Giao Trinh LTDKTD - Full

MC LC
Li ni u
Chng 1: I CNG V H THNG T NG .................................................................. 3
Chng 2: M T TON HC PHN T V H THNG IU KHIN ............................ 12
Chng 3: C TNH NG HC CA H THNG ............................................................ 55
Chng 4: KHO ST TNH N NH H THNG IU KHIN ...................................... 71
Chng 5: NH GI CHT LNG H THNG ............................................................... 93
Chng 6: THIT K H THNG LIN TC ........................................................................ 104
Chng 7: M T TON HC H THNG RI RC ......................................................... 144
Chng 8: THIT K H THNG IU KHIN RI RC .................................................. 171
Chng 9: H THNG IU KHIN PHI TUYN ................................................................ 206
Ph lc Bng bin i Laplace .................................................................................................. 224
LI NI U
L thuyt iu khin t ng l mn hc dnh cho sinh vin ngnh in t - T
ng. Gio trnh L thuyt iu khin t ng gm c chn chng:
Chng 1: i cng v h thng iu khin t ng
Chng 2: M t ton hc phn t v h thng iu khin
Chng 3: c tnh ng hc ca h thng t ng
Chng 4: Kho st tnh n nh ca h thng t ng
Chng 5: nh gi cht lng h thng iu khin t ng
Chng 6: Thit k h thng iu khin lin tc
Chng 7: M t ton hc h thng ri rc
Chng 8: Thit k h thng iu khin ri rc
Chng 9: H thng iu khin phi tuyn
y l nhng ni dung tm tt gip sinh vin tip thu c mn hc mt cch nhanh
chng. Ln u bin son chc chn cn nhiu thiu st, mong nhn c s nhng
kin ng gp ca cc bn ng nghip.
B mn iu khin t ng
Ths. Trn Th Hong Oanh
ii
Chng 1: i cng v h thng t ng
Chng 1
I CNG V
H THNG IU KHIN T NG
1.1.
KHI NIM IU KHIN
Th d 1: Li xe vi tc 100km/h
- Mt quan st ng h o tc v
thu thp thng tin
- B no iu khin tng tc nu v < 100km/h

gim tc nu v > 100km/h
- Tay gim ga hoc tng ga
x l thng tin
tc ng ln h thng
Kt qu ca qu trnh iu khin trn: xe chy vi tc gn bng 100km/h

nh ngha: iu khin l qu trnh thu thp thng tin, x l thng tin v tc
ng ln h thng p ng ca h thng gn vi mc ch nh trc.
Khi nim iu khin trn l mt khi nim rt rng, mn hc ny ch nghin cu l
thuyt iu khin cc h thng k thut
iu khin t ng: l qu trnh iu khin khng cn s tc ng ca con
ngi
Ti sao cn phi iu khin: v
- Con ngi khng tha mn vi p ng ca h thng.
TD: iu ho nhit v khng tha mn vi nhit nng qu hoc lnh qu.
n p v khng tho mn vi vic in p thay i tht thng .
- Mun tng chnh xc, hiu qu kinh t.
Cc thnh phn c bn ca h thng iu khin:
H thng iu khin gm 3 thnh phn c bn:
- i tng iu khin
- Cm bin (hay thit b o lng)
- B iu khin
S khi h thng iu khin thng gp:
r(t)
e(t)
u(t)
B iu khin
i tng
c(t)
cht(t)
Cm bin
Cc k hiu vit tt:

- r(t) (reference input): tn hiu vo, tn hiu chun.
- c(t) (controlled output): tn hiu ra
- cht(t): tn hiu hi tip
- e(t) (error): sai s
- u(t): tn hiu iu khin
Cu hi: Cc thnh phn c bn trong h thng li xe trong TD1 l g?
Th d 2: Hy xc nh cc thnh phn
c bn trong h thng iu khin mc
nc n gin trong hnh v
Cc bi ton c bn trong lnh vc iu khin t ng:
Trong lnh vc iu khin t ng c 3 vn cn gii quyt l:

Phn tch h thng: Cho h thng t ng bit cu trc v thng s. Bi ton t
ra l tm p ng ca h thng v nh gi cht lng.
Thit k h thng: Bit cu trc v thng s ca i tng iu khin. Bi ton t
ra l thit k b iu khin c h thng tha mn cc yu cu v cht lng.
Nhn dng h thng: Cha bit cu trc v thng s ca h thng. Vn t ra l
xc nh cu trc v thng s ca h thng.
Trong mn hc ny ch gii quyt bi ton phn tch v thit k h thng. Bi ton
nhn dng h thng s c nghin cu trong mn hc khc.
1.2.
CC NGUYN TC IU KHIN
Cc nguyn tc iu khin c th xem l kim ch nam thit k h thng iu

khin t cht lng cao v c hiu qu kinh t nht.
Nguyn tc 1: Nguyn tc thng tin phn hi

Mun qu trnh iu khin t cht lng cao, trong h thng phi tn ti hai dng
thng tin: 1 t b iu khin n i tng v 1 t i tng ngc v b iu khin
(dng thng tin ngc gi l hi tip).
iu khin khng hi tip (iu khin vng h) khng th t cht lng cao, nht
l khi c nhiu.
Cc s iu khin da trn nguyn tc thng tin phn hi l:
iu khin b nhiu:
n(t)
r(t)
c(t)
u(t)
B iu khin
i tng
iu khin san bng sai lch:

r(t)
e(t)
+-
B iu khin
cht(t)
c(t)
u(t)
i tng
Cm bin
iu khin phi hp:

n(t)
r(t)
e(t)
+
B iu khin
cht(t)
c(t)
u(t)
i tng
Cm bin
Nguyn tc 2: Nguyn tc a dng tng xng

Mun qu trnh iu khin c cht lng th s a dng ca b iu khin phi
tng xng vi s a dng ca i tng. Tnh a dng ca b iu khin th hin kh
nng thu thp thng tin, lu tr thng tin, truyn tin, phn tch x l, chn quyt nh,
ngha: Cn thit k b iu khin ph hp vi i tng.
Th d: Hy so snh yu cu cht lng iu khin v b iu khin s dng trong
cc h thng sau:
- iu khin nhit bn i (chp nhn sai s ln) v iu khin nhit l sy

(khng chp nhn sai s ln).
- iu khin mc nc trong bn cha khch sn (ch cn m bo lun c nc
trong bn) vi iu khin mc cht lng trong cc dy chuyn sn xut (mc cht lng
cn gi khng i).
Nguyn tc 3: Nguyn tc b sung ngoi
Mt h thng lun tn ti v hot ng mi trng c th v c tc ng qua li cht
ch vi mi trng . Nguyn tc b sung ngoi tha nhn c mt i tng cha bit
(hp en) tc ng vo h thng v ta phi iu khin c h thng ln hp en.
ngha: Khi thit k h thng t ng, mun h thng c cht lng cao th khng
th b qua nhiu.
Nguyn tc 4: Nguyn tc d tr
V nguyn tc 3 lun coi thng tin cha y phi phng cc bt trc xy ra v
khng c dng ton b lc lng trong iu kin bnh thng. Vn d tr khng s
dng, nhng cn m bo cho h thng vn hnh an ton.
Nguyn tc 5: Nguyn tc phn cp
i vi mt h thng iu khin phc tp cn xy dng nhiu lp iu khin b
sung cho trung tm. Cu trc phn cp thng s dng l cu trc hnh cy
Th d:
- H thng iu khin giao thng th hin i
- H thng iu khin dy chuyn sn xut
Nguyn tc 6: Nguyn tc cn bng ni
Mi h thng cn xy dng c ch cn bng ni c kh nng t gii quyt
nhng bin ng xy ra.
1.3.
PHN LOI H THNG IU KHIN
S phn loi cc h thng iu khin ch mang tnh qui c, c nhiu cch phn loi
khc nhau
Phn loi theo c im ca h thng:

H thng lin tc: tn hiu vo, tn hiu ra v tt c tn hiu trung gian truyn bn
trong h thng l tn hiu lin tc. H thng lin tc c m t bng phng trnh vi
phn.
H thng ri rc: trong h thng c mt im no m tn hiu l ri rc. H
thng ri rc c m t bng phng trnh sai phn.
H thng tuyn tnh: h thng c m t bi phng trnh vi phn / sai phn
tuyn tnh.
H thng phi tuyn: h thng c m t bi phng trnh vi phn / sai phn phi
tuyn.
H thng mt ng vo mt ng ra SISO (Single Input Single Output)
H thng nhiu ng vo nhiu ng ra MIMO (Multi Input Multi Output)
H thng bt bin theo thi gian: h s ca phng trnh vi phn / sai phn m
t h thng khng i
H thng bin i theo thi gian: h s ca phng trnh vi phn / sai phn m
t h thng thay i theo thi gian.
Trong mn hc ny ch tp trung nghin cu h thng t ng lin tc/ ri rc, mt
ng vo mt ng ra, tuyn tnh, bt bin theo thi gian
Phn loi theo chin lc iu khin:
Mc tiu iu khin thng gp nht l sai s gia tn hiu ra v tn hiu vo chun
cng nh cng tt. Tu theo dng tn hiu vo m ta c cc loi iu khin sau:
iu khin n nh ho:
Nu tn hiu chun r(t) = hng s, ta gi l iu khin n nh ho.
iu khin theo chng trnh:
Tn hiu vo r(t) l hm thay i theo thi gian nhng bit trc.
iu khin theo di:
Tn hiu vo r(t) l hm khng bit trc theo thi gian.
Lch s pht trin l thuyt iu khin:
iu khin kinh in: m t ton hc dng phn tch v thit k h thng l
hm truyn.
-
Qu o nghim s
Biu Nyquist, biu Bode
iu khin PID (Proportional Integral Derivative)
c im:
-
Ch p dng i vi h tuyn tnh bt bin mt ng vo mt ng ra
K thut thit k trong min tn s
iu khin hin i: m t ton hc dng phn tch v thit k h thng l h

phng trnh bin trng thi.
-
iu khin ti u
Lc Kalman (c lng trng thi ti u)
iu khin thch nghi
iu khin phi tuyn
iu khin bn vng
c im:
- p dng c vi h thng nhiu ng vo, nhiu ng ra, h thng bin i theo
thi gian.
-
K thut trong min thi gian.
iu khin thng minh: v nguyn tc khng cn dng m hnh ton hc thit

k h thng.
1.4.
iu khin dng logic m
iu khin dng mng nron
iu khin dng thut ton di truyn
M phng/bt chc cc h thng thng minh sinh hc.
Thit k da vo kinh nghim (K dng logic m), thng s b iu khin thay

i thng qua qu trnh hc (K dng mng nron),
MT S TH D V CC H THNG T NG
hiu c tng tn v c th thit k c cc h thng iu khin t ng,

ngoi l thuyt iu khin t ng, cn phi c kin thc lin quan n mt s mn hc
khc. V vy, vi mc ch cung cp cho sinh vin ci nhn tng quan v h thng t
ng, cc th d di y ch trnh by s khi.
1.4.1. iu khin nhit

- Nhit l i lng tham gia vo nhiu qu trnh cng ngh sn xut xi mng, gch
men, nha, cao su, ho du, thc phm,
- Mc tiu iu khin thng gp l gi cho nhit n nh (iu khin n nh ha)

hay iu khin nhit thay i theo c tnh thi gian nh trc (iu khin theo
chng trnh)
Th d 1: H thng iu khin n nh nhit
Th d 2: H thng iu khin nhit theo chng trnh
1.4.2. iu khin ng c:
- ng c l thit b truyn ng c s dng rt ph bin trong my mc, dy
chuyn sn xut.
- C 3 bi ton iu khin ng c thng gp:
iu khin tc
iu khin v tr
iu khin moment
Th d: H thng iu khin tc ng c DC
1.4.3. H thng iu khin mc cht lng:
1.4.4. H thng iu khin my cng c bng my tnh:
10
11
Chng 2: M t ton hc
Chng 2
M T TON HC
PHN T& H THNG IU KHIN LIN TC
i tng iu khin rt a dng v c bn cht vt l khc nhau, nh ng c, l
nhit, my bay, phn ng ho hc cn c c s phn tch, thit k cc h thng
iu khin c bn cht vt l khc nhau. C s chnh l ton hc.
C 2 phng php m t ton hc h thng t ng l phng php hm
truyn t v phng php bin trng thi.
2.1.
PHNG PHP HM TRUYN T
2.1.1. PHP BIN I LAPLACE
nh ngha:
Cho hm f(t) l hm xc nh vi mi t 0 , bin i Laplace ca f(t) l:
L [ f (t )] F ( s)
f (t ).e
st
dt
Trong :
s: bin phc (bin Laplace) s j
: phn thc
: phn o
L : ton t Laplace
F(s): bin i Laplace ca hm f(t)
Bin i Laplace tn ti khi tch phn biu thc nh ngha trn hi t.
Bin i Laplace dng chuyn phng trnh vi phn phng trnh i s vi
bin s.
Tnh cht ca php bin i Laplace:
a. Tnh tuyn tnh:
Cho f1(t) v f2(t)l hai hm theo thi gian. Gi s:
Th
L [ f1 (t )] F1 (s)
L [ f 2 (t )] F2 (s)
L [af1 (t ) bf 2 (t )] aF1 (s) bF2 (s)
b. nh l chm tr:
12
Chng 2: M t ton hc
Nu f(t) c lm tr mt khong thi gian T, ta c hm f(t-T). Khi :

L [ f (t T ) e sT L [ f (t )] e sT .F (s)
c. nh ca o hm:
Nu hm f(t) c bin i Laplace l L [ f (t )] F (s) th:
df (t )
L
sF ( s) f (0 )
dt
Trong f (0 ) gi l iu kin u. Nu f (0 ) = 0 th:

df (t )
L
sF ( s)
dt
d. nh ca tch phn:
Nu hm f(t) c bin i Laplace l L [ f (t )] F (s) th:
F ( s)
L f (t )dt
s
0
e. nh l gi tr cui:
Cho hm f(t) c bin i Laplace l L [ f (t )] F (s) th:
lim f (t ) lim sF (s)
Th
s 0
Bin i Laplace ca mt s hm c bn:

a. Hm bc thang n v: (hm nc n v)
u(t)
1
u (t )
0
t0
t 0
Ta c :
L u (t ) u (t ).e st dt
(theo nh ngha)
e st .dt
(do biu thc ca u(t))
e st
s
e s e 0
s
s
13
Chng 2: M t ton hc
L u (t )
1
s
b. Hm dirac: (hm xung n v)

t0
t0
(t )
(t)
(t ).dt 1
Ta c: L (t ) (t ).e st dt
(theo nh ngha)
0
0
(t ).e
st
dt
0
0
(t ).e 0 dt 1
0
Vy
L (t ) 1
c. Hm dc n v: (RAMP)
f(t)
t
r (t ) t.u (t )
0
t0
t 0
t
1
Cch 1: dng nh ngha

L f (t )
f (t ).e
st
dt t.e st dt
Vy:
t. e st e st
1

2 2
s
s 0
s
1
L t.u (t ) 2
s
Cch 2: dng tnh cht nh ca tch phn
Ta c: r (t ) t.u (t ) u (t ) dt
0
1
Mt khc: L u (t )
s
Nn theo tnh cht ca tch phn ta c:
14
Chng 2: M t ton hc
t
L u (t ) 1
L r (t ) L u (t )dt
2
s
s
0
Dng tnh cht nh ca tch phn c th d dng chng minh c:

n!
L t n u (t ) n 1
s
d. Hm m:
f(t)
e at
f (t ) e at .u (t )
0
t0
t 0
Ta c: L e at .u (t ) e at .e st .dt
( theo nh ngha)
e ( s a )t
1
e
.dt

sa
s a 0
0
1
L e at .u (t )
sa
( s a )t
Vy:
e. Hm sin:
f(t)
1
sin t
f (t ) (sin t ).u (t )
0
t0
t 0
p dng cng thc Euler:

sin t
e jt e jt
2j
e jt e jt st
1 1
1
0 2 j .e .dt 2 j s j s j s 2 2
Vy: L (sin t )u (t ) 2
s 2
Ta c: L (sin t )u (t )
2.1.2. HM TRUYN T
15
Chng 2: M t ton hc
nh ngha:
c(t)
r(t)
H thng t ng
Ng ra
Ng vo
Quan h ng vo ng ra ca mi h thng tuyn tnh lin tc u c th m t bi

phng trnh vi phn:
a0
d n c(t )
d n 1c(t )
dc(t )
a
... a n 1
a n c(t )
1
n
n 1
dt
dt
dt
d m r (t )
d m1 r (t )
dr (t )
b0
b
... b1m1
bm r (t )
1
m
m 1
dt
dt
dt
(2.1)
n m,
n gi l bc ca h thng
Nhn xt: Kho st h thng da vo phng trnh vi phn (2.1) rt l kh
khn. Mt th d n gin l gi s ta bit tt c cc thng s ca h thng v bit
tn hiu vo, mun tm p ng ca h thng ta phi gii phng trnh vi phn cp
n, mt cng vic khng d dng cht no.
Cn mt biu din ton hc khc gip cho vic nghin cu h thng t ng d
dng hn. Nh php bin i Laplace, ta c th thc hin c iu ny.
Gi s iu kin u bng 0, rng:
- L c(t ) C (s)
dc(t )
- L
sC( s)
dt
d 2 c(t )
( tnh cht nh ca o hm)
d dc(t )
- L 2 L 2 ssC( s) s 2 C ( s)
dt dt
dt
..
d n c(t )
- L n s n C ( s)
dt
i vi r(t) ta cng c cc biu thc tng t
Bin i Laplace hai v phng trnh (2.1) ta c:
d n c(t )
d n 1c(t )
dc(t )
L a 0
a
... a n 1
a n c(t )
1
n
n 1
dt
dt
dt
d m r (t )
d m 1 r (t )
dr (t )
L b0
b
... b1m1
bm r (t )
1
m
m 1
dt
dt
dt
p dng tnh cht tuyn tnh v nhn xt trn ta c:

a0 s n C ( s) a1 s n1C ( s) ... a n1 sC( s) a n C ( s)
b0 s m R( s) b1 s m1 R( s) ... bm1 sR( s) bm R( s)
a0 s n a1 s n1 ... a n1 s a n C ( s)
b s
0
b1 s m1 ... bm1 s bm R( s)
16
Chng 2: M t ton hc
C ( s) b0 s m b1 s m1 ... bm1 s bm
Lp t s:
R( s) a0 s n a1 s n1 ... a n1 s a n
C ( s) b0 s m b1 s m1 ... bm1 s bm
t: G( s)
R( s) a0 s n a1 s n1 ... a n1 s a n
(2.2)
G(s) gi l hm truyn (transfer function) ca h thng.
nh ngha: Hm truyn ca mt h thng l t s gia bin i Laplace ca tn hiu

ra v bin i Laplace ca tn hiu vo khi iu kin u bng 0.
Ch :
- Mc d hm truyn c nh ngha l t s gia bin i Laplace ca tn hiu ra
v bin i Laplace ca tn hiu vo nhng hm truyn khng ph thuc vo tn hiu
ra v tn hiu vo m ch ph thuc vo cu trc v thng s ca h thng ( v
phi ca biu thc (2.2) ch ph thuc vo cu trc v thng s ca h thng).
- V hm truyn ch ph thuc vo cu trc v thng s ca h thng nn r rng ta
c th dng hm truyn m t h thng. Ni cch khc ch da vo hm truyn ta c
th nh gi c c tnh ng ca h thng.
- Vic nghin cu h thng t ng da vo hm truyn (phn thc i s, biu thc
(2.2) d dng hn da vo phng trnh vi phn (2.1)
Hm truyn t ca cc khu hiu chnh th ng
a. Mch tch phn bc 1
p dng cng thc phn p ta c:
V0 ( s)
vi
vo
ZC
Vi ( S )
R ZC
1
, ta c:
Cs
V ( s)
1 / Cs
1
G( s) 0
Vi ( s) R 1 / Cs RCs 1
Lp t s v ch
ZC
b. Mch vi phn bc 1
vi
V0 ( s)
vo
R
Vi ( S )
R ZC
1
, ta c:
Cs
V ( s)
R
RCs
G( s) 0
Vi ( s) R 1 / Cs RCs 1
Lp t s v ch
c. Khu hiu chnh sm pha
17
ZC
Chng 2: M t ton hc

C
vi
R1
R2
Vi ( S )
Z R2
V ( s)
R2
G( s) o
Vi ( s) Z R2
V0 ( s)
R2
vo
1
Cs R1
M: Z R1 //(1 / Cs )
1
R1Cs
R1
Cs
R1
R2
R2 ( R1Cs 1)
R2 ( R1Cs 1)
R1
R1 R2 ( R1Cs 1) R1 R2 R2 R1Cs
R1Cs R2
R2
R1Cs 1
G ( s)
R1 R2 R2 R1C
s 1
R1 R2
R2
R RC
R R2
t K C
;T 2 1 ; 1
( 1)
R1 R2
R1 R2
R2
T R1C
G(s)
Thay vo biu thc trn ta c:

G( s) K C
Ts 1
Ts 1
Khu hiu chnh trn c hm truyn c dng trn vi >1 c gi l khu hiu
chnh sm pha.
d. Khu hiu chnh tr pha
vi
R1
C
vo
Z
Vi ( S )
R1 Z
V ( s)
Z
G( s) o
Vi ( s) R1 Z
V0 ( s)
M :
Z R2
Nn:
18
R Cs 1
1
2
Cs
Cs
Chng 2: M t ton hc
R2 Cs 1
R2 Cs 1
R2 Cs 1
Cs
G( s)
R Cs 1 R1Cs R2 Cs 1 ( R1 R2 )Cs 1
R1 2
Cs
R2
t: T ( R1 R2 )C ;
( 1)
R1 R2
T R2 C
Thay vo biu thc trn, ta c:

Ts 1
G( s)
Ts 1
Khu hiu chnh c hm truyn trn hay c dng tng qut hn l:

Ts 1
G( s) K C
Ts 1
Vi 1 c gi l khu hiu chnh tr pha

Hm truyn t ca cc khu hiu chnh tch cc
a. Khu t l P: (Proportional)
D thy:
R2
G( s)
vi
R1
+
Vo ( s)
R
2
Vi ( s)
R1
t:
KP
vo
R2
R1
Ta c hm truyn:
G( s) K P
Ti sao gi l khu t l?
Ta c:
Vo ( s)
KP
Vi ( s)
Vo ( s) K PVi ( s)
vo (t ) K P vi (t )
T kt qu trn ta thy tn hiu ra t l vi tn hiu vo, v l do m khu hiu

chnh trn c gi l khu t l.
b. Khu tch phn t l PI: (Proportional Integral)
19
Chng 2: M t ton hc
Ta c:
Z
R2
Vo ( s)
Z
Vi ( s)
R1
R1
R
1
G( s) 2
R1 R1Cs
R
1
t: K P 2 K I
R1
R1C
G( s)
R1
vi
R2
vo
1
Cs
Ta c hm truyn:
G( s) K P
KI
s
Ti sao gi l khu tch phn t l?

V0 ( s)
K
G( s) K P I
Ta c:
Vi ( s)
s
V ( s)
Vo ( s) K PVi ( s) K I i
s
t
Vo (t ) K PVi (t ) K I vi (t )dt
0
T kt qu trn ta thy tn hiu ra t l vi tn hiu vo v t l vi tch phn ca tn

hiu vo, v l do m khu hiu chnh trn c gi l khu tch phn t l.
c. Khu tch phn t l PD: (Proportional Derivative)
Ta c:
R2
R1
-
vi
Z
Vo ( s)
R
2
Vi ( s)
Z
1
R1
R1
Cs
Z
1
R1Cs 1
R1
Cs
R ( R Cs 1)
R
G( s) 2 1
2 R2 Cs
R1
R1
R
t: K P 2
K D R2 C
R1
G( s)
vo
Ta c hm truyn:
G( s ) K P K D s
Ti sao gi l khu vi phn t l?

Ta c:
20
Chng 2: M t ton hc
V0 ( s)
G( s) K P K D s
Vi ( s)
Vo (s) K PVi (s) K D sVi (s)
vo (t ) K P vi (t ) K D
dvi (t )
dt
T kt qu trn ta thy tn hiu ra t l vi tn hiu vo v t l vi vi phn ca tn

hiu vo, v l do m khu hiu chnh trn c gi l khu vi phn t l.
d. Khu tch phn t l PID: (Proportional Integral Derivative)
R2
Z2
Z1
Ta c:
C2
R1
-
vi
vo
C1
G( s)
( R1C1 s 1)( R2 C 2 s 1)
R1C 2 s
G( s)
R1C1 R2 C 2
1
R2 C1 s
R1C 2
R1C 2 s
t: K P
R1C1 R2 C 2
;
R1C 2
KI
1
R1C 2
Ta c hm truyn:
G( s) K P
KI
KDs
s
Ta c:
V0 ( s)
K
G( s) K P I K D s
Vi ( s)
s
Vo ( s) K PVi ( s) K I
Vo ( s)
Z
2
Vi ( s)
Z1
1
R1
R1
Cs
Z1
1
R1Cs 1
R1
Cs
R C s 1
1
Z 2 R2
2 2
Cs
C2 s
G( s)
Vi ( s)
K D sVi ( s)
s
21
K D R2 C1
Chng 2: M t ton hc
t
vo (t ) K P vi (t ) K I vi(t )dt K D
0
dvi (t )
dt
T kt qu trn ta thy tn hiu ra t l vi tn hiu vo, t l vi tch phn v vi

phn ca tn hiu vo, v l do m khu hiu chnh trn c gi l khu vi tch phn
t l.
Hm truyn t ca mt s i tng iu khin:
a. ng c DC
L: in cm phn ng
: tc ng c
R: in tr phn ng
Mt: moment ti
U: in p phn ng
J: moment qun tnh
- E: sc phn in ng
Theo nh lut Kirchoff ta c:
U(t) = i (t). R + L di (t) + E(t)
(1)
E(t) = K (t )
(2)
dt
Trong :
K: h s
: t thng kch t
Phng trnh cn bng moment trn trc ng c:

M (t ) M t (t ) B (t ) J
d (t )
dt
(3)
Trong :
M (t ) K i (t) : moment ca ng c
(4)
Bin i Laplace (1), (2), (3), (4) ta c:

U(s) = I(s). R + L s I(s) + E(s)
(5)
E(s) = K (s)
(6)
22
Chng 2: M t ton hc
M (s) M t (s) B (s) Js (s)
(7)
M (s) K I (s)
(8)
Tu
Lu
l hng s thi gian in t ca ng c
Ru
TC
J
l hng s thi gian in c ca ng c
B
Ta t:
Ta c th vit li (5) v (7) nh sau:

(5) U(s) E(s)= Ru(1+Tus)I(s)
U u ( s ) Eu ( s )
Ru (1 Tu s)
I =
(5)
(7) M(s) Mt(s) = B(1+TCs) (s)

(s) =
M ( s) M t ( s)
B(1 TC s)
(7)
T (5), (6), (7), v (8) ta c th biu din ng c DC bng s khi:

Hm truyn ca ng c:
U(s)
Mt(s)
1 / Ru
1 sTu
1/ B
1 sTC
(s)
E(s)
K
Hm truyn ng c:
( s)
U u ( s)
.....
b. L nhit
Cng sut P
L nhit
Nhit t0
Hm truyn ca l nhit c xc nh bng phng php thc nghim
23
Chng 2: M t ton hc
Cp nhit ti a cho l (cng sut vo P = 100%) nhit l tng dn. Sau mt thi
gian nhit l t n gi tr bo ho. c tnh theo thi gian c th biu din nh hnh
v.
0
t (sec)
K
t (sec)
T2
T1
T1
c tnh chnh xc ca l nhit
T2
c tnh gn ng ca l nhit
Ta xc nh hm truyn gn ng ca l nhit dng nh ngha:

G( s)
C ( s)
R( s)
Tn hiu vo l nc n v ( P = 100%)
bin i Laplace ca tn hiu vo l: R( s )
1
s
Tn hiu ra gn ng (hnh v bn phi) chnh l hm:

c(t ) f (t T1 )
Trong : f (t ) K (1 e t / T )
2
D dng chng minh c: F ( s)
K
s(1 T2 s)
Ke T1
Nn p dng nh l chm tr ta c: C ( s)
s(1 T2 s)
Suy ra: G ( s)
Ke T1s
1 T2 s
2.3. S KHI
24
Chng 2: M t ton hc
2.3.1. Khi nim s khi

S khi ca mt h thng l hnh v m t chc nng ca cc phn t v s tc
ng qua li gia cc phn t trong h thng.
Cc thnh phn ca s khi: 3 thnh phn
Khi chc nng:
R(s)
G(s)
C(s)
C(s) = R(s).G(s)
Tn hiu ra ca khi chc nng bng tch tn hiu vo v hm truyn.
im r nhnh:
x
x
-x
Ti im r nhnh mi tn hiu u bng nhau

B tng:
x-y
y
Tn hiu ra ca b tng bng tng i s ca cc tn hiu vo

Bin i tng ng s khi: hai s khi c gi l tng ng nu
hai s khi c quan h gia cc tn hiu vo v tn hiu ra nh nhau
2.3.2. Hm truyn t ca h thng biu din bng s khi
a. H thng ni tip:
R(s)
G1(s)
R1(s)
R2(s)
G2(s)
C (s)
C2(s)
Rn(s)
C1(s)
Hm truyn ca h thng ni tip:
25
Gn(s)
Cn(s)
Chng 2: M t ton hc
G( s)
C ( s)
C ( s).C n ( s)
C ( s) C n ( s ) C1 ( s).C n ( s)
G1 ( s). n
G1 ( s). 2
R( s) R1 ( s) R1 ( s).C1 ( s)
R2 ( s )
R2 ( s).C 2 ( s)
G1 ( s).G2 ( s)
C n ( s)
... G1 ( s).G2 ( s)...Gn ( s)
R3 ( s)
Vy: G( s) Gi ( s)
i
b. H thng song song:
R1(s)
R(s)
G1(s)
R2(s)
G2(s)
Rn(s)
Gn(s)
C1(s)
C2(s)
C (s)
Cn(s)
Hm truyn ca h thng song:

G( s)
C ( s)
C ( s) C1 ( s) C 2 ( s) ... C n ( s) C1 ( s) C 2 ( s)
... n
R( s )
R( s )
R1 ( s) R2 ( s)
Rn ( s )
n
Vy: G( s) Gi ( s)
i 1
Ch : Trong cng thc tng l tng i s

c. H hi tip 1 vng:
H hi tip m:
R(s)
E(s)
-
C(s)
G (s)
Cht(s)
H(s)
Hm truyn h thng hi tip (h thng kn)
26
Chng 2: M t ton hc
C ( s)
R( s )
Gk ( s )
Ta c:
-
C(s) = E(s).G(s)
R(s) = E(s) + Cht(s)
(do E(s)=R(s) - Cht(s))
= E(s) + C(s).H(s)
(do Ch (s) = C(s).H(s))
= E(s) + E(s).G(s).H(s)
(do C(s) = E(s).G(s))
Lp t s gia C(s) v R(s) ta c:

Gk ( s )
G( s)
1 G ( s).H ( s)
H thng hi tip m n v (H(s) = 1)
R(s)
E(s)
C(s)
Gk ( s )
G (s)
G( s)
1 G( s)
Cht(s)
H hi tip dng: chng minh tng t, d dng suy ra:
Gk ( s )
R(s)
E(s)
+
G( s)
1 G( s).H ( s)
C(s)
G (s)
Cht(s)
H(s)
d. H hi tip nhiu vng:
- i vi cc h thng phc tp gm nhiu vng hi tip, ta thc hin cc php
bin i s khi lm xut hin cc dng n gin (ni tip, song song, hi
tip 1 vng) v tnh hm truyn tng ng theo th t t trong ra ngoi.
Hai s khi c gi l tng ng nu hai s khi c quan h gia
cc tn hiu vo v ra nh nhau.
27
Chng 2: M t ton hc
- Cc php bin i s khi thng dng l:

Chuyn im r nhnh t trc ra pha sau 1 khi:
x1
x1
G(s)
x3
x3
G(s)
x2
1/G(s)
x2
x2 = x 1
x3 = x 1 G
x3 = x 1 G
x2 = x3.(1/G) = x1G.(1/G) = x1
Chuyn im r nhnh t pha sau ra pha trc 1 khi:
x1
G(s)
x1
x3
x2
G(s)
x3
x2
G(s)
x3 = x 1 G
x3 = x 1 G
x2 = x 3 = x 1 G
x2 = x1 G
Chuyn b tng t pha trc ra pha sau 1 khi:
x1
+-
G(s)
x3
x2 = ( x1 - x3).G
x2
x2
x1
G(s)
x3
G(s)
x2 = x1G x3G = (x1 x3) G
Chuyn b tng t pha sau ra pha trc 1 khi:
28
Chng 2: M t ton hc
x1
G(s)
x2
x2
x3
x1
G(s)
x3
1/G(s)
x2 = [x1 x3(1/G)].G = x1 G x3
x2 = x1.G - x3
Chuyn v tr hai b tng:
x1
x4
+
+
x3
x2
x4 = ( x1 x2 ) + x3
+
+
x1
x4
+
+
x2
x3
x4 = ( x1 + x3 ) x2
Tch 1 tng thnh 2 b tng:
x3
x1
+
x3
x1
x4
+
-
x4
x2
x2
x4 = x1 x2 + x3
++
+
+
x4 = ( x1 x2 ) + x3
Ch : Khi thc hin php bin i s khi tnh hm truyn tng ng ca h

thng, sinh vin thng mc cc sai st sau:
Chuyn v tr im r nhnh v b tng:
Chuyn v tr hai b tng khi gia h.ai b tng c im r nhnh
2.3.3. Mt s th d tnh hm truyn tng ng ca h thng:
Th d 1: Tnh hm truyn tng ng ca h thng c s khi nh sau:
29
Chng 2: M t ton hc
Gii: Bin i tng ng s khi nh sau:

-
Chuyn v tr hai b tng v , GA(s)=[G3(s)//G4(s)]:
GB(s)[G1(s)//hm truyn n v],
GC(s) = vng hi tip [G2(s), GA(s)]:
Ta c:
-
GA(s) = G3(s) G4(s)
GB(s) = 1+ G1(s)
GC ( s)
G2 ( s )
G2 ( s )
1 G2 ( s).G A ( s) 1 G2 ( s).[G3 ( s) G4 ( s)]
Hm truyn tng ng ca h thng:

G(s) GB (s).GC (s)
GC ( s)
[1 G1 ( s)].G2 ( s)
1 G2 ( s).[G3 ( s) G4 ( s)]
30
Chng 2: M t ton hc
Gii: Bin i tng ng s khi nh sau:

-
Chuyn v tr hai b tng v

Chuyn im r nhnh ra sau G2(s)
GB(s) = vng hi tip [G2(s), H2(s)]

GC(s) = [GA(s)// hm truyn n v]
GD(s) = [GB(s) ni tip GC(s) ni tip G3(s)]
GE(s) = vng hi tip [ GD(s). H3(s)]
Ta c:
G1
H1
G2
GB
G2
1 G2 H 2
GC 1 G A 1
G2
G2 H 1
G G G3 H 1
G3 2 3
GD GB .GC .G3
1 G2 H 2
1 G2 H 2 G2
G 2 G3 G3 H 1
GD
1 G2 H 2
GE
G G G3 H 1
1 GD H 3
1 2 3
H3
1 G2 H 2
GE
H 1 G2 H 1
G2
G2
G2 G3 G3 H 1
1 G2 H 2 G2 G3 H 3 G3 H 1 H 3
31
Chng 2: M t ton hc
Vy hm truyn tng ng ca h thng l:

G 2 G3 G3 H 1
1 G 2 H 2 G 2 G3 H 3 G3 H 1 H 3
G1G E
G
G 2 G3 G3 H 1
1 G1G E
1 G1 .
1 G 2 H 2 G 2 H 3 G3 H 3 G3 H 1
G1 .
G1G2 G3 G1G3 H 1
1 G2 H 2 G2 G3 H 3 G3 H 1 H 3 G1G2 G3 G1G3 H 1
Gi : Bin i tng ng s khi nh sau:

-
Chuyn b tng ra trc G1(s), sau i v tr 2 b tng v .

Chuyn im r nhnh ra sau G2(s)
2.4. GRAPH TN HIU

biu din h thng t ng, ngoi phng php s dng s khi, ta cn c
th s dng phng php graph tn hiu. Hy so snh hai hnh v di y:
R(s)
+ E(s)
G (s)
-
C(s)
R(s)
E(s)
G(s) C(s)
-H(s)
H(s)
nh ngha:
Graph tn hiu l mt mng gm cc nt v cc nhnh.
- Nt: l mt im biu din mt bin hay tn hiu trong h thng.
32
Chng 2: M t ton hc
Nhnh: l ng ni trc tip 2 nt, trn mi nhnh c ghi mi tn ch chiu

truyn ca tn hiu v c ghi hm truyn cho bit mi quan h gia tn hiu 2 nt.
- Nt ngun: l nt ch c cc nhnh hng ra.
- Nt ch: l nhnh ch c cc nhnh hng vo.
- Nt hn hp: l nt c c nhnh ra v cc nhnh vo.
Ti nt hn hp, tt c cc tn hiu ra u bng nhau v bng tng i s ca tn
hiu vo.
- ng tin: l ng gm cc nhnh lin tip c cng hng cc tn hiu i t
nt ngun n nt ch v ch qua mi nt mt ln.
li ca mt ng tin l tch ca cc hm truyn ca cc nhnh trn ng
tin .
- Vng kn: l mt ng khp kn gm cc nhnh lin tip c cng hng tn
hiu v ch qua mi nt mt ln.
li ca mt vng kn: l tch ca cc hm truyn ca cc nhnh trn vng kn
.
-
Cng thc Mason:

Hm truyn tng ng ca h thng t ng biu din bng graph tn hiu c th
c tnh theo cng thc:
G
1
k Pk
k
Trong cng thc trn:

Pk: l li ca ng tin th k.
: l nh thc ca graph tn hiu. c tnh bng cng thc sau:
1 Li Li L j Li L j Lm ...
i
i, j
i , j ,m
L : tng cc li vng ca cc vng kn trong graph tn hiu.

