B iu khin PID

S khi ca b iu khin PID Mt b iu khin vi tch phn t l (b iu khin PID) l mt c ch phn hi vng iu khin (b iu khin) tng qut c s dng rng ri trong cc h thng iu khin cng nghip b iu khin PID c s dng ph bin nht trong s cc b iu khin phn hi. Mt b iu khin PID tnh ton mt gi tr "sai s" l hiu s gia gi tr o thng s bin i v gi tr t mong mun. B iu khin s thc hin gim ti a sai s bng cch iu chnh gi tr iu khin u vo. Trong trng hp khng c kin thc c bn v qu trnh, b iu khin PID l b iu khin tt nht.[1] Tuy nhin, t c kt qu tt nht, cc thng s PID s dng trong tnh ton phi iu chnh theo tnh cht ca h thng-trong khi kiu iu khin l ging nhau, cc thng s phi ph thuc vo c th ca h thng. Gii thut tnh ton b iu khin PID bao gm 3 thng s ring bit, do i khi n cn c gi l iu khin ba khu: cc gi tr t l, tch phn v o hm, vit tt l P, I, v D. Gi tr t l xc nh tc ng ca sai s hin ti, gi tr tch phn xc nh tc ng ca tng cc sai s qu kh, v gi tr vi phn xc nh tc ng ca tc bin i sai s. Tng chp ca ba tc ng ny dng iu chnh qu trnh thng qua mt phn t iu khin nh v tr ca van iu khin hay b ngun ca phn t gia nhit. Nh vy, nhng gi tr ny c th lm sng t v quan h thi gian: P ph thuc vo sai s hin ti, I ph thuc vo tch ly cc sai s qu kh, v D d on cc sai s tng lai, da vo tc thay i hin ti.[2] Bng cch iu chnh 3 hng s trong gii thut ca b iu khin PID, b iu khin c th dng trong nhng thit k c yu cu c bit. p ng ca b iu khin c th c m t di dng nhy sai s ca b iu khin, gi tr m b iu khin vt l im t v gi tr dao ng ca h thng. Lu l cng dng ca gii thut PID trong iu khin khng m bo tnh ti u hoc n nh cho h thng. Vi ng dng c th yu cu ch s dng mt hoc hai khu ty theo h thng. iu ny t c bng cch thit t i li ca cc u ra khng mong mun v 0. Mt b iu khin PID

s c gi l b iu khin PI, PD, P hoc I nu vng mt cc tc ng b khuyt . B iu khin PI kh ph bin, do p ng vi phn kh nhy i vi cc nhiu o lng, tri li nu thiu gi tr tch phn c th khin h thng khng t c gi tr mong mun. Ch : Do s a dng ca lnh vc l thuyt v ng dng iu khin, nhiu qui c t tn cho cc bin c lin quan cng c s dng. Mc lc [n]

1 C bn v vng iu khin 2 L thuyt iu khin PID o 2.1 Khu t l 2.1.1 Droop( trt) o 2.2 Khu tch phn o 2.3 Khu vi phn o 2.4 Tm tt 3 iu chnh vng lp o 3.1 n nh o 3.2 Ti u ha hnh vi o 3.3 Tng quan cc phng php o 3.4 iu chnh th cng o 3.5 Phng php ZieglerNichols o 3.6 Phn mm iu chnh PID 4 Cc ci tin i vi thut ton PID 5 Lch s o 5.1 Cng trnh ca Minorsky 6 Cc hn ch ca iu khin PID o 6.1 Tuyn tnh o 6.2 Nhiu trong khu vi phn 7 Cc ci tin o 7.1 Nui tin o 7.2 Cc ci tin khc 8 iu khin ghp tng 9 Thc thi vt l ca iu khin PID 10 K hiu thay th v cc dng PID o 10.1 Dng PID l tng v tiu chun o 10.2 Dng Laplace ca b iu khin PID o 10.3 Dng ni tip/tng h o 10.4 Thc hin ri rc ha o 10.5 M chng trnh mu 11 Xem thm 12 Tham kho 13 Lin kt ngoi o 13.1 Sch hng dn v PID

13.2 Cc ti dnh ring v cc ng dng iu khin PID

1. C bn v vng iu khin Xem thm thng tin: Vng iu khin Mt v d quen thuc ca vng iu khin l hnh ng iu chnh vi nc nng v lnh duy tr nhit nc mong mun u vi nc. Thng ta phi trn hai dng nc, nng v lnh li vi nhau. V chm vo nc cm nhn hoc c lng nhit ca n. Da trn phn hi ny, ta i iu chnh van nng v van lnh cho n khi nhit n nh gi tr mong mun. Gi tr cm bin nhit nc l gi tr tng t(analog), dng o lng gi tr x l hoc bin qu trnh (PV). Nhit mong mun c gi l im t (SP). u vo chu trnh (v tr van nc) c gi l bin iu khin (MV). Hiu s gia nhit o v im t c gi l sai s (e), dng lng ha c khi no th nc qu nng hay khi no th nc qu lnh bng gi tr. Sau khi o lng nhit (PV), v sau tnh ton sai s, b iu khin s qut nh thi im thay i v tr van (MV) v thay i bao nhiu. Khi b iu khin m van ln u, n s m van nng t xu nu cn nc m, hoc s m ht c nu cn nc rt nng. y l mt v d ca iu khin t l n gin. Trong trng hp nc nng khng c cung cp nhanh chng, b iu khin c th tm cch tng tc ca chu trnh ln bng cch tng m ca van nng theo thi gian. y l mt v d ca iu khin tch phn. Nu ch s dng hai phng php iu khin t l v tch phn, trong vi h thng, nhit nc c th dao ng gia nng v lnh, bi v b iu khin iu chnh van qu nhanh v vt l hoc b l so vi im t. t c s hi t tng dn n nhit mong mun (SP), b iu khin cn phi yu cu lm tt dn dao ng d on trong tng lai. iu ny c th thc hin bi phng php iu khin vi phn. Gi tr thay i c th qu ln khi sai s tng ng l nh i vi b iu khin c li ln v s dn n vt l. Nu b iu khin lp li nhiu ln vic thay i ny s dn n thng xuyn xy ra vt l, u ra s dao ng xung quanh im t, tng hoc gim theo hnh sin c nh. Nu dao ng tng theo thi gian th h thng s khng n nh, cn nu dao ng gim theo thi gian th h thng n nh. Nu dao ng duy tr ti mt bin c nh th h thng l n nh bin . Con ngi khng xy ra dao ng nh vy bi v chng ta l nhng "b" iu khin thch nghi, bit rt kinh nghim; tuy nhin, b iu khin PID n gin khng c kh nng hc tp v phi c thit t ph hp. Vic chn li hp l iu khin hiu qu c gi l iu chnh b iu khin. Nu mt b iu khin bt u t mt trng thi n nh ti im sai s bng 0 (PV=SP), th nhng thay i sau bi b iu khin s ph thuc vo nhng thay i trong tn hiu u vo o c hoc khng o c khc tc ng vo qu trnh iu khin, v nh hng ti u ra PV. Cc bin tc ng vo qu trnh khc vi MV c gi l nhiu. Cc b iu khin thng

