LVTN 2010 NguyenHungThinh

B CNG THNG
TRNG I HC CNG NGHIP TP H CH MINH

KHOA CNG NGH IN T
B MN IN T T NG
N TT NGHIP
THIT K V THI CNG B IU KHIN T CHNH
DNG T CC IU KHIN L NHIT
GVHD : ThS Hunh Minh Ngc

SVTH : Nguyn Hng Thnh
LP
: DHDT4ALT
TPHCM, 4/2010
B iu khin t chnh dng t cc cho l nhit
Li gii thiu
S pht trin nh v bo ca khoa hc cng ngh th k XX to nn
s thay i su rng ton din trn nhiu lnh vc ca sn xut vt cht cng nh
ca i sng nhn loi. V th k XXI, chng ta vn chng kin s pht trin y
tng ngy. Mt nn sn xut pht trin lun t ra yu cu v ngun nhn lc v
nhn cng. Vic ng dng nhng thnh tu sng kin ca chuyn ngnh t ng
lun mang tnh thi i. iu khin t ng tri qua qu trnh hn mt na th k,
xut pht t nhng l thuyt kinh in tin dn n l thuyt hin i ti u v
ngy cng thng minh, mt qu trnh nhn thc c tm quan trng ca
vic t ng ha trong qu trnh sn xut cng nh i vi nhng nhu cu c bn
hng ngy ca con ngi trong cuc sng m con ngi khng ngng chy ua
vi thi gian. Trn thc t, ty vo chng loi, c tnh ca thit b c iu
khin v trnh ng dng m con ngi c th tn dng phng php iu khin
thch hp nht kt hp vi cc thut ton thng minh. iu khin l nhit l mt
kha cnh v ng dng. Thi gian va qua, c nhiu thit k b iu khin cho
thit b ny nh l: PID, logic m v.v. Vi n tt nghip ny, em xin c
thc hin vic tm hiu l thuyt cng nh thit k v thi cng h thng l nhit
thc t dng b iu khin t chnh dng t cc cng nh m phng s vn hnh
bng phm mm Matlab.
Li cm n
n tt nghip ny c thc hin khng ch da vo s n lc ca bn
thn m cn nh vo s hng dn chia s nhit tnh ca thy gio. Nhn y, ti
xin gi li cm n chn thnh n thy Hunh Minh Ngc - ngi trc tip hng
dn - v s hng dn v trao i hc thut, n thy Nguyn c Hong - mt
ging vin tr, ti thy ch nhim b mn v cc thy c ca khoa v cho ti
hnh trang kin thc. Cm n cc bn ng mn. Cui cng l li cm n gia nh
ng vin v to mi iu kin tt nht cho ti trn con ng tm hnh trang
tri thc.
TPHCM, 4/2010
Nguyn Hng Thnh

Nhn xt ca gio vin hng dn:
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Nhn xt ca gio vin phn bin:
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Mc lc
Li m u ...............................................................................................................8
PHN A: C S L THUYT ..............................................................................9
Chng 1: Gii thiu .............................................................................................10
1.1 nh ngha iu khin thch nghi .....................................................................10
1.2 Phn loi h thng iu khin thch nghi .........................................................11
1.2.1 B iu khin thch nghi da vo phng php heuristic ............................12
1.2.2 H thng thch nghi m hnh tham chiu (MRAS) .......................................12
1.2.3 B iu khin t chnh (STR) .......................................................................13
1.2.3.1 Cu trc thut ton b iu khin t chnh ................................................14
1.2.3.2 Lch s pht trin b iu khin t chnh ..................................................17
1.3 Tm tt .............................................................................................................18
Chng 2: c lng trc tuyn tham s h thng ..............................................19
2.1 Gii thiu .........................................................................................................19
2.2 Cc loi cu trc m hnh ................................................................................19
2.3 Phng php bnh phng cc tiu quy m rng .......................................21
2.3.1 Phng php bnh phng cc tiu quy thun ty ..................................22
2.3.2 Phng php bnh phng cc tiu quy vi Exponential forgetting .......23
2.4 S kch thch lin tc .......................................................................................25
2.4.1 V d ..............................................................................................................25
2.4.2 nh ngha tn hiu kch thch lin tc ..........................................................25
2.4.3 V d v tn hiu kch thch lin tc ..............................................................26
2.4.4 Nhn dng trong vng kn .............................................................................28
2.5 Kt lun ............................................................................................................29
Chng 3: B iu khin t chnh (STR) v PID ..................................................30
3.1 B iu khin t chnh STR .............................................................................30
3.1.1 tng c bn ..............................................................................................30
3.1.2 B iu khin hai bc t do ..........................................................................31
3.1.3 Cc thut ton t cc ...................................................................................33
3.1.3.1 Thut ton 1 ...............................................................................................33
3.1.3.2 Thut ton 2 ...............................................................................................34
3.1.3.3 Thut ton 3 ...............................................................................................34
3.2 B iu khin PID ............................................................................................35
3.2.1 Gii thiu ......................................................................................................35
3.2.2 Phng php p ng qu ........................................................................36
3.3 Tm tt .............................................................................................................38
Chng 4: Nhn dng m hnh l nhit .................................................................39
4.1 Xc nh m hnh l nhit bng p ng nc ..................................................39
4.2 Tm tt .............................................................................................................40
Chng 5: Vi iu khin P89V51RD2 v giao tip ni tip vi PC .....................41
5.1 Vi iu khin 89V51RD2 ................................................................................41

5.1.1 Khi qut chung ............................................................................................41
5.1.2 Chc nng ca cc chn ................................................................................43
5.1.3 Chc nng ni bt .........................................................................................45
5.1.3.1 Ch PCA capture ...................................................................................50
5.1.3.2 Ch timer 16 bit dng phn mm ..........................................................50
5.1.3.3 Ch ng ra tc cao ............................................................................51
5.1.3.4 Ch iu rng xung ...............................................................................52
5.1.3.5 B nh thi Watchdog PCA .....................................................................53
5.2 Giao tip ni tip vi PC .................................................................................53
Chng 6: Gii thiu v phn mm Matlab v cc cng c:
simulink, plottools v serial-port ...........................................................................56
6.1 Cng c plottools v th .........................................................................56
6.2 Gii thiu v giao din GUIDE .......................................................................57
6.3 Gii thiu v Simulink .....................................................................................58
6.4 Gii thiu v giao tip ni tip gia Matlab vi thit b
ngoi vi qua cng COM ........................................................................................58
6.5 Nhng u im v hn ch khi ng dng cc cng c h tr ca Matlab ......59
PHN B: THIT K V THI CNG ..................................................................60
Chng 1: Thit k phn cng ...............................................................................61
1.1 S khi phn cng ......................................................................................61
1.2 S nguyn l mch giao tip .......................................................................62
1.2.1 Vi iu khin P89V51RD2 ...........................................................................63
1.2.2Vi mch giao tip MAX232 ...........................................................................63
1.2.3 Cm bin nhit .........................................................................................64
1.2.4 Khi bin i ADC (IC ADC0809) ..............................................................65
1.2.5 Mch cng sut .............................................................................................67
Chng 2: Lu gii thut ..................................................................................68
2.1 Lu gii thut chng trnh cho vi iu khin ............................................68
2.2 Lu gii thut chng trnh Matlab ............................................................70
Chng 3: Kt qu thi cng ...................................................................................76
3.1 Kt qu m phng ............................................................................................76
3.1.1 B iu khin t chnh STR ..........................................................................76
3.1.2 B iu khin PID s ....................................................................................78
3.2 Kt qu chy thc ............................................................................................80
3.2.1 B iu khin t chnh STR ..........................................................................80
3.2.2 B iu khin PID s ....................................................................................83
3.3 Kt lun ............................................................................................................84
PHN C: KT LUN ...........................................................................................85
l. L thuyt .............................................................................................................86
ll. Kt qu thi cng .................................................................................................86
lll. Hng pht trin ti .....................................................................................88

Ph lc ....................................................................................................................89
Ti liu tham kho ................................................................................................104
Li m u
Thi gian qua c rt nhiu ti c thc hin v iu khin l nhit vi
cc b iu khin khc nhau t kinh in cho n hin i. Trong iu khin kinh
in c cc b iu khin nh iu khin ON-OFF, iu khin PID cn trong iu
khin hin i c cc b iu khin nh iu khin m, m thch nghi, m lai,
tuy cc b iu khin ny cho kt qu tt nhng vic iu khin i hi nhiu
n lc. Chng hn nh khi s dng b iu khin PID th phi th sai nhiu. Cc
tham s ca b iu khin PID phi c iu chnh lin tc cho ti khi t c
kt qu nh mong mun. Cn khi s dng b iu khin m th i hi ngi thit
k phi c kinh nghim nhiu v i tng. Hn na khi thay i im lm vic
ca i tng hay thay i i tng th cht lng c th khc i hi phi thit
k li b iu khin. y l mt cng vic mt rt nhiu thi gian. B iu khin
t chnh dng t cc c th khc phc tt phn no nhng yu t bt li nu
trn.
Trong ti ny cc tham s ca i tng s c nhn dng trc tuyn.
Sau cc tham s ny s c s dng cho vic thit k b iu khin. Nh vy
khi i tng thay i th tham s b iu khin s thay i theo sao cho cht
lng cui cng l nh mong mun. chnh l tng cho vic thit k b iu
khin t chnh nh STR.
PHN A
C S L THUYT
10
Chng 1
Gii thiu
Chng ny c trnh by nh sau: phn 1.1 ni v nh ngha iu khin
thch nghi cng nh s khi tng qut ca h thng iu khin thch nghi trong
iu khin t ng. Phn loi h thng iu khin thch nghi c trnh by trong
phn 1.2 bao gm b iu khin thch nghi da vo phng php heuristic, h
thng thch nghi da vo m hnh tham chiu (MRAS) v b iu khin t
chnh nh (STR). V cui cng, phn 1.3 l kt lun ca chng ny.
1.1 nh ngha iu khin thch nghi:
Phn ln cc qu trnh gp trong cng nghip u c c tnh stochastic,
tc l ng ra ti thi im t khng th xc nh c t gi tr ti thi im t-1.
Cc b iu khin truyn thng vi tham s c nh thng khng thch hp i
vi cc qu trnh nh vy bi v tham s qu trnh thay i. Thay i tham s b
gy ra bi cc thay i trong qu trnh sn xut, trong bn cht ca vt liu, nhin
liu u vo, s dng my mc (hao mn),Cc b iu khin c nh khng th
gii quyt thay i ny. Mt phng n kh thi ci thin cht lng iu khin
cho cc qu trnh nh vy l s dng h thng iu khin thch nghi. i vi iu
khin t ng, ta c th nh ngha h thng iu khin thch nghi nh sau:
H thng iu khin thch nghi thay i tham s hay cu trc ca mt phn
h thng (b iu khin) theo s thay i tham s hay cu trc phn khc ca h
thng (h thng c iu khin) bng mt cch no sao cho ton b h thng
duy tr hnh vi ti u theo tiu chun cho, khng ph thuc vo bt k thay i
no c th xy ra.
S tng qut ca h thng iu khin thch nghi c trnh by Hnh
A1.1.
S thch nghi theo thay i tham s hay cu trc ca h thng, c bn c
th thc hin theo ba cch sau:
Chn la ph hp cc tham s iu chnh ca b iu khin.
Chn la cu trc b iu khin.
To ra tn hiu vo ph thch hp.
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Khng o c
o c
Nhiu
Ng vo
H thng iu chnh
C cu thch nghi
Trng thi
Ng ra
Ch th o ca hnh vi
n v so snh
Ch th yu cu
Hnh A1.1: S khi tng qut h thng iu khin thch nghi

1.2 Phn loi h thng iu khin thch nghi:
Trong nhng nm gn y, l thuyt iu khin thch nghi pht trin mt
cch ng k. Bng phn loi Hnh A1.2 l tiu biu.
H thng thch nghi da vo phng php heuristic, b iu khin t chnh
nh (STR) v h thng thch nghi m hnh tham chiu (MRAS) hin ti l ba
phng php c bn i vi bi ton thch nghi. H thng thch nghi c cu trc
bin i s thay i cu trc ca n trn c s kinh nghim t c trc
nn c gi l h thng t t chc.
Hnh A1.2: Phn loi h thng iu khin thch nghi
12
1.2.1 B iu khin thch nghi da vo phng php heuristic:

Phng php ny cung cp s thch nghi trc tip hoc bng tnh ton ng
ra qu trnh (hay sai s) hoc bng tiu chun cht lng c chn cho qu trnh
iu khin. Trong cc trng hp ny, thut ton cho b iu khin PID s thng
c s dng v chn mc dao ng ng ra qu trnh, hoc sai s ca n lm
tiu chun. Cc phng php ny khng yu cu nhn dng h thng iu khin.
Trong mt s trng hp thm ch khng cn theo di sai s ng ra hoc a ra tn
hiu kim tra c bit. S khi ca phng php ny c cho Hnh A1.3.
Ng ra qu trnh y, hoc sai s e, c tnh theo tiu chun c cho v sau
iu chnh trc cc tham s ca b iu khin PID.
Khi tng hp b iu khin ny, chng ta c gng ti u tiu chun xc
nh cht lng qu trnh iu khin. Mc d phng php ny tha mn cc ng
dng thc t nhng gp rt nhiu vn tnh ton v ch c ng dng thnh
cng trong cc trng hp n gin.
Mt trong nhng ng dng thnh cng l phng php c thit k bi
Mark. Phng php ny lin quan n thit lp li b iu khin PID v chn
tm dao ng lm tiu chun o trc tip.
Hnh A1.3: S khi Heuristic cho iu khin thch nghi

1.2.2 H thng thch nghi m hnh tham chiu (MRAS):
Phng php thit k h thng thch nghi m hnh tham chiu c m
t tt v mt l thuyt v tho lun rng ri trong cc ti liu khoa hc. S khi
c bn ca h thng thch nghi m hnh tham chiu c trnh by Hnh A1.4.
M hnh chun cho p ng yu cu ym hoc vector trng thi yu cu xm
i vi ng vo chun w. Phng php ny da vo quan st sai s gia ng ra h
thng iu chnh ys v ng ra m hnh chun ym. Mc ch ca thch nghi l s hi
t ca cc c trng tnh v ng ca h thng iu chnh, tc l vng kn, n cc
13
c trng ca m hnh chun. Nhim v ca c cu iu khin l gim sai s

hoc sai s vector trng thi x gia m hnh chun v h thng iu chnh n cc
tiu theo tiu chun cho. iu ny c thc hin hoc bng iu chnh tham
s ca h thng hoc bng to ra tn hiu ng vo thch hp, nh c th Hnh
A1.4.
c trng kp ca h thng thch nghi ny l quan trng bi v n c th s
dng cho c iu khin v nhn dng tham s m hnh qu trnh hoc c lng
trng thi h thng. Cc h thng ny, i vi mt phm vi no b gii hn
bi chng ch thch hp vi iu khin xc nh, tuy nhin trin vng cho vic s
dng rng ri hn l tt.
Hnh A1.4: S khi c bn ca h thng thch nghi m hnh tham chiu

