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NHN XT CA GIO VIN HNG DN

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Ch k ca gio vin hng dn

Hng Yn, ngy..... thng..... nm 2009

NHN XT, NH GI CA GIO VIN PHN BIN

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Ch k ca gio vin phn bin

Hng Yn, ngy..... thng..... nm 2009

LI NI U
Trong s nghip gio dc ca nc ta hin nay, mc tiu l gio dc v o to ra
nhng con ngi c c ti, c vn ha, c k nng k xo ngh nghip v c
thi ng x tt, phc v tt cho s nghip cng nghip ha hin i ha - xy
dng nc nh. t c mc ch th th h tr, c bit l sinh vin phi
lun ch ng tm hiu nghin cu v ng dng nhng thnh tu khoa hc mi, cng
nhng nhu cu, ng dng thc t cp thit ca nn cng nghip nc nh.
L nhng sinh vin nm cui, c lm n tt nghip l c hi cho chng em
tm hiu thm v kin thc thc t, cng c nhng kin thc hc, nhm chng em
c nghin cu v ti: Nghin cu, kho st v so snh cc lut iu
khin cho m hnh iu khin nhit bng Matlab v Simulink .
ti ca chng em c chia ra thnh 4 chng:

Chng 1: Gii thiu chung v l nhit.

Chng 2: iu khin n nh nhit l nhit bng b iu khin PID.

Chng 3: iu khin n nh nhit l nhit bng lut iu khin m.

Chng 4: Kt lun v kin ngh.

Nh c s hng dn tn tnh ca c gio ThS. Nguyn Th Luyn, cng cc thy


c trong khoa to iu kin gip chng em hon thnh n ny .Tuy
nhin, do trnh cn hn ch nn khng trnh khi nhng thiu st. Chng em
rt mong c s ch bo tn tnh ca cc thy c v cc bn.
Chng em xin chn thnh cm n!

MC LC
LI NI U..........................................................................................................5
MC LC..................................................................................................................6
CHNG 1. GII THIU CHUNG V L NHIT....................................15
1.1. Cu tao lo nhit. .............................................................................................15
1.1.1. V l .........................................................................................................15
1.1.2. Lp lt .....................................................................................................16
1.1.3. Dy nung..................................................................................................17
1.2. Nguyn ly lam vic cua lo nhit.......................................................................18
1.2.1. Nguyn l lm vic .................................................................................18
1.2.2. Tn tht nhit trong l...............................................................................19
1.3. Cc c im ca l nhit................................................................................19
1.4. Cc yu cu c bn v l nhit........................................................................19
1.5. Cac phng phap iu chinh lo nhit...............................................................20
1.5.1. Phng php dng my bin p .............................................................20
1.5.2. Phng php dng rle ............................................................................20
1.5.3. Phng php dng rle kt hp vi Thysistor
.............................................................................................................................20
1.5.4. Phng php dng hai Thysistor mc song song ngc...........................20
1.5.5. Phng php dng triac............................................................................21
1.6. Nhn dng i tng........................................................................................21
1.6.1. Phng php l thuyt..............................................................................21
1.6.2. Phng php thc nghim ch ng.........................................................21
CHNG 2: IU KHIN NHIT L NHIT BNG B IU
KHIN PID.............................................................................................................26
2.1. Lut iu khin PID ........................................................................................26
2.2. Cc phng php tng hp tham s ca b PID.............................................29
6

2.2.1. Phng php Ziegler Nichols.................................................................31


2.2.1.1. Phng php Ziegler Nichols th nht..........................................31
2.2.1.2. Phng php Ziegler Nichols th hai............................................33
2.2.2. Phng php Chien Hrones Reswick..................................................34
2.2.3. Phng php tng T ca Kuhn..................................................................36
2.2.4. Phng php ti u ln........................................................................38
2.2.5. Phng php ti u i xng....................................................................43
2.2.6. Phng php Halman:...............................................................................50
2.2.7. Phng php d bo Smith:.....................................................................50
2.2.8. Phng php ti u theo sai lch bm......................................................51
2.3. Thit k b PID kinh in iu khin i tng l nhit.................................53
2.3.1. Kho st i tng khi cha c b iu khin..........................................53
2.3.2. Phng php Ziegler-Nichols th nht.....................................................54
2.3.3. Phng php Ziegler Nichols th hai....................................................55
2.3.4. Phng php Chien Hrones Reswick..................................................57
2.3.5. Phng php tng T ca Kuhn..................................................................58
2.3.6. Phng php Halman................................................................................59
2.3.7. Phng php d bo Smith.......................................................................60
.........................................................................................................................61
CHNG 3. IU KHIN NHIT L NHIT BNG LUT IU
KHIN M..............................................................................................................66
A. TNG QUAN V B IU KHIN M............................................66
3.1. M u.............................................................................................................66
3.2. Khi nim v tp m.......................................................................................67
3.2.1. Khi nim c bn......................................................................................67
3.2.2. nh ngha tp m.....................................................................................67
7

............................................................................................................................67
3.2.3. cao, min xc nh v min tin cy ca tp m.................................68
3.2.4. Bin ngn ng...........................................................................................68
3.2.5. Cc php ton trn tp m.........................................................................70
3.3. Lut hp thnh.................................................................................................70
3.3.1. Mnh hp thnh....................................................................................70
3.3.2 Lut hp thnh m....................................................................................71
3.3.3. Thut ton thc hin lut hp thnh cho h SISO.....................................73
3.3.4. Thut ton thc hin lut hp thnh cho h MISO...................................74
.............................................................................................................................74
3.3.5. Thut ton xc nh lut hp thnh kp max- Min, max- PROD..............75
3.3.6. Thut ton xc nh lut hp thnh sum - MIN v sum-PROD.
.............................................................................................................................76
3.4. Cc phng php gii m (r ho)..................................................................77
3.4.1. Phng php cc i.................................................................................77
3.4.2. Phng php im trng tm