thng c s dng loi tr nhiu v/hoc b sung nhng thay i im t. Nhng thay i trong nhit nc cung cp l do nhiu trong qu trnh iu khin nhit vi nc. V l thuyt, mt b iu khin c th c s dng iu khin bt k mt qu trnh no m c mt u ra o c (PV), mt gi tr l tng bit trc cho u ra (SP) v mt u vo chu trnh (MV) s tc ng vo PV thch hp. Cc b iu khin c s dng trong cng nghip iu chnh nhit , p sut, tc dng chy, tng hp [[[ha cht]], tc v cc i lng khc c th o lng c. Xe hi iu khin hnh trnh l mt v d cho vic p dng iu khin t ng trong thc t. Cc b iu khin PID thng c la chn cho nhiu ng dng khc nhau, v l thuyt tin cy, c kim chng qua thi gian, n gin v d ci t cng nh bo tr ca chng. [sa] L thuyt iu khin PID Phn ny ch m t dng song song hoc khng tng tc ca b iu khin PID. Xin xem thm "Alternative nomenclature and PID forms" cho nhng dng khc. S iu khin PID c t tn theo ba khu hiu chnh ca n, tng ca ba khu ny to thnh bi cc bin iu khin (MV). Ta c:

trong Pout, Iout, v Dout l cc thnh phn u ra t ba khu ca b iu khin PID, c xc nh nh di y. [sa] Khu t l

th PV theo thi gian, ba gi tr Kp (Ki v Kd l hng s)

Khu t l (i khi cn c gi l li) lm thay i gi tr u ra, t l vi gi tr sai s hin ti. p ng t l c th c iu chnh bng cch nhn sai s vi mt hng s Kp, c gi l li t l. Khu t l c cho bi:

trong Pout: tha s t l ca u ra Kp: li t l, thng s iu chnh e: sai s = SP PV t: thi gian hay thi gian tc thi (hin ti) li ca khu t l ln l do thay i ln u ra m sai s thay i nh. Nu li ca khu t l qu cao, h thng s khng n nh (xem phn iu chnh vng). Ngc li, li nh l do p ng u ra nh trong khi sai s u vo ln, v lm cho b iu khin km nhy, hoc p ng chm. Nu li ca khu t l qu thp, tc ng iu khin c th s qu b khi p ng vi cc nhiu ca h thng. [sa] Droop( trt) Nu khng c nhiu, iu khin t l thun ty s khng xc lp ti gi tr mong mun ca n, nhng n vn duy tr mt (Bn mu:Visible anchor) sai s n nh trng thi, l mt hm ca li t l v li qu trnh. c bit, nu li qu trnh-trong khong thi gian di b tri do thiu iu khin, nh vic lm mt mt l nung ti nhit phng-c k hiu G v gi s sai s xp x l hng s, khi droop- trt xy ra khi li khng i ny bng tha s t l ca u ra, Pout, vi sai s l tuyn tnh, G = Kpe, do e = G / Kp. Khi tha s t l, y vo thng s ti gi tr t, c b chnh xc bi li qu trnh, n s ko thng s ra khi gi tr t. Nu li qu trnh gim, khi lm lnh, th trng thi dng s nm di im t, ta gi l "droop- trt". Ch cc thnh phn dch chuyn (trung bnh di hn, thnh phn tn s khng) ca li qu trnh mi tc ng ti trt-cc dao ng u hoc ngu nhin trn hoc di thnh phn dch chuyn s b trit tiu. li qu trnh c th thay i theo thi gian hoc theo cc thay i bn ngoi, v d nh nu nhit phng thay i, vic lm lnh s nhau hn hoc chm hn. trt t l thun vi li qu trnh v t l nghch vi li t l, v l mt khim khuyt khng th trnh c ca iu khin t l thun ty. trt c th c gim bt bng cch thm mt tha s lch (cho im t trn gi tr mong mun thc t), hoc sa i bng cch thm mt khu tch phn (trong b iu khin PI hoc PID), s tnh ton lch thm vo mt cch hu hiu. Bt chp trt, c l thuyt iu chnh ln thc t cng nghip ch ra rng khu t l l cn thit trong vic tham gia vo qu trnh iu khin.

[sa] Khu tch phn

th PV theo thi gian, tng ng vi 3 gi tr Ki (Kp v Kd khng i) Phn phi ca khu tch phn (i khi cn gi l reset) t l thun vi c bin sai s ln qung thi gian xy ra sai s. Tng sai s tc thi theo thi gian (tch phn sai s) cho ta tch ly b c hiu chnh trc . Tch ly sai s sau c nhn vi li tch phn v cng vi tn hiu u ra ca b iu khin. Bin phn phi ca khu tch phn trn tt c tc ng iu chnh c xc nh bi li tch phn, Ki. Tha s tch phn c cho bi:

trong Iout: tha s tch phn ca u ra Ki: li tch phn, 1 thng s iu chnh e: sai s = SP PV t: thi gian hoc thi gian tc thi (hin ti) : mt bin tch phn trung gian Khu tch phn (khi cng thm khu t l) s tng tc chuyn ng ca qu trnh ti im t v kh s d sai s n nh vi mt t l ch ph thuc vo b iu khin. Tuy nhin, v khu tch phn l p ng ca sai s tch ly trong qu kh, n c th khin gi tr hin ti vt l qua gi tr t (ngang qua im t v to ra mt lch vi cc hng khc). tm hiu thm cc c im ca vic iu chnh li tch phn v n ca b iu khin, xin xem phn iu chnh vng lp. [sa] Khu vi phn

