Chng 2: M HNH HA

Chng 2

M HNH HA
Chng 2: MO HNH HOA
2.1. Gii thieu
2.2. Phan tch chc nang
2.3. Phan tch vat ly
2.4. Phan tch toan hoc
2.5 Mt s th d
Tham kho: [Smith, 1994], chng 2, 4.
[Johansson, 1993], chng 7.

2.1 GII THIEU

Mo hnh hoa la phng phap xay dng mo hnh toan cua he
thong bang cach phan tch he thong thanh cac khoi chc nang, trong
o mo hnh toan cua cac khoi chc nng a biet hoac co the rut ra
c da vao cac qui luat vat ly, sau o cac khoi chc nang c
ket noi toan hc e c mo hnh cua he thong.
Ba bc mo hnh hoa:
Phan tch chc nang
Phan tch vat ly
Phan tch toan hoc

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

2.2 PHAN TCH CHC NANG

(tham khao chng 2, [Smith, 1994])
2.2.1 Khai niem
Phan tch chc nang la phan tch he thong can mo hnh hoa
thanh nhieu he thong con, moi he thong con gom nhieu bo phan
chc nang (functional component).
Khi phan tch chc nang can e y lien ket vat ly
(connectivity) va quan he nhan qua (causality) gia cac thanh phan
ben trong he thong.
Ba bc phan tch chc nang:
Co lap he thong
Phan tch he thong con
Xac nh cac quan he nhan qua
2.2.2 Co lap he thong - Lien ket ngoai
Xac nh gii han cua he thong can mo hnh hoa, cat ket noi
gia he thong khao sat vi moi trng ngoai, moi ket noi b cat
c thay the bang mot cong e mo ta s tng tac gia he thong
va moi trng.
bien cua he thong
U
He thong

Moi trng
Y

Hnh 2.1: He thong co mot cong lien ket vi moi trng

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

Cong (port) : la mot cap au cuoi ma qua o nang lng hoac

cong suat vao hoac ra khoi he thong. Mot he thong co the co nhieu
cong (multiport system).
Bon loai cong thng gap: c kh (Structural), ien
(Electrical), nhiet (thermal), lu chat (fluid)
Loai
cong

Ten (Ky hieu)

S o

Co lap

1. C KH

a. Tnh tien
(Structural
Translation - ST)
b. Quay
(Structural
Rotation - SR)

3. IEN

c. Phc hp
(Structural
Complex - SC)
a. ien dan
(Electrical
Conduction
EC)
b. ien bc xa
(Electrical
Radiation ER)

Hunh Thi Hong B mn iu khin T ng

3. NHIET

Chng 2: M HNH HA
a. Dan nhiet
(Thermal
Conduction
TC)
b. oi lu nhiet
(Thermal
Convention
TV)

4. LU CHAT

c. Bc xa nhiet
(Thermal
Radiation TR)
a. Noi lu
(Fluid
Internal FI)
a. Ngoai lu
(Fluid
External FE)

Th du 2.1: Co lap he canh tay may

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

Hnh 2.2: S olien ket ngoai cua canh tay robot

Th du 2.2: Co lap he thong lam mat

(a)

(b)
Hnh 2.3: He thong lam mat (a) S o he thong
(b) S o trao oi nhiet
Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

(a)

(b)
Hnh 2.4: He thong lam mat (a) S o a cong cua he thong
(b) S o a cong cua bo trao oi nhiet

Hnh 2.5: S o a cong lu chat long trong he thong lam mat

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

2.2.3 Phan tch he thong con - Lien ket trong

Phan tch he thong sau khi co lap thanh cac he thong con
(subsystem), sau o tiep tuc phan tch cac he thong con chi tiet en
cac bo phan (component), thay the lien ket gia cac bo phan bang
cac cong.
Th du 2.3: Phan tch lien ket trong he canh tay robot

Hnh 2.6: S o khoi canh tay may chi tiet en cac he thong con

Hnh 2.7: S o khoi canh tay may chi tiet en cac bo phan
Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

2.2.4 Quan he nhan qua - Cac bien cua he thong

V cong la au cuoi ma qua o cong suat (nang lng) truyen
vao ra he thong nen quan he nhan qua cua cong c xac nh bi
cac bien nh ngha cong suat tai cong.

