C4 System Components

Chng 1 2 3
2004, HONG MINH SN
iu khin qu trnh
Chng 4: c tnh cc thnh phn c bn ca h thng
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Ni dung chng 4
4.1 Thit b o qu trnh - Cu trc c bn - Cc c tnh ca thit b o Thit b chp hnh v van iu khin - Cu trc c bn - Cc c tnh ca van iu khin - B nh v van Thit b iu khin - S lc cc thit b iu khin cng nghip - B iu khin hai v tr - Cc b iu khin P/PI/PID
4.2
2004, HONG MINH SN
4.3
2006 - HMS
Cu trc c bn ca cc HTKQT
H THNG VN HNH & GIM ST
Tham s
Trng thi
u vo
THIT B IU KHIN
u ra
2004, HONG MINH SN
THIT B O QU TRNH K THUT

THIT B CHP HNH
2006 - HMS
V d h thng iu khin nhit
2004, HONG MINH SN
2006 - HMS
Cc thnh phn c bn ca h thng

Gi tr t (SP)
Thit b iu khin
Tn hiu iu khin (CO)
Thit b chp hnh
Bin iu khin (MV)
Qu trnh
Bin c iu khin (CV)
Tn hiu o (PM)
Thit b o
i lng o
Gi tr t Tn hiu iu khin
2004, HONG MINH SN
Set Point (SP), Set Value (SV) Control Signal, Controller Output (CO) Control Variable, Manipulated Variable (MV) Measured Variable, Process Value (PV) Measured Signal, Process Measurement (PM)
Bin iu khin i lng o Tn hiu o
Bin c iu khin Controlled Variable (CV)
2006 - HMS
Chun tn hiu
Tn hiu tng t:
in: 0-20mA, 4-20mA, 10-50mA, 0-5V, 1-5V, ... Kh nn: 0.2-1bar (3-15 psig)
Tn hiu logic:
0-5 VDC, 0-24 VDC, 110/120 VAC, 220/230 VAC,...
Tn hiu xung/s:
Tn hiu iu ch rng xung, tn s xung Chun bus trng: Foundation Fieldbus, Profibus-PA,... Chun ni tip thng thng: RS-485, RS-422
2004, HONG MINH SN
2006 - HMS
4.1 Thit b o qu trnh

Sensor i lng o (Nhit , p sut, mc, lu lng,..) Transducer Thit b o
B chuyn i tn hiu o Ch bo
Transmitter Tn hiu chun (4-20mA, 0-10V,...) Tn hiu bus
Cm bin
Indicator
2004, HONG MINH SN

Measurement device: Thit b o Sensor: Cm bin (vd cp nhit, ng venturi, siu m,..) Sensor element: Cm bin, phn t cm bin Signal conditioning: iu ha tn hiu Transmitter: B chuyn i o chun (iu ha + truyn tn hiu) Transducer: B chuyn i theo ngha rng (vd p sut-dch chuyn, dch chuyn-in p), c th l sensor hoc sensor + transmitter
2006 - HMS
Lu lng k B chuyn i o chun (transmitter) Thit b o p sut
2004, HONG MINH SN
Cm bin bn trong Cm bin bn trong

2006 - HMS
4.1.1 c tnh vn hnh

Phm vi o v di o phn gii, di cht v nhy tin cy nh hng do tc ng mi trng
2004, HONG MINH SN
2006 - HMS
Phm vi o (range) v di o (span)

Tm [mA] 20 16 12 8 4 0 0
2004, HONG MINH SN
Di tn hiu ra = 16mA
Di o = 300oC 100 Ngng di (im khng) 200 300 400 Ngng trn T [oC]
V D Phm vi o (phm vi u vo): 100-400oC Di o (di u vo): 300oC Phm vi u ra: 4-20mA Di tn hiu ra (di u ra) 16m
2006 - HMS
10
4.1.2 c tnh tnh

Sai s v chnh xc Di cht v tr Tnh trung thc v kh nng ti to tuyn tnh nhy
2004, HONG MINH SN
2006 - HMS
11
Sai s o, chnh xc v phn gii

Sai s o: sai lch gia gi tr quan st c v gi tr l tng ca i lng o
Sai s h thng Sai s ngu nhin
chnh xc, cp chnh xc: mc ph hp ca u ra ca mt thit b o so vi gi tr thc (l tng) ca i lng o xc nh bi mt s tiu chun
Theo i lng o, v d +1C/-2C T l phn trm ca di o, v d 0.5% di o T l phn trm ca u ra, v d 1% u ra.
2004, HONG MINH SN
nh chun (calibration): Qui trnh xc nh chnh xc ca mt thit b o v thc hin hiu chun cho ph hp vi ng dng
2006 - HMS
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th nh chun
100 90 80 70 u ra [%] 60 50 40 30 20 10 0 0
2004, HONG MINH SN
tr + di cht
100 10 20 30 40 50 60 70 80 90
u vo [%]
Di cht (deadband): bin thin nh nht ca gi tr o m thit b o c th p ng vi tn hiu u ra thay i tr (hysteresis): S khc nhau trong p ng vi thay i u vo theo hai chiu khc nhau
2006 - HMS
13
Tnh trung thc, kh nng lp li