 th PV theo thi gian, vi 3 gi tr Kd (Kp and Ki khng i) Tc thay i ca sai s qua trnh c tnh ton bng cch xc nh dc ca sai s theo thi gian (tc l o hm bc mt theo thi gian) v nhn tc ny vi li t l Kd. Bin ca phn phi khu vi phn (i khi c gi l tc ) trn tt c cc hnh vi iu khin c gii hn bi li vi phn, Kd. Tha s vi phn c cho bi:

trong Dout: tha s vi phn ca u ra Kd: li vi phn, mt thng s iu chnh e: Sai s = SP PV t: thi gian hoc thi gian tc thi (hin ti) Khu vi phn lm chm tc thay i ca u ra b iu khin v c tnh ny l ang ch nht t ti im t ca b iu khin. T , iu khin vi phn c s dng lm gim bin vt l c to ra bi thnh phn tch phn v tng cng n nh ca b iu khin hn hp. Tuy nhin, php vi phn ca mt tn hiu s khuch i nhiu v do khu ny s nhy hn i vi nhiu trong sai s, v c th khin qu trnh tr nn khng n nh nu nhiu v li vi phn ln. Do mt xp x ca b vi sai vi bng thng gii hn thng c s dng hn. Chng hn nh mch b sm pha. [sa] Tm tt Khu t l, tch phn, vi phn c cng li vi nhau tnh ton u ra ca b iu khin PID. nh ngha rng u(t) l u ra ca b iu khin, biu thc cui cng ca gii thut PID l:

trong cc thng s iu chnh l: li t l, Kp gi tr cng ln th p ng cng nhanh do sai s cng ln, b khu t l cng ln. Mt gi g li t l qu ln s dn n qu trnh mt n nh v dao ng. li tch phn, Ki gi tr cng ln ko theo sai s n nh b kh cng nhanh. i li l vt l cng ln: bt k sai s m no c tch phn trong sut p ng qu phi c trit tiu tch phn bng sai s dng trc khi tin ti trng thi n nh. li vi phn, Kd gi tr cng ln cng gim vt l, nhng li lm chm p ng qu v c th dn n mt n nh do khuch i nhiu tn hiu trong php vi phn sai s. [sa] iu chnh vng lp iu chnh mt vng iu khin l iu chnh cc thng s iu khin ca n ( li/di t l, li tch phn/reset, li vi phn/tc ) ti gi tr p ng iu khin ti u. n nh (dao ng bin) l mt yu cu cn bn, nhng ngoi ra, cc h thng khc nhau, c nhng hnh vi khc nhau, nhng ng dng khc nhau c nhng yu cu khc nhau, v vi yu cu li mu thun vi nhau. Hn na, vi qu trnh c mt mc phi tuyn no y khin cc thng s lm vic tt iu kin y ti s khng lm vic khi qu trnh khi ng t khng ti; iu ny c th khc phc bng chng trnh li (s dng cc thng s khc nhau cho nhng khu vc hot ng khc nhau). Cc b iu khin PID thng cung cp cc iu khin c th chp nhn c thm ch khng cn iu chnh, nhng kt qu ni chung c th c ci thin bng cch iu chnh k lng, v kt qu c th khng chp nhn c nu iu chnh km. iu chnh PID l mt bi ton kh, ngay c khi ch c 3 thng s v v nguyn tc l d miu t, bi v n phi tha mn cc tiu chun phc tp nm trong Nhng hn ch ca iu khin PID. V vy c nhiu phng php khc nhau iu chnh vng lp, v cc k thut phc tp hn l ti cho nhiu pht minh sng cht; phn ny miu t vi phng php th cng truyn thng iu chnh vng lp. [sa] n nh Nu cc thng s ca b iu khin PID ( li ca khu t l, tch phn v vi phn) c chn sai, u vo qu trnh iu khin c th mt n nh, v cc khc bit u ra ca n, c hoc khng c dao ng, v c gii hn ch bi s bo ha hoc t gy c kh. S khng n nh c gy ra bi s d tha li, nht l khi xut hin tr ln. Ni chung, n nh ca p ng (ngc vi bt nh) phi tha mn v qu trnh phi khng c dao ng v bt k s kt hp no gia cc iu khin qu trnh v im t, mc d i khi n nh bin c th c chp nhn hoc yu cu.

[sa] Ti u ha hnh vi Ti u ha hnh vi trong thay i qu trnh hoc thay i im t khc nhau ty thuc vo ng dng. Hai yu cu c bn l n nh (trit tiu nhiu-n nh ti mt im t cho trc) v t hiu chnh lnh (thc hin cc thay i im t)-hai yu cu ty thuc vo vic cc bin iu khin theo di gi tr mong mun c tt hay khng. Cc tiu chun c bit v t hiu chnh lnh bo gm thi gian khi ng v thi gian xc lp. Mt vi qu trnh phi ngn khng cho php cc bin qu trnh vt l qu im t nu, th d, iu ny c th mt an ton. Cc qu trnh khc phi ti thiu ha nng lng tiu hao khi tin ti mt im t mi. [sa] Tng quan cc phng php C nhiu phng php khc nhau iu chnh vng lp PID. Nhng phng php hu hiu nht thng bao gm nhng trin khai ca vi dng m hnh x l, sau chn P, I, v D da trn cc thng s ca m hnh ng hc. Cc phng php iu chnh th cng tng i khng hiu qu lm, c bit nu vng lp c thi gian p ng c tnh bng pht hoc lu hn. La chn phng php thch hp s ph thuc phn ln vo vic c hay khng vng lp c th iu chnh "offline", v p ng thi gian ca h thng. Nu h thng c th thc hin offline, phng php iu chnh tt nht thng bao gm bt h thng thay i u vo tng bc, tn hiu o lng u ra l mt hm thi gian, s dng p ng ny xc nh cc thng s iu khin. La chn phng php iu chnh Phng u im php iu chnh Khng cn hiu bit v ton. Phng php online. th cng Ziegler Nichols Phng php chng minh. Phng php online. Khuyt im Yu cu nhn vin c kinh nghim. lm ri lon qu trnh, mt s th nghim v li, phi iu chnh nhiu ln

iu chnh chc chn. Phng php online hoc Cc cng c offline. C th bao gm phn tch cc van v cm Gi c cao, v phi hun luyn. phn mm bin. Cho php m phng trc khi ti xung thc thi. Yu cu kin thc ton hc. x l cc m hnh tt. Phng php offline. Ch tt Cohen-Coon i vi cc qu trnh bc mt. [sa] iu chnh th cng Nu h thng phi duy tr trng thi online, mt phng php iu chnh l thit t gi tr u tin ca Ki v Kd bng khng. Tng dn Kp cho n khi u ra ca vng iu khin dao ng, sau

