Thiet Ke Bo Dieu Khien PID - Tram Bom

n tt nghip GVHD: TS.
Nguyn Quc nh
LI NI U
------------------------
Nm nm hc tp ti trng i hc bch khoa Nng, nh
trng v thy c khng ch truyn t cho em nhng kin thc
chuyn mn v ngnh m cn gio dc cho em v l tng o
c trong cuc sng. y l nhng hnh trang khng th thiu
cho cuc sng v s nghip ca em. Em xin by t lng bit n
su sc n qu thy c trong Khoa in c bit l cc thy c
trong ngnh T ng Ho tn tnh ch bo, dn dt em n
ngy hm nay.
n tt nghip nh du vic hon thnh trong nhng
nm c gng hc tp ca em. Qua y em xin chn thnh cm n
n cha m, thy c v bn b nhng ngi lun to mi iu
kin em hon thnh kho hc.
Ring i vi n tt nghip ny, em xin by t lng bit
n su sc n Thy TS NGUYN QUC NH l gio vin hng
dn em tn tnh ch bo v hng dn cho em cng nh to
mi iu kin gip em trong sut qu trnh thc hin lun vn.
Do thi gian lm lun vn hn ch nn khng trnh khi nhng
thiu st knh mong qu thy c tn tnh ch dn thm.
Xin chn thnh cm n !
TP. NNG, Ngy 30 thng 5 nm 2010
Sinh vin thc hin
MAI VN VN
SVTH:Mai Vn Vn Trang 1
n tt nghip GVHD: TS.Nguyn Quc nh
MC LC
Trang
CHNG I :TNG QUAN V BN NC I 8
I.GII THIU 8
II.TNG QUAN V I TNG IU KHIN 9
1.Cu hnh h bn nc n 9
1.1.M hnh ca h thng 9
1.2.Phng trnh ton hc ca m hnh 10
2.Cu hnh bn nc i 10
2.1.H mt u vo mt u ra (SISO) 10
2.1.1.Cu hnh bn nc i lin kt 10
2.1.1.1.M hnh ca h thng 10
2.1.1.2.Phng trnh ton hc ca m hnh 11
2.1.2.Cu hnh h bn nc i ni tip 13
2.1.2.2.Phng trnh ton hc ca m hnh 14
2.2.H nhiu u vo nhiu u ra (MIMO) 16
2.2.1.Cu hnh bn nc i lin kt 16
2.2.1.2.Phng trnh ton hc 17
2.2.2.Cu hnh h bn nc i ni tip 18
2.2.2.2.Phng trnh ton hc` 18
CHNG II :TNG QUAN V B IU KHIN PID 21
I.GII THIU B PID 21
1.Hm truyn t 22
2.c tnh b iu khin PID 22
II.CC B IU KHIN KHC 23
1.B iu khin t l P 23
1.1.Hm truyn t 23
1.2.c tnh tn s logarit 23
1.3.Tc dng 23
2.B iu khin PI 23
2.1.Hm truyn t 23
2.3.Tc dng 24
3.B iu khin PD 24
3.1.Hm truyn t 24
3.3.Tc dng 24
4.B b sm pha 24
4.1.Hm truyn t 24
4.3.Tc dng 24
5.B b tr pha 24
5.1.Hm truyn t 24
5.3.Tc dng 25
6.B b tr - sm pha 25
6.1.Hm truyn t 25
6.3.Tc dng 25
III.CC PHNG PHP IU KHIN B PID 26
1.Phng php Zieger-Nichols th nht 26
2.Phng php Zieger-Nichols th hai 27
CHNG III :TNG HP B IU KHIN PID IU KHIN MC
CHT LNG CHO BN NC TRONG BN NC I 29
I.CHN CU HNH CA I TNG IU KHIN 29
1.Chn cu hnh 29
2.Kho st h thng phi tuyn 30
3.Chn cc thng s ca i tng iu khin 33
II.CHN CC THNG S K
P
, K
I
, K
D
CA B IU KHIN PID 34
CHNG IV :M PHNG H THNG TRN MATLABSIMULINK 36
I.GII THIU V MATLAB SIMULINK 36
1.Control System Toolbox 36
1.1.nh ngha mt h thn tuyn tnh 37
1.1.1.nh ngha bng hm truyn 37
1.1.2.nh ngha bng zero v cc 37
1.1.3.Phng trnh trng thi 37
1.2.Bin i s tng ng 37
1.2.1.Mc ni tip 37
1.2.2.Mc song song 38
1.2.3.Mc phn hi 38
1.3.Phn tch h thng 38
1.3.1.Trong min thi gian 38
1.3.2.Trong min tn s 38
1.3.3.Mt s hm phn tch 39
2.Simulink 39
2.1.Khi ng Simulink 40
2.2.Cc khi chc nng trong th vin Simulink 41
2.2.1.Sources 41
2.2.2.Sinks 47
2.2.3.Discrete 49
2.2.4.Linear 51
2.2.5.Nonlinear 54
II.NH GI CHT LNG CA H THNG 57
1. qu iu chnh ln nht 58
2.Thi gian qu ln nht 58
3.Thi gian tng 58
4.Sai s xc lp 58
III.M PHNG TRN MATLAB SIMULINK 59
CHNG V :KT LUN 65
TI LIU THAM KHO 66
DANH MC HNH
Hnh Ni Dung Trang
1.1 Cu hnh bn nc n 9
1.2 Cu hnh bn nc i lin kt h SISO 11
1.3 Cu hnh bn nc i ni tip h SISO 13
1.4 Cu hnh bn nc i lin kt h MIMO 16
1.5 Cu hnh 2 bn nc i ni tip h MIMO 18
2.1 S khi ca b iu khin PID 21
2.2 S khi ca mt h thng 22
2.3 S khi ca mt h h 26
2.4 p ng ca h h 26
2.5 S khi ca mt h kn c b iu khin PID 27
2.6 S khi ca mt h kn c b iu khin t l P 27
2.7 p ng ca h kn 28
3.1
Cu hnh bn nc i lin kt c chn lm i tng
iu khin
29
3.2 M hnh m phng Simulink ca h h 34
3.3 p ng ra ca h h 34
4.1 Danh mc th vin ca Simulink 40
4.2 Qu trnh qu ca mt h thng 58
4.3 M hnh m phng Simulink ca h kn 59
4.4 p ng ra ca h kn vi b PID1 60
DANH MC BNG
Bng Ni Dung Trang
2.1 nh hng ca cc thng s PID ln i tng 23
2.2 Bng tnh cc thng s PID theo ZN 1 27
2.3 Bng tnh cc thng s PID theo ZN 2 28
3.1 Cc thng s ca i tng iu khin 33
CHNG I
TNG QUAN V BN NC I

