GII THIU THUT TON IU KHIN PID

1. Gii thiu b iu khin PID: B iu khin PID l mt b iu khin vng kn c s dng rng ri trong cng nghip. S dng b iu khin PID iu chnh sai lch gia gi tr o c ca h thng (process variable) vi gi tr t (setpoint) bng cch tnh ton v iu chnh gi tr iu khin ng ra. S mt h thng iu khin dng PID:

Hnh 1 S h thng iu khin dng PID Mt b iu khin PID gm 3 thnh phn: P (proportional) to tn hiu iu khin t l vi sai lch (error e), I (integral) to tn hiu iu khin t l vi tch phn theo thi gian ca sai lch, v D (derivative) to tn hiu iu khin t l vi vi phn theo thi gian ca sai lch. 1.1. Khu P: Khu P to ra tn hiu iu khin t l vi gi tr ca sai lch. Vic ny c thc hin bng cch nhn sai lch e vi hng s KP gi l hng s t l. Khu P c tnh da trn cng thc: Vi: Pout: gi tr ng ra KP: hng s t l e: sai lch: e = SP PV S khi ca khu P:

Hm truyn:

Gp(s) =K p

Nu ch c khu P th trong mi trng hp sai s tnh lun xut hin, tr khi gi tr u vo ca h thng bng 0 hoc bng vi gi tr mong mun. Trong hnh sau th hin sai s tnh xut hin khi thay i gi tr t.

Hnh 2 p ng ca khu P Nu gi tr khu P qu ln s lm cho h thng mt n nh. 1.2. Khu I: Khu I cng thm tng cc sai s trc vo gi tr iu khin. Vic tnh tng cc sai s c thc hin lin tc cho n khi gi tr t c bng vi gi tr t, v kt qu l khi h cn bng th sai s bng 0. Khu I c tnh theo cng thc:

Vi: IOUT: gi tr ng ra khu I Ki: h s tch phn e: sai s: e = SP PV S khi khu I:

Hm truyn:

G(s) =

U(s) K I 1 = = E(s) s TI.s

Khu I thng i km vi khu P, hp thnh b iu khin PI. Nu ch s dng khu I th p ng ca h thng s chm v thng b dao ng. Hnh sau ch ra s khc bit gia khu I v PI:

Hnh 3 p ng ca khu I v PI Ta c th nhn thy l khu I lm cho p ng ca h thng b chm i rt nhiu, cn khu PI gip trit tiu sai s xc lp. 1.3. Khu D: Khu D cng thm tc thay i sai s vo gi tr iu khin ng ra. Nu sai s thay i nhanh th s to ra thnh phn cng thm vo gi tr iu khin. iu ny ci thin p ng ca h thng, gip trng thi ca h thng thay i nhanh chng v mau chng t c gi tr mong mun. Khu D c tnh theo cng thc:

Vi: DOUT: ng ra khu D KD: h s vi phn e: sai s: e = SP PV S khi khu D:

Hm truyn:
G ( s) = U (s) = Kd s E ( s)

Khu D thng i km vi khu P thnh b PD, hoc vi PI thnh b PID.

Hnh 4 p ng ca khu D v PD Theo hnh trn, b PD to p ng c thi gian tng trng nh hn so vi b P. Nu gi tr D qu ln s lm cho h thng khng n nh. 1.4. Tng hp ba khu B iu khin PID: B iu khin PID l cu trc ghp song song gia 3 khu P, I v D. Phng trnh vi phn ca b PID l tng:
u(t) =K P e(t)+K I e(t)dt+K D de(t) dt

S khi:

p ng ca b PID:

Hnh 5 p ng ca khu P, PI v PID

1.5. Ri rc ha b iu khin PID: B iu khin s khng th ly mu lin tc theo thi gian, n cn c ri rc mt vi mc. Khi cho h s ly mu ngn bn trong thi gian vi phn c th t c xp x mt sai phn c gii hn v tch phn qua vic ly tng. Chng ta s quan tm mi dng mt thi im, v sai s c tnh mi khong ly mu: e(n) = X(n) Y(n) B PID ri rc c sai s, tnh ton v xut ng ra iu khin theo mt khong thi gian xc nh (khng lin tc) thi gian ly mu T. Thi gian ly mu cn nh hn n v thi gian ca h thng. Khng ging cc thut ton iu khin n gin khc, b iu khin PID c kh nng xut tn hiu ng ra da trn gi tr trc ca sai s cng nh tc thay i sai s. iu ny gip cho qu trnh iu khin chnh xc v n nh hn.