............................................................80

3.5. Cc khu iu khin m...................................................................................81


3.6. Nguyn l iu khin v phng php tng hp b iu khin m................82
3.6.1. Nguyn l v cu trc ca mt h thng iu khin.................................82
3.6.2. Trnh t thit k b iu khin m ...........................................................84
3.7. Phn loi cc b iu khin m.......................................................................84
B. THIT K B IU KHIN PID M CHO I TNG L NHIT
.....................................................................................................................85
3.8. C s l thuyt..................................................................................................85
3.8.1. S iu khin v m hnh ton hc ca b PID m.............................85
3.8.2. Lut chnh nh PID

......................................................................86
8

3.9.2. Cc bin ngn ng.....................................................................................87


3.9.3. Lut hp thnh..........................................................................................88
Nhn xt: Khi c s thay i i tng trong phm vi nh th b iu
khin PID m vn iu chnh h thng kh tt. y chnh l mt u im
ni bt ca b iu khin PID m so vi b iu khin PID kinh in....110
C. THIT K B PI M IU KHIN I TNG .........................111
3.10. Thit k b iu khin PI m.......................................................................111
3.10.1. Xc nh thng s ca b iu khin bng phng php ti u ln111
3.10.2. Thit k b iu khin PI m vi Kr = const, thay i Ti....................111
3.10.3. Thit k b iu khin PI m gi nguyn Ti=const, thay i Kr .........122
D. U IM CA B IU KHIN M.............................................132
CHNG 4: KT LUN V KIN NGH ................................................143
4.1. Cc kt qu thc hin c trong ti....................................................143
4.2. Hng pht trin ca ti............................................................................143
4.3. Kin ngh........................................................................................................144

DANH MC HNH V

Hnh 1.1. Mt ct ngang ca l nhit .............................................................15


Hnh 1.2. Nguyn l hot ng ........................................................................18
ca l nhit ..............................................................................................................18
Hi nh 1.3. ng c ti nh g n u ng cu a i t ng ...................................22
Hnh 1.4. Giao din thu thp d liu l nhit ...............................................24
Hnh 2.1 S khi b iu khin PID ..........................................................26
Hnh 2.2 S khi b iu khin P ...............................................................27
Hnh 2.3 S khi b iu khin PD ...........................................................27
Hnh 2.4 S khi b iu khin PI .............................................................28
Hnh 2.5 S khi b iu khin PID ..........................................................28
Hnh 2.6. S nguyn l iu khin vi b iu khin PID ................29
Hnh 2.7 Nhim v ca b iu khin PID ....................................................31
Hnh 2.8. Xc nh tham s ca b PID theo Ziegler Nichols th nht
....................................................................................................................................32
Hnh 2.9. Xc nh hng s ti hn .................................................................33
Hnh 2.10. p ng qu ca i tng .........34
Hnh 2.11. Quan h gia din tch v tng hng s thi gian .................37
Hnh 2.12. S khi h thng iu khin kn ............................................38
Hnh 2.13. Thit k b iu khin PID theo phng php ti u i
xng ...........................................................................................................................43
Hnh 2.14.Gim qu iu chnh bng b tin x l ...............................49
Hnh 2.15. S khi h thng iu khin PID theo phng php d
bo Smith .................................................................................................................51
Hnh 2.16. S khi h thng iu khin PID theo phng php sai
lch bm ...................................................................................................................51
Hnh 2.17. p ng ca i tng khi cha c b iu khin .................53
Hnh 2.18. p ng ca h thng vi b PID theo Ziegler-Nichols th
nht ............................................................................................................................54
Hnh 2.19. p ng ca h thng khi ti gi tr Kth .................................55
Hnh 2.20. p ng ca h thng vi b iu khin PID ..........................56
10

theo Ziegler Nichols th hai ........................................................................56


Hnh 2.21. p ng ca h thng vi b PID theo Chien Hrones
Reswick ....................................................................................................................57
Hnh 2.22. p ng ca h thng vi b PID theo phng php tng T
....................................................................................................................................58
Hnh 2.23. p ng ca h thng vi b PID theo Halman .....................59
Hnh 2.24. p ng ca h thng vi b PID theo d bo Smith ..........60
Hnh 2.25. p ng ca h thng vi b PID theo Chien Hrones
Reswick ....................................................................................................................62
khi c nhiu u tc ng vo u vo ..........................................................62
Hnh 2.26. p ng ca h thng vi b PID theo Chien Hrones
Reswick ....................................................................................................................63
khi c nhiu tc ng vo i tng ..............................................................63
Nhn xt: Khi c nhiu tc ng vo i tng th h thng dao ng
mnh xung quanh gi tr n nh. Hay ni cch khc, b iu khin
khng cn iu khin c h thng. ..............................................................63
Hnh 2.27. p ng ca h thng vi b PID theo Chien Hrones
Reswick ...................................................................................................................64
khi c nhiu tc ng vo b iu khin ........................................................64
Hnh 3.1. Min xc nh v min tin cy ca mt tp m .........................68
Hnh 3.2. V d minh ha hm thuc ..............................................................69
Hnh 3.3.B iu khin m vi quy tc Max-Min .......................................72
Hnh 3.4. Gi tr r y khng ph thuc vo p ng vo .........................78
ca lut iu khin quyt nh .........................................................................78
Hnh 3.5. Gi tr r yph thuc vo p ng vo ......................................79
ca lut iu khin quyt nh ..........................................................................79
Hnh 3.6. Gi tr r y ph thuc tuyn tnh vi p ng vo ..................79
ca lut iu khin quyt nh .........................................................................79
Hnh 3.7. Gi tr r y l honh ca im trng tm ...........................80
Hnh 3.8. Xc nh gi tr r theo phng php im trng tm khi
min gi tr ca tp m khng lin thng ......................................................81
Hnh 3.9. Cu trc bn trong ca b iu khin m ...................................81
11

