Lun vn tt nghip

GVHD: Nguyn Tun Hng

MC LC
GII THIU ............................................................................................................................................1
NHIM V LUN VN ........................................................................................................................2
Chng 1 ..................................................................................................................................................3
L THUYT IU KHIN M ............................................................................................................3
1.1 Gii thiu v Logic M ..................................................................................................................3
1.1.1 Tp hp m ............................................................................................................................4
nh ngha : .....................................................................................................................................4
ngha : ...........................................................................................................................................4
1.1.2 Cc tnh cht v c im c bn ca tp m : ......................................................................5
a. cao v dng chnh tc ca tp m : .......................................................................................5
b.Min xc nh ca tp m : ...........................................................................................................5
c. Min gi tr ca bin : ..................................................................................................................6
d. Cc dng hm ph thuc : ...........................................................................................................6
1.2 Cc ton t m ..............................................................................................................................9
1.2.1 Cc ton t c bn ca Zadeh trn tp m .............................................................................9
a. Giao hai tp m : .........................................................................................................................9
b. Hp hai tp m : ........................................................................................................................10
c. B ca mt tp m : ...................................................................................................................10
1.2.2 Cc ton t b trn tp m : .................................................................................................11
a. Ton t product and :.................................................................................................................11
b. Ton t bounded sum or : ..........................................................................................................11
1.3 B t m (fuzzy hedge)...............................................................................................................12
1.3.1 S dng cc Hedge : .............................................................................................................12
1.3.2 Xp x mt vng m : ............................................................................................................12
1.3.3 Gii hn mt vng m :.........................................................................................................13
1.3.4 Lm mnh v lm gim tnh cht ca tp m .......................................................................13

Lun vn tt nghip

GVHD: Nguyn Tun Hng

1.3.5 Lm tng hay gim tnh m ca tp m : .............................................................................14

1.4 Bin ngn ng .............................................................................................................................15
1.5 Mnh m ................................................................................................................................15
1.6 X l m .....................................................................................................................................17
1.6.1 Cc php tng quan ............................................................................................................17
1.6.2 Cc lut hp thnh m :........................................................................................................18
1.7 Gii m ........................................................................................................................................20
1.7.1 Phng php im trng tm ...............................................................................................20
1.7.2 Phng php cc i ............................................................................................................21
1.7.3 Phng php cao .............................................................................................................22
1.8 H m ..........................................................................................................................................23
1.8.1. H m c bn .......................................................................................................................23
1.8.2 Cc bc xy dng mt h m c bn : ................................................................................24
Xy dng cc lut iu khin : ...............................................................................................25
1.8.3 nh ngha cc tp m cho cc bin ....................................................................................25
1.8.4. c tnh vo ra ca h m c bn .......................................................................................26
1.8.5. Tng hp h m t l.............................................................................................................26
Chng 2 ................................................................................................................................................28
PHNG PHP PID ZIEGLER NICHOLS ........................................................................................28
2.1 Hm truyn l in v m hnh ca ziegler-nichols .....................................................................28
2.2. Thit k PID s theo phng php ZIEGLER-NICHOLS: ........................................................29
Chng 3 ................................................................................................................................................34
XY DNG B IU KHIN PID M .............................................................................................34
3.1 Thit k h m..............................................................................................................................34
3.1.1 Sai lch nhit : ...................................................................................................................34
3.1.2 Tc tng gim nhit : ...................................................................................................35
3.2 Thit k h lut .............................................................................................................................38
3.2.1 H lut ...................................................................................................................................38

ii

Lun vn tt nghip

GVHD: Nguyn Tun Hng

3.2.2 Chn lut v gii m .............................................................................................................41

Chng 4 ................................................................................................................................................45
THIT K V THI CNG M HNH .................................................................................................45
4.1 Cc cm bin s dng trong Lun Vn ........................................................................................45
4.1.1 Cm bin nhit Thermocouple .........................................................................................45
4.1.2 Cm bin o mc cht lng...................................................................................................45
4.2 Cc phn t chp hnh .................................................................................................................46
4.2.1 Van iu khin .......................................................................................................................46
4.2.2 ng c khuy trn ...............................................................................................................48
4.2.3 R le in t ..........................................................................................................................49
Chng 5 ................................................................................................................................................51
THIT K V THC HIN PHN MM ..........................................................................................51
5.1 Quy trnh iu khin.....................................................................................................................51
5.2 Lu gii thut ..........................................................................................................................52
5.2.1 Lu hot ng ca h thng .............................................................................................52
5.2.2 Lu gii thut PID ...........................................................................................................53
5.2.3 Lu gii thut PID m .....................................................................................................54
5.3 Cc phn mm lp trnh cho PLC Schneider Premium ....................................................................56
5.4 Thit k giao din gim st v iu khin vi SCADA ...................................................................59
Chng 6 ................................................................................................................................................63
KT QU THC HIN ........................................................................................................................63
6.1 Giao din chng trnh iu khin v gim st ............................................................................63
6.2 Qu trnh o c th nghim ........................................................................................................64
6.3 iu khin nhit l nhit bng phng php PID ...................................................................67
6.4 iu khin nhit l nhit bng phng php PID fuzzy .........................................................68
KT LUN V HNG PHT TRIN ............................................................................................ 69

Kt lun ..................................................................................................................................... 69

Hng pht trin ....................................................................................................................... 69

iii

Lun vn tt nghip

GVHD: Nguyn Tun Hng

TI LIU THAM KHO ..................................................................................................................... 70

iv

Lun vn tt nghip

GVHD: Nguyn Tun Hng

GII THIU
Fuzzy logic tri qua mt thi gian di t khi ln u c quan tm trong lnh vc
k thut khi tin s Lotf Zadeh nh hng vo nm 1965. T , Fuzzy l ti c tp
trung nghin cu ca cc nh ton hc, khoa hc v cc k s khp ni trn th gii.
n cui thp nin 90 k thut fuzzy logic t c mt s thnh tu ng k. T khi
ra i, l thuyt m c pht trin v ng dng rng ri. Mt s sn phm ng dng
b iu khin m xut hin nh my git, my iu ha v nhiu sn phm khc.
Trong phm vi iu khin khin, b iu khin PID l phng php iu khin ti u.
Tuy nhin, b iu khin PID pht huy ht u im ca n th c tnh ca i tng
phi bit r rng. iu ny khng phi lc no cng thc hin c trong thc t. Do ,
trong mt s trng hp b iu khin kinh in ch mang tnh cht n nh ch khng
mang tnh cht ti u. Vy ta cn a them tnh ti u vo b iu khin kinh in h
thng lm vic tt hn.
Mt dng kt hp gia iu khin kinh in v iu khin ti u l b iu khin PID
m. u im ca b iu khin ny l kh nng t chnh nh li thng s ca b iu
khin cho ph hp vi im lm vic ca i tng.
Vic tch hp b iu khin PID m trn cc h vi iu khin tr nn quen thuc.
Nhng vic xy dng b iu khin PID m trn PLC Premium vn l iu kh th v.
PLC Premium vi vic h tr nhiu ngn ng lp trnh nh FBD, LD, SFC, IL, ST gip
cho vic lp trnh d dng.Vi mc ch nhm m rng phm vi ng dng ca PLC
Premium to ng lc em thc hin ti Tch hp b iu khin PID m vo
PLC Premium.
Cng do gii hn ca ti, trnh v thi gian nn chc chn khng trnh khi
nhng thiu st. Em mong nhn c s ch dn gp qu bu ca cc Thy C ti
c hon thin hn.

Lun vn tt nghip

GVHD: Nguyn Tun Hng

NHIM V LUN VN
thc hin ti ny trc ht phi hiu r tp lnh ca PLC Premium, phi c c
s l thuyt v iu khin m v cao hn l PID m. Cc chng mc trong lun vn
c xy dng chun b y cho vic tch hp b iu khin PID m trong PLC
Premium. Cc chng lun vn bao gm :
Chng 1 : L thuyt iu khin m, cc php ton trn tp m, lut hp thnh m,
tng hp cc phng php xy dng lut hp thnh m v a ra cc phng php gii
m.
Chng 2 : Phng php PID theo ZIEGLER NICHOLS. Bao gm cch tnh hm
truyn v cch tnh cc tham s PID theo ZIEGLER NICHOLS.
Chng 3 : Xy dng b iu khin PID m. Chng ny s gii thiu 1 cch chi tit
v cch thit k cc tp m, cc h lut v cch gii m.
Chng 4 : Thit k v thi cng L phn ng Ha cht. Chng ny bao gm vic gii
thiu cc cm bin, van iu khin s dng trong Lun vn.
Chng 5 : Thit k v thc hin phn mm. Chng ny bao gm cc s gii thut,
cch s dng cc phn mm Unity Pro, Vijeo Citect.
Chng 6 : Kt qu thc nghim. Chng ny bao gm qu trnh thc nghim, so snh
kt qu gia 2 phng php PID v PID m.

