Sv: Nguyn B Giang

Mssv: 081396D
Lp: 08DD3D
BO CO TH NGHIM IU KHIN T NG
BI 1: NG DNG MATLAB PHN TCH CC H THNG IU KHIN T NG

3.1. TM HM TRUYN TNG NG CA H THNG:

-S KHI CA H THNG:

-HM TRUYN CC KHI:

G1= (

)(

; G2=

; G3= ; H1= S+2

-TRNH T THC HIN CC LNH TRONG EDITOR (HOC C TH NHP LNH TRC TIP
TRONG COMMAND WINDOW):

-KT QU TRONG COMMAND WINDOW:

Trong ca s command window, kt qu hm truyn tng ng c hin th (nh trn):

3.2. KHO ST TNH N NH CA H THNG DNG TIU CHUN BODE:

BC 1:
-S KHI:

-HM TRUYN VNG H Gs:

Gs= (

K=10:
BC 2: V BIU BODE
-TRNH T THC HIN CC LNH:

-BIU BODE:

)(

BC 3: XC NH TN S CT BIN, TN S CT PHA, D TR BIN, D TR PHA:

-

Tn s ct bin: 1.1 rad/s, p ng bin : 0 dB

Tn s ct pha: 1.34 rad/s, p ng pha: -1800
d tr bin: GM= 0 L(w-) = - (- 3.34) = 3.34 dB

d tr pha: M= -1760 (-1800) = 180 176 = 40

BC 4: LU LI BIU BO CO

BC 5: XC NH LI TN S CT BIN, TN S CT PHA, D TR BIN, D TR PHA

BNG LNH MARGIN:

- Kt qu thu c bc 5 xp x vi kt qu bc 3,4
BC 6: KIM NH H THNG
- H thng n nh. Ti v: theo tiu chun n nh bode th:
{

th h thng n nh

BC 7: TM HM TRUYN VNG KN
-Trnh t thc hin cc lnh:

Kt qu hin th:

-TRNH T THC HIN CC LNH V P NG NC CA H THNG KN:

-P NG NC CA H THNG KN:

Nhn xt: Bin ca p ng gim dn theo thi gian

VI K = 400
BC 1:
-S KHI:

-HM TRUYN VNG H Gs:

Gs= (
BC 2:
K = 400
Trnh t thc hin cc lnh:

Kt qu:

Biu bode:

)(

BC 3:

Tn s ct bin:

Tn s ct pha:

c=

6.26 rad/s

= 1.33rad/s

d tr bin: GM = - L(

d tr pha: M = 1800 + (-2100) = - 300

-)

= -28.8 (dB)

BC 4: LU LI BIU
BC 5: XC NH LI

c,

-,

GM, m BNG LNH MARGIN:

Kt qu tm c gn ging bc 3, 4

BC 6:
-

NHN XT: h thng khng n nh. Ti v:

{

3.3 KHO ST H THNG DNG PHNG PHP QU O NGHIM S:

-BC 1: s khi h thng:
G=(

)(

-BC 2: v qu o nghim s bng lnh rlocus:

Kgh = 427

BC 4: lu li hnh v.
BC 5: Wn = 4, tm K:

Kt qu: Kgh = 51.8 (ng vi wn=4)

BC 6: h s tt= 0.7 , tm K:

Kt qu: K = 20.1

BC 7: POT = 25%, tm K:
POT = 25% hay exp(-

) = 25% = 0.4

Kt qu: K = 77.4

BC 8: txl

= 4s. tm K:
txl =

= 4s

=1

- K = 173
3.4. NH GI CHT LNG CA H THNG:
- BC 1:
- hm truyn vng kn:

p ng qu ca h thng vng kn vi u vo l hm nc n v:

Ng ra c dao ng

BC 2: POT = 25% th K=77.4. p ng qu ca h thng:

vt l kim chng gn bng 25%

BC 3: K = 173

txl = 3.47s gn vi 4s
BC 4: 2 p ng qu bc 5,6 phn 3.3