1

M U
1. Tnh cp thit ca ti
u th k 20 cc n in t v khuch i in t bt u xm
nhp vo cng nghip lm cho dy chuyn sn xut t ng bt cng
knh hn. Thit b t ng in hnh trong thi gian ny l cc b iu
khin dng n in t, cc thit b o v iu khin c t hp l in
th k t ng ghi, cc rle thi gian in t.
Cui nhng nm 1960 u nhng nm 1970, in t cng sut, vi
mch in t c bit l b vi x l 4 bit, 8 bit ra i thay i rt nhiu v
cc thit b iu khin. Cc b iu khin tng t, b iu khin s, thit
b iu khin lp trnh 4 bit. n cui thp k 80 ca th k 20 do tnh
nng x l v vi iu khin c nng cao nn xut hin cc thit b
iu khin mch l PLC (thit b iu khin logic lp trnh) cho iu khin
logic, cc h iu khin DCS (Distributed Control System H thng iu
khin phn tn) thit b iu khin c cc mch vng tn hiu lin tc. n
gia thp k 90 ca th k 20 h iu khin DCS v thit b iu khin
PLC c kt ni vi qu trnh sn xut v trung tm gim st vn hnh
qua cc ng truyn thng. Ta c h iu khin t ng ha hon chnh
nh ngy nay.
DSC ra i vi th mnh l kh nng x l cc tn hiu tng t v
thc hin cc chui qu trnh phc tp, kh nng tch hp d dng. C h
thng DCS c th qun l c vi nghn n vi chc nghn im vo/ra.
Tuy nhin do s dng h thng truyn thng s dng bus truyn thng
chung ny sinh kh khn l cc tr truyn thng gia cc sensor, cc c
cu chp hnh v b iu khin. Tr truyn thng ny l do vic chia s
chung mt phng tin truyn thng, do thi gian tnh ton cn thit cho
vic m ho/gii m cc i lng o v thi gian x l truyn thng. Tr
truyn thng c tnh ngu nhin ph thuc vo giao thc truyn thng,
phn cng s dng v trng thi ca h thng mng truyn thng. Tr

2
truyn thng s ln v mang tnh bt nh cao khi lu lng truyn thng
ln, c bit l khi h thng mng ri vo trng thi nghn mng. Nhm
m bo s n nh cng nh m bo cht lng iu khin ca h thng
iu khin, vic nghin cu v tr truyn thng v phng php b tr
truyn thng trong h thng iu khin l cn thit.
2. Mc tiu nghin cu
- Nghin cu c tnh v nh hng ca tr truyn thng trong cc
h thng iu khin phn tn.
- Thc hin nng cao cht lng iu khin bng phng php b
tr truyn thng dng b iu khin d bo SMITH.
3. i tng v phm vi nghin cu
a. i tng nghin cu: H thng iu khin phn tn.
b. Phm vi nghin cu
Vi mc tiu v nhim v t ra, tc gi ch gii hn nghin cu
trong phm vi nhng vn sau:
+ c im ca tr truyn thng trong mng.
+ Phng php b tr s dng b d bo Smith.
4. Phng php nghin cu
Phng php nghin cu xuyn sut ca lun vn l kt hp l
thuyt, tnh ton vi m phng bng phn mm so snh v nh gi cc
kt qu t c. C th phng php nghin cu bao gm cc giai on
sau:
Thu thp phn tch chn lc cc thng tin, ti liu lin quan n
ti nghin cu.
Kt hp nghin cu l thuyt v m phng h thng iu khin
phn tn.
Tnh ton tr truyn thng v b tr truyn thng trong h thng
iu khin phn tn.
xut, kin ngh cc gii php nng cp cho ti.

3
5. B cc ti
Lun vn c chia lm 4 chng nh sau:
Chng 1. Tng quan v mng truyn thng trong h thng iu
khin phn tn
Chng 2. Cc h thng mng trong h iu khin phn tn
Chng 3. c tnh ca tr truyn thng trong h thng iu khin
phn tn s dng mng CAN
Chng 4. B tr truyn thng bng phng php s dng b iu
khin d bo Smith
6. Tng quan ti liu nghin cu
Ti liu nghin cu c s dng trong qu trnh lm lun vn l
cc sch chuyn ngnh, bi bo trn cc tp ch chuyn ngnh, bo co ca
cc hi tho chuyn ngnh.
CHNG 1
TNG QUAN V MNG TRUYN THNG TRONG H
THNG IU KHIN PHN TN
1.1. T VN
Mt trong s h thng mng truyn thng cng nghip c s
dng ph bin hin nay l h thng iu khin phn tn DCS. DCS l
gii php tng th k c v phn cng v phn mm cho ton h thng.
Gii php thit k ca DCS l hng vo cc ng dng iu khin phn
tn nn n thng c thit k theo h thng m, kh nng tch hp cao
k c tch hp vi cc PLC khc nhau v cng on sn xut c lp. Cc
h DCS hon ton p ng yu cu v mt gii php t ng ha tch hp
tng th.
1.2. KHI QUT H THNG IU KHIN T NG

