DKTD - CD

L THUYT IU KHIN T NG
LI NI U
iu khin l mt lnh vuc quan trong ca di sng x hi, ca
nn kinh t quc dn, ca khoa hoc k thut, ca nn cng nghip ...
bt c mt vj tr no, cng vic no ta du tip cn vi diu khin. Nn
cng nghip hin dai ngy nay mc d tu dng ho ngy cng duoc
nng cao nhm nng cao nng sut lao dng gim chi ph sn xut v
gii phng con ngui khi nhng vj tr lao dng dc hai kh khn.
tip cn vi nn cng nghip hin dai c trnh d tu dng ho cao th
vic nm duoc nhng kin thc co bn v diu khin tu dng l ht
sc cn thit.
L thuyt diu khin tu dng duoc ging day trong hu ht cc
ngnh k thut. Cn c vo ni dung chuong trnh mn hoc, d ph
hop vi kh nng hoc tp v nghin cu ca sinh vin trung ta,
chng ti xy dung gio trnh ny. Ni dung tp trung ch yu ca
gio trnh l phn tuyn tnh lin tuc vi 3 chuong. Trong mi chuong
chng ti c gng vit mt cch ngn gon, han ch ti da vic s
dung kin thc ton hoc tao cho sinh vin c th nm bt duoc ni
dung chuong trnh d dng.
Chuong 1: M t ton hoc ca h iu khin tu dng: trnh by
cu th cc khi nim chung nht v h KT , co s ton hoc c lin
quan v cui cng l cc tnh cht ca cc khu dng hoc din hnh.
Chuong 2: Hm truyn dat ca h thng KT: Trnh by v
phuong php xy dung hm truyn dat ca mt s thit bj thng dung
v phuong php bin di d tm hm truyn dat ca h thng KT.
Chuong 3: n djnh v dnh gi cht luong h KTD: Trnh by
cc phuong php xt n djnh h KT v co s d dnh gi cht
luong h KT v cui cng l cc phuong php hiu chinh h thng.
hoc tp v mn hoc ny sinh vin cn c kin thc v ton
hoc, my tnh, kin thc v chuyn ngnh: K thut din t, my din,
trang bj din ...
Trng C Cng nghip Thi Nguyn
1
gio trnh duoc hon thin hon, chng tI cng rt mong
duoc su dng gp kin nhiu hon na ca cc thy gio, c gio v
cc em sinh vin d ln bin soan ti duoc hon thin hon.
Mi kin ng gp xin gi v:
T l thuyt chuyn mn in
Khoa: in - in t -Tin h!c
T"#$n% &ao 'n% &n% n%hi( Th)I N%uyn
in tho*i: +,-+. / -0010,
Chng ti xin trn trng cm n !
Th)i N%uyn2 th)n% 1 n3m ,++4
5m 67o L8c
2
&9:;N< I
=> T? T@AN 9B& &CD 9E T9FN< KT
I.1. K9AI GUAT &9UN<
I.1.1. Lch s pht trin ca i!u "hin t# $ng
Pht minh u tin khi u cho su pht trin ca lnh vuc iu
khin tu ng l h iu chinh nhit u tin do Cornelis Drebbel
(1572-1633) ngui Ha lan sng ch. Sau l b iu tc ly tm
iu chinh tc ca my hi nuc ca James watt vo nm 1874.
Nm 1922 Minorsky thuc hin h thng iu khin tu ng (KT)
cc con tu v chng minh tnh n jnh ca h thng c th xc jnh
bng phung trnh vi phn m t h thng. Cng nm Nyquist
ua ra nguyn tc xc jnh tnh n jnh ca h thng vng kn dua
trn c s p ng vng h vi tn hiu vo hnh sin trang thi xc
lp. Nm 1934 Hazen gii thiu thut ng iu chinh c tu ng
(Servo machanism) cho nhng h thng iu khin jnh vj v tho
lun n vic thit k h thng r le (Relay) iu chinh c tu ng vi
tn hiu ng vo thay i. Trong sut thp nin 40 phung php p
ng tn s gip cho vic thit k cc h thng vng kn tuyn tnh
tho mn cc yu cu cht luong iu khin. T cui thp nin 40
n u thp nin 50 phung php qu ao nghim ca Evans uoc
pht trin kh hon thin.
Phung php qu ao nghim v p ng tn s uoc coi l ct
li ca l thuyt iu khin c in cho php thit k uoc cc cc h
thng n jnh v tho mn cc chi tiu cht luong iu khin. Nhng
h thng ny uoc chp nhn nhung chua phi l ti uu nht. Cho ti
cui thp nin 50 vic thit k h thng lm vic uoc dn dn chuyn
sang vic thit k h thng ti uu vi ngha y hn.
Khong nhng nm 1960 nh my tnh s cho php ta phn
tch cc h thng phc tap trong min thi gian. L thuyt iu khin
hin ai uoc pht trin i ph vi cc h thng hin ai. L
thuyt iu khin hin ai dua trn phn tch trong min thi gian v
tng hop dng cc bin trang thi cho php gii quyt cc bi ton
3
iu khin c yu cu cht ch v chnh xc, cht luong v gi
thnh ca cc h thng trong lnh vuc k ngh ..
Hin nay my vi tnh uoc dng nhu mt phn t trong cc h
thng iu khin. Vit nam t nhng nm 1960, ng v nh nuc
ta quan tm n vic o tao v nghin cu khoa hc trong lnh
vuc ny v nu r hung pht trin cng ngh mi nhn ca t nuc
vo th k 21 l hin ai ho cng nghip. Nghj quyt 27 CP ca
chnh ph v chung trnh tu ng ho quc gia khng jnh vai tr
quan trng ca n.
I.1.%. Nh&ng "hi ni' c( )*n
H iIu JhiKn h!c (Cybernetics): L khoa hc nghin cu nhng qu
trnh iu khin v truyn thng trong my mc, sinh vt v kinh t.
iu khin hc mang c trung tng qut uoc phn chia thnh cc
lnh khc nhau nhu ton iu khin, iu khin hc k thut, iu
khin hc sinh vt, iu khin hc kinh t...
H L thuyt iIu JhiKn tL 8n%: L c s l thuyt ca iu khin
hc k thut. iu khin tu ng (KT) l thut ng chi qu trnh
iu khin mt i tuong trong k thut m khng c su tham gia ca
con ngui (automatic), n nguoc lai vi qu trnh iu khin bng tay
(manual).
H 9 thMn% iIu JhiKn tL 8n%:
- + th,ng i!u "hin h- (Open loop control system): i vi
h thng h khu o lung khng uoc dng n. Su thay i ca tn
hiu u ra khng uoc phn nh v thit bj iu khin. S hnh
(1-1) l h thng iu khin h. C s l thuyt nghin cu h
thng h l l thuyt v r le ( Relay) v l thuyt aptomat hu han.
4
Controller Object
Hnh 1-1: H iu khin vng h
tn hiu
vo
tn hiu ra
V du: S iu khin ng c DC.
. + th,ng i!u "hin "/n (Closed loop control system):
H thng iu khin kn l h thng iu khin c phn hi
(Feed back) c ngha l tn hiu ra uoc o lung v ua v thit bj
iu khin. Tn hiu hi tip kt hop vi tn hiu vo tao ra tn hiu
iu khin (nhu hnh 1-2). C s l thuyt nghin cu h thng kn
chnh l l thuyt iu khin tu ng.
H thng KT l h thng uoc xy dung t ba b phn ch
yu:
- Thit bj iu khin C (Controller)
- i tuong iu khin O (Object)
- Thit bj o lung M (Measuring device)
S khi ca h thng KT v nhu hnh 1-2
Cc tn hiu tc ng trong h thng:
X - tn hiu ch ao, chun, hay tham chiu (Refrence) thung
gi tn hiu vo NPUT
Y - tn hiu ra OUTPUT
u - Tn hiu iu khin tc ng ln i tuong O
5
output
speed
DCmotor load
control
signal
Driving
torque
t
tn
hiu
iu
khin
Controlle
r
Object
Measuring
device
Y
U
e
Z
X
Noise
Hnh 1-2: H iu khin vng kn
(-)
e - Sai lch iu khin (error)
Z- Tn hiu phn hi. i khi k hiu l F ( Feed back)
( Phn hi m k hiu bng du ( -) khi Z nguoc du vi tn hiu vo R
N- Tn hiu nhiu ( Noise) tc ng t ngoi vo h thng. Nhiu
c nhiu loai nhu nhiu u vo , nhiu phu ti.
H Nh7n hOi ( Feed back):
Phn hi l hin tuong tn hiu u ra uoc ua tr lai u vo
khng ch u ra theo yu cu. Phn hi c th phn ra theo tn
hiu hay theo cch thc tham gia vo h.
- Phn hi cng: Tham gia c xc lp v qu nhm nng
cao cht luong ca h thng. Phn t uoc ng nhiu l in tr .
- Phn hi mm: L phn hi chi tham gia trong mach trong
qu trnh qu nhm nng cao cht luong qu trnh qu . Phn t
uoc ng nhiu l tu in v cun dy.
- Phn hi m: Tn hiu phn hi c chiu hay du nguoc vi tn
hiu u vo. Phn hi m c tc dung gi n jnh, lm tng cht
luong h thng.
- Phn hi duong: Tn hiu phn hi cng chiu hay du vi tn
hiu u vo. Phn hi dung c tc dung lm tng h s khuch ai
ca h hay tao ra cc h tu kch. V du mach dao ng a hi l mt
ng dung ca phn hi dung. h tu kch khng cn u vo m
cng c th c u ra.
H TPn hiu t)c 8n% Q5o:
i vi mt h thng iu khin tu ng bt ky u c v s cc
tn hiu u vo. C nhng tn hiu gy nh hung nng n ti h
thng v tn hiu khc th gy nh hung t. Khi nghin cu v tnh
ton h thng ngui ta chi tnh n cc tn hiu c bn cn cc tn
hiu khng c bn khc c th coi nhu tn hiu nhiu. Vi mi mt h
thng KT khc nhau th ngui ta xem xt tn hiu vo l khc nhau.
H &)c u$n% Rc tPnh Su) 8. ( u ra)
6
ung c tnh qu u ra th hin trang tha ca h khi c
tn hiu tc ng vo. Thng qua ung qu c th xc jnh uoc
tnh cht v cht luong n jnh ca h .
Cc dang c bn thung nhu hnh 1-3 :
- H v n jnh nhu ung 1
- H khng v n jnh ung 2
Trong thuc nghim trn my tnh
cc ung qu thung uoc v khi
cho tn hiu th l hm n vj.
I.1./. &)c n%uyn tTc iIu JhiKn cU
V7n
C nhiu cc nguyn tc iu khin khc nhau do c v s cc
h iu khin cc lnh vuc khc nhau song ta cc th phn ra thnh
3 nguyn tc iu khin c bn:
a0 Nguyn t1c gi& 2n nh 3
C 3 nguyn tc iu khin gi n jnh:
- Nguyn tc b tc dng ngoi: (feed forward control)
Trong nguyn tc ny c ngha l gi s c mt nhiu ngoi tc
ng vo h thng lm tng hay gim u ra th nh thit bj b ngoi (
K hnh 1-4) b vo mt luong gim hay tng lm cho u ra uoc
n jnh.
- Nguyn tc diu khin sai lch:
Nguyn tc ny nh vo khu phn hi t u ra cho h
thng lun n jnh.( ly v du nhu mach n p kiu b m chng ta
bit).
- Nguyn tc diu khin hn hop ( sai lch v b tc ng ngoi)
Hnh 1-4 v s h thng iu khin theo phung php hn
hop. Trong h thng tn hiu y(t) l tn hiu ra f(t) l nhiu tc ng
vo i tuong iu khin.
7
Hnh 1-3
y(t)
y
yc
1
2
0
t

Nhiu f(t) tc ng ln i tuong iu khin v du theo chiu
hung lm tng tn hiu ra y(t). trong h c ua mt thit bj b K c
tc dung nguoc du vi F, ngha l W tc dung b v pha truc
TBK (C) lm tn hiu E gim bt. Nu f(t) tc dung ln TK (O)
lm gim tn hiu ra y th thit bj b K lai tao ra tn hiu b W lm
tng E nhm cui cng lm tng y. H thng iu khin theo nguyn
tc hn hop uoc dng rng ri trong thuc t.
)0 Nguyn t1c i!u "hin th45 ch(ng tr6nh.
Nguyn tc ny thung dng cho h thng iu khin h.
Nguyn tc iu khin theo chung trnh l nguyn tc gi cho tn
hiu ra Y thay i theo mt chung trnh jnh sn Y(t) Yo(t). Nguyn
tc gi n jnh c th xem l trung hop ring ca nguyn tc iu
khin chung trnh. m bo chnh xc cao trong qu trnh iu
khin (sai lch nh), ngui ta thung dng h thng kn vi 3 nguyn
tc iu khin trn.
c0 Nguyn t1c i!u "hin th/ch nghi.
Cn gi l nguyn tc tu chinh jnh. c tnh ng hc ca hu
ht cc h thng iu khin u khng phi l khng thay i do nhiu
nguyn nhn nhu nh hung ca thi gian, thay i cc tham s v
mi trung d nh hung ca nhng thay i nh ca c tnh ng
hc uoc iu chinh nh h iu khin c phn hi, nhung nu cc
thng s ca h thng v mi trung thay i ng k th mt h
thng at yu cu phi c kh nng thch nghi. Su thch nghi bao gm
8
C
C
!
!
"
"
#
$
%(t)
&
y(t)
Hnh 1-4
v
(-)
c kh nng tu iu chinh (self adjust) hay su tu ci tin (Self modify)
ph hop vi cc thay i ca mi trung hay cu trc.. H thng
iu khin thch nghi c kh nng pht hin nhng thay i cc tham
s v thuc hin vic iu chinh cn thit cc tham s ca b iu
khin duy tr mt tiu chun ti uu no . H thng iu khin
thch nghi l mt h thng khng dng, n thch nghi vi h thng chju
tc ng ca mi trung thay i.
S khi ca h thng iu khin thch nghi hnh (1-5)
Ngoi vng kn c bn gm c hai khi TBK
C
v khi TK h
cn c mt khi iu khin thch nghi TBK
.
. Khi ny nhn cc tn
hiu ca h thng R,U, N,Y v dua trn cc chi tiu ti uu yu cu ca
h thng m jnh ra cc tn hiu iu khin lm thay i cc tham s
ca thit bj iu khin c bn TBK
C
. TBK
nhu vy va m nhn
vai tr iu khin va c chc nng ca mt khi tnh ton. TBK
thch nghi c th l mt my vi tnh m nhn chc nng tnh ton ghi
nhn d liu v iu khin.
I.1.0. NhXn lo*i h thMn% iIu JhiKn tL 8n%
Vic phn loai h thng KT c th thuc hin theo nhiu
phung php khc nhau. Muc ch ca vic phn loai khng phi l i
su vo cc cch phn loai h iu khin tu ng m gip cho chng
ta c th thy uoc vj tr ca phn l thuyt m chng ta i vo nghin
cu. Vi muc ch h thng iu khin tu ng uoc phn lm hai
loai chnh, phu thuc vo tnh cht ca cc phn t ca h thng l:
9
Y
TBK
TBK
TBK
C
TBK
C
TK
TK
X
'
U
Hnh 1-5
h thng tuyn tnh v h thng phi tuyn.Nu tt c cc phn t ca
h thng l tuyn tnh th h thng uoc gi l h tuyn tnh. Cn nu
h thng chi cn c mt phn t l phi tuyn th h thng uoc gi l
h phi tuyn. Phn c bn ca l thyt iu khin tu ng l i su
vo nghin cu h tuyn tnh. c trung c bn nht ca h tuyn
tnh l nguyn l xp chng.Ngha l khi c mt t hop tn hiu tc
ng vo phn t th tn hiu ra s bng t hop ca cc tn hiu ra
thnh phn. Cn h thng phi tuyn khng chju tc ng ca nguyn
l ny.
Luu phn loai h thng iu khin tu ng
Theo tnh cht truyn tn hiu th h thng tuyn tnh uc phn
ra lm 2 loai l : h thng lin tuc v h thng gin oan. Nu thng tin
uoc truyn i trong h thng lin tuc tt c cc mt xch th h
thng uoc gi l h thng tuyn tnh lin tuc. Nu tai mt mt xch
no thng tin bj gin oan th h thng uoc gi l h tuyn tnh
gin oan.
Cn c vo thng tin ban u ca i tuong iu chinh (TC)
v tnh cht ca n m phi xy dung uoc h thng thit bj iu
10
HTKT
()))*)
H thng thung
H thch nghi
H h
H b
nhiu
H chung
trnh
H tu n jnh
H theo di
H hn hop
H gin
oan
H cuc trj H kn
H tu chinh
H ti uu
chinh ( BC) thch hop m bo uoc cht luong iu chinh. T y
h thng tuyn tnh lin tuc (HTTTLT) uoc phn ra thnh 2 loai h
thng iu chinh l: H thng iu chinh thng thung HTTT v
h thng iu chinh thch nghi HTTN. Vi nhng TC m cc thng
tin ban u khng y hay qu trnh cng ngh c yu cu c bit
th HTTT khng p ng uoc v vy phi xy dung h thch nghi.
H thch nghi (Hay cn gi l h thng tu iu chinh) l h thng
c kh nng thch ng mt cch tu ng nhng bin i ca iu kin
mi trung v c tnh ca i tuong iu khin bng cch lm thay
i tham s v cu trc ca thit bj iu khin. H thng ny x dung
cc thit bj tnh k thut s cc h thng c ghp ni my tnh v vi x
l. i vi h thch nghi ngoi cu trc thng thung ra trong TBC
cn c mt s thit bj c bit khc thuc hin chc nng ging ca n
nhm m bo cht luong qu trnh iu chinh.
HTTT uoc phn ra thnh h thng h HTH v h thng kn
HTK. i vi HTH tn hiu ca ai luong cn iu chinh khng uoc
s dung trong qu trnh tao ra tc ng iu khin. Phung thc iu
khin y l phung thc b nhiu trong h thng b nhiu HBN
hoc phung thc iu khin theo chung trnh trong h thng iu
chinh theo chung trnh HCTr. S cu trc ca HTH uoc m t
nhu hnh 1-6
HTK tc ng theo phung thc iu khin sai lch. Tn hiu o
uoc ca ai luong cn iu chinh uoc ua tr lai u vo h thng
11
TB
TB TBC TC
TBC TC
Y
Z
U
Y
a) H thng b nhiu. b) H thng iu khin theo
chung trnh
Hnh 1-6 : H thng iu chinh h
v uoc s dung trong qa trnh tao ra tc ng iu khin U. S
cu trc ca HTK uoc m t nhu hnh 1-7
Dua vo tnh cht ca gi trj ch ao X m HTK uoc phn ra
thnh h thng tu n jnh HO v h thng iu khin theo chung
trnh v h thng theo di HTD.
Trong HO th X const, TBC lun lun gi cho ai luong cn
iu
chinh n jnh gi trj t ny. TBC m bo cho ai luong cn iu
chinh
bm theo ung chung trnh vi chnh xc cn thit. i vi h
theo di gi trj X khng bit truc. N uoc thng qua mt h thng
thit bj o mt ai luong ch thuc no m TBC phi tc ng
cho ai luong cn iu chinh lun bm st ai luong ch ny.
S cu trc h theo di nhu hnh 1-8.
H thng iu chinh hn hop HTHH l su kt hop ca HO vi
HBN nhm muc ch nng cao cht luong ca qu trnh iu chinh.
S cu trc nhu trn hnh 1-4.
12
ai luong
ch
TB TB
C
T
C
X e U Y
Hnh 1-8 : S khi ca h thng theo
di
TB
TB
C
T
C
Y
a)
X
TB
C
T
C
Z
-
Y
+)
Hnh 1-7: H thng kn
H thng iu chinh tu thch nghi chia thnh 3 loai chnh: h
thng iu chinh cuc trj HTC, h thng iu chinh vi thit bj tu chinh
jnh HTC, h thng iu khin ti uu HT. Khi ai luong cn iu
chinh c cuc trj v chng ta mong mun n lun lun tn tai im
cuc trj ny th phi s dung HTC.
S cu trc nhu hnh 1-9
Thit bj tm cuc trj TBTCT thuc hin chc nng tm gi trj Yc ca
ai luong cn iu chinh v pht cho h thng TBC nhu vy chi khi
Yc v Y cng at cuc trj th e 0 v h thng at trang thi xc lp.
Nhu vy ai luong cn iu chinh lun lun gi gi trj cuc trj.
Thit bj tu chinh thuc hin chc nng xc jnh cu trc thch hop ca
TBC hoc xc jnh thng s ti uu ca n v thuc hin su thay i
cu trc hoc thng s ca TBC cho thch hop vi kt qu m n
xc jnh.Tuy nhin HTC gii quyt uoc cc vn xc jnh cu trc
hoc tham s ti uu ca TBC cho thi im cu th ca h thng iu
chinh tu ng m khng gii quyt vn ti uu cho ton b h thng
ni chung theo mt chi tiu ti uu cu th nhu tiu hao nng lung
hoc rt ngn thi gian.Bi ton ny uoc gii quyt bng h thng
iu khin ti uu. HT l mt h thng iu khin phc tap trong
13
),)C) TBC TC
Y
c
e U Y
Hnh 1-9 : S khi ca h thng iu chinh cuc trj
Hnh 1-10 : s khi ca h thng iu chinh vi thit bj tu
chinh
TB
C
T
C
X
e
U
Y
),)C
Z
thit bj iu khin c chc nng tng hop uoc mt tn hiu iu
khin tc ng ln di tuong nhm chuyn trang thi KT t trang
thi u n trang thi cui cng trong khong thi gian ngn nht
lm cho h thng at uoc chnh xc iu khin cao nht.
H thng iu chinh tu ng tuyn tnh gin oan uoc phn ra
thnh 3 loai l: iu chinh vj tr, h thng iu khin xung v h thng
iu khin s.
I.1.Y. Nhim QZ (hXn tPch Q5 thit J h thMn% KT
H Nhim QZ c[a l thuyt iIu JhiKn tL 8n%:
- L thuyt iu khin tu ng nghin cu cc nguyn tc chung
xy dung h tu ng, cc phung php kho st chng m
khng phu thuc vo bn cht vt l ca cc qu trnh. L thuyt iu
khin tu ng l c s l thuyt thit k cc h tu ng trong cc
lnh vuc khc nhau ca k thut, kinh t, hay trong c th sng, quan
h x hi.
- Nhim vu c bn ca l thuyt iu khin tu ng l kho st
cc c tnh tnh ( ch xc lp) v cc c tnh ng ca cc h
tu ng nhm thit k cc h thng tho mn cc yu cu k thut
cho truc.
- i vi mt h thng uoc xy dung (C th h thng ny
chay khng at uoc cc chi tiu cht luong hay bn thn n cn phi
sa i ph hop vi su cn thit chuyn i cng ngh ) th nhim
vu ca L thuyt KT l phi Kho st n jnh h thng v nh gi
cht luong sau tin hnh hiu chinh h thng cho ph hop vi yu
cu.Trung hop khc: Khi nh sn xut cho ta mt yu cu cng
ngh v yu cu ta thit k mt h thng tu ng. Khi cng vic
ca l thuyt iu khin tu ng l dua vo yu cu cng ngh xy
dung h thng. H thng uoc xy dung nh vo cc khu hay cc
m hnh vt l sau kt ni thnh h thng v tin hnh kho st n
14
jnh , nh gi v hiu chinh h thng ri trn c s thit k v
xy dung mt h thng thuc t cho sn xut.
Trong tin trnh thit k v kho st, l thuyt iu khin tu ng
m nhn 2 nhim vu sau:
- Phn tch h thng: gm 2 buc l kho st n jnh h
thng v nh gi cht luong ca h . Trong cht luong ca h
thng bao gm cht luong qu trnh xc lp v qu trnh qu .
- Tng hop h thng: l xc jnh thng s v cu trc ca thit
bj iu khin. Cu th l xc jnh cc khu b trong luu . i vi h
iu khin thch nghi v ti uu nhim vu ca thit bj iu khin chnh
l xc jnh quy lut iu khin U(t). ii quyt nhim cu tng hop h
thng thuc cht l thit k h thng iu khin tu ng.
HTin t"\nh (hXn tPch thit J h thMn% iIu JhiKn tL 8n%
a, Dua trn yu cu thuc tin, cc m hnh vt l ta xy dung
m hnh ton hc dua trn cc quy lut, hin tuong, quan h ca cc
i tuong vt l.
b, Dua trn l thuyt n jnh ta kho st tnh n jnh ca h
thng. Nu h khng n jnh ta thay i c tnh ca h thng bng
cch ua vo mt khu b chnh (Compensation) hay thay i tham
s ca h h n jnh.
c, Kho st cht luong ca h theo cc chi tiu ra ban u.
Nu h khng at chi tiu cht luong yu cu ta lai thuc hin b chnh
h thng.
d, M phng h thng kim tra thit k ( MT LB)
e, Thuc hin m hnh mu v kim tra thit k bng thuc nghim
f, Tinh chinh thit k ti uu ho chi tiu cht luong v ha thp
gi thnh nu c yu cu
g, Xy dung h thng thit k
Cc buc kho st thit k h thng uoc tm tt thnh luu hnh
( 1-11).
15
16
M hnh vt l yu cu thuc tin
Kho st n jnh h
thng
n jnh
n jnh
n jnh ho h
thng
Kho st cht luong h
thng
at yu
cu
Thuc hin b
chnh
M phng h thng trn my
tnh v kim tra thit k
a
t
a
t
Thuc hin m hnh mu v
kim tra thuc nghim
M hnh ton hc h
thng
at
at
Tinh chinh thit k ti uu ho chi
tiu cht luong v ha thp chi ph
at
at
Xy dung h thng thuc t v kin tra
Nhim vu
ca l
thuyt
KT
Khng
Khng
C
Khng
C
Khng
C
Thay i tham
s
Hnh 1-11: Luu nhim vu ca KT
Bt
u
Dng
C
C
.1.6. Cc v du v h thng iu khin tu ng
WP ]Z 1: H thng iu chinh tc quay ca tua bin hi nuc. S
nguyn l nhu hnh v (1-12).
- i tuong iu khin l tua bin hi nuc
- Thit bj iu khin l van i chinh luong hi vo
- Thit bj o lung l c cu ly tm
H thng KT ny nhm duy tr cho tc tua bin gi n jnh. Nu
tc tng ln do nguyn nhn no y th thng qua c cu ly tm,
con truot s bj ko ln trn ko c u ca cnh tay n B, u B
s bj n xung lm cho van bj ng bt gim lung hi cp vo tua
bin. Khi tc quay ca tua bin s gim xung. Tung tu khi tc
quay ca tua bin gim xung v l do no , th cnh tay n B
thng qua c cu ly tm s ha u xung v nng u B ln m
van cho lung hi vo my nhiu hn v lm tng tc quay ca tua
bin.
WP ]Z ,: H iu chinh tu ng tc ng c in mt chiu cng
nhu h my pht ng c hay h thng thyristor -ng c th khu hi
tip l my pht tc, khu so snh dng mach in t vic thay i tc
bng cch thay i in p t vo ng c. S khi nhu Hnh
v 1-13 dui.
17

