Cac Lenh Matlab Trong Dieu Khien Tu Dong - Pham Quang Huy

7/31/2019 Cac Lenh Matlab Trong Dieu Khien Tu Dong - Pham Quang Huy

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Khao sat ng dung MATLAB trong ieu khien t ong

Thc hien: PHAM QUOC TR NG - 1 - GVHD: PHAMQUANG HUY

GII THIEU LY THUYET IEU KHIEN T ONG

ieu khien t ong ong vai tro quan trong trong s phat trien cua khoa hoc va ky thuat.Lnh vc nay hu hieu khap ni t he thong phi thuyen khong gian, he thong ieu khien ten la,may bay khong ngi lai, ngi may, tay may trong cac quy trnh san xuat hien ai, va ngay ca

trong i song hang ngay: ieu khien nhiet o, o am...Phat minh au tien khi au cho viec phat trien cua lng vc ieu khien t ong la bo ieutoc ly tam e ieu chnh nhiet o may hi nc cua Jame Watt nam 1874. Cac cong trnh angchu y trong bc au phat trien ly thuyet ieu khien la cua cac nha khoa hoc Minorsky, Hazen,Nyquist...nam 1922. Minorky thc hien he thong ieu khien t ong cac con tau va chng minhtnh on nh cua he thong co the c xac nh t phng trnh vi phan mo ta he thong. Nam1932, Nyquist a a ra mot nguyen tac tng oi n gian e xac nh tnh on nh cua hethong vong kn da tren c s ap ng vong h oi vi cac tnh hieu vao hnh sin trang thaixac lap. Nam 1934, Hazen a gii thieu thuat ng ieu chnh c t ong (servo mechanism) chonhng he thong ieu khien nh v vaa thao luan en viec thiet ke he thong relay ieu chnh

ong c vi ngo vao tn hieu thay oi.Trong suot thap nien 40 cua the ky 20 phng phap ap ng tan so a giup cjo cac ky s

thiet ke cac he thong vong kn tuyen tnh thoa cac yeu cau chat lng ieu khien. T cuoi thapnien 40 cho en au thap nien 50 phng phap quy ao nghiem cua Evan c phat trien khatoan ven.

Phng phap quy ao nghiem va ap ng tan so c xem la cot loi cua ly thuyet ieukhien co ien cho phep ta thiet ke c nhng he thong on nh va thoa cac ch tieu chat lngieu khien. Nhng he thong nay c chap nhan nhng cha phai la toi u, hoan thien nhat. Choti cuoi thap nien 50 cua the ky 20 viec thiet ke mot hay nhieu he thong dan dan c chuyenqua viec thiet ke mot he thong toi u vi y ngha ay u hn.

Khi cac may moc hien ai ngay cang phc tap hn vi nhioeu tn hieu vao va ra th viec mota he thong ieu khien hien ai nay oi hoi mot lng rat ln cac phng trnh. Ly thuyet ieukhien co ien lien quan cac he thong mot ngo vao va mot ngo ra tr nen bat lc e phan tchcac he thong nhieu au vao, nhieu au ra. Ke t khoang nam 1960 tr i nh may tnh sochophep ta phan tch cac he thong phc tap trong mien thi gian, ly thuyet ieu khien hien ai phattrien e oi pho vi s phc tap cua cac he thong hien ai. Ly thuyet ieu khien hien ai datren phan tch trong mien thi gian va tong hp dung cac bien trang thai, cho phep giai cac baitoan ieu khien co cac yeu cau chat che ve o chnh xac, trong lng va gia thanh cua cac hethong trong lnh vc ky nghe khong gian va quan s.

S phat trien gan ay cua ly thuyet ieu khien hien ai la trong nhieu lnh vc ieu khientoi u cua cac he thong ngau nhien va tien nh. Hien nay may vi tnh ngay cang re, gon nhngkha nang x ly lai rat manh nen no c dung nh la mot phan t trong cac he thong ieukhien. Nhng ap dung gan ay cua ly thuyet ieu khien hien ai vao ngay ca nhng nganh kythuat nh: sinh hoc, y hoc, kinh te, kinh te xa hoi.

I. NHNG KHAI NIEM C BAN1. ieu khien hoc (Cybernctics):


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La khoa hoc nghien cu nhng qua trnh ieu khien va truyen thong may moc, sinh vat vakinh te. ieu khien hoc mang ac trng tong quat va c phan chia thanh nhieu lnh vc khacnhau nh: toan ieu khien, ieu khien hoc ky thuat, ieu khien hoc sinh vat (phong sinh vat:bionics), ieu khien hoc kinh te.2. Ly thuyet ieu khien t ong:

La c s ly thuyet cua ieu khien hoc ky thuat. ieu khien t ong la thuat ng ch quatrnh ieu khien mot oi tng trong ky thuat ma khong co s tham gia cua con ngi(automatic) no ngc lai vi qua trnh ieu khien bang tay (manual).3. He thong ieu khien t ong:

Mot he thong ieu khien t ong bao gom 3 phan chu yeu:Thiet b ieu khien (TBK).

- oi tng ieu khien (TK).- Thiet b o lng.Hnh 1.1 la s o khoi cua he thong ieu khien t ong.

Hnh 1.1Trong o:

C: tn hieu can ieu khien, thng goi la tn hieu ra (output).U: tn hieu ieu khien.R: tn hieu chu ao, chuan, tham chieu (reference) thng goi la tn hieu vao (input).N: tn hieu nhieu tac ong t ben ngoai vao he thong.F: tn hieu hoi tiep, phan hoi (feedback).

4. He thong ieu khien kn (closed loop control system):La he htong ieu khien co phan hoi (feeback) ngha la tn hieu ra c o lng va a ve

thiet b ieu khien. Tn hieu hoi tiep phoi hp vi tn hieu vao e tao ra tn hieu ieu khien.Hnh 1.1 chnh la s o cua he thong kn. C s ly thuyet e nghien cu he thong kn chnh la lythuyet ieu khien t ong.

5. He thong ieu khien h:oi vi he thong h, khau o lng khong c dung en. Moi s thay oi cua tn hieu rakhong c phan hoi ve thiet b ieu khien. S o hnh 1.2 la he thong ieu khien h.

Hnh 1.2: He thong ieu khien h

R TBK TKU C

N

CTBK TK

TBL

F

R


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C s ly thuyet e nghien cu he thong h la ly thuyet ve relay va ly thuyet otomat huhan.

II. PHAN LOAI HE THONG IEU KHIEN T ONGHe thong ieu khien co the phan loai bang nhieu cach khac nhau. Sau ay la mot so phng

phap phan loai:1. He tuyen tnh va phi tuyen:

Co the noi hau het cac he thong vat ly eu la he phi tuyen, co ngha la trong he thong co tnhat mot phan t la phan t phi tuyen (quan he vao ra la quan he phi tuyen). Tuy nhien, neupham vi thay oi cua cac bien he thong khong ln, he thong co the c tuyen tnh hoa trongpham vi bien thien cua cac bien tng oi nho. oi vi he tuyen tnh, phng phap xep chongco the c ap dung.2. He bat bien va bien thien theo thi gian:

He bat bien theo thi gian (he dng) la he thong co cac tham so khong oi (theo thi gian).ap ng cua cac he nay khong phu thuoc vao thi iem ma tn hieu vao c at vao he thong

ieu khien phi thuyen khong gian, vi khoi lng giam theo thi gian do tieu thu nang lngtrong khi bay.3. He lien tuc va gian oan theo thi gian:

Trong he lien tuc theo thi gian, tat ca cac bien la ham lien tuc theo thi gian. Cong cu phantch he thong lien tuc la phep bien oi Laplace hay Fourier. Tronh khi o, he gian oan la hethong co t nhat mot tn hieu la ham gian oan theo thi gian. Ngi ta phan biet he thong gianoan gom:

- He thong xung: la he thong ma trong o co mot phan t xung (khoa ong ngat) hay la tnhieu c lay mau (sample) va gi (hold). (Hnh 1.3)

Hnh 1.3: He thong ieu khien xung.

- He thong so: la he thong gian oan trong o tn hieu c ma hoa thanh logic 1, 0. o la

cac he thong co cac khau bien oi tng t / so (A/D), so/ tng t (D/A) va e ket noi ket noitn hieu vi may tnh so. (Hnh 1.4)

c(t)H G(p)

F(p)

e(t)r(t)

(-)

oi tng ieu khien


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Hnh 1.4: He thong ieu khien soCong cu e phan tch he thong gian oan la phep bien oi Laplace, Fourier gian oan hay

phep bien oi Z.4. He n bien va a bien:

He n bien la he ch co mot ngo vao va mot ngo ra. Cong cu e phan tch va tong hp hen bien la ly thuyet ieu khien co ien. V du: he ieu khien nh v (v tr).

He a bien la he co nhieu ngo vao va nhieu ngo ra. Cong cu e phan tch va tong hp he abien la ly thuyet ieu khien hien ai da tren c s bieu dien he trong khong gian trang thai. V

du: he ieu khien qua trnh (Process Control System) co the gom co ieu khien nhiet o va apsuat.5. He thong thch nghi va he thong khong thch nghi:

He thong thch nghi la he htong hoat ong theo nguyen tac t chnh nh, trong o he thongt phat hien nhng thay oi cua cac tham so do anh hng cua moi trng ben ngoai va thchien viec ieu chnh tham so e at c ch tieu toi u c e ra.6. He xac nh (deterministic) va he ngau nhien (stochastic):

Mot he thong ieu khien la xac nh khi ap ng oi vi mot ngo vao nhat nh co the cbiet trc (predictable) va co the lap lai c (repeatable). Neu khong thoa man 2 ieu kientren, he thong ieu khien la ngau nhien.

III. NHIEM VU CUA LY THUYET IEU KHIEN T ONGe khao sat va thiet ke mot he thong ieu khien t ong ngi ta thc hien cac bc sau:a) Da tren cac yeu cau thc tien, cac mo hnh vat ly ta xay dng mo hnh toan hoc da tren

cac quy luat, hien tng, quan he cua cac oi tng vat ly. Mo hnh toan hoc cua he thong cxay dng t cac mo hnh toan hoc cua cac phan t rieng le.

b) Da tren ly thuyet on nh, ta khao sat tnh on nh cua he thong. Neu he thong khong onnh ta thay oi ac tnh cua he thong bang cach a vao mot khau bo chnh (compensation) haythay oi thay oi tham so cua he e he thanh on nh.

c) Khao sat chat lng cua he theo cac ch tieu e ra ban au. Neu he khong at ch tieuchat lng ban au, ta thc hien bo chnh he thong.d) Mo phong he thong tren may tnh e kiem tra lai thiet ke.e) Thc hien mo hnh mau (prototype) va kiem tra thiet ke bang thc nghiem.f) Tinh chnh lai thiet ke e toi u hoa ch tieu chat lng va ha thap gia thanh neu co yeu

cau.g) Xay dng he thong thc te.

