LI KHC LI, NGUYN NH HIN

GIO TRNH
IU KHIN S

NH XUT BN KHOA HC V KTHUT

H NI 2007

Gio trnh iu khin s

LI NI U
Cun gio trnh iu khin s c vit da trn cng chi tit
mn hc iu khin s hin ang dng cho sinh vin ngnh iu khin
t ng - Trng i hc K thut cng nghip, ng thi cc tc gi c
tham kho v iu chnh cho ph hp vi chng trnh o to phn kin
thc c s bt buc i vi khi cc trng k thut ngnh in c
Hi ng ngnh thng qua thng 2/2004.
Sch c th c dng lm ti liu chnh cho sinh vin ngnh iu
khin t ng, ngoi ra sch cn c dng lm ti liu tham kho cho
sinh vin cc ngnh khc v cho hc vin cao hc in.
Trong qu trnh bin son, khng trnh khi cn nhiu sai st, cc tc
gi mong nhn c kin ng gp ca ng nghip v bn c.
Cc tc gi

Gio trnh iu khin s

CHNG 1
NHNG KHI NIM C BN V IU KHIN S
1.1. KHI NIM
Tu theo tnh cht ca tn hiu m h thng iu khin t ng c
phn thnh h lin tc v h gin on.
Nu tt c cc phn t trong h thng c tn hiu truyn i l lin tc
gi l h thng lin tc.
Nu trong mt xch iu khin c mt khu tn hiu truyn i l gin
on gi l h thng gin on.
Trong bt k h gin on no cng c mt phn t lm nhim v
chuyn tn hiu lin tc thnh gin on, qu trnh gi l qu trnh
lng t ho.
H iu khin s bao gm h thu nhp x l tn hiu vi x l, vi iu
khin, cc h thng ln c my tnh s... S khi ca mt h iu
khin s c ch ra trn hnh 1.1.

H thng iu khin s bao gm hai loi khu c bn:

- Khu c bn cht gin on: Cc tn hiu vo v ra trng thi u
gin on v thi gian v mc. Khu ny m t cc thit b iu khin
digital.
- Khu c bn cht lin tc: M t i tng iu khin. Vic gin
on ho xut pht t m hnh trng thi lin tc ca i tng.

Gio trnh iu khin s

- B bin i A/D: lm nhim v bin i tn hiu t tn hiu tng

t sang tn hiu s.
- B bin i D/A: lm nhim v bin i tn hiu s sang tn hiu
tng t.
- B iu chnh c th l vi x l (P), c th l vi iu khin (C).
1.1.1. B bin i A/D
M hnh qu trnh bin i tn hiu lin tc thnh tn hiu gin on
nh hnh 1.2

Vic bin i t tn hiu lin tc thnh tn hiu ri rc gi l qu

trnh ct mu, thng thng khong thi gian ct mu l khng i. Gia
hai ln ly mu lin tip nhau, b ct mu khng nhn mt thng tin no
c. Phn t lu gi s chuyn i tn hiu c ly mu thnh tn hiu
gn lin tc, tim cn vi tn hiu trc, khi n c ly mu. Phn t
lu gi y n gin nht l phn t chuyn i tn hiu mu thnh tn
hiu c dng bc thang v khng i gia hai thi im ly mu gi l
phn t lu gi bc khng.
1.1.2. B bin i D/A
Tn hiu s c x l t my tnh hoc t h VXL cn phi chuyn
sang tn hiu tng t iu khin khu chp hnh. V vy cn c b
bin i t tn hiu s sang tn hiu tng t gi tt l D/A. M hnh b
chuyn i D/A nh hnh 1.3.

Gio trnh iu khin s

1.2. TN HIU V LY MU TN HIU

1.2.1. Ly mu tn hiu
Trong h thng iu khin s tn ti hai loi tn hiu: Tn hiu lin
tc v tn hiu ri rc, trong khi tn hiu a vo i tng iu
khin v tn hiu o lng l tn hiu lin tc. a tn hiu vo
my tnh s ta phi bin i tn hiu t lin tc sang ri rc.
Ta xt tn hiu lin tc nh hnh v hnh 1.4a, ta chia trc thi gian
thnh nhng khong bng nhau t1 =t2= t3 = = T, tn hiu s c
ly mu ti nhng khong thi gian . Sau ly mu tn hiu c gi tr ti
nhng im ri rc nT.

Vi cch ly mu nh trn th hm x(t) c m t bi chui s sau:

x(T), x(2T), x(3T),... x(nT). N cho bit gi tr ca hm lin tc x(t) ti
nhng im ri rc 0, T, 2T,... nT. Gi tr hm x(t) im khc c c
bng phng php ni suy. Trong thc t khu iu khin v i tng

Gio trnh iu khin s

iu khin l tng t v vy tn hiu ri rc li c khi phc li thnh

lin tc. Nu tn hiu lin tc c gi khng i trong sut thi gian
gia hai ln ly mu, gi l qu trnh lu gi bc khng.
1.2.2. Cc c tnh ly mu
B ly mu l tng c m t nh hnh v hnh 1.5
B ct mu s to ra mt dy xung n v t mt tn hiu thi gian
lin tc. Gi thit thi gian tc ng ca cng tc ngn hn nhiu khong
thi gian gia hai ln ly mu. Khi , gi tr ca hm ly mu u ra
ca cng tc s l gi tr tc thi ca hm lin tc x(t) khi kho K ng.

c hnh nh ton hc r rng v qu trnh ly mu ta c th xem

b ly mu nh mt cng c thc hin php nhn tn hiu x(t) vi hm
ly mu S(t), tng ng vi vic iu ch tn hiu. Trong hm ly
mu S(t) ng vai tr l sng mang v n c iu ch bi tn hiu vo
(t).
X(nT) = S(t).x(t)
T biu thc trn ta thy hm ly mu tt nht l xung n v (t-nT)
c rng bng v cng b, chiu cao v cng ln vi tng xung lng
bng 1.
Trong thc t cc b ly mu c mt khong thi gian tc ng nht
nh, cc xung ly mu c mt din tch nht nh. V vy trong nhiu
trng hp ta thay xung ly mu c din tch n v thnh xung ly mu
c din tch A. Ta ch c th xem hm ly mu l dy xung n v khi
hng s thi gian ly mu nh hn hng s thi gian ca h thng.
Gi thit hm ly mu l chui xung n v c biu din bi:

Gio trnh iu khin s

trong :
x(nT) l gi tr ca hm x(t) ti thi im ly mu nT;
(t-nT) l mt xung n v ti thi im nT.
Chuyn sang ton t Laplace
x* (p) = x(nT)e-nTP
Vy bin i Laplace ca b ly mu c thi gian ly mu bng nhau
v chuyn mch ca n c i din bi chui xung n v l mt tp
v hn.

1.3. KHU NGOI SUY D LIU

Gio trnh iu khin s

Nhim v ca khu ngoi suy gi liu l xy dng li hm c

ly mu thnh mt tn hiu lin tc da vo cc hm ly mu trc .
Trong h thng iu khin s khu ngoi suy gi liu thng tip ngay
sau b ly mu.
Cn c vo kh nng s dng s mu trc d on hm
c ly mu v ta chia khu lu gi thnh hai loi:
+ Lu gi cp khng (Zero Hold Order - ZOH): vi ZOH tn hiu
c phc hi ch ph thuc vo hm c ly mu ti thi im bt
u ca chu k ly mu. Lu gi ZOH c th coi tng t nh my kho
in t, n duy tr mc in p u ra bng bin xung u vo v sau
t lp li khi c xung mi t vo.
+ Lu gi cp l(First Hold Order - FOH tn hiu c khi phc li
ph thuc vo mu trc .
Thng thng trong iu khin s thc t ngi ta khng s dng
khu ngoi suy gi liu bc 1, v chng to ra s qu chm pha trong h
thng iu khin c hi tip. Mt khc lm tng nh hng ca nhiu
tng phc tp v gi thnh sn phm.
1.3.1. Khu lu gi bc khng (Zero Order Hot - ZOH)

u v ca khu ZOH l xung Dirac, u ra l tng t.

Gio trnh iu khin s

a) Hm s truyn
xy dng hm truyn ca khu ZOH ta da vo cc ng dng.
p ng xung ca ZOH l xp chng ca hai hm nhy (hnh 1.8), mt
hm dng tc ng ti t = 0 v hm m tc ng ti t = T (T l chu k
ly mu).

thy c nh hng ca ZOH trong h thng iu khin c hi

tip, ta hy v p ng tn s ca n.
b) p ng tn ca ZOH
G(s) =

1
(l e-TS)
s

Thay s =j

Gio trnh iu khin s

T ta v c c tnh bin v pha ca khu ZOH nh hnh 1.9.

Nhn xt:

10

Gio trnh iu khin s

11

Hm truyn ca khu qun tnh bc khng tng t c tnh b lc

thng thp vi tn s ct 2/T.
Khi thm mt khu ZOH th h thng b chm pha iu ny c th
lm cho h thng hi tip n nh dng lin tc tr thnh mt n nh
sau khi ly c mu.
1.3.2. Khu lu gi bc mt (First Order Hold - FOH)

u vo l xung Dizac u ra l hm bc nht c dc c xc

nh t hai mu trc .
Hm truyn ca khu lu gi bc mt c xc nh tng t nh
hm truyn ca khu lu gi bc khng. p ng xung c miu t nh
hnh v:

Gio trnh iu khin s

12

Hm truyn ny dng xt nh hng ca khu lu gi bc mt

trong h thng iu khin c hi tip.
* c tnh tn ca khu lu gi bc mt.

tm c tnh tn ca khu lu gi bc mt ta thay s = j

* p ng bin v pha ca khu FOH Hnh ( 1.12)

Gio trnh iu khin s

13

Nhn xt:

c tnh tn ca khu lu gi bc mt gn ging vi khu lu gi

bc khng.
dch pha ca khu lu gi bc mt ln gn gp 2 ln khu lu gi
bc khng.
V d : tn s = 2/T, khu lu gi bc khng to ra lch pha
180 Trong khi khu lu gi bc mt to ra lch pha -2790
0

Vi dch pha ln s nh hng n s n nh ca h thng, mt

khc n c th lm tng nhiu cho h thng tn s cao. V vy khu lu
gi bc cao t c s dng trong khu lu gi hi tip.
Tuy nhin n u im l c kh nng ti to hon ho nhng hm c
o hm bc cao. Hin nay trong k thut ch yu l dng lu gi bc
khng.
1.4. Phn loi h thng iu khin s

H thng iu khin s c phn thnh ba loi:

- H thng iu khin n: l h thng c th c nhiu u vo
nhng ch c mt i tng iu khin.
- H thng iu khin a knh: C nhiu i tng iu khin
nhng nhng i tng khng lin quan n nhau.
- H thng iu khin nhiu chiu: C nhiu i tng iu khin
v cc i tng ny c lin h vi nhau.
1.5. u nhc im ca h thng iu khin s

Mi loi iu khin u th hin nhng u nhc im. Tuy nhin

vic so snh gi iu khin s v iu khin tng t s cho ta thy
nhng im mnh v im yu ca b iu khin s, gip ta chn b
iu khin mt cch chnh xc v hp l.
1.5.1. Hn ch ca iu khin tng t v cc u im ca iu
khin s

Thng s ca cc linh kin in t d b tri v thay i, do vy xut

Gio trnh iu khin s

14

hin in p lch, tri u ra b iu khin, thut ton (do iu kin

mi trng). Vic kh cc hin tng ny i hi phi xy dng cc
mch b tn km, phc tp. Trong khi trong k thut s c 2 mc 0, 1
c trng cho trng thi c in hoc khng c in do vy t chu nh
hng ca yu t ny.
Cc linh kin tng t thng nhy vi nhiu: do bn thn(c bit
l nhit sinh ra khi lm vic) hoc nhiu k sinh bn ngoi nh nhit
ca mi trng. V nhit th b bin i l ngun gy nhiu ln nht.
Tuy nhin k thut s c cc phng php chng nhiu nh k
thut tng t nhng ngi ta thng dng k thut lc s cho php loi
b nhng im bt thng m khng nh hng n gii thng ca
mch.
Vic truyn dn thc hin tng t gp kh khn v s suy gim tn
hiu v nhiu (ng truyn, trong khi k thut s vi khong cch hp
l iu ny khng xy ra).
Linh kin k thut tng t cng c tnh cht khc nhau v tn s khi
c sn xut hng hot do vy km n nh v l ngun gy nhiu.
Vic thc hin mt s chc nng nh nh, tr k thut tng t
gp kh khn. Tuy nhin li n gin vi k thut s.
Cui cng l do tnh phc tp ca vic thc hin cc b iu khin
kinh in l rt t. Chc nng tng t c th c thc hin bng mch
t hp v cn n nhiu linh kin ri, vic hiu chnh thng s v thc
hin mch chng tn nhiu thi gian v cng sc, cn c nhiu tip im
lm gim tin cy ca cc mch tng t. Vi mc phc tp m
mch tng t tr nn bt hp l th mch s tr nn n gin.
1.5.2. u im ca iu khin tng t v nhc im ca iu
khin s

K thut iu khin tng t c cc u im ni bt m khi chuyn

sang k thut s ta phi lu gii quyt. Nhng iu ny cn ch khi
thit k h thng iu khin, c bit l h iu khin truyn ng in.
a) Tc ng nhanh

Gio trnh iu khin s

15

Cc hin tng in t trong my in v b bin i thng xy ra

rt nhanh v c th ph hu ton b h thng nu xy ra s c. K thut
iu khin tng t tc ng gn nh tc thi trong khi cc c cu s tc
ng c thi gian. Trong iu khin s, vn thi gian tc ng c
t ra theo cc gc khc nhau tu theo bi ton c th.
i vi cc b bin i chm, v d b chnh lu tiristor lm vic vi
li 50Hz trong trng hp ny iu khin c coi nh rt l tng c
th thc hin cc chc nng bo v v iu chnh c thc hin bng b
vi x l c tnh nng thng thng.
i vi cc b bin i tc ng nhanh nh b bm (iu khin tn
s, bin tn) lm vic tn s hng chc kHz. trong trng hp ny b
VXL tc ng rt nhanh cng phi lu c bit v phi d tnh cc
chin lc iu khin da trn cc gii php phn cng v phn mm.
- Gii php phn cng: tng tc ng nhanh ta thng dng
hai gii php:
+ S dng cu trc lai (tng t v s);
+ S dng cu trc hon ton s (v b VXL lm vic song song),
VXL chuyn dng thc hin cc chc nng c bit.
Gii php phn mm: Theo quan nim tin hc v iu khin t ng
hc.
Tin hc: Phn mm phi c tinh cht cu trc, s dng ngn ng gn
vi ngn ng my (assembly) hoc ngn ng cp cao nhng cng c c
tnh ca hp ng nh ngn ng C. Trong mi trng hp nhng kh
khn ring ca vic lp trnh l vn v thi gian thc, tc ng nhanh
v an ton.
iu khin: Vic m hnh ho h thng (Z) n gin trong h thng
1 bin vo, 1 bin ra. Trong trng hp my in c th, l my in
ng b, khng ng b l phi tuyn v nhiu bin, mt s bin nh
mmen, t thng rto, dng in trong dy qun cn rto l khng o
c. V mt thng s ch yu ca my in nh in tr rto ca ng
c khng ng b khng phi l hng s.

