Bai Tap Ly Thuyet Dieu Khien Tu Dong 02

Bµi tËp Lý thuyÕt ®iÒu khiÓn tù ®éng

§µo V¨n S¬n T§H K47

øng dông Matlab vÏ ®å thÞ

Qu¸ tr×nh qu¸ ®é cña hÖ thèng §KT§ Hä tªn: §µo V¨n S¬n Líp: T§H 47 Bµi 1: W(p) =

10 p +4p+3 2

>> num =[10]; >> den =[1 4 3]; >> step(num,den); >> grid KÕt qu¶: Step Response 3.5

3

Amplitude

2.5

2

1.5

1

0.5

0

0

1

2

3

4

Time (sec)

Bµi 2: W(p) =

K (víi K=10, T 1 =2,T 2 =3) T1 p + T1T2 p 2 + T2 p + 1 3

>> num =[10]; >> den =[2 6 3 1]; >> step(num,den); >> grid KÕt qu¶:

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5

6

Bµi tËp Lý thuyÕt ®iÒu khiÓn tù ®éng

§µo V¨n S¬n T§H K47

Step Response 12

10

Amplitude

8

6

4

2

0

0

5

10

15

20

25

Time (sec)

Bµi 3 : W(p) =

10 p + 4p +3 2

>> num =[10]; >> den =[1 4 3]; >> nyquist (num,den) >> grid >> end. KÕt qu¶: Nyquist Diagram 2.5 0 dB

-2 dB

2

Imaginary Axis

1.5 2 dB -4 dB

1 4 dB 6 dB 0.5 10 dB 20 dB 0

-6 dB -10 dB -20 dB

-0.5 -1 -1.5 -2 -2.5 -1

-0.5

0

0.5

1

1.5

Real Axis

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2

2.5

3

3.5