4
1.2.1. Cc thnh phn c bn ca cc h thng iu khin t
ng
Cc thnh phn c bn ca mt h thng iu khin t ng gm:
Cm bin, c cu chp hnh, thit b iu khin v h thng iu khin
gim st. Cm bin v c cu chp hnh ng vai tr l giao din gia cc
thit b iu khin vi qu trnh k thut. Trong khi , h thng iu khin
gim st ng vai tr giao din gia ngi vn hnh v my. Cc thit b
c th c ghp ni trc tip im - im hoc thng qua mng truyn
thng.
1.2.2. M hnh phn cp ca h thng iu khin t ng
H thng t ng c phn chia thnh nhiu cp khc nhau gm:
Cp chp hnh, cp iu khin, cp iu khin gim st, cp iu hnh sn
xut, cp qun l cng ty.
1.2.3. Mng truyn thng trong h thng iu khin t ng
C hai loi mng truyn thng trong h thng iu khin t ng l:

Mng d liu.

Mng thng tin iu khin/iu chnh.

1.3. KHI QUT V H THNG IU KHIN PHN TN (DCS)

1.3.1. Cc thnh phn ca h thng iu khin phn tn
Mt h thng iu khin phn tn c minh ha trn Hnh 1.3 bao
gm cc thnh phn sau: Cc trm iu khin cc b (local control station,
LCS), cc trm vn hnh (operator station, OS), trm k thut
(engineering station, ES), cc cng c pht trin, h thng truyn thng
(field bus, system bus).
1.3.2. Chc nng ca h DCS
H thng iu khin phn tn c cc chc nng chnh l: Chc nng
iu khin, chc nng vn hnh v gim st h thng

5
1.3.3. Truyn thng trong h thng iu khin phn tn
C ba gii php thc hin vic trao i thng tin trong h thng
iu khin phn tn l:

Phng thc trao i thng tin bng tn hiu tng t

iu khin phn tn vi truyn thng k thut s im -

iu khin phn tn s dng mng truyn thng k thut

(analog).
im.
s.
1.4. NH GI HIU NNG CA H THNG IU KHIN
1.4.1. Tnh n nh ca h thng iu khin
Mt h thng tuyn tnh c gi l n nh nu qu trnh qu tt
dn theo thi gian. H thng khng n nh nu qu trnh qu tng dn.
H thng gii hn n nh, nu qu trnh n nh khng i hoc dao
ng vi bin khng i.
1.4.2. p ng qu ca h thng iu khin
Thng thng, cht lng ng v tnh hc ca cc h thng iu
khin c nh gi thng qua p ng qu i vi tn hiu vo bc
thang n v v d thc hin v chnh xc.
1.4.3. Cc tiu chun ti u ha p ng qu
1.5. KT LUN
Ni dung ca Chng 1 gip ta c ci nhn tng quan v h thng
iu khin t ng, m hnh phn cp ca h thng iu khin t ng
cng nh chc nng nhim v ca tng cp. i su tm hiu cu to, chc
nng ca h thng iu khin phn tn. H thng m cc nh thit k h
thng iu khin t ng trong cng nghip ang hng ti. Bi nhng li
th ca h thng DCS l chi ph thp, gim dung lng, ci t n gin
v tin cy cao.

6
Ngoi ra, ni dung chng cn cp n cc tiu chun nh gi
cht lng ca h thng iu khin. L cn c gip nh thit k xy dng
nn h thng m bo c cht lng ca h thng t cc yu cu t ra.
CHNG 2
CC H THNG MNG TRONG
H THNG IU KHIN PHN TN
2.1. T VN
Trong h thng bus cc thnh vin phi chia nhau s dng ng
truyn. trnh s xung t v tn hiu gy ra sai lch v thng tin th
mch iu khin sao cho mt thi im nht nh ch c mt thnh vin
trong mng c gi tn hiu, cn cc thnh vin khc nhn thng tin
khng hn ch. Mt trong nhng vn quan trng hng u nh hng
ti cht lng cu mi h thng bus l phng php phn chia thi gian
gi thng tin trn ng dn hay phng php truy nhp bus.
2.2. PHNG PHP TRUY NHP BUS
C th phn phng php truy nhp bus thnh hai nhm chnh l
nhm cc phng php tin nh v nhm cc phng php ngu nhin.
2.2.1. Phng php Master/Slaver (ch/t)
Phng php Master/slaver l phng php trong mt trm ch
s chia quyn truy nhp mng cho cc trm t. Cc trm t ng vai tr b
ng, ch c quyn truy nhp bus v gi tn hiu i khi c yu cu. Trm
ch c th dng phng php hi tun t (polling) theo chu k kim
sot ton b hot ng giao tip ca c h thng. Nh vy, cc trm t c
th gi cc d liu thu thp t qu trnh k thut ti trm ch (c th l mt
PLC, mt PC,...) cng nh nhn cc thng tin iu khin t trm ch. V
vy, phng php ch/t ch c dng ph bin trong cc h thng bus
cp thp, tc l bus trng hay bus thit b, khi vic trao i thng tin hu
nh ch din ra gia trm ch l thit b iu khin v cc trm t l thit b
trng hoc cc module vo/ra phn tn.