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Chng 1
L THUYT IU KHIN M

1.1 Gii thiu v Logic M

Cc cng c c in m ta dng xy dng cc php nh x gia th gii thc v
cc m hnh u t trn c s logic hai-gi-tr Boolean. Cch xy dng nh vy th hin
mt s thiu cht ch : mt i tng ch c th c hai kh nng hoc l phn t ca tp hp
ang xt hoc khng, m khng d tr cho trng hp ca cc i tng c mt phn tnh
cht ca tp hp ang xt.
Th d : khi quy nh trong thnh ph xe gn my c tc nhanh gy nguy him l
xe c tc v thuc tp hp A : {v50km/h} , ta khng th cho rng mt xe chy tc
49,9km/h l hon ton khng nguy him theo nh l thuyt tp hp c in.
Hu ht cc hin tng m ta bt gp hng ngy u khng hon ton r rng, c ngha l
chng lun c mt mc m h no trong vic din t tnh cht ca chng.
Th d : khi nim nhit NNG l mt khi nim m. Ta khng th ch ra c
chnh xc mt im nhit m ti khng NNG, v khi ta tng nhit ln mt n v
th nhit li c xem l NNG.
Trong nhiu trng hp, cng mt khi nim s c nhiu mc m trong cc thi
im v ng cnh khc nhau.
Th d : khi nim NNG ca mt cn phng cn iu ha nhit s khng hon
ton ging vi khi nim NNG ca mt l nhit cn iu khin lm vic tm nhit
hng trm C.
Kiu logic hai-gi-tr rt hiu qu v thnh cng trong vic gii quyt cc bi ton
c nh ngha r rng. Tuy nhin, thc t tn ti mt lp cc khi nim khng thch hp
vi cch tip cn nh vy.
Mun s dng cc khi nim ny mt cch hiu qu hn trong m hnh ta cn tm
hiu mt cng c, l logic m v t c s trn n l gii thut iu khin m.
3

Lun vn tt nghip

GVHD: Nguyn Tun Hng

1.1.1 Tp hp m

nh ngha :

Tp m F xc nh trn tp kinh in M l mt tp m mi phn t ca n l

mt cp cc gi tr (x, mF(x)) trong xM v mF l nh x :
mF : M [0,1]
tp kinh in M c gi l c s ca tp m F.
nh x mF c gi l hm ph thuc ca tp m F.
ngha :
Tp m F l hm nh x mi gi tr x c th l phn t ca mt tp kinh in M
sang mt s nm gia 0 v 1 ch ra mc ph thuc tht s ca n vo tp M.
ph thuc bng 0 c ngha l x khng thuc tp M, ph thuc bng 1 c ngha
l x hon ton l i din cho tp hp M. Khi mF(x) tng dn th ph thuc ca x
tng dn. iu ny to ra mt ng cong qua cc phn t ca tp hp.

mF(x)
1

x
0
x1

x2

Mt tp m bao gm 3 thnh phn :

Min lm vic [x1,x2] gm cc s thc tng dn nm trn trc honh.
on [0,1] trn trc tung th hin ph thuc ca tp m.
ng cong hm s mF(x) xc nh ph thuc tng ng ca cc phn t ca
tp m.

Lun vn tt nghip

GVHD: Nguyn Tun Hng

1.1.2 Cc tnh cht v c im c bn ca tp m :

a. cao v dng chnh tc ca tp m :
cao ca mt tp m l gi tr cc i ph thuc ca cc phn t tp m.

1
0,75

0
(a). Tp m A c cao l 1

(b). Tp m B c cao l 0,75

Tp m dng chnh tc khi c t nht mt phn t c ph thuc l 1. V d nh

trong hai tp m hnh trn ta thy tp m A l dng chnh tc.
Trong cc m hnh b iu khin m, tt c cc tp m c s u phi dng chnh tc nhm
khng lm suy gim ng ra.
Tp m c a v dng chnh tc bng cch iu chnh li tt c gi tr ph
thuc mt cch t l quanh gi tr ph thuc cc i.
Th d : tp m B trn c a v dng chnh tc nh sau :

1
0,75

0
b.Min xc nh ca tp m :
Trong thc t tp cc phn t c ph thuc ln hn 0 ca tp m thng khng tri
di ht min lm vic ca n. Nh v d di y, min lm vic ca tp m l on [x 1,x2] ,
5

Lun vn tt nghip

GVHD: Nguyn Tun Hng

tuy nhin ng cong thc s bt u x3 v t n ph thuc ton phn x4. Ta gi

on [x3,x4] l min xc nh ca tp m.
mF(x)
1

0
x1

x3

x4

x2

c. Min gi tr ca bin :
Mt bin m hnh thng c c trng bi nhiu tp m vi min xc nh c phn
chng ln nhau.
Th d : ta c bin NHIT gm cc tp m LNH, MT, M, NNG.

LNH

MT

x1

x2

NNG

0
x3

x4

Min gi tr ca bin l tp hp tt c cc gi tr c th c ca bin. V d i vi

bin NHIT trn min gi tr l on [x1,x6] .
d. Cc dng hm ph thuc :
Dng tuyn tnh :
y l dng tp m n gin nht, thng c chn khi m t cc khi nim cha bit
hay cha hiu r rng.

Lun vn tt nghip

GVHD: Nguyn Tun Hng

0
Tp m tuyn tnh tng

Tp m tuyn tnh gim

Dng ng cong S :

0.5

x
0

Mt tp m dng ng cong S c 3 thng s l cc gi tr a, b, g c ph thuc

tng ng l 0, 0.5 v1.
ph thuc ti im x c tnh bi cng thc sau :

khi
0

2
khi
2 ( x ) /( )
S ( x; , , )
2
1 2 ( x ) /( )
1
khi

khi x

Dng ng cong hnh chung :

Dng ng cong hnh chung c trng cho cc s m (xp x mt gi tr trung tm),
bao gm 2 ng cong dng S tng v S gim.

Lun vn tt nghip

GVHD: Nguyn Tun Hng

b
1

0.5

x
0

T 2 tp m dng ng cong S ta suy ra ph thuc ti im x ca tp m dng ng

cong hnh chung nh sau :

S ( x; , / 2, ) khi
( x; , )
1 S ( x; , / 2, )

x
khi

Dng hnh tam gic, hnh thang v hnh vai :

Cng vi s gia tng ca cc b vi iu khin 8 bit v 16 bit, dng tp m chun hnh
chung c thay bng cc dng tp m hnh tam gic v hnh thang do yu cu tit kim b
nh vn hn ch ca cc b vi iu khin.
Dng hnh thang :
1
b

a
x

0
xA

xB

Dng tam gic :

1

x
0
a

b
8

Lun vn tt nghip

GVHD: Nguyn Tun Hng

0
( x ) /( )
T ( x; , , )
( x) /( )

khi
khi
khi
khi

x
x

Dng hnh vai :

Thng thng vng gia ca bin m hnh c c trng bng cc tp m c dng hnh
tam gic v n lin quan ti cc khi nim tng v gim. Tuy nhin vng bin ca bin
khi nim khng b thay i.
Th d : xt bin NHIT gm cc tp m LNH, MT, M, NNG nh hnh v

LNH

MT

NNG

0
x1

x2

x3

x4

x5

x6

Khi ta t n NNG th tt c nhit cao hn s lun l NNG.

Khi ta t n LNH th tt c nhit thp hn s lun l LNH.
Do ta c 2 tp m NNG v LNH c dng hnh vai.

1.2 Cc ton t m
1.2.1 Cc ton t c bn ca Zadeh trn tp m
a. Giao hai tp m :

A B = min(mA[x],mB[y])

Lun vn tt nghip

GVHD: Nguyn Tun Hng

AB

b. Hp hai tp m :

A B = max(mA[x],mB[y])

PQ

c. B ca mt tp m :
~A = 1 - mA[x]

~A
A

10

Lun vn tt nghip

GVHD: Nguyn Tun Hng

1.2.2 Cc ton t b trn tp m :

Trong khi xy dng cc m hnh m, c nhng trng hp ngi ta thy cn thit
phi nh ngha cc cc ton t khc thay th cho cc ton t c bn AND, OR, NOT ca
Zadeh. Cc ton t ny c gi l cc ton t b.

Tn gi
Zadeh

Giao
min(mA[x],mB[y])

Mean

(mA[x]+mB[y]) /2

Mean2

Mean2

(2*min(mA[x],mB[y])+
+4*max(mA[x],mB[y])) /6
mean2

Mean1/2

Mean1/2
(mA[x]*mB[y])

mean1/2
(mA[x]+mB[y]) (mA[x]*mB[y])

max(0, mA[x]+mB[y]-1)

min(1, mA[x]+mB[y])

Product
Bounded Sum

Hp
max(mA[x],mB[y])

Khi i vo xem xt cc h m phn sau ta s s dng 2 ton t b l product and

v bounded sum or trong cc php lin h v tng quan m.
a. Ton t product and :

gproduct and = mA[x]*mB[y]

Ton t product and khng thay i cc c tnh min/max ca ton t giao c bn
ca Zadeh.

gproduct and(0, mA[x]) = 0

gproduct and(1, mA[x]) = mA[x]
Ngoi ra ton t product and c thm 1 tnh cht l tng tc hon ton ngha l n
thay i vi mi cp gi tr (mA[x],mB[y]). Tnh cht ny cn thit khi m t cc trng thi
m bin i theo thi gian.
b. Ton t bounded sum or :

gbounded sum or = min(1, mA[x]+mB[y])

Khi s dng ton t bounded sum or c hai vng m tham gia u ng gp vo kt
qu cui cng cho d 1 trong chng c ph thuc nh hn (s b b qua khi s dng ton
t hp c bn ca Zadeh).

11

Lun vn tt nghip

GVHD: Nguyn Tun Hng

1.3 B t m (fuzzy hedge)

Hedge l b t thm vo trc tn ca mt tp m nhm thay i v b sung tnh cht
ca tp m . Hedge thay i hnh dng ca tp m, thay i hm ph thuc v do to ra
mt tp m mi. Hedge khong, xp x, gn vi cn dng chuyn mt s thc thnh mt
tp m c gi l s m.

1.3.1 S dng cc Hedge :

Ta c th s dng cng lc nhiu Hedge thm vo mt tp m.
Th d :
chc chn khng rt cao
c gii thch nh sau :
chc chn (khng (rt cao))

1.3.2 Xp x mt vng m :
xp x mt vng m (bao gm c vic chuyn mt s thc thnh mt tp m) ta s
dng cc Hedge khong, xp x, gn vi . Cc Hedge ny c tc dng hi m rng vng m.
Th d : xt tp m tui TRUNG NIN v tp m xp x ca n l tp m KHONG
TRUNG NIN.

