GII THIU THUT TON IU KHIN

V CCH DNG B PID TRONG PLC S7-1200

1. Thut ton iu khin ON-OFF
Vi nhng h thng, dy truyn iu khin hin nay vn ch yu l s dng
phng php iu khin ON-OFF. y l phng php iu khin n gin nht, tit
kim chi ph nht, c ng dng cho nhng i tng khng yu cu cao v cht lng
iu khin. V d nh iu khin ng m trc tip cc ng c in, cc van thy lc,
kh nn, l nhit.
Phng php iu khin theo kiu ON-OFF ch l ng v ngt thit b tiu th
in ra khi li in. V d trong mt h thng n nh nhit ca mt l nhit, s
dng phng php iu khin ON-OFF. Khi khi ng h thng l nhit, iu khin l
nhit sang trng thi ON, sau mt thi gian nhit trong l nhit t n mc ngng.
Lc , chuyn sang trng thi OFF ct ngun cp cho l nhit, v c tnh cht tr nn
sau mt khong thi gian nhit trong l gim xung, mch iu khin chuyn sang
trng thi ON v c tip tc qu trnh nh vy.

Hnh 1.17: Biu thi gian thut ton iu khin ON-OFF
u ra s lun ON/OFF v da theo gi tr t nhit iu khin khng i.
Khi cng sut cp cho si t cng ch c 2 gi tr (ngha l 100% hoc 0%). Cho nn
b iu khin tc ng ON/OFF cn gi l b iu khin tc ng 2 v tr.
i tng p dng cho phng php iu khin theo kiu ON-OFF l cc ng c
cng sut nh v yu cu v cht lng khng cao. Cc b iu khin logic hin nay nh
cc dng vi iu khin, cc dng PLC ch yu iu khin theo phng php ny. S
dng cc phn t cch ly cng sut nh rle iu khin gin tip cc i tng iu
khin. Nhng trong mt s trng hp i hi cht lng iu khin cao n nh tc
v iu chnh tc theo mt ng tuyn tnh, ngi ta phi b xung thm cc phng
php iu khin cao cp hn v d nh P, PI, PD, PID.
Phng php iu khin theo PWM l phng php iu khin da trn nguyn l
ca iu khin ON-OFF. im khc bit y l vic ng m ON-OFF c ch nh v
tn sut ng m trong mt chu k rt ln. C th iu chnh rng xung theo cng
thc sau:

() ( )
Chu k iu khin trong phng php ny s l thi gian T
ON
+ T
OFF
, phng php
ging nh phng php iu khin t l.

Hnh 1.18: Phng php iu khin theo kiu PWM
Khi hot ng, gi tr u vo thp hn v nm ngoi di t l, u ra iu khin
s c ON 100%. Nu gi tr u vo nm trong di t l, u ra iu khin s tng hoc
gim t t tuyn tnh vi sai lch u vo. Nu sai lch bng 0(u vo = SV) th
u ra iu khin s ON 50%. Nu gi tr u vo cao hn v nm ngoi di t l, u ra
s OFF(ng vi gi tr 0%).
2. Thut ton iu khin PID
B iu khin PID (A proportional integral derivative controller) l b iu khin
s dng k thut iu khin theo vng lp c hi tip c s dng rng ri trong cc h
thng iu khin t ng. Mt b iu khin PID c gng hiu chnh sai lch gia tn
hiu ng ra v ng vo sau a ra mt tn hiu iu khin iu chnh qu trnh cho
ph hp.
Chng ta coi h thng c thit k hi tip m n v c s khi nh sau:

Hnh 1.19: S khi h thng iu khin vng kn
B iu khin PID l mt c ch iu khin lp hi tip c s dng rng ri
trong h thng iu khin cng nghip do d s dng. Mt b iu khin PID iu chnh
gia gi tr bin o c v gi tr mong mun t c bng cch tnh ton v xut ra
mt "tn hiu iu chnh" nhanh chng gi cho sai lch mc nh nht c th c.
B iu khin PID gm 3 thng s ring: T l, Tch phn v Vi phn.

