BO CO TH NGHIM IU KHIN QU TRNH

Bi 1:Xy dng h thng iu khin mt bnh mc. A:Xy dng m hnh l thuyt
1:Xy dng m hnh i tng bnh mc.

2:Nhn dng i tng da trn p ng qu : Dng s c m t trn simulink nh sau.

Cho tn hiu tc ng bc thang u vo ta c p ng ca hm qu nh sau:

1

H thng mt bnh mc l khu tch phn qun tnh bc nht c m hnh ton hc: G(s)= T l thuyt v th ta xc nh c cc tham s ca m hnh nh sau: T=3.7 K=5/(7-3.7)=1.51

3:Kim chng m hnh ta dng m hnh sau:

Vi cc thng s tnh ton trn ta c th nh sau

D thy th m phng (above line) v th nhn dng (bottom line) c s khai khc nht nh, ta phi tin hnh chnh nh cc tham K v T ca khu tch phn trn tc sai s khong 25% theo nguyn tc khi tng K th lm th cao ln, v khi tng Tth lm n ra xa trc honh, v ngc li. T th ta thy sai s th ca hai m hnh l nh hn 25% nn ta c b tham s ca m hnh nh sau: T=3.7,K=1.51

B:Thit k sch lc iu khin cho h thng

Tnh ton thng s b iu khin theo cng thc ziegler Nichol 1 vi cc thng s sau:T=3.7;K=1.51 B iu khin Kc Ti Td P PI PID 1/K=0.66 0.9/K=0.6 1.2/K=0.95 10T/3 = 12.3 2T=7.4 +Td*s) 0.5T=1.85

Dng hm truyn t PID : K(s) = Kc(1 + 1. Sch lc iu khin truyn thng. a. Lu P&ID:

b:S trn simulink.

Ta c kt qu m phng nh sau: Scope:

Scope1:

D thy tn hiu u ra khng bm theo tn hiu ch o, qu trnh khng i n n nh. Takhng s dng sch lc iu khin truyn thng iu khin i tng bnh mc c. 2. Sch lc iu khin phn hi : a. Lu P&ID:

b.S trn simulink:

C:S dng cc b iu khin thng: +S dng b iu khin P: Kt qu m phng: Scope:

Scope1:

+ S dng b iu khin PI: Scope:

Scope1:

+ S dng b iu khin PID: Scope:

10

Scope1:

11

Khi thc hin m phng vi b iu khin PI v PID th xy ra hin tng mc nc dao ng, v khng th t c n nh trong thi gian ngn. y l hin tng bo ha tch phn (Reset Winup), thng xy ra trong cc b iu khin c cha khu I (Integral), c cc c im: - qu iu chnh ln - Thi gian qu di - Tn ti sai lch tnh ln - khc phc ta xy dng s c thm khu chng bo ha tch phn. D:S dng khu chng bo ha tch phn: + PI-RW: S :Khu PI ni tip vi khu chng bo ha tch phn:

Trong :Thng s ca khu PI-RW c xc nh theo Zinger Nicol1 nh sau: Gain:K=Kc=0.45 Gain1:K=1/Ti=0.067. Gain2:K=1/Tt=4/Ti=0.27. S simulink:

12

Kt qu m phng: Scope:

Scope1:

13

+ PID-RW: S :Khu PID ni tip vi khu chng bo ha tch phn:

Trong :Thng s ca khu PID-RW c xc nh theo Zinger Nicol1 nh sau: Gain:K=Kc=0.6. Gain1:K=1/Ti=0.11. Gain2:K=1/Tt=4/Ti=0.44
14

Gain3:K=Td=2.25 S simulink:

Kt qu m phng: Scope:

15

Scope1:

S dng b iu khin PI-RW v PID-RW ta thy gim c hin tng bo ha tch phn, tn hiu ra nhanh chng bm ti tn hiu ch o m khng dao ng qu nhiu, qu trnh nhanh chng i n n nh : - qu iu chnh nh - Thi gian qu nhanh - gim c sai lch tnh xung mc thp. 3. Sch lc iu khin tng : a. Lu P&ID:

16

b:S trn simulink:

C: M phng vi cc b iu khin khc nhau. +) Vng ngoi l b iu khin P (ly Kp = 1000) , vng trong l b iu khin P (Kp = 10000) Kt qu m phng nh sau:
Scope:

17

Scope1:

18

+) Vng ngoi l b iu khin P(Kp = 1000), vng trong l b iu khin PI-RW c cc thng s nh trn bi iu khin phn hi. S :

Kt qu m phng: Scope:
19

Scope1:

20

+)Vng ngoi l b iu khin P(Kp = 1000), vng trong l b iu khin PID-RW c cc thng s nh b iu khin phn hi S :

Kt qu m phng: Scope:

21

Scope1:

So snh gia sch lc iu khin phn hi v iu khin tng - C hai sch lc iu khin phn hi v tng u em li kt qu iu khin kh tt, thi gian xc lp nhanh, qu iu chnh v sai lch tnh nh. - Tuy nhin khi thay i gi tr t v lu lng ra, ta thy b iu khin tng c p ng nhanh vi qu iu chnh nh hn b iu khin phn hi. V trong b iu khin tng c khu t l P vng ngoi nn tc ng nhanh vi s thay i ca nhiu u vo v c tc dng trit tiu c nhiu ny.

