Giaotrinh LTDKTD 2007

Gio trnh L thuyt iu khin t ng 1
CHNG 1 : M T MT H THNG IU KHIN T NG

1.1 Cc khi nim c bn
hiu c khi nim v h thng iu khin t ng trc ht ta xem v d
sau
Va
Va
Va
Tu
c
bi
L HI
O2
My
pht
in
Khng
ch tc
o
thng
s v
in
U, I
My tnh
Tn hiu ch o
Hnh 1.1: S iu khin ca l hi pht in
iu khin l tp hp tt c cc tc ng c mc ch nhm iu khin mt qu
trnh ny hay qu trnh kia theo mt quy lut hay mt chng trnh cho trc.
iu khin hc l mt b mn khoa hc nghin cu nguyn tc xy dng cc
h iu khin.
Qu trnh iu khin hoc iu chnh c thc hin m khng c s tham
gia trc tip ca con ngi, th chng ta gi l qu trnh iu khin v iu
chnh t ng.
Tp hp tt c cc thit b m nh qu trnh iu khin c thc hin gi
l h thng iu khin .
1

Tp hp tt c cc thit b k thut, m bo K hoc C t ng mt qu
trnh no c gi l h thng K hoc C t ng (i khi gi tt l h
thng t ng HTT).
1.2 Cc phn t c bn ca h thng iu khin t ng
i tng iu khin (Object), Thit b iu khin (Controller ), Thit b o
lng (Measuring device).
- S tng qut
u(t)
e(t)
x(t)
y(t)
z(t)
Hnh 1.2: S tng qut h thng iu khin t ng

Mi h thng iu khin t ng u bao gm 3 b phn c bn :
- Thit b iu khin C (Controller device).
- i tng iu khin (Object device).
- Thit b o lng (Measuring device).
u(t) tn hiu vo ; e(t) Si lch iu khin ; x(t) Tn hiu iu khin ; y(t) Tn
hiu ra ; z(t) Tn hiu phn hi
1.3 Cc nguyn tc iu khin c bn
C 3 nguyn tc iu khin c bn :
-Nguyn tc iu khin theo sai lch (Hnh 1.3).
u(t)
e(t)
-
x(t)
C
y(t)
O
z(t)
Hnh 1.3: S nguyn tc iu khintheo sai lch

Tn hiu ra y(t) c a vo so snh vi tn hiu vo u(t) nhm to nn tn
hiu tc ng ln u vo b iu khin C nhm to tn hiu iu khin i
tng O.

-Nguyn tc iu khin theo phng php b nhiu (Hnh 1.4)
y1(t)
K
u(t)
e(t)
x(t)
C
y(t)
O
Hnh 1.4: S nguyn tc iu khin b nhiu

Nguyn tc b nhiu l s dng thit b b K gim nh hng ca nhiu l
nguyn nhn trc tip gy ra hu qu cho h thng (hnh 1.4).
-Nguyn tc iu khin theo sai lch v b nhiu (Hnh 1.5)
y1(t)
K
u(t)
e(t)
-
x(t)
C
z(t)
y(t)
O
Hnh 1.5: S nguyn tc iu khin hn hp

Nguyn tc iu khin hn hp l phi hp c hai nguyn tc trn, va c hi
tip theo sai lch va dng cc thit b b nhiu.
1.4 Phn loi cc h thng iu khin t ng.
1.4.1 Phn loi theo nguyn l xy dng.
Cc phn t c phn chia thnh cc loi: h thng K theo mch h, h
thng K theo mch kn v h thng K hn hp .
Ngoi nhng nguyn l trn, t nhng nm 60 ca th k XX, trn c s p
dng iu khin hc trong c th sng vo k thut ra i mt loi hnh h
thng t ng m phng hot ng ca c th sng: l cc h t chnh, thch
nghi. Nguyn l t chnh v thch nghi khng i hi phi bit y cc c
tnh ca qu trnh iu khin v trong qu trnh lm vic, cc h thng ny t
chnh v thch nghi vi cc iu kin bn ngoi thay i.
L thuyt cc h K t chnh v thch nghi tr thnh mt nhnh pht trin
quan trng ca l thuyt KT.
3

V hu ht cc h thng KT trong k thut l nhng h mch kn v qu
trnh iu khin cc thit b k thut chung quy li l qu trnh iu chnh cc
tham s ca n, nu di y chng ta s cp n s phn loi cc h thng
KT mch kn v l thuyt v cc h .
1.4.2/ Phn loi theo tnh cht ca lng vo.
Tu theo tnh cht ca tc ng u vo, cc h thng KT c 3 loi:
H thng n nh t ng (iu chnh theo hng s) l h thng c lng vo
khng i. Nhim v ca h thng l duy tr mt hoc mt vi i lng vt l
gi tr khng i. Th d nh h thng KT tc ng c nhit, h thng
KT in p, tn s ca my pht, h n nh ng bay ca my bay khi gc
li khng thay i ...
H thng iu chnh theo chng trnh l h thng c lng vo l cc hm
bit trc, c th di dng chng trnh.Th d h iu khin ng bay
nh trc ca my bay khng ngi li, h thng iu khin cc my cng c:
bo, phay vi chng trnh nh trc trong b nh my tnh...
H t ng bm, gi tt l h bm l h thng c lng vo l cc hm thi
gian khng bit trc, c th thay i theo quy lut bt k. Nhim v ca h l
bo m lng ra phi "bm" theo s thay i ca lng vo. Th d cc h nh
l h bm ng b gc, cc h bm v tuyn in t ca cc i radar...
1.4.3/ Phn loi theo dng tn hiu s dng trong h thng.
Theo dng tn hiu s dng trong h thng, chng ta c cc tc ng lin tc
v cc h thng gin on (hay h ri rc).
H tc ng lin tc (gi tt l h lin tc) l h m tt c cc phn t ca h
c lng ra l cc hm lin tc theo thi gian.
Tn hiu di dng hm lin tc c th l tn hiu mt chiu (cha bin iu)
hoc tn hiu xoay chiu ( c bin iu) tng ng chng ta c h KT
mt chiu (DC) v h thng KT xoay chiu (AC) (th d h thng bm ng
b cng sut nh dng ng c chp hnh 2 p ha).

H tc ng gin on (gi tt l h gin on hay h ri rc) l cc h c
cha t nht mt phn t gin on, tc l phn t c lng vo l mt hm lin
tc v lng ra l mt hm gin on theo thi gian.
Tu theo tnh cht gin on ca lng ra, cc h gin on c th phn chia
thnh cc loi: h thng KT xung, h thng KT kiu r le v h thng
KT s.
Nu s gin on ca tn hiu ra xy ra qua nhng thi gian xc nh (ta gi l
gin on theo thi gian) khi tn hiu vo thay i, th ta c h KT xung.
Nu s gin on ca tn hiu xy ra khi tn hiu vo qua nhng gi tr ngng
xc nh no (chng ta gi l gin on theo mc), th c th KT kiu rle.
H rle thc cht l h phi tuyn, v c tnh tnh ca n l hm phi tuyn. y l
i tng nghin cu ca mt phn quan trng trong l thuyt K .
Nu phn t gin on c tn hiu ra di dng m s (gin on c theo mc
v c theo thi gian), th ta c h KT s. H thng KT s l h cha cc
thit b s (cc b bin i A/D, D/A, my tnh in t (PC), b vi x l.
1.4.4/ Phn loi theo dng phng trnh ton hc m t h thng.
V mt ton hc, cc h thng KT u c th m t bng cc phng trnh
ton hc: phng trnh tnh v phng trnh ng. Da vo tnh cht ca cc
phng trnh, chng ta phn bit h thng KT tuyn tnh v h KT khng
tuyn tnh (phi tuyn).
H thng KT tuyn tnh l h thng c m t bng phng trnh ton
hc tuyn tnh. Tnh cht tuyn tnh ca cc phn t v ca c h thng KT
ch l tnh cht l tng. V vy, cc phng trnh ton hc ca h thng l cc
phng trnh c tuyn tnh ho, tc l thay cc s ph thuc gn ng
tuyn tnh.
H tuyn tnh c phng trnh ng hc vi cc tham s khng thay i th
gi l h KT tuyn tnh c tham s khng thay i, hay h KT tuyn tnh
dng, cn nu h thng c phng trnh vi tham s thay i th gi l h
KT tuyn tnh c tham s bin thin, hay h KT tuyn tnh khng dng.
5

H thng KT phi tuyn l h thng c m t bng phng trnh ton
hc phi tuyn. H phi tuyn l h c cha cc phn t phi tuyn in hnh, th d
l h c cha cc phn t rle.
1.4.5/ Phn loi theo tnh cht ca cc tc ng bn ngoi.
Cc tc ng bn ngoi vo h t ng c quy lut thay i bit trc hoc
mang tnh cht ngu nhin.
H thng tin nh l cc h c cc tc ng bn ngoi l tin nh, tc l
bit trc cc quy lut thay i ca n (th d xt h thng vi cc tc ng in
hnh).
H thng khng tin nh (hay h ngu nhin) l cc h c xem xt nghin
cu khi cc tc ng bn ngoi l cc tn hiu ngu nhin.
1.4.6/ Phn loi theo s lng i lng cn iu khin.
Tu theo s lng cn iu khin (lng ra ca h) chng ta c: h mt chiu
v h nhiu chiu.
H thng KT mt chiu c cha mt i lng cn iu khin, cn h
KT nhiu chiu l h c cha t hai i lng cn iu khin tr ln. Th d
v h nhiu chiu c th l h thng KT mt my pht in, nu h thng
KT cng mt lc iu khin t ng in p v tn s ca n.
Ngoi cc cch phn loi chnh xt trn, tu thuc vo s tn ti sai s
ca h trng thi cn bng, chng ta phn bit hai loi h thng: h thng tnh
(c sai s tnh) v h phim tnh (khng c sai s tnh). Tu thuc vo quy lut
(nh lut) iu khin (tc l dng ca tn hiu iu khin x(t) do c cu iu
khin to ra), chng ta phn bit cc b iu khin t l (b iu khin P), b
iu khin t l vi phn (b iu khin PD), b iu khin vi phn - tch phn
(b iu khin PID).
1.5 Qu trnh thit lp mt h thng iu khin
- Bc 1: Chuyn i cc yu cu k thut thnh mt h thng vt l.
-
Bc 2: V s khi chc nng. Chuyn i s miu t c tnh h

thng thnh mt s khi chc nng. y l s miu t v cc phn
chi tit ca h thng v mi quan h gia chng.
6

Bc 3: Thit lp s nguyn l.
Bc 4: S dng s nguyn l thit lp s khi hoc graph tn

hiu hoc biu din khng gian trng thi.
Bc 5: Rt gn s khi.
Bc 6: Phn tch v thit k.

Cu hi n tp chng 1
1. H thng iu khin t ng c th phn loi nh th no?
2. H thng iu khin c my phn t c bn?
3. Hy nu cc quy tc iu khin c bn iu khin mt h thng iu
khin?
4. Nu cc bc thit lp mt h thng iu khin?

CHNG 2: M HNH TON HC CA H THNG IU KHIN
Mi h thng c th chia lm nhiu phn s thun tin hn v mi phn
s c biu din bng 1 hm ton hc gi l hm truyn t (transfer
function)
u vo
H thng
(System)
u ra
u vo
u ra
H thng con
H thng con
(subsystem)
(subsystem)
Hnh 2.1 : S phn chia h mt h thng iu khin thnh cc h thng

H thng con
(subsystem)
2.1 Cc khu c bn
Ta c mt h thng iu khin:
R
E
B iu
khin
Chp
hnh
i
tng
o
lng
C1
Hnh 2.2 : S mt h thng iu khin tng qut

a phn cc mch phn hi ca h thng iu khin l mch phn hi m.
Khi chng ta tin hnh phn tch h thng tt hay xu hay thit k b iu khin
cho h thng u phi xut pht t m hnh ton hc ca h thng hay ni cch
khc ta phi tm c quan h gia u vo v u ra ca h thng.
2.1.1 Khu khuch i
y
K
Hnh 2.3 : S khu khuch i tnh

- Khu khuch i l tn hiu u ra l khuch i ca tn hiu u vo
y = K.x
trong : K l h s khuch i
( Khuch i tnh l c c tn hiu u vo th tm c tn hiu u ra)
9
(2.1)

- Cng c h thng c khuch i nhiu tng
x
K1
K3
K2
Hnh 2.4: S khu khuch i tng

2.1.2 Khu tch phn
y (t ) =
1
Ti
x(t )dt (+ y
(2.2)
t0
Vi Ti l thi gian tch phn

2.1.3 Khu vi phn
y = TD
dx
dt
(2.3)
TD l hng s thi gian vi phn

2.1.4 Khu bc nht
T
dy
+ y = K .x
dt
(2.4)
trong : K l h s truyn ca khu

T l hng s thi gian ca khu
Phn ng ca h thng tt hay xu ph thuc vo h s K, nhanh hay chm ph
thuc vo T.
2.1.5 Khu bc hai
T2
(2.5)
dy
dy
+ 2T
+ y (t ) = Kx (t )
dt
dt
Trong : K l h s khuch i
T l hng s thi gian
suy gim tn hiu
y l m hnh ton hc ca mch RLC.
2.1.6 Khu bc n
a0
dny
d n 1 y
d y
dmx
d m 1 x
d x
+
a
+
...
+
a
+
a
y
(
t
)
=
b
+
b
+ ... + bm 1
+ bm x(t ) (2.6)
1
n 1
n
0
1
n
n 1
m
m 1
dt
dt
dt
dt
dt
dt
thng thng nm.

2.2 M hnh trong min tn s
2.2.1 Khi nim v php bin i Laplace v ng dng
10

2.2.1.1 Khi nim v bn cht ca php bin i Laplace :
Khi s dng cc php bin i tn hiu h thng t min thi gian sang min
khc thun tin trong vic x l tn hiu. Nh trong h thng lin tc ngi ta
hay s dng php bin i Lpalace bin i t min thi gian sang min tn
s phc. Cc phng trnh vi tch phn s chuyn i thnh cc phng trnh i
s thng thng.
Trong cc h thng ri rc ngi ta hay s dng php bin i Z chuyn
tn hiu t min thi gian sang min tn s phc. Trong thc t ngi ta cn s
dng cc php bin i khc x l tn hiu nh gii tng quan, m ho c
hiu qu, chng nhiu,.
Thc hin cc php bin i c cng c ton hc nh my tnh s, cng c
ph bin v hiu qu l phn mm Matlab hay thc hin bin i bng tay.
a) Bin i Laplace thun
nh ngha: Gi F(s) l bin i Laplace ca hm f(t), khi ta c:
F ( s ) = L [ f (t )] = f (t )e st dt
(2.7)
trong :
-
s = + j
- e st l ht nhn ca php bin i.

- F(s) l hm phc.
- f(t) l hm biu din trn min thi gian xc nh trn R.
thc hin c bin i Laplace hm f(t) phi l hm thc v tho mn
mt s iu kin sau:
- f(t) l hm gc khi tho mn cc iu kin sau:
1. f(t) = 0 khi t < 0
2. f(t) lin tc khi t0, trong khong hu hn bt k cho trc ch c hu hn
cc m cc tr.
3. Hm f(t) gi l hm bc s m khi t nu tn ti mt s thc 0 v
M >0 th f (t ) Met , t > 0 , c gi l ch s tng ca hm f(t). Khi
hm f(t) l hm bc s m nu hm f(t) tng khng nhanh hn hn hm et.
+
- Nu f(t) l hm gc c ch s tng th tch phn I = e st f (t )dt s hi t

0
trong min Re(s) = > . Khi I = e st f (t )dt = F ( s ) s l mt hm phc.

0
11

V d 1: Tm nh ca hm gc sau
f(t)
khi 0 t < 2
1
1
f (t ) = 1
0
khi 2 t < 3
khi t 3
-1
p dng cng thc bin i ta c

+
1
1
1
F ( s ) = e f (t )dt = e f (t )dt e f (t )dt = e st + e st = (1 2e 2 p + e 3 p )
s
s
s
0
0
2
0
2
V d 2: Cho hm
2
st
1
f (t ) =
0
st
st
khi t 0
f(t)
1
khi t < 0
Tm bin i Laplace?
Gii
+
F (s) = e
st
e st
=
f (t )dt
s
V du 3: Tm nh Laplace ca hm f(t) = 4t
T bng bin i Laplace ta c
=
0
1
s
p dng bin i tm nh Laplace ca hm f(t) = 4t2
b) Bin i Laplace ngc:

Bin i Laplace ngc l xc nh tn hiu f(t) t nh Laplace F(s) ca n.
Gi f(t) l gc ca nh F(s) Khi ta c:
c + j
1
L [ F ( s )] = f (t ) =
F ( s )e st ds
2j c j
1
(2.8)
nhng cng thc (2.8) ny t dng, ta hay p dng phng php bin i ngc
hm F(s) c dng hm hu t.
12

Gi s f(t) c nh Laplace dng sau
B( s ) b0 + b1 s + L + bm s m
=
F (s) =
A( s ) a0 + a1 s + L + a n s n
(2.9)
vi n m.
Cc bc thc hin nh sau:
Bc 1: Phn tch F(s) thnh tng cc hm phn thc ti gin
Aki
Bk ( s k ) + C k k
+
i
( s k ) 2 + k2
k =1 i =1 ( s a k )
l
rk
F (s) = A +
(2.10)
trong A, Aki, Bk, Ck l cc hng s. ak l im cc thc bi rk v k + j k l

im cc phc ca F(s), ni cch khc chng l im m ti F(s) = .
Bc 2: Xc nh hm gc cho tng phn t.
-
L -1 {A} = A (t )
- L
-1
Aki
t i 1e a t
1(t )
= Aki
s
a
(
)
(
i
1
)!
Bk ( s k )
= Bk e t cos( k t )1(t )
2
2
(s k ) + k
- L -1
Ck k
= C k e t sin( k t )1(t )
2
2
(s k ) + k
- L -1
V d 1: Tm hm gc f(t) ca nh Laplace sau
F (s) =
1
s ( s + 1)
2
Gii:
Bc 1: Phn tch thnh tng cc phn thc ti gin
1
1 1
+ 2
s +1 s s
Bc 2: Xc nh hm gc cho tng thnh phn
f(t) = (e t 1 + t)1(t)
F (s) =
V d 2:
F (s) =
s 3 + 2s 2 + 6s + 7
s2 + s + 2
Ta thc hin chia t s cho mu s cho n khi s d cn li c bc ca t

nh hn bc ca mu.
13

F (s) = s + 1 +
2
s +s+2
2
Thc hin bin i Laplace ngc c s dng bng bin i Laplace

f (t ) =
d (t )
2
+ (t ) + L 1 2
dt
s + s + 5
S dng phng php phn tch X ( s) =
2
thnh tng cc phn thc
s +s+5
2
n gin.
Ta xt mt s trng hp sau:
Trng hp 1: Nghim ca mu thc T(s) l thc v ring bit. Gi s nghim
ca mu thc T(s) c hai nghim s1 = -1 v s2 = - 2.
X ( s) =
2
( s + 1)( s + 2)
Nghim ca mu thc l ring bit nn tng phn thc s c bc l 1.

X ( s) =
K
K
2
= 1 + 2
( s + 1)( s + 2) s + 1 s + 2
tm K1 ta nhn (2.) vi (s+1) tch K1 ring ra

( s + 1) K 2
2
= K1 +
( s + 2)
( s + 2)
Sau cho s - 1, rt ra c K1 = 2. Lm tng t v cho s - 2 ta rt ra

c K2 = - 2.
Lc
X ( s) =
2
2
2
=
( s + 1)( s + 2) s + 1 s + 2
Thc hin bin i Laplace ngc ca X(s) ta c

x(t ) = (2e t 2e 2t )u (t )
Mt cch tng qut khi mu s ca F(s) cos nghim thc v ring bit, ta thc
hin nh sau:
F (s) =
B( s)
B( s)
=
A( s ) ( s + p1 )( s + p 2 ) L ( s + p m ) L ( s + p n )
Km
Kn
K1
K2
=
+
+L+
+L+
( s + p1 ) ( s + p 2 )
(s + pm )
(s + pn )
(2.11)
Nu bc ca t nh hn bc ca mu ta thc hin tm cc h s Ki nh sau:

- Nhn hai v vi (s + pi) tm h s Ki.
- Cho s - pi, rt ra c Ki.
14

Trng hp 2: Mu s c nghim thc v lp li. Gi s nghim ca mu thc
T(s) c ba nghim s1 = -1 v s2,3 = - 2. Lc ta phn tch X(s) nh sau:
X (s) =
K3
K
K2
2
= 1 +
+
2
2
s + 1 ( s + 2)
( s + 2)
( s + 1)( s + 2)
Tm cc h s K1, K2 v K3
K1 =
2
( s + 2) 2
=2
s 1
tm K2 ta nhn hai v ca (2.) vi (s + 2)2

( s + 2) 2 K 1
2
=
+ K 2 + ( s + 2) K 3
s +1
( s + 1)
Khi cho s - 2 ta tm c K2 = - 2
Tm K3 bng cch ly o hm (2.) theo bin s ta c
2
( s + 2) s
K1 + K 3
=
2
( s + 1)
( s + 1) 2
Cho s - 2 ta rt ra c K3 = - 2.
Thay K1, K2 v K3 ta c
X (s) =
2
2
2
2
=
2
2
s + 1 ( s + 2)
( s + 2)
( s + 1)( s + 2)
Thc hin bin i Laplace ngc ta c

x(t ) = (2e t 2te 2t 2e 2t )u (t )
Tng qut cho trng hp ny

F (s) =
B( s)
B( s)
=
r
A( s ) ( s + p1 ) ( s + p 2 ) L ( s + p n )
Kn
K1
K2
Kr
Kr
=
+
+L+
+
+L+
r
r 1
( s + p1 ) ( s + p 2 )
(s + pn )
( s + p1 )
( s + p1 )
(2.12)
thc hin c phi c iu kin bc ca t nh hn bc ca mu v c r

nghim bi ti - p1. tm K1 n Kr cho phn thc c nghim bi, u tin ta
nhn hai v (2. 12) vi (s + p1)r ta c
( s + p1 ) r B( s )
F1 ( s ) = ( s + p1 ) F1 ( s ) =
( s + p1 ) r ( s + p 2 ) L ( s + p n )
r
= K 1 + ( s + p1 ) K 2 + ( s + p1 ) 2 K 3 + L + ( s + p1 ) r 1 K r +
+
( s + p1 ) r K n
( s + p1 ) r K r +1
+L+
(s + p 2 )
(s + p n )
15
(2.13)

Ta c th tm ngay c K1 khi cho s - p1. tm K2 ta ly o hm (2.12)
theo bin s v cho s - p1. Ln lt ly o ta tm c K3 n Kr. Cng thc
chung tm K1 n Kr l:
Ki =
1 d i 1 F1 ( s )
(i 1)! ds i 1
i = 1, r
0!= 1
(2.14)
s p1
Trng hp 3: Mu thc c nghim phc hay nghim o. Gi s mu s ca

F(s) c nghim phc.
F (s) =
3
s ( s + 2 s + 5)
2
F(s) c th phn tch thnh cc phn thc nh sau

K s + K3
K
3
= 1 + 22
s
s ( s + 2 s + 5)
s + 2s + 5
2
D dng tm c K1 = 3/5 khi cho s 0. tm K2 v K3 ta quy ng phn

thc vi mu s chung nh nht l s ( s 2 + 2s + 5) b c cc phn thc
3
6
3 = K 2 + s 2 + K 3 + s + 3
5
5
Thc hin ng nht thc hai v ta c

3
3
K2 + = 0 K2 =
5
5
6
6
K3 + = 0 K3 =
5
5
Thay cc h s ta c
F (s) =
3
3
5 3 s+2
=
2
s 5 s 2 + 2s + 5
s ( s + 2 s + 5)
T bng tra nh ca tch hm m v hm sin v cos
A( s + a )
( s + a) 2 + 2
B
(s + a) 2 + 2
L Ae at cos t =
V
L Be at sin t =
Cng hai cng thc trn ta c
L Ae at cos t + Be at sin t =
Ta a cng thc (2.) v dng trn

16
A( s + a) + B
(s + a) 2 + 2

F (s) =
( )
3
(s + 1) + 1 2 (2)
3
53
=
s 5 (s + 1)2 + 2 2
s ( s 2 + 2 s + 5)
Tra bng ta tm c hm gc nh sau

f (t ) =
3 3 t
1
e cos 2t + sin 2t
5 5
2
Trong trng hp trn ta cng c th thc hin n gin bng cch phn tch
thng thng
F ( s) =
3
3
=
s ( s + 2 s + 5) s ( s + 1 + j 2)( s + 1 j 2)
K3
K
K2
= 1+
+
s
s + 1 + j2 s + 1 j2
2
K1 d dng tnh c v bng 3/5.

