7/23/2019 Bai Tap Lon Ltdktd
1/18
Bi tp ln:LTKTSinh vin : Hong Vn
Thc_TH3-K44
bi tp ln l thuyt iu khin t! "n# bi :
$h% h& th'n# iu khin t'( " "n# () nh h*nh v+ :,h*nh ./u (0u :1 2y !n# 5) 6 kh'i (7u t89( v h t8uyn ;t (1 2?t @n Anh h& th'n# v tnh Cu< t8*nh Cu< " ,bDn# ph)n# ph
t8%n# (
7/23/2019 Bai Tap Lon Ltdktd
2/18
Bi tp ln:LTKTSinh vin : Hong Vn
Thc_TH3-K44
H& th'n# #6 hFi khu Cu
7/23/2019 Bai Tap Lon Ltdktd
3/18
Bi tp ln:LTKTSinh vin : Hong Vn
Thc_TH3-K44Gh)n# t8*nh ;i 5' :
)()(.2)([5.6)()().(. 22222
33
2
3 ZYZZYZYZTZYCZZYBZZYA ++=++
Gh)n# t8*nh 5Fi phn t)n# )n# l :
3222
2
33
/])[]1[.2]2[(5.6][]1[.(]2[ AkYkYkYTkYCkYBkY ++++++=+
cy ph)n# t8*nh 5Fi phn d t_ h& th'n# th]% ph)n# ph
7/23/2019 Bai Tap Lon Ltdktd
4/18
Bi tp ln:LTKTSinh vin : Hong Vn
Thc_TH3-K44
>3ZM>
-----------------------------------------------------XMXXZj54 XMm4 53 M>Z5> 4MXm 5 ff k X1X3>\
ff gk`]]bF(k,ghMk.T8Fn5`]8 `un(ti%n:
>3ZM>-----------------------------------------------------------------------XMXZj54 XMm4 53 M>Zj5> 4M4m5 Mjm
ff 5t]p,gk.tF ( ( tnh Cu< " nh 5Fu :
)nh 2u )*nh 2u &4 b5ng 6h%ng 6h6 T78T9:oin(lu]Ri%5t8]F1hfoin(lu]R(%ni%1hfoin(lu]R#8Fphi(51hfin(lu]R5tlib1hf
%Ft TMFFMF>MF3MbMb>Mb3M(3Mu\%Ft yZ4X M y>Z4X M yZ4X M ]Z4X \int #t M # M i M k\v%i Fin,.q (%utRR rsnTinh CuF t8inh CuF % h] th%n#\(%utRRsnnhFp bu%( tinh T\ (inffT\
yX X\ y X\ yX X\ y>X X\`%8,kX\ kRZ3X\ k.
4
7/23/2019 Bai Tap Lon Ltdktd
5/18
Bi tp ln:LTKTSinh vin : Hong Vn
Thc_TH3-K44 q
;/]))1[][*2]1[(***5.6]1[*][*(]1[
];[*]1[*][*]1[
];[*]1[*][*]1[
];[*03125.0][
322233
1212222
11111
AkYkYkYTTkYCkYBkY
kYBkYBkYAkY
kEBkEBkYAkY
kYUkE
++++=+
+++=+
+++=+
=
(%utRR rsnststkU3 yUZ1>` rMkMyk \
]lFy,. \
#]t(h,. \# IT$T\init#8Fph,w#Mw#M(:ssb%8lFn(ssb#i. \5]tlin]5tyl],XMXM3. \5]tbk(%l%8,X. \ 5]t(%l%8,4. \%utt]NtNy,ZXM3XMGHxz{ GH|G S TxSTz. \%utt]NtNy,XM4XM,H] kh%n# %n inh.. \%utt]N]Ny,>XM4XMX. \5]t(%l%8,. \8](tFn#l],>M>MZ3jM4jj. \5]t(%l%8,. \`%8 ,i i \ iRX \ i.