22

Bi 2 : Xy dng h thng iu khin hai bnh mc A:Xy dng m hnh l thuyt

1:Xy dng m hnh i tng bnh mc.

2:Nhn dng i tng : Da trn p ng qu dng m hnh sau:

Cho tn hiu tc ng dng bc thang u vo, ta c th p ng ca h thng nh hnh v. scope:

23

Scope1:

24

Bnh 1 : i tng c m hnh khu qun tnh bc nht G(s) = K1/(S*(Ts+1)) Trong :T1 = 4 ; K1 = 14.9/(10-4) = 2.48 Bnh 2 : i tng c m hnh khu qun tnh bc nht G(s) = K2*/(S*(Ts+1)) Trong :T2 = 5.5 ; K2 = 1.35/(10-5.5) = 0.3 3:Kim chng m hnh ta dng m hnh sau:

25

Kt qu m phng nh sau: Scope:

Scope1:

26

Ta thy sai lch tnh ca m hnh sau hiu chnh l nh hn 25% nn chp nhn c.

B:Thit k sch lc iu khin cho h thng

Tnh ton thng s b iu khin theo cng thc ziegler Nichol 1 vi cc thng s K1=2.48,T1=4 v K2=0.3,T2=5.5 , c bng sau. B iu khin Kc i d Bnh 1 Bnh 2 Bnh 1 Bnh 2 Bnh 1 Bnh 2 P 0.403 2.98 PI 0.363 3 13.33 18.33 PID 0.484 4 8 11 2 2.75 1: Sch lc iu khin phn hi. a. Lu P&ID

b.S trn Simulink:

27

C:M phng vi cc b iu khin thng +)B iu khin P: Kt qu m phng nh sau: Scope: Scope1:

28

Scope2:

Scope3:

+) B iu khin PI: Kt qu m phng: Scope:

Scope1:

Scope2:

Scope3:

29

+) B iu khin PID: Kt qu m phng: Scope:

Scope1:

Scope2:

Scope3:

d. M phng vi cc b iu khin c khu chng bo ha tch phn +) B iu khin PI-RW S : Khu PI ni tip vi khu chng bo ha tch phn:

30

S simulink:

Trong : - B iu khin PI-RW 1 c cc thng s xc nh theo ziegler Nichol 1 l: Gain: K=Kc=0.363 Gain1:K=1/Ti=0.075 Gain2:K=1/Tt=4/Ti=0.3 - B iu khin PI-RW 2 c cc thng s xc nh theo ziegler Nichol 1 l: Gain: K=Kc=3 Gain1:K=1/Ti=0.055 Gain2:K=1/Tt=4/Ti=0.218 Kt qu m phng: Scope: Scope1:

31

Scope2:

Scope3:

+) B iu khin PID-RW: S : Khu PID ni tip vi khu chng bo ha tch phn.

PID-RW1

PID-RW2 S simulink:
32

Trong : - B iu khin PID-RW 1 c cc thng s xc nh theo ziegler Nichol 1 l: Gain: K=Kc=0.484 Gain1:K=1/Ti=0.125 Gain2:K=1/Tt=4/Ti=0.5 Gain3:K=Td=2 - B iu khin PID-RW 2 c cc thng s xc nh theo ziegler Nichol 1 l: Gain: K=Kc=4 Gain1:K=1/Ti=0.091 Gain2:K=1/Tt=4/Ti=0.364 Gain3:K=Td=2.75 Kt qu m phng: Scope: Scope1:

33

Scope2:

Scope3:

Khi s dng b chng bo ha tch phn gim ng k hin tng dao ng, qu iu chnh nh, tuy nhin vn tn ti sai lch tnh. 2. Sch lc iu khin tng. a. Lu P&ID.

b.M phng vi cc b iu khin: +) Vng ngoi l b iu khin P (ly Kp = 1000) , vng trong l b iu khin P (Kp = 10000) S :

34

Kt qu m phng: Scope:

Scope1:

Scope2:

Scope3:

35

+)Vng ngoi l b iu khin P (Kp =1000), vng trong l b iu khin PI-RW Trong : - B iu khin PI-RW 1 c cc thng s xc nh theo ziegler Nichol 1 l: Gain: K=Kc=0.363 Gain1:K=1/Ti=0.075 Gain2:K=1/Tt=4/Ti=0.3 - B iu khin PI-RW 2 c cc thng s xc nh theo ziegler Nichol 1 l: Gain: K=Kc=3 Gain1:K=1/Ti=0.055 Gain2:K=1/Tt=4/Ti=0.218 S simulink:

Kt qu m phng:
Scope: Scope1:

36

Scope2:

Scope3:

+)Vng ngoi l b iu khin P (Kp =1000), vng trong l b iu khin PID-RW Trong : - B iu khin PID-RW 1 c cc thng s xc nh theo ziegler Nichol 1 l: Gain: K=Kc=0.484, Gain1:K=1/Ti=0.125, Gain2:K=1/Tt=4/Ti=0.5 Gain3:K=Td=2 - B iu khin PID-RW 2 c cc thng s xc nh theo ziegler Nichol 1 l: Gain: K=Kc=4 ,Gain1:K=1/Ti=0.091, Gain2:K=1/Tt=4/Ti=0.364 Gain3:K=Td=2.75 - S simulink:

37

Kt qu m phng: Scope: Scope1:

Scope2:

Scope3:

38