CHNG 6: PHN TCH H THNG LIN TC THEO THI GIAN DNG BIN I LAPLACE

Ni dung 6.1 Bin i Laplace 6.2 c tnh ca bin i Laplace 6.3 Tm nghim ca phng trnh vi phn v phng trnh vi-tch phn 6.4 Phn tch mng in: s ton t 6.5 S khi 6.6 Thit lp h thng 6.7 ng dng vo phn hi v iu khin 6.8 Bin i Laplace hai bn 6.9 Ph chng 6.1: Thc hin dng chnh tc th hai 6.10 Tm tt

Ti liu tham kho: B.P. Lathi, Signal Processing and Linear Systems, Berkeley-Cambridge Press, 1998 Bin i Fourier l cng c biu din tn hiu f (t ) thnh dng tng cc hm m dng e jwt , vi tn s b gii hn trn trc o ca mt phng phc ( s = jw ) . Theo cc chng 4 v 5 th biu din ny phn tch v x l tn hiu. Tuy nhin, iu ny cha khi phn tch h thng v: (1) Bin i Fourier ch tn ti trong mt s lp tn hiu, v khng dng c vi cc ng vo tng theo dng hm m. (2) Bin i Fourier khng phn tch c cc h thng khng n nh hay bin n nh. 6.1 Bin i Laplace Nguyn nhn c bn ca cc kh khn va nu l do mt s tn hiu, nh e -t u (t ) (a > 0) khng c bin i Fourier do cc sng sin thng thng hay hm m dng e jwt (ch quan tm n bin khng i) khng c kh nng tng hp c hm m tng theo thi gian. Vn ny c gii quyt khi dng tn hiu c bn (nn) dng e st (thay cho hm e jwt ), khi tn s phc s khng cn phi nm trn trc o (nh trng hp bin i Fourier). iu ny th hin qua php bin i m rng gi l bin i Laplace hai bn, vi bin tn s s = jw c tng qut thnh s = s + jw . iu ny cho php ta dng cc hm m tng theo thi gian tng hp tn hiu f (t ) . Trc khi pht trin ton t ca php m rng, ta cn tm hiu trc gic v qu trnh tng quat ha ny.

6.1- 1 Hiu bit trc gic v bin i Laplace Tn hiu f (t ) trong hnh 6.1d khng c bin i Fourier, ta ly bin i Fourier bng cch nhn tn hiu vi hm m gim dng e -st . Th d, ly bin i Fourier tn hiu e 2tt u (t ) bng cch nhn vi hm e -st vi V > 2 . t: f (t ) = f (t )e -st Nh v hnh 6.1a. Tn hiu f (t ) c c bin i Fourier v cc thnh phn Fourier c dng e jwt vi tn s w thay i t w = - n . Thnh phn m e jwt v e - jwt thm vo ph to sng sin tn s w. Ph cha v hn cc sng sin, mi sng c bin b. Rt d ln ln khi v tt c cc dng sng ny; do , hnh 6.1b, ch v hai thnh phn tiu biu. Cng tt c cc thnh phn ny (s lng l v hn) cho ta li f (t ) , v hnh 6.1a. Thnh phn ph ca hm m ca f (t ) c dng e jwt , vi tn s phc jw nm trn trc o t w = - n , v hnh 6.1c. Hnh 6.1a v tn hiu f (t ) = f (t )e -st . Hnh 6.1b v hai trong s v hn cc thnh phn ph, v hnh 6.2c v v tr tn s ca mi thnh phn ph ca f (t ) trn mt phng phc. Vy ta tm li tn hiu mong mun f (t ) bng cch nhn f (t ) vi est . iu ny cho php tng hp f (t ) bng cch nhn tng thnh phn ca nhn f (t ) vi est ri cng tt c li. Nhng khi nhn thnh phn ph ca f (t ) (sng sin trong hnh 6.1b) vi est to hm sin tng theo dng m nh v hnh 6,1e. Khi cng tt c cc thnh phn sng sin tng dng m (s lng l v hn) to li f (t ) trong hnh 6.1d. Thnh phn ph ca f (t ) c dng e jwt . Khi nhn cc thnh phn ny vi est to ra thnh phn ph c dng est e jwt = e j (s + jw ) . Vy, cc thnh phn tn s jw trong ph f (t ) c chuyn sang thnh phn tn s s + jw trong ph ca f (t ) . V tr cc tn s s + jw trong mt phng phc nm theo ng dc, v trong hnh 6.1f. R rng l tn hiu f (t ) c th c tng hp dng cc hm m tng khng dng nm dc theo s + jw , vi w = - n . Gi tr ca s rt mm do. Th d, nu f (t ) = e 2t u (t ) , th f (t ) = f (t )e -st c bin i Fourier khi chn s > 2. T , c v s cch chn s . iu ny tc l ph ca f (t ) khng c nht, vi v s kh nng tng hp f (t ) . Tuy nhin, s c mt s gi tr b nht s 0 cho tng f (t ) . [ s 0 = 2 cho trng hp
f (t ) = e 2t u (t ) ]. Vng trong mt phng phc cho s > s 0 gi l vng hi t (hay vng tn ti) cho bin i ca f (t ) Cc kt lun rt ra t phng php th v sai s c phn tch mt cch gii tch nh sau. Tn s jw trong bin i Fourier s c tng qut thnh s = s + jw .

6.1- 2 Phn tch bin i Laplace hai bn Ta nht qun bin i Fourier v bin i Laplace, nn cn dng nim F ( jw ) thay cho F (w ) ca trng hp bin i Fourier, v c nh ngha theo:

F ( jw ) = f (t )e - jwt dt
-

(6.1)

f (t ) = F ( jw )e jwt dw
-

(6.2)

Xt bin i Fourier ca f (t )e -st

(s s thc)
-

F [ f (t )e -st ] = f (t )e -st e - jwt dt F [ f (t )e -st ] = f (t )e -(st + jw )t dt

-

(6.3) (6.4)

Theo phng trnh (6.1), th cc tch phn trn l F (s + jw ) , nn F [ f (t )e -st ] = F (s + jw ) Bin i Fourier nghch

(6.5)

f (t )e -st =
Nhn hai v vi est

1 2p

F (s + jw )e jwt dw

(6.6)

1 (6.7) F (s + jw )e (s + jw ) t dw 2p - Lng (s + jw ) l tn s phc s. i bin tch phn t w sang s. Do s = s + jw , dw = (1 / j )ds . Gii hn ca tch phn t w = - n chuyn t bin s t (s - ) n (s + ) . Tuy nhin, cn nhc li l vi hm cho trc f (t ) , s cn c gi tr ti thiu s 0 , f (t ) =

v ta c th chn bt k vi s > s 0 . Phng trnh (6.7) thnh 1 c+ f (t ) = F ( s )e st ds c 2pj T phng trnh (6.4) v (6.5), ta c

(6.8a)

F ( s ) = f (t )e -st dt

(6.8b)

Cp phng trnh trn gi l cp bin i Laplace hai bn. Bin i Laplace hai bn c vit thnh cng thc F(s) = L[f(t)] v f(t) = L-1[F(s)] Hay n gin hn f (t ) F ( s ) p ng ca h thng LT TT BB. Phng trnh (6.8a) biu din f (t ) thnh tng trng cc hm m dng e st . iu ny c th hin r khi vit tch phn trong phng trnh (6.8a) theo dng tng F (nDs )Ds ( nDs )t 1 f (t ) = F ( s ) ds = lim (6.9) 2pj e D s 0 2pj n= - R rng, bin i Laplace biu din f (t ) thnh tng cc hm m khng dng c dng e ( nDs ) t i t c - j n c + j vi c > s 0 . y l cc sng sin vi dng m tng (khi c > 0 ) hay gim theo dng m (khi c < 0 ). Ta xc nh p ng ca h thng LT TT BB vi ng vo f (t ) qua quan st hm truyn h thng vi hm m (khng dng) e ( nDs ) t l H (nDs )e ( nDs ) t . T phng (6.9), c p ng ca h thng vi ng vo f (t ) l:
F ( nDs) H (nDs )Ds ( nDs ) t 1 c ' + j e = F ( s ) H ( s )e st ds (6.10) c ' j Ds 0 2pj 2pj n = - Hng ly tch phn (t c '- j n c '+ j ) trong phng trnh (6.10) c th khc vi phng trnh (6.9). Nu f (t ) F ( s ) , theo phng trnh(6.10) l (6.11) Y (s) = F ( s) H ( s) f (t ) = lim

Ta biu din ng vo f (t ) l tng cc thnh phn hm m dng e st . T , tm c p ng ca h thng bng cch cng tt c p ng vi cc thnh phn m ny. Phng php thc hin tng t nh trong chng 2 (vi ng vo c biu din thnh tng nhiu xung) hay trong chng 4 (vi ng vo c biu din thnh tng cc hm m dng e jwt ).

Vy khi h LT TT BB c hm truyn H(s), c ng vo l f (t ) v ng ra y (t ) , nu f (t ) F ( s ) , v y (t ) Y ( s ) , th (6.12) Y (s) = F (s) H ( s) Tnh tuyn tnh ca bin i Laplace Bin i Laplace l ton t tuyn tnh, v theo nguyn l xp chng, nu f1 (t ) F1 ( s ) v f 2 (t ) F2 ( s ) , th a1 f1 (t ) + a2 f 2 (t ) a1 F1 ( s ) + a2 F2 ( s ) (6.13) Phn chng minh n gin v ly t nh ngha ca bin i Laplace. Kt qu ny cn c m rng khi c v hn cc tha s ng vo. Vng hi t Phn trc tho lun mt cch trc gic v vng hi t (hay vng tn ti) ca bin i Laplace F(s). V mt ton hc, vng hi t ca F(s) l tp cc gi tr ca s (vng nm trong mt phng phc), trong tch phn t phng trnh (6.8b) nh ngha trc tip bin i Laplace hi t. Xt tip th d sau: Th d 6.1: Cho tn hiu f (t ) = e - at u (t ) , tm bin i Laplace F(s) v vng hi t T nh ngha

Do u (t ) = 0 khi t < 0 v u (t ) = 1 khi t 0

F ( s ) = e -at u (t )e -st dt
-

F ( s ) = e e dt = e
- at - st 0 0

-( s + a ) t

1 -( s + a ) t dt = e s+a

(6.14)
0

Ch do s l bin phc v khi t , tha s e - ( s + a ) t khng nht thit phi trit tiu, nn ta dng li nim v s phc z = a + jb .
e - zt = e - (a + jb ) t = e -at e - jbt

Do e - jbt = 1 vi mi gi tr ca b t . Do . Khi t , e - zt 0 nu v ch nu khi a > 0 , v t , e - zt nu a < 0 , do 0 Re z > 0 lim e - zt = t Re z < 0 R rng 0 Re( s + a ) > 0 lim e -( s+a )t = t Re( s + a ) < 0 Dng kt qu t phng trnh (6.14) 1 F (s) = Re( s + a) > 0 s+a 1 F (s) = Re( s + a) > 0 s+a

(6.15)

(6.16a) (6.16a)

Hay

e -at u (t )

1 s+a

Re s > -a

(6.16b)

Vng hi t ca F(s) l Re s > a, v phn din tch t bng trong hnh 6.2a. iu ny tc l tch phn nh ngha F(s) trong phng trnh (6.14) ch tn ti vi gi tr ca s trong vng t bng hnh 6.2a. Tch phn trong (6.14) khng hi t vi cc gi tr khc ca s. Do vng t bng ny c goi l vng hi t (hay vng tn ti) ca F(s). Nhc li l bin i Fourier ca e - at u (t ) khng tn ti vi cc gi tr m ca a. Ngc li, bin i Laplace tn ti vi mi gi tr ca a, v vng hi t l phn bn phi ca ng thng Re s = -a.

Vai tr ca vng hi t Vng hi t rt cn tm bin i Laplace nghch f (t ) nh nh ngha phng trnh (6.8a). Khi tm bin i nghch, cn tnh tch phn trong mt phng phc, nn cn thm mt s nh ngha. ng ly tch phn dc theo c + jw vi w thay i t n . Hn na. ng ly tch phn phi nm trong vng hi t (hay tn ti) ca F(s). iu ny khng thc hin c vi tn hiu e - at u (t ) nu c > - a . Cn mt ng ly tch phn khc (ng chm) trong hnh 6.2a. Nh th, c c f (t ) t F ( s ) l phi ly tch phn theo ng ny. Khi ly tch phn [1 /( s + a)]e st dc theo ng ny, cho kt qu e - at u (t ) . Phng php ly tch phn trong mt phng phc i hi kin thc v hm bin phc. iu ny c th trnh c bng cch dng bng bin i Laplace (bng 6.1), vi y cc cp bin i Laplace ca nhiu dng tn hiu khc nhau. Th d, tm bin i nghch ca bin i 1 /( s + a ) , thay v dng cng thc tnh tch phn phc (6.8a), ta nhn vo bng c bin i nghch l e - at u (t ) . Bin i Laplace mt bn bit nhu cu ca bin i Laplace mt bn, hy tm bin i Laplace ca tn hiu f (t ) v hnh 6.2b
f (t ) = -e - at u (-t )

Bin i Laplace ca tn hiu ny l Do u (-t ) = 1 khi t < 0 v u (-t ) = 0 khi t > 0

F ( s ) = - e -at u (-t )e -st dt

-

F ( s ) = - e e dt = e
0 - at - st 0 - -

-( s + a ) t

1 -( s + a )t dt = e s+a

Phng trnh (6.15) cho lim e - ( s +a ) t = 0 Re( s + a ) < 0 , nn

t

1 Re s < -a (6.17) s+a Tn hiu - e - at u (-t ) v vng hi t ( Re s < -a ) c v trong hnh 6.2b. Ch l bin i Laplace ca hai tn hiu e - at u (t ) v - e - at u (-t ) ging nhau tr vi cc vng hi t khc nhau. Nh th, vi mt F ( s ) , c th c nhiu bin i nghch, ty theo vng hi t. Ni cch khc khng c nh x mt mt gia F ( s ) v f (t ) , tr khi bit c vng hi t. iu ny cng lm phc tp ng dng ca bin i Laplace. Yu t phc tp ny l do mong mun x l tt c cc tn hiu nhn qu v khng nhn qu. iu ny khng th xy ra khi ta gii hn tn hiu l tn hiu nhn qu. Nh th, ch c mt bin i nghch ca F ( s ) = 1 /( s + a ) , tc l e - at u (t ) . tm f (t ) t F ( s ) , ta cng khng cn n vng hi t. Tm li, nu mi tn hiu u l nhn qu, th vi mt F ( s ) , ch c mt bin i nghch f (t ) . Bin i Laplace mt bn l trng hp c bit ca bin i Laplace hai bn, khi cc tn hiu u b gii hn l nhn qu, nn cn ly tch phn c th thay i t 0 n . Do , bin i Laplace mt bn c nh ngha l F ( s) =
F ( s ) f (t )e -st dt
0

(2.18)

Ta chn 0- (thay v 0+ nh theo mt s ti liu) lm cn di tch phn. Qui c ny khng ch bo m chn c xung ti t = 0 , m cn cho php ta dng c iu kin u ti 0 (thay v ti 0+) vo nghim ca phng trnh vi phn qua bin i Laplace. Thc t, ta thng bit c iu kin u trc khi c tn hiu vo (ti 0-), khng phi sau khi tn hiu vo (ti 0+). Bin i Laplace mt bn n gin ha ng k vic phn tch h thng, nhng iu phi tr gi l phn tch khng c h thng khng nhn qu hay dng vi cc ng vo khng nhn qu. Tuy nhin, trong hu ht cc bi ton thc t, th hu qu ny l rt t. Hy xt bin i Laplace mt bn v ng dng trong phn tch h thng (bin i Laplace hai bn s c bn phn 6.8) Ta thy l v c bn th khng c khc bit gia bin i Laplace hai bn v mt bn. Bin i Laplace l bin i hai bn dng cho lp con tn hiu bt u ti t = 0 (tn hiu nhn qu). Nh th, biu thc [phng trnh (6.8a)] ca bin i Laplace nghch vn ng. Trong thc t, thng th bin i Laplace c hiu l bin i Laplace mt bn.

Tn ti ca bin i Laplace Bin s trong bin i Laplace thng l bin phc, v c vit thnh s = s + jw . T nh ngha

F ( s ) = - f (t )e -st dt = - [ f (t )e -st ]e - jwt dt

0 0

Do e

j wt

= 1 , tch phn v phi hi t nu

0-

f (t )e -st dt <

(6.19)

Nh th bin i Laplace tn ti nu tch phn (6.19) l hu hn vi mt s gi tr ca s. Tn hiu no tng chm hn tn hiu m Mes 0t vi mt s gi tr ca M v s 0 , th
f (t ) Mes 0t
2 2

(6.20)

Ta c th chn s > s 0 tha (6.19). Ngc li, tn hiu e t c tc tng nhanh hn

es 0t nn e t khng c bin i Laplace. iu may mn l cc tn hiu dng ny (khng c bin i Laplace) li t nh hng v mt l thuyt hay thc t. Nu s 0 l tr b nht ca s tch phn (6.19) hu hn, th s 0 c gi l honh hi t v vng hi t ca F ( s ) l Re s > s 0 . Honh hi t ca e - at u (t ) l a (vng hi t l Re s > -a ).
Th d 6.2: Tm bin i Laplace ca (a) d (t ) (b) u (t ) (c) cos w0tu (t ) . (a) L [d (t )] = - d (t )e -st dt
0

T c tnh ly mu [phng trnh (1.24a)], ta c L [d (t )] = 1 vi mi s Tc l vi mi s d (t ) 1 (b) tm bin i Laplace ca u (t ) , nhc li l u (t ) = 1 khi t 0 , nn

(6.21)

1 1 L [u (t )] = - u (t )e -st dt = - e -st dt = - e -st = Re s > 0 (6.22) 0 0 s s 0Ngoi ra, cn c th tm kt qu t phng trnh (6.16b) khi cho a = 0. 1 (c) Do cos w0tu (t ) = [e jw0t + e - jw0t ]u (t ) (6.23) 2 1 L [cos w0tu (t )] = L [ e jw0tu (t ) + e - jw0t u (t )] 2 T phng trnh (6.16) 1 1 1 L [cos w0tu (t )] = + Re( s jw0 = Re s > 0 2 s - jw0 s + jw0

1 s + w02
2

Re s > 0

(6.24)

Trong bin i Laplace mt bn, ch c mt bin i nghch ca F ( s ) ; nn khng cn xc nh r rng vng hi t. V vy, ta thng b qua nim vng hi t trong bin i Laplace mt bn. Nhc li l, trong bin i Laplace mt bn, hiu ngm l cc tn hiu u l zr khi t < 0 , v iu thch hp l nn nhn tn hiu ny vi u (t ) .

D Bi tp E 6.1 Dng phng php tch phn trc tip, tm bin i Laplace F ( s ) v vng hi t ca F ( s ) ca tn hiu trong hnh 6.3 1 1 p s: (a) (1 - e -2 s ) vi mi s (b) (1 - e -2 s )e -2 s vi mi s s s

Quan h vi bin i Fourier nh ngha bin i Laplace ging vi bin i Fourier khi thay jw bng s. Ta thy bin i Laplace F ( s ) ca tn hiu f (t ) , ging nh bin i F (w ) ca f (t ) khi thay jw bng s. Th d, ta thy bin i Fourier ca e - at u (t ) l 1 /( jw + a ) . Thay jw bng s trong bin i Fourier cho kt qu l 1 /( s + a) , l bin i Laplace theo phng trnh (6.16b). iu khng may l phng php ny khng ng vi mi f (t ) . Ch c th thc hin iu ny khi vng hi t ca F ( s ) bao gm trc o (trc jw ). Th d, bin i Fourier ca hm bc n v l pd (w ) + (1 / jw ) . Bin i Laplace tng ng l 1 / s , v vng hi t l Re s > 0 , khng bao gm trc o. Trong trng hp ny th quan h gia bin i Fourier v bin i Laplace khng n gin. L do ca kh khn ny c lin quan n tnh hi t ca tch phn Fourier, theo ng ly tch phn l trc o. Do hn ch ny, tch phn Fourier ca hm bc khng hi t theo ngha thng thng nh minh ha trong th d 4.7. Phi dng hm tng qut (xung) cho nim hi t. Ngc li, tch phn Laplace cho u (t ) li hi t theo ngha thng thng, nhng ch vi Re s > 0 , li l vng cm trong bin i Fourier. iu th v na l d bin i Laplace l tng qut ha ca bin i Fourier, vn cn c tn hiu (th d tn hiu iu ha) khng c bin i Laplace, nhng tn ti bin i Fourier (nhng khng theo ngha thng thng). 6.1- 3 Tm bin i Laplace nghch Phng php dng nh ngha (6.8a) tm bin i Laplace nghch i hi ly tch phn trong mt phng phc, khng c bn trong ti liu ny. Mc tiu l dng bin i nghch t bng 6.1. iu ta cn l biu din F ( s ) thnh tng nhiu hm n gin c lit k trong bng. Hu ht cc bin i F ( s ) trong thc t c dng hm hu t; tc l t s cc a thc theo s. Hm dng ny c th c phn tch thnh cc hm n gin hn dng php

khai trin a thc (xem phn B.5). Gi tr s F ( s ) = 0 c gi l zr ca F ( s ) ; gi tr s F ( s ) c gi l cc ca F ( s ) . Khi F ( s ) l hm hu t c dng P( s ) / Q( s ) , th nghim ca P(s) l zr v nghim ca Q(s) l cc ca F ( s ) . Th d 6.3: Tm bin i Laplace nghch ca: 7s - 6 2s 2 + 5 6( s + 34) 8s + 10 (a) 2 (b) 2 (c) (d) 2 s -s-6 s + 3s + 2 s ( s + 10s + 34) ( s + 1)( s + 2) 3 Bin i nghch ca cc hm khng c trong bng 6.1, cn khai trin thnh dng a thc nh tho lun phn B.5. (a) 7s - 6 k1 k2 F (s) = = + ( s + 2)( s - 3) ( s + 2) ( s - 3) Theo phn B.5-2, tnh k1 theo 7s - 6 - 14 - 6 k1 = = =4 (...)( s - 3) s =-2 - 2 - 3 Tng t 7s - 6 21 - 6 k2 = = =3 ( s + 2)(...) s =3 3 + 2 Nn
F (s) = 7s - 6 4 3 = + ( s + 2)( s - 3) s + 2 s - 3

(6.25a)

