B iu khin PID s

Bi vit ny l nhm p ng yu cu nng cao hiu bit v b iu khin PID ni chung cho nhng ngi mi lm quen vi b
iu khin ny, cng nh vic thc hin mt b iu khin PID s. Vic l gii vai tr ca cc thnh phn P, I, v D trong b iu
khin PID tng t c th c i cht kh khn do chng lin quan n cc biu thc ton hc vi cc thnh phn tch phn v
o hm. B li, vic kho st vai tr ca cc thnh phn khi c vit di dng sai phn li d dng hn rt nhiu.
cho n gin, trong bi vit ny cc cng thc ton hc din gii b iu khin PID s ch c nu ra di dng ngn gn
nht c th. Sau khi c c dng sai phn ca cc thnh phn I v D chng ta s kho st cc thnh phn ny mt cch k lng
hn hiu r vai tr ca chng trong b iu khin PID. T a ra cc ch v vic ng dng cc b iu khin PID trong
thc t chng hn nh: ti sao cc b iu khin kiu PI li thng c s dng cho cc i tng c p ng nhanh? (nh cc
b iu khin dng in, tc ...). Ti sao cc b iu khin kiu PD li thng c s dng cho cc i tng c p ng
chm? (nh iu khin nhit )...
Khi nim
Gi e_{t} l sai s gia tn hiu mong mun (reference value) r(t) v tn hiu o (measurement value) y(t).
e(t) = r(t) - y(t) (1)
Lut iu khin PID l thut tnh ton tn hiu iu khin da trn cc tham s h thng v tn hiu sai s v c biu din nh
sau [1]:
u(t) = K_{p} \left[e(t) + \frac{1}{T_{i}} \int_{0}^{t} e(t)dt + T_{d} \frac{de(t)}{dt} \right] (2)
trong K_{p} l h s t l, T_{i} v T_{d} ln lt l cc h s tch phn v vi phn.
Dng sai phn
Cch thc n gin nht thc hin b iu khin PID s l s dng cc cng thc xp x tch phn li backward integral
approximation)
\int_{0}^{t} e(t)dt \approx \sum_{k=1}^{n} T e(kT) (3)

v vi phn li (backward difference approximation)

\frac{de(t)}{dt} \approx \frac{e(kT) - e(kT - T)}{T}. (4)
Khi phng trnh (2) tr thnh
u(kT) = K_{p} \left[e(kT) + \frac{T}{T_{i}} \sum_{k=1}^{n} e(kT) + T_{d} \frac{e(kT) - e(kT - T)}{T} \right] + u_{0}. (5)
Thc hin b iu khin PID s
T phng trnh (5) ta c th vit c cc phng trnh sau (tham kho thm cc phng php khc y).
\begin{array}{rl}u_{k} &= K_{p}e_{k} + K_{i} e_{k} + u_{i, k-1} + K_{d}(e_{k} - e_{k-1}) \\ &= u_{p,k} + u_{i,k} + u_{d,k} \end{array} (6)
Trong : u_{p,k} = K_{p}e_{k}, u_{i,k} = K_{i} e_{k} + u_{i, k-1}, u_{d, k} = K_{d}(e_{k} - e_{k-1}), K_{i} = \frac{K_{p}T}{T_{i}}, K_{d} =
\frac{K_{p}T_{d}}{T}.
Cc quy lut iu chnh
Trong phn ny ta s nghin cu nh hng ca cc tham s P, I v D n cc p ng ca h thng. T c th hiu r c
ngha ca chng trong cng vic iu chnh cc tham s sau ny. Cc l gii sau y ch thun ty kha cnh k thut. Cc l
gii mang tnh l thuyt cht ch c th tm thy trong cc ti liu khc, v d nh [2], [3], [3], [4]...
Quy lut iu chnh P
T cng thc (6), nu cho K_{i}=0 v K_{d}=0 th tn hiu ra ca b iu khin c dng
u(t) = K_{p}e(t)

Ngha l tn hiu ra ca b iu khin ch n gin l tch ca h s t l v sai lch gia tn hiu t v tn hiu thc.
