Chuong2 NDHT Slide

Mn hc
M HNH HA V NHN DNG H THNG

Ging vin: TS. Hunh Thi Hong
B mn iu Khin T ng,
ng Khoa in in T
i hc Bch Khoa TP.HCM
Email: hthoang@hcmut.edu.vn,
hthoang hcmut@yahoo com
hthoang.hcmut@yahoo.com
Homepage: http://www4.hcmut.edu.vn/~hthoang/
31 August 2012
H. T. Hong - HBK TPHCM
Chng 2
M HNH HA
31 August 2012
Ti liu tham kho chng 2

D. L.
D
L Smith,
S ith Introduction
I t d ti
t Dynamic
to
D
i Systems
S t
Modeling for Design, Prentice-Hall, Englewood
Cliffs New Jersey,
Cliffs,
Jersey 1994.
1994
31 August 2012
Ni dung chng 2
Gii thiu
Phn tch chc nng
Phn tch vt l
Phn tch ton hc
Mt s th d
31 August 2012
G thiu
Gii
31 August 2012
M hnh ha
M hnh
h h ha
h l phng
h
php
h xy
dng
d
m
hnh
h h ton
t ca
h
thng bng cch da vo cc qui lut vt l chi phi hot
ng
g ca h
thng.
g
Phng php m hnh ha ch c th p dng khi ta bit
r cu trc ca h thng v cc qui lut vt l chi phi hot
ng ca h thng.
thng
Cc nh lut vt l
in
C hc
Nhit
Lu cht lng
Lu cht kh
31 August 2012
Cc bc gii bi ton m hnh ha
Phn tch
Ph
t h chc
h nng:
phn
h tch
t h h thng
th
th h cc
thnh
khi
chc nng, trong m hnh ton ca cc khi chc nng
bit hoc
c th rt ra c
da
vo cc q
qui lut
vt
l.
Phn tch vt l: rt ra m hnh ton ca cc khi chc nng

da vo cc qui lut vt l.
Phn tch ton hc: cc khi chc nng c kt ni ton

hc c m hnh ca h thng.
31 August 2012

M hnh ha
Phn tch chc nng
Phn tch vt l
Phn tch ton hc
C lp h thng
L tng ha
phn
t vt l
Xy dng h PT
m
t
h thng
h
Ph tch
Phn
t h HT con
Quan h gia cc
i lng c bn
T t
Tuyn
tnh
h ha
h
Q
Quan
h nhn
h qu
Cc .lut bo ton
i s
s
khi
nh gi m hnh
31 August 2012
Phn tch chc nng
31 August 2012

M hnh ha
Phn tch chc nng
Phn tch vt l
Phn tch ton hc
C lp h thng
L tng ha
phn
t vt l
Xy dng h PT
m
t
h thng
h
Ph tch
Phn
t h HT con
Quan h gia cc
i lng c bn
T t
Tuyn
tnh
h ha
h
Q
Quan
h nhn
h qu
Cc .lut bo ton
i s
s
khi
nh gi m hnh
31 August 2012
10
Khi nim
Phn t
Ph
tch
h chc
h nng
l phn
h t
tch
h h thng
th cn
m
h
hnh
h
ha thnh nhiu h thng con, mi h thng con gm nhiu
b
p
phn
chc nng
g ((functional component).
p
)
Khi phn tch chc nng cn :
lin kt vt l (connectivity): cc b phn no ca h
thng
h kt
k ni
i vi
i nhau?
h ?
quan h nhn qu (causality) cc b phn lin kt vi
nhau nh th no?
Ba bc phn tch chc nng:
C lp
p h thng
g
Phn tch h thng con
Xc nh cc quan h nhn qu
31 August 2012
11