Tnh trung thc hay kh nng lp li (repeatability): lch ln nht ca cc gi tr quan st c sau nhiu ln lp li so vi gi tr trung bnh ca mt i lng o Tnh trung thc chnh xc
Gi tr quan st
Gi tr quan st
Gi tr quan st
x x x x x x x x x Gi tr thc
xx
xx x
x xx
x x
xx x
xx x
2004, HONG MINH SN
Gi tr thc
Gi tr thc
Km trung thc Km chnh xc
Trung thc Km chnh xc
Trung thc Chnh xc
2006 - HMS
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tuyn tnh
c tnh tuyn tnh
1 v = km (y y0 ) + v0 = km y + vc 2
y i lng o (u vo) y0 im khng u vo v tn hiu o (u ra) v0 im khng u ra km nhy
V d: Mt cm bin in tr thay i in tr R ca n mt cch tuyn tnh t 100 n 180 khi nhit T thay i t 20o ti 120oC. Phng trnh c tuyn vo-ra l:
R =
2004, HONG MINH SN
80 (T 20) + 100 = 0.8T + 84 100
tuyn tnh: Mc gn vi c tnh tuyn tnh
2006 - HMS
15
nhy
v
100 90 80 70 u ra [%] 60 50 40 30 20 10 0 0
2004, HONG MINH SN
km
v = y
ys
v vs = y ys
y
u vo [%] 100 10 20 30 40 50 60 70 80 90
2006 - HMS
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Chun ha tn hiu o
Thng thng v % ca di u ra hoc chun ha n v V d: Mt thit b o p sut c c tnh tuyn tnh, phm vi o t 20 n 220 psig v phm vi tn hiu ra t 4 n 20 mA. Phng trnh c tuyn vo-ra cho tn hiu o cha chun ha l: 16 y [mA] = (P 20 ) + 4 = 0.08P + 5.6 200
(km = 0.08 [mA/psig])

Chun ha tn hiu o theo phn trm ca di tn hiu ra: 100 y [%] = (P 20) = 0.5P 10 200 km = 0.5 [%/psig] Chun ha n v:
2004, HONG MINH SN
km = 0.005 [psig -1 ]
2006 - HMS
17
Tuyn tnh ha c tnh tnh

Tuyn tnh ha tng on: ng cong nh chun c xp x bng mt ng gp khc. Tuyn tnh ha c lp: ng cong nh chun c xp x bng mt ng thng sao cho gi tr tuyt i ca sai s ln nht c cc tiu ha. Tuyn tnh ha theo im khng: ng xp x tuyn tnh i qua im u ca ng cong nh chun (im khng) v c dc sao cho gi tr tuyt i ca sai s ln nht c cc tiu ha. Tuyn tnh ha theo im u-cui: ng xp x tuyn tnh i qua im u v im cui ca ng cong nh chun. Tuyn tnh ha bnh phng cc tiu: ng xp x tuyn tnh c xc nh sao cho tng bnh phng cc sai s l cc tiu.
2004, HONG MINH SN
2006 - HMS
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100
100
u ra [%]
Tuyn tnh ha c lp 50
u ra [%]
Tuyn tnh ha theo im u-cui 50 Tuyn tnh ha theo im khng
Tuyn tnh ha tng on

2004, HONG MINH SN
50
100
50
100
u vo [%]
u vo [%]
2006 - HMS
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4.1.3 c tnh ng hc
c tnh ng hc ca hu ht cc thit b o c th biu din bng mt khu qun tnh bc nht
Gm (s ) = km 1 + s
hoc mt khu bc hai n nh

Gm (s ) = km 0 km = , >0 2 2 2 2 0 + 2s + s + 2s + s
2004, HONG MINH SN
Nu c tnh ng hc ca thit b o khng th b qua:

a vo m hnh i tng iu khin, hoc Vn s dng m hnh tnh ca thit b o, coi sai s o (ng) l nhiu o
2006 - HMS
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p ng bc thang
sai s ng
2004, HONG MINH SN
2006 - HMS
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p ng tn hiu dc
2004, HONG MINH SN
2006 - HMS
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4.1.4 Cc loi cm bin qu trnh tiu biu

