BO CO TH NGHIM IU KHIN QU TRNH

H v Tn: L Thin c
SHSV:

20125469

Nhm:

12

Hiu chnh:
+ start time: 0.0s , Stoptime: 13700s, Type: Fixed step, solve: Ode 4, Fixed step size: 0.2s
Cc Tham s trong khi single-tank:
+ course number:

57

+ class number :

12

+ name list number: 69

BI 1
XY DNG H THNG IU KHIN MT
NC

BNH

I. XY DNG M HNH CHO I TNG BNH MC

1. Xc nh Cc Tn Hiu Vo/ra v nhiu h thng.

Nhiu F2
Bin iu Khin
F1

- Tn hiu vo: m van vo

H Thng

(In value ) - F1

- Tn hiu ra : Mc nc trong bnh (Level)

- Nhiu h thng: m van ra

Bin Cn iu Khin

- h

(Out value) F2

- S bin vo l 2
- S bin ra l

=> s bc t do l : 3-1=2 v bng s bin vo . Nn h c kh nng iu khin c.

2. Xy dng m hnh ton hc cho i tng vi cc tham s hnh thc:

- Phng trnh cn bng vt cht:

dV
dh
A F1 F 2
dt
dt

(1)

Trong : A l tit din ct ngang ca bnh cha (coi nh u t trn xung).

Phng trnh m hnh trng thi xc lp:
dh
(2)
0 A
F1 F 2
dt
Tr v ca (1) (2) ta c:

A
t: y h; u F 2; d F1
- Phng trnh tr thnh:

d h
F1 F 2
dt

dy 1
(d u )
dt A
- Ti trng thi ban u tt c cc bin chnh lch u y, u, d v dy

dt

u bng 0.

-Laplace 2 v ta c

sy( s)

1
1
u ( s) d ( s)
A
A

- Do van l khu qun tnh bc nht nn hm truyn ca h thng s c dng:

( )

( )

3. S dung Simulink xc nh tham s m hnh (nhn dng h thng):

- To hm p ng u ra ca h thng bng cch to mt tn hiu bc thang u vo:
M hnh trong Simulink

Ta c p ng qu nh sau:

- Xc nh cc h s k, T:
+ T th trn ta k tim cn ct trc honh t ti im ng vi ta (1.95,0). Ta chn T=1.95.
- T ta tnh h s gc K= tan =
Suy ra: K=

vi a= 16.7 v b=10 1.95 = 8.05

= 2.07

Vy, ta c hn truyn t sau: G(s) =

- Kim tra li p ng qu bng m hnh simulink trong matlab:

Hai th p ng ca hm truyn v ca h thng m phng

- Nhn Xt:
+ th p ng ca hm truyn va tm c cha st vi p ng ca qu trnh.
Vy, ta phi iu chnh cc thng s T v K p ng ca hm truyn st vi qu trnh hn.
- sau khi iu chnh ta c cc thng s mi T= 2.5 v K = 2.8, th p ng mi
- p ng ca hm truyn sau khi iu chnh v ca h thng m phng:

II. CC SCH LC IU CHNH

1. Sch lc iu chnh c th s dng:
+ Sch lc iu khin phn hi: V sch lc iu khin phn hi c tc dng n nh mt h thng
khng n nh c th l h thng bnh mc.
+ Sch luc iu khin tng: V sch lc iu khin tng cng c tc dng n nh mt h thng khng
n nh ngoi ra cn gim ti thiu c nh hng ca nhiu.
2. sch lc iu chnh khng th s dng:
- Sch lc iu khin truyn thng:
+ iu khin truyn thng khng c tc dng n nh mt h thng khng n nh, c th l h thng
bnh mc trong bi th nghim c thnh phn tch phn.
+ iu khin truyn thng p ng rt nhanh vi nhiu, do vy nu cm bin o khng chnh xc hc sai
s m hnh ln s lm mc nc trong bnh b trn qu hoc cn ht.
- Sch lc iu khin t l: Do nguyn l iu khin ca sch lc iu khin t l l duy tr quan h gia
hai bin iu khin nhm iu khin gin tip bin th 3. Nhng iu khin bnh mc ch c mt bin
iu khin l F1 nn khng th p dng
- Sch lc iu khin la chn: Do iu khin la chon cng yu cu t nht hai bin iu khin m h
thng bnh mc ch c mt bin iu khin nn khng xc nh c tn hiu iu khin ln t ln khng
th p dng sch lc iu khin ny.