TRUNG NIN

KHONG TRUNG NIN

12

Lun vn tt nghip

GVHD: Nguyn Tun Hng

1.3.3 Gii hn mt vng m :

C 2 Hedge dng gii hn mt vng m l trn v di
Th d :

DI TRUNG NIN

TRUNG NIN

TRUNG NIN

TRN TRUNG NIN

1.3.4 Lm mnh v lm gim tnh cht ca tp m

Hedge rt dng tng mnh tnh cht ca tp m. iu ny c thc hin bng
cch gim ph thuc ca mi gi tr trong min lm vic ngoi tr cc gi tr c ph
thuc l 0 hay 1.
Th d : xt tp m CAO v RT CAO

13

Lun vn tt nghip

GVHD: Nguyn Tun Hng

CAO

RT CAO

Hedge hi dng gim mnh tnh cht ca tp m. iu ny c thc hin bng

cch tng ph thuc ca mi gi tr trong min lm vic ngoi tr cc gi tr c ph
thuc l 0 hay 1.
Th d : xt tp m CAO v HI CAO

HI CAO

CAO

1.3.5 Lm tng hay gim tnh m ca tp m :

Hedge chc chn dng gim tnh m ca tp m. iu ny c thc hin bng
cch tng ph thuc ca cc gi tr c ph thuc ln hn 0.5 v gim ca cc gi tr c
ph thuc nh hn 0.5
Th d : xt tp m CAO v CHC CHN CAO
CAO

CHC CHN CAO

14

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Hedge nhn chung dng tng tnh m ca tp m. iu ny c thc hin bng cch
gim ph thuc ca cc gi tr c ph thuc ln hn 0.5 v tng ph thuc ca cc
gi tr c ph thuc nh hn 0.5
Th d : xt tp m CAO v NHN CHUNG CAO

NHN CHUNG CAO

CAO

1.4 Bin ngn ng

Cc b iu khin m thao tc trn cc bin ngn ng. Mi bin ngn ng l i din
ca mt khng gian m. Cu trc ca mt bin ngn ng nh sau :
Lvar {q1qn} {h1hn} fs

q : cc t ch tn sut nh thng, lun lun

h : cc Hedge nh rt, hi kho st trong phn trc

fs : tp m trung tm

Th d :
cao, thp
rt cao, hi thp
thng cao, lun lun thp
thng rt cao, lun lun hi thp

1.5 Mnh m
Mt b iu khin m bao gm mt chui cc mnh m. Mt mnh thit lp
mt mi quan h gia min lm vic v mt khng gian m.

15

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Mt mnh n gin c dng :

x l A

x : gi tr v hng thuc min lm vic

A : bin ngn ng

mA (xA)
Qu trnh m t gi tr r x=x1 tm ra ph thuc mA(x1) c gi l qu trnh m
ha. Trong trng hp c nhiu bin ngn ng qu trnh m ha l tm ra mt vect bao
gm nhiu ph thuc.
Th d : xt bin NHIT gm cc tp m LNH,MT,M,NNG.
LNH

MT

NNG

1
0.75
0.5
0.25
x
0

450C

150C

M ha bin nhit :

lanh (x)
(x)
mat

x
am (x)

nong (x)

0.25
0.75
0

15 C
0

0
0
0
45 C
0.5

0.5

Mnh m c iu kin :
Nu y l B th x l A

x,y

A,B : bin ngn ng

: gi tr v hng thuc min lm vic

C th gii thch mnh ny nh sau :

x l phn t ca A ty theo mc y l phn t ca B
16

Lun vn tt nghip

GVHD: Nguyn Tun Hng

1.6 X l m
1.6.1 Cc php tng quan
Xt mt mnh c iu kin sau :
Nu y l B th x l A
Cc php tng quan qui nh vng m kt qu c to ra nh th no t gi tr ca
mnh iu kin v bin ngn ng mnh kt qu.
Cc php tng quan l c s cho cc lut hp thnh c s dng trong b iu
khin m.
C 2 php tng quan l : tng quan ti thiu v tng quan tch.
a.Tng quan ti thiu :
y l phng php tng quan thng c dng nht, thc hin bng cch b i
phn c ph thuc ln hn gi tr ca mnh iu kin trn min m c trng bi bin
ngn ng mnh kt qu.
Th d : xt mnh c iu kin sau :
Nu nhit THP th cng sut l LN

Nhit

Cng sut l
THP

LN

Php tng quan ti thiu to ra cc on nm ngang trn min m kt qu dn n

mt mt mt phn thng tin. Tuy nhin php tng quan ny tng i n gin v cho php
gii m d dng hn.

17

Lun vn tt nghip

GVHD: Nguyn Tun Hng

b. Tng quan tch :

Phng php ny thng cho kt qu tt hn, c thc hin bng cch nhn hm
ph thuc ca min m c trng bi bin ngn ng mnh kt qu vi gi tr ca mnh
iu kin.
Lc ny dng ca min m c bo ton, thng tin khng b mt mt, tuy nhin vic
gii m kh khn hn.
Th d : vn xt mnh c iu kin trn :
Nu nhit THP th cng sut l LN
so snh kt qu gia 2 php tng quan.
Nhit

Cng sut l
LN

THP

1.6.2 Cc lut hp thnh m :

Trong mt b iu khin m, cc mnh c x l song song to ra mt khng
gian kt qu cha thng tin t tt c cc mnh . Cc lut hp thnh qui nh cch thc
tng quan v tng hp cc khng gian m t s tc ng qua li gia cc mnh ca h.
Tng ng vi 2 php tng quan ti thiu v tng quan tch ta c cc lut hp thnh
nh sau :

Tng quan ti thiu : lut hp thnh Max-Min, Sum-Min

Tng quan tch : lut hp thnh Max-Prod, Sum-Prod

Hai lut hp thnh m thng dng l lut hp thnh Max-Min v lut hp thnh Sum-

Min.
a. Lut hp thnh Max-Min :
Gi s h gm n mnh :

18

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Nu y l B1 th x l A1
Nu y l B2 th x l A2
............................................
Nu y l Bn th x l An
Cc min m kt qu c thc hin bng php tng quan ti thiu. Sau min
m bin ra c cp nht bng cch hp cc min m ny theo ton t OR c bn ca Zadeh.
Th d : xt l nhit c iu khin bi 2 lut sau :
Nu nhit THP th % cng sut l LN
Nu nhit TRUNG BNH th % cng sut l TRUNG BNH
Bin vo nhit gm 2 tp m : THP v TRUNG BNH.
Bin ra % cng sut l gm 2 tp m : TRUNG BNH v LN.
Tin hnh m ha bin vo nhit ta thu c vect gm 2 phn t l 2 ph
thuc ca nhit vt l t vo 2 tp m trn.

THAP (t)

TRUNG BNH (t)

V d, m ha gi tr nhit t1=200C ta c :

0.75
20 0 C

0.25
S dng php tng quan ti thiu ta thu c 2 min m kt qu nh sau :

Nhit

% cng sut l
THP

TRUNG BNH

TRUNG BNH LN

0.75

0.25
200C
19

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Sau min m bin ra thu c bng cch hp 2 min m ny theo ton t OR c bn ca

Zadeh nh sau :
% cng sut l
TRUNG BNH LN

b. Lut hp thnh Sum-Min :

Cc min m kt qu vn c thc hin bng php tng quan ti thiu. Tuy nhin
min m bin ra c cp nht bng cch thc hin ton t b bounded sum or thay cho
ton t OR c bn ca Zadeh.
Th d : vn xt th d trn nhng p dng lut hp thnh Sum-Min ta c kt qu nh sau :
% cng sut l
TRUNG BNH LN
1

1.7 Gii m
Qu trnh x l m to mt min m bin ra. Gii m l tm ra mt gi tr vt l (gi
tr r) c trng cho thng tin cha trong min m .

1.7.1 Phng php im trng tm

Phng php ny c p dng khi min m bin ra l mt min lin thng. Gi tr r ca
bin ra l honh ca im trng tm ca min m bin ra.
20

Lun vn tt nghip

GVHD: Nguyn Tun Hng

mA

x'

Cng thc xc nh x' theo phng php im trng tm nh sau :

trong : l l min xc nh ca tp m A

x'

x * A (x) * dx
l

A (x) * dx
l

1.7.2 Phng php cc i

Gi tr r ca bin ra l im c ph thuc ln nht.
mA

x'

Trong trng hp cc im c ph thuc ln nht tri di trn mt on thng nm ngang

[x1;x2] gi tr r ca bin ra l trung im ca on [x1;x2] nh hnh v :

21

Lun vn tt nghip

GVHD: Nguyn Tun Hng

mA

x1 x'

x2

1.7.3 Phng php cao

Tp m dng Singleton l mt dng n gin ha cho php x l m v gii m c
d dng hn, thng c dng trong cc h thng dng vi iu khin, c tch hp
trong tp lnh ca MCU 68HC12 ca hng Motorola.
Mi tp m kt qu ca cc mnh iu kin c thay bng mt on thng
(x,m(x)) vi m(x) l cao ca tp m tng ng.
Th d : xt bin NHIT gm cc tp m LNH,MT,M,NNG.

