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c tnh ng hc ca h thng t ng

c tnh ng hc ca h
thng t ng
Bi:
Khoa CNTT HSP KT Hng Yn

c tnh ng hc ca h thng t ng
c tnh thi gian ca h thng
Xt h thng c hm truyn:

Bin i Laplace ca hm qu l:

Ty theo c im ca h thng m c tnh thi gian ca h thng c th c cc dng


khc nhau. Tuy vy chng ta c th rt ra mt s kt lun quan trng sau y:
- Nu G(s) khng c khu tch phn, vi phn l tng th hm trng lng suy gim v
0, hm qu c gi tr xc lp khc 0.

- Nu G(s) c khu tch phn l tng n = 0) th hm trng lng c gi tr xc lp khc


0, hm qu tng n v cng.

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c tnh ng hc ca h thng t ng

- Nu G(s) c khu vi phn l tng ( m b = 0 ) th hm qu suy gim v 0.

- Nu G(s) l h thng hp thc ( n m = ) th h(0)=0.

- Nu G(s) l h thng hp thc cht ( n m < ) th g(0)=0.

- Nu G(s) khng c khu tch phn, vi phn l tng v c n cc phn bit, H(s) c th
phn tch di dng:

Bin i Laplace ngc biu thc (3.71) ta c hm qu ca h thng l:

Do hm qu l t hp tuyn tnh ca cc hm m c s t nhin. Nu tt c cc


cc pi u l cc thc th hm qu khng c dao ng; ngc li nu c t nht mt
cp cc phc th hm qu c dao ng.
Trn y va trnh by mt vi nhn xt v c tnh thi gian ca h thng t ng.
Thng qua c tnh thi gian chng ta c th bit c h thng c khu tch phn, vi
phn l tng hay khng? H thng ch gm ton cc thc hay c cc phc?

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c tnh ng hc ca h thng t ng

Nhng nhn xt ny gip chng ta c c hnh dung ban u v nhng c im c


bn nht ca h thng, t chng ta c th chn c phng php phn tch, thit k
h thng ph hp.
c tnh tn s ca h thng
Xt h thng t ng c hm truyn ) (s G . Gi s ) (s G c th phn tch thnh tch ca
cc hm truyn c bn nh sau:

c tnh tn s ca h thng l:

Bin :

Biu thc cho thy biu Bode bin ca h thng bng tng cc biu Bode bin
ca cc khu c bn thnh phn.
Pha:

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c tnh ng hc ca h thng t ng

Biu thc chng t biu Bode pha ca h thng bng tng cc biu Bode pha ca
cc khu c bn thnh phn.
T hai nhn xt trn ta thy rng v c biu Bode ca h thng, ta v biu
Bode ca cc khu thnh phn, sau cng th li. Da trn nguyn tc cng th,
ta c phng php v biu Bode bin gn ng ca h thng bng cc ng tim
cn nh sau:
Phng php v biu Bode bin bng cc ng tim cn
Gi s hm truyn ca h thng c dng:

Bc 1: Xc nh tt c cc tn s gy

, v sp xp theo th t tng dn:

Bc 2: Nu tt c cc tn s

th biu Bode gn ng phi qua im A c ta :

Bc 3: Qua im A, v ng thng c dc:


* (- 20 dB/dec ) nu G(s) c a khu tch phn l tng
* (+ 20 dB/dec ) nu G(s) c a khu vi phn l tng
ng thng ny ko di n tn s gy k tip
Bc 4: Ti tn s gy

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c tnh ng hc ca h thng t ng

, dc ca ng tim cn
c cng thm:
* (- 20 dB/dec ) nu
l tn s gy ca khu qun tnh bc mt.
* (+ 20 dB/dec ) nu
l tn s gy ca khu vi phn bc mt.
* (-40 dB/dec ) nu
l tn s gy ca khu dao ng bc hai.
* (+40 dB/dec ) nu
l tn s gy ca khu vi phn bc hai,
.
( l s nghim bi ti
)
ng thng ny ko di n tn s gy k tip.
Bc 5: Lp li bc 4 cho n khi v xong ng tim cn ti tn s gy cui cng.
V d :V biu Bode bin gn ng ca h thng c hm truyn:

Da vo biu Bode gn ng, hy xc nh tn s ct bin ca h thng.

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c tnh ng hc ca h thng t ng

Gii. Cc tn s gy:

Biu Bode qua im A c ta :

Biu Bode bin gn ng c dng nh hnh 3.16. Theo hnh v, tn s ct bin


ca h thng l 103rad/sec.

Biu Bode bin ca h thng

V d :. Hy xc nh hm truyn ca h thng, bit rng biu Bode bin gn ng


ca h thng c dng nh hnh 3.17.

Biu Bode bin ca h thng v d trn

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c tnh ng hc ca h thng t ng

Gii: H thng c bn tn s gy
. Da vo s thay i dc ca biu Bode, ta thy hm truyn ca h thng phi
c dng:

Vn cn li l xc nh thng s ca h thng. Theo hnh v:

- dc on BC l 20dB/dec, m t im B n im C bin ca biu Bode


gim 40dB (t 34dB gim xung 6dB), do t B n C tn s phi thay i l 2
decade. Suy ra:

- dc on DE l +40dB/dec, m t im D n im E bin ca biu Bode


tng 60dB (t 6dB tng ln +54dB), do t D n E tn s phi thay i l 1.5 decade.
Suy ra:

Do hm truyn ca h thng l:

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