K2 =
3
s ( s + 1 j 2)
=
s 1 j 2
3
(2 + j )
20
Tng t ta tm c K3 l nghim phc lin hp ca K2.

Ta c
3
3 2+ j
2 j
F ( s ) = 5 +
+
s
20 s + 1 + j 2 s + 1 j 2
T ta tm c hm gc nh sau
3 3
(2 + j )e (1+ 2 j ) + (2 j )e (12 j )t
5 20
e j 2t + e j 2t e j 2t e j 2t
3 3
+ 2
= e t 4
5 20
2
2j

f (t ) =
p dng cng thc le ca hm sin v cos

e j 2t + e j 2t
2
j 2t
e e j 2t
sin =
2j
cos =
Suy ra
f (t ) =
3 3 t
1
e cos 2t + sin 2t
5 5
2
17

Bin i Laplace mt s hm n gin:
x(t)
X(s)
X(t)
X(s)
(t)
t n 1 e t
( n 1)!
1
(s + ) n
1(t)
1
s
sint
s + 2
tu(t)
1
s2
cost
s
s 2 + 2
tnu(t)
n!
s n +1
sin(t)e-t
(s + ) 2 + 2
e-t
1
s+
cos(t)e-t
s+
(s + ) 2 + 2
e at e bt
ba
( s + a )( s + b)
1
e at
e bt
ab a (b a ) b(b a )
1
s ( s + a)( s + b)
2.2.1.2 Cc tnh cht ca php bin i Laplace :

1. Tnh cht tuyn tnh: L[a.f(t)]= a.L[f(t)] = a.F(s).
2. Tnh cht xp chng: Nu f1(t) v f2(t) c nh bin i Laplace l F1(s) v
F2(s) th ta c:
L[f1(t) f2(t)] = L[f1(t)] L[f2(t)] = F1(s) F2(s)

V d : Tm nh ca hm hm f(t) = cosat trong a l hng s.
Theo cng thc le ta c
cos at =
e jat + e jat 1 jat 1 jat

= e + e
2
2
2
Thc hin php bin i Laplace

1
1 1
1 s + ja + s ja
s
1 1
1
L {cos at} = L e jat + e jat =
= 2
+
=
2
2
2
s +a
s + a2
2 s ja 2 s + ja 2
2
3. Tnh cht tr (Chuyn dch thi gian -Translation in time):

Nu f(t) c nh l F(s), a l mt s thc v f(t-a) =0 khi 0<t<a th:
L[ f(t- a ) ] = e-as F(s) .
18

V d: Tm nh Laplace ca hm gc c th nh sau
f(t)
2
1 0 t <1
f (t ) =
1
0
1 t < 2
2t <3
t 3
1 2
-1
Ta c f(t) = [h(t)-h(t-1)]+2[h(t-1)-h(t-2)]-[h(t-2)-h(t-3)]
p dng tnh cht tr ta c
1
1
1 1
1
1
F ( s) = e s + 2 e s e 2 s e 2 s e 3s
s
s
s
s
s
s
1 1
3
1
= + e s e 2 s + e3s
s s
s
s
s
2s
3s
1 + e 3e + e
=
s
4. Tnh cht vi phn phc (Complex diffirentiation):

Nu f(t) c nh l F(s) th:
L[tf (t )] =
d
F ( s)
ds
V d: L[t.e-as] = - dL[e-as]/ds = - d[1/(s+a)]/ds = 1/ (s+a)2

5. Tnh cht chuyn dch nh: Nu f(t) c nh l F(s), a l mt s thc bt k
hay l mt s phc khi :
L[e-at f(t) ] = F (s + a)
6. Tnh cht vi phn thc: Nu f(t) c nh l F(s) th :
L[f ' (t) ] = sF(s) - f(0+).
7. Tnh cht tch phn thc Nu F(s) l nh ca f(t) th
L[ f (t )dt ] =
F ( s)
+
s
f (0)
s
8. Tnh cht gi tr cui:

Nu bin i Laplace ca f(t) l F(s) v nu gii hn f(t) tn ti khi t
khi :
lim sF ( s ) = lim f (t ) = f ()
s 0
9. Tnh cht gi tr u: Nu tn ti lim f (t ) th

t0
f (+0) = lim f (t ) = lim sF ( s )

t 0
19

2.2.1.3 ng dng ca php bin i Laplace
a) ng dng gii phng trnh vi phn tuyt tnh.
Khi chuyn phng trnh vi phn t min thi gian sang min nh phc tr
thnh phng trnh i s. Sau khi gii ra c nghim ta chuyn ngc v
min thi gian.
V d 1: Gii phng trnh vi phn sau vi cc s kin u bng khng.
d2y
dy
+ 12 + 32 y = 32u
2
dt
dt
chuyn sang min nh Laplace vi y(0-) = 0 v y& (0) = 0
32
s 2Y ( s ) + 12sY ( s ) + 32Y ( s ) =
s
Rt Y(s) ra ta c
Y (s) =
32
32
=
s ( s + 12s + 32) s ( s + 4)( s + 8)
2
Phn tch Y(s) thnh tng cc phn thc ti gin

Y (s) =
K
K
K
32
= 1+ 2 + 3
s ( s + 4)( s + 8)
s
s+4 s+8
Tm cc h s K1, K2 v K3.
32
( s + 4)( s + 8)
32
K1 =
s ( s + 8) s 4
32
K1 =
( s + 4) s s 8
K1 =
=1
s 0
= 2
=1
Vy
Y (s) =
1
2
1
+
s s + 4 s +8
Thc hin bin i Laplace ngc ta tm c

y (t ) = (1 2e 4t + e 8t )u (t )
Trong cng thc trn c cha u(t) ni ln rng cc p ng s bng 0 cho n

khi t = 0. V vy cc p ng u ra cng bng 0 cho n kho t = 0. thun
tin ta c th b k hiu u(t) i, vy p ng u ra c th vit nh sau
y (t ) = 1 2e 4t + e 8t
V d 2: Gii phng trnh vi phn bng ton t Laplace sau

d2y
dy
+ 3 + 2y = 0
2
dt
dt
vi s kin y(+0) = a v
dy (+0)
=b
dt
Chuyn c hai v sang min nh phc nh ton t Laplace
20

dy (+0)
2
s Y ( s ) sy (+0) dt + 3[sY ( s ) y (+0)] + 2Y ( s ) = 0
2
( s + 3s + 2)Y ( s ) = as + (3a + b)
as + (3a + b) as + (3a + b) 2a + b a + b
Y (s) = 2
=
=
s +1 s + 2
( s + 3s + 2) ( s + 1)( s + 2)
Thc hin bin i Laplace ngc rt ra c y(t)

y (t ) = (2a + b)e t (a + b)e 2t vi t 0.
V d 3: Gii phng trnh vi phn sau
vi s kin y (+0) =
dy (+0)
=0
dt
d2y
dy
+ 2 + 5y = 3
2
dt
dt
Thc hin bin i Laplace

3
s
( s 2 + 2s + 5)Y ( s ) =
Y (s) =
3
3
3 2
3( s + 1)
=
2
2
s + 2s + 5 5s 10 ( s + 1) + 2
5 ( s + 1) 2 + 2 2
] [
Suy ra
y (t ) =
3 3 t
3
e sin(2t ) e t cos(2t ) vi t 0.
5 10
5
b) Gii mch in
Cho mch in sau
Gi s khi mch in ng ti thi im t 0 th vC(0) = 1.0V. Tm dng in

i(t) chy trong mch in. (trong V(t) = 5V, C = 1F, R = 1k)
Gii:
Ta c phng trnh sau
v(t ) = Ri +
1
idt
C
hay
Cv(t ) = RCi + idt
thay cc thng s u bi cho vo

5.10 6 = 10 3.10 6 i + idt
5.10 6 = 10 3 i + idt
21

I
5.10 6
= 10 3 I + +
s
s
Theo u bi vC(0) = 1.0V nn ta c

VC (0) =
1
C
[ idt ]
t =0
[ idt ]
t =0
1
10 6
[ idt ]
t =0
[ idt ]
t =0
=1
= 10 6
Thay vo cng thc trn ta c

I 10 6
5.10 6
= 10 3 I + +
s
s
s
5.10 6 10 6 4.10 6
1
3
+ 10 I =
=
s
s
s
s
1 + 10 3 s I = 4.10 6
4.10 6
1
I=
= 4.10 3
3
s + 1000
1 + 10 s
Thc hin tra bng bin i Laplace ta tm c i(t) nh sau

i (t ) = 4.10 3 e 1000t
2.2.2 Hm s truyn ca h thng KT.
Nhm n gin ho cc phng php phn tch v tng hp h thng t ng

ngi ta thng chuyn phng trnh ng hc ca h dng phng trnh vi
phn vit vi cc nguyn hm x(t), y(t) thnh phng trnh vit di dng cc
hm s X(s), Y(s) thng qua php bin i Laplace.
V d xt hm s x(t) hm s ca bin s t (bin s thc, y t l thi gian)
ta gi l nguyn hm. Ta cho php bin i hm s x(t) thng qua tch phn:
X ( s ) = x(t ).e st .dt
(2.15)
trong : s = + j - bin s phc, bin i (2.15) hm x(t) thnh hm bin

s X(s) c gi l l bin Laplace, v X(s) c gi hm nh. Nh vy hm
nh l mt hm bin s phc s. Php bin i Laplace c k hiu sau:
L{x(t)}=X(s) hoc x(t) X(s)
Gi s nguyn hm x(t) c cc iu kin ban u khng, tc l vi t=0 gi tr
ca hm x(t) v cc bc o hm dix(t) / dti vi i = 1, 2, 3, , (n-1) u bng
0, tnh theo tnh cht ca php bin i Laplace (nh l v nh o hm ca
nguyn hm) chng ta c:
d i x(t )
i
L a i
= ai .s . X ( s )
i
dt
i = 1, 2, 3, L , n
22
(2.16)

Nhn hai v ca phng trnh (2.6) vi e-st , sau ly tch phn theo t t 0
n , tc l ly bin i Laplace ca hai v phng trnh, vi gi thit rng cc
hm x(t), y(t) c cc iu kin ban u bng 0, da theo tnh cht tuyn tnh ca
php bin i Laplace , phng trnh (2.6) s c dng:
a 0 s nY ( s ) + a1 s n 1Y ( s ) + L + a n 1 sY ( s ) + a nY ( s ) =
= b0 s n X ( s ) + b1 s m 1 X ( s ) + L + bm 1 X ( s ) + bm X ( s )
(2.17)
y, Y(s), X(s) l cc bin i Laplace ca hm lng ra v hm lng

vo ca h.
Phng trnh (2.17) c gi l phng trnh ng hc m t quan h vo ra
ca h vit di dng ton t Laplace.y l phng trnh i s, vi n v m l
cc s m ca bin s s gii phng trnh (2.17) ng vi lng ra Y(s).
Y (s) =
b0 s m + b1 s m 1 + L + bm 1 s + bm
X (s)
a 0 s n + a1 s n 1 + L + a n 1 s + a n
(2.18)
Chng ta k hiu:
b0 s m + b1 s m 1 + L + bm 1 s + bm
W (s) =
a 0 s n + a1 s n 1 + L + a n 1 s + a n
(2.19)
v gi biu thc i s ny l hm s truyn (hoc hm truyn t) ca h thng

t ng (hay ca mt phn t ca n).
Khi
Y(s) = W(s)X(s)
(2.20)
Hoc
W(s) = Y(s) / X(s)
(2.21)
Vy hm s truyn (H S T) ca h thng (hay ca mt phn t ) t ng l t
s hm nh ca lng ra vi hm nh ca lng vo ca n (qua php bin i
Laplace) vi gi thit tt c cc iu kin u bng khng.
Biu thc (2.19) cho chng ta thy, HST l mt hm phn s hu t ca bin
s, c bc cc a thc tho mn m n. Gi thit iu kin ban u ca cc hm
lng vo v lng ra u bng khng l ph hp vi iu kin thng gp
trong cc h thng KT.
Phng trnh (2.20) cho php xc nh hm nh ca lng ra nu bit hm
nh ca lng vo v biu thc HST ca h. Nh vy HST hon ton xc nh
cc tnh cht ng hc ca h thng. xc nh nguyn hm ca lng ra, tc
l xc nh y(t) khi bit x(t) c th bin i ngc Laplace, theo :
y (t ) = L [Y ( s )] =
1
1
2
+ j
Y (s).e
j
j
23
st
ds
(2.22)

l phng php ton t gii phng trnh vi phn. Nu Y(s) l hm
n gin,chng ta c th s dng bng bin i Laplace ca cc hm n gin
in hnh, c trong ph lc cc sch ni v bin i Laplace, tra cu nguyn
hm y(t). Nu hm nh Y(s) l hm phc tp, cn phn tch chng thnh t hp
tuyn tnh cc hm n gin, m chng ta bit nguyn hm ca n. Nguyn
hm y(t) chnh l t hp tuyn tnh ca cc nguyn hm thnh phn.
2.2.3 Hm truyn t ca mch in
Trong mch in c cc phn t c bn l in tr (R), in cm (L) v t

in (C).
a) in tr R
Hnh 2.5: in tr
in p ri t l thun vi cng dng in I chy qua in tr:
v(t ) = Ri
i (t ) =
1
v(t )
R
Z=R
Thng qua php bin i Laplace ta c c hm truyn ca in tr l

GR =
I
1
=
U R
b) in cm L
Hnh 2.6 : in cm L
24
(2.23)
in p ri trn in cm l
di (t )
1
v(t ) = L
i (t ) = v(t )dt
dt
L0
(2.24)
Thng qua bin i Laplace ta tnh c tr khng Z v hm truyn ca in

cm L
Z = Ls
GL =
I
1
=
U L Ls
(2.25)
c) T in C
Hnh 2.7 : T in C
in p ri trn in dung l
1
dv(t )
v(t ) = i (t )dt i (t ) = C
C0
dt
(2.26)
Tr khng v hm truyn t ca t in
Z=
1
C
GC =
I
= Cs
UC
d) Cc phn t R, L v C mc ni tip
Hnh 2.8 : S cc phn t mch in RLC mc ni tip

25
(2.27)

UV = Ri + L
Ur =
di
+ Ur
dt
dU r
d 2U r
di
1
idt
i
=
C
=
C
C 0
dt
dt
dt 2
LC
d 2U r
dt
+ RC
(2.28)
dU r
+ U r = UV
dt
Thc hin php bin i Laplace ta c

(LCs2 + RCs + 1) Ur = Uv
(2.29)
Rt ra c hm truyn l:
G ( s) =
Ur
=
UV
1 LC
R
1
s2 + s +
L
LC
(2.30)
e) Cc phn t mc song song

I
UV
Ur
Hnh 2.9: S cc phn t mch in RLC mc song song

Dng in ca mch in l
I=
U
Z
(2.31)
Tng tr ca mch song song c tnh l

1 1 1
1
RLCs 2 + Ls + R
= +
+
=
Z R Ls 1 / Cs
RLs
Hm truyn ca h thng l
26
(2.32)

I
1
G ( s) = = =
U Z
s2 +
1
1
s+
RC
LC
1
s
C
(2.33)
2.2.4 Hm truyn ca h thng c kh

2.2.4.1 Phn t chuyn ng thng
a) L xo
Hnh 2.10: S biu din l xo

trong : K l h s n hi ca l xo
Nu ta n l xo c chiu di L, di ng c mt lng X th cn mt lc tc
ng ln l
F(t) = Kx(t)
(2.34)
Thng qua bin i Laplace to c hm truyn ca l xo nh sau:

Gloxo =
F ( s)
=K
X ( s)
(2.35)
b) B gim chn du p (khng kh)
Hnh 2.11: S biu din b gim chn du p

di ng pt tng vi vn tc v, ta cn tc ng ln mt lc l f
f (t ) = f v v(t ) = f v
27
dx(t )
dt
(2.36)

trong fv l h s gim chn
GVD =
F ( s)
= fvs
X ( s)
(2.37)
c) Trng khi
Hnh 2.12: S biu din trng khi

Theo nh lut II Newton tng cc lc bn ngoi tc ng vo mt trng
khi s bng tch ca trng khi v gia tc ta c
dv(t )
d 2 x(t )
f = Ma = M
=M
dt
dt 2
(2.38)
Thc hin php bin i Laplace ta c hm truyn ca trng khi l

GM =
F ( s)
= Ms 2
X ( s)
d) Thit b gim chn
Thit b gim chn bao gm trng khi l x0 - b gim chn
Hnh 2.13: S biu din thit b gim chn
28
(2.39)

tm c hm truyn ca h thng trc tin ta v biu din cc lc tc
ng trng khi
Hnh 2.14: S biu din lc tc ngln trng khi

S dng nh lut Newton vit phng trnh chuyn ng
M
d 2 x(t )
dx(t )
+ fv
+ Kx(t ) = f (t )
2
dt
dt
(2.40)
(Ms
+ f v s + K X ( s) = F ( s )
(2.41)
T ta rt ra hm truyn ca h thng l
G ( s) =
X (s)
1
=
2
F ( s ) Ms + f v s + K
(2.42)
2.2.4.2 Phn t chuyn ng quay
Theo nh lut II Newton v chuyn ng quay th gia tc gc ca vt quay t

l thun vi tng momen tc ng ln n, ta c phng trnh sau
M = J
d 2
dt 2
trong :
J l mmen qun tnh tc ng ln vt.
l v tr gc quay ca vt th
M l m men tc ng ln vt
29
(2.43)

Cc mmen bn ngoi c to bi ng c do ti trng tc ng ca l xo
hoc vt gim chn. Hnh biu din s ca mt a quay trong cht lng lm
cho trc lp trn n b bin dng i mt gc .
Nu ta quay a vi mmen xon x, trc s quay i mt gc to nn mmen
ca l xo xon:
M1 = k
(2.44)
Mmen cn thit thng lc ma st ca cht lng:

M2 = C
d
dt
(2.45)
trong C l h s ma st ca cht lng

Nh vy ta c phng trnh:
M = x M1 M 2 = J
d 2
dt 2
(2.46)
Thay vo ta c:
d 2
d
x = J 2 +C
+ k
dt
dt
2.2.5 S tng ng gia h c kh vi mt mch in
S tng ng gia mch c kh v mch in

trng khi
=M
in cm
=M
in tr
= 1/fv
b gim chn = fv
l xo
=K
in dung = 1/ K
lc tc ng
= f(t)
ngun p
= f(t)
vn tc
= v(t)
dng vng = v(t)
30
(2.47)
Hnh 2.15: S biu din s tng ng gia mch c kh v mch in

Khi so snh vi dng vng ta c mch tng ng ni tip, nu dng
phng php nt, th mch tng ng ng l mch song song.
Phng trnh chuyn ng l
( Ms 2 + f v s + K ) X ( s ) = F ( s )
(2.48)
i vi mch RLC ni tip l
1
Ls + R +
I ( s) = E ( s)
Cs
(2.49)
hai cng thc trn khng tng thch vi nhau do khong cch v dng in
khng tng thch vi nhau. Ta bin i s tng thch bng cch chuyn i t
khong cch sang vn tc
Ms 2 + f v s + K
K
sX ( s ) = ( Ms + f v + )V ( s ) = F ( s )
s
s
(2.50)
Ta cng c th chuyn i sang h song song

trng khi = M
in cm = M
b gim chn = fv
in tr = 1/fv
l xo
=K
in dung = 1/ K
lc tc ng = f(t)
ngun dng = f(t)
vn tc
= v(t)
in p nt = v(t)
Cng thc mch song song l
(Cs +
1 1
+ ) E ( s) = I ( s)
R Ls
31
(2.51)

2.2.6 Hm truyn ca cc phn t in t
Hnh 2.16 : Biu din phn t khuch i thut ton

- Sai lch in p u vo: v2(t) v1(t).
- Tr khng u vo cao: Z1 = (l tng).
- Tr khng u ra thp: Z0 = 0 (l tng).
- H s khuch i cao A = (l tng).
in p u ra c tnh l
(2.52)
v0(t) = A(v2(t) v1(t))
Nu v2(t) c ni t th b khuch i c gi l khuch i o.
Lc v0(t) = A v1(t).
Trong hnh 2.16 c, nu tr khng u vo cao th ta c Ia(s) = 0 suy ra I1(s)=I2(s). Khi h s khuch i A ln, v1(t) = 0 th I1(s) = V1(s)/Z1(s) v - I2(s) = V0(s)/Z2(s).
Cho hai dng in ny bng nhau ta c
V0 ( s )
V ( s)
V (s)
Z ( s)
= 1
hay l 0 = 2
Z 2 (s)
Z1 (s)
V1 ( s )
Z1 ( s)
V d : Tm hm truyn ca mch khuch i o sau
Hnh 2.17 S h thng khuch i o

Tng tr Z1(s) l
Z1 ( s) =
1
C1 s +
1
R1
5.6 x10 6 s +
Tng tr Z2(s) l
32
1
360 x10 3
360 x10 3
2.016 s + 1
(2.53)

Z 2 ( s ) = R2 +
1
10 7
= 220 x10 3 +
C2 s
s
Thay Z1(s) v Z2(s) vo cng thc 2.

V0 ( s )
Z ( s)
s 2 + 45.951s + 22.547
= 2
= 1.232
V1 ( s )
Z1 ( s)
s
2.3 M hnh ton hc trong min thi gian

2.3.1 Khi nim trng thi v bin trng thi
2.3.1.1 Khi nim v trng thi
Khi nim trng thi c trong c s ca cch tip cn hin i trong m t
ng hc ca cc h thng c Turing ln u tin a ra nm 1936. Sau
khi nim ny c cc nh khoa hc Nga v M ng dng rng ri gii
cc bi ton iu khin t ng.
Trng thi ca h thng c c trng nh l lng thng tin ti thiu v

h, cn thit xc nh hnh vi ca h trong tng lai khi bit tc ng vo.
Ni mt cch khc, trng thi ca h c xc nh bi t hp cc to m
rng c trng cho h.
Trng thi ca mt h thng l tp hp nh nht cc bin (gi l bin trng
thi) m nu bit gi tr ca cc bin ny ti thi im t0 v bit cc tn hiu vo
thi im t>t0 ta hon ton c th xc nh c p ng ca h thng ti mi
thi im t>t0.
H thng bc n c n bin trng thi. Cc bin trng thi c th chn l bin
vt l hoc khng phi l bin vt l.
Theo quan im phn tch v tng hp h thng thng, ngi ta chia cc
bin c trng h thng hay c quan h nht nh vi n v cc nhm nh sau:
Cc bin vo hay cc tc ng vo ui c to ra bi cc h thng nm
ngoi cc h c xt.
Cc bin ra yi c trng cho p ng ca h theo cc bin vo nh.
Cc bin trung gian xi c trng trng thi bn trong ca h.
2.3.1.2 Khi nim vc t trng thi:
n bin trng thi hp thnh vc t ct
x = [x1
x2
... x n ]
(2.54)
gi l vc t trng thi.
- Khng gian trng thi: khng gian n chiu l khng gian hp bi cc trc ca
cc bin trng thi.
33

V d ta c cc bin trng thi in p ca in tr vR v in p ca t in
vC cc bin ny s hnh thnh 2 trc ca khng gian trng thi.
thun li trong thao tc vi cc i lng nhiu chiu, t hp cc bin
vo c th trnh by di dng vc t cc tc ng vo:
u (t ) = [u1 (t ) u 2 (t ) ...
u n (t )]
(2.56 )
T hp cc bin ra trnh by di dng vct ra

y (t ) = [ y1 (t )
y 2 (t .... y n (t )]
(2.57 )
Cc t hp cc to trung gian, c trng ni dung bn trong ca h c

vit dng vc t trng thi ca h .
x = [x1
x2
... x n ]
(2.58)
Theo nh ngha trng thi ca h ti thi im bt k t > t0, trng thi ca h

l mt hm ca trng thi ban u x(t0)v vc t vo r(t0,t), tc l:
x(t) = F[x(t0),u(t0,t) ]
(2.59)
Vc t ra ti thi im t c quan h n tr vi x(t0) v u(t0 ,t)
y(t) = [x(t0),u(t0,t)]
(2.60)
Cc phng trnh (2.59) v (2.60) thng gi l phng trnh trng thi ca

h.
Nu h thng c m t bi cc phng trnh vi phn tuyn tnh ,th
phng trnh trng thi ca h c vit di dng sau : (Bng cch s dng cc
bin trng thi, ta c th chuyn phng trnh vi phn bc n m t h thng
thnh h gm n phng trnh vi phn bc nht)
x& (t ) = A(t ).x(t ) + B(t ).u (t )
y (t ) = C (t ).x(t ) + D(t )u (t )
trong :
(2.61)
x (n x1) vc t cc bin trng thi,
u (m x 1) vc t cc bin u vo
y (r x 1) vc t cc bin u ra.
A(t) - Ma trn h thng.
B(t) - Ma trn iu khin hay m trn u vo.
C(t) - Ma trn ra.
D(t) - Ma trn vng.
Cc ma trn c cc phn t ph thuc vo bin t, ln lt c kch thc
l: A(n x n), B(n x m), C(r x n ), D(r x m).
34
Hnh 2.18: S khi biu din h thng iu khin trong khng gian trng thi
Thc t cc h thng thc u c tnh qun tnh, do D l mt ma trn c
cc phn t u bng khng.
2.3.2 H tuyn tnh h s hng.
H thng c m hnh trng thi l:

x& = A x + Bu
y = C x + Du
(2.62)
Trong cc ma trn A, B, C v D l cc ma trn hng s.

