BG He Thong DK Tu Dong

TRNG I HC K THUT CNG NGHIP
KHOA C KH
B MN: CH TO MY

BI GING PHT CHO SINH VIN
(LU HNH NI B)
Theo chng trnh 150 TC hay 180 TC hoc tng ng
S dng cho nm hc 2008 - 2009
Tn bi ging: K thut iu khin t ng
S tn ch: 3

Thi Nguyn, nm 2008
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Tn cc tc gi:


BI GING PHT CHO SINH VIN
(LU HNH NI B)
Theo chng trnh 150 TC hay 180 TC hoc tng ng
S dng cho nm hc: 2008 - 2009
Tn bi ging: K thut iu khin t ng
S tn ch: 3

Thi Nguyn, ngy.thng nm 200

Trng b mn Trng khoa
(k v ghi r h tn) (k v ghi r h tn)

MC LC
I. Phn 1: Phn l thuyt
Chng 1. CC VN C BN CA H THNG IU KHIN T NG
1.1 Cc ni dung c bn
1.2 M hnh din t h thng iu khin
1.3 M t ton hc cc phn t iu khin c bn
1.4 Phn loi h thng iu khin
1.4.1. H thng iu khin h v h thng iu khin kn.
1.4.2. H thng iu khin lin tc v gin on
1.5 Tuyn tnh ha cc h thng phi tuyn
1.6 ng dng MatLab

Chng 2. HM TRUYN T
2.1 Hm truyn t
2.2 S khi - i s s khi
2.3 Graph tn hiu v qui tc Mason
2.4. Cc h thng ly mu d liu
2.5 Hm truyn t ca h thng ri rc
2.6 ng dng MatLab

Chng 3. KHNG GIAN TRNG THI.
3.1 Cc m hnh khng gian trng thi.
3.2 M hnh khng gian trng thi v cc phng trnh vi phn
3.3 Xc nh bin trng thi t hm truyn
3.4 Xc nh hm p ng t phng trnh trng thi
3.5 ng dng MatLab

Chng 4. N NH CA H THNG IU KHIN TUYN TNH.
4.1 Khi nim chung
4.2 Khi nim n nh v cc nh ngha chnh
4.3 Tr ring v tnh n nh ca h thng
4.4 Cc tiu chun n nh
4.5 ng dng MatLab
Chng 5. TNH IU KHIN V QUAN ST C CA
H THNG IU KHIN.
5.1 Tnh iu khin c ca cc h thng lin tc.
5.2 Tnh quan st c ca cc h thng lin tc.
5.3 Tnh iu khin c ca cc h thng gin on.
5.4 Tnh quan st c ca cc h thng gin on.
5.5 ng dng MATLAB.

Chng 6. THIT K H THNG IU KHIN.
6.1 M u.
6.2 Cc khu ng hc ca h thng iu khin.

Chng 7. THIT K H THNG IU KHIN BNG THU LC.
7.1. Cc phn t c bn
7.1.1. Bm du.
7.1.2. Van trn, van an ton.
7.1.3. Van gim p
7.1.4. B iu chnh v n nh tc .
7.1.5. Van iu khin.
7.1.6. C cu chp hnh.

I. Phn 1: Phn l thuyt

I.1. Yu cu i vi sinh vin
- Mc tiu: Ni dung c bn ca h thng iu khin t ng, Phn tch v tng hp
c mt h thng iu khin.
- Nhim v ca sinh vin:
D hc l thuyt: y
Tho lun: y .
- nh gi: Chm im Tho lun : 20%
Kim tra gia k: 20%
Thi kt thc hc phn : 60%
I.2. Cc ni dung c th

Chng 1
CC VN C BN CA H THNG IU
KHIN T NG
1.1- Cc ni dung c bn ca h thng iu khin.
* iu khin: L tc ng ln i tng i tng lm vic theo mt
mc ch no .
* H thng iu khin: L mt tp hp cc thnh phn vt l c lin h tc
ng qua li vi nhau ch huy hoc hiu chnh bn thn i tng hay mt h
thng khc.
* Xung quanh ta c rt nhiu h thng iu khin nhng c th phn chia
thnh 3 dng h thng iu khin c bn.
- H thng iu khin nhn to.
- H thng iu khin t nhin (bao gm iu khin sinh vt).
- H thng iu khin t nhin v nhn to.
Trong cc h thng i tng iu khin c th l h thng vt l, thit b
k thut, c ch sinh vt, h thng kinh t, qu trnh v.v... i tng nghin cu l
cc thit b k thut gi l iu khin hc k thut.
Mi h thng (hoc phn t ca h thng) k thut, u chu tc ng ca
bn ngoi v cho ta cc p ng. Gi tc ng vo l u vo, tc ng ra l u ra
( hoc tn hiu vo, tn hiu ra).

Hnh 1-1
* Nhim v ca l thuyt iu khin t ng
L thuyt iu khin t ng gii quyt 2 nhim v chnh:
- Phn tch h thng
- Tng hp h thng
Phn tch h thng:
Nhim v ny nhm xc nh c tnh u ra ca h sau em so snh vi nhng
ch tiu yu cu nh gi cht lng iu khin ca h thng .
Mun phn tch h thng iu khin t ng ngi ta dng phng php trc tip
hoc gin tip gii quyt 2 vn c bn.
- Tnh n nh ca h thng
H thng (hoc
phn t ca
h thng)
Cc tc ng vo Cc p ng
- Cht lng ca qu trnh iu khin- qu trnh xc lp trng thi tnh v
trng thi ng (trng thi qu ).
gii quyt vn trn dng m hnh ton hc, tc l cc phn t ca h thng
iu khin u c c trng bng m hnh ton ca cc phn t s cho m hnh
ton ca ton b h thng.
C th xc nh c tnh n nh ca h thng qua m hnh ton ca h thng vi
vic s dng l thuyt n nh trong ton hc.
Tng hp h thng:
Tng hp h thng l xc nh thng s v cu trc ca thit b iu khin. Gii bi
ton ny, thc ra l thit k h thng iu khin. Trong qu trnh tng hp ny
thng km theo bi ton phn tch.
i vi cc h thng iu khin ti u v thch nghi, nhim v tng hp thit b
iu khin gi vai tr rt quan trng. Trong cc h thng , mun tng hp c
h thng phi xc nh Algorit iu khin tc l xc nh lut iu khin (t). H
thng iu khin yu cu cht lng cao th vic tng hp cng tr nn phc tp.
Trong mt s trng hp cn n gin ho mt s yu cu v tm phng php tng
hp thch hp thc hin.
1.2- Cc m hnh din t h thng iu khin.
tin vic nghin cu v cc vn iu khin cn s dng cc s (m
hnh) din t cc thnh phn ca h thng sao cho r rng mi mi quan h bn
trong v ngoi h thng d dng phn tch, thit k v nh gi h thng.
Thc t s dng cc m hnh sau l ph bin v thun tin:
1) H thng cc phng trnh vi phn
2) S khi.
3) Graph tn hiu.
4) Hm truyn t
5) Khng gian trng thi
(S khi v Graph tn hiu l cch biu din bng ho din t mt
h thng vt l hoc mt h phng trnh ton c trng cho cc phn t ca h
thng - Din t mt cch trc quan hn).

* V mt l thuyt mi h thng iu khin u c th din t bng cc
phng trnh ton. Gii cc phng trnh ny v nghim ca chng s din t trng
thi ca h thng. Tuy nhin vic gii phng trnh thng kh tm nghim (c
trng hp khng tm c) lc cn t cc gi thit n gin ho nhm dn
ti cc phng trnh vi phn tuyn tnh thng H iu khin tuyn tnh lin tc.
* Phn ln k thut iu khin hin i, l s pht trin ca cc m hnh
ton hc cho cc hin tng vt l. Sau da vo cc m hnh ton hc nghin
cu cc tnh cht ca h thng iu khin.
1.2.1. Phng trnh vi phn
Cc h thng vt l (hoc cc qu trnh) cn c din t chnh xc mi quan h
gia nhng i lng bin ng bn trong ca chng. T ta d dng nghin cu
c cc hin tng din bin ca h thng; cc nh lut c bn ca vt l c th
gip ta gii quyt vn . Cc quan h ca cc i lng c bn ni chung c th
biu din bng cc phng trnh vi phn ( gi l m hnh ton ca h thng).

V d: Phng trnh ca nh lut II Newton F = m.a
Trong phng trnh i s gi tr cc i lng khng thay i theo thi gian, v
th n ch din t trng thi n nh ca h. Nhng trong thc t h khng tnh.
u ra thng bin ng i vi cc thay i ca u vo, thm vo tc ng
ca nhiu cng thay i theo thi gian, nn h khng n nh tc l u ra dao
ng. V th cn phi phn tch h trong cc iu kin ng lc hoc gi l trong
trng thi qu , lc ny cc bin s khng c nh m thay i theo thi gian.
Phng trnh vi phn m t h trng thi ng lc khng ch cha bn thn cc
bin s m cn cha tc thay i hoc gi l o hm ca cc bin s .
* Cc ni dung c bn ca phng trnh vi phn:
Phng trnh dng:
a
n
.

n
n
dt
y d

+ a
n-1
.
1 n
1 n
dt
y d
+ ... + a
1
.
dt
dy
+ a
0
. y = x(t) (1.1)
x(t) v y(t) l cc bin ph thuc, t l bin c lp.
* Cc tnh cht ca phng trnh vi phn:
Mi h l tuyn tnh nu quan h vo- ra ca n c th biu th bng phng trnh vi
phn tuyn tnh:

=
=
i
i
i
n
i
i
i
i
dt
x d
b
dt
y d
a . .
0

Hoc mt h l tuyn tnh nu quan h vo ra ca n c th biu th bng tch phn:
y(t) =
}

t t t d x t W ) ( ) , (
Trong W(t,t ) l hm th hin cc tnh cht bn trong ca h, y(t) l u ra v
x(t) l u vo. Hm 2 bin W(t,t ) l hm trng lng ca h.
- p ng y(t) ca mt h tuyn tnh do nhiu u vo x
1
(t), x
2
(t), ...., x
n
(t) tc ng
ng thi ln h bng tng cc p ng ca mi u vo tc ng ring bit
(nguyn l chng cht)
y(t) =
=
n
i
i
t y
0
) (
V d:
Phng trnh vi phn thun nht:
A.
dt
t dy
B
dt
t y d ) (
.
) (
2
2
+ + C.y(t) = 0
C hai nghim y
1
(t), y
2
(t). theo nguyn l chng cht th y
1
(t) + y
2
(t) cng l mt
nghim ca phng trnh .
- Ton t vi phn v phng trnh c trng:
Xt phng trnh vi phn tuyn tnh h s hng cp n
a
n
n
n
dt
y d

+ a
n-1
.
1
1
n
n
dt
y d
+ ... + a
1
.
dt
dy
+ a
0
. y = x(t)
Gi ton t vi phn D =
dt
d
, D
n
=
n
n
dt
d

Phng trnh trn c th vit thnh:

D
n
y + a
n-1
D
1 n
y + ... + a
1
Dy + a
0
y = x
(D
n
+ a
n-1
D
1 n
+ ... + a
1
D + a
0
)y = x (1.2)
a thc D
n
+ a
n-1
D
1 n
+ ... + a
1
D + a
0
gi l a thc c trng.
Phng trnh D
n
+ a
n-1
D
1 n
+ ... + a
1
D + a
0
= 0 l phng trnh c trng.
Nghim ca phng trnh c trng rt c ngha khi xt tnh n nh ca h
thng.
1.2.2- S khi.
* S khi c biu th bng cc khi lin kt vi nhau din t mi
quan h u vo v u ra ca mt h thng vt l.
* S khi thun tin din t mi quan h gia cc phn t ca h thng
iu khin.
V d:

a) b)

c)
Vo
A
Phn t
G

Ra
B
G
1
A
G
2
B C
x d
dt

y =
dt
dx

Hnh 1-2
* Cc khi c th l mt thit b hoc dng c v c th l mt hm (chc
nng) xy ra trong h thng.
Khi: K hiu thut ton phi thc hin u vo to u ra.
ng ni: ng ni gia cc khi biu th i lng hoc bin s
trong h thng.
Mi tn: Ch tiu ca dng thng tin hoc tn hiu Cc khi ni tip
nhau th u ra ca khi trc l u vo ca khi sau
im t: Biu hin thut ton cng hoc tr k hiu bng mt vng trn u ra ca
im t l tng i s ca cc u vo.

Hnh 1-3
* im tn: Cng mt tn hiu hoc mt bin s phn ra nhiu nhnh ti
im gi l im tn, tc l ti u ra p ln nhiu khi khc k hiu l mt
nt trn en.

Hnh 1-4
Cu trc s khi ca h thng iu khin kn

Hnh 1-5
Hnh (1-5) din t mt h thng iu khin kn bng s khi. Cc khi m
t cc phn t trong h c ni vi nhau theo quan h bn trong ca h thng.
* Cc bin s ca h:
(1) Gi tr vo V: tn hiu ngoi p vo h.
(2) Tn hiu vo chun R: rt t gi tr vo V l tn hiu ngoi h p ln h
iu khin nh mt lnh xc nh cp cho i tng. R biu th cho mt u vo l
tng dng lm chun so snh vi tn hiu phn hi B.
x
+
-
y
(x-y)
x
x
x
x
C C
C
E
G
1
G
2
M C
G
V
V
R +
H

B
-
u
x
+
+
y
(x+y)
x
+
+
y
(x+y-u)
-
u
(3) Bin s iu khin M (tn hiu iu chnh): l i lng hoc trng thi
m phn t iu khin G
1
p ln phn t (i tng) iu khin G
2
(qu trnh c
iu khin).
(4) Bin s ra C (tn hiu ra): l i lng hoc trng thi ca i tng
(hoc qu trnh) c iu khin.
(5) Tn hiu phn hi B: l mt hm ca tn hiu ra C c cng i s vi
vo chun R c tn hiu tc ng E.
(6) Tn hiu tc ng E (cng gi l sai lch hoc tc ng iu khin) l
tng i s (thng l tr) gia u vo l R vi phn t B l tn hiu p ln phn t
iu khin.
(7) Nhiu u: l tn hiu vo khng mong mun nh hng ti tn hiu ra C.
C th vo i tng theo M hoc mt im trung gian no (mong mun p
ng ca h i vi nhiu l nh nht).
* Cc phn t ca h:
(1) Phn t vo chun G
V
: chuyn i gi tr vo V thnh tn hiu vo chun
R (thng l mt thit b chuyn i).
(2) Phn t iu khin G
1
: l thnh phn tc ng i vi tn hiu E to ra tn
hiu iu khin M p ln i tng iu khin G
2
(hoc qu trnh).
(3) i tng iu khin G
2
l vt th, thit b, qu trnh m b phn hoc
trng thi ca n c iu khin.
(4) Phn t phn hi H: l thnh phn xc nh quan h (hm) gia tn
hiu phn hi B v tn hiu ra C c iu khin (o hoc cm th tr s ra C
chuyn thnh tn hiu ra B (phn hi).
(5) Kch thch: l cc tn hiu vo t bn ngoi nh hng ti tn hiu ra C.
V d tn hiu vo chun R v nhiu u l cc kch thch.
(6) Phn hi m: im t l mt php tr E = R - B
(7) Phn hi dng: im t l php cng: E = R + B
(iu khin kn gm hai tuyn: Tuyn thun truyn tn hiu t tc ng E
n tn hiu ra C. Cc phn t trn tuyn thun k hiu G (G
1
, G
2
, ...) tuyn phn
hi truyn t tn hiu ra C n phn hi B cc phn t k hiu l H (H
1
, H
2
, ...).
1.2.3. Hm truyn t:
Hm truyn t ca h thng.
* Hm truyn t ca h thng i vi h thng iu khin lin tc mt u
vo v mt u ra c nh ngha:
- L t s ca bin i Laplace ca u ra vi bin i Laplace ca u
vo vi gi thit ton b cc iu kin u ng nht bng khng (iu kin
dng).
G(s) =
o 1
1 n
1 n
n
o 1
1 m
1 m
m
m
a S . a ... S . a S
b s b ... S . b S b
+ + + +
+ + + +
(1.3)
i vi h thng vt l thc cc ch s trong hm truyn n > m.
* Trong lnh vc thi gian gin on (iu khin ri rc) vic bin i Z
ng vai tr ca bin i Laplace:
Hm truyn c dng sau:
G(z) =
o 1
1 n
1 n
n
o 1
1 m
1 m
m
m
a z . a ... z . a z
b z b ... z . b z b
+ + + +
+ + + +
(1.4)
* i vi h thng nhiu u vo nhiu u ra vi r u vo, p u ra, cc
hm truyn l cc phn t ca ma trn cp pr phn t , vi ch s i ca phn t th
i ca u vo, ch s th j ca phn t th j u ra.
G
11
(s) G
12
(s) ..... G
1r
(s)
G
21
(s) G
22
(s) ..... G
2r
(s)
G(s) = ..... ..... G
ji
(s) ..... (1.5)
..... ..... ..... .....
G
P1
(s) ..... ..... G
Pr
(s)
y: G
ji
(s) =
) s ( u
) s ( Y
i
j
; cc u vo khc u
i
(s) u coi l bng khng.
(Nguyn l c lp tc dng).
* Mt cch tng t vi h thng iu khin gin on ta c hm truyn ca
h thng nhiu u vo nhiu u ra.
G
11
(z) G
12
(z) ..... G
1r
(z) pr
G
21
(z) G
22
(z) ..... G
2r
(z)
G(z) = ..... ..... G
ji
(z) ..... (1.6)
..... ..... ..... .....
G
P1
(z) ..... ..... G
Pr
(z)

y: s - s phc - bin Laplace.
z = e
S.T
- bin ca php bin i z.
1.2.4. Khng gian trng thi
Khi phn tch v thit k h thng iu khin tuyn tnh thng s dng mt
trong hai hnh thc sau:
+ i vi lnh vc thi gian s dng hm trng thi .
+ Trong lnh vc tn s dng hm truyn t.
Nh trn, ta xt h phng trnh vi phn, sai phn o hm n bc n (h
thng bc n) ; n thc cht l trng thi ca cc bin. Cc trng thi ca bin c
m t nh l vect x. Cc phng trnh trng thi c m t di dng sau (h
thng tuyn tnh).

.
x (t) = A.x(t) + B.u(t) ; x(o) = x
o

y(t) = C.x(t) + D. u(t) (1.7)
v x(k+1) = A. x(k) + B.u(k) ; x(o) = x
o

y(k) = C.x(k) + D. u(k) (1.8)

y: A, B, C, D l cc ma trn h s hng c kch thc.
A
nn
, B
nr
, C
Pn
, D
Pr

Cc h phng trnh vit dng (1-11); (1-12) cc phng trnh trng thi ca
h thng iu khin.
* Khng gian trng thi:
Mt h thng c r tn hiu vo u
1
(t), u
2
(t), u
3
(t) ... u
r
(t)
m tn hiu ra: y
1
(t), y
2
(t), y
3
(t).... y
m
(t)
Xc nh n bin trng thi: x
1
(t), x
2
(t)..... x
n
(t)
Vy h thng c m t bi phng trnh khng gian trng thi nh sau:
= (t) x
1
.
f
1
(x
1
, x
2
,..., x
n
; u
1
, u
2
,..., u
r
; t)
. . .
= ) (
.
t x
n
f
n
(x
1
, x
2
,..., x
n
; u
1
, u
2
,..., u
r
; t)
i lng ra:
y
1
(t) = g
1
(x
1
, x
2
,..., x
n
; u
1
, u
2
,..., u
r
; t)
. . .
y
m
(t) = g
m
(x
1
, x
2
,..., x
n
; u
1
, u
2
,..., u
r
; t)
+
+
D(t)
C(t)
A(t)
dt
u(t) y(t)
B(t)
x(t) x(t)
.
+
+
= (t) x
.