MTS G(p)c(t)

G(p)

D/A

oi tn ieu khien

Nga vaodan so


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Thc hien: PHAM QUOC TRNG - 1 - GVHD: PHAM QUANG HUY

TAP LENH C BAN CUA MATLABI. LENH C BAN

Chu y: Cac lenh eu viet bang ch thng, nhng v tac gia muon viet hoa e ngi xem tien

theo doi.1. Lenh ANS

a) Cong dung: (Purpose)

La bien cha ket qua mac nh.

b) Giai thch: (Description)

Khi thc hien mot lenh nao o ma cha co bien cha ket qua, th MATLAB lay bien Anslam bien cha ket qua o.

c) V du: (Examples)

2-1

ans = 1

2. Lenh CLOCK


Thong bao ngay gi hien tai.

b) Cu phap:(Syntax)

c = clock

c) Giai thch: (Description)

e thong bao de oc ta dung ham fix.

d) V du: (Examples)

c = clock

c =

1.0e+003*

2.0010 0.0040 0.0200 0.0030 0.0420 0.0501

c = fix(clock)

c = 2001 4 20 3 43 3

3. Lenh COMPUTER


Cho biet he ieu hanh cua may vi tnh ang s dung Matlab.


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b) Cu phap: (Syntax)

computer

[c,m] = computer

c) Giai thch: (Description)

c: cha thong bao he ieu hanh cua may.m: so phan t cua ma tran ln nhat ma may co the lam viec c vi Matlab.

d) V du: (Examples)

[c,m]=computer

c =

PCWIN

m =

2.1475e+009

4. Lenh DATE

a) Cong dung: (Purpose)Thong bao ngay thang nam hien tai


s = date

c) V du:

s=date

s =

20-Apr-2001

5. Lenh CD

a) Cong dung:

Chuyen oi th muc lam viec.


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b) Cu phap:

cd

cd diretory

cd ..

c) Giai thch:cd: cho biet th nuc hien hanh.

diretory: ng dan en th muc muon lam viec.

cd .. chuyen en th muc cap cao hn mot bac.

6. Lenh CLC

a) Cong dung:

Xoa ca so lenh.

b) Cu phap:clc

c) V du:

clc, for i: 25, home, A = rand(5), end.

7. Lenh CLEAR

a) Cong dung:

Xoa cac e muc trong bo nh.

b) Cu phap:clear

clear name

clear name1 name2 name3

clear functions

clear variables

clear mex

clear globalclear all

c) Giai thch:

clear: xoa tat ca cac bien khoi vung lam viec.

clear name: xoa cac bien hay ham c ch ra trong name.

clear functions: xoa tat ca cac ham trong bo nh.


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clear variables: xoa tat ca cac bien ra khoi bo nh.

clear mex: xoa tat ca cac tap tin .mex ra khoi bo nh.

clear: xoa tat ca cac bien chung.

clear all: xoa tat ca cac bien, ham, va cac tap tin .mex khoi bo nh. Lenh nay lam cho bo nh

trong hoan toan.8. Lenh DELETE

a) Cong dung:

Xoa tap tin va oi tng o hoa.

b) Cu phap:

delete filename

delete (n)

c) Giai thch:

file name: ten tap tin can xoa.

n: bien cha oi tng o hoa can xoa. Neu oi tng la mot ca so th ca so se onglai va b xoa.

9. Lenh DEMO

a) Cong dung:

Chay chng trnh mac nh cua Matlab.

b) Cu phap:

demo

c) Giai thch:

demo: la chng trnh co san trong trong Matlab, chng trnh nay minh hoa mot so chcnang cua Matlab.

10. Lenh DIARY

a) Cong dung:

Lu vung thanh file tren a.

b) Cu phap:diary filename

c) Giai thch:

filename: ten cua tap tin.

11. Lenh DIR

a) Cong dung:


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Liet ke cac tap tin va th muc.

b) Cu phap:

dir

dir name

c) Giai thch:dir: liet ke cac tap tin va th muc co trong th muc hien hanh.

dir name: ng dan en th muc can liet ke.

12. lenh DISP

a) Cong dung:

Trnh bay noi dung cua bien (x) ra man hnh

b) Cu phap:

disp (x)c) giai thch:

x: la ten cua ma tran hay la ten cua bien cha chuoi ky t, neu trnh bay trc tiep chuoiky t th chuoi ky t c at trong dau

d) V du:

num=('Matlab')

num =

Matlab

disp(num)

Matlab

num=[2 0 0 1]

num =

2 0 0 1

disp(num)


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2 0 0 1

num='PHAM QUOC TRUONG'

num =

PHAM QUOC TRUONG

13. Lenh ECHO

a) Cong dung:

Hien th hay khong hien th dong lenh ang thi hanh trong file *.m.

b) Cu phap:

echo onecho off

c) Giai thch:

on: hien th dong lenh.

off: khong hien th dong lenh.

14. Lenh FORMAT

a) Cong dung:

nh dang kieu hien th cua cac con so.Cu phap Giai thch V du

Format short Hien th 4 con sosau dau cham

3.1416

Format long Hien th 14 con sosau dau cham

3.14159265358979

Format rat Hien th dang phanso cua phan

nguyen nho nhat

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Format + Hien th so dnghay am

+

15. Lenh HELP

a) Cong dung:


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hng dan cach s dung cac lenh trong Matlab.

b) Cu phap:

help

help topic

c) Giai thch:help: hien th van tat cac muc hng dan.

topic: ten lenh can c hng dan.

16. Lenh HOME

a) Cong dung:

em con tro ve au vung lam viec.

b) Cu phap:

home17. Lenh LENGTH

a) Cong dung:

Tnh chieu dai cua vect.

b) Cu phap:

l = length (x)

c) Giai thch:

l: bien cha chieu dai vect.d) V du:

tnh chieu dai cua vect x.

x = [0 1 2 3 4 5 6 7 8 9]

l = length (x)

l = 10

x=[01 09 77,20 04 2001 ]

x =

1 9 77 20 4 2001

l=length(x)


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l =

6

18. Lenh LOADa) Cong dung:

Nap file t a vao vung lam viec.

b) Cu phap:

load

load filename

load filename

load finame.extensionc) Giai thch:

load: nap file matlap.mat

load filename: nap file filename.mat

load filename.extension: nap file filename.extension

Tap tin nay phai la tap tin dang ma tran co ngha la so cot cua hang di phai bang socot cua hang tren. Ket qua ta c mot ma tran co so cot va hang chnh la so cot va hang cuatap tin van ban tren.

19. Lenh LOOKFOR

a) Cong dung:

Hien th tat ca cac lenh co lien quan en topic.

b) Cu phap:

lookfor topic

c) Giai thch:

topic: ten lenh can c hng dan.

20. Lenh PACK

a) Cong dung:

Sap xep lai bo nh trong vung lam viec.

b) Cu phap:

pack

pack filename


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c) Giai thch:

Neu nh khi s dung Matlap may tnh xuat hien thong bao Out of memory th lenhpack co the tm thay mot so vung nh con trong ma khong can phai xoa bt cac bien.

Lenh pack giai phong khong gian bo nh can thiet bang cach nen thong tin trong vungnh xuong cc tieu. V Matlab quan ly bo nh bang phng phap xep chong nen cac oan

chng trnh Matlab co the lam cho vung nh b phan manh. Do o se co nhieu vung nh controng nhng khong u e cha cac bien ln mi.

Lenh pack se thc hien:

+ lu tat ca cac bien len a trong mot tap tin tam thi la pack.tmp.

+ xoa tat ca cac bien va ham co trong bo nh.

+ lay lai cac bien t tap tin pack.tmp.

+ xoa tap tin tam thi pack.tmp.

ket qua la trong vung nh cac bien c gop lai hoac nen lai toi a nen khong blang ph bo nh.

Pack.finame cho phep chon ten tap tin tam thi e cha cac bien. Neu khong ch ra tentap tin tam thi th Matlab t lay ten tap tin o la pack.tmp.

Neu a dung lenh pack ma may van con bao thieu bo nh th bat buoc phai xoa bt cacbien trong vung nh i.

21. Lenh PATH

a) Cong dung:

Tao ng dan, liet ke tat ca cac ng dan ang co.b) Cu phap:

path

p = path

path (p)

c) Giai thch:

path: liet ke tat ca cac dng dan ang co.

p: bien cha ng dan.path (p): at ng dan mi.

d) V du:

at ng dan en th muc c:\lvtn\matlab

p = d:\DA\matlab;

path (p);


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22. Lenh QUIT

a) Cong dung:

Thoat khoi Matlab.

b) Cu phap:

quit23. Lenh SIZE

a) Cong dung:

Cho biet so dong va so cot cua mot ma tran.

b) Cu phap:

d = size (x)

[m,n] = size (x)

m = size (x,1)n = size (x,2)

c) Giai thch:

x: ten ma tran.

d: ten vect co 2 phan t, phan t th nhat la so dong, phan t con lai la so cot.

m,n: bien m cha so dong, bien n cha so cot

d) V du:

ta co ma tran ax = 1 2 3 4

5 6 6 8

x=[1 2 3 4,5 6 7 8]

x =

1 2 3 4 5 6 7 8Cac ban chu y ve cach nhap 1 ma tran:

x=[1 2 3 4;5 6 7 8]

x =


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1 2 3 4

5 6 7 8

d=size(x)

d =

2 4

m=size(x,1)

m =

2

n=size(x,2)

n =

4

[m,n]=size(x)

m =

2

n =


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4

24. Lenh TYPE

a) Cong dung:

Hien th noi dung cua tap tin.

b) Cu phap:type filename

c) Giai thch:

filename: ten file can hien th noi dung.

Lenh nay trnh bay tap tin c ch ra.

25. Lenh WHAT

a) Cong dung:

Liet ke cac tap tin *.m, *.mat, *.mex.b) Cu phap:

what

what dirname

c) Giai thch:

what: liet ke ten cac tap tin .m, .mat, .mex co trong th muc hien hanh.

dirname: ten th muc can liet ke.