M hnh ha
Phn tch chc nng
Phn tch vt l
Phn tch ton hc
C lp h thng
L tng ha
phn
t vt l
Xy dng h PT
m
t
h thng
h
Ph tch
Phn
t h HT con
Quan h gia cc
i lng c bn
T t
Tuyn
tnh
h ha
h
Q
Quan
h nhn
h qu
Cc .lut bo ton
i s
s
khi
nh gi m hnh
31 August 2012
12
C lp h thng Xc nh cc lin kt ngoi
X nh
Xc
h gii
ii h
hn ca
h thng
th cn
m
h
hnh
h h
ha
Ct kt ni gia h thng kho st vi mi trng ngoi
Mi kt ni
i b ct
t c
th th b
thay
bng mt
t cng
m
t s
tng tc gia h thng v mi trng.
bien cua he thong
He tho
thong
ng
Moi trng
Moi
trng
31 August 2012
13
Cng
Cng (port)
C
( t) : l mt
t cp
u
cui
i (terminal)
(t
i l) m
qua nng
lng truyn vo hoc ra khi h thng. Mt h thng c th

c nhiu cng
g ((multiport
p system).
y
)
Mi cng c th c mt hoc hai ng vo (k hiu l U) v

mt hoc hai ng ra (k hiu l Y)
Bn loi cng thng gp:

C kh (Structural)
in (Electrical)
Nhit (Thermal)
Lu
L
cht
ht (Fluid)
(Fl id)
31 August 2012
14
Cng c kh
31 August 2012
15
Cng in
31 August 2012
16
Cng nhit
31 August 2012
17
Cng lu cht
31 August 2012
18
Th d: C lp h tay my
31 August 2012
19
Th d: C lp h tay my (tt)
31 August 2012
20
Th d: C lp h thng lm mt
31 August 2012
21
Th d: C lp h thng lm mt (tt)
31 August 2012
22
TD: C lp b phn trao i nhit trong h thng lm mt
31 August 2012
23
TD: C lp b phn trao i nhit trong h thng lm mt (tt)
31 August 2012
24
Th d: c lp h thng gim xc
31 August 2012
25
Th d: c lp h thng cch nhit
31 August 2012
26
Th d: c lp h thng cch nhit
31 August 2012
27

M hnh ha
Phn tch chc nng
Phn tch vt l
Phn tch ton hc
C lp h thng
L tng ha
phn
t vt l
Xy dng h PT
m
t
h thng
h
Ph tch
Phn
t h HT con
Quan h gia cc
i lng c bn
T t
Tuyn
tnh
h ha
h
Q
Quan
h nhn
h qu
Cc .lut bo ton
i s
s
khi
nh gi m hnh
31 August 2012
28
Phn tch h thng con Xc nh cc lin kt trong
Phn tch h thng
sau khi c lp thnh cc h thng
con
(subsystem), sau tip tc phn tch cc h thng con chi
tit n cc b phn (component),
(component) thay th lin kt gia cc
b phn bng cc cng.
31 August 2012
29
Th d: M hnh ho h tay my
31 August 2012
30
Th d: M hnh ho h tay my (tt)
C lin kt
Cc
ngoi
31 August 2012
31
Cc lin kt
trong chi tit
n cc h
thng con
(
(subsystem)
y
)
31 August 2012
32
Cc lin kt trong chi tit n cc b phn (component)

31 August 2012
33

M hnh ha
Phn tch chc nng
Phn tch vt l
Phn tch ton hc
C lp h thng
L tng ha
phn
t vt l
Xy dng h PT
m t h thng
Phn
tch
HT con
Quan h gia
Q
i cc
i lng c bn
Tuyn
tnh
ha
Quan h nhn
qu
Cc .lut bo ton
i s s khi
nh gi m hnh
31 August 2012
34
Phn tch quan h nhn qu Xc nh cc bin ca HT
V cng
l u
cui
m qua cng sut
(nng lng/n v
thi gian) truyn vo ra h thng nn quan h nhn qu ca
cng c xc nh bi cc bin nh ngha cng sut ti
cng.
31 August 2012
35
Cc bin ca cc loi cng
31 August 2012
36
S khi hon chnh h tay my

31 August 2012
37
Bi tp: Phn tch chc nng h thng thang my
31 August 2012
38
Bi tp: Phn tch chc nng h thng lu cht
31 August 2012
39
Bi tp: Phn tch chc nng h thng tn la
31 August 2012
40
Phn tch vt l
31 August 2012
41