* L L : tng cc tch li vng ca 2 vng ri nhau.
*
i, j
* Li L j Lm : tng cc tch li vng ca 3 vng ri nhau.

i , j ,m
k: l nh thc con ca graph tn hiu. k c tnh suy ra t bng cch b

i cc vng kn c dnh ti ng tin Pk.
Ch :
*..
ri nhau = khng c nt no chung.
* ..dnh = c t nht nt chung.
Trong trng hp h thng c cho di dng s khi, mun p dng cng
thc Mason, trc tin ta phi chuyn s khi sang dng graph tn hiu.
Khi chuyn t s khi sang graph tn hiu cn ch :
- C th gp 2 b tng lin nhau thnh 1 nt.
- C th gp 1 b tng v 1 im r nhnh lin sau n thnh mt nt.
33
Chng 2: M t ton hc
Khng th gp 1 im r nhnh v 1 b tng lin sau n thnh 1 nt.
Mt s th d tnh hm truyn tng ng dng phng php graph tn

hiu:
Th d 1: Cho h thng m t bi graph tn hiu nh sau:
G7(s)
G6(s)
R(s) G1(s)
G2(s)
G4(s)
G3(s)
G5(s)
-H1
-H2
Tnh hm truyn tng ng ca h thng.
Gii:
-
Cc ng tin:
P1 = G1G2G3G4G5
P2 = G1G6G4G5
P3 = G1G2G7
Cc vng kn:
L1 = -G4H1
L2 = -G2G7H2
L3 = -G6G4G5H2
L4 = -G2G3G4G5H2
nh thc ca graph:
= 1- (L1+L2+L3+L4)+L1L2
- Cc nh thc con:
1= 1
2= 1
3= 1-L1
Hm truyn tng ng ca h l:
-
1
( P1 1 P2 2 P3 3 )
G1G2 G3G4 G5 G1G6 G4 G5 G1G2 G7 (1 G4 H 1 )

G
1 G4 H 1 G2 G7 H 2 G6 G4 G5 H 2 G2 G3G4 G5 H 2 G4 H 1G2 G7 H 2
Th d 2: Cho h thng s khi nh sau (s khi th d 2, mc 3.1)
34
C(s)
Chng 2: M t ton hc
H1(S)
1
R(S) +
G1(S)
G2(S)
4
H2(S)
H3(S)

Gii:
Graph tn hiu tng ng:
//////////////////////////////////////////////////////
35
++
6
G3(S)
C(S)
Chng 2: M t ton hc
Cc ng tin:
P1 = G1G2G3
P2 = G1H1G3
Cc vng kn:
L1 = -G2H2
L2 = -G2G3H3
L3 = - G1G2G3
L4 = - G3H1H3
L5 = - G1G3H1
nh thc ca graph:
= 1- (L1+L2+L3+L4+L4+L5)
- Cc nh thc con:
1= 1
2= 1
Hm truyn tng ng ca h l:
-
1
( P1 1 P2 2 )
+-
G1G2 G3 5 G1G3 H 1
1 G2 H 2 G2 G3 H 3 G1G2 G3 G3 H 1 H 3 G1G3 H 1
2.4. PHNG PHP BIN TRNG THI

2.4.1. Khi nim
Trng thi: Trng thi ca mt h thng l mt tp hp nh nht cc bin (gi l
bin trng thi) m nu bit gi tr ca cc bin ny ti thi im to v cc tn
hiu vo cc thi im t > to ta hon ton c th xc nh c p ng ca h
thng ti mi thi im t t 0 .
H thng bc n c n bin trng thi
Cc bin trng thi c th chn l bin vt l hoc khng phi l bin vt l.
Th d: ng c DC l h bc 2, c hai bin trng thi c th chn l tc ng c v
dng in phn ng (bin vt l). Tuy nhin ta cng c th chn 2 bin trng thi khc.
Vector trng thi: n bin trng thi hp thnh vector ct, k hiu
x [ x1 x2 ... xn ]T
gi l vector trng thi s dng cc bin trng thi, ta c th chuyn phng trnh vi phn
bc n m t h thng thnh n phng trnh vi phn bc nht.
Phng php m t h thng bng cch s dng cc bin trng thi gi l phng
php bin trng thi.
36
Chng 2: M t ton hc
Ti sao li s dng phng php bin trng thi?

- Quan h ng vo ng ra ca h thng c th m t bng phng trnh vi phn bc
n. Nghin cu h thng da trn phng trnh vi phn bc n rt kh khn cn m t
ton hc khc gip nghin cu h thng d dng hn.
- PP hm truyn chuyn quan h phng trnh vi phn cp n thnh phn thc i s
nh php bin i Laplace. Nghin cu h thng m t bng hm truyn thun li hn,
tuy nhin hm truyn c mt khuyt im:
* Ch p dng c khi iu kin u bng 0.
* Ch p dng cho h tuyn tnh bt bin mt ng vo, mt ng ra.
* Nghin cu h thng trong min tn s.
- PP bin trng thi chuyn phng trnh vi phn bc n thnh n phng trnh vi phn
bc 1 bng cch t n bin trng thi. PP bin trng thi khc phc c cc khuyt im
ca PP hm truyn.
H phng trnh bin trng thi c dng nh sau:
x1 (t ) a11 a12

x 2 (t ) a 21 a 22

x n (t ) a n1 a n 2
c(t ) d1 d 2
a1n x1 (t ) b1
a 2 n x 2 (t ) b2
r (t )

a nn x n (t ) bn
x1 (t )
x (t )
d n 2

x n (t )
t:
a11 a12 a1n
a
a 22 a 2 n
21
a n1 a n 2 a nm
b1
b
B 2

bn
D d1
d2 dn
Ta c th vit li h phng trnh bin trng thi di dng:

x (t ) Ax (t ) Br (t )
c(t ) Dx(t )
Ch :
Nu A l ma trn thng, ta gi l (*) l h phng trnh bin trng thi dng thng.
Nu A l ma trn cho, ta gi (*) l h phng trnh bin trng thi dng chnh tc.
2.5.2. Cch thnh lp h phng trnh bin trng thi dng thng
37
Chng 2: M t ton hc
A. V phi ca phng trnh vi phn m t h thng khng c cha o hm

ca tn hiu vo:
Cho h thng m t bi phng trnh vi phn;
a0
d n c(t )
d n1c(t )
dc(t )
a
... a n1
a n c(t ) b0 r (t )
1
n
n 1
dt
dt
dt n
(*)
t n bin trng thi nh sau:

x1 (t ) c(t )
x 2 (t ) x1 (t ) x 2 (t ) c(t )
x3 (t ) x 2 (t ) x3 (t ) c(t )
x n (t ) x n 1 (t ) x n (t )
d n 1c(t )
d n c(t )
x
(
t
)
n
dt n 1
dt n
Cch t bin trng thi:

-
x1 (t ) c(t )
Bin u tin bng tn hiu ra:
T bin trng thi x2 (t ) n xn (t ) t theo qui tc: bin sau bng o hm ca bin
trc:
____
xi (t ) x i 1 (t ), (i 2, n)
Thay cc bin trng thi vo phng trnh (*) ta c:

a0 x n (t ) a1 x n (t ) ... an1 x2 (t ) an x1 (t ) b0 r (t )
Kt hp phng trnh vi quan h ca cc bin trng thi ta c h phng trnh sau:
x (t ) x (t )
2
1
x 2 (t ) x3 (t )
x (t ) x (t )
n
n 1
an
a n 1
b0
a2
a1
x n (t ) a x1 (t ) a x1 (t ) ... a x n 1 (t ) a x n (t ) a r (t )
0
0
0
0
0
0
x1
x 0
2
Vit li di dng ma trn:
x n 1 0
an
x n a
0
0
a n 1
a0
0
an2
a0
38
0 x
0
1
0 x 0
2

1 x 0
b
a n 1
1 x 0
n
a0
a 0
Chng 2: M t ton hc
x1
x
2
p ng ca h thng: c(t ) x1 (t ) 1 0 0 0
x n 1
x n
Vy h phng trnh bin trng thi m t h thng l:

x (t ) Ax(t ) Br (t )
c(t ) Dx(t )
Vi:
x1
x
2
x
x n 1
x n
0
0
A
0
a n
a 0
0
a n 1
a0
0
an2
a0
0
0
0

B =
1
0
a1
b0

a 0
a 0
D = 1 0 0 0
Th d 1: Cho h thng iu khin c quan h tn hiu vo tn hiu ra m t bi phng

trnh vi phn sau:
2c(t ) 5c(t ) 6c(t ) 10c(t ) r (t )
(1)
Hy vit h phng trnh bin trng thi m t h thng.

Gii:
t cc bin trng thi nh sau:
x1 (t ) c(t ) (2)
x 2 (t ) x1 (t ) (3) x 2 (t ) c(t ) (5)
x3 (t ) x 2 (t ) (4) x3 (t ) c(t ) (6) x 3 (t ) c(t )
(7 )
Thay (2), (5), (6), (7) vo phng trnh (1) ta c:

2 x3 5x3 6 x2 10 x1 r (t )
(8)
Kt hp (3), (4) v (8) ta c h phng trnh:

x1 ( t ) x 2 ( t )
x 2 ( t ) x3 ( t )
x ( t ) 5 x ( t ) 3x ( t ) 2.5 x ( t ) 0.5r( t )
2
2
2
3
p ng ca h thng:
c(t ) x1 (t )
39
Chng 2: M t ton hc

1
0 x1 0
x1 0
x 0
0
1 x 2 0 r
2
x 3 5 3 2.5 x3 0.5
x1
c(t ) 1 0 0 x 2
x3
Th d 2: Cho h thng t ng c s khi:

R(s)
+
10
s( s 1)( s 3)
C(s)
Hy thnh lp h phng trnh bin trng thi m t h thng.

Gii:
Hm truyn ca h thng kn:
10
G( s)
10
s( s 1)( s 3)
Gk ( s)
10
1 G( s)
s( s 1)( s 3) 10
1
s( s 1)( s 3)
C (s)
10
10
3
2
R( s) s( s 1)( s 3) 10 s 4s 3s 10
( s 3 4s 2 3s 10)C ( s) 10 R( s)
Phng trnh vi phn m t h thng:

c(t ) 4c(t ) 3c(t ) 10c(t ) 10r (t )

x1 (t ) c(t )
x 2 (t ) x1 (t )
x3 (t ) x 2 (t )
Theo l thuyt, h phng trnh bin trng thi m t h thng c dng:
x1 0
x 0
2 a
x 3 3
a0
1
0
a
2
a0

0 x1 0
1 x 2 0 r
b
a1
0
3
a0
a0
Thay thng s ca h vo phng trnh trn, ta c:
40
Chng 2: M t ton hc
1
0 x1 0
x1 0
x 0
0
1 x 2 0 r
2
x 3 10 3 4 x3 10
- p ng ca h thng
x1
c(t ) x1 (t ) 1 0 0 x 2
x3
B. V phi ca phng trnh vi phn m t h thng c cha o hm ca tn

hiu vo:
Cho h bc 3 c phng trnh vi phn nh sau:
a0
d 3 c(t )
d 2 c(t )
dc(t )
d 2 r (t )
dr (t )
a
c
(
t
)
b
b1
b2 r (t )
1
2
3
0
3
2
n
2
dt
dt
dt
dt
dt
(*)

x1 (t ) c(t )
x 2 (t ) x1 (t ) 1 r (t ) c(t ) 1 r (t )
(1)
(2)
x3 (t ) x 2 (t ) 2 r (t ) c(t ) 1 r(t ) 2 r (t )
(3)
Vi cch t bin trng thi nh trn, ta c:

c(t ) x 2 (t ) 1 r (t )
c(t ) x3 (t ) 1 r(t ) 2 r (t )
(2)
(3)
(4)
c(t ) x 3 (t ) 1r(t ) 2 r(t )
(4)
(5)
(6)
Thay (1),(4),(5),(6) vo phng trnh (*) ta c:

a0 [ x 3 (t ) 1r(t ) 2 r(t )] a1[ x3 (t ) 1r(t ) 2 r (t )]
a 2 [ x2 (t ) 1r (t )] a3 x1 (t ) b0 r(t ) b1r(t ) b2 r (t )
a 0 x 3 (t ) a0 1r(t ) a 0 2 r(t ) a1 x3 (t ) a1 1 r(t ) a1 2 r (t )
a 2 x 2 (t ) a 2 1 r (t ) a3 x1 (t ) b0 r(t ) b1 r(t ) b2 r (t )
x 3 (t )
a3
b a0 1
a
a
r(t )
x1 (t ) 2 x 2 (t ) 1 x3 (t ) 0
a0
a0
a0
a0
b1 a0 2 a1 1
b a1 2 a 2 1
r(t ) 2
r (t )
a0
a0
Chn 1 , 2 sao cho o hm ca tn hiu vo trong biu thc (7) b trit tiu:
41
(7)
Chng 2: M t ton hc
b0 a0 1 0
b1 a0 2 a1 1 0
t: 3
b2 a1 2 a 2 1
a0
Thay vo (7) ta c:
x3 (t )
a3
a
a
x1 (t ) 2 x1 (t ) 1 x3 (t ) 3 r (t )
a0
a0
a0
(8)
Kt hp (2),(3),v (8) ta c h phng trnh:
x1 ( t ) x 2 ( t ) 1 r( t )
x 2 ( t ) x3 ( t ) 2 r( t )
a3
a2
a
x1 ( t ) 1 x1 ( t ) 3 r( t )
x 3 ( t ) x1 ( t )
a0
a0
a0
Vy h phng trnh bin trng thi m t h thng l:
x1 0
x 0
2 a
x 3 3
a0
Trong :
1
0
a
2
a0
0 x1 1
1 x 2 2 r
a
1 x3 3
a0
b0
1
a0
b1 a1 1
1
a0
b a1 2 a 2 1
1 2
a0
p ng ra ca h thng:
x1
c(t ) x1 (t ) 1 0 0 x 2
x3
Th d 1: Cho h thng t ng c s khi:
42
Chng 2: M t ton hc
R(s)
+
C(s)
10
s ( s 3)
10
( s 2)

Gii:
Hm truyn ca h thng kn:
10
G( s )
10( s 2 )
s( s 3 )
Gk ( s )
10. 1
1 G( s )H ( s )
s( s 3 )( s 2 ) 10
1
s( s 3 )( s 2 )
C ( s)
10( s 2)
10( s 2)
3
R( s) s( s 3)( s 2) 10 s 5s 2 6s 10
( s 3 5s 2 6s 10)C ( s) 10( s 2) R( s)

c(t ) 5c(t ) 6c(t ) 10c(t ) 10r(t ) 20r (t )

x1 (t ) c(t )
x 2 (t ) x1 (t ) 1 r (t )
x3 (t ) x 2 (t ) 2 r (t )
Theo l thuyt, h phng trnh bin trng thi m t h thng c dng:
x1 0
x 0
2 a
x 3 3
a0
1
0
a
2
a0
0 x1 1
1 x 2 2 r
a
1 x3 3
a0
Trong :
43
Chng 2: M t ton hc
b0 0
0
1
a
1
0
b1 a1 1 10 5 0
10
1
a0
1
b a1 2 a 2 1 20 5 10 6 0
30
1 2
a0
1
Thay thng s ca h vo phng trnh trn, ta c:

1
0 x1 0
x1 0
x 0
0
1 x 2 10 r
2
x 3 10 6 5 x3 30
- p ng ca h thng:
x1
c(t ) x1 (t ) 1 0 0 x 2
x3
Th d 2: Cho h thng t ng c hm truyn:

G( s)
C ( s)
3s 10
2
R( s) s 3s 2

Gii:
T hm truyn suy ra:
(s2+3s+2)C(s) = (3s+10)R(s)
c(t ) 3c(t ) 2c(t ) 3r(t ) 10r (t )
(1)
t bin trng thi nh sau:

x1 (t ) c(t )
x2 (t ) x1 (t ) 1r (t )
x2 (t ) c(t ) 1r (t )
c(t ) x 2 (t ) 1r(t )
(2)
(3)
Thay vo phng trnh vi phn ta c:

[ x 2 (t ) 1r(t )] 3[ x2 (t ) 1r (t )] 2 x1 (t ) 3r(t ) 10r (t )
x 2 (t ) 1r(t ) 3x2 (t ) 31r (t ) 2 x1 (t ) 3r(t ) 10r (t )
x 2 (t ) 2 x1 (t ) 3x2 (t ) (3 1 )r(t ) (10 31 )r (t )
Chn 1 sao cho o hm ca tn hiu vo trong biu thc (4) b trit tiu:
3- 1 = 0 1 = 3
Thay vo (4) ta c:
44
(4)
Chng 2: M t ton hc
x 2 (t ) 2 x1 (t ) 3x2 (t ) r (t )
(5)
Kt hp (3) v (5), 1 = 3, ta c h phng trnh sau:

x1 (t ) x2 (t ) 3r (t )
x 2 (t ) 2 x1 (t ) 3x2 (t ) r (t )
1 x1 (t ) 3
x (t ) 0
1
r (t )
x 2 (t ) 2 3 x2 (t ) 1
p ng ca h thng:
x (t )
c(t ) x1 (t ) [1 0] 1
x2 (t )
2.5.3 Cch thnh lp h phng trnh bin trng thi dng chnh tc
thnh lp h phng trnh bin trng thi dng chnh tc, ta thc hin theo cc
bc sau y:
1. Thnh lp h phng trnh bin trng thi dng thng:
x (t ) Ax (t ) Br (t )
c (t ) Dx(t )
(1)
2. Thc hin php bin i trng thi:

x(t ) My(t )
Thay vo phng trnh trn ta c:

My (t ) AMy(t ) Br (t )
c (t ) DMy(t )
y (t ) M 1 AMy(t ) M 1 Br (t )

c(t ) DMy(t )
y (t) Ay(t) Br (t )
c (t ) Dy(t)
(2)
Trong :
A=M
AM
= M 1B
= DM
H phng trnh bin trng thi (2) tng ng vi h phng trnh (1). (2) c
dng chnh tc, phi chn M sao cho ma trn M 1 AM ch c ng cho khc 0. Theo l
thuyt i s tuyn tinh, ma trn chuyn i M c chn nh sau:
45
Chng 2: M t ton hc
1
M 12

1n1
2
22
3
32
n 1
2
n 1
3
1
n
2n

nn1
____
Trong i , (i 1, n) l nghim ca phng trnh:

det(sI-A) = 0
Th d: Cho h thng c hm truyn:
G( s)
C ( s)
3s 10
2
R( s) s 3s 2
Hy thnh lp h phng trnh bin trng thi dng chnh tc m t h thng.

Gii:
Bc 1: Thnh lp h phng trnh bin trng thi dng thng
(xem th d 2, mc 2.5.2)
1 x1 (t ) 3
x1 (t ) 0
x (t ) 2 3 x (t ) 1 r (t )
2
2
p ng ca h thng:
x (t )
c(t ) x1 (t ) [1 0] 1
x2 (t )
x (t ) Ax (t ) Br (t )
Hay
c (t ) Dx(t )
1
0
3
B
Vi: A
2 3
1
D 1 0
Bc 2:
Thc hin php bin i: x(t) = My(t)
Ma trn M c xc nh nh sau:
Tm nghim ca phng trnh: det(sI-A) = 0
1 0 0
1
det s
0
0
1
s(s+3)+2 = 0
s 1
det
0
2
s
s2+ 3s+2 = 0
1
1
2 2
Suy ra:
1
1
2 1 2 1
1
M
M 1
1 1 1
1 (2) (1) 1 1
1 2
46
Chng 2: M t ton hc
Vi cch bin i trn, ta c h phng trnh bin trng thi c dng:

y (t) Ay(t) Br (t )
c (t ) Dy(t)
Trong :
2
1 0
1 1
A = M 1 AM =
1 1 2 3 1 2 0
B = M 1B
0
2
2 1 3 7
=

1 1 1 4
2
D = DM = 1 0
2 1
1 1
Vy h phng trnh bin trng thi chnh tc m t h thng l:
y 1 (t ) 1 0 y1 (t ) 7
y (t ) 0 2 y (t ) 4 r (t )
2
2
y (t )
c (t ) [2 1] 1
y 2 (t )
2.6. TNH HM TRUYN T H PHNG TRNH BIN TRNG THI:

Cho h thng m t bi h phng trnh:
x (t ) Ax (t ) Br (t )
c (t ) Dx(t )
Bin i Laplace hai v phng trnh trn (gi s iu kin u bng 0):
sX ( s) AX ( s) BR ( s)
C ( s) DX ( s)
(1)
(sI-A)X(s) = BR(s)
X(s) = (sI-A)-1BR(s)
DX(s) = D(sI-A)-1BR(s)
C(s)
(1)
(2)
= D(sI-A)-1BR(s)
G ( s)
C ( s)
D( sI A) 1 B
R( s )
Th d: Cho h thng c h phng trnh bin trng thi l:

1 x1 (t ) 3
x1 (t ) 0
x (t ) 2 3 x (t ) 1 r (t )
2
2
47
Chng 2: M t ton hc
p ng ca h thng:
x (t )
c(t ) x1 (t ) [1 0] 1
x2 (t )
Gii:
Cc ma trn trng thi:
1
0
2 3
Vi: A
3
B
1
D 1 0
Hm truyn ca h thng l:
G(s) = D(sI-A)-1B
1 0 0
(sI-A) = s
2 3 2 s 3
0
1
s 1
(sI-A) =
2 s 3
-1
s 3 1
1
s( s 3) 2(1) 2 s
s 3 1
1
1
1 0
s 3 1
2
s 3s 2
2 s s 3s 2
D(sI-A)-1 =
D(sI-A)-1B =
Vy : G ( s)
3
1
s 3 1 3(2s 3) 1
s 3s 2
1 s 3s 2
2
3s 10
s 3s 2
2
2.7. NGHIM CA H PHNG TRNH BIN TRNG THI:

Cho h thng c phng trnh bin trng thi nh sau:
x (t ) Ax(t ) Br (t )
(1)
Hi x(t) = ?
Bin i Laplace 2 v phng trnh (1) ta c:
sX(s) x(0+) = AX(s) + BR(s)
(sI-A)X(s) = x(0+) + BR(s)
X(s) = (sI-A)-1 x(0+) + (sI-A)-1BR(s)
(2)
t (s) (sI-A)-1
Thay vo phng trnh (2) ta c:
48
Chng 2: M t ton hc
X ( s) ( s) x(0 ) ( s) BR( s)
Bin i Laplace ngc hai v phng trnh (3), ta c:

t
x (t ) (t ) x (0 ) (t )BR( )d
0
Trong :
(t ) L 1[(s)] L 1[(sI A) 1 ]
ma trn qu
Tm li:
tnh nghim ca h phng trnh bin trng thi ta thc hin cc bc sau y:
1. Tnh ( s) ( sI A) 1
2. Tnh ma trn qu : (t ) L 1[(s)]
3. Tnh nghim ca phng trnh bin trng thi:
t
x (t ) (t ) x (0 ) (t ) BR( )d
0
Nu iu kin u bng 0 th:

t
x (t ) (t ) BR( )d
0
Nu mun tm p ng ca h thng bng phng php bin trng thi, trc tin
tm nghim ca h phng trnh bin trng thi, sau tnh:
c(t) = Dx(t)
Ch : p ng ca h thng c th tnh t hm truyn:
c(t ) L 1[C (s)] L 1[ R(s).G(s)]
Hai cng thc nghch o ca ma trn:
a11 a12
a
21 a 22
a 11 a 12
a
21 a 22
a 31 a 32
a 22 a12
1
a11.a 22 a12a 21 a 21 a11
a 13
a 23
a 33
a 22
a 23
1 a 21
det A a 23
a 21
a 22
a 32
a 33
a 31
a 33
a 31
a 32
a 12 a 32
a 13 a 33
a 11 a 31
a 13 a 33
a
a 31
11
a 12 a 32
49
a 21
a 22
a
11
a 13
a 11
a 12
a 31
a 32
a 21
a 23
a 21
a 22
Chng 2: M t ton hc
detA = a11 a22 a33 + a12 a23 a31 + a13 a32 a21 - a13 a22 a31 - a11 a23 a32 a33 a21 a12
Th d: Cho h thng m t bi hm truyn sau:
G (s)
s
(s 1)(s 2)
1. Vit h phng trnh bin trng thi m t h thng trn.

2. Tnh ma trn qu .
3. Tnh p ng ca h thng khi tn hiu vo l hm nc n v (gi s iu kin u
bng 0).
Gii:
1. Phng trnh vi phn m t h thng:
C ( s)
s
R( s) ( s 1)( s 2)
( s 2 3s 2)C ( s) sR( s)
(1)
c(t ) 3c(t ) 2c(t ) r(t )

x1 (t ) c(t )
x2 (t ) x1 (t ) 1r (t ) c(t ) 1r (t ) c(t ) x 2 (t ) 1r(t )
Thay vo phng trnh (1) ta c:
x 2 (t ) 1r(t ) 3x 2 (t ) 1r (t ) 2 x1 (t ) r(t )
x 2 (t ) 1 r(t ) 3x 2 (t ) 31 r (t ) 2 x1 (t ) r(t )
x 2 (t ) 2 x1 (t ) 3x 2 (t ) (1 1 )r(t ) 31 r (t )
Chn 1 1 o hm cu tn hiu vo trong biu thc trn b trit tiu:

x 2 (t ) 2 x1 (t ) 3x 2 (t ) 3r (t )
Kt hp vi biu thc t bin trng thi ta c h phng trnh sau;

x1 (t ) x2 (t ) r (t )
x 2 (t ) 2 x1 (t ) 3x2 (t ) 3r (t )

1 x1 (t ) 1
x1 (t ) 0
x (t ) 2 3 x (t ) 3 r (t )
2
2
p ng ca h thng:
50
Chng 2: M t ton hc
x (t )
c(t ) x1 (t ) 1 0 1
x2 (t )
2. Tnh ma trn qu :
(t ) L 1 (s) L 1 (sI A) 1
Ta c:
1 0 0
1 s 1
0 1 2 3 2 s 3
s 3 1
s 3 1
1
1
( s) ( sI A) 1 2
2 s ( s 1)(s 2) 2 s
s 3s 2
s3
1
( s 1)( s 2) ( s 1)( s 2)
(t ) L 1 ( s ) L 1
2
s
( s 1)( s 2) ( s 1)( s 2)
sI A s
s3
1
1
L
L
( s 1)( s 2)
( s 1)( s 2)
2
s
1
L
L
( s 1)( s 2)
( s 1)( s 2)
1 2
1
1
1 1
L s 1 s 2 L s 1 s 2
2
2
1
2
L 1
L 1
s 1 s 2
s 1 s 2
(2e t 2e 2t )
(e t e 2t )
(t )
t
2t
t
2t
(2e 2e ) (e 2e )
3. p ng ca h thng:
Trc tin ta tm nghim ca h phng trnh bin trng thi. Vi iu kin u
bng 0, nghim ca phng trnh trng thi l:
t
x(t ) (t ) BR( ) d
0
t 2e (t ) e 2(t )

0 2e (t ) 2e 2(t )
1 d
t
t e (t ) 2e 2(t )
e (t ) e 2(t )
(t )
2(t ) d (t )
0 e
e 2e 2(t) 0
4e
(t )
2(t )
e
e
(t )
2(t )
e
2e
51
Chng 2: M t ton hc
x (t ) e t e 2t
1
t
2t
x2 (t ) 1 e 2e
p ng ca h thng l:
x (t )
c(t ) 1 0 1 x1 (t ) e t e 2t
x2 (t )
C th kim tra li kt qu tnh ton bng phng php hm truyn nh sau:

p ng ca h thng: C(s) = G(s)R(s)
M R( s)
G( s)
Nn: C ( s)
1
(tn hiu vo l hm nc n v)
s
s
( s 1)(s 2)
1
s
1
1
1
s ( s 1)(s 2) ( s 1)(s 2) ( s 1) ( s 2)
1
1
t
2t
e e
s
1
s
Suy ra: c(t ) L 1 C ( s) L 1

Ch :
Tnh ma trn qu bng cng thc:

(t ) L 1[(s)] L 1[(sI A) 1 ]
tng i kh khn v mt tnh ton. Phng php sau y cho php tnh ma trn
qu d dng hn.
i vi h thng bc n, ngi ta chng minh c:
(t ) e At C0 I C1[ A] C2 [ A]2 ... C n1[ A]n1
(*)
_______
Thay A = vo phng trnh (*), ta s tnh c cc h s Ci , (i 0, n 1) trong

l ma trn cho:
1
0
0
2
0
0

v i l nghim ca phng trnh (i c gi l cc tr ring ca h)

det(I A) 0
52
Chng 2: M t ton hc
Th d: Tnh li ma trn qu trong th d trn.

Ta vit c phng trnh trng thi ca h l:
1 x1 (t ) 1
x1 (t ) 0
x (t ) 2 3 x (t ) 3 r (t )
2
2
Theo cng thc (*), ma trn qu cho h bc 2 l:

(t ) e At C0 I C1[ A]
Cc tr ring ca h l nghim ca phng trnh:

det(I A) 0
1 0 0
1
det
0
0 1 2 3
1
det
0
2 3
( 3) 2 0
1
1
1 2
Vy
1 0
0 2
Thay A = vo phng trnh (1), ta c:

e t
0
1 0
2 1

C0
C1
2t
0 1
0 3
0 e
e t C 0 2C1
2t
e C 0 3C1
C 2e t e 2t
0
t
2t
C1 e e
Thay C0 v C1 vo phng trnh (1), ta c:

(t ) C 0 I C1 [ A]
1
1 0
t
2t 0
(2e t e 2t )
(
e
e
)
2 3
0 1
2e t e 2t
(t )
t
2t
2e e
e 2t
2e 2t
53
Chng 2: M t ton hc
54
Chng 3: c tnh ng hc
Chng 3
C TNH NG HC
3.1.
KHI NIM V C TNH NG HC
c tnh ng ca h thng m t s thay i ca tn hiu u ra ca h thng theo

thi gian khi c tc ng ca u vo. Trong thc t cc h thng iu khin rt a dng,
tuy nhin nhng h thng c m t bng m hnh ton hc c dng nh nhau s c c
tnh ng hc nh nhau. kho st c tnh ng ca h thng tn hiu vo thng l tn
hiu c bn nh hm xung n v, hm nc n v hay hm iu ha. Tu theo dng ca
tn hiu vo th m c tnh ng thu c l c tnh thi gian hay c tnh tn s.
3.1.1. c tnh thi gian
c tnh thi gian ca h thng m t s thay i ca tn hiu u ra ca h
thng khi tn hiu vo l hm xung n v hay hm nc n v.
r(t)
H thng
R(s)
c(t)
C(s)
Nu tn hiu vo l hm xung n v r (t ) (t ) th p ng ca h thng l:

C(s) = R(s).G(s) = G(s) (do R(s) = 1)
c(t ) L 1 C (s) L 1 G(s) g (t )
(1)
g(t) c gi l p ng xung hay cn gi l hm trng lng ca h thng.

Vy p ng xung l p ng ca h thng khi tn hiu vo l hm xung n v.
Theo biu thc (1) p ng xung chnh l bin i Laplace ngc ca hm truyn.
Nu tn hiu vo l hm nc n v r(t) = 1(t)th p ng ca h thng l:
G( s)
1
(do R(s)= )
s
s
t
G( s)
c(t ) L 1 C ( s) L 1
g ( )d
s 0
C ( s) R( s).G( s)
(2)
Biu thc (2) c c do tnh cht nh ca tch phn ca php bin i Laplace. t:
55
Chng 3: c tnh ng hc
t
h(t ) g ( )d
(3)
h(t) c gi l p ng nc hay cn gi l hm qu ca h thng.

Vy p ng nc l hm p ng ca h thng khi tn hiu vo l hm nc n v.
Theo biu thc (3) p ng nc chnh l tch phn ca p ng xung.
V d: Cho h thng c hm truyn l:
G( s)
s 1
s( s 5)
Xc nh hm trng lng v hm qu ca h thng.

Gii: Hm trng lng:
s 1
4
1 1
g (t ) L 1 G ( s) L 1
L
s( s 5)
5s 5( s 5)
1 4
g (t ) e 5t
5 5
Hm qu :
t
4
1 4
Cch 1: h(t ) g ( ) e 5t d e 5t
5 5
25
5
0
0
0
1
4
4
h(t ) t e 5t
5
25
25
s 1
G( s)
L 1 2
Cch 2: h(t ) L 1
1
s
s ( s 5)
t
Thc hin php bin i Laplace ngc ta c kt qu nh trn.

Nhn xt: Ta c th dng hm trng lng hay hm qu th s suy ra c hm
truyn d dng bng cc cng thc sau y:
G(s) L g (t )
V d 2: Cho h thng c p ng nc n v l:
h(t ) 1 32t 2e 3t
Xc nh hm truyn ca h thng.
Gii: Theo bi, ta c:
6
6
6
dh(t )
2t
3t
G( s) L
L 6e 6e )
s 2 s 3 ( s 2)(s 3)
dt
3.1.2. c tnh tn s
c tnh tn s ca h thng tuyn tnh m t quan h gia tn hiu ra v tn hiu vo
ca h thng trng thi xc lp khi thay i tn s ca tn hiu dao ng iu ho tc
ng u vo ca h thng.
Xt h tuyn tnh lin tc c hm truyn l G(s), gi s tn hiu vo l tn hiu hnh sin:
R
r (t ) Rm sin t R( s) 2 m 2
s
56
Chng 3: c tnh ng hc
Tn hiu ra ca h thng l:
Rm
C ( s) R( s).G( s) 2
G( s)
2
s
Gi s G(s) c n cc pi phn bit tha pi j , ta c th phn tch C(s) di dng:

n
i
C ( s)
s j s j i 1 s pi
Bin i Laplace ngc biu thc trn, ta c:
c(t ) e
jt
jt
i pi t
i 1
Nu h thng n nh th tt c cc cc pi u c phn thc m. Khi :

n
lim i ep i t 0
i 1
Do : c xl (t ) e jt e jt
(6)
Nu G(s) c cc bi th ta cng c th chng minh c p ng xc lp ca h thng
c dng (6). Cc h s v xc nh bi cng thc:
R
R G( j )
G( s) 2 m 2 ( s j ) s j m
2j
s
(7)
R
R G( j )
(8)
G( s) 2 m 2 ( s j ) s j m
2j
s
Thay (7) v (8) vo (6), rt gn biu thc ta c:
c xl (t ) Rm G( j ) sin(t G( j ))
(9)
Biu thc (9) cho thy trng thi xc lp tn hiu ra ca h thng l tn hiu hnh sin,
cng tn s vi tn hiu vo, bin t l vi bin vo (h s t l l G( j ) v lch
pha so vi tn hiu vo ( lch pha l G( j ) )
nh ngha: c tnh tn s ca h thng l t s gia tn hiu ra trng thi xc lp
v tn hiu vo hnh sin.
C ( j )
c tnh tn s =
(10)
R ( j )
T nh ngha (10) v biu thc (9) ra rt ra:
c tnh tn s = G(s) s j G( j )
V d 3: Nu h thng c hm truyn l:
G( s)
10( s 3)
s( s 1)
th c tnh tn s ca h thng l:
10( j 3)
G( j )
j ( j 1)
57
Chng 3: c tnh ng hc
Tng qut c tnh tn s G( j ) l mt hm phc nn c th biu din di dng i

s hoc dng cc:
G( j ) P( ) jQ( ) M ( )e j ( )
Trong : P( ) l phn thc Q( ) l phn o
M ( ) l p ng bin , ( ) l p ng pha
Quan h gia hai cch biu din G( j ) nh sau:
M ( ) G( j ) P 2 ( ) Q 2 ( )
Q( )
P( )
P() M () cos ()
Q() M () sin ()
( ) G( j ) tg 1
biu din c tnh tn s mt cch trc quan, ta c th dng th. C hai dng
th thng s dng:
Biu Bode l hnh v gm 2 thnh phn:
1. Biu Bode bin : th biu din mi quan h gia logarithm ca p ng bin
L( ) theo tn s .
L() 20 lg M ()
L( ) - l p ng bin tnh theo n v dB (decibel)
2. Biu Bode pha: th biu din mi quan h gia p ng pha ( ) theo tn s .
C hai th trn u c v trong h ta vung gc vi trc honh chia theo
thang logarithm c s 10. Khong cch gia hai tn s hn km nhau 10 ln gi l mt
decade.
Biu Nyquist: (ng cong Nyquist) l th biu din c tnh tn s
G( j ) trong h to cc khi thay i t 0 . Ni cch khc ng cong Nyquist
l tp hp tt c cc im ngn ca vect biu din s phc G( j ) (bin vect l
M ( ) gc ca vect l ( ) khi thay i t 0 .
Mc d biu din di dng hai th khc nhau nhng thng s c c t h
thng t biu Bode v biu Nyquist l nh nhau. T biu Bode ta c th suy ra
c biu Nyquist v ngc li.
c tnh tn s ca h thng c cc thng s quan trng sau y:
nh cng hng (Mp): nh cng hng l gi tr cc i ca M ( )
Tn s cng hng ( p ) : l tn s ti c nh cng hng
Tn s ct bin (c ) : l tn s ti bin ca c tnh tn s bng 1 (= 0dB)
M ( c ) 1
L( c ) 0
Tn s ct pha ( ) : tn s ti pha ca c tnh tn s bng (hay bng
1800)
58
Chng 3: c tnh ng hc
( ) 180 0
d tr bin (GM Gain Margin)

1
GM
M ( )
Hay GM L( ) (dB) (cng thc ny c s dung nhiu hn)
d tr pha ( M -Phase Margin)
M 180 0 (c )
d tr bin v d tr pha cho bit h thng c n nh khng.
a) Biu Bode
b) Biu Nyquist
Hnh 3.1. th biu din c tnh ca tn s
3.2. CC KHU NG HC IN HNH
3.2.1 Khu t l
Hm truyn:
c tnh thi gian:
c tnh tn s:
Bin :
Pha:
G(s) = K
C(s) = G(s)R(s) = KR(s)
c(t) = Kr(t)
G(j) = K
M() = K L() = 20lgK
() = 0
59
Chng 3: c tnh ng hc
h(t)
g(t)
K
K
t
b) Hm qu
a) Hm trng lng
Hnh 3.2. c tnh thi gian ca khu t l
L( )
[dB]
20logK
jQ( )
-1
lg
10-1
100
101
G(j )
( )
[]
+900
-1
lg
10-1
100
101
-900
a) Biu Bode
b) Biu Nyquist
Hnh 3.3. c tnh tn s ca khu t l
3.2.2.Khu tch phn l tng
1
s
Hm truyn:
G(s) =
c tnh thi gian:
C(s) = G(s)R(s) =
Hm trng lng:
Hm qu :
R( s)
s
1
g (t ) L 1 G( s) L 1 1(t )
s
G( s)
1 1
h(t ) L 1
L 2 t.1(t )
s
s
60
P( )
Chng 3: c tnh ng hc
c tnh tn s:
Bin :
1
1
j
j
1
1
M() = L() = 20lgM( )=20lg =-20lg
G(j) =
() = -900
Pha:
g(t)
h(t)
1
t
t
1
b) Hm qu
a) Hm trng lng
Hnh 3.4. c tnh thi gian ca khu tch phn l tng

[dB]
L( )
-20dB/dec
20
jQ( )
0
-1
10-1
lg
100
101
-20
P( )
( ) []
+900
-1
lg
10-1
100
101
=0
-900
a) Biu Bode
b) Biu Nyquist
Hnh 3.5. c tnh tn s ca khu tch phn l tng
3.2.3. Khu vi phn l tng

Hm truyn:
G(s) = s
61
Chng 3: c tnh ng hc
c tnh thi gian:
C(s) = G(s)R(s) = sR(s)
Hm trng lng:
g (t )
d
h(t ) (t )
dt
G( s)
1
h(t ) L 1
L 1 (t )
s
Hm qu :
c tnh tn s:
Bin :
Pha:
G(j) = j
M() = L() = 20lgM( )=20lg
() = 900
h(t)
1
t
Hnh 3.6. Hm qu ca khu vi phn l tng
+20dB/dec
[dB]
L( )
20
jQ( )
-1
10-1
100
lg
101
-20
=0
( )
[]
+900
-1
lg
10-1
100
101
-900
a) Biu Bode
b) Biu Nyquist
Hnh 3.7. c tnh tn s ca khu vi phn l tng
62
P( )
Chng 3: c tnh ng hc
3.2.4. Khu qun tnh bc nht

G(s) =
c tnh thi gian:
C(s) = G(s)R(s) =
R( s)
Ts 1
t
1 1 T
g (t ) L 1
e
1(t )
Ts 1 T
Hm trng lng:
T
h(t ) L 1
(
1
e
)1(t )
s(Ts 1)
Hm qu :
1/T1
1
Ts 1
Hm truyn:
h(t)
g(t)
1
0.63
1/T2
t
0
T1
T2
a) Hm trng lng
b) Hm qu
Hnh 3.8. c tnh thi gian ca khu qun tnh bc nht
1
1 Tj
c tnh tn s:
G(j) =
Tj 1 1 T 2 2
Phn thc:
Phn o:
Bin :
1
1 T 2 2
T
Q( )
1 T 2 2
P( )
M ( ) P 2 ( ) Q 2 ( )
1
1
2 2
2 2
1 T 1 T
1 T 2 2
2
Pha:
L() = 20lgM( )=-20lg 1 T 2 2

Q( )
tg 1 (T )
() = tg 1
P( )
V gn ng biu Bode bin :

1
: ng thng nm ngang trng trc honh
T
1
+ Nu : ng thng c dc 20dB/dec
T
+ Nu
63
Chng 3: c tnh ng hc
[dB]
L( )
20
jQ( )
-1
0 1/T
10-1
100
lg
1
10
-20dB/dec
-20
=0
G(j )
( )
[]
-1
-450
P( )
10
-1
lg
1
0
10
10
-900
a) Biu Bode
b) Biu Nyquist
Hnh 3.9. c tnh tn s ca khu qun tnh bc nht
3.2.5. Khu vi phn bc nht
Hm truyn:
G(s) = Ts+1
c tnh thi gian: C(s) = G(s)R(s) = R(s)(Ts+1)
c tnh tn s: G( j) Tj 1
Bin :
M ( ) 1 T 2 2 L 20 lg 1 T 2 2
tg 1 T
Pha:
h(t)
1
t
Hnh 3.10. Hm qu ca khu
vi phn bc nht
1
T
1
+ Nu : ng thng c dc +20dB/dec
T
+ Nu
64
Chng 3: c tnh ng hc
[dB]
L( )
jQ( )
20
-1
0 1/T
10-1
100
lg
1
10
G(j )
-20dB/dec
P( )
=0
1
( )
[]
900
450
0
-1
10
-1
lg
1
0
10
10
a) Biu Bode
b) Biu Nyquist
Hnh 3.11. c tnh tn s ca khu vi phn bc nht
3.2.6. Khu dao ng bc hai

- Hm truyn:
G( s)
1
T s 2Ts 1
2 2
g(t)
0 1
h(t)
a) Hm trng lng
b) Hm qu
Hnh 3.12. c tnh thi gian ca khu qun tnh bc nht
- c tnh tn s: G( j )
1
T 2Tj 1
2
65
Chng 3: c tnh ng hc
- Bin :
1 T 4
2
22
T 2 2
L 20 lg M ( ) 20 lg 1 T 2 2
4 2T 2 2
2T
2 2
1 T
tg 1
- Pha:

1
T
1
+ Nu : ng thng c dc -40dB/dec
T
+ Nu
a) Biu Bode
b) Biu Nyquist
Hnh 3.13. c tnh tn s ca khu vi phn bc nht
3.2.7. Khu tr hon (khu tr)
c im ca khu tr l tn hiu ra tr hn tn hiu vo mt khong thi gian l T.
- Hm truyn:
G( s) e Ts
g(t)
h(t)
1
1
t
a) Hm trng lng
b) Hm qu
Hnh 3.14. c tnh thi gian ca khu tr
66
Chng 3: c tnh ng hc
- c tnh tn s: G( j ) e Tj
- Bin :
M 1
L 0
- Pha:
Biu Bode bin : l ng thng nm ngang trng vi trc honh.