Hnh 3.10. Mch iu khin vi b iu khin m . .82


Hnh 3.11. S iu khin ca b PID m .................................................85
Hnh 3.12. Lut chnh nh PID ........................................................................86
Hnh 3.13. Cc bin ngn ng vo /ra .............................................................88
Hnh 3.14. Thit lp di ET cho chnh nh Kp ...........................................89
Hnh 3.15. Thit lp di DET cho chnh nh Kp ........................................90
Hnh 3.16. Thit lp di Kp ................................................................................90
Hnh 3.17. Bn chn lut hp thnh chnh nh Kp ...................................93
Hnh 3.18. ng c tnh u ra ca b iu khin PID m .................93
chnh nh Kp .........................................................................................................93
Hnh 3.19. ng c tuyn ra ca b iu khin PID m ......................94
chnh nh Kp ........................................................................................................94
Hnh 3.20. Thit lp di ET cho chnh nh KD ...........................................94
Hnh 3.21. Thit lp di DET cho chnh nh KD .......................................95
Hnh 3.22. Thit lp di KD .............................................................................95
Hnh 3.23. Bn chn lut hp thnh cho chnh nh KD ............................98
Hnh 3.24. ng c tuyn u ra ca b iu khin PID m ..............98
chnh nh KD ........................................................................................................98
Hnh 3.25. ng c tnh u ra ca b iu khin m PID ................99
chnh nh KD ........................................................................................................99
Hnh 3.26. Thit lp di ET cho chnh nh KI ............................................99
Hnh 3.27. Thit lp di DET cho chnh nh KI .......................................100
Hnh 3.28. Thit lp di KI ..............................................................................100
Hnh 3.29. Bn chn lut hp thnh cho chnh nh KI ...........................103
Hnh 3.30. c tnh ra ca b iu khin PID m ....................................103
chnh nh KI .......................................................................................................103
Hnh 3.31. c tuyn ra ca b iu khin PID m ................................104
chnh nh KI .......................................................................................................104
Hnh 3.32. p ng ca h thng vi b iu khin PID m ...............105
Hnh 3.33. p ng ca h thng vi b PID m ......................................106
khi c nhiu tc ng vo b iu khin ....................................................106
Hnh 3.34. p ng ca h thng vi b PID m ......................................107
12

khi c nhiu tc ng vo i tng ..........................................................107


Hnh 3.35. p ng ca h thng vi b PID M .....................................108
khi c nhiu tc ng vo u vo ...............................................................108
Hnh 3.36. p ng ca h thng vi b PID m ....................................110
khi khng xc nh chnh xc i tng ......................................................110
Hnh 3.37. S khi b iu khin PI m chnh nh Ti ....................111
Hnh 3.38. Thit lp di ET cho b iu khin PI m chnh nh Ti ...112
Hnh 3.39. Thit lp di DET cho b iu khin PI m chnh nh Ti 112
Hnh 3.40. Thit lp di Ti cho b iu khin PI m chnh nh Ti ...113
Hnh 3.41. Bn chn lut hp thnh chnh nh Ti ...................................116
Hnh 3.42. ng c tnh u ra ca b iu khin PI m ..................116
chnh nh Ti .......................................................................................................116
Hnh 3.43. c tuyn u ra ca b iu khin PI m ............................117
chnh nh Ti ........................................................................................................117
Hnh 3.44. Tn hiu ra ca h thng vi b iu khin ..........................118
PI m chnh nh Ti .........................................................................................118
Hnh 3.45. p ng ca h thng vi b PI m chnh nh Ti ...........119
khi c nhiu tc ng vo b iu khin ......................................................119
Hnh 3.46. p ng ca h thng vi b PI m chnh nh Ti .............120
khi c nhiu tc ng vo i tng .............................................................120
Hnh3.47. p ng ca h thng vi b PI m chnh nh Ti ..............121
khi c nhiu tc ng vo u vo ...............................................................121
Hnh 3.48. S khi b m chnh nh KR ............................................122
Hnh 3.49. Thit lp di ET cho chnh nh KR ........................................122
Hnh 3.50. Thit lp di DET cho chnh nh KR .....................................123
Hnh 3.51. Thit lp di Kr cho b iu khin PI m chnh nh KR . 123
Hnh 3.52. Bn chn lut hp thnh ca b iu khin PI m chnh nh
KR ............................................................................................................................126
Hnh 3.53. ng c tnh u ra ca b iu khin PI m .................127
chnh nh KR ......................................................................................................127
Hnh 3.54. c tuyn u ra ca b iu khin PI m ...........................127
chnh nh KR .....................................................................................................127
13

Hnh 3.55. Tn hiu ra ca h thng vi b iu khin PI m .............128


chnh nh KR .....................................................................................................128
Hnh 3.56. Tn hiu ra ca h thng vi b iu khin PI m ...........129
chnh nh KR khi c nhiu tc ng vo b iu khin .......................129
Hnh 3.57. Tn hiu ra ca h thng vi b iu khin PI m .............130
chnh nh KR khi c nhiu tc ng vo u vo ...................................130
Hnh 3.58. Tn hiu ra ca h thng vi b iu khin PI m chnh
nh KR khi c nhiu tc ng vo i tng ............................................131

14

CHNG 1. GII THIU CHUNG V L NHIT


1.1. Cu tao lo nhit.
Thng thng l nhit cu to bi ba phn chnh l: V l, lp lt, dy nung.

Hnh 1.1. Mt

ct ngang

ca l nhit
1: Lp lt.
2: Vt nung
thuc cu to l ).