26. Lenh WHICHa) Cong dung:

Xac nh chc nang cua funname la ham cua Matlab hay tap tin.

b) Cu phap:

which funname

c) Giai thch:

funname: la ten lenh trong Matlab hay ten tap tin

d) V du:which inv

inv is a build-in function

which f

c:\matlab\bin\f.m

27. Lenh WHO, WHOS


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a) Cong dung:

Thong tin ve bien ang co trong bo nh.

b) Cu phap:

who

whoswho global

whos global

c) Giai thch:

who: liet ke tat ca cac ten bien ang ton tai trong bo nh.

whos: liet ke ten bien, kch thc, so phan t va xet cac phan ao co khac 0 khong.

who global va whos: liet ke cac bien trong vung lam viec chung.


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II. CAC TOAN T VA KY T AC BIET1. Cac toan t so hoc (Arithmetic Operators):

Toan t Cong dung

+ Cong ma tran hoac ai lng vo hng (cac ma tran phai co cung kch thc).

- Tr ma tran hoac ai lng vo hng (cac ma tran phai co cung kch thc).

* Nhan ma tran hoac ai lng vo hng (ma tran 1 phai co so cot bang so hangcua ma tran 2).

.* Nhan tng phan t cua 2 ma tran hoac 2 ai lng vo hng (cac ma tran phaico cung kch thc).

\ Thc hien chia ngc ma tran hoac cac ai lng vo hng (A\B tng ngvi inv (A)*B).

.\ Thc hien chia ngc tng phan t cua 2 ma tran hoac 2 ai lng vo hng(cac ma tran phai co cung kch thc).

/ Thc hien chia thuan 2 ma tran hoac ai lng vo hng (A/B tng ng viA*inv(B)).

./ Thc hien chia thuan tng phan t cua ma tran nay cho ma tran kia (cac ma tranphai co cung kch thc).

^ Luy tha ma tran hoac cac ai lng vo hng..^ Luy tha tng phan t ma tran hoac ai lng vo hng (cac ma tran phai cocung kch thc).

* v du:

Phep tnh ma tran Phep tnh mang

1

x 2

3

4

y 5

6

x 1 2 3 y 4 5 6

5

x + y 6

7

-3

x y -3

-3


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3

x + 2 4

5

-3

x 2 -3

-3

x * y phep toan sai

4

x. * y 1018

x* y 32 x.* y phep toan sai

4 5 6

x * y 8 10 12

12 15 18

x. * y phep toan sai

2

x * 2 46

2

x.* 2 46

x \ y 16/7

4

x.\ y 5/2

2

1/2

2 \ x 1

3/2

2

2./ x 1

2/3

0 0 1/6

x / y 0 0 1/3

0 0 1/2

1/4

x./ y 2/5

1/2

1/2

x / 2 1

3/2

1/2

x./ 2 1

3/2

x ^ y phep toan sai

1/2

x.^ y 32

729

x ^ 2 phep toan sai

1

x.^ 2 4


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9

2 ^ x phep toan sai

2

2.^ x 4

8

2.. Toan t quan he (Relational Operators):

Toan t Cong dung

< So sanh nho hn.

> So sanh ln hn.

>= So sanh ln hn hoac bang.

=[1 2 3;4 5 6;7 8 9] %so sanh trc tiep x (x la 5) vi ma tran


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ans = % ro rang cac pha t 1,2,3,4,5 eu =A

ans =

1 1 1

1 1 00 0 0

x=A % dong lenh nay tc la cho x= ma tran A

x =


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1 2 3

4 5 6

7 8 9

x==A % so sanh x va A

ans = % tat ca cac phan t eu ung

1 1 1

1 1 1

1 1 1

x=5 % cho lai x=5

x =

5

x==A % so sanh x = A

ans =

0 0 0

0 1 0 % ch duy nhat phan t 5=x (v x=5)

0 0 0

x


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0 0 0

0 0 1

1 1 1

3. Toan t logig(Logical Operators):

Toan t Cong dung

& Thc hien phep toan logic AND.

| Thc hien phep toan logic OR.

~ Thc hien phep toan logic NOT.

a) Giai thch:Ket qua cua phep toan la 1 neu phep logic la ung va la 0 neu phep logic la sai.

Phep logic co che o u tien thap nhat so vi phep toan so hoc va phep toan so sanh.

b) V du:

Khi thc hien phep toan 3>4 & 1+ th may tnh se thc hien 1+2 c 3, sau o ti 3>4c 0 roi thc hien 0 & 3 va cuoi cung ta c ket qua la 0.

4. Ky t ac biet (Special Characters):

Ky hieu Cong dung

[] Khai bao vector hoac ma tran.

() Thc hien phep toan u tien, khai bao cac bien va cac ch so cuavector.

= Thc hien phep gan.

Chuyen v ma tran tm lng lien hiep cua so phc.

. iem cham thap phan.

, Phan biet cac phan t cua ma tran va cac oi so trong dong lenh.

; Ngan cach gia cac hang khi khai bao ma tran.

% Thong bao dong chu thch.

! M ca so MS DOS.


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5. dau :

a) Cong dung:

Tao vector hoac ma tran phu va lap i lap lai cac gia tr.

b) Giai thch:

Khai bao Cong dung

j : k Tao ra chuoi j, j+1, j+2,., k-1, k

j : i : k Tao ra chuoi j, j+i, j+2I,.,k-i, k

A(: , j) Ch cot th j cua ma tran A

A(i , :) Ch hang th i cua ma tran

A(: , :) Ch toan bo ma tran A

A(j , k) Ch phan t A(j), A(j+1)A(k)A(: , j , k) Ch cac phan t A(:, j), A(:, j+1)A(:, k)

A(:) Ch tat ca cac thanh phan cua ma tran A

c) V du:

khi khai bao D = 1 : 10

ta c ket qua:

D = 1 2 3 4 5 6 7 8 9 10

con khi khai bao D = 0 : 2 :10th ta c ket qua:

D = 0 2 4 6 8 10


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III. CAC HAM LOGIC (LOGICAL FUNCTION)1. Lenh ALL

a) Cong dung:

Kiem tra vector hay ma tran co gia tr 0 hay khong.

b) Cu phap:

y = all(x)

c) Giai thch:

y: bien cha ket qua

x: ten vedtor hay ma tran

y = 1 khi tat ca cac phan t khac 0

y = 0 khi co 1 phan t bang 0

d) V du:

a=[1 2 3]

a =

1 2 3

y=all(a)

y =

1

a=[1 0 3]

a =

1 0 3

y=all(a)


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y =

0

a=[1 2 3;4 0 6;7 8 9]

a =

1 2 3

4 0 6

7 8 9

y=all(a)

y =

1 0 1

a=[1 2 0;0 3 5;2 6 8]

a =

1 2 0

0 3 5

2 6 8

y=all(a)

y =


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0 1 0

2. Lenh ANY

a) Cong dung:

Kiem tra vector hay ma tran co gia tr khac 0 hay khong.

b) Cu phap:y = any(x)

c) Giai thch:

y: bien cha ket qua.

x: ten vector, hay ma tran.

y = 1 khi co 1 phan t khac 0.

y = 0 khi co 1 phan t bang 0.

d) V du: a=[1 2 3];

y=any(a)

y =

1

b=[1 0 3 0];

y=any(b)

y =

1

c=[1 2 0 4;0 2 0 4;1 2 3 4;3 4 5 6]

c =

1 2 0 4


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0 2 0 4

1 2 3 4

3 4 5 6

y=any(c)

y =

1 1 1 1

d=[0 0 0 0;0 1 3 0]

d =

0 0 0 0

0 1 3 0

y=any(d)

y =

0 1 1 0

3. Lenh EXIST

a) Cong dung:

Kiem tra bien hay file co ton tai hay khong.

b) Cu phap:e = exist(item)

c) Giai thch:

item: la ten file hay ten bien.

e: bien cha gia tr tra ve.

e Y ngha


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32/308


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3

k =

58

3

IV. NHOM LENH LAP TRNH TRONG MATLAB1. Lenh EVAL

a) Cong dung:

Chuyen oi chuoi ky t thanh bieu thc.

b) Cu phap:

kq = eval(string)

c) Giai thch:

kq: bien cha ket qua.

Neu string la cac ky so th chuyen thanh nhng con so.

Neu string la cau lenh th chuyen thanh cac lenh thi hanh c.

d) V du:

a='199999999';

eval(a)+1

ans =

200000000

2. Lenh FOR

a) Cong dung:


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Dung e thc hien 1 cong viec can lap i lap lai theo mot quy luat, vi so bc lap xacnh trc.

b) Cu phap:

for bien ieu khien = gia tr au : gia tr cuoi,

thc hien cong viec;end

c) Giai thch:

Cong viec chnh la cac lenh can thi hanh, co the co nhieu lenh, ket thuc lenh phai codau;

d) V du:

In ra man hnh 5 dong PHAM QUOC TRUONG chao cac ban.

for i = 1:5,

disp(PHAM QUOC TRUONG chao cac ban);

end

PHAM QUOC TRUONG chao cac ban





3. Lenh FUNCTION

a) Cong dung:

Tao them ham mi.

b) Cu phap:

function s = n(x)

c) Giai thch:

s: ten bien cha gia tr tra ve sau khi thi hanh ham.

n: ten gi nh.

d) V du: ( phan lap trong M.file)

4. Lenh INPUT

a) Cong dung:

Dung e nhap vao 1 gia tr.

b) Cu phap:


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ten bien = input (promt)

ten bien = input (promt, s)

c) Giai thch:

ten bien, la ni lu gia tr ngap vao.

promt: chuoi ky t muon nhap vao.s: cho biet gia tr nhap vao la nhieu ky t.

d) V du1:

x = input(nhap gia tr cua bien x: )

nhap gia tr cua bien x: 5

x = 5

e) V du2:

tra_li = input(ban co muon tiep tuc khong ? ,s)ban co muon tiep tuc khong ? khong

tra_li = khong

5. Lenh IF ELSEIF ELSE

a) Cong dung:

Thc hien lenh khi thoa ieu kien.

b) Cu phap:if bieu thc luan ly 1

thc hien cong viec 1;

elseif bieu thc luan ly 2


else


endc) Giai thch:

Khi bieu thc luan ky 1 ung th thc hien cong viec 1 tng t cho bieu thc luan ly 2.Neu ca hai bieu thc sai th thc hien cong viec sau lenh else.