A c gi l ma trn h thng. Nu s lm cho phng trnh det(sI - A) = 0
th s c gi l gi tr ring ca ma trn A (y chnh l im cc ca h
thng). I l ma trn n v, s l mt s phc, det l k hiu ca php tnh nh
thc ma trn.
2.3.3 ng dng biu din m hnh ton hc trn khng gian trng thi
ng dng h phng trnh trng thi biu din cc h vt l phc tp.

Bc u tin l chn vct trng thi, vic la chn ny phi tun theo cc yu
cu sau:
- Cc bin trng thi phi l ti thiu nhng vn phi m bo biu din
y trng thi ca h thng.
- Cc bin trng thi phi c lp tuyn tnh.
35

V d 1: Cho h thng vt l c s nh sau:
Hnh 2.19: S mch RLC mc hn hp

Xy dng m hnh trng thi cho i tng.
Gii:
Bc 1: t tn cc dng in nhnh bao gm iR, iL v iC.
Bc 2: Chn cc bin trng thi bng cc vit phng trnh vi phn cho cc
phn t cha nng lng bao gm t in C v in cm L

C
dvC
= iC
dt
di
= vL
dt
(2.63)
Ta chn iL v vC l cc bin trng thi, nhng do iC v vL khng phi l cc bin

trng thi nn ta phi vit di dng t hp tuyn tnh ca cc bin trng thi iL
v vC , bin u vo l v(t).
Bc 3: S dng l thuyt v mch in c th l vit phng trnh da vo
nh lut Kirchhoff. Ti nt 1 ta c
i C = i R + i L
=
1
vC + i L
R
(2.64)
Mt khc ta c
vL = - vC + v(t)
Bc 4: Thay cng thc trn vi nhau ta thu c cng thc nh sau:
dvC
1
= vC + i L
dt
R
di
vC
+ v(t )
L =
dt
(2.65)
hoc
36
(2.66)

dvC
1
1
=
vC + i L
dt
RC
C
1
1
di
=
vC
+ v(t )
dt
L
L
(2.67)
Bc 5: Rt ra cng thc ca tn hiu u ra iR(t)

iR =
1
vC
R
(2.68)
kt qu cui cng l
1
.
v
.C = RC
i L 1
L
1
0
C vC + 1 v(t )

0 i L L
(2.69)
tn hiu u ra
1
iR =
R
v
0 c
iL
(2.70)
V d 2: Cho mch in gm ba phn t R, Lv C mc ni tip
Hnh 2.20: S mch RLC mc ni tip

U1 l in p t vo mch. Tm m hnh trng thi.
Gii:
Ta c phng trnh in p ca mch l:
u 1 = uR + uL + uC
thay cc cng thc tnh in p ca cc phn t
u1 = iR + L
trong u 2 = u C =
di
+ u2
dt
1
idt
C
(2.71)
(2.72)
(2.73)
Trng thi ca mch c quyt nh bi in p ra u2 v dng in i. Ta gi

u2 v i l cc bin trng thi.
t:
u2 = x1
37

i = x2
T cng thc (2.72 v (2.73) ta rt ra cng thc tnh dng in l
du 2
dt
1
1
di
R
= i u 2 + u1
dt
L
L
L
1
x2
C
1
R
1
x 2 = x1 x 2 + u1
L
L
L
x1 =
i=C
(2.74)
Dng chnh tc c vit nh sau:

1
x2 + 0.u1
C
1
1
R
x&2 = x x + u1
L
L
L
x&1 = 0.x1 +
(2.75)
Vit h trn di dng vct ma trn
x&1 0
x& = 1
2
L
1
0
C x1 + 1 u
1
R
x2 L
L
(2.76)
hay vit gn li
(2.77)
x& = A x + Bu
gi l phng trnh trng thi ca h thng. Khng gian hai chiu gm trng thi
dng in i = x2 v in p trn t l u2 = x1 c gi l khng gian trng thi.
V d 3:
Hnh 2.21: S mch RLC mc ni tip

Ta c
iR + L
Thay i (t ) =
di 1
+
idt = v(t )
dt C
(2.78)
dq
vo cng thc trn ta c
dt
d 2q
dq 1
L 2 +R
+ q = v(t )
dt C
dt
38
(2.79)

Ta t i(t), q(t) l cc bin trng thi
dq
i
=
dt
1
1
R
di
q i + v(t )
=
L
L
dt
LC
(2.80)
vit di dng vct ma trn

q& 0
i& = 1
LC
1 i 0
R
+ 1 v
q
L
L
(2.81)
in p vL l bin trng thi u ra

vL =
1
q Ri + v
C
(2.82)
R + u
(2.83)
hay v L =
C
i
2.4 Chuyn t hm truyn t sang khng gian trng thi v ngc li
2.4.1 Chuyn t hm truyn t sang khng gian trng thi
1
c th m phng c mt h thng trn my tnh th m hnh ton hc

ca i tng phi c biu din trn khng gian trng thi. V vy khi ta a
m hnh ca i tng biu din bng hm truyn t ta phi chuyn sang
phng trnh trng thi.
- Chn cc bin trng thi, mi bin trng thi c xc nh bi o hm ca
bin trng thi trc .
- Ta xt phng trnh vi phn sau:
dny
d n 1 y
dy
a
+
+ ... + a1
+ a0 y = b0 u
n 1
n
ni1
dt
dt
dt
(2.84)
Cch thun tin chn bin trng thi l chn bin u ra

x1 = y
dy
dt
d2y
x3 = 2
dt
...
x2 =
x n 1 =
d n 1 y
dt n 1
39
(2.85)

Ly o hm hai v
dy
dt
d2y
x&2 = 2
dt
d3y
x&3 = 3
dt
...
x&1 =
(2.86)
dny
x&n 1 = n
dt
Biu din trn khng gian trng thi

x&1 = x2
x& 2 = x3
x&3 = x4
(2.87)
...
x& n 1 = xn
x& n = a0 x1 a1 x2 ... an 1 xn + b0u
Biu din di dng vct ma trn

x&1 0
x& 0
2
x&3 0
=
M M
x&n 1 0

x&n a0
M
0
a1
M
0
M
0
a3
M
0
a2
a4
M K
0 K
a5 K
0 x1 0
0 x2 0
0 x3 0
+ u
M M M
1 xn 1 0

an 1 xn b0
(2.88)
Vit phng trnh trng thi u ra

x1
x
2
x
y = [1 0 0 0 K 0] 3
M
x n 1
x n
(2.89)
Cc bc thc hin bin i t hm truyn sang h phng trnh trng thi:

- B1: chuyn t hm truyn v phng trnh vi phn v thc hin php
bin i Laplace ngc vi cc iu kin u bng khng.
- B2: Thc hin chn cc bin trng thi v biu din trong khng gian
trng thi.
40

V d 1: Mt i tng c hm truyn t l W ( s ) =
C (s)
25
.
= 2
R ( s ) s + 5s + 4
Xy dng m hnh trng thi cho i tng. Xc nh cc gi tr ring.

Gii
Bc 1: Tm phng trnh vi phn
d 2c
dc
C ( s ).( s + 5s + 4) = 5.R( s ) 2 + 5 + 4c = 25r
dt
dt
2
(2.90)
Bc 2: La chn cc bin trng thi

x1 = c
x& = x2
dc
x2 = dt = x&1 x& 2 = 25r 4 x1 5 x2
(2.91)
Vit i dng vct ma trn
1
0
0
.x + u
x& =
25
4 - 5
y = [1 0]x
(2.92)
Tm gi tr ring
S
0 0
sI - A =
0 S 4 5 4 s + 5
(2.93)
det(sI - A) = s(s + 5) + 4 = s2 + 5s + 4 = 0
(2.94)
= 25 16 = 9
(2.95)
Cc gi tr ring l s1 = -1, s2 = -4
V d 2: Cho hm truyn sau:
G ( s) =
C ( s)
24
= 3
2
R( s ) s + 9 s + 26s + 24
Chuyn i sang h phng trnh trng thi.

Gii:
Bc 1: Tm phng trnh vi phn
Thc hin php nhn cho
(s
+ 9s 2 + 26s + 24 C ( s ) = 24 R( s )
(2.96)
Chuyn i thnh phng trnh vi phn bng cch dng php bin i
Laplace ngc vi iu kin u bng 0
41

&c&& + 9c&& + 26c& + 24c = 24r
(2.97)
Bc 2: La chn bin trng thi

Chn cc bin trng thi nh sau:
x1 = c
x 2 = c&
(2.98)
x3 = c&&
Ly o hm c hai v phng trnh (2.89) ta s thu c h phng trnh trng

thi
x&1 =
x& 2 =
x2
x3
x& 3 = 24 x1 26 x 2 9 x3 + 24r
(2.99)
y = c = x1
Vit di dng vct ma trn

1
0 x1 0
x&1 0
x& = 0
0
1 x 2 + 0 r
2
x& 3 24 26 9 x3 24
x1
y = [1 0 0] x 2
x3
M hnh c biu din nh sau:
Hnh 2.22: S biu din bng s khi trong gian trng thi
42
(2.100)

2.4.2 Chuyn t khng gian trng thi sang hm truyn t
M hnh ton hc trong gian trng thi c biu din nh sau:
x& = A x + Bu
y = C x + Du
(2.101)
Thc hin chuyn i Laplace vi iu kin u bng 0

sX(s) = AX(s) + BU(s)
Y(s) = CX(s) + DU(s)
(2.102)
(2.103)
T rt X(s) ra:
(sI A)X(s) = BU(s)
(2.104)
X(s) = (sI A)-1BU(s)
(2.105)
Trong I l ma trn n v
Thay X(s) vo (2.94) rt ra c
Y(s) = C(sI A)-1BU(s) + DU(s)
(2.106)
-1
Ta gi [C(sI A) BU(s) + DU(s)] l ma trn hm truyn bi v n quan h vi
vct bin ra Y(s) v vct bin vo U(s).
Nu U(s) = U(s) v Y(s) = Y(s) l cc i lng v hng ta c th tm hm
truyn nh sau:
T (s) =
Y ( s)
= C ( sI _ A) 1 B + D
U ( s)
(2.107)
Vi d: Cho phng trnh trng thi bit u ra l Y(s) v u vo l U(s)

0
x& = 0
1
y = [1 0
0
10
0
1 x + 0 u
0
2 3
1
(2.108)
0]x
Gii: T u bi ta xc nh cc ma trn A, B, C v D
0
A = 0
1
C = [1 0
0
0
1
2 3
1
0]
10
B = 0
0
D=0
Ta tm (sI - A)-1
43
(2.109)

0
1
0 s 1
s 0 0 0
0
1 = 0 s
( sI A) = 0 s 0 0
1
0 0 s 1 2 3 1 2 s + 3
s 2 + 3s + 2
s+3
1
s ( s + 3)
s
1
s
(2s + 1) s 2
adj ( sI A)
1
( sI A) =
=
det( sI A)
s 3 + 3s 2 + 2s + 1
(2.110)
Thay (sI - A)-1, B, C, D vo ta c hm truyn

T (s) =
10( s 2 + 3s + 2)
s 3 + 3s 2 + 2s + 1
(2.111)
2.5 Tuyn tnh ha

- Cc h thng m ta xt vi gi thuyt l tuyn tnh. Trn thc t hu ht cc
i tng l phi tuyn.
- Trong h thng cng c th bao gm c i lng phi tuyn v tuyn tnh.
- Do thc t yu cu ngi thit k pha tuyn tnh ha mt s i lng phi
tuyn s dng.
- Cc bc thc hin tuyn tnh ha
+ Bc 1: Vit phng trnh vi phn ca h thng. Vi gi thit tn hiu u vo
nh
+ Bc 2: Tuyn tnh ha phng trnh vi phn, dng bin i Laplace vi iu
kin u = 0.
44

Bi tp chng 2
1. Tm hm truyn ca h thng sau
a) G(s) = V0(s)/Vi(s)
b) G(s) = V0(s)/Vi(s)
c) G(s) = VL(s)/V(s)
d) G(s) = X1(s)/F(s)
e) G(s) = V0(s)/Vi(s)
2. Gii phng trnh vi phn sau

d3y
d2y
dy
dy (+0)
d 2 y (+0)
+
3
+
6
=
0
vi
(
+
0
)
=
5
,
=
2
,
= 14
y
dt
dt
dt 3
dt 2
dt 2
3. Tm hm truyn G(s) ca h thng khi bit c dng biu din trn khng
gian trng thi
0
x& = 0
a)
3
y = [1 0
2
x& = 0
b)
3
y = [1 3
0
0
0
1 x + 0 r
10
2 5
1
0]x
45
8
1
5
3 x + 4 r
6
2 4
6]x
3
CHNG 3: P NG THI GIAN

3.1 Cc c tnh ca h thng KT
3.1.1 c tnh thi gian
Mt trong cc c tnh quan trng ca h thng t ng l c tnh thi gian.

Ngi ta thng s dng c tnh thi gian m t h thng t ng tuyn tnh
dng v khng dng. c tnh thi gian l phn ng ca h thng i vi tc
ng no khi iu kin ban u bng 0. Cc tc ng thng c s dng l
tc ng xung n v (t) v tc ng bc thang n v 1(t).V vy ngi ta
thng nh ngha c tnh thi gian l s thay i ca tn hiu ra theo thi gian
khi u vo tc ng l cc hm chun. Trong c tnh thi gian ngi ta quan
tm n hai c tnh c bn: c tnh qu v c tnh xung (Hm trng
lng).
3.1.2 c tnh xung (Hm trng lng):
Phn ng ca h thng i vi tc ng xung n v khi iu kin ban u

bng 0 c gi l hm qu xung g(t) (hm trng lng). Hm xung n v
(t-) c dng tng t nh (t), nhng sai lch theo thi gian mt khong l .
Tng t, phn ng ca h thng t ng tuyn tnh i vi tc ng a(t-) s

l ag(t-); vi a l hng s no .
Ti trc thi im c tc ng, gi tr ca c tnh qu xung bng 0
ngha l:
g(t-) = 0, t <
ng thc ny c gi l iu kin vt l thc t.
Dng khi nim c tnh qu xung, ta c th tm c phn ng ca h
thng i vi tc ng bt k cho trc.
Gia c tnh qu xung v hm s truyn ca h thng c quan h vi
nhau. nh hm trng lng s bng:
46
Y ( s ) = x( )e st dt g (t )e s ( t ) dt = X ( s ) g (v)e sv dv
Y(s) = X(s) . W(s)
(3.1)
(3.2)
So snh (3.1) v (3.2) s c:
W ( s ) = g (t )e st dt
(3.3)
Nh vy hm s truyn l bin i Laplace ca hm qu xung. Tt nhin,

hm qu xung c th nhn c theo hm s truyn bng cch bin i
ngc Laplace:
g (t ) = L1 {W ( s )}
(3.4)
3.1.3 Hm qu
c tnh qu h(t) l phn ng ca h thng i vi tc ng bc thang

n v khi iu kin ban u bng khng.
i vi h thng t ng dng, c tnh qu khng ph thuc vo thi
im bt u tc ng. c tnh h(t) c th c dng dao ng hay bin i mt
cch n iu. Hin nay, nh gi cht lng h thng t ng ngi ta
thng s dng c tnh qu h(t) bi v n th hin c cc ch tiu cht
lng c bn ca h thng.
Gia c tnh qu xung v c tnh qu c lin h vi nhau, thay x(t)
= l(t) trong tch phn sau ta c:
h(t ) = l(t )g(t )d = g(t )d

0
(3.5)
i bin t- = v v d = -dv, ta nhn c:
h(t ) = g( v )dv = g( v )dv = g( v )dv
(3.6)
Nh vy, c tnh qu l tch phn ca c tnh qu xung. Ly o hm

ca c hai v ca (3.6), ta s nhn c:
g( t ) =
dh(t )
dt
47
(3.7)

Vy c tnh qu xung l o hm theo thi gian ca c tnh qu .
Vit (3.7) di dng ton t, s c:
W(s) = s.H(s)
Trong
H(s) = L[h(t)] v W(s)=L[g(t)]
(3.8)
(3.9)
T (3.8) ta c mi lin h gia nh hm ca c tnh qu theo hm truyn

ca h thng.
1
H ( s) = W ( s)
s
(3.10)
S dng bin i ngc Laplace, s xc nh c hm qu theo hm s

truyn.
1
h(t ) = L1 W ( s )
s
(3.11)
3.1.4 c tnh tn s.
Cc c tnh tn s (TTS) c ngha quan trng trong m t h thng t

ng dng. C th nhn c cc c tnh ny khi nghin cu chuyn ng
cng bc ca h thng di tc ng ca tn hiu iu ho.
Tnh cht c bn ca h thng tuyn tnh l tnh cht xp chng. Gi s nhiu
lon g(t) tc ng ln h thng bng khng, ta c mi quan h gia lng ra y(t)
vi lng vo x(t) c m t bng phng trnh vi phn sau:
dx
dx m
dy
dy n
+ a n = b 0 m + L + b m 1
+ bmx
a 0 n + L + a n 1
dt
dt
dt
dt
(3.12)
Cc TTS xc nh mi lin h gia ph lng vo X(j) v ph lng

raY(j). Cc ph ny chnh l bin i Phuri ca cc hm thi gian tng ng:
X( j) = x(t )e jt dt = F{x(t )}
j t
Y( j) = y(t )e dt = F{y(t )}
y:
F - k hiu bin i Phuri.

- bin thc, l tn s ca tn hiu iu ho.
48
(3.13)

Ly bin i Phuri phng trnh (3.13) vi iu kin ban u bng 0, s
nhn c phng trnh biu din quan h gia ph lng ra vi ph lng vo
ca h thng t ng:
a0 ( j ) n Y ( j ) + a1 ( j ) n1 Y ( j ) + L + a nY ( j ) = b0 ( j ) m X ( j ) + L + bm X ( j ) (3.14)
sau khi bin i, s nhn c:

Y ( j ) = X ( j )
b0 ( j ) m + b1 ( j ) m1 + L + bm
= X ( j )W ( j )
a0 ( j ) n + a1 ( j ) n 1 + L + a n
(3.15)
T s ca cc a thc:
W ( j ) =
b0 ( j ) m + b1 ( j ) m1 + L + bm E ( j )
=
a0 ( j ) n + a1 ( j ) n1 + L + a n D( j )
(3.16 )
c gi l hm s truyn tn s ca h t ng.
T y ta thy c th nhn c biu thc hm truyn tn s t hm s
truyn bng cch thay bin phc s bng j.
Hm s truyn truyn tn s W(j) c th biu din di dng:
W ( j ) = P( ) + jQ( ) = A( )e j ( )
(3.17)
A( ) = P 2 ( ) + Q 2 ( )
( ) = arctgW ( j )
Nu
Th
arctgW ( j )
(3.18)
( ) = arctg
Q( )
P ( )
(3.19)
Trn mt phng phc (hnh 3.1) ng vi tn s no th hm s truyn tn

s s xc nh vc t. di vc t bng A(), cn argument (gc hp thnh
bi vc t ny vi bn trc thc dng) l (). ng cong c v bi u
mt ca vc t ny, khi tn s bin thin t 0 n (i khi t - n ) gi l
c tnh tn s (TTS) bin pha ca h thng t ng.
49

jQ()
P()
W(j)
Hnh 3.1: c tnh tn s bin pha

Hm truyn tn s c gi l hm tn s bin pha. Phn thc ca n
P() =ReW(j) v phn o Q() = ImW(j) c gi l tng ng l hm tn
s phn thc v hm tn s phn o. th ca hm tn s phn thc P() gi
l TTS phn thc. Cn th ca hm tn s phn o - TTS phn o Q().
Mun A() =W(j) gi l hm tn s bin . th ca n gi l
TTS bin . Cn () l argument ca W(j) c gi l hm tn s pha.
th ca n gi l TTS pha.
Ngoi cc TTS ni trn, cn thng s dng cc TTS bin logarit
L() v TTS pha logarit (). Gi:
L( ) = 20 lg A( ) = 20 lg W ( j )
(3.20)
l hm tn s bin logarit. th din t s ph thuc gia hm tn s bin

logarit L() vi hm logarrit tn s lg(), gi l TTS bin logarit.
Khi xy dng TTS bin logarit, trn trc honh ta t cc tn s theo t
l logarit, cc im chia tng ng vi gi tr lg(), nhng li ghi gi tr ca
tin cho vic c tn s, ch khng ghi gi tr lg(). Cn trc tung l L().
TTS pha logarit l th biu din s ph thuc gia hm tn s pha () vi
logarit lg(). Trc honh ca TTS pha logarit ging trc honh ca TTS
bin logarit.
n v ca L() tnh theo (3.20) l xibel [db]. n v c s ca trc honh
trong TTS bin logarit la cc [dc] hay octav [oc]. cc l rng
khong tn s m trn tn s thay i 10 ln. Tng t, octav l khong m
trn tn s thay i 2 ln.
50

Khi xy dng TTS logarit th cn lu l trc tung v trc honh khng ct
nhau ti tn s = 0. Hai trc s ct nhau ti mt tn s thch hp no , bi v
khi
0 th lg()
- : ngha l = 0 th s tng ng vi im xa v cng.
Trn thc t, ngi ta thng s dng TTS bin logarit tim cn.
nghing ca c tnh tim cn thng dng l db/dc hay db/oc. Khi tc ng ln
u vo h thng T l mt tn hiu iu ho th lng ra ca h thng cng
thay i theo quy lut iu ho, nhng bin v pha ca lng ra v lng vo
s khc nhau. Ni chung, bin v pha lng ra s ph thuc vo tn s ca
lng vo. Ngi ta gi t s gia bin lng ra vi bin lng vo l m
un, cn gc lch pha gia lng ra vi lng vo l argument ca hm s
truyn tn s. V th, c tnh tn s bin din t s thay i ca t s cc
bin lng ra vi lng vo, cn TTS pha din t gc lch pha gia lng
ra vi lng vo. l ngha vt l i TTS.
3.2 Cc khu ng hc in hnh
3.2.1 nh ngha cc khu ng hc in hnh
Cc khu ng hc m phng trnh vi phn m t qu trnh ng hc ca

chng c bc nh hn hoc bng 2, c gi l khu ng hc in hnh.
c im ca cc khu ng hc in hnh l ch c mt u vo v mt u
ra, tn hiu u ra khng nh hng n tn hiu u vo.
X(s)
Y(s)
W(s)
Hnh3.2 Biu din khu ng hc in hnh.