1.2.3 B iu khin t chnh (STR):
i vi hai phng php phc tho phn trc, vic thit k b iu
khin thch nghi khng yu cu bit chi tit v hnh vi ng hc ca h thng
iu khin. Mt phng php iu khin thch nghi khc l da vo c lng
quy cc c trng ca h thng v nhiu v cp nht cc trng thi, v vy c th
theo di cc thay i c th c. S dng s hiu bit ny, cc phng php thch
hp c th c s dng thit k b iu khin ti u. B iu khin ny,
nhn dng cc qu trnh khng bit v sau tng hp iu khin (iu khin
thch nghi vi nhn dng quy ), c gi l b iu khin t chnh STR.
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Cc kt qu hu ch nht trong iu kin thc t t c ch yu trong

h thng mt chiu m nhiu thut ton n nh s ca s phc tp bin i
c thit k. Cc thut ton ny khi c th c ng dng thng qua mt my
tnh iu khin c trang b bng mt n v giao tip vi mi trng bn
ngoi.
Gi s qu trnh iu khin c mt ng vo u(k) v mt ng ra y(k).
Ngoi ra, nhiu o c v(k) v nhiu khng o c n(k) - nhiu ngu nhin tc ng ln qu trnh iu khin. B iu khin thch nghi s lm vic vi chu k
ly mu c nh T0. B iu khin vi chu k ny to ra mt chui cc gi tr s
ng ra b iu khin {u(k); k = 1,2,} (gi s T0 = 1). Ng ra b iu khin ri
rc u(k) hot ng thng qua b bin i s - tng t (D/A) v b chp hnh
trong vng kn. Gi tr ng ra b iu khin khng i trong chu k ly mu. B
chp hnh, bao gm b bin i D/A, c tnh vo ng hc ca qu trnh iu
khin. Ng ra qu trnh iu khin l mt bin vt l (thng lin tc), cng c
ly mu vi chu k T0, do ng ra qu trnh l mt chui cc gi tr s {y(k); k =
1,2,}. Cm bin, b bin i A/D v bt k b lc no c s dng cng c
coi l mt phn qu trnh iu khin. Vng hi tip c bn c th c m rng
bng vng nui tin t nhiu o bn ngoi v(k). Hnh vi ca n cng c ly
mu vi chu k T0 v truyn n b iu khin mt chui cc gi tr s {v(k); k
=1,2,}, v cng lc gi tr t c biu din bng mt chui gi tr s
{w(k); k =1,2,}. S tn ti ca nhiu ngu nhin khng o c v s thay i
trong gi tr t w(k) l l do a ra iu khin t ng. Mc ch ca b iu
khin l b chnh cc nhiu ny cng nh bm theo gi tr t.
Ngoi ra, gi s rng tham s qu trnh iu khin hoc khng i nhng
bit hoc bin i, trong trng hp ny thay i tham s l chm hn nhiu so
vi tc qu trnh thch nghi. Ph thuc vo bn cht ca qu trnh iu khin,
chng ta c th thy cc mc tiu di y c th t c nh th no khi s
dng iu khin thch nghi vi nhn dng quy:
Tinh chnh t ng ca b iu khin s.
iu khin c ci thin khi c nhiu bin i.
Pht hin thay i trong tham s ca h thng iu khin nu ln t cc
nguyn nhn khc nhau, v d thay i ch lm vic ca thit b. Ci thin th
tc iu khin ca qu trnh c cho bng cch thay i thch hp tham s b
iu khin s.
1.2.3.1 Cu trc thut ton b iu khin t chnh:
R rng t c cc mc tiu ny, vic nhn dng cc c tnh tnh v
ng ca qu trnh cho ng mt vai tr rt quan trng cng vi chin lc
iu khin ti u. T l thuyt nhn dng tham s, chng ta bit rng vic xc
nh tham s lun lun b gnh nng bi khng chc chn sai s. khng
chc chn ny khng ch ph thuc vo s bc nhn dng (s mu) v vo chn
la cu trc cho m hnh ton hc ca qu trnh iu khin m cn ph thuc vo
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hnh vi ng ra b iu khin, chu k ly mu v chn b lc ng ra qu trnh v b

iu khin. iu ny c ngha l mi thay i ng ra b iu khin ngoi tr tc
dng iu khin yu cu, cng kch thch h thng iu khin v do to ra cc
iu kin cho nhn dng. Ni cch khc, nhn dng tt nht qu trnh iu
khin nht thit phi p t cc iu kin no ln ng ra b iu khin.
Do , nhim v tng qut ca iu khin thch nghi ti u vi nhn dng
quy cc k phc tp, bi v chng ta phi tm chui ng ra b iu khin m
c th bo m gi tr ng ra qu trnh trung bnh cng gn gi tr ch cng tt v
cng lc cho php nhn dng chnh xc nht qu trnh c cho. Feldbaum
trnh by thit k b iu khin ti u, i vi mt phm vi no , ph hp vi
cc gi thuyt ny. Bi v thit k b iu khin ti u ny c hai tc dng nn n
c gi l iu khin ti u kp. Khng may, do s phc tp ca tnh ton lin
quan, iu khin ti u kp khng s dng trong hu ht cc tnh hung.
Do , cn phi lm n gin li gii cho bi ton ny bng s dng kinh
nghim thc t v trc gic. Li gii ny c gi l s tch ra bt buc nhn
dng v iu khin Nguyn l Tng ng Chc chn. Nguyn l ny c
phc tho trong th tc di y:
i. Vectors m hnh qu trnh c coi nh bit trong mi bc iu
khin v bng vi c lng ca n, ngha l = (k 1).

ii. Thit k chin lc iu khin tc ng n tiu chun cht lng
iu khin mong mun c da vo gi s ny v tnh ng ra b iu khin yu
cu u(k).
iii. Thu thp mu mi v ng ra qu trnh y(k) (hoc nhiu o bn ngoi
v(k)) v ng ra b iu khin u(k), thm mt bc na trong nhn dng c yu
cu, s dng thut ton nhn dng quy. iu ny c ngha l thng tin mi v
qu trnh c suy ra t ba d liu {u(k),y(k),v(k)} c s dng cp nht c
lng (k -1) v ton b qu trnh c lp li tm ra c lng mi (k) .

Thut ton m t trn a n cu trc thut ton bn trong ca b iu
khin t chnh c ch ra Hnh A1.5.
Vic tch nhn dng v iu khin chia cu trc thut ton bn trong thnh
phn nhn dng v iu khin v ch lin kt qua vic truyn c lng tham s
(k) . c lng quy tham s m hnh qu trnh c thc hin bn trong
phn nhn dng v c s dng d bo gi tr (k) ca ng ra qu trnh y(k).

Phn iu khin cha mt khi tnh ton tham s iu khin (lut iu khin L)
s dng c lng tham s m hnh qu trnh (k) . Tham s iu khin khi

dng tnh ton gi tr ng ra ca b iu khin u(k) mi chu k ly mu.
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Hnh A1.5: Cu trc thut ton bn trong ca b iu khin t chnh nh

Trong mt s b iu khin t chnh nh, qu trnh nhn dng khng dng
xc nh c lng tham s m hnh qu trnh (k) , ng ra l vic tham s

ha li thch hp vng iu khin c th c s dng c lng quy tham
s b iu khin mt cch trc tip. iu ny c ngha l cn phi tm ra mi quan
h gia ng vo v ng ra qu trnh v nh ngha n mt cch trc tip t tham s
b iu khin m khng tnh ton li chng, s dng c lng tham s m hnh
qu trnh. B iu khin ny c gi l khng tng minh, trong khi b iu
khin s dng tng hp t c lng tham s m hnh qu trnh c gi l tng
minh. Nu chng ta minh ha b iu khin t chnh tng minh s dng s
nh Hnh A1.6, trong Qi l tiu chun nhn dng, Qs l tiu chun tng hp b
iu khin v q l tham s b iu khin, chng ta c th v s ca b iu
khin t chnh khng tng minh nh Hnh A1.7.
17
Hnh A1.6: S khi b t chnh nh tng minh vi nhn dng trc tip
Hnh A1.7: S khi b nhn dng khng tng minh (vi nhn dng
gin tip)
1.2.3.2 Lch s pht trin b iu khin t chnh:
Sau y, xin trnh by ngn gn lch s pht trin ca b iu khin t
chnh tng minh. Phng php c s dng trong b iu khin t chnh ln
u tin c cp trong cng trnh ca Kalman nm 1958. ng ta thit k
mt my tnh ch dng nhn dng tham s ca m hnh qu trnh v sau tnh
ton lut iu khin s dng tiu chun bnh phng cc tiu. Bi ton ny c
lm sng li u thp nin 1970 bi cng trnh ca Peterka v strm v
Wittenmark v nhng ngi khc. Phng php ny pht trin mt cch ng
k t . B iu khin t chnh u tin c thit k cc tiu sai lch ng ra
h thng trong mt s bt li b loi b bng cc tiu tng qut, phng php
phn tn ng ra c pht trin bi Clark v Gawthrop. N c gi l phng
php n bc bi v ch mt mu ng ra qu trnh c xt n trong tiu chun
bnh phng. Mt nhc im ln l chng khng th iu khin qu trnh
18
khng cc tiu pha, l qu trnh trong a thc t s hm truyn c nghim

khng n nh. Bi ton ny c th gii quyt bng vic s dng tiu chun a
bc l li gii ca bi ton bnh phng tng qut. Ni chung vic tng hp iu
khin ny lin quan n cc tnh ton lp kh phc tp. Ngi ta nhn thy rng
cc phng php gii tch c th c s dng tm cc mi quan h tng minh
tng i n gin xc nh b iu khin ti u cho cc m hnh mt chiu
bc khng ln hn hai.
Vo cui thp nin 1970, u thp nin 1980 cng trnh u tin c thc
hin trn b iu khin t chnh da vo t cc. Sut thp nin 1980, nhiu s
ch cho cc phng php thch nghi d bo n v a bc. Cc b iu khin
t chnh lai s dng ton t c phn tch tng t. Bn cnh s pht trin ny
cng c s khm ph cc phng php tng hp cho b iu khin PID s c th
s dng c lng tham s t c thng qua nhn dng quy tnh ton
tham s iu khin. Cc tham s ny sau c s dng tnh ton cc thnh
phn ca b iu khin PID, l li KP, v cc hng s tch phn TI, vi phn
TD.
1.3 Tm tt:
Trong chng ny, nh ngha tng qut ca iu khin thch nghi trong
iu khin t ng v phn loi h thng iu khin thch nghi c trnh by.
Cu trc thut ton v lch s pht trin ca b iu khin t chnh cng c
trnh by.
19
Chng 2
c lng trc tuyn tham s h thng
Chng ny c trnh by nh sau: phn 2.1 nu ln l do cng nh cc
bc c lng trc tuyn tham s h thng. Cc loi cu trc m hnh c s
dng trong nhn dng c trnh by trong phn 2.2. Phn 2.3 trnh by hai
phng php c lng bnh phng cc tiu quy. nh ngha v mt s v d
v tn hiu kch thch lin tc c th hin trong phn 2.4. V cui cng, phn 2.5
l kt lun ca chng.
2.1 Gii thiu:
Trong nhiu ng dng, cu trc i tng (m hnh) c th bit, nhng
tham s ca n c th khng bit v thay i do thay i iu kin hot ng, tui
th thit b, Do , c lng ngoi tuyn (off-line) tham s l khng .
Cc s c lng trc tuyn l ni n cc s c lng cung cp
thng xuyn c lng tham s qu trnh bng x l d liu vo ra mt cch
trc tuyn. tng l so snh p ng h thng quan st y(k) vi ng ra m hnh
tham s ha (,k), m cu trc ca n ging vi cu trc m hnh qu trnh. Khi
, (k) c iu chnh lin tc sao cho (,k) tin gn n y(k) khi k tng. (Di
iu kin ng vo no , tin gn n y m ch rng (k) tin gn n *).
Do , th tc c lng tham s trc tuyn lin quan n 3 bc sau:
Bc1 : Chn ra mt m hnh tham s ha i tng ph hp.
Bc2 : Chn mt lut thch nghi to ra hoc cp nht (k).
Bc3 : Thit k ng vo i tng sao cho (k) tin gn n * khi
k.
Nhn xt: Trong iu khin thch nghi, s hi t ca (k) n *
thng khng phi l mt trong cc mc tiu, do hai bc u tin l quan
trng nht.
2.2 Cc loi cu trc m hnh:
Khi h thng khng th c m hnh bng vic s dng cc nguyn l vt
l. L do l thiu thng tin v h thng. Mt trng hp khc l khi cc mi quan
h vt l qu phc tp khng th lm sng t c. Phng php gii quyt vn
ny l s dng cc m hnh chun, m theo thc nghim c th x l nhiu
trng hp trong cc h thng ng hc. Loi ph bin nht trong cc m hnh
chun l cc h thng tuyn tnh.
M hnh ri rc tng qut tham s ha bi c th c vit li nh sau:
20
y ( k ) = G q 1, u ( k ) + H q 1, e ( k )
Trong :
q 1
(A2.1)
:ton t sai phn li
q 1 y ( k ) = y ( k 1)
G q 1,
( )
H ( q 1, )
:m hnh h thng
e(k )
:nhiu trng
:m hnh nhiu
Trong nhiu trng hp vic s dng cu trc m hnh chun tr nn tin

li. Trong m hnh hp en vi cc phng php sai s d bo, cu trc m hnh
tng qut sau y thng c s dng:
A q 1 y ( k ) =
( )
B q 1
( ) u ( k ) + C ( q1 ) e ( k )
F ( q 1 )
D ( q 1 )
(A2.2)
Trong :
A q 1 = 1 + a q 1 + a q 2 + ... + ana q na
1
2
( )
V tng t cho cc a thc C, D v F, trong khi:
B q 1 = b q 1 + b q 2 + ... + b q nb
1
2
nb
( )
Bng A2.1 trnh by cc loi cu trc m hnh l trng hp c th ca

(A2.2).
Bng A2.1
a thc s dng
B
A,B
A,B,C
B,F
B,C,D,F
Tn cu trc m hnh
FIR
ARX
ARMAX
OE
BJ
21

2.3 Phng php bnh phng cc tiu quy m rng:
Phng php bnh phng cc tiu c s dng ph bin trong nhn dng
h thng. Nguyn l ca n l cc tham s cha bit ca m hnh ton hc c th
c chn bng cch ti thiu tng bnh phng sai s gia ng ra quan st vi
ng ra d bo vi trng s o mc chnh xc thch hp. Chun bnh phng
cc tiu l phng trnh bc hai, v vy nghim gii tch i vi bi ton bnh
phng cc tiu tn ti nu bin o tuyn tnh theo tham s cha bit.
Trong iu khin thch nghi, d liu c thu thp tun t. V vy thut
ton bnh phng cc tiu l ng c xt n. N tit kim thi gian tnh ton
bng cch s dng c lng ti thi im t-1 tnh c lng ti thi im t.
Xt qu trnh c m t nh sau:
A q 1 y ( k ) = q d B q 1 u ( k ) + C q 1 e ( k )
( )
( )
( )
(A2.3)
Trong :
A q 1 = 1 + a q 1 + a q 2 + ... + bna q na
1
2
B q 1 = b q 1 + b q 2 + ... + b q nb
1
2
nb
C q 1 = 1 + c q 1 + c q 2 + ... + cnc q nc
1
2
( )
( )
( )
na, nb, nc tng ng l bc ca cc a thc A, B, C. d l tr.

y chnh l m hnh ARMAX.
M hnh ny c th c vit li nh sau:
y ( k ) = a y ( k 1) ... ana y ( k na ) + b u ( k d 1) + ... +

1
1
b u ( k d nb ) + c e ( k 1) + ... + cnce ( k nc )
1
nb
M hnh ny tuyn tnh theo tham s v c th biu din di dng
vector nh sau:
y ( k ) = T e + e ( k )
k 1 k 1
Vi
(A2.4)
22
= a , a ,..., ana , b , b ,..., b , c , c ,..., cnc

1 2
k 1 1 2
nb 1 2
e = [ y , y
,..., y
,u
,u
,..., u
,
k 1
k 1 k 2
k na k d 1 k d 2
k d nb
T
e ,e
,..., e
]
k 1 k 2
k nc
c gi l vector tham s c lng.
k 1
e c gi l vector quy.
k 1
e
Nu
c sn th thut ton RLS c th c s dng c lng
k 1
quy . Thc t, tt c cc phn t ca e u bit ngoi tr nc phn t cui
k 1
cng. Trong RELS, cc phn t ny c thay bng sai s d bo trc:
= y T
k
Trong ,
k 1
k 1
=[ y
k 1 k 1
(A2.5)
c cho bi vector gi quy:
,y
,..., y
,u
,u
,..., u
,
k 1 k 2
k na k d 1 k d 2
k d nb
,
,...
k 1 k 2
k nc ]
Nhn xt : trong trng hp C(q-1 ) = 1, ta c bnh phng ti thiu quy

thng thng. Di y l hai phng php bnh phng cc tiu quy tiu
biu.
2.3.1 Phng php bnh phng cc tiu quy thun ty:
Xt ch tiu bnh phng:
1 k
J = ( yi T )2
k 2 i=1
k i1
Vi:
( )
J =J
k
k k
Tm
sao cho J
min ?
(A2.6)
23

Thut ton 2.1
C
k1 k1
y T
k1 +T C
k k1 k1
k1 k1 k1
=
k
C T C
C =C
k 1 k 1 k 1 k 1
k
k 1 1 + T C
k 1 k 1 k 1
(A2.7)
(A2.8)
Thut ton RLS thun ty trn c th c gii thch mt cch trc quan
nh sau. c lng tm c bng cch cng s hng sai s d bo c trng
k
s y T
vo c lng trc
. S hng T
c th c
k k 1 k 1
k 1
k 1 k 1
coi nh gi tr ca y ti thi im k c d bo bi m hnh vi c lng
1
k
T
trc
. Ma trn i xng C c nh ngha l C =
k i=1 i1 i1
k 1
k
vi iu kin u C xc nh dng. Theo nh ngha ny d thy
0
1
1
1 k
T
T
C C + . Ch rng C c th gn
ty
i
1
i
1
k
k 0 i =1 i 1 i1
=
1
i
bng cch chn C ln.