(
(
(
(
(
(
(
(
(
(t) x
.
.
.
(t) x
(t) x
n
.
2
.
1
.
f(x, u, t) =
(
(
(
(
t) ; u ,..., u , u ; x ,..., x , (x f
...
t) ; u ,..., u , u ; x ,..., x , (x f
t) ; u ,..., u , u ; x ,..., x , (x f
r 2 1 n 2 1 n
r 2 1 n 2 1 2
r 2 1 n 2 1 1
(1.9)
Phng trnh trng thi:
= ) (
.
t x f(x, u, t)
y(t) = g(x, u, t)
Hoc di dng ma trn:
= ) (
.
t x A(t). x(t) + B(t). u(t)
y(t) = C(t). x(t) + D(t). u(t)
S khi:

Hnh 1-6
1.3. M t ton hc ca cc phn t iu khin
a. Phn t di ng thng:

Tc dng vo l xo c chiu di L
0
l xo di ng mt lng X th cn mt lc:
P
L
= k .X (k: l cng l xo hay l hng s l xo)
k =
X
P
L
A
A

O L
PL
PL
L0
L
X
K =
PL
X
Hnh 1-7. ng c tnh
Hnh 1-8. S khi
1/k
R=X P V = PL
i vi l xo thng thng tn hiu vo l lc P
V
= P
L
,
tn hiu ra l lng di ng R = X.
Vy m hnh ton c trng v s khi biu din chc nng nh hnh 1-8
b. B gim chn bng khng kh hoc bng du p:

di ng piston vi vn tc V, cn tc dng lc P
V
c gi tr:
P
V
= C.V= C.
dt
dR

p dng ton t Laplace: s =
dt
d

P
V
= C.V= C.
dt
dR
= C.s.R
Lc P
V
coi l tn hiu vo
Tn hiu ra: Lng di ng R.
T cc yu t trn thnh lp s khi th hin m hnh ton ca b gim chn.
c. Trng khi
Theo nh lut II Newton tng cc lc P bn ngoi tc dng vo mt trng khi
s c biu thc:

P = M.A = M.
2
2
dt
R d

Dng ton t Laplace: s =
dt
d
nn P = M
.
S
2
.R
R = P .
2
.
1
S M

S khi th hin m hnh ton nh sau:

d. Phn t quay
nh lut II Newton: i vi chuyn ng quay gia tc gc ca vt th quay t l
thun vi tng m men tc dng ln n.
Dng ton hc ca nh lut:
P V
R
Hnh 1-9
PV R
1/C.s
Hnh 1-10
Hnh 1-11
1/M.S
2
R P

2
2
dt
d
=
u
M
M
d
dt
= .
2
2
u
Trong : l gc quay
u l momen qun tnh ca vt th
M l momen bn ngoi tc dng vo vt th.
Momen bn ngoi c to ra t ng c, do ti trng tc dng l xo hoc gim
chn.
Xt mt a quay trong cht lng v ni vi mt bnh nh hnh v:

-Phn tch xy dng m hnh ton:
Quay a c phi tc dng mt momen xon M
x
, trc quay i mt gc l j
to mo men ca l xo: M
1
= k
x
. j (1.10)
Trc c ng knh D, chiu di l, h s l xo xon l:
k
x
=
l
G D
32
. .
4
t
(G: M un n hi)
Momen cn thit thng lc ma st ca cht lng:
M
m
= C.w = C.
dt
d
= C. p. j (1.11)
w: l vn tc gc
C: h s ma st ca cht lng
Nu quay a vi momen xon M
x
(momen xon ca trc l xo) v momen ma st
s ngn cn s quay ca a do c th vit thnh:
M = M
x
M
1
M
m
=
2
2
.
dt
d
u = q. s
2
. j
Thay cc tr s (1.10) v (1.11) ta c:
M
x
= q. s
2
. j + k
x
. j + C. s. j = (q. s
2
+ k
x
+ C.s). j
T phng trnh trn ta c s khi ca h thng nh hnh v.
e. Cc phn t in
Cc phn t c bn ca cc mch in
Hnh 1-12
M 1
M m
M x
e

Hnh 1-13
1( u.S
2
+ C.S + k x )

M x
y = R
x =V
C1
A.P
b)

u
R
= R. I I =
R
1
.u
R

u
L
= L.
dt
dI
= L
P
. I
dt
dI
= p. I =
dt
d
.I
u
C
=
C
1
.
}
dt I. =
P
C
1
.I
f.Cc phn t thu kh
Xt phn t du p:
-Nu van trt c y ln pha trn , du c p sut P
0
s vo bung trn ca xi
lanh 3 v du ca bung di s qua van trt v b du.
- Nu van trt c a xung pha di , du s qua bung di ca xilanh 1 v
du bung trn s chy v b du. Vi hiu p khng i c hnh thnh ca
van, tc l t l thun vi lng di ng x.
Gi q l lng du chy vo xilanh, ta c: q = C
1
.x
q ng thi cng l s thay i th tch ca xilanh: q = A.Py

(A l din tch b mt ca xilanh)
A.Py = C
1
.x
+
uR u L
+
u C
+
R
L C
1
R
uR I I uL
L p
1 I uC
C p
1
Hnh 1-14
x
1
2
3
y
P 0
M
Hnh 1-15
y =
P A
C
.
1
.x
T phng trnh trn tn hiu vo l x ( lng di ng ca xilanh 1) v tn hiu ra y
lng di ng ca xilanh 2.
g.Phn t phi tuyn
Ta xt mt phn t phi tuyn v trn c s tin hnh tuyn tnh ho m hnh
ton hc c trng cho chc nng ca c cu.
Xt c cu nng vung gc bng c kh:

Thanh nng vung gc ti im A (a + b = 90
0
) v c th chuyn ng cng bc
trong rnh thng ng. Mt nhnh ca thanh nng c th trt trn con trt im
B , con trt ny di ng cng bc theo phng ngang. Nhnh kia ca thanh nng
c th di ng trong bc ca khp ni c nh im C.
- Phn tch:
Tam gic AOB lun ng dng tam gic AOC nn:
K
X
X
Y
=
K
X
Y
2
=
( K = const)
Nu tn hiu vo l X, th v tr ca im B l tn hiu ra Y t l vi bnh phng
ca X. Cn tn hiu vo l Y v tn hiu ra l X s t l vi cn bc hai ca Y:
X = Y K.
vit phng trnh ton v xy dng m hnh ton hc ta cn tuyn tnh ho cc
phng trnh phi tuyn trn. Phng php nh sau.
1.4- Phn loi h thng iu khin.
* Vic phn loi h thng iu khin (Controller System) c rt nhiu hnh
thc tu theo gc nhn nhn nh gi: phn loi theo tn hiu vo, theo cc lp
phng trnh vi phn m t qu trnh ng lc hc ca h thng. Theo s vng kn
trong h, v.v... Tuy nhin y ch l tng i. Xt v tnh cht lm vic v ni
dung c bn ca iu khin th h thng iu khin c 2 loi lm c s trong phn
tch tnh nng (Phn bit tc ng vo h v p ng ra):
H thng kn
H thng h.
Hnh 1-16
o
|
O
Y K
X
B C
*Theo c im m t ton hc th c cc h thng sau:
H thng lin tc
H thng gin on
H thng tuyn tnh
H thng phi tuyn
H thng tuyn tnh ho
* Theo dng nng lng tiu th:
H thng iu khin bng in
H thng iu khin bng du
H thng iu khin bng kh p
....
1.4.1. Cc h thng iu khin h v h thng kn
a. H thng iu khin h (Open- Loop Control Systems)
*Khi nim: H thng iu khin h l h thng m tc ng iu khin c lp vi
u ra (Hoc u ra khng c o v khng c phn hi so vi u vo)
V d:
Qu trnh hot ng ca my git hon ton t ng m chng ta ch cn tc ng
trc khi my hot ng l ng in v nhn cng tc sau khi my hon thnh
cng vic th chng ta ly sn phm ra. Trong my c din ra cc qu trnh nh sau:
qu trnh lm t qun o (Soaking), qu trnh git (Washing), qu trnh vt kh
(Rinsing) u lm vic vi mt thi gian tng chun (time basic) V cc qu trnh
ny khng c o kt qu (Tc l khng c kim tra l lm sch qun o hay
cha)
S khi ca h thng (Control System in Washing Machine)

t = t
s
+ t
W
+ t
R
= const
T v d trn ta thy h thng iu khin h c dp ng ra khng so snh p ng
vo. Mi tc ng vo c trng thi (hot ng) n nh, kt qu ca h thng c
chnh xc ph thuc h thng chia (h thng o). Trong qu trnh c nhiu, h
thng khng thc hin nhim v yu cu.
* c tnh ca h thng iu khin h:
- chnh xc ca h quyt nh bi iu chnh (cn) v c duy tr chnh xc
c lu hay khng.
Hnh 1-17
Soaking Washing Rinsing
Turn on Finish
Cleanliness
- Nhy cm vi cc bin i xung quanh nh: nhit , dao ng, xung lc, in
th, ph ti...
- p ng chm khi tn hiu vo thay i.
* u im:
- n gin
- Gi thnh thp ( chnh xc va phi)
- Vn mt n nh khng nghim trng.
b. H thng iu khin kn
Khi nim:
H thng iu khin kn l h thng m tc ng iu khin ph thuc p ng ra.
cn gi l h thng iu khin phn hi.

E: Sai lch iu khin
E = R B
R: Tn hiu vo
B: Tn hiu phn hi.
Trong h thng iu khin kn sai lch iu khin l s chnh lch gia tn hiu vo
v tn hiu phn hi. Qu trnh iu khin nhm gim sai lch v p ng ra t gi
tr mong mun.
V d:
H thng iu khin nhit trong l l mt h thng iu khin kn.

Nhit trong l in c o bi nhit k ( l thit b Analog(tng t)) Nhit
di dng tn hiu tng t c bin i thnh tn hiu nhit dng s bi b
A/D. Tn hiu nhit c chuyn v my tnh trung tm qua Interface. v nhit
c so snh vi tn hiu nhit m chng trnh ca my tnh lp, nu c
bt k sai s no (discrepancy: s chnh lch, s khc nhau) th my tnh trung tm
c tn hiu qua Interface v tn hiu ny c khuch i nh thit b Amplifier v
tc ng ln Relay lm cho nhit trong l tng hay gim tu theo yu cu ca
chng trnh lp.
E
R
+
-
G 1
H
Hnh 1-18
G 2
C
B
L in
(E.Furnace)
A/D
Converter
Interface
Relay Amplifier Interface
Computer
Programming
input
Hnh 1-19.
V d 2: iu khin mt bnh nc sao cho mc nc trong bnh lun l hng s
khng i th cao ct nc trong bnh s l mt trong nhng thng s k thut
cn quan tm ca h thng. Gi tr v cao ct nc ti thi im t c o cm
bin v c biu din thnh mt i lng in p di dng hm s ph thuc
thi gian u(t) c n v Volt. i lng vt l y l in p c s dng
truyn ti hm thi gian u(t) mang thng tin v cao ct nc. ( Phn m hnh
ton hc)
* c tnh ca h thng iu khin kn( h thng phn hi)
c trng ca h thng iu khin kn l phn hi.
- Nng cao chnh xc c kh nng to li u ra
- Tc p ng nhanh
- chnh xc ph thuc cc iu kin lm vic
- Gim tnh cht phi tuyn v nhiu
- Gim nhy cm ca t s u ra v u vo i vi s thay i tnh cht ca
h.
- Tng b rng di tn (dy tn s ca u vo)
- C khuynh hng dao ng hoc khng n nh.
- iu khin mm .
1.4.2.- Cc h thng iu khin lin tc v gin on.
Cc h thng thc c m t trng thi tnh hoc ng lc hc. Cc h
thng tnh thng c din t bi h thng cc phng trnh i s. Trong iu
khin k thut cc h thng tnh khng din t y trng thi ca h thng. V
vy ngi ta dng cc phng trnh vi phn/sai phn m t trng thi ng lc hc
ca h thng (c bit nh l cc h thng vi cc tham s cc b hoc tp trung)
hoc cc phng trnh vi phn o hm ring (nh l cc h thng c cc tham s
phn tn).
Trong ni dung gio trnh ta nghin cu cc h thng c m t bi h cc
phng trnh vi phn/sai phn tuyn tnh, ngha l cc tham s ca h thng c lp
tuyn tnh.
V d h thng ng lc hc c m t di dng cc phng trnh vi
phn/sai phn v hng:
x&(t) = f
c
(x(t)) , x(t
o
) = x
o
(1.12)
x(k +1) = f
d
(x(k)) , x (k
o
) = x
o
(1.13)
y: t : bin thi gian lin tc.
k : bin thi gian gin on.
Ch s e: (continuous- Time) - thi gian lin tc.
d: (discrete - Time) - thi gian gin on.
Nu h thng chu tc ng ca ngoi lc, hay cc tc ng vt l khc. Ta
ni n chu ti ng iu khin v phng trnh vi phn/sai phn m t trng thi
ng lc ca h thng.
x&(t) = f
c
(x(t), u(t)) ; x(t
o
) = x
o
(1.14)
x(k+1) = f
d
(x(k), u(k)) ; x(k
o
) = x
o
(1.15)
y: u(t) ; u(k) ng vai tr bin iu khin. Vi mc ch ca iu
khin ta thay i bin iu khin nhn c cc p ng ca h thng k thut theo
yu cu nh vy, nhn chung vn chnh ca iu khin c th m hnh ho theo
dng sau: tm bin iu khin bng cch gii h thng phng trnh vi phn c
trng ca h.
Nu cc h phng trnh vi phn (1.12) (1.15) l tuyn tnh ta gi h thng
l tuyn tnh. Nu l phi tuyn ta gi l h thng phi tuyn. Vic nghin cu h
thng phi tuyn tng i kh. Trong thc t, ngi ta tm cch tuyn tnh ho.
Trong phm vi gio trnh ny, chng ta ch nghin cu h thng iu khin tuyn
tnh.
1.5- Tuyn tnh ho h thng phi tuyn.
Trong thc t khng c mt h thng vt l no c th m t tuyt i chnh
xc bng phng trnh vi phn h s hng tuy nhin nhiu h phi tuyn c th xp
x hoc coi nh tuyn tnh trong tng on lm vic. C nhiu phng php c
p dng cho vic tuyn tnh ho h thng phi tuyn. Phng php trung bnh gn
im lm vic. Phng php tuyn tnh ho iu ho v phng php sai lch nh.
1.5.1- Phng php trung bnh gn im lm vic.
y l phng php n gin c dng trong thit k cc h thng khi c
tnh trn khng th xp x ho c bng cc hm gii tch.
Phng php ny p dng cho cc h c nhng phn t ch phi tuyn trng
thi tnh, quan h gia u ra y vi u vo u l trng thi xc lp (n nh).
Gi thit trong on: - u
M
< u < u
m
c tnh phi tuyn c th xp x ho bng
ng thng.
Trong : y = K . u ; k =
m
m
u
y
= tgo ; o l dc.
1.5.2- Phng php tuyn tnh ho iu ho.
Phng php ny c dng khi h c mt phn t tuyn tnh ni sau mt phn t
phi tuyn lm vic ch t dao ng. Cc tn hiu trong h l lm tun hon
theo thi gian.
Phng php ny da trn c s khai trin hm sng thnh chui hm dng
sin (chui Fonricr) iu ho c tn s l e, 2e, 3e, ... c bin v gc pha khc
nhau. Gi thit cc hm iu ho bc cao khc (2e, 3e, ...) c bin nh b qua
ch gi li thnh phn iu ho bc nht (e) (gi thit lc) ngha l:

Hnh 1-20
Trong : u(t) = U
m
. sin (et + )
y(t) = Y
m1
. sin (et + )
Trong U
m
= Y
m1
v - = t c gi l iu kin cn bng iu ho.
1.5.3- Phng php sai lch nh.
Theo phng php ny vic tuyn tnh ho c thc hin bng cch khai
trin hm phi tuyn thnh chui Taylor ti vng ln cn im n nh (tng ng
vi ch xc lp). Ch kho st cc sai lch bc nht trong chui . Sai lch so
vi trng thi n nh cng nh th vic nh gi cc qu trnh ca phn t phi
tuyn c sai s cng b sau khi bin i tuyn tnh.
a) H thng (bc nht) phi tuyn.
x&(t) = f(x(t) , u(t) ) (1.16)
Gi thit rng h thng lm vic trng thi xc lp vi qu o x
n
(t) khi n
c iu khin bi tn hiu vo u
n
(t). Chng ta gi x
n
(t) v u
n
(t) l qu o danh
ngha v u vo danh ngha theo phng trnh (1.16) ta c:
x&
n
(t) = f(x
n
(t) , u
n
(t) ) (1.17)
By gi ta gi thit rng thay i ca h phi tuyn (1.16) ln cn qu o
danh nh mt lng nh (v cng b).
x(t) = x
n
(t) + Ax(t) (1.18)
Lng bin i v cng b ny l do thay i u vo:
u(t) = u
n
(t) + Au(t) (1.19)
T cc phng trnh (1.16), (1.18), (1.19) ta c:
x&
n
(t) + Ax&(t) = f(x
n
(t) + Ax(t), u
n
(t) + Au(t)) (1.20)
S dng khai trin Taylor vi cc i lng Ax(t), Au(t) ta s c:
x&
n
(t) + Ax&(t) = f(x
n
(t), u
n
(t)) +
x
f
c
c
(x
n
, u
n
) Ax(t) +
+
u
f
c
c
(x
n
, u
n
) Au(t) + cc thnh phn bc cao. (1.21)
Nonlinear
System

u(t)
Element
Linearization

y(t)
(Cc thnh phn bc cao l cc i lng v cng b Ax
2
, Au
2
, Ax.Au, Ax
3
...)
c b qua, t y ta c:
Ax&(t) =
x
f
c
c
(x
n
, u
n
) Ax(t) +
u
f
c
c
(x
n
, u
n
) Au(t) (1.22)
Nh vy bng vic trnh by xp x vi Ax(t) ta tin hnh tuyn tnh ho
theo sai lch bc nht c phng trnh xp x bc nht (1.22).
t: a
o
= -
x
f
c
c
(x
n
, u
n
); b
o
=
u
f
c
c
(x
n
, u
n
) (1.23)
Ta c phng trnh m t h thng tuyn tnh:
Ax&(t) + a
o
(t)Ax(t) = b
o
(t). Au(t) (1.24)
iu kin u ca h thng c tuyn tnh ho c xc nh.
Ax(t
o
) = x(t
o
) - x
n
(t
o
) (1.25)
b) H phi tuyn bc 2:
x& & = f( x, x&, u, u&) (1.26)
Vi gi thit rng:
x(t) = x
n
(t) + Ax(t); x&(t) = x&
n
(t) + Ax&(t)
u(t) = u
n
(t) + Au(t); u&(t) = u&
n
(t) + Au&(t) (1.27)
Tng t ta c:
x& &
n
+ Ax& &= f (x
n
+ Ax, x&
n
+ Ax&, u
n
+ Au, u&
n
+ Au&) (1.40)
p dng khai trin Taylor ln cn cc im danh ngha: x
n
, x&
n
, u
n
, u&
n
v
ta c:
Ax& &(t) + a
1
Ax&(t) + a
o
Ax(t) = b
1
Au&(t) + b
o
Au(t) (1.28)
Cc h s xc nh theo:
a
1
= -
x
f
& c
c
(x
n
, x&
n
, u
n
, u&
n
), a
o
= -
x
f
c
c
(x
n
, x&
n
, u
n
, u&
n
)
b
1
=
u
f
& c
c
(x
n
, x&
n
, u
n
, u&
n
), b
o
=
u
f
c
c
(x
n
, x&
n
, u
n
, u&
n
) (1.29)
Cc iu kin u c xc nh.
Ax(t
o
) = x(t
o
) - x
n
(t
o
) ; Ax&(t
o
) = x&(t
o
) - x&
n
(t
o
)
V d: Cho h thng phi tuyn.
u
& &
= Sinu - u.cosu = f(u, u)
Trong : u = u(t) ; u = u(t)
y l m hnh ton ca thanh thng ng cn bng, u: lc ngang; u l gc
lch khi phng thng ng.
y l h thng ng lc hc bc 2. Trng thi danh nh ca n:
u
&
n
(t) = u
n
(t) = 0 ; u
n
(t) = 0 ; s dng (1-42) ta c:
a
1
= -
u c
c
&
f
= 0, a
o
= -
n
f
|
.
|
\
|
u c
c
= - (Cosu + Usinu)
0 ) t (
n
U
0 ) t (
n
=
= u
= -1
b
1
= |
.
|
\
|
c
c
u
f
&
= 0 ; b
o
=
n
u
f
|
.
|
\
|
c
c
= - Cosu
0 ) t (
n
= u
= -1
Vy phng trnh tuyn tnh ho:
(1.30)

dy: Au(t) = u(t) , Au(t) = u(t)
ng thi u
n
(t) = 0, u
n
(t) = 0

u
& &
(t) - u(t) = - u(t)

