BI TP I

Bai 1: Cho he thong ieu khien co s o khoi nh sau:

N(s)
H2(s)
R(s)

G1(s)

+
+

G2(s)

G3(s)

C(s)

H1(s)
C (s)
GR (s) =
R( s)

Hay tnh ham truyen

N ( s ) =0

va

GN (s) =

C (s)
N (s)

R ( s ) =0

Bai 2 : Cho he thong ieu khien co s o khoi hnh 2.

C ( s)
R( s)

1/.Tnh cac ham truyen

N ( s ) =0

va

C (s)
N ( s)

R ( s ) =0

2/.Viet bieu thc tnh C (s ) khi R ( s ) 0 va N ( s ) 0 .

N(s)

G4(s)

G5(s)
R(s)

G1(s)

++

G2(s)

++

C(s)

G3(s)

Hnh 2
G6(s)

Bai 1: (2.5 iem) Cho he thong co s o khoi hnh 1. Tnh ham

C ( s)
C (s)
truyen
; R (s)
R1 ( s ) R ( s ) =0
2
R ( s ) =0
2

G2(s)
R1(s
)

+
+

G1(s)

+
+
R2(s)

Hnh 3

G3(s)
G4(s)

C(s)