Bi tp ln l thuyt iu khin t ng

Bi 1: Cho s khi ca h iu khin trn hnh v

N(s)

Gd (s )

R(s)

E(s)

s+5
s + 10

10
s ( s + 5)

C(s)

Vi N(s) l tn hiu nhiu. Hm truyn Gd(s) c dng lm trit tiu nh

hng ca N(s) ln u ra C(s).
a) Tm hm truyn

C ( s)
| R =0 ?
N (s)

b) Xc nh Gd (s) t c iu kin trn?

Bi 2: Cho phng trnh m t qu trnh ng hc trong h iu khin motor.
dia (t )
d m (t )
ea (t ) = Ra ia + La

dt

+ Kb

dt

d m (t )
d (t )
+ B m + K m (t ); Tm (t ) = K i ia (t )
2
dt
dt
ea (t ) = K a e(t ); ea (t ) = K s [ r (t ) m (t )]
d (t )
a) t bin trng thi : x1 (t ) = m (t ); x2 (t ) = m ; x3 (t ) = ia (t )
dt
c
(
t
)
=

(
t
)
Vit phng trnh trng thi vi
m
m (s)
b) Tm hm truyn G(s)=
khi ng phn hi t m (s) n E(s) b
E ( s)
m ( s)
?
ngt. Tm M(s)=
r (s)
Tm (t ) = J

Bi 3: Cho phng trnh ng hc ca h bt bin theo thi gian:

.

x(t ) = Ax(t ) + Bu (t ); c(t ) = Dx(t )

1
1
0
0

A = 0
0
1 ; B = 1 ; D = [1 1 0]
1 2 3
0

Tm ma trn A1 v B1 sao cho phng trnh trng thi :

x (t )
1
.
x(t ) = A1 x (t ) + B1u (t ); y (t ) = c(t )
.

c(t )

Bi 4: Cho cc phng trnh t tnh ca h thng kn:

a) s 4 + 3s 3 + s 2 + 9 s + 12 = 0
b) s 5 + 2 s 4 + 2 s 3 + 4 s 2 + 6 s + 8 = 0
c) s 4 + 4 s 3 + 7 s 2 + 16 s + 12 = 0
Hy xt tnh n nh ca h thng v cho bit c bao nhiu nghim nm bn
phi mt phng phc?
Bi 5: V qu o nghim nghim s v xc nh K h thng n nh?
a) G ( s ) =

K ( s + 6)
400
; b) G ( s ) =
;
2
( s + 2)( s + 8s + 25)
s( s + 6)( s + K )
K ( s + 1)
c) G ( s ) =
s ( s + 3)( s + 5) 2

Bi 6: S dng Matlab v biu Nyquist trong cc trng hp sau, t xc

nh tnh n nh ca h phn hi m theo tiu chun n nh Nyquist.
1
1. G(s) =

2. G(s) =
3. G(s) =
4. G(s) =
5. G(s) =
6. G(s) =

s
( s + 1)( + 1)
10
1
s
( s 1)( + 1)
10
1
s ( s + 1)
1
s
s ( s + 1)( + 1)
10
1
2
s ( s + 1)
1
2
s ( s 1)

Bi 7: V biu Bode bng tay trong cc trng hp sau v xc nh n nh

h thng:
1
s ( s + 1)
s +1
2. G(s) = 2
s + s + 10
1
3. G(s) = 2
( s + 10s + 100)( s + 1)
1000(0.1s + 1)
4. G(s) =
s ( s + 1)( s 2 + 10 s + 100)
1. G(s) =

Bi 8: Xc nh sai lch tnh hm bc thang, Ramp, parabolic ca h iu

khin phn hi m n v vi cc hm truyn h h cho:
a) G(s)=

1000
(1 + 0.1s )(10 s + 1)

100
s ( s + 10s + 100)
K (1 + 2s )(1 + 4s )
c) G(s)=
s 2 ( s 2 + s + 1)

b) G(s)=

Bi 9: Cho hm truyn h h ca h iu khin c hi tip m:

K
vi a, K l cc h s thc
s ( s + a)( s + 30)
a) Tm cc gi tr ca a v K sao cho h s tt dn = 0.5 ; thi gian tng tc

G(s)=

ca p ng bc thang n v gn bng 1s.