L( )
jQ( )
[dB]
-1
10-1
100
lg
101
P( )
1
-1
( ) []
-1
10-1
lg
1
0
10
10
-j G(j )
-900
-1800
a) Biu Bode
b) Biu Nyquist
Hnh 3.15. c tnh tn s ca khu tr
3.3. C TNH NG HC CA H THNG T NG
3.3.1. c tnh thi gian ca h thng
Xt h thng c hm truyn:
b0 s m b1 s m 1 ... bm 1 s bm
G ( s)
a 0 s n a1 s n 1 ... a n 1 s a n
Bin i Laplace ca hm qu l:
G( s) 1 b0 s m b1 s m1 ... bm1 s bm
H ( s)

s
s a0 s n a1 s n1 ... a n 1 s a n
Tu theo c im ca h thng m c tnh thi gian ca h thng c th khc

nhau. Tuy nhin chng ta c th rt ra kt lun sau y:
Nu G(s) khng c khu tch phn, vi phn l tng th hm trng lng suy
gim v 0, hm qu c gi tr xc lp 0.
b0 s m b1 s m1 ... bm1 s bm
g () lim sG( s) lim s
n
n 1
s 0
s 0
a0 s a1 s ... a n1 s a n
67
Chng 3: c tnh ng hc
1 b s m b s m1 ... bm1 s bm
h() lim sH ( s) lim s 0 n 1 n1
s 0
s 0
s a0 s a1 s ... a n1 s a n
bm
a 0
n
Nu G(s) c khu tch phn l tng (an=0) th hm trng lng c gi tr xc

lp 0, hm qu tng n .
b s m b1 s m1 ... bm1 s bm bm
g () lim sG( s) lim s 0

0
n
n 1
s 0
s 0
a0 s a1 s ... a n1 s a n1
1 b0 s m b1 s m1 ... bm1 s bm
h() lim sH ( s) lim s

n
n 1
s 0
s 0
s
a
s
a
s
...
a
s
0
1
n 1
Nu G(s) c vi phn l tng (bm=0) th hm qu suy gim v 0.

1 b0 s m b1 s m1 ... bm1 s
h() lim sH ( s) lim s
n
n 1
s 0
s 0
s a0 s a1 s ... a n 1 s a n
Da vo c tnh ca h thng chng ta c th chn phng php phn tch, thit k

h thng cho ph hp.
3.3.2. c tnh tn s ca h thng
Xt h thng t ng c hm truyn G(s). G(s) c th phn tch thnh tch cc hm
truyn c bn sau:
l
G( s) Gi ( s)
i 1
c tnh tn s ca h thng:
l
G( j ) Gi ( j )
i 1
l
i 1
l
Bin : M ( ) M i ( ) L( ) Li
Pha:
i 1
( ) i
i 1
Biu Bode ca h thng (gm nhiu khu ghp ni tip) bng tng biu Bode
ca cc khu thnh phn.
V gn ng biu Bode bin bng ng tim cn.
Gi s hm truyn ca h thng c dng:
G(s) Ks G1 (s)G2 (s)G3 (s)
0 : h thng c khu vi phn l tng

0 : h thng c khu tch phn l tng
Bc 1: Xc nh cc tn s gy i 1 / Ti v sp xp theo th t tng dn 1 2 3
Bc 2: Biu Bode gn ng i ngang qua im A c to :
0
L 20 lg K 20 lg 0
0 l tn s tho mn 0 1 . Nu 1 > 1 th c th chn 0 = 1.
68
Chng 3: c tnh ng hc
Bc 3: Qua im A v ng thng c dc:

20dB / dec nu G(s) c khu tch phn l tng
20dB / dec nu G(s) c khu vi phn l tng
ng thng ny ko di n tn s gy k tip.
Bc 4: Ti tn s gy i
1
dc ca ng tim cn c cng thm mt lng:
Ti
20dB / dec i nu i l tn s gy ca khu qun tnh bc 1

20dB / dec i nu i l tn s gy ca khu vi phn bc 1
40dB / dec i nu i l tn s gy ca khu dao ng bc 2
40dB / dec i nu i l tn s gy ca khu vi phn bc 2
ng thng ny ko di n tn s gy k tip
Bc 5: Lp li bc 4 cho n khi v xong ng tim cn ti tn s gy cui cng.
Th d 1: V biu Bode bin gn ng ca h thng c hm truyn l:
G( s)
100(0,1s 1)
s(0,01s 1)
Da vo biu Bode gn ng, hy xc nh tn s ct bin ca h thng.

Gii:
Cc tn s gy:
1
1
1
10(rad / sec)
T1 0,1
1
1
100(rad / sec)
T2 0,01
Biu Bode qua im A c to :

1
L 20 lg K 20 lg 100 40
Biu Bode c bin gn ng nh sau:
Theo hnh v, tn s ct bin ca h thng l 103rad/sec.
69
Chng 3: c tnh ng hc
Th d 2: Xc nh hm truyn ca h thng c biu Bode bin gn ng nh sau:
54 26
40(dB / dec )
2 1.301
- dc on CD:
- Cc tn s gy:
40 26
0.7 g1 10 0.7 5(rad / sec)
20
1.301
g 2 101.301 20(rad / sec)
lg g1 0
lg g 2
lg g 3 2
g 3 10 2 100(rad / sec)
- Hm truyn cn tm c dng:
K T1 s 1T2 s 1
G( s)
sT3 s 1
20 lg K 40 K 100
1
1
1
1
T1
0.2
T2
0.05
g1 5
g 2 20
70
T3
g3
1
0.01
100
Chng 4: Kho st tnh n nh
Chng 4
KHO ST TNH N NH
CA H THNG T NG
4.1. KHI NIM V N NH
nh ngha: n nh BIBO
H thng c gi l n nh BIBO (Bounded Input Bounded Output) nu p ng
ca h b chn khi tn hiu vo b chn.
Mi lin h gia tnh n nh v hm truyn m t h thng:

Cc v zero
Cho h thng t ng c hm truyn:
C ( s) b0 s m b1 s m1 bm1 s bm
G( s)
R( s) a0 s n a1 s n1 a n 1 s a n
t:
A(s) a0 s n a1s n1 an1s an
: mu s hm truyn
: t s hm truyn
B(s) b0 s m b1 s m1 bm1 s bm
Zero: l nghim ca t s hm truyn, tc l nghim ca phng trnh B(s) = 0. Do B(s) bc m
nn c h thng c m zero k hiu l zi, i=1, 2, , m.
Cc: l nghim ca mu s hm truyn, tc l nghim ca phng trnh A(s) = 0. Do A(s) bc n
nn h thng c n k hiu l pi, i =1, 2, , n.
Gin cc zero l th biu din v tr cc cc v cc zero ca h thng trong mt phng
phc.
Gin cc - zero
iu kin n nh
71
- Tnh n nh ca h thng ph thuc vo v tr cc cc.

- H thng c tt c cc cc c phn thc m (c tt c cc cc u nm bn tri
mt phng phc): h thng n nh.
- H thng c cc c phn thc bng 0 (nm trn trc o), cc cc cn li c phn
thc bng m: h thng bin gii n nh.
- H thng c t nht mt cc c phn thc dng (c t nht mt cc nm bn phi
mt phng phc): h thng khng n nh.
Phng trnh c trng (PTT)
- Phng trnh c trng: phng trnh A(s) = 0
- a thc c trng: a thc A(s)
Ch :
H thng hi tip:
Hm truyn tng ng ca h thng:

Gk ( s )
G( s)
1 G( s) H ( s)
Phng trnh c trng ca h thng hi tip l:

1+G(s)H(s) = 0
H thng c m t bi h PTTT:
x (t ) Ax (t ) Br (t )
c(t ) Dx(t )
Hm truyn ca h thng l:
G(s) D(sI A) 1 B
Phng trnh c trng ca h:

det(sI A) = 0
4.2. TIU CHUN N NH I S
4.2.1. iu kin cn
iu kin cn h thng n nh l tt c cc h s ca phng trnh c trng phi
khc 0 v cng du.
Th d: H thng c phng trnh c trng:
s 3 3s 2 2s 1 =0
s 4 4s 3 5s 2 2s 1 0
s 2s 5s 3 0
4
khng n nh
khng n nh
cha kt lun c
4.2.2. Tiu chun n nh i s

Cho h thng c phng trnh c trng:
72
a0 s n a1 s n1 an1 s an 0
Mun xt tnh n nh ca h thng theo tiu chun Routh, trc tin ta thnh lp
bng Routh theo qui tc:
- Bng Routh c n+1 hng.
- Hng 1 ca bng Routh gm cc h s c ch s chn.
- Hng 2 ca bng Routh gm cc h s c ch s l.
- Phn t hng i ct j ca bng Routh (i 3) c tnh theo cng thc:
cij ci 2, j 1 i ci 1, j 1
c11
c 21
c 21
c31
ci 2,1
Vi:
c n 2.1
c n 1.1
ci 1,1
sn
c11a0
c12 a2
c13 a4
c14 a 6
s n 1
c21 a1
c22 a3
c23 a
s n2
c31 c12 3 c22
c32 c13 3 c23 c33 c14 3 c24
c24 a 7
c34 c15 3 c25
s n 3
c41 c22 4 c32
c42 c23 4 c33 c43 c24 4 c34 c44 c25 4 c35
s0
c xl cn2.2 n cn1.2
Pht biu tiu chun Routh:

iu kin cn v h thng n nh l tt c cc phn t nm ct 1 ca
bng Routh u dng. S ln i du ca cc phn t ct 1 ca bng Routh bng s
nghim ca phng trnh c trng nm bn phi mt phng phc.
Th d 1: Hy xt tnh n nh ca h thng c phng trnh c trng l:
s 4 4s 3 5s 2 2s 1 0
Gii: Bng Routh
1
4
8
4
9
81
5
20
s4
s3
s2
s1
s0
1
4
1
9
5 .2
4
2
8
10
2 .1
9
9
1
5
2
1
0
73
1
0
V tt c cc phn t ct 1 bng Routh u dng nn tt c cc nghim ca

phng trnh c tnh u nm bn tri mt phng phc, do h thng n nh.
Th d 2:
Hy xt tnh n nh ca h thng t ng c s khi nh sau:
G( s)
50
s( s 3)(s 2 s 5)
H ( s)
1
s2
Gii:
Phng trnh c trng ca h thng l:
1 G( s ) H ( s ) 0
50
1
1
.
0
2
s ( s 3)( s s 5) ( s 2)
s( s 3)( s 2 s 5)( s 2) 50 0
s 5 6s 4 16s 3 31s 2 30s 50 0
Bng Routh:
1
6
8
4
9
10.83
5
18.99
s5
s4
s3
s2
s1
s0
1
6
16
31
1
16 .31 10.83
6
6
31
21.67 18.99
10.83
10.83
21.67
50 6.84
18.99
50
1
30 .50 21.67
6
50
30
50
0
V cc phn t ct 1 bng Routh i du 2 ln nn phng trnh c tnh u c 2

nghim nm bm phi mt phng phc, do h thng khng n nh.
Th d 3: Cho h thng c s khi nh sau:
G( s)
Xc nh iu kin ca K h thng n nh:
74
K
s( s s 1)( s 2)
2
Gii:
Phng trnh c tnh:
1 G( s) 0
K
1
0
2
s( s s 1)( s 2)
s 4 3s 3 3s 2 2s K 0
Bng Routh:
1
3
s4
s3
s2
1
3
9
4
7
3
2
K
1
7
3 .2
3
3
9
2 .K
7
K
s1
s0
K
0
iu kin h thng n nh:

9
2 K 0
0K
14
9
Cc trng hp c bit:
Trng hp c bit 1: Nu bng Routh c h s ct 1 ca hng no bng 0, cc h
s cn li ca hng khc 0 th ta thay h s bng 0 ct 1 bi s dng nh ty ,
sau qu trnh tnh ton c tip tc.
Th d: Xt tnh n nh ca h thng c phng trnh c trng l:
s 4 2s 3 4s 2 8s 3 0
Gii:
Bng Routh:
1
2
9
7
s4
s3
s2
s2
s1
s0
1
2
1
4 .8 0
2
0
9
2 .K
7
K
4
8
3
3
0
3
0
Kt lun: V cc h s ct 1 bng Routh i du 2 ln nn phng trnh c trng ca

h thng c hai nghim nm bn phi mt phng phc, do h thng khng n nh .
Trng hp c bit 1: Nu bng Routh c tt c cc h s ca hng no bng 0:
- Thnh lp a thc ph t cc h s ca hng trc hng c tt c cc h s bng
0, gi a thc l A0(s).
75
- Thay hng c tt c cc h s bng 0 bi mt hng khc c cc h s chnh l cc

h s ca a thc dA0(s)/ds, sau qu trnh tnh ton tip tc.
Ch : Nghim ca a thc ph A0(s) cng chnh l nghim ca phng trnh c trng.
Th d: Xt tnh n nh ca h thng c phng trnh c trng:
s 5 4s 4 8s 3 8s 2 7s 4 0
Xc nh s nghim ca phng trnh c tnh nm bn tri, bn phi hay trn trc

o ca mt phng phc.
Gii:
Bng Routh:
1
4
4
4
6
6
5
14
4
6
8
s5
s4
s3
1
4
1
8 8 6
4
2
4
s
8 6 4
16
1
6
s
6 4 0
4
8
s1
4
s0
4 0 4
8
dA ( s)
a thc ph: A0 (s) 4s 2 4 0 8s 0
ds
8
8
1
7 4 6
4
4
7
4
0
Nghim ca a thc ph (cng chnh l nghim ca phng trnh c trng):

A0 (s) 4s 2 4 s j
Kt lun:
- Cc h s ct 1 bng Routh khng i du nn phng trnh c trng khng c
nghim nm bn phi mt phng phc.
- Phng trnh c tnh c 2 nghim nm trn trc o.
- S nghim nm bn tri mt phng phc l 4-2=2
H thng bin gii n nh.
4.2.3. Tiu chun n nh Hurwitz:
Cho h thng c phng trnh c trng:
a0 s n a1 s n1 an1 s an 0
Mun xt tnh n nh ca h thng theo tiu chun Hurwitz, trc tin ta thnh lp
ma trn Hurwitz theo qui tc:
- Ma trn Hurwitz l ma trn vung cp n x n.
- ng cho ca ma trn Hurwitz gm cc h s t a1 n an.
- Hng l ca ma trn Hurwitz gm cc h s c ch s l theo th t tng dn nu
bn phi ng cho v gim dn nu bn tri ng cho.
76
Hng chn ca ma trn Hurwitz gm cc h s c ch s chn theo th t tng

dn nu bn phi ng cho v gim dn nu bn tri ng cho.
a1
a
0
0
a3
a2
a1
a0
a5
a4
a3
a2
a7
a6
a5
a4
0
0
0
a n
Pht biu tiu chun Hurwitz:

iu kin cn v h thng n nh l tt c cc nh thc con cha ng cho
ca ma trn Hurwitz u dng.
Th du: Cho h thng t ng c phng trnh c trng l:
s 3 4s 2 3s 2 0
Hi h thng c n nh khng ?
Gii:
Ma trn Hurwitz:
a1
a
0
0
a3
a2
0 4 2 0
0 1 3 0
a1 a3 0 4 2
Cc nh thc: 1 a1 1
2
a1
a3
a0
a2
a1
a3
3 a0
a2
0 a3
a1
a3
4 2
1 3
4 3 1 2 10
a1
a3
a0
a2
4 2
1 3
2 10 20
V tt c cc nh thc con cha ng cho ca ma trn Hurwitz u dng nn h

thng n nh.
Cc h qu ca tiu chun Hurwitz
H bc 2 n nh nu phng trnh c trng tha mn iu kin:
____
ai 0, i 0,2

____
ai 0, i 0,3
a1 a 2 a0 a3 0
77

____
0
,
i
0
,4
i
a1 a 2 a 0 a3 0
3
2
a1 a 2 a3 a0 a3 a1 a 4 0
4.3. PHNG PHP QU O NGHIM S

4.3.1. Khi nim
- Xt h thng c phng trnh c tnh: s 2 4s K 0 (1)
- Nghim ca phng trnh c tnh ng vi cc gi tr khc nhau ca K.
V cc nghim ca phng trnh (1) tng ng vi cc gi tr ca K ln mt phng

phc. Nu cho K thay i lin tc t 0 n +, tp hp tt c cc nghim ca phng
trnh (1) to thnh nhng ng m nt nh trn hnh v. ng m nt trn hnh v
c gi l qu o nghim s.
nh ngha:
Qu o nghim s l tp hp tt c cc nghim ca phng trnh c trng ca h
thng khi c mt thng s no trong h thay i t 0 .
4.3.2. Qui tc v qu o nghim s
Xt h thng iu khin:
Phng trnh c tnh ca h:

1+G(s)H(s) = 0
Mun p dng cc qui tc v qu o nghim s, trc tin ta phi bin i tng
ng phng trnh c trng v dng:
1 K
N ( s)
0
D( s )
(2)
78
G0 ( s ) K
t:
N ( s)
D( s )
Gi n l s cc ca G0(s) , m l s zero ca Go(s).

(2)
1 G0 (s) 0
iu kin bin
iu kin pha
G ( s) 1
0
G0 ( s) (2l 1)
Sau y l 11 qui tc v qu o nghim s ca h thng c phng trnh c tnh c

dng (2):
Qui tc v QNS
Qui tc 1: S nhnh ca qu o nghim s = bc ca phng trnh c tnh
= s cc ca G0(s) = n.
Qui tc 2: Khi K = 0: cc nhnh ca qu o nghim s xut pht t cc cc ca G0(s).
Khi K tin n + : m nhnh ca qu o nghim s tin n m zero ca
G0(s), nm nhnh cn li tin n theo cc tim cn xc nh bi qui tc 5 v
qui tc 6.
Qui tc 3: Qu o nghim s i xng qua trc thc.
Qui tc 4: Mt im trn trc thc thuc v qu o nghim s nu tng s cc v zero
ca G0(s) bn phi n l mt s l.
Qui tc 5: Gc to bi cc ng tim cn ca qu o nghim s vi trc thc xc nh
bi :
(2l 1)
l 1,1,2
nm
Qui tc 6: Giao im gia cc tim cn vi trc thc l im A c ta xc nh bi:

n
cuc zero
OA
nm
p z
i 1
i 1
nm
Qui tc 7: im tch nhp (nu c) ca qu o nghim s nm trn trc thc v l

nghim ca phng trnh:
dK
0
ds
Qui tc 8: Giao im ca qu o nghim s vi trc o c th xc nh bng cch p

dng tiu chun RouthHurwitz hoc thay s=j vo phng trnh c trng (2),
cn bng phn thc v phn o s tm c giao im vi trc o v gi tr K.
Qui tc 9: Gc xut pht ca qu o nghim s ti cc phc pj c xc nh bi:
j 180 0 arg pi z i arg p j z i
m
i 1
i 1
i j
Dng hnh hc ca cng thc trn l:

j 180 0 gc t cc zero n cc pj ) ( gc t cc cc cn li n cc p j )
79
Qui tc 10: Tng cc nghim l hng s khi K thay i t 0.

Qui tc 11: H s khuch i dc theo qu o nghim s c th xc nh t iu kin
bin :
K
N ( s)
1
D( s )
Th d: Cho h thng c s khi sau:

G( s)
K
s( s 2)(s 3)
Hy v QNS ca h thng khi K=0.

Gii:
Phng trnh c tnh ca h thng:
K
0
s( s 2)(s 3)
Cc cc: 3 cc p1 0
p2 2
p3 3
1 G( s) 0 1
Cc zero: khng c
QNS gm c 3 nhnh xut pht t cc cc khi K = 0. Khi K, 3 nhnh ca QNS
s tin n v cng theo cc tim cn xc nh bi:
- Gc gia cc tim cn v trc thc:
l 0
1
3
2l 1 2l 1
2
nm
30
3
l 1
l 1
- Giao im gia cc tim cn v trc thc:

OA
cuc zero 0 (2) (3) 0 5

nm
30
- im tch nhp l nghim ca phng trnh c tnh:

Ta c:
1 K s( s 2)(s 3) s 3 5s 2 6s
dK
3s 2 10s 6
ds
s1 2.549
dK
0
ds
s 2 0.785
80
dK
0
ds
- Giao im ca QNS vi trc o c th c xc nh bng 1 trong 2 sau y:

Cch 1: p dng tiu chun Routh:
1 s 3 5s 2 6s K
(2)
Bng Routh
s3
s2
s1
1
5
1
5
1
5
6- xK=0
s0
iu kin h thng n nh
1
6 K 0
5
K 0
6
K
0
0 K 30
Vy h s khuch a gii hn l Kgh = 0

Thay gi tr Kgh = 30 vo phng trnh (2) , gii phng trnh ta c giao im ca
QNS ca trc o.
1 s 3 5s 2 6s 30
s1 5
s2 j 6
s j 6
3
Do :
dK
0
ds
3s 2 16s 20 0
s1 3.33
s 2 2.00
Vy QNS c 2 im tch nhp.

Giao im ca QNS vi trc o c xc nh bng cch thay s j vo phng
trnh c tnh.
3
2
- j 5 j 6 j K 0 j 3 5 2 6 j K 0
0
j 3 6 j 0
K 0
5 2 K 0
6
K 30
81
Th d: Cho h thng hi tip m n v, trong hm truyn h l:

G( s)
K
s s 8s 20
Hy v QNS ca h thng khi K = 0.

Gii:
Phng trnh c tnh ca h thng:
K
0
s( s 8s 3)
p2,3 4 j 2
Cc cc: 3 cc p1 0
1 G( s) 0 1
(1)
Cc zero: khng c
QNS gm 2 nhnh xut pht ti cc cc khi K = 0. Khi K , 3 nhnh tin n v
cng theo tim cn xc nh bi:
- Gc gia cc tim cn v trc thc:
l 0
1
3
2l 1 2l 1
2
nm
30
3
l 1
l 1
82
Giao im gia cc tim cn v trc thc:

OA
cuc zero 0 (4 j 2) (4 j 2) 0 8
nm
30
im tch nhp l nghim ca phng trnh:
dK
0
ds
Ta c:
1 K s 3 8s 2 20s
dK
3s 2 16s 20
ds
s 3.33
dK
0 3s 2 16s 20 1
Do
ds
s 2 2.00
Vy QNS c 2 im tch nhp.

- Giao im ca QNS vi trc o
- (1) s 3 8s 2 20s K 0
Thay s j ta c:
1 s 3 8s 2 20s K 0
j 3 8 j 2 20 j K 0 j 3 8 j 2 20 j K 0
0
8 j 3 K 0
K 0
3
20 0
20
K 160
2 180 0 arg p 2 p1 arg p 2 p3
180 0 arg 4 j 2 0 arg 4 j 2 4 j 2
2
180 0 tg 1 90
1
0
180 153.5 90
2 63.5 0
K ( s 1)
s( s 3) s 2 8s 20
K ( s 1)
1 G( s) 0 1
0
s( s 3) s 2 8s 20
p1 0
p2 3 p3, 4 4 j 2
G( s)
z1 1
83
l 0
1 3
2l 1 2l 1
l 1
2
nm
4 1
3
l 1
3
cuc zero 0 (3) (4 j 2) 4 j 2 1 10

OA
nm
4 1
3
2
4
3
2
1 K s(s 3) s 8s 20 dK 3s 36s 77 s 2 88s 60
( s 1)
ds
s 1
s1, 2 3.67 j1.05

dK
0
ds
s3, 4 0.66 j 0.97
1 s 4 11s 3 44s 2 60 K s K 0
4 11 j 3 44 2 60 K j K 0
(2)
K 0
5.893 V
4 44 j 2 K 0
11 3 44 2 60 K
K 322
j1.314
K 61.7
Vy giao im cn tm l:
s j5.893
H s khuch i gii hn l: K gh 322
Gc xut pht ca QNS ti cc phc

p3:
3 180 1 2 3 4
180 146,3 (153,4 116,6 90)
3 33.7 0
Th d 4: Cho h thng iu khin c s khi nh sau:

10
s 9s 3
K
GC ( s) K P I
s
G( s)
84
- Cho KI = 2,7, hy v QNS ca h thng sau y khi K P 0 . Bit rng

dK P / ds 0 c 3 nghim l: -3, -3, 1.5.
- Khi K P 270, K I 2.7 , h thng c n nh khng?
Gii:
- Phng trnh c trng ca h thng:
1 GC (s)G(s) 0
2.7
10
1 KP
2
0
s s 9s 3
10 K P s
1
0
( s 9)( s 2 3)
p3 j 3
- Cc cc: p1 9 p2 j 3
- Cc zero: z1=0
- Tim cn:
(l 0
2l 1 2l 1 / 2
l 1
nm
3 1
/ 2
cuc zero 9 ( j
3 ) ( j 3 ) 0
9
nm
3 1
2
s1 3
dK P
0 s 2 3
im tch nhp
ds
s 1.5
3
OA
QNS c hai im tch nhp trng nhau ti -3.

Gc xut pht ca QNS ti cc phc p2.
2 180 0 arg p 2 z1 arg p 2 z1 arg p 2 p3
180 0 arg j 3 0 arg j 3 9 arg j 3 j 3
3
90
180 0 90 tg 1
9
2 169 0
85
- Khi K I 2.7 , QNS ca h thng nm

hon ton bn tri mt phng phc khi
K P 0 , do h thng n nh
khi K I 2.7 , K P 270 .
4.4. TIU CHUN N NH TN S

4.4.1. Khi nim v c tnh tn s:
Xt h thng tuyn tnh khi tn hiu vo l tn hiu hnh sin th trng thi xc lp
tn hiu ra cng l tn hiu hnh sin cng tn s vi tn hiu vo, khc bin v pha.
r(t)=Rmsin(j)
R(j)
HT
c(t)=Cmsin(j+)
C(j)
nh ngha: c tnh tn s ca h thng l t s gia tn hiu ra trng thi xc lp

v tn hiu vo hnh sin.
C j
c tnh tn s
R ( j )
Ngi ta chng minh c:
c tnh tn s G(s) s j G( j )
Th d: Nu h thng c hm truyn l G( s)
G( j )
10( s 3)
th c tnh tn s ca h thng l
s( s 1)
10( j 3)
j ( j 1)
Tng qut G( j ) l mt hm phc nn c th biu din di dng i s hoc dng cc:

G( j ) P( ) jQ( ) M ( ).e j ( )
Trong : M G j P 2 Q 2 : p ng bin
86
G j tg 1
: p ng pha
t: L 20 lg M : p ng bin tnh theo n v dB(decibel).

ngha vt l:
- p ng bin cho bit t l v bin (h s khuch i) gia tn hiu ra v tn hiu
vo theo tn s.
- p ng pha cho bit lch pha gia tn hiu ra v tn hiu vo theo tn s.
Biu Bode: l hnh v gm 2 thnh phn:
1. Biu Bode v bin : l th biu din mi quan h gia p ng bin L()
theo tn s .
2. Biu Bode v pha: l th biu din mi quan h gia pha () theo tn s .
C hai th trn u c v trong h to vung gc vi trc honh c chia theo
thang logarith (c s 10).
Biu Nyquist: (ng cong Nyquist) l th biu din c tnh tn s G(j) trong h
to cc khi thay i t 0.
c tnh tn s ca h thng c cc thng s quan trng sau y:
- nh cng hng (Mp): nh cng hng l gi tr cc tr i ca M()
- Tn s cng hng (p): l tn s ti c nh cng hng.
- Tn s ct bin (c): l tn s ti bin ca c tnh tn s bng 1 (hay bng
0dB)
M(c) = 1
Lc) = 0
- Tn s ct pha (-): l tn s ti pha ca c tnh tn s bng -

(hay bng -1800)
180 0 rad
- d tr bin (GM-Gain Margin)
GM
GM L
[dB]
d tr pha (M-Phase Margin)

M 180 0 c
87
a) Biu Bode
b) Biu Nyquist
4.4.2. Tiu chun n nh Bode:
Cho h thng hi tip m n v, bit c tnh tn s ca h h G(s), bi ton t ra
l xt tnh n nh ca h thng kn Gk(s).
Tiu chun Bode: h thng kn Gk (s) n nh nu h thng h G(s) c d tr

bin v d tr pha dng:
GM 0
H thng n nh
M 0
Th d: Cho h thng hi tip m n v, bit rng h h c biu Bode nh hnh v.

xc nh d tr bin, d tr pha ca h thng h. Hi h kn c n nh khng?
88
Theo biu Bode:

c 5
2
L 35dB
c 270 0
GM 35dB
M 180 0 270 0 90 0
Do GM 0 v M 0
Nn h thng kn n nh.
4.4.3. Tiu chun n nh Nyquist:

Cho h thng t ng c s khi:
Cho bit c tnh tn s ca h h G(s), bi ton t ra l xt tnh n nh ca h

thng kn Gk(s).
Tiu chun Nyquist: H thng kn Gk(s) n nh nu ng cong Nyquist ca h h bao
im (-1, j0)
l
vng theo chiu dng (ngc chiu kim ng h) khi thay i t
2
0+, trong l l s cc ca h h G(s) nm bn phi ca mt phng phc.

Th d 1: Cho h thng hi tip m n
v, trong h h G(s) c ng cong
Nyquist nh hnh v. Bit rng G(s) n
nh. Xt tnh n nhca h thng kn.
Gii:
V G(s) n nh nn G(s) khng c cc
nm bn phi mt phng phc, do theo
tiu chun Nyquist h kn n nh nu
ng cong Nyquist G(j) ca h h
khng bao im (1, j0)
- Trng hp 1: G(j) khng bao im (1, j0) h kn n nh.

- Trng hp 2: G(j) qua im (1, j0)
h kn bin gii n nh.
89
- Trng hp 3: G(j) bao im (1, j0)

h kn khng n nh.
Th d 2: Hy nh gi tnh n nh ca h
thng hi tip m n v, bit rng hm
truyn h h G(s) l:
G( s)
K
s(T1 s 1)(T2 s 1)(T3 s 1)
Gii:
Biu Nyquist:
V G(s) khng c cc nm bn phi
mt phng phc, do theo tiu chun
Nyquist h kn n nh nu ng cong
Nyquist G(j) ca h h khng bao im
(1, j0)
- Trng hp 1: G(j) khng bao im (1, j0) h kn n nh.
- Trng hp 2: G(j) qua im (1, j0) h kn bin gii n nh;
- Trng hp 3: G(j) bao im (1, j0) h kn khng n nh
Th d 3: Cho h thng h khng n nh c c tnh tn s nh cc hnh v di y.
Hi trng hp no h kn n nh.
n nh
Khng n nh
Cho h thng h khng n nh c c tnh tn s nh cc hnh v di y. Hi
trng hp no h kn n nh.
90
Khng n nh
Cho h thng h khng n nh c c tnh tn s nh cc hnh v di y. Hi
trng hp no h kn n nh.
n nh
Khng n nh
Th d 4: Cho h thng h c hm truyn t l: G( s)
K
(Ts 1) n
K 0, T 0, n 2
Tm iu kin ca K v T h thng kn (hi tip m n v) n nh.

Gii:
c tnh tn s ca h thng l: G( j )
- Bin : M
K
(Tj 1) n
T 1
2
ntg 1 T
Biu Nyquist:
- Pha:
91
iu kin n nh: ng cong Nyquist khng bao im (-1, j0). Theo biu Nyquist,
iu ny xy ra khi:
M 1
1
Ta c: ntg T

T tg
n
n
1
tg
T n
K
Do : M 1
1
n
2
T 2 1 tg 1
T n
tg 1 T

K tg 2 1
92
Chng 5: nh gi cht lng h thng iu khin
Chng 5
NH GI CHT LNG
H THNG IU KHIN
5.1. CC TIU CHUN CHT LNG
5.1.1. Sai s xc lp
Xt h thng hi tip c s khi nh hnh v:
Sai s: l sai lch gia tn hiu vo v tn hiu hi tip.