LNH

MT

NNG

0
x1

x2

x3

x4

x5

x6

Phng php cao chnh l p dng gii m theo phng php im trng tm i
vi cc tp m bin ra dng Singleton.
Do cc tp m ca min m bin ra khng chng lp ln nhau nn khi gii m cng
vic tnh tch phn rt mt thi gian c thay bng vic tnh tng s hc nh sau :

22

Lun vn tt nghip

GVHD: Nguyn Tun Hng

n

x'

xi * Hi
i 1

Hi
i 1

trong :

xi l v tr cc singleton
Hi l cao ca cc singleton tng ng
n l s tp m bin ra

1.8 H m
1.8.1. H m c bn
Mt h m c bn bao gm 3 thnh phn chnh :

Khu m ha

Thit b thc hin lut hp thnh m (x l m)

Khu gii m.

x1
m
M HA

B'
X L M

y'
GII M

xn
Khu m ha c nhim v chuyn i mt gi tr r u vo x0 thnh mt vecto m
gm cc ph thuc ca gi tr r theo cc tp m nh ngha trc.
Khu x l m x l vecto m v cho ra tp m B' ca bin ra.
Khu gii m c nhim v chuyn i tp m B' thnh mt gi tr r y' c trng cho
thng tin cha trong tp m .
Do h m c bn ch c kh nng x l cc gi tr tn hiu hin thi nn n thuc
nhm cc b iu khin tnh. Tuy vy vi vic ghp thm cc khu ng hc cn thit nh vi
phn, tch phn, ta s c c mt b iu khin m c kh nng x l cc bi ton ng.
Nguyn tc tng hp b iu khin m hon ton da vo nhng phng php ton
hc trn c s nh ngha cc bin ngn ng vo/ra v s la chn nhng lut iu khin. Do
cc b iu khin m c kh nng x l cc gi tr vo/ra biu din di dng du phy ng

23

Lun vn tt nghip

GVHD: Nguyn Tun Hng

vi chnh xc cao nn chng hon ton p ng c cc yu cu ca mt bi ton iu

khin r rng v chnh xc.
B iu khin m hot ng ch yu da vo kinh nghim thit k cc lut iu
khin, trin khai cc mnh hp thnh xy dng m hnh lut hp thnh .

Vi phn
x(t)

y'(t)
H M C BN

Tch phn

1.8.2 Cc bc xy dng mt h m c bn :

Xc nh cc bin vo v ra.

nh ngha cc tp m cho cc bin vo v ra.

Xy dng cc lut iu khin (cc mnh m).

Chn lut hp thnh.

Chn phng php gii m.

Ti u h thng.

nh ngha cc bin vo/ra:

Cc bin vo l cc bin iu khin cc qu trnh bn trong ca b iu khin m, cc
bin ra dng iu khin i tng .
Sau khi xc cc bin vo/ra ta cn phi xc nh min gi tr cho tng bin cng nh
n v ca tng bin.
nh ngha cc tp m cho cc bin :
Do cc tp m chnh l i tng thao tc ca cc lut iu khin nn ta phi nh
ngha cc tp m trc khi xy dng cc lut iu khin. Mt khc do dng tp m phn nh
mi lin h gia gi tr cc d kin v ngha ca chng -> khu quan trng trong vic tng
hp b iu khin m.

24

Lun vn tt nghip

GVHD: Nguyn Tun Hng

xc nh tp m cn:

Min gi tr vt l cho cc bin ngn ng vo/ra.

S lng tp m(gi tr ngn ng).

Xc nh hm lin thuc:

Cch thc hin l bt u bng cc dng hm lin thuc bit trc v m hnh ha
n cho n khi nhn c b iu khin m lm vic nh mong mun.
Trong nhiu trng hp dng hm lin thuc hnh tam gic cho kt qu khng km g
dng hm lin thuc phc tp hn l dng hnh chung, do b iu khin m t khi nhy vi
s thay i hnh dng tp m. iu ny lm cho h m kh bn vng v d thch nghi, l
mt thuc tnh quan trng khi m hnh ln u c kho st.
Xy dng cc lut iu khin :
y l bc tng hp cc hiu bit cng nh chin lc iu khin i tng di
dng mt tp cc lut iu khin.V cng l bc kh khn nht do hat ng ca b iu
khin hon ton da trn cc lut iu khin. Cc lut iu khin c thit lp da trn cc
mnh hp thnh.
Chn thit b hp thnh :
Thit b thc hin lut hp thnh trong b iu khin m l thit b hp thnh. C th
chn thit b hp thnh theo nguyn tc Max_Min, Max_Prod trin khai php hoc khi
thit lp lut hp thnh chung:
R=R1or R2 or Rn
Chn nguyn l gii m:
Gii m hay r ha, ty theo cch chn la phng php gii m m phc tp v
trng thi lm vic ca c h thng cng b nh hng .

1.8.3 nh ngha cc tp m cho cc bin

a. chng lp
bin i nhiu tp m ring l thnh mt b mt lin tc, cc tp m ln cn phi
c chng lp ln nhau. Kinh nghim cho thy chng lp tt nht thng trong khong
25% 50%.
Th d : Cc tp m ln cn c chng lp 50% :
25

Lun vn tt nghip

GVHD: Nguyn Tun Hng

b. La chn dng hm lin thuc

Cch thc hin l bt u bng cc dng hm lin thuc bit trc v m hnh ha
n cho n khi nhn c b iu khin m lm vic nh mong mun.
Trong nhiu trng hp dng hm lin thuc hnh tam gic cho kt qu khng km g
dng hm lin thuc phc tp hn l dng hnh chung, do b iu khin m t khi nhy vi
s thay i hnh dng tp m. iu ny lm cho h m kh bn vng v d thch nghi, l
mt thuc tnh quan trng khi m hnh ln u c kho st.
1.8.4. c tnh vo ra ca h m c bn
Nh ni h m c bn thc cht l mt b iu khin tnh nn quan h truyn t
hon ton c m t y bng ng c tnh y(x) gi l c tnh vo ra ca h m.
c tnh vo ra ca mt h m c bn c th l tuyn tnh hoc phi tuyn.
Nu c tnh vo ra tuyn tnh hoc tuyn tnh tng on ta c h m t l.
Ngc li nu ta c mt ng c tnh iu khin mong mun, ta cng c th t
tng hp c h m tng ng.
1.8.5. Tng hp h m t l
H m t l c ng c tnh vo ra tuyn tnh tng on xc nh bi cc im nt
(xk,yk) nh hnh v :

26

Lun vn tt nghip

GVHD: Nguyn Tun Hng

y
yn
yn-1

yn-2
x1

x2

x3

x
xn-2 xn-1

xn

y1
y2

y1
Thut ton tng hp h m t l nh sau :
1. Xc nh cc im nt (xk,yk) ca ng c tnh.
2. nh ngha n tp m u vo Ak c hm lin thuc mAk(x) dng hnh tam gic vi
nh l im xk v min xc nh l khong [xk-1,xk+1] trong x0 , xn+1 l nhng im
bt k tha mn x0<x1 v xn+1>xn.
3. Xc nh n tp m u ra Bk biu din di dng Singleton ti cc im yk v c
cao l 1.
4. nh ngha tp n lut iu khin Rk dng :
Rk : NU x=Ak TH y=Bk
5. p dng lut hp thnh Max-Min.
6. S dng nguyn l cao gii m.
Nguyn tc tng hp b iu khin m hon ton da vo nhng phng php ton
hc trn c s nh ngha cc bin ngn ng vo/ra v s la chn nhng lut iu khin. Do
cc b iu khin m c kh nng x l cc gi tr vo/ra biu din di dng du phy ng
vi chnh xc cao nn chng hon ton p ng c cc yu cu ca mt bi ton iu
khin r rng v chnh xc.
B iu khin m hot ng ch yu da vo kinh nghim thit k cc lut iu
khin, trin khai cc mnh hp thnh xy dng m hnh lut hp thnh .
27

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Chng 2
PHNG PHP PID ZIEGLER NICHOLS

2.1 Hm truyn l in v m hnh ca ziegler-nichols

L nhit c u vo l in p cung cp cho dy t ( hay cng sut cung cp ) v ng
ra l nhit ca sn phm cn nung hay nhit vng s dng . thnh lp hm truyn l
nhit ta phi kho st phng trnh vi phn m t cc quan h nhit - nng lng cc b
phn , y l bi ton phc tp nu mun chnh xc .
Mt cch gn ng , ta c th xem mi trng nung l ng cht , ng nhit . Nh
vy phng trnh cn bng nng lng cho ta : in nng cung cp s c dng b vo
nng lng nhit truyn ra bn ngoi v nng nhit mi trng nung . T tnh c
hm truyn l lc s l bc nht :

Trong :
K : L h s t l cho bit quan h vo ra ch xc lp .
T : Thi hng nhit th hin qun tnh ca h thng .
M hnh hm truyn ny cho thy qu trnh qu vi u vo hm nc c dng hm
m ch l gn ng , thc t h thng c bc cao hn nhng qu trnh qu u vo hm
nc vn khng vt l , nh hnh sau :

28

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Theo Ziegler-Nichols th mt h thng nh vy c th biu din di dng hm

truyn sau :

T1 : Thi gian tr (Thi gian khng nhy ca l nhit )

T2 : Thi gian qun tnh ca l nhit .
* Cc hng s thi gian c tnh trn th .
Khai trin Taylor ca e-T1s ta c :

2.2. Thit k PID s theo phng php ZIEGLER-NICHOLS:

Phng php ny thng p dng cho i tng c qun tnh ln nh l nhit c
m t bng hm truyn t :

Trong :
K : H s khuch i ca i tng l nhit .

29

Lun vn tt nghip

GVHD: Nguyn Tun Hng

T1: Hng s thi gian khng nhy ca l nhit .

