Pid

Chng 8 Chnh nh b iu khin PID
K t khi Ziegler v Nichols a ra hai phng php chnh nh b iu khin PID vo nm 1942 [45], n nay s lng cc phng php chnh thc c cng b nhiu ti mc kh c th bao qut ni. Theo thng k s b ca ODwyer [26], tnh n ht nm 2002 con s ny ln ti 453. Ch tnh ring s u sch vit chuyn v cc phng php chnh nh tham s PID th trong giai on ny cng c khng di 10 cun c xut bn bng ting Anh. Hu ht mi quyn sch vit v iu khin qu trnh cng dnh t nht mt chng vit ring v b PID. Sau nhiu thp k ng dng rt thnh cng, khi m ngi ta ngh rng khng cn g ni thm v b PID th cng l lc xut hin nhiu phng php chnh nh mi, trong c nhng phng php em li bng sng ch (v d [4]). Ngay c trong thi gian gn y nht, hng lot cc bi bo ca cc tc gi c uy tn vn tip tc bm theo ch ny (v d [6]-[8],[30],[42]). Cc phng php chnh nh tham s cho b PID c th c phn loi thnh cc nhm chnh nh sau: 1. Cc phng php da trn c tnh s dng mt s c im ca qu trnh v tnh ton cc tham s b iu khin thu c cc c tnh vng kn mong mun. Cc c im ca qu trnh c th nhn c t p ng thi gian hoc p ng tn s (v d h s khuch i v tn s dao ng ti hn). Tiu biu l cc phng php da trn p ng bc thang v phng php da trn c tnh dao ng ti hn (ZieglerNichols, [45]), phng php t chnh phn hi r-le (strm v Hgglund, [3]), 2. Cc phng php m hnh mu tng hp b iu khin da trn m hnh ton hc ca qu trnh v m hnh mu ca h kn hoc h h (a ra di dng hm truyn t hoc c tnh p ng tn s). Trong nhm ny ta c cc phng php thng dng nh tng hp trc tip (Chen v Seborg, [10]), chnh nh lam-da (Dahlin [12]), IMC (Morari v Zafiriou, [25]), xp x c tnh tn,
390
Chng 8: Chnh nh b iu khin PID
3. Cc phng php nn c tnh tn i theo quan im thit k truyn thng, s dng m hnh hm truyn t hoc m hnh p ng tn s ca qu trnh v tnh ton cc khu b sao cho ng c tnh tn s h h hoc h kn t c cc ch tiu thit k trn min tn s nh di thng, d tr bin v pha, bin nh hm nhy, Cc phng php c nhc n nhiu l ti u m-un (Kessler, [19], [20]), phng php da trn d tr bin-pha (strm v Hgglund, [4], Ho v cng s [16], Tan v cng s, [37]), MIGO/AMIGO (strm v cng s, [6], [27]),... 4. Cc phng php ti u tham s s dng m hnh ton hc ca qu trnh v xc nh cc tham s ca b iu khin bng cch cc tiu ha/cc i ha mt tiu chun cht lng, v d cc tiu ha tch phn sai lch tuyt i (IAE) hoc tch phn bnh phng sai lch (ISE). 5. Cc phng php da trn lut kinh nghim bt chc suy lun ca con ngi, c th s dng c p ng ca qu trnh v cc c tnh p ng vng kn mong mun. Trong nhm ny ta c cc phng php chnh nh m (v d Zhao, Tomizuka v Isaka, [46]), chnh nh trn c s h chuyn gia v phng php s dng mng nron. Cc phn trnh by di y gii thiu mt cch ngn gn nguyn tc ca mt s phng php chnh nh c p dng rng ri trong thc t. Mc ch l gip ngi c c th hiu v la chn phng php ph hp vi qu trnh cn iu khin. Cc phng php chnh nh theo lut kinh nghim, v d chnh nh m hoc chnh nh trn c s h chuyn gia, khng c cp ti trong phm vi cun sch ny.
8.1 C s chung
8.1.1 Cc dng m hnh qu trnh thng dng
Phm vi ng dng ca cc b iu khin PID l cc qu trnh c th m t bng cc m hnh bc thp, thng thng l bc nht hoc bc hai. Hu ht phng php chnh nh tham s PID ch p dng c cho cc qu trnh n nh, hoc c th c mt khu tch phn bc nht. Ngoi ra, ch mt s t phng php cp ti qu trnh khng n nh. tin theo di cho cc phn trnh by trong chng ny, cc dng m hnh qu trnh thng dng c lit k di y. Bn cnh hm truyn t, mt s phng php s dng m t i tng trn min tn s, tiu biu l c tnh tn s dao ng ti hn. M hnh qun tnh bc nht c tr (FOPDT):
G(s) = kes s + 1
(8.1)
8.1
C s chung
391
M hnh bc hai n nh c tr (SOPDT):

G(s) = kes ,>0 s + 2 s + 1
2
(8.2)
hoc trng hp c bit l khu qun tnh bc hai c tr (khi 1 )

G(s) = kes (1s + 1)(2s + 1)
(8.3)
M hnh tch phn bc nht c tr

G(s) = kes s
(8.4)
M hnh qun tnhtch phn bc nht c tr

G(s) = kes s(s + 1)
(8.5)
M hnh bc hai n nh c tr v mt im khng thc m

k(as + 1)es , >0 2s + 2 s + 1
(8.6)
hoc trng hp c bit c vit di dng
k(a s + 1)es (1s + 1)(2s + 1)

M hnh bc hai c tr v mt im khng thc dng (p ng ngc)
k(as + 1)es 2s + 2 s + 1
(8.7)
(8.8)
hoc trng hp c bit c vit di dng

k(as + 1)es (1s + 1)(2s + 1)
(8.9)
M hnh bc nht khng n nh c tr (FODUP)
G(s) =
kes s 1
(8.10)
M hnh bc hai khng n nh c tr (SODUP)

G(s) = kes (1s 1)(2s + 1)
(8.11)
392
8.1.2 Xp x m hnh bc cao lut chia i

Cc phng php chnh nh b PID thng thng ch da vo m hnh bc thp (bc 1 hoc bc 2). V vy, khi c mt m hnh bc cao th trc khi p dng mt phng php chnh nh no ta cn thc hin gim bc, xp x m hnh bc cao v mt m hnh bc nht hoc bc hai c tr. C nhiu phng php thc hin khc nhau, di y ta tm hiu mt phng php kh n gin c tn gi l lut chia i (half-rule) ca Skogestad [30]: Khi ct b cc thnh phn qun tnh bc cao ca i tng, cc hng s thi gian qun tnh b ct b c cng vo hng s thi gian tr. Ring hng s thi gian b ct b ln nht c chia i mt na cng vo hng s thi gian tr, mt na cng vo hng s thi gian qun tnh c gi li nh nht. i vi thnh phn p ng ngc b ct b, hng s thi gian p ng ngc cng c cng vo hng s thi gian tr. Mt m hnh i tng c dng
k ( zi s + 1 )
i =1 n m
G (s ) =
e0s
(8.12)
j =1
( pj s + 1 )
vi p1 > p2 > p3 c th c xp x v cc dng bc thp di y: Qun tnh bc nht c tr:

s ( s ) = ke G s + 1
vi
= p1 + p2 p2 , = 0 + + 2 2
j =3
pj + zi
i =1
(8.13)
Qun tnh bc hai c tr :

(s ) = G kes ( 1s + 1 )( 2s + 1 )
vi
1 = p1, 2 = p 2 + p3 p3 , = 0 + + 2 2
j =4
pj + zi
i =1
V dn gii cng nh cc v d minh ha cho s ph hp ca phng php, bn c c th tham kho chi tit trong [30].
8.1
C s chung
393
8.1.3 Cc cu hnh iu khin v kiu b iu khin

a s phng php chnh nh tham s PID xt cu hnh iu khin mt bc t do minh ha trn Hnh 8-1a. c th tha mn cc yu cu khc nhau v c tnh bm gi tr t v c tnh loi b nhiu qu trnh, ta c th s dng thm trng s cho gi tr t trong cu hnh hai bc t do n gin (Hnh 8-1b) hoc khu lc gi tr t trong cu hnh hai bc t do tng qut (Hnh 8-1c). Vic xc nh trng s b cng nh thit k khu lc trc P cho gi tr t c th thc hin mt cch hon ton c lp vi thit k/chnh nh b iu khin phn hi K. Tuy vy, do nhng c th nht nh, mt s phng php cng a ra c lut chnh nh trng s b cng nh li khuyn chn khu lc trc P.
d Gd(s) r
K(s)
G(s)
a) Cu hnh iu khin PID mt bc t do
kc(b1) Gd(s) r
+ +
K(s)
G(s)
b) Cu hnh iu khin PID hai bc t do n gin s dng trng s cho gi tr t d Gd(s) r P(s)
K(s)
G(s)
c) Cu hnh iu khin PID hai bc t do tng qut s dng khu lc gi tr t
Hnh 8-1:
Cc cu hnh iu khin PID thng dng
394
Cc dng m t b iu khin PI/PID gii thiu trong chng 6 cng c tm tt li di y. Hm truyn t ca b iu khin PI:
kps + ki 1 1+ K (s ) = kc = i s s
(8.14)
Hm truyn t dng chun ca b iu khin PID l tng:

1 1+ K (s) = kc + d s i s
(8.15)
Hm truyn t dng song song ca b iu khin PID l tng:

K (s) = kp + ki + kps + kd s 2 ki + kd s = s s
(8.16)
trong cc tham s c tnh t dng chun nh sau: kp = kc, ki = kc/i, kd = kcd. Hm truyn t dng ni tip ca b iu khin PID l tng:
1 1+ K (s) = kc ( 1 + d s ) is
(8.17)
(8.18)
trong cc tham s c th chuyn c sang dng chun nh sau

/ i), i = i + d , d = kc = kc(1 + d d / i 1 + d
(8.19)
Hm truyn t dng chun ca b iu khin PID c khu vi phn thc:

1 d s K (s) = kc 1 + i s + 1 + d s / N
(8.20)
8.1.4 c tnh vng iu khin s dng b PID

C s cho cc phng php phn tch v nh gi cht lng h iu khin phn hi tng qut cng c trnh by k trong ni dung chng 7. Cc mc tiu thit k v chnh nh cc b iu khin P, PI hoc PID (gi chung l PID) cng khng nm ngoi vic bo m tnh n nh, nng cao cht lng iu khin v tnh bn vng ca h thng. c th tm hiu tt hn cc phng php thit k v cc lut chnh nh tham s ca b iu khin PID, trc ht ta cn phn tch r vai tr ca tng thnh phn P, I v D cng nh s kt hp gia chng trong vic tha hip gia nhiu mc tiu cn t c.
8.1
C s chung
395
c tnh iu khin vi b PI B iu khin PI (8.14) l loi c s dng ph bin nht trong cc h thng iu khin qu trnh. Vai tr ca b PI trong h thng iu khin phn hi c din gii tt nht trn min tn s. th Bode trn Hnh 8-2 biu din c tnh bin v c tnh pha ca qu trnh cha c iu khin (G) cng nh ca b iu khin (K) v ca h h (L) theo thang logarith. Cc ng nt t th hin c tnh bin ca b iu khin v ca h h khi tng h s khuch i kc. Lu rng, th Bode cho php dng ng c tnh bin cng nh ng c tnh pha ca L bng cch cng nhng ng c tnh tng ng ca G v K.
Amplitude (db)
20 log K 2 ( j ) 20 log K ( j )
20 log L2 ( j ) 20 log L( j ) 20 log G( j )
0
K ( j ), K 2 ( j )
Phase (deg)
-90
G( j )
-180
L( j ), L2 ( j )
1
Frequency
Hnh 8-2:
Vai tr nn vng h ca b iu khin PI
Trc ht, c tnh bin ca b iu khin PI l mt ng hyperbol c dc 20 db/dec trong phm vi tn s nh hn nhiu so vi tn s gy ( 1 / i ) do s c mt ca thnh phn I v 0 db/dec trong phm vi tn s ln hn nhiu so vi tn s gy do vai tr ca thnh phn P. Nh vy, b PI c tc dng dch chuyn ton b ng c tnh bin logarith ca h h ln thm t nht 20*log|kc| dB v lm cho L( j ) khi 0. Tn s ct bin ca h h cng c dch sang phi nu kc > 1. Ta c th ni, thnh phn I quyt nh ti c tnh h thng phm vi tn s thp v thnh phn P c nh hng ch yu
396
tn s cao hn tn s gy. iu c ngha l, b iu khin PI c kh nng ci thin c tnh ng hc ca h kn nh thnh phn P, ng thi c kh nng trit tiu sai lch tnh ( e = lim 1 + L( j ) 1 = 0 ) nh thnh phn I. 0 Hnh 8-2 cng cho thy tc dng ca vic tng h s khuch i kc ca b iu khin. y K2 c h s khuch i ln gp 4 ln so vi K, v th c tnh bin ca h h cng tng ln 4 ln: |L2(j)| = 4|L(j)|. Trong khi , c tnh pha ca h h khng thay i. ng c tnh bin ca h h c nng ln dn n tn s ct bin c dch sang bn phi v di thng ca h kn c m rng, tc p ng ca h kn nhanh hn. Song, nu ng c tnh pha c ct ng 180 th trong hu ht trng hp, vic y tn s ct sang bn phi s lm gim d tr n nh ca h kn. iu c ngha l p ng qu ca h kn nu cha c dao ng th c th s dao ng, nu c dao ng th s dao ng mnh hn v qu iu chnh ln hn. Vic tng h s khuch i cng lm cho tn hiu iu khin cng thay i mnh hn, h cng nhy cm hn vi sai lch m hnh v vi nhiu o. H s khuch i kc tng qu ln thm ch c th lm cho h kn mt n nh. Tip theo, nhn vo th c tnh pha phn di Hnh 8-2 ta s thy ng c tnh pha ca b PI c hnh ch S vi hai ng tim cn l 90 v 0 v im un nm ti tn s gy (tng ng vi gc pha 45). S c mt ca thnh phn I lm chm pha thm 90 ti nhng tn s thp v gim tn s ct pha nu tn s gy tng i ln. d tr n nh ca h kn thng thng b gim i. Ni mt cch khc l thnh phn I rt c th l mt trong nhng nguyn nhn chnh lm xu i tnh n nh ca h kn, lm cho p ng ca h kn dao ng hn cng nh km bn vng n nh hn vi sai lch ca m hnh. Mc nh hng ca thnh phn I ph thuc vo hng s thi gian tch phn i. Nhn trn th c tnh bin v c tnh pha ta c th thy r, i cng nh th tn s gy cng ln, tc ng tch phn cng m rng sang vng tn s cao, nh hng ca n ti cht lng p ng ca h kn cng r nt hn. Trong nhiu trng hp, vic gim i c th lm gim thi gian qu v sai lch iu khin. Tuy nhin, nu h c dao ng th gim gi tr i s lm h dao ng mnh hn v ko di hn, qu iu chnh tng ln. Ngc li, tng gi tr i c tc dng tng tnh bn vng ca h kn, gim dao ng nhng cng dn n sai lch iu khin chm b trit tiu v thi gian qu ln. Trn Hnh 8-3 l cc th Bode m t trng hp tng thi gian tch phn i. B iu khin K2 c cng h s khuch i kc nh K, nhng thi gian tch phn ca K2 gp 4 ln thi gian tch phn ca K. Nh vic y tn s gy sang bn tri, ng c tnh pha ca L2 c ko ln trn v tn s ct pha ca h h c y sang phi. ng c tnh bin ch thay i nhiu phm vi tn s thp hn hn tn s gy, nhng cng lm cho tn s ct bin nh i. d tr n nh c ci thin, nhng tc p ng ca h kn b chm i i cht.
8.1
C s chung
397
K
Amplitude (db)
K2
L
1
L2
G
L2
K2
Phase (deg)
-90
-180
i 2
Frequency
Hnh 8-3:
c tnh tn thay i khi gim thnh phn I
c tnh iu khin vi b PID Khi s dng b PI, mun tng tc p ng ta c th tng h s khuch i kc hoc gim thi gian tch phn i, nhng km theo thng phi chp nhn qu iu chnh ln ln v d tr n nh b thu hp li. Hn na, mun sai lch iu khin nhanh chng b trit tiu thng ta cng phi gim thi gian tch phn i, km theo buc phi chp nhn h kn dao ng hn v d tr n nh hp li, nhiu khi hiu qu ngc li vi mong mun. B iu khin PID c thm thnh phn D khc phc hai vn ni trn. S dng b iu khin PID, ta c th ng thi ci thin tc p ng v tng d tr n nh. Trn Hnh 8-4 l th Bode biu din c tnh tn ca b iu khin PI (KPI) v PID (KPID), cng nh c tnh tn ca cc vng h tng ng. S c mt ca thnh phn D lm cho ng c tnh bin ca b iu khin c dc 20 dB/dec vng tn s cao. Nh , c tnh bin ca h h c nng ln trong phm vi tn s cao, di thng c m rng v tc p ng ca h kn c ci thin i cht. Cng trong vng tn s cao, ng c tnh pha ca b iu khin PID tim cn ng 90, c tc dng lm gim lch pha ca h h v ci thin tnh n nh (bn vng) ca h thng. Tht s th thnh phn D lm cho c tn s ct bin v tn s ct pha u ln hn, nhng tn s ct pha c thay i nhiu hn, nn d tr n nh ni chung c tng ln.
398
KPID KPI
Amplitude (db)
1
LPID LPI
90
KPID KPI
Phase (deg)
LPID
-90
LPI
-180
i
Frequency
Hnh 8-4:
Vai tr nn vng h ca b iu khin PI v PID
i vi mt s qu trnh khng n nh bc nht, mc d b iu khin P hoc PI cng c th gi n nh h kn, nhng rt kh bo m cht lng theo yu cu. Cn i vi cc qu trnh dao ng bc hai (tt dn) hoc qu trnh khng n nh bc hai (c hai im cc khng n nh), vic phi s dng thnh phn vi phn l khng th trnh khi. Nh nhiu ln nhn mnh, bi ton thit k iu khin lun phi t ra s tha hip gia nhng yu cu mu thun. Vn l c mt mt ny ta thng phi hy sinh mt cht g khc. c c cc tc dng tch cc ca thnh phn D mt ny, ta cng phi tr gi mt khc. Vic m rng di thng v nn c tnh bin bt dc hn vng tn s cao ng ngha vi vic lm cho h kn nhy cm hn vi nhiu o v tn hiu iu khin thay i mnh hn. Cng chnh v th, ng dng tiu biu ca b iu khin PID l cc qu trnh chm hoc cc qu trnh khng n nh m s nh hng nhiu o khng ng k. i vi a s cc qu trnh thng dng v h kn ang n nh, nh hng ca vic hiu chnh tng tham s PID ti cc ch tiu cht lng c tm tt trong Bng 8-1. Tt nhin, nhng kt lun ny ch mang tnh tng i, bi ba tham s PID c nh hng ln nhau v s thay i ca bt k mt tham s no cng c th nh hng khng nh n tc dng ca hai tham s cn li.
8.1
C s chung Bng 8-1: nh hng ca tng tham s PID ti cht lng iu khin
399
Thay i tham s Ch tiu cht lng Tng kc Thi gian p ng Thi gian qu qu iu chnh H s tt dn Sai lch tnh Tn hiu iu khin d tr n nh Bn vng vi nhiu o gim thay i t tng thay i t gim tng gim gim Gim i gim t gim tng tng trit tiu tng gim thay i t Tng d gim t gim gim t gim thay i t tng tng gim
8.1.5 La chn lut iu khin

