Hm truyn h h:

>> Gh=1/Ra*tf(1,[Ta 1])*Km*phi*tf(1,[2*pi*J 0])

Transfer function:
6.112
----------------------0.001206 s^2 + 0.0754 s

Hm truyn h kn:

>> Gk=feedback(Gh,Ke*phi)
Transfer function:
6.112
------------------------------0.001206 s^2 + 0.0754 s + 57.89
th biu din Gk

Vi i tng l dng in, ta coi gn ng thit b chnh lu l khu t l qun tnh bc nht hng s
thi gian Tt=100s ta c hm truyn ca mch phn ng l:
Hm truyn i tng:

Chng trnh Matlab:

>> Tt=100e-006;
>> Gi=tf(1,[Tt 1])*1/Ra*tf(1,[Ta 1])

Transfer function:
4
---------------------------

1.6e-006 s^2 + 0.0161 s + 1

Bin i z bng tay:
Ta c H(s)=Gi/s=
Trong K=4; T1=0.016; T2=
Ta c
;
;

;
H(z)=
Suy ra

Vi T=0.1e-3;
Gzi1=

T=0.01e-3

Tm bin i Z bng Matlab:

>> Ttm1=0.1e-3;Ttm2=0.01e-3;
>> Gi

Transfer function:
4
--------------------------1.6e-006 s^2 + 0.0161 s + 1
>> Gzi3=c2d(Gi,Ttm1,'zoh')

Transfer function:
0.009176 z + 0.006577
---------------------z^2 - 1.362 z + 0.3656

Sampling time: 0.0001

>> Gzi4=c2d(Gi,Ttm1,'foh')

Transfer function:
0.003298 z^2 + 0.01046 z + 0.001998
----------------------------------z^2 - 1.362 z + 0.3656

Sampling time: 0.0001

>> Gzi5=c2d(Gi,Ttm1,'tustin')

Transfer function:
0.004154 z^2 + 0.008307 z + 0.004154
-----------------------------------z^2 - 1.327 z + 0.3313

Sampling time: 0.0001

>> Gzi6=c2d(Gi,Ttm2,'zoh')

Transfer function:
0.0001209 z + 0.0001169
----------------------z^2 - 1.904 z + 0.9043

Sampling time: 1e-005

>> Gzi7=c2d(Gi,Ttm2,'foh')

Transfer function:
4.064e-005 z^2 + 0.0001585 z + 3.865e-005
----------------------------------------z^2 - 1.904 z + 0.9043

Sampling time: 1e-005

>> Gzi8=c2d(Gi,Ttm2,'tustin')

Transfer function:
5.951e-005 z^2 + 0.000119 z + 5.951e-005
---------------------------------------z^2 - 1.904 z + 0.9042

Sampling time: 1e-005

>> step(Gi);hold on
>> step(Gzi1);hold on
>> step(Gzi2);hold on
>> step(Gzi3);hold on
>> step(Gzi4);hold on
>> step(Gzi5);hold on
>> step(Gzi6);hold on
>> step(Gzi7);hold on
>> step(Gzi8);hold on

Sau khi thc hin cc lnh trn ta c th biu din cc hm gin on trn min z:

Nhn xt:
Qua th vi cc hm truyn t trong cng mt chu kz ( T=0.1ms vi Gkz1, Gkz2,
Gkz3) th hm truyn gin on theo phng php FOH v TUSTIN bm st vi nhau v c bin cao
hn so vi phng php ZOH trong cng mt khong thi gian.