T2: Hng s thi gian qun tnh nht ca l .
K , T1 , T2 c xc nh bng phng php thc nghim .
PID ca Ziegler-Nichols c dng :

1
Td * s)
Ti * s

D( s) C(1

Vi

1,2 * T 2
K * T1

Ti = 2T1

Td = 0,5T1

H s tng ng vi h s khuch i t l
Kp = C

C
T1

Ki =

Kd = C*Td
Hiu chnh PI ca Ziegler-Nichols l :
D(s) = C(1+

vi

C=

1
)
Ti * s

0,9 T 2
*
K T1

Hiu chnh khuch i t l P :

D(s) = C
vi

C=

1 T1
*
K T2

i vi h lin tc hiu chnh PID c dng tng qut l :

Gc(s) = Kp +

Ki
+ Kd*s
s

Chuyn sang h ri rc s dng h bin i Z i vi khu vi phn :

30

Lun vn tt nghip

GVHD: Nguyn Tun Hng

1
1 z 1
df (t )
(1 Z 1 ) F ( z) *
Z
dt kT T
T
z
Hm truyn khu vi phn : GD ( z) Kd

z 1
T *z

Trong phng trnh vi phn chuyn sang sai phn dng :

df (t )
dt

t kT

1
{ f ( kT f [( k 1)T ]}
T

C 3 phng php tnh tch phn :

f[(k-1)T]
f(t)

f(kT)

A
(k-1)T

D
kT

- Cch 1 : Tch phn theo hnh thang ABCD

- Cch 2 : Tch phn theo hnh ch nht li v pha sau ABFD
- Cch 3 :Tch phn theo hnh ch nht tin v pha trc AECD
Theo cch 1 :
u(kT) = u(k-1)T + T/ 2{f(kT) + f[(k-1)T]}
GI(z) = Ki

U ( z) KiT z 1

*
F ( z)
2
z 1

Theo cch 2 :

31

Lun vn tt nghip

GVHD: Nguyn Tun Hng

u(kT) = u(k-1)T + Tf[(k-1)T]
GI Ki

U ( z) Ki * Tz

F ( z)
z 1

Theo cch 3:
u(kT) = u[(k-1)T] + Tf(kT)

Gi ( z ) K p

U ( z) Ki z

F ( z) z 1

Tng qut theo cch 1 hm truyn b lc PID theo z l :

Gc( z) Kp Kd

z 1 KiT z 1

*
z
2
z 1

Dng tng qut k hiu tn hiu vo b iu khin l f(t), tn hiu ra l u(t) .

Trng hp b iu khin PID c mc knh sai s th tn hiu vo b iu
khin l sai lch e(t ) sinh ra trong h thng hi tip. i vi trng hp ny tn hiu iu
khin c dng :

e(kT ) e[(k 1)T ]

u (kT ) K p e(kT ) K d
Ki
T

( k 1)T

edt K T
i

e(kT ) e[(k 1)T ]

2

ng thi ta cng c :

e[(k 1)T ] e[(k 2)T ]

u[(k 1)T ] K p e[(k 1)T ] K d
Ki
T

32

( k 1)T

edt
0

Lun vn tt nghip

GVHD: Nguyn Tun Hng

T hai biu thc trn ta c :

u (kT ) u[(k 1)T ] K p ekT ek 1T K d

ekT ek 2 2ek 1T
T

ekT ek 1T
uk 1T
2
K KT
2 K K T Kd

ekT K p d i ek 1T K p d i ek 2T uk 1T
T
2
T
2 T

K iT

T cng thc trn ta thy : tn hiu iu khin u c th tnh c ti mi thi im

nu ta bit c gi tr cc thng s ca b iu chnh : Kp, Ki , Kd xc nh c , m iu
ny c th gii quyt c t thc nghim v qua cc cng thc ca Ziegler Nichols
trnh by .

33

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Chng 3
XY DNG B IU KHIN PID M

3.1 Thit k h m
Nguyn tc tng hp mt b iu khin m hon ton da vo nhng phng php
ton hc trn c s nh ngha cc bin ngn ng vo/ra v s la chn nhng lut iu
khin. Do thit k b iu khin m trc tin ta s nh ngha cc bin ngn ng
vo/ra.
i lng vo ca b iu khin m chnh l sai lch nhit v tc tng gim
nhit .
i lng ra ca b iu khin m l 3 gi tr tng i ca 3 thng s Kp, Ki, Kd
ca b iu khin PID.
3.1.1 Sai lch nhit :
c nh ngha nh l sai khc gia nhit t v nhit hin ti o c, k
hiu l ET.
ET = nhit t nhit o [C]
Mong mun ca chng ta l iu khin n 90C nn min xc nh ca bin s l
khong [-90C,+90C].
Trong min xc nh , ta nh ngha 5 tp m :
ET = {m nhiu, m va, m t, bng khng,dng t, dng va, dng nhiu}
hay ET = {NB, NM, NS, ZE, PS, PM, PB}
Tuy nhin, tp trung hn trong khong sai lch nh, ta khng phn b u 7 tp m
ny trn khong [-90C,+90C] m ch phn b u trong khong [-6C, +6C].

N3

N2

N1

ZE P1 P2

P3
90 [C]

-90

-6

-4

-2

Cc tp m ca bin ET
34

Lun vn tt nghip

GVHD: Nguyn Tun Hng

3.1.2 Tc tng gim nhit :

L gi tr tng hay gim ca nhit hin ti so vi nhit trc trong khong
thi gian ly mu, k hiu l DET.
DET=(nhit hin ti nhit trc)/thi gian ly mu[C/s]
i tng iu khin l mt in tr un nc c qun tnh tng i ln, trong
khong thi gian ly mu l 2 giy ch tng hay gim ti a 1,3C nn ta nh ngha DET vi
min xc nh l [-2,+2].
Cng nh ngha cho bin DET c 7 tp m vi tn gi nh trn, nh ngha trong
khong [-2;+2].

N31 N21 N11

ZE P11 P21 P31

11

-1.2

-0.8 -0.4 -0.5

0,5

1.0

1.5

[C]/T[s]

Cc tp m ca bin DET
Gi tr ng ra l 3 bin kp, kd, l 3 gi tr tng i i din cho 3 thng s ca b
iu khin PID l Kp, Ki , Kd.
B chnh
nh m

e(t), et
.

Thit b
chnh nh

B iu

i tng

khin PID

Cc tham s Kp, Ki, Kd ca b iu khin PID c chnh nh da trn c s phn

tch tn hiu ch o v tn hiu ra ca h thng, chnh xc hn l sai lch et(t) v o hm
ca sai lch de/dt ca h sai lch. C nhiu phng php chnh nh cc thng s cho b iu
khin PID nh chnh nh qua phm hm mc tiu, chnh nh trc tip, song phng n n
35

Lun vn tt nghip

GVHD: Nguyn Tun Hng

gin hn c l phng php chnh nh m theo Zhao, Tomizuka v Isaka. Vi gi thit l

min
max
min
max
cc tham s Kp, Kd b chn tc l : KP K P , K P , K D K D , K D .

Zhao, Tomizuka v Isaka chun ha cc tham s nh sau :

kP

K P K Pmin
K D K Dmin
,
k

D
K Pmax K Pmin
K Dmax K Dmin

c 0 kp, kd 1
Nh vy b chnh nh m s c 2 u vo v 3 u ra l kp, kd,

kp

B chnh
nh m 1
et

B chnh

det

kd

nh m 2

B chnh
nh m 3

Bin ngn ng kp theo nh ngha trn min xc nh l [0,1]. Ta nh ngha cho bin
kp c 5 tp m l :

0.25

0.5

36

0.75

Kp

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Hnh 4.1 : Biu din lut chnh nh Kp trong khng gian

Bin ngn ng kd theo nh ngha trn cung c min xc nh l [0,1]. Ta cng nh ngha
cho bin kd c 5 tp m l :

0.25

0.5

0.75

kd

Hnh 4.2 : Biu din lut chnh nh Kd trong khng gian

37

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Bin ngn ng c nh ngha l t s = Ti/Td.Ta nh ngha cho bin nm

trong khong [1 10] vi 5 tp m l L1, L2, L3, L4, L5.

L1

L2

L3

L4

L5

Hnh 4.1 : Biu din lut chnh nh Ki trong khng gian

3.2 Thit k h lut

3.2.1 H lut
H thng gm 5 bin ngn ng u vo i vi ET v 5 bin ngn ng cho bin
DET nn mi h lut cho kp, kd l gm 5 x 5 = 25 lut If then

38

Lun vn tt nghip

GVHD: Nguyn Tun Hng

H lut cho kp:

kp
N3
N2
N1
ZE
P1
P2
P3

ET

N31
U
L
M
Z
M
L
U

N21
U
L
M
Z
M
L
U

N11
U
L
M
Z
M
L
U

DET
ZE1
U
L
M
Z
M
L
U

P11
U
L
M
Z
M
L
U

P21
U
L
M
Z
M
L
U

P31
U
L
M
Z
M
L
U

P11
Z
M
L
U
L
M
Z

P21
Z
M
L
U
L
M
Z

P31
Z
M
L
U
L
M
Z

Hnh 4.4 : Lut hp thnh Kp

H lut cho kd :

kd

ET

N3
N2
N1
ZE
P1
P2
P3

N31
Z
M
L
U
L
M
Z

N21
Z
M
L
U
L
M
Z

N11
Z
M
L
U
L
M
Z
39

DET
ZE1
Z
M
L
U
L
M
Z

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Hnh 4.5 : Lut hp thnh Kd

H lut cho :

ET

N3
N2
N1
ZE
P1
P2
P3

N31
L1
L3
L4
L5
L4
L3
L1

N21
L1
L2
L3
L4
L3
L2
L1

N11
L1
L2
L2
L3
L2
L2
L1

DET
ZE1
L1
L1
L1
L2
L1
L1
L1

Hnh 4.6 : Lut hp thnh

40

P11
L1
L2
L2
L3
L2
L2
L1

P21
L1
L2
L3
L4
L3
L2
L1

P31
L1
L3
L4
L5
L4
L3
L1

Lun vn tt nghip

GVHD: Nguyn Tun Hng

3.2.2 Chn lut v gii m

Chn lut hp thnh theo quy tc Max Min.
Gii m theo phng php cao.
Gi s ti mt thi im no ET = 2.5, DET = 0.4
Khi :
(ET) = {0, 0, 0, 0 ,0.75, 0.25 , 0}
(DET) = {0, 0, 0, 0.2 , 0.8 , 0, 0}
Xt vi h lut cho kp
p dng lut Max Min cho ta :
Min
Min

Min
Min

0.2M

Max

0.75M

0.75M

0.2L

Max
0.25L

0.25L

Gii m theo phng php cao ta c :