Gio trnh iu khin s

16

b) Tc ng lin tc

Cc linh kin tng t c s tc ng nhanh v lin tc trong khi

cc linh kin s lm vic vi cc i lng ri rc.
a s i lng vt l trong thc t l cc i lng lin tc. iu
khin thun s i hi s dng cc b bin i tng t - s sau b cm
bin. Vic ny t ra vn chnh xc i vi tnh ton trung gian v
i vi cc bin ra tc ng ln c cu chp hnh.
Ngy nay, thng s dng my pht tc v b bin i A/D c di
thng tt hoc thay i chnh xc (s bit) tu theo trng hp s
dng v di tc (tc cao, tc thp, iu chnh tc , iu chnh
v tr). iu ny t ra vn v ly mu bt buc phi c thi gian thc
hin cc php tnh cn thit.
Vn lng t ho cng nhy cm khi lm vic vi mmen nh
trong vic iu chnh mch vng dng in. iu chnh s tnh ton mc
t dng in, mc thp chun dng in ng vi s bnh nh, do
kh xc nh. Nhiu gy ra do vic lng t ho s ln v d to nn s
c, v d to nn dao ng.
c) n gin v thit k h thng tng t

Ta thy rng iu khin tng t mc phc tp th s tr nn

nng n. Tuy nhin, mc thch hp c cu hp l th iu khin
tng t li tr nn n gin v phng din cu trc.
V s hp l ca thit b hoc do cc th nghim chun ho (p ng
iu ho, xung n v), ngi ta tm ra cc m hnh ton lin tc bng
cc phng trnh vi phn, hm truyn t v d dng xc nh c cc
h s khuch i v hng s thi gian ca b iu chnh. Cc m hnh
ny l gn ng nhng cc k s bit r chng c s dng cho cc tnh
ton s b cc b hiu chnh cn cc thng s ca n c th c tip
tc iu chnh bng thc nghim ti ni lp t.
Vic xy dng cu trc da trn vic s dng cc mch vng lng
ghp vo nhau, cho php chia mt bi ton ln thnh nhiu bi ton nh
d dng gii quyt. Trong cu trc ny u ra ca b hiu chnh ng vi

Gio trnh iu khin s

17

mt vng l i lng t cho mch vng bn trong. Cc bin ny l cc

i lng vt l lin tc nh dng in, tc , chng c o bng cc
cm bin tng t. Cc i lng lin tc ny c s dng mt cch
trc tip. Tm li, vic thit k mch iu khin tng t v lin lc ca
h thng dn n cu trc n gin.
iu khin s l iu khin phc tp, cc bin iu khin kh truy
nhp, tr chng trnh phn mm d tnh. Nu ta s dng b vi x l
thc hin nhiu chc nng th cn phi thc hin tm nhn tng th.
u khin s c th lnh hi tinh thn ca iu khin tng t i vi cc
mch vng bn trong nh lm gn ng lin tip, chia ct bi ton ln
thnh nhiu bi ton nh. Nhng vic thc hin bng s khng linh hot
nh iu khin tng t.
Chng trnh phn mm phi x l trn mt khi ton b cc vn
m iu khin tng t gii quyt bng cc mun ring r.
Vic thay i cc h s ca cc b iu chnh s n gin hn nhiu
so vi iu khin tng t. Khi th nghim mch tng t ta c th iu
chnh t t cc thng s mt cch an ton. Trong khi , i vi k thut
s mt li c th gy hu qu nghim trng.
Vic ly mu rt d gy mt n nh v khng phi bao gi cng c
th gi c thng s ca chu k ly mu do nh hng ca thi gian
tnh ton.
1.5.3. Cc u im c tnh cht quyt nh ca iu khin s

+ iu khin my in chuyn sang lai v hon ton s l do cc c

tnh quyt nh ca cc linh kin s. Cc linh kin s cho php cc thao
tc phc tp mt cch rt chc chn.
+ Ngy nay 80% cc linh kin trn th trng l linh kin s. Do vy
xut hin 1 tro lu chung trong k thut l chuyn t k thut tng t
sang k thut s.
+ Cc chng trnh phm mm cho php ti u ho iu khin v
thay i cc tnh nng mong mun. V d nh iu khin mmen hoc
t thng s khng i c th thc hin iu khin lgic. Nhng trong

Gio trnh iu khin s

18

trng hp ny gi thnh t v phc tp tn nhiu thi gian thc hin.

iu khin s c th n gin vn ny.
+ V cc chc nng iu khin c thc hin bng phn mm cho
nn vi cng mt thit b phn cng (mt b vi x l v cc giao din)
c s dng cho mi ng dng. iu ny dn n gim cc chi tit d
phng, do gim gi thnh.
iu khin my in lun nm trong khung cnh t ng ha ton b
h thng. Ngy nay c thc hin bng my tnh vi cng mt cng
ngh s (cng cc b vi x l ) c th thc hin cc mc phn cp t
ng ha khc nhau, lm d dng cc tch hp v ng b ho mi phn
t.
Cc yu t trn y chng t iu khin s l mt bc pht trin
hon ton ph hp vi xu th pht trin ca iu khin t ng v t
ng ho. Ngy nay, iu khin s ngy cng chim u th v lm c s
cho s pht trin ca cc h thng iu khin thng minh
1.6. PHP BIN I Z V NG DNG CC PHP BIN I
Z TRONG NGHIN CU H IU KHIN S
1.6.1. Php bin i z

Trong h xung s (h ri rc) php bin i z gi vai tr quan trng.

Nu c hm lin tc f(t) ta s c hm ri rc f(it) vi chu k ct mu T.
Khi :

Vi (t it) l hm xung Dirac.

Bin i Laplace ca hm f(it) k hiu F*(p).

Gio trnh iu khin s

t:
Z= est ( Vi p l ton t Laplace lin tc ).

Do vy:

F(Z) l bin i Z ca hm f(it) hay f(t).

F(Z) = Z{f(i)}.
V d: Cho hm f(t) = 1(t) ; f(i) = 1(i)

19

Gio trnh iu khin s

1.6.2. Tnh cht ca bin i z

a) Tnh cht dch ca hm gc f(i+1).

b) Tnh cht tuyn tnh:

Z{a.f1(i) + b.f2(i)} = a.F1(z) + b.F2(z)
c) Gi tr u ca hm gc ri rc:

20

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Gio trnh iu khin s

d) Gi tr cui ca hm gc ri rc.

e) Bin i Z ca sai phn: f(i) sai phn tin:.

f(i) = f(i+l) - f(i)

Z { f(i)} = (Z - 1 ).F(z) - Z.f(0)

Z{2f(i)} = (Z - 1 )2.F(z) - Z.(Z - l)f(0) - Z. f(0)
1.6.3. Bin i Z ca khu gi mu

Bin i Z ca khu gi mu khng phi l mt bin i ca p

tuyn xung, cho nn ta khng tm bin i Z ca iu chnh bng thi
gian T, m thc hin bin i Z theo s sau:

Hm thi gian bin i ca khu gi mu l:

g(t) = f(t) - f ( t - T)
vi f(t) l bin i ngc ca

F (s)
s

Nhn hai v ca (1) vi 1/z ta c:

G(z) : F(z) -

F ( z)
Z

Trong F(z) l bin i Z tng ng ca

F ( z)
Z

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Gio trnh iu khin s

Hm truyn t ca khu gi mu H(z) c xem l ( 1 F(z) tng ng -

1
) v hm
z

F ( s)
s

Nu cho F(s) = 1 th: F(z) =

F (s) 1
=
s
s

Tra bng ph lc A ta c:

Ngha l bin i Z ca khu gi mu l mt xung n v, xung

c gi tr bng 1.
1.6.4. Php bin i Z ca khu tr

Xt hai hm ri rc n v, mt hm l hm tr bi xung n v 'T'

t hm kia

Bin i Z c xc nh cho mi hm :

Gio trnh iu khin s

23

Nh vy nhn c bin i Z ca bc tr ta nhn hm khng

1
n cng ng cho hm bt k. Thc cht ca bin i Z ca
tr vi
Z
hm khng tr l bin i ca mt chui ring l trong n thc hin
1
php ton vi n v u tin nhn vi . Thng thng chui ny s
Z
Z
hi t v c cng li. Tng ca mt chui s bng:
Z 1

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CHNG II
M T TON HC H IU KHIN S
2.1 M T TON HC H IU KHIN S BNG S
KHI

Vic xc nh hm truyn theo bin i z ca h thng d liu

c ly mu thng l phc tp v khng c b ly mu gia cc khu.
Do ta khng th xc nh trc tip bng nguyn tc nh trong h iu
khin lin tc m phi phn ra theo Trng hp c th.
2.1.1. Cc khu ni tip c phn bit bi mt b 1y mu ng
b

Bin i z u ra ca b ly mu th hai:
C1(z) = R(z).G1(z)

(2.l)

Bin i z u ra ca b ly mu cui:
C2(z) = C1(z).G2(z) = C(z)

(2.2)

T (2.1 ) v (2.2) ta suy ra:

C(z) = R(z).G1(z).G2(z)= R(z).G(z)
Vi

G(z)= G1(z).G2(Z)

Vy bin i z ca cc khu ni tip c phn bit bi b ly mu

ng b bng tch bin i z ca tng khu ring bit.
2.1.2 Cc khu ni tip khng c phn bit bi b ly mu

25

Gio trnh iu khin s

Xt s cu trc nh hnh v:

Trong , cc khu ni tip khng c phn bit bi b ly mu.

Trong s , khu 2 c iu khin gi tr C1 (t) ti thi im ly
mu v gia cc thi im ly mu.
Bin i Z ca tn hiu u ra l:
C2(z)=R(z). Z{G1 (s)G2 (s)} = R(z).G1G2(z)
trong : G1G2(z) l bin i Z ca hm truyn G1(s).G2(s).
ch : G1.G2(z) G1(z).G2(z)
Tht vy, gi S ta c: G1(s) =

1
1
; G2 (s) =
s+a
s+b

Nu 2 khu c ni vi nhau nh trng hp 1 th:

Nu chng c ni nh trng hp 2 th: G(z) = G1G2(z)

Phn tch thnh phn thc n gin ta c:

Gio trnh iu khin s

Tra bng nh gc:

2.1.3. B ly mu trong knh sai lch

T s ta tnh c hm truyn ca h kn:

E(s) = R(s) - G(s).H(s) E*(s)
V b ly mu l tuyn tnh ta p dng nguyn l xp chng :

2.1.4 B ly mu trong vng hi tip

26

Gio trnh iu khin s

Ta c hm truyn theo bin i Laplace u ra l:

E(s) : R(s) - H(s).C*(s)
C(s) = G(s).E(s) = G(s).R(s) - G(s).H(s).C*(s)
Thc hin bin i Z phng trnh trn ta c:

2.1.5 B ly mu trong vng thun

Ta c: E(s) : R(s) G*(s). H(s).E*(s)

p dng nguyn l xp chng:

27

Gio trnh iu khin s

28

2.1.6 Cc b ly mu ng b v cc khu ni tip trong vng hi

tip

E(s) = R(s) - H(s).G2(s). G'l(s).E'(s) p dng nguyn l xp chng:

Bin i Z ta c:

29

Gio trnh iu khin s

Ch :

Ta c th s dng cc nguyn tc sau cho h ri rc t h lin tc.