Mc ny a ra mt s ch dn trong vic la lut iu khin cng nh s cn thit phi hp vi mt s sch lc iu khin khc. strm v Hgglund ([2]) a ra mt s nguyn tc c bn sau y: Chn lut iu khin PI l nu nh qu trnh c c tnh ca mt khu qun tnh bc nht v khng c thi gian tr, hoc yu cu chnh l cht lng iu khin trng thi xc lp, cn c tnh bm tn hiu ch o trong qu trnh qu khng t ra hng u. V d tiu biu l bi ton iu khin lu lng. Hn na, thnh phn I c th b qua nu nh sai lch tnh khng nht thit phi trit tiu, hoc bn thn i tng c c tnh tch phn (v d iu khin mc cht lng trong mt bnh cha). Chn lut iu khin PID nu nh qu trnh c c tnh ca mt khu bc hai v thi gian tr tng i nh. Mt trng hp tiu biu l bi ton iu khin nhit vi mt hng s thi gian ca qu trnh truyn nhit v mt hng s thi gian ca cm bin. Thnh phn D c bit c tc dng khi hai hng s thi gian khc nhau nhiu. Lu rng tc ng vi phn rt nhy cm vi nhiu o, v th nn hn ch s dng nu khng c bin php lc nhiu thch hp. i vi cc qu trnh c thi gian tr ln cn s dng cc khu b tr (v d b d bo Smith hoc b PI d bo). S dng cc khu b nhiu nu nh kh nng thc hin cho php ci thin cht lng iu khin.
400
Cc lut iu khin P, PI hoc PID c th cha p ng c yu cu t ra v cht lng iu khin i vi cc qu trnh bc cao, c thi gian tr ln hoc dao ng mnh. Khi cn s dng cc thut ton iu khin tin tin hoc cc sch lc iu khin c bit hn. C th cho cc i tng bc nht (c thnh phn tch phn hoc khng) c c tnh dao ng ti hn, strm v mt s cng s khc cng tho lun rt chi tit v cc ni dung ny trong mt bi bo khc ([1]). Xut pht t m hnh i tng bc nht
G(s ) = k
es 1 + s
(2.21)
hoc i tng bc nht cha thnh phn tch phn

Gv (s ) = kv es , s(1 + v s )
(2.22)
ta nh ngha cc h s khuch i chun ha v thi gian tr chun ha nh sau:

k1 = k kv ,k = , = , 2 = . G( j u ) 2 u Gv ( j u ) 1 v
(2.23)
Vi cc h s c nh ngha nh trn, cch chn lut iu khin cng nh s cn thit s dng cc sch lc b sung c tm tt trong Bng 8-2. Lu , khi nim iu khin cht c hiu l yu cu gi tr bin c iu khin bm tng i cht gi tr t, hay ni cch khc l yu cu cao v cht lng iu khin. i vi cc bi ton iu khin qu trnh thng dng, ta c th la chn kiu b iu khin da trn cc ch dn n gin nh sau: Vng iu khin lu lng: Qu trnh v cm bin lu lng u kh nhanh v thi gian tr rt nh, c tnh ng hc ca i tng ph thuc ch yu vo van iu khin. V th, hu nh ta ch cn s dng lut PI. Php o lu lng chu nh hng nhiu ca nhiu cao tn, v th ta khng nn s dng thnh phn vi phn. Vng iu khin mc: c tnh ng hc ca cm bin v ca thit b chp hnh rt nhanh so vi qu trnh. Qu trnh c c tnh tch phn, nn s dng lut P cho iu khin lng v lut PI cho iu khin cht (vi thi gian tch phn tng i ln). Thnh phn vi phn t khi c s dng bi thc s khng cn thit, hn na php o mc thng rt b nh hng ca nhiu. Vng iu khin p sut cht kh: Qu trnh v cm bin ni chung u nhanh hn thit b chp hnh. Qu trnh cng c c tnh tch phn tng t
8.1
C s chung
401
nh bi ton iu khin mc, tuy nhin yu cu cao hn v chnh xc v l do an ton. Lut PI c s dng l ch yu, trong thnh phn tch phn c t tng i nh. Vng iu khin nhit : c tnh ng hc ca qu trnh v ca cm bin nhit thng chm hn ca thit b chp hnh. i vi mt s bi ton, qu trnh cn c th c c tnh dao ng hoc thm ch khng n nh (v d iu khin nhit thit b phn ng, nhit trong thp chng luyn). Php o nhit chm nhng thng t chu nh hng ca nhiu. V th, ta nn s dng lut PID ci thin tc p ng, ng thi gip n nh h thng d dng hn. Vng iu khin thnh phn: Cc vng iu khin thnh phn thng c c tnh tng t nh vng iu khin nhit . Qu trnh thng l phn t chm nht trong vng kn, sau n cm bin; thit b chp hnh thng l nhanh nht. B iu khin PID cng thng c s dng. Tuy nhin, trong mt s trng hp php o thnh phn c th rt chm (thi gian tr ln) v nhy cm vi nhiu o, ta cn s dng cc thut ton iu khin tin tin hn.
Bng 8-2: La chn lut iu khin v cc sch lc b sung theo [1] iu khin cht iu khin lng 1 2 Nhiu o ln
I+FFC+(DTC)
Gii hn iu khin nh
PI+FFC+(DTC)
Nhiu o nh v gii hn K ln
PI+FFC+DTC PI+(FFC)+(DTC) PID+(FFC)+(DTC)
1>1, k1<1.5
0.6<1<1, 1.5<k1<2.25
I hoc PI
I + (FFC)
PI + (FFC)
0.15<1<0.6, 2.25<k1<15
PI
PI
PI hoc PID
PID
1<0.15, k1>15
4 5
2>0.3, k2<2 2<0.3, k2>2

Ghi ch: FFC: DTC: SPW: PPT:
P hoc PI
PI
PI hoc PID
PI hoc PID
PD + SPW
PPT
PD + SPW
PD + SPW
B nhiu, lc nhiu (Feed Forward Compensation) B tr (Dead Time Compensation) Trng s tn hiu t (Set Point Weighting) Chnh nh t im cc (Pole Placement Tuning)
402
8.2 Cc phng php da trn c tnh p ng

8.2.1 Phng php da trn p ng bc thang
Phng php th nht ca Ziegler-Nichols xc nh cc tham s cho b iu khin PID da trn ng c tnh p ng qu ca qu trnh thu c t thc nghim vi gi tr t thay i dng bc thang. i tng p dng c l cc qu trnh c c tnh qun tnh hoc qun tnh tch phn vi thi gian tr tng i nh. Theo trnh by nguyn bn trong [45], ta k tip tuyn ti im c dc ln nht ca ng c tnh p ng bc thang nh minh ha trn Hnh 8-5. Lu rng vic ly c tnh p ng phi c thc hin xung quanh im lm vic. Da trn hai gi tr xc nh c l im ct vi trc honh v dc a, cc tham s ca b iu khin thc dng s c chnh nh theo lut tng ng tm tt trong Bng 8-3. Cc lut chnh nh ny c ZieglerNichols a ra theo kinh nghim t h s tt dn khong 0.25.
y y
a) c tnh qun tnh Hnh 8-5:
b) c tnh qun tnh-tch phn
Minh ha cho phng php p ng qu
Bng 8-3:
Lut chnh nh Ziegler-Nichols th nht (ZN-1)
B iu khin P PI PID
kc
1 hoc k a 0.9 0.9 hoc a k 1.2 1.2 hoc a k
3.3
d
0.5
8.2
Cc phng php da trn c tnh p ng
403
Ta thy rng, h s khuch i ca b iu khin c chn sao cho lun t l nghch vi dc ln nht a ca ng cong p ng. iu ny hon ton c c s, bi a cng nh chng t qu trnh cng chm v b iu khin cng phi can thip mnh hn. Tt nhin, ta cng c th tin hnh c lng m hnh qun tnh bc nht c tr (c th c thnh phn tch phn) ca qu trnh bng mt trong nhng phng php trnh by trong chng 4, sau mi p dng lut chnh nh ZN-1. Khi cc tham s ca b iu khin c xc nh da trn h s khuch i tnh k, hng s thi gian v thi gian tr . Nu qu trnh thc s l mt khu qun tnh bc nht c tr th ta ch vic thay th
a =k
Mt iu cng ngc nhin l trong bi bo ca Ziegler-Nichols [45], hai tc gi khng ni r rng cc cng thc chnh nh b PID p dng cho dng chun hay dng ni tip. S thc th thit b m phng m hai tc gi s dng cho nghin cu thc hin dng chun, trong khi h thng ng dng th nghim li thc hin dng ni tip. Tt nhin l trong trng hp p dng cho mt dng cha mang li cht lng mong mun, ta c th th chuyn sang dng khc. Phng php Ziegler-Nichols th nht c mt s nhc im nh sau: Vic ly p ng tn hiu bc thang rt d b nh hng ca nhiu v khng p dng c cho qu trnh dao ng (xem bnh lun trong chng 4) hoc qu trnh khng n nh (tr phi ch cha mt khu tch phn bc nht). i vi cc qu trnh c tnh phi tuyn mnh, cc s liu c tnh nhn c ph thuc rt nhiu vo bin v chiu thay i gi tr t. Phng php k tip tuyn cho cc s liu v a km chnh xc. c tnh p ng ca h kn vi gi tr t thng hi qu dao ng (h s tt dn khong 0.25). Theo kinh nghim, iu kin p dng phng php ny l t s / nm trong phm vi 0.10.6. Nu t l ny ln hn 0.6, ta cn p dng cc phng php chnh nh khc c ti b thi gian tr. Ngc li, mt t l nh hn 0.1 thng ng vi h bc cao, v th cn mt b iu khin bc cao tng ng ci thin c tnh ng hc.
8.2.2 Phng php da trn c tnh dao ng ti hn

