vi tn hiu

vo nhy bc cng tng. ng thi, tn s cng hng
r
cng c lin h ti tc
ca p ng nht thi.
Tc ca p ng nht thi cn c th m t c bng mt s o na l
tn s di thng (bandwidth frequency)
B
. Tn s di thng c nh ngha l
tn s m suy gim t ti mc mt trn cn hai ca tn hiu vo (hay
0,707 ln tn hiu vo), nu tnh theo dB th tn s
B
tng ng vi gi tr 3dB
trn th logarit ln ca hm chuyn T(i). Khi t s cn 2 1 = ,
B
s
c gi tr ng bng tn s t nhin
n
.

20log
10
|T| (dB)
() (
o
)
(rad/s)
Hnh 8.7. c trng ca p ng tn s ca h thng bc hai
20log
10
M
p

r

B

-3

S hu ch ca cc s o da trn p ng tn s k trn v mi quan h ca
chng vi hiu sut nht thi thc s ca h thng ph thuc vo vic h thng
c th xp x c bi mt h thng bc hai c cp im cc phc lin hp hay
khng. Khi nim v cp nghim tri ca phng trnh c trng ca h thng
c cp ti Chng V.
Sai s trng thi thng trc cng c th lin h c vi p ng tn s
ca mt h thng vng kn. Nh chng ta cp ti trong mc 5.4, sai s
trng thi thng trc vi mt tn hiu vo th xc nh c mi quan h vi s
110
ln tch phn (s im cc ti gc ta ) ca h thng vng h. V vy, vi h
thng phn hi n v m c hm chuyn ca qu trnh c biu din ln bng
phng trnh (8.33), sai s trng thi thng trc vi tn hiu vo l hm dc
r(t) = At c xc nh bi hng s sai s vn tc K
v
:

v
t
K
A
t e =

) ( lim (8.35)
Hng s sai s vn tc ca h thng c xc nh nh sau:

2 ) 2 (
lim ) ( lim
2
0 0
n
n
n
s s
v
s s
s s sG K =
+
= =

(8.36)
Hm chuyn G(s) c th vit li di dng:

) 1 (
1
2
1
) 2 (
) (
+
=

+
=
s s
K
s s
s G
v
n
n

(8.37)
Chuyn (8.37) sang biu din trong min tn s:

) 1 (
) (
+
=

i i
K
i G
v
(8.38)
chnh l dng hm chuyn (8.23), c s dng trong vic phn tch v
th Bode ca p ng tn s. Ni mt cch tng qut, nu hm chuyn vng h
ca mt h thng phn hi c dng:

=
=
+
+
=
M
m
m
N
Q
l
l
i i
i K
i G
1
1
) 1 ( ) (
) 1 (
) (

(8.39)
th h thng c s nh kiu bng N v hng s sai s bng K.
Tm li, cc c tnh ca p ng tn s hon ton thch hp biu din
hiu sut ca h thng, v vy chng rt c ch cho vic phn tch v thit k cc
h thng iu khin phn hi.
Bi tp
Bi 8.1. Mt h thng vng h c hm chuyn nh sau:
) 40 )( 10 (
) 100 ( 300
) (
+ +
+
=
s s s
s
s G
Xc nh tn s khi gc pha c gi tr l 180
o
. Tnh ln ca G(i) ti tn s
.
Bi 8.2. Mt h thng phn hi n v m c hm chuyn ca qu trnh l:
111
) (
) (
a s s
K
s G
+
=
Yu cu i vi h thng l phn trm qu mc vi tn hiu vo nhy bc nh
hn 30%.
(a) Xc nh yu cu tng ng i vi gi tr M
p

ca hm chuyn vng kn
T(i).
(b) Xc nh tn s cng hng
r
.
(c) Xc nh tn s di thng
B
ca h thng vng kn.
Bi 8.3. V th cc ca p ng tn s cho cc h thng c hm chuyn nh
sau:
(a)
) 2 1 )( 5 , 0 1 (
1
) (
s s
s G
+ +
=
(b)
2
5 , 0 1
) (
s
s
s G
+
=
(c)
) 16 4 (
3
) (
2
+ +
+
=
s s
s
s G
(d)
) 4 )( 2 (
) 8 ( 30
) (
+ +
+
=
s s s
s
s G
Bi 8.4. Mt h thng iu khin p sut ca mt bnh nn kh c biu din
trong hnh di, P
d
l p sut mong mun, P
0
l p sut thc trong bnh, Q
ra

l p sut ca lung kh i ra qua van x, G
c
(s) l hm chuyn ca b iu khin,
G
v
(s) l hm chuyn ca van kh vo c iu khin bi b iu khin, v H(s)
l hm chuyn ca cm bin dng o p sut trong bnh. Cc hm chuyn ny
c cho nh sau:
G
c
(s) = 10+2s
) 1 15 / )( 1 1 , 0 (
1
) (
+ +
=
s s
s G
v

900 90
450
) (
2
+ +
=
s s
s H
Xc nh cc c trng ca p ng tn s ca h thng, bao gm tn s cng
hng
r
, gi tr ln nht M
p

v tn s di thng
B
.

1/s
Q
ra

H(s)
1
P
d
P
0

G
c
(s)
1
G
v
(s)

112
Bi 8.5. Mt h thng phn hi n v m c hm chuyn ca qu trnh nh sau:
) 30 / 1 )( 10 / 1 )( 1 )( 2 / 1 (
10
) (
s s s s
s G
+ + + +
=
V th Bode ca h thng.
113
Chng IX

TNH N NH TRONG MIN TN S

Tm tt ni dung
Nh chng ta cp ti t cc chng trc, vic xc nh mt h thng c
n nh hay khng l iu rt quan trng. Nu h thng n nh, vn quan
trng tip theo s l xc nh mc n nh hay tnh n nh tng i ca h
thng. p ng tn s ca hm chuyn c th s dng cung cp cu tr li v
tnh n nh tng i ca h thng. Ni dung chng ny s trnh by cch s
dng p ng tn s ca hm chuyn T(i) ca h thng vng kn cng nh hm
chuyn ca vng phn hi G(i)H(i) phn tch p ng v hiu sut ca h
thng vi thi gian tr thun ty v khng suy gim bn trong vng phn hi ca
h thng vng kn.
9.1. Gii thiu
Vic xc nh h thng c n nh hay khng lun cn thit khi phn tch h
thng iu khin. Xa hn na, vi mt h thng n nh, xem xt tnh n nh
tng i ca h thng cng thng c yu cu. Trong Chng VI, chng ta
tho lun khi nim tnh n nh v mt s phng php xc nh tnh n nh
tuyt i v tng i ca mt h thng, trong ni bt l phng php Routh-
Hurwitz s dng phng trnh c trng ca bin phc s = + i. Cn trong
Chng VII, chng ta nghin cu tnh n nh tng i ca h thng bng
cch s dng phng php qu tch nghim, cng c biu din di dng ca
bin phc s. Trong chng ny, chng ta s quan tm n vic xc nh tnh n
nh ca h thng trong min tn s thc, c ngha l di dng ca p ng tn
s c trnh by Chng VIII.
p ng tn s biu din p ng ca h thng vi tn hiu vo dng sin
trng thi thng trc v cung cp y thng tin cho vic xc nh tnh n
nh tng i ca h thng. p ng tn s ca h thng c th o c mt
cch d dng bng thc nghim, v vy c th dng c nghin cu tnh n
nh tng i ca h thng khi m gi tr ca cc tham s h thng khng xc
nh. Thm na, iu kin n nh trong min tn s rt hu ch cho vic xc
nh cc phng php thch hp nhm lm tng tnh n nh tng i ca h
thng.
Mt iu kin n nh trong min tn s c pht trin bi H. Nyquist vo
nm 1932 v ti nay vn tip tc l mt phng php mang tnh nn tng i vi
vic nghin cu tnh n nh ca cc h thng iu khin tuyn tnh. iu kin
n nh Nyquist (Nyquist stability criterion) da trn mt nh l v l thuyt ca
hm bin phc ca Cauchy. nh l ca Cauchy lin quan n nh x ca cc
chu tuyn (mapping of contours) trong mt phng s, c th hiu c d dng m
khng cn ti mt chng minh hnh thc.
114
xc nh tnh n nh tng i ca mt h thng vng kn, chng ta cn
phi xem xt phng trnh c trng ca h thng, c th biu din c di
dng:
F(s) = 1 + P(s) = 0 (9.1)
m bo tnh n nh, tt c cc nghim ca phng trnh cn nm bn tri
trc o trong mt phng s. Nyquist s dng mt nh x t mt phng s vo mt
mt phng gi l mt phng F(s). V vy, hiu c iu kin Nyquist, trc
ht chng ta cn tm hiu nh x ca cc chu tuyn trong mt phng phc.
9.2. nh x ca cc chu tuyn trong mt phng s
Chng ta quan tm ti nh x ca cc ng bin trong mt phng s bi hm
F(s). nh x ca chu tuyn l nh x ca mt chu tuyn hay mt qu o trong
mt mt phng vo mt mt phng khc bi mt quan h F(s). V s l mt bin
phc, hm F(s) c gi tr phc v c th biu din c di dng F(s) = u + iv,
v c th biu din trong mt mt phng phc F(s) vi cc ta u v v. lm
v d, xem xt hm F(s) = 2s + 1 v mt chu tuyn c th hin trong Hnh
9.1a. nh x ca chu tuyn trong mt phng s vo mt phng F(s) c thc hin
nh sau:
F(s) = u + iv = 2s + 1 = 2( + i) + 1 = (2 + 1) + i2 (9.2)
V vy, chng ta c c:
u = 2 + 1 v v = 2 (9.3)
nh x ca chu tuyn t mt phng s vo mt phng F(s) c th hin trong
Hnh 9.1b. nh x ny gi nguyn cc gc ca chu tuyn trong mt phng s nn
c gi l nh x bo gic (conformal mapping).
Hng ca chu tuyn c ch nh bng cc mi tn trong hnh v. Vng
nm bn trong ca chu tuyn (pha bn phi theo hng ca chu tuyn) l mt
vng ng kn (enclosed area) bi chu tuyn. V vy chng ta s quy c chiu
dng ca chu tuyn l chiu thun theo chiu quay ca kim ng h, v vng
ng kn bi chu tuyn l vng bn phi khi i theo chiu dng ca chu tuyn.
Chng ta xem xt mt v d khc, trong mt chu tuyn vung nh trong
Hnh 9.2a c nh x bi hm sau:

2
) (
+
=
s
s
s F (9.4)
nh x ca chu tuyn trong mt phng F(s) c biu din trong Hnh 9.2b. Ch
rng cc gc ca chu tuyn ti cc im A, B, C v D c bo ton.
115
1
A
B C
D
0 1 1
i
+i
i
A
B C
D
0 3 u
iv
+i2
i2
(b) (a)
Hnh 9.1. nh x ca mt chu tuyn vung bi hm F(s) = 2s + 1

A
B
0
i
1
A
B C
D
0 1 1
i
+i
i
(a)
Hnh 9.2. nh x ca mt chu tuyn vung bi hm F(s) = s/(s + 2)
C
D
u
iv
+i
(b)

nh l ca Cauchy lin quan ti nh x ca mt hm F(s) c mt s hu hn
im cc v im khng nm bn trong mt chu tuyn. Do vy, hm F(s) c
th biu din di dng:

=
=

=
N
j
j
M
i
i
p s
z s K
s F
1
1
) (
) (
) ( (9.5)
116
Xem xt h thng vi phng trnh c trng F(s) = 0. nh l ca Cauchy,
thng c gi l nguyn l gc cc (principle of the argument), c pht biu
nh sau: Nu mt chu tuyn n gin
s
trong mt phng s bao quanh Z im
khng v P im cc ca hm F(s) khi i theo chiu quay ca kim ng h dc
theo chu tuyn, nh x ca
s
trong mt phng F(s) l chu tuyn
F
s bao quanh
gc ta ca mt phng F(s) tt c l Z P ln theo chiu quay ca kim ng
h. Ch rng, nh l ny ch c th p dng nu khng c im cc no ca
F(s) nm trn chu tuyn
s
, v ti cc im cc ca F(s) nh x l khng xc
nh.
nh l ca Cauchy c th gii thch c bng cch xem xt gc cc ca
hm F(s) khi im s i theo chu tuyn
s
theo chiu quay ca kim ng h. Vi
F(s) c biu din bng phng trnh (9.5), chng ta c th tnh c gc cc
ca F(s):


= =
=
N
j
j
M
i
i
p s z s s F
1 1
) ( ) ( ) ( (9.6)
D dng nhn thy, thay i tng cng ca gc cc (s q) khi im s i ng
mt vng quanh chu tuyn
s
theo chiu quay ca kim ng h s l 0 nu im
q nm vng bn ngoi ca chu tuyn v s bng 2 nu im q nm trong
vng ng kn bi chu tuyn. Gi s Z im khng v P im cc ca F(s) nm
bn trong vng ng kn bi chu tuyn, thay i tng cng ca gc cc F(s)
khi im s i ng mt vng quanh chu tuyn
s
theo chiu quay ca kim ng
h s l 2(Z P). Gc cc F(s) vi s l mt im nm trn chu tuyn
s

chnh l gc cc ca mt im nm trn chu tuyn
F
trong mt phng F(s). Nh
vy, khi mt im trn chu tuyn
F
i ht mt vng chu tuyn theo chiu quay
ca kim ng h th s thay i tng cng ca gc cc trong mt phng F(s)
bng 2(Z P), ngha l im i c ng Z P vng quanh gc ta
ca mt phng F(s), cng c ngha l chu tuyn
F
bao quanh gc ta Z P
ln theo chiu quay ca kim ng h. Nu Z P < 0, chu tuyn
F
c chiu m
(ngc chiu quay ca kim ng h). Cc v d minh ha cho nh l ca
Cauchy c th hin trong Hnh 9.3 v Hnh 9.4. Trong v d Hnh 9.3, F(s)
c ba im khng v mt im cc nm bn trong vng ng kn bi chu tuyn

s
, v vy chu tuyn nh x ca
s
l chu tuyn
F
c s ln bao quanh gc ta
ca mt phng F(s) l 3 1 = 2. Cn v d trong Hnh 9.4, ch c mt im cc
ca F(s) nm bn trong vng ng kn bi chu tuyn
s
, v vy chu tuyn
F
ch
bao quanh gc ta trong mt phng F(s) mt vng v chiu ca
F
l chiu
m.
117



i
u
iv
0 0
Hnh 9.3. V d minh ha nh l ca Cauchy




i
u
iv
0 0
Hnh 9.4. V d minh ha nh l ca Cauchy

9.3. iu kin Nyquist
h thng n nh, tt c cc nghim ca phng trnh c trng F(s) = 0 u
phi nm bn tri trc o trong mt phng s. Chn mt chu tuyn
s
sao cho chu
tuyn ny nm na bn phi trc o trong mt phng s, ng thi ton b vng
bn phi cng nm bn trong vng ng kn bi chu tuyn ny. Chu tuyn
Nyquist l mt chu tuyn p ng c iu kin nu trn. Chu tuyn ny c
to thnh bi trc o ca mt phng s v mt na ng trn nm bn phi trc
o, c tm ti gc ta v bn knh r (Hnh 9.5).
Xem xt mt h thng vng kn c phng trnh c trng c biu din
di dng ca phng trnh (9.1). iu kin Nyquist s s dng nh x bi hm
P(s) ca chu tuyn Nyquist thay cho hm F(s), v P(s) thng c biu din
dng nhn t ha nn xc nh cc im khng v im cc ca P(s) d
dng hn l ca F(s). Cc im cc ca P(s) cng chnh l cc im cc ca
F(s). V 1 ) ( ) ( = s F s P , im gc ta trong mt phng F(s) s tr thnh im
(1, 0) trong mt phng P(s). iu kin n nh Nyquist c pht biu nh sau:
Mt h thng phn hi n nh khi v ch khi chu tuyn
P
trong mt phng P(s)
khng bao quanh im (1, 0) khi s im cc ca P(s) nm na bn phi ca
118
mt phng s bng khng, hoc s ln chu tuyn
P
bao quanh im (1, 0) theo
chiu ngc chiu quay ca kim ng h ng bng s im cc ca P(s) nm
na bn phi ca mt phng s. Chng ta c th thy rt r rng rng, iu kin
Nyquist chnh l mt h qu ca s kt hp gia iu kin cn bng da trn v
tr cc nghim ca phng trnh c trng, ngha l cc im khng ca F(s),
trong mt phng s v nh l ca Cauchy nu trn.

i

0
r
Hnh 9.5. Chu tuyn Nyquist

V d 9.1
Mt h thng phn hi m c hm chuyn ca qu trnh l:

) 1 (
1
) (
+
=
s s
s G

(9.7)
v h s phn hi K. Phng trnh c trng ca h thng c dng:
1 + KG(s) = 0 (9.8)
V vy, chng ta c c:

) 1 (
) ( ) (
+
= =
s s
K
s KG s P

(9.9)
Trong trng hp ny, do P(s) c mt im cc nm gc ta , c th p
dng nh l ca Cauchy cho chu tuyn Nyquist, chng ta cn phi trnh im
gc ta trong mt phng s theo mt na ng trn nh tm ti gc ta c
bn knh 0 (Hnh 9.6a). Chng ta s chia chu tuyn Nyquist ra lm bn phn
v xc nh nh x ca tng phn bi hm P(s) nh sau:
(a) Gc ta trong mt phng s: on chu tuyn trnh gc ta trong mt
phng s c biu din bng phng trnh s = e
i
, gc thay i t 90
o

ti = 0

n +90
o
ti = 0
+
. V 0, chng ta xc nh c nh x P(s):
119

i
i i i
e
K
e
K
e e
K
s P


= =
+
=
0 0 0 0
lim lim
) 1 (
lim ) ( lim (9.10)
V vy, nh x ca on chu tuyn quanh gc ta trong mt phng s l na
ng trn c tm ti gc ta trong mt phng P(s), bn knh bng v c
gc cc thay i t +90
o
ti = 0

n 90
o
ti = 0
+
(Hnh 9.6b).
(b) on trn trc o trong mt phng s t = 0
+
n = +: nh x ca
on ny chnh l th cc ca hm P(i) vi thay i t 0
+
n +. Khi
tin n +, ln ca hm P(i) c tnh nh sau:
0 lim
) 1 (
lim ) ( lim
2
= =
+
=

K
i i
K
i P (9.11)
Gi tr ca gc cc P(i) khi + c tnh nh sau:

o
180 ) arctan( lim
2

)] 1 ( ) ( [ lim ) ( lim
= = =
+ =

i i i P
(9.12)

i

r
Hnh 9.6. Chu tuyn Nyquist v nh x bi hm P(s) = K/[s(s + 1)]
0
= 0

= 0
+

=
= +
u
iv
= 0

= 0
+

= +
=
1
(a) (b)
r'

(c) Na ng trn t = + n = : ng trn ny c biu din
trong mt phng s bng phng trnh s = re
i
, r v gc thay i t
+90
o
ti = + n 90
o
ti = . nh x ca on ny trong mt phng P(s)
c xc nh nh sau:

2
2
lim
) 1 (
lim ) ( lim
i
r
i i
r
i
r
e
r
K
re re
K
re P


=
+
= (9.13)
120
Phng trnh (9.13) l phng trnh ca mt ng trn c bn knh tin ti
khng v gc cc thay i t 180
o
ti = + n +180
o
ti = .
(d) on trn trc o trong mt phng s t = n = 0

: nh x ca
on ny chnh l th cc ca hm P(i) vi thay i t n 0

hay l
th cc ca hm P(i) vi thay i t + n 0
+
. nh x ca on ny i
xng vi nh x ca on = 0
+
n = + xt trn qua trc thc trong
mt phng P(s).
Sau khi xc nh c chu tuyn
P
trong mt phng P(s), chng ta s xem
xt n tnh n nh ca h thng. V P(s) khng c im khng no v s im
cc ca P(s) nm na bn phi ca mt phng s cng bng khng, h thng
n nh, chu tuyn
P
khng c bao quanh im (1, 0) trong mt phng P(s).
iu lun ng vi mi gi tr ca K v , v vy h thng trong v d ny
lun n nh.
T v d trn, chng ta c th rt ra hai kt lun chung:
1. th ca chu tuyn
P
trong khong < < 0

l lin hp phc ca
th trong khong 0
+
< < +. V vy, chu tuyn
P
c dng i xng
vi trc i xng l trc thc ca mt phng P(s).
2. ln ca P(s) tin ti khng hoc l mt hng s khi s nm trn ng
trn tm gc ta ca mt phng s v c bn knh r .
9.4. Tnh n nh tng i v iu kin Nyquist
Chng ta a ra mt nh ngha tnh n nh tng i ca h thng nh mt
thuc tnh trong mt phng s c o bng thi gian qu tng i tng ng
vi mi nghim hay cp nghim ca phng trnh c trng ca h thng. Chng
ta s a ra mt s o tng t ca tnh n nh tng i s dng cho
phng php p ng tn s. iu kin Nyquist cung cp cho chng ta nhng
thng tin thch hp xem xt tnh n nh tuyt i v cn c th s dng
nh ngha v xc nh tnh n nh tng i ca h thng.
iu kin n nh Nyquist c nh ngha da trn im (1, 0) trn th
cc, tng ng vi cc gi tr 0dB v 180
o
trong th Bode. im ny c
gi l im n nh. Khong cch gia th ca P(i) v im n nh l mt
s o tnh n nh tng i ca h thng.
V d 9.2
Mt h thng phn hi m c hm chuyn ca qu trnh l:

) 1 )( 1 (
1
) (
2 1
+ +
=
s s s
s G

(9.14)
v h s phn hi K. V vy, chng ta c c:

) 1 )( 1 (
) ( ) (
2 1
+ +
= =
s s s
K
s KG s P

(9.15)
Theo nhng kt lun trong mc trc, xem xt tnh n nh ca h thng,
121
chng ta ch cn xc nh phn ca chu tuyn
P
l th cc ca hm P(i) khi
thay i t 0
+
n + suy ra ton b chu tuyn
P
. P(i) c biu din
nh sau:

) 1 )( 1 (
) (
2 1
+ +
=

i i i
K
i P (9.16)
Khi 0
+
, ln ca P(i) tin ti v cng v gc cc P(i) c tnh nh
sau:

o
90
2

0 0
2

)] arctan( ) [arctan( lim

2

)] 1 ( ) 1 ( ) ( [ lim
2 1
0
2 1
0
= = =
+ =
+ +
+
+

i i i
(9.17)
Khi +, chng ta s c:
0
1
lim ) ( lim
3
= =

i P (9.18)
v

o
270
2
3
2

)] arctan( ) [arctan( lim

2

)] 1 ( ) 1 ( ) ( [ lim
2 1
2 1
= = =
+ =
+ +
+
+

i i i
(9.19)
Dng ca chu tuyn
P
c th hin trong Hnh 9.7. tnh giao im ca hm
P(i) vi trc thc ca th, chng ta cn gii phng trnh sau y:
0
) ( 1
) 1 )( 1 (
)] ( [ imag
2
2
2
1
4 2
2
2
1
2
2 1
2
=
+ + +

