Logic Mo Voi Dieu Khien Nhiet Tu Dong

S ha bi Trung tm Hc liu i hc Thi Nguyn http://www.lrc-tnu.edu.
vn

I HC THI NGUYN
TRNG I HC K THUT CNG NGHIP
******************&&&******************

LUN VN THC S K THUT

TN TI:
NGHIN CU NG DNG PHNG PHP
IU KHIN HIN I NNG CAO CHT LNG
IU KHIN QU TRNH GIA NHIT

Chuyn ngnh : T NG HA
M s: 605260

Hc vin: Dng Mnh Ha

Gio vin hng dn: TS. V Quang Vinh

Thi nguyn nm 2009

Lun vn thc s k thut
S ha bi Trung tm Hc liu i hc Thi Nguyn 1 http://www.lrc-tnu.edu.vn

MC LC
Mc lc .......1
Danh mc cc hnh v v th .....3
M u ......5
Chng1: M u..10
1.1 Gii thiu chung 10
1.1.1. iu khin qu trnh.............................................................10
1.1.2 Cc tnh cht ca h iu khin qu trnh ..11
1.2 Cu trc c bn ca h iu khin qu trnh..15
1.2.1. C cu chp hnh...........15
1.2.2. Cc cm bin:.........18
1.2.3. Cc cm bin p lc:... ...........22
1.3.c im iu khin qu trnh gia nhit22
1.4.Kt lun...............................................................................................23
Chng 2 : Tng quan v phng php iu khin hin i iu khin qu
trnh.........................................................................................................................................24
2.1 .t vn ......................................................24
2.2. Cc phng php iu khin c bn ................................................24
2.2.1 Phng php iu khin truyn thng..24
2.2.2 Phng php iu khin phn hi31
2.2.3. Phng php iu khin t l .41
1.2.4 Phng php iu khin tng .47
Lun vn thc s k thut

2.2.5 Phng php iu khin suy din.. ........................50
2.2.6 Phng php iu khin la chn.............51
2.2.7 Phng php iu khin . . . . ................52
2.3 Cc phng php iu khin hin i.........................................................53
2.3.1 Phng php iu khin thch nghi.........................................53
2.3.1.1Khi nim chung ca h thng iu khin thch nghi..... . ...53
2.3.1.2 iu khin thch nghi trc tip v gin tip................. . .....55
2.3.1.3 H thng iu khin thch nghi t chnh....................... . ....59
2.3.2 Phng php iu khin m....................................................61
2.3.2.1S khi ca b iu khin m.....................................62
2.3.2.2. B iu khin m tnh.....................................................64
2.3.2.3. B iu khin m ng.....................................................64
2.3.2.4. H iu khin m lai F-PID..............................................67
2.4. kt lun.....................................................................................................69
Chng 3 : p dng phng php iu khin hin i cho qu trnh gia
nhit................................................................................................................ 71
t vn ...........................................................................................71
3.1i tng..............................................................................71
3.2 Thit k s iu khin h thng.......................................72
Chng 4. M phng h thng..............................................................86
Kt lun..................................................................................................89
Ti liu tham kho .................................................................................90

DANH MC HNH V

Lun vn thc s k thut

Chng1: M u

Hnh 1.1: S kinh in ca cu trc iu khin qu trnh
Hnh 1.2: Hm truyn ca qu trnh c tnh t cn bng
Hnh 1.3: Hm truyn ca qu trnh khng c tnh t cn bng
Hnh 1.4 cu trc c bn ca h iu khin qu trnh
Hnh 1.5: Van tit lu
Hnh 1.6: Van tit lu cn bng p
hnh 1.7 van servo con trt
Hnh1.8: Van servo tm chn
Hnh 1.9: Can nhit in
Hnh1.10: Cu trc h thng o p sut t ng
Chng 2 : Tng quan v phng php iu khin hin i
iu khin qu trnh
Hnh2.1.Cu trc tng quat ca h iu khin truyn thng
Hnh2.2 Cu hnh ni tip v cu hnh song song
Hnh 2.3c tnh iu khin cho v d2.1
Hnh 2.4 iu khin mc sch lc truyn thng
Hnh 2.5 iu khin thit b gia nhit hi nc
Hnh 2.6. Cu trc tng quat ca h iu khin phn hi
Hnh 2.7 Hai cu hnh iu khin phn hi

Lun vn thc s k thut

Hnh 2.8.iu khin mc sch lc phn hi
Hnh 2.9. M phng iu khin mc vi h s kc khc nhau
Hnh 2.10 Hai cu hnh iu khin t l
Hnh2.11 H thng trao i nhit trc lu
Hnh 2.12 hai cu trc ca iu khin tng
Hnh 2.13 s khi h thng iu khin thch nghi.
Hnh 2.14 s khi h thng iu khin thch nghi gin tip.
Hnh 2.15 S khi h thng iu khin thch nghi trc tip .
Hnh 2.16 H thng iu khin thch nghi theo m hnh chun
Hnh 2.17 H thng iu khin thch nghi t chnh.
Hnh 2.18 s khi ca b iu khin m.
Hnh 2.19 H iu khin m theo lut PI
Hnh 2.20 H iu khin m theo lut PD
Hnh 2.21 H iu khin m PID
Hnh 2.22 Cc vng tc ng ca FLC v PID.
Hnh 2.23 vng tc ng ca cc b iu chnh PID
Chng 3 : p dng phng php iu khin hin i cho qu trnh
gia nhit
Hnh 3.1 M hnh h thng

Hnh 3.2 S h thng iu khin
Hnh 3.3 Cu trc van nc lnh
Hnh 3.4 Cu trc van nc nng
Hnh 3.5 Khu lu tc t trc
Hnh 3.6 Khu nht t trc
Lun vn thc s k thut

Hnh 4.1 Lu tc dng nc
Hnh 4.2 Nhit bn nc
Hnh 4.3 Van nc lnh
Hnh 4.4 Van nc nng
Chng 4 M phng h thng
Hnh 4.1To lp cc hm lin thuc cho bin vo
Hnh 4.2 To lp cc hm lin thuc cho bin ra
Hnh 4.3lut iu khin trong khng gian
Hnh 4.4 S SimulinK
Hnh 4.5 p ng nhit
Hnh 4.6 p ng lu tc

Lun vn thc s k thut

Li ni u

iu khin qu trnh l mt lnh vc quan trng ca k thut iu khin
trong cc ngnh cng nghip nng lng v ha cht( gi chung l cng nghip
ch bin, process industry).Ni dung ca lnh vc iu khin qu trnh kt ni
cht ch nn tng ca l thuyt diu khin t ng vi cc bi ton ca qu trnh
cng ngh. Phm vi cp c th y l cc bi ton m hnh ha, phn tch,
thit k v thc thi h thng iu khin cho cc i tng l qu trnh cng ngh.
iu khin qu trnh khng phi l mt lnh vc mi nhng lun chim v
tr quan trng hng u trong t ng ha cng nghip.Khc vi nhng nghng
cng nghip ch to, ngy nay bt c mt nh my xi mng, mt nh my in
hay mt nh my lc du no cng khng th vn hnh c nu thiu h thng
iu khin t ng. Qu trnh ton cu ha gn y to ra nhiu th trng tiu
dng mi, ng thi gia tng s cnh tranh mnh m gia nhiu tp on sn
xut. Cc doanh nghip buc phi nng cao mc t ng ha dy chuyn sn
xut tng nng sut, cht lng sn phm v h gi thnh sn xut. Sc p
gim s dng nguyn liu th (yu cu ti ch), gim tiu th nhin liu v kh
nng thch ng nhanh vi yu cu th trng buc cc k s phi a ra nhng
thit k qu trnh cng ngh mi thch hp hn, nhng ng thi cng t ra
nhng yu cu cao hn cho h thng iu khin t ng v cho nhng ngi k
s thit k iu khin. nhn t mt gc khc, nhng tin b v cng ngh thit
b iu khin( DCS, PLC/HMI, IPC, bus trng,) ngy cng to iu kin
thun li hn cho vic ci t cc sch lc v thut ton iu khin tin
Lun vn thc s k thut

tin.mt iu ng ni l trong khi cng ngh sn xut hoc cng ngh thit b
iu khin c th lc hu ch sau 10-15nm, c s phng php lun cho thit k
h thng iu khin qu trnh vn gi nguyn gi tr sau hng na th k-tt
nhin c b sung v pht trin trn mt tm cao mi.. V vy vic nghin cu
ng dng phng php iu khin hin i iu khin qu trnh gia nhit l
mt vn ht sc quan trng v cp thit.

Do vy, ti chn ti: "Nghin cu ng dng phng php iu khin
hin a nng cao cht lng iu khin qu trnh gia nhit " vi mc ch
nghin cu nh sau:
1. Nghin cu cc phng php iu khin c bn v hin i iu khin
qu trnh gia nhit
2. Nghin cu ng dng iu khin m cho h iu khin nhit v lu
tc bn nc
T , ti tp trung nghin cu cc vn chnh, c chia thnh 3
chng nh sau:
Chng 1. M u
Chng ny nghin cu cc kin thc chung v iu khin qu trnh, cu
trc c bn ca h thng iu khin qu trnh, cc thit b trong h thng iu
khin qu trnh
Chng 2:Tng quan v phng php iu khin hin i iu khin
qu trnh
Chng ny nghin cu cc phng php iu khin c bn v hin i,
phn tch th mnh ca n t la chn phng php iu khin cho qu trnh
gia nhit
Lun vn thc s k thut

Chng 3 p dng phng php iu khin hin i cho qu trnh
gia nhit
Chng ny nghin cu tng hp b iu khin m cho i tng c th l
nhit v lu tc bn nc.
Chng 4 M phng h thng
M phng bng Matlap . Phn tch cc kt qu t c, a ra cc kt lun
Trong qu trnh lm lun vn, ti c s gip , ch bo tn tnh ca
thy gio, TS. V Quang Vinh , ging vin khoa in, Trng i hc KTCN
Thi Nguyn. Xin gi ti thy li cm n chn thnh v su sc nht. Ti cng
nhn c s h tr rt nhiu t cc thy c gio trong Khoa in, trng i
hc KTCN Thi Nguyn cng nh t gia nh, bn b. Xin trn trng cm n

Thi Nguyn, ngy.....thng.....nm 2009

Dng Mnh Ho

Lun vn thc s k thut

Li cam oan
Ti xin cam oan nhng kt qu trong lun vn c xy dng
hon ton l do bn thn ti nghin cu v thc hin di s hng dn
ca thy gio v tham kho cc ti liu c trch dn.

Hc vin

Dng Mnh Ho

Lun vn thc s k thut

10 Dng Mnh Ho
S ha bi Trung tm Hc liu i hc Thi Nguyn http://www.lrc-tnu.edu.vn

Chng1: m u
1.1. Gii thiu chung
1.1.1. Khi nim v c tnh chung ca iu khin qu trnh
iu khin qu trnh l s thao tc nhng iu kin ca qu trnh lm
xy ra nhng thay i mong mun trong nhng c tnh u ra ca qu trnh.
Trong thc t th iu khin qu trnh thng c xem nh iu khin cc
thng s nh: nhit (t
0
), p sut (P), lu lng (F), mc (L), nng (pH),
nh lng v thm ch c iu khin phn ng v.v. Vic iu khin cc i
lng ny thng gp kh khn v iu khin qu trnh c nhng c tnh:
Nhng c im ca qu trnh:
Thng c th hin di 4 c tnh sau:
- Thi gian cht qu trnh (Process Dead time)
- Tr qu trnh (Process Lag)
- H s khuych i ca qu trnh (Process gain)
- Nhiu qu trnh (Process disturbances)
- Thi gian cht qu trnh: l khong thi gian gia s thay i trong tn
hiu u vo n h thng iu khin qu trnh v p ng ca tn hiu. Hin
tng ny lun lun khng phn bit dng ca tn hiu c dng. Ngoi ra n
cn c bit n nh: tr thun tu, tr vn ti, hoc tr khong cch - vn tc.
- Tr qu trnh: V qu trnh vn khng c kh nng nhn hoc thi nng
lng mt cch lin tc. Qua ta c tr bc mt hoc tr bc cao.
- H s khuych i qu trnh: H s khuych i ca qu trnh c xc
nh bng t s gia s thay i ca u ra trn s thay i u vo.
- Nhiu qu trnh: L nhng s thay i mong mun xy ra trong qu trnh,
n c xu hng nh hng bt li n gi tr ca bin iu khin.
Lun vn thc s k thut

11 Dng Mnh Ho

Khi nghin cu iu khin qu trnh th vic tng hp mch vng iu
khin thng gp kh khn v:
- H thng c thng s ri.
- Trong qu trnh hot ng, khng nhng cu trc ca h thay i (dn
n hm truyn ca h thay i) m cn c thng s ca h cng thay i.
- Tnh phi tuyn cng nh tnh tng tc rt ln.
1.1.2 Cc tnh cht c bn ca iu khin qu trnh
Khi xy dng h thng iu khin, nhim v c bn c t ra l phi
nghin cu c tnh cht ca qu trnh (i tng iu khin). Cc thng tin v
qu trnh thu thp c cng y th vic tng hp h thng iu khin t
ng cng n gin v qu trnh iu chnh cng d t chnh xc cao. Vic
nghin cu qu trnh phi xut pht t vic nghin cu cc hin tng vt l xy
ra trong qu trnh. Cc hin tng ny lun lin quan n dng vt cht hay nng
lng chy vo E
1
v chy ra E
0
t qu trnh to nn mi trng hot ng ca
qu trnh. Khi E
1
= E
0
cc hin tng trong qu trnh tn ti trng thi dng,
qu trnh trng thi cn bng. Khi E
1
= E
0
s tn ti s vn ng trong mi
trng hot ng ca qu trnh. Gi tr AE = E
1
- E
0
c gi l tc ng nhiu
ln qu trnh. N l i lng c trng cho tc ng vo ca qu trnh. Nng
lng hoc vt cht s c tch lu hay chuyn ho trong lng qu trnh. Cc
hin tng ny c phn nh thng qua mt s thng s k thut ca qu trnh
v c gi l tn hiu ra ca qu trnh. Thng s k thut c trng nht cho
cc hin tng xy ra trong qu trnh c chn lm i lng cn iu chnh y.
Tc ng nh hng ln nht ln i lng cn iu chnh c s dng lm tc
ng iu chnh u.

