PID Controller

PID CONTROLLER

PID Controller

Mc tiu iu khin :
Trit tiu sai s xc lp.
Gim thi gian xc lp v vt l.
Hn ch dao ng.

PID Controller
r(t)

e(t)

u(t)

K(s)

yht (t)

G(s)

y(t)

H(s)

Cht lng h thng :

Sai s ca h thng :

Sai s xc lp :

E (s) = R(s) Y (s) H (s)

= R ( s ) E ( s ) K ( s )G ( s ) H ( s )
R (s)
E (s) =
1 + K ( s )G ( s ) H ( s )
e( ) = lim e(t) = lim s.E(s)
t

s 0

PID Controller

Nhn xt :
Sai s xc lp khng ch ph thuc vo cu trc v thng s ca
h m cn ph thuc vo tn hiu vo.
Sai s xc lp ph thuc vo s lng khu l tng c trong hm
truyn h G(s)H(s) :
H khng c khu tch phn : lun c sai s xc lp.
1 khu tch phn : exl = 0 vi tn hiu vo l hm nc.
2 khu tch phn : exl = 0 vi hm dc v hm nc.
3 khu tch phn : exl = 0 vi hm dc,hm nc v hm
parabol.
H c n khau tch phn l tng gi l h vi sai bc n.
Sai s xc lp :

PID Controller

PID (Proportional Integral Derivative Controller ):

B iu khin hi tip vng kn c s dng nhiu nht
trong cng nghip.
L s kt hp ca 3 b iu khin : t l, tch phn v vi
phn.
C kh nng lm trit tiu sai s xc lp, tng tc p
ng, gim vt l nu thng s ca b iu khin c la
chn thch hp.

PID Controller

B iu khin PID lin tc :

PID Controller

B iu khin PID s (ri rc) :

PID Controller

Khu t l (Proportional) :
Hm truyn : K(s) = KP .
c tnh thi gian : Y(s) = Kp.G(s).E(s).
R(s)
E ( s) =
1 + K PG ( s ) H ( s)

Sai s h thng :
r(t)

e(t)
yht (t)

KP

u(t)

H(s)

G(s)

y(t)

PID Controller

Nhn xt :
Kp cng ln th tc p ng cng nhanh.
Kp cng ln th sai s xc lp cng nh (nhng khng th
trit tiu).
Kp cng ln th cc cc ca h thng c xu hng di chuyn
ra xa trc thc => H thng cng dao ng v vt l cng
cao.
Nu Kp tng qu gi tr gii hn th h thng s dao ng
khng tt dn => mt n nh.

PID Controller

Khu tch phn (Integration) :

Hm truyn : K(s) = KI/s.
c tnh thi gian : Y(s) = KI.G(s).E(s)/s.
Sai s h thng :

r(t)

e(t)
yht (t)

s. R ( s )
E (s) =
s + K I G (s) H (s)

KI/s

u(t)

H(s)

G(s)

y(t)

PID Controller

Nhn xt :
Tn hiu ng ra c xc nh bi sai s.
KI cng ln th p ng qu cng chm.
KI cng ln th sai s xc lp cng nh. c bit h s
khuch i ca khu tch phn bng v cng khi tn s bng
0 => trit tiu sai s xc lp vi hm nc.
KI cng ln th vt l cng cao.

PID Controller

Khu vi phn (Derivative) :

r(t)

e(t)

u(t)
KD.S

yht (t)

G(s)

H(s)

Hm truyn : K(s) = KD.s.

c tnh thi gian : Y(s) = KD.G(s).E(s).s.
Sai s h thng :

E (s) =

R(s)
1 + s. K D G ( s ) H ( s )

y(t)

PID Controller

Nhn xt :
KD cng ln th p ng qu cng nhanh.
KD cng ln th vt l cng nh.
H s khuch i ti tn s cao l v cng ln nn khu hiu
chnh D rt nhy vi nhiu tn s cao.
Khu vi phn khng th s dng mt mnh m phi dng kt
hp vi cc khu P hoc I.

Control System

B iu khin PID :
Kt hp ca ba khu thnh phn.
Biu din :
Cch 1 :

K ( s ) = K P + K I / s + K D .s

Cch 2 :

K ( s ) = K P [1 + 1 /(TI .s ) + TD .s ]

Cch 3 :

K (s) =

KR
(1 + T1 .s )(1 + T2 .s )
s

Control System

Cc phng php tm thng s PID (Kp, Ki, Kd) :

Chnh nh bng tay.
Phng php Ziegler Nichols.
Chnh nh dng phn mm.
Cohen-Coon.

Control System

Chnh nh bng tay :

t Ki = Kd = 0. Tng Kp n khi h thng dao ng tun hon.
t thi gian tch phn bng chu k dao ng .
iu chnh li gi tr Kp cho ph hp.
Nu c ao ng th iu chnh gi tr Kd.

Control System

Phng php Ziegler-Nichols :

t Ki = Kd = 0. Tng Kp n khi h thng dao ng tun hon.
t gi tr Kp ny = Kc
o chu k dao ng Pc.

Control System

Chnh nh bng phn mm :

Dng phn mm t ng chnh nh thng s PID (thc hin
trn m hnh ton, kim nghim trn m hnh thc).
V d dng gii thut di truyn (GA) tm thng s sao cho sai
s o c nh hn gi tr yu cu.