Hnh 1.20: S khi b iu khin PID.
Thnh phn t l (Kp) c tc dng lm tng tc p ng ca h, v lm gim,
ch khng trit tiu sai s xc lp ca h (steady-state error).
Thnh phn tch phn (Ki) c tc dng trit tiu sai s xc lp nhng c th lm
gim tc p ng ca h.
Thnh phn vi phn (Kd) lm tng n nh h thng, gim vt l v ci thin
tc p ng ca h.
Nh vy, t ba thnh phn (t l, tch phn, vi phn), c th xy dng thm cc b
iu khin khc nh b iu khin P, b iu khin PI, b iu khin PD, ty vo i
tng tc ng c th m ta s dng cc b iu khin cho thch hp. y ch nghin
cu su v b iu khin PID.
Xt nh hng ca cc thnh phn Kp, Ki, Kd i vi h kn c tm tt trong
bng sau:
Thnh phn Thi gian
p ng
qu
iu chnh
Thi gian
qu
n nh trng
thi xc lp
K
P
Gim Tng Thay i t Gim
K
I
Gim Tng Tng B loi b
K
D
Thay i t Gim Gim Thay i t

Hnh 1.21: c tnh p ng u ra ca b iu khin
Lu rng quan h ny khng phi chnh xc tuyt i v Kp, Ki v Kd cn ph
thuc vo nhau. Trn thc t, thay i mt thnh phn c th nh hng n hai thnh
phn cn li. V vy bng trn ch c tc dng tham kho khi chn Kp, Ki, Kd. B iu
khin 3 thnh phn:
Hm truyn ca b iu khin PID c dng:

( )
Trong :
Kp = h s t l;
Ki = h s tch phn;
Kd = h s vi phn;
Trc ht ta kho st b PID lm vic th no trong h kn c s khi nh trn.
Bin e l thnh phn sai lch, l hiu gia gi tr tn hiu vo mong mun v tn hiu ra
thc t. Tn hiu sai lch (e) s a ti b PID, v b iu khin tnh ton c thnh phn
tch phn ln vi phn ca (e). Tn hiu ra (u) ca b iu khin bng:

( )
Lc ny i tng iu khin c tn hiu vo l (u), v tn hiu ra la (Y). (Y) c
hi tip v bng cc cm bin tip tc tnh sai lch (e). V b iu khin li tip tc
nh trn.
Khi thit k b PID nn theo cc bc sau c kt qu nh mong mun:
+ Tm p ng h h v xc nh thng s no cn ci thin.
+ Thm thnh phn Kp ci thin thi gian p ng.
+ Thm thnh phn Kd gim vt l.
+ Thm thnh phn Ki trit tiu sai s xc lp.
+ iu chnh Kp, Ki, Kd cho n khi p ng cc thng s yu cu.
Thng xuyn tham kho bng phn tch pha trn bit c tnh cc thnh phn
trong b iu khin. Cc thnh phn Kp, Ki, Kd vo h n nu khng cn thit. V d,
nu b PI p ng yu cu th khng cn thm vo thnh phn vi phn Kd, b iu
khin cng n gin cng tt.
C nhiu cu trc khc nhau ca b PID, tuy nhin ta thng hay s dng nht
l hai cu trc l: PID mc song song v PID mc ni tip. Cu trc PID mc song
song hu ht c ni n trong l thuyt, v vy n cn c gi l L tng. Cu
trc ny c to nn bi ba ch : T l , tch phn, vi phn v mi ch ny c lp
nhau. Cu trc song song ny vn cn rt him trn th trng. B iu khin u tin
c to nn t kh nn v n th rt kh xy dng nn cu trc song song to bi cc
phn t kh nn. bo m cho cc qu trnh trong cng nghip hu ht cc b iu
khin c s dng vn l cu trc mc ni tip. Trong cc lnh vc khc, b iu khin
PID mc ni tip c th c tm thy nhiu hn trn th trng.
- PID mc song song
Kt ni song song cc thnh phn t l, tch phn, vi phn c gi l b iu
khin PID mc song song nh hnh bn di:

Hnh 1.22: Cu trc PID mc song song
Tn hiu u ra:
() [()

()

()

] ()
- PID mc ni tip
Cu trc ny rt ph bin trong cc qu trnh cng nghip. Knh I s dng c 2 tn
hiu sai lch e(t) v
()

. N thc hin nh mt chui cc kt ni ca b iu khin PI

v PD. Thut ton iu khin nh sau:

Hnh 1.23: Cu trc PID mc ni tip
Tn hiu u ra ca b iu khin:

() [

()

()()

] ()

() ()

()

()
B iu khin PID ra i v ni ln nh mt gii php cho vn chng sai s
trong iu khin bng cch dng cc m hnh iu khin lp v iu chnh p ng ng
ra ca h thng da trn cc gi tr hi tip ca qu trnh.
Sau y chng ta tm hiu tng phn t trong b PID
2.1.1. Khu P:
Khu P to ra tn hiu iu khin t l vi gi tr ca sai lch. Vic ny c thc
hin bng cch nhn sai lch e vi hng s K
P
gi l hng s t l.
Khu P c tnh da trn cng thc:

Vi: P
out
: gi tr ng ra
K
P
: hng s t l
e: sai lch: e = SP PV
S khi ca khu P:

Hm truyn:
p p
G (s) = K

Nu ch c khu P th trong mi trng hp sai s tnh lun xut hin, tr khi gi
tr u vo ca h thng bng 0 hoc bng vi gi tr mong mun. Trong hnh sau th
hin sai s tnh xut hin khi thay i gi tr t.

Hnh 2 p ng ca khu P
Nu gi tr khu P qu ln s lm cho h thng mt n nh.
2.1.2. Khu I:
Khu I cng thm tng cc sai s trc vo gi tr iu khin. Vic tnh tng
cc sai s c thc hin lin tc cho n khi gi tr t c bng vi gi tr t, v kt
qu l khi h cn bng th sai s bng 0.
Khu I c tnh theo cng thc:

Vi: I
OUT
: gi tr ng ra khu I
K
i
: h s tch phn
e: sai s: e = SP PV
S khi khu I:

Hm truyn:
I
I.
K U(s) 1
G(s) = = =
E(s) s T s

Khu I thng i km vi khu P, hp thnh b iu khin PI. Nu ch s dng
khu I th p ng ca h thng s chm v thng b dao ng.
Hnh sau ch ra s khc bit gia khu I v PI:

Hnh 3 p ng ca khu I v PI
Ta c th nhn thy l khu I lm cho p ng ca h thng b chm i rt nhiu,
cn khu PI gip trit tiu sai s xc lp.
2.1.3. Khu D:
Khu D cng thm tc thay i sai s vo gi tr iu khin ng ra. Nu sai
s thay i nhanh th s to ra thnh phn cng thm vo gi tr iu khin. iu ny ci
thin p ng ca h thng, gip trng thi ca h thng thay i nhanh chng v mau
chng t c gi tr mong mun.
Khu D c tnh theo cng thc:

Vi: D
OUT:
ng ra khu D
K
D
: h s vi phn
e: sai s: e = SP PV
S khi khu D:

Hm truyn:
( )
( )
( )
d
U s
G s K s
E s


Khu D thng i km vi khu P thnh b PD, hoc vi PI thnh b PID.

