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CHNG I GII THIU S LC V MATLAB I.TM HIU V CNG TY MATHWORKS: Cng ty MathWorks c thnh lp vo nm 1984 l mt cng ty hng u v vic cung cp v pht trin phn mm k thut cho my tnh. Cng ty c hn 500 nhn vin ang lm vic cho hai vn phng chnh M v Anh quc. Mi chi tit v vic t chc, nhn s v o to pht trin xin xem thm ti i ch WebSite : http:/ www.Mathworks.com/ II.GII THIU C S MATLAB: II.1. Gii thiu chng trnh MATLAB: Chng trnh MATLAB l mt chng trnh vit cho my tnh PC nhm h tr cho cc tnh ton khoa hc v k thut vi cc phn t c bn l ma trn trn my tnh c nhn do cng ty "The MATHWORKS" vit ra. Thut ng MATLAB c c l do hai t MATRIX v LABORATORYghp li. Chng trnh ny hin ang c s dng nhiu trong nghin cu cc vn tnh ton ca cc bi ton k thut nh: L thuyt iu khin t ng, k thut thng k xc sut, x l s cc tn hiu, phn tch d liu, d bo chui quan st, v.v MATLAB c iu khin bi cc tp lnh, tc ng qua bn phm. N cng cho php mt kh nng lp trnh vi c php thng dch lnh - cn gi l Script file. Cc lnh hay b lnh ca MATLAB ln n s hng trm v ngy cng c m rng bi cc phn TOOLS BOX( th vin tr gip) hay thng qua cc hm ng dng c xy dng t ngi s dng. MATLAB c hn 25 TOOLS BOX tr gip cho vic kho st nhng vn c lin quan trn. TOOL BOX SIMULINK l phn m rng ca MATLAB, s dng m phng cc h thng ng hc mt cch nhanh chng v tin li. MATLAB 3.5 tr xung hot ng trong mi trng MS-DOS. MATLAB 4.0, 4.2, 5.1, 5.2, hot ng trong mi trng WINDOWS. Cc version 4.0, 4.2 mun hot ng tt phi s dng cng vi WINWORD 6.0. Hin ti c version 5.31 (kham kho t Website ca cng ty). Chng trnh Matlab c th chy lin kt vi cc chng trnh ngn ng cp cao nh C, C++, Fortran, Vic ci t MATLAB tht d
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dng v ta cn ch vic dng thm vo cc th vin tr gip hay mun lin kt phn mm ny vi mt vi ngn ng cp cao. Cn cc version MATLAB khc th lm vic vi h iu hnh UNIX.

Hnh 1.1 : Khi ng MATLAB t mi trng WINDOWS

Hnh 1.2 : Giao din biu tng ca MATLAB (Version 5.1)

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Vic khi ng MATLAB trn mi h thng khc nhau. Trong mi trng WINDOWS hay MACINTOSH, chng trnh thng c khi ng thng qua vic nhp chut trn cc icon hay cn gi l biu tng. Cn vi mi trng UNIX, MS-DOS ,vic khi ng thng qua dng lnh: :\ MATLAB Giao din ca MATLAB s dng hai ca s: ca s lnh (command window) v ca s th (Figure window).

Hnh 1.3 : Giao din ca s lnh ca MATLAB khi khi ng xong Ca s lnh dng a lnh v d liu vo ng thi in ra kt qu. Ca s th tr gip cho vic truy xut ha th hin nhng lnh hay kt qu u ra di dng ha.

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Hnh 1.4 : Giao din ca s th ca MATLAB Vic ngt chng trnh ang thc hin hoc cc chng trnh khng ng theo yu cu u c thng qua phm nng Ctrl + C. thot khi chng trnh MATLAB ta c th dng lnh >> exit hoc >> quit ( : nhn ENTER) hoc t menu th xung hoc nhn vo trn gc phi mn hnh ca ca s chnh MATLAB. MATLAB c iu khin bng nhng cu lnh c kt hp theo mt trt t nht nh v gi l chng trnh. Chng trnh cha nhiu cu lnh v nhng hm chc nng gii nhng bi ton ln hn. Cc cu lnh trong MATLAB rt mnh v c nhng vn ch cn mt cu lnh l gii quyt bi ton. M phng trong MATLAB s cho ta hnh nh ta khng gian hai chiu (2D) v ba chiu(3D). II.2. Cc phm chc nng t bit (chuyn dng) v cc lnh dng cho h thng: Ctrl + P hoc Ctrl + n hoc Ctrl + f hoc Ctrl + b hoc Ctrl + l hoc Ctrl + Ctrl + r hoc Ctrl + Ctrl + a hoc HOME Ctrl + k Gi li lnh va thc hin trc t ca s lnh ca MATLAB Gi li lnh nh vo trc Chuyn con tr sang phi mt k t
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Chuyn con tr sang tri mt k t. Chuyn con tr sang phi mt t Chuyn con tr sang tri mt t Chuyn con tr v u dng. Xo cho n dng cui cng Cc lnh h thng : Cc lnh trn cng nh sau ny c vit t ca s lnh ca MATLAB Casesen off Casesen on Clc Clf computer exit hoc quit Ctrl + C help input load pause save Demo