 Kp c th c t ti xp x mt na gi tr p t c p ng "1/4 gi tr suy gim bin ". Sau tng Ki n gi tr ph hp sao cho thi gian x l. Tuy nhin, Ki qu ln s gy mt n nh. Cui cng, tng Kd, nu cn thit, cho n khi vng iu khin nhanh c th chp nhn c nhanh chng ly li c gi tr t sau khi b nhiu. Tuy nhin, Kd qu ln s gy p ng d v vt l.Mt iu chnh cp tc ca vng iu khin PID thng hi qu l mt t khi tin ti im t nhanh chng; tuy nhin, vi h thng khng chp nhn xy ra vt l, trong trng hp , ta cn mt h thng vng kn gim l, thit t mt gi tr Kp nh hn mt na gi tr Kp gy ra dao ng. Tc ng ca vic tng mt thng s c lp Thi gian khi Qu Thi gian xc Sai s n nh n nh[3] ng lp Gim Tng Thay i nh Gim Gim cp [4] Gim Tng Tng Gim ng k Gim cp Gim V l thuyt khng tc Ci thin nu Kd Gim t Gim t t ng nh

Thng s Kp Ki Kd

[sa] Phng php ZieglerNichols Xem thm v ni dung ny ti Phng php ZieglerNichols. Mt phng php iu chnh theo kinh nghim khc l phng php ZieglerNichols, c a ra bi John G. Ziegler v Nathaniel B. Nichols vo nhng nm 1940. Ging phng php trn, li Ki v Kd lc u c gn bng khng. li P c tng cho n khi n tin ti li ti hn, Ku, u ra ca vng iu khin bt u dao ng. Ku v thi gian giao ng Pu c dng gn li nh sau: Phng php ZieglerNichols Dng iu khin Kp Ki Kd 0.50Ku P 0.45Ku 1.2Kp / Pu PI 0.60Ku 2Kp / Pu KpPu / 8 PID [sa] Phn mm iu chnh PID Hu ht cc ng dng cng nghip hin i khng cn iu chnh vng iu khin s dng cc phng php tnh ton th cng nh trn na. Thay vo , phn mm iu chnh PID v ti u ha vng lp c dng m bo kt qu chc chn. Nhng gi phn mm ny s tp hp d liu, pht trin cc m hnh x l, v xut phng php iu chnh ti u. Vi gi phn mm thm ch cn c th pht trin vic iu chnh bng cch thu thp d liu t cc thay i tham kho. iu chnh PID bng ton hc to ra mt xung trong h thng, v sau s dng p ng tn s ca h thng iu khin thit k cc gi tr ca vng iu khin PID. Trong nhng vng lp

c thi gian p ng ko di nhiu pht, nn chn iu chnh bng ton hc, bi v vic th sai thc t c th ko di nhiu ngy tm im n nh cho vng lp. Gi tr ti u th kh tm hn. Vi b iu khin s cn c chc nng t iu chnh, trong nhng thay i rt nh ca im t cng c gi ti qu trnh, cho php b iu khin t mnh tnh ton gi tr iu chnh ti u. Cc dng iu chnh khc cng c dng ty theo tiu chun nh gi kt qu khc nhau. Nhiu pht minh hin nay c nhng sn vo trong cc module phn mm v phn cng iu chnh PID. [sa] Cc ci tin i vi thut ton PID Thut ton PID c bn xut hin vi th thch trong cc ng dng iu khin, v c khc phc bi cc ci tin nh trong biu thc ca PID. Tch phn khi ng Xem thm v ni dung ny ti Tch phn khi ng. Mt vn ph bin ca b PID l tng l Tch phn khi ng, ni xy ra thay i im t ln (tc l thay i dng) v khu tch phn tch ly mt sai s ng k lc tng (khi ng), v vy lm vt l v duy tr lin tc vic tng sai s tch ly b gin on. C th khc phc iu ny bng cch:

Thit t gi tr tch phn ban u cho b iu khin ti gi tr mong mun Tng im t vi dc thch hp Khng cho php chc nng tch phn cho n khi PV i vo vng iu khin c Gii hn khong thi gian vt qu sai s tch phn c tnh ton Ngn khng cho khu tch phn tch ly trn hoc di bin xc nh trc

'ng bng' chc nng tch phn trong trng hp b nhiu nu mt vng PID c s dng iu khin nhit ca mt l nung in tr, h thng n nh v sau ca l m v nhit thp lun vo l nung lm cho nhit ri xung di im t. Chc nng tch phn ca b iu khin c xu hng b sai s ny bng cch a ra mt sai s khc theo hng dng. iu ny c th trnh c bng cch 'ng bng' chc nng tch phn sau khi m ca l thi gian cho vng iu khin nung li l nung. Thay chc nng tch phn bng mt phn da trn m hnh Thng thi gian p ng ca h thng c bit trc. Do rt tin li m phng thi gian p ng ny vi mt m hnh v tnh ton vi thng s cha bit t p ng thc ca h thng. Nu gi s h thng l mt l nung in th p ng ca hiu s gia nhit l v nhit mi trng thay i lng in nng s tng t vi mt b lc thng thp RC n gin c nhn bi mt h s t l cha bit. in nng thc t cung cp cho l nung c lm tr bi mt b lc thng thp m phng p ng ca nhit l nung v sau ly nhit thc tr i nhit mi trng ri chia cho thnh phn in nng thng thp ny. Sau , kt qu trn s c n nh bi mt b lc thng thp khc dn n vic tm ra h s t l. Vi vic tnh ton ny, ta c th tnh ton