Tua bin
hoi
-an
Hoi vo
C( c7u 8y t9'
Ti
truc
quay
.
Hnh 1-12: Tua bin
hi
,
18
B bin
di
D
C
/
)
my pht
tc
Khu so
snh
Tn hiu
dt
Hnh 1-13: iu chinh tc ng
c
WP ]Z /: H thng iu chinh tu ng in p my pht in mt chiu
Trong s gm c cc phn t:
- Khuch ai vo l thit bj cng tn hiu Uo (in p t t chit
p VR1 v Uz (in p phn hi qua chit p VR
2
) ly t in p pht
ra Uf ca my pht F.
- Cc in tr R1, Ro, tu C tao thnh khu qun tnh bc 1
- Mach khuch ai dng cng sut gm 2 TZT T1, T2
- i tuong iu khin l my pht in mt chiu c in p ra
Uf cn gi n jnh .
- Chit p VR2 v in tr R3 lm mach phn p ua in p
my pht Uf thnh in p phn hi Uz v u vo v so snh vi Uo.
Chc nng ca h thng l cn gi n jnh in p ra Uf. i
s do nguyn nhn no in p ra Uf gim xung dn ti tn hiu
t ti b khuch ai K l hiu in p Uo-Uz u v Uo Const
vy khi Uz gim th u tng do vy U1 tng dng qua cun kch t KT
cng tng dn ti in p my pht Uf cng tng ln, ngha l h
thng gi uoc in p ca my pht uoc n jnh
WP ]Z 0: H thng rada pho cao xa:
S (1-15 ) trnh by nguyn l iu khin ra a pho cao xa.
Khi ra a quay n lm cho rto ca selfsyn pht quay theo lm mt
cn bng ca selfsyn thu pht, nn Stato ca selfsyn thu xut hin
mt in p. in p ny uoc khch ai nhay pha v khch ai cng
19
+ E
R O
R 0
R 1
C
U 1
T 1
V R 1
V R 2
K T
F
U f
E
R 2
U k t
U o
R 3
U z
- E
K D
Hnh 1-14
+
sut iu khin ng c chp hnh ko pho cao xa quay theo c
lin kt vi r to ca selfsyn thu v vj tr cn bng.
20
WP ]Z Y: H thng iu khin s my cng cu:

iu khin s (NC) l phung php iu khin m tn hiu uoc
m ho dui dang s nhj phn. S liu v kch thuc ca chi tit cn
gia cng uoc luu tr dui dang nhj phn v ua vo b iu khin.
B iu khin c th l my vi tnh ( H CNC) nhn d liu gia cng
v d liu s chuyn i t tn hiu hi tip vj tr ca dao ct ri xc
jnh sai lch. Sai lch dui dang s uoc chuyn thnh tung tu
iu khin c cu chp hnh ua dao ct n vj tr yu cu.
21
My
vi tnh
iao
tip
D0.
Khuch
ai
ng c
chp
hnh
Pht
tc
Dao
ct
iao
tip
.0D
a cha
chung
trnh,
data
Vj tr dao ct
Hnh 1-16: H thng iu khin s my cng
cu
khuch
ai
nhay
pha
"
C
Khuch
ai
cng
sut
DC
1tat
o
t2u
Pho
Raa
Hnh 1-15: H thng Rada -pho
cao xa
Stato pht
3oto
1elsyn
t2u
selsyn
pht
I.,. => T? T@AN 9B& &CD 9E T9FN< IÛ K9I_N T` aN<
1.,.1. 95m t"uyIn *t:
m t cc h thng KT cng nhu phn tch mt h
thng vt l ngui ta phi chuyn m hnh nng luong ra m hnh tn
hiu, vic lm ny gi l m t ton hc. C nhiu phung php song
u phi tho mn:
- M t h l h iu khin.
- Kh chnh xc song d p dung.
- C tnh tng qut cho mi h iu khin vi nguyn l v tc
ng khc nhau.
Do vy m hnh thung s dung l s cu trc v hm
truyn at. Trong s ny mi phn t hay nhm phn t uoc m
t bng mt hnh ch nht trong ghi hm truyn. Cc phn t uoc
ni vi nhau bng mi tn chuyn hung (hung truyn tn hiu).

Tai cc im trn s nguyn l c t hai u vo tr ln th
trn s cu trc uoc m t bng nt cng tn hiu k hiu l mt
vng trn c 2 gach cho. Nu quat trng th tn hiu mang du
() . Nu quat bi en hay c du (-) bn canh c ngha l tn hiu
mang du m.
Hm truyn at ca mt phn t hay h thng:(p)
(p)
) p ( X
) p ( Y
Trong :
- p l ton t Laplace
- X(p) l luong vo biu din theo Laplace
22
4(p)
X(p)

Y(p)

a)
X
1

X
2

(-)
Y
+)
Hnh 1-17 : a) Hm truyn at b) Nt cng tn hiu
- Y(p) l luong ra biu din theo Laplace
Mun thit lp hm truyn at cho h thng th phi thit lp
hm truyn at cho cc khu. thit lp hm truyn at cho cc
khu th phi thit lp uoc h phung trnh vi phn m t hay c
trung cho tng khu. Sau dng php bin i Laplace xc jnh
cc hm tc ng biu din dui dang ton t Laplace.
1.,.,. Nh#Un% t"\nh Qi (hXn
Mt phn t hay mt h thng c th uoc m t bng mt khi
ch nht vi u vo v u ra. Phung trnh vi phn xc inh mi
quan h gia u vo X v u ra Y ca phn t hay h thng y.
:;/ <=1:
Hnh v (1-18) c bin tr vi mi quan h ca in p vo Uv v
in p ra Ur nhu sau:
Ur R
2
.i
2 v
1 2
R .U
R +R
bc y K.x
Trung hop ny uoc m t bi phung trnh vi phn ca mt khu
khuch ai vi h s khuch ai l K:
K R
2
(R
1
R
2
)
:;/ <= %: Cho s mach nhu hnh ( 1-19) mach RC phung trnh vi
phn uoc xc jnh bi :
Uv iR Ur
Ur
C
1
idt
vi iu kin vo ban u: Ur
(0)
0 ta c
dt
dUr
C i
do vy
Ur
dt
dUr
RC Uv +
Vi T RC phung trnh vi phn trn c dang
T.
dt
dY
Y K.X
23
Uv
(%)
Ur
(y)
C
3
Hnh1-
19
Uv
Ur (%)
(y)
31
32
Hnh1-18
y l phung trnh vi phn bc mt ca mt khu qun tnh m
K l h s khuch ai T l hng s thi gian. R,C cng ln th qun
tnh cng ln.
: ;/ <= >: Hnh(1-20)
Uv .R
dt
di
L
Ur
0
1
idt
C
Ur
vi iu kin vo ban u: Ur
(0)
0 ta c
dt
dUr
C i
do vy

Ur
dt
RCdUr
dt
Ur LCd
Uv + +
2
Hay dang tng qut:
X . K Y
dt
dY
T
t d
Y d
T T + +
2
2
2
2 1
T
1
LR T
2
RC K 1.
y l phung trnh vi phn m t khu dao ng (bc hai )
: ?@t 8uAn 3
Cc phn t khc nhau v bn cht vt l u c th m t bi
cc phung trnh vi phn. cc h thuc bc ca v phi lun nh
hn hay bng bc ca v tri v u ra khng th vuot truc tn hiu
u vo. Trung hop tng qut phung trnh vi phn c dang:
x b
dt
dx
b
dt
x d
b
dt
x d
b y a
dt
dy
a
dt
y d
a
dt
y d
a
m m
m
m
m
m
n n
n
n
n
n
+ + + + + + + +

1
1
1
1 0 1
1
1
1 0
... ...
Vi mn
1.,./ Nhd( Vin i La(lace
Php bin i laplace uoc ng dung rt rng ri v c hiu qu
trong vic gii cc bi ton l thuyt mach in, in t c bit trong
l thuyt iu khin tu ng phn tuyn tnh. Bin i Laplace l cng
cu trung gian n gin ho vic tnh ton.
af gnh n%hha
24
3
C
*
Uv
(%)
Ur
(y)
Hnh1-20
Nu c mt hm f(t) c i s theo thi gian th nh Laplace ca
hm k hiu l F(p) uoc tnh theo cng thc:
F(p)
dt e ). t ( f
pt
0
Trong : P l bin s ca ton t Laplace F(p) l nh f(t) l
gc. uan h gia hm nh v hm gc uoc vit nhu sau:
f(t) F(p) L f(t)
Vf &)c gnh l
1. jnh l : i vi cc hng s bt ky v B
( ) ( ) A.f(t) +B.g(t) A.F p + B.G p
2. jnh l ng dang:
i vi hng s 0 bt ky
( ) { }
1 p
L f t F

_

,
2. jnh l chuyn djch nh:
i vi s a bt ky
( ) { } ( )
at
L e f t F p a
3. jnh l tr: i vi hng s 0 bt ky, ta c:
( ) { } ( )
p
L f t F p e

4. jnh l v ao hm:
{ } ( ) ( )
'
( ) . L f t p F p f o
{ } ( ) ( )
'' 2 '
( ) . (0) L f t p F p pf o f
Tng qut: { } ( ) ( )
1 2 ' ( 1)
( ) . (0) ... (0)
n n n n n
L f t p F p p f o p f f

Khi iu kin u trit tiu , tc :
( ) ( ) ( ) ( )
' '' ( 1)
... 0
n
f o f o f o f o

th:
{ } ( )
'
( ) . L f t p F p
{ } ( )
'' 2
( ) . L f t p F p
{ } ( ) ( ) .
n n
L f t p F p
5. jnh l v tch phn
( ) ( )
0
1
t
L f d F p
p

' )


25
5. jnh l v vi phn nh
Nu { }
( ) ( ) L f t F p
th :
-t.f(t) F
(p)
p dung jnh l va vit mt s ln ta uoc cc cng thc h qu sau
y:
t
2
.
f(t) F
(p) -t
3
.
f(t) F
(p) (-1)
n
t
n
.
f(t) F
(n)
(p).
WP ]Z: Tnh nh ca cc hm lu tha t
k
.
Ta c :
n
2 2 n+1
1 1 1 n!
1 ; -t - hay t ,..., t ...
p p p p

7. jnh l nhn nh (jnh l cui)
( ) ( ) ( )
1 2
F p F p F p
( ) ( ) ( ) ( ) ( )
1 2 1 2
0 0
.
t t
f t f t f t d f t f t d

Cc bin i thng thung trong chung trnh p dung c th tra
bng 1-1
95m %Mc ijtf
95m 7nh
kj(f b Llijtfm
95m %Mc
ijtf
95m 7nh
kj(f b Llijtfm
f(t) C hng
s
p
c
cos(t)
2 2
p
p +
f(t) e
at
a p
1
e
-at
sint
( )
2
2
p
+ +
f(t) e
-at
a p+
1
e
-at
cost
( )
a
p a
+
+ +
2
2
p
f(t) t 2
p
1
dt
) t ( df
p.F(p)
sin(t)
p

+
2 2
dt ) t ( f ) p ( F
p
1
f(t) 1(t) 1p (t) 1
26
Bng tra 1-1
- Nu bit hm nh c th tm hm gc bng cch ly Laplace nguoc
F(p) f(t) L
-1
F(P)
f(t)
( ) dp e p F
j
j
. .

2
1
p
j

+

( l bn knh hi tu ca tch phn)
65i tn( on% ]Zn% (hd( Vin i La(lace:
WP ]Z 1: Cho s nhu hnh 1-21 bn tm hm truyn at.
Cch gii: Tnh in p vo v in p ra theo laplace sau
chia luong ra cho luong vo s tm uoc hm truyn at.
in p vo uoc tnh:
Uv(t)
+ + +
dt
) t ( di
L R ). t ( i R ). t ( i dt ) t ( i
C
1 2 1
1
) p ( ! L R R
! C
) p ( U"

,
_
+ + + 1 2 1
1
1
in p ra:
Ur(t) i(t)R2
dt
) t ( di
L
Ur (R2L1P)(p)
Hm truyn at uoc tnh:
P C
R R P L
P L R
p Uv
p Ur
P W
1
1
2 1 1
1 2
) (
) (
) (
+ + +
+

i vi in tr R l phn t tuyn tnh do vy n lun khng thay
i.
WP ]Z ,:
Cho h KT c hm truyn at
#) 1)(! (!
$) 2(p
%(p)
+ +
+
. Bit tn
hiu vo c dang hm m: x(t) e
-2t
. Tm tn hiu ra y(t), phung trnh
vi phn m t h.
Cch gii:
Theo bng tra 1-1 ta xc jnh
2 !
1
X(p)
+
. Vy nh theo
Laplace ca tn hiu ra l:
27
C1
R2
L1
U"
Ur
R1
Hnh 1-21
&
# !
K
1 !
K
2 !
K
) 1)(! 2)(p (p
$) 2(p
X(p)'(!) Y(p)
$ 2 1
+
+
+
+
+
+ + +
+

6
Cc h s ca phn thc n gin c th tnh nhu sau:
( ) [ ] 5 0
6 1
3 2
2
2
2 1
(
) ! )( ! (
) ! (
) p ( Y ! K
!
!

1
]
1
+ +
+
+

( ) [ ] ! , 0
) " # )( 2 # (
) $ # ( 2
) p ( % 1 # &
1 #
1 # 2
+
1
]
1
+ +
+
+

( ) [ ] $ , 0
) 1 # )( 2 # (
) $ # ( 2
) p ( % " # &
" #
" # $

1
]
1
+ +
+
+

Nhu vy:
# p
)($
1 p
)(*
2 p
)(+
,(p)
+
+
+
+

Vy p ng ca h trn theo Laplace nguoc s l :
Y(t) -0,5e
-2t
0,8e
-t
- 0,3e
-6t
(phn ny c th ly thm cc trung hop khi cho cc hm u vo
khc nhau v du nhu : 1(t), sint, ...)
- tm phung trnh vi phn ta chi cn vit lai HT sau dua theo
Laplace l uoc phung trnh vi phn. Phung trnh vi phn m t
h uoc xc jnh:
T hm truyn at:

#) 1)(! (!
$) 2(p
%(p)
+ +
+
+ +
+
# ! - !
# ! 2
2
X(p)
) p ( Y

) p ( X ) # ! 2 ( ) p ( Y ) # ! - ! (
2
+ + +
theo bng tra Laplace nguoc ta c
> ) p ( Y !
2
2
2
dt
) t ( , d
tung tu cho
cc gi trj khc ta uoc phung trnh vi phn m t h:
) t ( . #
dt
) t ( d.
2 ) t ( , #
dt
) t ( d,
-
dt
) t ( , d
2
2
+ + +
1.,.0. =a t"nn.
Ma trn l mt bng thnh lp t m hng v n ct. K hiu l
ma trn, v du gm 2 hng v 2 ct nhu sau:
Trong : a
ij
l cc phn t ca ma trn (m x n)
28
{ }
11 12
21 22
2
$ '(n
ij
a a K
A a
a a t
_ _

, ,
&)c (hd( to)n cU V7n :
Hai ma trn v B bng nhau nu cc phn t tung ng bng
nhau:
a
ij
b
ij

1. =a t"nn chuyKn Qg ca ma trn l ma trn
a
ij
th a
ji
,. =a t"nn Mi pon% l ma trn m , l ma trn vung:

a
ij
a
ji
( i, 1,...n)
/. &8n% hai ma t"nn C B
C
ij
a
ij
b
ij
V du:
2 ) 2 2 ) 2
$ 1 $ 2 0 $
_ _ _
+

, , ,
Tnh cht: B B
( B C) ( B) C
Php tr ma trn ta thuc hin nhu php cng
0. Nhd( nhXn ma t"nn:
C
ij

n
K 1
ki ik
b a
V du:
1 1 1 2 1 1
.
2 2 0 1 2 "
A B

_ _ _

, , ,
1 2 1 1 $ 2
. .
0 1 2 2 0 1
B A AB
_ _ _

, , ,
29
Y. gnh thoc c[a ma t"nn Qun% Dj n p nf :
q. Nhrn (hZ *i sM:
Nu jnh thc , ta b i hng th i v ct th j v gi lai (n-1)
hng v (n-1) ct v ly du bng (-1)
ij
. l phn phu ai s ca
phn t a
ij
ca ma trn k hiu l
ij
.
V du : Cho ma trn dui th phn phu ai s ca ma trn uoc tm
nhu sau:
Ta tnh cc phn phu ai s ca ma trn :
a
22
a
23

11
(-1)
11
a
22
.a
33
a
32
.a
23
a
32
a
33
t. =a t"nn (hZ hu( ( djugate matrix): L ma trn uoc thnh lp bi
cc phn phu ai s v sau ly chuyn vj. K hiu ca ma trn phu
hop l: adj
V du: 1 2 -1 2 1 -5
1 3 1 phn phu ai s l -1 -1 3
2 1 1 -1 0 -1
2 -1 -1
dj() 1 3 1
2 1 1
-. Khai t"iKn gnh thoc theo h5n% hay c8t: vwT jDf
Khai trin theo hng i ( i1...n) : hng i (a
i1
, a
i2
,...a
in
)
30
a
11
a
12
5a
11
a
22
- a
21
a
12
a
21
a
22
a
11
a
12
a
16
. 5 a
21
a
22
a
26
7
a
61
a
62
a
66
n a
i1.
(-1)
i1
i1
a
i2
(-1)
i2
i2
. a
in
(-1)
in
in

+

n
K
iK iK iK
n
K
K i
iK
D a a
1 1
) 1 (
Khai trin theo ct j ( j 1...n)
Ct j
1
1
1
1
1
]
1
nj
j
j
a
a
a
.
.
2
1
n a
1i.
(-1)
1j
1j
a
2j
(-1)
2j
2j
. a
nj
(-1)
nj
n

+

n
K
Kj Kj Kj
n
K
j K
Kj
D a a
1 1
) 1 (
V du: Tnh jnh thc: 1 2 3
DET (
3
) 4 5 6
7 8 9
Tnh theo hng 3 ta c:
31
) 2- 4* 21
+ .. 4
2 .. 1
) 1 ( /
# .. 4
$ .. 1
) 1 .( *
# ... +
$ ... 2
) 1 .( -
$ $ 2 $ 1 $
+
1
]
1
+
1
]
1
+
1
]
1
+ + +
Ma trn uoc ng dung nhiu trong vic gii cc bi ton trong
k thut v trong iu khin ng. Trong pham vi bi ging ny ng
dung ca ma trn uoc cp chung 3. n gin cho vic tnh
ton sinh vin c th s dung phn mm MPLE hoc MTLB.
I./. N9xN< y& TzN9 &; 6?N &CD 9E T9FN< KT
I./.1. Rc tPnh thnh c[a c)c (hrn t.
c tnh tnh ca cc phn t l mi lin h gia tn hiu ra v
tn hiu vo trang thi xc lp. Dua vo cc c tnh tnh m cc
phn t tuyn tnh uoc chia ra lm 4 loai: Phn t nguyn hm, phn
t tch phn, phn t vi phn v phn t tr . Ta xt chi tit cc phn
t ny muc (1.4).
I./.,. Rc tPnh 8n% h!c c[a c)c (hrn t.
c tnh ng hc ca cc phn t m t su thay i ca tn
hiu ra ca n theo thi gian khi c tc ng u vo. c tnh ng
hc m t qu trnh ng hc xy ra trong phn t. N thung uoc
biu din bng phung
32
trnh vi phn tuyn tnh dang tng qut:
x b
dt
dx
b
dt
x d
b
dt
x d
b y a
dt
dy
a
dt
y d
a
dt
y d
a
m m
m
m
m
m
n n
n
n
n
n
+ + + + + + + +