Bieu thc luan ly la cac phep so sanh ==, , =

cong viec chnh la cac lenh can thi hanh, co the co nhieu lenh, ket thuc lenh phai co dau;


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d) V du:

Viet chng trnh nhap vao 2 so va so sanh hai so o.

a = input(Nhap a: );

b = input(Nhap b: );

if a > bdisp(a ln hn b);

elseif a ==b

disp(a bang b);

else

disp(a nho hn b);

end

nhap a: 4nhap b: 5

a nho hn b

6. Lenh MENU

a) Cong dung:

Tao menu e chon chc nang.

b) Cu phap:

ten bien = menu (Ten menu,chc nang1,chc nang2, . , chc nang n)c) Giai thch:

ten menu: la tieu e cua menu.

ten bien: la ni cat gia tr nhan c sau khi chon chc nang cua menu.

Chc nang 1, 2, .,n:khi chon chc nang nao th ten bien co gia tr la so th t cua chcnang o.

d) V du:

k = menu(Choose a color, Red, Blue, Green)

---- Choose a color ----

1) Red

2) Blue

3) Green

7. Lenh PAUSE


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a) Cong dung:

Dng chng trnh theo y muon.

b) Cu phap:

pause on

pause offpause (n)

c) Giai thch:

pause on: dng chng trnh, va ch nhan 1 phm bat ky (tr cac phm ieu khien)chng trnh thc hien tiep.

pause off: tat chc nang pause.

pause (n): dng chng trnh tai n giay.

d) V du:

for n = 1 : 3;

disp(Press any key to continue)

pause

end

Press any key to continue



8. Lenh WHILE

a) Cong dung:

Dung e thc hien 1 cong viec can lap i lap lai theo mot quy luat, vi so bc lap khongxac nh, phu thuoc vao bieu thc luan ly.

b) Cu phap:

while bieu thc luan ly

thc hien cong viec;

end

c) Giai thch:

Bieu thc luan ly la cac phep so sanh = =, , =

Cong viec chnh la cac lenh can thi hanh, co the co nhieu lenh, ket thuc lenh phai co dau;


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Khi thc hien xong cong viec th quay len kiem tra lai bieu thc luan ly, neu van conung th tiep tuc thc hien, neu sai th ket thuc.

d) V du:

tnh tong A = 1+1/2+1/3++1/n

n = input(nhap vao so n );a = 0; i = 1

while i =0)vi cac trng hp sau:

a) Neu n0 va le th tnh tong s1=1+3+5+...+n,n la so le.c) Neu n>0 va chan th s2=2+4+6+...+n,n chan.d) Neu n=0 dng chng trnh lai.

% BT4a: Viet chuong trinh nhap vao mot so n(n>=0)

% voi cac truong hop sau:

% a) Neu n0 va le thi tinh tong s1=1+3+5+...+n,n la so le.

% c) Neu n>0 va chan thi s2=2+4+6+...+n,n chan.

% d) Neu n=0 dung chuong trinh lai.

n=input('nhap n= '); %nhap so n

du=rem(n,2); %kiem tra n la le hay chan

%neu n le du=1, n chan du=0

if n0) & (du==1) %neu n>0 va le

i=1; %gan i=1;

s1=1; %gan tong s1=1

while i


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if (n>0) & (du==0)

i=0;

s2=0;

while i


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V. TAP LENH X LY CHUOI1. Lenh ABS

a) Cong dung:

Tao vector n co gia tr cua moi phan t la so th t tng ng vi ky t trong bang maASCII.

Lay tr tuyet oi cua mot so am.

b) Cu phap:

n = ABS(s)

x = ABS(a)

c) Giai thch:

n: ten vector.s: chuoi ky t, hoac la ten bien cha chuoi ky t.

a: so am, hoac la ten bien cha so am.

x: tr tuyet oi cua a.

d) V du:

n=abs('PHAM QUOC TRUONG')

n =

Columns 1 through 12

80 72 65 77 32 81 85 79 67 32 84 82

Columns 13 through 16

85 79 78 71

m=abs('MATLAB')

m =


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77 65 84 76 65 66

U=abs('abc')

U =

97 98 99

T=abs(-1)

T =

1

2. Lenh BLANKS

a) Cong dung:

Tao khoang trang gia hai hay nhieu chuoi ky t theo mong muon.

b) Cu phap:

[S1 BLANKS(b1) S2 BLANKS(b2) BLANKS(bn) Sn]

c) Giai thch:S1, S2, Sn: cac chuoi ky t.

b1, b2: so khoang trang.

d) V du:

In 4 chuoi Khao sat,ng dung, MATLAB, trong ieu khien t ong ra man hnh vikhoang cach lan lt gia 4 chuoi la: 2,4,3

S=['Khao sat'blanks(2) 'ung dung'blanks(4) 'MATLAB'blanks(3) 'trong dieu khien tu dong']

S =

Khao sat ung dung MATLAB trong dieu khien tu dong

3. Lenh DEC2HEX

a) Cong dung:


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oi con so cua he 10 sang he 16.

b) Cu phap:

s = dec2hex(n)

c) Giai thch:

s: bien cha chuoi ky so cua he 16n: con so nguyen he 10.

d) V du:

s = dec2hex(10)

s = A

4. Lenh HEX2DEC

a) Cong dung:

oi chuoi ky so cua he 16 sang con so cua he 10.b) Cu phap:

n = hex2dec(s)

c) Giai thch:

n: con so cua he 10.

s: chuoi ky so he 16.

d) V du:

n = hex2dec(A)n = 10

5. Lenh INT2STR

a) Cong dung:

Chuyen so nguyen sang dang chuoi.

Chuyen cac ky t trong mot chuoi sang so th t tng ng trong bang ma ASCII.

b) Cu phap:kq = INT

c) Giai thch:

kq: bien STR(n)cha ket qua.

n: ten bien can chuyen.

Neu n la so nguyen th kq la chuoi ky so.


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Neu n la chuoi ky t th kq la so tng ng trong bang ma ASCII

d) V du:

n='MATLAB'

n =

MATLAB

t=int2str(n)

t =

77 65 84 76 65 66

n=2001

n =

2001

t=int2str(n)

t =

2001

6. Lenh ISSTRa) Cong dung:

Kiem tra noi dung bien co phai la chuoi ky t khong.

b) Cu phap:

kq = isstr(n)

c) Giai thch:


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n: ten bien can kiem tra.

kq = 1 neu n la chuoi ky t.

0 neu n khong la chuoi ky t.

d) V du: n='MATLAB';

kq=isstr(n)

kq =

1

m=[1 2 3 4]; kq=isstr(m)

kq =

0

7. Lenh LOWER

a) Cong dung:Cho ra chuoi ky t viet thng.

b) Cu phap:

b = lower(s)

c) Giai thch:

b: bien cha ket qua.

s: ten bien cha chuoi ky t hay chuoi ky t.

d) V du: a='DO AN cua pHAm quOC TRuOnG';

b=lower(a)

b =


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do an cua pham quoc truong

8. Lenh NUM2STR

a) Cong dung:

Chuyen so thc sang dang chuoi.

Chuyen cac ky t trong mot chuoi sang so th t tng ng trong bang ma ASCII.b) Cu phap:

kq = num2tr(n)

c) Giai thch:


n: ten bien can chuyen.

Neu n la so thc th kq la so tng ng trong bang ma ASCII.

d) V du: n=3.1416;

kq=num2str(n)

kq =

3.1416

9. Lenh SETSTRa) Cong dung:

Cho ra ky t tng ng vi so th t trong bang ma ASCII.

b) Cu phap:

x = Set Str(n)

c) Giai thch:

x: bien cha ky t tng ng (thuoc bang ma ASCII).

n: so nguyen (0 n 255).d) V du:

Tm ky t co so th t la 65 trong bang ma ASCII.

kt=setstr(65)

kt =


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A

10. Lenh STR2MAT

a) Cong dung:

Tao ma tran co cac phan t dang chuoi.b) Cu phap:

s = str2mat(s1, s2, )

c) Giai thch:

s: ten ma tran ket qua.

s1, s2: chuoi ky t.

d) V du:

s = str2mat(mat, lab)s =

mat

lab

11. Lenh STR2NUM

a) Cong dung:

Chuyen chuoi (dang so) sang so thc.

b) Cu phap:n = str2num(s)

c) Giai thch:

s: chuoi dang so.

n: so thc.

d) V du:

n = str2num(456456)

n = 45645612. Lenh STRCMP

a) Cong dung:

So sanh 2 chuoi ky t.

b) Cu phap:

l = strcmp(s1, s2)


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c) Giai thch:

l: bien cha ket qua.

s1, s2: chuoi can so sanh.

d) V du:

a = MatLab WoRkSb = MatLab WoRkS

strcmp(a,b)

ans = 1

13. Lenh UPPER

a) Cong dung:

Cho ra chuoi viet hoa.

b) Cu phap:b = upper

c) Giai thch:

b: bien cha ket qua.

s: ten bien cha chuoi ky t.

d) V du:

a = MaTlab WORks

b = upper(a)b = MATLAB

b = upper(MaTlab WORks)

b= MATLAB WORKS

VI. CAC HAM GIAO TIEP1.Lenh FCLOSE

a) Cong dung:

ong file ang m sau khi truy xuat xong.

b) Cu phap:

fclose(fid)

c) Giai thch:

fid: ten bien tro en file ang m.