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Lun n tt nghip Edit B thuc tnh phn bit ch hoa v ch thng S dng thuc tnh ch hoa v ch thng. Xa ca s dng lnh X ca s ha Lnh in ra mt xu k t cho bit loi my tnh. Thot khi chng trnh MATLAB

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Dng chng trnh khi n ri vo tnh trng lp khng kt thc . Xem tr gip Nhp d liu t bn phm. Ti cc bin lu trong mt file a vo vng lm vic. Ngng tm thi chng trnh. Lu gi cc bin vo file c tn l matlab.mat Lnh cho php xem cc chng trnh mu (minh ha kh nng lm vic ca MATLAB). Lnh vo ca s son tho (dng vit mt chng trnh) II.3.Bin trong Matlab : Tn cc bin trong MATLAB c th di 19 k t bao gm cc ch ci cng cc ch s cng nh mt vi k t c bit khc nhng lun phi bt u bng ch ci. Tn cc hm c t cng c th c s dng lm tn ca bin vi iu kin hm ny s khng c s dng trong sut qu trnh tn ti ca bin cho n khi c lnh clear xo cc bin trong b nh hay clear + tn ca bin. Bnh thng Matlab c s phn bit cc bin to bi ch ci thng v ch ci hoa.Cc lnh trong Matlab ni chung thng s dng ch ci thng. Vic phn bit c th c b qua nu chng ta thc hin lnh. >> casensen off % b thuc tnh phn bit ch hoa v ch thng.
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Vic kim tra s tn ti ca cc bin trong b nh thng b qua lnh. who whos who global exist(namesrt) Hin th danh sch cc bin c nh ngha. Hin th cc bin c nh ngha cng kch thc ca chng v thng bo chng c phi l s phc khng. Hin th cc bin cc b. Hin th cc bin ph thuc vo cch cc bin c nh ngha trong chui namestr. Hm s tr li gi tr sau: Nu namestr l tn ca mt bin. Nu namestr l tn ca mt file.m. Nu namestr l tn ca mt Mex file Nu namestr l tn ca hm dch bi Simulink. Nu namestr l tn ca hm c nh ngha trc bi Matlab. ln ca bin ln hay chiu di ca bin vector cng nh ma trn c th c xc nh thng qua mt s hm c sn ca Matlab. size (A)

[ m n] = size(A) size(A ,p) size (x)

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lengh(x) lengh(A) Cho ra mt vector cha kch thc ma trn A. Phn t u tin ca vector l s hng ca ma trn, phn t th hai l s ct ca matrn. Tr gi tr ln ca ma trn A vo vector xc nh bi hai bin m v n . a ra s hng ca ma trn A nu p=1 v s ct ca A nu p 2 a ra vector m t ln ca vector x. Nu x l vector hng m phn t th gi tr u ca vector l m v gi tr th hai l 1. Trng hp x l vector ct n th gi tr th nht s l 1 v th hai l n. Tr gi tr chiu di ca vector x Tr gi tr chiu di cu ma trn A . Gi tr thu c s l m nu m>n v ngc li s l n nu n>m. II.4.Cc lnh thng dng trong ha Matlab: Matlab rt mnh trong vic x l ha, cho hnh nh minh ha mt cch sinh ng v trc quan trong khng gian 2D v 3D m khng cn n nhiu dng lnh. plot (x,y) V th trong ta (x,y) plot (x,y,z) V th theo ta ( x,y ,z) title a cc tiu vo trong hnh v. xlabel a cc nhn theo chiu x ca th. ylabela cc nhn theo chiu y ca th. zlabel a cc nhn theo chiu z ca th. grid Hin th li trn th plot (y) V th theo y b qua ch s theo y. Nu y l s phc (complex) th th c v l phn thc v phn o ca y
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plot (x,y,S) V theo x,y ; S: l cc ch s v mu sc v kiu ng theo bin str ca cc ng trn th c lit k di. plot(x,y,z,S) V theo x,y,z; S: l cc ch s v mu sc v kiu ng theo bin str ca cc ng c lit k di. polar (x,y) V th theo h trc ta cc bar V th dng ct Cc ch s v mu sc: Gi tr cu bin Str trong hm plot v mu sc hay kiu dng ca ng c lit k theo bng di y. Kiu ngMu sc . : im * : Sao X : Ch ci x O : Ch ci o + : Du cng - : ng lin nt -- : ng t nt -. : ng chm gch : : ng chm Y: vng G : xanh l cy M : ti B : xanh lam C : xanh l m. W : mu trng R : K : en V d v ha b mt (3D)

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Ngoi cc lnh c bn trn cn c cc lnh lin quan n v th Vector, v th theo h trc loga,cc lnh lin quan n ha b mt (3D) ,cc lnh lin quan n vic kim sot th II.5 .Cc dng file s dng trong MATLAB: II.5 .1. Script file (M-files): Cc chng trnh do ngi s dng son tho ra c lu tr trong cc file c phn m rng l *.m. File dng ny cn c gi l Script file. File c di dng k t ASCII v c th s dng trong cc chng trnh son tho ni chung to n. Ta c th chy cc file ging nh cc lnh, th tc ca MATLAB. Tc l g tn file khng cn c phn m rng sau Enter. Khi s dng ni dung ca file khng c hin th trn mn hnh. Trong Simulink s m phng cng c lu di dng *.m (trong cc version 5.x tr ln th c lu di dng * .mdl) nhng c gi l S-function. Mt s lnh h thng tng tc vi *.m files thng gp echo Lnh cho php xem cc lnh c trong *.m files khi chng c thc hin. type Lnh cho php xem ni dung,ngm nh file dng M-file what Lnh ny cho bit tt c cc file M -file v Mat-file c trong vng lm vic hin hnh hay khng. Mt v d v Script file:

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II.5.2.Files d liu: Cc ma trn biu din thng tin c lu tr trong cc files d liu. Matlab phn bit hai loi file d liu khc nhau Mat- files v ASCII files. Mat - files lu tr cc d liu dng s nh phn, cn cc ASCIIfiles lu cc d liu di dng cc k t. Mat-file thch hp cho d liu c to ra hoc c s dng bi chng trnh MATLAB. ASCII- files c s dng khi cc d liu c chia x (export -import) vi cc chng trnh ca MATLAB . ASCII- files c th c to bi cc chng trnh son tho ni chung hay cc chng trnh son tho bng ngn ng my. N c th c to ra bi chng trnh Matlab bng cch s dng cu lnh sau y: >> save <tn file>.dat <tn ma trn>./ascii; Nhn chung Mat lab rt mnh trong vic m phng cho cc bi ton k thut. Phn mm Matlab hin nay tr nn thng dng v l cng c c lc cho vic ging dy, ng dng trong nghin cu cc trng i hc.

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CHNG II CCH KT NI V CC THUC TNH CA BLOCKS I. KHI NIM V SIMULINK: Simulink l mt phn mm m rng ca MATLAB (1 Toolbox ca Matlab) dng m hnh ho, m phng v phn tch mt h thng ng. Thng thng dng thit k h thng iu khin, thit k DSP, h thng thng tin v cc ng dng m phng khc. Simulink l thut ng m phng d nh c ghp bi hai t Simulation v Link. Simulink cho php m t h thng tuyn tnh,h phi tuyn, cc m hnh trong min thi gian lin tc, hay gin on hoc mt h gm c lin tc v gin on. m hnh ho, Simulink cung cp cho bn mt giao din ha s dng v xy dng m hnh s dng thao tc "nhn v ko" chut. Vi giao din ha ta c th xy m hnh v kho st m hnh mt cch trc quan hn. y l s khc xa cc phn mm trc m ngi s dng phi a vo cc phng vi phn v cc phng trnh sai phn bng mt ngn ng lp trnh. im nhn mnh quan trng trong vic m phng mt qu trnh l vic thnh lp c m hnh. s dng tt chng trnh ny, ngi s dng phi c kin thc c bn v iu khin, xy dng m hnh
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ton hc theo quan im ca l thuyt iu khin v t thnh lp nn m hnh ca bi ton. II. TM HIU V SIMULINK V CC BLOCKS LIBRARY: II.1 CCH KHI TO SIMULINK V V S M PHNG: II.1.1 Khi to SIMULINK: vo Simulink trong Matlab, ta t ca s lnh ca Matlab nh dng lnh: >> simulink Khi khi ng Simulink xong ta c mn hnh ca s Simulink. Ca s ny hot ng lin kt vi ca s lnh MATLAB. Ta thy ca s Simulink c nhiu khi chc nng (blocks library), trong c nhiu khi chc nng c th.

Hnh 2.5 : Cch vo toolbox SIMULINK trong MATLAB T ca s lnh ta thy c cc khi th vin: Khi ngun (Sources), khi u o (Sinks), khi phi tuyn (nonlinear), khi tuyn tnh (linear), khi u ni (Connections)

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Hnh 2.6 : Mn hnh ca s th vin SIMULINK Th vin ca Simulink bao gm cc khi chun trn, ngi s dng cng c th thay i hay to ra cc khi cho ring mnh. Simulink cng ging nh cc phn mm m phng thit k mch in t nh : MicroSim Eval, EWB, Circuit Maker. v s m phng cng nh xy dng m hnh nh th no.Vic xy dng m hnh v cc thao tc xy dng m hnh. Ta th thit k m phng v d sau (Hnh 2.7) bit c vic v v m phng s : v c m hnh ny bn phi lmm cc thao tc sau: 1.T ca s Matlab nh lnh simulink. Ca s th vin cc khi s xut hin 2.T ca s th vin ta nhp chut vo File/New/Model hoc nhn Ctrl+ N. Mn hnh ca s m hnh mi Untitled c m ra(Hnh 8).T ta bt u xy dng m hnh. 3 . Chn cc block cc th vin thch hp:

Hnh 2.7 : M hnh phn tch sng hnh sin

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Hnh 2.8 : Chn v mt Model (Scheme) mi Trong s ny chn cc khi t cc th vin: + Th vin cc ngun tn hiu (Sources): Chn Sin wave. + Th vin cc khi nhn tn hiu (Sinks): Chn Scope. + Th vin cc hm tuyn tnh (Linear): Chn Integrator. + Th vin cc u ni ( Connections): Chn Mux. chn mt th vin trong Simulink ta nhp kp (Double Click) vo khi (icon) . Simulink s hin th mt ca s cha tt c cc khi ca th vin . Trong th vin ngun tn hiu cha tt cc khi u l ngun tn hiu. Th vin ngun tn hiu c trnh by nh hnh 2.9. Ngi s dng thm vo s ca mnh bng cch ghp khi t th vin hay t m hnh bt k no khc. Trong v d ny ta chn khi pht sng hnh sin. t con tr chut ln khi n v gi phm tri chut, ko khi ti ca s v s Untitled. Khi di chuyn khi ta c th thy khi v tn ca n di chuyn cng vi con tr chut.