lng in yu cu bi cch chi im t nhit tr i nhit mi trng bi h s ny. Kt qu ny sau c th c dng thay th chc nng tch phn. iu ny cn c th t c mt sai s iu khin bng '0' trong ch xc lp, bng cch trnh tch phn khi ng v c th ci tin ng k tc ng iu khin so vi mt b iu khin PID ti u. B iu khin dng ny lm vic rt chnh xc trong trng hp vng h, to ra tch phn khi ng vi mt hm tch phn. y l mt u im, nu th d, nhit cp cho l nung b gim mt lc v h hng trong b nung, hoc nu b iu khin c dng nh mt h thng tham vn cho nhn vin iu khin, v ngi ny khng th a n v lm vic trong vng kn. Cng s rt hiu qu nu b iu khin nm trong mt nhnh ca mt h thng iu khin phc tp m c th tm thi khng lm vic. Nhiu vng iu khin PID iu khin mt thit b c kh (th d nh van). Bo dng c kh c th l ph tn v hao mn chnh lm cho iu khin km i di dng ma st tnh hoc l di cht trong p ng c kh tn hiu u vo. Tc bo mn c kh ty thuc phn ln vo s lm vic thng xuyn ca thit b. Nhng ni bo mn c c bit ch , vng iu khin PID c th c mt di cht u ra gim tn s hot ng ca (van) u ra. iu ny c th thc hin c bng cch bin i b iu khin gi c n nh u ra nu thay i l nh (nm trong khong di cht xc nh). Tn hiu u ra tnh ton phi loi b di cht trc khi u ra thc t thay i. Khu t l v khu vi phn c th to ra bin i d tha u ra khi mt h thng b l thuc vo nc thay i tc thi tng sai s, nh mt thay i ln ca im t. Trong trng hp ca khu vi phn, iu ny ty thuc vo vic o hm sai s, o hm ny s rt ln nu nc thay i tc thi. Kt qu l, vi gii thut PID c thm vo cc ci tin sau: o hm u ra Trong trng hp b iu khin PID o lng o hm ca i lng u ra, thay v o hm ca sai s. Tn hiu u ra lun lin tc (v n khng bao gi c nc thay i). iu ny t hiu qu, o hm ca u ra phi cng kiu vi o hm sai s. Dc ha im t ci tin ny, im t c tng dn t gi tr c ti mt gi tr d kin mi s dng mt hm tuyn tnh hoc o hm bc mt ca hm dc. trnh s gin on xut hin trong mt thay i bc thang n. Trng ha im t Trng ha im t s dng cc s khc nhau nhn vi sai s ph thuc vo cc yu t ca b iu khin m n c dng vo. Sai s trong khu tch phn phi l sai s iu khin thc trnh sai s iu khin trng thi xc lp. iu ny tc ng n p ng im t ca b iu khin. Cc thng s ny khng tc ng n p ng ca nhiu ti v nhiu o lng. [sa] Lch s

l thuyt PID c pht trin bi vic quan st hnh vi ca ngi li tu thy. Cc b iu khin PID trong cc thit k b iu tc xut hin t nhng nm 1890.[1][5] Cc b iu khin PID sau c pht trin trong h thng li tu (thy) t ng. Mt trong nhng v d sm nht ca b iu khin kiu PID c pht trin bi Elmer Sperry nm 1911,[6] trong khi tc phm phn tch l thuyt u tin v b iu khin PID c k s ngi M gc Nga Nicolas Minorsky xut bn, vo nm (Minorsky 1922). Minorsky thit k cc h thng li tu t ng cho Hi qun M, v da trn cc phn tch ca ng khi quan st ngi li tu, ng nhn thy rng ngi li tu iu khin con tu khng ch da trn sai s hin ti, m cn da vo sai s qu kh v tc thay i hin ti;[7] iu ny sau c ng ton hc ha. Hi qun M cui cng khng chp nhn h thng, do s phn i t nhn vin. Nghin cu tng t c tin hnh v xut bn bi nhiu ngi khc vo thp nin 1930. Nhng b iu khin u tin l kh nn, thy lc, hoc c kh, cc h thng in pht trin sau Chin tranh Th gii th II. [sa] Cng trnh ca Minorsky

Minorsky pht trin PID trn tu USS New Mexico. V chi tit,cng trnh ca Minorsky x l cc vn sau.[8] Mc ch ca ng l n nh, khng phi iu khin tng qut, gip n gin ha ng k vn . Trong khi iu khin t l cung cp n nh chng li cc bin ng nh, n khng gii quyt nhiu ln, c bit l do gi mnh (gy ra bi droop), nn yu cu phi thm khu tch phn. Cui cng, khu vi phn c thm vo ci thin iu khin. Cc th nghim c tin hnh trn tu USS New Mexico, vi b iu khin iu chnh vn tc gc (khng phi gc) ca bnh li. iu khin PI to ra lch lin tc (sai s gc) trong khong 2, trong khi thm D to ra nghing trong khong 1/6, tt hn hu ht ngi li tu c th lm.