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disp(a);

fclose(fid);

Ket qua

0 2 4 6 8 10

0 1 2 3 4 54.Lenh FREAD

a) Cong dung:

oc d lieu dang nh phan t file.

b) Cu phap:

[a, c] =fscanf(fid)

[a, c] = fscanf(fid,s)

c) Giai thch:a: ten bien cha d liec c oc vao.

c: so phan t c oc vao.

fid: ten bien tro en file can oc.

s: kch thc d lieu oc vao.

s c nh dang bi cac thong so:

n: ch oc n phan t vao cot vector a.

inf: oc en het file.[m,n]: ch oc vao m cot va n hang, n co the bang inf con m th khong.

d) V du1:

file vd.txt co noi dung:

A B C

1 2 3

fid = fopen(vd.txt);

[a,c] = fread(fid);disp(a);

disp(c);

a =

65

32


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66

32

67

13

1049

32

50

32

51

c =

12e) V du2

fid = fopen(vd1.txt);

[a,c] = fread(fid, 4);

disp(a);

disp(c);

a=

6532

66

32

c =

4

f) V du 3:

file vd3.txt co noi dungABCDE

FGHIJ

KLMNO

fid = fopen(vd3.txt);

[a,c] = fread(fid, [7, inf]);


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disp(a);

disp(c);

a =

65 70 75

66 71 7667 72 76

68 73 7869 74 7913 13 13

10 10 10

c =

21a=

65 66 67 68 69 13 10

70 71 72 73 74 13 10

75 76 77 78 79 13 10

5.Lenh FWRITE

a) Cong dung:

Ghi oan d lieu dang nh phan thanh file.b) Cu phap:

fwrite (fid,a)

c) Giai thch:

fid: ten bien tro en file can ghi.

a: ten bien cha d lieu.

d) V du:

Ghi oan d lieu cua bien a thanh file a.txta = [65 66 67]

fid = fopen(a.txt, w);

fwrite(fid, %);

fwite(fid,a);

Gan file a.txt vao bien b e xem noi dung


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s = sprintf(ay la so: %x,255)

s = ay la so:ff

5) %f: oi so la so nguyen c viet di dang cp so 10.

s = sprintf(ay la so: %f,2550

s = ay la so: 255.000000e nh dang phan thap phan th them vao con so cha so thap phan can lay.

s = sprintf(ay la so: %.3f, 2.5568)

s = ay la so: 2.557

6) %c: oi so la 1 ky t rieng ac biet.

s = sprintf(ay la ch: %c,M)

s = ay la ch: M

7)%s: oi so la chuoi ky t.s = sprintf(ay la chuoi: %s, Matlab)

s = ay la chuoi: Matlab

8. Lenh SSCANF

a) Cong dung:

oc chuoi ky t va nh dang lai chuoi ky t o.

b) Cu phap:

[a,count] = sscanf(s, format, size)c) Giai thch:

a: ten bien cha chuoi ky t sau khi c nh dang.

count: em so phan t c oc vao.

size: kch thc se c oc vao.

format: phan nh dang giong nh lenh sprintf.

d) V du:

s = 3.12 1.2 0.23 2.56;[a, count] = sscanf(s, %f,3)

a =

3.1200

1.2000

0.2300


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count =

3

VII. CAC HAM TOAN HOC C BAN1. Mot so ham lng giac:

a) Cu phap:

kq = hlg(x)

b) Giai thch:

kq: ten bien cha ket qua.

x: n v radian.

hlg: ten ham lng giac.

Ten ham lng giac Giai thch

sin

cos

tan

asin

atan

sinh

cosh

tanh

Tnh gia tr sine

Tnh gia tr cosine

Tnh gia tr tangent

Nghch ao cua sine

Nghch ao cua tangent

Tnh gia tr hyperbolic sine

Tnh gia tr hyperbolic cosine

Tnh ga tr hyperbolic tangent

2. Lenh ANGLE

a) Cong dung:

Tnh goc pha cua so phc.

b) Cu phap:

p = angle(z)

c) Giai thch:

p: ten bien cha ket qua, n v radians

z: so phc

d) V du:

z = i-3j


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z = 0 2.0000i

p = angle(z)

p = -1.5708

3. Lenh CEIL

a) Cong dung:Lam tron so ve pha so nguyen ln hn.

b) Cu phap:

y = ceil(x)

c) Giai thch:

y: so sau khi c lam tron.

x: so can c lam tron.

d) V du:x = -1.9000 -0.2000 3.4000 5.6000 7.0000

y = ceil(x)

y = -1 0 4 6 7

4. Lenh CONJ

a) Cong dung:

Tnh lng lien hiep cua so phc.

b) Cu phap:y = conj(z)

c) Giai thch:

y: ten bien cha lng lien hiep

z: so phc

d) V du:

z = -3i + 2j

z = 0 1.0000iy = conj(z)

y = 0 + 1.0000i

5. Lenh EXP

a) Cong dung:

Tnh gia tr ex.


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Lay phan ao cua so phc.

b) Cu phap:

y = imag(z)

c) V du:

y = imag(2 + 3j)y = 3

9. Lenh LOG

a) Cong dung:

Tm logarithm c so e.

b) Cu phap:

y = log(x)

d) V du:y = log(2.718)

y = 0.9999

10. Lenh LOG2

a) Cong dung:

Tm logarithm c so 2.

b) Cu phap:

y = log2(x)d) V du:

y = log2(2)

y = 1

11. Lenh LOG10

a) Cong dung:

Tm logarithm c so 10.

b) Cu phap:y = log10(x)

d) V du:

y = log10(10)

y = 1

12. Lenh REAL


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a) Cong dung:

Lay phan thc cua so phc.

b) Cu phap:

y = real(z)

d) V du:y = real(1 + 3j)

y = 2

13. Lenh REM

a) Cong dung:

Cho phan d cua phep chia.

b) Cu phap:

r = rem(a,b)c) Giai thch:

r: bien cha ket qua

a, b: so chia va so b chia

d) V du:

r = rem(16, 3)

r = 1

14. Lenh ROUNDa) Cong dung:

Lam tron so sao cho gan so nguyen nhat.

b) Cu phap:

y = round(x)

c) V du:

x = -1.9000 -0.2000 3.4000 5.6000 7.0000

y = round(x)y= -2 0 3 6 7

Bang so sanh cua cac phep lam tron so

X -1.9000 -0.2000 3.4000 5.6000 7.0000

ceil(x) -1 0 4 6 7

floor(x) -2 -1 3 5 7


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fix(x) -1 0 3 5 7

round(x) -2 0 3 6 7

15. Lenh SIGN

a) Cong dung:

Xet dau so thc.

b) Cu phap:

y = sign(x)

c) Giai thch:

x: so thc can xet dau.

y: ket qua tra ve.

y x

0 so 0

1 so dng

-1 so am

d) V du:

x = 2 0 -3 0.5

y = sugn(x)

y= 1 0 -1 1

16. Lenh SQRT

a) Cong dung:

Tnh can bac hai.

b) Cu phap:

y = sqrt(x)

c) V du:

x = 4

y = sqrt(x)

y = 2


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VIII. TAP LENH THAO TAC TREN MA TRAN1. Cong, tr, nhan, chia tng phan t cua ma tran vi hang so

a) Cu phap:

Ma tran ket qua = ma tran [+] [-] [.] [/] hang so.

b) V du:

a =

1 2 3

4 5 6

7 8 9

Cong ma tran a vi 2 ket qua la ma tran b

b = a + 2

b =

3 4 5

6 7 8

9 10 11

tng t cho cac phep tnh tr, nhan va chia.

2. Lenh DET

a) Cong dung:

Dung e tnh nh thc cua ma tran.

b) V du:

Tnh nh thc cua ma tran a

a =

1 45 6

det(a)

ans = -8

3. Lenh DIAG

a) Cong dung:

Tao ma tran mi va x ly ng cheo theo quy c.

b) Cu phap:


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v = diag(x)

v = diag(x,k)

c) Giai thch:

x: la vector co n phan t.

v: la ma tran c tao ra t x theo quy tac: so hang bang so cot va cac phan t cua x namtren ng cheo cua v.

k: tham so nh dang cho v, so hang va cot cua v = n + abs(k).

Neu k = 0 ng cheo cua v chnh la cac phan t cua x

Neu k > 0 cac phan t cua x nam pha tren ng cheo v

Neu k < 0 cac phan t cua x nam pha di ng cheo v

d) V du:

x = 2 1 9 5 4

v = diag(x)

v =

2 0 0 0 0

0 1 0 0 0

0 0 9 0 0

0 0 0 0 4

v = diag(x,2)

v =

0 0 2 0 0 0 0

0 0 0 1 0 0 0

0 0 0 0 9 0 0

0 0 0 0 0 5 0

0 0 0 0 0 0 4

0 0 0 0 0 0 0

0 0 0 0 0 0 0

v = diag(x,0)

v =

2 0 0 0 0

0 1 0 0 0


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0 0 9 0 0

0 0 0 5 0

0 0 0 0 4

v = diag(x,-2)

v =0 0 0 0 0 0 0

0 0 0 0 0 0 0

2 0 0 0 0 0 0

0 1 0 0 0 0 0

0 0 9 0 0 0 0

0 0 0 5 0 0 0

0 0 0 0 4 0 04. Lenh EYE

a) Cong dung:

Tao ma tran n v.

b) Cu phap:

y = eye(n)

y = eye(n,m)

c) Giai thch:n: tao ma tran co n hang, n cot.

m, n: tao ma tran co m hang, n cot.

d) V du:

y = eye(3)

y =

1 0 0

0 1 00 0 1

y = eye(3,5)

y =

1 0 0 0 0

0 1 0 0 0


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0 0 1 0 0

5. Lenh FLIPLR

a) Cong dung:

Chuyen cac phan t cua cac ma tran theo th t cot ngc lai.

b) Cu phap:b = fliplr(a)

c) Giai thch:

b: ten ma tran c chuyen oi.

a: ten ma tran can chuyen oi.

d) V du:

a =

0 1 2 3 45 6 7 8 9

b = fliplr(a)

4 3 2 1 0

9 8 7 6 5

6. Lenh FLIPUD

a) Cong dung:

Chuyen cac phan t cua ma tran theo th t hang ngc lai.b) Cu phap:

b = flipud(a)

c) Giai thch:

b: ten ma tran c chuyen oi.

a: ten ma tran can chuyen oi.

d) V du:

a =1 42 53 6

b = flipud(a)

b =


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1 0 0

a = [1 2 3; 4 5 6; 1 0 0]

a = 1 2 3

4 5 6

1 0 09. Lenh tao vector n

a) Cong dung:

Lenh nay dung e tao 1 vector n gom co n phan t.

b) Cu phap 1:

Ten vector = [pt1 pt2 pt3 ptn]

c) Giai thch:

pt1 pt2 ptn: la cac so thc.d) V du:

Tao vector a gom co 4 phan t, vi cac gia tr la:1, 3, 7, 4

a = [1 3 7 4]

a =

1 3 7 4

e) Cu phap 2:

Ten vector = gt:csc:gtktf) Giai thch:

gt: la gia tr bat au cua vector.

csc: cap so cong.

gtkt: gia tr ket thuc.

g) V du:

Tao vector a co gia tr bat au 0.2, gia tr ket thuc pi/2

(= 1.5708), cap so cong 0,3.a = 0.2;0.3;pi/2

a =

0.2000 0.5000 0.8000 1.1000 1.4000

10. Lenh LINSPACE

a) Cong dung:


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Tao vector co gia tr ngau nhien gii han trong khoang nh trc.

b) Cu phap:

y = linspace(x1, x2)

y = linspace(x1, x2, n)

c) Giai thch:y: ten cua vector.

x1, x2: gii han gia tr ln nhat va nho nhat cua vector y.

n: so phan t cua vector y.