1
1
1
1 0 1
1
1
1 0
... ...
()
Trong a
0
,...a
n
, b
0
,...b
n
l nhng h s v
n m
.
S dung chuyn i Laplace c th m t phung trnh trn
dui dang ton t P. Cng thc chuyn i uoc biu din nhu sau:
[ ]

0
). ( ) ( ) ( dt e t y t y L P Y
pt
Trong y(t) uoc gi l hm gc ca Y(P) tra bng Laplace ta c:
) ( . P Y p
dt
y d
L
n
n
n
1
]
1
Phung trnh () c th biu din dui dang ton t Laplace nhu sau:
(a
0.
p
n
a
1
p
n
...a
n-1
p a
n
).Y(P) (b
0.
p
m
b
1
p
m
...b
m-1
p b
m
)X(P)
Chuyn i phung trnh trn ta uoc:
(p)
n 1 n
1 n
1
n
0
* 1 *
1 *
1
*
0
a p a ... p a p a
+ p + ... p + p +
,(p)
%(p)
+ + + +
+ + + +

) (
) (
p A
p B
Biu thc trn uoc gi l hm truyn at ca phn t.
Khi hm truyn at c th jnh ngha : Hm truyn at l t
s gia luong ra v luong vo ca mt khu uoc biu din dui
dang ton t. Hay ni cch khc: hm truyn at ca mt phn t hay
mt h thng l nh theo Laplace ca tn hiu ra trn tn hiu vo vi
u kin u bng khng.
Trj s ca p m hm truyn bng v cng l nghim cuc hay gi
tt l cuc. Cuc l nghim ca phung trnh c trung ( cn gi l
phung trnh c tnh ca phn t): (p) a
0.
p
n
a
1
p
n
...a
n-1
p a
n

0. Nhu vy thng qua hm truyn at c th xc jnh uoc tnh cht
n jnh ca h thng.
I././. Rc tPnh th$i %ian c[a c)c (hrn t.
Mi tc ng vo h thng u gy nn su thay i ca ai
luong iu khin, gy nn su chnh lch so vi ai luong cho truc.
Tnh cht ca qu trnh phu thuc vo bn thn h (cu trc v thng
s) cng nhu im t ca tc ng vo v dang ca tn hiu tc
ng. C hai loai tc ng t ngoi vo h thng: Tc ng ca tn
hiu t v tc ng ca tn hiu nhiu. Nhim vu ca iu khin tu
33
ng l loai tr hay gim nh nh hung ca nhiu n mc c th.
phn tch v kho st h thng ngui ta nh gi p ng ca n
v tnh n jnh v cht luong dui cc dang tc ng vo thung
gp.
Su thay di ca tn hiu ra ca cc phn t theo thi gian khi
tc dng vo l nhng tn hiu mu goi l cc dc tnh thi gian. l
nhng tn hiu vo tc ng vo h lm cho h chju ch nng n
nht.
Nhng tn hiu mu: tn hiu bc thang n vj- hm 1(t) hoc tn
hiu xung mu
) t (
.
Cc c tnh thi gian bao gm hm qu v hm trng luong.
af TPn hiu m{u
H TPn hiu Vnc than% Un Qg (hm 1(t) ) c th uoc m t bi:
x(t)
1(t) 0 khi t0
1 khi t0, t0 1
t
Hnh 1-22
S d tai thi im t0 tn hiu chuyn t 0 v 1 (vi thi gian bng 0)
nn ta ni ch ny nng n l v th.
Mt tn hiu tin jnh dang bt ky c
th xem nhu t hop ca cc tn hiu bc
thang:
)
i
t ( 0 ) t ( 0 ) t ( .
n
i
i
+

1 1
1
0

Nhu hnh 1-23
i vi h tuyn tnh, nguyn l xp
chng (xp chng nguyn nhn v hu
qu ) cho php xem p ng ca mt khu hay mt h i vi tn hiu
tin jnh bt ky nhu tng hop cu p ng ca mt khu hay mt h
i vi tn hiu tin jnh bt ky nhu tng hop ca cc thnh phn
biu thc x(t) nhu trn. Cng nhiu bc thang chnh xc cng cao.
Khi x(t) uoc tnh:
34
%(t)

t
.
1
.
2
.
0
Hnh 1-23
0
( )
( ) (0)1( ) 1( )
t
dx
x t x t t d
d
Tn hiu bc thang thung gp cc h iu chinh. Do vy nu

dng ai luong tung i vi tn hiu bc thang vo, bc thang n vj
1(t) c th dng n gin ho vic kho st cc h iu chinh. Mt
in p 220 vol t vo ng c xoay chiu hay mt tn hiu t l 12
vol DC t vo h iu chinh nhit , h tung i u c th xem
l tn hiu bc thang n vj 1(t).
H TPn hiu pun% Un Qg ( hm irc hay hm
) t (
).
Xung n vj l xung c rng bng 0 bin bng v cng v
din tch xung bng 1.
Xung n vj uc m t nhu hnh 1-24
) t (
0 khi
0 t
khi t 0

1 dt ) t (

Lin h vi hm bc thang n vj ta c
) t (
dt
) t ( d1

[ ] ) a t ( ) t (
a
1i2 1 1
1
khi a 0
a l rng ca xung n vj
Vf &)c h5m th$i %ian
: +B' Cu $ ca '$t "h9u hDt03
Hm h(t) l quy lut bin thin ca luong ra khi cho tn hiu u
vo l mt hm n vj 1(t).
X
1
(t) 1(t) X
1
(p)
p
1
X
2
(p) X
1
(p).(p) (p).
p
1
X
2
(t) L
-1
(p).
p
1
h(t) l hm qu ca mt khu
35
t
) t (
0
t
%
Hnh 1-24
s51
t
a
: +B' trEng 8Fng
Dt03
Hm trng luong l phn ng ca khu hay h khi tn hiu u vo
l mt xung irc
V bin i Laplace ca
(t) l :
L(t) 1 nn X
2
(p) (p).1 (p) V t :
X
2
(t) w(t) L(p).
ia hm h(t) v
) t (
c mi lin h:

t
dt ) t ( ) t ( h
0
hay
dt
) t ( dh
) t (
Ta cng luu rng: Ti s K X
2
X
1
khc vi (p).
K l ti s luong ra trn luong vo trang thi tnh.
I./.0. Rc tPnh trn sM c[a JhXu 8n% h!c.
nghin cu c tnh qu trnh qu , kho st cht luong
ca h thng ngui ta dng phung php xy dung cc ung c
tnh tn s, bin ca n. Mi mt khu hay mt h thng s uoc
c trung bng ung c tnh ring biu din qu trnh ng hc ca
n.
Nu luong tc dung c tn s giao ng l v bin th
trong h thng hnh thnh mt giao ng cung bc v luong ra s
bin thin cng mt tn s vi luong vo nhung bin v gc pha
thay i. Tn s thay i th bin v gc pha ca luong ra cng
bin thin theo. xem xt v vn ny ta s nghin cu v cc
c tnh sau:
af Rc tPnh trn sM Vin 8 (ha:
c tnh tn s ca mt phn t mi quan h gia tn hiu ra v
tn hiu vo ca mt khu trang thi xc lp khi tc ng u vo c
dang iu ho. Nu u vo l x(t) X
m
sin
t. Th khi u nhn
uoc mt dao ng iu ho c cng tn s, khc bin v lch pha
36
so vi tn hiuvo mt gc uoc m t bng biu thc : y(t) Y
m
sin(t
).
Hnh dang tn hiu vo ra nhu hnh 1-25.

Ta bit mt khu ng hc uoc m t bi phung trnh vi phn
dang tng qut:
x b
dt
dx
b
dt
x d
b
dt
x d
b y a
dt
dy
a
dt
y d
a
dt
y d
a
m m
m
m
m
m
n n
n
n
n
n
+ + + + + + + +

1
1
1
1 0 1
1
1
1 0
... ...
()
Nu tn hiu u vo l dao ng tun hon biu din dui dang
tng qut (bng s phc) ta c: x(t) X
m
.e
jt
th tn hiu ra s l: y(t)
Y
m
e
j(t)

ng thi ta c
( )
( )
n
n j t
m n
d x t
X j e
dt

) ( t ( j 2
2
2
2
e ) 3 ( Y
dt
) t ( , d
+

Thay vo phung trnh () ta c:
1 ( ( )
0 1 1
1
0 1 1
- ( ) ( ) .... .
- ( ) ( ) .... .
n n j t
n n m
m m t
m m m
a j a j a j a Y e
b j b j b j b X e

+ + + +
+ + + +
Chuyn i biu thc ta nhn uoc
) ( j
e
X
Y
%
2
2
) j (

* * 1
0 1 * 1 *
n n 1
0 1 n 1 n
+ (/ ) + (/ ) ... + (/ ) +
a (/ ) a (/ ) ... a (/ ) a

+ + + +
+ + + +
()
Biu thc () gi l hm truyn at tn s hay hm truyn at
phc ca mt phn t .
37
X(t)
4(p)
Hnh1-25
Y(t)
X
(m)
Y
(m)
t
Nu xt phung trnh vi phn ca khu c phung trnh ()
uoc biu din theo hm truyn at s c:
* * 1
0 1 * 1 *
n n 1
0 1 n 1 n
+ + ... + +
0(p)
a a ... a a
p p p
p p p
+ + + +
+ + + +
Nhu vy ta cng nhn thy l c th nhn uoc hm truyn tn
s ca mt khu hay h t hm truyn at ca n bng cch thay p
bng
/1
.
- Hm truyn at phc (j) vit dui dang modun - pha c
dang:

( )
( )
/1
0(/ ) 2 A1 3

Trong : () l bin ca (j) cn () l pha ca (j)

- Hm truyn at phc (j) vit dui dang phn thuc v phn
o:
Tch t s v mu s ca () ra phn thuc v phn o ta uoc:
1 1
( )
2 2
# ( ) /4 ( )
/ ( )
A( ).3
# ( ) /4 ( )
j
W

+

+
()
Tch phn thuc v phn o ca biu thc () uoc:
1 2 1 2 2 1 1 2
2 2 2 2
2 2 2 2
# ( )# ( ) 4 ( )4 ( ) # ( ) ( ) ( )4 ( )
/ ( )
A( ).3 /
# ( ) 4 ( ) # ( ) 4 ( )
Q P

+ +
+
+ +
1 2 1 2
2 2
2 2
# ( )# ( ) 4 ( )4 ( )
#( )
# ( ) 4 ( )

+
phn thuc ca (j)
2 1 1 2
2 2
2 2
# ( )4 ( ) # ( )4 ( )
4( )
# ( ) 4 ( )

+
phn o ca (j)
Nhu vy
( ) ( ) ( )
1 1 / + % j ! 4
Hm truyn at tn s
(j) uoc xy dung thnh mt
ung cong trn mt phng phc ,
ta gi l c tnh tn s bin pha
38

( )
i

Hnh 1-
26a
50
80
90
0
( vit tt l TBP) khi bin thin
t - n .
c tnh tn s bin pha gm hai nhnh
i xng qua truc honh. Thng thung ta chi
xt c tnh TBP ng vi 0.
c tnh bin tn (BT) uoc xc jnh bng biu thc :
( ) ( ) ) ( 1 1
2
Q +
2
! 0

c tnh pha tn (PT) :
V () v P() l hm chn nn c tnh i xng qua truc
tung, cn () v () l hm l nn c tnh i xng qua gc toa
. (Hnh 2-7)

Ch : v c tnh TBP ta tm hm truyn at phc biu din
dui dang P j sau v quan h P v khi c tn s bin thin t
khng ti v cng.
Vf Rc tPnh trn sM Lo%a"it.
Do pham vi bin i ca tn s cng nhu bin rt ln
thun tin cho vic kho st cn dng n c tnh tn s Logarit v
c tnh tn s pha Logarit. Dua vo c tnh tn bin pha
( ) ( )
( ) 5 j
e j5 0 j5 %

, nu ly ln hai v s c:
( ) ( ) ( )
1 1 + Ln% j Ln0 j

39
( )
( )
( )

!
4
arct6
:() ()
0
c)
0
e)
.()
0
+)
;()
d)
0 0
Hnh 1-26 b,c,d,e
Nhu th
( ) Ln0
v
( )
l cc hm thuc ca bin
, chnh
l c tnh tn s bin Logarit v c tnh tn s pha Logarit.
cho tin tnh ton ngui ta thay Ln bng Lg. Theo c tnh
Logarit, tn s uoc tnh theo Decade (Dec) tung ng vi su bin
i 10 ln tn s. Bin uoc tnh theo Decibel (db) mt Bel bng 10
ln Decibel. Bel l n vj o Logarit thp phn ca h s khuch ai
cng sut tn hiu. V cng sut ca tn hiu ti l vi bnh phung bin
nn :
-Nu tnh theo n vj bel th c tnh BTL bng 2Lg()
- Nu tnh theo db th c tnh BTL l 20lg() v uoc k hiu
l:
( ) 1 L
10.2Lg() 20Lg()
Do vy nu bit bin
( ) 5 0
s xy dung uoc c tnh tn s bin
Logarit
( ) 5 L
:
( ) 1 L

( ) 5 2)L60
Nhu vy:
( ) 1 L
0 khi
( ) 0
1
( ) 1 L
0 khi
( ) 0
1
( ) 1 L
0 khi
( ) 0
1
V khi

, cc h thuc
( ) ( ) 0 j % 0
nn
( ) 1 L
Truc tung t
( ) L
o theo n vj db, cn truc honh thun loi
nht l t theo
( ) L6
. Nhu vy th n vj o tn s
tnh theo dec

(decade) tc l logarit ca tng tn s 10 ln. 1dec
10 5g
1
1
5g
1
2

(vi
2
10
1
)
cho n gin n vj o chn vi mc
1
1 rad nhu vy mun tm
gi trj ecad ca mt tn s bt ky no ta uoc:

6
6
1
1
1
5g 5g ( )
1
dec
.
xc jnh gc toa ta phi xc jnh ecad ca tn s mc 1

1
1
1 1
5g 5g 0 ( )
1 1
dec
40
0
*()
*g
1
Hnh 1-27a
Nu trn truc honh ghi l
th c th chia u cn nu ghi lg
th vj tr gia cc tn s khng u nhau. V du : 1

( ) 1 16

b2
$ ( ) 2 16
2
3
4* ( ) $ 16
Hnh v 1-27 v
ung cong Bode
( ) 1 L
v
( )
. nghing
ca ung cong
( ) 1 L

uoc nh gi theo
n vj
dec 7 d8 t
.
nghing
dec 20 t
uoc
xem l nghing n
vj 1 t . ung cong
lin tuc khi thay th
bng ung xp xi bi
2 oan thng th giao im ca chng ng vi tn s gy. Tn s
c
khi
( ) 1 L
ct truc honh gi l tn s ct.
I.0. &A& K9|U aN< 9B& I_N 9}N9.
Cc khu ng hc c bn l cc phn t ca h thng iu
khin tu ng c tnh cht sau:
- Chi c mt tn hiu vo v mt tn hiu ra.
- Tn hiu chi truyn i mt chiu ngha l c tn hiu vo th c
tn hiu ra nhung tn hiu ra khng nh hung ln tn hiu vo.
41
-20d+0dec
4 7
2 7
( ) 1 L
c

Hnh 1-27 b
0
0
20lg
- u trnh ng hc ca phn t uoc m t bng phung
trnh vi phn khng qu bc hai.
Mt h thng gm cc phn t ni vi nhau theo cc phung
thc chung nhu ni tip, song song v kiu hi tip. Tnh cht ca qu
trnh qu ton h thng phu thuc tnh cht ng hc ca cc phn
t hop thnh. Trong h thng cc phn t c th c rt nhiu v a
dang v bn cht vt l nhung s luong cc phung trnh m t ng
hc cc khu ti gin l c han, vic kho st chng l cn thit. Cc
phn t thuc lm vic pham vi tn s nht jnh. Cn vic m t
ng hc ca cc khu in hnh uoc thuc hin cho mi tn s, t
0
n .
Cc khu ng hc c bn uoc phn ra lm bn loai cn bn:
Khu nguyn hm, khu tch phn, khu vi phn v khu tr.
I.0.1 &)c JhXu n%uyn h5m jJhXu thnhf
a0 ?h9u "hu@ch Gi
L khu m mi thi im luong ra t l vi luong vo theo
phung trnh: y k.x
Hm truyn at:
( )
( )
( )
9
p X
p Y
p %
Khu khuch ai thung gp cc phn t nhu: Bin tr, chit
p, n by c kh, khuch ai bn dn, khuch ai thut ton, b
bin tc, my pht o tc ...
Nu tn hiu u vo khu khuch ai l : x(t) X
m
sint
t
th tn
hiu u ra l: y(t) Y
m
sint
t
m Y
m
k.X
m
. Dui dang phc s
l:
( ) ( ) j X . 9 j Y
.
c tnh tn bin pha l mt im nm trn truc honh nhu hnh 1-
28
( ) j4
42
K
( ) K 16 L 20
0
( ) !

( ) ) 5
Hnh 1-28 Hnh 1-29
c tnh tn s bin Logarit:
( ) ( ) K 16 0 16 L 20 20
l mt ung thng nm ngang v trn hnh 1-
29
c tnh tn s pha Logarit:
( )
( )
( )
0

!
4
arct6
chnh l truc honh
c tnh thi gian:
Phung trnh ng hc ca khu khuch ai l:
y(t) k.x(t).
- Hm qu :
Khi x(t) 1(t) th h(t) k.1(t) ( v trn hnh 1-30)
- Hm trng luong: hnh 1-31
( )
( ) ( )
( ) t 9.
dt
t d1
9.
dt
t dh
t 7 1

Vf KhXu Su)n tPnh Vnc nh~t.
L khu ng hc m quan h luong ra v luong vo uoc biu
din bng phung trnh vi phn:
8y
9 :.;
8t
y +
43
2(t)5<=1(t)
%(t)51(t)

0
t
0
t
Hnh 1-30
Hnh 1-31
2(t)
1

( ) t
Trong k l h s khuch ai, T l hng s thi gian
Khu qun tnh c hm truyn at:
Tp 1
9
%(p)
+

Cc phn t thuc khu qun tnh bc nht nhu : khuch ai t,
my pht mt chiu, mach in R-C, R-L, l in tr, ng c in
KB hai pha v ba pha nu luong ra l tc quay...
c tnh tn bin pha:
( ) ( ) ( ) ( )
( ) 1
1 1 1
1
1

+
+
j
e 0 j4 !
1 T j
9
j %
Bin :
( )
( )
2
T 1
9
0
1
1
+
(1)
Pha:
( )
( )
( )
1
1 19
1
Q
arct arct
P

(2)
T biu thc 1 v so snh phn thuc
( ) !
vi bin
( ) 0
ta c
( ) ( ) ( ) ( ) + 9! 4 ! 0
2 2 2
. Sau khi thm vo hai v trn mt ai luong
nhu nhau
2
2
9
,
_
ta c th bin i:
( ) ( ) ( )
2
2
2
2
2
9
4
2
9
9! !
,
_
+
,
_
+
hay:
( ) ( )
2
2
2
2
9
4
2
9
!
,
_
+
1
]
1

y l phung trnh chnh tc ca
vng trn bn knh k2 v tm 0
1
(
2
9
, 0) uoc v trn hnh 1-32
- ng vi tn s thuc (
0
) ung cong Nyquist l na ung
trn pha dui
Tai:
T 7 1
th (1T) 9
2
2

( ) 4 1 1 7 arct6 T 7

c tnh tn s Logarit:
+ c tnh bin logarit:
uoc xc jnh theo:
( ) ( )
2 2
2 2
20 g 205g 205g 205g 1
1
!
L L A ! "
"

+
+
44
<02
0
1

Hnh 1-32
( ) j4
T 7 1
5
5-
50
.
,
0
trong pham vi tn s rt nh, nh hn
tn s gy
T
1
<<
hay 1
2 2
<< T ta c:
( ) 9 16 L 20

Vi
T
1
>>
ta c:
( ) T 16 9 16 L 20 20
(V
1 > T
nn gn ng ly: ( ) T T +
2
1 )
Hai oan ca c tnh ct nhau tai im B . tai tn s gy 6
uoc
tnh nhu sau:
T 16 2) K 16 2) K 16 2) ) ( L ) ( L
2 6 1

Rt ra t
T
1
6

ung c tnh gm hai oan:
oan
) ( L
1

song song vi truc honh c nghing bng 0
oan
) ( L
2

nghing vi truc honh c nghing:
( ) ( )
2 1
2 1
5g 5g
L L
t

Nu ly
1 2
1)
v

1
th :
( ) ( )

16 1) 16
L 1) L
t6

( ) ( )
1
L 1) L

K 16 2)
-
T 1) 16 2)
-
K 16 2)
T 16 2)
dec 7 d8 2)
T
T 1)
16 2) t6

Dang ca c tnh uoc v nhu hnh 1-33
c tnh pha logarit:
( ) arct6T

( ) 4 1 7 T 7
(Tn s gy)
( ) 2 7

H Hm qu d: hnh v 1-34
h(t)
). (
t
3 1 :
p
1
) 1 9p (
:
<
1

'
1(t)
tai thi gian t 0 hay khi t . th

) e ( 9 ) t ( h
1
1

k(1- 0,368) 0,632k
*Hm trong luong: hnh v 1-35
=
( )
( ) . .1( )
t
d# t !
t e t
dt "

45
,
-
20d+0dec
20lg
Hnh 1-33
4 7
2 7
( ) L
<
Hnh 1-34
0
t
0>?62
2(t)
)
<
)
)
Hnh 1-35
0
t
( ) t
( ) t

cf KhXu ]ao 8n%
L khu uoc m t bi phung trnh vi phn bc 2:
. . 9 ,
dt
d,
T
dt
, d
T + +2
2
2
2
Vi K l h s khuch ai, T l hng s thi gian,
l h s tt dn
Hm truyn at ca khu dao ng vi iu kin
1
1 2
2 2
+ +
Tp p T
K
) p ( %

1 p 9 p 9 9
&
1
2
2 1
+ +
vi :
T 2 1
9 9

2
1
9
9
2
1

Cc phn t thuc khu dao ng nhu: mach R-L-C, ng c
in 1 chiu kch t c lp luong vo l in p phn ng, luong ra
l tc quay, h c hc n hi,..