Cc khu ng hc in hnh bao gm: Khu nguyn hm, khu tch phn,
khu vi phn, khu tr. Khu nguyn hm gm cc khu: Khu khuch i
(khu khng qun tnh), khu qun tnh bc mt, khu qun tnh bc hai (Khu
giao ng). Sau y ta kho st cc khu ng hc in hnh trn.
3.2.2.Cc khu nguyn hm.
a)Khu khuch i
- Khu khng qun tnh l khu m phng trnh ng hc c dng:
51

y = K.x
- Hm truyn t ca khu. W(s) = K
- Cc c tnh thi gian.
Hm qu :h(t) = K.1(t).
Hm trng lng : g(t) = K.(t).
g(t)
h(t)
K.(t)
K
0
Hnh 3.3. c tnh thi gian ca khu khng qun tnh

- Cc c tnh tn s.
BT
A()
()
PT
0
jQ()
L()
TBL
TBP
20lgK
K
P()
lg
Hnh 3.4: c tnh tn s ca khu khnng qun tnh

Hm truyn tn s : W(j) = K.
c tnh BT : A() = K.
c tnh PT : () = 0.
c tnh BTL : L() = 20.lgK
b) Khu qun tnh bc nht:
- Phng trnh vi phn:
dy
+ y = K.x
dt
52
(3.21)

K l h s truyn ca khu.
Trong
T l hng s thi gian ca khu.

- Hm truyn t : W(s) = K/ (Ts+1)
- Cc c tnh thi gian :
Hm qu : h(t) = K( 1-e-t /T) .1(t)
Hm trng lng : g(t) = dh(t)/dt = K.e-t / T.1(t)/T
g(t)
h(t)
K
.K
T
0
Hnh 3.5: c tnh thi gian ca khu qun tnh bc nht

- Cc c tnh tn s:
A()
K
()
0
BT
PT
-/2
0
jQ()
0
TBP
K
L()
TBL
20lgK
-20db/dec
P()
0
lgc
lg
Hnh 3.6: c tnh tn s ca khu qun tnh bc nht

TTS bin pha : W(j) = Y(j)/X(j) =K/ (Tj + 1)
TTS bin : A() = [ P2 () + Q2()] 1/2 =k/ (T22 + )1/2
TTS pha
() = arctgT
TTS bin logarit (TBL L() = 20lg A()

c) Khu qun tnh bc hai:
- Phng trnh:
53
d2 y
dy
+
2
T
+ y = Kx
dt 2
dt
Trong : T l hng s thi gian.
T2
(3.22)
K l h s truyn.
l h s tt dn tng i ( 0).
- Hm truyn t: W(s) =
Y(s)
K
= 2 2
X(s) T s + 2Ts + 1
- Cc c tnh thi gian:

Trng hp th nht: 0 < < 1.
Hm qu : h(t ) = K[1 e t (cos t
Hm trng lng: g (t ) = h' (t ) =
sin t )]
Ke t
. sin t
T
v =
T
T
Trng hp ny c tnh qu c dng dao ng tt dn v c gi l
khu dao ng.
Trong : =
Trng hp th hai: = 0.
Hm qu : h(t ) = K(1 cos 1 t )
Hm trng lng : g(t) = K1sin1t
Vi 1=1/T : Tn s ring dao ng. c tnh qu dao ng iu ho
v c gi l khu dao ng iu ho.
Trng hp th ba : 1.
Hm qu :
Khi = 1 vi l nghim kp ca phng trnh c trng.
h(t ) = K(1 (1 t )e t )
Khi > 1 vi 1, 2 l hai nghim thc ca phng trnh c trng.
1
2
h(t ) = K 1
e 1 t +
e 2 t
2 1
2 1
Hm trng lng:
Khi = 1 vi l nghim kp ca phng trnh c trng.
k (t ) = K 2 te t
54

Khi >1 vi 1, 2 l hai nghim thc ca phng trnh c trng.
k(t ) = K
g(t
1 2
( e 1 t e 2 t )
2 1
h(t)
0 < <1
=1
=0
=1
>1
0<<1
t
0
Hnh 3.7: c tnh thi gian ca khu bc hai
- Cc c tnh tn s:
(
0
A()
0<<1
>1
>1
=1
-/2
0
jQ()
=0
-
L(
=0
20lg
K
K
0
0<<
=1
0<<
>1
40db/d
P(
>1
=1
0<<1
lg
Hnh 3.8: c tnh tn s ca khu bc hai

TTS bin pha : W(j) = Y(j)/X(j) =K/( 1-T22 +j2T)
TTS bin :
A() = [ P2 () + Q2()] 1/2 =K/[(1-T22 )2 +(2T)2]1/2
TTS pha
() = -arctg [2T/(1-T22 )].
TTS bin logarit (TBL L() = 20lg A().

3.2.3 Khu tch phn.
- Phng trnh vi phn ca khu tch phn.

dy
x
= Kx =
dt
T
Trong T = 1/K c gi l hng s thi gian tch phn.
- Hm truyn t ca khu.
55
y = K xdt hoc
(3.23)

Bin i phng trnh vi phn sang ton t Laplace ta c :
W(s) =
Y(s) 1
=
X(s) Ts
- Cc c tnh thi gian.

Hm qu : h(t) = Kt.
Hm trng lng : k(t) = h(t) = K.
g(t)
h(t)
tg=K
0
t
Hnh 3.9: c tnh thi gian ca tch phn
- Cc c tnh tn s.
0
Hm truyn tn s : W ( j ) =
1
1
K
=j
= j
Tj
T
Nh vy hm truyn tn s ca khu tch phn ch c pn o m khi

thay i t 0 n m khng c phn thc.
c tnh BT: A() =
1
T
c tnh PT : ( ) =
c tnh BTL : L() = lgA() = -20lgT - 20lg

y l phng trnh ca mt ng thng ct trc tung ti im c
tung bng - 20lgT v c nghing bng - 20db/dec.
A()
BT
PT
0
-/2
L(
TBP
0 =
TBL
-20lgT
P(
20db/d
=0
lg
0
Hnh 3.10: c tnh tn s ca khu tch phn
56

3.2.4.Khu vi phn.
- Phng trnh khu vi phn l tng: y(t) = Kdx(t)/dt.
- Phng trnh khu vi phn bc mt: y(t) = KTdx(t)/dt + Kx(t).
- Hm truyn t:
Khu vi phn l tng: G(s) = Ks
Khu vi phn bc mt: G(s) = C(s)/R(s) =K(Ts + 1)
- Cc c tnh thi gian:
Khu vi phn l tng:
Hm qu : h(t) =K(t)
Hm trng lng: g(t) = dh(t) /dt = Kd(t)/dt
Khu vi phn bc mt:
Hm qu : h(t) =K.1(t) + KT(t)
Hm trng lng: g(t) = dh(t) /dt = Kd(t)/dt + K(t)
g(t)
h(t)
T.(t)
T.(t)
t
0
0
t
Hnh 3.11: c tnh thi gian ca khu vi phn l tng
- Cc c tnh tn s:
Khu vi phn l tng :

TTS bin pha : G(j) = C(j)/R(j) =-j K
TTS bin : A() = [ P2 () + Q2()] 1/2 =K
TTS pha
() = /2
TTS bin logarit (TBL) L() = 20lg A()=20lgK
57

BT
PT
()
A()
/2
0
jQ()
L()
= TBP
20lgT
TBL
20db/dec
=0
0
0
lg
P()
Hnh 3.12: c tnh tn s ca khu vi phn l tng
Khu vi phn bc mt :
TTS bin pha : G(j) = C(j)/R(j) =-j KT + K

TTS bin : A() = [ P2 () + Q2()] 1/2 =K(1 + 2T2 )1/2
() = arctg T.
TTS pha
TTS bin logarit (TBL) L() = 20lg A()=20lgK

3.2.5 Khu tr
Khu chm sau l khu ng hc m sau mt khong thi gian xc nh th

lng ra lp li lng vo v tn hiu khng b mo.
Phng trnh ng hc ca khu tr c dng :
y(t) = x(t-)
Cc phn t thuc khu tr nh bng ti , ng ng dn nhit , ng ng
dn cht lng
- Hm truyn t ca khu tr:
W(s) = Y(s) /X(s) = e-s
- c tnh thi gian:
Hm qu : h(t) = 1(t-)
Hm trng lng:
-
g(t) = dh(t)/dt = (t- )
Cc c tnh tn s:
:
G(j) = e-j
TTS bin
A () = 1
TTS pha
() = -
58
TTS bin pha

TTS bin lgarit:
h(t)
L() = 20lgA() = 0
jQ()
A(),()
A()
P()
()
Hnh 3.13. c tnh qu v cc c tnh tn s ca khu tr

3.3 M hnh ZPK (Zero, Pole and Gain)
Ta xt hm truyn sau:
G ( s) =
b0 s m + b1 s m 1 + b2 s m 2 + ... + bm
a 0 s n + a1 s n 1 + a 2 s n 2 + ... + a n
=K
( s z1 )( s z 2 )(...)(s z m )
( s p1 )( s p 2 )(...)(s p n )
(3.24)
nm
t :
A( s ) = a 0 s n + a1 s n 1 + a 2 s n 2 + ... + a n
(3.25)
B ( s ) = b0 s m + b1 s m 1 + b2 s m 2 + ... + bm
A(s) l mu s ca hm truyn, B(s) l t s ca hm truyn.

- im khng (Zeros) l l cc gi tr lm cho hm truyn G(s) bng 0 hay l
nghim ca phng trnh B(s) = 0. Cc im khng c k hiu l zi (i: 1m).
- im cc (Poles) l cc gi tr lm cho hm truyn khng xc nh hay l
nghim ca phng trnh A(s) = 0. Cc im cc c k hiu l pi (i: 1m).
- H s khuch i tnh (Gain) k hiu l K.
V d 1: Tm cc im cc, im khng v h s khuch ica h thng ca
hm truyn sau:
G(s) =
5( s + 1)( s + 2)
( s + 5)( s + 3)
H s khuch i K = 5.
- im cc: A(s) = (s+5)(s+3) = 0 suy ra p1 = -5 v p2 = -3
- im khng: B(s) = (s+1)(s+2) = 0 suy ra z1 =-1 v z2 = -2
V d 2:
59
(3.26)

Ta c hm truyn sau
C ( s) =
s+2
s ( s + 5)
(3.27)
Phn tch thnh tng cc phn s bc nht

s+2
A
B
= +
s ( s + 5) s s + 5
(3.28)
Quy ng mu s v ng nht hai v ta c

(A+B)s + 5A = s + 2
(3.29)
Gii h phng trnh:

A+B=1
5A = 2
Suy ra: A = 2/5, B = 3/5
3
2
s+2
5
=
+ 5
C ( s) =
s ( s + 5)
s
s+5
(3.30)
Hnh 3.14 : S b tr cc im cc v im khng

p ng u ra:
c(t ) =
trong :
2 3 5t
+ e
5 5
2
l thnh phn cng bc
5
3 5t
e l thnh phn t do.
5
60
(3.31)

Mt s kt lun:
1. im cc ca hm truyn u vo ca h thng quyt nh dng ca p ng
cng bc.
2. im cc ca hm truyn h thng quyt nh dng ca p ng t do.
3. p ng u ra c dng hm m e t nu c im cc nm trn trc thc.
4. im cc v im khng quyt nh bin ca c p ng cng bc v
p ng t do.
V d 3: Cho h thng c hm truyn nh sau:
R( s) =
1
s
( s + 3)
( s + 2)( s + 4)( s + 5)
C (s )
Hnh 3.15 :H thng i tng lm v d 3

Tm hm p ng u ra c(t) bao gm hai thnh phn p ng t do v p ng
cng bc.
Gii:
- Kim tra xem cc im cc ca h thng to ra thnh phn p ng t do tun
theo quy lut hm m.
- im cc u vo to ra thnh phn p ng cng bc.
Ta c: C ( s) =
K1
s
p ng
cng bc
K
K2
K
+ 3 + 4
s+2 s+4 s+5
p ng
t do
(3.32 )
Thc hin bin i Laplace ngc ta c:

c(t) = K1 + K2e-2t + K3e-4t + K4e-5t
p ng
cng bc
p ng
t do
3.4 H thng bc nht

H thng bc 1 khng c im khng c biu din nh sau:
61
(3.33)
R(s)
G(s)
j
C(s)
a
s+a
-a
a)
b)
Hnh 3.16: H tthng bc nht v phn b im cc

nu tn hiu u vo l bc thang n v R(s) = 1/s th p ng u ra C(s) l:
C ( s ) = R( s )G ( s ) =
a
s( s + a)
(3.34)
Thc hin bin i Laplace ngc ta c p ng u ra biu din trn min thi
gian l
c(t) = cf(t) + cn(t) = 1 e-at
(3.35)
- im cc u vo ti thi im ban u to ra p ng cng bc cf(t) = 1

- im cc h thng ti a tao ra p ng t do cn(t) = - e-at.
dc ban u = 1/hng s thi gian = a
x(t)
1
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
1
a Tr
2
a
Ts
3
a
4
a
5
a
Hnh 3.17: p ng u ra ca h thng bc 1 vi tn hiu bc thang n v
62

ti thi im t = 1/a ta c
e at
t= 1
= e 1 = 0.37
(3.37)
x(t ) t = 1 = 1 e
a
at
t= 1
= 1 0.37 = 0.63
T vic kho st c tnh ca i tng bc ta c cc khi nim sau:

- Hng s thi gian (constant time): gi 1/a l hng s thi gian ca p ng.
Hng s thi gian c th c hiu nh l khong thi gian m e-at gim 37%
gi tr ban u hay l khong thi gian p ng tn hiu bc thang dn v tng
ti 63% gi tr xc lp.
Nghch o ca hng s thi gian gi l tn s (1/s). V vy ta c th gi
hng s a l tn s hm m. Hng s thi gian c xem nh l c tnh p
ng thi gian ca h thng bc 1 v vy n c quan h vi tc ca h thng
tng ng vi tn hiu bc thang n v u vo.
- Thi gian tng Tr (rise time): thi gian tng c nh ngha l thi gian m
c c tnh mp m i t 01. n 0.9 gi tr xc lp.
Thi gian tng c tnh bng s sai lch gia hai thi im c(t) = 0.9 v
c(t) = 0.1.
Tr =
2.31 0.11 2.2
=
a
a
a
(3.38)
- Thi gian xc lp hay thi gian n nh Ts (settling time): thi gian xc lp l

khong thi gian m p ng t n v sai s trong khong 2%. Vi c(t) =
0.98 thay vo cng thc v rt ra c
Ts =
4
a
(3.39)
Hm truyn ca h thng bc 1 qua thc nghim:

Trn thc t khng d dng tm c hm truyn ca h thng bi v cc thit
b trong h thng kh c th xc nh c. V vy hm truyn ca h thng c
th xc nh c bng cch xc nh quan h gia u vo v u ra thng qua
phn tch ng c tnh ca i tng khi cho p ng u vo l tn hiu bc
thang n v. Hm truyn c th xc nh ngay car khi ta khng bit c cu
trc bn trong ca i tng.
63

vi tn hiu vo l hm bc thang n v ta c th tnh c hng s thi gian
v cc gi tr xc lp.
Xt v d sau:
G(s) =
K
s+a
(3.40)
Cc p ng u ra:
C ( s) =
K
K
K
= a+ a
s( s + a)
s
s+a
(3.41)
Nu ta xc nh c h s khuch i K v a t phng th nghim ta s xc

nh c hm truyn ca i tng.
Gi s ta c p ng sau:
Bin
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
Thi gian (s)
Hnh 3.18 : ng c tnh p ng ca h thng bc nht

p ng ca h thng bc nht khng c qu iu chnh v sai lch im
khng. T ng p ng ta xc nh hng s thi gian
- Gi tr xc lp l gi tr m ng p ng t n bng 0.72.
- Hng s thi gian l thi gian m ln bng 63% gi tr xc lp v
bng 0.63 x 0.72 = 0.45 hay bng 0.13 (s) suy ra a = 1/0.13 = 7.7
- p ng cng bc t n gi tr xc lp K/a = 0.72 suy ra K = 5.54
- Lc ta c hm truyn ca h thng l
64

G ( s) =
5.54
s + 7.7
(3.42)
Hm truyn ny cng rt gn vi hm truyn ca p ng trn

5
s+7
G(s) =
(3.43)
3.5 H thng bc 2
G (s )
b
s + as + b
c(t)
1
R( s) =
s
C(s)
c(t ) = 1 + 0.171e 7.854t 1.171e 1.146t
a)
G (s )
9
s + 9s + 9
0.5
1
R( s) =
s
-7.854 - 1.146
C(s)
b)
c(t)
j
G (s )
9
s + 2s + 9
0
2
1.2
1
0.8
j 8
0.6
8
sin 8t )
8
= 1 1.06e t cos( 8t 9.47 0 )
c(t ) = 1 e t (cos 8t +
1.4
j 8
1
R( s) =
s
C(s)
-1
0.4
0.2
t
c)
65

c(t)
c(t) = 1 cos3t
G (s )
1
R( s) =
s
9
2
s +9
j3
1
C(s)
- j3
0
d)
t
1
c(t)
G (s )
9
s + 6s + 9
R( s) =
1
s
C(s)
-3
c(t) = 1 3e-3t e-6t
1
0.8
0.6
0.4
0.2
t
0
e)
Hnh 3.19 : Cc h thng bc hai v p ng vi tn hiu bc thang n v

Ta c hm truyn tng qut ca h thng bc hai :
G ( s) =
K
T s + 2Ts + 1
2
(3.44)
trong : K l h s khuch i.
T l hng s thi gian.
l suy gim.
3.5.1 H thng p ng xung tt dn (Overdamped)
y l p ng khng c dao ng trong khong gi tr n nh nhng t

ti dao ng gii hn tt dn lu hn.
66

Khi khu qun tnh bc hai c hai im cc thc th bao gm 2 khu qun tnh
bc mt ni tip nhau. Vi iu kin > 1ta c
G(s) =
K1
K2
x
T1 s + 1 T2 s + 1
(3.45)
Hai im cc l: p1 = -1/T1 v p2 = -1/T2

Xt p ng u ra sau:
C ( s) =
9
9
=
s ( s + 9s + 9) s ( s + 7.854)( s = 1.1.46)
2
(3.46)
p ng u ra c mt im cc t gc to (do c p ng tn hiu bc
thang n v).
Hai im cc thc ca h thng.
im cc u vo s to ra thnh phn p ng cng c. Mi im cc

ca h thng s to ra p ng t do c dng hm m trong tn s hm
m chnh bng v tr cc im cc.
p ng u ra s c dng:
c(t) = K1 + K2e - 7.854t + K3e - 1.146t
(3.47)
ng c tnh ca h thng bc hai tt dn th hin hnh 3.19b

3.5.2 H thng p ng di tt dn (Underdamped)
y l p ng c dao ng trong khong ng bao suy gim. H thng

cng c nhiu ng bao th p ng t ti trng thi n nh cng lu.(Xem
hnh 3.19c)
Ta xt phng trnh c tnh:
T 2 s 2 + 2Ts + 1 = 0
(3.48)
Khi < 1 thi phng trnh (3.48) s c hai nghim phc lin hp hai
nghim ny l hai im cc ca hm truyn.
1 2
p1 = + j
= + j1
T
T
2
p = j 1 = j
2
2
T
T
; 1, 2 = j
1 2
T
67
(3.49)

Qu trnh qa xy ra trong khu bc hai l qu trnh dao ng 1, 2
1 2
=j
T
l khu dao ng bc 2. p ng thi gian bao gm bin hm m gim to

bi phn thc ca im cc h thng v dng sng hnh sin to bi phn o ca
im cc h thng.
ng c tnh hm m gim
to bi phn thc ca im cc
c(t)
ng c tnh hnh sin to bi

phn o ca im cc
t
Hnh 3.20: p ng bc hai to bi cc nghim phc

Hng s thi gian ca hm m bng phn thc ca im cc h thng. Gi tr
ca phn o l tn s thc ca dao ng hnh sin. Tn s dao ng hnh sin
c gi l tn s suy gim ca dao ng wd. p ng n nh c quyt nh
bi im cc u vo t gc to . Chng ta gi p ng ny l p ng
di tt dn m tin ti gi tr n nh qua p ng thi gian gi l dao ng
suy gim.
3.5.3 H thng p ng khng b nht (Undamped)
Nu im cc tin gn v khng cng b, ng bao gim cng lu, lc ta

c dao ng khng tt.
H thng bc hai ny s c: im cc nm gc to do p ng tn hiu
bc thang u vo v hai im cc ca h thng ch c phn o ( = 0).
T hnh 3.19d
C ( s) =
9
s ( s + 9)
2
68
(3.50)
Hai im cc p1,2

= j3 to ra p ng dao ng hnh sin m tn s ca n
bng v tr ca cc im cc nm trn trc o.

p ng u ra l:
2
c(t ) = K (1 e

(cos t + sin t )) = K [1 1 + (cos(t tan 1 ))] (3.51)
Thay vo ta c
c(t) = 1- cost3t
(3.52)
3.5.4 H thng p ng tt dn ti hn (Critically Damped Response)
y l p ng t ti gi tr n nh nhanh nht. Gi tr gii hn lun lun

bng 1.
Ta c p ng sau:
C ( s) =
9
9
=
s ( s + 6s + 9) s ( s + 3) 2
(3.53)
p ng ny c mt im cc nm ti gc to v hai im cc thc.
c(t) = 1 3te - 3t e 3t
(3.54)
Xem dng p ng hnh 3.19d

3.5.5 Tm p ng t do
p ng tt dn:
Cc im cc: hai im thc 1, 2
p ng: c(t ) = K1e t + K 2 e t
1
(3.55)
p ng di tt dn
Cc im cc: 2 nghim phc d jd
p ng: c(t ) = Ae t cos( d t );
d
= tan 1
(3.56)
(3.57)
p ng khng b nht
Cc im cc: 2 im cc o j
= tan 1
p ng: c(t ) = A cos( t );

p ng tt dn ti hn
Cc im cc: 2 im cc thc (kp) 1

69

p ng: c(t ) = K1e t + K 2 e t
1
(3.58)
3.6 Mt s vn chung v h thng bc hai

Trong phn ny ta s xem xt hai khi nim ca hai thng s h thng bc 2
c dng miu t ng c tnh p ng thi gian. l tn s t do

(natural frequency) v h s tt dn (damping ratio).
- Tn s t do (Natural Frequency, n): l tn s ca dao ng trong h thng
m khng c s tt dn.
- H s tt dn (Damping ratio ):
=
Tn s suy gim hm m
Tn s t do (rad/second)
1
2
Chu k t do (seconds)
Hng s m
(3.59)
Biu din h thng bc hai theo hai thng s n v

G ( s) =
b
s 2 + as + b
(3.60)
i vi h thng khng b nht ta c cc im cc nm trn trc o

G ( s) =
b
s2 + b
(3.61)
Theo inh ngha tn s dao ng t do n l tn s ca dao ng trong h thng.

