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dktd-buoi2(nhom n)

dktd-buoi2(nhom n)

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Published by: thegioidong on Jan 25, 2010
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12/22/2012

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G
c
(S)
BÀI TẬP: MÔN THỰC HÀNH LTĐKTĐ
GV: HUỲNH MINH NGỌC
LỚP ĐHĐT-3A
NHÓM THỰC HÀNH 1 ( BUỔI CHIỀU TH 3 !
TRẦN NGỌC CA 07705741
TRẦN DANH CẦU 07707361
BÙI VĂN HẢI 07709981
BÀI 1: T"#$% &$ &"'( "#)( *"+," -./ 0"1 23,4 0"56,4 0"70 8(9 :;< ,4"#)/ -=> *? ")
%"=,4 :#@( &"#A, ,"5 "B," CD: C.# G(-!E
FG
( 1!( F! s s s + +
R(s)
-
C(p)
HH/ %I(J@, *K1 &"'( "#)( *"+," -./ 0"1 G
*
(-! *? 2;,4 G
*
(-!E K
*
(1L !
(1 !
s T
s T
α +
+ +

T1 *M, N7* :O," *7* ") -= *K1 0"56,4 %IB," %IP,Q T1 %#$, "H," %"R< *7* S5.* -1(:
B5.* 1: N7* :O," *T0 *U* 8(J$% :O,"Q
T"R< JP( *M( %"#$% &$ :V CW% X= PYT Z FG[ CH %"\# 4#1, N7* X]0
xl
t
Z ^- %1 *?:
PYTERN0
F
1
ξ
ξ
 
Π
  −
 

 
Z GQF
F
F F
X, GQF 1Q_
1
1Q`a 1 bQ^ 1 GQba
ξ
ξ
ξ ξ ξ ξ
Π
⇒ − < = −

⇒ > − ⇒ > ⇒ >
C"W,
ξ
E GQcGc
xl
t
E
b
^

ξω
<



b
^

ω
ξ
>
×



GQcGc

ω >
C"W,

ω
E 1
V]J *T0 *U* 8(J$% :O," XH:
d F F
1QF
1 GQcGc 1 1 1 GQcGc

s ! ! ξω ω ξ = − ± − = − × ± −
d
1QF
GQcGc GQcGc s ! = − ±
B5.* F: N7* :O," 4?* 0"1 *M, S3
d G
1 F 3
1^G ( ! φ β β β = − + + +

G G G G G
1^G (13a _cQa F^Qc ! a1QF = − + + + =
B5.* 3 : N7* :O," *U* CH eRI< *K1 &"'( "#)( *"+," -./ 0"1 Sf,4 0"56,4 0"70 :5\,4
0"', 4#7*Q
VD PA XH 0"', 4#7* *K1 4?* YPN
VD PB> PC -1< *"< 4?* APB E
d
F
φ
CH 4?* APC E
d
F
φ
Đ#A/ B *"g," XH CO %Ig *U* CH :#A/ C *"g," XH CO %Ig eRI< *K1 &"'( "#)( *"+,"
1
T
E YB CH
1
T α
E YC
h0 2i,4 ") %"j* X5k,4 %I<,4 %1/ 4#7* %1 *?:
YB E YP
d
d
F F
F F
"#x
$%
"#x
$%
φ
φ


 
 
+
 
 
 
 

 
 
E
G G
G G
13a a1QF
F F
13a a1QF
F F
$%
$%
 
+
 
 
 

 
 
E 1Qa
YC E YP
d
d
F F
F F
"#x
$%
"#x
$%
φ
φ


 
 

 
 
 
 
+
 
 
E
G G
G G
13a a1QF
F F
13a a1QF
F F
$%
$%
 

 
 
