Cc phn t ca h thng iu khin c m t bi mt phng trnh thit lp mi quan h v thi gian gia tn hiu vo v tn hiu ra ca phn t. Nhng phng trnh ny l nhng hm theo thi gian v thng gm c nhng thnh phn vi / tch phn. Php bin i Laplace c s dng bin i phng trnh vi phn thnh phng trnh i s - l nhng hm theo tn s. Khi phng trnh i s ny c sp xp dng t l gia tn hiu ra v tn hiu vo, th kt qu c gi l hm truyn t ca phn t. Php bin i Laplace rt thun tin trong vic m t h thng cng nh trong qu trnh phn tch v thit k h thng iu khin.
3-1
C.B. Pham
C.B. Pham
3-2
hay
Vi
i vi t in
Vi
C.B. Pham
Vi
C.B. Pham
Lc tc dng ln mng
Vi
C.B. Pham
3-6
2. Bin i Laplace
nh ngha:
Vi
C.B. Pham 3-7
C.B. Pham
3-8
C.B. Pham
3-9
Bin i Laplace
C.B. Pham
3-10
Bin i Laplace
Th d: Bin i Laplace cho hm sau: Gii Th d: Bin i Laplace cho hm sau vi tt c iu kin ban u bng 0:
Bin i Laplace
Gii
Gii
C.B. Pham 3-12
Bin i Laplace
Th d: Mt phn t c thi gian tr c m t nh sau: fi(t) = 4t v fo (t) = 4(t - 6), hy bin i Laplace cho tn hiu ra ca phn t. Gii
Bin i Laplace ngc Chuyn i hm theo tn s thnh hm theo thi gian. Trong phn tch h thng iu khin, hm trong min tn s thng c dng l phn s ca hai a thc.
C.B. Pham
3-13
Bin i Laplace
Th d: Thc hin php bin i Laplace ngc cho nhng hm sau:
Gii
C.B. Pham
3-14
Bin i Laplace
C.B. Pham
3-15
3. Hm truyn
Hm truyn ca mt phn t l phn s gia php bin i Laplace ca tn hiu ra v php bin i laplace ca tn hiu vo. Th d: Xc nh hm truyn ca mch RC c phng trnh theo thi gian nh sau:
C.B. Pham
3-16
Hm truyn
Kho st c tnh p ng ca van khi tn hiu dng in (ng vo) tc ng nh sau:
Gii
C.B. Pham
3-17
Hm truyn
Step Response 14 12 10
Amplitude
8 6 4 2 0
0.5
1 Time (sec)
1.5
C.B. Pham
3-18
Hm truyn
nh l gi tr u / cui Gip xc nh nhng gi tr xc lp nhanh chng m khng cn thc hin bin i Laplace ngc
C.B. Pham
3-19
4. p ng tn s
Hai loi tn hiu thng dng kho st c tnh p ng ca phn t: tn hiu bc thang v tn hiu dao ng iu ha. c tnh p ng ca phn t i vi tn hiu dao ng iu ha c l p ng tn s v c th hin qua biu Bode
Output
Biu Bode
p ng tn s ca mt phn t l mt tp hp cc gi tr ca h s khuch i v lch pha khi tn hiu dao ng iu ha bin thin trn mt dy tn s. Cc bc xy dng biu Bode: Th s = j trong biu thc hm truyn Biu din hm truyn dng s phc, t c th biu dn dng ta cc. Bin ca s phc chnh l h s khuch i ca phn t tn s . Gc ca s phc chnh l gc lch pha ca phn t tn s .
C.B. Pham 3-21
Biu Bode
C.B. Pham
3-22
p ng tn s
Th d: xt th d v bn nc vi biu thc ton nh sau: Cho lu lng u vo dng dao ng iu ha vi bin trung bnh l 0.0002 (m3/s) v tn s (f) l 0.0001592 (Hz). Cho G = 2000 (s/m2) v = 1590. Xc nh bin v pha ca tn hiu ra (h).
Gii
C.B. Pham
3-23