Qu o nghim s (Xem thm trong LTKT)

im cc ca h kn V qu o nghim s theo hm truyn Chn gi tr K t qu o nghim s p ng h kn

Cc lnh s dng trn MATLAB: feedback, rlocfind, rlocus, sgrid, step

im cc ca h kn
Qu o nghim ca mt hm truyn h h l mt th ca v tr ca mi im cc ca h kn vi h s khuych i k v phn hi n v:

Hm truyn ca h kn l:

v do cc im cc ca h kn l cc gi tr ca s 1 + K H(s) = 0. Nu t H(s) = b(s)/a(s), phng trnh trn s c dng:

t n l bc ca a(s) v m l bc ca b(s) [bc ca a thc l h s cao nht ly tha ca s]. Chng ta s xem xt cc gi tr dng ca K. Trong gii hn khi K -> 0, cc im cc ca h kn l a(s) = 0 hoc l cc im cc ca H(s) (V a(s)=0 th a(s)+K.b(s)-> 0 khi K->0, suy ra hm truyn h kn-> v cng)). Gii hn khi K -> v cng, cc im cc ca h kn l b(s)=0 hoc l cc im khng ca H(s) (v b(s)=0 th (a(s)/K + b(s)) -> 0 khi K-> v cng, suy ra hm truyn h kn s tin n v cng). H kn phi lun lun c n im cc, y n l s im cc ca H(s). Qu o nghim s phi c n nhnh, mi nhnh c bt u t mt im cc ca H(s) v kt thc ti im khng ca H(s). Nu H(s) c nhiu im cc hn im khng (thng thng l nh vy), m<n v chng ta ni rng H(s) c im khng v cng (zeros at infinity). Trong trng hp ny, gii hn ca H(s) khi s-> v cng l bng 0. S im khng v cng l (n-m), s im cc thiu s im khng, v l cc nhnh ca qu o nghim s i n v cng (ng tim cn). Bi v qu o nghim s l v tr ca mi im cc c th c ca h kn, t qu o nghim s chng ta c th chn mt h s khuych i h thng kn s c cht lng mong mun. Nu c bt k im cc no nm bn phi mt phng phc, h kn s mt n nh. Cc im cc gn trc o nht s c nh hng ln nht n p ng ca h kn, v vy mc d h thng c 3 hoc 4 im

cc, n vn c tc ng ging nh h bc 2 hoc thm ch ging nh h bc 1 ph thuc vo v tr ca im cc tri (im cc nm gn trc o nht).

Plotting the root locus of a transfer function (V qu o nghim s ca mt hm truyn)

Xt mt h thng h c hm truyn nh sau:

Cu hi t ra cho chng ta l lm th no thit k c mt b iu khin phn hi cho h thng bng phng php qu o nghim s? Vi ch tit cht lng yu cu l qu iu chnh 5% v thi gian tng tc (rise time) l 1s. To mt m-file c tn gi l rl.m. Dng cu lnh xy dng hm truyn v thc hin cu lnh v qu o nghim s:
num=[1 7]; den=conv(conv([1 0],[1 5]),conv([1 15],[1 20])); sys=tf(num,den); rlocus(sys) axis([-22 3 -15 15])

Chn gi tr ca K t qu o nghim s
th trn ch ra v tr mi im cc c th ca h kn cho mt b iu khin t l thun ty. Thc t khng phi mi im cc ca h kn u s tha mn ch tiu cht lng ra. xc nh vng qu o nghim c th chp nhn c, chng ta s dng cu lnh sgrid(Zeta,Wn) v ng h s suy gim (hay h s tt dn, Zeta) v tn s dao ng t nhin (Wn). Trong yu cu ca bi, chng ta cn qu iu chnh nh hn 5% (ngha l h s tt dn (Zeta) ln hn 0.7) 1.8 v thi gian tng tc nh hn 1s (ngha l tn s dao ng t nhin (Wn) ln hn 1.8 ( n xem Tr phn Digital Control)). Thc hin cc cu lnh sau:
zeta=0.7; Wn=1.8; sgrid(zeta, Wn)

Trn th, c hai ng nt t gc 45 ch ra cc v tr ca im cc tng ng vi Zeta =0.7; gia hai ng ny, cc im cc s c Zeta > 0.7 v bn ngoi hai ng ny Zeta < 0.7 (xem thm trong LTKT). Na ng trn ch ra cc v tr ca im cc c tn s dao ng t nhin Wn = 1.8; bn trong ng trn, Wn < 1.8 v bn ngoi ng trn Wn > 1.8. Quay tr li vn , c qu iu chnh nh hn 5%, cc im cc phi nm gia hai ng nt t ny, v c thi gian tng tc ngn hn 1s, cc im cc phi nm bn ngoi na ng trn nt t. V vy chng ta bit rng ch c mt vng ca qu o nghim nm bn ngoi ng trn v nm gia hai ng thng l c chp nhn (hay tha mn yu cu bi ton). Tt c im cc nm trong vng ny u nm bn tri mt phng phc, v vy h kn s n nh. T th trn chng ta thy rng c mt phn ca qu o nghim s l vng mong mun. V vy theo cch ny chng ta ch cn mt b iu khin t l dch chuyn cc im cc ti vng mong mun. Bn c th s dng cu lnh rlocfind trong MATLAB chn cc im cc mong mun trn qu o nghim s.
[k,poles] = rlocfind(sys) Kch vo th mt im m bn mun im cc nm ti y. Bn phi mun la chn cc im c ch ra trn th lm tha mn ch tiu thit k.

Lu rng bi v qu o nghim s c nhiu hn mt nhnh, khi bn chn mt im cc, bn c th tm ra cc v tr ca cc im cc khc. Nn nh rng chng cng c tc ng tng t. T th trn chng ta thy rng mi im cc c chn (mi du + trn th) l cc v tr tha mn. Chng ta c th di chuyn ln v s dng vic la chn K nh b iu khin t l.

Closed-loop response (p ng ca h kn)

tm p ng step, bn cn bit hm truyn ca h kn. Bn c th tnh ton thng qua s khi hoc thc hin bng cu lnh MATLAB sau: feedback(k*sys,1) Hai i s ca hm feedback l t s v mu s ca hm truyn h h. Bn cn tnh n h s khuych i m bn chn. Phn hi n v c chn. Nu bn c phn hi khng phi n v, hy xem tr gip hm feedback c th tm hm truyn ca h kn vi mt h s khuych i trong mch phn hi. Kim tra p ng step ca h kn trn:
sys_cl= step(sys_cl)

Nh chng ta mong i, p ng ny c qu iu chnh nh hn 5% v thi gian tng tc t hn 1s.