 
+
 
 
E GQ_c

G
*
(-!E K
*
1Qa
GQ_c
s
s
+
+
B5.*

b: %g," K
*
d
( !Q ( ! 1
C
s s
G s G s
=
=



GQcGc GQcGc
1Qa FG
1
GQ_c ( 1!( F!
C
s !
s
&
s s s s
=− ±
+
× =
+ + +


( ) ( ) ( )
GQcGc GQcGc 1Qa FG
1
GQcGc GQcGc GQ_c GQcGc GQcGc GQcGc GQcGc 1 GQcGc GQcGc F
C
!
&
! ! ! !
− + +
× =
− + + − + − + + − + +



1Q33 FG 1
C
& × × =


C
&
E GQGb
V]J "H/ %I(J@, *K1 &"'( "#)( *"+," -./ 0"1 *M, %B/ XH:
G
*
(-!E GQGb
1Qa
GQ_c
s
s
+
+


1! l
BQ K"1# S7< "H/ %I(J@, Gs=20ss+1(s+2)
H(-! E1
mn 2i,4 -#-<%<<X
K"1# S7<:
oo ,(/EFG
oo 2R,Ep1 3 F Gq
oo 4E%r(,(/>2R,!
oo "E%r(1!
oo -#-<%<<X
+Đầu tiên ta thiết lập các hàm truyền: fileimp!rt"
#$c này c%a s& imp!rt system 'ata (u)t hi*n ta thiết lập hàm
truyền+ thiết lập (!n, ch-n ./
0 12y ,i3 ta (em hàm /hi ch4a hi*u ch5nh: 6à! menu ch-n analysis!ther
l!!p pesp!nses ch-n các thiết lập t47n, 8n, ta 94:c h;nh sau:
0 10 20 30 40 50
-270
-180
-90
P.M.: -28.1deg
Freq: 2.43rad/sec
Frequency (rad/sec)
-100
-50
0
50
G.M.: -10.5dB
Freq: 1.41rad/sec
Unstableloop
Open-LoopBodeEditor (C)
-6 -4 -2 0 2
-4
-3
-2
-1
0
1
2
3
4
Root Locus Editor (C)
Real Axis
StepResponse
Time(sec)
A
m
p
l
i
t
u
d
e
0 1 2 3 4 5 6
-10
-8
-6
-4
-2
0
2
4
6
8
0 /<ch chu=t ph>i 6à! 6?n, @ABSC menu (u)t hi*n: ta ch-n 122 0<XRLeRI< s
XR12 ("#)( *"+," -./ 0"1!
t 23,4 *"(V% :A N7* :O," :#A/ *U* CH eRI< *M, %"#$% :A :5k* "#)( *"+," ,"5 /<,4
/(=,Q
t ,"5,4 %"5\,4 ,"5 C]J -D Iu% /u% %"\# 4#1, CH -1# -= X., :A :$, :5k* &"<v,4
"#)( *"+," %=# 5(> ,P, %1 2U1 CH< %g," %<7, Xw %"(J$% Ix# -1( :? "#)( *"+," %I<,4
&"<v,4 ,H< :? %"B %=% "6,Q
m1( &"# :5k* SV "#)( *"+," C(-! ,"5 /<,4 /(=, %1 NR/ &$% 8(v: Sf,4 *7*" *"W,
analysis!ther l!!p pesp!nses ch-n các thiết lập t47n, 8n, ta 94:c h;nh
sau /hi hi*u ch5nh:
0 10 20 30 40
-270
-180
-90
P.M.: 22.8deg
Freq: 0.594rad/sec
Frequency(rad/sec)
-100
-50
0
50
G.M.: 7.04dB
Freq: 0.925rad/sec
Stableloop
Open-LoopBodeEditor(C)
-6 -4 -2 0 2
-4
-3
-2
-1
0
1
2
3
4
Root LocusEditor(C)
Real Axis
StepResponse
Time(sec)
A
m
p
l
i
t
u
d
e
0 1 2 3 4 5 6 7 8
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Bài 2 :HyJ %"#$% &$ &"'( "#)( *"+," G
*
(-! -1< *"< ") %"=,4 *? -6 :x &"=# 25.# :'J -1(
&"# "#)( *"+," *? -1# -= :=# C.# %g, "#)( CH< XH "H/ 2=* XH GQGF CH :70 j,4 8(7 :V %"1J
:z# &"{,4 :7,4 &AQ
|(-!
Tg," %<7, Xw %"(J$%:
H) -= C], %=* *K1 ") %"=,4 %I5.* &"# "#)( *"+,":
K
C
E lims→0sGs=lims→010ss+3s+4=0.83
m1# -= N7* X]0 *K1 ") %"=,4 %I5.* &"# "#)( *"+,":
R
NX
E 1Kv E 10.83=0.1
2< :'J XH SH# %<7, %"#$% &$ "#)( *"+," %I} 0"1 ,P,:
G
*
(-!EK
*
s+1Ts+1T

