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Kho st ng dng MATLAB trong iu khin t ng

V GI! "# B$%&' !()uist' !i*ho+s


L, T-./0T1
Gin Bode gm hai th: th logarith bin ca hm truyn v gc !ha
theo logarith t"n #$% &mt 'n v ( tr)c honh g*i l mt decade+%
Bin : G&,+dB - ./ log0/ G&,+ &.%..+
1ha : - G&,+ &hay arg G&,++ &.%.2+
Gin Bode ca c3c 4h5u c' bn:
6 7h5u 4hu8ch 9i:
:m truyn 9t G&#+ - 7
Gin Bode ;&+ - ./ lg<&+ - ./ lg7 l 0 =>ng th?ng #ong #ong v@i tr)c
honh%
6 7h5u Au3n tBnh bCc 0:
:m truyn 9t G&#+ -
1 Ts
K
+
BiDu Bode ;&+ - ./ lg<&+ - ./ lg7 E ./lg 1 T
2 2
+ c d$c gim
E./dBFdecade
6 7h5u vi !h5n bCc 0:
:m truyn 9t G&#+ - 7&G# H 0+
Gin Bode ;&+ - ./ lg<&+ - ./ lg7 H ./lg 1 T
2 2
+ c d$c tIng
./dBFdecade
6 7h5u tBch !h5n:
:m truyn 9t G&#+ -
s
K
Gin Bode ;&+ - ./ lg<&+ - ./ lg7 E ./lg
6 7h5u bCc .:
:m truyn 9t G&#+ -
. .
.
.
n n
n
s s

+ +
Gin Bode ;&+ - J./lg ( )
. . .
.
. .
K 0 t t +
Kho st ng dng MATLAB trong iu khin t ng
B2I T34
B5i 61
LM gin Bode hN th$ng hi ti8! 'n v ca hm truyn vOng h( #au:
G&#+ -
) s 1 . 0 1 ( s
10
+

P num - 0/Q
P den - R/%0 0 /SQ
P bode&numTden+
78t Au:
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-40
-20
0
20
40

10
-1
10
0
10
1
10
2
-160
-140
-120
-100

:N th$ng gm 0 4h5u 4hu8ch 9i bUng 0/T mt 4h5u tBch !h5n v mt 4h5u Au3n
tBnh bCc 0
G"n #$ gVy: 0/%
| G&,W+|dB - ./dB E ./log
G9i t"n #$ - 0radF#ec | G&,W+|dB - ./dB v d$c E./dBFdecade &do 4h5u tBch
!h5n+%
d$c E./dBFdecade ti8! t)c cho 8n 4hi gX! t"n #$ cYt - 0/radF#ecT t9i t"n #$ ny ta
cng thm E./dBFdecade &do 4h5u Au3n tBnh bCc nhZt+ v t9o ra d$c JK/dBFdec%
B7i 81
G&#+ -
+ 0/// +& 0/ +& 0 &
+ 0// & 0/
[
+ + +
+
s s s
s
Kho st ng dng MATLAB trong iu khin t ng
P num - 0/////6R0 0//SQ
P den - R0 0/00 00/0/ 0////SQ
P bode&numTden+
78t Au:
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-50
0
50

10
-1
10
0
10
1
10
2
10
3
10
4
-150
-100
-50

:N th$ng gm mt 4h5u 4hu8ch 9i 0/
[
T mt 4h5u vi !h5n bCc nhZt v 2 4h5u
Au3n tBnh bCc 0%
G"n #$ gVy: 0T0/T0//T0///%
| G&,W+|dB|W - / - \/dB
G9i t"n #$ gVy - 0radF#ec c l]i \/dB v d$c E./dBFdecade &v^ 4h5u
Au3n tBnh bCc 0+% d$c E./dBFdecade =]c ti8! t)c 8n 4hi gX! t"n #$ gVy -
0/radF#ec t9i 5y ta cng thm J./dBFdecade&v^ 4h5u Au3n tBnh bCc 0+T t9o ra d$c E
K/dBFdec% d$c J ./dB ( t"n #$ - 0//radFdec &do 4h5u vi !h5n bCc 0+% G9i t"n #$
gVy - 0//radF#ec tIng ./dB &v^ 4h5u vi !h5n bCc 0+% G9o ra d$c c d$c J./dB%
G9i t"n #$ gVy - 0///radF#ec gim ./dB &v^ 4h5u Au3n tBnh bCc 0+% G9o ra d$c J
K/dB%
B7i 91
G&#+ -
2
) s 1 . 0 1 ( s
10
+
P num - 0/Q
P den - R/%/0 /%. 0 / SQ
P bode&numTden+
Kho st ng dng MATLAB trong iu khin t ng
78t Au:
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-60
-40
-20
0
20
40