Sai s h thng l:
e(t ) r (t ) cht (t )
E (s) R(s) Cht (s)
- Sai s xc lp: l sai s ca h thng khi thi gian tin n v cng.

e xl lim e(t ) exl lim sE(s)
t 0
s 0
- Sai s xc lp khng nhng ph thuc vo cu trc v thng s ca h thng

m cn ph thuc vo tn hiu vo.
p ng qu : vt l
- Hin tng vt l: l hin tng p ng ca h thng vt qu gi tr xc lp
ca n.
- vt l: (Percent of Overshoot POT) l i lng nh gi mc vt l
ca h thng, vt l c tnh bng cng thc:
POT
cmax c xl
100%
c xl
93
- Thi gian qu (tq): l thi gian cn thit sai lch gia p ng ca h

thng v gi tr xc lp ca n khng vt qu %.
% thng chn l 2% (0.02) hoc 5% (0.05)
- Thi gian ln (tr): l thi gian cn thit p ng ca h thng tng t 10%
n 90% gi tr xc lp ca n.
Biu thc sai s xc lp
Ta c:
E ( s)
R( s )
1 R( s ) H ( s )
sR( s)
s 0 1 R( s ) H ( s )
e xl lim sE( s) lim

s 0
Suy ra:
Nhn xt: sai s xc lp khng ch ph thuc vo cu trc v thng s ca h thng
m cn ph thuc vo tn hiu vo.
a. Tn hiu vo l hm nc n v: R( s)
1
s
(h s v tr)
94
e xl
1
1 KP
vi K P lim G(s) H (s)

s 0
b. Tn hiu vo l hm dc n v:
e xl
1
KV
R( s )
1
Ka
(h s vn tc)
KV lim G(s) H ( s)
s 0
c. Tn hiu vo l hm parabol: R( s)
e xl
1
s2
1
s3
(h s gia tc)
K a lim G(s) H (s)

s 0
Mi lin h gia s khu tch phn trong G(s)H(s) v sai s xc lp

- Ty theo s khu tch phn l tng c trong hm truyn G(s)H(s) m cc h s
Kp, Kv, Ka c gi tr nh sau:
S khu tch phn
H s v tr
H s vn tc
H s gia tc
trong G(s)H(s)
KV
Ka
KP
0
0
0
KP <
1
0
KV <
2
Ka <
>3
Nhn xt:
- Mun exl ca h thng i vi tn hiu vo l hm nc bng 0 th hm truyn
G(s)H(s) phi c t nht 1 khu tch phn l tng.
- Mun exl ca h thng i vi tn hiu vo l hm dc bng 0 th hm truyn
- Mun exl ca h thng i vi tn hiu vo l hm parabol bng 0 th hm truyn
p ng qu :
H qun tnh bc 1:
K
Ts 1
1
p1
H qun tnh bc 1 c mt cc thc:
T
1 K
C ( s) R( s)G ( s) .
p ng qu :
s Ts 1
t / T
c(t ) K 1 e
Hm truyn h qun tnh bc 1:
G( s)
95
Gin cc zero
p ng qu
ca khu qun tnh bc 1
ca khu qun tnh bc 1
Nhn xt v h qun tnh bc 1:
- H qun tnh bc 1 ch c 1 cc thc (1/T), p ng qu khng c vt l.
- Thi hng T: l thi im p ng ca khu qun tnh bc 1 t 63% gi tr xc
lp.
- Cc thc (1/T) cng nm xa trc o th thi hng T cng nh, h thng p ng
cng nhanh.
- Thi gian qu ca h qun tnh bc 1 l:
1
t qd T ln

vi = 0.02 (tiu chun 2%) ho = 0.05 (tiu chun 5%).

Quan h gia v tr cc v p ng h qun tnh bc 1
- Cc nm cng xa trc o p ng ca h qun tnh bc 1 cng nhanh, thi gian qu
cng ngn.
Gin cc zero
ca khu qun tnh bc 1
H dao ng bc 2:
Hm truyn h dao ng bc 2:
p ng qu
ca khu qun tnh bc 1
96
G( s)
K n2
K
T 2 s 2 2Ts 1 s 2 2 n s n2
H dao ng bc 2 c cc phc:
p ng qu :
n ,0 1
T
p1, 2 n j n 1 2
K n2
1
C ( s) R( s)G ( s) . 2
s s 2 n s n2
e nt
c(t ) K 1
sin n 1 2 t
2
Gin cc zero
ca khu dao ng bc 2
cos
p ng qu
ca khu dao ng bc 2
Nhn xt v h dao ng bc 2:
H qun tnh bc 1
Nhn xt v h qun tnh bc 1

- H qun tnh bc 1 ch c 1 cc thc (1/T), p ng qu khng c vt l.
- Thi hng T: l thi im p ng ca khu qun tnh bc 1 t 63% gi tr xc
lp.
- Cc thc (1/T) cng nm xa trc o th thi hng T cng nh, h thng p ng
cng nhanh.
- Thi gian qu ca h qun tnh bc 1 l:
1
t qd T ln

vi = 0.02 (tiu chun 2%) hoc = 0.05 (tiu chun 5%)

Quan h gia v tr cc v p ng h qun tnh bc 1.
97
Cc nm cng xa trc o p ng ca h qun tnh bc 1 cng nhanh, thi gian qu

cng ngn.
Gin cc zero
ca khu qun tnh bc 1
p ng qu
ca khu qun tnh bc 1
H dao ng bc 2
Hm truyn h dao ng bc 2:
G( s)
K n2
K
T 2 s 2 2Ts 1 s 2 2 n s n2
- H dao ng bc 2 c cp cc phc:
- p ng qu :
K n2
1
C ( s) R( s)G ( s) . 2
s s 2 n s n2
n ,0 1
T
p1, 2 n j n 1 2
e nt
c(t ) K 1
sin n 1 2 t
2
98
cos
Gin cc zero
ca khu dao ng bc 2
p ng qu
ca khu dao ng bc 2
Nhn xt v h dao ng bc 2
- H dao ng bc 2 c cp cc phc, p ng qu c dng dao ng vi
bin gim dn.
- Nu = 0, p ng ca h l dao
ng khng suy gim vi tn s n
n gi l tn s dao ng t
nhin.
- Nu 0< <1, p ng ca h l
dao ng vi bin gim dn
gi l h s tt (hay h s suy
gim), cng ln (cc cng nm
gn trc thc) dao ng suy gim
cng nhanh.
Nhn xt v h dao ng bc 2
p ng qu ca h dao ng bc 2 c vt l:
POT exp
1 2
vt l:
.100%
99
cng ln (cp cc cng nm gn trc

thc) POT cng nh.
cng nh (cp cc phc cng nm gn
trc o) POT cng ln.
Thi gian qu :
Tiu chun 5%: t qd
Tiu chun 2%: t qd
n
4
Quan h gia h s tt v vt l
Quan h gia v tr cc v p ng h dao ng bc 2.
Cc h dao ng bc 2 c cc cc nm trn cng 1 tia xut pht t gc ta th c
h s tt bng nhau, do c vt l bng nhau. H no nm xa gc ta hn th c
tn s dao ng t nhin ln hn, do thi gian qu ngn hn.
Gin cc zero
ca khu dao ng bc 2
p ng qu
ca khu dao ng bc 2
Cc h dao ng bc 2 c cc cc nm cch gc ta mt khong bng nhau th c

cng tn s dao ng t nhin, h no c cc nm gn trc o hn th c h s tt nh
hn, do vt l cao hn, thi gian qu di hn.
100
Gin cc zero
ca khu dao ng bc 2
p ng qu
ca khu dao ng bc 2
Quan h gia v tr cc v p ng h dao ng bc 2.

Cc h dao ng bc 2 c cc cc nm cch trc o mt khong bng nhau th c
n bng nhau, do thi gian qu bng nhau. H no c cc nm xa trc thc hn th
c h s tt nh hn, do vt l cao hn.
Gin cc zero
ca khu dao ng bc 2
p ng qu
ca khu dao ng bc 2
H bc cao
H bc cao c nhiu hn 2 cc
Nu h bc cao c 1 cp cc phc nm gn trc o hn so vi cc cc cn li th c
th xp x h bc cao v h bc 2. Cp cc phc nm gn trc o nht gi l cp cc quyt
nh ca h bc cao.
101
H bc cao c nhiu hn 2 cc
H bc cao c th xp x v h
bc 2 vi cp cc quyt nh
Ccc tiu chun ti u ha p ng qu

Tiu chun IAE (Integral of the Absolute Magnitude of the Error )
J IAE
e(t ) dt
0
Tiu chun ISE (Integral of the Square of the Error)
J ISE e 2 (t )dt
0
Tiu chun ITAE (Integral of Time multiplied by the Absolute Value of the Error)
J ITAE t e(t ) dt
0
H bc 2:
J IAE min 0.707

J ISE min 0.5
J ITAE min 0.707
p ng ca h bc 2
Tiu chun ITAE c s dng ph bin nht
- p ng qu ca h thng bc n l ti u theo chun ITAE th mu s hm
truyn kn h bc n phi c dng.
Bc
Mu s hm truyn
102
s n
1
2
s 2 1.414n s n2
s 3 1.75n s 2 2.15n2 s n3
s 4 2.1n s 3 3.4n2 s 2 2.7n3 s n4
- Nu mu s hm truyn h kn c dng nh bng trn v t s hm truyn h kn

ca h bc n l th p ng qu ca h thng l ti u v sai s xc lp bng 0.
Cc tiu chun ti u ha p ng qu
- p ng ti u theo chun ITAE
103
Chng 6
THIT K H THNG IU KHIN LIN TC
6.1. KHI NIM
Thit k l ton b qu trnh b sung cc thit b phn cng cng nh thut ton
phn mm vo h cho trc c h mi tha mn yu cu v tnh n nh, chnh
xc, p ng qu , C nhiu cch b sung b iu khin vo h thng cho trc,
trong khun kh quyn gio trnh ny chng ta ch yu xt hai cch sau:
Cch 1: thm b iu khin ni tip vi hm truyn ca h h, phng php ny gi l
hiu chnh ni tip. B iu khin c s dng c th l b hiu chnh sm pha, tr pha,
sm tr pha,P, PD, PI, PID, thit k h thng hiu chnh ni tip chng ta c th s
dng phng php QNS hay phng php biu Bode. Ngoi ra mt phng php
cng thng c s dng l thit k theo c tnh qu chun.
Hnh 6.1. H thng hiu chnh ni tip

Cch 2: iu khin hi tip trng thi, theo phng php ny tt c cc trng thi ca
h thng c phn hi tr v ng vo v tn hiu iu khin c dng u(t ) r (t ) Kx(t ) .
Ty theo cch tnh vector hi tip trng thi K m tac phng php iu khin phn b
cc, iu khin ti u LQR,.
Hnh 6.2. H thng iu khin hi tip trng thi

Qu trnh thit k h thng l qu trnh i hi tnh sng to do trong khi thit k
thng c nhiu thng s phi chn la. Ngi thit k cn thit phi hiu c nh
hng ca cc khu hiu chnh n cht lng ca h thng v bn cht ca tng phng
php thit k th mi c th thit k c h thng c cht lng tt. Do cc phng
php thit k trnh by trong chng ny ch mang tnh gi , l nhng cch thng
c s dng ch khng phi l phng php bt buc phi tun theo. Vic p dng mt
104
cch my mc thng khng t c kt qu mong mun trong thc t. D thit k theo

phng php no yu cu cui cng vn l tha mn cht lng mong mun, cch thit
k, cch chn la thng s khng quan trng.
Trc khi xt n cc phng php thit k b iu khin, chng ta xt nh hng
ca cc b iu khin n cht lng ca h thng. Chng ny ch trnh by b iu
khin di dng m t ton hc, mch iu khin c th xem li chng 2.
6.2. NH HNG CA CC B IU KHIN N CHT LNG CA H
THNG
6.2.1. nh hng ca cc v zero
Trong mc ny chng ta kho st nh hng ca vic thm cc v zero vo h thng
bng cch da vo qu o nghim s. Ta thy:
Khi thm 1 cc c phn thc m vo hm truyn h h th QNS ca h kn c xu
hng tin gn v pha trc o (xem hnh 6.3), h thng s km n nh hn, d tr
bin v d tr pha gim, vt l tng.
Hnh 6.3. S thay i dng QNS khi thm cc vo h thng

Khi thm 1 zero c phn thc m vo hm truyn h h th QNS ca h kn c xu
hng tin xa trc o (xem hnh 6.4), do h thng s n nh hn, d tr bin v
d tr pha tng, vt l gim.
Hnh 6.4. S thay i dng QNS khi thm cc vo h thng

6.2.2. nh hng ca hiu chnh sm tr pha
6.2.2.1. Hiu chnh sm pha:
Hm truyn:
Gc ( s)
1 aTs
1 Ts
( 1)
105
(6.1)
c tnh tn s: Gc ( j )
1 aTj
1 Tj
( 1)
Hnh 6.5 l biu Bode ca khu hiu chnh sm pha. Da vo biu Bode ca
khu sm pha chng ta thy c tnh pha lun dng ( 0, ), do tn hiu ra
lun lun sm pha hn tn hiu vo. Khu hiu chnh sm pha l mt b lc thng cao
(xem biu Bode bin ), s dng khu hiu chnh sm pha s m rng c bng
thng ca h thng, lm cho p ng ca h thng nhanh hn, do khu hiu chnh sm
pha ci thin p ng qu . Tuy nhin cng do tc dng m rng bng thng m khu
hiu chnh sm pha lm cho h thng nhy vi nhiu tn s cao.
Hnh 6.5. Bieu o Bode cua khau hieu chnh sm pha

Cc thng s cn ch trn c tnh tn s ca khu sm pha:
lch pha cc i:
1
max sin 1
(6.2)
Tn s ti lch pha cc i:
max
(6.3)
Bin ti pha cc i:
Lmax 10 lg
Chng minh:
(6.4)
106
1 j T
1 jT 1 jT
arg
1 T 2 2
1 jT
arg
T 1
arg 1 T 2 2 jT 1 arctan
2 2
1 T
T 1
1
1
arctan
arcsin
arctan
1
2
2 T
1
Do :
max arcsin
1
Du ng thc xy ra khi:
1 T 2 2 max max 1 / T
Thay max 1 / T vo biu thc bin ca khu sm pha ta d dng rt ra cng

thc (6.4).
6.2.2.2. Hiu chnh tr pha:
1 aTs
1 Ts
1 aTj
c tnh tn s: Gc ( j )
1 Tj
Hm truyn:
Gc ( s)
( 1)
(6.5)
Hnh 6.6 l biu Bode ca khu hiu chnh tr pha. Da vo biu Bode ca
khu tr pha ta thy c tnh pha lun m ( ( ) 0, ) nn tn hiu ra lun lun tr pha
hn tn hiu vo. Khu hiu chnh tr pha l mt b lc thng thp (xem biu Bode
bin ), s dng khu hiu chnh tr pha s thu hp bng thng ca h thng, lm cho h
s khuch i ca h thng i vi tn hiu vo tn s cao gim i, do khu hiu chnh
tr pha khng c tc dng ci thin p ng qu . Tuy nhin cng do tc dng lm gim
h s khuch i min tn s cao m khu tr pha c tc dng lc nhiu tn s cao nh
hng n h thng. Do h s khuch i min tn s thp ln nn khu hiu chnh tr
pha lm gim sai s xc lp ca h thng (xem biu thc sai s xc lp trnh by
chng 5).
Cc thng s cn ch trn c tnh tn s ca khu tr pha:
lch pha cc tiu:
1
min sin 1
(6.6)
Tn s ti lch pha cc tiu:

min
(6.7)
Bin ti pha cc tiu:

Lmin 10 lg
Chng minh: Tng t nh lm i vi khu sm pha.
107
(6.8)
Hnh 6.6. Biu Bode ca khu hiu chnh tr pha

6.2.2.3 Hiu chnh sm tr pha:
Khu hiu chnh sm tr pha gm mt khu tr pha mc ni tip vi mt khu sm
pha. Hm truyn ca khu hiu chnh sm tr c th vit di dng:
1 1T1s 1 2T2 s
GC ( s) GC1 ( s).GC 2 ( s)
(6.9)
1 T1s 1 T2 s
biu thc (6.9) l hm truyn ca khu sm tr pha th cc thng s phi tha

iu kin:
1 1, 2 1,
1 / 1T1 1 / 2T2 .
c tnh tn s ca khu sm tr pha:
1 1T1 j 1 2T2 j
Gc j
(6.10)
1 T1 j 1 T2 j
Hnh 6.7. Biu Bode ca khu hiu chnh sm tr pha
108
Hnh 6.7 l biu Bode ca khu hiu chnh sm tr pha. min tn s cao tn
hiu ra sm pha hn tn hiu vo; min tn s thp tn hiu ra tr pha hn tn hiu vo
nn khu hiu chnh ny c gi l khu hiu chnh sm tr pha. Khu hiu chnh sm
tr pha l mt b lc chn di (xem biu Bode bin ), h s khuch i min tn s
cao ln lm ci thin ng qu ; h s khuch i min tn s thp ln lm gim sai s
xc lp, do khu hiu chnh sm tr pha kt hp cc u im ca khu hiu chnh sm
pha v tr pha.
6.2.3. Hiu chnh PID
6.2.3.1 Hiu chnh t l P: (Proportional)
Hm truyn: Gc (s) K P
(6.11)
c tnh tn s ca khu hiu chnh t l c trnh by chng 2. Da vo cc
biu thc sai s xc lp trnh by chng 4 ta thy nu h s khuch i KP cng ln
th sai s xc lp cng nh, tuy nhin khi KP tng th cc cc ca h thng ni chung c
xu hng di chuyn xa ra trc thc, iu c ngha l p ng ca h thng cng dao
ng, vt l cng cao. Nu KP tng qu gi tr h s khuch i gii hn th h thng s
tr nn mt n nh. Do khng th mun sai s ca h thng bng 0 th khng th tng
h s khuch i ln v cng.
Th d 6.1: Kho st nh hng ca b iu khin t l.
Xt h thng hiu chnh ni tip c s khi nh hnh 6.1, trong hm truyn
ca i tng l: G( s)
10
. B iu khin c s dng l b iu khin t l.
( s 2)(s 3)
ng lin nt trong hnh 6.8 l p ng ca h thng khi cha hiu chnh KP = 1. Theo
hnh v ta thy khi tng KP th sai s xc lp gim, ng thi vt l cng tng ln (cc
ng t nt).
Hnh 6.8. p ng nc ca h thng kn khi thay i h s khuch i ca b iu khin t l
6.2.3.2 Hiu chnh vi phn t l PD: (Proportional Derivative)

GC (s) K P K D s K P (1 TD s)
Hm truyn:
trong K D K PTD , TD c gi l thi hng vi phn ca b iu khin PD.
c tnh tn s: GC ( j) K P K D j K P (1 jTD )
109
(6.12)
(6.13)
Hnh 6.9. Biu Bode ca khu hiu chnh PD

Mc ni tip khu hiu chnh PD vi hm truyn ca i tng tng ng vi
vic thm vo h thng mt zero ti v tr 1/TD. Nh trnh by mc 6.2.1, vic thm
vo h thng mt zero lm cho QNS c xu hng ri xa trc o v tin gn v pha trc
thc, do lm gim vt l ca h thng.
Hnh 6.9 l c tnh tn s ca khu hiu chnh PD. Da vo biu Bode ca khu
hiu chnh PD ta thy khu hiu chnh PD l mt trng hp ring ca khu hiu chnh
sm pha, trong lch pha cc i gia tn hiu ra v tn hiu vo l max 900 , tng
ng vi tn s max . Khu hiu chnh PD c c im ca khu hiu chnh sm pha,
ngha l lm nhanh p ng ca h thng, gim thi gian qu . Tuy nhin do h s
khuch i tn s cao ca khu hiu chnh PD l v cng ln nn khu hiu chnh PD l
lm cho h thng rt nhy vi nhiu tn s cao. Do xt v nh hng ca nhiu tn s
cao th khu hiu chnh sm pha c u th hn khu hiu chnh PD.
Th d 6.2: Kho st nh hng ca b iu khin vi phn t l.
ca i tng l: G( s)
K
(a b 0) . B iu khin c s dng l b iu
( s a)(s b)
khin vi phn t l. Phng trnh c tnh ca h thng sau khi hiu chnh l:
1 K P (1 TD s)
K
0
( s a)( s b)
nh hng c trng ca khu PD quyt nh bi thi hng vi phn TD (cng chnh l v

tr zero 1/TD trn QNS hay tn s gy 1/TD trn c tnh tn s). Ty theo gi tr ca TD
m QNS ca h thng sau khi hiu chnh c th c cc dng nh hnh 6.10.
110
Hnh 6.10. S thay i dng QNS khi thm khu hiu chnh PD vo h thng
Ta thy nu 0 < 1/TD < a th QNS ca h thng sau khi hiu chnh nm hon ton
trn trc thc (hnh 6.10b v 6.10c), do p ng ca h thng hon ton khng c dao
ng. Nu 1/TD > a th ty gi tr ca KP m h thng c th c nghim phc, tuy nhin
nghim phc ny gn trc thc hn so vi trc o (ngha l >0.707), do vt l ca
h thng thp hn so vi cha hiu chnh.
Hnh 6.11a trnh by p ng qu ca h thng khi thay i gi tr TD v gi h s
KP bng hng s. Ta thy TD cng ln th p ng cng nhanh, thi gian ln cng ngn.
Tuy nhin nu thi gian ln nhanh qu th s dn n vt l mt d p ng khng c dao
ng.
Khi xc nh c TD th nh hng ca KP tng t nh nh hng ca khu
khuch i, ngha l nu KP cng tng (nhng phi nh hn Kgh) th sai s xc lp cng
gim (hnh 6.11b), tuy nhin sai s xc lp lc no cng khc 0. Mt khc trong trng
hp h thng ang kho st, khi KP cng tng th QNS cng ri xa trc o nn thi gian
p ng cng nhanh ln. Tuy nhin nh hng ny khng phi l nh hng c trng
ca khu PD.
111
Hnh 6.11. nh hng ca khu hiu chnh PD n p ng nc n v ca h thng

6.2.3.3 Hiu chnh tch phn t l PI: (Proportional Integral)
Hm truyn: GC ( s) K P
K1
1
K P 1
s
T1s
(6.14)
trong K I K P / TI , TI c gi l thi hng tch phn ca b iu khin PI.
c tnh tn s: GC ( j ) K P 1
TI j
(6.15)
Mc ni tip khu hiu chnh PI vi hm truyn ca i tng tng ng vi vic

thm vo h thng mt zero ti v tr 1/TI v mt cc ti gc ta , iu ny lm cho
QNS ca h thng sau khi hiu chnh b y v pha phi mt phng phc, nn h thng
km n nh hn .
Hnh 6.12. Biu Bode ca khu hiu chnh PI

Hnh 6.12 l biu Bode ca khu hiu chnh PI. Da vo biu Bode ca khu
hiu chnh PI ta thy khu hiu chnh PI l mt trng hp ring ca khu hiu chnh tr
pha, trong lch pha cc tiu gia tn hiu ra v tn hiu vo l min 900 tng ng
112
vi tn s min 0 . Khu hiu chnh PI c c im ca khu hiu chnh tr pha, ngha l

lm chm p ng qu , tng vt l, gim sai s xc lp. Do h s khuch i ca
khu PI bng v cng ti tn s bng 0 nn khu hiu chnh PI lm cho sai s i vi tn
hiu vo l hm nc ca h thng khng c khu vi phn l tng bng 0 (h v sai bc
1). Ngoi ra do khu PI l mt b lc thng thp nn n cn c tc dng trit tiu nhiu
tn s cao tc ng vo h thng.
Th d 6.3: Kho st nh hng ca b iu khin tch phn t l.
ca i tng l:
G( s)
K
(a b 0) B iu khin c s dng l b iu
( s a)(s b)
khin tch phn t l. Phng trnh c tnh ca h thng sau khi hiu chnh l:
1 TI s
K
1 K P
0
TI s ( s a)( s b)
nh hng c trng ca khu PI quyt nh bi thi hng tch phn TI (cng chnh l v
tr zero 1/TI trn QNS hay tn s gy 1/TI trn c tnh tn s). Ty theo gi tr ca TI
m QNS ca h thng sau khi hiu chnh c th c cc dng nh hnh 6.13.
c) Cha hiu chnh

d) hiu chnh
Hnh 6.13: S thay i dng QNS khi thm khu hiu chnh PI vo h thng
113
Theo cng thc sai s (5.xx), ta thy khu hiu chnh PI lm cho sai s xc lp ca
h thng i vi tn hiu vo l hm nc bng 0. Tuy nhin khu hiu chnh PI lm cho h
thng km n nh. Ta c th kim chng c iu ny bng cch phn tch s thay i
dng QNS ca h thng sau khi hiu chnh. Theo cng thc (4.xx), giao im ca tim
cn vi trc thc l: OA =(-a b+ 1/TI ) . Do khi 1/TI cng tng th QNS ca h
thng cng di chuyn v pha phi mt phng phc (hnh 6.13b, 6.13c), h thng cng
km n nh. Khi 1/TI ln tha iu kin 1/TI > a+ b th QNS c on nm bn phi
mt phng phc(hnh 6.13d), h thng khng n nh nu h s khuch i ca h thng
ln hn gi tr Kgh.
Hnh 6.14 minh ha p ng qu ca h thng khi thay i thng s ca b iu
khin PI. hnh 6.14a ta thy khi cng gim thi hng tch phn TI th vt l ca h
thng cng cao, h thng cng chm xc lp. T y ta rt ra kt lun khi thit k khu
hiu chnh PI nn chn zero 1/TI nm gn gc ta thi hng tch phn TI c gi tr
ln nhm hn ch vt l. Khi gi TI bng hng s th nh hng ca KP n cht lng
ca h thng chnh l nh hng ca khu khch i, KP cng tng th vt l cng tng,
tuy nhin thi gian qu gn nh khng i (hnh 6.14b). Nu KP vt qu gi tr h s
khuch i gii hn th h thng tr nn mt n nh.
Hnh 6.14. nh hng ca khu hiu chnh PI n p ng nc n v ca h thng

6.2.3.4 Hiu chnh vi tch phn t l PID: (Proportional Integral Derivative)
Hm truyn: GC ( s) K P
KI
KDs
s
(6.16)
C th xem khu hiu chnh PID gm mt khu PI mc ni tip vi mt khu PD.
1
1 K D 2 s
GC ( s) K P1 1
TI 1s
(6.17)
trong TI1 > TD2. D dng suy ra c mi quan h gia cc h s trong hai cch biu
din (6.16) v (6.17) nh sau:
(6.18)
K P K P1 (1 TD 2 / TI 1 )
K I K I 1 / TI 1
(6.19)
(6.20)
K D K P1TD 2
c tnh tn s:
114
1
1 K D 2 j
GC ( j ) K P1 1
T
j
I1
(6.21)
Hnh 6.15. Biu Bode ca khu hiu chnh PID

Khu hiu chnh PID l mt trng hp ring ca hiu chnh sm tr pha, trong
lch pha cc tiu gia tn hiu ra v tn hiu vo l min 900 , tng ng vi tn
s min 0 ; lch pha cc i gia tn hiu ra v tn hiu vo l max 900 , tng ng
vi tn s max .
Do khu hiu chnh PID c th xem l khu PI mc ni tip vi khu PD nn n c
cc u im ca khu PI v PD. Ngha l khu hiu chnh PID ci thin p ng qu
(gim vt l, gim thi gian qu ) v gim sai s xc lp (nu i tng khng c khu
vi phn l tng th sai s xc lp i vi tn hiu vo l hm nc bng 0).
Chng ta va kho st xong nh hng ca cc khu hiu chnh ni tip thng
dng n cht lng ca h thng, mi khu hiu chnh c nhng u im cng nh
khuyt im ring. Do vy cn phi hiu r c im ca tng khu hiu chnh chng ta
mi c th s dng linh hot v hiu qu c. Ty theo c im ca tng i tng
iu khin c th v yu cu cht lng mong mun m chng ta phi s dng khu hiu
chnh thch hp. Khi xc nh c khu hiu chnh cn dng th vn cn li l xc
nh thng s ca n. Cc mc tip s cp n vn ny.
6.3. THIT K H THNG DNG PHNG PHP QNS
Nguyn tc thit k h thng dng phng php QNS l da vo phng trnh c
tnh ca h thng sau khi hiu chnh:
1 GC (s)G(s) 0
(6.22)
115
GC ( s)G ( s) 1
GC ( s)G ( s) 180
iu kin bin
iu kin pha
(6.23)
Ta cn chn thng s ca b iu khin GC(s) sao cho phng trnh (6.22) c

nghim ti v tr mong mun.
6.3.1 Hiu chnh sm pha
thun li cho vic v QNS chng ta biu din hm truyn khu hiu chnh sm
pha di dng sau (so snh vi biu thc (6.1)):
s 1 / T
(6.24)
1
GC ( s) K C
s 1 / T
Bi ton t ra l chn gi tr KC, va T p ng ca h thng tha mn yu cu

v cht lng qu ( vt l, thi gian xc lp,)
Ta bit cht lng qu ca h thng hon ton xc nh bi v tr ca cp cc
quyt nh. Do nguyn tc thit k khu hiu chnh sm pha dng phng php QNS
l chn cc v zero ca khu hiu chnh sao cho QNS ca h thng sau khi hiu chnh
phi i qua cp cc quyt nh mong mun. Sau bng cch chn h s khuch i KC
thch hp ta s chn c cc ca h thng chnh l cp cc mong mun. Nguyn tc trn
c c th ha thnh trnh t thit k sau:
TRNH T THIT K
Khu hiu chnh : Sm pha
Phng php thit k : QNS
Bc 1: Xc nh cp cc quyt nh t yu cu thit k v cht lng ca h thng
trong qu trnh qu :
o vot lo
s1*, 2 n jn 1 2
Thoi gian qua do

Bc 2: Xc nh gc pha cn b cp cc quyt nh s1*, 2 nm trn QNS ca h
thng sau khi hiu chnh bng cng thc:
* 1800 arg s1* pi arg s1* zi
n
i 1
i 1
(6.25)
trong pi v zi l cc cc ca h thng G(s) trc khi hiu chnh.

* 1800 gc t cc cc caG(s) n cc s1*
gc t cc zero caG(s) n cc s1*

(6.26)
Bc 3: Xc nh v tr cc v zero ca khu hiu chnh
V 2 na ng thng bt k xut pht t cc quyt nh s * sao cho 2 na ng
thng ny to vi nhau mt gc bng * . Giao im ca hai na ng thng ny vi trc
thc l v tr cc v zero ca khu hiu chnh.
C hai cch v thng dng:
-
116
- PP ng phn gic ( cc v zero ca khu hiu chnh gn nhau)

- PP trit tiu nghim ( h bc ca h thng)
Bc 4: Tnh h s khuch i KC bng cch p dng cng thc:
GC (s)G(s) ss* 1
1
Gii thch:
Bc 1: Do cht lng qu ph thuc vo v tr cp cc quyt nh nn thit k h
thng tha mn cht lng qu mong mun ta phi xc nh cp cc quyt nh tng
ng. Gi cp cc quyt nh mong mun l s1*, 2 .
Bc 2: h thng c cht lng qu nh mong mun th cp cc quyt nh s1*, 2
phi l nghim ca phng trnh c tnh sau khi hiu chnh (6.22).
Xt iu kin v pha:
GC (s)G(s) s s* 1800
GC (s) s s* G(s) s s* 1800
n
m
GC ( s) s s* arg s * zi arg s * pi 1800

i 1
i 1
(6.27)
Trong zi v pi l cc zero v cc cc ca h thng h trc khi hiu chnh. t gc

pha cn b * GC (s) ss , t biu thc (6.27) ta suy ra:
*
* 1800 arg s* pi arg s * zi

n
i 1
i 1
Do s phc c th biu din di dng vector nn cng thc trn tng ng vi

cng thc hnh hc sau:
* 1800 gc t cc cc caG(s) n cc s
gc t cc zero caG(s) n cc s
Bc 3: By gi ta phi chn cc v zero ca khu hiu chnh sau cho:
* GC (s) ss
-
(6.28)
args 1 / T args* 1 / T `
*
Do v s bit nn phng trnh (6.28) c hai n s cn tm l 1/ T v 1/T.
Chn trc gi tr 1/ T bt k thay vo phng trnh (6.28) ta s tnh c 1/T v ngc
li, ngha l bi ton thit k c v s nghim.
Thay v chn nghim bng phng php gii tch (gii phng trnh (6.28)) nh va
trnh by chng ta c th chn bng phng php hnh hc. Theo hnh v 6.16 hai s phc
s* 1/ T ; s* 1/ T c biu din bi hai vector BP v CP ,
do args* 1 / T PB O; args* 1 / T PCO .
Thay cc gc hnh hc vo phng trnh (6.28) ta c:
* args* 1 / T args* 1 / T PCO PB O BP C .
*
117
T phn tch trn ta thy cc v zero ca khu hiu chnh sm pha phi nm ti im
B v C sao cho BP C * . y chnh l c s ton hc ca cch chn cc v zero nh
trnh by trong trnh t thit k.
Hnh 6.16: Quan h hnh hc gia v tr cc v zero ca khu hiu chnh sm pha vi gc
pha cn b
*
Bc 4: Mun s l nghim ca phng trnh c tnh (6.22) th ngoi iu kin v pha ta
phi chn KC sao cho s * tha iu kin bin . Do ta phi chn KC bng cng thc:
GC (s)G(s) ss* 1
Th d 6.4: Thit k khu hiu chnh sm pha dng phng php QNS.
Cho h thng iu khin nh hnh v. Hy thit k khu hiu chnh GC(s) p
ng qu ca h thng sau khi hiu chnh tha: POT<20%; tq < 0,5 sec (tiu chun
2%).
Li gii:
V yu cu thit k ci thin p ng qu nn s dng khu hiu chnh sm pha:
s (1 / T )
1
GC ( s) K C
s (1 / T )
Bc 1: Xc nh cp cc quyt nh
Theo yu cu thit k, ta c:
POT exp
0.2 ln 0.2 1.6

2
1
1 2
1,95 1 2 4.8 2 1 0.45
Chn 7.707
t qd
0.5 n
n
Chn n 15
4
n 11.4
0.5
118
Vy cp cc quyt nh l:
s1*, 2 n jn 1 2 0.707 15 j15 1 0.707 2
s1*, 2 10.5 10.5
Bc 2: Xc nh gc pha cn b
Cch 1. Dng cng thc i s
* 1800 arg 10.5 j10.5 0 arg 10.5 j10.5 (5)
10.5
10.5
1800 arctan
arctan
10.5
5.5
1800 135 117.6

* 72.60
Cch 2. Dng cng thc hnh hc
* 1800 1 2
1800 1350 117.60 72.60
Bc 3: Xc nh cc v zero ca khu hiu chnh bng phng php ng

phn gic.
- V PA l phn gic ca gc OP x
*
*
- V PB v PC sao cho AP B , AP C
2
im B chnh l v tr cc v C l v tr zero ca khu hiu chnh.

1
OB
T
1
OC
T
p dng h thc lng trong tam gic ta suy ra:

OP x *
1350 72.60
sin

sin
2
2
2
2
OB OP
15
28.12
OP x *
1350 72.60
sin
sin

2
2
2
2
119
OP x *
135 0 72.6 0
sin

sin
2
2
2
2
OC OP
15
8.0
OP x *
135 0 72.6 0
sin
sin

2
2
2
2
GC ( s) K C
s 8
s 28
Bc 4: Tnh K .
C
GC (s)G(s) s s* 1
KC
s 8
50
.
1
s 28 s ( s 5) s 10.5 j10.5
KC
10.5 j10.5 8
50
.
10.5 j10.5 28 (10.5 j10.5)(10.5 j10.5 5)
10.79 50
1
20.41 15 11.85
K C 6.7
KC
Vy hm truyn ca khu hiu chnh sm pha cn thit k l:

GC ( s) 6.7
s 8
s 28
Nhn xt:
Qu o nghim s ca h thng trc khi hiu chnh khng qua im s* (hnh
6.17a) do h thng s khng bao gi t c cht lng p ng qu nh yu cu
d c thay i h s khuch i ca h thng.
Bng cch s dng khu hiu chnh sm pha, qu o nghim s ca h thng b sa
dng v qua im s* (hnh 6.17b). Bng cch chn h s khuch i thch hp (nh
thc hin bc 4) h thng s c cp cc quyt nh nh mong mun, do p ng
qu t yu cu thit k (hnh 6.18).
120
Hnh 6.17. S thay i dng QNS khi hiu chnh sm pha
Hnh 6.18. p ng nc ca h thng th d 6.4 trc v sau khi hiu chnh

6.3.2 Hiu chnh tr pha
Hm truyn khu hiu chnh tr pha cn thit k c dng:
s (1 / T )
1
GC ( s) K C
s (1 / T )
Bi ton t ra l chn gi tr KC, v T p ng ca h thng tha mn yu cu

v sai s xc lp m khng lm nh hng n p ng qu (nh hng khng ng
k).
Ta bit do khu hiu chnh tr pha c h s khuch i min tn s thp ln nn
c tc dng lm gim sai s xc lp ca h thng. p ng qu ca h thng sau khi
hiu chnh tr pha gn nh khng i th cp cc quyt nh ca h thng trc v sau khi
hiu chnh phi nm rt gn nhau. t c iu ny ta phi thm t cc v zero ca
khu hiu chnh tr pha sau cho dng QNS thay i khng ng k. y l nguyn tc
cn tun theo khi thit k khu hiu chnh tr pha. Trnh t thit k di y c th ha
nguyn tc trn:
TRNH T THIT K
Khu hiu chnh : Tr pha
Bc 1: Xc nh t yu cu v sai s xc lp.
Nu yu cu v sai s xc lp cho di dng h s vn tc KV* th tnh bng cng
thc sau:
KV
KV*
(KV v KV* l h s vn tc ca h thng trc v sau khi hiu chnh)

Bc 2: Chn zero ca khu hiu chnh sao cho:
1
Re s1*, 2
T
( s1*, 2 l cp cc quyt nh ca h thng sau khi hiu chnh)
Bc 3: Tnh cc ca khu hiu chnh:
121
1
1
.
T
T
Bc 4: Tnh KC bng cch p dng cng thc:

GC (s)G( s) ss* 1
1, 2
Trong s
*
1, 2
l cp cc quyt nh ca h thng sau khi hiu chnh. Do yu cu thit
k khng lm nh hng ng k n p ng qu nn c th tnh gn ng: s1*, 2 s1, 2
Gii thch:
Bc 1: Ta c h s vn tc ca h thng trc v sau khi hiu chnh l:
KV lim sG( s )
s 0
K K
s 1 / T
lim sG( s )
s 1/ T
K lim sGC ( s )G ( s ) lim GC ( s ) lim sG( s )

*
V
s 0
s 0
lim K C
s0
K K
C*V
KV
s 0
s 0
Nu K C 1 th
K C KV
KV*
Do ta chn bng cng thc trn. Cc bc thit k tip theo m bo K C 1.

Bc 2: Gi s1,2 l cp cc quyt nh ca h thng trc khi hiu chnh:
G ( s) s s 1
1, 2
1 G( s) ss 0
1, 2
G ( s) s s 1800
1, 2
*
Gi s1, 2 l cp cc quyt nh ca h thng sau khi hiu chnh:
GC ( s)G( s) s s*1, 2 1
1 GC ( s)G( s) s s*1, 2 0
G ( s)G( s) s s*1, 2 1800
Xt iu kin v pha. h thng c cht lng qu gn nh khng thay i th

s1*, 2 s1, 2 . Suy ra:
GC ( s)G( s) s s* 180 0
1, 2
GC ( s) s s* G( s) s s* 1800
1, 2
1, 2
GC ( s) s s* 180 0 G ( s) s s*
1, 2
1, 2
180 0 G ( s) s s 180 0 (180 0 )

1, 2
122
GC ( s) s s* 0 0
(6.29)
1, 2
Phn tch trn cho thy cc v zero ca khu hiu chnh tr pha phi tha mn biu thc
(6.29). Khi thit k ta thng chn khu hiu chnh tr pha sau cho
50 GC ( s) s s* 0 0 , t c iu ny c th t cc v zero ca khu hiu chnh
1, 2
tr pha nm rt gn gc ta so vi phn thc ca nghim s1*, 2 . Do ta chn v tr zero

sao cho:
Bc 3: Suy ra:
1
Re( s1*, 2 )
T
1
1
T
T
rng bng cch chn nh trn 1/T cng nm rt gn gc ta do <1.