0
Nhc im chnh ca phng php RLS thun ty l thiu trng s d
liu. Mi ng vo v ra nh hng ln kt qu bi cng trng s nhng tham s
qu trnh c th thay i theo thi gian. Do , cc ng vo v ra mi nh hng
ln ng ra nhiu hn cc gi tr c. Vn ny c th c gii quyt bng
phng php RLS vi xponential forgetting, s dng h s forgetting v gim
cc trng s d liu cc bc trc. Cc trng s k i c gn ln cc gi
tr ui v yi.
2.3.2 Phng php bnh phng cc tiu quy vi exponential forgetting:
Xt ch tiu bnh phng:
2
1 k k i
T
J =
yi
k 2 i=1
k i1
(A2.9)
24

Vi :
( )
J =J
k
k k
Tm sao cho J min ?

k
k
Xem chng minh Ph Lc, y xin trnh by kt qu.
Thut ton 2.2
=
k
C
k 1 k 1
y T
k 1 + T C
k k 1 k 1
k 1 k 1 k 1
+
C T C
k
1
k
1
k
1
k
C = C
k k 1 + T C
k 1 k 1 k 1
(A2.10)
(A2.11)
Nhn xt:
Trng s m m ch rng cc d liu c b chit gim theo hm m, to ra
kh nng bm theo cc thay i trong h thng bin i theo thi gian hoc phi
tuyn. Theo phng php ny d liu mi nht c trng s bng 1, trong khi d
liu trc k thi im c trng s k . Tham s c gi l h s forgetting (h
s qun) v thng c chn trong tm 0.95 < < 1. Vic la chn ph
thuc vo cc tnh cht ca h thng thay i nh th no. Gi tr cng nh dn
n qun cng nhanh, c th c s dng gii quyt cc h thng thay i
nhanh hoc phi tuyn. Ngc li, cc gi tr cng gn vi 1 th qun cng
chm v c th c s dng cho cc h thng thay i t t.
Kh khn tim n ca phng php bnh phng cc tiu quy vi
exponential forgetting l hin tng wind-up ma trn C. Nu cc vector quy
mang t hoc khng mang thng tin, tc l C 0 , t suy ra
k k
C C
/ . Do , khi khng c thng tin nhp vo b c lng trong mt
k
k 1
chu k di th vic chia cho mi bc s gy ra C tr nn rt ln, dn n
k
hnh vi tht thng ca cc c lng v c th trn s. Do , khi s dng
phng php ny cn phi cn thn. tng chnh l bo m C rng buc. C
k
rt nhiu cch thc hin iu ny nh thm mt tn hiu dither vo ng vo h
thng ngn thut ton khng xy hin tng wind-up ma trn C. Mt kh
25
nng khc l dng cp nht vector tham s v ma trn C khi C v/hoc e(k)
k k
nh, hoc reset ma trn C n mt ma trn xc nh dng c cho
2.4 S kch thch lin tc:
2.4.1 V d:
Xt i tng bc nht sau:
y ( k + 1) = ay ( k ) + bu ( k ) ,
y ( 0) = y
0
Hay
y=
b
u
q+a
Trong a > 0, b l nhng hng s cha bit v y(k), u(k) c o ti thi

im kT v b chn.
0
Chng ta mun c lng a, b bng cch x l d liu thch hp vo/ra u,
y. R rng c th c lng c a, b d liu vo/ra phi cha y thng tin
v a, b.
V d, nu u(k) = 0 th ng ra l:
k
y ( k ) = ( a ) y
0
khng mang thng tin v tham s b. Ngoi ra, nu y = 0 th y(k) 0
0
k 0 khng mang bt k thng tin no v tham s i tng. By gi nu chn
u(k) = c ( c l hng s khc khng) th
0 0
k
k
i 1
y ( k ) = ( a ) y + c b ( a )
0 0 i=1
mang y thng tin v a, b nu y 0 .
0
V d trn chng t rng c th c lng trc tuyn a, b, tn hiu ng
vo phi c chn sao cho y(k) mang y thng tin v a, b.
2.4.2 nh ngha tn hiu kch thch lin tc:
26
Tn hiu u c gi l kch thch lin tc (PE) bc n nu ma trn di y

xc nh dng.
c (0)
c (1)
Cn =
c ( n 1)
c (1)
c (0)
c ( n 1)
c ( n 2)
c ( n 2)

c (0)
(A2.12)
Trong
1 t
c ( k ) = lim u ( i )u ( i k )
t t i=1
nh l : Tn hiu u kch thch lin tc bc n nu v ch nu
1 t
lim
A( q) u (k ) > 0
t t i =1
(A2.13)
i vi tt c cc a thc A khc 0 c bc n-1 hoc nh hn.

Chng minh: t a thc A l:
A ( q ) = a q n1 + a q n2 + ... + a
0
1
n1
Suy ra
1 t
lim
A(q) u (k )
t t i=1
1 t
= lim a u ( k + n 1) + ... + a u ( k )
n1
t t i=1 0
= aT Cn a
Trong ma trn Cn c cho (A2.12). Theo nh ngha, u kch thch
2
1 t
T
lin tc nn Cn xc nh dng a Cn a > 0a lim A ( q ) u ( k ) > 0 .
t t i=1
2.4.3 V d v tn hiu kch thch lin tc:
V d 1. Hm nc
Xt u(k) = 1 i vi t > 0 v bng 0 i vi t 0. Suy ra
1
( q 1) u ( k ) =
k =0
k 0
Do hm nc ti a c th l PE bc 1. Bi v
1 t
c ( 0 ) = lim u 2 ( i ) = 1
t t i =1
Suy ra
Cn = 1
L ma trn xc nh dng.
V d 2. Hm sine
Xt u(k) = sin(k). Suy ra
( q2 2q cos +1) u ( k ) = 0
Do hm sine ti a c th l PE bc 2. Bi v
1 t
c ( 0 ) = lim u 2 ( i )
t t i=1
1 t
= lim sin 2 (i )
t t i=1
1 t 1
= lim (1 cos ( 2i ) )
t t i=1 2
1 1
1 t
= lim cos ( 2i )
2 2 t t i=1
27
28
1
2
1 t
c (1) = lim u ( i )u ( i 1)
t t i=1
1 t
= lim sin (i ) sin ( ( i 1) )
t t i=1
1 t 1
= lim ( cos cos ( 2i 1) )
t t i =1 2
1
1
1 t
= cos lim cos ( ( 2i 1) )
2
2 t t i=1
1
= cos
2
Suy ra
cos
1 1
Cn =
2 cos
1
l ma trn xc nh dng
V d 3. Tn hiu ngu nhin

Do tn hiu ny khng th d bo c nn phng trnh (A2.13) lun ng.
Suy ra tn hiu ngu nhin l PE c bc bt k.
2.4.4 Nhn dng trong vng kn:
Trong iu khin thch nghi, nhn dng h thng thng c thc hin
di cc iu kin vng kn, iu ny c th gy ra mt s kh khn no .
V d 4. Mt nhn dng do hi tip
Xt h thng c m t bi
y(k) = ay(k - 1) + bu(k - 1) + e(k)
Cc tham s a v b phi c nhn dng trong khi qu trnh c iu
khin bi b iu khin t l vi li K.
29

u(k) = - Ky(k)
T hai phng trnh trn, ta c c hnh vi vng kn ca h thng l:
y(k) = (a - bk)y(k - 1) + e(k)

iu ny ni ln rng cc tham s c lng a , b c dng
a = a + K
b = b +
Trong l mt s ty s cho cng m t vo-ra ca qu trnh c tham

s (a,b) di iu khin hi tip t l. Do , khng th c lng cc tham s
a,b cho d ng vo u(k) l kch thch lin tc.
Do , s kch thch lin tc khng phi l iu kin ln tn hiu ng
vo trong iu khin vng kn.
Vn thiu nhn dng do hi tip s bin mt nu s dng hi tip tuyn
tnh c bc cao hoc nu li hi tip thay i theo thi gian.
Chng hn, trong V d 5 s dng dng hi tip sau y l .
Vi K2 0. Hoc c th s dng lut hi tip .
u(k) = - Ky(k)
Trong K thay i theo thi gian. Chng hn, trong V d 5 s dng hai
gi tr li l . Mi gi tr li tng ng vi mt ng thng c dc
1/K trong khng gian tham s. Hai ng ny ct nhau ti mt im duy nht.
Trong iu khin thch nghi do cc li hi tip da vo tham s c
lng nn c mt s thay i t nhin trong hi tip.
2.5 Kt lun:
Trong chng ny, cc bc c lng trc tuyn tham s h thng
cng nh cc loi cu trc m hnh c s dng trong c lng c trnh by.
Hai phng php c lng bnh phng cc tiu quy m rng c th
hin chi tit. Vic phn tch v v d cho thy rng tn hiu kch thch lin tc
cha l iu kin trong nhn dng h thng vng kn.
30
Chng 3
B iu khin t chnh (STR) v PID
Chng ny trnh by v b iu khin STR bao gm tng c bn
ca b iu khin STR, b iu khin hai bc t do v cc thut ton t cc.
3.1 B iu khin t chnh STR :
3.1.1 tng c bn:
Trong h thng thch nghi, ngi ta gi s rng tham s iu khin c
iu chnh lin tc. iu ny c ngha l tham s iu khin thay i theo qu
trnh. Tuy nhin, vic phn tch cc tnh cht hi t v n nh i vi cc h
thng nh vy l kh. n gin bi ton, ngi ta gi s rng qu trnh c cc
tham s l hng s nhng khng bit. Khi bit c qu trnh, th tc thit k xc
nh mt tp hp cc tham s iu khin mong mun. B iu khin thch nghi
phi hi t v cc gi tr tham s ny ngay c khi qu trnh khng bit. B iu
khin vi tnh cht ny c gi l t chnh, bi v n tinh chnh b iu khin
n cht lng mong mun.
B iu khin t chnh (STR) da vo tng tch c lng tham s
cha bit ra khi thit k b iu khin. tng ny c minh ha Hnh A3.1.
Tham s cha bit c c lng trc tuyn, s dng cc phng php
c lng quy. Cc tham s c lng c coi nh ng, ngha l khng xt
n khng chc chn. iu ny c gi l Nguyn l Tng ng Chc
chn. Nhiu s c lng khc nhau c th c s dng, chng hn nh bnh
phng cc tiu, bnh phng cc tiu m rng, Cc phng php thit k c
th c s dng l thay i cc tiu, bnh phng tuyn tnh, t cc v
m hnh tham chiu. Phng php thit k c chn ph thuc vo yu cu
cht lng vng kn v iu khin thc t. Di y l b iu khin t chnh nh
t cc.
Khi c lng tng trng cho c lng trc tuyn tham s qu
trnh s dng cc thut ton bnh phng cc tiu. Khi Thit k tng trng
cho li gii trc tuyn i vi bi ton thit k cho h thng vi tham s bit.
y c gi l bi ton thit k c bn. Khi B iu khin tnh ton tn hiu
iu khin t cc tham s c tnh ton khi trc. i khi thut ton STR
c n gin bng cch tham s ha li v c lng trc tip cc tham s b
iu khin, khng cn phi c lng cc tham s qu trnh.
Hnh A3.1 : S khi b t chnh nh

3.1.2 B iu khin hai bc t do:
Hnh A3.2 : B iu khin hai bc t do

Xt qu trnh c m t bi h thng mt ng vo, mt ng ra (SISO) :
A q 1 y ( k ) = B q 1 u ( k ) + C q 1 e ( k )
( )
( )
( )
V b iu khin hai bc t do :
P q 1 u ( k ) = R q 1 w ( k ) Q q 1 y ( k )
( )
Trong :
( )
( )
31
32
P q 1 = p + p q 1 + p q 2 + ... + pnp q np
0 1
2
Q q 1 = q + q q 1 + q q 2 + ... + qnq q nq
0 1
2
R q 1 = r + r q 1 + r q 2 + ... + rnr q nr
0 1
2
( )
( )
( )
np, nq, nr l bc ca cc a thc P, Q, R tng ng.

B iu khin ny gm c thnh phn nui tin (feedforword) vi hm
R q 1
Q q 1
truyn
v thnh phn hi tip (feedback) vi hm truyn
. Do
P q 1
P q 1
( )
( )
( )
( )
, n c hai bc t do. S khi ca h thng vng kn c minh ha Hnh

A3.2.
Kh u(k) ta c p ng vng kn :
y (k ) =
BR
CP
w(k ) +
e(k )
AP + BQ
AP + BQ
Trong AP + BQ l a thc c trng vng kn.

Mong mun c p ng vng kn:
B
ym ( k ) = m w ( k )
Am
T , ta c (gi s e(k)=0):
BR
=
AP + BQ
Bm
Am
Mt cch tng qut, deg ( AP + BQ ) > deg ( Am ) . Suy ra, BR v AP + BQ

c tha s chung A0, gi l a thc quan st.
Theo nh mong mun, ch kh b cc zero n nh. Do , phn
tch B thnh B+B-.
Trong :
T , ta c:
B+ : cha cc zero n nh v b kh
B- : cha cc zero khng n nh v khng b kh
33
BR
=
AP + BQ
Bm
B+ B R
=
Am
AP + B + B Q
A Bm
0
A Am
0
Suy ra:
P = P B+
1
Do :
AP + B Q = A Am
1
0
iu kin b iu khin nhn qu:
deg ( Q ) deg ( P )
deg ( R ) deg ( P )
deg ( Am ) deg ( Bm ) deg ( A) deg ( B )
deg A 2deg ( A) deg B + deg ( Am ) 1
0
( )
( )
3.1.3 Cc thut ton t cc:

3.1.3.1 Thut ton 1:
Cc d liu cho : a thc A, B
Cc ch tiu cht lng : a thc Am, Bm, A0
Cc iu kin tng thch :
B- chia ht Bm
deg ( Am ) deg ( Bm ) deg ( A) deg ( B )

deg A 2deg ( A) deg B + deg ( Am ) 1
0
( )
( )
Bc 1. Phn tch B thnh : B = B+BBc 2. Gii phng trnh : AP1 + B-Q = A0Am
B
Bc 3. Tnh : P = P1B+ v R = m
A
B 0
Bc 4. Tnh lut iu khin P q 1 u ( k ) = R q 1 w ( k ) Q q 1 y ( k )
( )
( )
( )

n gin trong thut ton tnh ton, ta xt 2 trng hp c bit sau:
3.1.3.2 Thut ton 2: Thit k t cc vi tt c zero b kh ht
Cc d liu cho: a thc A, B
Cc ch tiu cht lng: a thc Am, Bm, A0
Cc iu kin tng thch:
deg(Am )-deg(Bm ) deg(A)-deg(B)
Bc 1. Phn tch B thnh: B = b0b+
Bc 2. Gii phng trnh: AP1 + B-Q = A0Am
B
Bc 3. Tnh P = P1B+ v R = m A
b 0
0
Bc 4. Tnh lut iu khin
P q 1 u ( k ) = R q 1 w ( k ) Q q 1 y ( k )
( )
( )
( )
3.1.3.3 Thut ton 3: Thit k t cc vi tt c zero khng b kh

Cc d liu cho: a thc A, B
Cc ch tiu cht lng: a thc Am, Bm, A0
Cc iu kin tng thch:
B chia ht Bm
deg(Am)-deg(Bm) deg(A)-deg(B)
deg(A0) 2deg(A) - deg(Am) 1
Bc 1. Gii phng trnh: AP + BQ = A0Am
B
Bc 2. Tnh R = m A
B 0
Bc 3. Tnh lut iu khin
P q 1 u ( k ) = R q 1 w ( k ) Q q 1 y ( k )
( )
( )
( )
Trong a thc R c th c tnh theo 2 cch sau:

Cch 1. li DC
t R = r ' A
0 0
Br ' A
BR
B
y (k ) =
w(k ) = 0 0 w( k ) = r'
w k
0 Am ( )
AP + BQ
Am A
0
ng ra bm theo ng vo trng thi xc lp th:
34
35
A ( q = 1)
r' = m
0
B ( q = 1)
Cch 2. tng nguyn l m hnh mi:
e(k ) = w(k ) y (k )
BR
= w(k )
w(k )
AP + BQ
BR
= 1
w(k )
D
Vi D = ama0
Gi F l a thc pht sinh ca w(k) , tc l Fw(k)=[0]
V d nu w(k) l hm nc th: F = 1 q 1
Cn nu w(k) l hm sine th: F = 1 2cos(T0 )q 1 + q 2
sai s xc lp bng 0, th D -BR = FS vi S l a thc bt k.
V
D BR
e(k ) =
w(k )
D
FS
S
=
w ( k ) = Fw ( k )
D
D
= [ 0]
Gii phng trnh ny s c R.