+ Nu khng c b ly mu gia u vo R(s) v khu u tin ca
vng thun th khng th tch bit bin i Z u vo ca khu u tin.
Lc , ta c R.G(z), v khng th tnh c hm truyn bin i Z
bng t s tn hiu ra v tn hiu vo.
+ Nu mt khu trong vng thun hay vng hi tip phn bit vi
u vo hay u ra ca h thng v vi cc khu khc bi cc b ly mu
u vo v u ra ca n th n hon ton c lp v bin i Z.
+ Nu mt khu trong vng thun hay vng hi tip khng phn bit
vi khu k cn hay u vo ca h thng bi mt khu ly mu th phi
thc hin bin i z ca hm truyn gia cc khu (hay gia khu vi
u vo).
2.2 PHNG PHP SAI PHN

Cc b iu khin s cn c dng trong h thng, do cn phi

thnh lp quan h gia tn hiu s v tn hiu lin tc. m t h lin
tc, ta s dng phng trnh vi phn. m t h ri rc, ta s dng
phng trnh sai phn. Phng trnh sai phn l xt xp x gn ng
phng trnh vi phn c vit dng thun li cho vic lp trnh trn
my tnh.
Phng trnh sai phn tuyn tnh h s hng bc n c vit di
dng tng qut:
Y(k+n) + an-1y(k+n-l) + an-2y(k+n-2) +...+ a0y(k) = f(k)

(2.9)

trong : y(j) (vi j = k, k+1,...k+n) l cc gi tr ri rc ca bin y ti

thi im ly mu th j nu bin c lp l thi gian.
Tng t trong h lin tc thun tin ta bin i phng trnh

Gio trnh iu khin s

30

trn v phng trnh trng thi ( h bc phng trnh).

t:

Biu din di dng ma trn ta c:

gii phng trnh sai phn tuyn tnh ta c th lp trnh trn my

tnh hoc dng bin i Z.
V d 1 : Xt phng trnh sai phn bc nht: y(k+ 1 ) + y(k) = 0

Hay y(k) = (-1)ky(0) (k = 0, 1, 2, 3... )

V d 2: Cho phng trnh sai phn bc 2

31

Gio trnh iu khin s

y(k+2) + 0,5y(k+l) + 0,2y(k) = u(k)
Vi u(k) = 1

( k : 0, 1, 2, 3,... )

iu kin u: y(0) = 0; y(1) = 0

Ly bin i Z 2 v phng trnh ta c:

Phn tch thnh cc phn thc n gin ta c:

2.3 K THUT BIN TRNG THI

Ta bit h phng trnh tuyn tnh m t h iu khin s bc n

c dng:
X(k+ 1 )=A.X(k)+B.U(k)

(2.11)

C(k) = D.X(k) (tn hiu ra)

trong : A, B, D l cc ma trn;
vi: A,B l cc ma trn ct; D l cc ma trn hng;
C(k) l cc tn hiu u ra; X(k) l cc bin trng thi; U(k) l cc
bin iu khin.
V d: Hy xc nh m hnh bin trng thi cho h c m t bi
phng trnh sai phn:
y(k+2) + 1,7y(k+ 1 ) - 0,72y(k) + u(k)

Gio trnh iu khin s

32

t: x1(k) = y(k) = c(k)

x2(k) = xl(k+ 1 ) = y(k+ 1 )
Ta c: x2(k+l) = y(k+2) = ung + l,7x(k) - O,7xl(k)
H phng trnh trng thi l:

* Quan h gia cc phng php:

xc nh mi quan h gia cc phng php m t h thng iu

khin s ta bt u t vic xt hm truyn bin i Z ca h thng di
dng tng qut.

trong :
Y(z) l tn hiu ra;
U(z) l tn hiu vo;
E(z) l tn hiu sai lch c s dng nh l bin ph m t h
thng.

Gio trnh iu khin s

33

t bin trng thi:

xl(k) = e(k)
x2(k) = xl(k+ 1 ) : e(k+ 1 )
x3(k) = x2(k+ 1 ) : e(k+2)
...
xn(k) = x(n-1)(k+ 1 ) = e(k+n- 1 )
T ta rt ra:
x1 (k + li = x2 (k)
x2 (k + li = x3 (k)
x3 (k + li : x4 (k)
...
xn (k + 1) = -a0xl(k) - alx2(k) - a2x3(k) - - an-lxn (k) + u(k)
Vit di dng ma trn ta c:

xy dng cu trc ca h thng ta chia c t s v mu s cho Zn:

Phng trnh sai phn tng ng :

Gio trnh iu khin s

34

sau y l cu trc ca ton h thng:

V d: Mt h iu khin s c m t bi hm s truyn:

Hy thnh lp h phng trnh trng thi, phng trnh vi phn v s

cu trc ca h thng.
T hm s truyn ta c:

Gio trnh iu khin s

t bin trng thi:

xl(k) = e(k)
x2(k) = xl(k+ 1 ) = e(k+ 1 )
x3(k) = x2(k+ 1 ) = e(k+2) Ta c:

+ Phng trnh sai phn

35

Gio trnh iu khin s

T ta c phng trnh sai phn:

y(k) + 2y(k- 1 ) + y(k-2) + 0,5y(k-3 ) = u(k- 1 ) +2u(k-2) + u(k-3)
+ S khi
T s sai phn ta c:
y(k) = -2y(k- 1 ) - y(k-2) - 0,5y(k-3) + u(k- 1 ) +2u(k-2) + u(k-3)

36

37

Gio trnh iu khin s

CHNG 3
KHO ST N NH V PHN TCH H IU
KHIN S
3.1 KHI NIM

Ta bit, h iu khin s tuyn tnh c m t bi phng trnh

sai phn tuyn tnh c dng tng qut:
any(k+n) + an-ly(k+n - 1 ) +... + a0y(k) u(K)

(3.1)

V c bn, k thut phn tch v nh gi n nh ca h thng

tuyn tnh lin tc c th p dng cho h thng KS tuyn tnh. xt
h thng s n nh hay khng, ta phi gii phng trnh sai phn.
Nghim tng qut ca phng trnh sai phn m t h thng iu khin
s c dng:
y(nT) : y0(nT) + yr(nT)
trong : yo(nT) l nghim tng qut ca phng trnh sai phn thun
nht (phng trnh sai phn c v phi bng 0); yr(nT) l nghim ring
ca PTSP.
Nghim ring yr(nT) biu din trng thi xc lp ca h thng, n
khng nh hng n tnh n nh ca h thng. Nghim y0(nT) m t
c tnh ca qu trnh qu , n nh hng ti tnh n nh ca h. V
vy, xt tnh n nh ca h thng iu khin s ta cn gii phng
trnh sai phn thun nht:

Tnh cht ca nghim ca phng trnh (3.2) c xc nh da vo

nghim ca phng trnh c tnh:
anzn + an-lzn-l +... + a0 = 0

(3.3)

Gi thit phng trnh c tnh c n nghim ring bit, nghim ca

phng trnh sai phn thun nht c dng:

38

Gio trnh iu khin s

Ci l cc hng s c xc nh t s kin ca bi ton. H thng

KS
s n nh khi:

iu kin trn c xc nh thng qua cc c tnh nghim s ca

phng trnh c tnh.
+ Khi zi l nghim thc: zi = ei th iu kin (3.4) tho mn khi i <
0 hayzi < 1
+ Khi zi l nghim phc: zi = e1 + ji = ei e ji h s n nh khi zi <
1
hay e1 < 1 ai < 0
+ Nu z, l nghim thun o zi = e ji , QTQ h thng s c thnh
phn dao ng vi bin khng i.

T nhng phn tch trn ta rt ra kt lun i vi h thng

iu khin s tuyn tnh:

+ H n nh nu phng trnh c tnh ca h c cc nghim thc

hoc nghim phc c mun < 1.
+ H khng n nh nu phng trnh c tnh c mt nghim thc
hoc nghim phc c mun > 1.
+ H bin gii n nh nu phng trnh c tnh c nghim thun
o v cc nghim khc l nghim thc hay phc c mun < 1.
* Mi lin h gia mt phng Z v mt phng S

Mt phng Z lin h vi mt phng S theo cng thc:

Z = esT

(3.5)

Gio trnh iu khin s

39

Hai mt phng ny u l cc lng phc c biu din trn trc

thc v o chi khc ch mt phng Z c th nguyn ca tn s cn mt
phng Z th khng c th nguyn.
Trc o trong mt phng Z ging nh trong mt phng S chng ng
mt vai tr quan trng trong vic nghin cu tnh n nh ca h gin
on.
Trc s o ca mt phng S biu th ca gi tr (j) i t - zero

+ Khi tng t 0 n /T, ng thng t gc n im Z quay

ngc chiu kim ng h v n v ln mt vng trn c bn kinh l:

+ Khi tng t -/T n 0, ng thng t gc n im Z quay

cng chiu kim ng h v n v ln mt vng trn c bn knh l 1.
+ Khi s = 0 suy ra Z = e0 : 1. Khi gc ca mt phng S trng vi
im +l trn mt phng Z.
+ Khi s = suy ra Z = e = 0. Khi gc ca h Z trng vi im ca mt phng S

Nhn thy na tri ca mt phng S (na n nh) c th hin

bng phn trong ng trn n v trong mt phng Z.

Gio trnh iu khin s

40

Trn mt phng S, do tnh cht chu k ca cc c tnh tn s ca h

thng s nn chi cn kho st s phn b nghim s trong di tn t

0
2

0
2

(hnh 3.2a). Trong cc di tn tip theo, vi rng lao s

phn b nghim s hon ton lp li. H thng s n nh khi tt c cc

nghim s ca phng trnh c tnh phn b bn tri trc o. Khi c
nghim nm bn phi trc o, h thng s khng n nh. Trc o l
ng bin gii phn vng n nh trn mt phng S (Tng ty nh h
thng iu khin tuyn tnh lin tc)

Trn mt phng Z, h thng s n nh khi tt c cc nghim s ca

phng trnh c tnh phn b bn trong vng trn n v. H thng s
khng n nh nu c mt nghim no nm ngoi vng trn n v.
Vy, vng trn n v l bin gii n nh trn mt phng Z (hnh 3.2b).

Gio trnh iu khin s

41

3.2 TIU CHUN N NH I S

3.2.1 Tiu chun Rao - Hurvit m rng

Tng t nh h thng iu khin lin tc, h iu khin s, vic

gii phng trnh c tnh ca h thng rt phc tp. V vy, ta tm cc
tiu chun da vo nh gi n nh ca h thng iu khin
s.
Xt h thng KS c phng trnh c tnh:

Thay z =

y +1
vo phng trnh c tinh v bin i ta c:
y 1

Mi quan h gia nghim s ca phng trnh (3.6) trn mt phng y

vi nghim Z ca phng trnh (3.7) nh hnh v. Ta thy:
+ Khi nghim y nm bn tri trc o, |y+1|<|y-1| |z|< 1 tng
ng vi trng hp nghim z nm trong vng trn n v.
+ Khi nghim y nm bn phi trc o, |y+1|>|y-1| |z|> 1 tng
ng vi trng hp nghim z nm ngoi vng trn n v.
+ Khi nghim y nm trn trc o, |y+1=|y-1| |z|= 1 tng ng
vi trng hp nghim z nm trn vng trn n v.

Gio trnh iu khin s

42

Vy khi chuyn t mt phng Z sang mt phng Y, th vic xt n

nh ca h thng cng chuyn t iu kin |z|< 1 sang iu kin tt c
cc nghim ca phng trnh c tnh chuyn i nm bn tri trc o.
Ta c th s dng tt c cc phng php i s hc i vi h tuyn
tinh lin tc xt n nh h iu khin s.
V d l: Xt n nh ca h thng iu khin s c phng trnh c

tnh
alz + a0 = 0
+ Theo nghim ca phng trnh c tnh:

Tac z= -

a0
.
a1

H thng s n nh khi |z|< 1 hay |a0|< |a1|

+ Theo tiu chun i s:

Thay z =

y +1
vo phng trnh c tnh, ta c:
y 1

Gio trnh iu khin s

43

Theo tiu chun i s th h thng c phng trnh c tnh bc 2 s

n nh khi cc h s ca n cng du, tc l: (a1 + a0)(al a0) > 0
V d 2: Xt n nh ca h thng iu khin vng kn hm s
truyn:

+ Theo nghim ca phng trnh c tnh:

Phng trnh c tnh ca h thng l: Z2 - 1,2Z + 0,32

H thng s n nh khi v cc nghim u nm trong vng trn n

v
+ Theo tiu chun i s:

Thay Z =

y +1
vo phng trnh c tnh ta c:
y 1

Theo tiu chun Rao-Hurvit ta c: Bng Rao

1

21

Gio trnh iu khin s

44

1 1,3
21
Ta thy tt c cc s hng ct th nht ca bng Rao u dng.
Vy h n nh.
V d 3. H iu khin s c s cu trc nh hnh 3.4. Xt n
nh ca h

Ta bit hm s truyn ca khu ZOH l:

Hm truyn ca h h l:

Hm truyn bin i Z ca h kn l:

Gio trnh iu khin s

45

Phng trnh c tnh ca h thng l:

(a1 + a0)y + a0 = 0; Aly + A0 = 0

Ta bit iu kin cn v h thng cp 1 n nh l:
Al = a1 + a0 > 0
A0 = a1 + a0 > 0

Ta thy, mun cho 1 - e2T > 0 th cc tham s a ca i tng iu

khin v tham s T ca chu k ct mu s nh hng ti tnh n nh
ca h thng. ng vi 1 cp (a,T) no c th lm cho Al < 0 v h
thng mt n nh. Trong khi , h cp 1 lun lun n nh.
3.2.2 Tiu chun Jury