Gi s bi ton y l iu khin tc ng c vi tn hiu t tc l r=1000 vng/pht, K_{p} = 15. Ta th kho st xem s
bin thin ca tn hiu ra ca b iu khin theo thi gian s nh th no.
# Gi thit ti thi im t=0 tn hiu ra ca h thng y=0. Khi , tn hiu sai lch s l e=r-y=1000. u ra ca b iu khin l u =
K_{p}\times e = 15\times 1000 = 1500. Tn hiu ny s c a n u vo ca i tng cn iu khin lm cho u ra y ca
n bt u tng ln, dn n e bt u gim.
# Trong mt s trng hp, do qun tnh ca h thng, khi sai lch e=0 (ngha l u ra y bng vi gi tr t r) lm cho u =
K_{p} \times e = 0 nhng tc ca ng c vn tip tc gia tng.
# Khi tc vt qu tc t th tn hiu ra u ca b iu khin o chiu, ng thi qun tnh ca h cng gim dn lm cho
tc cng gim nhanh.
# Khi tc gim xung di tc t th tn hiu ra u ca b iu khin li ln hn 0, lm cho tc li tng ln nhng vi qun
tnh nh hn...
# Sau mt vi chu k dao ng nh trn th tc ng c s n nh mt gi tr no , ph thuc vo cc tham s ca h
thng.
Sai lch tnh
i vi quy lut iu chnh P, khi tc ca ng c bng vi tc t e=0 th tn hiu iu khin u=K_{p}e cng bng 0 v, do
, tc ng c s b ko gim xung. V vy, mun u \neq 0 th e phi khc 0. Ngha l phi lun c mt sai lch gia tn hiu
t v tn hiu u ra thc t ca tn hiu iu khin.
Trong v d trn, gi s sau khi n nh th tc ng c t 970 vng/pht th sai lch tnh s l e = 1000 - 970 = 30 vng/pht v
tn hiu ra ca b iu khin s l u = K_{p}e = 15 \times 30 = 450.
Gim sai lch tnh
Nu tng K_{p} ln 150 chng hn th sai lch tnh e ch cn bng 3 l c th to ra mt tn hiu iu khin bng 450 duy
tr mt mmen ln gi cho ng c quay. R rng, khi tng K_{p} th c th lm gim c sai lch tnh. Tuy nhin, nu K_{p}
tng qu ln th h c th b dao ng, khng n nh.
Quy lut iu chnh PI
Quy lut iu chnh P c u im l tc ng nhanh. Tn hiu iu khin ph thuc trc tip vo sai lch gia tn hiu t v tn
hiu thc. Tuy nhin, khi sai lch bng 0 th tn hiu iu khin cng mt nn lun tn ti sai lch tnh nh ni trn.
Vy lm th no trit tiu sai lch tnh?
Cu tr li l phi a ra tn hiu iu khin cho n khi no sai lch tnh bng 0 th gi nguyn gi tr iu khin .
y chnh l c tnh ca khu tch phn vi tn hiu ra c vit li nh sau:
u_{i,k} = K_{i}e_{k} + u_{i,k-1}
# Gi s ti thi im k=0 u_{i,0} = 0.
# Ti thi im k=1 th u_{i,1} = K_{i}e_{1} + u_{i,0} = K_{i}e_{1} tng t nh b iu khin kiu P.
# Ti thi im tip theo u_{i,2} = K_{i}e_{2} + u_{i,1} v c nh vy tn hiu iu khin ln sau bng tn hiu iu khin ln trc
cng i s vi tch gia h s tch phn v sai lch lm cho sai lch e (dng hoc m) gim dn (h n nh).
# Gi s ti thi im k=n sai lch e_{k}=0. Khi u_{i,n} = u_{i,n-1} (ri u_{i,n+1} = u_{i,n}...). Ngha l u_{i,k} s khng thay i
na khi e_{k} = 0.