Kim tra kt qu Khi khai trin a thc, ta c th b li, nn c th kim tra bng cch kim li l F ( s ) v cc a thc phi bng nhau vi tng gi tr ca s nu ta khai trin ng. Th d, kim tra li (6.25a) vi gi tr, s = 1. Thay s = 1 vo phng trnh (6.25a) 1 4 3 1 - = - =6 3 2 6 Ta c th tm tin c v p s ca mnh. Dng cp th 5 (bng 6.1) cho phng trnh (6.25a), ta c: 3 4 -2t 3t (6.25b) f (t ) = L-1 + = (4e + 3e )u (t ) s + 2 s -3 2s 2 + 5 2s 2 + 5 (b) F ( s ) = 2 = s + 3s + 2 ( s + 1)( s - 2) Ta thy F ( s ) c m = n . Trng hp ny, ta c th biu din F ( s ) l tng ca h s bn (h s ca bc ly tha cao nht ca t s) vi cc khai trin a thc tng ng vi cc cc ca F ( s ) . Trng hp ny, bn = 2 , nn k k F (s) = 2 + 1 + 2 s +1 s + 2

Vi

k1 = k1 =

2s 2 + 5 2+5 = =7 (...)(s + 2) s=1 - 1 + 2 2s 2 + 5 8+5 = = -13 ( s + 1)(...) s=1 - 2 + 1

7 13 s +1 s + 2 Dng bng 6.1, cp 1 v 5, ta c f (t ) = 2d (t ) + (7e -t - 13e -2t )u (t )

F (s) = 2 +

(6.26)

6( s + 34) 6( s + 34) k k2 k2 = = 1+ + s ( s + 10 s + 34) s ( s + 5 - j 3)( s + 5 + j 3) s s + 5 - j 3 s + 5 + j 3 * Ch l cc h s ( k 2 v k2 ) ca tha s lin hp cng lin hp

(c)

( s) =

k1 =

6( s + 34) 6 x34 = =6 2 (...)( s + 10s + 34) s =0 34

k2 =

6( s + 34) 29 + j3 = = -3 + j 4 , do s (...)(s + 5 + j 3) s=-5+ j 3 - 3 - j 5

* k2 = -3 - j 4 * Dng cp 10b (bng 6.1), vi k 2 v k2 vit theo dng cc

- 3 + j 4 = 32 + 4 2 e j tan ( 4 / -3) = 5e j tan ( 4 / -3) 4 4 -1 Nhn xt tan -1 tan - . iu ny c minh chng trong hnh 6.4. -3 3 Hnh 6.4, cho ta

-1

-1

k 2 = -3 + j 4 = 5e j126.9 , nn
0

* k2 = 5e - j126.9 , vy
0

6 5e j126,9 5e - j126,9 F (s) = + + s s + 5 - j 3 s + 5 + j3

0 0

Bng 6.1 (cp 2 v 10b) cho ta f (t ) = [6 + 10e -5t cos(3t + 126,90 )]u (t )

(6.27)

Bng bin i Laplace (mt bn) 1 2 3 4 5 6 7 8a 8b 9a 9b 10a 10b 10c 10d

d (t ) u (t )
tu (t )
t nu (t ) e lt u (t ) te lt u (t ) t n elt u (t )

cos btu (t ) sin btu (t )

e - at cos btu (t ) e - at sin btu (t ) re - at cos(bt + q )u (t ) re - at cos(bt + q )u (t ) re - at cos(bt + q )u (t )

1 1 s 1 s2 n! s n+1 1 s-l 1 (s - l )2 n! ( s - l ) n+1 s 2 s + b2 b 2 s + b2 s+a ( s + a)2 + b 2 b ( s + a) 2 + b 2 (r cos q ) s + (ar cos q - br sin q ) s 2 + 2as + (a 2 + b 2 )

B - Aa e -at A cos bt + sin bt u (t ) b

r=

0,5re jq 0,5re - jq + s + a - jb s + a + jb As + B 2 s + 2as + c As + B 2 s + 2as + c

A2c + B 2 - 2 ABa c - a2

q = tan -1

Aa - B A c-a
2

b = c - a2

Mt phng php tnh tha s bc hai Phng php va nu i hi tnh s phc qu nhiu. Theo cp 10c (bng 6.1), bin i nghch tha s bc hai (c cc lin hp) c tm trc tip, khng dng cc a thc bc mt. biu din F ( s ) thnh 6( s + 34) k As + B F ( s) = = 1+ 2 2 s ( s + 10s + 34) s s + 10 s + 34 xc nh c k1 = 6 t phng php Heaviside, nn 6( s + 34) 6 As + B = + 2 2 s ( s + 10s + 34) s s + 10 s + 34 Nhn hai v ca phng trnh vi s ( s 2 + 10 s + 34)
6( s + 34) = 6( s 2 + 10s + 34) + s ( As + B ) = (6 + A) s 2 + (60s + B) s + 204 Cn bng h s ca s2 v s, ta c 0 = (6 + A) A = -6 6 = (60 + B) B = -54 , v 6 - 6s - 54 F (s) = + 2 s s + 10s + 34 Dng cp 2 v 10c tm bin i Laplace nghch. Tham s dng cho cp 10c l A = -6 ,
B = -54 , a = 5, c = 34, v b = c - a 2 = 3 ,

r=

A2 c + B 2 - 2 ABa Aa - B = 10 q = tan -1 = 126,9 0 , do 2 2 c-a A c-a -5t f (t ) = [6 + 10e cos(3t + 126.9 0 ]u (t ) l ph hp vi ht qu trc y

ng tt Cn c phng php gn hn tnh tha s bc hai, ta c: 6( s + 34) 6 As + B F (s) = = + 2 2 s ( s + 10s + 34) s s + 10s + 34 Ta xc nh A bng cch loi B bn v phi. Bc ny c thc hin bng cch nhn hai v phng trnh vi s ri cho s , ta c 0 = 6 + A A = -6 , do

6( s + 34) 6 - 6s + B = + 2 s ( s + 10s + 34) s s + 10 s + 34 Tm B, cho s mt gi tr thch hp, th d cho s = 1 vo phng trnh, ta c 210 B-6 =6+ 45 45 210 = 270 + B - 6 B = -54 , ph hp vi kt qu tnh a0 8s + 10 k a1 a (d) F (s) = = 1 + + + 2 , vi 3 3 2 ( s + 1)( s + 2) s + 1 ( s + 2) ( s + 2) s+2
2

k1 =
a0 =

8s + 10 (...)( s + 2) 3

=2
s = -1

8s + 10 = -2 ( s + 1)(...) s =-2

a1 =

d 8s + 10 = -2 ds ( s + 1)(...) s =-2
1 d 8s + 10 2 ds ( s + 1)(...) = -2 , do
s = -2

a2 =

2 6 2 2 , v F (s) = + 3 2 s + 1 ( s + 2) ( s + 2) s+2 f (t ) = [2e -t + (3t - 2t - 2)e -2t ]u (t )

(6.28)

Phng php khc: kt hp gia Heaviside v phng php clearing fraction Trong phng php ny, cc h s n gin nh k1 v a0 c xc nh dng phng php Heaviside. xc nh cc h s cn li, ta dng phng php clearing fraction (xem B.5-3). Dng cc gi tr k1 = 2 v a0 = 6 , ta c 8s + 10 2 6 a1 a = + + + 2 3 3 2 ( s + 1)( s + 2) s + 1 ( s + 2) ( s + 2) s+2 3 Nhn hai v ca phng trnh vi ( s + 1)( s + 2) , ta c
8s + 10 = 2( s + 2) 3 + 6( s + 1) + a1 ( s + 1)( s + 2) + a2 ( s + 1)( s + 2) 2 = (2 + a2 ) s 3 + (12 + a1 + 5a 2 ) s 2 + (30 + 3a1 + 8a2 ) s + (22 + 2a1 4a2 ) Cn bng cc gi tr ca s3 v s2 hai v, ta c 0 = ( 2 + a 2 ) a 2 = -2 0 = 12 + a1 + 5a2 = 2 + a1 a1 = -2 Cn bng cc gi tr ca s1 v s0 hai v, ta c 8 = 30 + 3a1 + 8a2 10 = 22 + 2a1 + 4a2 Tm li, c a1 = a2 = -2

Phng php khc: kt hp gia Heaviside v short-cut Trong phng php ny, cc h s n gin nh k1 v a0 c xc nh t phng php Heaviside. xc nh cc h s cn li, ta dng phng php short-cut. Dng cc gi tr k1 = 2 v a0 = 6 , ta c 8s + 10 2 6 a1 a = + + + 2 3 3 2 ( s + 1)( s + 2) s + 1 ( s + 2) ( s + 2) s+2 C hai n, a1 v a2. Nu nhn hai v vi s ri cho s , ta loi a1. 0 = 2 + a2 a2 = -2 , do : 8s + 10 2 6 a1 2 = + + + 3 3 2 ( s + 1)( s + 2) s + 1 ( s + 2) ( s + 2) s+2 Ch cn mt n a1 . Gi tr ny c th c xc nh bng cch s mt gi tr thch hp, th d s = 0 10 3 a = 2 + + 1 - 1 a1 = -2 8 4 4 Bi tp dng my tnh C6.1 Tm bin i Laplace nghch ca cc hm sau dng phng php khai trin a thc: 2s 2 + 5 2s 2 + 7 s + 4 8s 2 + 21s + 19 (a) 2 (b) (c) s + 3s + 2 ( s + 1)( s + 2) 2 ( s + 2)( s2 + s + 7) (a) num=[2 0 5]; den=[1 3 2]; [r,p,k]=residue(num,den) r = -13, 7 p = -2, -1 k = -2, -1 Do - 13 7 F (s) = + v f (t ) = (-13e -2t + 7e -t )u (t ) + 2d (t ) s + 2 s +1 (b) num=[2 7 4]; den=[con(con([1 1],[1 2]),[1 2])]; [r, p, k] = residue(num.den); r = 3, 2, -1 p = -2, -2, -1 k= [ ] Do 3 2 1 v F ( s) = + f (t ) = (3e -2t + 2te -2t - e -t )u (t ) 2 s + 2 ( s + 2) s +1 (c) num=[8 21 19]; den=[con([0 1 2],[1 1 7])]; [r, p, k]=residue(num, den) [angle, mag]=cart2pol(real(r), imag(r))

r = 3.5 0.4811i, 3.5 + 0.4811i, 1.00 p= - 0.5 + 2.5981i, - 0.5 - 2.5981i, - 2.00 k=[] angle = -0.1366, 0.1366. 1.00 mag = 3.5329, 3.5329, 1.00 Do

1 3.5329e - j 0.1366 3.5329e j 0.1366 + + v s + 2 s + 0.5 - j 2.5981 s + 0.5 + j 2.5981 f (t ) = [e -2t + 1.766e -0.5t cos(2.5981t - 0 / 1366)]u (t ) F ( s) =

Bi tp dng my tnh C6.2 Tm (a) bin i Laplace trc tip ca sin at + cos bt (b) bin i Laplace nghch ca (as 2 ) /( s 2 + b 2 ) Ta dng Symbolic Math Toolbox, l tp cc hm Matlab dng x l v gii cc biu thc symbolic. (a) f=sym(sin(a*t)+cos(b*t)); F=laplace(f) F=(a*s^2+b^2*a+s^3+s*a^2)/(s^2+a^2)/(s^2+b^2) Vy:

F ( s) =
(b)

s 2 + as 2 + a 2 s + b 2 a ( s 2 + a 2 )( s 2 + b 2 )

6 s - 14 dng cp s + 6 s + 25 s + 17 10a trong bng 6.1. (ii) Tm bin i Laplace nghch ca (a) 2 s + 4s - 5 3s - 5 16 s + 43 (b) (c) 2 ( s + 1)( s + 2s + 5) ( s - 2)( s + 3) 2 p s: 5 (a) (3et - 2e -5t )u (t ) (b) [-2e -t + e -t cos(2t - 36.87 0 )]u (t ) (c) [3e 2t + (t - 3)e -3t ]u (t ) . 2

F= sym(a*s^2)/(s^2+b^2); f=invlaplace(F) F=a*dirac(t)-a*b*sin(b*t) Vy: f (t ) = ad (t ) + ab sin(bt )u (t ) D Bi tp E 6.2

(i) Chng t l bin i Laplace 10e -3t cos(4t + 53.130 ) l

6.2 Mt s c tnh ca bin i Laplace Khi xem bin i Laplace l dng tng qut ca bin i Fourier, ta hy vng bin i Laplace c cc c tnh tng t nh bin i Fourier. Tuy nhin, phn ny ch bn ch yu mt s c tnh ca bin i Laplace mt bn, c khc so vi bin i Fourier (l dng bin i hai bn). c tnh ca bin i Laplace khng ch quan trng tm bin i Laplace ca cc hm m cn gip tm nghim ca phng trnh vi tch phn. Cc phng trnh (6.8a) v (6.8b) cho thy l ging trng hp bin Fourier, c mt s c tnh i xng khi chuyn t f (t ) sang F ( s ) v ngc li. Tnh i xng hay i ngu cn tn ti trong nhiu c tnh ca bin i. 1. Tnh di theo thi gian Nu f (t ) F ( s ) Th vi t 0 (6.29) f (t - t 0 ) F ( s )e - st0 Ta thy f (t ) bt u ti t = 0 , do f (t - t 0 ) bt u ti t = t 0 , Nu Th

f (t )u (t ) f ( s )
f (t - t 0 )u (t - t 0 ) F ( s )e - st0

t0

(6.29b)

Chng minh: L [ f (t - t 0 )u ((t - t 0 )] = f (t - t 0 )u ((t - t 0 )e -st dt

0

Cho t = t 0 = x , ta c: L [ f (t - t 0 )u ((t - t 0 )] = f (x )u ((x )e -s ( x+t0 ) t dx

0

Do u ( x) = 0 khi x < 0 v u ( x) = 1 khi x 0 , cn ly tch phn l t 0 n . Do : L [ f (t - t 0 )u ((t - t 0 )] =

f (x )u ((x )e -s ( x+t0 ) t dx = e -st0 f (x )e -sx dx = F ( x)e -st0

0

Ch l f (t - t 0 )u (t - t 0 ) l tn hiu f (t ) c di i t 0 giy. Theo c tnh di theo thi gian cho rng khi di tn hiu mt lng t 0 tng ng vi vic nhn bin i vi

e - st0 .
c tnh ny ca bin i Laplace mt bn ch ng khi t 0 dng, do khi t 0 m, th tn hiu f (t - t 0 )u (t - t 0 ) khng phi l nhn qu. Bi tp E 6.1chng minh c tnh ny. Nu tnh hiu trong hnh 6.3a l f (t )u (t ) th tn hiu trong hnh 6.3b l 1 f (t - 2)u (t - 2) . Bin i Laplace ca xung trong hnh 6.3a l (1 - e -2 s ) . Nh th, bin s 1 i Laplace ca xung hnh 6.3b l (1 - e -2 s )e -2 s . s c tnh di theo thi gian rt thch hp tm bin i Laplace ca hm vi nhiu m t trong cc khon thi gian khc nhau, nh c xt trong th d sau.

 Th d 6.4: Tm bin i Laplace ca hm f (t ) v hnh 6.5a Phn 1.4 cho m t ton hc ca f (t ) , v c vit thnh tng hai thnh phn, v hnh 6.5b. Phng trnh ca thnh phn th nht l t - 1 trong khong 1 t 2 , nn c dng (t - 1)[u (t - 1) - u (t - 2)] . Thnh phn th hai l [u (t - 2) - u (t - 4)] , vy: f (t ) = (t - 1) [u (t - 1) - u (t - 2)] + [u (t - 2) - u (t - 4)] (6.30a) = (t - 1)u (t - 1) - (t - 1) u (t - 2) + u (t - 2) - u (t - 4) Tha s th nht bn v phi l tn hiu u (t ) lm tr 1 giy. Cc tha s th ba v th t, khng th biu din thnh cc thnh phn di theo thi gian ca cc tn hiu trong bng 6.1, vit li: (t - 1)u (t - 2) = (t - 2 + 1) u (t - 2 ) = (t - 2)u (t - 2) + u (t - 2) Vit tha s th hai theo dng tu (t ) lm tr 2 giy v tn hiu u (t ) c lm tr 2 giy. Phng trnh (6.30a) vit li thnh (6.30b) f (t ) = (t - 1) u (t - 1) - t (t - 2)u (t - 2) - u (t - 4) Dng c tnh di theo thigian ca tu (t ) 1 / s 2 , ta c 1 1 (t - 1)u (t - 1) 2 e -s v (t - 2)u (t - 2) 2 e -2 s s s 1 1 -4 s ng thi u (t ) v u (t - 4) e s s Do : 1 1 1 F ( s ) = 2 e - s - 2 e -2 s - e - 4 s s s s

(6.31)

(6.32)

Th d 6.5:

s + 3 + 5e -2 s ( s + 1)( s + 2) -2 s Nhn thy tha s m e trong t s ca F ( s ) cho thy c yu t di theo thi gian. Trng hp ny ta nn chia F ( s ) thnh cc tha s c v khng c tha s tr, tc l
Tm bin i Laplace nghch ca F ( s ) =

F (s) =
Vi

s+3 5e -2 s + = F1 ( s ) + F2 ( s )e -2 s ( s + 1)( s + 2) ( s + 1)( s + 2)

s+3 2 1 = ( s + 1)( s + 2) ( s + 1) ( s + 2) 5 5 5 F ( s) = = ( s + 1)( s + 2) ( s + 1) ( s + 2) Nn f1 (t ) = (2e - t - e -2t )u (t ) f 2 (t ) = 5(e - t - e -2t )u (t ) , v do F1 ( s ) =

F ( s ) = F1 ( s ) + F2 ( s )e -2 s f (t ) = f1 (t ) + f 2 (t - 2) = (2e -t - e -2t )u (t ) + 5[e - ( t -2) -e -2 (t -2 ) ]u (t - 2)
D Bi tp E 6.3 Tm bin i Laplace ca tn hiu v trong hnh 6.6. 1 p s: 2 (1 - 3e -2 s + 2e -3s ) . s D Bi tp E 6.4 Tm bin i Laplace nghch ca 3e -2 s . F ( s) = ( s - 1)( s + 2) p s: [et -2 - e -2( t -2) ]u (t ) .

2. c tnh di theo tn s. Nu Th
f (t )e s0t F ( s - s0 )
f (t ) F ( s )

(6.33)

Nhn xt v tnh i xng (hay i ngu) gia c tnh ny v c tnh d itheo thi gian (6.29a) Chng minh: L [ f (t )e s0t ] = - f (t )e s0t e -st dt = - f (t )e -( s -s0 ) t t =F ( s - s0 )
0 0

Th d 6.6: Dng cp 8a v c tnh di theo tn s tm cp 9a trong bng 6.1 Cp 8a l s cos btu (t ) 2 s + b2 Dng c tnh di theo tn s [phng trnh (6.33)], thay s0 = -a s+a e -at cos btu (t ) ( s + a) 2 + b 2

D Bi tp E 6.5 Chng t l c th tm cp 6 trong bng 6.1 t cp 3 v c tnh di theo tn s.

Ta tip tc xem xt hai c tnh quan trng nht ca bi i Laplace: c tnh vi phn theo thi gian v c tnh tch phn theo thi gian. 3. c tnh vi phn theo tn s. Nu Th
df sF ( s ) - f (0 - ) dt
f (t ) F ( s )

(6.34a)

d2 f & (0 - ) s 2 F ( s ) - sf (0 - ) - f 2 dt

(6.34b)

dn f (6.34c) s n F ( s ) - s n-1 f (0 - ) - s n-2 f& (0 - ) - L - f ( n-1) (0 - ) n dt Trong f ( r ) (0 - ) l d r f / dt r ti t = 0 - . Chng minh: df df L = e - st dt 0 dt dt Ly tch phn tng phn df L = f (t )e -st - + s f (t )e -st dt 0 0 dt tch phn Laplace hi t (tc l F ( s ) tn ti), cn c f (t )e - st 0 khi t vi gi tr ca s trong vng hi t ca F ( s ) . Tc l df L = - f (0 - ) + sF ( s ) dt
Th d 6.7: Tm bin i Laplace ca tn hiu f (t ) trong hnh 6.7a dng bng 6.1 v cc c tnh vi phn theo thi gian v di theo thi gian ca bin i Laplace. Hnh 6.7b v 6.7c cho thy hai o hm ca f (t ) . Nhc li l o hm ti cc im khng lin tc l xung c cng bng vi lng bc nhy. d2 f = d (t ) - 3d (t - 2) + 2d (t - 3) dt 2

Bin i Laplace ca phng trnh ny l d2 f L dt 2 = L [d (t ) - -3d (t - 2) + 2d (t - 3)] Dng c tnh vi phn theo thi gian (6.34b), c tnh di theo thi gian (6.29a) v iu & (0 - ) = 0 , v d (t ) 1 , ta c kin f (0 - ) = f s 2 F ( s ) - 0 - 0 = 1 - 3e -2 s + 2e -3s , do 1 F ( s ) = 2 (1 - 3e -2 s + 2 -3 s ) nh khng nh bi tp E 6.3 s 4. c tnh tch phn theo tn s. Nu Th
f (t ) F ( s )

t
-

f (t )dt

F ( s) s

(6.35)

f (t )dt

F ( s) + s

0-

f (t )dt s
(6.36)

Chng minh: nh ngha cho

g (t ) - f (t )dt
0

Nu

d g (t ) = f (t ) dt

v g (0 - ) = 0
F ( s) hay s

g (t ) G ( s ) th G ( s ) =

0-

f (t )dt

F (s) s

chng minh (6.36), nhn thy

f (t )dt = f (t )dt + - f (t )dt

- 0

0-

Ch l tha s th nht ca v phi l hng s. Ly bin i Laplace ca phng trnh trn v dng phng trnh (6.35), ta c

Tnh t l Nu Th

f (t )dt

0-

f (t )dt s

F ( s) s

f (t ) F ( s )

1 s (6.37) F( ) a a Chng minh tng t nh trng hp c tnh t l ca bin i Fourier trong chng 4 [phng trnh (4.34)]. Ch l a b gii hn l mt gi tr dng nu khng, khi f (t ) l nhn qu, th f (at ) l phn nhn qu (ch tn ti vi t < 0) khi a c gi tr m, v tn hiu phn nhn qu khng dng c trong bin i Laplace (mt bn). f (at )

Nhc li nu f (at ) l tn hiu f (t ) c nn theo thi gian vi tha s a v

a F ( ) l F ( s ) c gin theo dc theo s vi t l a (xem phn 1.3-2). c tnh t l cho s rng khi nn tn hiu theo thi gian vi t l a, th lm gin tn hiu trong s vi cng t l. Tng t, kho gin theo thi gian, s to s nn trong F ( s ) vi cng t l.

