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iu khin qu trnh

Chng 6: Chnh nh b iu khin PID

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Ni dung chng 6
6.1 6.2 6.3 6.4 Nhng vn c bn Cc phng php da trn c tnh Cc phng php da trn m hnh mu B tr s dng b d bo Smith

Chng 6: Chnh nh b iu khin PID

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Mc ch bi ging
Nm c nhng vn c bn v chnh nh cc tham s P/PI/PID Nm c nhng phng php chnh nh tham s b iu khin PID thng dng nht trong iu khin qu trnh C kh nng la chn v p dng phng php ph hp vi mt qu trnh thc t

Chng 6: Chnh nh b iu khin PID

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1. Nhng vn c bn
Cc phng php tip cn (tng quan phng php chnh nh) Vn m hnh i tng s dng Vn la chn kiu b iu khin c tnh cc vng iu khin s dng b iu khin P/PI/PID ngha ca vic thay i, hiu chnh cc tham s

Chng 6: Chnh nh b iu khin PID

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Cc phng php tip cn


Da trn c tnh ca qu trnh (c tnh thi gian hoc tn s): ZieglerNichols (I v II), phn hi r-le (strm v Hgglund), Da trn m hnh qu trnh:
Tng hp theo m hnh mu (h kn hoc h h): tng hp trc tip (Chen v Seborg), chnh nh lam-da (Dahlin), IMC (Morari v Zafiriou), xp x c tnh tn, Nn c tnh tn s (h kn hoc h h): ti u m-un (Kessler), d tr bin-pha (strm v Hgglund,...),... Ti u ha tham s (theo cc ch tiu IAE, ISE, H,...)

Da trn kinh nghim: Chnh nh m, h chuyn gia

Chng 6: Chnh nh b iu khin PID

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Cc m hnh qu trnh thng dng


Bc nht: Bc hai:

kes G1(s) = s + 1

kes G2(s) = s

kes G3 (s) = s 1

kes G4 (s) = s(s + 1)


s ke ' G5 (s) = (1s + 1)(2s + 1) ' G6 (s)

kes G5 (s ) = 2 2 s + 2s + 1

k(a s + 1)es G6 (s ) = 2 2 s + 2s + 1
k(a s + 1)es G7 (s ) = 2 2 s + 2s + 1

k(as + 1)es = (1s + 1)(2s + 1)


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

' G7 (s)

kes G8 (s) = (1s 1)(2s + 1)


Chng 6: Chnh nh b iu khin PID

kes G9 (s) = (1s 1)(2s 1)


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Qu trnh c ng hc bc cao?
Ba cch tip cn: 1. Nhn dng xp x v m hnh bc thp 2. Nhn dng v m hnh bc cao, sau xp x v m hnh bc thp (xp x gim bc) 3. Thit k b iu khin bc cao, sau xp x v cu trc P/PI/PID

Chng 6: Chnh nh b iu khin PID

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2006 - HMS

Xp x theo phng php Skogestad Lut chia i (half-rule)


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.

Chng 6: Chnh nh b iu khin PID

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2006 - HMS

Cng thc xp x
G (s ) = k ( zi s + 1 )
i =1 n m

e0s

j =1

( pj s + 1 )

p1 > p2 > p3

s ke (s ) = G s + 1

s ke (s ) = G ( 1s + 1 )( 2s + 1 )

= p1 +

p2 2

1 = p1, 2 = p 2

p3 + 2

n m p2 + pj + zi = 0 + 2 j =3 i =1

n m p3 = 0 + + pj + zi 2 j =4 i =1

Chng 6: Chnh nh b iu khin PID

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2006 - HMS

Cn c chn kiu b iu khin?


c im ca qu trnh v thit b
ng hc ca qu trnh ng hc ca thit b o c im ca nhiu o ...

Mc ch, yu cu ca bi ton iu khin Vai tr, c im ca tng lut iu khin


Vai tr n nh h thng? Vai tr trit tiu sai lch tnh? Vai tr ci thin c tnh ng hc? Tnh nhy cm vi nhiu o? ...
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Chng 6: Chnh nh b iu khin PID

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c tnh vng iu khin PI


(khi tng kc)

Chng 6: Chnh nh b iu khin PID

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(khi tng i)

c tnh vng iu khin PI

Chng 6: Chnh nh b iu khin PID

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c tnh vng iu khin PID


(so snh vi PI)

Chng 6: Chnh nh b iu khin PID

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nh hng ca thay i tham s PID

Chng 6: Chnh nh b iu khin PID

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Chn lut iu khin cho cc bi ton tiu biu


Vng iu khin lu lng: ng hc ca i tng ph thuc ch yu vo van iu khin, nhiu o cao tn => hu nh ch cn s dng lut PI. Vng iu khin mc: Qu trnh c c tnh tch phn, php o mc thng rt b nh hng ca nhiu => lut P cho iu khin lng v lut PI cho iu khin cht. Vng iu khin p sut cht kh: ng hc ca i tng ph thuc ch yu vo thit b chp hnh, qu trnh cng c c tnh tch phn tng t nh bi ton iu khin mc nhng cao hn v chnh xc => Lut PI l ch yu. Vng iu khin nhit : ng hc chm, php o t chu nh hng ca nhiu cao tn => s dng lut PID. Vng iu khin thnh phn: Tng t nh vng iu khin nhit => thng s dng PID.
Chng 6: Chnh nh b iu khin PID
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2. Cc phng php da trn c tnh