Phng php th hai ca Ziegler-Nichols da trn c s cc tham s c tnh dao ng ti hn ca h kn (c tnh tn s) xc nh qua thc nghim. H s khuch i ti hn ca qu trnh l gi tr khuch i m mt b iu khin P a vng kn ti trng thi dao ng xc lp. Qui trnh chnh nh c thc hin theo cc bc nh sau:
404
1. t h thng ch iu khin bng tay v a dn h thng ti im lm vic, ch h thng n nh ti im lm vic 2. Chuyn h thng sang ch iu khin t ng vi b iu khin P. t h s khuch i kc tng i b v thay i gi tr t mt lng nh. 3. Tng dn h s khuch i kc cho ti khi u ra qu trnh t trng thi dao ng iu ha. Gi tr kc c gi l h s khuch i ti hn (ku) v chu k ca dao ng c gi l chu k dao ng ti hn (Tu). 4. La chn kiu b iu khin s dng thc v tnh ton cc tham s theo cc lut chnh nh a ra trong Bng 8-4.
Bng 8-4: Lut chnh nh Ziegler-Nichols th hai (ZN-2)
B iu khin P PI PID
kc
0.5ku 0.45ku 0.6ku
i
Tu/1.2 0.5Tu
d
0.125Tu
Trong trng hp thc s s s dng b iu khin P, vic t kc = 0.5ku c ngha l mang li d tr bin Am = 2.0. Khi s dng b iu khin PI, h s khuch i cn phi gim i mt cht (0.45ku) hn ch dao ng do thnh phn tch phn gy ra. Nu s dng b iu khin PID, tc dng n nh h thng ca khu vi phn li cho php tng h s khuch i ln i cht (0.6ku). Cng nh trong phng php ZN-1, mt iu cho n nay ngi ta vn cn tranh ci l lut chnh nh PID p dng cho dng chun hay dng ni tip. Tuy nhin, nhiu thc nghim cho thy rng lut chnh nh ny p dng cho dng chun mang li cht lng tt hn. u im ca phng php da trn dao ng ti hn l cc tham s c tnh ca qu trnh c xc nh trong vng kn, nn c th p dng c cho mt di rng qu trnh cng nghip, k c mt s qu trnh khng n nh. Cng vi nhng phn tch trong chng 4, cc nhc im chnh ca phng php ny bao gm: Qu trnh th nghim c tnh dao ng ti hn phi tin hnh lp i lp li khng nhng rt cng phu, m cn c th dn ti h mt n nh. Khng kim sot c ln ca p ng u ra, qu trnh dao ng lin tc c th gy nh hng ln ti cht lng sn phm Cc lut chnh nh ny c Ziegler-Nichols a ra theo kinh nghim t h s tt dn khong 0.25. V th, p ng h kn hi qu dao ng v h hi km bn vng vi sai lch m hnh.
8.2
405
8.2.3 Phng php t chnh phn hi r-le

khc phc hai nhc im u ca phng php Ziegler-Nichols th hai, strm v Hgglund [3] a ra mt phng php tm c tnh dao ng ti hn ca qu trnh bng cch dng mt khu phn hi r-le nh gii thiu trong chng 4 (mc 4.5.1). Cu trc minh ha trn Hnh 8-6 c th c s dng trong cc b iu khin t chnh. Khi ch chnh nh tham s (T), ta chuyn mch sang khu r-le v cho tn hiu t r = 0 (hay ni cch khc l gi gi tr t thc c nh ti im lm vic). Sau mt thi gian ngn, u ra ca i tng s t trng thi dao ng ti hn vi chu k Tu (nu n thc s c kh nng ). H s khuch i ti hn c tnh xp x theo cng thc:
ku = 4d / a
(8.24)
trong a l bin ca dao ng u ra y v d l bin dao ng dng xung vung ca tn hiu u vo u. Ty theo kiu b iu khin c th c chn l P, PI hoc PID, cc tham s c xc nh theo lut chnh nh ZN-2 nh tm tt trong Bng 8-4.
-d
T A
Qu trnh
PID
Hnh 8-6:
Cu trc t chnh vi khu phn hi r-le
Do vic tin hnh th nghim kh n gin v kh nng p dng c cho mt di rng cc qu trnh cng nghip, phng php chnh nh tham s PID da trn vng phn hi r-le c ng dng kh rng ri. Tt nhin, mt mt lut chnh nh ZN-2 hon ton da trn kinh nghim, mt khc cng thc xc nh cc tham s c tnh dao ng ti hn y ch l xp x, nn trong nhiu trng hp cht lng iu khin c th cha t yu cu. Nhng t ra phng php ny cng cho ta b tham s ban u, to c s cho cc bc tinh chnh tip theo. Trong mt cng trnh cng b khc cng nm [4], strm v Hgglund a ra k thut nn ng c tnh tn s h h tha mn ch tiu v d tr bin hoc d tr pha. Cng da trn phng php phn hi r-le, hng lot k thut ci tin c xut v p dng (xem [15] v ti liu cc trch dn trong ).
406
8.2.4 Phng php ca Tyreus v Luyben

Trong phng php c tnh dao ng ti hn, Ziegler-Nichols a ra cc lut chnh nh da trn kinh nghim t c h s tt dn xp x . Do , p ng h kn vi gi tr t c xu hng dao ng mnh v cho qu iu chnh qu ln. Hn na, b iu khin thng km bn vng vi sai lch m hnh. khc phc vn ny, Tyreus v Luyben sa li cc cng thc chnh nh theo hng gim h s khuch i, tng thi gian vi phn v thi gian tch phn [24], nh th hin trong Bng 8-5. B iu khin nhn c cho bin nh ca hm nhy thp (khong 2dB), h kn cng bn vng hn vi sai lch m hnh.
Bng 8-5: Lut chnh nh PI/PID theo Tyreus-Luyben [24]
B iu khin PI PID
kc
0.35ku 0.45ku
i
2.2Tu 2.2Tu
d
Tu/6.3
V d 8-1: Cho mt thit b trao i nhit vi hm truyn t t tn hiu iu khin van dng mang nhit v tn hiu o nhit ra ca dng qu trnh l G(s) = 0.75e1.21s (30s + 1)(5s + 1)(2s + 1) (8.25)
Ta s th nghim iu khin qu trnh ny s dng b PI v b PID chnh nh theo bn lut trnh by trn y. p dng phng php Ziegler-Nichols 1, trc ht ta dng lut chia i ca Skogestad a v m hnh qun tnh bc nht c tr:
5.71s (s) = 0.75e G 32.5s + 1
(8.26)
Phng php Ziegler-Nichols 2 i hi my m thc nghim tm ra im dao ng ti hn. Cc gi tr nhn c l ku = 19.1 v Tu = 24.9. Phng php nhn dng phn hi r-le cng cho ta kt qu gn ging ku = 17.4, Tu = 26.0. Gi tr cc tham s PI v PID chnh nh da trn bn phng php c lit k trong bng di y. Ring i vi phng php Tyreus-Luyben (TL) ta s dng c tnh tn s dao ng ti hn t nhn dng phn hi r-le. PI PID
Phng php Ziegler-Nichols 1 (ZN-1) Ziegler-Nichols 2 (ZN-2) strm-Hgglund (AH) Tyreus-Luyben (TL)
kc
6.83 8.60 7.83 6.09
i
18.84 20.75 21.67 57.20
kc
9.10 11.46 10.44 7.83
i
11.42 12.45 13.00 57.20
d
2.85 3.11 3.25 4.13
8.2
407
p ng qu ca h kn s dng b PI cho c 4 trng hp c minh ha trn Hnh 8-7. Ngoi tr vng iu khin chnh nh theo Tyreus-Luyben cn c th tm chp nhn c, cc vng iu khin cn li dao ng qu mnh v qu lu. iu ny c th gii thch qua tham s i c chn qu nh trong ba phng php u. Vng iu khin chnh nh theo TL mc d t dao ng hn, nhng li qu chm v qu iu chnh vn cn kh ln. Theo cc ch dn trong mc 8.1.4 v 8.1.5, y l du hiu cho vic cn phi b sung tc ng vi phn. Trn Hnh 8-8 l c tnh p ng vi gi tr t v vi nhiu qu trnh ca bn vng iu khin PID. Ti thi im t = 100 cn c nhiu bc thang n v (bin 1) tc ng ln u vo. Ba vng iu khin p dng lut chnh nh theo Ziegler-Nichols phn ng hi qu mnh vi thay i gi tr t, nhng c tnh loi b nhiu li kh tt. Vng iu khin chnh nh theo Tyreus-Luyben cho c tnh bm gi tr t rt tt, nhng p ng loi nhiu li chm hn nhiu so vi 3 vng kia.
2
Controlled Output y
ZN-1 ZN-2 AH TL
10
Control input u
1.5 1 0.5 0
ZN-1 ZN-2 AH TL
-5 0 50 Time (sec) 100 150
50
Time (sec)
100
150
Hnh 8-7:
p ng ca vng iu khin PI cho v d 8-1
2
Controlled Output y
Control input u
1.5 1 0.5 0
ZN-1 ZN-2 AH TL
15 10 5 0 -5
ZN-1 ZN-2 AH TL
50
100 Time (sec)
150
200
50
100 Time (sec)
150
200
Hnh 8-8:
p ng ca vng iu khin PID cho v d 8-1
408
1.5
Controlled Output y
10
Control input u
ZN-1 ZN-2 AH TL
0.5
ZN-1 ZN-2 AH TL
50
100 Time (sec)
150
200
50
100 Time (sec)
150
200
Hnh 8-9:
p ng ca vng iu khin PID cho v d 8-1 c ci thin thng qua s dng khu lc tn hiu t
y l mt v d tiu biu ch ra s mu thun gia hai yu cu cn tha mn. Gii php hp l y l s dng cu trc iu khin hai bc t do. Ta vn c th s dng cc b iu khin PID chnh nh theo Ziegler-Nichols c p ng loi nhiu nh mong mun, nhng b sung thm mt khu lc trc ci thin c tnh bm gi t. Chn khu lc trc
P(s) =
1 10s + 1
cho 3 vng iu khin u tin, ta nhn c kt qu m phng minh ha trn Hnh 8-9. Nh vy, khng nhng cht lng bm gi tr t c ci thin mt cch r rt, m ln ca tn hiu iu khin cng gim hn. Tt nhin, cng phi ni rng vng iu khin chnh nh theo Tyreus-Luyben c p ng rt t tn, nhng li c d tr n nh ln nht. Vic b sung khu lc tn hiu t cho 3 trng hp cn li tuy c ci thin c tnh bm gi tr t, nhng th khng th lm thay i tnh n nh bn vng ca h kn. V d 8-2: Mt qu trnh c m hnh l tng (ly t chng 4)
G(s) = 2 (s + 1)5
(8.27)
Ta s th nghim iu khin qu trnh ny s dng b PID chnh nh theo bn phng php khc nhau trnh by trong chng ny. p dng phng php Ziegler-Nichols 1, ta dng m hnh qun tnh bc nht c tr xc nh bng phng php hai im qui chiu t v d 4.2:
2.6 (s) = 2.0e G 2.85s + 1
(8.28)
Phng php Ziegler-Nichols 2 i hi my m thc nghim tm ra im tn s dao ng ti hn. Cc gi tr nhn c l ku = 1.45 v Tu = 8.6. Phng php nhn dng phn hi r-le cng cho ta kt qu xp x ku = 1.39, Tu = 8.8. Gi tr cc tham s
8.2
409
PID chnh nh da trn bn phng php c lit k trong bng di y. Ring i vi phng php Tyreus-Luyben (TL) ta s dng c tnh dao ng ti hn t nhn dng phn hi r-le.
Phng php ZN-1 ZN-2 AH TL
kc
0.66 0.87 0.83 0.63
i
5.20 4.30 4.40 19.36
d
1.30 1.07 1.10 1.40
p ng qu ca h kn vi thay i gi tr t v nhiu u vo cho bn trng hp c minh ha trn Hnh 8-10. Ti thi im t = 0 gi tr t tng t 0 ln 1 v ti thi im t = 40 c nhiu bc thang vi bin 0.5 tc ng ln u vo. Cht lng iu khin ni chung khng c tt, bi bc ca m hnh tng i cao. qu iu chnh hi ln th hin r hai vng iu khin p dng ZN-2 v phn hi rle, nhng y cng l hai vng c cht lng tt nht so vi cc trng hp khc. Ta c th gim qu iu chnh ca hai b iu khin ny bng cch s dng mt b lc tn hiu t tng t nh trong v d trc. Hai phng php ZN-1 v TL r rng u t ra hon ton khng ph hp y bi hai l do: i) t s / ln hn hn so vi gi tr 0.6 nh khuyn co v ii) phng php nhn dng v xp x mt m hnh bc cao vi cc hng s thi gian bng nhau v mt m hnh bc nht c tr to ra sai lch ln v mt cu trc. Phng php TL cho b tham s xu nht, p ng h kn va chm va c sai lch iu khin rt ln. Lu rng, m hnh xp x ch c s dng cho chnh nh tham s PID, cn cc chng trnh m phng u s dng m hnh l tng (ta coi nh qu trnh thc).
1.5
Controlled Output y
1.5 1 0.5 0 -0.5

ZN-1 ZN-2 AH TL
0.5
ZN-1 ZN-2 AH TL
20
40 Time (sec)
60
80
Control input u
20
40 Time (sec)
60
80
Hnh 8-10: p ng qu h kn cho v d 8-2
410
8.3 Cc phng php da trn m hnh mu

8.3.1 Phng php Haalman
Phng php do Haalman a ra nm 1965 [14], c th nghim thnh cng i vi c m hnh qun tnh bc nht c tr (8.1) v qun tnh bc hai c tr (8.3). T tng chnh ca phng php ny l tm cc tham s ca b iu khin K(s) sao cho hm truyn t ca h h c dng
L(s) = K (s)G(s) =
2 s e 3s
(8.29)
tng ng tn s ct c = 2/3 v d tr pha m 50 . Cc tham s ca b iu khin c xc nh da vo php tnh ngc K (s) = L(s)/G(s) , hay ni cch khc l da vo trit tiu im khngim cc (n nh). Phng php a ra cc cng thc c th cho tng lp m hnh thch hp nh sau: 1. i vi m hnh FOPDT (8.1), ta s dng thut ton PI vi cc tham s
kc =
2 , = 3k i
(2.30)
2. i vi m hnh SOPDT (8.3), ta s dng thut ton PID vi cc tham s

kc =
2(1 + 2 ) 12 , i = 1 + 2 , d = 3k 1 + 2
(2.31)
Phng php Haalman thch hp vi cc i tng c dao ng tt nhanh v thi gian tr tng i ln. Thc t, tn s ct c t l nghch vi thi gian tr , v th p ng h kn c th s qu nhanh v nhy cm vi nhiu (tn s cao) nu rt nh. Da trn phng php ca Haalman, Scattolini v Schiavoni a ra mt cng thc ci tin cho trng hp h bc nht c tr, s dng lut PI (xem [23]):
kc =
/ 2 m , i = min , c k
(2.32)
trong m v c tr thnh hai tham s thit k. Mt phng n l chn cho m mt gi tr c nh nh nht (v d 50o), cn c c xc nh sao cho thi gian qu ca h kn (bng 5c ) nh hn thi gian qu ca i tng (tng ng vi khong + 5 ) mt h s no . C ngha l
c =
5 + 5
vi nm trong khong [4, 10]. Tham s c hiu vi vai tr tng tc p ng ca h kn.
8.3
Cc phng php da trn m hnh mu
411
8.3.2 Phng php tng hp trc tip

