Professional Documents
Culture Documents
ong
in h
S n
C s Hi THNG
i KHIN
qu
trn h
N H X A T BAN B C H K H O A HA NI
- 2009 -
M c lc
C h n g 1 M
1.1
1.2
1.4
1.7
Thit b o ............................................................................................. 22
T hit b iu k h i n ............................................................................. 23
1.4.3
T hit b chp h n h ............................................................................. 24
Cc nhim v pht trin h t h n g .................................................................. 24
1.5.1
Phn tch chc nng h th n g ......................................................... 24
1.5.2
Xy dng m hnh qu t r n h ........................................................... 26
1.5.3
1.5.4
1.5.5
1.5.6
1.6
Vn hnh n n h ................................................................................ 11
Nng su t v cht lng sn p h m ............................................... 12
Vn hnh an to n ................................................................................ 13
Bo v mi tr n g ............................................................................... 14
1.2.5
Hiu qu kinh t ...................................................................................15
Phn cp chc nng iu khin qu tr n h ..................................................... 16
1.3.1
Giao din qu t r n h ............................................................................ 17
1.3.2
iu khin c s .................................................................................. 17
1.3.3
iu khin vn hnh v gim s t ................................................... 19
1.3.4
iu khin cao c p ..............................................................................20
Cc thnh phn c bn ca h thng............................................................. 20
1.4.1
1.4.2
1.5
1.3
1.5.7
Chnh nh v (la vo vn h n h ...................................................28
M t chc nng h t h n g .................................................................................28
1.6.1
Cc ti liu m t h a ................................................................. 28
1.6.2
Lu P & ID ........................................................................................ 29
Ghi ch v ti liu tham k h o ....................................................................... 32
vi
1.7.1
1.8
1.7.2
V ti liu th am k h o ......................................................................... 35
Cu hi v bi t p ................................................................................................3)
2.2
2.3
2.4
2.5
411
2.2.3
2.2.4
2.2.5
Phn
2.3.1
2.3.2
2.3.3
2.3.4
2.3.5
M hnh lin tc v m hnh gin o n ........................................546
Cc dng m hnh lin t c .................................................................................5)7
2.4.1
Phng trnh vi p h n ........................................................................ 5)7
2.4.2 M hnh trng t h i ..............................................................................5)8
2.4.3 M hnh p ng qu ...................................................................6)3
2.4.4 M hnh hm truyn t ...................................................................0^6
2.4.5 M hnh p ng tn s .................................................................... 6:)9
2.6
2.7
Cu hi v bi t p ............................................................................................ ^85
837
3.3
3.4
3.5
3.6
3.7
3.8
3.9
3.2.2
V d thit b khuy trn lin t c .................................................92
3.2.3
V d thit b gia n h i t......................................................................93
3-2.4
V d th p chng luyn hai cu t ................................................94
Xy dng cc phng trnh m h nh.............................................................95
3.3.1
Phng trnh cn bng vt c h t .....................................................96
3.3.2
Phng trnh cn bng nng lng.............................................. 101
3.3.3
Phng trnh truyn n h i t..............................................................105
3.3.4
Phng trnh ng hc phn ng ha h c .................................108
3.3.5
Phng trnh cn bng p h a ........................................................... 109
P h n tch bc t do ca m h n h .................................................................. 111
3.4.1
Bc t do ca h t h n g ...................................................................111
3.4.2
V d thit b khuy trn lin t c ...............................................112
3.4.3
V d thit b gia n h i t....................................................................113
3.4.4
V d ni hi bo h a ......................................................... .........114
T uyn tnh ha v m hnh hm truyn t ............................................ 115
3.5.1
Bin chnh lch v m hnh hm truyn t ........................... 115
3.5.2
T uyn tnh ha xung quanh im lm v i c ............................... 117
3.5.3
phi tuyn ca m h n h ............................................................. 124
3.5.4
T uyn tnh ha vi php i bin v o-ra...................................126
M phng qu t r n h ......................................................................................... 12S
3.6.1
P h n loi cc phng php m p h n g ........................................129
3.6/2
Gii h phng trnh vi phn (phi t u y n ) ................................ 132
3.6.3
Gii h phng trnh vi phn tuyn t n h ...................................134
3.6.4
M phng qu trnh s dng M A T L A B ....................................134
Mt s v d qu trnh tiu b i u .................................................................. 142
3.7.1
Chui ba thit b phn ng lin tc ng n h i t.......................142
3.7.2
Thit b phn ng thu nhit si t ...........................................146
3.7.3
T hit b phn ng lin tc ta n h i t ..........................................149
3.7.4
T hp chng luyn hai cu t .........................................................J 53
Ghi ch v ti liu tham k h o .....................................................................163
Cu hi v bi t p .......................................................................................... 165
C hng 4 N hn
4.1
4.2
d ng q t r n h
171
C h n g 7 P h n t c h h i k h i n p h n H i
7.1
7.2
7.3
7.4
7.5
Bi ton c h u n ....................................................................................................329
7.1.1
Cu hnh c h u n ...................................................................................329
7.1.2
S khi v m hnh hm truyn t .......................................332
7.1.3
C hun ha m h n h ........................................................................... 337
7.1.4
P h t biu bi ton chun v cc quan h c b n ..................... 341
T nh n nh ca h iu khin phn hi.....................................................344
7.2.1
7.2.2
7.2.3
7.2.4
7.2.5
7.2.6
T nh n nh c..............................................................................366
C hng 8 C h nh
8.1
8.3
8.4
nh b iu k h i n
PID
389
C s c h u n g ......................................................................................................... 390
8.1.1
Cc dng m hnh q u trnh thng d n g ,................................... 390
8.1.2
Xp xi m hnh bc cao - lut chia i.......................................392
8.1.3
Cc cu hnh iu khin v kiu b iu k h i n ........................ 39i
8.1.4
c tnh vng iu khin s dng b P I D .................................394
8.1.5
8.2
329
8.3.4
8.3.5
8.5
8.6
8.7
C hng 9 T h i t
k c u t r c i khin ch o qu t r n h a bin
447
9.1
9/2
9.3
9.4
9.5
P h
lc
A .l
A.2
A.3
P h
lc
B.l
B.2
B.3
B.4
469
t t chun ANSI/ISA 5.1...................................................................469
t t chun ANSI/ISA 5.2...................................................................474
t t chun ANSI/ISA 5.3...................................................................477
477
C hng 1
M DU
1.1
i u k h i n q u t r n h l g?
Trong ni dung cun sch ny, khi nim iu khin qu trnh c hiu l ng
dng k thut iu khin t ng trong iu khin. vn hnh v gim st cc qu
trinh cng ngh, nhm m bo cht lng sn phm, hiu qu sn xut v an
ton cho con ngi, m y mc v m i trng.
lm r nh ngha ny, nhng mc tip theo s ln lt, cung cp m t s
khi nim c bn v phn tch nhng vn c th ca iu khin q u trnh.
1.1.1
Q u tr n h v cc bin q u tr n h
1.1
iu KHIN QU TRNH L G?
Din vo
r------- 1---------- 1
Din iu khin
Nhiu
Vt cht
Nng lng
Thng tin
Vt cht
Nng lng
Thng tin
Bin ra
_J L_
Dti cn diu
khin
Bin khng cn
iu khin
trnh
C hng 1
M U
Bin ra
Bin cn
iu khin /.
a) S d cng ngh
H n h 1-3:
b) S d khi
BNH CHA CHAT LNG V CC BIEN QU t r n h
1.1
lu KHIN QU TRNH L G?
1.1.2
P h n loi q u tr n h
Cc qu trnh cng ngh c th c phn loi theo nhiu quan im khc nhau.
Cch phn loi th nht l da trn s lng bin vo v bin ra. Mt qu trnh
ch c m t bin ra c gi l qu trnh n bin, cn nu c nhiu bin ra th
c gi l qu trinh a bin. Mt qu trnh mt vo-mt ra cn c gi t t l
SISO (single-input single-output), qu trnh nhiu vo-nhiu ra c gi l
MIMO (m ulti-input m ulti-output) . C th ni, hu ht qu trnh cng ngh u
l a bin.
Da trn c tnh ca nhng i lng dc trng (bin u ra hoc bin
trn g thi tiu biu), ta cng c th phn loi cc qu trnh thnh qu trnh lin
t c, qu trinh gin on, qu trnh ri rc v qu trn h m. T rong mt qu
trnh lin t c, cc nguyn liu hoc nng lng u vo c vn chuyn hoc
bin i m t cch lin tc (hoc gn nh lin tc). Mt khi t c trng
thi xc lp, bn cht ca qu trnh khng ph thuc vo thi gian vn hnh.
Cc i lng c trng ca mt qu trnh lin tc l cc bin tng t, tc
chng c th ly mt gi tr b t k trong phm vi gii hn. Q u trnh trao i
nhit, q u trnh bay hi, qu trinh vn chuyn cht lng v cht kh l cc v d
qu trnh lin tc tiu biu. Mt qu trnh gin on (hay cn gi l qu trinh
khng lin tc) c bn cht ging nh qu trnh lin tc, tuy nhin cc bin vo
ra ch c quan st ti nhng thi im gin on nht nh.
C hng 1
M uu
1.1.3
Bi to n iu ch n h v bi to n b m
1.1
l KHIN
q u t r n h l g ?
a)
b)
Hnh 1-4:
BI TON lU CHNH(a) V BI TON BM (b)
(P V : bin dc iu khin, SP: gi tr t, tn hiu ch o)
Trong bi ton iu chnh t ng ta cng cn phn bit gia yu cu iu
khin loi b nhiu ( disturbance rejection) vi yu cu iu khin bm gi tr
t (setpoint tracking). iu khin loi nhiu cn duy tr bin c iu khin ti
m t gi tr t c nh, tc l phi trit tiu hoc gim hn nh hng ca
nhiu. iu khin bm gi tr t a qu trnh ti mt im lm vic mi,
trong bin c iu khin cn bm nhanh v chnh xc theo gi tr t
th a y di. Q ua minh ha trn Hnh l-4b ta c th th y r cc p ng h thng
khc nhau gia trng hp thay i gi tr t vi tc ng nhiu. i vi cc
qu trnh vn hnh lin tc, gi tr t t thay i hoc thay i trn tru nn
yu cu loi b nhiu thc ra c vai tr quan trng hn.
1.1.4
C c v n c t h ca iu kh in q u tr n h
C hng 1
M u
1.1
C hng 1
10
1.2
M c ch v c h c n n g i u k h i n q u t r n h
1.2
Hnh 1-5:
1.2.1
D T H I T
qu
11
TRNH
KHUY
trn
on gin
V n h n h n n h
C hng 1
12
1.2.2
N n g s u t v c h t lng sn p h m
1.2
trnh
13
1.2.3
V n h n h an to n
14
C hng 1
1.2.4
B o v m i tr n g
1.2
15
Vic gim tiu th nguyn liu v nhin liu s dng m t m t nng cao hiu
qu kinh t, m t khc cng gp phn bo v ti nguyn thin nhin v mi
trng. y cng l m t vn thuc trch nhim chung ca nhng nh thit
k cng ngh cng nhng ngi thit k sch lc v th u t ton iu khin, c n
lu rng, nhng dy chuyn cng ngh mi cho php vn hnh vi hiu sut
cao, tiu hao t nguyn liu v nhin liu thng qua nhng chu trnh kt hp,
chu trn h khp kn v ti s dng nng lng, nhng li thng l nhng qu
trnh r t kh iu khin, iu kin vn hnh rt b rng buc, t ra yu cu
ngy cng cao hn cho cc chc nng iu khin qu trnh.
1.2.5
H iu q u k in h t
16
C hng 1
M AU
im lm.
vic kinh t
Gii hn rng buc di
Hnh 1-6:
Hiu
QU KINH T PH T H U C IM LM VIC V CH AT
LNG IU KHIN
phm th t n nh v t va yu cu ngi vn hnh c th a cc gi
tr t n gn st vi ngng cho php. Nh vy, cng vi vic la chn im
lm vic ti u th cht lng iu khin t t nht (khng ng ngha vi c h t
lng sn phm t t nht) s m ang li hiu qu kinh t cao n h t (Hnh 1-6).
R rng, vic nng cao hiu qu kinh t l mt bi ton ti u. iu khin h
thng ni hi-turbin trong cc nh my nhit in m bo cung cp in
nng theo ng yu cu trong khi gim thiu chi ph nhin liu l m t v d tiu
biu. Bi ton ti u c th t ra hai mc khc nhau l ti u ha thi gian
thc (real-time optim ization) v ti Uu ha qu trnh (process optim ization). Ti
u ha thi gian thc mang tnh cht cc b cho mt t hp th i t b cng ngh,
c tin hnh trc tuyn trn c s cc s liu thi gian thc. T rong khi , ti
u ha qu trnh c tin hnh cho c quy trnh cng ngh (hoc t ra l m t
phn on trong quy trnh cng ngh), da trn c s cc s liu thng k q u
kh. C hai hnh thc ti u ha ny u l cc chc nng iu khin cao cp,
da trn phng php gii bi ton ti u tm ra ch vn hnh v cc gi
tr t thch hp cho cc vng iu khin cp di gim thiu chi ph sn
xut cng nh thi gian chu k sn phm.
1.3
P h n c p c h c n n g i u k h i n q u t r n h
1.3
17
1.3.1
G iao d in q u tr n h
1.3.2
iu kh in c s
C hng 1
Vn hnh, gim st
iu khin cao cp
iu khin c s
c
Ch thch
A
B
ngi vn hnh
h thng iu khin qu trnh
human operator
process control system
qu trnh
nhiu t bn ngoi
gim st, nh gi, ti u ha
can thip ca con ngi
o lng, m
nh gi, gim st, iu khin
vng h, iu khin vng kn,
ti u ha, bo v
process
disturbance from the environment
monitoring, evaluating, optimizing
human intervention
measuring, counting
evaluating, monitoring, open loop
control, closed loop control,
optimizing, safeguarding
D
E
F
G
H
I
K
L
H nh 1-7:
P hn c p
instructions
chc nng iu khin q trnh
1.3
P h a n c a p c h c n n g i u KHIN q u t r n h
19
1.3.3
iu k h i n v n h n h v gim s t
C hng 1
20
M lou
1.3.4
u k h in cao cp
1.4
C c t h n h p h n c b n c a h t h n g
1.4
21
C C t h n h p h n c b n c a h T H NG
T h u t ng:
Gi tr t
Tn hiu diu khin
Bin iu khin
Bin dc, iu khin
i lng o
Tn hiu o
Hnh 1-8:
KHIEN
qu
trnh
C hng 1
22
Hnh 1-9:
1.4.1
CC T H N H
PHN T R O N G H T H N G l KHIEN
nhit
T h i t b o
1.4
C C t h n h p h a n c bn c a h t h n g
1.4.2
23
T h i t b iu khin
24
C hng 1
M Du
1.4.3 T h i t b c h p h n h
Mt h th n g /th i t b chp hnh ( actuator system , final control elem ent) nhn
tn hiu ra t b iu khin v thc hin tc ng can thip ti bin iu khin.
Cc thit b chp hnh tiu biu trong cng nghip l van iu khin, ng c,
my bm v q u t gi. Thng qua cc thit b chp hnh m h thng iu khin
c th can thip vo din bin ca qu trnh k th ut. V d, ty theo tn hiu
iu khin m mt van iu khin c th iu chnh m van v thay i lu
lng cp, q ua iu chnh mc cht lng trong binh. Mt mv bm c iu
chnh tc cng c th s dng thay i p sut dng cht lng hoc dng
kh v qua iu chnh lu lng.
Mt thit b chp hnh cng nghip bao gm hai thnh phn c bn l c
cu chp hnh hay c cu dn ng (actuator) v phn t iu khin ( control
element). C cu chp hnh c nhim v chuyn tn hiu iu khin th n h nng
lng (c hoc nhit), trong khi phn t tc ng can thip trc tip vo bin
iu khin. V d trn Hnh 1-9, c cu chp hnh bao gm khu chuyn i I / P
cng vi c cu truyn ng kh nn, cn phn t iu khin chnh l th n van.
T rong m t s ti liu c s l thuyt, i khi th u t ng a c tu a to r cng c s
dng ch c thit b chp hnh. T uy nhin, ty thuc vo ng cnh s dng
m t a khng s c s nhm ln.
1.5
C c n h i m v p h t t r i n h t h n g
1.5.1 P h n tc h ch c n n g h th n g
Qui trnh thit k m t h thng iu khin bao gi cng bt u vi bc tm
hiu cc yu cu cng ngh a ra dc t cc chc nng c th ca h thng
da trn c s phn tch cc mc ch diu khin c bn. y l m t nhim v
ht sc quan trng, cn c s hp tc cht ch gia nhng ngi lm iu khin
vi cc nh cng ngh. Ngi k s thit k iu khin c cung cp cc bn v
v ti liu lin quan m t quy trnh cng ngh, trong bn v lu cng
ngh l quan trng nht. Cng vic ca ngi k s thit k iu khin trc ht
l nghin cu cc bi ton iu khin, b sung cc chc nng iu khin qu
trnh c th v th hin chng trn cc bn v lu chc nng hay lu
P&ID s lc. Tip theo, cc yu cu v m t cng ngh cho mi bi to n iu
1.5
25
C C n h i m v p h t t h i n h T H NG
Cc mc ch iu
khin c bn
Cc nh lut vt l
v ha hc
&
Yu cu v m
t cng ngh
2. Xy dng m
hnh qu trnh
L thuyt
ha &: m
liu vn
ihuc t
3. Thit k cu trc
iu khin
&
Knh nghim t
cc d n khc
4. Thit k thut
ton iu khin
Cng ngh h.
thng iu khin
5. La chn gii
php h thng
tin, h tr
cung cy
7. Chnh nh & a
vo vn hnh
_________ ___________ y
&
H THNG IU KHlN
Hnh 1-10:
CC
NHIM
P H T T RI N H T H N G
Dlu
KHt.N QU TR NH
26
1.5.2
C hng 1
M u
X y d n g m h n h q u trn h
1.5.3
T h i t k cu tr c iu khin
1.5
C C n h i m v p h t t r i n h TH NG
1.5.4
27
T h i t k t h u t to n iu khin
1.5.5
L a ch n gii p h p h th n g
La chn gii php h thng bao gm la chn kin trc gii php h thng iu
khin v gim st, la chn cc thit b o v thit b chp hnh sao cho ph
hp vi cc yu cu ca quy trnh cng ngh. Cng vic ny i hi ngi k s
c m t ci nhn tng quan v cng ngh h thng iu khin v cng nh nm
c cc vn c bn trong phng php nh gi tnh nng ca cc gii php
khc nhau. Hn na, trong khi nn tng l thuyt ca iu khin qu trnh
khng th ay i ng k so vi cch y 30 nm, th cng ngh h thng iu
khin li th ay i rt nhanh trong nhng nm gn y. y l m t ni dung kh
rng ln, nn khng c cp trong khun kh ca cun sch.
1.5.6
P h t tr i n p h n m m n g d n g
C hng 1
28
M u
1.5.7
C h n h n h v a vo v n h n h
Bc cui cng trong cng vic pht trin h thng c thc hin ti hin
trng, bao gm hiu chun cc thit b o, chnh nh li cc th a m s ca b
iu khin, th nghim tng vng iu khin, th nghim tng t hp cng ngh,
chy th tng phn on v a vo vn hnh ton b nh my. y cng l
nhim v ht sc phc tp, i hi kin thc tng i ton din, kinh nghim
d n v s hp tc ht sc cht ch gia cc k s cng ngh, k s o lng,
k s iu khin v t ng ha trong nhm chuyn gia hin trng.
Mc ch c a cun sch khng ch l gip cho cc k s cng ngh cng nh
cc k s o lng, iu khin v t ng ha nm c nhng vn c bn
cho vic lm ch cc h thng c xy dng, m cn cung cp cho ngi k
s nhng kin thc nn tng c th tham gia cng thc hin cc nhim v
p h t trin v tch hp h thng mi. P h n cn li ca cun sch c cu trc
ph hp vi nhng bc thc hin c bn trong cc nhim v p h t trin phn
tch trn y.
1.6
M t c h c n n g h t h n g
1.6.1
C c t i liu m t ha
1.6
M T CHC NNG H T l l N G
29
Lu cng ngh (process fow diagram) miu t qu trn h cng ngh, khng
cha thng tin chi tit v cc thit b o lng v iu khin. T hn g thng,
lu cng ngh do cc nh cng ngh xy dng.
Lu ng dn v thit b (piping and instrum entation diagram , P&ID)
miu t chi ti t qu trnh cng ngh km theo cc chc nng tiu biu ca
mt h thng iu khin qu trinh cng cc ng lin h gia cc th n h
phn. y l ti liu quan trng nht i vi vic thit k to n b h thng
iu khin. M t s chun quan trng lin quan ti cc biu tng lu
P&ID l A N SI/ISA S5.1 [5] v ANSI/ISA S5.3 [7] cng nh DIN 19227-3 [8].
S kha lin ng (interlock diagram), v d s dng biu logic (binary
logic diagram) miu t cc th u t ton iu khin logic phc v iu khin
kha lin ng. C nhiu chun m t biu logic, v d Bc M ngi ta
thng theo c hu n ANSI/ISA S5.2 [6].
B iu trn h t (sequence diagram hay sequental u n ctio n chart) biu din
cc bc thc hin chc nng ca qu trnh cng ngh. T i liu hnh th n h
phc v bi ton iu khin trnh t cng nh hng d n quy trn h vn
hnh. Chun IE C 61131-3 [9] c th c coi l mt ti liu th a m kho r t
tt cho vic xy dng cc biu trnh t.
T rong phm vi cun sch ny, lu P&ID c s dng r t nhiu cho vic
m t cc chc nng v sch lc iu khin, v vy s c gii thiu s lc
trong phn tip theo. Cc dng m t khc lin quan ti bi ton iu khin ri
rc hoc bi ton iu khin trnh t, v khun kh hn hp nn khng c gii
thiu trong cun sch ny.
1.6.2
L u P & ID
C hng 1
30
M DU
?
A H-104
Hnh 1-11:
in
gii
n gha
nhn
thit
b v k
M s mch vng,
im o
hiu
chc
nng
1.6
31
M T CHC NNG H T H NG
Hnh 1-12:
Lu P&ID CHO lu
C hng 1
32
M OU
a) Lu chi tit
Hnh 1-13:
1.7
LU
P&ID
CHO H T H N G T R A O B l N H I T
G h i c h v t i liu t h a m k h o
1.7
Ghi c h v t i l i u t h a m k h o
1.7.1
33
B n th m v khi nim iu k h in q u tr n h
C hng 1
34
1.7
Ghi
ch
v t i
liu th a m
kho
35
1.7.2
t i liu th a m kho
C hng 1
36
M U
IEC
60050-351:
International
electrotechnical vocabulary
A utom atic
[3]
[4]
[5]
[6]
37
1.7
Ghi c h
[7]
[8]
[9]
v ti
liu t h a m
kho
die
Verfahrenstechnik,
Zeichen f r
die
S c h c h n lc
[10]
[11]
Seborg,
D.E;
T .F .
Edgar;
D.A.
Mellichamp:
Engineers'
Sm ith, C.A.; A.B. Corripio: Principles and Practice of A utom atic Process
Control. 3rd Edition, Wiley, 2005.
[13]
[14]
[15]
[16]
[17]
[18]
Franklin,
G.F.;
J.D.
Powell,
A.Emami-Naeini:
Control Systems.
Feedback
Control
of
[20]
[21]
38
C hng 1
M Du
[22]
[23]
[24]
Zhou, K.; J . c . Doyle; K. Glover: Robust and Optimal Control. PrenticeHall, New Jersey, 1996.
[25]
[26]
[27]
[28]
[29]
Phc, N.D.: L thuyt iu khin nng cao. NXB Khoa hc & K thu t,
2004.
[30]
[31]
[32]
[33]
[34]
Wiley,
Wiley,
Verlag 1999.
[35]
[36]
[37]
M t s t p c h t i u b i u
[38]
[39]
1.7
[40]
Ghi
c h v ti
IE E E
39
liu t h a m k h o
Electronic Engineers.
[41]
[42]
[43]
[44]
[45]
[46]
1.8 C u hi v b i t p
1.1 Gii thch khi nim iu khin qu trnh v nu cc lnh vc ng dng ca iu
khin qu trnh. Phn bit iu khin qu trnh vi cc lnh vc iu khin khc.
1.2 Nu cc c th ca lnh vc iu khin qu trnh (v i tng iu khin, v yu
cu k thut v v cc yu cu cng ngh)
1.3 Phn bit cc loi bin qu trnh (bin vo/bin ra/bin trng thi, bin iu
khin/bin c iu khin/nhiu), a ra mt s v d minh ha.
1.4 Phn bit bi ton iu chnh vi bi ton iu khin bm, a ra mt s v d
minh ha.
1.5 Nu r cc mc ch iu khin v phn tch trn c s mt v d minh ha, lin h
vi cc bi ton iu khin.
1.6 Phn loi v lm r cc chc nang diu khin qu trnh, lin h vi cc mc ch
iu khin
1.7 Nu r cc thnh phn c bn ca mt h thng iu khin qu trnh v mi lin h
gia cc th n h p h n vi nhau.
LT
FT
PT
AT
00
TT
FY
zs
/ t c 'n
^A C \
/R c\
V102,
OOOf
k 102y
C hng 1
40
M AU
Chng 2
M h n h q u t r n h
Chng 2
42
2.1
2.1.1
M HNH QU TRNH
Gii t h i u c h u n g
M h n h v m c ch m h n h ha
Cng vic chnh ca mi ngi k s l thit k. Ngi k s thc hin cng vic
thit k h thng iu khin khng phi trn qu trnh chy thc, m trn c s
m hnh. Ngay c kt qu ca qu trnh thit k, mt bn v thit k sch lc
iu khin hoc m t th u t ton iu khin, cng ch l cc m hnh cho h thng
iu khin s c thc thi sau ny.
M hnh l m t hnh thc m t khoa hc v c ng cc kha cnh thit yu
ca m t h thng thc, c th c sn hoc cn phi xy dng. Phn tch v thit
k trn c s m hnh l phng php lm vic khng th thiu c ca mi
ngi k s. Mt m hnh phn nh h thng thc t mt gc nhn no phc
v hu ch cho mc ch s dng. M hnh khng nhng gip ta hiu r hn v
th gii thc, m cn cho php thc hin c m t s nhim v p h t trin m
khng cn s c m t ca qu trnh v h thng thit b thc. M hnh gip cho
vic phn tch kim chng tnh ng n ca mt gii php thit k c thun
tin v t tn km, trc khi a gii php vo trin khai. Bn cnh , m hnh
cng l phng tin giao tip gia ch u t vi nh thit k v gia cc k s
pht trin vi nhau.
M hnh khng phi l m t bn sao', m cng lm ch l m t bn chp ca
th gii thc t m t gc nhn, v vy mt m hnh khng bao gi v cng khng
cn thit phn nh y cc kha cnh ca h thng thc. N h ngi ta
thng ni Khng c m hnh no chnh xc, nhng m t s m hnh c ch .
Mt m hnh tt cn n gin nhng thu tm c cc c tnh th i t yu cn
quan t m ca th gii thc trong mt ng cnh s dng.
M hnh trc ht c th c phn loi thnh hai phm tr l m hnh vt
l v m hnh tru tng. M hnh vt l l mt s thu nh v n gin ha ca
h thng thc, c xy dng trn cd s vt l-ha hc ging nh cc q u trnh
v thit b thc. M hnh vt l l mt phng tin hu ch phc v o to c
bn v nghin cu ng dng, nhng t ph hp cho cc cng vic thit k v
pht trin ca ngi k s iu khin qu trnh.
M hnh tru tng c xy dng trn c s m t ngn ng bc cao, nhm
m t m t cch logic cc quan h v m t chc nng gia cc th n h p h n ca h
thng. Vic xy dng m hnh tru tng ca mt h thng c gi l m hnh
ha. M hnh ha l m t qu trnh tru tng ha, trong th gii thc c
m t bng m t ngn ng m hnh ha v b qua cc chi tit khng thit yu.
Trong k th u t iu khin, ta quan tm trc ht ti bn dng m hnh tru
tng sau:
2.1
G ii
thiu
chng
43
44
2,1.2
C h n g 2
N g u y n t c ch u n g c a m h n h
M HNH QU THNH
h a q u tr n h
2.1
CII
T HI U C HU N G
45
2.1.3
C c p h n g p h p xy d n g m h n h to n hc
46
Chng 2
HNH QU T R NH
2.1
Gll
T H I U CHUNG
47
2.2
T n g q u a n v q u y t r n h m h n h h a
2.2.1
t bi t o n m h n h ha
48
C hng 2
M HNH QU TRNH
1. t bi ton
m hnh ha
3. X y dng cc
m hnh thnh phn
. K t hp cc m
hnh thnh phn
Hnh 2-1:
o
tit
cc
qua
T N G QUAN C C BC
M HNH
HA QU TR NH P H C H P
2.2
Hnh 2-2:
D CNC NGH M T NH MY C H E BI EN
49
ha
CHAT
50
Chng 2
HNH QU TRNH
2.2.2
P h n chia h th n g
2.2
ng
quan
v quy trn h
m hnh
ha
51
2.2.3
X y d n g cc m h n h th n h p h n
52
Chng 2
M HNH QU TRNH
2.2.4
K t hp cc m hnh th n h p h n
2.2.5
P h n tc h v kim ch n g m h n h
2.3
Phn
2.3
loi
hnh t o n
53
hc
P h n loai
m h n h to n hoc
2.3.1
M h n h tu y n tn h v m hnh phi tu y n
(2 . 1 )
Hnh 2-3:
inh
ha
nguyn
l x
p C H N G
54
2.3.2
M HNH
Chng 2
QU TRNH
M h n h n b in v m h n h a b i n
M2
fe
/w
b)
a)
Hnh 2-4:
HNH N Bl.N
(a)
V M HNH A BIEN
(b)
+ V\ \
V2 \ y
2.3
P h n loi
2.3.3
hnh
ton
hc
55
M h n h th a m s hng v m h n h t h a m s bin
th i n
2.3.4
M h n h t h a m s t p tr u n g v m h n h th a m s ri
(2.3)
Chng 2
56
M HNH Q U THNH
2.3.5
M h n h lin t c v m h n h gin o n
2.3
P h n lo i m hnh
ton
57
hc
uk
Vk
u{t)
l
y(t)
z l
t.
Hnh 2-5:
H T H N G IU KHIN
din bin trng thi hn l hng theo c tnh vo/ra. T h ba, cc bin lin
quan tron g m hnh ch nhn gi tr ri rc (trng hp c bit l gi tr logic).
Cc dng m hnh gin on thuc phm tr ny c gi vi ci tn ring l
m hnh ri rc. Mt s v d tiu biu c th nu ra y l mng Petri,
Graphcet, A u to m a ta v chui Markov. Cc m hnh ri rc lin quan ti bi
ton iu khin lin ng v iu khin trnh t.
2.4
C c d n g m h n h lin t c
2.4.1 P h n g tr n h vi p h n
Phng trn h vi phn l cng c m t ton hc quan trng n h t cho cc h lin
tc. a s m hnh n bin tham s t p trung c th a v biu din di
dng phng trn h vi phn thng
an + Gn-l
^---- !
+ ^y = MMO +
(2.4)
Chng 2
58
M HNH Q U TRNH
(2.5)
dr
(2 6)
+ An- 1
H------ ^ l ~dt +
(2.7)
2.4.2
M h n h tr n g th i
2 .4 .2 .1 M h n h t r n g th i p h i t u y n
M hnh trng thi l mt hnh thc m t rt tng qut, ph hp cho h n
bin v a bin, tuyn tnh cng nh phi tuyn. Mt qu trn h vi m bin vo
(vector vo u), p bin ra (vector ra y) v n bin trng thi (vector trng thi x)
c th c biu din vi m hnh phi tuyn trong khng gian trn g thi nh
sau:
u R m, /: Rn X R m >RTl
y e R p, 9 : n r X R m w
t h n h t c gi l
phng trinh u ra.
vi phn, trong ch
vi phn (2.4) t a cng
2.4
CC d n g m h n h lin t c
59
c th d dng i ti dng tng qut trn bng nhiu cch t vector trng thi
trung gian X. V d, nu /x(y, u) = 0 v b qua bin thi gian t trong /if(u, t),
t vector trng thi:
y
dy
X =
(it
(2.9)
dn y
d M-1
ta nhn c
0
0
o
n
y = \1
X =
_f*L
n
0
*
1
n-l
an
X +
( 2 . 10)
hf(u)
Ox
M hnh biu din trong khng gian trng thi c rt nhiu u im. T h
nht, m hnh tr n g thi khng nhng th hin quan h v o /ra m cn cho ta
ci nhn su sc hn v h thng thng qua cc bin trng thi v cu trc lin
kt bn trong. T h hai, vi m hnh trng thi ta c th tin hnh phn tch v
thit k h thng trn min thi gian bng cc phng php i s. T h ba, m
hnh trng thi r t d biu din v thc thi trn my tnh. Chnh v th, cc
phng php phn tch v tng hp da trn khng gian trng thi c pht
trin rt mnh t nhng nm 60, to nn mt trng phi gi l iu khin
hin ai.
2 .4 .2 .2 M h n h t r n g t h i t u y n tn h
Bn cht ca bi to n iu chnh l duy tr trng thi ca qu trnh ti mt
im lm vic cn bng. Nh vy, thay v m hnh phi tuyn, trong i a s
trng hp t a c th s dng mt m hnh tuyn tnh i din cho qu trnh
trong ln cn im lm vic . M hnh tuyn tnh ny c th c xy dng
vi quan im xp x tuyn tnh ngay t u, hoc c tuyn tnh ha t mt
m hnh phi tuyn. Nu m t m hnh trng thi phi tuyn biu din trong (2.8)
c ii cn bng {xy) hay X = / ( , ) = 0 v kh vi ti ( x , u ) , t a c th xp
x v m t m hnh tuyn tnh cho phm vi lm vic ln cn ( , ) thng qua
php khai trin Taylor. t:
60
Chng 2
M HNH
X = X + x
Q U TRNH
( 2 . 11)
u = -f A u
Khai trin chui Taylor v b qua cc thnh pln bc cao, t a c:
df
Au
Ax +
X = A x = f ( x 4- Ax,u + Au) ^ f{XyU) + 7p
u rr,t
x,
0
x
( 2 . 12)
Ai +
Az (2.13)
y = + A 2/ = g{x + A x . + Au) g{x,) 4d u x,u
r'
x x,u
y
t- cc k hiu m a trn
L
dx ,
A M1*1
5 = L
du ,
B R "xm
2i
d x ,
,
c R"*n
dg_
D =
du ,
(2.14)
, z? Mpxm
*2
/.
. / =
/2
a/i
X
/i
dx
dfm
dX
df,n
dxn
c nh ngha l
<9x
2.4
CC
dng
hn h
lin
61
t c
X = Ax + Bu,
z(0)
x - X
y = Cx + Du
Cc phng trnh trong (2.15) chnh l dng m hnh trn g thi tuyn tnh quen
thuc trong l th u y t iu khin t ng hin i. M a tr n A c gi l ma
trn h thng, B dc gi l m a trn vo (hoc m a trn iu khin), c l ma
trn ra (hoc m a trn quan st) v D l ma trn lin thng. Trn Hnh 2-6 l s
khi biu din m hnh h thng trong khng gian trn g thi.
Hnh 2-6:
so
KHI
A n r xn,6 R n
y = c X + du,
c e R n }d R
( 2 . 16 )
A B
c D
(2.17)
62
C hnc 2
M HNH QU TRNH
[4
B:
c'
Dz
TAT- 1
C
-\
TB
D
(2.18)
f eA<t
J 4,
T)B u(r)d'
(2.19)
( 2 .20)
Du 4* Fd + n
(2 .21 )
2.4
63
2.4.3
M h n h p ng q u
-*0 J 0
J0
(2.22)
g(t) *
u ( t )
g{r)u(t -
r)T
g{t -
r ) u ( r ) d r
2 .23
t)u {t)(t
(2.24)
64
Chng 2
Time (sec)
Time (sec)
a) Q un tnh bc nht ( )
b) Dao ng bc hai n nh ( )
v khng TI dnh ( )
Hnh 2-7:
M HNH QU THNH
NG XUNG CA M T
t < 0
i#
.
Ce B + D{t)
t > 0
(2.25)
'
J0
G(r)u(t - r ) d r
(2.26)
2 .4 .3 .2 p n g b c t h a n g
Tng t nh xt p ng xung, nu kch thch m t h tuyn tnh n bin c
m hnh trn g thi (2.16) trng thi x( 0 ) = 0 bng m t tn hiu bc th an g n
v ( cn gi l bc nhy n v):
1(0
0, t < 0
1, t > 0
2.4
CC
dnc;
m hnh li n t c
65
3Cl
Time (sec)
Time (sec)
a) Q un tnh bc nht ( )
b) Dao ng bc hai n nh ( )
H nh 2-8:
v khng n nh ( )
NG BC THANG CA MT
KHAU NG HC T I U BIEU
(2.27)
(2.28)
H(t) = [ / o ] =
c Jof t eTB d T
t < 0
+
D,
t>
y{t) =
- T)dr
(2.30)
66
Chng 2
2.4.4
M H NH Q U TRNH
M hnh hm truyn t
Php bin i Laplace cho php trnh cc phng trnh vi phn v thay vo
biu din mt h tiyn tnh bng cc phng trnh i s bin phc. Nh vy t a
c th s dng cc cng c ton hc rt a dng cho vic phn tch v thit k
h thng iu khin. Hn na, m t trn min Laplace lin quan rt cht ch
ti m t v phn tch h thng trn min t n s, v vy cc tnh cht m hnh
phn nh m t cch r t trc tip v t nhin cc c tnh vt l ca qu trnh.
2 .4 .4 .1 H m t r u y n t
Hm truyn t l mt hm bin phc biu din quan h vo-ra ca mt h
tuyn tnh (n bin), c nh ngha l t s gia nh Laplace ca tn hiu ra
v nh Laplace ca tn hiu vo G(s) = y(s)/u(s) vi ton b s kin bng ,
trong 5 l m t bin phc2. T phng trnh (2.4), nu v phi l mt hm
tuyn tnh vi u t a c th vit:
dny(t)
=
< rm -
dtm
dn~ly(t)
dy(t)
^ t - )
dtm~x
.N
A jt-n
dt
_
^ \
'
vi l thi gian tr (0> 0). Gi thit ton b s kin bng 0 , thc hin bin i
Laplace cho c hai v3:
(OnS" + an_].s"_1 + + dS + Oo)y{s) = (bmsm + bm_is"_1 + + bS + b )e~0su(s)
2.4
CC
dng
hnh
67
lin t c
fs
(2.32)
TS + 1
G$o p d t \ s )
t
(2.33)
2s 2 + 2 r s + 1
.9 s
(2.34)
(T1S + 1)( t 2* + 1)
(2.35)
dx
~d
'
-O)
y(t) = [ti
. ..
