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Bµi tËp
lý thuyÕt ®iÒu khiÓn tù ®éng
5
§Ò bµi: HÖ thèng cã hµm truyÒn ®¹t W(p) =
p + 3p2 + 3p +1
3
Bµi lµm
5 Y ( p)
-Tõ hµm truyÒn ®¹t cña hÖ thèng W(p) = =
p + 3p + 3p +1
3 2
U ( p)
⇒ ( p + 3 p + 3 p + 1)Y ( p) = 5U ( p )
3 2
⇒ &y&&+ 3 &
y&+ 3 y&+ y = 5u
§ã chÝnh lµ ph−¬ng tr×nh vi ph©n cña hÖ thèng.
- §Æt:
x 1 = y
x 2 = x&1
x 3 = x& 2 = &
x&1
x& 3 = &
x&2 = &x&&1 = &y&&
x& 3 = − x 1 − 3 x 2 − 3 x 3 + 5 u
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Bµi tËp Lý thuyÕt ®iÒu khiÓn tù ®éng §µo V¨n S¬n T§H K47
Hay:
⎡ x&1 ⎤ ⎡ 0 1 0 ⎤ ⎡ x1 ⎤ ⎡0 ⎤
⎢ x& ⎥ = ⎢ 0 0 1 ⎥⎥ ⎢⎢ x 2 ⎥ + ⎢0 ⎥u
⎢ 2 ⎥ ⎢ ⎥ ⎢ ⎥
⎢⎣ x&3 ⎥⎦ ⎢⎣ − 1 − 3 − 3 ⎥⎦ ⎢⎣ x 3 ⎥⎦ ⎢⎣ 5 ⎥⎦
Φ( p) = [ pI − A]
−1
⎡1 0 0⎤ ⎡ 0 1 0 ⎤ ⎡p −1 0 ⎤
[ pI − A ] = p ⎢⎢ 0 1 ⎥
0⎥ − ⎢ 0⎢ 0 ⎥
1 ⎥ = ⎢⎢ 0 p − 1 ⎥⎥
⎢⎣ 0 0 1 ⎥⎦ ⎢⎣ − 1 − 3 − 3 ⎥⎦ ⎢⎣ 1 3 p + 3 ⎥⎦
det( pI − A) = p( p + 3 p + 3) + 1 = p + 3 p + 3 p + 1 = ( p + 1)
2 3 2 3
−1
⎡ p2 + 3p + 3 −1 −p ⎤ ⎡ p2 + 3 p + 3 p+3 1⎤
⎢ ⎥ ⎢ ⎥
adj ( pI − A) = ⎢ p + 3 p + 3 p − 3 p − 1⎥ = ⎢
2
−1 p2 + 3 p p⎥
⎢ 1 p p 2 ⎥⎦ ⎢ −p − 3 p −1 p 2 ⎥⎦
⎣ ⎣
⎡ p2 + 3p + 3 p+3 1 ⎤
⎢ ⎥
⎢ ( p + 1) ( p + 1) ( p + 1) 3 ⎥
3 3
adj ( pI − A) ⎢ −1 p2 + 3p p ⎥
⇒ Φ( p ) = =⎢
det( pI − A) ( p + 1) 3
( p + 1) 3
( p + 1) 3 ⎥
⎢ ⎥
⎢ −p − 3p −1 p2 ⎥
⎢⎣ ( p + 1) 3 ( p + 1) 3 ( p + 1) 3 ⎥⎦
Tra b¶ng biÕn ®æi Laplace ta cã:
⎧ 1 ⎫ t 2 −t
L−1 ⎨ 3⎬
= e
⎩ ( p + 1) ⎭ 2
⎧ p ⎫ t 2 −t
L−1 ⎨ ⎬ = (t − )e
⎩ ( p + 1) ⎭
3
2
⎧ p2 ⎫ t 2 −t
L−1 ⎨ ⎬ = (1 − 2t + )e
⎩ ( p + 1) ⎭
3
2
Suy ra:
⎧ p 2 + 3 p + 3⎫ t 2 −t
Φ 11 (t ) = L−1 ⎨ ⎬ = (1 + t + )e
⎩ ( p + 1) ⎭
3
2
⎧ −1 ⎫ t 2 −t
Φ 21 (t ) = L−1 ⎨ 3⎬
= − e
⎩ ( p + 1) ⎭ 2
⎧ −p ⎫ t 2 −t
Φ 31 (t ) = L−1 ⎨ ⎬ = − (t − )e
⎩ ( p + 1) ⎭
3
2
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Bµi tËp Lý thuyÕt ®iÒu khiÓn tù ®éng §µo V¨n S¬n T§H K47
⎧ p+3 ⎫
Φ 12 (t ) = L−1 ⎨ 3⎬
= (t 2 + t )e −t
⎩ ( p + 1) ⎭
⎧ p2 + 3p ⎫
Φ 22 (t ) = L−1 ⎨ 3 ⎬
= (1 + t − t 2 )e −t
⎩ ( p + 1) ⎭
⎧ − 3 p − 1⎫
Φ 32 (t ) = L−1 ⎨ 3 ⎬
= (−3t + t 2 )e −t
⎩ ( p + 1) ⎭
⎧ 1 ⎫ t 2 −t
Φ 13 (t ) = L−1 ⎨ 3⎬
= e
⎩ ( p + 1) ⎭ 2
⎧ p ⎫ t 2 −t
Φ 23 (t ) = L−1 ⎨ 3⎬
= ( t − )e
⎩ ( p + 1) ⎭ 2
⎧ p2 ⎫ t 2 −t
Φ 33 (t ) = L−1 ⎨ 3⎬
= (1 − 2 t + )e
⎩ ( p + 1) ⎭ 2