V nguyn tc, tiu chun n nh Rao-Hurvit m rng c th p

dng cho mi h thng iu khin s. Song i vi h bc cao, vic tnh
ton kh. Khi ngi ta thng dng tiu chun Schur-cohn v tiu

Gio trnh iu khin s

46

chun n nh Jury.
Tiu chun ny cho rng mt h thng d liu c ly mu l n
nh (c tt c cc nghim nm bn trong vng trn n v ca mt
phng Z) nu tt c cc s hng trong cc hng l ct bn tri ca bng
Jury l dng.
Bng Jury c thit lp t phng trnh c tnh:

Trong bng 3.1 ta ch rng: Cc hng chn bao gm cc h s ca

cc hm l m c vit theo th t ngc li. Gi tr hng th 3 c
tnh bng cch ly nh thc bc 2 m s dng ct u tin ca hng u
tin vi mi ct khc ca cc hng ny. bt u t phi qua tri chia cho
h s ai). Nh vy cc s hng c tnh nh sau:

V d: H iu khin s c phng trnh c tnh: Z3 - l,lz2 + o.01Z

+ 0.4 = 0

Gio trnh iu khin s

47

Nhn bng Jury ta thy, cc s hng ct bn tri ca cc hng l l

dng nn h thng n nh.
Ta cng d dng kim tra c tnh n nh ca h thng trn bng
cch gii phng tnh c tnh. Cc nghim l:
Zl = -0,4973; Z2,3 = 0,7897 j0,408
Nhn xt: Cc phng php trn chi cho php chng ta kim tra
nhanh xem h thng c n nh hay khng. N khng cho ta bit v tr
cc nghim trn mt phng Z.
3.3 TIU CHUN N NH TN S

Tt c cc phng php tn s dng kho st h tuyn tnh lin tc

48

Gio trnh iu khin s

u c th c m rng phn tch h iu khin s. th tn s

ca h ri rc c xy dng bng cch thay Z : ejT
3.2.1 Tiu chun Mikhailp m rng

Gi thit h iu khin s c phng trnh c tnh:

Anzn + an-lzn-l +..... + a0 = 0

(3.l0)

Cc nghim ca phng trnh c tinh l Zi. Ta c th vit li

phng trnh:

Trn mt phng Z, mi tha s Z Zi ca (3.11) l mt vect i t

Zi n vng trn n v (hnh 3.5).

Khi : gc ca A(z) l:

Ta xt 2 trng hp c th: Nghim Z, nm trong vng trn n v

v Zt nm ngoi vng trn n v.
+ Nghim Zl nm trong vng trn n v, khi vect Z Zi xut
pht t im A (T = -) quay ngc chiu kim ng h n B (T =0)
v tip tc quay n A (T = ).

49

Gio trnh iu khin s

Nh vy, gc quay ca vect Z Zi l:

+ Nghim Z, nm ngoi vng trn n v, khi vect Z Zi xut

pht t im A (T = -) quay ngc chiu kim ng h n C c gc
1, sau quay theo chiu kim ng h n im D c gc - ri li
quay ngc chiu kim ng h n im A (T = ). Nh vy, gc quay
ca vect Z Zi l:

Suy ra: Khi h thng n nh, cc nghim ca phng trnh c tnh

u nm trong vng trn n v th gc quay ca biu a thc c
tnh l 2n.
Do tnh i xng ca cc nghim phc nn ta ch cn xt tt thay i
t 0 n .
Vy, tiu chun Mikhailp m rng pht biu:
H iu khin s c phng trnh c tnh bc n s n nh nu
biu a thc c tnh ca n quay gc n quanh tm to khi T
thay i t 0 n .
3.2.2 Tiu chun Naiquist m rng

Php bin i Z =

1 + T
1 T

2 c dng v thi BODE cho h

2

KS. Tiu chun n nh Naiquist cho hin lin tc khi chuyn sang
h ri rc.
Ta c: N=Z-s

(3.12)

trong :
N: s vng kn theo chiu kim ng h bao quanh im (-l, j0) ca
ng GH(z) hay G(z)H(z) khi Z ly cc gi tr trn mt phng Z;

Gio trnh iu khin s

50

s: s nghim cc khng n nh ca GH(z) hay G(z)H(z);

Z: s nghim khng n nh ca phng trnh c tnh h kn.
d tr n nh v bin v v pha ca h tuyn tnh lin tc
trong mt phng G(s)H(s) vn p dng c cho mt phng GH(z) hay
HC(z).
V d l: Xt h iu khin s c s cu trc nh hnh 3.6. Hi khi
K = 1 h thng c n nh khng? Tm gi tr cc i ca K h thng
vn n nh?

+ Kho st n nh khi K = 1 :

xc nh n nh ca h thng, ta phi xc nh qu tch ca

GH(z) trong mt phng Z. Vi s trn ta c:

Qu tch ca GH(z) c v trn hnh 3.7. Qu tch ny khng bao

im (-l, j0) nn h thng n nh theo tiu chun Naiquist.

Gio trnh iu khin s

51

+ xc nh gi tr cc i ca K:

T hnh v qu tch ca GH(z) ta thy. khi K tng gp i. qu tch

s i qua im (-l,j0). Vy gi tr cvc i ca K h thng vn cn n
nh l K = 2. d tr n nh v bin l 6(db)
V d 2: Cho h iu s c s nh hnh 3.8. Hy kho st n nh
ca h khi K = l? Tm gi tr cc i ca K h thng vn n nh?
+ Kho st n nh khi K = 1 :

52

Gio trnh iu khin s

+ Xc nh gi tr cc i ca K:

T hnh 3.9 ta thy rng khi tng K ln

1
= 5,88 ln th qu o
0,17

s i qua im (- 1, j0). Vy gi tr cc i ca K h thng vn cn

n nh l K = 5,88. d tr n nh v bin l: 15,39 (db)
3.4 P NG QU CA H THNG IU KHIN S
3.4.1 Khi nim

Cht lng ca h thng iu khin c nh gi trc tip t thi

p ng u ra ca h thng, vi tn hiu u vo l xc nh.
p ng qu ca h thng l p ng u ra ca h khi u vo l
hm bc nhy n v 1(t).
Da vo p ng qu , ta c th tnh c cc thng s v chi tiu
cht lng nh: Sai s xc lp, qu iu chnh, thi gian qu , s
ln dao ng v.v...
i vi h thng lin tc, vic xy dng p ng qu l tm
nghim ca phng trnh vi phn (phng php Runge Kuta) hoc
phng trnh sai phn (Phng php Tustin) hoc dng cc phng php
gin tip (phng php hnh thang), phng php i s (ton t
Laplace), phng php m phng,...

53

Gio trnh iu khin s

Thc t cho thy, tt c cc phng php phn tch p ng qu

v xc lp cho h lin tc u c th p dng cho h ri rc.
Vi php bin i Z, p ng thi gian trong h thng s l tn hiu
c ly mu tng thi im T (s). Cht lng ng ca h iu khin
s c nh gi thng qua cc nghim cc v nghim Zero ca hm s
truyn trong mt phng Z.
Sau y, ta s trnh by hai phng php xc nh p ng qu h
iu khin s l phng php bin trng thi v phng php dng bin
i Z
3.4.2 Phng php bin trng thi

Xt h iu khin s c s cu trc nh hnh 3.10.

i tng, iu khin c hm truyn: G2(s) =

1
s( s + 1)

Phng trnh trng thi m t i tng iu khin l:

(3.13)

Gio trnh iu khin s

54

Nghim ca phng trnh trng thi c xc nh theo cng thc:

tnh tch phn ta i bin t = T -

Phng trnh trng thi phn lin tc dng ri rc l:

Ma trn chuyn trng thi c tnh theo bin i Laplace ngc:

Gio trnh iu khin s

Phng trnh trng thi ca i tng iu khin dng ri rc l:

55

Gio trnh iu khin s

56

H trn l h phng trnh trng thi ca h thng kn ri rc. Sau

y ta s xt p ng ca h thng vi 3 gi tr ca chu k ct mu T =
0,1 ; 1 v 4 (s) Tn hiu vo u(kT) = (vi k = 0, 1, 2, 3... ) vi cc iu
kin u l:
X1(0) = 0; x2(0) = 0
+ chu k ly mu T = 0.l(s)

+ chu k ly mu T = l(s)

Gio trnh iu khin s

57

+ Chu k ly mu T - 4(s)

vi k = 0, 1, 2, 3,... ta xc nh c dy
{y(0), y(4), y(8), y(12)... } = {0, 3.02, -2.01, 5.34, -4.82, 8.6, -8.8... }
Cc ng cong p ng nh hnh 3.12.

Ta thy: Vi chu k ly mu T = 0.1 (s) v T = 1 (s) h thng n

Gio trnh iu khin s

58

nh; vi T = 4(s) h thng khng n nh.

Vy, cht lng h thng s ph thuc mnh vo chu k ly mu
3.4.3 Phng php bin i Z.

Xt h thng iu khin s c s kt hp gia b ly mu v khu

ZOH nh hnh v

Ta s p dng php bin i Z tm p ng qu ca h i vi

hm bc nhy v hm dc.
Gi thit chu k ly mu T = l(s) hm truyn ca i tng l:

Hm truyn theo bin i S ca khu lu gi cp 0 l:

Hm truyn theo bin i S ca h h l:

Tra bng bin i Z ta c;

Vi nh bin i Z u vo l U(z) th nh bin i Z u ra l:

59

Gio trnh iu khin s

y(z) =U(z) G12(z)

a) Khi u vo l hm bc nhy n v:

tm bin i Z ngc, ta khai trin Y(z) thnh chui lu tha:

Tra bng ta c hm ri rc u ra:

b) u vo l hm dc n v: u(t) = t.1(t)

Tra bng ta c U(z) =

TZ
Gi thit chn T = l(s)
( Z 1) 2

Gio trnh iu khin s

60

Khai trin thnh chui lu tha ta c:

T kt qu trn ta thy, khu ZOH c th cho p ng vi sai s xc

lp = 0 khi u vo l hm bc nhy n v v sai s xc lp khc
khng khi u vo l hm dc n v.
V d l: Xt h thng iu khin s c s cu trc nh hnh 3.15.

Bit hm truyn ca h kn l:

Vi R(z) xc nh, hy tnh p ng ra theo 2 cch: - Bin i Z

ngc v - Tra bng bin i Z
p ng ra y(kT) c th xc nh bng cc h s ca Zk Vi k = 1, 2,
3,

Ch : y(kT) ch cha thng tin ly mu ca hm lin tc y(t) ti

ng thi im ly mu. Nu chu k ly mu ln th y(kT) c th khng

Gio trnh iu khin s

61

m t ng hm lin tc y(t).
Gi thit hm truyn ca i tng iu khin l:

+ Chu k ly mu T = 0,001 (s) Hm truyn bin i Z ca vng h

l:

Hm truyn ca h kn l:

y(kT) nhn c bng cch chia t s cho mu s

+ Khi chu k ly mu tng 10 ln (T = 0,01) hm truyn bin i Z

l:

c tnh qu ng vi cc chu k ly mu khc nhau nh hnh v.

Gio trnh iu khin s

62

So snh 2 th ta thy rng, khi tng chu k ly mu, h s km n

nh hn. T cng nh, p ng ca h cng gn ti p ng thc.

+ Cch l: Chia t s cho mu s

+ Cch 2: Phn tch thnh cc phn thc n gin

Gio trnh iu khin s

+ Cch 3: Dng cho bi ton phc tp c dng tng qut:

trong : y(t) = 0 vi i < 0

63

Gio trnh iu khin s

64

Ta tnh c cc h s y(i) khi i = 1, 2, 3,...

Y(0) = 0
Y(1) = 1
y(2) = 2,1 y(1) + 0,4 = 2,5
y(3 ) = 2, 1 y(2) - 1,34y( 1 ) = 3,9 1
y(4) : 2,1 y(3) - 1,34y(2) + 0,24y( 1 ) = 5,101

Sai s xc lp bng 5%. Hy tnh thi gian qu .

Vy thi gian qu l: tq = 15T = 15(s)

3.5. PHN TCH H THNG C MY TNH S

Khi s dng my tnh iu khin qu trnh, ta thc hin c

nhiu thut ton iu khin phc tp, do cht lng iu khin c
nng cao. Do vy n c s dng ngy cng rng ri. S h iu
khin c my tnh s nh hnh 3.17.

C hai k thut phn tch h thng iu khin c my tnh s: K

thut bin trng thi v k thut hm s truyn.