Ziegler-Nichols 1 (ZN-1): Da trn th p ng qu , cho h s tt dn 1/4, qu iu chnh 25% Ziegler-Nichols 2 (ZN-2): Da trn c tnh dao ng ti hn (c tnh tn s), cho cht lng tng ng ZN-1 strm-Hgglund (AH) Phn hi r-le: Ci tin cch nhn dng c tnh dao ng ti hn ca ZN-2 (chp nhn km chnh xc hn) Tyreus-Luyben (TL): Ci tin ZN-2, gim h s khuch i, tng thi gian vi phn v thi gian tch phn => b tham s thn trng hn
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Chng 6: Chnh nh b iu khin PID

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ZieglerNichols 1
Chng 6: Chnh nh b iu khin PID
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Ziegler-Nichols 2
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. 3. Tng dn kc cho ti trng thi dao ng iu ha => h s khuch i ti hn (ku) v chu k dao ng ti hn (Tu).

Chng 6: Chnh nh b iu khin PID

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strm-Hgglund (phn hi r-le)

ku = 4d / a

Chng 6: Chnh nh b iu khin PID

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Tyreus-Luyben

Chng 6: Chnh nh b iu khin PID

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V d iu khin thit b trao i nhit


0.75e1.21s G(s) = (30s + 1)(5s + 1)(2s + 1)

Xp x v m hnh FOPDT theo lut chia i:


5.71s 0.75 e (s) = G 32.5s + 1

Chng 6: Chnh nh b iu khin PID

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PI

PID

Chng 6: Chnh nh b iu khin PID

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3. Cc phng php m hnh mu


c ti liu (sch v ti liu in t) v cc phng php: Phng php Haalman Phng php Dahlin (chnh nh lamda) Phng php DS (Direct Synthesis) Phng php DS-d (Direct Synthesis with disturbance rejection preference) Phng php IMC (Internal Model Control) Phng php xp x c tnh tn s (xem thm tp ch K thut iu khin, 6/2006 v K yu Hi ngh KH 50 nm thnh lp trng HBKHN, phn ban in)

Chng 6: Chnh nh b iu khin PID

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3. Cc phng php m hnh mu


Cho m hnh mu (m hnh mong mun) ca h h/h kn:
L(s) = K (s)G(s) L(s) G(s) T (s) = K (s)G(s) 1 + K (s)G(s)

K (s) =

K (s) =

T (s) G(s)(1 T (s))

hoc:
K (s) L(s) G(s)

K (s)

T (s) G(s)(1 T (s))

Chng 6: Chnh nh b iu khin PID

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Cc vn cn gii quyt
Hm truyn t nhn c khng c cu trc PI/PID: Xp x b iu khin hoc chn m hnh mu v m hnh i tng ph hp H kn c th khng n nh ni: Chn m hnh mu thch hp, m hnh i tng thng thng khng c im cc hoc im khng nm bn phi trc o H d nhy cm vi sai lch m hnh: Chn m hnh mu theo hng thn trng Tm li: Hai vn then cht l chn m hnh mu ph hp v phng php xp x m hnh! Cc dng m hnh mu thng c la chn:
1 s L(s) = e os es T (s) = cs + 1
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es T (s) = 2 c s + 2c s + 1
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Chng 6: Chnh nh b iu khin PID

V d iu khin thit b trao i nhit


0.75e1.21s G(s) = (30s + 1)(5s + 1)(2s + 1)

Xp x v m hnh SOPDT theo lut chia i:


2.21s 0.75 e (s) = G (30s + 1)(6s + 1)

Chng 6: Chnh nh b iu khin PID

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Kt qu m phng vi lut PID

Chng 6: Chnh nh b iu khin PID

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Ci thin cht lng bng b lc gi tr t (cho trng hp s dng DS-d)

Chng 6: Chnh nh b iu khin PID

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4. B tr vi b d bo Smith
M hnh l tng ca i tng:
G(s) = G0(s)es

Vn : u ra o c b chm tr, nh hng ln ti cht lng iu khin tng khc phc: D bo u ra khng c tr da trn m hnh
s (s) = G 0 (s)e G

Chng 6: Chnh nh b iu khin PID

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4. B tr vi b d bo Smith

Gi s u ra thc khng c tr l y0:

0 = y 0 + (y y 0es ) y 0 + (y0 y 0 )es y 0 + y0 y 0 y = y0


Chng 6: Chnh nh b iu khin PID
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V d m phng
e10s G(s) = (s + 1)3 Chnh nh b PID theo phng php xp x p ng tn s

Chng 6: Chnh nh b iu khin PID

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Nhim v luyn tp nh
S dng SIMULINK v m phng, th nghim cc phng php da trn c tnh c ti liu v cc phng php da trn m hnh mu, th nghim m phng trn MATLAB c ti liu i km v s dng 3 chng trnh phn mm nhn c tm hiu luyn tp cc phng php chnh nh khc

Chng 6: Chnh nh b iu khin PID

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