Download - thiết kế hệ thống điều khiển
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8/13/2019 thit k h thng iu khin
1/62
F H GF Z
2
KH AH
AG FG \ 8
Z@GZ O@Z@FC H GF Z...:
T`f G. Z`gt ok `f` 8J..:2. K `f` tfc t`.:
>. Hh o`u o`p v hh ntruyf.:
T`f GG. Zf` tif fc `h t`uf, fc `h fch ^init ^^0
2. fc `h t`uf.......0
b. Z`gt ap `tb t`li quy th Jlfbvgt @brtlfnlrc..........0
n. Kb trf Jlfbvgt @brtlfnlrc0
h. Ph f` vtr gk th fc hug T7
>. fc `h fch..7
T`f GGG. Z`gt oqui h`uyf fc h`i ^init ^^...24
2. Ry i trifc o`fc cgbf o`p...24
>. Ry i trifc o`fc cgbf ak vgh......2>
b. Ry i gk th fc hug t`li fc t`fc tB f N trifc th (s)....2>
n. Ry i gk th fc hug t`li fc fc trf tB f N trifc th (s)
ay fc of` BN ak fc of`...28
T`f GU. O`i st fc ah `h .2:
T`f U. Z`gt ogu o`gf.23
2. @t`fc gu o`gf trifc o`fc cgbf o`p23
2.2. @t`fc gu o`gf p`f `g.23
b. Aut gu o`gf.23
n. Z`gt oh`i ^init ^^272.>. @t`fc gu o`gf kiklf tf` tif>2
b. Aut gu o`gf.>2
n. Z`gt oh`i ^init ^^>8
>. @t`fc gu o`gf trifc o`fc cgbf ak vgh...>
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8/13/2019 thit k h thng iu khin
2/62
F H GF Z
>
@t`fc gu o`gf kb trf Mbhinglf h`uyf v
b. Aut gu o`gf...>5
n. Z`gt oh`i rinit ^^>3
T`f UG. Hh h`fc trf` k p`fc vgt nfc fcf fcKbtabn.82
2. H`fc trf` k p`fc ot qup`f `t`fc gu o`gf p`f `g...82
>. H`fc trf` k p`fc ot qup`f `t`fc gu o`gf kiklf tf` tif..8 o`u ^^- Hig hh o`u a hh t`bf` fc h`t ,tgt jgf fcbfc o`fc fc o-Z`fc s`f` `h v o`g afc tfc t`bf`
b2;;:4(hk);4.: (k),k2 ; >.< (oc),k2 ;2.. Hh o`u o`p v hh ntruyf
>.2 Ou 4 ( )
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8/13/2019 thit k h thng iu khin
5/62
F H GF Z
. O`u
>.>. O`u 2 vo`u >
O`u 2 oh` t`h > trh a oh` t`h :44 (kk).
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8/13/2019 thit k h thng iu khin
6/62
F H GF Z
5
@f` 2.8. O`u 2, o`u >
>.8. Hh ntruyf fc
+ Nf trg a ntruyf nf` rfc cgp tfc kiklf hb fc h ff cf trfo`u o`fc th jfc jf fc h`i o`u 2
+ Nf p`g a ntruyf nf` rfc cgp tfc kiklf hb fc h ff cf trfo`u > o`fc th jfc jf fc h`i o`u > vg vgh ti vf th ch tfc g k
`f` f` nf` rfc `f` tgf`
+ Nf jg a xgabf` o` ff jf fc h`i h hu tby op
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8/13/2019 thit k h thng iu khin
7/62
F H GF Z
3
@f` 2.:. hh ntruyf
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8/13/2019 thit k h thng iu khin
8/62
F H GF Z
0
T`f GG. Zf` tif fc `h t`uf, fc `h fch ^init ^^
2. fc `h t`ufZb t`gt ap p`fc trf` fc `h t`li p`fc
p`p kb trf Jlfbvgt @brtlfnlrc
b. Z`gt ap tb t`li quy th Jlfbvgt @ brtlfnlrcO`u 4= tb h`f `tb PiWi]i h trh ]i
h`f trfc vg o`p 2, trh Pi h`f ty sbi h`i p``p f`t f` `f` v, trh Wi h`f t`li quby th tbkjgf t`uf.
O`u 2= tb h`f `tb P2W2]2h trh ]2 trfcvg o`p >, trh P2tb h`f t`li fc vufc ch h`ufc]i v ]2tb h`f f` `f` va p` `p f`t, trh W2
h`f t`li quby th tbk jgf t`uf@f` >.2. ^init ^^O`u >= tb h`f `tb P>W>]>h trh ]>sifc sifc vg ]2, P>h`f t`li
fc vufc ch h`ufc ]2v ]>, W>h`f t`li quy th tbk jgf t`ufn. Kb trf trfc t`g Jlfbvg t @brtlfnlrc
Zvgh h`f `tb tb h nfc J@ sbu=
O`u j b 2 4 q2 b2 4> 4 q> b> 4
4
2B ;
2 2 2 2
2 2 2 2
his( ) sgf( ) 4 is( )
sgf( ) is( ) 4 sgf( )
4 4 2 4
4 4 4 2
q q b h q
q h q b q
, 2>B ;
> > > >
> > > >
his( ) sgf( ) 4 is( )
sgf( ) is( ) 4 sgf( )
4 4 2 4
4 4 4 2
q q b h q
q h q b q
4
>B ;4
2B .2
>B
4
>B ;
2 > 2 > 2 2 > 2 >
2 > 2 > 2 2 > 2 >
his( ) sgf( ) 4 is( ) his( )
sgf( ) is( ) 4 sgf( ) his( )
4 4 2 4
4
q q q q b h q b q q
q q h q q b q b q q
4 4 2
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8/13/2019 thit k h thng iu khin
9/62
F H GF Z
7
h.Ph f` vtr gk th fc hug TZkb trf trfc t`g hb ` P>W>]> g vg `hf` PiWi]i
4
>B tb xhf` h gk th fc hug T hb o`u > si vg `hf`, v kb trf hisgf h``fc o`u > si vg PiWi]i4
Tr ; 2 2 > 2 > 2 2 > 2 >is( ) his( ) sgf( ) sgf( ) 4
Z
b h q b q q b q b q q
4
>^ ;2 > 2 >
2 > 2 >
his( ) sgf( ) 4
sgf( ) is( ) 4
4 4 2
q q q q
q q h q q
2 2 > 2 >
2 2 > 2 >
his( ) his( )
sgf( ) sgf( )
4
p
p
p
x b q b q q
y b q b q q
z
H` = Zb h rinit p`fc `bg nh tji o`g tf` tif `by gu o`gf tb qubftk f gk th fc hug trifc p`fc o`fc qubf tk f `fc o`u hug vo`g tb tk h hh ngf o`p tgk th fc hug v t tk h kb trf
hisgfh``fc 4>^ t xh f` h hh ch Hbrjbf`by Lualr
>. fc `h fchO`g cgg ng tif fc `h t`uf fcg tb xh f` h qubf `jh jfc
kb trf f` sbu= x;e(q) . Zqubf ` tb suy rb kt hh` `f` t`h q;e-2(x)trifc x ; _x2,x>,,xk[
Z,q; _q2,q>,,qf[Z.