Hnh 2.9 : Ca s th vin Phn Ngun tn hiu. (SOURCES)

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Hnh 2.10 : Khi v tn di chuyn cng khi . Khi con tr chut di chuyn ti ni bn cn t khi trong s bng cch nh phm chut, mt bn copy ca khi trong mn hnh m phng. Khi ta khng va ch t ta c th di chuyn khi bng cch nh trn. Theo cch ny chp nhng khi cn li vo trong mn hnh m phng tip tc xy dng s . Mun copy tip mt khi Sin na trong mt mt s , ta lm bng cch gi phm Ctrl + phm tri chut v di chuyn ti im cn t khi, lc mt khi c copy. Vi tt c cc khi chp vo ca s mn hnh m phng s c hin th nh trn hnh 2. 11. Nu xem k tng khi, chng ta thy du > bn phi ca khi l d u ni dnh cho ng ra ca tn hiu, cn du > bn tri l du u ni dnh cho ng vo. Tn hiu i t u ra ca mt khi ti u vo ca khi khc theo mt ng ni gi hai khi. Khi mt khi c ni th biu tng > cng mt i.

Hnh 2.11. Ca s s vi cc khi c copy.

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Hnh 1.12 .u vo - ra ca mt khi T hnh 1.11 ta thy khi Mux c ba cng vo nhng ta cn c hai cng nn ta phi thay i thng s ca Mux, bng cch nhp kp ln khi Mux v thay i gi tr thng s "Number of Input" l 2 (hnh 2.13).Sau nhn phm Apply v ca ca s Mux. Simulink s iu chnh s cng vo theo gi tr nhp.

Hnh 2.13. Ca s thng s khi Mux. By gi ta c th ni cc khi li vi nhau. u tin hy ni u ra khi pht Sin tn hiu ti u vo trn khi Mux. Cng vic thc hin ni cc khi, ni chung khng theo th t bt buc no c. Cng vic thc hin ni cc s cng ging nh cc phn mm thit k in t no l t con tr chut ti u ni (ra) ca khi ny (con tr chut bin thnh du cng), gi tr chut v ko ti u ni (vo) ca khi khc. Trong qu trnh ni, ng ni c hnh nt t v con tr s thay i thnh du cng kp khi li gn kh cn ni.

Hnh 2.14. Ca s m hnh trc khi ni dy.

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Hnh 2.15. Ca s m hnh khi ang ni dy. Bn c th ni bng cch nh phm chut khi con tr bn trong khi. Khi ng ni s ni vo cng gn v tr con tr nht.

Hnh 2.15. Hnh kh Sin ni vo trn khi Mux. Phn ln cc ng ni i t u ra ca mt khi ti u vo ca mt khi khc. C ng ni t mt ng no i ti u vo ca mt khi ta gi l ng r nhnh. Vic v ng r nhnh c s khc bit so vi v ng ni chnh. v c r nhnh ta thc vic nh sau: 1. t con tr vo im cn v ng r nhnh.

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Hnh 2.16. Con tr t vo im cn r nhnh. 2. An phm Ctrl + gi phm tri chut ,ko con tr chut ti u vo ca khi. 3. Nh phm chut, Simulink s v mt ng t im bt u ti cng vo ca khi. Tuy nhin chng ta cng c th ni dy t u vo (u ra) ca mt khi ti ng ni chnh, m khng cn gi phm Ctrl . Tuy nhin vic ni dy s bt tin do mi ni hnh thnh khng theo mun hoc khng ni c.

Hnh 2.17.Mt on dy khng nh . Kt thc vic ni dy, m hnh c hin th nh trn hnh 2.19. Tuy nhin trong qu trnh ni dy c th c nhng ng ni dy khng nh ta mun, ta c th b i hoc s a cha li bng cch nhp chut vo on dy , sau ta nhn phn Delete hoc di chuyn on dy sa li.

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Hnh 2.18. Mt on dy c chn.

Hnh 2. 19. Ca s m hnh c v xong. By gi ta m khi Scope hin th tn hiu ra v chy m phng trong 10s. u tin ta phi t thng s m phng bng lnh Parameter trong menu Simulation. t thi gian m phng (Stop time) l 10.0. Sau nhn vo Apply Simulink p dng cc thng s do ta t v ng hp hi thoi bng cch nhn vo Close.

Hnh 2.20 . Hp hi thoi Parameter ca Simulink Chn Start trong menu Simulation chy m phng v ta Double Click vo khi Scope xem dng sng ra ca tn hiu. Mun dng m phng th chn Stop hay Pause t menu Simulation.
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Hnh 2.21 . Ca s hin th tn hiu ra ca s . lu s ny ta chn Save t menu File, nhp tn file. File ny s cha m hnh v. II.2 CC BLOCKS LIBRARY: Sau y l cc BLOCK LIBRARY ca Simulink. Gip cho c cch nhn khi qut th vin ca Simulink.