Tng hp trc tip (Direct Synthesis, DS) l phng php tnh ton b iu khin trc tip t m hnh hm truyn t ca qu trnh v m hnh hm truyn t mong mun ca h kn ([12],[29]). Bnh thng, phng php tng hp trc tip khng nht thit phi a kt qu v dng PI/PID. Tuy nhin, nu chn m hnh h kn thch hp v s dng php xp x thnh phn tr v mt hm truyn t thc-hu t th ta c th dn dt cc cng thc chnh nh b iu khin PI/PID p dng cho mt s dng qu trnh tiu biu. Xt cu hnh iu khin phn hi quen thuc minh ha trn Hnh 8-1. K hiu hm truyn t mong mun ca h kn l Tm(s), trc ht ta c Tm (s) = y(s) K (s)G(s) = r (s) 1 + K (s)G(s)
T ta rt ra c cng thc tng hp trc tip b iu khin

K (s) =
1 Tm (s) G(s) 1 Tm (s)
(8.33)
C th thy, b iu khin K(s) cha bn trong nghch o m hnh ca qu trnh. Nh phn tch trong chng 7, iu kin cn h kn n nh ni y l G(s) khng c im khng hay im cc nm bn phi trc o. Vn cn li l cn chn Tm(s) sao cho tha mn cc yu cu v cht lng p ng h kn v kh nng thc thi ca b iu khin. Hn na, Tm(s) cng cn c chn theo nhng cu trc nht nh kt qu K(s) cui cng c dng PI hoc PID. Mt im ng ch l nu K(s) a c v dng PI hoc PID th n khng th c im cc hoc im khng nm bn phi trc o, hin tng trit tiu im cc khng n nh khng th xy ra. iu cng c hiu theo ngha ngc li l, ch cn G(s) c im khng hoc im cc nm bn phi trc o th ta khng th a K(s) v dng PI hoc PID. Chn m hnh mu ca h kn l mt khu qun tnh bc nht c tr
Tm = es cs + 1
(8.34)
trong l thi gian tr ca qu trnh v c l hng s thi gian qun tnh. Vic chn m hnh mu ca h kn c thi gian tr bng thi gian tr ca qu trnh l hon ton hp l, bi cng l kh nng tt nht ca h kn c th t c. Tc v cht lng p ng ca h kn ch cn ph thuc vo mt tham s thit k c. Gi tr c cng nh th p ng ca h cng nhanh, nhng cng lm cho tn hiu iu khin thay i mnh hn v h km bn vng hn vi sai lch ca m hnh. Trong mt s ti liu ngi ta cng s dng k hiu thay
412
cho c trong cng thc (8.34), nn phng php tng hp trc tip cn c gi l chnh nh lam-da [12]. Kt hp (8.33) v (8.34), ta i n cng thc tng qut cho xc nh hm truyn t ca b iu khin:
K (s) =
1 es G(s) cs + 1 es
(8.35)
S dng php xp x thnh phn tr mu s theo khai trin Taylor bc nht es 1 s , ta nhn c
K (s) =
1 es G(s) (c + )s
(8.36)
Lu rng, bn cnh sai s do php xp x thi gian tr gy ra th sai lch m hnh bao gi cng tn ti, nn ta ch c th hy vng l p ng thc ca h kn gn ging ch khng th l tng nh ca m hnh mu (8.34). Trong a s trng hp, ta phi chp nhn qu iu chnh mt mc no . M hnh qu trnh FOPDT i vi cc qu trnh c th m t bng mt khu qun tnh bc nht c tr (8.1), hm truyn t (8.36) tr thnh
K (s) =
s + 1 k(c + )s
(8.37)
cng chnh l hm truyn t ca b iu khin PI

1 KPI (s) = kc 1+ i s
vi cc tham s
kc = k(c + ) i =
(8.38)
M hnh qu trnh SOPDT i vi cc qu trnh c th m t bng mt khu qun tnh bc hai c tr (8.3), hm truyn t (8.36) tr thnh:
K (s) =
( 1s + 1 )( 2s + 1 ) k ( c + ) s
(8.39)
cng chnh l hm truyn t ca b iu khin PID l tng:
8.3
413
1 1+ KPID (s) = kc + d s i s
vi cc tham s
kc = 1 + 2 k ( c + ) i = 1 + 2 12 d = 1 + 2
(8.40)
Tt nhin, phng php tng hp trc tip cng p dng c cho nhiu dng m hnh khc. Trong mi trng hp, cn chn cng thc xp x ph hp cho thnh phn tr xut hin mu s ca mi biu thc c th a kt qu cui cng v cu trc PI hoc PID.
8.3.3 Phng php tng hp trc tip u tin khng nhiu

Phng php tng hp trc tip nguyn bn da trn c t hm truyn t mong mun t gi tr t ti u ra ca h kn, nn cho c tnh bm gi tr t kh tt. Nhng trong a s ng dng ca iu khin qu trnh th vic u tin khng nhiu c t ln hng u. Tuy nhin, i vi cc qu trnh c p ng chm vi nhiu hoc t s / rt nh th b iu khin nhn c p ng rt chm vi nhiu qu trnh. V vy gn y c nhiu phng php thit k ch trng vo vn ny, tiu biu l phng php tng hp trc tip p dng cho bi ton loi b nhiu ca Chen v Seborg [10], c vit tt l DS-d. Mc d phng php ny ch trng vo vic u tin khng nhiu, p ng vi gi tr t vn c tha mn khi dng trng s cho gi tr t vi cu hnh b iu khin hai bc t do. K hiu hm truyn t mong mun t nhiu qu trnh d ti u ra y ca h kn l Sm. Trc ht ta c
Sm =
y(s) Gd (s) = d(s) 1 + K (s)G(s)
T ta rt ra c cng thc tng hp trc tip b iu khin DS-d

K (s) = Gd (s) 1 SmG(s) G(s)
(8.41)
Nu m hnh hon ton chnh xc, hm truyn t h kn t r ti y s l

T (s) = 1 Sm (s) Gd (s)
(8.42)
414
Cng nh phng php tng hp trc tip theo m hnh p ng gi tr t, vn cn li l chn m hnh mu Sm v cng thc xp x thnh phn tr thch hp c th a (8.41) v dng b iu khin PI hoc PID. Trong [10], Chen v Seborg a ra cc phng n v dn gii lut chnh nh cho nhiu dng m hnh qu trnh khc nhau. Cng thc tnh ton cho mt s dng m hnh qu trnh tiu biu nht c tm tt trong Bng 8-6. Trong trng hp nhiu tc ng ti u vo qu trnh (tc l Gd = G), cc hm truyn t mong mun t nhiu ti u ra c chn nh sau: Nhm m hnh A: Nhm m hnh B: Nhm m hnh C: Nhm m hnh D:
Sm =
kd ses (cs + 1)2
(8.43) (8.44) (8.45) (8.46)
Sm = Sm =
Sm =
kd s(1 + 0.5s )es (cs + 1)3 kd ses (cs + 1)3

kd s(as + 1) (cs + 1)3
i vi trng hp tng qut, Gd G , cc lut chnh nh a ra trong Bng 8-6 vn hon ton s dng c, bi cc m hnh mu c chn li theo cng thc
* Sm =
Gd S G m
(8.47)
dn gii ra cc cng thc chnh nh, thnh phn thi gian tr mu s ca mt s hm truyn t (tnh ton trung gian) c xp x theo mt trong hai phng php: Khai trin Taylor: Xp x Pad:
es 1 s 1 0.5s es 1 + 0.5s
(8.48) (8.49)
u im ca phng php DS-d l cho php ta thit k b iu khin loi b tt nht nh hng ca nhiu qu trnh, sau c th ci thin p ng vi gi tr t bng cch s dng cc trng s trong cu trc PID thc hai bc t do. Nu chn c gi tr c hp l th h kn cho thi gian p ng vi gi tr t v nhiu kh nh. Cn ch l vi mt s gi tr c nht nh, cc tham s ca b PID c th c gi tr m v kt qu l b PID cho p ng ngc, trong trng hp ta phi chn li gi tr c. Cng cn lu rng c hai phng php tng hp trc tip (DS v DS-d) u khng p dng c trc tip cho qu trnh khng n nh, tr trng hp qu trnh ch cha mt khu tch phn.
Bng 8-6:
Lut chnh nh DS-d theo Chen & Seborg [10]
M hnh
kes s + 1
A
kes s
kkc
i c +
i
2 + (c )2 +
d

2 3 3c + 0.5 2(3c + 0.5) 2( + )c i (2 + )
i (c + )2
i (c + 0.5)2
2c +
3 2 (2 + 0.5 2 )(3c + 0.5) 2c 3c (2 + )
kes s + 1
B
kes s
i (c + 0.5)3 i ( + ) (c + )3 i [12 + ( 1 + 2 + ) ] ( c + )3
i [ 2 + (2 + ) ] (c + )3 i [12 ( 1 + 2 a ) a ] ( c + )3
3c + 0.5
3 (c + 0.5)3 2c i 2 3 3c + 3c c + 2 i ( + ) 2 3 3c 12 + 12 ( 3c + ) ( 1 + 2 + ) c i [12 + ( 1 + 2 + ) ]
2 2 3 3c + 2 ( 3c + ) ( 2 + ) c i [ 2 + (2 + ) ] 2 3 3c 12 12a (3c a ) (1 + 2 a )c i [12 ( 1 + 2 a ) a ] 2 3 3c 3c a c + a 2 i ( a )
kes s(s + 1)
C
kes (1s + 1)(2s + 1)
3c +
3 2 ( 1 + 2 + 12 )( 3c + ) c 3c 12 + ( 1 + 2 + )
3 2 (2 + 2 )(3c + ) c 3c 2 + (2 + ) 3 2 (12 1a 2a )(3c a ) c + 3c a 12 ( 1 + 2 a ) a
kes 2 s + 2 s + 1
k(as + 1) (1s + 1)(2s + 1)

D
k(as + 1) s(s + 1)
i ( a ) (c a )3
3c a
416
8.3.4 Phng php IMC

Phng php IMC (Internal Model Control) hay iu khin m hnh ni do Morari v cc ng s pht trin c ng dng rt thnh cng trong thc t. Nguyn l IMC v ng dng ca n trong chnh nh cc tham s PID ln u tin c gii thiu trong [13], sau tip tc c ci tin v cng b trong nhiu cng trnh khc. Ging nh phng php tng hp trc tip (DS), IMC da trn m hnh hm truyn t ca qu trnh v trc ht cho ta kt qu l mt b iu khin phn hi tng qut. i vi mt s dng m hnh qu trnh thng dng, ngi ta a c v dng PID chun v n gin ha cc lut chnh nh tham s. Mc ny gii thiu phng php chnh nh tham s PID da trn nguyn l IMC chun, p dng cho cc qu trnh n nh v qu trnh tch phn. Mt phng php p dng cho qu trnh khng n nh ([22] s c trnh by trong mc sau. (s) S cu trc IMC chun c minh ha trn Hnh 8-11. Mt m hnh G . Chnh lch y y l tn hiu c dng c lng u ra ca qu trnh, y ) v do sai s m hnh ( G G vo cho b iu khin IMC, Q. Ni chung y y nhiu d 0 khng c tnh n trong m hnh. Nh phn tch di y, trong th y = y v h thng tng ng vi s truyn trng hp d = 0 v G = G thng.
B iu khin phn hi r

d
+
Q(s)
G(s)
y
(s ) G
Hnh 8-11: S cu trc iu khin IMC
Trc ht, t s trn hnh Hnh 8-11 ta d dng vit c

y = Gu + d = G Q (r y ) + d 1 GQ
(8.50)
Chuyn v v gii theo y ta nhn c

y = GQ 1 GQ r+ d )Q )Q 1 + (G G 1 + (G G
(8.51)
= G , biu thc (8.51) c rt gn li Trong trng hp m hnh l tng G thnh:
8.3
417
y = GQr + (1 GQ )d
(8.52)
v ta c mt cu trc iu khin truyn thng thun ty. c p ng l tng, y = r, b iu khin IMC phi l nghch o ca m hnh i tng
Q = G 1
(8.53)
Nh ta phn tch trong chng 5, c hai vn ln trong cng thc (8.53) cn phi bn ti. Vn th nht l G1 s khng kh thi khi G c bc mu s ln hn bc t s hoc c cha khu tr trng hp lun xy ra trong thc t. Vn th hai l khi G c im khng nm bn phi trc o th d G1 c kh thi, b iu khin l tng s c im cc nm bn phi trc o v h iu khin s mt n nh ni. V th, Q cn phi c xp x m bo c tnh kh thi v tnh n nh ni. G cng nh d 0 v cu trc iu khin l Trong thc t ta lun c G mt s kt hp gia truyn thng v phn hi. Tc dng phn hi tn hiu sai , gip khc phc nhc im lch gia u ra thc v u ra c lng, y y ca iu khin truyn thng i vi sai lch m hnh v vi nhiu khng o c. Cng thc (8.50) cng ch ra rng s cu trc IMC tng ng vi cu trc iu khin phn hi truyn thng trn Hnh 8-1 vi
K = Q 1 GQ
(8.54)
Phng trnh (8.54) cng chnh l cng thc ni ting do Zames a ra trong mt nghin cu hon ton khc [44] cng thc tham s ha tt c cc b iu , vi iu kin Q cng n khin phn hi n nh ha cho qu trnh n nh G nh. iu ny ni ln tnh cht ch trong lp lun ca phng php IMC, m v Q n nh. bo h kn n nh ni khi G Ta i ti cc bc thit k b iu khin phn hi da trn phng php IMC nh sau: 1. Phn tch m hnh qu trnh v dng
=G +G G
+ cha thnh phn tr v cc im khng bn phi trc o nu c, trong G G+ c h s khuch i tnh bng 1.
2. Xc nh b iu khin IMC theo cng thc

Q = 1 F G
(8.55)
418
trong F l mt b lc thng thp vi h s khuch i bng 1. B lc thng thp F c vai tr kh thi ha b iu khin IMC. Mt trong nhng dng n gin nht ca F l
F = 1 (c s + 1)k
(8.56)
trong tham s k l mt s nguyn dng, c chn va ng bng bc . tng i ca G 3. p dng cng thc (8.54) a cu trc IMC v cu trc iu khin phn hi truyn thng. (kh o, khng c khu tr v khng c cc Vi vic s dng thnh phn G im khng bn phi trc o) v b lc F, b iu khin IMC thu c s kh thi v n nh. Phng php IMC chun da trn vic kh cc im cc-im khng, do i vi cc qu trnh vng h khng n nh ta cn sa i i cht nh s cp trong mc tip theo. xt mi lin h gia phng php IMC v phng php DS, trc ht ta = G ). p ng u ra s l gi s m hnh qu trnh l hon ton chnh xc ( G
+Fr + (1 FG + )d y =G
Hm truyn l tng ca h kn t r sang y l:

y +F =G r
(8.57)
T cng thc (8.57) ta c nhn xt rng phng php IMC v phng php DS c th cho p ng vng kn ging ht nhau (ngay c khi c sai s m hnh), nu hm truyn t mong mun ca h kn trong phng php DS c chn l
+F Tm = G
iu ny cng gii thch cho s tht l i vi mt s dng qu trnh, cc lut chnh nh tham s PID ca hai phng php cho kt qu ging ht nhau. Tng t nh phng php tng hp trc tip, c l hng s thi gian vng kn mong mun. Do quan h gia c v h s khuch i ca b iu khin, thng thng gim gi tr c cho ta cht lng bm gi tr t v loi b nhiu tt hn, nhng cng lm cho h nhy cm hn vi sai lch m hnh. Ngc li, chn c ln s cho b iu khin bn vng hn nhng phi chp nhn p ng chm hn. Mt vi gi cho vic chn c c a ra cho m hnh FOPDT: 1. c / > 0.8 v c > 0.1 2. > c > 0 3. c = (Rivera v cng s, [28]) (Chien v Fruehauf, [11]) (Skogestad, [30])
8.3
419
Cng trong ba cng trnh nu trn, cc tc gi dn gii cc lut chnh nh tham s cho b iu khin PID. Cc cng thc chnh nh cho tng loi m hnh khc nhau s la chn b lc v phng php xp x thi gian tr mu s ca mt s biu thc trung gian. Bng 8-7 lit k mt s cng thc chnh nh c n gin ha t [11], p dng cho nhng dng qu trnh tiu biu.
Bng 8-7:
Lut chnh nh IMC-PID theo Chien & Fruehauf [11]
M hnh
A
kck
c +
i (c + )2
i c + 0.5
2c +
+ 0.5
d