Hnh 6 S khi PID Hm truyn ca h thng:

Hm chuyn i:

Tnh gn ng theo cng thc:

Vi n l bc ri rc ti t. Kt qu thu c:

Vi:

2. Thit k b iu khin PID: Lut iu khin thng c chn trn c s xc nh c m hnh ton hc ca i tng phi ph hp vi i tng cng nh tha mn yu cu ca bi ton thit k. Trong trng hp khng th xc nh c m hnh ton hc ca i tng, c th tm lut iu khin cng nh cc tham s ca b iu khin thng qua thc nghim. Ziegler v Nichols a ra phng php xc nh thng s ti u ca b PID l da trn th hm qu ca i tng hoc da trn cc gi tr ti hn thu c qua thc nghim. 2.1. S dng hm qu ca i tng: Phng php ny cn c tn l phng php th nht ca Ziegler Nichols. N c nhim v xc nh cc thng s Kp , TN , TV cho cc b iu khin P, PI v PID trn c s i tng c th m t xp x bi hm truyn t dng:
t Ke-Ts G )= (s Ts+ 1

Sao cho h thng nhanh chng v trng thi xc lp v vt l max khng vt qu mt gii hn cho php, khong 40% so vi h() = lim h(t ) : t

max =

hmax 40% h ( )

Ba tham s Tt (thi gian tr), K (h s khuch i) v T (hng s thi gian qun tnh) ca m hnh xp x c th xc nh c gn ng t th hm qu h(t) ca i tng. Nu i tng c dng nh hnh 7a m t th t th hm h(t) ta c ra c: Tt l khong thi gian tn hiu ra h(t) cha c phn ng ngay vi tn hiu kch thch 1(t) ti u vo. K l gi tr gii hn h() = lim h(t ) t Gi A l im kt thc khong thi gian tr , tc l im trn trc honh c honh bng Tt. Khi T l khong cn thit sau Tt tip tuyn ca h(t) ti A t c gi tr K.

a)

b)

Hnh 7 Xc nh tham s cho m hnh xp x bc nht c tr

Trng hp hm qu h(t) khng c dng l tng nh hnh 7a, nhng c dng gn ging nh hnh ch S ca khu qun tnh bc 2 hoc bc n nh m t hnh 7b th ba tham s K, Tt, T c xc nh xp x nh sau : K l gi tr gii hn h() . K ng tip tuyn ca h(t) ti im un ca n. Khi T t s l honh giao im ca tip tuyn vi trc honh v T l khong thi gian cn thit ng tip tuyn i c t gi tr 0 ti c gi tr K.

Nh vy ta thy iu kin p dng c phng php xp x m hnh bc nht c tr ca i tng l i tng phi n nh, khng c dao ng v t nht hm qu ca n phi c dng ch S. Sau khi c cc tham s cho m hnh xp x ca i tng, ta chn cc thng s ca b iu khin theo bng sau : B iu khin P KP TN _ TV _

T K .Tt
0,9 T K .Tt

PI

10 Tt 3

PID

1,2

T K .Tt

2.Tt

0,5.Tt

Bng 1 Tnh ton thng s b iu khin T suy ra : H s tch phn :

KI =

KP TN

H s vi phn :

K D =K P .TV
2.2. S dng cc gi tr ti hn thu c t thc nghim: Trong trng hp khng th xy dng phng php m hnh cho i tng th phng php thit k thch hp l phng php thc nghim. Thc nghim ch c th tin hnh nu h thng m bo iu kin: khi a trng thi lm vic ca h n bin gii n nh th mi gi tr ca tn hiu trong h thng iu phi nm trong gii hn cho php. Phng php ny cn c tn l phng php th hai ca Ziegler Nichols. iu c bit l phng php ny khng s dng m hnh ton hc ca i tng iu khin, ngay c m hnh xp x gn ng.

Cc bc tin hnh nh sau : Trc tin, s dng b P lp vo h kn (hoc dng b PID v chnh cc thnh phn KI v KD v gi tr 0). Khi ng qu trnh vi h s khuch i KP thp, sau tng dn KP ti gi tr ti hn Kgh h kn ch gii hn n nh, tc l tn hiu ra h(t) c dng dao ng iu ha. Xc nh chu k ti hn Tgh ca dao ng.

Hnh 8 M hnh iu khin vi Kgh

Hnh 9 Xc nh h s khuch i ti hn Xc nh thng s ca b iu khin theo bng sau : B iu khin P PI PID KP 0,5 Kgh 0,45 Kgh 0,6 Kgh TN _ 0,83 Tgh 0,5 Tgh TV _ _ 0,125 Tgh

Bng 2: Thng s b iu khin theo thc nghim

Lu chng trnh PID:

PID Controller

Error = SP - PV

P_term = Kp * Error

I_term = Ki * SumE

D_term = Kd * (Error Pre_error)

PID = P_term + I_term + D_term

PID_out = 0 <= PID <= 255

Update PWM

* CONTROLLER FUNCTION: pid_controller() // pid_out = U(n) = Kp(E(n) + (Ts/Ti)SumE + (Td/Ts)[E(n) - E(n-1)]) *-------------------------------------*/ void pid_controller(){ prop_term =0 ; integ_term = 0; deriv_term = 0; pid_out = 0; //****************** // calculate error error = SP - PV; //***************** //error = set_vel - cur_vel; error = set_counter - cur_counter; //******************************** // Propotional term calc of PID //******************************* prop_term = kp*(float)error; //******************************** // Integeral term calc of PID //******************************* if (ki != 0) { sumE += error; integ_term = ki*(float)sumE; } //******************************** // Derivative term calc of PID //******************************* if (kd != 0) { deriv_term = kd*(float)(error - prev_error); prev_error = error; } // pid_out = U(n) = Kp(E(n) + (Ts/Ti)SumE + (Td/Ts)[E(n) - E(n-1)]) pid_out = (prop_term + integ_term + deriv_term)/2.4; pid_update = (int)pid_out; if(pid_update >= 255) pid_update = 255; if(pid_update <= 0) pid_update = 0; OCR0 = pid_update; }