(khng

3: Dy nung.
4: V l.
1.1.1. V l
V l l mt khung cng, vng, ch yu chu trng ti trong qu trnh lm vic
ca l. Mt khc, cng l gi lp cch nhit v m bo s kn hon ton hay
tng i ca l sy.
+ i vi cc l nung lm vic vi kh bo v, s cn thit ca v l l phi hon
ton kn. i vi l bnh thng, s kn ca v l l gim tn tht nhit v trnh
c s la ca khng kh vo l.
+ Khung v l thng cng, chc, chu c trng ti ca lp lt, ti l v cc
chi tit c kh gn trn v l.
V l sy c hai dng c bn: Dng ch nht v dng hnh trn.
+ V l ch nht thng dng trong cc bung l bng ti, l lin tc, l y bc v
l y rung...
+ V l trn c dng trong cc l ging v l chp. V l trn chu c tc dng
bn trong tt hn v l hnh ch nht cng mt lng thp lm v l. Khi lm v l
trn ngi ta thng chn dy tng ng ca tm thp so vi ng knh v l
nh sau:
15

ng knh

dy tm thp

1000-2000mm

3-6mm

2500-4000mm

8-12mm

4500-6500mm

14-20mm

+ Khi cn vng chc cho v l, ngi ta thng dng vng m tng cng. Vi
v l ch nht th vng m l ch U hay ch L, cn vng m trn th dng ai.
+ Phng php gia cng v l thng l hn hay tn inh
1.1.2. Lp lt
Lp lt cc l sy thng gm hai phn: Phn vt liu chu la v phn cch
nhit:
Phn vt liu chu la c th xy dng trn gch tiu chun, gch hnh v
gch c bit, tu theo hnh dng v kch thc cho ca bung l, cng c
khi ngi ta dm bng cc loi chu la gi l khi dm. Khi dm c th tin
hnh ngay trong l hay ngoi nh cc khun. Phn vt liu chu la phi t
cc yu cu sau :
-

Chu c nhit cc i ca l nhit.

C bn nhit ln khi lm vic.

C bn c hc khi xp vt nung v t thit b vn chuyn trong cc iu


kin lm vic c bit.

m bo kh nng gn dy cung bn v chc chn.

C bn ho hc; khi lm vic chu c tc dng ca kh quyn v vt


nung.

m bo kh nng tn tht nhit cc tiu. iu ny c bit quan trng trong


l lm vic c chu k.

Phn cch nhit thng nm gia v l v vt liu chu la. Nhim v ch yu


ca phn ny l gim tn tht nhit. Ring phn cch nhit y cn yu cu bn
c hc nht nh. Cc yu cu c bn i vi phn cch nhit l :
H s dn nhit cc tiu.
Kh nng tch nhit cc tiu.
16

n nh v tnh cht vt l trong iu kin lm vic xc nh.


Phn cch nhit c th xy bng gch chu la hay in y bng x, bng, bt
amiang ....
1.1.3. Dy nung
Theo c tnh ca l sy m chia thnh hai loi dy nung l kim loi v phi kim
loi. Dy nung c th c hnh trn v hnh bng.
Dy nung l b phn pht nhit ca l, lm vic iu kin khc nghit, i hi
phi m bo cc yu cu sau:
- Chu c nhit cao (t b oxi ho iu kin nhit cao).
- Sc bn c hc cao (khng b bin dng nhit cao).
- in tr sut ln.
- H s nhit in tr phi nh khi nhit thay i th in tr ca dy vn n
nh.
- Cc tnh cht dn in phi n nh hay t thay i.
- Cc kch thc phi t thay i khi s dng.
- D gia cng, d hn, p khun.
- Dy nung kim loi l hp kim Crm - nhm hay Crm - Niken. Thng ch to
loi trn hoc loi bng.
- Dy nung phi kim loi: Ph bin l ccbon silic (SiC) hay disilic-molipden
(MoSi2), graphit v than
- Dy nung c th b tr trn nc v di y l sy, trn thc t c th c nhiu
cch b tr dy nung khc nhau, tu theo yu cu k thut ca tng loi l sy.

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1.2. Nguyn ly lam vic cua lo nhit


1.2.1. Nguyn l lm vic
L da trn c s khi c dng in
i qua mt dy dn hoc vt dn, th
s to ra mt lng nhit theo nh
lut Junlenx:
Q=I2.R.t

Hnh 1.2. Nguyn l hot ng


ca l nhit
Trong :

Q: Nhit lng tnh bng Jun (J)


I : Cng dng in Ampe (A)
R : in tr m ( )
t : Thi gian giy (s)

Nh vy R c th ng cc vai tr sau:
Vt nung: Trng hp ny gi l nung trc tip, t gp trong cng nghip, thng
ch dng khi m vt nung cng sut dng n gin nh thit din ch nht hoc trn.
Dy nung: Khi dy nung c t nng, n s truyn nhit cho vt nung bng bc
x, i lu dn nhit hay phc tp hn, gi l nung gin tip. Trng hp ny thng
gp nhiu trong thc t cng nghip cho nn ni ti l nhit khng th khng cp
ti vt liu lm dy nung, b phn pht nhit ca l.

18

1.2.2. Tn tht nhit trong l


Tn hao nhit trong l l do cc nguyn nhn sau y :
- Do trao i nhit i lu ca khng kh trong v ngoi l khi l khng kn.
- Do trao i nhit bc x ca v l vi mi trng xung quanh.
- Do tn hao nhit khi m ca l sy, khi thay i vt nung trong l.
Chnh cc s tn hao ny lm cho nhit trong l khng c n nh, vic n
nh nhit l v bn cht chnh l iu chnh cng sut cung cp nhit cho l. L
sy ca n ny hot ng nhit 0 - 1000C tc l nhit trung bnh, do
trao i nhit trong l ch yu l trao i nhit i lu.
1.3. Cc c im ca l nhit.

To c nhit cao.

m bo tc nung ln.

Nhit n nh, d iu chnh tc v nhit .

Kt cu kn.

C kh nng c kh ho, t ng ho cao.

V sinh, gn nh.

Thich hp khi s dung trong nhiu yu cu khac nhau.