(Z1!
Đ@ SH# JP( *M( -1# -= N7* X]0 -1( &"# "#)( *"+," ("H/ 2=* XH GQGF!
,P, R
d
1>F
E GQGF  kv*E1e1,2*
2< :?: E kckvkv* > ~ :'J %1 *"W, &
*
E 1 :A %g,"  Q *(=# *3,4 &"# %B/ :5k*
&"'( "#)( *"+," %I} 0"1 ,$( %1 %g," I1 X•* ,HJ &
*
≈1 %"B NR/ ,"5 %1 "#)( *"+," :•,4Q
E kvkv* E 0.830=0.01!
CT0 *U* 8(J$% :O," %I5.* &"# "#)( *"+," XH s1,2
1+Gs E G " 1 t 10##+3(#+4) E G " m
3
t cm
F
t 1Fm t 1G E G
"s1,2s ==$1%&$ v]J *T0 *U* 8(J$% :O," XH m
1>F
E -1% &
MT% &"7*: 1+Gs E G " G(s)'G(s) ==1$1800
GW# m
d
1>F
XH *T0 *U* 8(J$% :O," -1( &"# "#)( *"+,"Q
G
*
(-!EK
*
s+1Ts+1T

ĐA ") %"=,4 :70 j,4 %"1J :z# &"{,4 :7,4 &A -1( &"# "#)( *"+," %"B m
1>F
≈ m
d
1>F
Q ~
:'J %1 *"W, m
1>F
= m
d
1>F
E -1% &
G
c
(s)
10ss+3(s+4)
G
*
(-!EK
*
s+1Ts+1T= K
*
$1+&+1T$1+&+1T C.# 1T ( )e(s1,2*)

"1J 1T
(1
K"# :? 1 t G(s)Gc(s)s = s1,2*E G " G*(s)G(s)'G(s)Gc(s)s = s1,2* ==1$
1800
T1 N€% 0"1 : ' G(s)Gc(s)s = s1,2*E $1800  ' Gc(s)s = s1,2* + ' G(s)s = s1,2*
= $1800
 ' Gc(s)s = s1,2*= $1800 $ ' G(s)s = s1,2*
≈ $1800 $ ' G(s)s=s1,2 = $1800+
1800 = 0
0
B~# C]J &"# %"#$% &$ %1 *"W, -1< *"< ' Gc(s)s = s1,2* cà+, v@ 0
0
cà+, -=%> %"5\,4
%"B ,45\# %1 *"W, -1< *"< -a
G
. ' Gc(s)s = s1,2* . 0
0
.
/]J %1 *"W, ' Gc(s)s = s1,2*= $ 4
0
0 -,($4
0
) ≈0.0! (1)
1T% &"7* G
*
(-!EK
*
s+1Ts+1T

• :T% 2= 1T 2< :? 2 (1

(d!
V]J G
*
(-!EK
*
s+2s+2

E K
*
$1+& +2$1+&+2


E K
*
$1 +2$1+2+1$1+22 +1+&$1+2$$1 +2$1+22
+1

MH ' Gc(s)s = s1,2* = 1I*%4 $1+2$($1+2)$1 +2$1+2+1 E 1I*%4
2($1)22+ 21++2 (F!
T‚ (1!>(F! %1 *?:
2($1)22+ 21++2=0.0! 2=0.132=14.3 %1 *"W, 1 E GQ13
%"ƒ1 :& (d!
V]J -1( &"# &"# "#)( *"+," %"B: G
*
(-!E K
*
s+0.13s+0.00221