Th du 2.4: Canh tay may

Hnh 2.8: S o khoi hoan chnh cua canh tay may

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

2.3 PHAN TCH VAT LY

2.3.1 Phng phap phan tch vat ly
2.3.1.1 Cac qui luat vat ly
a. Quan h c bn gia lng, th v dng
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 ni trn.
Mi loi h thng c 3 phn t c bn (basis element):
Tr (resistance)
Dung (capacitance)
Cm (inductance) hay qun tnh (inertia)
Cc phn t c bn ny c nh ngha da trn 3 bin:
Lng (quantity)
Th (potential)
Thi gian (time).
Bng 2.1: Cc bin c s dng nh ngha cc yu t c bn
ca cc loi h thng.
Loi
H thng
in
C kh
Lu cht
(lng)
Nhit

Bin
Lng
in tch
(Charge)
Khong cch
(Distance)
Th tch
(Volume)
Nhit nng
(Heat energy)

Th
in th
(Voltage)
Lc
(Force)
p sut
(Pressure)
Nhit
(Temperature)

Thi gian
Giy

Hunh Thi Hong B mn iu khin T ng

Giy
Giy
Giy

Chng 2: M HNH HA

10

Cc bin khc c nh ngha da trn 3 bin c bn trn.

Cng dng l bin thin lng trong mt n v thi gian
(hay cng dng l tc bin thin lng).
cng o dong =

d(
lng )
dt

(2.1)

Cong suat
cong suat = the cng o dong

nh ngha cc phn t c bn (Quan h gia lng, th v dng)

Tr l s chng li s chuyn ng 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).
tr =

the
cng o dong

(2.2)

Dung biu din mi quan h gia lng v th. Dung c o

bng lng cn thit l cho th bin thin mt n v.
dung =

(2.1) & (2.3)

the =

1
dung

lng
the

(cng o dong)dt

(2.3)

(2.4)

Cm hay qun tnh l s chng li s thay i trng thi

chuyn ng. Cm c o bng th cn thit lm tc bin
thin ca lng thay i mt n v.
the = cam

d
(cng o dong )
dt

Hunh Thi Hong B mn iu khin T ng

(2.5)

Chng 2: M HNH HA

11

* Cc phng trnh cn bng

Cc nh lut bo ton khi lng, nng 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

(2.6)

Nu h thng khng c cc phn t tch tr khi lng, nng lng v

xung lng th phng trnh (2.6) tr thnh:
0 = dong vao dong ra

(2.7)

Nu h thng c phn t tch tr khi lng, nng lng hay xung

lng th s tch tr ny lm thay i trng thi ca h thng.
d
(bien trang thai ) = dong vao dong ra
dt

(2.8)

Cc hin tng t nhin xy ra theo hng lm ti thiu nng

lng, v nhiu bi ton m hnh ha m t iu kin cn bng lin
quan n s ti thiu nng lng.
2.3.1.2 L tng ha cc phn t vt l
Cc nguyn tc l tng ha:
Nguyn tc thun ha: nhn ra nh hng vt l c bn chi
phi hot ng ca i tng v dng cc phn t thun biu din.
ien
moi

Hnh 2.9: Mo hnh tu ien gom cac phan t thuan nhat

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

12

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 hnh ha tp trung.

Hnh 2.10: Mo hnh van nhay

Nguyn tc tuyn tnh ha: tt c cc h thng thc u l h
phi tuyn l tng ha bng cch tuyn tnh ha.