2i
kes s + 1
kes s
kes s + 1
kes s
kes s(s + 1)
k (1s + 1)(2s + 1)
i (c + 0.5)2
i (c + )2
i c i c i c + i c +
i c + a
2c +
(c + 0.25) i
2c + +
(2c + ) i 12 i 2 12 a i
1 + 2
2
k 2s + 2 s + 1
k(as + 1)es (1s + 1)(2s + 1)

k(as + 1)es 2s + 2 s + 1 k(as + 1) 2s + 2 s + 1
1 + 2 a
2 a
2
a i
2 12 a + i c + a +
k(as + 1)es (1s + 1)(2s + 1) k(as + 1)es 2s + 2s + 1
i c + a + i c +
1 + 2 +
a c + a +
2 +
a c + a +
2 a + i c + a +
420
Trong trng hp t s / 1 , c tnh bm gi tr t ca cc b iu khin chnh nh theo phng php IMC hoc DS chp nhn c, nhng p ng vi nhiu qu trnh li rt chm bi hng s thi gian tch phn i tng i ln. Khi , ta c th chn mt trong ba cch khc phc l: Xp x khu c qun tnh ln bng mt m hnh tch phn bc nht:
G(s) = k k es es s + 1 s
Hn ch gi tr i theo cng thc ca Skogestad [30]:

i* = min { i , 4(c + ) }
S dng phng php DS-d trnh by trong mc 8.3.3.

V d 8-3: Tr li bi ton iu khin thit b trao i nhit t v d 8-1:
G(s) =
0.75e1.21s (30s + 1)(5s + 1)(2s + 1)
(8.58)
Ta s th nghim cc b PID chnh nh theo phng php Haalman, DS, DS-d v IMC da trn m hnh xp x SOPDT. M hnh nhn c thng qua gim bc (8.58) theo lut chia i nh sau:
(s) = G
0.75e2.21s (30s + 1)(6s + 1)
(8.59)
Ta chn tham s thit k c = 3.71. Bng di y lit k cc tham s PID nhn c. Hai phng php DS v IMC cho kt qu hon ton ging nhau. Trn Hnh 8-12 l c tnh p ng vng kn vi thay i gi tr t v nhiu qu trnh. Phng php Haalman DS DS-d IMC
kc
14.48 8 20.83 8
i
36 36 12.76 36
d
5 5 3.28 5
Ta thy rng cht lng bm gi tr t ca vng iu khin chnh nh theo DS-d cha tt, nhng kh nng loi b nhiu li tt nht. c tnh p ng ca cc vng iu khin cn li khng khc nhau nhiu (vng IMC v DS hon ton ging nhau). Tt nhin, ta c th ci thin c tnh bm gi tr t ca vng DS-d bng cch s dng khu lc gi tr t. Vi khu lc bc hai
P(s) =
1 (5s + 1)2
ta nhn c p ng nh minh ha trn Hnh 8-13.
8.3

2 40
421
Controlled Output y
Control input u
1.5 1 0.5 0
Haalman DS DS-d IMC
20
Haalman DS DS-d IMC
-20 0 50 100 Time (sec) 150 200
50
100 Time (sec)
150
200
Hnh 8-12: p ng ca cc vng iu khin PID cho v d 8-3

1.5
Controlled Output y
20
Control input u
10
0.5
Haalman DS DS-d IMC
50
100 Time (sec)
150
200
-10
Haalman DS DS-d IMC
50
100 Time (sec)
150
200
Hnh 8-13: Vng iu khin chnh nh theo phng php DS-d cho v d 8-3 c ci thin nh khu lc tn hiu t So snh vi cc kt qu trong v d 8-1, ta thy rng c tnh loi b nhiu ca vng iu khin chnh nh theo mt trong nhng phng php y u kh hn ng k so vi nhng phng php n gin ca Ziegler-Nichols v Tyreus-Luyben. Tuy vy, xt v cht lng bm gi tr t th nhng phng php tng hp y khng hn g cc phng php n gin c s dng khu lc tn hiu t. C th u im vt tri ca nhng phng php y nm tnh bn vng, vn ny dnh cho bn c nghin cu.
8.3.5 Phng php IMC cho qu trnh khng n nh

Phng php IMC c th p dng cho mt qu trnh khng n nh bng cch s dng cu trc iu khin tng, trong vng iu khin bn trong c vai tr n nh trc qu trnh. Tuy nhin, cu trc tng i hi vng iu khin bn trong phi nhanh hn nhiu so vi vng IMC. Xem li dn gii phng php IMC chun, ta thy rng vn gy lo ngi nm ch vic trit tiu im cc
422
khng n nh ca qu trnh dn ti h mt n nh ni. Hai phng php khc c xut l: Phng php ca Lee, Lee v Park [22]: Tnh ton b iu khin IMC (Q) , cc im khng ca n kh cc im cc khng n nh ca m hnh G nhng b iu khin phn hi nhn c vn phi a v dng PID chun khng c im khng nm bn phi trc o. V th, b iu khin ci t thc khng trit tiu im cc khng n nh ca qu trnh. Phng php ca Tan, Marquez v Chen [38]: M rng cu trc IMC chun, , sau mi thit k b s dng mt vng iu khin n nh cho m hnh G iu khin IMC. Kt qu cui cng l mt cu trc iu khin m rng, khng th a v cu trc iu khin phn hi truyn thng thun ty. Phng php ca Lee-Lee-Park Trc ht ta cha quan tm ti tnh n nh ni ca h thng. Sa li biu thc (8.52) cho trng hp hm truyn t nhiu Gd 1 ta c:
y = GQr + (1 GQ)Gd d
Ta nhn thy rng c p ng l tng vi c gi tr t r v nhiu d ta cn Q kh cc im cc ca G v (1 GQ) kh cc im cc ca Gd. Tng t nh cch tin hnh trong phng php IMC chun, m hnh qu trnh c phn tch thnh:
=G zG p G
(8.60)
z ch cha thnh phn tr v cc im khng bn phi trc o (nu trong G z c h s khuch i tnh bng 1. Phn cn li k c cc thnh phn c), G p . cha im cc khng n nh c t trong G B iu khin IMC c a ra di dng
1 p Q =G Fs Fd
(8.61)
trong Fs l thnh phn nh hng ti cht lng b iu khin v Fd l thnh phn kh cc im cc khng n nh hoc cc im cc rt b ca Gd . Ta chn
Fs =
m 1 1 i si + 1 = F , d n m ( cs + 1 ) ( cs + 1 ) i =1
(8.62)
trong n c chn sao cho b iu khin l kh thi, m l s im cc khng n nh ca Gd, c ng vai tr l tham s chnh nh v i quyt nh vic kh cc im cc khng n nh ca Gd. Cc gi tr i c xc nh thng qua gii phng trnh
(si )Q = 0 1 G
(8.63)
8.3
423
vi si l cc im cc khng n nh ca Gd. B iu khin IMC tr thnh

Q =
1 p G
( cs + 1 )
m +n
m i si + 1 i =1
(8.64)
B iu khin phn hi tng ng vi cu trc iu khin IMC c xc nh t hai cng thc (8.54) v (8.64):
Q = 1 GQ
1 p G i si + 1 i =1 m
K =
( cs + 1 )
m +n
z (s) i si + 1 G
i =1
(8.65)
a hm truyn t (8.65) v dng PID chun, ta vit li di dng

K (s) = f (s) s
Khai trin chui Maclaurin

K =
" 2 f (s ) 1 f ( 0 ) + f ' ( 0 )s + f ( 0 )s s s 2!
ta nhn c b iu khin PID thng dng

1 K = kc + d s 1+ i s
vi cc tham s quen thuc c xc nh theo cng thc:

kc = f ' ( 0 ) , i = f ' (0) f " (0) , d = ' f (0) 2f ( 0 )
(8.66)
Lee v cng s dn gii cc cng thc chnh nh cho mt s m hnh qu trnh khng n nh tiu biu, nh c tm tt li trong Bng 8-8. iu kin p dng c a ra l Gd = G (nhiu u vo) v 0 / < 2 . Bn cnh , cc tc gi cng a ra hng dn cho vic chn khu lc gi tr t P khi s dng b iu khin hai bc t do:
1 u = kc Pr y + (Pr y ) + d s(Pr y ) i s = G , hm truyn t ca h kn l Gi s G T (s ) = z m y G i 1 = GQ = + s i r ( cs + 1 )m +n i =1
(8.67)
(8.68)
424 Bng 8-8:
Chng 8: Chnh nh b iu khin PID Lut chnh nh IMC-PID theo Lee-Lee-Park (LLP) [22]
M hnh
Lut chnh nh
kc
i k(2c + )
2 c + 0.52 2c +
i
kes s 1
d
P(s)
2 1 2(0.167 0.5) c + 0.52 i 2c + 2c +
1 s + 1
2 c e / =
kc
i k(2c + )
2 c + 0.52 2c +
i
kes (1s 1)(2s + 1)
1 + 2 +
d
P(s)
2 2 1 2(0.167 0.5) c + 0.5 (2 1 ) 12 i 2c + 2c +
1 s + 1
2 c / = 1 e 1 1
kc
i k(4c + 1) 1 2 + 1
2 6c + 1 2 0.52 4c + 1
kes (1s 1)(2s 1)
1 4 3 + 2 + 0.167 3 0.512 2 (2 1 )1 + 12 c i 4c + 1
2 + 1 2 0.52 6c 4c + 1
P(s)
1 2s 2 + 1s + 1
2 s 1, 2 l nghim ca 1 (2s + 1s +41)e = 0 vi s = 1/1, 1/2 (cs + 1)
8.3

m
425
Thnh phn nhanh pha i si + 1 trong (8.68) l nguyn nhn gy qu iu i =1 chnh cho p ng vng kn. V th, khu lc tn hiu t nn c chn l
P(s) = 1
i =1 m
i si + 1
By gi ta cp ti vn n nh ni ca h kn khi s dng phng php ca Lee-Lee-Park. Mc d trong qu trnh dn dt ta thy r vic chn Q kh im cc khng n nh ca G v Gd l vi phm vo nguyn tc n nh ni ca h kn, kt qu xp x v b iu khin PID li cho ta mt ci nhn khc. Nh phn tch trong chng 7, nu cc tham s ca b iu khin PID (kc, i, d) u c chn ln hn khng (cng nh c th i = v d = 0) th n khng th trit tiu im cc khng n nh no ca G hoc Gd. Do , nguyn l n nh ni khng b vi phm y. Tt nhin, iu ny khng c ngha l h kn s c m bo n nh ni, nhng mt khi cc tham s PID c chn lm h kn n nh th cng c ngha l n nh ni.
V d 8-4: Mt qu trnh phn ng khng n nh c m hnh:
G(s) =
0.85e1.2s (10s 1)(5s + 1)
(8.69)
p dng phng php Lee-Lee-Park v chn c = 2.0, cc tham s tnh ton theo cng thc chnh nh trong Bng 8-8 l: kc = 13.2024, i = 11.6255, d = 3.0578, = 6.2360 c tnh p ng h kn vi gi tr t v nhiu u vo c minh ha trn Hnh 8-14. Ta thy c tnh bm ca h kh t tn, th hin vai tr ca khu lc trc. Cht lng loi b nhiu cng c th coi l rt tt, ring tn hiu iu khin thay i hi mnh.
1.5
Controlled Output y
10
Control input u
0.5
10
20
30 40 Time (min)
50
60
-5
10
20
30 40 Time (min)
50
60
Hnh 8-14: p ng iu khin qu trnh khng n nh (v d 8-4)
426
8.3.6 Phng php xp x c tnh tn

Cc phng php chnh nh tham s PID da trn m hnh mu l hm truyn t nh IMC, DS, DS-d u gp phi mt tr ngi chung i vi qu trnh c m hnh bc cao hoc/v c tr. Vic gim bc mt m hnh bc cao hoc xp x thi gian tr l mt bc gy ra sai lch m hnh, c th nh hng khng nh ti cht lng iu khin. khc phc kh khn trn, ta c th s dng phng php cn bng m hnh da trn p ng tn s hay xp x c tnh tn (frequency response fitting, FRF). tng ca phng php ny cng l da trn m hnh ca i tng bit, ta phi thit k b iu khin sao cho p ng ca vng kn ging vi m hnh mong mun. im khc bit ca phng php ny so vi cc phng php thit k theo m hnh mu khc nh phng php Haalman, tng hp trc tip (DS, DS-d) hay m hnh ni (IMC) l: M hnh qu trnh v m hnh mu c th dng cng thc hm truyn t (bc ty ) hoc di dng s liu c tnh tn. Vic tnh ton cc tham s ca b iu khin khng da trn cc php bin i ton hc m da trn vic tm nghim ti u ton phng ca mt h phng trnh tuyn tnh. Gi s c tnh p ng tn s ca qu trnh l G(j), hm c tnh tn ca vng iu khin kn l:
T ( j ) = K ( j )G( j ) 1 + K ( j )G( j )
(8.70)
Ta phi xc nh cc tham s ca b iu khin sao cho sai lch gia T(j) v hm c tnh tn mong mun Tm(j) l nh nht theo nguyn tc bnh phng ti thiu. V mc ch iu khin ta thng ch cn quan tm ti mt s im tn s ri rc i trong phm vi t 0 ti tn s ti hn ca qu trnh, u. Tiu chun xc nh sai lch l bnh phng sai lch tuyt i gia hai tp s liu c tnh tn:
Q =
T (j i ) Tm (j i ) 2
i =1
(8.71)
Vic xc nh cc tham s ca b iu khin cc tiu ho Q thc cht l gii bi ton ti u. Kt hp (8.70) v (8.71), vic cc tiu ho Q tng ng vi cc tiu ho:
Q' =
K (j i ) K *(j i )
i =1
(8.72)
trong
8.3
427
K *( j i ) =
Tm ( j i ) G( j i )[1 Tm ( j i ) ]
(8.73)
C th thy rng K*(ji) chnh l gi tr c tnh tn mong mun ca b iu khin ti cc tn s i. t:

Q1 = Q2 =
Re(K (j i )) Re(K *(j i )) Im(K (j i )) Im(K *(j i ))

i =1 i =1 n
(8.74) (8.75)
Ta c
Q ' = Q1 + Q2
(8.76)
i vi b iu khin PID biu din di dng song song (8.16), c tnh tn s ca n l

K ( j ) = k p + ki k + j kd = kp + j (kd i ) j
(8.77)
D thy, Q1 ch ph thuc vo kp, trong khi Q2 ch ph thuc vo ki v kd nn bi ton c a v cc tiu ho c lp Q1 v Q2. Lu rng, Q1 v Q2 l cc hm thc tuyn tnh i vi kp, ki v kd nn bi ton c th gii quyt d dng bng cch tm nghim xp x bnh phng ti thiu (xem chng 4). p ng mong mun ca h kn thng c dng dao ng bc hai tt nhanh vi qu iu chnh nh, nn ta chn m hnh h kn dng:
Tm (s) =
2 m em s 2 s 2 + 2m s + m
(8.78)
H s thng c ly c nh l 0.707 (tng ng vi 5% qu iu chnh), cn m tr thnh mt tham s thit k c chn trong khong [0.6-1]u. Gi tr m tt nht c chn bng thi gian tr ca qu trnh nu hng s ny bit trc.
V d 8-5: Tr li bi ton iu khin thit b trao i nhit t v d 8-1 v 8-3:
G(s) =
0.75e1.21s (30s + 1)(5s + 1)(2s + 1)
(8.79)
Chn = 0.7 v m =0.8u = 0.824.9 = 19.92, ta nhn c cc tham s nh sau: kp = 5.9951, ki = 0.1454, kd = 18.1753 Trn Hnh 8-12 l kt qu m phng p ng vng kn vi cc tham s PID trn y cng vi kt qu m phng vi phng php IMC t v d 8-3. Ta thy rng, phng php cn bng c tnh tn s cho kt qu rt kh quan c v cht lng bm gi tr t v cht lng loi b nhiu.
428
1.5
Controlled Output y
Cn bng c tnh tn M hnh mu IMC
0.5
50
100 Time (sec)
150
200
u nhc im ca phng php v cc vn cn ch Khc vi cc phng php thit k theo m hnh mu khc, phng php xp x p ng tn s khng cn cng thc hm truyn t ca i tng m s dng gi tr hm c tnh tn ti cc tn s khc nhau. Vic xc nh cc gi tr ny c th bng cc phng php nhn dng vng h nh kch thch tn hiu iu ho, tn hiu xung v phn tch mt ph. Ta cng c th s dng cc phng php nhn dng trong vng kn nh phng php phn hi r-le vi cc thi gian tr ca rle khc nhau (xem chng 4), hoc cng c th phn tch mt ph ca vng kn dng b iu khin P sau tnh ra c tnh tn ca i tng. Vi nhng phng php ny th sai s m hnh ch do o c v tnh ton s, khng c sai s do xp x, gim bc m hnh c tham s. Khi cn bng v xp x m hnh ta ch lm vic vi cc gi tr s nn d lp trnh, t ng chnh nh trong khi cc phng php thit k theo m hnh mu khc thng da trn bin i cc biu thc ton hc kh lp trnh t ng hn. V ch lm vic vi cc gi tr s m khng quan tm n cu trc ca m hnh: qun tnh, dao ng, tch phn, pha khng cc tiu, nn phng php ny p dng mt quy trnh tnh ton thng nht cho mi loi i tng. Nu la chn m hnh mu v cc tn s mu tt th b iu khin thu c s cho cht lng khng km nhng phng php khc. Tuy l phng php thit k da trn m hnh i tng nhng phng php xp x p ng tn s cng c th coi l dng m rng ca phng php thit k theo d tr bin v d tr pha ca strm v Hgglund (xem mc 8.4.3): phng php di chuyn mt im trn ng Nyquist ca i tng (thng l im ti tn s ti hn) ti mt im bt k trn mt phng cng chnh l phng php xp x p ng tn s trong ch s dng mt tn s mu duy nht, hm mc tiu Q = 0 v m hnh mu l m hnh ca h h (c th chuyn i d dng v m hnh h kn). T quan im ny c th thy phng php ny
8.3
429
xem xt nhiu gi tr tn s hn phng php thit k theo d tr binpha nn nu Q nh th phng php xp x p ng tn s cho kt qu tt hn. Phng php bnh phng ti thiu tuy cc tiu ho Q nhng khng m bo gi tr cc tiu nm trong gii hn cho php nn nu la chn m hnh mu khng ph hp (v d m hnh mu c bc qu thp so vi i tng) th kt qu thu c c th khng t yu cu. n gin ta ch cc tiu ho Q ti mt s hu hn cc tn s ri rc nn ti cc tn s khc sai lch gia p ng tn s thc ca h kn v p ng tn s mong mun c th rt ln mc d Q rt nh, thm ch bng khng (c tnh tn thc ct c tnh tn mong mun ti cc tn s mu). Do khng c cn trn cho sai lch gia p ng tn s thc v p ng tn s mong mun nn ta cng khng c gii hn cho cc ch tiu thit k nh gii hn qu iu chnh. Khi chnh nh b iu khin PID, mt yu cu quan trng l cn bng gia yu cu cht lng v bn vng, i vi phng php xp x p ng tn s iu ny c th t c bng cch la chn m hnh mu. Tuy nhin khng c mt tiu ch r rng cho vic la chn m hnh, cc i lng c trng cho bn vng khng tham gia trc tip vo qu trnh tnh ton thng s b PID do trc khi qu trnh tnh ton kt thc ta khng th xc nh tng i chnh xc mc bn vng ca h thng nh mt s phng php khc. Tt nhin nu s lng tn s mu ln th sau khi tnh ton xong cc tham s PID ta c th kim tra cc ch tiu bn vng v tin hnh chnh nh li nu cn. Qua cc phn tch trn c th thy im mu cht trong phng php xp x p ng tn s l vic la chn m hnh mu v tn s mu: Trong iu khin ta quan tm ti cc tn s trong khong t 0 n u nn tn s mu cng c chn trong khong ny, c bit l khu vc gn u. Nu chn tn s mu qu cao vt ra ngoi khong trn th kt qu thu c c th (v thng l) rt xu do sai s ti cc tn s thp b tng ln nhiu. Tn s mu c th chn cch u hoc khng cch u min sao khong cch gia cc tn s mu khng qu ln, tt nht la chn sao cho thun li cho qu trnh nhn dng. V trong b PID c thnh phn tch phn nn p ng ti tn s = 0 l T(j0) = 1 hon ton trng vi p ng mong mun. Do ta khng cn chn cc tn s mu qu gn 0. m bo cc phng trnh cc tiu ho Q1 v Q2 gii c ta cn t nht 2 tn s mu. Tuy nhin b iu khin c cht lng tt th cn ly t nht t 4 n 10 tn s mu tu tng trng hp. S lng tn s mu khng nh hng n phc tp ca thut ton nn vic la chn tu thuc vo qu trnh nhn dng.
430
Cc m hnh mu thng c la chn trong thc t l m hnh bc nht hoc bc hai c tr hoc khng c tr. Cc phng php thit k theo m hnh mu da trn hm truyn t ca i tng thng dng m hnh bc nht lm mu c th rt ra c hm truyn t ca b iu khin PID v cng n gin ho cc biu thc tnh ton. Tuy nhin i vi phng php xp x p ng tn s nu i tng c bc cao th vic xp x v m hnh bc nht c th gy sai s ln ng thi cc thng s la chn ca m hnh cng khng nhiu. Vic la chn cc tham s m hnh mu (v d hng s thi gian) c th da theo hng s thi gian, thi gian tr ca i tng nu bit, ging nh cc phng php thit k theo m hnh mu khc. Nu khng ta c th la chn da theo tn s ti hn u ca i tng. Vi i tng c thi gian tr thc s (khng phi do nhn dng xp x) th p ng phi tr ti thiu khong thi gian . Vic la chn m hnh mu khng c tr cho d cc thng s c tnh theo u, tc l gin tip lin quan n thi gian tr s gy ra sai lch Q ln nh hng n cht lng iu khin v bn vng ca h thng, c bit khi thi gian tr ln. Do m bo kt qu thu c tt cn b sung thnh phn tr trong i tng vo m hnh mu. Vic xc nh hng s thi gian tr c th thng qua phn tch cu trc thc t ca i tng, qua p ng qu hoc s dng chnh cc thng tin v p ng tn s nu ta bit trc (hoc gi nh trc) cu trc hm truyn t ca i tng.
8.4 Cc phng php nn c tnh tn

8.4.1 Phng php ti u i xng
Phng php ti u i xng (Symmetrical Optimum, SO) c Kessler a ra nm 1958 ([19],[20]), t tng ca n c pht trin v ng dng rng ri trong nhng nm gn y. Gi s m hnh i tng c dng:
G(s) = kes
m k =1 (1
+ s k )n h =1 (1 + s h )
(8.80)
Gi tr m = 1 tng ng vi mt khu qun tnh bc nht c tr, m = 2 tng ng vi mt khu qun tnh bc hai c tr, tuy nhin y cn cho php mt s phn t ng hc khc. Gi thit:
k
h =1
(1 + s h ), k
(hay k h )
(8.81)
8.4
Cc phng php nn c tnh tn
431
Ta c th xp x nh sau:
= + h
h =1 n
(8.82)
Khi m hnh xp x ca i tng l:

(s ) G
kes (1 + s )m k =1 (1 + s k )
By gi ta phi tm c tham s ca b iu khin tho mn iu kin sau: Tn s ct c = 1/ 2 c tnh bin logarith ca h h ( 20 log L ( j ) ) c dc l 20 db/dec trong phm vi tn s t 1 / 4m n 1 / . Phng php ti u i xng cng chnh l mt phng php tng hp b iu khin da theo m hnh, c th bng cch nn vng h (open loop shaping). Tn gi ca phng php ti u i xng mun ch ra rng c tnh bin i xng qua tn s ct, cho mt p ng tha hip vi tn hiu ch o cng nh nhiu o (v th c khi nim ti u). Phng php ti u i xng thch hp vi cc i tng c thi gian tr nh ( k ). Mt im c trng ca phng php ny l qu iu chnh thng hi ln (20-25%), tuy nhin ta c th gim bt bng cch b sung khu lc trc cho tn hiu ch o hoc s dng trng s cho gi tr t nh cp trong phn trc. Bng 8-9 tng hp cc cng thc xc nh tham s PID p dng cho i tng bc hai c tr vi iu kin l 1 2 .
Bng 8-9: Lut chnh nh PID cho i tng bc hai theo phng php SO
B iu khin PI PID ( 2 4 ) PID ( 2 8 )
k
1 2k 12 2 8k
i
4
4 4 2 2 + 4
16
2 + 4
1(2 + 4 ) 2 8k
432
8.4.2 Phng php kappa-tau

Phng php kappa-tau () do strm v Hgglund pht trin [2], da trn tng chnh l cc i ha h s khuch i tch phn ki = kc/i vi iu kin rng buc v bin nh hm nhy MS:
M S = max S ( j ) = max

1 max MS 1 + L( j )
(8.83)
max Thng thng, M S c chn l 1.4 (p ng t tn) hoc 2.0 (p ng nhanh). B iu khin c chn c cu trc hai bc t do theo chun ISA vi h s c c chn bng 0 (xem li chng 6, mc 6.3.6). Vic tham s ha cho b PI hoc PID da trn m hnh FOPDT (phng php trn min thi gian) hoc c tnh tn s ti hn (phng php trn min tn s). Vi phng php trn min thi gian, m hnh qu trnh c s dng l qun tnh bc nht c tr, c hoc khng c thnh phn tch phn. H s khuch i chun ha v thi gian tr chun ha (tau) c nh ngha l:
=k
, = p + p
(2.84)
Cc tham s ca b iu khin PI/PID c xc nh theo cng thc sau:

kc = A0 (A1 +A2 2 ) e
2
i = B0e(B1 +B2 d = C 0e b = D0e(D1 +D2

2
(2.85)
(C1 +C 2 )
2
Cc h s Ai, Bi, Ci v Di c tra theo Bng 8-10, ng vi tng loi i tng (c hoc khng c thnh phn tch phn), lut iu khin v yu cu bin nh hm nhy. Thc cht, cc h s ny c a ra t vic p dng thit k t im cc tri cho nhiu qu trnh khc nhau v sau tin hnh ni suy tng kt thnh cc cng thc chnh nh n gin. Phng php da trn min tn s s dng tham s (kappa):
= G( j u ) 1 = G(0) kku
(8.86)
cng vi chu k dao ng ti hn Tu. Cc lut chnh nh tham s PI/PID (k c trng s cho gi tr t) do strm v Hgglund a ra c tm tt li trong Bng 8-11. Phng php da trn min tn s cho php p dng vi nhiu dng qu trnh hn. c bit, nu kt hp vi nhn dng phn hi r-le ta s c trong tay mt phng php tng i a nng, d p dng trong thc t.
8.4
433
Bng 8-10: Cc h s chnh nh tham s PI/PID theo phng php Kappa-tau trn min thi gian [2] Cha khu tch phn Lut iu khin MS A0 A1 A2 B0 B1 B2 C0 C1 C2 D0 D1 D2 0.81 0.73 1.9 0.48 0.78 -0.45 Khng PI 1.4 0.29 -2.7 3.7 8.9 -6.6 3.0 Khng PI 2.0 0.78 -4.1 5.7 8.9 -6.6 3.0 Khng PID 1.4 3.8 -8.4 7.3 5.2 -2.5 -1.4 0.89 -0.37 -4.1 0.4 0.18 2.8 Khng PID 2.0 8.4 -9.6 9.8 3.2 -1.5 -0.93 0.86 -1.9 -0.44 0.22 0.65 0.051 0.33 2.5 -1.9 0.78 -1.9 1.2 C PI 1.4 0.41 -0.23 0.019 5.7 1.7 -0.69 C PI 2.0 0.81 -1.1 0.76 3.4 0.28 -0.0089
Bng 8-11: Lut chnh nh tham s PI/PID theo phng php kappa-tau trn min tn s [2]
MS 1.4 PI 2.0 1.4 PID 2.0
k c/ k u
i/Tu
2
d/Tu
2
0.53e 2.92.6 0.13e1.91.6

0.33e0.31
0.9e4.4 +2.7 0.9e4.4 +2.7
1.1e0.006 +1.8 0.48e 0.40.17

2
0.76e1.60.36
2
0.17e0.462.1
0.58e1.3 +3.5
0.72e1.6+1.2
0.59e1.3+0.38
0.15e1.4+0.56
0.25e 0.560.12
8.4.3 Phng php da trn d tr bin-pha