Gio trnh iu khin s

65

3.5.1. K thut hin trng thi

Phng trnh ca my tnh s l phng trnh sai phn c dng tng

qut:

trong : el(kT) l tn hiu vo ca my tnh s; e2(kT) l tn hiu ra

ca my tnh s. kT l cc thi im ri rc vi thi gian ly mu T.
Chuyn phng trnh sai phn v phng trnh trng thi ta c:

V d l: C phng trnh sai phn sau:

H phng trnh trng thi l:

Gio trnh iu khin s

66

V d 2: Cho h thng iu khin bng my tnh c s nh hnh

3.18. bit phng trnh sai phn m t lut iu khin trong my l:

T phng trnh sai phn, ta c phng trnh trng thi:

Phng trnh trng thi ca i tng iu khin l lin tc tng

1
l:
ng vi hm s truyn: Wdt =
( s + 1)( s + 2)

T h phng trnh trng thi lin tc, ta c phng trnh trng thi
ri rc:

Gio trnh iu khin s

67

Hai knh phn hi m c hm s truyn l k1 v K2s

e1(t) = u(t) - Kly(t) - K2y(t)
T phng trnh trng thi i tng iu khin ta c:

Kt hp cc phng trnh ta xc nh c h phng trnh trng thi

ca h thng c my tnh s. n gin biu thc trn trc ht ta vit
li:

T h phng trnh trng thi ca h thng, ta c th tnh v v c

cc p ng trng thi xl(kT); X2(kT); X3(kT)
3.5.2 Dng hm truyn bin i Z

Xt h thng iu khin s nh hnh 3.19:

ng vi phng trnh sai phn ca my tnh ta c hm truyn t

68

Gio trnh iu khin s

bin i Z l:

Bin i Z ca tn hiu ra l:

Bin i Z ca tn hiu phn hi l:

Thay vo (3.23) ta c hm truyn ca h kn c my tnh s:

T ta c th xt n nh h thng v tnh qu trnh qu .

3.6 B IU KHIN PID S

Ta bit b iu khin PID tng t bao gm 3 khu:

- Khu t l c hm truyn K
- Khu tch phn c hn truyn

Ki
s

- Khu vi phn c hm truyn Kds

69

Gio trnh iu khin s

Trn c s ta cng c b iu khin PID s nh hnh v.

i vi khu tch phn s, c nhiu cch thc hin.
v d theo phng php tch phn hnh thang ta c hm truyn bin
i Z l:

Khu vi phn c th xp x:

Chuyn sang bin i Z ta c:

K d ( Z 1)
TZ

(3.30)

Hm truyn ca PID s l:

V d: Cho h thng iu khin s c hm truyn t ca i tng

l:

Gio trnh iu khin s

70

Hm truyn t bin i z ca h thng h l:

Hm truyn t h kn khi khng c PID l:

Nu c thm PID vi Kp = 1 ; Ki = 0,997; Kd = 0 th hm truyn ca

b iu khin PID l:

Khi hm truyn ca h h bao gm PID; HOLD, T l:

Ta c th xc nh c hm truyn ca h thng kn ng vi b
iu khin PID. Hnh di l c tnh qu khi khng c PID v khi c
PID vi cc gi tr khc nhau.

Gio trnh iu khin s

71

72

Gio trnh iu khin s

CHNG IV

TNG HP H IU KHIN S
4.1 TNH IU KHIN C V QUAN ST C CA
H IU KHIN S
4.1.1 Tnh iu khin c v quan st c ca h thng tuyn
tnh lin tc

H thng c gi l iu khin c nu vi mt tc ng vo ta
c th chuyn trng thi ca h thng t trng thi ban u t0 n trng
thi cui t1 trong mt thi gian hu hn.
H thng c gi l quan st c nu vi cc to o c
bin ra yi ca h, ta c th khi phc li trng thi x1 trong khong thi
gian hu hn.
a) Tnh iu khin c

nh l: Mt h thng tuyn tnh h s hng m t bi phng trnh

trng thi cp n: X(t) = AX(t) + BU(t) c gi l iu khin c hon
ton, khi v ch khi ma trn sau c hng bng n

b) Tnh quan st c
nh l: Mt h thng tuyn tnh h s hng m t bi phng trnh
trng thi cp n:

c gi l quan st c hon ton khi v ch khi ma trn sau c hng

bng n.

4.1.2 Tnh iu khin c v quan st c ca h thng iu

khin s

Gio trnh iu khin s

73

Gi thit h iu khin s c m t bi h phng trnh trng thi:

trong : X(k+l), X(k) l cc vect n chiu

Ad l ma trn n x n
a) Tnh iu khin c

H thng s c gi l iu khin c nu ta tm c vect iu

khin U(k) chuyn h thng t trng thi ban u bt k n trng thi
cui bt k trong mt khong thi gian gii hn.
Vy ta cn tm iu kin xc nh c tc ng iu khin nhm
chuyn h thng t trng thi X(0) n trng thi cui X(n) cho.
Vit li h phng trnh trng thi:

v Ad, X(0), x(n) bit nn v tri ca phng trnh l xc nh, suy

ra nghim duy nht u(i) ch tn ti khi ma trn sau y c hng bng n.

b) Tnh quan st c

H thng s c gi l quan st c nu theo cc s liu o

c u ra y(k) ta c th xc nh c trng thi x(k) ca n.

Gio trnh iu khin s

74

Tht vy, t phng trnh ra: Y(k) = CdX(k) ta vit li:

Vit cch khc:

V y(k) bit nn nghim duy nht x(0) tn ti khi ma trn sau c

hng bng n

V d 4.l:

Cho h thng iu khin s c m t bi phng trnh trng thi:

Ta c cc ma trn:

Theo tiu chun iu khin c ca Kalman ta tnh c.

Gio trnh iu khin s

75

Ta thy: det(M) 0 Rank(M) = 2. Vy, h thng iu khin c

hon ton.
kho st tnh quan st c ca h thng, ta tnh ma trn:

Vy, h thng quan st c hon ton.

4.2 PHNG PHP RAGAZZINI
4.21. Khi nim

Phng php RAGAZZINI l phng php hu hiu thit k h

iu khin s. V n cho php xc nh trc tip hm truyn D(z) ca b
iu khin s.
Xt h KS c s nh hnh 4. 1

B iu khin s dng tnh chui s u ra e*2(t) theo chui s

u vo e*1(t) theo mt quy lut no . B KS c th l cc khu hiu
chnh tch cc hay th ng. Khi D(z) l khu hiu chnh tch cc, ta d
dng chn c hm n nh ho no nhm t ch tiu cht lng
yu cu.
Gi thit b KS l tuyn tnh c quan h vo/ra l:

76

Gio trnh iu khin s

Chuyn sang bin i Z ta c:

Hm truyn bin i Z ca b iu khin s l:

Hm s truyn ca h thng kn l:

Trong G(z) : Z{Gl(s)G2(s) }

T rt ra:

Nhim v ca b KS l loi b nhng im cc v im zero

khng mong mun ca h thng cha hiu chnh v thay vo l cc
cc v zero lm cho h thng c p ng theo yu cu thit k.
4.2.2. Ni dung phng php

C hai phng php thit k b iu khin s:

a) Phng php 1: Da vo biu thc (4.14) W(z) =

D( z )G ( z )
1 + D( z )G ( z )

Khi D(z) c thit k sao cho loi b nhng im cc v im

zero khng mong mun ca G(z). Ngha l, cc nghim zero ca D(z) l
cc nghim cc nm trn hay ngoi vng trn n v trong mt phng Z
ca G(z). V ngc li, cc cc ca D(z) l cc zero nm trn hay ngoi
vng trn n v trong mt phng Z ca G(z).

77

Gio trnh iu khin s

Phng php ny n gin v l thuyt song kh p dng trong thc

t v khi thay i mt lng nh cc thng s ca D(z) u lm cho G(z)
c th c cc hay zero nm trn hay ngoi vng trn n v.
b) Phng php 2: Da vo biu thc (4.14) D(z) =

1
W ( z)
G( z) 1 W ( z )

Cc im cc v zero nm trn hay ngoi vng trn n v ca G(z)

c th th c loi b bng c tnh (l - W(z)) v W(z). thit k theo
phng php ny cn tun th bn nguyn tc sau:
1. Hm truyn W(z) ca h kn phi c cc zero l tt c cc zero
nm trn hay ngoi vng trn n v ca G(z).
2. 1 - W(z) phi c cc zero l tt c cc cc nm trn hay ngoi
vng trn n v ca G(z).
3. thc hin c v mt vt l, D(z) khng nn c cc v cng
khi Z tin n v cng. Nu G(z) c zero v cng th W(z) cng phi c
zero ti phng D(z) c nghim cc ti v cng.
V d: W(z) = (nghim zero nm trn hay ngoi vng trn n v ca
G(z)) * (Klz-l + K2Z-2 +... ) vi K1; K2 l cc hng s cn tm.
4. W(z) c xc nh sao cho sai s xc lp bng khng.

Gi thit hm u vo c dng:

A(z) l a thc ca z-l v khng c cc tha s ca (l - Z)-1. Tu

thuc gi tr ca m m R(z) c th l hm bc nhy n v, hm dc...
Ta c El(z) = R(z) - C(z)
Thay C(z) = W(z)R(z) ta c:
El(z) = R(z) [l - W(z) ]
Theo nh l v gii hn:

Gio trnh iu khin s

78

D thy rng sai s xc lp bng 0 khi ( 1 - W(z)) tho mn quan h:

Vi F(z) l hm s cha xc nh ca cc a thc theo bin Z-l. Dng

tng qut ca F(z) l:

(Yj l cc hng s cn tm)

Vi F(z) = 1 c gi l hm p ng mu th cc tiu. Tuy nhin,
hm mu th ny ch c th c dng khi W(z) khng c zero no nm
trn hay ngoi vng trn n v trong mt phng Z
+ Nu m = 1 p ng ca h thng c sai s xc lp bng 0 khi
u vo l hm bc nhy n v.
+ Nu m = 2 p ng ca h thng c sai s xc lp bng 0 khi
u vo l hm bc 1.

Mt khc khi h s dng mu th cc tiu, p ng ca h thng c

sai s xc lp bng 0 khi u vo l cc hm bc thp hn.
c) Mt s v d:
+ V d 4.2: G(s) = 1/P; T = l(s); khu lu gi l ZOH
Thit k D(z)

Bin i Z ta c:

Gio trnh iu khin s

79

Ta thy G(z) l hm bc 1 c thm cc khng cho php ti Z = 1. p

dng nguyn tc 1 v 3 ta c: W(z) = K1Z-1
Gi thit sai s xc lp bng 0 khi u vo l hm bc nhy n v
n v p dng nguyn tc 4 ta c: 1 - W(z) = (l Z-l)F(z)
c mu th cc tiu th F(z) phi bng 1
1 W(z) = 1 Z-1
Thay W(z) = KlZ-l vo [l - W(z) = 1 Z-l ] Ta c:
1 KlZ-l = 1 Z-1 K1 = 1 Do W(z) = Z-l
Hm truyn ca b iu khin s l:

* p ng ca h khi u vo l hm bc nhy n v l:

V d 4.3: Thit k b iu khin s khi i tng l khu tch phn

Gio trnh iu khin s

80

kp
* Thit k D(z)

Bin i Z ta c:

G(z) c 1 im zero ti Z = -1 v 2 im cc ti Z = 1. p dng

nguyn tc 1, 3 v da vo biu thc trn ta xc nh c hm truyn
ca h thng kn:

Gi s sai s xc lp =0 khi u vo l hm dc v ta mun loi b 2

cc ca G(z) ti Z = 1.
T nguyn tc 2 v 4 ta c quan h: 1 - W(z) = (l - Z-l)2F(z)
Theo nguyn tc 4 ta thy rng p ng ca h c sai s xc lp = 0
khi u vo l hm dc n v. Tuy nhin F(z) khng phi l hm p
ng "mu th cc tiu v W(z) c zero nm trn vng trn n v.
Theo nh ngha F(z) l hm cha xc nh ca cc a thc theo bin
l

T biu thc ta thy: bc ln nht ca bin i Z ngc v tri l 3.