[sa] Cc hn ch ca iu khin PID Trong khi cc b iu khin PID c th c dng cho nhiu bi ton iu khin, v thng t kt qu nh m khng cn bt k ci tin hay thm ch iu chnh no, chng c th rt yu trong vi ng dng, v thng khng cho ta iu khin ti u. Kh khn c bn ca iu khin PID l n l mt h thng phn hi, vi cc thng s khng i, v khng c tin tc trc tip v qu trnh, v do tt c kt qu l phn ng v tha hip - trong khi iu khin PID l b iu khin tt nht m khng cn m hnh iu khin,[1] kt qu tt hn c th t c bng cch kt hp vi mt m hnh iu khin. Ci tin quan trng nht l kt hp iu khin nui-tin vi kin thc v h thng, v s dng PID ch iu khin sai s. Thay vo , PID c th c ci tin bng nhiu cch, nh thay i cc thng s (hoc l lp chng trnh li trong nhiu trng hp s dng khc nhau hoc ci tin thch nghi chng da trn kt qu), ci tin o lng (tc ly mu cao hn, v chnh xc, v lc thng thp nu cn thit) hoc ni tng nhiu b iu khin PID vi nhau. Cc b iu khin PID, khi s dng c lp, c th cho kt qu xu khi li vng PID buc phi gim v th h iu khin khng xy ra vt l, dao ng hoc rung quanh gi tr im t iu khin. Chng cng kh khn khi xut hin phi tuyn, c th cn bng s iu tit chng li p ng thi gian, khng phn ng li vic thay i hnh vi iu khin (do , qu trnh thay i sau khi n c hm nng), v b tr trong p ng vi cc nhiu ln. [sa] Tuyn tnh Mt vn khc xy ra i vi cc b iu khin PID l chng tuyn tnh, v i xng tng phn. Do , kt qu ca cc b iu khin PID trong cc h phi tuyn (nh h iu khin HVAC) th khc nhau. Th d, trong iu khin nhit , mt trng hp s dng ph bin l nung nng ch ng (qua mt b nung) nhng lm lnh b ng (ngng lm nng, nhng khng lm lnh) v vy ch c th loi tr qu mt cch chm chp - khng th p xung cng bc. Trong trng hp ny b iu khin PID c th c chuyn sang gim l, ngn cn hoc gim s vt l, mc d iu ny lm gim hiu sut (n tng thi gian xc lp). . [sa] Nhiu trong khu vi phn Mt vn vi khu Vi phn l mt lng nh i lng o lng hoc x l nhiu c th gy ra cc thay i ln u ra. Thng s rt cn thit khi lc cc i lng o lng vi mt b lc thng thp loi tr cc thnh phn nhiu sng hi bc cao. Tuy nhin, lc thng thp v iu khin vi phn c th loi tr ln nhau, v vy gim nhiu bng cc linh kin l la chn tt hn. Nh vy, mt b lc trung v phi tuyn c th c s dng, s gip ci tin hiu sut lc v kt qu thc t [9]. Trong vi trng hp, di vi phn c th b 'tt' trong nhiu h thng vi mt cht suy gim iu khin. Khi b iu khin PID s ging nh mt b iu khin PI. [sa] Cc ci tin [sa] Nui tin

Kt qu ca h iu khin c th c ci thin bng cch lin kt iu khin phn hi (hay vng kn) ca mt b iu khin PID vi iu khin nui tin (hay vng h). Thng tin v h thng (nh gia tc v qun tn mong mun) c th c cung cp v pha trc v lin kt vi u ra PID ci thin ton b kt qu h thng. Gi tr nui tin mt mnh c th thng cung cp phn chnh trong u ra b iu khin. B iu khin PID c th c s dng chnh cho bt k hiu s hoc sai s duy tr no gia im t (SP) v gi tr thc ca bin qu trnh (PV). Do u ra nui tin khng b tc ng bi tn hiu phn hi ca qu trnh, n c th khng bao gi lm cho h iu khin dao ng, do ci thin p ng v n nh ca h thng. Ly th d, trong hu ht h thng iu khin chuyn ng, tng tc mt ti c kh c iu khin, cn phi tng thm lc hoc momen t ngun ng lc chnh, ng c, hay b truyn ng. Nu mt b iu khin PID iu khin vn tc c s dng iu khin tc ca ti v iu khin lc v momen trong ngun ng lc chnh, th n cng c li khi iu khin gia tc tc thi theo mong mun theo ti, t l, theo gi tr thch hp v cng n vi u ra ca b iu khin PID tc . C ngha l bt k khi no ti c tng tc hoc gim tc, mt lc tng xng c yu cu t ngun ng lc chnh m khng quan tm n gi tr phn hi. Vng iu khin PID trong trng hp ny s dng thng tin phn hi tc ng tng hay gim hn hp u ra gim hiu s cn li gia iu t qu trnh v gi tr phn hi. Cng vi nhau, b iu khin nui tin vng h v b iu khin PID vng kn c th to ra mt h thng iu khin nhy hn, n nh hn v tin cy hn. [sa] Cc ci tin khc Bn cnh nui tin, b iu khin PID cn c tng cng bng cc phng php khc nh lp chng trnh chnh li PID (thay i cc thng s trong cc iu kin lm vic khc nhau), logic m hoc logic ng t my tnh ha [10] [11] . Cc sn phm ng dng thc t khc c th c pht trin ln bng cch kt ni cc thit b vi b iu khin. Mt tc ly mu cao, vic o lng chnh xc, l cc yu cu cn c t c kt qu iu khin nh . [sa] iu khin ghp tng Mt u im c trng ca cc b iu khin PID l hai b iu khin PID c th c s dng cng nhau t c kt qu ng hc tt hn. y c gi l iu khin PID ghp tng. Trong iu khin ghp tng, c hai b PID c sp xp vi mt b PID iu khin im t ca b kia. Mt b iu khin lm vic nh b iu khin vng ngoi, n s iu khin cc thng s vt l chnh, nh mc cht lng hoc vn tc. B iu khin kia lm vic nh b iu khin vng trong, n s c u ra ca b iu khin vng ngoi nh l im t, thng cc thng s iu khin,tc chy hoc gia tc thay i nhanh hn. Ta c th chng minh bng ton hc[cn dn ngun] rng tn s lm vic ca b iu khin c tng v hng s thi gian ca i tng c gim bi vic s dng b iu khin PID ghp tng.Bn mu:Vague. [sa] Thc thi vt l ca iu khin PID Thi k u ca iu khin qu trnh t ng b iu khin PID c thc thi bi mt thit b c kh. Cc b iu khin c kh ny s dng mt n by, l xo v mt khi cht v thng

c kch thch bng kh nn. Nhng b iu khin bng kh ny tng l tiu chun trong cng nghip. Cc b iu khin in t tng t c th c lm t mt b khuch i dng ng chn khng hoc t transistor bn dn, mt t in v mt in tr. Cc vng iu khin PID in t tng t thng c tm thy bn trong cc h thng in t phc tp hn, th d, vic nh v u t ca mt da, vic iu ha cng sut ca mt b ngun, hoc thm ch trong mch pht hin chuyn ng ca mt my o a chn hin i. Ngy nay, cc b iu khin in t hu nh c thay th phn ln bi cc b iu khin k thut s thc hin vi cc b vi iu khin hay FPGA. Cc b iu khin PID hin i nht trong cng nghip c thc thi trong cc b iu khin logic kh lp trnh (PLC) hoc mt b iu khin k thut s c gn c nh trn mt bng. Cc phn mm thc thi c u im l chng tng i r v kh linh hot vi p ng thc thi ca thut ton PID. in p thay i c th c p dng bi dng phn phi thi giam ca iu rng xung(Pulse Width modulation-PWM) - mt chu k thi gian c nh, v cc bin i t c bng cch kim tra phn phi thi gian trong sut chu k ny khi u ra b iu khin +1 (hay -1) thay v 0. Trong mt h thng k thut s cc phn b c th l ri rc - th d tng 0.1 giy trong vng mt chu k 2 giy t 20 bc: t l tng l 5% - v vy c mt sai s ri rc ha, c phn gii thi gian cao t c kt qu mong mun. [sa] K hiu thay th v cc dng PID [sa] Dng PID l tng v tiu chun B iu khin PID l b iu khin xut hin nhiu nht trong cng nghip, v b iu khin thch hp nht iu chnh thut ton l dng chun. Trong dng ny, li Kp c dng trong khu Iout, v Dout ,t c::