Bc 4: bc 2 v 3 ta mi chn cc v zero ca khu hiu chnh tr pha tha mn
iu kin v pha. tha mn iu kin bin ta chn KC bng cng thc:
GC ( s)G( s) s s* 1
1, 2
C th d dng kim chng c rng do cch chn zero v cc ca khu hiu chnh
nh bc 2 v bc 3 m bc 4 ta lun tnh c KC 1.
Nh vy KC tha mn gi thit ban u khi tnh h s bc 1.
Th d 6.5: Thit k khu hiu chnh tr pha dng phng php QNS.
Hy thit k khu hiu chnh GC(s) sao cho h thng c s khi di y sau khi
hiu chnh c sai s i vi tn hiu vo l hm dc l 0,02 v p ng qu thay i
khng ng k.
Li gii:
H s vn tc ca h thng trc khi hiu chnh:
KV lim sG( s) lim s
s 0
s 0
10
0.83
s( s 3)(s 4)
Sai s xc lp ca h thng khi tn hiu vo l hm dc l:

exl
1
1
1.2
KV 0.83
V yu cu thit k lm gim sai s xc lp nn s dng khu hiu chnh tr pha:

s (1 / T )
1
GC ( s) K C
s 1 / T
Bc 1: Tnh
H s vn tc ca h sau khi hiu chnh:
123
KV*
1
1
50
*
exl 0.02
KV 0.83
0.017
KV*
50
Do :
Bc 2: Chn zero ca khu hiu chnh

Cc cc ca h thng trc khi hiu chnh l nghim ca phng trnh:
1 G ( s) 0 1
10
0 s 3 7 s 2 12s 10 0
s( s 3)( s 4)
s1, 2 1 j
s3 5
Vy cp cc quyt nh trc khi hiu chnh l s1, 2 1 j

Chn
1
1
1
sao cho:
Res1 1
0.1
T
T
T

1
1
1
0.017 0.1 0.0017

T
T
T
s 0.1
GC ( s) K C
s 0.0017
Bc 4: Tnh KC:
GC (s)G(s) ss* 1
KC
s 0.1
10
.
1
s 0.0017 s( s 3)(s 4) s s*
p ng qu khng thay i ng k th:

s1*, 2 s1, 2 1 j
Th vo cng thc trn ta c:
1 j 0.1
10
1
1 j 0.0017 (1 j 4)
KC 1.0042 1
KC
Vy khu hiu chnh tr pha cn thit k l:

GC ( s)
s 0.1
s 0.0017
Hnh 6.19 cho thy QNS ca h thng trc v sau khi hiu chnh tr pha gn nh
trng nhau. Do v tr cp cc phc quyt nh gn trng nhau nn p ng qu ca h
thng trc v sau khi hiu chnh gn nh nhau, xem hnh 6.20. Hnh 6.20 cng cho thy
sai s xc lp ca h thng sau khi hiu chnh nh hn rt nhiu so vi trc khi hiu
chnh. Nh vy khu hiu chnh tr pha va thit k trn tha mn yu cu t ra.
124
Hnh 6.19. QNS ca h thng th d 6.5
Hnh 6.20: p ng ca h thng th d 6.5 i vi tn hiu vo l hm dc trc v

sau khi hiu chnh
6.3.3 Hiu chnh sm tr pha
Hm truyn khu hiu chnh sm tr pha cn thit k c dng:
GC (s) GC1 (s)GC 2 (s)
Trong GC1 ( s) l khu hiu chnh sm pha

GC 2 ( s) l khu hiu chnh tr pha.
Bi ton t ra thit k GC (s) ci thin p ng qu v sai s xc lp ca h
thng.
TRNH T THIT K
Khu hiu chnh : Sm tr pha
Bc 1: Thit k khu sm pha GC1 ( s) tha mn yu cu v p ng qu
(xem phng php thit k khu hiu chnh sm pha mc 6.3.1).
Bc 2: t G1 (s) GC1 (s)G(s)
Thit k khu hiu chnh tr pha GC 2 ( s) mc ni tip vo G1 ( s) tha
125
mn yu cu v sai s xc lp m khng thay i ng k p ng qu

ca h thng sau khi hiu chnh sm pha (xem phng php thit k khu
hiu chnh tr pha mc 6.3.2).
Th d 6.6: Thit k khu hiu chnh sm tr pha dng phng php QNS.
Hy thit k khu hiu chnh GC(s) sao cho h thng sau khi hiu chnh c cp cc
phc vi 0.5, n 5 (rad/sec); h s vn tc KV 80 .
Li gii:
H cha hiu chnh c 0.125, n 2 (rad/sec); KV 8 . V yu cu thit k b hiu
chnh ci thin p ng qu v sai s xc lp nn GC(s) l khu hiu chnh sm tr
pha.
G1 (s) GC1 (s)GC 2 (s)
Bc 1: Thit k khu hiu chnh sm pha GC1 ( s) :

1
T1
1
s
T1
s
GC1 ( s) K C1
- Cp cc quyt nh sau khi hiu chnh:

s1*, 2 n jn 1 2
0.55 j 5 1 0.5
s1*, 2 2.5 j 4.33
- Gc pha cn b:
* 180 0 1 2
180 0 120 0 1150
55
*
Hnh
6.21. Gc pha cn b
- Chn zero ca khu sm pha trng vi cc s 0.5 ca G(s) h bc h thng
sau khi hiu chnh.
1
0.5
T1
126
T cc s1* v hai na ng thng to vi nhau mt gc l * nh hnh 6.21. Cc ca

khu sm pha ti im B.
1
OB
T1
Ta c: OB OA AB
OA 0.5
sin AP B
AB PA
sin PAB
D thy: PA 22 4.332 4.76

APB * 550
PAB 2 * 1150 550 600
sin 550
Nn:
AB 4.76
4.5
sin 600
1
OB 0.5 4.5 5
T1
Do :
GC1 ( s) K C1
s 0.5
s5
Tnh K C1 :
GC1 (s)G(s) s s* 1
KC`
s 0.5
4
.
1
s 5 s( s 0.5) s 2.5 j 4.33
K C1
1
4
.
1
2.5 j 4.33 5 2.5 j 4.33
K C1 6.25
Vy:
GC1 ( s) 6.25
s 0.5
s5
Hm truyn h sau khi hiu chnh sm pha l:
s 0.5
4
G1 ( s) GC1 ( s)G( s) 6.25
s 5 s( s 0.5)
25
G1 ( s)
s( s 5)
Bc 2: Thit k khu hiu chnh tr pha GC 2 (s) :
1
s
T2
GC 2 ( s ) K C 2
1
s
T2
127
- Xc nh :
H s vn tc ca h sau khi hiu chnh sm pha:
KV lim sG1 ( s) lim s
s 0
s 0
25
5
s( s 5)
H s vn tc mong mun:
KV* 80
Suy ra:
KV
5
1
K
*
KV 80 16
Xc nh zero ca khu tr pha:
1
Re( s* ) Re( 2.5 j 4.33) 2.5
T2
1
0.16
Chn
T2
Xc nh cc ca khu tr pha:
1
1
1
.0.16 0.01
T2
T2 16
s 0.16
GC 2 ( s) K C 2
s 0.01
Tnh KC2:
GC 2 (s)G1 (s) s s* 1
GC 2 ( s ) s s* G1 ( s ) s s* 1
GC 2 ( s ) s s* 1
KC 2
2.5 j 4.33 0.16

1
2.5 j 4.33 0.01
4.995
1.01
4.992
s 0.16
GC 2 ( s ) 1.01
s 0.01
KC 2
Tm li khu hiu chnh sm tr pha cn thit k l:

s 0.5
s 0.16
GC ( s) GC1 (s)GC 2 ( s) 6.25

1.01
s 5
s 0.1
s 0.5s 0.16
GC ( s) 6.31
s 5s 0.01
6.4. THIT K H THNG DNG PHNG PHP BIU BODE

6.4.1 Hiu chnh sm pha
Hm truyn khu hiu chnh sm pha cn thit k c dng:
128
GC ( s) KC
1 Ts
1 Ts
Bi ton t ra l chn gi tr KC, va T p ng ca h thng tha mn yu cu

v d tr bin, d tr pha v sai s xc lp.
TRNH T THIT K
Khu hiu chnh : Sm pha
Phng php thit k : Biu Bode
Bc 1: Xc nh KC tha mn yu cu thit k v sai s xc lp
Bc 2: t G1 (s) KC G(s) . V biu Bode ca G1(s) .
Bc 3: Xc nh tn s ct bin ca G1 ( s) t iu kin:
L1 (C ) 0 hoc G1 ( jC ) 1
Bc 4: Xc nh d tr pha ca G1 ( s) ( d tr pha ca h trc khi hiu chnh):
M 180 1 C
Bc 5: Xc nh gc pha cn b
max M * M
Trong : M * l d tr pha mong mun 50 200
Bc 6: Tnh bng cch p dng cng thc:
1 sin max
1 sin max
Bc 7: Xc nh tn s ct mi (tn s ct ca h sau khi hiu chnh) t iu kin:
L1 (C' ) 10 lg hoc G1 ( jC' ) 1 /
Bc 8: Tnh hng s thi gian T t iu kin:
T
C
Bc 9: Kim tra li h thng c tha mn iu kin v d tr bin hay khng? Nu
khng tha mn th tr li bc 6.
Ch : Trong trng hp h thng qu phc tp kh tm c li gii gii tch th c th
xc nh C (bc 3), M (bc 4) v C (bc 7) bng cch da vo biu Bode.
Th d 6.7. Thit k khu hiu chnh sm pha dng PP biu Bode.

Hy thit k khu hiu chnh sm pha sao cho h thng sau khi hiu chnh c
K 20; M 500 ; GM * 10dB .
*
V
129
Hm truyn khu hiu chnh sm pha cn thit k l:

GC ( s) KC
1 Ts
1 Ts
( >1)
Bc 1: Xc nh KC
H s vn tc ca h sau khi hiu chnh l:
1 Ts
4
*
KV lim sGC ( s)G ( s) lim sKC
s 0
s 0
.
2 KC
1 Ts s( s 2)
KV* 20
2
2
KC 10
KC
Bc 2:
t:
G1 ( s ) KC G ( s ) 10.
G1 ( s)
4
s( s 2)
20
s(0.5s 1)
Biu Bode ca G1(s) v trang sau.

Bc 3: Tn s ct ca h trc khi hiu chnh:
G1 jC 1
40
40
1
jC jC 2
C C2 4
C4 4C2 1600 0
C 6.17
130
Hnh 6.22. Biu Bode ca h thng trc v sau khi hiu chnh sm pha
Bc 4: d tr pha ca h khi cha hiu chnh:
M 180 1 C
0
40
C
0
M 1800 arg
180 90 arctan
jC jC 2
6.17
0
0
0
M 1800 900 arctan
180 90 72
2
M 180
M 180 1
Bc 5: Gc pha cn b:
max M * M
5
0
max 500 180 50

max 370
Bc 6: Tnh
131
1 sin max 1 sin 370
1 sin max 1 sin 37 0
Bc 7: Tnh s ct mi:
G1 jC
40
1
jC jC 2
4
C
40
C 4
2
1
4
C 4 C 6400 0
4
C 8.83
(rad/sec)
Bc 8: Tnh T:
T
8.83
T 0.057
T 4 0.057 0.228
Vy:
GC ( s) 10
1 0.228s
1 0.057 s
Bc 9: Kim tra li iu kin v bin :

V tn s ct pha - trc v sau khi hiu chnh u bng v cng nn d tr
bin ca h trc v sau khi hiu chnh u bng v cng (>10dB).
Kt lun: Khu hiu chnh cn thit k l c hm truyn nh trn.
6.4.2 Hiu chnh tr pha
Hm truyn khu hiu chnh sm pha cn thit k c dng:
1 Ts
GC ( s) KC
1
1 Ts
Bi ton t ra l chn gi tr KC, va T p ng ca h thng tha mn yu

cu v d tr bin, d tr pha v sai s xc lp.
TRNH T THIT K
Khu hiu chnh : Tr pha
Phng php thit k : Biu Bode
Bc 1: Xc nh KC tha mn yu cu thit k v sai s xc lp
Bc 2: t G1 (s) KC G(s) . V biu Bode ca G1 ( s)
Bc 3: Xc nh tn s ct bin C ca h sau khi hiu chnh t iu kin:
1 C 1800 M *
Trong : M * l d tr pha mong mun 50 200
132
Bc 4: Tnh t iu kin:
L1 C 20 lg
G1 jC
Bc 5: Chn zero ca khu hiu chnh tr pha sao cho:

1
C T
T
Bc 6: Tnh hng s thi gian T:

1
1
T
T
T
Bc 7: Kim tra li h thng c tha mn iu kin v d tr bin hay khng? Nu

khng tha mn th tr li bc 3.
Ch : Trong trng hp h thng qu phc tp kh tm c li gii gii tch th c th
xc nh 1 C , C (bc 3) v L1 C (bc 4) bng cch da vo biu Bode.
Th d 6.8: Thit k khu hiu chnh tr pha dng PP biu Bode.
Hy thit k khu hiu chnh tr pha sao cho h thng sau khi hiu chnh c:
K 5; M 40 ; GM * 10dB .
*
V
Li gii:
Hm truyn khu hiu chnh tr pha cn thit k l:
1 Ts
GC ( s) KC
1
1 Ts
Bc 1: Xc nh KC
H s vn tc ca h sau khi hiu chnh l:
1 Ts
1
*
KV lim sGC ( s)G ( s ) lim sK C
s 0
s 0
.
KC
1 Ts s( s 1) 0.5s 1
KC KV*
KC 5
Bc 2:
t:
G1 ( s ) K C G ( s )
G1 ( s)
1
s ( s 1) 0.5s 1
1
s ( s 1) 0.5s 1
Biu Bode ca G1 ( s) v trang sau.
133
Bc 3: Xc nh tn s ct mi:
Cch 1: Tm C' bng phng php gii tch. Ta c:
1 C 1800 M *
900 arctan C arctan 0.5C 1800 400 50
arctan C arctan 0.5C 450
C 0.5C tan 450 1

1 0.5C
2
0.5 C 1.5C 1 0
C 0.56
(rad/sec)
Hnh 6.23. Biu Bode ca h thng trc v sau khi hiu chnh tr pha
134
Cch 2: Da vo biu Bode

Ta c:
1 C 1800 M *
1 C 1800 40 5
1 C 1350
V ng thng c honh 1350 . Honh giao im ca ng thng ny vi

biu Bode v pha 1 chnh l gi tr tn s ct mi.
Theo hnh v ta thy: C 0.5 (rad/sec)
Bc 4:
Cch 1: Tnh t iu kin:
G1 jC
5
1
s ( s 1)(0.5s 1) s jC
5
1
j 0.56 j 0.56 1 0.5 j 0.56 1
0.56
5
0.562 1
0.282 1
5
1
0.56 11.46 1.038

0.133
Cch 2: Tnh t iu kin:

L1 C 20lg
Da vo biu Bode ta thy:
L1 C 18dB
18 20 lg
lg 0.9
100.9
0.126
Bc 5: Chn zero ca khu tr pha:

1
C 0.56
T
1
0.05
T
T 20
Bc 6: Tnh thi hng T
135
1
1
0.133 0.05 0.067

T
T
T 150
(20s 1)
Vy:
GC ( s) 5
(150s 1)
Bc 7: Kim tra li iu kin bin :

Da vo biu Bode ta thy d tr bin sau khi hiu chnh l:
GM * 10dB
Kt lun: Khu hiu chnh va thit k t yu cu v d tr bin.

Nhn xt:
Qua hai th d thit k khu hiu chnh sm pha v tr pha dng phng php biu
Bode ta c nhn xt sau:
- Nu G(s) l h bc 2 th bi thit k khu hiu chnh sm pha v tr pha hon ton
c th gii c bng cc cng thc gii tch, bc v biu Bode khng tht s cn
thit.
- Nu G(s) l h bc 3 tr ln th cc cng thc gii tch tm tn s ct bin, tn
s ct pha, d tr bin, d tr pha tr nn phc tp, trong trng hp ny nn v
biu Bode v xc nh cc thng s da vo biu Bode va v.
Biu Bode bin c v bng cc ng tim cn, biu Bode v pha c
v bng cch phn tch nh tnh v thay mt s gi tr tn s biu thc () c gi
tr nh lng.
- bng thng ca h sau khi hiu chnh sm pha v tr pha. Sau khi hiu chnh
sm pha bng thng ca h thng c m rng, p ng ca h i vi tn hiu tn s
cao tt hn, p ng qu c ci thin; trong khi sau khi hiu chnh tr pha bng
thng ca h thng b thu hp, p ng ca h i vi tn hiu tn s cao km i, p ng
qu ca h thng b chm li. V vy cn nhn mnh rng hai khu hiu chnh sm pha
v tr pha c c im hon ton khc nhau, khng th s dng ln ln c.
6.5. THIT K H THNG IU KHIN HI TIP TRNG THI
6.5.1. iu khin hi tip trng thi

Cho i tng iu khin m t bi phng trnh trng thi:
x(t ) Ax(t ) Bu (t )
c(t ) Ax(t )
(6.30)
H thng iu khin hi tip trng thi (xem hnh 6.24) l h thng trong tn hiu
iu khin xc nh bi:
(6.32)
u(t ) r (t ) Kx(t )
136
Thay (6.31) vo (6.32) ta c:

x(t ) Ax(t ) B[r (t ) Kx(t )]
c(t ) Cx(t )
x(t ) A BK x(t ) Br (t )]
c(t ) Cx(t )
(6.32)
Thit k h thng hi tip trng thi l chn vector hi tip trng thi K sao cho h
thng kn m t bi biu thc (6.32) tha mn yu cu cht lng mong mun.
6.5.2. Tnh iu khin c v quan st c
c th thit k c h thng hi tip trng thi (6.32) iu kin cn l tt c cc
trng thi ca h thng phi o lng c (quan st c) v h sn sng nhn tn hiu
iu khin (iu khin c). Mc ny s trnh by c th v khi nim iu khin c
v quan st c cng nh cc kim tra ton hc nh gi h c th iu khin c v
quan st c hay khng.
6.5.2.1. Tnh iu khin c
H thng (6.30) c gi l iu khin c hon ton nu tn ti lut iu khin
u(t) c kh nng chuyn h t trng thi u ti x t0 t n trng thi cui x t f bt k
trong khong thi gian hu hn t0 t t f .
Mt cch nh tnh, iu ny c ngha l h thng c th iu khin c nu mi
bin trng thi ca h u c th b nh hng bi tn hiu iu khin u(t). Tuy nhin, nu
mt hoc vi bin trng thi khng b nh hng bi u(t) h cc bin trng thi ny khng
th b iu khin bi u(t) trong khong thi gian hu hn v trong trng hp ny h
thng khng iu khin c hon ton.
v d v h thng khng iu khin c hon ton, chng ta xt h thng m t
bi s dng tn hiu hnh 6.25. H ny gm 4 trng thi, ch c hai trng thi x1(t) v
x2(t) b nh hng bi u(t), cn hai trng thi x3(t) v x4(t) khng b nh hng bi u(t).
Do x3(t) v x4(t) khng th iu khin c, iu ny c ngha l u(t) khng th lm
thay i x3(t) v x4(t) t trng thi u x3(0) v x4(0) n trng thi cui x3(tf) v x4(tf)
trong khong thi gian hu hn. V vy h khng iu khin c hon ton.
Hnh 6.25: S dng tn hiu ca mt h thngkhng iu khin c hon ton

kim tra tnh iu khin c ca h thng (6.30) chng ta thnh lp ma trn C,
gi l ma trn iu khin c:
(6.33)
C B AB A2 B
An1B
137
iu kin cn v h thng iu khin c l:

rank (C ) n
(6.34)
i vi h thng mt u vo mt u ra (SISO) th ma trn C l ma trn vung cp
n. Do iu kin (6.34) tr thnh:
(6.35)
det(C ) 0
Th d 6.9: Cho h thng m t bi phng trnh trng thi:
trong :
x(t ) Ax(t ) Bu (t )
c(t ) Cx(t )
0 1
5
A
B C 1 3
2 3
2
Hy nh gi tnh iu khin c ca h thng trn.

Li gii
i vi h bc hai, ma trn iu khin c l: C = [A AB]
5 0
1 5 5
2
C
2 2 3 2 2 16
det(C ) 84 0
rank (C ) 2
Do h thng trn iu khin c hon ton.

6.5.2.2. Tnh quan st c
H thng (6.30) c gi l quan st c hon ton nu cho tn hiu iu khin
u(t) v u ra c(t) trong khong t0 t t f ta c th xc nh c trng thi u x(t0) .
Mt cch nh tnh, h thng l quan st c nu mi bin trng thi ca h u nh
hng n u ra c(t). Thng chng ta mun xc nh thng tin v trng thi ca h
thng da vo vic o c(t). Tuy nhin nu chng ta khng quan st c mt hay nhiu
trng thi t vic o c(t) th h khng iu khin c hon ton.
v d v h khng quan st c hon ton, chng ta xt h thng c s dng
tn hiu hnh 6.26. H ny gm 4 trng thi, trong ch c hai trng thi x1(t) v x2(t) l
nh hng n c(t) nn c th quan st c.
Hai trng thi cn li x3(t) v x4(t) khng nh hng n c(t) nn khng th quan st
c. Do h thng hnh 6.26 khng quan st c hon ton.
Hnh 6.26: S dng tn hiu ca mt h thng khng quan st c hon ton
138
rng mc d h thng hnh 6.26 khng quan st c hon ton nhng li

iu khin c hon ton v tn hiu iu khin u(t) nh hng n tt c cc trng thi
ca h thng. Ngc li, h thng hnh 6.27 mc d khng iu khin c hon ton
nhng li quan st c hon ton do tt c cc trng thi ca h thng u nh hng
n tn hiu ra c(t).
kim tra tnh quan st c ca h thng (6.30) chng ta thnh lp ma trn O, gi
l ma trn quan st c:
C
CA
O

n1
CA
iu kin cn v h thng quan st c l:

rank(O ) = n
(6.37)
i vi h thng mt u vo mt u ra (SISO) th ma trn O l ma trn vung cp
n. Do iu kin (6.37) tr thnh:
det(O ) 0
(6.38)
Th d 6.10: Hy nh gi tnh quan st c ca h thng th d 6.9.
Li gii:
Ma trn quan st c ca h thng th d 6.9 l:
C
O
CA
Do h thng quan st c hon ton. Tnh iu khin c v quan st c c

ngha rt quan trng trong l thuyt iu khin ti u hin i, cc tnh cht ny quyt
nh s tn ti ca li gii cho bi ton iu khin ti u. c gi c th tham kho thm
cc ti liu v l thuyt iu khin hin i nm c phn chng minh iu kin cn
v h thng iu khin c v quan st c, ng thi c c hiu bit y
hn v hai khi nim quan trng ny.
6.5.3 Phng php phn b cc
Nu h thng (6.30) iu khin c v quan st c th c th xc nh c lut
iu khin u(t) = r(t) - Kx(t) phng trnh c tnh ca h hi tip trng thi (6.32) c
nghim bt k.
Phng trnh c tnh ca h hi tip trng thi (6.32) l:
det[sI - A + BK] = 0 (6.39)
Phng php chn vector hi tip trng thi K phng trnh c tnh (6.39) c
nghim ti v tr mong mun gi l phng php phn b cc.
C nhiu cch thit k b iu khin phn b cc, trong gio trnh ny gii thiu hai
cch thng s dng nht.
Cch 1: Tnh K bng cch cn bng cc h s ca phng trnh c trng.
139
Cch ny trc quan, d hiu hn cc phng php khc v cng rt d p dng trong
trng hp h bc thp (bc 3 tr xung).
TRNH T THIT K
B iu khin : Hi tip trng thi
Phng php thit k : Phn b cc bng cch cn bng cc h s
ca phng trnh c trng
Bc 1: Kim tra tnh iu khin c (v quan st c).
- Nu h khng iu khin c th kt thc v bi ton phn b cc khng c li
gii.
- Nu h iu khin c th tip tc bc 2.
Bc 2: Vit phng trnh c tnh ca h thng hi tip trng thi:
det[sI - A + BK] = 0
(1)
Bc 3: Vit phng trnh c tnh mong mun:
n
(s pi) 0
i 1
_____
Trong pi ( i 1...n ) l cc cc mong mun.

Bc 4: Cn bng cc h s ca hai phng trnh c tnh (1) v (2) s tm c vector
hi tip trng thi K.
Th d 6.11. Cho i tng iu khin m t bi h phng trnh bin trng thi:
x (t ) Ax Bu
c(t ) Cx(t )
Vi:
1
0
0
A 0
0
1
4 7 3
0
B 3
1
C 0 0 1
Hy xc nh lut iu khin u(t) = r(t) - Kx(t) sao cho h thng kn c cp cc phc

vi = 0,6; n =10 v cc th ba l cc thc ti - 20 .
Li gii:
Phng trnh c tnh ca h hi tip trng thi l:
det[sI - A + BK] =
1 0 0 0
1
0 0

det s 0 1 0 0
0
1 3k1
0 0 1 4 7 3 1

s 1 0 0
0

det s 0 s
1 3k1 3k 2
4 7 s 3 k
1 k2

k2
3k3 0
k3
140
k3 0
s
1
0
det 3k1 s 3k 2 1 3k3 0

4 k 7 k
s 3 k3
1
2
s( s 3k 2 )(s 3 k 3 ) s(7 k 2 )(1 3k 3 )

3k1 ( s 3 k 3 ) (4 k1 )(1 3k 3 ) 0
s (3 3k2 k3 )s (7 3k1 10k2 21k3 )s (4 10k1 21k3 ) 0

3
(1)
Phng trnh c tnh mong mun l:

(s 20)(s 2 2 n s n2 0
(s 20)(s 2 2 0,6 10s 10 2 0
(2)
s 3 32s 2 340s 2000 0
Cn bng cc h s ca hai phng trnh c tnh (1) v (2), suy ra:

3 3k 2 k 3 32
7 3k1 10k 2 21k3 340

4 10k 12k 2000
1
2
Gii h phng trnh trn, ta c:

k1 220,578
k 2 3,839
k 17,482
3
K [220,578 3,839 17,482]
Vy:
Cch 2: Tnh K bng cch p dng cng thc Ackermann.
6.6. THIT K B IU KHIN PID
V nguyn tc c th thit k b iu khin PID bng phng php QNS hoc
phng php biu Bode. Tuy nhin trong thc t p dng cc phng php trn tm
thng s ca b iu khin PID gp nhiu kh khn nu khng c s tr gip ca my
(vi) tnh. Phng php thit k b iu khin PID c thng s dng trong thc t l
phng php ZeiglerNichols.
Phng php Zeigler-Nichols

Phng php Zeigler Nichols l phng php thc nghim thit k b iu
khin PI, PD hoc PID.
Cho i tng c p ng i vi tn hiu vo l hm nc nh hnh v:
141
Thng s b iu khin PI, PD, PID c chn nh sau:

Th d 6.12: Hy thit k b iu khin PID iu khin nhit ca l nhit, bit c tnh
qu ca l nhit nh sau:
Mt phng php khc cng thng dng thit k b iu khin PID l phng
php gii tch. Sau y l mt th d:
Th d 6.13: Cho h thng iu khin nh hnh v:
Hy xc nh thng s ca b iu khin PID sao cho h thng tha mn yu cu:

- H c cp nghim phc vi = 0.5, n=8
- H s vn tc KV = 100.
Li gii:
Hm truyn b iu khin PID cn thit k:
GC ( s) K P
KI
KDs
s
H s vn tc ca h sau khi hiu chnh:

K
100
KV lim sG C ( s)G ( s) lim s K P I K D s 2
s 0
s
s 10s 100
KV K I
142
Theo yu cu bi KV = 100 nn suy ra:

KI = 100
Phng trnh c tnh ca h sau khi hiu chnh l:
1 GC ( s)G ( s) 0
K
100
1 K P I K D s 2
0
s
s 10s 100
s(s 2 10s 100) 100( K D s 2 K P s K I ) 0
s 3 (10 100K D )s 2 (100 100K P )s 100K I 0
(1)
h thng c cp cc phc vi = 0.5, n = 8 th phng trnh c tnh (1) phi

c dng:
( s a)(s 2 2 ns n2 ) 0
( s a)(s 2 8s 64) 0
(s 3 (a 8)s 2 (8a 64)s 64a 0
(2)
Cn bng cc h s hai phng trnh (1) v (2), suy ra:

10 100 K D a 8
100 100 K P 8a 64
100 K 64a
I
Vi KI = 100, gii h phng trnh trn ta c:

a 156,25
K P 12,14
K 1,54
D
Vy hm truyn ca khu hiu chnh PID cn thit k l:

GC ( s) 12,64
100
1,54s
s
143
Chng 7: M t ton hc h thng iu khin ri rc
Chng 7
M T TON HC
H THNG IU KHIN RI RC
7.1 H THNG IU KHIN RI RC
7.1.1 Khi nim
Chng ny cp n mt loi h thng iu khin c hi tip, trong tn hiu ti
mt hay nhiu im l mt chui xung, khng phi l hm lin tc theo thi gian. Ty
thuc vo phng php lng t ha tn hiu m ta c cc loi h thng x l tn hiu
khc nhau. Phng php lng t ha theo thi gian cho tn hiu c bin lin tc, thi
gian ri rc. H thng x l loi tn hiu ny c gi l h thng ri rc. Nu php lng
t ha c tin hnh theo thi gian v c theo bin th kt qu nhn c l tn hiu
s. H thng x l tn hiu s gi l h thng s. Trong h thng ri rc v h thng s,
thng s iu khin bin ca tn hiu ch xut hin ti cc thi im ri rc cch u
nhau ng bng mt chu k ly mu tn hiu. V c thi gian tr tt yu do ly mu, vic
n nh h thng tr nn phc tp hn so vi h lin tc, do i hi nhng k thut
phn tch v thit k c bit.
S pht trin mnh m ca k thut s, k thut vi x l v k thut my tnh lm
cho ngy cng c nhiu h thng iu khin s c s dng iu khin cc i tng.
H thng iu khin s c nhiu u im so vi h thng iu khin lin tc nh uyn
chuyn, linh hot, d dng thay i thut ton iu khin, d dng p dng cc thut ton
iu khin phc tp bng cch lp trnh. My tnh s cn c th iu khin nhiu i
tng cng mt lc. Ngoi ra, gi my tnh ngy cng h trong khi tc x l, tin
cy ngy cng tng ln cng gp phn lm cho vic s dng cc h thng iu khin s
tr nn ph bin. Hin nay cc h thng iu khin s c s dng rt rng ri, t cc b
iu khin n gin nh iu khin nhit , iu khin ng c DC, AC, n cc h
thng iu khin phc tp nh iu khin robot, my bay, tu v tr, cc h thng iu
khin qu trnh cng ngh ha hc v cc h thng t ng cho nhng ng dng khc
nhau.
Hnh 7.1 trnh by s khi ca h thng iu khin s thng gp, trong h thng
c hai loi tn hiu: tn hiu lin tc c(t ), u R (t ) , v tn hiu s r (kT ), cht (kT ), u(kT ) . Trung
tm ca h thng l my tnh s, my tnh c chc nng x l thng tin phn hi t cm
bin, v xut ra tn hiu iu khin i tng. V cm bin v i tng l h thng lin
tc nn cn s dng b chuyn i A/D v D/A giao tip vi my tnh. Do phn
tch v thit k h thng iu khin s trc tin ta phi m t ton hc c qu trnh
chuyn i A/D v D/A. Tuy nhin, hin nay khng c phng php no cho php m t
144
chnh xc qu trnh chuyn i A/D v D/A do sai s lng t ha bin , v vy thay v

kho st h thng s hnh 7.1 ta kho st h ri rc hnh 7.2.
r(kT)
u(kT)
My tnh s
D/A
uR(t)
i tng
c(t)
cht(kT)
Cm bin
A/D
Hnh 7.1. S khi h thng iu khin s

r(kT)
X l ri rc
u(kT)
Gi d liu
uR(t)
i tng
c(t)
cht(kT)
Ly mu
Cm bin
Hnh 7.2. S khi h thng iu khin ri rc

Trong gio trnh ny, chng ta pht trin cc phng php phn tch v thit k h
thng iu khin lin tc cho h thng iu khin ri rc. Nu phn gii ca php
lng t ha bin nh c th b qua sai s th ta c th xem tn hiu s l tn
hiu ri rc, iu c ngha l l thuyt iu khin ri rc trnh by trong gio trnh ny
hon ton c th p dng phn tch v thit k cc h thng iu khin s.
7.1.2 c im ly mu
Ly mu l bin i tn hiu lin tc theo thi gian thnh tn hiu ri rc theo thi
gian. Xt b ly mu c u vo l tn hiu lin tc x(t) v u ra l tn hiu ri rc x * (t )
(xem hnh 7.3). Qu trnh ly mu c th m t bi biu thc ton hc sau:
(7.1)
x* (t ) x(t ).s(t )
trong s(t) l chui xung dirac:
s(t )
(t kT )
(7.2)
Thay (7.2) vo (7.1) , ng thi gi s rng e(t) = 0 khi t <0, ta c:
x * (t ) x(t ) (t kT )
k 0
x (t ) x(kT ) (t kT )
(7.3)
k 0
Bin i Laplace hai v phng trnh (7.3) , ta c:
X * ( s) x(kT )e kTs
k 0
Biu thc (7.4) chnh l biu thc ton hc m t qu trnh ly mu.

145
(7.4)
Hnh 7.3. Qu trnh ly mu d liu

nh l Shannon: c th phc hi d liu sau khi ly mu m khng b mo dng th
tn s ly mu phi tha iu kin:
f
1
2 fc
T
(7.5)
trong l fC tn s ct ca tn hiu cn ly mu.

Trong cc h thng iu khin thc t, nu c th b qua c sai s lng t ha
th cc khu chuyn i A/D chnh l cc khu ly mu.
7.1.3 Khu gi d liu
Khu gi d liu l khu chuyn tn hiu ri rc theo thi gian thnh tn hiu lin tc
theo thi gian.
Khu gi d liu c nhiu dng khc nhau, n gin nht v c s dng nhiu
nht trong cc h thng iu khin ri rc l khu gi bc 0 (Zero-Order Hold ZOH),
xem hnh 7.4.
146
Hnh 7.4. Khu gi bc 0 (ZOH)

Ta tm hm truyn ca khu ZOH. rng nu tn hiu vo ca khu ZOH l xung
dirac th tn hiu ra l xung vung c rng bng T (hnh 7.4b). Ta c:
R(s)=1 (v r(t) l hm dirac)
1 1
1 e Ts
C ( s) Lc(t ) Lu (t ) u (t T ) e Ts
s s
s
C ( s)
Theo nh ngha:
GZOH ( s)
R( s )
Do :
GZOH ( s)
1 e Ts
s
Biu thc (7.6) chnh l hm truyn ca khu gi bc 0. Trong cc h thng iu

khin thc t, nu c th b qua c sai s lng t ha th cc khu chuyn i D/A
chnh l cc khu gi bc 0 (ZOH).
NHN XT:
Bng cch s dng php bin i Laplace ta c th m t qu trnh ly mu v gi
d liu bng cc biu thc ton hc (7.4) v (7.6). Tuy nhin cc biu thc ton hc ny
li cha hm ex nn nu ta s dng m t h ri rc th khi phn tch, thit k h thng
s gp nhiu kh khn. Ta cn m t ton hc khc gip kho st h thng ri rc d dng
hn, nh php bin i Z trnh by di y chng ta s thc hin c iu ny.
7.2 PHP BIN I Z
7.2.1 nh ngha:
Cho x(k) l chui tn hiu ri rc. Bin i Z ca x(k) l:
X ( z ) x(k )
x( k ) z
147
(7.7)
Trong :
(s l bin Laplace)
z eTs
Z
K hiu:
x(k ) X ( z )
Nu x(k ) 0, k 0 th biu thc nh ngha tr thnh:
X ( z ) x(k ) x(k ) z k
(7.8)
k 0
Min hi t: (Region of convergence ROC)

ROC l tp hp tt c cc gi tr z sao cho X(z) hu hn.
ngha ca php bin i Z:
Gi s x(t) l tn hiu lin tc trong min thi gian, ly mu x(t) vi chu k ly mu
T ta c chui ri rc x(k) = x(kT)
Biu thc ly mu x(t):
X * ( s)
x(kT )e
kTs
(7.9)
Biu thc bin i Z:

X ( z)
x(k ) z
(7.10)
V z eTs nn v phi ca hai biu thc (7.9) v (7.10) l nh nhau, do bn cht

ca vic bin i Z mt tn hiu chnh l ri rc ha tn hiu .
Php bin i Z ngc
Cho X(z) l hm theo bin phc z. Bin i Z ngc ca X(z) l:
x(k )
1
X ( z ).z k 1dz
2 j C
Vi C l ng cong kn bt k nm trong min hi t ROC ca X(z) v bao gc ta

.
7.2.2 Tnh cht ca php bin i Z:
1. Tnh tuyn tnh:
x1 (k )
X 1 ( z)
Nu
Th
x2 (k )
X 2 ( z)
a1 x1 (k ) a2 x2 (k )
a1 X 1 (k ) a2 X 2 ( z)
(7.11)
2. Di trong min thi gian
Nu
x(k )
X ( z)
Th x(k k0 ) z k X ( z)
(7.12)
Nhn xt:
Nu trong min Z ta nhn X(z) voi th tng ng vi trong min thi gian ta l tr
tn hiu chu k ly mu.
V x(k 1)
z 1 X ( z )
Nn c gi l ton t lm tr 1chu k ly mu
3. T l trong min Z
Nu x(k )
X ( z)
0
148
Th a k x(k )
X (a 1 z)
4. o hm trong min Z
Nu x(k )
X ( z)
Th kx(k )
z
(7.13)
dX ( z )
dz
(7.14)
5. nh l gi tr u
Nu x(k )
X ( z)
Th x(0) lim X ( z )
(7.15)
6. nh l gi tr cui
Nu x(k )
X ( z)
Th x() lim (1 z 1 ) X ( z)
(7.16)
z 1
7.2.3 Bin i Z ca cc hm c bn
7.2.3.1 Hm dirac
k 0
k 0
1
0
(k )
Theo nh ngha:
(k )
(k ) z
(0) z 0 1
Vy (k ) 1
(ROC: ton b mt phng Z)
7.2.3.2 Hm nc n v
Hm nc n v (lin tc trong min
thi gian):
t0
t0
1
u (t )
0
Ly mu u (t) vi chu k ly mu T, ta
c:
k 0
k 0
1
u (k )
0
Theo nh ngha:
u (k )
u (k ) z k
u (k ) z
1 z 1 z 2 z
Nu z 1 th biu thc trn l tng ca cp s nhn li v hn. p dng cng thc

tnh tng ca cp s nhn li v hn, ta d dng suy ra:
u (k )
1
z
1
z 1
1 z
149
Vy:
u (k )
1
z
1
1 z
z 1
( ROC : z 1 )
7.2.3.3 Hm dc n v:
Hm dc n v (lin tc trong min
thi gian)
1
r (t )
0
t0
t0
Ly mu r(t) vi chu k ly mu l T, ta
c
k 0
kT
r (k )
k 0
0
r (k ) kTu(k )
Ta tm bin i Z ca r(k) bng cch p dng tnh cht t l trong min Z:

Ta c:
u (k )
1
1 z 1
ku(k )
z
kTu(k )
d 1
z 1
dz 1 z 1 1 z 1
Tz 1
Tz
1 z 1
1 z
1 2
Vy
r (k ) kTu(k )
Tz 1
Tz
1 z 1
1 z
1 2
ROC z 1
7.2.3.4 Hm m
Hm m lin tc trong min thi gian:
e at
x(t )
0
t0
t0
Ly mu r(t) vi chu k ly mu l T, ta
c
e kaT
k 0
x(k )
k 0
0
x(k ) e kaT u (k )
Theo nh ngha
150
x(k )
x( k ) z
x(k ) z
1 e aT z 1 e 2 aT z 2
1 e aT z
e z
1
aT
Nu e aT z <1 th biu thc trn l tng ca cp s nhn li v hn. p dng cng

thc tnh tng ca cp s nhn li v hn, ta suy ra:
1
x(k )
1 e aT z
aT
z e
Vy
(e kaT )u (k )
1 e z
aT
z
z e aT
ROC : e aT z 0 z e aT
Kt qu trn ta d dng suy ra:
a k u (k )
1
z
1
za
1 az
7.2.4 Cc phng php tm bin i Z ngc:

Cho hm X(z), bi ton t ra l tm x(k). Theo cng thc bin i Z ngc, ta c:
x(k )
1
X ( z ).z k 1dz
2 j C
Vi C l ng cong kn bt k nm trong ROC ca X(z) v bao gc ta .