Vi bi ton iu khin tc ng c vi tc t l r=1000 vng/pht, gi s K_{i} = 0.25 ta thy:
# Gi thit ti thi im t=0 u_{i,0} = 0. Nu ti thi im t = 1 m y_{1} = 200 th e_{1} = r - y_{1} = 1000 - 200 = 800 v tn hiu ra
ca b iu khin s l u_{i,1} = K_{i}e_{1} + u_{i,0} = 0.25 \times 800 + 0 = 200. Tn hiu ny s c a n u vo ca i
tng cn iu khin lm cho u ra y ca n tip tc tng, dn n e bt u gim.
# Ti thi im t=2 gi s y_{2} = 500 th e_{2} = r - y_{2} = 1000 - 500 = 500 v tn hiu ra ca b iu khin s l u_{i,2} =
K_{i}e_{2} + u_{i,1} = 0.25 \times 500 + 200 = 125 + 200 = 325 (gi tr u_{i,1} = 200 ca chu k iu khin trc c cng thm
125). u ra y tip tc tng.
# Ti thi im t=3 gi s y_{3} = 800 th e_{3} = r - y_{3} = 1000 - 800 = 200 v tn hiu ra ca b iu khin s l u_{i,3} =
K_{i}e_{3} + u_{i,2} = 0.25 \times 200 + 325 = 50 + 325 = 375 (gi tr u_{i,2} = 325 ca chu k iu khin trc c cng thm 50).
u ra y tip tc tng.
# Ti thi im t=4 gi s y_{3} = 900 th e_{4} = r - y_{4} = 1000 - 900 = 100 v tn hiu ra ca b iu khin s l u_{i,4} =
K_{i}e_{4} + u_{i,3} = 0.25 \times 100 + 375 = 25 + 375 = 400 (gi tr u_{i,3} = 375 ca chu k iu khin trc c cng thm 25).
u ra y tip tc tng.
# Ti thi im t=5 gi s u ra bm theo u vo, ngha l y_{5} = 1000 th e_{5} = r - y_{5} = 1000 - 1000 = 0 v tn hiu ra
ca b iu khin s l u_{i,5} = K_{i}e_{5} + u_{i,4} = 0.25 \times 0 + 400 = 400 (tn hiu ra ca b iu khin c gi nguyn gi
tr u_{i,4} = 400 ca chu k iu khin trc). Tn hiu u ra b iu khin khng thay i v tc c gi nguyn.
# Gi s ti thi im t=6 tc y_{6} = 1100 th e_{6} = r - y_{6} = 1000 - 1100 = -100. Tn hiu ra ca b iu khin s l u_{i,6} =

K_{i}e_{6} + u_{i,5} = 0.25 \times -100 + 400 = -25 + 400 = 375 (tn hiu ra ca b iu khin c bt i gi tr -25 so vi chu k
iu khin trc). Tn hiu u ra b iu khin gim lm cho tc ng c cng gim xung.
Nh vy, nu ti thi im t=n u ra bm kp tn hiu t (sai lch bng 0) th tn hiu ra ca b iu khin u_{i,n} cng s khng
i. Ti bt k mt thi im no nu sai lch li khc 0 th tn hiu ra ca b iu khin li tip tc thay i nhm ko u ra bm
theo tn hiu t.
Xem thm cc p ng u ra ca mt b iu khin PI trong mt v d thc t ti y.
Tc ng chm
Vic "thm, bt" ni trn lm cho e_{k} nh dn v gi tr "thm, bt" K_{i}e_{k} cng nh dn... Qu trnh din ra lin tc cho
n khi p ng u ra ca h bng vi gi tr t hay e_{k} = 0. Khi K_{i} cng ln th p ng u ra cng nhanh t n gi tr
gn vi gi tr mong mun nhng qu trnh "thm, bt" cho gi tr sai lch tin v 0 li din ra cng chm, lm cho thi gian iu
khin ko di. Cn lu y l "chm" tin v gi tr t ch cn ti thi im u th p ng ca khu I vn bm rt nhanh ti
gi tr t nu K_{i} ln (cng ging ht nh tc ng iu chnh kiu P).