Do F(z) chi c th l: 1 + ylZ-l (y2, y3 = 0)
ng nht 2 v ca ta c:

Gio trnh iu khin s

T ta c: Kl = 1,25; K2 = -0,75; yl = 0,75

Thay Kl, K2, yl vo (2) v (4) ta c:

Sau khi bin i ta c:

* p ng khi u vo l hm bc nhy n v n v

Thay R(z), W(z) vo biu thc ca C(z) = R(z) W(z) ta c:

81

Gio trnh iu khin s

82

* p ng h thng khi u vo l hm dc n v

Thay vo biu thc ca C(z) ta c:

So snh hai hnh v ta thy, khi u vo l hm dc th p ng bng

phng hn so vi u vo l hm bc nhy n v. Khi u vo l hm
bc nhy n v th qu iu chnh l 75% Khng m bo yu
cu cht lng. Bc ca u vo cng thp th qu iu chnh cng
cao.
* Phng php gim qu iu chnh

Qua mc trn ta thy rng, khi bc ca tn hiu vo nh hn bc ca

tn hiu vo c thit k th qu iu chnh tng. gim qu
iu chnh trong tng hp ny, ta a vo h thng mt s hng c h
s "Staleness". Khi , p ng ca h thng s c "mm ho" khi u
vo thay i trong mt phm vi rng.
S hng c thm vo c dng:

Gio trnh iu khin s

83

W(z) l hm truyn gc ca h thng, Ws(z) l hm truyn ca h

thng khi thm vo s hng staleness". C l hng s "Staleness".
h thng vn n nh th C bin thin trong khong (-l ) 1. N l
s m co gi tr dng bt k, theo mt s tc gi nghi ly N = 1.
Gi tr ca C c chn da vo quy trnh phn tch ti u hoc
bng cch th.
Ta thy rng, khi C 1 th qu iu chnh tng ln, khi C 0
qu iu chnh gim xung.
Tht vy, xt h iu khin s cho i tng l khu tch phn kp,
bng cch thm khu ph c C = 0,3, khi s hng c thm vo l:

ng nht hai v phng trnh trn ta c:

T ta c hm truyn bin i Z ca b KS l:

Gio trnh iu khin s

84

So snh vi D(z) trong trng hp trc ta thy chng c dng ging

nhau.
V vy vic a thm s hng c h s C c th c thc hin bng
cch lp trnh li b KS m khng i hi thm mt thit b phc tp
no khc.
+ p ng ca h thng khi u vo l hm bc nhy n v
n v

Khai trin thnh chui lu tha:

Gio trnh iu khin s

85

So snh vi hnh v trc ta thy, qu iu chnh gim t 75%

n cn 68%. Bng cch thay i C t - 1 n 1, ta c th tm c gi
tr ti u
+ p ng ca h thng khi u vo l hm dc n v

Thay Ws(z) vo ta c:

Khai trin thnh chui lu tha:

Gio trnh iu khin s

86

Khi s dng C lm tng thi gian qu i vi u vo l hm

dc. Tuy nhin, n vn c s dng gim qu iu chnh trong
trng hp u vo l hm bc nhy n v.
4.3 S DNG TH BODE PHN TCH V THIT K
H THNG
1. Khi nim

Ta bit, thi Bode dng lin tc, chng khng th trc tip
dng cho h ri rc c v c quan h: Z = eTS. Bng php bin i
trung gian ta c th a h ri rc v tng t nh h lin tc trong
khong

Tuy nhin, php bin i ny cn tn ti mt nhc im l khi chu

k ly mu tin ti 0 (T 0) th y khng tin ti s. khc phc nhc
im ny ta s dng php bin i tuyn tnh m rng:

87

Gio trnh iu khin s

Bng php bin i Z v php bin i W, di c bn ca na tri

mt phng S chuyn thnh pha trong vng trn n v trong mt phng
Z v sau chuyn thnh na tri mt phng W.
Khi s thay i t 0 j

dc theo trc j trong mt phng S th

2
W s thay i t 0 j dc theo trc j trong mt phng W. Tn s o
trong mt phng W l jw.
Sau khi bin i G(z) thnh G(w) v thay W = jw, ta c th s dng
biu BODE thng thng phn tch hm truyn theo W.
V d 4.4: Xt h thng nh hnh v:

Gio trnh iu khin s

88

Ta thy, h thng c 1 im zero nm bn phi mt phng W sinh ra

do ly mu v do khu ZOH, nghim ny l hm ca chu k ly mu T.
Tuy nghim ny lm cho pha ca h thng m hn nhng n cng lm
cho dc bin tng +20dB/dec ti tn s ln hn tn s gy ca n.
thi Bode nh hnh 4.6, h c tn s ct v = l,017rad/s v h khng
n nh vi d tr pha bng -7,5360

Gio trnh iu khin s

89

2. Trnh t thit k

cho h thng n nh ta thm vo h thng khu sm pha GD(W)

+ cc Ch tiu thit k
- Tn s ct: 7rad/s
- d tr pha: c 350
- d tr bin : c 3dB

+ Cc bc:

Gio trnh iu khin s

90

- Thm 1 nghim zero ti tn s lrad/s trc tn s ct 7rad/s, v

dc ban u ca thi Bode l -40dB/dec. Khu sm pha GD(w) c
nghim cc ti tn s ln hn tn s ct 7rad/s rt nhiu.
- T hnh v ta thy: ti tn s ct mong mun (7rad/s) bin ca
h thng cha hiu chnh l -31, 18dB. Do , bin ca khu hiu
chnh ti tn s 7rad/s phi bng 31,18 h thng c hiu chnh c
tn s ct 7rad/s.
- Bng phng php chn v th ta thy rng nu t nghim cc ca
khu hiu chnh ti tn s 100rad/s th d tr v pha l 35,330 V
d tr v bin l 3,399dB. Nhng thng s ny gn vi yu cu thit
k v c th chp nhn c.
Ta c hm s truyn ca khu hiu chnh:

V bin ca GD(W) tai tn s 7rad/s l 31,18 nn :

T tnh c K = 5,14, hm truyn ca khu sm pha l:

Hm truyn ca h thng c hiu chnh l:

Biu Bode ca h thng hiu chnh nh hnh 4.8.

Nh vy: bng php bin i W, ta bin ng trn n v trong
mt phng Z thnh na bn tri ca mt phng W. Mt khc mt phng
W v mt phng S tng t nh nhau nn ta c th dng cc khi nim

Gio trnh iu khin s

91

v d tr bin , d tr gc pha thit k h iu khin s tng t

nh h lin tc

4.4 THIT K B
4.4.1. Khi nim v hiu chnh

Xt h KS c hm truyn h kn l:

Phng trnh c tnh l ca h l:

1 + D(z)G(z)H(z) = 0.
Trong ta c th coi D(z) l b b, hay b hiu chnh.

Gio trnh iu khin s

92

Thng thng, b hiu chnh c mc ni tip vi i tng (hnh

a), i khi n cng c mc trong vng hi tip con. Khi , ta gi l
hiu chnh song song.
thit k b b trong min tn s bng cch s dng thi Bode,
1+ T w
2
ta phi chuyn D(z) sang D(w) thng qua php bin i: Z =
T
1 w
2
Trc ht ta xt cc b b bc nht, hm truyn bin i Z ca n c
dng:

Hm truyn trong min W cng l bc nht:

trong : w0 l nghim zero, ws l nghim cc trong mt phng w.

H s khuch i mt chiu tm c bng cch thay Z = l vo cng
thc (4.26) hoc W = 0 vo (4.27)
Chuyn (4.27) sang bin i Z ta c:

Gio trnh iu khin s

93

Da vo mi quan h gia l nghim zero w0 v nghim cc ws m

ta phn loi b b:
+ Nu w0 > ws ta c b tr pha
+ Nu w0 < ws ta c b sm pha
4.4.2. Thit k b tr pha

Hm truyn ca b b tr pha l:

94

Gio trnh iu khin s

D(z) lm gim h s khuch i tn s cao so vi tn s thp v

lm tr pha. Mt khc, D(z) lm cho h thng c khuynh hng dn n
trng thi khng n nh.
p ng tn s biu thi gc pha m, h s khuch i 1 chiu l ao
v khuch i tn s cao l: 201ga0

wp
; dch pha cc i l M
w0

c gi tr trong khong 0 900 tu thuc t s w0/ws

Vy, s tr pha lm cho h thng c khuynh hng dn n trng
thi khng n nh (Biu Naiquist hng v pha im - 1 )
Cn phi chn tn s gy w0 v ws sao cho s tr pha lm cho p
ng tn s G(jw) khng ct ln cn -.
trong :
1 e PT

G(z) = Z
G ( s)
s
Z =1+T / 2W

(4.32)

1T / 2W

h thng n nh th b lc phi c h s khuch i gim ln

cn - nn w0 v ws cn phi nh hn -

Gio trnh iu khin s

95

Khi thm b tr pha, d tr v pha v bin u tng, lm tng

n nh tng i. Mt khc, h s khuch i tn s thp gim xung
nn sai s xc lp v nhy tn s thp khng tng, lm tng n nh
tng i, di thng gim lm p ng thi gian chm hn.

T hnh v ta thy, nu gi w0 v a0wp khng i, nhng tng a0

v gim wp th d tr n nh gi nguyn, tuy nhin h s khuch
i vng h tn s thp tng dn n h s khuch i vng kn tn
s thp xp x 1, ci tin p ng xc lp. Ch rng vi h thng
cho, vic thm c tnh tr pha c th y c tuyn pha di ng
thng -, h n nh c iu kin.
* Cc bc thit k b tr pha

Gi thit b b c h s khuch i mt chiu l a0 (c xc nh t

c tnh ca h thng), d tr pha mong mun l m ta cn thc hin
theo cc bc sau:
+ Xc nh tn s ct w1 sao cho gc pha ca G(j) xp x (-l800 +
m + 50). Ti tn s ny c d tr pha l m.
+ Chn w0 = 0,1 w1 ti w1 ta c tr pha t nht (tr pha = 50)

Gio trnh iu khin s

96

+ Ti tn s w1 c D( jw1 )G ( j w1 ) = 1 v h s khuch i b b

tn s cao l a0

ws

1
ta c: a0 ws =
w0
w0 G ( jw1

Gii ra ta c:

Thit k theo khuch i mt chiu, nghim cc, nghim zero ca

b b bit.
Khi bit w0 v ws ta suy ra D(z) theo cng thc:

Trong trng hp D(z) khng bng 1...

V d 4.5: H iu khin ng c secvo c s cu trc nh hnh
1
v, gi thit hm truyn ca thit b iu khin l: G(s)=
s ( s + 1)(0,5s + 1)

Ta thy hng s thi gian nhanh nht bng 0,5(s) nn ta chn chu k
ly mu T = 1/10 (Hng s thi gian nhanh nht) = 1/10.0,5 = 0,05(s).

97

Gio trnh iu khin s

p ng tn s ca h c tnh bng my v cho trong bng 4. 1.

Gi thit ta mun thit k b b tr pha c h s khuch i mt
chiu = 1, d tr pha = 550.
Theo bng ta c ti tn s w1 = 0,36 gc pha ca G(jw) l -120,50,
G ( j w1 ) 2,57 . Theo bc 2 ta chn w0 = 0,1w1 = 0,36

Thay vo biu thc ca D(z) ta c:

Bng 4.1

GejT

Ge jT dB)

< GejT

0,010
0,050
0,100
0,200
0,300

100,0
19,97
9,94
4,88
3,16

40,0
26,0
19,9
13,8
9,99

-90,9
-94,4
-98,7
-107,3
-115,6

0,010
0,050
0,100
0,200
0,300

98

Gio trnh iu khin s

0,360
0,400
0,500
0,600
0,700
0,800
0,900
1,000
1,200
1,370
1,500
2,000
3,000
5,000

2,57
2,28
1,74
1,37
1,105
0,9064
0,7533
0,6330
0,4576
0,3550
0,2950
0,1584
0,0590
0,0151

8,21
7,15
4,79
2,73
0,87
-0,85
-2,46
-3,97
-6,79
-8,99
-10,6
-10,0
-24,6
-36,7

-120,5
-123,7
-131,3
-138,5
-145,3
-151,6
-157,5
-163,0
-172,9
-180,3
-185,4
201,4
-222,3
-244,3

0,360
0,400
0,500
0,600
0,700
0,800
0,900
1,000
1,200
1,371
1,501
2,001
3,006
5,026

vi b lc ny c d tr v bin l 16dB, d tr pha l 550.

Bi tp: V th Bode ca h hiu chnh; M phng v v c

tnh qu ca h thng

99

Gio trnh iu khin s

4.4.3. Thit k b sm pha

Trong b b sm pha, w0 < ws, p tuyn tn s nh hnh v:

dch pha cc i xy ra ti tn s wM = w0 ws

th m theo t s w0/ws
Hm truyn t hiu chnh c dng:

(4.35)

Gio trnh iu khin s

100

T hnh v ta thy, nu hiu chnh sm pha to ra s sm pha v tng

d tr n nh ca h, nhng cng lm tng khuch i tn s cao
so vi tn s thp gy nh hng bt n nh.
Hnh di l s hiu chnh b sm pha. S sm pha c a ra ln
cn tn s ca h thng tng d tr n nh ca h. Ch rng
di thng ca h cng tng ln, kt qu p ng thi gian nhanh hn.

Gio trnh iu khin s

101

Thit k sm pha to ra h thng c sm pha cn thit nhng

khng kim sot c bin .
Thit k sm pha l qu trnh chn v th, v sm pha to s n nh
min tn s cn khuch i to s bt n nh.
*Trnh t thit k sm pha

- Theo phng php ny, bin v pha ca hm truyn s c gi tr

xc nh ti tn s cho trc.
Ta chn k = 1 (logk = 0 dB) v pha = (1800 + m )
trong : m l d tr pha mong mun.
- Trong qu trnh thit k, ta khng xc nh d tr bin nn
c th lm cho h thng khng n nh. V vy, bc cui cng l kim
tra d tr bin h thng n nh v tha mn yu cu thit k.
- Phng trnh c tnh ca h thng sau khi chuyn sang mt phng
w

102

Gio trnh iu khin s

Ta cn phi xc nh D(w) sao cho ti w1

ng thi h thng c d tr bin tha mn yu cu.

Ta biu din D(w) di dng

( phn trc ta c: 0 =

a0
1
, s = , a0 l khuch i 1 mt
a1
b1

chiu ca b b)
T (4.39) ta thy D(jw1) Phi tha mn iu kin

Phng trnh (4.40) c 3 s hng cha bit l , a1, b1

T (4.41 ) v (4.42) ta rt ra:

Ch
Trng hp hm H(s) 1 th ta thay G(jw1) trong cc biu thc
(4.42), (4.43), (4.44), (4.45) bng HG(jw1).