41

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Hnh 4.7 : Gii m kp bng pp trng tm trn Matlab

Xt vi h lut cho kd
p dng lut Max Min cho ta :
Min
Min

Min
Min

0.2L

Max

0.75L

0.75L

0.2M

Max
0.25M

0.25M

Gii m theo phng php cao ta c :

Hnh 4.8 : Gii m kd bng pp trng tm trn Matlab

42

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Xt vi h lut cho
p dng lut Max Min cho ta :
Min
Min

Min
Min

0.2L1

Max

0.2L1

0.2L1

0.75L2

Max
0.75L2

0.25L2

Gii m theo phng php cao ta c :

Hnh 4.9 : Gii m

bng pp trng tm trn Matlab

43

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Gi s b iu khin PID c cc thng s theo Zeigler Nichols c Kp = 66.25 , Kd = 331.25

Ki = 3.3125.
Ta chn Kpmax = 80, Kpmin = 50
Kdmax = 360 , Kdmin = 300
Khi , gi tr Kp, Ki, Kd do b iu khin m t chnh nh s l :
Kp = kp * ( Kpmax Kpmin ) + Kpmin
= 0.5625 * ( 80 50 ) + 50 = 66.875
Kd = kd * ( Kdmax Kdmin ) + Kdmin
= 0.6875 * ( 360 300 ) + 300 = 341.25

Trong thut ton PID cc thng s Kp, Ki, Kd c cc chc nng khc nhau. Xt bi
ton trn, Khi ET = 2.5 v DET = 0.4, tc l nhit o gn bng nhit t v nhit ang
tng. H i vo xc lp, khi ta cn tng Kp , Ki gim sai s xc lp, ng thi tng Kd
gim thi gian xc lp v gim vt l.

44

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Chng 4
THIT K V THI CNG M HNH
4.1 Cc cm bin s dng trong Lun Vn
4.1.1 Cm bin nhit Thermocouple
V nguyn tc th ngi ta hon ton c th to ra mt thermocouple cho gi tr ra bt
k bi v c rt nhiu t hp ca hai trong s cc kim loi v hp kim hin c.
Tuy nhin c mt thermocouple dng c cho o lng th ngi ta phi xt n
cc vn nh : tuyn tnh, tm o, nhy, v do ch c mt s loi dng trong
thc t nh sau :
Loi J : kt hp gia st vi constantan, trong st l cc dng v constantan l
cc m. H s Seebeck l 51V/C 20C.
Loi T : kt hp gia ng vi constantan, trong ng l cc dng v constantan
l cc m. H s Seebeck l 40V/C 20C.
Loi K : kt hp gia chromel vi alumel, trong chromel l cc dng v alumel
l cc m. H s Seebeck l 40V/C 20C.
Loi E : kt hp gia chromel vi constantan, trong chromel l cc dng v
constantan l cc m. H s Seebeck l 62V/C 20C.
Loi S, R, B : dng hp kim gia platinum v rhodium, c 3 loi : S) cc dng dng
dy 90% platinum v 10% rhodium, cc m l dy thun platinum. R) cc dng dng dy
87% platinum v 13% rhodium, cc m dng dy thun platinum. B) cc dng dng dy
70% platinum v 30% rhodium, cc m dng dy 94% platinum v 6% rhodium. H s
Seebeck l 7V/C 20C.
4.1.2 Cm bin o mc cht lng
Trong phm vi ti ny em chn cch dng phao o mc cht lng trong cc bnh
cha
45

Lun vn tt nghip

GVHD: Nguyn Tun Hng

u im:
-

R, d thit k v ch to.
Nhc im:

Tm o h p.

chnh xc v n nh khng cao.

Hnh 5.1 Cm bin Phao dng trong ti

Nguyn l hot ng:

Thit b gm mt phao gn vo bin tr thng qua mt cn bng kim loi, gn thit b
vo bn o mc cht lng, khi mc cht lng thay i, phao thay i theo dn n gi tr bin
tr thay i. Trong phm vi ti ny tn hiu cn c v dng p DC (0 10v). Do hai
u ca bin tr c ni vi ngun p DC c nh 10v, u cn li c a v knh analog
ca PLC.
-

Dy xanh dng l dy max.

Dy vng l dy ngun.

Dy xanh l l dy a vo knh Analog ca PLC.

4.2 Cc phn t chp hnh

4.2.1 Van iu khin
Van l thit b dng trong vic vn chuyn lu cht dng lng, rn, st v kh. Van
c s dng nh l mt phn trn h thng ng ng vn chuyn v iu khin lu cht
theo mun ca chng ta.
V cn bn van c chia lm hai loi:
46

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Loi iu khin bng tay (Manual valve)

Loi iu khin bng in,kh...(control valve)

Manual valve ta c th thy nhiu trong cc h thng nc sinh hot hng ngy nhng

size nh. Control valve c s dng nhiu trong cc ngnh cng nghip, nht l lc du, ho
cht, nh my in... control valve cng c th iu khin bng tay thng qua Handwheel.
Size ca control valve c th t 1 ti 40 .
Van iu khin dng trong ti lun vn l van solenoid.

Hnh 5.2 Van in dng trong ti

Cu to van
Van c cc thnh phn c bn sau:
- Thn van: y l phn chnh yu nht ca van, n c th l 01 phn c c hay l
t 02 phn lp ghp li vi nhau. Thn van s c lp vi ng ng thng qua vic ni ren,
ni bch, k p, hoc hn trc tip vo ng ng.
- Cht van, ti van: y l phn lin kt gia a van v phn vn hnh tc ng ng
ngt v iu khin van
- a van: y l phn c gn vo ti van v s c tc ng xoay hoc di chuyn
ln xung khi chng ta tc ng iu khin vo ti van.
- Tay vn: c t an cui ti van, phn trn thn van. Tay van c iu khin
bng tay, v-lng hoc bng b iu khin (kh nn, in, thy lc).
- Cc phn khc: m van (bonnet), c m van (bolted bonnet), k p ni cc phn van
(yoke bonnet), cc phn m/ lt/ ron (gland/packing/seal).tt c phn ny kt hpcc phn
chnh to nn mt van hon chnh.
47

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Nguyn l hot ng ca van

Van c iu khin bng cun dy . trng thi bnh thng van ng, khi cun dy
c kch bi p 24VDC s sinh ra lc ht ht tip im m van.

4.2.2 ng c khuy trn

ng c dng quay cnh qut trn ca bnh trn. C nhiu loi ng c khc nhau,
vic phn loi ng c tu thuc vo ngun cp cho ng c, b chnh vn tc, tc quay
v cng sut.
Do qui m bn trn kh nh v yu cu tc quay ca cnh qut trn khng qu
nhanh, do ta cn dng ng c c tc va phi. c tc quay ca ng c nh
mong mun, ta c th s dng b iu khin tc cho ng c.
Thng s ca ng c
-

ng c DC

S dng ngun 24v

Tc quay 3000v/p.

Hnh 5.3 ng c dng trong ti

48

Lun vn tt nghip

GVHD: Nguyn Tun Hng

4.2.3 R le in t
R le in t c cc b phn chnh l mch t, cun dy, tip im, v. Mch t c
ch to t vt liu st t gm 2 phn, phn tnh hnh ch l phn ng l tm ghp hnh ch
U. Phn ng ni lin kt c kh vi tip im ng.
im khc bit c bn gia r le in t v contactor l r le in t ch c mt loi
tip im iu khin c th thng ng hoc thng m, khng c hp p h quang, v
khng c l xo nn tip im m s dng thanh ng lai tip im to lc nn.
Phn loi
Theo cun ht : cun ht mt chiu v cun ht xoay chiu.
Theo dong in qua tip im : r le m chiu , r le xoay chiu.
Theo s lng cp tip im : 2 cp tip im, 3 cp tip im
Theo cu trc chn : chn trn, chn d t.
Theo cm r le : trn, vung.
Nguyn l hot ng
Khi c dng in chy qua cun dy s sinh ra lc ht in t ht tm ng v pha
li. Lc ht in t c gi tr t l thun vi bnh phng dng in v t l nghch vi
khong cch khe h mch t :

Khi dng in trong cun dy nh hn dng tc ng i < Itd th lc ht in t nh

hn lc ko l xo F < Flx, tm ng ng yn.
Khi i > Itd th lc ht in t ln hn ko l xo F > Flx, tm ng b ht v pha lm
cho khe h mch t nh nht, tc l ht v pha phn tnh. Khi khe h mch t nh, lc ht
cng tng, tm ng c ht dt khot v pha phn tnh v tip im ng c ng vo
tip im tnh.
Khi dng in trong cun dy gim I < Itd lc l xo s thng lc ht in t. L xo
ko tm ng ra khi phn tnh, khe h mch t tng, lc in t cng gim, l xo ko dt
khot tm ng v, tip im ng ri khi tip im tnh.
Cc thng s c bn
in p nh mc cun ht l in p cp cho cun ht lm vic ch lu di.
in p ny c th l 9V, 12V, 24V, 110V, 440V mt chiu v 24V, 110V, 220V,
440V xoay chiu. in p ny ghi trn cun ht.

49

Lun vn tt nghip

GVHD: Nguyn Tun Hng

in p nh mc : in p lm vic lu di ca mch in m r le khng ch, in

p nh mc c th l 24V, 110V, 220V, 440V mt chiu v 24V, 110V, 127V, 220V,
380V, 500V xoay chiu.
Dng in nh mc : dng in di hn qua tip im ca r le m khng lm tip
im hng.
Tui th c kh : c tnh bng s ln ng ngt, thng l vi trm ngn ln ng
ngt khng in v 1 trm ngn ln ng ngt c dng nh mc.
in p cch in : in p th cch in.
Thi gian tc ng : l khong thi gian k t lc dng in vt qu gi tr tc ng
n lc phn ng c ht hon ton vo phn tnh, thng vo khong t 2- 20ms.
Tn s tc ng : l s ln tc ng trong mt n v thi gian.