Hnh 2.22: Th vin Phn Ri Rc (DISCRETE)

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Hnh 2.23 : Th vin th (SINKS)

Hnh 2.24 : : Th vin Phn Tuyn tnh (LINEAR)

Hnh 2.24:Th vin Phn Phi Tuyn (NONLINEAR)

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Hnh 2.26: Th vin Phn u Ni (CONECTIONS)

Hnh 2.27: Th vin BLOCKSETS v TOOLBOXES III. THUC TNH CA MT BLOCK V CC PHNG PHP GII BI TON TRONG SIMULINK. Nh chng ta bit phn t xy dng nn mt s trong Simulink chnh l Block. Mt Block c quy nh bi hai thuc tnh: Vn phong v cu trc. Thuc tnh v vn phong c m t trong bn Style:

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Style Drop Shadows Orientation Title Font Foreground Color Background Color Screen Color Bao gm : " Drop Shadows : Bt tt bng ca Block. " Orientation : nh hng chn Block. S nh hng ny c th chn phm nng Ctrl +R xoay 900 hoc Ctrl + F xoay 1800 " Title : t tn cho Block. Displayed Hidden Top/Left Bottom/Right Hin tn Block n tn Block Tn ca Block nm trn nh block hay bn tri. Tn ca Block nm d block hay bn phi. " " Font :nh dng Font cho Block Color : mu nn, khung mu ch cho Block.

Thuc tnh v cu trc c m t trong hp hi thoi ca Block. M n bng cch Double Click chut vo biu tng Block. Trong hp hi thoi c nhng thnh phn sau: " " " s. Tn khi (block name) M t ngn gn v t im ca khi (Brief explanation) Nhng mng thng s (parameters) nu khi cn nhng thng
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Nhng m t v nhng cu trc thuc tnh ca cc blocks trong Simulink s c m t trong chng III.

Hnh 2.28: Thuc tnh cu trc ca mt Block III.2 .Cc phng php gii bi ton m phng trong Simulink : Trong Simulink vic gii cc bi ton m phng c nhiu phng php gii khc nhau. Sau y l cc cch gii c p dng trong Simulink. " Phng php Euler : l phng php c in vi bin l bc. Phng php ny kh thi cho bt c h thng no c nhng bc nh. Do nhng bi ton c lin quan n vic tnh ton qu nhiu th khng bao gi chnh xc. Phng php ny ch nn dng cho vic kim tra kt qu. " Phng php Runge-Kutta 3 v Runge-Kutta 5: y l phng php thng dng p dng cho mi loi bi ton v n c th t ch tiu cht lng so vi cc phng php c bit khc. Phng php ny thch hp cho cho h lin tc v h phi tuyn. Khng lm vic vi h c ma st. " Phng php Adams :l phng php t chnh p dng cho h khng c ma st.

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" Phng php Gear : l phng php t chnh p dng cho h c ma st. Phng php ny khng lm vic tt khi h b ri lon do ng vo thay i lin tc. " Phng php Adams / Gear : Chn gia hai phng phpAdams v Gear. " Phng php LinSim : l phng php dng cho h tuyn tnh. Nu h mang tnh cht tuyn tnh nhng c vi khi phi tuyn th h cng lm vic tt.

CHNG III BLOCKS LIBRARY (Cc khi chc nng trong th vin Simulink) Nhng khi ca SIMULINK c m t trong chng ny. Nhng m t trong chng ny l nhng m t ngn gn gip ch cho vic tra cu v s dng. Theo , tt c cc khi c xem nh c th lm vic trong mi trng a bin (c hng) v v hng. III. 1 . SOURCES: y l nhm bao gm cc khi pht v nhn tn hiu .

Mn hnh hin th 1.CLOCK : Cung cp vector theo thi gian M trong sut thi gian m phng, hin th thi gian lin tc m cuc m phng ang xy ra. im quan trng l Clock khng phi l khi pht thi gian, m ch l khi hin th thi gian m phng. c php ni vi To Workspace chuyn vector thi gian vo trong Matlab.

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Mn hnh ci t thng s l hng s 2. CONSTANT: Pht ra gi tr l hng s Nhng thng s : Gi tr constant. 3. Sine Wave: Khi pht ra sng c dng sin. Nhng thng s : Gi tr bin , tn s ( rad/s, hezt), pha, thi gian ly mu (ch p dng cho h gin on).