7
2.2.2. Phng php TDMA
TDMA (Time Division Mutiple Access) a truy nhp phn chia
thi gian, mi trm c phn chia mt thi gian truy nhp bus nht
nh. Cc trm c th thay nhau ln lt gi thng tin trong mt khong
thi gian cho php theo mt tun t quy nh sn. Vic phn chia ny
c thc hin trc khi h thng i vo hot ng.
Ngoi cc lt thi gian phn chia c nh cho cc trm dng
trao i d liu nh k (nh s t 1 n N), thng cn c mt
khong thi gian d tr ginh cho vic trao i d liu bt thng theo
yu cu, v d gi thng tin cnh bo, mnh lnh t cu hnh, d liu
tham s, setpoint...
2.3.3. Phng php Token Passing (chuyn th bi)
Phng php Token Passing l phng php truy nhp bus m trong
mt trm c quyn truy nhp bus v gi thng tin i ch trong thi
gian n c gi token. Sau khi khng c nhu cu gi thng tin, trm ang
c token s phi gi tip ti mt trm khc theo trnh t nht nh.
2.3.4. Phng php CSMA/CD
CSMA/CD (Carrier Sense Mutiple Access with Cossion Detection)
l mt phng php truy nhp bus thng c s dng trong mng
Ethernet. Theo phng php CSMA/CD, mi trm u c quyn truy nhp
bus m khng cn c s kim sot no. Trong trng hp xy ra xung t,
mi trm u phi hy b bc in ca mnh ch mt thi gian ngu nhin
v th li.
2.2.5. Phng php CSMA/CA
CSMA/CA (Carrier Sense Mutiple Acce With Conllision Avoidance)
tng t nh CSMA/CD, mi trm u phi nghe ng n trc khi gi
cng nh sau khi gi thng tin. Tuy nhin, mt phng php m ha bit
thch hp c s dng y trong trng hp xy ra xung t, mt tn

8
hiu s ln t tn hiu kia. V d tng ng vi bit 0 l mc in p cao s
ln t mc in p thp ca bit 1.
2.3. CC H THNG BUS S DNG TRONG H THNG IU
KHIN PHN TN
2.3.1. Profibus
PROFIBUS (Process Field Bus) l mt h thng bus trng c
pht trin c t nm 1987, do 21 cng ty v c quan nghin cu hp
tc. Ngy nay, PROFIBUS l h bus trng hng u th gii vi hn
20% th phn v vi hn 5 triu thit b lp t trong khong 500.000
ng dng. PROFIBUS c nhiu phin bn nh PROFIBUS PA,
PROFIBUs - FMS, PROFIBUS DP. Hai phng php truy nhp bus c
th c p dng c lp hoc kt hp l Token.Passing v
Master/slave.
2.3.2. Modbus
Modbus l mt giao thc do hng Modicon (sau ny thuc AEG
v Schneider Automation) pht trin. Theo m hnh ISO/OSI th
Modbus thc cht l mt chun giao thc v dch v thuc lp ng
dng, v vy c th c thc hin trn cc c ch vn chuyn cp thp
nh TCP/IP, MAP (Manufacturing Message Protocol), Modbus Plus v
ngay c qua ng truyn ni tip RS232.
2.3.3. Interbus
Interbus l mt pht trin ring ca hng Phoenix Contact,
nhng nhanh chng thnh cng trn c phng din ng dng v
chun ho. u th c bit ca Interbus l kh nng kt mng nhiu
chng loi thit b khc nhau v gi thnh va phi, trong khi cc c
tnh thi gian khng thua km cc h thng khc. C ch giao tip ca
Interbus da trn phng php truy nhp bus phn chia thi gian TDMA
(Time Divesion Multiple Access), kt hp vi s kim sot ch/t. Khc
vi kiu truyn thng bo p dng trong i a s cc h thng bus trng,

9
Interbus s dng mt phng php truyn c bit l khung tng hp
(summation frame) hoc thanh ghi dch chuyn (shift register).
2.3.4. Foundation Fieldbus
Nm 1994, cc thnh phn i din pha Bc M trong hai t chc
ISP v World FIP thnh lp hip hi mang tn Fieldbus Foundation (FF).
Hin nay Fieldbus Foundation c hn 130 cng ty thnh vin trn khp
th gii, chim i a s cc nh cung cp thit b o lng v iu khin.
H thng bus trng c pht trin trong khun kh ca FF c gi
l Foundation Fiedbus. Trong d nh pht trin, h bus ny s h tr 3
loi mng vi cc tc truyn 31,25Kbit/s, 1Mbit/s v 2,5Mbit/s.
Phng php truy nhp bus Foundation Fieldbus l mt kt hp gia
Master/slave, Token Passing v TDMA.
2.3.5. Ethernet
Ethernet c xut x l tn gi mt sn phm ca cng ty Xerox,
c s dng u tin vo nm 1975 ni mng 100 trm my tnh vi
cp ng trc di 1km, tc truyn 2,94mbit/s v p dng phng php
truy nhp bus CSMA/CD.
2.4. KT LUN
Ni dung chng gii thiu kin trc h thng mng truyn thng
s dng trong cc h thng iu khin phn tn v cc phng php truy
nhp mng c s dng ph bin trong cng nghip l Master/Slaver,
CSMA/CD, Token passing v CSMA/CA lm c s cho vic phn tch tr
truyn thng ca cc h thng mng ny trong cc chng tip theo. u,
nhc im ca cc h thng mng ny c phn tch lm c s cho
vic la chn h thng mng khi thit k h truyn thng cho cc ng
dng khc nhau.
CHNG 3
C TNH CA TR TRUYN THNG TRONG H THNG
IU KHIN PHN TN S DNG MNG CAN