I.GII THIU:
Hin nay s nghip cng nghip ha,hin i ha ngy cng pht trin
mnh m, s tin b ca khoa hc k thut, trong k thut iu khin t
ng cng gp phn rt ln to iu kin nng cao hiu qu trong qu trnh
sn xut. Hin nay, t ng ha qu trnh cng ngh thc s pht trin v
ng dng mnh m trong cng nghip, c th nh cng nghip ha lc du,
cng nghip ha cht, cng nghip x l nc, sn xut giy,sn xut xi
mngcng nh trong cc lnh vc khc ca i sng. Ni chung, nng cao
hiu qu sn xut, m bo an ton cho ngi, my mc v mi trng trong
cng nghip ch bin, khai thc v nng lng th vn iu khin qu trnh
cng ngh l rt quan trng.
iu khin qu trnh l ng dng k thut iu khin t ng trong iu
khin,vn hnh v gim st cc qu trnh cng ngh, nhm nng cao hiu qu
sn xut v m bo cc yu cu v bo v con ngi, my mc v mi trng.
Trong iu khin qu trnh, bi ton t ra l iu chnh qu trnh cng
ngh c yu cu rt cao v tin cy v tnh sn sng. Cc i lng cn iu
khin nh lu lng, p sut, nhit cn phi iu chnh p ng yu
cu t ra. c th ca qu trnh cng ngh l din bin tng i chm, m
hnh phc tp kh xc nh, kh nng iu khin hn ch,kh thay i thit k
v cng ngh. Nn trong iu khin qu trnh cng ngh ta phi thit lp mt
h thng ph hp vi t th ca qu trnh cng ngh.
Hin nay, trong cng nghip ha lc du, cng nghip ha cht, cng
nghip x l nc,sn xut giy, sn xut in nngVn iu khin mc,
lu lng dng chy cn p ng vi chnh xc cao phc v qu trnh
sn xut t hiu qu tt hn. Chnh v vy, vn dt ra trong ti l iu
khin lu lng dng chy n nh mc cht lng vi chnh xc cao. Vi
yu cu ng dng thc t nh vy, ti nghin cu i tng chnh y l
h bn nc i. H bn nc i c hnh thnh vi h thng bm v x
cht lng nhng lun gi n nh theo gi tr mc t trc,ct cht lng ca
hai bn c duy tr n nh. lm c iu ny th i hi phi iu khin
ng m cc van iu tit lu lng dng chy cng nh iu khin lu
lng cht lng t my bm bm vo h thng bn nc i, lm mc nc
trong hai bn lun lun gi mt gi tr t trc l khng i. Vic iu khin
h thng ny gi c mc cht lng trong hai bn n nh l tng i
kh,cn phi c s iu khin phi hp gia cc van v my bm.
Vi s pht trin ca k thut iu khin t ng hin nay th c nhiu
cch iu khin mc cht lng ca h thng bn nc i, nhng y ta
s dng b iu khin PID kinh in iu khin. Cng vic iu khin c
thc hin m phng trn Matlab, vi cng c l Simulink.
II.TNG QUAN V I TNG IU KHIN:
Cc cu hnh ca h bn nc thng gp:
1.Cu hnh h bn nc n:
1.1.M hnh ca h thng:
y l m hnh h thng v n l mt phn rt quan trng ca h thng
iu khin mc cht lng trong bn:
Hnh 1.1 Cu hnh bn nc n
1.2.Phng trnh ton hc ca m hnh:
M hnh biu th mi quan h gia lu lng nc Q
i
vo bn vi lu
lng nc Q
o
ra khi bn qua van.

dt
t dH
A Q Q
o i
) (

(1.1)
Trong : A l din tch mt ct ngang ca bn nc.
H l chiu cao ca mc cht lng trong bn.

Nu gi s Van nh l khe h nh th dng chy qua van s lin quan
mc nc H c trong bn:

) ( . 2 t H g a C Q
d o

(1.2)
Trong : C
d
l h s ca van x
a l din tch mt ct ngang ca khe
g l hng s hp dn v g = 980cm/s
2

Gi s C
d
l mt hng s th Q
o
s c quan h phi tuyn vi H ,kt hp
(1.1) vi (1.2) ta c phng trnh phi tuyn :

i d
Q t H g a C
dt
t dH
A + ) ( . 2
) (

(1.3)
M lu lng nc chy vo bn l:

) (
.
t U K Q
p i

(1.4)
Vy ta c phng trnh ton hc l:

) ( ) ( . 2
) (
t U K t H g a C
dt
t dH
A
p d
+
(1.5)
2. Cu hnh bn nc i:
2.1 H mt u vo mt u ra (SISO):
2.1.1 Cu hnh bn nc i lin kt:
2.1.1.1 M hnh ton hc:
M hnh ca bn nc: 2 bn nc c cng din tch
Hnh 1.2 Cu hnh bn nc i lin kt h SISO
2.1.1.2 Phng trinh ton hc:
i vi m hnh ny, nc c bm trc tip vo bn 1 v nc t
bn 1 qua van B s chy vo bn 2. y ta xy dng b iu khin
iu khin mc nc bn 2 vi ng vo in p cp cho my bm.
- Lu lng nc chy vo bn 1 t my bm:
Q
i
= K
p
U(t) (1.6)
-Vn tc nc chy ra t van x B

)) ( ) ( ( 2
2 1
t H t H g C V
dB B

(1.7)
-Din tch mt ct trong ca bn 1:

2
1 1
*
4
1
D A
(1.8)
-Din tch mt ct ca van x B bn 1:

2
*
4
1
B B
D a
(1.9)
T (1.7) v (1.9) ta tnh c lu lng nc chy ra khi bn 1 nh
sau:

)) ( ) ( ( 2 *
2 1 01
t H t H g a C V a Q
B dB B B

(1.10)
-Phng trnh vi phn m t ng hc ca bn 1 :

)) ( ) ( ( 2 ) (
) (
2 1 1
1
1
t H t H g a C t U K Q Q
t
t H
A
B dB p o i

(1.11)
T y ta suy ra c phng trnh vi phn m t s bin thin c mc
nc trong bn 1 l:

) ( ) ( ) (
2 ) (
1
2 1
1
1
t U
A
K
t H t H
A
g a C
t
t H
p B dB
+
(1.12)
- Lu lng nc chy vo bn 2:

)) ( ) ( ( 2
2 1 2
t H t H g a C Q
B dB i

(1.13)
-Vn tc nc chy ra khi bn 2:
) ( 2
2
t gH C V
dC C

(1.14)
-Din tch mt ct van x ca bn 2:

2
2 2
*
4
1
D A

(1.15)
-Lu lng nc chy ra khi bn 2:

) ( 2 *
2 02
t gH a C V a Q
C dC C C

(1.16)
T y ta c phng trnh vi phn m t ng hc cho bn 2 l:

) ( 2 )) ( ) ( ( 2
) (
2 2 1 2 2
2
2
t gH a C t H t H g a C Q Q
t
t H
A
C dC B dB o i

(1.17)
Suy ra phng trnh vi phn m t s bin thin mc nc trong bn 2
l:

) (
2
) ( ) (
2 ) (
2
2
2 1
2
2
t H
A
g a C
t H t H
A
g a C
t
t H
C dC B dB

(1.18)
T (1.11) v (1.18) ta c h phng trnh :
'
) (
2
) ( ) (
2 ) (
) ( ) ( ) (
2 ) (
2
2
2 1
2
2
1
2 1
1
1
t H
A
g a C
t H t H
A
g a C
t
t H
t U
A
K
t H t H
A
g a C
t
t H
C d C B d B
p
B d B

(1.19)
2.1.2 Cu hnh h bn nc i ni tip:
2.1.2.1 M hnh ca h thng:
H thng bao gm hai bn nc c din tch bng nhau v mt my
bm dng bm nc vo bn. Hai bn nc c gn vo mt phng sao
cho nc c th chy t bn 1 (bn pha trn) vo bn th 2 (bn pha di).
Trong mi bn nc c th chy ra ngoi thng qua mt val nm di y bn.
Mc nc trong cc bn s c o bng cm bin p sut nm di y mi
bn.
Vi m hnh ny ta c 2 phng n thit lp cu trc m hnh khc nhau
cho i tng:
-phng n 1: my bm s bm nc vo bn 1 v nc t bn 1
chy ra van ca bn 1 v chy xung bn 2 . y ta s xy dng b iu
khin iu khin mc nc bn 2.
-phng n 2: my bm s bm nc cng lc vo c 2 bn,
nc t bn 1 s chy vo bn 2. V ta iu khin mc nc trong bn 2.
Hnh 1.3 Cu hnh bn nc i ni tip h SISO
2.1.2.2 Phng trnh ton hc ca m hnh:
a. Phng n 1:
- Lu lng nc chy vo bn 1 t my bm :
Q
i
= K
p
U(t) (1.20)
-Vn tc nc chy ra t van x ca bn 1