Hnh 2.11: ac tnhphi tuyen cua ien tr

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

13

2.3.1.3 S tng ng ca cc quan h vt l

Do cc hin tng vt l c s tng ng nn c th m hnh
ha h c bng h in, h nhit bng h in,

Hnh 2.12: S tng ng gia cc phn t

c bn ca cc loi h thng vt l

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

14

2.3.2 Phan tch vat ly he thong ien

2.3.2.1 Cc phn t in
Cc bin c bn trong h thng in:
in lng:
q
in th:
u
Cng dng in: i
dq
i=
(2.1)

dt
Cc phn t in c bn
in tr:
(2.2)

in dung:
(2.3)

(2.4)

in cm:
(2.5)

R=

[]

S
u
R=
i
C=

[C]
[V]
[A]

d
q
C=
u
1
u=
idt
C

[F]

L=

r 2 N

u=L

[H]

di
dt

Ngun p l tng:
Ngun dng l tng
2.3.2.2 Phng trnh cn bng in
nh lut Kirchoff v dng.
nh lut Kirchoff v p.
2.3.2.3 Phng php gii tch mch in
Phng php dng vng
Phng php th nh
Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

15

2.3.3 Phan tch vat ly he thong c

2.3.3.1 Cc phn t c
Chuyn ng thng
Cc bin:
Khong cch: x
Lc:
f
Tc :
v
(2.1)

Cc phn t:
Tr:

v=

[m]
[N]
[m/sec]

dx
dt

RM = b
b: h s ma st nht [N.sec/m]

x
f

f
b

(2.2)

Dung:

b=

f
v

RM =

f
v

CM = 1 / k
k: cng l xo [N/m]

x
f

f
k

(2.3)

1 x
=
k f

(2.4)

f = k vdt = kx

x
f
1
f =
vdt
CM

CM =

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

16

Qun tnh c: m : khi lng

[kg]

x
f

(2.5)

Chuyn ng quay
Lc
Khong cch
Vn tc
Gia tc
Qun tnh

m
f =m

dv
= ma
dt

Moment
Gc quay
Vn tc gc
Gia tc gc
Moment qun tnh

2.3.3.2 Phng trnh cn bng c

Phng trnh cn bng lc.
Phng trnh Euler Lagrange:
d L L
=

dt q& q
Trong :
L = T U
U: th nng
T: ng nng
q: ta tng qut
: ngoi lc (hay moment)

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA
2.3.3.3 S tng ong gia he thong c va he thong ien

Hnh 2.13: S tng ong gia cac phan t

Hnh 2.14: S tng ong gia cac nguon

Hunh Thi Hong B mn iu khin T ng

17

Chng 2: M HNH HA

18

2.3.4 Phan tch vat ly he thong nhiet

2.3.4.1 Cac phan t nhiet
Cac bien trong he thong nhiet :
Nhit :

Nhit nng:
Q
Dng nhit:
H
(2.1)

[0C]
[J]
[J/sec]

H=

Cac phan t nhiet:

Nhit tr:
Nhit tr dn nhit:

dQ
dt

RT =

kC S
trong : kC: l h s dn nhit ca mi trng truyn nhit
l: l chiu di ca mi trng truyn nhit
S: l tit din ngang ca mi trng truyn nhit

(2.2)

RT =

H
Nhit tr i lu + Bc x nhit: xem (Smith,1994)

Nhit dung:
CT = c.M
trong : c: l nhit dung ring ca mi trng truyn nhit
M: l khi lng ca mi trng truyn nhit
Q
(2.3)

CT =

(2.4)

Qun tnh nhit:

(2.5)

1
Hdt
CT

IT

= IL

dH
dt

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

Hnh 2.15: Nhiet tr (a) Nhiet tr truyen nhiet

(b) Nhiet tr oi lu (c) Nhiet tr bc xa

Hunh Thi Hong B mn iu khin T ng

19

Chng 2: M HNH HA

20

Hnh 2.16: Nhiet dung

2.3.4.2

Cac phng trnh can bang nhiet

2.3.5 Phan tch vat ly he lu chat long

2.3.5.1 Cac phan t lu chat
Cac bien trong he lu chat :
p sut:
p
Th tch:
V
Lu lng:
q
(2.1)

q=

[N/m2]
[m3]
[m3/sec]

dV
dt

Cac phan t lu chat:

Lu tr:

128l
[N.sec/m]
d 4
p
RL =
(2.2)

q
Cng thc trn ch ng trong trng hp lu cht chy tng (c
hng), v ng ng dn lu cht di (l>20d)
Lu tr ca ng ng:

RL =

Lu tr ca van: phi tuyn

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

21

Hnh 2.17: Lu tr

Dung:
(2.3)

(2.4)

A
g
V
CL =
p
1
p=
qdt
CL

CL =

[m5/N]

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

22

Hnh 2.18: Lu dung

Qun tnh:
(2.5)

IL =

l
a

p = IL

[Nsec2/m5]

dq
dt

2.3.5.2 Cac phng trnh can bang trong h lu cht

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

23

2.3.6 Mt s th d
Th du 2.5: M hnh ha
h thng sau:

Cch 1: Dng nh lut Newton

Chiu ln phng chuyn ng, p dng nh lut II Newton:
m&x&(t ) = F (t ) P sin

Cch 2: Dng cng thc EulerLagrange:

1
ng nng: T = mx& 2
2
Th nng: U = mgx sin
1

L = T U = mx& 2 mgx sin

2
p dng cng thc EulerLagrange:
d L L
d
(mx& ) + mg sin = F
=F

dt x& x
dt
m&x& + mg sin = F
Th du 2.6: Mo hnh hoa he thong giam soc cua xe may (phuoc
nhung)

f
m

Cch 1: p dng nh lut Newton:

b

m&x&(t ) = f (t ) kx(t ) bx& (t )

m&x&(t ) + bx& (t ) + kx(t ) = f (t )

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

24

Cch 2: p dng cng thc Euler-Lagrange:

1
ng nng: T = mx& 2
2
1
Th nng: U = kx 2
2
1
1
L = T U = mx& 2 kx 2

2
2
p dng cng thc EulerLagrange:
d L L
= f bx&

dt x& x
d
(mx& ) + kx = f bx&

dt

m&x&(t ) + bx& (t ) + kx(t ) = f (t )

Cch 3: p dng s tng ng gia h thng in v h thng c:

Th:
Lng:
Dung:
Tr:
Cm:

f U
xq
1/ k C
bR
mL

i
R C

Quan h gia dng v p ca mch in tng trn l:

1
I (s)
1

2
I ( s ) R +
+ Ls = U ( s )
Rs + + Ls = U ( s )
Cs
s
C

1
1

Q( s ) Rs + + Ls 2 = U ( s ) Lq&&(t ) + Rq& (t ) + q (t ) = u (t )
C
C

Do quan h gia cc i lng ca h c l:

m&x&(t ) + bx& (t ) + kx = f (t )

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

25

Th du 2.7: Mo hnh hoa he con lac ngc

lsin

lcos

m
mg
l
x

Chu thch:
M : trong lng xe [Kg]
m : trong lng con lac [Kg]
l : chieu dai con lac [m]
u : lc tac ong vao xe [N]
2
g : gia toc trong trng [m/s ]
x : v tr xe [m]
: goc gia con lac va phng thang ng [rad]
Cach 1: Dung nh luat Newton
Goi (xP, yP) la toa o cua vat nang m au con lac, ta co:
xP = x + l sin
(1)
y P = l cos
(2)
Ap dung nh luat II Newton cho chuyen ong theo phng x,
ta co:
d 2x
d 2 xP
M 2 +m 2 = F
(3)
dt
dt
Thay xG bieu thc (1) vao bieu thc (3) suy ra:
d 2x
d2
M 2 + m 2 ( x + l sin ) = F
(4)
dt
dt
Khai trien cac ao ham bieu thc (4) va rut gon ta c:
(5)
( M + m) &x& ml (sin )& 2 + ml (cos )&& = F