: Hc t/nh tIn s, )in. pha.
1 2
2 2
+ +

Tj T
9
) j ( %

Bin
( )
2 2 2
2
2 2
4 1 T T
9
) ( 0
+

Pha:
( )
2 2
1
2
T
T
arct6

c tnh tn bin pha c dang nhu hnh v: 1-36
46
<
;()

2
9
) ( j4
Hnh v 1-
36
510)
tai
1T th (1T)
2
9
: Hc t/nh tIn s, 85garit.
c tnh bin logarit:
2 2 2 2 2 2
4 1 20 20 20 T ) T ( 16 9 16 ) ( 0 16 ) ( L +
Khi
: 0
9 16 ) ( L 20
vi
T
1
0 <

Khi
:

T 16 9 16 ) ( L 40 20
vi
T
1

Tn s gy ng vi
T
1
0

nghing ca c tnh
tim cn l -40dbdec
c tnh pha logarit uoc xy dung
vi cc gi trj
khc nhau v n c
dang bn ng vi mt gi trj ca
c tnh thi gian

Hm qu :
Phung trnh c tnh ca khu dao ng:
0 1 2
2 2
+ + Tp ! T
ng vi mi gi trj ca
ta c nghim khc nhau:

2
1,2
1
. p j j
" "

t t
h(t) (p).1p L
-1
;
p
.
Tp p T
9 1
1 2
2 2
+ +

1
]
1
+

) t <in t (c=< e ). t ( . 9
t
1 1
Trong : 0

,
2
0
1 . ,
T
1
0

Hm trng luong:
t <in e ). t (
9
dt
) t ( dh
) t (
t

1
0
2
c tnh ca h(t) v
) t (
uoc v nhu hnh 1-38, 1-39
47
Hnh 1-37
-@0d+0dec
*(
20lg<
()
0
-02
-
0
1
"


I.0.,. KhXu tPch (hXn.
L khu c mi quan h gia luong vo v luong ra dui dang:

+
t
, dt ) t ( . . 9 ,
0
0
vi k l h s t l, y
0
l iu kin u.
Vi iu kin u bng khng hm truyn at ca khu tch phn l:
p
9
) p ( %
.
Cc phn t ca khu tch phn l tung nhu: tu in vi in p trn
tu :
+
t
U dt ) t ( i
C
U
0
0
1
Cun cm vi t thng
trn cun dy:
+
t
dt ) t ( U
%
0
0
1
Trong l s vng dy.
c quay ca truc i vi tc quay ca n c phung trnh vi phn:
+
t
dt
0
0
H Rc tPnh trn sM Vin (ha:

9
j ) j ( %
l mt na truc o m v trn hnh1-40
c tnh tn s Logarit:
- .T.B.L
( ) 16 9 16 ) ( 0 16 L 20 20 20
tn s
1
th
( ) < 205g:
tai
9
th
0 ) ( L
. ung c tnh uoc v nhu trn
hnh v 1-41
48
<
<(1-e
-
)
<(1Ae
-
)
Hnh 1-38
0
Hnh 1-39
t
(t)
2(t)
2
0
. .
t
! e

2
0
. .
t
! e

2
0
!
2
0
!
2<
t
0
-.T.P.L: uoc v nhu hnh v 1-40
2 7 ) ( arct6
) ( !
) ( 4
arct6 ) (

H Rc tPnh th$i %ian: Nhu hnh v 1-42
Hm qu : T phung trnh:
t
.dt . 9 ,
0
,
nu X(t) 1(t) th: h(t)k.t.1(t).
Hm trng luong:
) t ( . 9
dt
) t ( dh
) t ( 1
I.0./.KhXu Qi (hXn
a0 ?h9u Ji ph9n 8K t-ng3
Khu vi phn l tung uoc m t bi phung trnh: y
dt
d.
. 9

c ngha l tn hiu ra t l vi tc bin i ca tn hiu vo.
Hm truyn at ca khu vi phn l tung l: (p) k.p.
c tnh tn bin pha:
9j ) j ( %
. Khi

th
) j ( %
c tnh T.B.P l mt na truc o dung v trn hnh 1-43
c tnh tn s Logarit.
.T.B.L
9 16 ) ( 0 16 ) ( L 20 20
.
c nghing uoc tnh tung tu nhu khu qun tnh:
2 1
2 1
<( ) <( ) 205g10 205g
tg 208+= 83>
5g 5g 5g10 5g

Nu k 1th
16 ) ( L 20
ung c tnh l ung s 1 trn hnh 1-44
49

0
) ( j4
#( )
Hnh 1-40
<
y(t)
0
) t (
2(t)
t
Hnh 1-42
20lg<
) ( p
<
) ( L
-20d+0dec
) (
1
2 7
Hnh 1-41
0
0
K1 c c tnh l ung s 2
9 16 ) ( L 20

.T.P.L. V phn thuc ca
) j ( %
bng khng nn

) ( !
) ( 4
arct6
do
2 7 arct6 ) ( +
c tnh uoc v trn hnh 1-45
c tnh thi gian:

- Hm qu :
) t ( . 9
dt
) t ( d
. 9 ) t ( h
1

- Hm trng luong:
dt
) t ( d
. 9
dt
) t ( dh
) t (

k.
(t)
b) Khu vi phn bc mt.
Trn thuc t ta thung hay gp cc mach RC, RL..
l cc khu vi phn bc 1.
Hm truyn at c dang:
(p)K.(Tp1)
Mun c uoc khu ny c th ni song
song khu khuch ai c
1
(p) k v
50
Hnh 1-46
) ( j4

) ( p
0
) ( j W
0
Hnh 1-45 a
2
+
) (
0
20lg<
A20d+0dec
5g 20 ) ( L
9 16 ) ( L 20
1
C

0
) ( p

0
Hnh 1-43
Hnh 1-44
) ( j4 ) ( L
2
1

0
t
Hnh 1- 45b
( )
# t

0
t
Hnh 1- 45c
( )
t
khu vi phn l tung c
2
(p) K.Tp
c tnh tn s bin - pha.
) T j ( 9 ) j ( % 1 +

9 ) j ( % 0
) j ( %

ung c tnh l na ung thng song song vi truc o nhu hnh
1-46
c tnh tn s Logarit.
- .T.B.L.
2
<( ) 205gA( )
205g: 205g ( 9) 1

+ +
c tnh tim cn:
9 16 ) ( L 20
vi
T
1
0 <
T 16 9 16 ) ( L + 20 20
vi
T
1
>

ung c tnh c dang nhu hnh 1-47
- .T.P.L.
T arct6 ) (

c dang nhu hnh 1-47.
: Hc t/nh thi gian.
Hm qu :
Ta c :
dt
d.
9T 9. , +
vi x(t)1(t):
h(t)k1(t) kT
dt
) t ( d1
k1(t) kT
) t (
Hm trng luong:
dt
) t ( d
9T ) t ( 9
dt
) t ( dh
) t (

+
I.0.0. KhXu t":
L khu uoc m t bi phung trnh vi phn:
yx(t-
)
vi
l thi gian tr
Hm truyn at ca khu chm tr c dang:
(p)
p
e

c tnh tn s bin - pha:
51
20lg<
20d+0dec
) ( L
0

T
1

) =

T
1

Hnh 1-47 a
0
) (

1
B
0
Hnh 1-48
A
1
2(t)
t
Hnh 1- 47b
(t)
t
Hnh 1- 47c

j
e ) j ( %

Bin (
) 1 pha
) (
-
c tnh
) j ( %
l mt vng trn bn knh bng 1 gc O ( hnh 1-48)
c tnh tn s Logarit.
V (
) 1 nn L(
) 0.
Vy ung c tnh L(
) trng vi truc honh

c tnh pha logarit:
) (
-
uoc v nhu hnh 1- 50

V2 Rc tPnh th$i %ian:
uoc v nhu hnh 1-49
Hm qu : h(t)1(t-
)
Hm trng luong:
) t ( ) t (
dt
d
dt
) t ( dh
) t ( 1
I.0.Y. KhXu Jhn% n gnh Vnc m8t
Hm truyn at : (p)
1 Tp
9
Cc phn t thuc khu ny nhu: ng c Dizen khng c phu ti
quat gi.
c tnh tn bin - pha: (
j
)
1 Tj
9
cng nhu khu
qun tnh bc nht ta cng chng minh uoc c tnh tn s bin pha
l mt na vng trn nm gc phn tu th 3 v c bn knh K2 v
tm O
1
(0, k2)
c tnh tn s logarit : hon ton ging nhu khu qun tnh
bc nht.
52
) t ( ) t (
y(t)
Hnh 1- 49
2(t)51(t-)
0
t
1
5-
0
0d+0dec
*()

*()
Hnh 1-50
) (
&h : Ngoi cc khu cn bn trn cn c thm mt s cc khu
khc song chi l dang c bit ca cc khu trn.
I.Y. y& TzN9 TN F &CD 9E T9FN< IÛ K9I_N T` aN<
I.Y.1. Kh)i Su)t chun%:
Sau khi xy dung uoc c tnh ng hc ca cc khu in
hnh, ta tin hnh xy dung c tnh tn s ca c h thng. Vic xy
dung c tnh tn s ca h thng nhm muc ch xt n jnh v
nh gi cht luong h thng v sau.
c tnh tn bin pha ca h thng h

n
i
) j
i h
n
i
( i
e ). ( 0 ) j ( %
1
1
hoc c th vit
) ( j4 ) ( p ) j ( %
h
+
Trong :
Bin :

n
i
i h
) ( 0 ) ( 0
1
()
Pha:

n
i
i h
) ( ) (
1
()
Vi cc gi trj ca
khc nhau c th tnh ra

) j ( 0
h

v
) (
h

hoc
) ( !
v
) ( 4
xy dung nn c tnh tn s bin - pha.
- T () ta c th tm ra c tnh tn s bin Logarit ca h
thng h.

n
i
n
i
i i h h
) ( L ) ( 0 16 ) ( 0 16 ) ( L
1 1
20 20
Nhu vy c tnh Tn bin pha ca h thng h s bng tng ca c
tnh tn bin pha ca cc khu thnh phn.
- T () ta c th xy dung .T.P.L ca h thng h bng tng
cc c tnh pha logarit ca cc khu thnh phn.
I.Y.,. <i7n O 6o]e c[a h KT
a0 Li*n M N5<4 )in $
v c tnh tn s bin logarit ca mt h thng KT ta
phn tch hm truyn thnh tch cc hm truyn ca cc khu c bn
53
thnh phn ( Vi phn, tch phn, khu bc haikhuch ai) sau v
cc khu trn. in Bode ca h s c uoc bng cch cng
thj .
v gin Bode nhanh chng v chnh xc ta thuc hin theo cc
buc sau:
1 Tnh 20lgk trong k l h s khuch ai ca c h v t
trn truc tung.
2 Tnh cc tn s gy
T
1

sau chuyn sang n vj
cade (dec) v nh du trn truc honh (truc lg) theo th tu tng
dn
3 Nu (p) khng c cuc 0 ( tc l trong h khng c khu
tch phn hay mu s khng c h s p ng mt mnh) th thj
bt u t t oan thng nm ngang t
)
n tn s gy nh nht
ng vi bin l 20lgk ( nghing 0dbdec). Tai cc tn s gy
nghing thay i ( bng tng ai s nghing oan c tnh pha
truc vi nghing ca khu tung ng vi tn s gy). Tuy theo
cc khu tip theo l khu g m c nghing khc nhau.
Nu (p) c cuc 0 ( tc l trong h c khu tch phn hay
mu s c p
ng mt mnh) th thj l ung thng t

)
c
nghing
-20..
dec
d8
n tn s gy nh nht v i qua im ( 0, 20lgk).
;/ <=3 Xy dung c tnh tn s bin Logarit ca h thng c hm
truyn at nhu sau:
) 1 ! + ( ) )( 1 ! )( 1 ! 2 )( 1 ! + (
1) +($!
%
+ + + +
+
Li gii:
Cc buc cng vic thuc hin uoc gii quyt nhu sau:
- Buc1: Xc jnh 20lgk ca h
Trong bi cho h s khuch ai cho c h l 5 do vy
20 lgK 20lg5 20.0,7 14.
- Buc 2: Tnh cc tn s gy ca cc ung gp khc.
1 15 0,2 lg0,2 -0,7
54
2 13 0,333 lg0,333 -0,48
3 12 0,5 lg0,5 -0,3
4 1 lg1 0
5 10,5 2 lg2 0,3
Sau khi tnh uoc trn ta tin hnh ghi cc gi trj ln truc
honh v c tnh uoc v nhu hnh 1-51.

- Buc 3: V c tnh
H uoc v t oan nm ngang i qua im (0, 14) .Tip
c tnh uoc v vi nghing thay i tai cc im c tn s gy
nhu tnh v sp xp trn truc honh
)0 ;O gi*n M N5<4 pha.
in Bode pha uoc xc jnh bng cch xc jnh hm
) j ( % ar6
ta lp bng tnh.
0
1
.
i
nn tnh cc tn s gy hay im c bit nhu tai cc tn s ct

bin
>
( tn s m bin l 0 dB.
- c
uoc tnh bng pha t tr i pha ca mu .

C th ly v du nhu sau:
55
0>C
-
0>@D

-
0>6

0>6
0
*(
)
lg
Hnh 1-51
1@
D
dec
d8
#)
dec
d8
4)
dec
d8
2)
dec
d8
2)
Cho h c
?
10 (p 100)
0(p)
(p 1)(p 10)(p 1000)
+
+ + +
Ta tnh uoc tn s gy l : 1,10,100,1000 v khi gc
uoc
tnh :
$
@ 100 @ 1 @ 10 @ 10 + + + +

$
10
aA>tg
10
aA>tg aA>tg
100
aA>tg

Bng tnh gc
0 1 10 100 10
3
0 -50
0
-124
0
-134
0
-140
0
-180
T cc gi trj trn ta v uoc gin Bode pha nhu hnh 1-52
6I TN &9@ &9:;N< 1.
65i 1: Tm hm truyn at cho mt s s dui
56
R
C
U v
U r
U r U v
R
C
L
C
R
U v U r
R 1
R 2
C
U v U r
Hnh 1-52
log
1 2 6 @
10 10
2
10
6
10
@
-E0
0
-F0
0

-12@
0

-16@
0

-1@0
0

-1D0
0
0>1

65i ,: Tm hm ra theo (t) ca cc hm theo Laplace sau:
a) X(p)
) p 9 1 ( #
) p 9 1 ( &
2
1
+
+

ii : Phn tch X(p) thnh cc phn thc ti gin: X(p)
2
9
1
#
B
#
A
+
+
vi K, v
2
2 1
9
) 9 9 ( &
B

b) X(p)
) p 9 1 )( p 9 1 (
&
2 1
+ +
c) X(p) 2
p ) p 1 (
1
+
65i /: Xy dung c tnh tn s ca h c hm truyn at:
a) (p)
p 1
)
+
b) (p)
p ) p 2 1 (
$
+
65i 0: Cho h c hm truyn at: (p)
p ) ) p ? , 0 1 (
?
2
+
. Hy xc jnh
im tn s
0
m tai (j) 1
65i Y: Xy dung ging Bode ca khu qun tnh bc nht, khu vi
phn v khu tch phn.
65i q: Xy dung gin Bode ca h c (p)
) p 11 )( p 1 (
100
+ +
65i t: Xc jnh hm qu v hm trng luong ca h thng c hm
truyn at:
a) (p)
) p $ p 2
1 p
2
+ +
+
b) (p)
) p ? 1 )( p $ 1 (
p 2 1
+ +
+
c) (p)
) p $ 1 )( p 1 ( p 2 , 0
1
+ +
57
65i -: Cho h KT gm c 2 khu qun tnh ni tip vi h s
khuch ai k
1
10, k
2
20, v hng s thi gian T
1
0,1(s), T
2
0,2(s).
Tm: Hm truyn at ca h h (p)
Phung trnh c tnh h h (Phung trnh c trung (p)
0)
Hm qu v hm trng luong
+Png <Qn
Ta c khu qun tnh
1 + Tp
9
nhu th
1
1
1
1
+ p T
9
1 1 0
10
+ p (
,
1 2 0
20
+ p (

Hm truyn at (p)
1
2

1 3 0 02 0
200
1 1
2
2 1
2 1
+ +
+ + p ( p ( ) p T )( p T (
9 9
Phung trnh c tnh ((p) 0)
Xut pht t
) p ( 0
) p ( >
v (p) 0 0,02p
2
0,3p10 ( Pt c tnh)
Hm qu : H(p)

+ +
) p ( )( p ( ( p p
) p ( %
1 2 0 1 1 0
200

) p ( (
a
) p ( (
a
p
a
1 2 0 1 1 0
3 2 1
+
+
+
+
ii ra tm uoc a
1
, a
2
, a
3
v nh vo php bin i laplace nguoc ta
tm ra uoc h(t), ly ao hm h(t) tm ra uoc
) t (
.
65i 4: H gm hai khu qun tnh ni tip ( (p)
1
.
2
) vi h s
khuch ai k
1
10, k
2
20, v hng s thi gian T
1
0,1(s), T
2
0,2(s).
Tm : Hm truyn phc ca h h
Biu din dui dang mun pha
V gin Bode (c tnh logarit).
p n:
Hm truyn at phc: (p)
) p ( )( p ( ( 1 1 0 1 2 0
200
+ +
thay p j
ta c
1 3 0 02 0
200
2
+ +

j ( (
) j ( %

+ j ( ) ( ( 3 0 02 0 1
200
2
) ( j
e ) ( 0


58
4
1
4
2
X
Y
Biu din dui dang mun pha
Ta c (
) ( 4 ) ( ! )
2 2
+

2 2 2
) $ ( ) ( ) )2 . ) 1 (
2))
+
) ( !
) ( 4
arct6 ) (

hay uoc tnh bng pha t tr i pha mu v
bng
2 , 0 1 , 0 0 ) ( arct arct
V gin Bode (c tnh tn s logarit)
L
) ( 0 16 ) ( 20
, (p)
) p ( )( p ( ( 1 1 0 1 2 0
200
+ +
- 20lgk 20lg200
- Tn s gy :
1
1
1
T

10
1 0
1
(

5
2 0
1
2

(

0 0 0 ) (

=
arct6 ( arct6 ) ( 70 1 5 0 5 5

=
arct6 arct6 ) ( 105 2 1 10 10

65i 1+: V gin Bode cho cc khu
sau:
a,
) 1)) ! )( 1 ! ( !
) 1) ! ( 1)
) ! ( %
2
+ +
+
b,
) 4 ! )( $ ! )( 2 ! (
) 1 ! ( 1)
) ! ( %
2
+ + +
+
65i 11: Cho h KT c hm truyn at

#) 2)(! (!
1) 2(p
%(p)
+ +
+
v tn
hiu vo c dang hm m: x
(t)
e
-3t

a, Tm hm ra y
(t)
b, Vit phung trnh vi phn m t h
65i 1,: Th no l mt h iu khin tu ng cho v du.
65i 1/ : Cho h c phung trnh vi phn dang
) $ 2
) $ 2
) $ $ 2 2 $ )
d y d y d y dy dx
dt dt dt dt dt
+ + + + +
59
-20
20lg20
0
) (
1
0
*
-10E
0
-
C0
0
E
0
-@0
Tm hm truyn at cho h .
65i 10: V c tnh tn bin pha ca khu qun tnh bc nht.
65i 1Y: Cho mach in nhu hnh v
cho R 1k C 10F
Tm: - Hm qu v hm trng luong
- phung trnh vi phn m t h
- y(t) khi x(t) e
-2t
- khi in p vo l 100v DC hy tm in p ra sau t 1s, t .
&9:;N<II
9= TU^N T &CD 9E T9FN<
IÛ K9I_N T` aN<
II.1. I F ; K9FI
Mt h thng KT thung ghp ni bi nhiu cc phn t (cc
khu) cc phn t uoc kt ni vi nhau bng nhiu phung thc
nhu song song, ni tip, phn hi... Khi bit uoc hm s truyn ca
cc phn t ta s tm uoc hm s truyn ca h thng. Sau y ta
s xem xt n mt s phung php in hnh tm hm truyn at
ca h thng KT.
II.1.1. 95m sM t"uyIn c[a c)c (hrn t mTc nMi ti(.
Cc phn t uoc gi l mc ni tip nu tn hiu ra ca phn t
truc l tn hiu vo ca phn t sau. Tn hiu vo ca h thng l tn
hiu vo ca phn t u tin. Tn hiu ra cui cng l tn hiu ra ca
60
Uv
(x)
Ur
(y)
C
R
h thng. S khi ca cc phn t ni tip nhu hnh v 2-1 h
gm 2 phn t mc ni tip
(p)

(p)
) p ( X
) p ( Y
X(p) Y(p)
Hnh 2-1
Hai phn t c hm truyn bit l:
) p ( X
) p ( Y
) p ( %
1
1
1

) p ( X
) p ( Y
) p ( %
2
2
2

Theo nhu hnh 2-1:
Y
1
(p)X
2
(p) X(p) X
1
(p) Y(p) Y
2
(p)
T :
) p ( % ). p ( %
) p ( X
) p ( Y
.
) p ( X
) p ( Y
) p ( X
) p ( Y
) p ( %
2 1
2
2
1
1

Suy rng ra, trong trung hop nhiu phn t mc ni tip:
) p ( % ) p ( %
n
i
i
1
Hm truyn at ca h gm cc phn t mc ni tip uoc tnh bng
tch cc hm truyn thnh phn
II.1.,. 95m sM t"uyIn c[a c)c (hrn t mTc son% son%
H thng uoc xem l gm cc phn t mc song song nu tn
hiu vo ca h thng l tn hiu vo ca cc phn t thnh phn.
Cn tn hiu ra ca h thng bng tng ai s tn hiu ra ca cc phn
t thnh phn.
S khi ca h thng xt nhu trung hop hai phn t ni
song song nhu hnh 2-25
X(p) X
1
(p) X
2
(p)
Y(p) Y
1
(p) ( t) Y
2
(p)
T :
t

) p ( X
) p ( Y ) p ( Y
) p ( X
) p ( Y
) p ( %
2 1

61
X
1
() !
1
() !
"
()

X
"
()
#
1
#
"
Hnh2-2
X
1
()
!
1
()

X
"
() !
"
()
4
1
4
2
!()
X()

) p ( % ) p ( %
) p ( X
) p ( Y
) p ( X
) p ( Y
2 1
2
2
1
1
t t
Trung hop tng qut ta c:
n
i
i
) p ( % ) p ( %
1
.
Hm truyn at ca h l tng cc hm truyn thnh phn.
II.1./ 95m sM t"uyIn c[a c)c (hrn t c (h7n hOi.
Hai phn t
1
(p) v
2
(p)
mc theo kiu c lin h nguoc
ngha l u vo ca
2
(p) l u
ra ca
1
(p). Lin h nguoc c th
l dung hay m. Lin h nguoc
m c du (-) hay quat uoc t
en.
T hnh v 2-3 ta nhn thy:
Y(p) Y
1
(p) X
2
(P)
X
1
(P) X(p) tY
2
(p) hay
X(p) X
1
(p) Y
2
(p)
Do :
) p ( Y ) p ( X
) p ( Y
) p ( X
) p ( Y
) p ( %
2 1
1

Chia c t s v mu s cho X
1
(p) v theo
iu kin Y
1
(p) X
2
(p) ta c:
) p ( % ) p ( %
) p ( %
) p ( X ) p ( X
) p ( Y ) p ( Y
) p ( X
) p ( Y
) p ( %
2 1
1
2 1
2 1
1
1
1
1

Trung hop dc bit nhu hnh2-4
Hi tip nhu trong trung hop
ny l hi tip n vj. Trong hm
truyn at bng 1 u vo cng chnh l u ra:
Khi hm truyn at uoc tnh:
62
Y(p)
X(p)
4(p)
X
1
() y
1
()
!
"
() X
"
()
4
1
4
2
Hnh2-3
4
1
X !
Hnh 2-4
(t)
(p)
1
1
( ) ( )
( ) 1 ( )
W p Y p
X p W p
Cn trung hop nhu hnh 2-5 ta c hm truyn at:

) p ( %
1
( ) 1
( ) 1 ( )
Y p
X p W p
WP ]Z 1: Tm hm truyn at ca cc h thng sau y:

Cch gii: S dung cc phung php thng thung ta c:
(p)
) p T (
) p T .(
) p T (
.
) p T (
) p T (
p T
.
p T
) p T (
) p ( X
) p ( Y
1 2
1
1
1
1
1
1 1
1
1
1
1
1
2
2
1 2
1
1 2
1
+
+
+ +
+ +
+ +
+
(p) 1
II.1.0. &huyKn i Qg t"P tPn hiu
Chuyn i vj tr cc tn hiu l cng cu chuyn s khi
cc mach c lin kt phc tap sang cc mach c lin kt n gin nhu
song song, ni tip haymc phn hi ri t c th d dng xc jnh
uoc hm truyn at ca h thng. Nguyn tc ca vic chuyn i l
khng uoc lm thay i su truyn at tn hiu trong h thng.
Chuyn tn hiu vo t truc mt khi thnh vo sau mt khi


63
$
1
$
"
1
1
1
+ p T
"($
"
%1
)
$
"
%1
X
&
!
&
4
1
-
Hnh 2-5
X(p)
Y(p)
(t)
4
1
4
1
4
1
Z
X
X
Y
Y
Z
Hnh 2-
6

Chuyn tn hiu vo t sau mt khi thnh vo truc mt khi: hnh
2-7
Chuyn tn hiu ra t sau mt khi thnh ra truc mt khi: Nhu

hnh 2-8

Chuyn tn hiu t ra truc thnh ra sau mt khi:
H =8t sM t"#$n% hu( Vin i Jh)c.