Tm x(k) bng cng thc trn rt phc tp, thc t ta thng p dng cc cch sau:
Cch 1: Phn tch X(z) thnh tng cc hm c bn, sau tra bng bin i Z
Th d 7.1:
Cho .
X ( z)
z
( z 2)( z 3)
Tm x(k)
Li gii
Phn tch X(z), ta c:
X ( z)
z
z
( z 2) ( z 3)
Tra bng bin i Z:

z
za
Suy ra: x(k ) (2 k 3k )u(k )
a k u (k )
Cch 2: Phn tch X(z) thnh chui ly tha:

Theo nh ngha bin i Z:
X ( z ) x(k ) z k x(0).z 0 x(1).z 1 x(2).z 2 x(3).z 3

k 0
Do nu phn tch X(z) thnh tng ca chui ly tha ta s c gi tr x(k) chnh l

h s ca thnh phn z k
Th d 7.2:
151
Cho X ( z )
z
. Tm x(k)
( z 2)( z 3)
Li gii
X ( z)
z
z
2
( z 2)( z 3) z 5 z 6
Chia a thc, ta c
X ( z ) z 1 5z 2 19 z 3 65z 4
Suy ra
x(0) 0; x(1) 1; x(2) 5; x(3) 19; x(4) 65,....
Cch 3: Tnh x(k) bng cng thc qui

Th d 7.3:
Cho X ( z )
z
. Tm x(k)
( z 2)( z 3)
Li gii
Ta c:
X ( z)
z
z
z 1
2
( z 2)( z 3) z 5 z 6 1 5 z 1 6 z 2
1 5 z 1 6 z 2 X ( z ) z 1
1
X ( z ) 5 z X ( z ) 6 z 2 X ( z ) z 1
Bin i Z ngc hai v phng trnh trn ( tnh cht di trong min thi gian), ta
c:
x(k ) 5 x(k 1) 6 x(k 2) (k 1)
x(k ) 5 x(k 1) 6 x(k 2) (k 1)
Vi iu kin u:
x(k 1) 0
x(k 2) 0
Thay vo cng thc trn ta c:
x(0) 0; x(1) 1; x(2) 5; x(3) 19; x(4) 65
Cch 4: p dng cng thc thng d:
x(k ) Re s z k 1 X ( z) tai cac cuc cua z k 1X ( z )
Nu z 0 l cc bc 1 th :
Re s z k 1 X ( z ) z z0 ( z z0 ) z k 1 X ( z )
z z0
Nu z 0 l cc bc p th:
Re s z k 1 X ( z ) z z0
1
d p1
z z0 p z k 1 X ( z ) z z0
p 1
( p 1)! dz
Th d 7.4:
Cho X ( z )
z
. Tm x (k)
( z 2)( z 3)
Li gii:
p dng cng thc thng d, ta c:
152
x(k ) Re s z k 1 X ( z) z 2 Re s z k 1 X ( z ) z 3
Re s z k 1 X ( z ) z 2 ( z 2) z k 1 X ( z )
( z 2) z k 1
Re s z
k 1
z
( z 3)
z
( z 2)( z 3)
z 2
( z 3) z k 1
k
z
( z 2)
z 2
2 k
X ( z ) z 3 ( z 3) z k 1 X ( z )
z 2
z 3
z
( z 2)( z 3)
z 3
3k
z 3
Do :
x(k ) 2 k 3k
7.3. M T H THNG RI RC BNG HM TRUYN

7.3.1 Hm truyn ca h ri rc
Quan h gia tn hiu vo tn hiu ra ca h thng ri rc c m t bng phng
trnh sai phn:
a0 c(k n) a1c(k n 1) an1c(k 1) an c(k )
(7.17)
b0 r (k m) b1r (k m 1) bm1r (k 1) bm r (k )
Trong n m , n gi l bc ca h thng ri rc
Bin i Z hai v phng trnh (7.17), ta c:

a0 z n C ( z ) a1 z n1C ( z ) an1 zC ( z ) an C ( z )
b0 z m R( z ) b1 z m1 R( z ) bm1 zR( z ) bm R( z )
a0 z n a1 z n1 an1 z an C ( z ) b0 z m b1 z m1 bm1 z bm R( z )
m 1
C ( z ) b0 z b1 z bm1 z bm
R( z ) a0 z n a1 z n1 an1 z an
m
t
G( z )
C ( z ) b0 z m b1 z m1 bm1 z bm
R( z ) a0 z n a1 z n1 an1 z an
(7.18)
G(z) c gi l hm truyn ca h thng ri rc

Hm truyn (7.18) c th bin i tng ng v dng:
G( z )
C ( z ) z ( nm ) b0 b1 z 1 bm1 z m1 bm z m
R( z )
a0 a1 z 1 an1 z n1 an z n
(7.19)
Hai cch biu din trn hon ton tng ng nhau, trong thc t hm truyn dng
th 2 c s dng nhiu hn
Th d 7.5: Cho h thng ri rc m t bi phng trnh sai phn:
c(k 3) 2c(k 2) 5c(k 1) 3c(k ) 2r (k 2) r (k )
153
Tm hm truyn ca h thng
Li gii:
Bin i Z hai v phng trnh sai phn m t h thng, ta c:
z 3C ( z ) 2 z 2 C ( z ) 5 zC ( z ) 3C ( z ) 2 z 2 R( z ) R( z )
G( z)
C ( z)
2z 2 1
3
R( z ) z 2 z 2 5 z 3
G( z)
C ( z)
z 1 (2 z 2 )
R( z ) 1 2 z 1 5 z 2 3z 3
7.3.2 Tnh hm truyn h ri rc t s khi

Khi thm vo h thng lin tc cc khu ly mu, khu gi d liu (v b iu khin
s) ta c h thng iu khin ri rc. Bi ton t ra l tm hm truyn h ri rc theo
bin z t s khi c cc khu ly mu. Xt mt s s thng gp sau y:
7.3.2.1 Hai khu ni tip cch nhau bi khu ly mu
Hnh 7.6. Hai khu ni tip cch nhau bi khu ly mu

G( z )
C ( z)
G1 ( z )G2 ( z )
R( z )
(7.20)
trong
G1 ( z ) G1 ( s)
G2 ( z ) G2 ( s)
Th d 7.6
Cho G1 ( s)
1
1
. tm hm truyn tng ng ca hai h thng c s
; G2 ( s )
sa
sb
khi hnh 7.6.

Li gii:
Tra bng bin i Z, ta c:
z
1
G1 ( z ) G1 ( s )
aT
s a z e
z
1
G2 ( z ) G2 ( s )
bT
s b z e
Do d dng suy ra:

G1 ( z )G2 ( z )
z2
z e aT z e bT
7.3.2.2 Hai khu ni tip khng cch nhau bi khu ly mu
154
Hnh 7.7. Hai khu ni tip khng cch nhau bi khu ly mu

C ( z)
G( z )
G1G2 ( z )
R( z )
Trong :
G1G2 ( z) G1 (s)G2 (s)
Cn ch l: G1 ( z)G2 ( z) G1 (s)G2 (s) G1 (s)G2 (s) G1G2 ( z)
Th d di y s minh ha iu ny
Th d 7.7
1
1
. Tm hm truyn tng ng ca hai h thng c s
; G2 ( s)
sa
sb
Cho G1 ( s)
khi hnh 7.7

Li gii:
Tra bng bin i Z, ta c:
1
G1G2 ( z ) G1 ( s )G2 ( s )
s a s b
1
1
1
1

b a s a
a b s a
1
z
1
z
aT
b a z e
a b z e bT
G1G2 ( z )
bT
aT
z e e
b a z e aT z e bT
R rng kt qu tnh hm truyn tng ng ca hai h thng th d 7.6 v 7.7

hon ton khc nhau.
7.3.2.3 H thng hi tip c khu ly mu trong knh sai s
Gk ( z )
C ( z)
G( z )
R( z ) 1 GH ( z )
(7.22)
Trong
G ( z ) G( s)
GH ( z ) G( s).H ( s)
Trng hp H(s) =1 (h thng hi tip m n v) ta c:

Gk ( z )
C ( z)
G( z )
R( z ) 1 G ( z )
(7.23)
Th d 7.8:
Cho G( s)
1
1
; H ( s)
. Tm hm truyn tng ng ca hai h thng c s
sa
sb
khi hnh 7.7.

Li gii:
155
Thc hin php bin i Z tng t nh lm th d 7.6 v 7.7, ta d dng tnh

c:
z
1
G ( z ) G ( s)
bT
s a z e
1
z e bT e aT
1
GH ( z ) G ( s ) H ( s)
.
aT
z e bT
s a s b b a z e
Thay vo cng thc (7.22) ta c

z
C ( z)
G( z)
z e aT
Gk ( z )
R( z ) 1 GH ( z )
z e bT e aT
1
b a z e aT z e bT
Gk ( z )
b a z e
b a z e
aT
z e
z e
bT
bT
bT
e aT
7.3.2.4 H thng ni tip c khu ly mu trong vng hi tip:

Trng hp ny khng tm c biu thc hm truyn, quan h gia tn hiu vo v
tn hiu ra nh sau:
C( z)
RG ( z )
1 G( z ) H ( z )
(7.24)
Trong :
RG ( z ) R( s)G( s)
G( z ) H ( z ) G( s)( H ( s)
7.3.2.5 H thng hi tip c cc khu ly mu ng b trong nhnh thun
Hnh 7.10: H thng hi tip c cc khu ly mu ng b trong nhnh thun

Gk ( z )
C ( z)
G( z )
R( z ) 1 G ( z ) H ( z )
(7.25)
Trong :
G( z ) G ( s)
H ( z ) H ( s)
7.3.2.6 H thng hi tip c cc khu ly mu ng b v cc khu ni tip nhnh

thun
156
Hnh 7.11: H thng hi tip c cc khu ly mu ng b v cc khu ni tip nhnh

thun
Gk ( z )
G1 ( z )G2 ( z )
C ( z)
R( z ) 1 G1 ( z )G2 ( z )
Trong :
G1 ( z ) G1 ( s)
G2 ( z ) G2 ( s)
G2 H ( z ) G2 ( s) H ( s)
7.3.2.7 S dng tn hiu Cng thc Mason cho h ri rc

C th m rng khi nim s dng tn hiu trnh by trong chng 2 cho h lin
tc p dng vo h ri rc vi mt vi thay i nh. s dng cng thc Mason cho
h ri rc cn cc nguyn tc di nh sau:
Nu khng c ly b mu gia u vo R(s) v khu u tin trong vng thun (v
d nh G(s) th khng th tch bit bin i Z ca u vo v khu u tin v ta
lun c s hng RG(z). Do trong trng hp ny khng th tnh c hm
truyn bng t l gia bin i Z tn hiu ra v tn hiu vo ca h thng.
Nu mt khu trong vng thun hay trong vng hi tip phn bit vi u vo, u
ra ca h thng v vi cc khu khc bi cc b ly mu u vo v u ra ca
n th n hon ton c lp v bin i Z.
Nu mt khu trong vng thun hay vng hi tip khng phn bit vi cc khu k
cn hay vi u vo ca h thng bi b ly mu th phi thc hin php bin i
Z ca hm truyn kt hp ca hai khu hay gia khu vi u vo.
Dng l thuyt Mason v ba nguyn tc trn cho h ri rc, sinh vin c th kim
chng c cc cng thc tnh hm truyn dn ra trong mc 7.3.2 ny.
7.4
M T H THNG RI RC BNG PHNG TRNH TRNG THI
7.4.1 Thnh lp phng trnh trng thi t phng trnh sai phn
7.4.1.1 V phi ca phng trnh sai phn khng cha sai phn ca tn hiu vo
Xt h thng ri rc c quan h gia tn hiu vo v tn hiu ra m t bi phng trnh
sai phn:
c(k n) a1c(k n 1) an1c(k 1) an c(k ) b0 r (k )
(7.26)
Ch : phng trnh trn h s . Nu ta chia hai v cho c phng trnh sai phn
c dng (7.26).
Tng t nh lm i vi h lin tc, ta t cc bin trng thi bin i tng
ng phng trnh sai phn bc n trn thnh h n phng trnh sai phn bc 1.
157
x1 (k ) c(k )
x2 (k ) x1 (k 1) x2 (k ) c(k 1)
x3 (k ) x2 (k 1) x3 (k ) c(k 2)
xn (k ) xn1 (k 1) xn (k ) c(k n 1) xn k 1 c(k n)
Thay vo phng trnh (7.26) ta c:

xn (k 1) a1 xn (k ) an1 x2 (k ) an x1 (k ) b0 r (k )
xn (k 1) a1 xn (k ) an1 x2 (k ) an x1 (k ) b0 r (k )
Kt hp phng trnh trn vi cc biu thc t bin trng thi ta c h phng trnh
sau:
x1 (k 1) x2 (k )
x (k 1) x (k )
3
2
x (k 1) x (k )
n
n1
xn (k 1) axn (k ) an1 x2 (k ) an x1 (k ) b0 r (k )

x1 (k 1) 0
x (k 1)
2
0

xn1 (k 1) 0
xn (k 1) an
1
0
0
an1
0
1
0
0
0
0
an2 a2
x1 (k ) 0
x (k ) 0

2
r (k )

1 xn1 (k ) 0
a1 xn (k ) b0
0
0
p ng ca h thng:
x1 (k )
x (k )
1
c(k ) x1 (k ) 1 0 0 0
xn1 (k )
xn (k )
t:
x1 (k 1)
x (k 1)
2
x(k )
xn1 (k 1)
xn (k 1)
0
0
Ad
0
an
1
0
0
1
0
an1
0
0
0
0
an 2 a2
158
1
a1
0
0
0
0

Bd

0
b0
Dd 1 0 0 0
Ta c h phng trnh bin thi:

x(k 1) Ad x(k ) Bd r (k )
c(k ) Dd x(k )
Th d 7.9:
Cho h thng iu khin ri rc m t bi phng trnh sai phn:
2c(k 3) c(k 2) 5c(k 1) 4c(k ) 3r (k )
Hy vit h phng trnh bin trng thi m t h thng.

Li gii:
Ta c:
2c(k 3) c(k 2) 5c(k 1) 4c(k ) 3r (k )
c(k 3) 0.5c(k 2) 2.5c(k 1) 2c(k ) 1.5r (k )
t bin trng thi nh sau

x1 (k ) c(k )
x2 (k ) x1 (k 1)
x3 (k ) x2 (k 1)
H phng trnh bin trng thi m t h thng cho l:

c(k ) Dd x(k )
Trong :
x1 (k )
x(k ) x2 (k )
x3 (k )
1
0
Ad 0
0
a3 a2
0 0
1
0
1 0
0
1
a1 2 2.5 0.5
0 0
Bd 0 0
b0 1.5
Dd 1 0 0
7.4.1.2 V phi ca phng trnh sai phn c cha sai phn ca tn hiu vo
Xt h thng ri rc c quan h gia tn hiu vo v tn hiu ra m t bi phng trnh
sai phn:
c(k n) a1c(k n 1) an1c(k 1)an c(k )
b0 r (k n) b1r (k n 1) bn1r (k 1) bn r (k )
159
(7.27)
Ch : phng trnh trn h s a0 1 . Nu a0 1 ta chia hai v cho c phng

trnh sai phn c dng (7.27).
x1 (k ) c(k ) 0 r (k )
x2 (k ) x1 (k 1) 1r (k )
x3 (k ) x2 (k 1) 2 r (k )
xn (k ) xn1 (k 1) n1r (k )
T cch bin trng thi trn ta rt ra phng trnh sau:

xn (k 1) an x1 (k ) an1 x2 (k ) a1 xn (k ) n r (k )
Trong :
0 b0
1 b1 a1 0
2 b2 a11 a2 0
3 b3 a1 2 a2 1 a3 0
4 b4 a13 a2 2 a3 1 a4 0
n bn a1 n 1 a2 n 2 a3 n 3 a4 n 4 an 11 an 0
Do h phng trnh bin trng thi m t h thng c dng:
c(k ) Dd x(k ) Ed r (k )
Trong :
1
x1 (k )
0
x (k )
0
0
2
x(k )
Ad
0
x n 1 (k )
0
x n (k )
an an1
1

2
Bd
Dd 1 0 0 0
n1
n
0
1
0
0
0
0
an 2 a2
Ed 0
Th d 7.10:
Cho h thng ri rc m t bi phng trnh sai phn:
2c(k 3) c(k 2) 5c(k 1) 4c(k ) r (k 2) 3r (k )
Hy vit h phng trnh trng thi m t h thng trn.

Li gii:
Ta c:
160
1
a1
0
0
2c(k 3) c(k 2) 5c(k 1) 4c(k ) r (k 2) 3r (k )

c(k 3) 0.5c(k 2) 2.5c(k 1) 2c(k ) 0.5r (k 2) 1.5r (k )
t cc bin trng thi:

x1 (k ) c(k ) 0 r (k )
x 2 (k ) x1 (k 1) 1 r (k )
x3 (k ) x 2 (k 1) 2 r (k )
x3 (k 1) a3 x1 (k ) a 2 x 2 (k ) a1 x3 (k ) 3 r (k )
Trong :
0 b0 0
1 b1 a1 0 0.5 0.5 0 0.5
2 b2 a11 a2 0 0 0.5 0.5 2.5 0 0.25
3 b3 a12 a2 1 a30 1.5 0.5 0.25 2.5 0.5 0.375
H phng trnh bin trng thi c dng:
c(k ) Dd x(k ) E d r (k )
Trong :
x1 (k )
x(k ) x 2 (k )
x3 (k )
1
0 0
1
0
0
Ad 0
0
1 0
0
1
a3 a 2 a1 2 2.5 0.5
0.5
Bd 0.25
Dd 1 0 0
Ed 0
0.375
7.4.2 Thnh lp phng trnh trng thi t hm truyn h ri rc

Cho h thng m t bi hm truyn:
n
(7.28)
R( z )
z a1 z n1 an1 z an
Ch : hm truyn trn h s a0 1 . Nu a0 1 ta chia t s v mu s cho a0 c
G( z )
hm truyn c dng (7.28).

Cch 1: Bin i tng ng hm truyn v dng phng trnh sai phn:
G( z )
n
R( z )
z a1 z n1 an1 z an
z n a1 z n 1 a n 1 z a n C ( z ) b0 z m b1 z m1 bm1 z bm R( z )
c(k n)a1c(k n 1) a n 1c(k 1) a n c(k )
b0 r (k m) b1 r (k m 1) bn 1 r (k 1) bn r (k )
161
p dng phng php trnh by mc 7.4.1.2 ta rt ra c h phng trnh

bin trng thi.
Th d 7.11 Hy thnh lp h phng trnh trng thi m t h thng c hm truyn l:
G( z )
C ( z)
z2 3
3
R( z ) 2 z z 2 5 z 4
Li gii:
Cch 1: Hm truyn cho tng ng vi:
G( z )
C( z)
0.5 z 2 1.5
3
R( z ) z 0.5 z 2 2.5 z 2
z 3 0.5 z 2 2.5 z 2 C ( z ) 0.5 z 2 1.5 R( z )

c(k 3) 0.5c(k 2) 2.5c(k 1) 2c(k ) 0.5r (k 2) 1.5r (k )
Xem tip li gii trnh by th d 7.10.

Cch 2: Do G( z )
n
R( z )
z a1 z n1 an1 z an
nn ta c th t bin ph E(z) sao cho:
R( z) z
(7.29)
C ( z ) b0 z m b1 z m1 bm1 z bm E ( z)
n
a1 z
n 1
(7.30)
an1 z an E ( z)
(7.30) e(k n) a1e(k n 1) an1e(k 1) ane(k ) r (k )
p dng phng php trnh by mc 7.4.1.1, t cc bin trng thi:

x1 (k ) e(k )
x2 (k ) x1 (k 1) x2 (k ) e(k 1)
x3 (k ) x2 (k 1) x3 (k ) e(k 2)
xn (k ) xn1 (k 1) xn (k ) e(k n 1) xn (k 1) e(k n)
Ta c phng trnh:
x1 (k 1) 0
x (k 1)
2
0

xn1 (k 1) 0
xn (k 1) an
(7.29)
x1 (k ) 0
x (k ) 0

2
r (k )

0
0
0
1 xn1 (k ) 0
an1 an2 a2 a1 xn (k ) b0
c(k ) b0 e(k m) b1e(k m 1) bm 1e(k 1)(k 1) bm e(k )
1
0
0
1
0
0
0
0
c(k ) b0 x m 1 (k ) b1 x m (k ) bm 1 x 2 (k ) bm x1 (k )
c(k ) bm
bm 1 b1
b0
x1 (k )
x (k )
2
0 0
x n 1 (k )
x n (k )
Tm li ta c h phng trnh trng thi:

162
c ( k ) Dd x ( k )
Trong :
1
0
x1 (k )
0
x (k )
0
0
1
2
x(k )
Ad
0
0
x n 1 (k )
0
x n (k )
an an 1 an 2
0
0

Bd
Dd bm bm1 b1 b0 0

0
1
0
a2
Th d 7.12: Cho h thng m t bi hm truyn:

G( z )
C ( z)
z2 3
3
R( z ) 2 z z 2 5 z 4
Hy thnh lp h phng trnh trng thi.

Li gii: Hm truyn cho tng ng vi:
G( z )
C ( z)
0.5 z 2 1.5
3
R( z ) z 0.5 z 2 2.5 z 2
t bin ph E(z) sao cho:
R( z ) z
C ( z ) 0.5 z 2 1.5 E ( z )
3
0
0
0.5 z 2 2.5 z 2 E ( z )
c(k ) 0.5c(k 2) 1.5c(k )
r ( z ) e(k 3) 0.5e(k 2) 2.5e(k 1) 2e(k )
t bin trng thi:

x1 (k ) e(k )
x2 (k ) x1 (k 1)
x3 (k ) x2 (k 1)
Ta c h phng trnh:
c(k ) Dd x(k )
Trong :
x1 (k )
x(k ) x2 (k )
x3 (k )
163
1
a1
0
0
0
Ad 0
a3
0
Bd 0
1
Dd b2
1
0
a2
0 0
1
0
1 0
0
1
a1 2 2.5 0.5
b1 b0 1.5 0 0.5
Th d 7.13: Hy thnh lp h phng trnh trng thi m t h thng c hm truyn l:

G( z )
C( z)
2z 1
4
3
R( z ) z 2 z z 2 5 z 3
Li gii: t bin ph E(z) sao cho:

C ( z ) (2 z 1) E ( z )
4
3
2
R( z ) z 2 z z 5 z 3
c(k ) 2e(k 1) e(k )
r ( z ) e(k 4) 2e(k 3) e(k 2) 5e(k 1) 3e(k )
t bin trng thi:

x1 (k ) e(k )
x2 (k ) x1 (k 1)
x3 (k ) x2 (k 1)
x4 (k ) x3 (k 1)
Ta c h phng trnh
c(k ) Dd x(k )
x1 (k )
x (k )
Trong : x(k ) 2
x3 (k )
x4 ( k )
1
0
0 0
1
0
0
0
0
1
0
0
0
1
Ad
0
0
0
1 0
0
0

a4 a3 a2 a1 3 5 1
0
0
Bd
Dd b1 b0 0 0 1
0

1
0
0
1
2
2 0 0
7.4.3 Thnh lp phng trnh trng thi h ri rc t phng trnh trng thi h
lin tc:
Phng php ny ch p dng c cho h thng c s khi nh sau:
164
TRNH T THNH LP PHNG TRNH TRNG THI

Bc 1: Thnh lp h phng trnh bin trng thi h lin tc:
x (t ) Ax (t ) Be R (t )
c(t ) Dx(t )
Bc 2: Tnh ma trn qu ca h lin tc:
(t ) L1 (s)
Vi:
(s) (sI A) 1
Bc 3: Ri rc ha phng trnh bin trng thi bc 1, ta c:
x(k 1)T Ad x(kT ) Bd r (kT )
c(kT ) Dd x(kT )
Ad (T )
T
Trong : Bd Bd
0
Dd D
Bc 4: H phng trnh bin trng thi ca h ri rc cn tm vi tn hiu vo

r(kT) l:
x(k 1)T Ad Bd Dd x(kT ) Bd r (kT )
c(kT ) Dd x(kT )
Chng minh:
Bc 1 v bc 2 thnh lp phng trnh trng thi v tnh ma trn qu ca h lin tc
khng c g phi chng minh. Ta chng minh t bc 3, bc ny ta suy ra phng
trnh trng thi ca h ri rc t phng trnh trng thi ca h lin tc.
Bc 3: chng 2, ta bit nghim ca phng trnh trng thi h lin tc cho bi
cng thc:
T
x(t ) (t t 0 ) x(t 0 ) Be R d
0
Tng qut:
T
x(t ) (t t 0 ) x(t 0 ) t 0 Be R d
0
p dng cng thc trn vi:

t 0 kT
t (k 1)T
165
Ta c:
( k 1)T
x(k t )T (T ) x(kT )
kT Be d
R
kT
Ta li c:
eR e(kT ), : kT (k 1)T
(do eR ( ) l tn hiu ng ra ca khu gi ZOH)
Thay vo cng thc trn, ta c:

x(k t )T (T ) x(kT )
( k 1)T
kT BekT d
kT
Do e(kT) khng ph thuc vo bin ly tch phn nn:

( k 1)T
x(k t )T (T ) x(kT ) kT Bd ekT

kT
i bin php tnh ly tch phn, ta c:

T
x(k t )T (T ) x(kT ) Bd eR kT
0
Ad

(7.31)
Bd
Ri rc ha phng trnh ng ra ca h lin tc, ta c:

c(kT ) Dd x(kT )
Bc 4: Theo s khi ca h thng, ta thy:

e(kT ) r (kT ) c(kT ) r (kT ) Dd x(kT )
Thay vo phng trnh (7.31) ta c kt qu cn chng minh.

Th d 7.14 Cho h thng ri rc c s nh hnh v. Hy thnh lp h phng trnh
bin trng thi m t h thng vi cc bin trng thi c xc nh trn hnh v.
Li gii:
Bc 1: Thnh lp h phng trnh bin trng thi m t h lin tc:
Theo hnh v ta c:
X 2 ( s)
sX1 ( s) X 2 ( s)
s
x1 (t ) x2 (t )
E ( s)
X 2 ( s) R
( s a) X 2 ( s) E R ( s)
sa
x2 (t ) ax2 (t ) eR (t )
x 2 (t ) ax2 (t ) eR (t )
X 1 ( s)
(7.32)
(7.33)
Kt hp (7.32) v (7.33) ta c h phng trnh:

166
x 1 ( t ) x 2 ( t )
x 2 ( t ) ax 2 ( t ) e R ( t )
x ( t ) 0 1 x 1 ( t ) 0
1
e R (t )
x 2 ( t ) 0 a x 2 ( t ) 1
(7.34)
x (t ) Ax(t ) BeR (t )
p ng ca h thng:
x (t )
0 1 Dx(t )
x2 (t )
0 1
0
A
B
1
0 a

c(t ) Kx1 (t ) K
Do :
D K
Bc 2: Tnh ma trn qu
1
1 0 0 1
s 1

( s) ( sI A) s
0 s a
0
1
0
1
1
a
1
s s( s a)
1
s
s( s a) 0
0
s a
1
1 1 1 1 1
L s L s ( s a)
1
1 s
s
(
s
a
)
(t ) L ( s ) L

1
1
0
0
L1

s a
s a
1
1
1 e aT
a
e aT
Bc 3: Ri rc ha cc phng trnh trng thi ca h lin tc, ta c:

x(k 1)T Ad x(kT ) Bd e(kT )
c(kT ) Dd x(kT )
Trong :
1
Ad (T )
0
1
1
(1 e at )
1
(1 e aT )
a
a
e at
e aT
t T
T 1
T
T
(1 e a ) 0
1
(1 e a ) 0
Bd ( ) Bd
a
1 d a
1 d
a
a
0
0 0
0
e a
2
a aa
e

a
T e aT 1
a 2 a 2
a
e aT 1
a
a
0
167
Dd D K
Bc 4: H phng trnh bin trng thi m t h thng ri rc vi tn hiu vo r(kT) l:

c(kT ) Dd x(kT )
Trong :
Ad Bd Dd 1
0
Ad
T e aT
1
2 2
1
aT
(1 e ) a
a
a K 0
a
aT
aT
e
1
e

a
a
T e aT
1
0
K
a2
a 2
(1 e aT ) a
a
e aT 1
aT
e
K

0
a
a
T e aT
1
1 K 2 2
a
a
a
Bd D d
aT
e
1
K

a
a
1
(1 e aT
a
e aT
Th d bng s c th: a =2, T = 0.5 sec, K =10

Bc 1:
0 1
A
0 2
1
Bc 2: (t )
0
0
B
1
D 10 0
1
1

(1 e at ) 1
(1 e 2t )
a
2
at
e 2t
e
Bc 3:
1
1
1
(1 e aT ) 1
(1 e 20.5 ) 1 0.316
Ad
a
2
0
0 0.368
20.5
aT
0
e
e

aT
20.5
T e
1 0.5 e
1
2
2 2
2
a 2
2
2 0.092
Bd a aaT
0.216
e
1
e 20.5 1
a
a
2
2
Dd D 10 0
Bc 4:
168
Ad Bd Dd
1 0.316 0.092
10 0
0 0.368 0.316
1 0.316 0.920 0 0.080 0.316
0 0.368 3.160 0 3.160 0.368
Kt lun: H phng trnh bin trng thi cn tm l:

x1 (k 1) 0.080 0.316 x1 (k ) 0.092
x (k 1) 3.160 0.368 x (k ) 0.316 r (k )
2
2

x (k )
c(k ) 10 0 1
x 2 (k )
7.4.4 Tnh hm truyn h ri rc t h phng trnh trng thi

Cho h thng ri rc m t bi h phng trnh bin trng thi:
c(k ) Dd x(k )
C ( z)
Bi ton t ra l tm hm truyn: G ( z )
R( z )
Bin i Z h phng trnh trng thi, ta c:

zX ( z ) Ad X ( z ) Bd R( z )
C ( z ) Dd X ( z )
( zI Ad ) X ( z ) Bd R( z )
C ( z ) Dd X ( z )
X ( z ) [ zI Ad ]1 Bd R( z )
C ( z ) Dd X ( z )
C ( z ) Dd [ zI Ad ]1 Bd R( z )
Lp t s, ta c:
G( z )
C ( z)
Dd [ zI Ad ]1 Bd
R( z )
(7.35)
Th d 7.15: Cho h thng m t bi phng trnh trng thi:
c(kT ) Dd x(kT )
1
0
0
; Bd ; Dd D 1 0
Trong : Ad
0.7 0.1
2
Hy vit hm truyn ca h thng trn.

Li gii:
p dng cng thc (7.35), hm truyn ca h thng l:
G( z )
C ( z)
1
Dd zI Ad Bd
R( z )
Ta c:
169
zI Ad
z 0 0
1

0 z 0.7 0.1
zI Ad 1 Bd
1
z
0.7 z 0.1
1
z 0.1
1
z ( z 0.1) 0.7 0.7 0.1
1 0
z 0.1
2
1
1
z ( z 0.1) 0.7 0.7 0.1 2 z ( z 0.1) 0.7 2 z
2
1
2
[1 0]
z ( z 0.1) 0.7
2 z z ( z 0.1) 0.7
2
Vy: G( z ) 2
z 0.1z 0.7
Dd zI Ad Bd
1
170
Chng 8: Phn tch v thit k h ri rc
Chng 8
PHN TCH V THIT K RI RC
8.1 KHO ST TNH N NH
8.1.1 Khi nim v tnh n nh ca h ri rc
chng 4 chng ta xt khi nim n nh ca h lin tc, h thng c gi l
n nh nu tn hiu vo b chn th tn hiu ra b chn. Chng ta cng dn ra c iu
kin h lin tc n nh l tt c cc nghim ca phng trnh c trng u nm bn
tri mt phng thc theo bin s, ni cch khc tt c cc nghim ca phng trnh c
trng ca h lin tc phi c phn thc m. Do php bin i Z v php bin i Laplace
c mi lin h z eTs (vi T l chu k ly mu) nn s c phn thc m tng ng vi
z 1 , hay z nm trong vng trn n v. V vy iu kin h ri rc n nh l tt c
cc nghim ca phng trnh c trng u phi nm bn trong vng trn n v ca mt
phng phc theo bin z. Hnh 8.1 minh ho min n nh ca h lin tc v h ri rc.
Nh vy tng t nh lm i vi h lin tc, nh gi tnh n nh ca h
ri rc ta ch cn kho st phng trnh c trng. Sau y l phng trnh c trng ca
hai dng m t h ri rc thng gp:
- H thng ri rc cho bi s khi:
Phng trnh c trng l:

1 GH ( z) 0
(8.1)
H thng ri rc cho h phng trnh bin trng thi:
c(k ) Dd x(k )
Phng trnh c trng l :

det(zI Ad ) 0
(8.2)
i vi cc h ri rc c m t ton hc khc hai dng trn, tham kho chng 7
rt ra phng trnh c trng.
thit k h iu khin ri rc, yu cu ti thiu trc tin l h phi n nh. V
c bn, k thut phn tch v nh gi n nh ca h tuyn tnh lin tc cng c th p
dng cho h ri rc vi mt s sa i cn thit. l nhng tiu chun n nh tn s
Nyquist Bode, phng php qu o nghim s i vi h iu khin ri rc cn c
thm tiu chun i s Jury c s dng kim tra tnh n nh ca h. Song cng nh
cc tiu chun n nh i s khc nh Routh Hurwitz, kt lun ca tiu chun Jury
cng ch cho bit h c n nh hay khng, nhng khng cho bit v tr cc nghim trong
171
mt phng Z. Nu kt qu cho thy h n nh th c th khng nh c tt c cc

nghim u nm trong vng trn n v nh th no. Tri vi tiu chun n nh i s,
phng php phn tch p ng tn s khng ch xc nh tnh n nh m cn ch ra cn
thit k nh th no h t khng n nh tr nn t ch tiu cht lng mong mun.
Sau y chng ta s ln lt trnh by cc k thut nh gi tnh n nh k trn.
8.1.2 Tiu chun Routh Hurwitz m rng
Tiu chun Routh Hurwitz cho php nh gi phng trnh i s
a0 x a1x n 1 ... an 1x an 0 c nghim nm bn phi mt phng phc hay khng.
chng 4 ta s dng kt qu ny nh gi s nghim nm bn phi mt phng phc
ca phng trnh c trng ca h lin tc a0 s n a1s n 1 ... an 1s an 0 . Nu phng
trnh ni trn c nghim nm bn phi mt phng phc th h lin tc khng n nh. Tuy
nhin, ta khng th s dng trc tip tiu chun Routh-Hurwitz nh gi tnh n nh
ca h ri rc v min n nh ca h ri rc nm bn trong ng trn n v. Mun
dng tiu chun Routh Hurwitz nh gi tnh n nh ca h ri rc ta phi thc hin
php bin i:
n
w 1
w 1
z 1
w
z 1
z
(8.3)
(8.4)
Vi cch bin i nh trn, min nm trong vng trong n v ca mt phng z

bin na tri ca mt phng w(xem hnh 8.2). Sau ta p dng tiu chun Routh
Hurwitz i vi phng trnh c trng theo bin, nu khng tn ti nghim w nm bn
phi mt phng phc th khng tn ti nghim z nm ngoi vng trn n v, khi ta kt
lun h ri rc n nh. Tiu chun xt n nh nh trn gi l tiu chun Routh-Hurwitz
m rng.
Th d 8.1: Cho h thng ri rc c phng trnh c trng:
5 z 3 2 z 2 3z 1 0
Xt tnh n nh ca h thng trn

Li gii: i bin z
w 1
, phng trnh c trng tr thnh:
w 1
w 1
w 1
w 1
5
2
3
1 0
w 1
w 1
w 1
3
5w 1 2w 1 w 1 3w 1w 1 w 1 0
3
5 w3 3w2 3w 1 2 w3 w2 w 1 3 w3 w2 w 1 w3 3w2 3w 1 0
11w 11w 13w 5 0
3
n y ta c th dng tiu chun Routh hoc tiu chun Hurwitz

Cch 1: Bng Routh
11
13
w3
2
11
5
w
1
8
0
w
0
5
w
172
Do tt c cc h s ct 1 bng Routh u dng nn h n nh.

