Tp ch Khoa hc 2007:8 67 - 74

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P DNG GII THUT M

IU KHIN H PHI TUYN-H BN QUADRUPLE
Nguyn Hong Dng1

ABSTRACT
PI (Proportional Integral) controller is able to control a linear plant with good quality
performance (fast transitional response and zero equal setting error). Therefore the
controller has commonly used in industrial processes. PI controller is suitable for linear
plants. With nonlinear plants, the classical controller can not insure the control quality at
all equal state points. As a result, the paper presents method of using fuzzy PI controller
for MIMO (Multi-input multi-output) nonlinear system and applying the way for
controlling quadruple tank system. Fuzzy PI controller is built by using Madani fuzzy
model and classical PI controller. The practical results were tested with simulink of
Matlab. Basing on the result, fuzzy PI indefectibly controls the nonlinear system.
Keyword: fuzzy logic, fuzzy control, nonlinear system control, system modeling, PI, PD,
PID, quadruple tank
Title: A method of applying fuzzy algorithm for controlling nonlinear system-quadruple
tank model

TM TT
B iu khin PI c kh nng iu khin h thng vi ch tiu cht lng tt (p ng
qu nhanh v trit tiu c sai s xc lp). Do b iu khin ny c s dng rt
ph bin trong cc qu trnh cng nghip. B iu khin PI thng p dng tt i vi
nhng i tng tuyn tnh. i vi cc i tng l phi tuyn, b iu khin kinh in
ny khng th m bo c cht lng iu khin ti mi im lm vic. Do , bi bo
cp n gii php PI m cho h phi tuyn MIMO v p dng phng php ny iu
khin h bn quadruple. S dng m hnh m Mamdani kt hp vi b iu khin PI kinh
in to ra b iu khin m PI. Kt qu th nghim c kim chng bng phn mm
m phng Matlab. Thc nghim cho thy b iu khin PI m c th iu khin tt i
tng phi tuyn h MIMO.
T kho: logic m, iu khin m, iu khin h phi tuyn, m hnh ha h thng, PI,
PD, PID, quadruple tank

1 GII THIU
H bn cha lin kt (quadruple tank) c m t trong Hnh 1. Mc ch l iu
khin mc cht lng trong bn 1 (h1) v bn 2 (h2) theo gi tr t trc. Bng cch
p in th vo 2 bm (B1 v B2) iu khin lu lng cht lng trong hai bn
ni trn. Mc in th ny chnh l hai tn hiu ng vo iu khin bm (mc in
th v1 v v2) v hai ng ra l mc cht lng trong bn 1 v bn 2. My bm 1 (B 1)
s bm cht lng ln bn 1 v bn 4, my bm 2 s bm ln bn 2 v bn 3. Cc
bm phi c iu chnh trnh trng hp cc bn b trn. Tm li, h bn
cha lin kt l h MIMO vi nhng rng buc iu khin bit trc.
B Mn Vin Thng v K Thut iu Khin, Khoa Cng Ngh Thng Tin v Truyn Thng, i Hc
Cn Th
1

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(Arjin Numsomran et al., 2000) v (Karl Henrik Johansson et al., 2000) iu

khin h bn bng cch s dng b iu khin PI. V (J. Felder et al., 2006) a ra
phng php LQR (Linear Quadratic Regulator) gii quyt bi ton ny. i
vi cc i tng l h a bin phi tuyn, cc b iu khin c in khng p ng
c ch tiu cht lng. Do (Nguyn Thc Loan et al., 2002) dng m hnh
m Mamdani kt hp vi iu khin d bo da vo m hnh MPC (Model
Predictive Control) iu khin h phi tuyn. Bi bo ny p dng m hnh m
Mamdani (dng phng php suy din Max-Min v gii m trng tm) kt hp
vi b iu khin PI c in to ra b iu khin PI m.

Hnh 1: H bn lin thng Quadruple

2 C TNH NG HC CA H BN QUADRUPLE

(Hunh Thi Hong, 2006), (Effendi Rusli et al., 2002), (J. Felder et al., 2006),
(Arjin Numsomran et al., 2000), v (Amit Pandey, 2004) a ra phng trnh
ng hc ca h bn quadruple. V phng trnh ng hc ca h bn c biu
din di dng phng trnh trng thi:
ca
ca
h1 1 1 2 gh1 3 3
A1
A1
c a
h2 2 2
A2

2 gh2

ca
h3 3 3
A3

(1 2 )k 2
2 gh3
v2
A3

c a
h4 4 4
A4

2 gh4

68

c4 a4
A2

2 gh3

1 k1

2 gh4

(1 1 )k1
v1
A4

A1

v1

2k2
A2

v2

(1)

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Trong :
Ai: Tit din ngang ca bn th i
L max L min

Ai w
hi L min vi i 1,4
h max

(2)

ai: Tit din ngang ca van x ca bn th i

hi: Chiu cao ca mc cht lng bn th i
in th p vo bm l vi tng ng vi dng chy cht lng vo bn th i l kivi.
Gi tr 1, 2[0,1] l t l phn lu lng ca tng my bm. Gi tr ny ph
thuc nhiu vo c tnh ng hc ca my bm. Do s c chn v th sai
trong khi thc hin m hnh. Lu lng n bn 1 l 1k1v1 v lu lng chy vo
bn 4 l (1-1)k1v1. Tng t nh th i vi bn 2 v bn 3 ln lt c lu lng
l 2k2v2 v (1-2)k2v2.
Cc thng s vt l ca h bn lin kt c lit k trong Bng 1.
Bng 1: Cc thng s s dng cho m hnh h bn quadruple

K hiu
W
Lmax
Lmin
hmax
K1, K2
a1
a2
a3
a4
C1, C2, C3, C4
1
2
g

ngha
Chiu rng, tit din ngang ca bn
Chiu di ln nht ca tit din ngang
Chiu di nh nht ca tit din ngang
Chiu cao cc i ca bn cha
Lu lng bm cc i ca bm 1, 2
Tit din van x bn 1
Tit din van x bn 2
Tit din van x bn 3
Tit din van x bn 4
Ln lt l h s x ca bn 1, 2, 3, 4
T l phn lu lng bm 1
T l phn lu lng bm 2
Gia tc trng trng

Gi tr
9
18
9
40
150
0,5
0,4
0,7
0,8
0,8
0,8
0,7
981

n v
cm
cm
cm
cm
cm3/s
cm
cm
cm
cm
v/cm
cm2
cm2
cm/s2

im cn bng ca h bn lin thng c xc nh da vo phng trnh

hi f (hi ) 0

Suy ra im cn bng:
v1 0,6873

v 2 0,6574

xe

h1 40

h 2 40

Khi tn hiu nc vo vi bin v1=0,6873 v v2=0,6574, mc cht lng bn 1

v 2 t cc i (xem Hnh 2). Vi[0,1] l mc in p c trng m phng.
Tuy nhin trong thc t mc in p ny thay i ty theo c tnh ca tng my
bm.

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Control signal of pump 1

2

v1 [v]

v1
0
-2

500

1000

1500
Time [s]
Control signal of pump 2

2000

2500

v2 [v]

2
v2
0

Liquid level of h2 [cm]

Liquid level of h1 [cm]

-2

500

1000

1500
Time [s]
Liquid level of tank 1

2000

2500

40
h1
20
0

500

1000

1500
Time [s]
Liquid level of tank 2

2000

2500

40
h2
20
0

500

1000

1500

2000

2500

Time [s]

Hnh 2: p ng nc mc cht lng bn 1 v 2

Khi cho tn hiu nc vo vi bin v1=0,6873 v tt bm 2 v2=0, mc cht lng

2 bn gim xung. Mc cht lng bn 2 khc khng l do bm 1 a cht lng
vo bn 4 v v bn 2. Do mc cht lng trong bn 2 rt t. Bn 1 nc t
hn so vi tr cc i l do bm 2 khng dn cht lng n bn 3 x vo bn 1
m ch c lng cht lng c bm trc tip t bm 1 (xem Hnh 3).
3 THIT K B IU KHIN PI M

H bn lin kt l h MIMO hai ng vo v hai ng ra. p dng phng php iu

khin tch ri ca (Hunh Thi Hong, 2006) v (Effendi Rusli et al., 2002) (s
dng hai b iu khin SISO (Single-input single-output)) kim sot mc cht
lng bn 1 v bn 2. Mi b iu khin s kim sot mt bn. S simulink
m phng iu khin h thng nh Hnh 4.

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Control signal of pump 1

2
v1 [v]

v1
0
-2

500

1000

1500
Time [s]
Control signal of pump 2

2000

2500

v2 [v]

1
v2
0

Liquid level of h2 [cm]

Liquid level of h1 [cm]

-1

500

1000

1500
Time [s]
Liquid level of tank 1

2000

2500

40
h1
20
0

500

1000

1500
Time [s]
Liquid level of tank 2

2000

2500

4
h2
2
0

500

1000

1500

2000

2500

Time [s]

Hnh 3: p ng nc mc cht lng bn 1 v 2

Hnh 4: S m phng h bn Quadruple dng b iu khin PI m

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B iu khin m c hai ng vo l sai s (E[0,1]) v vi phn sai s (DE[0,1]),

tn hiu ra l vi phn in p iu khin (DU[0,1]). Cc tn hiu vo ra c
chun ha v gi tr thuc [0,1]. V mc cht lng cc i ti cc bn l
1
, chn h s k 2 1 (h s ny ph
40
thuc vo tnh cht ng hc ca h thng). H s k u 0,6 c chn trong qu

0hi40cm ( i 1,4 ) nn h s chun ha k1

trnh tinh chnh cht lng ca h thng iu khin.

V h bn lin kt c tnh cht phi tuyn cao nn ta chn s tp m ca bin vo l
5 v s tp m ca bin ra l 7 (xem Hnh 5).

Ng vo E

Ng vo DE

Ng ra DU
Hnh 5: Tp m vo ra

H qui tt iu khin v cc tp m c thit k da trn kinh nghim v bng

phng php th sai (xem Bng 2).
Bng 2: Bng lut iu khin h bn Quadruple

DE

NB
NS
ZE
PS
PB

NB
NB
NB
NM
NS
ZE

NS
NB
NM
NS
ZE
PS

ZE
NM
NS
ZE
PS
PM

PS
NS
ZE
PS
PM
PB

PB
ZE
PS
PM
PB
PB

Hnh 7 l kt qu iu khin h bn lin kt dng thut ton PI m. T v tr ban

u h1=0 v h2=0, mc cht lng bm theo gi tr t rt tt, p ng khng c
vt l. Hnh 6 l kt qu iu khin h bn lin kt dng thut ton PI c in. T
kt qu cho thy, p ng c thi gian qu rt nhanh. Tuy nhin khng kh
c vt l v sai s gia tn hiu t v p ng ca i tng l kh ln.

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Liquid level of h1 [cm]

Liquid level response of tank 1 basing on setpoint

40
30
20
10
0

Liquid level of h2 [cm]

Ref-v1
Level-h1

1000

2000

3000
4000
5000
6000
Time [s]
Liquid level response of tank 2 basing on setpoint

7000

30
Ref-v2
Level-h2

20

10

1000

2000

3000
4000
Time [s]

5000

6000

7000

Hnh 6: p ng mc cht lng bn 1 v 2 dng b iu khin PI kinh in

Liquid level of h1 [cm]

Liquid level response of tank 1 basing on setpoint

40
30
20
10
0

Liquid level of h2 [cm]

Ref-v1
Level-h1

1000

2000

3000
4000
5000
6000
Time [s]
Liquid level response of tank 2 basing on setpoint

7000

40
Ref-v2
Level-h2

30
20
10
0

1000

2000

3000
4000
Time [s]

5000

6000

7000

Hnh 7: p ng mc cht lng bn 1 v bn 2 dng b iu khin PI m

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4 KT LUN
Bng cch s dng m hnh m Mamdani (phng php suy din MAX-MIN v
gii m trng tm) kt hp vi b iu khin PI c in to ra c b iu
khin PI m cho h phi tuyn. B iu khin m PI cho p ng ca i tng
bm theo tn hiu t mong mun, c sai s xc lp bng zero. Trong khi dng b
iu khin PI kinh in s cho p ng c thi gian qu nhanh, nhng c vt
l v p ng ca i tng khng bm tt theo tn hiu t mong mun. Bn cnh
nhng kt qu t c, b iu khin PI m c thi gian qu ln. Tuy nhin,
iu ny cng ph hp vi thc t bi v sau mt khong thi gian th cht lng
trong cc bn mi c bm n v tr nh trc, ch khng th ra lnh bm l c
th t c tr mong mun ngay.
TI LIU THAM KHO
Hunh Thi Hong, 2006. H thng iu khin thng minh, i Hc Bch Khoa TPHCM,
i Hc Quc Gia, p190-275
Nguyn Thc Loan, Nguyn Th Phng H, Hunh Thi Hong, 2002. iu khin d bo
h phi tuyn da vo m hnh m, i Hc Bch Khoa TPHCM, p1-2
Effendi Rusli, Siong Ang, Richard D. Braatz, 2002 . A quadruple tank process experiment.
Department of Chemiscal and Biomolecular Engineering, University of Illinois at UrbanChampaign, p6-21
Karl Henrik Johansson, Alexander Horch, Olle Wijk, Anders Hansson, 2000. Teaching
multivariable control using the quadruple-tank process. Department of Electrical
Engineering and Computer Sciences, University of California, Berkeley, p1-6
J. Felder, C.Hersberger, D.Ambhl, M. Benz, 2006. Praktikum mess und regeltechnik
anleitung zum versuch quadruple tank. Institut fr mess und regeltechnik,
Eidgenssische Techische Hochschule Zrich, p2-16
Arjin Numsomran, Kritchai Witheephanich, Thanit Trisuwannawat, Kitti Tirasesth, 2000. IP
controller design for quadruple tank system. Department of Electrical Engineering,
Faculty of Engineering, Srinakharinwirot University, Nakhonnayok, Thailand, p1-6
Amit Pandey, 2004. Fault detectio of multivariable system using its directional properties.
Msc thesis, B.Tech, Indian Institute of Technology Guwahati, India, p25-32

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