- 0 ] r,_i
h
x{t) +
bm 0 ()]x()
(2.36)
0
1
(2.37)
2 .4 .4 .2 M a t r n t r u y n t
Cho mt h vi rrt bin vo v p bin ra, m a trn truyn t c nh ngha l
mt m a tr n p x m vi cc phn t l hm truyn t cho tng knh v o ra :
68
Chng 2
Gn{s)
G\,n(s)
y\(s)
l(s)
M HNH Q U TRNH
wm(s)
(2.38)
G(s) =
Gpm(s)
G p \{ s )
Vpif)
u,(s)
l(s)
G(s) = C { s l - A ) - ' B + D
A B
c D
(2.40)
d *1
dt x2
V\
V2
0
-4
x 1 1 0.0025 V
T
x2
0
0.0025 .2.
Ta c:
(s - A) -
.9
+2
-1
s+ 4
1
2) (5 + 4) 2
(5 +
s+4
1
0
1 0.0025
1 0
s 4* 2
G(s) =
2
1
0 0.0025
0 1
(s + 2)(s + 4) 5 + 4
-2
0
* + 2
0.0025
5+ 2
5 + 2
2
0.0025
(s H- 2)(s 4* 4) ($ ~b 2)
Trong thc t, vic tnh ton bng tay ch nn thc hin vi m hnh bc th p
v n gin. i vi cc h bc cao hoc phc tp hn, vic chuyn i gia cc
dng m hnh n h t thit phi nh mt phn mm thch hp nh MATLAB.
V d 2-2: Cc dng lnh MATLAB tnh ton cho v d 2-1 c vit nh sau:
A= [-2 0; 2-4]
B= [1 0.0025; 0 0.0025]
O eye(2)
D=zeros(2,2)
2.4
69
[NM1,DEN1]=ss2tf(A,B,C,D,1)
[NM2,DEN2]=ss2tf(A,B ,c ,D ,2)
1 6
DENI =
NM2 =
0
0.0025
0.0100
0.0025
0.0100
DEN2 =
1 6
2.4*5
M h n h p n g t n s
Phn tch
khng th
c vai tr
i. Mt
(2.41)
(2.42)
Chng 2
70
M HNH
Q U TRNH
UQ-L ----------------=
r + u
u
ej{uj)
$ + u>
(2.44)
2.5
C c m h n h g in o n
2.5.1 P h n g tr n h sai p h n
Mt m hnh lin tc m t quan h gia cc tn hiu lin tc (bin vo/ra, bin
trng thi) ca mt h thng. Trong khi , m hnh gin on phn nh quan
h gia gi tr ca cc tn hiu ti cc thi im trch mu. N h ni, trong
phm vi cun sch ny t a ch quan tm ti cc h trch m u ng b c chu k
trch mu c nh.
Quan h gia dy gi tr u vo v dy gi tr u ra ca m t h tuyn tnh
c th c biu din di dng:
2.5
CC m hnh gin on
71
= A y () - A y{t - 1)
(2.47)
M hnh phng trn h sai phn cng c th m rng m t cch d dng cho h
a bin bng cch thay s dng cc m a tr n tham s:
K y { t - n) +
- n + 1) + + Axy{t - 1) + y(t) =
48
2.5.2
M h n h t r n g th i
.q x
Vk = g{xk,uk)
trong vector X bao gm cc bin trng thi, vector u bao gm ton b cc
bin vo k c cc i lng nhiu v vector y bao gm cc bin ra. M hnh
trn g th i gin on tuyn tnh c dng
Xi+1 = &xk + Tuk
Vk = Cxk + Duk
72
Chng 2
M HNH QU THNH
Cc ma trn
, r , c v D ln lt c gi l m a trn chuyn tip, m a trn
u vo, m a trn u ra v ma trn lin thng. Cc phn t ca chng l hng
s i vi m hnh tham s hng v l hm theo thi gian i vi m hnh tham
s bin thin.
M hnh trng thi gin on tuyn tnh cng c th c dn x u t t dng
lin tc tng ng cho tng loi khu gi tr. Xt m hnh trn g thi lin tc
tuyn tnh (2.51):
X
= A x + Bu
y = Cx + Du
K hiu T l chu k trch mu. Gi s u(t) c gi c nh trong khong thi
gian k T < t < k T + T bi khu gi tr bc 0 (hay cn gi l khu ZOH, ZeroOrder Hold). Nu bit trng thi X v u vo u thi im t = k T } d a vo
cng thc (2.19) ta c th xc nh trn g thi ti thi im t = k T + T nh sau:
x{kT + T) = eATx (k T ) + J * T+T eA(kT+T- T)Bu{T)dT
= eATx { k T )+ f * T+T eMkT+T- T)dTBu{kT)
= eATx(kT) + f T eldtBu(kT)
= $x(Jb T) + Tu{kT)
V th, cc phng trnh trong (2.50) cng hay c vit di dng:
x{kT + T) = &x{kT) + Tu(kT)
y{kT) = Cx(kT) + Du(kT)
(2.52)
vi
* = eT
r
(2.53)
2.5
CC m hnh g i n don
73
m
d
dt
=>
m
I
r()
${T)
T{T)
= exp
(2.54)
X\
d t X-2
1 0.0025 U
0 0.0025 u2
V
y-2
T a nhn c kt qu sau y
M=
0.6065
0.2387
0.1967
0.3679
0.0005
0.0387
0.0005
1.0000
1.0000
T ta c
$ =
0
0.6065
0.2387 0.3679
0.1967 0.0005
0.0387 0.0005
0
0.3679
GAMMA =
0.1967
0.0005
0.0387
0.0005
74
C hng 2
M HNH QU TRNH
(2.55)
j =0
y[t + k) = Cx(t + k) 4- Du(t + k)
(2.56)
2.5.3
M h n h p n g q u
2 .5 .3 .1 p n g x u n g
Ti thi im t = 0, nu kch thch mt h n bin trn g thi 0 bng mt
xung n v (v gi trong mt chu k trch mu /i), dy gi tr trch m u tn hiu
p ng c tnh theo (2.56) cho trng hp D = 0 nh sau:
gk y(fc) = cr $ * - 1r ,f c = l,2 1...oo
(2.57)
2.5
CC m hn h gin on
75
tng ng. Ch khi chu k trch mu T chnh xc bng 1 giy, xung kch thch
mi c din tch bng 1 v c coi l xp x ca xung Dirac 6(t) , dy trng
lng s xp x bng cc gi tr trch mu ca hm trng lng.
i vi m t q u trnh n nh, dy trng lng s dn tin ti 0 khi k ln ln.
V th t a c th xp x (2.58) bng mt m hnh p ng xung hu hn hay gi
t t l m hnh F IR (Finite Impulse Response):
N
y{t) Y^9ku{t - k)
k=\
(2.59)
(2.60)
0
0.6065
0.2387 0.3679
, r=
0.1967 0.0005
,C = I ,f l = 0
0.0387 0.0005
p ng (2.57) t a c
Gy =
0.6065
0 *-1 0.1967 0.0005
0.0387 0.0005
0.2387 0.3679
20 = 0.0001
0.0005
0.0005
0.0003
0.0003
0.0002
0.0002
0.1471 0.0004
0.1471 0.0004
76
C hng 2
M HNH QU TRNH
k= 1
- k)
(2.61)
k)
(2.62)
k= 1
M hnh FS R cho h a bin cng c dng tng t nh (2.62), vi cc h s
hk c thay th bng dng m a trn:
N
y(t) = J 2 H kA u ( t - k )
(2.63)
*= 1
2.5.4
(2.64)
C c m h n h a th c v h m tr u y n t x u n g
/(0 =
(2.65)
f ( t - 1)
(2.66)
2.5
CC
hnh
gi n
77
on
trong
G f r {q
*) Pitf"*1 +
92Q 2
+----+9 n Q
(2.67)
y(t) = [cT(q -
*)->r + d]u(t) =
u(t)
(2.68)
A{q) = qn + aig"-1
+ an
(2.69)
(2.70)
y{t)
=cTx(t) + du{t)
= [c7'(I -
hay l
A '(q-')y(t) = B \ q - l)u(t)
trong A*(q~[)v,
(2.71)
Chng 2
78
M IINH
Q U TRNH
(2.72)
Phng trinh (2.72) cng chnh l phng trnh sai phn c a ra trong
(2.45). Ni m t cch khc, (2.70) cng nh (2.71) chnh l
cc
(2.73)
- d ) + C(q~l )e(t)
(2.74)
2.5
79
CC m hnh gin on
(2.75)
= (7(1 -
$)-r + D
(2.76)
(2.77)
q - l* ) - l q - lr + D
c++),
0.6065
0
0.2387 0.3679
, r =
0.1967 0.0005
0.0387 0.0005
, c = I, D =
Ta c:
-1 0.1967 0.0005
q - 0.6065
0
C ( q l - Q ) - lr + D =
0.0387 0.0005
-0.2387 q - 0.3679
B{q)
hoc biu din vi ton t dch li:
1 - 0.60651
0.2387-1
0.1967 0.0005
>B{q l) = q-1
0.0387 0.0005
1 - 0.3679<?-1
0
80
C hng 2
M HNH QU THNH
Ma )
(2.78)
1 +
2 H---------+ 9 n Q N H
93 =
9n = >N -
y -1
^
1=0
(2 -7 9 )
9iaN-i) 0
Trong cng thc tng qut dng cui (2.79), t a cn ch t 6jv = 0 cho N >
nb cng nh a, = 0 cho i > na.
V d 2-6: minh ha cho nhn xt trn y, ta xt quan h gia bin vo U\ v
bin ra y\ trong m hnh hai bnh phn ng ni tip. Trong v d 2-5 ta xc nh
c
Q.1967^-1
VI(0 = 1 - 0.6065? Vi (0
Vi b = 0.1967, Oo = 1 v ] = -0.6065, ta c th tnh dy trng lng tng ng:
9
g2
=
= 62g\ax = gdi 0.1967
h 01<*2 ~
92a
~92a\
= 0.1967
X 0.6065 0.1193
2.5
CC
hnh
gin
81
on
(2.80)
, =
g2
= A \ B 2 - G xA x)
G3 = A ^ \ B , - G A2 - G 2A 1)
(2.81)
G n - A ) 1{&N - ^ G A n - )
i =0
V d 2-7: Chuyn hm truyn t xung tnh c trong v d 2-5 v dng a thc
ma trn:
A(q~l) =
1 - 0.6065<Tl
B(q-') = q
2,5.5
0.2387"1
1 - 0.3C79-1
0.1967 0.0005
0.0387 0.0005
-0.6065
0
0.2387 -0.3679
-1
0.1907 0.0005
0.0387 0.0005 <Tl
B
M h n h h m tr u y n t gin o n
Z { f( k T ) } F(z) = Y ^ { k T ) z
*=0
2 .5 .5 .1 H m t r u y n t g i n o n
H m truyn t gin on c nh ngha l t s gia nh
ra y(kT) v nh z ca tn hiu vo T^/c1), vi s kin bng 0:
1
Z{y{kT)}
Z{u{kT)}
\z)
{z)
ca tn hiu u
(2.83)
82
Chng 2
H NH Q U T R N H
Qtz ) =
A(z)
+ M m H + bm
Oozn + aizn~l H------ h an
(2.84)
u(t)
ZOH
y(t)
Q u trnh
G(s)
G(z)
H n h 2-9:
HM TRY E N
t gin
on
ca
h tr c h
mu
(2.85)
U(z))
( 2 .86 )
2.5
CC
hnh
gin
83
on
T ta c hm truyn t gin on
G{z) = cJ [zl
- $ r r + d =
B(z)
A(z)
(2.87)
G(*) =
[GflCO] =
Yf(z)
Uj(z)
i l..p, j = l..m
YM .
Yz)
Uy{z)
u m(z)
2 88 )
G(z) =
( .
,(z)
Yp(z)
IU *)
$)-r
+ D
(2.89)
A r \ z ) B l{z) = B r{ z ) A \ z )
(2.90)
84
Chng 2
M H NH Q U TRNH
Phng php m t trn min phc thu n li cho phn tch h gin on, tu y
nhin t c p dng cho thit .k b iu khin. Trong nhiu trng hp, vic
s dng bin z trn min phc c thay th bng to n t dch tin q cng nh
ton t dch li q~\ nh vy cho php phn tch v thit k trn min thi gian
m vn li dng c m t s u im quan trng ca php bin i z.
2.6
G h i c h v t i liu t h a m k h o
AN SI/ISA
88.01:
Batch
Control
Systems:
Models
and
Terminology.
[3]
[4]
[5]
[6]
[7]
Franklin,
G.F.;
J.D.
Powell,
von
Verfahrens-
A.Emami-Naeini:
und
Energieprozessen.
Feedback
Control
of
[8]
2.6
85
[9]
[10]
[11]
Skogestad,
I. Postlethwaite: Multivariable Feedback Control Wiley,
Chichester-New York, 1996. Franklin, G.F.; J.D. Powell, A.Emami-Naeini:
Feedback Control of Dynamic Systems. 3rd Edition, Addison-Wesley, 1994.
[12]
s.;
2.7 C u hi v b i t p
2.1
2.2
2.3
2.4
2.5
2.6
Biu din khu qun tnh bc nht c tr (2.5) v khu bc hai c tr (2.6) bng m
hnh trng thi.
-5
05
n t \
- 5e_2
( 10s + l)(s + 1 )
vra ra cc nhn xt v phn tch
'
C
0.5e-2
(10.S + 1) ( + 1)
(lO + lM + 1 )
s l thuyt cho cc c im ca cc p ng.
86
Chng 2
M HNH QU TRNH
C h n g 3
M h n h h a l th u y t
3.1
T n g q u a n cc b c ti n h n h
88
Chng 3
M H NH H A L THUYT
3.2
N h n b i t cc b i n q u t r n h
3.2
Nhn
b i t
cc
B1BN QU T R N H
89
C T BIN
Tn bin
qu
trnh
K hiu
n v Ph thuc
Gii hn
.......
Lu lng cp 1
l/s
Thi gian
Ca
Gi tr
danh nh
max. 2
0.5
20-40
32
'
90
C hng 3
M HNH HA L TH UY T
3.2
Nhn
b i t
cc
bin
qu
tr n h
91
3.2.1
V d bn h c h a c h t lng
t a d
Phn
l V.
trc
92
Chng 3
M H NH H A L THUYT
^U A)
H n h 3-1:
3,2.2
V d th i t b k h u y tr n lin t c
N hiu
w X\
B in
X2
diu khin
B in cn
B in
iu khin
iu khin
X/
W iQU TRNH
W2 KHAY TRON
w
wx Q TRNH ____
W2 KHUY TRN X
a)
Hnh 3-2:
X|
B in cn
iu khin
h
X
w
b)
Hai
v d b t o n
iu
khin t h i t
bi k h u y
trn
. 2
N h n b t c c bin q u t r n h
93
3.2.3
V d th i t b gia nh it
S cng ngh m t qu trnh gia nhit n gin c minh ha trn Hnh 3-3.
Dng q u trnh (v d dng nguyn liu hoc dng nhin liu cp cho mt qu
trn h sau) c lm nng vi mt dng ti nhit (v d du nng). Bi ton iu
khin qu trnh y l duy tr nhit ca dng qu trnh sau khi ra khi
th i t b gia nhit ti mt gi tr t mong mun. Nhit dng q u trnh trc
khi vo v sau khi ra khi th i t b gia nhit c k hiu ln lt l Tci v C2,
nh it dng gia nhit vo v ra c k hiu l Thi v 7 h2. Lu lng khi
lng c a hai dng c k hiu ln lt l WQ v tHXt theo quan h nhn qu, t a c th nhn ra trong qu trnh gia nhit c hai
bin ra l T c 2 v TH2. Tuy nhin t yu cu cng ngh t a c th thy ngay bin
ra duy n h t cn iu khin l T c Nhit ra ca dng gia nhit 7 h2 c th o
v phn hi v s dng trong thut ton iu khin, nhng khng c l do g
phi iu khin.
Bn bin vo c xc nh l Tiu, IH, 7ci v WQ) trong c th d dng
n h n ra bin iu khin tim nng chnh l lu lng dng gia nhit IH v cc
i lng cn li l nhiu qu trnh. Lu rng, lu lng ca dng q u trnh
Wc ph thuc vo yu cu ca cng on pha sau, y t a khng can thip
c, v vy phi c coi l nhiu ti. Trong phm vi qu trnh gia nhit, ta
cng khng th can thip ti nhit u vo ca dng gia nhit m t cch d
dng v nhanh chng, do vy ch cn lu lng dng gia nhit W\\ c th c
chn l bin iu khin tim nng.
Chng 3
94
HNH HA L T H U Y T
Dng ti nhit
B in diu khin
QU TRNH
GIA NHIT
*
B i n ra cn
^ C2
iu khin
B in ra khng
cn diu khin
Hnh 3-3:
3.2.4
D BI T O N IU KHIN T H I T
b g i a
nhit
V d th p ch n g luyn hai cu t
3.2
hn
b i t
cc
bien qu
trnh
95
3.3
X y d n g cc p h n g t r n h m h n h
Chng 3
96
3.3.1
M HNH HA L TH YT
P h n g t r n h cn b n g v t c h t
dMvk0
dt
dMTL
dt = E - v o - Y ^ wi*
(3.1)
= 0
(3 -2)
dMa
dt
MJinhra
dt
dM ]mt di
dt
3.3
97
chiu cao cht lng trong bnh. Phng trnh cn bng vt cht tng q ut (3.1)
c c th ha n h sau:
d{pV)
di
(3.4)
= F n -F
(3.5)
3 .3 .1 .2 V d q u tr n h p h a t r n tr c lu
Mt qu trnh p h a trn trc lu c minh ha trn Hnh 3-5. Ngi t a c th
s dng h thng ny pha ch mt hn hp t hai dng nguyn liu u vo,
hoc trn hai dng nng v lnh vi nhau. T a cn m hnh ha quan h gia
cc bin lu lng th tch Fu F2 v F ti cc v tr quan s t p u p 2 v P 3. Chiu
di cc on ng ( l u lh /3) c minh ha trn hnh v (coi nh chiu di on
k
+
F
F
' L +
F2 F
(3.6)
(3.7)
H nh 3 - 5 :
Chng 3
98
M H NH H A L THUYT
3 .3 .1 .3 V d t h i t b k h u y t r n lin t c
Xt v d h thng thit b khuy trn minh ha trn Hnh 3-6. Bi
ton iu
khin t ra y khc m t cht so vi cc v d trn Hnh 3-2, c ngha hn
trong thc t. Lu lng dng vo th hai ph thuc qu trnh ng trc, trong
khi lu lng ra l i lng c th can thip c. i vi cc qu trnh lin
quan ti iu khin thn h phn hoc cc qu trnh lin quan ti cht kh,
phng trnh cn bng vt cht tt nht c biu din vi bin lu lng khi
lng hoc lu lng mol. T a s dng cc k hiu sau y:
W\,W2,W - lu lng khi lng (kg/s) ca cc dng vo v dng ra
X - thnh phn sn phm ra tnh theo phn khi lng (0..1)
h - mc cht lng trong thit b (m)
p - khi lng ring ca cht lng trong thit b (kg /m 3)
A - tit din ca bnh cha (m2, gi thit l u t trn xung di).
Mc ch s dng t ra l xy dng m hnh phc v thit k sch lc iu
chnh, v th m hnh khng i hi qu chi tit. Trc ht t a cng a ra gi
thit l tr vn chuyn c th b qua. Tip theo, qu trnh khuy trn c gi
thit l l tng, c ngha l cht lng ng nht ti mi v tr trong thit b.
Khi lng ring ca hn hp trong thit b cng c coi l khng thay i
ng k.
Phn tch cc mc ch iu khin, t a xc nh c 7 bin q u trnh. Hai
bin ra l mc cht lng trong bnh h v thnh phn X ca sn phm , 5 bin vo
bao gm cc lu lng vo-ra (w
W) v thnh phn ca cc dng vo (X},
2/2). Trong s , hai bin ra cng l cc bin cn iu khin v hai lu
lng vo
(W), V2) l cc bin iu khin ca qu trnh.
Hnh 3-6:
D T H I T
b k h u
trn
lin
tc
3.3
X Y DNC C C P H N G T R N H M HNH
99
dx)
lls
W X]
W2X2
(3.8)
-
wx
v V:
+ W2X2 - wx
(3.9)
(3.10)
at
W XX\ 4- W2X2 -
{v) + J2 ) x
x
- w)
dx
1
1
i t = j , (w'x ' + w ^ ] - h (vi' + w i) x
(311)
(*)
100
Chng 3
H nh 3-7:
T hit
M HNH HA
L THUYT
b phn ng lin tc
'
= -F c +VkcA
(3.13)
(3.14)
+ V - - = F0CA0 - F ca - VkcA
<3'15>
(3.16)
3.3
101
X Y D N G C C P H N G T R N H M H NH
(3.17)
p V = nRT
trong :
p - p sut tuyt i (kPa)
V - th tch (rri3)
n - s lng rnol (k' mol)
3.3.2
nM
V
MP
RT
(3.18)
P h n g tr n h cn b n g n n g lng
I I
>
Tong dng
Tng dng
Tong cng
nng lng
nng Ung
dn ra
a vo
V
<
-S
hp th
Cng tiu
hao ra
(3.19)
bn ngoi 1
UL = U X + U p + U K
in
^ ^ ^vo^vo
1=1
^ ^ra^ra
i=l
V
(3.21)
trong :
U - ni nng ca h thng (J)
Wvo - lu lung khi lng dng vo h thng (kg/s hoc kg/pht)
wrn - lu lng khi lng dng ra khi h thng (k g /s , hoc kg/pht)
Ko - enthalpy ca dng vo (tnh trn n v khi lng, J/kg)
hra - enthalpy ca dng ra (tnh trn n v khi lng, J /kg)
q - tng lu lng nhit (cng sut cp nhit) b sung cho h thng thng
qua dn nhit, bc x nhit hoc phn ng ha hc ( J / s hoc J/pht).
Chng 3
102
M HNH HA
L THUYT
E n t h a lp y
Enthalpy trn mt n v khi lng c nh ngha l
hu+PV
(3.22)
trong
u - ni nng tnh trn m t n v khi lng (J/kg)
p - p sut ln thnh ng (N)
V - th tch ring (nghch o ca khi lng ring p, m :/kg )
i vi cc cht lng, th nh phn nng lng P V khng ng k, do vy
phng trnh (3.21) tr thnh:
(3.23)
Enthalpy l mt i lng ph thuc vo thnh phn, nhit v p sut,
nhng ch yu vo nhit h = f ( P ,T X ) . y l m t quan h phi tuyn v
tng i phc tp. Tuy nhin, i vi nhiu bi ton m hnh ha ta c th s
dng cc cng thc n gin ha, nu nh chnh xc ca m hnh khng i
hi qu cao. Vi nh ngha nhit dung ring ti m t p sut khng i:
(3.24)
v gi thit enthalpy ti mt nhit quy chiu Tref l href , ta c th vit
h - /re = CP(T - Tref)
(3.25)
(3.26)
(3.28)
3.3
X Y D N G C C P H N G T R N H M HNH
103
(3.29)
Xi h i l i
h = 1-1
(3.30)
2 xm:
t= l
trong :
- phn khi lng ca cu t th i trong hn hp
771, - khi lng phn t ca cu t th i
h - enthalpy ring ca cu t th i (J/kg)
Xi
3 .3 .2 .1 V d t h i t b g ia n h i t
Quay tr li v d thit b gia nhit phn tch trong phn 3.2.3 (Hnh 3-3). Vic
xy dng m hnh cho hu ht cc qu trnh trao i nhit ni chung da trn c
s phng trnh cn bng nhit lng v phng trnh truyn nhit cho trng
thi xc lp. T uy nhin y t a t m thi dng li ch p dng phng trnh cn
bng nhit lng. So vi nhit lng, ng nng v th nng trong m t b trao
i nhit l khng ng k, v th c th b qua. tr n g thi xc lp, nhit
lng do dng gia nhit t a ra ng bng nhit lng dng q u trnh hp th:
wh(^hi ^H2) wc{hc2 - /*ci)
(3.31)
S dng quan h gia enthalpy v nhit trong (3.25) v coi nhit dung ring
ca tng dng khng thay i, phng trnh cn bng nhit trng thi n nh
tr th n h
vhCph(Thi
(3.32)
3 .3 .2 .2 V d q u t r n h tr a o i n h i t tr c lu
Q u trnh pha trn trc lu trong mc 3.3.1.2 nay c m rng thm vn
trao i nhit tr c tip gia hai dng v minh ha li trn Hnh 3-8. Cc k hiu
cng nh m t s tnh ton c gi nguyn y. Trc ht ta a ra cc gi
thit cho nh sau:
Cc dng chy ch xoy v lp kn cc ng ng, nn thi gian tr vn
chuyn c th xc nh c t lu lng
Q u trnh tr a o i nhit din ra l tng, c ngha l nhit T dng ra l
ng nht.
104
Chng 3
H NH HA L THUYKT
FUT,
F }T
c5i
--- ---------- 31
k
Hnh 3-8:
Qu
T R NH T R A O
N HI T T R C
Lu
(3.33)
(3.34)
(3.35)
3 .3 .2 .3 V d b n h c h a n h i t
S mt bnh cha nhit vi c ch t trn c minh ha trn Hnh 3-9. Bnh
cha trung gian c vai tr gim dao ng trong nhit ca m t dng q u trnh.
n gin ha, trc ht ta gi thit rng h thng khuy tr n h ot ng l
tng, c ngha l nhit l ng nht trong bnh v lun bng nhit ra.
3.3
X Y D N G C C P H N G T H N H M HNH
105
Khi lng ring p v nhit dung ring C), c coi l khng thay i ng k
trong phm vi lm vic, nn gia (lng vo, dng ra v trong bnh cha cng
khng c s khc nhau v nhng gi tr ny. Tip theo, cc th n h phn ng
nng, th nng v phn nhit tn th t ra bn ngoi c coi l khng ng k so
vi nhit i lu.
O kD
F ,T
V = const
H nh 3-9:
(3 .3 6 )
dt
3.3.3
P h n g tr n h tr u y n n h it
T
dA = ~ k Taz~
trong :
(3-38)
C hng 3
106
q
A
z
k
i lu
i lu l hnh thc truyn nhit thng q ua chuyn ng ca cc dng chy v
m (mt chiu hoc lun chuyn), v d t m t b m t nng ti m t dng chy
hoc gia hai dng chy ngc chiu. Trng hp truyn nhit i lu gia mt
b m t (tng, lp cht lng, ht rn) vi mt dng chy ng vai tr c bit
quan trng trong cc q u trnh cng ngh. Cng sut truyn nhit qua m t b
m t c tnh theo nh lut Newton:
-A = k(Ts - T )
(3.39)
trong :
Ts - nhit lp b m t
T - nhit trung bnh ca dng chy
k - h s truyn nhit i lu (ph thuc vo c tnh dng
tnh nhit ca lu cht).
chy v c
Trng hp hai dng chy trao i nhit gin tip vi nhau qua m t bc
tng (Hnh 3-10, v d thnh ng dn), h s truyn nhit tng th c xc
nh t h s dn nhit ca bc
tng, b dy ca bc tng v h s truyn
nhit i lu. Tuy nhin y l quan h tng i phc tp, ph thuc vo nhiu
yu t, v th cng c th c xc nh thng qua thc nghim. Cng sut
truyn nhit s c tnh theo cng thc
q = M(7 -
r2)
(3.40)
trong :
u - h s truyn nhit tng th
T\ - n h i t tr u n g b n h c a d n g c h y th n h t
T2
Hnh 3-10:
ruy
n hit qa
lp tng
3.3
107
(3.41)
wb = TA
(3.42)
trong :
Wt
- hng s S te f an-Boltzmann
T - nhit tuyt i.
Nh vy, h s p h t x ca mt vt bt k chnh l t s gia cng sut pht x
ca vt so vi cng su t p ht x ca vt en:
e =
w
wb
(3.43)
(3.44)
T heo nh lut Kirchhoffy cng sut pht x ca hai v t trng thi cn bng
nhit t cng trong mt mi trng s c quan h nh sau:
=
a,
2
(3.45)
C hng 3
108
3.3.4
M HNH HA L THUYT
P h n g tr n h n g hc p h n n g h a hc
T c ph n ng
Tc phn ng ring k l mt th a m s ph thuc nhit , thng c biu
din theo Arrhenius di dng m t hm ly tha:
k = ke-E' fT
trong ki) c coi l
ph thuc nhit v
c xc nh t thc
tuyn mnh. Cng cn
(3.46)
(3.47)
(3.48)
i m cn b n g ha hc
im cn bng ha hc trong m t h thng phn ng t c khi
nc
(3.49)
trong :
V - h s ha hc lng php ca cu t th trong hn hp (c du m
i vi cht tham gia phn ng v dng vi sn phm)
- th nng ha hc ca cu t th i.
Th nng ha hc ca m t cu t trong hn hp cht kh c xc nh theo
cng thc
i = /4* + R T ln P
(3.50)
. . 3
109
t.rong :
.if - th nng ha hc chun ca cu t th i
P - p sut ring ca cu t th i.
V d, trong m t thit b phn ng vi hai cht kh A v B (A - > B) t a c th
vit:
vAiA = 0
V g g
+ R T l n P) - vA A + R T \ n P A) = 0
(3.51)
hay l
ln
P l_
RT
p V A
(3.52)
3.3.5
P h n g tr n h cn b n g p h a
(3.53)
(3.54)
110
C hng 3
M HNH HA L THUYT
n h lu t R a o u lt
nh lut Raoult p dng cho cc cht lng l tng, th hin qua quan h:
ne
p = jxipit
i=l
(3.55)
r
trong :
Xi - phn mol ca cu t th i trong pha lng
yi - phn mol ca cu t th i trong pha hi
P - p sut hi ca cu t th i.
p sut hi ca mt cu t l m t hm ch ph thuc vo nhit , thng c
biu din di dng
pi = e (A/T+B)
(3.56)
p = x > t/ h ,
(3.57)
t =l
_
_ Vi hi
L
/o co\
(3.5o)
yxi
bay hi tng i l mt tham s t thay i trong nhiu q u trnh, v vy
rt hay c s dng. V d i vi qu trnh hai cu t, t a c bay hi tng
i ca cu t d bay hi so vi cu t kh bay hi l
- < r = f c >
< 3 '5 9 )
ax
1 + (a l)x
(3.60)
3.3
X Y D N G CC P H N G T R N H M HNH
111
H s c n b n g p h a l n g -h i (g tr K )
H s cn bng pha ng-h hay gi t t l gi tr K cng hay rt hay c s
dng. N c nh ngha l phn mol ca mt cu t trong p h a hi chia cho t
l mol ca chnh cu t trong pha lng:
= Vi h i
(3.61)
3.4
P h n tc h b c t do c a m h n h
3.4-1
B c t do c a h th n g
(3.62)
112
C hng 3
M HNH HA L THUYT
li dng s bc t do c th
qu trnh. Xy dng sch lc
thuc ca cc bin iu khin
c). iu c ngha l,
3.4.2
V d th i t b k h u y tr n lin t c
3.4
113
P h n t c ii b c t d o c a m hnh
3.4.3
V d th i t b gia n h it
Quay li v d thit b gia nhit minh ha trn Hnh 3-3. Gi thit y l thit
b gia nhit khng c kh nng lu tr trung gian, tc l lu lng ca mi dng
r a ng bng lu lng dng vo tng ng. Nh vy, h thng cn li tng
cng su bin q u trnh, bao gm 4 bin vo (ih,
114
Chng 3
M HNH HA L T H U Y T
(3.63)
trong ATm l chnh lch nhit trung bnh gia hai dng bn trong th i t b
gia nhit, c tnh theo cng thc:
(3.64)
wh C vh (Th \
(3.65)
3.4,4
V d ni h b o h a
(3.66)
trong :
n - s bc t do ha hc
nc - s lng cu t c m t
Up - s lng pha.
S lng cu t y l mt (H20 ) , s lng pha l hai (nc v hi nc) v v
vy s bc t do ha hc l n = l - 2 + 2 = l. iu c ngha l ch m t bin
3.4
Phn tch
bc
do ca
115
hnh
3.5
3.5.1
T u y n tn h ha v m hnh h m tr u y n t
B in c h n h lch v m hnh h m tr u y n t
Chng 3
116
M HNH HA L
THUYT
(3.67)
trong h l mc cht lng v A l tit din ct ngang ca bnh cha (coi nh
u t trn xung). Phng trnh (3.67) tuyn tn h, nn t a ch cn thay th
bin chnh lch vo thay v tr cc bin thc tng ng. th y r hn iu ny,
ta vit phng trnh m hnh trng thi xc lp:
(3.68)
vi k hiu ngang trn (*) biu din gi tr ca m t bin ti im lm vic
(ng nhin cng phi trng thi xc lp). Tr hai v c a (3.67) cho (3.68),
t a nhn c
. dA/i
. _
= AF0 - A F
dt
(3.69)
(3.70)
trn g thi ban u (im lm vic), t t c cc bin chnh lch y, u v d
cng nh o hm dy/d t u bng 0. Vi cc iu kin ny, t a c th hin i
Laplace cho c hai v
sy(s) = - ^ ( s) + d(s)
(3.71)
v i ti m hnh hm truyn t
y(s) = - - u(s) + ^ d ( s )
T s
rs
(3.72)
:*.5
y n tn h
ha
hnh
hm
truyn
dt
117
3.5.2
nh
3-12:
T u y n t n h h a x u n g q u a n h i m l m vic
118
Chng 3
M H N H H A L THUYT
= f{ F tT,T) = ^ ( T 0 - T )
(3.73)
(3.74)
f
s
(3.77)
3.5
uyn
tn h
ha
hnh
hm
truyn
*=(*) + y(s) =
r
119
T (g) + (a)
(3.78)
(3.79)
(3.80)
A T0
(d)
AF
(u )
Hnh 3-13:
1
TS + 1
k
TS + 1
So D KHl CHO
ir +
(>
AT
(y)
NHI T
3 .5 .2 .2 V d q u t r n h p h n n g n g n h i t
minh ha cho phng php tuyn tnh ha xung quanh im lm vic, trc
ht ta xt m hnh cho q u trnh phn ng c xy dng trong mc 3.3.1.4.
M hnh gm hai phng trnh, trong phng trnh cn bng vt cht
tuyn tnh nn t a ch cn thc hin php tuyn tnh ha cho phng trnh cn
bng th n h phn. y t a gi thit rng mc trong bnh s c khng ch bi
mt vng iu khin c lp1, nn bin th tch V c coi l th am s trong
phng trnh cn bng th n h phn. Qu trinh phn ng l ng nhit, nn tc
phn ng ring k c coi l hng s.
120
Chng 3
M H N H H A I. THUYT
= f ( F tF0tcA,c Au) = - ( + k ) c A + c M
(3.81)
p dng php khai trin Taylor cho / ( F , F 0>CA,CA0) tng t Iih trong v d
trc, ta nhn c phng trnh vi phn tuyn tnh vi bin chnh lch:
dAc*
dt
( d f A r,
df A
df A
df A
A F -- TCTT A
+ ----AC'a *+* T-----dF
dc AO
dF
dcu
- _ i A F + A FU y
y
' h
K hiu y = A ca ,i = A F ,d x =
li thnh:
(3.82)
'
CA u + CA0 di +
-=------- 4- y
F + Vk dt
y
F + Vk F + Vk
F + Vk
(3.83)
K
1 + TS
u(s) +
:d1 d{s) +
U
(12
d{s)
1 + TS
(3.84)
trong
V
F + Vk'- kP
p = - 1F? + V k ul
CA()
F + V k'
F + Vk
(3.85)
Hnh 3-14:
D K H I CH O M
HNH QU
T R NH PHN NG ANG n h i t
3 .5 .2 .3 V d t h i t b k h u y t r n li n t c
Phn dn dt di y s minh ha cho cc bc pht trin m t m hnh tuyn
tnh a bin qua v d thit b khuy trn lin tc. M hnh cho thit b khuy
trn lin tc (3.11) bao gm hai phng trnh vi phn, c vit li nh sau:
3.5
121
T u y n t n h h a v m hnh hm t h u y n d t
il= fl -
t(W) + v>2 - y>)
pA
i = h =
(3.86)
+ W-2X-2 - {w + w2)x)
IU + Wo
(3.87)
(3.88)
0 = w { \ 4- W2X2 {\ + '2 ) x
(3.89)
wx{s) + A w2(s))
(3.90)
df2 A
x
df2 .
U)\
^ - A h + ^ - A x + ^ - A v i
df2 A
W\
+ ^ A 2
a/2 A
X\
df2 A
A a :2
0 X2
-----+ j2x2 - (,
+ 2) x ) A h ----- 7r(i + 2)&x
pAh ----------------- ----------------pAh
XU
Xi X A
= - +
pAh
x2 X A
U)\ .
- A w2 + u
pAh
pAh
W2 .
+ %=&X2
pAh
(3.91)
122
M HNH
Chng 3
H A L T H U Y T
_
) &UX
x X
^w 2x
_ x2 X
W
x lx
~I ^ x 2 x
w2
+1
TS
4-1
TS
AX,(s) +
+1
rs
+1
A x 2(s)(3.92)
Aw
A /i
, ti =
Ax
I, d = A x
A Wi
A x2
k-wh
s
G p {s) =
kulT
kw2x
krlx
kx2l
, r.s +1
T$+ 1
T5 + 1
, G d (s) =
TS + 1
(3.94)
(3.95)
y = Cx
trong :
A =
E =
pAh 0 W
1
pAh x2 -
. B =
-ft
pAh
w2
, c =
h
X -
1 0
0
3.5
T uyn tn h ha
hnh
hm
truyn
12 3
. (s - A ) ~' = 0
0
S + -7T
pAh
-1
I
s
0
1
s+a
Axi
n h
3-15:
D K H l CHO M HNH QU T R N H K H y
trn
lin t c
124
hng
M HNH HA L T H U Y T
3.5.3
p h i t u y n c a m h n h
(3.97)
3.5
T u y n t n h
ha
hnh
hm
truyn
125
dt
H n h
3-16:
M inh
ha
phng
php
tu y n tn h
h a t i im
lm
vic
V d t h i t b k h u y t r n li n t c
Khng cn s dng khi nim phi tuyn th t a cng n h n ra phng trnh
th nht ca m hnh (3.86) l tuyn tnh, tuy nhin t a cng c th th kim
tra. Ti m t im lm vic, t a c
S =
W] 4- h
(3.98)
W + w 2
k, = # . = (| dw\
+ W2 )
(3.99)
12 6
C hng 3
M HNH HA L THUYT
3.5.4
T u y n tn h h a vi p h p i bin v o -ra
f"
V2
x2)R +
x2
3.5
Tuyn
tn h
ha
m hnh h m
tru y n
127
dt
(3.100)
l bin iu khin th ay v chn trc tip W[. Khi phng trnh cn bng
thnh phn (3.86) c vit di dng tng ng nh sau:
p A h = (wj 4-
W){{x\
)R -
+ x2)
(3.101)
r2) wcCtc:{TC 2 -
Tci)
T a suy ra
(3.102)
C th nhn th y quan h phi tuyn gia bin iu khin trc tip
W \\
v bin
(3.103)
128
Chng 3
M H NH HA L THUYT
+ t'
' 3104>
Nhn vo phng trnh (3.104), c th nhn thy ngay bin iu khin cn chn
cho tuyn tnh ha l u = q/wc'.