Neu khong co gia tr n th mac nh n = 100.

d) V du:

y = linspace(1, 10, 7)

y = 1.0000 2.5000 4.0000 5.5000 7.0000 8.5000 10.000011. Ma tran chuyen v

a) Cong dung:

Ma tran chuyen v = ma tran ang co.

b) Cu phap:

Tao 1 ma tran chuyen v t 1 ma tran ang co.

c) V du:

a =1 2 3

4 5 6

7 8 9

ma tran chuyen v b

b = a

b =

4 75 86 9

12. Lenh MAGIC

a) Cong dung:


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Tao 1 ma tran vuong co tong cua cac phan t trong 1 hang, 1 cot hoac tren ng cheobang nhau.

b) Cu phap:

Ten ma tran = magic(n)

c) Giai thch:n: kch thc ma tran.

Gia tr cua moi phan t trong ma tran la mot day so nguyen lien tuc t 1 en 2 n.

Tong cac hang, cot va cac ng cheo eu bang nhau.

d) V du:

tmt = magic(3)

tmt =

8 1 6

3 5 7

4 9 2

13. Nhan ma tran

a) Cong dung:

Ma tran ket qua = ma tran 1* ma tran 2.

b) V du:

Ta co 2 ma tran a va b nh tren va c la ma tran ket qua

c = a*b

c =

14 32 50

32 77 122

50 122 194

14. Lenh ONES

a) Cong dung:

Tao ma tran ma gia tr cua cac phan t la 1.

b) Cu phap:

y = ones(n)

y = ones(m,n)

c) Giai thch:


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b) Cu phap:

y = rand(n)y = rand(m,n)

c) Giai thch:

y: ten ma tran.n: tao ma tran co n hang, n cot.


Gia tr cua cac phan t nam trong khoang [0 1]

d) V du:

y = rand(3)

y =

0.9340 0.0920 0.7012

0.8462 0.6539 0.7622

0.5269 0.4160 0.7622

y = rand(3,5)

y =

0.2625 0.3282 0.9910 0.9826 0.6515

0.0475 0.6326 0.3653 0.7227 0.0727

0.7361 0.7564 0.2470 0.7534 0.6316

17. Lenh RESHAPE

a) Cong dung:

nh dang lai kch thc ma tran.

b) Cu phap:

b = reshape(a,m,n)

c) Giai thch:

b: ma tran c nh dang lai.

a: ma tran can c nh dang.

m, n: so hang va so cot cua b.

Ma tran a phai co so phan t la: m*n.

d) V du:

a =


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a) Cong dung:

Tao ma tran ma gia tr cua cac phan t

b) Cu phap:

y = zeros(n)

y = zeros(m,n)c) Giai thch:

y: ten ma tran.

n: tao ma tran co n hang va n cot.


d) V du:

y = zeros(3)

y =0 0 0

0 0 0

0 0 0

y = zeros(3,7)

y =

0 0 0 0 0 0 0

0 0 0 0 0 0 00 0 0 0 0 0 0

IX. CAC PHEP TNH AI SO1. Lenh CONV

a) Cong dung:

Nhan hai a thc.

b) Cu phap:

c = conv(a,b)

c) Giai thch:

a,b: a thc

c: tch so cua a,b


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Cong don cac phan t.

b) Cu phap:

cs = cumprod(a)

c) Giai thch:

cs: bien cha ket qua.a: la ten cua ma tran hay vector.

d) V du:

b = 1 10 1 2 5

cs = cumsum(b)

cs =1 11 12 14 19

a=

1 3 59 1 2

4 2 1

cs = cumsum(a)

cs =

1 3 5

10 4 7

14 6 84. Lenh DECONV

a) Cong dung:

Chia hai a thc.

b) Cu phap:

[q,r] =deconv(a,b)

c) Giai thch:

a,b: a thc.q: thng so cua a, b.

r: so d.

Cach khai bao: sap xep bien theo th t giam dan cua luy tha.

d) V du:

Chia 2 a thc (2x2+3x+6)/(2x+3)


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a) Cong dung:

Ve o th cua ham so.

b) Cu phap:

fplot(fun,[xmin,xmax]

c) Giai thch:fun: ten ham so.

xmin, xmax: xac nh khoang can ve.

d) V du:

fplot(x.^3-2*x-5,[0,2]);

grid;

8. Lenh FZERO

a) Cong dung:Tm iem 0 cua ham so.

b) Cu phap:

fzero(fun,x0)

c) Giai thch:

iem 0 cua ham so la iem (0,x), ay cung chnh la nghiem cua ham so. Neu ham so conhieu nghiem th se tm c nghiem gan gia tr x0.

fun: ten ham so.

c) V du:

Tm gia tr 0 cua ham so: x2-5x+3.

Trc tien ta khai bao ham so f trong tap tin f.m: (xem them lenh function)

function y = f(x);

y = x.^2-5*x+3;

Sau o, tao tap tin gt0.m:

x = 0:10;

% Gia tr x0 = 0

z = fzero(f,0);

sprinf(z = %3f,z)

z = 0.382

% Gia tr x0 = 2


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z = fzero(f,2);

sprintf(z = %.3f,z)

z = 2.618

% Ve o th ham so minh hoa:

z = fzero(f,0);fplot(f,[0,5];

grid;

hold on;

plot(z,0,o);

hold off

9. Lenh MAXa) Cong dung:

Tm gia tr ln nhat.

b) Cu phap:

m = max(x)

[m,i] = max(x) v = max(x,y)

c) Giai thch:

x,y,v:ten vector.m: gia tr ln nhat.

i: v tr cua m.

Neu x la ma tran tm ra gia tr ln nhat cua moi cot.

d) V du:

x = 3 5 2 1 4

m= max(x)

m = 5[m,i] = max(x)

m =5

i =2

y = 1 6 8 -5 3

v =max(x,y)


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v = 3 6 8 1 4

b =

3 6 2

1 7 9

2 8 1m = max(b)

m = 3 8 9

[m,i] = max(b)

m= 3 8 9

i = 1 3 2

a =

0 3 67 1 1

4 6 8

v = max(a,b)

v =

3 6 6

7 7 9

4 8 810. Lenh MEAN

a) Cong dung:

Tm gia tr trung bnh.

b) Cu phap:

Mo hnh = mean(a)

c) Giai thch:

m: bien cha ket qua.a: ten vector hay ma tran can tnh gia tr trung bnh.

Neu a la ma tran th tnh gia tr trung bnh cua moi cot.

d) V du:

b = 1 10 1 2 5

m = mean(b)


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m = 3.8000

a =

1 3 5

9 1 2

4 2 1m = mean(a)

m = 4.6667 2.0000 2.6667

11. Lenh MIN

a) Cong dung:

Tm gia tr nho nhat

b) Cu phap:

m = min(x)[m,i] = min(x)

v = min(x,y)

c) Giai thch:

x,y,v: ten vector.

m: la gia tr ln nhat.

i: la v tr cua m.

Neu x la ma tran tm ra gia tr nho nhat trong moi cot.d) V du:

x = 3 5 2 1 4

m = min(x)

m = 1

i =4

y =1 6 8 -5 3

v = min(x,y)v = 1 5 2 -5 3

b =

3 6 2

1 7 9

2 8 1


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m = min(b)

m = 1 6 1

i = 2 1 3

a =

0 3 67 1 1

4 6 8

v = min(a,b)

v =

0 3 2

1 1 1

2 6 112. Lenh PROD

a) Cong dung:

Nhan cac phan t.

b) Cu phap:

p = prod(x)

c) Giai thch:

p: bien cha ket qua.x: ten ma tran hay day so.

Neu la ma tran nhan tng phan t cua moi cot.

d) V du:

a = 2 3 4 5

p = prod(a)

p = 20

b =2 2 3

5 6 4

7 5 4

p =prot(b)

p =70 60 48


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13. Lenh ROOTS

a) Cong dung:

Tm nghiem cua a thc.

b) Cu phap:

r = roots(p)c) Giai thch:

r: bien cha ket qua.

p: ten bieu thc.

d) V du:

Tm nghiem cua phng trnh: x2-1 =0

p = [1 0 -1]

r = roots(p);disp(r)

-1.0000

1.0000

14. Lenh SORT

a) Cong dung:

Sap xep mang hay ma tran theo th t tang dan.

b) Cu phap:kq = sort(x)

[kq,i] = sort(x)

c) Giai thch:


i: so th t cua phan t trc khi sap xep.

Neu x la ma tran th sap xep theo th t tang dan cua tng cot.

d) V du:a = 2 8 5 6 -3 9

kq = sort(a)

kq = -3 2 5 6 8 9

[kq,i] = sort(a)

kq = -3 2 5 6 8 9


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i = 5 1 3 4 2 6

b =

3 4 -4

2 -3 5

1 6 2kq =sort(b)

kq =

1 -3 -4

2 4 2

3 6 5

[kq,i] = sort(b)

kq =1 -3 -4

2 1 2

3 6 5

i =

3 2 1

2 1 3

1 3 215. Lenh SUM

a) Cong dung:

Tnh tong cua cac phan t.

b) Cu phap:

s = sum(x)

c) Giai thch:

s: la bien cha ket qua.x: la ten ma tran.

Neu x la ma tran th s la tong cua cac cot.

d) V du:

a = 2 8 5 6 -3 9

s = sum(a)


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s = 27

b =

3 4 -4

2 -3 5

1 6 2s = sum(b)

s = 6 7 3

X. TAP LENH O HOA1. Lenh AXES

a) Cong dung:

at cac truc toa o tai v tr nh trc.b) Cu phap:

axes(propertyname, propertyvalue )

c) Giai thch:

Tng ng vi mot propertyname i kem vi 1 propertyvalue.

1. position,[left, bottom, width, height]: nh v tr va kch thc cua truc.

left: khoang cach t mep trai ca so en truc ng.

bottom: khoang cach t mep di ca so en truc ngang.width: chieu dai cua truc ngang.

height: chieu cao truc ng.