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

26

Mat khac, ap dung nh luat II Newton cho chuyen ong quay

cua con lac quanh truc ta c:
d 2 xP
d 2 yP
m 2 l cos m 2 l sin = mgl sin
(6)
dt
dt
Thay (1) va (2) vao (6) suy ra:
d2

d2

m
(
x
l
sin

)
l
cos

m
(
l
cos

l sin = mgl sin (7)

2
2
dt
dt

Khai trien cac ao ham bieu thc (7) va rut gon ta c:

(8)
m&x&cos + ml&& = mg sin
T (5) va (8), ta co the de dang tnh c:
F + ml (sin )& 2 mg cos sin
&x& =
(9)
M + m m(cos ) 2
F cos ( M + m) g (sin ) + ml (cos sin )& 2
&
&
=
(10)
2
ml (cos ) ( M + m)l
Cach 2: Dung cong thc EulerLagrange:
Goi (xP, yP) la toa o cua vat nang m au con lac, ta co:
xP = x + l sin
(1)
y P = l cos
(2)
ong nang cua vat nang au con lac:
1
1
1
1
2
2
TP = mx& P2 + my& P2 = m(x& + l& cos ) + m( l& sin )
2
2
2
2
1
1

TP = mx& 2 + mlx&& cos + ml 2& 2

2
2
ong nang cua xe:
1
TC = Mx& 2
2
ong nang cua he thong:
1
1
T = TP + TC = (M + m )x& 2 + mlx&& cos + ml 2& 2
2
2
The nang cua he thong = the nang vat nang au con lac:
U = mgl cos

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA
1
(M + m )x& 2 + mlx&& cos + 1 ml 2& 2 mgl cos
2
2
Phng trnh Euler Lagrange:
d L L
=F

&
dt x x
d L L
=0
&
dt
Thay (4) vao (3):
(M + m )&x& + ml (cos )&& ml (sin )& 2 = F
m&x& cos + ml&& mg sin = 0
Suy ra:
F + ml (sin )& 2 mg cos sin
&x& =
M + m m(cos ) 2
F cos ( M + m) g (sin ) + ml (cos sin )& 2
&
&
=
ml (cos ) 2 ( M + m)l

L = T U =

Th du 2.8: Mo hnh he tay may hai bac t do

m2

y2
l2

y1

l1, l2 : chieu dai cua 2

m1, m2 : khoi lng
1, 2 : goc quay cua cac khp canh tay
1, 2 : moment lam quay cac khp noi

m1

1
l1
x1

x2

Toa o cua canh tay may trong he toa o De-cac la:

x1 = l1 sin 1
y1 = l1 cos 1
x2 = l1 sin 1 l2 sin 2
y2 = l1 cos 1 + l2 cos 2

Hunh Thi Hong B mn iu khin T ng

27
(3)

(4)

(5)

Chng 2: M HNH HA
Van toc:

28

x& l & cos 1

v1 = 1 = 1 1

y&1 l1&1 sin 1

x& l & cos 1 l2& 2 cos 2
v2 = 2 = 1 1

y& 2 l1&1 sin 1 l2& 2 sin 2

ong nang:

1
1
T = m1 ( x&12 + y&12 ) + m2 ( x&22 + y& 22 )
2
2
1
1
1

T = m1l12&12 + m2l12&12 + m2l22& 22 +

2
2
2
m2l1l2&1& 2 (cos 1 cos 2 + sin 1 sin 2 )
The nang:
U = m1 gl1 cos 1 + m2 g (l1 cos 1 + l2 cos 2 )
Do o:
1
1
1
L = T U = m1l12&12 + m2l12&12 + m2l22& 22
2
2
2
+ m2l1l2&1& 2 (cos 1 cos 2 + sin 1 sin 2 )
m1 gl1 cos 1 m2 g (l1 cos 1 + l2 cos 2 )
(1)
Phng trnh EulerLagrange:
d L L