Hnh 4 p ng ca khu D v PD
Theo hnh trn, b PD to p ng c thi gian tng trng nh hn so vi b P. Nu
gi tr D qu ln s lm cho h thng khng n nh.
2.1.4. Tng hp ba khu B iu khin PID:
B iu khin PID l cu trc ghp song song gia 3 khu P, I v D.
Phng trnh vi phn ca b PID l tng:

P I D
de(t)
u(t) = K e(t)+ K e(t)dt + K
dt

S khi:

p ng ca b PID:

Hnh 5 p ng ca khu P, PI v PID
2.1.5. Ri rc ha b iu khin PID:
B iu khin s khng th ly mu lin tc theo thi gian, n cn c ri rc
mt vi mc. Khi cho h s ly mu ngn bn trong thi gian vi phn c th t c xp
x mt sai phn c gii hn v tch phn qua vic ly tng. Chng ta s quan tm mi
dng mt thi im, v sai s c tnh mi khong ly mu:
e(n) = X(n) Y(n)
B PID ri rc c sai s, tnh ton v xut ng ra iu khin theo mt khong
thi gian xc nh (khng lin tc) thi gian ly mu T. Thi gian ly mu cn nh hn
n v thi gian ca h thng.
Khng ging cc thut ton iu khin n gin khc, b iu khin PID c kh
nng xut tn hiu ng ra da trn gi tr trc ca sai s cng nh tc thay i sai
s. iu ny gip cho qu trnh iu khin chnh xc v n nh hn.

Hnh 6 S khi PID
Hm truyn ca h thng:

Hm chuyn i:

Tnh gn ng theo cng thc:

Vi n l bc ri rc ti t.
Kt qu thu c:

Vi:

2.2. Thit k b iu khin PID:
Lut iu khin thng c chn trn c s xc nh c m hnh ton hc ca
i tng phi ph hp vi i tng cng nh tha mn yu cu ca bi ton thit k.
Trong trng hp khng th xc nh c m hnh ton hc ca i tng, c th
tm lut iu khin cng nh cc tham s ca b iu khin thng qua thc nghim.
Ziegler v Nichols a ra phng php xc nh thng s ti u ca b PID l da
trn th hm qu ca i tng hoc da trn cc gi tr ti hn thu c qua thc
nghim.
2.2.1. S dng hm qu ca i tng:
Phng php ny cn c tn l phng php th nht ca Ziegler Nichols. N c
nhim v xc nh cc thng s K
p
, T
N
, T
V
cho cc b iu khin P, PI v PID trn c
s i tng c th m t xp x bi hm truyn t dng:
t
-Ts
Ke
G(s) =
Ts+1

Sao cho h thng nhanh chng v trng thi xc lp v vt l
max
khng vt qu
mt gii hn cho php, khong 40% so vi


t
t h h ) ( lim ) ( :
% 40
) (
max
max

h
h

Ba tham s T
t
(thi gian tr), K (h s khuch i) v T (hng s thi gian qun tnh)
ca m hnh xp x c th xc nh c gn ng t th hm qu h(t) ca i
tng. Nu i tng c dng nh hnh 7a m t th t th hm h(t) ta c ra c:
-T
t
l khong thi gian tn hiu ra h(t) cha c phn ng ngay vi tn hiu kch thch
1(t) ti u vo.
-K l gi tr gii hn


t
t h h ) ( lim ) (
-Gi A l im kt thc khong thi gian tr , tc l im trn trc honh c honh
bng T
t
. Khi T l khong cn thit sau T
t
tip tuyn ca h(t) ti A t c gi
tr K.



a) b)
Hnh 7 Xc nh tham s cho m hnh xp x bc nht c tr
Trng hp hm qu h(t) khng c dng l tng nh hnh 7a, nhng c dng
gn ging nh hnh ch S ca khu qun tnh bc 2 hoc bc n nh m t hnh 7b th ba
tham s K, T
t
, T c xc nh xp x nh sau :
-K l gi tr gii hn ) ( h .
-K ng tip tuyn ca h(t) ti im un ca n. Khi T
t
s l honh giao im
ca tip tuyn vi trc honh v T l khong thi gian cn thit ng tip tuyn i
c t gi tr 0 ti c gi tr K.
Nh vy ta thy iu kin p dng c phng php xp x m hnh bc nht c
tr ca i tng l i tng phi n nh, khng c dao ng v t nht hm qu ca
n phi c dng ch S. Sau khi c cc tham s cho m hnh xp x ca i tng, ta
chn cc thng s ca b iu khin theo bng sau :
B iu khin K
P
T
N
T
V

P
t
T K
T
.

