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Simulink trong Matlab

SIMULINK TRONG MATLAB

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GII THIEU S LC VE MATLAB

I.TM HIEU VE CONG TY MATHWORKS:
II.GII THIEU C S MATLAB:
II.1. Gii thieu chng trnh MATLAB:
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.

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

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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).

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)
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.

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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

Goi lai lenh va thc hien trc o t cua so lenh cua MATLAB

Ctrl + n hoac

Goi lai lenh a anh vao trc o

Ctrl + f hoac

Chuyen con tro sang phai mot k t

Ctrl + b hoac

Chuyen con tro sang trai mot k t.

Ctrl + l hoac Ctrl +

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

Bo thuoc tnh phan biet ch hoa va ch thng

Casesen on

S dung thuoc tnh ch hoa va ch thng.

Clc

Xoa ca so dong lenh

Clf

Xo ca so o hoa

Computer

Lenh in ra mot xau k t cho biet loai may tnh.

exit hoac quit

Thoat khoi chng trnh MATLAB

Ctrl + C
Help
Input
Load
Pause

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.

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Lu gi cac bien vao file co ten la matlab.mat

Save
Demo

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.

who global

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.
o ln cua bien
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.
exist(namesrt)

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.

[ m n] = size(A)

Tra gia tr o ln cua ma tran A vao vector xac nh bi hai

bien m va n .

size(A ,p)

a ra so hang cua ma tran A neu p=1 va so cot cua A neu p 2

size (x)

a ra vector mo ta o ln cua vector x. Neu x la vector hang m

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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.
lengh(x)

Tra gia tr chieu dai cua vector x

lengh(A)

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.

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)

Ve o th trong toa o (x,y)

plot (x,y,z)

Ve o th theo toa o ( x,y ,z)

Title

a cac tieu e vao trong hnh ve.

Xlabel

a cac nhan theo chieu x cua o th.

Ylabel

a cac nhan theo chieu y cua o th.

Zlabel
Grid

a cac nhan theo chieu z cua o th.

Hien th li tren o th

plot (y)

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

plot (x,y,S)

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.

plot(x,y,z,S)

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.

Polar (x,y)

Ve o th theo he truc toa o cc

Bar

Ve o th dang cot

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

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.
*
X
O
+
--.
:

: iem
: Sao
: Ch cai x
: Ch cai o
: Dau cong
: ng lien net
: ng t net
: ng cham gach
: ng cham

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Y: vang
G : xanh la cay
M : o ti
B : xanh lam
C : xanh la ma.
W : mau trang
R : o
K : en

V du ve o hoa be mat (3D)

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

Lenh cho phep xem cac lenh co trong *.m files khi chung c thc hien.

type

Lenh cho phep xem noi dung,ngam nh file dang M-file

what

Lenh nay cho biet tat ca cac file M file va Mat-file co trong vung lam viec hien

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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.
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.

CACH KET NOI VA CAC THUOC TNH CUA BLOCKS

I. KHAI NIEM VE SIMULINK:

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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.

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)

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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.
3 . Chon cac block cac th vien thch hp:

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.

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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.
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.
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

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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 trnh noi, ong
noi co hnh net t va con tro se thay oi thanh dau cong kep khi lai gan kho can noi.

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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.
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.

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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.

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.

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.

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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)

Hnh 2.23 : Th vien o th (SINKS)

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

Hnh 2.24:Th vien Phan Phi Tuyen (NONLINEAR)

Hnh 2.26: Th vien Phan au Noi (CONECTIONS)

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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:
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)

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Nhng mo ta ve nhng cau truc thuoc tnh cua cac blocks trong Simulink se c mo ta
trong chng III.
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.

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.

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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.
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:

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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)

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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20

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

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21

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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:
Cung cap thi gian cho he ri rac.

Nhng thong so: thi gian mau.

Khoi nay khong giong khoi Clock .
13. Band Limited White Noise:

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22

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

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23

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

Nhng thong so :
Ten file ,ten matran.

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24

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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.

III.3. DISCRETE:
1. Unit Delay :

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.

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25

Trang

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.

4. Discrete Filter:

Thc hien loc IIR va loc FIR.

Nhng thong so : He so t va mau cua

bo loc, thi gian lay mau.

6. Zero Order Hold: (khau

gi bac
khong)
Thc hien mot ham gi va
lay mau.

5.Discrete Tranfer Fcn:

Thc hien chc nang mot ham truyen
ri rac.

Nhng thong so : thi gian

lay mau

Khau nay cho biet c cau truc cua

cho en khi tn hieu ke tiep c lay mau
Nhng thong so : he so t va mau cua
ham truyen, thi gian lay mau.

7. First Order Hold: (khau

gi bac

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26

Trang

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.

8. Discrete- Time Integrator:

Thc hien ham tch phan
gian oan.

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 :
ay Ts la gia tr thi gian
lay mau.

Y =

Ts
U
Z 1

III.4. LINEAR:

vao.

ay la nhom tuyen tnh trong mien

1. Sum:
Ngo ra tong (hieu) cac ngo

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

vao bao gom hai ai lung a bien va vo
la lng vo hng

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27
2.Gain:
Nhan tn hieu vao vi mot hang so.

Nhung thong so : Gia tr o li

Trang

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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.

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.

SIMULINK TRONG MATLAB

III.5 .NONLINEAR:
1. Abs:
Tnh gia tr tuyet oi cua ngo vao.

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:

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

y=

u- D-z neu u< D-z

0
neu D-z u D+z
u- D+z neu u >D+z

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.
8. Look-Up Table
Thi hanh mau o th
tuyen tnh cua ngo vao.
Nhng thong so : gia tr ngng.

SIMULINK TRONG MATLAB

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

12. MATLAB Fcn

Cho phep goi mot ham MATLAB trong s o
SIMULINK.

Trang 32

tr OFF.

SIMULINK TRONG MATLAB

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.

Nhng thong so : Toan t logic, so cong

vao

Trang 33

SIMULINK TRONG MATLAB

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 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.

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20.Memory
Tn hieu ngo vao c lay tch phan tng
phan va c lu gi

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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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:
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.
I.3. Phan loai he thong ieu khien t ong

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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:

m&y&+ ky = f
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 .

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

Hnh 2.32. Dang song ngo ra cua Scope

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

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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

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.

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Hnh 2.37 .He thong ieu khien co khau PI.

Hnh 2.38 .ap ng tai khau bao hoa.

Hnh 2.39 .ap ng ngo ra.

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

Hnh 2.41 .Ket qua mo phong.

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

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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.

Hnh 2.46. S o ieu khien ong c DC

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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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