Cc tiu chun la chn:
Cc c tnh vn hnh: phm vi o, di o, tin cy vn hnh, di cht, nhy Cc c tnh tnh: chnh xc, tnh trung thc, tuyn tnh Cc c tnh ng: tr, tc p ng, c tnh tn s... Vt liu ch to: ph hp vi mi trng lm vic (nhit , p sut, xm thc, n mn, ...) Kinh nghim s dng c tnh in-c: mc an ton chy n, cp bo v (IP), v bc Mc can thip ngc tr li qu trnh (lm gim chnh xc)
2004, HONG MINH SN
2006 - HMS
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Cm bin nhit
Cc nhit k gin n: Gin n mt cht theo nhit lm thay i chiu di, th tch hoc p sut, v d trong nhit k thy ngn v nhit k lng kim in tr thay i theo nhit , s dng trong nhit in tr kim loi (RTD) hoc nhit in tr bn dn (Thermistor) in th thay theo nhit ti im tip xc gia hai kim loi khc nhau, p dng trong cp nhit (Thermocouple, TC) Nhit bc x, bc sng nhit bc x thay i theo nhit , v d ha k bc x (Pyrometer) p dng cho o nhit cao (qu trnh t chy)
2004, HONG MINH SN
2006 - HMS
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Cc loi cm bin p sut thng dng

Cc phn t cm bin n hi: ng Bourdon, mng mng Cc phn t cm bin dch chuyn:
Thay Thay Thay Thay i i i i in tr (cm bin sc cng, chit p) in dung (cm bin t in) in cm (cm bin cm ng) t thng (bin p vi sai, LVTD)
Cm bin piezo:
p in (piezo-electric): hiu ng tch in khc du trn hai b mt tinh th thnh anh khi chu mt lc tc ng p tr: hin tng thay i in tr ca tinh th thch anh di tc ng ca mt lc ln b mt Chn khng k Pirani (Pirani gauge) Chn khng k ion ha (Ionisation gauge)
2004, HONG MINH SN
Cm bin o chn khng
2006 - HMS
25
Cm bin lu lng
Lu lng k chnh p Lu lng k turbin Lu lng k bin din Lu lng k che lung xoy Lu lng k in t Lu lng k siu m Lu lng k khi
2004, HONG MINH SN
2006 - HMS
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Cm bin mc
Phng php tip xc b mt: phao, que d, dch chuyn Phng Phng Phng Phng Phng ... php php php php php in hc: in tr, in dung chnh p siu m quang hc o khi lng
2004, HONG MINH SN
2006 - HMS
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Cm bin o nng , thnh phn

Php o phc tp nht, tn km nht, thi gian tr cng ln nht, tin cy thp c th nh hng rt xu ti cht lng iu khin Rt nhiu phng php o khc nhau: Ghi sc k (gas-ligquid chromatography, GLC), php o ph v hp th bc x (cc tm, siu m, nh sng thng ) l cc phng php thng dng nht
2004, HONG MINH SN
La chn phng php o ph thuc rt nhiu vo c im ring ca lu cht Nhiu php o phn tch cn s phi hp ca nhiu phng php khc nhau
2006 - HMS
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4.2 Thit b chp hnh

Thit b chp hnh Tn hiu iu khin (u ra ca b iu khin) C cu chp hnh Phn t iu khin Bin iu khin
Thit b chp hnh (actuator system, final control element): thay i i lng iu khin theo tn hiu iu khin, v d van iu khin, my bm, qut gi, h thng bng ti Phn t iu khin (control element): Can thip trc tip ti i lng iu khin, v d van t l, van on/off, tip im, si t, bng ti C cu tc ng, c cu chp hnh (actuator, actuating element): c cu truyn ng, truyn nng cho phn t chp hnh, v d ng c (in), cun ht, c cu kh nn
2004, HONG MINH SN
2006 - HMS
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4.2.1 Van iu khin v cc ph kin

Van iu khin (control valve):
Thit b chp hnh quan trng v ph bin nht trong h thng iu khin qu trnh, cho php iu chnh lu lng lu cht qua cc ng ng dn. Bao gm thn van ni vi mt c ch chp hnh (cng vi cc ph kin lin quan) c kh nng thay i m van theo tn hiu t b iu khin.
C ch chp hnh (actuator):

Mt c ch truyn ng kh nn, thy lc hoc in nh v thnh phn ng m van.
Cc ph kin van:
2004, HONG MINH SN
Khu chuyn i (transducer) B nh v (positioner) R le tng p (booster relay) Cm bin gii hn (limit switches) Van cun ht (solenoid valve) ...
2006 - HMS
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Cc b phn c bn ca van iu khin

Ca vo kh nn
C ch chp hnh van (Valve actuator)
Cn van (stem) Thn van (Valve body)