10
3.1. T VN
Cc h thng iu khin trong cng nghip u c yu cu thi gian
thc. H thng iu khin phn tn do vy cng phi p ng yu cu ny
khi s dng iu khin cc qu trnh cng ngh. iu ny c ngha yu
cu i vi cc i lng iu khin ca h iu khin phi bao gm c gi
tr iu khin v thi gian a ra gi tr hay ni cch khc h thng iu
khin phi p ng c c yu cu v chnh xc ca i ca i lng
iu khin v tr iu khin.
3.2. TNG QUAN V MNG CAN
3.2.1. Gii thiu mng CAN
CAN (Control Area Network) xut pht l mt pht trin chung ca
hai hng Bosch v Intel phc v vic ni mng trong cc phng tin giao
thng c gii thay th cch ni im - im c in, sau c chun
ha quc t trong ISO 11898. Nh tc truyn dn tng i cao
khong cch ngn cng nh u th mt s c tnh k thut khc m
cng ngh ny thm nhp c vo mt s lnh vc t ng ha qu
trnh cng nghip.
3.2.2. Kin trc giao thc
i chiu vi m hnh ISO/OSI, CAN nh ngha lp lin kt d
liu gm hai lp con (LLC v MAC) cng nh phn chnh ca lp vt l.

11
CAL, DeviceNet, SDN

Lp ng dng

Lp 3 6
(Khng
hin)
Hnh 3.1. Phm vi nhth
ngha
ca CAN trong m hnh OSI
LLC iu khin
lin kt logic
Lp lin kt d liu
3.3.3. Phng thc truy nhp bus
MAC iu khin
CAN
truy nhp
CAN
s dng phng
phpmi
truytrng
nhp mi trng CSMA/CA, tc
M ha bit
iu khin phn knh theo tng bit. Phng php phn
mc
Lp vt
l u tin truy
to nhp/ng b nhp
nhp bus da theo tnh cp thit
B ca
thu ni
phtdung thng bo.
Mi trng truyn dn
3.3.4. Cu trc khung d liu trong mng CAN
Cu trc khung d liu CAN gm: Phn khi u khung, phn
x, iu khin, d liu, xc nhn ACK (Acknowlegment) v kt thc
khung c nh du bng 7 bit ln.
3.3. TR TRUYN THNG TRONG H THNG IU KHIN
PHN TN S DNG MNG CAN
3.3.1. Gii thiu
Tu thuc vo cc yu t nh: kiu mng, c ch nh tuyn trong
mng m thi gian tr c cc c tnh khc nhau. Trong mt s h thng,
thi gian tr ny gn nh khng i nhng trong nhiu h thng, tr truyn
thng thay i theo c ch ngu nhin.
3.3.2. Cc thnh phn ca thi gian tr trong mng truyn
thng
Theo m hnh mng OSI c th phn chia tr truyn thng thnh
bn phn chnh:

Tr tin x l trong nt truyn: y l thi gian x l

truyn thng trn nt truyn tin bao gm thi gian tnh ton v m ho d
liu tng ng trong cc lp t lp ng dng (applocation layer) ti lp
mng (network layer).

12

Tr do i truyn tin: Thnh phn tr ny bao gm thi

gian xp hng v thi gian i mng sn sng, tng ng trong lp lin kt

d liu (data link layer) trn nt truyn.

Tr trn ng mng: Thnh phn tr ny l thi gian

thc hin truyn tin tng ng trong cc lp vt l (physical layer) trn nt

truyn v lp vt l trong nt nhn.

Tr x l trn nt nhn: thnh phn tr ny l thi gian

cn thit x l trn nt nhn bao gm vic gii m d liu v cc tnh

ton cn thit khc. Thnh phn tr ny tng ng vi thi gian tr trong
cc lp mng t lp lin kt d liu ti lp ng dng.
Tr truyn thng c biu din theo phng trnh sau:

Tcom.d Tpr e Twait Ttx Tpost

(3.3)

Trong Tcom.d l tr truyn thng, Tpr e l tr tin x l, Twait l

thi gian i truyn tin, Ttx l thi gian truyn tin v Tpost l tr x l trn
nt nhn.
a. Thi gian tin x l truyn thng trong nt truyn, Tpr e

Tpr e l thi gian cn thit thc hin cc tnh ton, m ho d liu

cn thit trc khi truyn d liu nh thi gian tnh ton kch thc d
liu, phn chia d liu, tnh ton m kim tra, m ho d liu.
b. Tr o thi gian nt truyn, Twait
Thi gian i nt truyn ca thng tin bao gm thi gian i trong
hng i v thi gian i ginh quyn truyn tin.

