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CHNG I GII THIEU S LC VE MATLAB

I.TM HIEU VE CONG TY MATHWORKS:
Cong ty MathWorks c thanh lap vao nam 1984 la mot cong ty hang au ve viec cung cap va phat trien phan mem k thuat cho may tnh. Cong ty co hn 500 nhan vien ang lam viec cho hai van phong chnh My va Anh quoc. Moi chi tiet ve viec to chc, nhan s va ao tao phat trien xin xem them tai ia ch WebSite : http:/ www.Mathworks.com/

II.GII THIEU C S MATLAB:

II.1. Gii thieu chng trnh MATLAB: Chng trnh MATLAB la mot chng trnh viet cho may tnh PC nham ho tr cho cac tnh toan khoa hoc va k thuat vi cac phan t c ban la ma tran tren may tnh ca nhan do cong ty "The MATHWORKS" viet ra. Thuat ng MATLAB co c la do hai t MATRIX va LABORATORYghep lai. Chng trnh nay hien ang c s dung nhieu trong nghien cu cac van e tnh toan cua cac bai toan k thuat nh: Ly thuyet ieu khien t ong, k thuat thong ke xac suat, x ly so cac tn hieu, phan tch d lieu, d bao chuoi quan sat, v.v MATLAB c ieu khien bi cac tap lenh, tac ong qua ban phm. No cung cho phep mot kha nang lap trnh vi cu phap thong dch lenh con goi la Script file. Cac lenh hay bo lenh cua MATLAB len en so hang tram va ngay cang c m rong bi cac phan TOOLS BOX( th vien tr giup) hay thong qua cac ham ng dung c xay dng t ngi s dung. MATLAB co hn 25 TOOLS BOX e tr giup cho viec khao sat nhng van e co lien quan tren. TOOL BOX SIMULINK la phan m rong cua MATLAB, s dung e mo phong cac he thong ong hoc mot cach nhanh chong va tien li. MATLAB 3.5 tr xuong hoat ong trong moi trng MS-DOS. MATLAB 4.0, 4.2, 5.1, 5.2, hoat ong trong moi trng WINDOWS. Cac version 4.0, 4.2 muon hoat ong tot phai s dung cung vi WINWORD 6.0. Hien tai a co version 5.31 (kham khao t Website cua cong ty). Chng trnh Matlab co the chay lien ket vi cac chng trnh ngon ng cap cao nh C, C++, Fortran, Viec cai at MATLAB that de dang va ta can chu y viec dung them vao cac th vien tr giup hay muon lien ket phan mem nay vi mot vai ngon ng cap cao. Con cac version MATLAB khac th lam viec vi he ieu hanh UNIX.

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Hnh 1.1 : Khi ong MATLAB t moi trng WINDOWS

Hnh 1.2 : Giao dien bieu tng cua MATLAB (Version 5.1) Viec khi ong MATLAB tren moi he thong khac nhau. Trong moi trng WINDOWS hay MACINTOSH, chng trnh thng c khi ong thong qua viec nhap chuot tren cac icon hay con goi la bieu tng. Con vi moi trng UNIX, MS-DOS ,viec khi ong thong qua dong lenh: :\ MATLAB Giao dien cua MATLAB s dung hai ca so: ca so lenh (command window) va ca so o th (Figure window).
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Hnh 1.3 : Giao dien ca so lenh cua MATLAB khi khi ong xong Ca so lenh dung e a lenh va d lieu vao ong thi in ra ket qua. Ca so o th tr giup cho viec truy xuat o hoa e the hien nhng lenh hay ket qua au ra di dang o hoa.

Hnh 1.4 : Giao dien ca so o th cua MATLAB Viec ngat chng trnh ang thc hien hoac cac chng trnh khong ung theo yeu cau eu c thong qua phm nong Ctrl + C. e thoat khoi chng trnh MATLAB ta co the dung lenh >> exit hoac >> quit ( : nhan ENTER)
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hoac t menu tha xuong hoac nhan vao tren goc phai man hnh cua ca so chnh MATLAB. MATLAB c ieu khien bang nhng cau lenh c ket hp theo mot trat t nhat nh va goi o la chng trnh. Chng trnh cha nhieu cau lenh va nhng ham chc nang e giai nhng bai toan ln hn. Cac cau lenh trong MATLAB rat manh va co nhng van e ch can mot cau lenh la u giai quyet bai toan. Mo phong trong MATLAB se cho ta hnh anh toa o khong gian hai chieu (2D) va ba chieu(3D). II.2. Cac phm chc nang at biet (chuyen dung) va cac lenh dung cho he thong: Ctrl + P hoac Ctrl + n hoac Ctrl + f hoac Ctrl + b hoac Ctrl + l hoac Ctrl + Goi lai lenh va thc hien trc o t cua so lenh cua MATLAB Goi lai lenh a anh vao trc o Chuyen con tro sang phai mot k t Chuyen con tro sang trai mot k t. Chuyen con tro sang phai mot t

Ctrl + r hoac Ctrl + Chuyen con tro sang trai mot t Ctrl + a hoac HOME Ctrl + k Chuyen con tro ve au dong. Xoa cho en dong cuoi cung

Cac lenh he thong : Cac lenh tren cung nh sau nay c viet t ca so lenh cua MATLAB Casesen off Casesen on Clc Clf computer exit hoac quit Bo thuoc tnh phan biet ch hoa va ch thng S dung thuoc tnh ch hoa va ch thng. Xoa ca so dong lenh Xo ca so o hoa Lenh in ra mot xau k t cho biet loai may tnh. Thoat khoi chng trnh MATLAB

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Ctrl + C help input load pause save Demo