10
-1
10
0
10
1
10
2
-250
-200
-150
-100

:N th$ng gm mt 4h5u 4hu8ch 9i 0/T mt 4h5u tBch !h5n v 0 thnh !h"n c_c
4`!%
G"n #$ gVy: 0/%
| G&,W+|dB - ./dB E ./log
G"n #$ gVy nha nhZt - /%0 radF#ec t9i t"n #$ ny c l]i K/dB v d$c E
./dB &do 4h5u tBch !h5n+% d$c ny ti8! t)c cho t@i t"n #$ gVy 4`! - 0/% b t"n #$
ny #M gim K/dBFdecadeT t9o ra d$c E\/dBFdec%
B7i :1
G&#+ -
) 100 s )( 1 s ( s
) 10 s ( 10
2
+ +
+
P num - 0//6R0 0/SQ
P den - R0 0/0 0// /SQ
P bode&numTden+
78t Au:
Kho st ng dng MATLAB trong iu khin t ng
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-50
0
50

10
-2
10
-1
10
0
10
1
10
2
10
3
-160
-140
-120
-100

:N th$ng gm mt 4h5u 4hu8ch 9i 0//T mt 4h5u tBch !h5n v . 4h5u Au3n tBnh
bCc 0T 0 4h5u vi !h5n%
G"n #$ gVy: 0T0/T0//
| G&,W+|dB|W - / - ./log0/ E ./log
Ga chc d`t tr=@c t"n #$ gVy nha nhZt 0decade% G9i t"n #$ gVy - /%0radF#ec c
l]i K/dB v d$c E./dBFdecT d$c E./dBFdec ti8! t)c cho 8n 4hi gX! t"n #$ gVy -
0radF#ecT ta cng thm E./dBFdec &v^ 4h5u Au3n tBnh bCc 0+ v t9o ra d$c EK/dBFdec%
G9i t"n #$ -0/ #M tIng ./dBFdec &v^ 4h5u vi !h5n+ t9o ra d$c E./dBFdecT d$c E
./dbFdec =]c ti8! t)c cho 8n 4hi gX! t"n #$ gVy - 0//radF#ec #M gim ./dBFdec &v^
4h5u Au3n tBnh bCc 0+ #M t9o d$c EK/dBFdecade%
B7i ;1 Bi ny trBch te trang 00J.0 #3ch <=ontro+ >(st?@ Too++AoBC
LM gin bode ca hN th$ng hi ti8! fgfh c hm #au:
f
.
H/0%#Hi%[
:&#+ - JJJJJJJJJJJJJJJJJJJJJJJ
f
.
H/%0.#
2
Hj#
.
P g-tk&R0 /%0 i%[STR0 /%0. j / /S+Q
P bode&g+
Kho st ng dng MATLAB trong iu khin t ng
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-40
-20
0
20
40
From: U(1)
10
-1
10
0
10
1
-200
-150
-100
-50
0
T
o
:

Y
(
1
)
B7i D1 Grang 00J0[2 #3ch <=ontro+ >(st?@ Too+AoBC
LM gian o bode ca hm r>i r9c #auT v@i th>i gian lZy mlu l: /T0%

m
2
J.%nK0m
.
H.%ni[mJ0%//K
:&m+ - JJJJJJJJJJJJJJJJJJJJJJJJJJJJJJJJJJ
m
2
H.%K0im
.
H.%//2mJ/%[Knn
P :-tk&R0 J.%nK0 .%ni[ J0%//KSTR0 J.%K0i .%//2 J/%[KnnST/%0+Q
P norm&:+
an# -
0%.K2n
P RninkTk!ea4S-norm&:Tink+
nink -
.%[Knn
k!ea4 -
2%/nKK
Kho st ng dng MATLAB trong iu khin t ng
P bode&:+
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-5
0
5
10
From: U(1)
10
0
10
1
-400
-300
-200
-100
0
100
T
o
:

Y
(
1
)
P ./6log&nink+
an# -
0n%i0.i
B7i E1 GrBch te trang [J0n #3ch <=ontro+ >(st?@ Too+AoBC
Bi ny cho ta dem cong d)ng ca lNnh chia tr)c suAF+ot
P h-tk&RK n%K 2/%n \/STR0 K%0. 0i%K 2/%n \/S+Q
P #ub!lot&0.0+
78t Au:
Kho st ng dng MATLAB trong iu khin t ng
P h-tk&RK n%K 2/%n \/STR0 K%0. 0i%K 2/%n \/S+Q
P #ub!lot&0.0+
P bode&h+
78t Au:
Kho st ng dng MATLAB trong iu khin t ng
P h-tk&RK n%K 2/%n \/STR0 K%0. 0i%K 2/%n \/S+Q
P #ub!lot&...+
P bode&h+
78t Au:
Kho st ng dng MATLAB trong iu khin t ng
P h-tk&RK n%K 2/%n \/STR0 K%0. 0i%K 2/%n \/S+Q
P #ub!lot&0.0+
P bode&h+
P #ub!lot&...+
P bode&h+
P #ub!lot&..K+
P bode&h+
78t Au:
Kho st ng dng MATLAB trong iu khin t ng
Biu G !i*ho+s
LH thu(It1
Kho st ng dng MATLAB trong iu khin t ng
Cng dng: D d3c nh pn nh v 3! qng t"n #$ vOng 4Bn ca hN th$ng hi ti8!
ta #r d)ng biDu sichol#% f_ pn nh =]c 3nh gi3 te =>ng cong vM m$i Auan hN ca
l]i theo Xc tBnh !ha ca hm truyn vOng h(% ng th>i 3! qng t"n #$ vOng 4Bn ca
hN th$ng ctng =]c d3c nh bUng c3ch #r d)ng =>ng cong bin v di !ha vOng
4Bn 4hong pi !h ln =>ng cong bin E !ha vOng h(%
C php:
RmodT!ha#eT!ul#S- nichol#&uTBTvTw+Q
RmodT!ha#eT!ul#S- nichol#&uTBTvTwTui+Q
RmodT!ha#eS- nichol#&uTBTvTwTuiTW+Q
RmodT!ha#eT!ul#S- nichol#&numTden+Q
RmodT!ha#eS- nichol#&numTdenTW+Q
shxng cZu tryc trn cho l@n l nhxng gi3 tr t_ nhinT !ha l v vect' ca diDm
t"n #$ l radF#% f_ tn t9i ca iDm t"n #$ m 3! qng t"n #$ =]c nh gi3 bUng vect' WT
v ui l bi8n 4hai b3o v@i hN th$ng nhiu ngz vo%
Ch :
H 4hi #r d)ng lNnh nichol# v@i cZu tryc 4hong c bi8n nga ra th^ ta =]c biDu
nichol#%
H lNnh nichol# luon luon cho !ha trong 4hong RJ2\/
/
T/
/
S
B7i J1 cho hN th$ng c hm truyn #au:

( )
3
2
1 s s
1 s 7 s
30 ) s ( G
+
+ +
=
v3c b=@c th_c hiNn:
P num-2/6R0 i 0SQ
P den-R!oly&RJ0 J0 J0S+ /SQ
P hold onT !lot&J0n/T/T{6r{+T hold onQ
P nichol#&numTden+
Gr v biDu nichol# v@i iDm t@i h9n K*riti*5+ FointL
&J0n/
/
T/+ =]c biDu di|n nh= h^nh #au:
Kho st ng dng MATLAB trong iu khin t ng
Hnh: BiDu sichol#
%M!G B2I T34 V BIN. "# !/)./>T V2 K-$ >OT P! "Q!-
%R!G GI! "# B$%&
L, T-./0T1
-S thTng Un Vnh W trXng thi hW' sY Un Vnh W trXng thi kZn nIu Aiu G
!([uist kh\ng A5o i@ ]^6_i`a trbn @ct Fhdng Fh*e
-S thTng kh\ng Un Vnh W trXng thi hW' sY Un Vnh W trXng thi kZn nIu Aiu G
!([uist A5o i@ ]^6_i`aF +fn nggh* *hiu ki@ Gng hG ]F +7 sT ** G- ni@ W
Fhi @ct Fhdng Fh*ae
B2I T341
Ge dZu nhYc ca cra #p <uG;uBT ta nhC!:
P num - Rnhp cc h s ca t s theo chiu gim dn ca s mS%
P den - Rnhp cc h s ca mu s theo chiu gim dn ca s mS%
P nyAui#t&numTden+
B7i j1
G:&#+ k
st 1
k