5. Tch phn chp theo thi gian v tch phn chp theo tn s. Nu

f1 (t ) F1 ( s) v f 2 (t ) F2 ( s) Th (c tnh tch phn chp theo thi gian) f1 (t ) * f1 (t ) F1 ( s ).F2 ( s ) V (c tnh tch phn chp theo tn s 1 f1 (t ) f1 (t ) [ F1 ( s ) * F2 ( s )] 2pj

(6.38) (6.39)

Bng 6.2 Cc c tnh ca bin i Laplace Php tnh f(t) F(s) Php cng f1 (t ) + f 2 (t ) F1 ( s ) + F2 ( s ) Nhn v hng kf (t ) kF ( s ) Vi phn theo thi gian df sF ( s ) - f (0 - ) dt & (0 - ) d2 f s 2 F ( s ) - sf (0 - ) - f dt 2 & (0 - ) - & d3 f s 3 F ( s ) - s 2 f ( 0 - ) - sf f&(0 - ) dt 3 t Tch phn theo thi gian 1 F (s) 0- f (t )dt s t 1 1 0f ( t ) d t F ( s ) + f (t )dt s s - Di theothi gian f (t - t 0 )u (t - t 0 ) F ( s )e - st0 t 0 Di theo tn s F ( s - s0 ) f (t )e s0t Vi phn theo tn s - tf (t ) d F (s) ds Tch phn theo tn s f (t ) F ( z )dz s t T l 1 s f (at ) a 0 F( ) a a Tch chp theo thi gian f1 (t ) * f 2 (t ) F1 ( s) F 2( s) Tch chp theo tn s 1 f1 (t ) f 2 (t ) F1 ( s ) *F 2( s ) 2pj Gi tr u lim sF ( s ) (n > m) f (0 + )
s s 0

Gi tr cui

f ( )

lim sF ( s )

poles LHP

Quan st tnh i xng (hay i ngu) gia hai c tnh. Chng minh tng t nh trong chng 4 ca bin i Fourier. Phng trnh (2.48) cho thy H(s) l hm truyn ca h LT TT BB, v l bin i Laplace ca p ng xung h(t ) , tc l (6.40) h(t ) H ( s ) Ta c th dng c tnh v tch chp theo thi gian chp quan h vo ra y (t ) = f (t ) * h(t ) ca h LT TT BB c: (6.41) Y ( s) = F ( s) H ( s) Kt qu ny ging vi trng hp phng trnh (6.11)

 Th d 6.8: Dng tch chp theo thi gian ca bin i Laplace, tm c(t ) = e at u (t ) * e bt u (t ) . Phng trnh (6.38) cho: 1 1 1 1 C ( s) = = ( s - a )( s - b) a - b s - a s - b Ly bin i nghch 1 c(t ) = ( e at - e bt )u (t ) a -b 6.3 Tm nghim ca phng trnh vi phn v phng trnh vi tch phn. c tnh vi phn theo thi gian ca bin i Laplace cho php gii cc phng trnh vi phn (hay vi tch phn) tuyn tnh c h s hng. Do d k y / dt k s k Y ( s ) , nn c th chuyn phng trnh vi phn sang dng i s c Y ( s ) . Tip n dng php bin i nghch tm y (t ) . Xem th d sau Th d 6.9: Gii phng trnh vi phn tuyn tnh bc hai ( D 2 + 5 D + 6) y (t ) = ( D + 1) f (t ) & (0 - ) = 1 v ng vo f (t ) = e -4t u (t ) Nu iu kin u y (0 - ) = 2 y Phng trnh l d2y dy df + 5 + 6 y (t ) = + f(f) 2 dt dt dt t y (t ) Y ( s ) , th theo phng trnh (6. 34) dy sY ( s ) - y (0 - ) = sY ( s ) - y (0 - ) = sY ( s ) - 2 dt d2y & (0 - ) = s 2 Y ( s ) - 2 s - 1 s 2Y ( s ) - sy (0 - ) - y dt 2 Do f (t ) = e -4t u (t ) 1 df s s , v F (s) = sF ( s ) - f (0 - ) = -0 = s+4 dt s+4 s+4 Ly bin i Laplace phng trnh (6.42b) s 1 [ s 2Y ( s ) - 2 s - 1] + 5[ sY ( s ) - 2] + 6Y ( s ) = + s+4 s+4 s +1 s 2 + 5s + 6 Y ( s ) - (2 s + 11) = s+4 2 2 s + 20s + 45 2s 2 + 20s + 45 Y ( s) = 2 = ( s + 5s + 6)( s + 4) ( s + 2)( s + 3)( s + 4) 13 / 2 3 3/ 2 Phn tch Y ( s ) = , hay s+2 s+3 s+4 y (t ) = (13 / 2)e -2t - 3e -3t - (3 / 2)e -4t u (t )

(6.42a)

(6.42b)

(6.43a) (6.43b)

(6.44)

Th d trn trnh by phng php gii phng trnh vi phn tuyn tnh, h s hng dng phng php bin i Laplace. Phng php ny cn c th dng gii cc phng trnh vi phn h s hng c bc cao hn. p ng ng vo zr v trng thi zro. Phng php dng bin i Laplace cho p ng chung, bao gm p ng ng vo zr v p ng trng thi zr. Nu mun, ta c th tch ra hai thnh phn. Tha s iu kin u trong p ng cho thy p ng ng vo zr. Th d, trong th d 6.9, & (0 - ) = 1 trong phng trnh (6.43a) to p ng tha s do iu kin u y (0 - ) = 2 v y ng vo zr. Cc iu kin u ny l tha s - (2 s + 11) trong phng trnh (6.43b). Tha s bn phi hon ton do ng vo to ra. Phng trnh (6.43b) c vit li thnh:

Y ( s) =

2 s + 11 s +1 + s + 5s + 6 ( s + 4)( s 2 + 5s + 6)
2

= thnh phn ng vo zr + thnh phn trng thi zr 5 (-1 / 2) 2 (3 / 2) 7 = + + s+3 s+4 s + 2 s + 3 s + 2 Ly bin i Laplace nghch
1 3 y (t ) = (7e -2t - 5e -3t )u (t ) + (- e -2t + 2e -3t - e -4t )u (t ) 2 2 = p ng ng vo zr + p ng trng thi - zr

Nhn xt v iu kin u ti 0- v 0+. & (0 - ) = 1 . Khi ta th t = 0 Cc iu kin u trong th d 6.9 l y (0 - ) = 2 v y & (0) = 2 , l k l vi vo p ng chung trong phng trnh (6.44), ta c y (0) = 2 v y iu kin u. Ti sao? L do l iu kin u cho ti t = 0 - (trc khi c ng vo). p ng trng thi zr l kt qu ca ng vo f (t ) ti t = 0 . Nh th, thnh phn ny cha tn ti t = 0 - . Vy, iu kin u ti t = 0 - ch dng cho p ng ng vo zr , ch khng dng cho p ng chung. Thng thng th p ng chung c iu kin u ti t = 0 + , khc vi iu kin u ti t = 0 - . Ngoi ra cm c phin bn L+ ca bin i Laplace, dng iu kin u ti t = 0 + thay v 0 - (nh ang tho lun L- ti y). Dng L+, thnh hnh trong nhng nm su mi ca th k trc, ging phin bn L- tr cn ly tch phn l t 0+ n . Do , t nh ngha th, gc t = 0 b loi khi vng lm vic. Phin bn ny, tuy cn dng trong mt s ti liu ton hc, nhng gp rt nhiu kh khn. Th d, trng hp ny s cho bin i Laplace ca d (t ) l zr do d (t ) = 0 ti t 0 . Hn na, xu hng ny cng khng dng c cho nghin cu l thuyt v h thng tuyn tnh do phng php khng cho php chia p ng chung thnh hai thnh phn p ng ng vo zro v p ng trng thi zr. Nh bit, th thnh phn p ng trng thi zr biu din p ng ca h thng theo ng vo, tuy cha bit dng ca ng vo, nhng c th bit v nh

hng ca ng vo ln p ng h thng. Phng php L+ tuy c th chia p ng theo p ng t nhin v p ng p, khng phi l thnh phn ng c quan tm l thnh phn ng vo zr v thnh phn trng thi zr. Ch l ta thng tm c thnh phn p ng t nhin v thnh phn p ng p t thnh phn ng vo zr v thnh phn trng thi zr (xem phng trnh (2.51b)), nhin nhin, iu ngc li khng thc hin c. Do , cc k s in bt u loi phng php ny t sau nhng nm su mi. Cn ch v tnh i ngu trong min thi gian gia hai phin bn ca bin i Laplace. Phng php c in l i ngu vi phng php L+, phng php tch phn chp (ng vo zr/ trng thi zr) th i ngu vi phng php L-. Cp i ngu u dng iu kin u ti 0 + , cp th hai dng iu kin ti 0 - . Cp i ngu u (phng php c in v phng php L+) khng dng c cho nghin cu l thuyt v phn tch h thng tuyn tnh. Cn trng hp L- c cng ng k s in p dng ngay khi nim v phn tch khng gian trng thi c a ra (dng ring bit thnh phn ng vo zr/trng thi zr).
D Bi tp E 6.6 d2y dy df Gii + 4 + 3 y (t ) = 2 + f (t ) khi ng vo f (t ) = u (t ) v iu kin u 2 dt dt dt & (0 - ) = 2 y (0 - ) = 1 y 1 p s: y (t ) = (1 + 9e -t - 7e -3t )u (t ) . 3

Th d 6.10: Trong mch in hnh 6.8a, chuyn mch v tr ng trong thi gian di trc t = 0 , ri c m tc thi. Tm dng in qua cun dy y (t ) khi t 0 . Khi chuyn mch ang v tr ng (trong thi gian di), dng in qua cun dy l 2 ampe v in p qua t l 10 vn. Khi chuyn mch h, mch tng ng c v

 hnh 6.8b, vi gi tr dng in qua cun dy ban u l y (0 - ) = 2 v in p qua t ban u l vC (0 - ) = 10 . in p vo l 10 vn, bt u t t = 0 , c vit thnh 10u (t ). Phng trnh mch vng trong hnh 6.8b l t dy (6.45) + 2 y (t ) + 5 y (t )dt = 10u (t ) - dt (6.46a) y (t ) Y ( s )
dy sY ( s ) - y (0 - ) = sY ( s ) - 2 dt

(6.46b) (6.46c)

Y ( s) - y(t )dt s +
t

y(t )dt s

y (t ) l dng in qua t, tch phn

0-

y (t ) dt l qC (0 - ) , in tch t ti t = 0 -

(6.46c) cho

0-

y (t )dt = qC (0 - ) = CvC (0 - ) = (1 / 5)(10) = 2

y (t )dt Y (s) 2 + s s 5Y ( s ) 10 10 + = s s s

(6.47)

Ly bin i Laplace

0-

(6.48)

sY ( s ) - 2 + 2Y ( s ) +

2s 5 s + 2 + Y ( s ) = 2 Y ( s) = 2 s + 2s + 5 s Tm bin i nghch dng cp 10c (bng 6.1) vi A = 2. B = 0, a = 1 v c = 5.

r=

20 2 = 5 b = c - a 2 = 2 q = tan -1 = 26.6 0 v 4 4

y (t ) = 5e -t cos(2t + 26.6 0 )u (t ) v hnh 6.8c

6.3-1 p ng trng thi zr: Hm truyn ca h LT TT BB Xt h LT TT BB bc n c trng bng phng trnh vi phn Q( D ) y (t ) = P ( D ) f (t ) hay n n -1 ( D + an-1 D + L + a1 D + a0 ) y (t ) = (bn D n + bn-1 D n-1 + L + b1 D + b0 ) f (t )

(6.49)

p ng trng thi-zr y (t ) l l p ng ca h thng i vi tn hiu vo khi h thng ang trng thi zr. Nh th , y (t ) tha phng trnh h thng (6.49) vi iu kin u l zr. & (0 - ) = & &(0 - ) = L = y ( n-1) (0 - ) = 0 y (0 - ) = y y Ngoi ra, do tn hiu vo l nhn qu, tc l: & (0 - ) = & f (0 - ) = f f&(0 - ) = L = f ( n-1) (0 - ) = 0

t y (t ) Y ( s ) v f (t ) F ( s ) Do cc iu kin u dr r D y (t ) = r y (t ) s r Y ( s ) dt dk k D f (t ) = k f (t ) s k F ( s ) dt Phng trnh (6.49) c bin i Laplace l: ( s n + an-1s n-1 + L + a1s + a0 )Y ( s ) = (bn s n + bn-1s n-1 + L + b1s + b0 ) F ( s ) , hay

bn s n + bn-1s n-1 + L + b0 Y ( s) = n F (s) s + an-1s n-1 + L + a1s + a0 P(s) = F ( s) Q( s) Nhng ta thy l trong phng trnh (6.41) l Y ( s ) = H ( s ) F ( s ) , nn P(s) H ( s) = Q( s) Phng trnh ny tm c trong min thi gian [phng trnh (2.50)], nn Y ( s) = H (s) F ( s)

(6.50a) (6.50b)

(6.51) (6.52)

Ta tm li c kt qu ny dng cc phng php khc, y, ta c thm nh ngha na v hm truyn H(s). Hm truyn l t s gia Y(s) v F(s) khi cc iu kin u l zr (khi h thng trng thi zr). Nn:

Ta chng minh l bin i Laplace Y(s) ca p ng trng thi-zr y(t), l tch ca F(s) v H(s), trong l bin Laplace ca ng vo f(t), v H(s) l hm truyn ca h thng. Ta thy mu s ca H(s) l Q(s), a thc c tnh ca h thng. Do , cc cc ca H(s) l nghim c tnh ca h thng. Nn, c th dng tiu chun xt n nh h thng theo cc cc ca hm truyn, nh sau: 1. H thng LT TT BB l n nh tim cn nu v ch nu tt c cc cc ca hm truyn H(s) u nm bn tri mt phng phc, cc cc c th l cc n hay cc lp li. 2. H thng LT TT BB l khng n nh nu tn ti cc iu kin sau: (i) c t nht mt cc ca H(s) nm bn phi mt phng phc; (ii) c cc lp nm trn trc o. 3. H thng LT TT BB bin n nh nu v ch nu khng c cc nm bn phi mt phng phc, v c mt s cc n nm trn trc o. Ta gii thiu li mt dng mi ca h thng, v hnh 6.9. Ng vo F(s) l bin i Laplace ca f(t) v ng ra Y(s) l bin i Laplace ca p ng (ng vo zr) y(t). H thng c m t dng hm truyn H(s). Ng ra l tch F(s)H(s). Kt qu Y(s)=H(s)F(s) gip tm rt nhanh p ng h thng vi ng vo no . Xem tip th d sau.

 Th d 6.11: Tm p ng y(t) ca h LT TT BB c m t bi phng trnh d2y dy df + 5 + 6 y (t ) = + f (t ) 2 dt dt dt

Nu ng vo l, f (t ) = 3e -5t u (t ) cc iu kin u u l zr; tc l h thng trng thi zr. Phng trnh h thng l ( D + 5 D + 6) y (t ) = ( D + 1) f (t ) , do P( s) s +1 H ( s) = = 2 , v Q ( s ) s + 5s + 6 s +1 F(s) = L 3e -5t u (t )] = 2 , nn s + 5s + 6

Y ( s) = F (s) H (s) =

s +1 3( s + 1) -2 1 3 = = + 2 ( s + 5)( s + 5s + 6) ( s + 5)( s + 2)( s + 3) s + 5 s + 2 s + 3

Bin i nghch y (t ) = - 2e -5t - e -2t + 3e -3t u (t )

Th d 6.12: Chng t hm truyn ca (a) khu tr T giy l tng l e - sT (b) khu vi phn l tng l s. (c) khu tch phn l tng l 1/s. (a) Khu tr l tng Khu tr l tng T giy, ng vo f(t) v ng ra y(t) quan h theo y (t ) = f (t - T ) hay Y ( s ) = F ( s )e - sT [xem phng trnh (6.29a)], nn Y (s) H ( s) = = e -sT F (s) (b) Khu vi phn l tng Khu vi phn l tng, ng vo f(t) v ng ra y(t) quan h theo df y (t ) = Y ( s ) = sF ( s ) , [ f (0 - ) = 0 do tn hiu nhn qu], v dt Y ( s) H ( s) = =s F ( s)

(6.54)

(6.55)

(c) Khu tch phn l tng Khu tch phn l tng, vi y (0 - ) = 0 t 1 y (t ) = f (t )dt Y ( s ) = F ( s ) , vy: 0 s 1 (6.56) H ( s) = s D Bi tp E 6.7 H LT TT BB c hm truyn s+5 H ( s) = 2 s + 4s + 3 (a) Tm phng trnh vi phn m t quan h vo ra gia f(t) v ng ra y(t) (b) Tm p ng h thng y(t) vi ng vo f (t ) = e -2t u (t ) nu h thng ban u trng thi zr dy dy df p s: (a) + 4 + 3 y (t ) = + 5 f (t ) (b) y (t ) = 2e - t - 3e -2t + e -3t u (t ) . dt dt dt

6.4 Phn tch mng in: Mng bin i. Th d 6.10 cho thy phng php phn tch mng in bng cch vit phng trnh vi tch phn ca h thng ri gii cc phng trnh ny dng php bin i Laplace. Trong phn ny, ta gii thiu cch phn tch mng in m khng cn vit phng trnh vi tch phn. Phng thc ny n gin hn do cho php x l mng in nh mch thun tr. thc hin phng php ny, ta cn biu din mng trong min tn s khi mi in p v dng in u c biu din dng bin i Laplace. n gin, u tin ta xt trng hp c cc iu kin u l zr. Gi v(t ) v i (t ) l in p v dng in qua cun dy L henry, th: di v(t ) = L V ( s ) = LsI ( s ) vi cc iu kin u l zr. dt Tng t, vi t C farad, quan h dng p l: dv 1 i (t ) = C I ( s) = I ( s) dt Cs Trng hp in tr R ohm, quan h dng p l: v(t ) = Ri(t ) V ( s ) = RI ( s ) Nh th, trong min tn s, quan h dng p ca cun dy v t in c dng i s; cc phn t ny hot ng ging nh trng hp in tr c gi tr ln lt l Ls v 1/Cs. Khi nim ny gi l tr khng v c nh ngha l V(s)/I(s) (vi iu kin u l zr). Nh vy tr khng ca in tr, t in v cun dy ln lt l R, Ls v 1/Cs. Ngoi ra, cc lut lin kt mng (lut Kirchoff) vn cn gi tr vi dng in v in p trong min tn s. minh chng, gi v j (t ) ( j = 1,2, L , k ) l in p qua k phn t ca vng, gi i j (t ) ( j = 1,2, L , m) l dng in i vo nt. Th

 v j (t ) = 0 v
j =1

i (t ) = 0
j =1 j

(6.57)

Vy, nu
k j =1

v j (t ) V j ( s ) v i j (t ) I j ( s ) , th
j

V ( s) = 0

(6.58)

Kt qu ny cho thy: nu biu din mi in p v dng in trong mch thnh cc bin i Laplace, th gii c mch nh ch c thnh phn tr R, Ls hay 1/Cs, tng ng vi in tr, cun dy v t in. Phng trnh h thng (phng trnh vng hay nt) tr thnh phng trnh i s. Ngoi ra, k thut n gin ny cn cho php dng tt c cc phng php gii mch in tr nh mch tr khng tng ng ni tip, song song, cc lut chia dng v chia p, nh l Thevenin v Norton. Xem th d sau:

Th d 6.13: Tm dng in i (t ) khi tt c cc iu kin u l zr. Trong bc u, ta vit mch trong min tn s, nh v hnh 6.13b. Cc in p c biu din dng bin i Laplace. in p 10u (t ) thnh 10 / s v dng in (n) i (t ) thnh I ( s ) . Cc phn t mch c vit thnh dng tr khng tng ng. Cun dy 1 H thnh s, in dung F thnh 2 / s v in tr 3 W thnh 3. Xt biu din dng in v in p trong min tn s vi tr khng tng trong mch vng: 2 s 2 + 3s + 2 Z (s) = s + 3 + = s s in p ng vo V ( s ) = 10 / s , v dng in mch vng I ( s ) l: V ( s) (10 / s ) 10 10 10 10 I (s) = = 2 = 2 = = Z ( s ) (( s + 3s + 2) / s ) s + 3s + 2 ( s + 1)( s + 2) s + 1 s + 2 Bin i nghch cho: i (t ) = 10(e - t - e -2t )u (t ) My pht iu kin u Trong phn trc, ta gi s cc iu kin u l zr, by gi ta m rng cho trng hp cc iu kin u khc zr do c th biu din cc iu kin u ca t in v cun dy thnh dng ngun tng ng. T in C vi iu kin u v (0) (hnh 6.11a) c vit trong min tn s thnh t c tr khng 1 / Cs ni tip vi ngun p c

gi tr v(0) / s (hnh 6.11b) hay mch tng ng l t mc song song vi ngun dng in Cv(0) (hnh 6.11c). Tng t, cun dy L vi dng in ban u i (0) ((hnh 6.11d) c biu din trong min tn s thnh cun dy c tr khng Ls ni tip vi ngun p gi tr Li(0) (hnh 6.11e) hay cun dy mc song song vi ngun dng i(0) / s (hnh 6.11f). chng minh, xt quan h dng p gia hai u t dv i(t ) = C I ( s ) = C[ sV ( s ) - v(0)] dt

Phng trnh c vit li thnh: (hnh 6.11a) 1 v ( 0) V ( s) = I (s) + Cs s Hay (hnh 6.11b) 1 V ( s) = [ I ( s ) + Cv(0)] Cs Trng hp cun dy
di V ( s ) = L[ sI ( s ) - i (0)] dt (hnh 6.11e) V ( s ) = LsI ( s ) - Li(0) i (0) (hnh 6.11f) V ( s ) = Ls[ I ( s ) ] s v(t ) = L

(6.59a)

(6.59b)

(6.60a) (6.60b)

Lm li th d 6.10 dng cc tng trn. Hnh 6.12a v mch 6.8b vi iu kin u y (0) = 2 v vC (0) = 10 . Hnh 6.12b v biu din trong min tn s (mch bin i) ca mch hnh 6.12a. in tr chuyn thnh in khng 2; cun dy vi dng in ban u 2A chuyn thnh dng hnh 6.11e dng ngun p Ly (0) = 2 . T vi in p u 10V chuyn thnh dng hnh 6.11b dng ngun p ni tip v(0) / s = 10 / s . Ch l tr khng qua cun dy l s v qua t l 5/s. Ng vo 10u (t ) chuyn thnh 10 / s 10 10 5 in p mch vng l + 2 - = 2 , v tr khng l ( s + 2 + ) , vy: s s s 2 2s ph hp vi kt qu trong th d 6.10. Y ( s) = = 5 s 2 + 2s + 5 s+2+ s