⎡ t 2 −t t 2 −t ⎤
⎢ (1 + t + )e (t 2 + t )e −t e ⎥
⎢ 2 2 ⎥
t2 t 2
Φ(t ) = ⎢ − e −t (1 + t − t 2 )e −t (t − )e −t ⎥
⎢ 2 2 ⎥
⎢ t 2 −t t 2 −t ⎥
⎢ − (t − )e (−3t + t 2 )e −t (1 − 2t + )e ⎥
⎣ 2 2 ⎦
⎡ 5t 2 −t ⎤ ⎡ 5(t − τ ) 2 −(t −τ ) ⎤
⎢ e ⎥ ⎢ e ⎥
⎢ 2 ⎥ ⎢ 2 ⎥
t 2
(t − τ ) −(t −τ ) ⎥
2
Φ(t ) × B × U = ⎢ 5(t − )e −t ⎥ ⇒ Φ (t − τ ) × B × U = ⎢ 5[(t − τ ) − ]e
⎢ 2 ⎥ ⎢ 2 ⎥
⎢ t 2 −t ⎥ ⎢ (t − τ ) 2 −(t −τ ) ⎥
⎢5(1 − 2t + )e ⎥ ⎢5[1 − 2(t − τ ) + ]e ⎥
⎣ 2 ⎦ ⎣ 2 ⎦
Suy ra:
⎡ t
5(t − τ ) 2 −(t −τ ) ⎤
⎢ ∫0 2 e dτ ⎥
⎢ ⎥
t
⎢ t (t − τ ) 2 −(t −τ ) ⎥
∫0 Φ(t − τ ) × B × u(τ )dτ =⎢ ∫0 5[(t − τ ) − 2 ]e dτ ⎥
⎢t ⎥
⎢ (t − τ ) 2 −(t −τ ) ⎥
⎢ ∫ 5[1 − 2(t − τ ) + ]e dτ ⎥
⎣0 2 ⎦
Tr−íc tiªn ta tÝnh c¸c tÝch ph©n sau:
t
∫e
− ( t −τ )
dτ = − e − t + 1
0
t
∫ (t − τ )e
− ( t −τ )
dτ = −(t + 1)e − t + 1
0
t
Do ®ã ta cã:
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Bµi tËp Lý thuyÕt ®iÒu khiÓn tù ®éng §µo V¨n S¬n T§H K47
(t − τ ) 2 −(t −τ )
[ ]
t t
5 5 t2
*∫5 e dτ = ∫ (t − τ ) 2 e −(t −τ ) dτ = − (t 2 + 2t + 2)e −t + 2 = −5( + t + 1)e −t + 5
0
2 20 2 2
(t − τ ) 2 −(t −τ )
t t t
5 5t 2 −t
* ∫ 5[(t − τ ) − ]e dτ = 5 ∫ (t − τ )e −(t −τ ) dτ - ∫ (t − τ ) 2 e −(t −τ ) dτ = e
0
2 0
20 2
(t − τ ) 2 −(t −τ )
t t t t
5
* ∫ 5[1 − 2(t − τ ) + ]e dτ = 5∫ e −( t −τ ) dτ − 10∫ (t − τ )e −(t −τ ) dτ + ∫ (t − τ ) 2 e −(t −τ ) dτ
0
2 0 0
20
t2
− t )e −t
= −5(
2
⎡ t2 ⎤
⎢ − 5 ( + t + 1) e − t + 5 ⎥
⎢ 2 ⎥
t
⎢ 5t 2 −t ⎥
∫0 Φ ( t − τ ) × B × u (τ ) d τ =
⎢ 2
e
⎥
⎢ t2 ⎥
⎢ − 5( − t )e −t ⎥
⎣ 2 ⎦
⎡0 ⎤
Tõ gi¶ thiÕt ta cã: X ( 0 ) = ⎢⎢ 1 ⎥⎥
⎢⎣ 1 ⎥⎦
⎡ 3t 2 − t ⎤
⎢ ( t + )e ⎥
⎢ 2 ⎥
2
3t
Suy ra: Φ ( t ) × X ( 0 ) = ⎢ (1 + 2 t − )e −t ⎥
⎢ 2 ⎥
⎢ 3t 2 − t ⎥
⎢ (1 − 5 t + )e ⎥
⎣ 2 ⎦
t
VËy: X (t ) = Φ (t ) × X (0) + ∫ Φ (t − τ ) × B × u (τ )dτ
0
⎡ 3t 2
−t ⎤ ⎡ t2 ⎤
⎢ (t + ) e ⎥ ⎢ − 5( + t + 1)e −t + 5⎥
⎥ ⎡− (t + 4t + 5)e + 5⎤
2 2 2 −t
⎢ ⎥ ⎢
⎥ = ⎢ (t 2 + 2t + 1)e −t ⎥
2 2
3t 5t −t
= ⎢(1 + 2t − )e − t ⎥ + ⎢ e
⎢ 2 ⎥ ⎢ 2 ⎥ ⎢ ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ( −t 2
+ 1) e −t ⎥
⎣ ⎦
2 2
3t −t t −t
⎢ (1 − 5t + )e ⎥ ⎢ − 5( − t )e ⎥
⎣ 2 ⎦ ⎣ 2 ⎦
KÕt luËn:
⎡ − (t 2 + 4 t + 5 ) e − t + 5 ⎤
⎢ ⎥
X (t ) = ⎢ ( t + 1) 2 e − t ⎥
⎢ (1 − t 2
) e −t ⎥
⎣ ⎦
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