qlin],Z4aiM M Z4aiM. \lin],Z4ai 3>M M Z4ai 3>M X. \lin],Z4aiM 4jM Z4aiM 4Z4. \lin],Z4ai 3>4jM Z4ai 3> M 4Zm. \lin],M 4maiM X M 4mai. \
5]t(%l%8,>. \%v]t%,M4jj. \
`%8 ,kX \kR Z3X \ k.qlin]t%,kM 4j } ,int.,Xayk~1Z.. \
%utt]NtNy,mXM 4jX } ,int.,Xayk~1Z.My,t.. \%utt]NtNy,4M 4X } ,int.,Xayk~1Z.MTin hi]u 8F. \#]t(h,. \(l%5]#8Fph,. \8]tu8n,X. \
3. ;hi c b4 h!u ?@A6 :
7/23/2019 Bai Tap Lon Ltdktd
6/18
Bi tp ln:LTKTSinh vin : Hong Vn
Thc_TH3-K44FM khi bE khu 4,p. tF ( 5) 6 kh'i (QF h& th'n# nh 5Fu :
Khi J( n'i tip b" GI
TF en# OFtlFb iu (hnh (
7/23/2019 Bai Tap Lon Ltdktd
7/18
Bi tp ln:LTKTSinh vin : Hong Vn
Thc_TH3-K44TF th7y %v]85h%%t bDn# 1j4U M 8i5] ti] bDn# 1 ,5](. v 5]ttin# ti]bDn# Z13 ,5](.
zh vy (h7t lWn# h& th'n# ;t yu (0u 1
Khi b" GI J( hn hWp :
TF ( ( tnh Cu< " nh 5Fu :
j
7/23/2019 Bai Tap Lon Ltdktd
8/18
Bi tp ln:LTKTSinh vin : Hong Vn
Thc_TH3-K44
H& th'n# @n Anh vi (
7/23/2019 Bai Tap Lon Ltdktd
9/18
Bi tp ln:LTKTSinh vin : Hong Vn
Thc_TH3-K44
hi&u (hnh 0n T tF ( : vi T >X ( tnh Cu< " (QF h& th'n#nh 5Fu :$h)n# t8*nh OFtlFb :ff T>X\ff Xt`,m1M1X .T8Fn5`]8 `un(ti%n:
41-----------31jj 5 ff t`,>M1X .T8Fn5`]8 `un(ti%n: >----------X1X 5
ff >t`,Z1M1X4 1X3 .T8Fn5`]8 `un(ti%n: Z1----------------------X1X4 5> X1X3 5 ff 3t`,T X XMT .
T8Fn5`]8 `un(ti%n:>X 5>
7/23/2019 Bai Tap Lon Ltdktd
10/18
Bi tp ln:LTKTSinh vin : Hong Vn
Thc_TH3-K44-------->X 5 ff >k`]]bF(k,a>M3.
T8Fn5`]8 `un(ti%n: 3>X 5 Z>1-----------------------------------------------X1XX 54 X1XZ4 53 3> 5> >X1X4 5 ff X>k`]]bF(k,Xa>kM1X3>.T8Fn5`]8 `un(ti%n: >jZ> 5 3m----------------------------------------------------------------X1XX4 5 1X 54 33 53 3>j3 5> mm414 5 441Zff 5t]p,X>k.
zhn N?t : TF th7y v]85h%%t 4MU M 5]ttin# Ti] 4Z 5]( (h7t lWn#h&th'n# t)n# 'i t't 16 thi zyCui5t (QF h& h nh 5Fu :
X
7/23/2019 Bai Tap Lon Ltdktd
11/18
Bi tp ln:LTKTSinh vin : Hong Vn
Thc_TH3-K44
ff nyCui5t,Xa>k.