Cng lu cht vo Cng lu cht ra
2004, HONG MINH SN
Cht van (Closure member)
Chn van (Valve seat)

2006 - HMS
31
V d cc b phn v ph kin van cu

C ch chp hnh B nh v
2004, HONG MINH SN
B iu khin s
Chng 4: c tnh cc thnh phn c bn c a h th ng Thn van
2006 - HMS
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V d s khi mt van iu khin
2004, HONG MINH SN
2006 - HMS
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Phn loi van iu khin

Phn loi theo kiu truyn ng
in-c: s dng ng c servo hoc ng c bc Thy lc: s dng bm du kt hp mng chn hoc piston Kh nn: s dng kh nn kt hp mng chn hoc piston Kt hp in-thy lc, in-kh nn T: s dng cun ht kt hp l xo
Phn loi theo tnh cht chuyn ng

Van trt (linear valve): cn van (stem) chuyn ng thng Van xoay (rotary valve): trc van (shaft) chuyn ng xoay
Phn loi theo thit k cht van

Van Van Van Van cu (globe valve): Cht trt u hnh cu/hnh nn nt (plug valve): Cht xoay hnh tr bi (ball valve): Cht xoay hnh cu hoc mt phn hnh cu bm (butterfly valve): Cht xoay hnh a
2004, HONG MINH SN
Phn loi theo loi tn hiu vo

Van tng t: u vo 4-20mA, 3-15psi Van s: u vo s trc tip hoc qua bus trng
2006 - HMS
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V d van cu (Fisher Controls)
2004, HONG MINH SN
Tch hp b iu khin s nh v (truyn ng kh nn)
Tch hp chuyn i I/P (truyn ng in-kh nn)

2006 - HMS
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V d van bi (Fisher Controls)
2004, HONG MINH SN
V-ball
2006 - HMS
36
V d van bm (Baumann)
2004, HONG MINH SN
2006 - HMS
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C cu chp hnh (actuators)

Phn loi theo nng lng truyn ng (in, thy lc, kh nn, in-kh nn, in-thy lc) Phn loi theo c cu truyn ng
Mng rung (Bellows): Mng chn (Diaphragm): Piston Vane
Phn loi theo kiu tc ng

Tc ng n (Single-acting): a device in which the power supply acts in only one direction, e.g., a spring diaphragm actuator or a spring return piston actuator. Tc ng kp (Double-acting): a device in which power is supplied in either direction
2004, HONG MINH SN
2006 - HMS
38
Tc ng kh nn: C ch l xo/mng chn

Ca kh vo Mng chn Ca kh vo L xo Cn truyn ng Ch th hnh trnh
2004, HONG MINH SN
a) M khi s c (FO, AC)

(Fail-Open hay Air-to-Close)
b) ng khi s c (FC, AO)

(Fail-Closed hay Air-to-Open)
2006 - HMS
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Tc ng kh nn: C ch piston
L xo
Xi lanh Piston V tr an ton
2004, HONG MINH SN
Cn truyn ng
Tc ng kp
Tc ng kp hoc n vi l xo gin an ton (FC)

Tc ng kp hoc n vi l xo co an ton (FO)

2006 - HMS
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4.2.2 Kiu tc ng ca van

ng an ton (fail-closed, FC hoc air-to-open, AO) M an ton (fail-open, FO hoc air-to-close, AC) La chn kiu tc ng ca van ph thuc vo yu cu an ton h thng
2004, HONG MINH SN
2006 - HMS
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2004, HONG MINH SN
2006 - HMS
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4.2.3 c tnh dng chy

c tnh van (Valve charateristic): Quan h gia lu lng qua van v m van c tnh dng chy (c tnh tnh):
c tnh dng chy c hu (Inherent flow characteristic): c tnh tnh ca van trong iu kin p sut st qua van khng i c tnh dng chy lp t (Installed flow characteristic): c tnh tnh ca van sau khi lp t
2004, HONG MINH SN
2006 - HMS
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c tnh dng chy c hu

Phn bit 3 loi van: Van tuyn tnh (Linear): Van m nhanh (Quich Opening): Van t l phn trm bng nhau (Equal Percentage): V d cho dng cht lng chy dng
F = C v f (p)

P , f (p) = F / Fmax gs
2004, HONG MINH SN
F l lu lng cht lng qua van P l p sut st qua van Cv l h s van (ph thuc vo thit k v kch c van) gs l trng lng ring ca cht lng (=1 i vi nc 15oC) Hm f (p) biu din c tnh van f =p Van tuyn tnh (Linear): f = p Van QO (Quich Opening): f = p 1 (20 50) Van EP (Equal Percentage):
2006 - HMS
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Cc c tnh c hu tiu biu