V vy cc im cc nm trn trc o l j b . Suy ra
n = j b
hay
b = n2
(3.62)
Vi gi thit h thng di tt dn im cc phc c phn thc l a/2. ln

ca gi tr ny chnh l tn s gim hm m
Tn s suy gim hm m
Tn s t do (rad/second)
a2
=
=
n n
suy ra a = 2n
(3.63)
(3.64)
Vy hm truyn l
n2
G ( s) = 2
s + 2n s + n2
70
(3.65)
V d:
Cho hm truyn sau:
G ( s) =
36
s 2 + 4.2 s + 36
(3.66)
So snh hai cng thc (3.66) v (3.65) ta c:
n2 = 36 n = 6
2 n = 4.2 = 0.35
Ta tm cc im cc ca h thng:
Phng trnh c trng l: s2 + 4.2s + 36 = 0
C hai nghim phc:
s1, 2 = n n 2 1
(3.67)
ng c tnh p ng t gi tr ca
T a = 2n v n = b suy ra
(3.68)
2 b
Ta c cc p ng tng ng vi gi tr ca nh sau:
j
j n
=0
c(t)
j n
H thng khng b nht
c(t)
j n 1 2
0 < <1
=1
n
j n 1 2
j
c(t)
H thng di tt dn
H thng tt dn ti hn
71
n + n 1 2
c(t)
>1
n n 1 2
H thng tt dn
Hnh 3.21 : p ng bc hai theo h s tt dn

3.7 H thng bc hai di tt dn (Underdamped)
H thng di tt dn, m hnh vt l ph bin, c cc p ng n nht nn
c xem xt c th hn. nh ngha cc thng s p ng ca h thng di tt

dn theo thi gian v xem xt mi quan h vi v tr cc im cc.
Trc tin ta tm p ng ca h thng bc hai vi p ng tn hiu bc
thang n v
K s + K3
n2
K
C (s) =
= 1+ 2 2
2
2
s ( s + 2 n s + n )
s s + 2 n s + n2
(3.69)
gi thit < 1 v thc hin bin i ta c
C (s) =
1
+
s
( s + n ) +
n 1 2
1
( s + n ) + n2 (1 2 )
2
(3.70)
Thc hin php bin i Laplace ngc
c(t ) = 1 e t cos n 1 2 t +
sin
1
t
2
1
=1
e t cos( n 1 2 t )
2
1
n

trong : = tan 1
1 2
Khi cng nh th p ng dao ng cng nhiu.
72
(3.71)

c(t)
cmax
1.02c
c
0.98c
0.9c
0.1c
t
Ts
Tp
Tr
Hnh 3.22: p ng bc hai ca h thng di tt dn

Ngoi hai khi nim h s suy gim v tn s p ng t do n ta c thm cc
khi nim sau:
- Thi gian nh Tp (Peak Time): l thi gian m c(t) t max u tin.
- Phn trm qu iu chnh: %OS (Percent Overshoot): l khong m dng
sng vt qu gi tr n nh c.
- Thi gian tng Tr (rise time): thi gian tng c nh ngha l thi gian
m c c tnh mp m i t 0.1 n 0.9 gi tr xc lp.
- Thi gian xc lp hay thi gian n nh Ts (settling time): thi gian xc lp
l khong thi gian m p ng t n v sai s trong khong 2%.
a) Tnh Tp
L{c&(t )} = sC ( s ) =
n2
s 2 + 2n s + n2
n
1 2
(3.72)
1 2
n2
=
=
( s + n ) 2 + n2 (1 2 ) ( s + n ) 2 + n2 (1 2 )
Bin i Laplace ngc ta c:
c&(t ) =
n
1
e t sin 1 2 t
n
Cho c&(t ) = 0 suy ra

73
(3.73)
n 1 2 t = n
(3.74)
hay
t=
(3.75)
n 1 2
Khi n = 1 ng c tnh t gi tr max
Tp =
(3.76)
n 1 2
b) Tnh phn trm qu iu chnh

T hnh v 3.22 ta c
%OS =
cmax c
x100
c
(3.77)
cmax l gi tr khi ng c tnh t gi tr max ti thi im Tp

cmax = c(T p ) = 1 e
=1+ e
1 2
cos +
sin
(3.78)
1 2
i vi tn hiu bc thang n v
c = 1
(3.79)
Thay vo cng thc (3.77) ta tm c phn trm qu iu chnh

%OS = e
Suy ra
1 2
x100
ln %OS
(3.80)
100
2
2 %OS
+ ln
100
(3.81)
c) Tnh Ts
tm c Ts ta phi tm c thi gian m c(t) t n v gi n nh
trong khong 2%
T cng thc (3.71) ta tnh bin ca c(t) t n 0.02
1
1
e t = 0.02
n
74
(3.82)

vi gi thit cos( n 1 2 t ) = 1 ti Ts.
Suy ra Ts =
ln 0.02 1 2
(3.83)
Ly xp x cng thc (3.83)

Ts =
2
a
(3.84)
d) Tnh Tr
Tm nt bng cch cho c(t) = 0.9 v c(t) = 0.1. Ly gn ng ta c thi gian
tng nTr.
V d: Cho hm truyn sau
G ( s) =
100
s + 15s + 100
2
Tnh Tp, %OS, Ts v Tr.

Gii:
T hm truyn ta tnh c n = 10, = 0.75

Thay vo cng thc tnh Tp
Tp =
n 1 2
%OS = e
Ts =
1 2
3.14
10 1 0.75 2
x100 = e
0.75 x10
= 0.475
1 0.75 2
x100 = 2.838
4
= 0.533
0.75 x10
Ta c bng sau:
75
(3.85)

H s suy gim
Thi gian tng thng thng
0.1
1.104
0.2
1.203
0.3
1.321
0.4
1.463
0.5
1.638
0.6
1.854
0.7
2.126
0.8
2.467
0.9
2.883
Da vo bng trn ta tnh c thi gian tng thng thng xp x 2.3 suy ra
Tr = 0.23 v n = 10.
76

Bi tp chng 3
1. Hy xc nh hm trng lng g(t) v hm qu h(t) ca nhng h tuyn
tnh c hm truyn t sau
a) G ( s) =
s +1
2 s + 3s + 4
2
b) G ( s ) =
2s + 1
(1 + 3s )(1 + 5s )
2. Tm v tr cc im cc, im khng v v trn mt phng phc

2
1
b) G ( s) =
s+2
( s + 3)( s + 4)
s+2
5( s + 2)
c) G ( s) =
d) G ( s) = 2
( s + 7)( s + 14)
s +9
a) G ( s ) =
3. Tm hm truyn v im cc ca h thng sau

0
0
2 1
x& = 0
0
1 x + 0u (t )
1
0 2 4
0
y = [1 0 0]x
x(0) = 0
0
4. Tm cc thng s ca h thng bc 2 , n , Ts Tr T p %OS

a) G ( s) =
120
s + 12s + 120
2
b) G ( s ) =
0.01
s + 0.002s + 0.01
2
5. Tm p ng u ra c(t) khi bit tn hiu tc ng l tn hiu bc thang n v

5
s ( s + 5)
16
c) C ( s) = 2
s ( s + 16)
a) C ( s) =
b) C ( s) =
4
s ( s + 4)
d) C ( s) =
16
s ( +8s + 16)
2
77
CHNG 4: CC PHNG PHP GIM THIU

H THNG A CP
Mc ch: trn thc t cc h thng k thut c biu din bng cc s khi
rt phc tp, tm c quan h gia tn hiu u vo v u ra ca h thng
tc l phi tm c hm truyn t ca h thng. Do ta phi tm cch rt
gn h thng tm c hm truyn chung ca ton b h thng.
4.1 S khi ca mt h thng
Hm
truyn ca
R(s)
C(s)
G(s)
u vo
(Input)
u ra
(Output)
Hnh 4.1: S khi ca h thng

Quy nh:
- K hiu tn hiu u vo: R(s).
- K hiu tn hiu u ra: C(s).
- K hiu cc hm truyn con: Gi(s)
- K hiu hm truyn h thng: G(s).
Quan h ca tn hiu u vo v u ra c biu din di dng hm truyn
(transferfunction):
G ( s) =
C ( s)
R( s)
(4.1)
Hai dng biu din:

- S khi.
- hnh tn hiu Graph
4.1.1 H thng dng ni tip
H thng c gi l mc ni tip nu tn hiu ra ca phn t trc l tn
hiu vo ca phn t sau.
Tn hiu vo ca h thng l tn hiu vo ca phn t u tin.
Tn hiu ra ca h thng l tn hiu ra ca phn t cui cng.
R(s)
C(s)
G1(s)
G2(s)
G3(s)
G4(s)
R(s)
C(s)
G1(s)xG2(s)xG3(s)xG4(s)
Hnh 4.2: S khi ca h thng ni tip

78

V d: Ta c m hnh nh sau:
Hnh 4.3: H thng ghp ni tip.

Hnh 4.3a) hm truyn c tnh:
1
R1C1
V ( s)
G1 ( s ) =
=
V1 ( s ) s + 1
R1C1
'
1
(4.2)
Hnh 4.3 b) hm truyn c tnh:

1
V ( s)
R2C2
G2 ( s ) = 2
=
V1 ( s ) s + 1
R2C2
(4.3)
Hnh 4.3 c) ta tnh c hm truyn ca h thng bng mch vng hoc theo
nt:
1
V (s)
R1C1 R2C 2
GT ( s ) = 2
=
V1 ( s )
1
1
1
1
s +
s 2 +
+
+
R1C1 R2C 2
R1C1 R2C 2 R2C1
(4.4)
Nhng nu tnh theo cng thc ca s ni mc ni tip

1
V (s)
R1C1 R2C2
GT ( s ) = 2
= G2 ( s )G1 ( s ) =
V1 ( s )
1
1
1
s +
s 2 +
+
R1C1 R2C2
R1C1 R2C2
(4.5)
Ta thy s khc nhau l do gia hai h thng tn ti mt h s t l. khc

phc gia hai h thng ta mc thm mt khu khuch i nh hnh 4.3 d).
79

4.1.2 H thng dng song song(Parallel Form)
H thng mc song song l h thng c tn hiu vo ca h thng l tn hiu
vo ca cc phn t thnh phn, cn tn hiu ra ca h thng bng tng i s
ca cc tn hiu thnh phn.
G1(s)
R(s)
C(s)
G2(s)
G3(s)
Hnh4.4: S khi ca h thng mc song song

C ( s ) = R( s )[G1 ( s ) + G2 ( s ) + G3 ( s )]
(4.6)
4.1.3. H thng dng phn hi (Feedback Form)
H thng c mch mc phn hi gm hai mch: mch thun v mch phn

hi. Tn hiu ra ca mch thun l tn hiu ra ca h thng v l tn hiu vo ca
mch phn hi.
H thng c hai dng phn hi:
- Phn hi m: E(s) = R(s) C(s) .
- Phn hi dng: E(s) = R(s) + C(s).
R(s)
C(s)
G1(s)
G2(s)
G3(s)
G4(s)
Hnh 4.5: S khi ca h thng c phn hi
Hnh 4.6: a) H thng phn hi m b) H thng phn hi dng

c) Hm truyn ca h thng c phn hi
80

- Mch phn hi n v:
R(s)
E(s)
C(s)
G(s)
Hnh 4.7: S khi h thng phn hi n v

E(s) = R(s) C(s)
(4.7)
C ( s)
G ( s)
(4.8)
Mt khc:
E ( s) =
Hm truyn ca h thng c tnh l:

Ge ( s ) =
G ( s)
(4.9)
1 m G ( s)
Cc k nng bin i s c bn:

- Chuyn tn hiu u vo:
T trc ra sau mt khi:
R(s)
C(s)
G(s)
R(s)
C(s)
G(s
G(s
X(s)
X(s)
T sau mt khi ra trc mt khi:

R(s)
C(s)
G(s
R(s)
C(s)
G(s
1
G ( s)
X(s)
X(s)
- Chuyn i tn hiu ra:

T trc mt khi ra sau khi :
R(s)
G(s
C1(s
1
G ( s)
R(s)
C1(s
G(s
C2(s
C2(s
81

C1(s) = R(s)
C2 (s) = R(s).G(s)
T sau mt khi ra trc khi :
C1(s
C1(s
R(s)
G(s
G(s
R(s)
G(s
C2(s
C2(s
C1(s) = C2(s) = R(s).G(s)

- Cc b cng lin nhau c th i ch cho nhau hoc cng xp chng li:
X1
X2
X1
X3
X3
X2
X1
Hoc l
X2
X3
C = X1 - X2 + X3
V d 1: Rt gn h thng nh hnh sau
+
+
+
R(s)
G1(s
G2(s)
-
H1(s)
H2(s)
H3(s)
82
G3(s)
C(s)

R(s)
G1(s
G2(s)
G3(s)
C(s)
H1(s)
H2(s)
H3(s)
(a)
R(s)
G1(s
G2(s)+G3(s
C(s)
H1(s)-H2(s)+H3(s)
(b)
G1 ( s )G2 ( s )G31 ( s )
1 + G1 ( s )G2 ( s )G31 ( s )[H 1 ( s ) H 2 ( s ) + H 3 ( s )]
R(s)
C(s)
(c)
Hnh 4.8 : Hnh bin i cc s khi c bn.
V d 2: Rt gn s khi p dng cc quy tc di chuyn tn hiu
V1(s
R(s)
G1(s
V2(s
+
V3(s
V7(s
V6(s
G2(s)
+ V5(s
G3(s)
V4(s +
C(s)
H2(s)
V8(s
H3(s)
H1(s)
1
G2 ( s)
R(s)
V1(s
G1(s
V2(s
+
V3(s
V7(s
V6(s
G2(s)
H2(s)
H1(s)
(a)
83
V4(s +
G3 ( s )
1 + G3 ( s ) H 3 ( s )
C(s)

V1(s
R(s)
G1(s)G2(s)
V4(s
1
+1
G2 ( s)
C(s)
G3 ( s )
1 + G3 ( s ) H 3 ( s )
H 2 ( s)
G1 ( s )
H1(s)
R(s) +
G1(s)G2(s)
(b)
V4(s
G3 ( s )
+ 1
G
(
s
)
1
G
(
s
)
H
(
s
)
+
3
3
2
C(s)
H 2 ( s)
+ H 1 (s)
G1 ( s )
(c)
V4(s
R(s)
G3 ( s )
+ 1
1
(
)
(
)
(
)
+
G
s
G
s
H
s
3
3
2
G1 ( s )G2 ( s )
1 + G2 ( s ) H 2 ( s ) + G1 ( s )G2 ( s ) H 1 ( s )
C(s)
(d)
R(s)
G1 ( s )G3 ( s )[1 + G2 ( s )]
[1 + G2 ( s) H 2 ( s) + G1 ( s)G2 ( s) H 1 ( s)][1 + G3 ( s) H 3 ( s)]
C(s)
(e)
Hnh 4.9: Rt gn s p dng cc quy tc bin i

4.2 Phn tch v thit k h thng phn hi
Mc ch : ng dng cc quy tc trn phn tch v thit k h thng bc 2.
Phn trm qu iu chnh, thi gian nh, thi gian tng c th c tnh ton
t hm truyn ca h thng.
Xt h thng:
R(s)
K
s( s + a)
C(s)
Hnh 4.10: H thng c phn hi m

i tng c hm truyn l:
K
s( s + a)
Hm truyn ca h thng c tnh l:

84
(4.10)

K
s + as + K
T (s) =
(4.11)
Trong :
K: H s khuch i (t l gia in p u vo v u ra)
Khi h s K thay i, cc im cc thay i qua 3 ch hot ng ca h
thng bc hai: dao ng tt dn, tt tt dn ti hn v di tt dn. V d K bin
i trong ri gia 0 v a2/4, cc im cc ca h thng l thc v c tnh ton
l:
s1, 2 =
a
a 2 4K
2
2
(4.12)
Khi h s K tng ln, cc im cc di chuyn dc theo trc thc v h thng

vn dao ng tt dn cho n khi K = a2/4. Ti h s khuch i ny, c hai
nghim u l thc v bng nhau, h thng l tt dn ti hn.
i vi h s khuch i ln hn a2/4, h thng l di tt dn vi cc
nghim phc l:
s1, 2 =
4K a 2
a
j
2
2
(4.13)
Khi h s khuch i tng ln, phn thc l hng s v phn o tng ln. Do
vy, thi gian nh gim xung ln v phn trm qu iu chnh tng ln,
trong khi settling time vn l hng s.
- Tnh thi gian p ng nhanh.
Bi ton: cho h thng
R(s) +
C(s)
25
s ( s + 5)
Hnh 4.11: S khi h thng phn hi bit trc h s khuch i

Tm hng s thi gian nh Tp, phn trm qu iu chnh % v thi gian Ts
Gii:
Hm truyn ca h thng c phn hi l:
T ( s) =
25
s + 5s + 25
2
(4.14)
T cng thc:
wn = b = 25 = 5
(4.15)
Mt khc:
a = 2wn vi a = 5 ta c 5 = 2wn
Suy ra = 0.5
Ta c cng thc tnh nh sau:
85
(4.16)
Tp =
wn 1
= 0.726s
(4.17)
%OS = e 1 x100 = 16.303

4
Ts =
= 1.6s
wn
(4.18)
(4.19)
- Tm h s khuch i ca h thng khi bit phn trm qu iu chnh

R(s)
K
s ( s + 5)
C(s)
Hnh 4.12: S khi ca h thng phn hi khi h s khuch i K cha bit

Hm truyn ca h kn l:
T (s) =
K
s + 5s + K
2
(4.20)
T cng thc 5 = 2wn v wn = K ta tnh c:

=
5
2 K
(4.21)
Nh ta bit phn trm qu iu chnh %OS l hm ca m y

li l hm ph thuc h s K. Do vy khi ta thay cng thc (4.21) vo cng
thc tnh (4.18) , li l hm ph thuc h s khuch i K.
Vi ch tiu cht lng cho trc ta d dng tnh c h s = 0.591.
Thay vo cng thc (4.21) ta tm c h s khuch i K = 17.892.
Mc d ta thit k theo qu iu chnh nhng ta khng th la chn c
thi gian dao ng c bi v phn thc lun l -2.5 (khng cn tnh n h s
khuch i K).
4.3 Grap tn hiu
4.3.1 Cc khi nim c bn
- Graph l mt hnh gm cc nhnh v cc nt.
- Mi nt ca Graph c biu din bng mt im v ghi tn mt i lng
no trong h thng iu khin.
V(s)
Hnh 4.11: Mt nt c bn
- Nt gc l lng vo, nt ngn l lng ra ca mt khu no .
- Mt nhnh ni nt gc v nt ngn c mi tn, trn ghi gi tr ca hm
truyn t tng ng vi mt khu no .
86

Wij
Xj
(j)
Xi
(i)
Hnh 4.13 : Biu din mt nhnh c bn
Hm truyn t ca mt nhnh bng t s ca gi tr nt ngn v gi tr nt gc:
Wij =
xj
(4.22)
xi
S lin kt ca cc nhnh ring l to thnh mt Graph tn hiu cho mt h

thng iu khin.
4.3.2 Cc dng biu din Graph tn hiu
- Dng ni tip:
R(s)
G1(s
G2(s
C(s)
V(s)
Hnh 4.14: Graph biu din h thng ni tip

- Dng song song:
G3(s
R(s)
V0(s
G4(s
G1(s
G2(s
V1(s
G6(s
G5(s
V2(s
Hnh 4.15: Graph biu din h thng song song

- Dng phn hi:
1
E(s
G(s
R(s
C(s)
H(s
Hnh 4.16: Graph biu din h thng c phn hi

4.3.3 Cc quy tc bin i Graph
- Cc nhnh ni tip:
R(s)
G1(s
G2(s
V(s)
G1(s)G2(s
R(s)
C(s)
87
C(s)
- Cc nhnh song song

G1(s)
R(s)
G1(s)+G2(s
C(s)
C(s)
R(s)
G2(s)
- Phn hi dng hoc m

R(s)
G(s)
G ( s)
1 G ( s ).H ( s )
C(s)
R(s)
C(s)
H(s)
- Kh nhnh to vng kn.

H(s)
G1(s
R(s)
G2(s
V(s)
G1 ( s )G2 ( s )
1 H ( s)
C(s)
C(s)
R(s)
4.3.4 Quy tc Masson
Hm truyn t C(s)/R(s) trong mt h thng c biu din bng Graph c

tnh theo cng thc sau:
C ( s)
G ( s) =
=
R( s)
T
k
(4.23)
trong :
- k l s ng dng hng t u vo cho n u ra. ng dng l mt
ng lin tc bao gm cc nhnh c cng mt hng khi u vo cho
n u ra m khi tn hiu truyn t qua mt nt ca n t gc n ngn
ch c mt ln.
- Tk l hm truyn t ca dng th k hng t u vo n u ra.
- k l nh thc con ca Graph suy ra t bng cch b i cc vng kn.
Li c dnh vi ng dng th k.
- = 1 Li + L i LJ L i LJ Lk + .....
+
i, j
i , j ,k
l tng s tt c cc hm truyn t ca cc vng kn c trong
Graph. Vng kn l mt ng khp kn bao gm cc nhnh lin tip c

cng mt hng m tn hiu i qua mt nt ca mt nhnh no n ch c
mt ln.
+ L i LJ l tng s cc tch hm truyn t ca hai vng kn khng dnh
i, j
vo nhau trong Graph.

88

+ L i LJ Lk l tng s cc tch hm truyn t ca ba vng kn khng dnh
i , j ,k
vo nhau trong Graph.

V d:
Hnh 4.17: s khi minh ho quy tc Masson

Bc 1: Xc nh ng tin trc
trong v d ny ch c mt ng duy nht l:
P = G1(s)G2(s)G3(s)G4(s)G5(s)
Bc 2: Xc nh hm truyn ca cc vng kn
L1 = G2(s)H1(s)
L2 = G4(s)H2(s)
L3 = G7(s)H4(s)
L4 = G2(s)G3(s)G4(s)G5(s)G6(s)G7(s)G8(s)
Bc 3: Xc nh tch cc hm truyn ca hai vng kn khng dnh vo nhau
L1L2 = G2(s)H1(s)G4(s)H2(s)
L1L3 = G2(s)H1(s)G7(s)H4(s)
L2L3 = G4(s)H2(s)G7(s)H4(s)
Bc 4: Xc nh tch cc hm truyn ca ba vng kn khng dnh vo nhau
L1L2L3 = G2(s)H1(s)G4(s)H2(s)G7(s)H4(s)
Bc 5: Tnh
= 1 Li + Li L j Li L j Lk
i
i, j
i , j ,k
= 1 [G2 ( s ) H 1 ( s ) + G 4 (s)H 2 (s) + G 7 (s)H 4 (s) + G 2 (s)G 3 (s)G 4 4(s)G 5 (s)G 6 (s)G 7 (s)G 8 (s)] +
+ [G 2 (s)H1 (s)G 4 (s)H 2 (s) + G 2 (s)H1 (s)G 7 (s)H 4 (s) + G 4 (s)H 2 (s)G 7 (s)H 4 (s)]
[G 2 (s)H1 (s)G 4 (s)H 2 (s)G 7 (s)H 4 (s)]
Bc 6: Xc nh k
y ch c L3 l khng dnh n P
1 = 1 G 7 (s)H
(s)
T cc cng thc tnh ton trn ta thay vo cng thc tnh G(s) ta c:
G(s) =
Tk k G1 ( s )G2 ( s )G3 ( s )G4 ( s )G5 ( s )[1 G 7 (s)H 4 (s)]

=
89

Bi tp chng 4
1. Rt gn s h thng sau:
2. Cho h thng sau
Tm qu iu chnh OS%, thi gian qu v thi gian nh khi tn hiu u

vo l tn hiu bc thang n v.
90

3. Tm tn hiu c(t) khi tn hiu u vo r(t) l tn hiu bc thang n v.
4. Tm , n, OS%, thi gian nh v thi gian qu ca h thng sau
5. S dng quy tc Masson tm hm truyn T(s) ca h thng cho di y
91
CHNG 5: S N NH CA H THNG
5.1 Khi nim v n nh h thng iu khin t ng
nh ngha:
n nh ca h thng l kh nng ca h thng t tr li trng thi xc lp

sau khi cc tc ng ph v trng thi xc lp c mt i. Thc cht khi ni
ti n nh l ni ti mt i lng c iu khin no n nh.
Mt h thng KT l mt h thng ng hc, thng c m t bng
phng trnh vi phn bc cao:
d n y( t )
dy(t )
d m y( t )
dx(t )
+
L
+
a
+
a
y
(
t
)
=
b
+
L
+
b
+ b m x(t ) (5.1)
n
1
n
0
m
1
dt n
dt
dt m
dt
Nghim ca phng trnh vi phn ny gm hai thnh phn :
a0
y(t) = yq (t) + y0 (t)
(5.2)
- yq (t): l nghim tng qut ca (5.1) khi v phi bng 0, c trng cho
qu trnh qu .
- y0 (t): l nghim ring ca (5.1) khi c v phi, n c trng cho qu
trnh xc lp .
Qu trnh xc lp l qu trnh n nh, v vy ch cn xt qu trnh qu . Nu
qu trnh qu theo thi gian b trit tiu th h n nh, nu khng trit tiu th h
khng n nh. M nghim qu c biu din bng biu thc tng qut sau:
y
n
st
= Ci e i
qd
i =1
(5.3)
Trong si l nghim ca phng trnh c trng :

a0sn + a1sn-1 + . . . + an = 0
(5.4)
T nhng nhn xt trn ta c th kt lun nh sau: Mt h thng c gi l

n nh nu qu trnh qu tt dn theo thi gian. H thng khng n nh nu
qu trnh qu tng dn theo thi gian. H thng bin gii n nh nu qu
trnh qu khng i hoc dao ng khng tt dn.
Biu din bng biu thc ton hc nh ngha trn ta c h thng n nh khi:
sit
n
lim y qd (t ) = lim Ci e = 0
i =1
t
92
(5.5)

v h khng n nh khi:
sit
n
=
e
=
y
(
t
)
lim
C
lim
t qd
i=1 i
(5.6)
H thng c xt l h dng, ngha l cc h s ai khng bin i theo thi

gian.
lim Ci e s t = lim Ci e t = 0
i
(5.7)
Nu i < 0 H n nh, nu i = 0 h bin gii n nh, nu i >0 h khng

n nh.
Khi si l cp nghim phc lin hp si = i j i
Ci e
(i + j )t
+ Ci +1e
(i + j )t
t
= 2 Ae i cos( t + )
(5.8)
Nu i < 0 H n nh , nu i = 0 h bin gii n nh , nu i >0 h

khng n nh.
5.2 Nhn xt chung :
- H thng s n nh khi v ch khi tt c cc nghim ca phng trnh c
tnh c phn thc m (tt c cc nghim nm na bn tri mt phng phc).