Cch 2: Ma trn Hurwitz
a1 a3 0 11 5 0
a a
0 11 13 0
2
0
0 a1 a3 0 11 5
1 11 0
2 11x13 5 x11 0
3 5 2 0
Do cc nh thc con ca ma trn Hurwitz u dng nn h n nh

8.1.3 Tiu chun Jury
Xt h ri rc c phng trnh c trng:
a0 z n a1z n 1 ... an 1z an 0
nh gi tnh n nh ca h ri rc c phng trnh c trng (8.5) bng tiu

chun Jury, trc tin ta phi lp bng Jury theo qui tc sau:
1. Bng Jury gm c (2n+1) hng. Hng 1 l cc h s ca phng trnh c
trng (8.5) theo th t ch s tng dn.
2. Hng chn (bt k) gm cc h s ca hng l trc vit theo th t ngc
li.
3. Hng l th i 2k 1(k 1) gm c (n k 1) phn t, phn t cij hng i ct j
xc nh cng thc:
cij
1 ci 2,1 ci 2, n j k 2
ci 2,1 ci 1,1 ci 1, n j k 2
(8.6)
Pht biu tiu chun Jury

iu khin cn v h thng ri rc c phng trnh c trng (8.5) n
nh l tt c cc h s hng l, ct 1 ca bng Jury u dng.
Th d 8.2: Cho h thng ri rc c phng trnh c trng th d 8.1:
5 z 3 2 z 2 3z 1 0
Xt tnh n nh ca h thng trn dng tiu chun Jury.

Li gii:
Bng Jury
Hng 1
5
2
3
Hng 2
1
3
2
Hng 3
15 1
15 3
15 2
51 5
4.8
51 2
1.4
Hng 4
Hng 5
2.6
1.4
1 4.8 2.6
3.39
4.8 2.6 4.8
1 4.8 1.4
0.61
4.8 2.6 1.4
Hng 6
0.61
3.39
51 3
4.8
173
4
5
2.6
Hng 7
1 3.39 0.61
3.28
3.39 0.61 3.39
1 4.8 2.6
3.39
4.8 2.6 4.8
Do cc h s hng Jury u dng nn h thng n nh. Kt lun ny hon ton

ph hp vi kt lun th d 8.1.
8.1.4 Qu o nghim s
Tng t nh h lin tc, i vi h ri rc chng ta cng c khi nim qu o
nghim s (QNS). QNS l tp hp tt c cc nghim ca phng trnh c trng ca
h thng khi c mt thng s no trong h thay i t o .
Xt h thng ri rc c phng trnh c trng l:
N ( z)
0
D( z )
N ( z)
G0 ( z ) K
D( z )
1 K
t:
Gi n l s cc ca G0 ( z ) , m l s zero ca G0 ( z )
(8.7) 1 G0 ( z) 0
G0 ( z ) 1
G0 ( z ) (2l 1)
(8.7)
(8.8)
(8.9)
iu kin bin
iu kin pha
V dng phng trnh c trng ca h lin tc kho st chng 4 v phng trnh

c trng (8.7) l nh nhau (ch thay bin s bng bin z) nn qui tc v QNS l nh
nhau, ch khc qui tc 8, thay v i vi h lin tc ta tm giao im ca QNS vi trc
o th i vi h ri rc ta tm giao im ca QNS vi ng trn n v. Sau y l 11
qui tc v qu o nghim s ca h thng ri rc c phng trnh c trng c dng
(8.7).
Ch : Nu phng trnh c trng ca h khng c dng (8.7) th ta phi bin i tng
ng v dng (8.7) trc khi p dng cc qui tc v QNS.
Qui tc 1: S nhnh ca qu o nghim s = bc ca phng trnh c trng = s cc
ca G0 ( z ) n
Qui tc 2: Khi K=0: cc nhnh ca qu o nghim s xut pht t cc cc ca G0 ( z )
Khi K tin n : nhnh ca qu o nghim s tin n m zero ca G0 ( z ) ,
n-m nhnh cn li tin n theo cc tim cn xc nh bi qui tc 5 v 6.
Qui tc 3: Qu o nghim s i xng qua trc thc.
Qui tc 4: Mt im trn trc thc thuc v qu o nghim s nu tng s cc v zero
ca G0 ( z ) bn phi n l mt s l.
Qui tc 5: Gc to bi cc ng tim cn ca qu o nghim s vi trc thc xc nh
bi:
(2l 1)
(8.11)
(l 0,1,2,)
nm
Qui tc 6: Giao im gia cc tim cn vi trc thc l im A c to xc nh bi:
174

n
cuc zero
OA
p z
i 1
i 1
nm
nm
( pi va zi l cc cc v cc zero ca G0 ( z ) )
(8.12)
Qui tc 7: im tch nhp (nu c) ca qu o nghim s nm trn trc thc v l

nghim ca phng trnh:
dK
0
dz
(8.13)
Qui tc 8: Giao im ca qu ao nghim s vi ng trn n v c th xc nh bng

1 trong 2 cch sau y:
- p dng tiu chun Routh Hurwitz m rng hoc tiu chun Jury.
- Thay z a jb (iu kin a 2 b2 1 do giao im nm trn ng trn n v)
vo phng trnh c trng (8.7), cn bng phn thc v phn o s tm c giao im
gia QNS vi ng trn n v v gi tr K gh.
Qui tc 9: Gc xut pht ca qu o nghim s ti cc phc pi c xc nh bi
m
i 1
i 1
i j
j 1800 arg( p j zi ) arg ( p j pi )

j 180 0 gc t cc zero n cc pi
(-gc t cc cc cn li n cc pi )
(8.14)
(8.15)
Qui tc 10: Tng cc nghim l hng s khi K thay i t 0 .

Qui tc 11: H s khuch i dc theo qu nghim s c th xc nh t iu kin bin
:
K
N ( z)
1
D( z )
Sau y chng ta xt mt th d p dng cc qui tc v QNS trn.

Th d 8.3: Cho h thng iu khin ri rc c s khi nh hnh v.
Bit rng:
-
Hm truyn khu lin tc l G( s)
K
s( s 5)
- Chu k ly mu T 0.1sec
- Hy v QNS ca h thng tren khi K thay i t 0 n . Tnh K gh .
Li gii:
Phng trnh c trng ca h c s khi nh trn l: 1 G( z ) 0
175
(8.16)
Trong :
G ( z ) GZOH ( s )G ( s )
1 e Ts
K
Z
s s ( s 5)
K
5
1 z 1 Z 2
5
s s 5
K z 1 z 0.5 1 e 0.5 z 1 e 0.5 0.5e 0.5

2
5 z
5 z 1 z e 0.5
0.021z 0.018
G( z ) K
z 1z 0.607
Phng trnh c trng l:
0.0042 z 0.0036
1 K
0
( z 1)( z 0.607)
- Cc cc p1 1, p2 0.607
(n 2)
- Cc zero: z1 0.857
(m 1)
(*)
l 0
2 1
Giao im gia tim cn vi trc thc:
OA
Gc to bi tim cn v trc thc:

(2l 1) (2l 1)
nm
cuc zero 1 0.607 0.857 2.464

nm
2 1
im tch nhp l nghim ca phng trnh:
dK
0
dz
Ta c:
* K z 1z 0.607 z
1.607 z 0.607
0.021z 0.018
0.021z 0.018
dK
z 2 1.607 z 0.607
dz
0.021z 0.018
2 z 1.607 0.021z 0.018 z 2 0.607 z 0.607 0.021
0.021z 0.0182
0.021z 2 0.036 z 0.042

0.021z 0.0182
Do :
z 2.506
dK
0 1
dz
z2 0.792
C hai nghim u thuc QNS nn QNS c 2 im tch nhp.

Giao im ca QNS vi ng trn n v:
(*) z 1z 0.607 K 0.021z 0.018 0
z 2 0.021K 1.607z 0.018K 0.607 0
Cch 1: Dng tiu chun Routh-Hurwitz m rng:

176
(**)
w 1
, thay vo phng trnh (**) ta c:
w 1
2
w 1
w 1
0.021K 1.607
0.018K 0.607 0
w 1
w 1
i bin z
0.039 Kw 2 0.786 0.036 K w 3.214 0.003K 0
iu kin h thng n nh l:
K 0
K 0
0.786 0.036 K 0 K 21.83 K gh 21.83

3.214 0.003K 0
K 1071
Thay K gh 21.83 vo phng trnh (**), ta c:

z 2 1.1485z 1 0 z 0.5742 j 0.8187
Vy giao im ca QNS vi vng trn n v l:
z 0.5742 j 0.8187
Cch 2: Thay vo z a jb phng trnh (**), ta c:
a jb 2 0.021K 1.607 a jb 0.018K 0.607 0

a 2 j 2ab b 2 0.021K 1.607 a j 0.021K 1.607 b 0.018K 0.607 0
a 2 b 2 0.021K 1.607 a 0.018K 0.607 0
j 2ab j 0.021K 1.607 b 0

Kt hp vi iu kin a 2 b2 1 ta c h phng trnh:
a 2 b 2 0.021K 1.607 a 0.018K 0.607 0
j 2ab j 0.021K 1.607 b 0

a2 b2 0
Gii h phng trnh trn, ta c 4 giao im l:

z 1
tng ng vi K = 1071
z 1
tng ng vi K = 0
tng ng vi K = 21.8381
z 0.5742 j 0.8187
Vy Kgh = 21.83
Hnh 8.3. QNS ca h thng th d 8.3
177
8.2 CHT LNG H RI RC

8.2.1 p ng h ri rc
Tu theo m t ton hc h ri rc m ta c th xc nh c p ng ca h ri
rc bng mt trong hai cch sau y:
Cch 1: Nu h ri rc m t bi hm truyn th trc tin ta tnh (C(z), sau dng php
bin i Z ngc tm c(k).
Cch 2: Nu h ri rc m t bi phng trnh trng thi th trc tin ta tnh nghim x(k)
ca phng trnh trng thi, sau suy ra c(k).
Tng t nh h lin tc ta cng c khi nim cc quyt nh cho h ri rc. i
vi h lien tuc cp cc quyt nh l cp cc nm gn vng trn n v nht. Do quan h
z eTs , , nn i vi h ri rc cp cc quyt nh l cp cc nm gn vng trn n v
nht. H bc cao c th xp x gn ng v h bc hai vi 2 cc l cp cc quyt nh.
8.2.2 Cht lng qu
C hai cch nh gi cht lng qu ca h ri rc.
Cch 1: nh gi cht lng qu da vo p ng ca h thng.
Trc tin ta phi tnh c p ng c(k) ca h thng (xem mc 8.2.1) sau p
dng cc cng thc sau:
Tnh vt l: dng biu thc nh ngha:
POT
cmax cxl
100%
cxl
(8.17)
trong : cmax l gi tr cc i ca c(k).

cxl l gi tr xc lp ca c(k).
Tnh thi gian qu : gi kqd l thi im ly mu m t tr i p ng c(k) ca
h thng bin thin khng qu % so vi gi tr xc lp cxl , ngha l:
.c
(8.18)
c(k ) cxl xl ,
k kqd
100

1
cxl c(k ) 1
cxl ,
100
100
k kqd
(8.19)
Thi gian qu c xc nh bng cng thc:

tqd kqd .T
(8.20)
trong T l chu k ly mu ca h ri rc.

Cch 2: nh gi cht lng qu da v tr cp cc quyt nh.
Cch ny ch cho kt qu gn ng v ch p dng c khi chu k ly mu T
nh. Khi bit cp cc quyt nh z* re j ca h ri rc l da vo quan h z eTs suy
ra nghim s * , t tnh c h s tt v tn s dao ng t nhin n , bng cc cng
thc:
ln r
(8.21)
ln r 2 2
1
T
ln r 2 2
(8.22)
178
Sau p dng cc cng thc trnh by trong chng 5 tnh vt l, thi

gian qu ,
8.2.3 Sai s xc lp
Theo nh l gi tr cui, ta c:
(8.23)
exl lim e(k ) lim e(1 z 1 ) E ( z )
k
z 1
Cng thc trn l cng thc tng qut, c th p dng cho mi h ri rc. Sau y
chng ta kho st biu thc sai s xc lp ca h ri rc ly mu trong knh sai s (hnh
8.4), y l h ri rc thng gp nht trong thc t.
Hnh 8.4. H ri rc ly mu trong knh sai s

Nu khng c khu ly mu, biu thc sai s l:
E ( s)
R( s )
1 G( s) H ( s)
(8.24)
p dng cc nguyn tc trnh by mc 7.3.2.7, ri rc ho biu thc (8.24) vi

khu ly mu nm trong knh sai s, ta c:
E( z)
R( z )
1 GH ( z )
(8.25)
Thay vo biu thc (8.23), ta c

exl lim (1 z 1 )
z 1
R( z )
1 GH ( z )
(8.26)
Ta thy sai s khng ch ph thuc vo cu trc v thng s ca h thng m cn

ph thuc vo tn hiu vo.
1
, thay vo biu thc (8.26) ta c:
1 z 1
1
1
exl lim
(8.27)
z 1 1 GH ( z )
1 lim GH ( z )
Nu tn hiu vo l hm nc n v: R( z )
z 1
t:
K p lim GH ( z )
(8.28)
z 1
K p gi l h s v tr. Thay K p vo biu thc (8.27) ta c:
exl
1
1 Kp
(8.29)
Nu tn hiu vo l hm dc n v: R( z )
Tz 1
thay vo biu thc (8.26) ta
(1 z 1 ) 2
c:
Tz 1
1
T
exl lim
z 1 1 z 1 1 GH ( z )
lim (1 z 1 ) GH ( z )
z 1
179
(8.30)
Kv
t:
1
lim (1 z 1 ) GH ( z )
T z 1
(8.31)
Kv gi l h s vn tc. Thay vo biu thc (8.31) ta c:

exl
1
Kv
(8.32)
Chng ta va kho st cc phng php nh gi cht lng h ri rc. Sau y l

mt s th d p dng.
Th d 8.4: Cho h thng iu khin ri rc c s khi nh hnh v,
Trong :
- Hm truyn khu lin tc: G( z )
K
( s a)(s b)
( K 10, a 2, b 3)
- Chu k ly mu: T =0.1 sec

1. Tm hm truyn kn Gk (z )
2. Tnh p ng ca h i vi tn hiu vo l hm nc n v.
3. nh gi cht lng ca h thng: vt l, thi gian qu , sai s xc lp.
Li gii:
1. Hm truyn ca h ri rc:
Gk ( z )
G( z )
1 G( z )
Trong :
G ( z ) GZOH ( s )G ( s )
1 e Ts
K
Z
s ( s a)( s b)
1
K (1 z 1 ) Z
s ( s a)( s b)
z ( Az B)
z 1
aT
bT
z ( z 1)( z e )( z e )
Vi
A
b(1 e aT ) a(1 e bT )
ab(b a)
ae aT (1 e bT ) be bT (1 e aT )
ab(b a)
Thay K=10, a =2, b=3, T=0.1,ta c:

G( z )
0.042 z 0.036
( z 0.819)( z 0.741)
180
( z 0.819)( z 0.741)
0.042 z 0.036
1
( z 0.819)( z 0.741)
0.042 z 0.036
Gk ( z ) 2
z 1.518 z 0.643
Gk ( z )
Do :
2. p ng ca h:
C ( z ) Gk ( z ) R( z )
0.042 z 0.036
0.042 z 1 0.036 z 2
R
(
z
)
R( z )
z 2 1.518 z 0.643
1 1.518 z 1 0.643z 2
(1 1.518z 1 0.643z 2 )C ( z) (0.042 z 1 0.036 z 2 ) R( z)
c(k ) 1.518c(k 1) 0.643c(k 2) 0.042r (k 1) 0.036r (k 2)
c(k ) 1.518c(k 1) 0.643c(k 2) 0.042r (k 1) 0.036r (k 2)
Vi iu kin u: c(1) c(2) 0
r (1) r (2) 0
Thay vo cng thc qui trn, ta tnh c:
c(k ) {0;0420;0.418;0.2662;0.3909;0.5003;0.5860;0.6459;0.6817;...
0.6975;0.6985;0.6898;0.6760;0.6606;0.6461;0.6341;0.6251;0.6191;0...}
Hnh 8.5. p ng nc n v ca h thng kho st th d 8.4

3. nh gi cht lng ca h thng:
Gi tr xc lp ca p ng qu l:
cxl lim (1 z 1 )C ( z )
z 1
lim (1 z 1 )Gk ( z ) R( z )
z 1
0.042 z 0.036 1
lim (1 z 1 ) 2
1
z 1
z 1.518 z 0.643 1 z
0.042 z 0.036
lim 2
z 1 z 1.518 z 0.643
cxl 0.624
lt l:
181
POT
cmax c xl
0.6985 0.624
100%
100%
c xl
0.624
POT 11.94%
Thi gian qu theo chun 5%.

Theo kt qu tnh p ng ca h thng trn ta thy:
(1 0.05)cxl c(k ) (1 0.05)cxl
0.593 c(k ) 0.655,
k 14
k qd 14
t qd k qd T 14 0.1
t qd 1.4 sec
Sai s xc lp: do h hi tip m n v nn ta c th tnh sai s xc lp bng

cng thc
exl rxl c xl 1 0.624
exl 0.376
so snh ta c th tnh li vt l v thi gian qu da vo v tr cp cc

phc. Cp cc phc ca h l nghim ca phng trnh c trng:
z 2 1.518z 0.643 0
z 0.7590 j 0.2587 0.8019 0.3285
Do :
ln r
(ln r )
2
ln 0.8019
(ln 0.8019) 2 0.32852
0.5579
1
1
(ln r ) 2 2
(ln 0.8019) 2 0.32852 0.3958
T
0.1
V vy:
0.5579 x3.14

100% 12.11%
POT exp
100% exp
2
2
0
.
5579
3
3
tqd
1.36 sec
n 0.5579 x0.3958
Kt qu trn cho thy hai phng php nh gi cht lng qu da vo p

ng ca h thng v da vo v tr cp cc phc quyt nh cho kt qu hon ton ph
hp nhau.
Th d 8.5: Cho h thng iu khin ri rc c s khi nh hnh v:
Trong :
- Hm truyn khu lin tc: G( s)
K ( s a)
( s b)(s c)
( K 2, a 5, b 2, c 3)
- Chu k ly mu: T=0.1 sec

182
1. Thnh lp h phng trnh trng thi m t h thng trn.

2. Tnh p ng ca h i vi tn hiu vo l hm nc n v (iu kin u bng 0).
da vo phng trnh trng thi va tm c.
3. Tnh vt l, thi gian qu , sai s xc lp.
Li gii:
1. Thnh lp h phng trnh trng thi m t h thng theo trnh t 4 bc trnh
by mc 7.4.3.
Bc 1: H phng trnh trng thi ca khu lin tc:
C nhiu cch thnh lp phng trnh trng thi h lin tc, trong th d ny ta p
dng phng php to pha. Ta c:
G( s)
C ( s)
2( s 5)
2s 10
2
ER ( s) ( s 2)(s 3) s 5s 6
t bin ph Y(s) sao cho:

C ( s) (2s 10)Y ( s)
c(t ) 2 y (t ) 10 y(t )
E R ( s) ( s 5s 6)Y ( s) eR (t ) y(t ) 5 y (t ) 6 y(t )

t: x1 (t ) y(t )
x2 (t ) x1 (t ) y (t )
x 2 (t ) y(t )
2
(*)
(**)
Thay vo bin trng thi vo phng trnh (**), ta c:

eR (t ) x2 (t ) 5x2 (t ) 6 x1 (t )
x2 (t ) 6 x1 (t ) 5x2 (t ) eR (t )
Kt hp phng trnh trn vi cch t bin trng thi, ta c h phng trnh

trng thi vit di dng ma trn nh sau:
1 x1 (t ) 0
x1 (t ) 0
x (t ) 6 5 x (t ) 1 eR (t )
2 2
A
Thay cc bin trng thi vo phng trnh (*) ta c:
x (t )
c(t ) 10 x1 (t ) 2 x2 (t ) 10 2 1
x
D
Bc 2: Tnh ma trn qu :
183
( s ) ( sI A)
1 0 0
1
s

0
1
s 1

6
s
s5
s 5 1
1
( s 2)( s 3)
6
s
s ( s 5) 6

( s 2)(2 3)
s5
( s 2)( s 3)
(t ) L1 ( s ) L1
6
( s 2)(2 3)
( s 2)( s 3)
( s 2)( s 3)
( s 2)( s 3)
( s 2)( s 3)
1 3
2
1
1 1
L s 2 s 3 L s 2 s 3
L1 6 6 L1 2 3
s 2 s 3
s 2 s 3
(3e 2t 2e 3t )
(e 2t e 3t )
(t )
2t
3t )
(2e et 3e 3t )
(6e 6e
Bc 3: Ri rc ho cc phng trnh trng thi ca h lin tc, ta c:

x[(k 1)T ] Ad x(kT ) Bd eR (kT )
c(kT ) Dx x(kT )
Trong :
(3e 2t 2e 3t )
Ad (T )
2t
3t )
(6e 6e
0.9746 0.0779
Ad
0.4675 0.5850
(e 2t e 3t )
(2e et 3e 3t ) t T 0.1
T
T
3e 2 2e 3
Bd ( ) Bd
2
3
0
0
6e 6e
T
2
3

e e

d
2
3
0
2e 3e
e 2 e 3
2
3
2
3
e e
0.0042
Bd
0.0779
2e
e 3
3e 3
0
d
1
0.1
Dd D 10 2
Bc 4: H phng trnh bin trng thi m t h thng ri rc vi tn hiu vo r(kT)

l:
c(kT ) Dd x(kT )
184
Trong :
Ad Bd Dd
0.9746 0.0779 0.0042
10 2
0.4675 0.5850 0.0779
0.9326 0.0695
Ad Bd Dd
1.2465 0.4292
Vy phng trnh trng thi cn tm l:

x1 (k 1) 0.9326 0.0695 x1 (k ) 0.0042
x (k 1) 1.2465 0.4292 x (k ) 0.0779 r (kT )
2
2

x (k )
c(k ) 10 2 1
x2 (k )
* * *
2. p ng ca h thng:
Trc tin ta tm nghim ca phng trnh trng thi:
x (k 1) 0.9326 x1 (k ) 0.0695 xx (k ) 0.0042r (k )
1
x2 (k 1) 1.2465 x1 (k ) 0.4292 x2 (k ) 0.0779r (t )
Vi iu kin u x1 (1) x2 (1) 0 , thay vo hai cng thc qui trn, ta c
* * *
nghim ca phng trnh trng thi l:

x1 (k ) 10 3 {0;4.2;13.5;24.2;34.2;42.6;49.1;54.0;57.4;59.7;
61.2;62.0;62.5;62.7;62.8;62.8;62.7;62.7;62.6;62.6;...}
x 2 (k ) 10 3 {0;77.9;106.1;106.6;93.5;75.4;57.2;41.2;28.3;18.5;
11.4;6.5;3.4;0.3;0.3;0.5;0.5;0.4...}
p ng ca h thng:
x (k )
c(k ) 10 2 1 10 x1 (k ) 2 x2 (k )
x2 (k )
c(k ) {0; 0.198; 0.348; 0.455; 0.529; 0.577; 0.606; 0.622; 0.631; 0.634;
0.635; 0.634; 0.632; 0.629; 0.627; 0.627; 0.626; 0.625; 0.625...}

3. nh gi cht lng ca h thng
Theo kt qu tnh p ng trn ta thy:
- Gi tr cc i ca p ng l: cmax 0.635
185
Gi tr xc lp ca p ng l: cxl 0.635
vt l ca h thng l:
POT
cmax c xl
0.635 0.625
100%
100%
c xl
0.625
POT 1.6%
Thi gian qu theo tiu chun 5%.

Theo kt qu tnh p ng ca h thng trn ta thy:
(1 0.05)c xl c(k ) (1 0.05)c xl
t qd k qd T 6 0.1
t qd 0.6 sec
Sai s xc lp l:
0.594 c(k ) 0.656,

kqd 6
k 6
exl rxl c xl 1 0.625

exl 0.375
8.2.4 nh hng ca chu k ly mu n cht lng h ri rc

Chu k ly mu T nh hng rt ln n tnh n nh v cht lng ca h ri rc.
T cng ln th h thng cng dao ng, vt l cng cao, thi gian qu cng ln. Nu
T ln hn mt gi tr gii hn no th h thng s tr nn mt n nh. V vy chn chu
k ly mu thch hp c ngha rt ln khi thit k h ri rc. nh l Shannon khng
nh tn s ly mu ch cn ln hn 2 ln tn s ct ca h thng th c th phc hi c
d liu m khng b mo dng, tuy nhin tn hiu ch khng b mo dng nu ta phc hi
d liu bng khu gi c dng hm
sin( x)
, c gi tham kho thm cc ti liu v x l
x
tn hiu s bit thm chi tit v vn ny. Trong cc h thng iu khin thc t do ta
thng phc hi d liu bng khu gi ZOH nn vic ly mu nh hng khu ng
k n cht lng ca h thng ta cn chn tn s ly mu ln hn 10 ln tn s ct ca
h thng. Th d di y minh ho nh hng ca chu k ly mu T.
Th d 8.6: Cho h thng iu khin c s khi nh hnh v:
K
( s a)
1. Xc nh gi tr chu k ly mu gii hn Tgh .
Trong hm truyn khu lin tc l G( s)
K 10, a 1
2. Kho st p ng ca h thng khi tn hiu vo l hm nc n v trong cc trng

hp T 0.1Tgh ; T 0.5Tgh ; T 1.1Tgh .
Li gii:
1. Xc nh chu k ly mu gii hn Tgh
Hm truyn kn ca h thng:
186
Gk ( z )
G( z )
1 Gh ( z )
(*)
Trong :
Gh ( z ) GZOH ( s)G ( s)
1 e Ts K
1
1

K (1 z )
s( s a)
s ( s a)
z (1 e aT )
K (1 z 1 )
a( z 1)( z e aT )
Gh ( z )
K (1 e aT )
a( z e aT )
Thay vo (*) ta c:
Gk ( z )
K (1 e aT )
a( z e aT ) K (1 e aT )

a( z e aT ) K (1 e aT ) 0
Gii phng trnh trn, ta c cc ca h l:

z e aT ) Ka (1 e aT )
iu kin h thng n nh l cc phi nm trong vng trn n v: z 1

K
(1 e aT ) 1
a
K K
K
1 1 e aT 1
a
a
a
1 e aT
K a
(**)
e aT 1
K a
Nu a K d dng thy rng (**) lun tho mn vi mi T nn h thng lun n nh.
Nu a<K, gii (**) ta c:

1 K a
T ln
a K a
Suy ra:
1 K a
Tgh ln
a K a
Thay s c th K = 10, a = 1, ta c:
Tgh 0.2 sec
2. Kho st p ng ca h thng khi T=0.02; T=0.1; T=0.12; T=0.22,

p ng ca h thng l:
187
C ( z ) Gk ( z ) R( z )
K (1 e aT )
R( z )
a( z e aT ) K (1 e aT )
( K / a)(1 e aT ) z 1
Az 1
R
(
z
)
R( z )
1 ( K / a)(1 e aT ) e aT z 1
1 Bz 1
trong : A ( K / a)(1 e aT )
B ( K / a)(1 e aT ) e aT
Suy ra:
(1 Bz 1 )Cz Az 1 R( z )
c(k ) Bc(k 1) Ar (k 1)
(***)
Thay gi tr c th K, a, T ta tnh c cc h s A v B, sau s dng cng thc
qui (***) vi iu kin u bng 0 v tn hiu vo r(k) l hm nc n v ta tnh c
gi tr c th ca p ng c(k).

Hnh 8.7 minh ho p ng ca h thng. Ta thy khi T rt nh hn Tgh th p ng
ca h ri rc gn ging p ng ca h lin tc, T cng tng vt l cng ln, T ln
hn Tgh th h thng khng n nh.
8.3 THIT K H THNG IU KHIN RI RC
8.3.1 Khi nim
C nhiu s iu khin khc nhau c th p dng cho h ri rc, trong s
iu khin thng dng nht l hiu chnh ni tip (hnh 8.8) vi b iu khin GC (z ) l b
iu khin smtr pha s, PID s,Mt s iu khin khc cng c s dng rt
ph bin l iu khin hi tip trng thi (hnh 8.9).
Hnh 8.8. Hiu chnh ni tip dng b iu khin ri rc
188

Thit k b iu khin ri rc l xc nh hm truyn GC (z ) hoc li hi tip
trng thi K h thng tho mn yu cu v n nh, cht lng qu , sai s xc
lp. Thc t trong a s trng hp b iu khin s cc thut ton phn mm chy trn
my tnh PC hoc vi x l. T hm truyn GC (z ) hoc gi tr li K ta suy ra c
phng trnh sai phn m t quan h gia ng vo v ng ra ca b iu khin. Quan h
ny c s dng lp trnh phn mm iu khin chy trn my tnh hoc vi x l.
C nhiu phng php c s dng thit k b iu khin s, trong gio trnh
ny ch cp phng php thit k dng qu o nghim s, phng php thit k b
iu khin PID, phng php phn b cc thit k b iu khin hi tip trng thi v
phng php gii tch.
8.3.2 Hm truyn ca cc khu hiu chnh
8.3.2.1 Khu t l:
(8.33)
GP ( z ) K P
8.3.2.2 Khu vi phn:
Hnh 8.10. Khu vi phn

Khu vi phn lin tc: u (t ) K D
de(t )
dt
Khu vi phn ri rc: c tnh bng cc cng thc sai phn, c 3 cch tnh:
- Sai phn ti:
e(k 1) e(k )
T
zE( z ) E ( z ) K D
U ( z) K D
( z 1) E ( z )
T
T
U ( z) K D
GD ( z )
( z 1)
E( z)
T
u (k ) K D
(8.34)
Sai phn li:
e(k ) e(k 1)
T
E ( z ) z 1E ( z ) K D
U ( z) K D
(1 z 1 ) E ( z )
T
T
K
K z 1
U ( z)
GD ( z )
D (1 z 1 ) D
E( z)
T
T z
u (k ) K D
Sai phn gia:
189
(8.35)
e(k 1) e(k 1)
2T
zE( z ) z 1E ( z ) K D
U ( z) K D
( z z 1 ) E ( z )
2T
2T
K z 2 1
U ( z) K D
GD ( z )
( z z 1 ) D
E ( z ) 2T
2T z
u (k ) K D
(8.36)
Cng thc sai phn ti v sai phn gia cn tn hiu e(k+1) l tn hiu sai s trong
tng lai, m trong cc bi ton iu khin thi gian thc ta khng th c c tn hiu
trong tng lai (tr khi s dng b d bo) nn thc t ch c cng thc sai phn li c
s dng ph bin nht, do trong gio trnh ny chng ta m t khu vi phn bng hm
truyn:
GD ( z )
8.3.2.3
KD z 1
T z
(8.37)
Khu tch phn
Hnh 8.11. Khu tch phn

t
u (t ) K1 e(t )dt
Khu tch phn lin tc:
0
kT
Khu tch phn ri rc:
u (kT ) K I e(t )dt K I

0
u (kT ) u(k 1)T K I
( k 1)T
kT
e(t )dt K I
e(t )dt
( k 1)T
kT
e(t )dt
(8.38)
( k 1)T
kT
Xt tch phn
e(t )dt : c 3 cch tnh
( k 1)T
Hnh 8.12 Tch phn gn ng

(a) Tch phn hnh ch nht ti
(b) Tch phn hnh ch nht li
(c) Tch phn hnh thang
Tch phn hnh ch nht ti:
kT
e(t )dt Te(kT )
( k 1)T
Thay vo cng thc (8.38), ta c:

190
(8.39)
u(kT ) u[(k 1)T ] K I Te(kT )

U ( z ) z 1U ( z ) K I TE( z )
(1 z 1 )U ( z ) K I TE( z )
U ( z)
1
GI ( z )
KIT
E( z)
1 z 1
(8.41)
Tch phn hnh ch nht li:
kT
e(t )dt Te[(k 1)T ]
(8.40)
( k 1)T

u(kT ) u[(k 1)T ] K I Te[(k 1)T ]
U ( z ) z 1U ( z ) K I Tz 1 E ( z )
(1 z 1 )U ( z ) K I Tz 1 E ( z )
U ( z)
z 1
GI ( z )
KIT
E( z)
1 z 1
(8.41)
Tch phn hnh thang:

kT
e(t )dt
( k 1)T
T e[(k 1)T ] e(kT )

2
(8.42)

KIT
(e[(k 1)T ] e(kT ))
2
KT
U ( z ) z 1U ( z ) I z 1 E ( z ) E ( z )
2
KT
(1 z 1 )U ( z ) I z 1 1 E ( z )
2
U ( z ) K I T z 1 1 K I T z 1
GI ( z )
E( z)
2 1 z 1
2 z 1
u (kT ) u[(k 1)T ]
(8.43)
Trong 3 cch tnh tch phn trnh by trn, tch phn hnh thang cho kt qu
chnh xc nht, do thc t ngi ta thng s dng cng thc:
GI ( z )
K IT z 1
2 z 1
(8.44)
B iu khin PI, PD, PID ri rc

T cc hm truyn ri rc c bn va phn tch trn, ta rt ra c hm truyn
ca b iu khin PI, PD, PID ri rc nh sau:
8.3.2.4
KIT z 1
2 z 1
K z 1
GPD ( z ) K P D
T z
K IT z 1 K D z 1
GPID ( z ) K P
2 z 1 T z
GPI ( z ) K P
191
(8.45)
(8.46)
(8.47)
8.3.2.5
B iu khin b pha (sm pha, tr pha)
Hnh 8.13. Khu hiu chnh b pha

Hm truyn ca b iu khin b pha lin tc c dng:
sa
sb
Nu a>b th l khu tr pha, a<b th GC (s) l khu sm pha.
GC ( s) K
(8.48)
Ri rc ho quan h gia ng vo v ng ra ca b b pha lin tc, s dng cng

thc tch phn hnh thang, ta suy ra c hm truyn ca b b pha ri rc c dng:
GC ( z ) K
(aT 2) z (aT 2)
(bT 2) z (bT 2)
(8.49)
Hm truyn trn c th vit li di dng:

GC ( z ) KC
z zC
z pC
(8.50)
trong zC l zero v pC l cc ca khu hiu chnh.

2(1 zC )
(aT 2)
aT
(aT 2)
(1 zC )
2(1 pC )
(bT 2)
pC
bT
(bT 2)
(1 pC )
zC
(8.51)
(8.52)
Do aT, bT dng t quan h (8.51) v (8.52) suy ra cc v zero ca khu hiu

chnh phi tho mn iu kin:
zC 1
pC 1
(8.53)
T cc quan h (8.51) v (8.52) ta cng suy ra c zC pC nu GC (z ) l khu sm

pha v zC pC nu GC (z ) l khu tr pha.
8.3.3 Thit k h ri rc dng phng php QNS
8.3.3.1 Thit k b iu khin sm pha
Phng trnh c trng ca h thng trc khi hiu chnh l:

1 GH ( z) 0
Phng trnh c trng ca h thng sau khi hiu chnh l:

1 GC ( z )GH ( z ) 0
Khu hiu chnh sm pha c dng:
192
z zC
z pC
Bi ton t ra l chn gi tr K C , z C , pC p ng ca h thng tho mn yu cu
GC ( z ) KC
v cht lng qu (cht lng qu th hin qua v tr ca cp cc quyt nh).