Lu lng t l vi cn bc 2 ca m van (hoc hn)
Thay i lu lng theo % t l vi m van ti mi v tr
2004, HONG MINH SN
2006 - HMS
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c tnh dng chy lp t

V d minh ha
Van tuyn tnh

2004, HONG MINH SN
Chn h s van Cv sao cho m van p = 0.5 tng ng vi lu lng thit k 200 gal/min:
Cv =
F 200 = = 126.5 p Pv 0.5 10
2006 - HMS
46
Khi lu lng F gim xung 25% (50 gal/min):
Ps (F ) = 30 (0.25)2 = 1.875[psi]
Pv (F ) = 40 1.875 = 38.125[psi]
p= Cv F 50 = = 0.064 Pv (F ) 126.5 38.125
(khng phi 0.5/4 = 0.125 nh mong i)
Van EP ( = 50 )
Cv =
2004, HONG MINH SN
F p1 Pv
200 0.50.5 10
= 44.7
gim lu lng xung F = 50 gallons/pht:

F 50 + = p = log 1 log + 1 0.1 50 44.7 38.125 C v Pv (F )
2006 - HMS
47
H thng dng chy thng thng

25
C.W.
Pressure Drop (psi)
20 15 10 5 0 Line Losses Valve DP
Pump Head
FT
50
100 150 Flow Rate (GPM)
200
200 Installed Flow Rate (GPM) 150 100 50 0 0
Linear Valve
2004, HONG MINH SN
Van EP c c tnh lp t gn tuyn tnh hn van tuyn tnh!
=% Valve
20
40 60 Stem Position (% Open)
80
100
2006 - HMS
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H thng vi st p sut t thay i

15 Pressure Drop (psi)
Hydrostatic Head
10
Valve DP
5
Line Losses
FT
30 ft
0 0
Installed Flow Rate (GPM 600 500 400 300 200 100 0 0 20
100
200 300 400 Flow Rate (GPM)
500
600
Linear Valve
2004, HONG MINH SN
Van tuyn tnh c c tnh lp t tt hn
=% Valve 40 60 80 Stem Position (% Open) 100
2006 - HMS
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La chn c tnh van iu khin

Quick Opening: c s dng cho cc van thot an ton, cn ng m nhanh Linear: c s dng khi p sut st qua van c gi tng i c nh Equal Percentage: Chim ti khong 90% cc ng dng van iu khin bi c tnh lp t gn tuyn tnh. Khi t l st p sut qua van vi lu lng thp nht v cao nht ln hn 5 => nn chn van EP.
2004, HONG MINH SN
2006 - HMS
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4.2.3 c tnh ng hc ca van iu khin
M hnh ng hc van iu khin thng c th a v mt khu qun tnh bc nht: dF dF dp F (s) kv k = = Gv (s) = = v du dp du u(s) v s + 1
2004, HONG MINH SN
v : 3-15 giy
n gin ha Cho c ch chp hnh TT =>
dF dp , cho van FC kv = dF , cho van FO dp
2006 - HMS
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B nh v van (Valve Positioner)

Vn : van iu khin thng thng c chnh xc khng cao (c th sai s v tr ti 5%) do:
Di cht (Deadband), tr (Hysteresis) Ma st thay i do bi bn, thiu bi trn v han g p sut lu cht thay i c tnh phi tuyn ca c ch chp hnh
B nh v: S dng tn hiu o v tr m van thc v tc ng ti c ch chp hnh iu chnh m van chnh xc hn theo tn hiu iu khin
2004, HONG MINH SN
Thc cht l mt b iu khin vng trong, trong cu trc iu khin tng Thng thng ch s dng lut t l vi h s khuch i tng i ln (10-200) C th gim sai s v tr xung ti 0.5%
2006 - HMS
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Khi no nn s dng b nh v
Nn s dng khi:
Cn chnh xc cao hoc tng tc tc ng ng hc ca qu trnh chm hn ng k so vi ca van (hng s thi gian ln hn 3 ln so vi ca van), v d qu trnh phn ng, qu trnh nhit, qu trnh trn, ...
Khng nn s dng khi

Qu trnh tng i nhanh (hng s thi gian khng ln hn 3 ln so vi ca van): b nh v c th lm chm v gim cht lng iu khin vng ngoi s dng mt b iu khin s ti ch (tch hp vi van), b iu khin s ng vai tr nh v
2004, HONG MINH SN
2006 - HMS
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4.3 Thit b iu khin

Thit b iu khin
X l u vo
Tn hiu o
Thut ton iu khin
X l u ra
Tn hiu iu khin
Gi tr t/ Tn hiu ch o
Control equipment: Thit b iu khin, vd PLC, IPC, Digital Controller, DCS Controller,...
2004, HONG MINH SN
Controller: B iu khin, c th hiu l

