AZo R OI Bs 4 NSIS ngie yenm A195 09 VQH NYA NJANONPTS NGUYEN VAN HOA SACH CHAO MUNG 50 NAM THANH LAP TROUNG BAT HOC BACH KHOA HA NOX co sé LY THUYET DIEU KHIEN TU DONG Cn lan thit 3 c6 chinh stta) os ‘NHA XUAT BAN KHOA HOC VA KY THUAT HA NOL 2006LOI NOI DAU ‘Ditu khién la mot link vye quan trong ciia déi sOng x4 hoi, eba non kin t6 qué dan, cia khoa hoc ki thuat, cia nén dai cong nghigp ~.v.. Bat cit 8 vi tel ‘nao, bat cxf 1am mot cong vige gi méi ngudi trong chting ta déu tiép can voi diéu khign, N6 lA khéu quan trong cubi cing quyét dink sy thanh bai trong moi hoot dong ela ching ta Non dai cong nghigp hign nay eng ngay chng duge nfng cao muted ta dong, hoa véi mue dich nang cao nang suat lao dong, gidm chi phi san xudt, gidi phong con nqwai ra Khoi nhitng vi tri lam vige doc hai v.v.. Dé tigp cfm voi nén dal cong nghiép cd trinh do ty dong hoa eao, méi ching ta, ngoai nhimg kién thic ed ban vé chuyén mén eda minh, cin phai trang bj mot s6 kién thule eo ban ve dieu bide ty dong. Co so Ii thuyét déau khién tu dong Wa phan noi dung co ban nhat cia li thuyét diéu khién tu dong. No la mét trong nhimg mon hoc duoc giding day cho hau hét cic dp ki sut va ki su thue hanh khong phai chuyén nginh vé diay khién tyt dong trong tat cA cae trudng dai hoc ki thuat. Dé gitp cho hec sinh cae déi tutong trén od tai ligu tham khdo, tac gid da 6 ging viet ra cudn sich nay dua trén kinh nghiém gidng day eta minh va tham khdo ¥ kign ea cde ding nghiep a va dang ping day mén Hi thuyét didu khiGn ty ding va ¥ kién eva cée nha chuyén mon trong Tinh vyc diéu khién ty dong. Quyén sich nay cling 00 thé eo ich cho ede déi tong bat die tigp cén véi link vue diéu khién tu dong. Sach dufge chia lAm ba phn. Nhiing phan ed noi dung Ién duge chia ta thanh: ‘eraomg, B6 eye ea titng ehuong bao gbm phiin Ii thuyét ed bin v2 phiin bak ep giti mau dé gidp ban doc cing c6 lai nhitng kién thie li thuyét vita nghién edu. Phan mé du. Khéi quat chung v8 digu khién, Mue dich cia phan nay I néu Ién nbiing khéi niém co ban vé didu khién, gidi thiéu mot cach phan loai he théng di®u chinh tw déng va xac dinh vai tro cila co sli thuyét didu khitn ty dng, Phin nay gidp cdc ban doc cd nig khai nigm od bin vé cic hé thong ditu ehinh tw dong. Phan mét. He thong dieu chink tuyén tinh lién tuc. Phan nay diva ra nhimg néi dung co ban cia |i thuyét hé tuyén tin lien tue. Day la phan ca ban nhat cia ca s¢ li thuyt itu khidin ty ding. No la chia khod sip ching ta xim nhgp vio méi truémg diéu khign. Phin nay duge chia lam ba chwong. Chuong I: M6 14 ton hee hé théng tuyén tinh lién tueMue dich ciia chuting nay Ta trang bi cho ban doc etng cu dé xAy dung m6 hhinh tofn hoe he théng diéa chink tu dong ma ta can tiép cém hose can phai xy dung, Day chinh la diém xudt phit dé ching ta xam nhap stu vio hé thong didu chinh tw dong, IB co #8 dé ching ta o¢ thé phan tich, mé x8 he théng thuc bang eae cong cu Ii thuyét Chuong 1, Khao sat tinh dn dinh cia he théng dieu chink tu dong. ‘Tinh Gn dinh la chi tiéu chat Ivong dau tién oda he thOng didu chink tv dong. No la diéu kign cn thiét dé he thong c6 thé sit dung. Chuong nay trang bj cho ban doc nhitng Ii thuyét co ban dé phan tich kha nang én dinh cba he thong thong qua m6 hinh todn hoc ctia no, Chuong HI. Dinh gid chit lugng qué trimh qua dd. (Chat hxong ciia qua trinh qua do diéu chinh la didu kien quyét dinh diinh git kha nang ting dung ctia he thong. Nhiing Ii thuyét os ban ve danh gid va nang. cao chat Iwong c¥a qué trinh qua d9 ditu chink duge gidt thigu trong chwong nay. Phin hai . Hé thong dia chink xung tuyén tah. Noi dung cia phan nay duge trinh bay trong hai chwong Chuong 1, Téng quit v8 he théng diéu khién xung. Chuang nay néu lén nbiing dac trung co ban ciia hé thong rai rg0, cae tinh chat cita tin higu roi rac va co 56 todn hoc dé nghien edu he thong digu khién xung, (Chicony IT. Li thuyét hé thong diéu khién xung, Noi dung eda chuong la trinh bay nhimng If thuyet ea ban mo ta dong hoc he thong dieu khién xung, cde phuang phap danh gi tinh 6a dink ella he théng ddigu khign xung va chat lwong eta qué teinh qué do, Phan phu Ive gidi thiew tong quét ve ngon ng mo phong TUTSIM. Neon nggit nay hin nay dang duge sit dung kha rong rai d Viet Nam, Cae d® thi trong, quyén sich nay d8 duge v8 ra tis két qua m6 phéng bing ngin ngt TUTSIM Chang 10i rat mong nhan ditge nbimg ¥ kién dong gop cia ban doe va dong. nghiep dé noi dung va b6 cue cia sich duge tot hon, Thu gop ¥ xin git ve bo ‘mon Diu khign tu dong, khoa Nang long, ‘Trudng Dai hoc bach khoa HA NOi ‘va Nha xudt bin khoa hoo va ky thuat, 70 Trin Hung Dao, Ha Noi ‘Tac gia xin chan thanh cam on . ‘Tae gidcAc cum TU vier TAT AD (TT-S) Br bien 49 tan 36 BTL, bien do tan 96 logarit ccen co efiu chap hanh eqpe cd quan digu chink D/A (S-TT) chuyén déi 26 tuong tw pep ong oo ign DHX dink hink xung, prpc di tung dizw chinh Pr phat t6e HBN hho thong bu nhiéw HOT he thong digu chinh eye tri HCTr he thong diéu chinh chong trink oD he thOng didu chink tu én dinh re hg thong chink inh, HTD he thong theo dai HTH he thong ha HTHR he thong h&n hop HTK hi thong kin HTDB he thong dac biet errr he thong thong thuing HTTTLT he thong (uyéin tink lien tue nrU he thong toi vu 1 tich phan KCN kddi chute nang KDCH Khusch €9i chap hanh L™ lien tue mé rong PD 118 vi phan PI tle tich phan PID 4116 vi tich phan PT pha t8n sé PTL pha tin sé logarit, PIX phan ti xung RL role TBR thiet bj buthige bi dat gid tsi chi dao thiet bi cong nghé thiet bi do thict bi dieu chink in 36 big dé pha thiet bj so sinh thiet bi ty ehinh thiet bi tim eve tr} Uhiet bj tinh tosn dita Khim tuyéin tinh lien tye ung li tuongPHAN MO DAU KHAI QUAT CHUNG VE DIEU KHIEN §1. CAC KHAI NIEM CO BAN ‘Trong moi hoat dong eva con ngudi d hit ei linh vue nao, bat e¥ vi tei nao deu lién quan dén hai tit ditu khién. Trong khoa hoe tn tai mot nganh khoa hoe da va dang phat trién manh mé got In didu khién hoe, Didu Khién hoe la khoa hoe nghien eitu vé csc qué teink thu thap, xl Ii tin higu va diéu khién trong moi lin vue doi s6ng x8 hdi, Khoa hoc cong nghé, moi teuing thien nbién vv., Diu khién hoc chia ra ahitu link vue khée nhaw gbm digu khign hoe todn hoc, didu khidn hoc sinh hoe, dizu khign hoc ki thuat, dit khién hoe kinh t€ vv Dieu khién hoe ki thuat 1A khoa hoe nghién citu vé qua trinh thu thép, ail, tin higu va didu khin cdc qué trinh va he thong thigt bj ki thuat, Co sé li thuyat ‘cua diva khien hoc ki thuat la li thuyét digu khién tw dong. Co 90 Ii thuyet dita hig te dong Ja phn Ii thuyét co han cia li thuyét didu khién tw dong. Khai nigm difu khién duge hiéu 1a tap hop tat ef cf tae dong mang tinh 6 chite cia mot qua trinh ndo dé nhim dat due mue dich mong muén cha qué trinh d6, He théng dieu khién ma khong 6 svt tham gia tr¥c tiép cla con nguai trong qua trinh digu khign duige goi lit di@u khién ty dong. Didu chinh la mot hal nim hep hon cia digu khién, Didu chinh la tap hop tt ed ede tae dong ‘him giit cho mét tham 85 no do cita qué trink dn dinh hay thay déi theo mot qui luge nao dé. Tham 36 nay ditge goi la tham s6 c&n d'2u chin. Co 80 Ii thuyet itu khién tu dong chi nghién exiu ese qua trink trong hé théng ditu chinh ty dong. ‘Mot hé théng dieu chinh tu déng bao gm hai thanh phan ea ban la d6i twang, didu chink BTDC va thiét bi ditu chinh TBDO, DTDC la thanh phiin ton tai khach quan e6 tin higu ra la dai lugng en diéu chinh vi nhiém vu co ban cia dieu chinh la phai tac dong len ditt vao cia DTDC sao cho dai Ivgng can ditu chinh dat duce gia tri mong mun. TBDC Ia tap hap tito cae phiin tit oda he théng nham muc dich tao ra gid tr} ditu chink t4c dong len d6i tuang. Gis tr} nay due goi la tae dong didu chinh. Dai Ivong can ditu chink con duge goi lA dai luong ra cla he théng didu ‘chink ty dong. Nhimg tac dong tit bin ngoai len he théng dude goi lA tic dng higPhuong phap dé TBDC tao ra tin higu diéu chinh goi 1A phuong thie diéu chinh (dieu khiém) Coiba phyong thie digu chinh la : phttong thite digu chink theo chong trinh, phugng thie bi nhiéu va phuong thiic diéu chinh theo sai lech. ‘Trong phuong thie dibu chinh theo chuong trinh, tin higu digu chinh duce phat ra do mot chuang trinh dinh sin trong TEDC. V6i phitong thee bi nhifu, tin hieu diéu chink duge hinh thinh khi xuat hin nhia loan tac dong len he thdng, Tin higu diGu chinh phait ra nhim bi lai sy tic dong cia nbiéu loan 46 818 cho gid tj ra ciia dai lucng cdn didu chink khong déi. Vi vay hé thong bi nhidu cbn duge goi la he théng diéu khién bat bith, ‘Trong ki thuat thudng sii dung phitong thie didu khiém theo sal Jéch. Tin higu diéu khign 6 day duce hinh thimh do es su sai léch gitta gia tri mong muén vA gid tri do duge ciia dai Ivong can digu chink. So do edu tric he thong didu chinh ty dong tée dong theo phuicing thic sai léch duige mé ¢4 trem hinh 1. i . e u y reco. ress kon |} econ recy | | tao Minh 1. So db cfu te be shag atu edn ty ang ‘rong dé: ‘TBCD - Thiet bi dat gis tri chu dao x, la gid tr} mong mudn ota dal lugng. can didu chinh, ‘TBSS - Thiet bi so sinh gid tr) chi dao x va sé txi do duge y cia dai Ivong can ditu chinb dé xée djnh gid tr] sai ech e =~ y, Gid tri x edn duce oi lA gia tr} mbibu dat true, KCN - Khéi chic nang nhim tao ra tin hidu ditu chinh U theo gid tri sai Ieeh @ : U = fie). CCCH - Co cau chap hah thuc hien tae dong diéu chinh U len DTDC. TBCN - Thiet bi cdng nghé cd tin higu ra 1a daj Ivgng cin didu chink TBD - Thiét bi do dé xdc dinh gia tri y eda dai Ivong can diéu chink. 7 - ‘Téc dong nhidu phy tai 1d abung téo dong tir ngoai len hé théng ma chiing ta khéng mong muda, He thong didu chinh ty dong ¢6 thé mo ta bang hai thanh phan chinh 1a, DTDC va TBDC. Khi khdo sat h@ théng chting ta chi khio sat cho m6t nhiéu cu thé con cae nbiéu khac tinh bing khong . Hinh 2 mé ta hé thong ditu chin tw dong cho nbting tae dong nhiéu khiéc nhau. Hinh 2a mo ta he thong diéw 8chinh ty dong chju tée dong cika nhiéu dat trude x cdn hinh 2b mo t& nhiGu ph (aia proc c prec. weoe . e Winn 2, MO tS hE tnéng du chioh ty dng vd o6e t8e dng rhiu Khe aha a ris dt trade | - cn ph th He théng divu chink ny dong lun ludn thn tai & mot trong hai trang thai trang thai xe Map (trang thai tinh) va trang thai qué do (trang théi dong) ‘Trang thai xéc lap la trang thai ma tat of cae dai lugng cita he théng dau dat duac gid tri khong déi. Trang thai qua d6 I trang thal ké ti thai diém od tie «dong ahiéu cho dén Khi he thang dat duge trang thét xic lap m6i. Li thuyét didu khign ty dong tap trung og ban mé ta vA phan tich trang thdi qua d0 eta he thong. Trang thai xéc lap danh gid d6 chin xae eta qué trinh diu chinh, New 4 trang thai xae Jap vin cin thn tai sai Iéch giita tin hiéu cht dao va tin higw do duce thi gi tri sai lech nay ditge goi ta sai léch du (hay cbn got IA sai lech tinh) va duge ki higu la 4, cbn he thong duge goi la hé théng co sai léch du. Now = 0 thi he théng duge goi Ia he thong khong co sai Iéch di §l2 PHAN LOAI HE THONG DIEU CHINH TY DONG é rat nhieu cach phan loai he théng diéw chinh ty dong, Mue dich eta! ‘nay khong phai IA di sau cdc eaich phan loai céc hé théng diéu chinh ty dong ma chi di sau mat each phan lost nhim gidp ban doe thay duge vi tri s6i han phn li thuyét ma minh nghién edu. Véi mye dich as he thong didu chinh ty dong ‘duge phan lam hai losi chink phy thude vao tinh chét cia cdc ph’n ti cia. he thong IA : he thong tuyén tinh va hd thing phi tuyen tinh Néu tét cA phn ti cia hg thong déu Ta tuydn tinh thi he thong duce go lt ‘Ag tuyén tink, Chi clin mot phan ti trong hé théng mang tinh phi tuyén tinh thi hé theng duse goi 8 he phi tuyén tinh. Phin og tvin nhat eta Ii thuyét dita kien ty dong la di sau nghién cau hé tuyén tinh, Dac tring co bin nhat cia cic phiin til tuyen tinh la chju tac dong eda nguyen Ii xép chong. Nghia Ta khi 6 mot t6 hop tin hiéu tae dong ¢ dau vaio cia phin ti thi tin higu ra s@ bing ‘d hop tuong ting cia céc tin higu ra thank phan. He thong phi tuyén tinh khong chiu tae dong cla nguyen I nay. ‘Thoo tink chat truyén tin higu he thong tuyéin tinh tat due phan Iam hai loala he thong Hien tuc va h6 thing gién doan, Néu thong tin duge truyén di trong he thong lien tue 6 tat ca ede mat xich thi hé théng duce goi Id he théng tuyén Unb lian tue, Néu tai mot mat xich nao dé theng tin bj gidn doan thi hg théng duge goi la hé thong tuyén tinh gin doan Hinh 8 chi ra sy phan Jogi cia he théng ditu chinh tu dong tuyén tinh lién oorentn = os a oa ve we fee [ow I =] [ex] De] foo Le« ] Hh 3. $9 4 phan oa Me théing du bie tu dng tay tn én tue Dya vae luong thong tin thu thap duoc ban dau vé DTDC va tinh ehiit ea ‘no ma phai xy dung duce he thong TBDC thich hop bao dam duge chat lugng cia digu chinh, Tir day HTTTLT duge phan thanh hai loai la he thing digu chinh thong thutng HTTT va hé thong diéu chinb ta thich nghi HTN. HITT duge xay dung cho nhimg d6i tugng ma ese thong tin ban dau v® chiing da Iha day du, Trong hé thong may cu tre va tham 36 cia TBDC 1a khong d6i d6i voi DTDC cu thé. Déi vai nhiing DTDC ma eae théng tin ban du khong day di hay qué trinh cong nghe os yéu eu dac biet thi HTT khong dap ting duge. Vi vay phai xy dung HT'TN, Déi voi HTTN ngoai oiiu tric thong thwong ra trong TBDC con es mot s6 thiét bj dae biét kde thue hign chife nang rieng eta no nhim bio dm chat lugng ciia qua trink digu chinh HIPPY duge phan ra lim hai loai lé he thong digu chinh hi HTH va he thong dieu chinh kin HTK. Doi v6i he théng dieu chink hé tin higu eva dai luong clin iow chinh khong duge sit dung trong qua trinh tao ra tae dong digu khién, Phuong thie diéw khiGn 2 day la phuomg thite bi abiéu trong hé théng bit nhiéu 10HIN hose phung thie digu khién theo chang trinh trong ho théng digu chinh theo chuong trinh HOTr. So do cu Urde cia HTH dude m6 ta tron hinh 4 ‘Trong dé ‘TBD la thiet bi do nhigu 180 u ¥ Tee rec. ope wwe fines a inn 4. H6 thing atu bin nd | nb thing bu nbibu = nB-thdng abu chinn thee chiding Wind HITE tée dong theo phuong thic diéu khién theo sai Iéch. ‘Tin higu do duige eta dai Iwong can diéu chinh duge dua phan hdi tré lei dau vio he théng vA duge st dung trong qui trinh tao ra tic dong diéu khién U. So dd edu tric cia he thong kin da durge mé ta trong hinh 2. Dua vio tinh chat ct gia tri chi dao. x ma HTK duge phan ra thanh he thong ty dong én dinh HOD, hé thong digu chinh theo chuang trink HCTr va he théng theo doi HTD, ‘Trong HOD x = const, TBDC ludn lubn giit cho dai lugng edn dieu chink én inh d gis tri dat nay. Cam trong HC'Tr gia tri x thay d6i theo mot chong trinh inh san. TBDC phai bio dam cho dai Iuang cin diéu chink bam theo duting chuong trinh véi met d9 chinh xe cin thiét. Déi voi HTD gid tri x khong bide trude. No dude xe dinh thong qua mét hé théng thiet bi do mot dai lugng dich hav dé ma ‘TBDC phai tac dong dé cho dai Iuang can diéu chink ludn Iuén theo sat dai lttong dich nay. Sa dd edu tric HTD ditge mo ta trén hinh 5. ‘AI LUNG OCH t__J a9 Tec proc inh 8. So 6 n8 thérg theo FRO - tit Bj do ‘He thong dieu chinh hén hop H'THH Ia eu ket hop cia HOD vol ABN dé ham mue dich nang cao cht Iiong ciia qué trinh dibu chink. So dB edu trie eda HTH duge mé t4 trén hink 6. Thiét bi ba TBB 8 day ding vai tro két hop voi TBC 4¢ t9o ra tin higu bil sao cho gi8 tri y khong di ki o6 st t4c déng uleda nhiéu 2. HITDB duge chia thanh ba oai chinh la hé thong dite chinh eve tri HOT, he thong digu chinh v6i thiét bi tu chinh dinh HITC va he thong diéu khign t6i uu TIT. Khi di lvong cin dieu chinh ed eve tri va ching ta mong muon n6 Ison rae, int 2.119 thing albu chin no nen Iuon thm tai 4 diém eve tri nay thi phai att dung HCT. Sa do cau truc cua né duoe mo t4 tren hinh 7. ‘Thiét bi tim cue trj TBTCT thuc hign chile