M hnh ha
Phn tch chc nng
Phn tch vt l
Phn tch ton hc
C lp h thng
L tng ha
phn
t vt l
Xy dng h PT
m
t
h thng
h
Ph tch
Phn
t h HT con
Quan h gia cc
i lng c bn
T t
Tuyn
tnh
h ha
h
Q
Quan
h nhn
h qu
Cc .lut bo ton
i s
s
khi
nh gi m hnh
31 August 2012
42
Cc loi h thng vt l
H thng vt l c th chia thnh 4 loi:

in (Electrical)
C (Machenical)
(
)
Nhit (Thermal)
Lu cht (Fluid)
Mt h thng phc tp c th gm nhiu h thng con thuc
4 loi trn.
Cc phn t c bn (basis element):
Tr (resistance)
Dung (capacitance)
Cm
(inductance) hay qun tnh (inertia)
31 August 2012
43
Cc bin c bn
C bi
Cc
bin c bn:
b lng
l
(
(quantity),
tit ) th (potential),
( t ti l) thi gian
i (time)
(ti )
Loi
H thng
Bin
Lng
Th
Thi gian
in
in tch
(Charge)
in th
(Voltage)
Giy
C kh
Khong cch
(Distance)
Lc
(Force)
Giy
Lu cht
(lng)
Th tch
(Volume)
p sut
(Pressure)
Gi
Giy
Nhit
Nhit
nng
g
(Heat energy)
Nhit

(Temperature)
Giy
31 August 2012
44

M hnh ha
Phn tch chc nng
Phn tch vt l
Phn tch ton hc
C lp h thng
L tng ha
phn
t vt l
Xy dng h PT
m
t
h thng
h
Ph tch
Phn
t h HT con
Quan h gia cc
i lng c bn
T t
Tuyn
tnh
h ha
h
Q
Quan
h nhn
h qu
Cc .lut bo ton
i s
s
khi
nh gi m hnh
31 August 2012
45
Cc bin khc nh ngha da trn cc bin c bn
Cng
C
dng
d l bin
bi thi
thin lng
l
t
trong
mt
t n
v thi
gian (hay cng dng l tc bin thin lng).
d
cng o dong lng
dt
Cng sut
31 August 2012
cong suat the

h cng o
do
d ng
46
nh ngha phn t tr
Tr l i lng c trng cho kh nng chng li s dch

chuyn c hc hay dng vt cht, nng lng.
Tr c o bng th cn thit chuyn mt n v lng
trong mt n v thi gian (giy).
the
the
tr
cng o dong
31 August 2012
47
nh ngha phn t dung
Dung biu din mi quan h gia lng v th

th.
Dung c o bng lng cn thit l cho th bin thin
mt n v.
lng
dung
the
1
the
dung
g
31 August 2012
cng o dong dt
48
nh ngha phn t cm
Cm hay qun tnh l i lng c trng cho kh nng

chng li s thay i trng thi chuyn ng c hc ca dng
vt cht, nng lng.
Cm c o bng th cn thit lm tc bin thin ca
lng thay i mt n v .
cam
the
d
cng o dong
dt
d
the cam cng o dong
dt
31 August 2012
49

M hnh ha
Phn tch chc nng
Phn tch vt l
Phn tch ton hc
C lp h thng
L tng ha
phn
t vt l
Xy dng h PT
m
t
h thng
h
Ph tch
Phn
t h HT con
Quan h gia cc
i lng c bn
T t
Tuyn
tnh
h ha
h
Q
Quan
h nhn
h qu
Cc .lut bo ton
i s
s
khi
nh gi m hnh
31 August 2012
50
Cc phng trnh cn bng
Cc nh lut bo ton khi lng

lng, nng lng
lng, v xung
lng l cc nh lut c bn c s dng khi m hnh ha.
Phng trnh cn bng c bn c dng tng qut nh sau:
dong tch luy dong vao dong ra
Nu h thng khng c cc phn t tch tr khi lng, nng

lng v xung lng th phng trnh trn tr thnh:
0 do
d ng vao do
d ng ra
Nu h
thng
g c p
phn t tch tr khi lng,
g, nng
g lng
g hay
y
xung lng th s tch tr ny lm thay i trng thi ca HT:
d
bie
bi n tra
t ng thai
th i dong
d vao
dong
d ra
dt
31 August 2012
51

