Cu 21 : hm truyn cu h thng l g ?

khi no dng hm truyn m t h thng ,cc bc xy dng m hnh hm truyn ,vi d Hm truyn ca h thng l t s gia bin i Laplace ca tn hiu ra v bin i Laplace ca tn hiu vo khi iu kin u bng khng. Phng php hm truyn c s dng ch yu trong iu khin c in cho cc h tuyn tnh n gin v phc v cho vic phn tch v thit k h thng trong min tm c hm truyn h thng, ta lm theo hai bc: - Thnh lp phng trnh vi phn m t quan h vo ra ca phn t. - Bin i Laplace hai v phng trnh vi phn va thnh lp ta thu c hm truyn theo nh ngha.
L{ f ( t ) } = F ( s ) =
+

f ( t ) e
0

st

dt

trong s = j l bin phc, L l ton t Laplace, F ( s ) l bin i Laplace ca hm f ( t ) . Vidu : cc bn ly mt v d no trong sch hoc thy cho ,c th l mt bi tp trong ngn hang Cu 20 C my dng m hnh khng gian trng thi dung thit k v phn tch h thng ? trong s dng no quan trng nht ? v sao ? ti sao phi s dng cc dng khc nhau nh vy + c 3 dng m hnh ton thng dng phn tch v thit k h thng : phng trnh vi phn , hm truyn , m hnh khng gian trng thi Trong s phng trnh vi phn l quan trng nht v :

+ Ptvp l dng m hnh ton ph bin nht m t cc h thng , ptvp m t y bn cht vt l nh vn tc ,gia tc ,lc ,moomen , v tr, Tuy nhin vic xem xt kho st phn tch thit k h thng da trn ptvp gp nhiu kh khn ,vic gii quyt ptvp khng phi lc no cng lm c ,c bit l cc ptvp phi tuyn

.chnh v vy m ngi ta chuyn vic biu din h thng bng cc dng m hnh ton khc trong c hm truyn v m hnh khng gian trng thi Cu 22 Phng trnh ko gian trng thi h thng l g ?khi no dng m hnh ko gian trng thi ?cc bc xy dng m hnh khng gian trng thi ,vi d +thong thng cc h k thut thng c biu din bng ptvp cp cao ,hay gp nht l cc h c m t bi ptvp cp 2 ,ta c th h cp cc phng trnh a dng m hnh ton biu din h thng ny v mt dng ptvp cp 1 tng ng .h ptvp cp 1 c gi l m hnh khng gian trng thi cu h thng Trong h ptvp trng thi c cha cc bin trng thi ca thng (i vi nhng h c ptvp cp n th c n bin trng thi ) Bin trng thi c th l bin vt l hoc khng phi bin vt l ,n bin trng thi to thnh vecto ct gi l vecto trang thi + cc bc xy dng : H bc a ptvp v h ptvp cp 1 Tm cc matran A ,B,C,D V d :tim hiu trong sch nhe Cu 23 : ngha ca m hnh ton hc trong iu khin M hnh ton hc m t i tng di dng phng trnh ton ( pt ,h pt ,hoc ptvp ) km theo nhng iu kin xc nh (k bin ,k u )i vi cc h thng c hc rt thch hp cho vic m t bng pt ton chng hn m hnh dao ng ca con lc n ,m hnh dao ng ca mch in R ,L ,C m hnh ca cc vt th chuyn ng trn b gim chn l xo,nhn thy lc Hm truyn : dng ch yu m t h tuyn tnh c im : l n gin, p dng thun li cho cc h thng tuyn tnh bt bin mt ng vo, mt ng ra (h SISO), p dng cho k thut thit k trong min tn s. + nhc im : ko dng c cho h phi tuyn ,h MIMO , ko phn tch v thit k trong min thi gian c

+ kt qu :Phng php hm truyn dng ch yu trong iu khin kinh in, h tr cho cc phng php phn tch v thit k h thng nh: qu o nghim s, c tnh tn s (biu Nyquist, biu Bode). Xut pht t hm truyn h thng c th thit k cc b iu khin sm tr pha hoc b iu khin PID (Proportation Integral Derivative). -M hnh khng gian trng thi +u im :Thng c dng trong iu khin hin i phn tch v thit k h thng. Phng php ny c th p dng cho h thng phi tuyn, bin i theo thi gian, nhiu ng vo, nhiu ng ra (MIMO). +Nhc im : trong qu trnh h cp i khi cng cn mt s bin i ton hc phc tp +Kt qu : M hnh khng gian trng thi cho php thit k h thng trong min thi gian nh cc phng php: - iu khin ti u. - iu khin thch nghi. - iu khin bn vng. Kt qu thng nhn c l b iu khin hi tip trng thi. Ngoi iu khin kinh in v iu khin hin i th cn mt lnh vc iu khin na kh mi m l iu khin thng minh. c im ca iu khin thng minh l m phng, bt chc cc h thng thng minh sinh hc. B iu khin c kh nng x l thng tin khng chc chn, c kh nng hc, c kh nng x l lng thng tin ln. Cc phng php iu khin thng minh hin nay l: - iu khin m (Fuzzy Control). - Mng thn kinh nhn to (Neural Network). - Thut ton di truyn (Genetic Algorithm). -