- H thng s bin gii n nh nu phng trnh c tnh c t nht
mt nghim thun o cn tt c cc nghim khc l nghim thc m hoc
nghim phc c phn thc m (c t nht mt nghim nm trn trc o cn cc
nghim cn li nm na tri mt phng phc).
- H thng s khng n nh nu phng trnh c tnh c t nht mt
nghim c phn thc dng (c t nht mt nghim nm na phi mt phng
phc).
Nh vy xt tnh n nh ca h thng ta cn phi tm nghim ca phng
trnh vi phn (5.1) ri ly gii hn. Vic ny rt kh khn, nn xt n nh
ch cn tm nghim ca phng trnh c trng (5.3). Trong thc t ngi ta tm
mi quan h gia cc h s ca phng trnh c trng vi cc nghim c phn
thc m nh gi tnh n nh ca h. l cc tiu chun n nh. C hai
tiu chun n nh:
93

- Tiu chun n nh i s: Tm iu kin rng buc gia cc h s ca
phng trnh c tnh h n nh. l cc tiu chun Routh, Hurwitz.
- Tiu chun n nh tn s: Thng qua c tnh tn s ca h thng
xt tnh n nh. l cc tiu chun n nh Mikhailp, Nyquist.
5.3 Tiu chun n nh i s.
iu kin n nh cn thit ca HTKT:
Gi s h thng c phng trnh c tnh: a0sn + a1sn-1 + ... + an-1s + an = 0

Nh vy phng trnh c tnh c hai loi nghim :
C m nghim thc (si = -i) v (n - m)/2 nghim phc (si = -k jk ).
Vi i, k, k u dng.
Phng trnh c tnh c chuyn sang dng:
m
nm
2
i =1
k =1
a 0 (s + i ). (s + k j k )(s + k + j k ) = 0
(5.9)
suy ra:
m
nm
2
i =1
k =1
a 0 (s + i ). ((s + k ) 2 + 2k ) = 0
(5.10)
Nu ta khai trin phng trnh trn s c mt a thc c tt c cc h s

u dng. Nh vy iu kin cn thit h thng n nh l tt c cc h s
ca phng trnh c tnh phi dng (phi cng du).
5.3.1 Tiu chun Rao (Routh):
- Pht biu tiu chun: " iu kin cn v cho h thng tuyn tnh n
nh l tt c cc s hng trong ct th nht ca bng Routh dng ".
- Cch thnh lp bng Routh :
Gi s cho phng trnh c tnh sau:
a0sn + a1sn-1 + a2sn-2 + a3 sn-3 + + an-1s + an = 0
Hai hng u bng Routh c sp xp nh sau :
a0
a2
a4
a6
a1
a3
a5
a7
b0
b2
b4
b6
b1
b3
b5
b7
94
(5.11)

c0
c2 c4
c6
Cc s hng trong cc hng c tnh theo biu thc sau :
b0 =
b1 =
c0 =
a0
a1
a2
a3
a1
a1
b0
a3
b2
b0
b0
b1
b2
b3
b1
a1 a 2 a 0 a 3
; b2 =
a1
b 0 a 3 a 1b 2
; b3 =
b0
b1 b 2 b 0 b 3
; c2 =
b1
a0
a1
a4
a5
a1
a1
b0
a5
b4
b0
b0
b1
b4
b5
b1
a1a 4 a 0 a 5
a1
b 0 a 5 a 1b 4
b0
b1 b 4 b 0 b 5
b1
Nhn xt :
Mi mt s hng trong mt hng ca bng Routh l mt thng s c:
- T s: l mt nh thc hng hai mang du m vi ct th nht ca n cng
l ct th nht ca hai hng ng st trn hng c s hang ang tnh ,cn
ct th hai ca nh thc chnh l ct ng st bn phi s hng ang tnh
cng ca hai hng trn.
- Mu s: trong tt c cc s hng ca mt hng c chung mu s chnh l s
hng ng ct th nht v hng st ngay trn s hng ang tnh.
V d : Cho phng trnh c tnh ca h thng :
s4 + 2s3 + 8s2 + 4s + 3 = 0
Lp bng Routh :
1
3
H thng n nh v tt c cc s hng trong ct th nht dng.
Mt s tnh cht ca bng Routh
95
(5.12)

- Khi lp bng Routh, gin n trong tnh ton, c th nhn hay chia cc h
s trong ct vi cng mt i lng, kt qu vn khng thay i.
- Trong trng hp h khng n nh, bao nhiu ln i du ct 1 th c by
nhiu nghim na phi mt phng phc.
- Nu tr s gn cui ct mt bng 0 (C1n = 0) c ngha l nghim kp thun
o. Tr s cui cng s khng tnh c v rn+1 = . Nu tr s cui cng bng 0
(C1n+1 = 0) th phng trnh c trng c mt nghim bng 0 v an = 0.
- Nu cc h s ca mt hng bng 0, h c nghim phi hoc cp nghim nm
trn trc o.
5.3.2 Tiu chun Hurwitz
Pht biu tiu chun.

iu kin cn v h tuyn tnh n nh l h s a0 > 0 v cc nh thc
Hurwitz dng.
Thnh lp nh thc Hurwtiz.
nh thc Hurwitz lp t ma trn h s theo quy tc sau:
- Theo ng cho ca ma trn, vit cc h s t a1 n an.
- Pha trn ng cho, cc h s tng dn, pha di gim dn.
- Cc h s nh hn a0 v ln hn an u bng 0.
Ma trn c dng nh sau:
1
3 L
a1
a0
0
L
0
a3
a2
a1
L
0
a5
a4
a3
L
0
LL 0
LL 0
LL 0
LL L
LL an
Cc nh thc Hurwitz dng tng ng vi :

1 = a 1 > 0
2 =
a1
a0
a3
= a1a2 a0 a3 > 0
a2
96
(5.13)

a1
3 = a0
0
a3
a2
a1
a5
a4 = a1 (a2 a3 a1a4 ) a32 a0 + a5 a1a0 > 0
a3
.................................................................
n-1 > 0
n = an. n-1 > 0
Lu : Khi kho st tnh n nh vi a0 > 0, nu c h s bt k no m (ai <
0 ) th kt lun l h khng n nh.
Vi iu kin ai > 0 (i = 0,1,2...n) th ch cn xt i > 0 vi i = 2, ... n-1 l
c, v 1 = a1, n = an. n-1.
Ch : Tiu chun n nh Hurwitz ch l mt dng biu din khc ca tiu chun
Routh. N ch dng vi h thng c phng trnh c tnh bc thp (di bc 4).
5.3.3 Mt s trng hp ca tiu chun Routh Hurwitz
Hai trng hp c bit c th xy ra:

- Xut hin s 0 ct th nht.
- Xut hin mt hng ton s 0.
a) Trng hp th nht: S 0 ct th nht
Nu c s 0 ct th nht th vic to ra hng tip theo s chia cho s 0.

trnh trng hp ny ta gn mt gi tr thay th s 0. Sau dng tnh
ton v xt du cho ( ).
V d: Xc nh tnh n nh ca hm truyn h kn sau:
T (s) =
10
s + 2 s + 3s 3 + 6 s 2 + 5 s + 3
5
Lp bng Routh v xt du
97
(5.14)

=+ = -
s5
s5
s4
s4
s3
7/2
s3
s2
6 7
s2
6 7
s1
6 2 + 42 s 42
12 14
s1
6 2 + 42 s 42
12 14
s0
s0
Nhn bng xt du c trong hai trng hp = th ct th nht i du hai ln

c ngha l phng trnh c tnh c hai nghim nm bn phi trc o. Do vy h
thng trn l khng n nh.
b) C mt hng ton s khng
Khi gp trng hp ny ta u tin ta quay li hng pha trn hng c ton s 0

v thnh lp mt a thc ph m s dng cc gi tr ca hng lm h s. a
thc bt u vi lu tha ca s ct k hiu s v b bin tip theo v thc hin h
bc a thc ph.
V d: Xc nh s nghim nm bn phi trc o ca h kn sau:
T (s) =
10
s + 7 s + 6s + 42 s 2 + 8s + 56
5
(5.15)
Lp bng Routh
s5
s4
s3
7
0
1
1
42
56
12
0 0
s2
s1
1/3
s0
a thc ph : P(s) = s4 + 6s2 + 8
(5.16)
98

Ly vi phn a thc (5.16)
dP ( s )
= 4 s 3 + 12s + 0
ds
(5.17)
S dng cc h s trong a thc 5.17 thay th hng c ton s 0. Sau khi

thay v tnh ton ta thy ct u tin cc h s u dng do vy khng c im
cc no nm bn phi trc o.
5.3.4 S dng tiu chun Routh Hurwitz thit k s n nh
Cho h thng sau:
E(s)
R(s)
+
C(s)
K
s ( s + 7)( s + 11)
Hnh 5.1 : H thng c h s khuch i K cha bit

Tm phm vi ca h s khuch i K h thng n nh, khng n nh hay
bin gii n nh.
Gii:
Hm truyn ca h kn l
T (s) =
K
s 3 + 18s 2 + 77 s + K
(5.18)
Thnh lp bng Routh

s3
77
s2
18
s1
1386 K
18
s0
Gi thit K > 0. Cc phn t trong ct u tin u dng ngoi tr hng s1. Gi

tr c th dng, m hay bng khng tu thuc vo gi tr ca K.
Nu K < 1386 th tt c cc phn t ca ct u tin u dng, khng c s
i du do vy cc im cc nm bn tri trc o. Vy h thng n nh vi K <
1386.
99

Nu K > 1386 th phn t hng s1 m v trong ct u tin c s i du hai
ln do vy c hai nghim nm bn phi trc o v mt nghim nm bn tri trc o.
iu ny c ngha l h thng khng n nh khi K > 1386.
Nu K = 1386 th s xut hin s o hng s1 quay li hng s2 v thay K = 1386.
Sau lp a thc ph
P(s) = 18s2 + 1386
(5.19)
Ly vi phn
dP( s )
= 36 s + 0
ds
(5.20)
Thay cc h s trong a thc 5.20 vo bng Routh

s3
77
s2
18
1386
s1
s0
36
1386
Nhn xt:
- Cc phn t trong ct th nht u dng v khng c s i du.
- a thc c bc chn (s2) c hai nghim nm trn trc o v nghim cn li nm
bn tri trc o.
Do vy h thng bin gii n nh khi K = 1386.
5.4 Xt n nh cho h c m t ton hc di dng m hnh trng thi.
Cho h thng c m hnh trng thi l nh sau:
x& = A x + Bu
y = C x + Du
(5.21)
iu kin cn v cho h thng n nh l cc gi tr ring ca ma trn

A phi nm bn tri trc o ca mt phng phc.
Trong tr ring ca ma trn A c tm bng cch gii phng trnh.
det(sI - A) = 0
(5.22)
V d 1: Cho h thng c m hnh trng thi:

1
0
0
x& =
x + u
2 3
5
y = [1 0]x
100
(5.23)

1
1 0 0
Ta c: det( sI A) = s
=
= s ( s + 3) + 2 = s 2 + 3s + 2 = 0
0 1 2 3 2 s + 3
C hai nghim l: s1 = -1 v s2 = -2, y l cc gi tr ring ca ma trn A. V
cc gi tr ring ny u nm bn tri trc o cho nn h thng n nh.
V d 2: H thng c m t ton hc nh sau:
0
x& = 2
10
y = [1 0
3
8
5
0 ]x
1
1 x +
10
0 u

0
Tm xem c bao nhiu im cc nm trn, bn tri v bn phi trc o.

Gii:
Tnh det(sI - A):

s
3
1
3
1
1 0 0 0
det( sI A) = s 0 1 0 2
8
1 = 2 s 8 1
0 0 1 10 5 2 10
s+2
5
= s 3 6s 2 7 s 52 = 0
Thnh lp bng Routh

1
s3
s2
-6
-7
-3
s1
-47/3 -1
s0
-26
-52 -26
0
T bng Routh ta thy trong ct u tin i du mt ln, h thng c mt

im cc nm bn phi v hai im cc nm bn tri trc o suy ra h thng
khng n nh.
101

Bi tp chng 5
1. Cho phng trnh c tnh ca h thng
a) A(s) = s5 + 2s4 + 5s3 + 6s2 + 8s + 6
b) A(s) = s4 + 5s3 + 7s2 + 9s + 1
Dng tiu chun Routh xt n nh ca h thng.
2. H thng c hm truyn sau
T (s) =
1
s + 8s + 3s 4 + 11s + 9
4
Dng tiu chun Hurwitz xt n nh ca h thng.

3. Xt n nh ca h thng theo h s K
4. Cho h thng sau m t bng phng trnh trng thi nh sau

0
x& = 0
1
y = [1 0
0
10
0
1 x + 0 u
0
2 3
1
0]x
Tm xem h thng c bao nhiu im cc nm trn, bn tri v bn phi trc

o.
102
CHNG 6: CHT LNG H THNG

6.1 M u
Trong chng 5 ta xt n nh ca h thng l c tiu u tin ni rng
h thng c hot ng hay khng, cn cht lng qu trnh qu mi cp

n h thng c s dng c hay khng. C th y ta xem xt n sai s
trng thi xc lp v cch thc iu khin. Mt khc h thng iu khin c
thit khi phi cn bng gia p ng thi gian nh mong mun, sai s trng
thi xc lp v cc yu cu v s n ng ca h h thng.
Trc ht xem xt sai s trng thi xc lp l g?
Sai s trng thi xc lp (steady-state error) l s sai lch gia tn hiu vo
i vi tn hiu th u vo khi t .
Cc tn hiu th u vo c s dng thit k v phn tch sai s xc lp
r(t)
Tn hiu bc thang n v r(t) = 1
1
s
(c trng cho hng s v tr)

t
r(t)
Tn hiu c sn dc r(t) = t
t
1
s2
(c trng cho hng s vn tc)
r(t)
1
1
r (t ) = t 2 2
2
s
Tn hiu bc hai (Parabol)
(c trng cho hng s gia tc)
Hnh 6.1: Cc tn hiu th

ng dng i vi h thng n nh. S sai lch gia u vo v u ra ca
h thng iu khin phn hi sau khi trng thi n nh t c. Trong
chng ny ch xt n h thng n nh m p ng t do tin v khng khi t
.Vic tnh ton sai s trng thi xc lp c th p dng sai cho h thng
103

khng n nh. V vy khi phn tch v thit k ta phi kim tra tnh n nh ca
h thng.
Ta c hai dng sau:
T(s) l hm truyn ca h kn, E(s) l sai s, C(s) l tn hiu u ra, G(s) l
hm truyn ca h h.
- Sai lch gia u vo v u ra thun tu T(s) (hnh 6.2 a)
- Sai lch trong h thng phn hi n v G(s)(hnh 6.2 b)
R(s
C(s)
E(s)
R(s
E(s)
C(s)
G(s)
T(s)
b)
a)
Hnh 6.2: Cc dng phn hi

Ngun gc gy sai s
Rt nhiu sai s trng thi xc lp l do t cc ngun phi tuyn nh l khe

h trong hp s hay ng c s khng chy khi c s vt qu in p.
Nu G(s) trong hnh 6.2b l h s khuch i K th sai s E(s) = R(s) C(s). Xt
h thng vi tn hiu u vo l tn hiu bc thang n v. trng trng thi xc
lp, nu c(t) = r(t) th e(t) = 0. Nhng K l h s khuch i thun nn sai s e(t)
khng th bng khng c, n nht nh tn ti trong h thng. Nu ta gi
csteady-state l gi tr xc lp ca u ra v esteady-state gi tr xc lp ca sai s th
csteady-state = Kesteady-state
(6.1)
6.2 Sai s trrng thi xc lp (SSE) cho h thng phn hi n v

Sai s trng thi xc lp c th c tnh t hm truyn vng kn ca h
thng T(s) hoc t hm truyn ca vng h G(s) trong h thng phn hi n v.

6.2.1 SSE i vi T(s)
T hnh 6.2a) ta c:
104

E(s) = R(s) C(s)
(6.3)
V
C(s) = R(s)T(s)
(6.4)
Thay cng thc 6.2 vo 6.1 ta c

E(s) = R(s)[1 T(s)]
(6.5)
Ta cn tm e() ta p dng nh l gi tr xc lp c tnh ton t bin i

Laplace
[ ]
L f& (t ) = f& (t )e st dt = sF ( s ) f (0)

0
s0
f& (t )dt =
(6.6)
f () f (0) = lim sF ( s ) f (0)
s 0
f () = lim sF ( s )
hay
s 0
Nn ta c
e() = lim
e(t ) = lim
sF ( s ) = lim
sR( s )[1 T ( s )]
t
s 0
s 0
(6.7)
V d: Tm sai s trng thi xc lp ca h thng sau
R(s
5
T (s) = 2
s + 7 s + 10
C(s)
E(s)
Hnh 6.3: H thng c sai s trng thi xc lp vi T(s)

Vi tn hiu u vo l tn hiu bc thang on v.
Gii:
Tn hiu vo R(s) = 1/s

Thay R(s) v T(s) vo cng thc 6.5
s 2 + 7s + 5
E ( s ) = R ( s )[1 T ( s )] ==
s (s 2 + 7 s + 10 )
(6.8)
V T(s) l n nh nn E(s) khng c cc im cc bn phi trc o hay l

nm trn trc o hay l gc to v vy ta c th p dng nh l gi tr xc
lp suy ra
105

e() = 1/2
6.2.2 SSE cho G(s)
Xem xt h thng phn hi hnh 6.2b). Khi hm truyn phn hi H(s) = 1

nn ta c h thng phn hi n v. Thc cht E(s) vn l sai s gia u ra C(s)
v u vo R(s). Do vy ta tm cng thc biu din E(s) sau p dng nh l
gi tr xc lp.
E(s) = R(s) C(s)
(6.9)
M
C(s) = E(s)G(s)
(6.10)
Thay cng thc 6.10 vo 6.9 ta rt ra c

E (s) =
R( s)
1 + G(s)
(6.11)
p dng nh l gi tr xc lp vi gi thit h kn n nh
e() = lim
s 0
R(s)
1 + G(s)
(6.12)
Ta xem xt mi quan h gia h h G(s) v sai s xc trng thi xc lp

ca p ng t do bng cch cho u vo ln lt l cc tn hiu sau:
a) Tn hiu bc thang n v (Step Input) R(s) = 1/s
e() = estep () = lim

s 0
( s)
s1
1 + G ( s)
1
1 + lim G ( s )
(6.13)
s 0
Xt lim G ( s ) nh l h s khuch i mt chiu ca hm truyn mch thun. Khi

s 0
s l bin tn s tin ti khng. c sai s trng thi xc lp bng khng th
lim G ( s ) =
s 0
(6.14)
tho mn c cng thc 6.14 ta biu din G(s) di dng sau

G ( s)
( s + z1 )( s + z 2 )L
s ( s + p1 )( s + p 2 )L
n
(6.15)
Nu n 1 th c t nht mt im cc nm gc to . Nn vic chia cho s

trong min tn s cung nh l ly tch phn trong min thi gian, chng ta
thng ni rng c t nht mt b tich phn trong mch thun.
106

Nu khng c b tch phn no th n = 0 khi ta c
lim G ( s ) =
s 0
z1 z 2 L
p1 p 2 L
(6.16)
Tm li i vi tn hiu vo h thng phn hi n v l bc thang n v th

sai s trng thi xc lp bng khng khi c t nht mt b tch phn trong
mch thun.
b) Tn hiu c sn dc (Ramp Input) R(s) = 1/s2
e() = eramp () = lim
s 0
( s ) = lim
s 1
1 + G ( s)
s 0
1
1
=
s + sG ( s ) lim sG ( s )
(6.17)
s 0
c sse = 0 i vi R(s) = 1/s2 th

(6.18)
lim sG ( s ) =
s 0
tho mn cng thc 6.18 v G(s) c biu din nh (6.15) th n 2 hay

ni cch khc trong mch thun phi c t nht hai b tch phn.
Nu ch c mt b tch phn trong mch thun ta c
lim sG ( s ) =
s 0
z1 z 2 L
p1 p 2 L
(6.19)
Trong trng hp ny sai s s l mt hng s.

Nu khng c b tch phn no trong mch thun th
(6.20)
lim sG ( s ) = 0
s 0
Lc sai s s l v hnng p ng s tch khi c c tnh u vo.

c) Tn hiu bc hai Parabol (Parabolic Input) R(s) = 1/s3
e() = e parabola () = lim
s 0
( s ) = lim
s 1
1 + G ( s)
s 0
1
1
=
2
s + s G ( s ) lim s 2 G ( s )
2
(6.21)
s 0
c sse = 0 i vi R(s) = 1/s3 th

lim s 2 G ( s ) =
s 0
(6.22)
Nh trong trng hp trn tho mn th trong mch thun phi c t nht 3 b

tch phn.
Nu trong mch thun c 2 b tch phn th
107

lim s 2 G ( s ) =
s 0
z1 z 2 L
p1 p 2 L
(6.23)
v sai s s l hng s.
Nu khng c b tch phn no th
(6.24)
lim s 2 G ( s ) = 0
s 0
v sai s s l khng xc nh.

V d 1: SSE i vi h thng khng c b tch phn
Cho tn hiu u vo l 5u(t), 5tu(t) v 5t2u(t) v u(t) l tn hiu bc thang n v

E(s)
R(s
120( s + 2)
( s + 3)( s + 4)
C(s)
Hnh 6.4: H thng khng c b tch phn

Tnh sai s ca h thng trng thi xc lp.
Gii:
u tin phi ch ra h thng kn l n nh

- r(t) = 5u(t) R(s) = 5/s
e() = e step () =
5
5
5
=
=
1 + lim G ( s ) 1 + 20 21
(6.25)
s 0
- r(t) = 5tu(t) R(s) = 5/s2

e() = eramp () =
5
5
= =
lim s G ( s ) 0
(6.26)
s 0
- r(t) = 5t2u(t) R(s) = 10/s3

e() = e parabola () =
1
10
=
=
2
lim s G ( s ) 0
(6.27)
s 0
V d 2: SSE cho h thng c mt khu tch phn
Cho tn hiu u vo l 5u(t), 5tu(t) v 5t2u(t) v u(t) l tn hiu bc thang n v
108

E(s)
R(s
100( s + 2)( s + 6)
s ( s + 3)( s + 4)
C(s)
Hnh 6.5: H thng c mt b tch phn

Tnh sai s ca h thng trng thi xc lp.
Gii:
u tin phi ch ra h thng kn l n nh

- r(t) = 5u(t) R(s) = 5/s
e() = e step () =
5
5
= =0
1 + lim G ( s )
(6.28)
s 0
- r(t) = 5tu(t) R(s) = 5/s2

e() = eramp () =
5
5
1
=
=
lim s G ( s ) 100 20
(6.29)
s 0
- r(t) = 5t2u(t) R(s) = 10/s3

1
10
=
=
2
lim s G ( s ) 0
(6.30)
s 0
6.3 Hng s sai s tnh v loi h thng

6.3.1 Hng s sai s tnh
Ta tip xt h thng phn hi m n v v nh cc thng s m s dng

nh l sai s trng thi xc lp, cc thng s hot ng l h s suy gim, tn
s t do, thi gian xc lp, phn trm qu iu chnh.nh l cc thng s
hot ng i vi p ng thi gian .Cc thng s hot ng sai s trng thi
xc lp c gi l hng s sai s tnh.
Hng s sai s tnh
Ta xc nh c mi quan h gia sse khi tn hiu u vo u(t).

