H

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

iu khin qu trnh l g ? ..................................................................................2

1.1.1
1.1.2
1.1.3
1.1.4

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

Q u trnh v cc bin qu t r n h ........................................................2

Phn loi qu trn h ................................................................................5
Bi ton iu chnh v bi ton b m ..............................................6
Cc vn c th ca iu khin qu t r n h ............................... 7

Mc ch v chc nng iu khin qu t r n h .......................... .................... 10

1.2.1
1.2.2
1.2.3
1.2.4

1.3

T hit k cu trc iu khin............................................................ 26

T hit k th u t ton iu khin....................................................... 27
La chn gii php h t h n g ........................................................... 27
P h t trin phn mm ng d n g ...................................................... 27

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

Bn thm v khi nim iu khin q u t r n h ......................... 335

1.7.2
V ti liu th am k h o ......................................................................... 35
Cu hi v bi t p ................................................................................................3)

C hng 2 M HNH QU TRNH

2.1

2.2

2.3

2.4

2.5

411

Gii thiu c h u n g ................................................................................................... 412

2.1.1
M hnh v mc ch m hnh h a .................................................412
2.1.2
Nguyn tc chung ca m hnh ha qu tr n h ............................4*4
2.1.3
Cc phng php xy dng m hnh ton h c ...........................45
Tng quan v quy trnh m hnh h a ............................................................ 477
2.2.1
2.2.2

t bi ton m hnh h a ................................................................ 477

Phn chia h thng.............................................................................5(0

2.2.3

Xy dng cc m hnh thnh p h n ................................................5il

2.2.4
2.2.5
Phn
2.3.1
2.3.2
2.3.3
2.3.4

Kt hp cc m hnh thnh p h n ................................................... 52

Phn tch v kim chng m h n h ................................................ 52
loi m hnh ton h c ............................................................................ 53
M hnh tuyn tnh v m hnh phi t u y n ..................................5i3
M hnh n bin v m hnh a bin.......................................... 5)4
M hnh tham s hng v m hnh tham s bin t h i n .............5)5
M hnh tham s tp trung v m hnh tham s r i ...............5)5

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

Cc m hnh gin o n .......................................................................................770

2.5.1
Phng trnh sai p h n ....................................................................... 770
2.5.2 M hnh trng t h i ..............................................................................771
2.5.3 M hnh dp ng qu ...................................................................774
2.5.4 Cc m hnh a thc v hm truyn t x u n g .......................... 776
2.5.5 M hnh hm truyn t gin o n ............................................... 881
Ghi ch v ti liu tham k h o ............................................................ .......... ^84

2.7

Cu hi v bi t p ............................................................................................ ^85

C hng 3 M HNH HA L THYET

3.1
3.2

837

T ng quan cc bc tin h n h ......................................................................... 87

Nhn bit cc bin qu t r n h ............................................................................88
3.2.1 V d bnh cha cht l n g ................................................................ 91

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

Khi nim v nhng nguyn tc c b n ..................................................... 171

4.1.1
Cc bc tin h n h ........................................................................... 171
4.1.2
Phn loi phng php nhn d n g ..............................................172
4.1.3
nh gi v kim chng m h n h ................................................ 174
Cc phng php da trn p ng qu ..............................................175
4.2.1
M hnh qun tnh bc nht c t r ..............................................177
4.2.2
M hnh qun tnh bc hai c t r ................................................ 184

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

Khi nim tnh n n h .................................................................... 345

T nh n nh ni ca h iu khin phn h i ............................350

7.2.3

Tiu chun N y q u ist........................................................................... 356

7.2.4
7.2.5

Tiu chun B o e ................................................................................ 362

d tr n n h ..............................................................................363

7.2.6

T nh n nh c..............................................................................366

C ht lng iu khin phn h i............................ 4................................... 367

7.3.1
nh gi cht lng trn min thi g i a n .................................... 367
7.3.2
nh gi cht lng trn min tn s ..........................................371
7.3.3
P h n tch cht lng iu khin t n g .......................................... 380
Ghi ch v ti liu tham k h o ........................................................................ 384
Cu hi v bi t p ............................................................................................. 385

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

La chn lut iu k h i n ............................................................... 399

Cc phng php da trn c tnh p ng.............................................. 402

8.2.1
Phng php da trn p ng bc t h a n g ............................... 402
8.2.2
Phng php da trn c tnh dao ng ti h n ..................403
8.2.3
Phng php t chnh phn hi r-le......................................... 405
8.2.4
Phng php ca Tyreus v L u y b e n ......................................... .406
Cc phng php da trn m hnh m u .................................................. 410
8.3.1
8.3.2
8.3.3

Phng php H a a lm a n ..................................................................... 410

Phng php tng hp trc ti p ................................................... .411
Phng php tng hp trc tip u tin khng n h i u ......... 413

8.3.4
8.3.5

Phng php I M C ..............................................................................416

Phng php IMC cho qu trnh khng n n h ......................421

8.3.6 Phng php xp x c tnh t n ................................................ .426

Cc phng php nn c tnh t n ...............................................................430

8.5

8.6
8.7

8.4.1 Phng php ti u i x n g .............................................................. 430

8.4.2 Phng php kappa-tau1..................................................................432
8.4.3 Phng php da trn ct r b i n -p h a ......................................... 433
iu khin PID kt hp b t r ..................................................................... 437
8.5.1
B d bo S m i t h ......................................................................... 437
8.5.2
B diu khin PI (l b o ...................................................................439
Ghi ch v ti liu tham k h o ....................................................................... 441
Cu hi v bi t p ............................................................................................ 445

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

Gii thiu c h u n g ................................................................................................447

9.1.1 Cu trc iu khin l g ? .................................................................447
9.1.2 C s thit k cu trc diu k hin....................................................452

9/2

La chn bin qu tr n h ...................................................................................453

9.2.1
Mt s ch dn la c h n ...................................................................454

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

9.2.2 P hn tch gi tr suy b i n ................................................................. 457

iu khin a b i n /t p t r u n g ........................................................................460
iu khin n bin/phi tp t r u n g .............................................................. 462
9.4.1
Cp i cc bin v o -ra ....................................................................464
9.4.2 Tnh n nh ca h (liukhin phi tp tr u n g ............................ 466
Ghi ch v ti liu t.luim k h o ...................................................................... 467
A
Tm
T m
T m
B

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 hun vector v chun m a t r n .................................................................... 477

Chun tn hiu v chun h th n g ............................................................... 480
Php phn tch gi tr suy bin ( S V D ) .......................................................483
M a trn khuch i tng i (R G A )......................................................... 486

C hng 1

M DU

Mc ch ca chng rri u ny l cung cp cho ngi c ci nhn s lc

v bn cht v mc ch ca iu khin qu trnh, tng quan v cc chc nng
v thnh phn c bn ca mt h thng iu khin qu trnh v cc nhim v
t ra cho ngi k s.

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

Qu trnh c nh ngha l mt trnh t cc din bin vt l, ha hc hoc

sinh hc, trong vt cht, nng lng hoc thng tin c hin i, vn chuyn
hoc lu tr (IEC60050-351 [1], ANSI/ISA 88.01 [2], DIN 19222 [4]). Qu trnh
cng ngh l nhng qu trnh lin quan ti bin di, vn chuyn hoc lu tr vt
cht v nng lng, nm trong mt dy chuyn cng ngh hoc mt nh my sn
xut nng lng. Mt qu trnh cng ngh c th ch n gin nh qu trnh cp
liu, trao i nhit, pha ch hn hp, nhng cng c th phc t p hn n h mt
t hp l phn ng-thp chng luyn hoc mt t hp l hi-turbin. Qu trnh
k thut l m t qu trnh vi cc i lng k th u t c o hoc/v c: can
thip. Khi ni ti mt qu trnh k thut, ta hiu l qu trnh cng ngh cng
vi cc phng tin k th u t nh thit b o v thit b chp hnh. S phn bit
gia hai khi nim qu trnh k th u t v qu trn h cng ngh y khng
phi l vn t ng, m ch nhm mc ch thun tin cho cc ni dung trnh
by sau ny. T nay v sau, nu khng Iihn mnh th kli nim qu tr n h c
th c hiu l qu trnh cng ngh hoc q u trnh k t h u t ty theo ng
cnh s dng.
T rng thi hot ng v din bin ca mt qu trnh th hin qua cc bin
qu trinh. Khi nim qu trnh cng vi s phn loi cc bin qu trn h c
minh ha trn Hnh 1-2. Mt bin vo l m t di lng hoc m t diu kin phn
nh tc ng t bn ngoi vo qu trnh, v d lu lng dng nguyn liu, nhit
hi nc cp nhit, trng thi ng/m ca r-le si t,... Mt bin ra l
mt i lng hoc mt diu kin th hin tc ng cua qu trn h ra bn Iigoi,
v d nng hoc lu lng sn phm ra, nng kh thi mc bnh thng
hay qu cao,... Nhn t quan im ca l thuyt h thng, cc bin vo th hin

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 trng thi

______]I_____
Bin khng cn
diu khin
H nh 1-2:

Bin ra
_J L_

Dti cn diu
khin

Bin khng cn
iu khin

Qu THNH V PHN LOI BIEN qu

trnh

nguyn nhn trong khi cc bin ra th hin kt qu (quan h nhn-qu). Bn

cnh cc bin vo ra, nhiu khi ta cng quan tm ti cc bin trng thi. Cc
bin trn g thi mang thng tin v trng thi bn trong qu trnh, v d nhit
l, p su t hi hoc mc cht lng, hoc cng c th l dn xut t cc i
lng c trng khc, v d nh (tc ) bin thin nhit , ]) sut hoc mc.
T rong nhiu trng hp, mt bin trng thi cng c th c coi l mt bin
ra. V d, mc nc trong mt bnh cha va c th coi l m t bin trng thi,
va c th coi l m t bin ra.
Mt cch tng qut, nhim v ca h thng iu khin qu trinh l can thip
cc bin vo ca qu trnh mt cch hp l cc bin ra ca n tha mn cc
ch tiu cho trc, ng thi gim thiu nh hng xu ca qu trinh k thut
i vi COI1 ngi v mi trng xung quanh. Hn na, cc din bin ca qu
trnh cng nh cc th am s, trng thi hot (lng ca cc thnh phn trong h
thng cn c theo di v gim st cht ch. T uy nhin, trong mt qu trnh
cng ngh th khng phi bin vo no cng c th can thip c v khng phi
bin ra no cng cn phi iu khin.
B in cn iu khin (controlled variable, CVJ l m t bin ra hoc mt bin
trng thi ca qu trnh c iu khin, iu chnh sao cho gn vi mt gi tr
mong mun hay gi tr t (set point, SP) hoc bm theo m t bin ch o /tn
hiu m u (com m and variable/reference signal). Cc bin cn iu khin lin quan
h trng ti s vn hnh n nh, an ton ca h thng hoc cht lng sn
phm. Nhit , mc, lu lng, p sut v nng l nhng bin cn iu
khin tiu biu nht trong cc h thng iu khin qu trnh. Cc bin ra hoc
bin trng thi cn li ca qu trnh c th c o, ghi chp hoc hin th.

C hng 1

M U

B in iu khin (manipulated variable, M V) l m t bin vo ca. qu trnh c

th can thip trc tip t bn ngoi, qua tc ng ti bin ra theo mun.
Trong iu khin qu trnh th lu lng l bin iu khin tiu biu nht.
Nhng bin vo cn li khng can thip c m t cch trc tip hay gin tip
trong phm vi qu trnh ang quan t m c coi l nhiu. Nhiu tc dng ti
qu trnh mt cch khng mong mun, v th cn c bin php nhm loi b
hoc t nht l gim thiu nh hng ca n. C th phn bit hai loi nhiu c
c trng khc hn nhau l nhiu qu trnh ( disturbance) v nhiu o (noise).
Nhiu qu trnh l nhng bin vo tc ng ln qu trnh k th u t mt cch c
hu nhng khng can thip c, v d trng lng hng cn nng, lu lng
cht lng ra, thnh phn nhin liu, v.v... Cn nhiu o hay nhiu tp l nhiu
tc ng ln php o, gy ra sai s trong gi tr o c.
Lu rng, cn phn bit rch ri gia cc u v o /r a cng ngh v u
v o /ra nhn t l thuyt h thng. Nhn t pha cng ngh th cc du vo v
u ra ca m t qu trnh c th l nng lng hoc vt cht, nhng t quan
im h thng t a ch quan tm ti thng tin th hin qua cc bin qu trnh.
Hnh 1-3 minh ha mt bnh cha cht lng dn gin cng vi cc bin c
trng. y l mt qu trnh cng ngh, trong cht lng c vn chuyn v
lu tr. Mc d cht lng chy vo v ra khi bnh, nhng c lu lng vo v
lu lng ra u c coi l cc bin vo, trong khi mc cht lng /i va c th
coi l m t bin trng thi hoc l mt bin ra ca qu trnh. Bi ton iu khin
t ra l thng q u a iu chnh m van cp, thay i lu lng vo Fi mt
cch hp l duy tr mc trong bnh h n nh ti m t gi tr mong mun,
khng ph thuc vo lu lng ra F0. C th d dng thy, mc cht lng li l
bin cn iu khin v lu lng vo Fi l bin iu khin. T rong khi , lu
lng ra F0 ph thuc vo nhu cu s dng ca qu trnh tip theo, khng th
can thip c y, v vy c coi l nhiu qu trnh hay nhiu t i

Bin v------ Nhiu F0

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?

Cc bin qu trnh c th o c hoc khng o c. Trong a s cc

trng hp, bin cn iu khin cng l mt i lng o c. T uy nhin nu
php o m t i lng qu chm, qu thiu chnh xc hoc qu tn km, n c
th c quan st, tnh ton hoc iu khin gin tip thng qua m t i lng
khc thay v o hoc iu khin trc tip. V th, mt bin cn iu khin trong
m t s trng hp cha chc s l mt bin c iu khin. V d, i vi cc
th p chng luyn th bin cn iu khin l thnh phn sn phm ra. T uy nhin,
php o thnh phn ha cht thng rt chm v km chnh xc, hn na nh
hng ca nhiu c phn nh rt chm trong thay i th n h phn sn phm
ra. Thc t, ngi ta c th chn bin c iu khin l nhit nh thp
cng nh nhit y thp, vi l do thnh phn sn phm c quan h cht ch
vi nhit , gi tr nhit d o hn v phn nh nhanh hn nh hng ca
nhiu.
T rong nhiu bi ton, vic nhn bit cc bin qu trnh cng nh la chn
cc bin c iu khin v cc bin iu khin khng phi bao gi cng d
dng. y l m t trong nhng nhim v quan trng trong qu trnh thit k h
thng iu khin m ta s bn k hn trong cc chng sau.

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

Trong mt qu trnh ri rc, cc i lng c trng ch thay i gi tr ti

mt s thi im n h t nh v ch c th ly gi tr ri rc trong m t t p hu
hn cho trc, to nn trng thi ri rc ca qu trnh. Cng v vy, cc i
lng c trng ca mt qu trnh ri rc thng c biu din bng cc bin
s nguyn, trng hp c bifr l cc bin k t (cho cc s kin) hoc bin
logic (cho cc trng thi logic). Q u trnh ng bao, ng chai, qu trnh phc
v, qu trnh ch to, qu trnh lp rp l cc v d qu trnh ri rc tiu biu.
Mt qu trn h m l m t qu trnh hn hp {h la hybrid system ), c c
trng ca c qu trnh lin tc v qu trnh ri rc. Q u trnh m hot ng
theo mt qy trnh thao tc ( cng thc, recipe) cho trc v tn ti trong m t
khong thi gian ngn hu hn tng ng vi mt m. Cc i lng c trng
ca mt qu trnh m bao gm c cc bin tng t v bin ri rc. c bit,
yu t thi gian v yu t s kin ng mt vai tr quan trng trong m t qu
trnh m. Cc qu trinh phn ng ha hc, qu trnh pha ch, qu trnh ln men
(bia, ru) l nhng v d tiu biu cho qu trnh m.
Q u trnh lin tc v qu trnh m l c trng ca cc ngnh cng nghip
ch bin, trong khi qu trnh ri rc l c trng ca cc ngnh cng nghip ch
to v lp rp. Do vy, trong lnh vc iu khin qu trnh ta quan t m trc
ht ti cc qu trnh lin tc v qu trnh m. T uy nhin, ngay c trong nhng
nh my ch bin cng tn ti mt s qu trinh ri rc, v d qu trn h nhpxut hng, vn chuyn, ng bao, ng chai, khi ng/dng thit b, v.v...

1.1.3

Bi to n iu ch n h v bi to n b m

Nhn t quan im ca l thuyt iu khin, ta c th phn bit gia bi ton

iu chnh (regulation problem) v bi ton bm (trackng problem) hay c ch
servo (servo mechanism ). Nhim v iu chnh l thit lp hoc duy tr u ra
ti m t gi tr t cho trc trong khi c tc ng ca nhiu, trong khi yu cu
ca iu khin bm l u ra bm theo mt tn hiu ch o lin tc thay i
(bit trc hoc khng bit trc). Hnh 1-4 minh ha s phn bit hai bi ton
ny. Trong iu khin qu trnh th bi ton iu chnh chim vai tr ch yu,
bi cc gi tr t thng c nh hoc t thay i trong ch vn hnh bnh
thng. Cc v d tiu biu cho bi ton iu chnh bao gm iu chnh nhit ,
lu lng, p sut, mc v nng . Trong khi , bi ton iu khin bm c
quan tm nhiu hn trong lnh vc iu khin my mc, iu khin chuvn ng.
Tuy nhin, iu khin bm cng c nhng vai tr n h t nh trong cc h thng
iu khin qu trnh, v d trong bi ton khi ng/dng h thng, thay i
ch vn hnh hoc iu khin qu trnh theo m. Mc d c nhng im khc
nhau cn ch trong thit k, hu ht nhng cng c ca l thuyt iu khin
t ng u p dng c cho c hai loi bi ton ny.

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

Lnh vc ng dng iu khin qu trnh l cc ngnh cng nghip ch bin, khai

thc v nng lng. c th thit k cng nh vn hnh t t cc h thng iu
khin qu trnh, trc ht ngi k s iu khin cn hiu r cc vn c th
trong lnh vc ny.
Qui m ng d ng
Hu ht cc dy chuyn cng ngh trong lnh vc iu khin qu trnh c quy
m va v ln, khc vi iu khin my, iu khin chuyn ng hoc iu khin
cc dy chuyn gia cng, lp rp. Qui m y c th c hiu theo hai ngha,
quy m v phm vi chc nng iu khin cn thc hin v quy m v m t t
chc sn xut. Mi n h my ha cht, nh my lc du, nh my xi mng hoc
nh my in u bao gm nhiu khu vc v phn on lin quan ti nhau. V
d, mt n h my nhit in bao gm cc khu vc l hi, khu vc turbin-m y

C hng 1

M u

pht, h thng cp than, h thng x l nc cp v nc thi, tr m phn phi

v bin th,... Trong mi khu vc hoc phn on bao gm nhiu t hp thit b
v qu trnh cng ngh (gi l t hp cng ngh). Mi t hp cng ngh y li
bao gm cc qu trnh nhiu vo-nhiu ra khng d dng iu khin. ng
nhin h thng iu khin cng phi c thit k tng ng vi cu trc ca
nh my, song vic phn chia khu vc mt cch hp l, v iu khin phi hp
cc q u trnh tng tc khng phi l vn n gin, s lng im v o /ra c
th t vi tr m cho ti vi nghn, th m ch ln ti vi chc nghn, t ra cc yu
cu rt cao cho chc nng qun l d liu v vn hnh-gim st. Khong cch
gia cc khu vc sn xut, gia cc cng on trong dy chuyn c th t vi
trm cho ti vi nghn mt, v th vic thit k cu trc h thng phn tn lin
quan ti nhiu yu t k th u t nh kh nng phi hp iu khin, kh nng
gim st vn hnh, tin cy v chi ph u t.
t i n c y v t n h s n s n g
Bn cnh quy m sn x u t ln, cc nh my trong ngnh ha cht hoc nng
lng u c yu cu r t cao v tin cy v tnh sn sng ca h thng iu
khin, bi s ngng tr sn xut trong t gi hoc t ngy c th dn ti thit hi
nghim trng v m t kinh t. Khc vi cc dy chuyn ch to v lp rp, cc
qu trnh cng ngh ch yu c vn hnh lin tc (hoc theo m), bt c mt
s ngng tr no khng nhng lm gim nng sut, m cn c th lm hng cc
trang thit b cng ngh, l cha ni ti cc trng hp s c c th gy ra
hu q u nghim trng ti con ngi v mi trng xung quanh. Do vic m
bo tin cy v tn h sn sng cao l m t trong nhng chc nng quan trng
ca h thng iu khin q u trnh. Yu cu v tin cy cao lm tn g chi ph
u t cho gii php diu khin, mc d vy chi ph ny ch chim m t phn nh
so vi c h thng thit b c-in v th it b cng ngh.
C h c n n g i u k h i n
Nh cp, bi ton iu chnh l chc nng tiu biu v quan trng nht
trong mt h thng iu khin qu trnh. Cc i lng cn quan t m trong mt
qu trnh cng ngh trc ht l cc bin lin tc v tng t (lu lng, p
sut, mc, nhit , th n h phn), t ra cc yu cu c trng cho kh nng
chuyn i v x l tn hiu ca cc thit b o, iu khin v chp hnh. Cc
th u t ton iu chnh lin quan ti cc s thc (du phy ng), v th h vi x
l ca b iu khin cng phi c kh nng thc hin cc th u t ton m t cch
hiu qu. Bn cnh , cc chc nng khc nh iu khin kha lin ng, diu
khin trnh t, thu th p d liu cng cn c ch . Vic thc thi ng thi
nhiu vng iu chnh cng cc chc nng iu khin khc t ra cc yu cu v
kh nng p ng tn h thi gian thc ca h thng. Tuy nhin, p h n ln cc i

1.1

lU KHIN QU TRNH L c;?

lng c tr ng ca qu trnh cng ngh din bin tng i chm nu so vi

cc i lng ca bi ton iu khin chuyn ng trong cc ng dng gia cng
c kh, v th yu cu v tnh nng thi gian thc t ngt ngho hn. Cc phng
php iu khin c p dng y c th khng phi x u t pht t cc l
thuyt tin tin nht, nhng l cc phng php rt tin cy v c kim
chng nhiu trong thc t.
K h n n g v n h n h v i u k h in c a qu trn h
Kh nng vn hnh ca mt qu trnh cng ngh lin quan ti thit k cng
ngh v cc iu kin rng buc lin quan. Gii hn vt l ca cc trang thit b
cng nh nhng quan h ph thuc gia cc i lng l nhng tr ngi khng
nh trong vic thc hin gii php iu khin. c bit, cc qu trnh cng ngh
hin i thng c thit k ti u v m t an ton, tit kim nng lng v chi
ph u t, nhng li gy nhiu kh khn cho vic thit k iu khin. V d, cc
bnh cha nh tit kim c chi ph v gim thiu nguy c r r hoc chy n
nhng li t ra m t bi ton kh cho vic duy tr h thng vn hnh n nh
bi s tng tc m nh gia cc qu trinh k tip nhau. T hc t l ngi k s
thit k iu khin r t kh c th can thip vo vic thay i thit k cng ngh.
Ngay c khi qu trnh cng ngh l mt i tng d iu khin v m t ton
hc, tc l t a hon ton c th a ra cc lut iu khin t cc ch tiu
cht lng m t cch l tng, song cc lut iu khin khng th thc hin
c do cc iu kin rng buc. Mi thit b chp hnh ch c hiu lc trong
mt phm vi lm vic bi s rng buc v mt vt l. c tnh ng hc ca
mi van iu khin, mi ng c hoc my bm cng ch c gii hn, chng
khng th tc ng nhanh ty theo yu cu ca th u t ton iu khin. Bn
cnh , do yu cu v ch vn hnh, mt s bin trng thi cng nh bin
ra cng phi tha m n mt s iu kin rng buc v gi tr v tc bin
thin. iu ny gy ra kh khn lim cho ngi k s iu khin, bi hu ht cc
phng php iu khin hin nay khng a cc iu kin rng buc trc tip
vo trong bi ton th i t k.
M h n h k h n g c h n h x c
Cc phng php iu khin hin i u da trn c s m hnh ton hc ca
i tng. Tuy nhin, vic xy dng i hnh ton hc ca cc qu trnh cng
ngh thng gp r t nhiu kh khn do chng u l cc i tng MIMO, cha
ng nhiu quan h vt l, ha hc hoc sinh hc rt phc tp. c bit, vic
tin hnh thc nghim khng phi d dng do lin quan ti vn hnh h thng
ln v chi ph rt tn km. Do vy, cc m hnh ton hc nu c c th thng
ch l gn ng v b qua rt nhiu yu t ng hc v cc yu t khc.

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

Nhim v ca iu khin qu trnh l m bo iu kin vn hnh an ton, hiu

qu v kinh t cho q u trnh cng ngh. Trc khi tm hiu hoc xy dng mt
h thng iu khin q u trnh, ngi k s phi lm r cc mc ch iu khin
v chc nng h thng cn thc hin nhm t c cc mc ch . Vic t
bi ton v i n xy dng m t gii php iu khin qu trnh bao gi cng bt
u vi vic tin hnh phn tch v c th ha cc mc ch iu khin. Phn
tch mc ch iu khin l c s quan trng cho vic c t cc chc nng cn
thc hin ca h thng iu khin qu trnh.
T on b cc chc nng ca mt h thng iu khin qu trn h c th phn
loi v sp xp nhm phc v nm mc ch c bn sau y:
1. m bo vn h n h h th n g n nh, tr n tru: Gi cho h thng hot ng
n nh ti im lm vic cng nh chuyn ch mt cch trn tru, m
bo cc iu kin theo yu cu ca ch vn hnh, ko di tui th my
mc, vn hnh th u n tin.
2. m bo n ng s u t v c h t lng sn phm : m bo lu lng sn phm
theo k hoch sn x u t v duy tr cc thng s lin quan cht lng sn
phm trong phm vi yu cu.
3. m bo v n h n h h th n g an ton: Gim thiu cc nguy c xy ra s c
cng nh bo v cho con ngi, my mc, thit b v mi trng trong
trng hp xy ra s c.
4. Bo v mi trng: Gim nhim mi trng thng q ua gim nng kh
thi c hi, gim lng nc s dng v nc thi, hn ch lng bi v
khi, gim tiu th nhin liu v nguyn liu.
5. N ng cao hiu q u kinh t: m bo nng sut v cht lng theo yu cu
trong khi gim chi ph nhn cng, nguyn liu v nhicn liu, thch ng nhanh
vi yu cu thay i ca th trng.
phn tch cc mc ch iu khin v lm r cc chc nng iu khin qu
trnh, t a xt v d iu khin thit b khuy trn minh ha trn Hnh 1-5. Hai
dng nguyn liu c th n h phn cht A ln lt l X\ v X2 c a vo thit b
khuy trn, to ra mt sn phm c thnh phn X theo yu cu. Lu lng khi
lng ca cc dng nguyn liu c k hiu l W\ v U)2 , c th iu chnh qua
hai van cp tng ng. Q u trnh pha ch c h tr bi m t h thng khuy
trn gn ng c. Dung dch sn phm c a ti qu trnh tip theo vi lu
lng khi lng w. T h i t b khuy trn c th hot ng theo ch lin tc
hoc theo m, y ta quan tm trc ht ti ch vn hnh lin tc.

1.2

M c CH V CHC NNG Dl KHIN

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

e m bo mt nh my vn hnh n nh v t.rn tru, yu cu trc tin l

tng t hdp cng ngh v tng qu trnh phi vn hnh n nh cng nh s
phi hp gia chng phi nhp nhng, trn tru. Trong l thuyt iu khin t
ng, chng ta c nhng nh ngha cht ch tnh n nh ca mt h thng
v cch xc nh tnh n nh bng cc cng c ton hc v ha. y tnh
n nh s c din gii mt cch thc t, theo cc yu cu vn hnh ca quy
trnh cng ngh.
C th ni, mt q u trnh n nh khi m n c duy tr trng thi xc
lp hay ni cch khc l trng thi cn bng vt cht v nng lng, c Iigha
l trng thi m lng vt cht hoc nng lng tch ly ca n khng thay i.
T rong v d pha ch dung dch, vic m bo h thng vn hnh n nh th
hin vic duy tr mc trong thit b khuy trn cng nh thn h phn sn
phm cc gi tr c nh hoc t nht l nm trong m t khong gii hn cho
php. C hai yu cu ny u xut pht t nguyn l cn bng vt cht ca h
thng trn g thi xc lp. C ngha l, khi h thng vn hnh n nh th lng
sn phm ly ra ng bng tng cc thnh phn u vo, lng mi cu t c
m t trong m t sn phm ng bng tng lng cu t trong nguyn liu.
Trong mt s trng hp khc, cc yu cu v tnh n nh c th xut pht t
cc nguyn l cn bng nng lng, cn bng pha, cn bng phn ng ha hc
hoc cn bng ng lc hc.
T i sao vic vn hnh n nh mt qu trnh li c vai tr quan trng nh
vy? T h nht, vn hnh n nh ng ngha vi trng thi cn bng vt cht
hoc nng lng, dn n m bo cc yu cu v ch lm vic ca cc thit
b cng ngh nh tr n h trn hoc trnh cn bnh cha, tr n h qu p, q u nhit
trong l hi,... T h hai, mt h thng vn hnh n nh, trn tru cng ng

C hng 1

12

ngha vi vic tn hiu iu khin c gi c nh hoc t th ay i. Cng chnh

v vy, cc thit b chp hnh t phi lm vic hn hoc t phi th ay i ch
lm vic hn, tui th my mc, thit b s c ko di. T rong ch vn hnh
n nh v trn tru, cc van iu khin khng phi thay i m mt cch
thng xuyn hoc khng phi thay i mt cch t ngt, cc ng c khng
phi thay i tc m t cch qu nhanh. T h ba, h thng c vn hnh n
nh mi c th n nh nng sut v cht lng sn phm theo yu cu. Hn
na, h thng vn hnh n nh th ngi vn hnh cng t phi can thip v
vic vn hnh h thng tr nn thu n tin v an ton hn.
Trong thc t khng phi mt h lc no cng ch vn hnh bnh
thng, lin tc m cn cc giai on khi ng hoc dng, im lm vic cng
c th thay i do yu cu thay i gi tr t hoc do tc ng ca nhiu v v
th c cc q u trnh q u . V d, nhiu thit b khuy trn c th vn hnh
theo m vi cc sn phm khc nhau, hoc trong khi vn hnh lin tc ngi ta
c th yu cu thay i lu lng hoc nng ca sn phm ra. Bn thn
nhiu qu trnh khng c tnh t cn bng (khng n nh), v th ch mt thay
i nh bin u vo cng c th a qu trnh ti trng thi m t n nh. Bt
k c tnh ng hc ca qu trnh ra sao, gi tr t thay i hoc tc ng ca
nhiu th no, nhim v ca iu khin l nhanh chng a h thng v trng
thi vn hnh n nh, c th ti mt im lm vic mi. cng chnh l mt
nhim v thuc phm vi chc nng iu chnh, chc nng quan trng nht
trong mt h thng iu khin qu trnh.

1.2.2

N n g s u t v c h t lng sn p h m

Trong lnh vc cng ngh ha hc v thc phm, cht lng sn phm hu ht

c th hin trc tip qu a th nh phn ha hc, nng , m t v m t s tnh
cht ha hc hoc vt l khc. Trong khi , nng sut thng c th hin
qua lu lng sn phm. Nhim v m bo cht lng sn phm v Iing sut
cng thuc v chc nng iu chnh.
T nh n nh lin quan nhiu nhng cha quyt nh ti cht lng sn
phm. Yu cu t ra cho bi ton iu chnh y cao hn. e m bo cht
lng sn phm, khng phi l duy tr cc bin qu trnh lin quan n nh ti
mt gi tr b t k, m phi iu chnh sao cho chng nhanh chng tin ti v
nm trong m t phm vi cho trc. Trong v d thit b khuy trn, cht lng
sn phm i hi th n h phn ra khng nhng n nh m cn phi m bo
ng theo m t gi tr t trc, hoc t ra l vi m t sai lch nm trong phm
vi cho php. Nh vy sai lch iu khin, hay ni ng hn, din bin ca sai
lch iu khin theo thi gian l mt trong nhng ch tiu nh gi cht ln
quan trng.

1.2

M c CH V CHC NNG Dlu KHIEN Q

trnh

13

Cn lu rng, cht lng iu khin c vai tr quyt nh ti, nhng khng

ng ngha vi cht lng sn phm. C ht lng iu khin cao th mi c th
ci thin cht lng sn phm, tuy nhin cht lng sn phm cn ph thuc
nhiu yu t khc, v d tnh ton gi tr t. Mt khc, mc ch ca iu
khin khng phi l mang li cht lng sn phm cao nht, m ch cn duy tr
trn mt ngng yu cu no . Tuy nhin, nh ta s thy, cht lng iu
khin t t nht lun lun l iu mong mun.
T rong nhiu qu trnh cng ngh, php o thnh phn ha hc rt phc tp
dn n vic phn tch cht lng sn phm khng phi bao gi cng c th
thc hin c nhanh, th m ch nhiu khi khng th thc hin trc tuyn. Do
, vic iu khin m bo cht lng cht lng khng th d a vo chc nng
iu chnh t ng m phi c tin hnh mt mc cao hn. Chc nng iu
khin cao cp c gi l iu khin cht lng ( qualty control) v phn h
thng thc hin chc nng c gi l h thng iu khin cht lng (quality
control system , QCS). T rn c s theo di cht lng sn phm (trc tuyn hoc
q ua phn tch trong phng th nghim), iu khin cht lng a ra cc quyt
nh iu khin vn hnh (chn ch iu khin, thay i th am s b iu
khin, tnh ton cc gi tr t) m bo cht lng sn phm theo yu cu.
Mt phm tr cc phng php iu khin cht lng da trn l thuyt thng
k c bit ti vi ci tn iu khin thng k (statistical process control, SP).
iu khin thng k s dng cc phng php nh gi thng k xc nh
mi lin quan gia cc bin qu trnh vi cc thng s sn phm (ch yu lin
quan ti cht lng), tm ra cc yu t nh hng tt v xu ti qu trnh iu
khin, t a ra cc bin php can thip thch hp.

1.2.3

V n h n h an to n

Bt. c mt gii php iu khin qu trnh cng nghip no cng phi m bo

vn hnh h thng mt cch an ton v bo v con ngi, cc thit b my
mc v mi trng xung quanh trong cc trng hp xy ra s c. Chnh v tm
quan trng ca vn an ton cho my mc, con ngi v mi trng, chi ph
cho m bo chc nng ny i vi mt s h thng c th vt xa chi ph cho
thc hin cc chc nng iu khin thun ty.
Chc nng iu chnh m bo gi tr cc bin quan trng nh mc, nhit ,
p su t nm trong mt gii hn an ton cho php. Do c th ca mi qu trnh
cng ngh, m t s bin qu trnh c th khng lin quan trc tip ti cht lng
sn phm, nhng cng cn phi c khng ch gi n nh ti gn mt gi
tr thch hp hoc x dch trong mt phm vi nht nh. V d, d cho h thng
ng c khuy trn c th t tc quay rt cao th yu cu an ton ca h
thng cng khng cho php t m t tc cao ty . V th, vic khng ch tc

14

C hng 1

ng c l iu cn thit. Cng nh vy, mc d mc trong bnh khng a n h

hng mt cch quyt nh ti cht lng sn phm c p h a ch th yu cu an
ton cng khng cho php gi tr mc qu cao, hoc qu th p rri ng thi h
thng ng c khuy ang hot ng. Cho nn bi ton iu khin mc y
va m bo nguyn l cn bng vt cht, va m bo an to n h thng.
Trong cc v d khc nh ni hi hoc thit b phn ng th vic iu chnh,
khng ch cc gi tr mc, nhit , p sut l cc bi ton ht sc quan trng.
Chc nng iu chnh ch l mt trong hng lot bin php cn thit bo
m vn hnh an ton cho h thng, c n lu rng, mt h thng thit b t
ng ti tn n ht cng vn c th b li, ngay c khi c c ch d phng thch
hp. V th, con ngi cn phi lin tc theo di din bin ca qu trn h v gim
st trng thi hot ng ca h thng thit b. Chc nng ghi chp (recordiig) ,
hin th (indication) v bo ng (alarrn) gip ngi vn hnh theo di c cc
tnh hung bt thng ca h thng iu khin v ca qu trnh k th u t, q u a
c rihng thao tc can thip thch hp.
T uy nhin, m t ngi vn hnh c trnh cao v giu kinh nghim n m y
cng khng trnh khi mc sai lm. M t khc, trong rt nhiu trng hp ngi
vn hnh khng th p h t hin y hoc pht hin kp thi nguy c s c
cng nh khng th c phng tin can thip nhanh. V vy, mt h thng cng
phi c kh nng ngn cn cc thao tc vn hnh sai cng nh k h nng t
ng p h t hin cc tnh hung nguy him v t ng thc hin cc chc nng
bo v (protection) nh ngt cch ly hoc dng khn cp m khng cn c s
can thip ca con ngi. Vic t ng thc hin cc bin php da vo sch
lc iu khin kha lin ng (interlock control) cng vi cc tra n g thit b an
ton, thit b bo v (cng tc an ton, n t dng khn cp, r-le an ton,...).

1.2.4

B o v m i tr n g

Mt h thng vn hnh an ton, khng xy ra s c cng gp phn bo v

mi trng. Tuy nhin, vn bo v mi trng cn c ch trng hn thng
qua gim nng kh thi c hi, gim lng nc s dng v nc thi, hn
ch lng bi v khi. D thy, mc nhim mi trng ca m t nh my
mt phn lin quan ti cc thit b qu trnh v cng ngh p dng, nhng mt
phn khng nh thuc trch nhim ca h thng iu khin. Vic gim thiu
hoc t nht l duy tr cc i lng lin quan ti nhim mi trng mc cho
php ph thuc vo chc nng iu chnh v chc nng vn hnh. V d,
gim thiu lng c o 2 v bi th an trong kh thi ca l hi t th an , bi ton
iu chnh t ra l duy tr t l gia lng nhin liu (bt than) v khng kh
mt gi tr thch hp t y theo nng oxy trong khng kh v cht lng than.

1.2

M c CH V CHC NNG u KHIN QU TRNH

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

e t c hiu q u kinh t, h thng iu khin qu trnh khng nhng phi

m bo cht lng theo yu cu, m nng sut phi thch ng c vi yu cu
th trng (trong hu ht cc trng hp lin quan ti lu lng sn phm ra)
cng nh tiu hao t nguyn liu v nhin liu. R rng, bi ton t ra l ta
phi cn nhc gia chi ph cho cc tc ng iu khin (nng lng, hao mn
thit b) vi cht lng sn phm. V d, ci thin cht lng iu khin
nhiu khi t a cn cc th u t ton tc ng nhanh. Tuy nhin, tc ng nhanh
thng ng ngha vi vic tn hao nhiu nng lng cho cc c cu chp hnh
(ng c, my bm, van iu khin), ng thi tc ng nhanh cng thng dn
n gim tui th cho cc thit b. Cch gii quyt thng thng l m bo
cht lng mc chp nhn c, trong khi gim thiu chi ph cho cc tc
ng iu khin. M t cch gii quyt khc l xy dng v gii quyt bi ton
iu khin ti u, trong cht lng iu khin v chi ph iu khin c t
chung vi cc trng s khc nhau trong mt hm mc tiu cn cc tiu (iu
khin t i u).
Khng phi bao gi cc mc ch iu khin cng c th d dng ha ng.
Vic nng cao hiu qu kinh t cha chc ha ng vi mc ch bo v mi
trng bi chi ph b sung cho cc h thng lc bi, x l kh thi v nc thi.
Vic nng cao c h t lng sn phm cha chc ng ngha vi nng cao hiu
qu kinh t bi yu cu chi ph vn hnh ln. Nhng nu nng cc cht
c hi trong kh thi hoc nc thi vt qu mt tiu chun cho php th c
kh nng nh m y s b ng ca, hoc nu cht lng sn phm xung thp
di m t ngng tiu chun no th khch hng s khng chp nhn v li
nhun s b st gim nng n. T h t ra, mc ch cui cng ca vic ng dng
iu khin t ng cc qu trnh cng ngh vn l nng cao hiu q u kinh t v
lu di. T hng thng, h thng vn hnh cng gn vi cc iu kin rng buc
th chi ph vn hnh cng nh v li nhun ginh c s l cao nht. Mt trong
nhng vai tr quan trng ca iu khin l lm sao duy tr c cht lng sn

16

C hng 1

M AU

Gii hn rng buc trn

im lm vic
khng kinh t

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

Vic phn tch cc mc ch iu khin phn trn cng lm r c cc

chc nng quan trng ca mt h thng iu khin qu trnh. T heo quan nim
c in, chc nng iu khin qu trnh b hp trong bi ton iu chnh t
ng cho cc qu trnh lin tc, trong bin u ra c duy tr ti m t gi tr
t c nh. c th ca cc dy chuyn cng ngh ny l cc qu trnh bin i
v cht hoc bin i nng lng, chnh v vy iu chnh t ng c vai tr
hng u. Tuy nhin, trong nhiu dy chuyn sn x u t hin i, cc q u trnh
cng ngh din ra lin tc hoc theo m, cc gi tr t c th t thay i hoc
thay i lin tc. Bn cnh , cc yu cu v gim tiu th nng lng, kh

1.3

P h n c a p c h c NNG D h.v KHIN QU TRNH

17

nr.g vn hnh h thng thun tin v an ton cho con ngi, my mc v mi

tr n g cng c t ra cao hn. Mc d iu chnh l chc nng tiu biu nht,
song t c cc mc ch iu khin t ra nh phn tch trn y ta
cr.g cn quan tm ti cc bi ton khc nh iu khin kha lin ng, iu
khin trinh t, vn hnh v gim st, iu khin cht lng, ti u ha qu
trnh...
Cc chc nng iu khin qu trnh c th c phn cp theo nhiu cch
khtc nhau, v d theo thit b thc hin, theo mc t ng ha hoc theo
tnh ch t nhim v. Hnh 1-7 m t mt cch phn cp cc chc nng iu khin
qua. trnh d a theo chun IEC 60050-351 [1] vi cc th u t ng nguyn bn a
ra ,rong bng ch thch bn di. Trong thc t, cc chc nng cng c th c
x} vo mt trong bn nhm chnh da theo tnh cht nhim v l: giao din
qui trn h , iu khin c s, iu khin cao cp v vn hnh-gim s t. Phn
di y s lin r bn nhi chc nng ny.

1.3.1

G iao d in q u tr n h

Cp giao din qu trnh bao gm cc chc nng o lng, chuyn i/ truyn tn

hiu cp trng, hin th, ghi chp gi tr ti ch, ng/ct, truyn ng v bo
v. Nu so snh vi m hnh phn cp t ng ha th giao din qu trnh tng
n vi cp cm bin-chp hnh hoc mt phn ca cp trng. y thc ra
khng l nhng chc nng iu khin, tuy nhin khng th thiu c trong mt
h thng iu khin qu trnh.

1.3.2

iu kh in c s

Theo chun ANSI/ISA 88.01-1995 ([2]), diu khin c s c nh ngha l

iu khin chuyn dng cho thit lp v duy tr mt trng thi c th ca thit
b hoc qu trn h . Chc nng iu khin c s c th do cc b iu khin thc
hin m t cch t ng (iu khin t ng), hoc do ngi vn hnh trc tip
n nhim (iu khin bng tay). Cc chc nng iu khin c s tiu biu trong
mt h thng iu khin qu trnh bao gm iu chnh (regulatory control)y diu
khin ri rc (discrete control) v iu khin trnh t (sequential control).
Cng theo nh ngha trong ANSI/ISA 88.01-1995, chc nng iu chnh c
r.h ngha l nhm duy tr cc bin u ra ca m t qu trnh gn nh c th
v', cc gi tr t tng ng trong diu kin c tc nq nhiu v gi tr t thay
i. T t nhin, iu chnh t ng l chc nng quan trng nht m m t h
thng iu khin qu trnh cn cung cp. iu chnh l bi ton c trng trong
cc lnh vc thuc cng nghip ch bin, song cng l m t bi ton iu khin
ph bin trong cc lnh vc khc. Cng v th, iu chnh l m t ni dung trng
t^i ca l th u y t iu khin t ng.

C hng 1

Vn hnh, gim st

iu khin cao cp
iu khin c s

Giao din qu trnh

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

ch th, bo hiu, ghi chp

can thip, ng ct
mnh lnh

indicating, signalizing, recording

manipulating, switching

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

Bcn cnh iu chnh th iu khin ri rc cng l m t chc nng iu khin

c s khng th thiu c trong mi h thng iu khin q u trnh. Cng theo
nh ngha trong ANSI/ISA 88.01-1995, iu khin ri rc l duy tri cc trng
thi thit b qu trnh ti mt gi tr ch la chn t m t tp cc trng thi n
nh bit trc. iu khin ri rc c s dng ch yu trong hai bi ton:
iu khin thit b v iu khin lin ng. iu khin thit b n l ( device
control) n thun l iu khin khi ng, dng hoc chuyn ch cho cc
thit b qu trnh n l. v d bng ti, ng c, my ng ct. iu khin lin
ng (interlock control) m bo chc nng bo v, an ton cho my mc v con
ngi. V d, ngi t a c th trang b m t s cm bin p h t hin cc trng
hp s c nh qu p, qu nhit, kh c v s dng cc mch logic a ra
cc bo ng cng nh thc hin cc bin php nhm a h thng v trng
thi an ton. T rong i a s trng hp, cc trng thi th hin tnh logic nh
ng/m , chy/dng, v th khi nim iu khin logic cng hay c s dng.
T uy nhin, ngay c bi ton iu chnh cng c th s dng cc th u t ton logic
(v d iu khin hai trng thi, iu khin m), v vy t a khng nn coi iu
khin logic l mt bi ton iu khin, m l mt dng th u t ton iu khin.
iu khin trin h t c nh ngha l m t lp chc nng iu khin qu
trnh cng nghip vi m c ch a qu trnh k thut qua m t trinh t cc trng
thi ring b it. iu khin trnh t c vai tr c bit quan trng trong thc
hin khi ng hoc dng mt nhm thit b hoc c h thng cng nh trong
cc bi ton iu khin theo m. iu khin my git, iu khin qu trnh pha
ch ha cht, iu khin thit b phn ng theo m l cc ng dng tiu biu
khc ca iu khin trn h t.

1.3.3

iu k h i n v n h n h v gim s t

Mt h thng iu khin hin i khng ch clng li mc iu khin t ng,

m cn phi cha cc thnh phn vn hnh v gim st. V d, ngi vn hnh
cn phi c kh nng khi ng h thng, dng h thng, quan st cc i lng
qu trnh cn iu khin v thay i gi tr t cho chng, thay i ch vn
hnh, chnh nh li th a m s cho cc b iu khin... chnh l cc nhim v
thuc v iu khin vn hnh v gim st. Khc vi iu khin t ng, iu
khin vn hnh v gim st c s tham gia, can thip trc tip ca con ngi
thc hin vic vn hnh h thng c hiu qu hn. Cc chc nng iu khin
gim st tiu biu l giao din ngi-my, lu tr d liu, h thng qun l s
kin v bo ng v lp bo co t ng.
Trong cc h thng iu khin gim st th giao din ngi-m y (H um anM achine Interface, HMI) l chc nng quan trng nht. Giao din ngi-my
cung cp cc m n hnh hin th hnh nh chun v h thng v thit b, cc hnh

C hng 1

20

M lou

nh ha t do, lu cng ngh, th thi gian thc v th q u kh, cc

tham s iu khin, tnh trng cc ng c, cc bng tm t t bo ng. Giao
din ngi-my h tr thao tc vn hnh thng qua cc phng tin c h u n nh
phm iu khin, chut, mn hnh tip xc. Gi tr ca cc bin qu trn h cng
nh cc bin trn g thi my mc c lin tc thu thp, lu tr v qun l trong
mt h thng c s d liu. Trong mt s ng dng, cc d liu vn h n h cng
c lin tc lu tr tin theo di v sau. H thng c s d liu q u tr n h l
thnh phn trung tm ca phn mm iu khin gim st.
Cc s kin hoc bo ng c th c to ra di cp iu khin hoc bi
chnh phn mm iu khin gim st, sau c phn mm iu khin gim
st qun l v thng bo ti ngi vn hnh qua nhiu hnh thc khc nhau
(hp thoi thng bo b t thng, bng tm tt, ci bo ng,...). H th n g phn
mm m bo cc thng bo c mc u tin cao c x l trc, cng nh m t
thng bo s kin hoc bo ng phi c gi ti tr m vn hnh, ngi vn
hnh c chc nng quy nh.
Din bin ca q u trnh k th u t cng nh tnh trn g h ot n g ca h
thng iu khin khng nhng c gim st v lu tr di dng d liu, m
cn cn c tng hp v lu tr di dng bo co. Cc bo co c th c
to ra v in m t cch t ng theo gi, theo ngy, theo tu n hoc th n g trn c
s cc biu mu lp sn.

1.3.4

u k h in cao cp

Chc nng iu khin cao cp c hiu l m t chc nng iu khin t ng

nhng nm pha trn iu khin c s, khng lm vic trc tip vi cc tn hiu
v o /ra qu trnh. Chc nng iu khin cao cp c th t ng to gi tr t
hoc can thip vo cc tham s iu khin c s. T hng thng, chc n n g iu
khin cao cp c t pha trn hoc cng cp vi vn hnh v gim st. Mt
h thng iu khin qu trnh c th cung cp cc chc nng iu khin cao cp
nh iu khin cng thc v qun l m, iu khin chuyn gia, iu khin cht
lng v ti u ha thi gian thc.

1.4

C c t h n h p h n c b n c a h t h n g

T y theo quy m ng dng v mc t ng ha, cc h thng iu khin qu

trnh cng nghip c th n gin n tng i phc tp, nhng chng u da
trn ba th n h phn c bn l thit b o, thit b chp hnh v th i t b iu
khin. Chc nng ca mi th n h phn h thng v quan h ca chng c th
hin mt cch trc quan vi s khi trn Hnh 1-8.

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:

Set Point (SP), Set Value (SV)

Control Signal, Controller Output (CO)
Control Variable, Manipulated Variable (MV)
Controlled Variable (CV)
Measured Variable, Process Value (PV)
Measured Signal, Process Measurement (PM)

CC THNH PHN c BN CA MT H THNG lu

KHIEN

qu

trnh

th y mt cch s lc chc nng ca tng th n h phn trong h thng v

quan h gia chng, trc ht ta xt m t v d iu khin nhit minh ha
trn Hnh 1-9. Nhit cht lng ra khi bnh ( T) c o bng cm bin cp
nhit, tn hiu in p ra c mt b chuyn i o chun ( transm itter) chuyn
sang tn hiu chun dng 4-20mA v a ti b iu khin DCS (Distributed
Control System ). DOS l gii php iu khin s tch hp c cu trc phn tn
c s dng r t rng ri trong cc h thng iu khin qu trnh. Tn hiu o
tng t 4-20mA trc ht phi c chuyn i sang dng s (khu bin i
A /D ) trc khi c x l tip trong my tnh s. Gi tr nhit mong mun
(Tsp) c ngi vn hnh t t trm vn hnh, hoc do m t chng trnh
iu khin cao cp trn trm vn hnh tnh ton v a xung. Q ua so snh
gia gi tr o vi gi tr t mong mun, chng trnh iu khin tnh ton gi
tr bin iu khin theo mt th u t ton c ci t. V d vi th u t ton t
l, gi tr bin iu khin s t l thun vi sai lch. Gi tr ny c khu bin
i s-tng t (khu D /A ) chuyn thnh tn hiu iu khin theo chun dng
4-20mA a xung van iu khin (thit b chp hnh). Cui cng, tn hiu
iu khin c chuyn i qua khu I / P thnh dng tn hiu kh nn 0.2-lbar
thay i m van cp dng nng. Lu lng dng nng F\ c thay i v
thng qua iu chnh nhit ra T ti gi tr t Tsp.
V d minh ha trn y da trn cu trc ghp ni truyn thng vi cc tn
hiu tng t v vo-ra t p trung. T rong thc t ngi t a c th s dng cc
cu trc ghp ni khc nh v o r a phn tn v s dng cng ngh bus trng.
Khi quan h lin kt gia cc thnh phn trong h thng c th khc mt
cht v m t hnh thc, nhng bn cht trao i thng tin khng c g khc bit.

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

Chc nng ca m t thit b o l cung cp mt tn hiu ra t l theo mt ngha

no vi i lng do. Mt thit b o gm hai th n h phn c bn l cm bin
(sensor) v chuyn i o ( transducer). Mt cm bin thc hin chc nng t
ng cm nhn i lng quan tm ca qu trnh k th u t v bin i thnh
mt tn hiu. c th truyn xa v s dng c trong thit b iu khin hoc
dng c ch bo, tn hiu ra t cm bin cn c khuch i, iu ha v
chuyn i sang m t dng thch hp. Mt b chuyn i o chun ( transm itter)
l mt b chuyn i o m cho u ra l mt tn hiu chun (v d 1-10V, 020mA, 4-20mA, RS-485, tn hiu bus trng,...). Trong cc h thng iu khin
qu trnh truyn thng th tn hiu 4-20mA l thng dng nht, song xu hng
gn y cho thy vic ng dng cng ngh bus trng ngy cng chim u th.
Lu rng cc th u t ng tra n s m itte r hoc transducer' i khi cng c dng
ch c thit b o, tc l trong bao gm c sensor.

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

T h it b diu khin ( control equpment, controller) hay b iu khin ( controller)

l m t thit b t ng thc hin chc nng iu khin, l th n h phn ct li ca
m t h thng iu khin cng nghip. Mc d cc th u t ng thit b iu khin
v b iu khin trong thc t c s dng vi ngha tng ng, y ta
cng cn lm r s khc bit nh. Ty theo ng cnh, m t b iu khin c th
c hiu l m t thit b iu khin n l (v d b iu khin nhit ), mt
khi p hn mm ci t trong thit b iu khin chia s (v d khi PID trong
mt tr m P L C /D C S ) hoc c mt thit b iu khin chia s (v d mt trm
P L C /D C S ). Trong phm vi cun sch ny, khi ni v gii php h thng th
th it b iu khin v b iu khin c hiu vi ngha tng ng, cn khi
cp ti cc vn thuc sch lc iu khin hay th u t ton iu khin t a s
ch s dng b iu khin.
T rn c s cc tn hiu o v mt cu trc iu k h i n /s ch lc iu khin
c la chn, b iu khin thc hin thut ton iu khin v a ra cc tn
hiu iu khin can thip tr li qu trnh k th u t thng qua cc thit b
chp hnh. T y theo dng tn hiu vo ra v phng php th hin lut iu
khin, m t th it b iu khin c th c xp loi l th it b iu khin tng
t (analog controller), thit b iu khin logic (logic controller) hoc thit b
iu khin s ( digital controller). Cc thit b iu chnh c, kh nn hoc in
t c xp vo loi tng t. Mt mch logic r-le (c-in hoc in t) l
m t thit b iu khin logic theo ng ngha ca n. Mt thit b iu khin s
c xy dng frn nn tng my tnh s, c th thay th chc nng ca mt
thit b iu khin tng t hoc mt thit b iu khin logic. Mt thit b iu
khin s c th chp nhn cc u v o /ra l tn hiu s hoc tn hiu tng t
v tch hp cc th n h phn chuyn i tng t-s nh cn thit, tuy nhin
th u t ton iu khin bao gi cng c thc lin bng my tn h s. Mt thit
b iu khin s khng nhng cho cht lng v tin cy cao hn, m cn c
th m nhim nhiu chc nng iu khin, tnh ton v hin th cng m t lc.
C th ni rng, t t c cc gii php iu khin hin i (PLC, DCS, PAS)
u l cc h iu khin s. Mt thit b iu khin s thc cht l mt my
tnh s c tra n g b cc thit b ngoi vi thc hin chc nng iu khin. V
vy khi t a ni ti m y tnh iu khin tc l ch bao hm khi x l trung tm
(CPU), khi ngun (PS) v cc thnh phn tch hp trn bo mch. Cn cc khi
nim thit b iu khin hoc trm iu khin bao hm c my tnh iu khin v
cc th n h phn m rng, k c cc module v o /ra v module chc nng khc.

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

Vic xy dng mt h thng iu khin qu trnh bao gm nhiu bc nh phn

tch, thit k, lp trnh, chnh nh v a vo vn hnh, t a gi chung l cc
nhim v pht trin h thng. Cc nhim v chnh ca ngi k s trong pht
trin h thng iu khin q u trnh c minh ha trn Hnh 1-10 (da trn
[11])-

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

khin cn c c th ha thng qua cc ch tiu cht lng, v d sai s iu

khin cho php, thi gian qu , mc dao ng... Bn cnh , cc iu kin
vn hnh nh im lm vic, cc iu kin bin, cc ch vn hnh v cc yu
cu v an ton h thng cng cn c lm r. Cc biu trnh t cng c
s dng biu din cc yu cu v trnh t vn hnh cng ngh.

Cc mc ch iu
khin c bn

1. Phn tch chc

nng h thng

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

Cng ngh phn

mm cn nghip

tin, h tr
cung cy

6. Pht trin phn

mm ng dng

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

Thit k h thng trn c s m hnh l phng php khng th thiu ca ngi

k s. M hnh gip ta hiu r hn v qu trnh cng ngh, gip t a t.ru tng
ha vn v v th n gin ha cch gii quyt. Hn na, m hnh qu trnh
khng ch quan trng di vi cng vic thit k m cn phc v vic m phng
v o to vn hnh. Vic xy ng m hnh cn c gi l m hnh ha. M
hnh ha c th tin hnh nhiu mc v vi nhiu phng php khc nhau.
Trong khun kh ca cun sch ta ch quan tm ti phng php xy dng
m hnh ton hc ca cc qu trnh tiu biu. Da trn cc nh lut v t l v
ha hc c bn hoc da trn cc s liu vn hnh thc nghim, t a tin hnh
xy dng m hnh qu trnh c c cc phng trnh ton hc m t c
tnh ng v tnh ca qu trnh. Vi m hnh ton hc nhn c, t a cn s
dng cc cng c phn tch v m phng tim ra cc tnh cht quan trng ca
qu trnh nh mc tng tc ni, tnh n nh v tnh iu khin c. l
c s cho cc bc thit k cu trc, sch lc v th u t ton iu chnh k tip.
M hnh ha qu trnh l m t trong nhng ni dung quan trng c a cun sch
v c gii thiu trong cc chng 2, 3 v 4.

1.5.3

T h i t k cu tr c iu khin

Sau khi lm r cc chc nng iu khin v hiu r m hnh ton hc ca qu

trnh, bc tip theo l xc nh cu trc iu khin (hay sch luc iu khin).
Thit k cu trc iu khin cha i c th vo th u t ton iu khin, m nhm
mc ch lm r v m t cu trc lin kt gia cc phn t trong h thng. y
l cng vic ht sc quan trng, i hi khng nhng kin thc vng chc v l
thuyt iu khin m c nhiu kinh nghim thc t. v m t cu tr c iu khin,
cn cn nhc la chn gia cu trc tp trung, cu trc phi tp tru n g hoc cc
cu trc hn hp (phn tn, phn cp), n p theo, ta cn la chn cc bin c
iu khin, cc bin iu khin tng ng v cc bin nhiu v lin kt chng vi
nhau da trn cc phn t cu hnh xy dng cc sch lc iu khin c
th, v d sch lc phn hi, b nhiu, t l,... Kt qu ca cng vic thit k
sch lc iu khin c th hin 1*0 nht trn cc lu P& ID chi t i t Kt
qu ca thit k sch lc iu khin lin ng l cc bn v biu logic, trong
khi kt qu ca thit k sch lc iu khin trnh t l cc bn v biu trnh
t. Nhng cng c ton hc v cng c m y tn h trong l thuyt iu khin t
ng gip t a phn tch v nh gi tnh thch hp ca cc sch lc iu khin.
Chng 5 ca cun sch trnh by cc sch lc iu khin c s, p dng trc
ht cho cc qu trnh n bin, v n thit k cu trc iu khin cho cc qu
trnh a bin s c cp trong mt cun sch khc trong tng lai.

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

T hit k th u t ton iu khin hay thit k b iu khin l vic xc nh r

rng cc bc tnh ton v cc cng thc tnh ton c th c th ci t trn
my tn h iu khin. Cng vic thit k b iu khin bao gm hai bc: la
chn kiu b iu khin hay cu trc b iu khin thch hp v xc nh cc
tham s ca b iu khin. Cng vic thit k b iu khin bao gi cng khng
th tch ri bi ton phn tch h thng. c bit y, cc phng php hin
i ca l th u y t iu khin t ng cng cc cng c my tnh c vai tr ht
sc quan trng. Song, c th a mi bi ton thit k c th v dng chun
quen thuc, ngi k s hiu r mi quan h gia b iu khin vi cc thit b
o v th i t b chp hnh cng nh c tnh c bn ca chng. Nhng ni dung
ny s c trn h by trong cc chng 6-8.
Bn cnh th u t ton iu khin cho chc nng iu chnh, t a cng phi c
bit quan t m ti cc th u t ton logic cho iu khin lin ng v iu khin
trnh t. K t qu ca thit k th u t ton iu khin lin ng l cc biu
chc nng logic hoc phng trinh logic, trong khi kt q u ca thit k iu
khin trn h t l cc bn v biu chc nng trinh t chi t i t V khun kh
hn ch, nhng vn ny s khng c cp chi tit hn trong ni dung ca
cun sch.

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

Trong h th n g iu khin qu trnh hin i th phn mm chnh l cht xm,

l phn hn ca h thng. Trn c s thit k iu khin chi tit, cc chuyn vin
phn mm c th bt u vi thit k cc chng trnh iu khin, thit k h
thng c s d liu v thit k giao din ngdi-my. Sau khi la chn gii php
h thng iu khin v gim st, cng vic lp trnh iu khin thi gian thc v
son th o cc mn hnh vn hnh-gim st mi c tin hnh. Cc chng

C hng 1

28

M u

trnh ng d n g c th nghim tng phn trn cu hnh phn cng thc vi

cc i tng m phng v sau c th nghim ghp ni. Khng quan trng
l x u t p h t t k s cng ngh, k s iu khin, k s t ng ha hay k s
phn mm, y nhm chuyn vin phn mm phi nm vng nhng kin thc
nn tng c a cng ngh phn m m cng nghip. Cng ngh phn mm cho cc
h thng iu k h i n -t ng ha cng c th c coi thuc lnh vc cng ngh
h thng iu khin. Bn c quan t m su hn v m ng vn ny c th
th a m kho [37].

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

M t chc nng h thng l mt cng vic khng th thiu c trong thit k,

xy dng v p h t trin m t h thng iu khin qu trnh. Q u a cc ti liu m
t chc nng h thng, cc k s iu khin v cc n h cng ngh c m t ngn
ng chung bn bc, trao i trc khi tin hnh trin khai m t d n. Cng
q u a vic m t h thng, bn th n cc k s iu khin cng xy dng c
cc ti liu k t h u t chi tit cho vic thit k cu hnh phn cng, p h t trin ng
dng iu khin v giao din ngi-my.

1.6.1

C c t i liu m t ha

Cc t i liu m t ha sau y c xem nh quan trng n h t trong mi tp

th i t k h th ng iu khin qu trnh:

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

Lu P&ID c ngha ht sc quan trng trong vic c t cc chc nng v

thit b ca m t h thng iu khin qu trnh, l c s cho vic phn tch v
thit k h thng. Cc biu tng lu P&ID c s dn g tng i thng
nht trn ton th gii, hu ht u da trn hoc ging nhiu nh chun DIN
19227-3 ca c hoc ANSI/ISA S5.1 v S5.3 ca M. Gia chun DIN v chun
A N SI/ISA cng khng c nhiu khc bit, ngoi it s ch ci vit t t v chun
DIN cho php s d n g biu tng hnh oval bn cnh hnh trn.
C hun S5.1 quy nh thng nht cc biu tng cho th it b, cc k hiu cho
chc nng o lng, iu khin v gim st cng cc ng ni c s dng
trong lu P&ID. Chun S5.3 m rng S5.1 cho cc chc nng trong m t h
iu khin phn tn . Thc ra, S5.3 vn gi nguyn tp hp cc biu tng,
nhng m rng v chi tit ha ngha ca mt s biu tng. Ni dung c bn
ca hai chun ny c gii thiu tm tt trong cc ph lc, phn di y ch
a ra m t s v d minh ha.

C hng 1

30

M DU

Ch th (Indication) v iu khin (Control) chnh p

(Differential Pressure), mch vng 103.
Bo ng (Alarm) vt ngng trn {High) nhit
( Temperature), cnh gii qu nhit mch vng 104.
p D I C-103

?
A H-104

Ch ci u: Bin o hoc khi to

Ch ci ph: B sung cho ch u
Cc ch ci sau: Chc nng ch th,
chc nng b ng hoc u ra
_

Ch ci ph sau: B sung ngha

chc nng cho ch ci ng trc n

Hnh 1-11:

in

gii

n gha

nhn

thit

b v k

M s mch vng,
im o
hiu

chc

nng

Mi thit b hoc chc nng ca h thng iu khin c biu din trn lu

thng q u a m t biu tng cng vi k hiu nhn (tag). Mt nhn c th bao
gm phn ch biu din chc nng v phn m s phn bit vng kn (loop).
T rn H nh 1-11 l din gii tm t t ngha cc phn ch v phn s ca nhn
thit b q u a m t vi v d n gin. P hn biu din chc nng bt u bng m t
ch ci k hiu i lng o c hoc mt bin khi to, sau n cc ch ci k
hiu chc nng ch th hoc chc nng b ng. Tip na l cc ch ci th hin

chc nng u ra theo mt th t ty , tr trng hp ch

( Control) phi
ng trc V (Valve). Cc ch ci ph nu c th s dng ngay ng sau m t
ch ci chnh th a y i ngha chc nng, v d PD biu din chnh lch (D.
D ifference) p su t (P, Pressure), TAH biu din mc cnh bo (A, Alarm ) cao
(H, High) ca nhit (T, Temperature). trn h nhm ln, m t ch ci ph
cho ch u khng c s dng biu din chc nng ch th, chc nng b
ng hoc chc n ng u ra. V d, ch ci D khng c s dng biu din
b t c m t chc n ng ch th, chc nng b ng hoc chc nng u ra no.
T rn Hnh 1-12 l lu P&ID n gin cho v d iu khin mc ch t lng
trong bnh cha. K hiu LT trong ng trn biu din chc nng o v truyn
gi tr mc (Level T ransm it), k hiu LIC ch b iu khin v hin th mc. Hai
k hiu LAH (Level A larm High) v LAL (Level A larm Low) nm trong hai
ng trn dnh nh au ch chc nng cnh bo vt ngng trn v ngng di
c thc hin trn cng mt thit b. B iu khin mc nhn c gi tr o,
so snh vi gi tr t (SP), t ng tnh ton v a tn hiu iu chnh van
cp. T n hiu o mc cng c a ti thit b cnh bo. ng c nt gch
cho ch dng tn hiu cha c c t, c th l in, kh nn, th y lc,...

1.6

31

M T CHC NNG H T H NG

Hnh 1-12:

Lu P&ID CHO lu

KHIN MC BNH CHA

Cc lu P&ID trong thc t c th phc tp hoc n gin ty theo yu

cu v mc ch t ra. T hng thng, m t yu cu chc nng t a cn dng
lu n gin n ht vi cc biu tng thit b, khng cn cc ng tn hiu.
e m t cc sch lc iu khin ta cn dng lu chi ti t hn vi cc ng
tn hiu ghp ni gia cc thnh phn chc nng. Nu m c ch t ra l la
chn thit b, p h t trin phn mm, ci t v a vo vn hnh th t a s cn
bn lu chi tit nht.
Hnh 1-13 minh ha mt v d qu trnh trao i nhit. D u l dng q u
trnh cn c lm nng bi hi nc i qua thit b gia nhit trc khi cp cho
cng on tip theo ca qu trnh cng ngh. Nhit ca du ra khi th i t b
gia nhit hi nc cn c duy tr ti mt gi tr t m ong mun. Bn cnh ,
mt s chc nng khc nh hin th, ghi chp v cnh bo cng c c t trn
lu . T rong khi lu n gin ha pha di dng cho c t chc nng h
thng, lu chi tit pha trn l c s cho thit k h thng v p h t trin phn
nim. Da vo lu c t chi tit cng vic la chn v lp t th i t b cng
nh p ht trin phn mm iu khin c th thc hin d dng hn. Cc chc
nng h thng v chi ti t thc hin c t trn Hnh 1-13 bao gm:
o v ghi li lu lng du, s dng mt thit b o lu lng (FT -1), m t
b bin i kh nn-kh nn (FY-1) v m t my ghi (FR-1).
o v ghi li gi tr p sut du u vo, s dng m t th i t b o p su t
(PT-2) v m t my ghi (PR-2).
iu khin v ghi li nhit du ra khi thit b thng q u a iu chnh dng
hi nng (TRC-3), s dng gi tr o t cm bin nhit in tr (R T D ).
Cnh gii trng hp nhit du ra qu thp, s d n g cm bin chuyn
mch (TSL-3) v c ch bo ng (TAL-3).

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

Hu ht cc gii thch khi nim a ra trong chng ny u da trn c s

nh ngha trong m t s chun quc t ([2]-[4]) v cc tc phm kinh in ([10][31]). Nhng phi ni rng, ngay c gia cc chun ca cng mt t chc a ra
cng cha c m t s thng nht trong quan nim v iu khin q u trnh . Gia
cc k s iu khin v k s cng ngh cng c s khc bit kh nhiu trong
cch s dng khi nim, ten gi v k hiu bin q u trnh. Trong p hm vi cun
sch ny, tc gi c gng tm ra s dung ha gia cc cch s dng khc nhau.

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

Thc t l khi nim iu khin qu trnh* c s ng vi nhng ngha rng

hp khc nhau i cht., tuy nhin ta c th rt ra mt s im chung. Quan
trng hn. qua vic phn tch ny ta s thy r bn cht ca iu khin qu
trnh v phn bit vi cc lnh vc ng dng iu khin khc.
i u c h n h t n g c c q u tr n h c n g n g h
Vi ngha th n h t tng i thng dng trong cc ti liu ging dy, iu khin
qu trnh c hiu l iu khin t ng p ng cho cc qu trnh cng ngh
iu chnh m t s bin ti gi tr mong mun ([30], [31]). Hay ni cch khc,
iu khin qu trnh hu nh hn ch bi ton iu chnh (regulatory control)
cho cc qu trnh cng ngh, khng cp ti iu khin bng tay v cc chc
nng iu khin khc.
Nh vy, khi nim iu khin qu trnh y c phn bit vi cc bi
ton iu khin c nhng c th khc hn trong t ng ha x nghip (factory
autom ation) nh iu khin cc qu trnh gia cng, lp rp (manufacturing
control), iu khin chuyn ng (m otion control) v iu khin'cng lu (work
flow control). Cc n h my thuc cc lnh vc cng nghip khai thc, ch bin v
nng lng u c quy m sn xut ln v th trng sn phm rt rng, cht
lng sn phm v hiu qu sn xut ph thuc rt nhiu vo mc t ng
ha, chnh v vy iu khin qu trnh ng vai tr ht sc quan trng.
n h n g h a th e o ch u n A N S I /I S A -S 5 1 .1
Theo nh ngha trong ANSI/ISA-S51.1 ([3]), diu khin qu trnh l iu chnh
hoc can thip m t cch c hiu qxt cc i lng tc ng ti din bin ca m t
qu trnh nhm t c m.t sn phm vi cht lng v s lng mong mun.
C the din gii nh ngha ny thanh cc nh sau:
iu khin q u trnh lun gn vi cc qu trnh k thut gn vi vic to ra
cc sn p h m cng nghip hay ni cch khc l gn vi cc qu trnh cng
ngh hoc q u trnh sn xut.
iu khin q u trnh khng phi l mt phng php iu khin, m l mt
phm tr cc bi ton iu chnh (t ng hoc bng tay) cng nh can
th i p (trc tip hoc gin tip, lin tc hoc tng bc) ti cc bin c
trng ca m t q u trnh k thut.
iu khin q u trnh bao gm nhiu bin php tng hp t c cc ch
tiu mong m un v s lng v cht lng ca sn phm vi m t chi ph
th p nht.

C hng 1

34

Lu rng, mc d nh ngha trn y khng hn ch vo m t d n g qu

trnh no, nhng bn th n t chc ISA cng nh chun A N SI/ISA S51.1 ch
yu ch nh hng vo lnh vc cng nghip ch bin, nn cng c th ni rng
phm vi cp l dng li cc qu trnh lin tc v qu trnh m.
n h n g h a t h e o A N S I / I S A 8 8 .0 1
Theo nh ngha trong ANSI/ISA 88.01-1995 ([2]), iu khin qu trinh l hot
ng iu khin bao gm cc chc nng cn thit cho iu chnh, iu khin trinh
t, iu khin ri rc, thu thp v hin th d liu.
iu chnh (regulatory control), iu khin ri rc ( dscrete control) v iu
khin trnh t (sequential control) c coi l cc chc nng iu khin c s,
trong iu chnh l chc nng tiu biu nht. T u y nhin, khi nim iu
khin qu trnh c hiu y vi ngha tng i rng, khng ch li dng
cc bi ton iu chnh, iu khin ri rc v iu khin trnh t, m cn bao
gm nhiu chc nng khc cp pha di v p ha trn n h th u th p v hin th
d liu. Cng phi ni rng, ANSI/ISA 88.01 thin v cc h thng iu khin
m, song quan im v iu khin qu trnh a ra y l kh hin i v ph
hp vi thc t.
T m li, khi nim iu khin qu trnh c th nh ngha d a theo c th
bi ton, phm vi chc nng v lnh vc ng dng. Sau khi xem xt m t s nh
ngha, t a c th i n mt s im thng nht nh sau:
iu khin q u trnh c ngm hiu l iu khin cc q u trn h cng ngh,
tiu biu trong lnh vc cng nghip ch bin (bao gm cc ngnh thuc cng
ngh ha, dc phm v nng lng).
iu khin qu trnh khc vi iu khin my ch i tng iu khin
y l qu trnh cng ngh, khng phi mt thit b, m y mc.
iu chnh l chc nng tiu biu v quan trng n h t ca iu khin qu
trnh, song m t h thng iu khin qu trnh c th bao gm cc chc nng
khc nh iu khin ri rc, iu khin trnh t, th u th p d liu v hin th.
Ti y t a khng th khng t ra cu hi v s p h n bit gia iu khin
qu trnh v t ng ha qu trinh. Mc d trong thc t hai khi nim ny
nhiu khi c s dng vi ngha tng t, chng c nhng im khc bit nh
sau [35]:
T ng ha qu trnh cp ti ton b cc gii p h p t ng h a cho m t
dy chuyn cng ngh c th, trong khi iu khin q u trn h ch cp ti
cc nguyn l v gii php iu khin c bn chung cho nhiu dy chuyn
cng ngh khc nhau.

1.7

Ghi

ch

v t i

liu th a m

kho

35

T ng ha qu trnh l mt lnh vc ng dng ca t ng ha, phn bit

vi t ng ha x nghip, t ng ha t a nh v t ng ha vn phng.
T ng ha qu trnh lun gn vi mt cng ngh c th (t ng ha qu
trnh sn xut xi mng, t ng ha qu trnh dng bao, t ng ha qu
trnh cn thp,...) T rong khi , iu khin qu trnh l mt ni dung khoa
hc v k th u t c s, c xy dng trn nn tn g phng php lun ca l
th u y t iu khin t ng, kt hp vi ng dng cng ngh thng tin cng
nghip v nhng nguyn l c bn ca cc qu trnh v t cht cng nh nng
lng.
Cng phi ni rng, s phn bit nh trn l m t vn thuc v quan im v
ch m ang tnh tng i, bi n nay cha c mt ti liu chun no a ra mt
nh ngha chnh xc cho khi nim t ng ha qu tr n h cng nh phm vi
ni dung ca n. Trong nhiu trng hp, khi nim h thng t ng ha qu
tr n h c dng vi ngha tng ng nh lh thng iu khin qu trn h .

1.7.2

t i liu th a m kho

Khi nim iu khin qu trnh c xut x t ngnh cng ngh ha v khng c

g ngc nhin nu hu ht nhng tc phm kinh in v iu khin q u trnh l
c a cc tc gi t cc ngnh cng ngh. Trong hon cnh hin nay, vic c trong
tay m t ti liu chun, y v cc biu tng lu nh [2]-[9] khng phi
bao gi cng d dng. Tuy nhin, bn c c th tham kho cc ti liu trn
Internet ca m t s t p ch trc tuyn hoc ca mt s cng ty hot ng trong
lnh vc t ng ha. P h n ph lc ca cun sch ny cng tm t t ni dung
m t s chun quan trng tin cho bn c tra cu.
Mt trong cc tc phm s v bao trm n h t v cc gii php h thng
iu khin q u trnh l ca Liptak ([10]), mc d ni dung cn thiu s cp nht
thch hp vi cc m t s nguyn l v phng php iu khin hin i, cng
nh do tnh cht l m t s tr a cu do nhiu tc gi bin son nn ni dung cc
phn t c s gn kt. T c phn) ca Seborg v cng s [11] c l c coi l mt
trong nhng ti liu t t nht v c m t ni dung v tnh s phm trong phng
php trnh by, ph hp cho c k s ngnh in v cc ngnh cng ngh.
Ring i vi k s cc ngnh cng ngh c trang b khng su v l thuyt
iu khin th c l tc phm ca Smith v Corripio [12] ph hp hn. Vi xp
x mt nghn tran g sch trong [13], Marlin cng tng hp m t ni dung kin
thc tng i bao q u t v nhng vn c bn ca iu khin qu trnh. Mt
trong nhng tc phm kinh in v c trch dn nhiu n ht l ca Shinskey
[14], trong tc gi th hin quan im thin v phng php phn tc h /th i t
k trn min thi gian v da trn kinh nghim thc t. Cng trong tc phm
ny, m t s vn ng dng tiu biu cng c a ra phn tch di con m t

C hng 1

36

M U

ca mt chuyn gia. Nhng vn c s l thu yt quan trng cng nh kinh

nghim thc t qu bu cho iu khin qu trn h cng c th th a m kho trong
hai tc phm ca Luybens [15][16]. Ngoi cc ti liu trn, cc bi ton iu
khin qu trnh tiu biu cng c Corripio trnh by m t cch rt d hiu
trong [17].
V l thuy t c bn cng nh nng cao cho cc h tuyn tnh a bin, ben
cnh nhng tc phm quen thuc nh [18]-[26] thi cun sch ca Skogestad v
Postlethw aite [27] l m t trong nhng cun sch vi tr n g t m ng dng l cc
h thng iu khin qu trnh c nh gi r t cao. Bn cnh , hai tc phm
ca Phc [28],[29] l nhng ti liu ting Vit r t t t v nhng kin thc nn
tng cho iu khin tuyn tnh.
V cng ngh h thng iu khin, bn c c th th a m kho [30] hoc [31].
Bn cnh m t s ni dung khc thi cc khi nim c bn cng nh s phn bit
gia iu khin qu trnh v cc dng iu khin khc c trin h by r t r rng
v d hiu trong cun sch ca Bateson ([31]).
Cc ti liu ting c ([32]-[36]) l nhng ngun th n g tin ng tin cy v
nhiu vn thuc lnh vc t ng ha q u trnh cng nh k th u t h thng
iu khin qu trnh. Cc khi nim c nh ngha trong cng r t cht ch
da trn cc chun ca DIN, tuy nhin vic chuyn dch sang ngn ng khc
khng phi bao gi cng l iu d dng. V d s p h n bit kh rch ri gia
cc khi nim Regeln (iu chnh), Steuern (iu khin), Schalten ( n g /n g t) v
Leiten (dn, ch o, iu hnh) cng nh P rozeleittechnik/P rozefhrung kh
c th c mt s tng ng hon ton trong ting Vit cng n h trong ting
Anh.
T i li u v c h u n
[1]

IEC

60050-351:

International

electrotechnical vocabulary

A utom atic

C ontrol International Electrotechnical Commission, 1998.

[2]

AN SI/ISA 88.01: Batch Control System s: Models and Terminology.

American National Standard In s titu te /In s tru m e n t Society of America,
1995.

[3]

ANSI/ISA-51.1: Process Instrum entation Terminology. In stru m en t Society

of America, 1979 (Duyt li: 1993).

[4]

DIN 19222: Leitechnik/Begriffe. 1985.

[5]

ISA S5.1: Instrum entation Symbols and Identification. In stru m en t Society

of America, 1984 (Duyt li 1992).

[6]

ISA S5.2: B inary Logic Diagrams fo r Process Operations. Instrum ent

Society of America, 1976 (Duyt li 1992).

37

1.7

Ghi c h

[7]

ISA S5.3: Graphic Symbols for Distributed Control/Shared Display and

Instrurnentatioii, Logic a lid Com puter System s. Instrum ent Society of
America, 1983.

[8]

DIN 19227-3: Sinnbilder f r

funktionelle D arstellung.

[9]

IEC 61131-3: Programmable Controllers: Part 3 - Programming Languages.

International Electrotechnical Commission. 2nd Ed., 1998.

v ti

liu t h a m

kho

die

Verfahrenstechnik,

Zeichen f r

die

S c h c h n lc
[10]

Liptak, B. G. (ch bin): Process Control (Instrum ent

Handbook). 3rd Edition. Chilton Book Company, 1996.

[11]

Seborg,

D.E;

T .F .

Edgar;

D.A.

Mellichamp:

Engineers'

Process D ym am ics and

C ontrol 2"cl Edition. Wiley, 2004.

[12]

Sm ith, C.A.; A.B. Corripio: Principles and Practice of A utom atic Process
Control. 3rd Edition, Wiley, 2005.

[13]

Marlin, T. E.: Process Control - Designing Process and Control System fo r

D ynam ic Perform ance. 2nd Edition. McGraw-Hill 2000.

[14]

Shinskey, F.G.: Process Control System s - Application, Design and Tuning.

3rd Edition. McGraw-Hill, 1988.

[15]

Luyben, M. L.; w . L. Luyben: Essentials of Process Control. McGraw-Hill,

1997.

[16]

Luyben, W.L: Process Modeling, Simulation, and Control for Chemical

Engineers. 2ml Edition, McGraw-Hill, 1990.

[17]

Corripio, A.B.: Design and Application of Process

In stru m en t Society of America (ISA), 1998.

[18]

Franklin,

G.F.;

J.D.

Powell,

A.Emami-Naeini:

Control Systems.

Feedback

Control

of

D ynam ic System s. 3rd Edition, Atldison-Wesley, 1994.

[19]

O gata, K.: M odern Control Enqieering. Prentice-Hall, Englewood Cliffs,

NJ, 2004.

[20]

Lunze, J,.: A utom atisierungstechnik - M ethoden f r die berwachung und

Steuerung kontinuierlicher und ereignisdiskreter System e. Oldenburg
Verlag, 2003.

[21]

Doyle, J.C; B.A. Francis; A.R Tannenbaum : Feedback Control Theory.

Macmillan, New York, 1992.

38

C hng 1

M Du

[22]

Maciejowski, J.M.: Multivariable Feedback Design. Addison-Wesley, 1989.

[23]

Skogestad, s.; I. Postlethwaite: Multivariable Feedback C ontrol

Chichester-New York, 1996.

[24]

Zhou, K.; J . c . Doyle; K. Glover: Robust and Optimal Control. PrenticeHall, New Jersey, 1996.

[25]

Unbehauen, H.: Regelungstechnik I. 10. Auflage, Vieweg, 2000.

[26]

Fllinger, o .: Regelungstechnik. 7. Auflage, Hthig, Heidelberg, 1992.

[27]

Skogestad, s.; I. Postlethwaite: Multivariable Feedback C ontrol

Chichester-New York, 1996.

[28]

Phc, N.D.: L thuyt iu khin tuyn tnh. X ut bn ln 2, NXB Khoa

hc &: K th u t, 2005.

[29]

Phc, N.D.: L thuyt iu khin nng cao. NXB Khoa hc & K thu t,
2004.

[30]

Johnson, C.D: Process Control Instrum entation Technology. 5th Edition.

Prentice-Hall, 1997.

[31]

Bateson, R. N.: Introduction to Control System Technology. 6th Edition.

Prentice-Hall, 1999.

[32]

Frh, K. F (ch bin):

Handbuch der Prozeautom atisierung Prozeleittechnik f r verfahrenstechnische Anlagen. 2. Auflage, Oldenbourg
Industrieverlag, 2000.

[33]

Strohm ann, G.: Autom atisierungstechnik 1 - Grundlagen, analoge and

digitale Prozeleittechnik. 4. Auflage. Oldenbourg Verlag, 1998.

[34]

Lauber, G.; Ghner, P.: Prozeautom atisierung 1. 3. Auflage. Springer-

Wiley,

Wiley,

Verlag 1999.
[35]

Schuler, H.: ProzefhrxLng. Oldenborg Verlag, 2000.

[36]

Polke, M: P rozeleittechnik 2. Auflage. Oldenbourg Verlag, 1994.

[37]

Sn, Hong M.; P. Rieger: Komponentenbasierte Autom atisierungssoftware.

Hanser-Verlag, 1999.

M t s t p c h t i u b i u
[38]

Autom atical International Federation of Autom atic Control (IFAC).

[39]

Journal o f Process Control, International Federation of A utom atic Control.

1.7

[40]

Ghi

c h v ti

IE E E

39

liu t h a m k h o

Transaction on A utom atic

Control, Institute of Electrical and

Electronic Engineers.
[41]

IE E E Transaction on Control System Technologies, Institute of Electrical

and Electronic Engineers.

[42]

IE E E Control System M agazin, Institute of Electrical and Electronic

Engineers.

[43]

ISA Transactions. Instrum ent Society of America.

[44]

A IC h E Journal\ The American Institute of Chemical Engineers.

[45]

Trans IC hem E , Institution of Chemical Engineers.

[46]

Tp ch K thut iu khin. Hi Khoa hc & Cng ngh t ng Vit

Nam.

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.

1.8 Gii thch ngha cc biu tng lu di y:

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

1.9 V phc lu P&ID cho cc vng iu khin phn hi sau:

iu khin mc s dng tn hiu vo/ra 4-20mA. b iu khin DCS vi gi tr

t truyn t my tnh vn hnh

Diu khin v hin th chnh p vi tn hiu vo/ra kh nn vi mt thit l) iu

khin n l chuyn dng, ghi chp gi tr p sut bng mt thit b ricng
iu khin v hin th nhit vi u vo RTD (mV), u ra 4-20mA a ti
van kh ncn qua b bin i I/P,
Cnh gii qu nhit vi cm bin chuyn mch, tn hiu ra logic: a ti thit b
ho ng.

Chng 2
M h n h q u t r n h

Hu ht cc phng php iu khin hin i u da trn c s m hnh ton

hc. Mc ch ca chng ny l gip ngi c hiu r hn v vai tr ca m
hnh trong cc nhim v pht trin h thng ni chung v trong phn tch, thit
k iu khin ni ring, ng thi Im c c nhng nguyn tc c bn trong
nhim v m hnh ha qu trnh, trc khi i vo nhng ni dung chi tit trong
cc chng sau.
Ni dung phn u ca chng gii thiu nhng khi nim c bn xung
quanh bi ton m hnh ha, phn tch nhng nguyn tc chung trong xy dng
m hnh ton hc cho cc qu trnh cng ngh, v n th no l mt m hnh
t t c a ra th o lun. Ta cng s thy r vic lm r mc ch s dng m
hnh l m t trong nhng yu t quyt nh ti cht lng ca m hnh. Hai
phng p h p tip cn l m hnh ha bng l thuyt v m hnh ha bng thc
nghim s c trnh by chi tit trong cc chng sau, tuy nhin y c
a ra phn tch s lc v u nhc im v kh nng p dng. Tip theo, mc
2.2 gii thiu tng quan v quy trnh m hnh ha v cc bc tin hnh c the.
Ging nh nhng cng vic pht trin h thng khc, m hnh ha gn nh bao
gi cng l m t quy t rnh lp.
Cc mc 2.3 n 2.5 s im li cc dng m hnh ton hc quen thuc t l
thuyt h thng v c: ng dng rng ri trong cc h thng iu khin qu
trinh. Cc u nhc im trong ng cng ca mi dng 11 hnh cng vi s lin
quan v k h nng chuyn i gia chng cng s c phn tch m t cch tm
tt. Mc ch trnh by y l gip bn c c m t ci nhn tng hp v bao
qut v nhng dng m hnh thng dng trong iu khin qu trnh, ng thi
c trong tay m t ngun t r a cu thun tin. i vi nhm bn c t cc ngnh
cng ngh cha c tran g b su kin thc v l thuyt iu khin, y s l
im x u t p h t tt cho nhng tm hiu v t nghin cu tip theo vi cc ti
liu a ra cui chng.

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

M hnh ha vi cc ngn ng m hnh ha ha nh lu cng ngh,

lu P& ID, s khi, mng Petri, biu SFC, biu logic, my trng
thi hu hn... M hnh ha ph hp cho vic biu din trc quan mt h
thng v cu trc lin kt v tng tc gia cc thnh phn.
M hnh ton hc vi ngn ng ca ton hc nh phng trnh vi phn,
phng trn h i s, hm truyn t, phng trnh trn g thi. M hnh ton
hc thch hp cho mc ch nghin cu su sc cc c tnh ca tng thnh
phn cng nh bn cht ca cc m i lin kt v tng tc.
M hnh suy lun l m t hnh thc biu din thng tin v c tnh v h
thng thc di dng cc lut suy din, s dng cc ngn ng bc cao (gn
vi t duy con ngi).
M hnh m y tnh l cc chng trnh phn mm m phng c tnh ca h
thng theo nhng kha cnh quan tm. M hnh my tnh c xy dng vi
cc ngn ng lp trnh, trn c s s dng cc m hnh ton hc hoc m
hnh suy lun.
M hnh ton hc, m hnh suy lun v m hnh my tnh c xp vo phm
tr m hnh nh lng, trong khi m hnh ha thuc phm tr m hnh nh
tnh. M hnh nh tnh thng quan tm ti cu trc v mi lin quan gia cc
th n h p hn h thng v m t nh tnh. Trong khi m t m hnh nh lng
cho php thc thi cc php tnh xc nh r hn quan h v m t nh lng
gia cc i lng c trng trong h thng cng nh quan h tng tc gia h
thng vi mi trng bn ngoi.
Mc d c bn dng m hnh ni trn u c vai tr quan trng n h t nh
trong lnh vc iu khin qu trnh, cc m hnh ton hc ng vai tr then cht
trong hu ht nhim v pht trin h thng. V th, ni dung chng ny ch
yu cp ti phng php xy dng m hnh ton hc cho cc qu trnh cng
ngh. Trong cc bc thc hin nhim v pht trin, m hnh ton hc gip cc
k s cng ngh cng nh k s iu khin cho cc mc ch sau y:
1. Hiu r hn v qu trnh s cn phi iu khin v vn hnh
2. Ti u h a thit k cng ngh v iu kin vn hnh h thng
3. T hit k sch lc v cu trc iu khin
4. La chn b iu khin v xc nh cc tham s cho b iu khin
5. P h n tch v kim chng cc kt qu thit k
6. M phng trn my tnh phc v o to vn hnh.
Xc nh r mc ch s dng ca m hnh l m t vic ht sc cn thit, bi
mc ch s dng quyt nh ti vic la chn phng php m hnh ha cng
nh mc chi tit/ch n h xc ca m hnh sau ny.

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

M hnh ha cng l mt cng vic p h t trin h thng. Mt m hnh c xv

dng da trn phng php x l cc thng tin c c t h thng thc. Lu
rng, m hnh nhn c t mt h thng thc cng l mt h thng theo ng
ngha ca n, mt h thnq l ting i din cho h thng thc, qu trnh thc
ang c quan tm. Ton b cng vic phn tch, m phng tm ra cc c
tnh quan trng ca qu trnh v t tng hp b iu khin u da trn c
s h thng l tng ny. Thc ra. th u t ng 44K thng c s ng trong l
thuyt h thng hay l thuyt iu khin t khi m ch h thng t.hc, m thng
ni ti h thng l tng, hay chnh l ni ti m hnh biu din trn giy hoc
trn my tnh. Ngay c b iu khin c thit k ra cng ch l m t m hnh
ca b iu khin thc s phi ci t.
Nguyn tc c bn nht trong m hnh ha cng nh trong cc nhim v
pht trin h thng khc c th hin trong cu ni ni ting ca Abert
Einstein: n gin ha, dn gin nh c th, nhng khng dn gin h n 1.
cng l nguvn tc s m t trong phng php lm vic ca ngi k s, din gii
mt cch khc l chi tit v chnh xc ch nh cn thit, khng phi nh c th.
Nh vy, mc dn gin, tnh trung thc (mc d chi tit v mc chnh xc)
v gi tr s dng l cc yu t quan trng nht nh gi cht lng m hnh.
Nh ta bit, cc qu trnh cng nghip thng r t phc tp , v vy mt
m hnh t t n my cng ch c th biu din mt cch xp x cc c tnh ca
qu trnh. Mt mt, mt rn hnh cng chi tit, cng chnh xc th cng phc
tp, tuy nhin iu ngc li cha chc ng. M t khc, c th hai m hnh
vi mc chi tit hoc mc chnh xc khc nhau nhng li c th c gi tr
s dng nh nhau. Hn na, khi xy dng m hnh ton hc, thng tin m t a c
c v qu trnh thc d di dng no cng u khng y v chnh xc,
bi vy ch cn c s lng phng trnh hoc s lng bin q u trnh trong
mt m hnh t a cha th ni ln iu g. Mt m hnh q u chi ti t cng s gy
kh khn cho cc cng vic phn tch v nghin cu tip theo. Nhng ngc li,
mt m hnh qu n gin th kh c th biu din c tng i y v c
ngha cc c tnh quan trng ca qu trnh. Tuy nhin, m hnh tt n h t l
m hnh n gin n h t trong s cc m hnh p ng yu cu v tnh trung thc
theo mt mc ch s dng nht nh. Tm li, vic cn nhc la chn mc
chi tit v mc chnh xc trong m hnh ha ph thuc vo ba yu t sau:
1. Yu cu v mc ch s dng c th ca m hinh
2. Cng sc, chi ph tin hnh m hnh ha, v
3. tin cy ca thng tin c c v qu trnh.
1 Nguyn vn: K eep it sirnple: A s sim ple as possible, but no sim p le r .

2.1

CII

T HI U C HU N G

45

i vi nhiu q u trnh, ch mt m hnh ton hc duy n ht khng gii

quyt bi ton theo yu cu t ra. m t.a cn mt tp m hnh t n gin n
phc: tp. M hnh n gin phc v phn tch nhng c tnh s b ca qu
trinh v thit k sch lc iu khin, m hnh phc, t p hn cn cho thit k cc
b iu khin, I1 hnh th t chi tit v chnh xc cn cho m phng v kim
nghim ch t lng ca h thng iu khin.

2.1.3

C c p h n g p h p xy d n g m h n h to n hc

V nguyn tc, c hai phng php c bn xy dng m hnh ton hc cho

m t qu trnh l:
M h n h ha bng l thuyt hay cn gi l m hnh ha vt l i t cc nh
lut c bn ca vt l v ha hc kt hp vi cc thng s k th u t ca thit
b cng ngh, kt qu nhn dc l cc phng trnh vi phn (thng hoc
o hm ring) v phng trnh i s.
M h n h ho bng thc nghim hay cn gi l phng php hp en hay
nhn dng qu trn h , da trn thng tin ban u v qu trnh, quan st tn
hiu vo-ra thc nghim v phn tch cc s liu th u c xc nh cu
trc v cc th a m s I1 hnh t mt lp cc: m hnh thch hp.
Phng php l thuy t c u im l cho ta hiu su cc quan h bn trong
ca qu trnh lin quan trc tip ti cc hin tng vt l, ha hc hoc sinh
hc. Mt m hnh l thuyt nu c tin hnh chi tit cho ta xc nh c
tng i chnh xc cu trc ca m hnh. Nu coi m hnh cng l mt h
thng cu thnh bi cc kiu phn t c bn (khuch i, tch phn, vi phn,
tr) th cu trc m hnh c hiu y l s lng, kiu v mi lin kt gia
cc phn t. Cu tr c m hnh c th hin r qua cc phng trinh vi phn v
phng trnh i s ca m hnh, hoc cng c th c biu din trc quan trn
mt s khi.
Cch thc tin hnh xy (ng mt m hnh l thuyt ph thuc r t nhiu
vo qu trinh c th, kh c th tun theo mt bi bn thng nht. V vy, cng
vic ny i hi r t nhiu kinh nghim, cng sc v thi gian. S chnh xc ca
cu trc m hnh l thu yt ph thuc vo mc chi ti t ca m hnh, hay ni
cch khc l ph thuc s lng cc quan h ng hc c xc nh. Thc t
t a kh c th xy dng dc mt m hnh l thuyt phn nh y ng hc
ca q u trnh. Nu trong khi 111 hnh ha t a b qua ng hc ca thit b o.
ca th it b chp hnh hoc ca mt thit b cng ngh no th cu trc m
hnh c dc cng lm ch c th mc: chp nhn c ch khng th gi l
y .

46

Chng 2

HNH QU T R NH

Vn ln n h t c a phng php l thuyt l tham s ca m hnh kh c

th xc nh chnh xc, bi bn cnh ca s thiu chnh xc trong cc thng s
k th u t ca th i t b cng ngh cn c th c cc gi thit khng hon ton thc
t v iu kin vn hnh, thnh phn nguyn liu, c tnh dng chy, tc
phn ng, v.v... Hn na, phng php l thuyt thng thng r t kh p dng
cho xc nh m hnh nhiu, c bit l cc loi nhiu khng o c. T nhng
u nhc im tr n y, c th thy mt m hnh l thuyt rt c ch cho vic
tm hiu v kho s t cc c tnh ng hc ca qu trnh, th i t k sch lc iu
khin (cu tr c iu khin) v la chn kiu b iu khin, nhng t ph hp cho
vic xc nh cc th a m s ca b iu khin.
Phng p h p m hnh ha bng thc nghim c u im l cho php xc
nh tng i chnh xc cc tham s m hnh trong trng lip cu trc m
hnh c bit trc. Mt u im ln na ca cc phng php thc nghim l
cc cng c p hn m m hin i h tr rt mnh chc nng nhn dng trc tuyn
cng nh ngoi tuyn. Tuy nhin, phng php thc nghim th u n ty li c
nhng vn ngc li so vi phng php l thuyt. Q u trnh c coi l m t
hp en vi cc s liu v o /ra ly t thc nghim. Nh vy, cht lng ca m
hnh thc nghim cng ph thuc rt nhiu vo tin cy ca cc php o. Tip
theo, t a phi c gi th i t v lp cc rri hnh thch hp, tc l cu tr c m hnh
hoc phi bit trc hoc phi chn th theo mt quy trnh lp. M hnh thc
nghim ch c th t t khi lp m hnh c chn ph hp v cc s liu thc
nghim l tru n g thc. Trong thc t, cng vic tin hnh ly cc s liu thc
nghim thng gp r t nhiu kli khn bi nhiu l do nh kh nng thc thi,
iu kin rng buc, nh hng ca nhiu, tng tc gia cc bin qu trnh.
Hn na, cc th a m s ca qu trnh cng c th thay i trong khi vn hnh vi
nhiu l do. V vy, cng vic nhn dng nhiu khi phi tin hnh trc tuyn.
ng nhin, phng php I1 hnh ha t t nht l kt hp c gia phn
tch l th u y t v nhn dng qu trnh. Phng php kt hp da tr n phn tch
qu trnh tm ra cu trc m hnh, sau tin hnh nhn dng xc nh
cc tham s c a m hnh. Phn tch l thuyt gip t a c c cu trc m hnh
cng nh c s cho vic thit k sch lc v la chn kiu b iu khin. Bc
nhn dng tip theo s cho ta mt. m hnh rt c ch trong tng hp b iu
khin cng n h m phng thi gian thc nhm nh gi s b cht lng iu
khin trc khi a vo vn hnh thc.
Mt im cn c bit lu l trong khi tin hnh phn tch l th u y t ngi
ta thng ch quan t m thun ty ti qu trnh cng ngh, b q u a cc th i t b
o, thit b chp h nh v cc khu bin i khc. Ngc li, khi tin hnh nhn
dng bng phng p hp thc nghim c in s dng b p h t tn hiu chun v
my ghi th vai tr c a cc thit b ni trn th hin trong cc tn hiu ra.
Hay ni cch khc l m hnh qu trnh k thut xc nh t thc nghim bao

2.1

Gll

T H I U CHUNG

47

gm c tn h ca c qu trnh cng ngh, thit b do, thit b chp hnh v cc

khu chuyn i lin quan khc. i vi mt s qu trnh, ng hc c a php o,
chuyn i o hoc c a cc van iu khin khng th b qua. Ngay c trong
nhng trng hp c tnh ng hc ca cc thit b trng c th b qua bi
qu trnh din ra chm hn rt nhiu, t a khng th khng xt ti vai tr khuch
i/b in i tn hiu ca cc khu ny. Cc tn hiu kch thch cng nh cc tn
hiu ghi c l cc tn hiu chun, trong khi cc bin x u t hin trong m hnh
l th u y t l cc i lng qu trnh. Do vy, i vi th i t b o t a cn phi tnh
ti im khng v di o, vi thit b chp hnh t a phi xt ti di tc ng, vi
khu chuyn i t a phi quan tm ti cc di tn hiu v o /ra . Hn th na, nu
vic thc nghim c tin hnh trn c s my tnh t a cn phi lu ti vai tr
ca cc khu chuyn i (A /D , D /A ) v kiu biu din d liu vo /ra.

2.2

T n g q u a n v q u y t r n h m h n h h a

M hnh h a l mt cng vic tng i phc tp, va m ang tn h khoa hc ng

thi m ang tn h ngh th u t. Bn cnh nhng nguyn tc v phng p hp c bn,
c m t m hnh t t cn c s sng to cng nh kinh nghim. Cc bc c
bn trong quy trnh m hnh ha c minh ha trn Hnh 2-1. Ging nh nhiu
cng vic p h t trin khc, m hnh ha thng thng phi c tin hnh mt
cch h thng theo quy trnh tun t v c lp. Tuy nhin t y theo mc phc
tp ca q u trnh, cc bc c th tin hnh ring r hoc kt hp.

2.2.1

t bi t o n m h n h ha

Bc u tin ca quy trnh m hnh ha l t bi to n m hnh ha. Cc cng

vic chnh bao gm nghin cu k lu cng ngh, xc nh r mc ch s
dng ca m hnh, t m t t cc thng s cng ngh cng nh cc gi thit quan
trng. Trn c s , t a cn lm r yu cu v mc chi tit v mc chnh
xc ca m hnh, phng php v cng c phn tch, nh gi cht lng ca m
hnh (thng thng l trn c s m phng my tnh).
M hnh ho cng l mt nhim v pht trin h thng, trong thng tin
v h th n g thc c tru tng ha, c hnh thc ha phc v m t hoc
nhiu mc ch s dng. Vic lm r mc ch s dng ca m hnh v vy ng
vai tr ht sc quan trng. Mc ch s dng quyt nh ti yu cu v mc
chi tit v mc chnh xc ca m hnh. V d, phc v th i t k sch lc
iu khin, t a khng cn m hnh qu phc tp v chnh xc, nhng tnh ton
cc th a m s ca b iu khin th mc chnh xc ca m hnh s nh hng
rt ln ti cht lng iu khin. M hnh ha phc v ti u ha v m phng

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

5. Phn tch v kim

chng m hnh

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

to vn hnh i hi mc chi tit v chnh xc cao nht. Mc chi

ca m hnh th hin trong cu trc m hnh (vi d bc m hnh, s lng
i lng c m t), trong khi mc chnh xc ca m hnh th hin thng
c cu trc v th am s m hnh.

Quan st s cng ngh ca mt nh my ha cht minh ha trn Hnh '2-2.

Hai nguyn liu c a vo thit b phn ng, hn hp sn phm trun g gian
c a qua h thng th p chng luyn tch cu t d bay hi (sn phm
nh) v cu t kh bay hi (sn phm y). Cc thit b cng ngh ph nh
bnh cha, thit b lm lnh, thit b gia nhit c s dng thch hp phc
v qu trnh phn ng v qu trnh chng luyn.
Lu rng, y l lu cng ngh c n gin ha r t nhiu. Nu
mc ch m hnh ha t ra l phc v m phng thi gian thc (cho ti u
ha qu trnh hoc th nghim th u t ton iu khin), th ch ring phn thp
chng luyn (khng k cc thit b ph) yu cu m t m hnh vi hng trm
bin trng thi tng ng vi nhit v mc ti cc a trong thp. Nhng nu
mc ch t ra l xc nh cu hnh iu khin thnh phn ph hp, th mt

2.2

T n g q u a n v QUY THNH M HNH HA

Hnh 2-2:

D CNC NGH M T NH MY C H E BI EN

49

ha

CHAT

m hnh tuyn tn h vi 2 bin ra (thnh phn sn phm nh v th nh phn sn

phm y) v 5 bin vo (lu lng liu cp. lu lng hi lu, lu lng hi
nc gia nhit, lu lng sn phm nh v lu lng sn phm y) cng c
th .
Mc ch s dng m hnh cng l mt yu t quyt nh ti dng m t
ton hc cn la chn v p h t trin. T hng thng, m phng th h phng
trnh vi phn phi tuyn (thng hoc o hm ring) cng l . Song thit
k sch lc v th u t ton iu khin, cc dng m t khc nh m hnh trng
th i (tuyn tn h hoc phi tuyn) hoc m hnh hm truyn t ph hp hn.
c th n gin ha m hnh, cc gi thit v im lm vic, cc iu kin
bin v quy trnh vn hnh, cc tham s qu trnh v bin qu trnh cng cn
c lm r. Trong thc t. nhiu th am s qu trnh (v d tc phn ng
ring, khi lng ring) khng nhng khng ng nht m cn c quan h ph

50

Chng 2

HNH QU TRNH

thuc (phi tuyn) vo cc bin qu trnh (v d nhit , p sut, nng ). V

th, ngay t nhng bc u t a cn lm r rng tham s no c th coi l hng
s (theo thi gian hoc/v theo v tr), quan h no c th coi l tuyn tnh
trong mt di lm vic nht nh.

2.2.2

P h n chia h th n g

Cng nh cc nhim v p h t trin h thng khc, m hnh ha m t qu trnh

cng ngh ln, phc tp bao gi cng c tin hnh vi vic phn chia thnh
cc qu trnh con n gin hn. Trn c s , m hnh cho cc q u trnh con s
c xy dng bng phng php ] thuyt hoc/v thc nghim. P h n chia h
thng l cng vic ht sc quan trng, nhng cng khng h n gin. Trong
nhiu trng hp ta c th da trn c s phn chia theo cc n h cng ngh
hoc theo m hnh vt l trong chun ANS/ISA 88.01 [l. Tuy nhin, cn lu
rng mi dy chuyn cng ngh c quy m khc nhau v nhng c th ring,
phng php phn chia v mc phn chia v th cng kh c th p ng
theo mt quy trn h thng nht.
Cc quy trnh cng ngh thng phc tp, v vy tip theo t a nn s dng
sch lc m hnh ha theo kiu phn chia (t trn xung, top-down) v kt hp
(t di ln, bottom-up). Mt quy trnh cng ngh trc ht cn c phn chia
thnh cc t hp cng ngh. Tip theo, mi t hp cng ngh li c phn chia
thnh mt s qu trnh c bn, trong quan h tng tc gia chng cn
c lm r. Mi qu trnh cng c th c phn tch th n h cc nguyn cng.
Vic xy dng cc phng trnh ton hc c th tin hnh b t u t mc
nguyn cng hoc qu trnh c bn, kt hp cho tng t hp cng ngh v cui
cng l cho c quy trnh cng ngh.
i vi cc qu trnh cng ngh c quy m ln v yu cu m hnh chi tit,
vic phn chia c th phi thc hin vi nhiu cp hn na. Tuy nhin, vic
phn chia chi tit ti u cng cn da trn mc ch s dng m hnh. V d,
m phng thi gian thc phc v kim nghim th u t ton iu khin i hi
mc chi tit ti tng nguyn cng, trong khi cho vic thit k sch lc iu
khin ta ch cn dng li mc qu trnh c bn.
Nguyn tc c bn ca phng php phn chia l cc qu trnh con cn tng
i c lp vi nhau. S tng tc y th hin hai kha cnh: tng tc qua
tn hiu v tng tc qua dng vt c h t/n n g lng. Nu quan h gia hai qu
trnh con ch l m t chiu v s lng quan h t, t a c th coi mc tng tc
l yu. Ngc li, nu hai qu trnh con c nhng mi quan h q u a li, v d
thng qua hi lu hoc dng nhit ti s dng, th vic phn chia s kh khn
hn. Thng thng, m t qu trnh d phn chia cho th y vic iu khin v sau
cng dng hn cc qu trnh kh phn chia.

2.2

ng

quan

v quy trn h

m hnh

ha

51

Quay tr li v d dy chuyn ha cht minh ha trn Hnh 2-2. Trong bc

phn chia u tin, ta c th chia thnh hai qu trnh con l qu trnh phn ng
v qu trnh chng luyn, tng ng vi hai cng on tng c lp. Nu
thit k sch lc iu khin, t a c th dng mc phn chia ny. Tuy nhin,
nu cn m hnh chi tit hn, mi qu trnh ni trn li c th tip tc c
phn chia th n h cc qu trnh c bn, tng ng vi cc th it b qu trnh nh
thit b phn ng, th p chng luyn, bnh cha, thit b gia nhit, thit b ngng
t,... Vic xy dng cc phng trnh c th d dng tin hnh cho cc qu trnh
c bn ny.

2.2.3

X y d n g cc m h n h th n h p h n

Mi q u trn h c bn thng c thc hin trn vn trong mt khi thit b

cng ngh (m t thit b hoc mt nhm thit b), v vy cc bin v o /ra ca n
cng l cc i lng c trng quan trng ca quy trnh cng ngh. Xy dng
m hnh to n hc cho mt qu trnh c ngha l xc nh quan h gia cc bin
q u trn h v biu din cc mi quan h thng qua cc phng trnh vi phn
v phng trn h i s.
Cc bc c th trong vic xy dng m hnh ton hc ca qu trnh phc v
thit k iu khin bao gm lm r cc mc ch iu khin, qua nhn bit
cc bin c iu khin, cc bin iu khin tng ng v cc bin nhiu, xc
nh quan h (ng hc) gia chng th hin qua phng trnh vi phn, hm
truyn t, p ng xung, p ng bc thang, phng trnh trng thi. Bn
cnh t a cn xc nh m hnh tc ng ca cc loi tn hiu nhiu nu c
iu kin. Cc th a m s ca m hnh cn c tnh ton da trn cc th am s
q u trnh v cc gi thit t ra, hoc c xc nh thng qua phng php
nhn dng. mi bc ny, m hnh cn c ti gin bng cc kh nng cho
php nh b th nguyn, chun ha, tuyn tnh ha, bin i v dng quen
thuc,...
Sau khi c cc phng trnh m hnh, ta cn tin hnh phn tch v kim
chng m hnh bng cc cng c ton hc v cng c m phng. M hnh cn
c kim chng v tnh hp l, tnh trung thc v gi tr s dng (so vi yu
cu t ra). K h nng gii c ca m hnh cng nh kh nng iu khin c
cn c nh gi thng qua phn tch bc t do ca m hnh.
Trong p h m vi cun sch, mc ch s dng ch yu ca m hnh l phc v
thit k cc: sch lc v th u t ton iu khin. V vy cc phn sau ca chng
ny t p tru n g vo xy dng, phn tch v kim chng m hnh ton hc cho cc
qu trnh c bn. Q u trnh c bn y c hiu l cc qu trnh i) tng i
n gin c th d dng m hnh ha, ii) tiu biu cho nhiu quy trnh cng
ngh khc n h au v iii) thng c thc hin trn vn trong m t khi thit b

52

Chng 2

M HNH QU TRNH

cng ngh. Trong trng hp n gin nht, q u trn h c bn c th tng

ng vi m t nguyn cng. Cc qu trnh pha tr n /p h i liu (blending/m ixinq),
phn ng (reaction), chng luyn (distillation) , gia nhit (heating). ha hi
( evaporator ) v ngng t ( coTdensing) l mt s v d tiu biu cho qu t . r n h c
bn.

2.2.4

K t hp cc m hnh th n h p h n

Cc m hnh thnh phn c th s dng trc tip trong cc bi to n phn tch

v thit k iu khin (cu trc phi tp trung) cng nh m phng tng phn h
thng. Trong trng hp s dng cu trc iu khin t p trung, hoc phi m
phng ton b h thng, t a cn tin hnh kt hp nhiu m hnh th n h phn
thnh mt m hnh ln hn. Hu ht cc cng c th it k v m phng my tnh
h tr vic ghp ni cc I1 hnh thn h phn trn c s: i) s dn g trc tip cc
phng trnh vi phn v phng trnh i s hoc ii) s dng bin i s khi
v cc m hnh dn x u t (hm truyn t, m hnh tr n g thi).
Nguyn tc kt hp cc m hnh thnh phn hon ton da trn cc tn hiu
vo/ra, khng da trn cc dng qu trnh. V d, m t bin ra c a m t m hnh
thnh phn ng vai tr l bin vo ca mt m hnh khc. Trng hp c hi
lu, trong m hnh kt hp s xut hin ng tn hiu phn hi.

2.2.5

P h n tc h v kim ch n g m h n h

Mc d vi mi m hnh thnh phn xy dng trong bc 3 t a cng tin

hnh nh gi v kim chng (v d thng qua phn tch bc t do), m hnh
tng hp cn phi c phn tch v kim chng chi ti t hn. N hng thng tin
cn a ra y lin quan ti cc tnh cht ca m hnh phn nh c tnh qu
trnh. Nhng tnh cht nh mc phi tuyn, tnh n nl, kh nng iu khin
c vo-ra, mc tng tc gia cc bin vo ra. s bc t do cn c xc
nh li, khi m s lng bin c lp c th gim i trong khi kt hp cc m
hnh thnh phn s dng chung bin.
Bn cnh cc phng php phn tch, mt cng c quan trng nh gi v
kim chng m hnh l m phng my tnh. Vic tin hnh m phng trn my
tnh cho ta nhiu kt lun quan trng m cc phng ph p p hn tch l thuyt
khng c c. Nhng kt qu m phng cn c so snh vi c tn h qu
trnh thc qua kinh nghim hoc qua s liu o thc nghim. c bit, nu m
hnh c c t nhn dng, vic m phng cn c tin hnh kim chng
trn c s cc t p s liu khc vi s liu ban u (phc v nhn dng).

2.3

Phn

2.3

loi

hnh t o n

53

hc

P h n loai
m h n h to n hoc

P h n ln cc qu trn h cng nghip u tng i phc tp vi nhiu bin

vo/ra, nhiu quan h gia cc bin v o /ra khng nhng phi tuyn m cn thay
i theo thi gian v theo khng gian. Khi xy dng m hnh ton hc, ty theo
mc ch v yu cu s dng ta c th b qua nhiu kha cnh nhm n gin
ha bi ton. M hnh nhn dc c th khng phn nh ng hon ton qu
trnh thc, nhng iu quan trng l n c gi tr s dng cho mc ch t ra
vi cc iu kin gi thit. Nh ni trn y, m hnh chnh l m t h thng
l tng i din cho qu trnh k th u t ang quan tm t mt gc no .
Cho nn th ay v tm cch phn loi m hnh theo c tnh qu trnh, t a s phn
loi theo cc tnh cht ca m hnh nhn t quan im ca l thuy t h thng.

2.3.1

M h n h tu y n tn h v m hnh phi tu y n

Mt m hnh c gi l tuyn tnh khi quan h gia cc tn hiu v o /ra ca n

tha m n nguyn l xp chng (minh ha trn Hnh 2-3). Mt cch hnh thc,
nu M(u) l mt ton t tuyn tnh v Uy Ui l hai bin c lp, t a s c
M ( u +- u2) = M{U) + M (h)

(2 . 1 )

Khi , nu c cc tn hiu ra j v y-2 ln lt ng vi cc tn hiu vo c lp

b t k U\ v
thi t a cng s c y = y-[ 4- 2/2 ng vi u =
4- u2 . Ngc li, ch
cn b t c m t quan h v o /ra no khng tha mn nguyn l xp chng th m
hnh s c gi l phi tuyn.
C th ni t t c cc qu trnh thc u c tnh phi tuyn, tuy nhin vi mc
khc nhau. Mc phi tuyn ca mi qu trnh cng CI) ph thuc vo
phm vi lm vic m t a quan tm. i vi a s qu trnh cng nghip, nu nh
ta ch quan tm ti cc tn hiu vo nm trong mt di hp no , m t m hnh
tuyn tnh xp x hon ton c th p ng c cc vu cu s dng. u im
c bn ca cc m hnh tuyn tnh l. n gin cho phn tch v thit k iu
khin vi cc cng c ton hc r t phong ph. Chi khi no cc m hnh tuyn
tnh khng p ng c yu cu cht lng t ra hoc bc ca m hnh qu
cao ti mc khng cn n gin na th ta mi nn s dng m hnh phi tuyn.

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

M hnh c th biu din quan h gia m t bin vo v m t bin ra (h n

bin, h SISO) hoc biu din quan h gia nhiu bin vo v nhiu bin ra (h
a bin, h MIMO) ca q u trnh. Phng trnh vi phn, hm tru y n t v
hm qu l cc dng biu din m hnh dn bin tiu biu, tron g hm
truyn t v hm qu ch c ngha cho h tuyn tnh. Cc d n g m rng
nh h phng trnh vi phn, m a trn truyn t v m a tr n qu cng c
s dng cho h a bin. Phng php biu din trong khng gian tr n g thi
c coi l a nng, ph hp cho c h n bin cng n h h a bin, h tuyn
tnh cng nh h phi tuyn.
Xy dng cng nh s dng m hnh n bin c u im l n gin, c
h tr bi nhiu cng c phn tch v thit k kinh in, v vy a s phng
php iu khin qu trnh hin ti c s dng rng ri trong cng nghip u
da trn m hnh n bin. Mt s lp m hnh n bin tiu biu l cc khu
qun tnh (bc nht, bc hai, c tr hoc khng c tr), qun tnh-tch phn v
dao ng bc hai. Tuy nhin trong nhiu qu trn h thc t, s tng tc cho
gia cc bin v o /ra gy nn rt nhiu kh khn tro ng vic chnh nh th am s
ca cc b iu khin. Vi s h tr ca cc my tn h iu khin hiu nng cao,
cc phng php iu khin hin i gn y c quan tm nhiu hn v vai
tr ca cc m hnh a bin v th ngy cng tr nn quan trng.
Trn Hnh 2-4 l s khi minh ha trc quan s p h n bit gia m hnh
n bin v m hnh a bin. Trong phm vi cun sch ny, nhiu phn trnh
by cho h n bin cng ng cho h a bin, ch cn t a th a y th i
lng/hm v hng bng vector hoc m a trn tng ng. Chnh v th, trong
nhiu trng hp cc cng thc c s dng chung cho bin n hoc bin
vector, tham s hoc ma tr n th am s ty theo ng cnh m khng s nhm ln.
Khi cn lm r, ch in m s c dng cho k hiu vector v m a tr 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

Q uan h gia cc i lng c trng ca mt qu trnh c th thay i theo

thi gian, theo im lm vic v theo cc tc ng ca nhiu, ni chung l theo
thi gian. Mt m hnh c quan tm phn nh s thay i ny chc chn s c
cc th a m s ph thuc thi gian v c gi l m hnh tham s bin thin.
Ngc li, nu s ph thuc ca cc quan h theo thi gian l khng ng k,
hoc khi t a ch quan t m ti mt gii hn thi gian tng i ngn no th c
th s d n g m t m hnh tham s hng. Cc dng biu din m hnh tham s
bin thin cng tng t nh m hnh tham s hng, tuy nhin vi cc tham s
cng l hm theo thi gian. ng nhin, m hnh th am s bt bit n gin v
d s dng hn nhiu so vi dng i nghch. Hu ht cc phng php phn
tch v thit k iu khin qu trnh dng li m hnh th am s hng, chp
nhn s b t nh v tm gii php theo hng khc (iu khin thch nghi, iu
khin bn vng). Trong phm vi cun sch ny ta quan t m ch yu ti cc m
hnh tu y n tn h th a m s hng (vit t t l LTI cho Linear Tim e-Invariant).

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

G i tr c a m t bin q u trnh khng ch l hm thi gian m cn c th thay

i theo khng gian. T i m t thi im nht nh, gi tr ca mt i lng o
ph thuc vo im t thit b o. V d, nhit o c trong mt l nung
ti nhng v tr khc nhau cng khc nhau, nng ca dung dch trong mt
bnh tr n thc t cng khng th ng u ti mi v tr. Mt m hnh biu din
tnh cht phn b theo khng gian ny c gi l m hnh tham s ri
(distrbuted-parameter model). Khi , bin ra y khng nhng ph thuc bin vo
u v thi gian t, m cn ph thuc vo v tr 2T.
( 2 .2 )

Mt m hnh khng quan tm ti s phn b ny c gi l m hnh tham 30

tp trung (lumped-parameter model). Khi t a c
y = M{u, t)

(2.3)

T y theo mc bin thin theo khng gian v ty theo yu cu t ra ca

bi ton m hnh ha, ta c th bt buc phi s dng m hnh th am s ri hoc
ch cn dng li m hnh thng thng. Trong m hnh th a m s ri th phng
trnh o hm ring l cng c ton hc khng th thiu. Vi mc ch n gin
ha, i khi s bin thin theo khng gian ca mt bin qu trnh c x l
bng vic s dn g hai hoc nhiu bin thay th. Trong phm vi cun sch ny ta

Chng 2

56

M HNH Q U THNH

khng quan tm ti cc m hnh tham s ri, v th t y v sau mi din t

u c ngm hiu l cho m hnh tham s t p trung nu khng ni r hn.

2.3.5

M h n h lin t c v m h n h gin o n

Mt m hnh lin tc ( continuous-time model) m t quan h gia cc hin qu

trnh lin tc theo thi gian. Ni m t cch khc, cc tn hiu s d n g trong m
hnh l cc hm lin tc theo thi gian. Ngc li, m t m hnh gin on
(discrete-time mode) ch phn nh c tnh qu trnh ti nhng thi im n h t
nh (gi l thi im quan st). T t nhin, mt m hnh lin tc ch thch hp
vi cc qu trnh lin tc (cc qu trnh m c tnh ca n c th m t bng
cc phng trnh vi phn). Trong khi , m hnh gin on c th s d n g cho
t t c cc thnh phn trong h thng iu khin s (bao gm c q u trnh v b
iu khin s).
i vi cc qu trnh lin tc, vic xy dng m hnh gin on d a trn c
s cc tn hiu trch mu. Cc thi im quan st chnh l cc thi im trch
mu, thng thng c n nh theo chu k thi gian c nh. L do c bn
trong vic s dng m hnh gin on cho cc qu trnh lin tc l s tin li
trong thit k v thc thi iu khin s. Hu ht cc phng php biu din m
hinh lin tc cng c cc dng tng t cho m hnh gin on (m hnh hm
truyn t, m hnh trng thi,...). Mt m hnh gin on c th c dn x u t
t mt m hnh lin tc, nhng cng c th c xy dng trc tip th n g qua
nhn dng.
Cc m hnh gin on c vai tr c bit quan trng trong cng ngh iu
khin s hin i. thy r s khc nhau c bn gia m t m hnh lin tc v
mt m hnh gin (lon, ta hy quan st s ca m t h thng iu khin s
tiu biu trn Hnh 2-5. Trong khi mt m hnh lin tc m t quan h gia cc:
bin v o /ra
y{t)) mt cch lin tc theo thi gian, m hnh gin on chi
m t quan h gia cc gi tr ca chng ti nhng thi im trch m u (uii, /a).
T y v sau t a t ra hai gi thit quan trng: i) chu k trch m u T l c
nh v ii) khu trch mu v chuyn i tng t s c ng b ha thi gian
vi khu chuyn i s-tng t v gi. Nh vy t a c th vit uk = u (kT ) v y.
= /(:T), k = 0, 1 ,2... Mt cch vit thng dng khc l s dng k hiu u(t+k)
cng nh y(+fc),
1 , 0, 1 ,... d biu th cc tn hiu gin on, tro ng
chu k trch mu T c ly lm n v thi gian.
Cc qu trnh ri rc hoc qu trnh m khng th m t c bng phng
trnh vi phn hoc phng trnh sai phn, v th quan im xy dng m hnh
hon ton khc so vi qu trinh lin tc. T h nht, cc thi im q uan st c
th c iu khin theo thi gian (time-driver) hoc theo s kin ( event-driven)
ty theo bn cht ca qu trnh. T h hai, phng php m hnh ha hng theo

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)

vi l y bin ra, /ix(y, tz) l hm tng tc phi tuyn, h(uy t) l hm cng bc

do tc ng ca bin vo (bin iu khin hoc nhiu) v cii l cc th am s. Khi

Chng 2

58

M HNH Q U TRNH

n cng c gi l bc ca m hnh. Hai dng m hnh tuyn tnh n gin

di y c: c bit quan tm trong iu khin qu trnh.
M hnh phng trnh vi phn ca khu qun tnh bc n h t c
tr (first-order
plus dead-tmey vit t t l F O PD T ) c dng:
r ~v7 - + y(t) = ku(t - 6)
at

(2.5)

M hnh tng qut ca cc khu tuyn tnh bc hai c tr (second-order plus

dead-time, S O PD T ) l:

dr

+ 2 tC M <) + y{t) = ku{t _ e)

at

(2 6)

Trong hai phng trnh trn, k l h s khuch i, r l hng s thi gian, 9 l

thi gian tr v l h s t t dn ((> 0).
i vi h a bin, ta s c m t h phng trnh viphn. Phng trnh (2.4)
cng c th c m rng biu din mt cch tng qut m hnh a bin
Ai

+ An- 1

H------ ^ l ~dt +

(2.7)

trong y, u l cc vector tn hiu, Ai l cc m a trn th am s, hx v h( tr th n h

cc vector hm (a bin).
Phng trnh vi phn c u im l kh nng biu din m nh, tuy nhin r t
kh s dng cho phn tch v thit k h thng, c bit l vi m hnh bc cao.
Mt phng php m t tng qut v hu hiu l s dng cc bin trng thi.

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:

X = /(x ,ti), z(0) = () x e

y = g{x,u)

u R m, /: Rn X R m >RTl

y e R p, 9 : n r X R m w

trong / v g l cc vector hm a bin. Phng trnh

phung trnh trng th phng trnh th hai c tn l
Phng trnh trn g thi thc cht l mt h phng trnh
xut hin o hm cp mt. Lu rng, t phng trnh

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

Cc ma trn A v B c gi l ma trn Jacobi ca vector hm f( x ,u ), c v D l

cc m a tr n Jacobi ca vector hm g(x ). Ma tr n Jacobi c a m t vector hm
f{x) bt k , / : R n R \ vi
X]
X =

*2

/.
. / =

/2

a/i
X

/i
dx

dfm
dX

df,n
dxn

c nh ngha l

<9x

Lu rng, Ax, Au v Ay hon ton c th c coi l cc bin c tr n g ca

h thng nu nh t a ly , v lm cc im quy chiu. T h c t, vi cc m
hnh tuyn tnh t a lun s dng cc bin chnh lch th ay cho cc bin gi tr
thc. V vy. n gin ha cch vit m khng s nhm ln, t a thay li cc k
hiu Ax, Ati, Ay tr li ln lt bng X, u v y:

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:

HNH T R N G THI LIN T C MINH HA BANG

so

KHI

i vi m hnh trn g thi n bin, ma trn vo tr thn h vector (ct), m a

trn ra tr th n h vector hng v m a trn lin thng l m t s v hng. Trong
trng hp ny ngi ta cng hay s dng cch vit:
X = A x + m,

A n r xn,6 R n

y = c X + du,

c e R n }d R

( 2 . 16 )

Ngi t a cng s ng k hiu

G

A B
c D

(2.17)

biu din m hnh trng thi ca mt h G. Mt m hnh c th am s hng

th hin cc m a tr n hng s A, By c v D. Ngc li, cc phn t m a trn
ca mt m hnh tr n g thi th am s bin thin l cc hm theo thi gian. i
vi cc qu trnh thc, m t s bin thin u vo khng th gy tc ng ngay
tc khc ti bin ra, v vy D lun l m t m a tr n 0.
Lu rng, m hnh trn g thi biu din trong (2.15)-(2.17) khng phi l
duy n h t cho m t h tuyn tnh. Mt h tuyn tnh c th c v s cch biu
din khc nhau tro n g khng gian trng thi, ty theo cch chn cc bin trng
thi. Trong s cc dng m t cng m t quan h v o/ra, m t cch m t vi s
bin trng th i th p n ht c gi l thc thi ti thiu. Ngay c vi trng hp

62

C hnc 2

M HNH QU TRNH

cng s bin trng thi cng c th c v s cch biu din c gi l tng

ng. V d, trong (2.15) t a ch cn t vector trng thi mi z = T x vi T l
mt m a trn vung khng suy bin, ta c mt cch thc hin hon ton tng
ng:
G

[4

B:

c'

Dz

TAT- 1
C

-\

TB
D

(2.18)

Chnh v s tng ng, php bin i ta nh trn cng c gi l php

bin i tng ng. Cc phng php phn tch v thit k c th tin hnh
n gin hn nu m hnh trng thi c bin i v cc dng chun, v d
chun Jordan (ng cho/ng cho khi), chun iu khin hoc chun quan
st.
Cho m t m hnh trng thi vi trn g thi u x(tj) v vector vo u(), ta c
th xc nh c p ng trng thi v p ng u ra nh sau:

x() = eA^ ^x(t))

f eA<t

J 4,

T)B u(r)d'

(2.19)

y(t) = Cx(t) + Du(t)

Nghim (2.19) bao gm hai thnh phn, thnh phn t do ph thuc trng thi
ban u v thnh phn cng bc ph thuc tc ng u vo. C th thy, m a
trn A m c bit l cc gi tr ring ca n c vai tr c bit quan trng i
vi din bin trng thi ca h thng. Nu cc gi tr ring ca A u c phn
thc m, th n h phn t do s t t dn v h c gi l n nh. Ngc li, ch
cn mt gi tr ring ca A nm trn hoc nm bn phi trc o, h s m t n
nh. Cc gi tr ring v cng l cc im cc ca h thng c xc nh t
phng trnh c tnh :
det(AI - A ) = 0

( 2 .20)

trong I l m a trn n v c kch thc ging A. C p m a trn (A, B) cn ni

ln tnh iu khin c (trng thi) v tnh n nh iCCy cng n h cp (i4, )
ni ln tnh quan st c v tnh nhn bit c ca h thng (xem thm [5]).
Nu xt ti nhiu qu trnh d(t) v nhiu o n (t)) m hnh trn g thi ca mt
h thng c biu din nh sau:
X = A x + B u + Ed
y = Cx

Du 4* Fd + n

(2 .21 )

S dng m hnh trng thi c a im ln l cch m t cng nh cc

phng php phn tch v thit k c th p dng m t cch thng nht cho c
h n bin v h a bin. c bit, cc phng php phn tch v th i t k h

2.4

63

CC dng m hnh lin tc

thng iu khin c h tr rt mnh bi hng lot cng c i s tuyn tnh

hin i.
Tuy nhin, m hnh trng thi cng bc l m t s nhc im. T h nht, m
hnh trng thi l rt kh tin hnh nhn dng trc tip bi cc bin trng thi
khng phi lc no cng d dng o c. T h hai, m hnh trng thi r t nhy
cm vi sai lch tham s. Mt sai s nh trong cc phn t ma trn tham s
cng c th phn nh mt s thay i ln v c tnh qu trnh. Ngc li, mt
s bin thin nh trong c tnh qu trnh cng c th lm thay i gi tr t t c
phn t ca t n ht mt ma trn tham s. V th, khng c g ngc nhin l cho
n trc y khng lu cc phng php thit k iu khin vi m hnh trng
thi hu nh khng c p dng thc t trong lnh vc iu khin q u trnh.

2.4.3

M h n h p ng q u

M hnh p ng qu bao gm p ng xung v p ng bc thang. Mc d

trong thc t ngi t a thng s dng m hnh p ng qu gin on, y
t a cng cn im li m t cch s lc v cc dng m t lin tc.
2 .4 .3 .1 p n g x u n g
Xt mt h tuyn tnh n bin c m hnh trng thi (2.16) vi trn g thi u
x(0) = 0. Nu kch thch u vo h mt xung n v (t) (hay xung Dirac) nh
ngha l
lim f (t)dt = 1

-*0 J 0

ta s c p ng y(t) c tnh theo (2.19)

y(t) = CT

J0

eA(t- T)c(r)dr + d(t) = cTeMb + dS(t) = g{t)

(2.22)

Hm g(t) nh ngha trong (2.22) c gi l p ng xung hay hm trng lng

ca h thng. th hm trng lng ca mt s khu ng hc tiu biu c
minh ha trn Hnh 2-7.
p ng xung m t y c tnh ng hc ca m t h tuyn tnh. Vi
trng thi u bng 0 , p ng ca h thng vi u vo u(t) bt k c th xc
nh theo cng thc:
y(t)

g(t) *

u ( t )

g{r)u(t -

r)T

g{t -

r ) u ( r ) d r

2 .23

trong du * k hiu ton t tch chp. Nu tn hiu u vo c tnh nhn

qu, tc l u(t) = 0 khi t < 0, tch chp (2.23) cn c n gin ha nh sau:
y{t) = g(t) * u(t) = f g(t -

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 ( )

v qun tnh bc hai ( )

Hnh 2-7:

M HNH QU THNH

NG XUNG CA M T

KHU NG H C TIU UlU

Mc cl xung Dirac khng tn ti trong thc t, song hm trng lng c th

c xc nh m t cch xp x t thc nghim bng cch s dng tn hiu vo l
mt xung vung r t hp c din tch bng 1 .
Phng php m t h thng vi p ng xung hon ton c th m rng cho
h tuyn tnh a bin. Gi s trng thi ban u ca h thng bng 0, nu cho
ln lt mi bin vo U j (t) l mt xung (t) tc ng ln h thng v tn h ton
p ng Qjj(t) tng ng vi tng u ra yi(t) theo cng thc (2.23), ta c th
thnh lp m a trn p ng xung hay m a trn hm trng lng:
G{t) = [ y ()] =

t < 0

i#
.
Ce B + D{t)

t > 0

(2.25)
'

Mi phn t ij( t) ca G(t) chnh l hm trng lng tng ng vi m t knh

vo/ra. Vi trng thi u x(0) = 0, p ng ca h thng vi vector tn hiu
u vo u(t) bt k c th tnh ton da trn cng thc tng t (2.23), vi g(t)
c thay th bng m a tr n G(t):
y(t) = G(t) * u(t) =

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 ( )

v qun tnh bc hai ( )

H nh 2-8:

v khng n nh ( )

NG BC THANG CA MT

KHAU NG HC T I U BIEU

t a s c p ng y(t) c xc nh theo (2.19)

y (t) = CT f ' e- T)bdr + d l{ t) = c T e Arb d r + dl() h{t)

(2.27)

H m h(t) nh ngha trong (2.27) c gi l p ng bc thang n v hay hm

qu ca h thng. Trong trng hp m a trn A khng suy bin, hm qu
dc tnh ton c th hn nh sau:
h(t) = c 7 A eAtb c 7 ]b + d

(2.28)

th p ng bc thang n v ca m t s khu ng hc tiu biu c

m in h ha trn Hnh 2-8.
rng hm trng lng chnh l o hm ca hm q u . p ng ca
h thng t trng thi 0 vi u vo u {t) bt k c th xc nh theo cng thc:
(2.29)

/(0 - ^ J t K t)u { t-T )d -

Ma trn p ng bc thang hay m a trn hm qu ca mt h a bin

'c xc nh theo cng thc:
0,

H(t) = [ / o ] =

c Jof t eTB d T

t < 0
+

D,

t>

Vi nh ngha m a trn hm qu , ta cng c th m rng (2.29) cho

tr ng hp h a bin vi vector tn hiu vo u(), vector tn hiu ra y(t) v h(t)
c thay th bi m a trn H(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)

t a i n hm truyn t dng tng qut cho h tuyn tnh n bin

(7 (s) = Mfl = h a il frm-i5* 1 + " + b\s + t\) ^ 08
u(s) ansn + On-\S * + h aj5 + 0()

Cn lu rng, hm truyn d t ca mt qu trnh thc lun l mt hm hp

thc cht, tc bc ca a thc t s lun th p hn bc ca a :hc mu s
(m <n). Khi a thc t s v da thc mu s nguyn t cng nhau nghim ca
a thc t s s l cc im khng v nghim ca a thc mu s chnh l cc
im
cc ca h thng. Cc im khng v im cc ni ln r t nhiu v c
tnh ng hc ca m t h thng. a thc mu s cn c gil a thc c
tnh, tng ng vi v tri ca ( 2 .20 ) cho trng hp h n bin.
2 V mc ch th u n tin, ta lm ng k hiu ch thng u, y,... cng ch hm trn
min thi gian v nh Laplace ca chng, i khi bin thi gian t hoc bin p h c s cn^

c b qua, ty theo ng cnh m khng s nhm ln.

3 G i thit ny hon to n hp i bi ta coi ban u h thng trng t h xc lp v u

cng nh y l cc bin chnh lch so vi trng thi ny.

2.4

CC

dng

hnh

67

lin t c

T nh ngha trn y, ta d dng xc nh hm truyn t cho m t s khu

tiu biu. Hm truyn t ca mt khu qun tnh bc n h t c tr (2.5) c dng
'F0PDT (s)

fs

(2.32)

TS + 1

v hrn truyn t ca mt khu bc hai c tr ( 2 .6 ) c dng

0$

G$o p d t \ s )
t

(2.33)

2s 2 + 2 r s + 1

Trng hp a thc m u s ca (2.33) ch c nghim thc m, t a c mt khu

qun tnh bc hai c tr
k
'SOPDT (*)

.9 s

(2.34)

(T1S + 1)( t 2* + 1)

T a cng c th xc nh hm truyn t t mt m hnh trng thi n bin.

Thc hin php bin i Laplace cho cc v ca hai phng trnh trong (2.16)
vi gi th i t x(0) = 0 , t a c:
sx(s) = Ax(s) + bu(s)
y(s) = cTx(s) 4- du(s)
Gii phng trn h th nht theo x(s) v thay vo phng trnh th hai, ta c:
y[s) = cT(sl A)~lbu(s) + du{s)
= G{s) = cT(s - A )-'b + d

(2.35)

Ngc li, t m hnh hm truyn t (2.31) ta cng c th i ti m t s

cch biu din trong khng gian trng thi. V d chun iu khin c a ra
di y cho trng hp m < 71. Khng m t tnh tng qut, t a c th cho O n = 1 .

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)

Ma tr n truyn t c th c dn xut t h phng trnh vi phn bng

cch xc nh tng hm truyn t tng ng vi cc knh vo /ra. Nu cho
trc m hnh trng thi, t a c cng thc tng qut
(2.39)

G(s) = C { s l - A ) - ' B + D

Ta cng c th s dng cch vit (2.17) biu din quan h gia m a tr n

truyn t v m hnh trng thi ca cng mt qu trnh:
G(s)

A B
c D

(2.40)

V d 2-1: Xc nh ma trn truyn t ca h thng t m hnh trng thi ca mt

h thng hai bnh phn ng ni tip, vi X\ v #2 l nng ti hai bnh, U\ v 1*2 l
nng v lu lng u vo.
-2
2
xx
x2

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

CC dng m hnh lin tc

69

[NM1,DEN1]=ss2tf(A,B,C,D,1)
[NM2,DEN2]=ss2tf(A,B ,c ,D ,2)

Kt qu l cc h s a thc t s v mu s ca cc hm truyn t cho ct th

nht ca G(s) cha trong cc ma trn NUM1 v DENI, cho ct th hai ca G(s) cha
trong NM2 v DEN2:
NM1 =
0 1

1 6

DENI =

NM2 =
0

0.0025

0.0100

0.0025

0.0100

DEN2 =
1 6

C th thy cc kt qu trn tng ng vi ma trn truyn t:

5 + 4 0.00255 + 0.01
2
0.00255 + 0.01
v hon ton ph hp vi tnh ton bng tay trong v d 2-1.

2.4*5

M h n h p n g t n s

Phn tch
khng th
c vai tr
i. Mt

v th i t k h thng da trn c tnh p ng t n s l phng php

thiu c ca ngi k s iu khin, tuy kinh in nhng cng li
c bit quan trng trong trng phi l thuyt iu khin sau hin
u im ln ca m hnh hm truyn t l t a c th dn xut trc

tip xc nh c tnh tn s ca h bng cch t bin phc s = j u .

Xt mt h tuyn tnh n bin c hm truyn t G(s). c tnh p ng
tn s hay gi t t l c tnh tn s ca G(s) c nh ngha l
G { M = ( s ) U >w

(2.41)

Khc vi hm truyn t ch mang tnh cht thun t y ton hc, c tnh tn s

th hin rt r ngha v m t vt l, l p ng ca mt h thng vi tn
hiu u vo hnh sin cc tn s khc nhau. rng c tnh t n s c th
phn tch th n h
G{ju) = A{u)eJ*M
trong

(2.42)

Chng 2

70

M HNH

Q U TRNH

A( ) = \G(ju)\ = V(Im[G( ] ) 2 + (Re[(jai )])2

(2.43)

Nu kch thch mt h n nh trng thi 0 m t tn hiu dao ng iu ha

u(t) = tioS nut, ta d dng xc nh c p ng u ra y(t) ch xc lp
nh php bin i Laplace nh sau:
u(t) = UoSinc => u(s) =
y(s) = G(s)u(s) = A( u))uq

UQ-L ----------------=

r + u
u
ej{uj)
$ + u>

=> y(t) = A(cj)/o sin(ujt + )

(2.44)

Nh vy, tn hiu ra ch xc lp cng l mt tn hiu dao ng iu ha c

bin c khuch i vi h s A v lch pha so vi tn hiu vo. H s
khuch i v lch pha u l cc hm ph thuc tn s. C hnh v ngha
ny, i4(cj) c gi l c tnh bin v (ij) c gi l c tn h pha ca p
ng tn s G(ju;). T quan st trn y t a c th a ra hai nhn xt quan
trng. T h nht, mt tn hiu u vo b t k c th phn tch th n h tng ca
cc tn hiu dao ng iu ha c t n s khc nhau, do th a m n nguyn l xp
chng nn tn hiu p ng ca mt h tuyn tnh cng chnh l tng ca cc
p ng th n h phn vi h s khuch i v lch p h a khc nhau ph thuc
tn s. Nh vy, c tnh t n s cng c kh nng m t y c tnh ng
hc ca mt h tuyn tnh. T h hai, c tnh bin v c tnh pha hon ton
c th xc nh c thng qua thc nghim, v vy cho php t a d dng xy
dng m hnh h thng thng qua phng php nhn dng.

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

any(t - n) + an_iy(t - n + 1 ) + + axy(t - 1 ) + y(t) =

bmu(t - m) + 6m_tu( - m + 1) 4------ f ^ u ( - 1) + bi()
V c s tng t vi phng trnh vi phn trong h lin tc, (2.45) cn c gi
l phng trnh sai phn tuyn tn h . T h t ra, s tng t x u t p h t t ch l
phng trnh (2.45) c th biu din c vi bin sai phn (hay cn gi l s
gia):
A y (0 = y(t) - y(t - 1 )
A V o

= A y () - A y{t - 1)

Any(t) = /\n~ly(t) - An~]y(t - 1)

Nu gii (2.46) tnh y(t l ) , 2/( 2),... theo y(t) v bin sai phn:
y{t - 1 ) = y(t) - A y(t)
y(t - 2 ) = y(t) - 2 A y(t) + A 2y(t)

v th ay th vo (2.45), t a i ti phng trnh sai phn th c :

nA ny(t) + + 2A 2y(t) + iA y(t) + oy(t)
= bfu(t) + bu(t !) + + bmu{t m)

(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

B mu(t m) + Bm_iu(t m + 1) + + Biu(t 1) + Bu(t)

2.5.2

M h n h t r n g th i

Tng t nh dng m hnh lin tc, m t m hnh tr n g th i gin on phi

tuyn tng q u t c th m t nh sau:
x k+\ i xktuk)

.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)

Cc phng trnh trong (2.52) cn c gi l m hnh trch m u Z O H ca m t

h lin tc. Trong i a s trng hp, y{kT) c o trc khi u(kT) t c ng
vo qu trnh, v vy D = 0. Khc vi m hnh lin tc, thi gian tr ca ca
qu trn h c th m hnh ha trc tip trong m hnh trch mu ZOH, khi
bc ca m hnh (s bin trng thi) s tng ln ng bng thi gian tr tnh
theo s nguyn ln chu k trch mu.
Lu rng, cc m a tr n $ v r c th ^c tnh gn trong m t bc vi
hm ly th a m a trn. T (2.53) t a suy ra:

2.5

CC m hnh g i n don

73
m

d
dt

=>

m
I

r()

${T)

T{T)

= exp

(2.54)

V d 2-3: Xc nh I1 hnh trch mu ZOH t m hnh trng thi lin tc t v d

2-1 vi chu k trch mu T = 0.25.
d.

X\

d t X-2

1 0.0025 U
0 0.0025 u2

V
y-2

Cc dng lnh MATLAB thc hin theo (2.54) l

A[-2 0; 2 -4]
B= [1 0.0025; 0 0.0025]
X=[A B; zeros(2,4)]
M=expm(X*0.25)

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

Mt cch ngn gn hn l s dng hm c2d trong MATLAB Control Tooibox:

A=[-2 0; 2-4]
B= [1 0.0025; 0 0.0025]
[PHI, GAMMA]=c2d(A,B,0.25)

ng nhin kt qu tr v trng vi tnh ton trc, bi thc cht hm c2d cng

c vit hon ton tng t:
PHI =
0.6065
0.2387

0
0.3679

GAMMA =
0.1967

0.0005

0.0387

0.0005

74

C hng 2

M HNH QU TRNH

Nu t a ch quan tm tip ti cc tn hiu gin on v coi chu k trch mu T

l n v thi gian, m hnh trng thi gin on tuyn tnh c th c vit
mt cch n gin nh sau:
x(t + 1) = 3>x() +r u ( )
y(t) = Cx(t) + Du(t)

(2.55)

T (2.55) t a d dng xc nh p ng h thng t trng thi ban u x{t) vi

dy u vo u(),
1 ),... u(t+k) bng phng php lp:

j =0
y[t + k) = Cx(t + k) 4- Du(t + k)

(2.56)

Nh t a s thy sau ny, m hnh trng thi gin on c th c c bng

nhiu phng php khc nhau ch khng phi ch thng qua trch mu t m
hnh trng thi lin tc. Tng t nh m hnh lin tc, y t a cng th y r
vai tr quan trng ca m a trn
trong din bin trn g thi ca h thng.
y, iu kin cn v h n nh l ton b gi tr ring ca
nm trong
vng trn n v. Cp m a trn ( ^ , r ) cn ni ln tnh iu khin c (trng
thi), cng nh cp ( $ , ) ni ln tnh quan st c ca h thng.

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)

Cho bit dy gi tr u vo trong qu kh ca m t h n bin, u ra thi

im hin ti c th c xc nh bi
(2.58)
Tng t nh ngha hm trng lng cho m hnh lin tc, dy gi tr {p*} c
gi l dy trng lng v (2.58) c gi l m hnh p ng xung. ngha ca
dy trng lng c th hin ch, mi gi tr gic phn nh nh hng khc
nhau ca nhng gi tr u vo trong qu kh ti gi tr y(t) thi im hin
ti. Cn c bit lu rng, mc d s dng cng k hiu, dy trng lng ni
chung khng ng n h t vi cc gi tr trch mu ca hm trng lng lin tc

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)

trong N c chn ln (thng thng trong khong t 30-120, ty theo

chu k trch m u tn hiu) cc s hng sau c th b qua.
M hnh p ng xung v m hnh F IR cng c m rng cho h a bin vi
vector u vo tz() v vector u ra y(t):
oo
N
y (0 = ^ G ku(t - k ) f s ^ 2 G ku(t - k)
Jfc=1
*=1

(2.60)

vi {(?*} l dy m a trn trng lng. Mi m a trn trng lng y c cc

phn t [Gk]ij tng ng vi cp vo-ra (i, y t) .
V d 2-4: Xc nh m hnh p ng xung t m hnh trng thi trong v d 2-3:
3 =

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

Ma trn o c hai gi tr ring nm trong vng trn n v l X\ = 0.3679 v A2 =

0.6065 v v y l m a tr n n nh hay c ngha l o* tin ti 0 khi k tin ti v cng.

M hnh FIR vi /V = 20 c dy ma trn trng lng:

0.1967
0.0387
0.1193
Go =
0.0612
0.0724
3 =
0.0510
I =

20 = 0.0001

0.0005
0.0005
0.0003
0.0003
0.0002
0.0002

0.1471 0.0004
0.1471 0.0004

C th thy l vi k > 20 , gi tr ca Gk c th b qua.

76

C hng 2

M HNH QU TRNH

M hnh F IR r t c a chung trong ng dng cng nghip bi cc u

im ca n l trc quan v phn nh r nh hng ca tng gi tr bin vo ti
dy gi tr ca tng bin ra quan tm . M hnh F IR cng d dng c c nh
phng php nhn dng n gin. Tuy nhin, nhc im ca n l ch c th p
dng cho cc qu trn h n nh.
2 .5 .3 .2 p n g b c t h a n g
Tng t nh p ng xung, t a c th s dng m hnh p ng bc thang:
y(0 =

k= 1

- k)

(2.61)

trong hk l cc gi tr trch mu tn hiu ra khi kch thch qu trnh ang

trng thi 0 bng mt hm bc thang n v v Au l s gia iu khin
( Aii() = u{t) u(t 1)). i vi m t qu trnh n nh, hk s tin ti m t gi tr
hng khi k ln ln. V th ngi c th xp x (2.61) bng m t m hnh p ng
bc thang hu hn hay gi t t l m hnh FS R (Fnte Step Response):
N
y(t)

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

C th d dng tm ra quan h gia m hnh FSR v m hnh F IR (vi ; >1):

Gk = H k - H k_x

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

i vi cc m hnh gin on t a c m t phng php m t r t tin li trn

min thi gian, l s dng ton t dch tin (k hiu q) v ton t dch li
(k hiu 1). Vi mt tn hiu gin on f ( t) ) trong t cgi tr nguyn v
n v thi gian l chu k trch m u T, cc ton t dch tin v dch li c
nh ngha nh sau:

/(0 =

(2.65)
f ( t - 1)

S dng ton t dch, m hnh F IR (2.59) c vit li di dng ngn gn

y{t) = Gfin(q~l )u(t)

(2.66)

2.5

CC

hnh

gi n

77

on

trong
G f r {q

*) Pitf"*1 +

92Q 2

+----+9 n Q

l m t a thc theo ton t dch li. Du xp x trong (2.59) c thay bi du

bng, bi d th no th mi m hnh cng ch l gn ng. Tng t nh vy,
m hnh F S R c vit li thnh
y(t) = HFSK{q -')* u (t)
T m hnh trng thi
bin, t a c th vit

(2.67)

(2.55), p dng ton t dch tin cho trng hp n

x(t + 1 ) = qx(t) = $ x (t) + Tu(t)

y(t) = c1x(t) + du(t)
Gii phng trnh th nht theo x{t) v thay vo phng trnh th hai, ta c

y(t) = [cT(q -

*)->r + d]u(t) =

u(t)

(2.68)

trong cc A(q) v B(q) l cc a thc theo ton t q:

A{q) = qn + aig"-1

+ an

B(q) = boqm + b lqm- l - + bm

P h n thc ton t
Ote) =

(2.69)

c gi l m hnh hm truyn t xung ca qu trnh. Lu rng, hm

truyn t xung biu din quan h gia cc bin trn min thi gian.
Phng trnh (2.68) cng c vit li di dng
A(q)y(t) = B(q)u(t)

(2.70)

S dng ton t dch li (-1), t a cng c cch biu din tng t. T a c th

vit:
x(t)

= q~lx(t + 1 ) = q~x [&x(t) + ri()] => x(t) = (I - q~&)~q~Tu(t)

y{t)

=cTx(t) + du{t)

= [c7'(I -

+ d]u() = B } q-_ \ u{t)

{q )

hay l
A '(q-')y(t) = B \ q - l)u(t)
trong A*(q~[)v,

l cc a thc theo ton t q~[ :

(2.71)

Chng 2

78

M IINH

Q U TRNH

A*(q *) 1 + d\Q 1 4 - ----f Q-naQ

B (g 1) =

+ bq~l H------ h 6n9~n

Lu rng, t (2.70) ta cng c th suy ra (2.71) cng nh

ngc li bng
cch chia hoc nhn c hai v vi qn (hay ni ng hn l p dng n ln ton t
q~x cng nh q cho c hai v). Tuy rng cc a thc theo ton t dch tin v
dch li l khc nhau, thun tin t y v sau t a b k hiu du sao trong
A*(q~l)v 5* ( 1) . p dng ton t dch li cho (2.71) v thc hin chuyn y(t)
sang m t v, t a c:
y(t) = CL\y(t - 1 )-------- o,nay(t - na) +

+ biu{t - ! ) + + bnbu(t - nb)

(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

dng biu din

hon ton tng ng vi phng trnh sai phn tuyn tnh.

Phng trnh (2.71) cng nh (2.72) cn c gi l m hnh ARMA (A u to Regressive Moving Average). ngha ca ci tn ny nm ch, gi tr u ra
hin thi y(t) c tnh tru y hi t nhng gi tr u ra trc (autoregressive) cng vi trung bnh cng (c trng lng) ca dy gi tr u vo
tnh n thi im hin ti (moving average). i vi cc q u trnh thc, c
bit trong cc h iu khin s th u vo hin ti u(t) khng th nh hng tc
khc ti u ra y(t) tc l h s u ca a thc B(q~) lun bng 0. y cng
chnh l l do ti sao t a lun gi thit nh vy trong phn trc khi xt quan h
gia ton t truyn xung vi m hnh F IR v dy trng lng.
m t c nh hng ca nhiu u ra, ngi t a s dng m hnh ARX
{Auto-Regressive with eXogenous input)
M* - d) + e(t)

(2.73)

trong d > 0 biu din thi gian tr v

A(q-V) = 1 + axq~l + + anaq~na

B(Q 1) ==fy)+fri<7 1 + ----+KbQ nb

Mt m hnh thng dng hn, tng qut hn, cho php biu din c th n h
phn nhiu c tn l ARMAX (Auto-Regressive Moving Average with eXogenous
input) :
A ir 'M O =

- d ) + C(q~l )e(t)

trong e(t) l ngun nhiu, A(q~{)v B(q~) n h trong (2.73) v

C{q~l ) = 1 + q " 1 + + Cncq-

(2.74)

2.5

79

CC m hnh gin on

Cc m hnh t hi quy cho t a ci nhn trc quan v quan h v o r a trn

min thi gian. Ngoi nhng m hnh thng dng trn y, nhiu dng m rng
khc nh CARMA ( Controller Auto-Regressive Moving Average) hoc CARIMA
( Controller Auto-Regressive Integration Moving Average) c s dng r t ph
bin trong cc phng php iu khin qu trnh hin i.
Cc m hnh a thc c th c m rng m t cch d dng cho h a bin.
a thc ton t vn gi nguyn vai tr ca n, tu y nhin vi cc h s l m a
trn s thc thay cho s thc v hng. V d vi a thc m a trn:
G fr (q *) = G\q 1 + G2q 2 H------ h G^q N
trong Gi l cc m a trn trng lng, t a c th biu din quan h gia cc
vector tn hiu v o /ra cng n gin nh cho h n bin ( 2 .66 ):
y{t) = GFlR{q-l )u{t)

(2.75)

Tng t nh vy, cc a thc A{q) v B{q) trong (2.70) cng nh i4(_1)v

trong (2.71) nay tr thnh ma trn a thc, c xc nh t cc quan
h:
A ~ \q )B { q ) = C{q A ~ l (q~l )B(q

= (7(1 -

$)-r + D

(2.76)
(2.77)

q - l* ) - l q - lr + D

C th ni, cc m hnh a thc l dng m t rt tin li cho cc h gin on

bi n h tr ton b cng vic nhn dng, phn tch v thit k da vo c
tnh v o r a trc tip trn min thi gian, ng thi cho php p dng mt cch
thng nht cho h n bin cng nh h a bin. Nu nh p dng phng php
lp trnh tng qut (v d c h tr trong ngn ng
t a ch cn vit cc
th u t ton thit k cng nh th u t ton thc hin iu khin m t ln v c th
p dng thng nht cho c h n bin v a bin.

c++),

V d 2-5: Xc nh m hnh a thc cho v d 2.3

=

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

Mt vn c bit th v l quan h gia hm truyn t xung (hoc m hnh

ARMA) v m hnh a thc F IR ca m t qu trnh. So snh (2.66) v (2.71), ta
thy rng vi m t h n nh:
GFm (q -1) ^

Ma )

(2.78)

Thc cht, m hnh a thc F IR chnh l dng xp x ca hm truyn t xung,

c c bng cch thc hin php chia a thc t $ cho a thc mu s v ly
N s hng u tin. T t nhin, vic xp x ny ch c ngha khi phn d
nh c th b qua, tc l khi h n nh v N ln.
t php chia
g (q -y
A(q~l )

blq~l + - + bnbq -nb

Oo + 0 ,(7 -1 +--- + anaq~na

1 +

2 H---------+ 9 n Q N H

vi h s bi) lun bng 0 cho mt qu trnh thc, ta nhn c kt qu:

9} = k\ / <h)
92 (^2 9 a \ ) / i )

93 =

- 9i<h - 92* i )/<*0

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

~ 0.1193 X 0.6065 5 0.0724

ng nh cc phn t (1,1) ca dy ma trn trng lng trong v d 2-4.

2.5

CC

hnh

gin

81

on

Quan h gia m hnh F IR v m hnh ARMA cng hon ton ng cho h

a bin. Biu din cc m a trn a thc di dng a thc m a trn
A(q l) A q + A]q 1 + ---- h Ajl(1q na

(2.80)

B (q -') = B q- ' + - + Bnbq - nb

Dy m a tr n trng lng cho rn hinh FIR s c tnh theo cng thc tng
qut ha t (2.79) nh sau:

, =
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

Cc m hnh hm truyn t gin on c nh ngha vi bin phc z. Php

bin i z cho m hnh gin on cng tng t nh php bin i Laplace cho
m hnh lin tc, cho php) t a phn tch v thit k h gin on trn cd s hm
phc. Cho m t tn hiu gin on (kT) vi k = 0, 1,..., v T l chu k trch mu
tn hiu, nh z ca n l mt hm theo bin phc z v c nh ngha nh sau:
(2.82)

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

Hm truyn t gin on c th vit li c di dng phn thc hu t

1

Qtz ) =
A(z)

+ M m H + bm
Oozn + aizn~l H------ h an

(2.84)

trong A (z) cn c gi l a thc c tnh ca h. Cc nghim ca a thc

t s l im khng v cc nghim ca a thc mu s l im cc ca h. Mt
h gin on n nh khi v ch khi ton b im cc nm trong vng trn n
v (trn m t phng phc).
H m truyn t gin on c th biu din c tnh vo-ra ca mt h gin
on thc (v d b iu khin s) hoc mt h trch mu. Quan h gia hm
truyn t lin tc ca m t qu trnh v hm truyn t gin on ca h trch
mu tng ng s dng khu gi bc 0 (zero-order hold\ ZOH) c minh ha
trn Hnh 2-9.
u(kT)

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

Gia m hnh hm truyn t v m hnh trng thi gin on cng c quan

h cht ch. T a vit li m hnh trng thi gin on cho h n bin:
x(k + 1 ) = &x(k) + Tu(k)

(2.85)

y{k) = cTx(k) + du(k)

trong k hiu t c thay th bi k. p dng php bin i z cho c hai v

ca phng trnh trng thi, t a c:
f ^ z ~ kx{k + 1 ) = z f ^ z - kx{k) - x{0) = f 2 $ z - kx(k) + r z~ku(k)
Jfc=0
u =0
*=0
=0
hay l
z ( X ( z ) - x(Q))= & X{z) + r U(z)
=X (z) = {zl - ) 1 ( zx{0) +

U(z))

( 2 .86 )

Bin i z cho c hai v ca phng trnh u ra v s dng kt q u (2.86), t a

nhn c
Y(z) = cT{zI - & )-l zx(0) + ( cT{zI - * ) - l r + d)U(z)

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)

Quan h gia hm truyn t gin on v hm truyn t xung cng l mt

vn cn quan tm khi so snh (2.87) v (2.69). S ging nhau ny em li c
m t t t v m t m t xu. M t tt l khi c G(z) t a ch cn thay th q thay cho z
l c c G(q) v ngc li, nh vy va li dng c cc cng c phn tch
v thit k trn min thi gian cng nh trn min phc m khng phi m t
cng chuyn i m hnh. M t khng tt y l s ging nhau v hnh thc
nhiu khi gy ra s nhm ln ng tic v bn cht. T hc cht, z l m t bin
p h c cn q l m t t o n t, A(z) v B (z) l n h n g a thc vi bin phc Zy cn
A(q) v B(q) l cc ton t vit di dng a thc theo q. Trn min thi gian ta
hon ton c th s dng A{q) v B(q) hoc A(q~l )v B(q~l) , nhng khng th
s dng A(z) v B(z). Cng cn lu rng, m t s ti liu s dng k hiu z v
z x biu din c bin phc ca php bin i z v cc to n t dch, tuy vy
t y theo ng cnh s dng m t a cn phn bit r rng v m t bn cht.
2 .5 .5 .2 M a t r n t r u y n t g i n o n
Tng t nh cho h lin tc, mt h gin on a bin cng c th biu din
vi ma trn truyn t. Cho mt h vi m bin vo v p bin ra, m a trn truyn
t c nh ngha l mt m a trn p x m vi cc phn t l hm truyn t
cho tng knh vo-ra:

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 *)

T a cng c th vit li (2.87) cho trng hp tng q ut

G(z) = C{z -

$)-r

+ D

(2.89)

Ma trn tru yn t cng c th c biu din di dng phn tch m a trn

tri ( left m atrix factorization, LMF) hoc hn tch m a trn phi (right matrix
factorization, RM F). Khi ta s dng cch vit
G{z)

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

Xy dng m hnh ton hc cho mt dy chuyn cng ngh qui m ln l m t

bi ton rt phc tp, trong thc t t khi c thc hin trn vn. T hay vo ,
ngi t a ch t p trung vo xy dng cc m hnh th n h phn cho m t s q u
trnh c bn, n gin v sau tm cch ghp ni cc m hnh con vi s gip
ca m t cng c phn mm thch hp.
Qui trnh tin hnh m hnh ha cho m t qu trn h phc hp c gii thiu
trong mt s t cc ti liu, v d [2],[3]. Cc ni dung cn li ca chng l
nhng t liu kh thng dng, c th th am kho trong nhiu ti liu khc nhau
([4H12]).
T i li u t h a m k h o
[1]

AN SI/ISA

88.01:

Batch

Control

Systems:

Models

and

Terminology.

American National Standard In stitu te /In stru m e n t Society of America,

1995.
[2]

Luyben, W.L.: Process Modeling, Simulation and Control fo r Chemical

Engineers. McGraw-Hill, 1990.

[3]

M arquardt, H.: Modellierung

Vorlesungsskript. T H Aachen.

[4]

strm, K.J.; B. W ittenm ark: Computer Controlled System s - Theory and

Design. 3rd Edition, Prentice Hall, 1997.

[5]

Fllinger, o .: Regelungstechnik. 7. Auflage, Hthig, Heidelberg, 1992.

[6]

Franklin, G.F.; D. Powell, M. W orkman: Digital Control o f D ynam ic

Systems. 3rd Edition, Addion-Wesley 1998.

[7]

Franklin,

G.F.;

J.D.

Powell,

von

Verfahrens-

A.Emami-Naeini:

und

Energieprozessen.

Feedback

Control

of

D ynam ic Systems. 3rd Edition, Addison-Wesley, 1994.

#

[8]

Lunze, J,.: Automatisierungstechnik - Methoden f r die berwachung und

Steuerung kontinuierlicher und ereignis diskreter Systeme. O ldenburg
Verlag, 2003.

2.6

G hi ch v ti liu tham kho

85

[9]

O gata, K.: Modern Control Engieering. Prentice-Hall, Englewood Cliffs,

NJ, 2004.

[10]

Phc, N.D: L thuyt iu khin tuyn tnh. X ut bn ln 2, NXB Khoa

hc & K thu t, H Ni, 2005.

[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]

Unbehauen, H.: Regelungstechnik I-II. 10. Auflage, Vieweg, 2000.

s.;

2.7 C u hi v b i t p
2.1

Nu r v phn tch cc mc ch 11 hnh ha trong lnh vc iu khin qu trnh.

2.2

Nu cc dng m t ton hc thng dng ca cc qu trnh cng ngh.

2.3

Nu cc phng php xy dng m hnh ton hc v phn tch u nhc im ca

tng phng php.

2.4

La chn phng php xy dng m hnh ph hp, nu mc ch s dng ca m

hnh l
Gip hiu r qu trnh cng ngh
C s cho thit k sch lc iu chnh
C s cho la chn lut iu chnh
Phc v tnh ton tham s ca b iu khin
M phng qu trnh
Chnh nh trc tuyn cc tham s ca b iu khin

2.5

C s ca phng php l thuyt trong xy dng m hnh ton hc l g? Nu cc

bc tin hnh.

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.

2.7 S dng cng c MATLAB v p ng bc thang n v, th c tnh tn s

Bode v th Nyquist ca cc khu sau y:
n t

-5

05

n t \

- 5e_2

,(s) = 7+T G M = lT T s) - o T T G(5) iqT=T

0.5

C\rj(5) 7777- ; TTT ; n ^ 6(s)

(10s + l) (5 + l)

( 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

2.8 Dn dt cng thc tnh p ng bc thang t m hnh trng thi gin on da

theo (2.56), t chng minh quan h (2.64). S ng MATLAB tnh p ng
bc thang cho m hnh trong v d 2-2.
2.9 T kt qu trong v d 2-7, hy vit chng trnh MATLAB tnh dy ma trn
trng lng cho m hnh FIR theo cng thc (2.81) vi N= 20. Kiin nghim kt qu
vi tnh ton trong v d 2-4.
2.10 Phn bit gia ton t dch tin q v bin phc z (trong php bin i Z), phn bit
gia hm truyn t xung v hm truyn t gin on.
2.11 S dng cng c MATLAB gin on ha cc hm truyn t trong bi tp 2.7.
M phng p ng qu v so snh vi cc kt qu thu c t v d 2.7

C h n g 3
M h n h h a l th u y t

Mc ch ca chng ny l gip ngi c hiu r nhng t tng c bn trong

xy dng m hnh qu trnh bng phng php l thuyt v nm c cc bc
tin hnh c th. tin theo di, cc ni dung c trnh by bm theo cc
bc thc hin c bn, km theo mt s v d minh ha.

3.1

T n g q u a n cc b c ti n h n h

Xy dng 1 hnh ton hc bng phng php l thuyt hay cn gi l m hnh

ha c s i t vic p dng cc nh lut c bn ca vt l, ha hc v sinh hc
kt hp vi cc thng s k th u t ca thit b cng ngh tm ra quan h gia
cc i lng c trng ca qu trnh. M hnh l thuyt nhn c l mt h
phng trnh vi phn (thng hoc o hm ring) v phng trnh i s.
Phng trnh vi phn biu din c tnh ng hc ca qu trnh, trong khi cc
phng trnh i s m t cc quan h ph thuc khc. T cc phng trnh ny
ta c th dn x u t cc dng m hnh khc. Cng vic xy dng m hnh l
thuyt bao gm cc bc chnh sau y:
1 . Phn tch bi ton m hnh ha: Tm hiu lu cng ngh, nu r mc ch

s dng ca m hnh, t xc nh mc chi tit v chnh xc ca m

hnh cn xy dng. Trn c s m t cng ngh v mc ch m hnh ha,
tin hnh phn chia thnh cc qu trnh con, nhn bit v t tn cc bin
qu trnh v cc th a m s qu trnh. Lit k cc gi thit lin quan ti xy
dng m hnh nhm n gin ha m hnh.
2. X ay dng cc phng trinh m hnh: Nhn bit cc phn t c bn trong h
thng, vit cc phng trnh cn bng v phng trnh i s khc da trn
c s cc nh lut bo ton, nh lut nhit ng hc, vn chuyn, cn bng
pha,... n gin ha m hnh bng cch thay th, r t gn v a v dng
phng trnh vi phn chun tc. T nh ton cc th am s ca m hnh da trn
cc thng s cng ngh c c t.

88

Chng 3

M H NH H A L THUYT

3. K im chng m hnh: Phn tch bc t do ca qu trnh da trn s lng

cc bin qu trnh v s lng cc quan h ph thuc. nh gi m hnh v
mc ph hp vi yu cu da trn phn tch cc tnh ch t ca m hnh
kt hp m phng my tnh.
4. Pht trin m hnh : T y theo mc ch s dng, c th chuyn i m hnh
v cc dng thch hp nh trnh by trong chng 2. T uyn tnh ha m
hnh ti im lm vic nu cn thit. Thc hin chun ha m hnh theo yu
cu ca phng php phn tch v thit k iu khin.
Mc d cc bc cn thc hin tng i r rng, cng vic m hnh ha
trong thc t hao gi cng phc tp. Qui trnh tin hnh t khi tu n t thun
ty, m thng phi lp li mt s bc. Tuy nhin, mc ch s dng chnh ca
cc m hnh trong phm vi cun sch ny l phc v thit k sch lc v thut
ton iu khin, v vy yu cu v mc chi tit t ra cho m hnh l va
phi. Trong khun kh c hn ca cun sch, cc phn trnh by di y s tp
trung vo nhng cng vic chnh trong cc bc nu.

3.2

N h n b i t cc b i n q u t r n h

Cc. bin c trng cho mt qu trnh k th u t hay gi t t l cc bin qu trnh

bao gm bin cn iu khin. bin iu khin v nhiu. Xy dng m hnh l
thuyt tc l tm cch m t c tnh ca qu trnh thng q ua quan h ton hc
gia cc bin qu trnh vi s h tr ca cc tham s qu trinh ( tham s cng
ngh). Mc d c bin qu trnh v tham s qu trnh u x u t hin trong cc
phng trnh m hnh, s phn bit gia chng l iu cn thit. Khi t a ni ti
bin qu trnh Lc l t a ni ti nhng i lng c trng ca qu trnh, s thay
i ca chng phn nh thc trng din bin ca qu trnh. Trong khi , cc
th am s qu trnh khng c thc s coi l bin, bi hoc chng khng thay i
trong mt qu trnh v thit b cng ngh hoc s thay i khng phn nh
trng thi din bin ca qu trinh. Cc tham s ca m hnh sau ny c tnh
ton t cc th am s qu trnh.
Nhn t qu trnh cng ngh, hu ht cc bin qu trnh c th c xp vo
mt trong hai loi l bin dng chy (vi ngha tng qut) hoc bin trng thi.
Mt bin dng chy m t s thay i, vn chuyn, trao i vt cht hoc nng
lng trong m t khu vc, gia cc a im, gia cc vt hoc gia cc pha. Mt
bin trn g thi m t th trng vt cht hoc nng lng ca q u trnh trong
tng pha. Mt bin dng c th thuc phm tr lng hoc d ng (khi
lng, th tch, lu lng, nhit lng,...), trong khi m t bin tr n g thi thng
thuc phm tr t h (nhit , p sut, nng ,...).

3.2

Nhn

b i t

cc

B1BN QU T R N H

89

Cc th a m s qu trnh cng c phn loi th n h cc h s hin tung v

cc kch thc hnh hc. Cc h s hin tng phn nh tnh cht ca vt cht
trong cc hin tng vt l-ha hc, v d h s tc phn ng, h s nht, h
s dn nhit, nhit dung ring,... Cc kch thc hnh hc lin quan ti thit k
hnh hc ca cc thit b cng ngh nh tit din ng ng, th tch bnh cha,
din tch tip xc,... Trc khi bt tay vo xy dng cc phng trnh m hnh,
cc bin v th a m s qu trnh cn c thng k v c t cng vi nhng tnh
cht quan trng ca chng, nh Vi d minh ha trong Bng 3-1.
B ng 3-1:

C T BIN

Tn bin

qu

trnh

K hiu

n v Ph thuc

Gii hn

.......

Lu lng cp 1

l/s

Nng A trong bnh 1

...

Thi gian

kg/m; Thi gian, v tr

Ca

Gi tr
danh nh

max. 2

0.5

20-40

32

'

Vic xc nh cc bin qu trnh xut p h t t cc m c ch iu khin v

yu cu cng
ngh. Da trn lu
cng ngh cng vicc hnh thc m t
khc, trc ht ngi k s cn xc
nh r cc bin ra,cc bin ra cn iu
khin cng vi cc bin vo (bin iu khin v nhiu). Nh t a s thy qua cc v
d minh ha, vic nhn bit cc bin qu trnh cng chnh l gp phn lm r
bi ton iu
khin. Tuy nhin, vic
la chn cc bin qu trnh thng thng
cha kt thc y, m s cn phi
tip tc sau khi ccc phng trnh m
hnh, v th m ch cn phi thay i trong khi thit k sch lc iu khin.
Bin cn iu khin l mt i lng lin quan trc tip v h trng ti cc
mc ch iu khin t ra nh vn hnh an ton, n nh, nng sut hoc cht
lng sn phm . Cc i lng cn iu khin thng dng lin quan ti cht
lng sn phm bao gm p sut, nhit , nng , th n h phn hp cht. i
lng i din tiu biu cho nng sut thng thng l lu lng. Cc i lng
lin quan ti s vn hnh an ton v n nh ca h thng bao gm cc gi tr
mc, p sut v nhit .
Trong thc t, vic xc nh ng vai tr cc bin qu trnh khng phi bao
gi cng d dng. Mt bin ra l mt bin ph thuc, th hin kt qu ca tc
ng u vo. Nhng khng phi bin ra no cng cn phi iu khin. Bin cn
iu khin l m t bin ra cn c duy tr ti mt gi tr t hoc bm theo mt
tn hiu ch o. Thng thng, nhng i lng biu din mt cch t t nht
tr n g thi mong mun ca qu trnh k th u t c chn l bin cn iu khin.
Vic nhn bit cc bin cn iu khin l cn th it cho vic hiu r bi ton
v xy dng m hnh, nhng khi cha c cc phng trnh m hnh t a cha th

90

C hng 3

M HNH HA L TH UY T

ra quyt nh cui cng v cc bin s c iu khin. Mt i lng cn iu

khin c th khng o c, hoc khng d dng iu khin m t cch trc tip.
V d vi m t th i t b phn ng, cht lng mong mun ca sn phm th hin
t t n h t q u a th n h p h n u ra. Tuy nhin, vic o thnh phn sn p hm ra
khng phi bao gi cng d dng v nhanh chng. Do vy, thay v iu khin
trc tip th n h p hn t a c th iu khin gin tip thng q ua m t s i lng
lin quan, v d nhit v p sut. Hn na, nhit v p su t cng l cc
i lng lin q uan ti trn g thi an ton ca h thng, nn chng l cc i
lng c iu khin cn la chn.
B i n iu khin l m t bin vo c th can thip c theo mun tc
ng ti bin cn iu khin. Bin iu khin c th l b t c bin q u trnh no
m c th t c ng d dng v lm thay i trng thi qu trnh m t cch
n h an h chng. T rong iu khin qu trnh th hu ht cc i lng iu khin l
lu lng cht lng hoc kh, v d lu lng nc cp, lu lng nhin liu, lu
lng khng kh, lu lng hi nng. Cng chnh v vy, cc th it b chp hnh
c s d n g ph bin n h t l van iu khin, qut gi v my bm. Nhn trn
lu cng ngh, u c cc van iu khin hoc cc loi van ti t lu khc th
lu lng q u a c th coi l mt bin diu khin tim nng. Nhng nh ni
trn y, phi ch ti khi xy dng xong cc phng trnh m hnh v tin hnh
kho s t theo yu cu th i t k sch lc iu chnh ta mi c th a ra la chn
c th v cc bin iu khin.
Cc bin q u trn h c lp cn li khng can thip c, khng kim sot
c v m t s l do no (v d do yu cu ca qu trnh cng ngh ng
trc hoc ng sau), cn c coi l nhiu qu trnh (process disturbance) hay
m t trng hp c bit hn l nhiu ti ( load disturbance). Lu rng, m t i
lng c kim sot c hay khng cn ph thuc vo phng php xy dng
m hnh cng n h phng php iu khin. Trong nhiu trng hp, nu t a xy
dng m hnh kt hp cho qu trnh k th u t gm nhiu cng on th m hnh
ta c s l m t h nhiu chiu v mt s i lng ng l c coi l nhiu s
bin m t.
Bn cnh nhiu ti, t a cn quan tm ti mt loi nhiu khc l nhiu o.
N hiu o ( m easurem ent noise) l nhng sai lch xy ra trong q u trnh o, c
th do tc ng t bn ngoi, do c im ca qu trnh k th u t hoc o chnh
thit b o gy ra. V d, vic o mc dung dch trong bnh c cha sai s ln
bi m t nc khng n nh, do thit b o cht lng th p hoc cn chnh cha
ng.
Trong m t quy trn h cng ngh, mt bin iu khin ca qu trn h ny c khi
li l bin cn iu khin ca mt qu trnh khc. V d, lu lng hi cp l
bin iu khin cho q u trnh chng luyn, song li c th l bin cn iu khin
ca th i t b gia nhit ng trc. Tng t nh vy, m t bin iu khin hoc

3.2

Nhn

b i t

cc

bin

qu

tr n h

91

bin cn iu khin ca qu trnh ny c khi li ng vai tr l nhiu cho mt

qu trnh ng trc hoc ng sau. V vy, mt i lng c coi l bin cn
iu khin, bin iu khin hay l nhiu ph thuc vo gc nhn nhn.

3.2.1

V d bn h c h a c h t lng

Binh cha l m t i tng rt quan trng v thng dng tro n g cc h thng

iu khin q u trnh. Bi ton iu khin t ra cho mi bnh cha l duy tr tr
lng vt liu trong bnh ti m t gi tr hoc trong m t p h m vi mong mun,
ty theo chc nng s dng ca bnh cha. i lng cn quan t m i vi h
thng bnh cha cht lng (tank) l gi tr mc hoc th tch. i vi bnh cha
cht kh hoc th hi (vessel) ta quan tm ti p sut, i vi bnh cha cht
rn ( tank, silo) t a quan tm ti mc hoc khi lng vt liu. T rong thc t bnh
cha c nhng chc nng sau y v m t cng ngh:
B nh cha qu trnh'. T o khng gian v thi gian thc hin cc q u trnh
cng ngh (qu trnh phn ng, qu trnh trn, q u trn h bay hi,...)
B n h cha trung gian: Gim tng tc gia cc q u trn h k tip nhau (v d
bin ra ca m t qu trnh ny l bin vo ca qu trn h k tip), gim thiu
s bin thin trong cc i lng u vo (v d lu lng, nhit hoc
th n h phn nguyn liu), gip qu trnh vn hnh trn tr u v d iu khin
hn.
B nh cha cp cht lng: m bo ct p duy tr h o t ng bnh thng
cho cc m y bm cp.
i vi m t bnh cha cht lng c chc nng trun g gian gim tng tc
v gim nhiu, mc ch iu khin s l m bo h thn g vn h nh n nh,
trn tru v an ton. Nh vy gi tr mc trong bnh ch cn c khng ch
trong m t phm vi an ton (iu khin lng, loose control, averaging control).
Ngc li, vi vai tr l bnh cha qu trnh th gi tr mc hu h t phi c
duy tr tng i chnh xc ti mt gi tr t (iu khin cht, tight control).
X t bnh cha cht lng minh ha trn Hnh 3-1. C h t lng trong bnh c th
tch V (m:i) v khi lng ring p (k g /m 3). Gi thit bnh cha c tra n g b m t
h thng khuy l tng, nh vy ta c th coi cht lng ng n h t ti mi v tr
trong bnh. Dng vo c lu lng th tch l F() (m 3/s ) v khi lng ring
dng ra c lu lng F v khi lng ring p ging nh tron g bnh. Nu t a cng
gi th i t khi lng ring dng vo khng thay i ng k th khi lng ring
p = Po v c coi l m t tham s qu trnh. Da vo quan h n h n -q u
dng nhn ra th tch V l mt bin ra, trong khi F v Fo l cc bin vo.
tch tip mc ch iu khin, ta cng xc nh c bin cn iu khin
T y theo tng bi ton, bin lu lng no ph thuc vo q u trn h ng
h o c n g s a u s c coi l n h i u , bin C1 li p h i l b i n i u k h i n .

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

Bnh cha CHAT lng

V d th i t b k h u y tr n lin t c

S h thng thit b khuy trn lin tc gii thiu trong chng 1 c

minh ha li trn Hnh 3-2a. Sn phm c pha ch t hai dng nguyn liu
vo c nng cht X khc nhau. Yu cu cng ngh l duy tr th n h phn sn
phm ra theo phn khi lng ca X nh mong mun, trong iu kin thnh
phn ca
Wi,v>2 X\,X2 w Xh -

hai dng vo c th thay i nh. T a s dng cc k hiu sau y:

lu lng khi lng ca hai dng nguyn liu (kg/s hoc kg/pht)
thnh phn ca hai dng nguyn liu (phn khi lng ca X )
lu lng khi lng dng sn phm ra (kg/s hoc kg/pht)
thnh phn ca sn phm ra (phn khi lng ca X )
mc cht lng trong bnh (m).

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

Q ua phn tch cc mc ch iu khin v tm hiu lu cng ngh, t a c

th th y ngay hai bin cn iu khin l thnh phn X v gi tr mc h. T hnh
p h n X lin quan ti cht lng sn phm, trong khi h lin quan ti s vn hnh
n nh v an ton ca h thng. Ta cng d dng nhn ra lu lng wu u>2 , w
v th n h phn X \, 7>2 l cc bin vo, trong W i v M>1 l cc bin iu khin
tim n n g . Lu lng ra w ph thuc vo yu cu ca qu trnh tip theo, v
vy cn coi l nhiu. T hnh phn ca cc dng vo X\ v
cng l cc i lng
nhiu q u trnh.
Nu bi ton diu khin thit b khuy trn c thay i m t cht nh trn
Hnh 3-2b (c thm m t van iu khin t dng sn phm ra), lu lng ra w
cng s tr thnh mt bin iu khin tim nng. Song, w cng c th c coi
l mt bin cn iu khin (i lng c trng cho nng sut). Vng iu khin
lu lng l m t bi ton c bit m i lng cn iu khin cng chnh l i
lng iu khin, tuy nhin khi phn tch ta phi s dng hai bin khc nhau.

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

Ta xt mt v d phc tp hn, m t h thng th p chng luyn hai cu t minh

ha trn Hnh 3-4. Nguyn liu a vo th p l m t hn hp hai cu t, sn
phm y s cha nhiu cu t kh bay hi v sn phm nh s cha nhiu cu
t d bay hi. Dung dch y th p c un bc hdi bng hi nc bo ha.
Phn hi bc ln trn nh th p c ngng t bi nc lm lnh v a xung
bnh cha. C ch hi lu gip cho sn phm nh tinh khit hn. Ph n tch cc
mc ch iu khin, t a c th nhn bit cc bin cn iu khin nh sau:
m bo cht lng: T h n h phn sn phm nh (XD) v sn phm y (xn).
m bo nng sut: Lu lng sn phm nh (D) v sn p h m y (B ).
m bo vn hnh an ton, n nh: Nhit v p su t tro n g th p (T, p),
mc dung dch y th p (Mn) v mc dung dch ti bnh cha (Mo).
Trn s cng ngh t a thy c 5 van iu khin, tng ng vi 5 bin iu
khin l lu lng hi nc (5), lu lng nc lm lnh ( w ), lu lng sn
phm nh (D), lu lng sn phm y ( B) v lu lng hi lu (L). N h vy,
D v B va c th l bin iu khin hoc l bin cn iu khin, ty theo yu
cu c th ca cng ngh. Cc bin cn li lin quan ti dng nguyn liu vo v
ng vai tr l nhiu qu trnh, bao gm lu lng (F), n h it (7V), thnh
phn ( zf) v t l hi ( Vp).

3.2

hn

b i t

cc

bien qu

trnh

95

Trong v d trn t a cng n gin ha i rt nhiu v b q ua nhiu

bin tru n g gian. Chng hn, ta khng ti cc bin trn g thi th hin mc
v nhit ti mi a trong thp, b qua nhit hi nc v nc lm lnh,
b q u a nhiu do tn th t nhit. Khi cn xy dng m hnh chi tit phc v thit
k t h u t ton iu khin v m phng thi gian thc, cc i lng v mi quan
h phc t p hn s c quan tm.

3.3

X y d n g cc p h n g t r n h m h n h

Sau khi xc nh c cc bin v tham s qu trnh, bc tip theo l tm cch

xy dng mi quan h gia chng biu din qua cc phng trnh m hnh. Cc
phng trnh c a m t m hnh ton hc c phn ra lm hai loi l phng
trnh cn bng v phng trnh cu thnh. Cc phng trnh cn bng thng
c d ng phng trn h vi phn hoc phng trnh i s, c xy dng trn c
s cc nh lut bo ton vt cht, bo ton nng lng v cc nh lut khc.
Cc phng trn h cn bng c tnh cht nn tng, khng ph thuc vo c tnh
ring bit ca t n g qu trnh c th, v vy c th p dng tng i d dng
cho mi bi ton. Trong khi , cc phng trnh cu th n h rt a dng, lin
quan r t nhiu ti q u trnh c th v i khi rt phc tp. Cc phng trnh
cu th n h thng c a ra di dng phng trnh i s. Ty theo mc
ch s dng ca m hnh, y vic a ra nhng gi thit nhm n gin ha
m hnh m t cch hp l cng l mt vn quan trng.

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

nh lut bo ton vt cht p dng cho mt h ng hc c th hin qua

phng trnh cn bng ton phn
r^tch ly
dt

dMvk0
dt

dMTL
dt = E - v o - Y ^ wi*

(3.1)

trong Mtch ly l lng tch ly bn trong h thng, u^o l

lu
lng ca cc
dng vo v w\a l lu lng ca cc dng ra khi h thng.
Phng trnh cn
bng ton phn c th biu din theo n v khi lng hoc s lng mol. Lu
rng, vi m t h thng t a ch c th vit chnh xc m t phng trnh cn bng
vt cht ton phn. T i im lm vic (trng thi cn bng), lng tch ly bn
trong h thng khng thay i, v vy t a c tng lu lng vo ng bng tng
lu lng ra
l y *

= 0

(3 -2)

Trong cc hn hp gm nhiu cu t ha hc, nh lut bo ton vt cht

c p dng cho tng cu t vi lu thm v kt qu ca
cc
phn ng ha
hc. Phng trnh cn bng vt cht vit cho tng cu t j (cn gi l phng
trinh cn bng thnh p h n ) c din t nh sau:
^ tc h l y _ dM j0
dt
dt

dMa
dt

MJinhra
dt

dM ]mt di
dt

Bin thin cc lng vo-ra c th gy ra bi cc dng chy tng ng, hoc do

hin tng khuch tn. i vi a s cc qu trnh lin tc, hin tng khuch
tn c th b qua. Nu trong qu trnh khng din ra phn ng, hai s hng cui
c b qua.
Phng trn h cn bng th\nh phn c th biu din theo n v khi lng,
s lng mol hoc n v nguyn t. Cho mt qu trnh n cu t, t a c th vit
ti a n phng trnh cn bng thnh phn. Nu k c mt phng trnh cn
bng vt cht ton phn t a c tng cng n + 1 phng trn h cn bng vt cht,
trong ch n phng trnh l c lp vi nhau. V th, nu t a s dng
phng trnh cn bng vt cht to n phn th ch c vit n - 1 phng trnh
cn bng th n h phn.
3 .3 .1 .1 V d b n h c h a c h t l n g
Quay li v d bnh cha cht lng minh ha trn Hnh 3-1. Trc khi xy dng
cc phng trn h m hnh, t a a ra ba gi thit: i) cc lu lng vo v ra
khng ph thuc vo v tr quan st, ii) khi lng ring ca cht lng ti mi v
tr trong bnh l nh nhau v iii) lu lng ra khng ph th uc ng k vo

3.3

X Y DNG CC PHNG TRNH M HNH

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)

Trong thc t t a c th gi thit thm l khi lng ring ca dng vo khng

thay i ng k, c ngha l P o = p = c o n s t. Phng trn h (3.4) tr thnh
dt

= 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

ng dc khng ng k). Gi s cc ng ng c tit din u v bng nhau

(A). y t a a r a gi thit l cc dng chy xoy v lp kn trong ng ng.
T gi tr lu lng th tch v tit din ng ng, t a c th tnh thi gian tr
vn chuyn cho cc dng chy:
/1

k
+
F
F

' L +
F2 F

(3.6)

Phng trnh cn bng vt cht c vit nh sau:

F(t) = F(t - 9i) + F2(t - 2)

(3.7)

c tnh ng hc ca h thng th hin hai phn t tr. Lu rng, m hnh

i tng y c th am s l thi gian tr bin thin. Lu lng cng ln th
thi gian tr cng nh v ngc li.

H nh 3 - 5 :

Q u TRNH PHA TRN TRC L u

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

Trong v d ny, bn cnh phng trnh cn hng vt cht ton phn ta cn

c mt phng trnh cn bng thnh phn:
dv
p = t!\ + w2 - w
p

dx)

lls

W X]

W2X2

(3.8)
-

wx

v V:

Khai trin o hm v bn tri ca (3.9) theo

dx
dV
pV-- + PX J =
d
d

+ W2X2 - wx

(3.9)

(3.10)

Thay th v tri ca (3.8) vo (3.10) v gin c, ta nhn c:

p V ^

at

W XX\ 4- W2X2 -

{v) + J2 ) x

Thay V = Ah v a cc phng trnh vi phn v dng chun, cui cng t a c

dh
\ .
i = '[w' +

x
- w)

dx
1
1
i t = j , (w'x ' + w ^ ] - h (vi' + w i) x

(311)

T a th y rng, mc d h thng thit b khuy trn l kh n gin, cc

phng trnh m hnh th hin phn no s phc t p t ra cho bi ton iu
khin: i) tnh phi tuyn v ii) s tng tc gia cc bin qu trnh. Song y mi
ch l cc phng trnh m hnh u tin, sau ny phc v thit k cc sch
lc v th u t ton iu khin t a cn tin hnh phn tch h oc/v m phng c
th c th p h t trin mt m hnh ph hp theo yu cu.
3 .3 .1 .4 V d t h i t b p h n n g li n t c
Xt th it b phn ng lin tc minh ha trn Hnh 3-7. Gi s dung dch vo
cha A nguyn cht, trong bnh xy ra qu trnh phn ng m t chiu AB to
ra sn phm l mt hn hp ca A v B. Tc phn ng ring c khiu l
k (s_1). Nng y c n v l m o l/m :i (s mol trn m t n v th tch) v
c k hiu l c. Ngoi cc gi thit c t ra tng t nh trong v d bnh
cha cht lng trn y, ta coi tc phn ng tng th t l thun trc tip vi
nng ca A trong bnh (phn ng bc nht). Nh vy, s mol ca A m t i
do phn ng trn m t n v thi gian l - VTcA
Ta c th s dng phng trnh cn bng vt cht ton phn (3.5) nh trong
v d bnh cha:
% - K - r

(*)

100

Chng 3

H nh 3-7:

T hit

M HNH HA

L THUYT

b phn ng lin tc

Cc phng trnh cn bng thnh phn cho cu t A v B c vit thnh

= FOCAO - F ca - Vkck
^

'

= -F c +VkcA

(3.13)
(3.14)

Trong ba phng trnh cn bng vt cht trn y th ch c hai phng trnh l

c lp vi nhau. T hng thng t a s dng hai phng trn h (3.12) v (3.13).
Khai trin o hm v tri phng trnh (3.13), t a c
CA ^

+ V - - = F0CA0 - F ca - VkcA

T hay th o hm ca th tch t phng trnh (3.12) v r t gn, ta nhn c

phng trnh vi phn ch cn cha o hm ca bin nng :
i r = - ( + * ) A + A.

<3'15>

M hnh qu trnh bao gm hai phng trnh vi phn (3.12) v (3.15).

K h i l n g r i n g
V mc ch n gin ha, trong t t c bn v d trn t a u coi khi lng
ring l khng thay i. Tuy nhin trong nhiu trng hp, c bit l lin quan
ti cht kh hoc hi, khi lng ring khng th coi l mt th a m s hng. Khi
lng ring m t cht lng hoc ca m t cht kh l nhng tn h cht vt l ph
thuc vo nhit , p sut v thnh phn:
P = { P J ,x )

(3.16)

Khi lng ring ca mt cht lng c th coi l hng s nu nh nhit v

thnh phn khng thay i ln. Trong khi , khi lng ring ca cc cht kh
(hoc th hi) cn phi c th hin qua quan h ph thuc p sut, th tch v
nhit . T phng trnh n gin v r t thng dng p d n g cho kh l tng:

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)

R - hng s kh l tng = 8.3144? kPa-m3/ k g - m o i K = 8 .3 1 l J /K - m o l

T - n h it tuyt i (K)
ta xc nh c khi lng ring cho m t cht kh l tng vi khi lng phn
t M qua cng thc
Pv =

3.3.2

nM
V

MP
RT

(3.18)

P h n g tr n h cn b n g n n g lng

nh lut bo ton nng lng p dng cho mt h nhit ng hc, hay cn gi

l nh lut th n h t ca nhit ng hc c din t nh sau:
r
B in thin
nng lng
tch ly

I I

>

Tong dng

Tng dng

Tong cng

nng lng

nng Ung

sut nhit > -<

dn ra

a vo
V

<

-S

hp th

Cng tiu
hao ra

(3.19)

bn ngoi 1

Nng lng to n phn ca mt h nhit ng hc Uz, bao gm ni nng u th

nng U p v ng nng J<
(3.20)

UL = U X + U p + U K

Trong nhiu q u trnh nhit, th nng v ng nng cng nh cng sinh ra c

th coi l khng ng k so vi ni nng v nhit lng, vi th c th b qua.
Khi phng trnh (3.19) c the vit n gin thnh
d
dt

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)

Trong trng hp p sut v thnh phn khng thay i qu ln, t a c th s

dng quan h n gin gia enthalpy v nhit :
h = CPT

(3.26)

cho cc cht lng, cng nh:

(3.27)
cho cc cht kh v hi, trong A,; l nhit ha hi tru n g bnh. Trong hai
phng trnh trn, bn thn nhit dung ring Cv (trong iu kin p su t khng
thay i) cng l m t hm ph thuc nhit . Mt cch gn ng ta c th s
dng dng a thc:
Cp Cp0 + a T

(3.28)

Trong trng hp cn chnh xc cao, enthalpy ca m t cht lng ng

nht s c biu din lai theo nhit nh sau:

3.3

X Y D N G C C P H N G T R N H M HNH

103

h = h f) + / r C(T)dT = h + Cpa(T - To) + ( T 2 - To2)

u '0

(3.29)

Enthalpy ca m t hn hp cht lng gm nc cu t c xc nh mt cch n

gin bng cch ly trung bnh ca tng cu t
ne
)

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

- Ti2) = *%Cpc(c2 Ta)

(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

Nhit lng tiu hao ra mi trng xung quanh c th b qua.

ng nng v th nng l khng ng k so vi nhit nng.
Khi lng ring ca tng dng vo v dng ra khng th ay i ng k.
T a cng lu rng trong qu trnh trao i nhit trc lu khng c s tch
ly nng lng, m t khc t a ch quan tm ti gi tr cc bin ti nhng v tr
quan st c nh. ng hc ca h thng th hin cc phn t tr (do qu
trinh vn chuyn), phng trnh cn bng nhit ch phn nh c tnh ca h
trng thi xc lp.
Pi

FUT,

F }T

c5i

--- ---------- 31

k
Hnh 3-8:

Qu

T R NH T R A O

N HI T T R C

Lu

Vi cc gi thit v phn tch trn y, phng trnh cn bng nhit (3.23)

c p dng v cho ta
P\F(t 0\)h\(t ) + />2 ^ 2(4 ^2 )^2 ^ ^2 ) =

(3.33)

trong hy hi v h ln lt l enthalpy ca cc dng vo v dng ra. S dng

quan h gia enthalpy v nhit (3.25) v coi nhit dung ring ca hai dng
chy l nh nhau, phng trnh (3.33) sau khi rt gn cc s hng lin quan ti

hre v Tref c biu din vi bin nhit nh sau:

P\Fx(t Oi)Ti(t ) + ^/*2( 02)T2(t ^2 ) =

(3.34)

T t nhin, t a c th tip tc n gin ha phng trnh (3.34) bng cch coi

p\ = P2 = p hoc s dng bin lu lng khi lng (k hiu w) thay cho bin
lu lng th tch:
- m

- j) + w2(t - 2)T2(t - 2) = w(t)T(t)

(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:

BNH CHA NHIT

Phng trn h cn bng nhit trc ht c biu din vi enthalpy theo

(3.23):
d(pV h)

(3 .3 6 )

dt

Do bnh cha l t tr n nn V = const v F0 F. p dng quan h (3.25), sau

khi r t gn, t a c phng trnh cn bng nhit hiu din theo bin nhit :
(3 .3 7 )

3.3.3

P h n g tr n h tr u y n n h it

Hu ht cc q u trnh cng ngh lin quan ti qu trn h truyn nhit. V vy

bn cnh cc phng trnh cn bng nhit lng thi cc phng trnh m t
truyn nhit c vai tr ht sc quan trng trong m hnh ha qu trnh. Hin
tng truyn nhit c chia lm ba loi l dn nhit, i lu v bc x.
D n n h i t
Khi t n ti chnh lch nhit trong mt vt th lin tc, nhit c truyn
theo chiu gim nhit m khng cn xy hin tng chuyn ng v m. Theo
nh lu t Fourier, lu lng nhit t l thun v ngc d u vi gradient ca nhit
. Vi dng nhit m t chiu qua m t b m t A, t a c

T
dA = ~ k Taz~
trong :

(3-38)

C hng 3

106

q
A
z
k

M HNH HA L THU VET

lu lng nhit (cng sut nhit) theohung vung gc vi tit din

din tch b m t dn nhit
khong cch theo chiu vung gc vi tit din
h s dn nhit (ph thuc vt liu v nhit d).

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

T - nhit trung bnh ca dng chy th hai.

T2
Hnh 3-10:

ruy

n hit qa

lp tng

3.3

X Y DNG CC PHNG TRNH M HNH

107

Hai hnh thc khc ca truyn nhit i lu l gy ra trao i nhit gia cc

phn trong cht lng hoc cht kh i lu t nhin (v d do hin tng khuch
tn, chnh lch v khi lng ring), v i lu cxidnq bc (v d gy ra bi h
thng my bm hoc h thg khuy trn). y l cc bin php cng ngh t
lin quail ti vic xy dng m hnh ton hc cho qu trnh.
Bc x
Bc x hin tng truyn nng lng qua khng gian thng qua sng in t.
Ti m t b m t, nng lng c th c hp th , c phn x hoc c
truyn tip. Khi p hn nng lng c hp th s chuyn sang nhit lng.
Gi h s hp th l a , /l s phn x l 3 v h s truyn l 7 , t a c quan h
c bn sau y
a +0 +7 = 1

(3.41)

Mt v t e n c coi l m t vt c kh nng hp th m nh nht, tc l c

h s hp th bng 1. Ngc li, mt vt en cng c kh nng p h t x mnh
nht, tc l h s pht x 6 = 1. Nng lng bc x ca mt vt en t l vi
ly th a bc 4 ca nhit v c tnh theo nh lut Stefan-Boltzmann:

wb = TA

(3.42)

trong :
Wt

cng su t pht x trn m t n v din tch

- 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)

Cng su t p h t x ton phn ca mt vt qua mt din tch s c tnh theo

cng thc:
q = o A .e t

(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)

m t hng s, E l nng lng kch hot th hin mc

R l hng s kh l tng. C hai th a m s k) v E cn
nghim. Phng trnh (3.46) th hin mt quan h phi
lu rng s ph thuc ca tc phn ng ring vo

nhit theo cp ly th a nh trn ch ng trong trng hp l tng (khng

hn ch v khng gian tip xc v lu lng cc cht th a m gia phn ng), cng
nh khng xy ra qu trnh chuyn khi (bc hi, ngng t).
Tc phn ng tng th ph thuc vo tc phn ng ring v nng
ca cc cht tham gia phn ng. i vi phn ng ch ph thuc chnh ti mt
cht u vo (A B + c +...), tc phn ng tng th cng thng l m t
hm ly th a i vi nng ca A:
r = k(T)cl

(3.47)

trong s m T c th l s nguyn hoc phn s. Trng hp n = 1 cn c

gi l phn ng bc nht, n = 2 c gi l phn ng bc hai. i vi phn ng
c hai cht th a m gia (A + B >C + D + ...), ta c th s dng cng thc
r = k(T)caAc

(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

XY DNG CC PHNG TRNH M HNH

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)

iu thc trong du ngoc v tri c nh ngha l hng s cn bng ha

hc {K). Hng s ny ni ln t l cn bng gia sn phm v cht th am gia
phn ng. Lu rng, v phi ca (3.52) ch cn ph thuc vo nhit .

3.3.5

P h n g tr n h cn b n g p h a

i vi m t hn hp gm hai pha (v d pha lng v p h a hi), cn bng pha

c nh ngha l trn g thi m th nng ha hc ca mi cu t hai pha
bng nhau:
M = d '

(3.53)

Cc bi ton tiu biu t ra lin quan ti im cn bng pha l tnh ton

im si, im sng hoc im bc chy. Quan h mu cht y l quan h
gia nhit , p sut v cu t hn hp trong cc pha. Trong thc t ngi ta
s dng nhiu quan h n gin hoc phc tp khc nhau phc v cc tnh ton
Iiy. Phn di y tm t t mt s quan h thng dng cho cc qu trnh c tn
ti hai pha lng v hi.
n h lu t D a l t o n
nh lut Dalton p dng cho th hi c c tnh l t ng. T i iu kin p
su t khng q u cao, p sut ring P ca ca mi cu t chnh bng p sut
chung p nhn vi phn mol ca cu t trong hn hp yf.
Pi = Py,

(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)

i vi cc cht lng khng l tng, nh lut Raoult c m rng nh sau

ne

p = x > t/ h ,

(3.57)

t =l

trong 7 ,- c gi l h s hot cho cu t th i. H s hot ca mt

cu t s bng 1 khi cu t c c tnh l tng. Cc h s hot ph
thuc vo th n h phn v nhit .
b a y hi t n g i
Trong m t cht lng, bay hi tng i ca mt cu t i so vi cu t j c
nh ngha l
Oi

_
_ 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 )

Bit a , t a d dng xc nh phn mol ca cu t nh trong th hi theo cng

thc
^

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)

Gi tr K l m t hm ph thuc trc ht vo nhit v th n h phn, sau l

vo p sut.

3.4

P h n tc h b c t do c a m h n h

Sau khi t t c phng trnh m hnh c thit lp, t a cn tin hnh mt s

phn tch n gin kim chng v tnh nht qun v m t s tnh cht khc
ca m hinh. Trn c s , t a c th a ra phn tch v kim chng s la
chn cc bin iu khin v cc bin c iu khin thc.

3.4-1

B c t do c a h th n g

i vi nhiu qu trnh k thu t, khng phi t t c cc bin cn c iu khin

cng c th t do iu khin theo mun ngay c khi t a khng quan t m ti cc
iu kin gii hn. V d, p sut, nhit v tc bay hi trong m t ni hi
l cc i lng c quan h rng buc vi nhau, khng th iu khin hon ton
c lp theo mun.
S bc t do ca m t h thng c hiu l s lng ti a cc vng iu
khin n tc ng c lp c th s dng, hay ni cch khc l s lng ti a
bin u vo c th can thip c lp tc ng ti u ra. Xc nh c s
bc t do ca m t m hnh cho php kim chng tnh n h t qun, kh nng gii
c v m phng c ca m hnh. Cng nh trn c s phn tch bc t do
ta mi c th a ra cc sch lc iu khin ng n.
V m t ton hc, s bc t do ca mt h thng c nh ngha l
Nf = NV- N'

(3.62)

trong N v l s lng bin qu trnh m t h thng v N c l s lng mi

quan h c lp gia cc bin. Trc ht, ta hy xt s lin quan gia s bc t
o vi kh nng gii c cng nh m phng c ca m t m hnh, v nguyn
tc, s lng phng trnh trong mt m hnh phi ng bng s bin ph thuc
nu t a mun c nghim xc nh. Nu s bin cn tm t hn s phng trnh,
m hnh a ra s khng c nghim, ngc li trng hp s bin cn tm nhiu
hn s phng trnh s dn n v s nghim. Nh vy, s bc t do ca m t m
hnh phi ng bng s bin t do (hay ni cch khc l s bin u vo) mi

112

C hng 3

M HNH HA L THUYT

m bo tnh n h t qun ca m hnh. Nu mun gii cc phng trnh m hnh

(cng nh tin hnh m phng), cc bin u vo cn phi c, cho bit.
Tip theo, t a bn ti s lin quan gia s bc t do ca m t m hnh qu
trnh vi s bin ra c kh nng iu khin c m t cch c lp. v nguyn
tc, iu kin cn iu khin c n bin ra mt cch c lp l phi c t
nht n bin iu khin. Khi m t m hnh qu trnh m bo tnh nht qun,
s bin u vo ng bng s bc t do v cn c phn bit th n h cc bin
iu khin v cc bin nhiu. Nh vy, s bc t do ca m hnh tr i s bin
nhiu phi bng hoc ln hn s bin iu khin cn thit, s lng vng diu
chnh phn hi ti a c th xy dng c khi s bin iu khin bng s bc
t do.
Cui cng, t a cp ti quan h gia s bc t do ca m t m hnh qu
trnh v s bc t do ca h thng iu khin. Bn cht ca iu khin nm
ch
ca
ph
(o

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,

can thip m t cch c ngha-vo cc u ra

iu khin chnh l b sung cc mi quan h
vo cc gi tr t, cc bin nhiu v bin ra
thit k m t h iu khin th cc bin iu

khin cn c xc nh theo i) bin ch o v thi gian (iu khin theo

chng trnh) , hoc ii) theo c mt s bin nhiu ( diu khin truyn thng, iu
khin b nhiu), hoc iii) ph thuc c vo gi tr o ca bin c iu khin
(iu khin phn hi). Mt h thng iu khin hon chnh s ch cn s bc t
do tng ng vi tng s bin ch o v bin nhiu.
Trong m t h thng iu khin l tng, cc nh hng ca nhiu c loi
tr hon ton, cng c ngha l cc bin nhiu c trit tiu hon ton
trong cc phng trnh m t h thng. Bc t do ca h thng iu khin l
tng s ng bng s bin ch o, mi hot ng ca h thng iu khin u
c kim sot v ch cn ph thuc vo gi tr bin ch o.

3.4.2

V d th i t b k h u y tr n lin t c

Xt v d thit b khuy trn lin tc c cp trong phn 3.3.2 (Hnh

3-6). Tng cng t a c by bin qu trnh (hy w) W\y
X, Xy x) v hai phng
trnh c lp (m t phng trnh cn bng vt cht ton phn v m t phng
trnh cn bng thnh phn), s bc t do ca m hnh l 7 - 2 = 5, ng bng
s bin vo (2 bin iu khin v 3 bin nhiu). Nh vy, m hnh nhn c
m bo tnh n h t qun. Hai bin ra l mc h v nng c cng c th iu
khin mt cch c lp. v l thuyt, ta c th thit k ti a 5 vng iu chnh
n (2 vng phn hi v 3 vng b nhiu). Tuy nhin trong thc t iu ny
khng n ht thit xy ra bi c l do kinh t (chi ph thit b o) cng nh l do
v m t k th u t (c i lng khng o c hoc r t kh o c).

3.4

113

P h n t c ii b c t d o c a m hnh

Nh phn tch, hai bin iu khin y bao gm lu lng vo th nht

(li) v lu lng ra (w). Nhn t qu trinh trn, lu lng vo th hai ( 12) ph
thuc vo yu cu ca cng on ng trc, tuy khng can thip c nhng c
th coi l nhiu ti o c. Bn cnh , thnh phn cc dng nguyn liu u
vo cng c coi l nhiu nhng khng o c.
Q ua phn tch bc t do, m t ln na ta c th khog nh c yu cu ca
bi ton iu khin c th p ng c. C th l y t a c th iu khin ti
a 2 bin ra. Bin j a th n h t khng th b qua l mc trong bnh, cn phi
iu khin v chc chn cng s c iu khin. Tuy nhin, vi bin c iu
khin th hai ta c th c hai cch la chn:
Chn trc tip thnh phn dng sn phm ra (x): T rong trng hp ny bin
cn iu khin cng l bin c iu khin, ph hp vi yu cu cao v cht
lng. T uy nhin chi ph cho thit b o c th cao bi sch lc iu khin
phn hi y cn s dng thit b phn tch th n h phn.
Chn t l lu lng W\/m. i lng cn iu khin l th n h phn sn phm
ra X khng c iu khin trc tip, m gin tip thng qua t l lu lng
cc dng vo. y l mt sch lc iu khin t l, ph hp vi yu cu cht
lng t ra khng qu cao, tit kim chi ph thit b o.T u y nhin, phng
n ny ch hp l khi gi thit thnh phn cc dng nguyn liu (x\y X2) bit
trc v thay i khng nhiu.
Vi cc qu trnh tng i n gin, vic la chn cc bin iu khin v cc
bin c iu khin cng nh vic cp i chng c th da vo kinh nghim v
Iihn xt trc quan. V d, Seborg a ra cc li khuyn trong [3] nh sau:
iu khin cc bin ra khng c tnh t cn bng (khng n nh).
iu khin cc bin u ra vi c tnh p ng tiu biu, tc l tn ti t
n h t mt u vo c nh hng r rt,
trc tip v nhanh ti u ra .
La chn nhng u vo c nh hng ln n h t ti cc u ra.
La chn nhng u vo c tc ng nhanh nht ti cc i lng c iu
khin.
i vi nhiu qu trinh phc tp, vic la chn phi da trn nhng phn tch
ton hc cht ch hn. y l mt trong nhng ni dung s c cp k hn
trong nhng chng thuc phn thit k cu trc iu khin.

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,

Wc> T a ) v 2bin ra (Th 2 ,

114

Chng 3

M HNH HA L T H U Y T

Tc)- Trong mc 3.3.3 ta xy dng quan h gia 6 bin ny q ua m t phng

trnh cn bng nhit lng. Nu dng li y, s bc t do ca m hnh c
xc nh l 6 - 1 = 5. iu c ngha l t a ch c th la chn 1 bin ph
thuc, trong khi 5 bin cn li s phi l cc bin u vo. T uy nhin, d dng
nhn thy nhit ra ca dng gia nhit khng phi l m t bin vo, m ch c
th l m t bin ra - tuy khng cn iu khin. Nh vy, m hnh thit b gia
nhit nu ch gm m t phng trnh cn bng nhit lng th cha gii
cng nh m phng. Thc cht, vn nm ch t a cha lu ti m t quan
h rng buc khc gia cc bin qu trnh thng qua phng trnh truyn nhit:
q = UAATm

(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 \

TH2) u]cCPc(Tc2 TC1) = U A / \T m

(3.65)

Bc t do ca m hnh l 6 - 2 = 4, ng bng s bin vo. R rng, nu

thiu phng trn h truyn nhit t a khng th xc nh cng m t lc nhit ra
ca c hai dng ( T 2 v Tc2) theo cc bin vo, c ngha l khng th tin hnh
m phng. Tuy nhin, nu m hnh ch phc v thit k sch lc v th u t ton
iu khin th t a cha chc phi s dng ti phng trn h truy n nhit. T h c t
l ch cn o c nhit ra ca dng gia nhit, t a c th kt hp s d n g mt
s bin vo khc iu khin nhit ra ca dng q u trnh.

3.4,4

V d ni h b o h a

Xt v d m t ni hi cp hi bo ha minh ha trn Hnh 3-11. Khi m t qu

trnh c lin quan ti thay i pha (bc hi, ngng t,...), vic tnh ton s bc
t do s phc t p hn nhiu. nh lut Gibb a ra rng:
n = nc - np+ 2

(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

ra c th iu khin c lp: hoc nhit hoc: p su t hi nc. Trng hp

ni hi cp c hi q u nhit th s bc t do s l hai, nh vy c nhit v p
su t c th iu khin c lp vi nhau.
F : L u l n g h i

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

M hnh hm tru y n t l mt cng c m t ton hc khng th thiu c

cho phn tch v thit k cc h thng iu khin (xem li chng 2). c c
m hnh hm tru y n t, ta cn c bit lu hai im: i) m hnh hm truyn
t ch p dng c cho h tuyn tnh v ii) gi tr khi u ca t t c cc bin
lin quan (k c cc o hm xut hin trong phng trnh m hnh) phi bng
0. Nu m hnh ban u (thng l di dng mt h phng trnh vi phn-i
s) l phi tuyn, t a c th thc hin tuyn tnh ha theo mt trong cc phng
php s gii thiu. m bo iu kin th hai, ta s dng cc bin chnh lch
so vi im lm vic th ay cho cc bin qu trnh thc. Ti im lm vic ca h
thng cc bin q u trnh khng thay i gi tr, v th gi tr cc bin chnh lch
cng nh o h m ca chng bng 0. Sau khi bin i m hnh tha mn
hai iu kin nu trn, t a p dng php bin i Laplace cho c hai v ca cc
phng trn h m hnh v r t gn a v dng chun nh gii thiu trong
chng 2.
Cc m hnh d a trn bin chnh lch c s dng xuyn sut trong l
thuyt iu khin tuyn tnh. Khng ch m hnh hm truyn t m hu ht
cc m hnh tuy n tn h khc cng u s dng bin chnh lch. Phng php s
dng bin chnh lch v dn xut m hnh hm truyn t c minh ha tt
nht qua v d bnh cha cht lng (Hnh 3-1). Gi thit lu lng ra khng ph
thuc vo cao ch t lng trong bnh, phng trnh cn bng vt cht c vit
thnh:

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)

trong k hiu (A*) biu din bin chnh lch so vi gi tr ti im lm vic,

tc l A h = h h ) A F = F Fy A Fq = Fq Fq .
Trong v d minh ha trn Hnh 3-1, t a phn bit lu lng ra l bin iu
khin, lu lng vo t nhiu, cn mc cht lng l bin cn iu khin. Nay cc
bin qu trnh thc ny c thay th bng cc bin chnh lch tng ng. S
dng nhng k hiu thng dng cho cc bin mi

(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)

biu din m t khu tch phn vi d l nhiu u vo, k c gi l h s khuch

i v T c gi l hng s thi gian tch phn. M hnh bnh mc cng c th
biu din di dng s khi nh trn Hnh 3-12. Nu s dng nhng n v
chun theo SI, y t a c k = 1 m /( m 3/giy) = 1 g i y /m 2 v T /giy = A / m l.

:*.5

y n tn h

ha

hnh

hm

truyn

dt

117

T t nhin trong thc t t a cng c th s ng nhng n v khc, thng dng

] lu lng th tch tnh theo lt./pht v thi gian tnh theo pht.

3.5.2

nh

3-12:

S D K H I CHO M HNH BNH CHA N GIN

T u y n t n h h a x u n g q u a n h i m l m vic

Hu ht m hnh ton hc xy dng bng phng php l thuyt cho cc qu

trnh thc u cha phng trinh vi phn phi tuyn. Nhng cho n nay, a s
phng php phn tch v thit k iu khin da trn m hnh tuyn tnh. Ngay
c m t s phng p h p phi tuyn cng khng loi tr hon ton vic s dng
I1 hnh tuyn tnh , t ra l lm c s so snh v kim chng cht lng. V
th, nu mc ch s dn g m hnh l phc v phn tch h thng, thit k sch
lc v th u t ton iu khin, thi vic tuyn tnh ha m hnh trc hay sau
cng s cn thit. C b a phng php tuyn tnh ha c bn c bit n, bao
gm:
Tuyn tnh ha xung quanh im lm vic (phi l m t im cn bng) p
dng php khai trin Taylor, kt qu l mt m hnh tuyn tnh xp x c gi
tr s dng ti ln cn im lm vic.
Tuyn tnh ha thng qua php i bin n thun, kt qu c th l mt m
hnh tuyn tnh hoc mt m hnh t phi tu y n hn. nhng hon ton
tng ng vi m hnh hmi <tmi.
Tuyn tnh ha chnh xc s (lng phn hi, kt qu l m t m hnh m rng
tuyn tnh.
Trong ba phng p h p trn th tuyn tnh ha xung quanh im lm vic p
dng php khai trin Taylor l c kh nng ng dng a nng v n gin nht.
i v i c c h t h n g i u k h i n (U t r n h , i m l m vic t k hi t h a y i h o c

thay i r t chm, v th php khai trin Taylor ph hp cho i a s ng

dng. Trong trng hp h thng c phi tuyn ln, t a c hai cch gii quyt
n gin: i) p d n g m t s php i bin quen thuc (v d ly t l, tch, ly
tha,...) nhm gim phi tuyn, trc khi p dng tuyn tnh ha vi php
khai trin Taylor v ii) chia di lm vic ca h thng th n h nhiu phm vi nh
v thc hin tuyn tnh ha xung quanh cc im lm vic tng ng.

118

Chng 3

M H N H H A L THUYT

Php khai trin Taylor c gii thiu m t cch t ng qut khi ni v

tuyn tnh ha mt m hnh trng thi trong rric 2.4.2.2. M hnh ca cc qu
trnh cng nghip m t a quan tm thng thng ch bao gm phng trinh vi
phn cp 1 v phng trnh i s, nn nhng bin tr n g thi c chn cng
chnh l cc bin ra cn iu khin. Vic tuyn tn h ha s n gin hn nu tin
hnh vi tng phng trnh m hnh, c bit khi m t s phng trnh tuyn
tnh. Lu rng, php tuyn tnh ha xung quanh im lm vic cho ta m hnh
biu din vi cc bin chnh lch. V th, t m hnh tu y n tn h ha ta c th
dn xut ngay m hnh hm truyn t.
3 .5 .2 .1 V d b n h c h a n h i t
Phng trnh cn bng nhit cho bnh cha nhit xy dng trong mc 3.3.2.3
c vit li di y:
^

= f{ F tT,T) = ^ ( T 0 - T )

(3.73)

Bin thin ca nhit dng ra l mt hm ph thuc lu lng, nhit dng

vo v chnh c nhit dng ra. Ti im lm vic o h m ca T bng 0:
Q = f ( F tT,T0) = (T 0 - T )

(3.74)

p dng php khai trin Taylor bc nht cho /(F ,T ,7 ) ti im lm vic, t a c:

o hm ca bin chnh lch cng chnh bng o h m ca bin thc, nn t a c

th vit:
(3.76)
Coi (chnh lch) nhit dng ra l bin cn iu khin, (chnh lch) nhit
dng vo l nhiu v (chnh lch) lu lng vo l bin iu khin, t a t cc k
hiu thng dng y = A T , u = A F, d = AT0 . M hnh tu y n tnh cho qu trnh
nhit c vit gn li thnh:
V dy
77) T*
h y = u 4" d
Fdt
F

f
s
(3.77)

c m hnh hm truyn t, trc ht t a p d n g php bin i Laplace

cho c hai v ca (3.77):

3.5

uyn

tn h

ha

hnh

hm

truyn

*=(*) + y(s) =
r

119

T (g) + (a)

(3.78)

t k hiu cho cc th am s m hnh

r = l,k = L Z

(3.79)

v rt gn (3.78), t a nhn c rn hnh hm truyn t

y{s) =
u{s) +
-d{s)
T s + 1
TS + 1
G,(s)
CAs)

(3.80)

trong Gp(s) v Gd(s) ln lt l hm truyn t t u v d ti bin cn iu

khin y. C hai hm truvn t ny u m t cc khu qun tnh bc nht.
T h am s

c th nguyn l thi gian nh mong i v c gi l hng s thi

gian qun tnh. Trong khi k l h s khuch i tnh t u ti y, vi th

nguyn l nhit /l u lng. Cho trc mt im lm vic c nh, ta c th
tnh ton gi tr c th cho cc tham s T v k. H s khuch i tnh t d ti y
bng 1 v v th nguyn, bi d v y cng biu din i lng nhit . S
khi cho m hnh tuy n tnh ca bnh cha nhit c minh ha trn Hnh 3-13.

A T0
(d)
AF
(u )
Hnh 3-13:

1
TS + 1

k
TS + 1

So D KHl CHO

ir +
(>

AT

(y)

IINN RNH CHA

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.

1 Gi thit ny cng rt thc t ch khng ch nhm mc ch n gin ha y.

120

Chng 3

M H N H H A I. THUYT

Ta vit li phng trnh cn bng thnh phn (3.15) di dng:

~

= 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)

'

= A cag, phng trnh (3.82) c vit

CA u + CA0 di +
-=------- 4- y
F + Vk dt
y
F + Vk F + Vk

F + Vk

(3.83)
K

M hnh hm truyn t tng ng th hin c tnh qun tnh bc nht:

y{s) =

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)

Nh mong i, hng s r c th nguyn l thi gian, kp v k(i c th nguyn l

nng /lu lng th tch v kd2 v th nguyn. S khi cho m hnh tuyn
tnh ca qu trnh phn ng c minh ha trn Hnh 3-14.

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)

Hai bin trng thi ng nhin c chn l gi tr mc h v thnh phn X,

(3.86) tr thnh m hnh trng thi (phi tuyn) ca qu trnh. Ti mt im lm
vic, o hm ca mi bin trng thi u bng 0, do vy t a c cc phng trnh
m hnh trn g thi xc lp:
0 =

IU + Wo

(3.87)
(3.88)

0 = w { \ 4- W2X2 {\ + '2 ) x

Nh thng l, k hiu ngang trn (*) c s dng ch gi tr ca m t bin

ti im lm vic v k hiu (A*) biu din bin chnh lch so vi gi tr ti
im lm vic.
Phng trnh trng thi th nht (3.87) tuyn tnh, nn ch cn biu din
li vi cc bin chnh lch nh sau:
A/i = --(Awi 4- A Vh - A w)
pA

(3.89)

Bin i Laplace cho c hai v ca (3.89)

sA H (s) = (A Wi(s) + A \v2(s) - A W(s))
pA
T a nhn c m hnh hm truyn t biu in quan h gia cc thay i lu
ing v thay i gi tr mc:
A H(s) = ^ i ( - A W(s) + A

wx{s) + A w2(s))

(3.90)

trong ku,}t f)A

p dng php khai trin Taylor bc nht cho phng trn h trng thi th hai
ca (3.86), t a c:
A i = ( i x) = X
df2 AL
h

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

= = (w k x + (x x)Aw\ +(xo x)Au 2 + MAx + w2^ x 2)

pAh

(3.91)

122

M HNH

Chng 3

H A L T H U Y T

t du bng thay cho du xp x v bin i Laplace cho c hai v, t a i ti

phng trinh:
pA hsA X(s) = w A X (s) + (X - x )A W(s) + ( $ 2 - x )A w 2{s) + WAXx(s) + w2A X 2[s)
Chia c hai v cho W v chuyn v s hng lin quan ti A I ( s ) , t a c:
( ~ - s + )A X {s) = ^ - A W 1{s) + - ^ - / \ W 2{s) + r ^ X l (s) + ^ A X 2{s)
w
w
w
w
w
t cc th am s m hnh
p Ah

_
) &UX

x X

^w 2x

_ x2 X
W

x lx

~I ^ x 2 x

w2

Ta c m hinh hm truyn t cho p ng u ra th hai (th nh phn x):

A X(s) = l - A w {{s) + -$2- A iv2(s) +
TS

+1

TS

4-1

TS

AX,(s) +

+1

rs

+1

A x 2(s)(3.92)

thun tin, t a t li k hiu (vector) cho cc bin chnh lch nh sau:

y = X =

Aw

A /i
, ti =

Ax

I, d = A x

A Wi

A x2

Hai phng trnh (3.90) v (3.92) c vit gn li di dng

(3.93)

y{s) = Gp(s)u(s) + Gd{s)d($)

trong Gp(s ) v Gd{s) l cc m a trn truyn t:
^urh
s

k-wh
s

G p {s) =

kulT

kw2x

krlx

kx2l

, r.s +1

T$+ 1

T5 + 1

, G d (s) =

TS + 1

(3.94)

Lu , cc k hiu ch nh trong (3.93) li c lm d n g cho c nh Laplace,

t t nhin c phn bit vi hm gc thng qua i s l bin phc s.
Kt hp (3.89) v (3.91), ta cng d dng c c m hnh tr n g thi tuyn
tnh
X = A x + B u 4- Ed

(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

M hnh hm truyn t (3.93) cng c th c xc nh gin tip thng

qua m hnh tr n g thi (3.95), trong Gp(s) v Gd(s) c xc nh theo cc
cng thc (xem li chng 2. mc 2.4.4):
(3.96)

G J s ) = C(.sl - A ) - ' B , Gd{s) = C{s - A ) - ' E

C th cho m hnh thit b khuy trn, t a c
$

. (s - A ) ~' = 0

0
S + -7T
pAh

-1

I
s

0
1
s+a

vi a = /p A h . T h ay vo (3.96) ta nhn c kt qu ging nh (3.94).

M hnh h m truyn t nhn c biu din quan h tuyn tnh gia nm
bin vo v hai bin ra. Trn Hnh 3-15 l s khi minh ha trc quan cc
quan h ny.

Axi

n h

3-15:

D K H l CHO M HNH QU T R N H K H y

trn

lin t c

Tm li, cc bc tuyn tnh ha mt in hnh xung quanh m t im lm

vic bao gm:
1. n gin h a m hnh nh c th, nu c th nn tch thnh Iihiu m
hnh con c lp.
2. Xc nh r im lm vic v gi tr cc bin qu trnh ti im lm vic
c m hnh tr n g thi xc lp.
3. i vi cc phng trnh tuyn tnh, thay th cc bin thc bng cc bin
chnh lch.

124

hng

M HNH HA L T H U Y T

4. T u y n tn h ha t n g phng trnh phi tuyn ca m hnh ti im lm vic

bng php khai trin Taylor, bt u vi cc phng trnh i s v sau l
vi cc phng trn h vi phn.
5. t li k hiu cho cc bin chnh lch (s dng k hiu vector nu cn) v
vit gn li cc phng trnh m hnh.
6. T n h to n li cc th a m s ca m hnh da vo gi tr cc bin q u trnh ti
im lm vic.
7. C huyn m hnh tuyn tnh v dng mong mun, v d biu din trong khng
gian trn g th i hoc bng hm truyn t.

3.5.3

p h i t u y n c a m h n h

i vi m hnh c phi tuyn mnh hoc di lm vic ca h thng tng i

rng, php khai trin Taylor tr nn km chnh xc. v n ny c th d ng
nhn th y q u a m inh ha trn Hnh 3-16. Ba m hnh M\, M -2 v A: c phi
tuyn khc nhau th hin qua c tuyn v o r a trn hnh v. dc ca ba
ng cong l nh n h a u ti im lm vic ( , ), v vy c ba m hnh c
tuyn tnh ha bi cng m t m hnh Mq. R rng, chnh xc ca php tuyn
tnh ha ph thuc r t nhiu vo phi tuyn ca m hnh v phm vi lm vic.
N h vy, mc ph hp ca m t m hnh tuyn tnh ha xp x c th
c nh gi thng q u a phi tuyn ca m hnh nguyn bn trong phm vi
lm vic. T t nhin, trc ht ta cn mt s nh lng n h t qun cho khi nim
phi tu y n . Hnh 3-16 cng gi cho t a ra mt nh ngha n gin d a trn
bin thin ca h s khuch i tnh (hay cn gi l nhy) theo gi tr u
vo. H s khuch i tnh ti mt im lm vic (w,) c nh ngha l t s
gia thay i gi tr u ra xc lp so vi thay i gi tr u vo d nh:
: =

(3.97)

trong us v ys l nhng gi tr vo-ra xc lp mi. H s khuch i tnh k)

cng chnh l dc c a tip tuyn vi c tuyn vo-ra ti im lm vic. H
s khuch i tn h th ay i cng nhanh theo im lm vic (hay ni cch khc l
thay i n h a n h theo gi tr vo), h thng c phi tuyn cng mnh. Mt h
(hoc m t q uan h vo-ra no ) c gi l xc lp tuyn tnh2 nu h s
khuch i tn h c a n khng ph thuc tn hiu vo.

2 Mt h tuyn tnh th h s khuch i tnh (v h s khuch i mi tn s) khng

ph thuc tn hiu vo. Ch c iu kin h s khuch i tnh khng ph thuc tn hiu
vo th cha- suy ra h l tuyn tnh.

3.5

T u y n t n h

ha

hnh

hm

truyn

125

dt

V nhiu l do, nh ngha tr n ng nhin khng th p d ng c m t

cch tng q u t cho t t c cc h phi tuyn. Tuy nhin i vi a s m hnh qu
trnh t a c th bng lng vi cch hiu n gin ny. Trong m t s trng hp
cn thit, t.a c th II1 rng khi nim v phi tuyn (ph thuc t n s) d a
trn h s khuch i ti mt. tn s no ng quan t m th ay cho h s
khuch i tnh (tn s bng 0).

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

Trong phng trnh cn bng khng cn xut hin bin hy tc l m t khi h

thng n nh ti im lm vic th inc trong bnh khng cn ph thuc vo
cc lu lng, h s khuch i tnh cho bt c quan h vo-ra no cng u c
nh v bng 0.
i vi phng trnh m hnh th hai, ti m t im lm vic t a c quan h
_ =

(3.98)

W + w 2

X t quan h v o r a M \ : W > X , h s khuch i tnh c x c nh nh sau:

k, = # . = (| dw\
+ W2 )

(3.99)

12 6

C hng 3

M HNH HA L THUYT

C th thy k ph thuc kh nhiu vo cc gi tr id], w2. T a cng c th a ra

kt lun tng t i vi quan h M 2 : w2 >X . Ni m t cch khc, phng
trnh cn bng thnh phn ca m hnh (3.86) c phi tu yn m nh vi c hai
b i n v o W] v 2.
V d 3-1: Gi s ti mi im lm vic lu lng V\ (hin iu khin) cn phi bng
lu lng
(nhiu) duy tr thnh phn X ti gi tr t c nh. Vi hai im lm
vic tng ng vi cc gi tr u vo ( 3|,t2) l /^1 (0.9, 0.9) v Pal.l. 1.1), ta c:
= 0-9/1.82 ^ l 22
fc,
1.1/2.2*
Nh vy, nu s dng m hnh tuvn tnh ha ti im P\ thit k b iu khin
cho phm vi lm vic t p I ti P'2, h s khuch i tnh s l mt tham s bt nh
nm trong khong [1, 1.22).

3.5.4

T u y n tn h h a vi p h p i bin v o -ra

Mc d i khi khng c ch ra r rng, phng php tuy n tn h ha s dng

php i bin c s dng kh rng ri trong thit k cc h thng iu
khin, v d iu khin t l, iu khin cng sut nhit, iu khin tn h ton
moment, v.v... Php i bin y c hiu l thay i bin vo hoc bin ra
bng mt bin mi (thng thng l bin dn xut), lm cho quan h vo-ra tr
thnh tuyn tnh hoc t ra l c phi tuyn nh hn so vi m hnh ban u.
Khu tnh ton bin dn xut t t nhin phi l mt php ton phi tuyn, sau
ny c thc hin trong b iu khin.
u im ca phng php di bin l m hnh nhn c hon ton tng
ng vi m hnh ban du ch khng phi xp x. Tuy nhin, kh nng p ng
ph thuc r t nhiu vo tng bi ton c th cng nh kinh nghim v s sng
to, kh c th tun theo mt quy tc cht ch.
3 .5 .4 .1 V d t h i t b k h u y t r n li n t c
Xt phng trn h cn bng thnh phn ca m hnh thit b khuy tr n ti mt
im lm vic nh trong (3.98). Nu t:
W]

f"

V2

ta c th a phng trnh v dng

X (j

x2)R +

x2

H s khuch i tn h ca quan h vo-ra R > X :

3.5

Tuyn

tn h

ha

m hnh h m

tru y n

127

dt

(3.100)

nay hon ton khng cn ph thuc vo R . Nu gi thit X] cng nh 'J>2 bit

trc v thay i khng ng k. quan h gia R v X trn g thi xc lp tr
thnh tuyn tnh.
P hn tch trn y gi cho ta s dng bin dn xut

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)

Mt iu th v l nhn phng trnh (3.101) ta khng th ni y l mt

phng trnh tuyn tnh, ngay c khi gi thit X [ cng nh a>2 l cc hng s. Tuy
nhin, nu kim t r a li (3.99) v (3.100) t a s thy quan h R * X t phi
tu y n hn r t nhiu so vi quan hW] * X . T h t ra, t a c th ni quan h
R > X l xc lp tu yn tnh.
S la chn bin iu khin u nh trn y i hi phi o c nhiu
v
thc hin khu tnh ton t l. y cng chnh l bn cht ca sch lc iu
khin tng kt hp vng iu khin t l th cp r t quen thuc trong cc h
thng iu khin q u trinh.
3 .5 .4 .2 V d t h i t b g ia n h i t
i vi hu ht cc h thng gia nhit th c tnh trn g thi xc lp c
quan tm l ch yu. Xt li phng trnh truyn nhit ca thit b gia nhit
trng thi xc lp:
-wuCpu(TU] -

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

cn iu khin 7"c2, bi ngay c khi cc bin nhiu (V, Tcu ?Hi) v cc h s

nhit dung ring (Cpiu Cj) c coi nh khng thay i th T\ 12 cng ph
thuc vo t. t cng sut truyn nhit q l bin tru ng gian:
q = Whph(7hi ^H2 )

(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)

M hnh nhn c sau khi thc hin i bin bao gm

tuyn tnh (3.103), (3.105) v mt phng trnh phi tuyn u
m t cch khc, t a s dng php i bin tch m t
thnh hai m hnh tuyn tnh n gin hn. Hiu qu ca

hai phng trinh

= q/vQ.
Hiu tlieo
m hnh phi tuvn
cch lm ny c

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

M phng l phng php ti to cc hnh vi ca mt h thng thc trn c s

m hnh nhm tm ra cc c tnh cn quan tm . M phng cc qu trnh cng
ngh phc v nhiu mc ch nh:
Kim chng thit k cng ngh
Kho st cc tnh cht ca q u trnh

3.6

PHNG QU TRNH

129

T h i t k cu trc v th u t ton iu khin

Kim chng phn mm iu khin
D bo din bin ca qu trnh
o to c hn v o to vn hnh.
C hai phng php m phng c bn l rn phng vi m hnh vt l v m
phng my tnh. i tng m phng vt l c tnh hp dn trc quan, thch
hp cho mc ch o to c bn, tuy nhin t m ang li hiu qu i vi cc
mc ch khc. Ngy nay, hu ht cc h thng m phng u c thc hin
trn my tnh thng qua cc phn mm m phng. M phng trn my tnh l
cng c a nng, khng th thiu c trong cng vic hng ngy ca mi ngi
k s. Trong khun kh c hn, phn ny ch cp ti m t s vn c bn
trong m phng qu trnh bng phn mm my tnh. c bit, t a s tm hiu
mt s phng php m phng s dng cng c MATLAB/Simulink [14].

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

m phng lin tc l cc phng trnh vi phn v phng trn h i s, hoc cc

m hnh ng hc khc. i vi m phng ri rc t a c th s dng nhiu dng
m hnh khc nhau nh phng trnh logic, A u to m ata, m ng Petr, hng i,
chui Markov,...
M p h n g t u n t / m p h n g th i g ia n t h c
Phn ln cc phn mm m phng cho php tin h n h gii cc phng trinh m
hnh v a ngay ra ton b kt qu chng no cc php tn h ton kt thc. Cc
kt qu m phng l chui cc s liu vo-ra km theo thi gian (trong khong
thi gian rn phng yu cu), c th c hin th v n h gi ngay m t lc.
Phng php m phng ny c gi l m phng tun t. M phng tu n t
c s dng ch yu trong phn tch, thit k v ti u ha h thng.
M phng thi gian thc l mt dng m phng ng, tro n g c tnh h
thng c a li theo ng din bin thi gian thc. M phng thi gian thc
trc ht c s dng trong kim chng cu hnh h th n g iu khin, c tnh
h thng khi xy ra li, s tng tc gia ti nguyn ph n cng vi phn mm
cng nh s phi hp gia cc th n h phn khc nhau tro n g h thng. M phng
thi gian thc cn c s dng trong o to vn h nh trc quan, trong vic
x l cc tnh hung c ch trng.
Trong m phng thi gian thc t a li c th p h n bit gia m phng tng
tc v m phng ph i tng tc. Trong m phng tng tc c s th am gia tng
tc gia con ngi v phn mm m phng, v d thng q u a thay i tham s,
gi tr t, to s kin, v.v... M phng tng tc c bit ph hp cho mc ch
o to c bn v o to vn hnh.
M p h n g n h n -q u /m p h n g hnh vi
Trong cc phng php tin hnh m phng ng ngi t a cng phn bit gia
m phng nhn-qu v m phng hnh vi (hay m phng p h i nhn-qu). Hai
phng php ny th hin hai hng tip cn khc n h a u i vi m hnh ha h
thng. M phng nhn-qu da trn m hnh h th n g l m t nh x gia cc
u vo v u ra (hoc gia cc u vo ti cc bin tr n g thi). Trong khi ,
m phng hnh vi da trn quan im nhn nhn m hnh h thng nh mt tp
cc rng buc. M phng hnh vi th hin xu hng p h t tri n hin i ca lnh
vc m hnh ha v m phng.
Hu ht cc cng c phn mm m phng th n g d n g hin nay s dng
phng php m phng nhn-qu. Phng php m phng n hn-qu da trn
cch tip cn nhn-qu trong m hnh ha h thng. T h eo , m t h thng
c phn tch th n h m t hay nhiu h thng con vi cc u vo, u ra v
trng thi. u ra (kt q u ) ca mt h thng con ph thuc vo trng thi
v u vo (nguyn n h n ) ca n. Mi h thng con thng c m t bi

3.0

M PHNG QU TRNH

131

m t h phng trnh vi phn thng (ODE, Ordinary Differential Equation)

hoc phng trn h vi phn o hm rieng (PD E, Partial Differential Equation)
nu cn. to th n h m t h thng ln, cc h thng con c ni vi nhau
cng theo nguyn t c nhn-qu: mi u vo ca mt h thng con nhn kt qu
t duy n h t m t u ra ca mt h thng con khc m n ph thuc. Nh vy,
c h thng l m t t p hp cc h O D E /P D E , c sp xp theo mt th t xc
nh (th hin q uan h nhn-qu trong h thng), v c bn, vic m phng h
thng l gii ln lt cc h O D E /P D E ny theo th t, trong h sau c th
s dng kt qu c a h trc.
Mt hnh thc biu din ca m hnh ha nhn-qu l s khi (block
diagram). Mi h thng con. hay ni ng hn l m t chc nnq c biu din
bi mt khi ha, c cc u vo v u ra. Vic xy dng mt m hnh h
thng c thc hin bng cch to ra cc khi thnh phn c ni vi nhau
bi cc ng tn hiu. Cc cng c h tr s khi cung cp giao din ha
v cho php thao tc ko-th rt trc quan.
Mc d phng p h p m phng nhn-qu rt hu ch v p ng c nhiu
nhu cu m phng h thng trong thc t, chng vn c m t s nhc im.
Dng k n h t l vic m phng theo quan h nhn-qu i hi phi p t cch
nhn nhn-qu vo h thng vt l. Cch nhn ny khng cho thy bn cht thc
ca h thng, bi ngay c s phn bit th no l u vo v th no l u ra
ca mt h thng cng ph thuc nhiu vo quan im nhn nhn. Hn na, khi
t a nhn nhn th eo quan h vo-ra th c ngha l u vo khng b nh hng
bi u ra, nhng tron g cc h vt l kh c mt quan h l tng nh vy. V
d, trong m t m ch in vi tr khng, dng v in p th i lng no l bin
vo v i lng no l bin ra? Hay ly v d m phng mt bnh mc: cng
chn u vo l lu lng vo, nhng m hnh bnh mc (c th l h ODE) s
khc nhau khi chn u ra l mc nc trong bnh v khi chn u ra l lu

lng ra (ph thuc p sut ct nc). Nh vy, ty theo tng trng hp c

th e m ta phi xy dng cc khi khc nhau cho cng mt i tng vt l. Bn
cnh , tn ti m t khong cch ln gia hi ton ca ngi dng v cch m
t h thng my tnh hiu.
Phng php m phng hnh vi da trn vic m hnh ha h vt l theo cc
h con v xc nh hnh vi ca h thng ti nhng im ni gia chng. Thng
thng, mi h con s i din cho mt thit b hay m t th n h phn c bn ca
h thng, v d nh in tr, t in, ng c, van, ng ng, bnh mc,... Mi
h con c m t bi cc phng trnh cn bng khi lng, nng lng, minen v vt cht (cc rng buc). Ti im ni gia hai h con cng tn ti m t
quan h xc nh, v d nh in th hay p sut khng i, hay tng cc dng
tri t tiu. M hnh ca c h thng l s kt hp ca m hnh ca tng h con
v quan h ti cc im ni; ni cch khc, l s rng buc ln nhau gia cc i

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 )

Phng php c bn tin hnh m phng mt qu trnh ng hc l gii cc

phng trnh vi phn. Hin nay c nhiu cc phng php s r t hiu q u v
tin cy cho vic gii h phng trnh vi phn tuyn tnh cng nh phi tuyn,
phng trnh vi phn thng cng nh phng trnh vi phn o h:n ring.
Ngy nay vi s tr gip ca my tnh, cng vic ny tr nn kh cn gin.
Sau y t a ch cp ti m t s phng php c s trong gii h phng trnh
vi phn thng.
Cho mt qu trnh c m t bi h phdng trnh vi phn phi tuyn
dx
= f { x , u ), x(0) = x0

(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)

T t nhin y t a s dng phng php tch phn s, nn kt q u nhi. c l

dy gi tr {x,} ti nhng thi im t > 0 mong mun. Bng phng pnp truy
hi ta c
x i+ \

Xi

4- f ,+l f(x ,u )d t
J t

( 3.108)

Phng php xp x tch phn n gin n h t l phng php Euler. i vi

mt bin Xv hng, phng php Euler xp x din tch di ng corg f(xy )
bng tng din tch cc hnh ch nht (Hnh 3-25). Trong trng hp teng qut
t a c th vit:

3.-+1 ~ xi + ik+ -

(3.109)

3.6

133

M PHNG QU TRNH

t
H nh 3-18:

Minh

ha phng php tch phn

chnh xc c a php xp x ph thuc vo khong cch bc tnh cng nh

dng din bin ca X. Bc tnh cng nh v X thay i cng t, chnh xc
cng cao.
Q uan st trn Hnh 3-25 ta c th thy rng chnh xc c th c ci
thin ng k nu t a s dng php xp x theo din tch hnh thang thay cho
din tch hnh ch nht. Tc l:
* i + 1 ~ Xi + { t . i+ - /,,-)[ / ( * i , t f ) + / ( * i + j , + i ) ]

(3 .1 1 0 )

Tuy nhin, v phi ca (3.110) cha f{Xi+\,ui+i) v ph thuc vo chnh gi tr

Xi+\ ang cn tnh. V vy, (3.110) li ch c th tnh c m t cch gn ng
bng phng php lp. Cc phng php R unger-K utta c xy dng ch yu
da trn tng ny.
Phng php Runger-Kutta. bc 2 thc hin theo 3 bc (nn cn c gi l
phng php ode23):
1. c lng i +1 t Xi v Ui da theo cng thc

2. c lng o hm ca

Euler (3.109)

X ti im j+1, tc l

3. T nh ton li +1 da theo cng thc (3.110).

T h u t ton R u n g er-K u tta bc 2 c c th ha nh sau:
k { = { X i, U )
x,-+ | = X, + A /,fc]

k = /(+1.U+|)
A .,

(3.111)
.

x i+ = X + - ( * i + h )

Cc phng php Runger-Kut.ta bc cao (v d ode45) c lng thm o

hm ti mt s im nm gia v a thm trng s nng cao chnh xc.
M t s th u t ton ci tin khc cng c p h t trin da trn phng php

C hng 3

134

M HNH HA L THUYT

R unger-K utta ph hp cho trng hp o hm thay i nhanh. ng

nhin, khi lng tnh ton cng v th m ln hn.

3.6.3

G ii h p h n g tr n h vi p h n tu y n tn h

Mt h phng trnh vi phn tuyn tnh c th a v biu din di dng m

hnh trn g thi lin tc:
= A x + Bu
dt

(3.112)

V nguyn tc ta cng c th s dng cc phng php gii phng trnh vi

phn phi tuyn gii thiu trong mc trc. Tuy nhin, phng php hiu qu
hn c l da trn m hnh trng thi gin on. Vi bc tnh c nh i\t,
phng trnh (3.112) c gin on ha nh sau (xem chng 2, mc 2.5.2):
xi+1 =

+ IX

(3.113)

vi
= eA*t
nAt

r = f

J 0

(3.114)

dtB

Nu bc tnh A t c chn l c nh, hai m a trn $ v r ch cn tnh ton

trc mt ln trc khi m phng. Sau , trong mi bc tnh ta ch cn thc
hin hai php nhn m a trn-vector v mt php cng vector theo (3.113). v chi
it cc k th u t tnh ton m a trn, xem [17][18].

3.6.4

M p h n g q u tr n h s d n g M A T L A B

MATLAB l m t trong nhng gi phn mm tnh ton v m phng dc s

dng rng ri n ht hin nay, c bit trong gii hn lm. MATLAB bao gm
phn li tnh ton, phn x l ngn ng, phn giao din s dng v cc th vin
(di dng cc hp cng c, toolbux). Simulink l m t hp cng c tch hp sn
trong M A T L A B , h tr phng php m phng tu n t trn c s s khi.
Trn phng din m phng qu trnh. M atlab h tr t a thc hin cc
nhim v chnh sau y:
Gii cc h phng trnh vi phn thng (ODE) v h phng trnh vi phn
o hm ring (PD E). Nhiu th u t ton khc nhau c ci t c th
ph hp vi c th ca tng bi ton c the.
Ghp ni m hnh, bin i m hnh, tnh ton m phng trn c s cc m
hnh tuyn tnh th am s hng (LTI) s dng Control Toolbox.

3.6

135

PHNG QU TRNH

T o ng dng m phng trc quan m t h thng trn c s s khi (vi

Simulink), cho php ghp ni nhiu m hnh th nh phn v la chn phng
php gii h phng trnh vi phn phc v m phng.
G i i h p h n g tr n h v i p h n th n g
Cc th u t ton gii phng trnh vi phn thng trong M atlab c chia lm hai
nhm:
Cc th u t ton h tr cc bi ton khng dc (o hm thay i khng
nhanh, bao gm ode45 (R unge-K utta bc 4), ode23 (R unger-K utta bc 2) v
o d e l l 3 (Adams-Bashorth-Moulton). T h u t ton ode45 c coi l ph hp
cho phn ln bi ton khng dc, ode23 km chnh xc nhng hiu sut tnh
ton cao hn ode45. Nu vic tnh ton o hm phc t p v chnh xc
yu cu cao th o d e ll 3 t ra hiu sut hn ode45.
Cc th u t ton h tr cc bi ton dc, bao gm o d e l s (tnh vi phn bng
phng php s vi bc bin thin), ode23s (Rosenbrock bc 2), ode23t (xp
x hnh thang kt hp ni suy), ode23tb (R unge-K utta bc 2). Hai th u t ton
ode32s v ode23tb c hiu sut
odel5s. Ring ode23t cng c th

cao hn nhng cho chnh xc km hn

s dng gii h phng trnh i
s.

Cc th u t ton trn c ci t thnh cc hm gii c tn tng ng. C

php s dng cc hm hon ton nh nhau. Hai li gi n gin l:
[t,x] = ode*(dx
dt, tspan, xO)
[t,x] = ode*(dxdt, tspan, xO,

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

- tn hm gii (ode23, ode45,...)

- hm m t o hm ca X theo t
- khong thi gian cn tnh ton, a ra di dng vector [to tn]
- gi tr u ca X
- vector cha cc tham s ty chn

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

cho trong th am s m phng, sau p ng mi c tnh ton theo cng thc

(3.113). Cc hm h tr cho m phng qu trnh bao gm:
in itia l m phng qu trnh t do

im p u lse m phng p ng xung

s te p m phng p ng bc thang n v

lsim m phng p ng vi mt tn hiu vo bt k

gensig to m t tn hiu u vo (s dng cho lsim)

V c php s dng cc hm trn y, xem ti liu hng dn s dng [21] hoc

th a m kho [14]. V d m phng thit b khuy trn lin tc di y s minh
h a c c h s d n g M a t l a b c h o vic g ii h p h n g t r n h v i p h n v t n h t o n
p n g h tu y n tn h .

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

0 = )\X\ 4- j2X2 - ()] + >2)x

(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

function dydt = f ( t , y , k , w l ,v2,w,xl,x2)

dydt = [ k*(wl+w2-w)

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];

in phng p ng vi thay i lu lng vo W\y ta gi nguyn tt c cq gi tr

ti trng thi lm vic, tr gi tr
4- Ai. V d, m phng p ng vi
tng 10% trong lu lng vo W\ trong khong thi gian t 0 ti 20 pht ta vit cc
dng lnh sau:
tspan = [0:0.1:20];
yO = [1; 0.4];
[t y] = ode45(Qf,tspan,y0,[ ] , k , 1.1*100,w2,w,xl,x2);
Ton b m chng trnh m phng p ng vi thay i 10% lu lng vo
phn nh ngha vector o hm v hin th kt qu c in ra di y.

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

title ('Step change in 10'/, feed rate \itw_l');

xlabelC'Time (min)');
ylabel('Composition x');
grid on

'/---------------------------------------------------------------function dydt = f(t,y,k,wl,v2,v,xl,x2)

dydt = [
k*(wl+w2-w)
k*(wl*xl+w2*x2-wl*y(2)-w2*y(2))/y(l)

];

Trn Hnh 3-19 l th biu din cc kt qu m phng nhn c. C th thy rng

gi tr mc h tng lin tc (c tnh khu tch phn), trong khi thnh phn sn phm
X tin st ti mt gi tr xc lp mi trong khong thi gian xp x 15 pht.
S tep change in 10% feed ra te Wj

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\

Tng t nh vy, nu cn m phng p ng vi thay i ca cc u vo khc

w , X], a>i), ta ch cn sa dng lnh gi hm ode45 nh sau:
[t
[t
[t
[t

y]
y]
y]
y]

= ode45(<Df ,tspan,y0,[] ,k,wl, 1. I*v2,w,xl ,x2) ; '/

* ode45(<3f ,tspan,y0,[] ,k,wl,w2,1. l*v,xl ,x2) ; */
= ode45(<Df ,tspan,y0,[] ,k,wl ,w2,w, 1. l*xl ,x2) ; '/,
= ode45(<5f ,tspan,y0,[] ,k,wl,w2,w,xl,1. I*x2) ; y,

p
p
p
p

ng
ng
ng
ng

vi w2
vi w
vi xl
vi x2

p ng ca qu trnh vi W2 tng t nh vi 11/1 , p ng vi 7>2 tng t Iih vi x]y

v th khng bt buc ta phi m phng cho tt c cc trng hp. Cc kt qu m
phng p ng cho thay i 10% ca w v X\ c th hin trn Hnh 3-20 v Hnh
3-21. Cc ng th p ng phn nh ng vi phng on trc quan. V d, thay
i lu lng ra nh hng ti gi tr mc nhng khng nh hng ti thnh phn sn
phm, thay i thnh phn nguyn liu khng nh hng ti mc trong bnh.

.6

PHNG QU TRNH

139

S te p ch an g e ill few I ra te w

S te p change ill feed 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 %

S tep c h a n g e ill Feed com position X

10

15

T im e (m in)

10

15

Lu

LNG RA

S tep change ill feed com position X

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\

Tip theo, ta s dng cng c Control System Toolbox m phng vi m hnh

tuyn tnh ha (3.93). Thay cc gi tr c th, ta xc nh c cc hm truyn t
nh sau:
/. / X- A //W - 0 001 //1 / V
6 - u(A') =
= s W(kg/pht)]
g ,2m

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

Vi cc hm truyn t trn y, ta c th m phng p ng vi thay i trong cc

u vo mt cch d dng. Lu rng cc hm truyn t ch 111 t quan h tuyn
tnh xp x gia cc bin chnh lch, nn khi kt qu m phng cn c cng thm
vi cc gi tr trng thi xc lp. Tt nhin ta c th s dng cng c trc quan
Simulink cho vic m phng, nhng vit trc tip m trn MATLAB cng khng kli
khn g. Ton b chng trnh m phng p ng vi thay i iru lng v W\ thm
10% (tc tng thm 10 kg/pht) c minh ha di y.

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);

Gwlh = tf(k, [1 0]);

Gwlx = tf((xl-x)/w,[T 1]);
t = [0:0.1:20];
yO - [1; 0.4];
y * step([Gwlh Gwlx],t)*wl*0.1 ;
figure(1);
plot(t,y(:,l)+y0(l));
title ('Step change in 107, feed rate W_1);
xlabel(Time (min)1);
ylabel('Level h (m)');
grid
figure(2);
plot(t,y(:,2)+y0(2));
title ('Step change in 10*/, feed rate w_l');
xlabeK'Time (min) ') ;
ylabel('Composition X1);
grid

Cc kt qu m phng c th hin trn cc Hnh 3-22, Hnh 3-23 v Hnh 3-24.

Tng t nh vy, ta c th sa on m chng trnh mt cht m phng p
mg vi thay i trong cc u vo khc. C th nhn thy rng, p ng ca gi tr

.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

S top change in 10% feed ra te w 1

S tep change in 10% feed ra te w

0.44

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

H n h 3-22: P NG CA M HNH T UY N TNH VI T H A Y i 10% Wi

S tep ch an g e in 10% feed ra te w

Step change in 10% feed ra te w

10
T im e (m ill)

T im e (m ill)

15

H n h 3-23 : P NG CA M HNH T UY N t n h v i t h a y i 10% w

S te p ch an g e in 10% feed com position X

Step change ill 10% feed com position X

0.44

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

H n h 3-24: P NG CA T HN H P HAN r a X VI T H A Y i 10% Xy V 10% X2

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

T a t ra mc ch s dng m hnh y l phc v th i t k sch lc cng

nh th u t ton iu khin v m phng kim chng. C th d dng n h n thy
t nht 6 bin ra l V\) V'2 >
C a i , CA2 v CA3 - Cc bin vo trc ht l cc lu
lng F(),
F 2 v F;j, cng nh nng Cao ca dng nguyn liu. Tu theo yu
cu ca bi ton iu khin, lu lng vo F() (cng nh lu lng ra F[) c th
c coi l bin iu khin hoc nhiu, v lu lng F
cng c th ng thi
ng vai tr va l bin ra va l bin vo. Nng C a o c a dng nguyn liu
chc chn c coi l nhiu. Khi lng ring, tc ph n ng ring v nhit
ti cc bnh c coi l th am s qu trnh, tuy nhin s th ay i ca chng c
th c xp chung vo nhiu qu trnh hoc sai lch m hnh.
X y d n g c c p h n g t r n h m h n h
Gi thit cc phn ng c bc l n. Vi mi thit b t a c th vit ngay cc
phng trnh cn bng vt cht. V d cho thit b th n h t t a c:

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)

Khai trin o hm v tri ca phng trnh th hai v sau thay th phng

trnh th nht vo, t a nhn c
c M

= ^ > CA<> -

F >) + V ^

C A1 -

V M

caiT

hay vit gn li di dng thng dng hn

7 - =

dt

Tng t (3.117)

TT'CA1~
V\

^ l(cA l)n +

TTcA0
Vi

(3.119)

v (3.119), ta c cc phng trnh m hnh tng ng

vi

hai thit b cn li:

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

Gii ln lt tng phng trnh bc hai trong (3.124) v ch ly nghim dng,

ta nhn c cc gi tr CM,CM ,CAZ ti im lm vic.
t cc bin chnh lch
A CA1
u = A F ) d = A cAq, X = x2

A(?A2
A cA3

x3

Khai trin Taylor cho cc phng trn h (3.119), (3.122) v (3.123), t a c h

phng trnh vi phn tuyn tnh
dX
dt

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)

hay vit gn li di dng m hnh trng thi:

=1
T1

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

T m hnh tr n g thi tuyn tnh (3.128) t a cng c th bin i sang m

hnh m a trn hm truyn t. Tuy nhin, cch lm ny y kh cho t a ci
nhn su sc v m t vt l. Nu ch cn m hnh hm truyn t th t a nn bt
u t cc phng trn h (3.125), (3.126) v (3.127). T a vit b a phng trnh ny
gn li di d ng sau y:
doc
T d t + X l = "lU + k<l<i

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

Bin i Laplace cho c hai v ca tng phng trinh trong (3.129) v a v

dng chun, t a c:
d(s)
T,sk<n+ 1
k.
x2{s) =
u(s) +
(l
Xi ( s )
T2S + 1
r 2s + 1

(3.130)

kd:\
*2 (s)
= -t 3H
t
(*)
+
s + 1
r 3s + 1

(3.132)

*.(*) = -T]S
r r+r 1 ( s ) +

(3.131)

T h a y th ln lt (3.131)v (3.130) vo vo (3.132), ta c:

y(s) = x3(s) =

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) +

(r,s + l)(r2s + l)(r3s + 1)

G$)

K^d^d

/> ,______

'

(rxs + l)(r2s + l)(r3s + 1)

d(s)

GdU)
(3.133)

C hng 3

146

M HNH HA L THUYT

M hnh nhn c bao gm G(s) v Gd(s), ln lt l cc hm truyn t t

lu lng v t nng dng vo ti nng sn phm. C th thy, s mc ni
tip cc thit b phn ng to nn m t h bc 3. i vi nhng qu trn h c
quan h tng tc qua li phc tp, khng phi bao gi ta cng c th tnh ton
hm truyn cho c h m t cch n gin nh trn. T hay v vy, t a c th s
dng cng c s khi biu din v phn tch h thng. S khi cho
chui ba bnh phn ng c minh ha trn Hnh 3-26.

nh

3.7.2

3-26:

K H i CHO M HNH CHUI

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

b phn ng thu nhit si t

Cc th n h phn nng lng khc khng ng k so vi nhit lng, tn th t

nhit ra bn ngoi cng c b qua.
p su t v khi lng ring ca dng qu trinh, trc cng nh sau phn
ng, c coi l khng thay i ng k.
Vi cc gi thit trn, h thng bao gm tng cng 8 bin qu trinh. Phn
tch trn c s nhn - q u t a c th phn bit 5 bin vo (Fo,70,Cao>^\9) v 3
bin ra (l/,T,CA). Phn tch cc mc ch iu khin kt hp vi s cng
ngh, t a tip tc nhn bit cc bin cn iu khin, cc bin iu khin tim
nng v cc bin nhiu nh minh ha trn Hnh 3-28.
X y d n g c c p h n g t r n h m h n h
Thit b phn ng l m t v d m hnh ha tng i tiu biu, bi trong c
p dng nhiu quan h ha-l c bn. Trc ht ta c th vit li ngay phng
trnh cn bng vt cht ton phn:
(3.134)

Nng

v o CAO

N h it vo To
Lu lung vo Fo

C
Lu lng ra F
^
c

Cng sut nhit q ----

H nh 3-28:

T h tch V '
T H I T B P H A N
NG T H N H I T

CC BIN QU TRNH TRONG

N h it T
+> Nng

CA

thi t b phn ng thu nhit si

148

C hng 3

M HNH HA L THUYT

Q u trnh phn ng c coi l bc nht, nn phng trn h cn bng th n h

phn c vit tng t (3.15)
dc
dt

+ k

v +k

c l + f c M)

(3.135)

vi tc phn ng ring k cn ph thuc nhit theo hm ly th a (3.46):

k = ke~El RT

(3.13(1)

xy dng phng trnh cn bng nng lng, trc ht t a th y rng cng

sut thu nhit do qu trnh phn ng hp th qR t l th u n vi tc phn ng:
qR = AVkcA

(3.137)

H s sinh nhit A c du m i vi phn ng t a nhit v d u dng vi phn

ng thu nhit. T a c th a ra gi thit l th nng v ng nng khng ng
k so vi ni nng. Phng trnh cn bng nng lng c vit n h sau:
= F0/W) - Fpu + ( q - qR) - (FP - F0Pa)
= FP{v<) + P(o) - Fp{u + P V ) + q - XVkcA
= *A ) -

(3.138)

F Ph + Q - X V kcA

i vi cht lng, th n h phn nng lng P V khng n g k so vi ni nng

u , nn ta c th thay u bng h v vit phng trnh (3.138) li th n h
= FPoho - F p h + q - AVkcA

(3.139)

Trong iu kin p sut v nng khng thay i ng k, nhit dun g ring

c th coi l hng s. Tip tc gi thit khi lng ring c a cc dng chy
khng thay i, tc l p = p 0 = const. p dng quan h (3/25), sau khi r t gn
ta c phng trnh cn bng nhit biu din trc tip theo bin nhit :
= F0T - F T + ~ { q - AVkcA)
Khai trin o hm bn v tri ca phng trnh (3.140)

v thay th d V /d t t phng trnh cn bng vt cht (3.134):

T(F0 - F) + v ~

= (F0T0 F T ) + ~ q ~(Q ~ *VkcA)

Rt gn hai v, phng trnh cn bng nhit tr thnh:

(3.140)

3.7

M t s v D QU TRNH Tl*:u BIU

'F

'f '\

1 49

d - v " ~ n + ' 1 pC,

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

b phn ng lin tc ta nhit

Bn cnh cc gi thit nh trong v d thit b phn ng th u nhit si t

trong mc trc, t a b sung cc gi thit sau y:
P hn ng c bc n, tc l tc phn ng tng th ph thuc vo ly tha
bc n ca nng .
Nhit ca nc lm lnh ti mi v tr trong v lm m t l nh nhau v
ging nh nhit dng nc ra.
V lm m t c b tr sao cho nc lnh lp y, tc l th tch nc lnh
trong ( Vj) cng nh din tch b m t trao i nhit (A u ) khng th a y i.
Vi cc gi thit trn, h thng bao gm tng cng 10 bin qu trnh . P h n tch
trn c s nhn - qu t a c th phn bit 6 bin vo (F0,TQ,cAu ,F ,F j ,T j ) v 4
bin ra ( V , T , ca , T i ) . P hn tch cc mc ch iu khin kt hp vi s cng

ngh, ta tip tc rihn bit cc bin cn iu khin, cc bin iu khin v cc

bin nhiu nh minh ha trn Hnh 3-30. Ngay y t a c th nhn th y 3 bin
ra (K.T.Ca) khng th iu khin c lp, nu ch s dng hai bin iu khin.
Vic quyt nh la chn bin no c iu khin s phi ch sau khi phn tcli
cc phng trnh m hnh. Lu rng, nhit nc lm lnh ra ( Tj) cng l
mt bin ra, nhng khng cn iu khin.
X y d n g cc p h n g tr n h m h n h
Tng t v d trc, t a c th vit li ngay cc phng trnh cn bng vt cht
cho qu trnh phn ng:
(3.142)
(3.143)
k = ke~E l RT

(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

Khc vi v d trc, y t a phi quan tm ti phng trnh truyn nhit,

trn c s xy dng phng trnh cn bng nhit cho c thit b phn ng
bn trong v phn v lm mt. Cng sut truyn nhit gia q u trnh phn ng
ti nhit tru n g bnh T v dng nc lnh ti nhit trung bnh T j c xc
nh theo cng thc (3.40):
Q

UAh (T - Tj)

(3.145)

Cng sut nhit sinh ra do phn ng t l vi tc phn ng:

Qc = -A Vkc

(3.146)

trong A c du m. Vi cc gi thit t ra, t a d dng xy dng phng

trnh cn bng nng lng cho thit b phn ng v phn v lm m t nh sau:

pj

= p(F0h0 - Fh) - UAH{h - h j ) - AVkcn

A

(3.147)

= PFJhJ - Fjhj) + UA{h - hj)

(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

vi Cp l nhit dung ring ca dng qu trnh v c coi l mt hng s. Khai

trin o hm v tri, thay th .o hm d V /d t t (3.142) v tc phn ng
ring t (3.144), t a nhn c
- Bt RTc

(3.149)

Phng trnh cn bng nhit lng cho phn v lm m t cng c vit li

s dng bin nhit nh sau:
(3.150)
trong C PJ l nhit dung ring ca nc lm lnh v c coi l mt hng s.

M hnh nhn c gm bn phng trnh (3.142), (3.143.), (3.149) v (3.150),

ng bng s bin ra.
P h n tc h bc t do
Vi tng cng 10 bin qu trnh v 4 phng trnh c lp, s bc t do ca m
hnh l 6, ng bng s bin vo. Nh vy m hnh m bo tnh n h t qun.
Tuy nhin, s bin iu khin l hai, nn ch hai trong ba bin ra (V,T,Ca) c
th iu khin c lp m t cch ng thi. e m bo vn an ton, th tch
(hoc mc) trong thit b phn ng n ht nh phi c khng ch. iu
khin hai bin cn li t a c cc phng n sau:
1. B sung m t van iu khin trn dng vo ca cht phn ng nu cho php
(cht phn ng c cp t mt bnh cha dung tch ln).
2. iu khin nhit T m bo an ton, ng thi thng qua gin tip
iu khin nng rA.
3. S dng sch lc iu khin la chn, trong trng hp binh thng iu
khin nng CA, khi nhit qu cao chuyn sang iu khin T.
4. S dng sch lc iu khin tng, vng iu khin trong iu khin nhit
v vng ngoi iu khin nng .
Gi thit nc lnh trong v lm m t c nhit ng n h t thc t l khng
hon ton hp l. Trong nhiu trng hp ta c th n gin s dng thm mt
bin trung gian cho nhit trung bnh trong v lm mt:
(3.151)

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

Bn cnh thit b phn ng th thp chng luyn cng l m t i tng r t tiu

biu trong cc h thng iu khin qu trnh. Trong th p chng luyn khng xy
ra cc qu trnh phn ng ha hc, tuy nhin mc phc t p th hin s tn
ti ng thi hai pha lng v hi, s lng bin trig thi tng i ln, s
tng tc cho m nh gia cc bin vo-ra, nhiu quan h ha-l kh m t chnh
xc. Cng vi th, th p chng luvn lun l mt i tng thu ht c nhiu s
quan t m trong nghin cu v tho lun, v xy dng m hnh ng hc cng
nh v kha cnh iu khin. T h p chng luyn cng c coi i tng mu
mc dng nh gi hiu nng ca cc sch lc v th u t ton iu khin.
S m t th p chng luyn hai cu t tiu biu c minh ha trn Hnh
3-31, cng vi ch thch cc tn bin v k hiu lin quan. Trong thit k thp
thng dng, ngi ta s dng nhiu a tng din tch bay hi cng nh tng
c hi dng cht lng hi lu chy t trn xung tip xc vi dng hi bc
ln t di, qua tng hiu sut ca thp, s bc l thuyt bn trong thp (AO
bng s a cng vi 1 (thit b un si y thp), s tng tng cng ca c h
thng th p chng luyn bng s bc l thuyt (N) cng 1 (thit b ngng t).
Cc mc ch iu khin c phn tch s b trong mc 3.2.4. Cc bin
ra cn iu khin y bao gm thnh phn sn phm nh v y, tr lng
ti y thp, tr lng ti bnh cha sn phm ngng t v p su t ti nh
thp. T a s dng k hiu vector
y = [xD xu

Mu

Mo

pf

Ta tm thi chn cc bin iu khin tim nng, bao gm lu lng hi lu,

lu lng hi y thp, lu lng sn phm nh, lu lng sn phm y v lu
lng hi nh thp. Nhng bin ny u d dng can thip v nh hng trc
tip ti cc bin ra cn iu khin. Lu lng hi y th p ( V) v lu lng hi
nh th p ( V t) tuy l cc bin ch can thip c gin tip, nhng n gin
y ng hc cng nh phn iu khin ca thit b gia nhit v ca thit b
ngng tm thi c b qua. Cc bin cn li c th l bin ra khng cn iu
khin, hoc ng vai tr l nhiu. T a cng s dng k hiu cho vector iu khin
u = [L

D VT f

154

Chng 3

M HNH HA L THUYT

Ch thch

N - S bc l thuyt trong thp, k c thit b un si y thp

N+l - S bc tng cng, k c thit b ngng t
- Th t bc (: thit b dun si y thp, Np: a tip liu)
F - Lu lng nguyn liu vo [kmol/mnj
D , B - La lng sn phm inh v sn phm y Ikmol/min]
L = L n + - Lu lng hi lu
v = V i - Lu lng hi y thp
ZF - Thnh phn nguyn liu [phn mol ca cu t nh]
XDt x b - Thnh phn sn phm inh v sn phm y (cu t nh) [phn mol
Li, V i - Lu lng cht lng v hi i t bc i [kmol/minj , V V, B = Li
Xi, Vi - Thnh phn pha lng v pha hi ti tng i [phn moi ca cu t nh]
M i - Tr lng pha lng ti tng i [kmol
Mvi - Tr lng pha hi ti tng i Ikmol
M i - Tng tr lng pha lng bn trong thp[kmol]
M d = M n + - Tr lng ti bnh cha sn phm ngng t (inh thp) kmolI
M = M - Tr lng pha lng ti y thp kmolj
H n h 3-31:

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

3. p su t bn trong ton b th p l ng nht

4. T r lng hi ti mi a l khng ng k, nh vy

nu phi xy dng

phng trn h cn bng vt cht ta ch cn quan tm ti lng cht lng

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

/(1 - Ui) => Vi =

;

3 * /(! - xi)
1 + ( a - 1>,
Vi

(3.153)

9. p sut nh th p p c duy tr c nh bi mt vng iu khin ring,

thng qua iu chnh lu lng nc lnh qua thit b ngng t v gin tip
th ay i lu lng hi VT. C h t lng vng iu khin c gi thit l l
tng, n h vy p c coi l c nh.
10. T r lng ti y th p M B v ti bnh cha M D c duy tr c nh bi
cc vng iu khin mc tng ng. C th lu lng sn phm y B c
dng iu khin M#, lu lng sn phm nh D c dng iu khin Mp.

C hng 3

156

M HNH HA L THUYT

C ht lng cc vng iu khin nv c gi thit l l tng, nh vv M[

v M[) (lc coi l khng thay i.
11. B qua ng hc cht lng ti cc a, c ngha l tr lng cht lng ti mi
a l c nh. Nh vy, y phng trinh cn bng vt liu ton phn ch
cn m t trng thi n nh.
tin theo di, s cng ngh dn gin ha c minh ha li trn Hnh
3-32. Ton mt s bin cng c t li (v d X) Xb
v x%
\ x) nhm gin
tin trong mt s trnh by. Hai gi thit sau cng l hon ton c c s, nhm
tch ring ng hc ca cc dng chy vi ng hc th n h phn, bi ng hc
ca cc vng diu chnh nv nhanh hn nhiu so vi iu khin th n h phn. Xy
dng I11 hnh ng hc cng nh thit k iu khin cho cc vng iu chnh
ny l cc bi ton quen thuc, khng cn quan tm y. Nh vy, hai bin
iu khin C11 li l lu lng hi lu L v lu lng hi V.

H nh 3-32:

TllP CHNG LUYN HAI CU T CHO M HNH DN GIN HA

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

Cc phng trn h cn bng thnh phn c vit cho cu t d bay hi nh

sau:
Thit bi un si y

thp: Mj

a cp liu:
Thit bi ngng tu:

= L2X2 Vj\ B'X

dt
dx
Mn 7 - =
+ Vy]4- Lx% V2/2 2X2
di

(3.155)

A/3 ^ 7 ^ = V22/2 Lx.r D.T3

d

(3.157)

(3.156)

S dng cc quan h trong (3.154), t a c th b i cc bin tru ng gian i ti

cc phng trnh trng thi

M, ^

= (L + F)(Z2 - .T,) - K(r/, - X,)

(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)

Ngoi ra t a cn c hai phng trnh cn bng pha:

y, =
y2 =

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)

trong A k hiu bin chnh lch (so vi gi tr ti im lm vic). Phng

trnh u ra l tu yn tnh, v c th vit c ngay l:

Chng 3

158
0

1 0

y Cx =

M HNH HA L THUYT

(3.164)

hoc vi bin chnh lch

Ay =

(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, ^

= (L + F){,Ax2 - A i) + (*2 - , ) ( A L + A F) - V { A y, - A i ,) - (j - X\)A V

= (V - - -

Vk )A x x + { + F) Ax2 + ( 2 -

+(! - i)A V - (x2 - X,)AF

M-

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)

= kVAx\ (L 4- i *1 +- /^VQAa^ 4" L /\x 3 I* (X3 x<)&Lj 4"

+ ( i - 2)A V + (z> - x2) A F + F / \ zf
M X

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

V d 3-3: c th a ra m hnh vi cc tham s c th, cc s liu vn hnh tm

tt di y c ly t [11]:
F

ZF

&

V XD (xs)

0.5

10

0.5

3.05

3.55

Mi

XB ( x )

0.9

0.1

1.0

Vi cc s liu vn hnh cho, gi tr cho mt s bin ti im lm vic c tnh

ton c th cho tng tng nh sau:
T n g

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

Thay cc s liu vo (3.168), ta nhn c cc ma trn tham s nh sau:

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

1. Nguyn liu l hn hp gm hai cu t

2. ng hc ca thit b ngng t v thit b un si y th p c b qua
3. Ap su t bn trong ton b th p l ng nht
4. T r lng hi ti mi a l khng ng k
5. Lu lng hi bc ln trn mi a l nh nhau
6. E nth alp y ca dng cht lng thay i khng ng k
7. bay hi tng i gia hai cu t coi nh khng thay i
8. T t cc cc a u t trng thi cn bng nhit ng hc gia hai pha
9. Ap su t trong th p c duy tr n nh.
Mc d cn vi kh nhiu gi thit v l tng ha nhng nhng kha cnh quan
trng n h t lin quan ti ng hc ca qu trnh chng luyn v bi ton iu
khin cht lng c quan tm.
X y d n g c c p h n g tr n h m h n h
Vi cc gi thit trn y, t a c th tip tc b qua cc
phng trnh cn bng
nng lng. Cc phng trnh cn bng vt cht (cn bng khi lng ton phn
v cn bng th nh phn) nay c vit ra cho tng a thp. Cc phng trnh
ny hon ton tng t cho cc a, ch khc m t cht thit b un si/y
th p , thit b ngng t /b n h cha v a cp liu.
T h it b un s i/ y thp ( = 1, Xi = X, Mf = Mi, B = L\)\
^ at

= 2 -5 -1 /

(3.169)

<1{MXd) = L & - B xb - VyD

t

(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)

D) = ~(L + D)xd + VyN

(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

M t s v D Q TRNH TIU Biu

161

C c a khc (a trn cng: i = N, Z/.V+1 =

X.V+1 =

Xo)

^ - = L i+ l- L i

(3.175)

= Li+Xi+ _ LX. + Vy._x _ Vy.

(3.176)

Tip theo, ta cn quan tm ti ng hc cht lng trn mi a, hay ni cch

khc l mi lin quan gia tr lng cht lng ti mi a v lu lng cht lng
i khi a . Ta bit rng, tr lng cng ln th lu lng ri khi a
cng cng ln. l mt quan h phi tuyn, song trong thc t ta c th s
dng cng thc Francis [1] hoc xp x bng phng trnh tuyn tnh ha [12]:
A L = A

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

Phng t rnh cn bng thnh plin

yv+l

Phng trnh ng hc cht lng

N-l

Phng trnh cn bng pha

S bin qu trnh: 4/V + 7, btto gm:

Thnh phn pha lng v pha hi ti mi bc trong thp
Lu lng cht lng ra khi mi bc trong
Tr lng pha lng ti mi bc trong

hi

lu

(L =

thp [M)

Lu lng sn phm nh (D)

Tr lng bnh cha sn phm ngng t (Mi)
Lu lng dng tip liu (F)
Thnh phn dng tip liu

( Zf )

2N
N
N

Z/A'+ i)

Lu lng hi i trong thp ( V)

v y)

thp (Li, B = L\)

Thnh phri sn phm nli {xp = S/V+i)

Lu lng

(Xi

1)

C hng 3

162

M HNH HA L THUYT

Nh vy, s bc t do cn li l 6, tng ng vi 4 bin iu khin tim n ng (,

D, V B ) v 2 bin nhiu (F, ZF). T t a suy ra s bin ra ti a c th iu
khin c c lp cng l 4. So vi mc ch iu khin t ra l iu khin hai
bin mc (M D M B) v hai bin thnh phn dng sn phm (xo, Xb), kt lun ny
cho thy m hnh nhn c hon ton nht qun.
T u y n t n h h a m h n h
T hng thng, m hnh tuyn tnh ha ch c s dng cho kho s t v th i t k
iu khin tuyn tnh. Xt theo mc ch s dng m hnh t ra th t c l
do phi tuyn tnh ha m hnh nhiu tng nhn c trn y, cng bi s bc
ca m hnh qu ln i vi cc phng php thit k thng thng. Tuy nhin,
nu t a c nh thc hin cc bc pht trin m hnh tip theo, v d gim bc
m hnh, th vic tuyn tnh ha trc ht c th cn thit, v nguyn tc, cch
thc tin hnh tuyn tn h ha m hnh nhiu tng cng khng phc t p hn so
vi m hnh ba tng, ch c iu s lng phng trnh ln hn nhiu. V th,
y t a khng cn i su hn vo tng chi tit.
3 .7 .4 .3 M h n h t h c t
Mt m hnh chi tit cho th p chng luyn hai cu t cn ti cc kha cnh
thc t hn nh hn hp nguyn liu nhiu cu t, t l hi tro ng nguyn liu,
hiu sut cc a khng l tng, lu lng hi bc ln khng ng n h t v.v...
Ph n di y cp mt cch s lc ti vic xy dng cc phng trn h m
hnh vi cc iu kin thc t ny. Tuy nhin, ta vn cn phi a ra m t s gi
thit n gin ha:
1. ng hc ca thit b ngng t v th it b un si y th p c b q u a
2. C ht lng ti mi bc coi nh trn ln hon ton v khng nn c
3. T i mi a din ra trn g thi cn bng nhit gia p ha lng v hi.
Xt bc th i trong th p khng phi l khay tip liu (c th nhiu khay)
bc cp nhit (thng l y thp) hoc bc ly sn phm (y thp, thit b
ngng t /b n h cha sn phm ngng t). Vi nc cu t trong hn hp t a c th
vit 1 phng trn h cn bng vt cht ton phn, nc- 1 phng trn h cn bng
th n h phn v 1 phng cn bng nng lng nh di y.
Phng trinh cn bng vt cht ton phn:
^

= ( d M iL + dMiV) = L+ +

- L - y i

Phng trnh cn bng thnh phn vit cho cu t th j:

(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)

Phng trnh cn bng nng lng:

~dt~ = ~ d t ^ LiULi

^ ViUi^ = ^+1^1+1 + K-iV.i-1 A^Lx KV i (3.180)

Cc k hiu c s dng b sung c ngha nh sau:

M ii/M iv - tr lunq pha lng/pha hi ti tng th i
hii/hvi - nthalpy ring ca dng chy xung/dng hi i ln t tng th i.
i vi nhng bc cp liu, bc cp nhit v bc ly sn phm, cc phng
trnh cn bng cng c vit tng t, c ti cc dng vo ra khc. Ngoi
cc phng trn h vi phn trn y, vi mi bc th i trong th p t a cn c 2
phng trnh ng hc thy kh lin quan ti tn th t p sut:
4 = k { M Li u P ^

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

Ej = {ytJ - y i- i,j) /{ y j - V i-I,j)

(3 . 182)

Trong hai phng trn h cui, yj l phn mol ca cu t th j trong pha hi

tr n g thi cn bng p h a v Ej l hiu sut hi theo Murphree cho cu t th j
bc th i.

3.8

G h i c h v t i liu t h a m k h o

M hnh ha l th u y t l mt ni dung khng th thiu c trong iu khin

qu trinh, v n xy dng m hnh l thuyt lin quan nhiu ti cc kin thc
nn tn g ca h a hc v vt l. Tuy nhin, cn lu rng m hnh phc v m
phng ng hc v th i t k iu khin khc c nhng c im v yu cu khc
vi nhng m hnh s dng trong thit k cng ngh. Trong thit k cng ngh
ngi ta quan t m ch yu ti cc quan h bin qu trnh trng thi xc lp,
tron g khi m hnh tro n g iu khin phi m t c tnh ng hc ca qu trnh.
Cc m hnh d n g cho iu khin cng khng bt buc phi qu chi tit nh
nhng m hnh phc v thit k cng ngh, m t p trun g vo nhng kha cnh
thit yu lin qu an ti mc ch iu khin.
Nhng nguyn tc c bn v xy dng m hnh l thuyt cho cc qu trnh c
bn u c trn h by trong cc ti liu chun nh [1],[2] v [3]. M t v cc
bi ton iu khin q u trnh tiu biu tm thy trong chng 8 ca Liptak ([4])
v trong Corrpio ([5]). Cc kin thc nn tng cho m hnh ha cc qu trnh
ha hc c th t r a cu trong [6], hoc [7] v [8]. ti m hnh ha th p chng

C hng 3

164

M HNH HA L THUYT

luyn c Skogestad v cc ng s tho lun kh k trong mt lot cc bi

bo ([9]-[12]). Vn xy dng m hnh cho m t dy chuyn cng ngh ln hn
c Doyle v cc ng s gii thiu trong [13].
T i liu t h a m k h o
[1]

[2]

[3]

Luyben, W.L.: Process Modelingy Simulation and Control fo r Chemical

Engineers. McGraw-Hill, 1990.
Smith, C.A.; A.B. Corripio: Principles and Practice of A utom atic Process
Control. 3rd Edition, Wiley, 2005.
Seborg,

D.E.; T .F.

Edgar;

D.A.

Mellichamp:

Process Dynam ics and

Control. 2nd Edition, Wiley, New York, 2004.

[4]

Liptak,

B.

G.

(ch

bien):

Process

Control

(Instrum ent

Engineers'

Handbook). 3rd Edition. Chilton Book Company, 1996.

[5]

Corripio, A.B.:

Design and Application of Process

Control Systems.

Instrum ent Society of America (ISA), 1998.

[6]

McCabe, W.L.; J . c . Smith; Peter Harriott: Unit Operations of Chemical

Engineering. 6th Edition, McGraw-Hill, 2001.

[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]

Sigurd Skogestad, Manfred Morari, Understanding the dynamic behavior

of distillation columns, Ind. Eng. Chem. Res., 27, 10, 1848-1862, 1988.

[10]

Sigurd Skogcstad, Manfred Morari, and John c. Doyle: Robust Control of

Ill-Conditioned Plants: High-Purity D i s t i l l a t i o n IE E E Transaction on
Autom atic Control, Vol. 33(12), 1988.

[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]

Sigurd Skogestad: Dynamics and Control of Distillation Colum ns - A

Critical Survey. IFAC Symposium D Y CORD-f '92, Reprinted in

Modeling, Identication and Control, 18, 177-217, 1997.

[13]

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

Quang, N.P.: Matlab & Simulink cho k s iu khin t ng. NXB

K H & K T 2004.

[15] M odellica Assoc.: Modelica Tutorial. WWW.m odelica.org. 2004.

[16]

Elm qvist H. et al. (2003): Dymola Users M anual WWW.d Vmol a. com.

2003.

[17]

Golub, G.; Van Loan: Matrix Computations. 2. Edition, 1993.

[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]

Shampine, L. F.: Numerical Solution of Ordinary Differential Equations,

C h ap m an & Hall Mathematics, 1994.

[20]

Shampine,

L.

F.,

M.

K.

Gordon:

Computer

Solution of Ordinary

Differential Equations, W.H. Freeman & Co., 1975.

[21] Matlab Control System Toolbox Users Guide.
2004.

3.9

Version 6.0, T he Matworks,

C u hi v b i t p

3.1

C S ca phng php l thuyt trong xy ng m hnh ton hc l g? Nu cc

bc tin hnh.

3.2

C ho h th n g bnh ch a m inh ha trn Hnh 3-33 di y. G i s c tn h van l

tu y n tn h v lu lng q u a van c xc nh n h sau:
(3 .1 8 3 )

trong F'2 l lu lng ra (m3/s), Cv l h s van (m3/s-kPa%), p l m van

(m), A p l chnh p qua vail (kPa) v qs l trng lng ring ca cht lng (v
th nguycn).

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

a. c c m hnh n gin ha trn y, ta phi t ra cc gi thit no? Hy

dn dt v kim chng phng trnh trn.
b. Xc nh m hnh ca h thng trng thi xc lp.
c. Phn bit v nu r cc tham s m hnh v cc bin qu trnh
d. Xc nh s bc t do ca m hnh qu trnh v nu r ngha ca n.
e. Nhn bit cc bin c iu khin, bin iu khin v bin nhiu.

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

a. Phn bit cc bin qu trnh

b. Xy dng m hnh ng hc ca h thng, a ra cc gi thit n gin ha cn
thit.

C hng 3

1 68

M HNH HA L THUYT

c. Phn tch bc t do ca m hnh nu nh hai dng cp c a ti t mt qu

trnh trc cho hai trng hp th tch cht lng trong thit b khng thay i (hnh
bn tri) v c thay i (hnh bn phi).
3.6

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

b. Vit cc phng trnh m hnh ng hc ca h thng

c. Dn gii cc hm truyn t biu din quan h gia cc bin qu trnh
d. Cho

bit cc s liu sau y:

- Cht lng l nc, coi trng lng ring g5 = 1

- m van ca hai van t chy c t c nh l 100%
- Ti im lm vic mc nc trong cc bnh l /ij = 1.0 m, /2 = 1.5 m, lu
lng F2 = 0.001 m 3/ s .
- H s ca hai van l Cv = 1.5-10"5 (m3/s-kPa^)
- Tit din cc bnh cha l u A\ = 1 m2, 2 = 1.5 m2
Hy xc nh gi tr cc bin qu trnh cn li ti im lm vic v thay s vo
trong cc hm truyn t. Tin hnh m phng trn MATLAB da trn m
hnh hm truyn t
Fi

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

hoi va bai tap

169

Ft

H inh 3-38:

M inh

hoa cho bai tap

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

hoa cho bai tap

3.8

a. Nhan biet cac bien qua trinh

b. Xay dtfng (cac) phirang trinh mo hinh. Dira ra cac gia th ilt ddn gian
thiet.
c.

hoa can

Phan tich so bac tii do cua mo hinh va danh gia kha nang dieu khien dude.

d. Tuyen tinh hoa mo hinh va diia ve dang ham truyen dat

c.

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

Phng p hp xy dng m hnh ton hc trn c s cc s liu vo-ra thc

nghim c gi l m h n h h a t h c n g h i m hay n h n d n g h t h n g ( s y s t e m

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.

1 Nguyn vn ting Anh: T/ie procedures for deducing a mathematical model

representing the static and transient behaviour of a system from its response to a welldefined input signal e.g. a step junction, an impulse, or white noise.

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

s dng m hnh v kh nng ng dng ca

chn, quyt nh v dng m hnh (phi
on,...), a ra gi thit ban u v cu trc
hm truyn t, c hay khng c tr,...).

5. X c nh cc tham s m hnh theo phng p h p /th u t ton chn. Nu

tin hnh theo tng m hnh con (v d tng knh v o /ra , tng khu trong
qu trnh) th sau cn kt hp chng li thnh mt m hnh tong th.
6. M phng, kim chng v nh gi m hnh nhn c theo cc tiu chun
la chn, t t nht l trn c s nhiu tp d liu khc nhau. Nu cha t
yu cu, cn quay li mt trong cc bc 1-4.

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

da trn p ng qu , trong khi tn hiu dng hnh sin c dng cho cc

phng php d a trn p ng t n s. Trong mt s trng hp, tn hiu xung
cng c s dng thay cho tn hiu bc thang hoc tn hiu hnh sin.
Phng php ch ng c th khng kh thi i vi cc h thng ang vn
hnh n nh, bi qu trnh khng cho php h t c m t s can thip no lm
nh hng ti cht lng sn phm. Khi ngi t a phi chp nhn s dng cc
s liu v o /ra vn hnh thc v phng php nhn dng c gi l b ng.
Nhng s liu ny thng thng phn nh ch yu c tnh h thng trng
thi xc lp, cha t thng tin thit yu cho bi ton iu khin.
N h n d n g v n g h v n h n d n g v n g kn
M hnh ca m t qu trnh c th xc nh mt cch trc tip trn c s tin
hnh thc nghim v tnh ton vi cc tn hiu v o /ra ca n. Trong trng hp
r ngi ta gi l nhn dng trc tip hay nhn dng vng h (open-loop
identification). Tuv nhin, i vi nhiu qu trnh cng nghip iu ny gp
nhiu tr ngi bi vic ch ng a tn hiu vo trc tip vi bin ln c th
lm cho cc thng s qu trnh vt ra khi phm vi lm vic cho php v nh
hng trc tip ti cht lng sn phm, c bit vi cc qu trnh khng n
nh. Trong khi , nu s dng tn hiu vo c bin nh s kh phn bit
gia p ng u ra vi nh hng ca nhiu o.
M t bin php khc phc vn nu trn chnh l s dng phng php
nhn dng gin tip, hay nhn dng vng kn (closedloop identification). Mt b
iu khin phn hi n gin c a vo nhm duy tr h thng trong phm vi
lm vic cho php (Hnh 4-1). Tn hiu th nay chnh l tn hiu ch o c
a vo b iu khin, cn tn hiu ra c o bnh thng. Thng thng, m
hnh cho c h kn s c xc nh trc, tip theo m hnh qu trnh s c
dn x u t t . Phng php phn hi r-le ni ting ca strm-Hgglund [6]
chnh l m t phng php nhn dng vng kin.
C n lu mi lin quan gia nhn dng vng h vi nhn dng ch ng v
nhn dng vng kn vi nhn dng b ng. Nhn dng vng h bao gi cng s

a) Nhn dng vng h

H nh 4-1:

b) Nhn dng vng kn

N hn

dng vng h v nhn dng vng kn

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

trong N l s ln trch mu tn hiu, y(k) l gi tr u ra thc ca q u trnh

thi im trch m u th k v (k) l gi tr u ra ca m hnh c lng ly
t m phng. T n hiu vo thng c ly di dng bc thang, tu y nhin dng
tn hiu khc cng c th s dng c. Mt iu cn c bit lu l t p s
liu thc nghim dn g kim chng m hnh nn phi khc vi tp s liu ban
u dng cho c lng m hnh.
Mt tiu chun n h gi khc l da trn .so snh c tn h t n s ca m
hnh vi c tnh t n s thc. ng nhin iu ny i hi phi c phng
php ph hp ly c tnh tn s ca qu trnh, t n h t l ti nhng tn s
ng quan tm . Tiu chun ny c th nh lng theo sai lch ln nht:
E = max
ueO

(4.2)

trong G( j u ) l c tnh tn s ca qu trnh thc, G( jt) l c tnh t n s

ca m hnh v o l t p cc tn s cn quan tm nh gi.
P h n di y gii thiu tm t t mt s phng php thc dng trong iu
khin qu trnh. Lu rng, minh ha t t hn hiu qu ca cc phng
php, cc s liu v o r a trong cc v d minh ha khng phi l s liu qu trnh
thc, m l s liu m phng vi nhng m hnh khc (m hnh l tng).

4.2

C c p h n g p h p d a t r n p n g q u

Cc phng php trc tip da trn th p ng qu rt c a chung

vi nhng ngi lm thc t, bi tnh trc quan v n gin. T t nhin, mc
chnh xc ca cc m hnh nhn c thng l mc khim tn bi hai l
do: i) m hnh s dng thng n gin (bc thp) v ii) nh hng ca nhiu
khng c gii qu yt tt. Song i vi mc yu cu ca m t phn khng
nh cc bi ton iu khin qu trnh th ngi t a c th bng lng vi cch lm
ny.
Trn Hnh 4-2 l bn ng cong p ng qu r t tiu biu ca cc qu
trnh cng nghip khng c tr. i vi cc trng hp a, c hoc d t a c th p
dng m t trong nhng phng php thch hp di y. C th l
c tnh qun tnh (a): c th xp x th n h m hnh qun tnh
hoc bc hai c tr (F O P D T , SO PD T).

bc nht

c tnh dao ng tt dn (c): c th xp x v m hnh dao ng bc hai.

c tnh tch p h n (d): c th xp x thnh m hnh qun tnh bc nht hoc
bc hai c tr cng thm th n h phn tch phn.
Ring trng hp (b) th hin p ng ngc ca qu trnh, ta nn
trng v p dng nhng phng php khc, chnh xc hn.

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

tin hnh cc phng php s trinh by di y m t cch thc s hiu

qu, t a cn lu c bit m t s im sau y:
1. Q u trnh thc t no
tin hnh xung quanh
trn cc gi tr chnh
tr v o r a thc. Trc
ton i ti trng thi

cng phi tuyn, v vy vic tin hnh thc nghim cn

im lm vic quy nh. Cc s liu thu th p cn da
lch so vi trng thi xc lp, ch khng phi cc gi
ht a q u trnh v im lm vic, ch qu trn h hon
xc lp, sau mi tip tc thay i u vo m t gi

tr Au. Nu qu trnh n nh, sau m t thi gian n s tin ti m t im lm

vic mi. S liu u ra cng phi ly theo bin chnh lch A y so vi irn
lm vic c. T y theo c th ca tng qu trnh, nhng bin Alt cn nh
trn h qu kch thch, nhng cn ln vt qua nh hng ca nhiu
o v di cht ca thit b chp hnh.
2. Nu nh hng ca nhiu o l ng k, cn tin hnh thc nghim nhiu ln
v sau ly s liu tru ng bnh. Nu cn thit c th tin hnh cc bin php
lc nhiu trc khi x l.
3. Cc phng php c trnh by di y trn c s th. T uy nhin ngy
nay vic p dng cc h iu khin s cho php tin hnh cng vic th u th p
s liu v tnh ton th am s bng my tnh. V th vic v th v c
lng bng tay trn giy gn nh khng cn thit. Cng cn lu vai tr
chuyn i ca cc b ADC cng nh dng biu din d liu.

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

Mt phn ln cc qu trnh cng nghip c p ng qu nhanh t t dn hnh

ch
(Hnh 4-2a). Thc ra, m t m hnh qun tnh bc cao l ph hp nht vi
ng cong p ng ny. Tuy nhin, mt m hnh bc cao thng gy kh khn
trong vic thit k cc lut iu khin n gin nh PID. gii quyt vn
ny ngi t a c th thc hin php xp x a v m hnh qun tnh bc mt
kt hp vi mt khu tr. Lu rng, thi gian tr thc (tr vn chuyn) ca
mt h thng c th xc nh ring mt cch dng v sau ch cn cng

thm vi tr xp x. Do vy, di y ta ch cn quan tm ti bi ton xp x

mt khu qun tnh bc cao khng c tr v mt m hnh qun tn h bc nht c
tr F O P D T (first-order plus dead-tme).
M hnh F O P D T c hm truyn t:
(4.3)
trong k l h s khuch i tnh ca i tng, T l hng s thi gian (process
ag) v 9 l thi gian tr xp x. C rt nhiu cch xc nh cc th am s ky T
v 6 [7]. Di y ta s tm hiu v so snh mt s phng php thng dng trn
c s cc v d minh ha c th.
4 .2 .1 .1 P h n g p h p k t i p t u y n
Phng php k tip tuyn c minh ha trn Hnh 4-3. Trc ht, k ng
tim cn vi ng cong ti trng thi xc lp s gip xc nh h s khuch i
tnh k. Tip theo, k tip tuyn ti im m ng cong c dc ln nht
(chnh l im un i vi khu qun tnh bc cao v l im xut pht ln sau
thi gian tr vi khu qun tnh bc nht). Giao im ca tip tuyn ny vi
ng trc thi gian cho ta thi gian tr xp x 9. Cui cng, xc nh im
tng ng trn ng cong tng ng vi gi tr 0 . 6 3 2 A c h o ta r + 0 . Thc
cht, y c th coi l phng php s dng mt im quy chiu, bi vi khu
qun tnh bc n h t c tr th sau thi gian T + 6 thay i u ra ng bng
0.632A 2/^.
V d 4-1: Hnh 4-3 cng minh ha c tnh p ng qu ca mt qu trnh c th
cho trng hp Ali = 1. Qu trnh c m hnh l tng l
(4.4)
T t nhin, coi nh ta khng bit g v m hnh l tng, nu khng bi ton s tr
thnh gim bc m hnh ch khng cn l nhn dng. Sau khi dng hnh, ta xc nh
c k = 2.0, 0 = 2.2 s v r + 0 = 5.45 s. M hnh c lng nhn c l:

C hng 4

178

Hnh 4-3:

N hn dng qu trnh

P hng p h p k ti p tuyn trn th p ng q u

G(s) = -----------e-2-23
K1

(4.5)

1 + 3.25S

c tnh p ng qu v p ng tn s ca m hnh c lng c so snh vi

cc c tnh ca m hnh l tng trn Hnh 4-4. mt mc no , sai lch m
hnh l c th chp nhn c. i vi c tnh tn, cn c bit lu sai lch xung
quanh tn s LJ_n (ni th Nyquist ct trc thc bn tri), vng c coi l nhy
cm v quan trng nht vi iu khin phn hi.

T im e (sec)

R eal axis

a) p ng qu
H n h 4-4:

b) c tnh tn s

K i m chng m hnh F O P D T c lng t h e o p h n g p h p k t i p

t u y n cho v d

4-1

m hnh l tng
m hnh c lng

4.2

CC

phng

php

DA TRN P NG

gu D

179

C th nhn thy, vic k tip tuyn d c lng cc th am s m hnh mang

tnh cm nhn ch quan, thiu chnh xc v kh thc thi trn my tnh. Hn
na, nhiu q u trnh v nhiu o c th gy sai lch r t ln trong kt qu. V
th, trong thc t t a nn trnh p dng phng php ny.
4 .2 .1 .2

P h n g p h p hai i m q u y c h i u

e khc phc m t phn nhc im ca phng php k tip tuyn ni trn, ta

c th s dng hai im quy chiu tng ng vi cc gi tr 0 . 2 8 3 A v
0.632Aycx, , th ay cho ch s dng mt im ([14], [32]). Ni. dung ca phng
php c minh ha trn Hnh 4-5, vi kch thch u vo l tn hiu bc thang
n v. Cc th a m s r v c xc nh mt cch xp x theo cng thc
T =

1.5(o )

1 .5 ( 1

(4.6)

2 /

3 )

trong 1 v 2 ln lt l thi gian khi thay i u ra t 28.3% v 63.2%

thay i trn g th i xc lp.

T im e (s e c )
H n h

4-5:

Phng

php

TH P NG QU s DNG

2 KHm quy chiu

V d 4-2: p ng qu minh ha trn Hnh 4-5 cng ly t v d 4-1. S dng

phng php dng hnh hoc phng php tm kim trn my tnh, ta u c th d
dng xc nh h s khuch i tnh k = 2.0 v haiim quy chiu t\ = 3.55s, 2 =
5.45s. Hai tham s thi gian cn li c tnh ton theo cng thc (4.6): r = 1.5(5.4s
- 3.5s) = 2.85S v 0 = 5.45s - 2.85s =

2.6s.

c tnh p ng qu v c tnh tn s ca m hnh c lng c so snh vi

cc c tnh ca m hnh l tng t.rn Hnh 4-6. Nhn xt trc quan cng cho thy
rng sai lch m hnh y nh hn ng k so vi phng php k tip tuyn, nhn

C hng 4

180

N hn dng qu t h n h

c t p ng qu cng nh c tnh tn s. Ring thi gian tr c c l n g hi

qu mc gy ra sai lch c tnh tn ln hn xung quanh Uf_n , tuy nhin s c
lng d dt ny c l tt hn cho tnh n nh bn vng ca b iu khin thit k
sau ny.

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

C LNG T H E O P HNG P H P HAI

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 Lo l thi gian ln qu trnh xc lp. Tip theo, din tch di

ng cong tnh ti thi im T -- 6 c xc nh. Hng s thi gian r s l:
eA
r

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

DNG DO DIN TCH

Vi cc s liu thu th p gin on, cc php tnh phn cn c xp x bng

php cng, v d vi phng php hnh thang. Gi s chu k trch mu tn hiu
c nh l r , ta c xp x tch phn:
J ' y ( t ) d t as ' ^ Y J[y{tj ) + y{tj+])] = ^[y(0) + y{ti)\ + T j 2 y ( t j )
z j= 0

(4.9)

j= l

hoc theo phng php truy hi (to = 0):

h

f a" y{t)dt = 0
(4.10)
J ^'y(t)d t

y(t.)dt + [ / ( , ) + 2/(,+i)]

V d 4-3: Trn Hnh 4-8 l th p ng ca qu trnh c m hnh l tng (4.4)

vi s liu u ra cha nhiu o dng n trng. Cc s liu ny c: s dng trc tip
cho phng php din tch. Phng php din tch chi c th thc hin trn my tnh
vi php tch phn c xp x bng php cng din tch cc hnh thang. T cc s
liu vo/ra ta xc nh c k = 2.01, T 2.62s v 9 = 2.48s. Trong khi , p
ng phng php hai im quy chiu trn my tnh, ta bt buc phi x l lc
nhiu. Phng php hai im quy chiu cho ta cc thain s T 2.85s v 0 2.75s.
Hnh 4-9 so snh cc c tnh m hnh nhn c t hai phng php.
c tnh p ng qu ca hai m hnh nhn c c khc nhau i cht, nhng v
c bn c hai kt qu l c th chp nhn c. Diu ngc nhin l c tnh tn s
ca c hai m hnh c lng gn nh trng kht. Tuy nhin nhn xt ny c th ch
ng cho v d c th a ra y ch khng phi l tng qut.

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

H nh 4-9: So SNU CC PHNG PHP NHN DNG DA TRN D Till DP

V D 4-3
m hnh l tng
---phng php liai im
---- phng php din tch

NU

CHO

V d 4-4: Trn Hnh 4-10 l p ng qu ca mt qu trnh c m hnh l tng

G(s) =

1.08
( + l) (2s + 1)

Os

(4.11)

Tn hiu u vo dng bc thang vi bin Au = 1, chu nh hng ca nhiu n

trng (k vng 0 v phng sai 0.05). u ra o c cng cha nhiu n trng (k
vng 0 v phng sai 0.1).

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

P NG Q CHA NHIU CHO v D 4-4

Vi thut ton hp l trn my tnh, h s khuch i tnh c xc nh tng i

chnh xc l k = 1.082. Tuy nhin, xc nh hai im quy chiu, y tt nht ta
s dng phng php dng hnh trc quan. Mt cch gn ng, ta c c 1 = 16s
v 2 = 18.6s, t tnh ra r = 3.9s v = 14.7s. M hnh nhn c t phng php
hai im quy chiu l
(4.12)
Trong khi , thut ton tnh din tch thc hin trn my tnh cho ta i4() = 19.48,
dn n T + 9 = 18s. T ta tnh tip c A\ = 1.60 v r = 4.04s. M hnh nhn
c l
2(s) =

(4.13)

Kt qu I11 phng c lnh thi gian v c tnh tn s ca hai m hnh c lng v

m hnh l tig trn Hnh 4-11 cng cho thy sai lch m hnh trong c hai trng
hp u mc chp Iihn c. c bit trong di tn quan trng [0, U^ ], c ba
ng c tnh tn gn nh trng kht vi nhau. ngoi di tn , m hnh c
lng theo phng php din tch t ra chnh xc hn mt cht. Cng cn lu rng,
i vi trng hp c nh hng ca nhiu th phng php dng hnh bng cch k
tip tuyn hay s dng hai im quy chiu u rt kh p dng c trn my tnh.

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

Nhn dng qu trn h

Chng 4

Tim e (sec)

a) Dp ng qu
H

n h

4-11:

So

Real axis

b) c tnh tn s

SNH HAI P HNG P H P NHN DNG D A TRiN T H P NG

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

G{s) = ---------- ----------- re-**

(1 + r ,5 ) ( l +

(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)

Trong thc t, hai im thng c la chn tng ng vi 33% v 67% gi

tr cui
. H phng trinh (4.16) ch c th gii c bng phng p hp s,
tu y khng c g phc tp nu s dng mt cng c tnh ton nh MATLAB.
4 . 2 .2 . 2 P h n g p h p 3 i m q u y c h i u
Vic xc nh thi gian tr bng cch k tip tuyn c nhc im l kh chnh
xc cng nh kh th u t ton ha. Bn cnh h s khuch i k, trong m hnh
bc hai c tr cn li 3 tham s cn xc nh, nn ta c th chn 3 im quy
chiu trn ng c tnh qu d c 3 phng trnh. Gi cc thi im tng
ng vi 14%, 55% v 91% gi tr xc lp ln lt l 1, 2 v 3, cc tham s ca
(4.15) c xc nh theo [15] nh sau (vi 0.707 < < 3.0:

c2 = 0.50906 + 0.51743/? - 0.076284/32 + 0.041363/?3

0.0049224/?' + 0.00021234/?5
T = (2 - ,) /(0.85818 - 0.62907C + 1.2897<2

(4.18)

-0.36859C3 + 0.038891C1)

e = t2 - r( 1.3920 - 0.52536C + 1.2991C2

-0.36014C* + 0.037605C1)
tro n g 3 = ln (tt/(2.485 cv)) v a = (:j - 2)/(^2 ^|)

,,

(4.19)

Nhn dng qu trn h

Chng 4

186

V d 4-5: Xt li qu trnh t v d 4-4. Trc ht, bng phng php dng ng

t i m c n v i t h t i t r n g t h i x c l p , h o c b n g p h n g p h p t n h gi tr t r u n g
bnh ta xc nh c h s khuch i tnh k = 1.08.
Theo phng php k ng tip tuyn ti im un trn th, ta c lng thi
gian tr = 12.3s. gii h phng trnh (4.16) v tm cc tham s cn li trong
hm truyn t (4.14), ta s dng hm f solve trong MATLAB Optimization Toolbox.
Kt qu tnh ton cho ta T] = 2.9985s v 72 = 2.9986s.
Theo phng php chn 3 im quy chiu, ta xc nh c cc tham s trong hm
truyn t (4.15) l ( = 0.843, T = 3.4988s, = 12s. Kt qu m phng so snh c
tnh thi gian v tn s cc m hnh nhn c vi m hnh l tng v I11 hnh
FOPDT (theo phng php 2 im quy chiu) c minh ha trn Hnh 4-13. c
tnh thi gian cng nh c tnh tn s ca khu qun tnh bc hai theo c hai
phng php u bm rt st vi m hnh l tng. c bit, sai lch c tnh tn
di tn s cao gim ng k so vi m hnh qun tnh bc nht.
So snh gia hai phng php - chn hai im quy chiu v k tip tuyn vi chn ba
im quy chiu - ta c th thy cht lng m hnh nhn c theo phng php sau
tt hn i cht, c bit nu quan st c tnh tn s. Khi lng tnh ton ca
phng php th hai cng t hn ng k, ph hp cho nhn dng trc tuyn.
1.5

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

SNH CC M HNH C LNG DA T R N T H P NG

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

Trong trng hp c tnh qu ca qu trnh l dao ng t t dn (Hnh 4-2c)

t a cn s dng m hnh hm truyn t:

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

gian v bin tng ng xc nh T v

* Da trn kho st hm q u
ca m t khu dao ng bc hai, ta i ti cc cng thc sau y (xei [23]):
(4.21)
V 7T2 +

Q '2

(4.22)
trong

Thi gian tr c th c xp x theo cng thc n gin [25]:

0 = 2 tv - tjU

(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

(a: dao dng ko di, b: dao ng tt nhanh)

188

hng

hn

dng

qu

trn h

V d 4-6: Cho cc s liu p ng qu ca mt qu trnh c m hnh l tng

GM =

1 55

(s -- 5)(s

(4.24)

9) (5 -h 0.6 + 1.09)

Trc ht, h s khuch i tnh c xc nh t gi tr xc lp l k = 0.0408. p

dng cc cng thc (4.21)-(4.23) cho ta ( 0.2875, T = .9908s v 6 = 1.7s. Kt qu
m phng trn Hnh 4-15 cho ta thy c tnh thi gian cng nh c tnh tn s ca
I11 hnh nhn c bm rt st vi 11 hnh l tng.

T im e (sec)

R eal axis

a) p ng qu
H nh 4-15:

b) c tnh tn s

K i m chng m hnh dao dng bc hai c lng DA TRN P

NG QU CHO V D 4-6

m hnh l tng
m hnh c lng

V d 4-7: Xt p ng bc thang on v ca qu trnh c hm truyn t

G(s) =

(s + 2) (s + 3) (s2 +0.65 + 1.09)

1.5.S

(4.25)

M hnh l tng ny ch khc trong v d trc ch hai im cc thc nm gn gc

ta hn (-2 v -3 thay cho -5 v -9). H s khuch i tnh c xc nh k =
0.3058. p dng (4.21)-(4.23) cho ta c = 0.2876, T = 0.9755s v
2.35s.
So snh cc dc tnh thi gian v c tnh tn s vi m hnh l tng trn . c th
thy cht lng ca m hnh nhn c km hn hn so vi trong v d trc. Tuy
nhin, cho mc: ch iu khin phn hi th sai s m hnh vn CI1 mc chp
nhn c.
Hai v d trn cho thy, cho d cu trc m hnh l hon ton ging nhau,
dng th p ng cng tng t nh nhau nhng kh nng p dng phng
php c lng trc tip m hnh dao ng bc hai d a trn p ng q u li
khng phi bao gi cng ph hp nh nhau. y l cha k ti nh hng ca
nhiu o m trong v d khng a vo. Ni chung, nu cn cht lng m hnh

CAc PHl/ONC PHAP Dl/A THEN DAI' ONG QUA DO

4.2

189

T im e ( sum*)

Real axis

b) Dac link tan so

a) D ap {trig qua do

HlNH

4-16:

K i m C HO N G MO HINH DAO DONG BAC HAI U 0 C L l / ON G DlfA

Cng

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

yk = 1.8277 - 1.7652C + 0.6188C2

or = 7 l - C2/C
va
t.k = 3.4752 - 1.3702C 4- 0.19300
tj = arctan a /{&Q

(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

Trong thc t, r t t khi m t qu trnh va c c c tn h tch phn v c tnh

dao ng. Cn i vi cc qu trnh c p ng dng q u n tnh - tch phn
(Hnh 4-2(1), t a c th s dng mt trong hai m hnh ph hp l qun tnh bc
nht hoc bc hai c tr kt hp vi khu 1/s:
G rriD =

G \T 2 =

75(1 r4 r r si) e " s

" 7 T T -------w V

-------- \ e s

s{ 1 + r 15)(l + r 2s)

( 4 -2 9 )

(4 .3 0 )

Hn na, t a c th a bi ton v nhn dng m hnh q u n tnh bc n h t cng

nh qun tnh bc hai bng mt trong hai cch sau:
1. S dng tn hiu kch thch dng xung thay cho tn hiu bc thang. T a bit
rng p ng xung (l tng) ca m t khu qun t)h-tch phn tng ng
vi p ng bc th an g ca khu qun tnh tng ng (tc l khi b i th n h
phn tch phn), nu din tch ca xung c chn bng bin ca tn hiu
bc thang.
2. S dng tn hiu kch thch dng bc thang, nhng ly s liu l o hm ca
tn hiu u ra thay cho trc tip gi tr u ra. T nh to n theo phng php
s th o hm c th c xp x bng php tnh sai p hn [ y (t)-y { t-T )] /T .
Cch th hai ny c nhc im l c th a q u trn h ra khi p h m vi lm
vic cho php.
Sau khi c lng c cc tham s m hnh theo cc phng php nu,
ta ch cn nhn hm truyn t thm vi 1/ s l c c m hnh mong mun.
Trong thc t cn lu rng ta khng th s dng xung l tng, cho nn dng
xung vung l thch hp hn c. di ca xung vung t y thuc vo bin
c chn cng nh ng hc ca qu trnh. Thng thng, t a ch cn (a vo
mt tn hiu bc thang, ch sau khi p ng u ra ln hn 5 - 1 0 ln di
nhiu th xa tn hiu vo cho tr li gi tr ban u.

4.3

C c p h n g p h p d a t r n p n g t n s

Nhn dng da trn s liu c tnh p ng tn s trc ht c th phc v cc

phng php thit k iu khin trc tip trn min t n s, hoc phc v c
lng gin tip m hnh lin tc t cc s liu thc nghim ch ng. ;c tnh
p ng t n s ca qu trnh c xc nh ti nhng t n s quan tm., thng
qua thc nghim trc tip vi tn hiu kch thch hnh sin hoc vi cc d n g tn
hiu ph hp khc.

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

Sau khi chuyn n v pha t radian sang , c tnh tn s ca qu trnh c v

phc trn tii Bode (Hnh 4-17). Phn tch trn th, ta nhn thy bc ca m
hnh khng th nh hn 2. V th, trc ht ta s th nhn dng vi m hnh bc hai.
Ta xt hai trng hp: 1) ly ton b s liu v 2) ch ly cc s liu ti tn s u = 1
ra/s. S dng hm invfreqs trong MATLAB Signal Processing Toolbox, ta xc nh
c hm truyn t cho tng trng hp l:
-0.01006s+ 0.03921
G, = ...;f - - - - - - ...
S - +0.5545 + 1.001
-0.01174s+ 0.04337
s2 +0.6261 + 1.067

(4.31)
(4.32)

Thc ra m hnh l ting chnh l hm truyn t (4.24) b i thi gian tr:

G(s) =

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:

TH B ode VI CC s LIU THONG v D 4-8.

O u tp u t

Quan st Hnh 4-18, ta thy rng ng c tnh thi gian v tn s ca cc m hnh

nhn c bm rt st vi m hnh 15' tng, c bit l m hnh th hai. Sai s v l
s khuch i tnh m hnh th nht tuy CI1 nhn thy r, nhng mt mc
hon ton chp nhn c cho inc ch s dng trong bi ton iu khin phn hi.

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

m hnh l tng G(s)

m hnh c lng i(s)
---- m hnh c lng Go(s)

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

T v d trn y t a c t.h a ra mt s nhn xt quan trng. T h nht,

cht lng 11 hnh nhn c t phng php p ng tn s tt hn hn so
vi cc phng php n gin, trc tip da trn th p ng qu . Trong
v d, ngay c khi bc m hnh l 2 th cht lng m hnh cng kh tt, khi
ta ly bc m hnh l 3 sai s m hnh khng th nhn th y trn th v nu
chn l 4 th sai s m hnh hon ton bin mt. T h hai, s lng s liu (s
cc tn s c chn th nghim) cha hn ng vai tr quyt nh ti cht
lng m hnh n h n c, nhng di tn th nghim li l yu t ht sc quan
trng. Q u a th nghim ly s liu nhiu ln vi 10, 20 v th m ch vi 50 tn s
khc nhau, nhng cht lng m hnh nhn c khng t t hn nhiu. T h m ch
mt iu ng ngc nhin l khi ta ch s dng 5 thay v c 6 cp s liu trong
v d, cht lng m hnh (th hai) li c ci thin r rt. V sao vy? V cp
s liu th 6 c ly ti tn s tng i cao, ln hn hn uLjr T h u t ton nhn
dng phi tm cch cn bng m hnh ti tn s m thc ra ta khng cn quan
tm , ng nhin s phi nh i ly cht lng suy gim ti cc tn s khc.
D sao m hnh c chn vn l bc hai, ta khng th p m t m hnh bc
hai c c tnh ng hc ging nh mt b bc bn ti cc tn s cao m
khng m t g ti t n s thp. Th nghim m phng nhiu ln cho thy rng nu
ta ch cn chn m t di tn khng hp l th m hnh nhn c ch l rc ri.
Nh vy, thng tin ban u v nhng tn s cn chn mi ng vai tr quyt
nh ti cht lng m hnh. Mt ln na cn nhn mnh, i vi bi ton iu
khin t a ch quan tm ti di tn nm trong phm vi [0,
Mt iu vn c giu dim trong v d trn y l vn thi gian tr
khng h dc ni ti, nhng may mn l qu trnh thc khng c tr. Nu ly
nguyn qu trnh c thi gian tr trong v d 4-6 hoc 4-7 ta s nhn c cc
kt qu kh bt ng, ngc li vi mong i. iu ny c th gii thch n gin
hi ta chn sai cu trc m hnh, v n l a s th u t ton nhn dng da
trn p ng t n s khng chp nhn thi gian tr trong m hnh, m ch cho ta.
kt q u l m t hm truyn t di dng phn thc thc-hu t..
Trong cch lm th nht, t a c th nhn bit thi gian tr ring, sau sa
li cc s liu c tnh pha thu c v tin hnh nhn dng m hnh khng tr
nh thng thng. Trn th c tnh tn so ta khng d dng c lng thi
gian tr, v vy cn phi s dng p ng qu . Thi gian tr khng nh
hng ti c tn h bin , m ch lm chm pha thm mt lng l cj(rad).
Nh vy, ti mi t n s thc nghim u>j t a ch cn sa li s liu gc pha thu
c theo nh hng tng ng ca thi gian tr:
<A)(^) iMay&i) *

(4-34)

Phng php th hai l s dng m hnh bc cao hn nhn nh ban u, v

d cao hn 1 hoc 2 bc. Mc ch y l thnh phn tr ni tip c c hi

194

C hng 4

N hn d n g q u t r n h

c t ng xp x v m t hm truyn t thc-hu t trong th u t to n nhn

dng. Cch lm ny t ra ph hp nu th u t ton thit k iu khin sau ny
cng yu cu xp x thi gian tr.
V d 4-9: Mt qu trnh c tr vi m hnh l tng (4.25) c m phng
s cho cc s liu nh sau:
w(rad/s)

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

Ta coi nh cc s liu ny c ly t thc nghim phc v nhn dng. Tn s

cui cng U) = 1.5 ra/s cho gc pha nh hn nhiu so vi -7T nen cp s liu c
loi b. M hnh th nht c chn bc hai vi thi gian tr {6 = 1.5s) c Iihn
bit ring. M hnh th hai c chn bc 4 v nhn dng khng ring bit ti
thi gian tr. M hnh cui cng c bc l 2 v cng khng c tr. y ta cng s
dng hm invfregs ca MATLAB. Cc hm truyn t nhn c ln lt l:
_ 0.16555 -f 0.2799 _ma
1 - s2 + 0.69895 + 0.9334 e
_ _________-0.1805s + 0.2712_________
s4 + 1.952s3 + 2.586s2 + 1.967s + 0.887
X
_ -0.2437s + 0.1243
s2 + 0.3433s + 0.4813
Cc kt qu m phng trn Hnh 4-19 cho thy hiu qu v tm quan trng ca hai
hin nhn yfr lv t.hri tri an tr a. ra t.ren v.

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

phng php da thn dp ng t

n s

195

Bn cnh chnh xc cao, m t u im quan trng ca phng php kch

thch ch ng bng tn hiu hnh sin l tnh bn vng vi nhiu. Cho d l
nhiu qu trnh hay nhiu o, chng kh c th nh hng ln ti m t tn hiu
c di t n hng 0 theo l thuyt. Ngay c khi tn hiu ra c b nh hng th vn
lc nhiu hon ton n gin bi ta bit chc tn s no cn gi. Phng
php ly c tnh tn s thc nghim cng cung cp cho ta mt cch tng i
trc quan nhng thng tin ht sc quan trng v cu tr c m hnh cng nh v
ng hc ca qu trnh.
Nhc im chnh ca phng php s dng trc tip tn hiu hnh sin ly
c tnh p ng tn s l m t rt nhiu thi gian, c bit l nhng qu trnh
cng nghip thng c hng s thi gian kh. ln. Vic ly s liu cho mi cp
v o r a c khi m t nhiu ngy, tn km khng ch cng sc b ra m cn nm
s lng ph thi gian a vo vn hnh. Hn na, v m t thit b chp hnh
cng nh v m t cng ngh sn xut khng phi qu trnh no cng cho php
kch thch dao ng. Chnh v vy, vic kch thch tn hiu hnh sin t khi c
thc hin d ly mt cch y c tnh p ng tn s ca m t q u trnh, m
thng ch c p dng cho m t vi t n s quan trng.

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

truyn t t c tnh tn s nhn c vi hai cu trc la chn: i) bc t s l 2 v

bc mu s l 4, ii) bc t s l 1 v bc mu s l 3. Hai hm truyn t ln lt l:
0.1703s2 - 0.4765 + 0.4853
s 4 + 2.634s3 + 3.726.S2 + 3.077s + 1.587
^ _
-0.1656s + 0.1441
2 - s3 + 0.9164s2 + 1.104 + 0.464

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)

Cc kt qu m phng c tnh p ng qu v p ng tn s trn Hnh 4-20 cho

thy cht lng m hnh c lng th nht rt tt, ng nh mong i. Klii bc ca
m hnh gim i mt, sai lch m hnh nhn thy r rt, mc d mt mc vn
CI c th chp nhn c. Nh phn tch trong v d 4-9, s khc bit v cht
lng m hnh y c gii thch qua hiu ng thi gian tr trong qu trnh thc.
Trong trng hp tn hiu u ra chu nh hng r rt ca nhiu o, vic p
dng trc tip php bin i Fourier dn n sai lch m hnh r t ln. Dng
nhin, lc nhiu l mt bin php ci thin cht lng nhng cng li m ang n
nhng vn khc. y chnh l m t tri ca phng php s dng mt tn
hiu bng rng nh tn hiu xung.

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

Cho m t h tuyn tnh tham s hng vi cc tn hiu v o /ra u(t) v y(t), m t

ph c a u(t) c quan h vi m t ph cho ca u(t) v y{t) theo cng thc
puy(u) = G(u>)PUll(uj)

(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) =

(s + 2)s + 3)(s,J +0.6.9 + 1.09)e

li c ly m phng to ra b s liu vo-ra thc nghim. tnh ton mt

ph ta c th s dng cc hm MATLAB trong Signal Processing Toolbox (pwelch,
cpsd) hoc Identification Toolbox (spa). Da trn c tnh tn s nhn c, mt m
hnh hm truyn t xp x c xc nh thng qua hm invfreqs. D qua rt nhiu
ln th nghim vi cc tn hiu vo khc nhau cng nh chu k trch mu tn hiu
khc nhau, nhng m hnh bc 4 tt nht, nhn c vn cn sai lch mc ng
k (Hnh 4-21). Hm truyn t ca m hnh c lng l:
0.2209s2 - 0.6293s + 0.6188
s4 + 3.263s3 + 4.746s2 + 4.01s + 2.066

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

4 - 2 1 : K i m chng m hnh nhn dng theo phng php phn tch

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

i vi nhng qu trn h phc t p hoc nhng qu trnh i hi kht khe v cht

lng iu kin, t a cn cc phng php nhn dng chnh xc hn nhng phng
php gii thiu trn y. Mt trong nhng phng php c coi l a nng
da trn nguyn l n gin v quen thuc - nguyn l binh phng ti thiu
(least squares, LS). T hc cht, bi ton nhn dng c a v bi ton ti u
vi hm mc tiu cn cc tiu ha l tng bnh phng sai lch (c th vi h s
trng lng) gia cc s liu quan st thc v cc gi tr tn h ton c lng.
Phng php bnh phng ti thiu c th p dng cho nhn dng cc h phi
tuyn cng nh tuyn tnh, trn min thi gian cng nh trn min t n s, nhn
dng trc tuyn cng nh ngoi tuyn. Phn di y gii thiu vic p dng
phng php bnh phng ti thiu xc nh th am s ca cc m hnh FIR,
m hnh hi quy v m hnh hm truyn t bc hai lin tc.

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)

trong y(ti) l gi tr quan st c ti thi im j, 0 l vector th a m s ca

m hnh cn xc nh:
* = [*!

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

l cc hm bit trc (v d dy gi tr bin vo hoc bin ra). Vector hm

V>T{ti) = [<Ai)

<PU)\

<P2(*)

c gi l vector hi quy v cc phn t ca

trng hp n gin nht, vector hi quy c
u vo. Lu rng, trong m hnh hi quy
tuyn tnh vo cc th am s m hnh, mc d
phi l tuyn tnh. Thc t ngi ta cng c

n c gi l bin hi quy. Trong

th biu din trc tip cc gi tr
(4.38), gi tr quan st ph thuc
bn th n m hnh khng b t buc
th s dng cc m hnh phc tp

hn trong gi tr quan st ph thuc phi tuyn vo cc tham s. Bi ton

nhn dng c a v bi ton xc nh cc th am s m hnh sao cho sai lch
gia cc gi tr quan st thc v cc gi tr tnh ton theo m hnh c lng l
nh nh t. Tiu chun thng dng nht c s dng nh gi mc sai lch
ny d a trn tng bnh phng ca tng gi tr sai lch. C ngha l, vector
tham s 6 cn c la chn nhm ti thiu ha hm mc tiu cho mt khong
thi gian quan st [1, n]:

v(,tN) = > ( 0 - t t f ) ) 2 = ( y f t ) - > T( 0 * ) 2

1=1

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)

Bi ton nhn dng c din t thnh bi ton tm nghim ti u c a h

phng trnh tuyn tnh (4.40) hay bi ton ti u ton phng khng rng buc
0 = a rg m in [ ( ^ &0)T{) $ 0 ) ]
D th y cn phi chn
hng ct, m a tr n

N > n phng trnh (4.40) cli gii. Khi , nu $

s kh o v (4.40) c nghim gii tch:
=

trong

(4-41)

& l m t ma trn gi nghch o (pseudo-inverse) ca .

(4 *42)

200

C hng 4

N hn dng qu thnh

Lu rng, m a trn $ hng ct khi v ch khi cc ct ca n c lp

tuyn tnh vi nhau. Nh sau ny trong cc bi ton c th t a s thy, cc hm
<Pi(t) thng c quan h kh cht ch vi nhau thng q u a gi tr tn hiu kch
thch u vo. V th, tnh c lp tuyn tnh thng ch m bo tn hiu kch
thch c la chn mt cch hp l. Cng t s din gii ny, tnh kh o (hay
tnh khng suy bin) ca m a trn
c gi l iu kin kch thch cho bi
ton nh n dng.
T rong thc t, cc gi tr o lun b sai lch bi nhiu d n n kt qu tnh
ton km tin cy nu nh s im quan st N c chn cha ln. Mt trong
nhng tnh cht ht sc quan trng ca phng php bnh phng cc tiu l:
nu i) nhiu o ch l dng n trng (vi k vng bng 0), ii) tn hiu nhiu o
khng c tng quan vi vector hi quy v iii) s im q u a n s t N ln v cng,
th kt qu m hnh c lng s khng ph thuc vo ln th nghim. Hn na,
nu Cu trc m hnh chn ng th sai lch m hnh s tin ti 0. T n h cht
ny c gi l tnh nht qun ca phng php bnh phng ti thiu. Nh
vy, chn N ln gip gim sai lch m hnh c lng. Tuy nhin, chn N ln s
ko th eo khi lng tnh ton cng ln, v th cn cn nhc k gia chnh xc
cn th i t vi chi ph tnh ton.
T a cng c th chuyn cng thc (4.42) v dng tru y hi thch hp cho
nhn dng trc tuyn, thi gian thc. Cc cng thc a ra di y cng kh
thng dng, c dn gii trong nhiu ti liu chun (v d xem [5]):
(tk) = h k - ) + K(t k)y(tk) - ipT{tk)(tk_ i)

(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)

M t cng thc truy hi n gin hn c tn thut ton chiu Kaczm az cng

hay c p dng:
0{h)

7<h)

y(tk) - <PT {h){tk- 1)]

(4.47)

trong a > 0 v 0 < 7 < 2 .

4,4.2

c lng th a m s m hn h F I R

Mt q u trnh n nh c th c biu din bng m hnh p ng xung hu

hn hay gi t t l m hnh F IR (xem chng 2, mc 2.5.3.1):
n
(4.48 )

4.4

201

CC p h n g p h p bnh p h n g t o i t h i u

Dy trng lng {j} c th c xc nh mt cch gn ng thng qu a ch

ng kch thch u vo bng mt xung vung c rng bng m t chu k trch
mu. Cc gi tr p ng ra sau khi chia cho cao xung u vo s cho t a dy
trng lng. Tuy nhin, mt m t nhiu qu trnh khng cho php s dng tn
hiu kch thch ch ng, m t khc php o chu nh hng c a nhiu gy sai s

trong cc gi tr quan s t c, phng php ny r t kh thc hin.

p dn g nguyn l bnh phng ti thiu cho php t a khc phc nhng vn
nu trn. y cc thi im quan st cng chnh l cc thi im trch m u
vi chu k c nh. i chiu (4.48) vi (4.38), ta nhn ra vector th am s
= [p]

92

9 n f

v vector hi quy
<pT ( t ) = [ u ( t

1)

u (t

Nh vy, ta c th p dng trc tip

2)

...

u (t

(4.42) xc nh dy trng lng cho m

hnh FIR. Chn thi gian quan st t (n + 1) n

ta c

= [y(n + 1) y(n + 2) y(t)]T

u(n)
& =

n)]

u(n 1)

(4.49)

u( 1)

u(t 1)

u(t - 2)

u(t - n)

(4.50)

Lu rng, tn hiu vo u() phi m bo iu kin kch thch. Gi s tn

hiu bc th an g u(t) = k 1(t) c chn, kh nng rt cao l mt s ct ca <> s
ging nhau hon ton v do ph thuc tuyn tnh. Ni chung, tn hiu bc
thang, tn hiu xung hoc dao ng iu ha u khng ph hp y. T hc ra,
tn hiu thch hp n h t l dng ngu nhin.
Chiu di dy trng lng n v gii hn quan st t cng cn c la chn
m t cch hp l va m bo khi lng tnh ton va phi v m hnh n
gin, va m bo chnh xc ca m hnh. Trc ht, chiu di dy trng
lng cn c chn sao cho cc gi tr sau cng xp x khng. Nh vy, chiu
di dy trng lng khng nhng ph thuc vo tng q u trnh c th, m cn
ph thuc vo chu k trch mu T. Chu k trch mu T cng nh th n cn phi
cng ln v ngc li. T t nhin, chu k trch mu c quyt nh bi nhiu
yu t khc, nn khng th chn ln mt cch ty tin. Tip theo, v nguyn tc
th gii hn quan s t t cng ln th php c lng cng ng tin cy, nhng
khi lng tnh to n cng s cng ln. m bo k h nng gii c bi ton
ti u, gii hn qu an s t t phi c chn t riht bng 2n.
V d 4-12: Cc s liu m phng trn m hnh l tng (4.25) vi tn hiu vo l
nhiu trng c s dng th nghim phng php trnh by trn y. Trong

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;

Trong th nghim th nht, ta khng m phng nhiu o. Chn chu k trch mu tn

hiu T = 0.5s, chiu di dy trng lng n = 40 v gii hn quan st t = 100T (tng
ng vi 50s). Cc kt qu so snh p ng xung gia m hnh c lng v m hnh
tng trn Hnh 4-22a cho thy cht lng m hnh rt tt.
Trong th nghim th hai ta ly cc s liu u ra cha nhiu n trng vi t l tp
trn tn hiu l 5%. Cht lng m hnh tuy c b xu i ng k so vi trng hp
khng c nhiu, nhng vn mc c th chp nhn c (Hnh 4-22). Trong thc
t, cc tn hiu o hu nh bao gi cng c lc nhiu trc khi trch mu, v th
cht lng chc chn c ci thin.
C th a ra mt nhn xt l trong v d ny ta chn cc tham s kh hp l,
khi lng tnh ton khng qu ln m vn m bo chnh xc cn thit. Cc gi
tr trng lng v pha sau tin st ti 0, nh vy 40 gi tr l hon ton . Nu
chu k trch mu c chn o.ls, th khng nhng chiu di dy trng lng m s
im quan st cng phi ln ln gp 5 ln.

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

Mt nhc im d thy ca vic c lng trc tip m hnh F IR theo

nguyn tc bnh phng ti thiu l s lng cc gi tr trng lng cn xc nh
kh ln, dn n gii hn quan st v khi lng tnh ton cng ln. M t khc,
m hnh F IR kh s dng chuyn i sang cc m hnh khc mt cch chnh
xc. Mt phng php khc hiu qu hn l c lng m hnh c th a m s (v

4.4

CC phng

php

bnh

phng

T i th iu

203

d m hnh ARX). M hnh nhn c c th c s dng trc tip, hoc

chuyn i sang m hnh FIR v cc dng m hnh khc mt cch chnh xc.

4.4.3

c lng th a m s m h n h A R X

Gi s q u trnh c m t bi m hnh ARX (xem chng 2):

A ( q ~ l )y{t) = B { q ~ l )u{t - d ) +

(4.51)

e(t)

trong d > 0 (cho trc), e(t) l nhiu n trng v

l + a\q 1 H-------- f

A(q ]) =
= bo +

1 H

>n 6<?~n6

Ly chu k trch mu lm n v thi gian, phng trnh (4.51) c vit li

di dng
y(t)= - a xy(t - ) ----------- anay{t - na) +
+fy)u( d) + biu(t d 1) H + bnbu(t d nb)

+ 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)

D th y rng m a trn $> cn phi c s hng ln hn hoc bng s ct v v th

gii hn quan st t cn c chn t nht bng m + na + nb 1 .

V d 4-13: Cc s liu m phng trn m hnh l tng (4.25) vi tn hiu vo l

nhiu trng c s dng th nghim nhn dng m hnh ARX theo phng php
bnh phng ti thiu. C hai trng hp khng c nhiu o v c nhiu n trng
c xt. Trc ht, cu trc m hnh c chn nh sau: na = nb = 3, d = 3. Vi
chu kv trch mu tn hiu T = 0.5s, gii hn quan st t c chn bng 20T (tc lOs).
Trong trng hp khng c nhiu o, gia c tnh p ng thi gian cng nh p
ng tn s ca m hnh c lng v m hnh l tng trn Hnh 4-23 hu nh khng
c s khc bit ng k.

Impulse R esponse

Khi c nhiu n trng (k vng 0 v t l tp trn tn hiu khong 5%), s snh c

tnh tn s cho thy cht lng m hnh suy gim r rt. C th l h s khuch i
tnh sai lch khong 20% so vi gi tr l tng, tuy nhin c tnh phm vi tn s
gn gc pha 180 li kh chnh xc. Nh vy m hnh ny vn c th chp nhn c
cho mc ch thit k iu khin phn hi. Sau khi thay i li d = 0 v nb = 6 (na
c gi nguyn), m hnh nhn c cng cho cc kt qu tng t. iu chng
t rng, vic bit trc chnh xc thi gian tr khng phi mang tnh quyt nh
y. Kim tra cc tham s ca a thc B(q x) nhn c, d dng thy rng nh
hng ca thi gian tr th hin ngay trn 3 tham s u c gi tr xp x khng.

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)

lim-jZ 7& khng suy bin

(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)

gii quyt trit hn vn nh hng ca nhiu t p trong th u t ton

bnh phng ti thiu, ngi ta a vo c lng c m hnh nhiu bn cnh
m hnh qu trnh. Cc m hnh phc tp hn nh ARM AX, BJ (Box-Jenkins)
v OE (Output-Errors) hoc m hnh khng gian trng th i c s dng thay
cho m hnh ARX (xem mc 4.6). Hng lot phng php ci tin c pht
trin nh phng php li d bo (Prediction Error Method, P E M [9]) v phng
php khng gian con (Subspace Method, [13]). Thc ra, phng php nhn dng
m hnh ARX theo nguyn l bnh phng ti thiu c th c coi l mt
trng hp c bit ca phng php li d bo [18].

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

Nh t a bit, m t phn ln cc qu trnh cng nghip c th c m t

bi m hnh bc hai c tr (SOPD T)
(4.57)

{t) + it) + a?y(t) = b{t - 9p) + >2u{t - p)

hoc di dng m hnh hm truyn t

trong p l thi gian tr (p > 0 ) . Vi s kin bng khng, ly tch phn kp

hai v c a phng trn h vi phn (4.57) cho khong thi gian [0, f], t a c
y +

y{t)dt + 02 J tt J y(r)drdt = b

u(t - 6p)dt + 2 J

u(r - 6p)dTdt

Kch thch h thng vi u vo l tn hiu bc th ang u(t) = >l(), d thy

0p)dt = (,- - ep)k

p u(t J0

j ; f 0 u(T - p)drdt = ( t - e p)2k

p ng ra nhn c l

y = -Oif 0' y(t)dt - a2f 0' f 0 y(r)drdt +

= - 0] J y(t)dt - a2J

- 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

Thi im quan st cui cng s cng cn c: chn sao cc s liu quan st

phn nh tng i y c tnh p ng ca h thng trong di tn quan
tm . on u ca p ng qu cha nhiu thng tin v c tnh tn s cao,
trong khi on sau cha thng tin v cc tn s gn 0. Theo kinh nghim, gi tr
yv cn c chn trong khong t 1.2 n 1.5 ln thi gian q u ca qu trnh.
H u ht cc h thng iu khin s ng dng trong iu khin qu trinh u
s dng phng php trch mu v gi tn hiu vi chu k c nh. Cc s liu
o v vy cng c thu thp theo chu k c nh. Cc thi im quan st t c
th tr n g vi cc thi im trch mu cng nh tr ng vi thi im thu th p d
liu, tuy nhin chu k quan st cng c th c chn l mt s nguyn ln chu
k th u th p d liu. m bo khi lng tnh ton khng q u ln, trong khi
vn m bo kh nng phn nh trung thc c tnh p ng qu ca h
thng, s lng im o c th chn ln gp m t s nguyn ln gi tr N. Vi
cch chn thi gian quan st nh ni trn y, gi tr N c th nm trong
khong 50-200.
T n h x p x tch phn
Vector hi quy <pT xy dng theo (4.60) yu cu cc php tnh tch phn. Nhn
nhn v m t hnh hc th tch phn n tng ng vi tnh din tch v tch
phn kp tng ng vi tnh th tch. Php tnh xp x tch phn n c
a ra theo phng php din tch hnh thang trong (4.10). Tch phn kp cng
c xp x tng t v da trn tch phn n theo cng thc:

/;f y(T)dTdt *f glx''yit)dt +1

j =0

~ f C|2X' y ^

dt

+f

+ y^+i)]
(4.64)

i=0

~ T E f y ^ dt + ! c f [(*/) +
*

y(t.)df, + ' y(t)dt

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

* T Z f 0J y(0t + T ' f ' y(t)dt + I f 0L y(t)dt + [yiu) + t +,)j

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

Cn lu rng gi tr chu k trch m u nh hng r t ln ti chnh xc

ca php xp x tch phn. V th cn chn chu k trch mu nh (v s cp d
liu ln) khi tnh tch phn. Tuy nhin, s im quan st N khng cn phi qu
ln, bi chu k quan st khng b t buc trn g vi chu k trch mu.

V d 4-14: Tin hnh m phng mt qu trnh vi m hnh l tng (4.11)

G(s)

= ____ _______ e-105

(s + 1)2( 2 s + l ) 3

ly cc s liu th nghim cho hai trng hp khng c nhiu o v c nhiu n

trng (t l tp trn tn hiu 5%). Chu k trch mu c chn l T 0.5s v gii hn
quan st tu = 50s. Chn thi im quan st u tin t = 0, thut ton c lng
tham s cho ta thi gian tr c l 10. ls. 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:
n ( \ _
~
. . _

0.057515 + 0.08449 -125$

+ 0.4794S + 0.07853 e
0.036825 + 0.0916
_ 124j

~ 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

Cc kt qu m phng c tnh qu v c tnh p ng tn s minh ha trn

Hnh 4-25 mt ln na cho thy cht lng m hnh trong c hai trng hp tt hn
hn so vi p dng cc phng php khc cp.

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

Q ua hai v d trn y, t a c th thy kh r cc u im c a phng php

c lng m hnh S O P D T trc tip da trn p ng bc th an g v nguyn l
bnh phng ti thiu. c bit, m hnh SO P D T lin tc rt ph hp cho vic
thit k cc b iu khin PID quen thuc trong lnh vc iu khin qu. trnh
(c th kt hp b tr). Tuy nhin, m hnh SO P D T c th khng ph hp cho
cc qu trnh ng hc phc tp hoc cho cc phng php iu khin i hi
m hnh c chnh xc cao. Mc d Wang v cng s [22] cng m rng
phng php cho c lng cc m hnh bc cao hn, th u t ton khng cn n
gin c u th so vi cc phng php nhn dng hin i hn.
Trong trng hp qu trnh c c tnh tch phn, phng php gii thiu
trn y vn c th p dng theo mt trong hai cch nh cng cp trong
mc 4.2.4: i) s dng p ng xung thay cho p ng bc thang hoc ii) s dng
cc s gia ca p ng bc thang thay cho cc gi tr thc. T t nhin, vic p
dng ny ch c ngha khi bc ca thnh phn tch phn l 1 , nh vy i vi
cc qu trinh cng nghip l .

4.5

N h n d n g t r o n g v n g kn

Gn y, vn nhn dng trong vng kn hay gi t t l nhn dng vng kn

( closed-loop identification) thu ht c s quan tm c bit t cc nh nghin
cu cng nh ngi ng dng cng nghip. Mc ch nhn dng y l xy
dng mt m hnh phc v t ng tnh ton cc th am s cho b iu khin,
khng phi phc v m phng hay cc mc ch khc. Mt thc t l, hu ht
cc b iu khin q u trnh c chnh nh ti ch v trc tuyn, ch t khi
c thit k trc khi a vo vn hnh. Hn na, c nhiu h thng i vo
hot ng m t thi gian v cn c chnh nh li nhm nng cao cht lng
iu khin, nhng khng cho php gin on sn xut c th tin hnh nhn
dng theo cc phng php vng h thng thng.
Mt trong nhng u im r t quan trng ca nhn dng vng kn l h thng
c duy tr trong phm vi lm vic cho php, ngay c khi t a c s dng tn
hiu
tnh
nh
bt.

kch thch ch ng. Nh vy,

s cho m t m hnh qu trnh
hng ca nhiu qu trnh ti
Trong hu ht cc trng hp,

mt phng php nhn dng m hnh tuyn

thch hp cho phm vi lm vic mong mun.
kt qu nhn dng nh vy cng c gim
t a c th ch ng thay i tn hiu ch o

kch thch h thng theo mun.

Ngi ta phn bit hai nhm phng php nhn dng vng kn l nhn dng
trc tip v nhn dng gin tip. Cc phng php trc tip s dng th ng tin
thu th p c v bin iu khin v bin ra trc tip c lng m hnh qu
trnh. Hai u im y l i) khng yu cu thng tin chnh xc v b iu
khin v ii) kt qu c th t chnh xc cao nu chn c phng php

4.5

N h n d n g t r o n o v n g kn

213

nhn dng ph hp. Hai vn c bn ca cc phng php trc tip l i) s

tng quan m n h gia nhiu o v bin iu khin, v ii) quan h tuyn tnh
gia bin ra v bin iu khin (nu s dng b iu khin tuyn tnh), v n
th n h t c th lm m t di tnh nht qun ca phng php nhn dng, nh
cp trong mc 4.4.3. v n th hai lin quan ti iu kin kch thch ca bi
ton. V d trong phng php bnh phng ti thiu p dng c lng m
hnh ARX, t a c m a trn hi quy:
-y(m 1 )

-y ( m na) u(rn d)
y{t na)

u(t d)

u(m d nb)

u(t d nb)

Nu nh b iu khin phn hi thc hin lut tuyn tnh bc thp, rt c kh

nng l m t ct cha dy gi tr ca u s ph thuc tuyn tnh vo m t s ct
khc, v iu kin kch thch khng cn c m bo.
Cc phng php gin tip trc ht s dng thng tin thu th p c v gi
tr bin ch o v bin u ra c lng m hnh cho h kn. Sau , m
hnh qu trn h s c dn xut trn c s m hnh h kn v thng tin v b
iu khin phn hi. Gi tr bin iu khin khng c s dng, v th hai vn
nu c a cc phng php trc tip khng x ut hin y. Hn na, ta c
the gn nh t y chn dng tn hiu kch thch, v th hu ht cc phng php
quen thuc cho nhn dng vng h cng p dng c y. Tuy nhin, cc
phng php nhn dng gin tip cng c nhng im hn ch chung sau y:
T hng tin v lut iu khin c th khng chnh xc (ai c th bit chc c
lut iu khin c ci t c th trn thit b iu khin nh th no?)
c tnh c a b iu khin thc c th phi tuyn do th u t ton thc thi bn
trong hoc do gii hn ca cc thit b chp hnh.
Vic dn x u t t m hnh h kn khng phi bao gi cng cho mt. m hnh
h h c tn h nhn qu, c bit khi c thi gian tr x ut hin trong h
thng. S xp x dn n m t m t v chnh xc ca m hnh.
N hn dng vng kn l mt phm tr cng rt rng, v th phn trnh by
di y ch cp ti m t s phng php n gin, d s dng trong thc t.
Bn c quan t m su hn c th tham kho [18] v nhng ti liu trch dn
trong .

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

gi l phng php ph n hi r-le theo strm v Hgglunc [6 ]. y thc cht

l mt phng p hp trc tip. Nguyn bn, hai tc gi a r a m t k th u t
n gin c lng h s khuch i ti hn ku v chu k dao ng ti hn
Tu phc v t ng chnh nh cc tham s b iu khin P ID theo cng thc
th hai ca Ziegler-Nichols.
H s khuch i ti hn ca qu trnh l gi tr khuch i m m t b iu
khin p a vng kn ti trng thi dao ng xc lp. c tn h dao ng ti hn
c th c m inh ha da trn c tnh tn s nh trn Hnh 4-26. Gi c tnh
tn s ca qu trnh l G (j) v gi s ng th c tn h p h a ca n ln
u tin ct ng -180 ti mt tn s U)u t trn xung. Nu s dng b iu
khin p vi h s khuch i kC c tnh tn h h s l kcG (jto ). Trong trng
hp ny, th ay i h s khuch i kc khng nh hng ti c tnh p h a ca h
h, nhng c t c dng tn h tin ng c tnh bin \kcG {j)\ ln trn hoc
xung di v q u a lm thay i tnh cht n nh ca h kn, Trong hu ht
trng hp, khi kc lm cho ng c tnh bin ca h h c t ng - 1 ti
t n s UJU th h kn s nm bin gii n nh hay ni cch khc l s dao ng
iu ha. H s khuch i ny c gi l h s khuch i ti hn, k hiu l
ku. T n s u u tr th n h t n s dao ng ti hn v T u =
/ U)u l chu k dao
ng ti hn.

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

T tng chnh ca phng php ca strm v Hgglund nm vic thay

th b iu khin p bng mt mt khu r-le (ni ng hn l m t khu hai v
tr) nh minh h a trn Hnh 4-27. Nu qu trnh c c tnh dao ng ti hn,
h kn s i t ng i ti trng thi dao ng ti hn. Khi t tn hiu ch o
r = 0, cc tn hiu vo-ra nhn c s c dng nh trn Hnh 4-28.

H n h 4-27:

Cu TRC H THNG PHN Hi R-LE

Hin tng dao ng ti hn ca h thng phn hi r-le c th c phn

tch mt cch ch t ch trn c s l thuyt iu khin phi tuyn (xem [12]). Song
y t a cng c th gii thch m t cch trc quan. Vi tn hiu ch o trit
tiu v tc d n g c a khu hai v tr, tn hiu vo u s c dng xung vung vi
t n s &u v bin d. Bng cch khai trin chui Fourier t a c th biu din u
bng tng ca cc tn hiu hnh sin vi cc tn s uU 3o/U)... Sau m t thi gian
qu , u ra y cng s c dng gn hnh sin vi tn s LJU) bi cc hi bc cao
ca u t tc dng vi q u trnh thc v c th b qua. T h n h phn c s ca u
c bin l 4 d / 7T, v th bin ca tn hiu u ra qu trnh s l:
Ad
a \G(ju,)\
7T

Time (sec)
H nh 4-28:

C TNH DAO DNG TI HN CA H THNG PHN Hi R-LE

(4.66)

216

C hng 4

N hn dng q u trnh

c hin tng dao ng xy ra, tn hiu u ra cng phi i q u a gi tr

khng khi khu r-le chuyn mch. Hn na, cc thnh phn c s c a u v y
phi nghch pha vi nhau. iu c ngha,
cng chnh l t n s cj.nt tc l
tn s m ti qu trn h c gc pha l -180, hay
arg G(ju>u) =

7T

(4.67)

N h vy, iu kin h thng phn hi r-le t i ti trn g thi dao ng l

ng c tnh p ha ca qu trnh phi i xung th p hn -180 t m t tn s
no . Hn na, nu t a thay khu r-le bng mt khu khuch i kc (b iu
khin P), th iu kin h kn c trng thi dao ng xc lp (hay ni cch
khc l nm bin gii n nh) l ng th Nyquist ca h h phi i qua
im [- 1 , 0]. Nh vy, h s khuch i ti hn phi bng nghch o ca bin
ca q u trnh ti tn s ti hn:
1
4d
----------- ^ --| (;w u)|
an

(4.68)

T n s dao ng ti hn c th c xc nh m t cch d dng trn th nh

chu k ti hn Tu:
2 tt
rp

(4.69)

Cc u im ca phng php nhn dng da trn phn hi r-le c

khng nh trong thc t. T h nht, vic tin hnh th nghim hon ton n
gin v ph hp vi a s q u trnh cng nghip. Nu qu trnh c c tnh dao
ng ti hn th h kn s t ng tin n trng thi dao ng, ngay c tn hiu
vo u cng c t ng to ra. T h hai, nh kh nng t do la chn bin
cho khu r-le, vic th nghim vi h kn m bo q u trnh nm trong phm
vi nh m t a cn xy dng m hnh tuyn tnh xp x> cng nh nm trong
phm vi an ton m quy trnh cng ngh cho php. T h ba, th nghim trong
vng kn kt hp vi dng tn hiu v o r a c bit dn n rih hng ca nhiu
gn nh c loi b hon ton.
V d 4-16: th trn Hnh 4-28 nhn c t m phng vi m hnh l tng
(4.25), bin r-le d 1 . C th c ngay c cc tham s a = 0.6 v Tu = 7s. T
, ta tnh c
Uiu = - = 0.9 rad/s
u

4.5

Nhn dng tro n g

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

Trn Hnh 4-29 l th Bode ca h h bao gm i tng v b iu khin p vi h

s khuch i kc = 2.1. Ta d dng kim tra li gi tr tn s uj_n so vi tn s ti hn
uu. Cng ti tn s uLn, bin ca h h c gi tr ng bng 1 (OdB), c ngha l h
kn bin gii n nh bay ni cch khc l s duy tr trng thi dao ng iu ha.
Mt iu cn lu rng, phng php phn hi r-le theo nguyn bn ch
ph hp cho mc ch iu khin phn hi dn gin, khng ph hp cho bi ton
m phng qu trnh hoc cho cc phng php iu khin tin tin. T hng tin
nhn c t ng th dao ng ti hn ch l c tnh t n ti mt tn s
. Mc d cng c nhng phng php xp x hm truyn t da trn tn
s ti hn v h s khuch i ti hn (xem [3]), chnh xc ca m hnh t khi
c nh mong i. N h vy, ch khi no phng php tnh ton tham s cho b
iu khin cng hon ton da trn Iihng gi tr ny th vic nhn dng mi
thc s c ngha.
4 .5 .1 .2 P h n g p h p p h n t c h q u tr n h q u
Phng php phn hi r-le nguyn bn chi s dng thng tin ca h thng
trn g thi (dao ng) xc lp v ch cho php xc nh mt im trn th c
tnh tn s. tm ra c tnh tn s ti nhiu im khc, ta c
th li dng cc
s liu vo-ra khi h thng cn trong qu trnh qu nh phng php kch
thch tn hiu xung (mc 4.3.2). Tuy nhin, y cc tn hiu u(t) v y(t) khng
kh tch, do khng th p dng trc tip php bin i Fourier. khc phc
vn ny, W ang v cng s [20] [22] xut s dng cp tn hiu thay th
(t) = u(t)e~Qt

(4.70)

{t) = y()e"

(4 7 1 )

218

C hng 4

N hn dng qu trnh

vi gi tr a c chn sao cho (t) v (t) gim dn m t cch ly tin ti khng

khi t tin ti v cng. p dng php bin i Fourier cho (4.70) v (4.71) cho ta
{ ju ) = J ^ ( t ) e - jdt =

u{t)e~ale -jutdt = U {ju + a)

(ju) = H (t)e - * * d t = r y(t)e-ate - ^ d t = Y ( j u + a)

J0
w0
C th d dng tnh (ju>) v {j ) ti cc tn s mong m un vi k th u t

bin i Fourier nhanh (FFT ) thng dng. Cho m t qu trn h c hm truyn

t G(s) t a c th vit:
G(s)\s
+a
+ a)) = r\+4
V 'is = ju. j+
a = G(ju>
u
^ .u- +

\(4-72))

p ng dch tn G (ju + o) c th c s dng trc tip phc v thit k cc

b iu khin phn hi. Trong trng hp cn thit, c tnh t n s nguyn mu
G(jcj)c xc nh theo ba bc. Trc ht, p dng bin i Fourier ngc
tnh dy trng lng dch 0*. Tip theo, dy trng lng ca q u trnh s c
tnh theo cng thc gk = kakh vi T l chu k trch mu tn hiu. Cui cng,
c tnh t n s G(j) c xc nh bng cch p dng bin i Fourier ri rc
cho dy trng lng gk.
V d 4-17: Cc s liu m phng h thng phn hi r-le (d = 1) vi m hnh l
tng (4.25) c s dng th nghim phng php trn y. Trn Hnh 4-30 l
cc kt qu so snh c tnh p ng xung v p ng tn s gia m hnh c lng
v m hnh l tng. C th nhn thy cht lng m hnh nhn c l rt tt.

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

S m rng phng php phn hi rd-le da trn phn tch qu trnh qu

khng phi l khng c nhc im. Tng t nh phng php kch thch tn
hiu xung, y nhiu o nh hng rtr ln ti cht lng m hnh. L do l
cu tr c phn hi khng h c tc dng gim m c khi cn tng cng nh
hng ca nhiu o. Lu rng i vi phng php nguyn bn, vic xc nh
chu k dao ng ti hn cng nh h s khuch i ti hn k h n gin, ch cn
xc nh m t im trn ng th c tnh tn s, v vy vn c th rt chnh
xc ngay c khi c nh hng ca nhiu o.
4 .5 .1 .3 M t s p h n g p h p ci t i n k h c
Mt ci tin khc ca phng php nhn dng phn hi r-le c Wang v
cng s gii thiu trong [19]. Bng cch s dng r-le dch ( bias relay) thay cho
r-le l tng, cc tc gi a ra th u t ton xc nh ng thi ku v Tu cng
nh cc th a m s c a m hnh F O P D T xp x.
Hang v cng s a ra trong [21] phng php s dng mt r-le k sinh b
sung kt hp s dn g php bin i Fourier xc nh c tnh tn s ti nhiu
im. Cc kt q u cho thy phng php ny kh bn vng vi nhiu o.

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

Hm truyn t ca h kn s c vit thnh

y(s)

knk.

.~9s

- P '" C

r{s)

1+

TS

+ kpkce~Bs

(4.74)

S dng php xp x Pad cho thnh phn tr mu s ca (4.74)

1 - 0.5ds

~ 1 + 0.5 9s

(4.75)

ta c th vit li (4.74) di dng

y{s) _
r(s)

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

t vn ngc li, khi ta c m hnh h kn di dng (4.76) thi m

hnh qu trnh c th xp x c v mt khu qun tnh bc nht c tr (4.73),
vi cc tham s c xc nh da theo cc cng thc sau:
v
6 t

(4.77)

(1 - k)kc
= 2r

2( k pkc

+ 1)

(4.78)

T + ^(1 - c) =

{kpkc + 1)

M hnh bc hai ca h kn (4.76) c th c xc nh bng mt trong nhng

phng php thch hp quen thuc, v d phng php chn cc im quy chiu
gii thiu trong mc 4.2.3.

4.5

221

N h n d n g t r o n c ; v n g kn

Phng php ca Yuvvana v Seborg c nhc im l phi s dng php xp

x Pad bc nht, v vy chnh xc s rt km nu thi gian tr tng i ln.
Mt s tc gi khc a ra cc th u t ton ci tin, cho php khc phc vn
ny v ng thi nng cao chnh xc c trong trng hp c nh hng
ca nhiu ([24],[25]).
4.5.2.2 c l n g m h n h tc h p h n b c n h t c t r

Nhiu qu trnh c c tnh tch phn c th a v m hnh hm truyn t

G(s) = e~9s
rs

(4.79)

Khi , ta cng c th s dng mt b iu khin p ' n nh qu trnh v

nhn dng trong vng kn tng t nh vi m hnh F O P D T
giithiu trn y.
Hm truyn t h kn s l:
4r(s)
4 = -
l- ^ 9 e~(,s
Tcs + e 08

(4 -8)

trong Tc = r / k c. T hay th thnh phn tr a thc mu s bng xp x Pad

(4.75), t a cng i n dng m hnh dao ng bc hai quen thuc:
M
r(s)

- 1
0 .5 rrs2 + ( r f - 0.50)5 + 1

(4.81)

Sau khi c lng c m hnh hm truyn t ca h kn, ta d dng xc nh

cc th a m s 7*v 9 ca m hnh qu trnh (4.79)

4.6

S dng

a tla b

I d e n tif ic a tio n T o o lb o x

Ton b v d m inh ha trong cc phn trnh by trn y c ci t v th

nghim trn M a t l a b . th hin r th u t ton cng vi cc u nhc im ca
tng phng php tc gi ch hu nh khng s dng m t b cng c c sn,
l Identification Toolbox (gi t t v l ID). Thc ra, b cng c ny khng
cha ht cc th u t ton trnh by, m i su vo m t s phng php tin
tin. C th khng phi phng php no c ci t cng thch hp cho ng
dng thc t, tu y nhin vic nghin cu khai thc b cng c ny l m t c hi
tt gip ngi c hiu su hn nhng vn c bn ca bi ton nhn dng v
tip cn vi nhng phng php hin i m khng cn m t qu nhiu thi gian
cho lp trnh.
c th khai thc b cng c ID mt cch hiu qu, ngi s dng cn hiu
r nhng vn c bn nh sau:
Hnh thc biu din s liu thc nghim

222

C hng 4

N hn dng qu thnh

Dng m hnh s dng cho phng php nhn dng

T h u t ton nhn dng c ci t bng cc hm

M a t l a b

Kho st v kim chng m hnh nhn c.

4.6.1

B iu din s liu th c ng h im

Cc tn hiu vo-ra c biu din bng cc vector ct u v y,

k tng ng vi gi tr trch mu th k. i vi h a bin, u
trn trong mi bin vo tng ng vi mt ct c a u v
ng vi m t ct ca y. Mi b s liu v o r a cn c ng
tng duy n h t vi nh dng i d d a t a thng qua dng lnh

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)

trong T l chu k trch mu. Theo quan im hng i tng, cc hm trong

ID s dng trc tip i tng s liu i d d a t a lm i s. Cc thao tc quen
thuc vi s liu cng c np chng. V d ta c
th v th s dng
nhng dng lnh n gin nh
plot(D ata)
p lo t(D a ta (1:100))
Khi cn thit t a c th truy nhp tng thuc tnh cng nh cc thnh p h n ca
mt i tng s liu bng cc hm hoc ton t chm (v d D ata.T s).

4.6.2

D n g m h n h s d n g

B cng c ID h tr cc dng m hnh khng tham s v m hnh c th a m s.

Cc dng m hnh khng th am s u l gin on, bao gm p ng xung hu
hn, c tnh tn s v c tnh ph cng sut. Cc m hnh c th a m s bao
gm cc m hnh a thc gin on, m hnh trng th i gin on v m hnh
trng thi lin tc. Bt k dng m hnh c th l g, hp cng c u biu din
trong m t i tng kiu idmodel. Ngi s dng c th to b t c m hnh
dng no phc v m phng hoc cha kt qu nhn dng tr v t cc hm
trong m t i tng thuc kiu idmodel. Cc thao tc kho st m hnh v
chuyn i m hnh u c th thc hin vi i tng thuc kiu idmodel.
c t n h t n s v l n h idfrd
Cho m t qu trnh c biu din bng phng trnh j(t) = G(q)u(t) + H (t)e(t) ,
m hnh c tnh t n s cha cc thng tin v c tnh t n s G(e;u') cng vi
ph ca nhiu u ra
*(w) = XT\H(ejuT)\2

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

trong A l phng sai c lng ca ngun nhiu e(t) v T l chu k trch

mu tn hiu.
T h u t ton c lng c tnh tn s tr v m hnh c tnh tn s. M
hnh c tnh t n s cng c th c to ra bng lnh i d f r d theo c php sau:
h = idfrd(Response,Freqs,T)
h = idfrd(Response,Freqs,T, 'CovarianceData' ,Covar, 'SpectrumData',. ..
Spec,1NoiseCovariance',Speccov,'Propl',Value1,'PropN',ValueN)
h = idfrd(mod)
h = idfrd(mod,Freqs)

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

Cc a thc ton t tr c biu din di dng vector hng vi cc h s theo

th t s m gim dn. V d a thc
A{q

J) =

1 4-

a\q

1 -I-

a2q

2 +

0>naQ~na

c biu din bng vector hng

A * [1 al a2 ... an]

M hnh a thc c s dng cha ton b thng tin v nm a thc

A(q~), B(q~]) C(q~]), D(q~x), F(q~') cng nh chu k trch m u T v phng sai X
ca ngun nhiu e(t). Mt i tng m hnh a thc c to ra bng lnh
id p o ly theo c p h p sau:
m = idpoly(A,B,C,D,F,lamda.T)

T hc cht, kt q u t r v t dng lnh trn cng c kiu l idmodel. T t nhin,

t a cng c th tru y cp cc a thc th n h phn q ua ton t chm, v d m.A,
m.B.

T m hnh a thc tng qut (4.82), ta c th dn x u t ra cc m hnh c

bit nh ARX, m hnh ARMAX, m hnh sai s u ra O E (O utput-E rror) v
m hnh B J (B ox-Jenkins) cho h n bin. M hnh ARX c dn x u t t m
hnh a thc tng q u t bng cch cho cc a thc
D(q~) bng 1 v F(q~')
= qnk.
A(q~l )y(t) = B(q~1)u(t nk) + e(t)

(4.83)

M hnh ARM AX tng q u t hn m hnh ARX a thc C(q~):

- nk) + C(q~l )e(t)

(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)

V cui cng, m hnh BJ c th hin qua quan h

y(t) =
u(t - nk) +
e()
'
F(q~ ) v
D (q-')

(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)

trong A(q~l) v B(q~) c th c biu din di dng a thc m a trn

A(q-') = I + A q - 1 + 2q-2 + ... + A,aQ-,ia,

5 ( < r ') =

+ B q~l + B 2q - 2 + ... + s n6 r " \

A
5 , 6 Mpxn

hoc di dng ma trn a thc tng ng

')
^ 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

~')

T h u t ton c lng theo phng php bnh phng cc tiu arx t r v mt

i tng ARX. Mt i tng m hnh ARX cng c th c to ra bng cch
gi lnh idarx theo c php sau:
m = idarx(A,B,T)
m = idarxCA,!*,!,'Propertyl',Valuel,...,,'PropertyN',ValueN)

Thc cht, i tng kt qu tr v t cc dng lnh trn c gi trong kiu

chung l idmodel. Ta cng c th truy cp cc a thc th n h phn qua ton t
chm, v d m.A, m.B.

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)

trong chu k trch mu T c t bng 0 cho m hnh lin tc. Cng nh

cc trng hp khc, kt qu tr v cng c coi l c kiu idmodel, v th c
th p dn g cc thao tc chung nh vi bt c m hnh no khc.

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)

i s ca hm impulse l i tng s liu thuc kiu iddata. Vi dng lnh

th nht, m hnh F IR c c lng v v trn th. Dng lnh th hai c
lng m hnh F IR v lu kt qu trong i tng mod (thuc kiu idmodel).
T h u t ton c s dng y da trn phn tch tng quan gia cc gi tr
vo-ra.
c l n g m h n h c t n h t n s: h m s p a v e t f e
B cng c IT ci t hai th u t ton c lng c tnh tn s l hm spa v
hm etfe. Hm spa c lng m hnh c tnh tn s km theo ph cng sut

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 =

[l:1 2 8 ]/1 2 8 * p i/T

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

Hm a rx c lng cc th am s ca m hnh ARX theo phng php bnh

phng ti thiu, nh gii thiu trong mc 4.4.3. C php s dng nh sau:
m = a rx (data,orders)
m = a r x ( d a t a , 'n a ', n a , n b ',n b ,'n k ',n k )
m = axx(d a ta ,o rd e rs , 1Property1 ' ,Valuel, . . . , 'PropertyN',ValueN)
Cng nh trong cc th u t ton khc, th am s d a ta cha s liu vo-ra trong mt
i tng id d a ta . Kt qu tr v l m t i tng kiu i d p o ly nu h l n
bin v l m t i tng kiu id a r x i vi h a bin. Vector hng o rd e rs
mang thng tin v cu trc m hnh, c th l
orders - [na nb nk]
trong na l bc ca A(q~')> nb l bc ca B(q~) v nk l thi gian tr tnh
bng s chu k trch mu. Cc th am s ny cng c th a m t cch ring r

4.6

S DNG M a t l a b

Id en tificatio n T o olb o x

227

Ih trong dng lnh th hai. i vi h MISO th nb v nk l cc vector hng,

i vi h MIM O th na l mt vector ct v nb cng nh nk l cc m a trn.
Vi m t dy s liu b t k khng cha u vo, m hnh AR c s dng
thay cho m hnh ARX
A { q ~ l )y(t) = e )

v hm a r c s dng c lng cc tham s ca m hnh:

m = ar(y,na)

Trong trng hp nhiu u ra khng phi l n trng, hm arx cho kt qu

thiu chnh xc, v th ta nn s dng cc thut ton da trn bin cng c nh
iv 4 hoc ivx. C php ca hm iv4 ging ht hm arx:
m = iv4(data,orders)
m = iv4(data,na',na,'nb1,nb,'nk',nk)
m = iv4(data,orders,Propertyl', V a l u e l ' P r o p e r t y N ' V a l u e N )

Hm iv x l phin bn cho php ngi s dng t nh ngha bin cng c:

m = ivx(data,orders,z)
m = ivx(data,orders,z,maxsize)

trong z l bin cng c a di dng m t vector ct c kch c nh y. Ma

trn z to th n h t z (ging nh $ c to thnh t y v u) cn th a mn cc
iu kin a ra trong (4.55).
c l n g m h n h A R M A X v A R M A : h m a r m a x
Hm armax c lng cc tham s ca m hnh ARM AX hoc m hnh ARMA
theo phng p h p li d bo (PEM). Thc cht, hm armax gi li hm pem. C
php s dng tng t nh hm arx:
m = armax(data,orders)
m = arraax(data, 'na' ,na, 'nb' ,nb, 'nc' ,nc, 'nk' ,nk)
m = armax(data,orders,'Propertyl1, V a l u e l ' P r o p e r t y N * , V a l u e N )

trong vector th a m s o rd e rs cha c bc ca a thc C(q~]):

orders = [na nb ne nk]

Hm armax tr v m t i tng m hnh idp oly , trong c cha cc th am s

ca m hnh v hip bin c lng. Hm armax ch h tr m hnh SISO hoc
MISO. i vi h MISO, nb v nk c a di dng vector hng.
Trong trng hp s liu khng cha s liu u vo u(t)y hm armax vi
o r d e r s = [na ne] c lng cho ta m hnh ARMA:
A(q-')y (t) = C (q-])e(t)

(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 )

T h am s o rd e r th hin bc mong mun ca m hnh. T h am s ny cng c th

a di dng mt vector hng cha t t c cc bc cn th nghim. Ngi s
dng c th t la chn bc ph hp nht da trn cc th tr gip. Mc
nh th u t ton s t ng la chn bc m hnh ph hp n h t trong phm vi
[ 1 : 10 ]. V chi tit cc th a m s thuc tnh khc, xem [30].
c l n g m h n h t u y n t n h t n g q u t: h m p e m
Ngoi cc hm gii thiu trn y, t a c th s dng trc tip hm pem c
lng m hnh a thc dng tng qut (4.82), m hnh trn g th i lin tc (4.88)
cng nh gin on (4.89).
M hnh trng thi trc ht c th c c lng vi m t trong cc dng
lnh nh sau:
m
m
m
m

=
=
=
=

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

Kt qu t r v mi dng lnh u l mt i tng thuc kiu id s s , mc nh

l m hnh gin on. Trong dng lnh th hai, n l mt s nguyn mang bc
mong mun ca m hnh. Nu n khng cho trc nh trong dng lnh th nht,
bc c a m hnh s c xc nh t ng. Vi dng lnh th ba ta cng c th
a th a m s n di dng mt vector hng biu din phm vi bc mong mun
ty la chn sau ny. Dng lnh cui cng cho php thay i mt s tnh cht
ca th u t to n cng nh tnh cht m hnh. V d, cho Ts* gi tr 0 c kt
qu l m t m hnh trng thi lin tc.
c lng m hnh a thc dng tng qut, trc ht t a c th s dng
mt trong cc dng lnh nh sau:
m = pem(data,orders)
m - pem(data, 'na' ,na, 'nb' ,nb, 'nc' ,nc, 'nd' ,nd, 'nf *,nf, 'nk' ,nk)
m - pem(data,orders,'Property1',Value1
1PropertyN',ValueN)

Bc ca cc a thc m hnh v thi gian tr c th a m t cch ring r nh

trong dng lnh th hai, hoc gp chung trong vector th a m s o rd ers:
orders = [na nb nc nd nf nk]

Da vo ph n bit c php, hm pem tr v kt q u trong nhng trng hp ny

l mt i tng thuc kiu idpoly. M hnh a thc tng qut c th p dng
cho h SISO v h MISO.
Dng c p h p cui cng cho php a thng tin v m hnh ban u vi
tham s mi thuc m t trong cc kiu id poly , id a r x hoc id s s :
m = pem(data,mi)
m pem(data,miPropertyl1, V a l u e l P r o p e r t y N ' ,ValueN)

Kt qu t r v c kiu ging nh kiu ca m hnh ban u mi.

4.6.4

K h o s t v kim ch n g m h n h

Bn cnh cc h m xy dng m hnh v hm c lng m hnh, b cng c IT

cn ci t sn m t s hm phc v kho st v kim chng cc m hnh nhn
c, cng n h cho php chuyn i sang cc dng m hnh thng dng trong
MATLAB. T t c cc hm ny s dng tham s c kiu tng thch vi idmodel.
Mt s lnh c sn trong MATLAB cng c np chng y. Cc bng
di y ch t m t t mc ch s dng ca cc lnh. Xem [30] bit thm chi
tit v c p h p s dng.

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

Hin th m hnh trn ca s mn hnh

pzmap

V th cc im khng v im cc

view

V cc c tnh m hnh s dng LTI Viewer trong Contrcl

System Toolbox

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

Tnh ton tiu chun la chn m hnh

a rx s tru c , se lstru c

La chn cu trc ARX

Compare

So snh u ra m phng hoc u ra d bo vi u ra thc

pe

Tnh ton li d bo

p red ict

D bo u ra tng lai

re sid

Tnh ton v th li d bo ca m hnh

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

Tnh ton cc a thc m hnh ARX

idmodred

Gim bc m hnh

c2d, d2c

Chuyn i m hnh tng t sang gin on v ngc li

freqresp

Tnh ton c tnh tn s

d rd

Chuyn i t idmodel sang idfdr

ssdata

Tnh ton cc ma trn khng gian trng thi

tf d a ta

Tnh ton cc a thc hm truyn t

ss , t f , zpk, frd

Chuyn i idmoel sang cc i tng LTI trong Contro

Systems Toolbox.

zpkdata

Tnh ton cc im khng, im cc v h s k

Cc s liu m phng trn m hnh l tng (4.25) vi tn hiu vo l

nhiu trng nay c s dng th nghim nhn dng m hnh ARX s dng
MATLAB Identification Toolbox, y ta khng m phng nhiu o. Chu k trch
mu tn hiu c chn l 0.5s, gii hn quan st c chn bng 20s. Hai cu trc
m hnh c chn l na = Tib = 3, nk = 3 v na = nb = 4, nk = 3. Cc hm c s
dng l i d d a t a , a r x v s t e p . on m chnh ca chng trnh c tm tt di y.

V d 4-18:

4.6

S DNG M a t l a b

Id en tification T oo lb o x

231

'/* create simulation data

G = zpk([ ],[-0.3+j -0.3-j -5 -9],2, Inputdelay',1.5);
T = 0.5;
time [0:T :20]';

u = ran d n (siz e(tim e ));

y = lsim(G,u,time);
% estimate model parameters
data * iddata(y,U,T);
Ml = arx(data, [3 3 3]);
M2 arx(data,[4 4 3]);
/, plot step responses
step(Ml,*k+*,M2,'k.f,20);
hold on;
step(G,'k-',20);
grid on;

Hnh 4-32 hin th p ng bc thang m phng trn m hnh i tng v cc m

hnh c lng. Nh mong i, khi cu trc m hnh c chn st vi thc t, ta
khng cn nhn ra sai ich gia m hnh l tng v m hnh c lng. iu ng
ni l khi bc m hnh c lng c chn thp hn thc t th p ng ti cc tn
s cao (ng vi on u ca th p ng qu ) vn kh chnh xc. Sai lch m
hnh cc tn s thp (tng ng vi on sau ca th p ng qu ) khng c
nh hng ln trong bi ton iu khin phn hi.

Time (see)
H nh 4-32: K

im

C H N G M HNH AR.X NHN DNG VI MATLAB Id e n t i f i c a t i o n

T o o l b o x c h o v d 4-18

---- m hnh l tng

m hnh c lng bc 4
+++ m hnh c lng bc 3

C hng 4

232

4.7

N hn dng qu trn h

La chn phng php nhn dng

Vic la chn mt phng php nhn dng ph hp ph thuc nhiu yu t nh

yu cu cht lng m hnh, kh nng nhn dng ch ng, khi lng tnh ton
v mc ch s dng m hnh. Mi phng php c nhng u im v nhc
im ring, dn n kh nng p dng khc nhau ty theo tng bi ton. Tuy
nhin, nhn li cc phng php gii thiu tc gi c th a ra m t s gi
sau y:
Q u trnh cho php nhn dng ch ng v i tng c th xp x v mt
khu qun tnh bc nht c tr F O P D T (hoc c th c thm thnh phn
tch phn): Phng php hai im quy chiu theo 4.2.1.2 l n gin v d p
dng trc quan nht, song nu c nhiu o v th u t ton c thc hin trn
my tnh th phng php din tch cho kt q chnh xc hn.
Q u trinh cho php nhn dng ch ng v i tng c th xp x v m t
khu bc hai c tr S O P D T (hoc c th c thm th n h phn tch phn):
Phng php c lng bnh phng ti thiu theo 4.4.4 t ra c nhiu u
im ngoi tr khi lng tnh ton kh ln, nn ph hp n h t khi nhn dng
ngoi tuyn v phng php thit k iu khin da trn hm truyn t lin
tc S O P D T (v d iu khin PID). Nu phng php thit k iu khin s
dng trc tip m hnh gin on (v d iu khin d bo theo m hnh,
M PC) th nn chn phng php c lng da trn nguyn l bnh phng
ti thiu p dng cho m hnh ph hp vi bi ton iu khin (FIR, ARX,
ARMAX
Q u trnh khng cho php nhn dng ch ng vng h: Phng php nhn
dng da trn phn hi r-le v cc phin bn ci tin t ra tng i a
nng v c bit ph hp cho thit k iu khin trn min tn s. Bn cnh
, phng php nhn dng gin tip trong vng iu khin P / P I (mc 4.5.2)
l m t cch tip cn kh n gin, ph hp cho chnh nh cc th a m s PID.
Nu cht lng m hnh cn cao hn, v d cho iu khin d bo da theo
m hnh (M PC) th nn p dng phng php bnh phng ti thiu cho
nhn dng m hnh FIR hoc ARX.
Q u trnh hon ton khng cho php nhn dng ch ng: Cc tn hiu vo
mc d khng kch thch c trc tip nhng thng m ang c th l ngu
nhin. Nu phng php thit k iu khin s dng trc tip m hnh gin
on th phng php bnh phng ti thiu s dng bin cng c l n gin
hn c. Ch nn s dng phng php phn tch ph tn hiu khi phng
php thit k iu khin hon ton trn c tnh t n s.
Trong cc trng hp kt qu khng tha mn cc ch tiu cht lng, t a cn
nghin cu p dng cc phng php hin i hn nh phn tch th n h phn c

4.7

L a c h n phng php nhn

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

Nhn dng l m t trong nhng hng nghin cu c nhiu th nh cng mi trong

thi gian gn y. Nhng phng php c lng m hnh n gin u c
gii thiu trong cc ti liu kinh in v iu khin qu trnh nh [2] ,[3] v [4].
Nhng nhng tc phm chuyn kho ca Ljung ([9]), Sderstrm v Stoica
([10]), Van Overschee v Moor ([13]) mi c coi l chun v lnh vc ny.
Phc cng gii thiu kh nhiu th u t ton nhn dng cng vi mt s m
ngun c trong [11]. Vi hng lot cng trnh c cng b gn y th cc bi
bo trch dn (7],[15]-[29j) cng cha th bao tr m c nhng kt qu mi
nht, song l nhng im xut pht cho nhng bn c mun i su hn.
T i li u t h a m k h o
[1]

IEC 60050-351: International electrotechnical vocabulary

Control. International Electrotechnical Commission, 1998.

[2]

Seborg,

D.E.; T .F.

Edgar;

D.A. Mellichamp:

Autom atic

Process D ynam ics

and

Control. Wiley, New York, 2000.

[3]

Luyben, W.L.: Process Modeling, Sim ulation and Control fo r Chemical

Engineers. McGraw-Hill, 1990.

[4]

Luyben, M X.; W.L. Luyben: Essentials o f Process Control. McGraw-Hill,

New York, 1997.

[5]

strm , K.J.; B. W ittenm ark: Adaptive Control. Addison-Wesley, 1995.

[6]

strm ,

K.J.;

T.

Hgglund:

Axdomatic

In stru m en t Society of America, 1988.

Tuning

of PID

Controllers.

234

7]

C hng 4

N hn dng qu trnh

strm, K.J.; T. Hgglund: A utom atic Tuning of Simple Regulators with

Specifications on Phase and Amplitude Margins, A utom atica 20 (1984)
645-651.

8]

Castro, J.; F.J. Doyle III: A Millwide Industrial Process Control Problem
Benchm ark Documentation. Process Control And M onitoring Consortium,
2002 .

9]

Ljung, L: System Identification -

Theory fo r the

User. 2nd Edition.

Prentice-Hall, Englewood Cliffs, N.J., 1999.

10]

Sderstrm, T.; p . Stoica: System Identification. Prentice Hall, Englewood

Cliffs, NJ, 1989.

11]

12]

Phuoc, N.D.; p . x . Minh: Nhn dng h thng iu khin. NXB Khoa hc

& K th u t, H Ni, 2002.
Phuoc, N.D.; p . x . Minh; H.T. Trung: L thuyt diu khin phi tuyn.
NXB K hoa hc & K th u t, H Ni, 2003.

13]

Van Overschee, p.; B.D. Moor: Subspace Identification fo r Linear System s:

Theory, Im plem entation,
Boston, 1996.

14]

Applications.

Kluwer

Academic

Publishers,

Camacho, E.F.; c . Bordon. Model Predictive Control. Springer- Verlag

London Limited, 1999.

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

W ang, Q.G; c . c . Hang, Q. Bi: Process Frequency Response Estim ation

from Relay Feedback. Control Engineering Practice 5 (9), 1293-1302,
1997.
Hang, C.C.; K.J. strm; Q.G. Wang: Relay Feedback Auto-tuning of
Process Controllers - A Tutorial Review. Journal o f Process Control 12
(1 ), 143-162, 2002.

W ang, Q.G.; X. Guo, Y. Zhang: Direct Identification of Continuous Tim e

Delay Systems from Step Response. Journal o f Process Control 11 (5),
531-542, 2001.
Yuwana, M.; D.E. Seborg: A new method for on-line controller tun ing .
A IC h E Journal 28 (1982) 434-440.
Lee, J: Online PID controller tuning from a single closed-loop te s t
A IC h E Journal 35 (2) (1989) 329-331.
Chen, C.L.: A simple method for on-line identification and controller
tu n in g , A IC h E Journal 35 ( 1 2 ) (1989) 2037-2039.
Suganda, T.; P.R. Krishnaswamy; G .p. Rangaiah: On-line process
identification from closed-loop tests under PI control, Trans. IC hem E 76
(P a rt AS) (1998) 451-457.
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.
W ang, Q.G.; Y. Zhang, X. Guo: Robust closed-loop identification with
application to a u to -tu nin g, Journal of Process Control 11 (2001) 519-530.
Gilson, M; p. Van den Hof- Instrum ental variable m ethods for closed-loop
system identifcation, Autom atica 41(2005), 241-249.
Ljung, L: S y stem Identification Toolbox - For Use with M A T L A B . Verrsion
5, M a t l a b User's Guide, M athW orks, 2004.
Sn, Hong M.: P h t trin th vin phn mm tnh ton iu khin cht
lng cao . Chuyn mc Cc cnq trnh khoa hCy Tp ch T ng ha
ngy nay, 5/2001.
Smith,

C.L:

Digital

Publishers, 1972.

Com puter Process

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?

4.2 i vi phng php nhn dng ni chung, cc yu

( chnh xc) ca m hnh nhn c.

no nh hng ti cht lng

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

Sau khi xy dng v phn tch m hnh ton hc ca qu trnh lm r bi

ton iu khin, bc tip theo l thit k iu khin. Cng vic thit k iu
khin c tin hnh theo hai bc c bn l thit k cu trc iu khin v
thit k b iu kh in . c u trc iu khin hay cn gi l sch Uc iu khin
th hin quan h v m t cu trc gia cc bin ch o (gi tr t), bin o v
bin iu khin thng qua cc b iu khin v cc phn t cu hnh h thng
khc (v d cc khu tnh ton, la chn, b tr, tch knh,...). Kt qu ca cng
vic thit k cu trc iu khin l bn v m t chi tit cu trc (mt phn) h
thng iu khin s dng lu P&ID hoc s khi. Trn c s cu trc iu
khin c thit k, ta mi c th la chn cu trc b iu khin v xc
nh cc tham s ca b iu khin.
Chng ny gii thiu nhng sch lc iu khin quan trng nht cho mi
h thng iu khin qu trnh. Hu ht cc sch lc iu khin ny u da
trn s kt hp hoc m rng ca hai nguyn l iu khin c bn, l iu
khin phn hi v iu khin truyn thng. c im, vai tr v ng dng ca
mi sch lc s c phn tch v lm r.

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

Xt v d iu khin thit b gia nhit bng hi nc minh ha trn Hnh 5-1.

Bin cn iu khin l nhit T2 ca dng qu trnh sau khi ra khi thit b
gia nhit. Lu lng hi nc ws l bin iu khin, c th thay i thng qua
van cp. Lu lng Wp v nhit vo T\ ca dng qu trnh c coi l nhiu.
Nhit lng sinh ra bi qu trnh ngng t hi nc ln hn nhiu so vi nhit
lng gii phng bi chnh lch nhit gia hi nc vo v nc sau khi
ngng t. Do , trng thi xc lp ta c phng trnh cn bng nhit lng:

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:

BI TON IU KHIN THIT B GIA NHIT HI NC

wpC p(T2 -

) = Xws

(5.1)

trong Cp l nhit dung ring ca dng qu trnh v A l h s nhit n ca hi

nc. Ta cng c th vit
v>s =

- 21)

(5.2)

trng thi xc lp ta mun nhit ra 7*2 bng gi tr t TSp, v th c th

s dng mt th u t ton iu khin n gin l
ws w<
p ( T

sp

- T , 1)

(5.3)

tng trn y c th hin trong sch lc iu khin truyn thng minh

ha trn Hnh 5-2. Lu lng v nhit du vo c cc thit b o (FT , T T )
a ti b iu khin nhit (TC). Da vo cc gi tr o ny, b iu khin
a ra tn hiu iu chnh m van cp hi nc. Lu lng hi nc cp cho
thit b gia nhit li t l vi m van v v th s c tc dng iu chnh li
nhit ra ca dng qu trinh ti gn vi gi tr mong mun. Trong v d ny
b iu khin ch mi c kh nng b tnh, c ngha l ch b trng thi xc
lp. Khi lu lng du vo, nhit du vo hoc gi tr t thay i, nhit
u ra cha th bm theo gi tr t ngay tc khc.
Gi tr bin iu khin (lu lng hi nc) c tnh ton da vo cc bin
nhiu (lu lng v nhit vo ca dng qu trnh), v th sch lc iu khin
y cn c l b nhiu. T a bit rng, qu trn h trao i nhit c qun tnh
rt ln, nn mi s thay i lu lng hoc nhit vo ca dng qu trnh s
c phn nh chm trong thay i nhit ra. V th, m t u im quan trng
ca sch lc b nhiu l nh hng ca nhiu qu trnh c b trc khi n
tc ng ti bin cn iu khin.

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

lU KHIN THIT B GIA NHIT VI SCH LC TRYEN thang

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

biu din trn min Laplace l:

u = K r + K dd

H nh

5-3:

Cu TRC T N G QUT CA IU KHIN t r u y n t h n g

(5.4)

Chng 5

240

C C SCH

Lc

D u K 1I 1KN c o s

a) Cu hnh song song

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

T a c th nhn thy mt iu th v l s i xng gia m hnh q u trn h

v b iu khin. Tng ng vi hai thnh phn G v Gd ca m hnh qu trn h,
b iu khin truyn thng cng bao gm hai khu l khu truyn thng K v
khu b nhiu Kd. Khu truyn thng c nhim v to s cn bng gia bin
cn iu khin y v gi tr t r cho trng hp khng c nhiu, trong khi khu
b nhiu c nhim v loi b nh hng ca nhiu q u trn h o c. D thy,
c p ng l tng y = r, b iu khin phi c:
K(s) = G - \s )
K (t{s) = - G - \s ) G d(s)
T h t vy, gi s hm truyn t K(s) G~'(s) kh thi, h thng s cho p ng
y = Gu + Gdd = G(Kr + K d) + Gdd = G(G V - G~lGd) + Gdd = r

(5.6)

5.1

lU KHIN TRUYN THANG

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

u im quan trng nht ca iu khin truyn thng l kh nng loi b nhiu

trc khi n kp n h hng xu ti qu trnh. Song, nhc im ln nht ca
iu khin truyn th n g l cn phi bit r thng tin v qu trnh v nh hng
ca nhiu. Nh t a thy, khi rn hnh qu trnh hon ton chnh xc v hm
truyn t G ~ l ($) kh thi, b iu khin truyn thng l tng s cho bin ra
cn iu khin y bm cht bin ch o r. Tuy nhin, m hnh i tng v m
hnh nhiu khng bao gi chnh xc, khng phi nhiu no cng o c, nn sai
lch tn h bao gi cng tn ti. Thc t, b iu khin l tng khng bao gi c
tnh kh thi. Q uan trng hn na, mt b iu khin truyn thng khng c kh
nng n nh m t q u trnh khng n nh. Nhng vn ny s c lm r
di y.
Sai l c h m h n h
B iu khin tru y n thng bao gi cng c tnh ton da trn m hnh qu
trnh. Mt m hnh d chi tit v chnh xc n u cng lm cng ch l xp x
ca i tng thc. G i s hm truyn t thc ca i tng l G* = G + A G ,
trong A G l sai lch m hnh. S dng b iu khin truyn thng l tng,
p ng ra ca q u trnh vi bin ch o (gi thit d 0 ) nay tr thnh:
y = u 'u = ( + t j - {r = r + A GG

(5.7)

Sai lch iu khin e = A GG~lr t l vi gi tr t v sai lchm hnh. Tng

t nh vy, gi s hm truyn t thc t nhiu ti u ra l G*d = Gd + A G d ,
p ng ra ca q u trnh s l

y = G G *(r Gfid) + (Gf -- A Gi)d = V + A Gd

(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)

trong (2 l nhiu khng c o v G2 l hm truyn t t d/2 ti y. Nh

vy, sai lch iu khin s lun lun tn ti ngay c khi G v Gd u l chnh
xc. Ti t hn na, nu Gd2 khng n nh th ton h thng cng s m t n
nh. T nh cht ny cng l tng qut cho mi b iu khin truyn th n g ch
khng phi cho ring dng l tng.
T n h k h t h i c a b i u k h i n l t n g
i vi cc qu trnh thc, hm truyn t dng l tng K (s) = G~{(s) s
khng c tnh nhn-qu v hai l do sau y:
Q u trnh cha thnh phn tr (trong thc t kh tr n h khi)
G(s) lun l mt hm truyn t hp thc cht, tc bc a thc t s nh
hn a thc mu s.
V d, vi m hnh i tng

b iu khin l tng s cha khu phi nhn-qu:

1 - s + s2 s

buc t a phi s dng m t th u t ton xp x mi c th thc thi. Phng php

n gin nht l chn K = G~l (0), b iu khin s tr th n h m t khu b tnh.
Khi t a ch c th quan tm ti quan h gia cc i lng trn g thi xc
lp, hay ni cch khc l ch xt ti c tnh tnh m b qua c tnh qu ca
qu trnh. Trong v d trn K s c chn bng 1.

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)

Lut iu khin dc chia thnh hai thnh phn: b gi tr t ur v b nhiu

Ud. Nh vy, mc d G~l khng c tnh nhn qu, rt c th G~xGd li c tnh
nhn q u v khng cn xp x. Khi ta c mt khu b nhiu ng thc s, vi
iu kin trong php nhn G~[Gd khng xy ra trit tiu cc im cc khng n
nh. Nu khng, t nht vic thc hin xp x
y cng mang li
chnh xc cao hn cho thnh phn h nhiu. Ring i vi th n h phn b gi tr
t, ngay c khi G 1 khng c tnh nhn qu th thut ton vn c th ci t
trn my tnh nu qu o t r bit trc. Trong trng hp tng qut, qu o
t r cha th bit trc th vic xp x 1 thnh m t khu b tnh ch lin
quan ti th n h phn b gi tr t.
T n h n n h c a b u k h i n l t n g

Mt trng hp t a cn c bit lu tm l khi i tng c c tnh p ng

ngc, tc l khi G c im khng nm bn phi trc o. Nhng im khng ny
s tr th n h im cc khng n nh ca khu nghch o -1 . Khi b iu
khin l tng ngay c thc thi c thi tnh n nh ni ca h thng khng
cn c m bo1. bin cn iu khin bm theo gi tr t, tn hiu iu
khin s phi lin tc tng hoc gim khng c gii hn, khng th chp nhn
c trong thc t. Nhng nu s dng mt khu hn ch tn hiu iu khin th
b iu khin thc ra khng cn l l tng v cht lng cng s hon ton
khng nh mong i. Cch khc phc duy nht y l xp x b iu khin v
m t khu n nh, v d mt khu b tnh nh ni trn y.
V d 5-1: Cho hm truyn t ca i tng

GM-rr
1+5

(511)

ta s c
K(s) = ~l(s) =

1 5

(512)

Trn Hnh 5-5 l th c tnh iu khin vi thay i gi tr t ti t 5s cho ba

trng hp: i) s dng b iu khin khng n nh (5.12), ii) s dng b iu khin
(5.12) nhng vi khu hn ch gi tr [-1 1 ] v iii) s dng khu b tnh Gr = 1. C
th thy, ch khu b tnh cho cht lng tm chp nhn c. ng c tnh tn

1 Cc khi nim v tnh n nh ca mt h thng s c cp k hn trong chng 7.

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

TNH l u KHIN cho v d 5 -1

i) ---- b iu khin khng n nh
ii)
b iu khin khng n nh, hn ch u ra
iii) ..... b iu khin xp x (b tnh)
C

hiu iu khin cho trng hp i) cho thy h mt n nh ni. Ngay c khi s

dng mt khu hn ch tn hiu cho b iu khin khng n nh, gi tr bin cn
iu khin thm ch li hon ton ngc du vi gi tr t.
i t n g k h n g n n h
Mt b iu khin truyn thng khng c kh nng n nh m t qu trnh khng
n nh. Ngay c khi tn ti b iu khin l tng vi h m truyn t *(.<?)
kh thi th cng ch c tc dng trit tiu im cc khng n nh ca G (s))
nhng khng v th m m bo c tnh n m h ni ca h thng. Ch cn
nhiu u vo du r t nh cng lm p ng u ra tin ti v cng:
y = G(u + du) + d = Gdn

(5.13)

Ta xt tip v d iu khin bnh mc minh ha trn Hnh 5-6. T h o t u c

th thy rng ch cn duy tr lu lng vo ng bng lu lng ra th mc cht
lng s c gi c nh trong bnh. Tuy nhin, tc ng ca nhiu c th s lm
cho sch lc ny khng t c mc ch nh mong mun. V d, ch cn bt
c m t nguyn nhn no sau y nh cm bin o lu lng ra c sai s d nh,
van iu chnh lu lng vo khng c c tnh l tng hay p sut dng chy
vo thay i u dn n vic trn bnh hoc cn bnh sau m t thi gian ngn.
Bn cht ca vn y nm ch, qu trnh bnh mc l mt khu tch
phn (khng c tnh t cn bng), trong khi iu khin truyn thng khng lm
thay i tnh n nh ca h thng. Mt sai lch nh trong m hnh hoc mt
tc ng nh ca nhiu khng nhng gy ra sai lch tnh c a h thng, m cn
lm cho h i ti trng thi m t cn bng.

5.1

lU KHIN TRUYN THANG

Hnh 5-6:

5.1.4

l KHIN Mc VI SCH Lc TRUYN THNG (B

245

nhiu)

n g d n g c a iu k hin tr u y n th n g

Mc d c nhng vn nh phn tch trn y, sch lc iu khin truyn

th ng vn c s dng r t rng ri v hai l do. T h nht, iu khin truyn
th ng tc ng nhanh, cho php loi b ng k nh hng ca nhiu (o c)
trc khi nhiu kp tc ng xu vo h thng, cng nh gip h thng p ng
nhanh vi gi tr t thay i. T h hai, iu khin truyn thng tuy khng c
kh nng n nh m t qu trnh khng n nh, nhng n khng lm m t tnh
n nh ca m t q u trnh n nh. Nu kt hp m t cch kho lo vi iu
khin phn hi, iu khin truyn thng c th ci thin c tnh qu ca h
thng m t cch ng k. Di y ta s tm hiu m t s trng hp ng dng
tiu biu ca sch lc truyn thng trong cc h thng iu khin qu trnh.
B i t o n i u k h i n n g i n
M t s bi ton iu khin n gin, ch yu l cho nhng qu trnh n nh,
yu cu cht lng va phi c th s dng sch lc iu khin truyn thng
thun ty. V d trong mt s qu trinh trn (lin tc hoc theo m), t thng
s cht lng mong mun ngi ta c th tnh ton trc tip khi lng/lu
lng cc th n h phn cp liu. Cng c th qu trnh c iu khin ch l mt
th n h phn trong m t dy chuyn sn xut ln hn v khu iu khin truyn
thng ng vai tr iu khin trc nhm gim thiu bin thin trong thnh
phn nguyn liu u vo cho qu trinh tip theo.

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

iu khin phn hi (feedback control) da trn nguyn tc lin tc o (hoc

iuan st) gi tr bin c iu khin v phn hi thng tin v b iu khin
tnh ton li gi tr ca bin iu khin. V cu trc khp kn ny, sch lc iu
khin phn hi cn c gi l iu khin vng kn ( closed-loop control). Trong
cc sch lc iu khin, iu khin phn hi ng vai tr q u an trng hng u.
iu khin phn hi c s dng gn nh trong t t c cc h thng iu khin
t ng.

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

lU KHIN PHN Hi THIT B GIA NHIT HI NC

nc. T h u t to n iu khin n gin nht l a ra tc ng iu khin t l

vi sai lch quan st c:
A ws = kc(TSP - T2)

(5.14)

T t nhin, gi tr lu lng cn b thm s c biu din qua tn hiu iu

khin a xung van. Nhit chnh lch cng ln, tn hiu iu khin cng
cng ln, van iu khin m cng nhiu v lu lng hdi nc s cng c tng
cng. Chng no cn tn ti sai lch iu khin th lu lng hi nc cn c
thay i. Nh vy, sau mt thi gian nhit du ra T c a ti gn vi gi
tr t Tsp. Trng hp ngc li, khi nhit du ra ln hn gi tr t cng
c x l vi cng th u t ton, khng cn phn bit.

5.2.2

C u t r c c b n

Cu tr c tng q u t ca mt h thng iu khin phn hi c minh ha trn

Hnh 5-8. C th ni, hu ht cu hinh iu khin u c th a v dng ny,
k c iu khin phn hi trng thi, iu khin thch nghi v iu khin d bo

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

b) Cu hnh iu khin hai bc t do

K hiu
r bin ch o, gi t t
G m hnh i tng
y bin uc diu khin
G(i m hnh nhiu
u bin iu khin
K khu iu chnh
d nhiu qu trinh,
Kr khu truyn thng
n nhiu do
Vm i tr o c
em sai lch iu khin quan si c
H nh 5-9:

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

Vi cu hnh hai bc t do, b iu khin cha hai khu tng ng vi hai

u vo, c th chnh nh m t cch c lp a ra p ng cc yu cu ring
v bm gi tr t cng nh loi b nhiu, v bn cht, cu hnh iu khin hai
bc t do chnh l m t s kt hp ca iu khin phn hi vi iu khin truyn
thng, nh ta s c dp cp k hn trong nhng phn sau. i a s cc b
iu khin cng nghip u cho php la chn cu hnh hai bc t
do.

5.2.3

V ai t r c a i u kh in p h n hi

Mt cu hi c t ra thng xuyn l iu khin phn hi c vai tr quan

trng nh th no trong cc h thng iu khin qu trnh ni ring v trong cc
h thng iu khin t ng ni chung. C th tr li ngay rng iu khin phn
hi l sch lc iu khin c bn nht, khng th thay th trong hu ht cc h
thng iu khin. Nhng l lun di y ta s lm r iu ny.
n gin, t a xt cu hnh iu khin mt bc t do minh

ha tr n Hnh

5-9a. p ng u ra ca h c biu din trn min Laplace nh sau:

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

thit k tt th gi tr mc trong bnh s c duy tr trong phm vi theo

mun, ngay c khi lu lng ra F0 thay i khng bit trc.
Mt im rt ng lu l y b iu khin phn hi ch cn s dng
th u t ton t l r t n gin cng c th n nh gi tr mc trong bnh m
khng cn bt c thng tin no v m hnh qu trnh. iu ny t a thy l
bt k m t b iu khin truyn thng no cng khng th lm c. Hn na,
vic n nh mc trong bnh cng khng bao gi thc hin c bng tay, m ch
c th nh m t b iu khin t ng.

Hnh 5-10:

iu KHIN MC VI SCH LC PHN Hi

Nh t a bit t c s iu khin t ng, iu kin n nh ca m t h

tuyn tnh l ton b im cc ca n phi nm bn tri trc o trn m t phng
phc, hay ni cch khc l c phn thc m. T biu thc (5.15) ta nhn thy
a thc c tnh ca h kn c quyt nh bi biu thc 1+ GK. Gi s G v K
l cc phn thc hu t:

T a s c:
1 + GK

A A c+ BBC

(5.16)

a thc mu s trong (5.16) chnh l a thc c tnh ca h kn. N h vy nu

K c tnh ton thch hp s c tc dng ri ton b cc im cc khng n
nh (nu c) ca G sang bn tri trc o v qua n nh h kn. T h t ra,
iu khin phn hi l cch duy nht n nh m t qu trinh khng n nh.

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

Gi s m hnh i tng G c sai lch cng A G dn ti sai lch cng ca hm

truyn t h kn A Ty ta c th vit:
AT/T
ac o A G / G

dT/T
dG/ G

dTG
dGT

K
G_
1
(1 + G K)2 T
1 + GK

1 '

Biu thc (5.17) ni ln rng, ch cn s rt nh th sai lch trong m hnh i

tng s nh hng rt t ti hm truyn t h kn. Ni cch khc, nu c
thit k tt th ngay c tn ti sai lch m hnh m t mc no , b iu
khin phn hi vn c kh nng trit tiu sai lch iu khin. iu ny hon
ton khng th c c vi cc sch lc iu khin khc.
V d 5-2: Xt v d iu khin mc bnh cha (Hnh 5-10). Ta bit rng, qu trnh
mc l mt khu tch phn, rri hnh ca n c th hin qua phng trnh vi phn:
(5.18)

max

B qua ng hc ca thit b do mc v ca van iu khin, ta c cc hm truyn t

(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

Tht vy, a thc c tnh ca h kn xc nh theo (5.16) l kc+ TS ch c mt

nghim m khi kc > 0. Ni mt cch khc, b iu khin phn hi dch im cc t
5 = 0 sang bn tri trc o v lm h thng tr nn n nh. Ngay c khi khng bit
chnh xc v m hnh qu trnh, trong thc t ngi ta vn thng chn gi tr kp
theo kinh nghim.
Trn Hnh 5-11 l th kt qu m phng p ng vi thay i gi tr t v p
ng nhiu cho ba h s kc khc nhau (2, v 10). Ti thi im t = 0 gi tr t thay
i t 0 ln 50% (im im vic). Ti thi im t = 50 pht, lu lng ra thay i t
0 ln 50% v sau 5 pht li gim xung 0. Nh ta thy, gi tr kc cng ln th sai
lch iu khin cng nh, u ra cng bm nhanh gi tr t cng nh nh hng ca
nhiu cng nhanh chng c loi b. Tuy nhin, trong thc t ta cng cn ti
gii hn ca tn hiu iu khin. Trong trng hp m hnh i tng khng chnh
xc, v d hng s thi gian T thc ln gp i gi tr tnh ton, th cht lng iu
khin cng ch xu i tng ng v i trng hp gim h s khuch i kc xung CI1
mt na (v d t 10 xung 5).

T im e (m in)

H n h 5-11:

M PHNG lu KHIN MC VI CC H S kc KHC NHAU

(----kc 2, kc 5 , ----- kc = 10)

Tm li, ba l do c bn dn n vai tr khng th thiu c ca sch lc

iu khin phn hi l:
1. Mt qu trnh khng n nh ch c th n nh (ha) bng iu khin phn
hi nhm dch cc im cc sang na bn tri ca m t phng phc.
2. Khi nhiu khng o c hoc m hnh nhiu b t nh th nh hng ca n
ch c th trit tiu thng qua nguyn l phn hi.
3. M hnh i tng khng chnh xc, do vy vic hiu chnh tn hiu iu
khin ch c th thng q ua quan st din bin u ra.

5.2

lu KHIN PHN H

5.2.4

253

C c v n ca iu kh in p h n hi

Mc d l nn t n g ca iu khin qu trnh, iu khin phn hi khng phi

khng c nhng hn ch. T h nht, n nh h thng l vn ring ca iu
khin phn hi. Mt b iu khin phn hi c th n nh m t i tng khng
n nh, song m t vng iu khin kn cha mt i tng n nh cng c th
tr nn m t n nh. Trong biu thc dn dt (5.16), a thc c tnh A A C +
B B Crt c th cha nghim nm trn hoc bn phi trc o. Nu b iu khin
khng c thit k cn thn, nht l khi m hnh qu trn h km chnh xc hoc
bn th n c tnh ng hc ca qu trnh thay i theo thi gian, h thng d
dng i ti m t n nh.
T h hai, t c cht lng iu khin phn hi t t th php o i
lng phn hi phi c chnh xc cn thit. Bn th n cc cm bin cng chu
tc ng ca nhiu o. Mt khi cc gi tr o c sai s ln th cht lng iu
khin khng cn c m bo nu nh khng c cc th u t ton lc nhiu thch
hp. T p ng ra trong (5.15), sai lch iu khin c xc nh l
e = r y = Sr SGdd + Tn
t c cht lng iu
hp. Nh vy c ngha l c
khng bao gi t c bi
thc t di tn c a tn hiu

(5.20)

khin hon ho. ta mun c e = 0 trong mi trng

5 v T u phi ng thi xp x 0. Nhng iu
quan h rng buc s + T = 1. May mn l trong
nhiu o n thng cao hn so vi di tn ca bin

ch o r v ca nhiu qu trnh d. V vy m t trong nhng nguyn tc c bn

ca thit k iu khin phn hi l lm cho \T (ju )\ % 0 trong phm vi tn s cao
chu nh hng ca nhiu o v |5(jo;)| 23 0 trong phm vi tn s thp chu nh
hng ca bin ch o v nhiu qu trinh. Tuy nhin, vic la chn cc di tn
s ph hp cho m t ng dng c th khng phi bao gi cng hin nhin.
T h ba, mc d iu khin phn hi dung sai vi sai lch m hnh mt
mc no , n khng th gii quyt hon ton c vn ny. Thc ra kh
m c m t b iu khin tt nu khng c mt m hnh tt, nht l vi nhng
qu trnh phc tp . Trong phn trn y ta ly m t v d iu khin tng
i n gin l bnh mc. Nhng th t ra ngay c trong v d ny mt s yu t
cng b b qua, v d ng hc ca thit b o v ca van iu khin.
T h t, b iu khin phn hi lm vic theo nguyn tc phn ng, c ngha
l ch khi nh hng ca nhiu th hin r trong gi tr bin c iu khin
th n mi tc ng tr li. Nhiu qu trnh c c tnh ng hc chm (v d
cc qu trnh n h i t, q u trnh chuyn khi hoc qu trnh phn ng), nh hng
ca nhiu ch sa m t thi gian kh ln mi c th quan st c. Nh vy
trc khi b iu khin kp a ra tc ng iu chnh th cht lng sn phm

C hng 5

254

C C SCH

Lc

DIU KHIN c s

b nh hng ri. v n ny c th khc phc bng cch kt hp iu khin

phn hi vi b nhiu, nh s cp k hn trong phn sau.
Mt im na cn phi nhn m nh l, mc d iu khin phn hi c nhng
vai tr quan trng nh nu, vic thit k v chnh nh b iu khin ng
thi tha m n t t c cc yu cu t ra him khi l mt cng vic n gin, nu
khng ni l khng th thc hin c, v n nm ch trong mi bi ton
lun c nhiu yu t rng buc. Cc ch tiu cht lng nhiu khi khng ha
ng c vi nhau, i hi phi tha hip. Mi qu trnh li c nhng c im
phc tp ring nh p ng ngc, thi gian tr, php o chm, th am s bin
thin, rng buc tn hiu iu khin, v.v... V th, ngi k s cng cn phi nm
r kh nng cng nh gii hn cht lng m iu khin phn hi c th t
c. Nhng vn ny s c phn tch k hn trong ni dung chng 7.

5.2,5

iu kh in p h n hi k t hp tr u y n th n g

iu khin phn hi v iu khin truyn thng cng c th c phi hp

tn dng nhng u im v khc phc nhng nhc im ca mi sch lc. Cc
cu hnh iu khin mc v iu khin thit b gia nhit bng phng php kt
hp c minh ha trn Hnh 5-12. V d trong bi ton iu khin mc, u ra
ca b iu khin phn hi LC c cng vi tn hiu o lu lng dng ra,
trc khi a xung van iu chnh dng cp. Trong khi u ra t b iu khin
phn hi c vai tr n nh h thng v trit tiu sai lch tnh, th th n h phn
b nhiu gip h p ng nhanh hn vi lu lng dng ra thay i. Trong cu
hnh iu khin thit b gia nhit, thnh phn b nhiu c vai tr c bit quan
trng bi nhiu qu trnh (lu lng v nhit du vo) nh hng ti nhit
du ra rt chm, iu khin phn hi thun ty kh cho cht lng tt.

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

iu khin phn hi kt hp truyn thng cng c th thc hin di nhiu

hinh thc khc. V d trong iu khin tng (mc 5.4), b iu khin vng ngoi
l mt b iu khin phn hi, trong khi b iu khin vng trong c th l mt
b iu khin truyn thng, c u hnh iu khin phn hi hai bc t do minh
ha trn Hnh 5-9 cng l mt trng hp ng dng kt hp sch lc truyn
thng, trong khu truyn thng Kr c vai tr ci thin tc p ng/cht
lng p ng ca h thng vi thay i gi tr t.

5.3

i u k h i n t l

Trong rt nhiu ng dng diu khin qu trnh, gi tr ca m t bin cn iu

khin c quan h trc tip vi t l gia cc gi tr bin vo. iu khin t l
(ratio control) l duy tr t l gia hai bin ti mt gi tr t nhm gin tip
iu khin m t bin th ba. Sch lc iu khin t l c p dng trong nhiu
bi ton khc nhau. V d, qu trnh t chy t c hiu sut cao nht, ta
cn duy tr t l gia lu lng nhin liu v lu lng khng kh mt gi tr
thch hp. Cng nh vy, nu nhit ca cc dng vo m t thit b trao i
nhit c coi l khng thay i th nhit ra trng thi xc lp ph thuc
ch yu vo t l cc lu lng vo.

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

kh cho kt qu chnh xc trong m t thi gian ngn, kh p ng c yu

cu ca b iu khin phn hi.
2 . Quan h gia bin iu khin (lu lng vo Wi) v bin c iu khin

(thnh phn ra x) r t phi tuyn, do b iu khin r t kh chnh nh c

th mang li cht lng tt cho mt phm vi lm vic rng.
Xt phng trnh m hnh ti im lm vic:
_ _ S|5 + M , =
W\

+ W'2

_<|
U)

+ w2

iq,

(521)

W\ +

Nu cc th n h phn nguyn liu vo (zi, X2) c coi l c nh, t a ch cn duy

tr m t t l n h t nh gia cc lu lng u vo th th n h phn ra trng thi

Chng 5

256

C C SCH

Lc

IU KHIN

c s

xc lp cng s t c gi tr mong mun. tng ny c th hin trong

sch lc iu khin t l n gin c minh ha trn Hinh 5-13b.
Rsr

a)
H nh 5-13:

iu khin phn hi
H ai

phng n i u khin

THIET

b khu y trn lin

t c

G i tr t cho b iu khin t l RC chnh l t l mong mun gia hai lu

lng. Lu rng, b iu khin t l RC y thc ra ch thc hin php nhn
gia lu lng o c ca dng th hai vi t l mong mun, ch khng h c
tn h ton sai lch iu khin. T n hiu iu khin c xc nh da trn gi tr
t v nhiu o c, nn iu khin t l chnh l mt dng c bit c a iu
khin truyn thng.

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

B iu khin RC y thc cht ch l mt khu nhn, tn h ton gi tr t

lu lng cho b iu khin FC bng cch nhn lu lng o c vi t l t
mong mun. Hai b iu khin RC v FC nhiu khi cng c ghp chung trong
m t khi FF C duy nht, c bit khi s dng cc thit b iu khin s (DCS,
PLC, PC). im khc bit so vi v d iu khin thit b khuy trn trong
phn trc l y t a s dng kt hp mt vng iu khin phn hi lu
lng bn trong nng cao cht lng.

5.3.3

H ai c u h n h iu k hin t l

T h ng thng, trong cc bi ton iu khin t l vi hai dng u vo th m t

dng c coi l nhiu v dng th hai c th can thip c, nhng lu lng
ca c hai dng u c o. Trong thc t c th c trng hp c hai dng
u c th kim sot c, nhng chc chn ta s s dng m t bc t do cho bi
ton iu khin khc, nh vy vi bi ton iu khin t l th m t dng vn
c coi l nhiu. Trn c s , sch lc iu khin t l c th thc hin vi
hai cu hnh nh minh ha trn Hnh 5-15.
Trong cu hnh (a), t l lu lng ca hai dng c tnh ton v a ti b
iu khin t l RC (ratio controller) iu chnh li lu lng dng th hai
(dng c can thip). Trong trng hp ny, b iu khin t l ng vai tr l
m t b iu khin phn hi, vi gi tr phn hi l t l thc quan st c v
gi tr t (SP) l t l mong mun. T t nhin, trong thc t ngi t a cng c
th kt hp khu chia vi b iu khin RC thnh m t b iu khin t l lu

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

<5 ' 2 3 >

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

nghin cu su hn bn cht v ngha ca sch lc iu khin t l, ta xt

h thng trao i nhit trc lu minh ha trn Hnh 5-16a. y l m t qu trnh
hai v o h a i ra vi hai bin cn iu khin l nhit ra T v lu lng ra w. Bi
ton t ra y l la chn cc v tr t thit b o v thit k sch lc iu
khin sao cho n gin v hp l nht. Gi s hai dng chy cng cht ( coi
nhit dung ring ging nhau) v b qua tr vn chuyn, t a c cc phng trnh
m hnh nh sau (xem chng 3, mc 3.3.3):
w = I 4- I>2

(5.25)

w T == t U\T\ 4 - w2T2

Wsp

! y*p

IV.

a) Bi ton iu khin
H nh

5-16:

b) Sch lc.iu khin

lu KHIN H T H NG TRAO i NHIT TRC LU

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)

Bi ton iu khin nhit c chuyn thnh bi ton iu khin t i (lu

lng). Nu coi T\ v
l c nh v bit trc (hoc o c), t a d d:ig xc
nh gi tr t cho y vi cng thc:
Vn =

(5-27)
l\

Cc phng trnh m hnh c vit li nh sau:

w W\ + W2

(5.28)

y = W / w

(5.29)

Bi ton iu khin qu trnh hai v o h a i ra nay c tch th n h 2 bi ton iu

khin qu trnh n bin c m hnh (5.28) v (5.29). Bi ton th n h t l iu
khin lu lng vi bin c iu khin l w, bin iu khin l
cn t; c
coi l nhiu. Sch lc iu khin phn hi kt hp b nhiu y l hon ton
hp l. Bi ton th hai l iu khin t l lu lng, bin c iu khin l y,
bin iu khin l w 1 v nhiu l w. Ch cn hai bin nhiu u c o v b
hp lth gia hai vng iu khin khng cn tng tc. c u trc iu khin
cho ton qu trnh c minh ha trn Hnh 5-16b. Lu rng, b iu k.iin t
l lu lng F F C l mt b iu khin cha th n h phn phi tuyn bn trorg.
Nh trn y gii thiu, sch lc iu khin t l c th c thc thi
theo m t trong hai cu hnh. Nu ch phn tch bn trong hai cu hnh ny (m
khng ti mc ch cui cng l iu khin nhit , nng ,...), t. s c
hai cch nhn nhn khc nhau. Trong cu hnh th n h t (Hnh 5-15a), t a C}i t l
lu lng trc tip l bin c iu khin (trong v d l y = w \/w ) v gi tr
phn hi c tnh ton da theo t l gia hai
gi tr lu lng o cc. i
tng iu khin vn l phi tuyn trong khi b iu khin phn hi c th l
tuyn tnh. Cng v l do ny m cu hnh th n h t t c s dng.

5.3

l KHIN T L

261

Trong cu hnh th hai (Hnh 5-15b), t a coi lu lng va l bin iu khin

v bin c iu khin (trong v d l W\). Bi ton iu khin t l li c
chuyn thn h iu khin lu lng theo nguyn l phn hi quen thuc, trong
gi tr t c tn h ton da trn gi tr lu ng o c v t l mong mun.
i tng iu khin c coi tuyn tnh v th u l ton iu khin t t nhin
cng ch cn tuyn tnh, c n lu rng nhc im ca cu hnh ny l gi tr
t c th th ay i lin tc v khng bit trc (theo nhiu).
Trong m t s trng hp, phng php iu khin t l c th c: thc thi
m t cch n gin hn vi vic s dng van trn ba ca. Van trn ba ca cho
php thay i gc m van, qua iu chnh t l gia lu lng mt ca vo so
vi lu lng ra nhng khng lm thay i lu lng ra. S dng van trn b a
ca, cu hnh iu khin h thng trao i nhit trc lu c n gin ha
nh minh ha trn Hnh 5-17. y, cc bin c iu khin trc tip l lu
lng w v nhit T. T l lu lng w \/w khng cn c coi l bin c
iu khin na2, m tr thnh bin iu khin cho vng iu khin nhit . Lu
vai tr ca hai van cn l trnh dng chy ngc li.

Hnh 5-17:

lU KHIN TRAO l NHIT THC L s DNG VAN TRN BA CA

Tm li, nu nhn nhn mt cch tng th theo m c ch iu khin th iu

khin t l l m t trng hp c bit ca iu khin truyn thng, trong cc
bin nhiu c o v b theo nguyn tc t l. Q uan h gia bin c iu
khin (t l) v bin cn iu khin (nhit , nng ,...) thng l tuyn tnh, t
n h t cng tuyn tnh trng thi xc lp. Hai ngha quan trng ca iu
khin t l l:
Gip gii quyt hiu qu mt lp cc bi ton phi tuyn, thay v phi tuyn
tnh ha xp x m hnh hoc s dng cc phng php th it k b iu
khin phi tuy n phc tp. Thc cht, mi b iu khin t l l m t b iu
khin phi tu y n n gin.

2 Tuy nhin, nu xt i tng iu khin l van trn 3 ca th bin c iu khin li l

t l lu lng w \/w v bin iu khin l gc m van.

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

Trong hai cu hnh c bn ca iu khin t l, thc ra ta cng th y vai tr

ca iu khin phn hi. Tuy nhin, nu xt theo mc ch iu khin chnh th
iu khin t l vn ch l mt dng ca iu khin truyn thng. Trong t t c
cc v d phn tch, khng c bin cn iu khin no (nhit , th n h phn)
c o v so snh vi gi tr t. Cc yu t nhiu khc cng khng c xt
ti. V th, iu khin t l thun ty kh c th cho cht lng iu khin cao.
V d trong bi ton iu khin thit b khuy trn, ch cn th n h phn cc
dng nguyn liu thay i th thnh phn sn phm ra s khng cn c nh
tnh ton. Trong bi ton iu khin thit b gia nhit, nu nhit hi qu
nhit hoc nhit du vo khng c nh th nhit du ra khi thit b gia
nhit cng s khng t c gi tr mong mun.
Mt gii php r t c ngha thc t l gi tr t t l c tnh ton v iu
chnh thng xuyn bi m t b iu khin phn hi. Hnh 5-18 minh ha cu
hnh kt hp gia iu khin t l v iu khin phn hi cho bi ton thit b
khuy trn. Yu t nh hng mnh nht ti cht lng sn phm l t l lu
lng hai dng nguyn liu c b iu khin FF C kim sot. B iu khin
thnh phn AC c vai tr iu chnh t l t trong trng hp th n h phn cc
dng nguyn liu thay i lm nh hng ti cht lng sn phm . N h phn
tch trong chng 3 (mc 3.5.4), nu ta chn bin iu khin cho vng iu khin
thnh phn l t l W ( v ) \ + V)2 ) , m hnh i tng cho b iu khin AC s tr
thnh xc lp tuyn tnh. V th, ta c th s dng cc b iu khin tuyn tnh
quen thuc nh PID cho vng iu khin thnh phn.
Thng thng, th n h phn nguyn liu nu c thay i th cng kh chm,
nn b iu khin AC cng khng cn p ng nhanh v c th chp nhn qun
tnh ln ca thit b phn tch thnh phn AT. Sch lc iu khin ny cng
chnh l m t dng ca iu khin tng s c phn tch k hn trong phn sau.

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

Mt trong nhng vn ca iu khin phn hi c phn tch l nhiu

khi nh hng c a nhiu q u trnh ti bin u ra cn iu khin chm c
p h t hin. iu ny c th nm bn cht ca qu trnh (nh qu trnh trao i
nhit, qu trn h ph n ng, q u trnh bay hi,...), nhng cng c th do php o
m t s bin qu trn h nh o nhit v o nng khng th thc hin c
nhanh. V d, tro ng m t th p chng luyn th vic thay i lu lng hoc
th n h phn cp liu nh hng r t ln ti cht lng sn phm chng luyn,
nhng phi sau m t thi gian kh di th nh hng ny mi quan st c. V
th cc vng iu khin phn hi n kh m bo tc p ng nhanh cng
nh qu iu chnh nh. Bn cnh , thit b chp hnh cng l mt khu
trong h kn m tc can thip v chnh xc ca n nh hng r t ln ti
cht lng ca vng iu khin. V d, m t van iu khin nhn c tn hiu t
b iu khin yu cu m van 50% tng ng vi 50% lu lng cht lng qua
, nhng thc s van c m c chnh xc 50% hay khng, hoc ngay c khi
m chnh xc 50% th lu lng qua c t l tuyn tnh vi m van hay
khng li l m t vn khc.
iu khin tng (cascade contro) l mt cu trc m rng ca iu khin
phn hi vng n, c s dng nhm khc phc nhng vn nu trn. iu
khin tng gip loi b nh hng ca m t s dng nhiu v ci thin r rt c
tnh ng hc c a h thng. T tng chnh ca iu khin tng l phn cp
iu khin nhm loi b nh hng ca nhiu ngay ti ni n p h t sinh. Phi ni
rng, hu ht cc h thng iu khin qu trnh u s dng cu trc iu khin
tng. Trong r t nhiu trng hp, cu trc iu khin tng cng cho php kt
hp s dng nhiu sch lc iu khin khc nhau, v d kt hp iu khin
phn hi v iu khin t l.

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

Quay tr li v d iu khin phn hi thit b gia nhit hi nc (xem Hnh

5-7). Bnh thng, m ca van iu khin lu lng hi nc c quyt nh
bi tn hiu ra t b iu khin, nhng cng cn ph thuc vo cc yu t khc
nh c tnh ca c ch chp hnh van, c tnh dng chy v m a st cht van.
Hn na, lu lng hi nc qua van khng ch ph thuc vo m van, m
cn ph thuc vo p sut dng hi, v th mt s thay i trong p su t hi
cp s dn n thay i lu lng trong khi m van c gi c nh, v n
phc t p y l s thay i lu lng hi nh hng tng i chm ti nhit
ra ca dng qu trnh. Hn na, cc loi cm bin nhit cng c qun tn h
kh ln, nn nh hng ca nhiu c phn nh rt chm trong tn hiu phn
hi. Kt qu l khi b iu khin nhit phn ng v iu chnh m van th
c th qu mun, th m ch cn phn tc dng bi rt c th khi lu lng
hi tr li gi tr bnh thng. Khng nhng cht lng iu khin khng
c tt m tnh n nh h thng cha chc c m bo. v n ny c
gii quyt bng cch b sung m t vng iu khin lu lng, nh minh ha trn
Hnh 5-19.

u ra t b iu khin nhit TC (b iu khin ch, b iu khin s

cp, b iu khin vng ngoi) by gi khng c a trc tip xung van, m
l gi tr t cho b iu khin lu lng FC ( diu khin t, b diu khin th
cpf b iu khin vng trong). trng thi xc lp, tn hiu ra t b iu khin
nhit khng i v b iu khin lu lng FC c trch nhim duy tr lu

5.4

l U KHIN TNG

265

lng hi nc c nh, mc cho p sut dng hi hoc m van nh th no.

Khi gi tr t nhit thay i hoc nhit ra o c thay i (v lu lng
hoc nhit du vo thay i), b iu khin nhit s to mt gi tr t
mi cho b iu khin lu lng. Nh vy, nu b iu khin lu lng lm vic
t t th nhiu nht thi ti van iu khin hu nh khng nh hng ti nhit
du ra. T t nhin, c c cht lng iu khin t t hn y ta phi chi
ph thm cho mt thit b o v mt b iu khin.

5.4.2

H ai cu tr c iu k hin t n g

Mt cu trc iu khin tng c th bao gm hai hoc nhiu vng iu khin,

trong c t nht mt vng iu khin phn hi. Hai cu trc c bn c
minh ha trn Hnh 5-20. Trong bt c trng hp no, b iu khin th cp
cng phi nhanh hn nhiu so vi b iu khin s cp.
Cu trc th n ht (cu trc ni tip) c bit n nhiu hn trong thc t,
v th cn c gi l cu trc truyn thng, y t a c "hai gi tr o phn hi
v hai b iu khin, nhng ch c mt bin iu khin (U2). Tuy nhin, bc t
do ca h thng khng h tng ln, nn hai b iu khin khng hon ton c
lp vi nhau. u ra U\ ca b iu khin s cp ng vai tr l gi tr t cho
b iu khin th cp. Nguyn l lm vic ca cu trc ny nh sau. Gi s c
nhiu tc ng ln qu trnh v nh hng ca n c th nhn bit nhanh hn
q u a mt bin o khc [y)) b iu khin th cp s c tc dng loi tr hoc t
ra l gim ng k nh hng ca 1 ti bin cn c iu khin thc y\. B

a) Cu trc ni tip (truyn thng)

b) Cu trc song song (khng ch u vo)

H nh 5 -2 0 :

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

iu khin sd cp c chc nng p ng vi gi tr t thay i v loi tr nh

hng ca nhng ngun nhiu cn li, nhm duy tr bin cn iu khin y\ ti
gi tr t r. Ni m t cch khc, vng iu khin ngoi c nhim v p hn ng
vi mnh lnh pha trn (gi tr t) v vi nhiu m ang tnh ton cc, cn vng
iu khin trong c trch nhim vi nhiu cc b.
Cu trc th hai (cu trc song song) c mc ch khng ch gi tr bin iu
khin th cp (i2) ti m t gi tr t r^. y t a c hai bin iu khin, nhng
ch c mt bin c o. Nh vy mt bc t do ca h thng s c li dng
phc v mc ch khc, v d ti u ha iu khin. B iu khin th cp c
vai tr ch yu trong vic duy tr bin cn iu khin y bm nh an h gi tr t,
song tn hiu ra ca n (va) li c coi l bin cn iu khin ca b iu khin
s cp. Nh vy, nhim v ca b iu khin s cp l can thip sao cho bin
iu khin Va c duy tr gn vi gi tr t Tm. T t nhin bin iu khin th
nht U\ cng nh hng ti u ra y ) nhng chm hn. Gi s chi ph iu khin
cho knh th nht r hn chi ph cho knh iu khin th hai, th gii php iu
khin ny cho php hn ch n mc ti thiu chi ph iu khin knh th hai,
trong khi vn m bo t t yu cu cht lng. Trong trng hp ny gi tr t
rw cn th p nh c th (v d 5% hay 10%). Cng chnh v vy, cu tr c song
song cn c gi l khng ch u vo.

5.4.3

iu k h i n v t r v an

Mt ng dng ni ting ca cu trc iu khin tng song song c bit n vi

ci tn iu khin v tr van (valve position control, VP)3) c Shinskey ln
u tin ra nm 1976 nhm mc ch ti u ha chi ph cho bin iu khin.
T tng ny sau c p dng trong nhiu bi ton khc nhau nh iu
khin nhit phn ng, iu khin p sut th p chng luyn,...
Quan st v d iu khin nhit m t bnh phn ng trn Hnh 5-21. Nhit
qu trnh phn ng c khng ch vi c hai cch l iu chnh dng nc
lnh i qua v lm m t cng nh iu chnh dng cht ng lnh i qua bnh
ngng lm ngng t dng hi bc ln. Nhn v m t kinh t th vic s dng nc
lnh r rng c li hn so vi s dng cht ng lnh. Tuy nhin, thay i lu
lng cht ng lnh qua bnh ngng li tc ng ti nhit phn ng nhanh
hn v m nh hn nhiu so vi thay i dng nc lnh qua v lm m t, v vy
mang li cht lng iu khin tt hn.
c th t c cng m t lc c hai mc ch l cht lng sn phm v
hiu qu kinh t, ngi t a s dng lu lng nc lnh l bin iu khin t h
v lu lng cht ng lnh l bin iu khin (tin h \ Gi s c m t s gia tng

3 Trnh nhm ln vi iu khin nh v van nh s cp sau.

5.4

i KHIN T N G

267

nhit trong binh, trc ht b iu khin T C s a ra tn hiu nhanh

chng tng lu lng cht ng lnh nhm a nhit v gn gi tr t, ng
thi tn hiu iu khin cng c a ti b iu khin v tr van z c . Gi tr
t cho b diu khin z c li l v tr mong mun ca van cht ng lnh, thng
thng nhm duy tr lu lng mc ti thiu cn thit. B iu khin z c dn
iu chnh lu lng nc lnh theo hng tng ln cui cng van cht ng
lnh gn nh ng hon ton theo mong mun. i chiu vi s (b) trn
Hnh 5-20, t a th y rng T C ng vai tr b iu khin th cp, trong khi z c
mi l b iu khin s cp.

H nh 5-21:

5.4.4

iu KHIN V TR VAN (VPC)

n g d n g c a iu k hin t n g

Cc tnh ch t c a iu khin tng (ni tip ) 1s c phn tch k hn trong ni

dung ca chng 7. y t a ch tm t t nhng u im quan trng ca iu
khin tng, l:
Ci thin kh nng loi b nhiu cc b
Gim q u iu chnh
Ci thin tnh n nh ca ton h kn
Nng cao tnh bn vng ca h kn.
T t nhin, nhng u im trn ch c c khi sch lc ny c p dng ng
v cc b iu khin c thit k hp l. Bn cnh , vic tng thm chi ph

1 T y v sau, khi ch ni iu khin tng th ta ngm hiu l cu trc ni tip.

r

268

Chng 5

CC SCH L c DIU KHIN c s

cho thit b o v b iu khin th cp cng l m t kha cnh cn quan tm.

Tm li, ta chi nn p dng sch lc iu khin tng ni tip khi:
C ht lng ca h iu khin vng n thng thng khng p ng c
yu cu t ra
Q u trinh c th phn chia thnh hai qu trnh con vi nhng ngun nhiu
tc ng c lp, trong khu ng sau phi chm hn nhiu so vi khu
ng trc.
Sch lc b nhiu khng p dng thay th c (v d do nhiu khng o
c), hoc p dng kin hiu qu, hoc khng gii quyt c tri t nh
hng ca nhiu cc b vo khu ng trc.
Chi ph tng ln do b sung mt thit b o v m t b iu khin c th chp
nhn c.
V n g i u k h i n lu l n g t h cp
Mt trng hp ng dng rt tiu biu ca iu khin tng l s dng vng iu
khin lu lng l vng th cp, nh trong v d minh ha trn Hnh 5-19. Vng
iu khin bn ngoi c th l vng iu khin nhit , nng hoc mc. Ta
bit rng, lu lng l bin iu khin tiu biu nht trong cc h thng iu
khin qu trnh. Tuy nhin, qu trnh thay i lu lng phi thng qu a h
thng thit b chp hnh (nh van iu khin, my bm, qut gi, bng ti,...),
v th cng chu nh hng trc tip ca cc ngun nhiu lin quan. Q u trnh
dng chy thng c c tnh ng hc nhanh hn nhiu so vi cc qu trnh
lin quan ti nhit , nng v mc, v th vic a mt vng iu chnh bn
trong vo loi b sm nh hng ca nhiu gp phn ci th in r rt cht,
lng v tc p ng ca h kn.
i u k h i n n h v v a n
Mt van iu khin thng thng thc ra l mt h h vi u vo l tn hiu
iu khin v du ra l m van. Do nhiu yu t nh c tn h phi tuyn ca
cd ch chp hnh, tr v dch ca van, m a st cht van,... nn cc van
thng thng c qun tnh ln cng nh chnh xc khng cao. c tnh ng
hc ca van diu khin c th c ci thin m t cch r rt nu s dng thm
mt vng iu khin nh v van. Mt b nh v van ( valve positioner) l mt
b iu khin phn hi vi gi tr t l m van mong mun t tn hiu iu
khin (tnh bng n v % ca phm vi tn hiu) v gi tr phn hi l v tr cn
van (hoc trc van). V d, vi mt van cu kh nn th b nh v van s tnh
ton u ra d a trn sai lch gia gi tr t v v tr m van o c iu
chnh li p sut kh nn cp cho van. Nh vy, so vi cc vng iu khin chnh
(nhit , mc, p sut, nng ,...) th vng iu khin nh v van c coi l

5.4

iu

KHIEN t n g

269

vng th cp. Lu rng, ngoi cc kha cnh nu th ta ch nn s dng b

nh v van khi bn ngoi cha c vng iu khin lu lng.
V n g i u k h i n t l t h cp
iu khin t l c u im l n gin v m ang li hiu qu cao i vi rt
nhiu bi ton lin quan ti iu khin cht lng sn phm. Song, iu khin t
l thun ty thc cht l iu khin vng h nn khng c kh nng trit tiu sai
lch tnh. Nhng tc ng ca nhiu khng o c nh th n h phn nguyn liu,
nhin liu u vo v sai lch m hnh khng c xt ti trong sch lc iu
khin t l. V th, vic b sung mt vng iu khin phn hi bn ngoi c tc
dng loi b nhng nh hng ca nhiu khng o c v sai lch m hnh
nhm trit tiu sai lch tnh, trong khi vn li dng trit nhng u im ca
vng iu khin t l th cp. Sch lc iu khin t l kt hp phn hi cho
thit b khuy tr n lin tc minh ha trn Hnh 5-18 l mt trng hp ng
dng rt tiu biu. Nhiu khng o c trong trng hp ny l th n h phn cc
dng nguyn liu. H thng iu khin phi liu trong cc nh my xi mng cng
l m t v d ng dng quan trng ca iu khin tng, trong vng ngoi l
iu khin cht lng xi m ng v cc vng trong l iu khin t l vi, thch
cao, st v cng nh cc ph gia khc.

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

La chn mt bin trung gian d iu khin hn c quan h m t thit vi

bin cn iu khin, sao cho t gi tr bin trung gian ny t a c th suy ra
gi tr gn ng ca bin cn iu khin.

5.5.1

V d iu kh in lu lng kh

Mt v d tiu biu cho vic s dng cm bin mm l bi ton iu khin lu

lng khi lng ca cht kh. t mt bn l nh c (orifice plate) trn ng
ng v o chnh lch p sut qua , lu lng khi lng s c xc nh theo
cng thc [8 ]:
(5.30)
trong
w d0 dv p] Ap CQ-

lu lng khi lng (kg/s)

ung knh l nh c (m)
dxcng knh ng ng (m)
khi lung ring ca dng cht kh u vo (kg/mi?)
chnh lch p sut qua bn l nh cd (kPa)
h s thot (0.61 cho ch chy xoy)
h s gin n

Vn l h s gin n e ph thuc vo h s nhit ring ca cht kh, chnh

p, tit din l nh c cng nh tit din ng ng. Vic xc nh chnh xc h
s e tng i kh khn, v vy trong thc t ngi t a p dng mt s cch tnh
ton gn ng, v d vi phng php truy hi. Ngay c khi lng ring Pi cng
thay i theo nhit v p sut theo quan h a ra trong chng 3 (mc
3.3.2):
Pv

nM

MP

R T

(5.31)

trong
p
V
n
R
T
M

p sut tuyt i (kPa)

th tch (m 3)
s lng m ol (kg-mol)
hng s k h l tng = 8 . 3 1 4 4 V kP a 'm 3/ ( k g m o l K )
nhit tuyt di (K )
khi lunq phn t ca cht kh

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

KHIN SUY DIN

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)

SCH LC IU KHIN LU LNG KH

V d iu k hin th i t b gia n h i t d u n ng

Trong chng 3 t a phn tch v d xy dng m hnh ton hc n gin cho

m t th i t b gia nhit v thy rng quan h gia cc bin vo vi nhit ra cn
iu khin (T C2) c tnh phi tuyn kh mnh. i vi mt s qu trn h s dng
du nng lm cht ti nhit, ngi t a t ra yu cu cao v chnh xc m
sch lc iu khin phn hi thng thng hoc kt hp vi iu khin t l c
th cha p ng c yu cu. Mt gii php thng dng l b sung thm m t
b iu khin cng sut nhit.
trn g th i xc lp, nhit lng do du nng ta ra ng nhit lng ng
q u trinh thu vo:
q = WCpn(Tfii - TH2) = WcPpcI02 TC\)

(5.33)

t bin iu khin dn xut u = q/vjQ, m hnh i tng trng thi xc lp

cho vng iu khin nhit tr thn h tuyn tnh:
Tc2 = ~

+ TC

(5.34)

u pC

T cc cng thc (5.33) v (5.34) t a i ti tng th i t k sch lc iu khin

nh sau:
iu khin nhit Tq 2 vi sch lc phn hi s dng m hnh (5.34). u
ra ca b iu khin nhit chnh l t l q/wc mong mun.
o lu lngW c ca dng qu trnh v nhn vi t l q/wc a ra t b iu
khin nhit tnh ton cng sut nhit mong mun.

272

C hng 5

C C SCH

Lc

IU KHIN c s

iu khin cng sut nhit da trn tnh ton t cc gi tr o lu lng du

nng U>H1 , nhit du vo T h i v nhit du ra Th 2- u ra ca b i u
khin cng sut nhit l tn hiu a xung iu chnh m van cp du
nng.
Ton b sch lc iu khin c minh ha trn Hnh 5-23. Nhn tng th
th y l m t cu trc iu khin tng. Trc ht, b iu khin cng su t nhit
QC (bao gm c khu tnh ton) ng vai tr l b iu khin suy din cho bin
nhit . Trong trng hp nhit vo Tci v lu lng W c ca dng q u trnh
khng thay i th vic duy tr cng sut nhit ti m t gi tr c nh cng s
m bo cho nhit ra khng thay i ng k. Tip theo, b iu khin t l
RC c vai tr iu chnh kp thi gi tr t cho b iu khin cng su t nhit
khi W c thay i. Cui cng, v bt c l do no khc m n hit ra T q 2 cn sai
lch so vi nhit mong mun, b iu khin nhit T C s iu chnh li gi
tr t cho b iu khin t l RC.
; SP

Lu rng nhng phng trnh m hnh cho tr n g thi xc lp (5.33) v

(5.34) gip t a tm ra sch lc iu khin hp l, nhng e thit k b iu
khin nhit v b iu khin cng sut nhit t a cn cc m hnh ng hc.
Thc t, m 'hnh i tng ca vng iu khin cng su t nhit cng nh m
hnh i tng ca vng iu khin nhit c th xp x v cc khu qun tnh
bc n h t c tr. Nhng m hnh ny c th xc nh d dng vi m t trong cc
phng php thc nghim gii thiu trong chng 4. T h u t to n iu khin ph
hp nht cho bi ton iu khin nhit l PID , tro ng th n h phn vi phn
c vai tr ci thin c tnh ng hc vn rt chm c a h thng.

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

Bi ton iu khin q u trnh th p chng luyn c gii thiu trong chng

3. Mt trong nhng nhim v quan trng nht ca iu khin l bo m sn
phm ra (nh th p hoc y thp) c thnh phn mong mun. Tuy nhin, php
o th nh phn thng r t phc tp v chm, nn trong thc t ngi ta c th
iu khin gin tip thng qua bin nhit . T a bit rng, th n h phn ca mt
cht kh (hoc th hi) c quan h m t thit vi nhit v p sut, nn ch hai
trong ba i lng ny c th iu khin c mt cch c lp. Hn na, s
dao ng v lu lng, th n h phn v nhit ca nguyri liu nh hng ti
nhit trong th p nh anh hn nhiu so vi
phm. V th, vic iu khin thnh phn sn
bng iu khin nhit ti mt a thch hp
trng hp yu cu chnh xc cao t a vn c

nh hng ti thnh phn sn

phm nh c th c thay th
pha nh thp. T t nhin, trong
th s dng thm mt vng iu

khin th n h phn bn ngoi.

Hnh 5-24 m inh ha m t cu trc iu khin 3 tng, trong iu khin
thnh phn l vng s cp, iu khin nhit v iu khin lu lng hi lu l
cc vng th cp. B iu khin nhit T C ng vai tr l b iu khin suy
din, c kh nng p ng nhanh vi nhiu. Bn cnh gi tr nhit phn hi,
b iu khin nhit cn s dng gi tr o p su t tnh ton chnh xc
hn. Tn hiu ra t b iu khin nhit l gi tr t cho b iu khin lu
lng hi lu FC. Lu lng hi lu thay i s dn n nhit nh th p v
ko theo thnh phn sn phm nh thay i. B iu khin thnh phn AC ch
can thip thay i gi tr t cho b iu khin nhit khi thc s cn
thit, v th php phn tch thnh phn y d chm vn chp nhn c.

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

i vi cc bi ton iu khin thng thng, iu khin c bin r a t a phi

c kh nng can thip t n h t m t bin vo. Tuy nhin, v nhiu l do khc nhau
m trong m t s trng hp s bin cn iu khin vt q u s bin iu khin
c sn. M t h c s bin iu khin t hn s bin cn iu khin c gi l h

ht c cu chp hnh (underactuated system). Kh nng iu khin c ca

m t h h t c cu chp hnh r t b hn ch, bi mt bin iu khin khng th
can thip m t cch c lp ti nhiu bin ra cng mt lc. M t gii php thng
dng trong cc h thng iu khin qu trnh l la chn u ra quan trng n h t
t y theo tn h hung chia s s dng bin iu khin m t cch hp l. c
th th i t k cc sch lc iu khin n bin ta c th s d n g cc khu chn
tn hiu. M t khu chn tn hiu l mt thit b hoc m t khi phn mm c
chc nng la chn mc th p nht, cao nht hoc trung bnh t hai hoc nhiu
tn hiu. Cc sch lc iu khin c s dng khu chn tn hiu c gi l iu
k h i n l a c h n (selective control). iu khin la chn c ng dng ch yu
vi m c ch an ton h thng, v d cnh gii cc trng hp vi phm iu kin
rng buc trong vn hnh h thng hoc iu kin an ton cho thit b, iu
khin t ng khi ng v dng, bo v cc li thit b, dng c v la chn cc
gi tr ti u.
T y theo c th ca bi ton cng nh chc nng ca k h u chn tn hiu, ta
phn bit hai dng iu khin la chn sau y:
iu khin ln t ( override control): H thng c hai hoc nhiu vng iu
khin tng ng vi hai hoc nhiu bin cn iu khin, nhng ch c mt
bin iu khin (m t thit b chp hnh). Hai hoc nhiu b iu khin cng
hot ng, nhng ch u ra ca m t b iu khin c la chn a ti
th it b chp hnh.
iu khin gii hn (lim iting control, constraint control)\ H thng ch c mt
b iu khin nhng hai hoc nhiu bin cn iu khin. K hu chn tn hiu
quyt nh u vo cho b iu khin ph thuc vo cc gi tr o c (v
d chn gi tr nh n h t hoc ln nht).

5.6.1

i u k h i n ln t

iu khin ln t l m t dng c bit ca iu khin la chn, trong m t b

iu khin c th ginh quyn can thip vo bin iu khin ca m t b iu
khin khc khi c nguy c xy ra tnh trn g vt ngng cng nh vi p h m cc
iu kin rng buc ca qu trnh hoc thit b. Vic chuyn tip gia cc vng
iu khin cn c thc hin mt cch trn tru, khng gy nh hng ng k
ti q u trnh, c u tr c vi hai vng iu khin c minh h a trn Hnh 5-25.

5.6

lu

KIIlN L A CHN

------

275

B K 1

V\
Qu trnh
B K 2

n h

5-25:

lu KHlN LAN T ( 2 VNG Dl KHIN)

Trn Hnh 5-26 l s mt cu hnh iu khin ni hi. Hai bin cn iu

khin l mc v p sut trong ni hi, nhng ch c m t van iu khin tng
ng vi m t bin iu khin l lu lng hi ra. Trong iu kin lm vic bnh
thng, p sut l bin c iu khin bi n lin quan h trng ti nng sut
ca qu trnh. Nhng khi gi tr mc xung th p di mt ngng an ton, tn
hiu ra t b iu khin mc LC s ln t b iu khin p su t P C bi khu
la chn tn hiu nh hn, gip ng bt van ra v qua lm mc trong ni
tn g li. Khi gi tr mc tr li bnh thng, khu la chn tn hiu li c tc
dng lm cho b iu khin p sut PC tr th nh ln t v a h thng v ch
iu khin bnh thng.

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

iu khin gii hn cng c ng dng ch yu cho mc ch an ton h thng.

Hnh 5-28 minh ha cu trc c bn ca sch lc iu khin gii hn. K hc vi
iu khin ln t, y ch c m t b iu khin. u vo ca b iu khin
c xc nh t khu la chn tn hiu o, v d gi tr nh nht hoc gi tr
ln nht o c. Thng thng, cc tn hiu o biu din gi tr ca cng mt
i lng, nhng c o t nhng v tr khc nhau. Cc v d ng dng tiu

5 .6

i u k h i n LA CHN

277

n h

5-28:

i KHIN GII HN

biu bao gm iu khin gii hn nhit ca mt l nung, nhit trong mt

thit b phn ng,...
V
x
X
>
Trn Hnh 5-29 l s minh ha sch lc iu khin gii hn nhit ca
m t thit b phn ng. Bin iu khin duy nht y l lu lng nc lm
lnh. Nhit trong l c o ti nhiu v tr khc nhau v gi tr nhit cao
nht c chn a ti b iu khin. Nh vy, nhit ti bt c v tr no
cng c gii hn m khng lm m t i chc nng iu khin thng thng.

Nc lnh

H nh 5-29:

5.7

iu KHIN GII HN NHIT L PHN

NG

i u k h i n p h n v n g

iu khin phn vng (split-range control) l mt sch lc iu khin c p

dng khi h thn g c m t bin cn iu khin nhng c nhiu bin iu khin
(hoc nhiu p h n t chp hnh), trong mi bin iu khin (hoc mi phn
t chp hnh) c nh hng ln n ht trong mt phm vi ring. V d, vic thay
i lu lng m t dng hi nc cng ch c kh nng lm nng t hay nhiu ch
khng c kh nng lm lnh mt i tng. Ngc li, thay i lu lng mt

C c: SCH Lc i u KHIN c: s

C hng 5

278

U\

B K
phn vng

Hnh 5-30:

--------------

Qu trnh
1i3

Cu TRC l KHIN PHN VNG

dng nc lnh ch c tc dng thu t hay nhiu nhit ca i tng. Ty theo

gi tr tc thi ca bin c iu khin, cng mt lc c th ch mt, nhng
cng c th nhiu bin iu khin (hoc nhiu phn t chp hnh) cng c la
chn can thip. Mc ch chnh ca iu khin phn vng l s dng phi hp
mt cch ti u cc thit b chp hnh, gim thiu chi ph iu khin, ng thi
gp phn ci thin tc v cht lng p ng ca h thng.
Cu trc iu khin phn vng c minh ha trn Hnh 5-30 cho trng hdp
ba bin iu khin. B iu khin phn vng a ra 3 tn hiu iu khin tng
ng Uu Vv v 1 * 3 , nhng thc cht 3 tn hiu ny khng phi hon ton c lp
m c tnh ton da trn mt th u t ton iu khin duy nht.
Trn Hnh 5-31 l s cu trc iu khin phn vng cho m t qu trnh
phn ng sinh nhit. Bnh thng, nhit phn ng c th c kim sot bi
mt dng nc lnh a qua lp v bc. tn g tc p ng, b iu khin
thng c chnh nh c tnh qu ca h thng c m t qu iu
chnh nht nh. iu ny dn n nhit phn ng c lc c th xung th p
hn gi tr t v gy nh hng xu ti qu trnh phn ng. V th, t a cn mt
ng hi nc c th nhanh chng a nhit phn ng tr li gi tr mong
mun. th ben phi trn hnh v minh ha th u t ton p h n vng cho iu
chnh m hai van da trn tn hiu u ra t b iu khin nhit T C .

H i n c
-

!
0

m van

u>2

- -M )
Uj

Db
Nc lnh

H nh 5-31:

KHIN N H I T PHN NG VI SCH

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

Vn thit k sch lc iu khin thng gn vi nhng c im c th ca

qu trinh cng ngh, v vy t c cp trong l thuyt iu khin t ng.
Nhng sch lc iu khin gii thiu trong chng ny ch yu nhm vo cc
qu trnh n bin, tuy nhin kh nng p dng ca n khng hn ch i vi
cc qu trnh a bin, v n thit k cu trc iu khin cho cc qu trnh a
bin s c cp chi tit hn trong chng 8 .
Trong cc ti liu cng nh trong thc t, cc khi nim cu trc iu
khin, sch lc iu khin v cu hnh iu khin hay c dng vi ngha
gn tng ng. S phn bit gia cu trc iu khin v cu hnh iu khin
c Skogestad v Postlethwaite ch ra trong [1] (chng 10). Cc ti liu tham
kho khc ([2]-[5]) khng a ra cc nh ngha chnh xc cho cc khi nim ny.
Nhng sch lc iu khin trnh by trong chng ny u l nhng ni
dung khng th thiu c trong mi cun sch c s iu khin qu trnh ([2 ][4]). Shinkskey cng l m t trong nhng ngi c rt nhiu ng gp v pht
trin v phn tch cc sch lc iu khin t gc nhn ca m t ngi lm ng
dng thc t [5]. Nhng v d p dng sch lc iu khin c bn cho cc qu
trnh tiu biu c Corripio trnh by mt cch rt d hiu trong [6]. Song
ngun ti liu phong ph n ht v vn ny vn l tc phm kinh in [7] do
Liptak ch bin.

T i liu t h a m k h o

[1 ]

Skogestad, s.; I. Postlethwaite: Multivariable Feedback Control. Wiley,

Chichester-New York, 1996.

[2]

Seborg,

D.E.;

T .F.

Edgar; D.A.

Mellichamp:

Process D ynam ics and

Control. 2nd Edition, Wiley, New York, 2004.

[3]

Smith, C.A.; A.B. Corripio: Principles and Practice o f A utom atic Process
Control. 3rd Edition, Wiley, 2005.

[4]

Marlin, T. E.: Process Control - Designing Process and Control System fo r

D ynam ic Perform ance. 2nd Edition. McGraw-Hill 2000.

[5]

Shinskey, F.G.: Process Control System s - Applicationy Design and Tuning.

3rd Edition. McGraw-Hill, 1988.

[6]

Corripio, A.B.: Design and Application of Process

Instrum ent Society of America (ISA), 1998.

Control Systems.

Chng 5

280

CC

SCH

Lc

IU

KHIN c s

[7]

Liptak, B. G. (ch bin): Process Control (Instrum ent

Handbook). 3rd Edition. Chilton Book Company, 1996.

[8]

McCabe, W.L.; J.c. Smith; Peter Harriott: Unit Operations o f Chemical

Engineering. 6 th Edition, McGraw-Hill, 2001.

5.9

E n g in eers

C u hi v b i t p

5.1

Hai nguyn l iu khin/sch lc iu khin c bn Iiht trong cc h thng iu

khin qu trnh l g? Phn tch cc u nhc im ca chng. a ra mt v d
minh ha.

5.2

Gii thch (minh ha bng hnh v) v phn tch cc u nhc im ca iu khin

n bin (iu khin phi tp trung v iu khin tch knh) v iu khin a bin.

5.3

Minh ha cu hnh iu khin mt bc t do v hai bc t do, so snh v phn tch

cc u nhc im. ngha ca mt bc t do hoc hai bc t do y l g,
c ging vi bc t do ca m hnh qu trnh khng?

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

in khin phn vng

v d cho:

vi cc v d cu 5.4, hy thay i sch lc iu khin s dng

iu khin truyn thng (b nhiu)

iu khin phn hi kt hp b nhiu

iu khin tng

iu khin tng kt hp h nhiu

5.6

Khi no ta nn s dng sch lc iu khin tng v khi no th khng nn?

5.7

Mc ch ca iu khin t l l g? Khi no th nn s dng sch lc iu khin t

l?

5.8

Cho v d iu khin nhit trn hnh v. Thit k cc sch lc iu khin

Phn hi thun thy

Truyn thng thun ty

Phn hi kt hp truyn thng

iu khin t l

Phn tch cc u nhc im ca tng sch lc.

5.9

CU

HI V HI T P

281
T,

5.9 Trn hnh v di y l lu qu trnh pha ch trc dng, yu cu iu khin l

lu lng khi ( w ) v thnh phn cht A ('XA2) trong sn phm.

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,

pha long v cht m c c lu lng th tch v nng ln lt l ( F , 0 ) v

(^ 2 C2), trong 6*2 > C|. Ba i lng cn c iu khin l mc, lu lng v
nng sn phm ra. Gi s h thng khuy hot ng hon ho. Cc lu lng
vo v lu lng ra c t.li can thip thng qua ba van iu khin
1. Xy dng m hnh (lng hc ca h thng, phn tch bc t do ca m hnh, xc
nh cc bin iu khin v nhiu.
2 . Vi cc gi tr thit k cho trng thi xc lp: sn phm c lu lng F = 600

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

phn tch nh hng ca tng u vo ti tng u ra (thng qua h s

khuch i ca tng cp vo/ra trng thi xc lp)

282

C hng 5

CC SCH Lc IU KHIN c s

3. Thit k sch lc iu chnh n bin ph hp cho h thng v l gii phng

n la chn. C th ha chiu tc ng cho cc van v b iu khin.
4. Nu bi ton t ra l cht m c i t mt qu trnh trc, khng th can
thip (hoc ng tn hiu a gi tr t xung b iu chnh lu lng dng
cht m c b mt, phi a gi tr t bng tay), th bc t do ca m hnh
c cho iu chnh t ng hon ton khng? Trong trng hp ny th ta nn
la chn sch lc iu khin nh th no v chp nhn mt mt g?.

Chng 6
c t n h cc t h n h p h n h th n g

Mt h thng iu khin qu trnh bao gm cc thnh phn c bn l b iu

kh in, thit b o, thit b chp hnh. c th thit k b iu khin v phn
tch cht lng h thng iu khin, ngi k s cn nm c cu trc c bn
v c tnh ca mi thnh phn ny. Hnh 6-1 minh ha li chc nng v quan
h gia cc th n h phn ca mt h thng iu khin phn hi trn s khi.
Tn gi cng nh k hiu vit t t cho cc bin qu trnh v tn hiu c a
ra trong mc 1.4 ca chng 1. S cu trc ny khng ph thuc vo gii
php thit b c th (v d s dng thit b iu khin s hoc tng t, truyn
tn hiu s hoc tn hiu truyn thng). Trong a s trng hp, mt bin c
iu khin (CV) cng l mt trong cc i lng c o (PV).
Mt im cn c bit lu l nhng ni dung trnh by trong chng 3 v
chng 5 nhn nhn h thng iu khin t pha qu trnh cng ngh ch khng
phi t pha b iu khin. V d, t a ni rng lu lng l m t bin iu khin
v nhit l m t bin c iu khin, nhng thc cht cc u vo v u ra
ca b iu khin ch l nhng tn hiu mang thng tin v nhit v lu lng.
M hnh qu trnh nhn t pha b iu khin phi m t quan h gia cc u
ra v u vo ca b iu khin, c ngha l bao gm c c tnh ca qu trnh
cng ngh, cc thit b o, cc thit b chp hnh v cc b chuyn i khc.

Hnh 6-1:

Cu TRC c BN CA MT H THNG lu KHIEN

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

Mt thit b o qu trnh c nhim v cung cp thng tin v din bin ca qu

trnh k th u t v cho u ra l mt tn hiu chun, c u trc c bn ca mt
thit b do qu trnh c minh ha trn Hnh 6-1. T h n h phn ct li ca mt
thit b o l cm bin. Mt cm bin (sensor) c chc nng chuyn i mt i
lng vt l - v d nhit , p sut, mc, lu lng, nng - sang mt tn
hiu, thng thng l in hoc kh nn. Mt cm bin c th bao gm m t hoc
vi phn t cm bin (sensing element), trong mi phn t cm bin li l
mt b chuyn i - t m t i lng ny sang mt i lng khc d x l hn.
Tn hiu ra t cm bin thng rt nh, cha truyn c xa, cha sai s do
chu nh hng ca nhiu hoc do nhy km ca cm bin, phi tuyn vi i
lng o. V th, sau phn t cm bin ngi t a cn cc khu khuch i,
chuyn i, lc nhiu, iu chnh phm vi, b sai lch v tuyn tnh ha. Nhng
chc nng c thc hin trong mt b chuyn i do chun (transm itter).
Mt b chuyn o i chun ng vai tr l mt khu iu ha tn hiu, nhn
tn hiu u vo t m t cm bin v cho u ra l mt tn hiu chun c th
truyn xa v thch hp vi u vo ca b iu khin. Trong thc t, nhiu b
chuyn i o chun c tch hp lun c phn t cm bin, v vy khi nim
tran sm itte r cng c s dng ch c thit b o.

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

Trn Hnh 6-3 l m t vi hnh nh thit b o cng nghip. B chuyn i o

c gn km nhng cng c th tho ri v thay th m t cch d dng. Bn
cnh , mn hnh LCD nh cng c tch hp cho mc ch hin th gi tr o
v cc thng s khc.
C ht lng v kh nng ng dng ca mt thit b o ph thuc vo nhiu
yu t m t a khi qut l cc c tnh thit b o, bao gm c tnh vn hnh,
c tnh tnh v c tnh ng hc. c tnh vn hnh bao gm cc chi tit v
kh nng o, chi tit vn hnh v tc ng mi trng. c tnh tnh biu din
quan h gia i lng u vo v gi tr tn hiu u ra ca thit b o trng
thi xc lp, trong khi c tnh ng hc biu din quan h gia bin thin u
vo v tn hiu ra theo thi gian. c tnh tnh lin quan ti chnh xc khi gi
tr ca i lng o khng thay i hoc thay i rt chm. Ngc li, c tnh
ng hc lin quan ti kh nng plmn ng ca thit b o khi i lng o thay
i nhanh.

6.1.2

c tn h v n h n h

P h m vi o v d i o

P hm vi o (range) l phm vi gi tr danh nh ca i lng o m m t thit

b o c s dng theo quy nh. Mt phm vi o c xc nh bi gii hn
di (X m in) v gii hn trcn (rCmax). Gii hn di cn c gi l im khng. Di
o (span) c nh ngha l khong cch gia gii hn trn v gii hn di ca
phm vi o:

S j Xy

( 6 .1)

286

hng

C TNH CC THNH PHAN

THNG

Trn Hnh 6-4 l c tuyn l tng ca mt thit b o nhit , trong quan

h gia i lng o (nhit T) v tn hiu o (y) c coi l tuyn tnh.
P h m vi o l t 100 c ti 400 c, di o tng ng l Sy = 300 c.
P h m vi o v di o nh ngha nh trn da trn khong bin thin cho
php ca gi tr o, v th cn c gi l phm vi u vo (in p u t range) cng
nh di u vo (input span). Bn cnh , ta cng c cc nh ngha tng t
cho phm vi u ra ( output range) v di tn hiu ra hay di u ra ( output
span). P hm vi u ra ca mt thit b o chnh l phm vi tn hiu ra ca b
chuyn i o. a s cc b chuyn i chun s dng trong iu khin qu
trnh cho u ra theo chun dng 4-20 mA, vi 4 mA tng ng vi 0% v 20
mA tng ng vi 100% phm vi o. Chun dng 4-20 mA c m t s u im
nh:
K h nng truyn xa, khng b nh hng bi tr khng cp truyn
K h nng phn bit gia trng hp li t cp vi trng hp tn hiu ra
t gii hn di.
K h nng m ang ngun nui cho cc thit b mc ni tip.
Bn cnh , cc dng tn hiu in truyn thng khc cng c s dng
nh 1-5 V, 1-10 V v 10-50 mA. T n hiu kh nn chun l 0.2-1 bar (20-100
kPa), tuy nhin ngy cng t c s dng hn. Ngy nay, phng thc truyn
tn hiu s qua bus trng ngy cng c ng dng rng ri. i vi m t thit
b o thng minh ghp ni qua bus trng, s liu truyn i l gi tr trc tip
ca i lng o cng vi n v vt l, nn ta c th coi phm vi u ra tr ng
vi p hm vi o. Bn cnh kh nng giao tip s, cc thit b o thng minh cn
c kh nng x l thng tin ti ch rt mnh.

(im khng)
H nh 6-4:

T [C

Minh ha cho khi nim phm VI O V DI O

6 .1

T h i t b o

287

p h n gii

Khi gi tr ca m t bin o bin thin lin tc trong phm vi o, mt s thit b

o cho tn hiu ra thay i It cch ri rc thay v lin tc. Trong trng hp
ny, phn gii ca thit b o c nh ngha l m t bc thay i ca tn
hiu ra. Khi kch c cc bc thay i khng c nh th bc thay i ln n h t
c gi l phn gii cc i. thun tin, phn gii thng c biu
din bng t l phn trm so vi di tn hiu ra ca thit b. phn gii trung
bnh biu din theo t l phn trm ca di tn hiu ra c tnh theo cng thc:
phn gii trung bnh (%) =
trong N l tng s bc thay i trong ton phm vi o.
tin cy

tin cy (reliability) ca mt thit b o l xc su t m thit b hot ng tt

qua m t khong thi gian trong mt s iu kin quy nh chun. Cc iu kin
tin cy bao gm gii hn mi trng lm vic, vt phm vi v lch u ra
cho php. M t khi gi tr i lng o qu phm vi ( overrange), thit b o
khng quay tr li trn g thi lm vic bnh thng ngay lp tc sau khi khng
cn qu ti, m cn m t khong thi gian hi phc (recovery tim e). Gii hn
qu phm vi l qu phm vi ti a m t thit b o chu ng c m khng
dn ti h hng hoc thay i c tnh o mt cch vnh vin. Nh vy, m t
iu kin lm vic tin cy l gi tr i lng o khng c php nm ngoi gii
hn qu phm vi ca thit b.
lch hay tri {drift) l mt thay i khng mong mun qua m t
khong thi gian lm vic quy nh. Tri im khng (zero drift) l s thay i
tn hiu u ra ca thit b o khi gi tr i lng o c gi c nh ti im
khng. Lch nhy (sensitivity drift) l s thay i nhy ca mt thit b
o ( cp ti trong phn sau) qua mt khong thi gian quy nh. Hin tng
tri im khng d n ti c tuyn tnh b y ln hoc xung, trong khi lch
nhy lm thay i dc ca n.
T c n g c a m i tr n g
iu kin lm vic ( operating conditions} ca mt thit b o bao gm nhit
v p su t bn ngoi, p su t dng chy, cc trng in t, gia tc, rung v
v tr lp t. G ii hn lm vic ( operative lim its) l phm vi cc iu kin lm
vic m khng gy ra h hng thit b. Tc ng ca nhit c th xt ti
thng qua tri im khng hoc lch nhy. Tri im khng do nh it l s
thay i tn hiu ra ti gi tr khng ca mt thit b o khi nhit xung
quanh thay i. Tng t nh vy, lch nhy do n h it l s thay i nhy
ca m t thit b o khi c thay i nhit mi trng.

288

6.1.3

hng

C TNH C C T H N H PHN

THNG

c tn h tn h

c tnh tnh lin quan ti chnh xc ca mt thit b o trong iu kin

phng lm vic vi i lng o khng thay i hoc thay i rt chm. Thc
cht, thit b o cng l mt khu ng hc, v vy c tnh tnh phn nh quan
h gia i lng o u vo v tn hiu u ra trng thi xc lp.
Sai s v c h n h x c

Sai s o l sai lch gia gi tr quan st c vi gi tr thc ca i lng o.

Sai s o thng gm hai thnh phn l sai 30 ngu nhin v sai s h thng.
Sai s ngu nhin c th c nguyn nhn do c tnh bt nh ca th i t b hoc
do tc ng ca nhiu tc thi. Sai s h thng c nguyn nhn t cc c tnh
vn hnh ( phn gii, tri im khng, lch nhv, iu kin s dng khc
iu kin chun) v tnh phi tuyn ca thit b.
chnh xc l mc ph hp ca u ra ca mt thit b o so vi gi tr
thc ca i lng o xc nh bi mt s tiu chun. chnh xc c nh
gi thng qua th nghim thit b o vi m t quy trnh c bit trong iu kin
quy chun. chnh xc c biu din da trn sai s m v dng ln nht
thng qua mt trong cc cch sau y:
chnh xc tu y t i xc nh theo i lng o, v d H-1C/-2C

chnh xc tng i theo

phn trm ca di o, v d 0.5% di

chnh xc tng i theo

phn trm ca tn hiu ra, v d 1%.

Qui trnh xc nh chnh xc ca m t thit b o v thc hin hiu chun

cho ph hp vi ng dng v nu cn thit thc hin bi trong th u t to n iu
khin c gi l nh chun (calibration). Cng vic nh chun bao gm xc
nh mi quan h gia cc gi tr ca i lng o v tn hiu o q ua ba vng
th nghim cho ton b phm vi o theo c hai chiu thay i ca i lng o,
tnh ton cc gi tr trung bnh, gi tr sai s v biu din cc s liu nh chun
di dng bng (bo co nh chun) hoc ha ( th nh chun). th
nh chun cn c gi l c tuyn vo-ra ca thit b o, m t c tnh tnh
ca thit b. Mt v d th nh chun c minh ha trn Hnh 6-5.
Di ch t v tr

Di cht ( deadband) ca m t thit b o l thay i nh n h t ca i lng o

theo chiu ngc li m thit b o c th p ng vi tn hiu u ra thay i.
Di cht cn c gi l ngng nhy ( threshold). tr (hysteresis) l s khc
nhau trong p ng ra vi cng thay i u vo nhng theo hai chiu khc
nhau. Hiu ng di cht v tr to ra hai ng dc tnh khc nhau cho mi
chiu thay i ca i lng o, nh minh ha trn Hnh 6-5.

6.1

hit

289

b o

u vo [%]
Hnh 6-5:

TH DNH CHUN M T DC TNH TNH CA THIET

b o

T n h tr u n g th c v k h n n g ti to

T n h trung thc hay cn gi l kh nng lp li (repeatability) ca mt thit b

o l lch ln nht ca cc gi tr quan st c sau nhiu ln lp li so vi
gi tr trung bnh ca mt i lng o. T nh trung thc cng l mt ch s cho
s tn mn ca cc php o. Lu rng, tnh trung thc khc vi chnh xc
(Hnh 6- 6 ). Mt thit b o c tnh trung thc cao khng n h t thit s chnh xc,
tuy nhin int thit b c chnh xc cao nht thit phi trung thc.

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

(b) Trung thc

Km chnh xc

Gi tr thc
(c) Trung thc
Chnh xc

s KHC NHAU GIA TNH T R U N G T H C V CHNH x c

290

hng

C TNH CC T HN H PHN H T H N G

Mt khi nim tng t vi tnh trung thc hav kh nng lp li l kh nng

t i to ( r e p r o d u c i b i l i t y ). K h nng lp li c xc nh khi p dng cho mt i
lng u vo vi gi tr bin thin theo cng mt chiu (tng dn hoc gim
dn) cho ton b phm vi o. Trong khi , kh nng ti to c xc nh l
khong cch ln n h t gia cc u ra cho cng mt u vo. th nghim trong
m t khong thi gian di v vi cc gi tr o bin thin theo c hai chiu. K h
nng ti to bao hm kh nng lp li, di cht, tr v tri.
tu y n tn h

M t thit b o l tng cho tn hiu ra tuyn tnh vi i lng o u vo, tc

nhy khng ph thuc vo gi tr i lng o v chiu tn g gim ca i
lng o cho ton phm vi o. Quan h v o r a ca m t thit b o tuyn tnh
c th hin qua phng trnh c tuyn:

^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

nhy ( s e n s i t i v i t y ) hay h s khuch i tnh ca m t thit b o ti m t gi

tr o X l t l gia thay i tn hiu ra v thay i i lng u vo tng
ng trng thi xc lp:

( 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

V d 6-1: Mt tlit b o p sut c c tnh tuyn tnh, phm vi o t 20 n 220

psig v phm vi tn hiu ra t 4 n 20 liA. Phng trnh c tuyn vo-ra cho tn
hiu o cha chun ha l:
y(mA| = i ^ ( / > - 2 0 ) + 4 = 0.08P + 2.4

H s khuch i tnh hay nhy ca thit b l kn = 0.08 [mA/psig]. Chun ha

tn hiu o theo phn trm ca di tn hiu ra, ta c
2/[%] =

- 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

Vic tuyn tnh ha c tnh mt thit b o c thc hin bng cch a ra

m t c tuyn xp x t ng cong nh chun. lch ln n ht so vi ng
thng th hin bng t l phn trm ca di o c gi l lch tuyn
tnh. Mt s phng php tuyn tnh ha thng dng c minh ha trn Hnh
6-7, bao gm:
Tuyn tnh ha tng on: ng cong nh chun c xp x bng mt
ng gp khc xy dng t cc ng tip tuyn ti nhng im lm vic
c la chn.
Tuyn tnh ha c lp: ng cong nh chun c xp x bng m t ng
thng sao cho gi tr tuyt i ca sai s ln nht c cc tiu ha. ng
thng ny s nm gia hai ng thng song song bao ng cong nh
chun.

Tuyn tnh ha theo im khng: ng xp x tuyn tnh i qua im u

ca ng cong nh chun (im khng) v c dc sao cho gi tr tu y t
i ca sai s ln nht c cc tiu ha.

Tuyn tnh ha theo im u-cui: ng xp x tuyn tnh i

u v im cui ca ng cong nh chun.

q u a im

Tuyn tnh ha bnh phng cc tiu: ng xp x tuyn tnh c xc nh

sao cho tng bnh phng cc sai s l cc tiu.

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 [%]

MT s PHNG PHP TUYN TNH HA C TNH THIET b o

c tn h n g hc

Khi gi tr i lng o t thay i hoc thay i rt chm, tn hiu o ch ph

thuc vo gi tr u vo v ta ch cn quan tm ti c tnh tnh ca thit b
o. Tuy nhin, tn hiu u ra s khng th p ng ngay vi s thay i tng
i nhanh ca di lng o. Quan h ph thuc ca tn hiu u ra vo c i
lng o v bin thi gian c gi l c tnh ng hc ca thit b o. c
tnh ng hc ca hu ht cc thit b o c th c m t bng mt phng
trnh vi phn cp m t hoc cp hai. Coi c tnh ca thit b o l tuyn tnh,
ng hc ca n c th c biu din vi mt khu qun tnh bc nht:
Gm(s) =

x(s)

1+

(6.4)
T.9

hoc mt khu bc hai n nh:

(6.5)
Ni chng, c tnh ng hc ca mt thit b o c nh hng t nhiu ti
cht lng iu khin. Nu hng s thi gian r trong hai m hnh trn r t nh so
vi hng s thi gian ca qu trnh cng ngh, hay ni cch khc l php o c
ng hc nhanh hn nhiu so vi ng hc ca qu trnh, ta c th b q u a qun
tnh ca thit b o v coi c tnh ca thit b o nh mt khu khuch i
thun ty. Ngc li, nu hng s thi gian ny khng nh hn nhiu so vi
hng s thi gian ca qu trnh, t a c hai phng n gii quyt: i) a m hnh
ng hc ca thit b o vo m hnh qu trnh v ii) vn ch s dng m hnh
tnh ca thit b o v coi sai s ng gy ra l nhiu o.

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

Thi gian dp ng 95%

20 - /

-/

Thi gian ln 10-90% j

294

hng

C T NH C C T H N H P HA N

THNG

p ng tn hiu dc

p ng tn hiu dc cho t a hiu r thm v c tnh ng hc ca cc thit b

o trong trng hp gi tr o thay i chm nhng lin tc. Hnh 6-9 m inh ha
mt ng c tnh p ng tiu biu ca mt thit b o. G i tr i lng u
vo tng lin tc vi m t dc c nh trc khi t gi tr n nh. Trong khi
u vo cn thay i, u ra o c lun b tr mt khong thi gian. Hai
thng s c trng y l tr ng v sai s ng, nh c minh ha trn
hnh v.

i lng o c

S a i s ng ti
thi im 2

tj

t2
Thi gian

H n h 6 - 9 :

P NG TN HIU D c TIU Bu CA MT THIT b do

p n g t n s

Trong phn tch v thit k h thng iu khin, hm truyn t v c tnh p

ng tn s l cc phng php m t h thng c bit hu ch. c tnh tn s
ni ln kh nng p ng ca thit b o vi thay i u vo cng n h vi Un
hiu nhiu cc di t n s khc nhau. i vi cc thit b c c tnh qun tnh
bc nht, t a cn quan tm ti tn s gy (com er frequency), tc l t n s m t.i
dc ca dng c tnh tn logarith trn th Bode thay i ln ( dc
ca ng gp khc tim cn xp x thay i t 0 sang -2 0 d B /d ec , Hnh 6-10).
Thit b o ch p ng tt vi cc thay i du vo nm trong di tn th p
hn t n s gy. Tuy nhin, t n s gv qu ln cng khng n h t th i t l t t bi
thit b o s r t nhy cm vi nhiu (thng c di t n cao). i vi m hnh
qun tnh bc nht th tn s gy chnh l nghch o ca hng s thi gian:
(Jjb = 1 / t . Mt thit b o c qun tinh ln th t b nh hng ca nhiu hn
mt thit b c qun tnh nh. y cng l mt im quan trn g trong vic la
chn kiu b iu khin sau ny.

6 .1

295

T h i t b o

th Bo de

Tn s (rad/s)
Hnh 6-10:

6.1-5

C TNH TAN s TIU BIU CA MT THIT

b o

K h i q u t m t s cm bin cng n g h ip

Bn cnh nhiu yu t khc nhau nh iu kin vn hnh v cht lng hiu

chun ca b chuyn i o, dc tnh ca mt thit b o - c bit l c tnh
ng hc - ph thuc ch yu vo phng php o hay ni cch khc l ph
thuc vo loi cm bin c s dng.
6.1.5.1 C m b i n n h i t

Cm biu nhit c s dng rt rng ri trong iu khin qu trnh, khng

nhng o cc i lng qu trnh nhit, m cn gip cho nhiu loi cm bin
khc c th tn h ton b nh hng ca nhit . Hu ht cc cm bin nhit
cho tn hiu u ra t l thun vi thay i nhit , ch trong mt s t trng
hp quan h ny l t l nghch.
a s cc phng php o nhit trong cng nghip da trn hin tng
truyn nhit: tru y n nhit do tip xc (dn nhit) hoc khng tip xc (bc x
nhit). Nhit c truyn t i tng sang u o, gy ra cc hiu ng c hc

296

hng

C TNH C C T H N H P HN H T H N G

hoc in hc, da vo cm bin c th chuyn i v cho ra tn hiu in.

Thc cht, nhit o c l nhit ca u o sau khi din ra s trao
i nhit gia i tng, u o v mi trng xung quanh. V th chnh xc
ca php o ph thuc vo nhiu yu t, cn c bit lu trong vic iu ha
tn hiu v x l s liu sau ny.
Ba loi thang o nhit thng dng l thang Kelvin (K) thang Celsius (C)
v thang Fahrenheit (F), trong thang Kelvin v th an g Celsius nm trong h
dn v chun SI. T h an g Kelvin cn c gi l thang nhit tu y t i. Ba
thang o c so snh trong Bng 6-1.
B n g 6-1:

Chuyn Di GIA CC DON V DO NHIT D

Kelvin (K)

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

Cc cm bin nhit thng dng c th c phn th n h bn loi da trn

cc tnh cht vt l c bn nh sau:
Cc n h it k gin n: Gin n mt cht theo nhit lm th ay i chiu di,
the tch hoc p sut, v d nhit k thy ngn v nhit k lng kim.
Cc n h it k in tr: in tr thay i theo nhit , s dng trong nhit
in tr kim loi (resistance temperature detector, R T D ) hoc nhit in tr
bn dn ( therm istor).
Cp n h it ( therm ocouple, T): in th thay theo nhit ti im tip xc
gia hai kim loi khc nhau, v d niken v crom, niken v ng.
Ha k (p yrom eter): Bc sng nhit bc x thay di theo nhit , v d
ha k bc x p dng cho o nhit cao (qu trnh t chy).
Dc tnh ca mt s cm bin nhit c th coi l tuyn tnh, v d RTD
hoc cp nhit. Trong nhng trng hp khc (v d therm istor), ngi t a c th
thc hin cc mch b n gin trong b chuyn i o hoc thc hin th u t
ton b trong th u t ton iu khin da vo th nh chun. Hu ht cc
php o nhit c qun tnh ln, t chu nh hng ca nhiu t n s cao.
6.1.5.2 C m b i n p s u t

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

n v o chun ca p sut theo h thng SI l N ew ton trn m t vung

( N /m 2) hay Pascal (Pa), tuy nhin n v kPa c s dng nhiu hn v trong
thc t m t Pa l qu b. Bn cnh , cc n v p su t khc cng rt thng
dng, v d psi (pounds per square inch, 6.895kPa), bar (lOOkPa), atmophe (14.7
psi), WG (water gauge, tc chiu cao ct nc) hoc to w (chiu cao ct thy
ngn). Chuyn i gia cc n v thng dng c lit k trong Bng 6-2.
B ng 6-2:
n v

C huyn i

gia cc dn v p st thng dng

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

Cc cm bin o p sut cng nghip c th c phn loi nh sau:

Cc cm bin n hi hai phn t: Phn t cm bin s cp bin i p sut
th n h dch chuyn da trn tnh cht l n hi, v d nh ng Bourdon,
m ng rung, m ng chn v capsule. Phn t th cp l mt cm bin dch
chuyn, chuyn i dch chuyn thnh mt tn hiu in, v d chit p.
cm bin sc cng (strain gauge), cm bin cm ng, cm bin t in, bin
p vi sai (linear variable differential transform er, LVTD).
Cc cm bin p iezo : S dng cc phn t cm bin s cp l tinh th thch
anh c hiu ng p tr (piezo-resistive) hoc p in (piezo-electric). Khi tc
n mt lc ln tinh th thch anh, hiu ng p tr gy nn s thay i in
tr ca tinh th thch anh, trong khi hiu ng p in gy nn tch in khc
du trn hai h m t tinh th thnh anh.
Cc cm bin chn khng: Thng thc hin cc php o gin tip d a trn
nguyn l truyn nhit (chn khng k Pirani) hoc ion ha cht kh (chn
khng k ion ha).
Ni chung, cc cm bin p sut thng c c tnh ng hc r t nhanh, nn
trong a s trng hp ta c th b qua qun tnh ca chng v coi thit b o
p su t nh mt khu khuch i thun ty. Tuy nhin, cng chnh v c tnh
nhanh nhy nn php o p sut thng chu nh hng nhiu ca nhiu.
6.1.5.3 C m b i n lu l ng

Lu lng ca m t lu cht l lng :ht lng hoc m t cht kh i qua m t v

tr ca ng ng dn kn hoc mt knh dn h trong m t n v thi gian.

298

hng

TNH CC T H N H PHAN

h thng

Lu lng ca m t cht rn c tnh bng m t n v khi lng vn chuyn

ti trong mt n v thi gian. Lu lng l chnh l i lng iu khin c
s dng nhiu nht tc ng ti din bin ca qu trnh k th u t, v th php
o lu lng l mt phn khng th thiu c trong mi h thng iu khin
qu trnh cng nghip. Cc cht rn thng c vn chuyn trn cc h thng
bng ti, lu lng ca chng thng c o gin tip bng cc cm bin trng
lng v cm bin vn tc. Trong phn di y ta ch quan tm ti lu lng
ca cc cht lng hoc cht kh.
Lu lng c th din t thng qua i lng th tch hoc khi lng. Lu
lng th tch ti m t thi im c nh ngha l o hm ca th tch cht
lu i qua mt v tr theo bin thi gian:
F = . . lim
dt
*0 A t

( 6 .6 )
}

Lu lng th tch c n v chun l m 3/ s > song ngi t a cng c th biu din

bng lt/s, lt/pht.,... Lu lng th tch ca cc cht kh v cht lng ph thuc
rt nhiu vo p sut v nhit , v vy ngi ta c th a ra theo m t gi tr
chun vi quan h sau:
pT
F = ^rF 0
PT u

(6.7)
v '

trong F[) l lu lng th tch chun ti p sut P) v nhit tuyt i To, F

l lu lng th tch o c ti p sut p v nhit tuyt i T.
Lu lng khi litng c n v chun l kg/s, tuy nhin m t n v khc
cng c s dng. Lu lng khi lng w c quan h vi lu lng th tch F
c din t thng qua khi lng ring: w = pF .
Cn lu phn bit gia lu lng v tc dng chy hay lu tc. Nu gi
thit l lu tc V c gi tr nh nhau qua mi im thuc m t tit din A , t a c
quan h:
F

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

Trong thc t, cc cm bin lu lng hu nh hao gi cng c gn km b

chuyn di o trong mt thit b o gi l lu lng k. Mt vi loi lu lng
k tiu biu l:
Lu lng k chnh p: o gin tip thng qua php o chnh p da trn
quan h gia lu lng (lng chy v chnh lch p sut qua mt c cu
thu hp ng ng. v d ng venturi, bn l nh c (orifice plate), ng
Pitt.

Lu lng k turbin: o gin tip thng qua tc quay da trn quan h

gia lu lng dng chy v tc quay tu r bin.

Lu lung k in t: o mt i lng in da trn thay i in dung

hoc in cm khi lu lng dng chy thay i.

Lu lng k siu m: o khng tip xc s dng m t sng siu m

nh vn tc dng chy da trn hiu ng Doppler, t tnh ton

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

Mc cht lng trong cc hnh cha lun lun l m t i lng cn iu khin.

Trong rt nhiu trng hp, ngi ta i hi vng iu khin mc phn ng rt
nhanh duy tr gi tr mc c nh nhm gim tng t c ti nhng vng iu
khin khc chm hn. Tuy nhin, php o mc thng khng i hi chnh
xc cao nh p sut, lu lng, nhit v nng . Cc phng php o mc
cht lng thng dng c th c phn loi nh sau:
Phng php tip xc b m t S dng phao, que d v cc phn t cm bin
chuyn.
Phng php in hc: Da trn cc hin tng thay i in dung hoc in
cm.
Phng php chnh p. Da trn php o chnh lch p sut gia hai v tr
c cao khc nhau trong bnh.
Phng php siu m: S dng mt cm bin siu m t trn np bnh cha
v xc nh khong cch gia b m t cht lng v np.

300

hng

C TNH CO T HN H PHN

h thng

Phng php o khi lng: S dng cm bin trng lng v tnh to n ra

cao cht lng.
6.1.5.5 C m b i n n n g

Trong t t c cc php o th php o nng l phc tp nh t, tn km nht,

chm n h t nhng li i hi chnh xc cao nht. Trong thc t ngi ta s
dng r t nhiu phng php o khc nhau, trong o khi lng ring, pH,
d nht, ghi sc k (gas-ligquid chromatography, GLC), php o ph v hp th
bc x (cc tm, siu m. nh sng thng) l cc phng php thng dng
nht. S la chn phng php o ph thuc r t nhiu vo c im ring ca
tng lu cht. Nhiu php o phn tch cn s phi hp ca nhiu phng php
khc nhau. V s phc tp nv nn ta s khng cp tip ti chng y.

6.2

T h i t b c h p h n h v v a n i u k h i n

Mt h th n g /th i t b chp hnh ( actuator system , final control element) c chc

nng can thip ti bin iu khin theo tn hiu u ra ca b iu khin. Hnh
6-11 minh ha cu trc c bn ca m t thit b chp hnh. T h n h phn can
thip trc tip ti bin iu khin c gi l phn t iu khin ( control
elem ent), v d van t l, van on/off, tip im, si t, bng ti. Phn t iu
khin c truyn nng lng, truyn ng t c cu chp hnh (actuator), v
d cc h thng ng c, cun ht v c cu kh nn, th y lc. Trong cc h
thng iu khin q u trnh thi hu ht bin iu khin l lu lng, v th van
iu khin (control valve) l thit b chp hnh tiu biu n h t v quan trng
nht. V an iu khin cho php iu chnh lu lng ca m t lu cht qua ng
ng dn t l vi tn hiu iu khin. Trong ni dung sau y t a tp tru n g vo
cc yu t c bn ca m t van iu khin.

H nh 6-11: Cu TRC c BN CA MT THIT

6.2.1

b chp hnh

C u tr c c b n c a v an iu k h in

Mt van iu khin bao gm th n van c ghp ni vi m t c ch chp hnh

cng vi cc ph kin lin quan. Trn Hnh 6-12 l hnh nh m t ct ca m t
van cu kh nn vi c ch truyn ng mng rung-l xo. P h n thn van cng

6.2

h i t

b c h

hnh

van

iu

301

KH n

Mng chn

C ch chp hnh van

{valve actuator)

Ch th hnh trnh
Cn van (stem)

Thn van ( valve body)

Cng lu cht vo

Cng lu cht ra

Clit van
(closure member, trim)
Hnh 6 -1 2 :

Chn van
(valve seat)

Cu THC TIU Blu CA MT VAN CU KH NN

cc ph kin c gn vi ng ng, ng vai tr l phn t iu khin. m

van v lu lng qua van c xc nh bi hnh dng v v tr cht van. T a c
th phn loi van da theo th it k v kiu chuyn ng ca cht van nh sau:

Van cu (globe valve): Cht trt, c u hnh cu hoc hnh nn, chuyn
ng ln xung

Van n t (plug valve): Cht xoay hnh tr (c c cc l theo chiu ngang)

hoc mt phn hnh tr

Van bi ( ball valve): Cht xoay hnh cu (c c cc l theo chiu ngang) hoc
m t phn hnh cu

Van bm (butterfly valve). Cht xoay hnh a

C cu chp hnh van c nhim v cung cp nng lng v to ra chuyn

ng cho cht van thng qua cn van (i vi chuyn ng trt) hoc tr c van
(chuyn ng xoay). P hn ln van iu khin cng nghip c cp ngun kh
nn, song m t s ngun nng lng khc nh in, in t hoc thy lc cng c
th c s dng. T a c th phn loi van da theo theo c ch truyn ng nh
sau:

302

hng

C TNH C C T H N H PHN H T H N G

Van kh nn\ Loi ph bin nht, truyn ng kh nn s dng m ng c h n /l

so hoc piston. T n hiu u vo c th l kh nn, dng din hoc, tn hiu s
(bus trng). Nu tn hiu iu khin l dng in, t a cn h chuyn i dng
in-kh nn (I /P ) tch hp bn trong hoc tch ring bn ngoi.

Van in: C ch chp hnh s dng ng c servo hoc ng c hc, c

iu khin trc tip t tn hiu u ra ca b iu khin, thng thng l
dng in tng t 4-20 rnA hoc tn hiu s. Van in c s ng trong
nhng ng dng cng sut nh i hi chnh xc cao.

Van thy lc: C ch chp hnh s dng h thng bm du kt hp m ng

chn hoc piston, bm du c iu khin bi tn hiu ra t b iu khin.
Van thy lc c s dng cho cc ng dng cng su t ln.
Van t: C ch chp hnh cun ht kt hp l xo, lc nn yu v chnh
xc km, ch ph hp vi cc bi ton n gin.
Trn Hnh 6-13 l hnh nh mt s kiu van iu khin cng nghip ca
Fisher Control v Baumann. a s cc nh cung cp van iu khin cho php la
chn phn c ch chp hnh v phn th n van m t cch ring bit.
II

Van bi (Fisher Control)

H n h 6-13:

MT

s HNH NH VAN l u KHl N CNG N G H I P

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

P hn ln van iu khin cng nghip c thit k c tnh an ton c hc. c

ngha l khi khng c tn hiu iu khin (v d do m t ngun) th van hoc phi
ng hon ton hoc phi m hon ton Iign chn nguy c xy ra tai nn.
V d. mt van kh Iin c s dng l so th cht van s c ko v v tr ban
u nu 'm t ngun nng lng cung cp. Nhng khng phi van no cng c
tnh an ton c hc, v d van in hoc van kh nn khng s dng l so i lc
s gi nguyn v tr m van sau khi m t tn hiu iu khin hoc m t ngun
nng lng cp.
Hnh 6-14 minh ha cc hnh thc biu din kiu tc ng cho van iu khin.
Chiu mi tn ch xung hng ti thn van th hin kiu van l ng an ton
(fail-closed, FC hoc air-to-open, A O ), cn khi mi tn ngc li ch th kiu m
an ton (fail-open, FO hoc air-to-close, AC). S la chn kiu tc ng ca van
thun ty da trn nguyn tc m ho an ton trong trng hp m t tn hiu
iu khin hoc m t ngun nng lng cp. Hnh 6-15 minh ha v d h thng
thp chng ct hai sn phm. T a cn chn van ng an ton (FC) cho dng sn
phm y trnh lm cn thp, trong khi chn van m an ton (FO) cho dng
sn phm nh trnh ngp bnh ngng dn ti tng p sut trong thp. Kiu
tc ng ca van cp hi nc hu nh bao gi cng c chn l ng an ton
tr n h tnh trng qu nhit. Ngc li, van cp nc lm lnh li cn m an
ton gim nhit v girn p sut trong thp.

a) V an ng an ton

b) Van m an ton

H nh 6-14: Biu TNG V K HIU CHO KIU TC DNG CA VAN iu KHIEN

S la chn kiu tc ng ca van iu khin nh hng ti la chn h s
khuch i ca b diu khin phn hi sau ny. Van ng an ton c m van
ln hn khi tn hiu iu khin tng, trong khi van m an ton c m van nh
hn khi tn hiu iu khin tng. Lu khi nim chiu tc ng ca bn thn
van iu khin c nh ngha trong cc ti liu chun da theo chiu chuyn
ng ca cht van. Chiu tc ng thun c nh ngha l m van gim khi
tn hiu iu khin tng (c ngha l cn van chuyn ng theo chiu thun t
trn xung di i vi van trt). Chiu tc ng nghch c nh ngha l
m van tng ln khi tn hiu iu khin tng (cn van chuyn ng theo chiu
nghch t di ln trn i vi van trt).

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

ki tc ng van cho qu trnh thp chng luyn

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

i vi cht lng ch chy dng ta c cng thc

F = C J ( p) . R

(p ) = F / F nmx

9s

trong
F Ap Cv gs f(p ) -

lu lng th tch ca cht lng qua van (gpm, gallons/p h t)

p sut st qua van (psi)
h s c van
trng lng ring ca cht lng (=1 i vi nc 15 C)
phn lu lung m van p so vi lu lng ti a (p = 1)

( 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

Lu lng m t lu cht qua ng ng c iu tit bng cch thay i m

van. Nhng khi lu lng thay i th p sut tn th t qua ng ng v qua
cc thit b q u trnh thay i, p sut ca bm cp cng c th thay i theo,
dn ti chnh lch p sut qua vail cng thay i. Do , mt van c c tnh
tuyn tnh c hu sau khi lp t s khng cn tuyn tnh na. Tri li, m t van

V
H n h 6-16:

C C C TNH DNG CHY c

Hu

306

hng

TNH CC T H N H P HN I T H N G

C c tnh phn trm bng nhau nu c tnh ton v la chn hp l li c

th cho c tnh lp t gn tuyn tnh trong phm vi lm vic yu cu. V d
sau y s minh ha cho iu ny.
V d 6-2: Mt my bm cp Iic to p sut khng thay i P\ = 40 psig cho mt
thit b trao i nhit nh minh ha trn Hnh 6-17. Mt van iu khin c t sau
thit b trao i nhit. Gi thit ng ng sau van l m, nn c p sut c nh P'i
= 0 psig. Van c chn sao cho ti ch lm vic bnh thng vi m van p =
0.5, lu lng t F = 200 gallons/pht. Thit b trao i nhit c thit k vi tn
hao p sut ti lu lng l APS(F) = 30psi. Nh vy, chnh lch p sut qua van
cn li l APV(F) = 40 - 30= 10[psi]. Nh vy, nu chn van tuyn tnh, h s c van
phi l:
^ _

F
pJKPv

Oil I- I

200
0.5\/

12.5

inr?c

Khi ta thay i m van lu lng gim xung cn 25% (tc F = 50 gal/min),

st p ti thit b trao i nhit cng s gim xung nhng theo t l vi bnh phng
ca lu lng:
APS{F) = 30 X (0.25)2 = 1.875psi]
iu ny c ngha l st p qua van l
APV(F) = 40 - 1.875 = 38.125psi
Nh vy, m van phi l
p = ---- J L
= -------52------- = 0.064
Cvy[Kp)
126.5 x 38.125
tc l van ng gn hon ton ch khng phi l 0.5/4 = 0.125 nh mong i.

p2 = Opsig

P = 40 psig

H nh 6-17:

M inh ha cho c tnh lp t ca van

Nu chn van phn trm bng nhau, gi s vi a = 50 , ta cn chn h s c van l

r

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

C'!ii' HNH V VAN i u Kill BN

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

P hm vi bin th in (rangeability, turn-down ratio) ca m t vail c nh ngha

l t l gia cc gi tr lu lng ti v tr m van 95 % v 5 %. Phm vi bin
thin ni ln kh nng iu chnh, can thip ca h thng iu khin vo qu
trnh. P hm vi bin thin cng ln, vic iu khin cng thun li. Gi s s t
p su t qua van khng thay i nhiu, ta c th thy ngay phm vi bin thin
ca m t van in nhanh l 3, ca van tuyn tnh l 19 v ca van phn trm bng
nhau l oT(M,r>/ cv 95 (xp x 38.8 khi cv = 50). Thc ra. nu xt c tnh lp
t th phm vi bin thin ca mt van phn trm cn ln hn rt nhiu so vi
van tuyn tnh.
Q u a nhng phn tch trn y, ta thy rng van phn trm hng nhau c
nhiu u im hn so vi van tuyn tnh. Thc t, van phn trm bng nhau
chim ti khong 90 % cc ng dng. Van tuyn tnh ch c s dng khi p
su t s t qua van thay i khng nhiu. Khi t l st p sut qua van vi lu
lng thp nht, v cao nht ln hn 5 ta nn chn van phn trm bng nhau.
c tnh m nhanh hu nh ch c s dng cho cc van th o t an ton.

6.2.4

c t n h n g hc

S cu trc c a m t van iu khin c minh ha li trn Hinh 6-18. u

vo c a van l tn hiu iu khin v u ra l lu lng. Nh ni trn y,
van iu khin c hai thnh phn C bn l c cu chp hnh van v th n van.
Cu cu chp hnh quyt nh quan h gia tn hiu iu khin v m van,
trong khi th n van quyt nh quan h gia rn van v lu lng qua van. Do
ng hc ca dng chy nhanh hn nhiu so vi ng hc ca c cu chp hnh,
c tnh ng hc ca mt van ph thuc ch yu vo c cu chp hnh van.
Trong khi , c tnh tnh ca van ph thuc ch yu vo kch c van v thit
k cht van. th un tin trong vic phn tch v thit k iu khin, tn hiu
iu khin u thng c tnh theo phn trm hoc theo phn n v ca di tn
hiu chun. V d, nu phm vi tn hiu chun l 4 n 20 mA th 4 mA tng
ng vi u = 0 % (hoc u = 0 theo thang n v) v 20 mA tng ng vi u =
100 % (hoc u = l theo thang n v). Tng t nh vy, m van p cng
c tnh theo phn trm hoc phn n v ca hnh trn h ln nht. Khi ,
quan h gia tn hiu iu khin v m van trng thi xc lp c th hin
qua cng thc P = cho van ng an ton v p = 1 cho van m an ton.

308

H n h

hng

C T NH C C T H N H PHN H T H N G

6-18: QAN H GIA CC THNH PHAN c a van

lu

KHlN

Nh ni trong phn trn, nu van c nh c t t th quan h gia lu

lng ra v m van c th c coi l tuyn tnh, t ra cng trong mt phm
vi quan tm. M hnh ng hc van iu khin c th a v mt khu qun
tnh bc nht:
K
C<S ) = I K

(6.9)

. S + 1

Vic xc nh h s khuch i kv v hng s thi gian rv ca van c th tin

hnh t thc nghim. Hng s thi gian rv ca van ph thuc ch yu vo c cu
chp hnh. Thng thng, Tv c gi tr khong mt vi giy, i vi van c ln
c th ti 10-15 giy. H s khuch i kv cng c th c tn h ton nh sau:
^ _ dF _ dF dp
du
dp du

(6 . 10)

C cu chp hnh c th coi l tuyn tnh trong ton b di lm vic, nn o

hm d p/du bng 1 cho van FC v -1 cho van FO. V th t a c:
L
dj) cho van FC
kv =

Y~ cho van FO

(6 . 11)

Nu van c nh c tt th ta c th coi kv l hng s trong ton di lm

vic. Tuy nhin, trong trng hp bn thn qu trnh c tnh phi tuyn m nh ta
c th tnh ton sao cho tnh phi tuyn ca van b li tn h phi tuyn ca qu
trnh, c ngha l tch h s khuch i ca vari v h s khuch i ca qu
trn h gn nh khng di.

6.2.5

B n h v v an

Van iu khin thng thng c chnh xc khng cao v nhiu l do nh di

cht, tr, m a s t thay i do bi bn, thiu bi tr n v han g, p sut lu
cht thay i cng nh do c tnh phi tuyn ca c cu chp hnh. Sai s
m van trong mt nhiu trng hp c th ti 5 %. Mc d trong m t h thng
iu khin phn hi th y khng hn l mt vn ln 5 nhng nng cao

6/2

Thit b chp hnh v van iu khin

309

cht lng iu khin ta c th s dng mt trong hai bin php: i) b sung m t

vng iu khin lu lng th cp v ii) s dng m t b inh v van (valve
positioner).
B nh v van thc cht l mt b iu khin th cp trong cu tr c iu
khin tng. B nh v s dng tn hiu o v tr cn van (tc l m van thc)
v so snh vi gi tr t t tn hiu iu khin, trn c s a ra tc ng
ti c cu chp hnh iu chnh li m van. Thng thng, b nh v ch
s dng lut t l vi h s khuch i tng i ln. S dng b nh v khng
nhng cho php ci thin chnh xc, m cn tng tc p ng ca van. V
d, sai s v tr c th gim xung ti 0.5%, di cht 0.1-0.5% v hng s thi
gian 0.5-2 giy.
Ni chung, nu kinh ph cho php th ta nn s dng b nh v khi yu cu
van c chnh xc cao hoc tc p ng rt nhanh v ng hc ca qu
trnh chm hn ng k so vi ca van (hng s thi gian ln hn 3 ln so vi
ca van), v d q u trn h phn ng, qu trnh nhit, q u trnh trn,... Tuy nhin,
b nh v l m t b iu khin vng trong nn nu ng hc ca q u trnh
tng i nhanh (hng s thi gian khng ln hdn 3 ln so vi ca van) th b
nh v c th lm chm v gim cht lng iu khin vng ngoi. Hn na, nu
t a s dng m t vng iu khin lu lng th vai tr ca b nh v tr nn
khng cn thit.

6.3

C c b i u k h i n p h n hi

Cc b iu khin phn hi l nhng thnh phn ct li ca mi h thng iu

khin. B iu khin phn hi c chc nng nhn tn hiu o, so snh vi tn
hiu t, thc hin th u t ton iu khin v a ra tn hiu iu khin can
thip vo bin iu khin thng qua thit b chp hnh. Trong m t h thng iu
khin qu trnh, cc b iu khin phn hi c th c thc hin di dng m t
thit b iu khin vng dn (Single-Loop Controller, SLC), hoc mt khi phn
mm ci t tro ng th i t b iu khin chia s nh DCS (D istributed Control
S ystem ), PL C ( Programmable Logic Controller) hoc my tnh c nhn cng
nghip. Mt b iu khin a hin bao gi cng c ci t trn m t th i t b
iu khin chia s. Bn cnh nhng chc nng iu khin c s, cc thit b iu
khin chia s cn c th thc hin nhiu chc nng khc nh tnh ton, ghi chp,
cnh gii v iu khin cao cp.
Cu trc s lc ca hai loi b iu khin phn hi vng n - b iu khin
tng t v b iu khin s - c minh ha trn Hnh 6-19. Trong thc t c
nhiu dng m rng khc nhau, v d c b sung cc khu lc trc, b nhiu,
phi tuyn, hn ch u ra,... T t c u da trn nguyn l c bn ca iu
khin phn hi, l lin tc quan st sai lch a ra tc ng iu khin.

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

Mt kha cnh ng dng cn c bit lu l chiu tc ng ca b iu khin

phn hi. y l m t trong nhng quyt nh quan trng n ht m m t k s
iu khin phi a ra khi p dng iu khin phn hi, bi lut iu khin c
th ging nhau nhng chiu tc ng khc nhau s dn n cc tc ng iu
khin hon ton tri ngc. Tc ng ca b iu khin c gi l thu n {DA,
direct acting) khi u ra ca n (tn hiu iu khin) l m t hm ng bin vi
bin cn iu khin. Tc ng ca b iu khin c gi l nghch (R A , reverse
acting) khi tn hiu iu khin l mt hm nghch bin vi bin cn iu khin.
Chiu tc ng ch thc s c ngha i vi iu khin phn hi, bi n lin
quan ti vic chn du ca h s khuch i ca b iu khin. H s khuch i
c gi tr m tng ng vi tc ng thun, tc l tn hiu iu khin tng khi
u ra qu trnh tng v ngc li. Vi h s khuch i dng, b iu khin s
c tc ng nghch, tc l tn hiu iu khin tng khi gi tr u ra qu trnh
gim. Chiu tc ng ca b iu khin cn c chn sao cho h s khuch i
ca ton h h (qu trnh cng ngh + b iu khin + van iu khin) c gi
tr dng.

6.3

CC b Dlu

311

KHIN PHN H i

Vic la chn chiu tc ng ca b iu khin yu cu hiu bit v i tng

cng nh kiu tc ng ca van. Trong v d iu khin nhit minh ha trn
Hnh 6-20, van cp hi Iic c chn l ng an ton (FC) khi m t tn
hiu, hi nc s c ngng cp trnh gy tnh trng qu nhit cho qu
trnh. Chiu tc ng ca van l nghch, Iih vy b iu khin phi c chiu tc
ng nghch (RC). Khi nhit du ra tng ln, b iu khin s gim gi tr tn
hiu iu khin ng bt van cp hi nc. Ngc, li, khi nhit du ra
gim i, b iu khin s tng gi tr tn hiu iu khin tng m ca van.
Trong hai v d diu khin mc minh ha trn Hnh 6-21, cc van iu khin
u l ng an ton (mi tn ch xung thn van), nhng chiu tc ng ca mi
b iu khin c chn khc nhau. B iu khin trong v d (a) c tc ng
nghch, trong khi b iu khin trong v d (b) c tc ng thun.

Hnh 6-20:

Chiu

tc

ng

ca b

diu khin nhit

: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 )

Trong trng hp c bit, tn hiu iu khin c th ly mt trong hai gi tr l

0 v 1 , tng ng vi hai trng thi van ng/m hon ton, hoc m y bm
dng/chy,...
Tuy v m t l thuyt th sai lch iu khin c th bng 0, th u t ton hai v
tr l tng c nhc im rt ln l tn hiu iu khin thng xuyn th ay i
gia hai gi tr (hin tng bang-bang), d dn ti ph hng thit b chp hnh.
Vn ny c cc th u t ton thc t khc phc bng cch s dng m t di
cht (Hnh 6-22b), chp nhn sai lch iu khin n m trong phm vi di cht :
6 <

u =

ttmaxi

u,

e>+6
- < e < +6

(6 .1 3 )

u a

Lnttu

u,
UiMU

llini
0

- 0 +
v---- v - l '
di cht

a) Thut ton l tng

b) T hut ton thc t

H nh 6-22:

T ht

ton i khin hai v tr

B iu khin hai v t r c s dng trong nhng ng dng n gin, khng

yu cu chnh xc cao, v d trong mt s bi ton iu khin mc bnh cha
hoc iu khin nhit l in tr (s ng r-le). u im c a b iu khin
hai v tr l chi ph th p cho b iu khin cng nh c a thit b chp h n h (van
on-off, r-le).

6 .3

CC b Ju

6.3.3

khin

phn

Hi

313

B i u k h i n p

T hn su th p k nay, PID l b iu khin thng dng n h t trong cc h

thng iu khin q u trnh bi cc l do sau y:
Cu trc v nguyn l hot ng dn gin, d hiu v d s dng i vi
nhng ngi lm thc t
C r t nhiu phng php v cng c mnh h tr chnh nh cc th am s
ca b iu khin
Cc lut iu khin p, PI v PID thch hp cho m t phn ln cc qu trnh
cng nghip.
Nhiu bo co d a ra cc con s thng k rng hn 90% bi ton iu khin
qu trnh cng nghip c gii quyt vi cc: b iu khin PID, trong s
khong trn 90% thc hin lut PI, 5% thc hin lut p thun ty v 3% thc
hin lut PID y , cn li l nhng dng dn xut khc.
B iu khin p (hay b iu khin khuch i t l) l dng n gin nht
thuc h PID. T h u t ton khuch i t l a ra tn hiu iu khin t l vi gi
tr tc thi c a tn hiu sai lch iu khin quan st c
u(t) = u + kce(t)

(6.14)

trong
u (t)

e(t)
kc

du ra ca b iu khin (tn hiu iu khin thc)

d dch (bias, m anual setting)
sai lch iu khin, e(t) = r(t) - y(t)
h s khuch di ca b iu khin, k(

Nu coi ban u h thng trng thi xc lp v = 0, hm truyn t ca

b iu khin p c vit n gin l:
Kps) = k,

(6.15)

T hng thng, nu h n nh th h s khuch i cng ln sai lch iu

khin vi thay i gi tr t hoc nhiu qu trnh cng nh, song tc ng t l
khng m bo sai lch iu khin tin ti khng trong mi trng hp. ci
thin cht lng iu khin, t a c th chnh nh dch bng tay sao cho
u(t) = khi c(t) 0. Lu rng, dch ph thuc im lm vic, hay ni
cch khc l ph thuc gi tr t. L ut t l tc ng nhanh v tc thi s c
tc ng ci thin tc p ng ca h thng v v vy c vai tr chnh trong
giai on u c a q u trn h qu . Tuy nhin, h s khuch i cng ln s lm
cho tn hiu iu khin thay i mnh hn (khng mong mun), ng thi cng
lm cho h nhy cm hn vi nh hng ca nhiu o. i vi m t s qu trnh,
vic chn h s khuch i qu ln th m ch c th dn n h m t n nh.

314

hng

C T NH C C T H N H PHN H T H N G

Bn cnh h s khuch i kC trong thc t ngi t a cng s dng khi nim

di t l P B (proportional band)) c nh ngha nh sau:
PB = (umX - umn) / k c

(6.16)

ngha thc t ca di t ] chnh l phm vi ca gi tr sai lch cho php m

tn hiu iu khin nm trn trong phm vi gii hn [ini) Umaxl H s khuch
i cng ln th di t l cng nh v ngc li. ti gii hn tn hiu iu
khin, khi kc 1 th lut iu khin ch tuyn tnh i vi gi tr sai lch tng
i nh. T hng thng, di tn hiu iu khin c chun ha v 1, nn di t l
tnh theo n v % s l:
PB = 100 % /At

6.3.4

(6.17)

B iu k h in P I

B iu khin t l - tch phn (b iu khin PI) l dng c s dng ph bin

nht trong h PID. So vi b iu khin p, b iu khin P I m rng thrn
th n h phn tch phn (cn gi l tc ng tch phn) vi mc ch trit tiu sai
lch tnh. Tc ng tch phn a ra tn hiu iu khin t l vi tch ly ca sai
lch iu khin quan st c e(t). Lut iu khin PI c biu din nh sau:
u(t) = u + k e(t) +

e(r)dr

r J l < TdT)

(6.18)

trong T l thi gian tch phn (integral tim e, reset time) v l gi tr u

ra ca b iu khin ti thi im t = 0. Coi nh h thng lc u tr n g thi
xc lp v s dng cc bin chnh lch, hm truyn t ca b iu khin PI l:
1+

(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

lch pha thm -90 nhng tn s th p v khong -45 tn s gy, nn ni

chung s lm xu i c tnh ng hc ca h thng, v d lm cho h dao ng
hn hoc th m ch m t n nh. Tc ng tch phn cng ln (tc T cng nh),
lch pha phrn vi tn s cao cng tng v h dao ng cng m nh hn. y
chnh l m t klia cnh thit k cn cn nhc gia c tnh p ng ng hc v
cht lng trn g thi xc lp. Trong trng hp bn thn qu trnh c c
tnh tch phn v khng tn ti nhiu u vo, thnh phn tch phn ca b iu
khin c th s tr nn khng cn thit. Nhng vn ny s c bn k hn
trong ni ung chng 7 v chng 8 .

10

H nh 6-23:

6.3.5

Dng

10

10

10

10

TH DC TNH TAN s CA B DIU KHIEN PI

B i u kh in P ID l t n g

B iu khin P ID a ra tn hiu iu khin da theo c ba th n h phn: t l

(I5), tch phn (I) v vi phn (D). T h u t ton PID l tng c biu din trn
min thi gian nh sau:

1 r l e{r)dr

e(t) + J

+ Td

de{t))
dt

trong
kc T Tf u -

h s khuch di ca b iu khin (controller gain)

thi gian tch phn (integral tim e, reset tim e)
thi gian vi phn (derivative time, rate tim e)
gi tr u ra ca b diu khin ti im lm vic (khi e(t) = 0)

( 6 .20 )

316

hng

C TNH C C T H N H PHAN

h thng

Nu ta coi cc tn hiu trong (6.20) l cc bin chnh lch, c ngha l u = 0 ,

hm truyn t ca b iu khin s c vit nh sau:
-,
K

, x
p d

(s )

u(s)
f \

e{s)

.
=

( 6 .21)

1
1 H------------ 1 T d s

T S

T h u t ton PID m rng th u t ton PI thm thnh phn vi phn nhm ci

thin c tnh ng hc ca h thng. T hnh phn vi phn t l vi s thay i
ca sai lch iu khin quan st c e(), hay o hm ca e(t) theo thi gian.
Bn cht ca tc ng vi phn l on trc chiu hng v tc thay i ca
bin c iu khin v a ra phn ng thch hp, nn n c tc dng lm tng
tc p ng ca h kn vi thay i ca gi tr t hoc tc ng ca nhiu
ti. Khi h thng tin ti trng thi xc lp, sai lch e(t) l mt hng s th
thnh phn ny khng c tc dng na.
Dng th c tnh tn s ca b PID c minh ha trn Hnh 6-24. Tc
ng vi phn c tnh cht i nghch vi tc ng tch phn. Trong khi thnh
phn tch phn c nh hng ln phm vi tn s thp, hay ni cch khc l
chim u th khi h thng gn trng thi xc lp, th th n h phn vi phn c
tc dng ch yu ti phm vi tn s cao, tc l c nh hng chnh ti q u trnh
qu . Cng v th, tc ng vi phn cn c gi l c/i d nhanh (fast
mode). Q uan trng hn na, s gp m t ca thnh phn vi phn gip cho h
iu khin c th n nh c mt s qu trnh m bnh thng khng n nh
c vi cc b iu khin p hoc PI. iu ny c gii thch tnh cht b
gc p h a phm vi tn s cao. Tuy nhin, bi kh nng p ng nhanh nn tc
ng vi phn cng c th qu nhy cm vi nhiu o.

10

10

10

10

10

co

H n h 6-24:

ng

TH C TNH TA N s CA B DIU KHIM

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)

trong cc tham s c gi tn nh sau:

ky - h s khuch i t l (proportional gain), kp = kc
k - h s khuch i tch phn (integral gain), k = k c/ T

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

trong cc tham s thi gian c chuyn i sang dng chun nh sau:

k c

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

b) Dng song song

a) Dng chun

H n h 6-25:

(6 .2 5)

TJ / Ti

CC

DNG BIU DIN B

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

Cc th u t ton PI v PID l tng gii thiu trong phn trn cn c nhiu vn

m cc b iu khin cng nghip phi khc phc. Trong p h n ny t a s
cp n nhng vn chnh sau y:
Hin tng ho ha tch phn v cc bin php khc phc
Thut, ton thc hin khu vi phn thc
B iu khin hai bc t do
C u trc b iu khin PID theo chun ISA
C huyn ch iu khin bng tay-t ng.
C h n g bo h a tch p h n

Bo ha tch phn { r e s e t w in d u p , in te g r a to r w in d u p ) l hin tng u ra ca b

iu khin vn tip tc tng qu mc gii hn do s tch lu ca thnh phn
tch phn vn tip tc c duy tr khi sai lch iu khin tr v khng. Hin
tng ny ch xy ra khi b iu khin c cha thnh phn tch phn v tn hiu
iu khin b hn ch - m t thc t rt ph bin. T h n h phn tch phn gip
cho u ra ca h kn nhanh chng tin n gi tr t. Tuy nhin, khi tn hiu
iu khin q u ln hoc thav i qu nhanh lm cho thit b chp hnh khng
p ng ni th tnh cht tuyn tnh ca lut iu khin khng C11 c m
bo. V d, nu tn hiu diu khin (chun ha n v) ln hn 1 th m van
ln n h t cng ch c th l 1 (m hon ton). iu ny dn n hin tng sai
lch iu khin cha c trit tiu nhanh nh trng hp l tng, th m ch
tnh n nh h kn cha chc c m bo.
Hin tng bo ha tch phn cng c th gii thch m t cch trc quan Iih
sau. e n gin, ta gi thit b iu khin P1 c s (lng. Hnh 6-26a ininh
ha p ng qu tiu biu ca m t h kn cho trng hp khng hn ch tn
hiu iu khin. Khi gi tr t tng ln, trc ht b iu khin P I SC lm sai
lch iu khin gim n v tin ti 0. Ti thi im sai lch iu khin trit
tiu, th n h phn p s hng 0 nhng thnh phn I vn tip tc c (luy tr.
ln ca thnh phn tch phn ny t l vi din tch nm gia ng tn hiu t
v ng tn hin ra. Tc ng tch phn lm cho sai lch iu khin i du v
ln ln gy nn hin tng qu iu chnh. Bnh thng, khi cc th a m s c a b
iu khin c chnh nh tt th dao ng ny nhanh t t d n v h thng
nhanh chng i ti trng thi xc lp. Tuy nhin, nu tn hiu iu khin b gii
hn trn (v gi tr hoc tc thay i) th h thng s p ng chm hn vi
thay i gi tr t (Hnh 6'26b). n khi sai lch iu khin tri t tiu th th n h
phn I tr nn rt. ln v tip tc tng bi tn hiu iu khin vn b gii hn.
Do vy, thi gian qu iu chnh v qu iu chnh u tng ln. Nu tn hiu

6.3

CC b iu

iu khin cng
dao ng nhiu
iu khin cng
ca h kn cng

k hin

phn

319

Hi

b gii hn di na th hin tng ny c th lp li lm cho h

hn, thm ch c th lm cho h m t n nh. u ra ca b
b gii hn nhiu hoc thi gian tch phn cng nh, cht lng
gim nhiu
so vi trng hp l tng.

T im e (sec)

T im e (see)

a) Tn hiu iu khin khng b gii hn

b) Tn hiu iu khin bgii hn

Hnh 6-26:

M inh h a h i n t n g bo ha t c h phn

Cc bin p h p chng hin tng bo ha tch phn (anti-w indupf anti-reset

windup) bao gm:
1. Khi sai lch iu khin bng 0, tch b th n h phn tch phn trong b iu
khin hoc t t hn ht l xa trng thi ca th n h phn tch phn.
2. Gim h s khuch i u ra ca b iu khin nm trong gii hn cho
php, tr n h vic xy ra hin tng bo ha tch phn.
3. T heo di gi tr thc ca tn hiu iu khin b gii hn, phn hi v b
iu khin thc hin th u t ton b nhm gim th n h phn tch phn.
4. t m t khu gii hn ti u ra ca b iu khin m phng c tnh phi
tuyn c a thit b chp hnh v s dng th u t ton b ging nh trong
phng p h p 3.
Hai phng p h p 3 v 4 c U im hn c v c hu ht cc b iu

khin

cng nghip h tr. T h n h phn tch phn c ci tin li nh sau:

( i t =

( - )

(6 '26)

trong ub l tn hiu iu khin c lng hoc quan s t c v T l hng s

thi gian bm ( tracking time). Thng thng, rt c ly bng mt phn ca
thi gian tch phn T. S khi biu din cu trc thc thi cc phng php
ny c minh ha tr n Hnh 6-27.

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

Mt trong nhng l do m lut iu khin (6.21) c gi l l tng bi thnh

phn vi phn Tds l mt khu khng c tnh nhn qu, khng thc th i c
(hm truyn t khng chnh tc). M t khc, khu vi phn p ng q u nhanh
vi thay i ca tn hiu sai lch nn cng r t nhy cm vi nhiu o. khc
phc hai vn ny, t a c th xp x khu vi phn nh sau:
M s) = K

TdS (r(s) - y{s))

l + l i
N

(6.27)

Khi , N tr thn h mt tham s ca b iu khin, thng c chn trong

khong 3-30. Gi tr N cng ln th khu xp x cng ging vi khu vi phn
thc, nhng nh hng ca nhiu o cng s tng theo.
N h ni, khu vi phn p ng nhanh vi thay i gi tr t. Trong thc
t gi tr t c th thay i nhanh lm
cho thnh phn vi phn qu ln, gy
thay i t ngt trong tn hiu iu khin. trn h iu ny, t a c th a
thm mt trng s c cho gi tr t
Urf(s) = K
1 +

(cr(s) - y(s))

(6.28)

Trong trng hp c bit c = 0, thnh phn vi phn ch c tc dng vi thay

i u ra y, c ngha l ch c vai tr trong vic loi b nhiu qu trn h ch
khng c vai tr trong p ng vi gi tr t. i vi cc h thng iu khin
qu trnh th gi tr t t khi thay i, nn yu cu loi b nhiu c t ln
hng u.

6.3

CC b

di

k h in

phn

32 1

Hr

B iu k h in hai bc t do

Lut PID l tng xc nh tn hiu iu khin da trn sai lch gia gi tr t

v gi tr o c a bin c iu khin. Mt nhc im l b iu khin c p
ng ging nhau vi m t tn hiu sai lch, khng k sai lch l do thay i gi
tr t hay do th ay i gi tr bin c iu khin do nhiu tc ng. Mt ci
tin n gin d a trn tng cu hnh iu khin hai bc t do nh gii
thiu trong chng 5 l b sung thm mt khu truyn thng (Hnh 6-28).
Lut PID ci tin vit trn min Laplace tr thnh:
u = kc(b l)r + k.

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

y l m t cu trc PID tng qut c nu ra lm hng th a m kho cho cc

b iu chnh PID thc, c u trc ny cng da trn cc hai tng phn trn
y: xp x khu vi phn v s dng trng s gi tr t. Dng chung ca lut
iu khin l:
u

1
Tds
br y 4- (r y) 4-
(cr y)
T S
1 + r ds / N

(6.30)

Vic a vo 3 th am s N, b v c lm tng thm tnh linh hot v trong rt

nhiu trng hp c th ci thin cht lng cho b iu khin PID. Ch rng,
lut (6.30) tng ng vi b iu khin hai bc t do minh ha trn Hnh 6-29
vi cc hm truyn t:
K(s) = k

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)

B IU KHIN PID HAI BC T DO THEO CHUAN ISA

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

DIU KHIN PHN l l l

323

Cu trc ISA c u clirm bi n tng qut v cho php coi N y b, c l cc

th a m s thit k nng cao cht lng iu khin. Hin nay trn th trng
c nhiu b iu khin PID t chnh c thc hin d a theo cu trc ny. Cc
nghin cu v vn ny v mt s kha cnh lin quan cng mang li kh
nhiu thnh cng trong cc ng dng cng nghip.
C h u y n ch

Cc b iu khin PID thc t hao gi cng h tr t n h t 2 ch iu khin l

ch hng tay (M, manual) v ch t ng (A, Autom atic). Trong ch
bng tay, tn hiu iu khin c ngi vn hnh trc tip a vo. Trong ch
t ng, tn hiu iu khin c tnh ton da trn cc th u t ton gii
thiu. Khi a h thng vo vn hnh, ngi t a thng a b iu khin v ch
bng tay, cho n khi dt. ti im lm vic mi chuyn v ch t ng.
Trc khi dng h thng, ngi ta chuyn li t ch t ng sang ch
hng tay. L do y l b iu khin thng ch c thit k/chnh nh
lm vic tt trong mt phm vi xung quanh im lm vic m c tnh qu trnh
cn c coi l tuyn tnh.
Vn t ra l khi chuyn ch t bng tay sang t ng cng nh t ch
t ng sang bng tay, tn hiu iu khin c th b thay i t ngt, gy
nh hng xu ti cht lng iu khin ca h thng. Bin php chuyn trn
tru ( burnpless transfer) cn c thc hin nh sau:

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.

Trc khi chuyn t ch A sang ch M, t gi tr a bng tay ng

bng tn hiu iu khin hin ti.
T h u t t o n P I D s
Hu ht cc b iu khin cng nghip hin nay c xy dng trn nn my
tnh s, v th th u t ton PID cng cn c biu din di dng ph hp cho
vic lp trinh ci t. T h u t ton PID s c xy dng bng cch gin on
ha th u t to n P ID lin tc a ra trong cng thc (6.29) hoc (6.30). T h n h
phn t l
up(t) = k,.(br{t) - y(t))

(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)

trong T l chu k trch m u tn hiu. T h u t to n xp x tch phn theo

phng php din tch hnh thang c biu din n h sau:
11,(0 w Ui(t - T ) + | ^ ( e ( ) + e( - T ))

K hu viphn ci tin

(6.35)

(6.27) biu din trn min thi gian

rd dud .
N M +

.
dy
= ~ K u dt

,
(6-36)

c xp x vi php tn h sai phn thnh

ud{t)

= -T - T
^ - N T ud{t - T ) -

- y(t - T) ) (6.37)

T h u t ton PID s c vit gn li di dng song song n h sau:

u(t) = + up(t) + U(t) + ud(t)

(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

Control. International Electrotechnical Com m ission,1998.

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]

Johnson, C.D: Process Control Instrum entation Technology. 5th Edition.

Prentice-Hall, 1997.

[4]

Bateson, R. N.: Introduction to Control System Technology. 6 th Edition.

Prentice-Hall, 1999.

[5]

Andrew Parr: Industrial Control Handbook. 3rd Edition. Industrial Press,

1998.

[6 ]

L iptak, B. G. (ch bin): Process M easurements (Instrum ent E ngineers

Handbook). 3rd Edition. Chilton Book Company, 1996.

[7]

P h a n Quc Ph, Nguyn c Chin: Gio trnh cm bin. Nh xut bn

K ho a hc v K th ut, H Ni, 2000.

[8]

L iptak, B. G. (ch bin): ProcessControl (Instrum ent

Handbook). 3rd Edition. Chilton Book Company, 1996.

[9]

strm , K.J.; T. Hgglund, PID Controllers'. Theory, Design and Tuning,

2nd Edition, Instrum ent Society of America, NC, USA, 1995.

[10]

Leva, A.; C.Cox, A.Ruano: Hands-on PID autotuning: a guide to betterutilisation. IFAC Professioal Brief, 2003.

[11]

T a n , K.K.; Q.G. Wang, c . c . Hang: Advances in P ID Control, Springer-

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.

6.2 Nu cc thnh phn c bn trong mt thit b o. Gii thch cc thut ng ting

Anh: Sensor, Transducer v Transmitter.
6.3 Gii thch v phn bit cc khi nim v c tnh thit b o:
chnh xc

phn gii

Tnh trung thc (kh nng lp li)

6.4 Gii thch v phn bit cc khi nim v dc tnh thit b o:

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

Cho th nh chun ca mt thit b o nhit nh trn Hnh 6-30.

a. C th pht biu g v cc c tnh ca thit b?
b. Gi s nhit c gi tr tht l 125c v khng thay i. Gi tr ca tn hiu
u ra c t ba php o gn nhau ln lt l 11.8 mA, 11.9 mA v 12.1A. c th
ni g v:

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

M inh ha cho bi t p 6.5

Nu nguyn l hot ng ca t nht 3 loi cm bin cho mi i lng sau:

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

Phn loi van iukhin theo c ch chp hnh

6.10 Phn loi van iu khin theo thit k cht van

6.11 Gii thch vai tr ca b nh v van. Khi no nn v khi no th khng nn s dng
b nh v?
6.12 Khi m van c nh, lu lng qua mt. van iu khin bin thin nh th no
vi st p qua van v vi trng lng ring ca cht lng?
6.13 Phn loi van iu khin theo c tnh c hu. Loi van no ph hp cho cc bi
ton iu chnh lu lng? Trong trng no th s dng van no l ph hp?
6.14 Gii thch s khc nhau gia c tnh c hu v c tnh lp t ca van iu khin
v Iiguyn nhn no dn ti s khc nhau .
6.15 Gii thch hiu ng ca sc cn ng ng v thit b cng ngh ti c tnh lp t
ca van iu khin.
6.16 Gii thch ngha v chiu tc ng ca

Mt van iu khin

Mt b iu khin phn hi

6.17 Vic la chn chiu tc ng ca van iu khin ph thuc vo g? La chn chiu

tc ng ca b iu khin phn hi da trn C s no?
6.18 Trong cc v d iu khin phn hi minh ha trn Hnh 6-31, hy chn chiu tc
ng ca van iu khin v ca b iu khin.
6.19 Nu ngha v tnh cht cc thnh phn trong b iu khin PID.
6.20 Khi no th la chn lut iu khin:
a. p
b. PI
c. PD
d. PID
6.21 Gii thch hin tng bo ha tch phn khi s dng b iu khin PID. Khi no th
hin tng xy ra? Nu cc bin php khc phc.
6.22 Gii thch ngha ca vic a trng s cho gi tr t thut tonPID.
6.23 Vi lut iu khin s dng thnh phn vi phn, hin tng g xy ra Iiu ta thay
i Iihanh gi tr t? Bin php khc phc l nh th no?
6.24 Vit thut ton PID thc theo chun ISA v gii thch ngha ca cc tham s.

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

v cc tham s ca b iu khin kc = 1.0, T = 10 giy. Tn hiu iu khin b gii

hn v tc 0.1/giy v v gi tr trong khong [0, 1]. So snh kt qu vi th
trn Hnh 6-26. Sau tin hnh 4 phng php khc phc v nhn xt tc dng
ca mi phng php.
6.26 Trnh by phng php xp x cc thnh phn tch phn v vi phn trong thut
ton PID s.

Chng 7
P h n tc h h iu k h in p h n hi

Trong chng 5 ta tm hiu cc sch lc iu khin c s cho mt h thng

iu khin qu trnh, trong iu khin phn hi c vai tr then cht. Tuy
nhin, vic thit k sch lc iu khin mi ch dng li v m t cu trc ch
cha i su vo vn phn tch cht lng. Chng 6 gii thiu c tnh
ca nhng th n h phn c bn trong mt h thng iu khin phn hi v mi
lin h gia cc thnh phn. Mc ch ca chng ny l lm r nhng yu t
lin quan ti cht lng ca m t h thng iu khin phn hi v nhng nguyn
tc c bn n h t trong thit k b iu khin phn hi.
Cc ni dung trnh by tp trung vo h n bin, song trong nhiu trng
hp c th m rng d dng cho h a bin. Cc phn tch v din gii ch yu
da vo p ng h thng trn min tn s. Tc gi cho rng, trong khi cng
vic thit k iu khin c th thc hin bng nhiu phng php, ngi k s
iu khin ch c th hiu su sc bn cht ca h thng iu khin phn hi
tuyn tnh da trn nhng phn tch v din gii trn min t n s.

7.1

B i to n chun

Cc h thng iu khin phn hi trong thc t c th khc nhau trn nhiu

kha cnh, v d v cu hnh iu khin, kiu thit b v phng php ghp ni
gia cc thit b. c th s dng nhng phng php phn tch v thit k
tng qut, t a cn a v m t bi ton chun. Bi ton chun y cn phi
n gin d dng phn tch v thit k, nhng cng phi tng qut c
th p dng cho hu ht bi ton thng dng.

7.1.1

C u h n h c h u n

Mt trong nhng cu hnh iu khin phn hi thng dng n h t c minh ha

trn Hnh 7-1. T y theo ng cnh, k hiu ch nh (r, u , 2/,...) c s dng
ch cc tn hiu cng nh vector tn hiu hoc nh Laplace ca chng. Khi cn

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

B iu khin bao gi ba thnh phn l khu iu chnh (K)y khu lc trc

(P) v khu cng tn hiu. y thc cht cng l cu hnh iu khin hai bc t
do, hon ton tng ng vi cu hnh a ra trong chng 5 (Hnh 5.9b).
Hai u vo ca b iu khin - tn hiu t (hay gi tr t) r v tn hiu o yvt
- c gi thit c cng th nguvn v cng thang gi tr. Trong trng hp gi
tr t cha c cng th nguyn vi tn hiu o, ta cn b sung mt khu to tn
hiu t hoc mt khu chuyn thang nh minh ha trn Hnh 6.19 (chng
6 ). Khu lc trc p c vai tr ci thin c tnh p ng vi gi tr t ch

khng c nhim v chuyn thang y.

thun tin cho cc phn tch cng nh tnh ton sau ny, cc tn hiu
trong h thng cn c chun ha mt cch ph hp v n h t qun. V d, ta
nn chun ha tn hiu o ymt tn hiu ra y, tn hiu t r v sai lch iu khin
e v cng mt thang, t t nht l theo phn trm ( 0- 10 0 %) hoc phn n v ( 01) ca di tn hiu o. Tn hiu iu khin u cng nn c chun ha theo phn
trm hoc phn n v ca di tn hiu iu khin. Ty theo phng php
truyn tn hiu l tng t hoc s, di tn hiu c th c n v vt l (mA, V,
bar) hoc ch thun ty l mt con s. i vi mi bin nhiu qu trnh , ta
nn la chn thang chun ha theo di thay i ln n h t c th ca n.
Cu hnh iu khin minh ha trn Hnh 7-1 cng c gi l cu hnh ca
bi ton chun, hay cu hnh chun, bi phn ln cu hnh iu khin phn hi
thng dng u c th a c v dng ny hoc c m rng t dng ny
mt cch d dng. V d, biu din trng hp nhiu u vo ta ch cn t
Gj = Gy hoc biu din nhiu u ra t a t G(i = 1 (hoc m a trn n v cho
h a hin1). Hoc, c cu hnh iu khin mt bc t do t a ch cn cho p =
1 . Vic gi th it nhiu qu trnh d ch cha nhng i lng khng c o cng
khng c g hn ch. Trong trng hp c mt bin nhiu no c o. ta c
th cho rng nh hng ca bin nhiu c bn c loi tr hon ton bi
sch lc b nhiu. P h n nhiu khng c b trit cng vi t t c cc bin
nhiu cn li c xp chung vo vector d. Cui cng, cu trc iu khin tng
cng c th a c v cu hnh c bn bng cch ln lt xt tng vng iu
khin.
Trn c s m t s v d minh ha, cc mc con di y s lm r cc bc
cn thit a m t bi ton c th v cu hnh chun.

1 Trong ni dung chng ny ta tp trung vo cc h SISO, tuy vy nhiu cng thc v

din gii trong chng ny c th d ng m rng cho cc h MIMO. Trong trng hp
h MIMO, vector hoc ma trn c dng thay cho cc i lng v hng, ma trn n
v I thay cho 1, ma trn 0 thay cho s 0, php nghch o ma trn thay cho php chia v
lu php nhn ma trn khng c tnh giao hon.

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

Mt. cu trc iu khin c th bao gm nhiu vng iu khin, s dng phi

hp nhiu sch lc iu khin v cc phn t cu hnh khc, v d iu khin
phn hi kt hp b nhiu, iu khin phn hi kt hp vi iu khin t l, iu
khin phn hi kt hp s dng khu tch knh,... Bn cnh qu trnh cng ngh,
t a cn c cc thnh phn chc nng khc nh thit b o, thit b chp hnh v
cc khu chuyn i khc. c th a v cu hnh chun, trc ht ta cn
biu din m hnh h thng vi y cc thnh phn cho bi ton iu khin
phn hi t a ang quan tm trn c s cu trc iu khin la chn. M hnh
hm truyn t kt hp vi s khi l mt cng c hu hiu biu din
quan h gia cc thnh phn trong h thng.
7 .1 .2 .1 V d h t h n g i u k h i n n h i t
Xt h thng iu khin nhit minh ha trn Hnh 7-2a. Hai dng cht lng
c lu lng v nhit ln lt l F \) T ) v F'2y T2 c a vo pha trn trong
bnh cha sao cho dng ra c nhit T nh mong mun. Trong hai dng vo
th ch c lu lng ca dng th nht c th thay i c q u a mt van t l,
cn lu lng dng th hai ph thuc vo qu trnh ng trc . H thng
c tran g b c ch t trn, v th lu lng ra lun bng tng hai lu lng
vo. Sch lc iu khin phn hi thun ty c s dng y. Da vo sai
lch gia gi tr t v nhit ra quan st c, b iu khin a ra tn hiu
iu khin thay i m van, qua thay i lu lng F\ v iu chnh
nhit ra.
M t iu d nhn thy l, a ra c sch lc iu khin phn hi nh
trn t a khng cn m hnh chi tit ca qu trnh, li cng khng cn bit c
tnh van iu khin v ca thit b o. C th y t a ch cn vit c: phng
trnh cn bng nhit lng l phn tch nh hng ca F , T, F2 v T2 ti T.
Tuy nhin, c th thit k b iu khin phn hi t a cn m t m hnh phn
nh kh chnh xc quan h gia tn hiu iu khin v tn hiu o, c ngha l
bao gm c tnh ca c qu trnh nhit, thit b o v van iu khin. Bn cnh
, nh hng ca nhiu qu trnh l nhit 7\, lu lng F2 v nhit r 2,
cng nh sai s ca thit b o ti tn hiu o cng cn c lm r.
G i thit cc ng tn hiu ghp ni thit b o v thit b chp hnh vi b
iu khin l dng in, ta c th minh ha li m hnh h thng iu khin
nhit bng s khi nh trn Hnh 7-2b. n v v t l c a cc i lng
cng c a ra trn s tin theo di cho cc phn tch sau ny. Nh
thng l, k hiu (A*) c s dng ch cc bin chnh lch ca qu trnh.
phn bit r hn, ta s dng k hiu (*) ch cc tn hiu cha c chun
ha (trong trng hp ny chng m ang gi tr dng in vi n v l mA).

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

M HNH H THNG IU KHIN NHIT

tr n h a thm nhiu k hiu mi khng cn thit, trn s khi ta

lm dng cc k hiu ca bin v tn hiu thng thng cho nh Laplace ca
chng. i s (bin phc s) nhiu khi cng c b qua n gin ha trong
trnh by v din gii, ty thuc ng cnh s dng m t a khng s nhm ln.

C hng 7

334

P hn t c h h iu k h in p h n Hi

Cc m hnh hm truyn t Gv v Gfi c th xc nh bng phng php l

thuyt nh gii thiu trong chng 3. M hnh bnh cha nhit (xem cc mc
3.3.2.3 v 3.5.2.1) c th m rng cho v d y, ch cn ta nh hng ca
lu lng v nhit mi dng ti nhit dng ra l tng t nh nhau. Coi
khi lng ring ca mi dng l c nh, ta c phng trnh cn bng nhit:
(7 .1 )

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*

Bin i Laplace cho c hai v, t a nhn c m hnh hm truyn t:

A F2{s )
A T {s) = Gp{s)Fl(s) + GJ(s)

(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'

Hm truyn t cho van iu khin (bao gm c cc khu chuyn i, v d

khu chuyn i dng sang kh nn I / P ) thng c dng mt khu qun tn h bc
nht:

"(s> - J 7

(7.3)

Hm truyn t ca thit b o cng thng c xp x v m t khu qun tnh

bc nht:
Gtn(s)

(7.4)

S khi n gin ha cho h thng c minh ha trn Hnh 7-3 gn

vi cu hnh
hiu ra c
phng php
theo phng

chun. M hnh hm truyn t t tn hiu iu khin ti tn

iu khin , tc l mGpv cng c th xc nh c bng
thc nghim m khng cn phi chia tch ra th n h tng khu nh
php l thuyt. T t nhin, thng tin v cu trc m hnh nhn

7.1

335

BI TON CHUN

A F2

A 7]

AT2

[1/sl "C ("C)

H n h 7 -3 :

KHl DN GIN HA CHO H THNG lu KHIEN

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

cn c chn sao cho c c tnh gn ging vi

t ra l h s khuch i tnh. Trong thc t ta c th chn

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

M hnh qu trnh cho vng iu khin th nh phn c th xc nh c trc

tip bng cch tuyn tnh ha phng trnh (3.100) xung qu anh im lm vic
({5, R x x u x 2 ) :
p \^ d A x ^ ^

__ 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:

So KHI N GIN HA CHO VNG l KHIEN t h n h phan

trong hng s thi gian r =

pv / j. Lu

rng, nh vai tr b nhiu ca b

iu khin t l lu lng, nh hng ca lu lng X>Z ti thnh phn ra X coi

n h c loi b hon ton. V th, U2 khng cn x ut hin vi vai tr l
nhiu i vi vng iu khin thnh phn na. S khi cho vng iu khin
thnh phn c n gin ha nh trn Hnh 7-5.
Gi s bi ton iu khin t l lu lng c gii quyt hon ho v ta
ch cn quan tm ti bi ton phn tch v thit k vng iu khin thn h phn.
iu c ngha l t l R = W i / ( v j + W 2 ) lun bm cht gi tr t R sp. Hn
na, ta c th gi thit rng b iu khin t l lu lng F F C c chu k trch
m u nh hn nhiu so vi b iu khin thnh phn AC. TVong thc t th ng
hc ca vng iu khin lu lng ng l nhanh hn nhiu so vi vng iu
khin nng . Khi , t a c th coi rc l mt khu khuch i thu n ty
(trng hp c bit rc= 1). Nh ni trong phn trn, hm truyn t cho
thit b o Gm c xc nh trn c s di o v di tn hiu ra la chn cng
nh t cc thng s do nh sn x u t cung cp. Trong thc t nu mun c m
hnh chnh xc hn t a cng c th xc nh hm truyn t kt hp GmGpGrc
bng thc nghim sau khi a vng iu khin t l vo vn hnh.

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

vic la chn cp i cc bin v o ra , la chn cc trng s trong th it k iu

khin v nh gi cht lng iu khin mi cng bng v hp l. Mt khc, mi
thnh phn trong h thng (thit b iu khin, thit b o, th i t b chp hnh,
cc khi chuyn i) li s dng cc loi tn hiu tng t v s rt a dng. Do
vy, vic phn tch h thng v thit k b iu khin s tr nn phc tp v
ph thuc qu nhiu vo gii php h thng c th. T hc ra, tn hiu ch l
phng tin truyn thng tin lin quan ti cc bin qu trn h , v th t t nht
t a tm cch loi b th nguyn v chun ha ln ca chng.
Trong v d h thng iu khin nhit a ra trn y, t a thy m t vn
ln lin quan ti s dng cc tn hiu cha c chun ha l cc th am s m
hnh ca i tng iu khin c gi tr v th nguyn ph thuc vo kiu tn
hiu vo-ra (tng t hay s, dng hay p, v.v...). C th, h s khuch i k,n
trong m hnh hm truyn t Gm ca thit b o nhit c n v l m A /C
v gi tr quyt nh bi di tn hiu o (v d 16mA). H s khuch i ky
trong m hnh hm truyn t Gv ca van iu khin c n v l (l/s )/m A v
gi tr quyt nh bi di tn hiu iu khin.
Cho m hnh hm truyn t ban u ca qu trnh (bao gm van iu
khin, bn th n qu trnh cng ngh v thit b o) c biu din vi cc tn
hiu (chnh lch) cha c chun ha nh sau:
(s) = m(s)Gp(s)v(s)(s) + m(s)Gd(s)d(s)

(7.7)

K hiu Sy l di tn hiu o, Su l di tn hiu iu khin v Sd l di nhiu

qu trnh (di bin thin ca nhiu) ta c th t cc tn hiu chun ha
y - /S y , u =

/su,

d - / S ,1

(7.8)

M hnh (7.7) c biu din li nh sau:

y{s) = G{s)u{s) + Gd{s)d{s)

(7.9)

trong
G(s) = O ^ G p(s)SuGv(s) = Gm(s)Gp(s)Gv(s)
_

(7 .1 0)

Gd(s) = % ^ S d d(s)= Gm(s)Sd d(s)

y
Mt im ng lu l vic chun ha m hnh qu trn h y d n n
chun ha m
hnh ca van iu khin v ca thit b o, ging nh khi t a s
dng ngay cc
tn hiu o v tn hiu iu khin chun ha (xem li trn h by
v c tnh thit b o v van iu khin trong chng 6 ):

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

Trong trng hp tng qut, mt qu trnh a bin vi m hnh hm truyn

t
(s) = (s)(s) + d(s)d(s)

(7.13)

Cn c chun h a vi cc vector tn hiu

u = 5,7', y - s~', d = S d

(7.14)

trong cc m a tr n chuyn thang Syy S u v Sd c dng ng cho. T a d dng

i n m hnh
y(s) = G(s)u(s) + Gt(s)d(s)
vi

(7.15)

G(s) = S ; l (s)S tn Gd(s) = S ; ld(s)Sd.

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

Ma tr n truyn t nhiu chun ha c xc nh theo cng thc:

(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

M HNH H T H N G lu KHIN NHIT VJ CC TN HIU CHAN h a

Ga =

Kn

s d d

1 + r, s
( 7 .1 7 )

Kn
(1 +

Tms ) ( l +

rs)

/cdlAF 2,niax k(l2^ ^.max

Kl\\ a 2,niax

Nhng phn nt t trn s khi biu din quan h gia cc tn hiu

chun ha vi cc bin qu trnh. Chn khu to tn hiu t c = kjn , quan h
gia tn hiu t chun ha v nhit t c th hin qua cng thc:
( 7 .1 8 )

Gi tr nhit o c (cha c sai s o) c quan h vi tn hiu o chun ha

theo cng thc
A Tm =

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 )

trong kyn = Ki / 40000. Chn Sd l m a trn n v, t a c:

OM = 0 & 8 4 M - .(.,(.) - (r., + ^ - + i)l* 1- *1

M hnh chun ha cho h thng c minh ha li vi s khi trn Hnh
7-7. Khc vi v d h thng iu khin nhit , h s chuyn thang km (cng l
h s khuch i ca thit b o vi tn hiu ra chun ha) y khng c th
th nguyn. Trong trng hp c bit, km c th bng 1 v t a khng cn phn
bit gia gi tr t v tn hiu t.

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

Sau khi a c cc h thng iu khin phn hi c th v cu hnh chun

nh trn Hnh 7-1, bi ton thit k b iu khin phn hi c din t nh
sau:
Cho trc cc m hnh G v Gfi, xc nh khu iu chnh K v khu lc trc p
sao cho
1. H thng hot ng n nh, m bo cc iu kin vn hnh theo yu cu
ca quy trnh cng ngh,
2. Cht lng v tc dp ng ca u ra y vi gi tr t r v nhiu qu trinh
d dc ci thin, sai lch diu khin e = r - y nhanh chng c trit tiu
hoc ra l nm trong phm vi cho php, v
3. T n hiu iu khin u c gi tr nh, thay i chm v trn tru (nhm tit
kim chi p h nng lung v tng tui th cho thit b chp hnh)
trong iu kin tn ti nhiu do n, sai lch m hnh AG,Arf v gii hn vt l
ca qu trnh (gii hn tn hiu iu khin, kh nng p ng ca qu trnh).

C hng 7

342

P h n t c h h i k h i n p h n H i

Xt cu hnh iu khin chun minh ha trn Hnh 7-1. i vi ton h kn,

r, d v n c coi l cc u vo ngoi sinh (exogenous inputs). T a quan tm
nh hng ca cc u vo ngoi sinh ti y, u v e,bi din bin ca chng phn
nh nhiu m t v cht lng ca h thng iu khin. T a cho cc khu trong h
thng c m t bng m hnh hm truyn t, quan h gia cc bin c
biu din trn min Laplace nh sau:
y(s) = G(s)u(s) + Gd(s)d(s)

(7.21)

u(s) = K(s){p(s)r(s) - y{s) - n(s))

(7.22)

e(s) = r(s) - y(s)

(7.23)

T h ay u trong (7.22) vo (7.21) v b qua k hiu bin phc 5 trong cc hm

truyn t v nh tn hiu cho d nhn, t a nhn c p ng tn hiu ra
y = Gu + Gdd = GK{Pr - y - n) + Gdd
(1 + GK)y = G KPr + Gdd - GKn

hay l

p ng ca tn hiu iu khin trong h kn cng c xc nh tng t:

u = K {P r y n) = K (P r - Gu - Gd - n)
(1 + GK)u = K {P r - Gd - n)

hay l

U = T G K Pr- T ^ G K Cd - T G K n

(7-25)

Sai lch iu khin thc s l

e=

GKP

GK

1-r r Y -r r K G'd+rKn

7 '26)

tin theo di, t a s dng m t s th u t ng v k hiu thng dng sau y

cho cc h SISO:
H m truyn t h h:
H m truyn at h k n :

L = GK
T = SL =

(7.27)
1 4 Ga

Hm nhy:

Chnh lch hi tip:

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)

Cc hm truyn t L, s v T c vai tr c bit quan trng trong phn tch

cht lng v thit k iu khin trn min tn s. Thut ng hm n h y xut
pht t k h nng biu din tnh nhv cm ca hm truyn t h kn vi sai
lch ca m hnh i tng G. n gin ta cho khu lc trc p 1.Nu m
hnh thc ca i tng l G + A v hm truyn
t h kn tng
ng l
T + A T . t a c th vit:
A T T
( T /T
dTG
K
G
1
c - o A G /G ~ d G /G ~~ dG T ~ (1 + G K T ~ 1 + GK z

(7.34)

T h u t ng hm b nhy x ut pht t quan h rng buc gia T v S:

T + s = 1

(7.35)

Cc khi nim v quan h a ra trn y cng c th d dng m rng cho

cc h MIMO:
*
o
II

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

Chnh lch hi tip:

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)

Vn m ang tnh cht nn tng trong thit k iu khin phn hi l tm ra

gii php th a hip gia nhiu yu cu nh sau:
1. T c p ng v c h t lng p ng: Tc p ng u ra (bin cn
iu khin) th hin thi gian u ra t gn ti gi tr t sau khi c s
th a y i ca gi tr t hoc nh hng ca nhiu qu trnh. C h t lng p
ng th hin mc dao ng ca p ng v qu iu chnh. e h kn
p ng nhanh thng t a phi chp nhn dao ng v q u iu chnh mt
mc no .

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

M t trong nhng vai tr thit yu ca b iu khin phn hi l n nh (ha)

h thng. Song, tnh n nh cng l vn ring ca cc h iu khin phn
hi, bi ngay c khi i tng n nh m b iu khin c thit k khng
kho c th lm cho ton h m t n nh. Vy nn tnh n nh phi c xem
l tnh cht quan trng hng u ca mi h thng iu khin phn 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

Trc khi i vo phn tch tnh n nh ca mt h iu khin phn hi, t a cn

xem li khi nim tnh n nh ca mt h tuyn tnh ni chung. Tnh n nh
ca mt h c nh ngha theo nhiu cch khc nhau ([ 1 ]-(10 ]) song i vi cc
h tuyn tnh th phn ln cc nh ngha l tng ng hoc gn tng ng
[9]. Di y ta xem xt hai nh ngha tiu biu nht, l n nh Lyapunov
v n nh ni. ph hp cho c h n bin cng nh a bin, c hai nh
ngha u da trn chun tn hiu v chun vector (xem thm ph lc B).
*
,
nh ngha 7-1 (O n n h Lyapunov): Cho m t h c biu din bng m hnh
trng thi
X f(x

,ti),

= 0, (0) =

Trnq thi CU bng X = 0 ca h c gi l

lun tn ti m t s 6 > 0 sao cho

Xq

n n h , nu vi m i s

Vx0 : IIXqII < 6 => \\x(t)\\ < 6, V > 0

(7.44)
e >

(7.45)

Trng thi cn bng X = 0 ca h dc gi l n nh tim cn, nu n n nh

v ngoi ra cn tha m n
lim II(011 = 0

t \j

(7.46)

C mt vi im cn lu v nh ngha tnh n nh Lyapunov. T h n ht,

n nh l tnh cht ca h thng, khng ph thuc vo tn hiu kch thch nn
ta ch cn xt trng hp u 0. T h hai, tnh n nh c nh ngha cho
im cn bng X = 0 , nhng hon ton c th p dng cho m t im cn bng
X b t k bng cch i bin X = X - X . T h ba, nh ngha s dng chun
vector nhng khng nu r chun c th, c ngha l bt c chun vcctor no
cng c th ph hp2. Trong thc: t ngi ta thng s dng chun bc hai
(chun Euclid). T h t, nh ngha da trn m hinh trn g thi (tng qut) nn
p dng c cho c h phi tuyn v h tuyn tnh. Mt h tuyn tnh bao gi
cng c im cn bng X = 0 , nn nu n nh ti X = th cng n nh
ti mi im cn bng khc, nhng nu n nh tim cn ti X = 0 th
cng l trng thi n nh tim cn duy nht [4].
nh ngha tnh n nh ca Lyapunov c th c din gii nh sau: Nu
cho trc m t gi tr e , ta lun tm c gi tr th hai < sao cho mi
ng qu o trn g thi t do ca h xut pht t m t im bt k cch gc
ta ca khng gian trng thi mt khong nh hn s khng bao gi i xa

2 Nu s chiu ca vector l hu hn th cc chun c coi l tng ng.

346

C hng 7

Hnh 7-8: Minh ha tn h n nh

P h n t c h h i u k h i n p h n Hi

tm

cn Lyapunov

gc t a m t khong ln hn hoc bng e . Hn na, nu h n nh tim cn

ti im cn bng X = 0 th mi ng qu o tr n g th i cui cng phi i v
gc t a (nh minh ha trn Hnh 7-8).
i vi m t h tuyn tnh c phng trnh trng thi
X = A x + Bu,

x(0) = Xq

qu o trng thi ca n c xc nh theo cng thc (2.19)

T heo tn h cht ca chun m a trn t a c th vit:

(7.47)
l x(t) = e Xq .

I*(01 MII x0I

C th d dng ch ra rng, iu kin cn v m t h tuyn tnh n nh

tim cn l:
lim Ile** II = 0
11

11

(7.48)

T heo cng thc tnh hm ly tha m a trn ca Silvester [12]:

e At _

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

h th n g c th c m t bng nhiu m hnh trng thi khc nhau v cc m

hnh ny khng n h t thit tng ng (v d cc m hnh c th c s bin
t r n g thi khc nhau). V vy, xt tnh n nh ca mt h thng thc t a
phi chc chn rng mi bin trng thi cn quan t m c a vo m hnh.
n h ngh a 7-2 (O n n h ni): M t h c gi l n nh (ni) nu nh kch
thch t bn ngoi m t (vector) tn hiu b chn vo bt c ch no trong h
thng th (vector) tin hiu trch ra t bt c ch no ca h thng cng phi b
chn.
n h ngha tr n y c th coi l mt dng m rng ca nh ngha n nh
BIB 0 ( bounded input-bounded output, [3]). Khi nim tn hiu b chn y
triig ng vi chun v cng ca tn hiu l m t s hu hn. Mt h SISO ch
c m t th nh p hn (m t khu) c inh ngha l n nh nu nh bin ln
nht, ca tn hiu vo |( 0 | l mt s hu hn th bin ln nht tn hiu ra
\y(t)\ cng phi l m t s hu hn. T hut ng n nh ni c nhn m nh
vi ngha rng t a khng ch quan t m ti mt quan h vo-ra n h t nh, m
q u a n tm ti nh hng ca mi tn hiu tc ng vo h thng ti mi tn hiu
o tc bt c ch no trong h thng.
N h ta bit t c s iu khin t ng, iu kin cn v m t h n
n h BIBO l to n b im cc ca n c phn thc m (hay ni cch khc l
nmi bn tri tr c o). im cc thc cht l tnh cht ca m hnh hm truyn
t, mt hm tru y n t c t t c im cc m c gi l hm bn. Nu ch xt
quam h vo-ra thng thng ca h thng th rt c th mt s im cc ca
cc thnh ph n h th n g khng xut hin trong m hnh hm truyn t cui
cnjg. V d, m t h thng bao gm nhiu khu ni tip trong m t khu c
mt im cc dng b trit tiu bi mt im khng ca m t khu khc th h
khmg c tnh n nh ni, mc d 11 011 nh DIBO theo ngha truyn thng. V
vy., iu kin to n b im cc nm hn tri trc o cha cho tnh n nh
ni ca int h.
"'Vi d 7-1: Mt h tuyn tnh (vi s khi minh ha trn Hnh 7-9a) bao gm hai
Ikhu ni tip vi hm truyn t ln lt l
< ,(.)_ J - , < * ,) _ i i
lHni truyn t t u ti y l

i - G<->- *<*) = ITT

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 bibo nhng khng

nh ni

Nh vy, ton h ch cn mt im cc m 5 = -1 v v vy c coi l n nh

BIBO. Tuy nhin, im cc dng 5 = 1 ca G b trit tiu v v th khng xut hin
trong m hnh vo-ra ca h. Ch cn cho bin vo u() = l() th bin ni V s tin
n oo, mc d qua m phng ta s thy bin ra y(t) tim cn ti gi tr 1.
By gi ta sa li v d bng cch o v tr ca Gi v c?2 (Hnh 7-9b). Thot u ta
c th cho rng h mi ny n nh ni, bi hm truyn t t u n V l mt hm
bn. M phng vo-ra vi tn hiu kch thch u(t) = 1(t) cng cho ta thy iu ny.
Tuy nhin, nu mt h tch ring c thnh hai khu nh vy th V phi l mt
bin vt l v gn nh chc chn s chu nh hng ca nhiu (k hiu d trn hnh
v). Nhiu d cng l mt u vo ca h v hm truyn t t d ti y khng phi l
hm bn. V th, h mi ny cng khng n nh ni. R rng l xt tnh n nh
ni ca h ta cn xt tt c hm truyn t t cc bin vo ti cc bin ni v bin
ra, hoc phi a thm iu kin l khng c s trit tiu cc im cc c phn thc
khng m.
By gi t a s tm hiu mi lin quan gia tnh n nh tim cn Lypunov vi
tnh n nh ni ca mt h tuyn tnh. Trong l thuyt iu khin hin i,
hin tng tri t tiu m t im cc khng n nh c quan h cht ch ti ci gi
l ch n khng 071 nh (unstable hidden mode, xem thm [7],[8 ]). Xt m
hnh tr n g thi ca h thng:
X = A x + Bu,
y = Cx

z(0) = 0

(7 49^

M t ch c hiu l mt th nh phn t do e^ 1 tng ng vi gi tr ring

A, ca m a tr n A ca h thng. Mt ch tng ng vi gi tr ring c phn
thc khng m s khng t t dn, v th c gi l ch khng n nh
(unstable mode). Khi bc (hay s bin trng thi) ca h thng cha phi l nh
n h t (ta ni m hnh trn g thi tng ng cha phi l thc thi ti thiu), chc
chn h s khng iu khin c hoc khng quan st c v nhng ch
tng ng vi cc gi tr ring d ra c gi l ch khng iu khin c
(uncontrollable mode) cng nh ch khng quan st c (unobservable mode).

7.2

nh

nh

ca

iu

349

k h i n p h n Hi

Nu m hn h hm truyn t c xc nh t mt thc thi cha phi

thiu thi nhng gi tr ring tng ng vi cc ch ny s bin m t ch
tr th n h im cc ca h, v th cc ch ny cn c gi vi ci tn
n ( hdden mode). Cui cng, mt ch n khng n nh l mt ch
tng ng vi gi tr ring c phn thc khng m ca m a tr n A.
V d 7-2: Trong v d 7-1 (trng hp a), ta t cc bin trng thi
m hnh trng thi ca h s c biu din nh sau:
1 '
*2

X'

0 -1

x2

X\ =

V,

l ti
khng
l ch
n

Xg = y,

S bin trng thi ca h l 2, trong khi a thc mu s ca G(s) c bc l 1. D dng

nhn ra rng bin X\ l khng quan st c, bi n khng nh hng trc tip ti y
qua phng trnh u ra nhng cng khng h nh hng gin tip qua bin X2- iu
Iiy c th c kim tra li qua tiu chun Kalman. Ma trn quan st c c hng
l 1 , km 1 so vi s bin trng thi:
cr

rH

1
0

ct

Ta cng c th kim tra tnh quan st c cng nh xc nh ch n c bng

phng php tm tr ring v vector ring [7. Ma trn A c hai tr ring l Aj = 1
v x2 = 1 v hai vector ring tng ng l V = [0 l ]7 v v2 = [1 0]T . Ta tnh hai
tch v hng c1V = 1, c1V-) = 0. Vector ring th hai ca A trc giao vi ma trn
u ra (vi h SISO y l mt vector hng) cho ta kt lun l h khng quan st
c v ch tng ng vi gi tr ring A2 = 1 l ch n (khng n nh).
cng l gi tr ring khng tr thnh im cc trong hm truyn t G(s).
i vi trng hp b trong v d (o v tr ca G\ v C2), li tr thnh quan st
c nhng khng iu khin c v ch n khng c g thay i.
T nh n n h tim cn Lyapunov c nh ngha da trn cc bin trn g
thi, tc l d a c trn nhng bin ni. Nh vy, nu m hnh trng thi
cha ton b bin trng thi c lp cn quan tm (m hnh trng thi khng
nht th i t c bc ti thiu) th tnh n nh tim cn Lyapunov v tnh n dinh
ni l hon ton tng ng. Cc gi tr ring ca m a tr n A ni ln tnh n
nh tim cn Lyapunov, nhng cng ni ln tnh n nh ni ca h thng.
Trong trng hp 1 hnh trng thi c bin i v dng thc thi ti thiu
(t t c bin tr n g thi l quan st c v iu khin c), th c th m t s
ch n khng n nh b loi b v tnh n nh tim cn Lyaponov ch
cn tng ng vi tnh n nh BIBO.

C hng 7

350

P h n t c h h IU KHIN PHN H i

M t h ch l n nh Lyapunov th cha chc n nh BIBO, n nh ni

hay n nh tim cn. Khu tch phn l m t v d n gin. Ni chung, m t h
ch c m t im cc n ti im khng hoc ch c hai im cc phc lin hp
nm trn trc o, cn cc im cc khc u nm bn tri tr c o c coi l n
nh Lyapunov, nhng khng n nh BIBO, ng nhin khng n nh ni v
khng n nh tim cn Lyapunov.
T m li, xt tnh n nh ni ca mt h m t bng m hnh trn g thi
t a ch cn xt cc gi tr ring ca m a trn h thng, trong khi vi m hnh hm
truy n t t a cn kim tr a xem h c cha ch n khng n nh hay khng.
T nh n nh ni theo nh ngha 7-2 l mt s m rng ca khi nim n nh
BIBO truyn thng, vi s quan t m ti cc bin trng thi bn trong. iu kin
cn v mt h n nh ni l t t c hm truyn t - t mi tn hiu vo
ti mi tn hiu bn trong hoc tn hiu ra ca h - u l h m bn. T t nhin,
i vi s vn hnh n nh ca m t qu trnh cng ngh t a khng ch quan t m
ti gi tr cc bin v o r a thng thng, m cn phi m bo nhng bin trn g
th i bn trong cng c duy tr trong gii hn rng buc. V th, t nay v sau
t a lun quan tm ti tnh n nh ni (hay n nh tim cn Lvapunov). Nu
khng nhn m nh thm th tnh n nh cng phi c ngm hiu l tnh n
nh ni.

7.2.2

T n h n n h ni c a h iu k h i n p h n hi

X t cu hnh h thng iu khin phn hi minh ha trn Hnh 7-10. y l mt

bin th ca cu hnh c bn (Hnh 7-1) khi nhiu q u trn h c tch ring
th n h nhiu u vo du v nhiu u ra dy. T a gi thit rng cc tn hiu nhiu
u b chn, tc l c ln hu hn (theo m t chun ph hp). Trong cu hnh
c bn, m hnh nhiu nu c cha thn h phn khng n nh th th n h phn
ch c th xut p h t t qu trnh khng n nh vi nhiu u vo. Gi s nhiu
u ra Gdd khng b chn th nh hng ca n cng khng th loi b, nn ta
ch cn xt trng hp nhiu u ra Gdd b chn. Hay ni cch khc G<1 phi l
hm bn v khng nh hng ti tnh n nh ca h kn. Nh vy, cu hnh
trn Hnh 7-10 hon ton ph hp xt tnh n nh cho bi ton chun.

H nh 7-10:

Cu HNH PHC v PHN TCH TNH N nh ni

CA CC H IU KHIN phn Hi

7.2

T nh n n h c a

iu kh in

phn

Hi

351

rng vai tr kch thch ca n i vi h kn tng t nh dy, nn kho

s t tnh n nh ni c a h t a c th coi n = 0. Trc ht t a c
u K (P r - Gu - dy) + <4
T suy ra p ng ca u trong h kn vi cc u vo r, du v dy :
u =

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)

B a phng trinh (7.50)-(7.52) c vit gn li thnh

u

1
1 +GK

KP

GKP

-1

-K
(7.53)

D a theo nh ngha v phn tch trong phn trc, h kn n nh ni khi v ch

khi t t c hm tru y n t trong (7.53) l hm bn. T a i ti nh l sau y.
n h l 7-2 (Tiu c h u n n nh ni c a h kn): H kn c cu hnh m inh ha
trn Hnh 7-10 n nh ni khi v ch khi:
1. p l hm bn,
2. Hm chnh lch hi tip 1+ G K khng c im khng nm trn na kn bn
phi m t phng phc v

3. Khi nhn G v K khng xy ra s trit tiu im khng-im cc nm trn

na kn bn phi m t phng phc.
Chng minh
a) iu kin cn: Gi s h kn n nh ni. Trc ht hm truyn t t r ti f , tc
l p phi l hm bn. Tip theo, (1 + GK)~l cng phi l hm bn, nn 1 + GK
khng c im khng nm trn na kn bn phi mt phng phc. Biu din cc hm
truyn t di dng phn thc ti gin
G(s) = , K(s) = Bk{s)
^c(5)
A<(S)
a thc c tnh ca h kn
+ Bc ($)BI<(s)

C hng 7

352

P h n t c h h d i k h i n p h n Hi

khng th c nghim nm trn na kn bn phi mt phng phc. T suy ra tng

cp (A c, B) v
Bc) cng khng th c nghim trng nhau nm trn na kn
bn phi mt phng phc.
b) iu kin : Ta cng biu din hm truyn t P(s) di dng phn thc ti gin
P(s) =

Bp(s)
Ap(s)

Hm truyn t (1 + GK)~l l hm bn theo iu kin th hai, vy AqAk + DcB(

khng c im khng nm trn na kn bn phi mt phng phc. Cc hm truyn
t cn li trong (7.53) ln lt c vit li thnh:
K
1 + GK
G
1 + GK
GK
1 + GK
p
l + GK
GKP
1 + GK

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

Theo iu kin th nht th Ap khng c im khng nm trn na kn bn phi mt

phng phc. Kt hp vi iu kin th hai v th ba ta suy ra rng ton b cc hm
truyn t trong (7.53) u l cc hm bn. l iu phi chng minh.
Lu : nh l 7-2 hon ton c th m rng cho h MIMO nu ta thay 1 + GK bng
det(I-f-GK). Trong phn chng minh ta cn biu din cc ma trn truyn t di
dng phn tch ma trn tri hoc phn tch ma trn phi, v d:
G(s) = A~[(s)B(s)
trong A(s) v B(s) l cc ma trn a thc nguyn t cng nhau.

T chng minh trn y, ta cng i n mt nh l n gin hn p dng cho

h SISO.
nh l 7-3 (Tiu chun n nh ni c a h kn SISO): H SISO c cu hnh
m inh ha trn H nh 7-10 n nh ni khi v ch khi p l hm bn v da thc c
tnh
A c { s ) A <{$) + B g ( s ) B k s )

ch c im khng nm trn na h bn tri ca m t phng phc.

(7.54)

7.2

T n h n n h c a h i u KHIN PN H i

353

C th nhn th y rng iu kin v im khng ca a thc c tnh bao

hm kh nng c tri t tiu hay khng im cc khng m ca G(s) v K (s). Vai
tr n nh h th ng ca b iu khin th hin r y: Nu K (s) c chn
hp l, n s c tc dng dch im cc khng n nh ca G(s) sang bn tri
trc o v lm cho h kn n nh. Ngc li, nu K(s) khng c tnh ton cn
thn, n cng c th lm cho h kn m t n nh ngay c khi G(s) n nh.
Trong trng hp G (s) v K (s) l cc phn thc hu t, t a cth p dng
cc tiu chun n nh i s nh Routh-Hurwitz ([l]j[3]). Tuy nhin, cc i
tng trong thc t thng c cha thnh phn tr, nn k h nng p dng ca
phng php ny l r t hn ch. Hn na, quan h gia s th ay i cc th a m s
m hnh trong G v K vi s thay i v tr cc im khng t th hin r trong
a thc c tnh, nn vic thit k b iu khin c ti tnh n nh bn
vng ca h kn kh da trn quan h ny.
V d 7-3: Xt mt qu trnh phn ng c m hnh c lng
G(s) =
- iL
v
(s + 1) (a + 0.5)

(7.55)

Cc tham s thi gian c n v l pht. S dng b iu khin PID thc vi cc

tham s kp = 2.5, T = 5.0,
= 0.8 v N = 8. Hm truyn t ca b iu khin l
1

K pid (s ) 2.5

0 .8
0. 1.6' + 1

2.25.9 + 2.55 + 0.5

5(0 .1 + 1)

(7.56)

Cu hnh h thng iu khin c minh ha trn Hnh 7-11. a thc c tnh ca h

kn c xc nh l:
s{$ + 10)( + (s + 0.5) - 0.25(22.5.S2 + 25.55 + 5){s - 2)
= s + 12.5s4 + 21.4875s3 + 37.5625s2 - 2.1625s + 2.25
S dng bng Routh, ta xc nh c h kn n nh'ni. iu ny cng c xc
nhn thng qua m phng p ng qu . By gi ta xt tip hai trng hp:
a) M hnh c lng trong (7.55) c sai lch v tham s, c th l h s khuch i
ca
qu trnh thc ln gp hai ln gi tr c hrng
b) M hnh c lng trong (7.55) c sai lch v cu trc, c th l b qua thi
gian tr 0 = 1 pht.

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

Kt qu m phng cho c ba trng hp c minh ha trn Hnh 7-12. R rng,

trong trng hp m hnh bt nh, h thng rt d mt n nh, vn phc tp
y l da vo xt a thc c tnh ta rt kh xc nh c gii hn sai lch cho
php ca cc tham s hoc cu trc m hnh m bo h kn vn n nh. Hoc
ngc li, gi s nu bit c gii hn sai lch tham s m hnh ta cng kh c th
suy din t a thc c tnh ra cc tham s ca b iu khin m bo h kn n nh
bn vng. Hn na, i vi nhng qu trnh c thi gian tr nh trng hp b) ta
khng th s dng phng php xt tnh n nh da vo a thc c tnh.
2

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)

Mc d kh p dng trc tip, t iu kin n nh ni ca m t h kn nh

phn tch trn y t a r t ra hai nguyn tc thit k q uan trng:
1. K hng bao gi tm cch trit tiu mt im cc khng m ca i tng bng
cch chn b iu khin c im khng trng vi n. Nu i tng c im
cc khng m th t a ch c th n nh h th ng b ng cch dch chuyn n
sang bn tri m t phng phc ch khng th loi b n. y l m t nguyn
t c m ang tnh trit hc, khng ch ng trong lnh vc k th u t.
2. K hng bao gi tm cch b c tnh p ng ngc c a i tng bng cch
s dng b iu khin khng n nh (nhm tri t tiu im khng n m na
bn phi m t phng phc). Nh s phn tch sau ny, t a khng th kh c
tn h p ng ngc hoc c tnh tr ca m t q u trnh. V th, ngoi tr
trng hp c th cha thm th n h phn tch phn, ph n cn li ca b iu
khin bao gi cng phi c chn l n nh.
T un theo hai nguyn tc trn y cha m bo tn h n nh ca h kn, nhng
m bo nu h kn n nh th cng n nh ni. K hng c g ngc nhin nu ts
cc th u t ton p, PI, PD v PID tha m n hai nguyn tc trn y (cc
hng s thi gian T v rd khng th c gi tr m).

7.2

355

T n h n n h c a h i u k h i n p h n Hi

V d 7-4: Qu trnh phn ng vi m hnli (7.55) th hin p ng ngc bi c mt

im khng ti 5 = 2. Vi b iu khin PID la chn trong v d 7-3, ta thy kt
qu m phng vn mang c tnh khng mong mun ny. Mt suy nghi u tr l b
sung vo b iu khin mt khu
nhm trit tiu im khng ti 5 = 2 (Hnh
7-13).

H n h

7-13:

M inh

ha

c h o v

d 7-4

Kt qu m phng p ng qu ca h kn c minh ha trn Hnh 7-14. Mc d

p ng u ra qu trnh c v c ci thin so vi trong v d trc (Hnh 7-12), tn
hiu iu khin li nhanh chng tin ti v cng. iu ny ng nhin khng th
chp nhn c. Kim tra li a thc c tnh, ta thy iu kin n nh ni b vi
phm. im khng ti s = 2 b trit tiu trong php nhn cc hm truyn t, nhng
li xut hin trong a thc c tnh.

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

V d 7-5: Mt qu trnh khng n nh c m hnh

G(s) = ----- ------1 > (, - 1 )(, + 2 )

(7.57)

Trc ht, qu trnh c 011 nh bng mt b iu khin PID vi cc tham s kp =

20, Tj = 2.0, Tfi = 0.5. Tn hiu ra t b iu khin kh ln nn ta phi t mt khu
hn ch gi tr ng sau b PID. p ng ca h kn th hin qua ng nt lin trn
Hnh 7-15. Tip theo, ta th thay th b FID bng mt khu
m

356

Chng 7

Phn

tc h

iu

khin

phn

Hi

Thot u, kt qu m phng (ng nt t trn Hnh 7-15) cho thy p ng u

ra cng nh p ng tn hiu iu khin u rt tt, h kn t ra n nh. Tuy nhin,
khi ta cho u vo qu trnh mt xung nhiu rt nh th c tnh p ng u ra tin
rt nhanh ti v cng (ng gch chm trn Hnh 7-15). L do rt r rng l ta
tm cch trit tiu im cc khng n nh ca qu trnh, dn n h mt n nh ni.
Ring trng hp s dng b PID ta c th yn tm rng mt khi h kn n nh
v o ra th nht nh cng n nh ni.

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

dngb PID (kp = 20, T = 2.0, Td = 0.5)

dngkhu iu chnh K(s) = 2 ( 5 -1 )/s, khngc nhiu
dngkhu iu chnh K(s) = 2(s-l)/s, c nhiuuvo

T i u c h u n N y q u ist

Tiu chun n nh Nyquist l mt tiu chun quan trng, khng nhng rt ph

hp cho vic kho st tn h n nh ca m t h kn, m cn l m t cng c h tr
c lc cho cc phng php thit k iu khin da trn min tn s. Tiu
chun Nyquist nguyn bn ch p dng c cho h SISO, nhng sau ny
c tng qut ha cho h MIMO.
X t h iu khin kn SISO minh ha trn Hnh 7-10. T h c t ta lun phi
chn khu lc trc n nh, nn t ny v sau khi xt n nh h thng ta c
th coi p = 1 . Gi th it hm chnh lch hi tip F(s) = 1 + G (s)K (s) c nt im
khng v np im cc nm trong na kn bn phi m t p hng phc. Trc ht,
t a nh ngha ng vin Nyquist hay ung vin V l ng bn nguyt l
ng x u t p h t t gc t a i ln dc theo tr c o ti j o o , bm theo na
ng trn v hn bn phi ti j 00 v tr v gc t a (Hnh 7-16a). Nu gp
m t im cc ca F(s) trn trc o th ng vin V ny cn i tr n h m t cht
sang bn tri m ly im cc . Cho bin phc 5 chy theo ng vin V ,
th F(s) s th ay i m t gc pha tng cng l
F (s)\v = 2n(np - nz)

(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

N yqist (a) V TH N yquist (b)

Theo nh l 7-2, iu kin h kn n nh l nz = 0. T suy ra iu

kin h kn n nh l th Nyquist ca F(s), tc l ng qu o F(s) khi cho
s chy theo ng vin Nyquist, phi bao quanh gc ta chnh xc m t gc
2nnp . iu kin ny tng ng vi vic th Nyquist ca hm truyn t h
h L(s) = G($)K(s) phi bao quanh im -1 mt gc 2nnp (Hnh 7-16b). M t
khc, cc im cc ca F(s) v ca L (s) l nh nhau. T ta i ti tiu chun
n nh Nyquist p dng cho h SISO nh sau.
nh l 7-4 (Tiu c h u n n nh N y quist cho h SISO): M t h kn SISO n
nh khi v ch khi ng th Nyquist ca hm truyn t h h L (s) xoay
quanh im -1 mt gc 2 tttiv , trong rip l s im cc ca L(s) nm trong
na kn bn phi ca m t phng phc. D h kn n nh ni ta cn c thm iu
kin khng xy ra trit tiu im, cc - im khng nm bn phi trc o.
Tiu chun Nyquist c ngha ng dng rt ln bi cc l do sau y:
c tnh t n s ca h h c th dng c d dng trn c s c tnh tn
s ca tng khu tro n g h thng hoc c th xc nh c thng q u a cc
phng php thc nghim.
Tiu chun N yquist cho php xt tnh n nh ca h c thi gian tr.
th Nyquist khng nhng cho php kim tr a m t h kn c n nh hay
khng m cn cho bit h kn n nh nh th no, n nh c bn vng hay
khng (gn hay x a vi bin gii n nh).
th Nyquist khng nhng c ngha trong vic kho st tnh n nh, m
cn l mt cng c h tr thit k iu khin rt trc quan v tin li.

Chng 7

358

Phn

tc h

iu

khin

phn

Hi

V d 7-6: Cho qu trnh vi m hnh qun tnh bc hai c tr

(7 .5 9 )

GM = k e"

S dng b iu khin p vi hai trng hp kc = 2 v ;c = 4. Trn Hnh 7-17 l th

Nyquist cho hai hm truyn h h tng ng. Quan st c tnh bao im -1, ta c
th khng nh h kn th nht n nh (Hnh 7-17a), trong khi h th hai mt n
nh (Hnh 7-17b). iu ny cng c kim chng qua kt qu m phng p ng
qu trn Hnh 7-18. Nu khng s dng tiu chun Nyquist m p dng tiu chun
i s, ta s phi xt cc phng trnh c tnh phi tuyn (5 + 2)(5 -f 1) + 3e~5 = 0 v
(5 4- 2) (5 + 1) 4- 6e5 = 0 . R rng, nhng tiu chun n nh i s nh RouthHurwitz khng p dng c y.

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

C mt. vi im bn c cn c bit lu khi dng v kho s t th

Nyquist. T h nht, cc h trong thc t u c tnh nhn-qu, nn cc hm
truyn t ca chng phi c bc mu s ln hn hoc bng bc t s. N h vy,
ng th Nyquist s ct trc thc ti cng mt im khi s tin ti jo o hoc
joc v ng th Nyquist s lun khp kn. T h hai, ng th Nyquist
v ng c tnh t n bin-pha L(j) khng phi hon ton l mt. Ch khi L(s)
khng c im cc nm trn trc o, th Nyquist v th c tnh t n s v
trn m t phng phc mi nh nhau, nn tiu chun Nyquist p h t biu d a trn
c s ng th Nyquist khng khc so vi da trn th c tnh t n s
L(jcJ) vi oo < V < oo. th Nyquist hay th c tnh t n s u c tnh
i xng qua trc thc, nn cng c pht biu tiu chun Nyquist da trn mt
na th (0 < co < oo).
Trong trng hp L (s) c im cc nm trn trc o (k c im cc nm ti
gc ta ), th gia th Nyquist v th c tnh tn s li c s khc nhau
ng k. V d, khi L(s) c mt im cc ti gc ta th ng c tnh tn
s h ti hai u v cng, nhng ng th Nyquist c khp kn bi mt
na ng trn bn knh ln v tn. Nh ta thy trong nhiu ti liu, p h t biu
tiu chun Nyquist d a trn hai th ny s c s khc nhau. Tuy nhin, nu
bn c s dng hm n y q u is t trong MATLAB th s khng thy na ng trn
ny th hin trn th (s th t l MATLAB khng th v c). Cn khi L(s)
c nhng im cc n m trn phn cn li ca trc o (Sp = ja , a > 0 ) th
ng c tnh t n s L(j) khng c nh ngha, nhng ng th Nyquist
vn c th dng c bng cch dch trc o sang phi m t khong cch r t b
(tc l thay th Sp = ja).
V d 7-7: M hnh ca mt qu trnh bao gm bnh mc v van iu khin l mt
khu qun tnh tch phn bc nht vi hm truyn t
(7(,) =

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

ng vin N yquist i tr n h v bn tr i hai im cc ny, hay cng chnh l thay

Sp = j

vi e l m t gi tr r t b, t a s v c ng th N yquist x p x nhu

m inh ha trn Hnh 7-20. Phng to vng gn gc t a t a s th y hai irn ng vi

t n s UJ = 0 v U * 00 khng tr n g nhau. Mc d ng th bn phi (Hnl:
7-20b) l chnh xc hn, s khc nhau gia hai ng khng h nh hng ti vic xt
tn h n nh theo tiu chun Nyquist. T r n Hnh 7-20a t a c th th y r t r im -1
c bao n g hai vng ngc chiu kim ng h. N h vy, t a kt lun c rng l
kn n nh. iu ny c th kim chng d dng bn g tiu ch u n i s. H ai in
cc n nh c a h kn l 2 j .

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

TH N y quist ca khu dao ng IU HA CA v D 7-8

7.2

nh

n DNi

ca

n D i u KHIN PHN HI

361

Tiu chun Nyquist cn c tng qut ha cho h MIMO trong nh l sau

y. V phn chng minh, xem [6] hoc [7].
nh l 7-5 (Tiu c hun n nh N yquist cho h M IM O ): X t m t h h vi
m a trn truyn t L (s) khng c dim cc nm
trn trc o. iu kin cn v
h kn n nh l dunq d th Nyquist ca d e t( I + L (s)) bao quanh (nhng
khng i qua) gc ta ngitc chiu kim dng h m t s ln ng bng s dim
cc khng n nh ca L($).
Trong thc t, phn ln cc qu trnh cng nghip c tnh n nh hoc c
c tnh tch phn bc nht. Bn thn cc b iu khin cng phi c chn l
n nh, nn ton b im cc ca h h nm bn tri trc o ngoi tr c th
c m t im cc nm ti gc ta . Nh vy, nu h kn n nh th ng c
tnh t n s'* khng th bao quanh hoc i qua im - 1 trn m t phng phc, m
cng lm chi xoay quanh im -1 mt gc - 7T. C th ch ra iu ngc li cng
hon ton ng. Trong nhng trng hp ny, tiu chun Nyquist c n gin
ha nh p h t biu trong nh l di y.
nh l 7-6 (Tiu c h u n n nh N yquist n
gin ha): i vi m t h h
SISO khng c im cc nm. bn phi trc o, ngoi tr c th c m t m cc
nm ti qc ta , iu kin cn v h kn n nh l ng c tnh tn
s ca h h, L(ju>), 0 < U) < oo, khng bao quanh v cng khng i qua im -1
trn m t phng phc.
Hnh 7-21 minh ha ba v d p dng tiu chun Nyquist cho trng hp h
h n nh (a) v h h c c tnh tch phn (b, c).

n h

7-21:

K im

tra

1 khng phi th Nyquist

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

i vi cc hm truyn t h h n nh hoc cng lm ch c m t im cc

nm ti gc ta (c th n h phn tch phn bc n h t), t a cng c th kim tra
tnh n nh ca h kn bng th Bode. Trn Hnh 7-22a l th Bode ca
c tnh tn s h h L (jJ), tng ng vi th N yquist trn Hnh 7-22b.
T n s m ti ng c tnh bin ct ng 0 dB (tc \L(j<jj)\ = 1) t
trn xung c gi l tn s ct bin CJC. y cng l t n s m th Nyquist
ct ng trn n v t ngoi vo. D thy, h kn n nh th im ct phi
nm na bn di ng trn n v trn m t phng phc cng nh nm trn
ng - 7Tca th Bode.
T n s m ti ng c tnh pha ct ng - 7 T (tc z L(ju)) = - 7 T ) t
trn xung c gi l tn s ct pha (x-Tt. y cng l t n s m th
Nyquist ct trc thc t di ln v pha bn tri gc ta . D thy, iu kin
th Nyquist ca L (s) khng bao v cng khng i q u a im -1 tng ng
vi iu kin n phi ct trc thc ti mt im nm gia 0 v - 1 , hay ni cch
khc l bin ti t n s ct ph a phi nh hn 1 .

Re[L(jco)\

a) th Bode
H nh 7-22:

b) th Nyquist (u 6 [0,oo)

Kho s t tn h n inh bng TH C TNH TN s

nh l 7-7 (Tiu chun n n h Bode): X t m t hm truyn dt h h L (s)

khng c im cc nm bn phi trc o, ngoi tr c th c m t im cc nm
ti gc ta .
a) Nu c tnh tn
nht th iu kin
b) Nu c tnh tn
nht th iu kin

s L (ju ),
cn v
s L (ju ),
cn v

0 < u < o o , c m t tn s ct bin CJC duy

h kn n nh l z L(jtJc) > 7r .
0 < u < oo, c m t tn s ct pha C.* duy
d h kn n nh l IL(jiJ_7r)\ < 1 .

7.2

nh

nh

ca

iu

khin

phn

Hi

363

C hai trng hp cn lu trong vic p dng tiu chun n nh Bode.

T h nht, nu \L ( ju :)\ lun nh hn 1 (khng c tn s ct bin) hoc z L ( ju )
lun ln hn - 7T (khng c t n s ct pha) th h kn chc chn n nh. Ngc
li, trng hp cng m t c tn ti nhiu tn s ct bin v nhiu tn s ct
pha thng rt him xy ra trong thc t, nhng nu xy ra t a phi c bit
th n trng. T t n h t l trong nhng trng hp phc t p t a nn p dng tiu
chun Nyquist tng qut.

7.2.5

d t r n n h

th c tnh t n s ca h h khng nhng gip t a kim tr a xem mt h kn

c on nh hay khng, m cn cho php ta xc nh mt h kn nm gn hay xa
bin gii n nh. Ni m t cch khc, ta c th a ra c nhng ch s ni
v tnh n nh bn vng ca h kn vi sai lch m hnh i tng da trn c
tnh tn s ca h h. Hai ch s quan trng ca ca m t h kn n nh c
minh ha trn Hnh 7-22, l d tr bin (i4m) v d tr pha ( m) 1 gi
chung l d tr n nh.
d tr bin c nh ngha l
4 = , - - T

(7 .6 2 )

hay tnh theo n v decibel l

AiidB

= 20 log A,n = -201og|L(ju;_7T)|

(7.63)

d tr bin ni ln khong cch ca h kn nm gn hay xa vi bin gii n

nh. Trng hp t n ti nhiu tn s ct pha, t a cn chn t n s tng ng vi
bin ln nht (gn im -1 n h t hay l gn ng OdB nht). ngha c a
d tr bin nm ch, nu hm truyn t ca h h c nhn vi A m th h
kn s nm bin gii n nh. Nh vy, d tr bin cng ni ln kh nng
bin thin h s khuch i ca b iu khin hoc ca qu trnh h kn vn
cn c gi n nh. Nhn nhn t mt gc khc, d tr bin th hin
tnh n nh bn vng ca h kn vi sai lch bin . Nu d tr bin cng
ln th h cng bn vng hn vi sai lch m hnh v h s khuch i. d
tr bin bng 1 th h bin gii n nh v nh hn 1 th h m t n nh.
d tr p h a c nh ngha l
4>m = n + z L {ju c)

(7.64)

d tr pha ln hn khng th h kn n nh, bng khng th h kn bin

gii n nh v nh hn khng th h kn m t n nh. Khi d tr pha bng 0

Chng 7

364

Phn tch h

iu

khin phn

hi

(h bin gii n nh) th h cng t trng thi dao ng ti /ln, bi gc p ha

ti tn s ct bin (Jc ng bng -7 r(t n s ct bin b n g t n s ct pha v
lc ny cng chnh l t n s dao ng ti hn u\x). d tr p ha ni ln gc
lch pha b sung lm cho h tin ti bin gii n nh, hay ni m t cch khc l
d tr p ha th hin tnh n nh bn vng ca h kn vi sai lch pha ca m
hnh. c bit, sai lch mt thi gian tr A 6 gy nn sai lch ti tn s j mt
gc pha ng bng A 6u> (radians). Vi th, nu sai lch m hnh ch nm thi
gian tr, t a cquan h chnh xc gia d tr p ha v gii hn sai lch thi
gian tr m bo h kn vn n nh:
A 9u)c < m [radians]

(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)

V d 7-9: Trc ht ta s dng tiu chun Bode kho st tnh n nh ca h

iu khin qu trnh phn ng trong v d 7-3. Vi m hnh qu trnh (7.55) v b
iu khin PID (7.56), hm truyn t ca h h l
L(s) = G(s)K(s) = ~ 2-5(* - 2 )(2 .2 5 s 2 + 2 .5 5 s + 0 .5 )
s(s + 1) (s + 0.5)(s + 10)

(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:

C C TH C TNH TAN s CHO v D 7 - 9

-----

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

d tr bin v d tr pha l hai ch s r t hay c s dng trong

n h gi tnh n nh bn vng ca h kn bi s n gin v trc quan. Tuy
nhin, trong nhng trng hp qu trnh c m hnh phc tp, nhng tham s
ny c th khng p h n nh chnh xc khong cch gn
hay xa vi bin gii n
nh ca h thng. Trn Hnh 7-24 l mt v d minh ha. Mc d d tr
bin v d tr p h a u kh ln, khong cch gia ng th Nyquist v
im -1 l r t nh. Ch cn m t sai lch nh trong c tnh pha (ch khng cn
sai lch bin ) c a m hnh h h cng c th lm gim d tr bin i mt
cch ng k. khc phc nhc im ny, t a c th s dng m t ch s khc,
l d tr m -un (modulus margin).
d tr m -un ,n c nh ngha khong cch gn nht t im -1 ti
ng th Nyquist ca h h (Hnh 7-24). C th thy rng, d tr mun phn nh tnh bn vng ca h kn m t cch t t hn, nht qun hn so vi
d tr bin v d tr pha. Nh trong phn 7.3 s thy r hn, d tr
m-un khng nhng p h n nh t t tnh bn vng n nh, m cn l m t ch
tiu nh gi cht lng r t tt. Nhc im ca vic s dng d tr m-un
l tn h ton phc tp, quan h gia ch s ny vi cc th a m s m hnh cng
nh th am s ca b iu khin thng kh rc ri. Cc phng php thit k
da trn d tr m -un thng c a v bi ton ti u th am s t
c d tr m -un ln n ht trong khi m bo cc ch tiu cht lng khc.

Chng 7

366

Hnh 7-24:

7.2.6

Phn

tch

I k h i n p h n H i

So SNH D TR M-UN VI D TR BIN

V D TR PHA

T n h n n h c

Mt cu hi t ra l liu c phi qu trnh no cng c th n nh c thng

qua iu khin phn hi. Trong a s ti liu trnh by trn quan im m hnh
trng thi, ngi t a thng nh ngha v din gii tnh n nh dc ca mt h
da trn tnh iu khin c (xem [4], [8]). C th, t a c th n nh c mt
h khi iu khin c mi ch khng n nh ca n bng mt mch phn
hi trng thi. Song trong thc t khng phi bin trng thi no cng c th o
c, nn bi ton xt tnh n nh c thng i km theo bi ton xt tnh
nhn bit c.
Trong ni dung trnh by (li y t a nhn nhn tn h n nh c ca mt
qu trnh khng n nh da trn quan im phn hi u ra kinh in. T n h n
nh ca m t qu trnh c hiu l kh nng c tn ti khng m t b iu khin
phn hi n nh sao cho h kn n nh. Nh trong mc 7.2 phn tch, nu
khng v mc ch trit tiu sai lch tnh th nht thit khng bao gi c php
dng m t b iu khin khng n nh. nh l di y da trn p h t biu v
chng minh trong [13].
nh l 7-8 (T n h n nh c): X t cu hnh iu khin phn hi kinh in
trn Hnh 7-10. iu kin cn v tn ti m t b iu khin K n nh
h kn n nh l G c tnh xen k, tc l phi c m t s chn cc im cc nm
gia m i cp im khng trn trc thc dng (k c im khng ti v cng).

7.2

T n h n n h c a h i u KHIN PHN Hi

367

Cn lu rng trong nh l trn y, s im khng ti v cng c tnh bng

s bc tng i ca h. Nu m hnh cho trc l h m .tru y n t vi bc t s
l m v bc m u s l n, th s im khng hu hn l m v s im khng v
hn l n - ra.
V d 7-9: Cho hai qu trnh c m hnh hni truyn t ln lt nh sau:
(s - l )2

s(s - 2 )

C th thy. G'2 c tnh xen k v c th n nh c bng mt b iu khin phn

hi n nh, trong khi Gi khng c tnh cht . Nu ch xt n nh vo-ra, ta c th
s dng mt b iu khin khng n nh cho 2, song h kn s mt n nh ni.

7.3

C ht lng iu khin phn hi

Trong phn trn y t a tm hiu nhng vn c bn trong vic phn tch

tnh n nh ca h iu khin kn. Mt khi m bo c h kn n nh,
yu cu tip theo t ra l nng cao cht lng p ng ca h. C th, hai mc
tiu c bn l gim thiu sai lch iu khin (e) cng nh chi ph iu khin (u),
trong iu kin th ay i gi tr t (r), tc ng ca nhiu qu trnh (d), tn ti
nhiu o (n) v sai lch m hnh.
Nhn t pha cc k s iu khin, c r t nhiu phng php nh gi
cht lng iu khin nh nh gi trn min thi gian hoc nh gi trn min
tn s/m in phc, nh gi thng qua phng php phn tch i s, thng qua
phn tch th hoc nh gi thng qua phng php m phng. T ngi
ta a ra cc ch tiu nh gi cht lng c th. Trong khi cc nh cng
ngh hu nh ch quan tm ti cc ch tiu nh gi cht lng da trn c
tnh p ng trn min thi gian, nhng phng php nh gi cht lng da
trn min tn s li c vai tr c bit quan trng i vi cc k s iu khin
trong cc bc phn tch h thng v thit k b iu khin. Mt phng php
hin i hn, c th ha ng hai quan im trn l d a trn chun tn hiu v
chun h thng (xem b sung kin thc trong ph lc B).

7.3.1

n h gi c h t lng tr n m in th i gian

Khi nh gi cht lng iu khin phn hi, t a cn phn bit gia p ng u

ra ca h thng i vi thay i gi tr t ( cht lng bm gi tr t) v vi
tc ng ca nhiu qu trinh (cht lng loi b nhiu). i vi nhiu u ra
( Gd = 1 ), cht lng bm gi t v cht lng loi b nhiu hon ton c th
c p ng mt cch ng thi vi cu hnh iu khin phn hi mt bc t

Chng 7

368

Phn tc h

iu

KHIN PHN H i

do. Tuy nhin, trong nhiu trng hp ta phi c kh Iing thit k b iu

khin ph hp vi tng yu cu ring, v d thng q ua s dng cu trc b
iu khin hai bc t do nh s dc cp k hn sau ny.
p n g v i t h a y i g i tr t
Trong bi ton iu
th ay i. Song m t
thng c dng bc
hn ch tc hoc

chnh, ch vn hnh thng c nh nn gi tr t t khi

khi ngi vn hnh thay i gi tr t, tn hiu ch o
thang, tr trng hp trong h thng c t thm cc khu
trong ch vn hnh theo m th c th c dng khc.

Hnh 7-25 minh ha mt s ch tiu thng dng dng nh gi cht lng

h iu khin kn trn c s p ng bc thang. u ra y(t) v tn hiu iu
khin u() l nhng p ng ca h kn vi gi tr t rt) thay i mt n v.
Cc thng s c trng cho tc d p ng v cht lng p ng bao gm:

Thi gian p ng (response tim e, Tr): Thi gian nh nht u ra t c

90% gi tr trng thi xc lp y^ . Thi gian p ng cng nh cng tt.

Thi gian qu (settling time, T$): Thi gian nh n h t u ra t v

nm li trong phm vi sai lch cho php (v d 5% hoc 2% ty theo yeu
cu) so vi gi tr trng thi xc lp. Thi gian qu cng nh cng tt.

qu iu chnh ( overshoot): Trong trng hp p ng ca h c dng dao

ng t t dn th qu iu chnh l t s gia bin nh th nht v gi
tr xc lp. qu iu chnh cng nh cng tt, thng thng c yu cu
khng vt qu 20%-25%.
H s tt dn (decay ratio): T s gia bin nh th hai v bin nh
th nht, tc B A . H s t t dn yu cu thng khng ln hn 0.3.
Sai lch tnh (steady state error, etr^j): Sai lch gia gi tr xc lp ca u ra
y(t) so vi gi tr t r(t). Sai lch tnh cng nh cng tt, nhng thng
thng ch yu cu nm trong mt gii hn no (v d 2%, 3%).
Thi gian phn ng v thi gian qu l cc gi tr c trng cho tc:
p ng, trong khi qu iu chnh, h s t t dn v sai lch tnh phn nh
cht lng p ng. Nhn nhn t mt gc khc thi thi gian phn ng, thi
gian qu , h s t t dn v qu iu chnh l cc ch tiu phn nh c tnh
ng hc, cn sai lch tnh lin quan ti c tnh tnh ca h thng.
Din bin ca mt s bin ra c iu khin lin quan trc tip ti cht
lng sn phm. Tuy nhin nh gi cht lng iu khin t a phi quan tm
ti c din bin ca tn hiu iu khin, bi n lin quan ti kh nng chu ng
v m t vt l ca thit b chp hnh, mc hao mn thit b v nng lng
tiu th. Tn hiu iu khin cng nh th chi ph nng lng cng thp, tn hiu

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

C T CH TIU CHAT LNG DA TRN P NG QU

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

Tiu chun tch phn cng c th c m rng quan tm ti din bin ca

tn hiu iu khin. V d ta c th t ra yu cu ti thiu ha h m mc tiu:
1/2

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:

(b) p ng tn hiu iu khin

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

Mc d c nhiu phng php thit k rt thnh cng ch da trn min thi

gian, ngi k s iu khin vn cn ci nhn su sc hn v h thng thng qua
phn tch v nh gi trn min tn s. Cui cng th c tnh ca mt h thng
phi c nh gi trn c s cc tn hiu v o ra , m t n s l m t trong nhng
c tnh quan trng n h t ca mi tn hiu. Trong khi cc ch tiu cht lng trn
min thi gian ch yu da trn p ng vi tn hiu vo dng bc thang,
phng php trn min tn s cho php nh gi tc p ng v cht lng
p ng vi cc tn hiu vo a dng hn, bi mt tn hiu b t k c th c
coi l xp chng ca nhiu tn hiu hnh sin vi tn s khc nhau.
Quay li cu hnh chun ca iu khin phn hi a ra trong mc 7.1.1 v
cc quan h c bn dn xut trong mc 7.1.4. Trc ht, t a gi thit khu lc
trc p = 1 v s h kn c minh ha li trn Hnh 7-27. p ng ca sai
lch iu khin vi b a u vo ngoi sinh c vit li thnh:
e = S r - SGdd + Tn

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

trong s l hm nhy v T l hm b nhy (hay hm tru y n t h kn).

Q u a n h gia s v T vi hm truyn t h h L c th hin qua hai cng
thc:

1+ 1
T =
+L

(7.73)

N h ni, L, s v T l b a hm truyn t c vai tr r t quan tr n g trong nh

gi cht lng iu khin, cng nh trong nhiu phng p h p th i t k iu khin
trn min t n s.
c t n h b m t i m cn
M t trong nhng yu cu cht lng t ra u tin l k h nng tn hiu u re
cn iu khin bm tim cn theo tn hiu t. iu ny p h thuc khng nhng
vo b iu khin, m cn ph thuc vo dng tn hiu t. Ni chng, t a khng
c cch no m t h c th bm mt cch l tng th eo m t tn hiu t tha)
i b t k. Trong thc t ta quan t m c bit ti p ng u r a ca h thn
vi hai trng hp thay i gi tr t l dng bc th an g n v v dng tn hii
dc. K h nng bm c gi tr t hay khng ph thuc vo vic chn irr
khng ca hm nhy s hoc chn im cc ca hm tru y n t h h L.
n h l 7-9 (iu kin b m tim cn): X t h iu khin m in h ha trn Hn
1-21. Gi thit h n nh ni v d = n 0.
a) Nu T thay i dng bc thang thi sai lch iu khin tin ti khng (kh
cho t oo ) kh v ch khi S(s) c t nht m t im khng ti gc tc
b)

, hoc L (s) c t nht m t im cc ti gc ta .

Nu r thay i dng tn hiu dc th sai lch iu khin tin ti khni
(khi cho t oo ) khi v ch khi S(s) c t nht hai im khng ti gI
ta > hoc L (s) c t nht hai im cc ti gc ta .

P h n chng minh nh l l bi t p nh dnh cho c gi. T y ta c th r

ra kt lun rng, sai lch tnh trit tiu (ta hiu l vi gi tr t thay
dng bc thang) th K hoc G phi cha t n h t m t khu tch phn, hay l
\L(ju))\ =0 = oo. sai lch ng trit tiu (ta hiu y l vi gi tr t th a 1
i dng dc) th K cng vi G phi cha t n h t hai khu tch phn, hay 1<
lw^ ( j ^ ) U o = 00
nh l 7-9 ch l m t p ht biu c bit ca nguyn l m hnh n i: h
kn c c tnh bm tim cn th hm truyn h h L(s) phi cha bn tronj
m t m hnh ni ca cc im cc khng n nh ca tn hiu t. Tn hiu
dng bc thang c nh l r(s) = k/s, tc l c m t im cc khng n nh, n)

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

phi bng 0 nn khi ni ti di thng ta

thng ch tn s ln n h t U>B sao cho \T(jU)\ > 0.707 (Hnh 7-28),

Hnh 7-28:

Khi nim di th n g

cjd

ca h kn

Di thng cng ln c ngha l h c kh nng p ng t t vi nhng tn hiu

cao t n v n h vy p ng ca h cng nhanh vi thay i gi tr t v nh
hng c a nhiu q u trnh. Ngc li, di thng th p th qun tnh ca h ln v
p ng ca h s chm. Mt trong nhng vai tr quan trng ca b iu khin
phn hi chnh l m rng di thng ca h thng. Trn Hnh 7-29 l cc th
c tn h bin c a q u trnh cng nh ca h iu khin kn t v d 7-3, vi
hai trng hp kc = 2 v kc =2.5. Ni chung, h s khuch i ca b iu khin
phn hi cng ln th di thng ca h kn cng c m rng.
Di thng cng ln th h kn p ng cng nhanh, nhng nh phn tch di
y s cho th y rng h cng cng nhy cm vi nhiu o v tn hiu iu khin
s th ay i cng ln. V vy, ta khng th m rng di thng m t cch t y ,
vic a r a c m t ch tiu thch hp l iu r t quan trng.

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

tr m rng di thng ca b iu khin phn

Hi

C h t lng iu khin ph thuc rt nhiu vo cht lng ca cc php o.

Tn hiu o trc khi a vo b iu khin s thng c lc nhiu, tuy
nhin vic s dng cc b lc c th lm xu i c tnh ng hc ca h thng.
V th yu cu t ra cho cc b iu khin l phi c kh nng lm vic tt
trong iu kin tn ti nhiu o. Khc vi p ng vi gi tr t hoc nhiu qu
trnh, ch tiu cht lng y kh c th c t trn min thi gian, m hu
nh phi din t gin tip thng qua c tnh tn s.
Mt trong nhng im then cht trong thit k iu khin l trong khi c
tnh loi b nhiu qu trnh v c tnh bm gi tr t c th ha ng vi
nhau, th chng li khng d dng ha ng vi kh nng loi nhiu o. T cng
thc (7.72) ta c th nhn xt rng c tnh bm gi tr t cng nh c tnh
loi b nhiu qu trnh s l l tng khi S(s) 0 . M t khc, nhiu o t nh
hng ti cht lng h thng t a mun T(s) 0 . Nhng vi iu kin rng buc
s + T = 1, t a khng tho cng mt c lm cho c s v T cng r t nh, m ch
c th lm cho bin d ca chng rt nh nhng phm vi tn s khc nhau.
May m n l trong thc t, tn hiu t v nhiu q u trnh thng c di tn
th p hn so vi nhiu o. v nguyn tc, ta ch cn lm cho bin ca hm
c tnh t n S(jcJ) bng hoc xp x 0 trong di tn ca tn hiu t v nhiu
qu trnh, cn bin ca T(jJ) bng hoc xp x 0 trong di tn ca tn hiu
nhiu o. iu ny cng ng ngha vi vic lm cho bin ca T(ju>) bng
hoc xp x 1 trong phm vi tn s th p v bin ca S(jcJ) bng hoc xp x 1
trong p hm vi tn s cao hn. Hnh 7-30 minh ha dng l tng ca \ T (jJ)\ v
|S(ja;)|. Tuy nhin, trong thc t t a r t kh c th phn bit m t cch rch ri
phm vi t n s nh hng ca tn hiu t, ca nhiu qu trn h v ca nhiu o.
Mt khc, ngay c khi t a c th phn vng nh hng ca t ng loi tn hiu ni
trn th cng khng th lm cho dc ca \ T(ju>)\ v IS(ju)I ln t y . N h vy

7.3

C h a t l ng diu kh in ph n nI

H nh 7-30:

375

C TNH BIN L TNG CA HM NHY V HM B NHY

di thng l m t ch tiu thit k quan trng nhm th a hip gia c tnh bm

gi tr t (v loi b nhiu qu trnh) vi tnh bn vng vi nhiu o.
Bn cnh vn lin quan ti tnh nhy cm vi nhiu o, ta cng cn xt s
quan h gia di thng v ln ca tn hiu iu khin. T cng thc (7.33) t a
c th vit li cho trng hp p = 1 di dng
u = T G ~ \r - Gd - n)

(7.74)

C th th y ngay rng \T(ju>)\ c gi tr cng ln hoc di thng cng rng th u

thay i cng nhanh v cng mnh. bo v cc thit b chp hnh v gim
thiu chi ph nng lng, t a yu cu tn hiu iu khin thay i t v thay i
chm. cng l mt vn mu thun cn gii quyt mt cch tha hip vi
yu cu bm gi tr t v loi b nhiu qu trnh. May mn l yu cu v gim
thiu thay i tn hiu iu khin c th ha ng vi yu cu v tnh bn vng
vi nhiu o. gim tn hiu iu khin, t a thng phi gim h s khuch i
ca b iu khin v thu hp di thng ca h kn, qua lm cho h t nhy
cm hn vi nhiu o.
Di thng ca h kn cng c th c nh ngha d a trn hm nhy S(ju)
thay v hm b nhy
Di thng u>b l tn s ln n h t m |S(ju;)| < 0.707.
Trn Hnh 7-31 l minh ha s so snh gia cch hai nh ngha khc nhau.
Thng thng, LJb v LB nm tng i gn nhau v thng nm xung quanh tn
s ct Ufc c a c tnh tn h h. Nhiu ti liu a ra phn tch v cho rng, L,
l ch tiu cht lng thch hp hn LJ%bi hm nhy phn nh tt hn c tnh
bm gi tr t v c tnh loi b nhiu qu trnh. iu ny cng th hin rt
r trn Hnh 7-31: *S(jic>)| t gi tr cc i ti m t tn s nh hn CJB v ln
hn Ofc, c ngha l sai lch iu khin s rt ln vi nhng tn hiu t hoc
nhiu c tn s nm gia , v u>. T h t ra, nhn vo cc cng thc (7.72) v
(7.74) ta s thv ngay rng
ph hp hn cho nh gi c tnh bm gi tr

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

t v loi b nhiu qu trnh, trong khi UB ph hp hn cho nh gi c tnh

p ng ca tn hiu iu khin v tnh bn vng vi nhiu o.
D a vo c tnh bin L(jui) ca h h t a cng c th ni c r t nhiu
iu v cht lng h kn. V d, sai lch tnh bng 0 t a cn c \L (ju )\ > oo
khi UJ > 0 . iu kin IS(j(jj)\ 0 trong mt phm vi tn s quan tm no
cng tng ng vi \L (ju)\
1. p ng t t vi gi tr t v nhiu qu
trnh, t a mun \L (ju)\ ln trong m t phm vi cng rng cng tt. Nhng do yu
cu v tn h n nh v kh nng khng nhiu o, t a yu cu \L (ju )\ gim nhanh
(vi dc > 20 dB /decade) t mt tn s no . T hng thng, tn s ct
bin U)c nm trong khong gia U, hoc U>B> nn i khi n cng c s dng
nh ngha di thng ca h kn. T n s ct cng cao th p ng ca h cng
nhanh, nhng h cng d dao ng hn, nhy cm hn vi nhiu o v vi sai
lch m hnh. Bn cnh tn s ct bin, t a cng cn quan t m ti t n s ct pha.
N h phn tch trong mc 7.2.4, i vi a s trng hp thc t, m bo
h kn n nh th t n s ct p ha phi nh hn t n s ct bin. Vy c tnh t.n
s ca h h xung quanh tn s ct CJC cng ng vai tr h trng ti tnh n
nh v cht lng 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

C th d dng ch ra rng bin nh ca hm nhy cng chnh l nghch o

ca d tr m-un (xem mc 7.2.5):
(7.76)

Ms = t

T a C nh ngha tng t cho bin nh ca hm b nhy:

M T = m z x \T (ju )\ = \\T(juj)\\0u
u;

(7.77)

t c cht lng iu khin hon ho, t a mong mun \S(ju)\ v I T{ju)\

c dng ltng nh minh ha trn Hnh 7-30. Tuy nhin, do s + T = 1 t a c
cc iu kin rng buc
|S | + \T \ > 1

(7.78)

Ti m t phm vi tn s no , ta khng th trnh khi \s\ + \ T\ > 1 , d n n

s x u t hin cc im cc i m ti |S| hoc |T c th ln hn 1 . Cc gi tr
bin nh M s v M r cng ln th hin cht lng p ng cng xu. M s cng
c th c coi l m t ch s r t thch hp cho nh gi tnh n nh bn vng
(cng nh th hin mc dao ng ca p ng). Theo tiu chun Nyquist,
h kn n nh th sai lch m hnh khng c php lm thay i s ln th
c tnh tn L (jJ) bao quanh im -1. Mun nh vy th L(ju>) nm cng xa
im - 1 cng tt. Theo (7.76) th iu cng c ngha l Ms cng nh (cng
gn 1) cng tt. Nhng trong a s trng hp t a cng khng th tr n h khi
vic phi chp nhn cc bin nh ln hn 1 . Mt m t, ch c th t a mi c
th d m rng di thng ca h kn. M t khc, do hiu ng ging nc [7],
vic tm cch nn n h ca \s\ hoc \T\ xung bng mi gi s lm cho phn
c tn h cn li tri ln, lm gim tc bm tn hiu t cng nh lc nhiu
o. T hn g thng, t a yu cu Ms nh hn 2 (6 dB) v M t nh hn 1.25 (2 dB).
Cc tn s tng ng vi hai bin nh thng nm gn nhau v nm gia

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)

T a c th din gii yu cu chn IIH^SII^ < 1 m t cch trc q uan nh sau:

|Ws(ju>)| < |1 + L {ju) I, Vu/

Nh vy, (7.79) tng ng vi yu cu ti mi tn s uj, im L ( j u j ) trn
th Nyquist phi nm ngoi ng trn c tm l im - 1 v bn knh l
I Ws{ju>i)I. R rng, yu cu ny tinh t hn nhiu so vi yu cu ng c tnh
tn L (jJ) nm cch xa im - 1 mt khong cch c nh.
Tng t nh i vi hm nhy 5, ta cng c th s dng hm gia trng
c t ch tiu cht lng trn c s hm b nhy T v hm tru y n t h h L.
Hm gia trng khng nhng cho php nh gi cht lng h th n g iu khin
mt cch thun tin, m cn l m t cng c quan trng trong cc phng php
thit k hin i trn Iiiin tn s.
d t r b i n v d t r p h a
d tr bin (A m) v d tr pha (<pm) khng nhng th hin tnh n nh
bn vng ca h kn vi sai lch m hnh, m cn l nhng th a m s thch hp
phc v thit k v nh gi cht lng iu khin phn hi. Ni chung, A m
cng Iih m cng ln th h cng nm xa bin gii n nh v p ng ca h
kn s t dao ng hn hoc c th khng c dao ng. T hng thng, t a yu cu
A m > 2 v m > 30 hoc hn na.
Gia d tr bin, d tr pha v cc bin nh (M r v Ms) c mi
quan h kh cht ch. T nh ngha d tr bin An = 1/1 L (ju _ n )\ , kt hp
vi quan st L ^U J ^) c gi tr thc v m, t a c

7.3

C hat

lng

i u

Hnh 7-33:

k h i n p h n

379

Hi

Minh ha cho dn gii quan h gia

$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)

Tng t n h vy, vi m t gi tr bin nh Af$, t a c

1

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)

V d, vi Ms = 2 ta m bo Ajn > 2 v m >29.0, vi M r = 1.5 t a m bo

rng An > 1.5 v m >29.0. Cc quan h trn cho ta thy rng, vic c t ch
tiu cht lng da trn bin nh ca \S(jij)\ hoc \T (ju )\ bao hm rng
buc v d tr bin v d tr pha. Vic s dng d tr bin v d
pha ch thu n tin khi t a thit k iu khin da trn nn c tn h t n h h.

7.3.3

P h n tc h c h t

lng

iu k h in t n g

iu khin tn g vi cu trc ni tip gip loi b sm nh hng ca nhiu v

qua ci thin c tnh ng hc ca h kn. so snh m t s tnh cht ca
iu khin tn g vi iu khin phn hi vng n thng thng, t a s dng cc
s khi minh ha trn Hnh 7-34. Vi iu khin phn hi vng n, k hiu
hm truy n t h h l L = KGG2 , p ng h kn s c biu din nh sau:
L _ t Gd J i GiGd2 J
y = T T + f l d' + T 01

n
(7-84)

i vi cu trc iu khin tng, t a cng t k hiu cho cc hm truyn t

h h L] = KG, 2 = K 2G2 Nhn trn s khi, trc ht t a c quan h

V\ = G\V2 + Gddi
y2 = 2 ( ^ 1 - 2/2 ) + Gd2(2

^ ^

Tip tc bin i phng trnh th hai ca (7.85) t a nhn c:

(1 + 2)2/2= 2^l(r /l) + (*2^2 = 2^l(r G/2 - Gddi) + Gd2^2

=> (1 -- 2 + -^1^2)/2 = ^ \ ^ { r

Gdld\) + Gd2^2

Cui cng, p ng h kn c biu din thnh:

< 7 '8 6 )

* =

(787 )

phn tch c tnh bm gi tr t v kh nng loi b nhiu du t a xt

hm truyn t h kn t r ti /:
T

r(s)

hLl
1 + 2 +

k.

^ 1+2

1 + L

/7 go\

1+

trong r 2 chnh l hm truyn t t U\ ti 2/2 ca vng iu khin th cp.

Trc ht, nu vng iu khin th cp nhanh hn nhiu so vi vng iu khin

7.3

C hat

lng

iu

khin

p h n Hi

381

a) iu khin phn hi vng n

b) iu khin tng ni tip

Hnh 7-34:

l U KHIN PHN H i VNG N V IU KHIN TANG

S Cp, di th n g c a T2 s ln hn ng k so vi t n s ct bin ca L\ (cng

gn tng ng di thng m ta quan tm cho p ng h kn). Nu vng iu
khin bn tro n g c thit k tt, trong di t n s t 0 ti tn s ct bin ca L
ta c \T2{ju )\ 1 v \L\T2\ ~ \Li\. iu ni ln rng c tnh ca h iu
khin tn g gn n h ch cn ph thuc vo vng iu khin bn ngoi. So snh
vi (7.84), t a c th a ra nhn xt rng nu c thit k t t th c tnh bm
gi tr t c a h iu khin tng khng th km i so vi h iu khin phn
hi vng n th n g thng. Cng cch phn tch nh trn cho t a kt lun tng
t vi c tn h loi b nhiu d\.
u im q u a n tr n g n h t ca cu trc iu khin tn g ni tip l kh nng
loi b nhiu cc b, trong trng hp ny l 2- Cho r = 0 v d\ = 0, t (7.84)
v (7.87) t a c:
y =

89)

(7 W )

Chng 7

382

Phn

tch

i k h in

phn

Hi

vng iu khin bn trong c kh nng loi b nhiu d2) bin I2 I phi ln

hn nhiu so vi 1 trong di tn ca 2- Nu coi \L\ I ^ \L\ t a s c
(7.91)

| 2(1 + A ) I | |
hay l
G\G(i2
1 + L\

G\Gd2
1 + 2(1 + L)

(7.92)

iu c ngha l, sch lc iu khin tng ni tip c k h nng loi b nhiu

cc b tt hn rt nhiu so vi iu khin phn hi thng thng.
Tuy nhin, nhng u im rt ra trn y ch c th c khi vng iu khin
bn trong phi nhanh hn nhiu so vi vng iu khin bn ngoi. iu cng
c ngha l, trc ht c tnh ng hc ca 2 cng phi n hanh hn nhiu so
vi G\. Trong trng hp ngc ii, cht lng khng nhng khng c ci
thin m tnh n nh ca h thng cng cha chc c m bo.
V d 7-10: Cho cc hm truyn t trong s khi trn Hnh 7-34 nh sau:
G

Gd\ =

5
1005 + 1
1

>

20$ 4- 1 ></2 1

i vi sch lc iu khin phn hi thng thng, b iu khin c chn vi hm

truyn t l:
__ _ 0.05(1005 + 1)

K = -----------------------

p ng u ra ca h kn c xc nh theo cng thc (7.84) nh sau:

L =

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

5s2 + 6' 4-1.25

1 - f Ls - - f 1--2

G]G(i2

5s~ 4~ 65 -f" 1.25

3(5 s + 1 )

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

C th thy r di tn s thp (u < lrad /s), |S(:rts0'u;)| nh hn rt nhiu so vi

15n>(jcc/)| , tc l nh hng nhiu (2 ti u ra trong h iu khin tng cng gim i
nhiu ln >0 vi trong li iu khin vng n. iu ny th hin trc quan trn th
c tnh bin (Hnh 7-35).

G )rad/s]

Hnh 7-35:

C TNH BIN CA HAI IIM NHY TRONG v D 7-10

- -

|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

Cc nhn xt trn y c kim chng qua so snh cc kt qu m phng p ng

h kn trn Hnh 7-36. Trong v d m phng, gi tr t c thay i t 0 ln 1 ti
thi im t = 0. Nhiu d\ c m phng bng mt xung vung c rng 20s v
c kch thch vo thi im t = 200s. Nhiu 2 l. mt dy xung vung c rng 5s
v chu k 50s. ng th p ng ca vng iu khin n (nt t) thy r
qu iu chnh kh ln cng nh nh hng rt mnh ca nhiu 2 (nhng ch nhp
nh cch u nhau trn th). Trong khi , ng th p ng ca h iu khin
tng trn tru hn nhiu, hon ton khng c qu iu chnh.

T im e (see)

H nh 7-36:

Kt

q m phng p ng u ra cho v d

7-10

iu khin vng n,----iu khin tng

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

Dynamic System s. 3rd Edition, Addison-Wesley, 1994.

[2]

Ogata, K.: Modern Control Engieering. Prentice-Hall, Englewood Cliffs,

NJ, 2004.

7.5

CU HI

BI

385

TP

[3]

Phc, N.D.: L thuyt diu khin tuyn tnh. X ut bn ln 2, NXB Khoa

hc & K th u t, H Ni, 2005.

[4]

Lunze, J,.: A utom atisiem igstechnik - Methoden f r die berwachung und

Steuerung kontinuierlicher xLnd ereignisdiskreter Systeme. Oldenburg
Verlag, 2003.

[5]

Doyle, J.C ; B.A. Francis; A .R Tannenbaum : Feedback Control Theory.

M acmillan, New York, 1992.

[6]

Maciejowski, J.M .: Multivariable Feedback Design. Addison-Wesley, 1989.

[7]

Skogestad, s.; I. Postlethwaite: Multivariable Feedback Control Wiley,

Chichester-New York, 1996.

[8]

Zhou, K.; J . c . Doyle; K. Glover: Robust and Optimal Control. PrenticeHall, New Jersey, 1996.

[9]

U nbehauen, H.: Regelungstechnik I. io! Auflage, Vieweg, 2000.

[10]

Fllinger, o .: Regelungstechnik. 7. Auflage, Hthig, Heidelberg, 1992.

[11]

Sm ith, O .J.M .: Feedback Control System s, McGraw-Hill, New York, 1958.

[12]

Golub, G.; V an Loan: Matrix Computations. 2nd Edition, John Hopkins,

1993.

[13]

Youla, D. C., J. J. Bongiorno, C. N. Lu: Single-loop feedback-stabilization

of linear m ultivariable dynamical plan ts. Automatica 10, 159-173, 1974.

7.5

C u hi v bi t p

7.1

Hy ch ra vai tr ca b iu khiu phn hi trong vic n nh h thng. Din gii

bn cht ca vic n nh h thng da trn nhn nhn trn min Laplace v trn
min tn s. Ti sao ta c th Iii iu khin phn hi l cch duy nht n nh
ha mt qu trnh khng n nh?

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

c. Sai lch tnh nh hn 0.1 vi bt c nhiu qu trnh no c chun bc hai khng

ln hn 1 ( ||d ||2 < 1 ), khi gi tr t khng thay i v nhiu o n = 0.
7.3

Hy ch ra cc lp m hnh i tng khng n nh m c th n nh c bng

b iu khin p. Nu xt c v yu cu cht lng th b iu khin p ch nn p
dng cho nhng lp m hnh i tng no? Gii thch l do.

7.4

Hy dn dt cng thc tnh xp x h s khuch i ti hn v tn s khuch i ti

hn cho cc i tng c m hnh qun tnh bc nht c tr
G(s) =

(7.95)
T S

cho trng hp T > .

7.5

Cho hm truyn t ca i tng

G(s) = *

(7.96)

(lO s + l ) ( 5 s + 1 )

i tng cn c n nh bng mt b iu khin p, vi K(s) = kc.

a. Hy xc nh iu kin cho kc h kn n nh bng hai cch: i) phng php
i s v ii) phng php th.
b. Vi cc gi tr kc ln lt bng 2
v 3, hy xc nh cc tn s ct, d tr bin
v d tr pha ca h kn. Ch r trn th Bode cc gi tr .
c. Xc nh h s khuch i ti hn v tn s dao ng ti hn ca i tng.
d. Vi kc = 2 th thi gian tr bt nh c php l bao nhiu h kn vn n
nh?
e. Vi kc = 3, xc nh cc ch tiu cht lng t c trn min thi gian (thi
gian qu , thi gian p ng, qu iu chnh, sai lch tnh, h s tt dn) v
v th p ng bc thang kim chng kt qu.
f. Vi kc = 3, hy xc nh cc ch tiu cht lng t c da trn cc c tnh
tn s ca h kn (hm nhy v hm b nhy). V cc th tng ng kim
chng kt qu.
7.6

iu khin i tng c m hnh (7.96) trong bi tp 7.5 bng mt b iu khin PI.

Da vo nhng thng tin nhn c t bi tp 7.5, hy thit k b iu khin
bng cch nn hnh c tnh tn s h h c cht lng iu khin bn cho l
ti u. L gii s ti u ny cng nh con ng i ti s ti u ny bng cch
a ra cc ch tiu cht lng t c.

7.7 iu khin i tng c m hnh (7.96) trong bi tp 7.5 bng mt b iu khin

phn hi c hm truyn t
K 7 -\ _

K<s)

^ s + i K l + i)

(!0 5 +

l)(5 s +

1)

(7 0 7 )

'

a. Gii thch mc ch ca vic chn b iu khin c cu trc nh trn. Ti sao

mu s ca n ta li chn thnh phn (2s+l) ch khng phi l (-2s+l)?

7.5

C U HI V BI T P

387

b. Xc nh cc gi tr cho h s khuch i kc ca b iu khin sao cho bin

nh hm nhy t c ln lt l 1.75 v 2.0. Xc nh cc ch tiu cht lng
t c cn li bng phng php i s v kim tra li kt qu vi phng
php v th.
7.8

Hy phn tch vai tr v gii hn ca b iu khin phn hi trong vic m rng di

thng ca h thng. Ti sao ta khng th m rng di thng ca h thng mt cch
ty ?

7.9

Hy phn tch vai tr ca cc hm truyn t s, T v L trong vic nh gi cht

lng v tnh bn vng ca h iu khin kn. Trong cc ch tiu cht lng trn
min tn s th ch tiu no phn nh chnh xc Iiht cht lng v nhiu mt ca
h thng? Ti sao ch tiu phn nh chnh xc nht li cha chc l ch tiu
s dng tt nht cho thit k b iu khin?

7.10 Hy ch ra Iihng vn tha hip trong thit k b iu khin phn hi.

7.11 T mi quan h gia cc bin nh
M t vi d tr bin v d tr pha,
hy ch ra ngha ca vic chp nhn cc gi tr Msy M r ln hn 1.
7.12 Cho hai qu trnh t v d 7-9 vi cc hm truyn t ln lt l
'l ) >!' CaW
1 ~ )-( ,2)T 3)
(S -
'
Hy tm mt b iu khin phn hi n nh n nh G\. Lp lun ch ra rng
khng th tn ti mt b iu khin phn hi n nh n nh 27.13 Cho qu trnh c m t bi cc hm truyn t ca i tng v nhiu ln lt
nh sau
CM = l f o + (>.0+ i f

GM o h

(7-98)

a. Xc nh b iu khin phn hi sao cho hm truyn t ca h h c dng

Us) =r
-----5(0.05. + l)2(0.01s + 1)

(7.99)

v tn s ct bin t c l CJC = 10rad/s. c lng cc chtiucht lng

t ctrn min thi gian v trn min tn sbngphng php v
th.
b. Ln lt thay th b iu khin xc nh c trong cu a bng cc b iu
khin sau y:
K{s) = 0.5
jr,)-0 .5 i
s

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

Hy ch ra l cc b iu khin K2 v #3 c cu trc PI cng nh PID v a

chng v cc dng biu din chun. Tin hnh m phng bng MATLAB, c
lng v lp bng so snh cc ch tiu cht lng t c sau y:
-

d tr bin, d tr pha
Tn s ct bin
Bin nh hm nhy v hm b nhy
Thi gian p ng

qu iu chnh vi p ng bc thang ca gi tr t v ca nhiu.

c. S dng b iu khin # 3, chn mt khu lc gi tr t c dng qun tnh bc

nht ci thin c tnh bm gi tr t. Nhng ch tiu cht lng no c th
thay i khi b sung thm khu lc trc ny?

Chng 8
C h n h n h b iu k h in P ID

K t khi Ziegler v Nichols a ra hai phng php chnh nh b iu khin

PID vo nm 1942 [45], n nay s lng cc phng php chnh thc c cng
b nhiu ti mc kh c th bao qut ni. Theo thng k s b ca O Dwyer
[26], tnh n ht nm 2002 con s ny ln ti 453. Ch tnh ring s u sch
vit chuyn v cc phng php chnh nh tham s PID th trong giai on ny
cng c khng di 10 cun c xut bn bng ting Anh. Hu ht mi quyn
sch vit v iu khin qu trnh cng dnh t nht m t chng vit ring v
b PID. Sau nhiu th p k ng dng rt thnh cng, khi m ngi t a ngh rng
khng cn gi ni thm v b PID th cng l lc x u t hin nhiu phng
php chnh nh mi, trong c nhng phng php em li bng sng ch
(v d [4]). Ngay c trong thi gian gn y nht, hng lot cc bi bo ca cc
tc gi c uy tn vn tip tc bm theo ch ny (v d [6]-[8], [30],[42]).
Cc phng php chnh nh tham s cho b PID c th c phn loi
thnh cc nhm chnh nh sau:
1. Cc phng p h p d a tr n c tn h s dng m t s c im ca qu trnh
v tnh ton cc tham s b diu khin d thu c cc c tnh vng kn
mong mun. Cc c im ca qu trnh c th nhn c t p ng thi
gian hoc p ng tn s (v d h s khuch i v tn s dao ng ti
hn). Tiu biu l cc phng php da trn p ng bc thang v phng
php da trn c tnh dao ng ti hn (Ziegler-Nichols, [45]). phng p hp
t chnh phn hi r-le (strm v Hgglund, [3]),...
2. C c phng p h p m hnh m u tng hp b iu khin da trn m hnh
ton hc ca q u trnh v m hnh mu ca h kn hoc h h (a ra di
dng hm truyn t hoc c tnh p ng tn s). Trong nhm ny t a c
cc phng php thng dng nh tng hp trc tip (Chen v Seborg, [10]),
chnh nh lam-da (Dahlin 12]), IM C (Morari v Zafiriou, [25]), xp x c
tnh tn,...

390

hng

8: C

hnh

nh

iu

khin

PID

3. Cc phng p h p nn c tnh tn i theo quan im th i t k r.ruvn

thng, s dng m hnh hm truyn t hoc m hnh p ng tn s ca
qu trnh v tnh ton cc khu b sao cho ng c tnh tn s h h hoc
h kn t c cc ch tiu thit k trn min tn s nh di thng, d
tr bin v pha, bin nh hm nhy,... Cc phng php c nhic n
nhiu l ti u m -un (Kessler, [19], [20]), phng php da trn tr
bin-pha (strm v Hgglund, [4], Ho v cng s [16], T an v cng s 37]),
M IG O /A M IG O (strm v cng s, [6], [27]),...
4. Cc ph ng p h p ti u th a m s s dng m hnh ton hc ca qua trnh
v xc nh cc th am s ca b iu khin bng cch cc tiu ha/cc i
ha m t tiu chun cht lng, v d cc tiu ha tch phn sai lch tuyt i
(IAE) hoc tch phn bnh phng sai lch (ISE).
5. Cc phng p h p d a tr n lu t kinh nghim b t chc suy lun ca con
ngi, c th s dng c p ng ca qu trinh v cc c tnh p ng vng
kn mong mun. T rong nhm ny ta c cc phng php chnh nh :n (v
d Zhao, Tom izuka v Isaka, [46]), chnh nh trn c s h chuyn gia v
phng php s dng mng nron.
Cc phn trnh by di y gii thiu mt cch ngn gn nguyn c ca
mt s phng php chnh nh c p dng rng ri trong thc t. Mc ch
l gip ngi c c th hiu v la chn phng php ph hp vi qu trnh
cn iu khin. Cc phng php chnh nh theo lut kinh nghim, v d chnh
nh m hoc chnh nh trn c s h chuyn gia, khng c cp ti trong
phm vi cun sch ny.

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

P hm vi ng dng ca cc b iu khin PID l cc qu trnh c th m t bng

cc m hnh bc thp, thng thng l bc n ht hoc bc hai. Hu ht phng
php chnh nh tham s PID ch p dng dc cho cc qu trn h n nh, hoc
c th c m t khu tch phn bc nht. Ngoi ra, ch m t s t phng php
cp ti qu trnh khng n nh. e tin theo di cho cc phn trn h by trong
chng ny, cc dng m hnh qu trnh thng dng c lit k di y. Bn
cnh hm truyn t, mt s phng php s dng m t i tng trr. min
t n s, tiu biu l c tnh tn s dao ng ti hn.
M hnh qun tnh bc n h t c tr (FO PD T):
G{s) = ^ ~

TS + 1

(8.1)

391

S CHUNG

M hnh bc hai n nh c tr (SOPDT):

G(s) = - T

ke~$s

------ , c > 0

r s + 2t $ -- 1

( 8 . 2)

hoc trng hp c bit l khu qun tnh bc hai c tr (khi > 1)

*> - t o - t )

(8.3)

M hnh tch phn bc nht c tr

G(s) =

kp~s
s

(8.4)

M hnh qun tn h -tch phn bc nht c tr

ke~6s

G(s) =

s (t s

(8.5)

+ 1)

M hnh bc hai n nh c tr v m t im khng thc m

G(s) =

T s + 2rCs + 1

, c > 0

(8.6)

hoc trng hp c bit c vit di dng

G(s) =

k{ras + l)e-9
(T15 + 1)(t2s + 1)

(8.7)

M hnh bc hai c tr v mt im khng thc dng (p ng ngc)

k { - T as + l ) e ~ fo

( )

T s2 + 2rC5 + 1

( 8 .8)

hoc trng hp c bit c vit di dng

G{s) =

k ( - T as + )e~8s

(T15 + l) ( r 2s + 1)

(8.9)

M hnh bc n h t khng n nh c tr (FODUP)

ker9s
G { s ) = rs 1

(8 . 10)

M hnh bc hai khng n nh c tr (SODUP)

ke~9s

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

Cc phng php chnh nh b PID thng thng ch d a vo m hnh bc

th p (bc 1 hoc bc 2). V vy, khi c mt m hnh bc cao th trc khi p
dng mt phng php chnh nh no ta cn thc hin gim bc, xp x m
hnh bc cao v m t m hnh bc nht hoc bc hai c tr. C nhiu phng
php thc hin khc nhau, di y t a tm hiu m t phng php kh n gin
c tn gi l lut chia di ('half-rule') ca Skogestad [30]:
Khi ct b cc th n h phn qun tnh bc cao ca i tng, cc hng s thi
gian qun tnh b ct b c cng vo hng s thi gian tr.
Ring hng s thi gian b ct b ln nht c chia i m t na cng vo
hng s thi gian tr, mt na cng vo hng s thi gian qun tnh c gi
li nh nht.
i vi thnh phn p ng ngc b ct b, hng s thi gian p ng
ngc cng c cng vo hng s thi gian tr.
M t m hnh i tng c dng
m

k Y [(-T ziS + l )
G( s ) -*=i---------------- e~ToS

(8.12)

( r Ps + 1)
7=1

vi

Tp\

>

t V2 > Tp3 ...

C th c Xp X v cc dng bc th p di y:

Qun tnh bc nht c tr:

ke~ds

(3) =

TS + 1

vi
rr -=

rr

p l 4+ ^

T
n
m
= r 0 + - ^ r pj + g Tzi
*

;=3

(8.13)

t= l

Qun tnh bc hai c tr:

(s) =

ke~0s
(TS +

l ) ( r 2s + 1)

vi
n

1 , t 2 =

Tp2 +

- -,

T0 +

- - +

j -4

Tpj +

i= 1

V d n gii cng nh cc v d minh ha cho s ph hp c a phng php, bn

c c th th a m kho chi tit trong [30].

8.1

C s CHUNG

8.1,3

393

C c c u h n h iu k hin v kiu b iu khin

a s phng p hp chnh nh tham s PID xt cu hnh iu khin m t bc t

do minh ha trn Hnh 8-la. e c th tha mn cc yu cu khc nhau v c
tnh bm gi tr t v c tnh loi b nhiu qu trnh, t a c th s dng thm
trng s cho gi tr t trong cu hnh hai bc t do n gin (Hnh 8-lb ) hoc
khu lc gi tr t trong cu hnh hai bc t do tng q u t (Hnh 8-lc). Vic xc
nh trng s b cng nh thit k khu lc trc p cho gi tr t c th thc
hin m t cch hon to n c lp vi thit k/chnh nh b iu khin phn hi
K. Tuy vy, do nhng c th nht nh, mt s phng php cng a ra c
lut chnh nh trng s b cng nh li khuyn chn khu lc trc p.

a) Cu hnh iu khin PID mt bc t do

b) Cu hnh iu khin PID hai bc t do n gin s dng

trng s cho gi tr t

c) Cu hnh iu khin PID hai bc t do tng qut s dng

khu lc gi tr t
H n h 8 - 1 :

C C C HNH IU KHIN P I D THNG DNG

394

hng

8:

hnh

nh

dieu

P1D

khin

Cc dng m t b iu khin P I /P ID gii thiu trong chng 6 cng c

tm t t li di y.
Hm truyn t ca b iu khin PI:
kvs + k
1
K(s) = K 1 + _
I
T-S

(8.14)

Hm truyn t dng chun ca b iu khin PID l tng:

1
K(s) = kc 1 + ------h r ds

(8.15)

TS

Hm truyn t dng song song ca b iu khin PID l tng:

JS( \
7 ., L
_ k i + k ps + kds2
K(s) = kv + + kds = -------- ---------s
s

(8.16)

trong cc th am s c tnh t dng chun nh sau:

kp hcJ hi kc/ ru kd kcT.

(8.17)

Hm truyn t dng ni tip ca b iu khin PID l tng:

(8.18)

ff(s) = t f ( l + 4 - 1 ( 1 + r'ds)
TS

trong cc th am s c th chuyn c sang dng chun nh sau

K

*b(1 + / r ) ,

T =

r'i + r d
' , Td

r'd

(8.19)

1 + / T

Hm truyn t dng chun ca b iu khin PID c khu vi phn thc:

K(s) = K 1 + +
T S

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

C s cho cc phng php phn tch v nh gi cht lng h iu khin phn

hi tng qut cng c trnh by k trong ni dung chng 7. Cc mc tiu
thit k v chnh nh cc b iu khin p, PI hoc PID (gi chung l PID) cng
khng nm ngoi vic bo m tnh n nh, nng cao cht lng iu khin v
tnh bn vng ca h thng. c th tm hiu tt hn cc phng php thit
k v cc lut chnh nh th am s ca b iu khin PID, trc ht t a cn phn
tch r vai tr ca tng th n h phn p, I v D cng nh s kt hp gia chng
trong vic th a hip gia nhiu mc tiu cn t c.

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.

Trc ht, c tnh bin ca b iu khin PI l mt ng hyperbol c

dc -20 d b /d e c trong phm vi tn s nh hn nhiu so vi tn s gy (1 / T ) co
s c m t ca th n h phn I v 0 d b/dec trong phm vi tn s ln hn nhiu so
vi tn s gy do vai tr ca th n h phn p. Nh vy, b PI c tc dng dch
chuyn ton b ng c tnh bin logarith ca h h ln thm t nht
20*log|;r| C B v lm cho \L(ju))\ > o o khi d >0. T n s ct bin ca h h
cng c dch sang phi nu kc > 1. Ta c th ni, thn h phn I quyt nh ti
c tn h h thng phm vi tn s th p v th nh phn p c nh hng ch yu

396

hng

8:

hnh

nh

i k h i n

PID

tn s cao hn tn s gy. iu c ngha l, b iu khin PI c kh nng

ci thin c tnh ng hc ca h kn nh thnh phn p, ng thi c kh nng
trit tiu sai lch tnh (e^ l = lim 11 + L (ju )\"1 = 0 ) nh th n h ph n I.
Hnh 8-2 cng cho thy tc dng ca vic tng h s khuch i kc ca b
iu khin, y K-i c h s khuch i ln gp 4 ln so vi K, v th c tnh
bin ca h h cng tn g ln 4 ln: \L2(jiJ)\ = A\L{ju)\. Trong khi , c tnh
pha ca h h khng thay i. ng c tnh bin ca h h c nng ln dn
n tn s ct bin c dch sang bn phi v di thng ca h kn c m
rng, tc p ng ca h kn nhanh hn. Song, nu ng c tn h p h a c ct
ng -180 th trong hu ht trng hp, vic y tn s ct sang bn phi s
lm gim d tr n nh ca h kn. iu c ngha l p ng q u ca
h kn nu cha c dao ng th c th s dao ng, nu c dao ng th s
dao ng m nh hn v qu iu chnh ln hn. Vic tn g h s khuch i
cng lm cho tn hiu iu khin cng thay i m nh hn, h cng nhy cm
hn vi sai lch m hnh v vi nhiu o. H s khuch i kc t n g q u ln thm
ch c th lm cho h kn m t n nh.
Tip theo, nhn vo th c tnh pha phn di Hnh 8-2 t a s thy
ng c tnh pha ca b PI c hnh ch s vi hai ng tim cn l -90 v 0
v im un nm ti t n s gy (tng ng vi gc pha -45). S c m t ca
thnh phn I lm chm pha thm 90 ti nhng t n s th p v gim t n s ct
pha nu t n s gy tng i ln. d tr n nh ca h kn thng thng b
gim i. Ni m t cch khc l thnh phn I rt c th l m t trong nhng
nguyn nhn chnh lm xu i tnh n nh ca h kn, lm cho p ng ca h
kn dao ng hn cng nh km bn vng n nh hn vi sai lch ca m hnh.
Mc nh hng ca th nh phn I ph thuc vo hng s thi gian tch
phn T. Nhn trn th c tnh bin v c tnh p h a t a c th th y r, T cng
nh th t n s gy cng ln, tc ng tch phn cng m rng sang vng t n s
cao, nh hng ca n ti cht lng p ng ca h kn cng r nt hn. Trong
nhiu trng hp, vic gim T c th lm gim thi gian q u v sai lch iu
khin. Tuy nhin, nu h c dao ng th gim gi tr T s lm h dao ng
m nh hn v ko di hn, qu iu chnh tng ln. Ngc li, t n g gi tr T
c tc dng tng tnh bn vng ca h kn, gim dao ng nhng cng n n
sai lch iu khin chm b trit tiu v thi gian qu ln.
Trn Hnh 8-3 l cc th Bode m t trng hp tng thi gian tch phn
T. B iu khin Ki c cng h s khuch i kc nh K , nhng thi gian tch
phn ca K i gp 4 ln thi gian tch phn ca K. Nh vic y t n s gy sang
bn tri, ng c tnh pha ca 2 c ko ln trn v tn s ct p h a ca h
h c y sang phi. ng c tnh bin ch thay i nhiu phm vi t n s
th p hdn hn t n s gy, nhng cng lm cho tn s ct bin nh i. d tr
n nh c ci thin, nhng tc p ng ca h kn b chm i i cht.

8.1

Co

397

S CHUNG

H n h

8-3:

C TNH TAN t h a y

khi gim t h n h PHAN

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

i vi m t s qu trnh khng n nh bc nht, mc d b iu khin p

hoc PI cng c th gi n nh h kn, nhng rt kh bo m cht lng theo
yu cu. Cn i vi cc qu trnh dao ng bc hai (t t dn) hoc q u trnh
khng n nh bc hai (c hai im cc khng n nh), vic phi s dng thnh
phn vi phn l khng th trn h khi.
Nh nhiu ln nhn mnh, bi ton thit k iu khin lun phi t ra s
th a hip gia nhng yu cu mu thun, v n l c m t m t ny ta
thng phi hy sinh m t cht g khc. c c cc tc dng tch cc ca
thnh phn D m t ny, t a cng phi tr gi m t khc. Vic I11 rng di
thng v nn c tnh bin bt dc h n vng tn s cao ng ngha vi
vic lm cho h kn nhy cm hn vi nhiu o v tn hiu iu khin thay i
mnh hn. Cng chnh v th, ng dng tiu biu ca b iu khin PID l cc
qu trnh chm hoc cc qu trnh khng n nh m s nh hng nhiu
o khng ng k.
i vi a s cc qu trnh thng dng v h kn ang n nh, nh hng
ca vic hiu chnh tng th am s PID ti cc ch tiu cht lng c tm t t
trong Bng 8-1. T t nhin, nhng kt lun ny ch m ang tn h tng i, bi ba
th am s PID c nh hng ln nhau v s thay i ca bt k m t th a m s no
cng c th nh hng khng nh n tc dng ca hai th a m s cn li.

8.1

399

s CHNG

B ng 8-1:

NH HNG CA TNG THAM s PD TI CHAT LNG l KHIEN

T h a y i t h a m s

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

Sai lch tnh

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

Mc ny a ra m t s ch dn trong vic la lut iu khin cng nh s cn

thit phi hp vi m t s sch lc iu khin khc. strm v Hgglund ([2])
a ra m t s nguyn tc c bn sau y:
Chn lut iu khin PI l nu nh qu trnh c c tnh ca mt khu
qun tnh bc n h t v khng c thi gian tr, hoc yu cu chnh l cht
lng iu khin trng thi xc lp, cn c tnh bm tn hiu ch o
trong qu trn h q u khng t ra hng u. V d tiu biu l bi ton
iu khin lu lng. Hn na, thnh phn I c th b qua nu nh sai lch
tnh khng n h t thit phi trit tiu, hoc bn th n i tng c c tnh
tch phn (v d iu khin mc cht lng trong m t bnh cha).
Chn lut iu khin PID nu nh qu trnh c c tnh ca m t khu bc
hai v thi gian tr tng i Iih. Mt trng hp tiu biu l bi ton iu
khin nhit vi m t hng s thi gian ca qu trnh truyn nhit v mt
hng s thi gian ca cm bin. T hn h phn D c bit c tc dng khi hai
hng s thi gian khc nhau nhiu. Lu rng tc ng vi phn rt nhy
cm vi nhiu o, v th nn hn ch s dng nu khng c bin php lc
nhiu thch hp.
i vi cc q u trn h c thi gian tr ln cn s dng cc khu b tr (v d
b d bo Sm ith hoc b PI d bo).
S dng cc kh u b nhiu nu nh kh nng thc hin cho php ci thin
ch t lng iu khin.

400

hnc;

8:

hnh

nh

iu

khin

PID

Cc lut iu khin p , PI hoc PID c th cha p ng c vu cu t ra

v cht lng iu khin i vi cc qu trnh bc cao, c thi gian tr ln
hoc dao ng mnh. Khi cn s dng cc th u t ton iu khin tin tin
hoc cc sch lc iu khin c bit hn.
C th cho cc i tng bc nht (c th nh phn tch phn hoc khng) c
c tnh dao ng ti hn, strm v mt s cng s khc cng tho lun rt
chi tit v cc ni dung ny trong mt bi bo khc ([1]). X ut p h t t m hnh
i tng bc nht
G(s) = k ~ ^ ~
1 +

(2.21)

T S

hoc i tng bc nht cha thnh phn tch phn

G- (s) = r b ) '
ta nh ngha cc h
sau:

( 2 '2 2 )

s khuch i chun hav thi gian tr chun ha nh

*1 = \G{.ju)u)\
r r ~ T \^

= ~ ju
A XL)\
=u u.\Gv{

= -Tv

(2-23)

Vi cc h s c nh ngha nh trn, cch chn lut iu khin cng nh s

cn thit s dng cc sch lc b sung c tm t t trong B ng 8-2. Lu ,
khi nim 'iu khin cht' c hiu l yu cu gi tr bin c iu khin
bm tng i c h t gi tr t, hay ni cch khc l yu cu cao v cht lng
iu khin.
i vi cc bi ton iu khin qu trnh thng dng, ta c th la chn kiu
b iu khin da trn cc ch dn n gin nh sau:

Vng iu khin lu ng: Qu trnh v cm bin lu lng u k h nhanh

v thi gian tr rt nh, c tnh ng hc ca i tng ph thuc ch yu
vo van iu khin. V th, hu nh ta ch cn s dng lut PI. Php o lu
lng chu nh hng nhiu ca nhiu cao tn, v th t a khng nn s dng
thnh phn vi phn.

Vng iu khin m c: c tnh ng hc ca cm bin v ca thit b chp

hnh rt nhanh so vi qu trnh. Q u trnh c c tnh tch phn, nn s
dng lut p cho iu khin lng v lut PI cho iu khin ch t (vi thi gian
tch phn tng i ln). T h n h phn vi phn t khi c s dng bi thc s
khng cn thit, hn na php o mc thng rt b nh hng ca nhiu.

Vng iu khin p sut cht kh: Q u trnh v cm bin ni chung u

nhanh hn thit b chp hnh. Q u trnh cng c c tnh tch ph n tng t

8.1

401

s CHUNG

nh bi to n iu khin mc. tuy nhin yu cu cao hn v chnh xc v l

do an ton. L ut PI c s dng l ch yu, trong th n h phn tch phn
c t tng i nh.

Vng iu khin nhit : c tnh ng hc ca qu trnh v ca cm bin

nhit thng chm hdn ca thit b chp hnh. i vi m t s bi ton,
qu trnh cn c th c c tnh dao ng hoc th m ch khng n nh (v
d iu khin nhit thit b phn ng, nhit trong th p chng luyn).
Php o nhit chm nhng thng t chu nh hng ca nhiu. V th, t a
nn s dng lut PID ci thin tc p ng, ng thi gip n nh h
thng d dng hn.

Vng iu khin thnh phn: Cc vng iu khin th n h phn thng c c

tnh tng t nh vng iu khin nhit . Q u trnh thng l phn t
chm nht trong vng kn, sau n cm bin; thit b chp hnh thng l
nhanh nht. B iu khin PID cng thng c s dng. T uy nhin, trong
mt s trng hp php o thnh phn c th r t chm (thi gian tr ln) v
nhy cm vi nhiu o, t a cn s dng cc th u t ton iu khin tin tin
hn.
B ng 8-2:

LA CHN LUT IBU KHIEN V CC SCH LC B SUNG THEO [1]

^ > 1 , : <c 1.5

0.6< 9j<1,

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:

B nhiu, lc nhiu (Feed Forward Compensation)

DTC:

B tr (Dead Time Compensation)

SPW:

Trng s tn hiu t (Set Point Weighting)

PPT:

Chnh nh t im cc (Pole Placement Tuning)

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.

a) c tnh qun tnh

Hnh 8-5:

Bng 8-3:
B iu khin

b) c tnh qun tnh-tch phn

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

Ta thy rng, h s khuch i ca b iu khin c chn sao cho lun t l

nghch vi dc ln n h t a ca ng cong p ng. iu ny hon ton c c
s, bi a cng nh chng t qu trnh cng chm v b iu khin cng phi can
thip m nh hn. T t nhin, ta cng c th tin hnh c lng m hnh qun
tnh bc n h t c tr (c th c thnh phn tch phn) ca qu trnh bng mt
trong nhng phng php trnh by trong chng 4, sau mi p dng lut
chnh nh ZN-1. Khi cc tham s ca b iu khin c xc nh da trn
h s khuch i tn h ky hng s thi gian T v thi gian tr Nu qu trnh
thc s l m t khu qun tnh bc nht c tr th t a ch vic thay th
a = k
T

Mt iu cng ngc nhin l trong bi bo ca Ziegler-Nichols [45], hai tc

gi khng ni r rng cc cng thc chnh nh b PID p dng cho dng chun
hay dng ni tip. S thc th thit b m phng m hai tc gi s dng cho
nghin cu thc hin dng chun, trong khi h thng ng dng th nghim li
thc hin dng ni tip. T t nhin l trong trng hp p dng cho m t dng
cha m ang li cht lng mong mun, t a c th th chuyn sang dng khc.
Phng php Ziegler-Nichols th nht c mt s nhc im nh sau:
Vic ly p ng tn hiu bc thang r t d b nh hng ca nhiu v khng
p dng c cho qu trnh dao ng (xem bnh lun trong chng 4) hoc
qu trnh khng n nh (tr phi ch cha mt khu tch phn bc nht).
i vi cc qu trn h c tnh phi tuyn mnh, cc s liu c tnh nhn c
ph thuc rt nhiu vo bin v chiu thay i gi tr t.
Phng php k tip tuyn cho cc s liu VL a km chnh xc.
c tnh p ng ca h kn vi gi tr t thng hi qu dao ng (h s
t t dn khong 0.25).
T h eo kinh nghim, iu kin p dng phng php ny l t s 9 / r nm
trong phm vi 0.1-0.6. Nu t l ny ln hn 0.6, ta cn p dng cc phng
php chnh nh khc c ti b thi gian tr. Ngc li, mt t l nh hn
0.1 thng ng vi h bc cao, v th cn mt b iu khin bc cao tng ng
ci thin c tnh ng hc.

8.2.2

P h n g p h p d a tr n c tn h d ao n g ti h n

Phng php th hai ca Ziegler-Nichols da trn c s cc tham s c tnh

dao ng ti hn c a h kn (c tnh t n s) xc nh qua thc nghim. H s
khuch i ti hn ca qu trnh l gi tr khuch i m mt b iu khin p
a vng kn ti tr n g thi dao ng xc lp. Qui trnh chnh nh c thc
hin theo cc bc nh sau:

404

hng

8: C

hnh

dnh

iu

khin

PID

1. t h thng ch iu khin bng tay v a dn h thng ti im lm

vic, ch h thng n nh ti im lm vic
2. Chuyn h thng sang ch iu khin t ng vi b iu khin p. t h
s khuch i kc tng i b v thay i gi tr t mt lng nh.
3. T n g dn h s khuch i kc cho ti khi u ra qu trn h t tr n g thi tlao
ng iu ha. Gi tr kc c gi l h s khuch i ti hn (ku) v chu
k ca dao ng c gi l chu k dao ng ti hn ( T u).
4. La chn kiu b iu khin s dng thc v tnh ton cc th a m s theo cc
lut chnh nh a ra trong Bng 8-4.
Bn g 8-4:

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

thc s s s dng b iu khin p, vic t kc = 0.5kv c

d tr bin A m = 2.0. Khi s dng b iu khin PI, h s
gim i mt cht (0.45/Cy) hn ch dao ng do thnh
ra. Nu s dng b iu khin PID, tc dng n nh h

thng ca khu vi phn li cho php tng h s khuch i ln i cht (0.6fctt).

Cng nh trong phng php ZN-1, mt iu cho n nay ngi t a vn cn
tra n h ci l lut chnh nh PID p dng cho dng chun hay dng ni tip. Tuy
nhin, nhiu thc nghim cho thy rng lut chnh nh ny p dng cho dng
chun mang li cht lng t t hn.
u im ca phng
ca q u trnh c xc
di rng qu trinh cng
nhng phn tch trong
bao gm:

php da trn dao ng ti hn l cc th a m s c: tnh

nh trong vng kn, nn c th p dng c cho mt
nghip, k c mt s qu trnh khng n nh. C ng vi
chng 4, cc nhc im chnh ca phng p h p ny

Q u trnh th nghim c tnh dao ng ti hn phi tin hnh lp i lp li

khng nhng r t cng phu, m cn c th dn ti h m t n nh.
Khng kim sot c ln ca p ng u ra, qu trnh dao ng lin tc
c th gy nh hng ln ti cht lng sn phm
Cc lut chnh nh ny c Ziegler-Nichols a ra theo kinh nghim t
h s t t dn khong 0.25. V th, p ng h kn hi q u dao ng v h hi
km bn vng vi sai lch m hnh.

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

khc phc hai nhc im u ca phng php Ziegler-Nichols th hai,

strm v Hgglund [3] a ra mt phng php tm c tnh dao ng ti
hn ca qu trin h bng cch dng mt khu phn hi r-le nh gii thiu
trong chng 4 (mc 4.5.1). c u trc minh ha trn Hnh 8-6 c th c s
dng tro n g cc b iu khin t chnh. Khi ch chnh nh th am s (T ), ta
chuyn m ch sang khu r-le v cho tn hiu t r = 0 (hay ni cch khc l gi
gi tr t thc c nh ti im lm vic). Sau mt thi gian ngn, u ra ca
i tng s t trn g thi dao ng ti hn vi chu k Tu (nu n thc s c
kh nng ). H s khuch i ti hn c tnh xp x theo cng thc:
= 4d / an

(8.24)

trong a l bin ca dao ng u ra y v d l bin dao ng dng xung

vung ca tn hiu u vo u. Ty theo kiu b iu khin c th c chn l
p, PI hoc PID , cc th a m s c xc nh theo lut chnh nh ZN-2 nh
tm t t trong B ng 8-4.

H n h

8-6:

Cu

TRC T CHNH VI KH PHN Hi R-LE

Do vic tin hnh th nghim kh dn gin v kh nng p dng c cho

m t di rng cc qu trinh cng nghip, phng php chnh nh tham s PID
da trn vng phn hi r-le c ng dng kh rng ri. T t nhin, mt m t
lut chnh nh ZN-2 hon ton da trn kinh nghim, m t khc cng thc xc
nh cc th a m s c tnh dao ng ti hn y ch l xp x, nn trong nhiu
trng hp cht lng iu khin c th cha t yu cu. Nhng t ra phng
php ny cng cho t a b th am s ban u, to c s cho cc bc tinh chnh tip
theo. Trong m t cng trn h cng b khc cng nm [4], strm v Hgglund
a ra k th u t n n ng c tnh tn s h h th a m n ch tiu v d
tr bin hoc d tr pha. Cng da trn phng p hp phn hi r-le, hng
lot k th u t ci tin c xut v p dng (xem (15) v ti liu cc trch
dn tro ng ).

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

Trong phng php c tnh dao ng ti hn, Ziegler-Nichols a ra cc lut

chnh nh da trn kinh nghim t dc h s t t dn xp x Va. D o , p
ng h kn vi gi tr t c xu hng dao ng m nh v cho qu iu chnh
qu ln. Hn na, b iu khin thng km bn vng vi sai lch m hnh.
khc phc vn ny, Tyreus v Luyben sa li cc cng thc chnh nh
theo hng gim h s khuch i, tng thi gian vi phn v thi gian tch phn
[24], nh th hin trong Bng 8-5. B iu khin nhn c cho bin nh ca
hm nhy th p (khong 2dB), h kn cng bn vng hn vi sai lch m hnh.
B ng 8-5:

Lut

chnh nh

PI/P ID

theo

Tyreu s-Luyben [24]

B iu khin

kc

Ti

PI

0.35 ku

2.2 Tu

PID

0 .4 5 ^

2 .2 7 ;

T J 6 .3

Td

V d 8-1: Cho mt thit b trao i nhit vi hm truyn t t tn hiu iu khin

van dng mang nhit v tn hiu o nhit ra ca dng qu trnh l
G(s) = -------v;

0 7r*p-1215
----------

(8.25)

(30s + l)(5s + l)(2s + l)

Ta s th nghim iu khin qu trnh ny s dng b PI v b PID chnh nh theo

bn lut trnh by trn y. p dng phng php Ziegler-Nichols 1, trc ht ta
dung lut chia i'* ca Skogestad a v m hnh qun tnh bc nht c tr:

= 0 .75^

:
32.55 + 1

v'

Phng php Ziegler-Nichols 2 i hi my m thc nghim tm ra im dao lng

ti hn. Cc gi tr nhn c l \j = 19.1 v Tu = 24.9. Phng php nhn (lng
phn hi rd-le cng cho ta kt qu gn ging /c,, = 17.4, Tu = 26.0.
Gi tr cc tham s PI v PID chnh nh da trn bn phng php c lit k
trong bng di y. Ring di vi phng php Tyreus-Luyben (TL) ta s dng c
tnh tn s dao ng ti hn t nhn dng phn hi r-le.

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

p ng qu ca h kn s dng b PI cho c 4 trng hp c minh ha trn

Hnh 8-7. Ngoi tr vng iu khin chnh nh theo Tyreus-Luyben cn c th tm
chp nhn c, cc vng iu khin cn li dao ng qu mnh v qu lu. iu ny
c th gii thch qua tham s Tj c chn qu nh trong ba phng php u. Vng
iu khin chnh nh theo TL Iic d t dao ng hn, nhng li qu chm v qu
iu chnh vn cn kh ln. Theo cc ch dn trong mc 8.1.4 v 8.1.5, y l du
hiu cho vic cn phi b sung tc ng vi phn.

Controlled

O utput y

Trn Hnh 8-8 l c tnh p ng vi gi tr t v vi nhiu qu trnh ca bn vng

iu khin PID. Ti thi im t = 100 cn c nhiu bc thang n v (bin -1) tc
ng ln u vo. Ba vng iu khin p ng lut chnh nh theo Ziegler-Nichols
phn ng hi qu mnh vi thay i gi tr t, nhng c tnh loi b nhiu li kh
tt. Vng iu khin chnh nh theo Tyreus-Luyben cho c tnh bm gi tr t rt
tt, Iihng p ng loi nhiu li chm hn nhiu so vi 3 vng kia.

oc
Q

T im e (sec)

T im e (sec)

P NG CA VNG lu KHIEN P I CHO V D 8-1

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

P NG CA VNG lu KHIN PID CHO v D 8-1 c CI THIN

THNG QUA S DNG KHU LC TN HIU T

y l mt v d tiu biu ch ra s mu thun gia hai yu cu cn tha mn. Gii

php hp l y l s dng cu trc iu khin hai bc t do. Ta vn c th s
dng cc b iu khin PID chnh nh theo Ziegler-Nichols c p ng loi nhiu
nh mong mun, nhng b sung thm mt khu lc trc ci thin c tnh bm
gi t. Chn khu lc trc

cho 3 vng iu khin u tin, ta nhn c kt qu m phng minh ha trn Hnh

8-9. Nh vy, khng nhng cht lng bm gi tr t c ci thin mt cch r rt.
rn ln ca tn hiu iu khin cng gim hn. Tt nhin, cng phi ni rng vng
iu khin chnh nh theo Tyreus-Luyben c p ng rt t tn, nhng li c d
tr n nh ln nht. Vic b sung khu lc tn hiu t cho 3 trng hp cn li tu>
c ci thin c tnh bm gi tr t, nhng th khng th lm thay i tnh n nli
bn vng ca h kn.
V d 8-2: Mt qu trnh c rn hnh l tng (ly t chng 4)
(8.27;
Ta s th nghim iu khin qu trnh ny s dng b PID chnh nh theo br
phng php khc nhau trnh by trong chng ny. p dng phng phj;
Ziegler-Nichols 1, ta dng m hnh qun tnh bc nht c tr xc nh bng phng
php hai im qui chiu t v d 4.2:

Phng php Ziegler-Nichols 2 i hi my m thc nghim tm ra im tn s dac

ng ti hn. Cc gi tr nhn c l fcu = 1.45 v Tu = 8.6. Phng php nhn dng
phn hi rd-le cng cho ta kt qu xp x ku 1.39, T = 8.8. Gi tr cc tham sc

8.2

C C P H N G P H P D A T R N C TNH DP NG

409

PID chnh nh da trn bn phng php c lit k trong bng di y. Ring

i vi phng php Tyreus-Luyben (TL) ta s dng c tnh dao ng ti hn t
nhn dng phn hi r-le.

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

p ng qu ca h kn vi thay i gi tr t v nhiu u vo cho bn trng

hp c minh ha trn Hnh 8-10. Ti thi im = 0 gi tr t tng t 0 ln 1 v
ti thi im = 40 c nhiu bc thang vi bin -0.5 tc ng ln u vo. Cht
lng in khin ni chung khng c tt, bi bc ca m hnh tng i cao.
qu iu chnh hi ln th hin r hai vng iu khin p dng ZN-2 v phn hi rle, Iihng y cng l hai vng c cht lng tt nht so vi cc trng hp khc. Ta
c th gim qu iu chnh ca hai b diu khin ny bng cch s dng mt b
lc tn hiu t tng t nh trong v d trc.

Controlled

O utput

Hai phng php ZN-1 v TL r rng u t ra hon ton khng ph hp y bi

hai l do: i) t s 9/T ln hn hn so vi gi tr 0.6 nh khuyn co v ii) phng php
nhn dng v xp x mt m hnh bc cao vi cc hng s thi gian bng nhau v mt
m hnh bc nht c tr to ra sai lch ln v mt cu trc. Phng php TL cho b
tham s xu nht, p ng h kn va chm va c sai lch iu khin rt ln. Lu
rng, m hnh xp x ch c s dng cho chnh nh tham s PID, cn cc chng
trnh m phng u s dng m hnh l tng (ta coi nh qu trnh thc).

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)

tng ng tn s ct u c 26/3 v d tr p ha m 50. Cc tham s ca b

iu khin c xc nh da vo php tnh ngc K(s) = L (s )/G ($), hay ni
cch khc l da vo trit tiu im khng-im cc (n nh). Phng php
a ra cc cng thc c th cho tng lp m hnh thch hp nh sau:
1. i vi m hnh F O P D T (8.1), ta s dng th u t ton PI vi cc th a m s
- T = T

( 2 ' 3 0 )

2. i vi m hnh S O P D T (8.3), ta s dng th u t ton PID vi cc th am s

2 (T
c -

3*0

7*2 )

TT2

d ~

T, +

r 2

Phng php Haalm an thch hp vi cc i tng c dao ng t t nhanh v

thi gian tr tng i ln. Thc t, tn s ct LOc t l nghch vi thi gian tr
6\ v th p ng h kn c th s qu nhanh v nhy cm vi nhiu (tn s cao)
nu 6 rt nh.
Da trn phng php ca Haalman, Scattolini v Schiavoni a ra mt
cng thc ci tin cho trng hp h bc nht c tr, s dng lut PI (xem [23]):
u =
-
T min
- n / 2 - m_ ^
kc
e
k

=r

trong m v Cjc tr thnh hai th am s thit k. Mt phng n l chn cho

m mt gi tr c nh nh nht (v d 50), cn u>c c xc nh sao cho thi
gian qu ca h kn (bng 5oc ) nh hn thi gian qu ca i tng
(tng ng vi khong 9 + 5 t ) m t h s (3 no . C ngha l
5/3
U)r = - 1---c

+ 5r

vi 3 nm trong khong [4, 10]. T h am s p c hiu vi vai tr tng tc p

ng ca h kn.

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)

T t a r t ra c cng thc tng hp trc tip b iu khin

m

= G(s) 1 - Tm{s)

(8'33)

C th thy, b iu khin K(s) cha bn trong nghch o m hnh ca qu

trnh. N h phn tch trong chng 7, iu kin cn h kn n nh ni
y l G(s) khng c im khng hay im cc nm bn phi trc o. v n
cn li l cn chn T m(s) sao cho tha mn cc yu cu v cht lng p ng h
kn v k h nng thc thi ca b iu khin. Hn na, T m(s) cng cn c chn
theo nhng cu trc n h t nh kt qu K(s) cui cng c dng PI hoc PID.
Mt im ng ch l nu K(s) a c v dng PI hoc PID th n khng
th c im cc hoc im khng nm bn phi trc o, hin tng trit tiu
im cc khng n nh khng th xy ra. iu cng c hiu theo ngha
ngc li l, ch cn G(s) c im khng hoc in cc nm bn phi trc o th
t a khng th a K(s) v dng P1 hoc P1D.
C hn m hnh mu ca h kn l mt khu qun tnh bc n h t c tr
-Os

Tn =

TT

r cs + 1

(8 -34)

trong 6 l thi gian tr ca qu trnh v Tc l hng s thi gian qun tnh.

Vic chn m hnh m u ca h kn c thi gian tr bng thi gian tr ca qu
trnh l hon ton hp l, bi cng l kh nng t t n h t ca h kn c th t
c. T c v cht lng p ng ca h kn ch cn ph thuc vo mt tham
s th i t k T c. Gi tr T c cng nh th p ng ca h cng nhanh, nhng cng
lm cho tn hiu iu khin thay i m nh hn v h km bn vng hn vi sai
lch ca m hnh. Trong mt s ti liu ngi t a cng s dng k hiu thay

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)

S dng php xp x thnh phn tr mu s theo khai trin Taylor bc nht

e~s 1 - Qs , t a nhn c
1

e - fs
K{s) G(s) (TC + 9)s

(8.36)

Lu rng, bn cnh sai s do php xp x thi gian tr gy ra th sai lch m

hnh bao gi cng tn ti, nn ta ch c th hy vng l p ng thc ca h kn
gn ging ch khng th l tng nh ca m hnh mu (8.34). Trong a s
trng hp, t a phi chp nhn qu iu chnh mt mc no .
M hn h qu trn h F O P D T
i vi cc qu trnh c th m t bng mt khu qun tnh bc nht c tr
(8.1), hm truyn t (8.36) tr thnh
(8.37)
cng chnh l hin truyn t ca b iu khin PI
Kpi(s) K 1 "t-----

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

cng chnh l hm truyn t ca b iu khin PID l tng:

(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

Phng php tng hp trc tip nguyn bn da trn c t hm truyn t

mong mun t gi tr t ti u ra ca h kn, nn cho c tnh bm gi tr t
kh tt. Nhng trong a s ng dng ca iu khin qu trn h th vic u tin
khng nhiu c t ln hng u. Tuy nhin, i vi cc qu trnh c p ng
chm vi nhiu hoc t s 9 / r rt nh th b iu khin nhn c p ng rt
chm vi nhiu qu trnh. V vy gn y c nhiu phng php thit k ch
trng vo vn ny, tiu biu l phng php tng hp trc tip p dng cho
bi ton loi b nhiu ca Chen v Seborg [10], c vit t t l DS-d. Mc d
phng php ny ch trng vo vic u tin khng nhiu, p ng vi gi tr t
vn c tha mn khi dng trng s cho gi tr t vi cu hnh b iu khin
hai bc t do.
K hiu hm truyn t mong mun t nhiu qu trnh d ti u ra y ca h
kn l S m. Trc ht t a c
_ ys)
m
d{s)

Gd(s)
1 + K{s)G{s)

T t a rt ra c cng thc tng hp trc tip b iu khin DS-d

*(> = T r M - r M

<8 '41>

Nu m hnh hon ton chnh xc, hm truyn t h kn t r ti y s l

T(s) = 1 -

&d\s)

(8-42)

414

hng

8:

hnh

nh

iu

khin

PID

Cng nh phng php tng hp trc tip theo m hnh p ng gi tr t,

vn cn li l chn m hnh mu Srn v cng thc xp x th n h phn tr thch
hp c th a (8.41) v dng b iu khin PI hoc PID . Trong [10], Chen
v Seborg a ra cc phng n v dn gii lut chnh nh cho nhiu dng
m hnh qu trnh khc nhau. Cng thc tnh ton cho m t s dng m hnh qu
trnh tiu biu nht c tm t t trong Bng 8-6. Trong trng hp nhiu tc
ng ti u vo qu trnh (tc l G d = G), cc hm truyn t mong mun t
nhiu ti u ra c chn nh sau:
Nhm m hnh A:

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

i vi trng hp tng qut, Gd ^ G , cc lut chnh nh a ra trong Bng

8-6 vn hon ton s dng c, bi cc m hnh m u c chn li theo cng
thc
s'm = s ra

(8.47)

dn gii ra cc cng thc chnh nh, thnh phn thi gian tr m u SC

ca m t s hm truyn t (tnh ton trung gian) c xp x theo m t trong
hai phng php:
Khai trin Taylor.

e~s

1 - Os

Xp x Pad.

e~s % -
1 + 0 .5 0 .9

(8.48)
(8. 49'
v

'

u im ca phng php DS-d l cho php ta thit k b iu khin loi bc

tt n h t nh hng ca nhiu qu trnh, sau c th ci thin p ng vi gi
tr t bng cch s dng cc trng s trong cu trc PID thc hai bc t do
Nu chn c gi tr Tc hp l th h kn cho thi gian p ng vi gi tr t
v nhiu kh nh. c n ch l vi m t s gi tr T c nht nh, cc th a m s cc
b PID c th c gi tr m v kt qu l b PID cho p ng ngc, trong
trng hp ta phi chn li gi tr rc. Cng cn lu rng c hai phng
php tng hp trc tip (DS v DS-d) u khng p dng c trc tip cho qu
trnh khng n nh, tr trng hp qu trnh ch cha mt khu tch phn.

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

Phng php I M C ( Intem al Model Control) hay iu khin m hnh ni do

M orari v cc ng s pht trin c ng dng r t th n h cng trong thc
t. Nguyn l IM C v ng dng ca n trong chnh nh cc th am s PID ln
u tin c gii thiu trong [13], sau tip tc c ci tin v cng b trong
nhiu cng trn h khc. Ging nh phng php tng hp tr c tip (DS), IMC
da trn m hnh hm truyn t ca qu trnh v trc ht cho ta kt q u l
m t b iu khin phn hi tng qut. i vi mt s dng m hnh qu trnh
thng dng, ngi ta a c v dng PID chun v n gin ha cc lut
chnh nh th a m s. Mc ny gii thiu phng php chnh nh tham s PID
d a trn nguyn l IMC chun, p dng cho cc qu trnh n nh v qu trnh
tch phn. M t phng php p dng cho qu trnh khng n nh ([22] s c
trn h by tro ng mc sau.
S cu tr c IMC chun c minh ha trn Hnh 8-11. Mt m hnh G($)
c dng c lng u ra ca qu trnh, . Chnh lch y l tn hiu
vo cho b iu khin IMC, Q. Ni chung y * do sai s m hnh (G 5* G ) v
nhiu d ^ 0 khng c tnh n trong m hnh. Nh phn tch di y, trong
trng hp d = 0 v G = G th y = v h thng tng ng vi s truyn
thng.

Hnh 8-11:

S cu TRC iu KHIN IMC

Trc ht, t s trn hnh Hnh 8-11 ta d dng vit c

y = Gu + d = G

- (r - y) + d
l- Q

(8.50)

Chuyn v v gii theo y t a nhn c

GQ
y

1 + (G - )Q

r+

1 - Q
1 + { G - G)Q

(8.51)

Trong trng hp m hnh l tng = G , (8.51) c r t gn li thnh:

y = GQr + (1 - GQ)d

(8.52)

8.3

Cc: p h n g

php

da

trk n

hnh

mu

417

v t a c m t cu tr c iu khin truyn thng thun ty. c p ng l

tng, y r, b iu khin IMC phi l nghch o ca m hnh i tng

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

Cng thc (8.50) cng ch ra rng s cu trc IMC tng ng vi cu

trc iu khin phn hi truyn thng trn Hnh 8-1 vi
(8.54)
Phng trnh (8.54) cng chnh l cng thc ni ting do Zames a ra trong
mt nghin cu hon to n khc [44] - cng thc th am s ha tt c cc b iu
khin phn hi n nh ha cho qu trnh n nh G , vi iu kin Q cng n
nh. iu ny ni ln tnh cht ch trong lp lun ca phng p h p IMC, m
bo h kn n nh ni khi G v Q li nh.
T nhng phn tch trn, vn chnh cn li ca phng php IMC l tm
cch xp x Q m bo tnh kh t.hi cng nh tnh n nh ca n. T a i ti
cc bc thit k b iu khin phn hi da trn phng php IMC n h sau:
1. P h n tch m hnh q u trnh v dng
= +tron g + cha th n h phn tr v ton b im khng bn phi tr c o
nu c, G+ c h s khuch i tnh bng 1.
2. Xc nh b iu khin IMC theo cng thc

418

hng

8: C

hnh

nh

iu

k h i n

PID

trong F l m t b lc thng thp vi h s khuch i bng 1. B lc

thng th p F c vai tr kh thi ha b iu khin IMC. Mt trong nhng
dng n gin nht ca F l
(8.56)
F

( T cs +

1)*

trong th am s k l mt s nguyn dng, c chn va ng bng bc

tng i ca _ .
3. p dng cng thc (8.54) a cu trc IMC v cu tr c iu khin phn
hi truyn thng.
Vi vic s dng th n h phn _ (kh o, khng c khu tr v khng c cc
im khng bn phi trc o) v b lc F, b iu khin IM C thu c s kh
thi v n nh. Phng php IMC chun da trn vic kh cc im cc-irr
khng, do i vi cc qu trnh vng h khng n nh t a cn sa i i
cht nh s cp trong mc tip theo.
xt mi lin h gia phng php IMC v phng php DS, trc ht t e
gi s m hnh q u trnh l hon ton chnh xc (G = G ). p ng u ra s l

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

> 0.8 v Tc > o . l r

(Rivera v cng s, [28])

2. T > r c > 0

(Chien v Fruehauf, [11])

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

Cng trong b a cng trnh nu trn, cc tc gi dn gii cc lut chnh

nh tham s cho b iu khin PID. Cc cng thc chnh nh cho tng loi m
Knh khc nhau s la chn b lc v phng php xp x thi gian tr mu
s ca m t s biu thc trung gian. Bng 8-7 lit k mt s cng thc chnh nh
c n gin ha t [11], p dng cho nhng dng qu trnh tiu biu.

B n g 8-7:

L u t chnh nh IMC-PID theo Chien & Fr u e h a f ll]

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(

k(rs + l)e 615

r 2s + 2 r .s + 1

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

Trong trng hp t s 6 / r c 1, c tnh bm gi tr t ca cc b iu

khin chnh nh theo phng php IMC hoc DS chp nhn c, nhng p
ng vi nhiu qu trnh li rt chm bi hng s thi gian tch phn T tng ;
ln. Khi , t a c th chn m t trong ba cch khc phc l:
Xp x khu c qun tnh ln bng mt m hnh tch phn bc nht:
G{s) = - ^ e~es * e -s
TS + 1

T$

H n ch gi tr T theo cng thc ca Skogestad

[3 0 ]:

T = m i n { r - , 4 ( r c + ) }

S dng phng php DS-d trnh by trong mc

8 .3 .3 .

V d 8-3: Tr li bi ton iu khin thit b trao i nhit t v d 8-1:

07
G(s) = ------- --------w
(30s -f l)(5s + 1) (2.S + 1)

(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

T a chn tham s thit k Tc = 3.71. Bng di y lit k cc tham s PID nhi

c. Hai phng php DS v IMC cho kt qu hon ton ging nhau. Trn Hnl
8-12 l c tnh p ng vng kn vi thay i gi tr t v nhiu qu trnh.
Phng php

kc

Ti

Td

Haalman

14.48

36

DS

36

DS-d

20.83

12.76

3.28

IMC

36

Ta thy rng cht lng bm gi tr t ca vng iu khin chnh nh theo DS-<

cha tt, nhng kh nng loi b nhiu li tt nht. c tnh p ng ca cc vni
iu khin cn li khng khc nhau nhiu (vng IMC v DS hon ton ging nhau)
T t nhin, ta c th ci thin c tnh bm gi tr t ca vng DS-d bng cch SI
dng khu lc gi tr t. Vi khu lc bc hai
PW
t a n h n c p n g n h m i n h h a t r n H n h 8-13.

8.3

C C ph ng php DA TRN M HNH MAU

421

pp
5
V
cc

T im e (sec)

T im e (sec)
H n h 8 - 1 2 :

DP NG CA CC VNG DIU KHIN

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

So snh vi cc kt qu trong v d 8-1. ta thy rng c; tnh loi b nhiu ca vng

iu khin chnh nh theo mt trong nhng phng php y u kh hn ng k
so vi nhng phng php n gin ca 7.iegW-Nichols v Tyreus-Luyben. Tuy vy,
xt v cht lng bin gi tr t thi nhng phng php tng hp y khng hn g
cc phng php n gin c s dng khu lc tn hiu t. C th u im vt tri
ca nhng phng php y nm tnh bn vng, vn ny dnh cho bn c
nghin cu.

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

Phng php IMC c th p dng cho mt qu trnh khng n nh bng cch

s dng cu tr c iu khin tng, trong vng iu khin bn trong c vai tr
n nh trc qu trnh. Tuy nhin, cu trc tng i hi vng iu khin bn
trong phi nhanh hn nhiu so vi vng IMC. Xem li dn gii phng php
IMC chun, t a thy rng vn gy lo ngi nm ch vic trit tiu im cc

422

hng

8:

hnh

nh

iu

khin

PID

khng n nh ca qu trnh dn ti h m t n nh ni. Hai phng php khc

c x u t l:
Phng php ca Lee, Lee v Park [22]: T nh ton b iu khin IMC ()
cc im khng ca n kh cc im cc khng n nh ca m hnh G ,
nhng b iu khin phn hi nhn c vn phi a. v dng PID chun
khng c im khng nm bn phi trc o. V th, b iu khin ci t
thc khng trit tiu im cc khng n nh ca qu trnh.
Phng php ca T an, Marquez v Chen [38]: M rng cu trc IMC chun,
s dng m t vng iu khin n nh cho m hnh G , sau mi thit k b
iu khin IMC. Kt qu cui cng l m t cu trc iu khin m rng,
khng th a v cu trc iu khin phn hi truyn thng thu n ty.
P h n g php ca L ee-L ee-P ark
Trc ht ta cha quan tm ti tnh n nh ni ca h thng. Sa li biu thc
(8.52) cho trng hp hm truyn t nhiu Gd 5* 1 t a c:
y GQr -- (1 GQGdd
Ta nhn thy rng c p ng l tng vi c gi tr t r v nhiu d t a cn
Q kh cc im cc ca G v (1 G) kh cc im cc ca Gd. Tng t nh
cch tin hnh trong phng php IMC chun, m hnh qu trnh c phn
rch thnh:
G = GZGP

(8.60)

t.roig Gz ch cha th n h phn tr v cc im khng bn phi trc o (nu

c), Gz c h s khuch i tnh bng 1. Phn cn li - k c cc th nh phn
cha im cc khng n nh - c t trong Gp .
B iu khin IMC c a ra di dng
Q = G p l FsFd

(8.61)

trong Fs l thnh phn nh hng ti cht lng b iu khin v Fd l thnh

phn kh cc im cc khng n nh hoc cc im cc r t b ca Gfi . T a chn
(8.62)
trong n c chn sao cho b iu khin l kh thi, 771 l s im cc khng
n nh ca
Tc ng vai tr l tham s chnh nh v a, quyt nh vic kh
cc im cc khng n nh ca f/. Cc gi tr a, c xc nh thng q u a gii
phng trnh
1 - G(s, )Q = 0 .

(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)

B iu khin phn hi tng ng vi cu trc iu khin IMC c xc nh

t hai cng thc (8.54) v (8.64):
rn
K =

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

a hm truyn t (8.65) v dng PID chun, t a vit li di dng

f(s)

Khai trin chui Maclaurin

/(0) + / ( 0 ) 5 +

/ ' ( 0 ) s2
2!

ta nhn c b iu khin PID thng dng

K = k. 1 + ------h Trfs
T.-5

vi cc tham s quen thuc c xc nh theo cng thc:

k

^,(Q )

r / r\ \ 1

/(0 )

/ ,( 0 )

2/ ( 0 )

(8 .66)

Lee v cng s dn gii cc cng thc chnh nh cho mt s m hnh qu

trnh khng n nh tiu biu, nh c tm t t li trong Bng 8-8. iu kin p
dng c a ra l G(i = G (nhiu u vo) v 0 < 9 T < 2 . Bn cnh , cc
tc gi cng a ra hng dn cho vic chn khu lc gi tr t p khi s dng
b iu khin hai bc t do:
u = kr Pr y +

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

L u t chnh nh IMC-PID theo Lee-Lee-Park (LLP) [22]

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*

6r + (\{0 - a-2 - 0.5'

4rr + 9 Qj
4r,? + a2fl + O.16703 - 0.5^0*
4rt + 0 - <V|

677? + i|0 - a-> 0.5/92

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,

aj, 02 l nghim ca 1 (a 25 4-OS 4-l)c _ Q v s __

( r c5 + l ) 4

.3

CC p h n g p h p d a t r n m h n h m u

425

rhnh

phn nhanh pha

ttjS + 1 trong (8.68) l nguyn nhn gv qu iu
;hinh cho p ng vng kn. V th, khu lc tn hiu t nn c chn l
P(.,) =

*'- + 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

c tnh p ng h kn vi gi tr t v nhiu u vo c minh ha trn Hnh

8-14. Ta thy c tnh bm ca h kh t tn, the hin vai tr ca khu lc trc.
Cht lng li b nhiu cng c th coi l rt tt, ring tn hiu iu khin thay i
hi mnh.

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

Cc phng php chnh nh tham s PID da trn m hnh m u l hn truyi

t nh IMC, DS, DS-d u gp phi mt tr ngi chung i vi qu trnh c<
m hnh bc cao hoc/v c tr. Vic gim bc mt m hnh bc cao hoic xp X
thi gian tr l m t bc gy ra sai lch m hnh, c th nh hng klng nh<
ti cht lng iu khin.
khc phc kh khn trn, ta c th s dng phng php cn )ng m<
hnh d a trn p ng t n s hay xp x c tnh tn (frequency respon.e fitting
FRF). tng ca phng php ny cng l da trn m hnh ca i .ng i
bit, t a phi thit k b iu khin sao cho p ng ca vng kn gin$ vi m<
hnh m ong mun. im khc bit ca phng php ny so vi cc phm g ph]
thit k theo m hnh mu khc nh phng php Haalman, tng hp rc
tie]
(DS, DS-d) hay m hnh ni (IMC) l:
M hnh qu trnh v m hnh mu c th dng cng thc hm

trayn

(bc ty ) hoc di dng s liu c tnh tn.

Vic tnh lon cc th a m s ca b iu khin khng da trn cc hp bii
i ton hc m d a trn vic tm nghim ti u ton phng ci m t h
phng trnh tuyn tnh.
Gi s c tnh p ng tn s ca qu trnh l G{ju), hm c tm t n c.
vng iu khin kn l:
7YL.-

n iu )

, p ?n

Ta phi xc nh cc th a m s ca b iu khin sao cho sai lch gia T(jcJ) V

hm c tnh tn mong mun Tm(juJ) l nh nht theo nguyn tc bm phn;
ti thiu. V mc ch iu khin ta thng ch cn quan tm ti m s in
tn' s ri rc U trong phm vi t 0 ti tn s ti hn ca q u trn h U)u. Ti
chun xc nh sai lch l bnh phng sai lch tuyt i gia hai t p S) liu
tnh tn:

= | r ( M ) - T m( M ) l2
i=l

(8.71

Vic xc nh cc th a m s ca b iu khin cc tiu ho Q thtc cht 1

gii bi ton ti u. K t hp (8.70) v (8.71), vic cc tiu ho Qtm g n,
vi cc tiu ho:

Q' = 2\K(to)- K\M)f

i=l
trong

(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)

i vi b iu khin PID biu din di dng song song (8.16), c tnh tn

6 ca n

l
K ( j u ) = kp + - + M d = k p + j(u k d -

(8.77)
C

) thy, Q 1 ch ph thuc vo kp, trong khi 2 ch ph thuc vo k-i v kd nn bi

D n c a v cc tiu ho c lp i v Q2. Lu rng, Q\ v
l cc hm
hc tuyn tnh i vi kp k v kd nn bi ton c th gii quyt d d ng bng
ch tm nghim xp x bnh phng ti thiu (xem chng 4).
p ng mong mun ca h kn thng c dng dao ng bc hai t t nhanh
i qu iu chnh nh, nn ta chn m hnh h kn dng:
Tm(s) = 2 - s

[ s c thng c

+ 2 um s + u

(8.78)

ly c nh l 0.707 (tng ng vi 5%qu iu chnh), cn

/m tr th n h m t th am s thit k c chn trong khong [0.6-l]av

Gi tr 9m
t n h t c chn bng thi gian tr ca qu trnh nu hng s ny bit trc.
V d 8-5: Tr li bi ton iu khin thit b trao i nhit t v d 8-1 v 8-3:
& ,) =
w
(30s + l)(5s + l)(2s + l)

(8 .7 9 )

Chn ( = 0.7 v u>m=0.8o;u = 0.8 24.9 = 19.92, ta nhn c cc tham s nh sau:

kp = 5.9951, ki = 0.1454, kd = 18.1753
Trn Hnh 8-12 l kt qu m phng p ng vng kn vi cc tham s PID trn y
cng vi kt qu m phng vi phng php IMC t v d 8-3. Ta thy rng, phng
php cn bng c tnh tn s cho kt qu rt kh quan c v cht lng bm gi tr
t v cht lng loi b nhiu.

C hng 8: C hnh nh b iu khin PID

428

T im e (sec)

Hnh 8-15:

P NG CA CC VNG lu KHIN PID CHO v D 8-5

U nhc im ca phng php v cc vn cn ch

Khc vi cc phng php thit k theo m hnh mu khc, phng php xp x
p ng tn s khng cn cng thc hm truyn t ca i tng m s dng
gi tr hm c tnh tn ti cc tn s khc nhau. Vic xc nh cc gi tr ny
c th bng cc phng php nhn dng vng h nh kch thch tn hiu iu
ho, tn hiu xung v phn tch m t ph. T a cng c th s d n g cc phng
php nhn dng trong vng kn nh phng php phn hi r-le vi cc thi
gian tr ca rle khc nhau (xem chng 4), hoc cng c th p h n tch m t
ph ca vng kn dng b iu khin p sau tnh ra c tn h tn ca i
tng. Vi nhng phng php ny th sai s m hnh ch do o c v tnh ton
s, khng c sai s do xp x, gim bc m hnh c th am s.
Khi cn bng v xp x m hnh ta ch lm vic vi cc gi tr s nn d lp
trnh, t ng chnh nh trong khi cc phng php thit k th eo II1 hnh mu
khc thng da trn bin i cc biu thc ton hc kh lp trn h t ng hn.
V ch lm vic vi cc gi tr s m khng quan tm n cu tr c ca m hnh:
qun tnh, dao ng, tch phn, pha khng cc tiu,... nn phng php ny p
dng mt quy trnh tnh ton thng n h t cho mi loi di tng. Nu la chn
m hnh mu v cc tn s mu tt th b iu khin thu c s cho cht lng
khng km nhng phng php khc.
Tuy l phng php thit k da trn m hnh i tng nhng phng php
xp x p ng tn s cng c th coi l dng m rng ca phng php th i t k
theo d tr bin v d tr pha ca strm v Hgglund (xem mc 8.4.3):
phng php di chuyn mt im trn ng Nyquist ca i tng (thng l
im ti t n s ti hn) ti m t im bt k trn m t ph ng cng chnh l
phng php xp x p ng t n s trong ch s dn g m t t n s m u duy
nht, hm mc tiu Q = 0 v m hnh m u l m hnh ca h h (c th chuyn
i d dng v m hnh h kn). T quan im ny c th th y phng p h p ny

.3

CC p h n g p h p da t r n m hnh m u

429

em xt nhiu gi tr t n s hn phng php thit k theo d tr b in -p h a nn

.u Q nh th phng php xp x p ng tn s cho kt qu t t hn.
Phng php bnh phng ti thiu tuy cc tiu ho Q nhng khng m bo
i tr cc tiu nm trong gii hn cho php nn nu la chn m hnh mu
hng ph hp (v d m hnh mu c bc qu th p so vi i tng) th kt
u thu c c th khng t yu cu. n gin t a ch cc tiu ho Q ti
l t s hu hn cc t n s ri rc nn ti cc tn s khc sai lch gia p ng
n s thc ca h kn v p ng tn s mong mun c th rt ln mc d Q
t nh, th m ch b ng khng (c tnh tn thc ct c tnh tn mong mun
i cc t n s mu).
Do khng c cn trn cho sai lch gia p ng t n s thc v p ng tn s
nong mun nn ta cng khng c gii hn cho cc ch tiu thit k nh gii hn
: q u iu chnh. Khi chnh nh b iu khin PID. m t yu cu quan trng l
n bng gia yu cu cht lng v bn vng, i vi phng php xp x p
fng t n s iu ny c th t c bng cch la chn m hnh mu. Tuy nhin
.hng c m t tiu ch r rng cho vic la chn m hnh, cc i lng c trng
ho bn vng khng tham gia trc tip vo qu trnh tn h ton thng s b
>ID do trc khi q u trnh tnh ton kt thc ta khng th xc nh tng
i chnh xc mc bn vng ca h thng nh mt s phng php khc. T t
.hin nu s lng t n s mu ln th sau khi tnh ton xong cc thai s
*ID t a c th kim tr a cc ch tiu bn vng v tin hnh chnh nh li nu
n.
Q ua cc phn tch trn c th thy im mu cht trong phng php xp x
p ng t n s l vic la chn m hnh mu v tn s mu:
T rong iu khin t a quan t m ti cc tn s trong khong t 0 n LJU nn
t n s m u cng c chn trong khong ny, c bit l khu vc gn -uu.
Nu chn t n s m u qu cao vt ra ngoi khong trn th kt qu th u c
c th (v thng l) rt xu do sai s ti cc tn s th p b tng ln nhiu.
T n s m u c th chn cch u hoc khng cch u min sao khong cch
gia cc t n s m u khng qu ln, tt nht la chn sao cho thun li cho
qu trnh nhn dng.
V trong b PID c thnh phn tch phn nn p ng ti tn s L = 0 l
T(jQ) = 1 hon to n trng vi p ng mong mun. Do t a khng cn chn
cc t n s m u qu gn 0.
m bo cc phng trnh cc tiu ho Q\ v Q'i gii c ta cn t nht
2 tn s mu. T u y nhin b iu khin c cht lng t t th cn ly t
nht t 4 n 10 t n s mu tu tng trng hp. s lng tn s mu khng
nh hng n phc t p ca th u t ton nn vic la chn tu thuc vo
qu trnh nhn dng.

430

hng

8: C

hnh

nh

b diu

khin

PII

Cc m hnh mu thng c la chn trong thc t l m hnh bc nh

hoc bc hai c tr hoc khng c tr. Cc phng php thit k theo m
hnh mu da trn hm truyn t ca i tng thng dng m hnh b
n h t lm mu c th rt ra c hm truyn t ca b iu khin PI]
v cng n gin ho cc biu thc tnh ton. T uy nhin i vi phn
p h p xp x p ng tn s nu i tng c bc cao th vic xp x v m
hnh bc nht c th gy sai s ln ng thi cc thng s la chn c
m hnh cng khng nhiu. Vic la chn cc th a m s m hnh m u (v d
hng s thi gian) c th da theo hng s thi gian, thi gian tr ca (
tng nu bit, ging nh cc phng php thit k theo m hnh mu kh<
Nu khng ta c th la chn da theo tn s ti hn LJu ca i tng.
Vi i tng c thi gian tr thc s (khng phi do nhn dng xp x) tl
p ng phi tr ti thiu khong thi gian . Vic la chn m hnh m
khng c tr - cho d cc thng s c tnh theo 0 4 , tc l gin tip li
quan n thi gian tr - s gy ra sai lch Q ln nh hng n cht ln
iu khin v bn vng ca h thng, c bit khi thi gian tr ln. Do
m bo kt qu thu c tt cn b sung thnh phn tr trong i tn
vo m hnh mu. Vic xc nh hng s thi gian tr c th thng q u a ph
tch cu trc thc t ca i tng, qua p ng qu hoc s dng chn
cc thng tin v p ng tn s nu ta bit trc (hoc gi nh trc) c
tr c hm truyn t ca i tng.

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

Khi m hnh xp x ca i tng l:

k.
Q s ^
(1 +
+ STk)
Vi m = 1 t a c m t khu qun tnh bc hai, m = 2 tng ng vi m t khu
qun tnh bc ba. By gi t a phi tm c th am s ca b iu khin th o
mn iu kin sau:

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

iu khin da theo m hnh, c th bng cch nn vng h ( open loop

shaping). Tn gi c a phng php ti u i xng mun ch ra rng c tnh
bin i xng q u a tn s ct, cho mt p ng tha hip vi tn hiu ch o
cng nh nhiu o (v th c khi nim ti u).
Phng php ti u i xng thch hp vi cc i tng qun tnh c tr vi
thi gian tr nh ( r k > 9). Phng php cng c th p dng c cho cc
khu qun tnh tch phn. Mt im c trng ca phng php ny l qu
iu chnh thng hi ln (20-25%), tuy nhin ta c th gim bt bng cch b
sung khu lc trc cho tn hiu ch o hoc s dng cc trng s cho gi tr
t nh cp trong phn trc. Bng 8-9 tng hp cc cng thc xc nh
th a m s PID p d n g cho mt s i tng tiu biu (vi m hnh xp x).

B ng 8-9:

L ut

chnh nh

M hnh i tng

PID

theo phng php

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

(r,5 + l)(r2s + 1)(t e s + 1)

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

Phng php kappa-tau ( kt ) do strm v Hgglund p h t trin [2], da trn

tng chnh l cc i ha h s khuch i tch phn k kc/T vi iu kin
rng buc v bin nh hm nhv Ms'M$ max|5(j'u>) = Irnax

< M**

(8.83)

T h n g thng, A/s?laxc chn l 1.4 (p ng t tn) hoc 2.0 (p ng

nhanh). B iu khin c chn c cu trc hai bc t do theo chun ISA vi
h s c c chn bng 0 (xem li chng 6, mc 6.3.6). Vic th a m s ha cho
b P I hoc P1D da trn m hnh F O P D T (phng php trn min thi gian)
hoc c tnh tn s ti hn (phng php trn min tn s).
Vi phng php trn min thi gian, m hnh q u trnh dc s dng l
qun tnh bc n h t c tr, c hoc khng c thnh phn tch phn. H s khuch
i chun ha a v thi gian tr chun ha r (4tau5) c nh ngha l:

a = k , r =
0 + rp
T/>

(2.84)

Cc th a m s ca b iu khin P I /P ID c xc nh theo cng thc sau:

a
T = 0e(fi'r+C2T'J>

(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 )

cng vi chu k dao ng ti hn Tu. Cc lut chnh nh tham s P I / P I D (k

c tr ng s cho gi tr t) do strm v Hgglund a ra c tm t t li
trong Bng 8-11. Phng php da trn min t n s cho php p dng vi nhiu
dng q u trnh hn. c bit, nu kt hp vi nhn dng phn hi r-le t a s c
trong tay mt phng php tng i a nng, d p dng trong thc t.

CC p h n g p h p n n c t n h t n

8.4

B ng 8-10: CC

433

s CHNH NH THAM s P l/P ID THEO PHNG PHP KAPPA-TAU

TRN MN thi gian [2]

Cha khu tch phn

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

s PI/PID THEO PHNG PHP KAPPA-TAU TRN

MIN TAN S [2]

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

Sau khi xc nh c h s khuch i ti hn ku v t n s ti hn

v tnh ton th am s PID theo lut ZN-2, t a c th tm cch nn ng
t n s Nyquist ca h h sao cho t c d tr bin v d tr
mong mun. Phng php d tr bin v pha ( Gain and Phase

u/u, thay
c tnh
p h a nh
Margin,

434

hng

8: C

hnh

nh

iu

khin

PIE

G P M ) c t r t lu, nhng thng thng c thc hin bng cng c tb

Bode hoc phng php s, kh p dng cho mc ch t ng chnh nh than
s trc tuyn. Cng vi cng b phng php phn hi r-le, strm v;
Hgglund a ra cc cng thc chnh nh n gin da trn yu cu v <
d tr bin v d tr pha [4]. Cc tham s ca b iu khin c tnh toi
da tr n vic dch chuyn mt im bt k trn ng th Nyquist t i m t V
tr xc nh. Mt s tc gi pht trin da trn tng ny v a ra c
phng php ci tin ([16],[37]).
C h n h n h th e o d tr bin
Khi h s khuch i ti hn ku v tn s dao ng ti hn U>u bit, ta c th
chn b iu khin p h kn c d tr bin l A m:

T a cng d dng ch ra rng, bt k m t b iu khin P ID no c h s khuc

i xc nh theo (8.87) v hng s thi gian vi phn
rd = ~ 4 ~

(8-88

cng t o ra d tr bin A m. T , t a c th chn hng s thi gian tch ph

ty c th tha m n cc ch tiu cht lng khc, sau xc nh kc v 1
theo (8.87) v (8.88).
C h n h n h th e o d tr pha
T tng chnh trong phng php chnh nh theo d tr pha ca strr
v Hgglund c minh ha trn Hnh 8-16. Xt m t im A
bit trn n
th Nyquist ca h h. Vi cc b iu khin PI hoc PID , t a cth dc
chuyn A ti m t v tr bt k trn m t phng phc. V d, im A c th c
dch chuyn theo chiu ca G(jcJ) bng cch thay i h s khuch i kc ho
theo hng hai hng vung gc thng q ua thay i h s khuch i tch ph
ki cng nh h s khuch i vi phn kd.
T n s dao ng ti hn cu cng chnh l tn s m th Nyquist ca qu
trnh ct trc thc v bn tri. Nay ta mun dch im tng ng vi t n s
v m t im trn ng trn c bn knh a v gc p h a l m - 7r. lm c
iu , cc th am s ca b PID phi tho mn hai phng trnh:
K =

I U)I
G(0J

uiuTd = tan 4>,n

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

"hng thng, gi tr a bo m d tr bin ln hn l/(a*cos0m), v th ta

n chn a trong khong t 0.5-1. C nhiu gi tr Tiy Td th o mn iu kin
8.90). T a c th chn theo quan h
T = a r d

(8.91)

ta c
4
9
4- t a i r m
a

Td =

(8.92)

/ nhiu cch khc la chn cc tham s, chng hn ta c th chn T sao cho

juT = p l hng s. Khi :
Ti =

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

y lit k cc tham s nhn c cng vi cc tham s chnh nh theo phng ph

IMC tin theo di v so snh. Ring phng php kappa-tau C I 1 xc nh l u
trng s cho gi tr t 6 = 0.26.

Phng php

kc

Td

IMC

36

KT

12.23

13.44

3.40

GPM

9.45

19.13

4.78

Trn Hnh 8-12 i kt qu m phng p ng vng kn vi cc tham s PID trn ;

Kt qu m phng vi b iu khin PID chnh nh theo phng php IMC t v d
8-3 cng c em ra so snh (nt chm). Ring b iu khin chinh nh da theo C
d tr bin pha (nt t) cho qu iu chnh hi qu ln, nn ta th s dng th]
mt khu lc bc nht cho gi tr t vi hng s thi gian 6s.
Xt v nhng yu cu tiu biu trong iu khin qu trnh l loi b nhiu nhanh \
p ng trdn tru vi gi tr t, th b iu khin chnh nh theo phng p h
kappa-tau t ra vt tri. c bit l i vi phng php ny, mt tham s thit \
duy nht cn la chn l bin nh hm nhy Ms phn nh kh tt nhiu mt ^
cht lng h kn. Phng php da trn d tr bin-pha cng l mt cng c c
gin v tin li. Phng php IMC ni chung l ng tin cy cho hu ht cc trr
hp, nhng kh nng hiu chnh ch nh mt tham s Tc rt kh p ng yu cl
nhiu mt ca h kn.

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

a s cc phng php chnh nh P I /P ID a ra gi th it l qu trn h c tr

khng q u ln. i vi i tng c thi gian tr ln th hiu qu ch th hin
u ra sau khi tc ng mt thi gian di nn cht lng iu khin km. Nhn
t l thuyt, th n h phn tr to nn s chm pha v chm pha ny c bit
ln di tn s cao, lm gim d tr n nh ca h kn. Cng chnh v vy,
vic chnh nh cc th am s cho b iu khin chu th m iu kin rng buc,
hn ch cht lng ng hc ca h thng.
Lu rng, kiu tr t a cn quan tm y l tr th u n - v d tr do qu
trnh vn chuyn, tr do php phn tch nng ha hc - ch khng phi tr
sinh ra do xp x m t m t m hnh bc cao v mt m hnh bc thp. Tr phi c
s can thip vo thit k cng ngh hoc thay i v tr t cc thit b chp
hnh hoc thit b o, v m t vt l ta khng c cch no loi b hoc tch
thi gian tr ra khi m hnh qu trnh cn iu khin. Nhng t a c th s dng
phn m hnh khng c tr ca qu trnh d bo gi tr ca bin cn iu
khin. Nu tn hiu d bo ny c dng lm tn hiu phn hi v b iu
khin PID thay cho tn hiu o thc, th vic chnh nh cc tham s cho b PID
hon ton c th d a trn phn m hnh khng cha tr ca qu trnh. Tuy
nhin, vn y l sai lch gia m hnh v i tng thc s khin cho gi
tr d bo thu c c sai s. khc phc sai lch m hnh t a s dng cc b
quan st: so snh u ra ca m hnh c tr vi u ra thc ca i tng
hiu chnh li tn hiu phn hi. Cc b d bo vSmith v d bo PI thc cht l
cc b quan st r t gn (ch quan st mt bin trn g thi) th hin di dng
hm truyn t.

8.5.1

B d b o S m ith

Da trn t tng trn y, Smith [32] a ra cu trc iu khin b nhiu

nh m inh ha trn Hnh 8-18. Trc ht t a quan st s trn Hnh 8-18a. Gi
s m hnh l tng ca qu trnh l
G(s) = G0(s)e-Bs

(8.96)

v m hnh c lng cng c biu din di dng

(s ) = o ( s ) e ~ s

(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

bin trng thi khng o c. T n hiu c lng ca yo c k hiu l o v

c xc nh n gin l
Ho

= o

+ {y - fe~s)

(8.98)

a) S din gii

b) S thc thi tng ng

Hnh 8-18:

Cu TRC B TR S DNG B D BO S mTH

ngha ca (8.98) c din gii qua cc php xp x nh sau:

o = o + (v - ^ s)

Vo +

o +
=

tr
i
{)

(y<) - o)e~fo

(g 99)

y<> - 2/0

2/0

chnh xc ca php xp x th nht ph thuc vo chnh xc ca thi gian

c lng, cn chnh xc ca php xp x th hai ph thuc vo s thay
nhanh hay chm ca u ra v ln ca thi gian tr. Nu gi tr c lng
chnh xc, ta c th a v lm tn hiu phn hi cho b iu khin K(s)

v vic thit k b iu khin K(s) C. th da trn m hnh khng c tr thun

6?o(s). Cu trc b tr ca Smith cng c th a v dng gn hn nh minh
ha trn Hnh 8-18b, trong khu o(s)(l e~s) c gi l b d bo Smith.
Lu rng, b d bo Sm ith ch c u vo l bin iu khin, khng c u
v4o nhiu nn khng th d bo nh hng ca nhiu v khng ngn chn c

8.5

iu KHIEN PID KET h p u TI

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)

Cc tham s ca b iu khin PID c xc nh theo phng php xp x c tnh

tn s, mt trng hp khng b tr v mt trng hp b tr s dng b d bo
Smith. C th thy, b d bo Smith c kh nng ci thin cht hrng iu khin mt
cch ng ke nu ta c m hnh tng i chnh xc.

Hnh 8-19: Minh ha Hiu QU s DNG B D BO Smith (v d 8-7)

Trong thc t, m hnh qu trnh khng th c lng c chnh xc tuyt

i nn cht lng b d bo Smith s gim. Nu xc nh 0 ln hn gi tr
thc s gay dao ng, 6 nh hn gi tr thc s lm tn g qu iu chnh.
Hng s thi gian qun tnh ca G)(s) nh hn gi tr thc s lm chm p
ng, cn nu qun tnh ca Go(.s) ln hn G ( ( s ) s gy dao ng mnh, q u iu
chnh v d m t n nh. Khi c {)(s) v u c sai s th cht lng iu
khin s gim r t nhiu. Do yu cu khi s dng b d bo Smith l phi xc
nh m hnh i tng m t cch tng i chnh xc.

8.5.2

B i u k h i n P I d bo

Mt trng hp ng dng c bit ca cu trc b tr s dn g b d bo Smith

do Hgglund x u t bao gm mt b iu khin PI
K(s) = u 1 + )
ST

8:

Chng

440

C h n h n h b iu k h i n

PID

v mt b d bo Sm ith s dng m hnh qu trnh l qun tnh bc n h t c tr:

k e-6'

(s) =

T S

Cc th a m s ca b iu khin PI c t l T = r v kc = K/k. Bng cch bin

i s khi trn Hnh 8-18, ta c th ghp chung hai th n h phn li vi nhau
thnh m t b iu khin duy nht:
Kppj(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

Kt q u nhn c l b iu khin PI d bo, vit t t l pPI (predictive PI).

Trong trng hp n gin nht ta chn K bng 1 v b iu khin p P I tr
thnh
k c ( T j S

1)

Kppi(s)
TS + 1 e Bs

,0s

( 8 . 102 )

1 - Tj5 + 1

Sd khi m t cu trc b iu khin pPI n gin ny c th hin trn

Hnh 8-20.

H nh 8-20:

B iu KHIN PI

d bo n gin

Ni chung, trong trng hp m hnh i tng t sai lch, cu tr c b nhiu

ca Sm ith cho cht lng t t hn. Ngc li, b iu khin p P I n gin hn v
bn vng hn vi sai lch m hnh. T h am s m hnh duy n h t m b pPI s
dng l thi gian tr c lng. Trong thc t th thi gian tr th u n ni chung
c th c lng c tng i chnh xc, tr phi n thay i lin tc theo thi
gian.

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

V khun kh c hn, ni dung chng ny ch cp ti mt s phng php

thng dng v m ang li cht lng ng tin cy. Trong iu khin qu trn h ta
c bit q uan t m ti s tha hip yu cu cht lng nhiu mt, trong kh
nng loi b nhiu v tnh n nh bn vng l hai trong nhng tiu ch nh gi
quan trng. Q uan trng hn na, nhng phng php ny u da trn nhng
t duy thit k r t quen thuc ca ngi k s iu khin. V th, mt s phng
php ti u ha tham s da trn p ng qu mc d cng kh thng dng
nhng khng c a vo. Thc t t c phng php no li c th cho m t b
th am s t t ngay t ln chnh nh u tin, nn kh nng c th th a m gia vo
qu trnh thit k cng nh hiu chnh bng tay sau ny ca ngi k s l lun
cn thit.
Ti liu th am kho, tr a cu v cc phng php thit k, chnh nh b PID
th c rt nhiu, song s a dng ny cha chc m ang li s ng gp t t hn
ti ngi ng dng cng nghip, thm ch li l m t hin tng phn tc ng.
Khi m ngy mai m t dy chuyn cng ngh bt u c a vo vn hnh v
vi chc cho n vi trm vng iu khin cn phi chnh nh, ngi k s s
lm g khi ng trc hng trm s la chn khc nhau m phng p hp no
cng thy tc gi ca n a ra hng lot v d nu bt u th nhng chng c
v d no ging ci ngy mai phi p dng c. Cho nn danh sch nhng ti liu
a ra di y ch a ra nhng cng trnh m ang tn h i din v lin quan
trc tip ti nhng phn trnh by trn y. Nhng theo quan im ring ca tc
gi th im khi u t t n h t l nhng cng trnh ca strm v Hgglund. Hai
tc gi ny cng l nhng ngi c nhiu ng gp quan trng trong tm ti,
pht trin, ng dng th nghim v truyn b cc phng php chnh nh PID
c coi l chun mc hin nay.
T i liu th a m kho

N.c.

[1]

strm , K.J.; T. Hgglund: PID Control. Research Triangle Park,

Instrurnent Society of America, 1995.

[2]

strm, K.J.; T. Hgglund, PID Controllers: Theory, Design and Tuning>

2nd Edition, Instrum ent Society of America, NC, USA, 1995.

[3]

strm , K.J.; T. Hgglund. Autom atic tuning of simple regulators.

Proceedings IF AC 9th World Congress, Budapest, 1984.

[4]

strm. K.J.; T. Hgglund: Automatic T uning of Simple Regulators with

Specifications on Phase and Amplitude M argins. Autom atica 20 (1984)
645-651.

ChUONG

442

8: CHINH DINH BO D1EU KHI&N PID

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]

Astrom, K.J.; H. Panagopoulos, T. Hagglund: Design of PI Controllers

based on Non-Con vex O ptim ization. Autom atica 34 (1998), 585-601.

7]

Astrom, K.J.; T. Hagglund: The future of PID

Engineering Practice 9 (2001) 1163-1175.

8]

Astrom, K.J.; T . Hagglund: Revisiting the Ziegler-Nichols step response

method for PID control. Journal of Process Control 14 (2004) 635-650

9]

Chen, C.L.: A simple method for on-line identification an d controller

tu n in g , A IC h E Journal 35 (12) (1989) 2037-2039.

10]

Chen, D; Dale E. Seborg: P I/P ID Controller Design Based on Direct

Synthesis and Disturbance Rejection. Ind. Eng. Chem. Res. 2002, 41,

control, Control

4807-4822.
11]

Chien, I.-L.; P.S. Fruehauf: Consider IMC tuning to improve controller

perform ance, Chemical Engineering Progress, October (1990) 33-41.

12]

Dahlin, E.G.: Designing and Tuning Digital Controllers. Instrum entation

and Control System s, 41 (1968), 77-81.

13]

Garcia, C.E.; M. Morari: Internal Model Control I. A Unifiying Review

and Some New R esults. Ind. Eng. Chem. Process Des. Dev. 21 (L982).

14]

Haalm an, A.: Adjusting Controllers for a Deadtime Process'. Control

Engineering} July, 1965, 71-73.

15]

Hang, C.C.; K.J. Astrom, Q.G. Wang: Relay feedback auto-tuning of

process controllers - A tutorial review. Journal o f Process Control 12
(2002) 143-162.

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]

Huang, II.P.; C.C. Chen: Control-system synthesis for open~loo* unstable

process with tim e-delav. IE E Proc. Part D 114 (4) (1997) 334-3^6.

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]

Kessler, C.: Das Syinmetrische Optimum , Teil I . Regelungdeehnik, 6

(1958), 395-400.

C hi OHU VA TA1 LIEU THAM KHAO

443

Kessler, C.: Das Symmetrische O ptim um , Teil II*. Regelungstechnik, 6

(1958), 432-436.
Lee, J.: Online PID controller tuning from a single closed-loop t e s t .
A IC h E Journal 35 (2) (1989) 329-331.
Lee, Y.; J. Lee, S. Park: PID controller tuning for intergrating and
unstable processes with time delay. Chemical Engineering Science 55
(2000) 3481-3493.
Leva, A.; C.Cox, A.Ruano: Hands-on PID autotuning: a guide to better
utilisation. IFAC Professioal Brief, 2003.
Luyben, M. L.; W. L. Luyben: Essentials of Process Control. McGraw-Hill,
1997.
M oran, M.; E. Zafiriou: Robust Process Control. Prentice-Hall, 1989.
O Dwyer, A.; Handbook o f P I and PID Controller Tuning Rules. Imperial
College Press, London, 2003.
Panagopoulos, H.; K.J. Astrom; T. Hagglund: Design of PID controllers
based on constrained optim isation. IE E Proceedings-Control Theory and
Applications 149 (1) (2002) 32-40.
Rivera, D.E.; M. Morari, S. Skogestad: Internal Model Control - 4. PID
Controller Design, Industrial & Engineering C hem istry Process Design
and D evelopm ent 25 (1986) 252-265.
Seborg, D.E; T .F. Edgar; D.A. Mellichamp:
C ontrol 2nd Edition. Wiley, 2004.
Skogestad,

Process D ym am ics

S.: Simple analytic rules for model reduction and

and

PID

controller tu n in g . Journal of Process Control 13 (2003) 291-309.

Shinskey, F.G.: Process Control System s - Application, Design and Tuning.
3rd Edition. McGraw-Hill, 1988.
Smith, O.J.M.: Feedback Control System s, McGraw-Hill, New York, 1958.
Smith, C.A.; A.B. Corripio: Principles and Practice of A utom atic Process
Control. 3rd Edition, Wiley, 2005.
Suganda, T.; P.R. Krishnaswamy, G.P. Rangaiah: On-line process
identification from closed-loop tests under PI control, Trans. IC hem E 76
(P a rt AS) (1998) 451-457.

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.

[39] Van Overschee, P.; B. De Moor: Preprints Proc. PID 0 0 \ IF A C Workshop

on digital control, Terrassa, Spain, 2000, pp. 687-692.
[40]

W ang, Q.G.; C.C. Hang, B. Zou: A frequency response approach to a u to

tuning of multivariable controllers, Chemical Engineering Research and
Design 75 (1997) 797-806.

[41]

W ang, Q.G.; X. Guo, Y. Zhang: Direct identification of continuous time

delay systems from step response. Journal of Process Control 11 (2001)
531-542.

[42]

W ang, Q.G.; Y. Zhang, X. Guo: Robust closed-loop identification with

application to auto-tuning. Journal of Process Control 11 (2001) 519-530.

[43]

Yuwana, M.; D.E. Seborg: A new m ethod for on-line controller tu n in g .

A IC h E Journal 28 (1982) 434-440.

[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]

Zhao, Z.; M. Tomizuka, S. Isaka: Fuzzy Gain Scheduling of PID

Controllers. IE E E Transactions on System s M an & Cybernetics, 23
(1993), 1392-1398.

CU HI V 13I T P

1.7

.7
.1

445

C u hi v b i t p

p ng lut chia i ca Skogesta xp x cc m hnh bc cao di y v m

hnh bc nht v bc hai:
1.25c-1,5*
Vs) TTT : 77771---T'TT ^2\s)
(1 0s + l) 2(3s + 1)'

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

Tin hnh m phng bng MATLAB vsosnh p ng qu

ca m hnh nhn c vi m hnh nguyn bn.
.2

l)2

v p ng tn s

Lut iu khin no ph hp vi cc bi ton sau y:

a.

iu khin mc (iu khin lng)

b.

iu khin mc (iu khin cht)

c.

iu khin p sut cht kh, cht hi

d.

iu khin lu lng

e.

iu khin nhit

f.

iu khin nng , thnh phn

.3 Chnh nh tham s cho b PID theo phng phpth nht

hp vi cc lp i tng c m hnh nh th no?
.4

ca Ziegler-Nichols ph

S dng kt qu ca bi tp 8.1 tnh ton cc b iu khin PI/PID theo phng

php th Iiht ca Ziegler-Nichois. Chn kiu b iu khin sao cho hp l. M
phng th nghim p ng qu vi m hnh nguyn bn cho trng hp thay i
gi tr t v nhiu u vo.

.5 Chnh nh tham s cho b PID theo phng php th hai ca Ziegler-Nichols ph

hp vi cc lp i tng c 1I hnh nh no?
i.6 p dng phng php th hai ca Ziegler-Nichols chnh nh cc tham s ca b
iu khin PI/PID cho cc qu trnh c I1 hnh trong bi tp 8.1. Chn kiu b
iu khin sao cho hp l. M phng th nghim p ng qu vi thay i gi tr
t v nhiu u vo. So snh vi cc kt qu t bi tp 8.4.
.7

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

8.10 Luyn tp th li v d 8-3, so snh, phn tch v l gii

cc u nhc dinicac
phng php chnh nh n gin da trn c tnh (ZN-1, ZN-2, TL) v c
phng php da trn m hnh (IMC, DS, DS-d, Haalman).
8.11 S dng cc phng php da trn m hnh (IMC, DS, DS-d, Haalman) chn
nh cc tham s PI/PID cho cc qu trnh trong bi tp 8.1. M phng v so sn
cc kt qu.
8.12 S dng cc phng php nn c tnh tn chnh nh cc tham s PI/PID cli
cc qu trnh trong bi tp 8.1. M phng v so snh cc
kt qu.

 hng 9

rh i t k cu tr c iu k h in cho
}u t r n h a bin

ng vic thit k iu khin c tin hnh theo hai bc c bn l thit k

u trc diu khin (hay sch lc iu khin) v thit k b iu khin (hay
hut ton iu khin). Cc sch lc iu khin c s c trnh by trong
hng 5, qua cc u nhc im v kh nng ng dng c a mi sch lc
lc lm r. Cc: c.hng 6 v 7 i su vo sch lc iu khin phn hi v a
a phng php phn tch, nh gi cht lng h thng iu khin phn hi
ng n. Cc phng php thit k. chnh nh h iu khin PID cho cc q u
rnh n bin c trnh by kh chi tit trong chng 8. Tuy nhin, cc qu
rnh thc: t bao gi cng nhiu vo-nhiu ra. Thit k cu trc iu khin cho
u trnh a hin l mt vn d phc: t p v cng l mt ch nghin cu
nang tnh thi s. Ni dung ca chng ny tp trun g lm r bi ton thit k
u trc iu khin, t a ra nhng nguyn tc c bn trong vic thit k
u trc iu khin cho cc qu trinh a bin.

).l
.l.l

Gii t h i u c h u n g
C u t r c iu khin l g?

lu ht mi qu trnh cng nghip bao gi cung c nhiu bin vo v nhiu bin

a. Sau khi xy dng c m linh ton hc, ta d nhn bit dc mt cch s
> vai tr ca tng bin q u trnh v cuan h gia chng vi nhau. Tip theo,
th thit k th u t ton iu khin ta s phi tr li hng lot cu hi nh:
Nhng bin qu trnh no se dc la chn thc s cho tng bi ton iu
khin c th?
S dng m t b iu khin a bin (tp trung) hay nhiu b iu khin n
bin (phi tp trung) iu khin mt qu trnh phc hp?

448

Chng 9

T hi t

k c

thc

di k h i n

cho

qu

trn h

H1

Nu s d n g nhiu b iu khin n bin th bin iu khin no nn c

cp i vi bin c iu khin no?
C th s dn g thng tin v mt s bin ra khc hoc mt s bin nhiu
c nng cao cht lng cho mt vng iu khin no khng?
C th phi hp nhiu b iu khin n bin nng cao cht lng cti
khin khng v hnh thc phi hp nh th no?

Vic t r li nhng cu hi trn y v a ra cc bn v m t chi tit c

trc (m t phn) h thng iu khin trn c s lu P&ID hoc s kh
chnh l nhim v thit k cu trc iu khin. Mt cu trc iu khin hay c
gi l sch lc iu khin th hin quan h v m t cu trc gia cc bin ch
do (gi tr t), bin o c v bin iu khin thng qua cc b iu khin \
cc phn t cu hnh h thng khc (v d cc khu cng, tr, la chn, b,...).
Vn th i t k cu trc iu khin c minh ha tt nht qua v d i
khin thit b trn (Hnh 9-1). Phn tch cc mc ch diu khin, ta thy r c
bin cn iu khin bao gm mc cht lng h v thn h phn sn phm ra X . C
bin iu khin tim nng l lu lng vo W\ v lu lng ra w. Cc bin cn li
ng vai tr l nhiu. Quan h gia cc bin qu trnh c: c x
dng trong chng 3:

(9.:

Hnh

9 -1 :

Bi

TON Dlu KHIN THIT B KHUAY t r n

C u hi u tin cn t ra y l nhng bin no s thc s

iu khin, liu c phi chc chn l h v c hay khng? iu ny ph
kh nng o c v kh nng iu khin c (d dng) ca m t
cht lng h c th o c v iu khin c m t cch d dng, nn

c; ohc
thuc v
bin. Mi
chc che

Gl

T HI U CHUNG

449

l bin c diu khin trc tip. Trong khi <16 th n h phn X kh c th o

c nhanh v chnh xc, quan h gia thnh phn v cc bin vo li r t phi
uyn, gy kh khn cho vic nhn dng cng nh thit k th u t ton iu khin
uyn tnh. Thc t c nhiu cch la chn y: iu khin trc tip thnh
hn X, iu khin gin tip thng qua t l lu lng R = W]/u>2 hoc iu khin
t hp c th n h phn X v t l R.
Tip theo l vn cp i gia cc bin vo-ra. Trn c s phn tch m
nh ton hc hoc qua nhn xt trc quan t a cng c th d dng a ra quyt
nh l s chn bin lu lng ra w cho vng iu khin mc. V sao vy? T h
ht, lu lng w c nh hng mnh n h t ti gi tr mc h. T h hai, thay i
u lng w khng nh hng ti thnh phn X (c chng ch nh hng mt
ht ti ng hc ca vng iu khin thnh phn), trong khi thay i W\ s gy
nh hng ti c h v X. Gia hai vng iu khin ch c tng tc theo mt
hiu, v vy hai vng iu khin n bin y hon ton c th p ng yu
u v cht lng.
Mt yu t cn quan tm tip theo trong bi ton iu khin th i t b khuy
rn l kh nng o v b nhiu. Trong s cc bin nhiu th lu lng vo V}> c
nh hng ln nht v cng d o nht. Sch lc b nhiu gip nng cao cht
ng iu khin, nhng li tng thm chi ph cho thit b o. V th phi ty
:ieo yu cu c th ca bi ton m cn nhc a ra quyt nh.
Da trn cc phn tch trn y, ta c th a ra cc cu trc iu khin
hc nhau. Trn Hnh 9-2 l bn s cu trc iu khin tiu biu cho h
lng binh trn, trong 3 cu trc u (a-c) da trn cc b iu khin n
in ( diu khin phi tp trung) v cu trc th t (d) da trn m t b iu
hin a bin ( iu khin tp trung). Ba cu trc phi t p tru n g cng s dng
c h lc phn hi cho vng iu khin mc, vi l do qu trnh mc c c tnh
ch phn, ch c th n nh bng mt b iu khin phn hi. i vi bi ton
iu khin thnh phn t a c ba phng n khc nhau: a) iu khin phn hi
:iun ty, 6) iu khin t l v c) iu khin tng, kt hp iu khin phn hi
i iu khin t l. Hn na, cc cu trc 6 v c c s dng gi tr o lu lng
b2 v cha bn trong thnh phn b nhiu, c u trc iu khin t p trung d
ng s dng sch lc iu khin phn hi kt hp b nhiu. Mi cu trc c
hng u im v nhc im ring s c phn tch k hn trong cc phn
iu.
Cu trc h thng iu khin cng c th c m t n gin bng s
hi. Hnh 9-3 minh ha li cc cu trc iu khin bnh trn trinh by trn
y. S khi mang t thng tin v c th ca qu trnh cng ngh, nhng rt
n cho cng vic phn tch h thng v thit k th u t ton iu khin, nh ta
thy qua nhng phn trnh by trong chng 7.

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

s cu THC i u KHIN BNH T R N

a) iu khin phn hi th u n ty (n bin)

b) iu khin L l v iu kliin phn hi (u bin)
c) iu khin phn hi kt hp iu khin t l (cu tru*, tng)
d) iu khin phn hi kt hp b nhiu ( a bin)

Tm li, cu trc iu khin l nguyn tc v m t cu trc tron g s n

thng tin v cc bin qu trnh a ra tc ng iu khin. Lu rng c
trc iu khin khc vi cu trc b iu khin. Mt cu trc iu khin m t
quan h v m t cu trc gia mi b iu khin vi cc bin qu trnh tn
ng cng n h quan h tng tc gia cc b iu khin vi nhau, nhng chu
ni ln cu tr c bn trong ca mi b iu khin nh th no. Cng vic thit
cu trc iu khin bao gm cc bc c th sau y:
La chn cc bin c iu khin da trn tng mc ch iu khin c
v da trn kh nng iu khin c (d dng)

Gl!

451

T H I U CHUNG

F}

a) iu khin phn hi thun ty

b) Diu khin L l v iu khin

Fi

c) iu khin tng v diu khin

phn hi
H nh 9-3:

d) iu khin a bin

S D MT s cu TRC IU KHIN THIT bi khuv t r n

La chn cc: hin iu khin v cc bin c o cho m t mc ch iu

khin c th
P h n tch v ra quyt nh s dng phng n iu khin t p trung, phi tp
trung hoc phi hp.
i vi cu trc phi tp trung: la chn m t cu hnh iu khin da trn
cp di cc bin iu khin - bin c iu khin v cc phn t cu hnh c
bn.
Phi hp s dng cc sch lc iu khin c bn (iu khin p h n hi, iu
khin truyn thng, iu khin tng iu khin t l,...) v th hin cu trc
diu khin trn bn v.
rong thc t
c s dng
a hai khi
iii nim cu

cng nh
vi ngha
nim ny
hnh iu

trong nhiu ti liu, khi nim cu hnh iu khin cng

tng ng vi cu trc iu kh i n , bi s khc nhau
khng ln. Tuy nhin, trong phm vi trn h by y
khin c hiu vi ngha hp hn nh sau:

452

Chng 9

T h i t k cu

trc

iu k h i n c h o q u

thnh

Bi

Cu hnh iu khin bao gi cng gn vi mt bi ton thc t, trong khi c

trc iu khin c th a ra m t cch tng qut.
Cu hnh iu khin khng bao hm vn la chn cc bin vo /ra, tc 1
m t cu hnh iu khin bao gi cng da trn c s cc bin iu khin V
cc bin c iu khin c sn.
Mt cu hnh iu khin c th c la chn (t mt t p cc cu hnh thn
dng), ch khng phi c thit k.

9.1.2

C s t h i t k cu t r c iu khin

Nhim v ca iu khin t ng l gi cho mt s bin q u trn h gn vi bi

ch o tng ng trong iu kin c tc ng ca nhiu v thng tin khn
chnh xc v i tng. Vic thit k cu trc iu khin cn hng ti nhn
tiu ch sau y:
1. Cht lng: m bo kh nng thit k cc b iu khin p ng tc
n h t cc yu cu v cht lng iu khin nh tnh n nh, tnh bn vn
tc p ng v cht lng p ng.
2. n gin v kinh t: m bo kh nng thc thi, chnh nh v a h
thng iu khin vo vn hnh mt cch n gin v kinh t trn cc gi'
php ph n cng v phn mm thng dng, da trn nhng c s ] thuyt d
tip cn tro ng thc t.
3. T in c y /b n vng: H thng phi lm vic tin cy v hiu q u ngay c tron
iu kin khng c thng tin y v chnh xc v qu trnh.
Nhng tiu ch ny cn c t ra vi mc u tin khc nhau cho tng b<
ton c th. Quay tr li v d iu khin thit b khuy trn, nu t ch
lng l tiu ch u tin th cu trc c v d t ra c u im hn c. c u trc
li dng kt hp c cc u im ca iu khin phn hi, iu khin tng \
iu khin t l ( y cng l m t hnh thc b nhiu), c u trc d cng kt h
sch lc p hn hi v b nhiu trong mt b iu khin a bin, ha hn ch
lng iu khin tt n h t nu m hnh qu trnh chnh xc. Nhng nu x
theo tiu ch th hai th cu trc b l n gin v kinh t hn c, bi kh nn
ci t d dng v tit kim chi ph cho thit b phn tch nng . Xt v ti
cy v tnh bn vng ca gii php iu khin th cc cu trc phi tp trung c
u im hn hn cu trc t p trung. i vi cu trc phi t p trung, vic m c
mt tn hiu o hoc m t tn hiu iu khin ch nh hng ti mt vng i
chnh, trong khi tin cy ca gii php iu khin t p trung ph thuc vo
tin cy v tn h sn sng ca ton b tn hiu v o /ra trc thuc.

Bn cnh hng ti cc tiu ch th vic thit k cu trc iu khin cn ph;

da vo nhiu yu t c th ca qu trnh cng ngh nh:

)A

Gii t h i u c h n g

453

S bin qu. trnh (thng thng l lu lng) c th can thip c m t cch

c lp, cc kh nng can thip (thng qua my bm, van iu khin, qut
gi, dng hi lu,...)
c tnh ng hc ca qu trnh th hin qua quan h gia cc bin vo/ra,
v d tnh n nh, tnh cht pha cc tiu/khng cc tiu, mc d phi tuyn
v mc tng tc ni....
c tnh ca cc thit b o v thit b chp hnh, bao gm c c tnh tnh
v c tn h ng hc nh chnh xc, tr, di cht, phm vi gii hn
o/iu khin, hng s thi gian,...
c th ca nhiu qu t rnh, v d mc nh hng, tc bin thin, kh
nng o c....
Cc yu cu v an ton h thng, v d bt buc khng ch mc cht lng
trnh trn, khng ch p sut v nhit tr n h chy n,...

9.2

L a c h n b i n q u t r n h

Trong ni dung chng 3 v xy dng m hnh l thuyt cho cc qu trinh, ta

>n v vn nhn bit cc bin qu trnh, bao gm cc bin cn iu khin,
)in iu khin v nhiu. Quan h gia cc bin qu trnh th hin q u a m hnh
,on hc, nhn c, t phng php l thuyt hoc nhn dng. Bi ton thit
( iu khin tng q ut nay c minh ha trn Hnh 9-4. Trong trng hp l
.ng, ta mong mun ton b bin cn c iu khin cng s c iu khin
nt cch trc tip v c lp. Song trong thc t iu ny khng phi hao gi
:ng thc hin c hi nhiu l do nh sau:
S lng bin iu khin c th t hn s bin cn iu khin (xem phn phn
tch bc t (io m hnh trong chng 3).
Khng phi bin cn iu khin no cng c th o c mt cch kinh t,
chnh xc v nhanh cho mc ch iu khin, c hit l nng .

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/

M t s bin cn iu khin c nhy rt km vi cc bin iu khin, phr

vi iu khin c khng ln hn nhiu so vi nh hng ca nhiu o.
ng hc ca m t s vng iu khin c th r t chm (do c tnh c a qu
trnh, thit b o hoc thit b chp hnh), rt nhy cm vi nhiu, r t \
tuyn hoc tng tc m nh vi cc vng iu chnh khc, kh c th th i t k
cho cht lng iu khin tt.
Nh phn tch, m t trong nhng bc u tin trong thit k c tr
iu khin l la chn cc bin c iu khin, cc bin iu khin v bin d
t nhng bin qu trnh c sn. Vic la chn ny m t phn da trn c s ph
tch cc mc ch iu khin, mt phn da trn kinh nghim v mt phn d
trn c s phn tch m hnh.

9.2.1

M t s ch d n la chn

M t s nguyn tc c bn cho vic la chn cc bin q u trnh c th o lu

trong chng 1 v chng 3. P hn di y tm t t m t s ch dn quan trn
da theo Seborg v cng s [2]. Phng php phn tch ton hc cho cc qu
trnh vi s lng ln bin v o r a s c trinh by trong mc tip theo.
La chn cc b in c iu khin
1. T t c cc bin khng c tn h t cn bng phi duc iu khin. Mt bi
khng c tnh t cn bng th hin m t qu trnh khng n nh, v d rn
trong bnh cht lng, p sut trong bnh gas, nng sn phm trong m t s
phn ng ha hc,... Ch cn mt nhiu nh tc ng vo cng c th lm ch
gi tr nhng bin ny vt ra khi gii hn cho php. Cho d m t s bi
khng c trng cho cht lng sn phm th t n h t chng cng lin qua
ti s vn hnh an ton v n nh ca h thng, v th chng phi c cli
khin.
2. Chn cc bin ra cn phi duy tr trong gii hn rng buc ca th it i
hoc ca ch vn hnh (v d nhit , p sut v nng ). Cc gii h
rng buc lin quan ti s vn hnh n nh, an ton v m bo yu c
bo v mi trng, nn cho d mt s bin c tnh t cn bng chng cn
cn c duy tr trong phm vi qui nh.
3. Chn cc bin ra i din trc tip cho cht lng sn phm (v d nn
, thnh phn) hoc cc i lng nh hng ln ti cht lung (v d
nhit hoc p sut). Nng hoc thnh phn l cc i lng lin qua
trc tip ti cht tng, nhng cng thng kh o chnh xc hoc php c
r t chm. Nh trong chng 3 phn tch, gia nhit , p s u t v nn
ca mt qu trnh c mi quan h trc tip, ta khng th ng thi i

).2

L A c h n B n q u t r n h

455

khin 3 bin m t cch c lp. V d trong nhiu h thng th p chng luyn,

ngi t a chn phng n duy tr p sut c nh v iu chnh nhit theo
gi tr t tnh ton m bo thnh phn sn phm ra.
4. Chn cc bin ra c tng tc m nh ti cc bin cn iu khin khc.
T rong m t h thng iu khin qu trnh, cc bin c iu khin c th c
quan h tng tc ln nhau. V d trong m t th p chng luyn, p su t trong
th p hoc mc y th p nh hng ti tc bay hi v qua nh hng
ti c h t lng v nng sut. Mt bin c iu khin trong qu trnh ng
trc cng c th li ng vai tr nhiu hoc bin iu khin trong qu
trnh ng sau. V d p sut hi nc t l hi cp cho cm turbin-m y
pht l bin iu khin cho duy tr tc turbin khi ti thay i, nh vy
ng nhin phi c chn l bin c iu khin trong bi ton iu khin
l hi. Lu lng hoc nhit cp liu cho mt th p chng ct cng nh
hng ti q u trnh chng ct vi vai tr l nhiu, nh vy t t n h t cn c
iu khin trc hoc lm trn tru trc (v d thng qua h thng bnh cha
trung gian).
5. Chn cc bin ra c c tnh ng hc v c tnh tnh tiu biu, d iu
kh in . T r n h la chn cc bin c thi gian tr ln do php o, cc bin t
Iihy cm vi thay i bin iu khin hoc cc bin c quan h phi tuyn ln
vi bin iu khin.
Trong nhiu trng hp, c th c mu thun nu tu n theo y t t c
:c ch dn trn y. T r ch dn s 1 nht thit phi tun theo, cn cc ch dn
;hc ch m ang tnh gi , cn phi c cn nhc cn thn. M t khc, vic tu n
heo y cc ch dn trn cha chc cho ta quyt nh cui cng, n h t l
;hi s lng cc bin ra rt ln. Khi , vic s dng cc cng c ton hc nh
trnh by trong mc tip theo l iu cn thit.
j a c h n cc b i n i u k h i n
6. C hn nhng bin vo c nh hng ln ti bin c iu khin tng ng.
nh hng ca bin vo ti bin c iu khin y c nh gi thng
qua h s khuch i (tnh v ng) cng nh phm vi thay i c ca
bin vo. Trng hp l tng l mt bin vo ch c nh hng m nh ti
mt bin c iu khin duy nht.
7. Chn nhng bin vo c tc ng nhanh ti bin c iu khin tng ng.
Tc ng nhanh y th hin qua hng s thi gian qun tnh nh, thi
gian tr nh nu so snh tng i vi cc quan h vo-ra khc. Hng s thi
gian qun tn h cng ln hoc thi gian tr cng ln th cht lng iu khin
c th t c cng km. c bit, c gng trnh nhng quan h vo-ra c
c tnh p ng ngc (do c im khng nm bn phi trc o).

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

8. Chn nhng bin vo c tc ng trc tip thay v gin tip ti bin c

iu khin tng ng. V d, trong bi ton iu khin nhit dng ra ca
mt b gia nhit hi nc, t a nn chn cch can thip vo lu lng hi nc
cp thay cho t.liay di lu lng nc ngng t ra khi bnh.
9. C gng trnh hin tiCng nhiu lan truyn ngc. T rong cc qu trnh n:
tip, vic can thip lu lng dng vo hoc lu lng hi lu c th dn t:
nhiu lan truyn ngc li qu trnh ng trc hoc chnh q u trnh ang
iu khin. Vn ny c th khc phc bng cch th a y i lu lng mt
dng khc nhm hp th nhiu hoc can thip vo mt dng ra nhiu lar
truyn xui ti qu trnh tip theo.
L a c h n cc b i n o
Cc bin c iu khin hao gi cng cn c: o, m t cch trc tip hoc gi
tip thng qua cm bin m m ' (soft sensor). Bn cnh d, t a c th thc hii:
php o vi cc bii ra khng cn iu khin nhm b sung th n g tin cho mt
sch lc iu khin n h t nh. V d trong bi ton iu khin nhit dri
qu trnh ra t mt thit b gia nhit bng du nng, nhit d u ra khng ph
l bin cn diu khin, nhng phc v rt tt cho vic tnh to n cng sul
truyn nhit v q u a gip ci thin cht lng diu khin trong sch lc ii
kliin tng phi hp (liu khin cng sut nhit. Mt s bin iu khin (v ch
tiru hiu l lu lng), c th cng cn c o nhm cung cp th m thng til
phc v vic t chnh tham s b iu khin, gim st h o t ng, chng hi
lng bo ha tch phn v trong bi ton iu khin tng. Ngoi ra, mt SC
i l KMi (lo c rho php thc hin sch lc iu khin b nhiu, gp phn nii
cao cht lng liu khin vi mt chi ph chp nhn c.
10. La chn nhng bin o tic tin cy v chnh xc. Ngi t a thng ni: tc
khng th (liu kliin nu ta khng o c. Khng ngc nhin rng t.roii
thc t m t trong hlnYn^ nguyn Iihn chnh dn ti cht lng iu khi
km l do php o ki'in tin c.y, km chnh xc. C h t lng php o pin
thuc nhiu yu t. c th Ho thit b o nhng cng c th do v tr t cn
bin. t cm bin ti v tr khng thch hp cng c th d n n kt q u (
thiu chnh xc.
11 .La chn cc im o m bo nhy cn th i t Cc php o bao gi c
c sai s do nling ngun nhiu khc nhau, v th php o phi nhj
cn thit c th phn bit gia gi tr o vi nhiu o.
12.La chn cc im o sao cho gim thiu thi gian tr v thi gian qui
tnh. Thi gian tr v thi gian qun tnh ca php o gp phn lm xu
c tnh ng hc vng iu khin. V tr t cm bin lin quan h trng t
t.hi gian tr.

.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

> 2 > ... >

v ns
[

u uu

= I. V HV = I

(9.2)

l
=

T ch dn s 5 v ch dn 6 trong mc trc, ta cn chn m t bin ra cn

tiu khin m chu n h hng ln bi mt bin iu khin tim n n g no . c
Igha l bin ra Iio c nhy ln vi thay i ca m t bin vo. Di vi ton
> qu trnh, nhy ca cc bin ra vi thay i u vo ti m t ln s
t h
ln qua cc gi tr suy bin ca m a trn c tnh tn G(jJ). Hn na. gi tr
uy bin nh n h t cng th hin kh nng kh hay d iu khin c a qu
rn h 1. Ba nguyn tc la chn sau y c: tng kt t cc: ti liu khc nhau:
1. La chn tp bin dc iu khin: La chn cc bin ra o c tng ng
vi hng ca phn t c gi tr tuyt i ln nht, (hoc: gn ln nht) trong
mi ct ca m a tr n u [1].
2. Loi bt s bin vo-ra: C th loi bt m t s cp bin vo-ra tng ng vi
s gi tr suy bin q u nh. Theo Seborg [2], ta ch cn o li i cp bin vora nu nh cr1+| < / 10 .
3. La chn tp bin iu kh in /b in c iu khin: T rong t t c cc tp
bin vo-ra tim n n g , la chn tp tng ng vi nhng gi tr ln nht
m h khng cho p ng ngc (khng c im khng bn phi trc o) (3).

Gi tr suy bin nh nht cn c gi l ch s n hi Morari (Morari resiliency

ndex. MRI, [1]).

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

= A Ly n-2 = AQ v y i = ATj , ta c th vit gn li quan h tnh gia

vector vo u v VQCtor ra y di dng y^
= G(0)Uru, trong cc phn t
ca Go c a ra trong bng trn. Thc hin php phn tch SVD (r t gn) cho G[).
ta c G) = UY, V T vi:
U

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

Trc ht. plin t ln nht, (theo gi tr tuyt i) trong ct 1 ca u l -0.89150

tng ng vi a s 6, phn t 1I1 nht trong ct 2 ca u l -0.64828 tng ng vi
a s 4. Theo Iiguyn tc th nht, ta chn nhit ti a 4 v a 6 l bin c
iu khin thay cho thnh phn sn plirn y v thnh phn sn phm nh.
Tip theo, gi tr suy biu th hai ca (| l 0.052061 qu nh, nn theo nguyn tc
th 2 ta c t h loi bt mt cp bin iu khin-bin cn iu khin. iu cng ng
lu y l hai a 4 v 6 c chn qu gn nhau v tng ng vi hai phn t
c gi t r khng khc nhau qu, chng t nh hng cho ca L v Q ln c hai bin
nhit ny rt ln. iu ny hon ton trng hp vi quyt nh cn loi mt. cp
bin vo-ra bi ta kh c th iu khin hai bin nhit ny mt cch c lp, liay
ni ccli khi: l kh c th iu khin thnh phn sn phm y v thnh phn SH11
pham nh mt cch c lp. Tt nhin, nu ta ch quan tm ti tinh khit ca sn
pliin inh th chc clin bin c iu khin phi la chn l nhit ti a 6 v
bin iu khin tng ng theo kinh nghim phi l L. iu Iiy c th kim chng
n gin qua ma trn khuch (li tnh ca qu trnh vi hai bin ra va c chn
trn y
Gi =

-5.9972530 5.7837800
0.0*217166 0.0259478

Cc phn l ca G*) ln hrl l h s khuch di tnh ca cc cp vo ra (L.T),

( L.T.), (2,71,) v (Q,T4). R rng, nnu cht lng trng thi xc: lp dc quan tm
hng u th ta cn chn cp h s khuch di tnh 111 nht tng ng vi cp (L,7o).
T t nhin. trong thc t ta cng c th chn c hai bin iu khin L v Q v s dng
sch lc iu khin phn vng (t ci thin cht lng iu khin.
V d 9-2: Cho qu trnh 3 x 3 vi m hnh chun ha n v
V

V\

Gu, y = 2/2
V'A

>u

Vq
U

trong ma trn khuch i tnh c gi tr nh sau [2|:

460

C hng 9

T h i t k c u t r c i u k h i n C1IO QU t r n h 'A BIN

0.48
G(, () = 0.52
0.90

0.90 -0.006
0.95
0.008
-0.95
0.020

Phn tch SVD cho ta G() = UEV'1 vi

0.5714 0.3706
0.7292
0.9984
0.0541
0.0151
u = 0.6035 0.4093 - 0.6843 , V = 0.9985 0.0540 -0.0068
0.00G6
0.0154 -0.9999
-0.5561 0.8311
-0.0060
1.618
0
0
=
0
1.143
0
0.0097
0
0
Gi tr suy bin nh nht = 0.0097 qu b so vi cc gi tr khc. Theo nguyn tc
la chn th hai, mt cp bin vo-ra cn c loi b. Bng cch xa mt hng v
mt ct ca G(), ta ln lt Iiln c cc ma trn khuch i 2x2 cho hai bin vo
v hai bin ra. Tin hnh phn tch SVD cho tng ma trn, ta xc nh c cc gi
tr suy bin nh nht nh lil k trong bng di y.

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

Theo nguyn tc la chn th 3, ta cn chn cc tp bin vo-ra sao tng ng vi

ln hn c. Nh vy, hai kh nng y cn c cn nhc l b i cp (u.t, 2/1) hoc
(u-.y 2/2) Da vo m hnh ng hc ca qu trnh, ta cn xt tip cc yu t khc nh
v tr im khng, thi gian tr, hng s thi gian, v.v... ra quyt, nh cui cng.

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

c), u ra l cc tn hiu iu khin. T hng thng, cc b iu khin a

lin c ci t di dng phn mm trn cc thit b iu khin s tp trung.
)o s tp trung v chc nng iu khin, cu trc ny cn c gi l iu
hin tp trung ( centralized control)'2.
Cc gi tr t

Cc tn hiu
diu khin

H nh 9-5:

Cc tn hiu do

S cu TRC DIU KHIN A BIN

B iu khin a bin l mt b iu khin nhiu v o n h i u ra, c thit k

rc tip da trn mt m hnh a bin ca qu trnh cn iu khin. u im
n nht ca cu trc iu khin tp trung l do s tng tc gia cc bin
u trnh c quan tm trong phng php thit k. iu khin a bin
ng gip loi b c m t s bin trung gian m binh thng c coi l nhiu
i trong cu trc iu khin phi tp trung. Hn na, iu khin a bin khai
hc trit c u th ca cc phng php iu khin tin tin cng nh
ng lc tnh ton ca cc thit b iu khin hin i. Trong thc t, c rt
hiu bi ton iu khin m cht, lng ch c th dm bo nu p dng cu
rc iu khin tp trung.
Bn cnh cc u im nu trn, ta cng cn quan t m ti mt s hn ch r
t ca cu trc iu khin a bin nh sau:
tin cy v cht lng iu khin ca h thng khng nhng ph thuc vo
mt b iu khin duy nht, m cn ph thuc vo tnh sn sng ca t t c
cc tn hiu o v tn hiu iu khin. Nu b iu khin tp trung c li
hoc b t c m t ng tn hiu no b gin on, tnh ton vn ca cu trc
tp tru n g b p h v, tin cy cng nh cht lng iu khin ca ton h
thng khng cn c m bo.

Mc d trong thc t nhiu h thng iu khin c th c coi l c cu trc h thng

hn tn, v d cc h DCS (distributed control system), a s chc nng iu khin cha
c phn tn mt cch trit m vn tp trung mt vi thit b iu khin.

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

Hu ht cc phng php iu khin a bin u da trn gi thit m hn

q u trnh tng i chnh xc. Ngay c nhng phng php iu khin b
vng cng t ra yu cu cao v tin cy ca mt m hnh danh nh cn
nh thng tin kh chnh xc v gii hn sai lch m hnh. Nh phn tc
trong chng 3 v chng 4, cng vic xy dng m hnh thng l rt ph
t p v tn km.
iu khin a bin kh c th tn dng trit cc yu t c th ca qu
trnh cng ngh. Mi vng iu khin cng c nhng c im v yu c
ring v cht lng m khng d a vo m t bi ton chung.
Hu ht b iu khin a bin ngy nay c thc hin trn nn my tnh sc
C s thit k m t b iu khin s a bin hu nh da trn m t chu k
trch mu c nh, trong khi mi bin qu trnh c c im thay i nhan
chm khc nhau. p ng yu cu chung ca nhiu bin qu trnh, t a s
phi chn chu k iu khin nh nht tng ng vi yu cu ca vng i
khin nhanh nht (v d lu lng, p sut). Nhng gii php ny m t m
lm tng ti cho my tnh iu khin, m t khc cha hn a tt cho cc vn
iu khin chm hn (v d nhit , nng ).
Vic hiu chnh cc tham s ca mt b iu khin a bin trong thc t r
kh khn, bi quan h gia cc tham s ca b iu khin vi m t chi ti
c h t lng no khng h hin nhin. Mt khi cht lng iu khin khn
c m bo th cch duy nht ci thin cht lng l tin hnh thit k
li b iu khin, th m ch c khi i hi xv dng li m hnh.
Cc phng php iu khin a bin cn kh mi m i vi hu ht k s
cng ngh, v th s chp nhn tng i d dt.
Mc d c nhng vn nu trn, iu khin da bin ngy cng c
dng rng ri trong thc t. Cc phng php v cng c h tr nhn dng qu
trnh ngy cng tt hn, kh nng tnh ton v tin cy ca h thng ph
cng ngy cng c nng cao, ha hn m ang li cht lng iu khin VC
tri. Trong lnh vc iu khin qu trnh, iu khin d bo theo m hn
(model predictive control, M PC) l phng php iu khin a bin th n h cn
n h t, chn mui nht c v rrit nghin c l thuyt v ng dng thc t.

9.4

i u k h i n n b i n / p h i t p t r u n g

T h i t k Cu trc iu khin cho mt qu trnh a bin c th (la trn c s

p hn chia bi ton th n h cc bi ton con vi int bin vo v mt hin ra (g
l cc vng iu khin n) c th s dng cc b iu khin n bin que
thuc. Mi b iu khin n bin c nhim v duy tr m t bin c iu khi

'.4

lu KHIN N b i n / p h i t p t r n g

463

i m t gi tr t. mong mun. Mt b iu khin n bin ch c mt u ra l

;i tr hin iu khin, nhng c th c nhiu u vo (gi tr t v cc gi tr
lo c). Mt sch lc iu khin n bin c th s dng mt hoc kt hp
ihiu b iu khin n bin. Chng no mc ch iu khin ch nhm vo m t
lin q u trnh th m t sch lc iu khin phn hi, iu khin truyn thng,
tiu khin phn hi kt hp hp b nhiu, iu khin t l u c xp vo cu
lnh iu khin n bin. Mt b iu khin n bin c th c thc hin
rong m t thit b n l, nhng cng c th l mt khi phn mm nm trong
nt thit b iu khin chia s (PLC, DCS, IPC).
Mt vn ln ca cu hnh n bin l s tng tc gia cc vng iu
:hin. Vic thay i m t gi tr t c th dn n thay i m t cch khng
nong mun ti nhiu bin c iu khin. Trn thc t c hai phng n thc
lin l b qua cc quan h tng tc hoc tm cch trit tiu cc quail h tng
c cho bng cc khu b tch knh. Phng n th nht i hi phi xc nh
c cp tn hiu vo-ra c quan h ln t, a bi ton iu khin a bin th n h
ihiu bi ton iu khin n bin c lp (Hnh 9-6). Phng n ny cn c
:i l iu khin phi tp trung ( decentralized control) hay iu khin a vng
multi-loop control). Phng n th hai c gi i iu khin phn ly hay iu
'hin tch knh (decoupling control), vi cc khu tch knh c xc nh d a
rn kinh nghim hiu bit v qu trnh hoc tnh ton trn m hnh ton hc.
c vng iu khin trong cu trc tch knh thc ra khng hon ton c lp
i nhau.
Mc d c nhc im trn, cc cu hnh iu khin n bin vn c s
.ng trong hu ht cc gii php iu khin qu trnh bi hai l do. T h n h t l
:iu khin n bin cho php s dng ti a cc hiu bit v qu trnh cng
gh v qua c th a ra cc sch lc iu khin hp l. T h hai, iu

H n h 9-6:

S c u TRC Dlu KHIN PHI TP TRUNG

464

hng

i i t

t h c DIU

khin

cho

qu

tr n h

a Bi N

khin n bin kh n gin v c kim chng trong nhiu ng dng thc

t. Cc th am s ca b iu khin vng n hu nh u c mi lin h hin
nhin ti c tnh p ng h thng, do tc dng ca mi thao tc hiu chnh
th am s trong qu trnh vn hnh u c th theo di v nh gi trc quan.
Nu m t cu hnh n bin tha mn cc mc tiu iu khin t ra th
khng c l do g ngi s dng phi thay i cch nhn v hng gii quyt.
c bit, iu khin phi tp trung l mt cu hnh thch hp cho kin trc iu
khin phn tn trit xung cp trng ang rt quan tm hin nay.
Mt im cn lu l s la chn iu khin dn bin hay diu khin a bin
cng khng hn loi tr ln nhau, m c th kt hp r t tt trong m t cu trc
iu kh in phn cp (hierarchcal contro). Thng thng, cc b iu khin a
bin c s dng mc cao hn trong mt cu trc phn cp chc nng, trong
cc vng iu khin mc th p hn c thc hin vi cc b iu khin n
bin (xem li chng 1). V d trong bi ton iu khin th p chng luyn, cc
b iu khin mc v p sut thng l n bin, trong khi cl iu khin cc
thnh phn sn phm t a c th s dng mt b iu khin a bin.

9.4.1

C p i cc bin vo-ra

Mt trong nhng vn quan trng liug u trong thit k cu trc iu khin

phi t p tru n g l s la chn cp i cc bin vo-ra. i vi cc q u trnh n
gin, vic ny c th thc hin hon ton da trn kinh nghim. Tuy nhin, i
vi cc q u trnh phc tp ta cn s dng m t cng c ton hc thch hp. Ma
trn RGA do Bristol ln u tin a ra nm 1966 [4] l mt cng c nh vy.
Chi ti t v m a trn RGA c gii thiu trong ph lc B. Di y ta tm hiu
cch p dng m a trn RGA vo vic cp i cc bin vo-ra.
Trc ht, xt m t qu trnh 2 vo (U\ v u>) v 2 ra (yi v y>) c ma trn
khuch di tnh
(9.3)
^21

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

s khuch i t ng i A c nh ngha l t l gia h s khuch i gia

lu vo U\ ti u ra \ khi h rnch v khi ng mch. Cho cc trng hp gi
.r A khc nhau, ta c cc din gii nh sau [2 ]:
1.

A=

1: H s khuch i tnh t W| ti y\ khi h mch cng nh khi khp

mch l hon to n nh nhau, c ngha l vic ng hay m vng iu khin
th hai (u2 y) khng nh hng ti vng iu khin th nht. Ni m t cch
khc l gia hai knh khng c tng tc hai chiu v vic cp i hon ton
d dng: (u h y,) v (uM ,).

2. = 0: H s khuch i tnh t U\ ti y phi hng 0, nh vy U\ hon ton

khng c nh hng ti 2/1 - Nhng iu cung c ngha l nu t a chn cp
i
y-) v (lb), ?/]) th gia hai knh iu khin cng khng c tng tc
hai chiu.
3. 0 <

A<

1: H s khuch i tnh t U ti y\ khi h mch nh hn khi khp

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.

A < 0: y l trng hp ngc li vi 4. Khi khp mch th h s khuch

i tnh t U\ ti y b o du. Dy l du hiu chng t h kn s dao ng

mnh, th m ch m t oil nh nu ta cp U\ ti y |. V th, cn la chn
phng n (U|, Vi) v (u2 y{).
Trong trng hp tng qut vi s cp bin v o r a nhiu hn 2, m a trn RGA
lc nh ngha l:

(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

quanh tn s ct mong mun ca h kn, u tin gi tr ln hn 1. Di tn

cho Xj > 1 cng rng cng tt. Trong trng hp n gin c th chn u /= 0.
2. Trnh chn

\ j

1 hoc

X j

< 0 cho h trng thi xc lp (xt (0)).

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

Hai phn t trn ng cho ca A gn xp x 1 ch ra phng n cp i hin nlii

l (tt|, 2 ) v (2, 2/3 )V d 9-4: M hnh thp chng luyn gii thiu trong (5) c 4 bin iu khin [us
U;, U4] l cc lu lng hi lu v lu lng hi cp nhit, 4 bin cn iu khin 1/
2/2 2/3 2/4] ln lt l thnh phn sn phm nh, sn phm y v liai sn phm S
thp. RGA cho ma trn G{0) c xc nh l:
ux
V\

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

Tun theo hai nguyn tc trn y, cc phn t X i j cn chn c 11 m. Nh

vy, phng n cp i thch hp duy nht l (ui, ji)y (U2, 1/ 3 ) ,
2/4 ) v (?4, y-).

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

Mt cu hi t ra tip theo l nu tng b iu khin phi t p tru ng c thi

k c lp th liu tn h n nh ca t t c cc vng n c m bo tnh n n
cho ton h thn g hay khng. i vi cu trc iu khin phi t p trung ta kh
c th a r a c m t iu kin cn v nh i vi cu trc iu khin
bin, nhng cng c nhiu tiu chun kho s t c a ra - phn ln l c\
di dng cc iu kin cn hoc iu kin . Mt. ln na, m a trn RGA li c
ng dng y. Cc kt lun di y c tm t t t nhiu ti
liu.
Xt m t h thng iu khin phi t p tru n g cho q u trnh G(s) n nh:
1. Nu mi vng n n nh khi cc vng khc h mch
th ton h thng cng n nh.
2. Nu cc b iu khin s dn g tc ng tch p hn
phn t c a A (G (0)) c gi tr m th:

v A (G(ju)) = I ,

Vu;

v cp i tng ng vc

T on h m t n nh, hoc

Vng n tng ng m t n nh, hoc

T on h m t n nh khi vng n tng ng h mch.

3. Nu b iu khin p hn hi Ki s dng tc ng tch phn, vng kn tn

ng n nh khi cc vng khc h mch v chi s N iederlinski (N )

}. 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

R rng, phng n cp i phi l (, 2d) v ( V Xu) ng nh nh gi theo kinh

nghim. Ch s NI c xc nh l
1

c^g() = -12.8-19.4 + 18.9-6.6 ^ Q498 > 0

00
-12.8 19.4
l . 9,(0)

1=1

Nh vy, nu ta thit k c lp cc b iu khin PI hoc PID mi vng iu

khin thnh phn n nh th khi a c hai vng iu khin vo vn hnh, ton h
thng cng s c m bo n nh.
Ngc li, nu ta chn phng n cp i (V, Xb) v (L, ocu), nia trn RGA s tr
thnh
-

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

Vic xc nh cu trc iu khin ti u cho cc q u trn h a bin l m t vn

kh phc tp, c bit khi s lng bin v o r a ln. y cng l m t hng

C hng 9

468

T h i t k e c u t r c i KHIN CHO QU TRNH A Mh

nghin cu m ang tnh thi s, thng c a di tiu 4p lant-w ide control

Trong ni dung trnh by trn y, t a ch c th cp m t s vn rt C(
bn. T liu th a m kho chun v ti ny cng cha c nhiu, ch yu nm (
cc bi bo t p ch.
T i liu t h a m k h o
[1]

Luyben, M.L.: Process Modeling, Sim ulation and C ontrol fo r ChemtCQ

Engineers. McGraw-Hill, New York, 1990.

[2]

Seborg,

D.E.; T .F.

Edgar;

D.A.

Mellichamp:

Process

D ynam ics

am

Control. 2ml Edition, Wiley, New York, 2004.

[3]

Skogestad, s.; I. Postlethwaite: Multivariable Feedback C ontrol Wiley

Chichester-New York, 1996.

[4]

Bristol, E.H: On a New Measures of Interactions for Multivariabli

Process C ontrol. IE E E Transactions on A utom atic Control, AC-11, p i 33
1966.

[5]

Nisenfeld, A.E.; H.M. Schulz: Interaction Analysis in Control Systen

Design. Advances in Instrum entation 25. ISA, 1971.

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

Tliil b phn t ng (ln l

Pln cng chia s

Phn mm
Chc nng my tnh
Logic chia s
K logic kh trnh
Thit b liai bin hoc mt
bin vi nhiu chc nang

Phng (liu khin

trung tm
(Remote)

V tr m rng
(.4 xixilary
Location)

Hin trng
(Local)

0
e
ee

/
\

/
\ /
p

\
/

<>:
0
oo

\
/

PH LC A

470

Cc biu tng trn bng A l - 1 m t cc thit b cng nh chc nng m

ngi vn hnh c th trc tip thao tc, s dng (ttccessible). Trong trng hp
cc thit b/chc nng c t sau bng, hoc ngi vn hnh khng c php
can thip, ng gch gia cc biu tng cn c v bng nt t.
B i u t n g c c n g t n h i u v n g ni
phn bit r rng vi cc ng ng dn, t t c cc ng tn hiu v ng
ni khc cn c v nt thanh. Cc ng ni c th hin bng cc biu
tng trong bng A l - 2 .
B ng Al-2: Biu DIN CC TN HIU V NG Ni Lu P&ID
Tn hiu kling nh ngha

-yr-r*

ng ni ti qu trnh k tlnit, hoc ng cp nng

lng cho thit b
Tn hiu kh nn

&

Tn hiu in
Tn hiu thy lc

-fc b b

Tn hiu in t hoc m thanh (c dn nh) *

^

Tn hiu in t hoc m thanh (khng dn nh)*

v /'

Dtrng ni b h thng (lin kt phn nim hoc d liu)

- 0 - 0

ng li c hc
ng mao dn
*

v /'

-*----- X----- X-

Cc lii tng tlin t gm c nhit, sng v tuyn, phng x nguyn t v nh sng.

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

GS ( Gas supply): cp gas

HS ( Hydraulic supply): cp thy lc

NS (Nitrogen supply): cp nit

(Steam supply): cp hi nc
( Water supply): cp nc

ss
ws

A. I

Tm t a t chun

ANSI/ISA S5.1

471

Mc tn hiu c th ghi km theo k hiu cc ng cp, v d ES 24DC k liu

ng cp ngun 24V mt chiu.
N h n t h i t b v k h i u c h c n n g
Bng A 1-3 lit k ngha ca cc ch ci plin bit chc nng. Phn biu din
chc nng b t u hng mt ch ci k hiu hin o hoc m t bin ctu vo (gi
tr khi to), sau n cc ch ci k hiu chc nng ch th hoc chc nng b
ng. Tip na l cc ch ci th hin chc nng u ra theo mt th t ty .
tr trng hp ch c (control) phi ng trc V (valve). Cc ch ci ph nu
c th s dng ngay ng sau mt ch ci chnh th ay i ngha chc nng,
v d PD biu din chnh lch (D) p sut (P).
Lu rng, cc k hiu s dng tun theo chc nng ch khng theo nguyn
tc kt cu hay nguyn tc lm vic ca thit b. V d, mt thit b o lu
lng theo nguyn tc chnh lch p sut c k hiu l F T ch khng phi
PD T. C h ci u tin k hiu bin c o (u ra ca qu trnh) hoc bien
khi to ch khng phi bin iu khin (u ra iu khin). V d, m t van
iu chnh lu lng c iu khin bi mt b iu khin p sut c k hiu
l p v ch khng phi FV .
V d m in h h a
Hnh A l- 1 minh ha mt v d mch vng iu khin p sut. Lu chi tit
bn tri l c s cho thit k h thng v pht trin phn mm, trong khi lu d
n gin ha bn phi x u t hin trn cc lu cng ngh.

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

CHO MT VNG l u KHIN P SUT

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

B ngha cho ch Chc nng x l (hin

ng trc
th, b ng, u ra)

A Phn tch (Amivss)

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

H a bng tay [Hand)

Cao {High)

1 Dng in

Ch th (Indicate)

J Cng sut

Qut

K Thi gian, lch trnh

Tn sut thay i Train iu khin

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

Tch phn, tong

Ghi chp (Record)

s Tc . tn s (iSpeed) An ton (Siifotv)

T

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)

Chuyn mch (Switch)

Truyn pht ( Transmit)

a bin

Da chc nng

rung ( Vibmtion),
phn tch c hc

Van diu khin ( Vvc),

gim chn

Trng lng ( Weight),

lc

Lng, bao ( Well,

VD ThcnnowcJI)

Trc X

S kin, trang thi

Y .
,
hoc s c ml

_
True Y

Rule, tnh ton, bin oi

z V tr, kch thc

Trc z

Truyn ng, chp hnh

a chc nng

A.l

Tm t a t

chuan

ANSI/ISA S5.1

473

Mch vng iu khin p sut c iu khin bi tr m iu khin DCS. Gi

tr t c a t mt my tnh thng qua ng truyn d liu. Mch vng
iu khin c s nhn 2 1 1 , k hiu vng iu khin s 11 trn lu s 2. Thit
b o p sut PT-211 c ni vi ng dn qua mt van kha v phm vi lm
vic 0-300 PSIG. Tn hiu ra l dng in 4-20mA, c k hiu u vo AI-17
trong h DCS. B iu khin PIC-211 c thc hin th u t ton PI trn trm s
2 (C-2). u ra ca b iu khin c k hiu AO-21 c a vo mt b bin
i dng-p sut (PY-211) gn trn van iu chnh PCV-211. Van iu chnh l
loi tuyn tnh c trang b b nh v p (Positioner). C b nh v p v b bin
i PY-211 c cp ngun kh nn (AS).

B ng Al-4: CC K

HIU

CHC NNG TNH TOAN

K HIU

CHC NNG

1-0 hoc ON/OFF

iu khin ON/OFF hoc chuyn mch {Switch)

I hoc ADD

Cng hoc tong (cng v tr), vi 2 hoc nhiu u vo

A lioc SUB

Hiu (vi hai hoc nhiu u vo)

, + ,

dch (1 u vo)

AVG.

Trung bnh

%, 1:3 hoc '2:1

Khuch i (u vo : u ra)

.*

Nhn, chia (2 hoc nhiu u vo)

R I hoc SQ. RT.

Cn bc hai

x" hoc xl/n

Ly tha

f(x)

Hm

1:1

Tng cng

hoc HIGHEST

Chn gi tr ln nht

[<] hoc LOWEST

Chn gi tr nh nht

REV.

o ngc

E/P, P/I, A/D, D/A

Bin i (E, H, I, 0, p, R)

Tch phn (theo thi gian)

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

OR c iu kin (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

Instrumentation, Logic and Computer Systems )

Chun A N SI/ISA S5.3 m rng S5.1 cho cc chc nng trong m t h iu khin
phn tn. T hc ra, S5.3 vn gi nguyn tp hp cc biu tng, nhng r rng
v chi tit ha ngha ca m t s biu tng.
Thng thng ngi vn hnh c th can thip:
1. Hin th chia s
2. Hin th chia s v iu khin chia s
3. T ru y nhp ch qua ng truyn thng
4. Giao din vn hnh trn ng truyn thng
T h it b lp ti v tr m rng:
1. Lp trn panel ti v tr m rng, thng thng c giao din s
dng tng t, khng lp ti trm vn hnh tru n g t m
2 . C th l m t b iu khin d phng hoc m t tr m th ao tc

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

B n h thng ngi vn hnh khng th can thip:

1. Giao din v o /ra

2. T nh ton, iu ha tn hiu trong my tnh
3. C th s dng nh mt b iu khin cm hoc m t module
phn mm tnh ton.

C c b i u t n g iu khin trn h t v logic

B iu tng cho iu khin logic hoc iu khin trnh t phc tp khng nh
ngha:

B iu khin logic trong h K P T vi chc nng iu khin logic hoc iu

kh in trn h t:
y* r\
\y \

1. B iu khin logic kh trnh, hoc iu khin logic s tch hp

trong cc thit b iu khin phn tn
2. Bnh thng ngi vn hnh khng can thip c.

ngha nh trn, nhng ngi vn hnh c th can thip:

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

'ector V nh ngha trn trng s phc

(trng s thc R l m t trng
p ring), mt chun ||e|| l mt nh x V H-* R th a mn bn tnh cht:
1 . IIe II > 0, Ve

( tnh khng m)

2 . II?II = 0 <=> e = 0

( tnh nq nht khng)

3. IIc e| = |c| ||e||, Vc

(tnh cht t l)
E V ( tnh cht tam gic).

4. \\e) + e2|| < \\e] | + IIe2 II>

3.1.1 C c c h u n v e c to r
t m t vector

vi n phn t s phc ( V C " ):

V\
V =

vlt cch tng qut, chun bc

ca

vi

> 0 c nh ngha l

- k i r
i=]

(B 1 )

Dc chun vector thng dng c dn x ut t l chun bc 1 , chun bc 2

/ chun v cng.
C h u n bc 1. Chun bc 1 l tng tr tuyt i ca t t c cc phn t:
l - M
1= 1

(B.2)

P h c B

478

C h u n bc 2 (chun Euclid). Chun bc 2 c s dng nhiu n h t tng

ng vi module ca vector:
I K = ( t 2)1/2
i=1

(B.3)

G i tr bnh ca chun Euclid ca vector V cng chnh l tch v hng gia

vector chuyn v lin hp vl vi v:
VHV = ||v|g

(B.4)

C h u n oo (chun m ax). Chun v cng l gi tr tuyt i ln n h t ca cc

phn t vector:
M L = N L .X = mxI Vi I
t

(B.5)

p dng cho m t vector bt k, cc chun trn y ch khc nhau m t h SC

c nh no , v th chng cn c gi l tng ng. Vi m t vector c 71
phn t. t a c cc quan h:
IM L <IM I 2 < ^ I M L

IMI2 < IMI,

<

V^mi2

(B . 6 )
(B.7)

V d B-l: Xc: nh chun bc 1, chun bc '2 v chun v cng ca vector

v = \l -3

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;

trong M\ v M) l cc m a trn tng thch v kch c cho php nhn m a trn

Bn chun rua trn thng dng bao gm chun bc 1, chun bc 2. chui:
Frobenius (hay chun Euclid) v chun v cng.

13.1

C h n V ECT OK v c h u n m a t r n

479

C h u n bc 1 v chun oo . Chun bc 1 v chun v cng ln lt l tng

tr tuyt i ln n h t ca cc phn t mi ct cng nh mi hng:
IIMII, = i n a x l A y l )
; i=l

(B .9 )

TU

||M|U. = m a x ( | M |)
1 j =

(B.10)

C h u n bc 2 (chu n ph). Chun bc 2 ca m t rria trn c nh ngha l

gi tr suy bin ln n h t ca 1:

\\M\\, = = sJ p (M h M)

( B .ll)

t.rong hn knh ph p(A) = inx|/(i4)| l tr ring ln n h t ca m a t r n A.

C h u n P ro b en iu s (chun E uclid). Chun Probenius l cn bc: hai ca tng
tr tuyt, i ca t t c phn t ma trn:
\\M\\r = ( | A ' / |)i/l> = V tr{M HM )

(B.12)

trong trA ) k hiu vt ca m a tr n A (tng gi tr cc phn t ng cho)

v M 11 l m a tr n chuyn v lin hp ca M.
V d B-2: Cc chun thng dng ca ma trn

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

2. ||i()|| = 0 <=> u{t) = 0, V

3. |M )I! = MMOII,Vc IR
4.

||u() +

v{t)II

< H O II + K O I!

i vi cc vect.or tn hiu ta cng c nh

thng dng trong iu khin bao gm chun
cng.
Chun bc 1 . Chun bc 1 ca mt tn
i ca II, hay ni cch khc l chnh din

ngha tng t. Cc chun tn hiu

bc mt, chun bc hai v chuan v
hiu u(t) l tch phn gi tr tuyt
tch bao gia ng th tn hiu

v tr c thi gian:
HOII, = n w i * .

(B 1 4 )

C hun bc 1 ca m t vector tn hiu u(t) (cn gi l chun ly) c nh ngha

da trn kt hp chun bc 1 ca vector v chun bc 1 ca tn hiu:
IKO IIi =

l * W I dt

(B .15)

trong Ui(t) l tn hiu th i trong vector u().

Chun bc 2. Chun bc 2 ca mt tn hiu u { t ) l cn bc hai nng lng
ca n, hay ni cch khc l cn bc hai ca tch phn cng sut tc thi u ( t ) 2 :
N O II2 =

( ) 2* ]

(B .16)

Chun bc 2 ca m t vector tn hiu u(t) (cn gi l chun 2) cng c nh

ngha da trn kt hp cc chun bc 2 ca vector v tn hiu:

.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

C h u n oo . Chun v cng ca mt tn hiu u(t) l gi tr chn trn nh

lt (suprernum) ca \u(t)\ :
U)IL = su p | 7i()|
d, chun v cng ca mt tn hiu hnh sin chnh l bin ca n. Chun
) cng ca (1 - e~')l() l 1. Cui cng, chun v cng ca m t vector tn hiu
t) c nh ngha l
\\u{t)\\

= sup(max|ttt()|) = max(sup|u()|)
t i
i
t

(B.19)

hun bc 1 v chun v cng ca mt tn hiu c minh ha trn Hnh B -l.

Hnh B -l: C hun

bc

1 V CHUN v CNG CA TN Hiu

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 khi n c tnh gii tch trn na tri m t ph ng phc

, tc l mi im cc ca n nm bn tri trc o. G(s)

iu kin cn v h n nh. Ngoi ra, G c gi l
0

hp thc khi G (j 00 ) l m t s hu hn, tc l khi m < n

hp thc cht khi (joo) = 0 , tc l khi m < n
song hp thc khi c G v G~] u l hp thc, tc l khi ra = n.

hm bn

P h l c 13

482

Hai chun thng dng ca hm truyn l chun bc 2 v chun v cng c

nh ngha nh sau:

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;

Lu rng khi G(s) l mt hm bn v hp thc cht, quan h gia chui

bc hai c a n vi chun bc hai ca hm trng lng g(t) tng ng c xc
lp bi nh l Parseval1:

\\G(s)\\2

=i-f_ " \G(M\2d u

= f ' g(t)2dt.j'/2 =

[|()||2

(13.23;

Do vy. t a c mt cch din gii n gin cho chun bc 2 ca h thng n h sau

Khi kch thch h (B.2) hng mt xung n v, chun bc hai ca tn hiu ra S(
ng bng chun bc 2 ca h thng:
u(t) =

6( t ) -

\\y(t )\\2 = |G(s)| 2

(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

Chun v cng ca h thng cng c din gii tng t. Cho trng hp tn

qut, cho mt tn hiu vo u(t) bt k, chun bc 2 ca tn hiu ra y(t) c the
c c lng da trn cng thc sau:
ll/(OII, < I | | L - M I 2

( 13.26

Chuan v cng tha man tnh clit quan trng sau y:

I I A L < I I G .I L - ll ^ lk

(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

chun 9^ 2- T ng t nh vy. mt hm bn-hp thc thuc khng gian

7 ^ (tc khng gian Hardy ca cc hm truyn vi chun bc 2 hu hn), nn
:hun v cng ca n c gi l chun
:ho h MIMO nh sau:

. Cc chun H -2 v H ^ c m rng

C hun Hi

\ 1/ 2
||(s )||2 = ( / _ ' ||G (ju)||f du,

(B.28)

Chun

IIG(s) II = sup IIG(jw) 2 = sup ( (jw ))

(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)

rong d M l m a tr n khuch i vi kch thc / X ra, u l vector u vo v y

vector u ra vi s chiu tng ng s bin vo-ra. Nu t t c cc hng ca
M c lp tuyn tn h vi nhau (tc hng ca M bng /) v u khng b gii hn,
/ector y c th c iu khin mt cch ty . Song trong thc t c mt. s
/n d nh sau:
Khi cc hng c a M khng c lp tuyn tnh vi nhau (m a trn M suy bin),
nh x tuyn tnh M u s khng bao ht khng gian vector ca y, hay ni mt
cch khc l vector ra y khng th iu khin c hon ton theo iun.
T u y nhin, gii hn gia s suy bin v khng suy bin nhiu khi khng ln,
nht l bi v M cng ch l m hnh xp x. Song ta cn
m t gi
tr nh
lng Iio cl d ni len tnh cht "gn" hay "xaMvi s suy bin ca
m t m a
trn. T t nhin, v M c th khng vung nn gi tr nh thc hoc cc tr
ring ca n kh c th s dng c y.
Khi u b gii hn trong m t min no (m thc t bao gi cng n h vy),
phm vi iu khin c ca y cng b gii hn theo (xem minh ha trn
Hnh B-2), nhng xc nh phm vi gii hn iu khin c ca y t a cn
m t phng p hp thch hp. Thc cht, phm vi gii hn iu khin c
ca y trong trng hp ny ph thuc r t nhiu vo tnh cht g n hay x a
vi s suy bin ca m a trn M.

P h l c B

484

Hnh B-2: Mn

gii hn thong nh x tuyn tnh

Mt cch tng qut, cc gi tr suy bin ( = l..n) ca mt m a trn s

phc M c nh ngha l cn bc hai ca cc gi tr ring ca m a trn M llM.
Nu M l m t rna trn s thc, t a ch vic thay M HM bng vTM. N h t a s thy,
cc gi tr suy bin l thc o thch hp ch khong cch gn hay xa vi s
suy b in ca mt m a trn.
Lu rng, chun bc 2 ca mt ma tr n c nh ngha l gi tr suy bin
ln n h t ca n ( ) :
\\M\L =: m a x y \ { M HM ) = max ( M ) ~ (M)
i
i
ng thi
(B.32)
V th
{M) = inax

"

**0 WuL

m a x \\Mu\2

(B.33)

Ngoi ra, gi tr suy bin Iih n ht cng c tnh cht sau

{M) = min

IIMu 11,

min \\M u \\2

H!i|21

(B.34)

Coi M l c tnh tn s ca h MIMO ti m t t n s 4 tc M = G ( j u ) , cc

ngha ca cc phng trnh (B.33) v (B.34) c din gii nh sau:
Cc gi tr suy bin biu din rt t t h s khuch i ca m t h nhiu vc
nhiu ra. H s khuch i y ph thuc vo chiu ca vector u vo u.
Vi vector u vo u, ma trn M nh x sang y = Mu vi h s khuch i
ln n h t l v h s khuch i nh nht l q_ .
Gi tr suy bin nh n h t ni ln kh nng kh iu khin hay d iu
khin ca m t h: cng nh cng kh iu khin.

P h p p h n t c h g i t r suy bin

485

(.3.2 P h p p h n tch gi tr suy bin (SVD)

c gi. tr suy bin c xc nh tt nht qua php phn tch gi tr suy bin
ingular value decomposition, SVD):
M T, V H =

V H , U HU =

I,

V HV =

(B.35)

I
a =

(7]

> 2 > ... > I =

=> M V E, M v] =

Uy

M vk = uk

(B.36)

hin t l thuyt h thng, nu m a trn M l c tnh tn s ca h ti m t tn

) Uy tc G ( j ( j ) , ta s c th a ra m t s din gii su hn:
Cc vector u vo c chiu trng vi ct u tin ca V s c khuch i
nhiu n h t ti t n s , kt qu u ra l vector c chiu trng vi ct u
ca

u.

Cc vector u vo c chiu trng vi ct cui ca V s c khuch i t

n h t ti tn s , kt qu u ra l vector c chiu trng vi ct cui cng
c a

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.

i.3.3 S iu kin (condition n u m b e r)

iu kin ca mt m a trn c nh ngha l t s gia gi tr suy bin ln
ht v gi tr suy bin nh nht ca n:
cond(M) = 7 (M ) = /

(B.37)

i vi m t h phng trnh tuyn tnh M x = y ) s iu kin ca mt ma

:n M ni ln s nhy cm ca h phng trinh vi sa s trong M hoc trong
, tc k h nng tm nghim X mt cch chnh xc. s iu kin ca mt ma trn
ng ln cng b t li cho vic gii h phng trnh. T a ly m t v d:
M =
(M ) =

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

cho ma trn M tr nn suy bin. Thm mt ln na ngha ca gi tr suy bir

li c lm r.
n g dng trong l thuyt iu khin, s iu kin ca m a tr n hm c tnl:
t n G(ju>) lin quan nhiu ti kh nng iu khin v gii hn cht lng it
khin. C th l:
S iu kin cng ln th h cng nhy cm vi sai lch th am s m hnh
S iu kin lin quan ti cc ch tiu cht lng (c t trn min tn s) ec
th t c (xem Skogestad & Postlethwaite, 1995).

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

<?2l(s) G22{s ) _M2

G(s)u

(B.38;

i vi qu trnh n nh, ti trng thi xc lp ta c:

h

( 0 ) = H m G ( ) =

h 2

. '2

s-> 0

&2 k>22

(B. 39 ;

N h vy, h s khuch i tnh t u 1 sang X\ (tc l khi u -2 = const.) ca qu

trnh khi cha c iu khin (vng h) l 11. Ta vit
A U u>2= const

= k) I

(B.40

Sau khi lp hai b iu khin phn hi phi tp trung K\ v K 2 nh minh h c

trn Hnh B-3, trn g thi xc lp t a gi nguyn r 2 v th ay i n m t gi tr
nh,

U\

s thay i v t a c:
Ay

^ V2 ==

A] I z \ u j --

k\2^U2

(B.41

4" ^22^ ^2

Do y 2 thay i, b iu khin K i cng s tm cch thay i

gi tr xc lp ban u. D duy tr A y 2 = 0 ta phi c

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

H n h B-3: c u t r c iu khin phi t p t h u n g cho qu t r n h 2 x 2

(B.42)

A L2 =
*22

hav vo phng trnh th n h t trong (B.41) ta nhn dc

k\

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

H s khuch i tung i (relative qair) t mt bin vo U\ ti m t bin ra

ca m t qu trnh
c nh ngha l t s gia h s khuch i tnh trong
ng h (khi cha c iu khin) chia cho h s khuch i trong vng kn (khi
c iu khin phn hi):
n

k\
^12^21
11
b22

(B.45)

'ng t nh trn, t a c th tnh h s khuch i tng i cho cc cp bin

o-ra khc: X \2 cho cp (u-2, y\)) 2\ cho cp (u]y y2) v Xn cho cp (u2 2/2). D
hy rng A22 = A? A]2 = A21 = 1 A .
H s khuch i tng i ni ln mc tng tc gia cc knh vo-ra.
whi hai knh iu khin khng c tng tc hai chiu, tc l k \2 = 0 hoc k>2 = 0,
a c A]] = 1 . Cn khi gia hai knh c tng tc cng m nh th A]I cng khc
a gi tr 1, th m ch c th c gi tr m. Khi gia U\ v
khng c quan h g
h k\i = 0 v An = 0 . Chnh v th, h s khuch i tng i cn c gi l

P h l c B

488

h 30 tng tc. M a trn h 30 khuch i tung i hay m a trn tng t c cho

qu trn h 2 x 2 c vit thnh:
A(G) =

1- A

1 -A

(B.46)

trong k hiu A c s dng thay cho Au .

V d B-3: Xc nh ma trn RGA ca ma trn
G =

-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 )

Xt nhy gia bin vo

Uj

9\m ()

22(s)

(B.48'

9m m is )

v bin ra /i ca mt qu trnh vi hai trng hp:

Khng c cc u vo khc, tc u* = 0, Vfc =* j , ta c

dyi
du.

= gt](0) [(0)]jj

(B. 49 ;

=0. k^j

C cc u vo khc nhng cc u ra khc c gi c nh (bi cc b iu

khin phn hi thch hp), tc
= 0y k ^ i . Coi vai tr ca U j v yi c
ngc li, tc l Uj l u ra cn yi l u vo, t a d dng vit c tng t
n h (B.49):

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 = (),&**

. S t l gia hai gi tr trn th hin mc lin kt gia

I h s khuch i tng i gia

Uj

Uj

v 2/ i , hay chnh

v yt-

= 9ii9ii = [ G G - i

(B.51)

' ta i ti nh ngha m a trn RGA nh trong (B.47) cho trng hp 5 = 0.

't nhin, t a cng c th nh ngha m a trn RGA cho trng hp tng qut s
: juf vi u l t n s cn quan tm.
M a trn RGA c cc tnh cht quan trng sau y:
Tng cc phn t ca m t hng hoc mt ct lun bng 1:

= 1-0

(B.52)

Ma trn RGA khng ph thuc vo vic chuyn thang tn hiu (chun ha

m hnh):
A(G) = A (D GD2) VA = d i a g ^ ) ^ = d i a g ^ )

(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)