4.1. THIT K B IU KHIN PID.

Tn gi PID l ch vit tt ca ba thnh phn c bn c trong b iu khin gm :

Khu khuch i (P), khu tch phn (I) v khu vi phn (D). PID l mt b iu
khin hon ho gm ba tnh cht khc nhau:
- Phc tng v thc hin chnh xc nhim v c giao (t l).
- Lm vic c tch lu kinh nghim thc hin tt nhim v (tch phn).
- Lun c sng kin v phn ng nhanh nhy vi s thay i tnh hung trong qu
trnh thc hin nhim v (vi phn).

Hnh 4-1. iu khin bng b iu khin PID
B iu khin PID c s dng kh rng ri iu khin i tng SISO theo
nguyn l hi tip (hnh 4-1b). L do b iu khin PID c s dng rng ri l
tnh n gin c v cu trc ln nguyn l lm vic . B PID c nhim v a sai
lch e(t) ca h thng v 0 sao cho qu trnh qu tho mn cc yu cu c bn v
cht lng :
a)
b).
- Nu sai lch e(t) cng ln th thng qua thnh phn u
p
(t) , tn hiu iu chnh u(t)
cng ln ( vai tr ca khuch i k
p
).
- Nu sai lch e(t) cha bng 0 th thng qua thnh phn u
I
(t) , PID vn cn to tn
hiu iu chnh (vai tr ca tch phn T
I
).
- Nu s thay i ca sai lch e(t) cng ln th thng qua thnh phn u
D
(t) , phn
ng thch hp ca u(t) s cng nhanh (vai tr ca vi phn T
D
).
B iu khin PID c m t bng phng trnh vo ra:
1
1
]
1

+ +
t
0
) (
D
) (
I
T
1
) ( ) (
dt
t de
T d e t e
p
k t u

(4.1)
Trong e(t) l tn hiu u vo , u(t) l tn hiu u ra , k
p
l h s khuch i , T
I
l hng s tch phn , T
D
l hng s vi phn .
T m hnh v ra trn tac c hm truyn t ca b iu khin PID :
`

,
_

+ + p
D
T
p
I
T
P
k p R
1
1 ) (
(4.2)
Cht lng ca h thng ph thuc vo cc tham s k
P
, T
I
, T
D
. Mun h thng c
cht lng nh mong mun th phi phn tch i tng ri trn c s chn cc
tham s cho ph hp . Hin nay c nhiu phng php xc nh cc tham s k
P
, T
I
,
T
D
cho b iu khin PID:
- Phng php Ziegler-Nichols
- Phng php Chien-Hrones-Reswick
- Phng php ti u ln v phng php ti u i xng.
4.1.1. Phng php xc nh tham s PID ca Ziegler-Nichols.
Ziegler-Nichols a ra hai phng php thc nghim xc nh tham s b iu
khin PID . Trong khi phng php th nht s dng dng m hnh xp x qun tnh
bc nht c tr ca i tng iu khin .
p
T
Lp
ke
p P
+

1
) (
(4.3)
Th phng php th hai hon ton khng cn n m hnh ton hc ca i tng.
1. Phng php Ziegler-Nichols th nht.
Phng php thc nghim ny c nhim v xc nh cc tham s k
P
, T
I
, T
D
cho b
iu khin PID trn c s xp x hm truyn t P(p) ca i tng thnh dng
(4.3) , h kn nhanh chng tr v trng thi xc lp v qu iu chnh
max

khng vt qu mt gii hn cho php, khong 40% so vi

y
= lim y(t)
t




a.) b.)
Hnh 4-2. Nhim v ca b iu khin PID.
Ba tham s L ( hng s thi gian tr) , k (h s khuch i), T (hng s thi gian
qun tnh ) ca m hnh xp x (4.3) c th xc nh gn ng t th hm qu
dng nh hnh (4-3) m t th t th hm y(t) ta c:
- L l khong thi gian u ra y(t) cha c phn ng ngay vi kch thch 1(t) ti u
vo.
- k l gi tr ti hn y