nang tim ss ti cuo tri y, cia dai lugng cin didu chinh va phat cho he thong DCTD. Nhu vy chi khi y, vay cling dat eve tri thi e = 0 vi hé thong dat trang thai xc lap, Nhu vay dai long cin diéu chinh hun luon duge giit 8 gi tr} cue tel. Sai 56 eis dita chinh 8 day phu thude vao d6 chink xéc ctia gid tri cue tri tim duge va d6 chink xe ca he théng dieu chinh e u y rereT “eo Tape orec inh 7.S¢ 0 cfu WGe hE tng dtu enh cue Wt ‘Trong HTC ngoai can ctu triic thong thu@ng etia TBDC con ed thiet bi tu chinb dinh civ trde hode thong 36 cia TBDC. Se da iia hé thong nay duoc mo 14 ten hinh 8 Thigt bi ty chink TBTC thu hién chife nang xée dinh cau trie thich hop iia TBDC hoge xac dink thong s6't6i vu eda né vA thy hien su thay déi rere re0c prec. Wn #50 88 ody tae eu né tng iby chan vd tt bi ty enh doh 2feu trie hoge thong $8 eda TBDC cho thich hop vi két qua ma ns da xée dink. Li thuyét HTC la met bude phat trién Ion cia I thuyét dieu khign tu dong. Tuy nhion né chi giai quyét duge vain dé xée dink edu tric hoae tham 66 t6i wa cia TBDC cho thoi diém cu thé cia he thong dieu chin tu dong ma Khong giai quy6t. vin dé {61 uu cho toan bo hé thing not chung theo mot chi tieu t6i wu eu thé nhu ve tieu hao nang lung hode rit ngin thai gian v.v.. Bai todn nay duge sii quyét bang he théng dieu chinh toi wu HTTU. Li thuyét HTU duce thute thi trong thue 1 nbd su phdt trién manh ca ki thuat tinh toin, HTU la au két hop gitta thigt bi tinh toan va ditu khign TBTTDK voi TDC thong qua ede bo chuydn d6t tuong tw s6 'TT-S, s6 tong tw S-TT va cde CCCH. So dd khéi eta rné dude mo t8 trén hinh 9. cv Téu TU VA THAT TOAN Torto« sat Lf econ LY! oreo. EU KHIEN ms Hanh 9.80 db he thdeg citu kh sot uw He théng didu chinh tu dong tuyén tinh gidn dogn dude phan ra thinh ba loai Ta : digu chinh vj tri, hé thong ditu khién xung va he thing diGu khién sé hu thude vio phuong phap lugng ti hia, Vide phan logi nay duce gidi thisu cu thé trong phan II cha gido trinh nay. §1-3 Vi DU VE HE THONG DIEU CHINH TY DONG VA NHIEM VU CUA Li THUYET DIEU KHIEN TU DONG He thong dn dinh tu dong duge sit dung rt rong rai trong din dung cting nu trong cong nghiép. Trong dan dung ching ta gap cdc hé thing én dink hiet do ban 1A, ta tanh v.v.. Trong ki thuat ching la ning hé th6ng én dink nbigt dé trong cdc Ta nung, luu Itong trong ede diving Sng din, dign ap ra clia my phat dign vv. Tren hinh 10 m6 t4 sa d® nguyén Ii cla hé thdng én dinh te dd cla dong es dien mot chigw, DIDG é day la ding cd dién mot chiGu kich tir doc lap D. Ngudn dign efip cho dong oa la do bo chinh Iu cu diGu khign khong d6i xting gdm hai diod D1, D2 va hat thyristor ‘Thi, Th2 cung cap. Dai lugng e&n diéu chinh y 1A tic d6 cita ding co. Gia tri chi dao x durge phat ra ti bién trd Ro es nguén ip -E. Se do ca dong co duge do bing may phat tée FT va duce hiéu chinh bang bign trd Rf sao cho y tug thieh voi gia tri dat x. Khuéch dai thuat ton KTI thue hién hai chite ning, Thi nhat la xe dink gia tri sai lech e gitta gid tri dat x va gid tri 13,do duge y theo bi6u thie : ¢ = x y. Thu hai Ia thue hién vai tré céia khiiu chée ‘nang, xc dinh gid tri tin hieu ditu khién U theo biéu thic : Und feat + Ke ‘trong ds T= RIC Auge goi 8 hang 86 thoi gian tich phan; K = RPMI duce got Ia he 56 khuch dat Hai transtor Tl va T2 tao than bo tao xung rang ea @ng pha vol ngubn dign @p xoay chidu, Khuéch dai thugt toan KT2 lam chic nang bO so sdnh tin hiéu diéu khién U va xung rang cua. No duge mie theo nguyén li khuéch dai khong phin hi nén tin higu ra cia no a Ii bao hot dang, hone ba hod me phu thuée vao mei tuong quan gita tim higu U va tin higu xung rang cua. C1 va R3 tao thanh bé vi phan, vi vay tin hiéu ra ciia no LA nhitng xung nhon. ‘Transitor 7 la mach Khuéch dai sung. Bish ap ung BAX vita lam che ning céch li mach didu khién voi mach déng lite vita tao ra xung dé md cic thyristor. kt cup kich tx eda dong 69, BAD la bié ap dOng. pha, Nguyen li hoat dng cia mach nw sau : Khi x > y eh tn hidu dite khién tng len, KT2 lat trang thai soin han wi vay ce xung nhon duge phat a sim, ssc mé cla thyristor giim. Diem ap cap cho dong co tang len, vi vay We do eta dong ea tang len cho dén khi y = x thi gée mé eiia thyristor sé khong déi, nghia la digm ap cp eho dong ea khong dt, 6c dO ella dong eu dat gia tr} mong mun Ngwoe lal khi x < y ete xung nhon sé phat ra mudn hon. Dign 4p efip cho dong ca s@ gidm xubng nbn te do cba dong cos gitm cho dén khix = y thie thong 56 dat dé trang that wae lap. Nhu vy te do cia dong ot dug git Sn din 9 sf tr dat ‘Tit so dd nguyén Ii dé dang xay dyng so dé khéi cau tric cha he thing, So 8 may dutge mé ta txén hinh 11. KT duoe: mo 48 bang. be céng wh kha! che KEN Lf Koon conc eco fr inn 11 So 6 kndl ne tnérg dbu chinn tde a0 dong ed dién mét chibu Kien Wt de ap nang KON. KT2, b6 tao xung ring cua, bé vi phan, khuéich dai xung va bin ap mung divde mo +4 bang bd khuéch dai chp hanh KDCH. Cau chinh lau dia xhien lam chile nang oo quan diéu chink CQDC.So 4b clu tric nay chi es thé 15cho biét trong hé théng ed bao nhieu phitn ti va gdm ning phan ti gi ma khong thé cho biét esc qué trink dng hoe xy ra trong ede phiin tit noi viéng va toan bo be thong not chung nhu thé nao, Nhiém vu dau tien ef i thuyét dieu kin ey dong 1a nghion edu ec phutong phép mo ta ede qué trinh dong hoe nay dé tao ra phuong tién thyc bien cde nhiém vu co ban cia né lA ting hop va phan tich cae hé thing diéu khign ty dong, Dé tng hop mot hé théng diéu chinh tw dong treée hét phai nghién cau cae gus trink xdy ra trong d6i tuong. Tim nig tae dng anh hudng len dai Ivong an dit chinh, tit day chon ra tic dong didu chinh thich hop. Sau day nghien du qua trink dong hoc méi lién he gita dai hong cha didu chink vi tée dng iu chinh va cust clung 1a xay dung mo hinh to#n hoe ciia DTDC. Dua vao mo hinh toain hoe etia DTD xy dieng mé hinh offu trie thich hgp eta 'TBDC noi riéng va toan bd he théng noi chung. Nhiem vu tiép theo 1a phal phan tich he thong da xay dung. Truée hat pha phan tich tinh 6n dinh ca he théng. New he thong khéng thé 6n dinh duce thi chiing ta ngi be thong es cau tric khong én dinh va phai xay dung Iqi cau trie ea TDC cho dén khi he thing Gn dinh. Buée tiép theo la phan tich chat lwong ea quis trinh qua do theo chi tiéu chat Iuong dé ra. Nhiem vu chi yéu 6 day 1a phai xae dinh tham s6 ti wu eva TBDC 46 bao dam ehét long cia digu chinh Neu khong thé chon duoc tham s6 thich hop dé dat duige chat lugng clin thiét thi phai thay d6i Lai edu trie eda TBDG va bai tos tré Ii tit du cho dn khi bio dim duce chat lveng ela qua trinh didu chinh ‘Trong khi tng hgp va phi tich hé théng diy chinh ty dong luon uon pha cht ¥ tai hai chi tiéu quan trong: thi ahd la phai bao dam chat Inong can thigt cia qua trink diéu chink, thi hat la phai chon duge ef trde eda TBDC dan gin rabat dé dé dang thyc thi, dé sit dung va eo do tim cay eao. 16PHAN | HE THONG DIEU CHINH TUYEN TINH LIEN TUC Chuong |. MO TA DONG HOC HE TUYEN TINH LIEN Tuc §I-1 CAC DAC TINH CUA PHAN TU Dé thuan tien cho vige nghién ctu, he théng diéu chinh ty dong duge phin fa nhiing phin nhd got Ia cie phan tit eGia hé thong. Méi phn ti od tée dong tit ngoai vo goi la tin higu vao ca phan tit va dugc ki hiéu la x. Tin hidu biéu hien phan dng cua phan tit déi véi tac dong dau vao goi la tin hiu ra cia phan tit va duge ki higu la y. M@ hinh phan tix duoc mo ta trén hinb Te Hamm 124 Ma fink bi din phe th Mi phn til ed hai dac tinh ca ban Ia déc tinh tinh va dae tinh dong, Hai dge tinh nay biéu dién hai trang thai cia né 1A trang thai tinh va trang thai dong. 141.1 DAC TINH TINH tinh tink eda phan tit la méi Hién hé giita tin higu ra va tin hidu vao cia phan Qi trang thai xée lap. Dya vao dac tinh tink ma cae phan tit tuyéin tink duge chia ra lam bén logi : phiin tit nguyén him, phan ti tich phan, phiin ti vi phan va phn tit r& ~ Phin ti nguyén ham 6 dac tinh tinh mé td bang cong thite yoKox Trong do K dude goi la hg 6 truyén cha phitn ti: = Dac tinh tinh ei phn tit tfeh phan c6 dang 1 yeig Jude WVoi T, ta thai gian tich phan. + Phin ti vi phan eé dae tinh tinh dang : ax ye Tea ‘Trong dé Ty ld hang 96 thoi gian vi phan ~ Phin tit tré ox dae tinh mo t4 mot each don gin dang yex ‘Tat 8 ese phiin tir ma dae tinh tinh eta né khong duge ligt yao mot. trong bon loai trén déu thuge phn ti phi tuyén tinh (+4.2 DAC TINH DONG HOC CUA PHAN TU Dae tinh dong cia phan tit mb ta su thay ddi tin hiew ra cia n6 theo thi sian Kehi ed tae dong 6 dau vao. Dac tinh dng md t€ qué trinh dong hoe xiy ra trong phan tit. N6 thuding duge biéu dién bing phuong trinh vi phan tuyén tinh 6 dang tong quat ee a Bo gn th Gye et nd a amy x bo Gar tL guar bet Bante tbat an Trong d6 ay, Ap byw aby, 1A nhdng he $6 vam < w. ‘Sit dung chuyén di Laplax co thé mo ta phuong trinh (+1) dudi dang todn ‘it p. Cong thite cia chuyén d6i Laplax duge bigu din nhw sau : Yip) = Lied a Fyre at ° ‘Trong ds yt) duiae goi 1a ham Be etia Yip) ; edn Yop) dude goi la ham Anh, sia vie) Hai tinh chat e0 ban eta chuyén 4¢i Laplax la ~ Thi nhat la tinh chat tuyén tinh eta chuyén déi Laplax Neu L{yitil = Yip) va Lpxtth] = X¢p) th Llay(® + baCb] = aLiytt) + BLL] = aYep) + bXip) + Thi hai : nu L{y(ti] = Yip) mi LEY] =o vw Sit dung hai tinh chét nay eda chuyén d6i Laplax phvong trinh (1) e6 thé bigu dién dudi dang todn Ur Laplax nut sau 18Capp + ap + + agp tay). Yip) = (oP + BB" A cH Bye + By) - Rip) 2) ‘Chuyén d6i phueng trinh (-2) ta nhén duge biéu thife : YEP) byp™ + byw + oa + by D+ Dy Xp) aye + aT Fae Ha, We) = 1-8) Bieu thc (1-8) duge goi la ham truyén dat fia phan ti Nhu vay ham truyén dat cia phitn ti la ti 36 chuyén déi Laplax cia tin higu ra chia cho chuyéén déi Laplax eda tin hiéu vao. Phung teinh agp" + app + tag p+ ay = 0 duge goi Ia phuong trink dae tinh cia phiin ti 144.3, CAC DAC TINH THO! GIAN CUA PHAN TU Cae gc tinh chi ginn eda phitn tir Ia su thay ddi tin higu ra eda phn tie theo thal gian Khi tic dong d dau vao lé nhiing tin hieu chun. Cac dae tinh dé bao gdm : ham qui do, dang qua dg, ham qué dd xang (ham trong Iuong) va dong qua 26 xung. Cae ham thot gian nay deu mo ta su bién thien eda tin higu ra khi phin tt chuyén t¥ trang) thai etn bing nay sang trang thai cén bang khie do sy tde dong eda mot trong cac mhiéu chun. Dé dan gidn Ikhdo st chung ta nhan trang thai cin bang ban dau eda phn ti la khéng ——% : (= 0) nm 1-2 BB oy nar ~ Ham qua d@, duce ki hiou Ia hit), md ta su thay déi oa tin hiéu ra theo thai gian khi tic dong 0 dia vao eda phiin ti la mot nhiéu bee thang den vi Nhiéu bite thang den vj duge ki iéu Ia 1(t) va od eae dc tinh sau 1 =0 khit<0 vA 1) = Lkhit = 0 L Lu P Do thi cia ham 1(0) duge mé t4 trén hinb 1-2, Mot lien he gite ham truyén dat eta phitn ti va ham qué do cia né duge mo ta nhw sau : Lhe Wii Sag =P Mth] Nhu vay: Lh) Torneo =P: MMOL Nhu ways theo = — 19+ Khi tae dong 6 du vio kong phai la bac thang dom vf mi tt nid be thang es bién 49 hing A dang A.1(8) thi ta nhan duge dude qué a9 va oo ki hhigu la HG). Dua ao tinh chat xep ching cia phan ti tuyén tinh ta e6 | Hin = A. neo uo = 2 VP ~ Ham qué 9 xung (ham trong twgng), duge ki higw la k(t) la phan sing ef phan ti khi dau vao cia no chiu téc dong ota nbigu xung don vi es hig la att, a(t) 06 ee ie tin sae 240) = O kh t #0 va = Rit = 0 ° . ng the sion 12 8 P facade = 1 Do thi ham a(t) duge mo tA trén hinh 1-3 Dua vio dae tinh ela 1(t) va aft) od thé ching minh dude at) = 1 vivay La = 1 Nhu vay L{k()] = Wop) ~ Dudng qua do xung ki higu la Kt) nhgn duge 6 dau ra cia phan tit Khi tae dong @ Gaui vao khong phai la xung don vi ma la xung dang A.2(t) Nhu vay Ki) = A kit) va LIKI] = A. Wip) + Khi tin higu vao 1a mot ham x(t) bat kl thi ¢6 thé xée dink phan dng 3 du 1a cia phi ti thong qua ham trong lugng k(t). Bai vi dya vao tink chat eda ham ott) 06 the wit xith=xit) f ated = f x(r)alter, dt x(t } 18 gid tr} wdc dinh can ham x(t) tai thei diém t =r 5 dit-r } la ham xung don vi duge phat tai thoi didm ter ; Nhu vay dua vao tinh chat xép ching cia phiin tt tuyén tinh ta ed thé xdc dinh tin higu 14 yit) cua phitn ti khi od tac dong 6 dau vao 1a x(t) theo biéu thie : 20y= f xeyktt=nae a 1-1.4, CAC BAC TINH TAN SO CUA PHAN TU Cac dac tink tin 96 ctia phn tit m6 ta méi itn he gitfa tin higu ra va tin higu vao cda phin tir d trang thai xic lap khi thay déi tan 86 ota tin hiéu dao dong dieu hoa téc déng 3 dau vao cia phn ti Néu 6 dtu vao cita phn tit cho tie dong mot dzo dong didu hoa dang xi) = Avsinwt) thi sau mot thai gian qua dod dau ra cia ad s6 nhan duge mot dao dong dite hhoa esi cing tan 96 khée bién d9 va Iéch pha so véi tin higu vo mot g6c yp dutge mé ta bing biéu thée yt) = ArSiniwt + p) Neu gi Av = const va thay di w thi Ar va p 58 thay d6i. Su phu thube eta 1p vio w duce goi la dac tinh pha tan s6 PT va duge ki hidu la y(e). Con su thay Gi clia Alu) = Ar/Ay theo t8n s6 duge gol IA dac tinh bien do tan 36 BT. Neu au vao cia phan tit chiu tae djng cla dao dong didu hoa dang téng quit x(t) = Av. eit thi 6 trang thai xée lip du ra cia phiin ti 36 nhan duge dao dong dang ytt) = Ar giles 9) Dong thoi ta e6 SO pci it 4) ae " aryiey Gane Asay ll + wt 4-5) ‘Thay (1-4) va (1-6) va phuung trinh (L-1) ta nhan due Lag Gar + a. $F eye tag), Aral = [ by. ie0 + bye +. + by gade + by) Ave 18 1-6) Chuyén déi biéu thie (1-6) ta nhan duge : ByelI™ # by Go! +. + Boy do + Dy Bob" + aw + + gy jo + a, Wn) =2 en a7 WON ~ Bisu thiic (1-7) duige goi la ham truyén t&n s6 cla phn tt, So sinh (1-7) va (1-8) ta thily 16 rang ed thé nhan duge ham truyén tn 96 ca phn ti ti ham truyén dat cia no bang ech thay p = ju. a‘Tach tt s6 va mau s6 cila (I-7) ra phiin thye vA phiin do ta duge + Rw) + Fw) Ryw) + Ia Wi jo) = Aiw) ot a8) ‘Trong as Ala) = Ar/ Av~ dae tinh bign d9 tin s6 cia phn ti Ry e),Rylo) ~ dae tink. phiin thue eta tit sé va mau sé ; Ty)Jg(w) - dae tinh phn ao cia tit 86 va méu sé ; ‘Tach phitn thye va phan ao ella biéw thie (1-8) tn duge RO) Ro) + Lo) hod Bud + Ble} Ryo) Ry(w) + Tylw) Ashu) Rw + iw duge goi la dae tinh tn s6 phn thie ciia phiin til; Ralue) Iyer ~ Ryw).Lylw) Re + Be) Nw) = Ryle) iu) + Bis) Ala). on Rw) = va Tol = Ace) duge goi 1A dac tinh tn ss} phan ao cia phan ti Dac tinh phitn thye eta phan tit 18 him sé chin, nghia la Rw) = Rew) edn dae tinh phan ao ta ham 36 16 Hot = Iw) Dac tinh BT cia phin tir dug. te dinh theo biéw thie Aw) = V Rw) + Bw) va dae tinh PT Ite) plu) = arts Cho w thay di ti - o6 dén o» ching ta se xiy dying duge ie dac tinh BT, PT. Dang thai trong hé toa da Riw) va Tew) 36 xy dyng duge duiing dac tinh goi Ia dac tinh tin 36 bien de Win 1-4 Che ie tht tin 36 cua PT 2pha TBP. Hinh 1-4 m6 t& mot vi dy v0 xay dung eae dae tinh tn 66 tia phan tie Ro rang dae tinh BT doi xing qua truc tung, oon dae tinh PTT d0i xing qua vam toa d9. Dudng dac tinh TBP d6i xing qua trye thuc. Do tinh déi xung nay ma khi xy deing dic dac tinh tn 6 cla phn tit chi xAy dung wai w thay d6i tin 0 den Dac tinh tn sé con duce biéu dién duéi dang dac tinh thn 36 logarit Lay logarit hai vé otia ham trayén tan 96 Weel = Alo) ole ta duge In Wu) =n Ala) + plot Ham 36 In Aw) duge gol IA dac tinh bien d6 tan 36 logarit BTL ; va piu? duge goi lA dac tinh pha in 36 logarit PTL. Dac tinh BTL thutsng doc do bang don vj Dexibel viet tat la db. Gia tri eda rag hang 1/10 bel. Bel la dan vj do fogarit thap phan hé $6 khudch dai cong suit tia tin hieu. Nhu vay 1 bel ting v6i hg 66 Khuéch dai cing sust tin higu lén 10 Tan, Do cong suat ti 16 binh phuong véi biém 46 néa ne tinh theo don vj bel thi dac tinh BTL bang 21gAtw) vi khi tinh theo dexibel la 20.JgA(w) va duge ki hig la: Liu) = 20g Ato) ‘Dae tinh tan s6 pha logarit duge tinh theo don vi do. Khi xay dung cde dac tinh tan o6 logarit