Twait Tqueue Tblock

c. Tr trn ng mng, Ttx

(3.4)

Tr trn ng mng bao gm di ca thng tin (theo thi gian)

v thi gian truyn ca tn hiu trn phng tin truyn thng. Tr trn
ng mng c tnh nh sau:

Ttx T frame Tprop

(3.5)

13
trong T frame l chiu di khung truy nhp mng theo thi gian v

Tprop l thi gian truyn tn hiu.

d. Tr x l ti nt nhn, Tpost
e. Lc thi gian ca qu trnh truyn thng
T cc phng trnh (3.3), (3.4) v cc gi thit trn ta c:

Tcom.d Tpr e Tqueue Tblock Ttx Tpost

(3.8)

3.3.3. Tr truyn thng trong mng CAN

a) c im ca tr truyn thng trong mng CAN
Tr truyn thng trong mng CAN cng bao gm cc thnh phn
tr nh nu trong phn 3.3.2. Nhng im ring ca n c th hin
thng qua thi gian i ginh quyn truyn tin v tr trn ng mng. Tr
truyn thng trong mng CAN c tnh nh (3.3):

Tcom.d Tpr e Tqueue Tblock T frame Tprop Tpost

(3.13)

3.4.3. Tr truyn thng trong trng hp truyn li

Khi lm vic trong mi trng c nhiu ln, nhiu kh nng xy
ra li do hin tng tn hiu truyn b tc ng bi nhiu. Mt trong nhng
gii php khi xy ra li l thc hin vic truyn li.
n

m
(3.14)
Ttx N stuff 47 8 xN data Tbit Tprop trm,i

i l

3.5. KT LUN
Kt qu nghin cu cho thy nguyn nhn ca tr truyn thng v
tnh bt nh ca n l do hn ch ca tc truyn tn hiu, do vic chia
s cng mt phng tin truyn thng v thi gian tnh ton m ho, x l
truyn thng. Tr truyn thng v tnh bt nh ca tr truyn thng l c
im t nhin ca cc h thng mng truyn thng ni chung, truyn thng
cng nghip ni ring.
CHNG 4

14
B TR TRUYN THNG BNG PHNG PHP S DNG B
IU KHIN D BO SMITH
4.1. T VN
Nghin cu ny s tp trung thit k thut ton x l s nhm hn
ch tr. Thut ton da trn thut ton d bo Smith. y ta s so snh
b bin i da trn thut ton Smith vi b iu khin PID v b bin i
da trn a thc. Chng ta s da trn Matlab v Simulink kim tra cc
b iu khin ny.
4.2. KHI QUT V B IU KHIN PID

+
r(t)

e(t)

PID

u(t)

i tng iu
khin

y(t)

Hnh 4.2. iu khin hi tip vi b iu khin PID

T m hnh vo ra trn, ta c c hm truyn t ca b iu
khin PID:

1
R( s) K p 1
Td s
T
s
i

(4.2)

4.3. B IU KHIN D BO SMITH

4.3.1. Tng quan v m hnh d bo Smith
M hnh h thng iu khin da trn m hnh d bo Smith b
tr nh minh ha trn Hnh 4.3.

15
w
+
w

-1

Gc(z )

PROCESS
Gp(z-1)

+
w
Gm(z-1)
p

Td

+
w

Gd(z-1)

+
w

+
w

Hnh 4.3. Cu trc b iu khin d bo Smith s

1
Gm cc thnh phn sau: B Gm ( z ) i din cho khi x l

khng tr v dng tnh ton cc vng lp d on h, e p l li d on

, u l cc tn hiu
th hin s sai khc gia u ra y v u ra d on y
iu khin, w l tn hiu tham chiu, e l sai s - hiu s ca tn hiu tham
1
1
chiu v tn hiu ng ra, Gc ( z ) l b iu khin chnh. Gd ( z ) c

vi tr l vng phn hi bn ngoi c dng b p cho nhiu t ti v

li ca h thng.
Hu ht cc qu trnh cng nghip u c tinh gim ha cc loi
tr d dng tnh ton, y ta s xem xt hm tuyn tnh bc 2 nh sau:

G ( z 1 )

B ( z 1 ) d
b1 z 1 b2 z 2
z

z d
A( z 1 )
1 a1 z 1 a2 z 2

(4.3)

Vi z d l thi gian tr l tng trong min ri rc. Thi gian

tr s bng dT0 vi T0 l tn s ly mu.
V da vo hm ny xem xt cc phng php tip cn thit
k b iu khin d bo Smith.
4.3.2. Xc nh thi gian tr
Thi gian tr c tnh t phng php bnh phng nh nht:

16
( F F ) 1 F T y

(4.4)

Vi F l ma trn c chiu (N-n-d, 2n), vect y c (N-n-d) chiu v

( 2n) , n l s mu c ly
vect tham s c tnh ca m hnh l

u vo v u ra. Cng thc (4.4) dng tnh ton vect tham s c

tnh vi s lng N mu ca d liu, khi cc vect, ma trn biu thc
(4.4) s c dng:

y (n d ) y (n d 1) y (d 1)
y (n d 1) y (n d ) y (d 2)
F

y ( N 1) y ( N 2) y ( N n)
u (n)
u (n 1)
u (1)
u (n 1)

u (n)

u ( 2)

u ( N d 1) u ( N d 2) u ( N d n)
(4.5)

y T y ( n d 1)

T a

a 2

y ( N )

y ( n d 2)

a n

b1

b2

bn

(4.6)
(4.7)

Gi s biu thc (4.3) c xc nh bi qu trnh hi quy ARX

[12] th y(k) s c dng:

y ( k ) a1 y ( k 1) a2 y (k 2)
b1 y ( k 1 d ) b2 y (k 2 d ) e s ( k )

(4.8)

Trong es(k) l thnh phn ngu nhin khng tnh c.