 Th d 6.14: Chuyn mch trong hnh 6.13a v tr ng trong thi gian di trc khi m mch ti t = 0 . Tm dng in y1 (t ) v y2 (t ) khi t 0 . Ch xc lp khi chuyn mch ng, cho in p qua t vC = 16V v dng in qua cun dy y2 = 4 A . Nn khi chuyn mch m, c iu kin u vC (0 - ) = 16 v
y2 (0 - ) = 4 . Hnh 6.13b v dng bin i ca mch hnh 6.13a, vi cc iu kin u c chuyn thnh dng my pht iu kin u. in p ban u qua t thnh ngun in p ni tip 16 / s v dng in ban u qua cun dy l Ly2 (0) = 2. Hnh 6.13b cho php vit cc phng trnh mch vng trong min tn s: Y1 ( s ) 1 4 + [Y1 ( s ) - Y2 ( s )] = s 5 s 1 6 s - Y1 ( s ) + Y2 ( s ) + Y2 ( s ) = 2 5 5 2 1 1 1 + s 5 4 / s 5 Y1 ( s ) - 1 6 + s Y ( s ) = 2 5 5 2 2

Dng lut Cramer: 24( s + 2) 24( s + 2) - 24 48 , v: Y1 ( s ) = 2 = = + s + 7 s + 12 ( s + 3)( s + 4) s + 3 s + 4 y1 (t ) = (-24e -3t + 48e -4t )u (t ) Tng t: 4( s + 7) 16 12 , v: Y2 ( s ) = 2 = s + 7 s + 12 s + 3 s + 4 y2 (t ) = (16e -3t - 12e -4t )u (t ) Ngoi ra ta cn c th tnh Y1 ( s ) v Y2 ( s ) dng nh l Thevenin bng cch thay mch bn phi t (bn phi hai cc ab) dng mch tng ng Thevenin, nh v hnh 6.13c. Hnh 6.13c cho tr khng tng ng Z ( s ) v ngun Thevenin tng ng V ( s ) l:

Z (s) =

1 5 1 5

s +2 +1

( 2s + 1) =

-1 s+2 -4 , V ( s) = 1 s5 2 = 5s + 12 5s + 12 5 + 2 +1

Dng phng trnh 6.13c, dng Y1 ( s ) l: 4 24( s + 2) s - V ( s) Y1 ( s ) = 1 = 2 , c th tnh Y2 ( s) theo cch trn. s + 7 s + 12 s + Z ( s) Kt qu l ph hp

 Th d 6.15: Chuyn mch trong hnh 6.14a v tr a trong thi gian di trc t = 0 , c chuyn tc thi sang v tr b. Xc nh dng in y1 (t ) v in p ra v0 (t ) ti t 0 . Trc khi chuyn mch, gi tr dng in mch vng ln lt l 2 v 1; tc l y1 (0 ) = 2 v y2 (0 - ) = 1. Mch tng ng ca hai dng ghp h cm v hnh 6.14b v 6.14c. Trng hp ny, ta dng mch hnh 6.14c. Mch hnh 6.13d v mch bin i sau khi mch hnh 6.14a c chuyn mch. Ch cc in cm L1 + M , L2 + M v - M ln lt l 3, 4, v 1 Henry c chuyn thnh tr khng 3s, 4s, v s. iu kin u trong ba nhnh l ( L1 + M ) y1 (0) = 6 , ( L2 + M ) y2 (0) = 4 v M ( y1 (0) - y2 (0)) = -1 . Phng trnh mch vng: 10 (2 s + 3)Y1 ( s ) + ( s - 1)Y2 ( s ) = + 5 s ( s - 1)Y1 ( s ) + (3s + 2)Y2 ( s ) = 5 (6.61)
10 2s + 3 s - 1 Y1 ( s ) 5 s + s = s - 1 3s + 2 Y ( s ) 5 v 2

Y1 ( s ) =

2s 2 + 9s + 4 4 1 1 = 2 s ( s + 3s + 1) s s + 0,382 s + 2.618 y1 (t ) = (4 - e -0,382t - e -2,618t )u (t )

s 2 + 2s + 2 2 1,618 0,618 = + 2 s ( s + 3s + 1) s s + 0,382 s + 2.618 y1 (t ) = 2 - 1,618e -0,382t + 0,618e -2,618t u (t )

Tng t

Y2 ( s ) =

in p ra

v0 (t ) = y2 (t ) = 2 - 1,618e -0,382t + 0,618e -2, 618t u (t )

D Bi tp E 6.8 Mch RCL v trong hnh 6.15, ng vo c ng mch ti t = 0 . iu kin u l y (0 ) = 2 v vC (0 - ) = 50 . Tm dng in vng y (t ) v in p t vC (t ) khi t 0

p s: y (t ) = 10 2e - t cos(2t + 81.80 )u (t ) . vC (t ) = [24 + 31,62 cos(2t - 34.7 0 )u (t ) . 6.4-1 Phn tch mch tch cc

Phng php bin i Laplace p dng khng ch cho mch th ng, m cn dng c cho mch tch cc, bng cch thay cc phn t tch cc bng m hnh ton hc (hay mch tng ng) ri thc hin tip cc bc sau: Mch khuch i thut ton (op amp) v trong hnh 6.16a, gm c ng vo o v ng vo khng o. Tc l cc tnh ca ng ra v2 ging cc tnh ng vo khng o v trng hp ngc li cho ng vo o. Hnh 6.16b v m hnh (mch tng ng) ca mch khuch i thut ton (op amp) hnh 6.16a. Thng thng, op amp c li rt ln. in p ra v2 = - Av1 , vi A thng l 105 n 106. Tr khng vo rt ln (thng t 106 cho BJT v 1012 cho BiFET) , v tr khng ra rt b (t 50 n 100W). Trong hu ht cc ng dng, ta thng gi s li v tr khng vo l v cng, cn tr khng ra l zr. T , ta c ngun p l tng ti ng ra. Xt mch op amp vi hai in tr Ra v Rb v hnh 6.16c. Dng mch ny gi l mch khuch i khng o du. Cc tnh ng vo trong dng mch ny l nghch so vi trng hp hnh 6.16a. in p ra l R v2 = Kv1 K = 1 + a Rb u tin ta thy l do tr khng vo l v cng, nn dng in vo i x v in p vo v x phi tin v zr. Ngun ph thuc trong trng hp ny l - Av x thay v l Av x do cc tnh ng vo l o. Ngun ph thuc Av x (xem hnh 6.16b) ti ng ra to dng in i0 , nh v hnh 6.16c. v2 = ( Ra + Rb )i0 V do
v1 = v x + Ra i0 = Ra i0 nn R v2 Rb + Ra = =1+ b = K v1 Ra Ra v2 (t ) = Kv1 (t ) , Mch tng ng ca mch khuch i khng o v hnh 6.16d

Th d 6.16: Mch hnh 6.17a gi l mch Sallen-Key, thng c dng trong thit k mch lc. Tm hm truyn gia in p ra v0 (t ) v in p ng vo vi (t ) V (s) Ta cn tm H ( s ) = 0 vi gi s mi iu kin u l zr. Vi ( s ) Hnh 6.17b v dng mch bin i ca mch hnh 6.17a. Mch khuch o khng o c hay bng mch tng ng. Cc gi tr in p c thay bng bin i Laplace v cc phn t mch thay bng gi tr tr khng. Cn c gi s l cc iu kin u l zr tm H(s). Dng phng php phn tch nt, c hai in p nt n l Va ( s ) v Vb ( s ) trong phng trnh nt.

Vit phng trnh ti nt a Va ( s ) - Vi ( s ) Va ( s ) - Vb ( s ) + + [Va ( s ) - KVb ( s )]C1s = 0 hay R1 R2

1 1 1 1 R + R + C1s Va ( s ) - R + KC1s Vb ( s ) = R V1 ( s ) 2 1 1 2 Tng t, phng trnh ti nt b Vb ( s ) - Va ( s ) + C2 sVb ( s ) = 0 hay R2 1 1 Va ( s ) + + C2 s Vb ( s ) = 0 R2 R2

(6.63a)

(6.63b)

Dng ma trn G1 + G2 + C1s - (G2 + KC1s ) Va ( s ) G1Vi ( s ) 1 1 = vi G1 = v G2 = - G2 (G2 + C2 s ) Vb ( s ) 0 R1 R2 Dng lut Cramer Vb ( s ) w02 G1G2 = = 2 Vi ( s ) C1C2 s 2 = [ G1G2 + G1C2 + G2C1 (1 - K )]s + G1G2 s 2 + 2as + w0 R 1 GG Vi (6.65a) K = 1 + b v w02 = 1 2 = Ra C1C2 R1 R2C1C 2

2a =

G1C2 + G2C2 + G2C1 (1 - K ) 1 1 1 = + + (1 - K ) C1C2 R1C1 R1C 2 R2C 2 V0 ( s ) = KVb ( s )

H ( s) = Kw 0 V0 ( s ) V ( s) =K b = 2 2 Vb ( s ) Vi ( s ) s + 2as + w0
2

(6.65b)

(6.66)

6.4-2 Gi tr u v gi tr cui Trong mt s ng dng, ta cn cc gi tr ca f (t ) khi t 0 v t [cc gi tr u v gi tr cui ca f (t ) ] t bin i Laplace F ( s ) . nh l gi tr u: nu f (t ) v o hm df / dt c bin i Laplace th:

f (0 + ) = lim sF ( s )
s

(6.67)

Tc l, tn ti v phi ca (6.67) Chng minh: dng phng trnh (6.34a)

sF ( s ) - f (0 - ) = 0 0+ df df df df df -st o+ e dt = e -st dt + + e -st dt = f (t ) 0- + + e -st dt = f (0 + ) - f (0 - ) + + e -st dt 0 0 0 0 dt dt dt dt dt

Nn sF ( s ) = f (0 + ) + +

df -st e dt , v 0 dt df df lim sF ( s ) = f (0 + ) + lim + e -st dt = f (0 + ) + + lim e -st dt = f (0 + ) 0 dt s s s 0 dt

Nhn xt: nh l gi tr u ch p dng khi F ( s ) b gii hn (m < n), do khi (m > n), lim sF ( s ) khng tn ti.
s

nh l gi tr cui: nu f (t ) v o hm df / dt c bin i Laplace th: lim f (0 + ) = lim sF ( s )

t s 0

(6.68)

Tc l, cc cc ca sF ( s ) khng nm bn phi mt phng phc (RHP) hay trn trc o. Chng minh: cho s 0 vo phng trnh (6.34a), ta c: df df lim sF ( s ) - f (0 - ) = lim e -st dt = dt = f (t ) 0- = lim f (t ) - f (0 - ) 0 0 s 0 s 0 t dt dt Ta chng minh c cng thc (6.68)

Nhn xt: nh l gi tr cui ch p dng nu cc ca sF ( s ) nm bn tri mt phng phc (LHP). Nu c cc trn trc o, th lim sF ( s ) khng tn ti. Nu c cc nm bn
s 0

phi mt phng phc (RHP), th lim sF ( s ) khng tn ti.

s 0

Th d 6.17: Tm gi tr u v gi tr cui ca y (t ) c bin i Laplace l: 10(2s + 3) Y ( s) = s ( s 2 + 2s + 5) Dng phng trnh (6.67) v (6.68), ta c: 10(2 s + 3) y (0 + ) = lim sY ( s ) = lim 2 =0 s s s ( s + 2 s + 5) 10(2 s + 3) y () = lim sY ( s ) = lim =6 s 0 s 0 s ( s 2 + 2 s + 5) 6.5 S khi.

H thng bao gm s lng rt ln cc phn t hay linh kin. Khng th cng mt lc phn tch h thng ny, nn tt nht l biu din h thng t kt ni cc h con, ri phn tch cc h con ny theo quan h vo ra. Mi h thng (h con) c c trng dng hm truyn H ( s ) v cc biu din tn s ca ng vo F ( s ) v ng ra Y ( s ) . Cc h con c th c kt ni dng ba dng kt ni c bn (hnh 6.18b, 6.18c, 6.18d) l ni tip, song song v phn hi.

Khi hai hm truyn kt ni ni tip, nh hnh 6.18b, th hm truyn chung l tch ca hai hm truyn. Y ( s) W (s) Y ( s) = = H1 ( s) H 2 ( s) F (s) F (s) W ( s) Kt qu c th m rng khi c nhiu hm truyn ni tip hn Tng t, khi hai hm truyn H1 ( s ) v H 2 ( s ) kt ni song song, nh hnh 6.18c, th hm truyn chung l tng ca hai hm truyn H1 ( s ) + H 2 ( s ) . Kt qu l r rng, v c th m rng cho nhiu hm truyn mc song song. Khi ng vo ni phn hi n ng vo, nh hnh 6.18d, hm truyn chung c tnh l Y ( s ) / F ( s ) . Ng vo n b cng l F ( s ) v - H ( s )Y ( s ) . Nh th, E(s) ng ra ca b cng l: E ( s ) = F ( s ) - H ( s )Y ( s ) Nhng Y ( s ) = G ( s ) E ( s ) = G ( s )[ F ( s ) - H ( s )Y ( s )] Vy Y ( s )[1 + G ( s ) H ( s )] = G ( s ) F ( s ) Nn Y ( s) G (s) (6.69) = F (s) 1 + G(s) H (s) Nn c th biu din vng phn hi dng mt khi c hm truyn nh phng trnh (6.69) (xem hnh 6.18d) Khi tm cc phng trnh trn, ta gi s l khi ni ng ra ca mt h con vi ng vo ca h con khc, th khng nh hng ln ng vo ca h con ny. Th d, hm truyn H1 ( s ) trong hnh 6.18b c tnh vi gi s l h con th hai H 2 ( s ) cha kt ni vo. iu ny cng nh gi s l H 2 ( s) khng gy ti ln H1 ( s) . Ni cch khc, quan h vo ra ca H1 ( s ) khng thay i cho d H 2 ( s ) c kt ni vo hay khng. Trong thc t, th cc mch in t hin i nh op amp (tr khng vo ln) tha c cc gi thit ny. Nu iu kin khng tha, th H1 ( s ) phi c tnh ng vi iu kin vn hnh (tc l khi c H 2 ( s ) kt ni vo). Bi th d dng MATLAB C6.3 cho php ta xc nh hm truyn ca h phn hi trong hnh 6.18d [phng trnh (6.69)], vi hm truyn G(s) v H(s) cho trc: Bi tp dng my tnh C6.3 Tm hm truyn ca h phn hi hnh 6.18d khi G ( s ) = v K ln lt l 7, 16, v 80. n gin, ta chia G(s) thnh hai thnh phn G1 ( s ) = K v G2 ( s ) = iu ny cho php vit chng trnh cho hai h con ni tip.

K , s ( s + 8)

H ( s) = 1

1 . s ( s + 8)

% (c62.m) G1num = [0 0 K]; G1den = [0 0 1]; G2num = [0 0 1]; G2den = [1 8 0]; Hnum= [0 0 1]; Hden = [0 0 1]; [Gnum,Gden]=series(G1num, G1den,G2num,G2den); [ClGnum,ClGden] = feedback(Gnum, Gden, Hnum, Hden); printsys(ClGnum,ClGden) Hm truyn h phn hi, khi K = 7, 16, v 80 c tnh khi dng lnh MATLAB sau: K = 7; c62 num/den =
7 s ^ 2 + 8s + 7

K = 16; c62 num/den =

16 s ^ 2 + 8s + 16

K = 80; c62 num/den =

80 s ^ 2 + 8s + 80
6.6 Thc hin h thng. Phn ny pht trin mt phng php thc hin (hay m phng) h thng c hm truyn bc n bt k. Bi ton thc hin v c bn l bi ton tng hp, nn c rt nhiu phng php thc hin. Phn ny gii thiu ba phng php: dng chnh tc, ni tip v song song. Dng chnh tc th hai c trnh by trong ph lc 6.1 cui chng. Hm truyn H(s) c th c thc hin dng b tch phn hay vi phn, cng cc b cng v nhn v hng. Thc t cho thy nn trnh dng b vi phn, do b vi phn l suy gim tn hiu tn s cao, nn, t bn cht, b vi phn c tc thay i ln. Tn hiu thc t, thng b nhim nhiu, l tn hiu c ph rt rng, nn b vi phn c th lm gia tng thnh phn nhiu, lm nh hng n tn hiu mong mun. Ngoi ra. Khi dng op amp lm b vi phn, thng c xu hng to dao ng. Xt h LT TT BB c hm truyn b s m + bm-1s m-1 + L + b1s + b0 H ( s) = m n s + an-1s n-1 + L + a1s + a0 Khi s ln ( s )
H ( s ) @ bm s m-n

Nh th, khi m > n, h thng hot ng nh b vi phn bc (m n). Do , ta gii hn m n cho h thng thc t. T , trng hp thng thng nht l hm truyn vi m = n vi hm truyn b s n + bn-1s n-1 + L + b1s + b0 H ( s) = nn (6.70) s + an-1s n-1 + L + a1s + a0

6.6-1 Dng chnh tc hay dng trc tip

Trc khi thc hin h bc n [theo phng trnh (6.70)] ta bt u vi h bc ba. Ri m rng ln h bc n. b s 3 + b2 s 2 + b1s + b0 H ( s ) = 32 (6.71) s + a2 s 2 + a1s + a0

Biu din hm truyn thnh h ni tip hai hm truyn H1 ( s) v H 2 ( s) , nh v hnh 6.19. 3 1 2 H ( s) = (6.72) s3 + a s 2 + a s + a b3 s + b2 s + b1s + b0 1 1 0

= (H1 ( s ) )(H 2 ( s ) )

Ng ra ca H1 ( s) l X ( s ) , v hnh 6.19b, nn Y ( s ) = (b3 s 3 + b2 s 2 + b1s + b0 )X ( s ) V

(6.73) (6.74)

1 X ( s) = 3 2 s +as +as+a F ( s) 1 1 0

u tin, ta to H1 ( s ) . Phng trnh (6.74) cho php ta vit phng trnh vi phn ca quan h gia x(t ) v f (t ) :
( D 3 + a2 D 2 + a1 D + a0 ) x(t ) = f (t )

(6.75a) (6.75b) (6.75c)

hay v

&x &&(t ) + a2 & &(t ) + a1 x & (t ) + a0 x(t ) = f (t ) x &x &&(t ) = -a2 & &(t ) - a1 x & (t ) - a0 x(t ) + f (t ) x

Nhim v l thit k h thng c ng vo f (t ) v ng ra x(t ) tha phng trnh &&(t ) t f (t ) . Khi ly tch phn lin tip ca & &&(t ) , ta ln lt (6.75c). Gi s l ta c & x x &(t ) , x & (t ) v x (t ) (hnh 6.20a). To & &&(t ) t f (t ) , x (t ) , x & (t ) v & &(t ) theo phng c & x x x trnh (6.75c) dng kt ni phn hi theo hnh 6.20b (c gi c th chng minh l hnh 6.20b tha phng trnh (6.75c). R rng, hm truyn ca h thng ny (hnh 6.20b) l & (t ) v & &(t ) c ti cc im N1, N2, H1 ( s) trong phng trnh (6.72). Cc tn hiu x(t ) , x x & (0) v & &(0) l khc zr, th chng s c cng thm v N3. Nu iu kin u x(0) , x x vo ti cc im N1, N2, v N3. Hnh 6.20c v h thng ca hnh 6,20b rtong min tn s. Mi khu tch phn biu din hm truyn 1 / s [xem phng trnh (6.56)]. Cc tn hiu & (t ) , & &(t ) v & &&(t ) thnh cc bin i Laplace F ( s ) , X ( s ) , sX ( s ) , s 2 X ( s ) f (t ) , x(t ) , x x x v s 3 X ( s ) . Hnh 6.20c thc hin hm truyn H1 ( s ) trong phng trnh (6.72). thc hin H ( s ) , ta cn tng H1 ( s ) sao cho ng ra Y ( s ) c to ra t X ( s ) theo phng trnh (6.73):
Y ( s ) = b3 s 3 + b2 s 2 + b1s + b0 X ( s ) = b3 s 3 X ( s ) + b2 s 2 X ( s ) + b1sX ( s ) + b0 X ( s )

Cc tn hiu X ( s ) , sX ( s ) , s 2 X ( s ) v s 3 X ( s ) c ti nhiu im trong hnh 6.20c nn Y ( s ) c to ra t kt ni thun n ng ra b cng, v hnh 6.21. Nh th, hnh 6.21 th hin c hm truyn mong mun ca phng trnh (6.71).

Tng qut thc hin cho hm truyn bc n trong phng trnh (6.70) c v hnh 6.22. y l mt trong hai dng thc hin chnh tc (cn c gi l b iu khin chnh tc hay dng thc hin trc tip). Dng thc hin chnh tc th hai (thc hin b quan st chnh tc) c tho lun ph lc 6.1 ti phn cui ca chng. Ta thy thc hin hm truyn bc n, ta cn n khu tch phn. Phng php thc hin chnh tc (trc tip) c minh ha trong hnh 6.22. T , ta c th tm tt thnh cc bc sau: 1. V b cng cc tn hiu vo v n khu tch phn ni tip 2. V n kt ni phn hi t ng ra ca n khu tch phn v b cng ti ng vo. Cc h s phn hi ln lt l a0 , a1 , a2 , L , an-1 , v cc ng phn hi c du m (php tr) ti b cng ti ng vo.

3. V n + 1 ng ni thun n b cng t ng ra ca n khu tch phn. ( n + 1 ) ng ni thun c cac h s ln lt l b0 , b1 , b2 , L , bn , v c gi tr dng (php cng) ti b cng ng ra. Nhn thy cc kt ni ak v bk u xut pht t mt im. Nn cc kt ni a0 v b0 cng xut pht t mt im, tng t cho a1 v b1 , v.v., Ch l an c gi s l n v v khng xut hin trong thc hin hm truyn. Trng hp an 1 , phi thc hin chun ha hm truyn H ( s ) bng cch chia t v mu s cho an . Th d 6.18: Thc hin chnh tc cho cc hm truyn sau: 5 s+5 s 4 s + 28 (a) (b) (c) (d) 2 s+2 s+7 s+7 s + 6s + 5 Bn hm truyn ny u l dng c bit ca H ( s ) trong phng trnh (6.70) (a) Trng hp ny, hm truyn l bc mt (n = 1); nn ta ch dng mt b tch phn. Cc h s phn hi l a0 = 2 b0 = 5 b1 = 0

Mch thc hin c v trong hnh 6.23. Do n = 1 , nn ch c mt ng phn hi t ng ra ca khu tch phn n ng vo b cng vi h s a0 = 2 . Khi n = 1 , ta thng c n + 1 = 2 ng truyn thun, Tuy nhin, do b1 = 0 , nn ch c mt ng truyn thun vi h s b0 = 5 t ng ra khu tch phn n ng ra b cng. Do ch cn cng mt tn hiu ti b cng, nn khng cn b cng, nh trong hnh 6.23

s+5 s+7 Mch thc hin trong hnh 6.24. Do H ( s ) l hm truyn bc mt c a0 = 7 v b0 = 5, b1 = 1 . C mt ng phn hi (vi h s 7) t ng ra b tch phn n ng vo b cng. C hai ng truyn thng t ng ra b tch phn v ng vo b cng n ng ra b cng.
(b)

H ( s) =

s s+7 Hm truyn bc mt tng t trng hp (b) tr trng hp b0 = 7 . Thc hin tng t nh hnh 6.24, b ng truyn thng ni t ng ra b tch phn, v hnh 6.25a. Khng c b cng ti ng ra do ch c mt tn hiu. Thc hin hnh 6.25a c v li hnh 6.25b

(c)

H ( s) =

4 s + 28 s + 6s + 5 y l h bc hai vi b0 = 28, b1 = 4, a0 = 5, a1 = 6 . Hnh 6.26 thc hin dng hai ng phn hi v hai ng truyn thng.