III. THIT K B IU KHIN PID CHO I TNG:

- S dng phng php Ziegler Nichol 1 v phng php ny p dng cho i tng c c tnh l mt
khu qun trnh bc nht hoc khu tch phn c thi gian tr tng i nh.
Dng hm truyn ca b iu khin PID:
(s) = Kp( 1 +

Kp
P

= 0.4

PI

= 0.36

3.3T=9.24

PID

= 0.48

2T=5

0.5T= 1.4

2. M Phng B iu khin PID trn Simulink

Nh iu chnh cc thng s
hnh v trn.

ta s c c nhng b iu khin P, PI v PID tng ng nh

IV. M HNH CC SCH LC IU KHIN.

1. Sch Lc iu Khin Truyn thng.
1.1. M Hnh Sch Lc Truyn Thng :
F2

SP

B iu khin
PID

F1

Qu Trnh

1.2. Lu P&ID Ca Sch Lc Truyn Thng.

PID

1.3. M Hnh Trn Simulink.

Kp
0.48

Ti
5.6

Td
1.4

- Ta c p ng ca h thng:

- vi hai b iu khin PI v P ta cng c kt qu sai khc rt t so vi 2 kt qu trn.

1.4. Nhn Xt
+ khi bt u qu trnh m phng, khi t mc nc trong bnh th mc nc trong bnh tng lin tc v
nhanh chng lm trn bnh trong khi thi gian m phng vn cn.
+ Sau khi m van 2, vn gi nguyn gi tr t th mc nc trong bnh li gim lin tc n cn bnh.
=> h thng khng n nh.
=> khng th p dng c sch lc ny iu khin h thng.
2. SCH LC IU KHIN PHN HI VNG N.
2.1. M Hnh Sch Lc iu Khin Vng n
F2

SP

B IU KIN

F1

QU TRNH

2.2. Lu P&ID Cho Sch Lc iu Khin Phn Hi Vng n.

2.2. M Hnh M Phng Trn Simulink.

2.3. S Dng Sch Lc iu Khin Phn Hi Vng n Vi Ba B iu Khin P, PI, PID.

2.3.1. Trng hp s dng b iu khin P vi Kp=0.4 .
- p ng qu

- Nhn Xt:
+ H thng hot ng n nh, qu iu chnh nh.
+ Thi gian qu ngn.
+ Lu lng ra n inh
+ tn hiu ra b lch so vi tn hiu t nh hnh di

Nh Vy, s dng b iu khin P rt n gin (c bit h m phng bnh nc bn thn h c thnh

phn tch phn), tc ng rt nhanh mc cht lng gn st vi gi tr t v c tnh n nh cao.
2.2.2. Trng hp s dng b iu khin PI vi Kp = 0.36 v

= 9.24.

- p ng ca h thng

- Hin Tng: Khi tin hnh m phng th xy ra hin tng mc nc tng vt trong thi gian ngn ko
di thi gian qu . y l hin tng bo ha tch phn (Reset Windup) xy ra khi c thnh phn tch
phn trong b iu khin.
-Nhn Xt:
+ qu iu chnh ln.
+ Thi gian qu ln.
+ d tr n nh gim do c thnh phn I trong b iu khin.
Nn khc phc tnh trng ny t cn them mt khu chng bo ha tch phn vo b iu khin.

2.2.3. Trng hp s dng b iu khin PID vi Kp = 0.48 ,

=5.6 v

= 1.4

- p ng ca h thng

- Hin Tng: Gn ging vi khi s dng b iu khin PI nhng thi gian qu di hn

- Nhn Xt: + qu iu chnh ln
+ Thi gian qu di
+ Tn ti sai lch tnh ln

3. S dng sch lc iu khin phn hi vng n dng cc b iu khin P, PI-RW v PID-RW.

3.1. S b iu khin:

- Vi

= 0.5

v thng s cn t cho khi Saturation l : Upper limit :1

Lower limit: 0

3.2. Kt qu m phng.
3.2.1. i vi b iu khin PI- chng bo ha tch phn vi Kp= 0.36, Ti=9.24, Tt=4.12
- p ng ca h thng

- Nhn Xt:
+ gim c hin tng baoc ha tch phn , tn hiu ra nhanh chng bm ti tn hiu t m khng
giao ng qu nhiu , qu trnh nhanh chng i n n nh.
+ qu iu chnh nh..
+ Thi gian qu nhanh.
+ Gim c sai lch tnh xung mc thp.
+ p ng ra bm st vi tn hiu t vi sai lch tnh rt nh nh hnh di c hai b iu khin