Mn hnh ci t thng s cho khi sin 4. Signal Generator:

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Cung cp cho 4 dng sng khc nhau (ging nh my pht sng): + Sng Sin + Sng vung (square) + Sng rng ca (sawtooth) + Sng ngu nhin ( random). Nhng thng s : Dng sng, gi tr bin (gi tr nh), tn s, n v tn s. Nhng gi tr ny c th thay i trong qu trnh m phng. 5. Repeating sequency: Lp li dng sng cho mt cch tun t Nhng thng s : vector thi gian v quan h gi tr ca hm vector (cng chiu)

Khi m phng thi gian ri vo trong phm vi ca vector thi gian ca ng ra th n c xem nh From Workspace. Ni cch khc, hm ny l phn m rng bi mt dng sng c bn c chu k lp. Tn hiu c pht ra vi chu k tun hon c bin bng vector. 6. Step input: Pht ra dng sng c tnh cht hm bc:

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Nhng thng s : Thi gian chuyn i (Steptime), gi tr u, gi tr cui. Thi gian chuyn i c th m v iu kin u c th ln hn gi tr cui 1 n v. 7. Chirp Signal:

Pht ra mt tn hiu m tn s tng tuyn tnh theo thi gian . Nhng thng s : Tn s ban u (Hz), thi gian ch cn t (s),tn s ti thi gian ch. Khi ny c dng trong vic phn tch ph ca h khng tuyn tnh. Tn s t ban u c th ln hn ti tn s t cui cng. Nhng sau thi gian ch t tn s bt u tng ln. 8. Pulse Generator : Pht ra mt chui xung tun t vi khong thi gian n nh. Nhng thng s : Chu k xung, rng xung (h s chu k), bin xung, thi gian bt u pht xung.
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9.Random Number: B pht s ngu nhin ( nghi Zero) phn b chun (Phn b Gauss).

Nhng thng s: Gi tr trung bnh, khong bin i, gi tr bt u pht sinh (seed), thi gian ly mu. im khc bit cu khi ny s khc nhau ca gi tr "seed". Gi tr ny c th l mt vector. Trong h ri rc (ph thuc vo thi gian) lin quan n vn s n thng c dng hn khi Band -Limited White Noise. 10.From Workspace: c d liu t ma trn MATLAB. Nhng thng s: bng ma trn .

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Ma trn ny phi cha t nht hai ct, ct u tin phi l vector thi gian (n phi l gi tr tng n iu). Nu gi tr ng ra cn thi gian ti gia hai gi tr chn th ng ra phi l ni suy tuyn tnh gia hai gi tr thi gian yu cu t trong ngoc. 11. From File: c d liu t mt file.

Nhng thng s : Tn file. D liu phi ging nh mt ma trn. Mi ct phi phi c gi tr ca n ng vo ti thi im cho trc (yu t u tin ca ct). Sau , hng th nht l mt vector thi gian (so vi From Workspace hng v ct ngc nhau). 12. Digital Clock: Cung cp thi gian cho h ri rc.

Nhng thng s: thi gian mu.

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Khi ny khng ging khi Clock . 13. Band -Limited White Noise:

Pht ra mt dy tn hiu n trng. Nhng thng s : Ph nng lng, thi gian mu, gitr "seed". III.2 .SINKS: 1. Scope: Hin th dng tn hiu trong sut thi gian m phng (ging nh Oscilloscope)

Nhng thng s : Phm vi trc ngang (thi gian) v trc dc. Trc ngang c th cun mi phm vi.

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Mn hnh ca Scope v bn thuc tnh ca n 2. To Workspace: Lu tr d liu di dng mt ma trn.

Nhng thng s:Tn ma trn, s mu ti a(maximum) xut ra.

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Mi mt ct ma trn i din cho mi gi tr khc nhau d liu c truyn n MATLAB cho n khi kt thc m phng.

N s m phng cn s bc ln hn gi tr maximum mt n v th khi ny ch lu gi tr n cui cng ,vi n l gi tr ly mu maximum quy nh. Thng s th hai cu hng trong maximum l tu (timestep: buc thi gian), Matlab ch lu gi tr n chung. Thng thng vector thi gian khng cn khong cch u; thng s th ba ca maximum cng tu nhng c c im l phi ph hp vi thi gian ly mu vi d liu c thu thp. V d nu bn ci t thng s cho maximum [ 100, 3, 0.4] Ng ra ca ma trn gm 100 hng (s ct tng ng vi chiu ca khi vo) m gi tr mi ln tch tr T =3 0.4 giy (s) c ngh l ti To =0 ,T1=1 3 0.4 =1.2, T2 =2 3 0.4 =2.4 , T3 =3 3 0.4 = 3.6Tk = k 3 0.4 (s). 3. To File: Lu tr d liu di dng file.

Nhng thng s : Tn file ,tn matrn. D liu y l mt ma trn, hng u tin l mt vetor thi gian, nhng ct khc l bin ng ra (so vi To Workspace hng v ct o nhau) Hng u tin lun l vector thi gian (khng cn thit phi ni n Clock hin ra) 4.XY graph: Hai th ca hai tn hiu s c v trn ca s ha ca Matlab .

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Nhng thng s : bin dui v bin trn ca trc 5. Stop Simulation: Ngng cuc m phng ngay ly tc khi ng vo bng khng.

Khi nhiu tn hiu vo l a bin nu c mt thnh phn ng vo bng khng th cuc m phng s ngng ngay lp tc. 6. Graph: V s liu trn ca s ha.

Nhng thng s : phm vi trc thi gian, bin di v bin trn ca trc ngang, mu sc ca mi ng. Nu thi gian m phng vut qu thi gian t th th s bt u c v t cnh tri ca Graph. III.3. DISCRETE: 1. Unit Delay :

Ng vo b tr bi mt chu k ly mu .