50

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Chng 5
THIT K V THC HIN PHN MM
5.1 Quy trnh iu khin
i tng iu khin m ti mun hng n l mt quy trnh iu khin ha cht
trong l phn ng ha hc. Trong mc ch quan trng l iu khin cho l phn ng
mt nhit n nh, m hiu sut ca phn ng t c l tt nht. Phn ng FriedelCraft alkyl ha vi vic to ra cht 4- methylacetophenone l mt phn ng ph hp vi m
hnh thit k, cng nh yu cu v iu khin nhit trong l phn ng.

Hai ha cht tham gia phn ng s ln lt c a vo l phn ng. Sau hn

hp trong l phn ng s c khuy trn. Nhit ca l phn ng s c duy tr gi tr
mong mun bng cch iu chnh cng sut ca nhit in tr. Trong qu trnh gia nhit cho
l phn ng, cht xc tc AlCl3 s c cho t t vo.
i vi cc i tng c m hnh ton phc tp nh trn, vic xc nh m hnh ton
ca n tr nn kh khn . V th s dng phng php PID iu khin i tng tr nn
khng chnh xc. PID m l phng php iu khin m cc thng s Kp, Ki, Kd c th
t chnh nh theo tng giai on. Ngay c khi c nhiu, b iu khin PID m vn c kh
nng t iu khin i tng theo 1 gi tr n nh, xc lp nh trc khi gp nhiu.

51

Lun vn tt nghip

GVHD: Nguyn Tun Hng

5.2 Lu gii thut

5.2.1 Lu hot ng ca h thng
Khi ng h thng

Nhp cc gi tr t SP cho
cc bnh cha A, B, C

Van A m

Van B m

Van C m

H_A_PV H_A_SP

ng van A

H_B_PV H_B_SP

H_C_PV H_C_SP

ng van B

ng van C

ng c khuy

END STEP1

52

Lun vn tt nghip

GVHD: Nguyn Tun Hng

5.2.2 Lu gii thut PID

Start PID

Nhp cc thng s Kp, Ki, Kd

Tnh A0 = Kp + Kd/T + Ki * T/2;

A1 = - Kp 2* Kd/T + Ki* T/2;
A2 = Kd/T

Nhp thng s Nhit t

Gn e(-2) = e(-1) = 0; u(-1) = 0;

Tnh e(0) = Nhit t - Nhit

hin ti

Tnh Udk = A0 * e(0) + A1* e(1) + A2 * e (-2)

Udk > 0

Udk = 0

Udk < Udkmax

S

Xut xung PWM : Ton = T * Udk/Udkmax;

Toff = T - Ton

e(-2) = e(-1);
e(-1) = e (0);
u(-1) = Udk

END

53

Udk =
Udkmax

Lun vn tt nghip

GVHD: Nguyn Tun Hng

5.2.3 Lu gii thut PID m

X l m

Tnh ph thuc Ai(ET)

Tnh ph thuc Bj(DET)

Tm lut iu khin

Lut hp thnh Max Min

Lut iu khin k tip

Cp nht min m bin ra

No
Ht Lut

Yes

Gii m

54

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Start PID Fuzzy

Nhp cc thng s tm ET, tm DET

Nhp thng s Nhit t

Gn e(-2) = e(-1) = 0; u(-1) = 0;

Tnh e(0) = Nhit t - Nhit hin ti

Tnh det = e(0)/chu k ly mu

e(0) > tm ET

Udk =Udkmax

e(0) < tm ET

Udk =0

X l m

Kp = kp1* ( kpmax kpmin ) + kpmin;

Kd = kd1 * ( kdmax kdmin ) + kdmin;
Ki = Kp * Kp / ( * Kd)

Tnh A0 = Kp + Kd/T + Ki * T/2;

A1 = - Kp 2* Kd/T + Ki* T/2;
A2 = Kd/T

Tnh Udk = A0 * e(0) + A1* e(-1) + A2 * e (-2) + u(-1)

Xut xung PWM : Ton = T * Udk/Udkmax;

Toff = T - Ton

e(-2) = e(-1);
e(-1) = e (0);
u(-1) = Udk

END

55

Lun vn tt nghip

GVHD: Nguyn Tun Hng

5.3 Cc phn mm lp trnh cho PLC Schneider Premium

PLC thuc h Premium l mt trong nhng PLC c cu hnh mnh nht hin nay.
y ta xt n PLC TSX P57 3634M ca h TSX Premium thuc hng Schneider. H TSX
Premium ny ng dng cho iu khin lp trnh loi trung v phc tp c cu to bng
nhng module lp ghp nhau cho php rt d m rng v thay i theo tng chc nng ng
dng. Mt h thng iu khin PLC c xy dng da trn cc RACK c lien kt qua
Bus-x kt ni. Trn mi Rack c th b tr nhiu module c chc nng khc nhau,bao gm:
module ngun,module processor, module giao tip vo ra, module I/O TOR, module analog
ng vo, module analog ng ra
Sau y, ta s ln lt gii thiu cc module s dng trong lun vn :

Module ngun : TSX PSY 2600. y l module ngun cung cp VAC c

kch c chun, c 3 n hin th l OK, BAT, 24.

Module vi x l : TSX P57 3634M.y l module vi x l c b nh Ram

192kb v c khe cm PCMCIA cho card m rng b nh, c khe cm
PCMCIA cho card truyn thng. C 5 n hin th l RUN, ERR, I/O,
TERR, FIP.

Module giao tip u vo TSX DEY 08D2.

Module giao tip u ra TSX DSY 08T2.

Module Analog TSX AEY 414. y l module c cc cng ly mu tn hiu

vo l Analog, bin i thnh tn hiu Digital cho PLC phn tch v x l. C
4 knh Analog, phn gii t 12 n 16 bit, thi gian chuyn i l
1ms/knh.

5.3.1 Gii thiu v phn mm Unity Pro

y l phn mm lp trnh iu khin cho PLC ca hng Schneider. Di y l mt
s bc c bn c thc hin trong lun vn.

56

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Bc 1 : To Project mi trn Unity Pro vi PAC TSX P573634M, v cu

hnh cc Rack/Module nh nu phn trn.

Bc 2 : To Ethernet.

Sau cu hnh a ch IP cho PLC. y,ta chn a ch IP l 192.168.1.41.

Sau ta Set Address

Bc 3 : Vo mc Variables & FB instances/Elementary Variables to cc

bin s dng trong chng trnh.

Bc 4 : Vo mc Program/Tasks/MAST/Sections to 1 section mi v 1
ngn ng lp trnh tin hnh lp trnh.

57

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Tm tt cch chn v phn b bin dng trong chng trnh

Danh sch cc bin ni
STT
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31

Tn bin
Valve_A
Valve_B
Valve_C
Valve_Reactor
Motor
Start
Stop
Run
Ong_A
Ong_B
Ong_C
Ong_D
RTD
start_PIDfuzzyscada
start_PIDscada
Tank_A_level_SP
Tank_B_level_SP
Tank_C_level_SP
Tank_A_level_PV
Tank_B_level_PV
Tank_C_level_PV
Temp_SP
Kpscada
Kdscada
Kiscada
tamETscada
tamDETscada
KdPIDscada
KiPIDscada
KpPIDscada
Temp_PV

a ch
%M1
%M2
%M3
%M4
%M5
%M6
%M7
%M10
%M11
%M12
%M13
%M14
%M15
%M16
%M17
%MW1
%MW2
%MW3
%MW5
%MW6
%MW7
%MW9
%MW11
%MW13
%MW15
%MW17
%MW19
%MW21
%MW23
%MW25
%MW27

Ni dung
Cc bin dng iu khin ng m van
Bin iu khin ng c
Bin cho php h thng hot ng
Bin dng ton h thng
Bin hin th h thng hot ng
Bin hin thi trng thi trong cc ng dn
Bin hin th th nhit
Bin hot ng ca ch PID fuzzy
Bin hot ng ca ch PID
Bin hin th gi tr t mc cht lng ca
3 bnh
Bin hin th gi tr o hin ti mc cht
lng ca 3 bnh
Bin hin thi gi tr t ca nhit
Bin hin th thng s Kp, Ki, Kd ca b
PID fuzzy
Bin hin th tm sai lch nhit (SLN)
Bin hin th tm ca o hm SLN
Bin hin th gi tr t ca 3 thng s Kp,
Ki, Kd ca b PID
Bin hin th gi tr o c ca nhit

Danh sch cc bin ng ra

STT
1
2
3
4
5
6
7

Tn bin
vanA
vanB
vanC
vanD
khuay
OUT
OUTPID

a ch
%Q0.3.1
%Q0.3.0
%Q0.3.4
%Q0.3.5
%Q0.3.2
%Q0.3.6
%Q0.3.7

Ni dung
Bin iu khin ng m van
Bin iu khin ng c
Bin iu khin nhit in tr (PIDfuzzy)
Bin iu khin nhit in tr (PID)

Danh sch cc bin Analog ng vo

58

Lun vn tt nghip
STT
1
2
3
4

Tn bin
Docao_binhA
Docao_binhB
Docao_binhC
Temperature

GVHD: Nguyn Tun Hng

a ch
%ch0.4.0
%ch0.4.1
%ch0.4.2
%ch0.4.3

Ni dung
Cm bin mc cho bnh A
Cm bin mc cho bnh B
Cm bin mc cho bnh C
Cm bin nhit

Ngoi ra cn c cc bin dng cho qu trnh tnh ton cc thng s dnh cho gii thut
PID cng nh PID m.