_ _
PI
t
T K
T
.
9 , 0

t
T
3
10

_
PID
t
T K
T
.
2 , 1

t
T . 2

t
T . 5 , 0

Bng 1 Tnh ton thng s b iu khin
T suy ra :
H s tch phn :
P
I
N
K
K =
T

H s vi phn :
D P V
K = K .T

2.2.2. S dng cc gi tr ti hn thu c t thc nghim:
Trong trng hp khng th xy dng phng php m hnh cho i tng th
phng php thit k thch hp l phng php thc nghim. Thc nghim ch c th
tin hnh nu h thng m bo iu kin: khi a trng thi lm vic ca h n bin
gii n nh th mi gi tr ca tn hiu trong h thng iu phi nm trong gii hn cho
php.
Phng php ny cn c tn l phng php th hai ca Ziegler Nichols. iu
c bit l phng php ny khng s dng m hnh ton hc ca i tng iu khin,
ngay c m hnh xp x gn ng.
Cc bc tin hnh nh sau :
-Trc tin, s dng b P lp vo h kn (hoc dng b PID v chnh cc thnh phn
K
I
v K
D
v gi tr 0). Khi ng qu trnh vi h s khuch i K
P
thp, sau tng dn
K
P
ti gi tr ti hn K
gh
h kn ch gii hn n nh, tc l tn hiu ra h(t) c
dng dao ng iu ha. Xc nh chu k ti hn T
gh
ca dao ng.

Hnh 8 M hnh iu khin vi K
gh

Hnh 9 Xc nh h s khuch i ti hn
- Xc nh thng s ca b iu khin theo bng sau :
B iu khin K
P
T
N
T
V

P 0,5 K
gh
_ _
PI 0,45 K
gh
0,83 T
gh
_
PID 0,6 K
gh
0,5 T
gh
0,125 T
gh

Bng 2: Thng s b iu khin theo thc nghim
3. Tm hiu khi hm PID_Compact trong TIA Portal

Cng dng: PID_Compact cung cp 1 b iu khin PID vi chc nng t iu chnh
cho ch t ng hoc bng tay.

Setpoint IN Real im t ca b iu khin PID trong ch t
ng.Gi tr mc nh:0.0
Input

IN Real Process value. Default value(Gi tr mc nh):
0.0
You must also set sPid_Cmpt.b_Input_PER_On =
FALSE.
Input_PER IN Word Gi tr x l analog(ty chn).Gi tr mc nh:
W#16#0.
You must also set sPid_Cmpt.b_Input_PER_On =
TRUE.

ManualEnable IN Bool Cho php hoc khng cho php ch vn hnh
bng tay.Default value: FALSE .
Trn cnh ca s chuyn i t FALSE sang
TRUE,b iu khin PID chuyn sang ch
bng tay,State=4 v sRet.i_Mode vn khng i
Trn cnh ca s thay i t TRUE sang
FALSE,b iu khin PID chuyn ti ch vn
hnh cui cng v State = sRet.i_Mode
ManualValue IN Real Gi tr x l cho vic vn hnh bng tay.
Default value: 0.0
Reset IN Bool Khi ng li b iu khin Default value:
FALSE
Nu Reset=TRUE,nhng iu sau y c p
dng:
Ch vn hnh khng hot ng