M hnh ha
Phn tch chc nng
Phn tch vt l
Phn tch ton hc
C lp h thng
L tng ha
phn
t vt l
Xy dng h PT
m
t
h thng
h
Ph tch
Phn
t h HT con
Quan h gia cc
i lng c bn
T t
Tuyn
tnh
h ha
h
Q
Quan
h nhn
h qu
Cc .lut bo ton
i s
s
khi
nh gi m hnh
31 August 2012
52
L tng ha cc phn t vt l
Nguyn
Ng
n tc thun
th n ha
Nguyn tc tp trung ha
Nguyn tc l tng ha
31 August 2012
53
Nguyn
N
t
tc thun
th ha:
h nhn
h ra nh
hh
hng
vt
t l c b
bn chi
hi
phi hot ng ca i tng v dng cc phn t thun
biu din
din.
31 August 2012
54
Nguyn tc tp trung ha: cc nh hng vt l thc lun

phn b trong mt min hay khng gian nht nh (d nh).
Cc nh hng phn b ny c th l tng ha bng cch
m
h
hnh
h h
ha t
tp trung
t
31 August 2012
55
Nguyn
Ng
n tc ttuyn
n tnh ha:
ha tt c cc h thng thc
th c u
l
h phi tuyn l tng ha bng cch tuyn tnh ha.
31 August 2012
56
S tng ng ca cc quan h vt l
31 August 2012
57
S tng ng ca cc quan h vt l
31 August 2012
58
Ch
Gia h in
Gi
i v
h c c
hai
h i cch
h ttng ng
Tng ng lc in p
Tng ng lc cng dng in
Tng ng lc in p
H c
Tng ng lccng d.in
H in
H c
H in
Lc f
in p u
Lc f
Dng in i
Khi lng M
in cm L
Khi lng M
in dung C
H s ma st b
in tr R
H s ma st b
1/in tr, 1/R
cng l xo k
1/in dung, 1/C cng l xo k
1/in cm, 1/L
Dch chuyn x
in lng q
Dch chuyn x
T thng
Vn tc v
Dng in i
Vn tc v
in p u
31 August 2012
59
Phn tch vt l h thng in
Cc bin c bn:
in lng:
q
in
th:
u
Cng dng in:i
[C]
[[V]]
[A]
Cc phn t c bn:
u
in tr:
R
i
in
dung:
q
C
u
in
cm:
di
uL
dt
31 August 2012
R
u
1
idt
C
l
S
S
d
r 2 N
1 dL b thelng
the
the
c
n
do
trcng
c
dgngoo
dung
the
h cam tr
dong
do
dngndt
g
dung dt cng o do
theng
60
Phn tch vt l h thng in
Cc lloii ngun:
C
Ngun p l tng
Ngun dng l tng
Phng trnh cn bng in
nh
lut
ut Kirchoff
c o v
d
dng.
g
nh lut Kirchoff v p.
Phng php gii tch mch in
Phng php th nh
Phng php dng vng
31 August 2012
61
Phn tch vt l h thng c
Cc bi
C
bin c b
bn (chuyn
( h ng
thng):
th )
Khong cch (lng):
x
[m]
Lc (th):
f
[N]
Tc (cng dng):
v
[m/sec]
31 August 2012
62
Cc phn
C
h t c b
bn
Tr:
b: h s ma st nht
f: lc (th)
x: dch chuyn (lng)
RM b
f
v
tr
tr
31 August 2012
the
cng o dong
63
Cc phn
C
h t c b
bn
Dung:
CM
k: cng l xo
f lc
f:
l (th)
x: dch chuyn
(lng)
1 x
k f
1
f kx
vdt
CM
the
the
31 August 2012
1
dung
lng
l
cdung
cng
ng o dong
do
nnggdt
d
the
64
Cc phn
C
h t c b
bn
Cm (qun tnh)
m: khi
lng
f: lc (th)
x: dch
d h chuyn
h (lng)
(l
)
dv
f m
dt
d
the cam
the
cam cng
cng o dong
dong
dt
31 August 2012
65
Chuyn
Ch
ng
thng
th
Chuyn
Ch
ng
quay
Lc
Moment
Khong cch Gc quay
Vn tc
Vn tc gc
Gia
G
a tc
G
Gia
a tc gc
Qun tnh
Moment qun tnh
31 August 2012
66
Phng trnh cn bng c
Ph
Phng
t h cn
trnh
bng
b lc,
l
nh
h llut
t Newton
N t
Phng trnh Euler Lagrange:
d L L P