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Dng chng trnh khi no ri vao tnh trang lap khong ket thuc . Xem tr giup Nhap d lieu t ban phm. Tai cac bien a lu trong mot file a vao vung lam viec. Ngng tam thi chng trnh. Lu gi cac bien vao file co ten la matlab.mat Lenh cho phep xem cac chng trnh mau (minh hoa kha nang lam viec cua MATLAB). Lenh e vao ca so soan thao (dung e viet mot chng trnh)

Edit

II.3.Bien trong Matlab : Ten cac bien trong MATLAB co the dai 19 k t bao gom cac ch cai cung cac ch so cung nh mot vai k t ac biet khac nhng luon phai bat au bang ch cai. Ten cac ham a c at cung co the c s dung lam ten cua bien vi ieu kien ham nay se khong c s dung trong suot qua trnh ton tai cua bien cho en khi co lenh clear xoa cac bien trong bo nh hay clear + ten cua bien. Bnh thng Matlab co s phan biet cac bien tao bi ch cai thng va ch cai hoa.Cac lenh trong Matlab noi chung thng s dung ch cai thng. Viec phan biet o co the c bo qua neu chung ta thc hien lenh. >> casensen off % bo thuoc tnh phan biet ch hoa va ch thng. Viec kiem tra s ton tai cua cac bien trong bo nh thong bo qua lenh. Hien th danh sach cac bien a c nh ngha. who whos Hien th cac bien a c nh ngha cung kch thc cua chung va thong bao chung co phai la so phc khong. Hien th cac bien cuc bo. Hien th cac bien phu thuoc vao cach cac bien c nh ngha trong chuoi namestr. Ham se tra lai gia tr sau: Neu namestr la ten cua mot bien. Neu namestr la ten cua mot file.m. Neu namestr la ten cua mot Mex file Neu namestr la ten cua ham dch bi Simulink. Neu namestr la ten cua ham c nh ngha trc bi Matlab.

who global exist(namesrt)

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o ln cua bien

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o ln hay chieu dai cua bien vector cung nh ma tran co the c xac nh thong qua mot so ham co san cua Matlab.

size (A)

Cho ra mot vector cha kch thc ma tran A. Phan t au tien cua vector la so hang cua ma tran, phan t th hai la so cot cua matran. Tra gia tr o ln cua ma tran A vao vector xac nh bi hai bien m va n . a ra so hang cua ma tran A neu p=1 va so cot cua A neu p 2 a ra vector mo ta o ln cua vector x. Neu x la vector hang m phan t th gia tr au cua vector la m va gia tr th hai la 1. Trng hp x la vector cot n th gia tr th nhat se la 1 va th hai la n. Tra gia tr chieu dai cua vector x Tra gia tr chieu dai cua ma tran A . Gia tr thu c se la m neu m>n va ngc lai se la n neu n>m.

[ m n] = size(A)

size(A ,p) size (x)

lengh(x) lengh(A)

II.4.Cac lenh thong dung trong o hoa Matlab: Matlab rat manh trong viec x ly o hoa, cho hnh anh minh hoa mot cach sinh ong va trc quan trong khong gian 2D va 3D ma khong can en nhieu dong lenh. plot (x,y) plot (x,y,z) title xlabel ylabel zlabel grid Ve o th trong toa o (x,y) Ve o th theo toa o ( x,y ,z) a cac tieu e vao trong hnh ve. a cac nhan theo chieu x cua o th. a cac nhan theo chieu y cua o th. a cac nhan theo chieu z cua o th. Hien th li tren o th

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plot (y)

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Ve o th theo y bo qua ch so theo y. Neu y la so phc (complex) th o th c ve la phan thc va phan ao cua y Ve theo x,y ; S: la cac ch so ve mau sac va kieu ng theo bien str cua cac ng tren o th c liet ke di. Ve theo x,y,z; S: la cac ch so ve mau sac va kieu ng theo bien str cua cac ng c liet ke di. Ve o th theo he truc toa o cc Ve o th dang cot

plot (x,y,S)

plot(x,y,z,S)

polar (x,y) bar

Cac ch so ve mau sac: Gia tr cua bien Str trong ham plot ve mau sac hay kieu dang cua ng c liet ke theo bang di ay. Kieu ng Mau sac Y: vang . : iem G : xanh la cay * : Sao M : o ti X : Ch cai x B : xanh lam O : Ch cai o C : xanh la ma. + : Dau cong W : mau trang - : ng lien net R : o -- : ng t net K : en -. : ng cham gach : : ng cham

V du ve o hoa be mat (3D)

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Ngoai cac lenh c ban tren con co cac lenh lien quan en ve o th Vector, ve o th theo he truc loga,cac lenh lien quan en o hoa be mat (3D) ,cac lenh lien quan en viec kiem soat o th II.5 .Cac dang file s dung trong MATLAB: II.5 .1. Script file (M-files): Cac chng trnh do ngi s dung soan thao ra c lu tr trong cac file co phan m rong la *.m. File dang nay con c goi la Script file. File c di dang k t ASCII va co the s dung trong cac chng trnh soan thao noi chung e tao no. Ta co the chay cac file giong nh cac lenh, thu tuc cua MATLAB. Tc la go ten file khong can co phan m rong sau o Enter. Khi s dung noi dung cua file khong c hien th tren man hnh. Trong Simulink s o mo phong cung c lu di dang *.m (trong cac version 5.x tr len th c lu di dang * .mdl) nhng c goi la S-function. Mot so lenh he thong tng tac vi *.m files thng gap echo type what Lenh cho phep xem cac lenh co trong *.m files khi chung c thc hien. Lenh cho phep xem noi dung,ngam nh file dang M-file Lenh nay cho biet tat ca cac file M file va Mat-file co trong vung lam viec hien hanh hay khong. Mot v du ve Script file:

II.5.2.Files d lieu: Cac ma tran bieu dien thong tin c lu tr trong cac files d lieu. Matlab phan biet hai loai file d lieu khac nhau Mat- files va ASCII files.

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Mat files lu tr cac d lieu dang so nh phan, con cac ASCII- files lu cac d lieu di dang cac k t. Mat-file thch hp cho d lieu c tao ra hoac c s dung bi chng trnh MATLAB. ASCII- files c s dung khi cac d lieu c chia xe (export import) vi cac chng trnh cua MATLAB. ASCII- files co the c tao bi cac chng trnh soan thao noi chung hay cac chng trnh soan thao bang ngon ng may. No co the c tao ra bi chng trnh Matlab bang cach s dung cau lenh sau ay: >> save <ten file>.dat <ten ma tran>./ascii; Nhn chung Mat lab rat manh trong viec mo phong cho cac bai toan k thuat. Phan mem Matlab hien nay a tr nen thong dung va la cong cu ac lc cho viec giang day, ng dung trong nghien cu cac trng ai hoc.

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CHNG II CACH KET NOI VA CAC THUOC TNH CUA BLOCKS

I. KHAI NIEM VE SIMULINK:
Simulink la mot phan mem m rong cua MATLAB (1 Toolbox cua Matlab) dung e mo hnh hoa, mo phong va phan tch mot he thong ong. Thong thng dung e thiet ke he thong ieu khien, thiet ke DSP, he thong thong tin va cac ng dung mo phong khac. Simulink la thuat ng mo phong de nh c ghep bi hai t Simulation va Link. Simulink cho phep mo ta he thong tuyen tnh,he phi tuyen, cac mo hnh trong mien thi gian lien tuc, hay gian oan hoac mot he gom ca lien tuc va gian oan. e mo hnh hoa, Simulink cung cap cho ban mot giao dien o hoa e s dung va xay dng mo hnh s dung thao tac "nhan va keo" chuot. Vi giao dien o hoa ta co the xay mo hnh va khao sat mo hnh mot cach trc quan hn. ay la s khac xa cac phan mem trc o ma ngi s dung phai a vao cac phng vi phan va cac phng trnh sai phan bang mot ngon ng lap trnh. iem nhan manh quan trong trong viec mo phong mot qua trnh la viec thanh lap c mo hnh. e s dung tot chng trnh nay, ngi s dung phai co kien thc c ban ve ieu khien, xay dng mo hnh toan hoc theo quan iem cua ly thuyet ieu khien va t o thanh lap nen mo hnh cua bai toan.

II. TM HIEU VE SIMULINK VA CAC BLOCKS LIBRARY:

II.1 CACH KHI TAO SIMULINK VA VE S O MO PHONG: II.1.1 Khi tao SIMULINK: e vao Simulink trong Matlab, ta t ca so lenh cua Matlab anh dong lenh: >> simulink Khi khi ong Simulink xong ta c man hnh ca so Simulink. Ca so nay hoat ong lien ket vi ca so lenh MATLAB. Ta thay ca so Simulink co nhieu khoi chc nang (blocks library), trong o co nhieu khoi chc nang cu the.

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Hnh 2.5 : Cach vao toolbox SIMULINK trong MATLAB T ca so lenh ta thay c cac khoi th vien: Khoi nguon (Sources), khoi au o (Sinks), khoi phi tuyen (nonlinear), khoi tuyen tnh (linear), khoi au noi (Connections)

Hnh 2.6 : Man hnh ca so th vien SIMULINK Th vien cua Simulink bao gom cac khoi chuan tren, ngi s dung cung co the thay oi hay tao ra cac khoi cho rieng mnh. Simulink cung giong nh cac phan mem mo phong thiet ke mach ien t nh : MicroSim Eval, EWB, Circuit Maker. e ve s o mo phong cung nh xay dng mo hnh nh the nao.Viec xay dng mo hnh va cac thao tac e xay dng mo hnh. Ta th thiet ke mo phong v du sau (Hnh 2.7) e biet c viec ve va mo phong s o: e ve c mo hnh nay ban phai lamm cac thao tac sau: 1.T ca so Matlab anh lenh simulink. Ca so th vien cac khoi se xuat hien 2.T ca so th vien ta nhap chuot vao File/New/Model hoac nhan Ctrl+ N. Man hnh ca so mo hnh mi Untitled c m ra(Hnh 8).T o ta bat au xay dng mo hnh.
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3 . Chon cac block cac th vien thch hp:

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Hnh 2.7 : Mo hnh phan tch song hnh sin

Hnh 2.8 : Chon ve mot Model (Scheme) mi Trong s o nay chon cac khoi t cac th vien: + Th vien cac nguon tn hieu (Sources): Chon Sin wave. + Th vien cac khoi nhan tn hieu (Sinks): Chon Scope. + Th vien cac ham tuyen tnh (Linear): Chon Integrator. + Th vien cac au noi ( Connections): Chon Mux. e chon mot th vien trong Simulink ta nhap kep (Double Click) vao khoi (icon) o. Simulink se hien th mot ca so cha tat ca cac khoi cua th vien o. Trong th vien nguon tn hieu cha tat cac khoi eu la nguon tn hieu. Th vien nguon tn hieu c trnh bay nh hnh 2.9. Ngi s dung them vao s o cua mnh bang cach ghep khoi o t th vien hay t mo hnh bat k nao khac. Trong v du nay ta chon khoi phat song hnh sin. at con tro chuot len khoi an va gi phm trai chuot, keo khoi ti ca so ve s o Untitled.

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Khi di chuyen khoi ta co the thay khoi va ten cua no di chuyen cung vi con tro chuot.

Hnh 2.9 : Ca so th vien Phan Nguon tn hieu. (SOURCES)

Hnh 2.10 : Khoi va ten di chuyen cung khoi . Khi con tro chuot di chuyen ti ni ban can at khoi trong s o bang cach nha phm chuot, mot ban copy cua khoi a trong man hnh mo phong. Khi ta khong va y cho at ta co the di chuyen khoi bang cach nh tren. Theo cach nay chep nhng khoi con lai vao trong man hnh mo phong e tiep tuc xay dng s o. Muon copy tiep mot khoi Sin na trong mot mot s o, ta lam bang cach gi phm Ctrl + phm trai chuot va di chuyen ti iem can at khoi, luc o mot khoi a c copy. Vi tat ca cac khoi a chep vao ca so man hnh mo phong se c hien th nh tren hnh 2. 11.

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Neu xem k tng khoi, chung ta thay dau > ben phai cua khoi la dau au noi danh cho ngo ra cua tn hieu, con dau > ben trai la dau au noi danh cho ngo vao. Tn hieu i t au ra cua mot khoi ti au vao cua khoi khac theo mot ng noi gi hai khoi. Khi mot khoi a c noi th bieu tng > cung mat i.

Hnh 2.11. Ca so s o vi cac khoi a c copy.

INPUT PORT

OUTPUT PORT

Hnh 1.12 .au vao - ra cua mot khoi T hnh 1.11 ta thay khoi Mux co ba cong vao nhng ta can co hai cong nen ta phai thay oi thong so cua Mux, bang cach nhap kep len khoi Mux va thay oi gia tr thong so "Number of Input" la 2 (hnh 2.13).Sau o nhan phm Apply va o ca ca so Mux. Simulink se ieu chnh so cong vao theo gia tr a nhap.

Hnh 2.13. Ca so thong so khoi Mux. Bay gi ta co the noi cac khoi lai vi nhau. au tien hay noi au ra khoi phat Sin tn hieu ti au vao tren khoi Mux. Cong viec thc hien noi cac khoi, noi chung khong theo th t bat buoc nao ca. Cong viec thc hien noi cac s o cung giong nh cac phan mem thiet ke ien t nao o la at con tro chuot tai au noi (ra) cua khoi nay (con tro chuot bien thanh dau cong), gi tro chuot va keo ti au noi (vao) cua khoi khac. Trong qua
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trnh noi, ong noi co hnh net t va con tro se thay oi thanh dau cong kep khi lai gan kho can noi.

Hnh 2.14. Ca so mo hnh trc khi noi day.

Hnh 2.15. Ca so mo hnh khi ang noi day. Ban co the noi bang cach nha phm chuot khi con tro ben trong khoi. Khi o ng noi se noi vao cong gan v tr con tro nhat.

Hnh 2.15. Hnh kho Sin a noi vao tren khoi Mux. Phan ln cac ng noi i t au ra cua mot khoi ti au vao cua mot khoi khac. Co ng noi t mot ng nao o i ti au vao cua mot khoi ta goi o la ng re nhanh.

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Viec ve ng re nhanh co s khac biet so vi ve ng noi chnh. e ve c re nhanh ta thc viec nh sau: 1. at con tro vao iem can ve ng re nhanh.

Hnh 2.16. Con tro at vao iem can re nhanh. 2. An phm Ctrl + gi phm trai chuot ,keo con tro chuot ti au vao cua khoi. 3. Nha phm chuot, Simulink se ve mot ng t iem bat au ti cong vao cua khoi. Tuy nhien chung ta cung co the noi day t au vao (au ra) cua mot khoi ti ng noi chnh, ma khong can gi phm Ctrl . Tuy nhien viec noi day se bat tien do moi noi hnh thanh khong theo y muon hoac khong noi c.

Hnh 2.17.Mot oan day khong nh y . Ket thuc viec noi day, mo hnh c hien th nh tren hnh 2.19. Tuy nhien trong qua trnh noi day co the co nhng ong noi day khong nh y ta muon, ta co the bo i hoac s a cha lai bang cach nhap chuot vao oan day o, sau o ta nhan phn Delete hoac di chuyen oan day e sa lai.

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Hnh 2.18. Mot oan day a c chon.

Hnh 2. 19. Ca so mo hnh a c ve xong. Bay gi ta m khoi Scope e hien th tn hieu ra va chay mo phong trong 10s. au tien ta phai at thong so mo phong bang lenh Parameter trong menu Simulation. at thi gian mo phong (Stop time) la 10.0. Sau o nhan vao Apply e Simulink ap dung cac thong so do ta at va ong hop hoi thoai bang cach nhan vao Close.

Hnh 2.20 . Hop hoi thoai Parameter cua Simulink

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Chon Start trong menu Simulation e chay mo phong va ta Double Click vao khoi Scope e xem dang song ra cua tn hieu. Muon dng mo phong th chon Stop hay Pause t menu Simulation.

Hnh 2.21 . Ca so hien th tn hieu ra cua s o. e lu s o nay ta chon Save t menu File, nhap ten file. File nay se cha mo hnh a ve. II.2 CAC BLOCKS LIBRARY: Sau ay la cac BLOCK LIBRARY cua Simulink. Giup cho co cach nhn khai quat th vien cua Simulink.

Hnh 2.22: Th vien Phan Ri Rac (DISCRETE)

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Hnh 2.23 : Th vien o th (SINKS)

Hnh 2.24 : : Th vien Phan Tuyen tnh (LINEAR)

Hnh 2.24:Th vien Phan Phi Tuyen (NONLINEAR)

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Hnh 2.26: Th vien Phan au Noi (CONECTIONS)

Hnh 2.27: Th vien BLOCKSETS va TOOLBOXES

III. THUOC TNH CUA MOT BLOCK VA CAC PHNG PHAP GIAI BAI TOAN TRONG SIMULINK.
Nh chung ta a biet phan t e xay dng nen mot s o trong Simulink o chnh la Block. Mot Block c quy nh bi hai thuoc tnh: Van phong va cau truc. Thuoc tnh ve van phong c mo ta trong ban Style:

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Style Drop Shadows Orientation Title Font Foreground Color Background Color Screen Color

Bao gom : Drop Shadows : Bat tat bong cua Block. Orientation : nh hng chon Block. S nh hng nay co the chon phm nong Ctrl +R e xoay 900 hoac Ctrl + F e xoay 1800 Title : at ten cho Block.

Displayed Hidden Top/Left Bottom/Right

Hien ten Block An ten Block Ten cua Block nam tren nh block hay ben trai. Ten cua Block nam d block hay ben phai.

Font :nh dang Font cho Block Color : mau nen, khung mau ch cho Block. Thuoc tnh ve cau truc c mo ta trong hop hoi thoai cua Block. M no bang cach Double Click chuot vao bieu tng Block. Trong hop hoi thoai co nhng thanh phan sau: Ten khoi (block name) Mo ta ngan gon ve at iem cua khoi (Brief explanation) Nhng mang thong so (parameters) neu khoi o can nhng thong so. Giai thch ve ac iem cua khoi. (Help button) Nhng mo ta ve nhng cau truc thuoc tnh cua cac blocks trong Simulink se c mo ta trong chng III.

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Block name Brief explanation

Parameter

For further information

Hnh 2.28: Thuoc tnh cau truc cua mot Block III.2 .Cac phng phap giai bai toan mo phong trong Simulink : Trong Simulink viec giai cac bai toan mo phong co nhieu phng phap giai khac nhau. Sau ay la cac cach giai c ap dung trong Simulink. Phng phap Euler : la phng phap co ien vi bien la bc. Phng phap nay kha thi cho bat c he thong nao co nhng bc nho. Do o nhng bai toan co lien quan en viec tnh toan qua nhieu th khong bao gi chnh xac. Phng phap nay ch nen dung cho viec kiem tra ket qua. Phng phap Runge-Kutta 3 va Runge-Kutta 5: ay la phng phap thong dung ap dung cho moi loai bai toan va no co the at ch tieu chat lng so vi cac phng phap ac biet khac. Phng phap nay thch hp cho cho he lien tuc va he phi tuyen. Khong lam viec vi he co ma sat. Phng phap Adams :la phng phap t chnh ap dung cho he khong co ma sat. Phng phap Gear : la phng phap t chnh ap dung cho he co ma sat. Phng phap nay khong lam viec tot khi he b roi loan do ngo vao thay oi lien tuc. Phng phap Adams / Gear : Chon gia hai phng phapAdams va Gear. Phng phap LinSim : la phng phap dung cho he tuyen tnh. Neu he mang tnh chat tuyen tnh nhng co vai khoi phi tuyen th he cung lam viec tot.

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CHNG III BLOCKS LIBRARY

(Cac khoi chc nang trong th vien Simulink)
Nhng khoi cua SIMULINK c mo ta trong chng nay. Nhng mo ta trong chng nay la nhng mo ta ngan gon giup ch cho viec tra cu va s dung. Theo o, tat ca cac khoi c xem nh co the lam viec trong moi trng a bien (co hng) va vo hng.

III. 1 . SOURCES:
ay la nhom bao gom cac khoi phat va nhan tn hieu .

Man hnh hien th 1.CLOCK : Cung cap vector theo thi gian M trong suot thi gian mo phong, hien th thi gian lien tuc ma cuoc mo phong ang xay ra. iem quan trong la Clock khong phai la khoi phat thi gian, ma ch la khoi hien th thi gian mo phong. c phep noi vi To Workspace e chuyen vector thi gian vao trong Matlab.

Man hnh cai at thong so la hang so 2. CONSTANT: Phat ra gia tr la hang so Nhng thong so : Gia tr constant.

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3. Sine Wave: Khoi phat ra song co dang sin. Nhng thong so : Gia tr bien o, tan so ( rad/s, hezt), pha, thi gian lay mau (ch ap dung cho he gian oan).

Man hnh cai at thong so cho khoi sin 4. Signal Generator:

Cung cap cho 4 dang song khac nhau (giong nh may phat song): + Song Sin + Song vuong (square) + Song rang ca (sawtooth) + Song ngau nhien ( random). Nhng thong so : Dang song, gia tr bien o (gia tr nh), tan so, n v tan so. Nhung gia tr nay co the thay oi trong qua trnh mo phong. 5. Repeating sequency: Lap lai dang song a cho mot cach tuan t Nhng thong so : vector thi gian va quan he gia tr cua ham vector (cung chieu)

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Khi mo phong thi gian ri vao trong pham vi cua vector thi gian cua ngo ra th no c xem nh From Workspace. Noi cach khac, ham nay la phan m rong bi mot dang song c ban co chu k lap. Tn hieu c phat ra vi chu k tuan hoan co bien o bang vector. 6. Step input: Phat ra dang song co tnh chat ham bc:

Nhng thong so : Thi gian chuyen oi (Steptime), gia tr au, gia tr cuoi. Thi gian chuyen oi co the am va ieu kien au co the ln hn gia tr cuoi 1 n v. 7. Chirp Signal:

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Phat ra mot tn hieu ma tan so tang tuyen tnh theo thi gian .

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Nhng thong so : Tan so ban au (Hz), thi gian ch can at (s),tan so tai thi gian ch. Khoi nay c dung trong viec phan tch pho cua he khong tuyen tnh. Tan so at ban au co the ln hn tai tan so at cuoi cung. Nhng sau thi gian ch a at tan so bat au tang len. 8. Pulse Generator : Phat ra mot chuoi xung tuan t vi khoang thi gian on nh. Nhng thong so : Chu k xung, o rong xung (he so chu k), bien o xung, thi gian bat au phat xung.

9.Random Number: Bo phat so ngau nhien (y nghia Zero) phan bo chuan (Phan bo Gauss).

Nhng thong so: Gia tr trung bnh, khoang bien oi, gia tr bat au phat sinh (seed), thi gian lay mau.
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iem khac biet cua khoi nay s khac nhau cua gia tr "seed". Gia tr nay co the la mot vector. Trong he ri rac (phu thuoc vao thi gian) lien quan en van e so no thng c dung hn khoi Band Limited White Noise. 10.From Workspace: oc d lieu t ma tran MATLAB. Nhng thong so: bang ma tran .

Ma tran nay phai cha t nhat hai cot, cot au tien phai la vector thi gian (no phai la gia tr tang n ieu). Neu gia tr ngo ra can thi gian tai gia hai gia tr a chon th ngo ra phai la noi suy tuyen tnh gia hai gia tr thi gian yeu cau at trong ngoac. 11. From File: oc d lieu t mot file.

Nhng thong so : Ten file. D lieu phai giong nh mot ma tran. Moi cot phai phai co gia tr cua n ngo vao tai thi iem cho trc (yeu to au tien cua cot). Sau o, hang th nhat la mot vector thi gian (so vi From Workspace hang va cot ngc nhau). 12. Digital Clock:
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Cung cap thi gian cho he ri rac.

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Nhng thong so: thi gian mau. Khoi nay khong giong khoi Clock . 13. Band Limited White Noise:

Phat ra mot day tn hieu on trang. Nhng thong so : Pho nang lng, thi gian mau, giatr "seed".

III.2 .SINKS:
1. Scope: Hien th dang tn hieu trong suot thi gian mo phong (giong nh Oscilloscope) Nhng thong so : Pham vi truc ngang (thi gian) va truc doc. Truc ngang co the cuon moi pham vi.

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Nhap chuot vao ay e thay oi thuoc tnh cua Scope( truc ngang va doc)

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Man hnh cua Scope va ban thuoc tnh cua no 2. To Workspace: Lu tr d lieu di dang mot ma tran.

Nhng thong so:Ten ma tran, so mau toi a(maximum) e xuat ra. Moi mot cot ma tran ai dien cho moi gia tr khac nhau d lieu c truyen en MATLAB cho en khi ket thuc mo phong. Neu s mo phong can so bc ln hn gia tr maximum mot n v th khoi nay ch lu gia tr n cuoi cung ,vi n la gia tr lay mau maximum a quy nh. Thong so th hai cua hang trong maximum la tuy y (timestep: buc thi gian), Matlab ch lu gia tr n chung. Thng thng vector thi gian khong can khoang cach eu; thong so th ba cua maximum cung tuy y nhng co ac iem la phai phu hp vi thi gian lay mau vi d lieu c thu thap. V du neu ban cai at thong so cho maximum [ 100, 3, 0.4] Ngo ra cua ma tran gom 100 hang (so cot tng ng vi chieu cua khoi vao) ma gia tr moi lan tch tr T =3 0.4 giay (s) co ngh la tai To =0 ,T1=130.4 =1.2, T2 =230.4 =2.4 , T3 =330.4 = 3.6Tk = k 30.4 (s).

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3. To File: Lu tr d lieu di dang file.

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Nhng thong so : Ten file ,ten matran. D lieu ay la mot ma tran, hang au tien la mot vetor thi gian, nhng cot khac la bien ngo ra (so vi To Workspace hang va cot ao nhau) Hang au tien luon la vector thi gian (khong can thiet phai noi en Clock e hien ra) 4.XY graph: Hai o th cua hai tn hieu se c ve tren ca so o hoa cua Matlab .

Nhng thong so : bien dui va bien tren cua truc 5. Stop Simulation: Ngng cuoc mo phong ngay lay tc khi ngo vao bang khong.

Khi nhieu tn hieu vao la a bien neu co mot thanh phan ngo vao bang khong th cuoc mo phong se ngng ngay lap tc. 6. Graph: Ve so lieu tren ca so o hoa.

Nhng thong so : pham vi truc thi gian, bien di va bien tren cua truc ngang, mau sac cua moi ng. Neu thi gian mo phong vut qua thi gian at th o th se bat au c ve t canh trai cua Graph.

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1. Unit Delay :

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Ngo vao b tre bi mot chu k lay mau .

Nhng thong so : Gia tr au (gia tr gia nh trong chu k mo phong au tien khi ngo ra khong xac nh c), thi gian lay mau. 2 .Discrete Zero Pole:

Thc hien mot ham truyen ri rac (theo thi gian) dang Cc va Zero. Nhng thong so : Cac zero, Cac cc, o li, thi gian lay mau.

3. Discrete State- Space:

Thc hien mot he ri rac di dang he phung trnh trang thai. Nhng thong so : He ma tran, ieu kien au, thi gian lay mau.

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4. Discrete Filter: Thc hien loc IIR va loc FIR.

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Nhng thong so : He so t va mau cua bo loc, thi gian lay mau.

5.Discrete Tranfer Fcn: Thc hien chc nang mot ham truyen ri rac.

Nhng thong so : he so t va mau cua ham truyen, thi gian lay mau. 6. Zero Order Hold: (khau gi bac khong) Thc hien mot ham gi va lay mau.

Nhng thong so : thi gian lay mau Khau nay cho biet c cau truc cua tn hieu. Tn hieu c lay mau va gi cho en khi tn hieu ke tiep c lay mau. 7. First Order Hold: (khau gi bac mot)

Nhng thong so :thi gian lay mau Ngo ra b tre mot khoang thi gian khi ngo ra c a vao gia hai lan lay mau ke tiep.

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8. Discrete- Time Integrator: Thc hien ham tch phan gian oan.

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Nhng thong so : ieu kien au, Gii han can di va tren, thi gian lay mau. No thc hien mot phep bien oi ham truyen Z :

Y =

Ts U Z 1

ay Ts la gia tr thi gian lay mau.

III.4. LINEAR:
ay la nhom tuyen tnh trong mien thi gian va Laplace. 1. Sum: Ngo ra tong (hieu) cac ngo vao.

Nhng thong so : Cac dau cua ngo vao. So dau se cho biet so ngo vao cua khoi Neu tat ca cac tn hieu vao la a bien ( cung chieu) th ngo ra la tong. Neu ngo vao bao gom hai ai lung a bien va vo hng th tong cac thanh phan a bien la lng vo hng 2.Gain: Nhan tn hieu vao vi mot hang so.

Nhung thong so : Gia tr o li

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Neu thong so c dung trong Gain dang vector th noi dung e hien th phai trong ngoac n. 3.Derivative: Tn hieu vao c lay vi phan theo thi gian.

moi oan lay vi phan c tnh tren c s cua t so vi phan oi vi gia tr oan trc. Ket qua co the sai neu oan lay vi phan co thi gian qua ln. 4. Tranfer Fcn: Thc hien chc nang mot ham truyen.

Nhng thong so : He so t va mau cua ham truyen

5. Integrator: Tn hieu vao c lay tch phan.

Nhng thong so : ieu kien au.

6. State-Space : Thc hien mot he tuyen tnh khong thay oi theo thi gian . Nhng thong so : he ma tran, ieu kien au

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7. Zero-pole: Thc hien ham truyen di dang cc va zero.

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Nhng thong so : Cac Zero, cac cc, o li 8. Matrix Gain: Ngo vao la mot vector th ngo ra la mot ma tran.

Nhng thong so : o li ma tran. Chieu cua vector vao phai bang so cot cua ma tran. o dai cua vector ra phai bang o li cua hang ma tran. 9. Inner (dot) product: Tnh tch vo hng cua vector.

10. Slider Gain: Tng tac o li.

Nhng thong so : Gia tr gain. Neu co tn hieu la a bien th no c khuech ai bi he so o.

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1. Abs: Tnh gia tr tuyet oi cua ngo vao.

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2.Product Ngo vao c nhan vi nhau (giong SUM).

Nhng thong so : So ngo vao 3.Fcn Tnh toan bieu thc.

Ngo vao phai la mot ham u(I), gia tr phai la ai lng vo hng . Khoi nay kha nang thc hien cho SISO (single input single output) va MISO (multi input single output). 4.Dead Zone Ngo ra co gia tr la Zero khi ngo vao nam trong vung chet (tat). Ngoai ra ngo ra se bang ngo vao khi ngo vao khong nam trong oan Dead Zone.

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Nhng thong so : Gia tr au va cuoi cua oan Dead Zone. la:

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ac biet hn, neu can tren va can di cua Dead Zone la D+z va D-z,th ngo ra se u- D-z neu u< D-z 0 neu D-z u D+z u- D+z neu u >D+z

y=

6. Backlash : (khau khe h) Mo hnh x ly he thong co thi gian d tr.

Nhng thong so : o rong Dead Zone, gia tr au cua ngo ra va vao. Ngo ra la hang so khi ngo vao nam trong oan Dead Zone. 6. Saturation : Tnh toan mot khau bao hoa, ngha la gii han bien o cua ngo ra.

Nhng thong so : Gia tr tren va di cua ngo ra. 7.Switch Ngo ra se la gia tr cua ngo vao au tien cho en khi mot gia tr th hai ln hn gia tr ngng th ngo ra mang giatr ngo vao th hai, sau o ngo ra lai bang gia tr th ba.

Nhng thong so : gia tr ngng.

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8. Look-Up Table Thi hanh mau o th tuyen tnh cua ngo vao.

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Nhng thong so : Gia tr vector cua ngo ra va vao 9. 2-D Look-Up Table. Thi hanh mau o th tuyen tnh trong toa o hai chieu.

Nhng thong so: Gia tr cua ch so X va Y va quan he vi gia tr ngo ra. 10. Rate Limiter Gii han toc o thay oi cua tnh hieu ngo vao.

Nhng thong so: Gia tr toi a cua s thay oi.

11. Relay Mo phong mot r le.

Nhng thong so : Gia tr ngng cua ngo ra trang thai ON va OFF. S chuyen oi cua ngo ra gia hai gia tr ac biet. Khi rle v tr ON, no gi nguyen khi gia tr ngo vao ha xuong thap hn ngng OFF, ngc lai th rle v tr OFF.
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12. MATLAB Fcn Cho phep goi mot ham MATLAB trong s o SIMULINK.

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Nhng thong so : Ten ham, chieu cua ngo ngo ra (-1 mang ngha la ngo ra cung chieu vi ngo vao). SIMULINK khong co kha nang kiem tra chieu cua ham MATLAB o la ac iem rieng cua khoi. 13.Quantizer Mo phong bo lng t.

Nhng thong so : Khoang thi gian lng t 14. Coulombic Friction Mo phong ma sat Coulomb.

Nhng thong so :Gia tr offset ban au, t so ma sat thang. Lc ma sat co gia tr la zero tai thi iem at gia tr offset. 15.Logical Operator Ngo ra mang gia tr 1 neu toan t logic ngo vao mang gia tr ung, ngc lai mang gia tr 0.

Ngo ra mang gia tr 1 neu he thc c ban co gia tr la ung,ngc lai mang gia tr 0.

Nhng thong so : Toan t logic, so cong vao

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Nhng thong so : Toan t quan he. 16. Combinatorial Logic Thc thi mot bang to hp logic.

Nhng thong so : Bang s that. Ch co phan ngo ra cua bang s that c ghi vao. Ngo vao phai c hieu ngam. 17. Transport Delay Ngo vao b tre bi mot thi gian cho trc.

Nhng thong so: Thi gian tre, ieu kien au (c gia nh khi ngo ra khong xac nh). 18. Variable Transport Delay Gii thieu mot bien thi gian tre: Ngo vao th hai tre mot khoang thi gian so vi ngo vao th nhat

Nhng thong so : Thi gian tre, so mau c lu tr. 20.Memory Tn hieu ngo vao c lay tch phan tng phan va c lu gi

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Nhng thong so : ieu kien au. Khoi nay c ap dung cho viec giai cac vong lng giac. 21. Sign Thc thi mot ham dau.

o la nhng th vien c ban , ngoai ra con cac th vien khac nh :th vien au noi vv viec tm hieu het cac chc nang cua chung cung rat nhieu kho khan va cung khong co thi gian e noi ra het . Ngoai nhng th vien a co ngi s dung co the tao cho mnh mot th vien rieng bang cach ghep noi cac khoi lai vi nhau tao thanh mot nhom (group) hay viet rieng mot chng trnh (rat kho) (goi la S-function) e chay mo phong trong SIMULINK. ay la cong viec giong nh tao cac linh kien mi, macro trong cac phan mem ve mach ien t.

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CHNG IV NG DUNG

I. GII THIEU S LC LY THUYET IEU KHIEN T ONG

Ly thuyet ieu khien t ong la phan chu yeu cua ly thuyet ieu khien. Ly thuyet ieu khien t ong la kien thc c s cua cac nganh ky thuat t ong trong lnh vc ien t, ien ong lc, c kh, hang hai, quoc phong. I.1 . Cac phan t c ban cua he thong ieu khien t ong: He thong ieu khien t ong la he thong c xay dng t 3 bo phan chu yeu: Thiet b ieu khien (C) oi tng ieu khien (O) Thiet b o lung ( M)

U Z

M
Hnh 2.29. S o he thong ieu khien t ong.

Trong o : U : tn hieu vao y : tn hieu ra X : tn hieu ieu khien tac ong len oi tng e : tn hieu sai lech Z : tn hieu phan hoi. I.2 .Cac nguyen tac ieu khien c ban: Trong ieu khien t ong co 3 nguyen tac ieu khien c ban sau:

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Nguyen tac ieu khien sai lech Nguyen tac ieu khien theo phng phap bu nhieu. Hon hp hai nguyen tac tren. Ngoai 3 nguyen tac tren con co them cac nguyen tac Nguyen tac ieu khien theo chng trnh Nguyen tac ieu khien thch nghi.

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I.3. Phan loai he thong ieu khien t ong Viec phan loai he thong ieu khien t ong theo nhieu nguyen tac khac nhau. Nhng ta co the phan loai theo cac he thong sau: He thong ieu khien tuyen tnh He thong ieu khien phi tuyen He thong ieu khien lien tuc He thong ieu khien ri rac hay he thong xung so He ngau nhien He toi u He thong thch nghi (t chnh)

I.4. Nhiem vu cua ly thuyet ieu khien t ong Nhiem vu c ban cua ly thuyet ieu khien t ong la phan tch he thong va thiet ke he thong.

II.AP DUNG SIMULINK VAO THIET KE VA PHAN TCH

Trong viec khao sat nhng ng dung ta th xay s o mo phong cho he dao ong lo xo khoi lng sau :

f k m y He lo xo khoi lng tren c mo ta bi phng trnh vi phan:

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& m& ky = f y+
m: khoi lng ; k: o cng lo xo T o ta co s o khoi sau : f

& & y

& y

Hnh 2.30. S o khoi he dao ong Sau o ta th xay dng s o mo phong trong SIMULINK .

Hnh 2.31. S o khoi mo phong he khoi lng lo xo.

Hnh 2.32. Dang song ngo ra cua Scope

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T s o thiet ke ta co the them vao cac khoi e khao sat he nh: he so cng (gain), thay oi dang song Trong cac sach bai tap ieu khien t ong co cac khoi nhng khong biet c ap ng cua he nh the nao. Viec dung SIMULINK e khao sat rat thuan tien cho viec phan tch bai toan

Hnh 2.33. S o khoi cua mot he di tac ong cua ap ng bc

Hnh 2.34. ap ng cua S o hnh 2.35 va 2.36 la s o khoi cua ong c ien va ap ng van toc quay

Hnh 2.35 . S o khoi cua ong c ien

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Hnnh 2.36 .ap ng van toc quay Trong ieu khien t ong them vao khau cac P, PI, PID lam cho he thong hoat ong tot va on inh hn. Cac s o ieu khien va mo phong.

Hnh 2.37 .He thong ieu khien co khau PI.

Hnh 2.38 .ap ng tai khau bao hoa.

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Hnh 2.39 .ap ng ngo ra.

Hnh 2.40 .He thong mo phong cua chuyen ong ri qua banh

Hnh 2.41 .Ket qua mo phong.

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Hnh 2.41 .Mo hnh ong c DC di chuyen canh tay Robot

Hnh 2.42: S o mo phong mot khau bac hai

Hnh 2.43: ap ng cua khau bac hai di ngo vao la ham doc va bc

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Hnh 2.44 . Mo hnh ong c khong ong bo

Hnh 2.45. Ket qua mo phong.

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Hnh 2.46. S o ieu khien ong c DC

Hnh 2.47. ap ng cua ong c vi khau P

Hnh 2.48. ap ng cua ong c vi khau PI

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