1.4. Cc yu cu c bn v l nhit.
-

Hp l v mt cng ngh: Cu to ca l nhit khng nhng ph hp vi qu trnh


cng ngh yu cu m cn phi tnh n kh nng s dng n vi cc quy trnh
cng ngh khc nu khng lm tng phc tp trong thit k v gi c khng
qu cao hn.

Hiu qu v k thut: L hiu sut cc i ca kt cu khi n c cc thng s khc


xc nh nh kch thc, cng sut, trng lng.

Chc chn, tin cy khi lm vic.

Tin li khi s dng.

R v n gin khi ch to.

Hnh dng nh gn, p.

19

1.5. Cac phng phap iu chinh lo nhit


1.5.1. Phng php dng my bin p
y l phng php iu chnh in p theo cp, n i hi bin p phi c cng
sut ln. Phng php dng my bin p thay i mc in p cung cp cho l.
y l phng php th s, t dng trong h thng iu khin t ng.
1.5.2. Phng php dng rle
Phng php ny c c im l khng ch mc nhit , mc in p khc
nhau. Nhng do rle ch c tc dng iu khin mt s thi im nht nh nn
iu chnh mang tnh cht khng lin tc. Mt khc, qu trnh iu khin lun b dao
ng, ph thuc vo cc thi im t khc nhau, v th chnh xc iu chnh
khng cao, rle phi ng ngt nhiu ln nn tin cy km. Tuy nhin phng php
ny c u im: n gin, d ni, ph hp vi yu cu cng ngh, i hi chnh
xc khng cao.
1.5.3. Phng php dng rle kt hp vi Thysistor
Khi s dng phng php ny th kh nng iu chnh vi cc phm vi khc nhau
l tng i tt. Tuy nhin phng php ny khng thc hin c bi v khi tip
im ca rle ng, ta lun c c chu k cung cp cho ti nhng khi m ngun th
cung cp pha Thysistor b ngt, do vic cung cp cho l ch hon ton do
Thysistor v nh vy cng sut a vo cho l sy ch iu khin c 1/2 chu k.
1.5.4. Phng php dng hai Thysistor mc song song ngc
Khi c xung iu khin th hai Thysistor s ln lt m cho dng i qua. Ta c th
iu khin cho Thysistor lin tc chuyn t ng sang m tng ng vi cng sut
ca l thay i t gi tr Min - Max.
Phng php ny cho php iu chnh trong pham vi rng, p ng yu cu iu
khin, chnh xc iu khin tng i cao, nhy v iu chnh tng i ln,
c kh nng iu chnh tng i lin tc v u n.

20

1.5.5. Phng php dng triac


Triac c chc nng ging hai Thysistor mc song song ngc chiu, v vy n
gin mch iu khin cng sut ta c th dng Triac thay cho hai Thysistor mc song
song ngc.
Qua cc phng php iu khin l nhit ta thy phng php s dng Triac l
ph hp nht vi ti c giao v Triac c th iu khin lin tc, mch iu
khin n gin hn.
1.6. Nhn dng i tng
1.6.1. Phng php l thuyt
Phng phap ly thuyt la phng phap thit lp m hinh da trn cac inh lut
co sn v quan h vt ly bn trong va quan h giao tip vi mi trng bn ngoai cua
i tng, cac quy lut nay c miu ta theo quy lut ly hoa, quy lut cn bng
di dng nhng phng trinh toan hoc.
Trong thc t, ngi thit k thng nhn dang i tng bng phng phap
thc nghim. i vi lo sy thi co th dng hai phng phap nhn dang i tng
nay la phng phap thc nghim va phng phap ly thuyt. Nhng khi s dung
phng phap ly thuyt xac inh ham truyn cua i tng thi gp rt nhiu kho
khn trong vic tng hp cac khu ng hoc, va ham truyn cua i tng thng
khng chinh xac do h thng thng gm rt nhiu khu. Vi vy, ta s dung phng
phap thc nghim se khc phuc c nhng kh khn nay.
1.6.2. Phng php thc nghim ch ng
M hinh thc nghim cua lo sy.

U(t)

Cng sut in p
100%

L
Nhit

Nhit l

C(t)

Lo sy khi co tin hiu in ap vao la U, thi se co tin hiu ra la nhit . Khi ta


t gia tr in ap vao la 100% cng sut cua lo th tai thi im o thi nhit cua lo
21

cha thay i ngay, no phai mt mt khoang thi gian nht inh bin i nng
lng nhit thanh nng lng in va truyn, thi gian nay c goi la thi gian tr

va thi gian nay tao nn khu tr cua lo.

Nhit trong lo se tng dn cho n khi ti l vi in ap t vao thi luc nay


se kt thuc qua trinh qua . Trong qua trinh xac lp thi lng ra la nhit , lun ti l
vi in ap t vao.

Hinh 1.3. ng c tinh gn ung cua i tng


* Tn hiu vao u(t) = 1(t) la ham bc thang n vi va theo bin i Laplace th

U (S ) =

1
s

Tn hiu ra cua qu trnh c m ta bng phng trnh:

y( t ) = f (t )

Trong o la thi gian tr.

Chuyn phng trnh sang dang toan t Laplace:

Y( s ) = e .s .F( s )

22

Trong trong o

f (t ) = k (1 e

t
T

) la ham qua cua nhit , c xac

inh da vao c tinh gn ung cua i tng. T o co anh Laplace.


F( S ) =

* Vy tin hiu ra:

Y( s ) = e .s .

k
s+

1
T

k
s (1 + Ts )

k
s(1 + T .s )

Theo inh nghia ta co ham truyn at cua i tng:

G( s ) =

Y( s )
U (s)

e .s .
=

k
k
s.(1 + T .s)
= e .s .
1
1 + T .s
s

Vy i tng la khu quan tinh bc nht co tr.


