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S ts 1 18 october 2010 y t k 1 e t t h t

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Unformatted text preview: /~hthoang/ 12 Sai Sai soá xaùc laäp Moái lieân heä giöõa soá khaâu tích phan trong G(s)H(s) vaø sai soá xaùc laäp Moi Moi lien heä giöa so khau tích phaân trong G(s)H(s) va sai so xac laä Tuøy theo soá khaâu tích phaân lyù töôûng coù trong haøm truyeàn G(s)H(s) maø caùc heä soá Kp, Kv, Ka coù giaù trò nhö sau: Nhaän xeùt: Muoán exl cuûa heä thoáng ñoái vôùi tín hieäu vaøo laø haøm naác baèng 0 thì haøm truyeàn G(s)H(s) phaûi coù ít nhat 1 khau tích phan lyù töôûng. phai co ít nhaát khaâu tích phaân ly töông Muoán exl cuûa heä thoáng ñoái vôùi tín hieäu vaøo laø haøm doác baèng 0 thì haøm truyeàn G(s)H(s) phaûi coù ít nhaát 2 khaâu tích phaân lyù töôûng. Muon exl cua heä thong ñoái vôùi tín hieäu vao laø ham parabol bang 0 thì ham á û th á ôi tí hi ø ø è thì ø truyeàn G(s)H(s) phaûi coù ít nhaát 3 khaâu tích phaân lyù töôûng. 18 October 2010 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 13 Ñaù Ñaùp öùng quaù ñoä 18 October 2010 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 14 Ñaù Ñaùp öùng quaù ñoä Heä quaùn tính baäc 1 quan tính baä R(s) K Ts + 1 Haøm truyeàn heä quaùn tính baäc 1: G ( s ) = Y(s) K Ts + 1 1 Heä quaùn tính baäc 1 coù moät cöïc thöïc: p1 = − T 1K Ñaùp öùng quaù ñoä: Y ( s ) = R ( s )G ( s ) = . s Ts + 1 ⇒ 18 October 2010 y (t ) = K (1 − e − t / T ) © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 15 Ñaù Ñaùp öùng quaù ñoä Heä quan tính baäc 1 (tt) quaùn tính baä (tt) y(t) Im s Re s −1/T (1+ε).K K (1−ε).K 0.63K 0 0 Gian ño cöïc Giaûn ñoà cöc –zero cuûa khaâu quaùn tính baäc 1 t T tqñ Ñap öùng quaù ñoä cua khau quan tính ù û kh â ù tí baäc 1 taêng theo qui luaät haøm muõ y (t ) = K (1 − e − t / T ) 18 October 2010 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 16 Ñaù Ñaùp öùng quaù ñoä Nhaä xet ve heä quaùn tính baä Nhaän xeùt veà heä quan tính baäc 1 Heä quaùn tính baäc 1 chæ coù 1 cöïc thöïc (−1/T), ñaùp öùng quaù ñoä khong khoâng coù vot loá. voït Thôøi haèng T: laø thôøi ñieåm ñaùp öùng cuûa khaâu quaùn tính baäc 1 ñaït 63% giaù trò xaùc laäp. Cöïc thöïc (−1/T) caøng naèm xa truïc aûo thì thôøi haèng T caøng nhoû, heä thoáng ñaùp ö...
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