Nh vy, kt hp tc ng nhanh ca khu P v kh nng trit tiu sai lnh tnh ca khu I ta s c c mt b iu khin kiu PI
c s dng rt rng ri trong cng nghip.
Quy lut iu chnh PD
Xt quy lut iu chnh kiu D, trong :
u_{d, k} = K_{d}(e_{k} - e_{k-1})
# Gi s ti thi im k=0 e_{0} = 0.
# Ti thi im k=1 th u_{d,1} = K_{d}(e_{1} - e_{0}) = K_{d}e_{1} tng t nh b iu khin kiu P.
# Ti thi im tip theo u_{d,2} = K_{d}(e_{2} - e_{1}), ngha l tn hiu iu khin ln sau bng tch i s ca h s vi phn v
hiu sai lch gia hai ln lin tip.
Tnh tc ng nhanh
Quay tr li bi ton iu khin tc ng c vi tc t l r=1000 vng/pht.
# Gi s ti thi im k-1 ng c ang quay vi tc l y=1200 vng/pht, ngha l sai lch e_{k-1} = 1000-1200 = -200.
# Gii t ti thi im k tc ng c t ngt gim xung cn 800 vng/pht, ngha l sai lch e_{k} = 1000-800 = 200. Khi
u_{d,k} = K_{d}(e_{k} - e_{k-1}) = K_{d}(200+200) = K_{d}\times 400.
# Nu so snh vi b iu khin kiu P th cng ti thi im k ny tn hiu iu khin s l u_{p,k} = K_{p}e_{k} = K_{p}\times
(1000-800) = K_{p}\times 200.
Nh vy, b quy lut iu khin kiu D ny cn tc ng nhanh hn c kiu P.
Tnh tt nhanh
iu g xy ra khi u ra ca h thng khng thay i trong hai chu k ly mu lin tip? V d, ti thi im k-1 ng c ang quay
vi tc l y=900 vng/pht, ngha l sai lch e_{k-1} = 1000-900 = 100 v thi im k ng c vn quay vi tc l y=900
vng/pht hay e_{k} = 100. Khi u_{d,k} = K_{d}(e_{k} - e_{k-1}) = K_{d}(100 - 100) = 0.
iu ny phn nh ng bn cht ca quy lut iu khin kiu D: tn hiu ra t l vi tc bin thin ca sai lch. Khi sai lch vn
cn nhng khng thay i th tn hiu ra ca b iu khin bng 0. V vy, cn kt hp quy lut P v D c c mt b iu
khin c th c s dng trong thc t.
Quy lut iu chnh PID
R rng vic phi hp cc c tnh P, I, v D s cho chng ta kh nng thit k c mt b iu khin PID ph hp vi cc i
tng cn iu khin khc nhau.
S dng b iu khin PID
Mt vn cn c t ra l trong trng hp no th nn dng b iu khin kiu P, PI, PD hay PID?
Vi cc i tng c p ng nhanh
Gi s mt b iu khin kiu PD c dng iu khin cho mt i tng c p ng nhanh nh iu khin dng, iu khin
tc ng c... Nu v mt l do no (nh ti tng chng hn) lm cho u ra ca h thng gim nhanh v mt gi tr no
th do sai lch sau gn nh khng i nn khu D s gn nh khng c tc dng.
Trong trng hp ny, nu thay v s dng b iu kin kiu PD ta s dng mt b iu khin kiu PI th tn hiu ra ca khu vi

phn s lin tc c cng dn lm cho tn hiu u ra ca b iu khin ngy cng ln v c th thng mc gia tng
ca ti th s lm tc ng c tip tc tng tr li gi tr t.
V vy, i vi cc i tng c p ng nhanh th s dng cc b iu khin kiu PI (c p ng chm) hoc PID l ph hp.
Vi cc i tng c p ng chm
Hin tng Windup
Gi s mt b iu khin kiu PI c dng iu khin cho mt i tng c p ng chm nh iu khin nhit chng hn.