Sau khi xc nh c h s khuch i ti hn ku v tn s ti hn u, thay v tnh ton tham s PID theo lut ZN-2, ta c th tm cch nn ng c tnh tn s Nyquist ca h h sao cho t c d tr bin v d tr pha nh mong mun. Phng php d tr bin v pha (Gain and Phase Margin,
434
GPM) c t rt lu, nhng thng thng c thc hin bng cng c th Bode hoc phng php s, kh p dng cho mc ch t ng chnh nh tham s trc tuyn. Cng vi cng b phng php phn hi r-le, strm v Hgglund a ra cc cng thc chnh nh n gin da trn yu cu v d tr bin v d tr pha [4]. Cc tham s ca b iu khin c tnh ton da trn vic dch chuyn mt im bt k trn ng th Nyquist ti mt v tr xc nh. Mt s tc gi pht trin da trn tng ny v a ra cc phng php ci tin ([16],[37]). Chnh nh theo d tr bin Khi h s khuch i ti hn ku v tn s dao ng ti hn u bit, ta c th chn b iu khin P h kn c d tr bin l Am:
kc =
ku Am
(8.87)
Ta cng d dng ch ra rng, bt k mt b iu khin PID no c h s khuch i xc nh theo (8.87) v hng s thi gian vi phn
d =
1
2 u i
(8.88)
cng to ra d tr bin Am. T , ta c th chn hng s thi gian tch phn ty c th tha mn cc ch tiu cht lng khc, sau xc nh kc v d theo (8.87) v (8.88). Chnh nh theo d tr pha T tng chnh trong phng php chnh nh theo d tr pha ca strm v Hgglund c minh ha trn Hnh 8-16. Xt mt im A bit trn ng th Nyquist ca h h. Vi cc b iu khin PI hoc PID, ta c th dch chuyn A ti mt v tr bt k trn mt phng phc. V d, im A c th c dch chuyn theo chiu ca G(j) bng cch thay i h s khuch i kc hoc theo hng hai hng vung gc thng qua thay i h s khuch i tch phn ki cng nh h s khuch i vi phn kd. Tn s dao ng ti hn u cng chnh l tn s m th Nyquist ca qu trnh ct trc thc v bn tri. Nay ta mun dch im tng ng vi tn s v mt im trn ng trn c bn knh a v gc pha l m . lm c iu , cc tham s ca b PID phi tho mn hai phng trnh:
kc = a
cosm = aku cosm G(i u ) 1 u d = tan m u i
(8.89) (8.90)
8.4
435
Im(G)
1 G( j ) j
(I)
Re(G) A G( j ) (P)
j G( j ) (D)
Hnh 8-16: Vai tr nn c tnh tn ca b iu khin PID
Thng thng, gi tr a bo m d tr bin ln hn 1/(acosm), v th ta nn chn a trong khong t 0.51. C nhiu gi tr i, d tho mn iu kin (8.90). Ta c th chn theo quan h
i = d
(8.91)
T ta c
tan m + 4 + tan2 m 2u
d =
(8.92)
C nhiu cch khc la chn cc tham s, chng hn ta c th chn i sao cho u i = l hng s. Khi :
i =
u
1
(8.93)
d =
tan(m ) + u
(8.94)
Phng php da trn d tr bin pha cn c thm nhiu ci tin khc. V chi tit, bn c c th tham kho ti liu [2].
V d 8-6: Tr li bi ton iu khin thit b trao i nhit
G(s) =
0.75e1.21s (30s + 1)(5s + 1)(2s + 1)
(8.95)
p dng phng php kappa-tau (KT, lut chnh nh trn min tn s), ta chn bin nh mong mun MS = 2.0. i vi phng php d tr bin pha (GPM), ta chn a = 0.7, m = 45, = 4 v p dng cc cng thc (8.89)-(8.92). Bng di
436
y lit k cc tham s nhn c cng vi cc tham s chnh nh theo phng php IMC tin theo di v so snh. Ring phng php kappa-tau cn xc nh lun trng s cho gi tr t b = 0.26.
Phng php IMC KT GPM
kc
8 12.23 9.45
i
36 13.44 19.13
d
5 3.40 4.78
Trn Hnh 8-12 l kt qu m phng p ng vng kn vi cc tham s PID trn y. Kt qu m phng vi b iu khin PID chnh nh theo phng php IMC t v d 8-3 cng c em ra so snh (nt chm). Ring b iu khin chnh nh da theo d tr bin pha (nt t) cho qu iu chnh hi qu ln, nn ta th s dng thm mt khu lc bc nht cho gi tr t vi hng s thi gian 6s. Xt v nhng yu cu tiu biu trong iu khin qu trnh l loi b nhiu nhanh v p ng trn tru vi gi tr t, th b iu khin chnh nh theo phng php kappa-tau t ra vt tri. c bit l i vi phng php ny, mt tham s thit k duy nht cn la chn l bin nh hm nhy MS phn nh kh tt nhiu mt v cht lng h kn. Phng php da trn d tr bin-pha cng l mt cng c n gin v tin li. Phng php IMC ni chung l ng tin cy cho hu ht cc trng hp, nhng kh nng hiu chnh ch nh mt tham s c rt kh p ng yu cu nhiu mt ca h kn.
1.5
Controlled Output y
KT GPM GPM lc SP IMC
0.5
50
100 Time (sec)
150
200
8.5
iu khin PID kt hp b tr
437
8.5 iu khin PID kt hp b tr

a s cc phng php chnh nh PI/PID a ra gi thit l qu trnh c tr khng qu ln. i vi i tng c thi gian tr ln th hiu qu ch th hin u ra sau khi tc ng mt thi gian di nn cht lng iu khin km. Nhn t l thuyt, thnh phn tr to nn s chm pha v chm pha ny c bit ln di tn s cao, lm gim d tr n nh ca h kn. Cng chnh v vy, vic chnh nh cc tham s cho b iu khin chu thm iu kin rng buc, hn ch cht lng ng hc ca h thng. Lu rng, kiu tr ta cn quan tm y l tr thun v d tr do qu trnh vn chuyn, tr do php phn tch nng ha hc ch khng phi tr sinh ra do xp x mt mt m hnh bc cao v mt m hnh bc thp. Tr phi c s can thip vo thit k cng ngh hoc thay i v tr t cc thit b chp hnh hoc thit b o, v mt vt l ta khng c cch no loi b hoc tch thi gian tr ra khi m hnh qu trnh cn iu khin. Nhng ta c th s dng phn m hnh khng c tr ca qu trnh d bo gi tr ca bin cn iu khin. Nu tn hiu d bo ny c dng lm tn hiu phn hi v b iu khin PID thay cho tn hiu o thc, th vic chnh nh cc tham s cho b PID hon ton c th da trn phn m hnh khng cha tr ca qu trnh. Tuy nhin, vn y l sai lch gia m hnh v i tng thc s khin cho gi tr d bo thu c c sai s. khc phc sai lch m hnh ta s dng cc b quan st: so snh u ra ca m hnh c tr vi u ra thc ca i tng hiu chnh li tn hiu phn hi. Cc b d bo Smith v d bo PI thc cht l cc b quan st rt gn (ch quan st mt bin trng thi) th hin di dng hm truyn t.
8.5.1 B d bo Smith
Da trn t tng trn y, Smith [32] a ra cu trc iu khin b nhiu nh minh ha trn Hnh 8-18. Trc ht ta quan st s trn Hnh 8-18a. Gi s m hnh l tng ca qu trnh l
G(s) = G0 (s)es
(8.96)
v m hnh c lng cng c biu din di dng

s (s) = G 0 (s)e G
(8.97)
0 (s) l m hnh thnh phn khng cha thi gian tr trong G0(s) cng nh G (thun) v cng nh l thi gian tr (thun). Khng mt i tnh tng qut i vi h tuyn tnh, ta c th coi thnh phn tr nm u ra. K hiu u ra thc khng c tr tc l tn hiu ra sau khu G0 l y0. Ta c th coi y0 l mt
438
0 v bin trng thi khng o c. Tn hiu c lng ca y0 c k hiu l y c xc nh n gin l 0 = y 0 + (y y 0es ) y

d r
(8.98)
K(s)
G0 (s)es 0 (s) G 0 y 0 y
+
es
a) S din gii d r
s 0 (s)(1 e G )
K(s)
G0 (s)es
B d bo Smith
0 y
b) S thc thi tng ng Hnh 8-18: Cu trc b tr s dng b d bo Smith
ngha ca (8.98) c din gii qua cc php xp x nh sau:

0 = y 0 + (y y 0es ) y 0 + (y0 y 0 )es y 0 + y0 y 0 y = y0
(8.99)
chnh xc ca php xp x th nht ph thuc vo chnh xc ca thi gian tr c lng, cn chnh xc ca php xp x th hai ph thuc vo s thay i nhanh hay chm ca u ra v ln ca thi gian tr. Nu gi tr c lng 0 chnh xc, ta c th a v lm tn hiu phn hi cho b iu khin K(s) y v vic thit k b iu khin K(s) c th da trn m hnh khng c tr thun 0 (s) . Cu trc b tr ca Smith cng c th a v dng gn hn nh minh G s 0 (s)(1 e ) c gi l b d bo Smith. ha trn Hnh 8-18b, trong khu G Lu rng, b d bo Smith ch c u vo l bin iu khin, khng c u vo nhiu nn khng th d bo nh hng ca nhiu v khng ngn chn c
8.5
iu khin PID kt hp b tr
439
u ra lch khi gi tr t khi c nhiu ti. Tuy nhin sau khi nh hng ca ca nhiu th hin u ra i tng th b iu khin c thm b d bo Smith a u ra v gi tr t nhanh hn.
V d 8-7: Cho i tng c tr ln
G(s) =
e10s (s + 1)3
(8.100)
Cc tham s ca b iu khin PID c xc nh theo phng php xp x c tnh tn s, mt trng hp khng b tr v mt trng hp b tr s dng b d bo Smith. C th thy, b d bo Smith c kh nng ci thin cht lng iu khin mt cch ng k nu ta c m hnh tng i chnh xc.
1.5
Output y
0.5
S dng b d bo Khng s dng b d bo

0 50 Time (sec) 100 150
Hnh 8-19: Minh ha hiu qu s dng b d bo Smith (v d 8-7)
Trong thc t, m hnh qu trnh khng th c lng c chnh xc tuyt ln hn gi tr i nn cht lng b d bo Smith s gim. Nu xc nh nh hn gi tr thc s lm tng qu iu chnh. thc s gy dao ng, 0 (s) nh hn gi tr thc s lm chm p Hng s thi gian qun tnh ca G 0 (s) ln hn G0(s) s gy dao ng mnh, qu iu ng, cn nu qun tnh ca G 0 (s) v u c sai s th cht lng iu chnh v d mt n nh. Khi c G khin s gim rt nhiu. Do yu cu khi s dng b d bo Smith l phi xc nh m hnh i tng mt cch tng i chnh xc.
8.5.2 B iu khin PI d bo
Mt trng hp ng dng c bit ca cu trc b tr s dng b d bo Smith do Hgglund xut bao gm mt b iu khin PI
K (s) = kc (1 + 1 ) s i
440
v mt b d bo Smith s dng m hnh qu trnh l qun tnh bc nht c tr:

s (s) = ke G s + 1
Cc tham s ca b iu khin PI c t l i = v kc = /k. Bng cch bin i s khi trn Hnh 8-18b, ta c th ghp chung hai thnh phn li vi nhau thnh mt b iu khin duy nht:
K PPI (s ) = = u(s ) K (s ) = e(s ) 1 + K (s )G0 (s )(1 e s )
kc (i s + 1) kkc (i s + 1) (1 e s ) i s + s + 1 (i s + 1) = kc i s + (1 e s )
(8.101)
Kt qu nhn c l b iu khin PI d bo, vit tt l pPI (predictive PI). Trong trng hp n gin nht ta chn bng 1 v b iu khin pPI tr thnh
KPPI (s) = kc (i s + 1) i s + 1 e
s
kc 1 es +1
i s
(8.102)
S khi m t cu trc b iu khin pPI n gin ny c th hin trn Hnh 8-20.

pPI r
d u
+
kc
+
G(s)
es i s +1
Hnh 8-20: B iu khin PI d bo n gin
Ni chung, trong trng hp m hnh i tng t sai lch, cu trc b nhiu ca Smith cho cht lng tt hn. Ngc li, b iu khin pPI n gin hn v bn vng hn vi sai lch m hnh. Tham s m hnh duy nht m b pPI s dng l thi gian tr c lng. Trong thc t th thi gian tr thun ni chung c th c lng c tng i chnh xc, tr phi n thay i lin tc theo thi gian.
8.6
Ghi ch v ti liu tham kho
441
8.6 Ghi ch v ti liu tham kho