C thit b iu khin, hoc Ch ring khi tnh ton iu khin, vd PI, PID, FLC, ON/OFF,...
2006 - HMS
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IU KHIN QU TRNH (Cng nghip ch bin, khai thc) Cc b iu chnh c
IU KHIN RI RC (Cng nghip ch to, lp rp) Cc thit b c kh Rle in c, (1920) Cc mch logic lp trnh cng (PLD, 1960)
Thit b iu chnh PID kh nn (1920-1930)
Thit b iu chnh PID in t (1940-1950) iu khin s trc tip (DDC, 1965-1975)
Thit b iu khin kh trnh (PLC, 1970)
B iu chnh s gn (CDC, 1980)

2004, HONG MINH SN
H KPT tch hp (DCS, 1975) PLC-based DCS PLC mm (Soft-PLC, 1996)
PC cng nghip (IPC) PC-104, CompactPCI, SBC (PC-based Control) PC-based DCS
H iu khin lai H ic u khi n (FCS, Chng 4: c tnh cc thnh ph n bn ctr a hng th ng 2000)
2006 - HMS
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Cu trc cc b iu khin phn hi
2004, HONG MINH SN
2006 - HMS
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4.3.1 iu khin hai v tr

Cn gi l iu khin on/off, iu khin bang-bang Tn hiu iu khin ch c th nhn mt trong 2 gi tr L mt b iu khin phi tuyn tnh u(t) Trng hp l tng umax umin 0 e
umin , e < 0 u(t ) = umax , e 0
ON OFF
2004, HONG MINH SN
2006 - HMS
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B iu khin hai v tr thc

S dng di cht (dead band) khc phc hin tng bang-bang u im: n gin, r Nhc im: Cht lng thp
u(t) umax umin 0 di cht
2004, HONG MINH SN
umin , u(t ) = umax , u(t ),
e < e > + e +
2006 - HMS
58
4.3.2 B iu khin PID l tng

Cc lut iu chnh P, PI, PD v PID (gi chung l PID) c s dng ph bin nht trong cc h thng iu khin qu trnh Cu trc v nguyn l hot ng n gin, d hiu v d s dng i vi nhng ngi lm thc t C rt nhiu phng php v cng c mnh h tr chnh nh cc tham s ca b iu chnh Thut ton PID thch hp cho mt phn ln cc qu trnh cng nghip.
2004, HONG MINH SN
2006 - HMS
59
Lut iu chnh t l (P)

u
dch (bias), gi tr iu khin ti im lm vic e umin
umax
u
e
Trng hp l tng
Trng hp thc t Khi nim di t l PB = (u max u min )/ kc
u(t ) = u + kce(t )
n gin, tc ng nhanh
2004, HONG MINH SN
Kh trnh khi sai lch tnh vi i tng khng c c tnh tch phn Ph hp nht vi cc i tng qun tnh-tch phn
2006 - HMS
60
Lut iu chnh t l-tch phn (PI)

1 ( ) u(t ) = u + kc e t + i ( ) e d 0
t
u(s) 1 KPI (s) = = kc 1 + e(s) i s

S dng ph bin nht (> 90%) trong cc b PID Tc ng tch phn (thnh phn I) gip trit tiu sai lch tnh khi gi tr t thay i dng bc thang (ti sao? cho lp i tng no?)
2004, HONG MINH SN
Thnh phn tch phn lm xu i c tnh ng hc ca h thng: tc ng chm, d dao ng hn v d mt n nh hn (ti sao?) Ph hp nht vi cc i tng qun tnh (ti sao?)
2006 - HMS
61
c tnh tn s ca khu PI
2004, HONG MINH SN
2006 - HMS
62
Lut t l-vi tch phn (PID)

1 u(t ) = u + kc e(t ) + i KPID (s) = de(t ) 0 e()d + d dt
t
1 u(s) 1 = kc + + s d e(s) i s
Thnh phn D ci thin tc p ng v gip n nh mt s qu trnh dao ng (khng tt dn) Thnh phn D nhy cm vi nhiu o Thnh phn D nhy cm vi thay i gi tr t
2004, HONG MINH SN
=> thut ton ci tin:
1 u(t ) = K e ( t ) + Ti
dy(t ) e(t )dt Td dt
2006 - HMS
63
c tnh tn s ca khu PID
2004, HONG MINH SN
2006 - HMS
64
Ba dng biu din lut PID