)) ( ( 2
1
t H g C V
dB B

(1.21)
-Din tch mt ct trong ca bn 1:

2
1 1
*
4
1
D A
(1.22)
-Din tch mt ct ca van x B ca bn 1:

2
*
4
1
B B
D a
(1.23)
T (1.21) v (1.23) ta tnh c lu lng nc chy ra khi bn 1 nh
sau:

) ( 2 *
1 01
t gH a C V a Q
B dB B B

(1.24)
-Phng trnh vi phn m t ng hc ca bn 1 :

) ( 2 ) (
) (
1 1
1
1
t gH a C t U K Q Q
t
t H
A
B dB p o i

(1.25)
T y ta suy ra c phng trnh vi phn m t s bin thin c mc
nc trong bn 1 l:

) ( ) (
2 ) (
1
1
1
1
t U
A
K
t H
A
g A C
t
t H
p B dB
+
(1.26)
- Lu lng nc chy vo bn 2:

) ( 2
1 2
t gH a C Q
B dB i

(1.27)
-Vn tc nc chy ra khi bn 2:
) ( 2
2
t gH C V
dC C

(1.28)
-Din tch mt ct van x ca bn 2:

2
2 2
*
4
1
D A

(1.29)
-Lu lng nc chy ra khi bn 2:

) ( 2 *
2 02
t gH a C V a Q
C dC C C

(1.30)
T y ta c phng trnh vi phn m t ng hc cho bn 2 l:

) ( 2 ) ( 2
) (
2 1 2 2
2
2
t gH a C t gH a C Q Q
t
t H
A
C dC B dB o i

(1.31)
Suy ra phng trnh vi phn m t s bin thin mc nc trong bn 2
l:

) (
2
) (
2 ) (
2
2
1
2
2
t H
A
g a C
t H
A
g a C
t
t H
C dC B dB

(1.32)
T (1.26) v (1.32) ta c h phng trnh :

'
) (
2
) (
2 ) (
) ( ) (
2 ) (
2
2
1
2
2
1
1
1
1
t H
A
g a C
t H
A
g a C
t
t H
t U
A
K
t H
A
g a C
t
t H
C d C B d B
p
B d B
(1.33)
Nh vy h bn nc vi cu hnh 1 l h phi tuyn vi 2 bin trng thi
H
1
v H
2.
b. Phng n 2:
Gi
l h s lu lng nc t bm vo bn 2. Khi :
-Lu lng nc chy vo bn 1 l:
( ) ) ( 1
1
t U K Q
p i

(1.34)
) ( 2
1 2
t gH a C U K Q
B dB p i
+

(1.35)
-Lu lng nc ra khi bn 1:
) ( 2
1 1
t gH a C Q
B dB o

(1.36)
-Lu lng nc ra khi bn 2:
) ( 2
2 1
t gH a C Q
C dC o

(1.37)
Tng t nh phng n 1, ta c cc phng trnh ng hc cho 2 bn
lc ny l

( )
'
) ( 2 ) ( 2 ) (
) (
) ( 2 ) ( 1
) (
2 1 2 2
2
2
1 1 1
1
1
t g H a C t g H a C t U K Q Q
t
t H
A
t g H a C t U K Q Q
t
t H
A
C d C B d B p o i
B d B p o i

(1.38)
T trn ta c phng trnh vi phn sau

( )
'
2
2 1 2 2
2
1
1 1 1
1
) ( 2 ) ( 2 ) (
) (
) ( 2 ) ( 1
) (
A
t g H a C t g H a C t U K Q Q
t
t H
A
t g H a C t U K Q Q
t
t H
C d C B d B p o i
B d B p o i

(1.39)
Nh vy h bn nc vi cu hnh 2 l h phi tuyn. Trong trng ny,
mc nc ca bn 2 khng nhng chu nh hng t in p cp cho my bm
v mc nc trong bn 1 m n cn chu nh hng ca h s
.
2.2 H nhiu u vo nhiu u ra (H MIMO):
2.2.1 Cu hnh bn nc i lin kt:
2.2.1.1 M hnh h thng:
Hnh 1.4 Cu hnh bn nc i lin kt h MIMO
2.2.1.2 Phng trnh ton hc:
-Lu lng nc chy vo bn 1 v bn 2 t my bm 1 v my bm 2
l:

'
) (
) (
2 2 2
1 1 1
t U K Q
t U K Q
i
i
(1.40)
-Lu lng nc chy ra bn 1 v bn 2 t val A v val B l:

'
) ( 2
) ( 2
2 2 2
1 1 1
t g H C a Q
t g H C a Q
d B o
d A o
(1.41)
-Lu lng nc chy qua val C gia 2 bn l:

'

) ( ) ( 2 ) ) ( ) ( s g n (
) ( ) ( 2 ) ) ( ) ( s g n (
2 1 1 2 1 2 2 1
2 1 2 1 1 2 1 2
t H t H g t H t H C a Q
t H t H g t H t H C a Q
d C o
d C o

(1.42)
Hm du sgn c gi tr:
Nu
) ( ) (
2 1
t H t H >
th
)) ( ) ( sgn(
2 1
t H t H
=1 hay
1 )) ( ) ( sgn(
1 2
t H t H
cht lng chy t bn 1 qua bn 2
Nu
) ( ) (
2 1
t H t H <
th
)) ( ) ( sgn(
2 1
t H t H
=-1 hay
1 )) ( ) ( sgn(
1 2
t H t H
cht lng chy t bn 2 qua bn 1
Nu
) ( ) (
2 1
t H t H
th
)) ( ) ( sgn(
2 1
t H t H
=0 cht lng gia 2
bn khng trao i
Ta c h phng trinh vi phn m t ng hc ca bn 1 v bn 2 l:

'

2 1 2 2
2
2
1 2 1 1
1
1
) (
) (
o o i
o o i
Q Q Q
d t
t d H
A
Q Q Q
d t
t d H
A
(1.43)
Nn ta c h phng trnh ton hc ca h thng l:
'

) ( ) ( 2 ) ) ( ) ( s g n ( ) ( 2 ) (
) (
) ( ) ( 2 ) ) ( ) ( s g n ( ) ( 2 ) (
) (
2 1 1 2 1 2 2 2 2 2
2
2
2 1 2 1 1 2 1 1 1 1
1
1
t H t H g t H t H C a t g H C a t U K
d t
t d H
A
t H t H g t H t H C a t g H C a t U K
d t
t d H
A
d C d B
d C d A

(1.44)
2.2.2 Cu hnh h bn nc i ni tip:
2.2.2.1 M hnh ca h thng :
Nu ta kt hp hai h thng nh trn th ta s thit lp c h MIMO,
vi m hnh nh sau:
Hnh 1.5 Cu hnh bn nc i ni tip h MIMO
Nguyn l hot ng nh sau:
My bm 1 s bm nc vo bn 1 v bn 4, my bm 2 s bm
nc vo bn 2 v bn 3. Nc t bn 3 s chy qua van pha di v vo bn
1, cn nc bn 4 s chy vo bn 2. V lc ny ta cn phi thit lp b iu
khin iu khin mc nc bn 1 v bn 2.
2.2.2.2 Phng trnh ton hc:
Gi
1
l h s lu lng nc t bm 1 vo bn 1 v
2
l h s lu
lng nc t bm 2 vo bn 2. Khi :
( ) ) ( 1
1 1 4
t U K Q
p i