G
C
(s) G
P
(s)
y(s)
u(s) e(s)
y
sp
(s)
Controller Process
Hnh 1.1: S kinh in ca cu trc iu khin qu trnh

-
Lun vn thc s k thut

12 Dng Mnh Ho

Hai tnh cht c bn ca qu trnh l kh nng tch lu hay cn gi l tnh
dung lng v tnh t cn bng. Nghin cu bn cht vt l ca qu trnh chnh
l nghin cu cc tnh cht ca n.
a. Tnh dung lng
Cc qu trnh iu khin lun lun l kh nng tch lu mi trng hot
ng, d tr n trong lng. Kh nng c gi l kh nng tch lu ca qu
trnh hay cn gi l dung lng ca qu trnh. Qu trnh c dung lng cng nh
th tc thay i ca i lng cn iu chnh cng tng khi c s mt cn
bng gia dng ra v dng vo dn n qu trnh iu chnh cng phc tp.
Ngc li dung lng ca qu trnh cng ln th tc thay i ca i lng
cn iu chnh cng nh, qu trnh iu chnh cng n gin.
b. Tnh t cn bng
Tnh t cn bng l kh nng ca qu trnh sau khi c nhiu tc ng ph
v trng thi cn bng ca n th n s t hiu chnh tr li trng thi cn bng
m khng tnh. Qu trnh khng c tnh t cn bng c gi l qu trnh phi
tnh.
c. M t c tnh ng hc ca qu trnh
L mt phn t quan trng trong h thng iu khin t ng, c tnh
ng hc ca qu trnh (i tng iu khin) cn c xc nh tng minh
di dng m t ton hc (ngoi tr trng hp iu khin m th i tng
khng nht thit phi c m t tng minh di dng ton hc).
i vi cc qu trnh phc tp, y l c trng ca cc qu trnh trong
cng nghip, vic xc nh m t ton hc ca n khng th tin hnh theo
phng php gii tch bnh thng m phi tin hnh bng phng php thc
nghim. c tnh ng hc ca qu trnh ny c biu din di dng cc c
tnh thi gian.
Lun vn thc s k thut

13 Dng Mnh Ho

Trn c s hm qu ca qu trnh c th xc nh gn ng hm truyn
t ca n. Do qu trnh c hai loi c bn l qu trnh c tnh t cn bng v
qu trnh khng c tnh t cn bng nn thng vic xc nh hm truyn t
cho hai loi ny cng khc nhau.
* Qu trnh c tnh t cn bng
Dng tng qut ca hm truyn t ca qu trnh c tnh t cn bng c
m t nh sau:
P
s
P P 0
G (s) K .G (s).e
u
=

Trong :
K
P
- h s truyn ca qu trnh
u
P
- thi gian tr, cn gi l tr vn chuyn.
m m 1
0 1 m 1
0 n n 1
0 1 n 1
b s b s ... b s 1
G (s) vi m n
a s a s ... b s 1
+ + + +
= s
+ + + +

Qu trnh gm hai khu mc ni tip nhau l: Khu tr c hm truyn t
P
s
e
t
v khu tnh c hm truyn t K.G
0
(s).
Trong thc t khu tnh c th c ly gn ng mt trong 4 dng sau:
khu qun tnh bc nht, khu qun tnh bc nht c tr, khu bc hai v bc hai
c tr.
- Khi khu tnh l khu qun tnh bc nht th qu trnh c hm truyn t
dng:
G
0
(s).K
P
p
s
e
u

G
P
(s)
Process
Hnh 1.3: Hm truyn ca qu trnh c tnh t cn
bng
Lun vn thc s k thut

14 Dng Mnh Ho

P
s
P
P
P
K
G (s) e
1 s
u
=
+ t

- Khi khu tnh l khu qun tnh bc nht c tr th qu trnh c m t
bng hm truyn t dng:
P
( )s
P
P
P
K
G (s) e
1 s
u+u
=
+ t

Trong : u c gi l tr dung lng.
- Khu tnh c hm bc hai v bc hai c tr thng t gp hn trong cc
bi ton iu khin.
* Qu trnh khng c tnh t cn bng
Qu trnh m trong cu trc ca n c thnh phn tch phn th s khng
c tnh t cn bng. Hm qu ca n tin xa v cng. Hm truyn t ca cc
qu trnh khng c tnh t cn bng c m t di dng tng qut nh sau:
P
s
P P 0
1
G (s) K .G (s).e
s
u
=

Trong : K
P
- h s truyn ca qu trnh
u
P
- thi gian tr
G
0
(s) - hm truyn t ca thnh phn tnh c dng tng qut:
m m 1
0 1 m 1
0 n n 1
0 1 n 1
b s b s ... b s 1
G (s) vi m n
a s a s ... b s 1
+ + + +
= s
+ + + +

G
0
(s).K
P
p
s
e
u

G
P
(s)
Process
Hnh 1.4: H m truyn ca qu trnh khng c tnh t
cn bng
1
s

Lun vn thc s k thut

15 Dng Mnh Ho

Trong thc t hm truyn t ca qu trnh khng c tnh t cn bng
c m t gn ng bng mt trong 4 dng sau:
- Khu tch phn n thun:
P
P
1
G (s)
s
=
t

- Khu qun tnh tch phn:
P
P
P
K
G (s)
(1 s)s
=
+ t

- Khu tch phn c tr:
P
s
P
P
1
G (s) e
s
u
=
t

- Khu qun tnh tch phn c tr:
P
s
P
P
P
K
G (s) e
(1 s)s
u
=
+ t

1.2. cu trc c bn ca h iu khin qu trnh

Hnh 1.5 cu trc c bn ca h iu khin qu trnh

1.2.1. C cu chp hnh
1.2.1.1. Van
*Van tit lu:
Lun vn thc s k thut

16 Dng Mnh Ho

L van iu khin lu lng c minh ho trn hnh 1.4. y l mt
dng van kim vi u cn c th iu chnh c lu lng i n xi lanh
hay ng c thu lc. Chnh v vy c th iu khin c tc ca xilanh
thu lc. Nhc im ca van ny l khi ti tng, tc ca pittng trong xilanh
gim lm cho p tng. Chnh lch p t bm v u ra ca van kim gim dn
n lu lng gim. gi cho tc pittng khng i phi tng p ca bm.
khc phc nhc im ny ngi ta thit k ra loi van tit lu cn bng p
hnh 1.6

Khi c ti ln p trn u ca van tng, y con trt xung di v m
rng ca vo cho cht lng, cho lu lng qua van kim nhiu hn. Nh vy
chnh lch p c m bo v tc dch chuyn ca pittng khng thay i.
* Van servo
L van c nhiu bc khuych i, m bc cui cng l cc van con trt.
Van servo c ba loi: van servo con trt, van tm chn v van vi phun. Cc
van ny c cu to c bit hn cc van thng thng ch bn trong n c h
P
1

Hnh 1.5: Van tit lu
Hnh 1.6: Van tit lu cn bng
p
Lun vn thc s k thut

17 Dng Mnh Ho

thng t iu chnh c th t v tr chnh xc v t tc yu cu. Van
servo c hai tng (hnh 1.7). Tng th nht l van li hng dng cht lng n
con trt. Chuyn ng ca con trt chnh c iu khin bi mmen ko do
c cu quay gn vi con trt sinh ra. C cu quay c th c ni vi tm chn
ng hay m cc ca, lm cho p lc y con trt thay i v tr theo tn
hiu iu khin. i vi van servo tm chn v van servo vi phun th lu lng
qua van t l vi p sut ra.
A
P
P B
Con tr-t iu khin
Con tr-t chnh
C cu y ko

Hnh 1.8 m t cu to ca van servo tm chn. Tm chn nm gia hai
vi phun gn vi hai ng cp du vo con trt chnh. Khi c cu ko y y
tm chn v pha no th p lc pha y tng ln, y con trt v pha p thp.
Khi van v tr khng lm vic th hai vi phun y tm chn v v tr cn bng.
Vi phun
Tm chn
Hnh1.8: Van servo tm chn
Vi phun
Lun vn thc s k thut

18 Dng Mnh Ho

1.2.1.2. ng c in v cc c cu in t
ng c in l thit b bin i in nng thnh c nng (chuyn ng
trn xoay). Phn quay ca ng c c gi l roto hay phn cm. Roto thng
khng cn ni vi ngun in. Trn rto c th c dy dn hay nam chm vnh
cu hoc hp kim c bit tu theo t tnh ca chng. Mt s roto c cun dy
bng ng ni vi ngun in bng cc vng trt. Thit b khng ch chiu
dng in qua rto cn gi l c gp. C gp c cc cp chi than lp c nh
trn v ng c, dn in n phn chuyn ng ca n. Rto c trn cc
bi. Cc bi hng knh l loi thng dng, cn phi c bi trn nh k. Mt
s ng c nh s dng bc ng bi trn bng du thay cho cc bi.
Phn ng yn ca ng c hay cn gi l stato cp t trng chnh
lm ng c hot ng. T trng ny c th to ra bi cc nam chm vnh cu
hoc nam chm in. Phn ln cc ng c ch cn ni vi in li l c th
hot ng c. Mt s ng c c chnh xc cao thng phi c mt thit b
i km l thit b iu khin ng c. Trong s c hai loi sau:
- ng c c tc , v tr v mmen ko cn c iu khin chnh xc.
- Cc ng c cng sut ln, phi khi ng tng bc dng xung kch
khng ph hng ng c.
Trong cc h thng t ng th tn hiu iu khin n thit b iu khin
ng c nhm t tc hay v tr yu cu. Tn hiu iu khin l tn hiu tng
t mt chiu t thit b iu khin rbt, PLC, thit b iu khin trm hay my
tnh ch.
Cc ng c s dng iu khin v tr v tc c km theo bn trong
n cc cm bin v tr v tc c gi l ng c servo.
1.2.2. Cc cm bin:

Lun vn thc s k thut

19 Dng Mnh Ho

Trong tt c cc h thng t ng, thit b tip nhn thng tin v din bin
ca mi trng v v din bin ca cc i lng vt l bn trong h thng c
gi l cm bin (sensor).
1.2.2.1. Cc cm bin o nhit
* Cp nhit in
L cm bin o nhit , chuyn tn hiu nhit sang tn hiu in da
trn hin tng nhit in. Khi c s chnh lch nhit in hai u ni ca hai
dy dn bng kim loi khc nhau lm xut hin mt sc in ng. Nhit
tng lm tng sc in ng (in p) ra trn cp kim loi cu to nn n.
thun tin cho ngi s dng cc cp nhit in c ch to sn di dng cc
can nhit in. Min o ca can nhit in ph thuc vo vt liu ch to. i
vi can nhit ng/vng-cban c th o c t -
270
0
C n 2700
0
C.
Can nhit in c s cu trc c m t
trong hnh 1.9. u lm vic 1 ca hai dy in
cc nhit c hn cht vo nhau. Cc dy in
cc c lng vo trong ng cch in 2. Hai u
5
3
2
1
6
7
4
Hnh 1.9: Can nhit
in
Lun vn thc s k thut

20 Dng Mnh Ho

t do ca hai dy in cc nhit c gn cc ct ni 3 thun tin cho vic ghp
ni vi bn ngoi. V bo v 4 ngn cn s xm thc ca mi trng o ln cc
dy in cc nhit. V bo v 4 c gn cht ln u ni 5 ca can nhit in.
H thng hai dy in cc, ng cch in 2 v ct ni 3 cng c gn cht ln
u ni 5 qua tm lt cch in 6. Tm lt cch in 6 cn ng vai tr ngn cn
nc xm nhp vp trong lng can nhit in, 7 l np y. Can nhit in ch
to nhiu loi khc nhau. Chiu di ca can cng rt a dng p ng c nhu
cu s dng. Can nhit in c chiu di ln nht l 2m. ng knh dy in
cc nhit ln nht l 3mm
o c nhit th u t do ca cp nhit in phi c nhit n
nh, cch xa cc b mt c t nng. Thng thng u t do ca cp nhit
in phi a v phng iu khin trung tm ghp ni vi thit b o qua dy
dn b.
S h thng ni cp nhit in vi thit b o trong cng nghip:

* Nhit in tr (Thermistor)
L loi cm bin nhit m khi nhit tng th in tr li gim. Nhit
in tr c phn gii cao hn phn gii ca in tr kim loi khong 10
ln. Cc nhit in tr thng thng c ch to t cc xit bn dn a tinh th.
Min o ph thuc vo loi nhit in tr, c th t -273
0
C n 300
0
C.
1.2.2.2. Cc cm bin o p sut v lu lng
* Cm bin o p sut
o p sut l o lc tc dng trong mi trng n hi. Cc cm bin p
sut o chnh lch p sut gia hai vng k cn nhau. Thng l mt mi trng
TB
CN
Dy dn b t
0

t
A
B
e
AB
(t)
A
1

B
1

e
A1B1
(t)
Lun vn thc s k thut

21 Dng Mnh Ho

cht lng v mt l mi trng khng kh. Cc cm bin p sut o kh nng m
p sut vng o c th lm chuyn dch ti trng gi n li trong mi trng
khng kh. C mt s cm bin p sut c hai u vo ni hai ngun p sut
khc nhau o chnh lch p. cc cm bin s dng dng phn t bin dng
thng dng nh ng bourdon, mng n hi, hp bin dng, l xo ng dng sng
hay ng hnh tr c th ch th trc tip p sut trn cc thang khc vch, ni
cch khc cc phn t ny th hin mt dch chuyn v tr tng ng vi p
sut.

Khi s dng trong h thng t ng bt buc cc cm bin loi ny phi
trang b thm c cu chuyn i tn hiu v tr thnh tn hiu p lc tng ng.
Cu trc ca mt h thng o p sut t ng c m t trong hnh 1.10.

H thng gm ba thnh phn: cm bin o, chuyn i o v ch th o.
Vai tr cm bin o l nhn tn hiu p sut P v chuyn i sang dng tn hiu
khc. Phn ln cc cm bin o p sut u c tn hiu ra di dng dch chuyn
c hc. Chuyn i o lm nhim v chuyn dch chuyn c hc sang dng
tn hiu in hay tn hiu p sut kh nn truyn v cho thit b ch th o
thng t phng iu khin trung tm.
* Cm bin o lu lng theo gim p thay i
Mt trong nhng phng php kh ph bin o lu lng dch th cht
kh v hi qu nhit chy trong ng ng l hiu p sut hai bn thit b thu
hp. Thit b thu hp ng vai tr cm bin o, c t trong ng ng to
Cm bin o Chuyn i
o
Ch th o

p u
n
Hnh1.10: Cu trc h thng o p sut t ng

Lun vn thc s k thut

22 Dng Mnh Ho

nn im tht dng chy cc b trong ng ng dn. Nh vy ti v tr t thit
b thu hp tc ca dng chy tng ln. ng nng tng s dn n th nng
ca dng chy gim xung. Ti vng t thit b thu hp s c hin tng
chuyn i th nng sang ng nng ca dng chy. Trc thit b thu hp p
sut t ngt tng, sau khe hp p sut t ngt gim. Hai bn thit b thu hp s
xut hin p sut AP ph thuc vo lu lng ca dng chy.
V Lu lng: q K. P = A
Trong K ph thuc vo thit din khe h.
H thng o lu lng theo gim p thay i bao gm: cm bin o l
thit b thu hp chuyn tn hiu lu lng q sang hiu p sut AP. Thit b
chuyn i II chuyn tn hiu hiu p sut AP sang tn hiu dng chun in p
mt chiu (0 5mA; 0 20mA; 4 20mA). u im ca tn hiu dng l c th
truyn i xa m khng b tn tht trn ng dn. Phn t th 3 trong h thng
l b x l tn hiu III. B x l ny thc hin chc nng u tin l chuyn tn
hiu dng nhn c sang tn hiu p chun (0 5V hoc 1 10V mt chiu).
Bc th hai l xc nh gi tr lu lng tc thi q trn c s in p U v cc
thng s cc cng thc tnh lu lng. ng thi n cng tnh tng lng vt
cht chy qua ng ng theo cng thc tch phn:
Q qdt =
}

Cc gi tr q v Q c hin th bng s trn bng s.

1.2.3. Cc cm bin p lc:
* Load cell
Load cell l cm bin c thit k ring bit o lc. Cu to ca n
gm mt thanh dm c dn 4 cm bin o bin dng (4 in tr tenzo) ti nhng
v tr bo m gn nh chnh xc tuyt i l khi thnh dm bin dng th hai
Lun vn thc s k thut

23 Dng Mnh Ho

cm bin chu bin dng ko c cng in tr (R - AR) v hai cm bin cn li
chu bin dng nn c cng in tr (R - AR). Load cell c ch to rt nhiu
loi vi nhng gii hn khc nhau. Trong gii hn lm vic c tnh ca load
cell c xem l tuyn tnh. Khi s dng load cell cn phi bit gii hn o, cc
iu kin lm vic, in p ngun cung cp v nhy ca load cell.
1.3 c im iu khin qu trnh gia nhit
Qu trnh gia nhit l mt bi ton tiu biu ca iu khin qu trnh . c ng
dng rng ri trong cc nh my ho cht , cng ngh thc phm ung vv .