3.2 B iu khin PID:
3.2.1 Gii thiu:
B iu khin PID c s dng rt rng ri trong thc t iu khin
nhiu loi i tng khc nhau nh nhit l nhit, tc ng c, mc cht
lng trong bn cha. Theo cc bo co th hn 98% cc qu trnh trong cng
nghip s dng b iu khin PID. L do b iu khin ny c s dng rng ri
nh vy l n c kh nng trit tiu sai s xc lp, tng p ng qu , gim
vt l nu cc tham s b iu khin c chn la thch hp. Do s thng dng
ca n nn nhiu hng sn xut thit b iu khin cho ra i cc b iu khin
thng mi rt thng dng. Thc t cc phng php thit k b iu khin PID
dng qu o nghim s, gin Bode hay phng php gii tch rt t c s
36
dng do s kh khn trong vic xy dng hm truyn i tng. Phng php

ph bin nht chn tham s b iu khin PID thng mi hin nay l phng
php Ziegler-Nichols.
B iu khin PID c hm truyn nh sau:

Trong min lin tc:
G ( s) = K p +
Ki
+ Kd s
s
Trong min ri rc:
G (q 1 ) = K p +
K iT0 1 + q 1 K d
+
(1 q 1 )
2 1 q 1 T0
Di y l s b iu khin PID.
Hnh A3.3: S khi b iu khin PID

Cng thc tnh tn hiu iu khin u(k) t sai s e(k):
1k
d
u (k ) = K p e(k ) + e( s)ds + Td e(k )
Ti 0
dt
Trong :
u(k): tn hiu iu khin
e(k): l sai s c nh ngha e(k) = w(k) y(k)
w(k): l tn hiu t
y(k): l ng ra
3.2.2 Phng php p ng qu :
Nhiu m hnh cng nghip c p ng nc nh Hnh A3.4
37
Hnh A3.4: p ng nc ca mt qu trnh cng nghip tiu biu

p ng ny c th xp x bng hm truyn sau :
k Ls
G (s) =
e
ZN
Ts + 1
Trong :
k l li tnh
L l thi gian tr
T l hng s thi gian
Ch :
a=k
L
T
Mt cch n gin xc nh cc tham s ca b iu khin PID l da

vo p ng nc c Ziegler-Nichols pht trin. Phng php ny ch s dng
hai tham s nh Bng A3.1 sau.
38

B iu khin
P
PI
PID
Kp
Ti
1/a
0.9/a
3L
1.2/a
2L
Bng A3.1
Td
L/2
Quy lut ny c pht trin bi cc m phng thc nghim nhiu h

thng khc nhau. N c nhc im l h thng vng kn vt l nhiu. C th
chnh sa cc tham s c kt qu tt hn.
3.3 Tm tt
Trong chng ny, b iu khin STR t cc v PID c trnh by.
Cc thut ton t cc c th hin chi tit. Cng thc tnh tham s b iu
khin PID theo phng php p ng nc v phng php vng kn ZieglerNichols c trnh by.
39
Chng 4
Nhn dng m hnh l nhit
4.1 Xc nh m hnh l nhit bng p ng nc:
S dng phng php p ng nc ca Ziegler-Nichols, ta thu c
hm truyn ca l nhit nh sau:
k Ls
G (s) =
e
ZN
Ts + 1
Hnh A4.1: Biu thu thp d liu l nhit vng h

Vi k = 78, L = 60 v T = 622.
M hnh ny c th xp x nh sau c m hnh tuyn tnh.
40
k
GZN ( s ) =
(Ts + 1)( Ls + 1)
GZN ( s ) =
78
( 622s + 1)( 60s + 1)

78
G (s) =
ZN
37320 s 2 + 682 s + 1
4.2 Tm tt:
Trong chng ny, m hnh l nhit c nhn dng. M hnh ny s c
dng m phng s hot ng ca b iu khin.
41
Chng 5
Vi iu khin 89V51RD2 v giao tip
ni tip vi PC
5.1 Vi iu khin 89V51RD2
5.1.1 Khi qut chung:
CPU 8051
Hot ng 5Vdc trong tm tn s dao ng n 40MHz.
16/32/64 KB b nh chng trnh trn chip vi tnh nng ISP (InSystem Programming) v IAP (In-Application Programming).
S dng ch 12 chu k xung nhp (mc nh) hoc 6 chu k xung
nhp c chn bng phn mm hoc ISP.
SPI (Serial Peripheral Interface) v tng cng UART.
C 5 PCA (Programmable Counter Array) vi chc nng
PWM/Capture/Compare 16 bit.
C 4 port I/O 8 bit: 3 port c dng ln (16mA trn mi chn)
C 3 Timer/Counter 16 bit.
Watchdog Timer c th lp trnh c.
C 8 ngun ngt vi 4 mc u tin.
C 2 thanh ghi DPTR.
Ch IEM mc thp.
Thch hp mc logic ca TTL v CMOS.
Pht hin ngun yu.
Ch ngun gim.
Hnh A5.1: S khi P89V51RD2
42
43
Hnh A5.2: IC P89V51RD2

5.1.2 Chc nng ca cc chn:
Port 0 (P0.0 n P0.7): c s chn t 39 n 32, port xut/nhp.
P1.0/T2(chn xut/nhp): Ng vo m ca Couter2 hoc ng
ra xung ca Timer2.
P1.1/T2EX (chn nhp): iu khin hng v khi ng
Timer2/Counter2 ch Capture/Reload.
P1.2/ECI (chn nhp): Ng vo xung nhp, tn hiu ny l
ngun xung nhp ngoi cho chc nng PCA.
P1.3/CEX0 (chn xut/nhp): Ng xut/ nhp bn ngoi ca
Capture/Compare cho PCA0.
44
P1.4/ SS (chn xut/nhp): chn cng ph vo cho SPI.

P1.4/CEX1: Ng xut nhp bn ngoi ca Capture/Compare
cho PCA1.
P1.5/MOSI (chn xut/nhp): Ng ra chnh, ng vo ph cho
SPI.
cho PCA2.
P1.6/MISO (chn xut nhp): Ng vo chnh, ng ra ph cho
SPI.
cho PCA3.
P1.7/SCK (chn xut/nhp): Ng ra chnh, ng vo ph cho
SPI.
cho PCA4.
P3.0/RXD: Ng vo ca Port ni tip.
P3.1/TXD: Ng ra ca Port ni tip.
P3.2/ INT0 : Ng vo ngt ngoi 0.
P3.3/ INT1 : Ng vo ngt ngoi 1.
P3.4/T0: Ng vo m ca Counter0.
P3.5/T1: Ng vo m ca Counter1.
P3.6/ WR : iu khin ghi vo b nh d liu ngoi.
P3.7/ RD : iu khin c t b nh d liu ngoi.
PSEN (Program Store Enable): Chn 29, chn xut/nhp.
Khi s dng b nh chng trnh trong chip, PSEN khng hot
ng (t mc cao). Khi s dng b nh chng trnh ngoi, PSEN c tch
cc 2 ln trong mi chu k my. S chuyn mc cao sang thp trn PSEN cng
bc t bn ngoi khi ng vo RST ang mc cao trong hn 10 chu k my s
a MCU vo ch lp trnh Host t bn ngoi.
RST (Reset): Chn 9.
Trong khi b dao ng ang chy, vi iu khin s c reset khi
t mc cao vo chn ny trong 2 chu k my. Nu chn PSEN c iu khin
bng cch chuyn tip mc cao sang thp trong khi chn RST gi mc cao th
MCU s vo ch Host t bn ngoi, ngc li MCU s vo ch hot ng
bnh thng.
EA (External Access Enable): Chn 31.
Chn EA phi c kt ni vi in p Vss khi cho php MCU truy
cp m t b nh chng trnh bn ngoi. EA phi c a ln in p Vdd khi
thc thi chng trnh bn trong. Tuy nhin kha bo v level 4 s v hiu ha EA ,
45
ch thc thi chng trnh t b nh chng trnh bn trong. Chn EA c th chu

ng in p n 12V.
ALE / PROG (Address Latch Enable): Chn 30.
ALE l tn hiu ng ra cht byte thp ca a ch trong khi truy
cp b nh ngoi. Chn ny cng l ng nhp xung lp trnh PROG khi lp trnh
cho chip. Khi hot ng bnh thng, ALE dao ng vi mt tn s khng i
bng 1/6 ln tn s ca b dao ng v c th dng cho cc mc ch cp xung
clock cho bn ngoi.
XTAL1 v XTAL2: Chn 18 v 19.
XTAL1 v XTAL2 l hai ng vo v ra ca mt b khuch i dao
ng nghch c cu hnh dng nh mt b dao ng trn chip.
Vdd v Vss: Chn 40 v 20. Chn ni ngun v chn ni t ca vi
iu khin.
Trong mt thi gian di va qua, cc chc nng Timer/Counter/hot ng
ngt/hot ng ca port ni tip c trnh by trong nhiu ti liu khc nhau
rt chi tit v r rng. Chnh v vy, trong gii hn n ny, ngi thc hin ch
trnh by thm v mt tnh nng PCA ca vi iu khin 89V51RB2/RC2/RD2.
5.1.3 Chc nng ni bt: Chc nng PCA.
Vi iu khin 89V51RB2 c 5 knh PCA. Cc thanh ghi chu tc ng
gm: CMOD, CCON, CCAPMn.
PCA c mt Timer 16 bit c chc nng c bit v nm module
capture/compare c lin quan vi Timer 16 bit va nu. C th lp trnh cho mi
module capture/compare vn hnh theo mt trong bn ch : capture cnh ln
hoc/v cnh xung, timer dng phn mm, ng ra tc cao, hoc b diu rng
xung. Mi module c mt chn ra c lin quan trc tip vi module , cc chn
ny ti port 1. Module 0 c ni vi chn P1.3 (CEX0), module 1 ni vi P1.4
(CEX1) v ln lt nh vy cho cc module cn li. Thanh ghi CH v thanh ghi
CL cha gi tr hin ti ca timer 16 bit m ln vn hnh t do. Timer PCA l
mt gc thi gian chung cho c nm module v c th c lp trnh vn hnh
ti tn s: 1/6 ln so vi tn s ca b dao ng, 1/2 ln so vi tn s ca b dao
ng, s trn ca timer0, hoc bng tn s xung ng vo ti chn ECI (P1.2). Gi
tr m ca b timer ny c quyt nh bi cc bit CPS1 v CPS0 trong thanh
ghi CMOD.
46
Hnh A5.3: S khi chc nng PCA

Trong thanh ghi CMOD, c ba bit ph c lin quan vi PCA. Cc bit l
CIDL, WDTE v ECF. CIDL cho php PCA ngng lm vic ch ngh,
WDTE cho php hoc khng cho vn hnh chc nng watchdog ca module 4, v
bit ECF khi c t vo mc 1 s gy ra mt hot ng ngt v ri c trn ca
PCA l CF (c cha trong thanh ghi CCON) s ln mc 1 khi trn timer ca
PCA.
Chc nng timer watchdog c module 4 ca PCA.
Thanh ghi CCON cha cc bit:
CR: Quyt nh PCA c vn hnh hay khng.
CF: C bo trn timer ca PCA.
CCF4:0: c bo trn tng ng cho bn module t 4-1.
vn hnh c PCA, bit CR (CCON.6) phi ln mc 1 bng cch dng
phn mm, ngc li s ngng vn hnh PCA. Bit CF (CCON.7) ln mc 1 khi b
m ca PCA trn v mt hot ng ngt s xy ra nu bit ECF trong thanh ghi
CMOD c cho gn mc 1 trc . Ch c th xa bit CF bng phn mm. Cc
bit 0-4 trong thanh ghi CCON l cc c tng ng ca cc module t 0-4 v c
bt ln mc 1 bng phn cng khi mt match hoc mt capture xy ra, ngi
dng ch c th xa cc c ny bng phn mm. Tt c cc module trong PCA
dng chung mt vector ngt, h thng ngt trong PCA c trnh by hnh
47
Hnh A5.4: S khi cc ngt ca PCA

Mi module trong PCA c mt thanh ghi c bit lin quan vi module y.
Cc thanh ghi ny l: CCAPM0, CCAPM1, CCAPM2, CCAPM3 v CCAPM4.
Cc thanh ghi ny cha cc bit quyt nh ch m mi module s vn hnh theo
ch .
Bit ECCF (CCAPMn.0 trong n=0, 1, 2, 3, or 4 ty thuc vo module)
cho php c CCFn trong thanh ghi CCON pht ra mt ngt khi mt match hoc
mt compare xy ra trong module tng ng n.
Bit PWM (CCAPMn.1) cho php ch iu rng xung.
Bit TOG (CCAPMn.2) khi c gn mc 1 s lm cho ng ra ECXn
chuyn trng thi khi c mt match gia b m ca PCA v thanh ghi
capture/compare ca module n.
Bit MAT (CCAPMn.3) khi ln mc 1 s lm cho bit CCFn trong thanh ghi
CCON ln mc 1 theo khi c mt match gia b m ca PCA v thanh ghi
capture/compare ca module n.
Hai bit k tip CAPN (CCAPMn.4) v CAPP (CCAPMn.5) quyt nh mt
capture s tch cc cnh ln hay cnh xung. Bit CAPN cho php cnh xung v
bit CAPP cho php cnh ln. Nu c hai bit cng ln mc 1 th capture s tch cc
vi c cnh ln v cnh xung.
Bit cui cng trong thanh ghi ECOM (CCAPMn.6) nu ln mc 1 s cho
php vn hnh chc nng ca b so snh.
48
Bng A5.1: Thanh ghi chc nng c bit CMOD

Bit
7
6
5
4
3
2
Tn
CIDL WDTE
CPS1
1
CPS0
0
ECF
Bng A5.2: M t chc nng cc bit ca CMOD

Bit
Tn
Chc nng
7
CIDL
Quyt nh ch ngh ca counter PCA. CIDL=0,
counter PCA tip tc m trong ch ngh ca chip,
CIDL=1 th ng cng tai ch ngh.
6
WDTE
Cho php chc nng Timer Watchdog ca module 4.
WDTE=1: cho php.
5-3
D tr
2-1
CPS1-CPS0 Chn xung m cho PCA
0
ECF
Cho php tc v ngt trn Counter PCA. ECF=1 cho php
bit CF trong CCON pht ra mt ngt. ECF=0 khng cho
thc hin.
Bng A5.3: Chn xung m cho cho counter PCA
CPS1
CPS0
Chn ng vo PCA
0
0
Ngun xung nhp bn trong, fosc/6
0
1
Ngun xung nhp bn trong, fosc/2
1
0
Trn ca Timer 0
1
1
Xung nhp bn ngoi chn ECI/P1.2 (tn s ti a =
fosc/4)
Bit
Tn
Bng A5.4: Thanh ghi chc nng c bit CCON

7
6
5
4
3
2
CF
CR
CCF4 CCF3 CCF2
1
CCF1
0
CCF0
Bng A5.5: M t chc nng cc bit ca CCON

Bit
Tn Chc nng
7
CF
C bo trn Counter PCA, c a ln mc 1 bi phn cng khi
Counter m li t u. C CF hot ha mt tc v ngt nu bit
ECF trong CMOD mc 1. C th gn mc 1 cho CF bng phn
cng hoc phn mm, nhng ch c th xa CF bng phn mm.
6
CR Quyt nh trng thi vn hnh ca Counter PCA. Bit CR c
gn mc 1 bng phn mm vn hnh PCA, CR phi c xa
bng phn mm tt chc nng PCA.
5
D tr
4
CCF4 C ngt module 4. c gn mc 1 bi phn cng khi mt
match hoc mt capture xy ra. Phi xa bit ny bng phn
49
3
2
1
0
mm.
mm.
mm.
mm.
mm.
Bng A5.6: Thanh ghi compare/capture CCAPMn ca cc module trong
PCA
Bit
Tn
Bit
7
6
5
4
3
2
1
0
7
-
6
5
4
3
ECOMn CAPPn CAPNn MATn
2
TOGn
1
0
PWMn ECCFn
Bng A5.7: M t chc nng cc bit trong thanh ghi CCAPMn