lay truc hoanh thusin Igi nhat IA theo logarit ita fan s6 (gu) va dn vi tink eta né 1a decade viet tét 8 dec. 1 dec ting vai tan 36 tang 10 lan §1-2. CAC KHAU DONG HOC CO BAN Gite kha déng hoe oo bin la ci phan tit cia hé théng gu chink te dong 6 cde tink chat sau ~ Chi eo mot tin hieu wao va mot tin bigu ra; ~ Tin higu chi truyén di mot chiGu, nghla IA ed tin hiéu vao thi e¢ tin higw ra, nhung tin higu ra khong anh hung ln tin hieu vao ; ~ Qua trinh dong hoe cia phan tt duge mo ta bang phuong trink vi phan khong qua bac hai; Gae khau dong hoe es ban duge chia ra bén logi : khau nguyén ham, Khaw ich phan, khau vi phan va Khéu tré 1.2.1. CAC KHAU NGUYEN HAM (KHAU TINH) 1.2.1a. Khéu khudeh tai * Phudng trinh vi phin cia khau khuéch dai yoke 28Voi K la he 86 khuéch dai, aes * Ham truyén dat cia khaw : Wip) = K « * Cée dac tinh thoi gian : : ; + Ham qua 46 hw = KM; he Ham trong luong kit) =k. att) ; Ki Cie dac tink that gian duge mo t& trén hinh 16 * Coe dae tinh tan 56 : ink 8 Gee thn ths gin ~ Ham truyén tan sé Wee) = K fia kindy Frade dai - Dic tinh BT Aw) = K - Doc tink PP pla) 0 - Dac tink BTL Lew) = 201gK Che dae tinh tin 86 duuge mé t& trem hinh 1-6 Aw) to Pr BT | ° ° ° ° Lod 6° to " 20KK BTL k ° Fe) ° low Wann 1-6 Cée dic tin tin 26 ee khnky Kruse da 42.16. Khéw quén tinh bee nhdt * Phuong trink vi phim: T+ y= Kx Trong ds K lah 36 truyén ea kha ; T la hang 96 thot gian cia kha ; * Ham ¢ruyon dat cia khiw Chuyén phuang trinh vi phan sang dang todn tit p ta e6 (Tp + D.Yp) = KXip) YK Vas Wp =P v ® Xp) Tp +t* Cie dae tink thai gia Ham hi) han duc do gidi phwong trinh vi phan Vai cac diéu ign h(0) = 0 va his) = K ta duce AD = KU) voi a = Ham trong lwgng nhan duge tit tinh chat xép ching cia phan tie 4 ‘tuyén tinh ket) = bY) a 0 = ako \ * Ce dae tinh tn 86 ‘ at z - Ham truytn tin 36 . K hen 7 Ce oe or an cin thy Won = ‘an ten ote oa Tyo ‘Tach phan thuc va phiin Ao ta duce K KT. = Rw) + fle) Won Ate a Tors? (Tow)? +1 : K = Bae tinh BE Aw) = Reon + Ta) = Tw) - -Dactinh PT pfu) = arte = - arctg(T.n) ~ Dac tinh TEP Dé xay dung dae tinh TBP chung ta thuc hién cic phép bién déi sau ‘Theo méi lién he gita dge tinh BIT va ede dae tinh phitn thye va phan Ao ta os Rw) + Ped Mw = Rio) + Pw) vay Naw vay EFT Tw) = Re) + Pw) + PoP (R@) + Pwilma - Tw = KE = Rw) + Pod + (Pe (RG tw] Ro Suy ra KE Re) = IR) + Plo]? . Vay KRw) = Rw) + Pw? 25+ Bw 9 K Hay Ro) KRlo) + Nmwvay (Rw) 5} 4 Pe Day chinh la phuong trinh tia dug trom ban kinh bang K/2 vA tam es toa 40 ( K2, 0). Thye té neu ching: ta cho w thay déi tir O én e thi no chi la nia duting tron nam 6 cung phn tu thu. ~ Dac tinh BTL duige xAe dink bang biéu thie Lo) = 201gAlw) = 20.1gK - 201gV (Taye + 1 Néu ve chinh xe thi Liu s@ 1A mét duimg cong. Tay nhién ching ta ¢6 thé thay thé no gitn dung bing dvding gap Khite Thue vy: khi o << 1/T thi o6 thé Iny gan ding Lol ~ 201gK com Khiw >> 1/T thi Liw) = 20.)gK - 20.1pT = 20.1ges Nhu vay dac tinh BTL o6 thé thay bAng hai doan tiém can, G gidi tin #6 thap ng 1a mot dung nfm ngang ed tung do bang 20.)gK. Com 4 gidi tan 66 eao no duge thay bang dong xién ex dj nghiéng hing -20 dbjdec va eat true tung tai ddidin 20.19K - 20.1g7. Sai s6 Ion nhat cia thay thé A tai voi a, = WT. Nhe vay sai 86 eue dal at 1a : AL(w)max = 20.1gV2 < 8 (ab) idm cét cia hai duong inh 1-8 Cito ao vrm thn 28 ea kha quan tin Bho nnd 26Dé xay dung cae dac tinh tn 6 cia khau quan tinh be nhdt ta lap bang gia tri sau w | Rw) {Tw | Aw | gwd ~ K 0 K- 0 yr! Ke xe | Kivo] a = 8 0 6 | me Cac dae tink nay duge m6 t& tren hinh T-8 EB. Knew bac hai * Phuong trinh vi phan ea kau be hai; TrongdoT- hang 35 ; K ~ ho a6 truyen ; &-hes6; * Ham trayen dat ciis khau Chuyén phuong trinh vi phan sang dang toan ti p ta duge > (Tip? + 20.p + 1). Yip) = K. Xiph ‘Tu day ta ec ham truyén dat Yu K Xp) Tipe 2iTp el * Cae dae tink thai géan : ~ Ham qué do duge xe dink bing ech gidi phwang trinh vi phan abit) wip = + hi = K a9 Voi cae digu kién hiO) = 0; h(w) = K va b'(O) = Dé tim» nghiem cia phutong trinh vi phan (I-9) ta gidi phwang trinh dae tinh cita kha Tp + 2eTp+1=0 Tok Ga A= GTP. Pe Te) Nhu vay khi § 2 1 phuong trinh da tinh sé co hai nghiém thie, ta e6 kh bbe hai quan tink. Phuong trinh dae tinh od thé viét duéi dang Ppt+2eTp+1= (Ppt Dip + b= 0 ‘Trong ds T.Ty = Teva T, +1, = 287. a7Gia sit T, > T, tht ham qua do 66 la % mere (17 STE ot 4 evny TT; 7, -T va ham trong hveng key = hy) = - (eT eT) KhiT, = 7, = T(E = 1) phong trinh dec tinh es mot nghigm kép thi ham ‘awa d6 06 dang. t mo =k [L- 4per] K va ham trong hiong kits = he tet oo Khis < 1 phusng triah dc tinh eé hal nghiem phic @2iVP Tr vive bee Pat s-etip é Tron a= ya g as t ‘Ta nhan duge khau bie hai dao dong, Ham qua d9 cia né od dang h(t) = KA) =e [easisy) + pints va ham trong luang KO EW = Kove Ccostit) + § sini) 1 - = Ke" L-psingit) + FA.coniit) | 4p Ke a RR ‘Hinh 1-9 mé ta cae dac tinh thai gian cla khau bac hai vdi cdc he 96 khac: haw. ™ Cac dac tinh tin sé ~ Ham truyén tin a6 eda khau ed dang: K Tig? + 2iT je +1 ‘Tach phan thyc va phn Ao ta duge: KW = Ke-“.sinpu) sini) Wop = 28K.-T) 2KET a-Pelitaetar FO. Pe + 4ebor Wha = Rw) + jlo) Wi jo) = Vai Ka. Tw) 2kETw Rew) = valtw) = G- Pw? + eto? Peat + ETO? Tir day ta 06 - Dac tinh BT K vo) = Rio) + Poy =

;) Khi uv oy Léa) = 201gK - 201g7, - 201g7, - 40lgu DE cho khau bie hai dao dong Liaw) = 20gK - 201gV 1 - Te)? + 4g Tas)? Néu thay bang dung giip khiic ta c6 Khi << UP thi Ll = 201K; Com kbiy >> LT thi L(u) = 20igK - 401g? ~ 40lgu Nhu vay e6 thé xay dung gin dung dic tinh BTL aia khau dao déng bing dung gfp kivic, Sai sd'lén hat cia ou thay thé Ia 8 tén #6 céng huding wy. Tuy nbion dé don gidm chiing ta c6 thé lay gn ding gi tri @, = V/T. Sai si dé st duige tinh theo bigu thc: ALi) = = 201g(2.5) DE cho sai sé nay nho hon 3 db thi gid tri £ phi nam trong git han 0,88 < § < 0,71 Khi £ nam ngod gidi han ny thi dac tinh BTL khong duge thay thé bing duaing et Khukedo dg chink xe kém, 18 xay dung exc dge tinh tim $6 ta lap bang sau »© | Rw) ter | Aw) | ew) 9 K. oO K oO uT O | - KN2E) KARE), - 2/2 =) 0} 0 | 0 [ox | Hinh 1-10 mo ta cae dac tinh tan s6 cia kh&u bie hai voi ede gid tri £ khic haw. Aw « wige BTL yee be -2.2. KHAU TICH PHAN (KHAU PHI TINH) * Phuong trinh vi phiin ctia khdu tich phan : ae OY. x y=K fxdt hoa a Ba Tog = 1K pe a go He es hn * Cae dac tinh thoi gian + Ham qua 6, hith= KS 1(tidt = Kt Hinh 1-11 mo ta cac dac tinh thai gian eta khau tich phan 31+ Ham truyén tn 3 Wijo) = Hw) oat Ti Te Nhu vay ham truyén tin s6.cia khau tich phan chi ed phn do Am khiw thay d6i tit 0 dén c ma khdng eo phan thue. 1 + Dac tinh BP Atw) = Te + Dac tinh PT plu) = - 2 - Dac tinh BTL duve xée dinh theo big thie La) = IgAlw) = - 201g - 201g Day la phwong trinh cia mét dung thang edt true tung ta dim 6 tung do hing - 20lgT va os d9 nghieng bing - 20 dbjdee at ann lett Ce de tin tha gian cua kha tch pnt aia zw) rap Br 6 Rey te=00 e a wo Fi pr tay ere, 6 ° aa swdhjdee 2047 ms —— 2 Be Mint I-12 Cie dae tin thn sé cua kn toh ohn a2Cae dac tinh tan 56 cia khau tich phan duge mo ta tren hinh I-12. ‘Tin hidu. ra cila khiu tich phan luon Iudn chim pha so véi tin higu vao mot gée bing 7/2, 2.3. KHAU VI PHAN Li TUONG Ait) x * Phuong trink vi pins y= Fait) ae Trong dé T duige got 1A hing s6 thai gian vi phan ) : + Ham truyen dat Dang toan tit Laplax ela phuong trinh vi x(¢) phan Yip) = T.pXip) rat) ‘TU d6 ta ed ham truyen dat We =T.p * Cae dic tinh thai gian a t = Ham qua do hi) = Te) = Daly Minn ta Che oe son es gin ‘eua khiu i phn ~ Ham trong lugng kit) ki = hit) = Tv) Cae dac tinh thoi gian cia khau vi phan dude md ta trén hin 1-13. * Cie dae tinh tan 96 : «Ham truyén tan 36 W0e) = Te = j. Te) Ham trayén tn s8 ea phan tit vi phan chi ed phan Ao dung ki w thay di aa! gr 40} we rap ‘re or ajp Pp Minh tes4 Cie dBe tir thn $8 eds Kn vi phn 331 0 dén c com phan thie bing khong. + Dac tinh BT Alw) = Tv = Dac tinh PT plod = 22 + Dac tinh BLL Lib = 20lgAiw) = 201g? + 201g» Dac tinh BTL ciia khau vi phan la mot dudng thing cit true tung tai ditim €6 tung do bing 20igT vA nghiéng mot gée bing 20 dbjdec. Cae dae tinh 180 s6 cha khau vi phan dsc mé tA trén hinh [-14. Tin hiew rst ebia khaw Iuén lon wat pha so véi tin higu vio mot gic bing 2/2 2.4, KHAU TRE na feet * Phuong trinh vi phan cia khaw yt xt rh * Cae dae tinh thai gian ~ Ham qua do hit) = Lite + Ham trong lveng kit) = nh = 10 a 2) ne Cae duting dae tinh thei gian ea khaw ‘6 duge mo ta trén bink 1-15 * Cae dae tinh tin 36 a Néw dn vao ca khan cho tie dong nhiéu Minn 1-19 Gée ac tinh thd glen dang cea ku 8 x(t = Acai thi du ra ta sé mhan duge tin higu ed dang : yt) = Age 9 + Nhw vay ham truy@n tn sé cia khau duge mo tt bing phiong trinh, wy} sea) ar nb pee op CN o Py a / co coe 7 a Le Z en e fawen 22 os om - Bae tinh BE AG = 1 Bac tinh PP pon = — 10 Doe tinh BTL Ua) = MgAlad = 0 Hinh 1-16 mo t4 cae dac tink tan s6 cha khau 018 * Tic him truyén thn 89 chung ta e6 thé xac dinh ham truyéin dat bang efich thay jo = p va duge Wippse §1-3. DAI SG SO DO KHOI Dai s6 so d kh6i la thuat roan d@ ae dinh ham truyén dat eda he thong khi biét duce ham truyén dat oda cic phn tir thenh phan. No gdm thuat tom &6 xde dink ham truyén dat ea ede phan ti mac néi tidp, mée song song, mach tic phan Noi va nguyén Mi chuyén déi tin higu. 1-3.1 HE THONG GOM CAC PHAN TU MAC NOI TIEP Cac ph’in ui duge gol la mae néi tisp néu tin higu ra eda phan We trude 1a tin hieu vao cia phan tir sau. ‘Tin hieu vao ea he thong la tin higu vao cia phiin til dau tién, Tin higu ra cia phan ti eu6i cing la tin hieu ra cla hé thong. Sa dd eae phan td mée ndi tip duice ma th trén hinh I-17, Yeas Me wy Wo ca Yoo Winn 1-17 $6 eB He thing gm ede pda Kit ne nl He Tu so dd ta es Wok = Wo Waa Key = WoW Yan = y,= TL WX sty rm wip) Yo) _ fy X(p) Wye) Nhu vay bam truyén dat cia hé thong gm ee phin tit mde nét tigp bang tich 36 ham truyén dat eda ese phi tr thinh phan, 1.3.2. H€ THONG CAC PHAN TU MAC SONG SONG. He thong duce xem li gbm ec phn ta mic song song néu tin higu vao cla he thdng 14 sin hie vao eta ese phan tix thanh phan, Con tin higv ra cita he thing bang tng dai s6 tin higu ra cia ee phn ti thimh phn, So uo he thong gdm ede phiin ti me song song duge m6 t& trén hinb 1-18. 35,Tacs Y= WLX, = W.X Y) = WX, = WX ” yee Woke vex snes ve dyed Buz ook Yip) suy ra Wip) =a Ap) ¥ Sa dd he tndng bm ce kh Ham trnyén ciia hé thong gam cde sie song sone phan tir mae song song bing téng dai sé ham truyén ciia ede phin ti thanh phn, 3.3. HE THONG CO MACH MAC PHAN HOt Hg théng ed mach mac phan hbi g6m hai mach : mach thugn ya mgch phan hoi ‘Tin higu ra cia mach thuan la tin higu ra ciia he thing va la tin hig vao cia mach, phan hoi, So do hé thong eo mach méc phan bi due mé t& trén hinh 1-19, x o% x yey we wm Mo Tey We Paty, a 8 inh 19 6 db no théhg e6 mach mie phn hi ‘Mach phan hdi chia thanh hai loai - Phan hai Am (hinh {-19a) X=X-¥, ~ Phan hdi dong think I-19 X= X + ¥, Xet mach phan hBi am ta oo Y= WX = WK ¥p) = WX - Why Ma Yq = Wa Xn = WY Whe vay Y= W.X- WoW, Y hay (+ WiW,)Y = WX Yio Ww, Suy ra Wip) Xp 1+ WW,Ham truyén cia mach mae phan hbi am bing ham truyén ciia mach thun hia cho: 1 eng va ich him truyén eda mech thuso nin v6i him truyén cia nach phan hoi Xét twang duong ta ed thé viét ham truyén tia mach phan hi duong : we Wp) = ? = ww, 1-3.4. CHUYEN DOI VI TRI CAC TIN HIEU Chuyén di vi tri ede tin few Ia cong cu dé chuyén sa A khdi cdc mach lien ‘ket phic tap sang ede mach lien két don gin nhu mde song song, mnie n6i tip hhoae mée phan hoi, ti dy oo thé sit dung ede quy lust da neu tren day dé xic dink him truyén ela hé théng. Neuyén tée ciia vige chuyén déi 18 khong duce lam thay d6i sv truyen tin higu trong he thong. 1-3.4a, Chuyén déi tin hitu veo + Tit trude mot Khoi ra sau Khoi do x, xy % 4 chuyén than " ¥ — Yewo,+x) w ~ Tit sau mot khéi ra true khoi dé x —| vy chuyén thanh —tw y * * [»}-- Y=X,+ WX, 1-3Ab, Chuyén 6% tin higu ra = Tit trude mot khéi ra sau kh6i dé ¥, pw | — Yy=xX ow ~ Tir sau mot kh6i ra true Khoi de — vs « w vp chuydn than Y, =, = WX 3743.40, Cae 66 cong libn whau c6 thé déi chd cho nhau nae ant ik a eS Y=X,-X, +X) * x Vé du 1-7 Xe dinh ham trayén cia he thing e6 co dd sau Cavactaule | rap — ws} _. Chuyén tin higu ra eta W5 ve trude WI, tin higu ra eda W6 ve tin higu vao cla WS ra sau W4 ta dude so dé sau wow? w? =} wrews| x ee pL fa wa wes wa ws — ‘Ti sg d0 tren chang ta e6 thé xAe dimh cée ham truyén twang dong wa wee 1+ WaW7 wu = we = Te WELWeR.WaIW4 ~ 47 - Wa.WeWaid + WaW7) + W3.We ‘Ta c6 su dd tuang duang sau «| wows wal y ee wwe we fT A Wawe way + wawn) » waws [=]Ta eg Wy = wT - W3.We.W21 + WAT) + Vay bam truyén cia he théng sé 1a Wi + Wo Wy wo = NP Wi 1+ Wwe OWL + Wo) W2.Ww3.W4, Wp = —__ 11 W3.W6.W2k0 + W4.W7) + W3.WE + WLW2.Wawa wo §I-4 CAC KHAU BONG HOC PHUC TAP. ‘Trong cau trie cla hé thong diéu chinh tu dong thutmg gap mot 26 phan tit 6 oa trie twang dot phate tap ma qua trinh dong hoe cila no tuy duge mo ta bing phuong trink vi phim khong qui bae hai nhung ed thé xem. la ay két hop clin mot s6 kaw dong hoe ot bin 4.1 KHAU KHONG ON DINH BAC NHAT * Phuong trinh vi phan cia khau K inh 1-20 66 finn hau Kinde Bn nh bbe hee at Voi ham trayén dat nay phiin tif 06 ea true la hau tich phan o6 phan hi duong tiie ndt tiep voi Khaw khudeh dai duge mo 1 trong hink 1-20 * Cae dae tinh thoi gian ~ Ham qua do he) phuang trinh vi phan Kt) abit) ~ hit) = Kut) at feu kign h(O) = 0, ah(Oyidt = K/T ta duce: as bib = Keel! 1) + Tam trong Iuong ki = KT ett » 7 inn 1-21 4) Ham qua 48:8) Ham trong lide 39Minh 1-21 mo ta & thi ham qua do (a) va ham trong lwong b). * Cie dae tink tan 36 - Ham truyn tan s6 K KTw Woe a OO a ea ~ Dac tinh bién do vin 36 BY Aw) = —* VPot+T + Dac tinh pha tan 96 PT plod es n + arctyty ~ Dac timh tin 36 bien 9 pha TEP Bign d6i tvong ty nhus khau quin tinb bac nhét tase nhén duige dac tinh TBP cia khiw khéng én dink bae nhat la nia dung tron d eung phan tut thi ba. ~ Dc tinh bien d9 tn 36 logurit BTL cia khaw khong én dink bac nhét hoon toa tuong duong nhu dac tinh eta khau quan tinh bée obit. Hink 1-22 mo t€ cite dac tinh tan 66 eiia khau khong én dink bac hat. 1 rw ac rep ‘Minn 1-22 Cac dBc th tin 56 cia khfu khtng én dinh be ahd 1-42 KHAU TICH PHAN BAC HAI * Phuong trinh vi phiin ciia khau tich phiin bic hai ay a fy 40* Ham truyen dat cia khaw K Wip) = « ily pip + 1) jb Te P Ro rang khau tich phan b§e hai 6 eau tric cia mot khau quin tinh bac hit mae n6i tiép voi mot khau tich Min i-22 Se db eis wi kniu phan duge mo ta trong hinh -23. ‘én pda be nat * C4e dae tink thoi gian [prio ~ Ham qua 8 hit) = Kit + Tet Ty ‘ ~ Ham trong luong ki) = At) = Ka et) DO thi ham hie) va KL UIC ME 1 saan w2u ce ase Hn td gan tron hinh 1-24, oF c Phuong trinh duing tim can xién eta hit) of dang, ye.) Nhu way he 66 goe ota no bang K vi nd cét teuc hoanb tai thai dim t =‘. ata) rie} ar Ter la Rwy ot Mon 28 Co dic tinh tn 98 cba kh teh phn be ha * Cae dae tink tan 36 ~ Ham trayén tn sé Wojo} = —— " eS th ed) aLDac tinh BT. Ate) oN That +1 + Dac tinh PT go) IZ aretgTo Dae tink BTL Lies) = 20igK - 20g - 201g V Tho? + 4 Dac tinh nay duce thay gan dung bang dudng gip khic. G giai tan st "hap n6 la mot dung thing nghiéng - 20 dbidec va cit true tung tal tung dd bing 201gK. Tu tn 36 ur = L/P dung thang e6 ao nghiéng - 40 dbidee. Bo thi ce dae tinh Un sd oda Ket tich phan bac ha duge mo 18 ¢x8n hin 1-25, (-4.3. KHAU Ti LE TICH PHAN * Phuong trink vi phan ye Kx Ky fade= Kix th fat Voi T = 1K, goi la hing s6 that gian tich phan, Hoge o6 the viet dur6i dang ay dt "Ham truyén dat Wip) = Ky + Tp Nhu vay khau ti 18 tich phan gbm mot khau tif mae song song val mot Khaw ich phan * Cae dae tinh thoi gian = Ham qua dé he Ky+ Kt Ham trong lvang kit) = Ky Dé thi ca ham Wit) va kit) duge mo t& trén hinh 1-26 nies kits (Cae ae tinh sha gian* Cc dae tinh tin 56 ~ Ham truyen tan 56 Wij) = Ky j ~ Dac tinh BT VK Tot +1 Mw) = AeTer +) Te + Dae tinh PT l plod = - arte - Dac tinh TEP la nia duing thang Riot = K, nam 6 cung phiin tw thit tw ~ Dac tinh BTL Lis) = 201gV OK, Tait + 1 20lg¢T on Dae tinh BTL, nay ct thé thay bang hai se doan tiem can. Khi ws << 1K, thi Lio) =~ 201g 01) Con khi @ S>1/KL.T thi Lew) = 201g Te - 20g Tod = 20]gK,Hinm 1-27 Ce déc tinh tin 96 oa undy Hinh 1-27 mo ta eae dae tinh tan s6 HAE eh pn cia khau ti 6 tich phan, Trong dé wt = 4.4, KHAU VI PHAN THUG * Phuong trink vi phan eda khaw JKT a ax to syokn x K a a teat *HAm truyin dat eis kha KTp [| Wip = TP Winn 1-28 CBU tee Khu vi phn thye Tp+i Nhu vay kha vi phan the Ja edu true me néi tip mot khdu vi phan voi chau quan tinh be nhat duige mi ta trong hinh T-28, * Cte dac tinh this gian > Ham qua dg : (itso dd ca true chting ta ¢6 thé adc dink ham qua dé eta 43khau vi phan thye ti ham qua ket qua khaw quan tinh bac nhdt va nhan dude hit) = Kew Act) Fey + Ham trong Ivong Ke € ki duge mé 4 trén hinh 1-29 : Winh 1-2 Cio co tinh thd glen Cae dc tink fin 56 ‘a Fe ol phan hue ~ Ham truyen tan 36 KT Weja) = Tp+ ~ Dac tinh BT 10) Kw Alo ¥ (Ta)? +1 = Dac tink PT plod = x12 - arctg Tes ~ Dac tink TBP Tit cong thie (1-10) ta es K Wo) = K- ay » Titi Winn Cie age teh tin 36 ‘Tit dac tinh TBP oa khau quin tinh bac nhat ching ta e¢ thé khang dinh dac tinh TBP eda khau vi phan thye duoc mo ta bang céng thife (I-11) IA aia ‘duing tron nam 3 cung phin tu tht nhét Khi w thay déi tir 0 dén a, = Dac tinh BTL, Lu) = 201g(K Tae) - 201g ¥ (Tay? + 1 Dac tinh may dutge thay thé hing duiug gap khuie. Khi w > 1/7 thi Lie) = 201g(K.T) + 20lgus - 20lgTw = 201gK-T Hinh 1-30 mo ta ede dae tinh tin sé eta khau vi phan thuc.14.5 KHAU Ti LE VI PHAN * Phuong trinh vi phan dx =Kyx+K,. Kt cn x * Ham truyen dat Kop Wop) = K, + Kap Day 1 him truy@n dat eta Khaw ti 18 mae song song vdi khau vi phan cé edu tle mo td trong hinb 31. gy xe) anh 199 Cu te na 118 vi phn * Cae dae tink thoi gian ~ Ham qua 46 hit) = KU) +K,.a0e) + Ham trong luong it) = pate) + 200) Wink 1692 Che dio tom tha ian Cae dac tinh thai gian duige mo té trong hinh 1-32 * Cie dae tink tan 86 Ault ar / tiwit ep [ano ~ Him truyén tin 36 Won) = By + Kd ath - Dae tinh BT te = “oe Alw) = VK}+ (Kyo)? ~ Dae tinh PT plo) = aretg(Ky.a/K,) Wiwh 1-33 Cae de tn thn 28 ~ Dac tinh TBP la nia dwing thing Ro) = K, nam cung phan te the hat Dae tinh TBL _ Lio) = 201eK, + 20ieVeT uP 1 Vai = Ky, Dac tinh nay duge thay bang diimg gap Khiic. Doan thi abat cho gti tn 96 thap w < LT: Liw) = 201K, DE cho giAi tn s6 can ey > H/T: Liv) = 201gK, + 201g¢T.) Cie dac tinh tan s6 cia khdu ti 16 vi phan duge m6 ta trén hinh 1-3. 4514.6, KHAU TICH VI PHAN, © Phwtang trinh vi phin cba khaw ay ae e Pa yew (ry yy a TENG x | r— 4 + * Ham truyen dat eet Ham truyen da 1 te Kip +1) Wipt pen Tpsl Winn 94 598 ee Kru teh ign Nhu vay edu tric khau tich vi phan gdm mot khéu quan tinh bie mhat mie n6i tgp vai mot khAu ti lé vi phan, * Cie dae tink ea gian Ham qui do ‘Trén ec sd ham quit dO cia kha quin tink hie nhat vA dae tinh cia khau tile ei phan ta dé dang xac dinh ham qua d0 ea kha tieh vi phan dang +7) hit = K (1+ eth, RO = K.TYT, ~ Ham trong hiong Kio = rit inh 1-35 ma ta cde dae tinh thai gian eta khaw tich vi phin, Cac dae tinh aay dude xay dung cho ci hai trig hgp T; > T, thinh 1-95, a) va'T, < 7, hind £-5,b) ho hot ° t “io KA Ktoy t a «ios Wink |-36 Cie dic teh that gan exe kf ten vi bn 46* Cae dac tinh tin 86 ~ Ham truyén tan 26 Wioi = 2 Tio +1 ~ Dac tink BT VTP +1 Atwy= kOe Do Fete +1 Bhi oy = 0 thi A(O! = K, com khi =» thi Als) =KTYT, = Dae tinh PT plo = arctg’ Tw) + arctglT wt © Khi w=0 va cA khi « Dac tinh pico) e6 exe tri tai ton 66 ‘7, Ty, Nhu vay khi T,>T, po luon luon duong va gid tr] eye dai cia phe) wv no sé 1a, Soualit) = aretg VTYD, - arctg VETYIT,) Con khi Ty < ‘Ty plu) lon ludn am va gia tr eve tidu cia no a6 Ih: = aretye VIP Fiqh) = arc V Ty = Pac tinh TBP DE xy dumng dac tinh ‘TBP ching ta phan tich hai trudng hop Ts > Ty va <1, Khi'Ty >, him trayén dat cia khau oo thé viet dui dang TTT, ee ain + ‘Tiecong thite (I-12) ta e6 the rat ralét dan rang : dae tinh TBP cia khaw vi phan thue trong trtmg hgp nay chinh la dac tinh TBP eda mot khau vi phan thute 6 hang s6 thii ginn hing 'T, va he s6 khuéch dai bing : “ty kK. dich sang phai K dan vj. Khi T, T, duge mo t# trong hinh I-36, “inh 1-87 mo ta eae dge tinb tn s6 cia khdu tick vi phan kh T, < Ty ” st sia r8° way be = ———— ° wo o—« mm waif ° rag a BR BU) Wink 188 Cie dic tn tn 56 eda kau wi pine Te > T4 aw) mo rer TS ‘ . yh eulf pr IT Heirs Winn 1-37 Cie dae teh thn 96 eda whi Yih vi phn Ki Ty > Te 1-5 CAC DAC TINH CUA HE THONG DIEU CHINH TU DONG ‘He th6ng dia chinh ty dong cing mang nhiing dae tinh nhit cée phiin tit cia ‘nd. Nghia la no eGing eo dac tinh tinh, dac tinh dong, cde dac tinh thdi gian va ede dgc tinh tin sé. Tuy nbién o day dac tink tink chi ndi |én dO chinh xdc cia dieu chinh. Didu quan trong la phai khdo sat duge qué trinh qué do cia he théng, tifc 1A phai khdo sft ec dic tinh dong cla hé thong. Dac tinh dong hoc ela hé thong thudng duce mé ta bang ham truy€n dat xée dinh duge tit ham. truyien dat ella ede phiin ti thimh phn bing cae phép dai 56 so 3 kh6i da dicoe wrinh bay trén day. Néu thay p = jw vao ham truyén dat ta sé nhan duge ham truyén thn 36 va tir day od thd khio sit dac tinh dong hoc cia hé thong thong qua cic dae tinh Yan 36 cia nd. Néu bién déi ham trayén dat cia hé théng vé dang : 48Bop™ + bP Dap + Dp agp app + tap ta, -hi s@ nhan duce phuong trink vi phan mo ta qué trinh dong hoc eta hé thong viet duoi dang todn tir Laplax Cpl + aL +t aay p + AY (by B® + byD™ A. + bop # baIX(P) ‘Tit day st nin duge phuong trinh vi phan cia ho thong dang wip = Nhu vay, dae tinh dong hoe eda he thong dieu chinh ty dong es thé nghion edu trong min thoi gian thong qua phitong trinh vi phan hoae trong mien tan 86 thong qua ee dac tinh thn sé 15.1 MO TA DONG HOC HE THONG TRONG MIEN THO! GIAN Dae tinh dong hoc cia hé théng di8u chinh tu dong ed thé mo ta bing Phuong trinh vi phan dang ay aely “ae ee Voi xt) 18 te dong ditu vio cia he théng Giai phutong trinh vi phan (I-14) ta sé tim duge ham yit) aghia la biét duge su thay déi cia tin higu ra theo thai gian khi os te dong dau vao. Ciing e the chuy€a phuong trinh vi phan bc n (I-14) thanh dang he n phwong trinh vi phan bic nhét bang eich thay déi bien 5. ay; oy 8 toyays me Sie Se Bt yay ne Zh y= BE yy Phuong trinh vi phan (T-14) s@ duge thay bing hé phwong trinh bac mhét dang ay tte Phage Ke diy wnt gp ny = Ke 15) ay, ae Kom An yn = Aad = Ana = Anyi 49ay Lk 3 Ane 8 Ros "fe Bi 36 Y\, Yp sn Yq ioe oi Ia ode bin trang thai ciba he théing va he Phvong trinh (1-15) duce goi ki he phuong trinh trang thai, Néu ching ta biét hice he phurong trinh (1-15) va biét duoc trang thsi cia hé théing tai mot thdi dim ndo 6 thi dé dang xe din dude trang thai cia hé théng tai ce thai digi tip theo, He phugng trinh trang théi (I-15) os thé viet dudi dang ma tran vecto x] fo 1 0 0. 0] fn] fo ye]_]0 0 1 0 of} int fe ao Yep |-Aa Ane “Al ly} [Ke Tin hieu ra cua hé thong duge xdc dinh theo céng thic ” ve vith = [1.00 ..0] . | Fn Cac phuong trinh ma tran veets trén é6 thé vi8t gon dudi dang yo = Ay + Bxit) } yin) =¢y ‘Trong ds y la veets trang thai cia hé théng, x(t} lA tin hiéu vao edn yit) la tin higu ra, A, B, C 1a cde ma tran: 16) 6 1 0 0. 0 0 o.8 o ae{? oot B c= [L00...o} FAg Ay Ay ky ‘Tren co ai hé phuang trink trang thai (1-16) a6 dang xy dung s0 dd exu ‘true trang thal ea he thong. So d® nay duige mé ta trén hin 1-38, ne : ’ wo 3 ¢ [+I $0 ab fie wie trang thai eae ne togCac bid trang thai eta he thong, khdng nhtt Unit pha chon mhut da néu ra tren day ma es the chon theo each khie. Vi dy ed thé chuyéin phuong trinh vi phan (I-14) sang dang aty a dy + Bea SEP Any = Kyat aap Tit phuvong trinh vi phan (1-17) o6 thé dé dang tap mo hin cho he théng, bang cach sit dung phan tif tich phan ed ham truyén dat Wt = Ifp. Can nhac lai rang, tin higu vio trude Khau tich phan Ia dao him tin hiey ra eda ne, Tie phuang trinh (1-17) xe dinh duge ham truyen dat cia he thong wep = PL Ke Xip) "ph Ap SAG TA, ‘Tren co 86 ham truyén dat ndy cling voi vige ding dung thuat ton chuyén doi so db khoi va phin tir tich phan dé ding xAy dung dirde mé hinh cdi trae eis hé thdng, Mo hinh nay duge mo ta trén hinh 1-39, “bo ooo ft ‘Te mo hinh mo ta trong hinh 1-39 co thé xay dung hé phuong trinh trong thai eda he thong mhw sau : Yo- ALY, vs- Apy, ay, Ge 7 Bott) Any: 51Néu hé thong khao edt duge mo té bing hé phwong trinh trang thai dang 41-16) va so d0 ctu trie duge mo td nhu trong hinh I-38 thi cae ma tran A, B, © 36 e6 cae gia trj tuang ting sau: “A 1 0 0. Oo) fy 0 1 0.0). fo A B c= floo,.o| “A, 0 0 ° Ky Khi hé thong digu khién tw dong duge mo ta bang phuong trinh vi phan dang t6ng quat Ey et a y= waen 7 Ge mae Te aM% am dx Gant by Gar +t Bot SH (hi ham truyén cia nd ed dang Bop™ + Byp? + + Bra + By PPE ALDYCE OF Aya + Ay Vel By = bylay | By = by/ay i. B= By/ty Ac = aay ‘Tit day 06 thé xay dying mé hinh cia hé Uhéng duge mo e& txén hinh 1-40 (cho truéng hop m = n- 1), Lau ¥ : khi chuyén tin hiéu 2 va vi tri 1 thi hé 56 By duge nhan v6i todn tit p (tin hieu chuyén ve trudc mot khau tich phan), ‘Tung ty abut vay, cdc tin hiéu tiép theo khi chuyén vd vi tri 1 dau phai nhan véi todn tit p 06 56 mii bing 6 Ivgng khéu tich phan ma nd chuyén qua, Nhu wip) = 1-18) vay, néu tin higu ra oa By chuyén v8 vi tri 1 thi phai nhan vai p™ Ba fo] [ 8 Be 2 pve % % wey 21 fa we! fda fe te Sd id i Anal [4s a stm 1-40 MB non ang 6g oust eb eng ab enn ty ng 52‘Tu m6 hinh nay dé dang xay dung he phuong trinh trang thai ciia hé théng dy, SL ny. Avy, + Bpx € ¥2~ Avy + By lye 2s yy- Ay + Bx ie yi + By Yo> Ani Ya + Bax Bmx - Ay ‘Néu mo t4 hé théng bang hé phuung trinh trang thai dang I-16 va cau trie abu trong hinh I-38 thi cae ma-trén A, B,C 8 la “A 1 0 0. 0 B, “A, 9 1 0. 0 B, A 8 C= [too.. 0] Sa 8B, ‘Trutmg hop ham truyén dat [-17 co m =n thi dé xay dimmg mo hinh twong tt mht trong hinh I-40 phai chia til 96 cho mau a8 9é nhan duge hé s6 tu do By voi phn ham truyén dat es bac mau s6 cao hon tit sf. Nhu vay 0 43 cfu trie ‘cia ho thong c6 thanh phan tin hieu duce trayln true tigp ti dau vao dén dw ra. TW két qua phan tich nay, dang téng quét ea phuong trinh trang thai mo 14 dae tinh cia he thong digu chinh tw dong nhu sau : yoo = Ay + Bxtt) yO = Cy + Dai) ‘Trong dé Dla ma tran bidu dign suf truyén true tigp tin higu tit dau vao dén dau ra, Dang téng qust cia mo hinh trang thai hé thong dibu chinh ty dong L Eh —¢) |-—+—[s 3 A inn 1-41 So db du true trang thd eta ne théngpac bude dé xc dink phutang trink vi phan hoae he phuong trink trang. thal cia he theing diéu kbién tu dong cho 6 dang so dd kh6i him truyien dat cba cde phan ti abu sau : Si dung dai st so dd kh6i xic dinh ham truyen dat cia hé thong. Khai trig ham truyen dé dua vB dang tng quat iY Wop = SP PP Ro Xiph "Prong do Qip) va Rip! la da thie tif s6 vA méu s6. Ching eg dang téng quit QED) = bo ADIN + LAI ths BF By, Rip) KPI ALP tag ay ‘Ti ham truyén dat suy ra phwong trinh vi phan vit dudi dang toan tie Laplax fayp + app™! + + agg p ta). Yip) = fy p™ BEDI yg P+ hy) XID) a-19) Tit phuong trinh (F-19) ta se ca phudng trink wi phan a he thong, dry. arty yao to tay Oe agg ace ger fo * am ami ax b, $F bg et Bay ae eb gue 7 Ot gum Dé xac dinh hé phuong trinh trang thai cia bé thOng ta chuyén ham truyén dat cia no ve dang cong thie (1-18), sau day xay dung so dd khdi nh hinh 1-39 hhoac I-40, Tren ec 0 ac db kh6l va xAy difng xée dinh he phurong trinh trang thai cila he Uhng dang day du I-15 hone dang viet gon 1-16 véi vige xae dink ee ma train A, B,C. Mot vin d@ ca ban 6 day la lam thé nio dé xae inh duge ham truyén dat ila cic phn tif trong he thong. Day la mot vin de tucmg 46i lo va kha phite tap. trong tai lieu nay chi ed thé dé eAp den mot phin it nh8 cia win dé nay va duse trinh bay 6 mye sau Vi du 1-2 : Xae dinh phutong teinh vi phan va he phutang trink trang théi cia he thong ei so db khéi ham truyén dat duoc mo ta trong hinh 1-42 x} vies OR HEH Winn 1-42 $0 40 Hn nden tyén Gat‘Su dung nguyén li chyén di tin higu va dai sé a0 dé Wchdi, tt so 0 1-42 nhan use sa dé méi twang duong duge mo tA trong hink 1-43 xp) wee vi fp +2 more F Bip Wap + Hep FH Wind [+43 So dB sau kn ety 8h ‘Tit su dd edu trie mo ta trong hinh 1-43 xac djnh duge ham trayén dat eila he thang of dang pte op+2 6p +2" 3pip+ D@p+ Naps lee +2 Suy ra 9p+2 Bplp + Dp + Dap +I) + p+ Wo ‘hai trign ra ta 06 Yo) 9p +2 (p) ~ Bapt+ 2p! + 2ip + Op +2 Chayén sang phuong trink vi phan viet dudi dang. ton tt Laplox (Zap! + 42p! + 21p? + 9p + 2) Yip) = Op + 2.Xpr ‘Ti day ta es phuung trinh vi phan cia he thing dy aly @y ody 244 Fo Buy att ate at? dt ¥ | aus » yey a ee tpg Jpeg ta Le aH i; a : aa 4 [ew] fe ears 178 iam tae So dB edu te cua ne théng 50Dé xée dink he phitang trinh trang thai cia hé thong ta chia hal vé cia phuong, trinh, tr obo 24 he 28 oe) thu duge phitong trink vi phan dang ay ox > = 0,375 ~ + 0,083% at at Tw phvang aah nay 98 nt + dune duve 80 dd cau tric cha hé théng mé ta trong hinh I-44, Phuong trinh vi phan bée bén (n= 4) dude thé hién bing bon khau tich phan. Bae cia tit sé (m) thap hon bac eta miu 36 3 don vi (men «3 ‘Ti 20 do mo ta trong hinh T-44 dé dang xy dung he phuong trinh trang thai cia he théng dy, = y2+ 1,750y, y= O875.y, 1 - O875.y, + 0,875. = 0,088. - 0,083.9, Néu mo ta hé phuong trinh trang thal theo cong thie 1-16 thi gid tri cae ma tran A,B, C o@ li: “1,750 1 0 6) ° 0875 0 1 0 0 A= llo373 0 9 1 oza] C7 [100.9] 0,083 0 0 0 0,083] 15.2 CAC DAC TINH TAN SO CUA HE THONG. DE xée dinh cdc dae tinh thn s6 cba he thong trude hét phai xdc dinh ham truyn dat cla no, sau dty thay p = jo vao s6 nin duge him truyén tn s6 va ‘i day suy ra cae dac tinh tin 36, ‘Thong thuing hé théng dieu chinh tu dong duge phan ra thanh hé thong hé co ham truyén dat Wy(p) va hé théng kin o6 ham truyén dat Wy(p). Su do he thong hé va kin duge mo ta tren hinh I-45, x Y x Y ——} wip) “eT wie) a 8) Winn 1-45 80 d he théng hd (a) wa HB thing Kn (2 56Ham truyén dat cita hé théing kin: Wyn Wun = PT Wa) 1-20) 1-6.2a CAC DAC TINH TAN SO CUA HE THONG HO Céu troc cia he théng hd thong thyimg gdm nhidu phan tit mée ni tip shau. Vi vay vige xc dinh ede dac tinh tin s6 eda hd thong hd thuc chat la xae dink ese dae tink thn sé cia hé thong gom nhieu phian ti mAe ni tip nhaw Ichi da biét duoc eée dac tinh tan 36 eta céc phiin ti thanh phan Vi vy ham truyen dat ola he thong hé es thé mo tA dang Wytp) = Wie). Wp). W,(p) Néu him truyén t€n s6 cia eae phan ti thank phn duge viet dui dang Wylie) =Ayar0itie thi ham truyén Gn 36 cia hé thong hé duge tinh theo biéu thie o Bre Wale = T] Ata. at Cie dae tinh tan 96 ea he hd 96 1a = Dac tinh BT serfs -bsinrs Dac tinh BTL Lio) = 20)gAw) = SS 201A) a Nhu vay dac tinh BTL va PTL ofa hé thOng hd bang téng dai sé cae dae tinh BIL va PTL cia cdc phhin tit thanh phn. Vi du 13 : Xay dyng ese dac tinh BTL vA PTL cia he théng es ham truyén at Ket +1) Dp + Dip + T+ Vol T.