V khun kh c hn, ni dung chng ny ch cp ti mt s phng php thng dng v mang li cht lng ng tin cy. Trong iu khin qu trnh ta c bit quan tm ti s tha hip yu cu cht lng nhiu mt, trong kh nng loi b nhiu v tnh n nh bn vng l hai trong nhng tiu ch nh gi quan trng. Quan trng hn na, nhng phng php ny u da trn nhng t duy thit k rt quen thuc ca ngi k s iu khin. V th, mt s phng php ti u ha tham s da trn p ng qu mc d cng kh thng dng nhng khng c a vo. Thc t t c phng php no li c th cho mt b tham s tt ngay t ln chnh nh u tin, nn kh nng c th tham gia vo qu trnh thit k cng nh hiu chnh bng tay sau ny ca ngi k s l lun cn thit. Ti liu tham kho, tra cu v cc phng php thit k, chnh nh b PID th c rt nhiu, song s a dng ny cha chc mang li s ng gp tt hn ti ngi ng dng cng nghip, thm ch li l mt hin tng phn tc dng. Khi m ngy mai mt dy chuyn cng ngh bt u c a vo vn hnh v vi chc cho n vi trm vng iu khin cn phi chnh nh, ngi k s s lm g khi ng trc hng trm s la chn khc nhau m phng php no cng thy tc gi ca n a ra hng lot v d nu bt u th nhng chng c v d no ging ci ngy mai phi p dng c. Cho nn danh sch nhng ti liu a ra di y ch a ra nhng cng trnh mang tnh i din v lin quan trc tip ti nhng phn trnh by trn y. Nhng theo quan im ring ca tc gi th im khi u tt nht l nhng cng trnh ca strm v Hgglund. Hai tc gi ny cng l nhng ngi c nhiu ng gp quan trng trong tm ti, pht trin, ng dng th nghim v truyn b cc phng php chnh nh PID c coi l chun mc hin nay. Ti liu tham kho [1] strm, K.J.; T. Hgglund: PID Control. Research Triangle Park, N.C. Instrument Society of America, 1995. strm, K.J.; T. Hgglund, PID Controllers: Theory, Design and Tuning, 2nd Edition, Instrument Society of America, NC, USA, 1995. strm, K.J.; T. Hgglund. Automatic tuning of simple regulators. Proceedings IFAC 9th World Congress, Budapest, 1984. strm, K.J.; T. Hgglund: Automatic Tuning of Simple Regulators with Specifications on Phase and Amplitude Margins. Automatica 20 (1984) 645-651.
[2]
[3]
[4]
442
[5]
strm, K.J.; C.C. Hang; P. Persson; W.K. Ho: Towards Intelligent PID Control. Automatica 28 (1992), 1-9. strm, K.J.; H. Panagopoulos, T. Hgglund: Design of PI Controllers based on Non-Convex Optimization. Automatica 34 (1998), 585-601. strm, K.J.; T. Hgglund: The future of PID control, Control Engineering Practice 9 (2001) 1163-1175. strm, K.J.; T. Hgglund: Revisiting the ZieglerNichols step response method for PID control. Journal of Process Control 14 (2004) 635650 Chen, C.L.: A simple method for on-line identification and controller tuning, AIChE Journal 35 (12) (1989) 2037-2039. Chen, D; Dale E. Seborg: PI/PID Controller Design Based on Direct Synthesis and Disturbance Rejection. Ind. Eng. Chem. Res. 2002, 41, 4807-4822. Chien, I.-L.; P.S. Fruehauf: Consider IMC tuning to improve controller performance, Chemical Engineering Progress, October (1990) 33-41. Dahlin, E.G.: Designing and Tuning Digital Controllers. Instrumentation and Control Systems, 41 (1968), 77-81. Garcia, C.E.; M. Morari: Internal Model Control I. A Unifiying Review and Some New Results. Ind. Eng. Chem. Process Des. Dev. 21 (1982). Haalman, A.: Adjusting Controllers for a Deadtime Process. Control Engineering, July, 1965, 71-73. Hang, C.C.; K.J. strm, Q.G. Wang: Relay feedback auto-tuning of process controllers A tutorial review. Journal of Process Control 12 (2002) 143-162. Ho, W.K., C.C. Hang, L.S. Cao: Tuning of PID controllers based on gain and phase margin specifications. Automatica 31 (3), 497-502, 1995. Huang, H.P.; C.C. Chen: Control-system synthesis for open-loop unstable process with time-delay. IEE Proc. Part D 114 (4) (1997) 334-346. Huang, H.P.; J.C. Jeng, K.Y. Luo: Auto-tune system using single-run relay feedback test and model-based controller design. Journal of Process Control 15 (2005) 731-727. Kessler, C.: Das Symmetrische Optimum, Teil I. Regelungstechnik, 6 (1958), 395-400.
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[9]
[10]
[11]
[12]
[13]
[14]
[15]
[16]
[17]
[18]
[19]
8.6
Ghi ch v ti liu tham kho
443
[20]
Kessler, C.: Das Symmetrische Optimum, Teil II. Regelungstechnik, 6 (1958), 432-436. Lee, J.: Online PID controller tuning from a single closed-loop test. AIChE Journal 35 (2) (1989) 329-331. Lee, Y.; J. Lee, S. Park: PID controller tuning for intergrating and unstable processes with time delay. Chemical Engineering Science 55 (2000) 3481-3493. Leva, A.; C.Cox, A.Ruano: Hands-on PID autotuning: a guide to better utilisation. IFAC Professioal Brief, 2003. Luyben, M. L.; W. L. Luyben: Essentials of Process Control. McGraw-Hill, 1997. Morari, M.; E. Zafiriou: Robust Process Control. Prentice-Hall, 1989. ODwyer, A.; Handbook of PI and PID Controller Tuning Rules. Imperial College Press, London, 2003. Panagopoulos, H.; K.J. strm; T. Hgglund: Design of PID controllers based on constrained optimisation. IEE ProceedingsControl Theory and Applications 149 (1) (2002) 3240. Rivera, D.E.; M. Morari, S. Skogestad: Internal Model Control 4. PID Controller Design, Industrial & Engineering Chemistry Process Design and Development 25 (1986) 252-265. Seborg, D.E; T.F. Edgar; D.A. Mellichamp: Process Dymamics and Control. 2nd Edition. Wiley, 2004. Skogestad, S.: Simple analytic rules for model reduction and PID controller tuning. Journal of Process Control 13 (2003) 291309. Shinskey, F.G.: Process Control Systems Application, Design and Tuning. 3rd Edition. McGraw-Hill, 1988. Smith, O.J.M.: Feedback Control Systems, McGraw-Hill, New York, 1958. Smith, C.A.; A.B. Corripio: Principles and Practice of Automatic Process Control. 3rd Edition, Wiley, 2005. Suganda, T.; P.R. Krishnaswamy, G.P. Rangaiah: On-line process identification from closed-loop tests under PI control, Trans. IChemE 76 (Part AS) (1998) 451-457.
[21]
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[24]
[25] [26]
[27]
[28]
[29]
[30]
[31]
[32] [33]
[34]
444
[35]
Sung, S.W.; I.B. Lee, B.K. Lee: On-line process identification and automatic tuning method for PID controllers. Chemical Engineering Science 53 (10) (1998) 1847-1859. Tan, K.K.; Q.G. Wang, C.C. Hang: Advances in PID Control, SpringerVerlag, 1999. Tan, K.K.; T.H. Lee, Q.G. Wang: An enhanced automatic tuning procedure for PI/PID controllers for process control. AIChE Journal 42 (9), 2555-2562, 1996. Tan, W.; Horacio J. Marquez, Tongwen Chen: IMC design for unstable processes with time delays. Journal of Process Control 13 (2003) 203213. Van Overschee, P.; B. De Moor: Preprints Proc. PID 00, IFAC Workshop on digital control, Terrassa, Spain, 2000, pp. 687-692. Wang, Q.G.; C.C. Hang, B. Zou: A frequency response approach to autotuning of multivariable controllers, Chemical Engineering Research and Design 75 (1997) 797-806. Wang, Q.G.; X. Guo, Y. Zhang: Direct identification of continuous time delay systems from step response. Journal of Process Control 11 (2001) 531-542. Wang, Q.G.; Y. Zhang, X. Guo: Robust closed-loop identification with application to auto-tuning. Journal of Process Control 11 (2001) 519-530. Yuwana, M.; D.E. Seborg: A new method for on-line controller tuning. AIChE Journal 28 (1982) 434-440. Zames, G.: Feedback and optimal sensitivity: model reference transformations, multiplicative seminorms, and approximate inverse. IEEE Transactions on Automatic Control AC-26, 301-320, 1981. Ziegler, J.G.; N.B. Nichols: Optimum settings for automatic controllers, Trans. ASME 64 (1942) 759-768. Zhao, Z.; M. Tomizuka, S. Isaka: Fuzzy Gain Scheduling of PID Controllers. IEEE Transactions on Systems Man & Cybernetics, 23 (1993), 1392-1398.
[36]
[37]
[38]
[39]
[40]
[41]
[42]
[43]
[44]
[45]
[46]
8.7
Cu hi v bi tp
445
8.7 Cu hi v bi tp
8.1 p dng lut chia i ca Skogestad xp x cc m hnh bc cao di y v m hnh bc nht v bc hai:
G1(s) =
1.25e1.5s 0.65es , G2(s) = 2 s(8s + 1)(3s + 1)(s + 1) (10s + 1) (3s + 1)
G3 (s) = G4 (s) =
(0.5s + 1)es e2s , G4 (s) = 2 2 (s + 1) (2s + 1) (9s + 2.4s + 1)(s + 1) e3s e3s , G5(s) = 2 2 (s + 1) (2s + 1) (s + 10s + 1)(s + 1)2
Tin hnh m phng bng MATLAB v so snh p ng qu v p ng tn s ca m hnh nhn c vi m hnh nguyn bn. 8.2 Lut iu khin no ph hp vi cc bi ton sau y: a. iu khin mc (iu khin lng) b. iu khin mc (iu khin cht) c. iu khin p sut cht kh, cht hi d. iu khin lu lng e. iu khin nhit f. iu khin nng , thnh phn
8.3 Chnh nh tham s cho b PID theo phng php th nht ca Ziegler-Nichols ph hp vi cc lp i tng c m hnh nh th no? 8.4 S dng kt qu ca bi tp 8.1 tnh ton cc b iu khin PI/PID theo phng php th nht ca Ziegler-Nichols. Chn kiu b iu khin sao cho hp l. M phng th nghim p ng qu vi m hnh nguyn bn cho trng hp thay i gi tr t v nhiu u vo. 8.5 Chnh nh tham s cho b PID theo phng php th hai ca Ziegler-Nichols ph hp vi cc lp i tng c m hnh nh no? 8.6 p dng phng php th hai ca Ziegler-Nichols chnh nh cc tham s ca b iu khin PI/PID cho cc qu trnh c m hnh trong bi tp 8.1. Chn kiu b iu khin sao cho hp l. M phng th nghim p ng qu vi thay i gi tr t v nhiu u vo. So snh vi cc kt qu t bi tp 8.4. 8.7 Trnh by phng php chnh nh tham s PID da trn phn hi rle (relay-based method) v nu cc u nhc im ca n. 8.8 S dng phng php phn hi r-le chnh nh cc tham s PI/PID cho cc qu trnh bi tp 8.1 Chn kiu b iu khin sao cho hp l. M phng th nghim kt qu vi m hnh nguyn bn v so snh vi cc kt qu t bi tp 8.6. 8.9 Luyn tp th li v d 8-1. S dng cng c MATLAB tnh ton-m phng v ch ra rng vng iu khin chnh nh theo Tyreus-Luyben c d tr n nh cao nht v bn vng nht vi sai lch m hnh.
446
8.10 Luyn tp th li v d 8-3, so snh, phn tch v l gii cc u nhc im ca cc phng php chnh nh n gin da trn c tnh (ZN-1, ZN-2, TL) v cc phng php da trn m hnh (IMC, DS, DS-d, Haalman). 8.11 S dng cc phng php da trn m hnh (IMC, DS, DS-d, Haalman) chnh nh cc tham s PI/PID cho cc qu trnh trong bi tp 8.1. M phng v so snh cc kt qu. 8.12 S dng cc phng php nn c tnh tn chnh nh cc tham s PI/PID cho cc qu trnh trong bi tp 8.1. M phng v so snh cc kt qu.
8.7
Cu hi v bi tp
447
1
8.1
8.2
8.3
8.4
8.5
8.6 8.7
Chnh nh b iu khin PID 389 C s chung ................................................................................. 390 8.1.1 Cc dng m hnh qu trnh thng dng........................ 390 8.1.2 Xp x m hnh bc cao lut chia i .......................... 392 8.1.3 Cc cu hnh iu khin v kiu b iu khin .............. 393 8.1.4 c tnh vng iu khin s dng b PID ..................... 394 8.1.5 La chn lut iu khin ................................................ 399 Cc phng php da trn c tnh p ng............................... 402 8.2.1 Phng php da trn p ng bc thang ..................... 402 8.2.2 Phng php da trn c tnh dao ng ti hn .......... 403 8.2.3 Phng php t chnh phn hi r-le ............................. 405 8.2.4 Phng php ca Tyreus v Luyben .............................. 406 Cc phng php da trn m hnh mu..................................... 410 8.3.1 Phng php Haalman ................................................... 410 8.3.2 Phng php tng hp trc tip..................................... 411 8.3.3 Phng php tng hp trc tip u tin khng nhiu .... 413 8.3.4 Phng php IMC .......................................................... 416 8.3.5 Phng php IMC cho qu trnh khng n nh ............ 421 8.3.6 Phng php xp x c tnh tn ................................... 426 Cc phng php nn c tnh tn.............................................. 430 8.4.1 Phng php ti u i xng ......................................... 430 8.4.2 Phng php kappa-tau ............................................... 432 8.4.3 Phng php da trn d tr bin-pha .......................... 433 iu khin PID kt hp b tr .................................................... 437 8.5.1 B d bo Smith ............................................................ 437 8.5.2 B iu khin PI d bo................................................. 439 Ghi ch v ti liu tham kho ..................................................... 441 Cu hi v bi tp ....................................................................... 445

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Chng 8 Chnh nh b iu khin PID

Chng 8: Chnh nh b iu khin PID

M hnh bc hai n nh c tr (SOPDT):

hoc trng hp c bit l khu qun tnh bc hai c tr (khi 1 )

M hnh tch phn bc nht c tr

M hnh qun tnhtch phn bc nht c tr

M hnh bc hai n nh c tr v mt im khng thc m

hoc trng hp c bit c vit di dng

k(a s + 1)es (1s + 1)(2s + 1)

hoc trng hp c bit c vit di dng

M hnh bc nht khng n nh c tr (FODUP)

M hnh bc hai khng n nh c tr (SODUP)

Chng 8: Chnh nh b iu khin PID

8.1.2 Xp x m hnh bc cao lut chia i

vi p1 > p2 > p3 c th c xp x v cc dng bc thp di y: Qun tnh bc nht c tr:

Qun tnh bc hai c tr :

8.1.3 Cc cu hnh iu khin v kiu b iu khin

a) Cu hnh iu khin PID mt bc t do

c) Cu hnh iu khin PID hai bc t do tng qut s dng khu lc gi tr t

Cc cu hnh iu khin PID thng dng

Chng 8: Chnh nh b iu khin PID

Hm truyn t dng chun ca b iu khin PID l tng:

Hm truyn t dng song song ca b iu khin PID l tng:

trong cc tham s c th chuyn c sang dng chun nh sau

Hm truyn t dng chun ca b iu khin PID c khu vi phn thc:

8.1.4 c tnh vng iu khin s dng b PID

20 log L2 ( j ) 20 log L( j ) 20 log G( j )

Vai tr nn vng h ca b iu khin PI

Chng 8: Chnh nh b iu khin PID

c tnh tn thay i khi gim thnh phn I

Chng 8: Chnh nh b iu khin PID

Vai tr nn vng h ca b iu khin PI v PID

8.1.5 La chn lut iu khin

Chng 8: Chnh nh b iu khin PID

hoc i tng bc nht cha thnh phn tch phn

ta nh ngha cc h s khuch i chun ha v thi gian tr chun ha nh sau:

2>0.3, k2<2 2<0.3, k2>2

Chng 8: Chnh nh b iu khin PID

8.2 Cc phng php da trn c tnh p ng

a) c tnh qun tnh Hnh 8-5:

b) c tnh qun tnh-tch phn

Minh ha cho phng php p ng qu

Lut chnh nh Ziegler-Nichols th nht (ZN-1)

Cc phng php da trn c tnh p ng

8.2.2 Phng php da trn c tnh dao ng ti hn

Chng 8: Chnh nh b iu khin PID

Cc phng php da trn c tnh p ng

8.2.3 Phng php t chnh phn hi r-le

Cu trc t chnh vi khu phn hi r-le

Chng 8: Chnh nh b iu khin PID

8.2.4 Phng php ca Tyreus v Luyben

Cc phng php da trn c tnh p ng

-5 0 50 Time (sec) 100 150

p ng ca vng iu khin PI cho v d 8-1

100 Time (sec)

100 Time (sec)

p ng ca vng iu khin PID cho v d 8-1

Chng 8: Chnh nh b iu khin PID

100 Time (sec)

100 Time (sec)

Cc phng php da trn c tnh p ng

Phng php ZN-1 ZN-2 AH TL

1.5 1 0.5 0 -0.5