(1.45)
-Lu lng nc chy ra bn 4 l:
) ( 2
4 4 4 4
t gH a C Q
d o

(1.46)
( ) ) ( 1
2 2 3
t U K Q
p i

(1.47)
) ( 2
3 3 3 3
t gH a C Q
d o

(1.48)
) ( 2 ) (
3 3 3 1 1 1
t gH a C t U K Q
d p i
+
(1.49)
) ( 2
1 1 1 1
t gH a C Q
d o

(1.50)
) ( 2 ) (
4 4 4 2 2 2
t gH a C t U K Q
d p i
+
(1.51)
) ( 2
2 2 2 2
t gH a C Q
d o

(1.52)
Tng t nh trn ,ta c cc phng trnh ng hc cho 4 bn lc ny l
( )
( )
'
) ( 2 ) ( 2 ) (
) (
) ( 2 ) ( 2 ) (
) (
) ( 2 ) ( 1
) (
) ( 2 ) ( 1
) (
2 2 2 4 4 4 2 2 2 2
2
2
1 1 1 3 3 3 1 1 1 1
1
1
3 3 3 2 2 3 3
3
3
4 4 4 1 1 4 4
4
4
t gH a C t gH a C t U K Q Q
t
t H
A
t gH a C t gH a C t U K Q Q
t
t H
A
t gH a C t U K Q Q
t
t H
A
t gH a C t U K Q Q
t
t H
A
d d p o i
d d p o i
d p o i
d p o i

(1.53)
T y ta c h phng trnh vi phn sau:

( )
( )
'
2
2 2 2 4 4 4 2 2
2
1
1 1 1 3 3 3 1 1
1
3
3 3 3 2 2
3
4
4 4 4 1 1
4
) ( 2 ) ( 2 ) (
) (
) ( 2 ) ( 2 ) (
) (
) ( 2 ) ( 1
) (
) ( 2 ) ( 1
) (
A
t gH a C t gH a C t U K
t
t H
A
t gH a C t gH a C t U K
t
t H
A
t gH a C t U K
t
t H
A
t gH a C t U K
t
t H
d d p
d d p
d p
d p
(1.54)
Trong : Q
i
l lu lng nc vo ca bn
Q
o
l lu lng nc ra ca bn
K
p
l h s ca my bm
K
1
,K
2
l h s ca my bm 1,2
U(t) l ip p cp ca bm
U
1
(t) l ip p cp ca bm 1
U
2
(t) l ip p cp ca bm 2
H
1
(t) l chiu cao mc nc trong bn 1
H
2
H
3
H
4
D l ng knh bn trong ca bn
D
B
l ng knh van x B
D
C
l ng knh van x C
D
1
l ng knh van x 1
D
2
l ng knh van x 2
D
3
l ng knh van x 3
D
4
l ng knh van x 4
C
dA
l h s ca van A
C
dB
l h s ca van B
C
dC
l h s ca van C
C
d1
l h s ca van 1
C
d2
l h s ca van 2
C
d3
l h s ca van 3
C
d4
l h s ca van 4
a
1 ,
a
2,
a
12
ln lt l din tch ca val A,B,C

CHNG II
TNG QUAN V B IU KHIN PID
I.GII THIU B PID:
B iu khin PID (A proportional integral derivative controller) l b iu
khin s dng k thut iu khin theo vng lp dng k thut iu khin theo
vng lp c hi tip c s dng rng ri trong 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 kinh in PID v ang c s dng rng ri iu
khin cc i tng SISO bi v tnh n gin ca n c v cu trc ln nguyn l
lm vic. B iu chnh ny lm vic rt tt trong cc h thng c qun tnh ln
nh iu khin nhit , iu khin mc,... v trong cc h iu khin tuyn tnh
hay c mc phi tuyn thp.
PID l mt trong nhng l thuyt c in v c nht dng cho iu khin
tuy nhin n vn ng dng rng ri cho n ngy nay.
S khi ca b diu khin PID:
Hnh 2.1 S khi ca b PID
1.Hm truyn t:

P K
P
K
K P T
P T
K p W
D
I
P D
I
P
+ + + + )
1
1 ( ) (

(2.1)
- B iu khin gm c 3 thnh phn:
+K
P
: h s t l
+K
I
: h s tch phn
+K
D
: h s vi phn
Xt 1 h thng c s khi nh sau:

Hnh 2.2 S khi ca mt h thng
Plant: i tng cn iu khin
Controller: a tn hiu iu khin i tng, c thit k h thng t p
ng mong mun .
Bin e l thnh phn sai lch, l hiu gia gi tr tn hiu vo mong mun v tn
hiu ra thc t. Tn hiu sai lch (e) s a ti b PID, v b iu khin tnh
ton c thnh phn tch phn ln vi phn ca (e). Tn hiu ra (u) ca b iu
khin bng:

dt
de
K edt K e K u
D I p
+ +

(2.2)
Lc ny i tng iu khin c tn hiu vo l (u), v tn hiu ra la (Y). (Y)
c hi tip v bng cc cm bin tip tc tnh sai lch (e). V b iu
khin li tip tc nh trn.
2.c tnh b iu khin P,I,D:
-Thnh phn t l (Kp) c tc dng lm tng tc p ng ca h, v lm
gim, ch khng trit tiu sai s xc lp ca h (steady-state error)
-Thnh phn tch phn (Ki) c tc dng trit tiu sai s xc lp nhng c th
lm gim tc p ng ca h.
-Thnh phn vi phn (Kd) lm tng n nh h thng, gim vt l v ci
thin tc p ng ca h.
nh hng ca cc thnh phn Kp, Ki, Kd i vi h kn c tm tt trong
bng sau:
Bng 2.1 nh hng ca cc thng s PID ln i tng
-Lu rng quan h ny khng phi chnh xc tuyt i v Kp, Ki v Kd cn
ph thuc vo nhau. Trn thc t, thay i mt thnh phn c th nh hng
SVTH:Mai Vn Vn Trang
p ng
vng kn
Thi gian ln Vt l Thi gian xc lp Sai s xc lp
K
P
Gim Tng Thay i nh Gim
K
I
Gim Tng Tng Thay i nh
K
D
Thay i nh Gim Gim Thay i nh
24
n hai thnh phn cn li. V vy bng trn ch c tc dng tham kho khi
chn Kp, Ki, Kd.
II.CC B IU KHIN KHC:
1.B iu khin t l P:
1.1 Hm truyn t ;
K p W ) (
1.2 c tnh tn s logatir:
K L lg 20
0
1.3 Tc dng :
-Tng (gim )bin trn ton c tnh
-Khng lm thay i v pha
2.B iu khin PI (Proportional Integral Controller):
2.1 Hm truyn t:
)
1
1 ( ) (
p T
K p W
I
+
2.2 c tnh tn s logarit:
2
) (

I
T arctag
2.3 Tc dng :
-Gim bc sai lch tnh
-Tc dng hiu chnh ph thuc rt ln vo vic chn thng s b iu khin
3.B iu khin PD (Proportional Derivative Controller):
3.1 Hm truyn t:
) 1 ( ) ( p T K p W
D
+
3.2 c tnh tn s logarit:
) (
D
T arctg
3.3 Tc dng:
-Gp phn ci thin

.
-Tng mnh h s khuch i tn hiu tn s cao.
4.B b sm pha:
4.1 Hm truyn t:
1 ,
1
1
) ( >
+
+
a
Tp
aTp
K p W
4.2 t tnh tn s logarit:
) ( ) ( T arctag aT arctg
a T
1
max