Minh ha sch lc iu khin qa trnh gia nhit . Nhit ra ca dng
qu trnh c thit b o v chuyn i a ti b iu khin nhit . Da
vo sai lch gia gi tr t v nhit o c, b iu khin a ra tn hiu
iu chnh b m van cp nc qua iu chnh li nhit ra. Nguyn l
iu khin qu trnh gia nhit c gii thch mt cch s lc nh sau. Gi s
v mt l do no m nhit ra o c nh hn gi tr t, v d o gi tr
t hoc lu lng dng qu trnh tng ln, b iu khin s a ra tn hiu iu
khin tng lu lng hi nc. Thut ton iu khin n gin nht l a ra
tc ng iu khin t l vi sai lch quan st c :

) (
2
T T k
SP c s
= Ae

Lun vn thc s k thut

24 Dng Mnh Ho

Tt nhin, gi tr lu lng cn b thm s c biu din qua tn hiu iu
khin a xung van. Nhit chnh lch cng ln, tn hiu iu khin cng
cng ln, van iu khin m cng nhiu v lu lng nc s cng c tng
ln. Chng no cn tn ti sai lch iu khin th lu lng nc cn c thay
i. Nh vy sau mt thi gian nhit u ra c a ti gn vi gi tr t .
Trng hp ngc li, khi nhit u ra ln hn gi tr t cng c s l
cng thut ton, khng cn phn bit.
Trong cu hnh iu khin mt bc t do, b iu khin thc hin lut iu
khin da trn sai lch gia gi tr quan st c ca bin c iu khin vi
gi tr t. V d, lut t l trong thut ton PID a ra cc gi tr bin iu khin
t l vi sai lch iu khin, lut tch phn da trn gi tr tch phn v lut vi
phn da trn o hm ca sai lch iu khin. B iu khin ch tnh ton u
ra ca n da theo sai lch, khng phn bit sai lch l do nhiu qu trnh hay
do thay i gi tr t gy ra. Ni cch khc, trong hu ht trng hp ta kh c
th chnh nh b iu khin tha mn ng thi yu cu p ng bm gi tr
t v p ng loi b nhiu. Vn ny s c phn tch su hn sau ny.
1.4.Kt lun
chng 1 chng ta a ra c khi nim chung v iu khin qu
trnh, cc c im tnh cht ca h iu khin qu trnh. Bc u xy dng
c cu trc c bn ca h iu khin qu trnh bao gm thit b iu khin ,
thit b o v c cu chp hnh . gii thiu c mt s cc thit b in hnh.
Vn t ra l c nhng phng php iu khin no thc hin iu khin
qu trnh mt cch ti u nht .Vn ny s c gi quyt trong chng 2

Lun vn thc s k thut

25 Dng Mnh Ho

Chng 2: tng quan v cc phng php
iu khin hin i iu khin qu trnh
2.1.t vn
Bt c mt h thng iu chnh no cng i hi chnh xc tn hiu iu
khin trong ch xc lp, ta xc lp v qu . Trong thc t c nhiu cc
phng php i khin qu trinh song ta s i vo nghin cu mt s cc
phng php iu khin c bn v hin i t tin hnh phn tch cc u
nhc im ni bt ca phng php iu khin v la chon phng php iu
khin nng cao cht lng h iu khin qu trnh
2.2.Cc phng php iu khin c bn
2.2.1 iu khin truyn thng

2.2.1.1Cu trc c bn v b iu khin l tng.
Cu trc tng qut ca iu khin truyn thng c minh ha trn hnh 2.1.
B iu khin
truyn thng
Qu trnh
bin iu
khin
bin ch o
(gi tr t)
nhiu qu trnh
bin cn
iu khin
Hnh 2.1 Cu trc tng qun ca iu khin truyn thng

c im c bn ca iu khin truyn thng l s bin nhiu qu trnh
c o v a ti b iu khin. Da trn cc gi tr o c cng vi gi tr
t, b iu khin tnh ton a ra gi tr cho bin iu khin. Nu c tnh p
Lun vn thc s k thut

26 Dng Mnh Ho

ng ca qu trnh vi bin iu khin cng nh vi nhiu bit trc, b iu
khin c th thc hin thut ton b trc sao cho gi tr c iu khin ng
bng gi tr t.
Hai cu trc thc hin c th c minh ha qua s khi trn hnh 2-2,
trong cc m hnh thng thng c a ra di dng hm truyn t. V
mt l thuyt, hai cu hnh c th c coi l tng ng. i vi cu hnh
song song ( hnh 2-2a) , lun iu khin c biu din trn min Laplace l:
d K Kr u
d
+ =
(2.4)
K
d
K
+
+
G
G
d
+
+
Qu trnh B iu khin
u
d
y
G
d
-
+
G
G
d
+
+
Qu trnh B iu khin
u
d
y
K
r
a) Cu hnh song song
b) Cu hnh ni tip
K hiu
r bin ch o, gi tr t
y bin - c iu khin
u bin iu khin
d nhiu qu trnh
G m hnh i t- ng
G
d
m hnh nhiu
K khu truyn thng
K
d
khu b nhiu
Hnh 2.2 Cu trc tng qun ca iu khin truyn thng

Ta c th nhn thy mt iu th v l s i xng gia m hnh qu trnh
b iu khin. Tng ng vi hai thnh phn G v G
d
ca m hnh qu trnh,
iu khin truyn thng cng bao gm hai khu l khu truyn thng K v
Lun vn thc s k thut

27 Dng Mnh Ho

khu b nhiu G
d
. Khu truyn thng c nhim v to s cn bng gia bin
iu khin i v gi tr t r cho trng hp khng c nhiu, trong khi khu nhiu
c nhim v loi b nh hng ca nhiu qu trnh o c. D thy, c p ng
l tng y = r b iu khin phi c :

{

Vy, gi s hm truyn t K(s)= G
-1
(s) kh thi, h thng s cho p ng
y=Gu+G
d
d=G(Kr+K
d
d)+G
d
d=G(G
-1
r G
-1
G
d
d)+G
d
d=r (2.6)
Phn chung ca khu truyn thng v khu b nhiu cng chnh l nghch
o ca m hnh i tng. Mt iu kh th v l mi b iu khin l tng (
b iu khin truyn thng cng nh b iu khin phn hi ) thng cha bn
trong nghch o ca m hnh i tng. Nh vy, khi K(s) = G
-1
(s) tn ti
v kh thi, cu hnh th hai hon ton tng ng vi cu hnh th nht. Song
ni chung cu hnh th nht tng qut hn v d thc thi hn.

2.2.1.3 Cc tnh cht ca iu khin truyn thng

u im quan trng nht ca iu khin truyn thng l kh nng loi b
nhiu trc khi n kp nh hng xu ti qu trnh. Song, nhc im ln nht
ca iu khin truyn thng l cn phi bin r thng tin v qu trnh v nh
hng ca nhiu. Nh ta thy, khi m hnh qu trnh hon ton chnh xc v
hm truyn t G
-1
(s) kh thi, b iu khin truyn thng l tng s cho bin ra
cn iu khin y bm cht ch o r. Tuy nhin, m hnh i tng v m hnh
nhiu khng bao gi chnh xc, khng phi nhiu no cng o c, nn sai lch
s p p
T T C e e = ) (
1 2

s p p
T T C e e = ) (
1 2

Lun vn thc s k thut

28 Dng Mnh Ho

tnh bao gi cng tn ti. Thc t, b iu khin l tng bao gi c tnh kh thi.
Quan trng hn na, mt b iu khin truyn thng kh nng n nh mt qu
trnh n nh. Nhng vn ny s c lm r di y.
Sai lch m hnh
B iu khin truyn thng bao gi cng c tnh ton da trn m hnh
qu trnh. Mt m hnh d chi tit v chnh xc u cng lm ch l xp x
ca i tng thc. Gi s hm truyn t thc ca i tng l G
*
= G + G,
trong G l sai lch m hnh. S dng b iu khin truyn thng l tng,
p ng ra ca qu trnh vi bin ch o ( gi thit d = 0 ) nay tr thnh
y = G
*
u = (G + G)G
-1
r= r+GG
-1
r (2.7)
Sai lch iu khin e = G.G
-1
r t l vi gi tr t v sai lch m hnh.
Tng t nh vy, gi s hm truyn t thc t nhiu ti u ra l
G
*
d
= G
d
+ G
d
, p ng ra ca qu trnh s l
y = GG
-1
(r- G
d
d)+(G
d
+G)d= r+Gd (2.8)

Phng trnh (2.8) cho thy, b iu khin truyn thng l tng khng c
kh nng lm gim nh hng ca sai lch m hnh i tng cng nh sai lch
m hnh nhiu ti cht lng iu khin. iu ny cng hon ton ng cho
nhng b iu khin truyn thng khng phi dng l tng. Ni mt cch khc
b iu khin truyn thng kh nhy cm vi sai lch m hnh qu trnh.

Nhiu khng o c
Trong bt k mt qu trnh no cng tn ti nhiu ngun nhiu. Ngay trong
lc xy dng m hnh ta thng a ra mt s gi thit n gin ha. Nhng
yu t b qua cng vi sai s ca php o u c coi l nhiu khng o
c. v d trong bi ton iu khin thit b gia nhit, cc yu t c b
qua bao gm tn nhit ra bn ngoi, nhit qu nhit ca hi nc v nhit
ca nc ngng t; php o lu lng v o nhit cng c coi l khng c
sai s. Ngay c khi tt c cc bin nhiu c xt ti th khng phi mi bin
Lun vn thc s k thut

29 Dng Mnh Ho

nhiu u c o, cha ni l c c o hay khng bi vn chi ph thit b.
nh hng ca chng c th thy r qua p ng u ra nh sau :
y= Gu + G
d
d + G
d2
d
2
= r + G
d2
d
2

Trong d
2
l nhiu khng c o v G
d2

l hm truyn t t d
2
ti y.
Nh vy sai lch iu khin s lun khng tn ti ngay c khi G v G
d
u l
chnh xc. Ti t hn na nu G
d2
khng n nh th ton h thng cng s mt
n nh. Tnh cht ny cng l tng qut cho mi b iu khin truyn thng ch
khng phi cho ring dng l tng.
Tnh kh thi ca b iu khin l tng
i vi cc qu trnh thc, hm truyn t dng l tng K(s) = G
-1
(s) s
khng c tnh nhn qu v hai l do sau y :
- qu trnh cha thnh phn tr ( trong thc t kh trnh khi)
- G(s) lun l mt hm truyn t hp thc cht, tc bc a thc t s nh
hn a thc mu s.
V d vi m hnh i tng
s
e
s s
s
s G

+
+
=
2
1
1
) (

b iu khin l tng s cha khu phi nhn qu :
s
e
s
s s
s K
+
+
=
1
1
) (
2

buc ta phi s dng mt thut ton xp x mi c th thc thi. Phng
php n gin nht l chn K = G
-1
(0) , b iu khin s tr thnh mt khu b
tnh. Khi ta c th quan tm ti quan h gia cc i lng trng thi xc
lp, hay ni cch khc l ch xt ti c tnh tnh m b qua c tnh qu ca
qu trnh. Trong v d trn K s c chn bng 1.
Mt cch gii quyt hay hn l trc khi tin hnh xp x, ta biu din b
iu khin truyn thng di dng song song nh trn hnh 2-2a :
d G G r G u
d
1 1
=
(2.10)
Lun vn thc s k thut

30 Dng Mnh Ho

Lut iu khin c chia thnh 2 thnh phn : b gi tr t u
r
v b nhiu
u
d
. Nh vy mc d G
-1
khng c tnh nhn qu v khng cn xp x. Khi ta
c mt khu b nhiu ng thc s, vi iu kin trong php nhn G
-1
G
d
khng
xy ra trit tiu cc im cc khng n nh. Nu khng, t nht trong vic thc
hin xp x G
-1
G
d
y cng mang li chnh xc cao hn cho thnh phn bu
nhiu. Ring i vi thnh phn b gi tr t, ngay c khi G
-1
khng c tnh
nhn qu th thut ton vn c th ci t trn my tnh nu qu o t r bit
trc. Trong trng hp tng qut, qu o r cha th bit trc th vic xp x
G
-1
thnh mt khu b tnh ch lin quan ti thnh phn b gi tr t.
Tnh n nh ca b iu khin l tng
Mt trng hp ta cn c bit lu tm l khi i tng c c tnh p ng
c, tc l khi G c im khng nm bn phi trc o. nhng im khng ny
s tr thnh im cc khng n nh ca khu n nh G
-1
. Khi b iu khin
l tng ngay c khi thc thi c th tnh n nh ni ca h thng khng cn
c m bo. bin cn iu khin bm theo gi tr t, tn hiu iu khin s
phi lin tc tng hoc gim khng c gii hn, khng th chp nhn c trong
thc t. Nhng nu s dng mt khu hn ch tn hiu iu khin th b iu
khin thc ra khng cn l l tng v cht lng cng s hon ton khng nh
mong i. Cch khc phc duy nht t l xp x b iu khin v mt khu
n nh, v d mt khu b tnh nh ni trn y.
V d 2-1 : Cho hm truyn t ca i tng
s
s
s G
+
=
1
1
) (
(2.11)
ta s c
s
s
s G s K
+
= =

1
1
) ( ) (
1
(2.12)
Trn hnh 2-3 l th c tnh iu khin vi thay i gi tr t ti t = 5s
cho 3 trng hp : i) s dng b iu khin khng n nh(2.12), ii) s dng b
iu khin (2.12) nhng vi khu hn ch gi tr [-1 1] v iii) s dng khu b
Lun vn thc s k thut

31 Dng Mnh Ho

tnh G
r
=1. C th thy, ch khu b tnh cho cht lng tm chp nhn c.
ng c tnh tn hiu iu khin cho trng hp i) cho thy h mt n
nh ni. Ngay c khi s dng mt khu hn ch tn hiu cho b iu khin
khng n nh, gi tr bin cn iu khin thm tr li hon ton ngc du vi
gi tr t.
1
0.5
0
-0.5
-1
2 4
6 8 10
0
C
o
n
t
r
o
l
e
d

O
u
t
p
u
t

y
Times (sec)
a) p ng u ra
1
0.5
0
-0.5
-1
2 4
6 8 10
0
C
o
n
t
r
o
l
e
d

I
n
p
u
t

u
Times (sec)
b) p ng u ra
Hnh 2.3 c tnh iu khin cho v d 2-1
i) b iu khin khng n nh
ii) b iu khin khng n nh, hn ch u ra
iii) b iu khin xp x (b tnh)

i tng khng n nh
Mt b iu khin truyn thng khng c kh nng n nh mt qu trnh
khng n nh. Ngay c khi tn ti b iu khin l tng vi hm truyn t
G
-1
(s) kh thi th cng ch c tc dng trit tiu im cc khng n nh ca
G(s), nhng khng v th m m bo c tnh n nh ni ca h thng. Ch
cn nhiu u vo d
u
rt nh cng lm p ng u ra tin ti v cng:
y = G(u+d
u
) +G
d
d = Gd
u
(2.13)
Ta xt tip v d iu khin bnh mc minh ha trn hnh 2-4.
Lun vn thc s k thut

32 Dng Mnh Ho

FT
SP
Hnh 2.4 iu khin mc sch l- c truyn thng (b nhiu).

Thot u c th thy rng ch cn duy tr lu lng vo ng bng lu
lng ra th mc cht lng s c gi c nh trong bnh. Tuy nhin, tc ng
ca nhiu c th s lm sch lc ny khng t c mc ch nh mong
mun. V d, Ch cn bt c mt nguyn nhn no sau y nh cm bin o lu
lng ra c sai s d l nh nht, cn iu chnh lu lng vo khng c c
tnh l tng hay p sut dng chy thay i iu dn n vic trn bnh hoc
cn bnh sau mt thi gian ngn. Bn cht ca vn y nm ch, qu trnh
bnh mc l mt khu (khng c tnh t cn bng), trong khi iu khin truyn
thng khng lm thay i tnh n nh ca h thng. Mt sai lch nh trong m
hnh hoc mt tc ng nh ca nhiu khng nhng gy sai lch tnh ca h
thng, m cn cho h i ti trng thi mt cn bng.
2.2.2 iu khin phn hi

iu khin phn hi (feedback control) da trn nguyn tc lin tc o (
hoc quan st) gi tr bin c iu khin v phn hi thng tin v b iu
khin tnh ton li gi tr ca bin iu khin. V cu trc khp kn ny sch
lc iu khin phn hi cn c gi l iu khin vng kn (close loop
control) trong cc sch lc iu khin, iu khin phn hi ng vai tr quan
Lun vn thc s k thut

33 Dng Mnh Ho

trng hng u. iu khin phn hi c s dng gn nh trong tt c cc h
thng iu khin t ng.

