Ph©n tÝch hÖ thèng nhê c¸c biÕn tr¹ng th¸i

HÖ thèng ®iÒu khiÓn cã cÊu tróc sau

u(t ) y(t )
Input Output

Cã ®Çu vµo u vµ ®Çu ra lµ y ®îc m« t¶ bëi ph¬ng tr×nh vi ph©n sau

:
y ( n ) + a1 y ( n −1) + a 2 y ( n − 2) + .... + a n −1 y ' + a n y = b0 u ( m ) + b1u ( m−1) + b2 u ( m−2) + .... + bm −1u ' + bm u
víi c¸c hÖ sè h»ng sè ai víi i =1 , 2 ….. n
bj víi j =0 , 1 , 2 …..m
sau khi biÕn ®æi L’aplace c¶ hai vÕ råi lËp tØ sè ¶nh cña ®Çu ra vµ
®Çu vµo ta cã hµm truyÒn cña hÖ .
bsm  bsm1  ......  bm
W  s  n 0 n 1 1
s  a1s  a2sn  2  .....  an
còng cã thÓ b»ng c¸ch ®Æt c¸c biÕn trang th¸i :
x1  y   0u
. . .
x2  y  0 u 1u  x 1u
.. .. . ..
x3  y  0 u 1 u  2u  x  2u
..................
xn  y(n1)   0u(n 1)  1u(n 2)  ........  n1u  x(n 1)  n 1u
.
x1  x2  1u
.
x2  x3   2u
vËy ....................
.
xn 1  x n  nu
.
xn  anx1  an1x2  ....  a1xn   0u

 0 1 0 ..... 0   1 
 0 0 1 ..... 0    
  2
Víi A   0 0 0 ..... .....  ; B    3  ; C   1 0 0 .... 0 ; D =
   
 .... .... .... ..... .....   .... 
 an an 1 an  2 ..... a1   n 
0
HÖ thèng trªn cã thÓ ®îc diÔn t¶ bëi ph¬ng tr×nh tr¹ng th¸i
.

Sau khi biÕn ®æi L’aplace ph¬ng X tr×nh

AX  Bu trªn ta cã :
sX (s)  x(0)  AX (s) YBu (CX
s)  Du
(Is  A )X (s)  x(0)  Bu(s)
Nh©n ph¬ng tr×nh nµy víi (Is  A ) 1 ta cã
X  s  (Is  A ) 1 x(0)  (Is  A ) 1 Bu(s)
t
Do vËy x(t)  eAtx(0)   eA ( t )Bu( )d
0
t
y(t )  Ce x(0)  C  e
At A ( t )
Bu( )d  Du
Do vËy 14 2 43 1 40 4 44 2 4 4 4 43
NghiÖm tù do
NghiÖm cìng bøc

Trong m«i trêng MATLAB viÖc chuyÓn ®æi hai c¸ch m« t¶ hÖ thèng
trªn ®îc thùc hiÖn ®îc thùc hiÖn mét c¸ch ®¬n gi¶n :
thÝ dô : §Ó ®iÒu khiÓn mét xe tù hµnh dÞch chuyÓn tõ ®iÓm nµy
Vihicle
sang ®iÓm kh¸c , qu¸ tr×nh nµy ®îc m« t¶ bëi s¬ ®å sau :
controler dynamics

u  s 2s2  6s  5 1 y  s
Input s 1  s  1  s  2  position

HÖ thèng nµy cã hµm truyÒn lµ :

>> W=tf([2 6 5],conv([1 2 1],[1 2]))