Nhng thng s : Gi tr u (gi tr gi nh trong chu k m phng u tin khi ng ra khng xc nh c), thi gian ly mu. 2 .Discrete Zero -Pole:

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Thc hin mt hm truyn ri rc (theo thi gian) dng Cc v Zero. Nhng thng s : Cc zero, Cc cc, li, thi gian ly mu.

3. Discrete State- Space:

Thc hin mt h ri rc di dng h phung trnh trng thi. Nhng thng s : H ma trn, iu kin u, thi gian ly mu.

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4. Discrete Filter: Thc hin lc IIR v lc FIR.

Nhng thng s : H s t v mu ca b lc, thi gian ly mu.

5.Discrete Tranfer Fcn: Thc hin chc nng mt hm truyn ri rc.

Nhng thng s : h s t v mu ca hm truyn, thi gian ly mu. 6. Zero - Order Hold: (khu gi bc khng) Thc hin mt hm gi v ly mu.

Nhng thng s : thi gian ly mu

7. First - Order Hold: (khu gi bc mt)

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Nhng thng s :thi gian ly mu Ng ra b tr mt khong thi gian khi ng ra c a vo gia hai ln ly mu k tip.

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8. Discrete- Time Integrator: Thc hin hm tch phn gin on.

Nhng thng s : iu kin u, Gii hn cn di v trn, thi gian ly mu. N thc hin mt php bin i hm truyn Z : y Ts l gi tr thi gian ly mu.

1. Sum: Ng ra tng (hiu) cc ng vo.

Nhng thng s : Cc du ca ng vo. S du s cho bit s ng vo ca khi

2.Gain: Nhn tn hiu vo vi mt hng s.

Nhng thng s : Gi tr li
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Nu thng s c dng trong Gain dng vector th ni dung hin th phi trong ngoc n. 3.Derivative: Tn hiu vo c ly vi phn theo thi gian.

4. Tranfer Fcn: Thc hin chc nng mt hm truyn.

Nhng thng s : H s t v mu ca hm truyn 5. Integrator:

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Tn hiu vo c ly tch phn.

Nhng thng s : iu kin u.

6. State-Space :

7. Zero-pole: Thc hin hm truyn di dng cc v zero.

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Nhng thng s : Cc Zero, cc cc, li 8. Matrix Gain: Ng vo l mt vector th ng ra l mt ma trn.

Nhng thng s : li ma trn.

9. Inner (dot) product: Tnh tch v hng ca vector.

10. Slider Gain:

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Nhng thng s : Gi tr gain.

III.5 .NONLINEAR: 1. Abs: Tnh gi tr tuyt i ca ng vo.

2.Product Ng vo c nhn vi nhau (ging SUM).

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Nhng thng s : S ng vo 3.Fcn Tnh ton biu thc.

Ng vo phi l mt hm u(I), gi tr phi l i lng v hng . Khi ny kh nng thc hin cho SISO (single input single output) v MISO (multi input single output). 4.Dead Zone Ng ra c gi tr l Zero khi ng vo nm trong vng cht (tt). Ngoi ra ng ra s bng ng vo khi ng vo khng nm trong on Dead Zone.

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6. Backlash : (khu khe h) M hnh x l h thng c thi gian d tr.

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Nhng thng s : rng Dead Zone, gi tr u ca ng ra v vo. Ng ra l hng s khi ng vo nm trong on Dead Zone. 6. Saturation : Tnh ton mt khu bo ha, ngha l gii hn bin ca ng ra.

Nhng thng s : Gi tr trn v di ca ng ra. 7.Switch Ng ra s l gi tr ca ng vo u tin cho n khi mt gi tr th hai ln hn gi tr ngng th ng ra mang gitr ng vo th hai, sau ng ra li bng gi tr th ba.

Nhng thng s : gi tr ngng.

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8. Look-Up Table Thi hnh mu th tuyn tnh ca ng vo.

Nhng thng s : Gi tr vector ca ng ra v vo 9. 2-D Look-Up Table. Thi hnh mu th tuyn tnh trong ta hai chiu.

Nhng thng s: Gi tr ca ch s X v Y v quan h vi gi tr ng ra. 10. Rate Limiter Gii hn tc thay i ca tnh hiu ng vo.
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Nhng thng s: Gi tr ti a ca s thay i.

11. Relay M phng mt r le.

Nhng thng s : Gi tr ngng ca ng ra trng thi ON v OFF. S chuyn i ca ng ra gia hai gi tr c bit. Khi rle v tr ON, n gi nguyn khi gi tr ng vo h xung thp hn ngng OFF, ngc li th rle v tr OFF.

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12. MATLAB Fcn Cho php gi mt hm MATLAB trong s SIMULINK.

Nhng thng s : Tn hm, chiu ca ng ng ra (-1 mang ngha l ng ra cng chiu vi ng vo). SIMULINK khng c kh nng kim tra chiu ca hm MATLAB l c im ring ca khi. 13.Quantizer M phng b lng t.

Nhng thng s : Khong thi gian lng t 14. Coulombic Friction

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Nhng thng s :Gi tr offset ban u, t s ma st thng. Lc ma st c gi tr l zero ti thi im t gi tr offset. 15.Logical Operator Ng ra mang gi tr 1 nu ton t logic ng vo mang gi tr ng, ngc li mang gi tr 0.