Ghi chu:

Luon lay iem [0,0] lam goc toa o.

Truc ngang va truc ng co gia tr trong khoang [0 1] va chia theo ty le thch hp

*/ V du:

axes(position,[.1 .1 .8 .6])2. xlim, [min,max]: nh gia tr nho nhat va ln nhat tren truc x.

*/ V du:

axes(xlim, [2 5])

3. ylim, [min,max]: nh gia tr nho nhat va ln nhat tren truc y.

*/ V du:


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axes(ylim, [2 5])

nh gia tr tren ca hai truc

axes(xlim, [min,max], ylim,[min,max])

2. Lenh AXIS

a) Cong dung:Chia lai truc toa o.

b) Cu phap:

axis([xmin xmax ymin ymax])

axis([xmin xmax ymin ymax zmin zmax])

axis on

axis off

c) Giai thch:

xmin, ymin, zmin: la gia tr nho nhat cua cac truc x, y, z.

xmax, ymax, zmax: la gia tr ln nhat cua cac truc x, y, z.

on: cho hien th truc toa o.

off: khong cho hien th truc toa o.

3. Lenh BAR

a) Cong dung:

Ve o th dang cot.b) Cu phap:

bar(x,y)

c) Giai thch:

Ve gia tr x theo gia tr y.

d) V du:

x = -pi:0.2:pi;

bar(x,sin(x));

grid on

title(Do thi ham sin(x) dang thanh)

xlabel(truc x (rad))

ylabel(y = sin(x))


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4. Lenh CLA

a) Cong dung:

Xoa tat ca cac oi tng nh: ng o th, ten o thnhng khong xoa truc toa o.b) Cu phap:

cla

5. Lenh CLFa) Cong dung:

Xoa hnh anh (o th) hien tai.b) Cu phap:

clf

6. Lenh CLOSE

a) Cong dung:

ong hnh anh (o th) hien tai.b) Cu phap:

close

7. Lenh COLORMAP

a) Cong dung:

Tao mau sac cho o th trong khong gian 3 chieu.b) Cu phap:


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Yscale,linear) n v la log va truc y co n v tuyentnh.

Set(gca,Xgrid,on,YGrid',nomal)

Tao li cho o th: truc x co tao liva truc y khong tao li.

Set(gca,XDir',reverse,

YDir,normal)

oi truc toa o: oi truc x ve pha oi

dien, truc y gi nguyen.Set(gca,XColor',red,

Ycolor,yellow)at mau cho li o th: at li trucx mau o, li truc y mau vang.

Gom co cac mau: yellow, magenta,cyan, red, green, blue, white, black.

10. Lenh GRID

a) Cong dung:

Tao li toa o.

b) Cu phap:

grid on

grid off

c) Giai thch:

on: hien th li toa o.

off: khong hien th li toa o.11. Lenh PLOT

a) Cong dung:

Ve o th tuyen tnh trong khong gian 2 chieu.b) Cu phap:

plot(x,y)

plot(x,y,linetype)

c) Giai thch:

x,y: ve gia tr x theo gia tr y.linetype: kieu phan t tao nen net ve bao gom 3 thanh phan:

- Thanh phan th nhat la cac ky t ch mau sac:

Ky t Mau

y Vang


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12. Lenh SUBPLOT

a) Cong dung:

Tao cac truc trong mot phan cua ca so o hoa.b) Cu phap:

subplot(m,n,p)subplot(mnp)

c) Giai thch:

subplot(m,n,p) hoac subplot(mnp)thanh ca so o hoa thanh mn vung e ve nhieu o thtren cung mot ca so.

m: so hang c chia.

n: so cot c chia

p: so th t vung chon e ve o th.Neu khai bao p > mn th se xuat hien mot thong bao loi.

d) V du:

Chia ca so o hoa thanh 23 vung va hien th truc cua ca 6 vung.

subplot(231)

subplot(232)


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subplot(233)

subplot(234)

subplot(235)

subplot(236)

13. Lenh SEMILOGX, SEMILOGYa) Cong dung:

Ve o th theo logarith.b) Cu phap:

semylogx(x,y)

semylogx(x,y,linetype)

semylogy(x,y)

semylogy(x,y,linetype)

c) Giai thch:

semylogx va semylogy giong nh lenh plot nhng ch khac mot ieu la lenh nay ve o ththeo truc logarith. Do o, ta co the s dung tat ca cac loai linetype cua lenh plot.

d) V du:

Ve o th ham y = x2 3x + 2 theo truc logarith cua x.

x = 0:100;


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y = x.^2-3*x+2;

semylogx(x,y,b)

grid on

14. Lenh POLAR

a) Cong dung:Ve o th trong he truc toa o cc.

b) Cu phap:

polar(theta,rno)

c) Giai thch:


d) V du:

t = -pi:0.01:pi;

polar(t, sin(t))


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15. Lenh SET

a) Cong dung:

Thiet lap cac ac tnh chat cho oi tng nao o.b) Cu phap:

set(h, propertyname, propertyvalue,)c) Giai thch:

h: bien cha oi tng.

PropertyName va PropertyValue c cho trong bang sau:

Cu phap PropertyName PropertyValue Giai thch

Set(h,Marker,+) Marker -, --, :, -. , o, , +, * Chon kieu phan t

Set(h,LineWidth,1) LineWidth 1, 2, 3, o day net veSet(h,MarkerSize,9) MarkerSize 1, 2, 3, Kch thc cac iem tao

nen h

Set(h,color,cyan) Color ellow,magenta,ed,green,blue,

cyan,white,black

Chon mau cho oi tng h


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d) V du:

a = [1 2 3 4 5 4 3 4 5 6];

h = plot(a)

set(h,color,black)

16. Lenh STAIRSa) Cong dung:

Ve o th dang bac thang.b) Cu phap:

stairs(x,y)

c) Giai thch:


d) V du:

x = -pi:0.2:pi;

stairs(x,sin(x))

xlabeL(Truc x)

ylabel(y = stairs(x,sin(x))

grid on


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17. Lenh TITLE

a) Cong dung:

at tieu e cho o th.b) Cu phap:

title(text)

c) Giai thch:

text: ten tieu e.

18. Lenh XLABEL, YLABEL, ZLABEL

a) Cong dung:

at ten cho truc X, Y, Z.

b) Cu phap:

xlabel(nx)

ylabel(ny)

zlabel(nz)

c) Giai thch:

nx, ny, nz: ten truc x, y, z19. Lenh WHITEBG

a) Cong dung:


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Thay oi mau nen cua ca so o hoa.b) Cu phap:

whitebg

whitebg(color)

c) Giai thch:whitebg chuyen oi qua lai mau nen ca so o hoa gia trang va en.

whitebg(color) chuyen mau nen ca so o hoa thanh mau cua bien color.

color co the la cac mau: yellow (vang), magenta (o ti), cyan (l), red (o), green(luc), blue (lam), white (trang), black (en).

BT3c: c viet trong BT3c.m. Bai tap nay tong hp t cac sach The Student Edition ofMATLAB, The MATLAB 5. Handboox, ng dung MATLAB trong ieu khien t

ong%BT3c: VE QUA DIA CAU[x,y]=meshgrid(-3:0.1:3);

z=peaks(x,y);

meshc(x,y,z)

pause

k=5;

n=2^k-1;

[x,y,z]=sphere(n);

c=hadamard(2^k);

surf(x,y,z,c);

colormap([1 1 0;0 1 1])

pause

t=0:pi/10:2*pi;

[x,y,z]=cylinder(2+cos(t));

surf(x,y,z)

pause

[x,y,z]=cylinder(1:10);

surfnorm(x,y,z)

pause

[x,y,z]=meshgrid(-2:.2:2,-2:.2:2,-2:.2:2);

v=x.*exp(-x.^2-y.^2-z.^2);

slice(v,[5 15 21],21,[1 10],21)

pause

[X,Y]=meshgrid(-3:.5:3);

Z=peaks(X,Y);

[XI,YI]=meshgrid(-3:.25:3);

ZI=interp2(X,Y,Z,XI,YI);

mesh(X,Y,Z), hold, mesh(XI,YI,ZI+15)

hold off

axis([-3 3 -3 3 -5 20])

pause


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syms x y

ezsurf(real(atan(x+i*y)))

[x,y]=meshdom(-12:.6:12,-12:.6:12);

r=sqrt(x.^2+y.^2);

z=bessel(0,r);

m=[-45 60];

mesh(z,m)

Khi chay chng trnh ta la lt co ket qua:


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Cung la ham bessel nhng ta khao sat rieng 1 bai:%hm bessel

[x,y]=meshdom(-12:.6:12,-12:.6:12);

r=sqrt(x.^2+y.^2);

z=bessel(0,r);

m=[-45 60];

mesh(z,m)


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Thc hien: PHAM QUOC TRNG - 100 - GVHD: PHAM QUANGHUY


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NHOM LENH VE AC IEM MO HNH(Model Properties)

1. Lenh COVAR, DCOVAR

a) Cong dung: (Purpose)Tm ap ng hiep phng sai oi vi nhieu trang (white noise).


[P,Q]= covar(a,b,c,d,w)

P = covar(num,den,w)

[P, Q]= dcovar(a,b,c,d,w)

P = dcovar(num,den,w)

c) Giai thch: (Description)Covar tnh cac ngo ra co nh va ap ng hiep phng sai trang thai cua mot he thong oi

vi cac ngo vaonhieu trang Gaussian vi cng o w:

E[w(t)w()]= w(t -)

[P,Q]= covar(a,b,c,d,w) tm ap ng hiep phng sai cua he khong gian trang thai lientuc.

BuAxx +=.

y = Cx + Duoi vi nhieu trang vi cng o w t tat ca cac ngo vao ti tat ca trang thai va ngo ra:

P = E[yy]

Q = E[xx]

He thong phai on nh va ma tran D phai la zero.

P = covar(num,den,w) tm ap ng hiep phng sai ngo ra he SIMO cua ham truyen athc

G(s)= num(s)/den(s)

trong o num va den cha cac he so a thc theo chieu giam dan so mu cua s, wla cngo nhieu ngo vao.

e tm ap ng hiep phng sai cua he gian oan ta dung lenh dcovar thay cho covar.

d) V du 1: (Exemple)

Tm ap ng hiep phng sai do nhieu trang Gaussian cua he SISO vi cng o w=2 coham truyen:


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32

15)(

2 ++

+=

ss

ssH

num = [5 1];

den = [1 2 3];

P = covar(num,den,2)Ta c: P = 12.6667

2. Lenh CTRB, OBSV

a) Cong dung:

Tao ma tran co the ieu khien va co the quan sat.

b) Cu phap:

co = ctrb(a,b)

ob = obsv(a,c)c) Giai thch:

co = ctrb(a,b) tao ma tran co the ieu khien C 0 = [B ABA2B An-1B] cho he khonggian trang thai ob = obsv(a,c) tao ma tran co the quan sat Ob cho he khong gian trang thai.