trong Ti l thi gian tch phn Td l thi gian vi phn Trong dng song song l tng, c trnh by trong phn l thuyt b iu khin

cc thng s li c lin kt ti dng chun thng qua v . Dng song song ny, trong cc thng s c x l nh l cc li n gin, l dng tng qu v linh hot nht. Tuy nhin, n cng l dng m cc thng s c s lin quan vt l t nht v thng c dnh ring cho vic kho st l thuyt ca b iu khin PID. Dng chun, mc d t phc tp hn v mt ton hc, nhng li ph bin hn trong cng nghip. [sa] Dng Laplace ca b iu khin PID i khi cch vit iu khin PID di dng bin i Laplace li rt thun tin:

Ta va c b iu khin PID c vit di dng Laplace v hm truyn ca h iu khin khin cho vic xc nh hm truyn vng kn h thng mt cch d dng. [sa] Dng ni tip/tng h Mt dng biu din khc ca b iu khin PID l dng ni tip, hay dng tng h

trong cc thng s quan h vi cc thng s ca dng chun qua , , and

vi

. Dng ny v c bn bao gm b iu khin PD v PI ghp ni tip vi nhau, v n gip cho cc b iu khin i u (analog) d dng xy dng hn. Khi cc b iu khin i sau c s ha, nhiu k tha sau s dng dng tng h. [sa] Thc hin ri rc ha Cc phn tch v thit k mt b iu khin PID k thut s trn mt Vi iu khin (MCU) hoc thit b FPGA yu cu dng chun ca b iu khin PID phi c ri rc ha [12]. Vi phn bc

mt c xc nh bng sai phn hu hn li. Khu tch phn c ri rc ha, vi thi gian ly mu t,nh sau,

Khu vi phn c xc nh bi,

Do , mt gii thut vn tc cho vic thc thi b iu khin PID ri rc trn mt MCU t c bng cch o hm u(t), s dng cc s xc nh t o hm bc mt v o hm bc hai, tm ra u(tk) cui cng ta c:

[sa] M chng trnh mu Sau y l mt chng trnh vng lp n gin thc hin gii thut PID di dng 'l tng, song song': previous_error = 0 integral = 0 start: error = setpoint - actual_position integral = integral + (error*dt) derivative = (error - previous_error)/dt output = (Kp*error) + (Ki*integral) + (Kd*derivative) previous_error = error wait(dt) goto start

Code chng trnh PID phn iu khin PID cho l nhit Option Explicit Dim status As String Dim DeviceNum As Long Dim DriverHandle As Long Dim loi As String * 80

Dim Response As String Dim voltage As Single 'Bien luu dien ap analog ngo vao Dim T As Double Dim Ton As Double Dim Toff As Double Dim n As Double Dim x1, x2, y1, y2, T1, Tdo As Single Dim s As Single Dim lpDioWriteBit As PT_DioWriteBit Dim Chonkenh As PT_AIConfig Dim GTapvao As PT_AIVoltageIn Dim i As Integer Dim Tn, L, Kp, Ki, Kd, k1, k2, k3, a0, a1, a2, u1, u, e1, e2, e3, umax As Double Dim Tdat As Double Dim e0, m As Double 'e0 la bien gia tri sai lech hien tai 'e3 la bien dung de tinh sai lech ban dau nham muc dich tinh umax 'Chuc nang cac timer nhu sau 'Timer 1: kiem soat chu ki dieu rong xung 'Timer 2: tao ra mot khoang thoi gian dung bang tdelay 'Timer 3: duoc cho tran sau moi ms de xuat ra muc dien ap tuong ung 'Timer 4: duoc dung de cong lay trung binh nham ve do thi Private Sub cmdNhapPID_Click() Kp = CDbl(txtKp.Text) 'Cap nhat gia tri trong cac edit box cho cac he so Kp, Ki, Kd Ki = CDbl(txtKi.Text) Kd = CDbl(txtKd.Text) End Sub Private Sub cmdRun_Click() i = 0 'Khoi tao chi so luc dau s = 0 'Khoi tao tong luc dau T1 = 0 'Khoi tao gia tri dau cho t1, t1 la bien luu nhiet do ung voi toa do (x1,y1) x1 = 5040 'Gan hoanh do ban dau cho diem x1 y1 = 6720 'Gan tung do ban dau cho diem y1 T = CDbl(txtChuKi.Text) * 1000 'Gan chu ki cho bien T If (Kp = 0 And Ki = 0 And Kd = 0) Then 'Kiem tra xem da nhap cac thong so Kp, Ki, Kd chua? MsgBox ("Moi ban nhap thong so cho bo dieu khien PID") Exit Sub End If a0 = Kp + Kd / T + Ki * T / 2 a1 = Ki * T / 2 - 2 * Kd / T - Kp a2 = Kd / T u1 = 0 'Gan gia tri dien ap luc dau bang 0 e1 = 0 'Gan sai lech dien ap o thoi diem dau bang 0