= 1
dt &1 1

(2)

d L L

=2
dt & 2 2

(3)

Thay (1) vao (2) va (3) ta c:

(m1 + m2 )l12&&1 + m2l1l2 (cos 1 cos 2 + sin 1 sin 2 )&&2
+ m2l1l2 (sin 1 cos 2 cos 1 sin 2 )& 22 (m1 + m2 ) gl1 sin 1 = 1 (4)
m2l22&&2 + m2l1l2 (cos 1 cos 2 + sin 1 sin 2 )&&1
m2l1l2 (sin 1 cos 2 cos 1 sin 2 )&12 m2 gl2 sin 2 = 2

Hunh Thi Hong B mn iu khin T ng

(5)

Chng 2: M HNH HA

29

Th du 2.9: Mo hnh toan bon cha chat long (Single Tank)

qin
u(t)

h(t)

qout

A: tiet dien ngang bon cha

a: tiet dien van xa
k: he so t le vi cong suat may bm
d
( Ah(t ) ) = qin (t ) qout (t )
Phng trnh can bang:
dt
Dong vao:
qin (t ) = ku (t )
Dong ra:

2
qout
(t ) = (2 / )a 2C D2 p(t )

trong o:

p(t ) = gh(t ) : ap suat

C D = 0.6
: he so xa

1
h&(t ) = ku (t ) aC D 2 gh(t )
A

Suy ra:

Th du 2.10: He bon noi tiep (Cascade Tank)

qin1
u(t)

h1(t)

qout1=qin2

h2(t)

qout2

1
&
h
t
k1u1 (t ) a1C D1 2 gh1 (t )
(
)
=
1

A1

1
h&2 (t ) =
a1C D1 2 gh1 (t ) a2C D 2 2 gh2 (t )

A2

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

30

Th du 2.11: He bon lien ket (Coupled Tank)

Mo hnh toan:

(
(

1
&
h
t
k1u1 (t ) a1C D1 2 gh1 (t ) C D12 sgn (h1 (t ) h2 (t ) )a12 2 g h1 (t ) h2 (t )
(
)
=
1
A1

1
h&2 (t ) =
k 2u 2 (t ) a2 C D 2 2 gh2 (t ) C D12 sgn (h2 (t ) h1 (t ) )a12 2 g h1 (t ) h2 (t )

A2

Th du 2.12: S tng ong gia he lu chat va he thong ien:

e 2 mo hnh tren tng ng ta can gia thiet bon cha rat ln,
khi he thong van hanh o cao mc chat long trong bon cha thay oi
khong ang ke.

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA
Th du 2.13: Mo hnh lo say

S (t ) : nhiet o nguon nhiet

(t ) : nhiet o lo say

H(t) (t)

S(t)

31

H (t ) : dong nhiet

Ta co:
Dong nhiet:

H (t ) =

Phng trnh can bang:

CT

trong o:

S (t ) (t )
RT

d (t )
= H (t )
dt

d
: nhiet tr
2 Ak
d: chieu dai lo say
A: tiet dien ngang
k: he so dan nhiet
CT = cM : nhiet dung
c: nhiet dung rieng cua moi trng truyen nhiet
M: khoi lng moi trng truyen nhiet
RT =

Suy ra mo hnh toan hoc cua lo say la:

RT CT

d (t )
+ (t ) = S (t )
dt

Trng hp lo say dai, co the mo hnh hoa bang cach chia lam
nhieu ngan:

S(t)

H1(t) 1(t)
d/4

d/4

H2(t)

2(t)
d/2

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA
Dong nhiet:
H1 (t ) =

32

S (t ) 1 (t )