Tn
Chc nng
D tr
ECOMn ECOMn=1 cho php chc nng b so snh.
CAPPn CAPPn=1 cho php chc nng capture cnh dng.
CAPNn CAPNn=1 cho php chc nng capture cnh m.
MATn match. Khi MATn=1, mt match ca counter PCA cng
vi thanh ghi compare/capture ca module n lm cho bit
CCFn trong CCON ln mc 1, kch hot mt tc v ngt.
TOGn
TOGn=1, mt match ca counter PCA cng vi thanh ghi
compare/capture ca module n lm cho chn CEXn chuyn
trng thi.
PWMn PWMn=1 cho php chn ng ra CEXn lm vic nh mt chn
iu rng xung cho ng ra.
ECCFn Cho php c compare/capture CCFn trong thanh ghi CCON
pht ra mt ngt.
Bng A5.8: Cc ch cho cc module trong PCA
ECOMn CAPPn CAPNn MATn TOGn PWMn

0
0
0
0
0
0
X
1
0
0
0
0
X
ECCFn
0
X
X
Module function
Khng vn hnh
Capture 16 bit c kch
khi cnh dng ti chn
ECXn
50
1
1
1
0
0
0
0
0
0
1
0
1
1
0
X
0
1
0
X
0
X
khi cnh m ti chn ECXn

khi bng c hai cnh ti
chn ECXn
Timer 16 bit dng phn
mm
Ng ra tc cao 16 bit
PWM 8 bit
Watchdog timer
5.1.3.1 Ch PCA capture:

s dng mt trong nhng module PCA ch capture, mt trong hai
hoc c hai bit CAPN v CAPP trong thanh ghi CCAPM ca module tuong ng
phi c trng thi mc 1. Ng vo CEXn c ly mu khi c xut hin s
chuyn mc logic. Khi mt s chuyn mc logic hp l xy ra, phn cng PCA
np gi tr ca thanh ghi counter PCA (CH v CL) vo trong thanh ghi capture
(CCAPnL and CCAPnH) ca module n.
Hnh A5.5: Ch capture ca PCA

Nu bit CCFn ca module n trong thanh ghi CCON v bit ECCFn trong
thanh ghi CCAPMn ln mc 1 th xy ra mt tc v ngt.
5.1.3.2 Ch timer 16 bit dng phn mm:
Cc module ca PCA c th c dng lm b timer c iu khin bng
phn mm bng cch gn mc 1 cho c hai bit ECOM v MAT trong thanh ghi
51
CCAPMn ca module n. Gi tr ca timer PCA s c so snh vi gi tr c

cha trong thanh ghi capture ca module, v khi hai gi tr ny bng nhau s lm
xut hin mt ngt nu hai bit CCFn (thanh ghi CCON) v bit ECCFn (thanh ghi
CCAPMn) cng c gn mc 1.
Hnh A5.6: Ch compare ca PCA

5.1.3.3 Ch ng ra tc cao:
ch ny, chn ng ra ECX c lin quan vi module n s thay i
trng thi mi khi s bng nhau xy ra gia gi tr ca counter PCA v gi tr
thanh ghi capture ca module. kch hot ch ny, cc bit TOG, MAT v
ECOM trong thanh ghi CCAPMn phi c gn mc 1.
52
Hnh A5.7: Ch ng ra tc cao ca PCA

5.1.3.4 Ch iu rng xung:
Tt c cc module trong PCA u c th c dng lm ng ra iu rng
xung. Tn s xung ng ra ph thuc vo gi tr ngun ca timer PCA.
Hnh A5.8: Ch PWM ca PCA

Tt c cc module s c tn s xung ng ra nh nhau v chng dng
chung mt timer PCA duy nht. Chu trnh lm vic ca mi module c th c
53
thay i ty bng cch s dng thanh ghi capture CCAPnL ca module. Khi gi
tr ca thanh ghi CL cha t ti gi tr ca thanh gi CCAPnL trong module, ng
ra ti chn CEXn s gi mc thp, cn nu bng hoc ln hn th s mc cao. Khi
gi tr ca CL trn t FF v 00, gi tr ca thanh ghi CCAPnL c np li vo
thanh ghi CCAPnH. Tc ng va nu lm cho vic iu rng xung din ra lin
tc. Cc bit PWM v ECOM trong thanh ghi CCAPMn ca module phi c
gn mc 1 cho php ch iu rng xung.
5.1.3.5 B nh thi Watchdog PCA:
Mt b nh thi watchdog c tch hp sn trong PCA nhm ci thin
tnh n nh ca h thng m khng cn tng s m ca chip. B nh thi
watchdog thch hp vi cc h thng d b nhiu, ngun cung cp khng n nh,
c tnh in. Ngi dng ch c th lp trnh cho module 4 ca PCA lm b nh
thi watchdog. Hnh
trnh by s v c ch hot ng ca watchdog.
Ngi dng s np trc gi tr 16 bit vo thanh ghi compare. Cng ging nh cc
ch compare khc, gi tr 16 bit trong thanh ghi compare c em so snh vi
gi tr ca timer PCA. Nu hai gi tr bng nhau s xy ra s xc lp li t u. S
xc lp li t u nh va nu khng lm chn RESET ca chip ln mc 1.
5.2 Giao tip ni tip vi PC:
C th giao tip vi iu khin v my tnh thng qua cc cng: COM, LPT,
USB, PCI . Trong ti ny s bn v giao tip qua cng COM.
Cng ni tip RS232 l mt giao din ph bin rng ri nht. Ngi ta cn
gi cng ny l cng COM1, cn cng COM2 t do cho cc ng dng khc.
Ging nh cng my in cng COM cng c s dng mt cch thun tin cho
vic giao tip vi thit b ngoi vi.
Vic truyn d liu qua cng COM c tin hnh theo cch ni tip.
Ngha l cc bit d liu c truyn i ni tip nhau trn mt ng dn. Loi
truyn ny c kh nng dng cho nhng ng dng c yu cu truyn khong cch
ln hn, bi v cc kh nng gy nhiu l nh ng k hn khi dng mt cng
song song (cng my in).
54
Bng A5.9: Chc nng cc chn ca cng COM

V tn hiu cng COM thng mc +12V, -12V nn khng tng thch
vi in p TTL nn giao tip KIT Vi iu khin 8051 vi my tnh qua cng
COM ta phi qua mt vi mch bin i in p cho ph hp vi mc TTL, ta chn
vi mch MAX232 thc hin vic tng thch in p.
S kt ni gia cng COM vi vi iu khin P89V51RD2 :
Hnh A5.9: Giao tip IC MAX232 vi VDK
55
Vi mch MAX232 dng tng thch tn hiu mc (+12V, -12V) trn

giao din RS232.
Vi mch ny nhn mc RS232 c gi ti t my tnh v bin i tn
hiu ny thnh tn hiu TTL cho tng thch vi IC 8951 v n cng thc hin
ngc li l bin i tn hiu TTL t vi iu khin thnh mc +12V, -12V cho
ph hp hot ng ca my tnh. Giao tip theo cch ny, khong cch t my tnh
n thit b ngoi vi c th t ti trn 20 m.
i vi ti ch yu cu truyn d liu t my tnh qua KIT ch khng
truyn d liu t KIT qua my tnh v vy ngi thc hin ti chn vi mch
MAX232 thc hin bin i tng thch mc tn hiu.
u im ca giao din ny l c kh nng thit lp tc Baud.
Khi d liu t my tnh c gi n vi iu khin 8951 qua cng COM th
d liu ny s c a vo tng bit (ni tip) vo thanh ghi SBUF (thanh ghi
m), n khi thanh ghi m y th c RI trong thanh ghi iu khin s t ng
set ln 1 v lc ny CPU s gi chng trnh con phc v ngt v d liu s c
a vo x l.
56
Chng 6
Gii thiu v phn mm matlab v cc cng c:
simulink, plottools, serial-port,
Matlab l mt mi trng tnh ton s v lp trnh, c thit k bi cng
ty MathWorks. Matlab cho php tnh ton s vi ma trn, v th hm s hay
biu thng tin, thc hin thut ton, m phng s vn hnh ca cc h thng
iu khin t ng, to cc giao din ngi dng v lin kt vi nhng chng
trnh my tnh vit trn nhiu ngn ng lp trnh khc.
6.1 Cng c Plottools v th:
Plottools l mt mt phn ca phn mm Matlab, mt mi trng
tng tc cho php ngi dng:
To cc kiu th khc nhau.
Lin kt trc tip vi cc bin phn Workspace v
th.
To v thao tc vi nhiu th trong cng mt Figure mt
cch d dng.
Thm vo th cc ch thch nh du mi tn, vn bn,
v.v
Ci t cc thuc tnh cho th.
Tin hnh s dng Plottools:
Ti ca s Command window ca giao din Matlab, g vo
dng lnh plottools. Hoc bn c th vo
Start/Matlab/Plottools m ca s v th.
Hnh A6.1: Ca s giao din Plottools
57
Vo menu Tools, chn Link lin kt vi Workspace.

Ti mc New Splots, chn loi th 2D Axes hoc 3D Axes.
Mc Variables cha cc bin ang c lu gi phn
Workspace.
Nhp tri chut vo th lm sng nt Add Data. Nhp
tri chut vo Add Data vo cc ng biu din trn
th, xut hin ca s Add Data to Axes. Chn nt v ti mc
Plot type. Chn cc bin c gi tr c biu din trn trc x,
y, z ln lt ti cc mc X Data Source, Y Data Source, Z
Data Source. Nu mun c nhiu ng biu din trn mt
th, lp li thao tc k t bc Add Data.
Ti mc Property Editor Axes, ngi dng c th thit lp
gi tr gii hn, tn trc v nhiu thuc tnh khc.
hon tt vic kt ni v th c lin kt vi cc bin
trong Workspace, nhp tri chut vo biu tng Link Plot.
6.2 Gii thiu v giao din GUIDE:
GUIDE cho ngi lp trnh thit k cc giao din thn thin vi
ngi dng. Mt GUI (Graphical) c th c to trn nhiu iu
khin nh: Command Button, Edit Text, Static Text, Check Box
v.v Mi khi c s tc ng ln mt iu khin no xy ra mt
s kin, s lm thc thi mt hm di dng cu lnh hoc M-files.
Khi ng GUIDE: Nhp tri chut vo biu tng
GUIDE,
hoc theo ng dn Start/Matlab/GUIDE.
Hnh A6.2: Ca s giao din GUIDE
58
6.3 Gii thiu v Simulink:

Simulink l gi phn mm dng m hnh ha, m phng v phn
tch cc h thng ng hc. Phn mm ny cung cp cc h thng
tuyn tnh v phi tuyn, c m hnh thi gian lin tc, ri rc
hoc lai gia lin tc v ri rc.
m hnh ha, Simulink cung cp mt giao din ha ngi
dng (GUI) xy dng cc m hnh nh l cc s khi.
Simulink bao gm mt th vin cc thnh phn tuyn tnh, phi
tuyn, kt ni, ngun, hin th. Ngoi ra c th t to cc khi ring
bng cch s dng khi S-function.
Sau khi nh ngha m hnh, c th tin hnh m phng. S dng cc
khi hin th xem kt qu trong khi m phng ang chy. Ngoi
ra c th thay i tham s v lp tc thy nhng g xy ra.
khi ng Simulink: nhp vo biu tng
giao din chnh ca Matlab, hoc
Start/Simulink/Library Browser.
Simulink ti ca s
theo ng dn
Hnh A6.3: Giao din th vin Simulink
6.4 Gii thiu v giao tip ni tip gia Matlab vi thit b ngoi vi qua cng
COM:
Cc lnh dng cho vic giao tip:
Instrcallback: Thng tin v s kin khi mt s kin xy ra.
59
Instrfind: Truy xut cc i tng cng COM t b nh xut ra

Workspace.
Instrfindall: Tm cc i tng cng COM c thuc tnh n v khng
n.
Readasync: c d liu t thit b ngoi vi gi ln theo phng thc
bt ng b.
Record: Lu gi li d liu v thng tin v s kin vo mt tp tin.
Serial: To mi i tng cng COM.
Serial.clear: Xa i tng cng COM khi workspace.
Serial.delete: Xa i tng cng COM khi b nh.
Serial.fgetl: c chui k t c gi ln t thit b ngoi vi nhng
khng c k t kt thc.
Serial.fgets: c chui k t c gi ln t thit b ngoi vi bao
gm c k t kt thc.
Serial.fopen: Kt ni i tng cng COM vi thit b ngoi vi.
Serial.fprintf: Gi mt chui k t xung thit b ngoi vi.
Serial.fread: c d liu nh phn t thit b gi ln.
Serial.fscanf: c d liu t thit b gi ln di dng vn bn.
Serial.fwrite: Gi d liu nh phn xung thit b.
Serial.get: Xem cc thuc tnh ca i tng cng COM.
Serial.isvalid: Xc nh i tng cng COM c hp l hay khng.
Serial.length: Chiu di ca mng i tng cng COM.
Serial.load: Np cc i tng cng COM cng nh cc bin lu
trc vo Workspace.
Serial.save: Lu cc i tng cng COM cng nh cc bin thng
mt tp tin *.mat.
Serial.set: Thit lp hoc hin th cc thuc tnh ca i tng cng
COM.
Serial.size: Xem kch thc ca mng i tng cng COM.
Stopasync: Ngng thao tc c/ghi bt ng b.
6.5 Nhng u im v hn ch khi ng dng cc cng c h tr ca Matlab:
u im: Tnh ton cc php ton thuc i s tuyn tnh c
phc tp nh ma trn mt cch d dng v nhanh. Cc b iu khin ng
dng thut ton tnh ton phc tp c th tn dng ti a th mnh ny ca
Matlab, c th thut ton nhn dng v thit k b iu khin trong n
ny.
Hn ch: Vic truyn d liu qua port ni tip (cng COM) gp kh
khn v thi gian. Do vy, trnh mt hn ch va nu, ch nn ng dng
giao tip Matlab vi ngoi vi vi tn s ly mu va phi. Trong n ny,
i tng c iu khin l l nhit, tn s ly mu khong 1s nn hn
ch v truyn nhn d liu l khng ng ngi.
60
PHN B
THIT K V THI CNG
Chng 1
Thit k phn cng
1.1 S khi phn cng:
PC
MAX232
VDK P89V51RB2
Mch ADC
Mch cng sut
AC110V
Cm bin nhit
in tr t nng
Hnh B1.1: S khi phn cng
61

1.2 S nguyn l mch giao tip:
Hnh B1.2: S nguyn l mch giao tip my tnh
62
63
1.2.1 Vi iu khin P89V51RD2:

Phn c s l thuyt trnh by v vi iu khin P89V51RD2. y ch
xin ni thm v chc nng ca IC ny.
Vi iu khin thc hin nhn m lnh t PC gi xung v gi ln PC cc
m lnh cho PC phn hi trng thi ca mch giao tip v PC. Ngoi ra vi iu
khin thc hin cc ngt Timer gi mu tn hiu nhit v PC theo chu ky ly
mu T0 do PC gi xung.
1.2.2 Vi mch giao tip MAX 232:
Vi mch MAX 232 ca hng MAXIM l mt vi mch chuyn dng trong
giao din ni tip vi my tnh. Chng c nhim v chuyn i mc TTL li vo
thnh mc +10V hoc 10V pha truyn v cc mc +3+15V hoc -3-15V
thnh mc TTL pha nhn.
Hnh B1.3: IC MAX232

Vi mch MAX 232 c hai b m v hai b nhn. ng dn iu khin
li vo CTS, iu khin vic xut ra d liu cng ni tip khi cn thit, c ni
vi chn 9 ca vi mch MAX 232. Cn chn RST (chn 10 ca vi mch MAX)
ni vi ng dn bt tay iu khin qu trnh nhn. Thng th cc ng dn
bt tay c ni vi cng ni tip qua cc cu ni, khi khng dng n na c
th h mch cc cu ny. Cch truyn d liu n gin nht l ch dng ba ng
dn TxD, RxD v GND (mass).
64
1.2.3 Cm bin nhit :