2.2.2.1 iu khin thit b gia nhit hi nc

Hnh 2-5 minh ha sch lc iu khin phn hi cho thit b gia nhit hi
nc trn lu P&ID (a) v trn s khi (b). Nhit ra ca dng qu trnh
c thit b o v chuyn i TT (temperature transmitter) a ti b iu
khin nhit TC ( temperature controller ). Da vo sai lch gia gi tr t (
SP) v nhit o c, b iu khin a ra tn hiu iu chnh b m van cp
hi nc qua iu chnh li nhit ra. Nguyn l iu khin phn hi c
gii thch mt cch s lc nh sau. Gi s v mt l do no m nhit ra
o c nh hn gi tr t, v d o gi tr t hoc lu lng dng qu trnh
tng ln, b iu khin s a ra tn hiu iu khin tng lu lng hi nc.
Thut ton iu khin n gin nht l a ra tc ng iu khin t l vi sai
lch quan st c :
) (
2
T T k
SP c s
= Ae
(2.14)
Tt nhin, gi tr lu lng cn b thm s c biu din qua tn hiu iu
khin a xung van. Nhit chnh lch cng ln, tn hiu iu khin cng
cng ln, van iu khin m cng nhiu v lu lng hi nc s cng c
tng ln. Chng no cn tn ti sai lch iu khin th lu lng hi nc cn
c thay i. Nh vy sau mt thi gian nhit u ra T c a ti gn vi
gi tr t T
SP
. Trng hp ngc li, khi nhit u ra ln hn gi tr t cng
c s l cng thut ton, khng cn phn bit.
Lun vn thc s k thut

34 Dng Mnh Ho

T
2
Hi n- c ws
T
Hnh 2.5 iu khin thit b gia nhit hi n- c
Dng qu trnh
B gia nhit
B K
w
p
T
1
ws
T
2
T
sp
a) L- u P&ID
b) S khi
FT
TC
w
p
,T
1

2.2.2.2 Cu trc c bn

Cu trc tng qut ca mt h thng iu khin phn hi c minh ha
trn hnh 2-6. C th ni, hu ht cu hnh iu khin u c th a v dng
ny k c iu khin phn hi trng thi, iu khin thch nghi v iu khin d
bo
G
K
w
z
y
u
K hiu
G m hnh tng qut
K b iu khin tng qut
w cc u vo qu trnh(gm c nhiu o)
z Cc u ra cn - c km sot
y Cc u vo b bin i
u cc tn hiu iu khin
Hnh 2.6 Cu trc tng qut ca iu khin phn hi

Theo m hnh. Hai cu hnh iu khin phn hi thng dng c minh ha
trn hnh 2-7. Trong cu hnh iu khin mt bc t do, b iu khin thc hin
lut iu khin da trn sai lch gia gi tr quan st c ca bin c iu
khin vi gi tr t. V d, lut t l trong thut ton PID a ra cc gi tr bin
Lun vn thc s k thut

35 Dng Mnh Ho

iu khin t l vi sai lch iu khin, lut tch phn da trn gi tr tch phn v
lut vi phn da trn o hm ca sai lch iu khin. B iu khin ch tnh
ton u ra ca n da theo sai lch, khng phn bit sai lch l do nhiu qu
trnh hay do thay i gi tr t gy ra. Ni cch khc, trong hu ht trng hp
ta kh c th chnh nh b iu khin tha mn ng thi yu cu p ng
bm gi tr t v p ng loi b nhiu. Vn ny s c phn tch su hn
sau ny.

K hiu
R bin ch o, gi tr t G M hnh i tng
y bin c iu khin G
d
m hnh nhiu
u bin iu khin K khu iu chnh
d nhiu qu trnh K
d
khu truyn thng
Lun vn thc s k thut

36 Dng Mnh Ho

n nhiu o
y
m
gi tr o c
Hnh 2-7 Hai cu hnh iu khin phn hi thng dng
Vi cu hnh hai bc t do, b iu khin cha hai khu tng ng vi hai
u vo, c th chnh nh mt cch c lp a ra p ng cc yu cu rin
v bm gi tr t cng nh loi b nhiu. V bn cht, cu hnh iu khin hai
bc t do chnh l mt s kt hp ca iu khin phn hi vi iu khin truyn
thng, nh ta s c dp cp k hn trong nhng phn sau. i a s cc b
phn iu khin cng nghip iu cho php la chn cu hnh hai bc t do.

2.2.2.3 Vai tr ca iu khin phn hi

Mt cu hi c t ra thng xuyn l iu khin phn hi c vai tr
quan trng nh th no trong cc h thng iu khin qu trnh ni ring v
trong cc h thng iu khin t ng ni chung. C th tr li ngay rng iu
khin phn hi l sch lc iu khin c bn nht. khng th thay th trong hu
ht cc h thng iu khin. Nhng l lun di y ta s lm r iu ny.
n gin ta xt cu hnh iu khin mt bc t do minh ha trn hnh 2-
9a. p ng u ra ca h c biu din trn min Laplace nh sau :
y(s)=G(s)u(s) + G
d
(s)d(s)= G(s)K(s)(r(s)-y(s)-n(s))+ G
d
(s)d(s)
hay l
(1+ G(s)K(s))y(s)= G(s)K(s) )(r(s)-y(s)-n(s))+ G
d
(s)d(s)
B qua k hiu bin phc s cho d nhn, cui cng ta c th vit
d G
GK
n r
GK
GK
y
d
+
+
+
=
1
1
) (
1
(2.15)
Biu thc th hin mi quan h quan trng nht trong mi h thng iu
khin phn hi. Biu thc ny s c s dng trong cc phn tch di
y cng nh trong nhiu phn tch sau ny.
n nh h kn
Lun vn thc s k thut

37 Dng Mnh Ho

Vai tr n nh h kn ca h iu khin phn hi c minh ha mt cch
n gin nht qua v d iu khin mc bnh cha ( hnh 2-10). Thit b o LT
(Level tranmitter ) c nhim v o mc trong bnh cha, chuyn thnh mt tn
hiu chun v truyn v b iu khin. B iu khin LC ( Level controller) so
snh gi tr o c vi gi tr t mong mun (h
sp
) v tnh ton u ra t l vi
sai lch ny. Tn hiu iu khin c a ti van iu khin thay i m
van t l theo sai lch, nu gi tr o c thp hn gi tr t van s m nhiu
hn v lu lng vo F
i
s tng ln gip mc trong bnh cha tng tr li.
Thng thng, gi tr mc mong mun t khi thay i, nu b iu khin c
thit k tt th mc trong binhd s duy tr trong phm vi theo mun, ngay khi
lu lng ra F
0
thay i khng bit trc.
FT
Hnh 2.8 iu khin mc vi sch l- c phn hi
LIT
h
SP
F
0

Mt c im rt ng lu l y b iu khin phn hi ch cn s
dng thut ton t l rt n gin cng c th n nh gi tr mc trong bnh m
khng cn bt c thng tin no v m hnh qu trnh. iu ny ta thy l bt k
mt b iu khin truyn thng no cng khng th lm c. Hn na, vic n
nh mc trong bnh cng khng bao gi thc hin c bng tay, m ch c th
nh b iu khin t ng.
Lun vn thc s k thut

38 Dng Mnh Ho

Nh ta bit t c s iu khin t ng, iu kin n nh ca mt h
thng tuyn tnh l ton b im cc ca n phi nm bn tri trc o trn mt
phng phc, hay ni cch khc l c phn cc m. T biu thc (2.15 ) ta nhn
thy a thc c tnh ca h kn c quyt nh bi cng thc 1+GK. Gi s G
v K l cc phn thc hu t :
) (
) (
) ( ,
) (
) (
) (
s A
s B
s K
s A
s B
s G
c
c
= =

Ta s c :
c c
c
BB AA
AA
GK +
=
+ 1
1
(2.16)
a thc mu s trong (2.16) chnh l a thc c tnh ca h kn. Nh vy
Nu K c tnh ton thch hp s c tc dng di ton b cc im cc khng
n nh ( nu c ) ca G sang bn tri trc o v qua n nh h kn. Thc ra,
iu khin phn hi l cch duy nht n nh mt qu trnh khng n
nh.
Loi b nhiu bt nh
Biu thc 2.15 th hin r rng, b iu khin phn hi c tc dng lm
gim nh hng ca nhiu d i vi mt h s ( 1 +GK). Nh vy, ch cn K rt
ln th nh hng ca nhiu qu trnh s tr nn khng ng k khng ph thuc
vo vic nhiu qu trnh c o c hay khng cng nh m hnh nhiu G
d
co
bit trc hay khng. Trong trng hp tn hiu t dng bc thang mun trit
tiu sai lch bm trng thi xc lp ta ch cn c tnh bin
G(jw)K(jw)ln v cng ti tn s w = 0.
Bn vng vi sai lch m hnh
K hiu hm truyn t ca h kn l
GK
GK
T
+
=
1

Lun vn thc s k thut

39 Dng Mnh Ho

Gi s m hnh i tng G c sai lch cng G dn ti sai lch ca hm
truyn t h kn T, ta c th vit :
( )
S
GK T
G
GK
K
T
G
dG
dT
G dG
T dT
G G
T T
G
=
+
=
+
= = =
A
A
A
1
1
1 /
/
/
/
lim
2
0
(2.17)
Biu thc (2.17) ni ln rng, ch cn S rt nh th sai lch trong m hnh
i tng s nh hng rt t n hm truyn t kn. Ni cch khc, nu
c thit k tt th ngay c tn ti sai lch m hnh mt mc no b
iu khin phn hi vn c kh nng trit tiu sai lch iu khin. iu ny hon
ton khng th c c vi cc sch lc khc.
V d 2-2 : Xt v d iu khin mc bnh cha (hnh 2-10) ta bit rng qu
trnh mc l mt khu tch phn , mt hnh ca n c th hin qua phng
trnh vi phn:
) (
1
0
F F
A dt
dh
i
=

t cc bin chnh lch chun ha
max 0 max max
/ ) ( , / ) ( , / ) ( F F F d F F F u h h h y i
i
= = =

B qua ng hc ca thit b o mc v ca van iu khin ta c
s s u
s y
s G
t
1
) (
) (
) ( = =

) (
) (
) (
) ( s G
s d
s y
s G = =
(2.21)
Tht vy, a thc c tnh h kn xc nh theo (2.16) l k
c
+ s ch c mt
nghim m khi k
c
>0. Ni mt cch khc, b iu khin phn hi c dch
im cc t s = 0 sang bn tri trc o v lm h thng tr nn n nh. Ngay c
khi khng bit chnh xc v m hnh qu trnh trong thc t ngi ta vn thng
trn gi tr k
p
theo kinh nghim.
Lun vn thc s k thut

40 Dng Mnh Ho

Trn hnh 2-9 l th kt qu m phng p ng vi thay i gi tr t v
p ng nhiu cho ba h s k
c
khc nhau (2,5 v 10). Ti thi im t = 0 gi tr
t thay i t 0 ln 50% ( im lm vic). Ti thi im t= 50 pht lu lng ra
thay i t 0 ln 50 % v sau 5 pht li gim xun 0 nh ta thy gi tr k
c

cng ln th sai lch iu khin cng nh, u ra cng bm nhanh gi tr t cng
nh nh hng ca nhiu cng nhanh chng c loi b. Tuy nhin, tng thc
t ta cng cn ti gii hn ca tn hiu iu khin. Trong trng hp m
hnh l tng khng chnh xc, v d hng s thi gian T thc ln gp i gi tr
tnh ton th cht lng iu khin cng ch xu i tng ng vi trng hp
gim h s khuych i k
c
xung cn mt na ( v d 10 xung 5)
0.75
0.5
0.25
20 40
60
80 100
0
C
o
n
t
r
o
l
e
d

O
u
t
p
u
t

y
Times (min)
Hnh 2-9 M phng iu khin mc vi cc h s k
c
khc nhau
0

Tm li, ba l do c bn dn n vai tr khng th thiu c ca sch lc
iu khin phn hi l :
1. Mt qu trnh khng n nh ch c th n nh (ha) bng iu khin
phn hi nhm dch cc im cc sang na bn tri ca mt phng phc.
2.Khi nhiu khng o c hoc m hnh nhiu bt nh th nh hng ca
n ch c th trit tiu thng qua nguyn l phn hi.
Lun vn thc s k thut

41 Dng Mnh Ho

3. M hnh i tng khng chnh xc, do vy vic iu chnh tn hiu cn
iu khin ch c th thng qua quan st din bin u ra.
Lun vn thc s k thut

42 Dng Mnh Ho

2.2.2.4 Cc vn ca iu khin phn hi

Mc d l nn tng ca iu khin qu trnh, iu khin phn hi khng
phi khng c nhng hn ch. Th nht, n nh h thng l vn ring ca
iu khin phn hi. Mt b iu khin phn hi c th n nh cng c th tr
nn mt n nh. Trong biu thc dn dt 2.16 a thc c tnh A A
c
+ BB
c
rt
c th cha nghim nm trn hoc bn phi trc o. Nu b iu khin khng
c thit k cn thn, nht l khi m hnh qu trnh km chnh xc hoc bn
thn c tnh ng hc ca qu trnh thay i theo thi gian, h thng d dng i
ti mt n nh.
Th hai, t c cht lng iu khin phn hi tt nht th php o i
lng phn hi cn phi c chnh xc cn thit. Bn thn cc cm bin cng
chu tc ng ca nhiu o. Mt khi cc gi tr o c sai s ln th cht lng
iu khin khng cn c m bo nu nh khng c cc thut ton lc nhiu
thch hp. p ng ra trong (2.15) sai lch c xc nh l
e=r-y=Sr-SG
d
d+T
n
(2.20)

t c cht lng iu khin hon ho, ta mun c e = 0 trong mi
trng hp. Nh vy c ngha l c S v T u phi ng thi xp x 0. Nhng
iu khng bao gi t c bi quan h ging buc S +T = 1. May mn l
trong thc t gii tn ca tn hiu nhiu o n thng cao hn so vi gii tn ca
bin thin ch o r v ca nhiu qu trnh d. V vy mt trong nhng nguyn
tc c bn ca thit k iu khin phn hi l lm cho S(jw) 0 trong phm
vi tn s cao chu nh hng ca nhiu o v T(jw) 0 trong phm vi tn s
thp chu nh hng ca bin ch o v nhiu qu trnh. Tuy nhin, vic la
chn cc gii tn s ng dng c th khng phi bao gi cng hin nhin.
Th ba, mc d iu khin phn hi dung sai vi sai lch m hnh mt
gc no n khng th gii quyt hon ton c vn ny. Thc ra kh
m c mt b iu khin tt nu khng c mt m hnh tt, nht l vi nhng
qu trnh phc tp. Trong phn trn y ta ly mt v d iu khin tng i
Lun vn thc s k thut

43 Dng Mnh Ho

n gin l bnh mc. Nhng tht ra ngay c trong v d ny mt s yu t cng
b b qua, v d ng hc ca thit b o v ca van iu khin.
Th t, b iu khin phn hi lm vic theo nguyn tc phn ng c ngha
l ch khi nh hng ca nhiu th hin r trong gi tr bin c iu khin
th n mi tc ng tr li. Nhiu qu trnh c c tnh ng hc chm ( v d
cc qu trnh nhit, qu trnh chuyn khi hoc qu trnh phn ng), nh hng
ca nhiu ch sau mt thi gian kh ln mi c th quan st c. Nh vy trc
khi b iu khin kp a ra tc ng iu chnh th cht lng sn phm b
nh hng ri. Vn ny c th khc phc bng cch kt hp iu khin phn
hi vi b nhiu nh s cp k hn trong phn sau.
Mt im na cn phi nhn mnh l mc d iu khin phn hi c nhng
vai tr quan trng nh nu, vic thit k v chnh nh b iu khin ng
thi tha mn tt c cc yu cu t ra him khi l cng vic n gin, nu
khng ni l khng th thc hin c. Vn ny nm ch trong mi bi
ton lun c nhiu yu t rng buc. Cc ch tiu cht lng nhiu khi khng
ha ng c vi nhau i hi phi tha hip. Mi qu trnh li c nhng c
im phc tp ring nh p ng ngc, thi gian tr php o chm, tham s
bin thin, rng buc tn hiu iu khin,v th ngi k s cng cn phi
nm r kh nng cng nh gii hn cht lng m iu khin phi hi c th t
c.
2.2.3 iu khin t l