5.4 Thit k giao din gim st v iu khin vi SCADA

Vijeo Citect mt phn mm gim st c pht trin vi s hp tc ca Citect Pty
Ltd (mt cng ty con ca Schneider).Vijeo Citect c 3 chng trnh chnh, bao gm: Citect
Explorer, Citect Graphics Builder, Citect Project Editor. Di y l cc bc c bn thc
hin trong phn mm Vijeo Citect phc v cho lun vn.

Bc 1 : i vi chng trnh Citect Explorer, ta to 1 project mi. Sau

vo Graphic/pages to 1 trang mi.

Bc 2 : i vi chng trnh Citect Project Editor. y l ni cu hnh

cc Board, Port, khai bo Cluster, Servers, Tags.

Bc 3 : i vi chng trnh Citect Graphics Builder. y l ni to cc

trang ha, giao din hin th cc s h thng phc v cho iu khin
cng nh gim st.

Trn y l mt s khi nim c bn v PLC Premium cng nh cc phn mm phc

v chnh cho Lun Vn. chng 5, ta s i su vo vn ny hn na.

5.4.1 Cu hnh truyn thng cho h thng

Sau khi to 1 project mi ti Citect Explore, ta vo Citect project Editor chn mc
Communication tin hnh cu hnh board, port, khai bo cluster, khai bo cc I/O server,
cc Trend server.

59

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Hnh 6.1 Cu hnh Board

Hnh 6.2 Cu hnh ports ch m phng

Hnh 6.3 Cu hnh ports ch Runtime

60

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Hnh 6.4 To Cluster, I/O server v Trend Server

5.4.2 Danh sch cc Tag s dng trong h thng

c im ca nhng bin ny l c a ch trng vi cc bin bn Unity Pro. Mc
ch l to ra mi lin h gia 2 phn mm, thun li cho vic dng phn mm ny iu
khin cc bin bn phn mm kia v ngc li. trong Lun vn ny, ti t tn bin cng
nh tn a ch trng vi bn Unity Pro tin cho vic qun l cng nh lp trnh.
STT
1
2
3
4
5
6
7
8
9
10
11
12

a ch
%M1
%M2
%M3
%M4
%M5
%M6
%M7
%M10
%M11
%M12
%M13
%M14

Tn bin
Valve_A
Valve_B
Valve_C
Valve_Reactor
Motor
Start
Stop
Run
Ong_A
Ong_B
Ong_C
Ong_D
61

Kiu
DIGITAL
DIGITAL
DIGITAL
DIGITAL
DIGITAL
DIGITAL
DIGITAL
DIGITAL
DIGITAL
DIGITAL
DIGITAL
DIGITAL

Lun vn tt nghip
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31

GVHD: Nguyn Tun Hng

RTD
start_PIDfuzzyscada
start_PIDscada
Tank_A_level_SP
Tank_B_level_SP
Tank_C_level_SP
Tank_A_level_PV
Tank_B_level_PV
Tank_C_level_PV
Temp_SP
Kpscada
Kdscada
Kiscada
tamETscada
tamDETscada
KdPIDscada
KiPIDscada
KpPIDscada
Temp_PV

%M15
%M16
%M17
%MW1
%MW2
%MW3
%MW5
%MW6
%MW7
%MW9
%MW11
%MW13
%MW15
%MW17
%MW19
%MW21
%MW23
%MW25
%MW27

62

DIGITAL
DIGITAL
INT
INT
INT
INT
INT
INT
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL
REAL

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Chng 6
KT QU THC HIN
6.1 Giao din chng trnh iu khin v gim st
Gii thiu v cch s dng v iu khin phn mm.
Trc ht ta phi nhp 3 thng s gi tr t cho 3 cm bin mc ca 3 bnh A,
B, C. Sau nhn vo nt Start, h thng s hot ng. Lc ny cc van A, B, C s c
m, nc t 3 bnh A, B, C s c vo bnh phn ng. n khi gi tr o t hin
ti nh hn hoc bng vi gi tr t, ln lt 3 van A, B, C s c ng. Lc ny
ng c khuy s bt u hot ng.
Tip theo, ta s tin hnh chn 1 trong 2 cch iu khin nhit .
ch PID fuzzy, chng ta s tin hnh chn Nhit t v tm ca sai
lch nhit ET v tm ca o hm sai lch nhit DET. Sau nhn vo buton
PID fuzzy. H thng iu khin nhit s hot ng.
ch PID , chng ta cng tin hnh chn nhit t v cc thng s Kp,
Ki, Kd ca b PID. Sau nhn vo button PID. H thng iu khin nhit s hot
ng.

Hnh 7.1 Giao din h thng trn SCADA

63

Lun vn tt nghip

GVHD: Nguyn Tun Hng

H thng chit rt cc cht t bnh A, B, C vo bnh phn ng hot ng rt tt.

6.2 Qu trnh o c th nghim

c th iu khin nhit bng phng php PID hoc PID fuzzy, iu u
tin ta cn thc hin l phi xc nh c m hnh ton ca L nhit. Vic ny c
thc hin thng qua qu trnh o c tuyn vng h ca l nhit.
Nhit ban u chnh l nhit mi trng ti PTN l
Nhit xc lp l
Thi gian h xc lp l 30 pht.
i tng l nhit y l bnh phn ng c b gia nhit l nhit in tr.

Time(m)

1
27.8

2
29.1

3
30.5

4
32

5
33.5

6
35.9

7
38.5

8
41.3

9
44.7

10
47.8

11
51.2

12
54.9

13
58.2

14
61.6

15
65

16
68.2

17
71.1

18
74.2

19
76.8

20
79.4

21
81.7

22
84

23
86

24
87.7

25
88.9

26
89.9

27
90.5

28
91

29
91.4

Bng 7.1 S liu nhit p ng ca h h

64

Lun vn tt nghip
100

GVHD: Nguyn Tun Hng

c tuyn vng h

90
80
70
60
50
40
30
20
10
0

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30

Hnh 7.2 th nhit ca p ng vng h

p dng phng php ZIEGLER-NICHOLS :

Ta xc nh c cc thng s sau :

L = 225 (s)
T = 1230 (s)
Suy ra, hm truyn ca l nhit c dng nh sau :

Da vo hm truyn ta c th thy, l nhit c thi gian tr kh cao. V vy nhit

ca h thng c th xc lp ti nhit ta mong mun th cng phi mt mt khong thi
gian tng i di.

65

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Cc thng s ca b iu khin PID s c tnh theo phng php p ng nc ca

ZIEGLER-NICHOLS

Vi
Nh vy, Thng s Kp, Ti, Td ca h thng l nhit ny s l :

Ti = 2 * L = 2 * 225 = 450
Td = L/2 = 225/2 = 112.5
M phng trn Matlab vi thng s Kp, Ti, Td va tm

Hnh 7.3 : M phng thng s PID ca h thng

66

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Nhn xt : nhn vo p ng m phng ca h thng khi iu khin PID ta thy thi gian
nhit xc lp l 2500 giy. vt l POT ca h thng l khong 22% . Sai s xc lp bng 0.

6.3 iu khin nhit l nhit bng phng php PID

Ta tin hnh nhp cc thng s PID va tm vo phn mm Scada

Hnh 7.4 Nhp thng s PID vo phn mm

Vi Nhit t l

Hnh 7.5 th nhit khi iu khin bng PID

67

Lun vn tt nghip

GVHD: Nguyn Tun Hng

Nhn xt : vt l l 6.7 % .
Thi gian xc lp l 48 pht 15 giy = 2895 giy
Thi gian ln 16 pht 25 giy = 985 giy
Sai s xc lp l

6.4 iu khin nhit l nhit bng phng php PID fuzzy

Ta tin hnh nhp thng s l tm ca sai lch nhit v tm ca o hm sai lch
nhit cho h thng.
y ta chn tm ET l

, tm DET l

Cc thng s Kpmax, Kpmin, Kdmax, Kdmin c nhp vo code ca chng trnh.

y ta chn Kpmax = 20, Kpmin = 10; Kdmax = 1000, Kdmin = 800;

Hnh 7.7 th nhit khi iu khin bng PID fuzzy

Nhn xt : vt l l 7.16%.
Thi gian ln l 16 pht 45 giy = 1005 giy
Thi gian xc lp l 39 ph 50 giy = 2390 giy
Sai s xc lp l 0.4 C

68

Lun vn tt nghip

GVHD: Nguyn Tun Hng

KT LUN V HNG PHT TRIN

Kt lun
So vi Phng php PID thng, Phng php PID m c sai s xc lp t hn cng
nh thi gian xc lp nhanh hn. V thi gian ln v vt l c 2 phng php l tng
ng nhau.
Ngoi ra cn 1 u im ni bt ca PID m so vi PID thng l kh nng t chnh
nh cc h s Kp, Ki, Kd. Khi xy ra nhiu, phng php PID m s t chnh li cc thng
s cho ph hp vi vic iu khin cc i tng

Hng pht trin

trong ti ny, m hnh ch dng m phng cho vic iu khin ha cht trong
l phn ng. V vy, ti t c ng dng thc tin cn sa cha m hnh cho ph hp
vi yu cu iu khin ha cht. Bao gm vic thay i thnh ha cht tht v kim sot l
phn ng mt cch cht ch nhm to ra mt h thng an ton cho ngi s dng.
Ngoi ra, cng cn to 1 lut hp thnh cho Kp, Ki, Kd t c thi gian xc lp
nhanh hn, vt l v sai s xc lp t hn na.

69

Lun vn tt nghip

GVHD: Nguyn Tun Hng

TI LIU THAM KHO

1. L thuyt iu khin hin i - Nguyn Th Phng H

2. L thuyt iu khin m - Dng Minh Tr & Nguyn Don Phc
3. Fuzzy Logic Robert Fuller
4. Fuzzy Logic with Engineer Application Timothy J.Ross & McGraw Hill
5. T ng ho qu trnh cng ngh - Trng nh Chu
6. Ti liu ging dy SCADA - Trng nh Chu
Ngoi ra cn c cc ti liu trn mng.

70