RT 1
(t ) 2 (t )
H 2 (t ) = 1
RT 2
Phng trnh can bang:
d (t )
CT 1 1 = H1 (t ) H 2 (t )
dt
d (t )
CT 2 2 = H 2 (t )
dt
Suy ra:
d1 (t ) S (t ) 1 (t ) 1 (t ) 2 (t )

T 1 dt =
RT 1
RT 2

d (t ) (t ) 2 (t )
CT 2 2 = 1

dt
RT 2

2.4 PHAN TCH TOAN HOC

(tham khao chng 5 va chng 8, (Smith, 1994))
Phan tch toan hoc:
Ket hp tat ca cac he phng trnh mo ta ac tnh ong cua
cac bo phan chc nang e c he phng trnh mo ta he thong.

Tuyen tnh hoa quan he phi tuyen e c mo ta toan hoc

tuyen tnh
Xet he phi tuyen bac n co p ngo vao, q ngo ra mo ta bi phng
trnh trang thai.
x& (t ) = f ( x (t ), u(t ))

y (t ) = h( x (t ), u(t ))
trong o x (t ) n la vector trang thai, u(t ) p la vector tn hieu
vao, y (t ) q la vector tn hieu r; f (.) n , h(.) q la vector
ham mo ta ac tnh ong cua he phi tuyen.
Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

33

Khai trien Taylor xung quanh iem lam viec tnh ( x , u )

ta co the mo ta he thong bang phng trnh trang thai tuyen tnh:
~ (t )
~
x& (t ) = A~
x (t ) + Bu
~
~
~
y (t ) = Cx (t ) + Du (t )
x~ (t ) = x (t ) x
u~ (t ) = u (t ) u
trong o:
~
y (t ) = y (t ) y ,
( y = h( x , u ) )
Cac ma tran trang thai cua he
nh sau:
f1
x
1
f 2
f
A=
= x
x ( x,u ) 1
M
f n

xn

B=

C=

f
u ( x,u )

h
x ( x,u )

f1
u
1
f 2
= u1
M
f
n
u1
h1
x
1
h2
= x1
M
hq

x1

tuyen tnh gan ung c tnh

f1
x2
f 2
x2
M
f n
x2

f1
u2
f 2
u2
M
f n
u2
h1
x2
h2
x2
M
hq
x2

f1
xn

f 2
L
xn
O M
f n
K

xn ( x,u )
L

L
L
O
K
L
L
O
K

f1
u p

f 2
u p
M
f n

u p
( x, u )
h1
xn

h2
xn
M
hq

xn ( x,u )

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

D=

h
u ( x,u )

34
h1
u
1
h2
= u1
M
h
q
u1

h1
u2
h2
u2
M
hq
u2

h1
u p

h2
L
u p
O
M
hq

K
u p
( x, u )
L

ai so s o khoi Phng phap s o dong tn hieu va cong

thc Mason e tm ham truyen tng ng cua he tuyen tnh.
anh gia s phu hp cua mo hnh
Dung mo hnh e d bao ap ng cua he thong oi vi tn
hieu vao cho trc.
Th du 2.14: Mo hnh toan he con lac ngc truyen ong dung ong
c DC, xet anh hng cua ma sat:

* ac tnh ong cua he xecon lac co xet en anh hng cua ma

sat:
Tng t nh th du 2.7, tuy nhien lc tac ong phai ke them
lc ma sat:
( M + m) &x& ml (sin )& 2 + ml (cos )&& = F f C
(1)
(2)
m&x& cos + ml&& mg sin = f P
trong o:
f C lc ma sat tac ong len xe
f P lc ma sat tac ong len con lac

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

35

* ac tnh ma sat:
Gia thiet co ca ma sat tnh va ma sat nht tac ong lam can tr
chuyen ong cua xe va con lac. Cac lc ma sat nay co the mo ta
bang cac phng trnh sau:
C x&
f C = sgn( x& ) Ax e x + Bx x&
(3)
C &
f P = sgn(&) A e + B &

(4)

trong o Ax , Bx , C x , A , B , C > 0 .