Transfer function:
2 s^2 + 6 s + 5
---------------------
s^3 + 4 s^2 + 5 s + 2

HÖ thèng nµy cã thÓ m« t¶ bëi c¸c ma trËn tr¹ng th¸i b»ng c©u lÖnh
sau :
>> [A,B,C,D]=ssdata(W)
A=
-4.0000 -0.6250 -0.1250
8.0000 0 0
0 2.0000 0
B=
2
0
0
C=
1.0000 0.3750 0.1563
D=
0
Muèn nghiªn cøu ph¶n øng cña hÖ thèng khi ®Çu vµo lµ u(t) ta chia
ra hai trêng hîp :
1 . u  t   0 víi ®iÒu kiÖn ban ®Çu thÝ dô khi t  0 th× x  0   2 ;
x '  0   0 , x ''  0   2 .
tøc lµ ta gi¶i ph¬ng tr×nh vi ph©n x ''' 4x '' 5x ' 2x  0 víi ®iÒu kiÖn
ban ®Çu trªn .

>> X=[];
>> x0=[-2;0;2];
>> for t=0:.01:10;
X=[X expm(A*t)*x0];
End
>> plot3(X(1,:),X(2,:),X(3,:),'*b')

§å thÞ trªn lµ quü ®¹o pha cña 3 biÕn tr¹ng th¸i x(1), x(2) vµ x(3) .
Muèn vÏ ®å thÞ cña c¸c biÕn tr¹ng th¸i theo thêi gian vµ ®Çu ra y theo
thêi gian ta thùc hiªn nh sau :
VÏ ®å thÞ c¸c biÕn tr¹ng th¸i theo thêi gian :

>> t=0:.01:10;
>> plot(t,X(1,:),t,X(2,:),t,X(3,:))

vÏ ®å thÞ cña ®Èu ra y theo thßi gian

Dùa vµo vÕ hai cña ph¬ng tr×nh
tr¹ng th¸i : y  CX  Du tøc lµ
  x(1) 
y   1 0,375 0,1563  x(2)   0u  x(1)  0,375x(2)  0,1563x(3)
 x(3) 

>> y=X(1,:)+.375*X(2,:)+.1563*X(3,:);
>> plot(t,y)

Chó ý : CÇn ph©n biÖt exp vµ expm .

exp lµ phÐp tÝnh lÊy co tõng phÇn tö cña ma trËn A
 4 .625 .125 
 1.0e+003 * 
   
 8 0 
 0  

 0 2 0 

 0.00001831563889 0.00053526142852 0.00088249690258 
e  
 2.98095798704173 0.00100000000000 0.00100000000000 
 0.00100000000000 0.00738905609893 0.00100000000000 
 
 

expm ®îc ®Þnh nghÜa nh sau :

>> [V,D]=eig(A)
V=
0.1741 -0.0558 + 0.0000i -0.0558 - 0.0000i
-0.6963 0.4465 - 0.0000i 0.4465 + 0.0000i
0.6963 -0.8930 -0.8930
D=
-2.0000 0 0
0 -1.0000 + 0.0000i 0
0 0 -1.0000 - 0.0000i
>> expm(A)
ans =
-0.1944 -0.0946 -0.0122
0.7777 0.1944 -0.1353
2.1654 1.2771 0.8711
 expm(X) = V*diag(exp(diag(D)))/V.

2 §Çu vµo tuú ý : thÝ dô ®Çu vµo u(t)  cos(.5*t )

t
x(t)  eAtx(0)   eA ( t )Bu( )d
0

§Ó tÝnh tÝch ph©n nµy vµ vÏ quü ®¹o pha ba chiÒu cña c¸c biÕn tr¹ng
th¸i x(1),x(2),x(3) trong m«i trêng MATLAB ta thùc hiÖn nh sau

>> t=0:.01:10;
>> x0=[-2;0;2];
>> u=cos(.5*t);
>> [y,t,x]=lsim(ss(A,B,C,D),u,t,x0);
>> plot3(x(:,1),x(:,2),x(:,3),'*b');box on;grid;

VÏ ®å thÞ ®Çu ra y theo thêi gian vÒ nguyªn t¾c hoµn toµn gièng tr-
êng hîp u(t)  0 .