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CHUYN 2: CC PHNG PHP THIT K MIN TN S

Xt h thng kn:

Hm truyn t ca h kn l:

G=

R.S 1 + R.S

B iu khin l tng R(s) tha mn: |G(j)|=1 vi mi . Nhng trong thc t ta ch thit k R(s) sao cho |G(j)| 1.( |G(j)|=1 trong mt di tn s rng ln cn 0). a) S dng phng php tng T ca Kuhn: Nhng i tng thch hp: bc cao n 2, n nh,khng dao ng v c c

tnh hnh ch S.
Gt ( s) =

k t (1 + TDj s )
m

trong :
e s

(1 + T s )
i i =1

j =1 n

A T = Ti + Tdj = K dt i =1 j =1

Vi A l din tch phn c t m nh hnh v:

Kuhn ra phng php xc nh tham s b iu khin nh sau: PI: PID:

kp =

T 1 TI = 2 2k

kp =

1 2T TD = 0.167T TI = k 3

Phng php ti u i xng : Lp m hnh i tng thich hp c dng :


b)

Gt ( s) =

kt ( 1 + sTDj ) T0 .s. ( 1 + sTi )


i =1 j =1 n

e s

Bai toan chun cua phng phap : M hnh i tng :


Gdt ( s) =

kdt T0 s(1 + T1s )

Cc yu cu v cht lng: di tn rng ln cn 0


| G( j ) | 1

Sai lch tinh = 0 khi tin hiu t la 1(t) hoc t.1(t) Giai quyt bai toan thoa man sai lch tinh bng 0 khi tin hiu t la ham t.1(t) thi ham truyn h h phai co khu 1/s

2. Do o b iu khin phai cha thm thanh phn tich

phn. Chon b iu khin PI

Gt ( s ) =

k p (1 + sTI ) TI .s

Khi o ham truyn cua h h la :

Gt ( s) =

TI .T0 .s 2 .( 1 + sT1 )

kt k p ( 1 + sTI )

S dung thi Bode cua h h ta thy chon tn s ct nm gia tn s va tn s thi d tr n inh cho h kin se ln nht. o cung la ly do ma tn goi cua phng phap ti u i xng.

T1

I
3

I
t T = a.T

1
vi a>1 thi ta phai lam cac h s cua mu thi ta c

Mong mun |G(j)|1 va

a* = 4 kp = T0 2.k t .T1

bng 0 di

Nhng mt vn nay sinh la qua iu chinh ln ti 40% vi th cn tim bin phap khc phuc. Co hai bin phap khc phuc vn trn : Tng a ln. Luc o Vn gi a=4 nhng lp k = p b loc u vao :

T0 a .k t .T1

thm

M (s) =

1 1 + 4.T1s

ng dng cho i tng khc:

k t 1TDjs ( + j= 1 Gt ( ) = s e n T0 . . Ts s 1 + (
i= 1

)
i

)
kt T0 s(1 + T1s )

Cch 1: a v bi ton chun bng cch xp x


Gt ( s) =

trong

T1 = Ti + TDj
i =1 j =1

l hng s thi gian Kuhn

Chn lut iu khin l lut PI:

1 k p (1 + TI s ) Gk ( s ) = k p 1 + T s= TI s I

Vi tham s l

TI = 4T1

T0 kp = 2.kdt .T1

cn

T0

ty chn

Cch 2: a v i tng c mt hng s thi gian ln th c th xp x v i tng dng: trong :


Gt ( s ) = kt T0 s (1 + T1s )(1 + Ts )

T = Ti + TDj
i =2 j =1

Chn b iu khin l PID_MUL:


Gk ( s) =

k p (1 + TI s )(1 + TD s ) TI s

Vi

TD = T1

TI = 4.T

;
kp =

T0 2.kdt .T

Hoc b iu iu khin PID_ADD:

1 Gk ( s) = k p 1 + + TD s TI s

Vi

TI = 4.T + T1

4.T .T1 TD = TI

;
kp =

T0 .TI 8.kdt .T 2

c th gim qu iu chnh th lp thm b lc u vo:


M (s ) =

1 1 + TI s

Tng kt: Phng php ti u i xng ch thch hp vi cc i tng c thi gian tr nh


Tk > >

. im c trng ca phng php ny l qu iu chnh

thng hi ln ( 20% - 25%). Tuy nhin c th lm gim bt bng vc b xung khu lc trc cho tn hiu ch o hoc s dng trng s cho gi tr t.

V d cho i tng:

G(s)=31+100s1+15s(1+s)e-5s
Yu cu : Thit k b iu khin m bo h thng m bo bm gi tr t r(t) vi sai lch bm bng 0 khi tn hiu vo c dng hnh thang v G(jw) ti u. Phn tch : Do tn hiu t c xut hin hm t.1(t) nn nht thit h h phi c khu 1/s th mi c kh nng lm sai lch e bng 0. V vy ta c cu trc iu khin thm khu tch phn. Ta c :

G(s)= 1T0 31+100s1+15s(1+s)e-5s


Do i tng c khu tch phn v yu cu sai lch tin v 0 khi r(t)=t.1(t) v modun ca G(jw) ti u nn ta la chn cc tham s b iu khin theo phng php ti u i xng. Theo phng php ny, ta c 2 kh nng chn b PI hoc PID Vi kh nng chn PI th ta xp x i tng c : T =121s, k =3. T chn c thng s b iu khin l

TI=4T1=484, T0=10s, Kp= T02.Kdt.T1 = 0.014 Vi kh nng chn PID c dng l th ta xp x i tng c : T K = 3s

dt

1= 100s

1 GPID ( s) = k p 1 + T s + Td s I

T=11s

Do tham s b iu khin l : T

I =T1+4T=144s

TD= 4T1.TTI = 30.56s T0=10s Kp= T0T18.Kdt.T.T = 0.344 Nu s dng thm b lc : Ms=11+TIs =11+144s

C)Phng php ti u module: Lp m hnh thch hp: i tng n nh thuc loi khu ng hc sau:
Gt ( s) = k t (1 + TDj s )
m j =1 n

(1 + T s )
i i =1

e s

Bi ton chun ca phng php: M hnh i tng: k Gt ( s ) = t 1 + Ts Ch tiu cht lng: Sai lch tnh

e = 0

khi tn hiu t r(t)=1(t)

| G ( j ) | 1

trong mt di tn rng ln cn 0

Gii quyt bi ton: tha mn khi tn hiu t r(t)=1(t) th hm truyn ca h h phi cha
e = 0

khu tch phn. V th b iu khin phi cha thnh phn tch phn. Chn lut iu khin: lut I c
Gk ( s) = kp TI s

Do hm truyn t h h s l
Go ( s ) =

kt .k p (1 + Ts )TI s

Xc nh c
Gk ( s) =

kt .k p Go ( s) = 1 + Go ( s ) (1 + Ts )TI s + kt .k p

Tnh c
Gk ( j ) =

(k t .k p ) 2 Go ( s) = 1 1 + Go ( s) (k t .k p T .TI ) 2 + (TI ) 2

Cn loi b thnh phn bc thp i vi


TI kp = 2.ktT

ta suy ra c

vi

TI

ty chn

Tng kt li phng php: Vi i tng th la chn b iu khin l lut I


Gt ( s ) = kt 1 + Ts Gk ( s) =

kp TI s

vi tham s ti u l
kp =

TI 2.ktT

Cht lng ca h kn: Sai lch tnh


e = 0

khi tn hiu t r(t)=1(t)

| G ( j ) | 1

trong mt di tn rng ln cn 0

qu iu chnh:

hmax 5% k t (1 + TDj s )
m

ng dng cho i tng khc:


Gt ( s) =

(1 + T s )
i i =1

j =1 n

e s

Cch 1: a v bi ton chun bng cch xp x


Gt ( s ) =

kt 1 + Ts

trong

T = Ti + TDj
i =1 j =1

l hng s thi gian Kuhn

Chn lut iu khin l

k Gk ( s) = p TI s

vi tham s l
kp =

TI 2.ktT

D nhin cch ny do vic xp x qu nhiu nn cht lng khng c tt Cch 2: i vi i tng c hng s thi gian ln hn rt nhiu so
T1

vi cc hng s thi gian khc th i tng c th c xp x v trong


Gt ( s ) = k t (1 + T1s )(1 + Ts )

T = Ti + TDj
i =2 j =1

Chn b iu khin PI c

1 k p (1 + TI s) Gk ( s ) = k p 1 + T s= TI s I

a v i tng ca bi ton chun th

TI

T1

,khi
kp =

TI T1 = 2.ktT 2.ktT

Cch 3: i vi i tng c hai hng s tch phn ln th c th xp x i tng di dng trong


Gt ( s) = k t (1 + T1s)(1 + T2 s)(1 + Ts )

T = Ti + TDj
i =3 j =1

Khi chn b iu khin PID_mul


GPID _ MUL ( s) =

k p (1 + TI s)(1 + TD s) TI s
TI 2.ktT

Vi cc tham s ti u l

TD = T2

TI = T1

v
kp =

Hoc chn b iu khin PID_ADD:

1 Gk ( s) = k p 1 + + TD s TI s

vi cc tham s s

TI = T2 + T1

TT TD = 2 1 T2 + T1

v
kp =

TI 2.ktT

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V d cho i tng Gdt(s) = 31+7s3

2.5 Gt ( s ) = (1 + 5s )3

. Hy thit k b iu khin

h kn n nh v c sai lch tnh bng 0 khi tn hiu t l hm 1(t) v ti u v module


G ( j )

Gii quyt bi ton: Cch 1: S dng lut I

k Gk ( s) = p TI s

th Gdt(s) = 31+21s suy ra T=21s

Vi

TI = 10s

; c Kp = TI2.Kdt.T =0.08 : Khi i

Cch 2: b iu khin PI c

1 k p (1 + TI s ) Gk ( s ) = k p 1 + T s= TI s I

tng c xp x v Gdt(s) = 31+7s(1+14s) nn cc tham s c chn nh sau:TI= T1=7s v Kp = TI2.Kdt.T =0.11


TI = T1 = 5s

Cch 3: b iu khin PID_ADD:

1 Gk ( s) = k p 1 + + TD s TI s

. Khi cc

tham s ca b iu khin l: TI=T2+T1 =14s ; TD = T2.T1T2+T1 = 3.5s; Kp = TI2.Kdt.T = 1/3 ;

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d) Phng php da trn m hnh ni IMC: Phng php IMC c th p dng cho mt qu trnh khng n nh bng cch s dng cu trc iu khin tng . Trong , vng iu khin bn trong c vai tr n nh trc qu trnh. M hnh ch thc G(s) M hnh xc nh trn c s phng php m hnh ho G1(s) Cu trc iu khin theo phng php IMC l :

G (s) =
K

G dk ( s )G ( s) 1 + Gdk ( s )G ( s)

=1

vi mi

G
dk

(s) =

G IMC ( s) 1 G IMC ( s)G1 ( s )

G
IMC

(s)* G (s) = 1
1

G
IMC

(s) =

1 G1 ( s )

Trong thc t : - Vi i tng c pha cc tiu G (s) =


IMC

G L ( s) G1 ( s)

Vi

G (s) =
L

1 (1 + TL * s ) r

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Trong chn r sao cho h c tnh tin nh chn TL sao cho khng lm nh hng nhiu n c tnh h thng. - Vi i tng khng c pha cc tiu G (s) = G (s)* G (s)
1 +

G (s) l thnh phn c pha cc tiu

G (s) l thnh phn c pha khng cc tiu


+

G
IMC

(s) =

G L ( s) G ( s )

V d: Xt i tng CMC:

G(s)=

0,085 (1 + s )(1 + 0,2 s )


Chn khu lc trc: GL =
1 (1 + s )

GIMC(s) =

1 + 0,2 s 0,085.(1 + s )
=G (s)* G (s)
PI
L2

Gdk =

(1 + 0,2 s)(1 + s ) 0,085 s ( s + 2) (1 + 0,2 s ) 0,085 s

Vi GPI =

V GL2 =

(1 + s) ( s + 2)
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e) Thit k h thng b nh hng ca khu chm tr bng b d bo Smith: Nguyn tc d bo Smith: thit k b iu khin GR(s) cho i tng c tr GS(s) = e-sS(s) Thit b i khin R(s) ring cho i tng S(s) khng c thnh phn tr. Xy dng b iu khin

GR(s) = R1+RS1-e-s

Cu trc :

Cc phng php thit k S(s) c th la chn mt trong s cc phng php nu trn ty vo yu cu ca bi ton 3.2 Phng php thc nghim Phng php Ziegler Nichols: Ziegler & Nichols a ra hai phng php thc nghim xc nh tham s ca b iu khin PID. Phng php th nht s dng m hnh xp x bc nht c tr ca i tng cho i tng c c tnh ng hc hnh ch S
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Phng php th hai khng cn n m hnh ton hc ca i tng nhng ch p dng cho mt s lp i tng nht nh Phng php Ziegler & Nichols th nht: p dng phng php thc nghim ny ta phi xp x m hnh i tng v dng: K Gdt = dt e s 1 + Ts

Bng 1 thit k ca Ziegler & Nichols: da trn 2 tham s T v

Phng php Ziegler & Nichols 2: Ni dung phng php:


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Thay b iu khin ca h kn bng b khuych i. Sau thay i h s khuch i nhm t ti gi tr ti hn kth .Lc h kn ch bin gii n nh , tc l h(t) c dng dao ng iu ho.T xc nh chu k dao ng Tth . Cc thng s ca b iu khin c tnh theo cc i lng T v kth Ta c bng thit k:

Lut iu khin

Kp 0,5 Kgh

TI

TD

Lut P

--

--

Lut PI

0,45 Kgh

Tgh/1,2

--

Lut PID

0,6Kgh

2Tgh

0,125.Tgh

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