F` vy tb h `bg h`gu `fc cgg a p`fc p`p sv p`fc p`pcgg th` vg ng tif ^init^^ f cgf tb jfc p`fc p`p cgg th` a f cgfv jcgg f`t f`fc vg f`fc ng tif rinit f`gu nh p`fc p`p sa
p`fc p`p `u `gu
t`2 2 > 2 >
2 2 > 2 >
his( ) his( )
sgf( ) sgf( )
4
p
p
p
x b q b q q
y b q b q q
z
(>.2)
O `gu H2; his(q2), X2; sgf(q2), H>; his(q>), X>; sgf(q>),H2>; his(q2+q>),X2>; sgf(q2+q>),
Z`(>.2) ;6> > > > > >
2 > 2 > 2 2> 2 2> 2 > 2 > >> ( ) >p px y b b b b H H X X b b b b H
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8/13/2019 thit k h thng iu khin
10/62
F H GF Z
24
;6
> > > >
2 >
>
2 >
>
> >
his( )>
sgf( ) 2 is ( )
p px y b b
qb b
q h q
vy > > >b tbf >(sgf( ), is( ))q q h q .
Z`(>.2) tb vgt ag f` sbu2 > > 2 > > 2
> > 2 2 > > 2
( )
( )
p
p
x b b H H b X X
y b X H b b H X
Cgg `p`fc trf` g stuyf tf` fy tb h =
2 > > > > > > > >
2 > 2 > >
> > 2 > >
>
p p
b b H b X b b b b H x y
b X b b H
> >
2 2 > > >
2 > >
( )
p
p p p
p
x b X
b x b x H y X y b b H
2 > >
> 2 > > >
> >
( )
p
p p p
p
b b H xb y b y H x X
b X y
2 > > >
2 > >
2 > > >
2 > >
( )his( )
( )sgf( )
p p p
p p
p p p
p p
b x b x H y X q
x y
b y b y H x X qx y
;6 2 2 2tbf > sgf( ),his( )q b q q
T`f GGG= Z`gt oqui h`uyf fc h`i ^init
2. Ry i trifc o`fc cgbf o`p
Zb h`f > gk B(x4,y4), N(xh,yh) nt o trifc o`fc cgbf ak vgh, Z
p`fc trf` fc `h fch tb tf` p`f trf tb xh f` h ch o`p tg `bggk B,Na B(qgb,qgb), N(qgn,qgn).
Z`bg hp ch o`p tk h tb g t`gt oqup qg(g;2=>) ngf t`gftqgbf qgnt`li qui nh 8 ( pfc vkt th ch o`p ) trifc vfc
th(s). F` vy=> 8
2 > 8( )g ig g g gq t b b t b t b t
(8.2)
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8/13/2019 thit k h thng iu khin
11/62
F H GF Z
22
Ug hh gu ogf f` sbu=
(4)
(4) 4
( )
( ) 4
g gb
g gb
g h gn
g h gn
q q
q q
q t q
q t q
(t`fc t`fc tb yu hu vf
th ch o`p tg gk u v gk hug nfc 4 ). Zhh gu ogf trf tb t`by vi(8.2) cgg tb h hh `s
4
2
> >
8 8
4
8( )
>( )
g gb
g
gn gbg
h
gn gbg
h
b q
b
q qb
t
q qbt
U j= ^init jg h`uyf B(4,>+4,>< 8 4,> 8 ) f N(4,< 4,: 8 )
trifc 5
bq
,
>8
nq
42
22
>2
82
54
2>
>>
8>
54
8
2
> 8
>
5 . t`(ch o`p, vf th v cgb th o`p )
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8/13/2019 thit k h thng iu khin
12/62
F H GF Z
2>
>. Rui trifc o`fc cgbf ak vghp`h vh`i tf `gu vi h`i ngu o`gf trifc o`fc cgbf ak vgh ff
h`xt qui jg h`uyf hb rinit ^^ cgb `bg gk B(x4,y4), N(xh,yh) a fct`fc v fc trf ( tb t`gt oy a fc trf f`f BN ak fc of`)
b.Rui hb gk th fc hug t`li fc t`fc tB f N trifc th(s)
Zb hp`fc trf` fc t`fc trifc o`fc cgbf ak a kt p`fc cgb `bg
gk B(x4,y4), N(xh,yh)4 4
4 4h h
x x y y
x x y y
vg (x,y) a tb gk th fc hug
;6 4 4 4
4 4
h h h
h h
y y y x y xy x
x x x x
.
Hfc f` hh` t`gt ap qui ch o`p tb t`b kf gu ogf vvf thu v hug tb t`gt ap qubf `x;x(t) a b t`h nh 8.
> 8
2 > 8( ) ix t b b t b t b t
(8.>)
hfc hh gu ogf
4 4
4
(4) ( , )
(4) 4
( ) ( , )
( ) 4
h h h
h h
s B x y
v v
s t N x y
v t v
k qubf `y ;o.x+n ;6 x;x(t) hfc h gu
ogf f` qui.
Uy
4 4
4
(4) ( , )
(4) 4
( ) ( , )
( ) 4
h h h
h h
s B x y
v v
s t N x y
v t v
Z`by vi (8.>) vx(t) tb rt rb hh `s=
4 4
2
4> >
48 8
4
8( )
>( )
h
h
h
h
b x
b
x xb
t
x xb
t
o`g t`gt ox;x(t) ;6 4 4 44 4
( ) ( )h h h
h h
y y y x y xy t x t
x x x x
U j= Hf t`gt ojg h`uyf t`li fc t`fc tgk B(4.0?4.2) fN(-4.>?4.(s) thh hfc t`h trf tb tf` h =x;
y
v qubf ` y ;
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8/13/2019 thit k h thng iu khin
13/62
F H GF Z
28
@f` >.8.t`x(t), y(t) @f` >.:. Rubf `y;e(x)
n.Z`gt oqui gk th fc th fc hug jg h`uyf t`li fc trf tBf N tr ifc th(s) ay BN ak fc of`.