Tq2 = ^ u + Tq1
pc
(3.105)
minh ha trn Hnh 3-17. Cng nh vic tch v tuyn tnh ha m hnh, vic
thit k iu khin sau ny s thun tin hn. Thc t, sch lc iu khin c
p dng rng ri cho cc thit b gia nhit du nng chnh l d a trn c s m
hnh dn xut ny, nh s c cp trong ni dung chng 5.
wc
T\) T c
lu
Ta
(3.102)
* Tm
Tm
H n h
3.6
3-17:
Tuyn tn h
ha
Wc Tci
h n h t h i t b g i a n h i t q u a
php
ti
BIN
M phng qu trn h
3.6
PHNG QU TRNH
129
3.6.1 P h n loi cc p h n g p h p m p h n g
Cc phng php m phng qu trnh c th c phn loi theo nhiu gc nhn
khc nhau nh sau:
M phng tnh v m phng ng
M phng lin tc v m phng ri rc
M phng tun t v m phng thi gian thc
M phng tng tc v m phng phi tng tc
M phng nhn-qu v m phng hnh vi (m phng phi nhn-qu).
M ph ng tn h /m phng ng
M phng tnh, hay cn gi l m phng trng thi xc lp, l m phng cc
quan h v o /ra ca m t h thng trng thi xc lp. M phng tnh c s
dng thng xuyn trong thit k cc qu trnh v thit b cng ngh, gip xc
nh cc th am s trn lu P&ID. C s ca m phng tnh l cc phng
trn h cn bng vt cht v nng lng trng thi xc lp (ti irn lm vic)
v m t s phng trnh i s khc.
M phng ng s dng cc m hinh ng hc phn nh din tin ca qu
trnh theo thi gian. M phng ng c gi l lin tc nu cc bin v o /ra l
lin t c theo thi gian mt cch c hu, v s c gi l ri rc khi cc bin
v o /ra c tnh ri rc theo s kin. M phng lin tc c s dng trong phn
tch v th it k cc sch lc v th u t ton iu khin, trong khi m phng ri
rc phc v bi ton iu khin kha lin ng v iu khin trnh t. C s ca
130
Chng 3
M H N H HA L THUYT
3.0
M PHNG QU TRNH
131
1 32
C hng 3
M HNH HA L THUYT
lng theo nhng quy lut vt l xc nh. Nh vy, m t cch tng qut th h
thng s c m t bi cc phng trnh i s-vi phn (DAE, DifferentialAlgebraic Equation) thay v ODE. im khc bit rt c bn so vi m phng
nhn qu l y cc h thng con c kt ni vi nhau m t cch t nhin
ging nh quan h rng buc gia cc i tng trong thc t, ch khng ch n
thun ch l quan h tn hiu vo/ra. Cng v th, khi nim m phng hnh vi
hay m phng phi nhn-qu thng c gn lin vi m phng hng i
tng. Modelica l m t ngn ng m phng da trn phng php) lun ny. v
Dynamo l m t cng c m phng trc quan h tr Modelica ([15] [16]).
3.6.2
G ii h p h n g tr n h vi p h n (phi tu y n )
(3.106)
Cho trc vector vo u(), nghim x(t) ca (3.106) c xc nh theo cng thc
tch phn:
x(t) = Xq + f f(x,u)dt
J0
(3.107)
Xi
4- f ,+l f(x ,u )d t
J t
( 3.108)
3.-+1 ~ xi + ik+ -
(3.109)
3.6
133
M PHNG QU TRNH
t
H nh 3-18:
Minh
(3 .1 1 0 )
2. c lng o hm ca
Euler (3.109)
X ti im j+1, tc l
k = /(+1.U+|)
A .,
(3.111)
.
x i+ = X + - ( * i + h )
C hng 3
134
M HNH HA L THUYT
3.6.3
G ii h p h n g tr n h vi p h n tu y n tn h
(3.112)
+ IX
(3.113)
vi
= eA*t
nAt
r = f
J 0
(3.114)
dtB
3.6.4
M p h n g q u tr n h s d n g M A T L A B
3.6
135
PHNG QU TRNH
options)
trong :
t - vector ct cha cc thi im cn tnh ton
X - m a tr n cha n g h im , m i hng ca X tng ng v i m i hng ca t
ode*
dxdt
tspan
xO
options
M p h n g h tu y n tn h
Hp cng c Control System Toolbox cung cp cc hm phc v to m hnh,
bin i m hnh, ghp ni m hnh, phn tch, thit k iu khin v m phng
cc h tuyn tnh th am s hng. Cc dng m hnh c h tr bao gm m
hnh trn g thi, hm truyn t v p ng tn s, dng lin tc cng nh gin
on. Mt m hnh lin tc trc ht c gin on ha theo chu k thi gian
Chng 3
136
M H NH HA L THUYT
s te p m phng p ng bc thang n v
V d 3-2: Thit b khuy trn lin tc c tit din u A = 0.8 rn2, c vn hnh
vi cc thng s ti im lm vic nh sau:
w2 200 kg / pht
X = 0.4, X 0.8, 3i = 0.2
h lmt
p = 1.25 kg/lt
Trc ht, ta cn xc nh gi tr cc bin cn li (w\,w) cho trng thi lm vic. Ti
im lm vic, o hm cc bin trng thi bng 0, nn t (3.11) ta c:
0 W} +
- w
(3.115)
(3.116)
c th gii h phng trnh vi phn trong MATLAB, ta cn nh ngha vector o
hm / nh sau:
3.6
PHNG QU TRNH
137
k*(wl*xl+w2*x2-vl*y(2)-v2*y(2))/y(l) ];
Ta c th s dng cc hm ode23, ode45,... trong MATLAB gii h phng trnh vi
phn thng nh trn theo c php nh sau:
[t y] = ode45Sf,tspan,yO,[ ] ,k,wl,w2,w ,xl,x2);
trong tspan l vector cha cc thi im m phng. Tham s tspan c th c
to ra bng dng lnh:
tspan = [0 :0 .1 :20];
Gi tr u ca vector y chnh l cc gi tr ti im lm vic ( h v x):
y0 -
[1 ; 0.4];
function blendingsim
Simulation of the blending process, solution of ODEs
wl=100;
w2=200;
w =300;
xl=0.8;
x2=0.2;
k =0.001;
tspan = [0:0.1:20];
y0 = [1; 0.4];
[t y] = ode45(Qf,tspan,y0,[] ,k,l.l*wl,w2,w,xl,x2);
figure(l);
plot(t,y(:,1));
title ('Step change in 107, feed rate \itw_l);
xlabelCTime (min)');
ylabel('Level h (m)1);
grid on
figure(2);
plot(t,y(:,2));
k c
Chng 3
138
H N H H A L T H U Y T
];
S te p change in feed ra te W
0.44
N
o
1
6
o
o
X
0
0.42
0.4
5
Hnh 3-19:
10
T im e (m in)
15
20
P NG QU TR NH VI THAY
i 10%
10
T im e (m in)
15
LU L NG V O
20
W\
y]
y]
y]
y]
p
p
p
p
ng
ng
ng
ng
vi w2
vi w
vi xl
vi x2
.6
PHNG QU TRNH
139
S te p ch an g e ill few I ra te w
5
T im e (m ill)
H n h 3 - 2 0 : P NG QU TR NH VI T H AY D i 1 0 %
10
15
T im e (m in)
10
15
Lu
LNG RA
20
T im e (m in)
T im e (m in)
H n h 3 - 2 1 : D P NG QU THNH VI T H A Y i 1 0 % T H N H PHAN VO X\
w,(s)
A H(s)
A *,(i)
^
AX(s)
- 'M - A W M
. .
i-Y(s)
c-* w ' f i w
.
r.
_
~
_
A A',(.s)
i
l2l 1 AX2(s)
= - G wh(*)
A W{s)
A H(s) _
A.....
I 2(S) u
0.001333 . .
,
5 s m |pMl/kgl
0.000667 . . . . .. ,
- S T lph6t/kgl
^i2h
1,\ = AA(,s) =
lllU
G,rh(s)
-333
3.333s+ 1
0.667
3.333.9 + 1
Chng 3
140
G s ) =
m()
Af(g)
H N H H A L THUYT
=0
function blendinglsira
% Simulation of the blending process with linearized model
vl 100;
w2 = 200;
w = 300 ;
xl = 0.8;
x2 * 0.2;
X 0.4;
k
T
=0.001;
= 1/(k*w);
.6
141
P H N G Q U T R N H
mc khng h khc so vi phng php gii trc tip h phng trn h vi phn. T rong
khi , p ng c a th n h phn ra c khc mt c h t so vi phng p h p gii trc tip
h phng trin h vi phn. iu ny khng c g ngc nhin bi phng trn h vi phn
th hai l phi tuyn, m hnh tuyn tnh ha ti im lm vic ch c th c coi l
ca I1 hnh p h i tuyn.
x p x
1.4
H
5
1
a
1.2
0.42
(3
X
-----------------------------------
0.4
5
10
T im e (m in)
15
20
10
T im e (m in)
15
20
10
T im e (m ill)
T im e (m ill)
15
0.44
H
o
o
a
0.42
042
0.4
0.4
10
T im e (m in)
15
20
10
T im e (m in)
15
20
142
3.7
3.7.1
C hng 3
M HNH HA L TH UY T
M t s v d q u t r n h ti u b i u
C h u i b a th i t b p h n ng lin t c n g n h i t
P h n tc h bi to n
T hit b phn ng lin tc ng nhit nay c m rng th n h m t chui gm
ba thit b ni tip, nh minh ha trn Hnh 3-25. Sn phm B c to th n h
qua phn ng t nguyn liu A trong cc thit b c khuy trn ] tng.
Nhit ti cc thit b c th khc nhau, tuy nhin ta coi l khng thay i do
phn ng l ng nhit. T a cng gi thit khi lng ring ca dung dch trong
cc thit b khng khc nhau ng k. Tc phn ng ring ti mi th i t b
(*1 , >2, Afc) ph thuc nhit v nng , v th khc nhau. Lu rng, y
t a khng cn quan tm trc tip ti nng ca B trong cc thit b bi i
lng ny c dn xut t nng ca A qua phng trn h cn bng vt cht
ton phn v phng cn trnh cn bng vt cht vit cho cu t A.
^>c0
Hnh 3-25:
^icAi
hu
b a t h i t
^2>CA2
b p h n
ng
lin t c
ng
nhit
3.7
M t s v D Q U T R N H TIU B l
143
dV
= F{)- F ]
dt
d(ViC,m)
= ^cAO ^ICA1 V]k]{cA\)n
dt
(3.117)
(3.118)
= ^ > CA<> -
F >) + V ^
C A1 -
V M
caiT
dt
Tng t (3.117)
TT'CA1~
V\
^ l(cA l)n +
TTcA0
Vi
(3.119)
vi
dV,
= F - F 2
dt.
dV 3
= f3 - f2
dt
dcA2
dt
v2
(3.120)
(3.121)
'
(3.122)
h '
I/
CA2
V
.
dt
= - V
3 CA3 - **(cA3r
(3.123)
M hnh nhn c cha tng cng 6 phng trnh vi phn phi tuyn th hin
quan h gia 11 bin: (3.117), (3.119)-(3.123). T ham s m hnh gi y bao gm
cc tc phn ng ring (k\y k, h) v bc ca phn ng n.
P h n tc h b c t do
M hnh cho h th n g dy ba thit b phn ng ng nhit c 5 bc t do, trong
khi c 6 bin ra. iu c ngha l t a ch c th thit k ti a 5 vng iu
khin. Tuy nhin s bin iu khin nhiu lm l 4, v th ch c th iu khin
c lp ti a 4 bin ra. Nu mc cht lng trong cc th it b c chn iu
khin th ch cn m t trong ba bin nng c th chn l bin c khin. Ty
theo yu cu c a bi ton iu khin, nu mt trong hai bin lu lng (Fo, F3)
cng li c coi l nhiu th bi ton iu khin cht lng sn phm s khng
c gii quyt.
By gi t a xt h thng iu khin khi mc cht lng trong cc thit b
c gi c nh (hoc t ra l gn c nh) bi 3 b iu khin mc. Khi c
bn bin lu lng ph thuc ln nhau theo nguyn l cn bng khi lng, tc
l s bin c lp gim i 3. Gii thch theo mt cch khc th vic a vo 3
M HNH HA
Chng 3
1 44
L THUYT
vng iu khin mc cng chnh l b sung 3 phng trn h c lp. Trong khi
, 3 bin ch o cho cc gi tr mc cng c a th m vo. s bc t do
ca h thng khng h thay i, nhng ngha s bc t do th a y i nh
phn tch trong mc 3.4.
T u y n t n h h a m h n h
n gin ha trong vic xy dng m hnh tuyn tnh, y cng t a gi thit
th tch trong mi thit b phn ng c gi n nh bng m t vng iu
khin mc c lp. Nh vy cng c ngha l F = F2 = F3 = F) = F. Tip
theo, gi s phn ng l bc hai, tc l 71 = 2. trng th i xc lp, t a c:
F _
0 =
F -
~ T r c Al ~ fcl(c A l )
+ 7 7 CA0
F
F
0 = - 7 T CA2 - ^(cu)2 + Tr^A!
Vo
(3.124)
Vo
A(?A2
A cA3
x3
CAU ~ CA1
Vx
V,
u -- d
V
-F
_
CA1 ~ CA2
~ ~ x2 2kvcA2x2 +
U +
V
^2
dx
F
CA2 - CA3
3 = - r r x3 - 2fcjcA3i3 +
+
dt
v3
*
V,
V,
dxo
F
V2 X'
F_
x2
( 3 . 1 2 5 )
(3.126)
(3.127)
X =
^1
Vi
r2
y = [0
F
3
V',
X+
CA1 Ca2
V*
Ca ^A3
^3
0 l]x
Cao -C ai
V*
u +
(3.128)
0
3.7
M t s v D QU TRNH T1 BIU
145
trong
T =
Yk
r =
F + 2 Vk,cA 2
V
F + 2 V h2cA2'
r. =
v*
3
F + 2W
A3
dx
r
dt
dx3
.
,
^
+ ^3 =
u + kd3*2
(3.129)
trong
,
CA0 -
cAi
'hil ._ >Kd1
F + 2Vj ;1cai
1_
F + 2V1;1cA1
F
CA1 - CA2
K
_
_ ) Kd2 "=
F 4- 2Vr2fc2CA2
F 4- 2V2^2CA2
Ki 2
^A2 CA3
F + 2 V3A3CA3
F + 2 V33 CA3
(3.130)
kd:\
*2 (s)
= -t 3H
t
(*)
+
s + 1
r 3s + 1
(3.132)
*.(*) = -T]S
r r+r 1 ( s ) +
(3.131)
r:s + 1
r 35 -- 1
T 2S
4- 1
u{s) +
k'n Ij(s)
+ 1
T 2S
1 d(s)
Ki2^d'
^1/3 +
^u2^rf3
u(s) +
u(s) +
TS + 1
+ 1 ( t2S + 1) ( t 35 4- 1)
(r2s + l)(r3s + 1) Tj5 + 1
I
r 35
Ki3Tls +
l)(r 2'S + 1) +
ku2^dTii +
1) +
K^d^d
/> ,______
'
d(s)
GdU)
(3.133)
C hng 3
146
M HNH HA L THUYT
nh
3.7.2
3-26:
THIT
phn
ng
dng
nhit
T h i t b p h n n g t h u n h i t si t
P h n tch bi to n
Q u trnh phn ng lin tc cp c m rng cho trng hp phn ng
thu nhit, nh minh ha trn Hnh 3-27. Dng vo l A nguyn cht, sn phm
to ra sau phn ng A B l hn hp A v B. Thit b phn ng c trang b
thm si t duy tr nhit phn ng ti m t gi tr ph hp. Mc ch xy
dng m hnh l phc v phn tch v hiu r c tnh ng hc ca q u trnh,
to c s cho thit k sch lc v th u t ton iu khin. Trc ht, t a a ra
cc gi thit sau y:
T hit b phn ng c khuy trn l tng, ngha l nhit v nng ti
mi v tr trong thit b nh nhau v ging nh nhit v nng dng ra.
Tc phn ng tng th t l th u n trc tip vi nng ca A trong thit
b (phn ng bc nht)
Q u trnh truyn nhit t si t sang cht lng din ra l tng vi cng
sut truyn nhit l q.
3.7
M t s v D QU THNH TIU Bl
147
7(1- CA()
0 ^ 0
V>P>C\
r m w m in n n
<7
H nh 3-27:
T hit
Nng
v o CAO
N h it vo To
Lu lung vo Fo
C
Lu lng ra F
^
c
H nh 3-28:
T h tch V '
T H I T B P H A N
NG T H N H I T
N h it T
+> Nng
CA
148
C hng 3
M HNH HA L THUYT
+ k
v +k
c l + f c M)
(3.135)
(3.13(1)
(3.137)
(3.138)
F Ph + Q - X V kcA
(3.139)
(3.140)
3.7
'F
'f '\
1 49
Xkr
(3.141)
P h n tc h b c t d o
M hnh nhn c bao gm 8 hin qu trnh (//, l',/*!). F\TU/ I \ c {ic ) . Ba phng
trnh m hnh dc xy dng ln lt l: phng t r n h cn bng vt cht ton
phn (3.134), phng trnh cn bng thn h phn (3.135) v phng trnh cn
bng nhit (3.141). s bc t (lo ca m hnh l 8 - 3 = 5. Thc ra ta cng cn
m t phng trnh m hnh l quan h gia tc phn ng v nhit (3.136),
nhng nu xt c phng trnh th s bin qu trnh cng s tn g thm 1 (tc
phn ng ring /c), nn s bc t do khng thay i.
i vi bi to n th i t b phn ng ta cha phn tch k cc mc ctcli iu
khin, nhng trn c s phn tch s bc t do ta c th c nhng kt lun s
b. Trc ht. s lng ti a hin ph thuc (tc l hin u ra) c th iu
khin c cng ch bng s phng trnh, tc l 3. T h hai, nu cl chn ra 3
bin cn iu khin (v d V, T v c) th 5 bin cn li phi cc l bin vo th
m hnh mi n h t qun. Trong trng hp ny, ta xt. thy hon ton hp l.
Tip theo, nu chn 3 bin cn iu khin th ta cng phi chn t nht 3 bin
iu khin t 5 bin vo. Yu cu trn ch c the dc th a man nu ta 1)0 sung
them m t van iu khin trn ng vo c th thay i lu lng F). Trng
hp F) li do q u trn h ng trc quyt, nh th s lng bin ti a c th
in khin c: c lp y ch cn li l 2 (v d V v c hoc V v T). Thc
t l nng c ph thuc nhit T, nn ta c th gin tip iu khin nng
thng qua nhit . v n ny s c cp su hn trong v d sau.
3.7.3
T h i t b p h n ng lin t c t a n h i t
P h n tch bi to n
M hnh thit, b p h n ng lin tc rl cp trong cc phn trn nay dc m
rng vi cc iu kin thc t hn. S d h thng (lc rninh ha trn Hnh
3-29. y, phn ng l ta nhit. T hit b phn ng c tran g b v lm mt,
trong nc: lnh c a vo duy tr nhit. phn ng ti gi tr mong
mun. Mc ch xy dng m hnh trc ht l phc v thit k sch lc v
th u t ton iu khin, v vy ta cng cn lm r cc bin cn c iu khin,
cc bin iu khin v nhiu. Cc kh nng can thip cng c: th hin vi
cc van iu khin trn s cng ngh. Tng t nh cc h thng phn ng
lin tc khc, yu cu t ra cho bi ton y l n nh vn hnh, cht lng
sn phm , an to n v ti t kim nng lng. Lu rng tc phn ng ph
thuc nhit , v th bn cnh yu cu v an ton thi khng ch nhit cng
l mt cch iu khin cht lng sn phm ra.
150
C hng 3
F, 7o,
M HNH HA L THUYT
cao
1
o
F j , T.J0
V, T,
Fj, T j
Vj
Tj
CA
T, F, Ca
H nh 3-29:
T hit
(3.144)
3.7
151
M t s v D Q U T R N H T I U BI EU
tpv
l
r Nhit nc vo T j o
Nng vo CAO
Nhit d vo To
Lu lng vo Fo
C
;
Lu lng ra F
B N H P H N NG
/<a>
LIN T C
Lu lng nc Fj
Th tch V
Nhit T
Nng Ca
'I
s-g
4
-Nhit nc ra Tj
Hnh 3-30:
C C BIN QU TR NH T R O N G T H I T b p h n n g l i n t c t a
nh it
UAh (T - Tj)
(3.145)
Qc = -A Vkc
(3.146)
pj
(3.147)
(3.148)
trong :
p - khi lng ring ca dng qu trnh (kg /m 3), c coi l hng s
P q khi lng ring ca nc lm lnh ( k g / m 3) y c coi l hng s
/o - enthalpy trong dng vo ca qu trinh (J/kg)
h - enthalpy trong dng ra ca qu trnh (J/kg)
hjo - enthalpy trong dng vo ca nc lm lnh (J/kg)
hj - enthalpy trong dng ra ca nc lm lnh (J/kg).
S dng mi quan h n gin gia enthalpy v nhit theo (3.25), phng
trn h cn bng nhit lng cho thit b phn ng trc ht c biu din nh
sau:
152
Chng 3
pCp
= pCp(F0T0 - F T ) - UAh (T
- T
M HNH H A L T H U Y T
)~
XVkc
(3.149)
3.7
153
M t s v D Q U T R N H T I U D1EU
(3.152)
M hnh nhn c gm 11 bin qu trnh v 5 phng trnh, s bc t do khng
h thay i.
3.7.4
T h p ch n g luyn hai cu t
Mu
Mo
pf
D VT f
154
Chng 3
M HNH HA L THUYT
Ch thch
T h p c h n g l y n h ai c t t i u b i u
3.7
M t s v D Q U T R N H T I U B l
155
3 .7 .4 .1 M h n h 3 b c n g i n
P h n t c h b i t o n
Trc ht, ta s xy dng m hnh n gin nht cho th p hai cu t. Mc d
vy, trong thc t m hnh ny vn c th s dng t t cho mc ch thit k
sch lc v th u t ton iu khin cht lng. Ch 3 bc (hay 3 giai on) c
quan t m tng ng vi thit b un si y thp, a cp liu v thit b ngng
t. Ging nh cc bi ton m hnh ha khc, y t a cn a ra m t s gi
thit n gin ha:
1. Hn hp u vo coi nh ch gm hai cu t nng v nh
2. B q ua ng hc c a thit b ngng t v thit b un si y
th p
nu phi xy dng
ti
mi a.
5. Lu lng hi bc ln l nh nhau trn mi a (constant molar flou)), c
ngha l V = K- 1 , tuy nhin khng c ngha l c nh. Khi p sut trong
th p l ng n h t v nhit ha hi phn t ca hai cu t tng ng nhau,
th khi m t mol c a th hi ngng t th mt rnol ca cht lng cng bc hi,
c ngha l lu lng hi bc ln khng thay i.
6. E nthalpy ca dng cht lng thay i khng ng k, c ngha l chnh lch
nhit gia hai a gn nhau c th b qua. Kt hp vi gi thit 4, phng
trnh cn bng nhit c th b qua.
7. bav hi tng i gia cu t d bay hi so vi cu t kh bay hi coi
Iih khng th a y i.
8. T t cc cc a u t trn g thi cn bng nhit ng hc gia hai pha, tc
l t hiu su t 100%. Khi t trng thi cn bng lng-hi, bay hi
tng i c th hin theo biu thc (3.59):
a
3 * /(! - xi)
1 + ( a - 1>,
Vi
(3.153)
C hng 3
156
M HNH HA L THUYT
H nh 3-32:
X y d n g c c p h n g tr n h m h n h
Vi nhng gi thit a ra, cc phng trnh cn bng vt cht to n phn c
vit cho trn g thi xc lp:
v2 = v
L2 = L + F
D = v -L
B = L + P -V
(3.154)
3.7
157
M t s VI D Q U T R N H T I U BIU
thp: Mj
a cp liu:
Thit bi ngng tu:
(3.155)
(3.157)
(3.156)
M, ^
(3.158)
M 2 dt = Fz p+V{ V] ~ V 2 )+ L x ~ { L+F) X2
(3' 159)
M ^ = V { y 2 - x )
(3.160)
p
1 + (a 1)X[
? L .
(3.161)
(3.162)
1 + (a - 1 )3:2
P h n tc h b c t do
M hnh nhn c bao gm 5 phng trnh (3.158)(3.162), trong c 3
phng trnh vi phn v 2 phng trnh i s. s bin q u trn h x u t hin
trong cc phng trn h ny l 9. Nh vy, s bc t do l 4, ng bng s bin
vo c lp cn li (F, Z/T, L, V) vi hai bin nhiu v hai bin iu khin.
T u y n t n h h a m h n h
M hnh 3 tng cho th p chng luyn xy dng trn y c 3 bin trn g thi,
c vit gn li di dng vector X [X x2 3]7 . Vector c iu khin bao
gm hai bin tr n g thi,
c k hiu l y = [3 X\ Cc u vo bao gm
vector iu khin u = [L vf v nhiu d = [F Z f Y .
T a s tuyn tn h ha xung quanh iin lm vic a phng trnh trng
thi v dng
Ax = A / \ x + B A u + E& d
(3.163)
Chng 3
158
0
1 0
y Cx =
M HNH HA L THUYT
(3.164)
(3.165)
Ax
Trc ht, p dng php khai trin Taylor tuyn tnh ha hai phng trnh
cn bng pha (3.161) v (3.162):
Ayi _
f* ___ 4 .
r r K
Axj
(1 + (a _ l)j) 2
(3.166)
Aj/2 ________ Qf
Axa
(1 + (q - 1)x2f
(3.167)
Tip theo, s dng cc quan h tuyn tnh va nhn c v p dng php khai
trin Taylor tuyn tnh ha tng phng trnh trng thi:
Af, ^
Vk )A x x + { + F) Ax2 + ( 2 -
dx2
F
d
A zF + Z fA F
V { A yi
A 7/2 ) + (2/1
y +
- f L A x 3 4- X3A L (L + F ) A x 2
+ A F)
dx3
= (A y 2 - A x3) + (2 - x 3) A K =
dt
- VArr3
=0
Vit gn li t a nhn c m hnh trng thi tuyn tnh biu din vi cc bin
chnh lch
dAx
= A A x + BAu + EAd
dt
Aj/ = Ax
(3.168)
trong
-F -V k^
A =
L + F
-( + F + k )
-V
3.7
M t s v D QU TRNH TIU
X2
B =
x3
E =
Bu
159
- V
X\
In
x2 V\ - l
0
0
x2 X 0
1*?
1
1 0
ZF
&
V XD (xs)
0.5
10
0.5
3.05
3.55
Mi
XB ( x )
0.9
0.1
1.0
Thit b ngng
3.05
Cp liu
4.05
Ha hi
Vi
Vi
0.9000
3.55
0.4737
0.9000
3.55
0.1000
0.5263
A =
-10.334
4.050
9.834
-5.332
3.050
1.282
-3.550
0.3737
B = 0.4263
0
-0.4263
0.3737
0
0.3737
, E = 0.0263
0
1
0
3 .7 .4 .2 M h n h n h i u b c l t n g
P h n tch bi to n
Nu mc ch t ra cho xy dng m hnh l phc v i su phn tch c tnh
ng hc v m phng kim nghim cht lng iu khin, th m hnh ba bc
n gin trn y khng th ph hp. Di y ta s xy dng cc phng trnh
m hnh nhiu tng, mc d vn l l tng nhng c th p ng c yu
cu ca nhiu bi ton thc t.
Trc ht, th ay v ch xt ti bin trng thi ba bc c bn, t a s a vo
m hnh ton b cc bc theo nh thit k thp. Tip theo, hai gi thit 10 v 11
trong v d trn s c b i. Nh vy, nhng gi thit cn li bao gm:
Chng 3
160
M HNH H A L THUYT
= 2 -5 -1 /
(3.169)
(3.170)
T h i t b n g n g t / b n h ch a ( i = N + l , Xp = XN+\, M
^ R
dt
d[M^
= M n +1 , L = Ltf+i):
= -L -D +V
(3.171)
(3.172)
= LNF+] - LNF + F
(3.173)
a ti p liu
NF^
L n f + x n f +
L n f x n f +
V y NF_
V y NF + F z f
(3.174)
3.7
161
X.V+1 =
Xo)
^ - = L i+ l- L i
(3.175)
(3.176)
vi_] + A Mi
(3.177)
rL
trong i din cho hiu ng ban u ca s thy i lu lng hi ti lu
lng lng, rL l hng s thi gian thy lc. Phng trnh ng hc cht lng
cn c vit cho mi a trong thp (N - 1). Ngoi ra, ti mi bc l th u y t ta
cn c mt phng trnh cn bng pha (3.153).
P h n tc h bc t do
S phng trnh m hnh v s bin qu trnh c lit k di y.
S phng trn h : 4 N + 1, bao gm:
Phng trnh cn bng vt cht ton phn
7V+1
yv+l
N-l
hi
lu
(L =
thp [M)
( Zf )
2N
N
N
Z/A'+ i)
v y)
(Xi
1)
C hng 3
162
M HNH HA L THUYT
= ( d M iL + dMiV) = L+ +
- L - y i
(3.178)
3.7
M t s v D QU TRNH TIU m u
163
L,iXj + M i j j ) L + \ X + ] j - f V_]'j_ i j
L X j
K '2 /,j
(3.179)
K- = fv (M Li,APi)
(3.181)
cng nh 2 X n c phng trnh lin quan ti cn bng pha v hiu sut hi:
yj
(3 . 182)
3.8
G h i c h v t i liu t h a m k h o
C hng 3
164
M HNH HA L THUYT
[2]
[3]
D.E.; T .F.
Edgar;
D.A.
Mellichamp:
Liptak,
B.
G.
(ch
bien):
Process
Control
(Instrum ent
Engineers'
Corripio, A.B.:
Control Systems.
[7]
Bin, Ng.: Cc qu trnh, thit b trong cng ngh ha cht v thc phm ,
t p 1-2. Nh x u t bn Khoa hc & K th u t 2002.
[8]
Ton, P.X.: Cc qu trnh, thit b trong cng ngh ha cht v thc phm}
t p 3. Nh x u t bn Khoa hc & K th u t 2002.
[9]
[10]
[11]
Sigurd Skogestad: Dynamics and Control of Distillation Columns T utorial In troduction. Trans. IC hem E , Vol. 75, P a rt A, Sept. 1997.
[12]
Castro, J.; Doyle III, F.J.: A Millwide Industrial Process Control Problem
Benchmark Documentation. Process Control And M onitoring Consortium,
2002 .
3.8
[14]
G hi ch
v t i liu th a m
165
kho
Elm qvist H. et al. (2003): Dymola Users M anual WWW.d Vmol a. com.
2003.
[17]
[18]
Hong Minh Sn: T h t trin th vin phn mm tnh ton diu khin
cht lng cao. Chuyn mc Cc cng trnh khoa hc, Tp ch T dng
ha ngy nay, 5/2001.
[19]
[20]
Shampine,
L.
F.,
M.
K.
Gordon:
Computer
Solution of Ordinary
3.9
C u hi v b i t p
3.1
3.2
H n h 3 - 3 3 :
M inh h a c h o bi t p
3 .2
Chng 3
16 6
M HNH H A L THUYT
a. Hy phn bit cc bin qu trnh v vit phng trnh vi phn biu din ng hc
ca h thng.
b. T phng trnh vi phn, hy chuyn sang m hnh hm truyn t biu din
quan h gia cc bin vo-ra.
c. Tin hnh m phng trn MATLAB da trn gii phng trnh vi phn cng nh
da trn m hnh hm truyn t vi cc s liu sau y:
- Cht lng trong bnh l nc, coi trng ng ring gs 1
- m van c nh l 50%
- Ti im lm vic mc nc trong bnh l h = 1 .5 (m)
- H s cd van Cv = 2.5-10-5 (m3/s-kPa'/i)
- Tit din bnh cha l u A = lm 2
So snh hai kt qu m phng.
3.3 Xt mt thit b gia nhit trn hnh v. Lng cht lng c th tch c nh l V (h
thng t chy). Cc dng vo v ra c lu lng khi ln lt l W\ v XV2 (w\ = U2
= w)i nhit T\ v T2. Cng sut nhit cp t si t l q. Sau khi n gin ha,
ngi ta nhn c m hnh ng hc ca h thng nh sau:
VPC Jd
H n h
3-34:
= wC{T - T 2) + q
Minh
ha
cho
bi t p
3.3
3.9
CU
167
H I V BI T P
3.4 Xt h thng gia nhit minh ha trn Hnh 3-35. Qu trnh tng t nh trong bi
3.3, nhng th tch cht lng c th thay i nh kh nng iu chnh lu lng ra
W2.
a. Hy xy dng m hnh ng hc cho h thng vi mc ch thit k sch lc
iu chnh.
b. a ra cc gi thit n gin ha cn thit, xc nh sbc t do ca m hnh v
nhn bit cc bin qu trnh.
c. Xc nh dng m hnh cho tng quan h vo/ra
d. Nu khng b qua qu trnh truyn nhit t si t sangcht lng, th m hnh
s phc tp thm nh th no?
3.5 Xt h thng thit b gia nhit tip xc trc tip gn ng c khuy (l tng) vi
iu lng khi hai dng vo l W\ v Xi>2 v mt dng ra IJ3 (Hnh 3-36). Gi thit
tnh cht ca cht lng khng thay i.
H n h
3-36:
Minh
ha cho
bi t p
3.5
C hng 3
1 68
M HNH HA L THUYT
Cho s cng Iigh h thng hai bnh cha trn Hnh 3-37. Quan h gia lu lng
v chnh p qua 2 van t chy (khng gn my bm) c th hin qua cng
thc (3.183) t bi tp 3.2.
a. Lm r mc ch iu khin v phn bit cc bin
qu trnh
3.7 Cho s cng ngh h thng hai bnh cha thng nhau trn Hnh3-38.
a. Vit cc phng trnh m hnh ng hc ca h thng
b. Phn tch s bc t do ca m hnh
c. Dn gii cc hm truyn t biu din quan h gia cc bin qu trnh.
3.'J
C au
169
Ft
H inh 3-38:
M inh
3.7
3.8 Cho so do cong nghe he th6ng hai binh chiia nhiet tren Hinh 3-39. Ca hai binh deu
co cd che ttf trail, nen th l tich chat long trong moi binh coi nhtf khong thay d6i. Cac
bien lini ltfdng F, (i=1..4) co don vi la the tich/thdi gian.
Fi'Ti
F3,T ,
f2, t3
. ...
t.
O kO
o <3
V\ const
f4, t,
^2 = const
H inh 3-39:
M inh
3.8
hoa can
Phan tich so bac tii do cua mo hinh va danh gia kha nang dieu khien dude.
Ve sd do khoi cua he thong sir dung cac ham truyen dat cho tiing phan he thong
3.9 Sd do cong nghe he thong hai binh dnia nhiet. tren Hinh 3-40, tiidng tU nhii tren
Hinh 3-39 trong bai 3.8, chi khac co them mot dong hoi liiu.
a. Nhan biet cac bien qua trinh
b. Xay dittig (cac) phiidng trinh mo hinh. Diia ra cac gia thi^tddn gian
thiet.
hoa can
c. Phan tich so bac tir do cua mo hinh va danh gia kha nang dilu khiin dirdc.
d. Tuyen tinh hoa mo hinh va dua ve dang ham truyen dat
e.
Ve sd do khoi cua he thong su dung cac ham truyen dat cho tilrig phan he
thong.
170
Chng 3
M HNH HA L THUYT
3.10 Luyn tp cc bc tuyn tnh ha m hnh thit b phn ng thu nhit si t trnh
by trong mc 3.7.2. Dng m hnh nhn c c bc l bao nhiu v c c tnh
tiu biu nh th no?
3.11 Luyn tp cc bc tuyn tnh ha m hnh thit b phn ng lin tc ta nhit
trnh by trong mc 3.7.3. Kim chng rng m hnh nhn c c cha khu bc 3
v c th c p ng ngc.
Chng 4
N h n d n g q u tr n h
4.1
K h i n i m v n h n g n g u y n t c c b n
identification). Khi nim nhn dng h thng c nh ngha trong chun IEC
60050-351 [1] l nhng th tc suy lun m t m hnh ton hc biu din c
tnh tnh v dc tnh qu ca m t h thng t p ng ca n vi m t tn
hiu u vo xc nh, v d hm bc thang, m t xung hoc nhiu n trng5,1.
Khi nim nhn dng cng c Zadeh nh ngha m t cch cht ch hn v mt
l thuyt, xem phn tch trong [11].
4.1.1
C c bc ti n h n h
Ging nh nhiu cng vic pht trin h thng khc, nhn dng hu nh bao gi
cng l m t qu trnh lp. Nhng bc c bn trong xy dng m hnh thc
nghim cho mt qu trnh cng nghip bao gm:
1. Thu thp, khai thc thng tin ban u v qu trn h , v d cc bin qu trnh
quan tm , cc phng trnh 1110 hnh t phn tch l thuyt, cc iu kin
bin v cc gi thit lin quan.
2. La chn phng php nhn dng (trc tuyn/n goi tuyn, vng h/vng
kn, ch n g/b ng), th u t ton c lng th am s v tiu chun nh gi
cht lng m hnh.
3. Tin hnh ly s liu thc nghim cho tng cp bin vo/ra trn c s
phng php nhn dng chn, x l th cc s liu nhm loi b nhng
gi tr o km tin cy.
Chng 4
172
4. Kt hp yu cu v mc ch
phng php nhn dng
tu y n /tu y n tnh, lin tc/gin
m hnh (bc t s /m u s ca
Nhn dng
qu
trn h
4.1.2
P h n loi p h n g p h p n h n d n g
Cc phng php nhn dng hin nay v cng phong ph, v th trong khun
kh y kh c th a ra mt ci nhn tng quan ph hp. Tuy nhin, ta c
th phn loi cc phng php nhn dng t nhiu gc nhn khc nhau, v d
theo dng m hnh s dng, dng tn hiu thc nghim, th u t ton p dng hoc
mc ch s dng m hnh.