Dng chun:
1 u(t ) = u + kc e(t ) + i
de(t ) 0 e()d + d dt
t
KPID (s) =
Dng song song
u(s) 1 1 = kc + + s d e(s) i s
de(t ) 0 dt ki + kps + kd s 2 ki KPID (s) = kp + + kd s = s s u(t ) = u + k pe(t ) + ki e( )d + kd

t
2004, HONG MINH SN
Dng ni tip
1 s ) KPID (s) = kc 1 + 1 + d ( is
2006 - HMS
65
2004, HONG MINH SN
2006 - HMS
66
4.3.3 B iu khin PID thc

Thut ton xp x khu vi phn Chng bo ha tch phn B iu khin hai bc t do Thut ton s Chuyn ch Auto-Manual Lc nhiu
2004, HONG MINH SN
2006 - HMS
67
Xp x khu vi phn
Khu vi phn l tng khng thc hin c bi khng c tnh nhn qu Thut ton xp x thng dng
ud (s) = kc
d s (r (s) y(s)) d s 1+ N
N tr thnh mt tham s ca b PID (N tng s lm tng tc ng vi phn) Thng thng N c chn trong khong t 3 30
2004, HONG MINH SN
S dng trng s gi tr t ( trnh nhy cm vi thay i gi tr t)
ud (s) = kc
d s (cr (s) y(s)) d s 1+ N

2006 - HMS
68
Hin tng bo ha tch phn (reset windup)

Hin tng u ra ca b iu chnh vn tip tc tng qu mc gii hn khi sai lch iu khin tr v khng. Windup c th xy ra khi:
b iu khin c cha thnh phn tch phn v tn hiu iu khin b hn ch
2004, HONG MINH SN
2006 - HMS
69
2004, HONG MINH SN
2006 - HMS
70
Cc bin php khc phc (Antiwindup)

1. Ct b thnh phn tch phn khi gi tr c iu khin t ti gi tr t, loi tr hon ton hin tng windup. 2. Gim h s khuch i u ra ca b iu chnh nm trong gii hn cho php, trnh vic xy ra hin tng windup. 3. Theo di gi tr thc ca tn hiu iu khin b gii hn v phn hi v b iu chnh gim thnh phn tch phn, hn ch windup.
dui k 1 = c e + (ub u ) dt i t
2004, HONG MINH SN
4. t mt khu gii hn ti u ra ca b iu chnh PID m phng c tnh phi tuyn ca phn t chp hnh, s dng thut ton b ging nh trong phng php 3.
2006 - HMS
71
Chng bo ha tch phn
2004, HONG MINH SN
dui k 1 = c e+ (ub u ) i t dt
2006 - HMS
72
B K 2 bc t do - trng s gi tr t
B iu chnh hai bc t do b c vai tr lm mm qu trnh qu
2004, HONG MINH SN
d s 1 + u = kc (b 1)r + kc 1+ (r y ) i s 1 + d s / N d s 1 = kc + + br y ( r y ) ( r y ) i s 1 + d s / N
2006 - HMS
73
Cu trc b PID thc theo chun ISA
2004, HONG MINH SN
1 d s u = kc br y + (r y ) + (cr y) i s 1 + d s / N 1 d s K (s) = kc 1 + + i s 1 + d s / N
1 + (b i + d N ) s + i d (c + b N ) s 2 P (s ) = 1 + ( i + d N ) s + i d ( 1 + 1 N ) s 2
2006 - HMS
74
Lu v b PID theo chun ISA

Cu trc theo chun ISA tng ng vi cu trc minh ha trn Hnh 6-28 trong trng hp c = 1. K(s) l chnh l hm truyn t ca b PID thc mt bc t do. Do cc tham s c th c chnh nh bng nhiu phng php c nghin cu. P(s) ng vai tr nh mt khu lc trc gip mm ha p ng qu vi gi tr t. Nu N c t c nh sau khi chnh nh K(s) th b v c ch c th thay i c cc im khng ca P(s). Khi K(s) c chnh nh tt cho mc ch n nh h thng v p ng vi nhiu, ta c th chnh nh cc tham s b v c ci thin cht lng p ng vi gi tr t.
2004, HONG MINH SN
Khi b = 1 v c = 1, P(s) tr thnh mt khu khuch i n v.
2006 - HMS
75
Thut ton PID s