Gii (3) ta c vect tham s c tnh ca m hnh:

T a a b b

1
2
1
2

(4.9)

17
Da vo vect tham s c tnh ca m hnh ta tnh c u ra
c lng l:

y (k ) a1 y ( k 1) a 2 y (k 2) b1u (k 1 d ) b2 u ( k 2 d )
(4.10)
Khi li ca m hnh ARX c tnh:

e( k ) y ( k ) y ( k )

(4.11)

S dng phng php bnh phng b nht (4.4) (4.7) tnh

thi gian tr v ta dng li da bo ny d on thi gian tr cho ph
hp nht (t li nht).

4.3.3. Cc thut ton s dng trong b iu khin d bo

Smith s
a) B iu khin d bo Smith s dng PID - PIDSP
Vi thut ton Dahlin th hm truyn i vi h thng vng kn s
c dng:

Ge ( z 1 )

1 e
1 z 1

(4.15)

Vi T0 / Tm v Tm l hng s thi gian cn thit thc hin

vng x l u tin. Thng th Tm khng qu nh v vi cc thit b
truyn ng cn thi gian x l, nu qu nh th s a thit b truyn
ng vo trng thi bo ha. V vy cc b iu khin s c cc hm truyn
dng:

Gc ( z 1 )

( z 1 )
(1 e ) A
1
(1 z ) B (1)

(4.16)

18

Gm ( z 1 )

(1)
z 1 B
( z 1 )
A

(4.17)

Gd ( z 1 )

z d B ( z 1 )
z 1 B (1)

(4.18)

( z 1 )
b1 b2
Vi B (1) B
z 1
1
V Gm ( z ) l hm truyn bc hai nn b iu khin chnh

Gc ( z 1 ) s l b iu khin PID s c dng:

Gc ( z 1 )

Y ( z ) q0 q1 z 1 q2 z 2

E( z)
1 z 1

(4.19)

Vi q0 , q1 a1 , q2 a 2 , (1 e ) / B (1) .
Khi u ra PID s c dng:

u ( k ) q0e(k ) q1e(k 1) q2e(k 2) u (k 1)

(4.20)
b) B iu khin d bo Smith s phn cc - PASP
phng php ny, ta s s dng tip cn a thc da trn
phng php i s tuyn tnh [13]. a thc l phng php c bn m
t hm truyn v a thc ch c m t bng cc h s v hu hn cc s
hng. V vy, tn hiu c m t nh dy s liu v hn. Cc b iu
khin s c tnh bng cch gii cc biu thc ny. Khi b iu khin
c thit k da trn s khi chung ca vng lp kn vi hai bc t do
(2DOF) nh Hnh 4.5.

19
w
Gr

Gq

uq

ur

Gp

Hnh 4.5. S ca b iu khin hai bc t do vng kn

Hm truyn b iu khin s c dng:

G p ( z 1 )

Y ( z ) B ( z 1 )

U ( z ) A( z 1 )

(4.21)

Vi A v B l a thc bc 2. B iu khin c b hi tip Gq v b

truyn tip Gr c m t bi hm truyn ri rc:

Gr ( z 1 )

Gq ( z 1 )

R ( z 1 )
r0

1
P ( z ) 1 p1 z 1

Q ( z 1 )
q 0 q1 z 1 q2 z 2

P ( z 1 ) (1 p1 z 1 )(1 z 1 )

(4.22)

(4.23)

Da trn Hnh 4.5 vi es = 0 th u ra c m t:

Y ( z 1 )

G p ( z )Gr ( z )
1 G p ( z )Gq ( z )

W ( z 1 )

(4.24)

Thay (4.21), (4.22) v (4.23) vo (4.24) ta c:

Y ( z 1 )

B ( z 1 ) R ( z 1 )
W ( z 1 )
1
1
1
1
A( z ) P ( z ) B ( z )Q ( z )

(4.25)
1
1
1
1
1
Vi A( z ) P ( z ) B ( z )Q ( z ) D ( z ) l a thc c

trng. Phng php tnh Q, R v P c tnh bi [8]. Phn hi tip ca b

iu khin c a ra bi phng trnh tuyn tnh Diophantine (

20
ax by 1 ) ta c cng thc (24). Nu dng b theo di tim cn ca

b hi tip c dng:

S ( z 1 ) Dw ( z 1 ) B ( z 1 ) R ( z 1 ) D ( z 1 )

(4.26)

1
1
Vi tn hiu l dng bc thay i Dw ( z ) 1 z , S l a

thc ph tr khng a vo b iu khin, khu phn hi ca h thng

iu khin l bc hai khng tr s cho bi cng thc (4.24), khi a thc
c trng c chn l:

D ( z 1 ) 1 d1 z 1 d 2 z 2 d 3 z 3 d 4 z 4

(4.27)

Vi tn hiu dng bc ta thay z=1 vo (25) ta c:

R r0

D(1) 1 d1 d 2 d 3 d 4

B (1)
b1 b2

(4.28)

Nh vy u ra ca b iu khin 2DOF:

u (k ) r0 w(k ) q0 y ( k ) q1 y (k 1) q2 y (k 2)
(1 p1 )u (k 1) p1u (k 2)
(4.29)
4.4. M PHNG CC THUT TON CA B IU KHIN D
BO SMITH
4.4.1. Cc gi thit m phng
kim tra cc thut ton ca b iu khin d bo Smith, y
a ra 3 phn t iu khin tng ng vi 3 hm truyn kim tra s kh
thi ca ca cc thut ton. l cc hm truyn sau:
1. Dao ng khng n nh:

G1 ( s )

2
e 4 s
( s 1)(4 s 1)

2. Dao ng n nh:

21

G2 ( s )

2
e 4 s
4s 2s 1
2

3. Pha khng ti thiu:

G3 ( s )

5s 1
e 4 s
( s 1)(4 s 1)

Ta s chuyn sang min ri rc vi thi gian ly mu T0 = 2s th

cc hm trn s tr thnh (xem them cng thc 2):

G1 ( z 1 )
G2 ( z 1 )

0.4728 z 1 0.2076 z 2
z 2
1
2
1 0.7419 z 0.0821z

0.6806 z 1 0.4834 z 2
z 2
1
2
1 0.7859 z 0.3679 z

G3 ( z 1 )

0.5489 z 1 0.8897 z 2 2
z
1 0.7419 z 1 0.0821z 2

Qu trnh m phng s dng Matlab/Simulink kim chng, vi

s h thng s dng hai phng php PIDSP v PASP c m t
Hnh 4.6 v Hnh 4.7.

Hnh 4.6. S m phng h thng iu khin b tr

bng phng php PIDSP

22

Hnh 4.7. S m phng h thng iu khin b tr

bng phng php PASP
4.4.2. Kt qu m phng
a. Kt qu m phng vi thut ton PIDSP
2.5

1.1
w
y

0.9

1.5

w,y

0.8
1

0.7
0.5

0.6

-0.5

0.5

50

100

150

200
time(s)

250

300

350

400

Hnh 4.8. p ng ng ra y i vi
-1

0.4

50

100

150

200
time(s)

250

300

350

400

Hnh 4.9. Tn hiu iu khin u

hm truyn G1(z ) vi b iu khin

i vi hm truyn G1(z-1) vi b

PIDSP (Vi Tm = 6s)

iu khin PIDSP (Vi Tm = 6s)

2.5
w
y
2

w,y

1.5

vi hm truyn G2(z-1) vi b iu
khin PIDSP (Vi Tm = 6s)

0.5

-0.5

Hnh 4.10. p ng ng ra y i

50

100

150

200
time(s)

250

300

350

400

23
1.1

Hnh 4.11. Tn hiu iu khin u

i vi hm truyn G2(z-1) vi b

0.9
0.8

iu khin PIDSP (Vi Tm = 6s)

0.7
0.6
0.5
0.4

50

100

150

200
time(s)

250

300

350

400

2.2
w
y

2.5

2
1.8
1.6

w,y

1.5

0.5

1.4

1.2

-0.5
1

-1
-1.5

50

100

150

200
time(s)

250

300

350

0.8

400

Hnh 4.12. p ng ng ra y i
-1

50

100

150

200
time(s)

250

300

350

400

Hnh 4.13. Tn hiu iu khin u

vi hm truyn G3(z ) vi b iu

i vi hm truyn G3(z-1) vi b

khin PIDSP (Vi Tm = 6s)

iu khin PIDSP (Vi Tm = 6s)

2.5

2
w
y

1.5

w,y

1.5

0.5

-0.5

50

100

150

200
time(s)

250

300

350

400

0.5

50

100

150

200
time(s)

250

300

350

400

Hnh 4.14. p ng ng ra y i

Hnh 4.15. Tn hiu iu khin u

vi hm truyn G3(z-1) vi b iu

i vi hm truyn G3(z-1)vi b

khin PIDSP (Vi Tm = 20s)

iu khin PIDSP (Vi Tm = 20s)

24
T kt qu m phng trn ta c bng sau:
Bng 4.1. vt l vi b iu khin PIDSP
G1(z-1)

G2(z-1)

0.935

0.955

POT(%)

G3(z-1)

G3(z-1)

vi Tm = 6s

vi Tm = 20s

26.7

7.44

Nhn xt: Vi cc th trn cho thy hiu nng iu khin khi s

dng b iu khin d bo Smith kt hp trong h iu khin PID. Mt
hng s thi gian Tm thch hp c chn ng ra y t kt qu tt nht.
T Bng 4.1, vi 2 i tng G1 v G2 vi Tm c chn l 6s th vt l
l rt nh. Tuy nhin vi G3 vt l l rt ln. Khi iu chnh Tm ln 20s
th vt l gim rt nhiu. Do vy phng php s dng b iu khin
d bo Smith kt hp vi b iu khin PID hng s Tm phi c chn
ph hp th h thng mi n nh c.
b. Kt qu m phng vi thut ton PASP
2.5