3.2.2. i vi b iu khin PID- chng bo ha tch phn vi

= 0.48,

= 5.6,

= 2.8 v

=1.4 .
- th p ng qu :

- Nhn Xt:
+ qu iu chnh nh.
+ Thi gian qu nh v nh hn thi gian qu khi dng b PI- chng bo ha tch phn
( do c thnh phn vi phn trong b iu khin).
+ sai lnh tnh gim xung mc thp.

4. S dng sch lc iu khin tng.

4.1. L do cn s dng iu khin tng
- vng iu khin phn hi vng n cha p ng c yu cu cht lng.
- iu khin tng c cc u im nh: Ci thin kh nng loi b nhiu cc b, gim qu iu
chnh, ci thin tnh n nh ca ton h kn, nng cao tnh bn vng ca h kn.
- sch lc iu khin tng c tc p ng nhanh hn so vi iu khin phn hi. Do iu khin
tng c vng ngoi iu khin thng, phn ng nhanh vi nhiu v trit tiu nhiu ny.
4.2. Xc nh cc vng iu khin, nhim v v c im ca tng vng.
+ Vng 1 (vng ngoi): o mc ca bnh ri phn hi li so snh vi SP1 cho ta lu lng vo mong
mun. ( gi tr SP2 ca vng 2).
+ Vng 2 (vng trong): o hiu lu lng Out Flow & In Flow, phn hi & so snh vi gi tr u
vo. (chn Kp=10000).
c im:
+ H s khuch i Kp ca vng ngoi rt ln nn p ng nhanh vi s thay i ca nhiu u vo.
(Chn Kp = 10000 cho b iu khin P vng ngoi).
+ Cc thng s trong b PID-2 (vng trong) da theo tnh ton trn.
4.3.iu khin tng khng o lu lng ra.
4.3.1. Cu trc:

B iu khin th
cp

B iu khin s
cp
-

Qu trnh
In Flow

4.3.2. Lu P&ID.

4.3.3. M phng trn Simulink.

4.3.4. S dng 2 b iu khin P vi

- p ng ca h thng:

: Kp = 10000;

: Kp = 0.4

- Nhn Xt: H thng n nh vi qu iu chnh v thi gian qu nh. Tuy nhin vn cn s

chnh lch gia Set Point & Level; gia Out Flow v In Flow.
4.3.5. S dng b iu khin P/PI-RW vi
.( hiu chnh)
- p ng ca h thng:

: Kp = 10000;

: Kp = 0.36,

= 8.34 v

- Nhn Xt:
+ H thng n nh vi thi gian qu nh
+ qu iu chnh nh.
+ Sai lch tnh tng i ln.
+ Vn cn s chnh lch kh ng k gia Set Point vi Level, gia Out Flow vi In Flow .
+ p ng ra b nh hng khi nhiu qu trnh( m van 2) ln.
.

4.4. iu khin tng o lu lng ra.

4.4.1. Cu trc b iu khin.

SP

B iu Khin
S Cp

+
_

4.4.2. Lu P&ID.

+
+

B iu Khin
Th Cp

Qu Trnh
In F

Out F

3.4.3. M phng Trn Simulink

4.4.4. S dng b iu khin P/P.

- p ng ca h thng:

-Nhn xt:
+ p ng ra lun bm st gi tr t vi qu iu chnh thp, thi gian qu nh, sai lch tnh nh
ng k, sai lch gia lu lng vo vi lu lng ra nh. Ngoi ra khi nhiu c gi tr ln nht ( m
van 2 bng 1) mc nc trng bnh vn n nh gi tr t (gi tr t y trong khong t 0 n 400,
nu ln hn 400 th mc nc s khng cn n nh na).

4.4.6. S dng b iu khin P/PI-RW vi

. ( hiu chnh)
- p ng ca h thng.