= lim y(t)
t

- Gi A l im kt thc khong thi gian tr , tc l im trn trc honh c honh
bng L . Khi T l khong thi gian cn thit sau L tip tuyn ca y(t) ti A
t c gi tr k.
- Trng hp hm qu y(t) khng c dng l tng nh hnh (4-3a) nhng c
dng gn ging hnh ch S ca khu qun tnh bc 2 hoc bc n nh hnh (4.3b) m
t , th cc tham s k, L, T ca m hnh (4.3) c xc nh xp x nh sau:
- k l gi tr gii hn y

= lim y(t)
t

- K ng tip tuyn ca y(t) ti im un ca n . Khi L 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 gi tr k.
Sau khi c cc tham s cho m hnh xp x (4.3) ca i tng Ziegler-Nichols
ta c cc tham s k
p
, T
I
, T
D
cho b iu khin nh sau :
- Nu ch s dng b diu khin khuch i R(p) = k
p
th chn k
p
= T/kL.
- Nu s dng b PI vi R(p) =

,
_

+
p
I
T
p
k
1
1
th chn k
p
= 0,9T/kL v T
I
= 10L/3.
- Nu s dng PID c

,
_

+ + p
D
T
p
I
T
P
k p R
1
1 ) (
th k
p
= 1,2T/kL v, T
I
= 2L, T
D
=
L/2.
2. Phng php Ziegler-Nichols th hai.
Phng php thc nghim th hai ny c c im l khng s dng m hnh ton
hcca i tng , ngay c m hnh ton hc gn ng .
Hnh 4-3a. Hnh 4-3b
Hnh 4-4a.
Hnh 4-4b.
* Ni dung phng php:
- Thay b iu khin PID trong h kn (hnh 4-4a) bng b khuch i . Sau tng
h s khuch i t ti gi tr ti hn k
th
h kn bin gii n nh , tc l y(t)
c dao ng iu ho (hnh 4-4b) . Xc nh chu k T
th
ca dao ng .
- Xc nh tham s cho b iu khin PID nh sau:
a. Nu s dng R(p) = k
p
th chn k
p
= k
th
/2.
b. Nu s dng R(p) =

,
_

+
p
I
T
p
k
1
1
th chn k
p
= 0,45k
th
v T
I
= 0,85T
th
.
c. Nu s dng PID th chn k
p
= 0,6k
th
, T
I
= 0,5T
th
, T
D
= 0,12T
th
.
4.1.2. Phng php Chien-Hrones-Reswick.
Phng php Chien-Hrones-Reswick cng phi c gi thit rng i tng l n
nh , hm qu y(t) khng dao ng v c dng hnh ch S tc l lun c o
hm khng m:
0 ) (
) (
t g
dt
t dy
Phng php ny thch ng vi nhng i tng bc cao nh bc n.
n
pT
k
p P
) 1 (
) (
+

V c hm qu tho mn:
3 >
a
b
(4.4)
Trong a l honh giao im tip tuyn ca y(t) ti im un U vi trc thi
gian (hnh 4-5) v b l khong thi gian cn thit tip tuyn i c t 0 ti gi
tr xc lp
k = lim y(t)

t
Hnh 4-5.
T dng hm qu y(t) i tng vi hai tham s a, b tho mn (4.4) ta c bn
cch xc nh tham s b diu khin cho bn yu cu cht lng:
- Yu cu ti u theo nhiu (gim nh hng nhiu ) v h kn khng c qu
iu chnh:
a. B iu khin P : Chn k
p
= 3b/10ak.
b. B iu khin PI: Chn k
p
= 6b/10ak v T
I
= 4a.
c. B iu khin PID : Chn k
p
= 19b/20ak, T
I
= 12a/5 , T
D
= 21a/50.
- Yu cu ti u theo nhiu (gim nh hng nhiu ) v h kn c qu iu chnh
max

khng vt qu 20% so vi y

.
a. B iu khin P: Chn k
p
= 7b/10a.
b. B iu khin PI : Chn k
p
= 7b/10ak, T
I
= 23a/10.
c. B iu khin PID: Chn k
p
= 6b/5ak, T
I
= 2a, T
D
= 21a/50.
- Yu cu ti u theo tn hiu t trc (Gim sai lch bm ) v h kn khng c
qu iu chnh.
a. B iu khin P: Chn k
p
= 3b/10ak.
b. B iu khin PI: Chn k
p
= 7b/20ak; T
I
= 6b/5.
c. B iu khin PID: Chn k
p
= 3b/5ak; T
I
= b; T
D
= a/2.
- Yu cu ti u theo tn hiu t trc (Gim sai lch bm ) v h kn c qu
iu chnh
max