1 0.4167 + 2.917 2
(0 < < 1)
Cho t r =
n
Vi tr l thi gian tng tc gn ng
b) Vi gi tr a v K tm sai s ca h vi tn hiu vo l l hm bc thang
n v v hm Ramp
Bi 10: Cho h thng iu khin hi tip m n v c hm truyn h h l
hm G(s). Bit rng p ng ca h thng vi tn hiu vo l hm nc n v
c dng .
a) Da vo th hy xc nh vt l, thi gian qu (tiu chun 5%)
v sai s xc lp h thng
b) Xc nh hm truyn h h bit G(s)=

K
s + as + b
2

Bi 11: Cho h thng nh hnh v

R(s)

E(s)

Kp+K d.s
G c(s)

a)
b)

c)
d)

1000
s( s + 10)

C(s)

G(s)

H s sai s vn tc Kv ; xc nh Kp v KD sao cho:

a) Kv=1000; = 0.5
b) Kv=1000; = 0.707
c) Kv=1000; = 1
Bi 12: Cho mt i tng c hm truyn nh sau:
1
G(s)= ----------(s-1)^2
Xc nh tnh n nh ca i tng?
Thm b iu khin PID h tr thnh h kn. Vng hi tip m n v. Hm
truyn PID R(s)=Kp+Ki/s+Kd.s. Xc nh cc gii han tham s Kp, Ki, Kd
h thng n nh?
H kn c cc cc u bng -1. Hy xc nh cc tham s PID?
V th c tnh thi gian h thng?
Bi 13: Cho h thng nh hnh v:

S dng phng php Ziegler- Nichols xc nh cc h s ca b iu khin

PID?
Bi 14: Cho h thng iu khin kn c m t:
.

x(t ) = Ax(t ) + Bu (t ); u (t ) = Gx(t )

1
0 0
0
0
0

0
0
1 0

A=
; B = ; D = [1 1 0]; G = [ g1 g 2
0
0
0
0 1

0 3 4 10
1

g 3 g 4]

Vi cc phn t ca G l mt hng s thc. Tm phng trnh c tnh ca kn.

Xc nh G sao cho h n nh vi cc gi tr nghing:-1;-1;-1+j;-1-j ;

Bi 15: Cho h thng nh hnh v

R(s)

E(s)
T=1

1 e Ts
s

C(s)

G (s )

Hy tm hm truyn t ca h h khi:
a) G(s)=

K
K
; b) G(s)=
s ( s + a)
( s + b)( s + a )

Bi 16: Cho h thng nh hnh v. Hy tm p ng qu khi u vo l hm

bc thang n v
R(s)

E(s)
T=1

1 e Ts
s

Bi 17: Cho mt h thng c: G(s)=

0.00185
+ 135s )
s
T ( z 1)
Tnh D(z)? t s =
2( z + 2)

0.5
s ( s + 0.5)

C(s)

1.63e 270 s
. Hiu chnh Ziegler Nichols:
1 + 3480 s

D(s)= 9.5(1+

Tm tn hiu u ra khu hiu chnh u(nT) i vi sai lch e(nT) ca h ?

Bi 18: Cho hm truyn t ca h ri rc: G(z)=

z+3
c( z )
=
( z + 1)( z + 2) R ( z )

a) Thnh lp phng trnh bin trng thi cho h?

b) r(t)=1(t) iu khin ban u bng 0, tnh p ng u ra C(nT) vi
n<=4;
Cu 19: Cho h thng iu khin ri rc c s khi nh hnh v.
Bit rng G(s)=

KD
1
(1 Z 1 ) ; KP=1; KD=5; T=0.1sec
2 ; Gc(z)= Kp+
T
s

a. Vit phng trnh sai phn thc thi b iu khin Gc(z) trn my tnh?

b. Xc nh hm truyn ca h thng kn?

c. Tnh p ng c(k) vt l, sai s xc lp khi tn hiu vo l hm nc n
v?
Cu 20: Vit phng trnh sai phn ca b iu khin PID vi lut tch phn
dng sai phn tin, sai phn li, hnh thang

Yu cu:
Mi ngi mt bn nh my hoc ghi chp bng tay . Lm cng nhiu
bi tp v ng im cng cao
2. Hn np bi tp ln trc ngy thi mt tun.
1.