=

K
i P (9.20)
Gii phng trnh (9.20), chng ta c c:
0 1
2 1
2
= hay
2 1
1

= (9.21)
V vy, hm P(i) ct trc thc ca th ti im:
[ ]
2 1
2 1
2 1
) ( real



+
= =
K
i P u (9.22)
122

Hnh 9.7. th Nyquist vi P(s) = K/[s(
1
s + 1)(
2
s + 1)]
u
iv
= 0
+

= +
1

V P(s) khng c im khng no v s im cc ca P(s) nm na bn phi
ca mt phng s cng bng khng, h thng n nh, chu tuyn
P
khng
c bao quanh im (1, 0) trong mt phng P(s), ngha l:
1
2 1
2 1
>
+

K
hay
2 1
2 1

+
< K (9.23)
Khi
2 1
2 1

+
= K , chu tuyn
P
s i qua im n nh (1, 0). Gi tr
2 1
2 1

+
=
r
K c gi l gi tr ranh gii. Khi K cng nh so vi gi tr ranh
gii th tnh n nh tng i ca h thng cng cao, v vy s chnh lch gia
gi tr ranh gii K
r
v K c th s dng th hin tnh n nh tng i. S o
ny c gi l d tr gia lng (gain margin) v c nh ngha l nghch o
ca ln ca P(i) ti tn s m gc pha t 180
o
(hay imag[P(i)] = 0).
Trong v d 9.2, d tr gia lng c tnh nh sau:

K
K K
i P
r
=

+
=
1
2 1
2 1
) (
1

(9.24)
D tr gia lng cn c th c nh ngha di dng logarit (dB):

(dB) log 20 log 20
) ( log 20
) (
1
log 20
10 10
10 10
K K
i P
i P
r
=
=

(9.25)
Nh vy, s o d tr gia lng biu th mt h s m gia lng K ca h thng
123
c th tng thm trc khi h thng t ti ranh gii ca trng thi n nh.
Mt la chn khc cho s o tnh n nh tng i c nh ngha di
dng chnh lch gc pha gia mt h thng nht nh v mt h thng nm
ranh gii ca trng thi n nh. S o ny, c gi l d tr pha (phase
margin), c nh ngha l gc pha m hm P(i) phi quay i im c
|P(i)| = 1 trng vi im (1, 0) trong mt phng P(i). S o ny biu th mc
chm pha c th thm trc khi h thng tr nn khng n nh, v c th xc
nh c t th Nyquist nh trong Hnh 9.7.
D tr gia lng (dB) v d tr pha u c th c lng c t th
Bode. y l mt thun li ln, v vic v th Bode thng l d dng hn so
vi th cc. Hnh 9.8 th hin phng php xc nh d tr gia lng (dB) v
d tr pha ca h thng vi P(i) nh sau t th Bode ca P(i):

) 1 2 , 0 )( 1 (
1
) (
+ +
=

i i i
i P (9.26)

20log
10
|P(i)| (dB)
() (
o
)

Hnh 9.8. Xc nh d tr gia lng v d tr pha trn th Bode
D tr gia lng
D tr pha

S dng cc s o d tr gia lng v d tr pha, chng ta c th tr li c
cu hi h thng no n nh hn trong hai h thng c so snh.
Mt cu hi na c t ra l cc s o trong min tn s thc c quan h
nh th no vi p ng nht thi ca h thng? Chng ta s tm cch tr li cu
hi ny trong v d sau bng cch xc nh mi lin h gia d tr pha vi t s
cn ca mt h thng vng kn bc hai. Xem xt mt h thng phn hi n v
m c hm chuyn ca qu trnh l:
124

) 2 (
) (
2
n
n
s s
s G

+
= (9.27)
Chng ta c c hm chuyn ca h thng nh sau:

2 2
2
2
) (
n n
n
s s
s T

+ +
= (9.28)

Cc nghim ca phng trnh c trng ca T(s) l:

2
1 =
n n
i s (9.29)
Tip theo, chng ta s xc nh p ng tn s ca P(s) = G(s)H(s):

) (
2
) (
) 2 (
) (

i
n
n
e i P
i i
i P =
+
= (9.30)
ln ca P(i) c tnh nh sau:

2 2 2
2
2 2 2 4
2
4 4
) (
n
n
n
n
i P

+
=
+
= (9.31)
v gc pha ca P(i) l:

n
n
i i

2
arctan
2

) 2 ( ) ( ) ( = + = (9.32)
xc nh d tr pha ca h thng, chng ta cn xc nh tn s
c
ln
|P(i)| = 1:
1
4
2 2 2
2
=
+
n c c
n


(9.33)
hay:

4 2 2 2 2
) 4 (
n n c c
= + (9.34)
Gii phng trnh (9.34), chng ta tnh c
c
:
1 4 2
4 2
+ + =
n c
(9.35)
T , chng ta tnh c d tr pha ca h thng:
125

1 4 2
2
arctan
2
1 4 2
arctan
2

2
arctan
2

) ( ) (
4 2
4 2
+ +
=
+ +
=
=
=

n
c
c pm
(9.36)
th ca
pm
khi thay i c biu din trong Hnh 9.9. Chng ta c th
dng xp x tuyn tnh
pm
= 100 (
o
) khi 0,7. Xp x ny cng c th dng
cho cc h thng c bc cao hn, nu nh p ng nht thi ca h thng ph
thuc ch yu vo cp nghim tri. V d, h thng bc ba vi P(i) c biu
din bng phng trnh (9.26) c d tr pha c xc nh t th Bode trong
Hnh 9.8 l 45
o
. Khi , chng ta c th xc nh c gi tr ca t s cn ca
h thng:

pm
/100 = 0,45 (9.37)

pm
(
o
)
Hnh 9.9. th ca d tr pha
pm
khi t s cn thay i

Chng ta cng c th tnh c xp x ca gi tr cc i M
p
ca p ng nht
thi bng cch s dng cng thc (5.20) dng tnh M
p
cho h thng bc hai:
2 , 1 1
2
1
+ =

e M
p
(9.38)
126
Qua mi lin h gia d tr pha v gi tr cc i ca p ng nht thi c
th hin trn, chng ta c th kt lun rng d tr pha cng c th s dng nh
mt ch s m t hiu sut nht thi ca h thng.
9.5. p ng tn s ca h thng vng kn
Hiu sut nht thi ca mt h thng phn hi c th c lng c t p ng
tn s ca hm chuyn vng kn, ngha l t p ng tn s ca hm chuyn
T(i). Trong mc trc, chng ta cp ti iu kin Nyquist v ch s d tr
pha, u c nh ngha trn hm P(i) = G(i)H(i). Mt ch s hiu sut
trong min tn s na l ln cc i ca p ng tn s ca h thng, M
p

,
c cp ti Chng VIII. Chng ta cng xc nh c mi quan h
gia M
p

v t s cn ca h thng vng kn c hm chuyn T(s) nh phng

trnh (9.28) bng cng thc (8.32):
2 1 khi
1 2
1
2
<

p
M (9.39)
V mi quan h gia M
p

v t s cn th hin mi quan h gia p ng tn s

v p ng nht thi ca h thng, chng ta s mun xc nh c M
p

t th
Nyquist. V ngha, iu cho php chng ta xc nh p ng tn s ca h
thng vng kn t p ng tn s ca P(i) = G(i)H(i), chnh l hm chuyn
vng h ca h thng vng kn.
Chng ta s xem xt mi quan h gia p ng tn s ca h thng vng kn
v ca h thng vng h, khi H(i) = 1. Khi , hm chuyn ca h thng vng
kn s l:

) ( 1
) (
) (

i G
i G
i T
+
= (9.40)
t G(i) = u + iv, vi u v v l cc ta trong mt phng G(i). ln ca
p ng tn s vng kn c tnh nh sau:

2 2
2 2
) 1 (
1
) ( ) (
v u
v u
iv u
iv u
i T M
+ +
+
=
+ +
+
= = (9.41)
Phng trnh (9.41) c th vit li nh sau:

2 2 2 2 2
] ) 1 [( v u v u M + = + + (9.42)
hay:

2 2 2 2 2 2
) 1 ( 2 ) 1 ( M v M u M u M = + (9.43)
Chia c hai v ca phng trnh (9.43) cho (1 M
2
), sau cng [M
2
/(1 M
2
)]
2

vo c hai v, chng ta c c phng trnh sau:
127

2
2
2
2
2
2
2
2
2
2
2
2
1 1 1 1
2

= +

M
M
M
M
v
M
M
u
M
M
u (9.44)
hay:

2
2
2
2
2
2
1 1

= +

M
M
v
M
M
u (9.45)
Phng trnh (9.45) l phng trnh ca mt ng trn trong mt phng G(i)
c tm ti im (M
2
/(1 M
2
), 0) v c bn kn l |M/(1 M
2
)|. Khi M() > 1,
ng trn ny nm bn phi ca ng thng u = 1/2 trong mt phng G(i),
cn khi M() < 1, ng trn ny nm bn tri ca ng thng u = 1/2. Nu
M() = 1, ng trn s tr thnh ng thng u = 1/2. Nh vy, vi mt gi tr
M() = M, chng ta s v c mt ng trn trong mt phng G(i) c
phng trnh l (9.45). Giao im ca ng trn ny vi th cc ca G(i) s
l cc im tng ng vi cc tn s m ti ln ca p ng tn s ca
T(i) bng M. Vi M() = M
p

, chng ta v c ng trn c tm ti im
) 0 , ) 1 ( (
2 2

p p
M M v c bn knh l ) 1 (
2

p p
M M . ng trn ny tip
xc vi th cc ca G(i) ti im tng ng vi tn s cng hng
r
(Hnh
9.10).

Hnh 9.10. th cc ca G(i) v cc ng trn vi cc gi tr
khc nhau ca |T(i)|
u
iv
=
r

=
1

=
2

0

Tng t, chng ta tnh c gc pha ca p ng tn s vng kn bng cng
thc sau y:

u
v
u
v
iv u iv u i T
+
= + + + = =
1
arctan arctan ) 1 ( ) ( ) ( ) ( (9.46)
128
Ly tangent c hai v ca phng trnh (9.46), chng ta c:

2 2
)] 1 ( )[ ( 1
) 1 (
1
arctan tan arctan tan 1
1
arctan tan arctan tan
1
arctan arctan tan ) ( tan
v u u
v
u v u v
u v u v
u
v
u
v
u
v
u
v
u
v
u
v
+ +
=
+ +
+
=

+
=
(9.47)
hay:
0
tan
2 2
= + +

v
v u u (9.48)
Cng c hai v ca phng trnh (9.48) vi

2
tan
1
1
4
1
, chng ta c c:

+ = + + + +

2 2
2 2
tan
1
1
4
1
tan 4
1
tan 4
1 v
v u u (9.49)
hay:

2 2
2
sin 2
1
tan 2
1
2
1

+

v u (9.50)
Phng trnh (9.50) l phng trnh ca mt ng trn trong mt phng G(i)
c tm ti im (1/2, 1/(2tan)) v c bn knh l 1/|2sin|. Nh vy, vi mt
gi tr () = , chng ta s v c mt ng trn trong mt phng G(i) c
phng trnh l (9.50). Giao im ca ng trn ny vi th cc ca G(i) s
l cc im tng ng vi cc tn s m ti gc pha ca p ng tn s ca
T(i) bng .
Chng ta c th dng cc ng trn tng ng vi cc gi tr ln v gc
pha ca p ng tn s ca T(i) trong th cc ca G(i) xc nh p ng
tn s ca T(i). Tuy nhin, vic ny s c thc hin d dng hn nu chng
ta s dng th logarit ln theo pha ca G(i) thay cho th cc. th
logarit ln theo pha (log-magnitude-phase diagram) tng ng vi th
Bode, tuy nhin trong p ng tn s s c biu din bng mt th vi
mt trc l gc pha v trc kia l ln ca p ng tn s tnh theo dB, khc
vi th Bode gm hai phn cho ln v gc pha theo tn s. Cc ng trn
tng ng vi cc gi tr ln v gc pha ca p ng tn s ca T(i) s tr
thnh li cc ng cong trong th logarit ln theo pha ca G(i). th
129
logarit ln theo pha ca hm chuyn vng h G(i) vi li cc ng cong
tng ng vi cc gi tr logarit ln (tnh bng dB) v gc pha ca hm
chuyn vng kn G(i)/[1 + G(i)] c gi l biu Nichols ca G(i). Biu
Nichols ca hm chuyn vng h sau y:

) 1 2 , 0 )( 1 (
1
) (
+ +
=

i i i
i G (9.51)
c th hin trong Hnh 9.11. S dng biu ny, chng ta thy ng tip
xc vi th ca p ng tn s ca G(i) tng ng vi gi tr logarit ln
ca hm chuyn vng kn G(i)/[1 + G(i)] khong 2,5dB, v gc pha ti im
tip xc, tc l ti tn s cng hng, ca hm chuyn vng kn l khong 72
o
.
Phng php s dng biu Nichols cho php chng ta xc nh p ng
tn s ca h thng vng kn t p ng tn s vng h, nu hm chuyn ca
khi phn hi H(s) = 1. Nu H(s) 1, chng ta vn c th s dng phng php
ny, nhng da trn p ng tn s ca hm P(i) = G(i)H(i) thay cho hm
chuyn vng h G(i). V th hm chuyn G(i)H(i) c gi l hm chuyn
vng h ca h thng vng kn.

20log
10
|G| (dB)
() (
o
)
p ng tn s
ca G(i)
ln ca
G/(1 + G)
theo dB
Gc pha ca
G/(1 + G)
180 120 90
o
150 50
o
30
o

Hnh 9.11. Biu Nichols ca hm chuyn vng h
G(i) = 1/[i(i + 1)(0,2i + 1)]

9.6. Tnh n nh ca h thng iu khin vi tr
Nhiu h thng iu khin c tr trong vng kn ca h thng, lm nh hng
n tnh n nh. Tr (time delay) l khong thi gian gia thi im khi u
130
ca mt s kin ti mt im trong h thng v thi im xy ra hnh ng l kt
qu ca s kin ti mt im khc trong h thng. iu kin Nyquist c th s
dng c xc nh nh hng ca tr ti tnh n nh tng i ca h thng
phn hi. Tr thun ty (pure time delay) l tr c th biu din c bng hm
chuyn c dng sau y:
G
d
(s) = e
sT
(9.52)
T l thi gian tr. Loi tr ny gy ra do tn hiu c truyn di dng
chuyn ng ca mt dng vt cht cn mt khong thi gian hu hn i t
mt im ti mt im khc trong h thng. Trong trng hp ny, cc im
khng v im cc ca hm chuyn khng b thay i, v vy dng ca p ng
nht thi cng khng thay i khi tr c tnh n. iu kin Nyquist vn p
dng c cho h thng vi tr. Vi p ng tn s ca h thng, thnh phn
e
iT
khng lm thay i ln m ch gy ra mt s dch pha ca p ng tn
s.
Nh chng ta cp ti trong mc 9.4, d tr pha l mt ch s th hin
tnh n nh tng i ca h thng vng kn. Thnh phn tr e
iT
s gy ra mt
s chm pha, lm gim d tr pha ca h thng, ngha l s lm cho h thng
km n nh hn.
Bi tp
Bi 9.1. Mt h thng phn hi n v m c hm chuyn vng h nh sau:
) 2 )( 1 (
) (
+ +
=
s s s
K
s G
(a) Xc nh d tr gia lng ca h thng (bng dB) khi K = 4.
(b) Xc nh gi tr ca K d tr gia lng ca h thng bng 16dB.
(c) Xc nh d tr pha ca h thng khi K = 3.
Bi 9.2. V th cc ca hm chuyn vng h G(s)H(s) trong cc trng hp
sau v dng iu kin Nyquist xc nh tnh n nh ca cc h thng vng
kn tng ng:
(a)
) 4 (
) ( ) (
2
+ +
=
s s s
K
s H s G
(b)
) 2 (
) 1 (
) ( ) (
2
+
+
=
s s
s K
s H s G
Bi 9.3.
(a) Tm mt chu tuyn
s
ph hp trong mt phng s c th dng vi nh l
ca Cauchy xc nh xem h thng c tha mn iu kin tt c cc
nghim ca phng trnh c trng u c t s cn ln hn mt gi tr
1
.
(b) Tm mt chu tuyn
s
ph hp trong mt phng s c th dng vi nh l
ca Cauchy xc nh xem h thng c tha mn iu kin tt c cc
nghim ca phng trnh c trng u c phn thc nh hn mt gi tr

1
.
131
(c) S dng nh l ca Cauchy v chu tuyn
s
trong phn (b) xc nh
xem h thng sau c tha mn iu kin tt c cc nghim ca phng
trnh c trng u c phn thc nh hn 1, vi phng trnh c trng
ca h thng l:
q(s) = s
3
+ 8s
2
+ 30s + 36
Bi 9.4. Mt h thng phn hi m c hm chuyn ca qu trnh l:
) 1 4 )( 1 (
) (
+ +
=
s s
K
s G
v hm chuyn ca khi phn hi l:
1 5 , 0
1
) (
+
=
s
s H
(a) Xc nh gi tr ca K sai s trng thi thng trc ca h thng nh
hn 7% khi tn hiu vo ca h thng l hm nhy bc.
(b) Vi gi tr K c xc nh trong phn (a), s dng iu kin Nyquist
xem xt tnh n nh ca h thng.
(c) Xc nh d tr pha v d tr gia lng ca h thng.
Bi 9.5. S khi ca mt h thng vng kn vi tr c biu din trong hnh
di, thi gian tr T = 6s.

e
sT

R(s) C(s) K + 1/s
_
+

(a) S dng iu kin Nyquist xc nh tnh n nh ca h thng vi gi
tr K = 1.
(b) Xc nh K h thng n nh.
132
Chng X

THIT K CC H THNG IU KHIN PHN HI
TRONG MIN TN S

Tm tt ni dung
Trong cc chng trc, chng ta nghin cu cc phng php nhm t
c hiu sut mong mun cho h thng bng cch iu chnh mt hay nhiu
tham s. Tuy nhin, chng ta cng nhn thy rng ch iu chnh tham s khng
phi trong trng hp no cng c c hiu sut mong mun. V vy, c
th cn phi a thm mt khi mi vo trong h thng b p cho nhng hn
ch ca h thng ban u. Khi ny c gi l b b. Chng ny s gii thiu
mt s phng php thit k b trong min tn s cho php chng ta t c
hiu sut mong mun cho h thng. Nhiu phng php b khc nhau s c
tho lun nu bt c s hu ch ca chng trong vic ci thin hiu sut.
10.1. Gii thiu
Hiu sut ca h thng iu khin phn hi l vn c tm quan trng bc nht.
Trong Chng V, chng ta nghin cu cc s o nh lng cho hiu sut.
Cc yu cu v hiu sut nhiu khi i chi vi nhau v thng l khng th tha
mn tt c mt cch hon ton, v vy chng ta phi tm ra s tha hip gia cc
yu cu iu chnh cc tham s ca h thng nhm t c mt hiu sut ph
hp.
Chng ta cng nhn ra t cc chng trc l vic c c p ng h
thng mong mun khng ch n gin l iu chnh cc tham s, m trong nhiu
tnh hung i hi phi xem xt li cu trc v thit k li h thng. iu c
ngha l, vic thit k mt h thng iu khin bao gm vic sp t cu trc ca
h thng v la chn cc phn t v tham s ph hp. Vic thay i hay iu
chnh cu trc ca h thng iu khin t c hiu sut ph hp c gi l
b (compensation). B l vic iu chnh cu trc h thng nhm sa cha nhng
thiu st hay thiu ph hp. Mc ch ca chng ny l xem xt nhng vn
ca thit k v b i vi h thng iu khin.
Phng php b thay i p ng ca h thng bng cch thm phn t vo
cu trc ca h thng phn hi. Phn t ny s cn bng hoc b cho nhng thiu
st ca hiu sut. Thit b b c th l mt thit b in, c kh, thy lc, kh hay
nhiu kiu thit b hay mch khc, c gi l b b (compensator). Thng th
trong cc h thng iu khin, b b l mt mch in, v th cn thng c
gi l mch b (compensation network). Hm chuyn ca mt b b c dng
G
c
(s) = E
ra
(s)/E
vo
(s), E
vo
(s) v E
ra
(s) l bin i Laplace ca tn hiu vo v
ra ca b b. B b c th c t mt v tr ph hp trong cu trc ca h
thng. Vi kiu b cho mt h thng iu khin phn hi mt vng n gin
c th hin trong Hnh 10.1. B b c t trn ng cp tip (feedforward
133
path) c gi l b b ni tip (cascade compensator) (Hnh 10.1a). Ngoi ra
cn cc s b khc nh b phn hi (feedback compensator), b tn hiu ra
hay ti (output/load compensator), b tn hiu vo (input compensator). Vic la
chn s b cho mt h thuc vo cc yu cu i vi h thng, mc cng sut
ti cc nt tn hiu trong h thng v cc thit b b sn c. Tuy nhin, cc s
b thng c s dng nht vn l b ni tip v b phn hi (Hnh 10.1a v
b).