Zb h p`fc trf` fc trf trifc o`fc cgbf ak a kt p`fc cgb `bggk B(x4,y4), N(xh,yh) ay BN ak fc of`
> > >( ) ( )g gx x y y ^
vg 4>
hg
x xx
4
>
hg
y yy
> >
4
2( ) ( )
> h i h
^ x x y y
Ugt jg jfc t`bk sf` sbu =
sgf( ( ))
his( ( ))
g
g
x x ^ b t
y y ^ b t
hfc t`b kf gu ogf vvf th b(t) tb t`gt ohfc p`g a nh 8
> 8
2 > 8( ) ib t b b t b t b t
U p`g t`b kf gu ogf=
4 4
4
(4) ( , )
(4) 4
( ) ( , )( ) 4
h h h
h h
s B x y
v v
s t N x yv t v
;6
4 4
4
(4) ( , )
(4) 4
( ) ( , )
( ) 4
h h h
h h
s B x y
v v
s t N x y
v t v
Z tb tk h hh `s b4,b2,b>,b8 f` sbu =
44 brhsgf
gx xb^
, 2
4b t 4brhsgf brhsgfh g gx x x xw^ ^
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8/13/2019 thit k h thng iu khin
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F H GF Z
2:
Xuy rb = > >8
h
wb
t , 8 8
>
h
wb
t
U j= Hf t`gt ojg h`uyf t`li fc t`fc tgk B(4.3?4) fN(-4.3?4) trifc >(s) thh hfc t`h trf tb tf` h =
Rubf `
@f` >..5. Rubf `y;e(x)
T`f GU= O`i st fc ah `h
Hh t`bk sfc ah `h sbu xt trf `cf vgo`u (hig hh o`u a t`bf` kf` fc h`t hh ngut`h G g vg o`g tk Hg trifc `PhWh]hHgsifcsifc vg `tb o`u ) =
O`u xh yh zh kg Gxx Gyy Gzz Gxy Gyz Gzx2 2
>
b 4 4 2k 4 G2y G2z 4 4 4
> >>
b 4 4 >k 4 G>y G>z 4 4 4
Ug b2; 4.< (k), b>; 4.: (k),>
2 2 2 2
2
2>y zG G k b
, >> > > >
2
2>y zG G k b
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8/13/2019 thit k h thng iu khin
15/62
F H GF Z
2[Z
Zp`f fc `h tb xh f` h =
4
2Hr ;4 2
2 2.
H^ r ;
2 2
2 2
2his( )
>
2sgf( )
>
4
b q
b q
,4
>Hr ;4 2
> >.
H^ r ;
2 2 > 2 >
2 2 > 2 >
2his( ) his( )
>
2sgf( ) sgf( )
>
4
b q b q q
b q b q q
4 42
2 22.Z ^^ ;6
2
2
2
4
4
q
,
4 4>
> >>.Z ^^ ;6
>>
2 >
4
4
q q
4
2
2
( )H
Z q
rM
;
2 2
2 2
2sgf( )
>
2 his( )
>
4
b q
b q
,2
2
2
( )^ qM
; , (:.2)
>
>
>( )
^ qM
; (:.>)
4
>
>
( )H
Z q
rM
;
2 2 > 2 > > 2 >
2 2 > 2 > > 2 >
2 2sgf( ) sgf( ) sgf( )
> >
2 2 his( ) his( ) his( )
> >
4 4
b q b q q b q q
b q b q q b q q
. (:.8)
Kb trf tlf x quf tf` hb `bg o`u 2 v > vg trh cf vi o`g tk sifcsifc vg `trh hb o`u =
2G ; 22
4 4 4
4 4
4 4
y
z
G
G
,>G ; >
>
4 4 4
4 4
4 4
y
z
G
G
(:.:)
;6 Kb trf o`g afc=
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8/13/2019 thit k h thng iu khin
16/62
F H GF Z
25
>22 2>
2 >2 >>
( ) ( )
Z Z
Zg g Zg ^g g ^g
g
k kK q M k M M G M
k k
(:.),(:.8),(:.:)vi (:.2 2 2 2
2
2>
y zG G k b ,
>
> > > >
2
2>y zG G k b
tb h tf` h =
>> > >
22 2 > 2 2 > 2 2 > >
2> his( )
: :z z
bk G G k b k b b b q
> > >
2 2 > > > 2 > 2 > >
2 2his( )
8 8k b k b k b k b b q
>>> 2 >
2> >2 > > > > > > 2 > >
2 2his( ) his( )
: > 8 >z
b b bk k G k q k b k b b q
> >>>> > > > >
2
: 8z
kk G b k b
;6 fc ffc hb h`=2
. . .>
( )Z
q K q qZ ; (:.5)
> > > > > > >
2 2 > > > 2 > 2 > > 2 > > > > > > 2 > > 2 >
2 2 2 2 2 2. his( ) > his( )
> 8 8 8 8 >k b k b k b k b b q q k b q k b k b b q q q
Ngu t`h t`ffc hb `=>
4
4
2
. .Z
Hg
g
kgc r
vg ci; _ 4 ,4 ,-c [Z
2 2 2 > 2 2 > 2 >
2 2sgf( ) sgf( ) sgf( )
> >k cb q k c b q b q q
(:.3)
Hfc i hb hh ah suy rfc o`fc h t`= 2 2 > >( ) ( ) ( )B K q K q
*
2 2
*
> >
R K
R K
(:.0)
Z`hh ngu t`h (:.5), (:.3), (:.0)vi p`fc trf` Abcrbfcl aig GG.
*
g
g g g
j Z ZR
jt q q q
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17/62
F H GF Z
23
Zb t`gt ap h `p`fc trf` fc ah `h sbu =
> > > >
2 2 2 > > > 2 > 2 > > 2 > > > 2 > > >
> 2 >> 2 > > 2 > > 2 > > > 2 > > > 2 >
>
> > > > 2 > > 2
2 2 2 2his( ) his( )
8 8 8 >
( > )2 2sgf( ) sgf( ) his( ) his( )> > >
2 2 2his( )
8 > 8
K k b k b k b k b b q q k b k b b q q
k kk b b q q q k b b q q cb q k cb q q
K k b k b b q q k
> >
> > > > 2 > > 2 > > 2 >
2 2sgf( ) his( )
> >b q k b b q q k cb q q
Ugt jg jfc kb trf f`sbu =
( ). ( , ). ( ) ( ). ( , ) ( )K q q H q q q C q K q q U q q C q .
Ug ; _K2,K>[Z,q; _ q2, q>[
Z,K(q) kb trf o`g afc nf trf
>
> 2 > > 2 > > 2 > > >
>
> 2 > > 2
2
sgf( ) sgf( )>( , )2
sgf( )>
k b b q q q k b b q qU q q
k b b q q
2 >2 > > > 2 >
> > 2 >
( > ) 2his( ) his( )
> >( )
2 his( )
>
k kcb q k cb q q
C q
k cb q q
T`f U= Z`gt ogu o`gf
Zt hhh `t`fc gu o`gf fu jg y u t`li aut gu o`gf TJ. O`gt`gt o`t`fc gu o`gf tb nqub fc `h hb h hu h`p `f`, quf tf`fc h. F` vy h`h ffc hb ngu o`gf a ti rb kt kiiklf hf t`gt truyf fc o`p rinit k ni o`p rinit auf nk t`li vtr t.
2. @t`fc gu o`gf trifc o`fc cgbf o`p
Zf `gu t a qui nh 8 hb hh o`p h tf` tif p`f t`gt
oqui.
2.2. @t`fc gu o`gf p`f gb,Aut gu o`gf
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F H GF Z
20
@f` ( , ,..., )j j j jfO jgbc O O O -kb trf fc h`i hh `so`uh`g i `k hb tfc o`p rgfc ngt.