Ob =

1

2

nCA

CA

CA

C

M

He thong co the ieu khien c neu hang cua ma tran Co la n va co the quan sat cneu hang cua ma tran Ob la n.

d) V du:

Dung lenh ctrb va obsv e kiem tra he thong (a,b,c,d) co the ieu khien c hay co thequan sat c hay khong:

% Nhap ham truyen va xac nh khong gian trang thai:

num = [2 3];

den = [1 4 7];[a,b,c,d]= tf2ss(num,den)

% Xac nh ma tran co the ieu khien va ma tran co the quan sat:

co = ctrb(a,b)

ob = obsv(a,c)

% so trang thai khong the ieu khien c:


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unco = length(a) rank(co)

% so trang thai khong the quan sat c:

unob = length(a) rank(ob)

Cuoi cung ta c ket qua:

a =-4 -7

1 0

b =

1

0

c =

2 3d = 0

co =

1 -4

0 1

unco = 0

ob =

2 3-5 -14

unob = 0

3. Lenh DAMP, DDAMP

a) Cong dung:

Tm tan so t nhien (Natural Frequencies) va he so tat dan (Damping Factors).

b) Cu phap:

[wn,Z]= damp(a)mag= ddamp(a)

[mag,Wn,Z]= ddamp(a,Ts)

c) Giai thch:

Damp va ddamp tnh tan so t nhien va he so tat dan. Neu bo cac oi so ben trai trongcac lenh nay th ta nhan c mot bang cac gia tr rieng, t le tat dan va tan so t nhien trenman hnh.


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[wn,Z]= damp(a) tao ra vector cot Wn va Z cha cac tan so t nhien wn, he so tat dancua cac gia tr rieng lien tuc (Continous eigenvalues) c tnh t a. Bien a co the la mottrong cac dang sau:

+ Neu a la ma tran vuong th a c xem nh la ma tran khong gian trang thai A.

+ Neu a la vector hang th no c xem nh la vector cha cac he so a thc cua ham

truyen.+ Neu a la vector cot th a cha cac nghiem.

Mag = damp(a) tao ra vector cot mag cha bien o cac gia tr rieng gian oan c tnht a. a co the la mot trong cac dang c noi en tren.

[mag,Wn,Z]= ddamp(a,Ts) tao ra cac vector mag, Wn va Z cha cac bien o, tan so tnhien trong mat phang s tng ng va he so tat dan cua cac gia tr rieng cua a. Ts la thi gianlay mau. He so tat dan va tan so t nhien trong mat phang s tng ng cua cac gia tr rienggian oan la:

n = Tslog = -cos( log )

d) V du: (Trch t trang 11-52 sach Control System Toolbox)

Tnh va hien th cac gia tr rieng, tan so t nhien va he so tat dan cua ham truyen lien tucsau:

32

152)(

2

2

++++

=ss

sssH

num = [2 5 1];

den = [1 2 3];

damp(den)

Eigenvalue Damping Freq.(rad/sec)

-1.0000 + 1.4142i 0.5774 1.7321

-1.0000 + 1.4142i 0.5774 1.7321

Tnh va hien th cac gia tr rieng, bien o, tan so va he so tat dan trong mat phang s

tng ng cua ham truyen gian oan vi thi gian lay mau Ts = 0.1:

8.06.1

5.14.32)(

2

2

+

+=

sz

zzzH

num = [2 -3.4 1.5]

den = [1 -1.6 0.8]

ddamp(den,0.1)


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+

=

v

u

x

x

x

x

2231.00

5397.01

07814.0

7814.05572.0

2

1

2

.1

.

+

=

v

u

x

x

z

y

00

00

01

4493.69691.1

2

1

a = [-0.5572 -0.7814 ; 0.7814 0];b = [1 0.5379 ; 0 -0.2231];c = [1.9691 6.4493 ; 1 0];d = [0 0 ; 0 0];k = dcgain(a,b,c,d)

k =8.2466 3.6861

0 0.28555. Lenh GRAM, DGRAMa) Cong dung:

anh gia kha nang ieu khien va kha nang quan sat.b) Cu phap:

Gc = gram(a,b)Go = gram(a,c)Gc = dgram(a,b)Go = dgram(a,c)

c) Giai thch:gram tnh toan kha nang ieu khien va kha nang quan sat. S anh gia nay co the c

dung e nghien cu ac tnh ieu khien va ac tnh quan sat cua cac he khong gian trang thaiva giam bac mo hnh.gram(a,b) tao ra s anh gia kha nang ieu khien Gc:

Gc =

dBB eeAA '

0

'

o la mot ma tran oi xng; hn na, neu ma tran co hang u (bang kch thc cua matran anh gia) th he thong co the ieu khien c.

Go = gram(a,c) tao ra s anh gia kha nang quan sat Go:

Go =

dCC eeAA '

0

'

Neu ma tran anh gia co hang u th he thong co the quan sat c.dgram dung cho cac he thong gian oan.

d) V du:Xac nh kha nang ieu khien cua he kong gian trang thai v du ve lenh dcgraina = [-0.5572 -0.7814 ; 0.7814 0];b = [1 0.5379 ; 0 -0.2231];c = [1.9691 6.4439 ; 1 0];


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d = [0 0 ; 0 0];Gc = gram(a,b)Ta nhan c ma tran:

Gc =1.2016 -0.0318

-0.0318 1.0708Tm hang ma tran bang lenh:

r = rank(Gc)ta c r = 2 va bang kch thc cua ma tran anh gia. Vay he thong nay co the ieu

khien c.6. Lenh DSORT, ESORTa) Cong dung:

Sap xep cac gia tr rieng theo th t phan thc hoac bien o so phc.b) Cu phap:

s = dsort(p)

[s,ndx] = dsort(p)s = esort(p)[s,ndx] = esort(p)

c) Giai thch:s = esort(p) xep cac gia tr rieng phc trong vector p theo th t giam dan cua phan thc.

oi vi cac gia tr rieng lien tuc, cac gia tr rieng khong on nh xuat hien trc.s = dsort(p) xep cac g tr rieng phc trong vector p theo th t giam dan cua bien o. oi

vi cac gia tr rieng gian oan, ca gia tr rieng khong on nh xuat hien trc.[s,ndx] = dsort(p) hay [s,ndx] = esort(p) cung tao ra vector ndx cha cac ch so dung theo

th t.

d) V du:Xep cac phan t cua vector p = [2+3j -3+j 1-9j 3-7j 5+2j 6-j] theo th t giam dancua phan thc va o ln so phc.

p = [2+3j -3+j 1-9j 3-7j 5+2j 6-j]% Xep theo th t giam dan cua o ln so phc:

s = dsort(h)s =

1.0000 + 9.0000j3.0000 + 7.0000j6.0000 + 1.0000j

5.0000 2.0000j2.0000 + 3.0000j

-3.0000 + 1.0000j% Xep theo th t giam dan cua phan thc:

s = esort(h)6.0000 + 1.0000j5.0000 2.0000j3.0000 + 7.0000j


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2.0000 3.0000j1.0000 + 9.0000j

-3.0000 1.0000j

7. Lenh EIGa) Cong dung:

Tm cac gia tr rieng va cac vector rieng cua he thong.b) Cu phap:

E = eig(X)[V,D] = eig(X)[V,D] = eig(X)[V,D] = eig(X,nobalance)E = eig(A,B)[V,D] = eig(A,B)

c) Giai thch:

E = eig(X) la mot vector cha cac gia tr rieng cua ma tran vuong X.[V,D] = eig(X) tao ra mot ma tran ng cheo D cua cac gia tr rieng va ma tran u vicac cot la cac vector rieng tng ng e cho X*V = V*D.

[V,D] = eig(X,nobalance) giong nh [V,D] = eig(X) nhng bo qua s can bang. Cachnay oi khi cho ket qua chnh xac hn.

E = eig(A,B) la vector cha cac gia tr rieng pho bien cua cac ma tran vuong A va B.[V,D] = eig(A,B) tao ra ma tran ng cheo D cua cac gia tr rieng pho bien va cac ma

tran u V vi cac cot la cac vector rieng tng ng e cho A*V = B*V*D.d) V du:

Cho X = [2+3j -3+j 1-9j ; 3-7j 5+2j 6-j ; 0+7j 6-8j 2+5j]. tm cac gia tr rieng

cua X.X = [2+3j -3+j 1-9j ; 3-7j 5+2j 6-j ; 0+7j 6-8j 2+5j];[V,D] = eig(X)

V =0.4158 + 0.3442j 0.5455 + 0.4929j 0.4344 0.2255j

-0.3275 + 0.3580j 0.1837 0.2659j 0.5974 + 0.1368j0.1209 0.6772j -0.5243 + 0.2831j 0.4954 + 0.3734j

D =-9.3743 + 4.7955j 0 0

0 9.2099 + 0.2831j 0

0 0 9.1644 2.2542j8. Lenh PRINTSYSa) Cong dung:

In ra cac tham so cua he thong tuyen tnhb) Cu phap:

printsys(a,b,c,d)printsys(a,b,c,d,ulabels,ylabels,xlabels)printsys(num,den,s)


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printsys(num,den,z)c) Giai thch:

printsys in cac tham so cua he khong gian trang thai va ham truyen theo dang ac biet.oi vi he khong gian trang thai, cac ngo vao, ngo ra va trang thaicua he c at ten vaham truyen c hien th di dang ty so cua hai a thc.

printsys(a,b,c,d) in ra he khong gian trang thai (a,b,c,d) vi ten tham so pha tren vapha ben trai cua ma tran he thong.

printsys(a,b,c,d,ulabels,ylabels,xlabels) in ra he khong gian trang thai vi ten tham soc ch nh bi cac vector ulabels, ylabels va xlabels. ulabels, ylabels va xlabels cha tenngo vao, ngo ra va trang thai cua he thong.

Documents

Cac Lenh Matlab Trong Dieu Khien Tu Dong - Pham Quang Huy