Nhng thng s : Ton t logic, s cng vo

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Ng ra mang gi tr 1 nu h thc c bn c gi tr l ng,ngc li mang gi tr 0.

Nhng thng s : Ton t quan h. 16. Combinatorial Logic Thc thi mt bng t hp logic.

Nhng thng s : Bng s tht. Ch c phn ng ra ca bng s tht c ghi vo. Ng vo phi c hiu ngm. 17. Transport Delay Ng vo b tr bi mt thi gian cho trc.

Nhng thng s: Thi gian tr, iu kin u (c gi nh khi ng ra khng xc nh). 18. Variable Transport Delay
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Gii thiu mt bin thi gian tr: Ng vo th hai tr mt khong thi gian so vi ng vo th nht

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20.Memory Tn hiu ng vo c l tch phn tng phn v c lu gi

Nhng thng s : iu kin u. Khi ny c p dng cho vic gii cc vng lng gic. 21. Sign Thc thi mt hm du.

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l nhng th vin c bn , ngoi ra cn cc th vin khc nh :th vin u ni vv vic tm hiu ht cc chc nng ca chng cng rt nhiu kh khn v cng khng c thi gian ni ra ht . Ngoi nhng th vin c ngi s dng c th to cho mnh mt th vin ring bng cch ghp ni cc khi li vi nhau to thnh mt nhm (group) hay vit ring mt chng trnh (rt kh) (gi l S-function) chy m phng trong SIMULINK. y l cng vic ging nh to cc linh kin mi, macro trong cc phn mm v mch in t.

CHNG IV NG DNG

I. GII THIU S LC L THUYT IU KHIN T NG L thuyt iu khin t ng l phn ch yu ca l thuyt iu khin. L thuyt iu khin t ng l kin thc c s ca cc ngnh k thut t ng trong lnh vc in t, in ng lc, c kh, hng hi, quc phng. I.1 . Cc phn t c bn ca h thng iu khin t ng: H thng iu khin t ng l h thng c xy dng t 3 b phn ch yu: " Thit b iu khin (C)
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Hnh 2.29. S h thng iu khin t ng. Trong : U : tn hiu vo y : tn hiu ra X : tn hiu iu khin tc ng ln i tng e : tn hiu sai lch Z : tn hiu phn hi. I.2 .Cc nguyn tc iu khin c bn: Trong iu khin t ng c 3 nguyn tc iu khin c bn sau: " " " " " Nguyn tc iu khin sai lch Nguyn tc iu khin theo phng php b nhiu. Hn hp hai nguyn tc trn. Ngoi 3 nguyn tc trn cn c thm cc nguyn tc Nguyn tc iu khin theo chng trnh Nguyn tc iu khin thch nghi. I.3. Phn loi h thng iu khin t ng Vic phn loi h thng iu khin t ng theo nhiu nguyn tc khc nhau. Nhng ta c th phn loi theo cc h thng sau: " " H thng iu khin tuyn tnh H thng iu khin phi tuyn
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Nhim v c bn ca l thuyt iu khin t ng l phn tch h thng v thit k h thng. II.P DNG SIMULINK VO THIT K V PHN TCH Trong vic kho st nhng ng dng ta th xy s m phng cho h dao ng l xo khi lng sau :

H l xo khi lng trn c m t bi phng trnh vi phn: m: khi lng ; k: cng l xo T ta c s khi sau :

Hnh 2.30. S khi h dao ng Sau ta th xy dng s m phng trong SIMULINK .

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Hnh 2.31. S khi m phng h khi lng l xo.

Hnh 2.32. Dng sng ng ra ca Scope T s thit k ta c th thm vo cc khi kho st h nh: h s cng (gain), thay i dng sng Trong cc sch bi tp iu khin t ng c cc khi nhng khng bit c p ng ca h nh th no. Vic dng SIMULINK kho st rt thun tin cho vic phn tch bi ton

Hnh 2.33. S khi ca mt h di tc ng ca p ng bc

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Hnh 2.34. p ng ca S hnh 2.35 v 2.36 l s khi ca ng c in v p ng vn tc quay

Hnh 2.35 . S khi ca ng c in

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Hnnh 2.36 .p ng vn tc quay Trong iu khin t ng thm vo khu cc P, PI, PID lm cho h thng hot ng tt v n inh hn. Cc s iu khin v m phng.

Hnh 2.37 .H thng iu khin c khu PI.

Hnh 2.38 .p ng ti khu bo ho.

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Hnh 2.40 .H thng m phng ca chuyn ng ri qu banh

Hnh 2.41 .Kt qu m phng.

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Hnh 2.41 .M hnh ng c DC di chuyn cnh tay Robot

Hnh 2.42: S m phng mt khu bc hai

Hnh 2.43: p ng ca khu bc hai di ng vo l hm dc v bc

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Hnh 2.44 . M hnh ng c khng ng b

Hnh 2.45. Kt qu m phng.

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Hnh 2.46. S iu khin ng c DC

Hnh 2.47. p ng ca ng c vi khu P

Hnh 2.48. p ng ca ng c vi khu PI

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