dt q q q
Trong : L T U
U: th nng
T: ng nng
P: nng lng tiu hao
q: ta tng qut
: ngoi lc (hay moment)
31 August 2012
67
S tng ng gia h thng in v h thng c
31 August 2012
68
S tng ng gia h thng in v h thng c
31 August 2012
69
Phn tch vt l h thng nhit
Cc bi
C
bin c b
bn
Nhit nng (lng): Q
Nhit (th):
Dng nhit:
H
[J]
[0C]
[J/sec]
dQ
H
dt
cng o
do
d ng
31 August 2012
d
l ng
l
dt
70
Cc phn
C
h t c b
bn
Nhit tr:
RT
l
kC S
RT
31 August 2012
kC: h s
dn
nhit
l: chiu di
S: tit din ngang
tr
tr
H
the
cng o dong
71
Cc phn
C
h t c b
bn
Nhit dung:
CT c.M
CT
31 August 2012
c: l nhit dung ring

M: l khi lng
1
Hdt
CT
the
the
1
dung
lng
l
cdung
cng
ng o dong
do
nnggdt
d
the
72
Cc phn
C
h t c b
bn
Nhit cm (qun tnh nhit): IT
dH
IT
dt
d
the cam
the
cam cng
cng o dong
dong
dt
31 August 2012
73
Phng trnh cn bng nhit
h llut
nh
t bo
b tton
nng
lng
l
31 August 2012
74
Phn tch vt l h lu cht
Cc bi
C
bin c b
bn
p sut (th):
Th tch (lng):
Lu lng (cng dng):
p
V
z
[N/m2]
[m3]
[m3/sec]
dV
z
dt
cng o
do
d ng
31 August 2012
d
l ng
l
dt
75
Cc phn
C
h t c b
bn
Lu tr:
Lu tr ng ng:
: h s nht ca lu cht
128 l
RL
d 4
RL
31 August 2012
l: chiu di ng ng
d: ng knh ng ng
((l > 20d))
p
z
tr
tr
the
cng o dong
76
Cc phn
C
h t c b
bn
Lu tr:
Lu tr van: phi tuyn
31 August 2012
77
Cc phn
C
h t c b
bn
Lu dung:
A
CF
g
A: tit din ngang

: khi lng ring lu cht
g: gia tc trng trng
V
CL
p
1
p
zdt
CL
31 August 2012
the
the
1
dung
lng
l
cdung
cng
ng o dong
do
nnggdt
d
the
78
Cc phn
C
h t c b
bn
Qun tnh: IL
l
a
dz
p IL
dt
IL
l
a
a: tit din
di ngang ng
dn
d
l: chiu di ng dn
: khi lng ring lu cht
d
the cam
the
cam cng
cng o dong
dong
dt
31 August 2012
79
Phng trnh cn bng h lu cht
h llut
nh
t bo
b tton
khi llng
31 August 2012
80
Cc th d phn tch vt l
H vin
Hc
i t c
cc
th
h d
d trong bi ging
i
31 August 2012
81
Phn tch ton hc
31 August 2012
82
Phn tch ton hc
Kt hp
h tt c
cc
h phng
h
t h m
trnh
t
c tnh
t h
ng ca
cc b phn chc nng c h phng trnh m t h

thng.
g
Tuyn tnh ha quan h phi tuyn c m t ton hc
tuyn tnh.
i s
i
s khi Phng
Ph
php
h s dng
d tn
hi
hiu v
cng thc Mason tm hm truyn tng ng ca h

tuyn
y tnh.
nh gi s ph hp ca m hnh.
Dng m hnh d bo p ng ca h thng i vi tn
hiu vo cho trc.
31 August 2012
83
M hnh tuyn
tnh ha h phi tuyn
31 August 2012
84
im dng ca h phi tuyn
Xt h phi
hi tuyn
t bc
b n c p ng vo,
q ng ra m t bi PTTT phi
hi
tuyn:
x (t ) f ( x (t ), u(t ))
y (t ) h( x (t ), u(t ))
im trng
i
t
thi x c
gii l im
i dng
d ca
h phi
hi tuyn
t nu
nh
h
h ang trng thi x v vi tc ng iu khin u c nh, khng
i cho trc th h s nm nguyn ti trng thi .
Nu ( x , u ) l im dng ca h phi tuyn th:

f ( x (t ), u(t )) x x ,uu 0
im
i dng
d
cn c
gii l
l im
i lm
l vic
i tnh
h ca h
h phi
hi tuyn
31 August 2012
85
Th d im dng ca h phi tuyn
Cho h phi tuyn m t bi PTTT:
) x2 (t ) u
x1 (t ) x1 (t ).
x (t ) x (t ) 2 x (t )
2 1
Xc nh im
dng ca h thng
khi u (t ) u 1
Gii:
im
i dng
d l nghim
hi ca phng
h
trnh:
h
f ( x (t ), u (t )) x x ,u u 0
x1.x2 1 0
x1 2 x2 0
x1 2
2
x2 2
31 August 2012
hoc
x1 2
2
x2 2
86
Tuyn tnh ha h phi tuyn xung quanh im lm vic tnh
Xt h phi tuyn m t bi PTTT phi tuyn:

x (t ) f ( x (t ), u(t ))
y (t ) h( x (t ), u(t ))
Khai trin Taylor f(x,u) v h(x,u) xung quanh im lm vic tnh

( x , u ) ta c th m t h thng bng PTTT tuyn tnh:
~ (t )
x~ (t ) Ax~ (t ) Bu
~
~ (t ) Du
~ (t )
y
(
t
)
C
x
trong :
31 August 2012
~
x (t ) x (t ) x
~ (t ) u(t ) u
u
~y (t ) y (t ) y
((*))
( y h( x , u ))
87
Ma trn trng thi ca h tuyn tnh ha
f
x ( x,u )
h
x ( x,u )
f1
x
1
f 2
x1

f
n
xn
f1
x2
f 2
x2
f n
x2
h1
x
1
h2
x1

h
q
x1
h1
x2
h2
x2
hq
31 August 2012
x2
f1
xn
f 2
xn

f n
xn ( x,u )
h1
xn
h2
xn

hq
xn ( x,u )
f
u ( x,u )
f1
u
1
f 2
u1

f n
u1
f1
u2
f 2
u2
f n
u2
h
u ( x,u )
h1
u
1
h2
u1

hq
u1
h1
u2
h2
u2
hq
u2
f1
u p
f 2
u p

f n
u p
( x,u )
h1
u p
h2
u p

hq
u p
( x,u )
88
Tuyn tnh ha h phi tuyn Th d 1

Thng s h bn cha :
u(t)
PTTT:
trong :
qin
a 1cm 2 , A 100cm 2
y(t)
qout
k 150cm3 / sec .V , CD 0.8

g 981cm / sec2
x (t ) f ( x (t ), u (t ))
) u (t ))
y (t ) h( x (t ),
aCD 2 ggx1 (t ) k
f ( x, u )
u (t ) 0.3544 x1 (t ) 0.9465u (t )
A
A
h( x (t ), u (t )) x1 (t )
31 August 2012
89
Tuyn tnh ha h phi tuyn Th d 1 (tt)

Tuyn tnh ha h bn cha quanh im y = 20cm:
Xc nh im lm vic tnh:
x1 20
f ( x , u ) 0.3544 x1 1.5u 0
31 August 2012
u 0.9465
90
Tuyn tnh ha h phi tuyn Th d 1 (tt)
Xc nh cc ma trn trng thi ti im lm vic

ic tnh:
A
aC 2 g
f1
D
x1 ( x,u )
2 A x1
h
C
1
x1 ( x,u )
0.0396
( x,u )
f1
k
1.5
B
u ( x,u ) A ( x,u )
D
h
0
u ( x,u )
V PTTT m t h bn cha quanh

Vy
q anh im lm vic
ic y=20cm
20cm l:
~
x (t ) 0.0396 ~
x (t ) 1.5u~ (t )
~
~
y (t ) x (t )
aCD 2 gx1 (t )
f ( x, u )
k
u (t )
A
h( x (t ), u (t )) x1 (t )
31 August 2012
91
Tuyn tnh ha h phi tuyn Th d 2

Thng s cnh tay my :
l
u
l 0.5m, lC 0.2m, m 0.1kg
M 0.5kg , J 0.02kg.m 2
B 0.005, g 9.81m / sec2
PTTT:
x (t ) f ( x (t ), u (t ))
y (t ) h( x (t ), u (t ))
trong :
x2 (t )
B
1
f ( x , u ) ( ml MlC ) g
x2 (t )
u (t )
cos x1 (t )
2
2
2
( J ml )
( J ml )
( J ml )
h( x (t ), u (t )) x1 (t )
31 August 2012
92
Tuyen tnh hoa he phi tuyen Th du 2 (tt)