O
o
je
Gx
Gy
u
G(s)
O
je
o
o
je
S
CHNG II
HM TRUYN T
Trc tin n tp li kin thc v s phc v hm phc.
*Bin phc:
s = o + jw
o: Phn thc (Real part)
e: Phn o (Imaginary part)
Nu o, e l cc s thc th ta gi l s phc, cn thay i s l bin phc.
Biu din bin phc s trn th nh sau:

Hnh 2.1
* Hm phc: L hm ca bin phc S
G(s) = G
x
+ j G
y

Cng bao gm phn thc v phn o.
ln ca ) (s G =
2 2
y x
G G +
Gc q = tan
-1
(G
x
/G
y
), Chiu dng theo chiu kim ng h tnh t trc thc
-Biu din trn th:

Hnh 2.2
Hm lin hp ca hm G(s) l: ) (s G = G
x
- j G
y

O
je
o
S0
2
j 4
16
O
-11

ReG
ImG
G(S0)
n
h
x
G
Phng S
Phng G(S)
Mt hm phc, c bin l s = o + je . Bin phc S ph thuc vo 2 i lng c
lp: l phn thc v phn o ca s. biu din hm G(s) cn c 2 th, mi
th c 2 chiu:
- th ca je ng vi s gi l phng S
- th ca phn o G(S) (ImG) ng vi phn thc ca G(S) (ReG) gi l
phng G(S).
S tng ng gia cc im trong hai phng gi l mt nh x hay bin i .
Cc im trong phng S c nh x vo cc im trong phng G(S) bng hm G.
V d:
Hm phc G(S) = S
2
+ 1. im S
0
= 2 +j 4 c nh x vo im G(S
0
) nh sau
(S
0
) = G(2 + j 4) = -11 + j 16

Hnh 2.3
* Phng S (mt phng phc)
Nu G(S) l hm hu t nh sau:
G(S) =
=
=
+
+
n
i
i
m
i
i m
p S
z S b
1
1
) (
) (

- Cc gi tr ca bin phc S = -z
i
lm cho G(s) = 0 c gi l cc khng ca
G(s) (Zeros)
- Cc gi tr s = - p
i
lm cho G(s) c gi l cc cc ca G(s) ( Poles)
Cc cc v cc khng c xc nh bi: mt i din phn thc v mt i din
phn o ca s phc.
Biu din cc im trn mt phng phc ( phng S) gi l nh x cc khng
ca G(s)
V d:
G(s) =
) 1 )( 1 )( 3 (
) 2 )( 1 ( 2
6 8 5
4 2 2
2 3
2
j S j S S
S S
S S S
S S
+ + +
+
=
+ + +

Phng S
o
je
j
-j
-1
2
-3
Pole
Zero
Phng S
o
Phng G(S)
ReG
je
S1
ImG
G(S1)
S2
S3
S4
G(S4)
G(S2)
G(S3)
nh x G
G(s) c cc khng: s = -1 ; s = 2
v cc cc: s = -3; s = -1 j ; s = -1 +j

Hnh 2.4
*Phng G(s): c biu din trong mt phng vi 2 thnh phn. Mt l phn thc
ca G(s) ReG, v mt l phn o ca G(s)- ImG. nh x t cc im s
0
sang phng
G(s) l cc im G(s
0
).

Hnh 2.5
* Nhn xt: Mi quan h gia phng S ( nh x cc khng)
*Php bin i Laplace
Bin i Laplace l c s ca mt phng php gii tch tm c p ng n
nh v p ng qu m cc phng trnh vi phn tuyn tnh h s khng i.
Nn php bin i Laplace ch dng bin i cho phng trnh vi phn tuyn tnh.
Bin i Laplace chuyn phng trnh vi phn thnh cc phng trnh i s nn
tm nghim ca phng trnh i s n gin hn v t nghim ca phng trnh
i s tm c nghim ca phng trnh vi phn.
Mt u im l phng php ny c th x l trc tip cc iu kin u ca h
thng nh mt phn ca p ng.
- Bn cht ca php bin i Laplace:
L cc php tnh o hm v tch phn gc c chuyn thnh cc php ton i s
thng thng i vi cc nh, min xc nh rng.
- Hm gc:
O
q(t)
t
O
t
q(t).sint
Gi hm f(t) ca bin thc t l hm gc nu n tho mn cc iu kin sau:
1. Hm f(t) lin tc trn tng on thuc min xc nh m t > 0.
Gii thch:
Ly [a; b] trn t > 0, lun chi c trong [a; b] mt s hu hn khong nh [e; x]
sao cho trong mi khong f(t) lin tc v ti cc mt ca mi khong nh th f(t)
c gii hn mt pha:
<
) ( lim t f
t

2. Khi t + hm f(t) khng tng nhanh hn mt hm m. Tn ti M > 0;
a >0 sao cho:
t
e t f
.
) (
o
s ; mi t >0
a gi l ch s tng ca f(t).
3.f(t) = 0 khi t < 0.
iu kin ny c a ra v trong ng dng bin s t thng l thi gian, hm f(t)
biu din mt qu trnh no m ta ch kho st lc t > 0.
Mt s v d:
a) Hm h(t) = 0 khi t < 0
1 khi t > 0
L mt hm gc : 1 ) ( s t q tho mn iu kin hm f(t) khng tng nhanh hn
mt hm m.
t 0 > ta ly t thuc trong [-1; 1] th 1 ) ( lim
1
=
+
t
t
q ( tho mn iu kin 1)
h(t) = 0 khi t < 0 (tho mn iu kin 3)

Hnh 2.6
b) Hm f(t) = h(t). sint = 0 khi t < 0
sint khi t > 0
t
e M t t
o
q . 1 sin ). ( = s ( M = 1; a = 0)
t t sin ). ( q lin tc trn t > 0
t t sin ). ( q = 0 khi t <0
Hnh 2.7
c) Hm f(t) = h(t).t
2
= 0 khi t < 0
t
2
khi t > 0
O
q(t).t
t
2
t
e t t . 2 ). (
2
s q ( M = 2; a = 1)

Hnh 2.8
- Ton t Laplace:
Nu f(t) l mt hm gc c ch s tng l a th yu cu ca f(t) chuyn i c
l:
<
dt
t
e t f
.
.
0
) (
o
( a < s < ) tch phn hi t tuyt i.
Bin i Laplace l kt qu ca mt thut ton chuyn i vi mt hm thi gian
f(t) cho ta hm G(s) ca bin phc s.
F(s) = L {f(t)} =
}
+

=
}

0
). ( ). ( lim dt
st
e t f
T
dt
st
e t f
T
c
( 0 < e < T )
Bin i ngc tm gc f(t):
f(t) =
}
+

j
j
ds
st
e s F
j
o
o
t
. ). (
2
1

Mt s hm bin i Laplace s dng ph bin:
Important Laplace Transform Pairs
f(t) F(s)
Hm bc thang h(t)
S
1

Hm xung n v d(t) = 0 nu t < 0
1 nu 0 s t s t
1

0 nu t > t
1

1
t
2
S
1

t
n

1 n
S
n!
+

e
-at
a S +
1

1)! (n
.e t
at 1 n

n
a) (S
1
+

) e .(1
a
1
at

a) S(S
1
+

sinwt
2 2
S
+

coswt
2 2
S
S
+

e
-at
.f(t) F(s + a)
f
(k)
(t) =
k
k
dt
f(t) d

s
k
F(s) s
k-1
f(0
-
) s
k-2
f(0
-
) - ... f
(k-1)
(0
-
)
}

t
f(t)dt
}

+
0
f(t)dt
s
1
s
F(s)

* Lu :
Bin s c coi nh php vi phn: s
dt
d

V trong tch phn:
}
t
0
dt
s
1

* ng dng ca ton t Laplace:
- Gii cc phng trnh vi phn tuyn tnh h s khng i
- Tm hm truyn t ca h thng iu khin tuyn tnh.
2.1. Hm truyn t
* nh ngha: Hm truyn t (The Transfer function) ca mt h thng tuyn tnh
c nh ngha l t s gia bin i Laplace ca biu ra ( i lng p ng ra
ca h thng) so vi bin i Laplace ca bin vo ( i lng tc ng vo h
thng), Vi iu kin u ng nht bng khng. Hm truyn t ca h thng (
phn t) c trng cho m t ng lc hc ca h thng.
- Mt hm truyn t ch c th xc nh cho h thng tuyn tnh, h thng bn
vng ( tham s khng i). Mt h thng khng bn vng thng gi l h thng
bin thi gian thay i, c mt hay nhiu tham s thay i, v php bin i
Laplace khng c p dng i vi h thng ny.
- Hm truyn t th hin tc ng vo v p ng ra ca trng thi h thng.
- Tuy nhin, hm truyn t khng din t thng tin v cu trc bn trong ca h
thng v trng thi hot ng ca h thng.
M1
M2
friction f2
friction f1
K
V2(t)
V1(t)
Force r(t)
G(s) =
{u(t)}
{y(t)}
l
l
=
Input
Output
=
U(s)
Y(s)

hiu v cch xy dng hm truyn t ta c cc v d sau:
V d 1:
Cho mt h thng c m t bi phng trnh vi phn sau:
2r(t) 3y
dt
dy
4
dt
y d
2
2
= + +
iu kin u l: y(0) = 1, 0 (0)
dt
dy
= , v r(t) = 1, t > 0
Bin i Laplace:
[ s
2
Y(s) s y(0) ] + 4[ s Y(s) y(0) ] + 3 Y(s) = 2 R(s)
Thay R(s) =
s
1
v y(0) = 1 ta c:
s
2
Y(s) s + 4 s Y(s) 4 + 3 Y(s) =
s
2

Y(s) =
3) 4s (s
4 s
3) 4s s(s
2
2 2
+ +
+
+
+ +

Trong : q(s) = s
2
+4s + 3 = ( s + 1)(s +3) = 0 l phng trnh c trng v d(s) = s
Y(s) = [
s
2/3
]
3) (s
1/3
1) (s
1
[ ]
3) (s
1/2
1) (s
3/2
+
+
+
+
+
+
+
+
= Y
1
(s) + Y
2
(s) + Y
3
(s)
Bin i Laplace ngc:
y(t) =
3
2
] .e
3
1
1.e [ ] .e
2
1
.e
2
3
[
3t t 3t t
+ + +

Trng thi n nh l:
3
2
y(t) lim
t
=

V d 2: H thng c kh nh hnh v ( c m hnh ho)

Hnh 2.9
+
-
Armature
if(t)
Field
Inertia = J
Friction = f
Load
Ra
La Rf
Lf
Trong hnh v:
K: cng l xo ( hng s l xo)
f
1
, f
2
: l cc h s ma st
V
1
(t), V
2
(t): Vn tc di chuyn ca cc trng khi M
1
v M
2
.
M
1
sV
1
(s) + (f
1
+ f
2
)V
1
(s) f
2
V
2
(s) = R(s)
M
2
sV
2
(s) + f
1
(V
2
(s) V
1
(s)) + K
s
(s) V
2
= 0
Tng ng vi:
(M
1
(s) + (f
1
+ f
2
)) V
1
(s) + (- f
1
)V
2
(s) = R(s)
(-f
1
)V
1
(s) + (M
2
(s) + f
1
+
s
K
) V
2
(s) = 0
Hoc di dng ma trn sau:
(
=
(
(
(
+ +
+ +
0
R(s)
(s) V
(s) V
s
K
f (s) )......(M f .........(
) f ........( f f (s) (M
2
1
1 2 1
1 2 1 1
.
)

Vn tc di chuyn ca M
1
chnh l i lng ra, vic tm V
1
(s) bi ma trn nghch
o hoc nguyn tc Cramer l:
V
1
(s) =
2
1 1 2 2 1 1
1 2
f (K/s)) f s ).(M f f s (M
) (K/s)).R(s f s (M
+ + + +
+ +

Hm truyn t ca h thng:
G(s) = =
R(s)
(s) V
1
2
1 1 2 2 1 1
1 2
f (K/s)) f s ).(M f f s (M
(K/s)) f s (M
+ + + +
+ +
=
s s
s
2
1 1
2
2 2 1 1
1
2
2
f K) f s ).(M f f s (M
K).R(s) f s (M
+ + + +
+ +

Ti mt thi im no m xc nh x
1
(t), th hm truyn t l:

s
G(s)
sR(s)
(s) V
R(s)
(s) X
1
= =
V d 3: Hm truyn t ca ng c dc
ng c dc l thit b pht ng m chuyn t dng nng lng in sang chuyn
ng quay.

m
y(t)
c
u(t)
d
Fc Fm
Fd
Hnh 2.10
V d 4: Cho h c hc gm mt l xo c h s c, mt vt vi khi lng m v b
gim chn c h s d c ni vi nhau nh hnh v. Xc nh hm truyn t cho
h c nu tn hiu u vo u(t) c nh ngha l lc bn ngoi tc ng ln vt
v tn hiu ra y(t) l qung ng m vt i c.
Gi F
c
, F
m
, F
d
l nhng lc ca l xo, vt v b gim chn sinh ra khi vt di chuyn
nhm cn s dch chuyn th:
F
c
= c. y(t)
F
m
= m.
2
2
dt
y(t) d

F
d
= d .
dt
dy(t)

Theo tin v cn bng lc ta c:
u(t) = F
c
+ F
m
+ F
d
= c . y(t) + m.
2
2
dt
y(t) d
+ d .
dt
dy(t)

Bin i Laplace: U(s) = ( c + ds + ms
2
). Y(s)
Hnh 2.11
Hm truyn t ca h thng l:
G(s) =
U(s)
Y(s)
=
c ds ms
1
2
+ +

Gi g(t) l hm gc ca hm truyn t G(s), tc l:
g(t) = L
-1
{G(s)}
Theo tnh cht ca ton t Laplace ta c:
Y(s) = G(s). U(s)
y(t) = g(t). u(t) =
}
+

t t t )d .u(t g( ) =
}
+

t t t )d .u( - g(t )
Hm g(t) c gi l hm trng lng ca h thng. Vi u(t) = ) (t o
Do U(s) = 1 nn ta c y(t) = g(t)
* Hm truyn t trong lnh vc Laplace
Trn y mi ch gii thiu hm truyn t gii hn trong quan h t l vo ra n
gin, l mt hnh thc m t c trng ca phn t hoc h thng. Tuy nhin
c nhiu phn t c p ng thay i theo thi gian. Trong lnh vc thi gian c
tnh c m t bng phng trnh vi phn, phng trnh ny khng trc tip
dng lm hm truyn t c.
Nu dng mt hm truyn t vi bin s Laplace S, din t c c tnh ng lc
ca phn t hoc h thng v phng php phn tch trong lnh vc thi gian ( tc
l qu trnh qu )s tng i n gin gip ta xc nh p ng ca phn t hoc
h thng i vi mt tn hiu vo xc nh.
c trng ca mt h thng iu khin, ta c phng trnh vi phn tng qut sau
y:
(p
n
+ b
n-1
p
n-1
+ ... + b
1
p + b
0
). y(t) = ( a
m
p
m
+ a
m-1
p
m-1
+ ... + a
1
p + a
0
). x(t) (2.11)
y(t) = .x(t)
(p) L
(p) L
.x(t)
b p b ... p b p
a p a ... p a p a
n
m
0 1
1 n
1 n
n
0 1
1 m
1 m
m
m
=
+ + + +
+ + + +

Trong : a
0
, ..., a
m
v b
0
, ..., b
n
l nhng hng s
x(t) hm kch thch, n l tn hiu tc ng vo lm kch thch h thng
y(t) hm phn ng. N l hm chuyn tip (tn hiu ra) di tc ng ca tn hiu
vo x(t).
L
n
(p) = p
n
+ b
n-1
p
n-1
+ ... + b
1
p + b
0

L
m
(p) = a
m
p
m
+ a
m-1
p
m-1
+ ... + a
1
p + a
0
Bin i Laplace tng s hng ca phng trnh (2.11) ta c
L[p
n
y(t)] = s
n
Y(s) I(s)
n

b
n-1
L[p
n-1
y(t)] =b
n-1
. s
n-1
Y(s) I(s)
n-1

...
a
m
L[p
m
x(t)] = a
m
s
m
X(s) I(s)
m

a
m-1
L[p
m-1
x(t)] =a
m-1
s
m-1
Y(s) I(s)
m-1

Vi I(s)
n
,...l nhng iu kin ban u tng ng vi cc bin i.
Thay vo phng trnh:
Y(s) =
(s) L
I(s) (s).X(s) L
b s b ... s b s
I(s) X(s) a s a ... s a s (a
n
m
0 1
1 n
1 n
n
0 1
1 m
1 m
m
m
+
=
+ + + +
+ + + + +
).

I(s) = I(s)
n
+ I(s)
n-1
+ ... - I(s)
m
- I(s)
m-1
l tng nhng iu kin u.
T phng trnh trn thy rng:
- cc a thc L
m
(s); L
n
(s) trong min bin i s vn gi nguyn nh trong min
ton t p.
- T s ca chng cng c dng ging nhau, ch khc l min s c cc iu kin
u I(s).
- Nu cc iu kin u bng 0 th ta c th bin i Laplace ca phng trnh vi
phn bng cch thay s vo v tr p, thay Y(s) vo v tr y(t) v X(s) vo v tr x(t).
Tc l:
Y(s) = ) ( . s X
(s) L
(s) L
n
m

V hm truyn t l G(s) =
(s) L
(s) L
n
m

Vy c mi quan h trong h thng iu khin:
Hm phn ng = Hm truyn t x Hm kch thch
Nu cho mu s ca hm truyn t bng 0 ta s c phng trnh c trng:
s
n
+ b
n-1
s
n-1
+ ... + b
1
s + b
0
= 0 trn c s phng trnh c trng ta suy ra
cc c tnh chuyn tip ca h thng.
- Hm phn ng (hm chuyn tip) y(t) c th xc nh vi vic bin i ngc hm
Y(s)
y(t) = L
-1
[ Y(s)] = L
-1
[
(s) L
I(s) (s).X(s) L
n
m
+
]
Tm y(t) theo 2 cch:
1) Dng bng xc nh cc hm thi gian tng ng
2) Phn tch hm bin i thnh tng nhng hm n gin hn v sau dng
bng bin i ngc tng s hng.
Thng dng phng php 2 v t khi gp cc hm n gin. Vy ta tm hiu
phng php 2 nh sau:
Y(s) =
(s) L
I(s) (s).X(s) L
n
m
+

Hm kch thch X(s) hay tn hiu vo c th vit di dng sau y:
X(s) =
x
x
D
N

Y(s) =
) (
) (
s B
s A
=
+
x n
x x m
(s).D L
I(s).D (s).N L

y A(s) v B(s) l nhng a thc ca s.
c th chia Y(s) thnh cc phn thc, ta phn tch mu s B(s). Gi s cc
nghim ca B(s) l r
1
, r
2
, ..., r
n
. Cc nghim ny c th l nghim n, nghim bi
hay l s phc.
- Nghim n:
Y(s) =
n
n
2
2
1
1
r s
C
...
r s
C
r s
C
B(s)
A(s)
+ +
=
Xc nh C
1
, C
2
, ..., C
n
ta dng phng php sau
C
1
= ).Y(s)] r [(s lim
1
r s
1

C
2
= ).Y(s)] r [(s lim
2
r s
2

...
C
n
= ).Y(s)] r [(s lim
n
r s
n

Bit c C
1
, C
2
, ..., C
n
tm c bin i Laplace ngc trong bng:
L
-1
[
n
n
r - s
C
] = C
n
. e
t r
n
( t 0 > )
Vy,
y(t) = L
-1
[ Y(s)] = C
1
. e
t r
1
+ C
2
. e
t r
2
+... + C
n
. e
t r
n

Hm chuyn tip y(t) mong mun l hm tt dn nn tng phn C
n
. e
t r
n
l hm tt
dn, tc l tt c cc nghim r
1
, r
2
, ..., r
n
cn phi l s m.
- Nghim bi:
B(s) = (s-r)
q
.(s-r
1
).(s-r
2
)...(s-r
n
)
Y(s) =
n
n
1
1 1
1 q
1 q
q
q
r s
C
...
r s
C
r s
K
r) (s
K
r) (s
K
B(s)
A(s)
+ +
+ +
...
Xc nh K
q
: K
q
= .Y(s)] r) [(s lim
q
r s

Cn cc h s cn li xc nh xc nh bng cch:
) r (s
r) (s
qC ...
) r (s
r) (s
qC ... r) (s 2K K Y(s)] r) [(s
ds
d
n
q
n
i
1 q
1 2 q 1 q
q
+ +
+ + + =

K
q-1
= Y(s)]} r) [(s
ds
d
{ lim
q
r s

K
q-2
= Y(s)]} r) [(s
ds
d
2
1
{ lim
q
2
2
r s

....
K
q-k
= Y(s)]} r) [(s
ds
d
k!
1
{ lim
q
(k)
(k)
r s

Vy:
y(t) = + + + +
rt
1
rt
2
rt 2 q
1 q
rt 1 q
q
.e K
1!
.t.e K
...
2)! (q
.e .t K
1)! (q
.e .t K
C
1
. e
t r
1
+ C
2
. e
t r
2
+... + C
n
.
e
t r
n

-Nghim phc lin hp:
Y(s) =
n
n
1
1 0
r s
C
...
r s
C
jb a s
C
jb - a s
C
B(s)
A(s)
+ +
+
+
+
=
Xc nh cc hng s C, C
0
tng ng vi cc nghim phc lin hp:
C =
]
) r )...(s r (2jb).(s
A(s)
[ lim ]
) r )...(s r jb).(s a jb).(s a (s
A(s)
jb). a [(s lim
n 1
jb a s
n 1
jb a s

=
+

+ +

= jb) .K(a
2jb
1
+
K(a+jb) =
jb a s +
lim
) )...( 1 (
) ( 4
n
r S r s
s

= [(s
2
-2as+a
2
+b
2
.
s B
s A
/
/
)]
jb a S + =

Co =
jb a s
lim [(s-a+jb)
) )....( ).( ).( (
) (
1 n
r s r s jb a s jb a s
s A
+
]
=
jb a s
lim [
) ).( .( 2
) (
1 n
r s r s a
s A

] = -
a 2
1
.K.(a-jb)
K(a+jb) =
jb a s
lim [
) ).( (
) (
1 n
r s r s
s A

] = -
a 2
1
.K.(a+jb)
= [(
2
- 2as + a
2
+b
2
)
) (
) (
s B
s A
]
jb a s =

Cc tr s k(a+jb) v k(a-jb) l cc s phc lin hp
Ta cn th hin cc s ny trn hnh v:
K(a+jb) = [k(a+jb)]e
o j

K(a+jb) = [k(a+jb)]e
o j

[k(a+jb)] = [k(a-jb)]
( di ca vc t )
C v Co cng l cc s phc lin hp .
C =
jb 2
1
.[k(a+jb)].e
o j

Co = -[k(a+jb)]e
o j

T bng laplace ta xc nh hm chuyn tip
y
) (t
= c.e
t jb a ). ( +
+Co.e
t jb a ). (
+C1.e
t r1
+.....+Cn.e
rnt

) (t
y =
jb 2
1
[k(a+jb)].e
t jb a ). ( +
.e
o j
+ -
jb 2
1
[k(a-jb).e
t jb a ). (
.e
o j
+...
=
jb 2
1
[k(a+jb)].e
t a.
.e
) ( o + bt j
- e
) ( o + bt j

=
b
1
[k(a+jb)].e
at
.
j
e e
bt j bt j
2
) ( ) ( o o + +

=
b
1
[k(a+jb)].e
at
.sin( ) ( bt + o +C1.e
t r1
+...+Cn.e
rnt

Phng trnh trn th hin hm iu ho sin tt dn theo hm m, xut pht
tnghim phc lin hp Phn o b l tn s dao ng tt dn . Thi gian ca mi
dao ng l
b
t 2
. ng bao hnh sin l
b
1
[k(a+jb)].e
at
. hm m gim dn th a
O
j
t
(1/b).[K(a+ jb)] (1/b).[K(a+ jb)].e
O
j
t
at
O
at
(1/b).[K(a+ jb)].e
t
j
t
O
b
j
a>0
a<0
a>0
a<0
a=0
phi l tr s m . Trng hp a = 0, ta s c hm sin c bin
b
1
[k(a+jb)].e
at

khng i.

Hnh 2.12
- Nu cc nghim nm bn tri trc o ( a<0 ) th dao ng hnh sin sex tt dn,
nu a=0 th dao ng vi bin khng i, nghim nm bn phi trc o(a>0)
th dao ng s tng dn.
Cch khc xc nh p ng thi gian:
p ng thi gian c th xc nh bng cch tm cc cc ca G(s). X(s) v
Y(s) = G(s). X(s) v c lng tm cc h s ca cc phn thc ca biu thc Y(s)
ti cc cc . Cc h s c th xc nh bng th nh mt nh x cc khng
ca Y(s). nh x ny c dng t nh x cc khng ca G(s) v cng thm cc
cc- khng ca X(s).
Cc bc :
G(s) =
) p (s
) z (s . b
i
n
1 i
i
m
1 i
m
+ [
+ [
=
=

V G(s) l mt hm phc nn c th vit di dng cc nh sau:
G(s) =
j
.e P(s) = P(s) Z

(
=

) ( Re
) ( Im
tan
1
s G
s G
|
o
je
-zi
s
s+zi
-pi
s+pi
o
-p1
(s)
je
-z1
-p2
-p3
-z2
-z1
o
-z2
-p3
-p2
je
(s) -p1
a) b)
c)
Mi s phc s, z
i
, p
i
, ( s + z
i
) v ( s + p
i
) c th din t bng mt vect trong mt
phng S. Biu din trn th:

Hnh 2.13
Trong hnh a) c mt cc p
i
v mt khng z
i
v mt bin phc S. Vect tng s +
z
i
l vect bt u t khng z
i
v kt thc ti s, vect s + p
i
bt u t cc p
i
v
kt thc ti s.
ln ca C = b
m
.
pi) s ( ca vecto ln
zi) (s ca vecto ln
+
+
=
) p (s
) z (s . b
i
n
1 i
i
m
1 i
m
+ [
+ [
=
=

Trng hp b):
1
C =
) p ).(s p (s
z ).(s z (s . b
2 1
2 1 m
+ +
+ + )

Trng hp c):
2
C =
) p ).(s p (s
z ).(s z (s . b
2 1
2 1 m
+ +
+ + )

Din t theo dng cc th: C
i
=
i
j
i
e C
|
. =
i i
C | Z
Hoc theo to vung gc: C
i
=
i i i i
C j C | | sin . . cos . +
i
| = Tng cc gc ca cc vect t cc khng n p
i
tr i tng cc gc ca cc
vect t cc cc ti p
i
( nu b
m
> 0)
i
| = Tng cc gc ca cc vect t cc khng n p
i
tr i tng cc gc ca cc
vect t cc cc ti p
i
+ 180
0
( nu b
m
< 0)
-Phng php th ny khng p dng cho trng hp c cc cc trng nhau
( nghim lp).
G1 G2 G1xG2
R C R C
* Hm truyn t trong lnh vc tn s
Vic phn tch h thng nm trong hai lnh vc: Lnh vc thi gian v lnh vc tn
s.
-Trong lnh vc thi gian: ni dung ch yu l cc c tnh ng lc ca h th hin
trng thi qu (p ng qu ). Ta dng phng trnh vi phn v bin i
Laplace nghin cu cc nghim ca phng trnh ( tc l cc p ng ca h).
p dng bin i Laplace gii cc phng trnh vi phn tuyn tnh l phn quan
trng nht trong nghin cu trng thi qu ca cc h tuyn tnh thuc lnh vc
thi gian.
Tuy vy gii phng trnh vi phn phn tch trng thi ng lc ca h thng
(tc l trong lnh vc thi gian) kh phc tp i vi cc h khng n gin. Nhng
phng php phn tch p ng tn s ( thuc lnh vc tn s) c th nh gi c
tnh nng ca h m khng cn gii phng trnh vi phn. Phng php p ng tn
s phn tch cc tnh nng ca h xem nh mt hm ca tn s ca tn hiu vo
dng sin m khng phi l kho st p ng thi gian thc t. Cng c th ni
phng php p ng tn s phn tch p ng dng sin n nh ca hm truyn ca
h.
Phng php ny c nhiu u im:
- Cho php ta c lng c dy tn s nh hng n tnh nng ca h
- D ch cho ta bin php thay i h t cc tnh nng yu cu trong vic
thit k cc h thng iu khin. Bng th c th ch cho ta bin php
phn on vn bng cc phng trnh vi phn. Nu cc phng trnh
c gii nhng p ng khng t yu cu th khng d quyt nh c
bin php thay i h thng t cht lng mong mun. Phng php tn
s vt qua c hn ch .
- p ng c th xc nh bng thc nghim cng tt khng thua km tnh
ton gii tch. u im ny rt quan trng khi m t cc phn t ca h bng
cc phng trnh vi phn.
2.2. i s s khi
S khi l mt trong cc dng m hnh ton ca h thng iu khin, trn s
th hin i lng vo ra ca h thng v cc tnh cht ca h thng.
Mt s chuyn i c bn rt gn cc s khi phc tp.
1. T hp cc khi ni tip

Hnh 2.14
+
+
<=>
R
G1
G2
C
R
C
G1+G2
R
+
+
C
G
A
B
<=>
+
+ C
G
G
B
A
A
B
G
1/G
+
+
<=>
B
G
C
+
A
C
G
C
<=>
B
G
C
1/G
C
B
B
B
C
G
<=> G G
B C
C
C
Chng minh : C= R.G1.G2 = G1.G2.R
2. T hp cc khi song song

Hnh 2.15
Ti im t C = R.G2 + R.G1 = ( G1+G2).R
3. Di chuyn im t v bn phi mt khi :

Hnh 2.16
Ti im t R = A + B
Nn C = G. ( A + B)
S tng ng l: C = A. G + B. G = G. ( A + B)
4. Di chuyn im t v bn tri mt khi

Hnh 2.17
5. Di chuyn im tn v bn phi mt khi

Hnh 2.18
6. Di chuyn im tn v bn tri mt khi

Hnh 2.19
7. Rt gn h thng
<=>
R
G
1+GH
C
B
C
H
G
R +
-
E
E
-
+ R
G1
H
C
B
G2
+
E
+ R
G
H
C
B
+
-

Hnh 2.20
Chng minh:
S ban u: G =
E
C
C = E. G ; E = R - B ; B = C. H ;
E = R C. H = R E. GH
E. ( 1 + GH ) = R
E =
G.H 1
R
+

Hm truyn ca h thng l:
R
C
=
G.H 1
R
+
.
R
G
=
GH 1
G
+

T biu thc ta thy: Nu gia lng tuyn thun G ln th tch GH > 1, lc ny gia
lng mch kn cn l
R
C
=
H
1

- Kt lun: Trng thi ca mch kn ph thuc tnh cht tuyn tnh ca phn
hi H v c lp vi tuyn thun ( v tnh cht ). Nu tuyn thun c mt vi
thay i do mt vi l do no th tuyn phn hi s tr kh hiu qu s
thay i ca u ra. V th khng cn iu chnh h thng, nhng phi iu
chnh phn t phn hi H.
- Nu mch kn b ct t nh hnh v:

Hnh 2.21
Hm truyn ton mch cn G
1
. G
2
. H c xem nh hm truyn ca mch h.
G
1
. G
2
. H =
E
.H .G E.G
E
C.H
E
B
2 1
= =
* S khi dng chnh tc:

Hnh 2.22
B E
H G
C
Cc i lng sau cn xc nh r:
G: Hm truyn tuyn thun
H: Hm truyn tuyn phn hi
GH: Hm truyn mch h.

Hnh 2.23
R
C
: Hm truyn mch kn (t s iu khin)
R
E
: T s tn hiu tc ng ( t s sai lch )
R
B
: T s phn hi c bn
Ta c lin h sau:
R
C
=
GH 1
G

* H phn hi n v:
Mt h phn hi n v l mt h trong tn hiu phn hi c bn B bng u ra
C. y l mt trng hp c bit hay gp trong thc t v l s so snh trc tip
gia u ra v u vo chun. V lc ny khi phn hi c gi tr n v l 1 nn
hm truyn mch kn l:

R
C
=
G 1
G
+

Trng hp ny xy ra khi u ra m phng li u vo chun. Bt k h phn hi
no nu ch c cc phn t tuyn tnh trong tuyn phn hi u c th t di dng
mt h phn hi n v bng cch dng chuyn i 4, ta c s khi sau:

E
+ R
G
H
C
B
+
- -
+
B
C
G.H
R +
E
1
H

E = R B E =
H
R
B
B = C.h B = C
Hnh 2.24

R
C
=
GH
G
1

B
C
G2
+
G1
R +
-
+
H
U
C(R)
G2 G1
R +
-
H
E =
G
C
E=
H G
C
.

H G
C
.
=
H
R
C

C (
H G.
1
1) =
H
R

* H c nhiu tn hiu vo ra :
Nhiu h c nhiu U, hoc c nhiu tn hiu vo ( nhiu kch thch ) ng thi vi
tn hiu vo chun R, chng p ln h ti cc im khc nhau v mang li cho h
nhng tnh nng khc nhau.
Khi trong mt h tuyn tnh c mt nhiu tn hiu vo ta phi x l tng tn hiu
c lp vi nhau, sau da trn nguyn l chng cht cng i s cc p ng c
bit ca tng tn hiu vi nhau ta s c tn hiu ra tng cng ca h khi mi tn
hiu ng thi tc ng ln h.
C ngha l ta gi thit tng tn hiu vo tc dng ring bit n h ( cc tn hiu
vo cn li gi thit bng khng ) ln lt lm nh vy vi tng tn hiu vo, sau
thc hin mt php cng i s cc p ng ni trn, tm p ng ring ca tng
tn hiu vo, i khi cn n th thut rt gn s khi v dng chnh tc bng
cch dng mt trong by chuyn i trn.
* MT S V D
V d 1 : Xc nh du ra C ca h thng:

Hnh 2.25
Cho U = 0 h thng n gin ho thnh :

Hnh 2.26
Xc nh u ra :
C
) ( R
=
2 . 1 1
2 . 1
G G
G G
+
.R
+ Cho R = 0 , ch c u vo U ta c s sau
C(U)
G2
U +
-
G1.H
H
+
+ U
G2
C
G1
-
G2
-
+ R1
G1
C1
G3
G4
+ -
C2 R2

Hnh 2.27
Ti im t, trc khi G1 c du m nn phn hi l phn hi m (i du phn
hi ban u)

Hnh 2.28
C
) (U
=
H G G
G
. 2 . 1 1
2
+
.U
Vy u ra tng cng khi c 2 tn hiu vo R, U tc ng l:
C = C
) (U
= C
) ( R
= (
H G G
G G
. . 1
2 1
2 . 1
+
).R +
H G G
G
. . 1
2 1
2
+
.U
* Nhn xt : T C
) (U
=
H G G
G
. . 1
2 1
2
+
.U
Nu G
2 1
.G .H > 1 th C
) (U
~
H G .
1
1
.U
Tc dng ca nhiu U vo h thng b gim ng k khi hm truyn ca mch h
tng . V th vi gia lng G
1
ln c th cho mt u ra chnh xc ( u ra rt
khng nhy cm vi nhiu) .
V d 2 : H c nhiu u vo, nhiu u ra
Tm C
1
, C
2
= ?

Hnh 2.29
C1
G1
R1 +
-
G2 G3.G4
-
G2.G3.G4
+
+ R1
G1
C1
C1
G1
R1 +
-
G2 G4 G3
R2
+
-
C12
G2
R2 +
-
(-G1).G3.G4
G2
-
+ R2
G4
C12
G1 G3
-
+ Trc ht b qua C
2
, h thng ch cn mt u ra C
1

u tin b qua R
2
= 0 :

Hnh 2.30
C
11
=
4 3 2 1
1
.G .G .G G 1
G
.R
1

B qua R
1
= 0, h thng cn R
2
v C
12
.

Hnh 2.31
C
12
=
2
4 3 2 1
4 3 1
.R
.G .G .G G 1
.G .G G

Vy u ra C
1
do R
1
v R
2
tc ng l: C
1
= C
11
+ C
12
=
4 3 2 1
1
.G .G .G G 1
G
.R
1
+
-
G1 G4
C2
G2
R1 +
-
G3
G1.G2
-
+ R1
G3
C21
+
R2
-
G4
Cho R2 = 0
C21
G3
R1 +
-
G1.G2.(-G4)
G3
C22
G4
R2 +
-
G1.G2
-
G1.G2.G3
+
+ R2
G4
C22
+
2
4 3 2 1
4 3 1
.R
.G .G .G G 1
.G .G G
=
4 3 2 1
2 4 3 1 1 1
.G .G .G G 1
.R .G .G G .R G

* B qua C
1
tm C
2
ta c:

Hnh 2.32
C
21
=
1
4 3 2 1
4 2 1
.R
.G .G .G G 1
.G .G G

Cho R
1
= 0:

Hnh 2.33
C
22
=
4 3 2 1
2 4
.G .G .G G 1
.R G

Vy u ra C
2
do R
1
, R
2
tc ng l:
C
2
= C
21
+ C
22
=
1
4 3 2 1
4 2 1
.R
.G .G .G G 1
.G .G G
+
4 3 2 1
2 4
.G .G .G G 1
.R G
=
4 3 2 1
1 4 2 1 2 4
.G .G .G G 1
.R .G .G G .R G

V d 3: Rt gn s khi v dng chnh tc

+
H1
G3
G4+G1
-
+ R
H2
C
-
G2
G2
-
C
H2
G3
R +
-
G4+G1
G3
H1
+
C
G4+G1
-
+ R
H2
G3
G2.G3
1 + G2.G3.H1

Hnh 2.34
Hm truyn ca h thng:
2 2 4 1 1 3 2
3 2 4 1
2 3 2 4 1 3 1 3 2 1 3 2
1 3 2 3 2 4 1
.H ).G G (G .H .G G 1
.G ).G G (G
] .H .G ).G G (G ).G .H .G G ).[(1 .H .G G (1
) .H .G G .(1 .G ).G G (G
R
C
G
+ + +
+
=
=
+ + + +
+ +
= =

* Nguyn tc rt gn s khi phc tp v dng s chnh tc
- T hp cc khi ni tip theo chuyn i 1
- T hp cc khi song song theo chuyn i 2
- Trit tiu cc mch phn hi ph theo chuyn i 7
- Di chuyn im t sang tri v im tn sang phi ca mch chnh theo cc
chuyn i 4 v 5.
- Lm li t bc 1 n 4 cho n khi nhn c dng chnh tc vi 1 tn hiu vo
ring bit.
- Lm li t bc 1 n bc 5 i vi mi tn hiu vo.
2.3. Graph tn hiu v qui tc Mason
2.3.1. Graph tn hiu
Cc h thng iu khin cn c m t bng m hnh ton l Graph tn hiu.
Graph tn hiu th hin bng th s truyn tn hiu trong h thng, nhng d dng
hn cc dng m hnh ton khc.
Xt phng trnh n gin:
X
i
= A
ij
. X
j

Cc bin X
i
, X
j
: l hm thi gian, hm bin phc hoc hng s, hoc l hng s.
Nt Nt Nhnh
Xj Xi Aij
Ain Xi X2
X1
Xn
Ai2
Ai1
A
ij
l mt ton t nh x X
j
vo trong X
i
nn A
ij
gi l hm truyn ( hm truyn
t).
Khi X
i
, X
j
cc hm ca bin Laplace S ( bin phc).
Mi bin s trong Graph c
Mi bin s trong Graph c k hiu bng mt nt mi hm chuyn c k hiu
bng mt nhnh, cc nhnh u c hng k hiu bng mi tn din t dng tn
hiu.

Hnh 2.35
* Quy tc hi t ( cng vo):
Tng cc tn hiu i vo mt nt bng gi tr cc nt .
Tng qut:
X
i
=
=
n
1 j
j ij
.X A

Hnh 2.36
*Quy tc phn k ( chuyn ra): Gi tr ca mt nt c th chuyn ra tng nhnh ri
khi nt .
Nu ta c: X
i
= A
ik
; i = 1,2,..., n.
Th Graph nh hnh v:

Ajk
Xk X2
X1
Xn
A2k
A1k
Xn
Ank

Hnh 2.37
* Quy tc nhn: Nhiu nhnh ni tip nhau c th thay bng mt nhnh c hm
chuyn bng tch cc hm chuyn ca cc nhnh .
A21
Xn-1 X2 X1 Xn
An(n-1)
X1 Xn
A21.A21...An(n-1)
=
A43
X4 X1 X2 X3
A21
A33
A32
A23
A23
A32
A21
X3 X2 X1
=
X1 X2 X3
A21
A32
A23
1
X4
X3=X4
X
n
= A
21
. A
32
. A
43
... A
n(n-1)
.X
1

Hnh 2.38
* Cc thnh phn trong Graph tn hiu:
Cho mt Graph tn hiu nh hnh v sau

Hnh 2.39
- Mt tuyn: L mt trnh t ni tip, n hng ca cc nhnh, trong
khng c nt no b xuyn qua qu mt ln.
X
1
n X
2
n X
3
n X
4
X
2
n X
3
v tr v X
2

X
1
n X
2
n X
4
.
- Nt vo: L mt nt ch c cc nhnh i khi n ( X
1
).
- Nt ra: l mt nt ch c cc nhnh i ti n ( X
4
)
C th thm mt nt gi vi hm chuyn bng 1 tho mn nh ngha ny.

Hnh 2.40
- Tuyn thun: l tuyn i t nt vo n nt ra ( bng bt c ng no)
X
1
n X
2
n X
3
n X
4
; X
1
n X
2
n X
4

- Tuyn phn hi: l tuyn xut pht v kt thc ti cng mt nt.
X
2
n X
3
n X
2

- Tuyn n: L tuyn phn hi ch c mt nhnh.
- Hai tuyn ( hoc hai vng kn) gi l khng chm nhau nu chng khng c
nt chung.
- Hm truyn ca tuyn hoc ca vng kn bng tch hm truyn ca cc
nhnh nm trong tuyn hoc vng kn .
Tuyn thun X
1
n X
2
n X
3
n X
4
c gia lng A
21
. A
32
. A
43

Tuyn phn hi: X
2
n X
3
n X
2
c gia lng A
32
. A
23

x2
x1
x3
x3

dt
2
2
d
-1

dt
d
1
x1
A32
A23
A21
A31
A33
x4 A43
A42
x1
x2
x3
x4
A21
A23
A31
A32
A42
A43
A33
<=>
x2
x3
G1
G2 G3
G4 G5
G7
G6
-H1
-H2
u y
1
1
Cc v d:
V d 1:
Dng Graph tn hiu cho h thng c m t bi phng trnh vi phn sau:
x
3
=
1
1
2
2
2
x
dt
dx
dt
x d
+
T phng trnh ta thy c 3 bin s x
1
, x
2
, x
3
nn cn c 3 nt ( khng k nt gi).
Cc ton t trong phng trnh l
dt
d
v
2
2
dt
d
Vit li phng trnh trn:
x
3
=
1 2
2
x
dt
d
dt
d
+ ) ( ) (
1 2
x x
S Graph tn hiu:

Hnh 2.41
V d 2: Dng Graph tn hiu cho nhm phng trnh xt ng thi sau:
x
2
= A
21
. x
1
+ A
23
. x
3

x
3
= A
31
. x
1
+ A
32
. x
2
+ A
33
.x
3

x
4
= A
42
. x
2
+ A
43
. x
3

Nhn xt: Phng trnh trn c 4 bin s
x
1
, x
2
, x
3
, x
4
ta c s
Graph tn hiu sau

Hnh 2.42
2.3.2. Quy tc Mason
T s Graph tn hiu c th rt gn s v tm hm truyn t ca c h thng.
tm hiu v quy tc Mason ta c v d minh ha sau:

Hnh 2.43
Bc 1: Xc nh tt c nhng tuyn thng P
k
c th c ca h thng. l nhng
ng ni lin nhau khng cha ng phn hi i t im nt ngun u(t) ti im
nt ch y(t) v P
k
c gi tr bng tch cc gi tr cc ng ni c trong P
k
.
H trn c 3 tuyn thng:
P
1
= G
1
. 1. G
2
. G
7

P
2
= G
1
. 1. G
6
. G
4
. G
5

P
3
= G
1
. G
2
. G
3
. G
4
. G
5

Bc 2: Xc nh tt c nhng vng lp L
k
c th c ca h thng. l nhng
ng ni lin nhau to thnh mt vng kn. H trn c 4 vng lp:
L
1
= -1. G
4
. H
1

L
2
= -1. G
2
. G
3
. G
4
. G
5
. H
2

L
3
= -1. G
6
. G
4
. G
5
. H
2

L
4
= - 1. G
2
. G
7
. H
2

Bc 3: Tnh
... .L .L L .L L L 1
n m, l,
n m l
j i,
j i
k
k
+ + =

(2.3.2.1)
Trong : L
i
, L
j
l nhng cp hai vng lp khng trng nhau ( khng c chung mt
nhnh no)
L
l
, L
m
, L
n
l b 3 vng lp khng trng nhau,...
H trn ch c 2 vng lp L
1
, L
2
l khng trng nhau ( khng c on no ging
nhau).
... .L .L L .L L L 1
n m, l,
n m l
j i,
j i
k
k
+ + =

= 1 ( L
1
+ L
2
+ L
3
+ L
4
) + L
1
. L
4
=
= 1 + G
4
. H
1
+ G
2
. G
3
. G
4
. G
5
. H
2
+ G
6
. G
4
. G
5
. H
2
+ G
2
. G
7
. H
2

Bc 4: Xc nh A
k
t A bng cch trong cng thc (2.3.2.1) ta b i tt c nhng
vng lp c on ni chung vi P
k
.
Tc l:
A
1
= 1 L
1
= 1 + G
4
. H
1
( tt c cc vng lp u khng
c on ni chung vi P
1
)
A
2
= 1 ( tt c cc vng lp u c on ni chung vi P
2
( c G
1
)
A
3
= 1 ( Vng lp c on chung vi P
3
)
Bc 5: Xc nh hm truyn t G(s) theo cng thc Mason:
G(s) = ) . (P
1
k
k k

Vy G(s) =
1
. ( P
1
. A
1
+ P
2
. A
2
+ P
3
. A
3
) =
-
u
G2
y
G3 G1
-
H2
H1
1
u
G3
G2 G1
-H2
H1
-1
y
<=>
h1
h2
A1 A2 q
u(t)
y(t)
r1 r2
,p1
,p2
=
H . G . G H . G . G . G H . G . G . G . G H . G 1
G . G . G . G . G G . G . G 1. . G ) H G .(1 G . G 1. . G
2 7 2 2 5 4 6 2 5 4 3 2 1 4
5 4 3 2 1 5 4 6 1 1 4 7 2 1
+ + + +
+ + +

V d 1: Cho h thng c s khi nh sau, s Graph tn hiu tng ng nh
hnh v

Hnh 2.44
H ch c mt tuyn thng l:
P
1
= G
1
. G
2
. G
3

H c 3 vng lp tng i mt c on ni chung:
L
1
= G
1
. G
2
. H
1

L
2
= -G
2
. G
3
. H
2

L
3
= -G
1
. G
2
. G
3

Vy, ... .L .L L .L L L 1
n m, l,
n m l
j i,
j i
k
k
+ + =

= 1 ( L
1
+ L
2
+ L
3
) =
= 1 - G
1
. G
2
. H
1
+G
2
. G
3
. H
2
+ G
1
. G
2
. G
3

Do tt c cc vng lp cng u c tuyn thng P
1
nn A
1
= 1
Hm truyn ca h thng l:
G(s) = ) . (P
1
k
k k
1
. P
1
. A
1
=
3 2 1 2 3 2 1 2 1
3 2 1
G . G . G H . G . G H . G . G - 1
G . G . G
+ +

V d 2:
Xt mt h thng gm 2 bnh cha cht lng nh sau

Hnh 2.45
A1s
1

1
r1
1
A2s

r2
1
u(t)
y(t)
h2 p2
q
p1
h1
1
A1s

r1
1 1
A2s r2
1
-1
-1
-1
u(t) y(t)
Cht lng c bm vo bnh th nht vi lu lng u(t). Nu cht lng trong bnh
th nht c cao h
1
, p sut p
1
, h s chuyn i p sut, lu lng r
1
, h s p
sut, cao g. lu lng chy sang bnh th hai l q v h
2
, p
2
, r
2
l cao, p sut,
h s chuyn i p sut, lu lng ca cht lng trong bnh th 2. Theo cc nh
lut vt l, gia nhng thng s k thut c quan h:
A
1
.
dt
dh
1
= u(t) q
q = .
r
1
1
(p
1
p
2
)
A
2
.
dt
dh
2
= q y(t)
y(t) = .
r
1
2
p
2
( p sut ti u ra c xem nh bng 0)
p
1
= .h
1
p
2
= .h
2

Trong y(t) l lu lng cht lng chy ra khi bnh th 2.
T nhng hiu bit l thuyt ban u ca h thng ta c s khi v s u
Graph m t tn hiu m t h thng.

Hnh 2.46
T s trn ta thy h ch c mt tuyn thng:
P
1
=
2
2 1 2 1
2
.s .A .A .r r

H c 3 vng lp:
L
1
= -
.s .A r
1 1

L
2
= -
.s .A r
2 1

L
3
= -
.s .A r
2 2

Trong c 2 vng lp L
1
v L
2
khng c nhnh no chung. Nn
H thng
K
u(t)
y(t)
K
... .L .L L .L L L 1
n m, l,
n m l
j i,
j i
k
k
+ + =

= 1 ( L
1
+ L
2
+ L
3
) + L
1
.L
3
= 1 + (
.s .A r
1 1
+
.s .A r
2 1
+
.s .A r
2 2
) +
.s .A r
1 1
.
.s .A r
2 2

=
2
2 1 2 1
2 2 1 2 1 1
2
2 1 1 2
.s .A .A .r r
.A r .A r .A r .s .A .r .A r
2
). .( + + + + s

V c 3 vng lp trn u c nhnh ni chung vi P
1
nn
1
1
= A
Vy hm truyn t:
G(s) =
. P
1 1
=
2
2 1 2 1
2
.s .A .A .r r
.
2
). .( + + + + s
2 2 1 2 1 1
2
2 1 1 2
2
2 1 2 1
.A r .A r .A r .s .A .r .A r
.s .A .A .r r
=
=
2
). .(

+ + + + s
2 2 1 2 1 1
2
2 1 1 2
2
.A r .A r .A r .s .A .r .A r

2.4. Cc h thng ly mu d liu
Nh bit, h thng lin tc l h c cc bin s vo v ra c truyn i v bin
i lin tc theo thi gian, c th quan st vo bt c thi im no. Nhng trong
iu khin cn c nhiu h thng m cc bin s ch c a vo v x l gin
on, n cho p ng ti cc thi im gin on l cc h thng ri rc m cc
tn hiu truyn i khng lin tc.
C cc dng h thng gin on:
- Cc h thng ly mu gin on t cc h lin tc, bin i tn hiu lin tc
thnh gin on gi l lng t ho
- Cc h thng lm vic theo chu k
- Cc h thng c cu trcc chu k
H ri rc, gin on c nhng u im:
- Lm vic t tn nng lng, c tnh kinh t
- C th iu khin nhiu knh ng thi, chng nhiu tt
- Truyn v gi tin c lu
- V l thuyt khng cn php tnh tch phn v vi phn nn n gin hn
- C nhiu tnh cht ging nh h lin tc
- M hnh ton l cc phng trnh lp ( phc hi li)
* M hnh ton ca h thng ri rc
Xt h xung ly mu gin on:

Hnh 2.47
0
y(kT)
t
T 2T 3T 4T 5T 5T 4T 3T 2T T
1 2 3 4 5 5 4 3 2 1
k
y(k)
0
f)
Chui ri rc
0
u(k)
k
u(1)
u(2)
u(3)
u(4)
u(5)
y(1)
y(2)
y(3)
y(4)
y(5)
e)
Chui ri rc
t
u(kT)
0
t
Tn hiu vo
b)
c)
Tn hiu ra
t
ng v m b ngt K theo chu k mch ca n khng lin tc c na; ta s
c cc xung gin on lin tip nhau to thnh mt chui tn hiu xung. Mi
xung ko di mt thi gian t . Gi s thao tc b ngt K sao cho t cng nh ( t 0)
vi mt chu k ly mu c nh T th cc xung cng thu hp li v ta chn t l thi
gian sao cho chu k ly mu T = 1, tc l
u(kT) = u(k)
y(kT) = y(k)
k = 0, 1, 2, 3,... l cc s nguyn
Phng trnh lp i s c dng sau:
a
n
y(k+n) + a
n-1
y(k + n -1) +... + a
1
y(k

+ 1) + a
0
y(k) = b
m
u( k+m) + b
m-1
u(k + m -1)
+ ... + b
1
u(k + 1) + b
0
u(k)
Trong phng trnh trn khng c vi phn, cng khng c tch phn gi l phng
trnh lp li din t h ri rc ( ly mu) tng ng vi phng trnh vi phn
ca h lin tc.
k: l bin c lp vi cc gi tr 0, 1, 2, 3,...
u(k): l mt chui ri rc m t tn hiu vo
y(k): l mt chui ri rc khc m t tn hiu ra.

Hnh 2.48
* Ton t gin on:
H thng gin on cng quy nh mt vi ton t vi hm cn tm.
- Ton t cng thm 1:
E (k) = k + 1
f(k+1)
f(k)
k k+1
f(k)
k
f(k)
0
E[f(k)] = f( k+ 1)
E
f(k) f(k+1)
E[f(k)] = f(k+1)
k+m k
E
m n
E
k+m+n

Tnh cht ca ton t E:
Tnh lp li: E
n
(k) = k + n
Tnh nghch o: E
-n
(k) = k n
Tnh gp: E
m
. E
n
= E
m+n

E[Cf(k)] = C.f(k+1) = C. E[f(k)] ; C l hng s
E[f
1
(k) + f
2
(k)] = f
1
( k+1) + f
2
(k + 1) = E[f
1
(k)] + E[f
2
(k)]
E[C
1
.f
1
(k) + C
2
.f
2
(k) + ... + C
n
. f
n
(k)] =

= =
= +
n
1 i
i i
n
1 i
i i
(k)] .E[f C 1) (k .f C
Hm truyn t:
Phng trnh lp: a
n
y(k+n) + a
n-1
y(k + n -1) +... + a
1
y(k

+ 1) + a
0
y(k) =
= b
m
u( k+m) + b
m-1
u(k + m -1) + ... + b
1
u(k + 1) + b
0
u(k)
a
n
.E
n
[y(k)] + a
n-1
.E
n-1
[

y(k)] +... + a
1
. E[y(k)] + a
0
y(k) = b
m
. E
m
[u(k)] +
+ b
m-1
. E
m-1
[u(k)] + ... + b
1
. E[u(k)] + b
0
. u(k)
Ta c : D(E).y(k) = N(E) u(k)
Trong : D(E) = a
n
.E
n
+ a
n-1
.E
n-1
+... + a
1
. E + a
0

N(E) = b
m
. E
m
+ b
m-1
. E
m-1
+ ... + b
1
. E + b
0

Hm truyn ca h thng:
H(E) =
D(E)
N(E)
=
0
1 n
1 n
n
n
0
1 m
1 m
m
m
a ... E a E a
b ... E b .E b
+ + +
+ + +

*Ton t sai phn
A[f(k)] = f(k+1) f(k)

Hnh 2.49
Cc tnh cht:
1. A[Cf(k)] = Cf(k+1) C f(k) = CAf(k)
2. A[f
1
(k) + f
2
(k)] = [ f
1
(k+1) + f
2
(k+1)] [ f
1
(k) + f
2
(k)] = Af
1
(k) - Af
2
(k)
0
f(t)
t
T 2T 3T 4T 5T
t
y(kT)
0
f(T)
f(2T)
f(3T)
f(5T)
0
y(kT)
t
5T 4T 3T 2T T
f(0)
f(kT) f(t)
y(kT)
3. A[C
1
f
1
(k) + C
2
f
2
(k) + ... + C
n
f
n
(k)] =

= = =
A = +
n
1 i
i i
n
1 i
i i
n
1 i
i i
(k) f . C (k) .f C 1) (k .f C
4. A[f(k)] = f(k+1) f(k) = E f(k) f(k) = ( E 1)f(k) ; A = E 1
5. A[f(k)] = f(k+1) f(k)
6. A
2
[f(k)] = A[ Af(k)] = Af(k+1) - Af(k)
7. A
n
[f(k)] = A[ A
n-1
f(k)] = A
n-1
f(k+1) - A
n-1
f(k)
A
n
[f(k)] = (E-1)
n
[f(k)] = [ E
n
-
=

+ = + + + + + + = + +
+ + = + + +
+
n
0 r
r
n
r r
n
r r
n
r
1 n n r n r
n
r 2 n 1 n
r) n f(k C 1) ( ... r) n f(k C 1) ( .... 1) n nf(k n) f(k ... [f(k)] C 1) (
... [f(k)] E
1!
n
[f(k)] E ...].f(k) E .C 1) ( ... .E
2!
1) n(n
.E
1!
n
Trong :
r)! r!.(n
n!
C
r
n
=
8. A
mn
[f(k)] = A
m
. A
n
[f(k)] = A
n
. A
m
[f(k)]

Cn dng ton t sai phn ngc: Vf(k) = f(k) f( k- 1); V = 1 E
-1

* Bin i Z:
Trong cc h tuyn tnh lin tc ta dng bin i Laplace; cc h ny c tnh
nhn qu ( tch phn mt pha t 0 n ); Vi nh ngha bin i Laplace ca
hm f(t) l:
L {f(t)} =
}
+

0
). ( dt
st
e t f
Gia bin i Laplace ca h tuyn tnh lin tc v bin i Z ca h tuyn tnh ri
rc c mi lin quan cht ch.
Php nhn 2 tn hiu c th thc hin c bng mt s bin iu (modulation).
Cc xung ly mu gin on t mt tn hiu lin tc f(t) c th xem nh kt qu ca
mt s bin iu ca mt chui ri rc Y(kT) theo bin ca tn hiu lin tc v
c cng chu k vi chu k ly mu gin on.

y(k)
1 2 3 4 5
k
0
1
d(k) d(k-1) d(k-2) d(k-3) d(k-4) d(k-5)
Hnh 2.50
Ta c : f(kT) = f(t). Y(kT)
Chui ri rc Y(kT) c th l chui Kronecker hoc chui Dirac.
Chui Kronecker nhn qu ( 1 pha) l mt chui xung c bin bng 1, tc ng
ti cc gi tr bng 0 hoc nguyn dng ca k ( k > 0):
Y(kT) =
=

0 j
j)T d(k , vi T = 1 ta c chui nh hnh v sau:

Hnh 2.51
Y(k) =
=

0 j
j) d(k Trong : d( k-j) =
=
=
j k nu ; 0
j k nu ; 1
vi j l s nguyn, j > 0
Ta c cc xung ly mu gin on ca f(t):
f(kT) = f(t). Y(kT) f(t)

}
=
0
st
0
skT -
dt f(t).e f(kT).e
t e
sT
= Z vi T = 1 nn Z = e
s

Vy bin i Z ca chui f(k). Y(k):
Z[f(k).Y(k)] = F(Z) =
=0 k
k -
f(k).Z Vi k = 0,1, 2, 3,...
Bin i Z l mt thut ton qua mt chui a vo f(k) s cho ra mt chui v
tn f(k).Z
-k
.
Tc l, nu f(k) = [ f(0), f(1), f(2), ..., f(k),...]
Z[f(k)] = f(0), f(1).Z
-1
, f(2). Z
-2
,....
Bin i Z ca mt chui f(k) ch tn ti nu chui bin i Z tuyt i hi t:
[Z] > R
c
: Chui hi t
[Z] < R
c
: Chui phn k. R
c
l bn knh ca vng trn hi t
( Tm ca vng trn l gc ca mt phng phc. Cc im ngoi vng trn din t
tnh hi t ca chui F(k), cc im trong vng trn din t tnh khng hi t, cn
cc im nm trn ng trn l im c bit phi xt ring.
2.5. Hm truyn t ca h thng ri rc
a) p ng xung ca h ri rc
0
d(k-k0)
k
k0
iu kin
u bng 0 k0
k
h(k,k0)
0
k
H thng
Cng nh h lin tc, p ng xung ca h ri rc, v hng ( 1 bin) l p ng
ca h vi xung Dirac ( Kronecker). H lc u trng thi dng, iu kin u
bng 0 x(0) = 0; tn hiu xung Dirac p ln h vo thi im k
0
T v p ng c
xt thi im kT ( k > k
0
). p ng xung l mt chui [ h(kT, k
0
T)]
Gi s T = 1:

Hnh 2.52
V vy vi mt h ri rc, v hng , nhn qu, tuyn tnh, h s c nh ta c:
Tn hiu vo l xung d( k- j ) th tn hiu u ra l p ng xung h ( k- j).
Tn hiu vo l chui u(k) =
=

0 j
j) d(k (j). u th tn hiu ra l chui
y(k) =
=

0 j
j) h(k u(j).
Do :
y(k) =
=

0 j
j) h(k u(j). vi i, j = 0, 1, 2, 3 ,...
y(k) = u(k). h(k)
Nu u(k) = d(k) l tn hiu xung n v ( Dirac hoc Kronecker) th u ra p ng
xung l h(k).
Nh vy p ng ca mt h ri rc, v hng , nhn qu, tuyn tnh, bt bin l
tch chp ca tn hiu vo u(k) vi p ng xung h(k) ca h .
b) Hm truyn ca h ri rc
y(k) = u(k). h(k)
Ta c bin i Z l: Z[y(k)] = Z[h(k)]. Z[u(k)]
Y(Z) = H(Z). U(Z)
H(Z) l hm truyn ca h ri rc, l bin i Z ca p ng xung h(k) ca h.
H(Z) =
U(Z)
Y(Z)

2.6. ng dng MatLab
Nhp m hnh ca h thng iu khin trong MatLab:
G(S) =
o 1
1 n
1 n
n
o 1
1 m
1 m
m
m
a S . a ... S . a S
b s b ... S . b S b
+ + + +
+ + + +
=
) (
) (
S den
S num

>> num = [ b
m
b
m-1
. . . b
1
b
0
]
>> den = [ 1 a
n-1
. . . a
1
a
0
]
>> sys = tf (num, den)
Kt qu: Tranfer function

) (
) (
S den
S num

Hoc:
>> S = tf(s)
>> G(s) =
) (
) (
S den
S num

M hnh im khng - im cc:
>> [z, p, k] = residue (num, den)
>> z = zero (sys)
>> [p,z] = pzmap (sys) ( Hin th th cc - khng)
>> p = pole (sys)
Tm nghim mu s ca hm truyn t:
>> c = [ 1 a
n-1
. . . a
1
a
0
]
>> p = roots (c)
th p ng ca h thng iu khin:
>> impulse (num, den,t)
>> Step (num, den, t)
>> Lsim (num,den,u, t)
Chuyn t hm truyn t sang phng trnh trng thi:
>> [A, B, C, D] = tf2ss (num, den)
V ngc li:
>> [num, den] = ss2tf ( A,B, C, D)
Chuyn sang m hnh h thng gin on:
>> sysd = c2d (sys , Ts)
>> sysc = d2c (sysd)
p ng ca h thng gin on:
>> dimpulse (num, den)
>> Dstep(num, den)
>> dlsim(num, den)

Chng 3
PHNG TRNH TRNG THI
* t vn :
- Cc h thng tuyn tnh lin tc c m t bi h n phng trnh vi phn
cp mt m t n trng thi ca h thng m hnh ton h thng vit di dng ma
trn.
x&(t) = A. x(t) + B. u(t) ; x
o
= x(o) (3-1)
v y(t) = C. x(t) + D. u(t) (3-2)
y: x e 9
n
, u e 9
r
, y e 9
P
tng ng l cc vect trng thi, cc u
vo, cc u ra.
Ma trn h s A
nn
m t cc mi lin h bn trong h thng. Cc ma trn
B
nr
, C
Pn
, D
Pr
, c trng cho mi lin h vi bn ngoi ca h thng. Nu khng
c ng dn trc tip gia cc u vo vi u ra th D
Pr
l ma trn zero.
* M hnh khng gian trng thi ca h thng iu khin gin on (tuyn
tnh) l cc phng trnh sai phn.
x(k+1) = A
d
. x(k) + B
d
.u(k) , x(o) = x
o
(3-3)
y(k) = C
d
x(k) + D
d
u(k) (3-4)

3.1- Cc m hnh khng gian trng thi.
M hnh khng gian trng thi ca h thng ng lc hc lin tc u c th
din t h thng trong lnh vc thi gian bng cc phng trnh vi phn hoc hm
truyn di bn dng (form) sau:
- Dng iu khin (khng gian pha). (Controller canonical form).
- Dng quan st (khng gian quan st). (observer canonical form).
- Dng modal (khng gian modal). (Modal canonical form).
- Dng Jordan (khng gian Jordan).
3.2- M hnh khng gian trng thi v cc phng trnh vi phn.
H thng ng lc hc cp n c m t bng phng trnh vi phn cp n.

n
n
dt
) t ( y d
+ a
n-1

1 n
1 n
dt
) t ( y d
+... + a
1

dt
) t ( dy
+ a
o
y(t) =
= b
n

n
n
dt
) t ( u d
+ b
n-1

1 n
1 n
dt
) t ( u d
+... + b
1

dt
) t ( du
+ b
o
u(t) (3-5)
Ta gi thit cc iu kin u ca h thng
y(o
-
) ,
dt
o dy ) (

, ... ,
1 n
1 n
dt
) o ( y d
ng thi bng khng, ta tin hnh bin i phng

trnh vi phn cp n thnh h n phng trnh vi phn cp 1.
+ Xt phng trnh vi phn cp n sau:

n
n
dt
) t ( y d
+ a
n-1

1 n
1 n
dt
) t ( y d
+ ...+ a
1
dt
) t ( dy
+ a
o
y(t) = u(t) (3-6)
i bin theo: x
1
(t) = y(t)
x
2
(t) =
dt
) t ( dy

x
3
(t) =
2
2
dt
) t ( y d
(3-7)
. . . . . . . .
x
n
(t) =
1 n
1 n
dt
) t ( y d

Tin hnh ly o hm hai v cc phng trnh (3-7).

dt
) t ( dx
1
= x&
1
=
dt
) t ( dy
= x
2
(t)

dt
) t ( dx
2
= x&
2
=
2
2
dt
) t ( y d
= x
3
(t) (3-8)
. . . . . . . .

) t ( d
) t ( dx
n
= x&
n
=
n
n
dt
) t ( y d
= - a
o
(y(t) - a
1
dt
) t ( dy
- ... - a
n-1

1 n
1 n
dt
) t ( y d
+ u(t)
= - a
o
x
1
(t) - a
1
x
2
(t) - ... - a
n-1
x
n
(t) + u(t)
Vy khng gian trng thi (3-8) vit di dng ma trn
x&
1
0 1 0 A A 0 x
1
(t) 0
x&
2
0 0 1 A A 0 x
2
(t) 0
x&
3
M M O O O M M M
M = M M M O O 0 M + M u(t)
x&
n-1
0 0 A A 0 1 x
n-1
(t) 0
x&
n
-a
o
-a
1 A A A -a
n-1
x
n
(t) 1
(3-9)
u ra c vit theo (3-7).
y(t) = [1 0 0 ... ... 0] [x
1
(t) x
2
(t) ... x
n
(t)]
T
(3-10)
(3-9) v (3-10) c gi l dng chnh tc ca khng gian pha.
+ i vi h thng c m t bi phng trnh (3-5) ta c:
y(t) = [(b
o
- a
o
b
n
) (b
1
-a
1
b
n
) ... ... (b
n-1
- a
n-1
)]
[x
1
(t) x
2
(t) ... x
n
(t)]
T
+ b
n
u(t) (3-11)
Vi: b
n
= 0 ta c:
y(t) = [b
o
b
1
... ... b
n-1
] [x
1
(t) x
2
(t) ... ... x
n
(t)]
T
(3-12)
3.3- Xc nh cc bin trng thi t hm truyn.
Phn ny gii thiu cc k thut hnh thnh m hnh khng gian trng thi t
hm truyn ca h thng thng c p dng trong thc t. l k thut chng
trnh trc tip v k thut chng trnh song song. n gin ta xt vi h thng
mt u vo mt u ra.
3.3.1- M phng HT theo dng iu khin chnh tc.
K thut ny c s dng thun li khi hm truyn ca thit b dng a
thc khng phn tch ra tha s c.

) s ( U
) s ( Y
=
o 1
1 n
1 n
n
o 1
1 n
1 n
n
n
a S a ... S a S
b S b ... S b S b
+ + + +
+ + + +
(3-13)
y ta s dng bin ph V(s).
(Tnh iu khin c ca h thng l vi mt tc ng vo liu c chuyn
c trng thi ca h t thi im u t
o
n thi im cui trong khong thi
gian hu hn khng?).

) s ( V
) s ( Y
= b
n
S
n
+ b
n-1
S
n-1
+ ... + b
1
S + b
o
(3-14a)

) (
) (
s U
s V
=
o 1
1 n
1 n
n
a S a ... S a S
1
+ + + +

(3-14b)
S khi m t h thng c s dng bin ph V(s).

Hnh 3.1
Phng trnh (3-14a) c vit li nh sau:
Y(s) = b
n
S
n
V(s) + b
n-1
S
n-1
V(s) + ... + b
1
S.V(s) + b
o
V(s) (3-15)
iu ny ch ra rng y(t) l s chng cht ca V(t) v cc o hm ca n v
ta c th trnh by (3-14a, b) di dng phng trnh vi phn khi iu kin u
ng nht bng khng bng cch thay:
S
dt
d
; S
i

i
i
dt
d
; V(s) v(t),
V(s)/U(s)

Y(s)/V(s)

U(s)

V(s)

Y(s)

Xy dng m hnh khng gian trng thi ca h thng t cc hm truyn bng cch
s dng s m phng rt thun tin. Trong cc trng hp h thng
lin tc s m phng cc my tnh tng t gii cc phng trnh vi phn
m t cc h thng ng lc hc s dng cc b tch phn, b cng b tr v nhn
c thc hin nh l b khuch i thut ton. S khi tch phn ph thuc vo
cp ca phng trnh vi phn.
+ S m phng (3-14a, b) nh sau:
S dng k thut chng trnh trc tip: t n khi tch phn ni tip vi
u vo tng ng l V
(n)
(t) , v
(n-1)
(t) , ..., V
(1)
(t) , v(t).
p dng (3-15) xc nh y(t) bng cch nhn u vo v
i
(t) vi cc h s b
i

v cng bng b cng .
+ T (3-14b) ta c:
v
(n)
(t) = u(t) - a
n-1
v
(n-1)
(t) - ... - a
1
v
(1)
(t) - a
o
v(t) (3-16)
Cc php tr m phng bng mi lin h ngc trn s ta c:

Hnh 3-2: S m phng k thut chng trnh trc tip
(dng iu khin chnh tc).
Theo hnh 3-2 ta c m hnh khng gian trng thi ca h thng dng iu
khin chnh tc.

0 1 0 A A 0 0

0 0 1 A A 0 0
x&(t)

= M M O O O M x(t) + 0 u(t)
M M M O O 1 M

-a
o
-a
1
-a
2 A A -a
n-1
1
1/S

K

1/S

1/S

b
o

U(t)
x&
n

V
(n-1)

x
n
x&
2

x
2
x&
1

x
1
y(t)
b
1

b
2

b
n

-a
n-1
V
(n)

-a
1
-a
o
v
(1)

v
(0)

(3-17)
V y(t) = [(b
o
-a
o
b
n
) (b
1
- a
1
b
n
) ... (b
n-1
- a
n-1
b
n
)] x(t) + u(t) . b
n
(3-18)
** ( chuyn t hm truyn sang dng khng gian trng thi trong Matlab
s dng hm tf2ss).
V d: Cho hm truyn.
G(s) =
S 811 S 12131 85 . 97 S 463 S 996 . 0 S
19080 65 . 90 S 576 S 331 . 0 S 65 . 1
2 3 4 5 6
2 3 4
+ + + + +
+ +

a) V s m phng h thng (dng iu khin).
b) Dng m hnh khng gian trng thi ca h thng.
3.3.2- M phng HT theo dng quan st chnh tc.
Cng vi dng iu khin, dng quan st chnh tc l quan h quan trng i
vi l thuyt iu khin hin i.
* Quan st c ca mt h thng l vi cc to o c bin ra y(t)
ca h thng liu ta c th khi phc c cc vect trng thi x(t) trong thi gian
hu hn khng?
Khng gian trng thi ca h thng v dng quan st chnh tc ca n c
xc nh c cu trc rt n gin.
Xut pht t hm truyn (3-13) ta c:
Y(s)(S
n
+ a
n-1
S
n-1
+ ...+ a
1
S + a
o
) = U(s) (b
n
S
n
+ b
n-1
S
n-1
+ ...+ b
1
S + b
o
)
(3-18)
Y(s) = -
n
S
1
(a
n-1
.S
n-1
+...+ a
1
S + a
o
) Y(s) +
n
S
1
. U(s) (b
n
S
n
+
+ b
n-1
S
n-1
+ ...+ b
1
S + b
o
) (3-19)
Khai trin ra ta c:
Y(s) = - a
n-1
.
S
1
Y(s) - a
n-2

2
S
1
Y(s) - ... - a
1
1 n
S
1
Y(s) - a
o

n
S
1
Y(s) +
+ b
n
U(s) + b
n-1
S
1
U(s) + ...+ b
1

1 n
S
1
U(s) + b
o

n
S
1
U(s)
Mi quan h (3-20) c th hin trn s m phng qua n tng tch phn.
Nhn ca cc tn hiu t qu tng tch phn v d mt khi
S
1
ch mt tng tch
phn. Tn hiu a
n-2
y(t) v b
n-2
U(t) ch vt qua hai tng tch phn, a
o
y(t) v b
o
u(t)
vt qua n tng tch phn.


Hnh 3-3: S khi m phng dng quan st chnh tc.
+ Cc bin trng thi nh l u ra ca cc khi tch phn quan h u ra vi
cc bin trng thi theo s trn ta c:
Y(t) = x
n
(t) + b
n
u(t) (3-21)
x&
1
(t) = - a
o
y(t) + b
o
u(t) = - a
o
x
n
(t) + (b
o
- a
o
b
n
) u(t)
x&
2
(t) = - a
1
y(t) + b
1
u(t) + x
1
= x
1
(t) - a
1
x
n
(t) + (b
1
- a
1
b
n
) u(t)
x&
3
(t) = - a
2
y(t) + b
2
u(t) + x
2
= x
2
(t) - a
2
x
n
(t) + (b
2
- a
2
b
n
) u(t)
x&
n
(t) = - a
1-1
y(t) + b
n-1
u(t) + x
n-1
=
= x
n-1
(t) - a
n-1
x
n
(t) + (b
n-1
- a
n-1
b
n
) u(t) (3-22)
T (3-21) v (3-22) ta d dng vit di dng ma trn ca dng quan st
chnh tc:

0 0 A A -a
o
b
o
- a
o
b
n

1 0 A A -a
1
b
1
- a
1
b
n

x&(t)

= 0 1 A A -a
2
x(t) + b
2
- a
2
b
n
u(t)
M 0 1 A A .

0 0 0
A -a
n-2
.

0 0 0

1 -a
n-1
b
n-1
- a
n-1
b
n

(3-23)
v y(t) = [ 0 0 ... ... 0 1] x(t) + b
n
u(t) (3-24)
V d: G(s) =
S 11 , 8 S 12131 S 8 , 94 S 463 S 996 , 0 S
19080 S 6 , 90 S 576 S 331 , 0 S 65 , 1
2 3 4 5 6
2 3 4
+ + + + +
+ +

Hy vit dng quan st chnh tc di dng ma trn.
3.3.3- K thut m phng chng trnh song song.
i vi k thut ny ta phn ra lm hai trng hp: a thc mu c nghim
thc ring bit v c nghim lp.
+
b
o

- a
o

+
b
1

- a
1

+
b
n-1

- a
n-1

1/S
+
b
1

- a
1

1/S 1/S A
1/S
+
b
n

U(s)
y(s)
x&
1

x&
n-1

x
2
x
n-1
x&
n

x
n
a) a thc mu c hm truyn, c nghim ring bit.
Dng khng gian trng thi ny thun tin cho cc ng dng kiu ny bt
ngun t vic khai trin hm truyn thnh tng cc phn thc. Mt cch tng qut
m < n th:

) s ( U
) s ( Y
=
) p S )...( p S )( p S (
) s ( P
n 2 1
m
+ + +

=
1
1
p S
r
+
+
2
2
p S
r
+
+ ... +
n
n
p S
r
+
+ k (3-25)
y p
1
, p
2
, ..., p
n
cc nghim ring bit (cc cc) ca a thc mu ca
hm truyn.
- S khi m phng dng ny nh sau:

(Dng modal chnh tc)
Hnh 3-4: S khi m phng k thut lp trnh song song.
M hnh khng gian trng thi theo s khi ny nh sau:

-p
1
0 A A 0 1

0 -p
2 A A 0 1
x&(t)

= 0 1 A A A x(t) + M u(t) (3-26)

A A A A 0

M

0 0 0

0

-p
n
1

y(t) = [ k
1
k
2
... ... k
n
] x(t) (3-27)
b) a thc mu c nghim lp.

y(t)

+
1/S

r
2
x&
2

x&
2

x
2
- p
2
+
1/S

r
1
x&
1

x
1
- p
1
+
1/S

r
n
x&
n

x
n
- p
n

M
u(t)

Khi hm truyn c cc thc lp. Gi thit cc p
1
lp r ln.

) s ( U
) s ( Y
=
) p S )...( p S ( ) p S (
) s ( N
n 1 r
r
1
+ + +
+

Dng khai trin ca n l:

) s ( U
) s ( Y
=
1
11
p S
k
+
+
2
1
12
) p S (
k
+
+...+
r
1
r 1
) p S (
k
+
+
1 r
1 r
p S
k
+
+
+
+...+
n
n
p S
k
+

Hnh 3-5: S m phng dng Jordan chnh tc.
3.3.4- Cc m hnh ca h thng gin on.
(tng t trong s ch thay khi
S
1
Z
-1
).
3.4. Xc nh hm p ng t phng trnh trng thi
3.4.1. H thng iu khin lin tc
Phng trnh trng thi ca h theo (3.1) v (3.2)
Nghim ca (3.1):
x(t) = e
At
. x(0) +
}
t
At
d u B e
0
) ( . . t t (3-28)
y(t) = C. e
At
. x(0) + C.
}
t
At
d u B e
0
) ( . . t t + D. u(t) (3-29)
y(t) = y
q
(t) + y
(t)
+
1/S

k
r+1
x&
r+1

x
r+1
- p
1

M
u(t)

+
1/S

k
n

- p
n
+
1/S

k
1r+1
x&
r

x
r
- p
1
K

+
1/S

- p
1
x&
2

x
2
+
1/S

- p
1
x&
1

k
1r
y(t)
x
1
k
1r+1
p ng qu : L p ng ca h thng khng ph thuc vo kch thch u(t) m
do cc iu kin u ca h ( trng thi ban u). Gi l dao ng t do ca h
thng.
p ng n nh: p ng ph thuc vo u(t). c trng cho qu trnh cng bc
ca u(t) lm cho h thng n nh.
3.4.2. H thng iu khin gin on
Phng trnh trng thi c biu din (3-3) v (3-4)
Nghim ca phng trnh (3-3):
x(k) = A
k-k
0
. x(k
0
) +
=

1
1
0
) ( . .
n
k j
j k
j u B A (3-30)
y(k) = C. A
k-k
0
. x(k
0
) + C.
=

1
1
0
) ( . .
n
k j
j k
j u B A + D.u(k) (3-31)
3.4.3. Cc phng php tm p ng
Tm ma trn trng thi: e
At

- Ton t Laplace:
p dng cng thc: e
At
= l
-1
[ (SI - A)
-1
]
- Phng php Sylvester:
Da vo tr ring ca ma trn A: Tm tr ring bng cch tm nghim ca phng
trnh sau det (I - A) = 0, gii phng trnh c cc nghim:
1
,
2
, ...,
n
.
Ta c: e
At
= o
0
(t).I + o
1
(t).A + o
2
(t).A
2
+ ... + o
n
(t).A
n

Trong : Cc h s o
0
(t), o
1
(t), o
2
(t), ..., o
n
(t) xc nh t h phng trnh sau
o
0
(t) + o
1
(t).
1
+ o
2
(t).
2
1
+ ... + o
n
(t).
1
1
n
= e
1
t

o
0
(t) + o
1
(t).
2
+ o
2
(t).
2
2
+ ... + o
n
(t).
1
2
n
= e
2
t
. . .
o
0
(t) + o
1
(t).
n
+ o
2
(t).
2
n
+ ... + o
n
(t).
1 n
n
= e
n
t

Chng 4
N NH CA H THNG TUYN TNH

4.1- Khi nim chung.
Cc chng II v III trnh by m t ton hc ca h thng ca h thng
iu khin truyn ng. Chng ny s s dng cc t liu ca cc chng trnh
by trc y gii quyt nhim v u tin khi phn tch h thng iu khin t
ng l xc nh tnh n nh ca n.
Thc ra vic ni mt h thng n nh l ni n mt s i lng no
c iu khin n nh.
Mt h thng thng biu din bng phng trnh vi phn tng qut:
n
n
dt
) t ( y d
+ a
n-1
1 n
1 n
dt
) t ( y d
+ ... + a
1
dt
) t ( dy
+ a
o
y(t) =
= b
m

m
m
dt
) t ( u d
+ b
m-1

1 m
1 m
dt
) t ( y d
+ ... + b
1
dt
) t ( du
+ b
o
u(t) (4-1)
Hoc phng trnh sai phn:
y(k+n) + a
n-1
y(k+n-1) + ... + a
1
y(k+1) + a
o
y(k) =
= b
m
u(k+n) + b
m-1
u(k+m-1) + ...+ b
1
u(k+1) + b
o
u(k) (4-2)
S bao gm hai qu trnh: Qu trnh xc lp v qu trnh qu .
c trng bng nghim:
y(t) = y
o
(t) + y
q
(t) (4-3)
Hoc y(k) = y
o
(k) + y
q
(k) (4-4)
Trong : - y
o
l nghim ring ca (4-1) hoc (4-2) c trng cho qu trnh
xc lp.
- y
q
l nghim tng qut ca (4-1) hoc (4-2) khi khng c v phi
c trng cho qu trnh qu .
Qu trnh xc lp l mt qu trnh n nh vn ch cn xt qu trnh qu
y
q
.
4.2- Khi nim n nh v cc nh ngha chnh.
i vi h thng tuyn tnh, n nh ca h thng c mi lin h ti ma trn
A ca h thng. C th ni i khi rng n nh ca cc h thng ny l tnh cht
ca ma trn h thng A. i vi h thng lin tc hay gin on khi khng c u
vo (u vo bng khng).
x&(t) = A. x(t) ; x(t
o
) = x
o
(4-5)
x(k+1) = A.x(k) ; x(k
o
) = x
o
(4-6)
Theo iu kin bin nghim ca (4-5) v (4-6):
x(t) = e
A (t-to)
x
o
; x(k) = A
k-ko
x
o
(4-7)
h thng n nh i hi:
) t ( x s Const < (t)
) k ( x s Const < (k) (4-8)
y: x =
2 1
n
1 i
2
i
x
|
.
|
\
|
=

(4-7) c trng cho p ng qu ca h thng thi k qu khi c u
vo.
Cc nh ngha sau v n nh ca h thng ng vai tr quan trng nghin
cu n nh ca h thng tuyn tnh.
nh ngha 1: Mt h thng l n nh nu chuyn ng ca n c gii
hn, ni mt cch khc nu vect trng thi b gii hn bi hng s.
nh ngha 2: Mt h thng l xu hng n nh nu x(t)0 khi t .
* i vi h thng tuyn tnh bt bin. n nh ca n quan h cht ch vi
cc tr ring ca h thng.
4.3- Tr ring v tnh n nh ca h thng.
4.3.1- Tr ring v vect ring.
Xt phng trnh vect:
y = A x (4-9)
Vi x, y l cc vect ct, cn A l ma trn vung. Theo quan h ny ta c
vect y cng hng vi vect x. Ngha l quan h gia x v y l quan h tuyn tnh
vi h s .
y = A . x = . x (4-10)
l mt i lng v hng (h s t l).
y chnh l bi ton tr ring (eigen values).
Cc gi tr
i
phng trnh y = A.x c nghim x
i
= 0.

i
tr ring.
x
i
vect ring.
A.x = . x
hay (A - . I) . x = 0
Phng trnh ny c nghim khng tm thng khi:
det (A - . I) = 0 (4-11)
(4-11) c gi l phng trnh c trng.
V d: Cho: A =
3 1
4 3

Tm tr ring ca A v cc vect ring ta c:

3 4 x
1

x
1
1 3 x
2
= x
2

det 3 4 - 1 0 = det 3- 4
1 3

0 1

1 3-
= (3 - )
2
- 4 =
2
- 6 + 5 = 0

1
= 1 ;
2
= 5
Vc t ring ng vi tr ring
1
= 1.

x
1
= - 2x
2
Vy x
1
= 1 k
1
x
2 1
-1/2
4.3.2- n nh ca h thng c cc tr ring phn bit.
- Phng trnh (4-5) ca h thng cp n c th c vit di dng cc tr
ring v vect ring ca h thng:
x(t) = C
1

t
1
e
v
1
+ C
2

t
2
e
v
2
+ ... + C
n

t
n
e
v
n
(4-12)
y: C
i
, i = 1, 2, ..., n ; cc hng s;

i
, i = 1, 2, ..., n ; cc tr ring ca A;
v
i
, i = 1, 2, ..., v
n
; cc vect ring ca ma trn A.
- Theo (4-12) thy rng ton b cc tr ring l s thc phn bit
i
< 0

i
khi x(t) 0 khi t v h thng c xu hng n nh. Nu
i
s 0
i
h
thng n nh. Ch cn c mt gi tr
i
dng h thng khng n nh.
- i vi trng hp cc tr ring c gi tr phc.
C
i

( )t j
i i
e
| o
. v
i
= C
i
t
i
e
o
.
t j
i
e
|
. v
i
(4-13)

Nn nh rng:
t tj
i
e
|
= 1 nu:
Re {
i
} = o
i
< 0 th x(t) 0 khi t h thng c xu
hng n nh, nu Re(
i
) = o
i
> 0 vi mt vi i th (x(t) h thng khng n
nh.
Re{
i
} s 0 h thng n nh.
nh l 4.1: H thng tuyn tnh lin tc, tin nh c cc tr ring phn bit l
trong vng n nh nu Re {
i
} = o
i
< 0
i
. l n nh nu Re(
i
) = o
i
s 0 ,
i
v
khng n nh nu c mt tr ring
i
no Re(
i
) = o
i
> 0.
+ Phn tch tng t i vi h thng gin on:
x(k+1) = Ax(k) ; x(k
o
) = x
o
(4-14)
C nghim: x(k) = A
k.ko
x
n
, vi k - k
o
> 0 (4-15)
Gii hn: a s 1; nu a < 1 khi x(k) 0 khi k .
V h thng trong vng n nh, ngc li nu c mt vi |
i
| > 1 h thng
khng n nh.
nh l 4.2: i vi h thng gin on tin nh c cc tr ring phn bit
l trong vng n nh nu |
i
| < 1 ,
i
.l n nh nu |
i
| s 1,
i
v khng n nh
nu c mt vi
i
m |
j
| > 1.
4.3.3- n nh ca h thng c cc tr ring lp.
* Cc cc lp nm bn tri mt phng phc (na mt phng phc tri) l
vng n nh. a thc c trng ca h thng mi n
1
cc lp.
A() = ( + a)
n1
. A
1
() , a > 0 , n > n
1
> 1
Hm truyn ca h thng trong lnh vc Laplace.
H(s) =
1
n
) a S (
1
+
. H
1
(s)
S dng bin i ngc Laplace vi S = -a.
L
-1

=
1 n
0 i
1
1
n
i n
) a S (
k
+

=
=
1 n
0 i

)! i 1 n (
k
1
i n
1

t
n1-1-i
. e
-at

ng thi: { ) e t im
at i 1 n
t
1

0 ,
i
= 0, 1, 2, ..., n
1
- 1.
+ Mt cch tng t nu cc cc lp l s lin hp phc mt phng tri ca
mt phng phc.

Hnh 4.1
nh l 3:
Na mt phng
vng n nh

I
m
(s)
R
e
(s) Vng
n nh

R
e
(z)
I
m
(z)
1
1 -1
-1
H thng tin nh tuyn tnh c cc tr ring phn bit hoc lp l thuc
vng n nh, nu ton b cc tr ring ca ma trn A na tri ca mt phng
phc. Khng n nh nu c ch mt tr ring nm trn na phi ca mt phc.
Cc tr ring trn trc o l n nh. n nh ca cc tr ring lp trn trc o
gii hn ca n nh.
Trong thc t n gin, ngi ta s dng cc phng php gin tip
nh gi n nh ca h thng da trn cc tiu chun n nh.
Cc tiu chun n nh gm hai loi:
1- Cc tiu chun i s tm iu kin rng buc gia cc h s ca phng
trnh c trng xt n nh h thng tiu chun n nh Routh - Hurwitz.
2- Tiu chun n nh tn s thng qua c tnh tn s ca h thng xt n
nh. Tiu chun Mikhailv v tiu chun Nyquyrtz.
* Kho st nghim ca phng trnh c trng.
Hm truyn ca h kn dng chnh tc.

G(s).H(s) 1
G(s)
U(S)
Y(S)
+
= (1)
)] .[G(S).U(S
G(s).H(s) 1
1
Y(S)
+
= (2)
Y(s) - hm p ng.
Hnh 4.2
G(s).U(s) - hm kch thch.

) s ( H ). s ( G 1
1
+
- hm ca h.
* Hm kch thch ch nh hng ti p ng n nh ca h m khng nh hng
ti dng ca p ng qu v th c th cho G(s) . U(s) = 0.
Hay: Y(s) . (1 + G(s) . H(s)) = 0 (3)
1 + G(s) . H(s)) = 0 (4)
(4) phng trnh c trng ca h kn. (s dng phng trnh ny nh gi
n nh ca h).
Ta bit: G(s). H(s) - hm truyn mch h ca h l mt t s
gia cc a thc ca bin (S).
Gi N(s) : a thc t s.
D(s) : a thc mu s.
Ta c: 0
D(s)
N(s) D(s)
D(S)
N(S)
1 G(S).H(S) 1 =
+
= + = + (5)
D(s) + N(s) = 0 (6)
G(s)

H(s)

U(s)

Y(s)

Phn tch phng trnh (6) ra tha s:
D(s) + N(s) = (S - r
1
) (S - r
2
) ... (S - r
n
) = 0
Trong : r
i
nghim ca phng trnh c trng (i = 1, ..., n)
* h n nh mi nghim ca phng trnh c trng u c phn thc
m.
V d: Mt h chnh tc c cc hm truyn sau:
G(s) =
) 4 S ( S
3
+
; H(s) = 1
Xc nh phng trnh c trng v nh gi n nh ca h:
1 + G(s) . H(s) = 1 +
) 4 S ( S
3
+
=
) 4 S ( S
3 S 4 S
2
+
+ +
= 0
Nghim ca phng trnh c trng l -1 ; -3 nghim qu cha cc
s m c h s m h n nh.
4.4. Cc tiu chun n nh i s Routh - Hurwith.
4.4.1- iu kin cn h thng iu khin t ng n nh.
Trc khi xt cc tiu chun n nh ta cn tm du hiu phn on tnh
n nh ca h thng.
iu kin cn h thng iu khin t ng tuyn tnh n nh l cc h
s ca phng trnh c trng u dng.
T phng trnh (6): D(s) + N(s) = 0.
Ta c th vit: a
o
.S
n
+ a
1
S
n-1
+ ... + a
n-1
. S + a
n
= 0
(phng trnh c trng vit di dng khai trin).
Ta c th kim chng li iu kin trn, nu gi s h thng n nh: Nh
th nghim ca phng trnh c trng s l:
S
1
= - o
1
; S
2
= -o
2
+ j|
2
; S
3
= - o
3
- j |
3
; ... ; S
n
= -o
n

Trong : o
i
> 0 ( i = 1, 2, ..., n)
Gi s phng trnh c n nghim ta c th vit:
a
o
(S - S
1
) (S - S
2
) ( S - S
3
) ... (S - S
n
) = 0
hay a
o
(S + o
1
) (S + o
2
- j|
2
) (S + o
2
+ j|
2
) ... (S + o
n
) = 0
a
o
(S + o
1
) [(S + o
2
)
2
+ |
2
2
] ... (S + o
n
) = 0
V cc s hng u l dng nn ta c th khi trin thnh:
a
o
S
n
+ a
1
S
(n-1)
+ ... + a
n-1
S + a
n
= 0
V th khi h thng n nh bt buc cc h s ca phng trnh c trng
phi dng (iu kin cn).
V d: 1) H thng iu khin c phng trnh c trng:
0,04.S
3
+ 0,4S
2
+ S + 50 = 0
V a
i
> 0 nn c th n nh.
2) S
4
+ 2S
3
- 0,5 S
2
+ 3S + 20 = 0 khng n nh.
V khng tho mn iu kin n nh cn thit.
4.4.2.Tiu chun Routh: (khng chng minh).
* iu kin cn v h thng n nh (tuyn tnh) l tt c cc s hng
trong ct th nht cu bng Routh dng.
* Gi s vi phng trnh c trng bc 5.
a
o
S
5
+ a
1
S
4
+ a
2
S
3
+ a
3
S
2
+ a
4
S + a
5
= 0
Bng Routh c lp nh sau:

1
o
a
a

3
2
a
a

5
4
a
a

7
6
a
a

Error! Not a valid link.
3
2
b
b

3
2
b
b

1
o
c
c

3
2
c
c
Error! Not a valid link.

1
o
d
d

hai hng u c dng cc h s ca phng trnh c trng xp
theo chiu mi tn.
cc hng sau c cc s hng tnh theo biu thc:

b
o
=
1
3 1
2 o
a
a a
a a
=
1
3 o 2 1
a
a a a a
; b
1
=
o
2 o
3 1
b
b b
a a
=
o
2 1 3 o
b
b a a b

b
2
=
1
5 1
4 o
a
a a
a a
=
1
5 o 4 1
a
a a a a
; b
3
=
o
4 o
5 1
b
b b
a a
=
o
4 1 5 o
b
b a a b

b
4
=
1
7 1
6 o
a
a a
a a
=
1
7 o 6 1
a
a a a a
; b
5
=
o
o
7 1
b
0 b
a a

Nhn xt:
- Mi s hng trong hng th ba ca bng Routh l mt thng s:
+ T s: nh thc cp hai mang du m vi ct th nht ca n cng l ct
th nht ca hai hng ng st trn hng c s hng ang tnh. Cn ct th hai ca
nh thc chnh l ct ng st bn phi s hng ang tnh ca hai hng trn.
+ Mu s: Trong tt c s hng ca mt hng c chung mu s chnh l s
hng ng ct th nht v hng st ngay trn hng ang tnh.
V d: 1) Cho phng trnh c trng ca h thng:
S
4
+ 2S
3
+ 8S
2
+ 4S + 3 = 0
Lp bng Routh:

1 8 3
2 4 0
6 3 0
3 0
3
H thng n nh v tt c cc s hng trong ct th nht u dng.
V d 2: Cho phng trnh c trng ca h thng:
S
5
+ S
4
+ 3 S
3
+ 4S
2
+ S + 2 = 0
Lp bng Routh:
1 3 1
1 4 2
-1 -1
3 2
-
3
1

2
H thng khng n nh v cc s hng trong ct th nht khng cng du
i s.
V d 3: Cho phng trnh c trng ca h thng.
S
3
+ K.S
2
+ 2S + 3 = 0
Xc nh K h thng n nh:
K > 0
Bng Routh:
1 2
K 3
(2K-3)/k 2K - 3 > 0
3

4.4.3- Tiu chun n nh Hurwitz.
Pht biu: iu kin cn v cho h thng tuyn tnh n nh l
cc nh thc Hurwitz dng.
* Cch lp nh thc Hurwitz:
Cc h s ca phng trnh c trng: a
o
, a
1
, a
2
, ..., a
n

A
0
= a
0
; A
1
= a
1
; A
2
=
2 o
3 1
a a
a a
... tng qut A
n
c n
ct
, n
hng
.
ng cho chnh ca A
n
bt u t a
1
n a
n
cc s hng trn cng mt ct
nm trn ng cho chnh c ch s tng dn, di ng cho chnh ch s gim
dn. Cc s hng c ch s b hn 0 v cao hn n u ghi 0.
V d: Phng trnh c trng bc 3.
a
o
S
3
+ a
1
S
2
+ a
2
S + a
3
= 0
a
o
> 0 ; A
1
= a
1
> 0
A
2
=
2 o
3 1
a a
a a
= a
1
a
2
- a
o
a
3
> 0
A
3
=
3 1
2 o
3 1
a a 0
0 a a
0 a a
= A
2
. a
3
> 0
Nhn xt:
1- Tiu chun Routh c th p dng xt cho h thng bt k.
2- Tiu chun Hurwitz c th ng dng cho cc h thng c phng
trnh c trng bc thp.
3- C tiu chun Routh v Hurwitz u dng xt n nh cho c h
thng h v kn.
4.5. ng dng MatLab
Kim tra n nh ca h thng iu khin bng phn mm MatLab
- Theo tiu chun Routh:
Tnh nh thc cp 2,3 , ... xc nh cc h s trong bng Routh
>> det ( [a
0
a
2
]; [a
1
a
3
])
- Theo tiu chun Hurwitz:
Tnh cc nh thc Hurwitz
3/2 < K

>> det ( [ a
1
a
3
a
5
]; [a
0
a
2
a
4
]; [0 a
1
a
3
])
Kt qu: A
3

- Theo tiu chun Nyquist:
>> Nyquist (sys)
Hoc
>> Nyquist (sys,e )
Trong :
>> sys = tf( num, den)
Hoc: >> sys = zpk ([z], [p], k)

Chng 5
TNH IU KHIN C V TNH QUAN ST
C CA H THNG IU KHIN

Khi nim v iu khin c v quan st c (controllability and
Observability) do R - Kalman a ra 1961.
* iu khin c ca mt h thng l vi mt tc ng vo liu c th
chuyn c trng thi ca h t thi im u t
o
n thi im cui t
1
trong
khong thi gian hu hn (t
1
- t
o
) hay khng.
* Tnh quan st c ca h thng l vi cc to o c u ra ca h
liu ta c th khi phc c (Reconstrucbility) cc vect trng thi x

trong mt
khong thi gian hu hn hay khng?
5.1- Tnh iu khin c ca h thng tuyn tnh lin tc.
H thng tuyn tnh m t bi phng trnh trng thi cp n.
x&(t) = A x(t) + B u(t) (5-1)
c gi l iu khin c hon ton khi v ch khi ma trn sau y c
hng bng n.
P = [B AB A
2
B ... A
n-1
B] (5-2)
Rank (P) = n
V d: Cho h thng m t bi s sau:

Hnh 5.1
Ta c:
) s ( U
) s ( Y
=
4 S S 2
20
2
+ +

t: x
1
= y
x&
1
= x
2

x&
2
= - 2x
1
- 0,5 x
2
+ 10 u.
Phng trnh trng thi tng ng.
10

1/S

1/S

Y(t)

U(t)

0,5

0,2

+ x&
2

x&
1

x
2
x
1

(
2
1
x
x
&
&
=
(
5 , 0 2
1 0

(
2
1
x
x
+
(
10
0
u
Ta c: B =
(
10
0
; AB =
(
5 , 0 2
1 0

(
10
0
=
(
5
10

P =
(
5 10
10 0

det (P) = - 100 = 0 Rank (P) = 2
H cp hai trn iu khin c hon ton.
5.2- Tnh quan st c ca h thng lin tc.
H tuyn tnh lin tc c m t bi h phng trnh:
x&(t) = A x(t) + Bu(t)
y(t) = C x(t) (5-3)
c gi l quan st c hon ton khi v ch khi ma trn sau c hng bng
n.
L = {C AC (A)
2
C ... (A)
n-1
C } (5-4)
Rank (L) = n
V d: Cho h c phng trnh trng thi:

)
`
) t ( x
) t ( x
2
1
&
&
=
(

2 3
1 0

)
`
) t ( x
) t ( x
2
1
+
(
3
1
u(t)
y = { 1 0 }
)
`
) t ( x
) t ( x
2
1

C =
)
`
0
1
; A =
(

2 1
3 0

A.C =
(
1
0

L =
(
1 0
0 1
; det (L) = -1 = 0
Rank (L) = 2
H thng quan st c hon ton.
5.3- Tnh iu khin c ca h iu khin gin on.
Mt h iu khin gin on gi l iu khin c nu ta c th tm c
mt 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 chuyn h thng t trng thi x(o) n
trng thi cui x(n) cho.
Gi s ta c phng trnh trng thi:
x(k+1) = A
d
x(k) + B
d
u(k)
y(k) = C
d
x(k) (5-5)
Ta vit li (5-5):
x(1) = A
d
x(o) + B
d
u(o)
x(2) = A
d
x(1) + B
d
u(1) = A
2
d
x(o) + A
d
B
d
u(o) + B
d
u(1)
...............
x(n) = A
d
x(n-1)+B
d
u(n-1) = A
n
d
x(o)+A
1 n
d
B
d
u(o) +...+ B
d
(u(n-1)
hoc l:
x(n) - A
n
d
x(o) = [ A
1 n
d
B
d
A
2 n
d
B
d
... B
d
]
) 1 n ( u
) 1 ( u
) o ( u
M
(5-6)
V: x(o) , x(n) v A
d
l bit nn (5-6) ch tn ti duy nht nghim
u(k) khi hng ca ma trn sau l n.
M = [A
1 n
d
B
d
A
2 n
d
B
d
... B
d
]
Rank (M) = n
V d: Cho h thng cp II sau:

(
+
+
) 1 k ( x
) 1 k ( x
2
1
=
(
951 , 0 0
488 , 0 1

(
) k ( x
) k ( x
2
1
+
(
00488 , 0
00123 , 0
u(k)
y(k) = [ 1 0 ]
(
) k ( x
) k ( x
2
1

Theo tiu chun Kalman:
A
d
. B
d
=
(
951 , 0 0
488 , 0 1

(
00488 , 0
00123 , 0
=
(
00464 , 0
00361 , 0

M =
(
00488 , 0 00464 , 0
00123 , 0 00361 , 0
det(M) = 0
Rank(M) = 2
H iu khin c.
5.4- Tnh quan st c ca h thng iu khin gin on.
H thng gi l quan st c nu theo s liu o c u ra y(k) ta c
th xc nh c trng thi x(k) ca n.
y(k) = C
d
x(k)
y(o) = C
d
x(o)
y(1) = C
d
x(1) = C
d
A
d
x(o)
...........
y(n-1) = C
d
A
1 n
d
x(o)
Hay: N = [C
d
A
d
(n)
C
d
(A
d
)
(n-1)
.C
d
] c hng bng n.
5.5. ng dng MatLab
- Kim tra tnh iu khin c:
>> C
0
= Ctrb (A,B)
Hoc
>> C
0
= Ctrb (sys)
Kt qu: Rank (C
0
) = k (hng s)
k: l s trng thi iu khin c.
- Kim tra tnh quan st c:
>> Ob = Obsv (A,C)
Hoc
>> Sys = ss (A,B,C,D)
>> Ob = obsv (Sys)
Kt qu: Rank (Ob) = k.

Chng 6
THIT K H THNG IU KHIN
6.1. M u
Thit k h thng iu khin bao gm cc bc nh bi ton tng hp h thng
iu khin, v tun theo mt s nguyn tc thit k sau:
Nguyn tc iu khin t ng:
Cc h thng iu khin thng tun theo 3 nguyn tc iu khin ch yu sau:
1) Nguyn tc gi n nh
Tc l duy tr u ra c nh, theo nguyn tc ny nu cc tc ng bn ngoi c
th o c, cn c tnh i tng c xc nh trc th s dng phng php
b tc
ng bn ngoi, nh hnh v

nguyn tc ny cn o nhiu v tnh c
tr s ca n tc ng vo thit b iu
chnh. Trong thit b iu chnh ngoi phn
t chuyn i v c cu chp hnh cn c cc thit b o G
4
tc ng ti phn t
chuyn i G
1
, to ra lnh cho c cu chp hnh G
2
.
Phng php th 2 ca nguyn tc ny l iu khin theo sai lch (nguyn tc phn
hi) c s dng khi tc ng bn ngoi khng o c v c tnh i tng
cng khng xc nh c. l h thng phn hi m tn hiu ra C c a v so
vi tn hiu vo chun R to
nn sai lch E tc ng i vi
phn t iu khin.

Phng php th 3 gi n
nh u ra l hn hp
hai phng php trn.

G 1 G2 G3
G4
U
R
Hnh 6-1
Hnh 6-2
R
G 1 G 2
H
U
G 3
B
C
+
-
-
+
R
B
G 1
Hnh 6-3
H
U
G 2 G 3
C
G 4
E
V R
TBKc TK
TBK1
TBK
2) Nguyn tc iu khin chng trnh
Tc l nguyn tc iu khin tn hiu ra thay i theo mt chng trnh mong
mun no theo thi gian: C = C(t)
Tn hiu iu khin ph thuc quy lut thay i theo thi gian ca u ra, ta c th
xc lp c quan h . Rt nhiu h iu khin theo nguyn tc ny, v d thay
i nhit trong mt l nung, thay i cng nh sng trong phng tu theo
gi gic trong ngy, thay i tc , bc tin dao ca mt my tin khi chuyn t
ch gia cng th sang gia cng tinh...
3) Nguyn tc thch nghi

Hnh 6-4
- Khi cn iu khin nhng i tng phc tp hoc nhiu i tng ng
thi, m phi m bo cho mt tn hiu c gi tr cc tr, hoc mt ch tiu
ti u no ....
- H thng t thch nghi bao gm hai phn ch yu:
i tng iu khin
Thit b iu khin
H thng ny l h thng nhiu vng: mch vng c bn c i tng iu
khin v thit b iu khin c bn.
Mch vng: H thng iu khin thng thng.
L nguyn tc iu khin to ra tn hiu ra (i lng ra) theo s bin i ca tn
hiu vo (i lng vo).

6.2. Cc khu ng hc ca h thng iu khin
Phm vi ca mn hc cp n cc khu ng hc c bn thng s dng trong
ngnh c kh.
a. Khu khuch i (P)

Hnh 6 -1
C cu n by hnh 6-1 hot ng nh b khuch i vi h s khuch i K
p
.
Hoc lc qun tnh v gia tc quan h l F = m.a; in p v dng in quan h l
U = R.I ... u l cc khu khuch i, c th gi l cc phn t P.
b. Khu qun tnh (P- T
1
)
M hnh tnh ton ca khu qun tnh (P- T
1
) c dng:
T.
dt
dX
a
+ X
a
= K.X
e
(6.1)
V d xylanh thy lc c pittong mang khi lng m chuyn ng vi vn tc v th
phng trnh cn bng lc l:
m.
dt
dv
= F - f.v , vi f l h s ma st nht (6.2)

Hnh 6-2
a)S v d b) c tnh c) K hiu
c. Khu tch phn (I)
M hnh ton ca khu tch phn th hin l u ra bng tch phn ca u vo:
X
a
= K
I
.
}
dt t x
e
) ( (6-3)
K
I
l h s khuch i ca khu tch phn.
V d 1: Hnh trnh ca pittong - xy lanh tnh theo lu lng vo l
S =
A
1
.
}
dt Q. = K
I
.
}
dt Q. (6-4)
Vi A l din tch ca pittong v K
I
l h s khuch i ca khu tch phn.
V d 2: B truyn vt me ai c bi c quan h nh sau
S = t
x
.
}
dt n. (6-5)
Nu s vng quay n khng i th S = t
x
.n.t

Hnh 6-3
d. Khu vi phn (D)
M hnh ton ca khu vi phn th hin u ra t l vi vi phn u vo:
x
a
= K
D
.
dt
dX
e
(6-6)
V d: quan h gia dng in v in p qua t in C th hin theo cng thc l
I
c
= C.
dt
du
c
= K
D
.
dt
du
c
(6-7)
K
D
= C l h s khuch i ca khu D
I
c
: l tn hiu ra
U
c
: l tn hiu vo

Hnh 6-4

e. Khu iu chnh PI

S
K
K
s X
s X
I
p
e
a
+ =
) (
) (
(6-8)

Hnh 6-5
f. Khu iu chnh PD
S K K
s X
s X
D p
e
a
.
) (
) (
+ = (6-9)

Hnh 6-6
g. Khu iu chnh PID
S K
S
K
K
s X
s X
D
I
p
e
a
.
) (
) (
+ + = (6-10)

Hnh 6-7

Chng 7
THIT K H THNG IU KHIN
THY LC
7.1. Cc phn t thy lc c bn
7.1.1. Van iu khin
a. Van trt c mp iu khin dng, trung gian v m

Hnh 7-1. S cc loi mp iu khin ca van
a- Van c mp iu khin dng (+x
0
)
b- Van c mp iu khin trung gian (x
0
= 0)
c- Van c mp iu khin m (- x
0
)
d- c tnh l thuyt Q - x(Q-I)
Khi x
0
> 0 gi l van trt c mp iu khin dng, con trt di chuyn trong
vng x
0
lu lng vn bng 0 v vng ny c th gi l vng cht.
Khi x
0
= 0 gi l van trt c mp iu khin trung gian.
Khi x
0
< 0 gi l van trt c mp iu khin m, ti v tr trung gian ( con trt
cha di chuyn) hnh thnh tit din chy v lu lng du qua van.
b. Van solenoid
Cu to ca van solenoid gm cc b phn chnh (hnh 7-2).
Con trt ca van s hot ng hai hoc ba v tr ty theo tc ng ca nam
chm. C th gi van solenoid l loi van iu khin c cp.


Hnh 7-2: Cu to v k hiu ca van solenoid
a- Cu to v k hiu ca van solenoid iu khin trc tip (1,5 - vt hiu chnh v
tr ca li st t; 2,4 - l xo; 3,6 - cun dy ca nam chm in)
b- Cu to v k hiu ca van solenoid iu khin gin tip ( 1- van s cp; 2- van
th cp).
c. Van t l
Cu to ca van t l nh hnh 7-3 gm: Thn van, con trt, nam chm in.
thay i tit din chy ca van, tc l thay i hnh trnh ca con trt bng
cch thay i dng in iu khin nam chm. C th iu khin con trt v tr
bt k trong phm vi iu chnh nn van t l c th gi l loi van iu khin v
cp.

Hnh 7-3
d. Van servo
* Nguyn l lm vic:

Hnh 7-4: S nguyn l ca b phn iu khin con trt ca van servo
B phn iu khin con trt ca van servo th hin trn hnh 7-4. Hai nam chm
vnh cu t i xng to thnh khung hnh ch nht, phn ng trn c hai cun
daayvaf cnh chn du ngm vi phn ng, to nn mt kt cu vng. nh v phn
ng v cnh chn du l mt ng n hi, ng ny c tc dng phc hi cm phn
ng v cnh chn v v tr trung gian khi dng in vo hai cun dy cn bng. Ni
vi cnh chn du l cng n hi, cng ny ni trc tip vi con trt. Khi dng
in vo hai cun dy lch nhau th phn ng b ht lch, do s i xng ca cc
cc nam chm m phn ng s quay. Khi phn ng quay, ng n hi s bin dng
n hi, khe h t cnh chn n ming phun du cng s thay i ( pha ny h ra
v pha kia hp li). iu dn n p sut hai pha con trt lch nhau v con
trt c dch chuyn. Nh vy:
- Khi dng in iu khin hai cun dy bng nhau hoc bng 0 th phn ng,
cnh, cng v con trt v tr trung gian.
- Khi dng i
1
= i
2
th phn ng s quay theo mt chiu no ty thuc vo dng
in ca cun dy no ln hn. Gi s phn ng quay ngc chiu kim ng h,
cnh chn du cng quay theo lm tit din chy ca ming phun du thay i, khe
h ming phun pha tri rng ra v khe h ming phun pha phi hp li. p sut
du vo hai bung con trt khng cn bng, to lc dc trc, y con trt di
chuyn v bn tri hnh thnh tit din chy qua van( to ng dn du qua van)
(hnh 7-5a).
ng thi khi con trt sang tri th cng s cong theo chiu di chuyn ca con
trt lm cho cnh chn du cng di chuyn theo. Lc ny khe h ming phun tri
hp li v khe h ming phun phi rng ln, cho n khi khe h ca hai ming
phun bng nhau v p sut hai pha bng nhau th con trt v tr cn bng (hnh
7-5b).
Tng t nh trn nu phn ng quay theo chiu ngc li th con trt s di
chuyn theo chiu ngc li.

Hnh 7-5: S nguyn l hot ng ca van servo
* K hiu ca van servo:

Hnh 7-6
7.2. Tnh ton, thit k cc mch iu khin thy lc
V d: H thy lc thc hin chuyn ng tnh tin
p sut v lu lng du cung cp cho xylanh thy lc l hai i lng quan trng
m bo cho h truyn c ti trng, vn tc hoc v tr cn thit.
Phn tch s h thng hnh 7-7.


Hnh 7- 7: S ca h thy lc chuyn ng tnh tin
Lc qun tnh: Fa = m.a (7.1)
Fa =
g
W
L
.a ( Theo h Anh)
Lc ma st: Fc = m.g.f (7.2)
Fc = W
L
.f ( Theo h Anh)
Lc ma st trong xylanh thng bng 10% lc tng cng, ngha l: F
s
= 0,10. F
Lc do ti trng ngoi F
E
Lc tng cng tc dng ln pittong l: F =
1000
.a m
+ Fc + Fs + F
E
(daN) (7.3)
Theo h Anh F =
12 . 2 , 32
.a W
L
+ Fc + Fs + F
E
(lbf)
Trong : m l khi lng chuyn ng, kg
W
L
: Trng lc (lbf)
a: gia tc chuyn ng, cm/s
2
(in/s
2
)
Fc: Lc ma st ca b phn chuyn ng, daN (lbf)
F
E
: ngoi lc, daN (lbf)
Fs : Lc ma st trong pittong- xylanh, daN (lbf)
Phng trnh cn bng pittong:
P
1
.A
1
= P
2
.A
2
+ F (7.4)
i vi xy lanh khng i xng th lu lng ra v vo khng bng nhau:
Q
1
= Q
2
.R vi R =
2
1
A
A
(7.5)
st p qua van:
P
s
- P
1
= ( P
2
-P
T
). R
2
(7.6)
Trong : P
1
v P
2
p sut 2 bung ca xy lanh
P
s
l p sut cung cp cho van
P
T
p sut du ra khi van
A
1
, A
2
din tch hai pha ca pittong.
T cng thc (7.5) v (7.6) ta tm c P
1
, P
2
nh sau:
P
1
=
) 1 .(
) . .( .
3
2
2
2
2
R A
A P F R A P
T s
+
+ +
(7.7)
P
2
= P
T
+
2
1
R
P P
s

(7.8)
Lu lng du vo xy lanh pittong chuyn ng vi vn tc cc i l:
Q
L
= v
max
.A
1
(cm
3
/s) (7.9)
Hoc Q
L
=
7 , 16
max
v
.A
1
(l/p)
Nu tnh theo h Anh: Q
L
= v
max
.A
1
(in
3
/s) (7.10)
Q
L
=
85 , 3
max
v
.A
1
(usgpm)
Lu lng du qua van ng vi st p 35 bar ( 500PSI) l:
Q
R
= Q
L
.
1
35
P P
s

(l/b) (7.11)
Theo h Anh: Q
R
= Q
L
.
1
500
P P
s

(usgpm)
Vi cch phn tch nh trn khi pittong lm vic theo chiu ngc li:
P
1
= P
T
+ (P
s
- P
2
). R
2
(7.12)
P
2
=
) 1 .(
. . . .
3
2
2
3
2
R A
R A P F R A P
T s
+
+ +
(7.13)
v Q
R
cng xc nh tng t nh cng thc (7.11). Lu lng ln nht ca mt
trong hai trng hp trn s c dng chn van.
Bi ton trn cng ng dng cho xy lanh c kt cu i xng (A
1
= A
2
) v ti trng
m.

II. Phn 2: Phn tho lun, bi tp

II1. Yu cu i vi sinh vin
- Mc tiu: Gip sinh vin nm r l thuyt v bit xy dng m hnh ton ca h
thng iu khin trong ngnh c kh v t thit k mt h thng iu khin t
ng c ng dng trong thc t.
- Nhim v ca sinh vin: c k l thuyt nh
Tm hiu nhng kin thc xung quanh kin thc hc
Tham gia tho lun y
- Hnh thc tho lun : Cc sinh vin c chia lm cc nhm tho lun
Trnh by kin theo tng nhm
Tho lun trn lp c tr gip ca ging vin.
- nh gi : Chm im cho tng sinh vin theo thang im 4.
II.2. Cc ni dung c th

Chng 1: Cc vn c bn ca h thng iu khin t ng
Mc tiu: Nm r l thuyt, xy dng c m hnh ton ca cc h thng iu
khin t ng.
Bi tp:
Xy dng m hnh ton ca cc h thng.

Chng 2: Hm truyn t
Mc tiu: Bit cch xy dng hm truyn t ca mt h thng
Cc ni dung ca bi ton phn tch h thng khi bit hm truyn t ca
h thng.
Bi tp:
- Cho h thng c m t bi phng trnh vi phn, s khi, s graph tn
hiu ... Hy xc nh hm truyn t ca h thng .

Chng 3: Phng trnh trng thi
Mc tiu: Bit cch xy dng phng trnh trng thi ca mt h thng bt k.
Phn tch h thng khi bit phng trnh trng thi.
Bi tp: Bit h thng c m t bi phng trnh vi phn, hm truyn t, s
khi... Hy xc nh phng trnh trng thi ca h thng v phn tch h thng.

Chng 4 : n nh ca h thng iu khin
Mc tiu: Phn tch c h thng iu khin v tnh cht n nh ca h thng
bng cc tiu chun kim tra n nh.
Bi tp: Bit cc m hnh ton ca h thng iu khin
p dng cc tiu chun kim tra n nh

Chng 5: Tnh iu khin c v tnh quan st c ca h thng
iu khin
Mc tiu: Phn tch c h thng iu khin v tnh cht quan st c v iu
khin c ca h thng bng cc tiu chun.
Bi tp: Bit cc m hnh ton ca h thng iu khin
p dng cc tiu chun kim tra.

Chng 6: Thit k h thng iu khin t ng thy lc
Mc tiu: Thit k h thng iu khin thy lc c ng dng trong ngnh c kh...
Bi tp: Sinh vin thit k mt h thng iu khin t ng.

TI LIU THAM KHO
[1]. Modern control systems Engineering, Z.Gajic and M.Lelic, Prentice Hall, Engle
wood Cliffs, NewJersey, 1996.
[2]. Digital control systems, Kuo.B, Sounder college Pulishing, Newyork, 1992.
[3]. Modern control engineering, Katsuhiko Ogata, International edition.
[4]. C s iu khin h thng t ng, tp I,II,III, ng V Giao, NXB H &
THCN, H Ni, 1978
[5]. L thuyt iu khin tuyn tnh, Nguyn Don Phc, NXB Khoa hc v k
thut, 2007.
[6]. H thng iu khin t ng thy lc, Trn Xun Ty, NXB Khoa hc v K
thut, H Ni, 2002.



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