1.4
w
y

u
1.2

1.5

wy

0.8
0.6
0.5

0.4

-0.5

0.2

50

100

150

200
time

250

300

350

400

50

100

150

200
time

250

300

350

Hnh 4.16. p ng ng ra y i

Hnh 4.17. Tn hiu iu khin u

vi hm truyn G1(z-1) vi b iu

i vi hm truyn G1(z-1) vi b

khin PASP (Vi = = 0.7)

iu khin PASP (Vi = =0.7)

400

25
1.4

2.5

w
y

1.2

1.5

wy

0.8

0.6
0.4

0.5

0.2

-0.5

50

100

150

200
time

250

300

350

50

100

150

400

Hnh 4.18. p ng ng ra y i
vi hm truyn G2(z-1) vi b iu
khin PASP (Vi = = 0.7)

200
time

250

300

350

400

Hnh 4.19. Tn hiu iu khin u

i vi hm truyn G2(z-1)vi b
iu khin PASP (Vi = =0.7)

2.5

2.5

w
y

1.5

wy

1.5
1

0.5

0.5

-0.5

50

100

150

200
time

250

300

350

400

Hnh 4.20. p ng ng ra y i
-1

50

100

150

200
time

250

300

350

Hnh 4.21. Tn hiu iu khin u

vi hm truyn G3(z ) vi b iu

i vi hm truyn G3(z-1)vi b

khin PASP (Vi = = 0.7)

iu khin PASP (Vi = =0.7)

T kt qu m phng trn ta c bng sau:

Bng 4.2. vt l vi b iu khin PASP
G1(z-1)
G2(z-1)
G3(z-1)
POT(%)
0.725
1.2
3.77
Nhn xt: Vic la chn tham s = = 0.7 tn hiu ng ra y
t kt qu tt nht da vo kinh nghim. T Bng 4.1 v Bng 4.2 ta thy
vt l khi dng phng php PASP cho kt qu tt hn so vi phng
php PIDSP. Kt qu tn hiu iu khin u(t) phng php PASP t giao
ng hn so vi phng php PIDSP.

400

26
4.5. KT LUN
Hai phng php PIDSP v PASP khi p dng vo cc i tng
iu khin khc nhau th c nhng u v nhc im nht nh. Trc khi
b tr ta cn phi xc nh chnh xc thi gian tr tc ng ln c cu.
Ngoi ra, i vi phng php PIDSP, phi c lng thi gian cn thit
thc hin vng x l u tin Tm chnh xc th kt qu b tr mi chnh
xc c. Cn i vi phng php PASP phi da vo kinh nghim
chn la cc cc sao cho ph hp b tr. C hai phng php u c
kh nng b tr truyn thng, tng hiu sut ca h thng. C th p dng
b tr i vi nhiu c cu chp hnh m khng cn thit phi tnh ton li
ton b h thng.
Trong chng ny, phn tch v xut hai phng php b tr
da trn b iu khin d bo Smith. N gip tng cng s vng mnh
ca h thng, hon ton c th loi b tr truyn thng trong mng. Cc kt
qu m phng cho thy tnh hp l ca hai phng php.

27
KT LUN V KIN NGH
Kt lun
Vic nghin cu c tnh, phn tch v nh gi mc nh
hng ca tr truyn thng trong h iu khin phn tn c s dng mng
truyn thng k thut s nhm mc ch nng cao cht lng ca h thng
iu khin.
ng dng truyn thng s (dng bus) thay cho truyn thng
analog (dng dy dn) chng t r nhng tnh nng vt tri nh: lng
thng tin trao i ln (c th truyn theo hai chiu), kh nng chng nhiu
cao, cu trc ni dy n gin, d dng thay i cu trc ca h chuyn
ng v c bit l tng tnh thi gian thc cng nh chnh xc ca h
thng iu khin. khai thc c ti a nhng u im ca phng
php truyn thng dng mng (bus) th vic nghin cu v kho st c
tnh ca tr truyn thng i vi tng loi mng l rt cn thit.
Tr truyn thng v tnh bt nh ca n l tn ti khch quan ca
cc mng truyn thng s v n lm suy gim cht lng iu khin trong
h thng iu khin s dng mng truyn thng k thut s.
Da vo nhng thng s o c trong phn m phng v thc
nghim c nghin cu ta c th p dng h thng iu khin d bo
Smith gip h thng hot ng n nh. Chng c cc tr truyn thng
xut hin trn mng.
Kin ngh
Ton b cc cng vic trong lun vn ny tp trung vo DCS
nhm nng cao cht lng iu khin. Kt qu nghin cu gp phn b
sung s lng cc gii php nng cao cht lng iu khin h thng.
Do thi gian thc hin ti cn hn ch, lun vn tp trung nghin cu
tr truyn thng vi tr l hng s. Hng pht trin trong thi gian ti l
nghin cu tr vi thi gian tr thay i.