TRl/dNG DAI HQC SIT PHAM KY THUAT
THANH PHO HO CHI MINH
KHOA CO KHI CHE TAO MAY
BO MON CO DIEN Tlf
• •
BE THI CUOI HOC KY I NAM HOC 2023-2024
Mon: Bieu khien ty dong
Ma mon hoc: AUCO330329
06 s6/Ma d6: 01 06 thi co 02 trang.
Thai gian: 75 phut. Ngay thi: 12/12/2023
Dugc phep su dung tai lieu.
Cau 1: (3 diem) Tim ham truyen tuang duang cua he nhu hinh:
Cau 2: (3.5 diem) Cho he thong co so do khoi nhu hinh:
G(s) = s + 1
s2 - 2s + 17
a. Ve quy dao nghiem so cua he thong khi K thay doi tir 0 den oo
b. Khao sat tinh on dinh cua he thong?
Cau 3: (3.5 diem)
Cho he thong dieu khien co so do khoi nhu sau:
r e . PID 6
Ays2 + 5s + 4
a. Bo dieu khien PID co Kp =6; Ki =8; Kd =1. Tim dap ung qua do y(t) neu r(t)=3.
b. Tinh sai so xac lap. Ve dap ung ng5 ra y(t).
c. Giu nguyen he so Kp va Kd . Tim dieu kien cua Ki de he kin on dinh?
Ghi chu: Can bo coi thi khong dugc giai thich de thi.
S6 hieu: BM1/QT-PDT-RDTV/02 Lan soat xet: 02 Ngay hieu luc: 15/5/2020 Trang: 1/2
Chuan dau ra cua hoc phan (ve kien thuc) Noi dung kiem tra
[G 2.1 ]: Xay dung duoc cac dang mo hinh toan cua he
thong di6u khien lien tuc
Cau 1
[G 2.3]: Ve duoc quy dao nghiem s6 va khao sat tinh 6n
dinh.
Cau 2
[G 2.4]: Tinh toan cac thong s6 chit luong, dap ung qua
do.
Cau 3a
TG 4.1]: Thiet k6/Phan tfch bo di6u khien PID. Cau 3c
Ngay 11 thang 12 nam 2023
f Triro’ng bo mon
S6 hieu: BM 1/QT-PDT-RDTV/02 L in soat xet: 02 Ngay hieu lire: 15/5/2020 Trang: 2/2