>T)>1>T)>T) va Kad wip) = BT1 1 1 1 Tacs y= cepa Aga + By x Ay M6 ta hé phuong (rinh trang thai dudi dang 1-16 thi pid tri cde ma tran A, B,C sea 66-A 1 0 ‘0 ~A, 0 1 0 o sel oo a] Bafa, ce foo g “A, 0 0 6 B §l-7 GIAL CAC BAI TAP MAU Bai 1, Xay dung cde dac tinh BTL va PTL cha hé théng eo ham truyn dat 5p + 1) (Sp + 1p + 1p + O5p + 1) wip) Bai gid He thong gom nam hau mae néi tip nhau trong do od 4 khau quén tinh bac nhat vA 1 Khaw ti le vi phan, Dé xty dying ede dac tinh tin s6 logarit ella phiin tir nay trude hét ching ts xay dung cc dac tinh tin s6 logarit cita cic phan tit thanh phiin sau day thye hitn phép egng dat a6. * Xae dinh ede tan sOgiiy ciia cée dttmg gap khuic ol = 1/5 = 02 [g0,.2 = - 07 o2= 1/8 = 0,333 1g0,993 = - 0,48 od = 12 = 05 1g0,5 = - 0,8 vas gt 1/0,5 = 2 ge 201g5 = 20.0,7 = 14 ° 03 61Winn 1 8 Xay cog de tinh PTL (bai ‘Tu day ta ed th xay dung duge dae tinh BTL (hinh 1-55.) va PTL ¢hink, 1-85) dua tren cae cong thie Liw) 5 Lio plo) = itn for i Bai 1-2, Xay dung dae tinh BTL ctia hé thong ed him truy’n dat sau Winn Die ton BTL ya 12}p+ D wy =F pp + VOBp +1) Bai git Xie dinh tin 56 edt ciia cae duaing ti8m edn wl = 125-05 140.5 = - 0,3 eat Int = 0 oS = OS 2125 gl =o, 20.1g2 = 20.03 = 6 Dee tinh BTL duce xay dung, trén hinh 1-56 Bai 1.3. Xac dinh ham truyén dat cia ho théng ¢6 sa dd sau we we Jp "| - ~ wt we 3 We foe =" a Bat gid Chuyén tin higu ra cin W6 tir trude W2 ra sau W2 va tin hidu vao cia WS i trude Wa ra sau W4 ta duge so dé tung duong sau (2h Eh, Tea wa, wh | wa it 80 d® twang duang ta e6 wa.wa Wil = WLW2 + Ws wie = - W2.Wa.Weil + Wawa) 69we wa =. _ SE 1+ Wa Wand “7 Wa Wawa > WaWi + Waws Wa.W4,(WLW2 + WS) WOU + W4.W7) + W3.We Wy = Wel Wea = — aw Ham truyén dat eta hé théng duge xac dink theo cing thiic Wy 1+ Wwe W3.Wa,(WI.W2 + Wo) (W2WR WOW WT) + W3.WE + WS.WA.WO.OVLW2EWD) Wi) Wipi Bei 1-4, Xie dink phuong, trinh vi phan va hé phuomg trinh trang that cha he thong 05 $0 do hot saw 1 pat x PPS a + Har + Bas gid ‘Hom truyen dat ofa he thing ha aap + D+) wh = Pte PI app + Dp + Sp + Np 4 Flam tray dat ofa he thing kin Whip) Wrip) = 1+ Whip) Bap + Dip +1) Whip) = — eee p+ DiSp + Bp + Dp + N+ Bp + Dep + Khai trién ra ta duce 12p? + Lp + 3 Wuip) = Pa tops 8 {PD Gap’ + 112p! + 92p3 + dap + a 2ay pra ‘Tie day ta c6 phuong trinh vi phin eda hé thong ay. at ay ay ds Px dx ae ae, ate Fas 19% 4 ay = 24 ss ox ae ae at at ae ae 70Dé xay dung he phuong trinn trang thai eta hé thong ta chia tt 56 va méu sé eda ham truyén dat (T - 247 cho 48 duce him truyén dang 0.25p? + 0812p + 0.06 a Pi + 2.33p" + 1,02p + 0,02p? + O4p + 0,06 a 26) ‘Tit cong thite (I - 25) xy dung so dd mé hinh cu trie ciia hé thong duse mo t€ trén hinh 1-57, oe Winn 1687 6 db edu ee trang rn ba 8) Tit so do cu truc hinh 1-57 ta c6 hé phuang trinh trang thai eda he thong ay, Fe TOS O4Oy, + 0,812 SSS 6,068 - 0,06y, a Hoac viet dui dang ma tnin vecto yr] [-2a8 10 iy, ° yy] |-192 0 1 0 0} fy ° vst = i092 0 0 1 0] |y} 4 fo2s | nce vel }-o40 0 0 0 1] |v o,312 ss] |-0.00 0 0 © 0] ys 0.06 1‘Tin hi¢u ra cia hé thong dugc x4e dinh theo cong thute yi =[1 000 0]x ys) Bai 1-5. Xae dinh phyong trinh vi phin vi hé phitong trinh trang thai eda he thong kin cé phuong érinh vi phan ca hg thong his aty 2 Pe Moye Ly, at ae aa Bai gic * Chuyén phuong trinh vi phan eta he théng hé sang dang ton tt p (2p! + 3p} + dp? + Bp + 1) Vip) = (p + 2) Xipy * Ham truydn dat oda hg thong hd e6 dang, pea whip = Pt? 2p Bp aps apa 1 * Ham truyén dat odin he thOng kin Wrip) «26 yey Winn 180 So a cy roe cua he tndng jn 1S)* Phuong trinh vi phan ciia he thong kin ay ay dy dx a ee er es ae ae a ae Chia tit 36 va mau 56 cia biéu thie I~ 26 cho 2 ta duce 0.6p +1 Whi — » Sp) + 2p? + t5p + 1,5 ean ‘Tu cong thiic T - 27 e6 thé xAy dung so dd edu triie cla he théng duge md (4 trong hinh 1-58 * He phuong trinh trang thai cia he thong o6 dang ay, Ot ny 18 ae Be) oe 2 ay ayy OS yy. by, + 06x ar ays a 1 rf v1 Hoae viét duéi dang ma tin veeta y;] f-.5 1 9 0) [yy o yo} |-2 0 9 0] fy, ° yy] “4-145 0 0 a] oly} * fos | | j-145 0 0 0] Ty, 1 Gia tri tin hiou ra duve xée dink theo cong thite ys y yl v4 i= [it 00 9] x 2Chuang 1 KHAO SAT TINH ON DINH CUA HE THONG DIEU CHINH TU DONG §l-1 KHALNIEM VE GN DINH CUA HE THONG DIEU CHINH TU DONG Gn dink la chi tidw co bin diu tién eda he thong dieu chinh tw dong. He ‘thong muén sit dung dude thi tude tign phi Gn dink. He thing digu chinh tw ‘dong duge poi 18 Gn dinh néu saw khi bj phd va trang thai cn bang do tc ding, coin mhiéu, no sé tw didu chinh d@ trd Iai trang thai ean bing, Néu no khong 3 Jai trang thai cin bing ma tin higu ra tin tdi vo cting thi he thong 96 khéng én dinh. Trang thai trung gian gia én dinh va khong én dink due goi la bien aidi Gn dink, Trong trating hop nay tin hieu ra eile he ehéng IA mot dao dong. 5 bign dd khong dé Niw vay didu kign dn dink ota hé théng Ia i Ho thong sé khong Gn dinh néu im. elt) + cin he thong sé 6 bien gidi Sn dink hi eit! + 0 those Wt gid tri c6 dink) ii eit) > dao dong e6 bién d6 khong déi Hinh 11-1 mo t& nam teang théi qua dé ciia he thing igo chink tx dng khi cd tae dong 2. ~ Duing 1 Ung voi trang thai én dink khong dao dong ea hé thong. - Dudng 2 1A trang thai da dinh ed dao dong cia he thang. + Trang thai bien gidi én dinh | cia he thong duce big bang duimg 3. ~ Ue thdng khong Bn dinh eo dao dong duce biéw dién bang dug 4, ~ Duong 5 bidu didn trang thal khéng én dinh va khong dao Hinh I-t Nim trang thai cia We thing dita ehioh ty déng 7”dong caa he thong diéu chinh tu dong. Théng thueng dé biet duoe he thing diéw chinh tu déng én dinh hay khong Gn dinh phai giai phtsing trinh vi phan mo ta qua trinh déng hoe cilia né Dang téng quit etia phuong trinh vi phan : ay eee = by Eb, 4g be an den atm ore at ” Nehiém etia phuong trink vi phan may gm hal than phan nhu sau Y= Yat ¥ ‘Trong ds yy te nghiem chung ; ela nghiém riéng Nghiém chung yp nhan duge bang cach gidi phuong trink vi phan dong nhat ay amy ay ty tay Be agy eo ae GT mae Ane Nehiém ring y, phu thude vio gla tri tde dong dm vio va nd dae trung eho tinh chat xc lap cla hé théng, Néu tac dong du vio 18 6 dinh thi y, cang ob dink, Nhw vy nehiém riéng hodn todn khong anh hung dén tinh chit én dinh coin he thong. ‘Tinh chat dn din oi he théng dude phan anh qua nghiém chung yo, mA nihiém nay hoin tofn khong chiu anh ining cia téc dng ban ngoai Ditu nay 6 nghia ring Gn dinh ta tinh chat bon trong cin hé thong, Ia bin chat cia hé thong. He théng a én dinh thi khong os mot tac démg nao tit bon ngoai co thé Jam cho no mat én din Dé xae dinh yy phai tim nghigm eta phuong trinh dic tinh, top tap! +t ay PH ay ar-2) Gia sit phuong trinh (1-2) 60 n nghiém p, kbc khOug rigng biét thi vo $8 dhige xac dinh theo cog thie: w= 8 cert = Trong ds ¢; la cde hang 86. Nghiém P, e6 thé ton tai mot trong eae dang sa - Nehiém phite - Nqhiem thutn ao py = joy 7Xi dink hudng eit cae loge rghigm. len tinh cht Gn dink cia he thong. Khi nghiem ca phusng trinh dac tinh Ia nghiém thuc thi lim € [oe kha, <0 coe Ne khi ag, 30 Con khi no la nghiem phite ta es cotiO lime [— Okhia, < 0 5 ioe i © bhi, 0. Néu la nghiém thudn ao thi : lime —> dao dong véi hien do khong Adi Nhu vay ta ed thé nit ra cde ket Iugn cau: = He thong digu chinh tut dgng s® 6m dinh (lim yy + 0 khi t > 2} Rhi va chi ‘chi phitong trinh dac tink ed nghigm thc am va nghiém phitc 66 phn thye Am ~ H@ thdng oF khong, Sn dinh lim yy + khi t + ») kh phuong trinh dac Uioh 66 nghigns thue duvimy hoge nghigm phite e6 phan thue dawns. He thong dieu chinh tat dong sé bien gidi Gn dink new phuang trinh dae tinh e6 ——nghiém thuan 0 con St ch ese nghiém khie la nghiém thye am hove nghiém phiie eg phn thue diam. ving 6 deh ving Hg én anh Néu xét tren mat phiing phan bé nghiém (xem hinh T-2) thi khi tat ! inn 1-2 Pan vung tan mgt pring phn BS i ete nghiém cba phuong trinh dae ghiom 56 tinh phan b6 én trai true fo thi he ‘thong én dinh. Chi can 06 mot aghiém é bén phai true do thi he théng oé khong Sn dinh, New ed nghiem nim tron true do con efe nghiem kha déu & hen trai true Ao thi he théng se 6 bién giéi Ga dink §-2 CAC TIEU CHUAN ON DINH DAI SG 12.1, DIEU KIEN ON DINH CAN THIET Diku kien dau tien- mA e¢ no he thong méi duge xét én dinh hay khong, con kkhi nd khong fn tai thi kt Juan ngay Ih ho théng khong én dinh- duge goi la dieu Iien dn dink cn thigt, Khi khong tin tal digu kign 6m dink cn thiét thi 6hg thong duge ligt vio loai es cifu trie khong Gn dinh va lic day phai thay di edu tric cria ns Gia sit he chong dieu chinh tu déng dn dinh va ed phuang trinh dac tinh Ay DT ALP + aga. P# ay =O Naw vay phuong trinh dae tinh chi ed hai loai nghiém + Nehiem the p, =~ aj (ait sit o6 m nghiom ) + Nghléin phic py =~ ay * joy 06 (n~ mi/2 nghiom Voi a, jog, ven déu duong, Phuong trinh dae tinh duge chuy€n sang dang oom ae Mp tay. Th tag hep tee + JQ) Suy ra ~ » emmys a TM ip tad. 1 Up tagh tal Khai triém ¥ ti edn phicng trinh (I-8) ta s@ due mot da the gin cde he so'duong, Day chinh ta digu kien dn dinh cn thiét cha he théng digu chink bye dong, hw dy didu hign cin thiet dé hé théng bn dink lit tht ed etc hé a6 cia phuong trink dae tinh phat duong ( phi cung dia i * Xet hé thong ed phuong trind dae tinh bac mhiit Bop +o =0 ay yaa, >O Khi nghigm oda phitong trinh dac tinh py = - ay/ay < 0 thi he théng Sn dink, Nhu vay diéu kien cin cing chinh la digu kién dil dé he théag 6n dink. * Xet he thong edi phuong trinb dc tinh bac hai font + ap + ay Néu A = aj - day.ay = 0 thi phutong trinh es hai nghiém thie p, va pz cling, © vi ay, a vaa; > 0 4m vi theo din Ii viet ta 6s PpP2 = aly > 0 ” Prt Py => aulay < 0 Néw A < 0 thi phuong trinh es hai nghiém phate ed ph’in thuc aim: w= = ay 24 < 0 Nhu vay d6i voi hé théng eo phugng trinh dac tinh bac hai thi chi cin eae he sé ea phuong trinh dac tinh ducing la he thong sé én dinh * Xét hé thong ed phuong trink dac tinh bie ba agp? + ay p? + ayp + ay = 0 vbl ay. ay, ay vaay >0. "7Ro rang chiing ta khéng thé gidi phuong trinh 4¢ dua vio nghiém cla n6 ma xét dn dinh eka he thdng, Tuy nhién chting ta eo thé dat gid thit ho thing & bien gidi 6a dinh, nghia 1a phuong trinh dae tinh c6 nghiém p = jw. ‘Thay gi tei nghiém nay vAo phucong trinh ta duge ay (joV? + ay jor + agjo tay = 0 fy - aye? + faze - ago = 0 MGt 36 ao bang khéng khi cA ph’n thue va phn do cling bang khong, Nhu vay ta oo he phuting trinh ay- apo? =0 ayer aya’ = 0 euyra “3 2 2 day la didu kign dé phuiong trinb "qd ngbiém thudn do. Nhu vay khi he thong od phuong trinh dée tink bic ba thi digu kign dé cho no @ bién gi6i dn dink Hi aya, = ag.as. Dida kien nay sé chia hé thdng ra lim hai ving : 6n dinh va khong Gn dinh tuang dng voi hai dieu kien Aya: > Ay My vA aay < By.my Dé xet digu kién dn dinh eda hé thng ta chuyén phuong trinh dac tinh sang dang ayip? + Sap? + Sa*p + a) = ayip + a)? = 0 Vai a Ia mot 36 nao dé tho& man ditu kign cia phuong trink. Vi exc he 36 cia phwang trinh dac tink duang néa a > 0, Phuong trinh dae tinh o6 ba righiém bing nhau p = - @ < 0 hi thong én din. Cac he s6 tung tng clin phuung trinh dae tinh IA: a, = Sa.ay; a2 = 3a’.ag Nhu vay a. aj > ayy = ahah Dé cho he chong diéu chinh ty dong e6 phuong trink dac tinh bac ba vol ese he 36 dang én dinb thi phai ton tai dieu kien ayy > yay He thong sé khong 6n dink néu : aa; < ay. We 2. TIEU CHUAN ON BINH HUTVIT (HURWITZ) + Tieu chusin 6n dink Hutvit phat biéu nhu sau Hé thong ditu ehinh tu dong co phueong trinh dae tinh vdi coe hé x6 ditong, 80 Gn dlink néiu git tri tt ete dink thiée Hutuit dong. * Gach lap dinb thie Hutvit 78Néw phuong trinh dae tinh cha he théing e6 bac n dang HPT LPT A Hag D+ ay =O thi cach lap eae dinh thie Hutvit nhit sau : trém dudng,chéo chink eta dinh thite ta ghi cac he 6 ciia phuemg trinh dge tinh bat dau tit a, dén ay Cae 86 hang tia cig mot dong, tinh tir s8 hang trén duémg. chéo chink, phia sau T& esie he <6 66 chi 96 gidm dan edn phia true e6 ehi e6 tang din. Cé tit cd n dinh thie Futvit #2 bac 1 dén be n nhit mo ta trong bang 1-1 Reing 1-1 Cac dinb thc Hutvit ay ay 00 4, a ay ay aay a 4 nq Oo ay Dieu kien dn dinb A, > 0; 4,>0;....34, 0 ‘Thue t6 chi cin tink dén dvi nd Ay, > O vay > O thi A, > 0 dy : he thong ed phuong trinh ge tinh bgc ba agp + app? +azp +a, = 0 Thi didu kién dn dinh sé 1a ay, ay, ay va ay >0 yay — aya, > 0 W-2.3. TIEU CHUAN ON DINH RAO * Tiéw chusin én dinh Rao phat bi6u nhut san He théng digu chenh tu dong cb phutong trinh dac tink voi ede hé 66 duang. 5 dn dink neu tt od ode hé 86 trong cot dau Hien ciia bang Roo dung. * Gach lap bang Rao ‘He théng co phuong trink dae tinh dang agp tap tana p+ ay Bang Rao duce lap whe sau: ~ Dong dtu tion eta bang Rao ghi ca he s6 6 chi s6 chéin, Dong thi hai ghi 79ie he 36 e6 chi 3618. Lay edt daw titn ket hop v6i ede 608 tiép theo dé t90 nén cae dinh thite hae hai, Dang thi ba dude thank Ip bing qi tr} ese dinh thite nay voi dia am. - Cc dong tip theo duge thanh Isp nhit sau : My cot du tién cia hai dong tren ns kt hop véi cic edt tiep theo tao nén eae dinh thie bc hai. Cac 56 hang trong dong niy s@ bing gia tri cio dinh thie vt thin lap véi déw amy ~ Bang Rao sé két thiic khi nao dong cudi cing chi on mot s6 hang. ‘Deng tdng quat eta bang Rao : by by by by by by by Jay ay " shy = doy a Me Joga) 8 Tay by Diu kign du dink eis be théng 1 a5 58). Dys by van = 0 Vi du : he thOng ed phuong trinh dae tink bac bén apt + app tap? +ayp tay =0 voi 4, ay ay, as VA 8, 20 Lap bang Rao + ay a; ayy we) acas ao a, a by by by ws apy Par way = fh) pi] Boar ary © memzay~ ayads ajay 80.Dieu kien én dinh cia hé thong yay ay ay > 0 bongs ashy = ayaa, aya} af.ay > 0 * Chic die tinh oa bain eta bing Rao ~ C6 the nha hose chia t&t cd ct 36 hang trong ciing mot dmg cho indt 56 duong thi tinh chat cia hang Rao khong thay déi, 86 lan bi day cia cic i hang trong edt phiin thie dvong © Cae tiew chusin én dinh dai s6 ed thé xét én dinh cho c& be thang kin va c& he théng hd, Tuy nhien xét ve mue d6 phite tap thi viee tinh toa cae djnh thie Hutvit phic tap hon vige lap bing Rao rit nhigu nhat li déi véi cic he thong ‘ed phuong trink dac tink bic cao. Vi vay trong thie t6 thgng dung nbat 1A lap va tinh toan tidu chudn Rao, tien bing 36 nghiém 26 os §ll-3. CAC TIEU CHUAN GN DINH TAN SO 13.1. TIEU CHUAN ON DINH MIKHAILOP Milthailop dya vio tinh chat tan 36 cia da thite dac tinh dé xét dn dink eda he thong. Gia si he théng dieu chinh ty déng ed phuong trinh dac tinh dang tng quat agp + ap + + ag, pt ay = 0 C6 nghiém 1a p, (vdi t= 1,2,9,.....n) thi da thite dae tinh ca no od thé chuyén sang dang Hip! = ay] pp Néu xét trén mat phing phie thi imi 86 hang trong da thie trém 1a mot veets ed chan tai diém p, v: dink nim ten true 80 jv (xem hinh IL) ‘Neu p, nam ben trai true Ao thi Sarg Ge p= Ninn Wea Veet, tn mat ping pre Com néu p, nh ban phil true do this Aang Go pi ‘Meet quay theo chitu kim dng ho lay ds Am cin ngxtce chitu ly du dong). a1Bigu do da thie dac tinh eg thé biéu dién nhu sau: . 