Trong rt nhiu ng dng iu khin qu trnh, gi tr ca mt bin cn iu
khin c quan h trc tip vi t l gia cc gi tr bin vo. iu khin t l (
ratio control ) l duy tr t l gia hai bin ti mt gi tr t nhm gin tip iu
khin mt bin th 3. Sch lc iu khin t l c p dng trong nhiu bi
ton khc nhau. V d qu trnh i chy i c hiu sut cao nht ta cn
duy tr t l gia lu lng nhin liu v lu lng khng kh mt gi tr thch
hp. Cng nh vy nu nhit ca cc dng vo mt thit b trao i nhit
Lun vn thc s k thut

44 Dng Mnh Ho

c coi l khng thay i th nhit ra trng thi xc lp ph thuc ch yu
vo t l cc lu lng vo.
2.2.3.2 Hai cu hnh iu khin t l
Thng thng, trong cc bi ton iu khin t l vi hai dng u vo th mt
dng c coi l nhiu v dng th hai c th can thip c, nhng lu ln
ca c hai dng u c o .Trong thc th c th xy c trng hp c hai
dng du kim sot c , nhng chc chn ta s s dng mt bc t do cho bi
ton diu khin khc , nh vy vi bi ton iu khin t l th mt dng vn
c coi l nhiu. Trn c s d , sch lc diu khin t l c th thc hin vi
hai cu hnh nh minh ha trn hnh 2-10.
Trong cu hnh a, t l lu lng ca hai dng c tnh ton v a ti b iu
khin t l RC(ratio controller) iu chnh li lu lng dng th hai( dng
c can thip). Trong trng hp ny, b iu khin t l ng vai tr l mt b
iu khin phn hi, vi gi tr phn hi l t l thc quan st c v gi tr
t(SP) l t l mong mun. Tt nhin, trong thc t ngi ta cng c th kt hp
khu chia vi b iu khin RC thnh mt b iu khin t l lu
lng FFC(flow flaction controll) duy nht. Nh vy, bin c iu khin
y l t l lu lng R=u/d, trong u v d ln lt l bin iu khin( lu
lng dng c can thip) v nhiu(lu lng dng khng kim sot) tnh bng
gi tr thc ch khng phi gi tr chnh lch so vi im lm vic. C th thy
nhc im ca cu hnh ny l tnh phi tuyn mnh trong quan h gia bin
iu khin v bin c iu khin. C th, h s khuch i ca qu trnh

d u
R
k
1
=
c
c
=
(2.23)

ph thuc gi tr nhiu.
Trong cu hnh b, lu lng ca dng th nht(dng khng kim sot)
c nhn vi t l t mong mun, kt qu l gi tr t cho b iu khin lu
Lun vn thc s k thut

45 Dng Mnh Ho

lng ca dng th hai(dng c can thip). y, bin c iu khin v
bin iu khin cng l lu lng ca dng c can thip, v th u im ca
cu hnh ny l tnh tuyn tnh ca i tng.
TC
1-1
I
RC
1
FC
1-2
Dng khng kim sot
T l thc
R
m
T l t
R
sp
u
m
Dng - c can thip
TC
1-1
RC
1
FC
1-2
Dng khng kim sot
u
sp
u
m
Dng - c can thip
x
T l t
R
sp
Hnh 2-10 hai cu hnh iu khin t l

Tng t cu hnh a, ta cng c th kt hp khu nhn vi b iu khin
lu lng thnh mt b iu khin t l lu lng FFC duy nht. Tuy nhin, khi
s khng cn chi tit c th phn bit gia hai trng hp. Trong thc t
ngi ta ch yu s dng cu hnh tnh gi tr t bi vic chnh nh cc tham
s cho b iu khin lu lng l kh n gin. Khi ci t b iu khin lu
lng cho cu hnh ny ta cn chn ch gi tr t t xa(remote setpoint).
Lu rng, trong c hai cu hnh cc bin iu khin v nhiu u c gi tr
thc ch khng phi gi tr chnh lch hay gi tr chun ha. V th, khi s
dng cc gi tr o chun ha(u
m
,d
m
) th t l dng cho tnh ton cng phi
c chnh thang tng ng theo di o ca hai lu lng k. C ngha l:
R
m
=
S
S
R
S
S
d
u
u
d
SP
d
u
m
m
d
u
= =
( 2.24)

Trong R
SP
l t l mong mun v S
d
v S
u
l cc di o tng ng vi u v d.
Xt v mt nguyn l, iu khin t l chnh l mt dng c bit ca iu
khin truyn thng. Lu lng ca dng nhiu c o v a ti b iu khin
Lun vn thc s k thut

46 Dng Mnh Ho

nhm iu chnh li lu lng dng c can thip, thng qua gin tip duy
tr cht lng sn phm, hiu sut chy hoc nhit u ra qu trnh. Tuy
nhin, bi ton iu kin t ra y c th khc. Trong v d minh ha trn
hnh 2-14, gi tr t ca b iu khin RC l t l mong mun gia hai gi tr
lu lng ch khng phi nhit u ra mong mun. T lu T &ID trn
hnh 2-14 ta khng th suy din mt cch chc chn rng mc ch iu khin
y l nhit , bi khng c b iu khin no k hiu tng ng.
2.2.3.2 Bn cht v ngha ca iu khin t l
nghin cu su hn bn cht v ngha ca sch lc iu khin t l, ta xt
h thng trao i nhit trc lu minh ha trn hnh 2-11a. y l mt qu trnh
hai vo- hai ra vi hai bin cn iu khin l nhit ra T v lu lng ra w. Bi
ton t ra y l la chn cc v tr t thit b do v thit k sch lc iu
khin sao cho n gin v hp l nht. Gi s hai dng chy cng cht ( coi
nhit dung ring ging nhau) v b qua tr vn chuyn, ta c cc phng trnh
m hnh nh sau ( xem chng 3, mc 3.3.3):

e
=
e
1
+
e
2

e
T=
e
1
T
1
+
e
2
T
2

M hnh th hin tnh tng tc cao gia cc bin qu trnh. C th, thay i
e
1
hoc e
2
u nh hng ti c e v T. Nu chnh lch gia T
1
v T
2
so vi
T khng khc nhau nhiu th mc nh hng ca e
1
v e
2
ti cc bin ra
cng tng ng. Nh vy, nu s dng cu trc iu khin vng n th vic
la chn cp i cc bin vo- ra s gp kh khn. Hn na phng trnh th hai
trong( 2.23) th hin quan h phi tuyn mnh, cu trc iu khin phn hi tuyn
tnh thng thng kh mang li cht lng cao.
Lun vn thc s k thut

47 Dng Mnh Ho

w
1
,T
1
w
2
,T
1
w
p
,T
1
FT
FFC
E
+
RC
w
sp
y
sp
FT
a) bi ton iu khin b) Sch l- c iu khin

Mt gii php n gin v hiu qu l chn mt bin dn xut l bin c iu
khin thay cho nhit T. C th , nu ta chn y =
e
1
/
e
,quan h gia T v y
s l tuyn tnh :

T= yT
1
+ (1-y )T
2
= T
2
+ y (T
1
-T
2
) (2.24)
Bi ton iu khin nhit ducj chuyn thnh bi ton iu khin t l (
lu lng ) . Nu coi T
1
v T
2
l c nh v bit trc ( hoc do c ) , ta uan
h gia T v y s l tuyn tnh :
d dng xc nh gi tr t cho y vi cng thc :

T T
T T
y
sp
sp
2 1
2
= (2.25)

Cc phng trnh m hnh dc vit li nh sau :

e
=
e
1
+
e
2
(2.26)
y =
e
1
/
e
(2.27)

Lun vn thc s k thut

48 Dng Mnh Ho

Bi ton diu khin qu trnh hai vo hai ra nay dc tch thnh 2 bi
ton diu khin qu trnh n bin c m hnh (2.26) v ( 2.27) . Bi ton th
nht l iu khin lu lng vi bin diu khin l e , bin diu khin l e
2
, cn
e
1
c coi l nhiu. Sch lc iu khin phn hi kt hp b nhiu y l
hon ton hp l. Bi ton th hai l iu khin t l lu lng, bin c iu
khin l y, bin iu khin l e
1
v nhiu l e . Ch cn hai bin nhiu u c
o v b hp l th gia hai vng iu khin khng cn tng tc. Cu trc iu
khin cho ton qu trnh c minh ha trn hnh 2-11b. Lu rng, b iu
khin t l lu lng FFC l mt b iu khin cha thnh phn phi tuyn bn
trong.
Tm li, nu nhn mt cch tng th theo mc ch iu khin th iu
khin t l l mt trng hp c bit ca iu khin truyn thng, trong cc bin
nhiu c o v b theo nguyn tc t l . Quan h gia bin c iu khin (t
l ) v bin cn iu khin (nhit , nng ,) thng l tuyn tnh, t nht
cng l tuyn tnh trng thi xc lp. Hai ngha quan trng ca iu khin t
l l :
* Gip gii quyt hiu qu mt lp cac bi ton phi tuyn , thay v phi
tuyn tnh ha xp x m hnh hoc s dng cc phng php thit k b iu
khin phi tuyn phc tp. Thc cht, mi b iu khin t l l mt b iu khin
phi tuyn n gin.
* Trong nhiu trng hp, gip cho vic thit k cu trc iu khin n
bin cho mt qu trnh a bin c n gin hn, trong s tng tc cho
gia cc vng iu khin c gim thiu.
Mt b iu khin t l lu lng ghp chung( FFC) thc ra l mt b iu
khin phi tuyn , bi trong xut hin khu nhn hoc chia tn hiu. Nhng
Lun vn thc s k thut

49 Dng Mnh Ho

nu ch phn tch bn trong mt cu hnh iu khin t l ta li tm thy nguyn
l phn hi v bi ton iu khin t l cng c th li a v bi ton iu khin
lu lng . Cu hnh tnh t l thc c u im l gi tr t (t l ) t thay i,
nhng c nhc im l i tng vn phi tuyn. Cu hnh tnh gi tr t( lu
lng ) c u im l i tng n gin, tuyn tnh , nhng cng c nhc
im l gi tr t thng thay i lin tc v khng bit trc.
2.2.4 iu khin tng

Mt trong nhng vn ca iu khin phn hi c phn tch l
nhiu khi nh hng ca nhiu qu trnh ti bin u ra cn iu khin chm
c pht hin. iu ny c th nm bn cht ca qu trnh( nh qu trnh trao
i nhit, qu trnh phn ng, qu trnh bay hi,), nhng cng c th do php
o nu s bin qu trnh nh o nhit v o nng khng th thc hin
c nhanh. V d, trong mt thp chng luyn th vic thay i lu lng hoc
thnh phn cp liu nh hng rt ln ti cht lng sn phm chng luyn,
nhng phi sau mt thi gian kh di th nh hng ny mi quan st c. V
th, cc vng iu khin phn hi n kh m bo tc p ng nhanh cng
nh qu iu chnh nh. Bn cnh , thit b chp hnh cng l mt khu
trong h kn m tc can thip v chnh xc ca n nh hng rt ln ti
cht lng ca vng iu khin . V d, mt van iu khin nhn c tn hiu
t b iu khin yu cu m van 50% tng ng vi 50% lu lng cht lng
qua , nhng thc s van c m c chnh xc 50% hay khng, hoc ngay c
khi m chnh xc 50% th lu lng qua c t l tuyn tnh vi m van hay
khng li l mt vn khc.
iu khin tng( cascade control) l mt cu trc m rng ca iu
khin phn hi vng n, c s dng nhm khc phc nhng vn nu trn.
Lun vn thc s k thut

50 Dng Mnh Ho

iu khin tng gip loi b nh hng ca mt s dng nhiu v ci thin r rt
c tnh ng hc ca h thng. T tng chnh ca iu khin tng l phn cp
iu khin nhm loi b nh hng ca nhiu ngay ti ni pht sinh. Phi ni
rng, hu ht cc loi h thng iu khin qu trnh u s dng cu trc iu
khin tng. Trong rt nhiu trng hp, cu trc iu khin tng cng cho php
kt hp nhiu sch lc iu khin khc nhau, v d kt hp iu khin phn hi
v iu khin t l .
2.2.4.2 Hai cu trc iu khin tng.
Mt cu trc iu khin tng c th bao gm hai hoc nhiu vng iu
khin, trong c t nht mt vng iu khin phn hi. Hai cu trc c bn
c minh ha trn hnh 2-12. Trong tt bt c trng hp no, b iu khin
th cp cng phi nhanh hn nhiu so vi b iu khin s cp.
Cu trc th nht( cu trc ni tip) c bit n nhiu hn trong thc t,
v th cn c gi l cu trc truyn thng. y ta c hai gi tr o phn hi
v hai b iu khin, nhng ch c mt bin iu khin (u
2
). Tuy nhin, bc t
do ca h thng khng h tng ln, nn hai b iu khin khng hon ton c
lp vi nhau. u ra u
1
ca b iu khin s cp ng vai tr l gi tr t cho b
iu khin th cp. Nguyn l lm vic ca cu trc ny nh sau. Gi s c
nhiu tc ng ln qu trnh v nh hng ca n c th nhn bit nhanh hn
qua mt bin o khc (y
2
), b iu khin th cp s c tc dng loi tr hoc t
ra l gim ng k nh hng ca n ti bin cn c iu khin thc y
1
.

Lun vn thc s k thut

51 Dng Mnh Ho

B iu khin
s cp
B iu khin
th cp
a) Cu trc ni tip (truyn thng )
Qu trnh
u
1
-
2
1
r
-
y
2
Hnh 2-12 Hai cu trc iu khin tng
B iu khin
s cp
B iu khin
th cp
r
u2
-
r
-
Qu trnh
u
1
u
2
b) Cu trc song song khng ch u vo

B iu khin s cp c chc nng p ng vi gi tr t thay i v loi
tr nh hng ca nhng ngun nhiu cn li, nhm duy tr bin cn iu khin
y
1
ti gi tr t r. Ni mt cch khc, vng iu khin ngoi c nhim v phn
ng vi mnh lnh pha trn ( gi tr t) v vi nhiu mang tnh ton cc, cn
vng iu khin trong c trch nhim vi nhiu cc b.
Cu trc th hai ( cu trc song song) c mc ch khng ch gi tr bin
iu khin th cp ( u
2
) ti mt gi tr t r
u2
. y ta c hai bin iu khin,
nhng ch c mt bin c t do. Nh vy mt bc t do ca h thng s c
li dng phc v mc ch khc, v d ti u ha iu khin. B iu khin th
cp c vai tr ch yu trong vic duy tr bin cn iu khin y bm nhanh gi tr
t, song tn hiu ra ca n (u
2
) li c coi l bin cn iu khin ca b iu
khin s cp. Nh vy, nhim v ca b iu khin s cp l can thip sao cho
bin iu khin u
2
c duy tr gn vi gi tr t r
u2
. Tt nhin bin iu khin
Lun vn thc s k thut

52 Dng Mnh Ho

th nht u
1
cng nh hng ti u ra y, nhng chm hn. Gi s chi ph iu
khin cho knh th nht r hn chi ph cho knh iu khin th hai, th gii php
iu khin ny cho php hn ch n mc ti thiu chi ph iu khin knh th
hai, trong khi vn m bo tt yu cu cht lng. Trong trng hp ny gi tr
t r
u2
cn thp nh c th ( v d 5% hay 10%) cng chnh v vy cu trc
song song cn c gi l khng ch u vo.

