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TRNG AI HOC S PHAM KY THUT TP-HCM

LP CAO HOC-2006
NGANH THIT BI MANG VA NHA MAY IN

BO CO MN HC :

CAD TRONG K THUT IN


TI:

M HINH H THNG IU KHIN T


NG V XY DNG B IU KHIN PID
GVHD: TS. TRNG VIT ANH
HVTH: HONG XUN GIANG

TNG QUAN
Bo co ny chng ta s tm hiu phng php
m hnh ho mt h thng iu khin t ng
bao gm :
Hm truyn v phng trnh trng thi ca
h thng
p ng vng h v p ng vng kn ca
h thng
Xy dng b iu khin PID
Chnh nh thng s ca b iu khin v
kho st p ng ca h thng
2

M HNH H THNG IU KHIN TIU


BIU

HM TRUYN V PHNG TRNH TRNG


THI CA H THNG
Trong iu khin t ng ngi ta thng biu
din mt h thng vt l bng hm truyn
(transfer function) hay phng trnh trng thi
(state space equation) ca n(i vi h phi
tuyn, t iu ny, ngi ta phi dng
phng php tuyn tnh ha tng on).
Gi s c h thng iu khin tc motor DC
nh hnh sau:

HM TRUYN V PHNG TRNH TRNG


THI CA H THNG(tt)
Trong :

HM TRUYN V PHNG TRNH TRNG


THI CA H THNG(tt)
Phng trnh vi phn m t h thng nh sau:

Hm truyn: bin i Laplace 2 v ca phng


trnh trn ta c

=>

HM TRUYN V PHNG TRNH TRNG THI


CA H THNG(tt)
Phng trnh trng thi: Dng tng qut

Vi X l vct trng thi, U l vct tn hiu vo v


Y l vct tn hiu ra

HM TRUYN V PHNG TRNH TRNG


THI CA H THNG(tt)
Bin trng thi v phng trnh trng thi: t
phng trnh vi phn m t h thng nu t
ta c :

B IU KHIN PID
nh ngha:
B iu khin PID (A proportional integral
derivative controller) l b iu khin s dng
k thut iu khin theo vng lp c hi tip
c s dng rng ri trong cc h thng
iu khin t ng. Mt b iu khin PID c
gng hiu chnh sai lch gia tn hiu ng ra
v ng vo sau a ra mt mt tn hiu
iu khin iu chnh qu trnh cho ph
hp

B IU KHIN PID(tt)
S KHI CA B IU KHIN PID

B IU KHIN PID(tt)
Trong hm truyn ca khu PID l:

Vi:

B IU KHIN PID(tt)
Vic hiu chnh 3 thng s KP, KI, KD s lm tng
cht lng iu khin. nh hng ca 3
thng s ny ln h thng nh sau:

B IU KHIN PID(tt)

B IU KHIN PID(tt)
b iu khin t l P:

p ng vng kn ca b t l nh sau

B IU KHIN PID(tt)
b iu khin vi tch phn t l:

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B IU KHIN PID(tt)
Hiu chnh thng s ca b iu khin PID:
Mt phng php c in nhng n gin v
hiu qu chnh nh 3 thng s KP, KI, KD
ca b iu khin PID l phng php Ziegler
Nichols th tc chnh nh nh sau:
1. Ch iu khin h thng bng b iu
khin t l KP (t KI=KD =0)
2. Tng KP n gi tri KC m h thng
bt u bt n (bt u xut hin s dao
ng - im cc ca hm truyn kn nm
trn trc o j xc nh tn s c ca dao
ng va t
2

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B IU KHIN PID(tt)
Hiu chnh thng s ca b iu khin PID(tt):
t 2 gi tr KC v c va t cc thng s KP, KI,
KD c xc nh nh bng sau:

3. Tinh chnh li 3 thng s ny t c


p ng nh mong mun
2

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KT LUN:
PID l mt trong nhng l thuyt c in v cu
nht dng cho iu khin tuy nhin n vn
c ng dng rng ri cho n ngy nay
ng c khi quay vi mt tc xc nh th
r rng khi quay n c hin tng git. PID
c th lm tt hn vic

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