Gi tr trung gian ca h thng c reset
cc thng s PID c duy tr)
ScaledInput OUT Real Scaled process value. Default value: 0.0
Output(1) OUT Real Output value. Default value: 0.0
Output_PER(1) OUT Word Analog output value. Default value: W#16#0
Output_PWM(1) OUT Bool Output value for pulse width modulation. Default
value: FALSE
SetpointLimit_H OUT Bool Gii hn trn ca SP. Default value: FALSE
Nu SetpointLimit_H=TRUE,t n gii hn
trn tuyt i ca SP Default value: FALSE
SetpointLimit_L OUT Bool Gii hn di ca SP .Default value: FALSE
Nu SetpointLimit_H=TRUE,t n gii hn
di tuyt i ca SP. Default value: FALSE
InputWarning_H OUT Bool Nu InputWarning_H = TRUE ,gi tr x l(PV)
t n hay vt mc gii hn trn Default value:
FALSE
InputWarning_L OUT Bool Nu InputWarning_H = TRUE ,gi tr x l(PV)
t n hay vt mc gii hn di Default
value: FALSE
State OUT Int Ch vn hnh hin ti ca b iu khin PID
Default value: 0
S dng sRet.i_Mode chuyn ch

(iu chnh s b)



Error OUT DWord Error message Default value: DW#16#0000 (no
error)

(1)Cc thng s Output, Output_PER, v Output_PWM c s dng song song


4. Cch cu hnh v s dng b PID_Compact
u tin phi to mt khi hm ngt chu k OB30 i vi CPU 1212C v b PID
cn thi gian thc thi, mt ch y l khng nn khi PID_Compact trong
chng trnh chnh OB1 s khin chu k qut ca PLC tng ln nhiu lm cho ng dng
c nhiu b PID th OB1 cng chm ng thi lm p ng ca PLC b chm theo

Chn Organization block(OB) Cyclic interrupt LAD Cycle time 100 OK
S th t ca OB c t ng nh s l OB30

Ly khi hm PID_Compact : Chn Extended instructions PID PID_Compact
OK.


Trong khi OB30 nhp vo cc bin khai bo (ty thuc vo ng dng nhp
ng thng s) vo khi hm PID theo nhu cu s dng. Sau n vo biu tng
trn khi PID_Compact.


Trong phn Basic parameters Chn Controller type l
general/temperature/pressure/ volume .. %/
0
C/Bar/l. input chn
Input_PER(analog) output : Output_PER



Trong phn Input Scaling >>nhp cc thng s theo trnh t sau Scaled high
value (v d 1000.0 L) high limit (v d 1000.0 L) Low limit (v d 0.0 L)
Scaled low value (v d 0.0 L). y ty tng ng dng bi ton m nhp cc gi tr
thch hp, gi tr trong hnh v d cho h thng n nh mc


Trong phn Advance settings ch cn quan tm ti PID parameter PID
parameters : vi mi mt h thng s c nhng thng s h thng n nh, y
chng ta ch a ra thng s gn ng chc nng auto turning hot ng nhanh hn,
chng ta cng c th thng s mc nh. Thc hin xong nhn Save project.


Khi CPU khi ng ban u, b iu khin PID_Compact cha c kch hot.
kch hot n,chng ta bt u lnh bng cch click vo biu tng


Chn Start measurement m chc nng gim st h thng bng th

Tip tc chn Start fine turning bt u d thng s cho h thng. By gi Self
optimization bt u hot ng.Trong vng Status nhng bc hot ng v li xy ra
s c hin th. Thanh vn hnh cho thy qu trnh ca cc bc vn hnh.


Nu qu trnh t iu chnh khng c li xy ra,cc thng s PID s c iu chnh
cho ti u. B iu khin PID chuyn sang ch t ng v s dng cc thng s ti u
. Cc thng s ti u c lu li bng cch nhn nt (Upload PID parameters to
project). V mi khi Power ON li PLC th thng s ny s c s dng.