13 awe mp fain = se TL Ge =e ‘ b= cat Nhu vay Aarg Hija) = 3 Sarg (jy - p) = (n~ kia - kx = (n- 2k ‘Prong dé k la 36 nghiém eta phuong trinh dae tink 6 phn thyc dong. New he thong én dinh thi k = O nén Aarg Hu) = nx ‘Thye té thutmg chi xét Ki w thay di i 0 dén «, Luc day ta eo : Sarg Hijo) = ni Khi wy = 0 thi HUju) = a, * Tir nhiing phn tich trén day Mikhail6p 44 phat biéu tig chudin én dinb fia minh nh sau He thang ditu chink te dong e6 da thite dae tink bee m Hip) vai eae he $6 dang sé 6n dinh néw bid dd vecto da thite de tink Hijus) xudt phat tt mot idm tren phiim duang truc thuc quay mét gee bang n, x12 nguae chitu kim Alongs ho Bhi o thay déi tie 0 dn Hinh I1-4 1 biéu dé veeto da thite dae tinh dé cho trudng hop hé thing én din a va khong én dink b, * Tioa chun Mikhailop cang e6 thé xet theo sw phan bs nghiém sé cia inm i-4 Cae dang biéu db veeto da tile ate tinyphucng trink phn the Riu) = 0 va phn do [(w) = 0. Hé thong sé én dink néu nghiem s6 cia eée phuong trimh ny ph4n bd xen ké nhau. Dong thoi w = 0 phai 18 nghiom cha phiin Ao, ‘Tieu chudn dn dinh Mikhailop ©6 thé ding dé xét dn dink cho c& he thang hé lim he thong kin, * Khao sat 6n dinh theo tidy chug Mikhailop cho hé théng es phwong ¢rinh dae tinh bac ba wigh wes ode bidu ab a mic ate thn bao ba dang ren agp? + app? + agp tas = 0 Voi sy, 8 a2 vi ay =O ‘Thay P = jy vao phuong trinh dae tinh rai tich phn thue va phn ota duce Rin = ay - a Ne s 2 = ayy Hinh T1-8 mo ta cae bieu di da thie dae tinh @é cha ba truvng hop én dinh 41), biém gigi dm dinh (2) va kehang dn dink (2) -3.2, TEU CHUAN GN DINH NAIQUYT (NYQUIST) iu chuan én dink Naiquyt ding dé xét Gu dink cho he thong kin 4a vao dac tinh tiin s6 bién d6 phn cba he thong ho. * Tiew chusn én dink Naiquyt phat biew nhu sau Neu phitong trinh dgetinh yyy fila he thong 6 co knghigm ‘vam ben phai truc do thi he $0 thing kin s# dn dink néic doe an fink tin 66 bien dd pha (TBP) vita hé thong hd bao diém (1 03 mot ge bang he Bhi es thay 61 te O din inh 1-8 80 ad m8 th gée bao * Khai ni¢m mot duimg cong bao mot diém duge hiéu nh sau Ke mot vecto 6 chan 18 diém duge bao cbn dw 3 trén duting cong, Cho dau veeta trugt tic dau dung cong dén cubi duimg cong. Gée quay g eta 83,vectd hing bao nhiéu thi ta néi dung cong bao diém da cho bay nhieu. Vai diéu ign khi vecto quay theo chiéw kim ding hd ede quay kiy dau am, dn quay nguige chidw kim ding hb gée quay lly du duomg, “Prén hinh IL-6 dudmg cong khép kin bao diém M1 mot géc bang y =20 vA khang bao diém M2 (g6e bao bang khong y =0). * Chung minh ti¢u chuén Naiquyt Qip) Pip ‘Trone do Pip) Ih da thie dae tink o8 bc In ono han bée cia da thite tir 56 ip) vA 06 ie nghiém ndim ban phai truc Ao, Nhe vay SarpPCjo) = (ne WO0!2 = kat = (n= 2.4) 72 Ham truyén eva he théng kin Wap QW) T+ Wyip) Qin + Pip) Da thic dac tinh cia hé thong kin la Qtp) + P(p). Theo tiéu chudn Mikhailop +hé théng kin sé 6n dinh néu Aarg [QGjo) + Plo] = nai2 Gia sit he théng hi co ham truyén dat dang, Wy? wep) = Xét bidu thie QGoy + Pn) Seo) = 1 + Wo) = LOR PO ” eS BGoy Aarg J(ju) = Aarg [Qiju) + P(jo)] - Aarg Pw) Khi he thong kin 6m dinh thi Anrgd (jo) = nari - (a - 24).1/2 = ker Nhu vay khi w thay di tf 0 dén « biéu dd vecto J(u) sé bao tam toa do mot gée bing kx. Biéu d& J(jw} chinh la do dae tinh TBP cila hé thong hd chuyéin sang bén phai 1 don vi, Do dé néu J(ju) bao tam toa €6 mat gee hang, Jer thi dac tinh TBP ea hé thong hi cing bao digm (1,)) mot gée bang lr. ‘Tieu chndn Naiquyt 44 duce ching minh * Trong thite 1 chiing ta thuong gap hé thing hé n dink hay 6 bién gidt in dinh (k= 0 j bie dity hé thong hin 88 én dink khi déc tink TBP cia he théng hd khong bao diém (-140i Dé minh hoa cho trutng hop hé thong hd 6 bien gidi Gn dink ta xét he thong 8‘hd o6 mot khau tich phan vai ham truyén dang : Wap) Wy) = “EP P ‘Trong ds = Wy(p) e6 cée nghiém phan bé ben trai trve do Hinb IL-7 minh hoa cho truéng hop he théng kin én dinh ki phtong trinh diac tink cba he thdng hi es mot nghiem bing 0 Wink ler Minh hoa titu cin Naiquyt cho muéng hep eb nghiém p = 0 Hinh Il-7a biéw dién mat phang phan bé nghiém s6. Do phuong trinh dac tinh eds he thong hé co nghiém py = 0 nén dé xie dinh gée quay cia vecta jy -0 ta udn cong true do theo nila dung tron bin kinh vO cimg nhé quanh tain toa do (doan BCD). Sy thay d6i nay hodn ton khéng lam Anh hung dén tink hat ede vecta eta nhting nghiém khac ‘Trén doan BCD ta thay b= por Voi p vo cing nhé va- 020 = +0 ‘Tuong ting voi ade » thay dsi trong khoang ar “ES hS5 Nhu vay Aarg (jo - 0) = Aarg jp + Aarg p.oltt™) + Aarg jo weuse en e0 ansysr2 soseee Aargtin-0) = 047-0 Gsie quay cia vects tuong ting nghiem nim trén true ao tong dving nhu nghiém nam bén trai true do. Cé nghia ld a cho tring hop tren dae tinh TBP tia he théng hd khong bao diém (-1,90) thi hé théng kin sé dn din Xet dac tinh TBP ciia hé thong hé ¢hinh [I-7h), Khi w thay déi tis - dén -0 85\ tit digim A dén didm B trong hinh II-7a}) thi dac tink TBP cia he thong hé chay t8 tam tog do dén diém B, ( tong ding voi lw) > &). Tip dén w chay ti, - 0 dén + 9 (theo cung BCD) thi dac tinh TBP cin hé thong hé duige xic dink thu sar ~ Gi tri bien da thn 36 = Alo) = tim 2” pan pat ~ Gia tri pha tan 36 arg Wyljo Aarg Wylpi?) — Aarg gel?) = Nhu vay khi wv thay déi ti - 0 dn + 0 thi dac tinh TBP ciim hg thong hé hay theo niia dying trom 06 bin kinh v6 eiing Kin eiing cbiGu kim dong ho tie Iw) = @ dén Ia) = ~ @ ttheo eung B\C:D) sen) Khi © thay d6i ti + 0 den ‘© thi dac tink TBP cia he thong ho chay tit diém D, ve tam toa do, Nhu wy Khia thay di tit - © dén © thi dae tink TBP cia he thong hé tao thank mot dating khép kin, Diém (-1,j0) nam ngoai dug khép kin nay, do ds e6 thé ket lua dae tinh TBP oiia he théng hé khang hao diém (1, j0). He thong kin &x dink, Trong nhieu truiing hop hé hé én dinh hay 6 bien ici dn dinh es dae tinh ‘TBP rat phic tap lam cho vide xée dinh n6 bao hay khéng bao diém (1,D) rit kho khan. Di vai trutimg hgp niy ching ta es thé sit dung s6 lin chuyén tit am sang duong (C+) va tit duong sang Am (C-) ctia dac tinh TBP etia hé hd trén iia duimg thing tit - c dén ~ 1 thude truc thuc fxem hinh 1-8), Néu C+ = C> thi he théing kin dm dinh (dae tinh TBP cia hé hd khOng bao diém (1,0) Con C+ # C- thi he thing kin sé khong én dinh. Duong | trén hink Il - 8 dé cho trudng hop he théng kin Gn dinh (C+=C-), Con duong 2 la he thong kin khong dn dinh (C+ # C- ) Dua vio tinh chét nay ed thé sit dung rac dac tinh Dian d9 tan s6 logarit BDL va pha tn s6 logarit PTL eva hé thang ho dé xét dn inh cia hé théng kin khi hé hd Gn dinh hay 4 bien gidi dn dinh * ‘Tigu chusin Naiquyt phat bidu cho trudng hop ny mhut saw : Khi hé thing hd dn dink hotc bitn gidi 6m dink thi hé théng kin 2 bn (keh x6t th doh cho fe sing ‘kc th TBP phic tap 86dink néu dec tinh PTL ciia hé thing hd cdt duimg théng plo) = ~ x 56 chdn itn trong gidi han tan 36 thay d6i tie 0 dén gid trl tin 96 ¢ w, ) ma dae tinh BIL cia he thong ho cat tryc hota { Lic.) = 0 | Hinh 11-9 mé t8 cae dac tinh BTL va PTL tuong ting cho hai trutmg hap 06 4c tinh TBP duige mo tA trong hinh II-8. na funn (Che die th BTL va PTL cla fe th8ag hd eh i théng Ki lon (74 v8 Gea Bn {2 ) * Khdo sit én dinh cho he thong ed phvang tsinh dac tinh bac ba He thong diéu chinh tu dong o¢ ham truyin dat eda he thong hd dang : K ayp' + ayp? tap + ay + Xot trang hop he théng hd On dinh ta eo Whip ~ Kho sit 6a dinh tia he thong kin theo tieu chusin dai 96 Phutong trinh dae tinh eda bé thong kin agp + ap? + agp tay +k =0 ‘Theo tiéu chuiin Sn dinh dai s6 h6 thong kin 6 én dink khi ayy > aglas + Suy ra K < (a,.0)~ agading aay ~ Xay dung dae tinh TBP cia ho thong hd Thay p = ju vo phutong trinh dac tinh ta duve ham truyén tam 6 eta he thong ho K Wy (jo) —<—_, __* ~ BOG + apo? + agi + ay 87‘Tach phan thy va phan Ao ta duce = KG aa aye’) Ie =— + (ay- ape + faye ager Dac tinh TBP cia h théng hd eat truc thye 4 tan 56 w= Va fay Gia tr) phn thye tai dim cit Kay Riw,,) = —— 411-6) aya 8p ‘Theo tidu chudin Naiquyt he théng kin sé bién gidi dn dink khi dac tink ‘TBP cia hé théng hd di qua diém (1, j) nghia la Rlw,) =~ 1 Nhu vay gia tei K dé he theing kin 6 bien git Sn dinh 1a K = (a.03 - ap.a9) J a a6 Dae tinh TBP cia hé théng hd khong bao digra (1, ) Khi K< (ajay -ayay)/ay — aL-7) Dac tinh TBP ciia hé thong ho ao diém 1, j0) khi K> (aya; -ayay fay 1-8) Hink 11-10 mo 18 eée dae tinh TBP cia hé thong hat khi he théng kin ‘in dinh (dude 1), hé thong kin 4 BIE ign wore Oe tah TBP eda ho tndag hd sidi du dinh (dung 2) va he kin Khong, 28 eho ode tuéng hop kNae amau 6n dinh (ding 3) Hea} + Xet trudng hop he ha 6 bién gidi dn dinh hose khong én dink cd phuong trinh dae tinh cia hg hd 6 ede hé 96 dong gy By, By Ay > 0 aya S apay Khi thay d6i tir 0 dén = phitong trinh dae tinh od mot nghiém nam trén truc 40 w., (truting hep hé hé d bién gidi én dink). Dac tinh TBP cia hé thong hho chuge me t4 tren hinh I-11 (duiing 1). Khi« thay dBi tir O dén wy- date tinh TBP thay déi ti dim 1 dén diém 2. Tw, én w.,+ dac tink TBP cia he thong he s@ chay theo mot cung tron oo géc bing x cling chiéu kim dng hi va ban 88inh vo cimg lim, Nhw vay dac tinh ‘TBP cia hg thong ho Indn luén bao didn {-1, vot moi gid tr) K > 0. Khi he ha khong 6n dink dec tink TBP eta hé ho sé cat true thue tat diém trén phan ditong ctia né « duting 2 hinh Tl-11) Nhuw vay dae tink nay khong hao em (-1,)0) voi mol gia tr} K > 0 Nhu vay ching ta es thé ket ludn hu sau: dé vai ha thong hd es phuong, trinh dac tinh bac ba véi ede he 56 duong khong Gn dinh hoge & bien gidi Gn dinh thi hé kin s@ khong Gn dinh wéi moi gid tri K > 0. Ket nan nay hoan foan tuong ting vdi tleu chusin dai 86 vi winn nets Che die tn TEP ala he nd 8 khong thé tim duce mot gid tri K > 0 bitm gia Sin deh (1) va Rhdng &n nh i), nao dap ting duge digu kién (1-4). + Trung hop he ho eo mt nghigm hang 0, he 96 ay = 0, con cae ha 86 Khac den duong, Ham truyén dat cia he théng hé 60 dang K agp" + ap! + agp Wyp) = Phung trinh ac tinh ea he thong kin ap! + apt + agp + K = 0 He thang kin én dinh hi Ajay > ay K a9 ‘Tach phi thu va pin do ta duce Winm torz Cae Be tiny TEP cia he thdag ha Ke yok # (ayer ~ agate Dac tinh TRP cia hé thong hd cit truc thye tal tin 86 w., =v ailay ‘Von d6 diém eat la : Ri) = - Dar tinh TBP ia he théng ha di qua digm (-1, P) khiK~ ay.03/ ay (dviong & hinh I-12) he ehéng kin bién gigi dn dinh khi K < ay.ay / ay dae tinh TRP 89cita he thing hé Khong bao digm (-1, D) (dvomg 1 hinh 11-12), he théng kin én 4inb ‘twtong Ung voi teu chusin dai 6 ~ bat ding thie 11-9), He thing kin khong Sn dinh khi dae tink TBP eda he thong hd bao diém (1, ) (dung 3 trong hinh Wz + Xét trutimg hop he théng hd os city trie khong, dm din dang ji ham truy’n dat Wyip) = K WP ap) + ap bagip a) Voi cde he 86 ayy ay ay my > 0 Phuong trinh dac tinh cia he théng hd e6 mot nghiem nim ben phai true fo. ~ Xt dn djnh ctia he thong kin theo tiéu chun dai s6 Phung trinh dic tinh cia he théng kin fagp? + ayp + apep- ay + K= 0 Khai tridn ra ta dude : np? + (ay ~ ayagip? + (ay~ apap - azay + K = 0 Dieu kién én dinh can thie ay amy > 0 ayaa, >0 Kaa, >0 Dieu kign én djnb cia he thing kin (ay - ayaa aay) > ay(K- ayay a swn Ke as = Asay) + aA dy a ‘He thong kin én dink khi apaye Re sites ~ Xay dyng dac tink TBP eda hé thdng hd Ham truyén Un 6 elia he théng hd K and Cay ~ ae? + (@y- apayie - Anas Wylde = ‘Tach phn thuc va phan Ao ta duve Klazay + (ay - ay.ayie Rus {aya5 +, ~ apaut + (lay - apao- ayoayasio - aye? aa oie Dac tinh TBP oi he thong hd edt try thye ta fan sb ay = V kay = ayy) my ‘Tan sy chi tn ta Whi ay = a.ay » 0 Didu kin may tuong ng ‘el mu trong ce dia hi en he thdng kin 6n nh K 0: RW) == K fasay Rw) 1A)! ay Rhiw Ghe dae tink TBP cia he thong hd duige mo ta tren hinh I-13 dé cho ede he ¥6 lhe nhau cia phitang trinh dae tinh con he s6 khuéich dail K > aay, vi od dink + Buomg 1 tuong tng vii trading hap a, - ayay < 05a; ayay > 0 debong bao dm dieu kign can dé hé thong kin én dinh) gid tri Riwa) < RIO), Dac tinh TBP cia he thong hé bao digm (-1, j0) mot gic bang - x. Hé thong kin khong dn dink + Dudng 2 xay dung cho tung hop ayajay < 0 \kheng bao dam diéu kién cin 4 he thong kin én dinky, Dae tinh TBP eta he thing 8 bao diém (-1, j0) mot ace bang - 1, He thong kin khong dn dink, © Duding dtm tai khi Ay + Aydy 205 a; ~ ay ay 90 bdo am dieu kien clin dé he kin dn dink). Nhung & day Him 13 odo do th TBP cua nb indng nd fay ~ ap.83)a3 - ayaa) + aparay KK > AL Snsliag "aay + ap ayay Dac tink TBP ea he théng hi bao diém (-1, D) mot ge bang - 7, Hé thing kin kehong 6n dink ~ Duong 4 xy dung khi cic hé 96 bao dim diéu kién én dinh cén thidt eva he thong kin va + A> Ayayilay = ajay + aya, K < [20 Malay - ay yy ay, 91Dae tinh TBP cia bé thong hé bao diém (1, jp) mot gee bang x. He thong, kin 6m dinh. §ll-4, PHAN MIEN D I-4.1. KHAINIEM VE PHAN MIEN D- Gia sit he thong chinh tif dong c6 phwang trinh dec tinh dang tng au ap ap tt ag P+ Vai oie he 8 ayy, say du thay di Nhu wy ndu chi sit dung ede tiéu chudn én dinh dé xét cho titng tap hyp he si IA rat phic tap, Dé don gin chiing ta sit dung phuong phap phan mitn D. Nuyén Ii cia phvang phap phan mi’n D nhw sau : trong khong gian toa de nel chiéu thay di cita eae hé s6 chiing ta cs thé chia ra t6ida n + 1 vimg ma trong mdi viing do mae dit git tri eae hé s6 thay doi nhung tinh chat phan b6 cae nghiem 56 cia phuang trinh dac tinh khong thay doi. Trong n+ 1 ving é6 18i da chi csi mot ving ed n nghiém phan bé ben trai truc Ao tie Ia ving 6n dink iia he théng. Néw khony e6 mét viing mao nhu vay thi ta ndi he théng.o6 edu tric khong én dinh, Cac viing lan edn nhau sé khéc nhau mot nghiém ndm bén phai truc do. Nhu vay duiémg ranh gidi giita cae visng tudng tng o6 nghiém nam tren truc Ao. Muén xay dung dung ranh gidi nay ta chi én thay p = jo vao phucng trinh dac tink eta hé théng, va cho wy thay dé tht - 20 én 4.2, PHAN MIEN D TRONG TOA DO MOT THAM SO Gia et hé th6ng cS mot tham 86 thay d6i thi phuang trinh die tinh oo thé viet dudi dang Aiph + aBip) = 0 ‘Trong do 4 1a tham s6 thay doi cla he thong ‘Thay p = jer va tach ra phan thye va phin do cia Ajo) va Bijy) ta duce A\iu) + jAgw) ae - Biw + jByw Ajo Bylo) + Afwi Bylo) Ayo) Bud Axlo)-B lo) + 9 Bod + Bio Btw! + Byer 4 = Reo + jlo ‘Trén mat phing ton do Rios) va Hw) khi cho w thay Adi tit - & dén «ta sé xy dug duge mot dung cong rank gigi gia cae vung. Viée xée dinh vung 6n dinh duge thuc hign bang phuong phap gach soc. Vi khi thay p = jo twang 92,dong vai nghiem cia phuong trinh dac tinh nam trén true Ao. Do dé khi w thay Gi tit s dn o thi phia hen trai dudng cong sé e6 tinh dn dinh cao hon phia ben phai itvong duong v6i truc da trén mat phang phan b6 nghiém s6). Ching ta gach soc phia bin trai dong cong khi di theo chiéu tang eda o,. Ving nim ben phia gach sqe eda dung cong sé ed tinh én dinh cao hon ving mim ben phia khong gach soc, Nhu vay vig nio co s6 lin gach soe nhiéu nhat thi ving dé e6 thé du dink. Chi cin liy gia tri mot diém trong ving nay va dimg mét trong sie teu chun dn dink 48 Khao sit, Néw he théng én dinh thi ving nay [a vig. Sn dink, cbn néu khang Gn dinh thi ching ta cé thé ket Ingn hé théng ed edu trie khong én dinh, Vi dy : phan mign D cho he thong e¢ so dé eat trac sau (hinh I-14), p+ Wo Tg +o inh Vi oy phan etn 0 ‘Trong dé K la tham 36 thay déi con Ty, T; , Ty 1a ce he s6, Ham truyén dat cia hé thong hé K T pe bitp + wipe) Ham truyén cua hé thong kin Wyn = K Wp = —___ - un Tp+ itt + b+ Kk pet Phuong trinh dac tinh cas he théng kin : Op + Tp + Tp ++ K=0 Dé don gin cho T,= 1; 7) =2vaTy=3 Khai trién phuong trink doe tinh wéf cae gid tri da cho ta dave Gp! + Lip) + 6p +1 +k =0 ‘Thay p = jo va tach phan thie va phan do K = Ma? 1+ 60% Gu) = Ri) + jes Riu) = Mu? ~ 1 v8 Rey = O Rhian: = = 0,902 Tush = Gu ~ 60) va Mus = 0 hi ory Khi cho w thay d6i tit» dén oo ta sé xy dung duge do thi mo ta trén hinh, TT-15. Dé xay dung 4@ thi nay ta lap bang sau hwsg= Sdw Rw) Hoy 10 ° ° , Let ol ° 0 = 1647 1 510 0 inm a-¥5 Phan mitn 0 trong toa d® mot tham 56 During cong chia mat phang ra lam ba ving J, Il, III. Dang nguyen li gach soe ta théy ving Ic tinh én dink cao nbit sau day déin ving I. Vang II ¢6 tinh dn dink kém nhat, Nhu vay hé théng chi cs thé én dink trong ving [. Dé thi xem hé théng co én dinh trong viing nay hay khong ta lay K = 0 (2am toa dp nim trong wing D. Lie day phuong trinh dac tinh eda he thong od dang (Typ + 1Pzp + IN Typ + =O Phuong trinh dgc tinh eva he théng es ba nghiém thue cing am, vi vay he théng én dinh, 14.3. PHAN MIEN D TRONG TOA BO HAt THAM SO. De cho he théng es hai tham s6 thay déi, phuong trinh dlc tinh 6 dang Aip) + ABipl + BCG) = 0 ‘Trong dé 4 va /f la hai tham 2 thay doi cia he thing. ‘Thay p = jv va ich phin thue va phn do ta dude Uji + ABest + Coll + JIA) + ABpIod + BCfuil = 0 ‘Mat 86 phue bing khong khi e@ phn thyc va phiin do