R(s) C(s) 1 G(s) G
c
(s) 1
H(s)
B
R(s) C(s) 1 G(s) 1 1
H(s)
(a) B ni tip
G
c
(s)
(b) B phn hi
R(s) C(s) 1 G(s) G
c
(s) 1
H(s)
(c) B tn hiu ra hay ti
R(s) C(s) 1 G(s) G
c
(s) 1
H(s)
(d) B tn hiu vo
Hnh 10.1. Cc kiu b

Thng th cch tt nht v n gin nht ci thin hiu sut ca mt h
thng iu khin l thay i bn thn qu trnh nu c th. Tuy nhin, chng ta
cng thng gp cc trng hp qu trnh l khng th thay i hay
c thay i ti mc ti a c th c nhng vn khng t c hiu sut
mong mun. Khi vic thm cc mch b vo h thng tr nn rt hu ch cho
vic ci thin hiu sut ca h thng. Trong chng ny chng ta s gi thit rng
qu trnh c ci thin ti mc tt nht c th, v th hm chuyn G(s) ca
qu trnh l khng th thay i thm c na.
10.2. Cc phng php b
Chng ta bit t cc chng trc rng hiu sut ca mt h thng iu khin
134
c th m t c bng cc s o hiu sut trong min thi gian, nh thi gian
ti nh, phn trm qu mc, thi gian qu ... Ngoi ra, ngi ta cn t ra
mc sai s trng thi thng trc ln nht c php cho mt s tn hiu vo
th v nhiu. Cc yu cu v hiu sut ny c mi quan h vi v tr ca cc im
cc v im khng ca hm chuyn ca h thng trong mt phng s. Chng ta c
th s dng phng php qu tch nghim xc nh v tr thch hp cho cc
nghim ca phng trnh c trng ca h thng nhm tha mn cc yu cu v
hiu sut. Tuy nhin, khi vic s dng phng php qu tch nghim khng cho
ra c mt cu hnh ng cho h thng, cn phi thm mt mch b vo h
thng thay i qu tch ca cc nghim. V vy, phng php qu tch nghim
c th s dng kt hp vi b tm c cu hnh cho php h thng t c
hiu sut nh mong mun.
Cch khc m t hiu sut ca h thng iu khin phn hi l s dng cc
s o hiu sut trong min tn s nh ln cc i ca p ng tn s, tn s
cng hng, d tr pha ca h thng... Chng ta c th thm mch b vo h
thng nu cn nhm tha mn c cc yu cu v hiu sut. Vic thit k mch
b G
c
(s) c xy dng da trn p ng tn s m t bng th cc, th
Bode hay biu Nichols. Do hm chuyn ni tip c th th hin c mt
cch d dng trn th Bode bng cch cng cc p ng tn s, phng php
b trn th Bode l phng php thng c s dng nht.
Mc ch ca chng ny l m t cc phng php b trong min tn s cho
h thng iu khin phn hi. u tin, chng ta s xem xt cc mch b sm
pha v m t cch thit k mch b bng cc k thut qu tch nghim v p
ng tn s. Sau , chng ta s m t vic thit k cc mch b tch phn (chm
pha), cng vi c hai phng php qu tch nghim v p ng tn s.
10.3. Cc mch b ni tip
Trong mc ny chng ta s xem xt thit k ca mch b ni tip v phn hi
c biu din trong Hnh 10.1a v 10.1b. Mch b c hm chuyn G
c
(s) c
ni tip vi mt qu trnh khng th thay i c hm chuyn l G(s). Hm
chuyn vng h ca h thng vng kn khi s l G
c
(s)G(s)H(s). R rng l
mch b G
c
(s) c th lm thay i qu tch nghim hay p ng tn s ca h
thng. Chng ta s chn cc mch b c hm chuyn di dng nh sau:

=
=

=
N
j
j
M
i
i
c
p s
z s K
s G
1
1
) (
) (
) ( (10.1)
Khi , vn cn gii quyt ch l la chn cc im cc v im khng ca
mch b. minh ha cho cc thuc tnh ca mch b, trc ht chng ta s
xem xt mt mch b bc nht. Phng php b c pht trin trn c s ca
mch b bc nht sau s c m rng cho cc mch b bc cao hn.
Xem xt mch b bc nht vi hm chuyn nh sau:
135

p s
z s K
s G
c

=
) (
) ( (10.2)
Vn thit k mch b tr thnh vic la chn cc gi tr ca K, z v p sao cho
h thng t c hiu sut mong mun. Khi |z| < |p|, mch b c gi l mch
sm pha (phase-lead network) hay mch vi phn (differentiator network). Nu |p|
rt ln, cn im khng nm ti gc ta ca mt phng s, chng ta s c mt
mch vi phn vi hm chuyn c dng:
s
p
K
s G
c

= ) ( (10.3)
c trng tn s ca mch vi phn (10.3) c dng nh sau:

2 /
) (
i
c
e
p
K
p
K
i i G

= (10.4)
Gc pha ca G
c
(i), thng c gi l gc sm pha, trong trng hp ny bng
90
o
.
p ng tn s ca mch b bc nht c hm chuyn (10.2) c biu din
nh sau:

[ ]
1
) 1 (
1 ) (
1 ) ( ) (
) (
) (
) (
1
+
+
=

i
i K
p i
z i p Kz
p i
z i K
i G
c
(10.5)
K
1
= Kz/p, = p/z v = 1/p. Gc pha ca G
c
(i) khi s l:
() = arctan() arctan() (10.6)
c trng tn s ca mch sm pha khi K
1
= 1 c biu din trong Hnh 10.2.
Hm chuyn b sm pha c th c c bng cch s dng mch in trong
Hnh 10.3. Phng trnh ca dng in trong mch sm pha ny l:

2
2 2 1
1
2 1
) ( ) ( ) ( ) ( ) (
R
t v
dt
t dv t dv
C
R
t v t v
=

(10.7)
Thc hin bin i Laplace cho phng trnh (10.7) vi cc iu kin ban u
bng khng, chng ta c c phng trnh:

2
2
2 1
1
2 1
) (
)] ( ) ( [
) ( ) (
R
s V
s V s V Cs
R
s V s V
= +

(10.8)
hay:
) ( ) ( ) ( ) 1 (
2 2 1 2 1 1 1 2
s V Cs R R R R s V Cs R R + + = + (10.9)
V vy, hm chuyn ca mch l:
Cs R R R R
Cs R
R R
R
Cs R R R R
Cs R R
s V
s V
s G
c
] ) ( [ 1
1 ) 1 (
) (
) (
) (
2 1 2 1
1
2 1
2
2 1 2 1
1 2
1
2
+ +
+

+
=
+ +
+
= = (10.10)
136
20log10
() (
o
)
20log
10
|G
c
| (dB)
zp
(rad/s)
Hnh 10.2. th Bode ca mch sm pha
10log10

t C
R R
R R
2 1
2 1
+
= v
2
2 1
R
R R +
= , phng trnh (10.10) tr thnh:

s
s
s G
c

+
+
=
1
1 1
) ( (10.11)
v
1
(t) v
2
(t)
C
R
1

R
2

Hnh 10.3. Mt mch sm pha

chnh l hm chuyn (10.5) vi K
1
= 1/. loi tr nh hng suy gim ca
mch b do thnh phn 1/ < 1, chng ta cn dng thm mt mch khuych i
c h s khuych i , khi chng ta s c mch b vi K
1
= 1.
xc nh tn s
m
m ti gc sm pha c gi tr ln nht, gii phng
trnh sau y:
0
) (
=

d
d
(10.12)
137
hay:
0
)] [arctan( )] [arctan(
=

d
d
d
d
(10.13)
Khai trin phng trnh (10.13):
0
1 1
2 2 2 2 2
=
+

(10.14)
Gii phng trnh (10.14), chng ta xc nh c tn s
m
:
zp
m
= =

1
(10.15)
Nh vy, gi tr ln nht ca gc sm pha l:

2
1
arctan
1
arctan arctan
1
arctan
1
arctan
) (

=
=

=
=
m m
(10.16)
Phng trnh (10.16) c s dng tnh t s gia gi tr im cc v gi tr
im khng ca mch b c c gc sm pha mong mun. th ca
m

theo c th hin trn Hnh 10.4. Theo th, gc pha ca mch b ny c
gi tr kh c th qu 70
o
. V vy, nu yu cu a ra l gc sm pha ln nht
phi ln hn 70
o
, chng ta c th phi s dng ti hai mch b ni tip.

m
(
o
)
Hnh 10.4. th ca gc pha ln nht ca mch sm pha khi thay i

Mt dng ca mch sm pha c gi l b iu khin t l-o hm
(proportional-derivative controller, hay PD controller), v phng trnh ca n
bao gm hai thnh phn, t l v o hm, c dng nh sau:
138

dt
t du
K t u K t u
D P
) (
) ( ) (
vo
vo ra
+ = (10.17)
Hm chuyn ca b iu khin PD c dng:

D P PD
sK K
s U
s U
s G + = =
) (
) (
) (
vo
ra
(10.18)
S dng mch b c hm chuyn G
PD
(s) ny, chng ta c th iu chnh nh
hng ca mch b, qua iu chnh p ng ca h thng bng cch thay i
hai tham s K
P
v K
D
. Mch sm pha nh trong Hnh 10.3 c th s dng lm
b iu khin PD. Khi , chng ta phi chn cc phn t ca mch sao cho h
s thi gian ca mch sm pha phi rt nh c th b qua c thnh phn
s, trong khi li phi kh ln thnh phn s khng qu nh. Hm chuyn
ca mch sm pha khi c th xp x c nh sau:
s K K
s K
s
s K
s G
c

1 1
1 1
1
) 1 (
1
) 1 (
) ( + =
+

+
+
= (10.19)
chnh l dng ca hm chuyn ca b iu khin PD.
Ngi ta cn thng s dng mt mch b ni tip c c tnh chm pha.
Mt mch chm pha (phase-lag network) c th hin trong Hnh 10.5. Cc
phng trnh hiu in th ca mch chm pha ny l:
) ( ) ( ) (
2 1 1
t v t v t i R = (10.20)
v:
) ( ) (
1
) (
2
0
2
t v d i
C
t i R
t
= +

(10.21)
v
1
(t) v
2
(t)
C
R
1

R
2

Hnh 10.5. Mt mch chm pha
i(t)

Thc hin bin i Laplace cho cc phng trnh (10.20) v (10.21) vi cc iu
kin ban u bng khng, chng ta c c cc phng trnh sau:
) ( ) ( ) (
2 1 1
s V s V s I R = hay
1
2 1
) ( ) (
) (
R
s V s V
s I

= (10.22)
v:
) (
) ( 1
) (
2 2
s V
s
s I
C
s I R = + (10.23)
139
Thay (10.22) vo (10.23):
) ( )] ( ) ( [
1
2 2 1
1 1
2
s V s V s V
Cs R R
R
=

+ (10.24)
hay:
) ( ] ) ( 1 [ ) ( ) 1 (
2 2 1 1 2
s V Cs R R s V Cs R + + = + (10.25)
Hm chuyn ca mch chm pha l:

Cs R R
Cs R
s V
s V
s G
c
) ( 1
1
) (
) (
) (
2 1
2
1
2
+ +
+
= = (10.26)
t = R
2
C v
2
2 1
R
R R +
= , phng trnh (10.26) tr thnh:

p s
z s
s
s
s G
c

=
+
+
=

1
1
1
) ( (10.27)
z = 1/ v p = z/. Hm chuyn ca mch chm pha ny cng tng t
hm chuyn ca mch sm pha chng ta xt trn, nhng c |z| > |p|. V >
1, im cc ca G
c
(s) s nm gn vi gc ca trc ta trong mt phng s. Kiu
mch b nh vy cn c gi l mch tch phn (integrator network). th
Bode ca mch chm pha c biu din trong Hnh 10.6. Nhn vo th,
chng ta thy rng p ng tn s ca mch chm pha suy gim theo thi gian,
tri vi mch sm pha c p ng tn s tng theo thi gian, nhng vi cng tc
. Gc pha ca hai mch cng c gi tr bng nhau, tuy nhin c du ngc
nhau. Gc pha ca mch chm pha cng t c ln cc i ti tn s
zp
m
= .
Mt dng ca mch chm pha c gi l b iu khin t l-tch phn
(proportional-integral controller, hay PI controller), v phng trnh ca n bao
gm hai thnh phn, t l v tch phn, c dng nh sau:

+ =
t
I P
d u K t u K t u
0
vo vo ra
) ( ) ( ) ( (10.28)
Hm chuyn ca b iu khin PI c dng:

s
K
K
s U
s U
s G
I
P PI
+ = =
) (
) (
) (
vo
ra
(10.29)
Tng t nh i vi b iu khin PD, khi s dng mch b c hm chuyn
G
PI
(s) ny, chng ta c th iu chnh nh hng ca mch b, qua iu chnh
p ng ca h thng bng cch thay i hai tham s K
P
v K
I
. Chng ta c th
s dng mch chm pha nh trong Hnh 10.5 lm b iu khin PI. Khi ,
cc phn t ca mch phi c chn sao cho rt ln hm chuyn ca mch
chm pha c im cc gn bng khng. Hm chuyn ca mch chm pha khi
c th xp x c nh sau:
140

s s
s
s
s
s G
c
) ( 1 1
1
1 1
1
1
) (

+
+
+
=
+
+
= (10.30)
chnh l dng ca hm chuyn ca b iu khin PI.
20log10
() (
o
)
20log
10
|G
c
| (dB)
(rad/s)
Hnh 10.6. th Bode ca mch chm pha
zp
10log10

Trong cc mc tip sau, chng ta s p dng cc mch b ny vo cc h
thng c c p ng tn s hay v tr nghim ca phng trnh c trng
trong mt phng s nh mong mun. Mch sm pha c s dng to ra mt
gc sm pha, nh c c d tr pha nh mong mun cho h thng. Vic s
dng mch sm pha cng c th biu din c trn mt phng s nh mt
phng php lm thay i qu tch nghim ca phng trnh c trng. Cn
mch chm pha, mc d c nh hng lm gim tnh n nh ca h thng,
thng c s dng cung cp s suy gim nhm lm gim sai s trng thi
thng trc ca h thng.
10.4. B trn th Bode s dng mch sm pha
Khi mt mch b ni tip c s dng trong h thng, p ng tn s ca h
thng c b s l tng ca p ng tn s ca mch b v p ng tn s ca
h thng khi cha c b. iu c th biu din c mt cch d dng trn
th Bode. V vy, trong cc loi th ca p ng tn s, th Bode thng
c s dng nht cho vic thit k mch b.
Hm chuyn vng h ca h thng phn hi trong Hnh 10.1a l
G
c
(i)G(i)H(i). thit k mch b cho s , trc tin chng ta cn v
th Bode cho hm chuyn G(i)H(i), sau xc nh hai gi tr p v z thch
141
hp cho G
c
(i) p ng tn s ca h thng c c hnh dng nh mong
mun. Chn gi tr cho tham s ca G(i) sao cho sai s trng thi thng trc
l chp nhn c. Sau , kim tra d tr gia lng v gi tr cc i M
p
ca
p ng nht thi ca h thng vng kn (cha b) xem chng c tha mn cc
yu cu c t ra hay khng. Nu khng, mt gc sm pha c th c cng
vo gc pha ca h thng bng cch t mt mch b G
c
(i) vo mt v tr thch
hp. gi tr tng thm cho d tr pha l ln nht, chng ta s mun t mch
b sao cho tn s
m
tng ng vi gi tr gc pha ln nht ca G
c
(i) nm ti
im m ln ca p ng tn s ca G
c
(i)G(i)H(i) c gi tr bng mt
(hay bng khng nu tnh bng dB). Theo th trong Hnh 10.2, ln ca p
ng tn s vng h ti tn s
m
khi c b s tng thm mt lng l 10log
10

so vi trc khi c b. Gi tr ca c chn c c gi tr gc sm pha
ln nht
m
ph hp, theo phng trnh (10.16). Nh vy, xc nh mch b
sm pha, chng ta cn thc hin cc bc sau y:
1. Xc nh tham s ca G(i) sai s trng thi thng trc ca h
thng tha mn c yu cu.
2. c lng d tr pha ca h thng cha c b.
3. Xc nh gi tr thch hp cho gc sm pha ln nht
m
ca mch b.
4. Xc nh t
m
bng phng trnh (10.16).
5. Xc nh tn s logarit ln ca p ng tn s ca hm chuyn
vng h khi cha c b G(i)H(i) bng 10log
10
. chnh l tn s

m
tng ng vi gc sm pha ln nht
m
ca mch b.
6. V th Bode ca p ng tn s ca G
c
(i)G(i)H(i). Nu p ng
tn s ny cha tha mn c yu cu, lp li t bc 1.
V d 10.1
Xem xt mt h thng phn hi n v m c hm chuyn ca qu trnh l:

) 2 (
) (
+
=
s s
K
s G (10.31)
Yu cu v hiu sut i vi h thng l sai s trng thi thng trc vi tn
hiu vo l hm dc phi nh hn 5% dc ca tn hiu vo v gi tr nh nht
ca d tr pha ca h thng bng 45
o
.
t tn hiu vo ca h thng l hm dc r(t) = at v c(t) l p ng theo thi
gian. Sai s trng thi thng trc ca h thng vng kn c tnh nh sau:

)] ( ) ( ) ( [ lim
)] ( ) ( [ lim
)] ( ) ( [ lim
0
0
s T s R s R s
s C s R s
t c t r e
s
s
t
=
=
=

(10.32)
Thay R(s) = a/s
2
v (10.31) vo (10.32), chng ta c c:
142

K
a
s
K
s
a
s s
K
s
a
e
s s
2
2
lim
) 2 (
1
1
lim
0 0
=
+
+
=

+
+
=

(10.33)
Yu cu i vi sai s trng thi thng trc ca h thng l e 0,05a, ngha
l:
a
K
a
05 , 0
2
hay K 40 (10.34)
Chn K = 40, chng ta c c hm chuyn vng h ca h thng cha c b
nh sau:

) 1 5 , 0 (
20
) 2 (
40
) ( ) (
+
=
+
=


i i i i
i H i G (10.35)
th Bode ca p ng tn s ca G(i)H(i) c th hin trn Hnh 10.7.
xc nh d tr pha ca h thng, trc ht chng ta cn xc nh tn s
c

ln |G(i)H(i)| = 1 bng cch gii phng trnh sau:
1
1 ) 5 , 0 (
20
2
=
+
(10.36)

() (
o
)

(rad/s)

20log
10
|GH| (dB)

Hnh 10.7. th Bode ca hm chuyn G(i)H(i) trong v d 10.1

Phng trnh (10.36) tng ng vi phng trnh:
143
400 ) 1 25 , 0 (
2 2
= + (10.37)
hay:
0 1600 4
2 4
= + (10.38)
Gii phng trnh (10.38), chng ta xc nh c tn s
c
6,2rad/s. Gc pha
ca G(i)H(i) ti tn s ny l:

o
o
162
) 5 , 0 arctan( 90
) 1 5 , 0 ( ) ( )] ( ) ( [

=
+ =
c
c c c c
i i i H i G

(10.39)
V vy, d tr pha ca h thng cha c b l:

pm
= 162
o
(180
o
) = 18
o
(10.40)
Nh vy, so vi yu cu, gi tr d tr pha cn thiu khong 45
o
18
o
= 27
o
.
Chng ta s b mt gc sm pha ln hn khong cn thiu ny mt cht v tn s
xc nh d tr pha ca h thng vi b s khng phi l
c
. Chn mch b c
gc sm pha ln nht
m
= 30
o
. Thay vo phng trnh (10.16), chng ta c:

o
30
2
1
arctan =

(10.41)
hay:

3
1
30 tan
2
1
= =

(10.42)
Phng trnh (10.42) c hai nghim, = 3 v = 1/3. Tuy nhin, v phi ln
hn mt nn = 3 chnh l gi tr cn tm. xc nh tn s
m
, chng ta tm
trn th Bode ca G(i)H(i) tn s ng vi ln l 10log
10
4,8dB
hoc gii phng trnh sau:

1
1 ) 5 , 0 (
20
2
=
+
(10.43)
hay:
0 4800 4
2 4
= + (10.44)
Gii phng trnh (10.44), chng ta tm c tn s
m
8,2rad/s. Theo phng
trnh (10.15):
2 , 8
3
1 1
= =

m
(10.45)
t tnh c = 0,07. im cc v im khng ca G
c
(i) c tnh nh sau:
2 , 14
1
=

p v 7 , 4 =

p
z (10.46)
144
Hm chuyn ca mch b sm pha l:

2 , 14 1
7 , 4 1
) (
s
s
s G
c
+
+
= (10.47)
Hm chuyn vng h ca h thng c b khi s l:

) 1 2 , 14 )( 1 5 , 0 (
) 1 7 , 4 ( 20
) ( ) ( ) (
+ +
+
=



i i i
i
i H i G i G
c
(10.48)
Gc pha ca h thng c b ti tn s
m
= 8,2rad/s:

o o
1 , 136
2 , 14
arctan ) 5 , 0 arctan( 90
7 , 4
arctan ) ( = =
m
m
m
m

(10.49)
D tr pha ca h thng c b, c xc nh ti chnh tn s
m
, khi s
l 136,1
o
(180
o
) = 43,9
o
(Hnh 10.8). Gi tr d tr pha ny cha t c
mc ti thiu theo yu cu l 45
o
. V vy, chng ta cn tng gi tr gc sm pha
ln nht
m
ca mch b v thc hin li cc bc trn.
() (
o
)
20log
10
|G
c
GH| (dB)
(rad/s)
Hnh 10.8. th Bode ca hm chuyn G
c
(i)G(i)H(i) trong v d 10.1