Thang nhit ng hc tuyt i:
Thang Kelvin: n v l oK. Trong thang Kelvin ny ngi ta gn cho nhit
ca im cn bng ca ba trng thi nc-nc -hi mt gi tr s bng
273,15 oK.
Thang Celcius: n v l oC. Quan h gia nhit Celcius v Kelvin c
nh ngha bi cng thc:
T(oC)=T(oK)-273,15
Thang Fahrenheit: n v l oF
T(oC)={T(oF)-32}*5/9
T(oF)=T(oC)*9/5 +32
Cc phng php o nhit :
Nhit l mt i lng khng in, o nhit c chia thnh nhiu
di: o nhit thp, o nhit trung bnh v o nhit cao.
Vic o nhit c tin hnh nh cc dng c chuyn bit nh: nhit
in tr bn dn, nhit in tr kim loi, cm bin thch anh, cp nhit in hoc
nhit in k kim loi.
Vic s dng cc IC cm bin nhit o nhit l mt phng php
thng dng c s dng trong bi bo co n ny, nn y ch gii thiu v
IC cm bin nhit.
Nguyn l hot ng chung ca IC cm bin nhit :
IC o nhit l mt mch tch hp nhn tn hiu nhit chuyn thnh
tn hiu in di dng dng in hay in p. Da vo c tnh rt nhy ca cht
bn dn vi nhit , to ra in p hoc dng in, t l thun vi nhit tuyt
i. T tn hiu in ng ra, ta bit c gi tr ca nhit cn o. S tc ng
ca nhit to ra in tch t do v cc l trng trong cht bn dn. Bng s ph
v cc phn t, bt cc electron thnh dng t do di chuyn qua vng cu trc
mng tinh th to nn s xut hin cc l trng, lm cho lng din t t do v l
trng tng ln theo quy lut hm m vi nhit .
Cm bin LM35:
LM35 l IC cm bin nhit c chnh xc cao, 10mV/oC. 25oC n
c sai s l khng qu 1%. Vi tm o t -55oC 150oC, tn hiu ng ra tuyn tnh
lin tc vi nhng thay i nhit ng vo.
Thng s k thut:
LM35 c bin thin theo nhit : 10mV/1oC.
65
chnh xc cao, tnh nng cm bin nhit rt nhy, nhit 25oC n

c sai s khng qu 1%. Tm o t -55oC 150oC, tn hiu ng ra tuyn tnh lin
tc vi nhng thay i ca tn hiu ng vo.
Thng s k thut:
Ng ra in p.
nhy l 10 mV/1oC.
Phm vi hot ng: -55oC 150oC.
nhit 25oC sai s khng qu 1%.
p lm vic t 4 30 V.
c tnh in:
Theo thng s ca nh sn xut LM35, quan h gia nhit
v in p ra nh sau:
Vout = 0,01*ToC
Vy ng vi tm hot ng t 0oC 100oC ta c s bin thin
in p ng ra l:
0oC th Vout = 0V
5oC th Vout = 0.05V
100oC th Vout = 1V
1.2.4 Khi bin i ADC (IC ADC0809):
ADC0809 l IC chuyn i tng t sang s dng k thut CMOS bao
gm tm knh lm vic c lp vi nhau la chn u vo t IN0 IN7 v gi
tr nhit s c xut ra di dng 8 nh phn 8 bit D0 D7.
66

Hnh B1.4: IC ADC0809
S chn:
IN0 IN7: 8 ng vo tng t.
A0 A2: gii m chn mt trong 8 ng vo.
D0 D8: ng ra song song 8 bit.
ALE: cho php cht a ch.
START: xung bt u chuyn i.
CLK: xung ng h cho IC hot ng.
REF(+): in th tham chiu (+).
REF(-): in th tham chiu (-).
VCC: ngun cung cp.
EOC: bo kt thc chuyn i.
OE: cho php c d liu sau chuyn i.
GND: chn ni t.
Nguyn l hot ng:
Kch hot chn ALE (Address Latch Enable) cho php cht a ch. Cn
cp mt xung thp ln cao cht a ch.
Sau khi kch xung START th b chuyn i bt u hot ng cnh
xung ca xung START, ng ra EOC (End Of Conversion) s xung mc thp sau
khong 8 xung clock tnh t cnh xung cu xung START. Lc ny bt c trng s
ln nht (MSB) c t ln mc 1, tt c cc bit cn li xung mc 0, ng thi
to gi tr in th Vref/2, in th ny c so snh vi in th vo Vin.
Nu Vin>Vref/2 th bit MSB vn mc 1.
Nu Vin<Vref/2 th bit MSB xung mc 1.
Tng t nh vy bit k tip MSB c t ln 1 v to ra in th c gi
tr Vref/4 v cng so snh vi in p ng vo Vin. Qu trnh c tip tc cho n
khi xc nh c bit cui cng. Khi chn EOC ln mc 1 bo cho bit qu
trnh chuyn i hon tt. c c d liu th set bit OE (Output Enable)
ln mc 1. Trong qu trnh chuyn i khi c xung START tc ng th ADC s
ngng chuyn i.
Cc bit A2A1A0 nh a ch cng vo tng t theo bng sau:
A2
A1
A0
0
0
0
0
1
0
0
1
1
0
0
1
0
1
0
Ng vo c
chn
IN1
IN2
IN3
IN4
IN5

1
1
1
67
0
1
IN6
1
0
IN7
1
1
IN8
Bng B1.1: Ng vo analog tng ng vi gi tr A1A0
Mch cp xung ng h cho ADC0809:
Hnh B1.5: Mch dao ng cp xung ng h cho ADC0809

Trong ADC0809 khng c ng h ring v do vy phi cp xung ng b
ngoi n chn CLK. Mc d tc chuyn i ph thuc vo tn s xung ng
h c ni n CLK nhng n khng nhanh hn 100ms.
Tn s dao ng ca mch: f = 0,7/(R*C)
phn gii ca ADC0809 l: N =
256* (Vin Vref ( ) )

Vref ( + ) Vref ( )
Nu ly chn Vref(+) = 5V, chn Vref(-) =0V th phn gii ca

ADC0809 l 0,0196 V/byte.
1.2.5 Mch cng sut:

Opto-triac MOC3020: to vng cch ly gia h thng iu khin v
mch cng sut.
Triac BT136: Mch cng sut dng BT136 kch thay i nhit ca l.
BT136 c th chu c dng in t 4-25A, cn MOC3020 c th chu
c in p ti 400V nhng dng ch c 1,2A nn phi dng thm BT136
c th iu khin c ti c cng sut ln.
Chng 2
Lu gii thut
2.1 Lu gii thut chng trnh cho vi iu khin:
START
Ngt port ni tip tch cc.

Khi to gi tr cho TH0 & TL0, Timer1
(baudrate l 9600) v port ni tip.
Khi to PCA cho ch iu rng xung.
Trng thi l nhit State=OFF.
Hnh B2.1: Trng thi ban u ca VDK hoc khi c RESET
C ngt T0
ALE tch cc
START tch cc
OE tch cc
Ch EOC ln mc tch cc hon tt chuyn i ADC
iu khin chn ALE, START v OE tr v khng tch cc
Gi gi tr nhit dng nh phn ln PC
Hnh B2.2: Chng trnh phc v ngt Timer0 ca VDK
68
69
C ngt port ni tip
SBUF = #253
STOP
- Ngt Timer0 khng tch

cc.
- STATE = 0.
- Gi m #253 ln PC
SBUF = #255
LINK
Gi m #255 ln PC
SBUF = #254
RUN
- Ngt Timer0 tch cc.

- Trng thi l nhit
State=ON.
SBUF=252
SAMPLE
S
SAMPLE=1
- SAMPLE = 1.
- Gi m #252 ln PC.
- Nhn T0 do PC gi
xung.
- Gi m #251 ln PC.
- SAMPLE=0.
State=ON
CCAP4H=SBUF
END
Hnh B2.3: Lu chng trnh phc v ngt port ni tip ca VDK
70
2.2 Lu gii thut chng trnh Matlab:

Cc m c dng giao tip PC vi VDK:
M #255: M kim tra kt ni.
M #254: M vn hnh.
M #254: M ngng vn hnh.
M #252: M thit lp trng thi sn sng cho VDK nhn thi gian
ly mu t PC gi xung.
M #251: M xc nhn rng VDK nhn thi gian ly mu.
M ca s giao din chy thc
Cc nt LINK, HELP v CLOSE

sng.
Nt START, STOP m.
Tt c cc iu khin trong phn ci
t thng s u c cho php.
Hnh B2.4: Trng thi ban u khi m giao din chy thc
71
Nhp thng s vo giao din
Nhn nt START
- Np vo cc thng s c nh
cho b iu khin.
- Gi m #252 xung VDK.
Khi to s kin TimerFcn
Xy ra s kin
TimerFcn
Hy s kin TimerFcn
Thng bo KHNG TH
KT NI PC V VDK
Nhn c m
#252
Gi gi tr thi gian ly mu
Xy ra s kin
TimerFcn
Hy s kin TimerFcn
Thng bo KHNG TH
KT NI PC V VDK
Nhn c m
#251
Gi m #254
Hin thng bo H THNG L

NHIT ANG VN HNH
Lm m nt START.
Lm sng nt STOP.
Hnh B2.5: Trng thi khi nhn nt VN HNH
72
Xy ra s kin
ByteAvailableFcn
Nhn nhit yk do VDK gi ln a vo
Cp nht gi tr Nhit t wk c nhp

t giao din
Nhn dng tham s i tng: tnh Theta v
ma trn C
Thit k b iu khin: tnh P, Q, R

Tnh ton tn hiu iu khin uk
Gi gi tr uk xung VDK
a gi tr uk, yk, wk ln th
Hnh B2.6: S kin BytesAvailable
73
74
Nhn LINK
M cng COM
Gi m #255
Xy ra s kin
TimerFcn
S
Hy s kin TimerFcn
Thng bo
KHNG TH KT
NI PC V VDK
Nhn c m
#255
S
Hin thng bo KT NI
THNH CNG.
Lm m nt LINK, lm
sng nt START.
Hnh B2.7: Trng thi khi nhn nt KIM TRA KT NI
75
Nhn STOP
Hy s kin ByteAvailableFcn
Gi m #253
Thit lp s kin TimerFcn
Xy ra s kin
TimerFcn
S
Hy s kin TimerFcn
Thng bo KHNG
TH KT NI PC V
VDK
Nhn c m
#253
S
ng cng COM
Thng bo H THNG L NHIT
NGNG VN HNH HNH
-
Lm sng nt LINK.
Lm m nt STOP.
Hinh B2.8: Trng thi khi nhn nt NGNG
Chng 3
Kt qu thi cng
Giao din ngi dng:
Hnh B3.1: Giao din chnh

3.1 Kt qu m phng:
3.1.1 B iu khin t chnh STR:
Hnh B3.2: Giao din m phng b STR
76
Hnh B3.3: S khi b iu khin l nhit STR trong Simulink
Hnh B3.4: S kt ni cc khi bn trong ca khi adaptive pp3c2dof
77

Tin hnh m phng:
Hnh B3.5: M phng b iu khin STR
3.1.2 B iu khin PID s:
Hnh B3.6: Giao din m phng b PID
78
Hnh B3.7: S khi b iu khin l nhit PID trong simulink
Tin hnh m phng:

Tin hnh nhp cc thng s theo Zeigler-Nichols:
Hnh B3.8: Kt qu m phng b iu khin PID theo Zeigler - Nichols
79

Nhp cc thng s c iu chnh:
Hnh B3.9: Kt qu m phng b iu khin PID sau khi th sai nhiu ln

3.2 Kt qu chy thc:
3.2.1 B iu khin t chnh STR:
HnhB3.10: Giao din chy thc b STR
80

Tin hnh chy thc:
Hnh B3.11: Mt kt qu khi chy thc b STR
Hnh B3.12: Mt kt qu khc khi chy thc b STR
81
Hnh B3.13: Kt qu qu trnh c lng tham s
Hnh B3.14: Kt qu qu trnh c lng tham s (phng ln)
82
83
3.2.2 B iu khin PID s:
Hnh B3.15: Giao din chy thc b PID

Tin hnh chy thc:
Kt qu chy thc vi cc thng s nhp vo theo cng thc ca Zeigler
Nichols. Vi kp = 0,16; ki = 0,0013; kd = 4,8.
Hnh B3.16: Kt qu chy thc theo Zeigler Nichols
84
Kt qu chy thc vi kp = 0,16; ki = 0; kd=10.
Hnh B3.17: Kt qu chy thc vi cc tham s c chn lc trong qu
trnh th sai nhiu ln.

3.3 Kt lun:
Kt qu m phng cng nh chy thc cho thy b iu khin t chnh
STR vn hnh tt, vt l v sai s rt t khi vo trng thi xc lp. Tuy
nhin, nu trong thi gian ln xut hin nhiu qu nhiu, mt nhn dng c th xy
ra lm cho c tuyn nhit khng c nh mong mun.
Kt qu m phng cng nh chy thc vi b iu khin PID vi nhng
tham s kp-ki-kd theo Zeigler - Nichols cho kt qu rt khng nh mong mun.
Tuy nhin khi tin hnh th sai v chnh sa li nhiu ln chn la b thng s
kp-ki-kd thch hp, b iu khin PID cng cho kt qu tt v trong thi gian ln
nu xut hin nhiu nhiu th cng khng b nh hng nhiu.
PHN C
KT LUN
85
86
Kt lun
Vi n Thit k v thi cng b iu khin t chnh dng thut ton t
cc iu khin l nhit, ti c mt s tri nghim thit thc tha nim am
m iu khin hc trong qung thi gian sinh vin. Sau y xin c s lc li
ton b qu trnh thc hin ti, nhng kt qu t c cng nh hn ch v
hng pht trin ti.
I. L thuyt:
V c s l thuyt:
L thuyt v iu khin thch nghi, c lng tham s trc tuyn, b iu
khin t chnh STR, cc thut ton t cc v b iu khin PID c trnh
by.
M hnh l nhit thc t c nhn dng bng phng php p ng
nc. y chnh l m hnh c dng m phng s vn hnh cho b iu khin
STR cng nh b iu khin PID.
Tm hiu v khai thc c th mnh ca phn mm Matlab trong tnh ton
phc tp cng nh cc cng c h tr. Nhn thy c mt hn ch ca Matlab
trong vic truyn nhn d liu ni tip. Simulink l mt hp cng c m phng a
nng v cho kt qu nhanh. Plottools cung cp giao din th d s dng, thch
hp cho cc ng dng iu khin c gim st. GUIDE cng cho php thit k giao
din d dng.
Vic lp trnh cho vi iu khin tr nn n gin hn vi phn mm Keil C.
Trong n ny khng cp n phn mm Keil C, bn c c th tham kho
da vo mc ti liu tham kho cui chng.
V ng dng phn cng:
Tng bc tm hiu v ng dng tnh nng mi ni bt ca vi iu khin
P89V51RD2 chc nng PCA, ng dng cm bin nhit LM35 o nhit .
ng dng IC ADC0809 chuyn i tn hiu tng t sang nh phn, c th l
tn hiu nhit , ng dng IC 7414 to xung cho IC ADC0809. ng dng IC
MAX232 truyn nhn tn hiu gia PC v vi iu khin thng qua vic chuyn
i mc din p tng thch.
II. Kt qu thi cng: gm kt qu thu c cng nh mt hn ch.
B iu khin t chnh STR:
Khi m phng: b iu khin STR cho kt qu rt tt.
87
Khi iu khin chy thc: Trong iu kin nhiu t, b iu khin STR thc
hin c lng tham s v tnh ton tn hiu iu khin rt tt, do c tuyn
nhit ng ra rt tt. Khi vo trng thi xc lp, b iu khin phn ng vi
nhiu rt tt. Tuy nhin, vic c lng tham s gp phi kh khn trong thi gian
ln khi c nhiu nhiu, dn n mt nhn dng. Nhc im ny c th khc phc
c nu s dng mt b lc nhiu c cc thng s ph hp. Kh khn na l ch
c th vit thut ton ny cho PC hoc chip iu khin c b nh ln tnh ton
nhanh v s phc tp ca thut ton. Ngoi ra, cha chng minh c s hi t
ca cc tham s c c lng.
Nhn tin y, xin c cp n mt kt qu t c khc vi ti
cng tn c trnh by ti Hi ngh quc t chuyn v k thut in in t
ca hai tc gi Nguyn c Hong v Bi Thanh Huyn. Hai tc gi ny s dng
thit b giao tip my tnh l card giao tip PCL-818L v cng c RealTimeWorkshop, XpcTarget, kt qu vn hnh l rt tt. Trong n ny, ti dng VDK
P89V51RB2, IC ADC0809, IC MAX232 v cc cng c Serialport, Plottools
giao tip. Kt qu vn hnh c th chp nhn c gn nh mong mun. iu ny
mt ln na cho thy b iu khin t chnh dng t cc vn hnh tt khi iu
khin i tng c tham s thay i chm l l nhit v c kh nng ng dng
thc t.
Hnh C.1: Kt qu vn hnh b STR cho l nhit ca tc gi Nguyn c

Hong Bi Thanh Huyn
B iu khin PID s:
88
Thut ton b iu khin PID rt ngn gn v hiu qu.

