Matlab trong l thuyt iu khin t ng

Dng Matlab kho st tnh n nh ca h thng

Cc cch xt tnh n nh h thng

1 . Xt n nh theo khi nim 2 . n nh theo i s + Tiu chun Routh + Tiu chun Hurwitz 3 . Xt n nh theo phng php qu o nghim s 4 . n nh theo tn s + Theo tiu chun Bode + Theo tiu chun Nyquist

n nh theo khi nim

Yu/cu : Phi bit hm truyn h thng Cc v Zero hm truyn + Hm truyn :W(s)= A( s ) + Cc :nghim ca mu + Zero:nghim ca t iu kin n nh: + Cc nghim ca cc phi nm bn tri mt phng phc hoc nm trn trc o iu kin khng n nh + Nu t nht 1 nghim nm bn tri mt phng phc th h thng s khng n nh
B( s ) b0 s m b1s m1....bm1s bm a0 s n a1s n1....an1s an

n nh theo khi nim

Ta dng lnh: pzmap s2 VD W(s)= 2 s 2 3s 4 >>num=[1 2] >>den=[2 3 4] >>W=tf(num,den) >>pzmap(W) Du x: Cc o: Zero

n nh theo i s
Routh v Hurwitz khng dng Matlab + ieu kien can e he thong on nh la tat ca cac he so cua phng trnh ac trng phai khac 0 va cung dau + Routh :ieu kien can va u e he thong on nh la tat ca cac phan t nam cot 1 cua bang Routh eu dng. + Hurwitz:ieu kien can va u e he thong on nh la tat ca cac nh thc con cha ng cheo cua ma tran Hurwitz eu dng ( c li sch l thuyt iu khin t ng)

Xt n nh theo phng php qu o nghim s

iu kin n nh H thng n nh ng vi on qu o nghim s nm bn tri trc o H thng trng thi gii hn n nh to giao im ca qu o nghim s vi trc o iu kin khng n nh H thng khng n nh vi vi on qu o nm bn phi mt phng phc

Xt n nh theo phng php qu o nghim s

Ta dng lnh : rlucus(hm truyn) s2 VD W(s)= 2 s 2 3s 4 >>num=[1 2] >>den=[2 3 4] >>W=tf(num,den) >>rlucus(W) H ny n nh do on qu o nghim nm bn tri mt phng phc

n nh theo tn s
Theo tiu chun Nyquist + iu kin : Bit h thng h xt h thng kn c nh hay khng Hiu bao m v khng bao im Bao im l ta xt trong khong (-,-1) nu khng c hoc s giao im chuyn i t m sang dng bng s giao im chuyn t dng sang m khng bao im th ngc li Tieu chuan Nyquist: Khi h h n nh( hoc gii hn n nh) tc ng Nyquist khng bao im (-1,j0)th He thong kn Gk(s) on nh H thng h khng n nh tc ng Nyquist cua he h G(s) bao iem (1, j0) L/2 vong theo chieu dng (ngc chieu kim ong ho) khi thay oi t 0 en +, trong o L la so cc nam ben phai mat phang phc cua he h G(s)

n nh theo tn s
Ta dng lnh :Nyquist( hm truyn) s 2 W(s)= 2s 2 3s 4 >>num=[1 2] >>den=[2 3 4] >>W=tf(num,den) >>nyquist(W) Nhn vo hnh ta thy h thng h H thng h n nh do khng bao im (-1.j0) dn n h thng kn n nh

n nh theo tn s
Theo tiu chun Bode Yu cu :Tan so cat bien (c): la tan so ma tai o bien o cua ac tnh tan so bang 1 (hay bang 0 dB). d Tan so cat pha (): la tan so ma tai o pha cua ac tnh tan sobang 1800 (hay bang radian) iu kin n nh :D tr pha v d tr bin ln hn 0

n nh theo tn s
Ta dng lnh :margin(num,den) s2 W(s)= 22] 3s 4 s2 >>num=[1 >>den=[2 3 4] >>W=tf(num,den) >>margin(W) D tr bin v d tr pha u l nn h n nh

Qu
Dng lnh : + )step(hm truyn) p dng vi u vo l hm 1(t) +) impulse(hm truyn) p dng vi u vo l hm Dirac +) lsim(hm truyn,u,t) p dng vi u vo bt k vi u l kch thch bt k Dng lnh gensig [u,t]=gensig(tnhiu,chu k,Tf,Ts) vi Tf xc nh khong thi gian t tn hiu v Ts chu k trch mu. Tn hiu c th l (sin) hoc (square), hoc hm xung c chu k (pulse).