D n g m h n h s d n g
Da theo dng m hnh s dng trc tip, ngi ta c th phn bit cc phng
php tng ng nh nhn dng h phi tuyn hoc nhn dng h tuyn tnh,
nhn dng h lin tc hoc nhn dng h gin on, nhn dng trn min thi
gian hoc nhn dng trn min tn s, nhn dng m hnh khng tham s hoc
nhn dng m hnh c tham s, nhn dng m hnh r hoc nhn dng m hnh
m,... Trong iu khin qu trnh vi cc phng php kinh in, m hnh tuyn
tnh bc n h t v bc hai (c hoc khng c tr, c hoc khng dao ng, c hoc
khng c thnh phn tch phn) l nhng dng thc dng nht. Tuy nhin, s
thm nhp ca cc phng php iu khin hin i yu cu cng nh cho php
s dng nhng m hnh phc tp hn. Trong phm vi cun sch ny t a ch
cp ti cc m hnh tuyn tnh.
N h n d n g c h n g v n h n d n g b n g
Da trn dng tn hiu thc nghim ta c th phn bit cc phng php nhn
dng ch ng v nhn dng b ng. Mt phng php nhn dng c gi l
ch ng nu tn hiu vo c ch ng la chn v kch thch. ng nhin,
nhn dng ch ng l phng php t t nht nu iu kin thc t cho php,
y t a cn c th phn loi su hn da trn dng tn hiu kch thch. T n hiu
bc thang, xung vung v dao ng iu ha l nhng dng thng dng nht.
T n hiu kch thch dng bc thang thng c s dng trong cc phng php
4.1
K h i n i m v n h n g n g u y n t c c o bn
173
Chng 4
174
Nhn dng
qu
trn h
dng tn hiu ch ng, nhng iu ngc li cha chc ng. Nhn dng b
ng lun c thc hin trong vng kn, nhng nhn d n g vng kn vn c th
s dng tn hiu kch thch ch ng (phng php phn hi r-le l m t v d).
N h n d n g tr c t u y n v n h n d n g n g o i t u y n
Nu m hnh cn xy dng phc v chnh nh trc tuyn v lin tc cc tham
s ca b iu khin (iu khin thch nghi) hoc phc v ti u ha thi gian
thc h thng iu khin, cc th am s m hnh cn c tn h ton li lin tc
da trn s liu vo-ra cp nht. Khi ngi t a ni ti n hn dng trc tuyn
(online). Ngc li, nu m hnh c tnh ton m t cch tch bit vi qu trnh
thu thp s liu, ngha l sau khi c ton b tp s liu vo-ra, t a s dng khi
nim nhn dng ngoi tuyn (off-line). Cc m hnh nhn dng ngoi tuyn
phc v phn tch, th it k iu khin, m phng o to vn hnh, v.v...
T h u t t o n c l n g m h n h
Vic phn loi t gc nhn ny c l l kh khn hn c, bi cc th u t ton
tng i phong ph v a dng. C th k ra m t s th u t to n thng dng
nh bnh phng ti thiu (least squares, I/S), xc x u t cc i (m axim um
likelihood, ML)y phn tch tung quan ( correlation analysis), phn tch ph
(spectrum a n a lysis) , phn tch thnh phn c bn (principle component analysis,
P C A), phng php li d bo (prediction error method, PEM ) v phng php
khng gian con (subspace method). Nhng phng php ny cng khng phi
hon ton khc bit, m nhiu khi l dn xut ca nhau. Ngay c trong mt s
nm gn y ngi t a cng chng kin s ra i v p h t trin ca hng lot
th u t ton nhn dng mi. Tuy nhin cng kh c th khng nh s vt tri
tuyt i ca m t phng php duy nht no. Ngi c c th th am kho ti
liu a ra cui chng bit thm cc thng tin chi tit.
4.1.3
n h gi v k im ch n g m h n h
Mt kha cnh v cng quan trng trong xy dng m t m hnh thc nghim l
tiu chun nh gi v cch tin hnh kim chng m hnh nhn c. Tiu
chun nh gi quen thuc n h t vi nhng ngi lm th c t l da trn cc s
liu p ng thi gian. Mt m hnh c kh nng ti to li c cc s liu c
sai s nh so vi cc s liu vo-ra ly t thc nghim c coi l m t m hnh
c cht lng tt. Vi tn hiu vo cho m hnh v cho q u trn h thc nh nhau,
tiu chun ny c th nh lng theo cng thc tng bnh phng sai s:
= T ^ 2 [ y ( k) - y(k )?
iV
J t =l
4 -1)
4.1
175
K h i n i m v n h n g n g u y n t c c b n
(4.2)
4.2
C c p h n g p h p d a t r n p n g q u
bc nht
rt thn
C hng 4
176
H nh 4-2:
N hn dng qu t r n h
MT s DNG P NG QU TIU Bl
4.2
CC p h n g p h p d a t r n
4.2,1
p ng qu d
177
M h n h q u n tn h b c n h t c t r
C hng 4
178
Hnh 4-3:
N hn dng qu trnh
G(s) = -----------e-2-23
K1
(4.5)
1 + 3.25S
T im e (sec)
R eal axis
a) p ng qu
H n h 4-4:
b) c tnh tn s
4-1
m hnh l tng
m hnh c lng
4.2
CC
phng
php
DA TRN P NG
gu D
179
P h n g p h p hai i m q u y c h i u
1.5(o )
1 .5 ( 1
(4.6)
2 /
3 )
T im e (s e c )
H n h
4-5:
Phng
php
TH P NG QU s DNG
2.6s.
C hng 4
180
N hn dng qu t h n h
T im e (sec)
Real axis
a) p ng qu
H n h
4-6:
K i M CHNG M HNH
b) c tnh tn s
FOPDT
1M QUY C H l u CHO v D 4 -2
m hnh l tng
m hnh c lng
4 .2 .1 .3 P h n g p h p d i n t c h
Trong hai phng php trn ta t quan tm ti nh hng ca nhiu o - m t
vn khng th tr n h khi trong thc t. gim mt cch hiu q u nh
hng ca nhiu o ti kt qu c lng tham s, m t k th u t rt hay c p
dng l ly tch phn thay cho tng gi tr n l. Trn th p ng, tch
phn ca mt hm chnh l din tch nm gia ng cong v trc thi gian.
Quan st m inh ha trn Hnh 4-7. Trc ht, din tch Ao c xc nh.
Tng L = T + 0 c tnh theo cng thc [5]:
<0u
/[A & V - A y{t)}dt
_Q___________________
kAu
(4.7)
trong e l s t nhin.
kAu
I>0
k&u
(4.8)
4.2
C C p h n g p h p DA TRN DP NG QU
181
T im e (s e c )
Hnh 4-7:
hng
php
TH P NG QU
(4.9)
j= l
f a" y{t)dt = 0
(4.10)
J ^'y(t)d t
y(t.)dt + [ / ( , ) + 2/(,+i)]
182
C hng 4
N hn dng qu trnh
Time (see)
Hnh 4-8:
NG Q
v NHIU n
trng
T im e (sec)
cho
v d
4-3
Real axis
a) p ng qu
b) c tnh tn s
NU
CHO
G(s) =
1.08
( + l) (2s + 1)
Os
(4.11)
4.2
CC p h n g p h p d a t k n p n g q u
183
1.5
-0.5
0
Hnh 4-10:
10
ULl
ti 2
30
Time (sec)
40
50
(4.13)
Phng php din tch cng khng phi khng c nhc im so vi cc phng
php khc. T h n h t, khi lng tnh ton xp x tch phn r rng ln hn hn.
T h hai, kt qu tn h ton cc tham s thi gian ph thuc m t cch tng i
nhy cm vo gi tr c lng cho h s khuch i tnh k. Ch cn gi tr k c
sai s tng i nh cng c th dn ti sai s ln trong tnh ton r v 6.
184
Chng 4
Tim e (sec)
a) Dp ng qu
H
n h
4-11:
So
Real axis
b) c tnh tn s
CHO V D 4 - 4
m hnh l tng
-- phng php hai im
---- phng php din tch
Trong v d 4-4, nu c lng h s khuch i thiu chnh xc hn mt cht, k =
1 . 0 5 t h s d n n r = 4.97S v 0 = 1 3 . 6s. c t n h t h i g i a n v c t n h t n s ca
m hnh nhn c khng cn bm st m hnh l tng nh trc (Hnh 4-12).
Tim e (sec)
a)
Hnh 4-12:
p ng qu d
N h y c m c a p h n g p h p din t c h
Real axis
b) c tnh tn s
minh
ha qua
v d 4-4
m hnh ] tng
m hnh c lng vi k =1.082
4.2.2 M h n h q u n tn h b c hai c tr
M hnh qun tnh bc hai c tr tuy phc tp hn it cht so vi m hnh bc
n h t, nhng m t chnh xc hn ng hc ca cc qu trnh c c tnh qu
hnh ch s (nh trn Hnh 4-2a). M hnh hm truyn t c th vit di dng:
'4.2
CC p h n g php da trn p ng qu
185
(4.14)
2s )
hoc
G(s) = - - - T s
--
4- 2T ^s 4- 1
c > 1
(4.15)
4 .2 .2 .1 P h n g p h p k t i p t u y n v hai i m q u y c h i u
M t trong nhng phng php n gin nht l k tip tuyn v chn im
hai im quy chiu. Phng php ny tng t nh cho m hnh qun tn h bc
nh t c tr, tu y nhin vi hai im quy chiu. Trc ht h s khuch i tnh k
c xc nh bng cch k ng tim cn vi ng th p ng qu
trn g thi xc lp, hoc trn c s tnh ton trn my tnh. Tip theo, giao im
gia trc thi gian v tip tuyn ti im un (ni c dc ln nht) s cho ta
thi gian tr 9. Hai tham s thi gian cn li trong (4.14) l T\ v r 2 s c c
lng bng cch chn hai im quy chiu v gii h phng trnh phi tuyn:
To (0 -O /r,
J 0 - O /T 1
Av(t)
1 + I -------- : Ii------------- = 0,
T} - r 2
A
= 1,2(4.16)
(4.18)
-0.36859C3 + 0.038891C1)
-0.36014C* + 0.037605C1)
tro n g 3 = ln (tt/(2.485 cv)) v a = (:j - 2)/(^2 ^|)
,,
(4.19)
Chng 4
186
1
0.5
/*
g
>>
3
3
ctf
-0.5
0.5
1'
/ /
H-H
-1
/
10
-1 R
20
30
T im e (see)
40
50
a) p ng qu
H
n h
4-13:
So
-1
-0.5
0
0.5
R eal axis
1.5
b) c tnh tn s
QU CHO V D 4 - 5
---
---
4.2.3
m hnh l tng
m hnh FOPDT
m hnh SOPDT (phng php 2 im v k tip tuyn)
m hnh SOFDT (phng php 3 im)
M h n h d ao n g bc hai
4.2
CC p h n g p h p d a t r n
d p n g q u k)
187
(4.20)
trong h s t t dn 0 < c < 1- H s khuch i tnh cng c xc nh
bng cch ng k tim cn hoc: trn c s th u t ton trn my tnh, tng t
nh vi cc khu qun tnh. Cc: th am s CI) li c th xc nh da trn vo
mt s im c trng trn th. y ta cn phn bit gia hai trng hp:
dao ng ko di (hn mt chu k) v dao ng t t nhanh (Hnh 4-14).
4 .2 .3 .1 D a o n g k o di: P h n g p h p 2 i m c c tr
Nu dao ng ko di hn mt chu k c th nhn th y hai im cc tr u
tin m t cch r rt nh minh ha Hnh 4-14a, t a c th s dng cc gi tr thi
Q '2
(4.22)
trong
(4.23)
(yp' tp)
Time
H n h 4 -1 4 :
M T s GI T R C T R NG T R N TH P n g d a o n g b c h a i
188
hng
hn
dng
qu
trn h
GM =
1 55
(s -- 5)(s
(4.24)
9) (5 -h 0.6 + 1.09)
T im e (sec)
R eal axis
a) p ng qu
H nh 4-15:
b) c tnh tn s
m hnh l tng
m hnh c lng
1.5.S
(4.25)
4.2
189
T im e ( sum*)
Real axis
a) D ap {trig qua do
HlNH
4-16:
qua
mo hinh ly tirdng
mo hinh ir6c lifdng
do
c; h o
\i
du
THEN
DAP
4-7
tot. hdn d6i v6i cac q u a trinh co dap ting qua do dang dao dong keo dai ta can
cac phirdng p h a p nhan dang tien tien hdn.
4 . 2 . 3 .2 D a n g d a o d<?ng t a t n h a n h : P h tfd n g p h a p 3 d i e m q u y c h ie u
Doi v6i qua trin h q u a do dang dao dong ta t nhanh nhuf tren Hinh 4-14b ta chi co
the th a y ro dim ciTc tri t.hir nhat, nen can sir dung them 2 diem quy chieu khac.
Cac cong thiic du6i day dude dir a ra trong [16]:
C=
M y P - 1)
lt ~ tL
k ~ U
0 = U t;T
trong do ti va tk la cac thdi gian tudng ting v6i yt va y* xac dinh tit
Vi =
(4.26)
yjn- + 1n2(yp - 1)
sin(2 arctan a )
( arctan a
1 ------------- t -------- e x p ------------{
cv
(4.27)
(4.28)
C hng 4
190
4.2.4
N hn dng qu trnh
M h n h c h a t h n h p h n t c h p h n
G \T 2 =
" 7 T T -------w V
-------- \ e s
s{ 1 + r 15)(l + r 2s)
( 4 -2 9 )
(4 .3 0 )
4.3
C c p h n g p h p d a t r n p n g t n s
4.3
C C p h n g p h p DA TRN P NG TAN s
4.3.1
191
K ch th c h tr c ti p tn hiu h n h sin
S dng tn hiu kch thch dng hnh sin l m t trong nhng phng php c
in n h t ly c tn h tn s ca mt qu trnh. u vo ca m t qu trnh thng thng l v tr van iu khin hoc gi tr t cho b iu chnh lu
lng - c thay i theo dng hnh sin vi bin A u v t n s 0J . Sau khi
p ng u ra t tr n g thi dao ng xc lp vi bin A y v t n s u h
s khuch i A t / / A u v lch pha c ghi li. Q u trnh thc nghim
c lp li vi cc t n s khc nhau trong di tn quan tm .
a s phng php thit k iu khin trn min tn s c th s dng trc
tip m hnh p ng t n s. Tuy nhin, nu cn thit ta vn c th chuyn t
c tnh tn s sang cc dng m hnh c tham s, v d sang m hnh hm
truyn t. Trn c s cc s liu thc nghim, trc ht t a v phc th Bode
hoc th Nyquist. Vic phn tch cc ng th c tnh t n cho t a nhng
thng tin rt quan trn g v cu trc m hnh. th Bode cng l m t cng c
cho php c lng m t cch trc quan h s khuch i tnh cng nh cc hng
s thi gian ca m hnh. Tuy nhin, t c chnh xc cao, cc th am s
m hnh cn c xc nh trn c s mt th u t ton thch hp trn my tnh.
V d 4-8: Thc nghim p ng tn s ca mt qu trnh xc nh c ti 6 tn s
cho cc s liu nh sau:
u> frad/s)
0.001
0.01
0.1
0.5
Ay/Ati-
0.0408
0.0408
0.0411
0.0495
0.0714
0.0128
() (rad)
-0.0009
-0.0086
-0.0866
-0.4982
-1.7300
-0.3477
(4.31)
(4.32)
2
(s + 5 ) ( s + 9 ) ( s 2 + 0 . 6 s + 1 .0 9 )
(4.33)
192
hng
hn
dnc; q
trnh
Frequency (rad/sec)
Hnh 4-17:
O u tp u t
T im e (sec)
a) Dp ng qu
H nh 4-18: Kim chng cc m hnh nhn dng t p
CHO v D 4-8
Real axis
b) ctnh tn s
ng tn hiu
hnh sin
4.3
CC phng
p h p d a TKiN f) l ' N Ci T A N
193
(4-34)
194
C hng 4
N hn d n g q u t r n h
0.001
0.01
0.1
0.5
1.5
A y /A u
0.3058
0.3058
0.3076
0.3576
0.4662
0.1625
(rad)
-0.0029
-0.0288
-0.2888
-1.5032
-3.7027
-5.8389
ti 6 tn
T im e (sec)
a) p ng qu
H nh 4-19: K im chng cc m hnh nhn
HNH SIN CHO V D 4-9
m hnh l tng
m hnh c lng Gi($)
m hnh c lng 2(s)
m hnh c lng 3(s)
Real axis
b) c tnh tn s
dng trc tip t p ng tn hiu
4.:*
CC
n s
195
4.3.2
K ch th c h tn hiu d n g x u n g
N h ni, kch thch trc tip tn hiu hnh sin ly s liu c tnh tn s l
m t phng php kh kh thi i vi nhiu qu trnh cng nghip. Cch lm
thc dng hn l s dng cc dng tn hiu khc c di t n nm trong phm vi
quan tm . C s l thuyt l i vi h tuyn tnh th cc tn hiu vo-ra c th
c phn tch thnh cc thnh phn tn s khc nhau. c tnh tn s c th
thu c mt cch gin tip da trn php bin i Fourier ri rc (Discrete
Fourier Transform, D FT). Theo l thuyt ta c:
(4.35)
0
T t nhin, php bin i Fourier ch c ngha i vi cc tn hiu kh tch.
Chnh v th, khi tn hiu vo c chn l dng xung v qu trnh c tnh n
nh, (4.35) c th p dng c. thc hin tnh ton c th, t a c th s
dng th u t ton bin i Fourier nhanh (Fast Fourier Transform, F F T ) c ci
t sn trong cc cng c tnh ton thng dng.
V d 4-10: Qu trnh c m hnh l tng (4.25) c ly m phng to b s liu
p ng xung. Hm f f t trong MATLAB Signal Processing Toolbox c s dng cho
tnh ton c tnh tn s theo (4.35). Tip theo, hm invfreqs tnh xp x hm
C hng 4
196
N h n d n g q u thnh
T im e (see)
a) p ng qu
R eal axis
b) c tnh tn s
H n h 4 - 2 0 : K i m c h n g c c m h n h n h n d n g t p n g x u n g d a t r n
PHN TCH TAN S CHO v D 4 - 1 0
m hnh l tng
m hnh c lng i(.s)
m hnh c lng 2(s)
4.3.3
P h n g p h p p h n tch ph tn h iu
Hai phng php gii thiu trn y u da vo tn hiu kch thch ch ng.
Khi iu ny khng cho php, dy cc gi tr vo-ra bt buc phi ly hon ton
t s liu vn hnh thc. Phn tch ph tn hiu l m t phng php quen thuc
phc v nhn dng c tnh tn s.
4.3
C C p h n g p h p d a t h n d p nc ; t n s
197
(4.36)
trong :
G(jj) - c tnh tn s ca h ti tn s u
Puu(uj) - m t ph ca u(t)
PUy { ) - m t ph cho gia u(t) v y(t).
tnh ton m t ph da trn s liu v o /ra ta c th s dng nhng
th u t ton quen thuc c ci t trong cc cng c tnh ton thng dng nh
MATLAB. c tnh tn s c th c c lng m t cch gin tip thng qua
c lng cc hm m t ph:
(4.37)
v l thuyt, phng php ny mang li m t s u im. T h nht, tn hiu
vo c th chn tng i t do, v d t a c th s dng tn hiu xung vung,
xung tam gic, tn hiu gi ngu nhin thay v ch hn ch tn hiu hnh sin.
T h hai, thi gian tin hnh thc nghim c rt ngn nhiu ln bi theo l
thuyt ch cn duv n h t mt ln kch thch. Cui cng, cc s liu c th ly t
it q u trnh ang vn hnh ch khng bt buc phi thng q ua kch thch ch
ng. Tuy nhin, cht lng ca m hnh nhn c ph thuc rt nhiu vo
dng tn hiu c s dng, chu k trch mu tn hiu cng nh thi gian quan
st tn hiu.
V d 4-11: Qu trnh c m hnh l tng (4.25):
G(s) =
C hng 4
198
Time (sec)
Real axis
a) p ng qu
Hnh
N hn dng qu tr n h
b) c tnh tn s
PH
CHO v D 4 -1 1
m hnh l tng
m hnh c lng
4.4
C c p h n g p h p b n h p h n g t i th i u
4.4.1 N g u y n l b n h p h n g ti th i u
Gi s q u trnh c m t bi mt m hnh ton hc n gin *
y(u) =
+ *&)$
+ + <Pn(ti)0n = <pT{ti)0
%
(4-38)
2 -
0 f
4.4
C C p h n g p h p bnh p h n g T i t h i u
199
<PU)\
<P2(*)
1=0
(4.39)
S dng cc k hiu
<pT (tl)
=
<PT ( h )
P iik )
1'( n )
x>
y(t\)
y(k)
tp2{ti)
<Pn(t 1)
^ 2(^2)
<P2{tN )
Vn{ts)
Vnitl)
<> e
p R N
yM
ta c th vit
$6 =
(4.40)
trong
(4-41)
(4 *42)
200
C hng 4
N hn dng qu thnh
(4.43)
[I + r
(4.44)
K(t k ) = P itt-iM h )
T (.tk ) P { t k- M t k ) X '
P(tk) = - K ( t k) ^ ( t k)}P{tk. , )
(4.45)
(4.46)
7<h)
(4.47)
4,4.2
c lng th a m s m hn h F I R
4.4
201
CC p h n g p h p bnh p h n g t o i t h i u
92
9 n f
v vector hi quy
<pT ( t ) = [ u ( t
1)
u (t
2)
...
u (t
ta c
n)]
u(n 1)
(4.49)
u( 1)
u(t 1)
u(t - 2)
u(t - n)
(4.50)
202
C hng 4
N hn dng qu t r n h
thut ton c lng tham s khng nht thit phi tnh ring ma trn gi nghch
o. Trn MATLAB, cng thc (4.42) c th c m ha mt cch n gin nh:
theta - phiApsi;
Time (sec)
a) Khng c nhiu o
Hnh 4-22: KlM
FIR C LNG
P HNG T i T H I E U CHO v D 4 - 1 2
m hnh l tng
m hnh c lng
CHNG M HNH
Time (see)
b) C nhiu n trng
T H E O P HNG P H P b n h
4.4
CC phng
php
bnh
phng
T i th iu
203
4.4.3
c lng th a m s m h n h A R X
(4.51)
e(t)
A(q ]) =
= bo +
1 H
>n 6<?~n6
+ e(t)
t vector th am s m hnh cn xc nh l
[ ]
* na
q *
n^ ]
v vc t hi quy
(pT{t) = [-y (t - 1)
- y ( t - na)
u(t -
d) u(t - d - nb)]
t a c th vit
y(t) = <pT{t)0 + e(t) = (t) + e(t)
M hnh t t n h t c coi l m hnh a ra d bo li nh nht theo ngha
bnh phng ti thiu, tc l
N
= a r g m i n ^ ( y ( , ) - {,ti)
i=l
N h vy, t a a bi ton c lng m hnh ARX v dng chun (4.42). Cc
th a m s ca m hinh ARX c th xc nh c trc tip da trn cng thc
(4.42). t m = max(na,n6 4- d) + 1 v chn thi gian quan s t t m n ty ta c
y(m 1) y{m na)
$ =
u(m d)
u(m - d - nb)
-y { t - 1)
y(t - na)
u(t d)
u(t d nb)
(4.52)
204
C hng 4
p = y(m)
N hn dng qu trnh
y(t)}T
(4.53)
Impulse R esponse
T im e (scc)
a) p ng qu
H n h
Real axis
b) c tnh tn s
4-23: Kim chng m hnh ARX C LNG THEO PHONG PHP BNH
PHNG Ti THIU CHO v D 4-13
m hnh l tng
m hnh c lng khi khng c nhiu o
+++ m hnh c lng khi c nhiu n trng (tp/tn hiu 5%)
4.4
C C p h n g p h p b n h p h n g T i THIEU
205
La c h n c u t r c m h n h
i vi vic p dng phng php bnh phng ti thiu ni chung v cho m
hnh ARX ni ring, thng tin v cu trc m hnh c nh hng quyt nh ti
cht lng ca m hnh nhn c. Trong thc t, tm ra cu trc m hnh
hp l ta nn thc hin nh sau:
Nu thi gian tr bit trc, chn na = nb v tin hnh c lng tham s
theo mt quy trnh lp, bt u vi mt s nh cho n khi sai lch m hnh
(kim chng da trn b s liu thc nghim khc) c th chp nhn c.
Nu thi gian tr cha bit trc, ta cng tin hnh nh trn nhng sau
kim tra cc th a m s ca m hnh. Nhng th am s u ca a thc B(q~) c
gi tr xp x khng cho bit thng tin v thi gian tr ca qu trnh. Bc ca
c hai a thc
v/?(<7-1) (tc na v nb) cn c gim i ng bng s
tham s ca B(q~]) x p x khng, sau chy li th u t ton c lng tham
s mt ln na tm ra m hnh c tr thc.
L a c h n t n h i u k c h t h c h
N h cp, th u t to n c lng tham s (4.42) yu cu tn hiu vo phi
m bo iu kin kch thch. n gin ha cho vic la chn, ngi ta a ra
khi nim bc kch thch lu di (persistent exciting order, Npe) ca m t tn hiu
[5]. V d, N pe ca m t xung l 0, ca m t tn hiu bc th an g l 1, ca m t tn
hiu hnh sin (u = sinu) t ) l 2 v ca tn hiu ngu nhin l ln t y .
Ni chung, m bo iu kin kch thch cho c lng m t m hnh th
Ne ca tn hiu vo phi bng hoc ln hn s cc th am s cn xc nh. iu
c ngha l, cc tn hiu xng, bc thang hoc hnh sin u khng ph hp
cho xc nh m hnh F I R cng nh m hnh ARX. Mt trong nhng dng tn
hiu ph hp n h t l m t dy xung vung xoay chiu c rng ngu nhin
(tng i nh), cn gi l tn hiu nh phn gi ngu nhin (pseudo rarndorn
binary signal, PRBS). Nu khng, ta c th to m t tn hiu c Npe cao ty
bng cch cho m t tn hiu n gin (xung, bc thang, hoc hnh sin) qua mt
b lc bc T = Npt.
V n n h i u t p
Mt trong nhng vn ca phng php bnh phng ti thiu nguyn bn l
khi nhiu o khng phi dng n trng hoc c tng quan vi khi vector hi
quy, li gii s tr nn khng n h t qun [9]. Ni cch khc l trong trng hp
, sai s m hnh s khng tin ti khng ngay c khi cu trc m hnh c
chn ng v s im quan st tin ti v cng. Gi s u ra o c
y{t) = <pT(t) + v{t)
C hng 4
206
N hn dng qu thnh
trong v(t) l qu trnh ngu nhin dng vi k vng bng khng. Phng
trnh (4.40) khi c vit thnh:
i>
+ A
(4.54)
Theo [9], li gii (4.42) s n ht qun (k vng sai s bng khng) khi v ch khi
v(t) v < khng c tng quan vi nhau. D thy, iu kin ny ng cho nhn
dng m hnh F IR nhng khng ng cho m hnh ARX (xem s ph thuc ca
m a trn $ vo v(t) trong (4.52)).
Mt bin php khc phc l s dng bin cng c (instrum ental varable,
IV). Nu chn c m a trn z th a mn hai iu kin:
i)
(4.55a)
ii) lim \ - Z T = 0
(4.55b)
N-*ou N
th gi tr c lng cho nghim ti u bnh phng cc tiu ca (4.54) theo
cng thc sau y l nht qun:
= (Z T* ) - lZ Tt/>
(4.56)
4.4.4
c lng th a m s m h n h lin t c S O P D T
V nguyn tc, phng php bnh phng ti thiu cng c th p dng cho c
lng cc m hnh hm truyn t lin tc tng t nh i vi m hnh gin
on ARX, trong ton t o hm p = d y/d t c s d n g thay cho to n t
dch. Tuy nhin, php ly o hm trong cc h trch m u m t m t i hi xp
x, m t khc rt nhy cm vi nhiu o, dn n kt qu thiu chnh xc.
Mt th u t ton nhn dng trc tip m hnh bc hai da trn p ng tn
hiu bc thang c W ang v cng s trnh by trong [22], Phng php ny
thc cht l m t dng kt hp ca phng php din tch v phng php bnh
phng ti thiu. T heo trnh by nguyn bn, phng php ny cng c th p
dng cho nhn dng cc h bc cao hn, nhng v tnh cht thc dng, di y
t a ch cp ti m hnh bc hai.
4.4
CC
phng
php
bnh ph n g
207
T i T Hl
y{t)dt + 02 J tt J y(r)drdt = b
u(t - 6p)dt + 2 J
u(r - 6p)dTdt
p u(t J0
- 9p)k +
p(r)drdt + -bOp +
- p)2k
jfc + (&1 - 2
+ ^>2t2k
(4.58)
t vector th am s
(4.59)
(4.60)
= [y{t\)
y ip )
* = M il)
Ah)
...
...
y{tN )}T ,
P(tN)r , K W
(4.61)
C hng 4
208
N hn dng qu trnh
C th thy
hng ct (t t c cc ct ca n c lp tuyn tn h ), v
nh vy
khng suy bin. V th, nghim ti u ton phng c xc nh
theo cng thc (4.42). Sau khi tm c vector 6 , cc th a m s ca m hnh
SP O D T c th c xc nh d dng t (4.59):
J =
&2 = 02
bi = 0
(4.62)
&2 = #5
P - 0 4
* ,=
trong 3 = yj 2 53 . Du ca tham s trung gian 0 c xc nh nh
sau. Nu 61 v bi khc du, tc l m hinh c mt im khng nm bn phi
trc o, qu trnh phi c p ng ngc. Nh vy, nu quan st thy p ng
bc thang ca qu trnh trc tin thay i theo hng ngc li vi xu hng
ca gi tr cui cng, 0 cn c chn khc du vi b2. Ngc li, nu p ng
ca qu trnh din bin bnh thng, 3 cn c chn cng du vi 6*2
La c h n b i n c n g c
Nh phn tch trong mc 4.4.3, nghim ti u ton phng ch nht qun khi
nhiu o v m a trn hi quy < khng c tng quan. Tuy nhin iu khng
ng y, vi th phng php bin cng c cn c p dng. Wang v cng
s [2 2 ] xut chn bin cng c nh sau:
1
z=
1
1
/ 3
1
, .1
/4
tfi
(4.63)
.0
t
V n l a c h n c c th i i m q u a n s t ti
m bo chnh xc ca li gii, thi im quan st u tin t] cn c
chn sao cho bng hoc ln hn thi gian tr c lng ca h thng. Trong
trng hp thi gian tr cha bit trc t a c th tin hnh nh sau. Trc ht
ly cc s liu thc nghim nh bnh thng, sau chy th u t ton bnh
phng ti thiu m t ln vi 1 = 0 nhm c lng thi gian tr. Cui cng,
chy li th u t ton vi s la chn mi cho t\ da trn thng tin v thi gian tr
c cc th am s chnh xc hn.
4.4
CC ph n g
php
bnh
phng
Ti th iu
209
~ f C|2X' y ^
dt
+f
+ y^+i)]
(4.64)
i=0
~ T E f y ^ dt + ! c f [(*/) +
*
Php tnh xp x tch phn kp cng c th biu din c di dng truy hi:
f n y (T )d r d t ~
y ^ ) dt + f / o
1y ^ dt
88 r
/ o y ^ drdt + T J y(t)dt +
M O + yiu+i)}
(4.65)
210
C hng 4
N hn dng qu trnh
vi i u kin u
J y(r)drdt = 0
(s + 1)2( 2 s + l ) 3
~ s 2 + 0.5266S + 0.08465 e
T im e (sec)
R eal axis
a) p ng qu
b) c tnh t n s
H n h 4 - 2 4 : K i m c h n g m h n h S O P D T c l n g b n g p h n g p h p b n h
P H N G T i T H l T P NG BC T H A N G CHO v D 4 - 1 4
------- m h n h l t n g
m h n h c lng khi k h n g
- m h n h c lng khi
nhiu
nhiu o
tr n g ( t p / t n hiu 5% )
4.4
CC
phng
php
bnh
phng
Ti
211
thiu
S khc nhau v thi gian tr gia m hnh c: lng v m hnh l tng c gii
thch vic t xp x phn ng hc bc cao ca qu trnh. Cc kt qu m phng
p ng qu v p ng tn s minh ha trn Hnh 4-24 cho thy cht lng m
linh tt hn hn so vi p dng cc phng php khc cp. Tt nhin i vi
trng hp c nhiu khng phi bao gi ta cng nhn c kt qu nh nhau bi tnh
cht ngu nhin ca nhiu v s im quan st cha phi l ln, song sai lch m hnh
trong tt c cc ln th Iighim u mc chp nhn c. Tnh bn vng ca thut
ton vi nhiu n trng c th gii thch c bi k thut ly tch phn (hay ni
cch khc l ly din tch/th tch) thay cho xt trc tip trn cc gi tr o c.
V d 4-15: Cc s liu m phng p ng bc thang vi m hnh l tng (4.25) nay
li c s dng th nghim phng php nhn dng m hnh SOPDT. C hai
trng hp khng c nhiu o v c nhiu n trng c xt n. Chu k trch mu
c chn l T = 0.2s v gii hn quan st N 20s. Sau khi chn thi im quan st
u tin t = 0 v chy thut ton bnh phng ti thiu, thi gian tr c lng c
l 1.89s. Da trn c s ny, thi im quan st u tin 1 c chn mi v thut
ton c lng tham s c gi li mt ln na. Cc m hnh nhn c cho hai
trng hp khng c nhiu v c nhiu ln lt l
0 ^ 7 8 .....
5 + 0.6078.S + 1.098
0.013095 + 0.04012 _2.n2s
5"
+ 0.6097S + 0.986
O u tp u t
T im e (sec)
a) p ng qu
Real axis
b) c tnh tn s
H n h 4-25: K i m c h n g m h n h SOPDT c l n g b n g p h n g p h p b n h
T P NG BC T H A N G C H O v
----- m hnh l tng
m hnh c lng khi khng c nhiu o
- - m hnh c lng khi c nhiu n trng
P HNG T l T HI U
D 4 - 1 5
212
Chng 4
Nhn dng
qu
trn h
4.5
N h n d n g t r o n g v n g kn
4.5
N h n d n g t r o n o v n g kn
213
-y ( m na) u(rn d)
y{t na)
u(t d)
u(m d nb)
u(t d nb)
4.5.1
N h n d n g tro n g v n g p h n hi r-le
4 .5 ,1 .1 P h n g p h p n g u y n b n
Mt trong nhng phng php nhn dng ni ting v thc dng nht trong lnh
vc iu khin q u trnh l nhn dng vng kn s dng khu hai v tr hay cn
C hng 4
214
N hn dng qu trnh
0)
3
.
<
10
-1
10
Frequency (rad/s)
H nh
4-26:
M i n h h a h s KHUCH I V T N s D A O N G T I HN
4.5
Nhn dng t r o n g
vng
215
kn
H n h 4-27:
Time (sec)
H nh 4-28:
(4.66)
216
C hng 4
N hn dng q u trnh
7T
(4.67)
(4.68)
(4.69)
4.5
217
vnc kn
B o d e D iagram
10
10
10
10
F req u en c y (rad/sec)
Hnh 4-29:
C TNH TN
b i n
-ph a
h h c h o
v d 4-16
VI
kc = ku = 2 J
(4.70)
{t) = y()e"
(4 7 1 )
218
C hng 4
N hn dng qu trnh
\(4-72))
a) p ng qu
Hnh 4-30: K i m chng m hnh nhn
CI TIN cho v d 4-17
m hnh l tng
m hnh c lng
b) c tnh tn s
dng theo phng php phn
Hi
r- le
4.5
N h n d n g t r o n g v n g kn
219
4.5.2
N h n d n g tr o n g vng iu k h in P / P I
Bn cnh cc phng php da trn phn hi r-le th nhng phng php nhn
dng vng kn cha b iu khin p hoc PI c quan t m ti nhiu n h t trong
thc t bi tnh n gin v thc dng ca chng. Vi mc ch chnh l phc
v t ng chnh nh th am s cho b iu khin P I/P ID , cc phng php ny
tm cch xc nh m t m hnh n gin cho qu trnh t m hnh bc hai ca
h kn. Trong hu ht trng hp, cc s liu thc nghim c ly t p ng
qu vi tn hiu ch o dng bc thang. minh ha cho tng ny, phn
cii y gii th iu hai phng php n gin s dng b iu khin p. Mt s
phng p hp s dng b iu khin PI c cp trong cc ti liu nh [17],
[26] v [27].
4 .5 .2 .1 c l n g m h n h F O P D T
Phng p h p c lng mt m hinh qu trnh qun tnh bc n h t c tr
(F O P D T ) t p ng bc thang ca h kn s dng b iu khin p ln u tin
c Yuwana v Seborg a ra nm 1982 [23]. S h kn s dng b iu
khin p (vi h s khuch i t l kc) c minh ha trn Hnh 4-31. Gi s qu
trnh c m hnh h m truyn t
G{s) = - ^ e~es
w
1 +
T S
(4.73)
220
Chng 4
H nh 4-31:
Nhn dng
qu
thnh
S H KN s DNG B lu KHIN p
knk.