cling bing khong, Vi vay ta e6 hg phufong trink Ajtel + 2Bylw) + A.Cyor) = 0 Ago! + A Bylot + B.Cylor = 0Giai he phuong trinh vai nghiém 2 va B A= Bil. - Bslar).Cyle M2 = Ae}. CLiwd - ALfo),C2Ier4 Afi = B2iw) AM) - Ble). Ae) Sap Tren mat phang ton d0 A va 6 ta co diiong cong phan mien D khi chow thay Gi tie © den. Trong thie té ching ta chi can xdy dung duang cong, ki «> thay d6i tit © dn =, boi vi cae gid tri 4, Ad vA AP déu Ia ham sO 18, do dé 4 va #8 Ya hm 36 chan, Dutimg cong ranh gidi khi w thay dé ti 0 dén - = sé trimg vai dung cong kh w thay di ti 0 dén ‘Trong khi xy ding phan mien D ching ta thueng gap ec trvang hop dae bier saw > Voi mot 96 gid tsi nado dé eda w lam cho A = 0-con Ad vA AB # O hic day phuong trinh vo nghiém. Duong cong phan min D tién tai v8 ciang, ~ N€a ung voi mét gid tri es mao dé mA A = Ad = O hoae A = AS = 0 thi nghiém cia phutang trinh JA mot dung thing ta goi IA dutmg thang dac bit. Dim twang ting goi la diem dac biet. ~ Thong thuding duomg thing dac biet tin tai Kio = 0 n6u hé s6 tu do eta phucing trinh dac tinh phy thude who eae tham 86 thay d6i. Cho gia tri hé 35 nay bbing khong ta s€ tim duse phuong trinh duimg dac bigt cho trang hop nay ~ Khi h@ s6 eda phan tl od bic cao nhat trong phutong trinh die tinh phu tude vaio cde tham s6 thay déi thi s¢ tn tai dudng dac biét iing vai trate hap = @, Dé tim phuang trinh duting dac biét cho trang hop nay ta cho hé sé ia phidn tik e6 bge cao nhat bing 0. DE damh gia ving o6 thé 6n dink ciin he théng ta cang ding phuong phap pach soc. Nguyen Ii pach soe mhu sau Khi thay di tit den » dung cong glai han a8 dude gach soc bén tral név A > 0 va gach soe ben phai néu A < 0. Nhu vay dutang cong rank gid duae gtch soc hai Han v8 cling mot phia ~ Cac duong thing dac bidt cing duge gach see néu khi qua diém dae biét i tri A doi dau. Duang thang dae biét duge ach soe mot nita ve phia dvomg cong gidi han di gach soe nia cdn Iai gach sge pha nguse lai. Néu qua diém ae bide A khong dai diiu thi dung thang dac biét khong dite gach soe. Ving 6 kha nang dn dinh what la ving co s6 Kin gach soc abitu nbst. Vi dur: xay dung phan mitn D cho he thong trong vi du trén vai tham sé thay d6i la K va, ‘Theo k6t qua cua vi du tren phitong trinh dae tinh cia bé thong J& (Typ + Typ + Tp + + K=0 (IL-0) ~ Neu 8 = O thi phuong trinh e0 nghi¢m xc dink 95,Cho cite gia tr T= 2 vaT, = 3 Khai tien ra ta duce GT, p' + ST, p? + Op! + Typ + 5p +K+ ‘Thay p = jp vi tach phn thy, phan Ao ta duge - 5 Tw? + K+ 1- bu? =0 Tye - Go") + OK + bu = 0 ‘Tinh gia tr cae dink thee A= 605 - ws AK = - 3605-1804 -w AT, = - bu A= 0 khi w= Ovaw = # 0,408 bu baw tuang dng voi su = 0 va w Khi w = 0 cho hé 28 ty do iia phucing trinh phuang trinh duding dae bist K =~ 1 Khi vs = » ta cho hé s6 ciia phn ti e6 bae cao nat GT, = 0 ta duge phuong tinh eta dung dac biet T, = 0 Dé xAy dung phan mién D ta lap bang sau : T= tinh K + 1 = 0 ta duge o rN K % o ‘6 tol “5 040g.) <0) ew 3 0.4084) 0< “ o « oO ° o 18 Phin mtn D trong tom hal thar 36 96Ket qua phan mien D duge ma ta trén hinh I-16 Viee gach soe dive tien hanh mhu sau ~ Dudng cong gidi han duge gach age hai lam. Khi ws thay adi tir den ~0,408(-) gia t14 A < 0 gach soc ben tay phi, w tu 0,408(+) dén 0 gid tri A 446i du vige gach soe due thue hign hen tay trai, Di tigp tie O dén 0,408} gia tri A < 0 duimg rank gidi duge gach soe ben phil, Khi w thay d6i tit 0,408(+) én. gid tri A > O gach soe ban trai + Duimg thing dac bi9t T, = 0 twang sing v2i w= » duge gach spe ben phai va phia gach sge etia ducting cong ranh gigi ~ Duong thang dae bigt K = - 1 duge phn thanh hai doan dé gach sge. Khi Ty > - 5 gach soe phia tren ve phia gach soe eda dydng cong ranh gidi, Twang ‘ti mhut way khi Ty < - 5 gach 8ge phia dudi Sau khi tign hinh gach soc theo nguyén Ii da neu trén day ta thay theo tink chat phan bS nghiém s6 mat phang toa dd duge phan ra thamh 3 ving : 1 (I), IAP) va TL (IID. Trong ba vung day viing I od kha nang én dinh nha ( ving T 6 tinh chat phan bo nghiem sé nbur ving I nhimg gia tr) cdc tham $6 am nen ta khong quan tam), Trong vng nay e6 diém K = 0, Néu thay K = 0 vao phuang trinh dac tink (11-10) thi né sé ect ba nghiém thue Am. Nhw vay he thong én dinb. Vang I AI) 66 ed mot nghiém eda phuong trinh dae tinh nam ben phai true do, con vang I (LID) s@ e6 hai nghiém nam ben phai trye do. SI-5 PHUONG PHAP QUI DAO NGHIEM SO Cong nhur phan mien D phuong phap qui dao nghiém 36 dng dé phan mién on dink cia hé théng dieu chinh tu dong trong toa d@ thay di thong 96 cia nd, Phuong phép qui dao nghiém s0 thutsmy ding Kh he thong es mot thong s6 « thay d6i tit 0 dén «. Phuong trinh diac tinh cia hé thong didu chinh ty dong od a nghiém s6. Khi thong sé « thay déi thi cae nghiém 36 nay sé chuyén dich tren. mat phing nghidm #6 tno nén ahiing qui dao duge goi la qui dao nghi¢m 36 ‘Néu tat c4 cae nghiém sé déu chuyén dong trén ede qui dao ndm bén trai truc ao thi he théng Gn dinh. Qui da dau tién cat true Ao cho ta trang thdi bien gidi n dink, cin tritong hyp of nghiom 36 chuyén déng txén qui dao 0 ben phai true Ao thi hé thong diéu chinh tu dong se khong 6n dinh. Phuong trinh dac tinh ea ho thong ditu chink tu dong bac n es dang. Hip) = Alp) + Bip) = 0 ality ing, dS Alp) la da thie bie n A) =p" + ajp™ +. + al yp tay 12) ep) 18 da thie bac r (Chong thutng r ». Vige xdc dinh duong thing tiem edn duge tién hanh nhut sau : ‘Tit cong thie (I-11) ta es ~ a = Alp) / Bop. ‘Tite hign phép chia da thie (11-12) cho (lI-18). Do p > «© nén ta chi lay hai 6 hang dau va duge : Fe eypeet die14) ‘Trong dé ae ha 2a Xeét nhi thie Niuton ape ayhhs phe ine pre ta poet geKhi p + » thi v6 phai ciia nhj thite Niuton chi cin ly gin ding hai s6 hang iu, Hai sé hang nay twong duang vai v6 phai ctia cong thie (I-14). Ta e6 thé viet -ax(p- art 15) Voi Do tinh chat di xtng qua true thuc eda cae nghiém 86 q, va z; nén a JA mot 36 thye. Xét tron mat phing phan b6 nghigm sé p khi a la 96 thuc, cdm pla s6 phite thi Khi e thay di tix O (p = a) én» (p > =) phuong trinh (11-18) o6 the viet duét dang : modip - a) = allt") ake 116) arg(p - a) = — x vik = 0,12 .n- Dé dang thay duge phuong trinh (11-16) m6 && mot chim n - tia dot umng xuit phat tir mot diém tren tryc thue cich tam toa dé mot khodng bang a, béi vi p- a tang tir 0 Ukhi p = a) dén c (Ichi p = ), com hé a6 goe khong phy thude vio p. Day chinh la phuong trinh eae dufong thing tigm ein oa n - qui dao nghiém s6 én xa v6 cing khi @ > 2 Doan dau tien cia ede qui dao nghiem 36 dkhi ce nhé) thing nim trén truc thye (cae nghiém 2, la nghiém thue). Dé xay dung doan nay cia qui deo nghiém 86 ta sit dung phuong phap sau Dé cho cae nghiem thue p ta xay dung dé thi cia him co Cae dim cét esa dd thi ndy v6 duimg thang - « = 0 cho ta cae nghidm 2, Jn dim xust phat cia cae qui dao nghiém 96. Khi tang « se e6 thé xuat hign Jhign tuang ede nghigm thu xich gin lai véi nhau vA din mOt gid tri mao ds cia ‘+e mot 6 nghiém thue tring nhau. Néu tiép tye tang c thl x nghigm thye 36 slim di, Nghia 1A qui dao cin m6t 36 nghiem s6 da tach rat kh vay digu kien 48 qui dao nghiem s6 tach ri khoi true thy Ia: ac) aap) Bip) = Boy. SP agp dp > ° Khi « tang len mgt si qui dgo tin gin dén truc do va dén gid tri, ndo do 99AG 8 et true Ao, he théng didu chinh tu dong dat bién gidt én dink es ghiém p = jv). ‘Thay p = jp vito phucing trink dae tinh ta duce Hijo) = AGo) + a.BEjo) = Raya) + jTua) = 0 Gis he phtong trinh Ried = 0 {a 86 tim duge eae gid tr] ae vA op mit ta day qui dao nghiém 56 cit true do. Day eiing chinh la didu kien dé he thong dieu chink tw dong 6 bién gi6i én din, Néiu he thong cd nhidu thong 66 thay déi ta od thé xay dyng qui dao nghigm 86 cho ting thong 96 riéng bigt véi diéu kien cic thong 98 khsie duge gin 06 dink, Vi du XAy dung qui dao nghiém o5 eda he théng of ham truy’n dat Ke4p + 1) pip" + 3p + ly + Kp + 0 ‘Voi K thay déi tit 0 den = Boi gidi * Phuong trinh dac tinh eda he thong Hip) = pi2p? + Sp + 1) + Kap +) = 0 * Cac ddim xust-phat cia qui dao duige xie dinh bing céch gidi phuong trinh AW) = pi2p? + 8p + 1) =0 cho ta nghiém sa = 052) =- 1525 = - 05 * Ce dithn ket thie eta qui dao Bip) = 4p +1 suyra qu = - 025 Nhu vay hé théng es hai qui dao ng! khusch dai K+ 2 * Phuong trinh ede duong tidm can 86 duong tiém cfm IA 2 xuat phat tir dim tam ed toa dd a= [CO 41+ 05) + 0,25)2 = - 0,625 ~ Phuong trinh duvong tiem cin thit abst modip + 0,625) = VK; argip + 0,625) ~ 2/2 ~ Phuong trinh dudng tim ean thit hai mod(p + 0,626) = VK Wip) = n 0 tidh xa v8 clung Ki gia tri he 26 100argip + 0,625) = 0/2 * Nay dung a thi ham pip? + Bp +1) Bip apt) oP Crp) Ham Cip) eo tiem efin ditng tai diém p = - 0,25 va diém cue tiéu tai 0,728 tuong ung vai gid tri 4 3 40,728) =- 0,0472. Do thi ham Cp) duige mo ta trén hin I-17, Trén eo 38 mhting ket qua trén day chung ta dé dang xdy dung qui dao cia cae a) nghiom 86. Qui dao may duge mé ta tren hinh 11-17, Khi K = 0 phuaing trinh dae tinh eo ba _nghiem thy Py = <1. py = - 0,5 va py = 0. Cho K tang len p, va p) xich gin lai vai nhau, com nghiém p, chuyén dich vé ben trai, cha dén Iie K = 0,0472 thi p, vA ps chap nhau. Néu K tiép tue ting thi phitong trink de tinh chi cin Iai mot nghiém thue p; con p) va p. tach ra true thuc. Khi-K > » qui dao ela py MARH-17 BBs ho Cp) fl v8 ode ding Ini 6 gid tri - 0,25 con p va py cut aae nanim 58 8) tién xa v6 cimg den hai dwiing tiem ean. Cie qui dao nghiém s6 khdng ct truc do. Nhu vay he théng én dinh véi moi gi tri K > 0 §ll-6 CAC BAI TAP GIAI MAU Bai 1-1 He thong diu a inh ty dong cé ham truyén dat eda he thong hé dang: opt Splipt + 2p5 + Gp + 2p +1 Xet dn dinh cia hé théng. hd va hé thong, kin. Bai gid Wylp) = 4+ Xét én dink cia hé thong he Phuong trinh dac tinh ciia hé théng h Bp4p' + 2p} + 6p? + 2p + =O Phuong trinh nay o¢ mot nghiém bing 0 cdn ede nghiém kde duge xde dink 101theo phuong trinh 4p! + 2p) + Gp? + 2p +1 =0 a7 Lap bang Rao 4 6 1 2 2 402° 4 ‘Tat ca eae hé 86 trong ebt dau tidn eua bing Rao duang. Nhu vay tat ¢4 cae nghiém s6 cita phuong trink (II-17) didu phan bé bén trai truc Ao. Phuong trinh dac tinh etia hé thing hd e6 mot nghiém nam tron true do cn cae nghiém khac déu d bon trai true do. He thong ha d bién gidi 6n dinh, + Xet Gn dink ciia hé thong kin theo titu chudin dai s6 he thang kin ~ Ham truyén dat c Wyn) n+l Ww ——ee NPS TE Wp) Spldpt + 2p! + 6p? + 2p a Ds Spel ~ Phuong trinh dae tinh cia hé théng kin Spl4p + 2p* + 6p! + Bp + 1) + Bp +1 Khai trién ra ta dutge . 12p5 + Gp! + 18p? + Gp? + Gp + 1-0 (1-18) (Cac he s6 eda phuong trinh dic tinh divong, didu hign én dinh can thiét duce bie dim Lap bang Rao (dong dtu tién gm cae 86 hang 12,18,6 vi vay oo thé rat gon cho 6) 3 1 6 1 4 12 6 12 ‘Tat ca ede 96 hang trong cbt dau tien cia bing Rao ducing, Hé thong kin 6n inh + Xet dn dinh cia hé théng’kin theo tiéu chusin Mikhailop ‘Thay p= jo vio phuung trinh (I-18) ta duege da thite dae tinh Hijo) = Gat - Go? + 1+ {1205 - 1803 + Bur “Tim nghiem eda phiin thyc 102Gu - Gu? +b = 0 Giai phitong trinh chi lay nghigan duong ta duac 0,46 4 = 0,888 ‘Tim nghiém can phn ao 1208 = 1B? + Ge = 0 Giai phuong trinh chi lay nghiém khong Am ta doe wy, = 5 24 = 05 5 ony = 1 ‘Trén truc tn 36 cae aghiom cia philn thi vi phlin do phan bé nhit sau Ro rang nghiém cia phn Ao va phan thc phan bé xen ké nhas bét dau tit nithiém bang 0 cia phi ao. He théng kin Gn dink. + Xét Gn dinh eda he thong kin theo tiéu chun Naiquyt ‘Theo ket qua cia phiin trén he théng hd 4 bién gidi én dinh. Bude tiép theo dé Khao sat én dinh eta he thing kin phi xay dumg dae tinh TBP cia he thong he Hain truyén tan 6 ca he théng ho Bu +1 Wyte) =§ — — _ eS Bats Gut > f120* = Rot + Bay ‘Tach phan thuc va phan do ta duce Gert - Go? + Bwl12e5 - 1809 + Bu) Rie a 2 Ber + Bot (Gu¥ - Gu? + (128 - 1803 + Bo? 5 a8u8 + By = se 1-19) Ga Ga)? + wl Lda = Veo? + 3) BuetBe" - Br?) — (de 1803 + Bu) Fe 1205 = 1B + Buy? Gut 8 (13-20) wBa? = Gavi + war — 1B? + 3)? Cho [fw = 0 ta sé tim duce gid tri tn sO ma tai dé dae tinh TBP cila hé théng hé cat true thy. ‘Tit (11-20) ta xe dinh duce dae tinh TBP cia he thong hé eft truc thyc tai dim es tan 56 Gu! - 3 =O suy raw, = 0,841 103‘Thay « = 0,841 vio cong thife (II-19) ta duge tog 45 cua diém cat Riu) = - 0.8383 > - 1 Nhu vay dac tinh TBP-cila hé thing hd cit trae thyc trong doan + 1 Dieu kién én dinh cin thiet K+iso0 K>0 suyra KK 50 * Lap bang Rao 1042 2 K 2K 42 2.4K aK 8K. OK +4 * Dieu kien dé eae cot dau tien trong bang Rao duong 2-4K>0 suyra KK 05 “8K. 9K 44> 0 Giai hat phuong trink ta duse + 1.466 < K < 0,341 Jen ta eg thé rit ra ket lugn : he thong diéu khién én O0 suv K>-1 105* Lap bang Rao dong thi ha rit gon di 2 tam) 4 8 1 8 K+1 36 - 4K 5 “4K? + 32K 4 11 * Digu kign dé cae 6 hang trong e6t diiu tien ciia bang Rao duong B6-4K>0 sum -K 0 Giai bat phucng tink ta duge nghiém - 0,93 < K < 8,83 * Kt hyp t8t cd cic dig ign ta e6 ket lugn : he théng digu chinh tut dong Sn dind khi - 0,33 < K < 8,98 Bai 4 He thong di¢u chinh tu dong e6 so 4 nhu trong bai 11-8. Ding tiew chudn Mikhailop tim gioi han ova gid tri K dé he thong kin Gn dinh, Ve biéu do da thie dae tink cho cae trating hap khac nhaw cia be 36 K. Bias gic Ti ket quit ca bai IL-3 ta o phuong inh dae tinh oda he thong kin (eon. thie T21) 4p' + lop’ + 8p? + 20K + Dp +1 = Thay p = jo ta e6 da thie dae tinh sau Heb) = dot Bu? #14 (2K + De 1004 ‘Tim nghiém eis phin thue bing ech giai phiong trinh dw - G2 +1 =0 Ta duce on) = 0,866 va w,, = 1,366 Gi phuong trinh phiin ao 2UK + Deo 100% = 0 cho ta nghiém sw, = OvAw,y = VRE DD ‘Theo tieu chusin Mikhailép he thong sé dn dinh khi nghiém eta phan thyc va phan Ao phan bd xen ke nhau, Nghia ta 0.360 < VIS 16 < 1,366 Sau khi bién ddi cho ta ket qué cusi eng: - 0,88 < K < 8,33 106(Puong duong nhut két quit bai II-3) Hinh [1-19 mo ta bidu dd da thite dac tinh dé cho ede truding hyp khde nhaw eta K, 0 day chi xét cho truang hop K > 0 Duong (1) la bie do khi 0 < K < 8,38, Dubng (2) nhan duge khi K = 8,33 va dwting (8) khi K > 8,88, Hay Bai It 5 He thong didu khién ty dong o6 sa do cau tric Ding tieu chun Naéquyt xe dinh gidi han clin K dé he théng én dink. Bur gid + Xet dm dinh ctia he thang ha Phuong trinh dac tink cia hé thong ho (2p! + 2p? + Sp + Dip + D=0 Ocho ta nghiem p Phuong trinh 2p" + 2p? + Bp + 1 = 0 c6 cic nghiem phan bé hen trai truc fo bai vi ay ay = 0 > ayay = 2 = Phuang trinh p +1 Nhw vay hé théng hé én dinh Theo teu chusin Nalquyt,trong trudmg hop nay hé thang kin én dinh, khi dac tink TBP cia hé thing ho khong ban diém (1, j0) vi e0 dd thi twong duong nhu hinh IL-20, Ta d& Minn t-20 2ae sen TAP oa ng nd Kev nw Kin thi ta thay = hé kin dn dink khi onion hs (0) > 1 ‘Trong dé w, lA fan x6 mA tai day dae tink TBP eiia hé thong hé edt trye thue 107+ Khao sit dae tinh TBP oa hé théng ha ‘Tit a do cau trie ta od him truy’n dat cla ho thong hé K + 2p + Bp + Dip+ K Bpl + aps + Sp? + dp +1 Write! ‘Thay p = jo vA tch phan thue va phim do ta dude Kido" - Sy + 1 Rw = ~ «11-223 os TP + ftw 4 Kit - 40%) Tw Ce ee Cho Tle) = 0 ta sé tim duge tan $6 edt eta dae tinh TRP v6i trie thie, Gi tri d6 Ia w,, = 1. Thay gis tri ny vao cong the (11-22) ta duge : Rw) = K/-2 va RIO) = K. ‘Theo tisu chusin Gn dinh phaa tich trén day ta c6 diéu Kign dé he thong kin én dink la -K/2>-1 va Koad Nou vay hé thong kin sé én dinh khis = 1 anay = 10. Jos,true do. Theo tiéa chusin Naiquyt he théng kin Gn dink khi dae tink TBP cetia he thong ha bao diém (-1, D> ‘mot gue bang x, Dac tinh TBP cia hg thong ho cho truang hap nay duge xy dung tren bink [1-21 ‘Ti do thi hin 1-21 ta rut £5 gy neay O86 tn TOP on nag hd didu kien dé cho he thong kin én ngniée bén phai truc do va he thdng kin Sn doh dink la RO) <- 1¥ARW,) > -1 + Xét dae tinh