khng vt qu 20% so vi y

.
a. B iu khin P: Chn k
p
= 7b/10ak.
b. B iu khin PI: Chn k
p
= 6b/5ak; T
I
= b.
c. B iu khin PID: Chn k
p
= 19b/20ak; T
I
= 27b/20; T
D
= 47a/100.
4.1.3. Phng php ti u ln.
Mt trong nhng yu cu cht lng i vi h thng iu khin kn (hnh 4-6), m
t bi hm truyn t.
RH
RH
p G
+

1
) (

L h thng lun c p ng y(t) ging nh tn hiu lnh c a u vo w(t)
ti mi im tn s hoc t ra thi gian qu y(t) bm c vo w(t) cng ngn
cng tt. Ni cch khc , b iu khin l tng R(p) cn phi mang n cho h
thng kh nng:
1 ) ( j G
vi mi

(4.5)
Nhng trong thc t th, v nhiu l do m yu cu tho mn (4.5) kh t c. Do
vy ta c:
1 ) ( j G
(4.6)
Trong gii tn s thp c rng ln c gi l b iu khin ti u ln . B
iu khin R(p) phi c chn sao cho min tn s ca biu Bode hm truyn
t kn G(p) tho mn:
0 ) ( lg 20 ) ( j G L

Hnh 4-5a.
Hnh 4-6b.
l ln nht .Di tn s ny cng ln , cht lng h kn cng cao.
Phng php ti u ln c xy dng ch yu phc v vic chn tham s b
iu khin PID iu khin cc i tng H(p) c hm truyn t dng:
- Qun tnh bc nht :
Tp
k
p H
+

1
) (

- Qun tnh bc hai:
)
2
1 )(
1
1 (
) (
p T p T
k
p H
+ +

- Qun tnh bc ba:

)
3
1 )(
2
1 )(
1
1 (
) (
p T p T p T
k
p H
+ + +

1. iu khin i tng qun tnh bc nht.

Cho h kn c s khi nh hnh 4-7a, trong :
- B iu khin l khu tch phn:
p
I
T
p
k
p R ) (

(4.7)
- i tng l khu qun tnh bc nht:
Tp
k
p H
+

1
) (
(4.8)
Nh vy ta s c :
- Hm truyn t h kn :
k Tp p
R
T
k
p G
+ +

) 1 (
) (
vi
p
k
I
T
T
R
- Hm truyn t h h:
) 1 (
) ( ) ( ) (
Tp
R
T
k
p H p R p
h
G
+

(4.9)
Suy ra:
2
) (
2
)
2
(
) (
R
T T
R
T k
k
j G

(4.10)
Hay:
4 2 2 2
) 2
2
(
2
) (

T
R
T T
R
kT
R
T k
k
j G
+ +

(4.11)
Hnh 4-7a.
Hnh 4-7b.
V diu kin (4.6) c tho mn trong mt gii tn s thp c rng ln ta c
th chn T
R
sao cho :
kT
R
T T
R
kT
R
T 2 0 2
2

Khi h kn c biu Bode nh hnh 5-7b vi hm truyn t:
2
2
2
2
) 1 ( 2
) (
n
p
n
D p
n
k Tp kTp
k
p G

+ +

+ +

vi
T
n
2
1

v D = 1/ 2
+ Kt lun: Nu i tng iu khin l khu qun tnh bc nht (4.8) , th b iu
khin tch phn (4.7) vi tham s
kT
T
T
I
2
2

s l b iu khin ti u ln.
* Nu i tng iu khin (5.8) c cc hng s thi gian
n
T T T ,...... ,
2 1
rt nh th b
iu khin tch phn vi cc tham s

n
i
i
p
T k
k
T
1
2
s l b iu khin ti u ln.
* V d: Cho i tng iu khin:
6
) 1 , 0 1 (
2
) (
p
p H
+

B iu khin l khu tch phn vi cc tham s c tnh nh sau:

T: 2 k ,
6 , 0 T
Do vy b iu khin I c s dng s c:
p
p R T
4 , 2
1
) ( 4 , 2
2. iu khin i tng qun tnh bc hai.
Xt bi ton chn b tham s iu khin PID cho i tng qun tnh bc hai:

)
2
1 )(
1
1 (
) (
p T p T
k
p H
+ +

(4.12)
Ta chn b iu khin PI thay v chn b iu khin I vi khu qun tnh bc nht:
p
R
T
p
I
T
p
I
T
p
I
T
p
k
p
I
T
p
k p R
) 1 ( ) 1 (
)
1
1 ( ) (
+

+
+
;
p
k
I
T
R
T
(4.13)
)
2
1 )(
1
1 (
) 1 (
) ( ) ( ) (
p T p T p
R
T
p
I
T k
p H p R p G
+ +
+

(4.14)
nhm thc hin vic b hng s thi gian T
1
ca (4.13), theo ngha T
I
= T
1
.
Vi cch chn tham s T
I
ny , hm truyn t h h (4.14) tr thnh:
)
2
1 (
) (
p T p
R
T
k
p
h
G
+

V n hon ton ging nh (4.9), do vy ta c:

2
2
1
2
2
2
2
R
kT
T
kT
I
T
p
k kT
p
k
I
T
T
+Kt lun: Nu i tng iu khin l khu qun tnh bc hai , th b iu khin PI
vi cc tham s T
I
= T
1
, k
p
= T
1
/2kT
2
s l b iu khin ti u ln.
* Nu i tng iu khin (4.8) c mt hng s thi gian T
1
ln vt tri v cc
hng s thi gian cn li n
T T T ,...., ,
3 l rt nh th b iu khin PI c cc tham s

n
i
i
I
T k
T
k T T
2
1
2
,
s l b iu khin ti u ln.
* V d: Gi s i tng iu khin:
5
) 1 , 0 1 )( 2 1 (
3
) (
p p
p H
+ +

C : k = 3, T
1
= 2, T = 0,5
Chn cc tham s cho PI:
)
2
1
1 ( 67 , 0 ) (
p
p R +
L:
2
I
T
v
67 , 0
p
k
3. iu khin i tng qun tnh bc ba.
Tng t nh khu qun tnh bc hai , nu i tng l khu qun tnh bc ba c
hm truyn t:
) 1 )( 1 )( 1 (
) (
3 2 1
p T p T p T
k
p H
+ + +

(4.15)
Ta s s dng b PID:
p
k
I
T
R
T
p
R
T
p
A
T p
A
T
p
D
T
p
I
T
p
k p R
+ +
+ + ,
) 1 )( 1 (
)
1
1 ( ) (
(4.16)
Vi :
A
T
B
T
I
T +
v
D
T
I
T
B
T
A
T
Khi hm truyn t h h s li tr v dng (4.9), nu ta chn:
2 1
2 1
,
2 1 2
,
T T
T T
D
T T T
I
T T
B
T
I
T
A
T
+
+
Suy ra:
3
2
2 1
3
2
3
2
kT
T T
kT
I
T
p
k kT
p
k
I
T
R
T
+

+Kt lun: Nu i tng l khu qun tnh bc ba (4.15), th b iu khin PID
vi cc tham s
3
2
2 1
,
2 1
2 1
,
2 1
kT
T T
p
k
T T
T T
D
T T T
I
T
+

+
+
s l b iu khin ti u
ln.
* Nu i tng iu khin c dng (4.8) nhng cc hng s thi gian
n
T T T ...., ,
4 3

rt nh so vi
2 1
,T T
th khi s dng phng php tng cc thi gian nh , xp x
n v dng qun tnh bc ba:
) 1 )( 1 )( 1 (
) (
2 1
Tp p T p T
k
p H
+ + +

V cc tham s ca b iu khin:

+
+
n
i
i
p D I
T k
T T
k
T T
T T
T T T T
3
2 1
2 1
2 1
2 1
2
, ,
* V d: Cho i tng iu khin dng:
4
) 1 , 0 1 )( 2 1 )( 5 1 (
4
) (
+ + +

p p
p H
Ta c:
4 , 0 , 2 , 5 , 4
2 1
T T T k
S dng b iu khin PID vi:
2 , 2 , 43 , 1 , 7
p D I
k T T
4.1.4. Phng php ti u i xng.
S hn ch ca phng php ti u ln l i tng H(p) phi n nh , hm qu
y(t) phi i t 0 v c dng hnh ch S.
Phng php chn tham s b iu khin PID theo nguyn tc ti u i xng c
xem nh l khc phc c nhng hn ch trn .
Ta xt h kn cho trn hnh (4-7a), gi G(p) = R(p)H(p) l hm truyn t ca h
h . Khi h kn c hm truyn t:
) ( 1
) (
) (
) ( 1
) (
) (
p G
p G
p G
p G
p G
p G
h
h


+

Cng nh phng php ti u ln , c

1 ) ( j G
trong di tn s thp th
phi c:

1 ) ( >> j G
trong di tn

nh
(4.17)
Hnh 4-7b l biu Bode mong mun ca hm truyn t h h G
h
(p) gm L
h
(

)
v
) (
h
. Di tn s trong biu chia lm ba vng:
- Vng I l vng tn s thp , iu kin (4.17) c th hin r nt vng I l hm
c tnh tn h h
) ( j G
h
phi c bin rt ln, hay
0 ) ( >>
h
L
. Vng ny i
din cho cht lng h thng ch xc lp hoc tnh . S nh hng ca n ti
c tnh ng hc ca h kn l c th b qua.
- Vng II l vng tn s trung bnh v cao . Vng ny mang thng tin c trng ca
tnh ng hc h kn. S nh hng ca vng ny ti tnh cht h kn di tn s
thp l c th b qua . Vng II c c trng bi im tn s ct
0 ) (
c h
L
hay .
Mong mun rng h kn khng c cu trc phc to nn hm
) ( j G
h
cng c gi
thit ch c mt tn s ct
c

.
ng th bin Bode
) (
h
L
s thay i nghing mt gi tr 20dbe/dec ti
im tn s gy
I

ca a thc t s v -20db/dec ca a thc mu s . Nu

khong cch nghing di th ng
) (
c h

s thay i mt gi tr l 90
0
ti
I

v -90
0
ti
T

. Ngoi ra h kn s n nh nu ti tn s ct h h c gc pha
) (
c h

ln hn -

. Bi vy tnh n nh h kn c m bo nu trong vng I

c
1 ) ( >> j G
v vng II ny , xung quanh im tn s ct biu Bode
) (
h
L
c dc l -20db/dec cng nh khong cch dc l ln.
- Vng III l vng tn s rt cao . Vng ny mang t thng tin v cht lng k thut
h thng . h khng b nh hng bi nhiu tn s cao G(p) cn c bin rt
nh, th trong vng ny hm
) ( j G
h
nn c gi tr n 0.
Hnh 4-8a.
Nu k hiu:
1
1 1
,
1
,
1

T
c c
T
I I
T
Th h h c dng:

)
1
1 (
2
) 1 (
) ( ) ( ) (
pT p
p
I
T
h
k
p H p R p G
+
+

(4.18)
Hnh 4-8b
1. iu khin i tng tch phn- qun tnh bc nht.
T (4.19) ta thy c , khi i tng H(p) c hm truyn t dng khu tch phn
qun tnh bc nht:
) 1 (
) (
1
p T p
k
p H
+

(4.20)
Th vi b iu khin PI:

,
_

+
p T
k p R
I
p
1
1 ) (
(4.21)
h h c hm truyn t nh (5.18):
)
1
1 (
2
) 1 (
) ( ) ( ) (
p T p
I
T
p
I
T k
p
k
p H p R p
h
G
+
+

(4.22)
R rng trong vng I, hm G
h
(p) theo (4.22) tho mn (4.17) . vng II, biu
bin Bode ca G
h
(p) c nghing -20db/dec xung quanh im tn s ct
c

th
phi c
1
1
1
1 1
T T
T T
I
I
I
> <
(4.23)
V
)
1
( 1 ) ( ) ( j
h
G
c
j
h
G
I
j
h
G > >
(4.24)
T m hnh (4.22) ca h h ta c gc pha:

)
1
arctan( ) arctan( ) ( ) ( T
I
T j
h
arcG
h
Nhm nng cao d tr n nh cho h kn, cc tham s b iu khin cn phi
c chn sao cho ti tn s ct
c

gc pha
) (
c h

l ln nht . iu ny dn n :
0
2
)
1
( 1
1
2
) ( 1
0
) (

+

T
c
T
I
T
c
I
T
d
c
h
d

2
)
1
lg( ) lg(
) lg(
1
1


+

I
c
T
I
T
c
(4.25)
iu ny ni nn rng im tn s ct
c

phi nm gia hai im gy

I

v
1

.
Do vy n c tn lphng php ti u i xng.
Gi khong cch gia
I

v
1

o trong h trc to biu Bode l a, ta c:

1 1
lg lg
1
lg lg
T
I
T
a
T
I
T
I
a
(4.26)
Nh vy (4.23) tho mn khi a >1.
Thay
c

trong (4.25) vo (4.24), kt hp vi (4.22),(4.26) ta c:

a kT
p
k
c
T
c
I
T
c
I
T
p
kk
j
h
G
1
1
2
)
1
( 1
2
)
2
( 1
1 ) (
+
+

(4.27)
Khong cch a gia
I

v
1

cn l mt i lng c trng cho qu iu chnh

max

ca h kn nu c dao ng . C th nu a cng ln th
max

cng nh .
Trong vng II , hm truyn t h h G
h
(p) c thay th gn ng bng :
)
1
1 (
1
) (
p T p
c
T
p
h
G
+

vi
c
c
T

Khi h kn s c hm truyn t:
2
) ( 2 1
1
2
1
1
1
) ( 1
) (
) (
Tp DTp p T
c
T p
c
T
p G
p G
p G
+ +

+ +

Vi
1
T
c
T T
v
1
2
T
c
T
D
2
lg
)
1
lg (lg 2 lg
a
T
c
T D
1
2
<
a
D nu 4 > a > 1.
Vy trong vng II, hm qu h kn c dng dao ng tt dn khi 4 > a > 1. Khi
qu iu chnh h kn l:
)
max
(
2
ln
2
)
max
(
2
ln 4
2
1
exp
max

,
_

a
D
D
(4.28)
Cng thc (4.28) cho ta thy
max

nghch bin vi a .
Tm li, nu i tng l khu tch phn qun tnh bc nht th b iu khin ti
u i xng s l b iu khin PI vi cc tham s nh sau:
- Xc nh a t qu iu chnh cn c ca h kn theo (4.28) , hoc t chn a > 1
t yu cu cht lng ra . Gi tr a c chn cng ln qu iu chnh cng
nh . Nu a < 1 , h kn khng n nh .
- Tnh T
I
= aT
1
- Tnh k
p
=
a kT
1
1
* V d: Xc nh tham s ti u xng cho b iu khin PI iu khin i
tng sau:
) 3 , 0 1 (
2
) (
p p
p H
+

Chn b iu khin PI iu khin theo nguyn tc ti i xng:

)
1
1 ( ) (
p T
k p R
I
p
+
Ta c cc tham s ca b iu khin vi cc gi tr ca a khc nhau tu theo yu cu
cht lng h thng:
- Khi a = 2:
6 , 0 , 18 , 1
I p
T k
- Khi a = 4:
2 , 1 , 83 , 0
I p
T k
2. iu khin i tng l khu qun tnh-tch phn bc hai.
iu khin i tng l khu tch phn qun tnh bc hai:
)
2
1 )(
1
1 (
) (
p T p T p
k
p H
+ +

(4.29)
Ta s dng b iu khin PID
p
I
T
p
B
T
A
T
p
k
p
D
T
p
I
T
p
k p R
) 1 )( 1 (
)
1
1 ( ) (
+ +
+ +
(4.30)
C cc tham s :
1
; ; T
A
T
D
T
I
T
A
T
B
T
I
T
B
T
A
T +
(5.31)
Khi h h c hm truyn t:
)
2
1 (
2
) 1 (
.
~
)
2
1 (
2
) 1 (
.
)
2
1 (
2
) 1 (
) ( ) ( ) (
p T p
B
T
p
B
T k
p
k
p T p
B
T
p
B
T k
I
T
B
T
p
k
p T p
I
T
p
B
T k
p
k
p H p R p G
+
+