Gio trnh iu khin s

103

+ Cc bc thit k

- Chn d tr pha tn s w1
- Xc nh a1, b1 ca b b.
- Da vo c tnh xc lp ca h xc nh khuch i 1 chiu
a0
Tn s w1 c xc nh theo cch sau: (3 rng buc)
+ V l b b sm pha nn phi dng t (4.44) > 0

+ b1 phi dng m bo chc chn h n nh do theo (4.46)

ta c:

* V d 4.6: Xt li v d iu khin ng c secvo c s cu trc

nh hnh v, gi thit hm truyn ca thit b iu khin l:

vi d tr pha : 550 v h s khuch i mt chiu ca b b sm pha

104

Gio trnh iu khin s

Ta cn chn tn s w1 sao cho <G(jw1) < -1250 (rng buc 1) v

G ( j w1 ) < 1 (rng buc 2) v (

1
vi a0 = 1)
a0

Chn w1 = 1,200 (theo bng v d 2)

Theo rng buc 3, cos47,90 = 0,670 > 0,4576. Vy 3 c tha

mn Theo (4.45), (4.46) ta tnh c:

Hm truyn ca b iu khin s l:

p ng qu ca h c ch ra trn hnh 4.18.

Nhn xt
- Vi D(z) va thit k d tr pha l 550 d tr bin l
12,3dB. Nu ta chn w1 khc i th d tr pha vn : 550 nhng d
tr bin s khc.
- Nu w1 c chn ln hn th gc ca D(jw1) l S ln hn v

ws
ln hn khuch i tn s cao tng lm tng di thng ca h
w0
thng. Nu chn w1 < 1,2 s lm gim gii thng ca h thng.

105

Gio trnh iu khin s

- Trong b lc tr pha nghim cc v nghim zero gn nh trng

nhau.
Cn vi b lc sm pha chng tch xa nhau. Do , vi bt k s dch
chuyn nh no trong chng cng nh hng t n p ng tn s ca
b lc
Hiu chnh tr pha lm gim h s khuch i ti tn cao do lm
gim di thng ca h thng. H s khuch i tn thp khng gim nn
sai s xc lp khng tng. Tc dng ca hiu chnh sm pha l lm tng
h s khuch i tn s cao nn lm tng di thng ca h thng.

Thng s

B tr pha

B sm pha

Sai s xc lp

Qu iu chnh

15

13

Thi gian nh

13

2,2

106

Gio trnh iu khin s

Thi gian qu

11,7

4,7

Di thng

0,66

2,2

4.4.4. B sm, tr pha

Trong nhng phn trc, ta mi ch xt cc b b bc nht. Trong

nhiu trng hp, chng khng tha mn yu cu k thut ca h thng.
khc phc ta dng b b c bc cao hn.
Mt trong nhng cch khc phc c hiu qu l ghp ni tip b lc
sm pha v b lc tr pha. Mc ch phn tr pha l lm tng h s
khuch i tn s thp, phn sm pha lm tng di thng v d tr n
nh.
V d 4.7: Xt h thng trong v d 4.5. Sai s xc lp khi u vo l
hm t.1(t) l:

Gi s thit k i hi sai s xc lp khi u vo l t.1(t) khong 0,5,

d tr pha 550. Ta dng b lc tr pha Dl(z) tng h s khuch i
tn s thp l 2. Sau thit k b lc sm pha D2(z) b to d tr
pha 550
Chn nghin cc v zero ca Dl(z) ging nh v d trc. Ta c:

Gio trnh iu khin s

tnh ton b lc sm pha ta cn tnh Dl(z)G(z)

p ng qu i vi hm 1(t) gn trng vi p ng sm pha

4.5. THIT K PID S

4.5.1 Khi nim

Hm truyn PID s cho bi:

107

Gio trnh iu khin s

108

trong : Ks, KI, KD, l h s khuch i t l, tch phn, vi phn.

- B iu khin PI: Hm truyn t ca b iu khin PI l

trong : w0 = K1 /Ks. y l b lc tr pha nhng c cc ti ws = 0.

p ng tn s nh hnh a. B iu khin ny tng h s khuch i
tn s thp, v khng xc nh ti w = 0 v gim sai s xc lp. Mc
ch ca b iu khin ny ging nh b iu khin tr pha l tng d
tr n nh v gim sai s xc lp.
- B iu khin PD: Hm truyn t ca b iu khin PI l

vi w0 = KS/KD. y chnh l b iu khin sm pha m c cc ws =

. Mc ch ca b iu khin PD l cng gc pha dng v p ng tn
s vng h ci thin s n nh v tng di thng di thng vng kn
tng tc p ng. Tc dng PD tn cao ngc vi tc dng PI
tn thp.
- B iu khin PID: bao gm c hai b lc PI & PD c hm s
truyn:

Thit k PID bng cch to b lc sm pha v b lc tr pha. V Ks

l chung cho c phn PI & PD nn phn thit k PI nh hng ti PD v
ngc li.
T c tnh tn s ca b lc PID l khi tn s tng h s khuch i
tng khng c gii hn khi tn s tng. Khi w th s; z -1,

Gio trnh iu khin s

G(z) ni chung khng c zero ti z = -1. Do

109
G ( z ).D( z ) khi z

-1 lm cho h mt n nh. khc phc ta thm mt cc hoc nhiu

cc vo phn vi phn khi hm truyn ca b lc tr thnh:

Trong trng hp ring, c th xc nh KS, KI, KD t thc nghim

s dng m hnh vt l h thng khi ch bit s b nhng c tnh ca h.
Phng on KS, KI, KD h thng vng kn n nh, sau thay
i KS, KI, KD sao cho p ng c th chp nhn c.
B iu khin PID c thun li c bn l chu k ly mu T c th
thay i sau khi thit k xong nhng KS, KI, KD vn khng thay i.

Gio trnh iu khin s

110

4.5.2. PID s theo phng php Ziegler - Nichols

Phng php ny c p dng cho i tng c qun tnh ln nh

l in tr.

K: h s khuch i ca i tng;
T: hng s tr;

111

Gio trnh iu khin s

Tl: hng s thi gian qun tnh chng c xc nh t thc nghim.

PID ca Ziegler - Nichols c dng:

trong : C =

1,2T1
; Tl = 2; TD = 0,5
k

So Snh vi

D(s) = Ks + KI + KDs
s

Vy C tng ng vi Ks ; KI = C/TI ; KD = C.TD

Hiu chnh PI ca Zieler - Nichols l:

Hiu chnh khuch i t l l: D(s) = C vi C =

0,9 T1
K

i vi h lin tc hiu chnh PID c dng tng qut l :

Chuyn sang h ri rc ta c:
- Bin i z i vi khu vi phn l :

Hm truyn bin i Z ca khu vi phn l:

(4.55)

Gio trnh iu khin s

tnh tch phn ta c th thc hin theo ba cch:
- Tnh tch phn theo hnh thang ABCD (hnh 4.2 1 ).
- Tnh tch phn theo hnh ch nht li v pha sau AECD.
- Tnh tch phn theo hnh ch nht tin v pha trc ABFD.

* Cch 1: Tch phn theo hnh thang ABCD

* Cch 2: Tch phn theo hnh ch nht tin pha trc ABFD

* Cch 3: Tch phn theo hnh ch nht li pha sau AECD

112

Gio trnh iu khin s

113

Tng qut theo cch 1 ta c hm truyn ca PID theo z l:

Nu PID c mc knh sai s th f(t) = e(t). Khi tn hiu iu

khin c dng (theo (1)):

Thut ton hiu chnh PID c vit li di dng:

trong :

Gio trnh iu khin s

-270s
-s
V d 4.8: Cho i tng G(s ) = 1,63e
=K e
1+3480s
1+Ts

Thit k PID theo phng php Ziegler - Nichols.

Ta c hm truyn ca PID theo bin i Laplace l:

S dng php bin i Z ta c:

Suy ra.

4.5.3. Trnh t thit k PID

Gi thit SID C hm truyn:

114

Gio trnh iu khin s

115

p ng tn s ca b lc l:

Theo thit k b sm tr pha ta chn Ks KI, KD Sao cho ti tn s

c chn l w1 :

T ta rt ra:

Trong nhng phng trnh thit k trn nu H(s) 1 th G(jw1)

c thay bng HG(jw1).
Cc phng trnh thit k (4.62), (4.63), (4.64) khi cho G(w) chn
w1 & m ta xc nh c Ks t (4.63), KD & KI c xc nh t (4.64)
chng khng phi l duy nht. Vy khi KD tng th s tng di thng, khi
KI tng s gim sai s xc lp. H thng thit k cn phi c d tr
bin nht nh. Khi KD & KI thay i s lm thay i d tr n
nh v bin trong khi d tr pha khng thay i.
Ta bit mc trc ni chung s hng vi phn i hi thm 1
cc.
Hm truyn t chung cho di dng:

Gio trnh iu khin s

116

Do hm truyn ca PID l:

T (4.63) v (4.64) ta ra:

Ch
- Nu w1 <<

2
cc phng trnh (4.67), (4.68) n gin thnh
T

(4.63), (4.64).
- Khng c th tc n gin no tnh Ks KI. KD. Vi b iu
khin SD (4.67) & (4.68) ch cha 2 n s nn c th gii php trc tip.

Gio trnh iu khin s

117

V d 4.9

Thit k PID s iu khin i tng c hm s truyn cho trong

hnh 4.22 vi sai s xc lp i vi RAMP l 0,5, d tr pha = 550 cho
hai trng hp: Dng PI v dng PID

a) Dng PI

Ta thy D(z) c thm 1 cc z = 1, G(z) c 1 cc z = 1. Do vy

G(z)D(z) c 2 cc ti z = 1 nn sai s xc lp khi tn hiu vo l hm
RAMP bng 0 (tha mn iu kin thit k ). T bng p ng tn s ca
G(z) ta chn w1 = 0,4.
T (4.62) ta c = 1800 + 550 - (-123,70) = 358,70 = -1,30
T (4.63) & (4.64). Rt ra:

T D(w) = KI 1+w/w0, ta c zero ca b iu khin SI c t

w
tn s w0 = KI = 0,00907 rt nh lm gim ng k gii thng ca h
Ks
thng thi gian qu di.
Nu chn w1 = 0,3 th SI c h s khuch i l: Ks = 0,313 & Kl =
0,01556

Gio trnh iu khin s

118

Gii thng ca h thng c tng ln thi gian qu gim

b) Dng PID

Gi thit b qua cc s hng vi phn. Theo (4.63) ta c:

Nu chn w1 ln th |G(jw1)| gim v do kp tng ln

Chn w1 = 1,2 G(j1,2) = 0,4576< - 1 72,90
T (4.62) = 1800 + 550 - (- 127,90) = 407,90 = 47,90

Do vi G(jw1) trn th:

M phng v th nghim ta chn c:

KI = 0,004
KD = 1,354
Kt qu to ra d tr pha l 53,50, d tr bin l l,6dB khi
c 1 cc c cng thm vo vi phn (8,339) s nh hng ca cc ny
nn d tr pha l rt nh.
p ng qu khi u vo l hm bc nhy n v c ch ra
trn hnh 4.23.

Gio trnh iu khin s

119

4.6.THIT K BNG QU O NGHIM S

4.6.1. Khi nim

Khi thit k h thng trong min tn s, ta c gng hnh thnh p

ng vng h t c d tr n nh no , do t c p
ng qu , c tnh xc lp mong mun. Nhn chung cc phng php
trn cn mang nhiu tnh cht m mm (chn v th).
Trong mc ny, trnh by vic thit k h thng da vo qu o
nghim s khi h s khuch i thay i. c im ca c tnh qu
c th hin thng qua qu o nghim s. Ni dung ca vic thit k l
thm nghim cc v zero vo b lc s dch nghim ca phng trnh
c trng nhm t c nhng nghim thch hp hn trong mt phng
Z.
Xt h thng nh hnh 4.22, phng trnh c trng l ca h l:

Cho K thay i sinh ra qu o nghim s, Za l mt im trn

qu o nghim s khi tho mn phng trnh trn. Khi :

Gio trnh iu khin s

120

Khi K bin i t 0 n lun tn ti 1 gi tr ca K tho mn (4.74)

Do iu kin za trn qu o nghim s ch l iu kin (4.75).

Ch : Nu H(s) 1 th G(z) c thay bng GH(z)

V d: D(z) = 1 v

T (4.73) ta thy nu Z trn qu o nghim s th:

121

Gio trnh iu khin s

1 - 2 - 3 = 1800
Gi tr ca K ti 1 nghim ca phng trnh c trng l:

4.6.2. Trnh t thit k

Xt b iu khin bc nht: D(z) =

Kd(Z-Z0)
(Z-Zs)

(4.76)

Ta cn D(1) = 1 khng nh hng ti p ng xc lp, vy:

Nghim cc b thu hp n gi tr thc trong vng trn n v, vi

b iu khin sm pha Z0 > Zsnn Kd > 1 ; b iu khin tr pha Z0<Zs
nn Kd < 1
+ Thit k tr pha: Gi thit KG(z) =

nghim s ca h khi cha b nh hnh v:

K(Z-Z1)
. Qu o
(Z-Z2)(Z-Z3)

Gio trnh iu khin s

122

Gi thit nghim Za v Z*a tho mn p ng qu nhng cn tng

h s khuch i gim nh sai s xc lp v ci thin cht lng h
thng.
Cng thm vo b iu khin cc v zero t gn Z = 1. V cc v
zero rt gn Z = 1 nn cung ln cn im ny m rng ra rt nhiu. Do
2 cc v mt zero s xut hin nh mt cc n. Ta thy rng cc v
zero thm vo lm cho nghim Za dch mt lng nh n Za. Khi :

trong : Kc l h s khuch i trong h thng c b

T (4.72) nghim xut hin ti Z'a l:

H s khuch i Kt ca h thng khng b

T hai phng trnh trn ta rt ra: Kc Ku v Kd < 1

Kd

Gio trnh iu khin s

123

Nhn xt
- B tr pha cho php tng khuch i vng h m nghim ca
ca phng trnh c tnh vn gi nguyn.
- Do ta thm mt nghim Z 1 m c hng s thi gian ln, do
thi gian xc lp tng.
+ Thit k sm pha

n gin ta t vo b iu khin nghim zero trng vi nghim

cc Z = Z2 ca i tng, qu o nghim s s b dch sang tri (hnh a),
nghim Z = Zb c hng s thi gian nh hn ti Z = Za do p ng h
thng nhanh hn (di thng rng hn)
Trong thc t, khng th kh nghim mt cch chnh xc, nn ta xt
2 trng hp:
- Trng hp 1 : Nghim zero ca b b bn tri nghim cc ca
i tng, khi hm truyn vng kn c cng 1 cc hi nghing v
tri nghim zero ca b b (hnh 4.25b).
- Trng hp 2: Nghim zero ca b b bn phi nghim cc ca
i tng, khi hm truyn vng kn c cng 1 cc hi nghing v
phi nghim zero ca b b (hnh 4.25c).