2.2.5 iu khin suy din

Trong nhiu bi ton, bin cn iu khin cha chc d iu khin trc
tip bi mt trong cc l do:
- Quan h gia bin iu khin v bin cn iu khin c tnh phi tuyn
mnh.
- Php o bin cn iu khin khng chnh xc hoc rt chm so vi ng
hc ca qu trnh( hoc so vi mt phn no ca qu trnh)
- Bn thn ng hc ca trnh rt chm, nh hng ca nhiu chm c
phn nh trong bin cn iu khin.
Mt s vn trn c th c khc phc vi cc sch lc b nhiu,
iu khin t l v iu khin tng nh cp. Mt s sch lc khc c s
dng kh rng ri trong cc h thng iu khin qu trnh c tn l iu khin
duy din (inferential control,computed variable control). iu khin suy din
da trn mt trong hai phng php:
- S dng mt m hnh ton hc hoc mt m hnh suy din tnh
ton, suy din gi tr bin cn iu khin t mt s i lng o khc. Khu tnh
ton, suy din ny cn gi l cm bin mm ( soft sensor).
- La chn mt bin trung gian d iu khin hn c quan h mt thit
vi bin cn iu khin , sao cho t gi tr bin trung gian ny ta c th suy ra
gi tr gn ng ca bin cn iu khin.
Lun vn thc s k thut

53 Dng Mnh Ho

.
2.2.6. iu khin la chn
i vi cc bi ton iu khin thng thng, d iu khin c bin
ra ta phi c kh nng can thip t nht vo 1 bin vo. Tuy nhin v nhiu l do
khc nhau m trong mt s trng hp s bin cn iu khin vt qu s bin
iu khin c sn. Mt h c s bin iu khin t hn s bin cn iu khin
c gi l h ht c cu chp hnh (underactuated system ). Kh nng iu
khin c ca mt h ht c cu chp hnh rt b hn ch bi 1 bin iu khin
khng th can thip mt cch c lp vi nhiu bin ra cung mt lc. Mt gii
php thng dng trong cc h thng iu khin qu trnh l la chn u ra quan
trng nht ty theo tnh hun chia s s dng bin iu khin mt cch hp
l. c th thit k cc sch lc iu khin n bin ta c th s dng cc
khu chon tn hiu. Mt khu chn tn hiu l mt thit b hoc mt khi phn
mm c chc nng la chn mc thp nht, cao nht hoc trung bnh t 2 hoc
nhiu tn hiu. Cch sch lc iu khin c s dng khu chn tn hiu c
gi l iu khin la chn ( selective control ). iu khin la chn c ng
dng ch yu vi mc ch an ton h thng , v d cnh gii cc trng hp vi
phm iu kin dng buc trong vn hnh h thng hoc iu khin an ton cho
thit b, iu khin t ng khi ng v dng bo v cc li thit b , dng c
v la chn cc gi tr ti u.
Ty theo c th ca bi ton cng nh chc nng ca khu chn tn hiu
ta phn bit 2 dng iu khin la chn sau y
* iu khin ln t (override control ): h thng c 2 hoc nhiu vng
iu khin tng ng vi hai hoc nhiu bin cn iu khin nhng ch c mt
bin iu khin( mt thit b chp hnh). Hai hoc nhiu b iu khin cng hot
ng nhng ch u ra ca mt b iu khin c la chn a ti thit b chp
hnh.
Lun vn thc s k thut

54 Dng Mnh Ho

* iu khin gii hn (limiting control, constraint control) : h thng ch
c mt b iu khin nhng hai hoc nhiu bin cn iu khin. Khu chn tn
hiu quyt nh u vo cho b iu khin ph thuc vo cc gi tr o c ( v
d chn gi tr nh nht hoc ln nht).

2.2.7 iu khin ln t

iu khin ln t l mt dng c bit ca iu khin la chn trong
mt b iu khin c th dnh quyn can thip vo bin iu khin ca mt b
iu khin khc c nguy c xy ra tnh trng vt ngng cng nh vi phm cc
iu kin rng buc ca qu trnh hoc thit b. Vic chuyn tip gia cc vng
iu khin c thc hin mt cch trn tru, khng nh hng nh k ti qu
trnh.
Hai bin cn iu khin l mc v p sut trong ni hi hai bin cn iu
khin l mc v p sut trong ni hi nhng ch c mt van iu khin tng
ng vi mt bin iu khin l lu lng hi ra. Trong iu kin lm vic bnh
thng p sut l bin c iu khin bi n lin quan h trng ti nng sut
ca qu trnh. Nhng khi gi tr mc xung thp di mt ngng an ton tn
hiu ra t b iu khin mc LC s ln t b iu khin p sut PC bi khu la
ch tn hiu nh hn, gip ng bt van ra v qua l mc trong ni tng li.
Khi gi tr mc tr li bnh thng khu la chn tn hiu li c tc dng lm
cho b iu khin p sut PC tr thnh ln t v a h thng v ch iu
khin bnh thng.
Khc vi kha linh ng an ton iu khin ln t khng thc hin bin
php dng khn cp m tip tc duy tr hot ng ca h thng c th mc
km hn bnh thng ( v cht lng hoc hiu qu kinh t ). C th k ra mt
vi ng dng ph bin ca iu khin ln t nh :
Lun vn thc s k thut

55 Dng Mnh Ho

- Trnh tnh trng trn trong mt thp trng luyn bng cch hn ch
lu lng hi cp nhit hoc lu lng cp liu
- Phng nga tnh trng mc qu cao hoc qu thp trong mt bnh
bng cch ginh quyn can thip mnh vo cc van x hoc van cp.
- Phng trnh p sut hoc nhit qu cao trong mt thit b phn
ng bn cch gim lng nhit cp.
- Gim lng nhin liu cp cho mt bung t nhm trnh tnh trng
hm lng xy qu thp trong kh thi.
- Trnh trng hp p sut qu cao trong mt ng ng ( hi nc
hoc kh) bng cch m van trn ng trnh( by-pass).
Mt v d ng dng khc ca sch lc iu khin ln t l iu khin
p sut trong cc ng ng dn nc, du hoc gas. i vi cc h thng ng
dn ng di, ngi ta phi lp bm tng p ti cc v tr nht nh theo tnh
ton.
Tm li, qua nghin cu mt s cc phng php iu khin c bn ta
nhn thy cc phng php ny bc u thc hin c mc ch song cht
lng th cha cao v d nh thi gian tc ng , chnh xc cha m bo .
gii quyt vn ny ta cn nghin cu cc phng php iu khin hin i
hn ly nn tng l cc phng php iu khin c bn.
2.3 Cc phng php iu khin hin i cho iu khin qu trnh
t vn : C nhiu phng php iu khin qu trnh gia nhit song vi
c im , tnh cht ca qu trinh gia nhit th phng php iu khin thch
nghi v phng php iu khin m l thch hp do vy trong cc phng php
iu khin hin i cho iu khin qu trnh gia nhit em la chn nghin cu
phng php iu khin thch nghi v phng php iu khin m
Lun vn thc s k thut

56 Dng Mnh Ho

2.3.1. Phng php iu khin thch nghi.
2.3.1.1Khi nim chung ca h thng iu khin thch nghi.

Mt h thng thch nghi l mt h thng c kh nng thay i cch p
ng ca n i vi s bin i ng hc ca h thng v c tnh ca nhiu.
Trong lnh vc iu khin t ng ta nghin cu cc b iu khin thch nghi l
cc b iu khin c cc tham s v cu trc c th iu chnh v mt c ch
iu chnh cc tham s v cu trc.
Cc h iu chnh t ng trong qu trnh lm vic thng b thay i
tham s v cu trc, c bit trong h thng truyn ng in nh: mch t my
in b bo ho, in tr ca my thay i theo nhit lm vic, c tnh ca
b bin i in t cng sut b thay i..Thng thng th h thng c cu
trc v tham s c chnh nh theo tiu chun ti u no ti gi tr xc
nh ca h nhng vn khng m bo rng h lun n nh khi tham s, cu
trc ca h b thay i. Vi cc h thng iu chnh t ng yu cu cht lng
cao cn phI c mch iu chnh thch nghi vi cu trc. Tham s c th thay
i p ng theo s bin thin ca h thng m bo yu cu cht lng ca
h. H iu chnh thch nghi l mt h phi tuyn do c cu iu chnh tham s
ca b iu chnh , do h iu chnh thch nghi thng c cu trc c bit.
H thng iu chnh thch nghi thng c hai mch vng. Mt mch vng
phn hi thng thng bao gm b iu khin v i tng iu khin . Mch
vng th hai l mch vng iu chnh tham s. S khi ca h thng thch
nghi ni chung nh hnh 2.13.
H thng iu chnh, theo yu cu no , th vi cc i lng vo phi
cho c cc i lng ra mong mun. Nhng do nhiu yu t nh hng nh
nhiu, cc i lng vo qu ln hay khng bit trc, do t c theo
ch tiu yu cu, h thng phi c t ng thch nghi b sai s. Khu c cu
thch nghi to ra tn hiu thch nghi bng tn hiu t khu so snh. Cc ch
tiu cht lng theo yu cu c t trc IP
*
, cho vo khu so snh vi
nhng gi tr c o lng v tnh ton theo cc thng s thc trng ca h
thng iu chnh ( cc tn hiu ca i lng vo, i lng ra v cc nhiu c
th kho st c ).
Qua c cu thch nghi, mch vng thch nghi s iu khin thng s ca
h thng iu chnh, hoc iu chnh cc u vo sao cho thch hp sai lch
gia tiu chun t trc IP
*
v tiu chun IP ( Index of Performance ) nh
Lun vn thc s k thut

57 Dng Mnh Ho

nht. H thng c thit k nh trn cho php chp nhn nhng nhiu tc
ng vo h thng iu chnh trong mt giI no , ta gi l h thch nghi.

Hnh 2.13 s khi h thng iu khin thch nghi.

Vi nhng bin thin thng s cu trc ca h thng gm ba khu c
bn: khu o lng theo tiu chun IP nh trc.khu so snh, c cu thch
nghi.
Cc ch tiu IP c th l: cc ch s tnh, cc ch s ng, cc ch s ca
cc thng s, hm ca cc bin thng s v cc tn hiu vo.
C cu thch nghi c th l: Thch nghi thng s, tng hp tn hiu b
xung.
Chin thut thch nghi c th l: tin nh, ngu nhin hay t hc.
H thng cn iu khin s c iu khin thch nghi n nh theo thng
s no , cho d tn hiu vo l khng bit trc hay l qu ln. V cu trc h
thng iu khin thch nghi c hai loi chnh:
- Cu trc iu khin thch nghi theo m hnh
chun.
- Cu trc iu khin t chnh.
Vic kt hp gia cc b nh gi thng s lm vic vi lut iu khin
s to nn h thng iu khin thch nghi. thc hin s kt hp c hai
phng php:
- Phng php iu khin thch nghi trc tip.
Lun vn thc s k thut

58 Dng Mnh Ho

- Phng php iu khin thch nghi gin tip.
2.3.1.2 iu khin thch nghi trc tip v gin tip.
i vi phng php iu khin thch nghi gin tip: Cc thng s i
tung c nhn bit qu trnh lm vic v c s dng tnh ton cc
thng s b iu khin. phng php ny m hnh i tng c xy dung
vi vc t tham s
*
u cha xc nh no . Ti mi thi im ng vi mi tn
hiu vo u v tn hiu ra y, b nh gi thng s lm vic s cho gi tr ) (t u ng
vi
*
u , biu din di dng )) ( (
^
t P u c coi nh l gi tr ng ca i
tng v s dng gi tr tnh ton cc thng s b iu khin ) (t
C
u nh
gii phng trnh i s )) ( ( ) ( t F t
C
u u = . S khi h thng iu khin thch
nghi gin tip c trnh by nh trn hnh 2.8.
Lut iu khin )) ( ( t C
c
u c xy dung mi thi im t phi tho mn
c cc ch tiu ca h thng ng vi m hnh nh gi )) ( (
^
t P u . Nh vy vn
chnh ca iu khin thch nghi gin tip l chn lut iu khin ) (
C
C u v
nhng b nh gi tham s ) (t u , cng nh phng trnh i s
)) ( ( ) ( t F t
C
u u = sao cho )) ( ( t C
c
u p ng c yu cu ca m hnh i tng iu
khin ) (
*
u P vi
*
u cha xc nh.

Hnh 2.14. s khi h thng iu khin thch nghi gin tip.
Lun vn thc s k thut

59 Dng Mnh Ho

i vi phng php iu khin thch nghi trc tip: thng s ca b iu
khin ) (t
c
u cn xc nh theo yu cu v cht lng ca i tng iu khin,
c biu din di dng tham s trong m hnh i tng iu khin. Ti mi
thi im b nh gi s tnh ton trc tip ) (t
c
u t tn hiu u vo u(t) v u
ra u(t) ca i tng iu khin. Thng s ) (t
c
u s c s dng tnh ton
cc thng s ca b iu khin. Nh vy, vn c bn ca iu khin thch
nghi trc tip l chn lut iu khin )) ( ( t C
c
u v thut ton ca b nh gi ) (t
c
u
sao cho tho mn cht lng yu cu ca i tng iu khin. S khi h
thng iu khin thch nghi trc tip c trnh by trn hnh 2.9.
T nguyn l c bn ca phng php iu khin thch nghi trc tip, c
th nhn thy nhng m hnh i tng thch hp vi phng php ny l h
tuyn tnh bt bin mt u vo - mt u ra ( SISO LTI ) vi pha cc tiu, tc
l tt c cc im zero nm mt phng tri ( Re(s) < 0). Trong khi , phng
php iu khin thch nghi gin tip c th p dng cho c i tng iu khin
vi pha cc tiu hay pha khng cc tiu.

Hnh 2.15: S khi h thng iu khin thch nghi trc tip .
Lun vn thc s k thut

60 Dng Mnh Ho

Hnh 2.16: H thng iu khin thch nghi theo m hnh chun

H thng thch nghi theo m hnh l m hnh trong nhng h iu khin
thch nghi in hnh. l mt h thng thch nghi trong c tnh to ra
mong mun c cho bng m hnh mu. M hnh mu s cho tn hiu p ng
mong mun nh mt tn hiu iu khin v qua cng xc nh c tnh ca
h thng. S cu trc c bn ca iu khin thch nghi theo m hnh chun
c trnh by trn hnh ( 2.10 ).
H thng iu khin gm bn khu chnh:
- Khi i tng iu khin cha cc tham s bin i trong qu trnh
lm vic.
- M hnh mu cho tn hiu ra biu din tn hiu ra mong mun ca i
tng iu khin.
- B iu khin.
- C cu iu chinh tham s ( c cu thch nghi ).
H thng thch nghi theo m hnh chun nh trn bao gm hai mch
vng. Mch vng bn trong l mch vng phn hi thng thng gm b iu
khin v thit b c iu khin. Mch vng bn ngoi l mch vng thch
nghi iu chnh cc tham s ca b iu khin sao cho sai lch gia tn hiu ra
Lun vn thc s k thut

61 Dng Mnh Ho

ca qu trnh v tn hiu ra ca m hnh l nh nht. Vn c bn trong h
thng thch nghi theo m hnh chun l vic xc nh lut iu chnh sao cho i
vi mt h n nh th sai lch l bng khng tc l khi cu trc v tnh cht
ng hc ca i tng iu khin thay i th c tnh vo ra ca h cng
ging nh m hnh chun. C cu thch nghi da trn tn hiu sai lch gia tn
hiu ra chun v tn hiu ra thc ca h thng xc nh thng s b iu
khin sao cho h thng n nh v hi t.C cu thch nghi c th dng phng
php iu khin thch nghi trc tip hoc gin tip gii quyt bi ton t ra.

Lut iu chnh tham s trong h iu khin thch nghi theo m hnh
chun thng c dng:
u
u
c
c
=
e
e
dt
d

Trong , e = Y
m
Y l sai lch gia qu trnh v m hnh, u l tham s
b iu khin. i lng
u c
ce
l o hm nhy ca sai lch i vi tham s u .
Lut iu chnh i vi tham s ny c th coi nh l lut gradient lm cc
tiu bnh phng sai lch e
2
.

2.3.1.3 H thng iu khin thch nghi t chnh.

S cu trc h thch nghi t chnh c trnh by trn hnh 2.11.
H thng iu khin thch nghi t chnh l h thng c cc tham s b
iu khin c tnh ton gin tip vi mt lut iu chnh dng kt qu nhn
dng cc tham s ca i tng v tham s ca b iu khin. H thch nghi t
chnh cng bao gm hai mch vng. Tham s ca b iu khin c iu
chnh bi mch vng ngoi gm b nh gi tham s v b tnh ton. H thng
ny c th xem nh mt qu trnh t ng m phng v tnh ton thit k trong
m hnh ca i tng v tham s ca b iu khin c cp nht lin tc
ti mi khong ct mu tc l b iu khin t ng iu chnh tham s ca n
sao cho h thng t c c tnh mong mun.

Lun vn thc s k thut

62 Dng Mnh Ho

Hnh 2.17: H thng iu khin thch nghi t chnh.