Kt qu m phng v chy thc khi iu khin l nhit dng thut ton
kinh in PID khng mt nhiu thi gian thit k, cho kt qu vn hnh tt khi tm
c b thng s kp-ki-kd thch hp thng qua qu trnh th sai, ngoi ra cn c
kh nng kh nhiu tt. B iu khin PID vi cc thng s kp-ki-kd c chn
la theo Zeigler Nichols cng c thc hin v cho kt qu m phng v chy
thc rt khng tt.
Khi thay i i tng c iu khin th cht lng iu khin cng thay
i theo, do phi thit k li b iu khin.
Tm li, thut ton iu khin PID d c ng dng cch y mt thi
gian di v nhng gi tr ca n vn c gi nguyn, v ch s 98% b iu khin
PID c ng dng trong cng nghip hin nay dn ra s minh chng.
III. Hng pht trin ti:
Dng cng c Identification Toolbox ca Matlab kt hp vi card giao tip
thu thp d liu, m hnh ha i tng v xc nh cc c tnh ca i tng
chnh xc hn.
Thit k b lc vi cc thng s thch hp lc tn hiu s thu thp v
qu trnh c lng tham s chnh xc hn.
Dng cp nhit in phi hp vi b chuyn i ADC c ng ra nh phn
nhiu hn 8 bit o c nhit cao hn.
ng dng vi iu khin c th thao tc vi d liu nhiu c s bit nhiu
hn 8 hoc PLC vic x l cng nh tnh ton nhanh hn. Ngoi ra, vic ng
dng card x l giao tip qua khe PCI cng l mt gii php rt hu hiu.
C th lm thc nghim b iu khin STR iu khin i tng c
tham s thay i nhanh nh ng c kim chng thut ton nhn dng (c
lng tham s trc tuyn).
89
Ph lc
Chng trnh vit cho vi iu khin:
/////khai bao thu vien/////
#include "P89V51Rx2.h"
#include <stdio.h>
/////khai bao cac bien/////
int buffer_receive;
int nhiet_do_do;
int so_lan_ngat_T0;
int thoi_gian_lay_mau;
bit trang_thai;
bit nhan_tan_so_lay_mau;
/////khai bao cac chan/////
sbit START_ALE = P3^6;
sbit OE_PIN = P2^1;
sbit EOC_PIN = P2^0;
/////chuong trinh ngat port noi tiep de nhan lenh cung nhu gia tri...
/////dieu rong xung tu PC gui xuong/////
void ngattruyen() interrupt 4
{
if (RI==1)
{
buffer_receive=SBUF;
/////////////////////////////////////////////////////////////////////////////////
if (buffer_receive==253) //nhan duoc ma STOP
{
trang_thai=0;
CCAP4H=0;
so_lan_ngat_T0=0;
/////////////
ET0=0;
TR0=0;
/////////////
TI=0;
SBUF=253;
while(!TI);
}
/////////////////////////////////////////////////////////////////////////////////
else if (buffer_receive==255)
//nhan duoc ma kiem tra ket noi
{
90
TI=0;
SBUF=255;
while(!TI);
}
/////////////////////////////////////////////////////////////////////////////////
//nhan duoc ma RUN
{
trang_thai=1;
ET0=1;
TR0=1;
}
/////////////////////////////////////////////////////////////////////////////////
//nhan duoc ma luu lai thoi
gian lay mau do PC gui xuong
{
nhan_tan_so_lay_mau=1;
TI=0;
SBUF=252;
//VDK bao hieu dang san sang nhan thoi
while(!TI);
}
/////////////////////////////////////////////////////////////////////////////////
else if (nhan_tan_so_lay_mau==1)
//he thong dang nhan thoi
{
thoi_gian_lay_mau=buffer_receive;
//VDK da nhan xong thoi gian
lay mau
TI=0;
SBUF=251;
while(!TI);
//VDK bao hieu da nhan xong thoi gian
lay mau
}
/////////////////////////////////////////////////////////////////////////////////
else if (trang_thai==1)
//he thong dang van hanh
{
CCAP4H=buffer_receive;
}
/////////////////////////////////////////////////////////////////////////////////
RI=0;
TI=0;
}
}

////////////////////////////////////////////////////////
//chuong trinh ngat Timer0 de lay tin hieu nhiet do,...
//sau do gui len PC//
void ngatT0() interrupt 1
{
TR0=0;
TH0=0X3C;
TL0=0XB0;
so_lan_ngat_T0=so_lan_ngat_T0+1;
if (so_lan_ngat_T0==thoi_gian_lay_mau)
{
so_lan_ngat_T0=0;
START_ALE = 0;
OE_PIN = 1;
while(!EOC_PIN);
nhiet_do_do = P0;
START_ALE = 1;
OE_PIN = 0;
TI=0; SBUF=nhiet_do_do; while(!TI);
TR0=1;
}
else TR0=1;
}
//chuong trinh chinh thuc hien dieu rong xung lien tuc,...
//neu khong co xay ra bat ky ngat nao//
main()
{
SCON = 0X50;
TMOD =0X21;
TL0=0XB0;TH0=0X3C; //50ms
TH1=0XFD;
TR1=1;
TR0=0;
EA=1;
ES0=1;
ET0=0;
trang_thai=0;
so_lan_ngat_T0=0;
thoi_gian_lay_mau=0;
CCAP4H=0;
/////////////////////////////////////////////////////////////////
//chuong trinh khoi tao PCA o che do PWM
91
92
CMOD = 0x02;// Setup PCA timer

CL = 0x00;
CH = 0x00;
CCAPM4 = 0x42;// Setup PCA module 0 in PWM mode.
CR = 1;// Start PCA Timer.
/////////////////////////////////////////////////////////////////
while(1)
{
}
}
/////ngo ra tin hieu dieu rong xung o chan P1.7
////////////////////////////////////////////////////////////////
//end//
Chng trnh vit trn m-files cho phn chy thc x l trn
Matlab:
kiem_tra_ket_noi.m
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%CHUONG TRINH THUC HIEN VIEC KIEM TRA KET NOI GIUA PC
%%VA VDK
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%ma kiem tra ket noi: 255
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%ten doi tuong cong noi tiep: 'com_port'
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%tao moi doi tuong cong COM co ten la com_port
com_port=serial('COM4');
%%cau hinh cho thuoc tinh timeout la 0s
com_port.timeout=10;
%%mo cong COM
fopen(com_port);
%%gui ma kiem tra ket noi 255 xuong VDK
com_port.timeout=0.5;
fwrite(com_port,255);
%%cau hinh cho thoi gian timer va su kien timer
com_port.TimerPeriod=1;
com_port.TimerFcn='timer_event';
%%END%%
93
van_hanh.m
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%CHUONG TRINH KHOI TAO CAC BIEN CHO VIEC VAN HANH STR
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%ma van hanh (START) la 254
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%tien hanh khoi tao cac gia tri ban dau cho chuong
%%trinh phuc vu viec nhan dang va dieu khien
%%he thong lo nhiet
%%dong cong COM
fclose(com_port);
%%vo hieu hoa nut VAN HANH, cho phep nut NGUNG
set(findobj(STR_REALTIME_GUIDE,'Tag','vanhanh'),...
'Enable','off');
set(findobj(STR_REALTIME_GUIDE,'Tag','ngung'),...
'Enable','on');
%%lay gia tri T0 tu giao dien GUIDE
T0 = str2num(get(findobj(STR_REALTIME_GUIDE,'Tag','T0'),...
'string'));
%%xu ly thoi gian lay mau, sample_time la he so nhan
%%voi thoi gian 0.05s cua VDK de co duoc T0
sample_time = (T0*1000)/50;
%%lay gia tri nhiet do dat tu giao dien GUIDE
wk1 = str2num(get(findobj(STR_REALTIME_GUIDE,'Tag',...
'NhietDoDat'),'string'));
wk=wk1;
%%khoi tao gia tri cua vector tham so doi tuong
%%Theta=[a1;a2;a3;b1;b2;b3]
Theta=[0.1;0.2;0.3;0.4;0.5;0.6];
%%khoi tao gia tri cua vector de quy
%%PHI=[yk1;yk2;yk3;uk2;uk3;uk4]
PHI=[0;0;0;0;0;0];
%khoi tao gia tri ban dau cua ma tran C
C=1e9*eye(6);
%khoi tao gia tri he so tat xi
xi=0.85;
%khoi tao gia tri tan so dao dong tu nhien omega
omega=0.02;
am2=exp(-2*xi*omega*T0);
am1=-2*exp(-xi*omega*T0)*cos(omega*T0*(sqrt(1-xi*xi)));
end
d0=1;
d1=am1;

d2=am2;
d3=0;
d4=0;
d5=0;
%%khoi tao cho tin hieu nhiet do va tin hieu dieu khien
uk=0;
uk1=0;
uk2=0;
uk3=0;
uk4=0;
yk1=0;
yk2=0;
yk3=0;
%%cac phan tu ban dau cua vector tham so he thong
a1=0.1;
a2=0.2;
a3=0.3;
b1=0.4;
b2=0.5;
b3=0.6;
%%khoi tao cho cac bien dieu khien viec van hanh
STOP=0;
thoigian=1;
nhietdodat=zeros(1,900);
bieudonhietdo=zeros(1,900);
bieudodieukhien=zeros(1,900);
x=1:1:900;
a1_para=zeros(1,900);
b1_para=zeros(1,900);
a1_para(thoigian)=a1;
b1_para(thoigian)=b1;
%%vo hieu hoa dieu khien T0
set(findobj(STR_REALTIME_GUIDE,'Tag','T0'),'Enable',...
'off');
%%mo cong cu plottools da duoc thiet lap de quan sat %%tin hieu
94
95
open('BIEU DO DAC TUYEN NHIET DO.fig')