Ug aut gu o`gf fy cgt`gt t`f` p`f kiklf trfc ah C(p)
h n `if tif.@t`fc gu o`gf vg hu trh ngu o`gf f` trf, f f` tuyt gtif hh. Z`h vy h`f `k Agbpufiv h jfc f` sbu=
2.( . . . . )
>A
ZZOp @ qqU
()
@k UAngu t`tfc ffc afc hb `t`fc rinit= Z`f` p`f h`b Op tavg ffc afc u vi, t`f` p`f sbu a fc ffc hb rinit k Op v @ ahh kb trf h `sjfc .Ff `k UA6 4 vg q o`h qj.
Zf` i `k hp 2 hb UAtb f`f h=2
.( . . . . . . . . . . )>A
Z Z ZZ Z
Op Op @ q @ q @ qq q qU
Ji tf` h`t g xfc hb hh t`f` p`f . .ZOp , . .Z@ qq , tb rt cf h
2. . . . . . .
>A
Z ZZOp @ q @ qq qU
Zp`fc trf` fc ah `h vg cgt`gt o`fc h t`f` p`f kiklf trfcah C(q), f`f h p`fc trf` sbu =
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F H GF Z
27
2. . . . . ._ ( , )[
>A
Z ZZOp @ q K U q qq qU
Xjfc t`uh tf` hb p`fc trf` fc ah `h v p jfc aut gu o`gf( >
AZ Z Z Z Z Oj H q q q @ q q Oj @ H qq q q q qU
Zrifc = ( , ) ( , ).U q q H q q q .
Ji kb trf 2.>
@ H a kb trf g xfc fch ;6 2.( . ) 4>
Z @ H qq
. . 4ZA
Oj qqU (.< (oc), k>;2.< (oc)+ @p`fc trf` fc ah `h h jfc f` sbu =
( ). ( , ) ( )K @ q q U q q C q
vg @;K(q); 22 2>>2 >>
` `
` `
> > >
22 2 2 > > > 2 > 2 > >
2 2his( )
8 8k k b k b k b k b b q
>
2> >2 > > > 2 > >
2 2his( )
8 >k k k b k b b q
>
>> > >
2
8k k b
>
> 2 > > 2 > > 2 > > >
>
> 2 > > 2
2sgf( ) sgf( )
>( , )
2 sgf( )
>
k b b q q q k b b q q
U q q
k b b q q
2 >2 > > > 2 >
> > 2 >
( > ) 2his( ) his( )
> >( )
2 his( )
>
k kcb q k cb q q
C q
k cb q q
+ T`fc trf` aut gu o`gf h jfc = ( ) ( )jo p j j j p j K O q q O q q O O
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8/13/2019 thit k h thng iu khin
20/62
F H GF Z
>4
jq q , jq q -sbg svtr hb o`p, sbg sth o`p hb rinit
2 >( , )p p pO jgbc O O -kb trf fc h`i hh `so`uh` g hb o`p 2, >
2 >( , )j j jO jgbc O O -kb trf fc h`i hh `so`uh` g i `k hb o`p
2, >.
+ Ry i t h`i `bg o`p h jfc nh nb t`gt ok ni tby ky jgh`uyf tvtr nbf u B(4,5 4,2) f gk hug N(4,2 4,3) trifc > (s) .
+ Kb trf Op, Oj h ab h`f =
Op;2444 4
4 2444
, Oj;
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8/13/2019 thit k h thng iu khin
21/62
F H GF Z
>2
@f` t v gu o`gf
@f`
-
8/13/2019 thit k h thng iu khin
22/62
F H GF Z
>>
@f`
-
8/13/2019 thit k h thng iu khin
23/62
F H GF Z
>8
Hh `sOjg, Opgh h`f auf jfc ff k ni f f`, v h`fc htf` tif t`li yu hu vh`t afc gu o`gf f` qu gu h`f` , Z`gt`bf qu Zqj
>jg f
O , >pg f
O
(4% , `ssuy cgk ; 4,
.
2244.f
l
(; 4,: (k)
k2;>.< (oc), k>;2.< (oc)+ @p`fc trf` fc ah `h h jfc f` sbu =
( ). ( , ) ( )K @ q q U q q C q
vg @;K(q); 22 2>>2 >>
` `
` `
> > >
22 2 2 > > > 2 > 2 > >
2 2his( )
8 8k k b k b k b k b b q
>
2> >2 > > > 2 > >
2 2his( )
8 >
k k k b k b b q
>
>> > >
2
8k k b
>
> 2 > > 2 > > 2 > > >
>
> 2 > > 2
2sgf( ) sgf( )
>( , )
2 sgf( )
>
k b b q q q k b b q q
U q q
k b b q q
2 >
2 > > > 2 >
> > 2 >
( > ) 2his( ) his( )
> >( )
2 his( )>
k kcb q k cb q q
C q
k cb q q
+ T`fc trf` aut gu o`gf h jfc = ( ) ( , ) ( )joK @ q \ U q q C q ,
Ug tf `gu gu o`gf = j p j\ q O O
-
8/13/2019 thit k h thng iu khin
24/62
F H GF Z
>:
+ Ry i t h`i `bg o`p h jfc nh nb t`gt ok ni tby ky jg h`uyftvtr nbf u B(4,5 4,2) f gk hug N(4,2 4,3) trifc > (s) .+ Kb trf Op, Oj vg h`bg o`p tb h`f `ssuy cgk Zqj;4,< (s) , `ssuycgk ; 4,< tb tf` h hh `sOpg, Ojg jb vi hh hfc t`h (2
-
8/13/2019 thit k h thng iu khin
25/62
F H GF Z
>
-
8/13/2019 thit k h thng iu khin
26/62
F H GF Z
>5
Zrifc `t`fc gu o`gf o`fc cgbf ak vgh tf `gu t trh tgp a qui h`uyf fc kifc kuf hb tby ky rinit trifc o`fc cgbf ak vgh , afc
p`f `g vsh tf` tvtr hb o`p t`fc qub o`u fc `h t`uf. O`utf` tif fc `h fch h t trifc kh` vfc gu o`gf p`f `g stf`
g hh ngf vo`fc cgbf o`p.@t`fc gu o`gf trifc o`fc cgbf ak vgh sjfc `gu quo`g t`h
`gf tfc th cgb tby ky v kg trfc
@t`fc gu o`gf kb trf Mbhinglf h`uyf v
b.Aut gu o`gf
Ah hf t`gt jg h`uyf tby ky t`li qui t trifc o`fc cgbf akvgh h xh f` tsbg ah` vtr v sbg ah` th trifc o`fc cgbf ak vgh
tfc fc vg aut gu o`gf p`f `g TJ gf` gf=
( ) ( )jo p j j j C O X X O X X
Zrifc = Cjo - a vlhtir ah hf t`gt tby rinit jg h`uyf t`li qui vth t trh.
,jX X = tfc fc a vlhtir vtr t v vlhtir vtr t`h hb tby rinit.
,jX X = tfc fc a vlhtir th t v vlhtir th t`h
2 >( , ,..., )p p p pfO jgbc O O O - kb trf fc h`i hh `so`uh` g
2 >( , ,..., )j j j jfO jgbc O O O -kb trf fc h`i hh `so`uh` g i`k .