7/23/2019 Bai Tap Lon Ltdktd
12/18
Bi tp ln:LTKTSinh vin : Hong Vn
Thc_TH3-K44
(. Khi ( (_ b" GI v khu 4tF hi&u (hnh (
7/23/2019 Bai Tap Lon Ltdktd
13/18
Bi tp ln:LTKTSinh vin : Hong Vn
Thc_TH3-K44TF v+ ;(h t8%n# SOxLzK nh 5Fu :
thFy @i (
7/23/2019 Bai Tap Lon Ltdktd
14/18
Bi tp ln:LTKTSinh vin : Hong Vn
Thc_TH3-K44
ci (M1X .
T8Fn5`]8 `un(ti%n:
4
7/23/2019 Bai Tap Lon Ltdktd
15/18
Bi tp ln:LTKTSinh vin : Hong Vn
Thc_TH3-K44 >----------X1X 5
ff (t`,Z1M1X4 13 .T8Fn5`]8 `un(ti%n: Z1---------------------X1X4 5> X13 5 ff 3t`,1XXM1XX .T8Fn5`]8 `un(ti%n: X1XX-----------X1XX 5 ff k`]]bF(k,>a(M3.T8Fn5`]8 `un(ti%n: X1Z> 5 Z>1-----------------------------------------------------------41]-XXj 54 X1XXX4m 53 X1X4m3 5> X13 5 1Z3ff hpiaak
T8Fn5`]8 `un(ti%n: Z1XZ 53 Z>X 5> 13m>]XX4 5 ZXZ------------------------------------------------------------------------------41j>]-XXj 5Z X1XXXXj 5 X1X3mm 54 X13> 53 1Z 5> 1Z3 5ff k`]]bF(k,hM1X3>.T8Fn5`]8 `un(ti%n:
Z1XZ 53 Z>X 5> 13m>]XX4 5 ZXZ--------------------------------------------------------------------------------41j>]-XXj 5Z 1XXXXj 5 X1X3mm 54 X1ZXjm 53 >j1m 5> 433 5 >1m
cy tF ( ph)n# t8*nh ( tnh (QF h& l :
5ZXjMZ5XMm1X454>M>1X5343Mm1Xj5>mjMXj1Xj5 43M41XjX
TF en# OFtLFb tnh F t8n iu khin nh 5Fu :
7/23/2019 Bai Tap Lon Ltdktd
16/18
Bi tp ln:LTKTSinh vin : Hong Vn
Thc_TH3-K44ff |-Xj1Z X X X X\-X1maX4 X X X X\->1aX X X X X\-431maXj X X X X\-
mj1XmaXj X X X X \-4314aXj X X X X X
| 1X]XXm a
-X1XXXX X1XXXX X X X X -X1XX X X1XXXX X X X -X1X> X X X1XXXX X X -413mXX X X X X1XXXX X -m1jXmX X X X X X1XXXX -4134XX X X X X X
ff BX\X\Z1XZ\Z>X\13m>]XX4\ZXZB 1X]XX4 a
X X X1XXXj
X1Z>X 13m>X X1ZXZ
ff GB |aB |>aB |3aB |4aB |aB
G 1X]X3 a
X X X1XXXX -X1XXXX X1XXXX -X1XXXX X X1XXXX X1XXXX -X1XXXX X1XXXX -X1XXX
X1XXXX X1XXXX X1XXXX -X1XXXX -X1XXX> X1X> X1XXXX X1XXXX X1XXXX -X1XXX3 X1X33 -31>44X X1XXXX X1XXXX X -X1XXXZ X1XZ3> -Z143 X1XXXX X X -X1XXX3 X1X3Z -31>jjX
ff ]t,G.
Fn5
1>m4]X>TF th7y ]t,G. kh
7/23/2019 Bai Tap Lon Ltdktd
17/18
Bi tp ln:LTKTSinh vin : Hong Vn
Thc_TH3-K44TF N?t tnh CuFn 5
7/23/2019 Bai Tap Lon Ltdktd
18/18
Bi tp ln:LTKTSinh vin : Hong Vn
Thc_TH3-K44
TF th7y ]t,L. kh