10.5. B trong mt phng s s dng mch sm pha
Vic thit k mch b sm pha c th thc hin c trong mt phng s. Mc
ch ca phng php thit k ny l lm thay i qu tch ca cc nghim ca
phng trnh c trng ca h thng, lm qu tch i qua cc v tr nghim
tha mn c yu cu t ra cho h thng. Nh chng ta bit Chng VII,
qu tch nghim ca phng trnh c trng ca h thng vng kn c dng
145
0 ) ( 1 = + s KP khi K thay i c xc nh t cc im khng v im cc ca
P(s). V vy, khi chng ta s dng mch b ni tip nh trong Hnh 10.1a vi
hm chuyn ca mch b c dng:

p s
z s
s G
c

= ) ( (10.50)
qu tch nghim ca phng trnh c trng 1 + G
c
(s)G(s)H(s) = 0 s c thay
i nh vo gi tr im cc v im khng ca G
c
(s).
Vic u tin chng ta phi lm theo phng php ny l xc nh v tr ca
cp nghim tri tng ng vi cc gi tr c mong mun cho t s cn v tn
s t nhin
n
, c xc nh t cc yu cu v hiu sut trn p ng nht thi
ca h thng. im khng ca G
c
(s) thng c chn l im c gi tr ng
bng gi tr thc ca cp nghim tri mong mun to mt gc sm pha bng
90
o
. m bo rng cp im c chn s nm trn qu tch nghim ca
phng trnh c trng ca h thng sau khi b, im cc ca G
c
(s) phi c
chn sao cho gc cc ca G
c
(s)G(s)H(s) phi bng 180
o
ti cc im . Tm
li, phng php b trong mt phng s s dng mch sm pha bao gm cc bc
nh sau:
1. Chuyn cc yu cu v hiu sut ca h thng thnh cc gi tr tng ng
cho t s cn v tn s t nhin
n
v xc nh v tr cp nghim mong
mun trong mt phng s t cc gi tr ny.
2. V qu tch nghim ca phng trnh c trng ca h thng cha c b
v xc nh xem qu tch c i qua cc v tr chn hay khng. Nu
cu tr li l khng, chng ta s thit k mch b trong cc bc tip sau.
3. t im khng ca mch b trn trc thc ca mt phng s sao cho gi
tr ca im khng ny ng bng gi tr phn thc ca cp nghim mong
mun.
4. Xc nh v tr im cc ca mch b trn trc thc ca mt phng s sao
cho gc cc ca G
c
(s)G(s)H(s) bng 180
o
ti v tr cp nghim mong
mun.
5. Xc nh tham s ca G(s) h thng sau khi b c c cp nghim
tri ca phng trnh c trng nh mong mun, sau xc nh sai s
trng thi thng trc ca h thng.
6. Nu sai s khng tha mn yu cu t ra cho h thng, xc nh li v tr
cp nghim mong mun v lp li cc bc nh trn.
V d 10.2
Trong v d ny, chng ta li xem xt h thng cp ti trong v d 10.1. Gi
s yu cu v hiu sut ca h thng l phn trm qu mc P
o
20% v thi gian
qu T
s
1s vi tn hiu vo nhy bc.
Theo phng trnh (5.21), chng ta c th xc nh c khong gi tr ca t
s cn tng ng vi iu kin P
o
20% l 0,45. V tc ca p ng
nht thi t l nghch vi t s cn , chng ta s chn gi tr mong mun cho
l 0,45.
146
Thi gian qu T
s
ca h thng bc hai c tnh theo v
n
bng cng
thc (5.10). V vy, theo iu kin T
s
1s nu trn chng ta c:
1
4

hay
n
4 (10.51)
Phn thc ca cp nghim tng ng vi cc gi tr ni trn ca v
n
l

n
. V nh hng ca cp nghim ny cng ln nu chng nm cng gn trc
o, chng ta s chn v tr gn trc o nht c th m vn tha mn iu kin
(10.51), ngha l
n
= 4 hay
n
= 9. Nh vy, v tr c mong mun cho cp
nghim tri ca phng trnh c trng ca h thng l cp im
2
1
n n
i = 4 i8. Khi , im khng ca G
c
(s) s l z = 4.
xc nh gi tr im cc ca G
c
(s), chng ta cn gii phng trnh sau y:

o o
180 ) 8 2 4 ( ) 8 4 ( ) 8 4 ( 90 = + + + + i i i p (10.52)
hay:

o
270 4 arctan 2 arctan
4
8
arctan = + +
+ p
(10.53)
Gii phng trnh (10.53), chng ta xc nh c gi tr im cc ca G
c
(s) l
. 8 , 10 p Gi tr ca K phng trnh c trng ca h thng sau khi b c
c cp nghim nh mong mun s c tnh nh sau:
0
) 8 , 10 8 4 )( 2 8 4 )( 8 4 (
) 4 8 4 (
1 =
+ + + + +
+ +
+
i i i
i K
(10.54)
hay:
8 , 96
) 8 8 , 6 )( 8 2 )( 8 4 (
8
=
+ + +
=
i i i
i
K (10.55)
10.6. Phng php b s dng mch tch phn
Vi nhiu h thng iu khin, mc tiu ch yu l t c chnh xc cao
trng thi thng trc. Thm na, hiu sut nht thi ca cc h thng cng cn
c duy tr trong mt gii hn hp l. Nh phn tch trong Chng IV,
chng ta c th lm tng chnh xc trng thi thng trc ca h thng phn
hi bng cch tng h s khuych i trn chiu thun ca h thng. Tuy nhin,
cch c th lm cho p ng nht thi ca h thng tr nn khng th chp
nhn c, thm ch khng n nh. V vy, ngi ta thng s dng mch b
trn chiu thun ca h thng iu khin phn hi nhm t c chnh xc
cn thit trng thi thng trc cho h thng.
Xem xt h thng phn hi vi hm chuyn vng h G(s)H(s). Thay cho sai
s E(s) = R(s) C(s), chng ta s s dng tn hiu sai khc E
a
(s), c nh
ngha Chng IV:
E
a
(s) = R(s) C(s)H(s) (10.56)
147
Sai s trng thi thng trc ca h thng khi s l:

[ ]
) ( ) ( 1
) (
lim
) ( ) ( 1
) ( ) (
1 ) ( lim
) ( ) ( ) ( lim
) ( lim ) ( lim
0
0
0
0
s H s G
s sR
s H s G
s H s G
s sR
s H s C s R s
s sE t e
s
s
s
a
s
a
t
+
=

+
=
=
=

(10.57)
Gi s tn hiu vo ca h thng l tn hiu nhy bc n v, hay R(s) = 1/s. ng
thi, gi s hm chuyn vng h ca h thng b c th biu din c nh
sau:

=
=

=
Q
j
j
N
M
i
i
p s s
z s K
s H s G
1
1
) (
) (
) ( ) ( (10.58)
Sai s ca h thng trng thi thng trc tr thnh:



= =
=

+

=
M
i
i
Q
j
j
N
Q
j
j
N
s
a
t
z s K p s s
p s s
t e
1 1
1
0 0
) ( ) (
) (
lim ) ( lim (10.59)
Nh phn tch Chng V, sai s ca h thng ph thuc vo gi tr ca N,
ngha l s im cc ti gc ta trong mt phng s ca G(s)H(s):
Nu N < 0: s
N
0 khi s 0. V vy, sai s trng thi thng trc ca
h thng s l:
1
) ( ) (
) (
lim ) ( lim
1 1
1
0 0
=
+

=


=

=
=

M
i
i
N
Q
j
j
Q
j
j
s
a
t
z s K s p s
p s
t e (10.60)
Nu N = 0:

p
M
i
i
Q
j
j
Q
j
j
s
a
t
K
z s K p s
p s
t e
+
=
+

=


= =
=

1
1
) ( ) (
) (
lim ) ( lim
1 1
1
0 0
(10.61)
Gi tr ca hng s sai s K
p
cng ln th sai s trng thi thng trc
148
ca h thng s cng nh khi N = 0.
Nu N > 0:
0
) ( ) (
) (
lim ) ( lim
1 1
1
0 0
=
+

=


= =
=

M
i
i
Q
j
j
N
Q
j
j
N
s
a
t
z s K p s s
p s s
t e (10.62)
Nh vy, sai s trng thi thng trc ca h thng s trit tiu nu hm
chuyn vng h ca h thng c t nht mt im cc ti gc ta trong mt
phng s. Mi im cc ti gc ta ca hm chuyn vng h ca h thng c
th coi nh mt php tch phn. V vy, khi chnh xc ca h thng trng
thi thng trc khng t yu cu, chng ta c th dng mt mch tch phn
b. S dng mt b iu khin PI lm mch b c th lm gim sai s trng
thi thng trc ca h thng xung ti khng v hm chuyn ca mch ny c
im cc nm gc ta .
lm v d, xem xt mt h thng iu khin phn hi m c hm chuyn
ca qu trnh l:

1
) (
1
+
=
s
K
s G

(10.63)
v hm chuyn ca khi phn hi l:

1
1
) (
2
+
=
s
s H

(10.64)
Sai s ca h thng trng thi thng trc vi khi tn hiu vo l hm nhy bc
n v s l:

K
s s
K
s s
s H s G
s sR
t e
s s
a
t
+
=
+ +
+
=
+
=

1
1
) 1 )( 1 (
1
) 1 (
lim
) ( ) ( 1
) (
lim ) ( lim
2 1
0 0

(10.65)
Chng ta c th lm gim sai s trng thi thng trc ca h thng bng cch
tng K. Tuy nhin, tng K s lm cho t s cn ca h thng gim, v vy c th
dn n vic hiu sut nht thi ca h thng khng p ng c yu cu t ra.
V vy, chng ta s xem xt vic s dng mch b tch phn c hm chuyn nh
phng trnh (10.29) lm trit tiu sai s trng thi thng trc ca h
thng. Tht vy, sai s trng thi thng trc ca h thng sau khi b l:

0
) ( ) 1 )( 1 (
) 1 )( 1 (
lim
) 1 )( 1 (
) (
1
) 1 (
lim
) ( ) ( ) ( 1
) (
lim ) ( lim
2 1
2 1
0
2 1
0 0
=
+ + + +
+ +
=
+ +
+
+
=
+
=

P I P
s
P I P
s
c
s
a
t
K K s KK s s s
s s s
s s s
K K s KK
s s
s H s G s G
s sR
t e



(10.66)
149
Hiu sut nht thi ca h thng khi c th iu chnh c bng cch iu
chnh cc tham s K, K
P
v K
I
.
10.7. B trong mt phng s s dng mch chm pha
Nh chng ta cp mc trc, mch chm pha trong Hnh 10.5 l mt
mch tch phn, c th s dng c b cho h thng nhm lm gim sai s
trng thi thng trc. Hm chuyn ca mch chm pha ny c biu din bng
phng trnh (10.27):

p s
z s
s
s
s G
c

=
+
+
=

1
1
1
) ( (10.67)
Gi s h thng vng kn c quan tm c hm chuyn vng h G(s)H(s)
c biu din bng phng trnh (10.58) v gi s chng ta c th xc nh
c bng phng php qu tch nghim v tr cp nghim tri vi chng h
thng c hiu sut nht thi nh mong mun, tng ng vi gi tr K = . Mc
ch ca vic s dng mch b chm pha cho h thng l nhm lm tng hng s
sai s nhng khng gy nh hng ng k ti hiu sut nht thi ca h thng.
Gi K
e
l hng s sai s ca h thng:

=
=

= =
Q
j
j
M
i
i
N
s
e
p
z
K s H s G s K
1
1
0
) ( ) ( lim (10.68)
Phng trnh c trng ca h thng khi c b l:
0
) (
) (
1
1
1
=

=
=
Q
j
j
N
M
i
i
p s s
z s
p s
z s K

(10.69)
Nu chn z v p sao cho |p| < |z| << 1, qu tch nghim ca phng trnh c
trng ca h thng khi c b s thay i rt t so vi khi cha c b, v khi
phng trnh c trng (10.69) ca h thng sau khi b c th xp x c bng
phng trnh sau:
0
) (
) (
1
1
1
=

=
=
Q
j
j
N
M
i
i
p s s
z s
K

(10.70)
Phng trnh (10.70) s c cp nghim mong mun nh ca h thng khi cha c
b khi K = . Nh vy, vi z v p c chn nh trn v K = , hiu sut nht
thi ca h thng sau khi c b s thay i khng ng k so vi trc khi c
150
b. Gi
e
K l hng s sai s ca h thng sau khi c b, hng s ny s c
tnh nh sau:

e
Q
j
j
M
i
i
Q
j
j
M
i
i
e
K
p
z
p
z
p
z
p
z
K

=
=
=
=
1
1
1
1
(10.71)
Phng trnh (10.71) cho thy, hng s sai s ca h thng sau khi c b s
tng vi t l l = z/p so vi trc khi c b.
Nh vy, cc bc cn thit cho vic thit k mt mch b chm pha trong
mt phng s c thc hin theo trnh t sau y:
1. Xc nh qu tch nghim ca h thng khi cha c b.
2. Xc nh cc yu cu i vi hiu sut nht thi ca h thng v xc nh
v tr cp nghim tri trn qu tch nghim sao cho hiu sut nht thi ca
h thng cha c b p ng c cc yu cu t ra.
3. Xc nh gi tr tham s K ca hm chuyn vng h G(s)H(s) v hng s
sai s K
e
ng vi cp nghim xc nh trong bc 2.
4. So snh K
e
vi gi tr hng s sai s c mong mun tnh t s = z/p
cn thit cho mch b.
5. Xc nh v tr ca im khng v im cc ca mch b theo t l c
xc nh bc 4 sao cho qu tch nghim ca h thng sau khi b vn i
qua v tr cp nghim c xc nh trong bc 2.
V d 10.3
Chng ta li tip tc s dng h thng trong cc v d 10.1 v 10.2, vi t s cn
ca cp nghim tri c chn l 0,45 v hng s sai s ca h thng khng nh
hn 20. Qu tch nghim ca phng trnh c trng ca h thng cha c b
c biu din trn Hnh 10.9. S dng th qu tch nghim ny, chng ta xc
nh c cp nghim ng vi gi tr ca t s cn = 0,45 l xp x 1 i2. Gi
tr ca K phng trnh c trng ca h thng c cp nghim phc s l:
K = (1 + i2)
2
2(1 + i2) = 5 (10.72)
Hng s sai s ca h thng kiu-1 l hng s sai s vn tc K
v
. Gi tr K
v
ca h
thng cha c b vi K = 5 l:
5 , 2
2
5
= =
v
K (10.73)
t hng s sai s vn tc ca h thng sau khi b l 20 =
v
K , t s = z/p ca
mch b chm pha s s dng c tnh nh sau:
8
5 , 2
20
= =

=
v
v
K
K
(10.74)
Vic cn li l chn z v p sao cho |p| < |z| << 1 qu tch nghim ca h thng
151
sau khi b gn nh khng b thay i so vi trc khi c b v tha mn iu
kin z/p = . Ngoi ra, m bo tnh n nh ca h thng ngi ta thng
chn z v p nm bn tri trc o trong mt phng s. Trong v d ny chng ta c
th chn z = 0,1 v p = 0,1/8 = 0,0125.

0 2

i
1
Hnh 10.9. Qu tch nghim ca h thng phn hi c hm chuyn vng h
G(s)H(s) = K/[s(s + 2)]
= 0,45
i2
i2

10.8. B trn th Bode s dng mch chm pha
Chng ta thy trong mc 10.4 s thun tin ca vic s dng th Bode
thit k mch b. Vi phng php b s dng mch chm pha, yu t c
quan tm khng phi l s chm pha ca mch b m l suy gim 20log
10
.
Mch chm pha c s dng lm gim tn s
c
ti gi tr logarit ln
ca p ng tn s vng h ca h thng bng 0dB. Bng vic lm gim tn s

c
, chng ta c th lm tng d tr pha ca h thng nu nh chm pha ca
mch b ti tn s
c
(tn s ti gi tr logarit ln ca p ng tn s ca
h thng sau khi b bng 0dB) c khng ch mc tng i nh. Nh vy,
ngoi mc ch lm gim sai s trng thi thng trc ca h thng nh
c trnh by mc trn, mch b chm pha cn c s dng lm tng d
tr pha, ngha l nhm iu chnh hiu sut nht thi ca h thng. Phng php
b bng mch chm pha trong Hnh 10.5 trn th Bode c thc hin bng
cc bc nh sau:
1. Xc nh h s ca G(i) sai s trng thi thng trc ca h thng
tha mn c yu cu.
2. c lng d tr pha ca h thng cha c b. Nu gi tr d tr pha ny
cha tha mn c yu cu t ra, thc hin cc bc tip theo.
3. Xc nh tn s
c
ti gi tr d tr pha s tha mn c yu cu nu
152
gi tr logarit ln ca p ng tn s vng h ti
c
bng 0dB, c tnh
ti mt gc chm pha nh gy ra bi mch b.
4. Tnh gi tr ca sao cho gi tr logarit ln ca G(i)H(i) ti tn s
c
bng 20log
10
.
5. Tnh gi tr ca sao cho gc chm pha ca mch b ti tn s
c
c gi
tr nh nh trong bc 3, t tnh ra c im khng v im cc
ca G
c
(s).
V d 10.4
Trong v d ny, chng ta s thc hin b chm pha trn th Bode cho h
thng vi cc yu cu v hiu sut nh trong v d 10.1. Tng t nh trong v
d 10.1, chng ta s chn c gi tr K = 40 h thng p ng c yu cu
v sai s trng thi thng trc. Gi tr d tr pha ca h thng khi cha c b
l 18
o
, trong khi yu cu c a ra l d tr pha khng nh hn 45
o
. h
thng c c d tr pha bng 45
o
, gc pha ca G(i)H(i) ti tn s
c
phi
bng 130
o
, nu tnh thm mt gc chm pha bng 5
o
. V vy, chng ta c th
xc nh c
c
bng cch gii phng trnh sau:

o
130 ) 2 ( ) ( ) ( ) ( = + = i i i H i G (10.75)
hay:

o o
130
2
arctan 90 =

(10.76)
T phng trnh (10.76), chng ta tnh c gi tr ca tn s
c
:
(rad/s) 68 , 1 40 tan 2 =
o
c
(10.77)
Chng ta thit lp c phng trnh sau y tnh t s = z/p ca mch b
chm pha:
) ( ) ( log 20 log 20
10 10 c c
i H i G = (10.78)
hay:

4
) 2 (
) ( ) (
2
+
=
+
= =
c c
c c
c c
K
i i
K
i H i G


(10.79)
Thay cc gi tr K = 40 v 68 , 1 =
c
vo phng trnh (10.79), chng ta s tnh
c gi tr ca :
1 , 9
4 68 , 1 68 , 1
40
2

+
= (10.80)
Nh cp trn, gc chm pha ca mch b ti tn s
c
c t bng 5
o
,
c ngha l:
153

o
5
1
1
=
+
+

=
c
i
i

(10.81)
hay:

o
5 ) arctan( ) arctan( =
c c
(10.82)
Ly tang ca c hai v phng trnh (10.82):
) 5 tan(
1
2 2
o
c
c c
=
+



(10.83)
Thay cc gi tr 68 , 1 =
c
v v = 9,1 vo gii phng trnh (10.83), chng
ta s tm c hai nghim 6 v 0. Trong hai nghim ny, ch c nghim
th nht c th chp nhn c. Chng ta tm c hm chuyn ca mch b
chm pha nh sau:

018 , 0
17 , 0
11 , 0
6 , 54 1
6 1
6 1 , 9 1
6 1
) (
+
+

+
+
=
+
+
=
s
s
s
s
s
s
s G
c
(10.84)
th Bode ca hm chuyn vng h G
c
(i)G(i)H(i) ca h thng sau khi b
c biu din trong Hnh 10.10.
() (
o
)
20log
10
|G
c
GH| (dB)
(rad/s)
Hnh 10.10. th Bode ca hm chuyn G
c
(i)G(i)H(i) trong v d 10.4

10.9. Mch b sm-chm pha v b iu khin PID
Trong nhiu trng hp, chng ta c th cn mt mch b c th cung cp c gc
sm pha nh ca mt mch sm pha v s suy gim v ln nh ca mt mch
154
chm pha. Mt mch c c tnh nh vy c gi l mch sm-chm pha (lead-
lag network). Mt mch sm-chm pha s c c hai thnh phn sm pha v chm
pha, v vy hm chuyn ca mch s c dng nh sau:

s
s
s
s
K
p s
z s
p s
z s
K s G
c
2
2
1
1
1
2
2
1
1
1
1
1
1
) (

+
+

+
+
=

= (10.85)
, |z
1
| < |p
1
| v |z
2
| > |p
2
|, hay > 1 v > 1.
thit k hm chuyn ca mch b sm-chm pha, chng ta c th s dng
cc phng php c gii thiu trong cc mc trc, dng thit k hm
chuyn cho cc mch b sm pha v b chm pha. V d, hm chuyn ca mch
b sm-chm pha c th thit k c trong mt phng s bng cch xc nh
im khng v im cc ca thnh phn sm pha sao cho qu tch nghim ca h
thng sau khi b s i qua v tr c mong mun cho cp nghim tri ca
phng trnh c trng ca h thng vng kn, sau xc nh im khng v
im cc ca thnh phn chm pha nhm lm tng hng s sai s ng vi cp
nghim tri ln vi t l l .
Mt dng ca mch sm-chm pha c s dng rt ph bin, nht l trong
cc h thng iu khin cng nghip, l b iu khin t l-tch phn-o hm
(proportional-integral-derivative controller hay PID controller), hay cn gi l
b iu khin ba phng thc (three-mode controller), c biu din bng
phng trnh vi phn c dng nh sau:

+ + =
t
I D P
d u K
dt
t du
K t u K t u
0
vo
vo
vo ra
) (
) (
) ( ) ( (10.86)
Hm chuyn ca b iu khin PID ni trn s l:

s
K
s K K
s U
s U
s G
I
D P PID
+ + = =
) (
) (
) (
vo
ra
(10.87)
Thnh phn t l (K
P
) ca b iu khin PID c tc dng lm tng tc ca p
ng v lm gim (nhng khng lm trit tiu c) sai s trng thi thng
trc. Thnh phn tch phn (K
I
) c th lm trit tiu sai s trng thi thng
trc, nh chng ta cp ti mc 10.6, nhng s lm nh hng n hiu
sut nht thi theo chiu hng khng c mong mun v phn trm qu mc
ca p ng nht thi s tng khi K
I
tng. Ngc li vi K
I
, thnh phn o hm
(K
D
) c tc dng nng cao tnh n nh ca h thng v lm gim phn trm qu
mc ca p ng nht thi, nh ci thin hiu sut nht thi ca h thng
vng kn.
c bit, ngi ta thng s dng cc b iu khin PID iu khin nhng
qu trnh qu phc tp c th thit lp c cc m hnh ton hc chnh xc,
thng l cc qu trnh phi tuyn v a bin. Trong nhng trng hp , vi ba
tham s K
P
, K
I
v K
D
ca b iu khin PID iu chnh, chng ta vn c th
hy vng t c hiu sut mong mun cho h thng m khng cn thc hin
nhiu bc phn tch v thit k phc tp.
155
Bi tp
Bi 10.1. Mt h thng iu khin phn hi n v m c hm chuyn ca qu
trnh l
) 4 (
400
) (
+
=
s s
s G . Chng ta mun s dng mt b iu khin PI b cho
h thng. Hm chuyn ca b iu khin PI l:
s
K
K s G
c
2
1
) ( + =
Nu K
2
= 1, xc nh gi tr ca K
1
sao cho phn trm qu mc ca h thng vo
khong 20% vi tn hiu vo l hm nhy bc.
Bi 10.2. Mt h thng iu khin phn hi n v m c hm chuyn ca qu
trnh l:
) 4 )( 2 (
) (
+ +
=
s s s
K
s G
Chng ta mong mun thit k mt h thng c tn s t nhin v t s cn ca
cp nghim phc tri l
n
= 3 v = 0,5 cng vi hng s sai s K
v
= 2,7. Xc
nh hm chuyn thch hp cho mt mch b h thng tha mn c nhng
yu cu k trn.
Bi 10.3. Mt h thng iu khin phn hi n v m c hm chuyn ca qu
trnh l:
) 1
200
)( 1
100
(
900 . 15
) (
+ +
=
s s
s
s G
Mt mch b c hm chuyn G
c
(s) = K
1
+ K
2
s c s dng hm chuyn
G
c
(i)G(i)H(i) c logarit ln bng 0dB ti tn s
c
= 500rad/s v d tr
pha ca h thng bng 45
o
. Tnh K
1
v K
2
.
Bi 10.4. Mt h thng iu khin phn hi n v m c hm chuyn ca qu
trnh (bao gm c tr) l
1
) (
+
=

s
e
s G
s
. Mt mch b PI c hm chuyn nh sau:

+ =
s
K s G
c

1
1 ) (
c s dng h thng c phn trm qu mc l 5% vi tn hiu vo l hm
nhy bc. Xc nh K v .
Bi 10.5. Mt h thng iu khin phn hi n v m c dng cho mt robot
ln c qu trnh c biu din bng mt hm chuyn bc ba:
) 50 )( 10 (
) (
+ +
=
s s s
K
s G
Hiu sut nht thi c mong mun cho ton b h thng l phn trm qu mc
156
khong 7,5% cho tn hiu vo nhy bc v thi gian qu khong 400ms. Xc
nh hm chuyn ca mt mch b sm pha thch hp cho h thng ni trn v
gi tr thch hp cho K bng phng php b trong mt phng s.
Bi 10.6. Mt h thng iu khin phn hi n v m c dng mt my in c
hm chuyn ca ng c v b khuych i nh sau:
) 1 5 )( 1 (
15 , 0
) (
+ +
=
s s s
s G
Xc nh hm chuyn ca mt mch b sm pha c = 10 h thng c tn s
di thng
B
= 0,75rad/s v d tr pha bng 30
o
.

157
Chng XI

THIT K CC H THNG IU KHIN PHN HI
TRONG KHNG GIAN TRNG THI

Tm tt ni dung
Cc s o hiu sut ca h thng thng c nh ngha trong min thi gian,
nh phn trm qu mc, thi gian ln ca p ng nht thi... V vy, vic pht
trin cc phng php thit k trong min thi gian l mt nhu cu rt t nhin.
Trong chng ny, chng ta s xem xt n vn thit k bng cch s dng
cc phng trnh ca bin trng thi. Cc khi nim tnh iu khin c v tnh
quan st c s c gii thiu v cc iu kin ca chng s c a ra thng
qua nhng v d n gin.
Chng ta s nghin cu cc php bin i tng ng v s dng bin i
tng ng trnh by phng php thit k b cho h thng vng kn s
dng phn hi trng thi, c gi l phng php t im cc. Vn cui
cng s c cp ti l vic thit k h thng phn hi ti u s dng ch s
hiu sut l tch phn ca mt hm bc hai biu th trng thi nng lng ca h
thng.
11.1. Gii thiu
Ngoi cc k thut s dng qu tch nghim v p ng tn s, cn c mt
phng php th ba c s dng trong vic thit k cc h thng iu khin
phn hi: phng php thit k trong khng gian trng thi. Trong phng php
ny, chng ta s thit k cc b b bng cch s dng trc tip cc m t vi bin
trng thi ca h thng. Cng ging nh cc phng php thit k trong min tn
s, mc ch ca phng php trong khng gian trng thi l xc nh hm
chuyn G
c
(s) ca mch b sao cho p ng ca h thng sau khi b tha mn
c cc yu cu thit k.
Phng php thit k trong khng gian trng thi c nhiu u im so vi cc
phng php trong min tn s m chng ta nghin cu Chng X. Th
nht, vic s dng trc tip m t ca h thng bng cc phng trnh vi phn
ca bin trng thi, thng c biu din di dng phng trnh vi phn ca
vector trng thi, cho php phng php trong khng gian trng thi c th p
dng c vi c cc h thng phi tuyn, cc h thng bin i, hay cc h thng
a bin, iu m chng ta khng th thc hin c vi cc phng php trong
min tn s. Tt nhin, trong chng ny chng ta vn s tp trung ch yu vo
cc h thng tuyn tnh, c tham s bt bin theo thi gian v n bin, nhng
nhng kt qu c trnh by trong chng c th m rng c cho cc trng
hp tng qut hn. Th hai, nh chng ta cp ti trong Chng V, hiu
sut ca h thng iu khin c th nh gi c bng cc ch s hiu sut l
tch phn ca cc hm sai s. Cc h thng iu khin vi ch s hiu sut t ti
mc cc tr c gi l cc h thng iu khin ti u (optimum control system).
158
Vic thit k cc h thng iu khin ti u s cn phi tnh ton gi tr ti thiu
ca tch phn ca cc hm sai s ca p ng theo thi gian, v vy s thc hin
c mt cch d dng hn vi phng php thit k trong min thi gian.
Mt im quan trng na l phng php thit k trong khng gian trng thi
c bit ph hp vi vic s dng my tnh trong tnh ton thit k, v vy
phng php ny ngy cng tr nn ph bin hn trong k thut iu khin.
11.2. Tnh iu khin c v tnh quan st c
Theo m hnh bin trng thi c trnh by trong Chng III, mt h thng
ng c th m t c bng phng trnh vi phn ca vector trng thi x di
dng nh sau:
Bu Ax
x
+ =
dt
d
(11.1)
p ng theo thi gian ca h thng c xc nh t tn hiu vo v trng thi
ca h thng:
y = Cx + Du (11.2)
u v y l cc vector ca cc bin vo v cc bin ra ca h thng.
Vi cc h thng n bin (mt bin vo v mt bin ra), cc phng trnh
m t h thng ni trn c th vit li di dng sau y:
) ( ) (
) (
t u t
dt
t d
b Ax
x
+ = (11.3a)
) ( ) ( ) ( t du t t y + = cx (11.3b)
Gi s x l mt vector N chiu. Khi , A l mt ma trn NN, b l mt vector
ct N chiu, c l mt vector hng N chiu, cn d l mt gi tr v hng.
H thng biu din bi h phng trnh (11.3) c gi l iu khin c
(controllable) nu chng ta c th lm h thng chuyn t mt trng thi bt k
sang bt c mt trng thi no khc trong mt khong thi gian hu hn bng
cch p dng mt tn hiu vo. lm v d, xem xt mch in trong Hnh 11.1.
H thng ny ch cn mt bin trng thi duy nht l hiu in th trn t in C:
x = v
c
(t). Nu hiu in th khi u trn t in bng khng, ngha l x(0) = 0,
hiu in th ny s lun bng khng bt k chng ta cho hiu in th vo bng
bao nhiu, do tnh i xng ca cc gi tr in tr trong mch. Trong trng hp
, chng ta khng th lm h thng chuyn t trng thi x = 0 sang mt trng
thi x 0. V vy, chng ta c th ni rng mch in trong Hnh 11.1 khng
iu khin c.
Nu nh chng ta c th xc nh gi tr khi u ca cc bin trng thi t
cc thng tin v bin vo v bin ra ca h thng trong mt khong thi gian hu
hn, h thng khi s c coi l quan st c (observable). Xem xt mch
in trong Hnh 11.2 c tn hiu vo l dng in i(t). Tng t nh v d chng
ta xem xt mc 3.2 (Chng III), trng thi nng lng ca mch in ny
c th biu din c thng qua hai bin x
1
(t) = i
L
(t) v x
2
(t) = v
c
(t). Tuy nhin,
159
nu tn hiu ra ca h thng l hiu in th v
R
(t) trn in tr R, tn hiu ra s
khng ph thuc vo hai bin trng thi ny do v
R
(t) lun bng Ri(t), v vy
chng ta s khng th xc nh c cc gi tr khi u x
1
(0) v x
2
(0) t tn hiu
vo i(t) v tn hiu ra v
R
(t), do h thng s c coi l khng quan st c.
Cn nu chng ta s dng hiu in th v
c
(t) lm tn hiu ra, h thng khi s l
h thng quan st c bi v chng ta s tnh c cc gi tr khi u x
1
(0) v
x
2
(0) t cc gi tr ca tn hiu vo i(t) v tn hiu ra v
c
(t).

R
1
R
1

R
2
R
2

C
v(t)
v
ra
(t)
v
c
(t)
Hnh 11.1. Mch in khng iu khin c

Tip theo, chng ta s quan tm ti cc iu kin h thng biu din bi h
phng trnh (11.3) l h thng iu khin c v quan st c.
v
R
(t)
C
R
Hnh 11.2. Mt mch RLC
i(t)
L
v
c
(t)
i
L
(t)

Theo kt qu c trnh by Chng III, nghim ca phng trnh vi
phn ca vector trng thi trong h phng trnh (11.3) c dng nh sau:

+ =
t
t t
d u e e t
0
) (
) ( ) 0 ( ) (

b x x
A
(11.4)
:

=
+ =
1
!
i
i i
t
i
t
e
A
I
A
(11.5)
160
Thay (11.5) vo bn trong tch phn ca phng trnh (11.4) v bin i phng
trnh (11.4) v dng sau y:

+ =

=
...
! 2
) ( ) (
) ( ) (
) (
] ... [
) (
!
) (
) 0 ( ) (
0
2
0
0
2
0
1
t
t
t
t
i
i i
t
d u t
d u t
d u
d u
i
t
e t

b A Ab b
b
A
I x x
A
(11.6)
h thng iu khin c, lun phi tn ti nghim ca u(t) cho phng trnh
(11.6) vi mi x(t) v x(0). iu xy ra khi v ch khi hng ca ma trn
] ... [
2
b A Ab b ng bng N. Ma trn ny l mt ma trn c N hng v c s
ct bng v cng. Theo nh l Cayley-Hamilton, ma trn A
N
vi A l mt ma
trn vung c kch thc NN s l t hp tuyn tnh ca cc ma trn A
0
, A
1
,
A
2
,..., A
N-1
. V vy, hng ca ma trn ] ... [
2
b A Ab b s ng bng hng ca
ma trn vung c kch thc NN di y:
] ... [
1 2
b A b A Ab b U

=
N
(11.7)
Ma trn U c gi l ma trn ca tnh iu khin c (controllability matrix)
ca h phng trnh (11.3). Nh vy, iu kin cn v h thng biu din
bi h phng trnh (11.3) iu khin c l ma trn U phi khng suy bin.
lm v d, xem xt mt h thng c biu din bng h phng trnh sau
y:

[ ]x
x
x
1 2
0
1
0 1
1 5 , 1
=

=
y
u
dt
d
(11.8)
Ma trn ca tnh iu khin c ca h thng l:
[ ]

= =
1 0
5 , 1 1
Ab b U (11.9)
Ma trn U khng suy bin v c nh thc khc khng. V vy, h thng ang
c xem xt l mt h thng iu khin c.
Thay (11.4) vo phng trnh th hai ca h phng trnh (11.3), chng ta
tnh c bin ra ca h thng nh sau:
161

) ( ) ( ) 0 (
...
] ...
! 2
1 [
) ( ) ( ) 0 (
!
) ( ) ( ) 0 (
0
) (
2
2
0
) (
1
0
) (
t du d u e
t
t
t du d u e
i
t
t du d u e e y(t)
t
t
t
t
i
i i
t
t t
+ +

=
+ +

+ =
+

+ =

b c x
cA
cA
c
b c x
A
I c
b x c

A
(11.10)
h thng quan st c, lun phi tn ti nghim ca x(0) vi mi u(t) v y(t).
Tng t nh vi tnh iu khin c, chng ta s rt ra c iu kin cn v
h thng biu din bi h phng trnh (11.3) quan st c l ma trn
vung c kch thc NN di y:

=
1
2
...
N
cA
cA
cA
c
V (11.11)
phi khng suy bin. Ma trn V c gi l ma trn ca tnh quan st c
(observability matrix) ca h phng trnh (11.3).
Quay li vi v d trn, ma trn ca tnh quan st c ca h thng c
tnh nh sau:

=
2 2
1 2
cA
c
V (11.12)
Ma trn V cng c nh thc khc khng. V vy, h thng trong v d ni trn l
mt h thng quan st c.
Ngoi cc iu kin v tnh iu khin c v tnh quan st c trn y,
cn nhiu iu kin khc cng c th s dng c. Hai iu kin chng ta
xem xt l nhng iu kin c c cp ti nhiu nht bi s d hiu ca
chng.
11.3. S trit tiu im cc-im khng
T cc iu kin v tnh iu khin c v tnh quan st c trn y, chng ta
c th rt ra c mi quan h gia tnh iu khin c v tnh quan st c
vi hm chuyn ca h thng qua nh l sau y.
nh l 11.1
Mt h thng l iu khin c v quan st c nu hm chuyn c sinh ra
t biu din ca h thng trong khng gian trng thi khng th rt gn hn
162
c, ngha l khng xy ra s trit tiu im cc-im khng (pole-zero
cancellation) ca hm chuyn.
Mi quan h ni trn s c lm r thng qua v d sau y: Xem xt mt h
thng bao gm hai khi ni tip vi nhau. Khi th nht c biu din bng h
phng trnh sau:

1 1
1 1
1
x y
u x
dt
dx
=
+ =
(11.13)
v biu din trong khng gian trng thi ca khi th hai l:

2 2 2
2 2
2
2
u x y
u x
dt
dx
+ =
=
(11.14)
Hm chuyn ca hai khi s ln lt l:

1
1
) (
1

=
s
s G (11.15)
v

1
1
) (
2
+

=
s
s
s G (11.16)
Hm chuyn ca h thng gm hai khi mc ni tip l:

1
1
1
1
) ( ) ( ) (
2 1
+

= =
s
s
s
s G s G s G (11.17)
V hm chuyn ny rt gn c nn h thng khng th va iu khin c,
va quan st c, theo nh l 11.1. Chng ta s xem xt hai trng hp sau:
Nu khi th hai mc pha trc khi th nht: Trong trng hp ny, tn
hiu vo ca h thng l u = u
1
, tn hiu ra y = y
2
, tn hiu ra y
1
ca khi
th nht s tr thnh tn hiu vo u
2
ca khi th hai, v vy phng trnh
s c biu din trong khng gian trng thi nh sau:

1 2
1 2
2
1
1
2
x x y
x x
dt
dx
u x
dt
dx
+ =
=
+ =
(11.18)
hay:

[ ]x
x
x
1 1
0
1
1 2
0 1
=

=
y
u
dt
d
(11.19)
163
Chng ta tnh c cc ma trn U v V ca h phng trnh (11.19) nh
sau:
[ ]

= =
2 0
1 1
Ab b U (11.20)
v:

=
1 1
1 1
cA
c
V (11.21)
Do det(U) 0 v det(V) = 0, h thng s iu khin c nhng khng
quan st c.
Nu khi th hai mc pha sau khi th nht: Trong trng hp ny, tn
hiu vo ca h thng l u = u
2
, tn hiu ra y = y
1
, tn hiu ra y
2
ca khi
th nht s tr thnh tn hiu vo u
1
ca khi th hai, v vy phng trnh
s c biu din trong khng gian trng thi nh sau:

1
2
2
2 1
1
2
x y
u x
dt
dx
u x x
dt
dx
=
=
+ + =
(11.22)
hay:

[ ]x
x
x
0 1
2
1
1 0
1 1
=

=
y
u
dt
d
(11.23)
Chng ta tnh c cc ma trn U v V ca h phng trnh (11.23) nh
sau:
[ ]

= =
2 2
1 1
Ab b U (11.24)
v:

=
1 1
0 1
cA
c
V (11.25)
Do det(U) = 0 v det(V) 0, h thng s quan st c nhng khng iu
khin c.

11.4. Cc phng trnh bin trng thi tng ng
Chng ta tip tc xem xt h thng c biu din trong khng gian trng thi
bi h phng trnh (11.3) c vector trng thi x l mt vector N chiu. Chn mt
164
ma trn P sao cho P l mt ma trn khng suy bin c kch thc NN. nh
ngha mt vector x' = Px, ngha l x = P
1
x'. Thay x = P
1
x' vo (11.3), chng ta
c c h phng trnh mi:

du y
u
dt
d
+ =
+ =

x cP
b x AP
x P
1
1
1
) (
(11.26)
hay:
u u
dt
d
b x A Pb x PAP
x
+ = + =

1
(11.27a)
u d du y + = + =

x c x cP
1
(11.27b)
, A' = PAP
1
, b' = Pb, c' = cP
1
v d' = d. iu d thy l hai h phng trnh
(11.3) v (11.27) c dng ging ht nhau. Vector x' l kt qu ca mt php bin
i tuyn tnh vi vector trng thi x. Php bin i c gi l php bin i
tng ng (equivalence transformation), c biu din bi ma trn bin i
P. Cc phng trnh ca (11.3) v (11.27) c gi l cc phng trnh bin
trng thi tng ng (equivalent state-variable equations). Php bin i A' =
PAP
1
c gi l php bin i ng dng (similarity transformation). Mt c
im ca php bin i ng dng ny l n khng lm thay i cc gi tr ring
ca ma trn A, ngha l hai ma trn A v A' c cng cc gi tr ring. Nh chng
ta bit t Chng VI, cc gi tr ring ca ma trn A chnh l cc nghim ca
phng trnh c trng ca h thng c biu din bi h phng trnh (11.3).
Nh vy, hai ma trn A v A' c cng cc gi tr ring c ngha l php bin i
tng ng khng lm thay i hm chuyn.
Ma trn ca tnh iu khin c ca h phng trnh (11.27) l:

PU b PA b PA PAb Pb
Pb PAP Pb PAP Pb PAP Pb
b A b A b A b U
= =
=
=

] ... [
] ) ( ... ) ( [
] ... [
1 2
1 1 2 1 1
1 2
N
N
N
(11.28)
V P l mt ma trn khng suy bin, hng ca hai ma trn U v U' s bng nhau.
iu c ngha l php bin i tng ng khng lm thay i tnh iu
khin c. Tng t, php bin i tng ng cng khng lm thay i tnh
quan st c.
11.5. t im cc bng phn hi trng thi
Trong phn ny, chng ta s nghin cu phng php thit k s dng phn hi
trng thi (state feedback) t gi tr cho cc im cc (pole placement) ca
phng trnh c trng ca h thng. Vi h thng biu din bi h phng trnh
(11.3), cc im cc ca hm chuyn G(s) chnh l cc gi tr ring ca ma trn
A. Chng ta s thit k mt h thng s dng thng tin phn hi ca tt c cc
bin trng thi vi cc h s phn hi khng i. t ] ... [
2 1 N
K K K = h l
vector ca cc h s phn hi trng thi. Tn hiu u(t) iu khin qu trnh
165
G(s) khi s l:
u(t) = r(t) hx(t) (11.29)
r(t) l mt tn hiu i snh, thng l p ng c mong mun cho h
thng. Thay (11.29) vo h phng trnh (11.3):
r r
dt
d
b x bh A hx b Ax
x
+ = + = ) ( ) ( (11.30a)
dr d r d y + = + = x h c hx cx ) ( ) ( (11.30b)
Cc im cc ca h thng vi phn hi trng thi s l cc gi tr ring ca ma
trn (A bh). Chng ta s chng t rng, nu h thng biu din bi h phng
trnh trng thi (11.3) l iu khin c th chng ta c th t c cc gi tr
mong mun cho cc im cc ca h thng phn hi biu din bi h phng
trnh (11.30) bng cch chn gi tr thch hp cho cc h s phn hi trng thi.
Gi (s) l a thc c trng ca ma trn A: (s) = det(sI A). Phng trnh
(s) = 0 chnh l phng trnh c trng ca hm chuyn G(s). Gi s (s) c
biu din nh sau:

N
N N N
a s a s a s s + + + + =

... ) (
2
2
1
1
(11.31)
Chng ta s xc nh mt php bin i tng ng vi ma trn bin i P
bin i phng trnh (11.3a) v dng chnh tc cho h thng iu khin (control
canonical form) nh sau:

u
a a a a
u
dt
d
N N

=
+ =

0
...
0
0
1
0 1 ... 0 0
... ... ... ... ...
0 0 ... 1 0
0 0 ... 0 1
...
1 2 1
x
b x A
x
(11.32)
A' = PAP
1
, hay:
A'P = PA

(11.33)
Gi s ma trn P c biu din di dng:

=
N
p
p
p
P
...
2
1
(11.34)
p
i
(i = 1..N) l cc vector hng N chiu. Phng trnh (11.33) tr thnh:
166

A p
A p
A p
A p
p
p
p
p
N N
N N
a a a a
... ...
0 1 ... 0 0
... ... ... ... ...
0 0 ... 1 0
0 0 ... 0 1
...
3
2
1
3
2
1 1 2 1
(11.35)
T phng trnh (11.35), chng ta c c h phng trnh sau y:

A p p
A p p
A p p
A p p
N N
N
i
i i
a
=
=
=
=

1
3 2
2 1
1
1
...
(11.36)
Chng ta cn c Pb = b', hay:

0
...
0
1
...
2
1
b p
b p
b p
N
(11.37)
T (11.36) v (11.37) s suy ra c:

1 ...
...
0
0
0
1
2 1
2
1 2
1
= = = =
= = =
= =
=

b A p Ab p b p
b A p Ab p b p
Ab p b p
b p
N
N
N N N
N N
N
(11.38)
Biu din h phng trnh (11.38) di dng ma trn:
] 1 ... 0 0 [ ] ... [
1
=

b A Ab b p
N
N
(11.39)
hay:
] 1 ... 0 0 [ = U p
N
(11.40)
Nu h thng biu din bi h phng trnh trng thi (11.3) l iu khin c,
ngha l ma trn U khng suy bin, chng ta s tnh c p
N
t phng trnh
(11.40):

1
] 1 ... 0 0 [

= U p
N
(11.41)
Vi p
N
xc nh, ma trn bin i P s tnh c nh sau:
167

N
N
N
N
N
p
A p
A p
P
...
2
1
(11.42)
p dng php bin i vi ma trn P vo phng trnh (11.30a) ca h thng
phn hi:
r
dt
d
Pb x P bh A P
x
+ =

1
) ( (11.43)
hay:
r
dt
d
b x h b A
x
+ =

) ( (11.44)
trong h' = hP
1
. Gi s ] ... [
2 1 N
K K K = h , phng trnh (11.44) tr
thnh:
u
K a K a K a
dt
d
N N N N

0
...
0
1
0 1 ... 0
0 ... ... ...
0 0 ... 1
...
1 1 1 1
x
x
(11.45)
Phng trnh c trng ca h thng phn hi biu din bi phng trnh (11.45)
c dng nh sau:
0 ) ( ... ) ( ) det(
1
1 1
= + + + + + = +

N N
N N
K a s K a s s h b A I (11.46)
cng chnh l phng trnh c trng ca h thng phn hi biu din bi h
phng trnh trng thi (11.30), bi v P l ma trn bin i ca mt php bin
i tng ng. t cc gi tr mong mun cho cc nghim ca phng trnh
c trng (11.46), chng ta s tnh c cc gi tr ca h', t tnh c vector
h s phn hi h bng cng thc h = h'P.
Tm li, phng php thit k bng cch s dng phn hi trng thi t
gi tr cho cc im cc ca h thng biu din bng h phng trnh trng thi
(11.3) bao gm nhng bc nh sau:
1. Xc nh a thc c trng (s) ca ma trn A:

N
N N N
a s a s a s s s + + + + = =

... ) det( ) (
2
2
1
1
A I (11.47)
2. Chn cc nghim c mong mun cho phng trnh c trng ca h
thng. Gi cc nghim ny l
1
,
2
,...,
N
. Xc nh a thc c trng
c mong mun cho h thng t cc nghim :

N
N N N
N
a s a s a s
s s s s
+ + + + =
=

...
) )...( )( ( ) (
2
2
1
1
2 1

(11.48)
3. Tnh vector h s phn hi h' ca phng trnh tng ng:
] ... [
2 2 1 1 N N
a a a a a a = h (11.49)
168
4. Tnh ma trn bin i P bng cc cng thc (11.41) v (11.42).
5. Tnh vector h s phn hi trng thi cho h thng phn hi t h' v P
theo cng thc h = h'P.
Phng php tnh vector h s phn hi h trnh by trn c gi l cng thc
Ackermann.
V d 11.1
Xem xt mt h thng vng h c biu din bng cc phng trnh trng thi
sau y:

[ ]x
x
x
0 1
10
0
1 0
1 0
=

=
y
u
dt
d
(11.50)
Chng ta s thit k mt h thng s dng phn hi trng thi sao cho h thng
c hai im cc ti 2 i2. Trc ht, cn tnh a thc c trng ca ma trn A
nh sau:
s s
s
s
s s + =

= =
2
1 0
1
det ) det( ) ( A I (11.51)
Cn a thc c trng c mong mun l:
8 4 ) 2 2 )( 2 2 ( ) (
2
+ + = + + + = s s i s i s s (11.52)
T s tnh c vector h s phn hi h' ca phng trnh tng ng:
] 8 3 [ ] 0 8 1 4 [ = = h (11.53)
Ma trn ca tnh iu khin c ca h phng trnh (11.50) l:
[ ]

= =
10 10
10 0
Ab b U (11.54)
Ma trn bin i

=
2
1
p
p
P c tnh nh sau:
] 0 1 , 0 [
0 10
10 10
] 1 0 [
100
1
] 1 0 [
1
2
=

= =

U p (11.55)
v:
] 1 , 0 0 [
1 0
1 0
] 0 1 , 0 [
2 1
=

= = A p p (11.56)
T (11.53), (11.55) v (11.56), chng ta s tnh c vector h s phn hi trng
thi h:
] 3 , 0 8 , 0 [
0 1 , 0
1 , 0 0
] 8 3 [ =

= = P h h (11.57)
169
Nh vy, cc phng trnh trng thi ca h thng vi phn hi trng thi c
biu din nh sau:

r
r
r
dt
d

=
+ =
10
0
4 8
1 0
10
0
] 3 , 0 8 , 0 [
10
0
1 0
1 0
) (
x
x
b x bh A
x
(11.58)
v:
x x h c ] 0 1 [ ) ( = + = dr d y (11.59)
Hm chuyn ca h thng phn hi s l:

8 4
10
10
0
8
1 4
] 0 1 [
8 ) 4 (
1
10
0
4 8
1 0
0
0
] 0 1 [ ) (
2
1
+ +
=

+
+ +
=

=

s s
s
s
s s
s
s
s T
(11.60)
Hm chuyn ny c hai im cc ti 2 i2 ng nh chng ta mong i.
11.6. iu khin ti u bc hai
Trong mc trc, chng ta xem xt h thng iu khin phn hi vi tn hiu
vo l tn hiu i snh r(t) v vector h s phn hi h. Trong phn ny, chng ta
s dng cc gi thit r(t) = 0 v h thng c kch thch bi trng thi ban u
x(0) 0. Hiu sut ca h thng iu khin c th biu din c bi cc s o
hiu sut l hm tch phn, c gi l cc ch s hiu sut, c cp ti
Chng V. Mt ch s hiu sut dng tng qut c biu din di dng nh
sau:

=
0
] ), ( ), ( ), ( [ dt t t c t r t e f I (11.61)
V tn hiu ra y(t) v sai s e(t) l cc hm ca tn hiu vo v trng thi ca h
thng, chng ta c th biu din ch s hiu sut tng qut di dng sau y:

=
0
] ), ( ), ( [ dt t t u t g I x (11.62)
Cc h thng c iu chnh sao cho mt ch s hiu sut t t gi tr nh
nht thng c gi l cc h thng iu khin ti u. Vn c t ra trong
mc ny l la chn cc h s phn hi cho h thng vi phn hi trng thi
170
tr nn ti u.
Khi r(t) = 0, chng ta s c u(t) nh sau:
u(t) = hx(t) (11.63)
Thay (11.61) vo phng trnh vi phn (11.30a) ca vector trng thi ca h
thng phn hi thu c phng trnh sau y:
Fx x bh A
x
= = ) (
dt
d
(11.64)
, F = A bh. Do cc bin trng thi thng c chn biu th trng thi
nng lng ca h thng, chng ta c th chn ch s hiu sut c dng nh sau:

+ =
0
2
)] ( ) ( ) ( [ dt t u t t I Qx x
T
(11.65)
, Q l mt ma trn xc nh dng i xng v l mt hng s dng. S
d chng ta chn ma trn xc nh dng i xng l v ma trn i xng lun c
cc gi tr ring thc, v 0 > Qx x
T
vi mi x 0 khi v ch khi Q l ma trn xc
nh dng. Khi , ch s hiu sut hiu sut I s c cng chiu tng gim vi
nng lng tiu th ca h thng.
Thay (11.63) vo (11.65):

= + =
+ =
+ =
0 0
0
0
) (
) (
] ) ( [
dt dt
dt
dt I
Rx x x h h Q x
hx h x Qx x
hx hx Qx x
T T T
T T T
T T

(11.66)
, R = Q + h
T
h. Chng ta s tm mt ma trn xc nh dng i xng S sao
cho:
Rx x Sx x
T T
= ) (
dt
d
(11.67)
Bin i v tri ca phng trnh (11.67):

dt
d
dt
d
dt
d x
S x Sx
x
Sx x
T
T
T
+ = ) ( (11.68)
Thay (11.64) vo (11.68):
171

x SF S F x SFx x Sx F x
SFx x Sx Fx Sx x
) (
) ( ) (
+ = + =
+ =
T T T T T
T T T
dt
d
(11.69)
T (11.67) v (11.69), chng ta s c c iu kin rng buc cc ma trn S, F
v R:
F
T
S + SF = R (11.70)
Thay (11.67) vo phng trnh (11.65) tnh ch s hiu sut:

) 0 ( ) 0 ( ) ( ) (
) ( ) (
) (
0
0
0
Sx x Sx x
Sx x
Sx x
x x
T T
T
T
T
+ =
=
=
=

t t
dt
dt
d
dt I
(11.71)
Gi s h thng n nh, ngha l x() = 0. Ch s hiu sut (11.65) khi s l:
) 0 ( ) 0 ( Sx x
T
= I (11.72)
Nh vy, h thng tr nn ti u, chng ta cn tnh ma trn S sao cho
) 0 ( ) 0 ( Sx x
T
= I t gi tr nh nht. Vector h s phn hi h s c xc nh
bng cc phng trnh F = A bh v (11.70).
Bi tp
Bi 11.1. Kim tra tnh iu khin c v tnh quan st c ca cc h thng
sau y:
(a) x y u x
dt
dx
2 ; = + =
(b) [ ]x x
x
2 2 y ;
0
1
1 1
1 0
=

= u
dt
d

(c) [ ]x x
x
0 1 y ;
4
2
0 2
1 3
=

= u
dt
d

(d) [ ]x x
x
0 0 1 y ;
1
4
2
0 0 1
0 0 2
0 1 3
=

= u
dt
d

Bi 11.2. Chng minh rng h thng sau y:
172
[ ]x
x
x
0 2 y
2
1
0
0
2
1
=

= u
dt
d

iu khin c khi v ch khi
1

2
, ng thi chng minh rng h thng ny
lun khng quan st c.
Bi 11.3. Chng minh rng h thng sau y:
[ ]x
x
x
0 2 y
0
1
2
1
2
1
=

= u
b
b
dt
d

iu khin c khi v ch khi b
2
0, ng thi chng minh rng h thng ny
lun quan st c.
Bi 11.4. Xem xt mt qu trnh c biu din bng cc phng trnh trng thi
sau y:
[ ]x
x
x
1 2 y
0
1
1 1
1 1
=

= u
dt
d

Xc nh cc h s phn hi trng thi sao cho h thng phn hi c cc im
cc ti 2 v 3.
Bi 11.5. Xem xt mt qu trnh c biu din bng cc phng trnh trng thi
sau y:
[ ]x
x
x
0 1 y
2
1
0 2
1 3
=

= u
dt
d

Xc nh cc h s phn hi trng thi sao cho h thng phn hi c cc im
cc ti 2 i2.
Bi 11.6. Xem xt mt qu trnh c hm chuyn nh sau:
) 2 )( 1 (
10
) (
+
=
s s s
s G
Thit lp phng trnh vi phn ca vector trng thi ca qu trnh v xc nh cc
h s phn hi trng thi sao cho h thng phn hi c cc im cc ti 2, 3 v
4.
173
Chng XII

H THNG IU KHIN S

Tm tt ni dung
My tnh s c th s dng c vi vai tr b iu khin hay b b trong mt
h thng iu khin. Trong chng ny, chng ta s quan tm ti cc phng
php m t v phn tch hiu sut ca cc h thng iu khin s dng my tnh
s, hay cn gi l cc h thng iu khin s.
H thng iu khin s c m hnh ha nh mt h thng s dng d liu
c ly mu theo chu k c nh trc, to nn mt chui gi tr ri rc ca
tn hiu theo thi gian. Nhng chui d liu ny, c gi l d liu c ly
mu, c th c bin i vo khng gian phc c trng bi bin phc s, sau
vo min z bng quan h z = e
sT
. Min z l mt min tn s phc c cc thuc
tnh tng t nh min s ca bin i Laplace.
Bin i z ca hm chuyn c th dng phn tch tnh n nh v p ng
nht thi ca h thng. Bng cch chng ta c th xc nh p ng ca mt
h thng phn hi vi my tnh c dng lm khi iu khin hay b. Cc h
thng iu khin s dng my tnh nh vy rt ph bin trong nhiu lnh vc,
nht l trong t ng ha cng nghip, my tnh thng c kt hp vi
cc thit b chp hnh thc hin nhng nhim v bao gm hng lot cc thao
tc phc tp.
12.1. Gii thiu
T nhng nm 70 ca th k XX, vic s dng my tnh s nh mt thit b iu
khin tr nn ph bin trong nhiu ngnh cng nghip. Ngy nay, cc h
thng iu khin t ng s dng my tnh khng ch hot ng trong cc lnh
vc cng nghip m tr nn thng dng trong nhiu lnh vc khc nhau ca
nn kinh t v i sng x hi, t nng nghip, y t n lnh vc gii tr, t
nhng dy chuyn sn xut hon ton t ng n cc thit b gia dng nh my
git, t lnh... S khi ca mt h thng iu khin s dng my tnh c
biu din Hnh 12.1. Trong m hnh ny, my tnh tip nhn tn hiu sai khc
e(t) v thc hin cc tnh ton cn thit iu khin thit b chp hnh
(actuator) c nhim v tc ng ti qu trnh cn iu khin. Trong thc t, cc
h thng iu khin cn ti my tnh thng l cc h thng phc tp vi nhiu
bin vo v ra, v vy cc h thng iu khin s dng my tnh thng l cc h
thng a bin.
My tnh trong mt h thng iu khin s (digital control system) s dng
cc tn hiu vo v tn hiu ra u di dng tn hiu s iu khin qu trnh.
Tuy nhin, do tn hiu ra t cm bin v tn hiu dng iu khin thit b chp
hnh thng l cc tn hiu tng t, h thng s cn phi s dng cc b bin
i tng t-s (analog-to-digital converter) v bin i s-tng t (digital-to-
analog converter) nh trong Hnh 12.2 thc hin vic chuyn i tn hiu gia
174
hai dng tng t v s.

Qu trnh
p ng
mong
mun
Ra
Hnh 12.1. Mt h thng iu khin s dng my tnh
B chp
hnh
My tnh
H o
+

e(t)

C nhiu dng my tnh khc nhau c s dng trong cc h thng iu
khin s. Nu nh trong cc dy chuyn cng nghip ngi ta thng s dng
cc loi my tnh nh nh cc b iu khin logic kh trnh (programmable logic
controller - PLC) hay thm ch c my tnh c nhn, th trong cc h thng iu
khin nhng (embedded control systems), rt ph bin vi cc thit b in/in
t cng nghip v dn dng, cc vi iu khin thng c s dng.

Qu trnh
p ng
mong
mun
Ra
Hnh 12.2. Mt h thng iu khin s dng my tnh vi cc b bin i gia
tn hiu s v tn hiu tng t
B chp
hnh
My tnh
H o
Bin i
A/D
Bin i
D/A

Trong phm vi thi lng ca cun sch, mc ch ca chng ny ch nhm
gii thiu mt s khi nim c s ban u v h thng iu khin s. Cc vn
ca h thng iu khin s i hi mt mn hc ring v s c cp ti trong
mt ti liu ring.
12.2. H thng ly mu
nh ngha mt cch n gin, h thng ly mu (sampled-data system) l mt
h thng iu khin mt qu trnh theo thi gian lin tc (continuous-time
process) c iu khin bi mt thit b s.
S ha mt tn hiu theo thi gian lin tc bao gm hai bc: ri rc ha
(discretization) v lng t ha (quantization). Mt tn hiu theo thi gian ri
rc (discrete-time signal), hay thng c gi tt l tn hiu ri rc (discrete
signal), l chui cc gi tr ln ca mt tn hiu theo thi gian lin tc c
ly mu ti nhng thi im khc nhau. Khong thi gian gia hai ln ly mu
lin nhau c gi l khong thi gian ly mu (sampling interval). Trong thc
t, tn hiu thng c ly mu theo mt chu k u n, khi khong thi
gian ly mu c gi l chu k ly mu (sampling period). Tn hiu theo thi
gian ri rc tng ng vi mt tn hiu theo thi gian lin tc f(t) thng c
biu din di dng f(kT) (k = 0,1,2,...), T l chu k ly mu. Mt b ly
mu hot ng nh mt cng tc, c cch mt khong thi gian bng T li ng
mt ln. Vi mt b ly mu l tng (ideal sampler), nu tn hiu u vo l f(t)
175
th tn hiu ra, k hiu l f*(t), s l mt chui cc xung vi ln l f(kT), hay:

=
=
0
) ( ) ( ) (
k
kT t kT f t f* (12.1)
(t) l tn hiu xung n v.
ln ca mt tn hiu theo thi gian ri rc c th nhn bt c gi tr no
trong min s thc. Tuy nhin, cc b bin i tng t-s v cc my tnh s
ch c th biu din c mt tp hp hu hn cc gi tr s, v vy tn hiu theo
thi gian ri rc cn c lng t ha chuyn thnh tn hiu s. chnh
xc ca b chuyn i tng t-s cng nh ca cc thit b s khc ph thuc
vo s bit thit b s dng biu din cc gi tr s. V vy, khi ni n tn hiu
s chng ta phi cp ti sai s lng t ha. H thng iu khin s ch c th
c coi l chnh xc khi sai s ny rt nh so vi ln ca tn hiu.
Mt phng php n gin thng c dng trong vic m hnh ha cc h
thng ly mu l s dng mt b ly mu l tng v mt b gi mu bc khng
(zero-order hold) ni tip nhau (Hnh 12.3). B gi mu bc khng c tc dng
duy tr ln ca tn hiu khng thay i trong khong thi gian ng bng chu
k ly mu T. V d v p ng ca b ly mu v b gi mu c th hin
trong Hnh 12.4. Chng ta c th m hnh ha b gi mu bng mt php nhn
chp:
p(t) = r*(t) h(t) (12.2)
h(t) l mt hm xung vung n v c di ng bng chu k ly mu T:

<
<
=
) hay 0 ( 0
) 0 ( 1
) (
T t t
T t
t h (12.3)
B gi r(t)
r*(t)
p(t)
Hnh 12.3. S b ly mu v gi mu bc khng

12.3. Bin i z
Thc hin bin i Laplace cho tn hiu ra f*(t) ca mt b ly mu l tng,
chng ta c c:
[ ]


=

=
=

=
0 0
) ( ) ( ) ( ) (
k
ksT
k
e kT f kT t kT f t f* L L (12.4)
t:
z = e
sT
(12.5)
Php bin i z mt pha (unilateral z-transform) ca tn hiu f(t) c nh
ngha nh sau:
176
[ ] [ ]

= = =
0
) ( ) ( ) ( ) (
k
k
z kT f t f* t f z F Z Z (12.6)
Php bin i z ny c gi l mt pha phn bit vi php bin i z hai
pha (bilateral z-transform), c nh ngha vi k chy t n +. Trong k
thut iu khin, bin i z mt pha c s dng bi v tn hiu c xc nh
trong min thi gian c mc l khng. V vy t y chng ta s ch vit "bin
i z" thay cho dng y l "bin i z mt pha".Bin i z bin mt tn hiu
theo thi gian thi rc, ngha l mt chui cc gi tr thc, thnh dng biu din
trong min tn s phc. Nh chng ta thy trn, bin i z chnh l bin i
Laplace ca tn hiu ra t mt b ly mu l tng, ch c khc l bin phc s
c thay bng bin phc z. nh x t mt phng s sang mt phng z c biu
din bi phng trnh (12.5). iu c ngha l, mt ng thng c phng
trnh s = a trong mt phng s s tr thnh mt ng trn c tm ti gc ta
v bn knh bng e
aT
trong mt phng z (Hnh 12.5).

t
t
t
r(t)
r*(t)
p(t)
0
T 2T 3T
Hnh 12.4. p ng ca h thng bao gm b ly v gi mu (bc
khng) vi mt tn hiu vo r(t)

177
lm v d, chng ta s xc nh bin i z ca hm nhy bc n v u(t)
nh sau:

1
1
1
) ( ) (
1
0 0

=

= = =

z
z
z
z z kT u z U
k
k
k
k
(12.7)
Hm chuyn ca cc h thng ly mu c nh ngha da trn php bin
i z thay cho php bin i Laplace c dng nh ngha hm chuyn ca
cc h thng theo thi gian lin tc.
Mt s tnh cht ca bin i z:
1. Tuyn tnh
Z[f
1
(t) + f
2
(t)] = F
1
(z) + F
2
(z)

Real s
Imag s
Real z
Imag z
0 0
Hnh 12.5. nh x ca mt ng thng song song vi trc o trong mt
phng s sang mt phng z
a
e
aT


2. Suy gim
Z[e
t
f(t)] = F(ze
T
)
3. Dch thi gian
[ ]

= +

1
0
) ( ) ( ) (
n
k
k n
z kT x z F z nT t f Z (nZ
+
)
[ ] ) ( ) ( z F z nT t f
n
= Z (nZ
+
)
4. Nhn chp
Z[f
1
(t) f
2
(t)] = F
1
(z)F
2
(z)
5. Nhn thi gian
[ ]
dz
z dF
Tz t tf
) (
) ( = Z
6. Gi tr khi u
) ( lim ) 0 ( z F f
z
=
7. Gi tr cui cng
) ( ) 1 ( lim ) (
1
1
z F z f
z

=
178


Bng 12.1. Bin i Laplace v bin i z ca mt s hm quan trng
f(t) (t 0) F(s) F(z)
Hm xung n v (t) 1 1 (z > 0)
1
s
1

1 z
z
(z > 1)
t
2
1
s

2
) 1 ( z
Tz
(z > 1)
t
2

3
2
s

3
2
) 1 (
) 1 (

+
z
z z T
(z > 1)
e
t

+ s
1

T
e z
z

(z > 1)
sin(t)
2 2

+ s

1 ) cos( 2
) sin(
2
+ T z z
T z

(z > 1)
cos(t)
2 2
+ s
s

1 ) cos( 2
)] cos( [
2
+

T z z
T z z

(z > 1)
V d 12.1
S ca mt h thng ly mu vng h bao gm b ly v gi mu cng vi
qu trnh cn iu khin c hm chuyn G(s) (Hnh 12.6). Mi quan h gia tn
hiu ra c(t) ca h thng v tn hiu ra p(t) ca b gi mu c biu din bng
phng trnh ca cc bin i Laplace:
C(s) = G(s)P(s) (12.8)
Thc hin bin i Laplace cho phng trnh (12.2), chng ta s c c biu
din ca P(s) nh sau:

[ ]
s
e
s R*
e s R*
e t h s R*
s H s R*
t h t r* s P
sT
T
st
T
st

=
=
=
=
=

1
) (
) (
) ( ) (
) ( ) (
) ( ) ( ) (
0
0
L
(12.9)
Thay (12.9) vo (12.8):
179

s
s G
e s R*
s
e
s R* s G s C
sT
sT
) (
) 1 )( (
1
) ( ) ( ) (

= (12.10)
Chuyn phng trnh (12.10) sang dng ca bin i z:

=

s
s G
z z R z C
) (
) 1 )( ( ) (
1
Z (12.11)
V vy, hm chuyn ca h thng ly mu vng h s c tnh bng phng
php sau y:

= =

s
s G
z
z R
z C
z T
) (
) 1 (
) (
) (
) (
1
Z (12.12)
p(t)
B gi mu r(t)
r*(t)
Hnh 12.6. H thng ly mu vng h
G(s) c(t)

12.4. Bin i z nghch
Bin i z nghch (inverse z-transform) c dng xc nh chui cc gi tr
ri rc f(kT) (k = 0,1,2...) ca hm f(t) khi bit bin i z ca f(t) l F(z). Theo
cng thc (12.6) ca bin i z, cc gi tr f(kT) chnh l cc h s khi khai trin
F(z) di dng mt chui ly tha ca z
1
. Vi cc h thng tuyn tnh bt bin,
F(z) biu din c di dng F(z) = N(z)/D(z), N(z) v D(z) l cc a thc
ca z. Gi s p
i
(i = 1..n) l cc im cc ca F(z), khi xc nh bin i z
nghch ca F(z) ngi ta thng s dng mt phng php khai trin phn thc
n gin gn ging vi phng php dng cho bin i Laplace nghch chng ta
gii thiu Chng II. Tuy nhin, trong trng hp ny chng ta s thc hin
khai trin vi F(z)/z thay v khai trin F(z):

n
n
p z
k
p z
k
p z
k
z
k
z
z F

+ +

+ = ...
) (
2
2
1
1 0
(12.13)
V vy:

n
n
p z
z k
p z
z k
p z
z k
k z F

+ +

+ = ... ) (
2
2
1
1
0
(12.14)
Da vo bng 12.1, bin i Laplace nghch ca F(z) khi s c tnh nh
sau:


= =
+ = + =
n
i
k
i i
n
i
kT
T
p
i
p k kT k e k kT k kT f
i
1
0
1
ln
0
) ( ) ( ) ( (12.15)
lm v d, xem xt mt hm F(z) c dng nh sau:

1 2 3
3 2
) (
2
+

=
z z
z
z F (12.16)
180
Khai trin F(z)/z:

3 1 1 ) 3 1 )( 1 ( 3
3 2 ) (
2 1 0

+
+
+ =
+

=
z
k
z
k
z
k
z z z
z
z
z F
(12.17)
k
0
, k
1
v k
2
c tnh nh sau:
3
) 3 1 ( 1 3
3 ) (
0
0
=


= =
= z
z
z
z F
k (12.18)
4
5
) 3 1 1 ( ) 1 ( 3
3 ) 1 ( 2
) 1 (
) (
1
1
=


= + =
= z
z
z
z F
k (12.19)
4
7
) 1 3 1 ( ) 3 1 ( 3
3 ) 3 1 ( 2
) 3 1 (
) (
3 1
2
=
+

= =
= z
z
z
z F
k (12.20)
V vy, bin i z nghch ca F(z) s c dng:
( )
k k
kT kT f 3 1
4
7
) 1 (
4
5
) ( 3 ) ( = (12.21)
12.5. Phn tch tnh n nh ca h thng trong mt phng z
Chng ta bit t Chng VI iu kin mt h thng tuyn tnh n nh l
tt c cc im cc ca phng trnh c trng ca h thng phi nm bn tri
trc o trong mt phng s. Vit li phng trnh (12.5) biu din nh x t mt
phng s sang mt phng z di dng nh sau:
z = e
sT
= e
(+i)T
(12.22)
hay:
T z e z
T

= = v (12.23)
Nh vy, khi s nm bn tri trc o, ngha l < 0, ln ca z s nm trong
khong (0,1). iu c ngha l na bn tri trc o trong mt phng s tng
ng vi phn bn trong ng trn n v (ng trn c bn knh bng mt c
tm ti gc ta ) ca mt phng z (Hnh 12.7).
V vy chng ta c th pht biu: iu kin mt h thng ly mu n nh
l tt c cc im cc ca hm chuyn ca h thng u phi nm bn trong
ng trn n v ca mt phng z.
181
Real s
Imag s
Real z
Imag z
0
Hnh 12.7. nh x t na bn tri trc o trong mt phng s sang mt phng z
0 1

V d 12.2
Mt h thng ly mu vng kn c biu din Hnh 12.8, hm chuyn
ca qu trnh cn iu khin l:

) 1 (
) (
+
=
s s
K
s G (12.24)

B gi mu
e(t) e*(t)
c(t)
Hnh 12.8. H thng ly mu vng kn
r(t) G(s)
+


Chng ta c th tnh c hm chuyn vng h ca h thng ni trn theo cng
thc (12.12):

T T
T T T
T
T
o
e z e z
e Te z T e
K
e z
z
z
T
K
e z
z
z
z
z
Tz
K z
s
K
s
K
s
K
z
s s
K
z z T

+ +
+ +
=

+
+ =

+
=
) 1 (
) 1 ( ) 1 (
1
1
1
1
) 1 (
) 1 (
1
) 1 (
) 1 (
) 1 ( ) (
2
2
1
2
1
2
1
Z
Z
(12.25)
Phng trnh c trng ca h thng vng kn c dng 1 + T
o
(z) = 0, hay:
182
0
) 1 (
) 1 ( ) 1 (
1
2
=
+ +
+ +
+


T T
T T T
e z e z
e Te z T e
K (12.26)
Nu chu k ly mu T = 1s, phng trnh (12.26) tr thnh:
0
3678 , 0 3678 , 1
2644 , 0 3678 , 0
1
2
=
+
+
+
z z
z
K (12.27)
p dng phng php qu tch nghim nh khi phn tch h thng trong mt
phng s, chng ta s xc nh c iu kin tt c cc nghim ca phng
trnh (12.27) u nm bn trong ng trn n v ca mt phng z l
4 , 2 0 < < K . chnh l iu kin h thng ly mu trong v d ny n nh.
12.6. Tnh n nh v hiu sut ca h thng ly mu bc hai
Chng ta s phn tch hiu sut ca mt h thng ly mu vng kn nh trong
Hnh 12.8, G(s) l mt hm chuyn bc hai:

) 1 (
) (
+
=
s s
K
s G

(12.28)
Hm chuyn vng h ca h thng c tnh theo cng thc (12.12):

T T
T T T
T
T
o
e z e z
e Te z T e
K
e z
z
z
T
K
e z
z
z
z
z
Tz
K z
s
K
s
K
s
K
z
s s
K
z z T

+ +
+ +
=

+
+ =

+
=
) 1 (
) ( ) (
) 1 (
1
1
) 1 (
) 1 (
1
) 1 (
) 1 (
) 1 ( ) (
2
2
1
2
2
1
2
1
Z
Z
(12.29)
Phng trnh c trng ca h thng vng kn s c dng 1+T
o
(z) = 0 hay di
dng q(z) = 0, :





T T T
T T
e e Te K
z e T e K z z q


+ +
+ + + =
) (
)] 1 ( ) ( [ ) (
2
(12.30)
xc nh iu kin n nh cho h thng, chng ta c th dng phng php
qu tch nghim. Tuy nhin, v q(z) l mt a thc bc hai c dng z
2
+ az + b,
chng ta c th xc nh iu kin n nh bng cch n gin hn, da trn iu
kin cn v phng trnh q(z) = 0 c tt c cc nghim u nm bn trong
ng trn n v ca mt phng z l:
|q(0)| < 1, q(1) > 0 v q(1) > 0 (12.31)
183
T biu thc (12.30) v iu kin (12.31), chng ta xc nh c iu kin
h thng ly mu bc hai n nh:

0 ) ( ) 1 ( ) ( 1
0 ) ( ) 1 ( ) ( 1
1 ) ( 1
> + + + + +
> + + + + +
< + <









T T T T T
T T T T T
T T T
e e Te K e T e K
e e Te K e T e K
e e Te K
(12.32)
hay:

) 1 ( ) ( 2
) 1 ( 2
1
0 , 0

T T
T
T T
T
e T e
e
K
e Te
e
K
T K

+ +
+
<


<
> >
(12.33)
T cc iu kin ny, chng ta s tnh ra c gi tr ln nht c php ca gia
lng K cho mt h thng bc hai.
Hiu sut ca h thng ly mu ni trn ph thuc vo t s T/. T s ny
cng nh th cc c tnh ca h thng ly mu cng gn vi h thng theo thi
gian lin tc. V vy, nu c c t s T/ rt nh, chng ta c th dng cc ch
s hiu sut ca h thng theo thi gian lin tc cho h thng ly mu tng
ng. lm gim c t s T/, tc tnh ton v/hoc di t ca my tnh
s cn c tng ln gim chu k ly mu T.
Bi tp
Bi 12.1. Tn hiu y(t) c bin i Laplace nh sau:
) 5 )( 1 (
5
) (
+ +
=
s s s
s Y
Xc nh bin i z ca y(t) vi chu k ly mu T = 0,2s.
Bi 12.2. Xc nh bin i z nghch ca Y(z):
z z z
z z
z Y
5 , 0 5 , 1
1 2
) (
2 3
2 3
+
+ +
=
Bi 12.3. H thng ly mu vi hm chuyn:
2 , 0 1 , 0
) (
2
2
+
+
=
z z
z z
z T
c n nh khng?
Bi 12.4. Mt h thng ly mu phn hi n v m c hm chuyn ca qu trnh
l G(s) = 1/(s+1).
(a) Xc nh hm chuyn ca h thng.
(b) Xc nh p ng ca h thng khi tn hiu vo l hm bc thang n v.
184
(c) Tnh gi tr khi u v gi tr cui cng ca p ng trong phn (b).
185
Ph lc A

GII THIU MATLAB V B CHNG TRNH
CONTROL SYSTEM TOOLBOX CA MATLAB

A.1. Gii thiu
A.1.1. MATLAB
MATLAB l mt ngn ng tnh ton hiu nng cao phc v cho cc lnh vc k
thut, tch hp cc chc nng tnh ton, hin th v lp trnh trong mt mi
trng d s dng, trong cc bi ton k thut v gii php cho chng c
th hin bng cc phng php v k hiu ton hc quen thuc. Cc ng dng
ca MATLAB bao gm:
1. Tnh ton
2. Pht trin thut ton
3. M hnh ha, m phng v th nghim
4. Phn tch, khai thc v hin th d liu
5. ha phc v cc ng dng khoa hc v k thut
6. Pht trin ng dng, bao gm c xy dng giao din ha cho ngi s
dng
MATLAB l mt h thng tng tc, vi phn t d liu c s l mng
(array) khng cn nh c, cho php chng ta gii quyt nhiu bi ton k thut,
c bit l cc bi ton s dng cc php tnh ton ma trn v vector, trong
khong thi gian rt ngn so vi vic vit cc chng trnh gii chng bng
cc ngn ng nh C hay Fortran.
MATLAB l cch vit tt ca Matrix Laboratory, vn c pht trin vi
mc ch cung cp giao din cho cc phn mm tnh ton ma trn ca cc th
vin tnh ton LINPACK v EISPACK. Ngy nay, MATLAB s dng cc phn
mm ca cc th vin LAPACK v ARPACK, l nhng i din cho cc thnh
tu tin tin nht trong lnh vc phn mm tnh ton ma trn.
MATLAB c s dng lm cng c ging dy cho cc mn hc thuc
nhiu lnh vc nh ton hc, cc mn khoa hc v k thut trong cc trng i
hc trn khp th gii. MATLAB cn c s dng rng ri trong nhiu lnh vc
nghin cu v ng dng i hi khi lng tnh ton ln.
c bit, MATLAB cn cung cp cc gii php hng ti cc ng dng c
th di dng cc b cng c (toolboxes). Cc b cng c ny cho php ngi s
dng hc v ng dng c nhng cng ngh c th cho cng vic ca mnh.
Cc b cng c l nhng tp hp cc hm vit bng ngn ng ca MATLAB
(cc M-files), cho php s dng mi trng MATLAB gii cc lp bi ton c
th. MATLAB c cc b cng c cho cc lnh vc nh k thut iu khin, x l
tn hiu, x l nh, mng neural, logic m, m phng, v nhiu lnh vc khc
na.
186
A.1.2. Control System Toolbox
MATLAB c mt tp hp phong ph cc hm rt c ch cho cng vic ca cc
k s iu khin cng nh nhng ngi nghin cu v h thng, v d nh cc
hm tnh ton s phc, gi tr c trng (eigenvalue), gii phng trnh, tnh ma
trn nghch o... Nhn mt cch tng qut hn, MATLAB cung cp kh nng p
dng cc phng php ca i s tuyn tnh, tnh ton ma trn v gii tch s, l
nhng nn tng cn thit cho k thut iu khin cng nh nhiu lnh vc khc.
Control System Toolbox s dng cu trc ma trn v cc hm c s ca
MATLAB xy dng mt tp hp cc hm chuyn dng cho lnh vc k thut
iu khin. Control System Toolbox l mt tp hp cc thut ton, c ci t
ch yu di dng M-files, th hin cc k thut thng dng trong phn tch,
thit k v m hnh ha cc h thng iu khin.
Control System Toolbox cho php m hnh ha cc h thng iu khin bng
cc k thut c c in v hin i nh hm chuyn, zero-pole-gain hay cc m
hnh trong khng gian trng thi. Chng ta c th thit lp m hnh ca cc h
thng c lin tc v ri rc. Cc hm c cung cp trong Control System
Toolbox bao gm cc php bin i gia cc dng m hnh, cc hm tnh ton v
v th ca p ng theo thi gian, p ng tn s v qu tch nghim ca h
thng. Ngoi ra cn cc hm s dng cho cc phng php thit k h thng hin
i nh t im cc, iu khin ti u, xp x h thng... Chng ta cng c th
vit cc chng trnh dng M-files ci t cc hm mi cha c trong
Control System Toolbox.
A.2. S dng MATLAB
A.2.1. Khi ng v thot khi MATLAB
khi ng MATLAB trong Windows, nhn p phm tri ca chut ti biu
tng ca MATLAB trn Windows Desktop hay chn MATLAB trong Start Up
menu, MATLAB Desktop s m ra.
thot khi MATLAB, chn File/Exit trong menu ca MATLAB Desktop
hay g lnh quit ti du nhc trong ca s lnh ca MATLAB Desktop.
A.2.2. MATLAB Desktop
Khi chng ta khi ng MATLAB, MATLAB Desktop s xut hin, bao gm
cc cng c (giao din ha) phc v vic qun tr files, bin v cc chng
trnh ng dng (Hnh A.1). Chng ta c th ng, m, thay i kch thc ca s
ca cc cng c ca MATLAB Desktop.
Mt s cng c thng dng ca MATLAB Desktop:
Ca s lnh (Command Window): c th s dng chy cc hm, cc
M-files, nhp d liu vo cc bin hay xem gi tr cc bin. Cc lnh trong
ca s lnh c g vo ti du nhc ca MATLAB. Cc lnh xem, thay
i v to th mc v ng dn trong MATLAB tng t cc lnh ca
MS-DOS (dir, pwd, cd, mkdir). Chng ta cng c th thc hin cc lnh
ca MS-DOS trong ca s lnh bng cch thm du ! vo trc lnh MS-
DOS. V d:
187
cd C:\
mkdir matlab_test
!copy *.bat matlab_test
AUTOEXEC.BAT
1 file(s) copied.
cd matlab_test
dir
AUTOEXEC.BAT

Command History: cc lnh chng ta g vo ca s lnh s c ghi vo
ca s Command History cng vi nhn thi gian nh du thi im bt
u v kt thc ca mi phin lm vic. Chng ta c th m ca s ny
xem li cc lnh thc hin v copy nhng dng lnh vo ca s lnh
hay chng trnh son tho.
Launch Pad: cung cp giao din ha ngi s dng c th m cc
b cng c (toolboxes), cc chng trnh demo v cc ti liu tr gip ca
MATLAB mt cch thun tin.
Chng trnh son tho v debug (Editor/Debugger): c s dng
son tho v debug cc M-files, l nhng chng trnh c th thc hin
c nh nhng hm ca MATLAB. to mt M-file mi, chn
File/New/M-file trn menu ca MATLAB Desktop hoc g lnh edit
trong ca s lnh. m mt M-file c, chn File/Open trn menu
ca MATLAB Desktop hay g lnh edit <xxxx.m> trong ca s lnh,
xxxx l tn ca M-file v .m l phn m rng ca M-file. chy mt
M-file t ca s lnh, g vo tn ca M-file (khng c phn m rng).

Hnh A.1. MATLAB Desktop
188
A.2.3. S dng lnh help v lookfor ca MATLAB
Chng ta c th xem ti liu tr gip ca MATLAB bng cch s dng Help
menu ca MATLAB Desktop hoc g lnh help trong ca s lnh.
xem hng dn s dng mt hm ca MATLAB bng lnh help, g help
<tn hm>.
Nu khng nh c tn hm m ch nh mt s t kha gn vi hm cn
tm, chng ta c th tm kim nhng thng tin cn thit bng cch g lnh
lookfor <t kha>.
A.2.4. Bin trong MATLAB
MATLAB lu gi cc bin di dng cc ma trn c kch thc MN, M l
s hng v N l s ct ca ma trn. Ma trn kch thc 11 l mt gi tr v
hng. Ma trn kch thc 1N l mt vector hng, cn ma trn kch thc M1
l mt vector ct. Cc phn t ca ma trn c th l mt s thc hay s phc.
n v o 1 c k hiu l i hoc j, tr phi ngi s dng nh ngha li
cc bin ny. Cc phn t ca mt ma trn c vit trong cp [ ], vi cc phn
t ca cc ct tch nhau bi du cch hoc du phy, v cc hng tch nhau bng
du chm phy. V d di y l cc php gn gi tr cho mt bin x:
x = 5; % gi tr thc
x = 5+10i; % gi tr o
x = 5+10j; % tng ng dng trn
x = [1 2 3]; % vector hng
x = [1; 2; 3]; % vector ct
x = [1 2 3; 4 5 6; 7 8 9]; % ma trn 33
Ch : chng ta c th vit mt gi tr o l 5+10i, nhng khng th vit l
5+i10. Cc cch vit khc l 5+10*i hay 5+i*10 u c chp nhn.
Du % c s dng cho cc ch gii trong dng lnh. Cn du ; c t
cui lnh nu chng ta khng mun MATLAB in ngay ra trng thi thc hin
ca dng lnh trong ca s lnh. V d, nu ta khng t ; cui cc lnh gn th
trn ca s lnh s hin th nh sau:
x = 5
x =
5
x = [1 2 3]
x =
1 2 3
x = [1; 2; 3]
x =
1
2
3
xem gi tr ca mt bin, ch vic g tn bin vo ca s lnh, hoc dng
lnh disp. V d:
189
x = [1 2 3];
x
x =
1 2 3
disp(x)
1 2 3
A.2.5. Cc php ton vi s phc
V d sau th hin cc hm quan trng i vi cc bin phc:
x = 3+4i % gn gi tr phc cho x
x =
3.0000 + 4.0000i
real(x) % phn thc ca x
ans =
3
imag(x) % phn o ca x
ans =
4
abs(x) % ln (magnitude) ca x
ans =
5
angle(x) % gc pha ca x, tnh bng radian
ans =
0.9273
conj(x) % lin hp phc ca x
ans =
3.0000 4.0000i
Nu x l mt ma trn, cc hm s c thc hin vi tng phn t ca ma trn.
V d:
x = [3+4i 510i]
x =
3.0000 + 4.0000i 5.0000 10.0000i
real(x)
ans =
3 5
imag(x)
4 10
A.2.6. Sinh vector
Trong MATLAB, v c th ca mt hm f(x) trong mt khong gi tr
[x
1
, x
2
] ca x, chng ta cn phi c mt vector cc gi tr ri rc ca f(x) trong
khong [x
1
, x
2
]. lm c vic , trc ht phi ri rc ha khong gi tr
[x
1
, x
2
] ca x, sau tnh cc gi tr ca f(x) cho cc gi tr ca x trong khong
[x
1
, x
2
].Cc lnh v hm sinh vector thng c s dng cho mc ch ri rc
ha mt khong gi tr ca x. Cch s dng cc lnh v hm ny nh sau:
190
Lnh [x1:s:x2]: sinh mt vector x bao gm cc gi tr cch u nhau trong
khong [x
1
, x
2
] vi bc l s. V d:
x = [0:0.5:10]; % sinh vector x c 21 gi tr t 0 n 10, bc 0,5
Hm linspace(x1,x2,N): sinh mt vector gm N gi tr cch u nhau
trong khong [x
1
, x
2
]. V d:
x = linspace(0,10,21); % kt qu ging nh v d trn
Hm logspace(d1,d2,N): sinh mt vector gm N gi tr cch u nhau
theo thang logarithm (c s 10) trong khong [10
d
1
,10
d
2
], tr phi d
2
bng
pi (), khi khong gi tr s l [10
d
1
, ]. V d:
x = logspace(0,3,4)
x =
1 10 100 1000
x = logspace(0,pi,4)
x =
1.0000 1.4646 2.1450
3.1416
A.2.7. Truy nhp ti cc phn t ca ma trn
Cc phn t ca ma trn c truy nhp ti bng cc ch s (indexes) ca hng
v ct. Trong MATLAB, ch s bt u t 1. V d:
A = [1 2 3; 4 5 6; 7 8 9]; % ma trn 33
x = A(3,1) % phn t hng 3, ct 1
x =
7
truy nhp ti mt ma trn con ca ma trn, ngi ta thng s dng ti k
hiu :, v d:
x = A(:,2) % ton b ct th 2 ca A
x =
2
5
8
x = A(2:3,1:3) % ma trn con ca A gm hng 2-3, ct 1-3
x =
4 5 6
7 8 9
A.2.8. Cc php tnh ma trn
Cng ma trn: A+B
Tr ma trn: AB
Nhn ma trn: A*B
Chia ma trn: c hai php chia ma trn c nh ngha nh sau, nu A*x
= B th x = A\B (php chia tri, k hiu l \), cn nu x*A = B th x = B/A
191
(php chia phi, k hiu l /) vi iu kin ma trn A ly nghch o c
v kch thc cc ma trn ph hp.
Ly m: A^k (tng ng A*A*...*A, tt c k ln)
Chuyn v lin hp: A' hoc ctranspose(A)
Nhn cc phn t tng ng ca 2 ma trn cng kch thc: A.*B, kt qu
l mt ma trn cng kch thc, phn t hng i ct j bng A(i,j)*B(i,j)
Chia cc phn t tng ng ca 2 ma trn cng kch thc:
Php chia phi: A./B, kt qu l mt ma trn cng kch thc, phn t
hng i ct j bng A(i,j)/B(i,j)
Php chia tri: A.\B, kt qu l mt ma trn cng kch thc, phn t
hng i ct j bng B(i,j)/A(i,j)
Ly m cc phn t ca ma trn: A.^k, kt qu l mt ma trn cng kch
thc, phn t hng i ct j bng A(i,j)^k
A.2.9. Cc php ton quan h
Ln hn: >
Ln hn hoc bng: >=
Nh hn: <
Nh hn hoc bng: <=
Bng nhau: ==
Khng bng nhau: ~=
Kt qu ca mt php ton quan h s l 1 (ng) hoc 0 (sai). Nu php ton
quan h c thc hin cho hai ma trn (kch thc bng nhau), kt qu s l mt
ma trn gm cc gi tr 0 v 1, bao gm kt qu cc php so snh gia cc phn
t tng ng ca hai ma trn. V d:
[1 2; 3 4] >= [2 1; 3 2]
ans =
0 1
1 1
A.2.10. Cc lnh iu kin
MATLAB c cc cu trc tng t cc ngn ng lp trnh bc cao khc, nh cc
lnh if, for, while v cc php ton logic and (hay &), or (hay |), not (hay ~).
Hy s dng lnh help tm hiu cch s dng cc lnh ny.
A.2.11. Cc hm ton hc
MATLAB cung cp mt s ln cc hm ton hc c s. Cc hm thng dng l
sin, cos, tan, asin, acos, atan, exp (ly m ca e), log (logarithm t nhin),
log10 (logarithm c s 10), sqrt (cn bc 2), abs (gi tr tuyt i). Khi bin vo
ca cc hm nay l cc ma trn, chng s c thc hin cho tng phn t ca
ma trn.

192
A.2.12. M-files
MATLAB l mt ngn ng bin dch, ngha l lnh c g vo ca s lnh s
c dch trong phm vi ca phin lm vic hin ti ca MATLAB. lp trnh
trong MATLAB, chng ta c th dng hai dng: script v hm. C hai dng ny
u s dng M-files.
Script
Mt script la mt chui cc dng lnh MATLAB c ghi vo mt M-file (phn
m rng ca M-file l .m). Khi M-file c chy, MATLAB s thc hin tng
lnh trong script tng t nh lnh c g vo ca s lnh. Phm vi ca cc
lnh trong script l ton b phin lm vic hin ti ca MATLAB ch khng phi
ch trong phm vi ca M-file, ngha l cc lnh trong script c th s dng cc
bin c nh ngha trc khi M-file c gi. V vy, nu cc lnh trong
script khng cn dng ti cc bin nh ngha trc , cn dng lnh clear
u script trnh nhng hiu ng khng mong mun. Sau y l mt script lm
v d:
% script file: vidu.m
% v th ca hm s x = te
-t
cos(2t) trong khong [0,8]
clear all % xa tt c cc bin v hm
% do ngi dng nh ngha trc trc
t = linspace(0,8,401);
x = t.*exp(t).*cos(2*pi*t);
plot(t,x)
Hm
M-files cha hm c bt u bng mt nh ngha hm nh sau:
function [output1, output2,...] = function_name(input1, input2,...)
Tip theo nh ngha hm l cc lnh MATLAB nh trong scripts. Tuy nhin, cc
lnh ch c phm vi bn trong hm v cc bin c nh ngha trong phm vi
hm l cc bin cc b tr phi chng c khai bo l bin ton cc bng cch s
dng lnh global. Sau y l mt v d v hm:
% file: f1.m
% tnh s = f
1
(a,b) = e
a+2|b|

function s = f1(a,b)
if b > 0,
k = a+2*b;
else
k = a2*b;
end
s = exp(k);
A.2.13. Nht k
Nh ni ti phn trn, cc lnh c g vo ca s lnh u c ghi vo
ca s Command History ca MATLAB desktop. Chng ta cng c th yu cu
MATLAB lu nht k cc lnh c gi trong mi phin lm vic ra file bng
193
cch s dng lnh diary. m mt file nht k v bt u ghi, thc hin lnh
sau:
diary <tn file>
Cc lnh c g vo ca s lnh sau s c ghi vo file c tn c ch
ra trong lnh trn. kt thc vic ghi nht k v ng file nht k, g lnh sau:
diary off
A.2.14. V th
Cc lnh v th 2-D n gin trong MATLAB:
plot: v th di dng ng lin tc
stem: v th di dng cc im ri rc
loglog: tng t plot, nhng hai trc ta X v Y u chia theo thang
logarithm (c s 10)
semilogx: tng t plot, nhng trc ta X chia theo thang logarithm
(c s 10)
semilogy: tng t plot, nhng trc ta Y chia theo thang logarithm (c
s 10)
bar: v biu ct
histogram: v biu tn sut
polar: v th trong h ta cc
Cc lnh lin quan n trnh by th:
xlabel: gn nhn cho trc X
ylabel: gn nhn cho trc Y
title: gn tiu cho th
grid: hin th li ta
text: t xu k t vo th
axis: iu chnh thang v thuc tnh ca cc trc ta
figure: to mt ca s mi cho lnh v, hm s tr v s hiu ca ca s
mi c to. Nu lnh figure c tham s figure(n), ca s v c s
hiu n s c kch hot v lnh v tip theo s v vo ca s ny.
hold on: cho php gi li h ta v th ang hin th khi c lnh v
mi trong cng ca s. Cc lnh v mi s ch v thm th, cc trc ta
v thuc tnh ca chng vn gi nguyn
hold off: xa b tc dng ca lnh trn, mi khi c lnh v mi, hnh v
ang hin th trong cng ca s s b xa
close(n): ng ca s v c s hiu n
subplot: ly mt phn ca th ang hin th
Sau y l mt v d s dng cc hm v th:
% v th ca cc hm s x
1
= te
-t
cos(2t) v x
2
= te
-t
sin(2t)
% trong khong [0,8]
t = linspace(0,8,401);
x1 = t.*exp(t).*cos(2*pi*t);
194
x2 = t.*exp(t).*sin(2*pi*t);
plot(t,x1);
hold on
plot(t, x2);
xlabel('Time (s)');
ylabel('Amplitude');
A.3. Thit lp cc m hnh h thng bng Control System Toolbox
A.3.1. Thit lp cc m hnh tuyn tnh bt bin theo thi gian
Control System Toolbox (CST) c cc hm cho php thit lp cc m hnh ca
cc h thng tuyn tnh bt bin (linear time-invariant systems hay LTI), bao
gm cc m hnh hm chuyn, im khng-im cc-gia s (zero-pole-gain) hay
cc m hnh trong khng gian trng thi (m hnh bin trng thi).
Hm chuyn
M hnh hm chuyn ca mt h thng tuyn tnh G(s) = Y(s)/X(s) trong CST
c thit lp bng hm tf(X,Y), X l vector biu din a thc X(s) v Y l
vector biu din a thc Y(s). a thc P(s) = a
1
s
n
+ a
2
s
n-1
+ a
3
s
n-2
+ ... + a
n
s + a
n+1

c biu din bng vector P = [a
1
a
2
a
3
... a
n
a
n+1
]. V d, h thng c hm
chuyn G(s) = s/(s
2
+ 2s + 10) c thit lp bng lnh sau:
G = tf([1 0],[1 2 10])
Transfer function:
s
-------------------
s^2 + 2 s + 10
Zero-pole-gain
Cc m hnh zero-pole-gain s dng hm chuyn c biu din di dng:
) )...( )( (
) )...( )( (
) (
2 1
2 1
n
m
p s p s p s
z s z s z s
k s G


=
, gia s k (gain) l mt gi tr, z
i
(i = 1..m) l cc im khng (zeros) ca G(s)
v p
j
(j = 1..n) l cc im cc (poles) ca G(s). V vy, cc m hnh zero-pole-
gain c biu din bng gi tr k v hai vector Z = [z
1
z
2
... z
m
] v P = [p
1
p
2
...
p
n
], thit lp bi hm zpk(Z,P,k). V d:
G = zpk(3,[1 2],2)
Zero/pole/gain:
2 (s-3)
---------------
(s+1) (s+2)
G = zpk(0,[1+3i 13i],1)
Zero/pole/gain:
s
--------------------
(s^2 + 2s + 10)


195
M hnh trong khng gian trng thi (m hnh bin trng thi)
Cc m hnh trong khng gian trng thi s dng cc phng trnh vi phn m t
ng lc ca h thng di dng:
Du Cx y
Bu Ax
x
+ =
+ =
dt
d

, x l vector cha cc bin trng thi, u l vector cha cc bin vo v y l
vector cha cc bin ra. A, B, C, D l cc ma trn h s ca h phng trnh.
Kch thc ca cc ma trn ny nh sau: A c kch thc N
x
N
x
, B c kch thc
N
x
N
u
, C c kch thc N
y
N
x
, D c kch thc N
y
N
u
, N
x
l s bin trng
thi, N
u
l s bin vo v N
y
l s bin ra. Mt m hnh trong khng gian trng
thi c thit lp bi lnh ss(A,B,C,D). V d, mt h thng c m t bi
phng trnh sau:
I
dt
d
dt
d
3 5 2
2
2
= + +


Chuyn phng trnh ny sang dng trn, chng ta c x = [ ;
dt
d
], u = I,
dt
d
= y , A = [0 1; 5 2], B = [0 ; 3], C = [0 1] v D = 0. M hnh ny c
thit lp bng lnh sau:
sys = ss([0 1 ; 5 2],[0 ; 3],[0 1], 0)
a =
x1 x2
x1 0 1
x2 5 2

b =
u1
x1 0
x2 3

c =
x1 x2
y1 0 1

d =
u1
y1 0

Continuous-time model.
M hnh trong khng gian trng thi c th c biu din dng tng qut
hn nh sau:
196
Du Cx y
Bu Ax
x
E
+ =
+ =
dt
d

E l mt ma trn c kch thc N
x
N
x
. thit lp m hnh ny ta dng
lnh dss(A,B,C,D,E).
Cc m hnh theo thi gian ri rc
Cc m hnh c thit lp bi cc hm trnh by trn u l cc m hnh
theo thi gian lin tc. thit lp cc m hnh theo thi gian ri rc, chng ta
vn dng cc hm , nhng thm mt tham s l khong thi gian ly mu t
s

(tnh bng giy). Cc hm thit lp cc m hnh theo thi gian ri rc s l:
tf(X,Y,ts), zpk(Z,P,k,ts), ss(A,B,C,D,ts) v dss(A,B,C,D,E,ts). V d:
G = tf([1 0],[1 2 10],0.1)
Transfer function:
z
-------------------
z^2 + 2 z + 10
Sampling time: 0.1
A.3.2. Chuyn i gia cc loi m hnh
Cc hm tf, zpk v ss cng c dng chuyn i t mt loi m hnh sang
mt loi m hnh khc. V d:
G = tf([1 3],[1 3 2]) % m hnh hm chuyn
Transfer function:
s + 3
-----------------
s^2 - 3 s + 2
G = zpk(G) % chuyn sang m hnh zero-pole-gain
Zero/pole/gain:
(s+3)
-------------
(s-2) (s-1)
sys = ss(G) % chuyn sang m hnh trong khng gian trng thi
a =
x1 x2
x1 2 1.118
x2 0 1

b =
u1
x1 0
x2 2

c =
x1 x2
y1 2.236 0.5

197
d =
u1
y1 0

Continuous-time model.
chuyn i gia cc m hnh theo thi gian lin tc v m hnh theo thi
gian ri rc, dng cc hm c2d v d2c
sysd = c2d(sysc,ts): chuyn i m hnh lin tc sys
c
thnh m hnh ri
rc sys
d
, t
s
l thi gian ly mu.
sysc = d2c(sysd): chuyn i m hnh ri rc sys
d
thnh m hnh lin tc
sys
c
.
Khi thc hin cc php tnh ton vi cc m hnh, cc m hnh thng c
chuyn i mt cch t ng v loi m hnh ph hp vi php tnh ton/hm s
c thc hin.
Ch : vic chuyn i gia cc loi m hnh c th gy ra sai s, v vy cn
trnh vic chuyn i nu c th.
A.3.3. Cc thao tc vi m hnh LTI
Php thao
tc
Lnh MATLAB S tng ng
Cng
sys = sys1 + sys2 hoc
sys = parallel(sys1,sys2)

sys
1

sys
2

+
+

Tr sys = sys1 sys2

sys
1

sys
2

+


Nhn
sys = sys1*sys2 hoc
sys = series(sys1,sys2)
sys
1
sys
2


Ghp
theo hng
sys = [sys1 sys2]

sys
1

sys
2

+
+

198
Ghp
theo ct
sys = [sys1 ; sys2]

sys
1

sys
2


Phn hi
m
sys = feedback(sys1,sys2,1)

sys
1

sys
2

+


Phn hi
dng
sys = feedback(sys1,sys2,+1)

sys
1

sys
2

+
+

A.3.4. Xy dng m hnh bng hm append v connect
Chng ta c th xy dng mt m hnh bng cch kt ni nhiu khi (m hnh),
s dng cc thao tc vi m hnh c m t trong bng trn. Tuy nhin, iu c
th thc hin mt cch nhanh chng hn bng cch s dng hai hm append v
connect. Gi s chng ta mun xy dng mt m hnh t cc m hnh sys
1
,
sys
2
,..., sys
N
. Trc ht, dng hm append gp cc m hnh ny vo thnh
mt m hnh c cc khi khng kt ni vi nhau:
sys = append(sys1,sys2,...,sysN);
sys
1

sys
2

sys
N

...
sys
1
1
2
2 3

Cc bin vo v ra ca sys l cc bin vo v ra ca cc m hnh sys
1
, sys
2
,...,
sys
N
, v c nh s theo th t xut hin ca chng trong hm append. Sau
, s dng hm connect kt ni cc khi ca m hnh:
sysc = connect(sys,Q,inputs,outputs)
:
Q l ma trn nh ngha kt ni gia cc khi. Phn t u tin trn mi
dng ca ma trn Q l s th t ca mt li vo v cc phn t tip theo l
s th t, vi du + hoc , ca cc li ra s c ni n li vo . Du
199
c ngha l tn hiu s b tr i ti im cng tn hiu. Cc phn t
khng c dng n ca ma trn Q s mang gi tr khng.
inputs v outputs l hai vector dng xc nh nhng bin vo v ra
no ca m hnh sys s l cc bin vo v ra ca m hnh sys
c
.
Trong v d sau y, m hnh nh trong hnh v di c xy dng t ba m
hnh c nh ngha trc l sys
1
, sys
2
v sys
3
:

sys
2

sys
3

+

sys
1

1
2
3
4
1
2
3

sys = append(sys1,sys2,sys3);
Q = [3 1 3 ; 4 2 0];
inputs = [1 2];
outputs = 2;
sysc = connect(sys,Q,inputs,outputs);
A.3.5. Tr ca tn hiu vo
CST cho php tnh ti tr ca tn hiu vo cho cc h thng theo thi gian lin
tc trong gii hn kim sot c. Trong khng gian trng thi, mt h thng
theo thi gian lin tc c tr ca cc tn hiu vo u l (tnh bng giy)
c m t bng h phng trnh:
) ( ) ( ) (
) ( ) (
) (

+ =
+ =
t t t
t t
dt
t d
Du Cx y
Bu Ax
x

Trong cc m hnh s dng hm chuyn, hm chuyn ca h thng vi tr
l G(s)e
-s
, G(s) l hm chuyn ca h thng trong trng hp khng c
tr. Nu mi knh tn hiu vo c mt tr ring, biu din trong khng gian
trng thi c dng:
)] ( ; ... ; ) ( ; ) ( ) ( ) (
)] ( ; ... ; ) ( ; ) ( ) (
) (
2 2 1 1
2 2 1 1
n n
n n
t u t u t u t t
t u t u t u t
dt
t d


+ =
+ =
D[ Cx y
B[ Ax
x

Trong CST, t tr ca tn hiu vo cho mt m hnh, ta c th dng
lnh set cho thuc tnh InputDelay ca m hnh, v d:
G = tf([1 0],[1 2 10])
Transfer function:
s
-------------------
s^2 + 2 s + 10
set(G,InputDelay,0.05) % t tr ca tn hiu vo l 0,05
G
200
Transfer function:
s
exp(-0.05*s) * -------------------
s^2 + 2 s + 10
sys = ss(-1,[1 2],[2 ; 1],0) % m hnh vi 2 bin vo, 2 bin ra
a =
x1
x1 -1

b =
u1 u2
x1 1 2

c =
x1
y1 2
y2 1

d =
u1 u2
y1 0 0
y2 0 0

Continuous-time model.
set(sys,InputDelay,[0.01 0.02]) % tr cho 2 knh vo l 0,01 v 0,02
sys
a =
x1
x1 -1

b =
u1 u2
x1 1 2

c =
x1
y1 2
y2 1

d =
u1 u2
y1 0 0
y2 0 0

Input delays (listed by channel): 0.01 0.02

Continuous-time model.
201

A.4. Phn tch m hnh
A.4.1. p ng ca h thng theo thi gian
m phng p ng theo thi gian ca h thng biu din bi mt m hnh,
chng ta c th dng cc lnh sau:
step(sys): tnh ton v v th p ng theo thi gian ca h thng biu
din bi m hnh sys vi tn hiu vo ca h thng l hm nhy bc n
v. v th p ng ca m hnh sys trong mt khong thi gian t 0
n mt thi im t, dng lnh step(sys,t). V d: step(sys,1) s v th
ca p ng trong 1 giy u.
step(sys1,sys2,...): tnh ton v v th p ng theo thi gian ca cc h
thng biu din bi nhiu m hnh trong cng mt hnh v vi tn hiu
vo ca h thng l hm nhy bc n v.
y = step(sys,t): tnh ton cc gi tr ri rc ca p ng theo thi gian ca
h thng biu din bi m hnh sys vi tn hiu vo ca h thng l hm
nhy bc n v, theo vector thi gian t. iu c ngha y l mt vector
m mi phn t y(i) l gi tr ca p ng ti thi im t(i).
impulse(sys): tnh ton v v th p ng theo thi gian ca h thng
biu din bi m hnh sys vi tn hiu vo ca h thng l hm xung n
v. v th p ng ca m hnh sys trong mt khong thi gian t 0
n mt thi im t, dng lnh impulse(sys,t). V d: impulse(sys,1) s
v th ca p ng trong 1 giy u.
impulse(sys1,sys2,...): tnh ton v v th p ng theo thi gian ca
cc h thng biu din bi nhiu m hnh trong cng mt hnh v vi tn
hiu vo ca h thng l hm xung n v.
y = impulse(sys,t): tnh ton cc gi tr ri rc ca p ng theo thi gian
ca h thng biu din bi m hnh sys vi tn hiu vo ca h thng l
hm xung n v, theo vector thi gian t. iu c ngha y l mt vector
m mi phn t y(i) l gi tr ca p ng ti thi im t(i).
lsim(sys,u,t): tnh ton v v th p ng theo thi gian ca h thng
biu din bi m hnh sys vi tn hiu vo ca h thng c biu din bi
mt hm ri rc u theo vector thi gian t. iu c ngha u l mt
vector m mi phn t u(i) l gi tr ca tn hiu vo ti thi im t(i). V
d, v th p ng theo thi gian ca h thng biu din bi m
hnh sys vi tn hiu vo l hm u(t) = sin(4t) trong khong [0,8] vi
bc thi gian l 0,1s, dng cc lnh sau:
t = [0:0.1:8];
u = sin(4*pi*t);
lsim(sys,u,t);
Nu sys l mt m hnh ri rc th khong thi gian gia cc im trong t
cn ph hp vi khong thi gian ly mu ca sys. Nu sys l mt m hnh
202
c nhiu bin vo th u l mt ma trn, mi dng tng ng vi mt bin
vo.
lsim(sys1,sys2,...,u,t): tnh ton v v th p ng theo thi gian ca
cc h thng biu din bi nhiu m hnh trong cng mt hnh v vi tn
hiu vo ca h thng c biu din bi mt hm ri rc u theo vector
thi gian t.
initial(sys,x0): tnh ton v v th p ng theo thi gian ca h thng
biu din bi mt m hnh trong khng gian trng thi sys iu kin
khng c tc ng t bn ngoi (cc tn hiu vo ca h thng u bng
khng), x
0
l vector cha cc gi tr khi u ca cc bin trng thi.
A.4.2. Cc im khng v im cc ca hm chuyn
tnh ton v v th cc im khng v im cc ca hm chuyn ca mt
h thng, chng ta c th dng cc hm sau:
z = zero(sys): hm tr v vector z l gi tr cc im khng ca hm
chuyn ca h thng biu din bi m hnh sys.
p = pole(sys): hm tr v vector p l gi tr cc im cc ca hm chuyn
ca h thng biu din bi m hnh sys.
pzmap(sys): v th cc im khng v im cc ca hm chuyn ca
h thng biu din bi m hnh sys trong mt phng s (mt phng phc).
A.4.3. Qu tch nghim ca phng trnh c trng ca mt h thng phn hi
khi h s phn hi thay i
Trong h thng iu khin phn hi biu din hnh v di, p ng ca h
thng c th iu chnh c bng cch thay i h s phn hi K.

G(s)
K
R(s) C(s)
+


v th qu tch ca cc nghim ca phng trnh c trng ca h
thng trn khi K thay i t 0 n +, s dng lnh sau:
rlocus(sys)
sys l m hnh ca h thng c hm chuyn l G(s). Trn th ny, khi
chng ta nhn chut vo mt im trn cc ng qu tch ca cc nghim,
chng trnh s hin th gi tr ca K (gain) v nghim ca phng trnh c
trng (pole) ti im cng vi cc gi tr ca cc s o hiu sut ca tn hiu
ra tng ng, bao gm phn trm qu mc (percent overshoot), h s cn
(damping) v tn s t nhin (frequency) ca p ng.


203
A.4.4. Cc phng php p ng tn s
Cc hm v lnh sau y ca CST c s dng cho vic phn tch h thng
bng cc phng php p ng tn s:
freqresp(sys,w): tnh ton p ng tn s ca mt h thng biu din bi
m hnh sys ti cc tn s c ch nh bi vector w. Hm tr v mt
vector cha cc gi tr ca p ng tn s tng ng vi cc tn s trong
w.
bode(sys): v th Bode ca mt h thng biu din bi m hnh sys.
nyquist(sys): v th Nyquist ca mt h thng biu din bi m hnh
sys.
nichols(sys): v biu Nichols ca mt h thng biu din bi m hnh
sys.
[gm,pm,wg,wp] = margin(sys): tnh ton d tr gia lng v d tr pha
ca mt h thng c biu din bi m hnh sys v cc tn s tng ng.
Cc gi tr tr v bao gm d tr gia lng gm, d tr pha pm, tn s wg
ti gc pha bng 180
o
v wp l tn s ti ln ca p ng tn s
bng mt. Nu chng ta gi lnh margin(sys) (khng c cc bin cha
cc gi tr tr v), th Bode ca h thng c biu din bi m hnh
sys s c v, trn c cc ng ch ra d tr gia lng (tnh theo
dB), d tr pha v cc tn s tng ng.
A.5. Thit k h thng iu khin
A.5.1. Thit k trong min tn s
Lnh sisotool ca CST s m mt giao din ha cho php ngi s dng thit
k mt h thng iu khin phn hi n bin (SISO) bng cc phng php b
trong min tn s, bao gm phng php s dng qu tch nghim v phng
php b trn th Bode. H thng phn hi c thit k bng sisotool bao gm
bn thnh phn: qu trnh G, b tin lc (prefilter) F, mch b C v khi phn
hi H. Mch b C c th c t pha trc G (b ni tip) hoc t trn nhnh
phn hi (b phn hi). thay i gia hai m hnh b , chng ta ch cn
nhn chut vo nt FS (Feedback Structure) trong ca s con biu din m hnh
h thng. Nt +/ trong ca s con cho php chuyn i gia hai kiu phn
hi m v dng (Hnh A.2).
s dng sisotool nhm thit k h thng iu khin phn hi cho mt qu
trnh c biu din bng m hnh G, chng ta c th s dng lnh sau:
sisotool(G)
Khi hm chuyn ca b lc F v khi phn hi H u s c t bng mt.
Hm chuyn khi u ca mch b C cng c t bng mt. Nu chng ta
mun khi u vi mt mch b C c hm chuyn khc mt, s dng lnh sau:
sisotool(G,C)
hoc s dng lnh:
204
sisotool(G,C,H,F)
gn thm cc m hnh cho khi phn hi v b tin lc.


Hnh A.2. Giao din ha ca SISOtool
Sau khi ca s ca sisotool m ra, trong ca s s hin th qu tch
nghim ca phng trnh c trng ca h thng v th Bode ca p ng tn
s ca hm chuyn vng h. Chng ta c th thit k trc tip trn cc th ny
bng cch dng chut t v tr cho cc im cc trong th qu tch nghim
hay thay i ln ca p ng tn s iu chnh d tr pha v d tr gia
lng trn th Bode. Hm chuyn ca mch b C s c thay i tng ng.
Ngoi ra, chng ta cn c th thay i trc tip hm chuyn ca mch b C hay
b lc F bng cch chn Compensators/Edit trn menu ca sisotool. Kt qu ca
nhng thay i s c th hin trn cc th.
A.5.2. Thit k trong khng gian trng thi
Phng php thit k h thng phn hi trong khng gian trng thi c th thc
hin c vi cc hm sau y ca CST:
ctrb(sys): tnh ma trn ca tnh iu khin c ca mt h thng c
biu din bi m hnh sys, sys phi l mt m hnh trong khng gian
trng thi.
obsv(sys): tnh ma trn ca tnh quan st c ca mt h thng c biu
din bi m hnh sys, sys phi l mt m hnh trong khng gian trng
thi.
place(A,B,p): tnh ma trn h s phn hi H h thng iu khin phn
hi c biu din bng phng trnh vi phn ca vector trng thi sau
y:
205
Br x BH A
x
+ = ) (
dt
d

c cc im cc ti cc gi tr nh trc cho bi vector p. Ni mt cch
khc, hm place s tnh ma trn H sao cho p chnh l vector vi cc phn
t chnh l cc gi tr ring ca ma trn (A BH). Khc vi cng thc
Ackermann c gii thiu Chng XI vn ch s dng c cho cc
h thng n bin, hm place cho php chng ta s dng phng php t
im cc cho c cc h thng a bin.

206
TI LIU THAM KHO

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