]v@i 4 -0/T t -0a


P num - 0/Q
P den - RJ0 0SQ
P nyAui#t&numTden+
78t Au:
Kho st ng dng MATLAB trong iu khin t ng
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
Nyquist Diagrams
0 2 4 6 8 10
-5
-4
-3
-2
-1
0
1
2
3
4
5

shCn d`t: hm truyn vOng h( c 0 c_c nUm bn !hi mXt !h?ng !hqc% BiDu syAui#t
4hong bao iDm u &J0H,/+%
iDm E0 4} hiNu &++ nUm trn tr)c th_c 5m &~eal udi#+T iDm / nUm trn tr)c o
&gmaginary udi#+%
78t luCn: hN 4hong pn nh%
l %mng +Snh @5rgin tn@ Aibn d tro p7 Fh5 d troe
Ge dZu nhYc ca cra #p lNnh <uG;uB ta dng lNnh margin:
P num - 0/Q
P den - RJ0 0SQ
P margin&numTden+Q
&u+
Kho st ng dng MATLAB trong iu khin t ng
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
0
5
10
15
20
Gm = 0 dB, Pm = 0 (unstable closed loop)
10
0
20
40
60
80

78t luCn:
d_ trx bin &Gm - / dB+%
d_ trx !ha &1m - /+%
arning: vlo#ed loo! i# un#table &hN vOng 4Bn 4hong pn nh+%
B7i 6`1 vho hm ttuyn:
G:&#+ k
( ) st 1 s
k

]4 - 0/T t - 0a
P num - 0/Q
P den - RJ0 0 /SQ
P nyAui#t&numTden+
Kho st ng dng MATLAB trong iu khin t ng
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
Nyquist Diagrams
0 2 4 6 8 10
-1000
-800
-600
-400
-200
0
200
400
600
800
1000

shCn d`t: hm truyn vOng h( c 0 c_c nUm bn !hi mXt !h?ng !hqc v 0 c_c nUm t9i
g$c t*a % BiDu syAui#t 4hong bao iDm u &J0H,/+%
iDm E0 4} hiNu &++ nUm trn tr)c th_c 5m &~eal udi#+ T iDm / nUm trn tr)c o
&gmaginary udi#+%
78t luCn: hN 4hong pn nh%
l %mng +Snh @5rgin tn@ Aibn d tro p7 Fh5 d troe
Ge dZu nhYc ca cra #p lNnh <uG;uB ta dng lNnh margin:
P num - 0/Q
P den - RJ0 0 /SQ
Pmargin&numTden+
&u+
Kho st ng dng MATLAB trong iu khin t ng

Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-20
0
20
40
60
Gm = 0 dB, Pm = 0 (unstable closed loop)
10
-1
10
0
-80
-60
-40
-20

78t luCn:
d_ trx bin &Gm - / dB+%
d_ trx !ha &1m - /+%
arning: vlo#ed loo! i# un#table &hN vOng 4Bn 4hong pn nh+%
B7i 661 vho hN th$ng #au
G:&#+ k
( ) ( ) 1 s t 1 s t
k
2 1
+ +
&4 -0/T t0 - 0T t. - .+
P num - 0/Q
P den - R. 2 0SQ
P nyAui#t&numTden+
Kho st ng dng MATLAB trong iu khin t ng
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
Nyquist Diagrams
0 2 4 6 8 10
-6
-4
-2
0
2
4
6