.~9s
- P '" C
r{s)
1+
TS
+ kpkce~Bs
(4.74)
~ 1 + 0.5 9s
(4.75)
MI + 0.5fls)
_9s
t 2s 2 + 2
+ 1
(4.76)
trong
k =
kpkc
kpkc + 1
9t
r =
[2(kpke + 1 )J
c =
1/2
r i e ( - c) / 2
(2 9r(kpkc + 1 )) 1/ 2
(4.77)
(1 - k)kc
= 2r
2( k pkc
+ 1)
(4.78)
T + ^(1 - c) =
{kpkc + 1)
4.5
221
N h n d n g t r o n c ; v n g kn
(4.79)
(4 -8)
- 1
0 .5 rrs2 + ( r f - 0.50)5 + 1
(4.81)
4.6
S dng
a tla b
I d e n tif ic a tio n T o o lb o x
222
C hng 4
N hn dng qu thnh
M a t l a b
4.6.1
B iu din s liu th c ng h im
trong h n g th
v y tr th n h nia
mi bin ra tng
gi th n h m t i
Data = iddata(y,U,T)
4.6.2
D n g m h n h s d n g
4.6
S DNG M a t l a b I d e n t i f i c a t i o n T o o l b o x
223
C c m h n h a t h c v l n h id p o ly
Cho m t qu trnh n bin c biu din bng quan h v o r a tng qut:
A(q-')y(t) = ^ - u { t ) + Q ^ - e { t )
w m
F(q~ ) v
D[q~ ) w
(4.82)
v
J) =
1 4-
a\q
1 -I-
a2q
2 +
0>naQ~na
(4.83)
(4.84)
C hng 4
224
N hn dng qu trnh
M h n h O E c v i t di d n g
y(t) =
- nk) + eW
(4 -85)
(4.86)
M h n h A R X a b i n v l n h id a r x
M hnh ARX biu din quan h v o r a cho mt h vi ra bin vo v p bin ra:
A (q -M t) = B (q - H t ) + e{t)
(4.87)
A
5 , 6 Mpxn
')
^ 21(9 J)
A i(q
A (q -1) =
')
^ 22(9 *)
A i(q
Apl(q -1) p2 (q ~ l )
B n (q -')
B (q -') =
A p ( q - 1)
2
App(<~l )
B hn( q - })
B 2m( q - ' )
V * -1)
Bp,n{q
~')
4.6
S DNG M a t l a b I d e n t i f i c a t i o n T o o l b o x
225
M h n h t r n g th i v h m idss
Trong b cng c ID, mt rn hnh trng thi lin tc c th hin qua cc
phng trnh
x(t) A x(t) + Bu(t) + Kw(t)
y(t) = Cx(t) + Du(t) + w(t)
(4.88)
x( 0 ) = 0
Mt m hnh trng thi gin on c dng
x (k T + T) = A x{kT) + A u{kT ) + K e{kT )
y{kT) = C x(kT) + D u{kT) + e(kT)
(4.89)
3(0) = 0
vi T l chu k trch mu v k T l cc thi im trch m u, k 1, 2,... Mt i
tng m hnh trng thi l kt qu ca thut ton nhn dng tng ng. Ta
cng c th to mt m hnh trng thi vi lnh idss theo c php sau:
m = idss(A,B,C,D,Kt,X0,'Ts',0)
m = idss(A,B,C,D,K,X0,'Ts*,T)
4.6.3
C c t h u t to n n h n d n g
c l n g m h n h F IR : h m im p u ls e
e c lng m t m hnh p ng xung hu hn (FIR) t a c th s dng hm
im pulse theo c php sau:
impulse(data)
mod = impulse(data)
226
C hng 4
N hn dng qu trnh
nhiu da trn phng php phn tch ph tn hiu vo-ra nh gii thiu
trong mc 4.3.3. Cc dng c php s dng nh sau:
g = spa(data)
g = spa(data,M,w,maxsize)
[g,phi,spe] * spa(data)
Kt qu tr v l mt i tng thuc kiu idrd, vi c tn h tn s c c
lng ti cc tn s cho trong vector hng w. Gi tr mc nh cho w l
V =
S dng c php nh trong dng lnh th hai cng cho php iu chnh cc
tham s khc nh ch s lag M ca ca s Hamming v chiu di vng nh m
cho php s dng. Gi tr mc nh ca M l
M = min(30,length(data)/10)
Hm e t f e cho php c lng m hnh c tnh tn s d a trn th u t ton
bin i Fourier nhanh (s dng hm f f t trong Signal Processing Toolbox), nh
gii thiu trong mc 4.3.2. Hai dng c php c th s dng l:
g = e tfe (d ata)
g = etfe(data,M,N)
T h am s M trong dng lnh th hai c ngha tng t n h i vi hm spa.
T h am s N c gi tr mc nh l 128 v c s dng cho tn h ton vector cha
cc t n s quan tm:
V -
[1:N]/N*pi/T
l n g m h n h A R X v A R : h m a r x , a x , iv 4 v iv x
4.6
S DNG M a t l a b
Id en tificatio n T o olb o x
227
(4.90)
228
C ing 4
N hn d n g qu thnh
c lng m h n h OE: h m oe
Hm oe c lng cc tham s ca m hnh OE cng vi hip bin cha chung
trong mt i tng idmodel. v c bn, th u t ton oe ging n h armax. u
da trn c s hm pem. Hm oe cng ch h tr m hnh SIM O v MISO. C
php s dng v ngha cc th am s tng t nh hm arraax:
m = oe(data,orders)
m = oe(data,'n',nb,'nf,nf,'nk',nk)
m = oe(data,orders,Property1',Valuel,'Property2r,Value2, ...)
c l n g m h n h B J : h m bj
Hm b j c lng cc th am s ca m hnh
Box-Jenkins cng vi hip bin cha
chung trong m t i tng idmodel. T h u t
ton bj hon ton tng t nh oe
v armax, u da trn c s hm pem. Hm bj cng khng h tr m hnh
MIMO. C php s dng hon ton tng t nh i vi hm oe v armax:
m = bj(data,orders)
m = bj(data,'n b ',n b ,1n c 1,nc,'nd *,nd,'n f 1,n f ,'n k ',nk)
m = bj(data,orders,'PropertylValuel,'Property2',Value2, ...)
c l n g m h n h t r n g th i: h m n 4 s id
Hm n 4 s id c lng cc th am s ca m hnh trn g thi da trn phng php
khng gian con v tr v m t i tng kiu id s s . C php gi hm nh sau:
m = n4sid(data)
m = n4sid(data,order,'Propertyl', V a l u e l ' P r o p e r t y N ' , V a l u e N )
=
=
=
=
pem(data)
pem(data,n)
pem(data,*nx1,n)
pem(data,n,'Propertyl1Valuel,...,'PropertyN',ValueN)
4.6
S DNG M a t l a b I d k n t k i o a t i o n T o o l b o x
229
4.6.4
K h o s t v kim ch n g m h n h
230
Chng 4
B n g 4-1:
N hn dng
qu
trn h
N h m l n h p h c v k h o s t m hnh
bode
V th Bode
compare
So snh cc gi tr u ra o c vi kt qu m phng
f fp lo t
V th c tnh tn s v ph
impulse, step
V p ng xung v p ng bc thang n v
nyquist
V th Nyquist
present
pzmap
V th cc im khng v im cc
view
B ng
4-2:
N h m l n h p h c v KIEM c h n g m h n h
a ic , fpe
a rx s tru c , se lstru c
Compare
pe
Tnh ton li d bo
p red ict
D bo u ra tng lai
re sid
sim
M phng mt m hnh
B n g 4-3:
N h m l n h p h c v c h u y n i m h n h
arxdata
idmodred
Gim bc m hnh
c2d, d2c
freqresp
d rd
ssdata
tf d a ta
ss , t f , zpk, frd
zpkdata
V d 4-18:
4.6
S DNG M a t l a b
Id en tification T oo lb o x
231
Time (see)
H nh 4-32: K
im
T o o l b o x c h o v d 4-18
C hng 4
232
4.7
N hn dng qu trn h
4.7
dnc;
233
bn, phng php li d bo hoc phng php khng gian con gii thiu trong
cc ti liu trch dn.
P h n ln cc cng c pht trin ci t trong cc h thng iu khin qu
trnh hin i u h tr sn mt vi phng php nhn dng n gin. Tuy
nhin, trong mt s trng hp ta cn s dng cc phng php khc. Cc cng
c p hn m m hin i nh MATLAB s h tr rt t t nu vic nhn dng c th
tin hnh ngoi tuyn. Trong trng hp bt buc phi tin hnh nhn dng
trc tuy n th ty theo mi trng h tr, ta c th phi s dng trc tip ngn
ng lp trn h chuyn dng hoc tt hn ht l mt ngn ng lp trnh bc cao
nh c ++ kt hp vi m t th vin tnh ton ma trn m nh nh FM O L ++ [31].
4.8
G h i c h v t i liu t h a m k h o
[2]
Seborg,
D.E.; T .F.
Edgar;
D.A. Mellichamp:
Autom atic
and
[4]
[5]
[6]
strm ,
K.J.;
T.
Hgglund:
Axdomatic
Tuning
of PID
Controllers.
234
7]
C hng 4
N hn dng qu trnh
8]
Castro, J.; F.J. Doyle III: A Millwide Industrial Process Control Problem
Benchm ark Documentation. Process Control And M onitoring Consortium,
2002 .
9]
Theory fo r the
11]
12]
13]
14]
Applications.
Kluwer
Academic
Publishers,
15] Rangaiah, G.P.; P.R. Krishnaswamy: E stim ating second order plus dead
time model p aram eters, Ind Eng Chem Res 33, 1867- 1871, 1994.
16] Rangaiah, G.P.; P.R . Krishnaswamy: Estim ating second order plus dead
time param eters from underdamped process tran sie n ts, Chem Eng Sci 51,
1149- 1155, 1996.
17] M am at, R.; p. J. Fleming: Method for on-line identification of a first
order plus dead-time process model, Electronics L etters, 31(15), 12971298, 1995.
18] Fossell, u .; L. Ljung: Closed-loop identification revisited, A utom atica 35
(1999) 1215-1241.
19] Wang, Q.C; c .c . Hang; B. Zou: Low-order M odelling from Relay
Feedback, Industrial and Engineering Chem istry Research 36 (2), 375-381,
1997.
G hi c h v t i l i u t h a m k h o
235
C.L:
Digital
Publishers, 1972.
C ontrol
Intext
Educational
C hng 4
236
4.9
4.1
N hn d ng qu trnh
C u hi v b i t p
Phng php nhn dng xp x v mt khu qun tnh bc nht c tr c th p
dng cho cc qu trnh no?
4.3 So snh v phn tch u nhc im ca cc phng php nhn dng m hnh qun
tnh bc nht c tr da trn p ng qu
4.4 Ti sao nhn dng bng phng php chn im quy chiu trn th p ng qu
th s lng im quy chiu cho m hnh FOPDT l 2 v SOPDT li l 3?
4.5 Cc phng php nhn dng da trn c tnh tn s da trn nguyn tc chung
no? Nhng phng php ny ph hp cho mc ch s dng m hnh nh th no?
4.6
Phn tch ngha ca vic nhn dng trong vng kn. Ti sao vic nhn dng vng
h khng phi bao gi cng kh thi?
4.7 Lin h s phn bit gia nhn dng trong vng khi/nlin dng vng h v nhn
dng ch ng/b ng.
4.8 Nu nhng vn phc tp trong cc phng php nhn dng vng kn.
Chng 5
C c s c h lc iu k h i n c s
5.1
5.1.1
i u k h i n t r u y n t h n g
V d iu khin th i t b gia n h i t hi nc
C hng 5
238
Hi nc
C C SCH
Lc
IU KHIN c s
w,
D ng q u trnh
X Nc ng ng t
H nh 5-1:
wpC p(T2 -
) = Xws
(5.1)
- 21)
(5.2)
sp
- T , 1)
(5.3)
5.1
iu KHIN TRUY.N t h n g
239
a) Lu P& ID
b) S khi
H nh 5-2:
5.1.2
C u tr c c b n v b iu kh in l t n g
Cu trc tng qut ca iu khin truyn thng c minh ha trn Hnh 5-3.
c im c bn ca iu khin truyn thng l mt s bin nhiu qu trnh
c o v a ti b iu khin. Da trn cc gi tr o c cng vi gi tr
t, b iu khin tnh ton a ra gi tr cho bin iu khin. Nu c tnh p
ng ca qu trnh vi bin iu khin cng nh vi nhiu bit trc, b iu
khin c th thc hin th u t ton b trc sao cho gi tr bin c iu khin
ng bng gi tr t.
Hai cu hnh thc hin c th c minh ha qua s khi trn Hnh 5-4,
trong cc m hnh thng thng c a ra di dng hm truyn t. v
m t l thuyt, hai cu hnh c th c coi l tng ng. i vi cu hnh
song song (Hnh 5-4a), lut iu khin
u = K r + K dd
H nh
5-3:
(5.4)
Chng 5
240
C C SCH
Lc
D u K 1I 1KN c o s
b) Cu hnh ni tip
K
r
y
u
d
hiu
bin ch do, gi tr t
bin c iu khin
bin iu khin
nhiu qu trinh
H nh 5-4:
H ai
G m hnh i tng
G(i m hnh nhiu
K khu truyn thng
K (1 khu b nhiu
c hnh i khin
TRvN t h n g
(5.6)
5.1
241
Phn chung ca khu truyn thng v khu b nhiu cng chnh l nghch o
ca m hnh i tng. Mt iu kh th v l mi b iu khin l tng (b
iu khin truyn th ng cng nh b iu khin phn hi) thng cha bn
trong n nghch o ca 11 hnh i tng. Nh vy, khi K(s) = G~l(s) tn ti
v kh thi, cu hnh th hai hon ton tng ng vi cu hnh th nht. Song
ni chung cu hnh th nht tng qut hn v d thc thi hn.
5.1.3
C c t n h c h t ca iu khin tr u y n th n g
(5.7)
(5-8)
Cc phng trnh (5.7) v (5.8) cho thy, b iu khin truyn thng l tng
khng c kh nng lm gim nh hng ca sai lch m hnh i tng cng nh
sai lch m hnh nhiu ti cht lng iu khin. iu ny cng hon ton ng
cho nhng b iu khin truyn thng khng phi dng l tng. Ni mt cch
khc, b iu khin truyn thng kh nhy cm vi sai lch m hnh qu trnh.
C hng 5
242
C C SCH
Lc
i KHIN c s
N h i u k h n g c o
Trong bt k m t qu trnh no cng tn ti nhiu ngun nhiu. Ngay trong lc
xy dng m hnh ta thng a ra mt s gi thit n gin ha. Nhng yu
t b qua cng vi sai s ca cc php o u c coi l nhiu khng o
c. V d trong bi ton iu khin thit b gia nhit, cc yu t c b
qua bao gm tn th t nhit ra bn ngoi, nhit qu nhit ca hi nc v
nhit ca nc ngng t; php o lu lng v o nhit cng c coi l
khng c sai s. Ngay c khi t t c nhng bin nhiu c xt ti th khng phi
mi bin nhiu cng u o c, cha ni l c c o hay khng bi vn
chi ph thit b. nh hng ca chng c th thy r qua p ng u ra nh
sau:
y = Gu 4- Gjd -I- Gd2^2 = 7" + *2^2
(59)
5.1
iu khin t r u y n thng
243
Mt cch gii quyt hay hn l trc khi tin hnh xp x, ta biu din b
iu khin truyn thng di dng song song nh trn Hnh 5-4a:
u = ( T V - G lGdd
Lr
ud
(5.10)
GM-rr
1+5
(511)
ta s c
K(s) = ~l(s) =
1 5
(512)
C hng 5
244
CC SCH Lc IU K1I1N c; s
4
6
T im e (sec)
T im e (sec)
a) p ng u ra
Hnh 5-5:
b) Tn hiu iu khin
(5.13)
5.1
Hnh 5-6:
5.1.4
245
nhiu)
n g d n g c a iu k hin tr u y n th n g
C hng 5
246
CC SCH Lc I KHIN c c s
K t hp i u k h i n p h n hi
Nh s cp k hn trong mc 5.2, iu khin phn hi c th kt hp s dng
iu khin truyn thng di nhiu hnh thc, v d kt hp cng mc hoc
trong cu trc iu khin tng. V d, c th nng cao ch t lng ca iu
khin phn hi, t a c th b sung cc khu truyn thng nh:
Khu b nhiu (ch yu l b tnh) gip h thng loi b nhanh v hiu qu
hn nh hng ca nhiu qu trnh,
Khu b tn hiu ch o (cn gi l khu lc trc), gip h thng duy tr
ti im lm vic v p ng trn tru hn vi thay i gi tr t.
i u k h i n t l
iu khin t l l mt cu trc c bit ca iu khin tru y n thng, s dc
cp k hn trong phn 5.3. iu khin t l c ng dn g r t rng ri trong cc
h thng phi liu, h thng p ha trn v h thng phn ng. V d trong mt
nh my xi m ng th ton b h thng iu khin cp nguyn liu ( vi, t
st, thch cao v ph gia) v nhin liu (than, du, khng kh) s dng sch lc
iu khin t l.
5.2
i u k h i n p h n hi
5.2.1
V d iu k h in th i t b gia n h i t hi nc
Hnh 5-7 minh ha sch lc: iu khin phn hi cho thit b gia nhit hi nc
trn lu P&ID (a) v trn s khi (b). Nhit ra ca dng q u trnh
c thit b o v chuyn i T T (temperature transm itter) a ti b iu
khin nhit T C (temperature controller). Da vo sai lch gia gi tr t
(SP) v nhit o c, b iu khin a ra tn hiu iu chnh m van
cp hi nc, qua iu chnh li nhit ra. Nguyn l iu khin phn hi
c gii thch mt cch s lc nh sau. Gi s v m t l do no m nhit
ra o c nh hn gi tr t, v d do gi tr t hoc lu lng dng qu
trnh tng ln, b iu khin s a ra tn hiu iu khin t n g lu lng hi
5.2
247
iu KHIN p h n H i
a) Lu P& ID
Hnh 5-7:
b) S khi
(5.14)
5.2.2
C u t r c c b n
H nh
5-8:
K hiu
G m hnh qu trinh tng qut
K b diu khin tng qut
w cc u vo qu trinh (gm c nhiu o)
z cc u ra cn c kim sot
y cc du vo b iu khin
u cc tn hiu iu khin
Cu TRC T N G QUT CA iu KHIEN p h n h i
248
C hng 5
C C SCH
Lc
IU KHIN
theo m hnh. Hai cu hnh iu khin phn hi thng dng c minh ha trn
Hnh 5-9. Trong cu hnh iu khin m t bc t do, b iu khin thc hin lut
iu khin da trn sai lch gia gi tr quan st c ca bin c iu khin
vi gi tr t. V d, lut t l trong th u t ton PID a ra gi tr bin iu
khin t l vi sai lch iu khin, lut tch p hn d a trn gi tr tch phn v
lut vi phn da trn o hm ca sai lch iu khin. B iu khin ch tnh
to n u ra ca n da theo sai lch, khng phn bit sai lch l do nhiu
qu trnh hay do thay i gi tr t gy ra. Ni cch khc, tro ng hu ht trng
hp t a kh c th th chnh nh b iu khin th a m n ng thi yu cu
p ng bm gi tr t v p ng loi b nhiu, v n ny s c phn tch
su hn sau ny.
d
H a i c u h n h i u k h i n p h n H i THNG DNG
5.2
lu KHIN PHN H i
249
5.2.3
V ai t r c a i u kh in p h n hi
ha tr n Hnh
T K G*d
T
(5.15)
Biu thc (5.15) th hin mi quan h quan trng nht trong mi h thng iu
khin phn hi. Biu thc ny s c s dng trong cc phn tch di y
cng nh trong nhiu phn tch sau ny.
n n h h k n
Vai tr n nh h kn c a iu khin phn hi c minh ha m t cch n
gin nht qu a v d iu khin mc bnh cha (Hnh 5-10). Thit b o LT (level
transm itter) c nhim v (to mc trong bnh cha, chuyn th n h m t tn hiu
chun v truyn v b iu khin. B iu khin mc LC (level controller) so
snh gi tr o c vi gi tr t mong mun (h$p) v tnh ton u r a t l vi
gi tr sai lch ny. T n hiu iu khin c u a ti van iu khin thay i
m van t l theo sai l ch. Nu gi tr mc (o c th p hn gi tr t, van
s m nhiu hn v lu l-ng vo F i tng ln gip mc trong bnh t n g tr li.
T hng thng, gi tr mc mong mun t khi thay i. Nu b iu khin c
C hng 5
250
CC SCH Lc IU KHIN c s
Hnh 5-10:
T a s c:
1 + GK
A A c+ BBC
(5.16)
5.2
u KHIN p h n Hi
251
Loi b n h i u b t n h
Biu thc (5.15) th hin r rng, b iu khin phn hi c tc dng lm gim
nh hng ca nhiu d i vi mt h s ( 1 + G K ). Nh vy, ch cn K rt ln th
nh hng ca nhiu qu trnh s tr nn khng ng k, khng ph thuc vo
vic nhiu qu trnh c o c hay khng cng nh m hnh nhiu G(i c bit
trc hay khng. Trong trng hp tn hiu t dng bc thang, mun trit tiu
sai lch bm trng thi xc lp ta ch cn c tnh bin IG{j)K{ju))\ ln v
cng ti tn s u = 0 .
B n v n g vi sai l c h m h n h
K hiu hm truyn t ca h kn l
dT/T
dG/ G
dTG
dGT
K
G_
1
(1 + G K)2 T
1 + GK
1 '
max
(5.19)
trong hng s thi gianr = Ahmx / Kinx Cho cc s liu A = 1 m2, /max = 1 m v
Fumx = 1 \/sy ta c r = 1000 s. Qu trnh mc c th c n nh bng mt b iu
khin p n gin u = kc(r y) vi mi Iv s khuch i kc > 0.
C hng 5
252
C C SCH
Lc
i u KHIN c s
T im e (m in)
H n h 5-11:
5.2
lu KHIN PHN H
5.2.4
253
C c v n ca iu kh in p h n hi
(5.20)
C hng 5
254
C C SCH
Lc
DIU KHIN c s
5.2,5
iu kh in p h n hi k t hp tr u y n th n g
H nh 5-12:
iu KHIN PHN H i KT h p b n h i u
5.2
iu k h i n p h n Hi
255
5.3
i u k h i n t l
5.3.1 V d iu kh in th i t b k h u y tr n lin t c
minh ha cho ngha ca iu khin t l, ta xt bi ton iu khin mt
thit b khuy trn vi hai dng nguyn liu vo c gii thiu trong chng
1 v chng 3. M hnh ton hc y ca thit b khuy trn c xy
dng v phn tch k trong chng 3, y ta n gin ha thm bng cch gi
th i t h thng c c ch t trn. Phng n s dng sch lc iu khin phn
hi minh ha trn Hnh 5-13a r hai nhc im c bn:
1 . T rong thc t, php o thnh phn hn hp (vi thit b phn tch AT) rt
+ W'2
_<|
U)
+ w2
iq,
(521)
W\ +
Chng 5
256
C C SCH
Lc
IU KHIN
c s
a)
H nh 5-13:
iu khin phn hi
H ai
phng n i u khin
THIET
t c
5.3.2
V d iu k h in th i t b gia n h i t hi nc
Phng trnh cn bng nhit lng cho thit b gia nhit hi nc tr n g thi
xc lp (5.1) c th vit li thnh
T, + A
W,
(5.22)
WVCP
C th nhn thy nhit ra ph thuc mt cch tuyn tnh vo t l gia bin
lu lng. Nh vy, nu nhit vo ca dng qu trnh c nh th t a c th
iu khin t l lu lng th ay cho iu khin trc tip bin nhit ra. tng
ny c th hin vi sch lc iu khin t l minh ha trn Hnh 5-14. Mc
ch y l duy tr t l lu lng hi nc v du gi nhit dng qu
trnh ra m t gi tr mong mun, khi nhit hi nc u vo cng n h nhit
dng qu trnh vo c coi l c nh v bit trc. Lu lng c a c hai
dng hi nc v dng qu trnh c o, m t gi tr c a ti b iu khin
lu lng (FC) v m t gi tr c a ti b iu khin t l (RC).
5.3
lu KHIN T! L
257
R.<
SP
Hnh 5-14:
lu KHIN T L THIT
b gia nhit hi nc
5.3.3
H ai c u h n h iu k hin t l
C hng 5
258
C C SCH
Lc
DIU KHIN c s
D ng khng kim so t
J.L
T l t
Dng c ca n thip
a) Tnh t l thc
Hnh 5-15:
b) Tnh gi tr t
Hai
c u hnh i khin t l
lng FFC (Flow Fraction Control) duy nht. Nh vy, bin c iu khin
y l t l lu lng R = u /d y trong u v d ln lt l bin iu khin (lu
lng dng c can thip) v nhiu (lu lng dng khng kim sot) tnh bng
gi tr thc ch khng phi gi tr chnh lch so vi im lm vic. C th thy
nhc im ca cu hnh ny l tnh phi tuyn m nh trong quan h gia bin
iu khin v bin c iu khin. C th, h s khuch i tn h ca qu trnh
ph thuc vo gi tr nhiu.
Trong cu hnh (b), lu lng ca dng th n h t (dng khng kim sot)
c nhn vi t l t mong mun, kt q u l gi tr t cho b iu khin lu
lng ca dng th hai (dng c can thip), y, bin c iu khin v
bin iu khin cng l lu lng ca dng c can thip, v th u im ca
cu hnh ny l tnh tuyn tnh ca i tng. Tng t cu hnh (a), ta cng c
th kt hp khu nhn vi b iu khin lu lng th nh m t b iu khin t l
lu lng F F C duy nht. Tuy nhin, khi s khng cn chi ti t c th phn
bit gia hai trng hp. Trong thc t ngi ta ch yu s d n g cu hnh tnh
gi tr t bi vic chnh nh cc th am s cho b iu khin lu lng l kh
n gin. Khi ci t b iu khin lu lng cho cu hnh ny t a cn chn ch
gi tr t t x a (remote setpoint).
Lu rng, trong c hai cu hnh cc bin iu khin v nhiu u c gi tr
thc ch khng phi gi tr chnh lch hay gi tr chun ha. V th, khi s
dng cc gi tr o chun ha (Um, dm) th t l dng cho tn h ton cng phi
c chnh th an g tng ng theo di o ca hai lu lng k. C ngha l:
5.3
259
i u KHIN t l
(5.24)
trong Rsp l t l mong mun v S <1 v Su l cc di o tng ng vi u v d.
Xt v m t nguyn l, iu khin t l chnh l mt dng c bit ca iu
khin truyn thng. Lu lng ca dng nhiu c o v a ti b iu khin
nhm iu chnh li lu lng dng c can thip, thng qua gin tip duy
tr cht lng sn phm, hiu sut chy hoc nhit u ra qu trnh. Tuy
nhin, bi ton iu khin t ra y c th khc. Trong v d minh ha trn
Hnh 5-14, gi tr t ca b iu khin RC l t l mong mun gia hai gi tr
lu lng ch khng phi nhit u ra mong mun. T lu P&ID trn
Hnh 5-14 t a khng th suy din mt cch chn chn rng mc ch iu khin
y l nhit , bi khng c b iu khin no c k hiu tng ng.
5.3.4
B n c h t v ng ha c a iu k h i n t l
(5.25)
w T == t U\T\ 4 - w2T2
Wsp
! y*p
IV.
a) Bi ton iu khin
H nh
5-16:
260
C hng 5
C C SCH
Lc
iu KHIN c o s
M hnh th hin tnh tng tc cao gia cc bin qu trnh. C th, thay i
W\ hoc V2 u nh hng ti c w v T. Nu chnh lch gia T v T2 so vi T
khng khc nhau nhiu th mc nh hng ca W\ v v>i ti cc bin ra cng
tng ng. Nh vy, nu s dng cu trc iu khin vng n th vic la
chn cp i cc bin v o r a s gp kh khn. Hn na, phng trnh th hai
trong (5.25) th hin quan h phi tuyn mnh, cu trc iu khin phn hi
tuyn tnh thng thng kh m ang li cht lng cao.
Mt gii php n gin v hiu qu l chn m t bin dn x u t l bin c
iu khin thay cho nhit T. C th, nu ta chn y = li/iu, quan h gia T
v y s l tuyn tnh:
T = yTx + ( 1 - y)T2 = T2 + y{Tx - T2)
(5.26)
(5-27)
l\
(5.28)
y = W / w
(5.29)
5.3
l KHIN T L
261
Hnh 5-17:
262
C hng 5
C C SCH
Lc
IU KHIN c: s
Trong nhiu trng hp, gip cho vic thit k cu trc iu khin n bin
cho mt qu trnh a bin c n gin hn, trong s tng tc cho
gia cc vng iu khin c gim thiu.
Mt b iu khin t l lu lng ghp chung (FFC) thc ra l m t b iu
khin phi tuyn, bi trong xut hin khu nhn hoc chia tn hiu. Nhng
nu ch phn tch bn trong m t cu hnh diu khin t l ta li tm thy nguyn
l phn hi v bi ton iu khin t l cng c th li c a v bi ton iu
khin lu lng, c u hnh tnh t l thc c u im l gi tr t (t l) t th ay
i, nhng c nhc im l i tng vn phi tuyn, c u hnh tnh gi tr t
(lu lng) c u im l i tng n gin, tuyn tnh, nhng cng c nhc
im l gi tr t thng thay i lin tc v khng bit trc.
5.3.5
iu k h i n t l k t hp iu kh in p h n hi
5.3
iu
Hnh 5-18:
5.4
263
KHIN t l
i KHIN T L KT
hp iu khin phn
Hi
i u k h i n t n g
C hng 5
264
5.4.1
CC
SCH
Lc
IU KHIN
c s
V d iu k hin th i t b gia n h t hi nc
5.4
l U KHIN TNG
265
5.4.2
H ai cu tr c iu k hin t n g
H a i c u t r c i u k h i n t n g
266
C hng 5
C C SCH
Lc
i u KHIN c s
5.4.3
iu k h i n v t r v an
5.4
i KHIN T N G
267
H nh 5-21:
5.4.4
n g d n g c a iu k hin t n g
268
Chng 5
5.4
iu
KHIEN t n g
269
5.5
i u k h i n su y d in
Trong nhiu bi ton, bin cn iu khin cha chc d iu khin trc tip
bi m t trong cc l do:
Q uan h gia bin iu khin v bin cn iu khin c tnh phi tuyn mnh
Php o bin cn iu khin khng chnh xc hoc r t chm so vi ng hc
ca qu trnh (hoc so vi mt phn no d ca q u trnh)
Bn thn ng hc ca qu trnh rt chm, nh hng ca nhiu chm c
phn nh trong bin cn iu khin.
Mt s vn trn c th c khc phc vi cc sch lc b nhiu, iu khin
t l v iu khin t n g nh cp. Mt sch lc khc c s dng kh
rng ri trong cc h thng iu khin qu trnh c tn l i u k h i n s u y d i n
(inferential control, computed variable control). iu khin suy din da trn mt
trong hai phng php:
S dng m t m hnh ton hc hoc mt m hinh suy din tnh ton, suy
din gi tr bin cn iu khin t mt s i lng o c khc. Khu tnh
ton, suy din ny cn gi l cm bin m m (soft sensor).
C hng 5
270
CC
SCH
Lc
IU KHIN
c s
5.5.1
V d iu kh in lu lng kh
nM
MP
R T
(5.31)
trong
p
V
n
R
T
M
Hnh 5-22 minh ha sch lc iu khin s dng m t khi tnh ton lng
lng khi lng kh (FY) nh m t cm bin mm. u ra ca khi FY l tn
5.5
lu
271
hiu phn hi cho b iu khin lu lng FC. n gin ha vic tnh ton,
trong thc t ngi ta xc nh trc mt gi tr c s V, trong mt s iu kin
chun v p sut (Pb), chnh p { A P b ) v nhit (T,) da trn cc cng thc
(5.30) v (5.31). Lu lng khi lng thc t s c tnh ton theo cng thc:
H nh 5-22:
5.5.2
(P P 7
A
(5'32)
V d iu k hin th i t b gia n h i t d u n ng
(5.33)
+ TC
(5.34)
u pC
272
C hng 5
C C SCH
Lc
IU KHIN c s
5.5
iu
5.5.3
KHIN
suv
273
din
V d i u k h i n t h n h p h n s n p h m c h n g lu y n
H n h 5-24:
iu
KHIN
thnh
ph
sn
ph
chng
luyn
274
5.6
hng
C C SCH L c IU KHIN
c s
i u k h i n l a ch n
5.6.1
i u k h i n ln t
5.6
lu
KIIlN L A CHN
------
275
B K 1
V\
Qu trnh
B K 2
n h
5-25:
nh
5-26:
iu
K H I N
i.n
(l a ch n
p s u t v MC')
Khc vi kha lin ng an ton, iu khin ln t khng thc hin bin php
dng khn cp m tip tc duy tr hot ng ca h thng, c th mc km
hn bnh thng (v cht lng hoc hiu q u kinh t). C th k ra m t vi ng
dng ph bin ca iu khin ln t nh:
T rnh tnh tr n g tr n trong mt th p chng luyn bng cch hn ch lu
lng hi cp nhit hoc lu lng cp liu.
Phng nga tnh trn g gi tr mc qu cao hoc qu th p trong m t bnh
cha bng cch ginh quyn can thip m nh vo cc van x hoc van cp.
Chng 5
276
CC
SCH
Lc IU KHIN c s
Phng trnh p sut hoc nhit qu cao trong mt thit b phn ng bng
cch gim lng nhit cp.
Gim lng nhin liu cp cho mt bung t nhm trnh tnh trn g hm
lng xy qu th p trong kh thi.
T rnh trng hp p sut qu cao trong m t ng ng (hi nc hoc kh)
bng cch m van trn ng trn h (by-pass).
Mt v d ng dng khc ca sch lc iu khin ln t l iu khin p
sut trong cc ng ng dn nc, du hoc gas. i vi cc h thng ng dn
ng di, ngi ta phi lp bm tn g p ti cc v tr nht nh theo tnh ton.
Bi ton iu khin t ra bao gm hai mc ch: i) duy tr p sut y ra ti
mt gi tr t di ngng danh nh ph hp vi thit k bo v ng
ng, v ii) duy tr p sut ng ht trn mt mc ti thiu m bo ct p
v trn h hin tng xm thc my bm. Nh vy ta c hai bin cn iu khin,
trong khi ch c m t bin iu khin - l lu lng. Sch lc iu khin la
chn c minh ha trn Hnh 5-27. Khi p sut dng ht gim xung, b iu
khin P C -l gim tn hiu ra nhm ng bt van (chiu tc ng thun). Trong
khi , b iu khin PC-2 li gim tn hiu ra khi p sut dng y tng ln
(chiu tc ng nghch). Ti m t thi im ch c mt vng iu khin c hiu
lc, vng no a ra tn hiu iu khin nh hn s ln t.
; SP
5.6.2
; SP
iu k h i n gii h n
5 .6
i u k h i n LA CHN
277
n h
5-28:
i KHIN GII HN
Nc lnh
H nh 5-29:
5.7
NG
i u k h i n p h n v n g
C c: SCH Lc i u KHIN c: s
C hng 5
278
U\
B K
phn vng
Hnh 5-30:
--------------
Qu trnh
1i3
H i n c
-
!
0
m van
u>2
- -M )
Uj
Db
Nc lnh
H nh 5-31:
Lc
P HN VNG
5.8
5.8
Ghi
ch
v t i
li t h a m
279
kho
G h i c h v t i liu t h a m k h o
T i liu t h a m k h o
[1 ]
[2]
Seborg,
D.E.;
T .F.
Edgar; D.A.
Mellichamp:
Smith, C.A.; A.B. Corripio: Principles and Practice o f A utom atic Process
Control. 3rd Edition, Wiley, 2005.
[4]
[5]
[6]
Control Systems.
Chng 5
280
CC
SCH
Lc
IU
KHIN c s
[7]
[8]
5.9
E n g in eers
C u hi v b i t p
5.1
5.2
5.3
5.4
a ra v phn tch
5.5
m t
iu khin tng
iu khin t l
iu khin n t
iu khin gii hn
v d cho:
iu khin tng
5.6
5.7
5.8
iu khin t l
5.9
CU
HI V HI T P
281
T,
a) Xy dng m hnh trng thi xc lp cho qu trnh. Nhn bit cc bin qu trnh.
b) Cp i cc bin vo/ra.
c) C th la chn cc bin iu khin khc nhm loi b tng tc gia hai vng
iu khin hay khng? Nu c th cn phi thay i lu cng ngh v sch lc
iu khin ra sao?
Gi : chn cc bin dn xut khc, v d t l, tng, hiu ca cc i lng c sn.
5.10 Lu trn hnh v di y II1 t m t h thng pha ch vi hai dng vo l cht,
lt/pht v nng c = 0.2 kg/lt, dng long c nng trung bnh C \ = 0.1
kg/lt v dng dm c c nng trung bnh c-2 = 0.25 kg/lt. Hy tnh ton
cc gi tr lu lng vo (F\ v F'i) trng thi xc lp. Da trn cc s liu ,
hy cp i cc bin vo/ra da trn:
nhn xt ch quan
282
C hng 5
CC SCH Lc IU KHIN c s
Chng 6
c t n h cc t h n h p h n h th n g
Hnh 6-1:
phn
Hi
284
6.1
6.1.1
hng
C TNH C C T H N H P HN H T H N G
T h i t b o
C u tr c c bn
Thut ng
Measurement device
Sensor
Sensor element
Signal conditioning
Transmitter
Transducer
H nh 6-2
Thit b o
Cm bin
Cm bin, phn t cm bin, u o
iu ha tn hiu
B chuyn i o chun
B chuyn i theo ngha rng (vi thit b o c th l
sensor, transmitter hoc sensor + transmitter)
C U T R C C BN CA M T T H l T
do
qu trn h
6.1
T hit b o
285
Cm bin bn trong
Lu lng k
Hnh 6-3:
Thit b o p sut
MT s HNH NH t h i t b do cng nghip
6.1.2
c tn h v n h n h
P h m vi o v d i o
S j Xy
( 6 .1)
286
hng
THNG
(im khng)
H nh 6-4:
T [C
6 .1
T h i t b o
287
p h n gii
288
6.1.3
hng
C TNH C C T H N H PHN
THNG
c tn h tn h
6.1
hit
289
b o
u vo [%]
Hnh 6-5:
b o
T n h tr u n g th c v k h n n g ti to
rx /
X
^ X M
X
'CC
t' X
X
X,
X/
Gi tr thc
(a) Km trung thc
Km chnh xc
H
n h
6-6:
inh h a
G i tr th c
Gi tr thc
(c) Trung thc
Chnh xc
290
hng
C TNH CC T HN H PHN H T H N G
^m in)
/min
Kn% 1 2/inin
trong
lung
X -
y -
tn h i u o
n h y
Xmin - i m k h n g
hm
/min i m k h n g c a t n h i u o
( 6 .2 )
Ni chung, nhy ph thuc vo im lm vic, tc ph thuc vo gi tr o
hin thi. i vi m t thit b o c c tnh tuyn tnh, nhy l m t hng s
v c xc nh bng t l gia di tn hiu ra v di o:
(6.3)
Khi phn tch h thng, th un tin ngi ta thng s dng cc tn hiu
chun ha. Mt cch chun ha tn hiu o thng dng l quy v phn tr m ca
di tn hiu ra (tc l gii hn di ca di tn hiu ra tng ng vi 0 % v gii
hn trn ng vi 10 0 %), hoc n gin hn na l chun ha n v (gii hn
di tng ng vi 0 v gii hn trn tng ng vi 1). V d di y s minh
ha cho m t s cch biu din phng trnh c tuyn ca mt th it b o.