• S'J 4#\ %1 *"+ *M, *"j,4
/#," K
*
-1( "#)( *"+," ≈1 -45 6em +47 48à+ -4à+4Q
Tg," K
*
-1( &"# "#)( *"+,":
G(s)Gc(s)s = s1,2* =1  Kcs+0.13s+0.00221*10ss+3(s+4) = 1
" Kc$1+&+0.13$1+&+0.00221*10$1+&$1+&+3($1+&+4) =1
 K
c
=1.09! ≈1 (:;cm)
V]J -1( &"# "#)( *"+," %I} 0"1 :
G
*
(-!E s+0.13s+0.00221
M{ 0"ƒ,4 Sf,4 /1%X1S 23,4 *{,4 *i -#-<%<<X:
K"1# S7< "H/ %I(J@,:
< Gs=10ss+3(s+4)
< =s=1
< T2 sD /hai 1á! tr!n, matla1 nh4 sau:
>> s=-?(@s@)
>> ,=10A(s*(s+3)*(s+4))
>>4=-?(1)
>>sis8-88l
*%a s& sis!t!!l (u)t hi*n:
+ Đầu tiên ta thiết lập các hàm truyền: fileimp!rt"
#$c này c%a s& imp!rt system 'ata (u)t hi*n ta thiết lập hàm
truyền+ thiết lập (!n, ch-n ./
0 12y ,i3 ta (em hàm /hi ch4a hi*u ch5nh: 6à! menu ch-n menu
t!!l'raE simuli/"+
C%a s& (u)t hi*n nh4 sau:
Fa ch-n n,G 6à! là hàm 'Hc ( ramp ) nh4 sau:
Iàm truyền ch4a hi*u ch5nh cJ 'Kn, nh4 sau:
Fiếp the! ta hi*u ch5nh trL pha 1Mn, cách:
0 /<ch chu=t ph>i 6à! 6?n, @ABSC menu (u)t hi*n: ta ch-n 122 0<XRLeRI< s
X14 ("#)( *"+," %I} 0"1!
t 23,4 *"(V% :A N7* :O," :#A/ *U* CH eRI< *M, %"#$% :A :5k* "#)( *"+," ,"5 /<,4
/(=,Q
t ,"5,4 %"5\,4 ,"5 C]J -D Iu% /u% %"\# 4#1, CH -1# -= X., :A :$, :5k* &"<v,4
"#)( *"+," %=# 5(> ,P, %1 2U1 CH< %g," %<7, Xw %"(J$% Ix# -1( :? "#)( *"+," %I<,4
&"<v,4 ,H< :? %"B %=% "6,Q
m1( &"# :5k* SV "#)( *"+," C(-! ,"5 /<,4 /(=, %1 NR/ &$% 8(v %56,4 %U ,"5 %IP,
%1 :5k*:
BH# 3: C"< ") %"=,4 "x# %#$0 '/ :6, COQ C? "H/ %I(J@, ") "~ XH G(-! E 4s(s+0.)
T"#$% &$ SV "#)( *"+," -./ %I} 0"1 :A ") %"=,4 *? B = 0. ,C+ = (D2EAs) , và 4)
-= C], %=* KCE ^GQ
BH# 4#v#Q
2) T'( t)* l+ t(,-.t Q
H) *"51 "#)( *"+," *? B E GQ1Fa > ,C+ EF (I12L-! >KC E ^ • *7* *U* XH 01 E G> 0F E
-GQa Q GW# G*(-! XH &"'( "#)( *"+," -./ %I} 0"1 : G*(-! E G*1(-!QG*F(-!
B5.* 1: %"#$% &$ &"'( "#)( *"+," -./ 0"1 G*1(-!Q
Gc1s=Kc1 1+FT1.s1+T1.s C.# F >1
• CT0 *U* 8(J$% :O," -1( &"# "#)( *"+," XH :
m1>F E - B C+ % & C+1$B 2 = $(0.)() % „(a! 1$0.2 G #1,2 = $2. % „bQ33
• G?* 0"1 *M, S3:
H=$1800+(1200+110) E 0
• C"W, eRI< *K1 &"'( "#)( *"+," XH -GQa %I3,4 C.# *U* 0 E -GQa *K1 G(-! :A "; S]* ")
%"=,4 -1( &"# "#)( *"+,"Q T1 *?:
1IT1=0.=JK
