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L i th a:
Nh bi t, v i Matlab, cng vi c h c t p mn KT tr nn r t n gi n v th v . Tuy nhin, i ph v i k thi, d b n l m t ng i h c r t t t l thuy t nh ng khng ch tr ng n cch lm bi v n c th b i m th p. m t l n b nh th , ti nh ph i b ra m t kho ng th i gian c th thch nghi v i cng vi c t t nhin c a SV: thi c ! Trong bi ny, ti trnh by v i cc b n 2 bi ton r t c b n c a l thuy t KT . V bi u Bode. Thi t k m t khu r i r c. T t nhin, chng s c trnh by gi i v i Caculator, ti s d ng FX570MS.
V gi n
L thuy t xu t b n
Bode bin
c trnh by chi ti t trong sch LT KT HQG tp H Ch Minh trang 112-113. nh
v i s tr gip c a FX570MS
1 B c 1: Xc nh t t c cc t n s gy [i ! v x p Ti chng theo tr t t t ng d n
B c 2: Dng FX570MS Mode 2 (CMPLX) nh p hm truy n c n kh o st, ch thay b ng A*i. Vi c kh o st s c n cc t n s gy, ta ch n gi n thay chng ki m sot vi c v ng hay sai. Xt v d sau lm r i u :
V gi n
Bode bin
v i s tr gip c a FX570MS (v d 1)
V bi u Bode bin g n ng c a h th ng c hm truy n:( thi h c k 2 n m 2004-2005)
[1 ! 1, [2 ! 10, [3 ! 100
Nh n xt: Hm truy n c m t khu tch phn l t ng
V gi n
Bode bin
v i s tr gip c a FX570MS (v d 1)
Nh p s li u nh sau: (Tnh b ng
20logAbs(100(Ai+10)(Ai)(Ai+1)(Ai+100)) (Ti l y A l bi n s trong v d trn) Vi c ti p theo, b n nh n phm Calc, sau thay A b ng cc gi tr Calc: A? 0.01 = 60 Calc: A? 1 Calc: A? 10 Calc: A? 100 Calc: A? 1000 = = = = 17 -17 -42 -80
V gi n
Bode bin
cb n Bode
v i s tr gip c a FX570MS (v d 1)
V gi n
Bode pha
v i s tr gip c a FX570MS
Trn, ti trnh by cch v Bode bin , cn cch v Bode pha, s n y ti c ng xin d n ra:
Trong gio trnh KT , ta khng th y h ng d n cch v Bode pha, m t m t v cc b c ti n hnh c a n h i r c r i, m k t qu cho c ng khng th t chnh xc (Khng m b o sai s nh Bode bin (<=3dB)). Cch v n hay th ng lm v i SV l th cc gi tr c a t n s v l y gi tr t ng ng. Th ng, SV l y ArcTan hm thch h p, v i l thuy t t trang 112S d. Th t ra, ta c th dng ch c n ng Argument c a FX570MS tnh ton.
V gi n
Bode pha
v i s tr gip c a FX570MS
C s l thuy t:
l l N [ ! G j[ ! Arg G j[ ! Gi j[ i !1 i !1
N [
! Ni [
i !1
N [
! Arg Gi j[
i !1
V gi n
Bode pha
v i s tr gip c a FX570MS
L u :
Xt v d sau
r h n:
V d 1
V bi u
V gi n
Bode pha
v i s tr gip c a FX570MS (V d 2)
Nh p hm kh o st nh sau:(
nv:
arg(Ai+10)-0.5A*180/pi-arg(Ai)-arg(Ai+1)-arg(Ai+100)
Cng vi c ti p theo:
Calc Calc Calc Calc Calc Calc Calc Calc Calc A? A? A? A? A? A? A? A? A? 0.01 0.1 0.5 1 2 10 20 50 100 -90.8 -98.05 -128 -158 -200 -421 -697 -1580 -3000
V gi n
Bode pha
ng g p:
v i s tr gip c a FX570MS
Cc sai l m th
Khi lm vi c v i hm m , khng a v d ng T m v n d ng arg(exp(-Tj )), b n l u l hm m mi n s ph c c chu k tu n hon l 2 . Khi lm vi c v i hm m qun chuy n n v t rad sang deg. Khng phn r cc tch c a hm truy n thnh cc t ng Arg khi g p m t s hm b t th ng gy sai k t qu . Vi c tnh ton khi th cc gi tr r t nhanh, khng m t nhi u th i gian, ch kho ng 3-5 hon thnh bi Bode pha.
K t lu n v ph
ng php v Bode:
Nh phn tch trn, vi c v Bode khng ph i l cng vi c qu kh kh n, tuy nhin, n l cng vi c n ng v ton h c, v n u b n r t thnh th c v i cch v b ng tay, dng l thuy t trang 112-113(S d), khi b n xc nh cc khu c a hm truy n, c th b n s khng m t th i gian khi v Bode bin (kho ng 3), tuy nhin, v i b n khng c n xc nh cc khu c a hm truy n, v n c th v c m khng c tr c tr c g, b n nn nh r ng cch v m yu c u ch l v g n ng. Th t ra, ti c th v chnh xc n 99% gi n Bode n u dng FX570MS. Lc , ti ang lm l i ci cng vi c c a m t chi c my, v ti ch t ngh , lm t t cng vi c c a m t ci my th c g ph i t ho
Kh o st h r i r c dng PP Kg tr ng thi:
y c ng l m t d ng bi t p r t th ng hay g p trong cc k thi, ti c ng th dng FX570MS gi i: Ti l y v d trong sch gio trnh r(t)
+-
e(t)
T e(kT)
ZOH
G s
C(t)
10 G s
! s 2
s 3
a. Thnh l p h ph b. Tnh p ng c a h (nhn qu )
T ! 0.1s
Kh o st h r i r c dng PP Kg tr ng thi:
B c 1: M t cch my mc, ta tm h lin t c: ER(s) c cc ma tr n A, B,D m t C(s)
G s
0 B! 10
0 4 A! 6 5
Ch r ng h ph
C ! 1 0
t ! Ax t Ber t x c t ! Dx t
Kh o st h r i r c dng PP Kg tr ng thi:
B c 2: Tnh ma tr n qu .