+
+

+
+

(4.32)
Vi
I
T
B
T
p
k
p
k
~
Do hm truyn t (4.32) gn ging (4.22) , nn ta c c cc tham s tiu i
xng ca b iu khin PID.
2
aT
B
T
v
a kT
p
k
2
1 ~

Suy ra cc tham s ti u i xng ca b iu khin PID nh sau:

- Chn T
A
= T
1
.
- Xc nh 4 > a > 1 t qu iu chnh
max

cn c ca h kn , hoc chn a > 1

t yu cu cht lng ra . Gi tr a cng ln qu iu chnh cng nh . h
kn khng c dao ng ta chn a 4 . H kn s khng n nh nu a 1 .
- Tnh
2
aT
B
T
. T suy ra :
B
T
A
T
I
T +
v
I
T
A
T
B
T
T
- Tnh
a kT
p
k
2
1 ~

ri suy ra:
B
T
I
T
p
k
p
k
~

* V d: Cho i tng iu khin:

) 5 1 )( 3 1 (
2
) (
p p p
p H
+ +

T :
5 , 3 , 2
2 1
T T k
Vi a = 8:
8 , 2 , 43 , 04 , 0
D I p
T T k
3. Gim qu iu chnh bng b iu khin tin x l.
Phng php thit k b iu khin PID l t hm truyn t H(p) ca i tng ,
b iu khin R(p) phi c chn sao cho cng vi n , h h ca h thng c hm
truyn t:
)
2
1 (
2
) 1 ( ~
) ( ) ( ) (
p T Tp
Tp k
p
k p H p R p G
+
+

Hnh 4-9
Trong :
- Nu i tng l khu tch phn- qun tnh bc nht th:
p
k
p
k
~
v
I
T T

- Nu i tng l khu tch phn qun -tnh bc hai th:
I
T
B
T
p
k
p
k
~
v
B
T T
Trong c hai trng hp ny , cc tham s ca b iu khin ti u i xng lun
c chn hm truyn t h tr thnh :
) 1 (
2 2
1
) (
Tp p T a a
aTp
p
h
G
+
+

Tham s a c chn t yu cu cht lng cn c ca h kn, c th l:

- H kn c dao ng khi 4 > a > 1 . Nu h c a 4 h khng c dao ng .
- H s khng n nh nu a 1 .
- qu iu chnh
max

ca h kn v a t l nghch vi nhau.
- Khi a c chn cng ln , vng I s cng hp lm cho min tn s m ti cht
lng h thng c nh gi theo bin hm c tnh tn h kn
1 ) ( j G
cng
thp.
Mt bi ton t ra l lm th no nng cao cht lng h thng theo ngha m rng
tn s m c
1 ) ( j G
nhng li khng lm tng qu iu chnh
max

ca
h kn . gii bi ton ny ta xc nh hm truyn t h kn :
3 3 2 2
1
1
) ( 1
) (
) (
p T a a p T a a aTp
aTp
p
h
G
p
h
G
p G
+ + +
+

Ta thy rng nguyn nhn lm tng qu iu chnh l thnh phn vi phn c

trong a thc t s ca G(p) . lm gim qu iu chnh ny ta ni h kn vi
khu tin x l.
aTp
p M
+

1
1
) (
loi b thnh phn vi phn ra khi a thc t s .
Vn t ra l xc nh tham s a hm truyn t ) ( ) ( ) (
~
p G p M p G c di tn
s thp tho mn
1 ) ( j G
l rng nht . thc hi iu ta i t :
6 6 3 4
) 2 (
4 2 2
) 2 (
2
1
1
2
) (
~

T a a T a a a T a a
j G
+ + +

c
1 ) ( j G
trong min tn s thp c rng ln nht th:
4 2 a a
Vy ta i n kt lun:
- Nu i tng l khu qun tnh-tch phn bc nht th:
a. Chn b iu khin PI vi 1
1
4 ;
2
1
T T
kT
k
I p

.
b. Chn b tin x l :
p T
p M
1
4 1
1
) (
+

.
- Nu i tng l khu tch phn qun tnh bc hai th:
a. Chn b iu khin PID vi:
2
2
8
;
2
4
1
1 2
4
;
2
4
1
kT
T
k
T T
T T
D
T T T
I
T
+
+
b. Chn b tin x l:
P T
p M
2
4 1
1
) (
+