B iu khin PID

Bch khoa ton th m Wikipedia Bc ti: menu, tm kim

S khi ca b iu khin PID Mt b iu khin vi tch phn t l (b iu khin PID- Proportional Integral Derivative) 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

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

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.

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 , , v l cc thnh phn u ra t ba khu ca b iu khin PID, c xc nh nh di y.

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 : tha s t l ca u ra : li t l, thng s iu chnh : sai s : 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. 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 ( trt) 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, vi sai s l tuyn tnh, do 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 nhanh 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.

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, . Tha s tch phn c cho bi:

trong : tha s tch phn ca u ra : li tch phn, 1 thng s iu chnh : sai s : 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.

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 . 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, .

Tha s vi phn c cho bi:

trong : tha s vi phn ca u ra : li vi phn, mt thng s iu chnh : Sai s : 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.

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 l: l u ra ca b iu khin, biu thc cui cng ca gii thut PID

trong cc thng s iu chnh l: li t l, 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, 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, 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.

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 ch; phn ny miu t vi phng php th cng truyn thng iu chnh vng lp.

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.

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.

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 php iu chnh th cng u im Khng cn hiu bit v ton. Phng php online. Khuyt im

Yu cu nhn vin c kinh nghim. lm ri lon qu trnh, mt s Ziegler Phng php chng minh. Phng php online. th nghim v li, phi iu Nichols chnh nhiu ln iu chnh chc chn. Phng php online hoc Gi c cao, v phi hun Cc cng c offline. C th bao gm phn tch cc van v cm bin. Cho php m phng trc khi ti luyn. phn mm xung thc thi. Yu cu kin thc ton hc. Cohenx l cc m hnh tt. Phng php offline. Ch tt Coon i vi cc qu trnh bc mt.

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 v bng khng. Tng dn cho n khi u ra ca vng iu khin dao ng, sau 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 n gi tr ph hp sao cho thi gian x l. Tuy nhin, qu ln s gy mt n nh. Cui cng, tng , 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, 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 nh hn mt na gi tr 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 ng lp Gim Tng Thay i nh Gim [4] Gim Tng Tng Gim ng k Gim V l thuyt khng tc Gim t Gim t t ng

Thng s

n nh[3] Gim cp Gim cp Ci thin nu nh

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 v lc u c gn bng khng. li P c tng cho n khi n tin ti li ti hn, , u ra ca vng iu khin bt u dao ng. v thi gian dao ng c dng gn li nh sau: Phng php ZieglerNichols Dng iu khin P PI PID

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.

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.

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.

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.

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.

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). .

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.

Cc ci tin
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.

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 .

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.

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.

K hiu thay th v cc dng PID

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 c dng trong khu , v ,t c::

trong

l thi gian tch phn 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.

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.

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.

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 ,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 hai, tm ra , s dng cc s xc nh t o hm bc mt v o hm bc cui cng ta c:

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

Xem thm

L thuyt iu khin t ng Hi tip bt nh Dao ng B iu khin PI

Tham kho

Bi vit ny cn thm ch thch kim tra c tnh xc thc.

Hy gip hon thin bi ny bng cch b sung cc ngun tham kho tin cy. Cc ni dung khng r ngun c th b nghi ng v xa b. (June 2009)

^ a b c Bennett, Stuart (1993). A history of control engineering, 1930-1955. IET. tr. p. 48. ISBN 9-780863412998 2. ^ Araki, M. PID Control 3. ^ Ang, K.H., Chong, G.C.Y., and Li, Y. (2005). PID control system analysis, design, and technology, IEEE Trans Control Systems Tech, 13(4), pp.559-576. http://eprints.gla.ac.uk/3817/ 4. ^ http://saba.kntu.ac.ir/eecd/pcl/download/PIDtutorial.pdf 5. ^ Bennett, Stuart (November nm 1984). Nicholas Minorsky and the automatic steering of ships. IEEE Control Systems Magazine 4 (4): 1015. doi:10.1109/MCS.1984.1104827. ISSN 0272-1708 6. ^ http://www.building-automation-consultants.com/building-automationhistory.html 7. ^ Bennett 1993, p. 67 8. ^ Bennett, Stuart (June nm 1986). A history of control engineering, 18001930. IET. tr. 142148. ISBN 978-0-86341047-5. 9. ^ Li, Y. and Ang, K.H. and Chong, G.C.Y. (2006) PID control system analysis and design - Problems, remedies, and future directions. IEEE Control Systems Magazine, 26 (1). pp. 32-41. ISSN 0272-1708 10. ^ Yang, T. (thng 6 nm 2005). Architectures of Computational Verb Controllers: Towards a New Paradigm of Intelligent Control. International Journal of Computational Cognition (Yang's Scientific Press) 3 (2): 74101. 11. ^ Liang, Y.-L.(et al) (2009). Controlling fuel annealer using computational verb PID controllers. Proceedings of the 3rd international conference on AntiCounterfeiting, security, and identification in communication (IEEE): 417420. 12. ^ http://www.scribd.com/doc/19070283/Discrete-PI-and-PID-ControllerDesign-and-Analysis-for-Digital-Implementation 1.

Minorsky, Nicolas (1922). Directional stability of automatically steered bodies. J. Amer. Soc. Naval Eng. 34 (2): 280309 Liptak, Bela (1995). Instrument Engineers' Handbook: Process Control. Radnor, Pennsylvania: Chilton Book Company. tr. 2029. ISBN 0-8019-8242-1. Tan, Kok Kiong; Wang Qing-Guo, Hang Chang Chieh (1999). Advances in PID Control. London, UK: Springer-Verlag. ISBN 1-85233-138-0. Van, Doren, Vance J. (1 thng 7 nm 2003). Loop Tuning Fundamentals ([lin kt hng] ). Control Engineering (Red Business Information). Sellers, David. An Overview of Proportional plus Integral plus Derivative Control and Suggestions for Its Successful Application and Implementation (PDF). Truy cp ngy 5 thng 5 nm 2007. Graham, Ron (3 thng 10 nm 2005). FAQ on PID controller tuning. Truy cp ngy 5 thng 1 nm 2009. b qua tham s khng r |oldaccessdate= (tr gip); b qua tham s khng r |oldurl= (tr gip)

Lin kt ngoi

Sch hng dn v PID

PID Tutorial P.I.D. Without a PhD: a beginner's guide to PID loop theory with sample programming code What's All This P-I-D Stuff, Anyhow? Article in Electronic Design Shows how to build a PID controller with basic electronic components (pg. 22) Virtual PID Controller Laboratory o PID Design & Tuning Online PID Tuning applet from University of Texas Control Group

Cc ti dnh ring v cc ng dng iu khin PID

Proven Methods and Best Practices for PID Control PID Control Primer Article in Embedded Systems Programming

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