Tuyn tnh ha h tay my quanh im lm vic y = /6 (rad):
Xc nh im lm vic tnh:
x1 / 6
x2
0
B
1
f ( x , u ) ( ml MlC ) g
cos x1
x2
u
2
2
2
( J ml )
( J ml )
( J ml )
x2 0
u 1.2744
Do im lm vic tnh cn xc nh l:
x1 / 6
x
x
0
2
u 1.2744
31 August 2012
93

ic tnh:
a11 a12
A
a
a
21 22
a11
a21
f1
0
x1 ( x,u )
f1
a12
x2
1
( x,u )
(ml MlC )
f 2
sin x1 (t )
2
x1 ( x,u ) ( J ml )
( x,u )
f 2
a22
x2
( x,u )
( J ml 2 ) ( x,u )
x2 (t )
B
1
f ( x , u ) ( ml MlC ) g
cos
x
(
t
)
x
(
t
)
u
(
t
)
1
2
2
2
2
(
)
J
ml
J
ml
(
J
ml
)
(
)
31 August 2012
94

ic tnh:
b1
B
b2
b1
f1
0
u ( x,u )
b2
f 2
u
( x,u )
1
J ml 2
x2 (t )
B
1
f ( x , u ) ( ml MlC ) g
cos
x
(
t
)
x
(
t
)
u
(
t
)
1
2
2
2
2
ml
(
J
ml
)
(
)
(
)
J
ml
31 August 2012
95

ic tnh:
C c1 c2
h
c1
1
x1 ( x,u )
D d1
d1
c2
h
x2
0
( x,u )
h
0
u ( x,u )
Vy phng trnh trng thi cn tm l:
x~ (t ) Ax~ (t ) Bu~ (t )
~
~
y
(
t
)
C
x (t ) Du~ (t )
1
0
A
a
a
21 22
C 1 0
0
B
b2
D0
h( x , u ) x1 (t )
31 August 2012
96
Mt s
th d
31 August 2012
97
Cc v d
M hnh
h h ha
h h con lc
l ngc
M hnh ha h bng v thanh
M hnh ha h
tayy myy
M hnh ha h bnh li my bay
M hnh ha c tnh ng hc xe hi
M hnh ha c tnh ng hc tu thy
M hnh ha h robot 2 bnh cn bng
...
31 August 2012
98

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Mn hc

M HNH HA V NHN DNG H THNG

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

Ti liu tham kho chng 2

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

Cc bc gii bi ton m hnh ha

Phn tch vt l: rt ra m hnh ton ca cc khi chc nng

Phn tch ton hc: cc khi chc nng c kt ni ton

H. T. Hong - HBK TPHCM

Cc bc gii bi ton m hnh ha

Phn tch ton hc

H. T. Hong - HBK TPHCM

Phn tch chc nng

H. T. Hong - HBK TPHCM

Cc bc gii bi ton m hnh ha

Phn tch ton hc

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

Cc bc gii bi ton m hnh ha

Phn tch ton hc

H. T. Hong - HBK TPHCM

C lp h thng Xc nh cc lin kt ngoi

Ct kt ni gia h thng kho st vi mi trng ngoi

H. T. Hong - HBK TPHCM

lng truyn vo hoc ra khi h thng. Mt h thng c th

Mi cng c th c mt hoc hai ng vo (k hiu l U) v

Bn loi cng thng gp:

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

TD: C lp b phn trao i nhit trong h thng lm mt

H. T. Hong - HBK TPHCM

TD: C lp b phn trao i nhit trong h thng lm mt (tt)

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

Th d: c lp h thng cch nhit

H. T. Hong - HBK TPHCM

Th d: c lp h thng cch nhit

H. T. Hong - HBK TPHCM

Cc bc gii bi ton m hnh ha

Phn tch ton hc

H. T. Hong - HBK TPHCM

Phn tch h thng con Xc nh cc lin kt trong

Phn tch h thng

sau khi c lp thnh cc h thng

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

Th d: M hnh ho h tay my (tt)

H. T. Hong - HBK TPHCM

Th d: M hnh ho h tay my (tt)

H. T. Hong - HBK TPHCM

Th d: M hnh ho h tay my (tt)

Cc lin kt trong chi tit n cc b phn (component)

H. T. Hong - HBK TPHCM