Ulhtir ah tby rinit h ngf g vah `ih kiklf o`p rinit t`fcqub kb trf Mbhinglf h`uyf v. F` vy vlhtir kiklf truyf fc o`p rinith xh f` f` sbu=
( ) ( )Z
jo p j j j K M O X X O X X X o`g hb `t`fc f` sbu =
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8/13/2019 thit k h thng iu khin
27/62
F H GF Z
>3
@f` ; 4,: (k)
k2;>.< (oc), k>;2.< (oc)+ @p`fc trf` fc ah `h h jfc f` sbu =
( ). ( , ) ( )K @ q q U q q C q
Hh kb trf @(q), vlhtir U, C xh f` p`f fc ah `h
+ Zp`f fc `h tb rt rb vlhtir xh vtr gk th fc hug =
4Tr ; 2 2 > 2 > 2 2 > 2 >is( ) his( ) sgf( ) sgf( ) 4
Zb h q b q q b q b q q
Zb xh f` h kb trf mbhinglf ( o`fc xt vg trh ] v ]p;4)
2 2 > 2 > > 2 >
2 2 > 2 > > 2 >
sgf( ) sgf( ) sgf( )
his( ) his( ) his( )
b q b q q b q qM
b q b q q b q q
.
+ Aut gu o`gf fu trf.
+ Ry i t k ni tby ky g t`li fc t`fc tgk B(4,5 4,2) f gkN(4,2 4,3) v k ni th nbf u v hug nfc 4.
+ @sOpv Ojh ab h`f f` sbu =
Op;
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8/13/2019 thit k h thng iu khin
28/62
F H GF Z
>0
@f` .t`P, W t v gu o`gf
@f`
@f`
-
8/13/2019 thit k h thng iu khin
29/62
F H GF Z
>7
@f`
-
8/13/2019 thit k h thng iu khin
30/62
F H GF Z
84
@f`
@f`
-
8/13/2019 thit k h thng iu khin
31/62
F H GF Z
82
T`f UG= Hh h`fc trf` k p`fc vgt nfc fcf fckbtabn
2. H`fc trf` k p`fc ot qup`f `t`fc gu o`gf p`f `g
2.2. Egal h`y (kbgf)
% H@\IFC Z^GF@ KI T@IFC ^INIZ ^^th;>?
%q4;_4?4[?%qh;_>*pg/8?->*pg/8[?
s4;_4.5?4.2[?q4;J@F(s4)?sh;_4.2?4.3[?qh;J@F(sh)?
%jglu oglf jbuq;q4?v;_4?4[?to;4.4442?P4;_q4(2)?v(2)?q4(>)?v(>)[?kbf`;eiplf('kbf`o`bf`.txt','w')?
eirt;4=4.4442=th?s;J@Z(q)?
_qj,vj[;qugjbi(q4,qh,th,t)?_K,ssq,ssv[;JO(qj,vj,q,v)?
_q,v[;^init(K,P4,to)?P4;_q(2)?v(2)?q(>)?v(>)[?eprgfte(kbf`,'%>.7e %>.7e %>.7e %>.7e %>.7e %>.7e %>.7e %8.7e %8.7e %>.7e
%>.7e %>.7e %>.7e %>.7e
%>.7eQf',t,qj(2),q(2),qj(>),q(>),ssq(2),ssq(>),K(2),K(>),vj(2),v(2),vj(>),v(>),s(2),s(>))?lfjehaisl(kbf`)?
egj ; eiplf('kbf`o`bf`.txt', 'r')?b ; eshbfe(egj, '%c %c %c %c %c %c %c %c %c %c %c %c %c %c %c', _2;b(>,=)?%qj2
j8;b(8,=)?%q2j:;b(:,=)?%qj>jj0;b(0,=)?%K2j7;b(7,=)?%K>
-
8/13/2019 thit k h thng iu khin
32/62
F H GF Z
8>
j24;b(24,=)?%vj2j22;b(22,=)?%v2j2>;b(2>,=)?%vj>j28;b(28,=)?%v>j2:;b(2:,=)?%x
j2)?xabnla('t(s)')?yabnla('qj2 vb q2(rbj)')?alclfj('qj2','q2')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj ifegcurl(>)?
pait(j2,j:,'h',j2,j)?xabnla('t(s)')?yabnla('qj> vb q> (rbj)')?alclfj('qj>','q>')?slt(che,'Hiair',_2.4,2.4,2.4[)?
crgj ifegcurl(8)?
pait(j2,j5,'n',j2,j3,'o','AgflSgjt`',>)?xabnla('t(s)')?yabnla('ssq2 vb ssq> (rbj)')?alclfj('ssq2','ssq>')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj ifegcurl(:)?
pait(j2,j0,'n',j2,j7,'o','AgflSgjt`',>)?xabnla('t(s)')?yabnla('K2 vb K> (Fk)')?alclfj('K2','K>')?slt(che,'Hiair',_2.4,2.4,2.4[)?
crgj ifegcurl()?xabnla('t(s)')?yabnla('vj2 vb v2
(rbj/s)')?alclfj('vj2','v2')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj ifegcurl(5)?
pait(j2,j24,'h',j2,j22,'r--','AgflSgjt`',>)?xabnla('t(s)')?yabnla('vj> vb v>(rbj/s)')?
alclfj('vj>','v>')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj ifegcurl(3)
pait(j2:,j2)?tgtal('quy jbi')?xabnla('x(k)')?yabnla('y(k)')?alclfj('quy jbi')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj if
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33/62
F H GF Z
88
2.>. @k aut gu o`gf =
eufhtgif_K,ssq,ssv[ ; JO(qj,vj,q,v)%ni jglu o`glf TJ
op2;2444?op>;2444?oj2;:4?oj>;:4?%t`ifc si rinitk2;>.
-
8/13/2019 thit k h thng iu khin
34/62
F H GF Z
8:
x>>;P4(:)?%v>%t`ifc sik2;>.
-
8/13/2019 thit k h thng iu khin
35/62
F H GF Z
8*(s(2)*h>+s(>)*s>))/(s(2)V>+s(>)V>)?s2;((b2+b>*h>)*s(>)-b>*s>*s(2))/(s(2)V>+s(>)V>)?q2;btbf>(s2,h2)?q;_q2?q>[?lfj
2.5. @k fc `h t`ufeufhtgif_s[ ; J@Z(q)%t`ifc si rinitb2;4.