6.1
h i t
b d o
291
- 20) = 0.5P - 10
v h s khuch i tnh l
= 0.5 [%/psig]. Cho trng hp chun ha n v, ta
c h s khuch i tnh kjn = 0.005 psig'1].
Thc t, bt c mt thit b o no cng l phi tuyn, ngay c khi c
khu iu ha tn hiu v b phi tuyn. Cc hin tng phi tuyn bao gm
nhy bin thin, tr v di cht. Tuy nhin, m t chng mc no , trong
mt di lm vic no ngi ta c th coi c tnh ca m t thit b o l tuyn
tnh. Mc gn vi c tnh tuyn tnh l tng c gi l tuyn tnh.
T u y n tnh ha
q u a im
292
hng
C TNH CC T H N H PHAN
100
50
50
u vo [%]
H nh 6-7:
6.1.4
h thng
100
100
100
u vo [%]
c tn h n g hc
x(s)
1+
(6.4)
T.9
6.1
T h i t b o
293
p ng qu
Vi m t thit b o th c tnh p ng qu , tc p ng vi gi tr o thay
i t ngt c coi l quan trng nht. c tnh p ng tiu biu ca mt
thit b o c m inh ha trn Hnh 6- 8 . Cc thng s lin quan cng c th do
n h sn xut th i t b a ra. Thng qua p ng bc thang, t a cng c th xc
nh cc tham s cho m hnh ng hc ca thit b o bng m t trong nhng
phng php thc nghim gii thiu trong chng 4.
T hi gian p ng (response time) ca mt thit b o l thi gian m tn
hiu ra ca p ng qu ln u tin t c m t t l phn trm theo quy
nh so vi gi tr xc lp (100%). Cc ti liu cho thit b o thng a ra gi
tr cho thi gian p h n ng 95% hoc 98%. Thi gian p ng cng nh, ng hc
ca th i t b cng nh an h v sai s (ng) ca php o cng nh. M t thng s
tip theo ca p ng qu l thi gian ln (rise tim e), thng c nh
ngha bng thi gian cn cho tn hiu ra i t 10% ti 90%, hoc t 5% ti 95%
ca gi tr xc lp.
i vi cc th i t b o khng c c tnh dao ng, m hnh ng hc ca n
c th xp x v m t khu qun tnh bc nht, thi gian m tn hiu ra t c
63.28% gi tr xc lp chnh l hng s thi gian r . i vi m hnh dao ng
bc hai t t dn, t a cn quan tm ti qu mc ( overshoot) v thi gian qu
(settling time). q u mc l t s gia bin nh ca tn hiu ra so vi gi
tr xc lp. Thi gian qu c nh ngha l thi gian cn thit tn hiu
ra bm st gi tr xc lp vi sai s nh hn m t t l phn trm quy nh
(thng thng l 2 %).
100
30 -
Sai s
dng
60
A
X 100[%]
y{oo)
40
20 - /
-/
294
hng
C T NH C C T H N H P HA N
THNG
p ng tn hiu dc
i lng o c
S a i s ng ti
thi im 2
tj
t2
Thi gian
H n h 6 - 9 :
p n g t n s
6 .1
295
T h i t b o
th Bo de
Tn s (rad/s)
Hnh 6-10:
6.1-5
b o
K h i q u t m t s cm bin cng n g h ip
296
hng
C TNH C C T H N H P HN H T H N G
Celsius (C)
Fahrenheit (F)
im si ca nc
373.19
100
212
im ng ca nc
273.19
32
im khng tuyt i
-273.19
-459.61
Cng thc: Gi tr
c = gi tr K -
273.19
Gi ti
c =
(gi tr F - 32)/1.8
Cm bin p su t c vai tr quan trng trong cc h thng cht lng v cht kh.
Bn cnh mc ch o trc tip p sut trong bnh hoc trong ng ng, cc
cm bin p sut cn c s dng gin tip o lu lng v mc ca cc
cht lng v cht kh (gi chung l lu cht).
6.1
T hi t b o
297
C huyn i
kPa
psi
bar
atmophe
inch WG
torr
kPa
0.145
0.01
0.009872
4.141
0.74966
psi
6.895
0.06895
0.068027
27.7
51.7
bar
100
14.5
0.986395
401.8
749.66
atmophe
101.3565
14.7
1.0138
407.19
760
inch WG
0.249
0.036
0.00249
0.002449
1.86121
torr (mmHg)
0.1333
0.019342
0.001334
0.001316
0.535776
298
hng
TNH CC T H N H PHAN
h thng
( 6 .6 )
}
(6.7)
v '
V= A
Cc cm bin lu lng c th c phn loi theo lu cht hoc theo nguyn
l o. Trong cc lu cht cn quan tm th php o cht lng l n gin nht
bi hu ht cc cht lng c th c coi l khng c tnh nn c, kt qu do
t ph thuc vo nhit v p sut. Trong khi , php o cc cht kh i hi
km theo tnh ton b nhit v p sut. Loi cht gy kh khn n h t cho
thc hin php o lu lng l cc dng cht bn, cht lng sn st v cht lng
trong mang theo h t rn. Vic chn la thit b o ph hp cho dng th b a ny
i hi phi nm r c th ring ca tng loi cht.
6 .1
T h i t 13 DO
299
v xc
ra lu
lng.
Trong cc loi trn y th lu lng k chnh p l loi truyn thng v ph
bin nht. Bnh thng, lu lng k chnh p cho tn hiu ra t l vi chnh
p, tc l ti l vi binh phng ca lu lng. Nhng mt b chuyn i o cng
c th tch hp khu tnh ton cn bc hai cho tn hiu t l trc tip vi lu
lng.
Tng t thit b do p sut, cc lu lng k ni chung cng c qun tnh
nh. Do vy ta cn ch V ti s nh hng ca sai s Iigu nhin trong cc php
o lu lng ti cht lng iu khin.
6.1.5.4 C m b i n m c
300
hng
C TNH CO T HN H PHN
h thng
6.2
T h i t b c h p h n h v v a n i u k h i n
6.2.1
b chp hnh
C u tr c c b n c a v an iu k h in
6.2
h i t
b c h
hnh
van
iu
301
KH n
Mng chn
Ch th hnh trnh
Cn van (stem)
Cng lu cht ra
Clit van
(closure member, trim)
Hnh 6 -1 2 :
Chn van
(valve seat)
Van cu (globe valve): Cht trt, c u hnh cu hoc hnh nn, chuyn
ng ln xung
Van bi ( ball valve): Cht xoay hnh cu (c c cc l theo chiu ngang) hoc
m t phn hnh cu
302
hng
C TNH C C T H N H PHN H T H N G
MT
6.2
6-2.2
hit
b c h p
hnh
v v a n
303
IU KHIN
K iu t c n g c a van
a) V an ng an ton
b) Van m an ton
304
H nh 6-15: C hn
6.2.3
hng
C TNH C C T H N H PHN H T H N G
c tn h d n g ch y
c tnh dng chy ca van l quan h gia lu lng qua van v m van
tr n g thi xc lp khi xt m van thay i t 0 n 10 0 % gi tr d anh nh.
i vi m t van n h t nh, lu lng qua van c th coi l t l vi cn bc hai
ca chnh lch p sut qua van. T a phn bit gia c tn h dng chy c hu
{inherent flow characteristics) v c tnh dng chy lp t (installed flow
characteristics). c tnh dng chy c hu ca van l quan h tn h gia lu
lng q u a van v m van trong iu kin p sut st qua van khng i. c
tnh c hu ca van ch ph thuc vo kch c van v thit k cht van. Ngc
li, c tnh dng chy lp t l c tnh thc t khi van c lp t, c ngha
l cn ph thuc vo nhiu yu t khc gy thay i st p qua van.
c t n h d n g c h y c h u
(p ) = F / F nmx
9s
trong
F Ap Cv gs f(p ) -
( 6 .8 )
6.2
h i t
r c h a p
hnh
v van
Dl
305
khin
Hm f(p) trong cng thc trn quyt nh ti c tnh dng chy c hu. Da
vo ngi t a phn bit cc loi c tnh dng chy sau:
c tnh tuyn tnh (Quick opening, / = p) : khi A p c nh, lu lng qua
van t l tuyn tnh vi m van.
c tnh m nhanh (Linear, / = yfp) : khi A p c nh, lu lng qua van t
l tuyn tnh vi cn bc hai ca m van.
c tn h phn trm bng nhau (Equal Percentage, = a p~l ) \ khi A p c
nh, m van tng ln cng m t lng th lu lng q u a van tn g ln vi
mt t l phn tr m bng nhau so vi gi tr hin ti. T hng thng, a c gi
tr t 20-50.
Ba ng c tnh dng chy c hu c minh ha trn Hnh 6-16. H s
khuch i c hu ca mt van c nh ngha l t l gia lu lng qua van
v m van (khi p sut qua van khng i), hay chnh l dc ca ng
c tnh dng chy c hu. C th thy, khi m van tn g ln th h s khuch
i c hu ca m t van m nhanh (van QO) gim dn, ca mt van phn tr m
bng nhau (van E P ) tng dn v ca mt van tuyn tnh th khng thay i.
c tn h d n g c h y lp t
V
H n h 6-16:
Hu
306
hng
TNH CC T H N H P HN I T H N G
F
pJKPv
Oil I- I
200
0.5\/
12.5
inr?c
p2 = Opsig
P = 40 psig
H nh 6-17:
F
9 ~~
_
200
Tv 0.5a5V "
gim lu lng xung F 50 gallons/pht, m van phn trm bng nhau trong
trng hp ny i:
6 .2
T h i t
log,,
[CrJEPAF) +
307
50
f 1 as 0.1
g5n 144.7 X 38.125,
R rng, van phn trm bng nhau th hin c tnh lp t t phi tuyn hn
nhiu so vi van tuyn tnli.
P h m vi b i n t h i n
6.2.4
c t n h n g hc
308
H n h
hng
C T NH C C T H N H PHN H T H N G
lu
KHlN
(6.9)
. S + 1
(6 . 10)
Y~ cho van FO
(6 . 11)
6.2.5
B n h v v an
6/2
309
6.3
C c b i u k h i n p h n hi
310
hng
C TNH C C T H N H PHAN
h t h n g
(a )
(b)
Hnh 6-19: C TRC c BN CA CC B Dl KHIN PHAN Hi
6.3.1
C h i u t c n g
6.3
CC b Dlu
311
KHIN PHN H i
Hnh 6-20:
Chiu
tc
ng
ca b
:SP
H n h 6-21:
Chiu
tc
dng
ca
diu k hin
mc
312
6 .3.2
hng
C T N H C C T H N H P HAN
THNG
B i u k h in hai v tr
B iu khin hai v tr cn gi l b iu khin on-off hay iu khin bangbang. T hc cht y l mt b iu khin phi tuyn tnh. T h u t to n iu
khin hai v tr l tng c minh ha trn Hnh 6-22a. Ty thuc vo sai lch
iu khin, tn hiu iu khin ch c th nhn mt trong 2 gi tr:
e < 0
u =
( 6 . 12 )
u =
ttmaxi
u,
e>+6
- < e < +6
(6 .1 3 )
u a
Lnttu
u,
UiMU
llini
0
- 0 +
v---- v - l '
di cht
H nh 6-22:
T ht
6 .3
CC b Ju
6.3.3
khin
phn
Hi
313
B i u k h i n p
(6.14)
trong
u (t)
e(t)
kc
(6.15)
314
hng
C T NH C C T H N H PHN H T H N G
(6.16)
6.3.4
(6.17)
B iu k h in P I
e(r)dr
r J l < TdT)
(6.18)
(6.19)
TS)
Nhn vo (6.18) ta cng c th thy r vai tr trit tiu sai lch tnh ca
thnh phn tch phn. Chng no sai lch iu khin cha tin tim cn ti
khng th tn hiu iu khin s cn thay i trong m t thi gian v h thng
cha th n c trng thi xc lp. Hay ni mt cch khc, nu h kn n nh
v i ti trng thi xc lp th sai lch iu khin s phi bin m t. Thi gian
tch phn cng nh th tc ng tch phn cng ln, tc l thng thng sai lch
iu khin cng nhanh chng b trit tiu.
Mt v d c tnh tn s ca b iu khin PI c biu din vi th
Bode trn Hnh 6-23. Nhn vo ng c tnh bin , ta c th thy tc ng
tch phn th hin r rt ch di tn thp. iu c ngha l tc ng tch
phn p ng chm so vi s thay i ca e(), do vy n cn c gi l 1ch
c h m (slow mode). T h n h phn tch phn trong th u t ton PI cng lm t n g
6.3
CC
diu
khin
phn
315
Hi
10
H nh 6-23:
6.3.5
Dng
10
10
10
10
B i u kh in P ID l t n g
1 r l e{r)dr
e(t) + J
+ Td
de{t))
dt
trong
kc T Tf u -
( 6 .20 )
316
hng
C TNH C C T H N H PHAN
h thng
, x
p d
(s )
u(s)
f \
e{s)
.
=
( 6 .21)
1
1 H------------ 1 T d s
T S
10
10
10
10
10
co
H n h 6-24:
ng
PID
6.3
CC b iu k h i n
phn
Hi
317
T h u t ton PID biu din qua cc cng thc (6.20) v (6.21) c minh ha
bng s khi trn Hnh 6-25a. y l dng thng dng nht trong thc t,
nn c gi l dng chun. Bn cnh , th u t ton PID cng c biu din di
dng song song tng ng (Hnh 6-25b):
u{t) = + kpe(t) + k r e(r)dr + kd ^
J0
at
( 6 .2 2 )
tng ng vi hm truyn t
Kpm(*) = * , + + * = k l i
s
s
(6.23)
k (i - h s k h u c h i v i p h n (d e r iv a tv e g a in ), k d = k cTd
Cui cng, th u t ton PID cng c biu din di dng n i tip (Hnh 6-25c):
K
p id
s ) K
1 +
(1 +
(6.24)
r ds )
TS
k 'c ( 1
r 'd
/ T ) ,
t'
r 'd
T d
1 +
kc
1
/
d
(t
Ui
Ti
ut
(V * ~
+
Ud
Td
u(t
d_
dt
a) Dng chun
H n h 6-25:
(6 .2 5)
TJ / Ti
CC
iu
KHIN
PID
318
6.3.6
hng
C TNH C C T H N H P H N H T H NC .
B iu kh in P ID th c
6.3
CC b iu
iu khin cng
dao ng nhiu
iu khin cng
ca h kn cng
k hin
phn
319
Hi
T im e (sec)
T im e (see)
Hnh 6-26:
M inh h a h i n t n g bo ha t c h phn
khin
( - )
(6 '26)
320
hng
H nh 6-27: C h ng
C TNH C C T H N H P H A N
THNG
bo ha tch phn
K h u vi p h n th c
(6.27)
(cr(s) - y(s))
(6.28)
6.3
CC b
di
k h in
phn
32 1
Hr
B iu k h in hai bc t do
T(ls
(r - y)
(6.29)
.
1 /
\
T(is
= k. br - y H------(r y) H--------T S
1 + T ds N (r - y)
Trng s b cho gi tr t c chn trong khong [0, 1] vi vai tr lm hn ch
tc dng ca th n h phn p hay ni cch khc gip mm ha c tnh p ng
ca h kn vi th ay i gi tr t. Gi tr b nh hn 1 gip cho gim qu
iu chnh m khng nh hng ti c tnh p ng vi nhiu qu trnh.
H n h 6-28:
T r n g s
CHO GI
TR T V B ) i u
KHIN HAI
BC T DO
T a c m t vi nhn xt sau y:
T h am s b ch c tc clng lm vm m qu trnh qu i vithay i gi
tr t, khi h kn gn t n trng thi xc lp th n khng c nh hng
ng k bi lc thn h phn tch phn chim u th.
Nu 6 < 1, khi trn g thi xc lp tc ng t l s khc 0, nn trng s ny
cng c tc d n g to ra thnh phn xc lp .
Vi vai tr hn ch dng tn hiu iu khin nhy vt, th am s b c tc dng
c bit i vi u vo ca vng iu khin trong cu trc iu khin
tng, v vng trong cc gi tr t khng chu s iu khin trc tip ca
ngi vn hnh.
322
hng
TNH CC T H N H PHN H T H N G
C u tr c b P I D th e o c h u n ISA
1
Tds
br y 4- (r y) 4-
(cr y)
T S
1 + r ds / N
(6.30)
1 + +
TS
P {s)
H nh 6-29:
1 4- (br,-
T ds
(6.31)
1 + Tds / N
r d/ N ) s
+ TTd ( c +
1 + (t,- + Td/ N ) s +
T tTd
b / N) s 2
(1 + l/yv)s2
(6.32)
C m t s iu cn lu nh sau:
C u 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 m t bc t do. Do cc
th a m 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($). V th, mt khi K(s) c
chnh nh tt, cho mc ch n nh h thng v p ng vi nhiu, t a c th
chnh nh cc th am s 6 v c ci thin cht lng p ng vi gi tr t.
Khi b = 1 v c = 1, P (s) tr thnh m t khu khuch i n v.
6.3
c : b
323
T ro n g
khi vn
hnh bng tay, cho b iu khin PID lm
vic Iihng ch
bm ( tracking mode), nhng ch nhm cp n h t trn g thi ca b iu
khin ch kt q u tnh ton khng a ti u ra. Ti m t lc Iio , kt
q u tnh ton t ng s xp x gi tr a bng tay v vic chuyn t ch
M sang ch A s din ra hon ton trn tru.
(6.33)
c th thc thi
ngay, khng cn phi gin on ha. T h n h
phn tch phn c
th c xp x bng mt trong hai phng php thng dng l phng php
324
hng
T N H C C T H N H P H N H T H N G
din tch hnh ch n h t v phng php din tch hnh thang. Vi phng php
din tch hnh ch nht, thn h phn tch phn c biu din th n h
^(0 = ~
TJ
e (r )d r ~ U{t T) + ^ e(t)
(6.34)
K hu viphn ci tin
(6.35)
.
dy
= ~ K u dt
,
(6-36)
= -T - T
^ - N T ud{t - T ) -
- y(t - T) ) (6.37)
(6.38)
6.4 G h i c h v t i liu t h a m k h o
Hu ht th u t ng v c tnh thit b trnh by tro n g chng ny d a trn cc
ti liu chun [1 ][2 ]. Cc ni dung trnh by khng i su vo cng ngh thit b,
m t p trung vo cc c tnh ch yu lin quan ti bi ton iu khin. y l
c s cho vic phn tch cht lng iu khin ca h kn s cp tro ng chng
tip theo. Cc thng tin lin quan chi tit ti vic la chn v lp t thit b
c trn h by trong cc ti liu [3]-[5]. c tnh nhng cm bin q u trnh tiu
biu c gii thiu trong [6] v [7]. Cc thng tin chi ti t v van iu khin v
cc vn lin quan ti nh c, la chn van c t p hp tro ng [8 ]. v c
tn h v phng php chnh nh b iu khin PID , bn c c th th a m kho
th m [9]-[ll]. Chng 8 ca cun sch ny cng d n h ring cho trn h by cc
phng php chnh nh th am s cho b iu khin PID.
T i liu t h a m k h o
[1]
IEC
60050-351:
International
electrotechnical vocabulary
A utom atic
6 .3
C C b i k h i n p h n H!
325
[2]
A N S I/IS A -5 1 .1-1979
(R1993): Process Instrum entation Terminology.
American National Standard In stitu te /In stru m e n t Society of America,
1979, duyt li 1993.
[3]
[4]
[5]
[6 ]
[7]
[8]
[9]
[10]
Leva, A.; C.Cox, A.Ruano: Hands-on PID autotuning: a guide to betterutilisation. IFAC Professioal Brief, 2003.
[11]
E ngineers
Verlag, 1999.
6.5
6.1
C u hi v bi t p
Nu cc dng tn hiu chun s dng trong iu khinqu trnh.Gii thch ngha
ca vic s dng mc tn hiu 4-20 mA.
phn gii
Phm vi do
Di o
326
hng
C T NH C C T H N H P HA N
h t h
n c
Phm vi tn hiu
Di tn hiu
Phm vi u vo
Phm vi u ra
Di u ra
Di u vo
6.5
Sai s o
phn gii
chnh xc
Tnh trung thc?
c. Gi s ta c th xp x hm truyn t ca thit b o v mt khu qun tnh
bc nht vi hng s thi gian qun tnh l T = 3s, v sau 15s nhit tng t gi
tr xc lp 1250C ln 1350C. B qua tnh phi tuyn v sai s tnh, hy xc nh sai
s ca gi tr o c ti thi im sau 3s v sau 15s.
Tu, mA
Hnh 6-30:
6.6
Nhit
p sut
Lu lng
6 .5
C U HI V BI TP
327
Mc
6.7 Nu cc thnh phn c bn ca mt thit b chp hnh v chc nng ca chng.
Ly v d minh ha.
6.8 Nu cc thnh phn c bn v cc ph kin ca mt van iu khin.
6.9
Mt van iu khin
Mt b iu khin phn hi
328
Chng 6
TNH C C T H N H PHAN n T H N G
SP
H n h 6-31:
M i n h h a c h o bi t p 6.18
6.25 M phng hin tng bo ha tch phn cho vng iu khin PI vi i tng c m
hnh
G(s) = (10.S + l)(2s + l)e
Chng 7
P h n tc h h iu k h in p h n hi
7.1
B i to n chun
7.1.1
C u h n h c h u n
330
Chng 7
K hiu
r tn hiu dt, gi tr t
u tn hiu iu khin
y tn hiu ra c diu khin
ym tn hiu o, tn hiu phn hi
d nhiu qu trinh (khng dc o)
n nhiu o
Hnh 7-1:
Cu HNH CHUn
Phn
G
Gd
K
p
ca
tch
iu k h i n
phn
H 1
m hnh i tung
m hnh nhiu
khu iu chinh
khu loc tKc
lu KHiN PHN Hi
phn bit r hn ta s s dng bin thi gian t hoc bin phc s, v d u(t) hoc
u(s). M t im cn nhn m nh rng, ton b phn tch trong chng ny cng
nh hu ht ni dung trnh by trong cc chng sau u da trn c s m
hnh tuyn tnh ha. V vy, mi tn hiu trn s khi u biu din phn
chnh lch so vi cc gi tr ti im lm vic.
Cc ch hoa (G, K , p...) k hiu m hnh ton hc cho cc th n h phn h
thng, thng thng c hiu l hm truyn t hoc m a tr n truyn t
( (s), K^s), P(s)...), nhng cng c th l cc dng m hnh khc. Khi qu
tr n h i din cho m hnh qu trnh bao gm c qu trnh cng ngh, th i t b
chp hnh, thit b o v cc b chuyn i khc. M hnh qu trnh c chia
lm hai th n h phn l m hnh i tung ( G) v m hnh nhiu ( Gd). M hnh
i tng phn nh quan h gia tn hiu iu khin u v u ra c iu khin
y, trong khi m hnh nhiu phn nh nh hng ca nhiu q u trnh d ti y.
Lu rng, m hnh qu trnh nay c nhn nhn t pha b iu khin, u
v y khng phi l cc bin qu trnh thc s m l cc tn hiu. u ra y ca
q u trn h thc cht l tn hiu ra ca thit b o trong trng hp khng c
nhiu o, ch khng phi l bin qu trnh cn iu khin. Ch khi c tnh ca
thit b o c coi l m t khu khuch i thun ty thi y mi t l trc tip
vi bin cn iu khin. Song trong thc t, cht lng iu khin cui cng ch
c th phn nh qua cc gi tr o c. V th, t a cn a m hnh ng hc
ca th i t b o vo m hnh qu trnh v coi y l bin thc s c iu khin.
7.1
B I TO N CHUN
331
332
7.1.2
Chng 7
Phn
tch
i u k h i n p h n Hi
S khi v m h n h h m tr u y n t
7:1
333
BI T O N CHUN
[C]
a) Lu P&ID
AF2 A Ti A T2
[1/ 8] [cj m
Qu trnh KT
G.
B iu khin
AT5p
'CJ
Van
inA) i
u 1
!(mA \ '
AF
[l/s
"+
o
AT
[C]
TB o
y,n
mA]
1
n
b) S khi
K hiu:
v hm truyn t ca van iu khin
Gv hm truyn dt ca qu trinh nhit
Gm hm truyn t thit b o
Gfi ma trn hm truyn t nhiu
c khu to tn hiu dt
K
khu iu chinh
CO tn kiu ra thc ca b iu khin
PM tn hiu o v phn hi thc
Hnh 7-2:
rn
n
tn hiu t
tn hiu ra c iu khin
tn hiu iu khin (chnh lch)
CO CO
tn hiu phn hi (chnh lch)
J = PM - PM
nhiu do
C hng 7
334
P hn t c h h iu k h in p h n Hi
d- = w F'T' + % m
~ v FT
Tuyn tnh ha phng trnh (7.1) ti im lm vic (Fb T1 > 2 ,T2 , F )T) v lu
rng F = F\ + F2, t a c th vit:
dAT I ^ A T
t
V
Pil
... -
AF I
' AF' +
-pV
, P\F\ A T I
V
'
1*
(7.2)
A T , (5 )
A T2(s)
trong :
G(s) =
_
1
1 +
1 +
T S
T5
V ,
A Tx - p T ,
p2T2 pT
p' p ~
pp
' Kdl - pF
[*i'd
'(12
_ P\F\
Kd2
pF
. P0
J 2
Kd'
"(s> - J 7
(7.3)
(7.4)
7.1
335
BI TON CHUN
A F2
A 7]
AT2
H n h 7 -3 :
n h i t
c t phng php l thuyt cng gip ch nhiu cho vic nhn dng. Cui
cng, khu to tn hiu t
Gm ,
c
hoc
= m.
7.1.2.2 V d h t h n g i u k h i n t h i t b k h u y t r n
H thng iu khin thnh phn sn phm ca thit b khuy trn gii thiu
trong chng 5 (m c 5.3.5) c minh ha li trn Hnh 7-4a. y thc cht l
mt cu trc iu khin tng c bit vi vng iu khin phn hi th n h phn
bn ngoi v vng iu khin t l lu lng bn trong. B iu khin t l lu
lng F F C c nhim v duy tr t l R = W i / ( W \ + W 2) ti mt gi tr t, thng
qua gin tip iu khin thnh phn X ca sn phm ra (tnh theo phn khi
lng) theo mun. Tuy nhin, do thnh phn cc dng vo c the dao ng
nn b iu khin th n h phn AC c chc nng to gi tr t thch hp cho b
iu khin t l lu lng FFC, da vo sai lch gia th n h phn o c vi
thnh phn mong mun.
m inh ha th m v vn chun ha tn hiu trong mc con tip theo, t a
coi h thng iu khin y s dng my tnh s. B iu khin thnh phn
AC giao tip vi th i t b phn tch AT v b iu khin t l lu lng FF C qua
ng lin kt d liu. iu ny c ngha rng tn hiu t v cc tn hiu vora ca b iu khin AC c th v th nguyn hoc m ang n v vt l ty theo
chun truyn thng hoc ty theo phng php x l d liu vo-ra, song phn
khi lng v t l lu lng lun l cc i lng v th nguyn.
H thng iu khin thnh phn c biu din bng s khi da trn cc
bin chnh lch n h trn Hnh 7-4b. Khi Grc biu din hm truyn t ca h
thng iu khin t l, tc l hm truyn t t A R sp ti A R . Khi Gv biu
din hm truyn t t A7 ti
. Lu rng, Grc v Gp l hai khu ni tip
thuc m hnh i tng ca vng iu khin th n h phn.
Chng 7
336
Phn
tch
h iu
KHIN P HN H i
[kg/kg]
Q0_
o
R *p
^FN
\ /
PM
FT
[kg/min]
w2 [kg/min]
*2 [ k g / k g ]
0
*
0
V = const
w [kg/min]
lkg/kg)
a) Lu P&ID
AX]
A 'J>2
[kg/kg] kg/kg]
n
b) S khi vng iu khin thnh phn
H n h 7-4:
S H T H N G IU KHIN T H I T
khuy
trn
__ x2) A / + R A
+ (1 R ) A x 2
at
(7.5)
Bin i Laplace cho hai v ca phng trnh (7.5) v s dng s khi trn
Hnh 7-4b, t a c th c ngay ra cc hm truyn t:
Gp{s) = l ^ - , G d = - \R
p
TS + l
TS +
ll
1-R \
(7.6)
7.1
BI
337
T O N CHUN
AZ|
Aa>2
[kg/kg] kg/kgj
H nh 7-5:
pv / j. Lu
7.1.3
C h u n ha m h n h
Chun ha m hnh l cng vic c ngha rt quan trng trong ng dng thc
t. Vic chun ha m hnh thc cht l h qu ca vic chun ha/chuyn
thang cc tn hiu vo-ra ca h thng. Php chun ha tn hiu cho php ta b
th nguyn trong cc bin ca m hnh, nh vy vic phn tch, thit k v ci
t th u t ton iu khin n gin hn. Cc qu trnh thc t hu ht l a
bin, ngay c khi s dng cc n v chun th ln ca mi i lng vt l
c m t trong mt m hnh cng rt khc nhau, nn chun ha l r t cn thit
cho vic nh gi nh hng ca tng bin vo ti cc bin ra. Trn c s ,
338
hng
hn
tch
h iu
khin
p h n Hi
(7.7)
/su,
d - / S ,1
(7.8)
(7.9)
trong
G(s) = O ^ G p(s)SuGv(s) = Gm(s)Gp(s)Gv(s)
_
(7 .1 0)
7 .1
BI T O N
CHUN
339
G,(s) =
c(,s) = 5,.(.s)
(7.11)
y
C th thy, cc hm truyn t chun ha Gm(s) v (s) khng cn ph
thuc vo kiu tn hiu c s dng. Hn na, G(s) cng nh Gd{s) biu din
quan h gia cc tn hiu v th nguyn, v th cc th a m s ca chng cng
khng cn m ang n v vt l tr cc hng s thi gian. T n hiu o, tn hiu
t v sai lch iu khin cng phi c chuyn v cng m t thang vi tn hiu
ra y:
Vm
m
Q ,
y
f
y
f - _
Q
c
Oy
Oy
(7.13)
(7.14)
(7.15)
7 .1 .3 .1 V d h t h n g i u k h i n n h i t
Quay tr li s khi ca h thng iu khin nhit minh ha trn Hnh
7-3. S dng cc tn hiu (v m hnh chuan ha), s khi ca h thng iu
khin nhit c biu din li trn Hnh 7-6. Ta nhn thy phn nt lin ca
s khi th hin cu hnh chun nh a trn Hnh 7-1 (vi p = 1). Hm
truyn t chun h a ca i tng c xc nh theo cc cng thc (7.10) v
(7.11), vi Sy = S u = 16 mA. i vi ba bin nhiu qu trnh, ta chn m a trn
chuyn th ang da theo dao ng ln nht c th ca cc bin tng ng:
sd =
A ^ .in a x
? 2 ,n m x
(7.16)
Chng 7
340
a f
Si1 'c
i
A T c j
7 -6 :
i KHIN P H N H i
L_: j
G(i
A T m 1' I -1 I
oq i ^ . r
H n h
tch
2 [1/ s]
A T , C)
-i
Phn
+ y
w+
Vm
Ga =
Kn
s d d
1 + r, s
( 7 .1 7 )
Kn
(1 +
Tms ) ( l +
rs)
Kl\\ a 2,niax
m _ ^yVm _
Kn
^rn
Vm __ Vtn
*S^ 1:m
(7 .1 9 )
C th thy, s khi minh ha trn Hnh 7-6 kh n gin cho vic thc thi
v ph hp vi dng chun tin cho vic p dng cc phng php phn tch
v thit k quen thuc.
7 .1 .3 .2 V d h t h n g i u k h i n t h i t b k h u y tr n
Ta xt tip v d chun ha rri hnh cho vng iu khin th n h phn thuc h
thng iu khin thit b khuy trn minh ha trn Hnh 7-5. Gi thit giao
thc truyn d liu gia b iu khin AC vi thit b phn tch AT v b iu
khin F F C s dng kiu d liu s nguyn c du 16 bit vi phm vi biu din
t -20000 n 20000. Nh vy t a c di tn hiu s Sy = S u = 40000. Hm
truyn t i tng sau khi chun ha s l:
7.1
BI TON CHUN
Hnh 7-7:
G(s)
341
HNH CHUAN
ha
* G pSu rc
cho
h thng
iu
khin
thnh
PHiN
GmGpGrc
( 7 '2 0 )
7.1.4
P h t b iu bi to n c h u n v cc q u a n h c b n
C hng 7
342
P h n t c h h i k h i n p h n H i
(7.21)
(7.22)
(7.23)
hay l
hay l
U = T G K Pr- T ^ G K Cd - T G K n
(7-25)
GKP
GK
1-r r Y -r r K G'd+rKn
7 '26)
L = GK
T = SL =
(7.27)
1 4 Ga
Hm nhy:
F = 1 + GK
= ^r
1 -- L
= Y ^ GK = - [
(7.28)
(7 29)
(7.30)
7 .1
343
BI TON CHUN
C c p n g h kn c v i t gn li n h sau:
y = TP r + SGd - Tn
(7.31)
e = (1 - TP)r - SGdd + Tn
(7.32)
ti = KS{Pr - Gdd - )
(7.33)
(7.34)
(7.35)
M a tr n truyn t h h:
(7.36)
M a tr n hm nhy ra:
S 0 = ( + GK)~'
(7.37)
M a tr n hm nhy vo:
Si = (I + K G 1
M a tr n tru yn t h kn:
T = (I + G K )-'G K
F = I + GK
(7.38)
(7.39)
(7.40)
Cc p ng h kn c vit thnh:
y = T P r i S 0G,id - Tn
(7.41)
e = ( I - TP )r - S0Gdd + Tn
(7.42)
ti = S yK (P r - Gdd - n)
(7.43)
344
Chng 7
Phn
tch
iu
khin
phn
hi
2. K h n n g b m gi tr t/lo i b nhiu q u tr n h v t n h bn v ng vi
nh iu o: T cng thc (7.31), ta thy r rng hai yu cu l bm gi tr dt
r v loi b nhiu qu trnh d c th d dng ha ng bng cch thit k sao
cho 5 ^ 0 hay l T % 1 . Trong khi , mun h kn t nhy cm vi nhiu
o t a cn cho T % 0 hay l s 1 .
3. p ng u r a v p ng tn hiu iu khin: K h nng bm gi tr t
t t thng yu cu tn hiu iu khin thay i nh anh v vi gi tr bin
thin ln. S hn ch trong kh nng vt l ca cc thit b chp hnh, cng
nh s hn ch trong cc quy nh vn hnh lm gii hn cht lng iu
khin c th t c. Nh ni trn y, p ng u ra bm t t gi tr
t t a cn c T 1 . M t khc t (7.33) ta cng suy ra quan h
u = ^(Pr Gdd. n ) , yu cu tn hiu iu khin nh (theo mt chun tn
hiu no , xem thm ph lc B) ch c th c th a m n khi T nh
(theo m t chun h thng no ).
4. C h t lng iu khin ti u v tn h bn vng vi sai lch m hnh: B
iu khin c thit k vi cht lng tt nht cho m t m hnh danh nh
th thng s km bn vng vi sai lch m hnh. Ngc li, m t b iu
khin bn vng th khng th cho c tnh p ng t t n h t ti im lm
vic danh nh.
May m n l phn ln nhng mu thun trn y c th gii quyt m t cch p
bng cch nh hnh' cc c tnh p ng t n s c a h (bao gm
u>)) tha m n m i yu cu bt ng ti nhng di tn khc
nhau. Nhng vn ny s ln lt bn lun chi tit trong cc phn sau ca
chng ny. Mt m t, t a cn lm r bn cht v vai tr thit yu ca iu khin
ph n hi trong cc h thng iu khin qu trnh, cng nh nhng nguyn tc
th i t k c bn nhm t. c v ha ng nhng mc tiu t ra. M t khc, ta
cng s phi ch ra nhng nhc im c hu v gii hn thc t ca iu khin
phn hi, qua th y c kh nng ng dng v ch tiu cht lng c th
t c ca cc b iu khin phn hi.
7.2
T n h n n h c a h i u k h i n p h n hi
7.2
T n h n
7.2.1
dnh
ca
i u k h i n
phn
345
hi
K h i nim tn h n n h
,ti),
= 0, (0) =
Xq
n n h , nu vi m i s
(7.44)
e >
(7.45)
t \j
(7.46)
346
C hng 7
P h n t c h h i u k h i n p h n Hi
tm
cn Lyapunov
x(0) = Xq
(7.47)
l x(t) = e Xq .
11
(7.48)
g V jr.
i= 1
trong \ l cc gi tr ring ca A v F l cc m a tr n hng s. N h vy,
iu kin (7.48) tha mn khi v ch khi mi thnh p hn t do eXi ca h (gi l
ch , mode) t t dn, hay ni m t cch khc l khi v ch khi ton b cc gi
tr ring ca A c phn thc m. Ta i n nh l sau y.
n h l 7-1 (Tiu chun n nh ti m cn): iu kin cn v d m t h
tu yn tnh vi phng trnh trng thi (7.47) n nh ti m cn l ton b gi tr
ring ca m a trn A c phn thc m.
Mt ln na cn nhn m nh rng khi nim n nh cng nh n nh tim
cn theo Lyapunov bao gi cng gn vi m t m hnh tr n g thi n h t nh. Mt
7.2
nh
nh
ca
iu
khin
phn
Hi
347
Chng 7
348
b)
H nh 7-9: Hai
P h n t c h h iu
s -
+ 1
5-1
5+ 1
5-1
v d
k h in
p h n Hi
y .
nh ni
z(0) = 0
(7 49^
7.2
nh
nh
ca
iu
349
k h i n p h n Hi
X'
0 -1
x2
X\ =
V,
l ti
khng
l ch
n
Xg = y,
rH
1
0
ct
C hng 7
350
P h n t c h h IU KHIN PHN H i
7.2.2
T n h n n h ni c a h iu k h i n p h n hi
H nh 7-10:
7.2
T nh n n h c a
iu kh in
phn
Hi
351
KP
1
J
l + GK r + + GK u
K
1 + GK
dy
(7.50)
Tng t nh vy t a xc nh c:
GKP
y = l + GK r +
1 + GK u
p
1 + GK
1 + GK y
0
dL1
1 + GK " 1 + GK y
(7.51)
(7.52)
1
1 +GK
KP
GKP
-1
-K
(7.53)
C hng 7
352
P h n t c h h d i k h i n p h n Hi
Bp(s)
Ap(s)
BkAg
Ac Ak + BgDk
Ak Bo
Ac Ak + BgDk
b kb g
\; A k + BGBk
BpAnAc
+ BgB k )
BpBk Bg
A >{A(;A( + BgBk )
A p { A fA K
(7.54)
7.2
T n h n n h c a h i u KHIN PN H i
353
(7.55)
K pid (s ) 2.5
0 .8
0. 1.6' + 1
(7.56)
2.5 1 + +
i
5,9
0.85
0.15 4-1
H nh 7-11:
u ^
-Q.25(.s - 2)
(5 + 1)2(s 4- 0.5)
M i n h h a c h o v d 7 - 3
Chng 7
354
Phn
tc h
IU KHIN PHN H i
0
Hnh 7-12:
, ., .1 ........................... _ J
................