* Cach xac inh tham s cho m hinh
Trong n ny chng em ly i tng l m hnh l nhit m nhm hai bn
Nguyn Th Hng v Trnh nh Huy (lp K3K) lm trong n tt nghip
vo thng 8 nm 2009.
Sau y chng em xin trnh by li cch xc nh tham s cho m hnh m hai
bn lm s dng phn mm LabVIEW.
Ta co - la thi gian tr cua i tng.
Da trn (hinh 1.3) ta co cach xac inh tham s m hnh gn ung nh sau:
1. Ke ng tim cn vi y (t ) tai t co y( ), sau o suy ra k =

y ( )
.
u0

2. Xac inh im co tung bng (0,632* y( )) cua y (t ) .


3. Hoanh cua im va xac inh o chinh la tham s T cn tim.
Bng phn mm LabVIEW giao tip vi my tnh qua card PCI 1710, ta c giao
din thu thp d liu nhit t l nh sau:

23

Hnh 1.4. Giao din thu thp d liu l nhit


Ta c s khi thu thp d liu t l nhit nh sau:

Hnh 1.5. S khi thu thp d liu l nhit


T c tnh qu ca i tng thu c trn, ta thy y l khu qun
tnh bc nht c tr. T y ta i xc nh hm truyn vi m hnh c dng:
G (s) =

K
e .S
1 + T .s

24

xc nh c hm truyn ca i tng khi bit ng c tnh trn ta s


dng phng php Ziegler Nichols th nht:

Ta c l khong thi gian u ra m h(t) cha c phn ng ngay vi kch


thch 1(t) ti u vo v c gi tr l = 50(s).
K l gi tr gii hn K = y () = 90 34 = 56.
T l khong thi gian cn thit sau tip tuyn ca h(t) ti im = 50(s)
t c gi tr K. Khi T = 410 (s).
Vy i tng l nhit c hm truyn l:
G( s) =

56
e 50 S
1 + 410 .S

25

CHNG 2: IU KHIN NHIT L NHIT BNG 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 sau:
-

Phc tng v thc hin chnh xc nhim v c giao (khu t l).

Lm vic c tch ly kinh nghim thc hin tt nhim v (khu tch phn).

Lun c sng kin v phn ng nhanh nhy vi s thay i tnh hung trong

qu trnh thc hin nhim v (khu vi phn).


2.1. Lut iu khin PID
B iu khin PID gm ba quy lut iu khin
Kp

Ki/s

Wt

(-)
Kd.s

Wph

Hnh 2.1 S khi b iu khin PID


-

Quy lut iu khin t l.

Quy lut iu khin tch phn.

Quy lut iu khin vi phn.

T cc quy lut trn th ta s c cc b iu khin sau: B iu khin P, I, PI, PD,


PID.

26

Quy lut t l P
Tn hiu tc ng u(t) t l vi sai lch e(t). Hm truyn: W(s) = K
r(t)

e(t)

u(t)

c(t)

G(S)

(-) f(t)
H(S)

Hnh 2.2 S khi b iu khin P


iu khin kiu t l cho php nhanh chng t gi tr yu cu nhng thng c
sai lch. gim sai lch ngi ta tng li K. Nhng K tng dn n qu iu
chnh max tng v h c th mt n nh. Trong thc t, vic dung hp exl v max%
nhiu khi kh tha mn, ngi ta phi la chn kiu iu khin khc.
Quy lut iu khin t l - vi phn (PD)
Trong mt h thng m qu iu chnh qu ln th ngi ta thng thm khu
iu khin vi phn. H thng iu khin PD c s nh sau:
r(t)

e(t)

u(t)

G(S)

c(t)

(-) f(t)
TD S

H(S)

Hnh 2.3 S khi b iu khin PD


Trong tn hiu tc ng: u(t) = Ke(t) +Td

Hm truyn: W(s) = K(1+Td.s)


Nu qu iu chnh tng th e(t) gim,

<0 nn u(t) gim nhiu khng

cho max tng qu ln. V vy iu khin PD lm cho gim chn ca h thng tng
ln, tc l gim qu iu chnh nhng thi gian tr li tng.

27

Quy lut iu khin t l - tch phn (PI)


nng cao chnh xc ca h thng, ngi ta thm khu iu khin tch phn
r(t)

e(t)

u(t)

c(t)

G(S)

(-) f(t)
KI

H(S)

Hnh 2.4 S khi b iu khin PI


Trong tn hiu tc ng: u(t) = Ke(t) + KI
Hm truyn: W(s) = K(1+

1
)
TI S

Khi no cn sai lch, th tn hiu tc ng cn duy tr lm gim sai lch ny.


iu khin PI lm cho h hu sai thnh v sai. Loi ca h thng tng ln ngha l
bc ca n cng tng ln do n nh ca h km i.
Quy lut iu khin PID
Lut iu khin PID l thut tnh ton tn hiu iu khin t sai s gia tn hiu
mong mun v tn hiu o c. Tn hiu l tng ca ba thnh phn P (t l vi sai
s), I (tch phn ca sai s) v D (vi phn ca sai s):
r(t)

e(t)

u(t)

G(S)

c(t)

(-) f(t)
TD S

Ki/S
H(S)

Hnh 2.5 S khi b iu khin PID

28

Trong tn hiu tc ng: u(t) = Ke(t) + Td

Hm truyn: W(s) = Kp(1+Td.S +

+ Ki

1
)
TI S

Quy lut PID l quy lut hon ho nht, tc ng nhanh hn c quy lut P, n
p ng c hu ht cc yu cu v cht lng ca cc qu trnh cng ngh.
2.2. Cc phng php tng hp tham s ca b PID
B iu khin PID c d dng kh rng ri iu khin i tng SISO theo
nguyn l hi tip.

e(t)

u(t)

1
TI S

Kp

TD S

e(t)
(-)

PID

u(t) i tng
iu khin

Hnh 2.6. S nguyn l iu khin vi b iu khin PID


L do b iu khin PID c s dng rng ri l tnh n gin ca n v c cu
trc ln nguyn l lm vic. B PID c nhim v a sai lch tnh e(t) ca h thng
v khng, sao cho qu trnh qu tha mn yu cu c bn v cht lng:
-