- Ra truc thnh ra sau mt nt:

- Ra sau thnh ra truc mt nt:
64
X
X Y
Z
X Y
Z
X
4
1 4
1
104
1
Hnh 2-
7
X
Z
Y
X
Z
Y
4
1
Hnh 2-
8
X
Y
Y
X 4
1
4
1
Y
Y
Hnh 2-
9
4
1 4
1
104
1
X
X
Y
Y
X
X
Hnh 2-
9

- Bin i khc

WP ]Z,: Tm hm truyn at ca h thng c s cu trc nhu hnh
v sau:

Cch lm: i s c bn ung uoc nh s t 1 n 4 nhu trn
hnh v
Ta c th gii bi ny bng cc cch sau:
- Cch th nht chuyn ung s 1 t ra sau thnh ra truc
3
- Cch th hai chuyn ung s 2 t ra truc thnh ra sau
3
- Cch th ba chuyn ung s 3 t vo sau thnh ra truc
1
- Cch th tu chuyn ung s 4 t vo truc thnh vo sau
1
- Cch khc chuyn cc ung ng thi vi nhau.
65
X
Y
Y
Z
Y
X
Z
Y
#
1
#
"
#
'
X
&
!
&
1
2
6
@
Hnh 2-10
?
2
Y
Y
Y
X
X X
?
1
?
1 ?
2
?
2
?
1
II.,. 9= TU^N T &CD T9IT 6 T9>N< T9:N<
II.,.1. Thit Vg o l#$n% Q5 Vin i
af o in )(.
* o din p mt chiu
o in p mt chiu thung
hay s dung bin tr con truot nhu hnh 2-15
U
v
(t) i(R
1
R
2
) U
v
(p) (p).(R
1
R
2
)
Ur(t) i R
2
U r(p) (p).R
2
(p)
2
1 2
( )
( )
R Ur p
K
R R Uv p

+

ung c tnh ca thit bj o p mt chiu
nhu hnh 2-16
Hnh 2-12
* o din p xoay chiu:
i in p xoay chiu khng ln lm thung thuc hin o
thng thung qua c cu o dng c hay hin thj s. i vi in p
cao c th s dung con truot bin tr nhung gy tn tht ln chnh v
vy ngui ta thung hay s dung ma bin p o lung.
K
B
Ur
U"
Hm s truyn (p)
>0
K U"
Ur 1
K
Vf Thit Vg o ]n% in
* o dng din mt chiu.
Thung dng in tr sun (hnh 2-14) v ngoi ra c th s
dung khuch ai t. Mun o dng in in p cao ngui ta
thung hay s dung thit bj cch ly v in ( ng dung nhu thit bj
lc tnh in in p
ln ti 75 KV). Thit bj ny ngui ta cho dng mt chiu vo KT u
ra l xoay chiu nhu th s o uoc dng 1 chiu.
66
Hnh 2-13
Ur
Uv
Uv
(%)
Ur
(y)
31
32
Hnh 2-11
U
3
U
-
<
Theo s hnh 2-18 :
Ur v.Rs
(p)
K R<
) p ( "
) p ( Ur

in tr Rs khng uoc php thay i theo cc iu kin v
in p hay cc yu t mi trung.
* o dng din xoay chiu
o dng in xoay chiu th ngui ta thung hay dng my
bin dng. My bin dng c th l mt pha hay ba pha. Nhung o
dng in v nguyn tc phi o in p v theo mt t l s quy ra
uc dng in l bao nhiu. o in p phi ni ngn mach u
ra bng mt in tr nhu hnh 2-15.
My bin dng c th coi nhu mt ngun dng.
Trong s th gi trj ca in tr Rn
khng uoc php thay i.
K

5
800
r
"
....
5
75
5
200
ha,
r
$
$v
K
K
l t s my bin dng.
Ur r.Rn
Rn
K
"
Hm s truyn (p)

K
Rn
"
) p ( Ur
c0 5 8ng gRc Cuay.
T khi c su ra i ca Rbt trong cng nghip, c rt nhiu
cc thit bj cn iu khin gc quay v du nhu cnh tay nng ha, vo
ra... Do vy vic o lung gc quay l rt cn thit. o gc quay
ngui ta c th dng nhiu phung php nhu dng My bin p quay,
selfsyn hay bin tr quay. Trong k thut qun su th phi c su o
gc quay quyt jnh su thng nht gia gc quay ca ra a v ca
pho cao xa. Cc h thng qun su ca lin x c c bit l ca cc
tu qun su trn bin u dng Selfsyn cho cc h thng tu ng
67
Hnh 2-14
R<
Ur
"
Hnh 2-15
Gv
Ur
3n
ng b. Trong pham vi y ta i xem xt c cu n gin ca o
gc quay l bin tr quay.
- Truc ca bin tr ni vi my( ni
cng)
- Bin tr c c cu c kh rt tt
- Bin tr dang vi chinh vn truc vt c
chnh xc cao
Khi truc quay mt gc
"
(luong
vo l gc quay
v
) th ta c mt gi trj
ca in p ra :
Ur
" .
U=

in p ra c gi trj Uo ng vi gc quay ca

(p)
0
U UA(p)
&
(p)

<0 5 t,c $ Cuay
o tc quay cn thit phi bin i thnh in p. Thung
ngui ta hay s dung my pht tc loai xoay chiu hay mt chiu.
My pht tc c cu tao l mt my pht c nh song phi tho mn
yu cu:
- Mach t lm vic non ti c tnh t ho tuyn tnh
- c tnh t tr phi hp trung thuc qu trnh tng hay gim.
- in tr trong phi nh khng c sut p.
Cc my pht tc trn thj trung c nhiu loai khc nhau. Trn thj
trung hay dng ca Trung quc, loai mt chiu. Song v mt nguyn
tc th tung i nhu nhau.
Ur E
FT
Mku.
.
i
kt
K
FT
.
Vi
.
60
2 . n
Ur E
FT
K
FT
.
. n n .
60
2

68
Ur
Hnh 2-17
n
Uo Ur
Hnh 2-16
Ur
v
(p)
n
Ur
(vn phtvng) . Nu l Radian n vj o l (vn pht
)
ef o nhit 8
o nhit thp 400
o
c thung dng in tr nhit bn dn.
Cn vi nhit 400
o
c th ngui ta hay dng cp nhit ngu
(Thermo-couple) (Dua trn hiu ng nhit in ca nh vt l c
Seebeck tm ra) v nhit k in tr ( Dua trn h s nhit ca
in tr kim loai dn in). tao ra in p th phi ua vo cu sai
lch nhit (Hnh 2-18). Trong r l tn hiu t nhit , C l nhit
thc t o lung, e l in p sai lch.
nhay ca cc sai lch nhit K
C r
e
khong (
) 2" "
o
c tuy vo loai
cm bin.
Can nhit c nhiu loai khi lua
chn phi dua theo nhit ca l .
nhit max can nhit chju uoc thung uoc ghi trn v. ng thi
trn cn ghi in p v dng in c th
VD 800, 65mv
Hm truyn at :
( )
o
dm
W p t K
" c

r d2
U
uan h vo ra v nhu hnh 2-19
o nhit cao hng nghn ngui ta hay dng ho quang
nhit k. Ho quang nhit k l thit bj xc jnh nhit ca l theo
mu sc.
69
e
-
r
C (t)
)2ermistor
Hnh 2-18
Ur
T
o
cm
T
o
cvo
Urm
Hnh 2-19
II./.,. Thit Vg tn% hu( Jhuch *i Q5 Vin i
a0 Sy pht '$t chi!u "/ch tT $c 8Ap.
S my pht in mt chiu uoc th hin nhu hnh v 2-20.
Ta thy luong vo l Ukt Uv v luong ra ca my pht l in p
pht ra tai 2 cuc ca my pht. in p vo (kch thch) uoc tnh:
Uv Ukt i
KT
.R
KT
L
KT
dt
di
KT
Uv(p)
KT
(p).R
KT
(1
p
R
L
K
KT
) ()
t T
KT

KT
KT
R
L
gi l hng s thi gian in t ca mach kch thch.
Tng qut ta c T
KT

K
K
R
L
()
Th () vo () ta c
KT

) p T ( R
) p ( U"
KT KT
+ 1
m Ur E
F
M
K
.i
KT
.

do vy hm nh s l:
Ur(p) M
K
.
KT
(p).
m
. . ( )
(1 )
KU dm
K" K"
% Uv p
R " p
+
t M
K
.
m K
F
gi l ( h s khuch ai cho u vo)
uoc tra trong bng ca nh ch tao, v khi t tip:
F
K
F
KT
F
K
R
K
R
K
1

gi l h s khuch ai ca my pht trong h

thng.
Nhu vy hm truyn at s l:
1
1
+

p T
K
) p ( U"
) p ( Ur
) p ( %
KT
F

Kt lun: My pht in mt chiu l khu qun tnh bc nht.
)0 Sy in "hu@ch Gi tT trng ngang. (My pht khuch dai 2
tng)
S nguyn l th hin nhu hnh 2-21.
Khi t in p U
v
vo cun kch thch ta c
70
Ur
Uv
ik
Lk
Rk
9\nh ,-,+
Rk
Lk
ik
Uv
Hnh 2-21
Gn
2
2
1
1
Ur
t thng kch thch m t thng ny do vj tr
ca chi than chi xuyn qua cun dy uoc tao
ra bi chi 1-1
cn khung dy uoc ni vi
chi 2-2
khng c, mt khc chi 1-1
ni ngn mach
tao nn dng dng
n
ln do tao ra t thng th cp
vung gc vi t thng lc u c gi trj ln, t thng ny xuyn qua
cun ni vi chi 2-2
do cm ng ra s E
2-2
rt ln.
Nhu my pht inmt chiu xt trn ta cng c:
KT

) p T ( R
) p ( U"
KT KT
+ 1
()
E
1-1
M
K
.
KT
(p).
m (1)
Sc in ng ngang uoc ni ngn mach do vy
Ur
11
0 v E
1-1
(t) i
n
.R
n
Ln
dt
di
n
E
1-1
(p)
n
(p).R
n
(1T
N
p) (2)
Trong T
N

- R
- L
Rn
Ln
Rn
Ln

(3)
(T
N
uoc gi l hng s thi gian in t ca mach vng ngang)
Thay (2) v (3) vo (1) c:
M
K
.
KT
(p) .
m
N
(p) . Rn(1 T
N
p)

n
(p)
) 1 (
) (
B
p " Rn
p %
&
dm K
+
KT
.
thay
KT
(p) biu thc () ta c :
n
(p)
) p T 1 )( p T 1 ( Rn R
) p ( U" . d2 . @
A K KT
B K
+ +
Ta c Ur(p) E
2-2
M
u u
m
n
(p)
) p T 1 )( p T 1 ( Rn R
) p ( U" . d2 . @ @
A K KT
2
BB B K
+ +
t M
K
M
.
2
m
K
F
v F
KT
F
K
Rn R
K
1
Hm truyn at s uoc tnh :

71
(p)
) p T 1 )( p T 1 (
K
) p ( U"
) p ( Ur
A K
F 1
+ +
Kt lun : My pht khuch dai t trung ngang c hm truyn dat l

2 khu qun tnh mc ni tip.
cf 68 Vin i chnh l#u
Xt b bin i chinh luu c iu khin dng Thyristor
S b bin i chinh luu nhu hnh 2-22.
Trong s gm 2 khi
- Khi mach ng luc nu b qua thi gian chuyn i
ca cc van n uoc muu t bi cc khu t l K
, K
uoc tnh:
K

'
D
K
U
U
- Mach tao xung: Do xung tao ra phi uoc ng b vi in p

anot do thi im xut hin xung thung chm sau thi im U
K
bin i. V vy n uc m t l khu chm sau vi hm truyn l
p
e

. Khai trin hm m theo chui Laurin ta c th vit uoc
p
e

1
1 p
+
. Trong
1
2. . m f

vi m l s inh nhn ca U
D
trong mt chu
ky 1 pha m 2 s cu 3 pha th m 6.
Hm truyn at ca c h thng uoc vit thnh: (p)
1
K
p
+
.
y K
uoc gi l h s khuch ai ca b bin i.

72
U
3. )X
U
K
9\nh ,-,,
U

tua
U
]f 68 Vin i ]n% I& tuyn tPnh
B bin i dng C tuyn tnh uoc s dung rng ri l vi mach
khuch ai thut ton (OP-MP: operational mplifier) vi c im
cn bn l tr khng vo rt ln

"
?
,
V
0 do vy U
0
0
B khuch ai o:
Ta xt mt s nhu ( hnh 2-23a)
tm hm truyn at ca n:
) p ( ?
U= ) p ( U
) p (
1
"
1

) p ( ?
) p ( U U=
) p (
2
R
2

) p ( C ) p ( C ) p ( C ) p ( C
D 2 2 1
+
) p ( %
) p ( ?
) p ( ?
) p ( U
) p ( U
) p ( ?
) p ( U
) p ( ?
) p ( U
1
2
C
R
2
R
1
C

Nu chn
1
E R1,
2
E R2 th ta c s (hnh 2-23b):
Khi hm truyn ca phn t
) p ( K
1 R
2 R
) p ( %
y l mt khu khuch ai o
B khuch ai khng o ( Hnh 2-24)
V gm c mach hi tip m in p t vo
u o, cn tn hiu t ti u vo khng
o. V in p vo Uo 0 nn quan h
gia Uv v Ur uoc xc jnh theo:
2 R 1 R
1 R
Ur U"
+
H s khuch ai khng o c dang

1 R
2 R 1 R
K
+
Trong s hnh 2-23a Nu chn Z1(p) C1, Z2(p) R2 th ta c

s hnh 2-25
73
Z1
z2
Ur
Uv
1
2
Hnh 2-23 a
+
Ur
Uv
R2
R1
Hnh 2-23b
+
R2
C
Ur
Uv
Hnh 2-25
+
R2
R1
Uv
Ur
Uo
Hnh 2-24
+

1 #F
1
) p ( 1 E
v
2 R ) p ( 2 E
(p)- C1.R2.p y l khu vi phn
Thay cc vj tr ca R v C
khc nhau cng lm tung tu nhu trn
s tm uoc hm truyn at v kt lun
n thuc khu g.
M t ca mt s b khuch ai dng OP-amp

2 D
1 R
Rf
1 D
1 R
Rf
D
G

1 D
1 R
Rf
2 D )
1 R
Rf
1 (
$ R 2 R
$ R
DG +
+

1 D
2 R
$ R
1 DG
,
_
+

1 D DG

II.,./. Thit Vg ch~( h5nh
* ng co mt chiu kch t dc lp vi x(t)=U
u
, y(t) = n.
S my pht in uoc m t nhu hnh 2-30
74
R1
R2
V1
V2
Vo
Rf
+
R 1
R 2
R3
Vo
V1
V2
R f
+
R 1
Vo
V1
R 3
+
R 1
V1
Vo
+
Hnh 2-26 .B cng tn hiu dng K o
Hnh 2-27. B tr tn hiu
Hnh 2-28. B khuch ai khng o du
Hnh 2-29. Mach m
n . Ke
dt
di
L R i ) t ( U
B
B B B B
+ +
) p ( n . Ke ) p
R
L
( R ) p ( ) p ( U
B
B
B B B
+ + 1
Trong : Ke l h s sc din dng phn khng

B
B
B
B
B
R
L
R
L
T
gi l hng s thi gian in t mach vng phn
ng
S cu trc uoc xy dung c dang nhu hnh 2-31:
Ta lai c m men ca ng c
M
ng
M
- M
C

dt
d
j
dt
dn DE
375
2
()
M
Ce B @ B
K
M
C
K
M
C
M

gi l m men ng c M
C
l m men cn K
M
l h s m
men
Thay M
C
v M
D
vo biu thc () ta c:

-
C

dt
dn
K
DE
@
375
2

(p) -
C
(p)
) p ( pn
K
DE
@
375
2
n(p)
[ ]
2
$H?.
( ) ( ) .
.
%
( C
K
$ p $ p
)D p
Hm truyn lc ny uoc vit tip nhu hnh 2-32

75
C()
Hnh 2-
30
U
# n
U
:
(e
) p T ( R
B B
+ 1
1
n()
Hnh 2-31
I
:
j(f
(*)
U
:
(e
n()
9\nh ,-/,
I
:
j(f
p . DE
K
@
2
375
+
C
n()
(*)
(*)
1
( ) I ( ) . ( ).
(1 )
( (
( (
$ p U p Ke n p
R " p

+
S bin i thnh: Hnh 2-33
2
t8
2 2 2
2
$H?
(1 ) $H?
0
$H?
$H?
1
(1 )
%
( ( %
% e
( ( ( % e
( (
K
)D R p " K
K K
)D R " p )D R p K K
)D R p "
+

+ +
+
+

2 2
2
1
1
$H? $H?
e
( (
(
% e % e
K
)D R )D R
" p p
K K K K
+ +
t
E
K
Ke
1
gi l h s khuch ai ca ng c
@
@
B
T
Ke K
R DE
375
2
gi l hng s thi gian in c ca ng c
D
2
gi l m men v lng ca ng c cho trong bi (D l ung
knh rto, l s thanh dn trong rto). n vj ca D
2
l Nm
2
.
76
+
C
n(p)
U
(e
) p T ( DE R
K
B B
@
+ 1
375
2
(*)
(*)
Hnh 2-33

t
2
B
1
D
% %
K
" " p " p + +
y l hm truyn at ca ng c in mt
chiu ( khng xt n m men cn)
S cu trc h thng c th uoc m t nhu hnh 2-34
Vf 8n% cU m8t chiIu JPch t 8c ln( Qi pjtf b U
#
2 yjtf b
Trung hop ny cng tung tu nhu trung hop u ra l tc

. Biu thc lin h uoc vit:
n .
n
60
2
60
2

S cu trc tr thnh nhu hnh 2-35.
cf 8n% cU m8t chiIu JPch t 8c ln( Qi pjtf b U
#
2 yjtf b
Biu thc lin h uoc vit:
dt ) t ( ) t (
) p (
p
) p (
1
77
n()
U
:
1
2
+ + p T p T T
K
@ B @
E
9\nh ,-/Y
+
C
-
60
2

n()
U
:
1
2
+ + p T p T T
K
@ B @
E
9\nh ,-/0
-
+
C
n()
U
:
1
2
+ + p T p T T
K
@ B @
E
9\nh ,-/q
+
C
-
60
2
p
1
]f 8n% cU Jhn% On% V8 poay chiIu / (ha:
Khi dng ng c khng ng b 3 pha qu trnh qu ca
ng c rt phc tap. Nu coi c tnh c trong oan lm vic l
thng c cng
Fth
@th 2
)

th qu trnh qu in t uoc m t bng php tnh:
(T
p 1)M (
0
- )
T
fFth 2
1
l hng s thi gian in t

coi
0
hoc f l luong vo, l tc u ra ta xy dung uoc s
cu trc nhu hnh v
Trong p
1
l s i cuc ca ng c
6I TN &9:;N< ,
65i 1: Tm hm truyn at ca cc h thng sau y:

78
Hnh 2-38a
$
1
$
"
1
1
1
+ p T
"($
"
%1)
$
"
%1
X
&
!
&
1
p
2
Tdp 1+
1
*p
@c
@
)
f

Hnh 2-37 : S cu trc ca truyn ng khng ng b
Cch gii: S dung cc phung php thng thung ta c:
(p)
) p T (
) p T .(
) p T (
.
) p T (
) p T (
p T
.
p T
) p T (
) p ( X
) p ( Y
1 2
1
1
1
1
1
1 1
1
1
1
1
1
2
2
1 2
1
1 2
1
+
+
+ +
+ +
+ +
+
(p) 1
65i ,:

Vi bi ny ta cn chuyn tn ra t truc
3
thnh tn hiu ra
sau
3
bi ton s uoc gii quyt.
65i /:
l
Cch gii : Chuuyn tn hiu ra
6
v truc
3
v truc c ng ra
5
(nh hon vj) sau dng cc php tnh ton thng thung bin
i .
65i 0: Cho h c s khi: Hnh 2-41
Vi
1
100p
1 1 0
1
+ p (
79
Hnh 2-39
#
,
#
1
#
"
#
-
#
'
#
.
X
;
Y
;
X
4
1
4
6
4
2
!
Hnh 2-40
#
1
#
"
#
'
Hnh 2-
38b
X
&
!
&
3
10
Hy tm phung trnh h kn.
65i q: V c tnh tn s Logarit ca h h hnh 2-42
Trong :
1
l khu tch phn c:
k 10
1 1 0
1 03 0
+
+
p (
p (
3

1 7 0 5 0
10
2 2
+ + p ( p (

65i t: V c tnh tn s logarit trong cc trung hop sau y:
a,
) p ( p ( )( p ( (
) p ( )( p ( .(
) p ( %
1 03 0 02 0 1 5 0
1 01 0 1 2 0 100
2 2
+ + +
+ +
b,
) p ( p ( )( p ( ( p
) p ( )( p ( .(
) p ( %
1 03 0 02 0 1 5 0
1 01 0 1 2 0 100
2 2
+ + +
+ +
&9:;N< III
N N92 AN9 <IA &9T L:N< &CD 9E T9FN< T` aN<
IÛ K9I_N
III.1. N N9 &CD 9E T9FN< T` aN< IÛ K9I_N
III.1.1. Kh)i nim chun%
H iu khin tu ng sau khi uoc m t ton hc v xc jnh
hm truyn at th vic kho st n jnh l buc tip theo ca tin
trnh thit k. Trong phn ny chng ta chi kho st h tuyn tnh lin
tuc v dng. Cc kho st ca h a bin s uoc nghin cu sau.
Vic kho st n jnh dua trn quan im vo chn, ra chn vi
cc tiu chun n jnh ai s: Routh, Hurwitz, v tiu chun tn s:
Nyquist, Mikhailov, cng nhu cc phung php chia min D hay qu
ao nghim kho st h c thng s bin i.
Khi ua ti h thng iu khin tu ng mt tc ng no th
luong ra s dao ng. iu ny c ngha l n lch khi vj tr cn
bng ban u, qu trnh ny c ba trung hop xy ra:
Sau khi tc ng bn ngoi mt i,
ai luong cn iu chinh tr v vj tr ban u hay
80
#
1
#
'
#
"
Hnh 2-41
!
X
%
t
0
t
%
0
Hnh 3-2
%
0
Hnh 3-3
t
t
vj tr cn bng cho ta ni h tu cn bng n jnh,
ung cong qu uoc biu din trn hnh 3-1.
Luong iu chinh sau khi tn hiu
tc ng vo mt i, ai luong ny dao ng ngy
mt xa trj s n jnh bao u, ta ni h thng ny
khng n jnh, ung biu din hnh 3-2.
Sau khi tn hiu tc ng mt i ai
luong cn iu chinh dao ng xung quanh trj s
cho.
- Nu h l tuyn tnh ta ni h thng n
jnh
- Nu h l phi tuyn ta ni h n jnh dao
ng (tu dao ng).
:. nh nghUa3
Mt h thng diu khin tu dng goi l n djnh nu qu trnh qu
d ca n tt dn theo thi gian.
Mt h thng diu khin tu dng goi l khng n djnh nu qu
trnh qu d ca n tng dn theo thi gian.
Mt h thng diu khin tu dng bin gii n djnh nu qu
trnh qu d ca n khng di hoc dao dng khng tt dn.
Mt h thng iu khin tu ng uoc biu din bi phung
trnh vi phn tng qut:
Nghim ca phung trnh:
y(t) y
0
(t) y
q
(t)
y
0
(t) l nghim ring ca phung trnh vi phn tng qut n c
trung cho qu trnh xc lp. u trnh xc lp l qu trnh n jnh
do ta chi cn xt qu trnh qu ca h thng.
y
q
(t) l nghim tng qut ca phung trnh vi phn thun nht.
N c trung cho qu trnh qu , nhn duoc bng cch gii phung
trnh vi phn thun nht v phi bng khng,
81
Hnh 3-1
1 1
0 1 0 1 1 1
.... ....
n n m m
n m n n m m
d y d y d x d x
a a a y b b b x
dt dt dt dt

+ + + + + +
i s phung trnh c tnh (p) 0 c n nghim pi 0 ring
bit khi y
q
c dang:
Trong :
C
i
l cc hng s
P
i
l nghim ca phung trnh c tnh: a
0
p
n
a
1
p
n-1
.. a
n
0
P
i
c th l nghim thuc, c th l nghim phc lin hop
P
i

i
hoc P
i
(
i
t j
i
)
Xt nh hung ca cc loai nghim ln tnh cht n jnh ca
h thng
H thng n jnh:
H thng khng n jnh

Khi P
i
l nghim thuc: P
i

i
Khi Lime
t
0 khi
i
0
t- khi
i
0
Vy:
i
0 h thng n jnh
i
0 h thng bin gii n jnh
i
0 h thng khng n jnh
Khi Pi l nghim phc lin hop: Pi (i t ji)
C
i
e
Pit
C
i
e
(i t ji)t
C
i
e
(i ji)t
C
i
e
(i - ji)t
2C
i
e
it
cos
i
t
Vy:
(p dung cng thc Ole)
- lim 2C
i
e
it
lim 2C
i
e
it
cos
i
t lim 2C
i
e
it

t t t
Ly gii han kp ta cng uoc :
Nu
i
0 H thng n jnh
Nu
i
0 H thng khng n jnh
Nu
i
0 H thng bin gii n jnh.
H Kt lunn chun%
82
1
( )
i
n
p t
+d i
i
y t Ce
Lim y
q
(t) b lim
t t
Lim y
q
(t)
t

*im C
i
e
;it
5 lim 2C
i
e
it
cos
i
t
t t
- H thng n jnh nu tt c cc nghim ca phung trnh c
tnh:
a
0
p
n
a
1
p
n-1
... a
n
0
C phn thuc m Re Pi 0 ( i 1,2,,n)
- H thng khng n jnh chi cn c mt nghim c phn thuc
dung:
Re Pi 0 ( i 1)
- H bin gii n jnh nu c mt nghim ca phung trnh
c tnh c phn thuc bng khng Re Pi 0 ( i 1), cn cc
nghim khc c phn thuc m.
. Nhn xt:
- Xt n jnh ca h thng iu khin tu ng l vic tm nghim
ca phung trnh vi phn tng qut sau ly gi han khi t .
- Vic gii v tm nghim ca phung trnh vi phn gp rt nhiu
kh khn v chng thung l cc phung trnh vi phn bc cao (bc 4
tr ln).
- Vic xt n jnh uoc th bng cch tm nghim p
i
ca
phung trnh c tnh l phung trnh ai s, nu th cng chua n
gin khi gii pt ai s bc cao ( bc 4 ) tr ln ta phi tm phung
php gin tip nh n jnh h thng. Cc phung php gin tip
l cc tiu chun n jnh sau:
Tiu chun ai s:
- Tiu chun Routh
- Tiu chun Hurwitz
Tiu chun n jnh tn s.
Phung php qu ao nghim
Trong ni dung chung trnh ta chi xt tiu chun ai s v tiu
chun n jnh tn s.
III.1.,. &)c tiu chun n gnh
10 Tiu chuVn 2n nh Gi s,
af iIu Jin n gnh crn thit:
Pht biu:
iu kin n djnh cn thit ca h thng KT tuyn tnh l
cc h s ca phuong trnh dc tnh phi duong.
83
(Thuc ra tng qut phi ni h s ca phung trnh c tnh
cng du ai s nhung v du m s chuyn v du dung khi nhn
phung trnh vi s (-1))
kim chng lai iu kin trn, nu h thng n jnh. Nhu vy
th nghim ca phung trnh c tnh s l:
P
1
-
1
, p
2,3
-
2
t j
2
, , p
n
-
n

Tt c cc
i
0 ( i 0,.., n)
Khi liu cc h s ca phung trnh c tnh c dung hay
khng?
Tht vy, nu phung trnh c tnh :
a
0
p
n
a
1
p
n-1
... a
n
0 ()
c n nghim ta khai trin phung trnh c tnh nhu sau:
a
0
(p p
1
)(p p
2
)()(p p
n
) 0
Hoc theo gii han trn ta c
a
0
(p
1
)(p
2
- j
2
)( p
2
j
2
)()(p
n
) 0
Rt gn phung trnh ta c:
a
0
(p
1
)(p
2
)
2

2
2
)(p
n
) 0 ()
Khai trin phung trnh F(p) v dang () ta uoc:
a
0
p
n
a

1
p
n-1
. a

n
0
Cc h s a
0

a
0
a
n
lun dung v cc s hang trong () l s
dung v php tnh chi c php cng v bnh phung.
V th khi h thng n jnh bt buc cc h s ca phung trnh
c tnh phi dung.
V du: ta c phung trnh a thc sau:
(p) 40p
3
10p
2
20p 30 0
Ta thy tt c cc h s a
j
0 nhu vy tho mn iu kin cn
nn h c th n jnh.
Hoc phung trnh: (p) p
4
20p3 - 10p
2
p 30 0
Ta c a
2
- 10 0 cn cc h s khc ln hn 0 .
Vy phung trnh ny khng tho mn iu kin cn vy h
khng n jnh.
Vf Tiu chun outh
*. Ni dung tiu chun:
iu kin cn v cho h tuyn tnh n jnh l tt c cc s
hang trong ct th nht ca bng Routh dung.
84
*. Cch thnh lp bng Routh:
i s ta c phung trnh:
F(p) a
0
p
n
a
1
p
n-1
... a
n
0
Bng Routh c cc hng v cc ct nhu sau:
Hng th nht ca bng Routh l cc h s chn.
Hng th hai ca bng Routh l cc h s l.
Cc hng sau phi tnh cho tng s.
Mi s l mt php tnh chia gm hai tha s:
T s l mt jnh thc hang 2 (hai hng, hai ct) mang du tr
ng truc:
Ct th nht l cc s hang u tin ca 2 hng st trn hng
c s hang ang tnh.
Ct th 2 l cc s hang ca 2 hng c vj tr ct st bn phi
pha trn ca s hang ang tnh.
Mu s: Mu s ca tt c cc s hang trong cng mt hng u
ging nhau, chnh l s hang ct 1 vi hng st trn hng ta ang
tnh.
85
1
$ 1
2 0
0
a
a a
a a
b

0
2 0
$ 1
1
b
b b
a a
b

1
? 1
) 0
2
a
a a
a a
b

p
n
a
0
a
2
a
@
a
?
===
p
n-1
a
1
a
6
a
E
a
C
===
p
n-2
+
0
+
2
+
@
===
p
n-6
+
1
+
6
+
E
===
/
/ ==
p
0

H. WP ]Z :
V du1: F(p) p
4
3p
3
2p
2
2p 1
Ta thy tt c cc h s ca phung trnh a thc u dung
v ln hn khng. Ta tin hnh xt n jnh theo tiu chun Routh.
Lp bng Routh:
p
4
1 2 1
p
3
3 2
p
2
43 1
p
1
-14 0
p
0
1 0
Ta thy c mt h s ct 1 ca bng Routh m. Vy h khng
n jnh.
V du 2: F(p) p
5
p
4
4p
3
4p
2
2p 1
Lp bng Routh
P
5
1 4 2
p
4
1 4 1
p
3
0 1
p
2
1
p
1
0
p
0
1 0
Ta thy h s P
1
trong ct mt bng Routh nh hn khng do
vy h khng n jnh.
Nhnn pdt: Khi ct mt ca bng Routh c mt dng no c
mt phn t bng khng (cc phn t khc cn lai khc khng). Ta
tin hnh thay khng bng ri sau tnh tip, cho tin dn n
khng, tm gii han cc phn t ct 1. Nu khng i du th h n
jnh.
86

1 )
1
1 )
1
2
V du 3: F(p) p
5
10p
4
16p
3
160p
2
p 10
Lp bng Routh:
P
5
1 16 1
p
4
10 160 10
p
3
0 0
40 320
p
2
80 10
p
1
315 0
p
0
10 0
H n jnh.
Nhnn pdt: Trung hop bng Routh c 1 dng cc phn t bng
0 th ta s dung cc h s ca dng trn n lp phung trnh phu
F
1
(p) 0 sau ly ao hm. Thay dng bng khng bng cc h s
ca phung trnh ao hm.
L#u :
Tiu chun Routh p dung xt n jnh cho c h kn v h
h c phung trnh c tnh c cp bt ky.
C th nhn hay chia tt c cc s hang trong cng mt hng
ca bng Routh, kt qu tnh ton vn khng thay i.
+ S ln i du ca cc s hang trong ct th nht ca bng
Routh bng s nghim ca phung trnh c tnh c phn thuc
dung.
T ct th nht ca bng Routh ta c th tnh uoc gi trj ti
han ca mt tham s bin i trong h thng, nhu h s khuch ai k
chng han.

cf Tiu chun 9u"it.
*. Ni dung tiu chun:
iu kin cn v cho h thng tuyn tnh n jnh l h s
a
0
0 v cc jnh thc Hurwitz dung.
. Cch thnh lp jnh thc Hurwitz:
V du: Cho phung trnh a thc sau:
F(p) a
0
p
3
a
1
p
2
a
2
p a
3
0
Ta c jnh thc:
87
3
a
1
a
3
0
a
0
a
2
0
0 a
1
a
3
Tng qut:
- jnh thc hang n c n hng v n ct.
- ung cho chnh ca jnh thc bt u t a
1
n a
n
.
- Cc s hang trong 1 ct pha trn ung cho chnh c chi s
tng dn cao hn chi s ung cho chnh, cc s hang pha
dui ung cho chnh c chi s gim dn v nh hn chi s
ung cho chnh.
- Cc s c chi s cao hn n v thp hn n u ghi s 0.
- Vi h thng bc 1 v bc 2 th iu kin cn v : a
0
, a
1
, a
2
0
- Vi h bc 3 th a
0
0,
1
a
1
0
2
a
1
a
3
0
3
a
3

2
0
a
0
a
2
Tiu chun Hurwitz l mt dang c bit ca tiu chun Routh.
Tiu chun Hurwitz thung dng vi h thng c phung trnh
a thc bc thp cn bc cao th vic tnh ton rt phc tap.
. V du:
Dng tiu chun n jnh Hurwitz xt n jnh cho h thng
iu khin tu ng c phung trnh a thc c trung nhu sau:
F(p) p
4
3p
3
2p
2
2p 1
Ta thy cc h s: a
0
1,
a
1
3
2
3 2
1 2 4
3
3 2 0
1 2 1
0 3 2 -1
4
3 2 0 0
1 2 1 0
0 3 2 0
0 1 2 1 -1
Kt lun: H khng n jnh.
88
,f Tiu chun n gnh trn sM.
af Tiu chun =iJhailQ
Tiu chun Mikhailov dua vo tnh cht tn s ca a thc c
trung
) ( *
xt n jnh ca h thng. H thng thng thung c
phung trnh c trung dang tng qut:
(p) a
0
p
n
a
1
p
n-1
... a
n
0
C nghim Pi ( vi i 1,2,3,..n) th a thc c trung c th chuyn
sang dang:
(p) a
0
(p - p
1
)(p - p
2
)()(p - p
n
)

) ( *
a
0
(
*
-p
1
)(
*
- p
2
)()(
*
p
n
)
k hiu
aAg A
(
*
) l gc pha ca (
*
) , tc l (
*
)
( )
*
A j e

th
aAg A
(
*
)
1
aAg( )
n
i
* Pi
.
Nu xt trn mt phng phc th mi s hang trong a thc l
mt vc t c chn tai im P
i
v c inh nm trn truc o
@
(hnh 3-
4)
Nu P
i
nm bn tri truc o th
) # @ ( aA>
( (

Nu P
i
nm bn phi truc o th
aAg( )
i i
* P

(gc quay nguoc chiu kim ng h ly du dung
cng chiu ly du m).
aAg A
(
*
)
1
aAg( ) ( )
n
i
* pi n ! !

) : 2 n (
Trong : k l s nghim ca phung
trnh c trung c phn thuc dung. Nu h
thng n jnh th k 0 , do :
aAg A
(
*
) n
Trn thuc t chi xt

0
khi ta c

aAg A
(
*
) n.
2
Khi
0
th (j) a
n
89

0
*
p
i
(
Hnh 3 - 4
T nhng phn tch trn Mikhailov pht biu tiu chun n jnh ca
mnh nhu sau:
H Nh)t ViKu:
H thng diu khin tu dng c da thc dc trung bc n vi cc
h s duong s n djnh nu biu d vc to da thc dc trung A(j
)
xut pht t mt dim trn phn duong truc thuc quay mt gc bng
n.
/2 nguoc chiu kim dng h khi
thay di t 0 dn
.
Hnh 3-5a tung ng vi h thng n jnh , 3-5b: khng n jnh.
H &)ch Q #$n% Djf
Xut pht t a thc c tnh (p) , thay p j ta uoc (j) P()
j) v ta cho bin thin t 0 , sau lp bng bin thin P, ta
v uoc ung cong (j), cho n gin ta thy dang ung cong
trong mt gc phn tu khng nh hung n tnh n jnh v vy ta i
xc jnh giao im vi cc truc toa bng cch gii phung trnh P
0 v 0 sau ni lai.
: Lu K:
- Tiu chun Mikhailov cng c th xc jnh theo su phn b
nghim ca phung trnh phn thuc
0 ) ( #
v phung trnh phn
o
0 ) ( 4
. Cu th: H thng s n jnh nu nghim s ca cc
phung trnh ny xen k nhau. ng thi
0
phi l nghim ca
phn o.
- Tiu chun Mikhailov dng xt n jnh cho c h thng h
ln h thng kn.
90
a
n
n 51
;()
B:()
n 52
n 56
n 5@
Hnh 3-5a
B:()
;() ;()
a
n
n 56
n 5@
Hnh 3-5b
WP ]Z: cho h thng iu khin c hm truyn at h thng h :
) 1 p 2 p " p 2 p ) ( p $
1 p $
) p ( 0
2 $ )
J
+ + + +
+
Xt n jnh cho h thng kn theo chun Mikhailov

65i %i7i:
Hm truyn at ca h thng kn uoc xc jnh:
1 p $ ) 1 p 2 p " p 2 p ) ( p $
1 p $
) p ( 0 1
) p ( 0
) p ( 0
2 $ )
J
J
&
+ + + + + +
+
Phung trnh c trung h thng kn l:

(p)
+ + + + + + p $ ) 1 p 2 p " p 2 p ) ( p $
2 $ )
1 0
(p)
0 1 p " p " p 1! p " p 12
2 $ ) ?
+ + + + +
Thay
/ p
vo a thc c trung ta uoc:
) " 1! 12 ( / 1 " " ) / ( A
$ ? 2 )
+ + +
Tm nghim ca phn thuc:
1 " "
2 )
+ 0
ii phung trnh chi ly nghim dung ta uoc:
)" , 0
1 R
!!! , 0
2 R

Tm nghim ca phn o:
+ " 1! 12
$ ?
0
ii phung trnh chi ly nghim dung ta uoc:
0
1 C
? , 0
2 C
1
$ C

Sp xp cc nghim phn thuc v phn o trn truc tn s :

Ta thy cc nghim ca phn thuc v phn o xen k nhau v bt u
t nghim
0
1 C

ca phn o vy h thng n jnh.
Vf Tiu chun trn sM NySuist.
C( s-3
Tiu chun ny dua vo c im ca c tnh tn s h h
kt lun tnh n jnh trong h kn vi phn hi n vj -1.
91
$ C
1 C
2 C
1 R
2 R
0
Hnh 3- 6
X Y
4
2
(p)
(-)
Tiu chun NySuist theo Rc tPnh trn sM Vin (ha
Wht )iu3
" iu kin cn v d d h thng kn n djnh:
- Khi h h n djnh (hoc gii han n djnh) dc tnh tn bin
pha ca h h khng bao dim c toa d (-1, j0).
- Khi h h khng n djnh l dc tnh tn bin pha ca h h bao
dim (-1, j 0), m/2 vng kn nu bin di t 0 . ( m l nghim
ca phung trnh c trung ca h h c phn thuc dung)
Nguyn l bao:
Mt ung cong gi l bao im M khi M nm bn trong ung
cong kn. Hnh 3-6a chi ung cong bao cng chiu kim ng h, hnh
3-6b chi ung cong bao nguoc chiu kim ng h.
Hnh 3-6a Hnh 3-6b
K mt vc t c gc l im uoc bao M cn u l im
trn dung cong kn, ung cong kn gi l bao im M , n ln khi M
di chuyn trn ung cong kn v tr v im ban u th gc quay
tng l t 2n
Du () chi ung bao nguoc chiu kim ng h
Du (-) chi ung bao cng chiu kim ng h.
+ Nguyn l dim chuyn di
i theo chiu tng ca trn ung c tnh (j) nu ct truc
honh trong khong t - -1 l cc im chuyn i. Tai im
chuyn i nu c tnh chuyn t gc phn tu th n gc th
ta c im chuyn i dung C
cn i t gc phn tu th n
gc th ta c im chuyn i m C
-
, khi s vng bao quanh n
C
- C
-

92
H"
H"
.
.

) ( R
) ( C
1
!$!$ , 0
0
0
Hnh 3-7
WP ]Z: Cho h thng iu khin c hm truyn at h thng h :
) 1 p 2 p " p 2 p ) ( p $
1 p $
) p ( 0
2 $ )
J
+ + + +
+
Hy xt n jnh cho h thng kn theo chun Nyquist.

65i %i7i:
xt n jnh h kn ta phi xt n jnh cho h h v xy dung
c trung tn bin pha h h t kt lun n jnh ca h kn theo
Nyquist.
Xt n jnh cho h h:
Phung trnh c trung h thng h:
(p)
0 ) 1 p 2 p " p 2 p ) ( p $
2 $ )
+ + + +

Phung trnh ny c mt nghim bng khng cn cc nghim
khc uoc xc jnh theo phung trnh :
1 p 2 p " p 2 p )
2 $ )
+ + + +
0
Lp bng ROUTH:
Tt c cc h s ct mt bng Routh
dung. Nhu vy phung trnh c trung h thng h c mt nghim
bng khng (nm trn truc o) cn cc nghim khc u bn tri
truc o do vy h bin gii n jnh.
Xy dung c trung tn bin pha h h.
Hm truyn tn s h thng h:
Tch phn thuc v phn o ta uoc:
93
!
4
4 # 1
!
$
2 2 )
!
2
2 1
!
1
1 )
!
)
1
) $ 1! 12 ( / " "
1 / $
) / ( 0
$ ? 2 ) J
+ +
+

2 $ ? 2 2 )
$ ? 2 )
) $ 1! 12 ( ) " " (
) $ 1! 12 ( $ " "
) ( R
+ +
+ +

jHf
Cho
0 ) ( C
ta s tm uoc gi trj tn s m tai c trung tn
bin pha ct truc thuc.
T () ta xc jnh uoc c trung TBP ca h thng h ct truc
thuc tai im c tn s:
0 $ "
)
suy ra
!)1 , 0
C

Thay
!)1 , 0
C

vo () ta uoc tao im ct vi truc thuc:
1 !$!$ , 0 ) ( R
C
>
nhu vy c trung TBP ca h thng h ct
truc thuc trong oan
0 ) ( R 1 < <
vy c trung TBP ca h h khng
bao im ( -1,j0) v uoc m t trong hnh 3-7
H thng h bin gii n jnh c trung TBP khng bao im
( -1,j0) nhu vy theo tiu chun Nyquist h thng kn n jnh.
ChX K : Truc khi dng tiu chun Nyquist cn phi xt xem h
h c n djnh hay khng (c th s dung cc tiu chun dai s d xt
h h)
H Tiu chun NySuist theo Rc tPnh trn sM lo%a"it j L
h
jf2
h
jf f
+ Pht biu:
" iu kin cn v h thng kn n jnh khi h thng h
n jnh l s giao im chuyn i dung bng s giao im chuyn
i m ca c tnh () vi ung thng - trong pham vi tn s
L() 0 .
+ Quy uc dim chuyn di :
im chuyn i dung (k hiu C
) l giao im ca c tnh
, vi ung thng -, khi tng th () ct t trn xung dui
ung thng - cn nguoc lai c im chuyn i m ( k hiu C
-
) l
94
2 2 ) 2 $
$ ?
) $ 1! 12 ( ) " " (
$ )! $"
) ( R
+ +
+

2 $ ? 2 2 )
$ ? 2 )
) $ 1! 12 ( ) " " (
) $ 1! 12 ( ) " " ( $
) ( C
+ +
+

2 2 ) 2 $
)
) $ 1! 12 ( ) " " (
$ "
) ( C
+ +

( GG)
giao im ca () vi ung thng -, khi tng th () ct t
dui ln trn ung thng - .
+ Xt n djnh dng gin d Bode (tiu chun tn s logarit).
Ni dung:
- V gin Bode ca hm truyn h (p) (p) khng c cuc phi
mt phng phc.
- Tm tn s ct
B
xt c trung pha tn s ct bin xem:
ung pha trn ung -180
0
th h kn n jnh.
ung pha ct ung -180
0
th h kn bin gii n jnh.
ung pha dui ung -180
0
th h kn khng n jnh.
*. V du:
Xt n jnh ca h c hm truyn h nhu sau:
- V gin Bode:
im ct: 40db.
Tn s gy: 1, 100
- Tnh (p) 10
4
- p 1 - p 100
Vi hng s ta c gc bng khng.
Cc s khc ta tnh nhu sau:
j 90
0
1j - 90
0
1 (j)
2
- 180
0
Thay vo ta tnh uoc:
a j b arctg ba
0 arctg - arctg 100
Lp bng :
0 1 100
0 - 45,57 -134,4 -180
95
)
10
0(p) 2
(p+1)( p+100)
Nhn xt: Ta thy ung pha nm trn ung 180
0
. Vy h kn n
jnh.
. 2. nh gi cht luong h thng KT
III.,.1. &)c ch tiu ch~t l#un% Su) 8 c[a Su) t"\nh iIu chnh
Vic kho st n jnh mi chi cho ta thy uoc h thng c th
lm vic uoc hay khng, cn cht luong qu trnh qu mi ni ti
h thng c th ua vo s dung uoc hay khng. nh gi
cht luong cn quan tm ti 3 chi tiu c bn: Chi tiu trang thi
tnh, chi tiu qu chi tiu tch phn.
af &h tiu ch~t l#un% t"*n% th)i thnh:
Trang thi tnh ca h thng uoc nh gi bng sai lch du
ca iu chinh. N l gi trj sai lch cn tn ng sau khi qu trnh
iu chinh kt thc. Chi tiu v chnh xc ca iu chinh ny do
yu cu cng ngh quy t ra m h thng iu chinh nht thit phi
p ng uoc. i trj sai lch du theo l thuyt uoc k hiu l
v
uoc tnh theo cng thc:
) ( 5(* t e
t