* ac tnh ong c:
La I&a = Va Ra I a Eb
Eb = K b
J m& = Tm Tl Bm
Tm = K i K g I a
Tl = Fr
= K g x& / r

La : ien cam phan ng

Ra : ien tr phan ng

I a : dong ien phan ng

Va : ien ap phan ng

Tm : moment ong c

Tl : moment tai

: toc o quay ong c

J m : moment quan tnh ong c

r : ban knh pu-li

Bm : he so ma sat nht

K i : he so moment

K i : he so moment

K g : he so giam toc

Eb : sc phan ien

F : lc tac ong vao xe

ac tnh ong c co the bieu dien theo I a , x va F nh sau:

Hunh Thi Hong B mn iu khin T ng

(5)
(6)

Chng 2: M HNH HA

36

La I&a + Ra I a +
Kg Jm
r2

&x& +

K g Kb

K g Bm
r2

r
x&

(7)

x& = Va
Ki K g
r

Ia = F

(8)

Do o mo hnh toan hoc cua he xe con lac vi tn hieu vao la ien

ap cap cho ong c nh sau:
Kg Jm

& 2 + ml (cos )&& + K g Bm x& K g K i I = f

&
&
+
+

M
m
x
ml
(
)
(sin

a
C

r
r2
r2

m&x& cos + ml&& mg sin = f P

K g Kb
x& = Va
La I&a + Ra I a +
r

Th du 2.15: Mo hnh tuyen tnh cua he con lac ngc xung quanh v
tr thang ng.
He phng trnh mo ta ac tnh ong phi tuyen cua he con lac
ngc (xem th du 7):
u + ml (sin )& 2 mg cos sin
&x& =
(1)
M + m m(cos ) 2
u cos ( M + m) g (sin ) + ml (cos sin )& 2
&
&
(2)
=
2
ml (cos ) ( M + m)l
at x (t ) = [ , &, x, x& ]T : vector trang thai, ta c:
x2 (t )

2
x&1 (t ) u cos x1 ( M + m) g (sin x1 ) + ml (cos x1 sin x1 ) x2

x& (t )
2
(cos
)
(
)

+
ml
x
M
m
l
2

=
x4 (t )

x&3 (t )
2

u + ml (sin x1 ) x2 mg cos x1 sin x1
x&4 (t )
1

23
2
M + m m(cos x1 )

1444444
x&
4442444444444
3
f (.)

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

37

(t ) x1 (t )
y (t ) =
= x (t )
x
t
(
)

12
3
3
h(.)
iem can bang v tr thang ng: ( x , u ) = (0,0)
Tuyen tnh hoa xung quanh iem can bang:
~ (t )
x~& (t ) = Ax~ (t ) + Bu
~
~
~
y (t ) = Cx (t ) + Du (t )

trong o:

A=

f
x ( x,u )

f1
x
1
f 2
x
= 1
f
3
x1
f 4
x
1

f1
x2
f 2
x2
f 3
x2
f 4
x2

f1
x3
f 2
x3
f 3
x3
f 4
x3

f1
x4
0
1 0 0

f 2
( M + m) g 0 0 0
Ml

x4
=

f 3
0
0 0 1

m
x4

g
0
0
0

M
f 4
x4 ( 0 ,0)

f1
u
0
f
1
2

f
B=
= Ml
= u
0
u ( x,u ) f 3
1
u

f 4
M

u ( 0 ,0 )
h1 h1 h1 h1
x x
1 0 0 0
h
x3 x4
1
2
C=
=
=

x ( x,u ) h2 h2 h2 h2
0 0 1 0
x1 x2 x3 x4 ( x,u )

D=

h
u ( x,u )

h1

0
= u
=
h
0
2
u ( x,u )

Hunh Thi Hong B mn iu khin T ng

Chng 2: M HNH HA

Hunh Thi Hong B mn iu khin T ng

38