0
1
1
sin
max
>
+
a
a
4.3 Tc dng:
-Ty thuc vo cch chn h s khuch i K, cc thng s a, T m tc dng
hiu chnh khc nhau. Nn tn dng s vt pha tn s trung bn lm tng
d tr v pha ca h thng.
5.B b tr pha:
5.1 Hm truyn t:
1 ,
1
1
) ( <
+
+
a
Tp
aTp
K p W
) ( ) ( T arctag aT arctg
a T
1
max

0
1
1
sin
max
<
+
a
a
5.3 Tc dng:
-C th tng h s khuch i ca h thng m khng nh hng n tn s
ct.
-Trnh s chm pha do b iu khin gy ra lm nh hng n d tr v
pha.
6.B b tr - sm pha:
6.1 Hm truyn t:
1 , 1 ,
1
1
1
1
) (
2 1
2
2 2
1
1 1
> <
,
_
+
+
,
_
+
+
a a
p T
p T a
p T
p T a
K p W
1 1
1 max
1
a T

0
1
1
sin
1
1
1 max
<
+
a
a
2 2
2 max
1
a T

0
1
1
sin
2
2
1 max
>
+
a
a
6.3 Tc dng:
-Chn cc thng s thch hp s lm tng

.
-Tng h s khuch i ca h thng.
III.CC PHNG PHP IU KHIN B PID:
Ziegler v Nichols a ra hai phng php thc nghim xc nh
tham s b iu khin PID. Phng php th nht dng m hnh qun tnh bc
nht ca i tng iu khin.
Phng php th hai khng cn n m hnh ton hc ca i tng nhng ch
p dng cho mt s lp i tng nht nh .
1. Phng php Zieger-Nichols th nht :
Xc nh thng s ca b iu khin PID da vo p ng ca h h:

Hnh 2.3 S khi ca mt h h

Hnh 2.4 p ng ca h h
Khi ta c bng tnh thng s ca b PID l:
Hnh 2.5 S khi ca mt h kn c b PID
B iu khin PID :
( )

,
_
+ + s T
s T
K s G
D
I
P C
1
1
(2.3)
Thng
s

B iu khin
K
P
T
I
T
D
P
K T
T
1
2
0
PI
K T
T
1
2
9 . 0
T
1
/0.3 0
PID
K T
T
1
2
2 . 1
2T
1
0.5T
1
Bng 2.2 Bng tnh cc thng s PID theo ZN 1
2.Phng php zieger-nichols th hai:
Hnh 2.6 S khi ca h kn c b t l P
Hnh 2.7 p ng ca h kn
Phng php ny thay b iu khin PID trong h kn bng b khuch i, sau
tng K cho n khi h nm bin gii n nh , tc l h kn tr thnh khu
dao ng iu ha. Lc ny ta co K
gh
v chu k ca dao ng l T
gh
. Tham
s cho b iu khin PID chn theo bng sau:
B
iu khin
K
P
T
I
T
D
P 0.5*K
gh
0
PI 0.45*K
gh
2 . 1
1
*T
gh
0
PID 0.6*K
gh
0,5*T
gh
0,125*T
gh
Bng 2.3 Bng tnh cc thng s PID theo ZN 2
CHNG III
TNG HP B IU KHIN PID IU KHIN
MC CHT LNG CHO BN NC I
I.CHN CU HNH CA I TNG IU KHIN:
1.Chn cu hnh:
Ta chn cu hnh h bn nc i lin kt c 1 bin u vo v 1 bin
u ra lm i tng iu khin ca ti.
Ta c m hnh v phng trnh ton hc nh sau:
Hnh 3.1 Cu hnh c chn iu khin
'
) (
2
) ( ) (
2 ) (
) ( ) ( ) (
2 ) (
2
2
2 1
2
2
1
2 1
1
1
t H
A
g a C
t H t H
A
g a C
t
t H
t U
A
K
t H t H
A
g a C
t
t H
C d C B d B
p
B d B

(3.1)
V din tch ca hai bn ging nhau (A
1
=A
2
=A ) nn h phng trnh c vit
li nh sau:

'
) (
2
) ( ) (
2 ) (
) ( ) ( ) (
2 ) (
2 2 1
2
2 1
1
t H
A
g a C
t H t H
A
g a C
t
t H
t U
A
K
t H t H
A
g a C
t
t H
C d C B d B
p
B d B

(3.2)
2.Kho st h thng phi tuyn:
nghin cu kho st h thng phi tuyn, ta phi dng phng php
tuyn tnh ha chuyn v h thng tuyn tnh, bng cch xt cc gi tr
bin thin ca cc i lng: h
1
trong H
1
, h
2
trong H
2
, u trong U.
Lc ny ta c:
H
1
(t) =H
1
+ h
1
(t) (3.3)
H
2
(t) =H
2
+ h
2
(t) (3.4)
U(t) =U

+ u(t) (3.5)
Vi H
1,
H
2
l mc hot ng bn thng v l mt hng s ng vi in p t
vo my bm l U.
Khi im (H
2,
U) c gi l im lm vic tnh ca h phi tuyn, nn:

'
0
) (
0
) (
2
1
t
t H
t
t H
(3.6)
(3.6)
'

+
0
2 2
0
2
2
2
2 1
2
1
2 1
1
H
A
g a C
H H
A
g a C
U
A
K
H H
A
g a C
C d C B d B
p
B d B
(3.7)
(3.7)
'
,
_
+

2
2
1
2 1
1
2
B d B
C d C
p
B d B
a C
a C
H
H
H H
K
g a C
U
(3.8)
Ta vit li h phng trnh (3.2) nh sau:
'
+ +
+ + +
2 2 2 2 1 1
2
2 2 1 1
1
) (
2
) ( ) (
2 ) (
) ) ( ( ) ( ) (
2 ) (
H t h
A
g a C
H t h H t h
A
g a C
t
t h
U t u
A
K
H t h H t h
A
g a C
t
t h
C d C B d B
p
B d B

(3.9) Tuyn tnh ha h (3.9) vi (h
1
= 0,h
2
= 0,u = 0) ta thu c h phng
trnh tuyn tnh c dng:
'
) (
2
2
) (
2
2
) (
2
2 ) (
) ( ) (
2
2
) (
2
2 ) (
2
2
2
2 1
1
2 1
2
2
2 1
1
2 1
1
t h
H A
g a C
t h
H H A
g a C
t h
H H A
g a C
t
t h
t u
A
K
t h
H H A
g a C
t h
H H A
g a C
t
t h
C d C B d B B d B
p
B d B B d B

) 10 . 3 (
Ta t
'
A
K
k
H A
g a C
k
H H A
g a C
k
p
C dC
B dB
3
2
2
2 1
1
2
2
2
2

Thay vo (3.10) ta c h phng trnh :

'
+ +
) ( ) ( ) (
) (
) ( ) ( ) (
) (
2 2 2 1 1 1
2
3 2 1 1 1
1
t h k t h k t h k
t
t h
t u k t h k t h k
t
t h

) 11 . 3 (
Bin i laplace hai v ca h phng trnh ta c :

'

+ +
) ( ) ( ) ( ) (
) ( ) ( ) ( ) (
2 2 2 1 1 1 2
3 2 1 1 1 1
s h k s h k s h k s s h
s u k s h k s h k s s h

) 12 . 3 (
(3.12)
'
,
_
+ +
+ +
) ( ) (
) ( ) ( ) ( ) (
2
1
1 2
1
3 2 2 2 1
s h
k
k k s
s h
s u k s h k s s h s s h

) 13 . 3 (
(3.13)
'
,
_
+ +
+ +
,
_
+ +
) ( ) (
) ( ) ( ) ( ) (
2
1
1 2
1
3 2 2 2 2
1
1 2
s h
k
k k s
s h
s u k s h k s s h s h
k
k k s
s

) 14 . 3 (
(3.14)

( )
'
,
_
+ +
+ + + +
) ( ) (
) ( ) ( ) ( ) (
2
1
1 2
1
3 1 2 2 1 2 1 2 1 2
2
s h
k
k k s
s h
s u k k s h k k s s h k s h s k s k s

) 15 . 3 (
T (3.15) ta c hm truyn t ca h thng l :
( )
2 1 1 2
2
3 1 2
2 ) (
) (
) (
k k s k k s
k k
s u
s h
s w
+ + +

(3.16)
3.Chn cc thng s ca i tng iu khin:
Bng thng s ca i tng:
K hiu M t Gi tr n v
K
p
H s ca my bm 3.3 Cm
3
/Sv
C
Db
H s ca val x B 0.6
C
Dc
H s ca val x C 0.6
D ng knh bn trong ca bn 6 Cm
D
B
ng knh ca val x B 0.6 Cm
D
C
ng knh ca val x C 0.4 Cm
H
max
Chiu cao ca mi bn 30 Cm
K phn gii ca sensor 6.1 Cm/V
Bng 3.1 Cc thng s ca i tng iu khin
Chn H
2
=6cm th t (3.8) ta c :
'
,
_
+

4
2
1
2 1
2
6 . 0
4 . 0
1
3 . 3 * 4
9 8 0 . 2 6 . 0 6 . 0
H
H
H H U

(3.17)
(3.17)
'
c m H
V U
1 8 5 . 7
4 7 7 . 2
1

(3.18)
T y ta xc nh c cc h s k
1
, k
2
, k
3
ca hm truyn t l
'
2
3
2
2
2
2
2
1
6 *
3 . 3 * 4
6 6 * 2
980 * 2 4 . 0 * 6 . 0
6 185 . 7 6 * 2
980 * 2 6 . 0 * 6 . 0
k
k
k
'
1 1 6 7 . 0
0 2 4 1 . 0
1 2 2 . 0
3
2
1
k
k
k
(3.19)
Thay (3.19) vo hm truyn t (3.16) ca h thng ta c:
00294 . 0 2681 . 0
01424 . 0
) (
) (
) (
2
2
+ +

s s s u
s h
s w

(3.20)
II.CHN CC THNG S K
P
, K
I
, K
D
CA B IU KHIN PID:
y ta p dng phng php Z-N-1 xc nh cc thng s ca b
iu khin PID, ta c m hnh v p ng ca h h l:
Hnh 3.2 M hnh m phng Simulink ca h h
Hnh 3.3 p ng ra ca h h
T p ng ca h h ta xc nh c cc gi tr T
1
, T
2
, K bng cch k mt
tip tuyn vi ng c tnh ti im un ca n.Cui cng ta xc nh c
T
1
=4, T
2
=104 v K=4.85.
T y ta bit c cc thng s ca b iu khin PID da vo bng 2.2:
'

2 5 . 0
8 2
5 . 6
85 . 4 * 4
104
2 . 1 2 . 1
1
1
1
2
T T
T T
K T
T
K
D
I
P
Suy ra
'
1 3
8 . 0
5 . 6
D
I
P
K
K
K
CHNG IV
M PHNG H THNG TRN MATLAB
SIMULINK
I.GII THIU V MATLAB - SIMULINK:
MATLAB, l tn vit tt ca t ting anh matrix laboratory, l mt mi
trng mnh dnh cho cc tnh ton khoa hc. N tch hp cc php tnh ma
trn v phn tch s da trn cc hm c bn. Hn na cu trc ha hng
ca Matlab cho php to ra cc hnh v cht lng cao.Ngy nay, Matlab tr
thnh ngn ng chun c s dng trong nhiu ngnh v nhiu quc gia trn
th gii.
V mt cu trc, Matlab gm mt ca s chnh v rt nhiu hm vit sn khc
nhau. Cc hm trn cng mt lnh vc ng dng c xp chung vo mt th
vin, iu ny gip ngi s dng d dng tm c hm cn quan tm. C th
k ra mt s th vin nh sau:
-Control system (dnh cho iu khin t ng)
-Finacial toolbox (lnh vc kinh t)
-Fuzzy logic (iu khin m)
-Signal processing (x l tn hiu)
-Statistics (ton hc v thng k)
-Symbolic (tnh ton theo biu thc)
-System identification (nhn dng)
-
Mt tnh cht rt mnh ca Matlab l n c th lin kt vi cc ngn ng khc
nh C , C++ hay Vb
1.Control System Toolbox
Control System Toolbox (CST) l mt th vin ca Matlab dng trong lnh
vc iu khin t ng. Cng vi cc lnh ca Matlab, tp lnh ca CST s
gip ta thit k, phn tch v nh gi cc ch tiu cht lng ca mt h thng
tuyn tnh.
1.1.nh ngha mt h thng tuyn tnh.
1.1.1 nh ngha bng hm truyn
H thng mt tn hiu vo/ra
Cu lnh: sys=tf(num,den)
-num l vecto cha cc h s ca a thc t s, bc t cao n
thp theo ton t laplace.
-den l vecto cha cc h s ca a thc t s, bc t cao n
thp.
1.1.2 nh ngha bng zero v cc
H thng mtj tn hiu vo/ra
Cu lnh: sys=zpk(Z,P,K)
-Z, P l cc vecto hng cha danh sch cc im zero v cc ca
h thng.
-K l h s khuch i
1.1.3 Phng trnh trng thi.
Cu lnh: sys=ss(A,B,C,D)
-A, B, C, D l cc ma trn trng thi nh nga h thng.
Chuyn i gia cc dng biu din
-Chuyn t phng trnh trng thi sang hm truyn
[num,den]=ss2tf(A,B,C,D)
-Chuyn t dng zero/cc sang hm truyn
[num,den]=zp2tf(Z,P,K)
-Chuyn t hm truyn sang phng trnh trng thi
[A,B,C,D]=tf2ss(num,den)
1.2 Bin i s tng ng
1.2.1 Mc ni tip:
Cu lnh: sys=series(sys1,sys2)
1.2.2 Mc song song:
Cu lnh : sys=parallel(sys1,sys2)
1.2.3 Mc phn hi:
Cu lnh sys=feedback(sys1,sys2,sign)
Sign=+1 nu phn hi dng v sign=-1 nu phn hi m
1.3.Phn tch h thng:
1.3.1 Trong min thi gian:
-Hm qu h(t):
Cu lnh step(sys)
V hm qu ca h thng tuyn tnh sys. Khong thi gian v v
bc thi gian do Matlab t chn.
-Hm trng lng
) (t
Cu lnh: impulse(sys)
1.3.2.Trong min tn s:
-c tnh bode
Cu lnh: bode(sys)
-c tnh Nyquist
Cu lnh: nyquist(sys)
-c tnh Nichols
Cu lnh: nichols(sys)
1.3.3.Mt s hm phn tch:
-Hm margin
-margin(sys) v c tnh Bode ca h thng SISO v ch ra
d tr bin , d tr pha ti cc tn s tng ng.
-[delta_L,delta_phi,w_L,w_phi]=margin(sys) tnh v lu
d tr bin vo bin delta_L ti tn s w_L, lu d tr pha vo bin
delta_phi ti tn s w_phi.
-Hm pole
-p=pole(sys) tnh cc im cc ca h thng v lu vo
bin p.
-Hm tzero
- z=tzero(sys) tnh cc im cc ca h thng v lu vo
bin z.
-Hm pzmap
- [p,z]=pzmap(sys) tnh cc im cc v zero ca h
thng.
-Hm dcgain
- g=dcgain(sys) tnh h s khuch i tnh ca h thng.
2.SIMULINK:
Simulink c tch hp vo Matlab nh mt cng c m phng h
thng, gip ngi s dng phn tch v tng hp h thng mt cch trc quan.
Trong Simulink, h thng h thng khng m t di dng dng lnh theo kiu
truyn thng m l dang s khi.Vi dng s ny, ta c th quan st
cc p ng thi gian ca h thng vi nhiu tn hiu vo khc nhau nh: tn
hiu bc thang, tn hiu sin, xung ch nht bng cch thc hin m phng.
Kt qu m phng c th c xem theo thi gian thc trn cc Oscilloscope
trong mi trng Simulink,hay trong mi trng Matlab.
Simulink hon ton tng thch vi Matlab, nhng n l mt giao din
ha. V vy tt c cc hm trong Matlab u c th truy cp c t Simulink,
ngay c cc hm do ngi to ra.
Cui cng, Simulink cho php ngi s dng kh nng to ra mt th
vin khi ring. V d, nu bn mun lm vic trong lnh vc iu khin cc
my in, bn c th to ra mt th vin ring cha cc m hnh my in
Nh vy, vi cng c Simulink ta c th t tin hnh m phng th nghim,
quan st kt qu, kim chng vi l thuyt trc khi tin hnh th nghim trn
m hnh thc.
2.1 Khi ng Simulink:
khi ng Simulink t mi trng Matlab, ta g lnh simulink hoc
biu tng trn thanh cng c. Lc ny mt ca s nh di s xut hin.
Hnh 4.1 Danh mc th vin ca Simulink
Trn c cc th mc chnh v cc th vin con ca Simulink bt u lm
vic, ta to ca s mi bng cch kch vo biu tng NEW. C 8 th vin
chnh ca Simulink c phn loi nh sau:
- continuous: h thng tuyn tnh v lin tc
- discrete: h thng tuyn tnh gin on
- nonlinear: m hnh ha nhng phn t phi tuyn nh role, phn t bo ha
- source: cc khi ngun tn hiu
- sink: cc khi thu nhn tn hiu
- function & table: cc hm bc cao ca Matlab
- math: cc khi ca Simulink vi cc hm ton hc tng ng ca Matlab
- signals & system: cc khi lin h tn hiu, h thng con.
2.2 Cc khi chc nng trong th vin Simulink:
2.2.1 Sources:
y l nhm bao gm cc khi pht v nhn tn hiu.
2.2.1.1 Khi Clock :