e2 = 0 If (txtTdat.Text = "") Then MsgBox ("Moi ban nhap vao gia tri nhiet do dat") Exit Sub End If Tdat = CDbl(txtTdat.Text) 'Doc vao gia tri nhiet do dat Call ReadAD 'Goi ham doc gia tri analog Tdo = 140 * voltage e3 = Tdat - Tdo 'Tinh sai lech nhiet do luc dau umax = a0 * e3 ' Tinh dien ap lon nhat if (umax <0) then umax = 0.01 Timer1.Interval = T 'Timer1 kiem soat chu ki cua PWM Timer1.Enabled = True 'Khoi dong timer 1 Timer3.Interval = 1 Timer3.Enabled = True 'Khoi dong timer 3 Timer4.Interval = 5 Timer4.Enabled = True 'Khoi dong timer 4 End Sub Private Sub cmdStop_Click() Timer1.Enabled = False 'Tat timer1 Timer3.Enabled = False 'Tat timer3 Timer4.Enabled = False 'Tat timer4 End Sub Private Sub cmdThoat_Click() lpDioWriteBit.Port = 0 'Chon port xuat ra la port 0 lpDioWriteBit.bit = 4 'Chon bit 4 cua port 0 lpDioWriteBit.state = 0 'Xuat ra muc thap status = DRV_DioWriteBit(DriverHandle, lpDioWriteBit) status = DRV_DeviceClose(DriverHandle) 'Dong cong port 0 If (status <> 0) Then DRV_GetErrorMessage status, loi 'Lay noi dung thong bao loi cat vao bien loi Response = MsgBox(loi, vbOKOnly, "Loi khi dong cong!!!") Exit Sub End If Unload Me 'unload form hien tai End Sub Private Sub cmdTinhPID_Click() If (Val(txtL.Text) = 0) Or (Val(txtT.Text) = 0) Then 'Chuyen tu chuoi ra so thuc MsgBox ("Ban chua nhap thoi hang T va thoi gian tre L")

Exit Sub End If 'Cap nhat gia tri cho L va T L = CDbl(txtL.Text) Tn = CDbl(txtT.Text) 'Tinh cac he so Kp, Ki, Kd trong cac edit box ben canh nut tinh PID k1 = Tn / (2 * L) k2 = Tn / (4 * L * L) k3 = Tn / 4 txttinhKp.Text = k1 'Cap nhat gia tri tu cac bien cho cac dieu khien txttinhKi.Text = k2 txttinhKd.Text = k3 End Sub Private Sub cmdTransfer_Click() txtKp.Text = txttinhKp.Text txtKi.Text = txttinhKi.Text txtKd.Text = txttinhKd.Text End Sub Private Sub Form_Load() status = DRV_DeviceOpen(0, DriverHandle) 'Mo port 0, gan Driver Handle la dieu khien cho port 0 If (status <> 0) Then 'Neu bi loi DRV_GetErrorMessage status, loi 'Chep thong bao loi vao bien loi Response = MsgBox(loi, vbOKOnly, "Loi khi mo cong!!!") Exit Sub End If shpDen.FillColor = vbGreen

End Sub Private Sub ReadAD() Chonkenh.DasChan = 2 'Chon kenh doc ngo vao analog la kenh 1 Chonkenh.DasGain = 0 'Chon gain code = 0 status = DRV_AIConfig(DriverHandle, Chonkenh) If (status <> 0) Then 'Neu trong qua trinh cau hinh cong analog bi loi DRV_GetErrorMessage status, loi 'Luu thong bao loi vao bien loi Response = MsgBox(loi, vbOKOnly, "Loi khi cau hinh cong vao analog!!!") Exit Sub End If GTapvao.chan = Chonkenh.DasChan GTapvao.gain = Chonkenh.DasGain GTapvao.TrigMode = 0 'Kich bang phan mem

GTapvao.voltage = DRV_GetAddress(voltage) 'Voltage la bien chua dien ap doc ve status = DRV_AIVoltageIn(DriverHandle, GTapvao) If (status <> 0) Then DRV_GetErrorMessage status, loi Response = MsgBox(loi, vbOKOnly, "Loi trong luc doc ngo vao analog") Exit Sub End If End Sub Private Sub Timer1_Timer() Call ReadAD 'Cu moi lan timer 1 tran thi doc dien ap ve va cap nhat gia tri dien ap ra moi Tdo = voltage * 140 e0 = Tdat - Tdo 'Tinh sai lech hien tai u = u1 + a0 * e0 + a1 * e1 + a2 * e2 If (u < 0) Then u = 0 If (u > umax) Then u = umax Ton = u / umax * T 'Tinh Ton va Toff moi Toff = T - Ton Text1.Text = Format(Ton, "##0.0##") e2 = e1 e1 = e0 u1 = u End Sub Private Sub Timer2_Timer() Timer2.Enabled = False 'Timer 2 dung de tao mot khoang thoi gian dung bang thoi gian delay End Sub Private Sub Timer3_Timer() 'Timer 3 cu sau 1ms se bi tran, ta phai tinh gia tri dien ap xuat ra sau moi ms nay Select Case Ton Case 0 'Trong chu ki khong dong % nao lpDioWriteBit.Port = 0 lpDioWriteBit.bit = 4 lpDioWriteBit.state = 0 shpDen.FillColor = vbGreen status = DRV_DioWriteBit(DriverHandle, lpDioWriteBit) Case T 'Dong 100% chu ki lpDioWriteBit.Port = 0 lpDioWriteBit.bit = 4 lpDioWriteBit.state = 1 shpDen.FillColor = vbRed status = DRV_DioWriteBit(DriverHandle, lpDioWriteBit) Case Else lpDioWriteBit.Port = 0 lpDioWriteBit.bit = 4

lpDioWriteBit.state = 1 'Xuat ra muc 1 trong khoang thoi gian Ton status = DRV_DioWriteBit(DriverHandle, lpDioWriteBit) 'shpDen.FillColor = vbRed Call Delay(Ton) lpDioWriteBit.Port = 0 lpDioWriteBit.bit = 4 lpDioWriteBit.state = 0 'Xuat ra muc 0 trong khoang thoi gian Toff status = DRV_DioWriteBit(DriverHandle, lpDioWriteBit) 'shpDen.FillColor = vbGreen Call Delay(Toff) End Select End Sub Private Sub Delay(X As Double) Timer2.Interval = X Timer2.Enabled = True Do DoEvents Loop Until Timer2.Enabled = False End Sub Private Sub Timer4_Timer() Call ReadAD m = voltage * 140 ' Sua nhiet do s=s+m i=i+1 If i = 15 Then n = s / 14 i=0 s=0 txtDienap.Text = Format(voltage, "##0.0##") txtNhietDo.Text = n 'Xuat ta edit box x2 = x1 + 2 'Cap nhat honh do moi y2 = y1 - (n - T1) * 48 Line (x1, y1)-(x2, y2), vbRed x1 = x2 'Cap nhat gia tri moi cho bien y1 = y2 T1 = n End If End Sub