Thnh phn t l:
u p (t ) = kc (br (t ) y(t ))
t
Xp x thnh phn tch phn (T l chu k trch mu)
k ui (t ) = c i
Hoc
e( )d ui (t T ) +
kcT e(t ) i
2004, HONG MINH SN
kcT ui (t ) ui (t T ) + (e(t ) + e(t T ) ) 2ti Xp x thnh phn vi phn ci tin: d dud + ud = kc d dy N dt dt d u(t ) u(t ) e(t T ) dt T d k N ud (t ) = ud (t T ) c d (y(t ) y(t T )) d + NT d + NT
Thut ton iu khin:
u(t ) = u + u p (t ) + ui (t ) + ud (t )
2006 - HMS
76
Chuyn ch AutoManual
Vn : Khi chuyn t ch bng tay sang t ng hoc ngc li, tn hiu iu khin thay i ln s gy dao ng mnh => yu cu bumpless transfer Trong khi vn hnh bng tay, cho b iu khin PID lm vic nhng ch bm (tracking mode), cp nht trng thi ca b iu khin => kt qu tnh ton t ng s xp x gi tr a bng tay v chuyn t ch M sang ch A s din ra hon ton trn tru. Trc khi chuyn t ch A sang ch M, t gi tr a bng tay ng bng tn hiu iu khin hin ti.
2004, HONG MINH SN
2006 - HMS
77
Lc nhiu o (lc s)
y f (t ) = f y(t ) + (1 f ) y f (t h )
Lc nhiu gim nh hng ca nhiu o bng cch ly gi tr trung bnh xp x c tnh ng hc ca khu lc nhiu cn c quan tm trong vng iu chnh S dng khu lc ch nh cn thit bng cch thay i h s f (0-1)
2004, HONG MINH SN
2006 - HMS
78
Minh ha c tnh p ng ca h h vi khu lc

Filtered Temperature
f=0.3 f=0.1
f=0.2
2004, HONG MINH SN
20
40 60 Time (seconds)
80
2006 - HMS
100
79
c tnh iu khin khi khng c khu lc
Product Temperature
Manipulated Variable
2004, HONG MINH SN
Time
2006 - HMS
80
c tnh iu khin khi c khu lc
Product Temperature
Manipulated Variable
2004, HONG MINH SN
Time
2006 - HMS
81

C4 System Components

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C4 System Components

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Chng 1 2 3

2004, HONG MINH SN

2004, HONG MINH SN

Chng 4: c tnh cc thnh phn c bn ca h thng

2004, HONG MINH SN

THIT B O QU TRNH K THUT

THIT B CHP HNH

Chng 4: c tnh cc thnh phn c bn ca h thng

V d h thng iu khin nhit

2004, HONG MINH SN

Chng 4: c tnh cc thnh phn c bn ca h thng

Cc thnh phn c bn ca h thng

Tn hiu iu khin (CO)

Thit b chp hnh

Bin iu khin (MV)

Bin c iu khin (CV)

Bin iu khin i lng o Tn hiu o

Bin c iu khin Controlled Variable (CV)

Chng 4: c tnh cc thnh phn c bn ca h thng

2004, HONG MINH SN

Chng 4: c tnh cc thnh phn c bn ca h thng

4.1 Thit b o qu trnh

Transmitter Tn hiu chun (4-20mA, 0-10V,...) Tn hiu bus

2004, HONG MINH SN

Chng 4: c tnh cc thnh phn c bn ca h thng

Lu lng k B chuyn i o chun (transmitter) Thit b o p sut

2004, HONG MINH SN

Cm bin bn trong Cm bin bn trong

Chng 4: c tnh cc thnh phn c bn ca h thng

4.1.1 c tnh vn hnh

2004, HONG MINH SN

Chng 4: c tnh cc thnh phn c bn ca h thng

Phm vi o (range) v di o (span)

Chng 4: c tnh cc thnh phn c bn ca h thng

4.1.2 c tnh tnh

2004, HONG MINH SN

Chng 4: c tnh cc thnh phn c bn ca h thng

Sai s o, chnh xc v phn gii

2004, HONG MINH SN

Chng 4: c tnh cc thnh phn c bn ca h thng

Chng 4: c tnh cc thnh phn c bn ca h thng

Tnh trung thc, kh nng lp li

2004, HONG MINH SN

Km trung thc Km chnh xc

Trung thc Km chnh xc

Trung thc Chnh xc

Chng 4: c tnh cc thnh phn c bn ca h thng

80 (T 20) + 100 = 0.8T + 84 100

tuyn tnh: Mc gn vi c tnh tuyn tnh

Chng 4: c tnh cc thnh phn c bn ca h thng

Chng 4: c tnh cc thnh phn c bn ca h thng

(km = 0.08 [mA/psig])

2004, HONG MINH SN

Chng 4: c tnh cc thnh phn c bn ca h thng

Tuyn tnh ha c tnh tnh

2004, HONG MINH SN

Chng 4: c tnh cc thnh phn c bn ca h thng

Tuyn tnh ha theo im u-cui 50 Tuyn tnh ha theo im khng

Tuyn tnh ha tng on

Chng 4: c tnh cc thnh phn c bn ca h thng

hoc mt khu bc hai n nh

2004, HONG MINH SN

Nu c tnh ng hc ca thit b o khng th b qua:

Chng 4: c tnh cc thnh phn c bn ca h thng