Gio trnh iu khin s

124

Trong c hai trng hp, bin ca p ng qu khi cng thm

nghim cc vng kn s nh, hm truyn t vng kn c mt im zero
(t b b) gn nh trng vi im cc.

Kt lun:
- B iu khin tr pha dch qu o nghim s rt t nhng cho h
s khuch i vng h ln hn.
- B iu khin sm pha dch qu o nghim s sang tri lm gim
thi gian qu .
V d 4.10: Hy thit k b iu khin sm pha iu khin i
K
tng c hm s truyn: G(s) =
s(s+1)

Chn chu k ly mu bng 1/10 hng s thi gian nh nht (T = 0,1)

Gio trnh iu khin s

125

Qu o nghim s nh hnh 4.26

Vi K = 0,244, ng vi gii hn khng dao ng, c 2 nghim thc

bng nhau ti Z = 0,952. Ta chn b iu c zero ti 0,9048 kh mt
nghim cc ca i tng, ng thi tng tc ca p ng ta t
nghim cc ca b iu khin ti

Qu o nghim s ca h c b v cha c b nh hnh v.

Ti K = 0,814, h thng ch khng dao ng ti hn vi 2 nghim
bng nhau Z = 0,844. Ta chn ch gii hn khng dao ng tt dn

Gio trnh iu khin s

126

nh mt tiu chun thit k,(mt cc trong mt phng S l: s = -a c hng

s thi gian l 1/a tng ng mt nghim trong mt phng Z l: Z = eat
= e-T/).
Do trong trng hp ti hn tt dn khng b = 2,03s). Trong
trng hp ti hn tt dn c b (e-0,1/ = 0,844 hoc = 0,59s) p ng
ca h thng c b nhanh hn nhiu so vi khi cha b (hnh 4.27).

Ch
gim thi gian qu ta c th thc hin n gin bng cch di
chuyn nghim cc ca b iu khin sang tri, tuy nhin khi h s
khuch i tn s cao ca h cng tng ln ti mc c th khng chp
nhn c.

Gio trnh iu khin s

127

PHC LC 1
BI TP DI MN IU KHIN S

Cho h thng truyn ng thyristor - ng c in 1 chiu c s

khi nh hnh v.

Yu cu:

1. Xy dng s cu trc h thng ch lin tc.

2. M t h thng bng bin i Z, bng phng trnh trng thi v
phng trnh sai phn.
3. Thit k cc b iu khin s cho mch vng dng in v mch
vng tc
4. M phng v v c tnh ng ca h thng

128

Gio trnh iu khin s

BNG S LIU BI TP DI
Cng sut ng c c tnh theo cng thc: P = K.P0

S
chnh
lu

Chnh lu hnh tia 3 pha

Chnh lu cu 3 pha

P0 (KW) 1

10

K=1

10

K=5

11

12

13

14

15

16

17

18

19

20

K=3

21

22

23

24

25

26

27

28

29

30

K=4

31

32

33

34

35

36

37

38

39

40

K=5

41

42

43

44

45

46

47

48

49

50

K=6

51

52

53

54

55

56

57

58

59

60

Gio trnh iu khin s

129

PH LC 2
2.1. Bin i hm truyn t mt phng P sang mt phng Z

bin i ta dng hm c2dm v d2cm

V d: G =

1
P(P+1)

> num=[1];
>> den=[l 1 0];
>> T=.l;
>> [numz,denz]=c2dm(num,en,T,'zoh');
>> [numc,denc]=d2cm(num,en,T,'zoh');
2.2. Mi quan h gia biu BODE v ng cong Nyquist

- ng trn n v trong ng cong Nyquist bin thnh ng

n v (ng 0dB) trong thi Bode bin i vi mi tn s.
- Trc thc m ca ng cong Nyquist bin thnh ng -1800
trong thi Bode pha i vi mi tn s.
V vy c th tnh d tr pha t th Bode bng cch tnh di
pha khi G(j)H(j) ct ng 0 dB v d tr bin khi c th tnh
c t thi Bode bng cch xc nh h s khuch i khi
G(Jco)H(i(o) ct ng - 1800
2.3. d tr n nh

Hm truyn kn ca h thng iu khin t ng l:

S n nh ca h c xc nh bng cch nh gi mu s ca biu

thc hm truyn khi thay P = j. Nu G(j)H(j) = -1, mu s s trit
tiu v h thng dao ng khng xc nh, p ng ca h thng s tng
theo thi gian.
- d t v bin chnh bng bin ca G(j)H(j) khi gc

Gio trnh iu khin s

130

pha ca G(j)H(j) = -1800.

d tr v pha bng hiu 1800 - gc pha ca G(j)H(j)

d tr n nh biu th cho mc n nh ca h thng. Thng

thng khi thit k ta mong mun d tr pha bng 300 - 600, d tr
bin bng (4 - 12)dB. iu ny ni ln rng:
+ khi |G(j)H(j)| = 1 th < G(j)H(j) = 1200 1500
+ khi < G(j)H(j) = 1800 th |G(j)H(j)| = 0,25 0,63
2.4. M hnh ho

+ Lp trnh theo hm truyn ca h kn

+ Lp trnh theo phng thc ghp ni cc khu

>> nm = [19.8];
>> en = [50 65 16 20.81;
>> t = [0 : 0.1 : 30];
>> Step (num, den, t)
>
>> den = [50 65 16 20.8];

Gio trnh iu khin s

>> Step (num, den, t)

>> W1 = tf(19.8, [10 1]);

>> W2 = tf(l, [5 1]);
>> W3 = tf(l, [1 l]);
>> Wh = W1 * W2 * W3;
>> Wk = (W1 * W2 * W3, +l);
>> Step(Wk)
>> Nyquist(Wh)
>> Bode(Wh)

131

Gio trnh iu khin s

2.5. thi Bode ca mt s khu in hnh

+ Khu t l:

k(dB) = 201gk
l/k(dB) = -201gk
Gc pha bng 00 hoc bng 1800
tu thuc k hoc 1/k
+ Khu tch phn:

132

Gio trnh iu khin s

133

G(j) = 1/j
Lg|G(j)| = -201g
gc pha bng -900
+ Khu vi phn: (G(j) =j; Lg|G(j)| = 201g; gc pha bng 900

+ Khu tr pha n gin:

134

Gio trnh iu khin s

+ Khu sm pha n gin:

Khu sm pha n gin

th Bode khu hiu chnh

Gio trnh iu khin s

135

Gio trnh iu khin s

136

TI LIU THAM KHO

[ 1 ] Phm Cng Ng "L thuyt iu khin t ng", Nh xut bn

Khoa hc v K thut, 1994.
[2] Nguyn Vn Ho "C s l thuyt iu khin t ng", Nh xut
bn Khoa hc v K thut, 1998.
[3] Nguyn Thi phng H "iu khin t ng" ", Nh xut bn
Khoa hc v K thut, 1996.
[4] Charles L. Philips, H. Troy Nagle - "Digital Control System
Analysis and Design"; Prentice - Han lntemational Editions 1990.
[5] R.C. Dorf - "Mordem Control Systems" Addison - Wesley
Publishing Company, lc 1989.
[6] B.C Kuo "Digital Control Systems" new Tork: Holt, Rinehart and
Winston 1980.

137

Gio trnh iu khin s

MC LC

LI NI U .......................................................................................... 2
CHNG 1 .............................................................................................. 3
NHNG KHI NIM C BN V IU KHIN S ......................... 3
1.1. KHI NIM .................................................................................. 3
1.1.1. B bin i A/D .......................................................................... 4
1.1.2. B bin i D/A .......................................................................... 4
1.2. TN HIU V LY MU TN HIU.......................................... 5
1.2.1. Ly mu tn hiu ......................................................................... 5
1.2.2. Cc c tnh ly mu................................................................... 6
1.3. KHU NGOI SUY D LIU .................................................... 7
1.3.1. Khu lu gi bc khng (Zero Order Hot - ZOH) .................... 8
1.3.2. Khu lu gi bc mt (First Order Hold - FOH) ...................... 11
1.4. Phn loi h thng iu khin s ................................................. 13
1.5. u nhc im ca h thng iu khin s................................. 13
1.5.1. Hn ch ca iu khin tng t v cc u im ca iu khin
s ......................................................................................................... 13
1.5.2. u im ca iu khin tng t v nhc im ca iu khin
s ......................................................................................................... 14
1.5.3. Cc u im c tnh cht quyt nh ca iu khin s............ 17
1.6. PHP BIN I Z V NG DNG CC PHP BIN I Z
TRONG NGHIN CU H IU KHIN S ................................ 18
1.6.1. Php bin i z.......................................................................... 18
1.6.2. Tnh cht ca bin i z ............................................................ 20
1.6.3. Bin i Z ca khu gi mu .................................................... 21
1.6.4. Php bin i Z ca khu tr..................................................... 22
CHNG II............................................................................................ 24
M T TON HC H IU KHIN S.......................................... 24
2.1 M T TON HC H IU KHIN S BNG S KHI
............................................................................................................. 24
2.1.1. Cc khu ni tip c phn bit bi mt b 1y mu ng b24
2.1.2 Cc khu ni tip khng c phn bit bi b ly mu........... 24
2.1.3. B ly mu trong knh sai lch................................................. 26
2.1.4 B ly mu trong vng hi tip.................................................. 26
2.1.5 B ly mu trong vng thun..................................................... 27
2.1.6 Cc b ly mu ng b v cc khu ni tip trong vng hi tip
............................................................................................................. 28
2.2 PHNG PHP SAI PHN ....................................................... 29

Gio trnh iu khin s

138

2.3 K THUT BIN TRNG THI............................................... 31

CHNG 3 ............................................................................................ 37
KHO ST N NH V PHN TCH H IU KHIN S ........ 37
3.1 KHI NIM ................................................................................. 37
3.2 TIU CHUN N NH I S .............................................. 41
3.2.1 Tiu chun Rao - Hurvit m rng .............................................. 41
3.2.2 Tiu chun Jury.......................................................................... 45
3.3 TIU CHUN N NH TN S ............................................. 47
3.2.1 Tiu chun Mikhailp m rng.................................................. 48
3.2.2 Tiu chun Naiquist m rng..................................................... 49
3.4 P NG QU CA H THNG IU KHIN S ....... 52
3.4.1 Khi nim................................................................................... 52
3.4.2 Phng php bin trng thi ...................................................... 53
3.4.3 Phng php bin i Z............................................................. 58
3.5. PHN TCH H THNG C MY TNH S.......................... 64
3.5.1. K thut hin trng thi............................................................. 65
3.6 B IU KHIN PID S ........................................................... 68
CHNG IV TNG HP H IU KHIN S................................ 72
4.1 TNH IU KHIN C V QUAN ST C CA H
IU KHIN S................................................................................ 72
4.1.1 Tnh iu khin c v quan st c ca h thng tuyn tnh
lin tc................................................................................................. 72
4.1.2 Tnh iu khin c v quan st c ca h thng iu khin
s ......................................................................................................... 72
4.2 PHNG PHP RAGAZZINI.................................................... 75
4.21. Khi nim................................................................................... 75
4.2.2. Ni dung phng php.............................................................. 76
4.3 S DNG TH BODE PHN TCH V THIT K H
THNG............................................................................................... 86
1. Khi nim........................................................................................ 86
2. Trnh t thit k............................................................................... 89
4.4 THIT K B .............................................................................. 91
4.4.1. Khi nim v hiu chnh ........................................................... 91
4.4.2. Thit k b tr pha .................................................................... 93
4.4.3. Thit k b sm pha.................................................................. 99
4.4.4. B sm, tr pha ....................................................................... 106
4.5. THIT K PID S .................................................................... 107
4.5.1 Khi nim................................................................................. 107
4.5.2. PID s theo phng php Ziegler - Nichols ........................... 110
4.5.3. Trnh t thit k PID ............................................................... 114
4.6.THIT K BNG QU O NGHIM S ............................ 119

Gio trnh iu khin s

139

4.6.1. Khi nim................................................................................ 119

4.6.2. Trnh t thit k....................................................................... 121
PHC LC .......................................................................................... 127
BNG S LIU BI TP DI........................................................... 128
TI LIU THAM KHO..................................................................... 136
MC LC ............................................................................................ 137