s5 s 2
s 3
1 * s
! sI A
! 6 s 2
s 3
Cch tm ma tr n ngh ch o:
s 2 s 3 s s 2 s 3 1
Kh o st h r i r c dng PP Kg tr ng thi:
V i Aij l det m t ma tr n vung c p n-1 c tnh b ng cch:
Aij ! 1
i j
a11 a12 a1 j a1n a21 a22 a2 j a2 n ai1 ai 2 aij ain an1 an 2 anj ann
B i hng i, c t j
Kh o st h r i r c dng PP Kg tr ng thi:
Tnh
* t
! InverseLaplaceTransform * s
3e 2t 2e 3t * t
! 6e 2t 6e 3t e 2 t e 3 t 2e 2t 3 t 3e
i c
Kh o st h r i r c dng PP Kg tr ng thi:
1. Nghi m m u s l nghi m th c n..
F s !
Num s
Den s
Ts A
Ts s
Ms s
s si
i !1 k
d dX
Ms A
X X i
, A i !1
k
p Calc p A ? X i p ni
ni e X i t
i !1
Kh o st h r i r c dng PP Kg tr ng thi:
2. Nghi m m u s l nghi m th c kp:
F s !
Num s Den s
Ts s
Ms s
s si
i !1 k 2
Ts X k Ms X X X j j !1 j {i
p Calc p X ? X i p mi1
mi1t mi 2
e X it
i !1
Ts X d , A p Calc p A ? X i p mi 2 k 2 dX Ms X X X j j !1 j{i
Kh o st h r i r c dng PP Kg tr ng thi:
3. Nghi m m u s l nghi m ph c lin h p: s1,2= - j
F s
! Num s
Den s
! Ts s
Ms s
s E i
Fi2
2 i !1
2
Ts A
Mode p 2 p * A !
s E i Fi2 F s !
Ms A
A E j
F 2 j
2 i !1 j {i
Kh o st h r i r c dng PP Kg tr ng thi:
Ti l y m t v d
A 5
n gi n
lm r v n
ny:
F s
!
s 5 s 1 s 3
2
d X 1 X 32 X 2 2 9 , A dX
s 2 9
X 5
2
X 1 X 2
9
p Calc p X ?3 p m1 ! 0.4
d X 5 , A p Calc p A ?3 p m2 ! 0.23 2 dX X 1 X 2 9
Mode p 2 p
t
A5
A 1 A 3
r i
Kh o st h r i r c dng PP Kg tr ng thi:
Tr l i v d c a bi ton r i r c, by gi ta tnh cc ma tr n Ad,Bd,Dd : B c 3: M t cch my mc, ta th Ad =
T
(T)
Bd ! * X BdX ! 0.042
0
0.779
Dd ! D ! 1 0
x k 1 ! Ad Bd Dd x k Bd r k
c k ! Dd x k
Kh o st h r i r c dng PP Kg tr ng thi:
Dng ch c n ng ma tr n c a FX570MS:
Mode v3times
p 2 MAT
Shift p 4 p 1edit
p 1 A
p m ? 2 p n ? 2 p ... Shift p 4 p 1edit
p 2 B
p m ? 2 p n ?1 p ... Shift p 4 p 1edit
p 3 C D
p m ?1 p n ? 2 p ...
Shift p 4 p 3 Mat p 1 A ' ' p Shift p 4 p 3 Mat p 2 B 'v ' p Shift p 4 p 3 Mat p 3 C
Kh o st h r i r c dng PP Kg tr ng thi:
Ta tm c ph ng trnh tr ng thi: Nh p ma tr n A l ma tr n v a tm c. Gn ma tr n C=(0 0)T sau gn ma tr n Ans l ma tr n C.(r rng, c th dng t i ma tr n c p 3, t c o hm c p 3)
n y, ta gi i xong bi ton kh o st h r i r c dng pp kg tr ng thi, tuy cc b c tnh u c th dng Caculator, nh ng b n ph i th c hnh vi l n th m i mong c th lm khng sai st.
V ti xin nh c l i r ng, y ch l bi n php i ph v i thi c , b n c n ph i c s tm hi u thch h p khi dng Matlab. Hi n t i, ti s d ng ch ng trnh matlab 7.0 v Mathematica 5.0, cc ch ng trnh trn ph c v r t t t cng vi c tnh ton.
N u b n c h ng th trao i v i ti v ph ng php dng Caculator gi i cc bi t p trong thi c cc mn tr ng H xin g i mail v a ch h p th : buitrunghieu@khvt.com, r t vui lng trao i kinh nghi m s d ng v i b n.