(d) H ( s ) =

D Bi tp E 6.9

Thc hin mch H ( s ) =

2s . s + 6 s + 25
2

6.6-2 Dng ni tip v song song. H bc n c hm truyn H ( s ) c th c biu din thnh tch hay tng n h c hm truyn bc mt. Theo , ta cng thc hin H ( s ) thnh dng ni ui (ni tip) hay song song ca n hm truyn bc mt ny. Th d, xt hm truyn trong phn (d) ca th d trn 4 s + 28 , ta c th vit li H ( s ) nh sau: H ( s) = 2 s + 6s + 5 4s + 28 4 s + 28 1 (6.76a) H ( s) = 2 = = H1 ( s) H 2 ( s) s + 6 s + 5 s + 1 s + 5 Ngoi ra cn vit c H ( s ) theo dng tng a thc 4 s + 28 6 2 (6.76b) H ( s) = 2 = = H 3 ( s) H 4 ( s) s + 6s + 5 s + 1 s + 5 Phng trnh (6.76) cho php ta la chn thc hin H ( s ) theo dng ni ui H1 ( s) v H 2 ( s) , nh hnh 6.27a hay dng song song ca H 3 ( s ) v H 4 ( s) nh hnh 6.27b. Cc hm truyn bc mt trong hnh 6.27a v 6.27b thc hin dng mt khu tch phn, nh trong th d 6.18. Ta trnh by ba dng thc hin (chnh tc, ni ui, v song song). Dng chnh tc th hai s c trnh by trong phn ph lc 6.1. Tuy nhin, th d trong dng ni ui, c nhiu phng thc khc nhau nhm c tha s t s v mu s ca H ( s ) , t , c th thc hin nhiu dng mch ni ui. Theo quan im thc t, dng ni ui v song song l ph hp do h song song va mt s dng ni ui t nhy cm vi s thay i nh ca tham s so vi trng hp h chnh tc. V mt nh tnh, sai bit ny c th c gii thch l trong thc hin chnh tc cc tham s tng tc vi nhau, nn mt thay i nh ca tham s ny s c khuch i vi nhiu nh hng ca kt ni phn hi v truyn thng. Cn trong thc hin ni tip hay song song, thay i tham s c nh hng cc b. ch khng ton cc. Trong cc th d trn v thc hin ni ui v song song, ta chia H ( s ) thanh nhiu tha s bc mt. Th d, khi H ( s ) nc cao, ta c th nhm H ( s ) thnh tha s, khng nht thit l bc mt. Th d, khi H ( s ) l bc ba, ta c th dng t hp khu bc hai v khu bc mt. Thc hin vi cp cc phc lin hp Cc cc phc trong H ( s ) c th thc hin dng tha s bc hai (qun phng) do ta khng th thit lp php nhn vi s phc. Th d, xt

H ( s) =

10s + 50 10 s + 50 2 1 + j2 1 - j2 = = 2 ( s + 3)( s + 4 s + 13) ( s + 3)( s + 2 - j 3)( s + 2 + j 3) s + 3 s + 2 - j 3 s + 2 + j 3

Ta khng th th hin hm truyn bc nht ring bit vi cc - 2 j 3 , do phi nhn vi s phc trn ng phn hi v ng truyn thng. Do , ta cn kt hp cc cc phc thnh khu c hm truyn bc hai. Trng hp ny, ta biu din H ( s ) thnh: s+5 10 (6.77a) H ( s) = 2 s + 3 s + 4 s + 13 2 2s - 8 (6.77b) H ( s) = - 2 s + 3 s + 4s + 13 Ta thc hin H ( s ) dng ni ui dng phng trnh (6.77a) hay dng dng song song dng phng trnh (6.77b) Thc hin vi cc cc lp Khi c cc lp, cc bc thc hin dng chnh tc v ni ui u ging trng hp trc. Tuy nhin trong thc hin song song, khi thc hin cn mt s ch c bit, nh trong th d 6.19 di y Th d 6.19: Tm thc hin song song ca 7 s 2 + 37 s + 51 5 2 5 H ( s) = = + 2 ( s + 2)( s + 3) s + 2 s + 3 ( s + 3) 2 Hm truyn bc ba c th cn nhiu hn ba khu tich phn. Nhng nu ta thc hin thnh ba tha s ring bit, ta cn n bn khu tch phn v c mt tha s bc hai. Vn ny c th c gii quyt khi thy tha s 1 /( s + 3) v 1 /( s + 3) 2 c th thc hin ni ui hai h thng con, mi h con vi hm truyn 1 /( s + 3) , nh v hnh 6.28. Cc khu bc mt c trong hnh 6.28 c th thc hin nh hnh 6.23.

D Bi tp E 6.10 Thc hin dng chnh tc, ni ui v sng song hm s+3 s + 3 1 H ( s) = 2 = . s + 7 s + 10 s + 2 s + 5

6.6-3 Thc hin h thng dng op amp.

Phn ny bn v thit lp thc t cch dng thc hin c m t. Nh bit, cc phn t c bn dng tng hp h thng LT TT BB (hay hm truyn) l khu nhn v hng, khu tch phn, v khu cng, cc khu ny u c th thc hin dng op amp, nh m t di y Mch khuch i dng op amp Hnh 2.29 v mch op amp trong min tn s (mch bin i). Do tr khng ng vo ca op amp l v cng (rt ln), nn tt c cc dng in I(s) u i theo ng phn hi, nh hnh 6.29. Tuy nhin, in p vo Vx ( s ) , l zr (rt b) do op amp c li l v cng (rt ln). Nh th, vi cc mch thc t, Y ( s ) = - I ( s ) Z f ( s ) , v do v x 0

F ( s) , th vo phng trnh u Z ( s) Z (s) Y (s) = - f F (s) Z (s) Vy, mch op amp c hm truyn Z f ( s) (6.78) H (s) = Z (s) Khi chn thch hp Z ( s ) v Z f ( s ) , ta c nhiu dng hm truyn khc nhau, nh trnh by phn di y: I (s) =
Khu nhn v hng Khi dng in tr R f lm phn hi v in tr R ti ng vo (hnh (6,30a), th
Z f ( s ) = R f , Z ( s ) = R , th
Rf

(6.79a) R R Mch hot ng nh mch nhn v hng (mch khuch i) c li m ( Rf ). li dng c thc hin dng hai mch khuch i ny ni ui nhau, hay ch dng mt mch khuch i nh hnh 6.16c. Hnh 6.30a cn v k hiu khu nhn v hng.

H ( s) = -

Khu tch phn Khi dng t C trong ng phn hi l in tr R ti ng vo (hnh 6.30b) th Z f ( s ) = 1 / Cs , Z ( s ) = R , th:

1 1 (6.79b) H (S ) = RC s H thng hot ng nh khu tch phn l tng vi li l - 1 / RC . Hnh 6.30b cn v k hiu ca khu tch phn dng trong s khi.

Khu cng Xt mch hnh 6.31a c r ng vo ln lt l F1 ( s), F2 ( s),L , Fr ( s). Do in p vo thng l Vx 0 , do li ca op amp . ng thi, do dng in vo op amp cng rt b ( 0 ) do tr khng . Do , dng in tng qua in tr phn hi R f l

I1 ( s) + I 2 ( s) + L + I r ( s ). Ngoi ra, do Vx = 0 F (s) I j ( s) = j j = 1,2, L , r Rj

Rf Rf Rf Y ( s ) = - R f [ I1 ( s ) + I 2 ( s ) + L + I r ( s )] = - F1 ( s ) + F2 ( s ) + L + Fr ( s ) R2 Rr R1 = k1 F1 ( s ) + k 2 F2 ( s ) + L + k r Fr ( s ) (6.80) R Vi ki = - f Ri
R rng, mch in hnh 6.31 dng lm khu cng v khuch i vi li cn thit cho tng tn hiu ng vo. Hnh 6.31b v k hiu dng trong s khi ca khu cng c r ng vo. Th d 6.20: Dng op amp. Thc hin dng chnh tc cho hm truyn H ( s ) =
2s + 5 s + 4s + 10
2

Dng thc hin chnh tc c bn v hnh 6.32a, trong c ghi gi tr tn hiu ti cc im. Cc phn t ca mch op amp (khu nhn, tch phn v cng) thay i cc tnh tn hiu ra. Thay i thc hin chnh tc trong hnh 6.32a thnh 6.32b. Trong hnh 6,32a, cc ng ra ca khu cng v tch phn ln lt l s 2 X ( s ) , sX ( s ) v X ( s ) . Mch op amp c tnh o du, nn cc ng ra ny trong hnh 6.32b l - s 2 X ( s ) , sX ( s ) v - X ( s ) . Do tnh o cc, nn cn thay i du trong ng phn hi v ng truyn thng. Theo hnh 6,32a: s 2 X ( s ) = F ( s ) - 4 sX ( s ) - 10 X ( s ) , hay - s 2 X ( s ) = - F ( s ) + 4 sX ( s ) + 10 X ( s ) Do ng ra khu cng lun lun m (xem phng trnh (6.31))nn, ta vit li phng trnh - s 2 X ( s ) = -1[ F ( s )] - 4[- sX ( s )] - 10[- X ( s )] Hnh 6.32b v s v hnh 6.32c v mch in thc hin t phng trnh ny. Cc khu tch phn c li n v nn cn RC = 1. Chn R = 100 KW v C = 10mF . li 10 ca vng phn hi bn ngoi cn c in tr phn hi ca khu cng l 100 KW v in tr vo l 10 KW . Tng t, li 4 ca vng phn hi bn trong dng in tr phn hi l 100 KW v in tr vo ln lt l 5KW v 20 KW . Mch op amp trong hnh 6.32 cha phi l dng t op amp nht. Cn c th khng dng hai op amp o du (v li l 1) trong hnh 6.32 bng cch cng trc tip tn hiu sX ( s ) ti ng vo v ng ra ca khu cng, dng cu hnh mch khuch i khng o du v hnh 6.16. Ngoi ra cn c rh dng dng mch (th d Sallen-Key) thc hin hm truyn bc mt v bc hai ch dng mt op amp. D Bi tp E 6.11 Chng t l hm truyn ca mch op amp trong hnh 6.33a v 6.33b ln lt l R a 1 C s+b 1 1 H1 ( s) = - f . H1 ( s) = b= a= a= R s+a Rf C f Cf s + a Rf C f RC

6.7 ng dng trong phn hi v iu khin. Thng thng, h thng c thit k to ng ra mong mun y (t ) khi c tn hiu vo f (t ) . T tiu chun v tnh nng cho trc, ta thit k c h thng v hnh 6.34a. L tng th h thng vng h ny c c tnh nng cn c. Tuy nhin, trong thc t, cc c tnh ca h thng thay i theo thi gian, do lo ha hay do thay th mt s linh kin, hay do mi trng chung quanh h thng. Do , ng ra ca h thng thay i theo thi gian khi c tn hiu vo. iu ny lm mt chnh xc ca h thng.

Mt gii php l p tn hiu vo l tn hiu l hm khng xc nh trc theo thi gian, nhng c th thay i chng li nh hng ca yu t thay i tham s hay mi trng. Ni gn hn, tc l to b hiu chnh ti ng vo b chnh cc yu t thay i khng mong mun. Tuy nhin, cc thay i ny thng khng d bo c, nn rt kh lp chng trnh hiu chnh ng vo.Tuy nhin, sai bit gia ng ra thc v ng ra mong mun cho thy r mc hiu chnh thch hp cho ng vo h thng. Do , ta c th cho ng vo f (t ) t l vi ng ra mong mun, v phn hi ng ra thc y (t ) v ng vo so snh. Sai bit ny c dng hiu chnh ng vo. Do ng vo c chnh nh lin tc t c ng ra mong mun. Cc h thng ny (hnh 6.34b) c gi l h phn hi hay h vng kn vi nhiu l do. Hy quan st hng ngn th d v h phn hi trong cuc sng chung quanh ta. Hu ht cc h thng v x hi, kinh t, gio dc v chnh tr, trong thc t l nhng h phn hi. T thn c th con ngi cng l mt th d tt v h phn hi; hu ht cc hnh ng ca chng ta l sn phm ca c ch phn hi. Cc cm bin ca ngi nh l mt, tai, mi, li, v da lin tc gim st trng thi h thng ca chng ta. Thng tin ny c phn hi v no, hot ng nh b iu khin, to ra cc ng vo c hiu chnh nhm thc hin mc tiu cn thit.

Khi li xe, cc cm gic ca chng ta lin tc cung cp thng tin cho no b. Mt ghi nhn hnh nh a b trn ng, no lp tc a lnh (ng vo) cho tay li trnh a b. Khi c n , mt ln na, no cho lnh (ng vo) n chn thng xe li, bt thnh lnh, tai nghe ting ci h t xe cp cu; no ra lnh tp xe tm thi vo l. Mi nghe mi thi, no lai ra lnh cho li xe vt khi ni ny. Trong th d ny: a b, n , ting ci xe cp cu, mi thi l cc thay i cha d bo trc ca mi trng (c phn hi v do cc gic quan ca chng ta). Nh phn hi, cc thay i t mi trng c hiu chnh c hnh trnh ng, v y cng l th d v h thng phn hi nhiu bin. H phn hi c th gii quyt c cc vn do nhiu gy nn, th d trng hp nhiu trng trong cc h thng in t, mt cn gi mnh lm nh hng ln tnh bm theo ca anten, thin thch va chm vo tu v tr. Sng t trn tu hay xe tng ang di chuyn b lc l. Phn hi cn c th dng gim thiu tnh phi tuyn ca h thng hay khng ch thi gian ln (hay bng thng). Phn hi cn cho php h thng thc hin c mc tiu mong mun trong mt tm dung sai cho trc, mc d cha bit hon ton v h thng v mi trng. Do , mt h thng phn hi c kh nng gim st v t chnh trc cc tham i ca tham s h thng v cc thay i t mi trng bn ngoi.

Xt h thng phn hi trong hnh 6.35. B khuch i thun c li G = 10.000, mt phn trm ca ng ra c phn hi v (H = 0,01). li T ca b khuch i c phn hi ly t phng trnh (6.69). G 10.000 T= = = 99,01 1 + GH 1 + 100 Gi s do lo ha hay do thay th mt s transistor, li G ca b khuch i thay i t 10.000 thnh 20.000. li mi ca h phn hi l G 20.000 T= = = 99,5 1 + GH 1 + 200 Ta thy khi li thun G thay i 100% th li ca b khuch i c phn hi T ch thay i 0,5% m thi. By gi, xt xem vic g xy ra khi ta thm (cng hay tr) tn hiu phn hi v ng vo. iu ny lm cho du ca ni phn hi l + thay v , (tc l cng chiu vi thay i du ca H trong hnh 6.35). Do G T= 1 - GH Nu ta cho G = 10.000 nh ban u v H = 0,9 x 10 4 , th 10.000 T= = 100.000 1 - 0,9(10 4 )(10 -4 )

Gi s do lo ha hay do thay th mt s transistor, li G ca b khuch i thay i t 10.000 thnh 11.000. li mi ca h phn hi l 10.000 T= = 1.100.000 1 - 0,9(11.000)(10 -4 ) Ta thy khi li thun G ch thay i 10% th li ca b khuch i c phn hi T thay i 1.000% ri (t 100,000 ln 1.100.000). R rng, b khuch i rt nhy vi thay i ca tham s. Hnh vi ny hon ton tri ngc vi iu quan st trc y, khi tn hiu phn hi c tr i ti ng vo. Vy iu khc bit gia hai trng hp trn l g? Ni s lt th trng hp u c gi l phn hi m v trng hp sau c gi l phn hi dng. Ta s thy thng h phn hi dng tng li, cng lm tng tnh nhy cm ca h thng vi s thay i ca tham s h thng, v c th lm h thng mt n nh. Trong trng hp trn, khi G = 111.111, GH = 1 v T = . Nguyn nhn ca s mt n nh l tn hiu phn hi trong trng hp ny li bng chnh tn hiu vo do GH = 1. Do , khi a tn hiu vo, d nh hay ln, tn ti trong thi gian di hay ngn, s c tng cng ti ng vo, v khuch i ti ng ra, qu trnh phn hi c tip tc nhiu ln, nh th tn hiu c xem l tn ti mi mi, ngay c khi ngng cp tn hiu vo, v iu ny lm h thng mt n nh. 6.7-1 Phn tch h thng iu khin n gin Hnh 6.36a v h thng iu khin t ng v tr, c th dng iu khin gc quay ca vt nng (th d anten bm theo, h thng sng phng khng, hay h thng nh v cho tu thy. Ng vo q i l v tr gc ca i tng, v c th t trc vi gi tr bt k. V tr gc thc q 0 ca i tng (ng ra) c o bng mt chit p c cn gt t ti trc ra. Sai bit gia ng ra q 0 v ng vo q i c khuch i; ng ra ca b khuch i t l vi gi tr q 0 - q i c a n ng vo ca ng c. Khi q 0 - q i = 0 (ng ra thc bng ng ra mong mun), khng c tn hiu vo ng c, ng c dng. Nu q 0 q i , c ng vo khc zr vo ng c, nn ng c quay trc cho n khi q 0 = q i . R rng l khi t chit p vo v tr mong mun, ta c th iu khin gc quay ca cc i tng nng t xa. S khi ca h thng c v trong hnh 6.36b. H d khuch i l K, chnh nh c. Hm truyn ca ng c v ti c lin quan n gc quay q 0 vi in p ng vo ly t G(s) [xem phng trnh (1.65)]. Cu trc ny tng t nh hnh 6.18 khi H ( s ) = 1 . Do , hm truyn T ( s ) ca h vng kn m t quan h gia q 0 v q i l KG ( s ) T= 1 - KG ( s ) T phng trnh ny, ta tip tc kho st hot ng ca h thng iu khin t ng v tr trong hnh 6.36a vi ng vo l hm bc v ng vo l hm dc.

Ng vo l hm bc. Khi mun thay i tc thi v tr ca gc quay i tng, ta cn a tn hiu vo l hm bc. Ta mun bit thi gian v tr gc quay t v tr mong mun, phng cc t v tr mong mun (mn hay dao ng chung quanh v tr mong mun) Khi h thng dao ng, ta cn bit thi gian tn ti dao ng ny. Tt c cc vn ny c gii quyt bng cch tm ng ra q 0 (t ) khi q i (t ) = u (t ) . p ng bc cho thy thay i tc thi ca gc quay. Ng vo dng ny l mt trong nhng tn hiu kh p ng; nu h thng p ng tt vi ng vo dng ny, th s hot ng tt trong nhng tnh hung mong mun khc. Do , ta cn th h thng vi tn hiu hm bc.