- r(t) = u(t) R(s) = 1/s
e() = e step () =
1
1 + lim G ( s )
s 0
- r(t) = tu(t) R(s) = 1/s2

109
(6.31)

e() = eramp () =
1
lim s G ( s )
(6.32)
s 0
- r(t) =1/2 t2u(t) R(s) = 1/s3

1
lim s 2 G ( s )
(6.33)
s 0
Ta c cc khi nim t gii hn ca mu s gi l cc hng s sai s tnh:

- Hng s v tr Kp
K p = lim G ( s )
(6.34)
K v = lim s G ( s )
(6.35)
K a = lim s 2 G ( s )
(6.36)
s 0
- Hng s vn tc Kv
s 0
- Hng s gia tc Ka
s 0
Khi hng s sai s trng thi xc lp gim th hng s sai s tnh tng.
Sai s trng thi xc lp qua cc hng s sai s tnh
Cho cc h thng sau

R(s)
E(s)
500( s + 2)( s + 5)
( s + 8)( s + 10)( s + 12)
C(s)
R(s)
E(s)
500( s + 2)( s + 5)( s + 6)

s ( s + 8)( s + 10)( s + 12)
C(s)
E(s)
500( s + 2)( s + 5)( s + 6)( s + 7)

s 2 ( s + 8)( s + 10)( s + 12)
a)
b)
R(s)
c)
C(s)
Hnh 6.6: H thng c mt b tch phn

Tm cc hng s sai s tnh v sai s khi cho cc tn hiu u vo chun.
Gii:
Ch ra rng cc h thng kn n nh.

110

Xt hnh 6.6a)
Cc hng s sai s tnh
- Hng s v tr Kp
K p = lim G ( s ) =
s 0
500 2 5
= 5.208
8 10 12
(6.37)
- Hng s vn tc Kv
K v = lim s G ( s ) = 0
s 0
(6.38)
- Hng s gia tc Ka
K a = lim s 2 G ( s ) = 0
s 0
(6.39)
Sai s trng thi xc lp

- r(t) = u(t) R(s) = 1/s
e() = estep () =
1
= 0.161
1+ Kp
(6.40)
- r(t) = tu(t) R(s) = 1/s2

e() = eramp () =
1
=
Kv
(6.41)
- r(t) =1/2 t2u(t) R(s) = 1/s3

1
=
Ka
(6.42)
Xt hnh 6.6b)
Cc hng s sai s tnh
- Hng s v tr Kp
K p = lim G ( s ) =
s 0
(6.43)
- Hng s vn tc Kv
K v = lim s G ( s ) =
s 0
500 2 5 6
= 31.25
8 10 12
(6.44)
- Hng s gia tc Ka
K a = lim s 2 G ( s ) = 0
s 0

111
(6.45)

- r(t) = u(t) R(s) = 1/s
e() = estep () =
1
=0
1+ Kp
(6.46)
- r(t) = tu(t) R(s) = 1/s2

e() = eramp () =
1
1
=
= 0.032
K v 31.25
(6.47)
- r(t) =1/2 t2u(t) R(s) = 1/s3

1
=
Ka
(6.48)
Xt hnh 6.6c)
Cc hng s sai s tnh
- Hng s v tr Kp
(6.49)
K p = lim G ( s ) =
s 0
- Hng s vn tc Kv
K v = lim s G ( s ) =
s 0
(6.50)
- Hng s gia tc Ka
K a = lim s 2 G ( s ) =
s 0
500 2 5 6 7
= 875
8 10 12
(6.51)

- r(t) = u(t) R(s) = 1/s
e() = estep () =
1
=0
1+ Kp
(6.52)
- r(t) = tu(t) R(s) = 1/s2

e() = eramp () =
1
=0
Kv
(6.53)
- r(t) =1/2 t2u(t) R(s) = 1/s3

1
1
=
= 1.14 10 3
K a 875
112
(6.54)

6.3.2 Loi h thng
Xt mch phn hi n v m. Cc gi tr ca cc hng s sai s tnh ph
thuc vo dng ca hm truyn G(s) c bit l s b tch phn c trong mch
thun. Cc loi h thng c nh ngha theo gi tr n mu s hoc s lng
b tch phn c trong mch thun. V vy h thng vi n = 0 l h thng loi 0.
Nu n= 1 hoc n =2 th h thng tng ng l loi 1 hoc loi 2.
R(s)
E(s)
K ( s + z1 )( s + z 2C(s)
)L
s ( s + p1 )( s + p2 )L
C(s)

Ta c bng sau th hin mi quan h gia cc thng s sai s tnh v loi h
thng nh sau
Cng
Loi 0
Loi 0
Loi 0
thc
Hng s
Hng s
Hng s
tnh
sai s
SSE
tnh
u(t)
1
1+ Kp
Kp =
1
constant 1 + K p
tu(t)
1
Kv
Kv = 0
1 2
t u (t )
2
1
Ka
Ka = 0
u vo
Sai s
sai s
Sai s
Kv =
constant
Ka = 0
Sai s
tnh
tnh
Kp =
sai s
0
1
Kv
Kp =
Kv = 0
Ka =
constant
1
Ka
6.4 Cc tham s k thut rt ra t SSE

- Cc hng s sai s tnh c th s dng xc nh cc c tnh ca h
thng iu khin.
- H s suy gim , thi gian qu Ts, thi gian nh (thi gian cc i)
Tp v phn trm qu iu chnh %OS c s dng nh l cc thng
s ca p ng thi gian ca h thng iu khin.
113

- Hng s v tr Kp, hng s vn tc Kv v hng s gia tc Ka c s dng
nh l cc thng s sai s trng thi xc lp ca h thng iu khin. Ta
c th rt ra c nhiu thng tin cha ng trong ccc tnh ca hng
s sai s tnh
V d1: ta c Kv = 1000chng ta c th rt ra cc kt lun sau:
- H thng l n nh.
- H thng l loi 1. Bi v ch c h thng loi 1 mi c hng s Kv xc
nh.
- Tn hiu u vo th l tn hiu xung sn dc V Kv c xc nh nh
l mt hng s xc nh.
- SSE l 1/Kv.
V d 2: ta c Kp = 1000 chng ta c th rt ra cc kt lun g?
- H thng l n nh.
- H thng l loi 0. Bi v ch c h thng loi 0 mi c hng s Kp xc
nh.
- Tn hiu u vo th l tn hiu bc thang n v. V Kp c xc nh
nh l mt hng s xc nh.
- SSE l 1/Kp.
e( ) =
1
1
1
=
=
1 + K p 1 + 1000 1001
(6.55)
V d 3: Thit k h s khuch i thng qua c tnh ca SSE
Cho h thng sau:
R(s)
E(s)
K ( s + 5) C(s)
s ( s + 61 )( s + 7)( s + 8)
C(s)

Tm h s khuch i K bit c 10% sai s trng thi xc lp.
Gii
114

H thng l loi 1, sai s ca h thng th vi tn hiu sn dc
e() = eramp () =
1
= 0.1
Kv
(6.56)
V vy
K v = 10 = lim sG ( s ) =
s 0
K 5
=
678
(6.57)
T cng thc 6.57 rt ra

K = 672
(6.58)
6.5 SSE cho nhiu

Cc h thng phn hic s dng b nhiu hoc cc tn hiu u vo
khng mong mun. u im ca vic s dng phn hi l khng ch n

nhiu, h thng c th c thit k theo tn hiu u vo c sai s nh hoc
bng 0.
Xt h thng sau:
D(s)
R(s)
B iu khin
E(s)
G1(s)
i tng
C(s)
G1(s)
Hnh 6.9: H thng phn hi m c nhiu tc ng

Hm truyn u ra l
C(s) = E(s)G1(s)G2(s) + D(s)G2(s)
(6.59)
M
C(s) = R(s) - E(s)
Thay th cng thc 6.60 vo 6.59 ta c
E (s) =
G2 ( s )
1
R( s)
D( s)
1 + G1 ( s )G2 ( s )
1 + G1 ( s )G2 ( s )
trong :
1
coi l hm truyn quan h gia E(s) v R(s)
1 + G1 ( s )G2 ( s )
115
(6.60)

G2 ( s )
coi l hm truyn quan h gia E(s) v D(s)
1 + G1 ( s )G2 ( s )
tm gi tr xc lp ca sai s, ta p dng nh l xc nh gi tr xc lp
phn trc.
e() = lim
sE ( s ) = lim
s 0
s 0
sG2 ( s )
s
R ( s ) lim
D( s)
s 0
1 + G1 ( s )G2 ( s )
1 + G1 ( s )G2 ( s )
(6.61)
= e R ( ) + eD ( )
trong : eR () = lim
s 0
eD () = lim
s 0
s
R(s)
1 + G1 ( s )G2 ( s )
sG 2 ( s )
D( s)
1 + G1 ( s )G2 ( s )
eR() l sai s ta c th xc nh c.
eD() l sai s do nhiu tc ng ta phi i xc nh.
B iu khin
D(s)
- E(s)
G1(s)
i tng
G1(s)
Hnh 6.10: H thng phn hi nhiu

Gi s tn hiu nhiu l tn hiu bc thang n v D(s) = 1/s
eD () = lim
s 0
sG2 ( s )
D( s) =
1 + G1 ( s )G2 ( s )
lim
s 0
1
1
+ lim G1 ( s )
G2 ( s ) s 0
(6.62)
Sai s trng thi xc lp do nhiu bc thang n v tc ng c th gim

bng cch tng h s khuch i mt chiu ca G1(s) hoc gim h s khuch
i mt chiu ca G2(s).
V d: Tm SSE khi c nhiu tc ng vo h thng sau
116

G1(s)
B iu
R(s)
E(s
D(s G2(s)
i tng
1
s ( s + 25)
1000
C(s)
Hnh 6.11: H thng phn hi m c nhiu tc ngvi cc i tng thc

Gii
H thng l n nh.
p dng cng thc 6.62 ta c
eD ( ) =
1
1
lim
+ lim G1 ( s )
s 0
G2 ( s ) s 0
1
1
=
0 + 1000
1000
(6.63)
Sai s trong trng hp ny t nghch vi h s khuch i ca G1(s). h s

khuch i ca G2(s) l khng xc nh trong v d ny.
6.6 SSE cho h thng phn hi khng phi l n v
R(s)
Ea(s)
G(s)
Ea(s)
C(s)
G(s)
R(s)
H(s)
H(s)
-1
a)
R(s)
Ea(s)
C(s)
b)
G(s)
C(s) R(s)
E(s)
G(s)
1 + G (s) H ( s) G (s)
H(s)-1
c)
d)
Hnh 6.12 : H thng phn hi khng phi l n v

117
C(s)

H thng phn hi khng phi l n v dng b nhiu ci thin hot ng
ca h thng hoc l m hnh vt l ca h thng. Mch phn hi c th l h s
khuch i thun tu hoc l h thng ng hc.
tnh c sai s trng thi xc lp ca h thng phn hi khng phi l
n v, ta bin i a v h thng c mch phn hi n v tnh. Gi Ea(s) l
tn hiu thc t ca i tng v sai s thc t l E(s) = R(s) C(s). Thc hin
bin i s v nh s 6.12d th ta p dng c cch tnh nh trong h
thng phn hi n v.
V d: cho h thng sau
R(s)
Ea(s)
100
s ( s + 10)
C(s)
1
s+5
Hnh 6.13: H thng phn hi khng phi l n v
Tm hng s sai s tng ng vi loi h thng, sse khi tn hiu u vo l tn
hiu bc thang n v.
Gii
- Ch ra h thng l n nh.
- Bin i h thng v dng 6.12d)
G ( s) =
Ta c
100
s ( s + 10)
(6.64)
1
s+5
(6.65)
V
H ( s) =
Tnh hm truyn c sai s thc t l
Ge ( s ) =
G ( s)
100( s + 5)
= 3
1 + G ( s ) H ( s ) G ( s ) s + 10 s 2 50s 400)
(6.66)
H thng l loi 0 v khng c mt b tch phn n trong h thng do vy hng

s tng ng l Kp
118

K p = lim Ge ( s ) =
s 0
100 5
5
=
4
400
(6.67)
SSE l
e( ) =
1
1
=
1+ Kp 1+ 5
( 4 ) = 4
(6.68)
SSE nhn gi tr m c ngha l tn hiu bc thang n v ca u ra ln hn u

vo.
Khi c nhiu tc ng vo h thng
D(s)
R(s)
B iu khin
E(s)
G1(s)
i tng
C(s)
G1(s)
H(s)
Hnh 6.14: H thng phn hi m khng phi l n v c nhiu tc ng

SSE ca h thng e() = r() c() c tnh nh sau
G1 ( s )G2 ( s )
e() = lim sE ( s ) = lim s 1
R( s)
s 0
s 0
1 + G1 ( s )G2 ( s ) H ( s )
G2 ( s )
lim
D
(
s
)
s 0
1 + G1 ( s )G2 ( s ) H ( s )
(6.69)
Trong gii hn R(s) = D(s) = 1/s cng thc 6.69 s l
lim[G1 ( s )G2 ( s )]
s 0
e() = lim sE ( s ) = 1
s 0
[
]
+
lim
1
G
(
s
)
G
(
s
)
H
(
s
)
1
2
s 0

lim G2 ( s )
s 0
[
1 + G1 ( s )G2 ( s ) H ( s )]
lim
s 0
(6.70)
sai s bng khng th
[G1 (s)G2 (s)]

lim
s 0
lim[1 + G1 ( s )G2 ( s ) H ( s )]
s 0
= 1 v
lim
G2 ( s )
s 0
lim[1 + G1 ( s )G2 ( s ) H ( s )]
s 0
119
=0
(6.71)

tho mn 6.71 nu
- H thng n nh.
- G1(s) l h thng loi 1, G2(s) l h thng loi 0 v H(s) l h thng loi 1c h
s khuch i n v.
6.7 nhy
Mc thay i ca cc thng s trong h thng nh hng n hm truyn
ca h thng v hot ng ca n c gi l nhy. nhy bng 0 c coi
l l tng.
V d: ta c hm truyn sau
K
F=
K +a
Nu K = 10 v a = 100th F = 0.091
Nu tng a ln gp 3 ln a = 300 th F = 0.032
S thay i ca thng s l
300 100
= 2 c ngha l thay i 200%
100
S thay i ca hm truyn l
0.032 0.091
= 0.65 c ngha l thay i -65%
0.091
Qua ay ta thy rng nhy ca hm truyn gim khi c s thay i thng

s a.
Vy ta xem nhy l g? nhy l t s gia phn thc thay i ca hm
truyn vi phn thc thay i ca cc thng s khi phn thc thay i ca thng
s tin ti 0.
F
F = lim PF = P F
P 0 P
P 0
FP F P
P
S F :P = lim
(6.72)
nhy ca hm truyn h kn
R(s)
E(s)
K
s(s + a)
Hnh 6.15: nhy i vi h kn

- Tnh nhy ca h kn
120
C(s)

Hm truyn ca h kn
T (s) =
K
s + as + K
(6.73)
nhy
S T :a =
Ks
a T
a
as
=
2
= 2
K
T a
s + as + K s + as + K
2
s + as + K
(6.74)
Vy khi tng K th lm gim nhy ca hm truyn h kn i vi s thay i

ca thng s a.
nhy ca SSE vi tn hiu sn dc u vo
SSE ca h thng l
e( ) =
a
1
=
Kv K
(6.75)
nhy ca e() i vi s thay i ca a l:
S e:a =
a e
a 1
=
=1
e a a K
K
(6.76)
nhy ca e() i vi s thay i ca K l:
S e:K =
K e
K a
=
= 1
e K a K 2
K
(6.77)
Khi thay i thng s K v a lm nh hng trc tip n e(). Khng c s

tng ln hay gim xung ca nhy, du m th hin e() gim khi m K tng.
nhy ca SSE vi tn hiu bc thang n v u vo
Cho h thng sau

R(s)
E(s)
K
( s + a )( s + b)
Hnh 6.16: nhy i vi SSE

SSE ca h thng loi 0 l
121
C(s)

e( ) =
ab
1
1
=
=
1 + K p 1 + K ab + K
ab
(6.78)
nhy ca e() i vi s thay i ca a l:

S e:a =
(ab + K )b + ab 2
a e
a
K
=
=
2
e a ab (ab + K )
ab + K
ab + K
(6.79)
nhy ca e() i vi s thay i ca K l:

S e:K =
ab 2
K e
K
K
=
=
2
e K ab (ab + K ) ab + K
ab + K
(6.80)
Ta thy rng nhy khi c s thay i ca thng s K v a l nh hn nu a

v b u dng. Thc cht, phn hi trong trng hp ny lm gim nhy
ca h thng khi c s thay i ca c hai thng s.
122

Bi tp chng 6
1. Cho h thng phn hi n v sau
1.1Tm sai s tnh sse vi

G(s) =
250
s ( s + 10)
v tn hiu u vo l
a) r ( s) = u (t )
b) r ( s ) = tu (t )
c) r ( s ) = t 2 u (t )
d) Tm qu iu chnh OS% v thi gian qu Ts.
1.2 Tm sai s tnh sse vi
G ( s) =
10( s + 1)( s + 3)( s + 5)

s 2 ( s + 4)( s + 6)
v tn hiu u vo l 20t2.
1.3 Tm gi tr ca hng s K vi
G ( s) =
K ( s + 2)
s 2 ( s + 4)
v tn hiu u vo l 10t2u(t) v sai s trng thi n nh l 0.01.

2. Cho h thng sau
a) Tm Kp, Kv v Ka
b) Tm sai s tnh sse nu tn hiu u vo l 100u(t), 100tu(t) v 100t2u(t).
c) Kiu ca h thng l kiu my.
123

3. Tm gi tr K trong h thng nu bit tn hiu u vo l 100tu(t) v sai s
trng thi xc lp l 0.01
124
CHNG 7 TNG HP H THNG IU KHIN

7.1 Khi nim
Tng hp h iu khin l qu trnh chn cu trc b iu chnh v xc nh
tham s ca n cho h thng lm vic n nh v p ng yu cu t ra.

Xt h thng iu khin c cu trc nh hnh 7.1.
Hnh 7.1: Cu trc c bn ca mt h thng iu khin

Hm truyn ca i tng l Gp(s), c gi thit l bit. Hm truyn t
ca h kn khi s l: Wk ( s ) =
GC ( s ).G p ( s )
1 + GC ( s ).G p ( s )
Trong thc t ngi ta c gng chn cu trc ca b iu khin GC(s) sao cho
hm truyn ca h kn c dng bc hai nh sau:
Wk ( s ) =
02
s 2 + 20 s + 02
h(t) = 1
t =
khi hm qu l:
e 0 t cos 0 1 2 t +
0 1 2
% = 100.e
t qd
1 2
4
4
= ng vi vng gii hn a = 2%
0
Bng %
0,9
0,8
0,7
0,6
0,5
0,4
0,3
0,2
0,5
4,6
9,5
16,3
25,4
37,2
Trn c s yu cu qu iu chnh ca h thng, ta s chn , sau s

xc nh tham s ca b iu chnh.
125

7.2 Chn b iu chnh
7.2.1 Phn loi cc b iu chnh
a. Theo chc nng
+ B iu chnh t l P: W(s) = kP
+ B iu chnh tch phn I: W(s) =1/Tis
+ B iu chnh t l tch phn PI: W(s) =kP + 1/Tis
+ B iu chnh t l vi phn PD: W(s) =kP + Tds
+ B iu chnh t l vi tch phn PID: W(s) =kP + 1/Tis + Tds
b. Theo cch ghp ni gia cc phn t.
Theo cch ni ghp gia cc phn t ta c th phn ra lm 3 dng:

+ Ni tip
+ Song song
+ Hn hp
PI ni tip: GC(s) = (T1s +1)/Tis
PI song song: GC(s) = kP +1/Tis
PI hn hp: GC(s) = kp (1+1/Tis)
c. Theo bn cht vt l
Theo bn cht vt l, b iu chnh c phn thnh cc loi sau:

+ B iu chnh in t.
+ B iu chnh kh nn.
+ B iu chnh thu lc.
+ B iu chnh hn hp. Bao gm s kt hp gia cc b iu chnh in t,
kh nn v thu lc.
7.2.2 Phng php Ziegler- Nichols.
a, Phng php 1. Gi s i tng c hm qu nh hnh 7.2. Tham s
ca b iu chnh c chn nh sau:

B iu khin
Hm truyn
KP
KP
T/
PI
KP(1+1/Tis)
0,9T/
126
Ti
3T/
Td

PID
KP(1+1/Tis +Tds)
1,2T/
2T/
0,5T/
Phng php ny c s dng hiu qu khi tho mn iu kin: 01 < /T <

0,6
Hnh 7.2: c tnh qu

b, Phng php 2.
Cho h thng iu khin c cu trc nh hnh 7.3.

Thay i K ca b iu chnh P sao cho h thng lm vic bin gii n
nh, khi K = kgh. Tn hiu ra y c dng dao ng vi chu k Tgh.
y
x
-
G(s)
Hnh 7.3: S cu trc c h s khuch i K

Thng s ca b iu chnh PID c xc nh theo kgh v Tgh nh sau:
B iu chnh
Hm truyn
KP
KP
0,5kgh
PI
KP(1+1/Tis)
0,45kgh
0,83Tgh
PID
KP(1+1/Tis +Tds)
0,6kgh
0,5Tgh
Ti
7.2.3 Tiu chun phng
Gi thit i tng c hm truyn: G ( s ) =

127
k
1 + sTb
ns
1 + sT
j =1
Td
0,125Tgh

Tj l hng s thi gian tri ca i tng, ns s hng s thi gian tri ca i
tng, Tb tng cc hng s thi gian b ca i tng.
S h thng iu khin c cu trc nh hnh 7.4.
X(s)
GC(s)
Y(s)
G(s)
Hnh 7.4: Cu trc iu khin c phn hi n v

Cu trc ca b iu chnh c chn nh sau: G ( s ) =
1
sTi
nC
(1 + sTCj )
j =1
Tham s ca b iu chnh c xc nh theo iu kin: nC = nS v TCj = TJ.

Sau khi b , h h c hm truyn: Wh ( s ) =
Hm truyn ca h kn: Wk (s) =
Wh (s)
=
1 + Wh (s)
k
sTi (1 + sTb )
1
1+
1
Wh (s)
1
sT (1 + sTb )
1+ i
k
Ta c: Wk2 ( j) =
1+
Ti Ti
2
2Tb + ....
kk
iu kin h ti u l: Wk ( j) 1
B qua cc thnh phn bc cao ca , cho thnh phn th 2 bng khng ta c:
Ti/k = 2Tb, suy ra Ti =2kTb.
Cu trc v tham s ca b iu chnh c xc nh theo bng di y.
n
B iu
chnh
PI
2
3
Hm truyn
Tn
TV
(sTn+1)/sTi
T1
PID
(sTn+1)(sTV +1)/sTi
T1
T2
PID2
(sTn+1)(sTV+1)(sTV2+1)/sTi
T1
T2
128
TV2
Ti
2kTb
2kTb
T3
2kTb

V d:
Cho i tng c hm truyn t l
G( s) =
10
(50 s + 1)(10 s + 1)(0,5s + 1)(0,01s + 1)
Thit k b iu khin theo tiu chun phng.