Cu 25 Ti sao phi xt tnh n nh ca h thng ?nu cc phng php xt tnh n nh ca h thng +Trong qu trnh kho st v iu khin cc c h, ta thng gp phi vn quan trng v kh quen thuc l tnh n nh ca h thng. Cht lng ca cc qu trnh cng ngh lin qua cht ch n tnh n nh ca chng. iu ny thng gp trong cc qu trnh ng lc khi vn hnh cc my mc, thit b, cc h thng iu khin t ng, S mt n nh c th xut hin do cc tc ng t bn ngoi cng nh t cc yu t ni ti bt ngun t cc khim khuyt khi xy dng m hnh kho st (b qua cc lc th yu hoc n gin l mt thng s ca h). Sau khi c c dng phng trnh ton hc m t h thng ta s thy pht sinh mt vn l: cc vn chuyn ng ta tm c (chnh l nghim ca cc phng trnh m t h) s sai lch vi cc chuyn ng thc ca i tng do nhng sai s vp phi trong khi xy dng m hnh t vic xc nh cc tham s ca i tng hoc t vic gii cc phng trnh vi phn chuyn ng, hoc do sai lch trong vic o c cc iu kin u. Cc sai lch ny gi chung l nhiu. T nhng vn trnh by trn ta thy bi ton kho st n nh chnh l vic xc nh nh hng ca nhiu n chuyn ng ca h (hay i tng ta ang kho st). +Cc phng php xt tnh n nh ca h thng i vi cc h tuyn tnh c cc phng php kinh in xt tnh n nh ca chng, l: - Cc tiu chun i s: Cc tiu chun n nh i s Tiu chun Routh Tiu chun Hurwitz - Phng php qu o nghim s - Tiu chun n nh tn s (Biu Bode, biu Nyquist).

Cu 28 s nguyn l hot ng ca mt sn phm CT

Gii thch : Nguyn tc :chuyn i lng cn o thnh nhng i lng trung gian ,chuyn i i lng u ra v i lng trung gian Cc qu trnh x l tn hiu ca h thng o : -khi i lng hot ng tn hiu ra thng c gim st bi cc sensor chnh l cc modul o lng ,c b tr cui h thng thu thp thong tin hot ng ca i tng -tn hiu thu c thng dng tn hiu tng t cn m ha v x l trc khi a vo b iu khin ( b iu khin lm vic vi digtal signal ) ,qu trnh ny c m ha nh h DSP1 ( modul x l tn hiu )qu trnh ny c th gm chuyn i AD ,lc ,iu ch -di s tch hp ca cc thnh phn :my tnh ,mch in t ,vi x l khi b iu khin tin hnh so sch t/hiu t v tnh ton a ra hiu chnh khi c sai lch

hoc s bin i t/h t .T/h c a ra b iu khin s (digital)nn phi qua b DSP2 bin i DA a v dng Anlog tc ng ln CCCH iu khin n cung cp ngun ng lc gip i tng hot ng ng cng ngh mong mun Cu 24 biu din s nguyn l ca 1 sp CDT ,nh nghia n nh h thng v mt hnh thc v ton hc ,trn s ch r bn cht v vai tr ca bi ton n nh h thng

Khi nim n nh (v mt hnh thc) - Khi chuyn ng c nhiu khng khc nhiu so vi khi b nhiu th chuyn c gi l n nh. - Khi chuyn ng di tc dng ca nhiu v chuyn ng ca h khi khng c nhiu khc xa nhau th chuyn ng l khng n nh. Khi nim n nh (v mt ton hc) Kho st mt h ng lc c phng trnh vi phn chuyn ng nh sau:
dys = Ys ( t , y1 , y2 ,K , yn ) ; s = 1, n dt

(1.22)

ys l nhng thng s c trng cho chuyn ng ca h ng lc (v d nh ta

, vn tc). Xt mt chuyn ng xc nh no ca h ng vi mt nghim ring ca h (1.22)

* ys = fs ( t ) ;

( s = 1, n )

(1.23)

N phn bit vi cc chuyn ng b nhiu ys ca h (1.22). Nhng chuyn ng ca h (1.22) c xc nh bng cc iu kin u ys ( t0 ) rt
0 gn vi ys = f s ( t0 ) .

ys ( t0 ) = f s ( t0 ) + s

( s = 1, n )

(1.24)

( s l nhng hng s dng nh) nh ngha: Chuyn ng khng b nhiu c gi l n nh i vi cc i lng ys nu i vi mi s dng nh ty , lun lun tm c mt s dng
( ) sao cho i vi tt c cc chuyn ng b nhiu ys = ys ( t ) m ti thi im
t = t0 tha mn bt ng thc: y s ( t0 ) f s ( t0 ) ( )

(1.25)

th tt c cc thi im tip theo ( t > t0 ) s xy ra bt ng thc:

y s ( t0 ) f s ( t0 ) <

(1.26)

Chuyn ng khng b nhiu c gi l khng n nh i vi i lng ys nu n khng phi l chuyn ng n nh i vi i lng ys . *. Bn cht v vai tr ca bi ton xt n nh h thng: T nhng vn trnh by trn ta thy bn cht ca bi ton kho st n nh chnh l vic xc nh nh hng ca nhiu n chuyn ng ca h (hay i tng ta ang kho st). - Vai tr ca vic xt n nh h thng: Tnh n nh ca h thng quyt nh n cht lng ca cc qu trnh cng ngh, n quyt nh h thng c lm vic c hay khng, c lm vic n nh hay khng.