Khi tn hiu hm bc vo q i (t ) = u (t ) q i ( s ) = 1 / s nn 1 KG ( s ) q 0 ( s) = T ( s) = s s[1 + KG ( s )] Cho hm truyn (c ti) ca ng c quan h gia gc quay ti q 0 (t ) vi in p vo l 1 [xem phng trnh (1.65)], tc l G( s) = s ( s + 8) K K s ( s + 8) q 0 ( s) = = 2 K s ( s + 8s + K ) s 1 + s ( s + 8) Kho st p ng ca h thng vi ba gi tr khc nhau ca K 1. K=7

q 0 ( s) =

7 7 1 (7 / 6) (1 / 6) v = = + s ( s + 8s + 7) s ( s + 1)( s + 7) s s + 1 s + 7 q 0 (t ) = (1 - (7 / 6)e -t + (1 / 6)e -7 t )u (t )

2

p ng v hnh 6.36c cho p ng chm. tng tc, hy th tng li ln, th d l 80. 2. K = 80

0 0

80 80 1 ( 5 / 4)e j153 ( 5 / 4)e - j153 q 0 ( s) = = = + s ( s 2 + 8s + 80 ) s ( s + 4 - j8)( s + 4 + j8) s s + 4 - j8 s + 4 + j8

q 0 (t ) = 1 + ( 5 / 2)e -4t cos(8t + 1530 ) u (t )

p ng ny c v trong hnh 6.36c, r rng nhanh hn trng hp trc ( K = 7) , nh li xut hin yu t dao ng vi cc im vt l cao. Trong trng hp ny th phn trm vt l l 21% (PO: percentage overshoot). p ng t gi tr nh ti thi gian nh t p = 0,393 giy. Thi gian ln, l thi gian cn p ng tng t 10% n 90% gi tr xc lp, cho thy tc p ng. Trng hp ny t r = 0,175 giy. Gi tr xc lp ca p ng l n v nn sai s xc lp l zr. V mt l thuyt th cn thi gian v hn p ng t gi tr n v. Trong thc t, ta c th xem p ng c thit lp gi tr cui khi tim cn vi gi tr cui. Gi tr ny c chp nhn l trong tm 2% ca gi tr cui. Thi gian cn cho p ng t v gi trong tm 2% ca gi tr cui c gi l thi gian thit lp t s . Hnh 6.36c, ta thy t s 1 giy. H thng tt c vt l thp, cc gi tr t r , t s thp v c gi tr sai s xc lp b. H thng c vt l cao, th d trong trng hp ny, khng c chp nhn trong mt s trng hp. Ta hy th xc nh K ( li) to p ng nhanh nhng khng c dao ng. Cc nghim c tnh phc dn n dao ng, trnh dao ng, cc nghim phi l thc. Trong trng hp ny a thc c tnh l s 2 + 8s + K . Khi K > 16, ta c nghim thc. p ng nhanh nht khng c dao ng c c khi chn K = 16. 3. K = 16

16 16 1 1 4 = = + 2 s ( s + 8s + 16 ) s ( s + 4) s s + 4 ( s + 4) 2 q 0 (t ) = 1 - (4t + 1)e -4t u (t ) p ng c v trong hnh 6.36c. H thng khi K > 16 c gi l gim chn thiu (dao ng -underdamped), khi K < 16 c gi l gim chn l (overdamped), cn khi K = 16 c gi l gim chn ti hn (critically damped).

q 0 (s) =

C s tha hip gia yu t vt l v thi gian ln. Gim vt l lm tng thi gian ln (h thng tc ng chm). Trong thc t, c th chp nhn vt l b, vn p ng nhanh hn trng hp gim chn ti hn. Ch l phn trm vt l PO v thi gian nh t p khng c ngha vi trng hp gim chn l hay gim chn ti hn. Hn na, khi chnh nh K, ta cn h tr h thng dng mt s khu b, khi cn c cc tiu ch nghim ngt v vt l hay tc p ng. Ng vo l hm dc. Khi sng phng khng trong hnh 6.36a bm theo my bay ch di chuyn vi vn tc u, v tr gc ca sng phi tng tuyn tnh theo t. Do , ng vo trong trng hp ny l hm dc; tc l q i (t ) = tu (t ) . Hy tm p ng ca h thng vi p ng ny v vi K = 80. Trng hp ny q i ( s ) = 1 / s 2 , v 80 0,1 1 0,1( s - 2) q 0 ( s) = 2 2 =+ 2+ 2 s ( s + 8s + 80 ) s s s + 8s + 80 Dng bng 6.1, ta c

1 y (t ) = - 0,1 + t + cos(8t + 36,87 0 )u (t ) 8 p ng c v hnh 6.36d, cho thy h thng c sai s xc lp er = 0,1 radian. Trong mt s trng hp, cho php c sai s xc lp b. Tuy nhin, cn c sai s xc lp ca p ng dc l zr, vy l p ng ca trng hp ny l khng t. Ta cn c thm khu b cho h thng ny.
Bi tp dng my tnh C6.4 Tm p ng bc ca h phn hi trong hnh 6.36b vi G ( s ) = 1 / s ( s + 8) khi K = 7, 16 v 80. Tm p ng vi hm dc khi K = 80. Trong th d dng my tnh C6.3, ta c c hm truyn ca h thng phn hi ny. Ta lm li v dng lnh conv khi mu s gm hai tha s D1 ( s ) v D2 ( s ) . Lnh conv nhn D1 ( s) vi D2 ( s ) v cho cc h s ca tch D1 ( s)D2 ( s) . tm p ng hm bc v p ng hm dc , ta to m-file c64a.m nh sau: %(c64a.m) Gnum=[0 0 K]; Gden=conv([0 1 0],[0 1 8]); Hnum=[0 0 1]; Hden=[0 0 1]; [NumTF, DenTF]=feedback(Gnum, Gden, Hnum, Hden); Step(NumTF, DenTF) v p ng bc (nh hnh 6.36c) dng tp tin c64b.m nh sau: K = 7; c64a;hold on, K=16; c64a; K=80; c64a; p ng dc n v ca h thng ny ging nh p ng bc ca h thng vi hm truyn T(s)/s. Ta dng c64a tm p ng dc. v, khi K =80, to c64c.m nh sau: K=80; c64a; NumTFr=NumTF; DenTFr=conv([0 1 0], DenTF); Printsys(NumTFr, DenTFr); step(NumTFr, DenTFr)

Cc c tnh thit k. Phn ny cung cp cho c gi mt s tng v cc dng c tnh dng trong h thng iu khin cn thit. Thng thng, khi thit k h thng iu khin ta cn tha mt trong s cc c tnh sau: 1. (a) (b) (c) p ng qu nh r vt l vi ng vo l hm bc nh r thi gian ln t r v/hay thi gian tr t d . nh r thi gian thit lp t s

2. Sai s xc lp nh r sai s xc lp i vi mt s ng vo nh hm bc. hm dc. hay hm parabol. Trong h thng iu khin. p ng qu l c c trng vi ng vo hm bc, iu ny do hm bc biu din bc nhy gin on. Do , nu h thng c c p ng qu chp nhn c vi hm bc, th s c p ng chp nhn c vi nhiu dng tn hiu vo khc. Tuy nhin, sai s xc lp li cn c xc nh cho tng dng ng vo. i vi tng h thng, ta cn xem xt dng tn hiu vo (bc, dc, v.v,) no c th xut hin, nh cc yu cu v sai s xc lp ca tng ng vo. 3. nhy H thng cn tha mn cc c tnh v nhy c trng khi tham s h thng thay i, hay vi mt s nhiu lon. Phn tch nhy khng c cp y. 6.72 Phn tch h thng bc hai

p ng qu ty thuc vo v tr cc im cc v im zr ca hm truyn T(s). Thng thng, khng c con ng ngn d on cc tham s ca p ng qu (PO, t r , t s ) t hiu bit v cc v zr ca T(s). Tuy nhin vi h bc hai khng c im zr, li c quan h trc tip gia v tr cc v p ng qu . Trong trng hp ny, v tr cc c th c xc nh t kin thc v c tnh ca tham s qu . Ta s thy l vic nghin cu v h bc hai c th gip nghin cu t hn v cc h bc cao hn. Do , phn ny ta nghin cu chi tit v h bc hai.

Xt h bc hai c hm truyn 2 wn T (s) = 2 2 s + 2Vwn s + wn

(6.81)

Cc cc ca T(s) l - Vwn jw n 1 - V 2 , v hnh 6.37. Cc cc l phc khi t s gim chn V < 1 (trng hp gim chn thiu). v l thc khi V 1 . Trng hp V = 1 l trng hp gim chn ti hn, khi V > 1 l trng hp gim chn l. Gi tr V cng b th gim chn cng thp, to vt l cng cao, v thi gian p ng cng nhanh. Khi ng vo l hm bc n v F ( s ) = 1 / s v
2 wn s + 2Vwn 1 = - 2 2 2 2 s ( s + 2Vw n s + w n ) s s + 2Vwn s + w n Tra bng 6.1 (cp 1 v 10c), ta c 1 y (t ) = 1 e -Vwnt sin x n 1 - V 2 t + cos -1 V u (t ) 1-V 2

Y ( s) =

(6.82)

Hnh 6.38 cho thy bn cht ca trng hp gim chn thiu ( V < 1 ). p ng gim. p ng gim theo hm m e -Vwnt . Do , hng s thi gian ca p ng l 1 / Vwn . Cn bn hng s thi gian hm m gim cn 2% so vi gi tr u. Thi gian thit lp t s l: 4 (6.83) ts = Vwn xc nh phn trm vt l PO, cn tm thi gian nh t p l thi gian c vt l ln nht. Ti t = t p , dy / dt = 0 . Nghim ca phng trnh l:

, v wn 1 - V 2 y (t p ) - 1 2 (6.84) PO = x100% = 100e -Vp 1-V 1 Hnh 6.39 v PO l hm theo z. Trong h bc hai, th PO quan h trc tip vi t s gim chn z. Dng phng php tng t, ta tm t r v t d . Tuy nhin, iu ny i hi phi gii phng trnh siu vit, nn cn c gii trn my tnh s. Kt qua cho trong hnh 6.39. Khi cha tnh chnh xc, c th dng phng php xp x tnh t r v t d nh sau:
tr 1 - 0,4167V + 2,917V 2 wn td 1,1 + 0,125V + 0,469V 2 wn

tp =

(6.85)

R rng trong h bc hai, v tr cc xc nh p ng qu ca h thng. Ta thy cc cc cng gn trc jw , gi tr z cng b, v gi tr vt l PO cng ln. Ni chung th, cc khng nn qu gn trc jw , l v tr gn bin n nh, lm h thng cng nhy vi s thay i ca tham s. Do , nn dng gi tr z ln ( vt l PO nh). h thng p ng nhanh th cn c cc gi tr t r , t s , t p v t d b. Phn ny cho thy h bc hai trong phng trnh 6.81, c cc tham s qu (PO, t r , t s , t p v t d ) c lin quan n v tr cc ca T(s). Theo quan im thit k h thng. ta nn v cc ng ng mc biu din cc gi tr khc nhau ca tham s qu trn mt phng s . Th d, mi ng vin ng tm trong mt phng s biu din cc ng gi tr hng ca z (xem hnh 6.37). Do PQ c lin quan trc tip vi z (hnh 6.39), nn mi ng ng tm biu din ng cc gi tr hng ca PO, v hnh 6.40. Tng t, mi ng dc biu din cc gi tr hng Vwn (phng trnh 6.37). Do t s = 4 / Vwn , cc ng biu din cc gi tr hng ca thi gian thit lp l ng dc v hnh 6.40. Hnh ny cn cho thy cc ng ng mc ca hng s t r . Cc ng ng mc cho php ta xem xt xc nh cc tham s qu quan trng (PO, t r v t s ) ca h bc hai khi bit v tr cc cc. Hn na, nu ta mun tng hp h bc hai nhm t c mt s c tnh qu cho trc, ta c th tm c T ( s ) cn c t hnh ny. Th d, xt h thng iu khin v tr trong hnh 6.36a. Cho cc c tnh qu ca h thng l PO 16%, t r 0,5 giy, t s 2 giy (6,86). Ta pht ha s cc ng ng mc trong hnh 6.40 c c cc c trng ni trn. Vng t bng do gii hn bi cc ng ng mc trong hnh 6.41 tha c ba yu cu trn. Hm truyn T ( s ) phi c chn tt c cc cc u nm trong vng ny, Hm truyn cho h thng vng kn trong hnh 6.36a l

T (s) =

KG ( s ) K = 2 1 + KG ( s ) s + 8s + K

(6.87a)

iu ny cho thy v tr cc cc ca T ( s ) c th c chnh nh bng cch thay i li K. Ta cn chn K cc cc nm trong vng t bng trong hnh 6.41. Cc cc ca T ( s ) l nghim ca phng trnh c tnh
s 2 + 8s + K = 0 = -4 16 - K

Nn cc cc l

s1, 2

(8.87b) (8.87c)

Cc cc s1 v s2 (nghim ca phng trnh c tnh) di chuyn dc theo mt ng trong mt phng s khi K thay i t 0 n . Khi K = 0 , cc cc l - 8, 0. Khi K < 16 , cc cc l thc l cc cc di chuyn v gi tr - 4 khi K thay i t 0 n 16 (gim chn l). Khi K = 16 , hai cc trng lp ti -4 (gim chn ti hn). Khi K > 16 , cc cc tr thnh cc phc vi gi tr - 4 j K - 16 (gim chn thiu). Phn thc ca cc l 4 khi K > 16 , cc cc di chuyn theo ng dc nh v hnh 6.41. Mt c di chuyn ln v cc cn li (lin hp) di chuyn xung theo ng dc qua - 4. Ta c th

dn nhn cho cc gi tr K ti nhiu im dc theo cc ng ny, nh trong hnh 6,41. Mi ng biu din qu o cc ca T ( s ) hay qu o nghim ca phng trnh c tnh ca T ( s ) khi K thay i t 0 n . Do , tp ca ng ny c gi l qu o nghim. Qu o nghim cho ta thng tin v phng thc di chuyn ca cc cc trong hm truyn vng kn T ( s ) khi li K thay i t 0 n . Trong bi ton thit k ca mnh, ta phi chn gi tr ca K sao cho cc cc ca T ( s ) trong vng c t bng nh hnh 6.41. Hnh ny cho thy h thng t cc tiu chun cho trc [phng trnh (6.86)] khi 25 < K < 64 . Th d khi K = 64 , 4 ta c PO 16%, t r = 0,2 giy, t s = = 1 giy (6.88) 4

H bc cao Ta mi ch bn v hm truyn h bc hai T ( s ) . Nu T ( s ) c thm cc cc nm xa v bn tri trc jw , chng ch nh hng khng ng k ln p ng qu ca h thng. L do l cc hng s thi gian ca cc cc ny rt nh khi so vi hng s thi gian ca cc cc phc lin hp gn trc jw . Nn c hng tng dng m do cc nm gn trc jw . Hn na, h s ca cc tha s trn cn nh hn n v. Vy, chng tng rt t v gim nhanh. Cc cc nm gn trc jw c gi l cc ch yu (dominant poles). Tiu chun thng dng l khi cc cch xa trc jw nm ln so vi cc ch yu, th ng gp khng ng k ln p ng bc, v p ng qu ca h bc cao gim thnh h bc hai. Hn na, cp cc-zr gn nhau (dipole) nh hng khng ng k ln p ng qu . Do , nhiu cu hnh cc zr trong thc t rt gn thnh hai hay ba cc vi mt hay hai zr. Ngi ta chun b cc biu v p ng qu ca cc h thng dng ny vi rt nhiu t hp cc zr, v c dng trong thit k hu ht cc h thng bc cao.

6.73 Qu o nghim Th d trong phn 6.7-2 cho ta tng tt v tin ch ca qu o nghim khi thit k h thng iu khin. Bt u vi h phn hi v trong hnh 6.42, tng t hnh 6.18d, tr li K. H thng trong hnh 6.36a l trng hp c bit vi H ( s ) = 1 . H thng trong hnh 6.42 c KG ( s ) (6.89a) T (s) = 1 + KG ( s ) H ( s ) Phng trnh c tnh ca h thng (6.89b) 1 + KG ( s ) H ( s ) = 0 Xem xt ng i ca nghim ca 1 + KG ( s ) H ( s ) = 0 khi K thay i t 0 n . Khi vng h, hm truyn l KG ( s ) H ( s ) . Do , ta gi KG ( s ) H ( s ) l hm truyn vng h. Qui tc phc ha qu o nghim l: 1. Qu o nghim bt u (K = 0) ti cc cc ca vng h v chm dt ti cc m zr ca vng h. iu ny c ngha l s cc chnh xc bng n, bc ca hm truyn vng h. t G ( s ) H ( s ) = N ( s ) / D ( s ) , vi N(s) v D(s) ln lt l cc a thc bc m v bc n. Do , 1 + KG ( s ) H ( s ) = 0 i hi D ( s ) + KN ( s ) = 0 . Nn D ( s ) = 0 khi K = 0. Trong trng hp ny, nghim l cc cc ca G ( s ) H ( s ) tc l cc cc ca vng h. Tng t, khi K , D ( s ) + KN ( s ) = 0 , tc l N ( s ) = 0 , tc l nghim l cc zr ca vng h. i vi h trong hnh 6.36a, hm truyn vng h l K / s ( s + 8) . Cc cc vng h l 0 v 8 v cc zr (khi K / s ( s + 8) u l . C th kim tra li trn hnh 6.41 l qu o nghim bt u t 0 v 8 ri chm dt ti . 2. on trc thc l phn ca qu o nghim nu tng ca cc cc v zr trn trc thc l nm bn phi ca on l l. Hn na, qu o nghim i xng qua trc thc. Ta kim tra trong hnh 6.41 l on trc thc nm bn phi 8 ch c mt cc (v khng c zr). Do , on ny l phn ca qu o nghim. 3. C n m qu o chm dt ti vi gc kp /( n - m) vi k = 1,3,5,... Ch l theo qui tc 1, m qu chm dt ti cc zr ca vng h, v (n m ) qu o cn li chm dt ti theo qui tc ny. Trong hnh 6.41, ta thy (n m ) = 3 qu o chm dt ti vi gc kp / 2 vi k = 1 v 3. Ta tip tc vi mt quan st th v. Nu hm truyn G ( s ) c m (hu hn) zr v n cc, th lim s G ( s ) = s m / s = 1 / s n-m . Do , G ( s ) c n m zr ti . iu ny cho thy l d G ( s ) ch c m hu hn zr, th cng cn n m zr ti . Theo qui tc 1, m cc chm dt ti m hu hn zr, v theo qui tc ny th cn c n m cc cn li chm dt ti , v cng l cc zr
n

ca G ( s ) . Kt qu ny c ngha l mi qu o bt u ti cc ca vng h v chm dt ti cc zr vng h. 4. Trng tm ca cc tim cn (im hi t ca cc tim cn) ca (n m) qu o chm dt ti l ( p + p2 + L + pn ) - ( z1 + z 2 + L + z m ) s= 1 ( n - m) Vi p1 , p2 , L , pn l cc cc v z1 , z 2 , L , z m l cc zr ca hm truyn vng h. Hnh 6.41 cho thy l trng tm ca qu o l [(-8 + 0) - 0] / 2 = -4 5. C thm mt s qui tc, cho php ta tnh cc im ni qu o nghim giao v ct v i qua trc jw va2o bn phi mt phng phc. Cc qui tc ny cho php ta v nhanh v phc ha s cc qu o nghim. Tuy ngy nay c sn cc chng trnh v phn mm cho php v nhanh cc qu o nghim, nhng bn qui tc u tin ny vn cn rt hu ch khi pht ha nhanh qu o nghim. Hiu bit v cc qui tc ny rt hu ch khi thit k h thng iu khin, do chng gip ta xc nh u l thay i cn thc hin (dng khu b no phi thm vo h thng) cho hm truyn vng h nhm gip thit kt t cc tiu chun yu cu. Th d 6.21:

Dng bn qui tc ca qu o nghim. v qu o nghim ca h thng c hm truyn vng h k KG ( s ) H ( s ) = s ( s + 2)( s + 4) 1. Qui tc 1: Vi G ( s ) H ( s ), n = 3 , c ba qu o nghim, bt u t cc cc ca G ( s ) H ( s ) ; tc l ti 0, - 2 v - 4 2. Qui tc 2: C tng s cc l bn phi on trc thc s < -4 v - 2 < s < 0 . Do , cc on ny l phn ca qu o nghim. Ni cch khc, ton b trc thc bn tri mt phng phc, tr on gia 2 v 4, l qu o nghim. 3. Qui tc 3: n - m = 3 . Do (c) ba qu o nghim chm dt li theo tim cn vi gc kp / 3 vi k = 1, 3 v 5. Nn, gc cc tim cn l 600, 1200 v 1800. 4. Qui tc 4: Trng tm (giao im ca ba tim cn) l (0 2 4)/3 = - 2. Ta v ba tim cn bt u t - 2 vi cc gc l 600, 1200 v 1800, nh v hnh 6.43. Thng tin ny cho ta tng v qu o nghim. Qu o nghim thc cng c v trong hnh 6.43. Hai tim cn xuyn qua bn phi mt phng phc, p ng ny vi mt s gi tr ca K, c th lm h thng khng n nh. Bi tp dng my tnh C6.5 Gii th d 6.21 dng MATLAB Cc lnh dng tm qu o nghim ca MATLAB trong trng hp ny l: num=[0 0 0 1]; den=conv(conv[1 0],[1 2]),[1 4]); rlocus(num, den), grid

6.74 Cc sai s xc lp Cc c tnh xc lp t ra thm rng cuc cho hm truyn vng kn T(s). Sai s xc lp l sai bit gia ng ra mong mun [tham chiu f (t ) ] vi ng ra thc y (t ) . Vy e(t ) = f (t ) - y (t ) , v
Y (s) (6.90) E ( s ) = F ( s ) - Y ( s ) = F ( s ) 1 = F ( s )[1 - T ( s )] F (s) Sai s xc lp l gi tr ess l gi tr ca e(t ) khi t . Gi tr nyc th c dng nh l gi tr cui [phng trnh (6.68)]: (6.91) ess = lim sE ( s ) = lim sF ( s )[1 - T ( s )]
s 0 s 0

1. Trng hp tn hiu vo l hm bc n v, sai s xc lp es l

ess = lim[1 - T ( s )] = 1 - T (0)
s 0

(6.92)

Khi T(0) = 1, sai s xc lp vi ng vo bc n v l zr. 2. Khi tn hiu vo l hm dc, F ( s ) = 1 / s 2 , v sai s xc lp er l 1 - T (s) (6.93) ess = lim s 0 s Nu T (0) 1, er = . Nh th, iu kin cn sai s xc lp ng vo hm dc hu hn l T (0) = 1 , lm sai s xc lp vi tn hiu vo bc l zr. Gi s

T (0) = 1 , p dng qui tc LHopital vo phng trnh (6.93), ta c: & ( s )] = -T & ( 0) e = lim[-T
ss s 0

(6.94)

3. Tng t, ta c th chng t l khi ng vo l hm parabol t = (t 2 / 2)u (t ) vi F ( s ) = 1 / s 3 , v sai s xc lp e p l &&(0) T (6.95) ep = 2 & ( 0) = 0 . Gi s T (0) = 0 v T

Trong thc t, nhiu h thng dng phn hi n v nh v hnh 6.44. Trong cc trng hp ny, vic phn tch sai s xc lp rt n gin. nh ngha hng s sai s v tr K p , hng s sai s vn tc K v , v hng s sai s gia tc K a l

K p= lim[ KG ( s )], K p= lim s[ KG ( s )], K p= lim s 2 [ KG ( s )],

s 0 s 0 s 0

(6.96)

Do T ( s ) = KG ( s ) /(1 + KG ( s )), phng trnh (6.90) chi 1 E ( s) = F (s) 1 + KG ( s ) Cc sai s xc lp c cho bi: 1/ s 1 1 es = lim s = = s 0 1 + KG ( s ) 1 + lim s0 [ KG ( s )] 1 + K p
er = lim s
s 0

(6.97a) (6.97b) (6.97c)

1/ s2 1 1 = = 1 + KG ( s ) 1 + lim s0 s[ KG ( s )] K v 1/ s3 1 1 = = 2 1 + KG ( s ) 1 + lim s0 s [ KG ( s )] K a

e p = lim s
s 0

Trng hp hnh 6.36a 1 , t phng trnh (6.96) ta c: G( s) = s ( s + 8) K K p = Kv = Ka = 0 8 Thay cc gi tr ny vo phng trnh (6.97) 8 es = 0, er = , e p = , K

(6.98)

H thng vi G ( s ) c cc ti gc (nh trong trng hp ny) gi l h loi 1. Cc h dng ny c kh nng bm theo v tr ca i tng vi sai s zer ( es = 0 ), v c sai s hng khi bm theo i tng di chuyn vi vn tc hng ( er = hng s). Nhng cc h thng loi 1 khng thch hp khi bm theo cc h thng c gia tc hng. Nu G ( s ) khng c cc ti gc, th K p l hu hn v K v = K a = 0 , t
( s + 2) ( s + 1)( s + 10) K p = K / 5 v K v = K a = 0 . Nn es = 5 /(5 + K ) v er = e p = . Cc h thng dng ny G( s) =

c gi l h thng loi 0. Cc h thng ny c es hu hn, nhng er = e p = . Cc h thng ny c th dng vi cc ng vo hm bc (iu khin v tr) nhng khng dng c vi cc ng vo dc hay parabol (bm theo tc hay gia tc). Nu G ( s ) c hai cc ti gc, h thng c gi l h thng loi 2. Trng hp ny th K p = K v = v K a = hu hn. Do , es = er = 0 v e p hu hn. Nu G ( s ) c q cc ti gc, h thng c gi l h thng loi q. R rng, trong h phn hi n v, khi tng s cc ti gc ca G ( s ) , ta ci thin c tnh nng xc lp ca h thng. Tuy nhin, phng php ny lm tng n v gim bin ca trng tm ca cc tim cn qu o nghim s. iu ny lm dch qu o nghim v hng trc jw nn lm xu cc c tnh qu cng vi tnh n nh ca h thng. Cn nh l cc kt qu trong phng trnh (6.96) v (6.97) ch dng c cho cc h phn hi n v (hnh 6.44). Cc c tnh xac lp trong trng hp ny c ly t tha s rng buc ca hm truyn vng h KG(s). Ngc li, cc kt qu t phng trnh (6,92) n (6.95) p dng c cho h phn hi n v cng nh cc h thng phn hi khc, nn mang tnh tng qut hn. Cc c tnh v sai s xc lp trong trng hp ny c ly t hm truyn vng kn T(s). H thng phn hi n v trong hnh 6.36a l h thng loi 1. Ta thit k c h thng t cc tiu chun qu sau: (6.99) PO = 16% t r 0,5, t s 2 Ta hy xt thm cc tiu chun v xc lp: es = 0 er 0,15 Trng hp ny, ta c es = 0 er = 8 / K v e p = [xem phng trnh (6.98)]. Ta cn c er 0,15 , nn 8 0,15 K 53,34 K

(6.100)

Tr li hnh 6.41, ch l cc cc ca T ( s ) nm trong vng chp nhn c t cc tiu chun qu ( 25 < K < 64 ). Phng trnh (6.100) cho thy cn c

K 53,34 tha cc tiu chun xc lp. tha c c cc c tnh v qu v xc lp ta cn t li 53,34 < K < 64 . Sai s xc lp b nht khi c tn hiu dc vo c c vi K = 64 . Trong trng hp ny

er =

8 8 = = 0,125 K 64

Nn h thng tha c c tnh qu trong phng trnh (6.99( vi sai s b nht er = 0,125 . Cn c th lm tt hn, khi cho er < 0,125 m vn gi c tnh nng qu bng cch thm vo mt s dng b.