TBP cine thong, ha Bién déi ham truyén dat cia he thong hd sang dang Walp) = — = 2pitp +p tp-5 Ham truyén tan sf eta he th6ng ho WG = gar bs ee) ‘Dich phian thu va phan do ta due KiQut- Rw) «1-28) Mor Dac tinh TBP cia he théng he eat truc thue tai tn 56.0, = 1 ‘Tir cong thie (IL-23) ta tinh duce 1:01 = - Bae cho he thong kin 6n dinh thi RO) < - 1 ghia kK > 5, dL-24) Riu, suy mK < 4, (1-25) Ro vang hai didu kién (L1-24) va (I-26) odin toan khong thé ket hop duce voi nhau, Chiing ta ed thé rut ra két Ian : khong oc mot gia tri K nao dé cho he thong kin dn dink, Hinh TL 22 m6 ti eae dic tinh TBP eiia hé théng hé dé cho cae trudmg hap khae nhau cua K K - ; 48 cho he thong kin én dinh thi Riw,) > 109~ vont ohn ge ba > 5 oi tne ct ge 1 De nh TBF cba he thong hb 1-1, Dr mot gde bang - 7, “ping 2 ay ung eho tng hp 4K beh hte chute Miz) ot 1-35) i thug dap timg duge. Dac tinh TBP cia he Sng ho Sm 1 tee hang - 2a ; ~ bulging bao di 1, Mma he er Doe tah TaD chee tng Wo ietmunz cots ten & 4 bai tt? He théng hé co ham truyén dat K (p+ Np + Dap + HGp +1 Xay dung qui dao nghiém s6 cia hé thing kin, Bai gidi WAP) a pt + 1,95p* + 1,225p2 + 0,3p + 0,025 + 0,025K = 0 (11-26) * Digm xudt phat eda ede qui dao duge ude dink bing cdch gidi phuong trinh dye tinh khi K = 0 Alp) (p+ DOQp + Vi4p + DEP + D =O Thu duge 2, = -152)=- 0,5; 25 = - 0.25 wha, = - 0,2 * Cae qui dao khong os dim dimg ed dink. Bén dudng qui dao déu tién xa vo eling khi K + © * Diém xudt phat cia ede dudng tiem can A= - 1405 + 0,25 + 0,24 = * Phuong trinh cic dung thing tiem ean ~ Dutimg thi mbsit 0487s 04 v002K arg(p~ al = x4 + Dutng thet hei modip - ad VOOR 14 mod(p — angip at = = Dutng, that ba modtp - a} = Vv 0,025K argip- ar = Balt = Dung thet tw modip - a) = V0025K argip- ai = 7/4 * Xay dung do ej han Ap lips cep ‘Ham nay ed ba dig eye te P cpt - 0.2285 - 0,0058 eve tiéw 04 0,072 ute dai +0839 0,893 eve titu Db thi ctia ham dvtge md ta trén hin 11-28a, con ede dung qui dao nghidm s6 duge mé ta tren hinh 1-236. a Khi K = 0 phuong trinh dac tinh es béin nghiém p,, Pp. Pa VA Py la bon didm xudt phiit eta qui dgo. K tang lén, py va py, Py va py ting cap xich lal gan nhau. K = 0,0053 nghiém py va ps chap nhaw 4 gia tri p = - 0.2255. Tiep tuc tang K ede ani dao ota py va py tach khdi true thye di ve hudng duime tiém can, con p, va pp tiép tue xich lal gan Hinw (p+ Dp + Dip + DGp +1 ce) a) -#908 th ham Cp) a} va ‘ui dao nghibm 36 (bt ulahau. Khi K dat dén gia (ri 0,898 thi p, va p, chap nhau tai did p = - 0,839, Sau day hai qui dao may s@ tach khéi tryc thue dé di vé hudng ede dudng tiem Dé xae dinh diém cat cia qui dao nghiém 6 v6i true ao ta thay p = jo vio phuong trinh dac tinh (IT-26) r8i tach phn thye va phan do ta thu dite hé phucing trinh cot - 12250 + 0,025 + 0,025K = 0 0,80 - 1,850.5 = 0 Giai he phutong trinh ta thu duge nghiém 3922 K. = 5,588 He thong Sn dink khi K = 5,588Cheong i DANH GIA CHAT LUONG QUA TRINH QUA BO §lll-1 CAC CHi TIEU CHAT LUONG QUA BO CUA QUA TRINH DIEU CHINH hhay Ikhong, con chat Iwang qua trinh qua d9 mai noi tai vige hé thong diéu chink lf ding c6 sit dung duge hay khong. Co ba loai chi tieu chat Ivong:ca ban : chi tiéu 6 trang that tinh, chi tieu quit do va chi udu tich phan, 1.1, CHi TIEU CHAT LUQNG TRANG THAI TINH ‘Trang thai tinh cia he théng doc danh gid hing sai Iéch du cba dieu chink No la gia i sai lech con tim tai sau khi qua trinh digo chinh da két thie. Chi tiéu ve do ehinh xée cia didu chink nay do you cau cia quy trinh cong nghé dat ra ma he théng diéu chinh nha thigt phai dp ting dusge, Gid tj sai lech dut theo If thuyét ditoe ki biéw la 0 va duae tinh theo cong thie a =lim ee) ‘Trong do elt la sal lech dong thn tai trong qua trink ditu chinh, .2. CHI TIEU TRANG THAI QUA 06 ‘Trang thai qua do cia diéu chinh duge dénh gia bang hai chi tiéu of ban la thi gian kéo dai cila qua trinh diéu chinh va tinh dao dong etia digu chink. Cac chi tieu nay cing do yéu chu chit luong eda quy trinh cOng nghé dat ra, L124, Tho gian dieu chink Khodng thoi gian ke ti thoi diém bit dau oo nhiéu tae dong cho dén khi sai ech ela qué trinh diéu chinh nim trong di han sai s6 cho phép it duce goi la thd y 4) san digu chinh va duige ki higu Ia ty. Nhe %- 0 vay thoi gian dieu chink khong nhitng phu thuge vio trang thai cila hé thong ma con phy thuge vao yéu edu va 46 chinh xée eda diéu chink. Hin IIT-1mo 14 cach ric dinh thai gian digu chinh inn tp Thi gan ib chin tg 113IN-1.26, Do qué dtu chink Do qua dieu chinh dae trung cho tinh Faas dao ding cia qua trink digu chin, D2 qua “TS dig chinh duce ki hidu Id ¢ va duge tin mnhut sam : ~ Dé cho he thing tar dong theo ahi dat trude (xem hinh IL-2) —t—-__ ink me 08 «pa didu chon ‘theo ehidu at rude ‘Frong do Yin lt gid br] ra eye dai Yoo 18 gid tri xe lap ciia dai Kang ra; + DE cho ho théng tic dong theo nbigu pu tai (xem hin IT-3) oh = 2 00% Trong dé 38 qua dite chin 4; It bien do cua nia chu ki dao dong theo iu phy ti dau tiga 5 fe, 18 bien do cia niia chu ki dao dng thi hai ; Niu vay ne < 0 thi he thong 58 khong dao dong. W-1.3. CAC CHi TIEU TICH PHAN Qué trinh qué dé diou chinh co thé danh gia t6t hay xdu thong qua gia tri ich phan ciia sai lech gitta gid tr} chi dao va gid tri tie thai do dvge cia dai long wn digu ehinh, e ‘isi voi he théng digu chink khong dao dong vai sui thay d6i cia sai lech dion i hin duoc m6 td trong hinh T1l-4 os the sit dung chi tiéu tich phan dang . a se fea men inn (ua kntng dao dang dé danh gia chat Iwong cila qué trink qua do. R6 ring theo dB thi hinh [11-4 ta they qua trinh qua dé trong trdng hyp 1 t6t hon trudmg hap 2. Dong thoi gia 4‘rj tich phan sai Iéch xde dinh theo cong thite (IHL 1) ca duémg 1 nhs hon duang 2. Nhu vay J, ching nhé thi qua trinh qua do xdy racing nhanh va nguge lai Qué trinh diéu chinh se tot nat néu Jy ° ? > min. Nhung dé cho hé théng dao 2 ong es su thay 46i eda gid tri sai lech dluge mo +8 trong hinh TII-5 thi chi tig Winn Wud 40 06 eae ding nay khong st dung due, vi hie day gid tri tien phan e6 hic dutong, hie Am phu thuée vio déu eva e nén tong gid tel teh phan of thé nhé ma qué trinh 4iéu chinh kem. Quan sat d0 thi trém hinh TH-5 ta 06 thé hing dink qud trinh itu chinh trong truéng hap 1 16t han trun hap 2. Nhung git tri tich phan ly theo cong thite TIT { ciia truing hop 1 sé lan hon truang hop 2. Dé cho truiing hdp nay ta phai sit dung tich phan dang = Jy= feta a2y Voi cong thie may du cia © khong edn Anh hiding dé gid rj tich pha nia, Gisi tof tioh phan sal Kéch ty theo cong thue (IL-2) eta teuzing hop 1 mho kon rwang hop 2 vi qua trinh digu chink 66 duce danh gis t6t nhat nea Jy —> min ‘Tuy tich phan J, 06 thé sit dung dé danh gi chat wong cia qua trinh qu 40 cho ca trutng hop he théng dao dong va khong dao déng, nhuing trong thue 1 ng hon ton khdng duge sit dung vi mudn tinh theo cOng thie (IL-2) thi tritde hét phal biét duce duiing bin thién cia e Dé thude tien cho vibe dinh gia chat lvgng, quit trinh qua dO ching ta st clung chi tien tich phan binh phucing sai lech duce tinh theo cong thie dang : ao feat a.) Gia tri tich phan nay e6 thé xae dinh thong qua chuyén d6i Furie cua e theo cong thie Reili : tao! ay J Wetink de = 2 f fetpndo Cac tiéw chuain tich phain néu ra trén day eé mot nbuge diém eo ban la cha anh gid su amb hudng eta t6e do thay déi cia e len chat Ineng qua trinh qué «10. Vi vay ehua thé khang dinh ngay gid tri tich phan nhé mba la qua tinh dieu chinh t0t nh, Trong nhigu truang hop khi chon diige tham s6 cia he thing dé si 10 ¢ich phan tink theo cong thu (IIT-8) la phd nhatt nbumng dn toi he thong nadao déng rat lin ma thuo té diéu chinh khong chap nhan duge. Dé khée phuc nhuve diém nay e6 thé sit dung chi ties tich phan dang, Bie Se vale 5 at «dIL-4) Trong do la gfe tri cd dink Chi tidu tich phan tinh theo oéng thie (III-4) cho ta sit dainh gid day di ve hat hang eta qué trinh qua do, Khi dat duoe Jy min nghia IA dat duce gia tr Ja nh6 nhumng tée di thay adi cita sai léch cang khong cao. Dei vai tieng he thing eng biet pha chon due gia tri «c thich hop. Néu chet luong diéu chinh khong icho phép dao dong lon thi chon « Ién. Nguge lai e thé chon ce nhé cho qué trinh digu chinh che phép dao dng Ion. SII-2 DANH GIA CHAT LUONG HE THONG @ TRANG THAI XAC LAP Chat Iuong, eta he thong & trang thai tink duoc inh gid bang gi tr} sal lech tinh cia quit trinh dig chinh. Dé xAe inh sai x6 tinh ca he thong o6 thé st dung dinh Ii moi lien hé site su tin 667 gigi han cd ham géc va ham Anh trong chuyén di Laplax. Méi lien he do duge bigu didn qua cong thie : ° = lim etti = lim p.Eip FE) tee pee - Theo sv d8 cau tric hinh 11-6 ching ta es thé xée dink duge gid Mie tr) ep) theo ign déi Laplax eta tin biew vao va ham truyén dat ciia hé Minh 8 M6 Rin he théng Witt hea vio thong hd bing cong thute : axdane Bip) = - xu) a ‘Trong dé Whip) la hm truyén dat cia hé théng hd. Dang tong quat ham truyén etia hd thong hi duge mé ta theo cOug thiée : k wyp) =~ wyp) r Trongds Khe s6; 21a 68 luong kha tich phan ef trong he théng hd ; con oP™ + DPE + bgp tT Wyap) = PoP + Bap? +t Bye +1 ay? + app + aap ed heNhe vay Fe pt KW va pl a= tim xipy pat" pee KWap) ° Bip) = Xip) WL2.1. TIN HIEU VAO LA NHIEU BAC THANG X(t} = A.1(t) Chuyén d6i Laplax cia no e6 dang : A ip) P ~ Néu sd htgng khau tich phan oo trong hé théng z = 0 thi po ALA “Tan Te RWap pT 4k Hg thong luon luon ton tai sai lech du. -Khie=t =o pat pe RW yp) p Nou vay Ichi nbiéu tac dong 3 dau vao 1a bac thang thi dé triét tide duce sai lech du trong be thong it what phai oo mot khdu tieh phan, lWL-2.2. TIN HIEU VAO CO DANG DUONG TICH PHAN X(t) Chuyén d¢i Laplax ofa né Ia ‘Theo thai gian dieu chinh sai lech ngiy cing tang len. Noi chung tring hop nay he théng khong thé ait dung. Khiz=1 re AA astim-— 2 pre peK Wp) pK Sai léch la mot gia tri o dink, ~ Khi 2Nhu vaty khi tin higu vao 1a ham At thi dé didu chinh duge trong ho théing pphai ed mot khau tich phan, cbn dé triet tieu dae sai lech dw thi trong hé théng pha es it nhat hai khau tich phan. Vi dw 11-1 : Xée dinh sai lech tinh cia he thiing e6 $0 dB eu true duce mo ta trong hinh 111-7 v6i tin higu vio x = 16 vax = Bt a0 4g! | >) ae hae inh 1-7 So a eu trae m8 thdng Bui gidi "Ham truyén dat eta hé thing ha Bp +1) Wyip) =

2 va ving ed mie d@ dn dimh < 4. Dé bi6t duge viing nto od mute dg én dinh exo hon ta ctng diing nguyén li gech soe nhut trong phan mién D, Ving no 06 36 Jan gach soe mhiu hom Uhi es mife d6 én dink cao han, Néu cha gidi han mde dO dao déng eda hé thong 1A m thi phai thay P swim +) vao phitong trinh de tinh khi w thay di tt - © den 0 va thay P =u. m + j vao phuang trinh dac tinh khi w thay déi tit 0 dén ©. Hal dug, nay két hyp Jai vi mhau tyo thanh mot dutimg rank gidi chia ving én djnh than hal phan, Mot phan cé mite d6 dao dong < m, edn phin kia ec mite A} dao dong I6n hon, Dé phan biet duge vang nao ha théng ft dao dong hon cung sil dung nguyen Ii gach soc nhu phim mi@n D. Vimg nao cé gach soc nhitu hon thi he thong se it dao dong hon Ching ta eting o0 thé phan vimg trong tog dd cic tham 46 sao cho h@ thong. 6 mile dé Sm dinh la J vi mite d6 dao dong m. Musn thue hign diéw nay chang ta chia w thanh ba doyn : doan I gid tri a thay d6i tir dén - Am, doan tha hai tit 4 /mm déin 2 /im va doan that ba tit Aim dén «. Trong dogn w thay doi ti ~ Alm dén 2 fm vic phiin ving thyc hign theo miic d6 én dinh 1 cdn hai doan khae duge phan ving theo mie dé dao dong m. Két qua ola ba doan nay sé phan wing én dinh ra mot ving thoa man diéu kien giéi han vé A vam, Tinh t4t dn eva qua trink quai d9 co bin duige quyet dink bing gid tri a va uoe xe dink gan ding theo cong thie : ett ‘Trong do e, la gia tri sal léch ban dau. Néu qua trink diéu chinh dot hoi xity ra trong khoang thoi gian ty vit sai léch tinh IA @ thi ed thé xée dinh gi tei mute do tat dan gigi han theo cong thie A= Inleg/ al / ty ‘Tinh dao dong cia he thong ditu chinh tu dong os thé danh gid gin ding thong qua mde do dao dong m, tic 1a théng qua nghiém sé eda ho théng nam tren dung ranb gidi mite d6 dao dong m. Ta co eft) = egeO4 Bion do dao dong sau thai gan mot nia chu ki ¢ = 'T/ 2 s8 la er 120Do qua dibs chinh cits he thong es thé xie dink gan ding theo oéng thite erTeey rT Nhu vily ¢6 thé xar dinh gia tri m tai han khi he thong dOi hai ec do qua diéu chinh 9% cho trude theo céng thie Ing Vi dw IH-2, Phin ving gidi han cho hé thong eo mot tham $6 thay di duge ‘m6 tA trong bai IL-5 sao cho he thing o¢ mite do én dinh Jan hon mot gid tri A cho trude, Bai gic: Dua vio ket qué nhan duae trong bai TI-5 ta os phuong trinh dic tinh cia he théng 6p\ + lip? + 6p +1 + K=0 J + jw vho tn duge A+ jul + A+ po 6A to H+ K=0 Khai trién ra va ehuye’n vé ta duge: K = WS. 1802-1 + BL + To? +1) + J6u*- 1820 4 Bie - Gu) Phan thie ‘Thay p Rylood = 11-1802 + Ga - 1122 + 1) Phan ao If) = (6o? ~ 1822 + 224 - Bw Cho nhitng gid tri 4 khie nhau ta sé xay dung duce cac duimg phan ving tham sé cia hé théng theo mie do én dink va duge mo ta trén hinh III-9. Khi 2 = Ota duge duting phin mign D nhu da khao sit § tren. Cho A = 0.2 ta 06 Rito) = Te 0,192 Rye) = 0 khi w = £0161 Tle) = wie? - 2,82) Ta khi o = Ovaw = # 0,622 DE xay dung dudng ranb gidi ta lap bing sau « -= -0622 - 0161 0 0,161 0622 Rw = 207 0 -0192 0 287 # lw -@ 0 0f48 0 +0348 00 = Két qua xay dung duing phan viing dulge mo ta trén hinh IL-9 dwdng 10,2 Ving [ca ba nghiém eda phuong trinh dae tink ed phn thue < - 0,2. Ving. UI phutong,trinh dic tinh 6 hai ughiém véi phitn thue < - 0,2 edn ving Il chi ay0 mot ngthigm vai phan thuc < - 0,2. Néu chung ta tang J len thi ving T sé bi thu hep din va dén mot gié tri nto 46 cia 2 n6 chi edn lai moe diem, Gis tri nay chink la gidi han mete dj én dah rate dai cia hé thong, Gif tei A may twang ting voi dieu kign sao cho phitong trink Ila) = 0 en mot nghiem déc nhat. » = 0. Nghia la gi tid git han duce aie dnb theo diéu kion SP - 22+ 6 =O Giai phuong trinh ta duae i, = 0,414 vad 0811 Nhu vily gid tr] mie do dn dinh eve dai Aye = 0,411 Anh I-91 pre sing g8i han mie dB Bn ann J Vi dy THL-3. Cong bai todn trén xay dung vung gi¢i han theo mae do dao dong m eho trude. Bai gist Phuong trink dic tinh cia hé thong op) + Lip? + one 1+ K = 0 * DE xay dung dwing ranh gidi khi w thay déi tit - co dén 0 ta thay wim +) vio phwtong trinh dae tinh va duge : GoXm + H+ Mem + H+ 6m + jer + b+ K=0 Khai trién va chuyén vé ta duge dang: K = Ra) + Jw) Voi Reo = (18m - 6m hu? + (1 meu? - 6mer Tw) = G- 18m po ~ 22m? + bos * Dé xy duing dutémg ranh gidi ki w thay d6i tis O dén « ta thay palms j vio phuong trinh dac tinh, Khai trién va chuyén ve ta duge phucmg trink dang K = Riu) + jer Voi Rio) = Gm ~ 18me* + = me) Me? + 6me - Mol = (6 18m}u3 + 22mu? ~ Bu 122.Hinh 11-10 mo 1a ket qua xay dung dung ranb gidi phan vimg khi cho 10 Phin ving theo mile €8 da0 ding m Duong phan ving nay chia ving én dinh ra ba phitn, Vung I hé théng it dao dong mbit Trong ving IT tinh dao déng eta he thong tang lan, con viang TLL he thong s@ dao dong lon. Khi gid tri m tang lén thi vang I cang thu hep lai. 3.2. DANH GIA CHAT LUONG QUA DO THEO DAC TINH TBP CUA HE THONG HG Ham truyén dat eta hé thong kin duae xde dinh theo cong thie: wn Wyp) = — MPS Te Wap) ‘rong do Wpip) 1a ham truyn dat clia hé ehéng hd: Nhu vay dac tinh BT cia he thong kin duge xe dinh nhut sau [Wate T+ Wnt Ao) = aus) Ti 6 otia cong thite (IL-5! 1A 4 dai cla veeta dac tinh TBP OA cia hs ‘thong hé (xem hinh IIT- 11a), con miu $6 18 do dai cia veeta BA. Hin IIT- 116 mo th dac tinh BT ciia he théng kin co dae tinh TBP cia he thong hd tung ung duge m6 tA trén hinh II]-5a. Dac tinh BT nay Iuén Tuén ton tai mot fn 56 w, nao dé ma tai day né dat dén gia tri eve da ine agiog = Ma [1+ Wlpo) 128