%%thiet lap lai cho thuoc tinh timeout voi thoi gian %%kha lon de mo cong COM
%%mo cong COM
fopen(com_port);
%%gui ma (ma 252) yeu cau VDK nhan thoi gian lay mau
%%do PC gui xuong
%%cau hinh cho thoi gian timer va su kien timer trong
%%luc cho doi su phan hoi tu VDK
%%END%%
bytesavailable_event.m
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%CHUONG TRINH NHAN DANG VA XUAT TIN HIEU DIEU KHIEN LO
%%NHIET STR
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%doc du lieu nhiet do co san trong bo dem PC do VDK %%gui len
yk = fread(com_port, 1,'int8')
%%tao su kich thich
if (wk==wk1)
wk=wk-1;
else
wk=wk+1;
end
%%gan gia tri cho vector de quy
PHI(1)=-yk1;
PHI(2)=-yk2;
PHI(3)=-yk3;
PHI(4)=uk2;
PHI(5)=uk3;
PHI(6)=uk4;
%%%%%%NHAN DANG DUNG THUAT TOAN RLS%%%%%%
tam = PHI' * C * PHI;
e = yk - Theta' * PHI;
Theta = Theta + (C*PHI/(1+tam)) * e;
C = C - C*PHI*PHI'*C/(1+tam);
%%%%%%TINH TOAN THAM SO CUA BO DIEU KHIEN%%%%
a1=Theta(1);
a2=Theta(2);
96
a3=Theta(3);
b1=Theta(4);
b2=Theta(5);
b3=Theta(6);
%%tinh R
r0 = (d0+d1+d2+d3+d4+d5)/(b1+b2+b3);
%%luu lai tin hieu dieu khien
uk4=uk3;
uk3=uk2;
uk2=uk1;
uk1=uk;
%%tinh P va Q
%%P=[p0 p1 p2], Q=[q0 q1 q2]
p0 = d0;
p1 = (-2*d0*a3*b2*b3*a1*b1-b1*d2*b3*a2*b2... +2*d1*b1*a3*b2*b3d0*b1*a3*a2*b2^2...
+d0*b3*b2*a2^2*b1-d0*b3*a2*a1*b2^2+d1*b3^3...
-d1*a3*b2^3-d0*a1*b3^3+b1^2*d3*b3*a2-b1^2*d3*a3*b2... +b1*d2*a3*b2^2b1^2*d2*b3*a3+ b1*d2*b3^2*a1... +d1*b2^2*b3*a2-d1*b3^2*a2*b1d1*b2*b3^2*a1... +d0*b1^2*a3^2*b2-b1^3*d5*a2+d0*a3*a1*b2^3...
-b1*d5*b2^2+b1^2*d5*b3+d0*b1*b3^2*a3+b1^3*d4*a3...
+d0*b3^2*a1^2*b2-b1*d3*b3^2+b1^2*d5*a1*b2...
-b1^2*d4*b3*a1+b1*d4*b3*b2)/(-a3*b2^3+b2^2*a3*a1*b1...
+b2^2*b3*a2-b1^2*a3*a2*b2+3*b1*a3*b2*b3-b2*b3^2*a1
-b2*b3*a2*a1*b1+a3^2*b1^3-2*a3*a1*b1^2*b3...
+b3^2*a1^2*b1+b3^3+b1^2*a2^2*b3-2*b3^2*a2*b1);
p2 = (-b3^3*d0*a2-d5*b2^3-d5*b1^2*a2*b2...
+d5*a1*b1*b2^2-d5*b1^2*a1*b3+2*d5*b3*b1*b2...
-b3*d4*a1*b1*b2+b3*d4*b1^2*a2-b3*d3*b1^2*a3... +b3^2*d3*a1*b1b3^2*d2*a2*b1-b3*d1*a3*b2^2...
+b3^2*d1*a3*b1+b3^2*d1*a2*b2+b3*d2*b1*a3*b2...
+b3*d0*a3^2*b1^2+b3^3*d2-b3*d0*a3*b2*a2*b1 ...
+b3*d0*b2^2*a1*a3+b3^2*d0*a2^2*b1-2*b3^2*d0*a3*a1*b1...
-b3^2*d0*b2*a2*a1+b3^2*d0*a3*b2-b3^2*d4*b1...
-b3^2*d3*b2-b3^3*d1*a1+b3^3*d0*a1^2+d5*b1^3*a3...
+b3*d4*b2^2)/(-a3*b2^3+b2^2*a3*a1*b1+b2^2*b3*a2...
-b1^2*a3*a2*b2+3*b1*a3*b2*b3-b2*b3^2*a1...
-b2*b3*a2*a1*b1+a3^2*b1^3-2*a3*a1*b1^2*b3...
+b3^2*a1^2*b1+b3^3+b1^2*a2^2*b3-2*b3^2*a2*b1);
q0 = (-d0*a3*b3^2-d0*b3^2*a1^3-d0*a3^2*b1*b2...
97
-d0*a3^2*b1^2*a1-d5*a1*b1*b2-d3*b3*a2*b1... +d4*b3*a1*b1+d3*b1*a3*b2d4*b3*b2+d2*b3*a2*b2...
+d2*b3*a3*b1-d2*a3*b2^2-d1*a3*b2*a2*b1 ...
-d2*b3^2*a1+d1*b2^2*a1*a3+d1*a3^2*b1^2+d1*a3*b2*b3 ...
-2*d1*a3*a1*b1*b3-d1*b3*b2*a2*a1+d1*b3*a2^2*b1 ...
+d0*b2*a1*a2*b1*a3-d0*b3*a1*b1*a2^2+d1*b3^2*a1^2...
+d0*b2^2*a3*a2-d0*b2^2*a1^2*a3-d1*b3^2*a2... +2*d0*a3*b3*a1^2*b1d4*b1^2*a3+d0*b3*b2*a2*a1^2...
-d5*b1*b3-d0*a3*a1*b3*b2+2*d0*b3^2*a2*a1...
-d0*b3*b2*a2^2+d5*b1^2*a2+d3*b3^2+d5*b2^2)/ ...
(-a3*b2^3+b2^2*a3*a1*b1+b2^2*b3*a2-b1^2*a3*a2*b2 +3*b1*a3*b2*b3b2*b3^2*a1-b2*b3*a2*a1*b1+a3^2*b1^3 ...
-2*a3*a1*b1^2*b3+b3^2*a1^2*b1+b3^3+b1^2*a2^2*b3...
-2*b3^2*a2*b1);
q1 = (d4*b3^2+d0*a3*b3^2*a1+d0*b3^2*a2^2-d1*a3*b3^2... +d0*a3^2*b2^2d5*b1^2*a3+d5*a1*b1^2*a2-d5*a1^2*b1*b2...
+d4*b3*a1^2*b1-d4*b3*a1*b2-d4*b3*a2*b1-d4*a3*a1*b1^2...
+d4*b1*a3*b2+d3*b3*a2*b2+d3*b3*a3*b1+d5*a1*b2^2 ...
-d3*b3*a2*a1*b1+d3*b2*a3*a1*b1-d2*a3*b2*a2*b1... +d2*b3*a2^2*b1d2*a3*a1*b1*b3+d2*a3*b2*b3...
-d1*a3^2*b1*b2+d1*b2^2*a3*a2-d5*b3*b2-d1*b3*b2*a2^2...
-d2*b3^2*a2+d1*b3^2*a2*a1-d0*a3^2*b1^2*a2...
+2*d0*a3*b3*a2*a1*b1+d0*b2*a3*a2^2*b1-d0*b3*a2^3*b1...
-d0*b2^2*a2*a1*a3-d0*a3^2*b1*b3-d3*a3*b2^2... +d0*b3*b2*a2^2*a12*d0*b3*a3*a2*b2+d2*a3^2*b1^2...
-d0*b3^2*a2*a1^2)/(-a3*b2^3+b2^2*a3*a1*b1+b2^2*b3*a2...
-b1^2*a3*a2*b2+3*b1*a3*b2*b3-b2*b3^2*a1...
-b2*b3*a2*a1*b1+a3^2*b1^3-2*a3*a1*b1^2*b3...
+b3^2*a1^2*b1+b3^3+b1^2*a2^2*b3-2*b3^2*a2*b1);
q2 = (d5*b1*a3*b2-d5*b2*a2*a1*b1+d4*a3*a1*b1*b2...
-d3*a3*b3*a1*b1+d2*a3*b3*a2*b1-d1*a3*b3*a2*b2... +d0*a3^2*b2*a2*b1d0*a3*b3*a2^2*b1...
+2*d0*a3^2*a1*b1*b3+d0*a3*b3*b2*a2*a1 ...
+d5*b3^2+d3*a3^2*b1^2-d2*a3*b3^2+d1*a3^2*b2^2 ...
-d0*a3^3*b1^2+d5*b1^2*a2^2+d5*a2*b2^2-d4*a3*b2^2 ...
-d2*a3^2*b1*b2-d1*a3^2*b3*b1+d1*a3*b3^2*a1...
-d0*a3^2*b2^2*a1-d0*a3^2*b2*b3-d0*a3*b3^2*a1^2... +d0*a3*b3^2*a22*d5*b3*a2*b1+d5*b3*a1^2*b1...
-d5*a3*a1*b1^2-d5*b3*a1*b2-d4*a3*b1^2*a2...
+d4*a3*b1*b3+d3*a3*b3*b2)/(-a3*b2^3+b2^2*a3*a1*b1... +b2^2*b3*a2b1^2*a3*a2*b2+3*b1*a3*b2*b3-b2*b3^2*a1...
98
-b2*b3*a2*a1*b1+a3^2*b1^3-2*a3*a1*b1^2*b3...
+b3^2*a1^2*b1+b3^3+b1^2*a2^2*b3-2*b3^2*a2*b1);
%%TINH TOAN TIN HIEU DIEU KHIEN
%%luat dieu khien: P*U(k) = R*Wk) - P*Y(k)
uk=r0*wk-q0*yk-q1*yk1-q2*yk2-p1*uk1-p2*uk2;
%%khau bao hoa
if (uk>250)
uk=250;
elseif (uk<0)
uk=0;
end
%%lam tron uk tro thanh so nguyen
uk=round(uk)
%%luu lai tin hieu nhiet do
yk3=yk2;
yk2=yk1;
yk1=yk;
%%xu ly cac chuc nang ngoai tinh toan
if (STOP==1)
com_port.BytesAvailableFcn='';
else
fwrite(com_port,uk);
nhietdodat(thoigian)=wk;
bieudonhietdo(thoigian)=yk;
bieudodieukhien(thoigian)=uk;
thoigian=thoigian+1;
if (thoigian>900)
STOP=1;
end
end
%%END%%
van_hanh_pid.m
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
99
%%CHUONG TRINH KHOI TAO CAC BIEN CHO VIEC VAN HANH
%%CUA PID
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%ma van hanh (START) la 254
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%tien hanh khoi tao cac gia tri ban dau cho chuong
%%trinh phuc vu viec nhan dang va dieu khien
%%he thong lo nhiet
%%dong cong COM
fclose(com_port);
%%vo hieu hoa nut VAN HANH, cho phep nut NGUNG
set(findobj(PID_REALTIME_GUIDE,'Tag','vanhanh'),'Enable','off');
set(findobj(PID_REALTIME_GUIDE,'Tag','ngung'),'Enable','on');
%%lay gia tri T0 tu giao dien GUIDE
T0 = str2num(get(findobj(PID_REALTIME_GUIDE,'Tag','T0'),'string'));
%%xu ly thoi gian lay mau, sample_time la he so nhan voi
%%thoi gian 0.05s cua VDK de co duoc T0
sample_time = (T0*1000)/50;
%%lay gia tri cac tham so cho bo dieu khien tu giao dien PID_RT11
wk = str2num(get(findobj(PID_REALTIME_GUIDE,
'Tag','NhietDoDat'),'string'));
kp = str2num(get(findobj(PID_REALTIME_GUIDE,'Tag','kp'),'string'));
ki = str2num(get(findobj(PID_REALTIME_GUIDE,'Tag','ki'),'string'));
kd = str2num(get(findobj(PID_REALTIME_GUIDE,'Tag','kd'),'string'));
%%tinh a0,a1,a2
a0 = ( kp + ki*T0/2 +kd/T0 );
a1 = ( ki*T0/2 - kp - 2*kd/T0);
a2 = kd/T0;
%khoi tao cac gia tri ban dau
yk=0;
uk=0;
uk_send=0;
uk1=0;
ek=0;
ek1=0;
ek2=0;
%%khoi tao cho cac bien dieu khien viec van hanh
%type_of_controllers=0 <=> STR
%type_of_controllers=1 <=> PID
STOP=0;
thoigian=1;
nhietdodat=zeros(1,900);
bieudonhietdo=zeros(1,900);
100
bieudodieukhien=zeros(1,900);
x=1:1:900;
%%vo hieu hoa dieu khien T0
set(findobj(PID_REALTIME_GUIDE,'Tag','T0'),'Enable','off');
%%mo cong cu plottools da duoc thiet lap de quan sat tin hieu
open('BIEU DO DAC TUYEN NHIET DO.fig')
%%thiet lap lai cho thuoc tinh timeout voi thoi gian kha lon
%%de mo cong COM
%%mo cong COM
fopen(com_port);
%%gui ma (ma 252) yeu cau VDK nhan thoi gian lay mau
%%do PC gui xuong
%%cau hinh cho thoi gian timer va su kien timer trong luc
%%cho doi su phan hoi tu VDK
%%END%%
bytesavailable_event_pid.m
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%CHUONG TRIN TINH TOAN TIN HIEU DIEU KHIEN LO NHIET
%%CHO PID
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%doc du lieu nhiet do co san trong bo dem PC do VDK gui len
yk = fread(com_port, 1,'int8')
%tinh toan gia tri sai so
ek = wk-yk;
%tinh toan tin hieu dieu khien
uk = uk1 + a0*ek + a1*ek1 + a2*ek2;
uk_send = uk*5;
%khau bao hoa
if (uk_send>250)
uk_send=250;
elseif (uk_send<0)
uk_send=0;
end
uk_send=round(uk_send)
%luu lai tin hieu ek vao qua khu
ek2 = ek1;
ek1 = ek;
101
%luu lai tin hieu uk vao qua khu

uk=round(uk);
uk1 = uk;
%%xu ly cac chuc nang ngoai tinh toan
if (STOP==1)
com_port.BytesAvailableFcn='';
else
fwrite(com_port,uk_send);
nhietdodat(thoigian)=wk;
bieudonhietdo(thoigian)=yk;
bieudodieukhien(thoigian)=uk;
thoigian=thoigian+1;
if (thoigian>900)
STOP=1;
end
end
%%END%%
timer_event.m
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%CHUONG TRINH PHUC VU SU KIEN TIMER CHO STR VA PID
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%huy bo thiet lap cho su kien timer
com_port.TimerFcn='';
%%doc tin hieu phan hoi tu VDK
du_lieu_nhan=fread(com_port, 1,'uchar')
if (du_lieu_nhan==255)
%%VDK da nhan duoc ma 255
%%hien thong bao 'ket noi thanh cong'
if (type_of_controllers==0)
set(findobj(STR_REALTIME_GUIDE,'Tag','vanhanh'),'Enable','on');
set(findobj(STR_REALTIME_GUIDE,'Tag','kiemtraketnoi'),'Enable','off');
set(findobj(STR_REALTIME_GUIDE,'Tag','trangthai'),'String', ...
'KET NOI THANH CONG');
else
set(findobj(PID_REALTIME_GUIDE,'Tag','vanhanh'),'Enable','on');
set(findobj(PID_REALTIME_GUIDE,'Tag','kiemtraketnoi'),'Enable','off');
set(findobj(PID_REALTIME_GUIDE,'Tag','trangthai'),'String', ...
'KET NOI THANH CONG');
end
102
elseif (du_lieu_nhan==252)
%VDK da nhan duoc ma 252
%VDK o trang thai san sang nhan thoi gian lay mau
%%gui thoi gian lay mau sample_time xuong VDK
%%gui gia tri sample_time xuong VDK
fwrite(com_port,sample_time);
%%cau hinh cho thoi gian timer va su kien timer
%%VDK da nhan duoc gia tri sample_time
%%dong cong COM de thiet lap su kien BytesAvallable
fclose(com_port);
com_port.BytesAvailableFcnMode='byte';
com_port.BytesAvailableFcnCount=1;
com_port.BytesAvailableFcn='bytesavailable_event';
else
com_port.BytesAvailableFcn='bytesavailable_event_pid';
end
%%gui ma van hanh (START) 254 xuong VDK de tien hanh
%%thu thap va xu ly du lieu
fopen(com_port);
%%hien thi trang thai cua he thong lo nhiet ra GUIDE
'HE THONG LO NHIET ANG VAN HANH');
else
'HE THONG LO NHIET ANG VAN HANH');
end
%%VDK da nhan duoc ma 253 (ma NGUNG)
fclose(com_port);
%%vo hieu hoa cac nut NGUNG & VANHANH
%%cho phep nut KIEM TRA KET NOI
%%cho phep hieu hoa dieu khien T0
set(findobj(STR_REALTIME_GUIDE,'Tag','T0'),'Enable','off');
set(findobj(STR_REALTIME_GUIDE,'Tag','ngung'),'Enable','off');
set(findobj(STR_REALTIME_GUIDE,'Tag','kiemtraketnoi'),'Enable','on');

'HE THONG LO NHIET A NGNG VAN HANH');
%%neu dang dung bo dieu khien STR, mo bieu do tham so
open('BieuDoThamSoDoiTuong.fig')
else
set(findobj(PID_REALTIME_GUIDE,'Tag','T0'),'Enable','off');
set(findobj(PID_REALTIME_GUIDE,'Tag','ngung'),'Enable','off');
set(findobj(PID_REALTIME_GUIDE,'Tag','kiemtraketnoi'),'Enable','on');
'HE THONG LO NHIET A NGNG VAN HANH');
end
else
%%hien thong bao KHONG THE KET NOI VOI VDK
'KHONG THE KET NOI PC VI VDK');
else
'KHONG THE KET NOI PC VI VDK');
end
end
%%END%%
103
104
Ti liu tham kho

[1].
[2].
[3].
[4].
[5].
[6].
[7].
[8].
Nguyn Th Phng H & Hunh Thi Hong ,L thuyt iu khin t

ng, , NXB i Hc Quc Gia TPHCM, 2003.
Nguyn Th Phng H, L thuyt iu khin hin i, NXB i Hc
Quc Gia TPHCM, 2009.
Kiu Xun Thc V Th Thu Hng V Trung Kin, Vi iu khin cu
trc - lp trnh v ng dng, NXB gio dc Vit Nam, 2009.
Nguyn Phng Quang, Matlab & Simulink dnh cho k s iu khin t
ng, NXB Khoa hc k thut, 2006.
Bobl, V.; Bhm, J., Self-tuning controllers simulink library, Tomas
Bata University in Zlin, Czech Republic, 2001.
Bobl, V.; Bhm, J.; Fessl, J.; Machcek, J, Digial self-tuning controller
Algorithms, Implementation and Aplications, Springer, 2005, chapter
2.
Nguyn c Hong and Bi Thanh Huyn, Application of self-tuning
controller using pole assignment method in controlling electric oven,
International Symposium on Eletrical & Electronics Engineering 2007.
Gang Feng & Rogelio Lozano, Adaptive_Control_Systems, Oxford, 1999.

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B CNG THNG

TRNG I HC CNG NGHIP TP H CH MINH

GVHD : ThS Hunh Minh Ngc

B iu khin t chnh dng t cc cho l nhit

B iu khin t chnh dng t cc cho l nhit

B iu khin t chnh dng t cc cho l nhit

B iu khin t chnh dng t cc cho l nhit

B iu khin t chnh dng t cc cho l nhit

B iu khin t chnh dng t cc cho l nhit

5.1 Vi iu khin 89V51RD2 ................................................................................41

B iu khin t chnh dng t cc cho l nhit

lll. Hng pht trin ti .....................................................................................88

B iu khin t chnh dng t cc cho l nhit

B iu khin t chnh dng t cc cho l nhit

B iu khin t chnh dng t cc cho l nhit

B iu khin t chnh dng t cc cho l nhit

Hnh A1.1: S khi tng qut h thng iu khin thch nghi

Hnh A1.2: Phn loi h thng iu khin thch nghi

B iu khin t chnh dng t cc cho l nhit

1.2.1 B iu khin thch nghi da vo phng php heuristic:

Hnh A1.3: S khi Heuristic cho iu khin thch nghi

B iu khin t chnh dng t cc cho l nhit

c trng ca m hnh chun. Nhim v ca c cu iu khin l gim sai s

Hnh A1.4: S khi c bn ca h thng thch nghi m hnh tham chiu

B iu khin t chnh dng t cc cho l nhit

Cc kt qu hu ch nht trong iu kin thc t t c ch yu trong

B iu khin t chnh dng t cc cho l nhit

hnh vi ng ra b iu khin, chu k ly mu v chn b lc ng ra qu trnh v b

khin v bng vi c lng ca n, ngha l = (k 1).

lng (k -1) v ton b qu trnh c lp li tm ra c lng mi (k) .

(k) . c lng quy tham s m hnh qu trnh c thc hin bn trong

phn nhn dng v c s dng d bo gi tr (k) ca ng ra qu trnh y(k).

s dng c lng tham s m hnh qu trnh (k) . Tham s iu khin khi

B iu khin t chnh dng t cc cho l nhit

Hnh A1.5: Cu trc thut ton bn trong ca b iu khin t chnh nh

xc nh c lng tham s m hnh qu trnh (k) , ng ra l vic tham s

B iu khin t chnh dng t cc cho l nhit

B iu khin t chnh dng t cc cho l nhit

khng cc tiu pha, l qu trnh trong a thc t s hm truyn c nghim

B iu khin t chnh dng t cc cho l nhit

B iu khin t chnh dng t cc cho l nhit

:ton t sai phn li

Trong nhiu trng hp vic s dng cu trc m hnh chun tr nn tin

V tng t cho cc a thc C, D v F, trong khi:

Bng A2.1 trnh by cc loi cu trc m hnh l trng hp c th ca

B iu khin t chnh dng t cc cho l nhit

na, nb, nc tng ng l bc ca cc a thc A, B, C. d l tr.

y ( k ) = a y ( k 1) ... ana y ( k na ) + b u ( k d 1) + ... +

B iu khin t chnh dng t cc cho l nhit

= a , a ,..., ana , b , b ,..., b , c , c ,..., cnc

c cho bi vector gi quy:

Nhn xt : trong trng hp C(q-1 ) = 1, ta c bnh phng ti thiu quy

B iu khin t chnh dng t cc cho l nhit

bng cch chn C ln.

B iu khin t chnh dng t cc cho l nhit

Tm sao cho J min ?

B iu khin t chnh dng t cc cho l nhit

Trong a > 0, b l nhng hng s cha bit v y(k), u(k) c o ti thi

B iu khin t chnh dng t cc cho l nhit

Tn hiu u c gi l kch thch lin tc (PE) bc n nu ma trn di y

i vi tt c cc a thc A khc 0 c bc n-1 hoc nh hn.

2.4.3 V d v tn hiu kch thch lin tc:

B iu khin t chnh dng t cc cho l nhit