: Kp = 10000;

: Kp = 0.36,

= 8.34 v

- Nhn Xt: + H thng n nh.

+ qu iu chnh nh, thi gian qu nh nhng vn lu hn so vi trng hp s dng
b iu khin P/P.
+ Sai lch gia lu lng vo vi lu lng ra nh.
+ H khng b nh hng nhiu bi nhiu.

4.4.7. So snh hai trng hp khng i v c o lu lng ra.

- Trng hp khng o lu lng ra:
+ khi h n nh, nu thay i lng ra th mc nc trong bnh
thay i lm cho cht lng ca h thng thay i (do khng
chit tiu c nhiu).
+ qu iu chnh tng i ln, sai lch gia Out Flow v
In Flow l ng k.
- Trng hp c i lu lng ra:

+ Khi h thng n nh d thay i lu lng ra th h thng vn

n nh (hn ch ti a c nhiu)
+ qu iu chnh nh, sai lch gia Out Flow v In Flow nh.

BI 2
XY DNG H THNG IU KHIN HAI BNH NC
THNG NHAU

I. XY DNG M HNH CHO I TNG.

1. Xc nh cc tn hiu vo, tn hiu ra, nhiu ca h thng v s bc t do.

- Tn hiu vo: m van F1, m van F2 v m van F3
- Tn hiu ra: Mc ca hai bnh mc: level 1: h1 v level 2: h2

F3
Nhiu

- Nhiu: m van F3
F1

h1
QU TRNH

F2
Bin iu khin
- S bc t do: 5 2 = 3 v ng bng s bin vo.
Nn h c kh nng iu khin c.

h2
Bin cn K

2. Xy dng m hnh ton hc cho i tng vi cc tham s hnh thc.

- Phng trnh cn bng vt cht:

- Bin i Laplace:
( )

( )

( )

( )

( )

( )

- Nu khng tnh n c tnh qu tnh bt nht ca cc van, th:

( )
{

( )

Do c tnh van 1 l mt khu c hm truyn l mt khu qu tnh bc nht v do hai bnh thng nhau
nn c tnh ca van 2 l mt khu c hm truyn l mt khu qu tnh bc nht c tr.
V th ta c 2 hm truyn t ca 2 bnh nh sau:
( )
{

( )

(
(

)
)

3. S dng Simulink xc nh cc tham s m hnh.

M hnh trong Simulink

trong : {

3.1. Xc nh
- p ng qu ca bnh 1

- K tim cn ca

()

( ) ct trc honh ti im ng vi ta (2.06;0) . Chn

Suy ra ta tnh c hng s gc ca tip tuyn l:

Vy hm truyn t ca bnh 1 c dng:

( )

= tan
(

4.12

3.2. Xc nh
- p ng qu ca bnh 2

- K tim cn ca

()

( ) ct trc honh ti im ng vi ta (4.3;0) . Chn

- thi gian tr : = 1.2(s).

Suy ra ta tnh c hng s gc ca tip tuyn l:
Vy hm truyn t ca bnh 1 c dng:

( )

= tan

0.56

3.2. So snh khim chng ta dng m hnh sau trn Simulink.

- so snh p ng ca hm truyn G1(s) vi p ng ca bnh 1:

- So sanh p ung ca hm truyn G2(s) vi p ng ca bnh 2

- Nhn xt: Hai hm truyn tm c cha st vi p ng qu ca hai bnh mc nn ta phi hiu

chnh li nh sau:
( )
( )
-

- t ta c hai p ng qu gn st vi p ng qu ca hai bnh :

II. CC SCH LC IU CHNH

1. Sch lc iu chnh c th s dng:
+ Sch lc iu khin phn hi: v sch lc iu khin phn hi c tc dng n nh mt h thng
khng n nh c th l h thng bnh mc.
+ Sch luc iu khin tng: v sch lc iu khin tng c tc dng n nh mt h thng khng n
nh, ngoi ra con gim c nh hng ca nhiu, trit tiu c sai lch tnh cho cht lng tt hn
iu khin phn hi.
2. sch lc iu chnh khng th s dng:
- Sch lc iu khin truyn thng:
+ iu khin truyn thng khng c tc dng n nh mt h thng khng n nh, c th l h thng
bnh mc trong bi th nghim c thnh phn tch phn.
+ iu khin truyn thng p ng rt nhanh vi nhiu, do vy nu cm bin o khng chnh xc hc sai
s m hnh ln s lm mc nc trong bnh b trn qu hoc cn ht.