10
15
20
25
30
Time (sec)
P NG QU H KN CHO v D 7-3
m hnh chnh xc
m hnh bt nh, trng hp (a)
m hnh bt nh, trng hp (b)
7.2
355
T n h n n h c a h i u k h i n p h n Hi
H n h
7-13:
M inh
ha
c h o v
d 7-4
Process O utput y
13
T im e (sec)
H n h
7-14:
T im e (see)
P NG QU H KN CHO V D
7-4
(7.57)
356
Chng 7
Phn
tc h
iu
khin
phn
Hi
T im e (sec)
Hnh
7.2.3
7-15:
s
s
s
P NG QU H KN C H O V D 7 - 5
T i u c h u n N y q u ist
(7.58)
7.2
T n h n n h c a
l u KHIN PHN H
357
L(s)
Im (s)
-2
a) ng vin V
H n h 7-16:
ng
-1.5
-1
Re(L(s)l
-0.5
b) th Nyquist
vin
Chng 7
358
Phn
tc h
iu
khin
phn
Hi
GM = k e"
R e[L(s)\
R e [ L 2(s)\
b) Khng n nh (kc = 4)
a) n nh (A;c = 2)
H
n h
7-17:
DNG T I U CHUN N y q i s t
cho
v d
7-6
T im e (sec)
H
n h
7-18:
P NG H KN CHO HAI T R N G H P T R O N G v D 7 - 6
7.2
T nh n nh c a
iu
k h in
phn
Hi
359
s($ + 1)
(7.60)
c gi n nh bi mt b iu khin p, kc = 2. Hm truyn h h c mt im cc
ti gc ta s = 0. Nh ta thy trn Hnh 7-19a, ng c tnh tn bin-pha ca h
h khng khp kn, v th ch xoay quanh im -1 mt gc 7r radians. Trong khi ,
th Nyquist c khp hai u bi ria ng trn bn knh v tn (Hnh 7-19b), v
th bao irr 1 mt gc bng 2n.
V d 7-8: Cho mt qu trnh c c tnh dao ng iu ha
(7.61)
c n nh bng mt b iu khin p vi kc = 4. Hm truyn t ca h h c hai
im cc thun o lin hp ti Sp = ij , nn bnh thng ta khng th v c c
tnh tn s ca n.
C hng 7
P h n t c h h i u k h i n p h n H i
Imi(s)]
360
Re[L(s)]
a) ng c tnh tn
Hnh 7-19:
ng c tn h tn v TH N yquist cho v
7-7
vi e l m t gi tr r t b, t a s v c ng th N yquist x p x nhu
X 10
10
10
Re(*)]
Ro\L(s)
a) Xp x
Hnh 7-20:
Sp
= 10 8
10
X 10
X 10
b) Xp x
Sp
= 10 8
7.2
nh
n DNi
ca
n D i u KHIN PHN HI
361
n h
7-21:
K im
tra
tn h
nh
h kn
bng
ng
tn h ta n
C hng 7
362
7.2.4
P h n t c h h IU KHIN PHN Hi
T i u c h u n B ode
Re[L(jco)\
a) th Bode
H nh 7-22:
b) th Nyquist (u 6 [0,oo)
s L (ju ),
cn v
s L (ju ),
cn v
7.2
nh
nh
ca
iu
khin
phn
Hi
363
7.2.5
d t r n n h
(7 .6 2 )
(7.63)
(7.64)
Chng 7
364
Phn tch h
iu
khin phn
hi
(7.65)
tc l
A9 <
(7 .6 6 )
vc
hay nu d tr pha c tnh theo n v l :
A < n J L 180
(7.67)
(7 6 8 )
th Boe ca h h c v trn Hnh 7-23 (ing nt lin). tin cho vic tnh
ton, ta chn thang thng cho trc bin ch khng chn thang logarith. Cc tn
s ct c xc nh ln lt l u>c 0.78,
= 1.51 (rads/mill). d tr bin l
A,n = 1/0.47 = 2.11 v d tr pha l m = 180 135.36 = 44.64. d tr
bin l gii cho trng hp qu trnh thc c h s khuch i ln gp hai ln so vi
II1 hnh t h h vn cn n nh nhng s dao ng rt mnh (ng nt t trn
Hnh 7-12 t v d 7-3). d tr pha cng cho thy rng h kn s mt n nh nu
qu trnh thc c thi gian tr l 1 pht (ng nt chm trn Hnh 7-12 t v d 73), bi sai lch thi gian tr cho php phi nh hn A0lnjiX = IJ./O -T
lov77
) = 0.999.
Hnh 7-23 cng th hin th c tnh tn s cho hai trng hp i) tng h s
khuch i ca m hnh qu trnh ln 2 .1 1 ln (ng nt t) v ii) b sung vo m
hnh mt thi gian tr 0.999 pht (ng nt chm). Trong c hai trng hp, tn s
ct bin bng tn s ct pha v h thng t trng thi dao ng ti hn.
7.2
nh
dnh
ca
h i k h i n
phn
Hi
365
c [rad/mill]
H n h
7-23:
m hnh chun
m hnh
m h n h c t h m t h i g i a n t r 9 = m / U)c
khuch i
t n g l n A in l n
Chng 7
366
Hnh 7-24:
7.2.6
Phn
tch
I k h i n p h n H i
T n h n n h c
7.2
T n h n n h c a h i u KHIN PHN Hi
367
s(s - 2 )
7.3
7.3.1
n h gi c h t lng tr n m in th i gian
Chng 7
368
Phn tc h
iu
KHIN PHN H i
7.3
C h a t l n g d i k h i n p h n Hi
369
I0
1.4
1.2
0.8
0.6
0 .4
0.2
-2
10 Ts
15
Time
(a) p ng u ra
H n h 7-25:
20
10
15
Time
(b) p ng tn hiu iu khin
5
20
cng trn tru th cng gim hao mn thit b. C h t lng iu khin khng th
gi l t t nu tn hiu iu khin thay i qu nhanh hoc qu ln.
Vic th a mn t t t t c cc ch tiu trn y cng mt lc thng thng l
rt kh. V d, c gng gim thi gian p ng thng gn lin vi chp nhn
qu iu chnh ln hn v tc ng iu khin m nh hn, c gng gim sai lch
tnh thng phi chp nhn h thng c dao ng nhiu hn. Do vy cng vic
thit k b iu khin thng bao gi cng mang tnh th a hip. ha ng
cc ch tiu ny, m t phng php nh gi cht lng khc l s dng mt s
chun c a tn hiu. V d, t a c th s dng tiu chun tch phn bnh phng
sai lch (ISE, integral squared error) hay chun bc hai ca tn hiu sai lch iu
khin:
1/2
(7.69)
Lu rng, (7.69) chnh l s kt hp nhiu ch tiu cht lng u ra trong
mt tiu chun duy nht. Cc phng php ti u th am s b iu khin thng
da trn cc tiu chun tng t. Thc t trong a s cc trng hp, cc tiu
ha chun bc hai ca tn hiu sai lch cng chnh l tm cch ci thin mt cch
tha hip cng mt lc nhiu ch tiu nu pha trn.
Chun bc m t ca tn hiu sai lch cng l m t tiu chun tch phn hay
c s dng, tch phn sai lch tuyt i (IAE, integral absolute errvr) hay
chnh l din tch sai lch:
(7.70)
370
C hng 7
P h n t c h h i k h i n p h n Hi
dt
(7.71)
trong :
A u l chnh lch gia tc ng iu khin thi im t so vi gi tr iu
khin trng thi xc lp (A u() li() t/oy), hoc cng c th l s gia
iu khin hay ni cch khc l lng th ay i tn hiu iu khin ti mi
chu k iu khin ( A u(t) = u(t) - u(t - 1 )).
A l trng s nh gi tc ng iu khin, A cng ln c ngha l din bin
ca tn hiu iu khin cng c quan tm hn.
p n g v i t c n g c a n h i u q u tr n h
Khc vi gi tr t, nhiu qu trnh c th rt a dng, t d ng tn hiu xung,
tn hiu bc thang cho ti cc loi tn hiu ngu nhin. Tn hiu nhiu cng c
th c di t n khc nhau, t rt th p n r t cao. Tuy nhin, tn hiu bc thang
hoc tn hiu xung c c tnh tng i i din cho nhiu loi tn hiu khc
nhau, v th chng thng c s dng nh gi cht lng loi b nhiu.
Hnh 7-26 minh ha c tnh p ng tiu biu vi tn hiu nhiu dng bc
thang ca m t vng iu khin s dng b iu khin PI. M t s ch tiu cht
lng nh cp trong mc trn cng c th c nh ngha tng t y.
Ngoi ra, mt ch tiu quan trng cn c bit ch y l sai lch iu khin
ln nht |emax|. Sai lch iu khin ln nht khng nhng ph thuc vo th u t
ton iu khin, m cn ph thuc vo bin ca nhiu. Do vy, trong khi a
ra yu cu cht lng iu khin, ta cng cn lm r cc dng nhiu q u trnh c
th c m t v gii hn gi tr ca chng.
T im e
T im e
(a) p ng u ra
H n h 7-26:
P NG Q U T I U BI U V I N H I U Q U T R N H
7.3
ht
lng
l u KHIN
phn
Hi
371
Phng php nh gi cht lng iu khin trn min thi gian cho t a ci
nhn trc quan v cht lng p ng vi mt s dng tn hiu ch o quen
thuc. Tuy nhin, trong phn tch h thng v thit k iu khin, ta thng rt
kh xc lp mi quan h trc tip gia cu trc iu khin, kiu b iu khin
cng n h cc th a m s ca b iu khin vi cc ch tiu cht lng trn min
thi gian. V th, nu khng da vo nhng ch tiu gin tip khc th vic thit
k iu khin ch c th da trn mt trong hai phng php c bn l i) th v
sa theo kinh nghim (tria-and-error) v ii) thit lp v gii bi ton ti u
th am s. Hn na, vic tnh ton cc qu trnh q u i vi cc qu trnh
phc t p n h t thit phi c s tr gip ca my tnh. Do , vic thc hnh p
dng kh m ang li nhng t duy cng nh k nng cn th it cho cng vic thit
k ca m t ngi k s iu khin.
7-3.2
n h g i c h t lng tr n m in t n s
H n h 7-27:
Cu
HNH N G I N C A I U K H E N p h n H i
(7.72)
C hng 7
372
P h n t c h h i KHIN PHN H i
1+ 1
T =
+L
(7.73)
7.3
hat
lng
DI EU K HI N PHN H i
373
L(s) phi cha bn trong t nht m t khu tch phn 1 / 5 . T n hiu t dng dc
c nh l r(s) = fc/52, tc l c hai im cc khng n nh, nn L(s) phi cha
bn trong t n h t hai khu tch phn I / 52. Thm vo , nu h kn l n nh
ni th cc iu kin ni trn cng l cc iu kin .
D i th n g v t n s ct
Ni m t cch d hiu, c tnh t n s ca mt h th ng ni ln kh nng phn
ng m nh yu v n h an h chm khc nhau ca h vi cc tn hiu c t n s khc
nhau. D i thng c a m t h iu khin c th c hiu m t cch n gin l
phm vi tn s [cJo,^]cua mt tn hiu u vo m h thng cho q u a vi m t
h s khuch i (hay ni cch khc l bin ca c tnh tn) ln hn hoc
bng I /V 2 % 0.707 . i vi h iu khin t a thng yu cu h s khuch i
tnh c a h kn |T(0)|
1, tc l
LO0
Hnh 7-28:
Khi nim di th n g
cjd
ca h kn
374
C hng 7
Hnh 7-29:
V ai
P h n t c h h i u k h i n p h n n i
Hi
7.3
C h a t l ng diu kh in ph n nI
H nh 7-30:
375
(7.74)
376
C hng 7
H nh 7-31:
P h n t c h h IU KHIN PHN Hi
Hai nh ngha v di t h n g c a h kn
B i n n h
Bn cnh di thng th bin nh c cc hm nhy v hm b nhy (Hnh
7-32) l nhng ch s guan trng cho vic nh gi cht lng iu khin trn
min t n s. Bin nh ca hm nhy c nh ngha l gi tr cc i ca
c tn h bin S(jcJ) hay cng chnh l chun v cng ca S(s):
Ms = nrx\S(juj)\ = ||S(a')IL
(7.75)
7.3
C hat
lng
i u KHIN P H N H i
377
Ms = t
(7.77)
(7.78)
H n h 7-32:
B in nh c a h m n h y v h m
nhy
Chng 7
378
Phn tch
di k h i n
phn
Hi
hai tn s
v
nn ta c th kt. lun rng c tnh bin c a hm nhy
v hm b nhy trong phm vi c vai tr quyt nh n h t ti cht lng p
ng, tc p ng v tnh bn vng ca h kn.
H m n h y g ia t r n g
Nh trn y phn tch, tha mn yu cu v cht lng p ng v tnh
bn vng ca h kn, t a mun \S(ju)\ b chn bi nhng gi tr thch hp ti
nhng phm vi tn s khc nhau. Mt cch n gin ha cho vic a ra cc gi
tr chn l s dng m t hm gia trng (weighting function). Mt hm gia trng
W (jJ) cho hrn nhy S(jt) cng c th c coi nh m t b lc tn hiu t, qua
p ng ca h vi tng tn s khc nhau c nh gi v coi trng vi cc
mc khc nhau. Ch tiu cht lng v ch tiu bn vng cho h kn c the
c din t kt hp li nh sau:
v ss \ L
<1
(7.79)
7.3
C hat
lng
i u
Hnh 7-33:
k h i n p h n
379
Hi
$m
Ms
sw " " ) - 1 + H i u . , ) - 1 + V
Vi mt gi tr bin nh Ms cho trc, ta suy ra
An >
Ms
Ms ~ 1
(7.80)
Mr
(7.81)
Tip theo, t m inh ha trn Hnh 7-33 t a nhn thy ti tn s ct bin u>c\
S { M ) = \l + L(M -)\ = | - 1 - ( M ) ] = 2 sin( 0 m / 2 )
T a C th c lng d tr pha khi cho trc: bin nh Ms
m > 2 arcsin
2 MeS
(7.82)
)
Bn cnh , ti t n s ct bin
|T ( M ) I = \ L ( M ) \\S ( ju c)\ = \ S ( M ) \
nn ta cng c
Chng 7
380
in > 2 arcsin
Phn
> - [rad)
2M T
tch
i u k h i n p h n Hi
(7.83)
7.3.3
P h n tc h c h t
lng
iu k h in t n g
n
(7-84)
V\ = G\V2 + Gddi
y2 = 2 ( ^ 1 - 2/2 ) + Gd2(2
^ ^
Gdld\) + Gd2^2
< 7 '8 6 )
* =
(787 )
r(s)
hLl
1 + 2 +
k.
^ 1+2
1 + L
/7 go\
1+
7.3
C hat
lng
iu
khin
p h n Hi
381
89)
(7 W )
Chng 7
382
Phn
tch
i k h in
phn
Hi
| 2(1 + A ) I | |
hay l
G\G(i2
1 + L\
G\Gd2
1 + 2(1 + L)
(7.92)
Gd\ =
5
1005 + 1
1
>
20$ 4- 1 ></2 1
K = -----------------------
y=
0.25
5(55 + 1)
(7.93)
1+ L
14- L
1
l+L
s{bs + 1)
0.25r +
205 + 1
a thc c tnh 5s2 4-5 4- 0.25 c hai nghim phc lin hp l 0.1 0.2i, chng t
p ng ra c dao ng v nh vy s c qu iu chnh. H s tt dn tng i
nh (=0.4472) cng ni ln iu .
i vi sch lc iu khin tng, b iu khin s cp c chn ging nh trn, tc
l K K , cn b iu khin th cp c chn n gin l mt khu khuch i
n thun K = 5. p ng u ra ca ton h kn c xc nh theo (7.87) nh sau:
7.3
C h a t l n g l u KHIN PHN H i
u
2/1
0.25
383
1.25
s(5s + l)
L\L 2
(1 4- Lr2)G,l
1 + Lf2 -f- L\ Lo
1 + Lo 4 q-^2
1 - f Ls - - f 1--2
G]G(i2
1 *4- Z^2
(7.94)
1.25r + 2 * + t *
100.S 4- 1
20s 4- 1
a thc c tnh 5.S2 + 6.S -f-1.25 c hai nghim thc m l -0.9317 v -0.2683. Hai
nghim ny nm cch xa trc o v bn tri hn nhiu so vi trng hp s dng sch
lc phn hi n thun. Nh vy, khng nhng p ng qu khng c qu
iu chnh (hon ton khng c dao ng), m c tc p ng cng nhanh hn so
vi s dng sch lc phn hi n thun.
so snh thnh phn nhiu d,2 trong (7.93) v (7.94), ta ch cn xt c tnh tn s
ca hai hm nhy (ln lt ca iu khin vng n v iu khin tng):
5(55 -4-1)
5s2 + 5 + 0.25
5(55
1
s-j+'
1+
+ 1)
5s + 65 + 1.25
s]*f
1+
025
L25
f>u>v + j
G )rad/s]
Hnh 7-35:
|S fb (jw )|
| 5 t s(jw )|
Cng trn Hnh 7-35 ta cng nhn thy bin nh ca |SCttS0 u;)| khng vt qu 1 ,
trong khi bin nh ca |5n>(j;)| xp x 1 .6 , chng t rng h iu khin tng
khng nhng cho cht lng p ng tt hn, m cn c tnh bn vng cao hn nhiu
vi sai lch 1 hnh. Tnh bn vng cao hn cng cho ta kh nng c th tng h s
khuch i ca b iu khin vng ngoi tng tc p ng hn na, tr khi tn
hiu iu khin t gii hn rng buc.
Chng 7
384
Phn tch
IU KHIEN PHN H i
T im e (see)
H nh 7-36:
Kt
q m phng p ng u ra cho v d
7-10
7.4 G h i c h v t i liu
th am kho
Phn ln ni dung l thuyt trnh by trong chng ny l nhng t liu chun
ca l thuyt iu khin kinh in, c th tm th y trong cc t c phm quen
thuc nh [l],[2j, [9] v [10]. Bn c cng c th th a m kho cch trin h by v
din gii theo quan im mi (neo-classical, postmodern), d hiu hn v tng
qut hn trong [5] ,[6] v [7]. c bit, nhng k h nng v gii hn ca iu
khin phn hi c phn tch r t k trong [7]. v cc mi q u a n h gia ch tiu
nh gi cht lng trn min thi gian v trn min t n s, bn c quan t m
cng c th xem thm chi tit trong [1], [7], [9] v [10].
T i li u th a m k h o
[1]
Franklin,
G.F.;
J.D.
Powell,
A.Emami-Naeini:
Feedback
Control
of
7.5
CU HI
BI
385
TP
[3]
[4]
[5]
[6]
[7]
[8]
Zhou, K.; J . c . Doyle; K. Glover: Robust and Optimal Control. PrenticeHall, New Jersey, 1996.
[9]
[10]
[11]
[12]
[13]
7.5
C u hi v bi t p
7.1
7.2
Mt qu trnh vi hm truyn t
- T i
c n nh bng mt b iu khin p. Hy xc nh h s khuch i nh nht
ca b iu khin :
a. H kn n nh
b. Sai lch tnh nh hn 0.1, khi tn hiu t l bc thang n v (rt) = 1()) v
khng c nhiu tc ng (d = TI 0)
386
Chng 7
P h n t c h h IU KHIN PHN H i
7.4
(7.95)
T S
(7.96)
(lO s + l ) ( 5 s + 1 )
K<s)
^ s + i K l + i)
(!0 5 +
l)(5 s +
1)
(7 0 7 )
'
7.5
C U HI V BI T P
387
7.9
GM o h
(7-98)
(7.99)
K 3( s ) = 0. 5
+ 2 0.05.9 +
.9
0.005s + 1
(7100>
C hng 7
388
P h n t c h h i u k h i n p h n Hi
d tr bin, d tr pha
Tn s ct bin
Bin nh hm nhy v hm b nhy
Thi gian p ng
Chng 8
C h n h n h b iu k h in P ID
390
hng
8: C
hnh
nh
iu
khin
PID
8.1
8.1.1
C s c h u n g
C c d n g m h n h q u tr n h th n g d n g
TS + 1
(8.1)
391
S CHUNG
ke~$s
------ , c > 0
r s + 2t $ -- 1
( 8 . 2)
*> - t o - t )
(8.3)
kp~s
s
(8.4)
G(s) =
s (t s
(8.5)
+ 1)
T s + 2rCs + 1
, c > 0
(8.6)
k{ras + l)e-9
(T15 + 1)(t2s + 1)
(8.7)
( )
T s2 + 2rC5 + 1
( 8 .8)
k ( - T as + )e~8s
(T15 + l) ( r 2s + 1)
(8.9)
(8 . 10)
G(s) =
(T\S
- l) ( r 2s + 1)
(8.11)
392
8.1.2
8:
hng
hnh
nh
IU KHIN
PID
X p x m h n h bc cao lu t ch ia i
k Y [(-T ziS + l )
G( s ) -*=i---------------- e~ToS
(8.12)
( r Ps + 1)
7=1
vi
Tp\
>
C th c Xp X v cc dng bc th p di y:
(3) =
TS + 1
vi
rr -=
rr
p l 4+ ^
T
n
m
= r 0 + - ^ r pj + g Tzi
*
;=3
(8.13)
t= l
(s) =
ke~0s
(TS +
l ) ( r 2s + 1)
vi
n
1 , t 2 =
Tp2 +
- -,
T0 +
- - +
j -4
Tpj +
i= 1
8.1
C s CHUNG
8.1,3
393
394
hng
8:
hnh
nh
dieu
P1D
khin
(8.14)
(8.15)
TS
(8.16)
(8.17)
ff(s) = t f ( l + 4 - 1 ( 1 + r'ds)
TS
*b(1 + / r ) ,
T =
r'i + r d
' , Td
r'd
(8.19)
1 + / T
8.1.4
Tds
1 + T ds / N
(8 .20)
c tn h v ng iu kh in s d n g b P I D
8.1
s CHUNG
395
c tn h iu k h i n vi b P I
B iu khin PI (8.14) l loi c s dng ph bin n h t trong cc h thng
iu khin qu trnh. Vai tr ca b PI trong h thng iu khin phn hi c
din gii t t nht trn min tn s. th Bode trn Hnh 8-2 biu din c tnh
bin v c tnh p h a ca q u 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.
396
hng
8:
hnh
nh
i k h i n
PID
8.1
Co
397
S CHUNG
H n h
8-3:
C TNH TAN t h a y
c tn h iu k h in vi b P ID
Khi s dng b PI, mun tng tc p ng ta c th tn g h s khuch i kc
hoc gim thi gian tch phn r nhng krn theo thng phi chp nhn
qu iu chnh ln ln v d tr Oll nh b thu hp li. Hn na, mun sai
lch iu khin nh anh chng b trit tiu thng ta cng phi gim thi gian tch
phn TU 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 th n h 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 t n ca b iu khin PI
(Kpi) v PID (Kpio), cng nh c tnh tn ca cc vng h tng ng. S c
m t ca th n h phn D lm cho ng c tnh bin ca b iu khin c dc
20 d B /d ec vng t n 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 p h a 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. T h t s th th n h phn D
lm cho c tn s c t bin v t n 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
H nh
8-4:
V ai
hng
8:
tr n n vng h ca b
hnh
nh
i KHIN
PI
i KHIEN
PID
PID
8.1
399
s CHNG
B ng 8-1:
Ch ti u c h t lng
Tng kc
Gim T
Tng Td
gim
gim t
gim t
thay i t
gim
gim
tng
tng
gim t
H s t t dn
thay i t
tng
gim
gim
trit tiu
th ay i t
T n hiu iu khin
tng
tng
tng
d tr n nh
gim
gim
tng
Bn vng vi nhiu o
gim
thay i t
gm
Thi gian p ng
Thi gian qu
q u iu chnh
8.1.5
L a c h n lu t iu khin
400
hnc;
8:
hnh
nh
iu
khin
PID
(2.21)
T S
G- (s) = r b ) '
ta nh ngha cc h
sau:
( 2 '2 2 )
*1 = \G{.ju)u)\
r r ~ T \^
= ~ ju
A XL)\
=u u.\Gv{
= -Tv
(2-23)
8.1
401
s CHUNG
iu khin cht
iu khin
lng
Nhiu o ln
Gii hn iu
khin nh
Nhiu o nh v
gii hn K ln
I+FFC+(DTC)
PI + FFC+(DTC)
PI+FFC+DTC
I hoc PI
I + (FFC)
PI + (FFC)
PI+(FFC)+(DTC)
PID + (FFC)+(DTC)
P1
P1
PI hoc PID
PID
p hoc PI
PI
PI hoc PID
PI hoc PID
PD + SPW
PPT
PD + SPW
PD + SPW
1.5<*|<2;25
0.15<#1<0.6,
3
2.25<;1<15
CO.15, k\>lb
4
5
|%>0.3, k2< 2
/%<0.3, h>2
Ghi ch:
FFC:
DTC:
SPW:
PPT:
402
8.2
hng
8: C
hnh
nh
iu
khin
PID
C c p h n g p h p d a t r n c t n h p n g
8.2.1 P h n g p h p d a tr n p ng bc th a n g
Phng php th n h t ca Ziegler-Nichols xc nh cc th am s cho b iu
khin PID d a 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 n ht ca ng c tnh p ng bc thang n h 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 9
v dc a, cc th am s ca b iu khin thc dng s c chnh nh theo
lut tng ng tm t t trong Bng 8-3. Cc lut chnh nh ny c ZieglerNichols a ra theo kinh nghim t h s t t dn khong 0.25.
Bng 8-3:
B iu khin
M in h h a c h o p h n g p h p p n g q u
L u t CHNH NH Ziegler-Nichols
kc
th
NHt (ZN-1)
Ti
Td
r
1
hoc
k
a
PI
0.9
0.9 r
hoc
ke
a
3.3 e
PID
1.2
1.2T
hoc
ke
a
29
0.50
8.2
CC
phng
php
da t r n
dc tn h
nc;
403
8.2.2
P h n g p h p d a tr n c tn h d ao n g ti h n
404
hng
8: C
hnh
dnh
iu
khin
PID
L u t chnh nh Ziegler-Nichols t h
B iu khin
kc
hai
(ZN-2)
Td
0.5 ku
PI
0A>ku
T J 1.2
PID
0.6 kyt
0.5TU
0.1257;
Trong trng hp
ngha l mang li
khuch i cn phi
phn tch phn gy
8.2
CC
8.2.3
phng
php
da trn
tnh
dp
ng
405
P h n g p h p t ch n h p h n hi r-le
(8.24)
H n h
8-6:
Cu
406
8.2.4
hng
8:
hnh
nh
PID
IU KHIN
P h n g p h p c a T y re u s v L u y b e n
Lut
chnh nh
PI/P ID
theo
B iu khin
kc
Ti
PI
0.35 ku
2.2 Tu
PID
0 .4 5 ^
2 .2 7 ;
T J 6 .3
Td
0 7r*p-1215
----------
(8.25)
= 0 .75^
:
32.55 + 1
v'
Phng php
PID
PI
kc
Ziegler-Nichols 1 (ZN-1)
6.83
18.84
9.10
11.42
Td
2.85
Ziegler-Nichols 2 (ZN-2)
8.6
20.75
11.46
12.45
3.11
strm-Hgglun (AH)
7.83
21.67
10.44
13.00
3.25
Tyreus-Luyben (TL)
6.09
57.20
7.83
57.20
4.13
8.2
407
C C P H N G P H P D A T R N C TNH P NG
Controlled
O utput y
oc
Q
T im e (sec)
T im e (sec)
15
1.5
ZN-1
ZN-2
...... AH
---- TL
+->
10
g
c
ZN-1
ZN-2
AH
TL
'3
0.5
Controlled
O utput y
M I .
H nh 8-7:
'
-5
50
100
T im e (sec)
H n h 8-8:
150
50
20
P NG CA VNG
lu
KHIEN
P ID
100
T im e (sec)
C H O v D
150
8-1
200
C h n g 8:
408
O utput y
Controlled
hnh
nh
KHIN
10
1.5
_i
H nh 8-9:
-
..
*
50
100
T im e (sec)
150
ZN-1
ZN-2
AH
TL
PID
ZN-1
ZN-2
AH
TL
a*
c
0.5
u -
20
50
100
T im e (sec)
150
200
8.2
C C P H N G P H P D A T R N C TNH DP NG
409
Phng php
kc
Td
ZN-1
0.66
5.20
1.30
ZN-2
0.87
4.30
1.07
AH
0.83
4.40
1.10
TL
0.63
19.36
1.40
Controlled
O utput
T im e (sec)
H n h 8-10:
T im e (see)
P NG QU H KN CHO v D 8 - 2
410
8.3
hng
8:
hnh
nh
b i KHIN
PID
C c p h n g p h p d a t r n m h n h m u
8.3.1 P h n g p h p H a a lm a n
Phng php do Haalm an 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 th am s ca b iu khin
K(s) sao cho hm truyn t ca h h c dng
L(s) = K(s)G(s) = ^ e - 0
(8.29)
( 2 ' 3 0 )
3*0
7*2 )
TT2
d ~
T, +
r 2
=r
+ 5r
8.3
C C p h n g p h p d a t r n m hnh m u
8.3.2
411
P h n g p h p t n g hp tr c ti p
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 m ong mun ca h kn ([12],[29]). Bnh thng, phng php tng hp trc
tip khng n h t thit phi a kt qu v dng P I/P ID . Tuy nhin, nu chn m
hnh h kn thch hp v s dng php xp x th nh phn tr v mt hm truyn
t thc-hu t th ta c th dn dt cc cng thc chnh nh b iu khin
P I / P I D 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 T m(s) trc ht t a c
TI,) = = MM
mU
r(s)
1 + K(s)G(s)
= G(s) 1 - Tm{s)
(8'33)
Tn =
TT
r cs + 1
(8 -34)
412
hng
8: C
hnh
nh
ieu
khin
PID
cho Tc 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 q ut cho xc nh hm
truyn t ca b iu khin:
1
e~9s
(8.35)
e - fs
K{s) G(s) (TC + 9)s
(8.36)
k ___ L___
c
k(rc + 0)
T =
(8.38)
M hnh qu trn h S O P D T
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 =
( T S + 1 ) ( t 23 + 1 )
k(Tc + e ) s
(8.39)
8.3
CC
phng
php
da
trn
K p i d (s )
hnh mu
413
K 1 +
vi cc tham s
*t =
T' +T1
k ( r c -f 0)
T =
Tj + r 2
Td =
(8.40)
r2
T t 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 x u t hin mu s ca mi biu thc c th a kt qu
cui cng v cu trc PI hoc PID.
8,3.3
P h n g p h p t n g hp tr c ti p u ti n k h n g n h i u
Gd(s)
1 + K{s)G{s)
<8 '41>
&d\s)
(8-42)
414
hng
8:
hnh
nh
iu
khin
PID
sm
Nhm m hnh B.
s,n
Nhm m hnh C:
sm
Nhm m hnh D:
s,n
kdSe~0S
(8.43)
{rcs + 1)2
kds( 1 + 0.5s)e-(,s
(rt.s + 1)3
(8.44)
kdse~$s
(8.45)
(rcs + 1)3
k ds ( T a s + 1 )
(8.46)
( t cs + 1 ) 3
(8.47)
e~s
1 - Os
Xp x Pad.
e~s % -
1 + 0 .5 0 .9
(8.48)
(8. 49'
v
'
8-6:
b n g
M h n h
kkc
k e - Bs
rs + 1
Ti
Tc + e
k e -
ri
(Te + 0 ?
k e ~ Bs
er,
u t chnh
nh
DS-d
THEO C
& S
hen
eborg
[10]
Td
T 2 + tO - ( r c -
r)2
r + 0
A
/x
TS
+ 1
2tc + 6
( 2 t 8 + 0.56>2) ( 3 r r + 0 .5 0 ) - 2 r ? -
( r , + 0.56
3 r c20
3 t,2t + O .5 t0 2( 3 t c + 0.5) - 2 ( r + 9 ) t
t ,( 2 t
( 2 r + 0)0
+ )0
B
ke-O
T,
( t c + 0 .5 ) 3
k e ~ e
s [t s
+ 1)
k e ~ e*
( r r + O.50)3 - 2 r ;
37V + 0.5
T,
T f ( r + 0)
3 r ^ r + 3 t ct 9 - r + t 0 2
3 rr + 6
t ,( t
(rc + 0 ) 3
TiTlT2 + ( T1 +
r 2 + Q )Q \
( T] + r 2 + T|T2 ) ( 3 r c + ) -
3 t (:
+ 0)
3 r ^ r 1r 2 + T j r 2 ( 3 r r + ) - ( T + r 2 + 9 ) T*
( r , s + l ) ( r 2s + 1)
(rc + 0 f
k e - 0
t,.[ t2 + (2 C t +9)6}
(2 ( r + t 2) ( 3 t c -f ) - r - 3r;?0
{Te + )3
T2 + (2C r + )
r ,.[ r 2 + (2C r + )]
Ti[TT2 - ( T l + T 2 - T a ) T a}
( r , r 2 - TT0 - r 2r a ) (3 r^ - Ta ) - r c3 + 3 r r2r a
3 r ] r xT 2 - r lr 2Ta { 3 rf - T0) - ( T ) + T2 - r j r c3
t 2s
+ 2t s + 1
k ( r as + 1)
(r,s
1 ) ( t 2s + 1)
(Tr + 0
t 1t
2 + ( r l + r 2 + 0 )0
n r2 - ( rl + r2 - 'T K
T;[r lT2 + ( T1 + r 2 + ) ]
3 rcV
+ t 2 ( 3 t c + ) - (2 C r + ) r r3
^ k l^ 2 - ( T l + T 2 -T J T ,]
D
k ( r as + 1)
s(t s
+ 1)
T i ( r - T a)
3 rc (r c -
ra f
Ta
3 r ^ r - 3 r er r 0 - T? + TTa2
t <( t
ra)
416
8.3.4
hng
8:
hnh
nh
iu
khin
PID
P h n g p h p IM C
Hnh 8-11:
- (r - y) + d
l- Q
(8.50)
1 + (G - )Q
r+
1 - Q
1 + { G - G)Q
(8.51)
(8.52)
8.3
Cc: p h n g
php
da
trk n
hnh
mu
417
Q = -1
(8.53)
N h t a phn tch trong c hng 5, c hai vn 1I1 trong cng thc (8.53)
cn phi bn ti. v n th nht l G~l s khng kh thi khi G c bc m u s
ln hn bc t s hoc c cha khu tr - trng hp lun xy ra tro n g thc t.
Vn th hai l khi G c im khng nm bn phi tr c o th d G~x c kh
thi, b iu khin l tng s c im cc nm bn phi tr c o v h iu khin
s m t n nh ni. V th, Q cn phi c xp x m bo c tnh k h thi
v tn h n nh ni.
Trong thc t t a lun c G 5 G cng nh d
0 v cu tr c iu khin l
mt s kt hp gia truyn thng v phn hi. Tc dng phn hi tn hiu sai
lch gia u ra thc v u ra c lng, y - gip khc phc nhc im
ca iu khin truyn thng vi sai lch m hnh v nhiu khng o c. T a
cng d dng ch ra c nu tn ti Q = G~] th (8.51) tr th n h
y = r
4- 0 d
418
hng
8: C
hnh
nh
iu
k h i n
PID
( T cs +
1)*
T cng thc (8.57) t a 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), ni
hm truyn t mong mun ca h kn trong phng php DS c chn l
Tm = G+F
iu ny cng gii thch cho s th t l i vi m t s dng qu trnh, cc lui
chnh nh th am s PID ca hai phng php cho kt q u ging ht nhau.
Tng t nh phng p h p tng hp trc ti p , rc l hng s th i gian V1
kn mong mun. Do quan h gia Tc v h s khuch i ca b iu khin
thng thng gim gi tr Tc cho ta cht lng bm gi tr t v loi b nhii
tt hn, nhng cng lm cho h nhy cm hn vi sai lch m hnh. Ngc li
chn Tc ln s cho b iu khin bn vng hn nhng phi chp nhn p
chm hn. Mt vi gi cho vic chn Tc c a ra cho m hnh F O P D T :
1.
tc/ 9
2. T > r c > 0
3. r c = 9
(Skogestad, [30])
S.3
419
CC p h n g p h p da t r n m hnh m u
B n g 8-7:
M hnh
ke
kck
TS + 1
T c 4- 6
l?P~Us
7*.
j j g g
r
TS + 1
Tc 4-
- ^
s(ts + 1)
IZ
7 7 7
(re + 0.50)
7V
_____ k_____
-f 2 r(,s -- 1
rf
7T
(t*
\)e~0s
7n
*4- 1 )(t2*s -4-1)
7T1
Tc -- 0
Tr + 0
k ( - T uS + 1 )
T -.s + 2 r ( s 4 - 1
r c 4- r a
t ( - V + l)eMfc
r,-
( t {s 4- 1 ) { t 2.9 + 1 )
r r 2
T{ + r 2
T
r_
2(
2r, + r + e
(rc 4- 9)-
rc
k ( r tts +
T + 0.59
(TS + l)(r2.s + 1)
2s
_______________ ______
- r,0
0.50
__________ ^__________
Td
rjr2
T1+ r2 - Tu
r c + Ta +
k(-Tus + l)e'*
T s + 2t(5 + 1
Tc 4-
T
V
-T a
2 ^r
2<
2
|
j _
Tc + r u + 0
n i 2 + _
Tae
Tr + Tfl +
Tc + T u + 6
+
r t-
Tc + Ta + 6
420
hng
8: C
hnh
nh
iu
khin
PID
T$
[3 0 ]:
T = m i n { r - , 4 ( r c + ) }
8 .3 .3 .
(8.58
T a 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:
0 7S-2,215
G(s) =
------v 1 (305 + 1)(6s + 1)
(8.59
kc
Ti
Td
Haalman
14.48
36
DS
36
DS-d
20.83
12.76
3.28
IMC
36
8.3
421
pp
5
V
cc
T im e (sec)
T im e (sec)
H n h 8 - 1 2 :
T im e (sec)
H nh 8-13:
P ID
CHO V D 8-3
T im e (sec)
VNG Dlu KH1EN CHNH NH THEO PHNG PHP DS-D CHO v D 8-3
c CI THI N NH KH LOC TN HIU T
8.3.5
P h n g p h p IM C cho q u tr n h k h n g n n h
422
hng
8:
hnh
nh
iu
khin
PID
(8.60)
(8.61)
(8.63)
8.3
CC
phng
php
da
trn
hnh
Mu
423
vi Si l cc im cc khng n nh ca G<1'
I3 iu khin IMC tr thnh
r-1
( Trs + 1 )
_m_
m+n
* + 1
u =!
(8.64)
p1i=1
E ais< +
1
771
1-G Q
(8.65)
( r cs + l ) m+n G z( s ) Y 2 a i sl + 1
i=l
/(0) + / ( 0 ) 5 +
/ ' ( 0 ) s2
2!
^,(Q )
r / r\ \ 1
/(0 )
/ ,( 0 )
2/ ( 0 )
(8 .66)
T..
{Pr y) + Tds(Pr - y)
(8.67)
Gi s G = G , hm truyn t ca h kn l
8 68)
( .
424
C h n g 8: C h n h n h b i u k h e n
B ng
8 -8 :
PID
M hnh
Lut chnh nh
:(2rt.4- 0 a)
ke-9*
t \ + c S - 0.56>2
T + a
Ti
2Tr
+ Q
fl2(0.167fl-Q.5a)
2rr 4- a
r a
rs 1
77 -I- tt 0.52
2 t -f- Ck
1
as 4-1
P (s)
k ( 2 r c -I- 6 - )
ri
ke
-T
- S
(t 2 - T i ) a - r,r2 -
(r,s-l)(r2s + l)
7*
4rr + 9 Qj
4r,? + a2fl + O.16703 - 0.5^0*
4rt + 0 - <V|
4 Tc
P ( S)
2r,. + - <Y
i(4rc + 8 - ttj)
- ( r 2 - T \ h i + T \T 1)
- ).5>2
-r, - r2 +
ke -0h
rc2 +
as + 1
Av
1) ( t 2S -
277 + a
fl2(0.1670 0.5a)
2rr + 9 a
P (s)
(T S -
r (2 + o - 0.50'
+ r2+ a
+ e ~ n,
.3
CC p h n g p h p d a t r n m h n h m u
425
rhnh
*'- + 1
i= l
By gi t a cp ti vn n nh ni ca h kn khi s dng phng php
:a Lee-Lee-Park. Mc d trong qu trnh dn dt t a th y r vic chn Q
<h im cc khng n nh ca G v G(1 l vi phm vo nguyn tc n nh ni
:a h kn, kt qu xp x v b iu khin PID li cho t a mt ci nhn khc.
Nh phn tch trong chng 7, nu cc tham s ca b iu khin PID (.kC) 77,
Td) u c chn ln hn khng (cng nh c th T = 0 0 v rd = 0 ) th n
<hng th trit tiu im cc khng n nh no ca G hoc Ga- Do , nguyn
n nh ni khng b vi phm y. T t nhin, iu ny khng c ngha l h
<n s c m bo n nh ni, nhng mt khi cc th a m s PID c chn lrn
l 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) = ?
!'!*----
(8.69)
(lO a - l) ( 5 s + 1)
K)
p dng phng php Lee-Lee-Park v chn Tc 2.0, cc tham s tnh ton theo
cng thc chnh nh trong Bng 8-8 l:
ke =
13.2024, 77
3.0578,
1 1 .6 2 5 5 , Td =
rv =
6.2360
10
C ontrol
=;
r~
----------------
----------------^
------------------------
/
0
10
H n h 8-14:
20
30
40
T im e (m in)
50
60
10
20
30
40
T im e (m in)
50
P NG i u KHIN QU TR NH KHNG n NH ( v D 8 - 4 )
60
426
8.3.6
hng
8: C
hnh
nh
KII EN
p ie
P h n g p h p x p x c tn h t n
trayn
n iu )
, p ?n
= | r ( M ) - T m( M ) l2
i=l
(8.71
(8.72
.3
c: p h n g
php
da t r n
m hnh
427
mu
*'(*.) = G\J^i
r u )[1
^ T -h
' T
( 3^i
)]
(8-73)
36 th th y rng C
chnh l gi tr c tnh tn mong mun ca b iu
hin ti cc tn s u>. t:
Q\ = [ R e ( / T ( t o ) ) - R e ( t f * ( M ) ) f
i= l
(8.74)
Q2 = [ l m ( f f ( j u * ) ) i=l
(8.75)
a c
= Qi + Qi
(8.76)
l
K ( j u ) = kp + - + M d = k p + j(u k d -
(8.77)
C
[ s c thng c
+ 2 um s + u
(8.78)
(8 .7 9 )
428
T im e (sec)
Hnh 8-15:
.3
CC p h n g p h p da t r n m hnh m u
429
430
hng
8: C
hnh
nh
b diu
khin
PII
8.4
C c p h n g p h p n n c t n h t n
8.4.1 P h n g p h p ti u i x ng
Phng php ti u i xng (Symmetrical Optim um , SO) c Kessler a
nm 1958 ([19],[20]), t tng ca n c pht trin v ng dng rng ri tror
nhng nm gn y. Gi s m hnh i tng c dng:
ke~9*
G(s) = ---------------------------------------------------------
n r= .(i + * n - ) n L , o + ^ )
- -------- (8
Gi thit:
Tk r* ,v * (hayTfc
/1 = 1
T h )
(8.8:
T a c th xp x nh sau:
T e
/ 1= ]
T h
(8.8-
8.4
CC
phng
php
nn
tnh
431
T n s ct u c = 1 / 2 7-
c tnh bin logarith ca h h
(201og|L( j u ) \ )c dc l -20 d b /d e c
trong phm vi t n s t 1 / 4 m r E n 1 / TS .
Phng php ti u i xng cng chnh l m t phng php tng hp
B ng 8-9:
L ut
chnh nh
M hnh i tng
PID
Ti
i XNG
Td
n
2k r t
4t t
4r
16 r E
4TZ
k
(T \S
+ l)(rEs + 1)
r > T x
+ 1)
$ (ts
2kr
k
(T|S
+ 1 ) ( t 2s + 1 ) ( t z s + 1)
r, > r 2 > 4t e
k
T > T2 > 8 T
k
s( t ,s
+ 1 )(T S + 1)
T\ > r
T \T 2
8k r
4 r 2TL.
r , ( r 2 + 4 r E)
8k r
T, +
r 2 + 4 ts
4T t
4 ti
T + 4 r z
8k r
r 2 + 4 tj;
tz
Tj + 4 t e
t2
t
2+ 4 t
Ti
Ti + 4 t e
432
8.4.2
8:
hng
hnh
nh
iu
khin
PID
P h n g p h p k a p p a - ta u
< M**
(8.83)
a = k , r =
0 + rp
T/>
(2.84)
(2.85)
Td = 0Coe{C'T+c*T'i]
b = D0e{D'T+DT)
Cc h s Ay B, C v D c tra theo Bng 8-10, ng vi tng loi i tng
(c hoc khng c th n h phn tch phn), lut iu khin v ycu cu bin
nh hm nhy. T hc 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 K (/cappa):
(0)
kku
(8 . 86 )
CC p h n g p h p n n c t n h t n
8.4
B ng 8-10: CC
433
Khng
Khng
Khng
Khng
Lut iu khin
PI
PI
FID
PID
PI
PI
Ms
1.4
2.0
1.4
2.0
1.4
2.0
A)
0.29
0.78
3.8
8.4
0.41
0.81
-2.7
-4.1
-8.4
-9.6
-0.23
-1.1
Ao
3.7
5.7
7.3
9.8
0.019
0.76
Bo
8.9
8.9
5.2
3.2
5.7
3.4
Bi
-6.6
-6.6
-2.5
-1.5
1.7
0.28
Bi
3.0
3.0
-1.4
'0.93
-0.69
-0.0089
0.89
0.86
-0.37
-1.9
-4.1
-0.44
Ci
c2
Do
0.81
0.48
0.4
0.22
0.33
0.78
Di
0.73
0.78
0.18
0.65
2.5
-1.9
1.9
-0.45
2.8
0.051
-1.9
1.2
B ng 8-11: Lut
chnh nh tham
Ms
KfJ hxi
r ,/ T u
1.4
O.Sp2-9*-2-0*"
0.9c" tAK+*~K
-0.(XH5k + 1.8ic*
2.0
0.13e1
0.9c~ k +27k
Q 4gg0.4K-0.l7**
1.4
0.33e-031*- *'
0 7(5e~1GK-i)-36*2
Q1
2.0
Q 7 2 e - 1-6 + 1-2k -
0.59e~l3*+0-38^
PI
Td/Tu
0.-G/C2.
0.58e-1-3K+3-5,
PID
8.4.3
j g p 1.4JC+0.56/C2
Q 2 5 g O .5 6 K -0 .1 2 -
P h n g p h p d a tr n d t r b i n -p h a
u/u, thay
c tnh
p h a nh
Margin,
434
hng
8: C
hnh
nh
iu
khin
PIE
(8-88
I U)I
G(0J
wr,-
= akucosm
(8.8
(8.9C
.4
CC
phng
H n h
php
8-16:
nn
V ai
c t n h
435
t r nn dc tnh tn ca b iu khin
PID
(8.91)
ta c
4
9
4- t a i r m
a
Td =
(8.92)
13
C,
(8.93)
(8.94)
Ging php d a trn d tr bin pha cn c thm nhiu ci tin khc, v
hi 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
C (s) =
0.75cL2U
(30s + l)(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 M$ = 2.0. i vi phng php d tr bin pha (GPM),
ta chn a = 0.7, m = 45, a = 4 v p dng cc cng thc (8.89)-(8.92). Bng di
436
hng
8: C
hnh
nh
iu
khin
PII
Phng php
kc
Td
IMC
36
KT
12.23
13.44
3.40
GPM
9.45
19.13
4.78
T im e (sec^
H nh 8-17:
P NG CA CC VNG IU KHIN
P ID CHO v D 8 - 6
8.5
lU KHIN PID KT HP B TR
8.5
437
i u k h i n P I D k t hp b t r
8.5.1
B d b o S m ith
(8.96)
(8.97)
trong Go(s) cng nh ((s) l m hnh thnh phn khng cha thi gian tr
(thun) v 6 cng nh 9 l thi gian tr (thun). Khng m t i tnh tng qut
i vi h tuyn tnh, t a c th coi thn h phn tr nm u ra. K hiu u ra
thc khng c tr - tc l tn hiu ra sau khu Go - l 2/0- T a c th coi 2/0 l mt
438
C h n g 8: C h n h n h b u KHIN
PID
= o
+ {y - fe~s)
(8.98)
a) S din gii
Vo +
o +
=
tr
i
{)
(y<) - o)e~fo
(g 99)
y<> - 2/0
2/0
8.5
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: Ch i tng c tr ln
^ - ( T T T F
<8100)
8.5.2
B i u k h i n P I d bo
8:
Chng
440
C h n h n h b iu k h i n
PID
(s) =
T S
u(s)
K(s)
e(s)
1 + K (s)0{ s ) { l - e - s)
kc{TS + 1)
k k c ( T S 4- 1)
(1 - es)
TS +
TS +
( 8 . 101)
(r .-s + )
+ k(1 - es)
_
TS
1)
Kppi(s)
TS + 1 e Bs
,0s
( 8 . 102 )
1 - Tj5 + 1
H nh 8-20:
B iu KHIN PI
d bo n gin
8.6
8.6
G hi c h v t i l i u t h a m k h o
441
G h i c h v t i liu t h a m k h o
N.c.
[1]
[2]
[3]
[4]
ChUONG
442
5]
Astrom, K.J.; C.C. Hang; P. Persson; W.K. Ho: T ow ards Intelligent PID
C o n tro l. A utom atica 28 (1992), 1-9.
6]
7]
8]
9]
10]
control, Control
4807-4822.
11]
12]
13]
14]
15]
16]
Ho, W.K., C.C. Hang, L.S. Cao: Tuning of PID controllers based on gain
and phase margin specifications. A utom atica 31 (3), 497-502, 19)5.
17]
18]
Huang, PI.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.
19]
443
Process D ym am ics
and
PID
Chng
444
8: C h n h n h b i u k h i n PID
[35]
Sung, S.W.; I.B. Lee, B.K. Lee: On-line process identification and
autom atic tuning method for PID controllers. Chemical Engineering
Science 53 (10) (1998) 1847-1859.
[36]
T an , K.K.; Q.G. W ang, C.C. Hang: Advances in PID Control, SpringerVerlag, 1999.
[37]
T an, K.K.; T.H. Lee, Q.G. Wang: An enhanced autom atic tuning
procedure for P I /P ID controllers for process control. A IC hE Journal 42
(9), 2555-2562, 1996.
[38]
T an, W.; Horacio J. Marquez, Tongwen Chen: IMC design for unstable
processes with tim e delays. Journal of Process Control 13 (2003) 203-213.
[41]
[42]
[43]
[44]
Zames, G.:
Feedback and optim al sensitivity: model reference
transform ations, multiplicative seminorms, and approxim ate inverse.
IE E E Transactions on A utom atic Control AC-26, 301-320, 1981.
[45]
Ziegler, J.G.; N.B. Nichols: O ptim um settings for autom atic controllers,
Trans. A S M E 64 (1942) 759-768.
[46]
CU HI V 13I T P
1.7
.7
.1
445
C u hi v b i t p
G3(s) = 1z
0.65c-
s(8s + l ) ( 3 s + l ) ( s + 1)
1 ,G4(s) =
(s + 1) (2 s + 1)
( 9 s 2 + 2 . 4 5 + 1 ) ( 5 + 1)
,-35
-35
( s + i f (28 + l ) 1
,v '
(s2 + 10.S + 1) ( s
l)2
v p ng tn s
b.
c.
d.
iu khin lu lng
e.
iu khin nhit
f.
ca Ziegler-Nichols ph
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.
1.8 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.
1.9 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 in hnh.
446
C h n g 8: C h n h n h b i u k h i n P I I
hng 9
rh i t k cu tr c iu k h in cho
}u t r n h a bin
).l
.l.l
Gii t h i u c h u n g
C u t r c iu khin l g?
448
Chng 9
T hi t
k c
thc
di k h i n
cho
qu
trn h
H1
(9.:
Hnh
9 -1 :
Bi
c; ohc
thuc v
bin. Mi
chc che
Gl
T HI U CHUNG
449
C hng 9
450
T h i t k c u t r c i u k h i n c h o q u t r n h a Bir
tV si '
!
H n h 9 -2 :
MT
.ve 1
/ v e
Gl!
451
T H I U CHUNG
F}
Fi
d) iu khin a bin
cng nh
vi ngha
nim ny
hnh iu
452
Chng 9
T h i t k cu
trc
iu k h i n c h o q u
thnh
Bi
9.1.2
C s t h i t k cu t r c iu khin
)A
Gii t h i u c h n g
453
9.2
L a c h n b i n q u t r n h
Cc gi
t t V
Cc bin ^
iu khin u
H n h 9 - 4 : BI TO N THIT K lu KHIN
Cc bin cn
iu khin y
C hng 9
454
T h i t k c u t h c i u k h i n c h o q u t r n h d a BI/
9.2.1
M t s ch d n la chn
).2
L A c h n B n q u t r n h
455
C honc: 9
456
T h i t k c u t h c d i u k h i n c h o q u t h n h a m n
.2
La
).2.2
chn
13IN QU THNH
457
P h n t c h gi tr suy bin
Hi tr suy bin (singular value) v php phn tch gi tr suy bin (sinqular
dlue decomposition, SV D ) c rt nhiu cng dng trong thit, k v nh gi
ht lng h thn g iu khin. Trong iu khin q u trnh, php phn tdi gi
r suy bin l m t cng c hu hiu phc v:
La chn cc bin c iu khin v cc bin iu khin
nh gi tnh bn vng ca mt sch lc/cu trc iu khin
Xc nh cu tr c iu khin phi tp trung tt nht.
}hi tit v khi nim gi tr suy bin v php phn tch S V D c trnh by
rong ph lc B. Sau y t a s tm hiu ng dng ca php phn tch SVD trong
ic la chn cc bin vo-ra ca qu trnh. Trc ht, ta xc nh m a trn dc
nh tn ca q u trn h G(jJ) ti mt tn s U cn quan trn. Nu ta quan tm
h yu ti cht lng iu khin xung quanh trng thi xc lp th ch cn xt
?(0) l . T hc hin php phn tch SVD cho m a tr n G nh sau:
\
G = irzvH- u
=
<7
v ns
[
u uu
= I. V HV = I
(9.2)
l
=
C hng 9
458
T hit k cu t r c diu k h i n c h o q u t r n h
d a bin
0
y c m t s im cn c bit lu . T h nht, gi tr suy bin ph
thuc vo cch chun ha m hnh (chun ha tn hiu v o ra ) . c c nh
gi cng bng vi nhng bin c th nguyn khc nhau, t a cn chn than g chun
ha hp l. Phng php chun ha n v gii thiu trong chng 6 v chng 7
da trn phm vi o v phm vi iu khin, nn ch c th p dng tt nu nh
phm vi o v phm vi iu khin c hiu chnh hp l. Mt phng php
chun ha khc da trn im lm vic ti u c gii thiu trong [3]. T h hai,
m a tr n G(ju>) v cc gi tr suy bin ca n ph thuc t n s. C th c nhng
la chn thch hp cho c tnh h thng trng thi xc lp (tJ 0 ), nhng
cha chc thch hp cho c tnh qu ca h thng (u)
0 ) . T h ba, cc
nguyn tc trn y khng phi l tuyt i. T a nn da vo chn m t vi
phng n, ra quyt nh cui cng t a cn phi xem xt nhiu yu t khc
nh thi gian qun tnh, v tr im khng, thi gian tr,...
V d 9-1: Trong mt thp chng luyn hai cu t, cc vng iu khin mc y
thp, mc bnh cha hi lu v p sut nh thp c thit k. Hai bin cn iu
khin cn li l llinh phn sn phm nh v thnh phn sn phm y, trong
thnh phn sn phm nh quan trng hn. Hai bin iu khin cn li l lu lng
hi lu L v nhit lng cp un si y thp Q. Tuy nhin, php o thnh phn rt
chm, nn ngi ta la chn sch lc iu khin suy din thng qua iu khin nhit
trong thp. Nhit ti nhng a no th hin tt nht nh hng ca hai bin
iu khin s c chn iu khin.
a i
K hiu
D
> >
M hnh thp chng 9 bc c dng tch isopropanol v nc gii thiu trong (1]
c ma trn khuch i tnh gia hai bin vo L v Q v nhit ti 9 a nh sau:
ATi
AQ
-0.0077327
0.0134723
-0.2399404
0.2378752
-2.5041590
2.4223120
-5.9972530
5.7837800
-1.6773120
1.6581630
0.0217166
0.0259478
0.1976678
0.1586702
0.1289912
-0.1068900
0.0646059
-0.0538G32
j.2
La c h n bin q u t r n h
-0.00160
0.03615
-0.37281
-0.89156
u = -0.25237
-0.00026
0.02701
0.01787
0.00898
459
-*0.08290
-0.08355
-0.03915
0.14738
-0.51900
-0.64828
0.44637
-0.24505
-0.11822
9.34520
0.71917 -0.69484
0
, V =
0
0.05206
-0.69484 -0.71917
-5.9972530 5.7837800
0.0*217166 0.0259478
V\
Gu, y = 2/2
V'A
>u
Vq
U
460
C hng 9
0.48
G(, () = 0.52
0.90
0.90 -0.006
0.95
0.008
-0.95
0.020
B bin
tt|
u2
V\
0.0198
0.0031
0.9650
V2
0.0094
0.0147
0.9144
V\s
0.0099
0.0098
0.0081
9.3 i u k h i n a b i n / t p t r u n g
Hu ht mi qu trnh cng nghip u c nhiu bin vo v nhiu bin ra, trong
m t bin vo c th nh hng ti nhiu bin ra v rnt bin ra c th chu
nh hng ca nhiu bin vo. Trong v d thit b khuy trn minh ha trn
Hnh 9-1, t a c hai bin ra cn iu khin l mc cht lng h v thnh phn X,
hai bin iu khin l lu lng vo th n ht W[ v lu lng ra w. T h ay i lu
lng W\ nh hng ng thi ti c h v X, v th vic s d ng hai vng iu
khin mc v iu khin thnh phn c lp cha hn d cho cht lng tt
nht. Mt gii php tin tin l ch s dng m t b iu khin a bin
(multivariable controller) duy nht nh minh ha trn Hnh 9-5. u vo ca b
iu khin bao gm cc gi tr t v cc tn hiu o (k c nhiu q u trnh o
.3
l KHIN A b i n / t p t r u n g
461
Cc tn hiu
diu khin
H nh 9-5:
Cc tn hiu do
C hng 9
462
T h i t k c u t h c i u k h i n c h o q u t r n h d a b i
9.4
i u k h i n n b i n / p h i t p t r u n g
'.4
lu KHIN N b i n / p h i t p t r n g
463
H n h 9-6:
464
hng
i i t
t h c DIU
khin
cho
qu
tr n h
a Bi N
9.4.1
C p i cc bin vo-ra
Ma tr n RGA ca u c xc nh
k'22
l
(9.4)
vi
k\
ku - /C|2&21 / &22
).4
lU
KHIN DN b i n / p h i t p t h u n g
465
A=
A<
mch. Tng tc gia hai knh iu khin l mnh n h t khi A = 0.5, khi
vic la chn cp i khng CI1 d dng.
4. > 1: Khi khp mch th h s khuch i tnh t U\ ti 2/] b gim i. Hai
vng iu khin tng tc chng li nhau. Gi tr A cng ln th mc
tng tc cng mnh, tuy nhin phng n cp i y vn khng th
khc: (u u V\) v (?2, y).
5.
(9.5)
\|!
Pa cn tu n theo hai nguyn tc sau y ([2],[3]):
1 . Cp di bin vo-ra ( U p yi) tng ng vi phn t j j c gi tr gn 1 xung
\ j
1 hoc
X j
V d 9-3: Qu trnh trong v d 9-2 sau khi loi b cp bin vo ra (u;, y\) c ma
trn khuch i:
C hng 9
466
T h i t k c u t r c i u k h i n c h o q u t h n h a b i
Ga = G{0) =
0.52 0.95
0.90 -0.95
Ma trn RGA c xc nh l:
A =
1.0352
0.0193
-0.0352
0.9666
A =
V2
2/3
Va
U2
114
0.080 -0.164
- 0.011
0.286
1.154
3.314 -0.270 -1.910
-0.135
0.900
0.215 -2.030
1.919
0.931
0.150
0.429
9.4.2
T n h n n h c a h i u k h i n p h i t p t r u n g
v A (G(ju)) = I ,
Vu;
v cp i tng ng vc
T on h m t n nh, hoc
}. 4
iu k h in n bin/ ph i t p t r u n g
NI =
467
dctG(O)
(9.6)
n 9ii{0)
i=1
C gi tr m th vng iu khin s m t n nh khi cc vng khc ng
mch. i vi h hai vo - hai ra th iu kin trn l cn v .
V d 9-5: Thp chng luyn hai cu t sau khi c thit k cc vng iu khin
mc v iu khin p sut cn li hai bin iu khin [Ly v\ v hai bin cn iu
khin zi), X\. Ma trn khuch i tnh c xc nh )
12.8 18.9
6.6 19.4
C(0) =
Ma trn RGA c xc: nh l
2.01
Ai =
-
1.01
1.01
2.01
1=1
A2 =
2
1.01
2.01
2.01
-
1.01
Ch s NI nay l mt s m
= dctG(O) = -18,9 0 ,6 + 12,8 19,4 =
1
-18,9 0,6
n P-(0 )
j=i
chng t h thng s mt n nh nu hai b iu khin s dng tc ng tch phn.
9.5
G h i c h v t i liu t h a m k h o
C hng 9
468
[2]
Seborg,
D.E.; T .F.
Edgar;
D.A.
Mellichamp:
Process
D ynam ics
am
[4]
[5]
P h lc A
A . l T m t t c h u n A N S I / I S A S5.1
( Instrum entation Symbols and Identification)
B i u t n g t h i t b
Bng A l - 1 lit k cc biu tng thit b trn lu P & I D . c n lu mt biu
tng c th biu din m t thit b hoc mt chc nng trong m t thit b chia
s (v d mt th i t b iu khin hoc mt mn hnh chia s). Y ngha ca khi
nim 'chia s y l nhm phn bit vi cc th it b n l ( discrete
in stru m en t), chuyn dng cho mt mc ch duy nht, v d m t b iu khin
s gn, mt n liin th n l. Ty theo mc ch rn t m lu c th cha
chi tit biu tng cho tng thit b/chc nng, hoc b qua m t s trong trng
hp tng i hin nhin.
B ng A l- 1 : BlU DIN CC THIT U TRN LU D P&ID
Thit b /
Chc nng
Vi tr
V tr m rng
(.4 xixilary
Location)
Hin trng
(Local)
0
e
ee
/
\
/
\ /
p
\
/
<>:
0
oo
\
/
PH LC A
470
-yr-r*
&
Tn hiu in
Tn hiu thy lc
-fc b b
v /'
- 0 - 0
ng li c hc
ng mao dn
*
v /'
-*----- X----- X-
T hng thng, mt dng tnh hiu hiu din lin kt gia cc thit b
trn lu P&ID ngay c khi tn ti nhiu ng vt l trong thc t. Cc mi
tn c th s dng b sung lm r chiu ca lung thng tin. Cc ch vit t t
sau y c dng k hiu cc ng cp nng lng:
AS (A ir supply): cp khng kh
ES (Electric supply): cp in
ss
ws
A. I
Tm t a t chun
ANSI/ISA S5.1
471
dP/dt P picS
AM 7
AO-211
TpcS
oS.P.
AS
b) S lc
a) Chi tit
H nh
Al-1:
LU D
P&ID
PH L C A
472
B n g
A l - 3 : C C CH CI
C h ci u
Bin o hoc bin
u vo
HIKU N H N T H I E T
Cc ch ci n g sau
Bo dng {Alarm)
13 DI chy (Burner)
Ty s dng
c Ty s ng
iu chinh (Control)
rT, s , .
D I uy s (lung
T l (Fraction)
K nil ( Ciss), quan st
Cao {High)
1 Dng in
Ch th (Indicate)
J Cng sut
Qut
L Mc (Level)
nh sng {Light)
Ty s dng
o Ty s dng
Hn ch (Orifice)
p p sul (Pressure)
im th {Point)
Ty s ng
Thp {Low)
Trung bnh
(Middle)
Nht thi
(Momentary)
N Tl}' s (lng
Q S liug(Qmiitty)
Bc x. phng x
R
(Ridiation)
Ty s dng
Phn t cm (sensor)
G Ty s dng
M 1 uy s dng
B ngha cho
ch ng trc
Chnh lch
(Differential)
E in p
F Lu tc {Flow rate)
Nhit
( Temperature)
a bin
Da chc nng
rung ( Vibmtion),
phn tch c hc
Trc X
_
True Y
Trc z
a chc nng
A.l
Tm t a t
chuan
ANSI/ISA S5.1
473
B ng Al-4: CC K
HIU
K HIU
CHC NNG
I hoc ADD
A lioc SUB
, + ,
dch (1 u vo)
AVG.
Trung bnh
Khuch i (u vo : u ra)
.*
Cn bc hai
Ly tha
f(x)
Hm
1:1
Tng cng
hoc HIGHEST
Chn gi tr ln nht
Chn gi tr nh nht
REV.
o ngc
Bin i (E, H, I, 0, p, R)
D lioe d/dt
o hm hoc tc
I/D
Nghch o o hm
474
PHI
u/c A
A . 2 T m t t c h u n A N S I / I S A S5.2
( Binary Logic Diagram)
Lnh u vo
Lri u ra
VO
RA
AND
OR
A AND B AND c
A OR B OR c
NOT
FLIP FLOP
NH THI:
- DI (tr vo)
- DT (tr ra)
- PO (xung ra)
A.3 T m
t a t
chun
ANSI/ISA S5.3
475
A . 3 T m t t c h u n A N S I / I S A S5.3
( Graphic Symbols fo r Distributed Control/Shared Display
bng tay
3. T ru y nhp c th ch qua ng truyn thng
4. Giao din vn hnh qua ng truyn thng.
Thng thng ngi vn hnh khng th can thip:
]. B iu khin chia s cm (khng c giao din)
2. Hin th chia s lp ti hin trng
3. T nh ton, iu ha tn hiu trong b iu khiu chia s
4. C th c ni mng truyn thng
5. Thng thng vn hnh khng cn giao din
c. C th thay i khi cu hnh
C c b iu t n g m y tn h
Cc biu tng di y c s dng ch cc 11my tn h v chc nng my
tnh tch bit vi cc thn h phn c bn tch hp trong h DCS. Cc my tn h
ny c th c ni mng vi cc thnh phn cn li, hoc ng c lp.
Thng thng ngi vn hnh c th can thip:
1 . Mn hnh ch th
2. My tnh iu khin
3. My tnh ghi chp
476
PH LC A
T n h to n v iu ha tn hiu
Ngoi cc biu tng nh ngha trong S5.1, chun S5.3 cn b sung hiu
tng ring cho tnh ton v iu ha tn hiu:
Phu luc
B
3.1 C h u n v e c t o r v c h u n m a t r n
yhun vector v chun m a trn c ngha quan trng trong i s tuyn tnh
' trong l thuyt iu khin. Chun c s dng l thc o cho kch c ca
nt vector cng nh ca m a trn trong khng gian.
)nh ngha B -l: Xt mt cch tng qut cho cc phn t e thuc khng gian
( tnh khng m)
2 . II?II = 0 <=> e = 0
(tnh cht t l)
E V ( tnh cht tam gic).
3.1.1 C c c h u n v e c to r
t m t vector
ca
vi
> 0 c nh ngha l
- k i r
i=]
(B 1 )
(B.2)
P h c B
478
(B.3)
(B.4)
(B.5)
<
V^mi2
(B . 6 )
(B.7)
2]t
Ta c
MI, = 1 + 3 + 2 = G
IIV||2 = T T 3.742
\\v L = 3
B.1.2 C c c h u n m a t r i n
Mt m a trn s phc M. M R xm , c th biu din c tnh tn s G (ju )c. 3
m t h G(s) vi 771 hin vo v l bin ra. Ngoi bn tnh cht c bn ca chur
a ra trong nh ngha B-l, mt chun m a trn cn tha mn tnh cht th
nm (cn gi iu kin nht qun)
P M 2| <1^,111^211
(B.8;
13.1
C h n V ECT OK v c h u n m a t r n
479
(B .9 )
TU
||M|U. = m a x ( | M |)
1 j =
(B.10)
\\M\\, = = sJ p (M h M)
( B .ll)
(B.12)
M =
-3
c xc nh nh sau:
IIMII = max(l + 3,2 + 4) = G
||M ||^ = max(l + 2,3 + 4) = 7
||M ||2 = ( A ) 5.117
\\M\\f = Vl + 4 + 9 + lG 5.477
Lu rng, chun bc 1, chun bc 2 v chun v cng ca ma tr n c
nh ngha gin tip thng qua cc chun vector, nn cn c gi l chun cm
ng. Chun cm ng c ngha c bit quan trng cho din gii c tnh
khuch i tn hiu ca cc h thng. Cho mt h tnh y = M u vi vector vo u
v vector ra y, kh nng khuch i ca h c biu din thng q ua h s
ll/ll/IMI = ll^^ll/IM I
nhin, h s ny ph thuc vo chiu ca vector u.
Gi tr ln n h t trong cc h s ny c gi l chun cm ng ca m a trn M:
\\M\\ = max
y
ti*0 \u\\
= mx(||M u II )
|u|=l
y
(B.13)
P h lc B
480
B .2 C h u n t n h i u v c h u n h t h n g
Mt phng php thun tin phc v phn tch cht lng ca m t h thng
iu khin l da trn ln ca tn hiu vo-ra. Gi tr tn hiu bin thin
theo thi gian, nn ln tn hiu y cn phi c nh ngha thng qua cc
chun tn hiu. Quan h gia chun ca tn hiu vo vi chun ca tn hiu ra
c m t thng qua cc chun h thng. Hai u im ln ca cch tip cn
ny l i) ch php phn tch h thng m t cch nht qun trn c min thi gian
cng n h min t n s v ii) kh nng m rng d dng cho cc h MIMO.
B.2.1 Cc c h u n tn hiu
Da trn nh ngha tng qut B -l, mt chun ca tn hiu u(t) cng phi tha
mn bn tnh cht:
1 . H O II > 0
3. |M )I! = MMOII,Vc IR
4.
||u() +
v{t)II
< H O II + K O I!
v tr c thi gian:
HOII, = n w i * .
(B 1 4 )
l * W I dt
(B .15)
( ) 2* ]
(B .16)
.2
C h n t n h i u v c h u n h t h n g
481
1/2
(0 ll2 =
2 , ui(t?dt
= sup(max|ttt()|) = max(sup|u()|)
t i
i
t
(B.19)
bc
1.2.2 C c c h u n h t h n g
t m t h tuyn tnh SISO c biu din qua m hinh hm truyn
y{s ) _ Q / \ _ B(s) _ b) + bS + ... + bmsm ^ Ls
u(s)
i4(s)
1 + flj5 + ... + OnS*
(
5)
c gi
.0 ( 5 ) >
ing
(B.20)
hm bn
P h l c 13
482
2 f
C h u n bc 2
l|C(5)ll2
\G{ju>)f d u
C h u n 00
l|C(5)IL = sup|G(ju;)|
(13/21]
(13.22;
\\G(s)\\2
= f ' g(t)2dt.j'/2 =
[|()||2
(13.23;
6( t ) -
(B.24;
Cho trng hp tng qut, cho mt till hiu vo u() bt k, chun v cng cm
tn hiu ra y(t) c the c c lng da trn cng thc sau:
H O L <IIG||2-||u||2
(b.25
( 13.26
(B.27
Ta cng c th ch ra rng:
1 . || ||2 l it s hu hn khi v ch khi G hp thc cht v khng c
im c'
nm trn trc o.
2 . || ||^ l m t s hu hn khi v ch khi G hp thc v khng c im cc nn
trn tr c o.
Mt hm bn-hp thc cht thuc khng gian 72 (tc khng gian H ardy ci
cc hin truyn t vi chun bc 2 hu hn), nn chun bc 2 ca n c g
1 y ta coi
y(L)
l mt. tn hiu.
3.2
C h u n t n h i u v CHN h t h n g
483
. Cc chun H -2 v H ^ c m rng
C hun Hi
\ 1/ 2
||(s )||2 = ( / _ ' ||G (ju)||f du,
(B.28)
Chun
(B.29)
o.'
u.*
B.3 P h p p h n tc h gi t r su y b i n (S V D )
B.3.1 K h i n i m gi tr suy bin
Kt m t h tuyn tnh tnh m bin vo v / bin ra (ra > /):
y = Mu
(B.30)
P h l c B
484
Hnh B-2: Mn
"
**0 WuL
m a x \\Mu\2
(B.33)
IIMu 11,
(B.34)
P h p p h n t c h g i t r suy bin
485
V H , U HU =
I,
V HV =
(B.35)
I
a =
(7]
=> M V E, M v] =
Uy
M vk = uk
(B.36)
u.
u.
T h u t ton phn tch gi tr suy bin c pht trin rt tt, cho php
lc hin r t tin cy v vi hiu sut cao. Cc cng c tnh ton iu khin hin
i nh MATLAB u ci t sn th u t ton Iiy.
(B.37)
m \ m 12
77121 77222
10 .1
0
0
0.1
10
, cond(M) = 10 1
iu kin bng 101 l kh ln, chng t m a trn tnh suy bin ca M rt nhy
m vi sai s. Thc vy, ch cn phn t 77112 thay i t 0 sang 0.1 cng lm
P h lc B
486
B .4 M a t r n k h u c h i t n g i ( R G A )
B.4.1 K h i nim h s k h u c h i t n g i
H s khuch i tng i v m a trn khuch i tng i (Relative Gai
A rray, RGA) c ng dng quan trng trong vic phn tch v thit k cu trc
iu khin phi t p trung. Cho m t qu trnh 2x2 c m hnh hm truyn t:
G)2 (5) U
V\
Gu (s)
S/2
G(s)u
(B.38;
( 0 ) = H m G ( ) =
h 2
. '2
s-> 0
&2 k>22
(B. 39 ;
= k) I
(B.40
U\
s thay i v t a c:
Ay
^ V2 ==
A] I z \ u j --
k\2^U2
(B.41
4" ^22^ ^2
a j2 tr l
.4
(RGA)
M a t h n k h u c h o i t n g i
U\
h
487
V\
Vi
(B.42)
A L2 =
*22
Ay, =
k- )ko
b'22
A'1
(B.43)
C th din gii ngha ca thnh phn th hai trong phng trn h (B.43)
h sau. duy tr A j2 = 0 , b iu khin K i phi thay i Ui. S thay i
y dn ti tc ng ngc, tr li 3/1 - Nh vy, thnh phn th nht l tc ng
'c tip, C11 thnh phn th hai c th coi l tc ng gin tip ca U\ ln y-
khng lm thay i y-2 trong khi c hai mch u c khp kn. H s khuch
i tnh t U\ sang /i trong vng kn gi y l
A U\
11 -
(B.44)
22
y>= c o n st
k\
^12^21
11
b22
(B.45)
P h l c B
488
1- A
1 -A
(B.46)
-2
T a c
An
'11
k ^12^21
= 0.4
^22
A(C) =
0.4
0.6
0.6
0.4
B .4.2 M a t r n R G A t n g q u t v cc t n h c h t
Trong trng hp tng qut, RGA ca mt ma trn s phc vung khng suy
bin l mt m a tr n s phc vung nh ngha bi
RGA(G) = A() = G
{G~])t
(B.47)
trong X k hiu cho php nhn tng phn t (tch Schur, tch H adam ard).
din gii nh ngha (B.47), trc ht ta xt m hnh truyn t:
Pn(s) 9n(s)
y(s)
i(s)
= G(s) =
2l(s)
5ml(s )
Uj
9\m ()
22(s)
(B.48'
9m m is )
= gt](0) [(0)]jj
(B. 49 ;
=0. k^j
Ma trn
k h u c h i t n g Di
OVi
duj
(RGA)
489
= ). ( 0 ) i / [ < r 1(0)]J,
(B.50)
yk = (),&**
Uj
Uj
v 2/ i , hay chnh
v yt-
= 9ii9ii = [ G G - i
(B.51)
= 1-0
(B.52)
(B.53)
Hon i hai hng (hoc hai ct) ca G dn ti hon i hai hng (hoc hai
ct) ca A{G).
> A( G) l mt m a tr n n v nu G l ma trn tam gic trn hoc di (tng
tc m t chiu)
> Ch 30 R G A c nh ngha bi
||A ( C ) - I L , = U l
i*j
l m t ch s c h o m c t n g t c c u a q u trn h .
(B.54)