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Bµi hai

C¸c ®Æc tÝnh tÇn sè


Nh ta ®· biÕt muèn t×m hµm truyÒn theo tÇn sè , t¹i biÓu thøc
hµm truyÒn W ( s ) chç nµo cã biÕn s sÏ ®îc thay b»ng jω .
1 . C¸c ®Æc tÝnh tÇn sè cña kh©u qu¸n tÝnh bËc nhÊt :
K K K (1 − jTω) K −KTω
W ( s) = ⇔ W ( jω) = = = +j
Ts + 1 Tjω +1 (1 + jTω)(1 − jTω) 1 +T ω
2 2
1 +T 2 ω 2
 K ®Æc tÝnh tÇn sè
 P (ω ) =  K tÝnh biªn
 A( ω ) =
®Æc
1 + T 2ω 2thùc tÇn
VËy ta cã  − KTω ®Æc tÝnh tÇn sè  1 + T 2ω 2
Q( ω ) = ϕ (ω ) = ar tan®Æc
g ( − TtÝnh
ω ) pha
 1 + T 2ω 2 ¶o  tÇn
§Æc tÝnh tÇn loga :
Trôc tung ®îc tÝnh theo dB

L( ω ) = 20 lg A( ω ) 2
= 20 lg K − 20 lg 1 − T ω 2
 hoµnh ®îc tÝnh theo dec
Trôc

Kh¶o s¸t ®Æc tÝnh tÇn kh©u qu¸n tÝnh bËc nhÊt víi K=1 ; 2 vµ T = 5 ;
10 ; 15 .

W = tf (1, [10 1]);


K=1
bode(W ) T=10

W = tf (1, [10 1]); K=1


T=5 ; 10 ; 15
nyquist (W )

Tham kh¶o :
1 . C¸c ®Æc tÝnh tÇn sè cña kh©u qu¸n tÝnh
bËc nhÊt :
>> [K,T]=ndgrid([1 2],[5 10 15]);
>> K=K(:);T=T(:);
>> num=K;num=num2cell(num,2);
>> den=[T ones(size(K))];den=num2cell(den,2);
>> W=tf(num,den);
>> y=step(W);plot(y)
>> for i=1:size(K)
bode(W(i));hold on;
end
>> hold
Current plot released
>> for i=1:size(K)
nyquist(W(i));hold on;

2 . C¸c ®Æc tÝnh tÇn sè cña kh©u bËc hai :

 K hÖ sè khuyÕch ®¹i
K  h»ng sè thêi gian
W ( s) = 2 2 T
T s + 2ξTs + 1  hÖ sè h·m (damping) . nÕu ξ <1 ®îc gäi lµ kh©u dao
ξ
®éng

W ( s) W ( jω ) =
K [( )
K 1 − T 2ω 2 − j 2ξTω ]
tõ ⇒
(1 − T 2
ω 2
) + j 2ξTω [(1 − T
= 2
ω 2
) + j 2ξTω ][(1 − T 2
ω 2
) − j 2ξTω ]
còng nh c¸c ®Þnh nghÜa ë kh©u qu¸n tÝnh bËc nhÊt

 P(ω ) =
(
K 1 − T 2ω 2 )
do vËy


( 2
)
1 − T 2ω 2 + j 4ξ 2 T 2ω 2
Q( ω ) = − 2 Kξ T ω

 (
1−T ω 2 2 2
)
+ j 4ξ 2 T 2ω 2
 K
 A(ω ) =

 ( 2
)
1 − T 2ω 2 + j 4ξ 2 T 2ω 2
 − 2 KξTω
 ϕ (ω ) = ar tan g
 1 − T 2ω 2
vµ ®Æc tÝnh tÇn loga L( ω ) = 20 lg A(ω ) = 20 lg K − 20 lg 1 − T 2ω 2 ( ) 2
+ j 4ξ 2T 2ω 2
Kh¶o s¸t ®Æc tÝnh tÇn kh©u bËc hai víi K=1 ; 2 vµ T = 10 ; 15 vµ ξ
=0,2 ; 0,8 vµ 1,2 .

>> W=tf(2,[10^2 2*10*.2 1]) ;


>> bode(W)
K =2
T = 10
ξ = 0,2

>> W=tf(2,[10^2 2*10*.2 1]) ;


>> nyquist(W) tÇn sè tõ - ∞ ®Õn 0

K =2
tÇn sè tõ 0 ®Õn ∞
T = 10
ξ = 0,2

Tham kh¶o :

>> [K,T,Si]=ndgrid([1 2],[10 15],[.2 .8 1.2]);


>> K=K(:);T=T(:);Si=Si(:);
>> num=K;num=num2cell(num,2);
>> den=[T.^2 2*T.*Si ones(size(T))];den=num2cell(den,2);
>> W=tf(num,den);
>> for i=1:size(K)
bode(W(i));hold on
end;pause
>> hold off
>> for i=1:size(K)
nyquist(W(i));hold on
end;

1 HÖ thèng cã c¸c ®iÓm cùc n»m phÝa tr¸i trôc ¶o :


>> k= [ .2 ; .41 ; .6 ] ; num=num2cell( num,2 ) ;
>> T = ones ( 3 , 1 ) ;
>> den = T*conv( conv ( [ 1 1 ],[ 1 .3 1 ] ),[ 1 0 ] ) ;
>> den = num2cell ( den , 2 ) ;
>> W = tf ( num , den ) ;
2 HÖ thèng cã 1 ®iÓm cùc n»m trªn trôc ¶o ;
1 - ThiÕt lËp hÖ thèng :
>> k= [ .2 ; .41 ; .6 ] ; num=num2cell( num,2 ) ;
>> T = ones ( 3 , 1 ) ;
>> den = conv( conv ( [ 1 0 ],[ 1 .3 1 ] ),[ 1 0 ] ) ;
>> den = num2cell ( den , 2 ) ;
>> W = tf ( num , den ) ;

3 . HÖ thèng cã 1 ®iÓm cùc n»m phÝa ph¶i trôc ¶o

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