shCn d`t: hm truyn vOng h( c . c_c nUm bn tr3i mXt !h?ng !hqc% BiDu syAui#t
4hong bao iDm u &J0H,/+%
iDm E0 4} hiNu &++ nUm trn tr)c th_c 5m &~eal udi#+ T iDm / nUm trn tr)c o
&gmaginary udi#+%
78t luCn: hN th$ng pn nh%
l %mng +Snh @5rgin tn@ Aibn d tro p7 Fh5 d troe
Ge dZu nhYc ca cra #p <uG;uB dng lNnh margin%
P num - 0/Q
P den - R. 2 0SQ
P margin&numTden+
&u+
Kho st ng dng MATLAB trong iu khin t ng
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-20
-10
0
10
20
Gm = Inf, Pm=38.94 deg. (at 2.095 rad/sec)
10
0
-150
-100
-50

78t luCn: hN th$ng pn nh%
d_ trx bin &Gm - +%
d_ trx !ha &1m - 2n%jK+T t9i t"n #$ cYt bin .%/j[ radF#ec%
B7i 681 vho hN th$ng c hm truyn #au:
G:&#a k
( ) ( ) 1 s t 1 s t s
k
2 1
+ +
&4 - 0/ t0-0T t. -.+
P num - 0/Q
P den - R. 2 0 /SQ
P nyAui#t&numTden+
Kho st ng dng MATLAB trong iu khin t ng
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
Nyquist Diagrams
-30 -25 -20 -15 -10 -5
-1000
-800
-600
-400
-200
0
200
400
600
800
1000

shCn d`t: hm truyn vOng h( c . c_c nUm bn tr3i mXt !h?ng !hqc v 0 c_c ( mero%
BiDu syAui#t bao iDm u&J0H,/+%
iDm E0 4} hiNu &++ nUm trn tr)c th_c 5m &~eal udi#+ T iDm / nUm trn tr)c o
&gmaginary udi#+%
78t luCn: hN 4hong pn nh%
l %mng +Snh @5rgin tn@ Aibn d tro p7 Fh5 d troe
Ge dZu nhYc ca cra #p <uG;uB ta dng lNnh margin D 4iDm chqng l9i hN:
P num - 0/Q
P den - R. 2 0 /SQ
Pmargin&numTden+
&u+
Kho st ng dng MATLAB trong iu khin t ng
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-40
-20
0
20
40
60
Gm = 0 dB, Pm = 0 (unstable closed loop)
10
-1
10
0
-250
-200
-150
-100

78t luCn: hN th$ng 4hong pn nh%
d_ trx bin &Gm - / dB+%
d_ trx !ha &1m - /+
B7i 681
G:&#+ k
( ) ( ) ( ) 1 s t 1 s t 1 s t s
k
3 2 1
+ + +
] t0 -0T t. - .T t2 - 2T 4 - 0/a
P num - 0/Q
P den - R\ 00 \ 0 /SQ
P nyAui#t&numTden+
Kho st ng dng MATLAB trong iu khin t ng
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
Nyquist Diagrams
-60 -50 -40 -30 -20 -10 0
-1000
-800
-600
-400
-200
0
200
400
600
800
1000

shCn d`t: hm truyn vOng h( c 2 c_c nUm bn tr3i mXt !h?ng !hqc v 0 c_c ( mero%
BiDu syAui#t bao iDm u &J0Hi/+%
iDm E0 4} hiNu &++ nUm trn tr)c th_c 5m &~eal udi#+ T iDm / nUm trn tr)c o
&gmaginary udi#+%
78t luCn: hN 4hong pn nh%
l %mng +Snh @5rgin tn@ Aibn d tro p7 Fh5 d troe
Ge dZu nhYc ca cra #p <uG;uBT dng lNnh margin D 4iDm chqng l9i hN:
P num - 0/Q
P den - R\ 00 \ 0 /SQ
P margin&numTden+
&u+
Kho st ng dng MATLAB trong iu khin t ng
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-50
0
50
Gm = 0 dB, Pm = 0 (unstable closed loop)
10
-2
10
-1
10
0
-300
-200
-100

78t luCn: hN th$ng 4hong pn nh%
d_ trx bin &Gm - / dB+%
d_ trx !ha &1m - /+%

Kho st ng dng MATLAB trong iu khin t ng

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