B nh gi thng s c nhim v nh gi cc tham s ca i tng v
b iu khin theo thi gian thc, ti mi thi im b nh gi da trn gi tr
u ra thc ca h thng v tn hiu vo u thi im trc . Tham s nh
gi c coi nh l tham s thc. B iu khin to ra tn hiu iu khin u mi
sao cho tn hiu ra c sai lch nh nht so vi c tnh mong mun, qu trnh lp
i lp li cho n khi cc thng s b iu khin ph hp vi tn hiu vo ra
ca h hng v h thng n nh.
Nh vy h thng iu khin thch nghi t chnh l s kt hp b iu
khin vi b nh gi - tnh ton thng s h thng trng thi lm vic. Trong
h thng ny, qu trnh nh gi tham s tch ri vi qu trnh thit k b iu
khin. Lut thch nghi khng ph thuc vo vic chn lut iu khin.
Trong h thng iu khin thch nghi t chnh c th s dng phng
php iu khin trc tip hoc iu khin gin tip. i vi iu khin gin tip,
sau khi c lng cc hng s i tng, cc thng s b iu khin c tnh
ton theo cc ch tiu yu cu.
Lun vn thc s k thut

63 Dng Mnh Ho

Cn iu khin trc tip, cn xc nh li cc thng s i tng da trn
thng s b iu khin ng thi cng l cc gi tr cha xc nh v sau s
dng cc k thut nh gi tiu chun cho cc m hnh .
u im ca h thng t chnh l thit k mm do v n gin hn song
vic phn tch tnh hi t ca h thng li phc tp hn.

2.3.2 Phng php iu khin m.

im mnh c bn ca iu khin m so vi k thut iu khin kinh in
l n p dng rt hiu qu trong cc qu trnh cha c xc nh r hay khng
th o c chnh xc, cc qu trnh c iu khin iu kin thiu thng tin.
iu khin m tch hp kinh nghim ca cc chuyn gia iu khin m
khng cn hiu bit nhiu v cc thng s ca h thng.
iu khin m chim mt v tr quan trng trong iu khin hc k thut
hin i, n nay iu khin m l mt phng php iu khin ni bt bi
tnh linh hot v thu c nhng kt qu kh quan trong nghin cu, ng
dng l thuyt tp m, logic m v suy lun m. Nhng tng c bn trong h
iu khin logic m l tch hp kin thc ca cc chuyn gia trong thao tc vo
cc b iu khin trong qu trnh iu khin, quan h gia cc u vo v u ra
ca h iu khin logic m c thit lp thng qua vic la chn cc lut iu
khin m ( nh lut IF - THEN ) trn cc bin ngn ng. lut iu khin IF
THEN l mt cu trc iu khin dng Nu Th, trong c mt t c c
trng bi cc hm lin thuc lin tc. Cc lut m v cc thit b suy lun m l
nhng cng c gn lin vi vic s dng kinh nghim chuyn gia trong vic thit
k cc b iu khin.
So vi cc gii php k thut t trc ti nay c p dng tng hp
cc h thng iu khin bng iu khin m c nhng u im r rt sau:
- Khi lng cng vic thit k gim di nhiu do khng cn s dng m
hnh i tng trong vic tng hp h thng.
- B iu khin m d hiu hn so vi cc b iu khin khc ( c v
k thut ) v d dng thay i..i vi cc bi ton thit k c phc tp cao,
gii php dng b iu khin m cho php gim khi lng tnh ton v gi
thnh sn phm.
- Trong nhiu trng hp b iu khin m lm vic n nh hn, bn
vng hn kh nng chng nhiu cao hn v cht lng iu khin cao hn .
Lun vn thc s k thut

64 Dng Mnh Ho

Ngy nay, vi tc pht trin vt bc ca tin hc v s tng i hon
thin ca l thuyt iu khin chp cnh cho s pht trin a dng v phong
ph ca cc h iu khin m. Tuy nhin vn tng hp c mt b iu
khin m mt cch cht ch v ng dng cho mt i tng c th nhm nng
cao cht lng iu khin ang l s quan tm ca nhiu nh nghin cu.

2.3.2.1S khi ca b iu khin m.

Cu trc chung ca b iu khin m gm bn khi: khi m ho, khi
hp thnh, khi kut m v khi gii m. ( Hnh 2.12 )

Hnh 2.18: s khi ca b iu khin m.
Khi lut m v khi hp thnh l phn ct li ca b iu khin m v
n c kh nng m phng nhng suy ngh, suy on ca con ngi t c
mc tiu iu khin mong mun.
Trong iu khin logic m, kinh nghim chuyn gia cng cc k nng, k
xo ng vai tr quan trng trong vic la chn cc bin trng thi v bin iu
khin. Cc bin vo ca b iu khin logic m thng l trng thi, sai lch
trng thi, o hm sai lch trng thi, tch phn sai lch.v.v ..
S lng cc tp m l trng tm cn lu khi thit k cc h iu khin
logic m. Trong mt min gi tr ta c th chn s tp m khc nhau, thng
thng min gi tr m u vo c chia thnh nhiu tp m gi ln nhau.
Thng ngi ta chia s tp m t 3 n 9 gi tr, s lng cc tp m u vo
xc nh s lng ln nht cc lut iu khin m trong h iu khin logic m.

Lun vn thc s k thut

65 Dng Mnh Ho

Khi hp thnh c nhim v a vo tp m u vo (trong tp c s U )
v tp cc lut m( do ngi thit k t ra ) to thnh tp m u ra ( trong
tp c s V ). Hay ni cch khc l nhim v ca khi hp thnh l thc hin
nh x tp m u vo ( trong U ) thnh tp m u ra ( trong V ) theo cc lut
m c.
Cc nguyn l logic m c p dng trong khi hp thnh t hp t
cc lut m IF THEN trong lut m c bn thnh thao tc gn mt tp m A
( trong U ) ti tp m B ( trong V ). Ta bit rng cc lut m IF - THEN
c din gii thnh cc quan h m trong khng gian nn U x V.
Khi dng quy tc MAX MIN th du * c
thay th bng cch ly cc tiu.
Khi dng quy tc MAX PROD th du * c thc hin bng php
nhn bnh thng.
Cc lut m c bn l tp hp cc lut m IF THEN c xy dng trn
cc bin ngn ng, cc lut m ny c c trng cho mi lin h gia u
vo v u ra ca h, n l tri tim ca h iu khin logic m. S dng lut m
c bn ny lm cng c suy lun v a ra cc p ng mt cch c hiu
qu.
Ta xt h m vi nhiu u vo v mt u ra ( h MISO ) vi U =
U
1
xU
2
x.xU
n
c R
n
. Nu h c m u ra t y
1
, y
2
,..y
n
th c th phn thnh m
h mi h c n u vo v mt u ra.
Lut c s l lut c dng sau:
Ru
(1)
: Nu x
1
l A
n
1
VV x
n
l A
n
1
Th y l B
1
( 2.18 )
Trong A
i
1
l B
1
l cc tp hp m trong U
1
c R
n
vV c R, nu c M
lut m c s th 1 = 1,2,,M.
Lut m trn l lut m chnh tc, t lut m chnh tc trn c mt s
mnh khc b tr khc.
Gii m c nh ngha nh gn mt tp m B
trong V c R ( L u ra
ca thit b hp thnh ) vi mt gi tr r y
*
e V. Nh vy php gii m l c
th ho mt im trong V m n c th hin r nht tp m B
. Tuy nhin tp
m B
c xy dng theo cc cch khc nhau.

Lun vn thc s k thut

66 Dng Mnh Ho

chn phng php gii m thch hp ta c th da vo cc tiu chun
sau y:

- Tnh tin cy: im y
*
phi i din cho tp m B
mt cch trc gic, v

d c th nm gn gia min xc nh ca tp m B hoc l im ca hm
lin thuc cao nht trong B.
- n gin trong tnh ton: y l tiu chun quan trng v trong iu
khin m cc tnh ton u lm vic trong ch thi gian thc.
- Tnh lin tc: Th hin vic lm khi c s thay i nh trong B
s
khng gy s bin i ln trong y
*
.
2.3.2.2. B iu khin m tnh:
B iu khin m tnh l b iu khin m c quan h vo/ra y(x) lin h
nhau theo mt phng trnh i s ( tuyn tnh hoc phi tuyn ). Cc b iu
khin tnh in hnh l b khuych i P, b iu khin relay hai v tr, ba v tr
v.v
Mt trong cc dng hay dng ca b iu khin m tnh l b iu khin
m tuyn tnh tng on, n cho php ta thay i mc iu khin trong cc
phm vi khc nhau ca qu trnh, do nng cao c cht lng iu khin.
B iu khin m tnh c u im l n gin, d thit k, song n c
nhc im l cht lng iu khin khng cao v cha cp n cc trng
thi ng ( vn tc, gia tc) ca qu trnh, do n ch c s dng trong
cc trng hp n gin.

2.3.2.3. B iu khin m ng.
Mt trong cc dng hay dng ca b iu khin m m u vo c xt ti
cc trng thi ng ca i tng. V d i vi h iu khin theo sai lch th
u vo ca b iu khin m ngoi tn hiu sai lch e theo thi gian cn c cc
o hm ca sai lch gip cho b iu khin phn ng kp thi cc bin ng
t xut ca i tng.
Cc b iu khin m ng hay c dng hin nay l b iu khin m
theo lut t l tch phn, t l vi phn v t l vi tch phn ( PI, PD v PID ).
Mt b iu khin m theo lut I c th thit k t mt b iu khin m
theo lut P (b iu khin m tuyn tnh ) bng cch nc ni tip mt khu tch
Lun vn thc s k thut

67 Dng Mnh Ho

phn kinh in vo trc hoc sau khi m . Do tnh phi tuyn ca h m,
nn vic mc khu tch phn trc hay sau h m hon ton khc nhau (Hnh
2.13 a,b).

Hnh 2.19 (a,b): H iu khin m theo lut PI

Khi mc ni tip u vo mt b iu khin m theo lut t l mt khu
vi phn s c c mt b iu khin m theo lut t l vi phn PD ( Hnh 2.14
).

Hnh 2.20: H iu khin m theo lut PD

Thnh phn ca b iu khin ny cng ging nh b iu khin theo lut
PD thng thng bao gm sai lch gia tn hiu ch o v tn hiu ra ca h
thng e v o hm ca sai lch e
. Thnh phn vi phn gip cho h thng phn

ng chnh xc hn vi nhng bin i ln ca sai lch theo thi gian. Pht trin
tip t v d v b iu khin m theo lut P thnh b iu khin m theo lut
PD hon ton n gin.
Trong k thut iu khin kinh in, b iu khin PID c bit n nh l
mt gii php a nng v c min ng dng rng ln. nh ngha v b iu
}

}

Lun vn thc s k thut

68 Dng Mnh Ho

khin theo lut PID kinh in trc y vn c th s dng cho mt b iu
khin m theo lut PID. B iu khin m theo lut PID c thit k theo hai
thut ton:
- Thut ton chnh nh PID.
- Thut ton PID tc .
B iu khin m c thit k theo thut ton chnh nh PID c 3 u
vo gm sai lch e gia tn hiu ch o v tn hiu ra, o hm v tch phn
ca sai lch. u ra ca b iu khin m chnh l tn hiu iu khin u(t).

( )
(
+ + =
}
e
dt
d
T dt e
T
e K t u
t
D
I 0
.
1
( 2.19 )

Vi thut ton PID tc , b iu khin PID c 3 u vo: sai lch e gia
tn hiu u vo v tn hiu ch o, o hm bc nht e

v o hm bc hai e

ca sai lch. u ra ca h m l o hm
dt
du
ca tn hiu iu khin u(t).

( )
(
+ + = e
dt
d
e
T
e
dt
d
K
dt
du
I
2
2
1
( 2.20 )
Do trong thc t thng c mt hoc hai thnh phn trong (2.19), (2.20)
c b qua nn thay v thit k mt b iu khin PID hon chnh ngi ta li
thng tng hp cc b iu khin PI hoc PD.
B iu khin PID m c thit k trn c s ca b iu khin PD m
bng cch mc ni tip u ra ca b iu khin PD m mt khu tch phn

Hnh 2.21: H iu khin m PID.
Lun vn thc s k thut

69 Dng Mnh Ho

Cho n nay, nhiu dng cu trc ca PID m hay cn c gi l b iu
khin m ba thnh phn c nghin cu. Cc dng cu trc ny thng
c thit lp trn c s tch b iu chnh PID thnh hai b iu chnh PD v
PI ( hoc I ). Vic phn chia ny ch nhm mc ch thit lp cc h lut cho PD
v PI ( hoc I ) gm hai ( hoc 1 ) bin vo, mt bin ra, thay v phi thit lp ba
bin vo. H lut cho b iu chnh PID m kiu ny thng da trn ma trn
do MacVicar-whelan xut. Cu trc ny khng lm gim s lut m ch n
gin cho vic tnh ton.
2.3.2.4. H iu khin m lai F-PID.
H m lai vit tt l F-PID l h iu khin trong thit b iu khin
gm 2 thnh phn: Thnh phn iu khin kinh in v thnh phn iu khin
m.
B iu chnh F-PID c th thit lp da trn hai tn hiu l sai lch e(t)
v o hm ca n e
(t). tng chnh l FLC c c tnh rt tt vng sai lch

ln, vi c tnh phi tuyn ca n c th to ra phn ng ng rt nhanh.
Khi qu trnh ca h tin gn n im t ( sai lch e(t) v o hm ca n
e
(t), xp x bng 0 ) vai tr ca FLC b hn ch nn b iu chnh s lm vic

nh mt b iu chnh PID bnh thng. Trn hnh 2.22 th hin tng thit
lp b iu chnh F-PID v phn vng tc ng ca chng.

Hnh 2.22: Cc vng tc ng ca FLC v PID.

S chuyn i gia cc vng tc ng ca FLC v PID c th thc hin
nh kho m hoc dng chnh FLC . Nu s chuyn i dng FLC th ngoi
nhim v l b iu chnh FLC cn lm nhim v gim st hnh vi ca h thng
Lun vn thc s k thut

70 Dng Mnh Ho

thc hin s chuyn i. Vic chuyn i tc ng gia FLC v PID c th
thc hin nh lut n gin sau:
if ) (t e dng ln v ( ) t e
.
dng ln th u l FLC
if ) (t e dng nh v ( ) t e
.
dng nh th u l
PID
thc hin chuyn i m gia cc mc FLC v b chuyn i PID, ta
c th thit lp nhiu b iu chnh PID
i
( I = 1,2n ) m mi b c chn
ti u cht lng theo mt ngha no to ra c tnh tt trong mt vng
gii hn ca bin vo .Cc b iu chnh ny c chung thng tin u vo v
s tc ng ph thuc vo gi tr ca chng.

Trong trng hp ny, lut chuyn i c th vit theo h m nh sau:

If ( trng thi ca h ) is E
i
then ( tn hiu iu khin )
= u
1

Hnh 2.23. vng tc ng ca cc b iu chnh PID

Trong i = 1,2,,n; E
i
l bin ngn ng ca tn hiu vo, u
i
l cc
hm vi cc tham s ca tc ng iu khin. Nu ti mi vng iu chnh, tc
ng iu khin l do b iu chnh PID
i
vi:
Lun vn thc s k thut

71 Dng Mnh Ho

et
de
K dt t e K e K u
Di
t
pi i
+ + =
}
0
) ( i= 1,2,.n
(2.21)
Nh vy cc h s ca b iu chnh PID mi ph thuc cc tn hiu u
vo , tng qut hn l ph thuc vo trng thi ca h. Nu coi cc h s K
pi
v
K
Di
v K
Ii
chnh l kt qu giI m theo phng php trung bnh trng tm t ba
h m hm:
- H m hm tnh h s K
p
vi h lut:
Ru(i): if ER is E
p
and CER is CE
q
then K
p
i
= K
Pi
(.)
- H m hm tnh h s K
D
vi h lut:
Ru(i): if ER is E
p
and CER is CE
q
then K
D
i
=
K
Di
(.)
- H m hm tnh h s K
I
vi h lut :
Ru(i): if ER is E
p
and CER is CE
q
then K
I
i
=
K
Ii
(.)