Nu sai lch e(t) cng ln th thng qua thnh phn up(t), tn hiu u(t) cng ln

(vai tr khuch i kp)


-

Nu sai lch e(t) cha bng khng th thng qua thnh phn uI(t), PID vn cn

to tn hiu iu chnh (vai tr ca tch phn TI)

29

Nu s thay i ca sai lch e(t) cng ln th thng qua thnh phn uD(t), phn

ng thch hp ca u(t) s cng nhanh (vai tr ca thnh phn TD)


B iu khin PID c m t bng m hnh vo- ra:
t

1
de(t )
u (t ) = k p e(t ) + e( )d + TD

Ti 0
dt

Trong e(t) l tn hiu u vo, u(t) l tn hiu u ra, kp c gi l h s


khuch i, TI l hng s tch phn, TD l hng s vi phn.
T m hnh vo- ra trn ta c hm truyn t ca b iu khin PID:

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

Cht lng h thng ph thuc vo cc tham s k p ,TI, TD. Mun cho 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 c nhiu phng php xc nh tham s kp ,TI, TD cho
b iu khin PID, song tin ch hn c trong ng dng vn l:
-

Phng php Ziegler Nichols.

Phng php Chien Hrones Reswick.

Phng php tng T ca Kuhn.

Phng php ti u ln v phng php ti u i xng.

Phng php ti u theo sai lch bm.

Phng php Hamal.

Phng php d bo Smith.

30

2.2.1. Phng php Ziegler Nichols


2.2.1.1. Phng php Ziegler Nichols th nht
Trong phng php th nht, s dng m hnh xp x qun tnh bc nht c
tr ca i tng iu khin
ke Ls
S ( s) =
1 + Ts

(2.1)

Phng php thc nghim ny c nhim v xc nh cc tham s kp ,TI, TD


cho b iu khin PID trn c s xp x hm truyn t S(s) ca i tng thnh
dng (2.1), h kn nhanh chng tr v ch d xc lp v qu iu chnh h
khng vt qu gii hn cho php (khong 40% so vi h = lim t h(t ) ), tc l c
h
0,4
h

e(t)
(-)

PID

u(t) i tng

y(t)

iu khin

Hnh 2.7 Nhim v ca b iu khin PID


Ba tham s L (hng s thi gian tr), k (h s khuch i) v T (hng s thi
gian qun tnh) ca m hnh xp x (2.1) c th xc nh gn ng t th hm qu
h(t) ca i tng. Nu i tng c hm qu nh dng (hnh a) m t th hm
h(t) ta c c ngay:
1. L l khong thi gian u ra cha c phn hi ngay vi kch thch 1(t) ti u vo
2. K l gi tr gii hn h = lim t h(t )
3. Gi A l khong thi gian tr tc l im trn trc honh c honh bng L, khi
T l khong thi gian cn thit tip tuyn ca h(t) ti A t c gi tr k.
Trng hp hm qu khng c dng l tng, c dng (hnh b) th ba tham s
K, T, L ca m hnh ton hc (2.1) c xc nh nh sau:

31

+ K l gi tr gii hn h = lim t h(t )


+ K tip tuyn ca h(t) ti im un ca n. Khi L 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.

h(t)
k

t
L T
Hnh a

Hnh b

Hnh 2.8. Xc nh tham s ca b PID theo Ziegler Nichols th nht


Nh vy ta c th thy l iu kin p dng c phng php xp x m
hnh bc nht c tr ca i tng l phi n nh, khng c dao ng v t nht hm
qu ca n phi c dng hnh ch S.
Sau khi c cc tham s cho m hnh ton hc (xp x (2.1)) ca i tng,
Ziegler Nichols ngh s dng cc tham s kP, TI, TD cho b iu khin nh
sau:
* Nu s dng cho b iu khin khuch i R ( s ) = k p th chn: k p =

* Nu s dng b PI vi R( s) = k p 1 +

1
0,9T
10
th chn: k p =
v TI = L
TI s
kL
3

* Nu s dng b PID vi R( s ) = k p 1 +

TD =

T
kL

1
1,2T
+ TD s th chn: k p =
, TI = 2 L ,
TI s
kL

L
2

32

2.2.1.2. Phng php Ziegler Nichols th hai


Phng php ny c c im l khng s dng m hnh ton hc, ngay c m
hnh xp x gn ng (2.1)

e(t)
(-)

u(t) i tng

K th

y(t)

iu khin

Hnh 2.9. Xc nh hng s ti hn


Phng php Ziegler Nichols th hai ny c ni dung nh sau:
1. Thay i b iu khin PID trong h kn (hnh v) bng b khuch i, sau tng
h s khuch i ln ti gi tr kth h kn ch bin gii n nh, tc l h(t) c
dng dao ng iu ha. Xc nh chu k Tth ca dao ng.
2. Xc nh tham s ca b iu khin nh sau:
1
2

a) Nu s dng R ( s) = k p th chn: k p = k th

b) Nu s dng R( s) = k p 1 +

1
th chn: k p = 0,45k th v TI = 0,85Tth
TI s

c) Nu s dng b PID vi R( s ) = k p 1 +

1
+ TD s th chn: k p = 0,6k th
TI s

TI = 0,5Tth v TD = 0,12Tth

Phng php ny c nhc im l ch c th p dng cho nhng i tng


c ch bin gii n nh khi hiu chnh hng s khuch i trong h kn.
33

2.2.2. Phng php Chien Hrones Reswick


V nguyn l, phng php ny gn ging phng php Ziegler Nichols, song
n khng s dng m hnh tham s (2.1) gn ng dng qun tnh bc nht c tr cho
i tng, m thay vo l trc tip dng hm qu ca n.
Phng php ny cng c gi thit rng i tng l n nh, hm qu h(t)
khng dao ng v c dng hnh ch S nh hnh b, tc l lun c o hm khng m:
dh(t )
= g (t ) 0
dt