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8/13/2019 thit k h thng iu khin
36/62
F H GF Z
85
lfjehaisl(kbf`)?
egj ; eiplf('kbf`o`bf`.txt', 'r')?b ; eshbfe(egj, '%c %c %c %c %c %c %c %c %c %c %c %c %c %c %c', _2;b(>,=)?%qj2j8;b(8,=)?%q2j:;b(:,=)?%qj>jj0;b(0,=)?%K2j7;b(7,=)?%K>
j24;b(24,=)?%vj2j22;b(22,=)?%v2j2>;b(2>,=)?%vj>j28;b(28,=)?%v>j2:;b(2:,=)?%xj2)?xabnla('t(s)')?yabnla('qj2 vb q2(rbj)')?alclfj('qj2','q2')?slt(che,'Hiair',_2.4,2.4,2.4[)?
crgj ifegcurl(>)?pait(j2,j:,'h',j2,j)?xabnla('t(s)')?yabnla('qj> vb q> (rbj)')?alclfj('qj>','q>')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj ifegcurl(8)?
pait(j2,j5,'n',j2,j3,'o','AgflSgjt`',>)?xabnla('t(s)')?yabnla('ssq2 vb ssq> (rbj)')?alclfj('ssq2','ssq>')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj ifegcurl(:)?
pait(j2,j0,'n',j2,j7,'o','AgflSgjt`',>)?xabnla('t(s)')?yabnla('K2 vb K> (Fk)')?alclfj('K2','K>')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj ifegcurl(
-
8/13/2019 thit k h thng iu khin
37/62
F H GF Z
83
pait(j2,j24,'h',j2,j22,'r--','AgflSgjt`',>)?xabnla('t(s)')?yabnla('vj2 vb v2(rbj/s)')?
alclfj('vj2','v2')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj if
egcurl(5)?pait(j2,j24,'h',j2,j22,'r--','AgflSgjt`',>)?xabnla('t(s)')?yabnla('vj> vb v>
(rbj/s)')?alclfj('vj>','v>')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj ifegcurl(3)
pait(j2:,j2)?tgtal('quy jbi')?xabnla('x(k)')?yabnla('y(k)')?alclfj('quy jbi')?slt(che,'Hiair',_2.4,2.4,2.4[)?
crgj if>.>. @k aut gu o`gf
eufhtgif_K,ssq,ssv[ ; JOK(qj,vj,bj,q,v)%ni jglu o`glf TJop2;>;>;25?%t`ifc si rinitk2;>.
-
8/13/2019 thit k h thng iu khin
38/62
F H GF Z
80
C;_c2?c>[?ssv2;vj(2)-v(2)?ssv>;vj(>)-v(>)?ssv;_ssv2?ssv>[?ssq2;qj(2)-q(2)?
ssq>;qj(>)-q(>)?ssq;_ssq2?ssq>[?% Ki klf jglu o`glfOp;_op2,4?4,op>[?Oj;_oj2,4?4,oj>[?K;@*(bj+Op*ssq+Oj*ssv)+U+C?lfj
>.8. @k tf` afc t
eufhtgif_qj,vj,bj[ ; qugjbik(q4,qh,th,t)% qug jbi nbh 8b42;q4(2)?b22;4?b>2;8*(qh(2)-q4(2))/thV>?b82;->*(qh(2)-q4(2))/thV8?qj2;b42+b22*t+b>2*tV>+b82*tV8?vj2;b22+>*b>2*t+8*b82*tV>?bj2;>*b>2+5*b82*t?b4>;q4(>)?b2>;4?b>>;8*(qh(>)-q4(>))/thV>?b8>;->*(qh(>)-q4(>))/thV8?qj>;b4>+b2>*t+b>>*tV>+b8>*tV8?vj>;b2>+>*b>>*t+8*b8>*tV>?bj>;>*b>>+5*b8>*t?
qj;_qj2?qj>[?vj;_vj2?vj>[?bj;_bj2?bj>[?lfj
Hh `k k `f` rinit, fc `h fch v fc `h t`uf cgfc h`fc trf` 2ff o`fc vgt rb.
8. H`fc trf` k p`fc ot qup`f `t`fc gu o`gf o`fc cgbf akvgh t`li fc t`fc
8.2. Egal h`y (kbgf)
% H@\IFC Z^GF@ KI T@IFC ^INIZ ^^th;>?s4;_4.5?4.2[?q4;J@F(s4)?sh;_4.2?4.3[?
-
8/13/2019 thit k h thng iu khin
39/62
F H GF Z
87
qh;J@F(sh)?%jglu oglf jbuq;q4?vq;_4?4[?to;4.4442?s;s4?v;_4?4[?
P4;_q4(2)?vq(2)?q4(>)?vq(>)[?kbf`;eiplf('kbf`o`bf`.txt','w')?
eirt;4=4.4442=th?_sj,vj[;qugjbiav(s4,sh,th,t)?_K,sss,ssv[;JOX(sj,vj,s,v,q)?_q,vq[;^init(K,P4,to)?s;J@Z(q)?v;mbhing(vq,q)?P4;_q(2)?vq(2)?q(>)?vq(>)[?eprgfte(kbf`,'%.7e %.7e %.7e %.7e %.7e %.7e %.7e %.7e %.7e %.7e %.7e %.7e
%.7eQf',t,sj(2),s(2),sj(>),s(>),sss(2),sss(>),K(2),K(>),vj(2),v(2),vj(>),v(>))?lfj
ehaisl(kbf`)?egj ; eiplf('kbf`o`bf`.txt', 'r')?b ; eshbfe(egj, '%c %c %c %c %c %c %c %c %c %c %c %c %c', _28 gfe[)ehaisl(egj)?j2;b(2,=)?%tj>;b(>,=)?%xjj8;b(8,=)?%xj:;b(:,=)?%yjj;b(2>,=)?%vj>(yj')j28;b(28,=)?%v>(y')
egcurl(2)?pait(j2,j>,'h',j2,j8,'r--','AgflSgjt`',>)?xabnla('t(s)')?yabnla('xj vb x(k)')?alclfj('xj','x')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj ifegcurl(>)?
pait(j2,j:,'h',j2,j)?xabnla('t(s)')?yabnla('yj vb y(k)')?alclfj('yj','y')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj ifegcurl(8)?
-
8/13/2019 thit k h thng iu khin
40/62
F H GF Z
:4
pait(j2,j5,'n',j2,j3,'o','AgflSgjt`',>)?xabnla('t(s)')?yabnla('sbg si (k)')?alclfj('ssx','ssy')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj ifegcurl(:)?
pait(j2,j0,'n',j2,j7,'o','AgflSgjt`',>)?xabnla('t(s)')?yabnla('Kiklf (Fk)')?alclfj('K2','K>')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj ifegcurl()?xabnla('t(s)')?yabnla('vxj, vx(k/s)')?alclfj('vxj','vx')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj ifegcurl(5)?
pait(j2,j2>,'h',j2,j28,'r--','AgflSgjt`',>)?xabnla('t(s)')?yabnla('vyj, vy(k/s)')?alclfj('vyj','vy')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj ifegcurl(3)?
pait(j>,j:,'h',j8,j)?xabnla('x(k)')?yabnla('y(k)')?alclfj('quy jbi')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj if
8.>, @k tf` aut gu o`gfeufhtgif_K,sss,ssv[ ; JOX(sj,vj,s,v,q)%ni jglu o`glf TJop2;;;2444?%t`ifc si rinitk2;>.
-
8/13/2019 thit k h thng iu khin
41/62
F H GF Z
:2
m22;-b2*sgf(q(2))-b>*sgf(q(2)+q(>))?m2>;-b>*sgf(q(2)+q(>))?m>2;b2*his(q(2))+b>*his(q(2)+q(>))?m>>;b>*his(q(2)+q(>))?M;_m22,m2>?m>2,m>>[?