Xy dng m hnh trng thi CMC trn min thi gian lin tc.
M hnh trng thi trn min thi gian lin tc:

>> [A,B,C,D]=tf2ss([0 6.112],[0.001206 0.0754 57.89])

A =
1.0e+004 *

-0.0063
0.0001

-4.8002
0

B =
1
0
C =
1.0e+003 *
0

5.0680

D =
0
M hnh gin on vi chu k trch mu T=0.1s
>> [A1,B1]=c2d(A,B,0.1)
A1 =
-0.0438

-2.9271

0.0001

-0.0399

B1 =
1.0e-004 *
0.6098
0.2166

>> H1=ss(A1,B1,C,D,0.1)
a =
x1
x1

-0.04376

x2

6.098e-005

x2
-2.927
-0.03995

b =
u1
x1

6.098e-005

x2

2.166e-005

c =
x2

5068

y1

x1

d =
u1
y1

Sampling time: 0.1

Discrete-time model.
>> step(H1); hold on

p ng qu :

M hnh gin on vi chu kz trch mu T=0.01s

>> [A2,B2]=c2d(A,B,0.01)
A2 =
-0.4989 -133.8566
0.0028

-0.3245

B2 =
0.0028
0.0000

>> H2=ss(A2,B2,C,D,0.01)
a =
x1
x1

-0.4989

x2

0.002789

x2
-133.9
-0.3245

b =
u1
x1

0.002789

x2

2.759e-005

c =

y1

x1

x2

5068

d =
u1
y1

Sampling time: 0.01

Discrete-time model.

Bi thc hnh s 4:
Tng hp b iu chnh tc quay trn khng gian trng thi

T kt qu ca bi 1 ta thu c m hnh trng thi ca i tng l ng vi chu kz trch mu l

0.1s v ng vi chu kz trch mu l 0.01s

Chn 2 im cc ca h thng l p1=0,4 ; p2= 0.6 ta c chng trnh Matlab

>> [A,B,C,D]=tf2ss([0 6.112],[0.001206 0.0754 57.89]);

>> [phi,H1]=c2d(A,B,0.1);
>> [phi1,H1]=c2d(A,B,0.1);
>> [phi2,H1]=c2d(A,B,0.01);
>> p=[0.4 0.6];

>> k1=acker(phi1,H1,p);
>> k2=acker(phi2,H2,p);
??? Undefined function or variable 'H2'.

>> [phi2,H2]=c2d(A,B,0.01);
>> k2=acker(phi2,H2,p);
>> Gk1=ss(phi1-H1*k1,H1,C,D,0.1)

a =
x1

x2

x1

7.46

-651.7

x2

0.07431

-6.46

b =
u1
x1

0.002789

x2

2.759e-005

c =
x1

x2

5068

y1

d =
u1
y1

Sampling time: 0.1

Discrete-time model.
>> Gk2=ss(phi2-H2*k2,H2,C,D,0.1)

a =
x1

x2

x1

0.1348

-13.62

x2

0.009058

0.8652

b =
u1
x1

0.002789

x2

2.759e-005

c =
x1

x2

5068

y1

d =
u1
y1

Sampling time: 0.1

Discrete-time model.

>> p2=[0 0];

>> k3=acker(phi1,H1,p2);
>> k4=acker(phi2,H2,p2);
>> Gk3=ss(phi1-H1*k3,H1,C,D,0.01)

a =
x1

x2

x1

0.01408

-0.3131

x2

0.0006333

-0.01408

b =
u1
x1

0.002789

x2

2.759e-005

c =
x1

x2

5068

y1

d =
u1
y1

Sampling time: 0.01

Discrete-time model.

>> Gk4=ss(phi2-H2*k4,H2,C,D,0.01)

a =
x1

x2

x1

-0.4384

-56.75

x2

0.003387

0.4384

b =
u1
x1

0.002789

x2

2.759e-005

c =
x1

x2

5068

y1

d =
u1
y1

Sampling time: 0.01

Discrete-time model.
>> step(Gk1); hold on;
>> step(Gk2); hold on;
>> step(Gk3); hold on;

>> step(Gk4); hold on;

Nhn xt:
-Tng hp b iu khin theo phng php hu hn th sau 2 n 3 chu kz trch mu th tc quay t
gi tr xc lp.
-Tng hp b iu khin tc quay theo phng php phn hi trng thi th sau nhiu chu kz trch
mu u ra mi t gi tr xc lp.