T‚ *U* m1 CD "1# ,K1 :5\,4 %"…,4 %;< C.# ,"1( /V% 4?* XH Q CU* *K1 &"'( -./ 0"1 %;#
:#A/ B Q
1T1=JB
T1 *? : YB E YA t AB C.# YA E GQa > AB E LKsi+KLBsi+LBK %I<,4 :? P XH :#A/ %;#
,4"#)/ m *? 0"M, %"U* '/Q
T1 *? : PA E 22+4.332 E bQc_
G?* APB E H E 0 • PBA E 110$0= 900 G AB E 4.!9si+si+90
G
1T1=JB=0.+4.=
/]J Gc1s=Kc1 0.+s+s
• TB/ K*1 :
Gc1s.G(s)s=s1=1 G Kc1.s+0.s+.4s(s+0.)s=$2.+&4.33=1
G Kc1 = 9.2
/]J : Gc1s=9.2 0.+s+s E GQ_Fa1+2s1+0.2s
G =àm -DMN@, ") "~ -1( &"# "#)( *"+," -./ 0"1 XH :
G1(-! E G*1(-!QG(-! E 9.2 0.+s+s4s(s+0.) G G1(s) = 2s(s+)
B5.* F: T"#$% &$ &"'( "#)( *"+," %I} 0"1 G*F(-!Q
Gc2s=Kc2 1+OT2.s1+T2.s C.# O .1
• H) -= C], %=* -1( &"# "#)( *"+," -./ 0"1 >%I5.* &"# "#)( *"+," %I} 0"1 XH:
KC E lims→0s.G1(s)=lims→02s(s+)=
H) -= C], %=* /<,4 /(=, XH: Kv* E ^G
G O=KvKv* =80=119=0.092
• †7* :O," eRI< *K1 &"'( %I} 0"1 :
1OT2()e(#1,2)=2.
C"W, 1OT2=0.19
• †7* :O," *U* *K1 &"'( %ID 0"1:
1T2=O1OT2=1190.19=0.01
G Gc2s=Kc2 0.19+s0.01+s
• TB/ K*F:
T1 *?: G1s.Gc2(s)s=s1=1 G G1(s)s=s1Gc2(s)s=s1=1
G Gc2(s)s=s1 = 1 GKc2.s+0.19s+0.01s=$2.+&4.33=1
GKc2 = 4.334.332 = 1.01
/]J Gc2s=1.01 0.19+s0.01+s E 0.09312 1+9.2s1+100s
K$% X(],: &"'( "#)( *"+," -./ %I} 0"1 *M, %"#$% &$ XH :
G*(-! E G*1(-!QG*F(-! E 9.2 0.+s+s Q 1.01 0.19+s0.01+s E
9.31s+0.(s+0.19)s+(s+0.01)
/0 T(12 (%3 456 $%s)t))l7
B5.* 1: %"#$% &$ &"'( "#)( *"+," -./ 0"1 G*1(-!Q *"g," XH C(-! %I<,4 /1%X10Q
• K"1# S7< "H/ %I(J@, G(-!>H(-!>C E 1>‡ E1Q
G=tf(4,[1 0.5 0])
H=tf(1)
sisotool
T‚ *n1 -z -#-<%<<X CH< r#XR s #/0<I%- ,"]0 "H/ˆ
• T"#$% &$ C(-!Q
T‚ JP( *M( SH# %<7, *T0 *U* 8(J$% :O," -1( "#)( *"+," *? B = 0. ,C+ = (D2EAs),
+P+ -2 cQ:
ĐV CW% X= *M, %"#$% &$ XH : PYT E e$(RB1$B2)E e$(R0.1$0.2)E GQ1_3 > *"W, :V CW% X=
%"#$% &$ Z 1c[
T"\# 4#1, 8(7 :V ( %"R< %#P( *"(‰, F[! : %82 E 4BC+ E4.0, E 1Q_ >*"W, %"\# 4#1, 8(7
:V %"#$% &$ Z 1Qc-
VH< menu ch-n menu t!!l'raE simuli/ CD :70 j,4 C.# :M( CH< "H/ 2=* CH 8(9 :;<
,4"#)/ -= %I5.* &"# "#)( *"+," CH X5( X1#:
-0.5 -0.45 -0.4 -0.35 -0.3 -0.25 -0.2 -0.15 -0.1 -0.05 0
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
RootLocusEditor(C)
Real Axis
I
m
a
g

A
x
i
s
CX#*& *"(V% 0"v# CH< Š‹Nm s 122 0<XRLeRI< s XR12 :A %"P/ &"'( "#)( *"+," -./ 0"1 CH<
") %"=,4Q CX#*& *"(V% 0"v# CH< Š‹Nm *"W, ‹R-#4, *<,-%I1#,%- s ,RŒ :A *H# :V CW% X= CH
%"\# 4#1, N7* X]0 %"R< %"#$% &$Q
B'J 4#\ 2# *"(JA, *7* *U* CH eRI< *K1 SV "#)( *"+," C(-! %IP, %Ii* %"U* -1< *"< ,"1,"
Š‹Nm &€< CH< C3,4 %"ƒ1 /y, %"#$% &$ Q"<T* %1 *? %"A ,"]0 %IU* %#$0 *U* CH eRI< *K1 C(-!
>%"R< 0"56,4 0"70 &"n *U*Q ĐA -< -7," C.# *'( 1 %1 ,"]0 *U* CH eRI< *K1 C(-! ,"5 :y
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RootLocusEditor(C)
Real Axis
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G1(s) = 2s(s+).
G1(s)=tf(25,[1 5 0])
H=tf(1)
sisotool
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PYTEe6; ($BR1$B2!.0.2  $BR1$B2 Z l+0.2=$1.9
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+Đầu tiên ta thiết lập các hàm truyền: fileimp!rt"
#$c này c%a s& imp!rt system 'ata (u)t hi*n ta thiết lập hàm
truyền+ thiết lập (!n, ch-n ./
0 12y ,i3 ta (em hàm /hi ch4a hi*u ch5nh: 6à! menu ch-n analysis!ther
l!!p pesp!nses ch-n các thiết lập t47n, 8n, ta 94:c h;nh sau::
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
0 1 2 3 4 5 6
-10
-8
-6
-4
-2
0
2
4
6
8
0 /<ch chu=t ph>i 6à! 6?n, @ABSC menu (u)t hi*n: ta ch-n 122 0<XRLeRI< s
XR12 ("#)( *"+," -./ 0"1!
t 23,4 *"(V% :A N7* :O," :#A/ *U* CH eRI< *M, %"#$% :A :5k* "#)( *"+," ,"5 /<,4
/(=,Q
t ,"5,4 %"5\,4 ,"5 C]J -D Iu% /u% %"\# 4#1, CH -1# -= X., :A :$, :5k* &"<v,4
"#)( *"+," %=# 5(> ,P, %1 2U1 CH< %g," %<7, Xw %"(J$% Ix# -1( :? "#)( *"+," %I<,4
&"<v,4 ,H< :? %"B %=% "6,Q
m1( &"# :5k* SV "#)( *"+," C(-! ,"5 /<,4 /(=, %1 NR/ &$% 8(v: Sf,4 *7*" *"W,
analysis!ther l!!p pesp!nses ch-n các thiết lập t47n, 8n, ta 94:c h;nh
sau /hi hi*u ch5nh:
m1( &"# "#)( *"+,":
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
0 2 4 6 8 10 12 14 16 18 20
0
0.2
0.4
0.6
0.8
1
1.2
1.4

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