Mtr;trbfspisl(M)?K;Mtr*C?lfj
8.8.@k mbhinglf
eufhtgif_vs[ ; mbhing(vq,q)%t`ifc si ri nitb2;4.
-
8/13/2019 thit k h thng iu khin
42/62
F H GF Z
:>
:. H`fc trf` k p`fc ot qup`f `t`fc gu o`gf o`fc cgbf akvgh t`li fc trf t`bg gk B,N v BN ak fc of`:.2.Egal h`y (kbgf)
th;>?s4;_4.3?4[?
q4;J@F(s4)?sh;_-4.3?4[?
qh;J@F(sh)?%jglu oglf jbuq;q4?vq;_4?4[?to;4.4442?s;s4?v;_4?4[?
P4;_q4(2)?vq(2)?q4(>)?vq(>)[?kbf`;eiplf('kbf`o`bf`.txt','w')?
eirt;4=4.4442=th?_sj,vj[;qugjbiav2(s4,sh,th,t)?_K,sss,ssv[;JOX(sj,vj,s,v,q)?
_q,vq[;^init(K,P4,to)?s;J@Z(q)?v;mbhing(vq,q)?P4;_q(2)?vq(2)?q(>)?vq(>)[?eprgfte(kbf`,'%.7e %.7e %.7e %.7e %.7e %.7e %.7e %.7e %.7e %.7e %.7e %.7e
%.7eQf',t,sj(2),s(2),sj(>),s(>),sss(2),sss(>),K(2),K(>),vj(2),v(2),vj(>),v(>))?lfjehaisl(kbf`)?
egj ; eiplf('kbf`o`bf`.txt', 'r')?b ; eshbfe(egj, '%c %c %c %c %c %c %c %c %c %c %c %c %c', _28 gfe[)
ehaisl(egj)?j2;b(2,=)?%tj>;b(>,=)?%xjj8;b(8,=)?%xj:;b(:,=)?%yjj;b(2>,=)?%vj>(yj')j28;b(28,=)?%v>(y')
egcurl(2)?pait(j2,j>,'h',j2,j8,'r--','AgflSgjt`',>)?xabnla('t(s)')?yabnla('xj vb x(k)')?alclfj('xj','x')?slt(che,'Hiair',_2.4,2.4,2.4[)?
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F H GF Z
:8
crgj ifegcurl(>)?
pait(j2,j:,'h',j2,j)?xabnla('t(s)')?yabnla('yj vb y(k)')?alclfj('yj','y')?slt(che,'Hiair',_2.4,2.4,2.4[)?
crgj ifegcurl(8)?
pait(j2,j5,'n',j2,j3,'o','AgflSgjt`',>)?xabnla('t(s)')?yabnla('sbg si (k)')?alclfj('ssx','ssy')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj ifegcurl(:)?
pait(j2,j0,'n',j2,j7,'o','AgflSgjt`',>)?xabnla('t(s)')?yabnla('Kiklf (Fk)')?alclfj('K2','K>')?slt(che,'Hiair',_2.4,2.4,2.4[)?
crgj ifegcurl()?xabnla('t(s)')?yabnla('vxj, vx(k/s)')?alclfj('vxj','vx')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj ifegcurl(5)?
pait(j2,j2>,'h',j2,j28,'r--','AgflSgjt`',>)?xabnla('t(s)')?yabnla('vyj, vy(k/s)')?alclfj('vyj','vy')?slt(che,'Hiair',_2.4,2.4,2.4[)?
crgj ifegcurl(3)?pait(j>,j:,'h',j8,j)?xabnla('x(k)')?yabnla('y(k)')?alclfj('quy jbi')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj if
:.>. @k tf` afc teufhtgif_sj,vj[ ; qugjbiav2(s4,sh,th,t)% qug jbi juifc 2/> juifc trif s4-6sh trifc th cgbyxg;(s4(2)+sh(2))/>?yg;(s4(>)+sh(>))/>?^;4.+(s4(>)-sh(>))V>)?b4;bsgf((s4(2)-xg)/^)?b2;4?w;bsgf((sh(2)-xg)/^)-b4?b>;8*w/thV>?b8;->*w/thV8?e;b4+b2*t+b>*tV>+b8*tV8?je;b2+>*b>*t+8*b8*tV>?
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F H GF Z
::
xj;xg+^*sgf(e)?yj;yg+^*his(e)?sj;_xj?yj[?vj2;^*je*his(e)?vj>;-^*je*sgf(e)?
vj;_vj2?vj>[?lfj
+ @k aut gu o`gf tfc th`fc trf` 8.+ Hh `k k `f` rinit, fc `h fch v fc `h t`uf cgfc h`fc
trf` 2 ff o`fc vgt rb.
quby kt ch -2>44t`li qui nh 8 t`gt o.
Zb o`bg ni hh t`fc srinit vi hh o`u o`p =b2; 4.< (k), b>; 4,: (k)k2;>.< (oc), k2;2.< (oc)
2G ; , >G ; ,>
2 2 2 2
2
2>y zG G k b ,
>
> > > >
2
2>y zG G k b
@f` 5.2.X `t`fc
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F H GF Z
:;2444
,Oj2;Oj>;:4( trf `f` o `gu Ov2 ,Ov>)
Zb t`u h ot quf` sbu=( nftrg jfc sgkuagfo nf p`g ot qujfc h`fc sjfc p`fc trf`fc ah )= @f` 5.>. Ngu o`gf TJ
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F H GF Z
:5
@f` 5.8. Hh ot qusi sf`
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F H GF Z
:3
Zb t`y ot qucgb vgh jfc t` vgf o`bg ni sf k `f` rinit vg vghvgt k ttif `h ^init ( T`fc trf` fc ah `h ) a `if tif cgfc f`bu.
.Xjfc t` vgf XgkKlh`bfgs vg k `f` rinit ^^ h xut rb tsigjwirjs.
K `f` rinit ^^ vtsigjwirjs b viak k `f` f` sbu =
Zk `f` nf vap hb k `f` rinit ^^fy tb xut sbfc egal *.xka rg jfc kbtabn hxut rb egal jg jfc sgkuagfo, rg t`gt ojgjfc hh o`g hb `t`fc gu o`gf kb trfMbhinglf h`uyf v.
@f` 5.:.K `f` k p`fc
@f` 5.
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F H GF Z
:0
O`g TJ vg=Op; 2 >
2 2 > 2 >
his( ) his( )
sgf( ) sgf( )
p
p
x b q b q q
y b q b q q
MVZ - Kb trf Mbhinglf h`uyf v.
M - Kb trf Mbhinglf.