Nguyn tc thit k tng t nh thit k h lin tc, ngha l s dng khu hiu chnh
GC (z ) sa dng QNS ca h thng sao cho QNS i qua cp cc mong mun. Sau
y l trnh t thit k:
TRNH T THIT K
Bc 1: Xc nh cp cc quyt nh t yu cu thit k v cht lng ca h
thng trong qu trnh qu :
Do vot lo POT
s1*, 2 n j 1 2 z1*, 2 e Ts
Thoi gian qua do ... n

*
r z * e eTwn
z * T n 1 2
Bc 2: Xc nh gc pha cn b cp cc quyt nh nm trn QNS ca h

thng sau khi hiu chnh bng cng thc:
180 arg z pi arg z* zi
n
i 1
i 1

* 1800 goc tu cac cuc cua GH ( z ) den cuc z *
goc tu cac zero cua GH ( z ) den cuc z *
Bc 3: Xc nh v tr cc v zero ca khu hiu chnh

V 2 na ng thng bt k xut pht t cc quyt nh z * sao cho 2 na
ng thng ny to vi nhau mt gc bng * . Giao im ca hai na ng
thng ny vi trc thc l v tr cc v zero ca khu hiu chnh.
i vi h ri rc, ngi ta thng p dng phng php trit tiu nghim
cc ca h thng chn cc v zero ca khu hiu chnh.
Bc 4: Tnh K bng cch p dng cng thc:
GC ( z )GH ( z ) z z * 1
Th d 8.7 : Cho h thng iu khin ri rc c s khi nh hnh v:
trong :
-
Hm truyn khu lin tc: G( s)
Chu k ly mu: T = 0.1 sec
10
s( s 5)
193
- Hy thit k khu hiu chnh sm pha sao cho h thng sao khi hiu chnh c cp
cc quyt nh vi 0.707, n 10 (rad/sec)
Li gii:
Phng trnh c trng ca h trc khi hiu chnh:
1 G( z ) 0
trong :
G ( z ) GZOH ( s )G ( s )
1 e Ts
K

s s ( s 5)
1
K (1 z 1 ) 2
s ( s 5)
0.5
z 1 e 0.5 0.5e 0.5
z 1 z 0.5 1 e
K
2
5z 1 z e 0.5
z
G( z)
0.21 0.18
( z 1)( z 0.607)
Cp cc quyt nh mong mun:

z1*, 2 re j
Trong :
r e T n e 0.10.70710 0.493
Tn 1 2 0. 10 1 0.707 2 0.707
z1*, 2 0.493e j 0.707 0.493cos(0.707) j sin(0.707)

z1*, 2 0.493e j 0.707 0.375 j 0.320
Gc pha cn b:
* 180 1 2 3
D dng tnh c: 1 152.90
2 125.9 0
3 14.6 0
* 180 (152.9 125.9) 14.6 84 0

Chn cc v zero ca khu hiu chnh bng phng php trit tiu nghim.
zC 0.607 zC 0.607
Tnh cc ca khu hiu chnh:

sin *
Ta c: AB PB
sin PAB
M: PB (0.607 0.375) 2 0.3202 0.388

^
PAB 2 * 125.90 840 41.90

sin 840
AB 0.388
0.578
sin 41.90
194
pC OA OB AB 0.607 0.578 0.029

pC 0.029
z 0.607
GC ( z ) K C
z 0.029
Tnh K C t iu kin:
GC ( z )G( z ) z z* 1
KC
KC
( z 0.607)
(0.21z 0.18)
( z 0.029) ( z 0.029)( z 1)( z 0.607)
1
z 0.375 j 0.320
0.210.375 j 0.320 0.18

(0.375 j 0.320 0.029)(0.375 j 0.320 1)
0.267
1
0.471 0.702
0.267
0.471 0.702
KC
1.24
0.471 0.702
0.267
KC
Vy:
GC ( z ) 1.24
z 0.607
z 0.029
Nhn xt:
195
Qu o nghim s ca h thng trc khi hiu chnh khng qua im z*, do h

thng s khng bao gi t c cht lng p ng qu nh yu cu d c thay i
h s khuch i ca h thng.
Bng cch s dng khu hiu chnh sm pha, qu o nghim s ca h thng b sa
dng v qua im z * , do bng cch chn h s khuch i thch hp (bc 4) h thng
s c cp cc quyt nh nh mong mun do p ng qu t yu cu thit k.
a) QNS trc khi hiu chnh

b) QNS sau khi hiu chnh
Hnh 8.14 QNS ca h thng th d 8.7
8.3.3.2
Thit k b iu khin tr pha

Ta s dng khu hiu chnh tr pha khi mun lm gim sai s xc lp ca h thng
Xt h thng iu khin c s nh hnh v.
Khu hiu chnh l khu tr pha:

G( z ) K C
z zC
z pC
( zC pC )
Bi ton t ra l chn gi tr KC, zC v pC lm gim sai s xc lp ca h thng

m khng nh hng ng k n cht lng p ng qu .
t:
1 pC
1 zC
Tng t nh lm i vi h lin tc, ta c trnh t thit k khu hiu chnh tr

pha cho h ri rc nh sau:
196
TRNH T THIT K
Bc 1: Xc nh t yu cu v sai s xc lp
Nu yu cu v sai s xc lp cho di dng h s v tr K P* th
KP
K P*
( K P : h s v tr ca h trc khi hiu chnh)

( K P* : h s v tr mong mun)
Nu yu cu v sai s xc lp cho di dng h s vn tc K v* th:
Kv
K v*
( KV : h s vn tc ca h trc khi hiu chnh

KV* : h s vn tc mong mun)
Bc 2: Chn zero ca khu hiu chnh rt gn im +1 khng lm nh
hng ng k n dng QNS, suy ra:
zC 1 zC 1
zC 1` )
(Ch iu kin:
pC 1 1 zC
Bc 4: Tnh KC bng cch p dng cng thc:
GC ( z )GH ( z ) z z * 1
Trong z1*, 2 l cp cc quyt nh ca h thng sau khi hiu chnh. Do yu cu thit

k khng lm nh hng ng k n p ng qu nn c th tnh gn ng:
z1*, 2 z1, 2
vi z1, 2 l cp cc quyt nh ca h thng trc khi hiu chnh.

Th d 8.8: Cho h thng iu khin ri rc c s khi nh hnh v.
Hm truyn khu lin tc: G( s)
10
, chu k lu mu : T = 0.1 sec.
s( s 5)
Hy thit k khu hiu chnh tr pha sao cho h thng sao khi hiu chnh c h s
vn tc l KV* 100 .
Li gii:
Phng trnh c trng ca h trc khi hiu chnh:
1 G( z ) 0
Trong :
197
G ( z ) GZOH ( s ) g ( s )
1 e eT
K

s ( s 5)
s
1
K (1 z 1 ) 2
s ( s 5)
0.5
z 1 e 0.5 0.5e 0.5
z 1 z 0.5 1 e
K
5( z 1) 2 z e 0.5
z
G( z)
0.21z 0.18
( z 1)( z 0.607)
Cp cc quyt nh ca h thng trc khi hiu chnh l nghim ca phng trnh:

1
0.21z 0.18
0 z1, 2 0.699 j 0.547
( z 1)( z 0.607)
H s vn tc ca h thng trc khi hiu chnh l:

1
lim (1 z 1 )GH ( z )
T z 1
1
0.21z 0.18
KV
lim (1 z 1 )
z
1
0.1
( z 1)( z 0.607)
K V 9.9
KV
Do :
KV 9.9
0.099
KV* 100
Chn zero ca khu hiu chnh rt gn im +1:

zC 0.99 zC 0.99
Suy ra cc ca khu hiu chnh:

pC 1 (1 zC ) 1 0.099(1 0.99)
pC 0.999
GC ( z ) K C
z 0.99
z 0.999
Tnh K C t iu kin:
KC
( z 0.99) (0.21z 0.18)

1
( z 0.999) ( z 1)( z 0.607) z 0.699 j 0.547
KC
(0.699 j 0.547 0.99)

1
(0.699 j 0.547 0.999)
KC
Vy:
0.6239
1.007 1
0.6196
GC ( z )
z 0.99
z 0.999
Nhn xt:
198
QNS ca h thng trc v sau khi hiu chnh gn ging nhau nn p ng qu

gn nh khng thay i.
a) QNS trc khi hiu chnh

b) QNS sau khi hiu chnh
Hnh 8.15 QNS ca h thng th d 8.8
8.3.3.3
Thit k b iu khin sm tr pha
Hm truyn khu hiu chnh sm tr pha cn thit k c dng:

GC ( z ) GC1 ( z )GC 2 ( z )
Trong GC1 ( z ) l khu hiu chnh sm pha.

GC 2 ( z ) l khu hiu chnh tr pha.
Bi ton t ra thit k GC (z ) ci thin p ng qu v sai s xc lp ca h thng.
TRNH T THIT K
Bc 1: Thit k khu sm pha tho mn yu cu v p ng qu (xem
phng php thit k khu hiu chnh sm pha mc 8.3.3.1)
Bc 2: t G1 ( z) GC1 ( z)G( z)
Thit k khu hiu chnh tr pha GC 2 ( z ) mc ni tip vo GC1 ( z ) tho mn
yu cu v sai s xc lp m khng thay i ng k p ng qu ca h thng
sau khi hiu chnh sm pha (xem phng php thit k khu hiu chnh tr pha
mc 8.3.3.2)
8.3.4. THIT K B IU KHIN HI TIP TRNG THI
Cho i tng iu khin c m t bi phng trnh trng thi:
199
x(k 1) Ad x(k ) Bd u (k )
c(k ) Dd x(k )
Tn hiu iu khin trong h hi tip trng thi l:

u(k ) r (k ) Kx(k )
H phng trnh bin trng thi m t h hi tip trng thi:

x(k 1) Ad x(k ) Bd [r (k ) Kx(k )]
c(k ) Dd x(k )
x(k 1) [ Ad Bd K ]x(k ) Bd r (k )
c(k ) Dd x(k )
Phng trnh c trng ca h hi tip trng thi:

det[zI Ad Bd K ] 0
(*)
Ngi ta CM c rng: Nu rank (P)= n, vi n l bc ca h thng v

P Bd Ad Bd Ad2 Bd Adn 1Bd th HT trn iu khin c, khi c th tm c
vector K phng trnh c trng (*) c nghim bt k.
TRNH T THIT K
Bc 1: Vit phng trnh c trng ca h thng sau khi hiu chnh:
det[zI Ad Bd K ] 0
(1)
Bc 2: Vit phng trnh c trng mong mun:

n
(z p ) 0
(2)
i 1
Trong pi i 1..n l cc cc mong mun

Bc 3: Cn bng cc h s ca hai phng trnh c trng (1) v (2) tm c
vector li hi tip K.
Th d 8.9 : Cho h thng ri rc nh hnh v:
H phng trnh bin trng thi m t i tng l:

c(k ) Dd x(k )
Trong :
1 0.316
Ad
0 0.368
0.092
Bd
0.316
Dd 10 0
Hy tnh vector li hi tip trng thi sao cho h kn c cp cc phc vi

0.707 v n 10 rad/sec
Li gii:
Phng trnh c trng ca h thng kn l:
200
det[zI Ad Bd K ] 0
1 0 1 0.316 0.092
det z
k1
0 1 0 0.368 0.316
k 2 0
z 1 0.092k1 0.316 0.092k 2

0
det
z 0.368 0.316k 2
0.316k1
z 1 0.092k1 z 0.368 0.316k 2 0.316k1 0.316 0.092k 2 0
z 2 0.092k1 0.316k 2 1.368z 0.066k1 0.316k2 0
(1)

z1*, 2 re j
Trong :
r e T n e 0.10.70710 0.493
T 1 2 0.110 1 0.707 2 0.707
z1*, 2 0.493e j 0.707 0.493cos0.707 j sin 0.707

z1*, 2 0.493e j 0.707 0.375 j 0.320
Phng trnh c trng mong mun:
( z 0.375 j 0.320)z 0.375 j 0.320 0

z 2 0.75z 0.243 0
(2)
Cn bng cc h s hai phng trnh (1) v (2), ta c:

0.092k1 0.316k2 1.368 0.75
0.066k1 0.316k2 0.368 0.243

k1 3.12
k2 1.047
Vy
K 3.12 1.047
Th d 8.10: Cho h thng iu khin ri rc c s nh hnh v:
Hy xc nh vector hi tip trng thi K k1 k2 sao co h thng c cp nghim

phc vi 0.5 ; n 8 (rad/sec).
Li gii:
- H phng trnh trng thi m t khu lin tc:
201
Theo hnh v ta c:
X 2 ( s)
sX1 ( s) X 2 ( s) x1 (t ) x2 (t )
s
U ( s)
X 2 ( s) R ( s 1) X 2 ( s) U R (s)
s 1
x2 (t ) x2 (t ) uR (t )
x2 (t ) x2 (t ) u R (t )
(1)
X 1 ( s)
(2)
Kt hp (1) v (2) ta c h phng trnh:

x1 (t ) 0 1 x1 (t ) 0
x (t ) 0 1 x (t ) 1uR (t )
2
2
p ng ca h thng:
x (t )
c(t ) 10 x1 (t ) 10 0 1 Dx(t )
x2 (t )
Do :
0 1
A
0 1
0
B
1
C 10 0
Ma trn qu :
1
1 0 0 1
s 1

( s) ( sI A) s
0 s 1
0 1 0 1
1
1
1 s 1 1
s s( s 1)
1
s
s( s 1) 0
0
s 1
(t ) L1 ( s) L1 s
0
1 1 1 1 1
L L
s( s 1)
s( s 1) s
1
1
0
L1

s a
s 1
1 1 e t
(t )
e t
0
Ri rc ho cc phng trnh trng thi ca h lin tc, ta c:

c(k ) Dd x(k )
Trong :
1
Ad (T )
0
1 e 1
0.1
e 0.1
0.095
0 0.905
202
1
0
0
0.1
Bd Bd
0
0.1
1 e 0d
1 e
0 e
0.1
e
0.1 e 0.1 1 0.005

0.1
e 0
e 1 0.095
Dd D 10 0
Phng trnh c trng ca h thng kn:

det[zI Ad Bd K ] 0
1 0 1 0.095 0.005
det z
k1
0 1 0 0.905 0.095
k 2 0
z 1 0.005k1 0.095 0.005k 2

det
0
0
.
095
k
z
0
.
905
0
.
095
k
1
2
z 1 0.005k1 z 0.905 0.095k 2 0.905k1 0.095 0.005k 2 0
z 2 0.005k1 0.095k 2 1.905z 0.0045k1 0.095k 2 0.905 0
(1)

z1*, 2 re j
Trong :
r e T n e 0.10.58 0.493
Tn 1 2 0.1 8 1 0.52 0.693
z1*, 2 0.67e j 0.693 0.67cos0.693 j sin 0.693

z1*, 2 0.516 j 0.428
Phng trnh c trng mong mun:
( z 0.516 j 0.428)( z 0.516 j 0.428) 0

z 2 1.03z 0.448 0
(2)
Cn bng cc h s hai phng trnh (1) v (2), ta c:

0.005k1 0.095k2 1.905 1.03
0.0045k1 0.095k2 0.905 0.448
Vy
k1 44.0
k2 6.895
K 4.805 8.958
8.3.4 Thit k b iu khin PID

8.3.4.1 Phng php Zeigler-Nichol
Hm truyn b iu khin PID:
GPID ( z ) K P
KIT z 1 KD z 1
2 z 1 T z
203
Nu chu k ly mu T nh khng lm nh hng n cht lng ca h thng

(xem mc 8.2.4) th K P , K I , K D cc h s c th chn bng phng php thc nghim
Zeigler-Nichol nh trnh by chng 6.
8.3.4.2 Phng php gii tch
T yu cu thit k v p ng qu (v tr nghim ca phng trnh c trng) v
sai s xc lp, c th tnh ton gii tch chn thng s b iu khin PID s. Sau y
l mt s th d.
Th d 1: Cho h thng iu khin c s nh hnh v:
10
;
H ( s) 0.05;
T 2 sec
10s 1
Thit k khu hiu chnh GC (z ) h thng c cp cc phc vi 0.707 ;
G( s)
n 2 rad/sec v sai s xc lp i vi tn hiu vo l hm nc n v bng 0.
Li gii:
Do yu cu sai s xc lp i vi tn hiu vo l hm nc bng 0 nn ta s dng khu
hiu chnh GC (z ) l khu PI.
GC ( z ) K P
K IT z 1
2 z 1
Phng trnh c trng ca h thng sau khi hiu chnh l:

1 GC ( z )GH ( z ) 0
Trong :
GH ( z) GZOH (s)G(s) H (s)
1 e Ts 10 0.05

10s 1
s
0.05
1 z 1
s ( s 0.1)
0.05 z (1 e 0.2 )
1 z 1
0.1( z 1)( z e 0.2 )
0.091
GH ( z )
( z 0.819)
Do phng trnh c trng ca h thng l:

K T z 1 0.091
1 KP I
0
2 z 1 z 0.819
K T z 1 0.091
1 KP I
0
2 z 1 z 0.819
204
Thay T=2, ta suy ra:
z 2 0.091K P 0.091K1 1.819z 0.091K P 0.091K1 0.819 0
(1)
Cp cc quyt nh mong mun l:

z1*, 2 re j
Vi:
r e T n e 20.7072 0.059
Tn 1 2 2 2 1 0.707 2 2.828
z1*, 2 0.059e j 2.828 0.059cos2.828 j sin 2.828

z1*, 2 0.056 j 0.018
Phng trnh c trng mong mun l:
( z 0.056 j 0.018)( z 0.056 j 0.018) 0

z 2 0.112 z 0.0035 0
(2)
So snh (1) v (2), suy ra:

0.091K P 0.091K I 1.819 0.112
0.091K P 0.091K I 0.819 0.0035

K P 15.09
K I 6.13
Vy:
GC ( z ) 15.09 6.13
z 1
z 1
205
Chng 9
H THNG IU KHIN PHI TUYN
9.1.
KHI NIM V H THNG PHI TUYN
9.1.1. Khi nim v h phi tuyn

H phi tuyn l h thng trong quan h vo ra khng th m t bng phng
trnh vi phn/sai phn tuyn tnh
Phn ln cc i tng iu khin trong t nhin mang tnh phi tuyn. Cc h
thng
H thng thy kh (TD: bn cha cht lng)
H thng nhit ng hc (TD: l nhit )
H thng c kh (TD: cnh tay my )
H thng in t (TD: ng c, mch khuch i )
H thng vt l c cu trc hn hp
u c tnh phi tuyn.
9.1.2. Tnh cht ca h phi tuyn
H phi tuyn khng tha mn nguyn l xp chng.
Tnh n nh ca h phi tuyn khng ch ph thuc vo cu trc, thng s ca h
thng m cn ph thuc vo tn hiu vo.
Nu tn hiu vo h phi tuyn l tn hiu hnh sin th tn hiu ra ngoi thnh phn
tn s c bn (bng tn s tn hiu vo) cn c cc thnh phn hi bc cao (l bi
s ca tn s tn hiu vo).
H phi tuyn c th xy ra hin tng dao ng t kch.
9.1.3. M t ton hc h phi tuyn dng phng trnh vi phn
Ty theo dng tn hiu bn trong h thng m h phi tuyn c th chia lm 2 loi:
H phi tuyn lin tc
H phi tuyn ri rc
Ni dung mn hc ch cp n h phi tuyn lin tc.
Tng qut, quan h vo ra ca h phi tuyn lin tc c th biu din di dng
phng trnh vi phn phi tuyn bc n:
d n1 y(t )
d n y(t )
dy (t )
d m1u (t )
du (t )
g
,
,
,
y
(
t
),
, ,
, u (t )
n
n 1
m 1
dt
dt
dt
dt
dt
Trong : u(t) l tn hiu vo

y(t) l tn hiu ra
g(.) l hm phi tuyn
206
9.1.3. M t ton hc h phi tuyn dng phng trnh trng thi

H phi tuyn lin tc c th m t bng phng trnh trng thi
x (t ) f ( x(t ), u (t ))
y (t ) h( x(t ), u (t ))
trong :
u(t) l tn hiu vo
y(t) l tn hiu ra
x(t) l vector trng thi, x(t ) x1 (t ), x2 (t ),, xn (t )T
f(.), h(.) l cc hm phi tuyn
9.1.4. Cc khu vi tuyn c bn
Khu relay 2 v tr
y Ym sgn(u)
Khu khuch i bo ha
Khu replay 3 v tr
Ym sgn( n)
y
( u D)
( u D)
Khu khuch i c min cht
207
Ym sgn( n)
y
Ku
( K Ym / D)
( u D)
( u D)
Khu relay 2 v tr tr
K (u D sgn( u )
y
( u D)
( u D)
Khu relay 3 v tr tr
Ym sgn( n) neu u D
y
Ym sgn( n) neu u D
Khu khuch i bo ha c tr
Mt s v d i tng phi tuyn

- H bn cha cht lng
1
h(t ) ku(t ) a 2 gh(t )
A
208
h(t) cao mc cht lng trong bn cha

u(t) in p iu khin my bm
A: tit din ngang bn cha
a: tit din van x
k: h s t l vi cng sut my bm
- H bn cha cht lng ni tip
h1 (t )
h (t )
2
1
ku(t ) a12 2 g h1 (t ) h2 (t )
A
1
a12 2 g h1 (t ) h2 (t ) a 2 2 gh2 (t )
A
H con lc ngc
Ch thch:
M: trng lng xe [Kg]
m: trng lng con lc [Kg]
L: chiu di con lc [m]
u: lc tc ng vo xe [N]
g: gia tc trng trng [m/s2] x: v tr xe [m]
209
: gc gia con lc v phng thng ng [rad]
9.2.
F mlsin 2 mg cos sin

2
M m mcos
F cos ( M m) g (sin ) ml(cos sin ) 2

ml(cos ) 2 ( M m)l
CC PHNG PHP NGHIN CU H PHI TUYN
Khng c phng php no c th p dng hiu qu cho mi h phi tuyn.

Mn hc cp n mt s phng php thng dng sau y:
Phng php tuyn tnh ha
Phng php hm m t
Phng php Lyapunov
Phng php tuyn tnh ha
Xt h phi tuyn m t bi phng trnh trng thi:
x (t ) f ( x(t ), u (t ))
y (t ) h( x(t ), u (t ))

Khai trin Taylor xung quanh im lm vic tnh ( x, u ) a c th m t h thng bng

phng trnh trng thi tuyn tnh:
~
x (t ) A~
x (t ) Bu~(t )
~
~
~
y (t ) Cx (t ) Du (t )
(*)
Trong
~
x (t ) x(t ) x
~
u (t ) u (t ) u
~
y (t ) y (t ) y
y h( x , u )
Cc ma trn trng thi ca h tuyn tnh gn ng c tnh nh sau:
210
f1
x
1
f 2
A x
1

f
n
x n
f 2
x 2
f 2
x 2
f n
x 2
h
C
x1
h
x 2
f n
x n
f n
x n

f n
x n x ,u
f1
u
f
2
B u

f n
u x ,u
x n x ,u
h
D
u x ,u
C th p dng cc phng php kho st h tuyn tnh phn tch, thit k h

thng phi tuyn xung quanh im tnh dng m hnh tuyn tnh (*).
9.3.
PHNG PHP TUYN TNH HO IU HO

Phng php hm m t (Phng php tuyn tnh ha iu ha)
Khi nim
Phng php hm m t m rng gn ng hm truyn t ca h tuyn tnh sang h

phi tuyn.
Phng php hm m t l phng php kho st trong min tn s c th p dng
cho cc h phi tuyn bc cao (n>2) do d thc hin v tng i ging tiu chun
Nyquist.
Ch p dng c kho st ch dao ng trong h phi tuyn gm c khu phi
tuyn ni tip vi khu tuyn tnh theo s khi nh sau:
Phng trnh cn bng iu ha

e(t ) M sint
u(t ) u1 (t ) u 2 (t )
211
kho st kh nng tn ti dao ng tun hon khng tt trong h, u vo khu

phi tuyn ta cho tc ng sng iu ha.
e(t ) M sint
Tn hiu ra khu phi tuyn khng phi l tn hiu hnh sin. Phn tch Fourier ta thy
u(t) cha thnh phn tn s c bn v cc thnh phn hi bc cao 2, 3.
u (t )
A0
Ak sin kt Bk coskt
2 k 1
Cc h s Fourier xc nh theo cc cng thc sau:

A0
Ak
Bk
u (t )d (t )
u (t ) sin kt d (t )
u (t ) cosnt d (t )
Gi thit G(s) l b lc thng thp, cc thnh phn hi bc cao ng ra ca khu

tuyn tnh khng ng k so vi thnh phn tn s c bn, khi tn hiu ra ca khu
tuyn tnh gn ng bng:
y(t ) Y1 sint 1
iu kin trong h c dao ng n nh vi tn s l:

M sint e(t ) y(t ) Y1 sint 1
Y M
Suy ra: 1
1
Phng trnh cn bng bin

Phng trnh cn bng pha
Hm m t
Xt khu phi tuyn:
Do khi tn hiu vo ca khu phi tuyn l tn hiu hnh sin:

e(t ) M sint
212
Tn hiu ra u(t) xp x thnh phn tn s c bn (do ta b qua cc thnh phn hi bc

cao)
u(t ) u1 (t ) A1 sint B1 cost
Nn ta c th coi khu phi tuyn nh l mt khu khuch i c h s khuch i l:

N (M )
A1 jB1
M
Tng qut N(M) l mt hm phc nn ta gi l h s khuch i phc ca khu phi

tuyn. V quan h vo ra ca khu phi tuyn c th m t gn ng bng h s khuch i
phc N(M) nn N(M) cn c gi l hm m t ca khu phi tuyn.
nh ngha: Hm m t (hay cn gi l h s khuch i phc) l t s gia thnh
phn sng hi c bn ca tn hiu ra ca khu phi tuyn v tn hiu vo hnh sin
N (M )
A1
A1 jB1
M
u(t ) sinkt d (t )
B1
u(t ) cosnt d (t )
Trong cc cng thc trn u(t) l tn hiu ra ca khu phi tuyn khi tn hiu vo l
M sin(t ) . Nu u(t) l hm l th:
A1
u(t ) sinkt d (t )
B1 0
Hm m t ca cc khu phi tuyn c bn

- Khu relay 2 v tr
213
Do u(t) l hm l nn:
A1
u(t ) sint d (t ) V
2
sin (t )d (t )
B1 0
Do hm m t ca khu relay 2 v tr l:
N (M )
A1 jB1 4Vm
M
M
- Khu relay 3 v tr
Do u(t) l hm l nn B1 0
214
2Vm
cost
t 0
4Vm
A1
u(t ) sint d (t )
Vm sin (t )d (t )
2Vm
cost
4Vm
cos
B1 0
Theo th ta c: D M sin sin
A1
4Vm
D
D2
cos 1 2
M
M
D2
M2
Do hm m t ca khu relay 3 v tr l:
N (M )
A1 jB1 4Vm
D2
1 2
M
M
M
Khu khuch i bo ha
A1
/2
u (t ) sin t d (t ) u (t ) sin t d (t )
/2
4 Vm M
2

sin t d (t ) Vm sin t d (t )
0 D
215
2Vm
cos t
4Vm
cos

/ 2
4 Vm M
sin 2t
/2

Vm cos t d (t ) t
t
2 D
2
t 0
/ 2
M V m
4 Vm M
sin 2
2 sin 2
Vm cos
2 D
2 t 0
Do hm m t ca khu khuch i bo ha l:
N (M )
A1 jB1 Vm
2 sin2
M
M
sin
- Khu khuch i c vng cht
A1
u(t ) sin t d (t )
0
/2
K M sin t Dsin t d (t )
0
4 KM
sin 2t D
t
cost

2
M
/2
2 sin 2t
KM 1
Do hm m t ca khu khuch i c vng cht l:

N (M )
A1 jB1
2 sin 2t
K 1
sin
- Khu relay 2 v tr c tr:
216
Ta c:
A1
B1
u(t ) sint d (t )
u(t ) cost d (t )
Vm sin t d (t )
4Vm
cos
cos t d (t )
4Vm
sin
Do hm m t ca khu relay 2 v tr c tr l:
N (M )
A1 jB1 4Vm
cos j sin
sin
Kho st ch dao ng iu ha trong h phi tuyn

Xt h phi tuyn c s nh sau:

1 N ( M )G( j ) 0 G( j )
1
N (M )
(*)
Phng trnh trn c gi l phng trnh cn bng iu ha. Phng trnh ny s

c dng xc nh bin v tn s ca dao ng iu ha trong h phi tuyn.
217
Nu (M * , * ) l nghim ca phng trnh (*) th trong h phi tuyn c dao ng vi

tn s * , bin M * .
V mt hnh hc, nghim (M * , * ) l nghim ca phng trnh (*) chnh l giao im
ca ng cong Nyquist G( j ) ca khu tuyn tnh v ng c tnh -1/N(M)ca khu
phi tuyn.
Dao ng trong h phi tuyn l n nh nu i theo chiu tng ca c tnh
1 / N (M ) ca khu phi tuyn chuyn t vng khng n nh sang vng n nh ca khu
tuyn tnh G( j ) .
Trnh t kho st ch dao ng trong h phi tuyn

Bc 1: Xc nh hm m t ca khu phi tuyn (nu khu phi tuyn khng phi l cc
khu c bn).
Bc 2: iu kin tn ti dao ng trong h: ng cong Nyquist G( j ) v ng c
tnh 1 / N (M ) phi ct nhau.
Bc 3: Bin , tn s dao ng (nu c) l nghim ca phng trnh:
G( j )
1
N (M )
(*)
Nu N(M) l hm thc th:

- Tn s dao ng chnh l tn s ct pha ca khu tuyn tnh G( j ) .
G( j )
- Bin dao ng l nghim ca phng trnh:

1
G( j )
N (M )
Th d 1:
218
Hm truyn ca khu tuyn tnh l:

G( s)
10
s(0.2s 1)(2s 1)
Khu phi tuyn l khu relay 2 v tr c Vm 6 .

Hy xc nh bin vo tn s dao ng t kch
trong h (nu c).
Gii:
Hm m t ca khu relay 2 v tr l:
N (M )
4Vm
M
Do ng cong Nyquist G( j ) v ng c tnh 1 / N (M ) lun lun ct nhau (xem

hnh v) nn trong h phi tuyn lun lun c dao ng.
Tn s dao ng l tn s ct pha ca G( j ) :
10
G ( j ) arg

j
(
0
.
2
j
1
)(
2
j
1
)
arctan(0.2 ) arctan 2 arctan(0.2 ) arctan 2
2
2
0.2 2
1 0.2
. 2 0 1.58rad / sec
1 0.2
. 2
Bin dao ng l nghim ca phng trnh:

1
G j
N (M )
M
4Vm
10
1.58 1 (0.2 1.58)
1 2 1.58
1.82
1.82 M 13.90
Kt lun: Trong h phi tuyn c dao ng y(t ) 13.90 sin(1.58t )

Th d 2:
219
Hm truyn ca khu tuyn tnh l:

G( s)
10
s(0.2s 1)(2s 1)
Khu phi tuyn l khu relay 3 v tr.

1. Hy tm iu kin trong h phi
tuyn c dao ng.
2. Hy xc nh bin v tn s dao
ng khi Vm 6, D 0.1 .
Gii:
A1 jB1 4Vm
D2
1 2
Hm m t ca khu relay 3 v tr l N ( M )
M
M
M
iu kin trong h thng c dao

ng l ng cong Nyquist G( j ) v
ng c tnh 1-N(M) phi ct nhau.
iu ny xy ra khi:
1
G j
N (M )
Gii:
Tn s ct pha G( j ) ca (xem cch tnh th d 1).
1.58(rad / sec)
dao ng xy ra ta phi c iu kin:
1
10
G j
1.82
N (M )
1.58 1 (0.2 1.58) 2 1 (2 1.58) 2
(*)
N (M ) 0.55
Theo bt ng thc Cauchy:
220
4Vm
2V
D2
N (M )
1 2 m
M
2D
M
D 2
D 2 2Vm
1 2
M D
M
Do iu kin (*) uc tha mn khi:

2Vm
V
0.55 m 0.864
D
D
Vy iu kin trong h c dao ng t kch l:
Vm
0.864
D
Bin dao ng l nghim ca phng trnh:

4Vm
1
D2
1.82 N ( M ) 0.55
1 2 0.55
N (M )
M
M
Khi Vm 6, D 0.1 , gii phng trnh trn ta c M= 13.90

Vy dao ng trong h l: y(t ) 13.90 sin(1.58t )
9.4. PHNG PHP LYAPUNOV
9.4.1. Gii thiu
- Phng php Lyapunov cung cp iu kin nh gi tnh n nh ca h phi
tuyn.
- C th p dng cho h phi tuyn bc cao bt k.
- C th dng phng php Lyapunov thit k cc b iu khin phi tuyn.
- Hin nay phng php Lyapunov l phng php c s dng rng ri nht
phn tch v thit k h phi tuyn.
9.4.2. Mt s nh ngha
Xt h phi tuyn m t bi phng trnh trng thi sau:
x f ( x, u)
nh ngha: Mt im trng thi x * uc gi l im cn bng nu nh khi ang

im trng thi x * v khng c tc ng no t bn ngoi th h s nm nguyn ti .
D thy im cn bng phi l nghim ca phng trnh:
x f ( x, u) u 0 0
H phi tuyn c th c nhiu im cn bng hc khng c im cn bng no. iu

ny han tan khc so vi h tuyn tnh, h tuyn tnh lun lun c 1 im cn bng l
x* = 0
221
nh ngha: Mt h thng c gi l n nh (tim cn) ti im cn bng x * nu

nh c mt tc ng tc thi nh bt h ra khi x * v a n c x 0 thuc ln cn no
ca th sau h c kh nng t quay c v im cn bng x * ban u.
Ch : Tnh n nh ca h phi tuyn ch c ngha khi i cng vi im cn bng.
C th h n nh ti im cn bng ny nhng khng n nh ti im cn bng khc.
nh ngha: Cho h phi tuyn khng kch thch m t bi phng trnh trng thi:
x f ( x, u) u 0 0
(1)
Gi s h thng c im cn bng x * = 0
H thng c gi l n nh Lyapunov ti im cn bng 0 nu vi 0 bt k bao
gi cng tn ti ph thuc sao cho nghim x(t) ca phng trnh (1) vi iu kin
u x(0) tha mn:
x(0) x(t ) , t 0
H thng c gi l n nh tim cn Lyapunov ti im cn bng 0 nu 0 vi

bt k bao gi cng tn ti ph thuc sao cho nghim x(t) ca phng trnh (1) vi
iu kin x(0) tha mn:
lim x(t ) 0
t
9.4.3. Phng php tuyn tnh ha Lyapunov

Cho h thng tuyn phng trnh trng thi:
x f ( x, u)
(1)
Gi s xung quanh cn bng, h thng (1) c th tuyn tnh ha v dng:

~
x A~
x Bu~
(2)
nh l:
Nu h thng tuyn tnh ha (2) n nh th h phi tuyn (1) n nh tim cn ti
im cn bng x * .
Nu h thng tuyn tnh ha (2) khng n nh th h phi tuyn (1) khng n nh ti
im cn bng x * .
Nu h thng tuyn tnh ha (2) bin gii n nh th khng kt lun c g v
tnh n nh ca h phi tuyn ti im cn bng x * .
Phng php trc tip Lyapunov
nh l: Cho h phi tuyn khng kch thch m t bi phng trnh trng thi:
x f ( x, u) u 0 0
(1)
222
Gi s h thng c im cn bng x * = 0
Nu tn ti hm V(x) sao cho:
i)
ii )
iii )
V (0) 0
V ( x) 0, x 0
V ( x) 0, x 0
Th h thng (1) n nh Lyapunov ti im 0.

Ch : Hm V(x) thng c chn l hm ton phng theo bin trng thi.
223
Ph lc
Bng bin i Laplace v bin i Z
STT
Hm Laplace F(s)
Hm thi gian f(t)
Hm z f(z)
Hm Dirac (t)
1
s
Hm nc n v u(t)= 1(t)
z
z 1
1
s2
Tz
( z 1) 2
1
s3
t2
2
T 2 z ( z 1)
2( z 1) 3
tn
n!
s n 1
(1) n n
z
n
aT
a 0
n! a z e
l im
1
sa
e-at
z
z e aT
1
( s a) 2
t.e-at
Tze aT
( z e aT ) 2
a
s( s a)
1 - e-at
(1 e aT ) z
( z 1)( z e aT )
1
( s a)( s b)
1
(e at e bt )
(b a)
(e aT e bT ) z
( z e aT ( z e bT )
10
1
s( s a) 2
1
(1 at )e t
2
a
z[ z e aT (1 aT )]
( z e aT ) 2
11
a
2
s ( s a)
12
1 e at
a
z[(aT 1 e aT ) z (1 e aT aTe aT )]
a( z 1) 2 ( z e aT )
sinat
z sin aT
z 2 z cos aT 1
2
s2 a2
224
Ph lc
13
z ( z cos aT )
z (2 cos aT ) z 1
s
s a2
cosat
e-atsin t
z e aT sin T
z 2 2 ze aT cos T e 2 aT
14
( s a)
2
15
sa
( s a) 2 2
e-atcos t
z 2 ze aT cos T
z 2 2 ze aT cos T e 2 aT
16
a2
s( s a) 2
1 - (1+ at)e-at
z
z
aTe aT z
z 1 z e aT ( z e aT )2
17
1
s( s a)( s b)
1
e at
be bt
ab a(a b) b(b a)
225
( Az B) z
( z e )( z e bT )( z 1)
aT
b(1 e aT ) a(1 e bT )
ab(b a)
ae aT (1 e bT ) be bT (1 e aT )
ab(b a)
- Ti liu tham kho

[1]. Nguyn Phng H, L thuyt iu khin T ng, NXB H Quc gia, 2005.
[2]. Lng Vn Lng, C s t ng, NXB H Quc gia, 2002.
[3]. Benjamin C. Kuo, Automatic Control Systems, Prentice-Hall, 2002.
[4]. Katsuhiko Ogata, Modern Control Engineering, Prentice-Hall, 2002.
.
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MC LC

Chng 1: i cng v h thng t ng

KHI NIM IU KHIN

thu thp thng tin

- B no iu khin tng tc nu v < 100km/h

Kt qu ca qu trnh iu khin trn: xe chy vi tc gn bng 100km/h

S khi h thng iu khin thng gp:

Chng 1: i cng v h thng t ng

Cc k hiu vit tt:

Cc bi ton c bn trong lnh vc iu khin t ng:

Trong lnh vc iu khin t ng c 3 vn cn gii quyt l:

Cc nguyn tc iu khin c th xem l kim ch nam thit k h thng iu

Chng 1: i cng v h thng t ng

Nguyn tc 1: Nguyn tc thng tin phn hi

iu khin san bng sai lch:

iu khin phi hp:

Nguyn tc 2: Nguyn tc a dng tng xng

Chng 1: i cng v h thng t ng

- iu khin nhit bn i (chp nhn sai s ln) v iu khin nhit l sy

PHN LOI H THNG IU KHIN

Chng 1: i cng v h thng t ng

Phn loi theo c im ca h thng:

Biu Nyquist, biu Bode

iu khin PID (Proportional Integral Derivative)

Chng 1: i cng v h thng t ng

Ch p dng i vi h tuyn tnh bt bin mt ng vo mt ng ra

K thut thit k trong min tn s

iu khin hin i: m t ton hc dng phn tch v thit k h thng l h

Lc Kalman (c lng trng thi ti u)

iu khin thch nghi

iu khin phi tuyn

K thut trong min thi gian.

iu khin thng minh: v nguyn tc khng cn dng m hnh ton hc thit

iu khin dng logic m

iu khin dng mng nron

iu khin dng thut ton di truyn

M phng/bt chc cc h thng thng minh sinh hc.

Thit k da vo kinh nghim (K dng logic m), thng s b iu khin thay

hiu c tng tn v c th thit k c cc h thng iu khin t ng,

1.4.1. iu khin nhit

Chng 1: i cng v h thng t ng

- Mc tiu iu khin thng gp l gi cho nhit n nh (iu khin n nh ha)

Th d 2: H thng iu khin nhit theo chng trnh

Chng 1: i cng v h thng t ng

1.4.3. H thng iu khin mc cht lng:

1.4.4. H thng iu khin my cng c bng my tnh:

Chng 1: i cng v h thng t ng

PHNG PHP HM TRUYN T

2.1.1. PHP BIN I LAPLACE

Nu f(t) c lm tr mt khong thi gian T, ta c hm f(t-T). Khi :

Trong f (0 ) gi l iu kin u. Nu f (0 ) = 0 th:

Bin i Laplace ca mt s hm c bn:

(do biu thc ca u(t))

b. Hm dirac: (hm xung n v)

Cch 1: dng nh ngha

Cch 2: dng tnh cht nh ca tch phn

Nn theo tnh cht ca tch phn ta c:

Dng tnh cht nh ca tch phn c th d dng chng minh c:

p dng cng thc Euler:

Quan h ng vo ng ra ca mi h thng tuyn tnh lin tc u c th m t bi

( tnh cht nh ca o hm)

p dng tnh cht tuyn tnh v nhn xt trn ta c:

b0 s m R( s) b1 s m1 R( s) ... bm1 sR( s) bm R( s)