thí nghiệm hệ thống điều khiển số
TRANSCRIPT
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TRNG I HC BCH KHOA H NI----------
Bo co th nghim h thng !i"# $hi%n &
H' () t*n + Ng#,-n ./n T0m 1&&( + 23422567 89: + K;TH?
K: + K: 4 &ngth@ 745 Di# + GiE>!F # !i"# chnh D) 27
H NI 2015
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BI THJC HNH 2TLng hM: (ng !i"# chnh ng :hn @ng P!i"# $hi%n mQmn #0,S
Yu cu: Vi m hnh i tn !" #$n c% h&m t'u()n *i+5 , c .( #/n &i t3 th/c h&nh 4 1
617 H,( thi8t 98 !; #$n thn 3h?3 ?3 @n hAu hBn 6C
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ZZ K0D0^66D0-D17`60e1e277K0 2[j0]ZZ K1-D1^66D0-D17`60e1e277K1 _[5gj5ZZ k1aiKt6bK0 K1Xb1X01
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ZZ K126D1`D1-D0`D27^66D0`D0eD1`D1-D0`6D2eD177`60e1e277K12 2]5]]5
ZZ k2 aiKt6bK01 K11 K12Xb1Xt17k2 1[] e 22]] +d-1 e 2]5] +d-2
ZZ *'2 k2`+^61-k2`E+7*'2 1[] e _55_
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"8t Su m 3hMn Fi ainDK VDK4< 2_[g
Nhn lt : "8t Su m 3hMn cQD imuKin9 in Fi 98t Su tnh th
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ZZ *9_ 6*' ` *+7^61e*' ` *+7*9_ 000jj e 0110[ +d-1 - 0]g_ +d-2 - 005]j +d-_ e 0j_52 +d-] - 02g +d-5 - 01[0]+d-[ e 005g +d-j e 001[]2 +d-- 000_20 +d-g - 0000j1]j +d-10
------------------------------------------0g11] - 2] +d-1 e _015 +d-2- 0_0 +d-_ - 0]0j +d-]e 01g1g +d-5 e 001]] +d-[- 000gjj] +d-j e ][[n FrZZ 4t
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1Q :h\ng []ng im#Din$:
"8t Su m 3hMn :
Nhn lt : "8t Su m 3hMn cQD imuKin9 in Fi 98t Su tnh th
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[UN ` 5ZZ *o_ aiKt6b0 0[ 02 02Xb1Xt17*o_ 0[ +d-1 e 02 +d-2 e 02 +d-_H&m t'u()n i)u 9hiPn
ZZ *'] *o_ ^ 661-*o_7 ` *+7*'] 0[ +d-1 - 0[1j2 +d-2 e 01]j +d-_ - 01gg_ +d-] e 00j_12 +d-5----------------------------------------------------------------------------------
000_2ge000]1 +d-1- 000]g_ +d-2- 000_g5 +d-_- 0002]g2 +d-]- 0000_gg[ +d-5H&m t'u()n hp 9nZZ *9] 6*'] ` *+7^61e*'] ` *+7*9] [52[
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0_[jj - 00000i -020]2 e 00000i -020]2 - 00000i 00000 e 00000i
00000 - 00000iZZ +
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BI THJC HNH 5TLng hM: (ng !i"# chnh tc !F #0,
4U ac !bnh h)m t#,"n !Yt t*n mi"n dnh E ce0 !i tMng ce0 $h^# !i"# chnh
tc !F #0,U- sD c% 4> cTu t'vc cQD 9h.u i)u chUnh #$n
sD c% h&m t'u()n Bt cQD i tn i)u 9hiPn F$n i)u chUnh tc K& :
*n *9n6&i 27 9L w
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!P >n in tD T3 U *96Di27 mt 9h.u tch 3h.n Su?n tnh c nhTt:*96Di271^61e2`st`47sD #n c.u Kpnh 4Du P tnh *n+:*n4 "m`3hi^661e2`st`4762`3i x`477y #zn LDtKD P tnh *n6+7:ZZ 'D250
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!n" = 0.000%18 " + 0.000%5----------------------- "^2 - 1.07 " + 0.05
hn sng min /nh i s m3 4m>> !n"=6t([0.000%18 0.000%5],[1 -1.07 0.05],0.1e-%)!n" =0.000%18 + 0.000%5 "^-1 ----------------------------
1 - 1.07 "^-1 + 0.05 "^-2
"iPm t'D thr tD c% :>>step(!n")
Nhn lt :Hipn tBi hp thn 9hn qn rnhX cn thi8t 98 i)u 9hiPn K&m ch= hp thnqn rnh
2UTLng hM: [F !i"# chnh VI tho :hWng :h: gn !i%m cfc+Vi8t KBi h&m t'u()n Bt cQD i tn :
0000]_1 + e 0000_[5[-----------------------+d2 - 1[0j + e 0[0[5
En6+7 0000]_1 + e 0000_[5[
00 \ 1 0000]_1\ 2 0000_[5[
n6+7 +d2 - 1[0j + e 0[0[5
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D01 \ D1 -1[0j \ D2 0[0[5
E i)u 9hiPn:
0 11
1
e ' 6 76 7 63 17
6 7Rn
r z R zG z
z p P z= = =
!D th@c Oc tnh cQD h&m t'u()n
N6+7 R6+76+7 e }6+7E6+7
6+e p1 76 a0 z2
+a1 + e a2 7 e 6 r0 +e r1 76 b0z2
e b1 + e b2 7
6 a0 e b0 r0 7 z3
e6 a0p1 e a1 e b0 r1 e b1 r0 7 z2
e 6 p1a1 e a2 e
b1r1 e b2 r0 7+ e p1a2 e b2 r1
*i 4y iPm c/c cQD i tn K& +1X +2 X+_ th tD c% :
N6+7 6+-+176+-+276+-+_7
z3
6+1 e +2 e +_ 7 z2
e 6+1+2 e +1+_ e +2+_7+ +1+2+_
;.n Gn hp 4 tD chn t'c +1X+2 F& 4~ c% c?c n K& '0X'1X+_
sD c% 3h>n t'nh E
Vi
1 0 1
2 1 -91
0 2 92
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;hn +10ge002[i\ +20g-002[iE
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+ - 1
H&m t'u()n *96+7
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*96}`En7^6R`ne}`En7
s'Dn4a
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