2 2 > 2 > > 2 >
2 2 > 2 > > 2 >
sgf( ) sgf( ) sgf( )
his( ) his( ) his( )
b q b q q b q qM
b q b q q b q q
,
b, gu o`gf t`li fc t`fc
O`g JBZ h f`gk vti rb tf `gu t h`i ngu o`gf TJ vg tf `gut a k ni gk th fc hug jg h`uyf t`li fc t`fc tgk nbf uB(4.7 , 4) f gk N(4.:< , 4,:
-
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49/62
F H GF Z
:7
@f` 5.0.t`P, W t v gu o`gf
@f` 5.7.Ry i t v gu o`gf
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F H GF Z
-
8/13/2019 thit k h thng iu khin
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F H GF Z
.Ry i t v gu o`gf
-
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F H GF Z
@f` 5.28. @f` f` ^init ^^ g t`li hufc trf vg aut gu o`gf mbhinglfh`uyf v
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F H GF Z
> >
2 2 2 > > > 2 > 2 > > 2 > > > 2 > > >
> 2 >> 2 > > 2 > > 2 > > > 2 > > > 2 >
>
> > > > 2 > > 2
2 2 2 2his( ) his( )
8 8 8 >
( > )2 2sgf( ) sgf( ) his( ) his( )
> > >
2 2 2his( )
8 > 8
K k b k b k b k b b q q k b k b b q q
k kk b b q q q k b b q q cb q k cb q q
K k b k b b q q k
> >
> > > > 2 > > 2 > > 2 >
2 2sgf( ) his( )
> >b q k b b q q k cb q q
Zb xy jfc h hh s o`g k p`fc trifc Xgkuagfo f` sbu =
b, s o`g t`fc gu o`gf TJ o`fc n kiklf trfc afc
Ug aut gu o`gf = ( ) ( )jo p j j j p j K O q q O q q O O
@f` 5.2:. X o`g vg ngu o`gf TJ
@f` 5.2
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F H GF Z
q , 2q , >q p`f
`g v
@k Ehf2=(2/((2/8)*k2*b2V>+(2/8)*k>*b>V>+k>*b2V>+k>*b2*b>*his(u(8))))*(u(2)-((2/8)*k>*b>V>+4.*b2*b>*his(u(8)))*u(5)+k>*b2*b>*sgf(u(8))*u(:)*u(*sgf(u(8))*u(-4.*k>)*c*b2*his(u(8))-4.*c*b>*his(u(>)+u(8)))
@k Ehf=(2/((2/8)*k>*b>V>))*(u(5)-((2/8)*k>*b>V>+4.*b2*b>*his(u(>)))*u(*sgf(u(>))*u(8)V>-4.*c*b>*his(u(2)+u(>)))
@f` 5.25. O`g `gf t`( `glfYt`g ) @f` 5.23.O`g cg trt ( JBZ )
Egal t`fc sk p`fc ( vg `k J@F fg p`f vgt h`fc trf` )=%-----------t`ifc si rinit ^^------------------------------
th;>?b2;4.
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F H GF Z
*(qh(2)-q4(2))/thV8?b>4;q4(>)?b>2;4?b>>;8*(qh(>)-q4(>))/thV>?b>8;->*(qh(>)-q4(>))/thV8?
%-------------------------------------------------------------------------------------------------
Egal vt`egcurl(2)?
pait(tiut,qj2,'h',tiut,q2,'r--','AgflSgjt`',>)?xabnla('t(s)')?yabnla('qj2 vbq2(rbj)')?
alclfj('qj2','q2')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj if
egcurl(>)?pait(tiut,vj2,'h',tiut,v2,'r--','AgflSgjt`',>)?xabnla('t(s)')?yabnla('vj2 vb
v2 (rbj/s)')?alclfj('vj2','v2')?slt(che,'Hiair',_2.4,2.4,2.4[)?
crgj ifegcurl(8)?pait(tiut,qj>,'h',tiut,q>,'r--','AgflSgjt`',>)?xabnla('t(s)')?yabnla('qj> vb
q>(rbj)')?alclfj('qj>','q>')?
slt(che,'Hiair',_2.4,2.4,2.4[)?crgj if
egcurl(:)?pait(tiut,vj>,'h',tiut,v>,'r--','AgflSgjt`',>)?xabnla('t(s)')?yabnla('vj> vb
v> (rbj/s)')?alclfj('vj>','v>')?slt(che,'Hiair',_2.4,2.4,2.4[)?crgj if
%-------------------------------------------------------------------------------------------------
Ug tf `gu t gk th fc hug jg h`uyf tgk s4;_4.>?4.
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F H GF Z
t v gu o`gf
@f` 5.27.Uf th ch o`p 2, > t v gu o`gf
n, s o`g t`fc gu o`gf TJ n kiklf trfc ah
@f` 5.>4.X o`g vg ngu o`gf TJ n trfc ah
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F H GF Z
2.Ngu o`gf TJ n trfc ahZrifc @f` 5.>2h hh `k sbu
c2= 4.*k>)*c*b2*his(u(>))+4.*c*b>*his(u(2)+u(>))c>= 4.*c*b>*his(u(2)+u(>))
Op;2444, v Oj;?4.>.Ch o`p q2, q>t v gu o`gf
@f` 5.>8.Uf th ch o`p 2, > t v gu o`gf
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F H GF Z
:.X o`g vg ngu o`gf kiklf tf` tif
@f` 5.>< h `bg `k Ehf v Ehf2 tf` jfc tf` kiklf gu o`gft`li aut gu fu trf=
Ehf tf` K2jo=((2/8)*k2*b2V>+(2/8)*k>*b>V>+k>*b2V>+k>*b2*b>*his(u(>)))*u(*b>V>+4.*b2*b>*his(u(>)))*u(5)-k>*b2*b>*sgf(u(>))*u(8)*u(:)-
4.*b2*b>*sgf(u(>))*u(:)V>+4.*k>)*c*b2*his(u(>))+4.*c*b>*his(u(2)+u(>))
Ehf2 tf` K>jo=((2/8)*k>*b>V>+4.*b2*b>*his(u(>)))*u(*b>V>)*u(5)+4.*b2*b>*sgf(u(>))*u(8)V>+4.*c*b>*his(u(2)+u(>))
Z`fc sOp ; >
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F H GF Z
?4.5.Ch o`p q2, q>t v gu o`gf
@f` 5.>3.Uf th ch o`p 2, > t v gu o`gf
F`f xt=+ Rub k p`fc tb t`y ngu o`gf n trfc ah vg hfc t`fc sOp, Oj
h h`t afc gu o`gf tt `f nk st `f, fc vg a t`uyt o`g o`hC(q).
+ Hf vg ngu o`gf kiklf tf` tif h h`t afc tt f`t nk stf`t f`fc kh tf` tif p`h tp `f.
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F H GF Z
54
ZG AG\ Z@BK O@I
_2[ fc ah `h `f`gu vt - CX. ZXO@. Fcuyf Uf O`bfc.
_>[ gu o`gf ^init hfc fc`gpZX. Fcuyf Kf` Zgf .
_8[ KBZABN & XGK\AGFO jf` h`i o s gu o`gf tfcFcuyf T`fcRubfc .
_:[ H s^init hfc fc`gp -CX.ZXO@ Fcuyf Uf O`bfc .
_
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F H GF Z
52
F@F PZ HB CGI UGF @FC JF
@ Fg, fcy 43 t`fc 22 fk >42>
Cgi vgf `fc jf
ZX. h Fbk
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F H GF Z
Gf ku 3,22,28,2:,>4,>2,>:,>0,>7,84,: