Bo co th

nghim iu
khin qu
trnh

Sinh vin : Phm Hng Hi SHSV 20090970

Th nghim th 3 tun 29

BI I: XY DNG H THNG IU KHIN MT BNH MC

Xc nh tn hiu vo, ra, v nhiu

M hnh bnh 1 mc
- Xc nh tn hiu vo ra
Fout

Fin

Level

Nh vy h thng mt bnh mc c 3 bin qu trnh trong :

Bin iu khin: Dng vo Fin.

Bin cn iu khin: Mc cht lng Level.

Bin nhiu: Dng ra Fout.

Xy dng phng trnh cn bng, bin i Laplace, xc

nh phng trnh hm truyn ca h thng 1 bnh
mc vi cc tham s hnh thc (K,T);
Phng trnh cn bng vt cht ca h thng mt bnh mc l:

dV
dh
= FIN FOUT => A
= FIN FOUT
dt
dt
=> A.s.h( s ) = FIN ( s ) FOUT ( s ) => h( s ) =

Hm truyn G(s)=

FIN ( s ) FOUT ( s )
A.s

h( s )
1 K
=
=
nhng do van l c tnh cht l 1
FIN ( s ) A.s s

khu qun tnh bc nht nn hm truyn ca h thng c dng

K
G(s)=
s (Ts + 1)

M phng i tng bnh mc bng khi Single-Tank

trn matlab. Xc nh gi tr tham s K, T bng 2
phng php nhn dng, kim tra li m hnh;

S nhn dng

18

16

14

12

10

10

3.1 Nhn dng bng phng php k tip tuyn

18

16

14

12

10

10

Cc thng s nhn dng: T=1.85 v K= 21/(10-1.85) =2.57 Phng php

tip tuyn tin hnh n gin nhng cho ta sai lch ln do vy ta cn phi
hiu chnh li cc thng s

S iu chnh li cc thng s
20

18

16

14

12

10

th sau khi iu chnh

Theo phng php k tip tuyn ta chn T=2.48 T=2.7
Theo lut chnh nh Ziegler Nichols th nht ta c cc tham s ca b
iu khin nh sau:
B iu khin

Kc

1/K

PI

0,9/K

3,3T

PID

1,2/K

2T

0,5T

10

Vi dng hm truyn t PID:

y

K ( s ) = k c (1 +

1
+ d s) .
is

K= 2.48 T=2.7
Bng cc thng s sau nhn dng 1 bnh mc

B iu khin

kc

0.375

PI

0.337

8.91

PID

0.45

5.4

1.35

Bng cc thng s ca b PID controled

I= kc / i

B iu khin

P= kc

0.375

PI

0.337

0.0378

PID

0.45

0.05

D= kc * d

0.6075

Xc nh cc sch lc c th v khng th p dng,

gii thch (khng cn v lu PID);
4.1 Cc sch lc c th s dng :
- iu khin phn hi
- iu khin tng
4.2 Cc sch lc khng th s dng :
- iu khin truyn thng
- iu khin t l
- iu khin ln t
-iu khin phn vng
4.3 Gii thch :
- iu khin truyn thng khng th p ng c mc n
nh trong bnh do. Hm truyn c G(s)=

2.48
l 1 khu cha
s(2.7 s + 1)

n nh. Khi s dng iu khin truyn thng th ch cn 1 sai lch nh

vic o nhiu cng dn n h mt n nh
- iu khin t l, ln t, hay phn vng th u s dng trong
trng hp c 2 hay nhiu bin iu khin

S dng sch lc K truyn thng, v lu PID, xy

dng m hnh m phng trn simulink. So snh gi tr
SP v Level (bng scope) khi s dng b K P, PI, PID
vi cc tham s theo cng thc Ziegler Nichols.
Nhn xt, gii thch l do theo l thuyt;
a. Lu PID

b. M hnh m phng trn simulink

c. So snh gi tr SP v Level

B iu khin P
1000
s etponit
level

900
800

700
600

500
400
300

200
100

200

400

600

800

1000

1200

B iu khin PI
1000
setponit
level

900
800
700
600
500
400
300
200
100

0
600

800

1000

1200

1400

1600

1800

B iu khin PID

1000
setponit
level

900

800
700

600
500

400
300

200
100

100

200

300

400

500

600

700

800

900

Qua 3 th trn ta c th thy rng, sch lc iu khin truyn thng

cha p ng c yu cu iu khin lu lng van sao cho gi mc nc
trong bnh bng lun bng mc t. V iu khin truyn thng khng th
n nh c mt khu khng n nh. V sai st trong qu trnh o nhiu
l rt d xy ra

S dng sch lc K phn hi, v lu PID, xy

dng m hnh m phng trn simulink
1.1. Lu PID

1.2. Xy dng m phng trn simulink

Kt qu thu c
B iu chnh P
700
setponit
level

600

500

400

300

200

100

500

1000

1500

2000

2500

B iu chnh PI
800
setponit
level
700

600

500

400

300

200

100

1000

2000

3000

4000

5000

6000

B iu chnh PID
1000
setponit
level

900
800
700
600
500
400
300
200
100
0

1000

2000

3000

4000

5000

6000

Phng php iu khin phn hi p ng c nhu cu iu khin lu

lng van sao cho mc nc trong bnh lun dc gi bng mc t. c bit
l vi b iu khin P. p ng tng i nhanh v n inh. Tuy nhin vi

2 b PI, PID cn c qu iu chnh thi gian p ng chm cn c dao

ng do hin tng bo ha tch phn
1.3. Gii thch hin tng bo ha tch phn : Bo ha tch phn l hin
tng u ra ca b iu khin vn tip tc tng qu mc gii hn do s
tch ly ca thnh phn tch phn vn tip tc duy tr sai lch iu khin
tr v khng
M hnh b chng bo ha tch phn trn simulink

1.4.

B iu khin PI,PID c khu chng bo ha tch phn

B iu khin c khu chng bo ha tch phn

B iu khin PI
700
s e t p o n it
le ve l
600

500

400

300

200

100

500

1000

1500

2000

2500

B iu khin PID
800
setponit
level

700
600
500
400
300
200
100
0

500

1000

1500

2000

2500

3000

3500

Nhn xt : cht lng h thng c ci thin ng k vi khu chng bo

ha tch phn. Thi gian p ng v qua iu chnh nh. H thng nhanh
chng n nh
Ta khng nht thit phi o lu lng u ra do iu khin phn hi c
th n nh c h thng khng n nh tuy nhin gim ti a nhiu v
nng cao cht lng iu khin th o lu lng u ra cng l 1 phng n
thch hp
2. Sch lc iu khin tng

S dng iu khin tng v iu khin tng gip loi b c nh

hng ca nhiu v ci thin r rt c tnh ng hc ca h
2 vng iu khin : vng 1 o mc nc trong bnh ri kim tra vi
mc t . Vng 2 o hiu lng Out Flow v In Flow so snh vi
u ra ca vng 1 a ra mc iu khin van

2.1. Khng o lu lng u ra

2.1.1. B P/P

600
setponit
level
500

400

300

200

100

500

1000

1500

2000

2500

3000

3500

4000

Nhn xt : h thng tuy n nh. Thi gian p ng nhanh nhng khng t

c mc setpoint t
2.1.2. B P/PI-RW
800
setponit
level
700

600

500

400

300

200

100

500

1000

1500

2000

2500

3000

3500

Nhn xt : h thng tuy n nh. t n mc setpont nhng thi gian

qu tng ln
2.1.3. B P/PID-RW
800
s e t p o n it
le ve l
700

600

500

400

300

200

100

500

1000

1500

2000

2500

3000

3500

Nhn xt: cht lng iu khin c ci thin. qu iu chnh nh tuy nhin thi gian
p ng vn khng p ng nhanh c nhng b P/P
2.1.4. B PI-RW/PI v PI-RW/PID PI-RW/PID-RW

500
setponit
level

450

400

350

300

250

200

150

100

50

1000

2000

3000

4000

5000

6000

7000

Nhn xt : vi c 3 b trn. D thay i nhiu gi tr ca b PID-RW c

trong ln ngoi nhng h thng u khng p ng c yu cu ca bi
2.2.o lu lng u ra

2.2.1. B P/P P vng ngoi =1000

700
setponit
level
600

500

400

300

200

100

500

1000

1500

2000

2500

3000

3500

2.2.2. B P/PI-RW
700
setponit
level
600

500

400

300

200

100

500

1000

1500

2000

2500

3000

3500

2.2.3. B P/PID-RW
800
setponit
level
700

600

500

400

300

200

100

500

1000

1500

2000

2500

3000

3500

4000

2.2.4. B PI-RW/PI v PI-RW/PID PI-RW/PID-RW

- Vn ging nh trng hp trn. D thay i cc thng s ca b PID nhng h
thng vn khng th p ng c yu cu
2.3.Nhn xt chung So snh 2 trng hp o v khng o lu lng u ra: Qua cc
th ta c th thy r. o lu lng u ra cho cht lng iu kin tt hn nhiu. h
n nh. Nhiu gn nh c loi b trit .

Gi s tn hiu o mc cht lng trong bnh b nhiu

700
setponit
level

600

500

400

300

200

100

200

400

600

800

1000

1200

1400

1600

1800

2000

H thng vn p ng tng i tt yu cu . qu iu chnh khng c thi gian xc

lp nh do khng nht thit phi s dng thm khu lc nhiu

BI II: XY DNG H THNG IU KHIN HAI BNH

MC THNG NHAU
Xc nh tn hiu vo, ra, v nhiu (km hnh m hnh 2 bnh mc);

T m hnh i tng trn ta c th xc nh cc bin qu trnh nh sau:

Flow 3

Flow 1
Flow 2

Level 1

H hai bnh mc thng

nhau

Level 2

Nh vy h thng hai bnh mc c nm bin qu trnh.

Trong :

Bin cn iu khin: Level1, Level2.

Bin iu khin: Flow1, Flow2 (Thc ra c 3 bin iu khin tim nng l Flow1,
Flow2, Flow3 nhng do yu cu ca th nghim nn ta chn 2 bin iu khin
ny).

Bin nhiu: Flow 3

Xy dng phng trnh cn bng, bin i Laplace, xc nh phng

trnh hm truyn ca h thng 2 bnh mc vi cc tham s hnh
thc (K,T);
Cc phng trnh cn bng vt cht l:

dh1 1
1
= F1 F2 (1)
dt
A
A
dh1 1
1
= F2 F3 (2)
dt
A
A
Nh vy s bc t do l 5-2 = 3 bng s bin vo h c kh nng iu khin c.

F1 , h1
F2 , h2

y ta thc hin cp i cc bin qu trnh nh sau:

Bin i Laplace ta c c hm truyn bnh 1 c dng :

hm truyn bnh 2 c dng

G2 ( s ) =

G1 ( s) =

K1
s (T1s + 1)

K2
e Ls
s (T2 s + 1)

M phng i tng bnh mc bng khi Two-Tank trn matlab. Xc

nh gi tr tham s K, T, kim tra li m hnh (bng cch so
snh 2 th p ng);
1.1.M phng i tng

30

25

20

15

10

10

Nhn dng bng phng php tip tuyn cho bnh 1

Cc thng s nhn dng: T = 1.7 K=28/(10-1.7) = 3.37
3 .5

2 .5

1 .5

0 .5

Nhn dng bng phng php tip tuyn cho bnh 2

Cc thng s nhn dng: T=4 K=2.4/(10-4)=0.4 L=0.85

10

Bnh 1
B iu khin

Kc

1/K (0.3)

PI

0,9/K (0.27)

3,3T (5,61)

PID

1,2/K (0.35)

2T (3.4)

0,5T (0.95)

B iu khin

Kc

1/K (2.5)

PI

0,9/K (2.25)

3,3T (13.2)

PID

1,2/K (3)

2T (8)

0,5T (2)

Bnh 2

1.2. Kim tra ,iu chnh li thng s

30
mophong
thucte
25

20

15

10

Hiu chnh bnh 1

10

T= 2.1 K=3.71

3.5

2.5

1.5

0.5

0
0

Hiu chnh bnh 2

T=4 K=0.6

10

Xc nh cc sch lc c th v khng th p dng, gii thch

(khng cn v lu PID)
2.

Cc sch lc c th s dung :
iu khin phn hi
iu khin tng
V chng u c kh nng n nh 1 khu khng n nh

S dng sch lc K phn hi kt hp b nhiu, v lu PID, xy

dng m hnh m phng trn simulink. So snh gi tr SP v Level
(bng scope) khi s dng b K P, PI-RW, PID-RW. Nhn xt v cht
lng b iu khin

2.1.

BP

900
level
setponit

800
700
600
500
400
300
200
100
0
0

200

400

600

800

1000

1200

1400

1600

1800

2000

Bnh 1
600
level
setponit
500

400

300

200

100

200

400

600

800

1000

1200

1400

1600

1800

2000

Bnh 2
Nhn xt : h thng p ng tng i tt yu cu ca bi ton. tuy nhin thi gian p
ng ca bnh 2 khng tt bng bnh 1

5.2. B PI-RW
900
level
setponit

800
700
600
500
400
300
200
100
0

500

1000

1500

2000

2500

3000

Bnh 1
500
le ve l
s e t p o n it

450
400
350
300
250
200
150
100
50
0

500

1000

1500

2000

2500

3000

Bnh 2
Nhn xt : h thng p ng c yu cu ca bi ton. Tuy nhin p ng ca mnh 1 c
qu iu chnh ln thi gian qu ln. khng tt bng p ng ca bnh 2

5.3.B PID-RW
800
le ve l
s e tp o n it
700

600

500

400

300

200

100

500

1000

1500

2000

2500

Bnh 1
500
l e ve l
s e t p o n it

450
400
350
300
250
200
150
100
50
0

500

1000

Bnh 2

1500

2000

2500

Nhn xt : h thng p ng c yu cu tuy nhin ging b PI-RW cht lng p

ng ca bnh 1km hn bnh 2. Tuy nhin ni chung cht lng iu khin ca b P
tt nht sau n b PID-RW v cui cng l b PI-RW.

S dng sch lc K tng

6.1. S PID

6.2. M phng simulink

6.2.1. B P/P
800
le ve l
s e t p o n it
700

600

500

400

300

200

100

500

1000

1500

2000

2500

3000

3500

Bnh 1
500
level
setponit

450
400
350
300
250
200
150
100
50
0

500

1000

1500

2000

Bnh 2
Nhn xt : H thng p ng tng i tt yu cu ca bi ton. qu iu chnh gn
nh khng c. Thi gian p ng nh

2500

6.2.2. B P/PID-RW
800
le ve l
s e t p o n it

700

600

500

400

300

200

100

500

1000

1 5 00

2000

2500

3000

35 0 0

Bnh 1
500
level
setponit

450
400
350
300
250
200
150
100
50
0

500

1000

1500

2000

2500

3000

3500

4000

Nhn xt : H thng cha p ng tt c yu cu ca bi ton. c bit l p ng

bnh 2 . thi gian p ng ln v cha tht s bm st theo mc nc t

4000