Cung cp vector theo thi gian. M trong sut thi gian m phng ,hin
th thi gian lin tc m cuc m phng ang xy ra. im quan trng l Clock
khng phi l khi pht thi gian, m ch l khi hin th thi gian m phng.
c php ni vi To Workspace chuyn thi gian vo trong Matlab.
2.2.1.2 Khi Constant:

Pht ra gi tr l hng s.
Nhng thng s: gi tr constant.
2.2.1.3 Khi Sine Wave:
Khi pht ra sng c dng sin.
Nhng thng s: gi tr bin , tn s, pha, thi gian ly mu.

2.2.1.4 Khi Signal Generator:


Cung cp cho 4 dng sng khc nhau:
-Sng sin
-Sng vung
-Sng rng ca
-Sng ngu nhin
Nhng thng s: dng sng, gi tr bin , tn s, n v tn s.
2.2.1.5 Khi Repeating sequency:

Lp li dng sng cho mt cch tun t.
Nhng thng s: vector thi gian v quan h gi tr ca hm vector.
2.2.1.6 Khi Step:

Pht ra dng sng c tnh cht hm bc .
Nhng thng s: Thi gian chuyn i, gi tr u, gi tr cui.
2.2.1.7 Khi Chirp Signal:

Pht ra mt tn hiu m tn s tng tuyn tnh theo thi gian. Khi ny
c dng trong vic phn tch ph ca h khng tuyn tnh. Tn s t ban
u c th ln hn ti tn s t cui cng. Nhng sau thi gian ch t tn
s bt u tng ln.
Nhng thng s: tn s ban u, thi gian ch cn t, tn s ti thi gian
ch.
2.2.1.8 Khi Pulse Generator:

Pht ra mt chui xung tun t vi khong thi gian n nh.
Nhng thng s: chu k xung, rng xung, bin xung, thi gian bt
u pht xung.
2.2.1.9 Khi Random Number:

B pht s ngu nhin.
Nhng thng s: gi tr trung bnh , khong bin i, gi tr bt u pht
xung, thi gian ly mu.
2.2.1.10 Khi From Workspace:

c d liu t ma trn Matlab.
Nhng thng s: bng ma trn.
Ma trn ny phi cha t nht hai ct, ct u tin phi l vector thi gian.
2.2.1.11 Khi From File:

c d liu t mt file.
Nhng thng s: tn file.
2.2.1.12 Khi Digital Clock:

Cung cp thi gian cho h ri rc.
Nhng thng s: thi gian ly mu.
2.2.1.13 Khi Band Limited White Noise:
Pht ra mt dy tn hiu n trng.
Nhng thng s: ph nng lng , thi gian ly mu, gi tr seed.
2.2.2 Sinks:
2.2.2.1 Khi Scope:
Hin th dng tn hiu trong sut thi gian m phng.
2.2.2.2 Khi To Workspace:

Lu d liu di dng mt ma trn.
Nhng thng s: tn ma trn, s mu ti a xut ra.
2.2.2.3 Khi To File:

Lu d liu di dng file.
Nhng thng s: tn file, tn ma trn.
2.2.2.4 Khi XY graph:
Hai th ca hai tn hiu s c v trn ca s ha ca matlab.
Nhng thng s: bin di v bin trn ca trc.
2.2.2.5 Khi Stop Simulation:
Ngng cuc m phng ngay lp tc khi ng vo bng khng.
2.2.2.6 Khi Graph:
V s liu trn ca s ha
Nhng thng s: phm vi trc thi gian, bin di v bin trn ca trc
ngang, m sc ca mi ng.
2.2.3 Discrete:
2.2.3.1 Khi Unit Delay:

Ng vo b tr bi mt chu k ly mu.
Nhng thng s: gi tr u, thi gian ly mu.
2.2.3.2 Khi Discrete Zero Pole:

Thc hin mt hm truyn ri rc theo thi gian dng cc va zero.
Nhng thng s: cc zero, cc cc, li, thi gian ly mu.
2.2.3.3 Khi Discrere State Space:

Thc hin mt h ri rc di h phng trnh trng thi.
Nhng thng s : h ma trn, iu kin u, thi gian ly mu.
2.2.3.4 Khi Discrete Filter:
Thc hin lc IIR v lc FIR
Nhng thng s: h s t, mu ca b lc, thi gian ly mu.
2.2.3.5 khi Discrete Transfer Fcn:

Thc hin chc nng mt hm truyn ri rc
Nhng thng s: h s t v mu ca hm truyn, thi gian ly mu.
2.2.3.6 Khi Discrete Time Integrator:

Thc hin hm tch phn gin on.
Nhng thng s: iu kin u, gii hn cn di v trn, thi gian ly
mu.
2.2.4 Linear:
y l nhm tuyn tnh trong min thi gian v laplace.
2.2.4.1 Khi Sum:

Ng ra tng (hiu) cc ng vo.
Nhng thng s: cc du ca ng vo.
2.2.4.2 Khi Gain:

Nhn tn hiu vo vi mt hng s.
Nhng thng s: gi tr li.
2.2.4.3 Khi Derivative:

Tn hiu vo c ly vi phn theo thi gian.
2.2.4.4 Khi Tranfer Fcn:

Thc hin chc nng mt hm truyn.
Nhng thng s: h s t v mu ca hm truyn.
2.2.4.5 Khi Intergrator:

Tn hiu vo c ly tch phn.
Nhng thng s: iu kin u.
2.2.4.6 Khi State Space:
Thc hin mt h tuyn tnh khng thay i theo thi gian.
2.2.4.7 Khi Zero pole:

Thc hin hm truyn di dng cc v zero.
Nhng thng s: cc zero, cc cc, li.
2.2.4.8 Khi Dot product:
Tnh tch v hng ca vector.
2.2.4.9 Khi Slider Gain:

Tng tc li.
Nhng thng s: gi tr gain.
2.2.5 Nonlinear:
2.2.5.1 Khi Abs:
Tnh gi tr tuyt i ca ng vo.
2.2.5.2 Khi Product:
Ng vo c nhn vi nhau.
Nhng thng s: s ng vo.
2.2.5.3 Khi Fcn

Tnh ton biu thc.
2.2.5.4 Khi Saturation:

Tnh ton mt khu bo ha, ngha l gii hn bin ca ng ra.
Nhng thng s: gi tr trn v di ca ng ra.
2.2.5.5 Khi Matlab Fcn:

Cho php gi mt hm Matlab trong s Simulink.
Nhng thng s: tn hm, chiu ca ng ra(-1 ng ra cng chiu vi ng
vo).
2.2.5.6 Khi Transport Delay

Ng vo b tr bi mt thi gian cho trc.
Nhng thng s: thi gian tr, thng s u.
2.2.5.7 Khi Sign:
Thc thi mt hm du
l nhng th vin c bn, ngoi ra cn nhiu th vin khc nh th
vin u nivic tm hiu ht cc chc nng ca chng cng rt kh khn.
Ngoi nhng th vin c ngi s dng c th to cho mnh mt th vin
ring bng cch ghp ni cc th vin li vi nhau to thnh mt nhm hay vit
ring mt chng trnh chy m phng trong Simulink.
II.nh gi cht lng ca h thng:
nh gi cht lng ca h thng ta da vo cc ch tiu sau:
1. qu iu chnh ln nht max
:
l sai lch cc i trong qu trnh qu so vi gi tr xc lp, tnh theo n v
phn trm:
% 100 *
max
max
y
y y
.
Thng thng th
)% 30 : 20 (
max

.
2.Thi gian qu ln nht T
max
:
V mt l thuyt, qu trnh qu kt thc khi
t
. Trong iu khin t
ng, ta c th xem qu trnh qu kt thc khi sai lch ca tn hiu c
iu khin vi gi tr xc lp ca n khng vt qua 5% (mt s th chn
2%).Khong thi gian gi l T
max
.
Thng thng th T
max
=2 n 3 chu k dao ng quanh gi tr xc lp.
3.Thi gian tng t
m
:
L thi gian t 0 n lc tn hiu iu khin t c 90% gi tr xc lp ln
u tin.
4.Sai s xc lp:
L sai s gia tn hiu t v tn hiu hi tip ca h thng khi thi gian tin
n v cng.
Hnh 4.2 Qu trnh qu ca mt h thng
III.M phng trn Matlab Simulink:
Mc tiu iu khin l gi cho mc cht lng trong bn cha th hai bm
theo tn hiu t cho trc. y ta dng b iu khin PID iu khin h
thng. o mc nc trong bn 2 ta t mt cm bin p sut di y ca
bn v cm bin ny c phn gii l K=6.1cm/v. Lc ny ta c m hnh m
phng ca h thng trn Matlab Simulink l:
Hnh 4.3 M hnh m phng Simulink ca h kn
V p ng ca h kn l:
Hnh 4.4 p ng ra ca h kn vi b PID1
Cc thng s ca b iu khin PID c chn theo phng php Z-N-1 nh
trn m bo h thng cho lm vic n nh. T th c tnh qu ca
h thng trn ta nhn thy thi gian qu qu ln nht ln (147s), vt l
ln (47.5%), thi gian tng ln (16s ) v sai s xc lp ln, khng tha mn yu
cu t ra ca mt h thng iu khin nn cht lng ca h thng khng tt.
cht lng ca h thng c tt hn ta s iu chnh cc thng s ca b
iu khin PID gim thi gian qu ln nht, vt l, thi gian tng v
sai s xc lp bng cch da vo bng 2.1.
-Trc tin ta gim thi gian tng bng cch tng h s K
p
, y ta chn
K
p
=92, lc ny thi gian tng nh (3.77s), ng thi thi gian qu ln nht
gim nhng vn cn ln (21s) v sai s xc lp nh. Sau khi hiu chnh ta c
p ng u ra ca h thng kn l:
- trn ta nhn thy vt l ln v thi gian qu ln nht cng ln
gim chng bng cch tng h s K
D
ca b iu khin PID. Ta chn K
D
=70,
lc ny vt l gim (21.06% ), thi gian qu cng gim xung ng k
(14.4s) nhng sai s xc lp cha trit tiu c.
Ta c p ng u ra:
- trit tiu sai s xc lp ta tng h s K
I
ca b iu khin PID, y ta
tng n K
I
= 1.045. Lc ny sai s xc lp c trit tiu nhng vt l v
thi gian qu ln nht tng mt t.
p ng u ra lc ny l:
Vy cui cng ta c cc thng s ca b PID sau khi hiu chnh l: K
p
=92,
K
I
=1.045 v K
D
=70. T p ng trn ta xc nh c cc gi tr:

% 64 , 21 % 100 *
1 . 6
1 . 6 42 . 7
max

T
max
=14.4s
t
m
=3.58s
cc ch tiu trn u tha mn cc yu cu t ra ca mt h thng iu khin.
- p ng ra ca h thng khng cn vt l ta tip tc iu chnh cc thng
s ca b iu khin PID, lc ny p ng ra ca h thng l:
ng vi cc thng s ca b PID l K
p
=82, K
I
=0.9, K
D
=250.

CHNG V
KT LUN
Qua ti ny em nhn thy mt s im sau:
-Mc d b iu khin PID l mt trong nhng l thuyt c in v c
nht dng cho iu khin tuy nhin n vn ng dng rng ri cho n ngy
nay.
-H thng iu khin mc nc trong bn nc i s dng b iu
khin PID hp l s lm gim vt l, gim thi gian qu v tng tnh chnh
xc.
-Cc thng s ca b iu khin PID c xc nh theo phng php
thc nghim ca Zeigler-Nichols cho kt qu s b v cc thng s cn iu
chnh li. iu chnh cc thng s cho ph hp vi i tng th ngi thit
k cn c kinh nghim v s hiu bit v i tng iu khin.
-Matlab Simulink l mt cng c mnh kho st v m phng cc
h thng iu khin trong thc t.
-iu khin mc nc trong bn nc i l mt dng ca bi ton iu
khin qu trnh, n c ng dng quan trng trong mt s ngnh cng nghip
hin i ngy nay nh: cng nghip ha lc du, cng nghip ha cht, cng
nghip x l nc, sn xut giy, sn xut in nng
TI LIU THAM KHO
1.Tin s Trn nh Kin Quc ,L thuyt iu khin t ng
2.Ging vin Trn Thi Hong ,C s iu khin t ng ,i Hc Bch Khoa
TP.HCM
3.Control systems principles.co.uk , coupled-tanks-systems
4.V mt s ti liu khc

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