Khi cc h s K
Pi,
K
Di
v K
Ii
c m ho bi cc tp m, c th xem nh
h lc gm 3 tp m chun i vi cc h s K
Pi,
K
Di
v K
Ii
. Trong trng
hp ny, cc h s ca b iu chnh PID mi c th tnh nh sau;

|
.
|
\
|
=

=
n
i
Pi
i PL
Y t K
1
) ( o |
.
|
\
|
=

=
n
i
Di
i DL
Y t K
1
) ( o
|
.
|
\
|
=

=
n
i
Iii
i LN
Y t K
1
) ( o

Trong Pi Y , Di Y , Ii Y tng ng l tm cc tp m ca h s K
Pi,
K
Di
v
K
Ii
c m ho.

Trong h thng iu khin trt, tn hiu iu khin lun o cc tnh
gia 2 gi tr +u v -u. n gin nht ta xt i tng iu khin gm 2 khu
tch phn c iu khin bi r le 2 cc tnh
Ta c h phng trnh sau:
Lun vn thc s k thut

72 Dng Mnh Ho

2
1
y
dt
dy
= ; C Uy
dt
dy
= =
1
2
( 2.22 )
y l phng trnh Parabol m qu o l 2 na Parabol vi ng
chuyn i
e = - ( y
1
+ y
2
) = 0 ( 2.23 )
Qu ao pha hi t v gc trc v dao ng tt dn. Nhn thy rng vi
h s phn hi ln s tn tai mt on thng AB ca ng chuyn i m
trong phm vi ny chuyn ng thc hin theo ch trt ngha l theo ng
chuyn i ch khng theo qu o pha.
Khi ch trt, h c hnh vi nh mt h tuyn tnh v cht lng ca
h thng oc nng cao.
2.4. kt lun
Qua nghin cu cc phng php iu khin c tht s dng iu
khin qu trnh gia nhit. Vi cc phng php iu khin c bn mi phng
php thng ch gii quyt c mt vn trong iu khin, v c khng t
nhng kh khn khi p dng nh iu khin truyn thng ch loi b c nhiu
trc khi n nh hng n qu trnh lm vic, tuy nhin n khng c kh nng
lm gim sai lch i tng v sai lch m hnh ti cht lng iu khin cng
nh khng c kh nng n nh mt qu trnh khng n nh. Hay iu khin
phn hi cho php n nh mt qu trnh khng n nh bng cch tnh ton u
ra ca n da theo sai lch, khng cn phn bit sai lch l do nhiu hay thay
i gi tr t gy ra. Tuy nhin vi iu khin phn hi rt kh xc nh chnh
xc m hnh i tng, do vy vic iu chnh tn hiu cn iu khin ch c th
thng qua quan st din bin u ra, iu ny dn n vic thit k v chnh nh
b iu khin ng thi tha mn tt c cc yu cu t ra
Trong cc phng php iu khin hin i iu khin thch nghi bc l
nhiu u im hn cc phng php iu khin c bn. Vi h iu khin thch
nghi th cu trc ca b iu khin c th t ng hay i theo s bin thin
thng s ca h do cht lng ra ca h lun c m bo ph hp vi cc
ch tiu nh trc. Tuy nhin h iu khin thch nghi thng c cu trc v
tham s c chnh nh theo tiu chun ti u no ti gi tr xc nh ca
Lun vn thc s k thut

73 Dng Mnh Ho

h, do khng th m bo chc chn rng h lun n nh khi tham s, cu
trc ca h b thay i.
i vi mt h c cu trc lun thay i hoc mt h m khng th bit r
nhng thng tin chnh xc v h th phng php iu khin m cho ta hiu qu
cao hn c. B iu khin m c c im l c tnh phi tuyn mnh, kh nng
chng nhiu cao, n rt ph hp vi h c tnh phi tuyn, ph thuc thi gian, c
tham s ri v thi gian tr ln. Xut pht t nhng phn tch trn ti chn
phng php iu khin m nghin cu v ng dng trong h iu khin qu
trnh gia nhit .

Lun vn thc s k thut

74

Chng 3 NG DNG PHNG PHP IU KHIN HIN I
CHO QU TRNH GIA NHIT

t vn
Trong chng 2 ta la chn c phng php iu khin cho qu
trnh gia nhit. nh gi v kt lun mt cch chnh xc vn th ta phi
ngin cu ng dng c th vo mt i tng .Trong chng 3 ny ta i
nghin cu h thng c th v tin hnh m hnh ho v m phng h thng
a ra cc kt lun cui cng.

3.1. THIT K H THNG T NG N NH NHIT V
LU TC BN NC
3.1.1. I TNG
Ta cn iu khin dng nc ra t mt bn nc. Bn nc gm mt u vo
l dng nc lnh, mt u vo l dng nc nng. u ra s l hn hp ca hai
dng nc nng v lnh. Yu cu t ra l phi gi nhit v tc ca dng
nc ra khng i mt gi tr xc nh trc.

Hnh 3.1 M hnh h thng

B
IU
KHIN Dng nc
ra
Dng nc
nng
Dng nc
lnh
Bn
nc
Lun vn thc s k thut

75

3.1.2. THIT K S IU KHIN H THNG

Hnh 3.2 S cu trc h thng iu khin
a. Thit k van nc lnh
Van nc gm mt bin vo: l tc ng/m van, hai bin ra l nhit
v tc ca dng nc.
Nhit ca dng nc lnh l 10
o
C.
Ng vo tc ng/m van sau khi qua khu tch phn ri c qua khu
khuch i bo ho.
Hm f(u) ca khu bo ho c xc nh theo cng thc:
k.u(1).(k.u(1)u(2)) + u(2).(k.u(1)>u(2))
Vi k.u(1) l tn hiu ra sau khu tch phn,
u(2) tc cc i ca van.
+ Khi k.u(1) u(2) th u ra l k.u(1),
Lun vn thc s k thut

76

Hnh 3.3 Cu trc van n-c lnh
+ Khi k.u(1) > u(2) th u ra l u(2).
b. Thit k van nc nng

Hnh 3.4 Cu trc van n-c nng

Tng t nh i vi van nc lnh. Nhit ca dng nc nng l 30
o
C.
Lun vn thc s k thut

77

c. Thit k khu lu tc t trc
Khu bao gm tc t trc v my pht tn hiu th.
d. Thit k khu nhit t trc

Khu bao gm nhit t trc v my pht tn hiu th.
e. Thit k hm i tng
- Hm lu tc:
u(1)+u(3)
Vi u(1) l tc ca dng nc nng.
u(3) l tc ca dng nc lnh.
- Hm nhit :
) 3 ( ) 1 (
) 4 ( ). 3 ( ) 2 ( ). 1 (
u u
u u u u

Vi u(1) l tc ca dng nc nng.
Hnh 3.5 Khu l-u
tc t tr-c
Hnh 3.6 Khu nht
t tr-c

Lun vn thc s k thut

78

u(2) l nhit ca dng nc nng.
u(3) l tc ca dng nc lnh.
u(4) l nhit ca dng nc lnh.

CHNG 4 M PHNG H THNG
Lun vn thc s k thut

79

Theo yu cu ca m hnh, ta thit k b iu khin m c hai ng vo v hai
ng ra. Cc bin ng vo l Flow v Temp, cc bin ng ra l Cold v Hot.
4.1 Thit k:
Bc 1. nh ngha cc bin vo ra:
Ta gi nhit cn n nh l t
o
. Gi s nhit mi trng cn iu khin
thay i trong khong (t
o
- k, t
o
+ k).
Sai lch gia nhit cn iu khin y
1
v tn hiu ch o x
1
.(K hiu l et):
et (-k, k)
o
C.
Chn k=20 et (-20, 20)
o
C.
Gi v
o
l lu tc dng nc ra cn gi n nh. Gi s lu tc cn iu
khin thay i trong khong (v
o
- V, v
o
+ V). (kg/s)
Sai lch gia lu tc cn iu khin y
2
v tn hiu ch o x
2
.(K hiu l ev):
ev (-V, V) kg/s.
Chn V=1 ev (-1, 1) kg/s
i lng u vo ca b iu khin m l tn hiu sai lch vn tc ev v tn
hiu sai lch nhit et.
h thng t c chnh xc cao (sai lch tnh bng 0) ta thm vo
khu tch phn pha sau khi m. V do tn hiu ng ra ca b iu khin m l
tc bin i cng sut dp
1
tng ng vi tc ng m van nc nng v
dp
2
tng ng tc ng m van nc lnh.
Gi s dp
1
(-p, p) kW/s.

dp
2
(-p, p) kW/s.
Chn p = 1 dp
1
, dp
2
(-1, 1) kw/s.
Bc 2. Chn s lng tp m:
Ta chn 3 gi tr cho cc bin u vo
i vi et: Cold, Good, Hot.
Lun vn thc s k thut

80

i vi ev: Soft, Good, Hard.
Chn 5 gi tr cho cc bin u ra: CloseFast, CloseSlow, Steady, OpenSlow,
OpenFast.
Bc 3. Xc nh hm lin thuc: Ta chn tp m c hnh thang v hnh tam
gic cn:
* Ri rc ha hm lin thuc:
i vi bin vo sai lch nhit et (temp):
cold
=trapmf [30 30 15 0]
good
=trimf [10 0 10]
hot
=trapmf [0 15 30 30]

i vi bin vo sai lch lu tc ev (flow):
soft
=trapmf [3 3 0.8 0]
good
=trimf [0.4 0 0.4]
hard
=trapmf [0 0.8 3 3]
i vi bin ra tc ng m van nc lnh v nng:
CloseFast
=trimf [1 0.6 0.3]
CloseSlow
=trimf [ 0.6 0.3 0]
Steady
=trimf [0.3 0 0.3]
OpenSlow
=trimf [0 0.3 0.6]
OpenFast
=trimf [0.3 0.6 1]
Lun vn thc s k thut

81

Hnh 4.1 Lu tc dng nc

Hnh 4.2 Nhit bn nc

Hnh 4.3 Van nc lnh
Lun vn thc s k thut

82

Hnh 4.4 Van nc nng
Bc 4. Xy dng cc lut iu khin:

Bc 5. Gii m:
Dng phng php trng tm
S
S
dz z
dz z y
y
) (
) (
'

0

1

2

flow
temp
Cold Good Hot
0
Soft OpenSlow OpenSlow OpenFast
1
Good CloseSlow Steady OpenSlow
2
Hard CloseFast CloseSlow CloseSlow
Bng lut iu khin cho bin ra Cold

0

1

2

flow
temp
Cold Good Hot
0
Soft OpenFast OpenSlow OpenSlow
1
Good OpenSlow Steady CloseSlow
2
Hard CloseSlow CloseSlow CloseFast
Bng lut iu khin cho bin ra Hot

Lun vn thc s k thut

83

* i tng cn iu khin:
Gi t
o
l nhit u ra
v
o
l vn tc dng chy ng ra
T
n
l nhit dng nc nng
T
l
l nhit dng nc lnh
v
n
l vn tc dng nc nng
v
l
l vn tc dng nc lnh
Ta c mi quan h sau:
l n
l l n n
o
v v
T v T v
t
. .

l n o
v v v
* S dng Matlab Fuzzy thit k b iu khin m:
T menu Edit, chn Add Input ri chn Add Output. Nhp vo hnh
input1, input2, output1, output2 sa tn trong Name tng ng (Hnh v).

Lun vn thc s k thut

84

Nhp kp vo hnh temp to lp cc hm lin thuc cho bin vo temp.

Hnh 4.6To lp cc hm lin thuc cho bin vo
Trong Range nhp vo min xc nh ca bin. Vo menu Edit thm
cc hm lin thuc.
Trong Type, chn hm lin thuc hnh thang (trapmf) cho hm cold v
hot, v chn hm lin thuc hnh tam gic cn (trimf) cho hm good.
Param dng nhp thng s cho tng hm khi nhp vo hm. Name
dng t tn cho hm.
Lm tng t nh vy i vi bin flow.
Lun vn thc s k thut

85

i vi hai bin ra l cold v hot, chn cc hm lin thuc l hnh tam gic.

Lun vn thc s k thut

86

Hnh 4.7 To lp cc hm lin thuc cho bin ra
Tr li trong FIS Editor, trong phn Defuzzification chn phng php gii
m. Chn phng php im trng tm.
S dng Rule Editor to bng lut iu khin cho b iu khin m. T
menu View, chn Edit Rules kch hot Rule Editor.
Lun vn thc s k thut

87

kim tra li hot ng ca b iu khin m, ta vo menu View, chn
View Rules.

Lun vn thc s k thut

88

Ti Input, ta c th nhp cc gi tr ca bin ng vo quan st cc gi tr
ca bin ng ra.
xem lut iu khin trong khng gian, chn View Surface trong menu
View. Ti Listbox Z(output) c th chn cold hay hot quan st.

Hnh 4.7lut iu khin trong khng gian
Sau khi hiu chnh xong ta xut file .fis ra Workspace np vo b iu khin
m trong m hnh Simulink. Cc bc xut file .fis nh sau:
b1: Lu tn file va thit k: T ca s FIS Editor vo File/Export/To disk v
lu tn file trong File name sau nhn Save
Lun vn thc s k thut

89

b2: Xut file .fis: T ca s FIS Editor vo File/Export/To workspace v lu tn
file vo Workspace variable sau nhp OK

Lun vn thc s k thut

90

4.2 KT QU M PHNG H THNG

m phng click p vo b iu khin m v np tn file .fis va xut
vo FIS Matrix sau nhp OK.

M phng vi nhit t trc l 23
o
C. Lu tc t trc l 0.7m
3
/h.
+ i vi tn hiu th c s bin thin l hm xung vung c tn s l
f
s1
= 0.3rad/s, bin l 0.2m
3
/h i vi tc dng nc ra v f
s2
= 0.2rad/s,
bin l 4
o
C i vi nhit ca dng nc ra. Ta c cc p ng sau:
Hnh 4.8 S SimulinK
Lun vn thc s k thut

91

Hnh 4.9 p ng nhit
Lun vn thc s k thut

92

Hnh 4.10p ng lu tc

Lun vn thc s k thut

93

KT LUN:
Sau khi s dng b iu khin m vo iu khin t ng n nh
nhit v lu tc bn nc, vi kt qu m phng t c ta c nhn xt
nh sau:
i vi nhit :
- Vi nhit t trc l 23
0
C khi tn hiu th thay i trong phm vi t
19
0
C n 23
0
C th p ng u ra ca nhit lun bm st vi thay i ca
tn hiu th vi sai lch trong phm vi tng i nh khong 0,5
0
C. Cn
khi tn hiu th thay i trng phm vi t 23
0
C n 27
0
C th sai lch gia
p ng u ra v tn hiu th vo khong 1,5
0
C.
i vi lu tc:
Vi lu tc t trc l 0,7m
3
/h khi tn hiu th thay i trong phm vi
t 0,5m
3
/h n 0,9m
3
/h th p ng u ra ca lu tc lun bm st vi thay
i ca tn hiu th, gia p ng u ra ca lu tc lun bng tn hiu va
tn th. Tuy nhin mi trng thi xc lp mi ng vi nhng thay i ca
lu tc lun tn ti mt thi gian qu tng i di (khong (35)s).
chnh xc
- S bin thin ca p ng lu tc v nhit ca nc trong m hnh
kho st trn l hon ton c th chp nhn c i vi mt h thng iu
khin qu trnh gia nhit.
- Khi chn cc tp gi tr m v lut iu khin thch hp th lut iu khin
m gip h t c chnh xc cao, ngay c khi gi tr t l nh. Khi v
tr t ln hn nh mc, ngoi vic gim thi gian qu , b iu khin
m cn gim qu iu chnh, c bit trong qu trnh hm.
- H thng m phng trn c xt vi tn hiu t nh, iu cng
chng t tnh bn vng cao ca h iu khin.
Lun vn thc s k thut

94

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S ha bi Trung tm Hc liu i hc Thi Nguyn http://www.lrc-tnu.edu.

c xy dng theo cc cch khc nhau.

mt cch trc gic, v

. Thnh phn vi phn gip cho h thng phn

(t). tng chnh l FLC c c tnh rt tt vng sai lch

(t), xp x bng 0 ) vai tr ca FLC b hn ch nn b iu chnh s lm vic

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