Trong e(t) l sai lch ng tn tai trong qu trnh iu chinh.
96
d+
lg
-
1D0
0
0
0
1D0
0
0
1 10 100
2
1
20
@0
-1
-2
in Bode
in pha
Hnh 3-8
Vf &h tiu t"*n% th)i Su) 8
Trang thi qu cu in chinh uoc nh gi bng hai chi
tiu c bn l qu iu chinh v thi gian qu ca qu trnh iu
chinh . Cc chi tiu ny cng do yu cu cht luong ca quy trnh
cng ngh t ra.
qu d diu chinh
qu iu chinh c trung cho tnh dao ng ca qu trnh
iu chinh. iu chinh uoc k hiu l
v uoc tnh nhu sau:

- cho h thng tc ng theo h thng nhiu t truc (hnh
3-9 ):
K 100 . K
*a;
y
y y
Trong :
y
max
l gi trj cuc ai
y

gi trj xc lp ca ai luong ra
- cho h thng xc jnh theo nhiu phu ti (xem hnh 3-10):
K 100 K
1
2
e
e

97
e
1
e
"
t
e
Hnh 3-10
t
y
)
ma%
t EI
y(t)
T
q
y
ma%
IE
I
Hnh 3-9: c tnh diu chinh
Trong : e
1
l bin ca na chu k dao ng u tin
e
2
l bin ca na chu k dao ng th hai
Nhu vy nu
0
th h thng s khng dao ng.
* Thi gian qu d T
qd
: L thi gian kt thc qu trnh qu .
Sau , p ng khng sai lch khi gi trj xc lp qu 5%.
Thung hai chi tiu ny mu thun nhau: K
nh th T
qd
ln v
nguoc lai. H thng iu khin thung yu cu K
40%
Ngoi ra cn c cc chi tiu qu sau:
S ln dao ng N: Chung quanh gi trj xc lp trong thi gian
qu . Thng thung yu cu N khng vuot qu 3.
Thi gian tr T
t
: L thi gian cn p ng at 50% gi trj xc
lp.
Thi gian ln T
e
: L thi gian p ng t 10% n 90%
cf &)c ch tiu tPch (hXn.
u trnh qu iu chinh c th nh gi tt hay xu thng
qua gi trj tch phn ca sai lch gia gi trj ch ao v gi trj tc thi
o uoc ca ai luong cn iu
chinh. i vi h iu chinh khng
giao ng vi su thay i ca sai lch
iu chinh uoc m t trong hnh 3-
1a c th s dung chi tiu tch phn
dang:
0
1
.dt e *
(-1)
98
t
e
Hnh 3-11a
1
"
e
1
e
"
t
e
Hnh 3-11b
nh gi cht luong ca qu trnh qu . R rng theo
thj hnh 3-14 ta thy qu trnh qu trong trung hop 1 tt hn
trung hop 2. ng thi gi trj tch phn sai lch xc jnh theo cng
thc (-1) ca ung 1 nh hn ung 2. Nhu vy J
1
cng nh th
qu trnh qu xy ra cng nhanh v nguoc lai.Nguoc lai qu trnh
qu s tt nht nu J
1
min. Nhung c h thng dao ng c
su thay i ca gi trj sai lch uoc m t trong hnh 3-14 th chi tiu
ny khng s dung uoc, v lc y gi trj tch phn c lc dung, lc
m phu thuc vo du ca e nn tng gi trj tch phn c th thu nh
m qu trnh iu chinh km. uan st thj trn hnh 3-11b ta c th
khng jnh qu tnh iu chinh trong trung hop 1 tt hn trung hop
2. Nhung gi trj tch phn ly theo cng thc -1 ca trung hop 1 s
ln hn trung hop 2. cho trung hop ny ta phi s dung tch
phn dang:
dt e *

0
2 (-2)
Vi cng thc ny du ca e khng cn nh hung n gi trj
tch phn na. i tj tch phn sai lch ly theo cng thc (-2) ca
trung hop 1 nh hn trung hop 2 v qu trnh iu chinh s uoc
nh gi tt nht nu J
2
min.
Tuy tch phn J
2
c th s dung nh gi cht luong ca qu
trnh qu cho c trung hop h thng giao ng v khng giao
ng, nhung trong thuc t n hon ton khng uoc s dung v
mun tnh theo cng thc (-2) th truc ht phi bit uoc ung
bin thin ca e.
thun tin cho vic nh gi cht luong ca qu trnh qu
chng ta s dung chi tiu tch phn bnh phung sai lch uoc tnh
theo cng thc dang:
99
dt e *

0
2
$ (-3)
i trj tch phn ny c th xc jnh thng qua chuyn i Furie
ca e thng qua biu thc Rien:
( ) [ ] ( ) 8t / 3
1
8t 3/
2
1
8t 3 @
2
0
2
0
2
$

Cc tiu chun tch phn nu ra trn y c nhuoc im c bn
l chua nh gi su nh hung ca tc thay i ca e ln cht
luong qu trnh qu . V vy chua th khng jnh ngay gi trj tch
phn nh nht l qu trnh iu chinh tt nht. Trong nhiu trung
hop khi chn uoc tham s ca h thng gi trj tch phn tnh theo
cng thc (-3) l nh nht nhung dn ti h thng dao ng rt ln
m thuc t iu chinh khng chp nhn uoc. khc phuc nhuoc
im ny c th khc phuc chi tiu tch phn dang:
dt
dt
de
e *

1
1
]
1
,
_
+
0
2
2
)
.
(-4)
Trong l gi trj c jnh.
Chi tiu tch phn tnh theo cng thc (-4) cho ta su nh gi
y v cht luong ca qu trnh qu . Khi at uoc gi trj J
4
min
ngha l at uoc gi trj J
3
nh nhung tc ca sai lch cng khng
cao. i vi tng h thng ring bit phi chn uoc gi trj thch
hop. Nn cht luong iu chinh khng cho php dao ng ln th
chn ln. Nguoc lai c th chn cho qu trnh iu chinh cho
php dao ng ln.
III.,.,. )nh %i) ch~t l#un% c[a h thMn% t"*n% th)i p)c ln(.
Cht luong ca h thng trang thi tnh uoc nh gi bng
gi trj sai lch tnh ca qu trnh iu chinh. xc jnh sai s tnh
ca h thng c th s dung jnh l mi lin h gia su tin ti gii
100
han ca hm gc v hm nh trong chuyn i Laplace. Mi lin h
uoc biu din qua cng thc:
( )
0
) ( . 5(* 5(*

p t
p , p t e
Theo s cu trc hnh 3-12 chng ta c th xc jnh uoc
gi trj e(p) theo bin i Laplace ca tn hiu vo v hm truyn at
ca h thng h bng cng thc:
( )
( ) p X
p W
p ,
#
+
1
1
) (
Trong
h
(p) l hm truyn at ca h thng h.
Dang tng qut hm truyn ca h thng h uoc m t theo
cng thc:
( ) ( ) p W
p
!
p W
-
# 0
.
Trong : K l h s
z l s luong khu tch phn c trong h thng h
Cn:
( )
1 . ...
1 .... .
1
1
1 0
1
1
1 0
0
+ + + +
+ + + +
p a p a p a
p b p b p b
p W
n
n n
m
m m
Nhu vy:
( )
( )
( ) p X
p W K p
p
p ,
-
-
0
. +
V
( )
( ) p X
p W K p
p
-
-
p
0
1
0
.
5(*
+

+
af TPn hiu Q5o l5 nhiu Vnc than% pjtf b D.1jtf

Chuyn i Laplax ca n c dang:
101
#
0
()
X()
1()
(-)
!()
Hnh 3-12
( )
p
A
p X
nh hung ca h phu thuc vo s luong khu tch phn c
trong h thng
- Khi z 0 th:
( ) K
A
p
A
p W K
p
p
+
+

1
.
. 1
5(*
0
0
H thng lun lun tn tai sai lch du.
- Khi z 1
( )
0 . 5(*
0
2
0

+

p
A
p KW p
p
p
Nhu vy khi nhiu tc ng u vo l bc thang th trit
tiu uoc sai lch du trong h thng t nht phi c mt khu tch
phn.
Vf TPn hiu Q5o c ]*n% #$n% tPch (hXn pjtf b D . t
Chuyn i Laplax ca n l:
2
) (
p
A
p X
- Khi z 0
( )

+

2
0
0
. 1
5(*
p
A
p W K
p
p
Theo thi gian iu chinh sai lch ngy cng tng ln. Ni chung
trung hop ny khng th s dung.
- Khi z 1
( ) K
A
p
A
p W K p
p
p

+

2
0
0
.
5(*
Sai lch l mt gi trj c jnh.
- Khi z 2
( )
0
.
5(*
2
0
2
0

+

p
A
p W K p
p
p
102
Nhu vy khi tn hiu vo l .t th iu chinh uoc trong h thng
phi c mt khu tch phn, cn trit tiu uoc sai lch du th trong
h thng phi c t nht hai khu tch phn.
WP ]Z: Xc jnh sai lch tnh ca h thng c s cu trc uoc m
t trong hnh 3-13 vi tn hiu vo x15 v 3.t
65i %i7i:
Hm truyn ca h thng h
( )
( )
( ) ( )( ) 1 1 ) . 1 $ 2
1 2 $
+ + +
+
p p p p
p
p W
#
Nhu vy : h s truyn ca h thng K 1,5
S luong khu tch phn trong h thng z1
Theo kt qu phn tch trn y ta c th kt lun:
- Khi nhiu vo l x 15 th sai lch tnh ca h thng
0
- Khi nhiu vo l x3.t th sai lch tnh ca h thng
2
? . 1
$

III.,./. )nh %i) ch~t l#un% t"*n% th)i Su) 8
103
( ) ( ) ( ) 1 1 ) . 1 $
1
+ + + p p p
)
p 2
1
1 .( $ +
x
y
Hnh 3-13
Trang thi qu ca h thng uoc nh gi bng mc dao
ng v thi gian qu . C rt nhiu phung php nh gi cht
luong trang thi qu nhung y chi gii thiu phung php :
nh gi theo theo c tnh TBP ca h thng h.
Hm truyn at ca h thng kn uoc xc jnh theo cng thc:
( )
( )
( ) p 0 1
p 0
p 0
h
h
:
+
Trong
h
(p ) l hm truyn at ca h thng h.
Nhu vy c tnh BT ca h thng khi uoc xc jnh nhu sau:
( )
( )
( ) +

/ 0 1
p 0
A
h
h
: (-5)
T s ca cng thc (-5) l di ca vect c tnh TBP O
ca h thng h (xem hnh 3-14a) cn mu s l di ca vct B.
Hnh 3-14b m t c tnh BT ca h thng kn c c tnh TBP ca
h thng h tung ng uoc m t trn hnh 3 -14a. c tnh BT ny
lun lun tn tai mt tn s
c
no m tai y n at n gi trj cuc
ai.
( )
( )
( )
> h
> h
> :
/ 0 1
/ 0
A
+

Khi c tnh TBP ca h thng h xa im B(-1,0j ) (ung 1
trn hnh 3-14a) th
k
() at cuc ai khi 0 (ung 1 trong hnh 3-
14b). Trong trung hop ny h thng khng dao ng. c tnh TBP
ca h thng h cng xch gn n im B-1,j0 ) (ung 2 trong hnh
3-14a) th gi trj
k
(
c
) cng tng ln (ung 2 trong hnh 3-15b).
ng thi tnh cht dao ng ca h thng cung tng theo. Nu c
tnh TBP ca h thng h i qua im (-1,j0 ) ( ung 3 trong hnh 3-
14a) th
k
(
c
) at n gi trj v cng ln (ung 3 trong hnh 3-14b).
104
u trnh qu dao ng c bin khng i, h thng
bin gii n jnh. Nhu vy tnh cht ca qu trnh qu c th nh
gi thng qua gi trj cuc ai ny ca c tnh BT ca h thng kn.
i trj:
( )
( )
( ) ( )
( ) ( )
> >
> >
> h
> h
/C R 1
/C R
/ 0 1
/ 0
L
+ +
+
c trung cho mc
daong ca h thng iu chinh tu ng.
i trj m cng ln th tnh cht dao ng ca h thng cng
tng. nh gi chi s dao ng M ca h thng kn dua theo c
tnh TBP ca h thng h truc ht chng ta xy dung cc ung
cong M const. c tnh ung cong ny uoc xc jnh nhu sau: T
cng thc -6 ta c:
( ) ( )
( ) [ ] ( )
>
2
2
>
>
2
>
2
2
C R 1
C R
L
+ +
+
M
2
2M
2
.R(
c
)M
2
.R
2
(
c
)M
2
2
(
c
)R
2
(
c
)
2
(
c
)
( ) ( ) ( )
2
2
2
2
2
>
2
2
2
2
>
2
2
>
2
L 1
L
L 1
L
C
L 1
L
R
L 1
L
. 2 R

,
_
,
_

Suy ra
( ) ( )
2
2
>
2
2
2
2
>
L 1
L
C
L 1
L
R
,
_
,
_

105
Hnh 3-14: a) c tnh TBP h h b) c tnh TBP h thng kn
) ( R
) ( C
1
'
"
50
-1
.
a)
.
<
()
1
"
'
b)
y chnh l phung trnh ca ung trn trong h ta R(
c
)
v (
c
) c tm nm trn truc thuc v cch tm ta mt khong
bng
2
2
L 1
L
v bn knh
2
L 1
L
A
Cho cc gi trj M khc nhau chng ta s xy dung uoc mt h

ung trn gi l ung trn M. Khi M 1 ung trn tr thnh
ung trn thng i qua im R(
c
) - 0,5 (hnh 3-15)
bit uoc chi s dao ng ca h thng chng ta chi cn xy
dung c tnh TBP ca h thng h. Nu c tnh ny tip xc vi
ung trn no th h thng iu chinh tu ng c chi s dao ng
nhu vy. R rng h thng s t dao ng nu c tnh TBP ca h
thng h nm hon ton bn phi ung thng R() - 0,5 v tnh
cht dao ng ca h thng ngy cng tng ln khi c tnh TBP ca
106
"52
"51>?
"51>@
"51
) , 1
1
L
" , 1
1
L
"50>E
) ( R
) ( C
) / ( 0
h

0 *1
Hnh 3-15: Biu h ung trn M
h thng h ngy cng vuot xa khi ung thng ny. Trong thuc t
iu chinh thung ly gi trj M 1,2 n 1,5.
III.,.0. 9 thMn% KT Qi c)c Suy lunt iIu chnh chun.
Trong h thng iu chinh tu ng trong cng nghip hin nay
thung s dung cc quy lut iu chinh chun l quy lut ti l, quy
lut tch phn, quy lut vi phn. Phn ny chng ta i su phn tch
cht luong ca h thng iu chinh tu ng s dung cc quy lut iu
chinh ny.
af Guy lunt t l jN"o(o"tionalf
Tn hiu iu khin trong quy lut ti l uoc hnh thnh theo cng
thc:
U
d
K
m
.e
Trong K
m
uoc gi l h s khuch ai ca quy lut. Theo
tnh cht ca khu khuch ai ta thy tn hiu ra ca khu lun lun
trng pha vi tn hiu vo. iu ny ni ln uu im ca my ti l l
tc ng nhanh. V vy trong cng nghip quy lut t l lm vic n
jnh vi tt c cc i tuong. Tuy nhin quy lut ti l cng c mt
nhuoc im c bn l khi s dung vi cc i tuong tnh h thng
iu chinh lun lun tn tai sai lch tnh v khng th s dung trong
iu chinh chung trnh (xem phn -2). gim gi trj sai lch tnh
phi tng h s khuch ai. Nhung khi tng h s khuch ai tnh dao
ng ca h thng s tng ln v c th ua h thng ti mt n jnh.
Trong cng nghip quy lut s dung thung uoc s dung cho nhng
quy trnh cng ngh cho php c sai lch du. gim sai lch du quy
lut ti l thung uoc hnh thnh theo biu thc
U

U
0
K
m
.e
107
Trong U
0
l im lm vic ca h thng. Tc ng iu khin
lun lun gi cho tn hiu iu khin thay i xung quanh gi trj ny
khi xut hin tn hiu sai lch.
Hnh 3-16. M t qu trnh iu chinh vi cc h s Km khc
nhau.
Vf Guy lunt tPch (hXn jInte%"alf
Trong quy lut tch phn tn hiu iu khin uoc xc jnh theo
cng thc:

8t . 3 .
9
1
8t . 3 & U
(
8
Trong :
&
1
9
(

uoc gi l thi gian tch phn.
T cng thc ny ta thy gi trj iu khin U
chi at gi trj xc
lp ( qu trnh iu khin kt thc) khi e 0. Nhu vy uu im ca
quy lut tch phn trit tiu uoc sai lch du.
108
e
0
1
2
6
t
1 82 86
Hnh 3- 16 : u trnh iu
chinh vi cc h s K
m
khc
nhau
e
0
t
Hnh 3- 17 : u trnh qu
iu chinh vi cc h s K
m
, T
i

khc nhau
1
'
" .
Xt c tnh khu tch phn, tn hiu ra ca n lun lun chm
pha so vi tn hiu vo mt gc bng 2. iu ny mun ni ti su
tc ng chm ca khu tch phn. Do su tc ng chm m trong
cng nghip h thng iu khin tu ng s dung quy lut tch phn
km n jnh. V vy quy lut ny hin nay t uoc s dung.
cf Guy lunt Qi (hXn jve"iQatiQef
8t
83
9 U8
M
Trong : T
D
uoc gi l hng s thi gian vi phn.
Thnh phn vi phn gy tc ng nhanh cho h thng.
]f Guy lunt t l tPch (hXn jNIf
va tc ng nhanh va trit tiu uoc sai lch du ngui ta
kt hop quy lut t l vi quy lut tch phn tao nn quy lut t l
tch phn. Tn hiu iu khin uoc xc jnh theo cng thc:
U

+ + ) 8t . 3 .
9
1
3 ( & 8t . 3 & 3 . &
(
* 2 1
Trong : K
m
K
1
l h s khuch ai.
T
i
K
1
K
2
l hng s thi gian tch phn.
Hm truyn at ca quy lut t l tch phn c dang:
)
p 9
1
1 ( & ) p ( 0
(
*
+
Hm truyn tn s ca quy lut P :
)
9
1
@ 1 ( & ) / ( 0
(
*

c tnh PT:

(
9
1
aA>tg ) (
Nhu vy khi 0 th
2 = ) (
cn khi

th
0 ) (
tn hiu ra chm pha so
109
vi tn hiu vo mt gc trong khong t
2 =
n 0 phu thuc vo
cc tham s K
m
, T
i
v tn s ca tn hiu vo. R rng v tc tc
ng quy lut P chm hn so vi quy lut t l v nhanh hn quy lut
tch phn. Hnh 3-17 m t qu trnh hoat ng ca h thng iu
chinh tu ng s dung quy lut P vi cc tham s K
m
v T
i
khc
nhau:
- ung 1 nhn uoc khi K
m
nh cn T
i
ln. Tc ng iu
chinh nh nn qu trnh khng dao ng.
- ung 2 nhn uoc khi K
m
nh cn T
i
nh, tc ng iu chinh
tung i ln v thin v lut tch phn nn h tc ng chm, dao
ng vi tn s nh v khng tn tai sai lch du.
- ung 3 ng vi K
m
ln cn T
i
nh. Tc ng iu chinh rt
ln nn qu trnh iu chinh dao ng manh, thi gian iu chinh
ko di khng c sai lch du.
- ung 4 uoc xem l ti uu khi K
m
, T
i
thch hop vi i
tuong iu chinh.
Trong thuc t quy lut P uoc s dung kh rng ri v p ng
cht luong hu ht cc quy trnh cng ngh. Tuy nhin do c thnh
phn tch phn nn tc tc ng ca quy lut P bj chm i, v vy
nu i tuong c nhiu tc ng lin tuc m i hi chnh xc iu
chinh cao th quy lut P khng p ng uoc.
ef Guy lunt t l Qi (hXn jNvf
at uoc tc ng nhanh nht ngui ta kt hop quy lut t l
vi quy lut vi phn tao nn quy lut t l vi phn. Tn hiu iu
khin uoc xc jnh theo cng thc:
U

8t
83
& 3 . &
2 1
+ )
8t
83
9 1 ( &
8 *
+
Trong K
m
K
1
l h s khuch ai.
T
d
K
2
K
1
l hng s thi gian vi phn.
110
Hm truyn at ca quy lut t l vi phn c dang:
) p 9 1 ( & ) p ( 0
8p *
+
Hm truyn tn s ca quy lut P :
) / 9 1 ( & ) / ( 0
8 *
+
c tnh PT:

8
aA>tg9 ) (
Nhu vy khi thay i t 0 n

th c tnh PT s thay
i t
0 ) (
n
2 = ) (
. Ta c th khng jnh tc tc ng
ca quy lut PD cn nhanh hn c quy lut t l. Tuy nhin c thm
thnh phn vi phn s c phn ng vi cc nhiu cao tn c bin
nh l iu khng mong mun. ng thi quy lut PD khng lm gim
sai lch du. V vy trong cng nghip khu PD chi uoc s dung
ni cn tc ng nhanh nhu iu khin tay my
if Guy lunt t l Qi tPch (hXn jNIvf
tng tc tc ng ca quy lut P, ngui ta ghp thm
khu vi phn v uoc khu t l vi tch phn PD (hnh 3-25). Tc
ng iu chinh uoc tnh theo cng thc:
)
8t
83
9 8t . 3
9
1
3 ( &
8t
83
& 8t . 3 & 3 &
8
(
* $ 2 1

+ + + +
Trong : K
m
K
1
l h s khuch ai.
T
i
K
1
K
2
l hng s thi gian tch phn.
T
d
K
3
K
1
l hng s thi gian vi phn.
111
(
2
p 9
1
(
$
d
e
u
u
d
u
i
u
Hnh 3- 18 : iu khin vi b iu khin PD
;GD
i
tun
g
iu
khin
e
x
y
Hm truyn at ca lut PD :
) p 9
p . 9
1
1 ( & ) p ( 0
8
(
* ,
+ +
Hm truyn at tn s:
)
9
1
9 ( @ 1 - & ) @ ( 0
(
8 * ,
+
c tnh tn bin pha:

(
2
8 (
9
1 9 9
aA>tg ) (
Nhu vy khi thay i t 0 n

th c tnh PT s
thay i t
2 = ) (
n
2 = ) (
. Ta c th khng jnh tc
tc ng ca quy lut PD nhanh hn c quy lut t l.
B iu khin PD uoc ng dung nhiu iu khin i tuong
SSO theo nguyn l hi tip ( Hnh 3-18) B PD uoc s dung rng
ri l do tnh n gin ca n c v cu trc ln nguyn l. B PD
c nhim vu ua sai lch e(t) ca h thng v 0 sao cho qu trnh
qu tha mn cc yu cu cht luong. Cht luong ca h thng
phu thuc vo cc tham s K
m
, T
i
, T
d
. Mun h thng uoc cht
luong mong mun th phi phn tch i tuong ri trn c s chn
cc tham s cho ph hop. hin c kh nhiu phung php xc
jnh cc tham s cho b PD nhu:
- Phung php Ziegler- Nichols
- Phung php tng T ca Kuhn
- Phung php ti uu ln v phung php ti uu i xng
- Phung php iu khin cn bng m hnh.
112
Mt iu cn ch l khng phi mi trung hop u phi xc
jnh c 3 tham s ca b PD. Chng han khi i tuong c thnh
phn tch phn th b iu khin khng cn phi c khu tch phn
mi lm cho sai lch tnh bng khng, khi chi cn s dung b PD.
Hoc khi tn hiu trong h thng thay i tung i chm v bn thn
b iu khin khng cn phi c phn ng tht nhanh vi su sai lch
ca e(t) th ta c th dng b P.
III./. 9IEU &9N9 9E T9FN<
III./.1. Kh)i Su)t chun%
Khi tng hop h thng iu khin tu ng, iu ct li l phi
m bo uoc cht luong ca qa trnh iu chinh theo yu cu ca
quy trnh cng ngh. Ngha l phi xc jnh uoc tham s ti uu ca
thit bj iu chinh. Tuy nhin c nhiu trung hop khi xc jnh
uoc tham s ti uu ca thit bj iu chinh nhung cht luong ca qu
trnh iu chinh vn khng p ng uoc. iu ny i hi chng ta
phi tm bin php nng cao cht luong ln bng cch thay i cu
trc v thng s ca h thng iu chinh tu ng. Cng vic ny gi l
hiu chinh h thng. Vic hiu chinh h thng c th thuc hin qua
cc cch sau
- Thay i thng s cc phn t
- Thay i cch ghp ni cc phn t trong h
- Thm vo cc khi lin h phn hi
- ua thm cc thit bj bn ngoi vo trong h ( Thit bj hiu
chinh hay gi l thit bj b)
113
III./.,. 9iu chnh h thMn% Vn% c)ch thay i thn% sM Q5 c~u
t"c c[a h thMn%
af 9iu chnh Vn% c)ch thay i thn% sM
Phung php ny chi p dung cho cc h c cu trc n jnh c
ngha l trong phung trnh c tnh c y tt c cc h s t a
0

a
n
khc khng. Khi c mt mt thng s, v du hng s thi gian hay
h s khuch ai ca h ta c th xc jnh uoc min bin thin
thng s m vn m bo tnh n jnh cho h. vi h thng chi c
mt thng s bin thin ta c th thuc hin theo phung php thay i
thng s theo tnh ton n jnh bng tiu chun ai s Routh hay
Hurwitz
WP ]Z: cho h thng iu khin m t bi phung trnh c tnh sau:
0,005p
3
(0,5T0.01)p
2
(0,5T)p 20 0
Hy xc jnh hng s thi gian T cho h thng n jnh.
Ta thy ngay uoc l h thng chi c th n jnh nu cc h s
a
n
ca n dung
a
0
0,005 a
1
0,5T0.01 0 a
2
0,5 T 0 a
3
20
a
1
a
2
a
0
a
3
0 tung ung vi
(0,5t0.01). (0,5T) 20.0,005 0 t y tm ra uoc T 0,24
th h thng n jnh.
Trong phn xt n jnh ta cng cp n n jnh ca h
thng theo c tnh logarit nu h s khuch ai cng ln th tn s
ct
c
cng ln do bn vng n jnh cng km (do kh nng
ct ung 180
0
cao hn).
Vf 9iu chnh h thMn% Vn% c)ch thay i c~u t"c c[a h
C nhng h iu khin d thay i thng s n mc no i
na th cng khng th lm cho n n jnh uoc. H thng nhu vy
gi l h thng c cu trc khng n jnh. Mun lm cho h n jnh ta
phi thay i cu trc ca n.
114
WP ]Z: Cho h thng c cu trc nhu hnh 3-26
T s ta xc jnh uoc phung trnh c tnh h kn nhu sau
T
1
T
2
p
4
(T
1
T
2
)p
3
p
2
K 0
Trong phung trnh ta nhn thy cc h s a
3
0 nn h khng
n jnh. Mun cho h thng thnh n jnh ta ni tip thm mach phu
f
(p) c hm truyn
1 p 9
1 p 9
) p ( 0
)
$
F
+
+
.
Khi phung trnh c tnh h kn s l:
T
1
T
2
T
4
p
5
(T
1
T
2
T
1
T
4
T
2
T
4
)p
4
(T
1
T
2
T
3
) p
3
p
2
K T
3
p K
0
H thng m ny c y cc h s t a
o
n a
n
. Nu lua
chn cc hng s thi gian T
3
v T
4
thch hop h thng mi ny s c
trang thi n jnh.
III././. Nh#Un% (h)( V t)c 8n% nhiu
Trong h thng iu chinh tu ng c nhng tc ng thung
xuyn lm nh hung ln cht luong ca h iu chinh. Nn cc
nhiu loan ny o uoc th c th s dung nguyn l bt bin b tc
ng nhiu nng cao cht luong h thng iu chinh. Nu c mt
nhiu no tc ng ln h thng nhung tn hiu i luong cn iu
chinh v c sai lch u khng thy i th ta ni h thng bt bin
vi tc ng nhiu . Nhu vy nu chng ta xy dung uoc mt h
bt bin vi tc ng nhiu thung xuyn th cht luong ca qa trnh
iu chinh uoc nng cao rt nhiu. Nhu chng ta bit nhiu loan tc
ng ln h thng uoc chia thnh 2 loai: Nhiu phu ti v nhiu t
truc. Chng ta s xt h thng b cho cc nhiu loan ny.
115
1 p
1
T
K
+ 1 p
2
T
1
+ p
1
p
1
X Y
Hnh 3-19
af 6 nhiu (hZ t7i
H thng iu chinh tu ng chju tc ng ca nhiu phu ti
Z(t). Yu cu phi xy dung h thng sao cho n bt bin vi tc ng
. Mun vy trong h thng phi ghp thm phn t b vi hm
truyn at
b
(p) nhu hnh v 3-27
cho y(t) bt bin so vi tc ng Z(t) ngha l khi c Z(t) tc
ng th y(t) vn c jnh. Cu trc ca h thng phi tho mn hm
truyn at ca h dui tc ng ca Z(t) phi bng khng. Ta c th
xc jnh uoc hm truyn at ca h thng.
Yx(p) khi X(p) 0 v Z(p) 0 :
) p ( X .
) p ( % ). p ( % 1
) p ( % ). p ( %
) p ( Y.
2 1
2 1
+
Y(p) khi X(p) = 0 v (p) 0 : Bin i ta uoc

1 2
1 2
(1 ( ). ( )). ( )
( ) . ( )
1 ( ). ( )
b
W p W p W p
Yx p . p
W p W p
+
+
Do : Y(p) = Yx(p)+Y(p) hay l:
Y(p)
) p ( X .
) p ( % ). p ( % 1
) p ( % ). p ( %
2 1
2 1
+
) p ( E .
) p ( 0 ). p ( 0 1
) p ( 0 )). p ( 0 ). p ( 0 1 (
2 1
2 + 1
+
+
T biu thc trn ta thy mun cho Y(p) khng phu thuc vo
Z(p) m chi phu thuc vo X(p) th h s ca s hang th 2 phi bng
khng c ngha l: 1 (p).
b
(p) 0
hay:
b
(p)= -
) p ( %
1
1
116
4
+
(p)
4
1
(p)
4
2
(p)
X(p) &(p)
Z(p)
Y(p)
i tuong
Hnh 3-20: Xy dung h thng bt bin vi nhiu phu
ti
Vf Nh#Un% (h)( V t)c 8n% ru Q5o
y thuc cht l mt h thng iu khin sai lch v b hn
hop. Trong h thng c thm khu b mc song song t u vo n
i tuong iu khin
2
nhu s hnh v 3-28 dui.
Ta xc jnh hm truyn at ca h thng ri t tm
b
cho
h tho mn iu kin bt bin l y(t) lun bng vi x(t). Bin i ta
uoc hm truyn ca h:
(p)
[ ]
) p ( % ) p .( % 1
) p ( %
) p ( % ) p ( %
X(p)
) p ( Y
2 1
2
8 1
+
+
tn hiu ra y(t) ca h thng lun lun bng gi trj t ban
u x(t) v gi trj sai lch e(t) 0 khi x(t) thay i. iu ny chng t
(p) 1 hay:
[ ] ) p ( % ) p .( % 1 ) p ( % ) p ( % ) p ( %
2 1 2 8 1
+ +
hay
b
(p)
) p ( %
1
2
()
Nu thuc hin uc ng thc trn th h thng s kh uoc
sai lch h thng v t uoc gi trj mong mun.
Trong thuc t
2
(p) l hm truyn at ca i tuong iu chinh
c cu trc phc tap , v vy vic xy dung khi b theo biu thc ()
trn l kh c th thuc hin uoc . C ngha l khng th tao ra bt
bin tuyt i uoc m chi c th xy dung uoc h thng bt bin
tung i. Cu trc ca khi b chn lua sao cho gn vi biu thc
() nht.
117
4
+
(p)
4
1
(p)
4
2
(p)
X(p) &(p)
Y(p)
,i tFng
Hnh 3-28 Xy dung h thng vi b tc ng u vo
6I TN &9@ &9:;N< /
65i 1: Hy xc jnh K h thng c phung trnh c tnh sau n
jnh:
(p) 50p
3
65p
2
16p K 1
65i , : Kho st n jnh ca h thng c phung trnh c tnh :
a, (p) p
4
p
3
3p
2
2p 30 0
b, (p) p
5
3p
4
4p
3
- 3p
2
2p 30 0
b,
( )
) 100 )( $ (
1 2 $
2
) (
+
+ +
P P
p p
W
P
c, (p) p
5
p
4
4p
3
4p
2
2p 1 0
d, (p) p
5
10p
4
16p
3
160p
2
p 10 0
e, (p) p
4
3p
3
2p
2
2p 1 0
65i /: Cho h thng iu khin tu ng c phung trnh vi phn h h
) 2 ( 2 2 $ 2
2
2
$
$
)
)
X
dt
dx
K
dt
dY
dt
Y d
dt
Y d
dt
Y d
+ + + +
Tm K h thng kn n jnh.
65i 0: Cho h KT c s khi nhu sau:

Tm :
- Hm truyn at ca h thng
- Phung trnh c tnh, phung trnh vi phn m t h thng
- Xt n jnh cho h.
65i Y: H h c hm truyn at
) 1 p )( 1 p + )( 1 p 1) (
K
+ + +
()
#

Xt n jnh h kn theo K
65i q: Cho h iu khin tu ng c s khi nhu sau:
118
5D
) 4 ! ( !
1
+
X
()
!
()
3
()
,
_
+
! $
1
1 2
1) 1)(4! 1)(2! (!
1
+ + +
X
(&)
!
(&)
Tnh Y
(P)
v xt xem h c n jnh khng
65i t: Cho h KT c s dui. Xc jnh quan h K v a h n
jnh
65i -: Cho h KT c s dui. Xc jnh quan h K v a h n
jnh
65i 4: Cho h KT c s dui. Xc jnh quan h K v a h n
jnh
65i1+:
Cho h KT c hm truyn at h thng h dang
1) " , " '(.
1 '
#(&)
" ' .
+ + + +
+
Hy xt n jnh cho h thng kn bng phung php Routh, Hurwitz,

Mikhailop.
65i 11: Cho h KT c hm truyn at h thng h dang
1) * 1)(& " "
#(&)
" '
+ + +
$ (
K
119
) 1 ! (
) a ! (
+
+
) + ! )( 2 ! ( !
K
+ +
X !
X
) 1 ! (
) a ! ( K
+
+
) $ ! )( 2 ! ( !
1
+ +
!
&
) 1 # ? , 0 # )( 2 # ( #
) #
2
+ + +
+
X !
Xc jnh gii han ca K h thng kn n jnh theo tiu chun
Nyquist
65i1,: Cho h KT c hm truyn at dang
1 p 2 p ) 2 & ( p &
1
0(#)
2 $
+ + + +
Xc jnh gii han ca K h thng n jnh theo tiu chun Hurwitz

65i 1/: Cho h KT c s khi dang
Nyquist.
65i 10: Cho h KT c s khi dang
Nyquist.
65i 1Y Xc jnh sai lch tnh ca h c s cu trc dui
Khi tn hiu vo x(t)100, x(t)15t
65i 1q Cho h c s dui xc jnh sai lch tnh Es khi x(t)1(t)
120
p 2
1
K +
) 1 ! )( 1 ! $ ! 2 (
1
2
+ + +
X Y
1 !
1
+
) 1 ! 4 )( 1 ! $ (
$
+ +
! 2
1
1+
X
Y
1 !
1))
+
& &
h
o
h

K
T

c

s
U
O
J
h
Mi

]
*
n
%
X
Y
X
Y
1) 1)(& " "
" '
+ + + + $ (
K
65i 1t. Cho h KT c s khi dang :

- Xc jnh
B

(P)
1
65i 1-: &ho h KT c s khi dang :
Xc jnh
B
Y khng phu thuc vo F m chi phu thuc vo X.
65i 14: y dung h thng b nhiu Z v xc jnh hm truyn at ca
khi b cho h c s dui:
HD: Chuyn i vj tr ca Z sau ua khi b vo theo chun cu trc
b:
121
&
h
o
h

K
T

c

s
U
O
J
h
Mi

]
*
n
%
X
#
4
41 42
X Y
#
4
41 42
46
/
X Y
)
9#
1
1 ( & +
X
(p)
!
()
Z
Khi c nhiu Z hm truyn at c khi b uoc xc jnh lun bt bin
vi nhiu c ngha:
0
1 p 100
2
) 1 p 10 )( 1 p 100 (
) 1 p )0 ( $
0
+

+
+
+ +
+
Vy khi b uoc xc jnh l:

) 1 p )0 ( $
) 1 p 10 ( 2
0
+
+
+
65i ,+: Tm b h bt bin vi mi nhiu Z(p)

122
X
(p)
!
()
4
1
4
2
Z(p)
4+
4
6
)
9#
1
1 ( & +
X
(p)
!
()
Z
1 # 100
2
+
4
+
)
9#
1
1 ( & +
X
(p)
!
()
Z
1 # 100
2
+
TI LIEU T9D= K9?@
1. L thuyt iu khin tu ng h tuyn tnh lin tuc
Tc Gi: PGS- TS Nguyn Thuong Ng
2. L thuyt iu khin tu ng
Tc gi: TS. Pham Cng Ng
3. C s l thuyt iu khin tu ng
Tc gi: TS Nguyn Vn Ho
5. io trnh tu ng iu khin
Tc gi : Trn sum ( HCM University)
6. Ton hc cao cp 1,2,3.
9. iu khin tuyn tnh
Tc gi: Nguyn Don Phuc
=& L&
5 + N6+ U //////////////////////////////////////////////////////////////////////////////////////////1
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////1
123
i u k0i n l7 2 t l n0 v c 8uan tr ng c a i s ng x9 0 i: c a n n
kin0 t 8u c d;n: c a k0oa 0 c k t0u t: c a n n c<ng ng0i /// b t
c 2 t v tr= n7o: c<ng vi c n7o ta u ti c n v i i u k0i n/ N n
c<ng ng0i 0i n i ng7y nay 2 c t ng 0o> ng7y c7ng c
n;ng cao n0 2 n;ng cao n ng su t lao ng gi 2 c0i 0= s n xu t v7
gi i 0?ng con ng i k0 i n0 ng v tr= lao ng c 0 i k0? k0 n/
ti c n v i n n c<ng ng0i 0i n i c? tr@n0 t ng 0o> cao t0@
vi c n 2 c n0 ng ki n t0 c c b n v i u k0i n t ng l7 0 t
s c c n t0i t/ ///////////////////////////////////////////////////////////////////////////////////////////1
5A t0uy t i u k0i n t ng c gi ng d y trong 0 u 0 t c>c ng7n0
k t0u t/ C n c v7o n i dung c0 ng tr@n0 2<n 0 c: 0B 0 v i
k0 n ng 0 c t v7 ng0iCn c u c a sin0 viCn tr ng ta: c0Dng t<i x;y
d ng gi>o tr@n0 n7y/ N i dung t trung c0 y u c a gi>o tr@n0 l7 0 n
tuy n t=n0 liCn t c v i ' c0 ng/ $rong 2 i c0 ng c0Dng t<i c g ng !
vi t 2 t c>c0 ng n g n: 0 n c0 t i a vi c s d ng ki n t0 c to>n "
0 c t o c0o sin0 viCn c? t0 n 2 b t c n i dung c0 ng tr@n0 d #
d7ng///////////////////////////////////////////////////////////////////////////////////////////////////////// 1
C0 ng 1E M< t to>n 0 c c a 0 i u k0i n t ngE tr@n0 b7y c t0
c>c k0>i ni 2 c0ung n0 t v 0 ($ : c s to>n 0 c c? liCn 8uan v7
cu i cBng l7 c>c t=n0 c0 t c a c>c k0;u ng 0 c i n 0@n0/ ////////////////1
C0 ng "E F72 truy n t c a 0 t0 ng ($ E $r@n0 b7y v 0 ng
0> x;y d ng 072 truy n t c a 2 t s t0i t b t0<ng d ng v7
0 ng 0> bi n i t@2 072 truy n t c a 0 t0 ng ($ / $ ////1
C0 ng 'E n n0 v7 >n0 gi> c0 t l ng 0 ($)E $r@n0 b y c>c %
0 ng 0> xGt n n0 0 ($ v7 c s >n0 gi> c0 t l ng 0 $
($ v7 cu i cBng l7 c>c 0 ng 0> 0i u c0 n0 0 t0 ng/ & /////////////1
0 c t v 2<n 0 c n7y sin0 viCn c n c? ki n t0 c v to>n 0 c:
2>y t=n0: ki n t0 c v c0uyCn ng7n0E ( t0u t i n t : 2>y i n: trang "
b i n /// ////////////////////////////////////////////////////////////////////////////////////////////////// 1
gi>o tr@n0 c 0o7n t0i n 0 n: c0Dng t<+ c ng r t 2ong c s '
?ng g? A ki n n0i u 0 n n a c a c>c t0 y gi>o: c< gi>o v7 c>c e2 sin0
viCn l n biCn so n t i c 0o7n t0i n 0 n/ ////////////////////////////////////"
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////"
M i A ki n ?ng g? xin g i v E " ////////////////////////////////////////////////////////////"
$ lA t0uy t c0uyCn 2<n i n $ /////////////////////////////////////////////////////////////////"
(0oaE i n * i n t *$in 0 c " ////////////////////////////////////////////////////////////////"
$r ng Cao ng C<ng ng0i $0>+ NguyCn ( /////////////////////////////////////////"
i n t0o iE 0"H0/ ' H..1." ///////////////////////////////////////////////////////////////////"
C0Dng t<i xin tr;n tr ng c 2 n I ////////////////////////////////"
$0>i NguyCn: t0>ng 1 n 2 "00J /////////////////////////////////////////////////////////"
72 4 o 5 c ///////////////////////////////////////////////////////////////////////////////////////////"
CF NK + )* ///////////////////////////////////////////////////////////////////////////////////////////////'
ML $ $OMN F C C N F $F NK ($ + , - . / //////////////////////////////////////////'
124
CF NK++ )* //////////////////////////////////////////////////////////////////////////////////////////// ,0
FOM $RU! N $ C N F $F NK 0 1 - . / //////////////////////////////////////////////////,0
+ U (F+ N $ NK 0 2 34 ///////////////////////////////////////////////////////////////////////,0
CF NK +++ )* ////////////////////////////////////////////////////////////////////////////////////////// H0
N NF: MNF K+M CF $ 5 NK C N F $F NK $ NK + U % 5 6 )7 - . / 34 0
(F+ N 2 ////////////////////////////////////////////////////////////////////////////////////////////////////H0
(0i c? n0i u P 072 truy n t c? k0 i bB c x>c n0 lu<n b t bi n #
v i n0i u c? ng0 aE # //////////////////////////////////////////////////////////////////////////////1""
47i "0E $@2 #b 0 b t bi n v i 2 i n0i u P() # ///////////////////////////1""
$O+ 5+ U $FNM (F O . + ///////////////////////////////////////////////////////////////////////1"'
125

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L THUYT IU KHIN T NG

Trng C Cng nghip Thi Nguyn

,. =a t"nn Mi pon% l ma trn m , l ma trn vung:

Tn hiu bc thang thung gp cc h iu chinh. Do vy nu

Trong : () l bin ca (j) cn () l pha ca (j)

tnh theo dec

th vj tr gia cc tn s khng u nhau. V du : 1

c tnh thi gian

ta c nghim khc nhau:

trn cun dy:

) trng vi truc honh

uoc v nhu hnh 1- 50

khc nhau c th tnh ra

ng mt mnh) th thj l ung thng t

nn tnh cc tn s gy hay im c bit nhu tai cc tn s ct

uoc tnh bng pha t tr i pha ca mu .

Trng C Cng nghip Thi Nguyn

65i 11: Cho h KT c hm truyn at

Cn trung hop nhu hnh 2-5 ta c hm truyn at:

WP ]Z 1: Tm hm truyn at ca cc h thng sau y:

Trng C Cng nghip Thi Nguyn

Chuyn tn hiu ra t sau mt khi thnh ra truc mt khi: Nhu

H =8t sM t"#$n% hu( Vin i Jh)c.

Trng C Cng nghip Thi Nguyn

gi l h s khuch ai ca my pht trong h

khng c, mt khc chi 1-1

Hm truyn at s uoc tnh :

Kt lun : My pht khuch dai t trung ngang c hm truyn dat l

- Mach tao xung: Do xung tao ra phi uoc ng b vi in p

uoc gi l h s khuch ai ca b bin i.

H s khuch ai khng o c dang

Trong s hnh 2-23a Nu chn Z1(p) C1, Z2(p) R2 th ta c

Hm truyn lc ny uoc vit tip nhu hnh 2-32

Trung hop ny cng tung tu nhu trung hop u ra l tc

Biu thc lin h uoc vit:

l hng s thi gian in t

Trn thuc t chi xt

/2 nguoc chiu kim dng h khi

Xt n jnh cho h thng kn theo chun Mikhailov

Phung trnh c trung h thng kn l:

Hy xt n jnh cho h thng kn theo chun Nyquist.

v uoc tnh nhu sau:

af TPn hiu Q5o l5 nhiu Vnc than% pjtf b D.1jtf

Cho cc gi trj M khc nhau chng ta s xy dung uoc mt h

Y(p) khi X(p) = 0 v (p) 0 : Bin i ta uoc

Hy xt n jnh cho h thng kn bng phung php Routh, Hurwitz,

Xc jnh gii han ca K h thng n jnh theo tiu chun Hurwitz

Vy khi b uoc xc jnh l:

65i ,+: Tm b h bt bin vi mi nhiu Z(p)

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