III. THIT K B IU KHIN PID CHO I TNG.

- Ta s dng phng php: Ziegler Nichol
Dng hm truyn ca b iu khin PID:
(s) = Kp( 1 +

1. Thit k b iu khin PID cho value1

( )

Kp
P

= 0.27

PI

= 0.24

3.3T=9.47

PID

= 0.32

2T=5.74

0.5T= 1.44

2. Thit k b iu khin PID cho value2

( )

Kp
P

= 1.43

PI

= 1.3

3.3T=14.2

PID

= 1.71

2T=8.6

0.5T= 2.15

IV. SCH LC IU KHIN PHN HI VNG N S DNG HAI

B IU KHIN P V PI-RW .
1. Lu P&ID.

2. M phng bng Simulink.

3. S dng b iu khin P.
PID valve 1:

0.27 v PID valve 2:

= 1.43

- Nhn Xt: + B iu khin P lm cho h thng n nh v p ng rt nhanh vi thi gian qu nh

v qu iu chnh nh, khng c hin tng giao ng quanh gi tr t.
+ Tuy nhin sai lch tnh vn cn ng k do khng c thnh phn tch phn gim sai lch
Tnh trong b iu khin.
4. S dng b iu khin PI-RW.
PID valve 1:

; PID valve 2:

- Nhn Xt: + H thng hot ng n nh nhng vi d tr n nh nh hn trng hp dng b iu

khin P.
+ qu iu chnh mc chp nhn c ( do c thnh phn I lm tng qu iu chnh).
+ Thi gian qu nh.
+ Gim c sai lch tnh xung mc thp hn so vi khi dng b iu khin P.

V.SCH LC IU KHIN TNG O LU LNG RA.

1. Lu P&ID.

2. Xc nh cc vng iu khin cn xy dng.

- Vng 1(vng ngoi): o mc ca bnh cha(level 1 v level 2) ri phn hi li so snh vi SP1 v
SP2.
- Vng 2(vng trong): o hiu lu lng ra Flow 1 vi Flow 2, Flow 2 vi Flow 3, phn hi ri so
snh vi gi tr u ra ca vng 1 cho ta tn hiu iu khin( m van ph hp).
- c im ca b iu khin :
+ H s khuch i
( chn

ca vng ngoi rt ln ln p ng nhanh vi s thay i ca nhiu u vo

).

+ Cc thng s trong b iu khin PID valve 1 v PID valve 2 ( vng trong) da theo ci tnh ton
Trn.

3. M phng trn Simulink.

4. S dng b iu khin P/P vi thng s PID valve 1:

- p ng bnh 1.

0.27 v PID valve 2:

= 1.43.

- p ng bnh 2.

- p ng lu lng ra flow 1.

- p ng lu lng ra flow 2.

- p ng lu lng ra flow 3.

- Nhn Xt: + H n nh. Khi tng SP1 th mc nc bnh 2 n nh hn sai lch tnh rt nh, nhng
Khi gim SP1 th sai lch tnh bnh 2 li tng ln ng k.
+ qu iu chnh nh, thi gian qu nh.
+ Lu lng nc ra van 3 n nh.

5. S dng b iu khin P/PI-RW.

- Vi cc thng s PID valve 1:
- p ng bnh 1

0.27,

v PID valve 2:

= 1.43,

- p ng ca bnh 2.

- p ng lu lng ra flow 1.

- p ng lu lng ra flow 2.

- p ng u ra flow 3.

- Nhn Xt: H hot ng n inh, khi tng SP1 th mc nc trong bnh 2 n nh hn v khi gim th
mc nc trong bnh 2 giao ng vi bin nh. Nu gim mc nc trong bnh 1 n gn bng mc
nc trong bnh 2 th xut hin sai lch tnh tng i ln bnh 2.
+ Tc p ng nhanh, qu iu chnh nh, thi gian qu nh.
+ gim c nh hng ca nhiu, sai lch tnh nh.
+ lu lng nc ra van 3 n nh khng giao ng nhiu.