Tng hng s thi gian b l: Tb = 0,5 + 0,01 = 0,51
Cc hng s thi gian tri ca i tng l T1 = 50, T2 = 10.
V i tng c hai hng s thi gian tri cho nn ta chn cu trc ca b
iu khin l PID. Cc tham s c xc nh nh sau:
Tn = T1 = 50
Tv = T2 = 10
Ti = 2*k*Tb = 2*10*0,51 = 10,2
7.2.4 Phng php tng hng s thi gian (Kuhn).
Cho i tng c hm truyn: G ( s ) = k dt
B ( s ) s
e
A( s )
Trong :
B(s)= (1+sTd1) (1+sTd2)(1+sTdm) v A(s) = (1+T1s) (1+T2s)(1+Tns)
T =
i =1
i =1
Ti + Tdi
Cu trc v tham s ca b iu chnh c xc nh theo bng sau:

B iu chnh
Hm truyn
kP
PI
kP(sTn+1)/sTi
Tn
0,5kd T/2
TV
Ti
....
T/2
PID
kP(sTn+1)(sTV+1)/sTi 0,5kd T/3 T/3

t
V d:
Cho i tng c hm truyn t nh sau:
Hng s thi gian tng
T = 50 + 10 + 5 + 2 = 67
129
G( s) =
10e 2 s
(50 s + 1)(10 s + 1)(5s + 1)
T/3

kt = 10
- Nu ta chn b iu khin c cu trc l PI, th tham s ca b iu chnh
c xc nh nh sau:
Kp = 0,5kt = 0,5*10 = 5
Tn = T/3 = 67/2 = 33,5
TI = T/2 = 67/2 = 33,5
- Nu ta chn b iu khin c cu trc PID, th tham s ca n c xc
nh nh sau:
Kp = 0,5kt = 0,5*10 = 5
Tn = T/3 = 67/3 = 22,3
TV = T/3 = 67/3 = 22,3
TI = T/3 = 67/3 = 22,3
Trong thit k, ta c gng chn cu trc b iu chnh cng n gin cng tt,
cho nn ta s chn cu trc ca b iu chnh l PI, nu nh b PI khng p
ng c cc yu cu t ra th ta s chn cu trc PID
7.3 iu khin c v quan st c
Cho h thng c m hnh trng thi nh sau:
x& = A x + Bu
y = C x + Du
H thng c gi l iu khin c nu v ch nu tn ti tn hiu iu

khin u c th a h t trng thi ban u x(0) ti trng thi x(T) trong mt
khong thi gian hu hn T.
H thng l iu khin c nu v ch nu ma trn P = [B AB A2B ...An-1B]
c hng bng n hay ma trn P khng suy bin.
H thng c gi l quan st c nu bin trng thi x(0) c xc nh
khi bit c u v y trong thi gian hu hn 0 < t < T.
H thng l quan st c nu v ch nu ma trn Q = [CT ATCT ... (AT)n-1CT]
c hng bng n hay nh thc ca Q khc khng.
130

Cu hi n tp chng 7
1. Tng hp b iu khin l g?
2. C my cch phn loi b iu khin? Nu chi tit cc cch .
3. Nu cch tng hp b iu khin theo phng php Ziegler-Nichols.
4. Ti sao phi xt tnh iu khin c v quan st c?
131
CHNG 8: H THNG IU KHIN S

8.1 M u
My tnh c th hot ng nh mt b b hay b iu khin trong h thng

iu khin phn hi. Cc qu trnh v h thng c s dng my tnh s, c b
iu khin, c thit b bin i xung u thuc h lp h thng xung s. My
tnh ch nhn d liu ti mt khong thi gian nht nh.Vic pht trin phng
php miu t v phn tch s hot ng ca h thng iu khin c my tnh
l rt cn thit.
H thng my tnh s dng d liu c trch mu trong khong thi gian
xc nh, kt qu l tn hiu c ly mu lin tc. Cc tn hiu c trch
mu c th bin i t min s sang min z theo mi quan h z = e sT. Bin z
trong min tn s phc cng c cc tnh cht tng t nh trong min s Laplace.
Ta s dng hm truyn c bin i z phn tch s n nh v p ng tc
thi ca h thng. V vy chng ta c th xc nh c p ng ca h thng
iu khin c phn hi ca my tnh s m hot ng nh l mt b b hay b
iu khin. H thng iu khin c s dung my tnh s nh sau:
Tn hiu
iu
(digital
My tnh
s
(digital
(digital
B bin
i D/A
B bin
i A/D
(analog
C cu chp
hnh
Qu trnh
cng ngh
(analog)
o lng
Hnh 8.1: S iu khin phn hi c s dng my tnh
132

Ngy nay my tnh s c s dng rng ri trong cng nghip n gi mt
vai tr quan trong trong qu trnh cng nghip, my tnh c s dng vi c
cp chp hnh thc hin cc nhim v iu khin.
My tnh khng c ni trc tip vi c cu chp hnh hay cc qu trnh
m qua b bin i s tng t(Digital/Analog Converter). Chng ta bit tt
c cc con s truyn vo my tnh hay i truyn ra u c thc hin trong mt
khong thi gian thi gian c nh v bng nhau, T c gi l chu k ly mu.
V vy tn hiu ch o s c dng l r(kT). Cc bin r(kT), m(kT) v u(kT) l
cc tn hiu ri rc.
B ly mu l tng l
B trch mu
r(t)
r*(t)
Tn hiu lin tc
Tn hiu
iu
r(kT)
Tn hiu trch mu
My tnh u(kT)
s
m(kT)
u(t)
B bin
i D/A
B bin
i A/D
C cu
chp hnh
Qu trnh
cng ngh
p(t)
o lng
Hnh 8.2: Tn hiu c trch mu s dng trong my tnh s

Tn hiu ra l r*(t), ti nT l thi gian ly mu hin thi v gi tr r*(t) l r(nT),
tng qut tn hiu ra l
r*(nT) = r(nT)(t-nT)
133
(8.1)

r(2T)
r(3T)
r(4T)
r(kT)
r(T)
r(t)
t
0
2T
3T
4T
2T
3T
4T
kT
Hnh 8.3: Tn hiu r(t) c trch mu

Tn hiu khng lin tc m ta quan tm y l dy cc gi tr {rk} cch u
nhau vi rk = r(kT),trong T c gi l chu k trch mu ( hay l chu k
lng t ho ). y l loi tn hiu ch c gi tr ti nhng im {t=kT} k l cc
s nguyn , v ngoi cc im ny th khng c nh ngha . Nu mi gi tr rk
c xem nh tch r(t)(t-T ) th ton b dy {rk} s l :
Lc ny {rk} gi l tn hiu xung .
k =
k =
(rk ) = r (t ) (t kT ) = r (t ) (t kT ) = r (t ) s(t )
s (t ) =
(t kT )
k =
hiu r hn ta xem m hnh trch mu nh sau
134
(8.2)
Hnh 8.4: Tch ca dng sng theo thi gian v tn hiu trch mu
f(t) l dng sng lin tc, s(t) l hm mu c rng xung bng nhau v bng
Tw (c bin l mt hng s), f*Tw(t) l tn hiu u ra.
f T* (t ) = f (t ) s (t ) = f (t ) u (t kT ) u (t kT Tw )
w
(8.3)
k =
k l s nguyn chy t - +, T l chu k trch mu, Tw l rng xung.

Gi s rng Tw rt nh so vi T, f(t) c th coi l hng s trong khong thi gian
trch mu v f(t) = f(kT).
f T* (t ) =
w
f (kT )[u (t kT ) u (t kT T )]
(8.4)
k =
thc hin bin i Laplace

FT* ( s ) =
w
k =
e kTs e kTs T s
1 e T s kTs
=
(
)
f
kT
f (kT )
k
s e
s
s
=
Thay e Tws khai trin
135
(8.5)
FT* ( s ) =
w
k =
(
Tw s )
L
1 1 Tw s +
2!
e kTs
f (kT )
(8.6)
V Tw l b nn
FT* ( s ) =
w
k =
T s
f (kT ) w e kTs = f (kT )Tw e kTs
k =
s
(8.7)
Cui cng thc hin bin i v min thi gian

f T* (t ) = Tw
w
f (kT ) (t kT )
(8.8)
k =
8.2 M hnh gi mu bc khng
Bc cui cng trong vic xy dng m hnh ca my tnh s l m hnh gi

mu bc khng. Nu coi b trch mu l l tng th Tw =1 v xt ti thi im t
= 0 v t = T ta c
1 1 Ts
e
s s
B trch mu
l tng
f(t)
Gh ( s ) =
(8.9)
fh(t)
f*(t)
ZOH
f(t)
t
0
f(kT)(t-kT)
f*(t)
2T
3T 4T
fh(t)
2T
2T 3T 4T
0
T
Hnh 8.5: Tn hiu r(t) c trch mu
136
3T 4T

8.3 Bin i Z
Mc ch ca bin i z l a v hm tryn t cha ng thng tin v h

thng m ta c th phn tch v thit k c s n nh ca h thng.
Thc hin bin i Laplce vi b trch mu l l tng
F ( s ) = f (kT )e kTs
*
Tw
(8.10)
k =0
Thay th z = e Ts
F ( z ) = f (kT )z k
(8.11)
k =0
V d: xc nh hm truyn z ca b ly mu sn dc
i vi tn hiu c sn dc f(kT) = kT
f * (t ) = kT (t kT )
(8.12)
k =0
F ( s ) = kT e kTs
*
(8.13)
k =0
Thc hin bin i z = e Ts
k =0
k =0
F ( z ) = kT e kz = T ke kz = T ( z 1 + 2 z 2 + 3 z 3 + L)
(8.14)
Bin i a v dng zF(z)

zF ( z ) = T (1 + 2 z 1 + 3 z 2 + L)
(8.15)
Ly cng thc (8.15) tr (8.14) ta c

zF ( z ) F ( z ) = ( z 1) F ( z ) = T (1 + z 1 + z 2 + L)
(8.16)
Mt khc
1
= 1 + z 1 + z 2 + L
1
1 z
137
(8.17)

Thay (8.17) vo (8.16)
F ( z) = T
z
( z 1) 2
(8.18)
Nu mun thc hin php bin i z ngc ta c hai cch:

- Phn tch thnh cc phn thc thnh phn.
- H bc phn thc.
V d : Tm f*(t) ca hm F(z) sau
F ( z) =
0.5 z
( z 0.5)( z 0.7)
(8.19)
Thc hin chia cho z v phn tch thnh cc phn thc con
2.5
0.5
2.5
F ( z)
A
B
+
=
=
+
=
( z 0.5)( z 0.7) z 0.5 z 0.7 z 0.5 z 0.7
z
(8.20)
hay
F ( z) =
2.5 z
0.5 z
2.5 z
+
=
( z 0.5)( z 0.7) z 0.5 z 0.7
(8.21)
Tra ngc li
f(kT) = -2.5(0.5)k + 2.5(0.7)k
(8.22)
Tm dng sng f*(t) l tng

f * (t ) =
k =
f (kT ) (t kT ) =
[- 2.5(0.5)k + 2.5(0.7)k ] (t kT )
(8.23)
k =
Nu thay k = 0, 1, 2 v 3 ta c 4 s hng u tin l

f * (t ) = 0 (t ) + 0.5 (t T ) + 0.6 (t 2T ) + 0.545 (t 3T )
Nu thc hin bng cch chia lin tip ta c
138
(8.24)

0.5 z 1 + 0.6 z 2 + 0.545 z 3
z 2 1.2 z + 0.35
0.5 z
0.5 z 0.6 + 0.175 z 1
(8.25)
0.6 0.175 z 1
0.6 0.720 z 1 + 0.21
0.545 z 1 0.21
S dng t s v nh ngha z
F * ( s ) = 0.5e Ts + 0.6e 2Ts + 0.545e 3Ts + L
(8.26)
T min thi gian

f * (t ) = 0.5 (t T ) + 0.6 (t 2T ) + 0.545 (t 3T ) + L
(8.27)
8.4 Hm truyn t
Ta c dng ca tn hiu
f (t ) =
f (kT ) (t kT )
(8.28)
k =
Tn hiu trch mu u vo l
r * (t ) = f (nT ) (t nT )
(8.29)
n =0
R(s)
C(s)
G(s)
R(s)
R*(s)
C(s)
G(s)
R(s)
R*(s)
C(s)
C*(t)
G(s)
Hnh 8.6: H thng tn hiu trch mu

p ng xung ca h thng G(s) l g(t), tn hiu ra ca G(s) c th c vit
bng tng cc xung c to ra khi cho tn hiu tc ng u vo.
139
c(t ) = r (nT )g (t nT )
(8.30)
n =0
S dng cng thc 8.11 ta c
C ( z ) = c(kT )z k
(8.31)
k =0
S dng cng thc 8.30 vi t = kT
c(kT ) = r (nT )g (kT nT )
(8.32)
n =0
Thay cng thc 8.32 vo cng thc 8.31 ta c
C ( z ) = r (nT )g [(k n)T ]z k
(8.33)
k =0 n =0
t m = k n
C ( z) =
r (nT )g [mT ]z
( m + n )
m + n =0 n =0
= g [mT ]z m r (nT )g [mT ]z n

m = 0
n = 0
(8.34)
Ti gii hn di m + n m. Mt khc m + n = 0 khi m < 0 v n > 0. Nhng

khi m < 0 th g(mT) = 0, m khng nh hn 0. Bn cnh g(t) = 0 khi t < 0.
p dng nh ngha bin i z ta c
C ( z ) = g [mT ]z m r (nT )g [mT ]z n = G ( z ) R( z )

m = 0
n = 0
(8.35)
V d: Ta c khu gi mu bc khng ghp ni tng vi
s+2
G1 ( s ) =
s +1
hay
1 e Ts s + 2
G ( s) =
s s +1
Tm hm truyn G(z) nu nh chu k trch mu l 0.5s

Gii
V khu z.0.h c mc ni tng vi G1(s) nn ta c th vit nh sau

140
(8.36)

G ( s)
G ( s ) = (1 e Ts ) 1
s
(8.37)
t
G (s) z 1 G 1 ( s)
G ( z ) = (1 z 1 ) z 1 =
z
z s
s
(8.38)
Thc hin bin i Laplace ngc

G2 ( s ) =
G1 ( s )
s+2
A
B
2
1
=
= +
= +
s
s ( s + 1) s s + 1 s s + 1
(8.39)
Bin i Laplace ngc

g 2 (t ) = 2 e t
(8.40)
g 2 (kT ) = 2 e kT
(8.41)
v khi t = kT
Tra bng ta tm c G2(z)

G2 ( z ) =
2z
z
z 1 z e T
(8.42)
Thay T = 0.5 vo 8.42

z
z 2 0.214 z
G1 ( s ) 2 z
G2 ( z ) =
=
=
s z 1 z 0.607 ( z 1)( z 0.607)
(8.43)
Thay vo 8.38 ta tm c G(z)

G( z) =
z 1
z 0.214
G 2 (s) =
z
z 0.607
(8.44)
8.5 S n nh
S khc nhau v s n nh gia h thng iu khin phn hi tng t v s

nh sau
141

Im
Im
Mt phng s
Mt phng z
Re
Re
C
Hnh 8.7: Mt phng phn b s n nh
Trong mt phng phc s th min n nh nm bn tri trc o. H thng c
hm truyn G(s) c chuyn sang min gin on l G(z), min n nh c
xc nh nh sau:
z = esT = e( + j)T = e TT
(8.45)
trong s = + j
bn tri mt phng phc s, <0 tng ng vi 0 < z < 1 th h thng n nh.
V d: cho h thng sau
e*(t)
r(t)
c(t)
G0(s)
Gp(s)
Hnh 8.8: H thng iu khin phn hi c trch mu

Vi T = 1 v
G p ( s) =
K
s ( s + 1)
(8.46)
Thc hin bin i z ta c

G( z) =
K (0.3678 z + 0.2644)
K (az + b)
= 2
2
z 1.3678 z + 0.3678 z (1 + a ) z + a
142
(8.47)

Vi a = 0.3678 v b = 0.2644
im cc ca h thng kn l nghim ca phng trnh q(z) = 1 + G(z) = 0
q(z) = 1 + G(z) = z2 (1-a)z + a + Kaz + Kb = 0
(8.48)
Khi K = 1
q(z) = z2 z + 0.6322
= (z 0.50 + j0.6182)(z 0.50-j0.6182) = 0
(8.49)
H thng n nh v cc nghim u nm trong ng trn n v.

Khi K = 10
q(z) = z2 + 2.310z + 3.012
= (z + 1.155 + j1.295)(z + 1.155 j1.295) = 0
(8.50)
H thng khng n nh v cc nghim nm bn ngoi ng trn n v.

Vi 0 < K < 2.39 th h thng n nh.
8.6 Sai s xc lp
Chng ta xem s nh hng ca vic trch mu n sai s xc lp trong h

thng s. a ra c cc kt lun tng qut v sai s xc lp l rt kh bi
v v tr trch mu c th lm thay i hm truyn t ca h h. Trong phn ny
ta gi thit v tr ca b trch mu nm sau tn hiu sai lch.
E*(s
R(s)
T
C(s)
1 e Ts
s
Gp(s)
Hnh 8.9: Sai s xc lp ca h iu khin s

Sai s trch mu l E*(s) = E(z)
T s ta c
143

E ( z ) = R ( z ) E ( z )G ( z )
R( z )
hay E ( z ) =
1 + G( z)
(8.51)
V p dng nh l v gi tr xc lp
1
1
e * () = lim
(
1
z
)
E
(
z
)
=
lim
(
1
z
)
z 1
z 1
R( z )
1 + G( z)
(8.52)
Nu tn hiu vo l tn hiu bc thang n v

R( z ) =
z
z 1
(8.53)
1
1 + lim G ( z )
(8.54)
Thay R(z) vo
e * ( ) =
z1
Lc hng s sai s tnh l

K p = lim
G( z)
z 1
(8.56)
1
1+ Kp
(8.57)
Vit li theo Kp
e * ( ) =
Nu tn hiu vo l tn hiu c sn dc th
R( z ) =
Tz
( z 1) 2
(8.58)
Sai s l
e ( ) =
trong
Kv =
1
Kv
1
lim( z 1)G ( z )
T z 1
(8.59)
(8.60)
Nu tn hiu vo l ng Parabol
144

R( z ) =
T 2 z ( z + 1)
2( z 1) 3
(8.61)
1
Ka
(8.62)
Sai s l
e ( ) =
trong K a =
1
lim( z 1) 2 G ( z )
2 z 1
T
(8.63)
V d: tm sai s xc lp ca h thng khi
G p ( s) =
10
s ( s + 1)
(8.64)
Gii
u tin tm G(s)
G ( s) =
10(1 e Ts )
1
1
Ts 1
=
+
10
(
1
e
)
s 2 s s + 1
s 2 ( s + 1)
(8.65)
Thc hin bin i z
Tz
z
z
+
G ( z ) = 10(1 z 1 )
2
( z 1) z e T
( z 1)
z 1
Tz
= 10
1+
z e T
z 1
(8.66)
i vi tn hiu bc thang n v
e * ( ) =
K p = lim
G( z) =
z 1
1
=0
1+ Kp
(8.67)
i vi tn hiu sn dc
Kv =
1
lim( z 1)G ( z ) = 10
T z 1
e ( ) =
i vi tn hiu Parabol
145
1
= 0.1
Kv
(8.68)

Ka =
1
lim( z 1) 2 G ( z ) = 0
2 z 1
T
146
e ( ) =
1
=
Ka
(8.69)

Bi tp chng 8
1. Tm f(kT) ca cc hm truyn z sau:

a, F ( z ) =
z ( z + 1)
( z + 1)( z + 2)
b, F ( z ) =
( z 0.5)( z 0.7)
z ( z 0.5)( z 0.7)
2. Tm hm truyn G(z) t cc hm truyn trong min phc G(s) vi T =

0.5s
( s + 1)( s + 2)
s+5
b, G ( s) =
( s + 1)( s + 3)
( s + 3)( s + 4)
s+2
30
c, G ( s ) =
d, G ( s ) =
2
s +1
( s + 2)( s + 4s + 13)
a, G ( s ) =
3. Tm hm truyn G(z) ca cc h thng sau:
4. Tm K h thng sau l n nh.
5.Tm hng s sai s tnh sse ca h thng sau
Nu tn hiu u vo l
a, u (t )
b, tu (t )
c,
1 2
t u (t )
2
147

Ti liu tham kho
[1] Norman S.Nise, Control System Engineering, Addision-Wesley
Publishing Company, 1995.
[2] Richard C.Dorf, Robert H.Bishop, Modern Control System, Tenth
Edition, Pearson Prentice Hall, 2005.
[3] Nguyn Don Phc, L thuyt iu khin tuyn tnh, Nh xut bn
Khoa hc v k thut, 2004.
[4] Phm Cng Ng, L thuyt iu khin t ng, Nh xut bn Khoa hc
v k thut, 2006.
[5] Nguyn Phng, Nguyn Th Phng Giang, C s t ng ho s dng
trong ngnh c kh, Nh xut bn Khoa hc v k thut, 2005.
[6] Nguyn Hoi Nam, Bi ging l thuyt iu khin t ng, i hc K
thut cng nghip Thi Nguyn.
[7] Lng Thanh Bnh, Bi ging l thuyt iu khin t ng, i hc S
phm k thut Vinh.
148

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Gio trnh L thuyt iu khin t ng 1

CHNG 1 : M T MT H THNG IU KHIN T NG

Gio trnh L thuyt iu khin t ng 1

Hnh 1.2: S tng qut h thng iu khin t ng

Hnh 1.3: S nguyn tc iu khintheo sai lch

Gio trnh L thuyt iu khin t ng 1

Hnh 1.4: S nguyn tc iu khin b nhiu

Hnh 1.5: S nguyn tc iu khin hn hp

Gio trnh L thuyt iu khin t ng 1

Gio trnh L thuyt iu khin t ng 1

Gio trnh L thuyt iu khin t ng 1

Bc 2: V s khi chc nng. Chuyn i s miu t c tnh h

Gio trnh L thuyt iu khin t ng 1

Bc 4: S dng s nguyn l thit lp s khi hoc graph tn

Bc 6: Phn tch v thit k.

Gio trnh L thuyt iu khin t ng 1

Gio trnh L thuyt iu khin t ng 1

Hnh 2.1 : S phn chia h mt h thng iu khin thnh cc h thng

Hnh 2.2 : S mt h thng iu khin tng qut

Hnh 2.3 : S khu khuch i tnh

Gio trnh L thuyt iu khin t ng 1

Hnh 2.4: S khu khuch i tng

Vi Ti l thi gian tch phn

TD l hng s thi gian vi phn

trong : K l h s truyn ca khu

thng thng nm.

Gio trnh L thuyt iu khin t ng 1

- e st l ht nhn ca php bin i.

- Nu f(t) l hm gc c ch s tng th tch phn I = e st f (t )dt s hi t

trong min Re(s) = > . Khi I = e st f (t )dt = F ( s ) s l mt hm phc.

Gio trnh L thuyt iu khin t ng 1

p dng cng thc bin i ta c

p dng bin i tm nh Laplace ca hm f(t) = 4t2

b) Bin i Laplace ngc:

Gio trnh L thuyt iu khin t ng 1

trong A, Aki, Bk, Ck l cc hng s. ak l im cc thc bi rk v k + j k l

V d 1: Tm hm gc f(t) ca nh Laplace sau

Ta thc hin chia t s cho mu s cho n khi s d cn li c bc ca t

Gio trnh L thuyt iu khin t ng 1

Thc hin bin i Laplace ngc c s dng bng bin i Laplace

S dng phng php phn tch X ( s) =

Nghim ca mu thc l ring bit nn tng phn thc s c bc l 1.

tm K1 ta nhn (2.) vi (s+1) tch K1 ring ra

Sau cho s - 1, rt ra c K1 = 2. Lm tng t v cho s - 2 ta rt ra

Thc hin bin i Laplace ngc ca X(s) ta c

Nu bc ca t nh hn bc ca mu ta thc hin tm cc h s Ki nh sau:

Gio trnh L thuyt iu khin t ng 1

tm K2 ta nhn hai v ca (2.) vi (s + 2)2

Thc hin bin i Laplace ngc ta c

Tng qut cho trng hp ny

thc hin c phi c iu kin bc ca t nh hn bc ca mu v c r

Gio trnh L thuyt iu khin t ng 1

Trng hp 3: Mu thc c nghim phc hay nghim o. Gi s mu s ca

F(s) c th phn tch thnh cc phn thc nh sau

D dng tm c K1 = 3/5 khi cho s 0. tm K2 v K3 ta quy ng phn

Thc hin ng nht thc hai v ta c

T bng tra nh ca tch hm m v hm sin v cos

Cng hai cng thc trn ta c

Ta a cng thc (2.) v dng trn

Gio trnh L thuyt iu khin t ng 1

Tra bng ta tm c hm gc nh sau

K1 d dng tnh c v bng 3/5.

Tng t ta tm c K3 l nghim phc lin hp ca K2.