6.74 B Bi ton tng hp cho h thng iu khin v tr trong hnh 6.36a l th d rt n gin, khi cc c tnh qu v xc lp c th t c ch cn chnh nh li K. Trong nhiu trng hp, khng th no tha c ng thi cc tiu chun (qu hay xc lp) ch vi cch chnh K. Thng ta ch c th t mt trong hai m thi. Xt li h thng trong hnh 6.36a, vi cc tiu chun sau: PO = 16% t r 0,5 t s 2 es = 0 er 0.05 tha cc c tnh xc lp, ta cn c 8 0,05 K 160 K Nhng trong hnh 6.41 cho thy khi K > 64 , cc cc ca T ( s ) i ra khi vng chp nhn c cho tiu chun qu . R rng, ta ch c th tha c mt trong hai tiu chun qu hay xc lp, ch khng phi c hai. Trng hp ny, cn c thm mt s dng b, lm thay i qu o nghim tha c tt c cc c tnh cn thit. Hiu bit v k thut qu o nghim s gip ta chn c khu b thch hp nht cho hm

truyn. Hnh 6.41 cho thy khi dch chuyn qu o nghim v pha tri s t c yu cu v tnh nng. Ta c th t khu b c hm truyn Gc ( s ) ni tip vi G ( s ) nh hnh 6.45a v chn la cc cc v zr ca Gc ( s ) dch chuyn trng tm qu o nghim v bn tri. Nu Gc ( s ) ch c mt cc v mt zr, ta nn chn cc xa hn v bn tri ca zr dch chuyn c trng tm qu o nghim v tri theo qui tc th t ca qu o nghim. Do , ta dng s+b Gc ( s ) = > ba s+b

Khu b dng ny c gi l khu b sm, c thc hin dng mch RC n gin nh trong hnh 6.45b. Ta c nhiu la chn cho cc gi tr ca a v b. n gin, chn a = 8 v b = 30. T K s +8 K Gc ( s )[ KG ( s )] = = s + 30 s ( s + 8) s ( s + 30) n gin, ta chn th a = 8 nhm loi bt cc ca G(s). Trong thc t th khng nht thit phi loi cc ca G(s). Trng hp ny, s = (-30 + 0)/2 = 15, v qu o nghim mi xut hin trong hnh 6.46 Quan st thy tnh hnh c ci thin ng k khi dch trng tm t 4 n 15. Nu chn K = 600, ta c: 600 / s ( s + 30) 600 T ( s) = = 2 1 + 600 / s ( s + 30) s + 30s + 600 Trng hp ny, wn = 600 = 24,5 , ng thi Vwn = 15 . Do , V = 15 / 24,5 = 0,61 v t s = 4 / Vwn = 4 / 15 = 0,266 . T phng trnh (6.84), ta c PO = 8,9% . Hn na, t hnh 6.39 [hay phng trnh (6.85)], vi V = 0,61 , tm c wn t r = 1,83 , nn t r = 1,83 / 24,5 = 0,0747 , ta cn c:

K p = Kv =

K 600 1 = = 20 es = 0 er = = 0,05 30 30 20 H thng tha mi c tnh v cn c tnh nng tt hn

Ta bn tip v khu b ban u c dng ci thin cc c tnh xc lp. i vi h phn hi n v, cc c tnh xc lp ca h thng c ci thin bng cch t khu tch phn trn ng truyn thng ca G ( s ) . Phng php ny lm tng loi h thng, nn lm tng K p , K v , K a , v.v,..Khu b trong trng hp ny l Gc ( s ) = 1 / s . Trong s ny th khu b l khu tch phn l tng. Do , dng ny cn c gi l iu khin tch phn. Thit k khu tch phn l tng cn nhiu cng sc v cc thit b c tin. Do , cc khu ny ch c dng trong cc h thng khi yu t chi ph khng quan trng. Th d, b hi chuyn tch phn (integrating gyroscope) c dng trong cc my bay. Trong nhiu trng hp khu b tr (m t di y) c c tnh gn ging p ng ca b tch phn c dng. Hm truyn ca khu b tr l: s +a Gc ( s ) = a >b s+b a Gc (0) = b Khu b tr c th c thc hin dng mch RC n gin nh hnh 6,47. Trng hp phn hi n v, khi thm Gc ( s ) lm mi hng s sai s K p , K v , K a , v.v,.. c nhn vi Gc (0) . Do , khu b tr lm tng K p , K v , K a , v.v,.. vi tha s (a/b), nn lm gim sai s xc lp.

Khu b tr ci thin cc c tnh xc lp, nhng thng thng li lm gim cc c tnh qu . Do a > b, bin ca trong tm qu o nghim s b gim i. Yu t gim ny lm qu o nghim dch v trc jw, lm xu cc c tnh qu . Tc ng ph ny ca khu b tr c th b qua c khi chn a v b sao cho a b l rt b, nhng t s a/ b li cao. Cc cp cc v zr ny hot ng nh mt dipole bng cch t c cc v zr ca Gc ( s ) gn vi gc (a v b 0). Th d, nu ta chn a = 0,1 v b = 0,01, trng tm s dch i mt lng rt b (a b)/(n m), Tuy nhin, do a/ b = 10, nn mi hng s sai s u tng ln vi t l 10. Ta c th ci thin ng thi cc c tnh qu v xc lp bng cch dng t hp cc khu sm v tr.

6.7- 6 Xt n nh Trong thc t, ta t khi dng phn hi dng, do h thng c xu hng mt n nh v rt nhy vi s thay i ca tham s h thng hay mi trng. Nh th th h phn hi m c lm h thng n nh hn v t nhy vi cc thay i ngoi mun khng? Khng nht thit l th! L do l nu h thng thc s l phn hi m th h thng s n nh. Nhng h thng th phn hi m ti tn s ny c th li c phn hi dng mt tn s khc do yu t dch pha trn ng truyn. Ni cch khc, h phn hi th thng khng th ni rnh mch l phn hi dng hay m c. nh th d sau: Xt trng hp G ( s ) H ( s ) = 1 / s ( s + 2)( s + 4) . Qu o nghim ca h thng cho phng trnh 6.43. H thng ny l phn hi m ti cc tn s thp. Nhng do c dch pha ti tn s cao, phn hi tr thnh dng. Xt li vng G ( s ) H ( s ) ti tn s w = 2,83 (ti s = j 2,83) 1 G ( jw ) H ( jw ) = jw ( jw + 2)( jw + 4) Ti w = 2,83

G ( j2,83) H ( j2,83) =

1 1 - j1800 1 = e =j2,83( j2,83 + 2)( j2,83 + 4) 48 48

Nhc li, hm truyn chung l

KG ( s ) 1 + KG ( s ) Ti tn s s = j 2,83 ( w = 2,83 ), li l KG ( j 2,83) T ( j 2,83) = 1 + K / 48 Khi K cn di mc 48, h thng n nh, nhng khi K = 48 , li h thng tin v w, v h thng tr nn khng n nh. Phn hi l m khi tn s thp hn w = 2,83 (do dch pha cha l - 1800), tr thnh phn hi dng. Nu li ln ( K = 48 ) ti tn s ny, th tn hiu phn hi v bng vi tn hiu vo, v tn hiu t duy tr mi mi. Ni cch khc, tn hiu bt u t kch (dao ng) ti tn s ny, tc l lm mt n nh. Ch l h thng vn khng n nh vi mi gi tr K > 48 . iu ny thy r trong qu o nghim hnh 6.43, cho thy hai nhnh xuyn qua bn phi mt phng phc khi K > 48 , giao im l s = j2,83. Phn trn cho thy l vi cng h thng, c phn hi m ti tn s thp cng c kh nng l phn hi dng tn s cao. Do , h thng phn hi d nghing v mt n nh, nn ngi thit k cn ch nhiu n vn ny. Qu o nghim cho thy vng n nh T (s) =

6.8 Bin i Laplace hai bn Trng hp ny dng cho tn hiu khng nhn qu v/hoc khng dng c bin i Laplace (mt bn). Cc trng hp ny c th c phn tch dng bin i Laplace (hai bn) c nh ngha theo:

F ( s ) = f (t )e -st dt
-

(6.101a)

V bin i nghch

1 c + j F ( s )e st ds (6.101b) 2pj c- j Ta thy l bin i Laplace mt bn l mt trng hp c bit ca bin i Laplace hai bn, khi tn hiu b gii hn thnh dng nhn qu. V c bn th hai php bin i ny ging nhau. Do , ta dng cng cc k hiu cho trng hp bin i Laplace hai bn. f (t ) =
Ta thy c l bin i Laplace ca e - at u (t ) v - e - at u (-t ) l ging nhau, ch khc nhau vng hi t. Vng hi t ca tn hiu u l Re s > -a v tn hiu sau l Re s < -a , nh v trong hnh 6.2. R rng, bin i nghch ca F(s) l khng c nht tr khi xc nh c vng hi t. Khi ta gii hn tn hiu dng nhn qu, th iu ny khng cn thit. Tip n, ta chng t l bin i hai bn c th c vit thnh hai bin i mt bn. T , ta tm c bin i nghch bng cch tra bng ca bin i mt bn. Xt hm f (t ) ca hnh 6.48a. Ta chia f (t ) thnh hai hm f1 (t ) v f 2 (t ) , biu din thnh phn thi gian dng (nhn qu) v thnh phn thi gian m (phn nhn qu) ca f (t ) (hnh 6.48b v 6.48c) f1 (t ) = f (t )u (t ) (6.102a) f 2 (t ) = f (t )u (-t ) (6.102b) Bin i Laplace hai bn ca f (t ) l

F ( s ) = f (t )e -st dt = f 2 (t )e -st dt + f1 (t )e -st dt =F2 ( s ) + F1 ( s )

0 - - 0

(6.103)

Trong F1 ( s ) l bin i Laplace ca thnh phn nhn qu f1 (t ) v F2 ( s ) l bin i Laplace ca thnh phn phn nhn qu f 2 (t ) , do F2 ( s ) c tnh t

F2 ( s ) = f 2 (t )e -st dt = f 2 (-t )e st dt , v
F2 (- s ) = f 2 (-t )e -st dt
0

(6.104)

R rng th F2 (- s ) l bin i Laplace ca f 2 (-t ) , l tn hiu nhn qu (xem hnh 6.48d), nn F2 (- s ) c th tm t bng tra ca bin i Laplace mt bn. i du ca s trong F2 (- s ) cho ta F2 ( s ) . Tm tt, bin i Laplace hai bn F ( s ) trong phng trnh (6.103) c th c tnh t bin i mt bn theo hai bc: 1) Chia f (t ) thnh hai thnh phn nhn qu f1 (t ) v thnh phn phn nhn qu f 2 (t ) 2) Cc tn hiu f1 (t ) v f 2 (-t ) u l tn hiu nhn qu. Ly bin i Laplace (mt bn) ca f1 (t ) v cng vi bin i Laplace (mt bn) ca f 2 (-t ) , vi s c thay thnh s . Phng php ny cho ta bin i Laplace (hai bn ) ca f (t ) Do f1 (t ) v f 2 (-t ) u l tn hiu hn qu, nn F1 ( s ) v F2 (- s ) u l bin i Laplace mt bn. Gi s c1 v s c 2 l ln lt l honh hi t ca F1 ( s ) v F2 (- s ) . iu ny tc l F1 ( s ) tn ti vi mi s khi Re s > s c1 , F2 (- s ) tn tai vi mi s khi Re s < -s c 2 . Do F ( s ) = F1 ( s ) + F2 ( s ) , nn F ( s ) tn ti vi mi s sao cho s c1< Re s < -s c 2 (6.105)

Vng hi t (tn ti) ca F1 ( s ) , F2 ( s ) v F ( s ) c v trong hnh 6.49. Do F ( s ) hu hn vi mi gi tr ca s nm trong di hi t ( s c1< Re s < -s c 2 ), nn cc cc ca F ( s ) phi nm ngoi di ny. Cc cc ca F ( s ) xut hin do thnh phn nhn qu f1 (t ) nm bn tri di (vng) hi t, cn cc cc do thnh thnh phn nhn qu f 2 (t ) nm bn phi di (xem hnh 6.49). iu ny l cc k quan trng tm bin i nghch ca bin i Laplace (hai bn) Th d, xt f (t ) = ebt u (-t ) + e at u (t ) (6.106) Ta c bin i Laplace ca thnh phn nhn qu 1 (6.107) e at u (t ) Re s > a s-a Thnh phn phn nhn qu f 2 (t ) = ebt u (t ) , th 1 f 2 (t ) = e -bt u (t ) Re s > -b , nn s+b 1 -1 F2 ( s ) = = Re s < b , vy - s +b s -b -1 (6.108) e bt u (-t ) Re s < b s -b V bin i Laplace ca f (t ) trong phng trnh (6.106) l 1 1 F ( s) = + Re s > a v Re s < b s-b s-a a-b (6.109) =a < Re s < b ( s - b)( s - a ) Hnh 6.50 v f (t ) v vng hi t ca F ( s ) vi cc gi tr khc nhau ca a v b. Phng trnh (6.109) cho thy vng hi t ca F ( s ) khng tn ti nu a > b, chnh l trng hp ca hnh 6.50g. Nhn thy l cc cc ca F ( s ) bn ngoi (trn bin) ca

vng hi t. Cc cc ca F ( s ) vi thnh phn phn nhn qu ca f (t ) nm bn phi vng hi t, cn cc cc do thnh phn nhn qu ca f (t ) th nm bn tri.

Th d 6.22:

-3 ( s + 2)( s - 1) Nu vng hi t l (a) - 2 < Re s < 1 (b) Re s > 1

Tm bin i Laplace ca F ( s ) =
1 1 s + 2 s -1

(c) Re s < -2

(a) F ( s ) =

Khi F(s) c cc ti - 2 v 1. Di hi t l - 2 < Re s < 1 . Cc ti 2 nm bn tri di hi t, tng ng vi tn hiu nhn qu. Cc ti 1, nm bn phi di hi t, tng ng vi tn hiu phn nhn qu. Phng trnh (6.107) v (6.108) cho f (t ) = e -2t u (t ) + et u (-t ) (b) Hai cc nm bn tri vng hi t, nn hai cc tng ng vi tn hiu nhn qu, nn: f (t ) = (e -2t - e t )u (-t )

(c) Hai cc nm bn phi vng hi t, nn c hai cc tng ng vi tn hiu phn nhn qu, v: f (t ) = (-e -2t + et )u (-t ) Hnh 6.51 v ba bin i nghch tng ng ca F ( s ) vi cc vng hi t khc nhau.

6.8 - 1 Phn tch h thng tuyn tnh dng bin i Laplace hai bn. Bin i Laplace hai bn c th x l cc tn hiu khng nhn qu, nn c th phn tch h LT TT BB khng nhn qu dng bin i Laplace hai bn. Ta bit ng ra (trng thi zr) cho bi: y(t) = L 1 [F(s)H(s)] (6.110) Biu thc ny ch ng khi F(s)H(s) tn ti. Vng hi t ca F(s)H(s) l vng tn ti ca c F(s) v H(s). Ni cch khc, vng hi t ca F(s)H(s) l vng hi t chung ca c F(s) v H(s). Th d 6.23: Tm dng in y (t ) trong mch hnh 6.52a nu in p f (t ) l
f (t ) = et u (t ) + e 2t u (-t ) Hm truyn ca mch l: s H ( s) = s +1 Do h(t ) l hm nhn qu, vng hi t ca H ( s ) l Re s > -1 . Bin i Laplace hai bn ca f (t ) l 1 1 -1 F ( s) = = 1 < Re s < 2 s - 1 s - 2 ( s - 1)( s - 2)

p ng y (t ) l bin i nghch ca F ( s ) H ( s ) 1 1 -s 1 1 2 1 y (t ) = L 1 ( s + 1)( s - 1)( s - 2) = L 1 6 ( s + 1) + 2 ( s - 1) - 3 ( s - 2) Vng hi t ca F ( s ) H ( s ) l vng hi t chung ca c F ( s ) v H ( s ) , tc l 1 < Re s < 2 . Cc cc s = 1 nm bn tri vng hi t v tng ng vi tn hiu nhn qu; cc cc s = 2 nm bn tri vng hi t nn biu din cho tn hiu phn nhn qu, do : 1 1 2 y (t ) = e -t u (t ) + et u (t ) + e 2t u (-t ) 6 2 3 Hnh 6.52c v y (t ) , Ch trong th d ny, nu
f (t ) = e -4t u (t ) + e -2t u (-t ) th vng hi t ca F ( s ) l - 4 < Re s < -2 . Do , khng c vng hi t ca F ( s ) H ( s ) , v p ng y (t ) tin v v cng.

Th d 6.24: Tm p ng y (t ) ca h thng khng nhn qu vi hm truyn -1 H ( s) = Re s < 1 vi ng vo f (t ) = e -2t u (t ) s -1 1 Ta c F (s) = Re s > -2 , v s+2 -1 Y ( s) = F ( s) H ( s) = ( s - 1)( s + 2) Vng hi t ca F ( s ) H ( s ) l - 2 < Re s < 1 , dng php phn tch a thc -1/ 3 1/ 3 Y (s) = + - 2 < Re s < 1 v ( s - 1) ( s + 1) 1 y (t ) = et u (-t ) + e -2t u (t ) 3 Ch l cc ca H ( s ) nm bn phi mt phng phc ti 1. Vy h thng khng phi l khng n nh. Cc trong mt phng phi c th ch th tnh khng n nh hay khng nhn qu, ty theo v tr cc vi vng hi t ca H ( s ) . Th d, nu H ( s ) = -1 /( s - 1) v Re s > 1 , h thng l nhn qu v khng n nh, khi h(t ) = -e t u (t ) . Ngc li, nu H ( s ) = -1 /( s - 1) v Re s < 1 , h l khng nhn qu v n nh, khi h(t ) = e t u (-t ) .

Th d 6.25: Tm p ng y (t ) ca h thng khng nhn qu vi hm truyn 1 H ( s) = Re s > -5 vi ng vo f (t ) = e -t u (t ) + e -2t u (-t ) s+5 Ng vo f (t ) l dng m t trong hnh 6.50g, v vng hi t ca F ( s ) khng tn ti. Trong trng hp ny, ta cn xc nh ring bit p ng ca h thng vi tng thnh phn ca tn hiu vo, f1 (t ) = e -t u (t ) v f 2 (t ) = e -2t u (-t )

1 Re s > -1 s +1 -1 F2 ( s ) = Re s < -2 s+2 Nu y1 (t ) v y2 (t ) ln lt l p ng vi f1 (t ) v f 2 (t ) , th 1 Y1 ( s ) = Re s > -1 ( s + 1)( s + 5) 1/ 4 1/ 4 nn = s +1 s + 5 1 y1 (t ) = e -t - e -5t u (t ) v 4 -1 Y2 ( s ) = - 5 < Re s < -2 ( s + 1)( s + 5) - 1/ 3 1/ 3 nn = + s +2 s +5 1 y2 (t ) = e -2t u (-t ) + e -5t u (t ) 3 1 1 1 Vy y (t ) = y1 (t ) + y2 (t ) = e -2t u (-t ) + e -t + e -5t u (t ) . 3 12 4 6.9 Ph lc 6.1: Thc hin dng chnh tc th hai Hm truyn bc n cn c th thc hin dng dng chnh tc th hai (quan st chnh tc). Tng t nh trng hp chnh tc s mt, ta bt u vi thc hin cho hm truyn bc ba (phng trnh 6,71). Y ( s ) b3 s 3 + b2 s 2 + b1s + b0 H ( s) = = (6.111) F ( s ) s 3 + a2 s 2 + a1s + a0 F1 ( s ) =

Do s 3 + a2 s 2 + a1s + a0 Y ( s ) = b3 s 3 + b2 s 2 + b1s + b0 F ( s ) Chuyn v

s 3Y ( s ) = b3 s 3 F ( s ) + {- a2Y ( s ) + b2 F ( s )}s 2 + {- a1Y ( s ) + b1 F ( s )}s + {- a0Y ( s ) + b0 F ( s )} Chia hai v cho s3, ta c 1 1 1 Y ( s ) = b3 F ( s ) + {-a2Y ( s ) + b2 F ( s )} + 2 {-a1Y ( s ) + b1 F ( s )} + 3 {-a0Y ( s ) + b0 F ( s )} s s s (6.112) Nh th, c th to Y ( s ) bng cch cng bn tn hiu bn v phi ca phng trnh (6.112) . Ta to Y ( s ) tng bc mt, cng tng thnh phn, hnh 6.53a ch v thnh phn th nht; tc l b3Y ( s ) . Hnh 6,53b v Y ( s ) to t hai thnh phn, b3Y ( s ) v 1 [- a2Y ( s ) + b2 F ( s )] . s Quan st thy tha s a2Y ( s) c c t Y ( s ) . Ta cng - a2Y ( s) vi b2 F ( s) ri 1 qua khu tch phn to [- a2Y ( s ) + b2 F ( s )] . Hnh 6.53c v Y ( s ) vi ba thnh phn s

u. Hnh 6.53d v Y ( s ) vi cc thnh phn. y l dng sau cng, biu din mt thc hin khc na ca H ( s ) trong phng trnh (6.111). Thc hin ny c th tng qut ha cho hm truyn bc n trong phng trnh (6.70) dng n khu tch phn.