Do p ng chm nn c th xy ra trng hp sai lch gia gi tr t so vi gi tr thc c th din ra trong thi gian di. V d,
nhit t l 85^0C, nhit hin ti ca i tng l 35^0C v gi s phi gia nhit ht cng sut th cng phi sau 15 pht th
nhit mi t yu cu. Ch l tn hiu ra ca khu I u_{i,k} = K_{i}e_{k} + u_{i,k-1} c cng dn lin tc do chu k iu khin
k thng rt nh (ch c vi chc ms chng hn). Kt qu l tn hiu ra ca khu I c tng ln mi, vt qu kh nng ca mch
cng sut nhng do sai lch vn cn ln nn khu I vn tip tc cng dn... Hin tng nh vy cn c gi l Windup. V vy,
vi b iu khin c khu I ngi ta c th cn cn phi thit k thm mt phn chng li hin tng ny v c gi l anti
windup.
Trong v d ny, nu thay v s dng b iu kin kiu PI ta s dng mt b iu khin kiu PD th tn hiu ra ca khu D u_{d,k} =
K_{d}(e_{k} - e_{k-1}) s c gi tr khng ln, ph hp vi mc gia tng dn dn ca nhit u ra.
Nh vy, i vi cc i tng c p ng chm th s dng cc b iu khin kiu PD (c p ng nhanh) l ph hp.
Cc trng hp khc
Ni chung, da trn cc phn tch trn c th thy rng vic s dng mt b iu khin kiu PID v chn c cc tham s ph
hp th c th p ng c nhu cu iu khin cho nhiu loi i tng khc nhau.
(Tham kho cch thc hin mt b iu khin PID s chuyn "iu khin tc ng c mt chiu vi PIC 18F452").
Kt lun
Cc thnh phn P, I, v D trong b iu khin PID (s) c ngha rt c th v r rng. Trong bi ton iu khin bm (theo gi tr
t), thnh phn t l P phn ng li ngay vi sai lch, khng cn "nh" p ng trc nh th no, nh vy m n to ra p
ng nhanh v kp thi. Thnh phn tch phn I l thnh phn "c nh", n lu li gi tr iu khin ca vng lp trc sau iu
chnh thm vo hay bt i mt lng no (do h s K_{i} v ln ca sai s quyt nh) to ra tn hiu iu khin cho vng
lp tip theo cho n khi sai lch bng 0. Thnh phn D cng l mt thnh phn "c nh", n so snh mc chnh lch ca sai
lch vng lp hin ti v sai lch c lu vng lp trc a ra tn hiu iu khin ca ring mnh. Khi chnh gia
sai lch ca hai chu k iu khin k tip cng ln th tn hiu iu khin ra ca n cng ln (bn cht ca o hm). Cn nu sai
lch ca chu k iu khin hin ti cng ging nh sai lch chu k iu khin trc (ngha l sai lch vn cn nhng khng thay
i) th tn hiu iu khin ra ca n bng 0.
Nh vy, ba thnh phn P, I, v D trong mt mch vng iu khin cng tng t nh 7 nt nhc trong mt bn nhc. Bng cch
phi hp cc thnh phn vi nhng t l khc nhau chng ta cng c th to ra mt "bn nhc" iu khin vi cc "giai iu"
khc nhau. Nu phi hp tt s to ra mt bn nhc nh mong mun v m i. Cn nu phi hp khng kho th s to ra mt bn
nhc un o, git cc vi giai iu kh c th bit trc c.
Ti liu tham kho:
[1] D. Ibrahim. Microcontroller Based Applied Digital Control. John Wiley & Sons, May 5, 2006.
[2] Nguyn Don Phc. L thuyt iu khin tuyn tnh. NXB Khoa hc v K thut, 2002.
[3] N.V. Ha. C s l thuyt iu khin t ng. Khoa hc v k thut, H ni, 2000.
[4] Phm Cng Ng. thuyt iu khin t ng. NXB Khoa hc k thut H ni, 2001.