6.10 Tm tt Bin i Fourier khng c dng trc tip khi phn tch h thng khng n nh, hay bin n nh. Hn na, cc ng vo cn b gii hn l cc ng vo phi c bin i Fourier, nn khng dng c khi tn hiu tng theo dng m. Cc gii hn ny xut pht t cc thnh phn ph dng trong bin i Fourier to ra f(t) l cc hm sin hay hm m c dng e jwt , nn tn s b gii hn trn trc jw ca mt phng phc Cc thnh phn ph ny khng th tng hp cc tn hiu tng theo dng m. Bin i Fourier c tng qut t bin s = jw sang s = s + jw , c bin i Laplace, nhm c th phn tch mi dng h thng LT TT BB v gii quyt c cc tn hiu tng theo dng m. p ng h thng vi hm m khng dng e st cng l hm m khng dng H ( s )e st , vi H ( s ) l hm truyn h thng. Ta c th thy bin i Laplace l cng c theo tn hiu c vit thnh tng ca cc hm m khng dng e st . Lng tng i ca thnh phn e st l F ( s ) . Do , F ( s ) bin i Laplace ca f (t ) , biu din ph ca cc thnh phn hm m ca f (t ) , Hn na, H(s) l p ng ca h thng (hay li) ca thnh phn ph e st , v ph tn hiu ng ra l ph ng vo nhn vi p ng ph ( li) H ( s ) , hay Y ( s ) = F ( s ) H ( s ) . Bin i Laplace chuyn phng trnh vi tch phn ca h thng LT TT BB thnh phng trnh i s. Bin i Laplace thng khng dng c cho cc h thng thay i theo thi gian hay h thng phi tuyn. Hm truyn ca h thng cn c nh ngha l t s ca bin i Laplace ca ng ra vi bin i Laplace ca ng vo khi mi iu kin u l zr (h thng trng thi zr). Nu F ( s ) l bin i Laplace ca tn hiu vo f (t ) v Y ( s ) l bin i Laplace ca ng ra tng ng y (t ) (khi mi diu kin u l zr), th Y ( s ) = F ( s ) H ( s ) , vi H ( s ) l hm truyn. Hm truyn ca h thng H ( s ) l bin i Laplace ca p ng xung h(t ) . Tng t, p ng xung h(t ) , hm truyn H ( s ) cng l m t ni ti ca h thng. C th dng phng php mch bin i phn tch mch in, theo , cc tn hiu (in p v dng in) c biu din thnh dng bin i Laplace tng ng dng nim tr khng (hay dn np), iu kin u dng mch ngun tng ng (my pht iu kin u). Trong phng php ny, mng c th phn tch theo phng php mch thun tr. Dng nim khi (block) biu din h thng ln vi nhiu kt ni thch hp cc h con. Cc h con, c phn tch t quan h vo-ra, nh hm truyn. Phn tch h thng ln c thc hin dng kin thc t quan h vo ra ca cc h con v t phng thc kt ni chng vi nhau. H thng LT TT BB c th c thc hin t b nhn, b cng, v b tch phn. C th thc hin hm truyn vi nhiu phng thc khc nhau, th d kt ni song song, ni tip. Trong thc t, cc khi ny c th thc hin dng op amp. H thng phn hi l h thng vn kn ch yu dng chng li nh hng ca cc thay i cha d bo c ca tham s h thng, ti, v mi trng. Cc h thng ny c thit k c c tc mong mun, v sai s xc lp. Khi iu khin tc , cc

tham s qu l thi gian ln, thi gian nh, v thi gian thit lp. Phn trm vt l cho thy phng thc ng ra tng n thi gian cui. Sai d xc lp c quan h vi tham s h thng. Trong nhiu trng hp, vic chnh nh h s khuch i K c th gip c c tnh nng cn thit, nu iu chnh ny khng t, th cn dng thm mch b chnh. Qu o cc nghim c tnh ca h thng c gi l qu o nghim, rt thch hp thit k h thng phn hi. Hu ht cc tn hiu vo trong thc t thng c dng nhn qu. Do , ta cn quan tm n tn hiu nhn qu. Khi gii hn tn hiu l nhn qu, th phn tch dng bin i Laplace c n gin rt nhiu; khng cn quan tm n vng hi t khi phn tch h thng. Trng hp ny bin i Laplace c gi l bin i Laplace mt bn (ch dng cho tn hiu nhn qu. Phn 6.8 bn v dang tng qut l bin i Laplace hai bn, cho php kho st cc tn hiu nhn qu v khng nhn qu. Trong bin i Laplace hai bn, bin i Laplace nghch ca F(s) khng c nht m ty thuc vo vng hi t ca F(s). Do , vng hi t gi vi tr quan trng trong bin i Laplace hai bn.

Ti liu tham kho

1. Doetsch, G., , Introduction to the Theory and Application of the Laplace Transformation with the Table of Laplace Transformation, Springer verlag, New York, 1974. Le Page, W.R., Complex Variables and the Laplace Transforms for Engineers, McGraw-Hill, New York, 1961. Durant, Will, and Ariel, The Age of Napoleon, The Story of Civilization Series, Part XI, Simon and Schuster, New York, 1975. Bell, E.T., Men of Mathematics, Simon and Schuster, New York, 1937. Nahin, P.J., Oliver Heaviside: Genius and Curmudgean. IEEE Spectrum, vol. 20, pp. 63-69, July 1983. Berkey, D., Calculus, 2nd ed., Saunders College Publishing, Philadelphia, Pa. 1988. Encyclopaedia Britannica, Micropaedia IV, 15th ed., Chicago, IL, 1982. Churchill, R.V., Operational Mathematics, 2nd ed, McGraw-Hill, New York, 1958. Yang, J.S., and Levine, W.S Chapter 10 in The Control Handbook, CRC Press, 1996.

2. 3. 4. 5. 6. 7. 8. 9.

Bi tp
6.2-1 Dng phng php trc tip [phng trnh (6.8b)], tm bin i Laplace v vng hi t ca cc tn hiu sau: (a) u (t ) - u (t - 1) (e) cos w1t cos w 2tu (t ) -t (b) te u (t ) (f) cosh(at )tu (t )

(c) t cos w0tu (t ) (d) (e

-2 t

(g) (h)

sinh(at )tu (t )
e -2t cos(5t + q )u (t )

- 2e )u (t )

-t

6.2-1 Dng phng php trc tip [phng trnh (6.8b)], tm bin i Laplace v vng hi t ca cc tn hiu trong hnh P6.1-2:

6.2-1 Tm bin i Laplace nghch ca cc hm sau 2s + 5 s+2 (a) (f) 2 s + 5s + 6 s ( s + 1) 2 3s + 5 1 (b) (g) 2 s + 4 s + 13 ( s + 1)( s + 2) 4 (c) (d) (e)

( s + 1) 2 s2 - s - 6
5 2 s ( s + 2) 2s + 1 ( s + 1)( s 2 + 2 s + 2)

(h) (i)

s +1 s ( s + 2) ( s 2 + 4 s + 5)
2

s3 ( s + 1) 2 ( s 2 + 2 s + 5)

6.2-1 Tm bin i Laplace ca cc hm theo thi gian (nu cn) ca bin i Laplace mt bn: (a) u (t ) - u (t - 1) (e) te -t u (t - t ) (b) e - ( t -t ) u (t - t ) (f) sin[w0 (t - t )]u (t - t ) (c) e - (t -t )u (t ) (g) sin[w0 (t - t )]u (t ) (d) e -t u (t - t ) (h) sin w0tu (t - t ) 6.2-2 Ch dng bng 6.1 v c tnh di theo thi gian, tm bin i Laplace ca tn hiu trong hnh P6.1-2. Hng dn: Xem phn 1.4 phn tch tn hiu 6.2-3 Tm bin i Laplace ca cc hm sau (2 s + 5)e -2 s e - ( s-1) + 3 (a) (c) s 2 + 5s + 6 s 2 - 2s + 5 se -3s + 2 e - s + e -2 s + 3 (b) (d) s 2 + 2s + 2 s 2 + 3s + 2

6.2-4 C th tm bin i Laplace ca tn hiu tun hon dng kin thc ca bin i Laplace trong chu k u (a) Nu bin i Laplace ca f (t ) trong hnh P6.2-4a l F ( s ) , chng t l G ( s ) , bin i Laplace ca g (t ) [hnh P6.2-4b], l F ( s) G( s) = Re s > 0 1 - e -sT0 (b) T kt qu ny, tm bin i Laplace ca tn hiu p(t ) trong hnh P6.2-4c 1 Hng dn: 1 + x + x 2 + x 3 + L = x <1 1- x 6.2-5 u tin t d (t ) 1 , to cc cp t 2 n cp 10 trong bng 6.1, dng cc c tnh ca bin i Laplace. Hng dn: u (t ) l tch phn ca d (t ) , tu (t ) l tch phn ca u (t ) [hay ao hm ln hai ca d (t ) ], v.v.,..,. 6.2-6 (a)Tm bin i Laplace ca xung hnh 6.3 ch dng cc c tnh vi phn theo thi gian, di theo thi gian, v d (t ) 1 . (c) Trong th d 6.7, bin i Laplace ca f (t ) tm c t bin i ca d 2 f / dt 2 . Tm bin i Laplace ca f (t ) trong thi 1d ny bng cch dng bin i Laplace ca df / dt . Hng dn: phn (b) df / dt c th xem l tng ca nhiu hm bc (tr vi nhiu lng khc nhau) 6.3-1 Dng bin i Laplace, gii cc phng trnh vi phn: & (0 - ) = 0, f (t ) = u (t ) (a) ( D 2 + 3D + 2) y (t ) = Df (t ) y (0 - ) = y & (0 - ) = 1, f (t ) = e -t u (t ) (b) ( D 2 + 4 D + 4) y (t ) = ( D + 1) f (t ) y (0 - ) = 2, y & (0 - ) = 1, f (t ) = 25u (t ) (c) ( D 2 + 6 D + 25) y (t ) = ( D + 2) f (t ) y (0 - ) = y 6.3-2 Gii cc phng trnh vi phn trong bi tp 6.3-1 dng bin i Laplace. Trong tng trng hp xc nh cc thnh phn ng vo zr v trng thi zr ca nghim.

6.3-3 Gii cc phng trnh vi phn ng nht dng bin i Laplace, gi s cc iu kin u l zer v ng vo f (t ) = u (t ) (a) ( D + 3) y1 (t ) - 2 y2 (t ) = f (t ) - 2 y1 (t ) + (2 D + 4) y2 (t ) = 0 (b) ( D + 2) y1 (t ) - (2 D + 4) y2 (t ) = 0 - ( D + 1) y1 (t ) + (2 D + 1) y2 (t ) = f (t ) Tm hm truyn quan h gia y1 (t ) v y2 (t ) vi ng vo f (t )

6.3-4 Cho mch in hnh P6.3-4, chuyn mch v tr m thi gian di trc t = 0 , kha c ng li tc th (a) Vit phng trnh vng (trong min thi gian) khi t 0 (b) Gii tm y1 (t ) v y2 (t ) bng phng php bin i Laplace. 6.3-5 Tm hm truyn ca cc h thng c trng bng phng trnh vi phn d2y dy df (a) + 11 + 24 y (t ) = 5 + 3 f (t ) 2 dt dt dt 3 2 d y d y dy d2 f df (b) + 6 11 + 6 y ( t ) = 3 +7 + 5 f (t ) 3 2 2 dt dt dt dt dt d4 y dy df (c) +4 = 3 + 2 f (t ) 4 dt dt dt 6.3-6 Tm phng trnh vi phn biu din quan h gia ng ra y (t ) vi ng vo f (t ) , t cc h thng c hm truyn sau: s+5 s 2 + 3s + 5 (a) H ( s ) = 2 (b) H ( s ) = 3 s + 3s + 8 s + 8s 2 + 5s + 7 5s 2 + 7 s + 2 (c) H ( s ) = 2 s - 2s + 5 6.3-7 H thng c hm truyn s+5 H ( s) = 2 s + 5s + 6

(a) Tm p ng (trng thi zr) khi ng vo f (t ) l: (i) e -3t u (t ) (ii) e -4t u (t ) (iii) e -4 ( t -5) u (t - 5) (iv) e -4( t -5)u (t ) (v) e -4t u (t - 5) (b) Vit phng trnh vi phn m t quan h gia ng ra y (t ) vi ng vo f (t ) 6.3-8 Lm li bi tp 6.3-7 khi 2s + 3 v ng vo f (t ) l: (a) 10u (t ) (b) u (t - 5) H (s) = 2 s + 2s + 6 6.3-9 Lm li bi tp 6.3-7 khi s v ng vo f (t ) l (1 - e - t )u (t ) H ( s) = 2 s +9 6.3-10 Cho h LT TT BB c cc iu kin u l zr (h thng ban u trng thizr), ng vo f (t ) to ng ra y (t ) , chng t l: (a) ng vo df / dt to ng ra dy / dt

y(t )dt , t , chng t p ng bc n v ca h thng l tch phn ca p ng xung n v, tc l h(t )dt

(b) ng vo
t 0

f (t )dt

to ng ra

6.4-1

Tm p ng trng thi zr v0 (t ) ca mng hnh P6.4-1 nu in p ng vo

f (t ) = te -t u (t ) . Tm hm truyn quan h gia ng ra v0 (t ) v ng vo f (t ) , tip n, vit phng trnh vi phn vo ra ca h thng.

6.4-2

Chuyn mch trong hnh P6.4-2 c ng trong thi gian di v c m tc thi ti t = 0 . Tm v v dng in y (t ).

6.4-3

Tm dng in y (t ) trong mch cng hng hnhP6.4-3 khi ng vo l: (a) f (t ) = A cos w0tu (t ) (b) f (t ) = A sin w0tu (t ) 1 Gi s mi iu kin u l zr w02 = LC

6.4-4

Tm dng in vng y1 (t ) v y2 (t ) khi t 0 trong mch hnh P6.4-4a khi ng vo f (t ) c v trong hnh P6.4-4b.

6.4-5

Trong mch hnh P6.4-5, chuyn mch c ng trong thi gian di, v c m tc thi ti t = 0 . Tm y1 (t ) v vs (t ) khi t 0

6.4-6

Tm in p ra v0 (t ) khi t 0 V trong mch hnh P6.4-6 khi ng vo l f (t ) = 100u (t ) v h thng ban u trng thi zr.

6.4-7

Tm in p ra v0 (t ) trong mch hnh P6.4-7 nu iu kin u l iL (0) = 1A v vC (0) = 3V (Hng dn: Dng dng song song ca my pht iu kin u)

6.4-8

Cho mng hnh P6.4-7, chuyn mch v tr a trong thi gian di v c chuyn tc thi sang v tr b ti t = 0 . Tm dng in y (t ) khi t > 0 Hng dn: dng mch tng ng Thevenin

6.4-9

Chng t l hm truyn gia in p ng ra y (t ) v in p ng vo f (t ) ca mch op amp trong hnh P6.4-9a l Ka R 1 vi K = 1 + b v a = H (s) = s+a Ra RC Ks V hm truyn ca mch hnh P6.4-9b l H ( s ) = s+a

6.4-10

Trong h bc hai dng op-amp trong hnh P6.4-10, chng t hm truyn gia in p ng ra v0 (t ) v in p ng vo f (t ) l -s H ( s) = 2 s + 8s + 12 Dng nh l gi tr u v gi tr cui, tm gi tr u v gi tr cui ca p ng trng thi zr ca h thng c hm truyn 6 s 2 + 3s + 10 v vi ng vo l: (a) u (t ) (b) e - t u (t ) . H ( s) = 2 2s + 6s + 5

6.4-11

6.5-1 Hnh P6.5-1a v hai on vo) l . Hnh P6.5-1b v hai on ny c ni ui nhau (a) Hm truyn ca mng ni ui ny c phi l (1/2)(1/2)=1/4? (b) Nu ng, chng minh li dng php tnh hm truyn? (c) Lm li bi tp khi R3 = R4 = 200 . iu ny c quan h g vi cu (b) 6.5-2 Trong hnh 6.18, h1 (t ) v h2 (t ) l cc p ng xung ca h thng c hm truyn l H1 ( s ) v H 2 ( s ) . Xc nh p ng xung ca kt ni ni tip v kt ni song song ca H1 ( s ) v H 2 ( s ) v hnh 6.18b v c. 6.6-1 Thc hin

s ( s + 2) ( s + 1)( s + 3)( s + 4) bng dng chnh tc, ni tip v song song 6.6-2 Lm li bi 6.6-1 nu 3s ( s + 2) 2s - 4 (a) H ( s ) = (b) H ( s ) = 2 ( s + 1)( s + 2 s + 2) ( s + 2)( s + 4) 2 H ( s) =
6.6-3 Lm li bi 6.6-1 nu 2s + 3 Hng dn: a h s ca bc ly tha cao nht ca H ( s) = 5s ( s + 2) 2 ( s + 3) mu s v n v. 6.6-4 Lm li bi 6.6-1 nu s ( s + 1)( s + 2) Hng dn: trng hp ny m = n = 3 H (s) = ( s + 5)( s + 6)( s + 8) 6.6-5 Lm li bi 6.6-1 nu s3 H ( s) = ( s + 1) 2 ( s + 2)( s + 3) 6.6-6 Lm li bi 6.6-1 nu s3 H ( s) = ( s + 1) 2 ( s 2 + 4 s + 13)

6.6-7 Bi tp ny c dng cho thy cp cc phc lin hp c th dng thc hin mch ni ui hai hm truyn bc nht. Chng t hm truyn cc s khi trog hnh P6.6-7a v b l: 1 1 (a) H ( s ) = = 2 2 2 ( s + a) + b s + 2as + (a 2 + b 2 ) s+a s+a (b) H ( s ) = , t , chng minh l hm truyn = 2 2 2 ( s + a) + b s + 2as + (a 2 + b 2 ) ca s khi trong hnh P6.6-7c l As + B As + B (c) H ( s ) = = 2 2 2 ( s + a) + b s + 2as + (a 2 + b 2 ) 6.6-8 Dng op amp thc hin hm truyn sau: - 10 10 s+2 (i) (ii) (iii) s+5 s+5 s+5 6.6-9 Dng op amp thc hin mch c hm truyn sau s+2 3 H ( s) = = 1s+5 s+5 6.6-10 Dng op amp thc hin chnh tc (canonical realization) hm truyn sau 3s + 7 H ( s) = 2 s + 4s + 10 6.6-11 Dng op amp thc hin chnh tc (canonical realization) hm truyn sau s 2 + 5s + 2 H ( s) = 2 s + 4 s + 13 6.7-1 Tm thi gian ln tr, thi gian thit lp ts, phn trm vt l (PO), v sai s xc lp es, er , v ep cho cc h thng sau, c hm truyn l: 9 4 95 (a) 2 (b) 2 (c) 2 s + 3s + 9 s + 3s + 4 s + 10s + 100

6.7-2 H thng iu khin v tr, v hnh P6.7-2, p ng bc n v cho thy thi gian nh t p = p / 4 , phn trm vt l (PO = 9%), v gi tr xc lp ca ng ra vi tn hiu bc n v l ySS = 2 . Tm K1 , K 2 v a.

6.7-3 H thng iu khin v tr, v hnh P6.7-3, c cc c tnh sau t r 0.3 , t s 1 , phn trm vt l (PO 30% ), v es = 0 . Cho bit c tnh no khng ph hp vi h thng c gi tr K bt k? c tnh no ph hp vi chnh nh K n gin? 6.7-4 Hm truyn vng h ca bn h vng kn cho di y. V qu o nghim cho tng trng hp K ( s + 1) K ( s + 5) (a) (c) s ( s + 3)( s + 5) s ( s + 3) K ( s + 1) K ( s + 1) (b) (d) s ( s + 3)( s + 5)( s + 7) s ( s + 4)( s2 + 2s + 2)

6.7-5 Trong h phn hi n v hnh P6.7-5. Ta cn t cc c tnh sau PO 16%, t r 0,2 , t s 0,5 , es = 0 v er 0,06 . C kh nng thc hin cc c tnh ny bng cch chnh nh K khng? Nu khng, ngh dng mch b thch hp v tm li cc gi tr PO, t r , t s , es v er . 6.8-1 Tm vng hi t, nu tn ti ca bin i Laplace (hai bn) ca cc tn hiu sau: 2 1 1 (a) e tu ( t ) (b) e - tu (t ) (c) (d) (e) e - kt 2 t 1+ t 1+ e 6.8-2 Tm bin i Laplace (hai bn) v vng hi t tng ng ca cc tn hiu sau: -t -t (a) e (b) e cos t (c) e t u (t ) + e 2t u (-t ) (d) e - tu (t ) (e) e tu ( - t ) (f) cos w0tu (t ) + e t u (-t ) 6.8-3 Tm bin i nghch ca bin i Laplace (hai bn) 2s + 5 (a) - 3 < s < -2 ( s + 2)( s + 3) 2s - 5 (b) 2<s < 3 ( s - 2)( s - 3)

2s + 3 s > -1 ( s + 1)( s + 2) 2s + 3 (d) s < -2 ( s + 1)( s + 2)

(c) (e)

3s 2 - 2 s - 17 ( s + 1)( s + 3)( s - 5)

-1 < s < 5

6.8-4 Tm bin i nghch ca bin i Laplace (hai bn) 2 s 2 - 2s - 6 nu vng hi t l ( s + 1)( s - 1)( s + 2) (a) Re s > 1 (b) Re s < -2 (c) - 1 < Re s < 1 (d) - 2 < Re s < -1 6.8-5 H LT TT BB v nhn qu c hm truyn 1 , tm ng ra y (t ) khi ng vo f (t ) l H ( s) = s +1 - t /2 (a) e (d) e 2t u (t ) + e t u (-t ) (b) e t u (t ) + e 2t u (-t ) (c) e -t / 2u (t ) + e -t / 4u (-t ) (e) e -t / 4u (t ) + e -t / 2u (-t ) (f) e -3t u (t ) + e -2t u (-t )