Hnh 2.10. p ng qu ca i tng


Tuy nhin, phng php ny thch ng vi nhng i tng bc cao nh qun
tnh bc n: S ( s) =

k
b
v c p ng qu tha mn > 3
(1 + ST ) n
a

Trong , a l honh giao im ca h(t) ti im un U vi trc thi gian v b


l khong thi gian cn thit tip tuyn i t 0 n gi tr xc lp
k = h = lim t h(t )

T dng ca th h(t) i vi cc tham s a, b tha mn, Chien Hrones


Reswick a ra bn cch xc inh cc tham s ca b iu khin cho bn yu
cu cht lng:

34

1. 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
v TI = 4a
10ak

c) B iu khin PID: Chn k p =

19b
12a
21a
, TI =
, TD =
20ak
5
50

2. Yu cu ti u theo nhiu (gim nh hng nhiu) v h kn c qu iu


chnh h khng vt qu 20% so vi h = lim t h(t )
a) B iu khin P: Chn k p =

7b
10ak

b) B iu khin PI: Chn k p =

6b
6b
v TI =
10ak
5

c) B iu khin PID: Chn k p =

6b
21a
, TI = 2a , TD =
5ak
50

3. Yu cu ti u theo tn hiu t trc (gim sai lch bm) v h thng khng c


qu iu chnh h :
a) B iu khin P: Chn k p =

3b
10ak

b) B iu khin PI: Chn k p =

7b
6b
v TI =
10ak
5

c) B iu khin PID: Chn k p =

3b
a
, TI = b , TD =
5ak
2

35

4. Yu cu ti u theo tn hiu t trc (gim sai lch bm) v h thng c


qu iu chnh h khng vt qu 20% so vi h = lim t h(t ) :
a) B iu khin P: Chn k p =

7b
10ak

b) B iu khin PI: Chn k p =

6b
v TI = b
10ak

c) B iu khin PID: Chn k p =

19b
27b
47a
, TI =
, TD =
20ak
20
100

2.2.3. Phng php tng T ca Kuhn


Trc khi nghin cu phng php tng T ca Kuhn ta xt nh l v iu
kin tn ti qu iu chnh:
nh l 2.1: Xt h pha n nh SISO c hm truyn t (2.1) v k > 0. Nu tt c
cc im khng qk (k = 1,,m) v im cc pi (i = 1,,n) u l nhng s thc m
th khng mt tnh tng qut, ta c th c gi thit:
0 > q1 ... q m v 0 > p1 ... p n (2.2)

Khi ta c:
a) Nu ng thi tt c m bt ng thc sau c tha mn:
q1 < p1 , q 2 < p 2 ..., q m < p m (2.3)

Th hm qu h(t) ca h n iu tng, ni cch khc, h khng c qu iu


chnh.
b) Nu c 1 bt ng thc trong s m bt ng thc (2.3) khng c tha mn
th hm qu ca h s c ng 1 im cc tr v do h c qu iu
chnh.
Phng php tng T ca Kuhn cho i tng c hm truyn t:
(1 + T1t s )(1 + T2t s)...(1 + Tmt s) sT
S (s) = k
e
(m<n) (2.4)
(1 + T1m s)(1 + T2m s)...(1 + Tnm s)

36

Gi thit hm qu h(t) ca n c dng hnh ch S, vy th (2.4) tha mn nh l


t
2.1, tc l cc hng s thi gian t s T j phi c gi thit l n nh hn hng s
t
thi gian tng ng vi n mu s T j . Ni cch khc, nu nh c s sp xp:

T1t > T2t ... Tmt v T1m > T2m ... Tnm

Th cng phi c: T1t < T1m , T2t < T2m .., Tmt < Tnm

Hnh 2.11. Quan h gia din tch v tng hng s thi gian
Gi A l din tch bao bi ng cong h(t) v k = lim t h(t )
m
t
nh l 2.2: Gia din tch A v cc hng s thi gian Ti , T j ,T c mi quan h:

A = kT = k ( T jm T jt + T )

j =1
i =1

nh l 2.2 ch ra rng T c th d dng c xc nh t hm qu h(t) dng


hnh ch S v i t 0 ca i tng l n nh, khng dao ng, bng cch c lng
din tch A, ri tnh:
A
k = lim t h(t ) v T =

(2.5)

Trn c s hai gi tr k, T c ca i tng, Kuhn ra phng php tng T


xc nh cc tham s ca b iu khin PID sao cho hi tip c qu trnh qu ngn
hn v qu iu chnh h khng vt qu 25%.
37

Phng php ny gm 2 bc nh sau:


Xc nh k, T , c th t hm truyn t S(s) cho (2.4) nh inh l

1)

2.2 v cng thc 2.5, hoc bng thc nghim t hm qu h(t) i t 0 v c


dng hnh ch S ca i tng theo (2.5)
2) Xc nh tham s:
* Nu s dng b iu khin PI: Chn k p =

T
1
v TI =
2k
2

* Nu s dng b iu khin PID: Chn k p =

2T
1
, TI = v TD = 0,167T
k
3

2.2.4. Phng php ti u ln


Mt trong nhng yu cu v cht lng i vi h thng iu khin kn m t bi
hm truyn t G(s):
G(s) =

e(t)
(-)

R(s)

SR
(2.7)
1 + SR
u(t)

S(s)

y(t)

Hnh 2.12. S khi h thng iu khin kn


L h thng lun c c p ng y(t) ging nh tn hiu nhn c u vo
(t ) ti mi tn s, hoc t ra thi gian qu y(t) bm c vo (t ) cng gn

cng tt. Ni cch khc, b iu khin l tng R(s) cn phi mang n cho h thng
kh nng:
G ( j ) = 1 vi mi (2.6)

Nhng trong thc t, v nhiu l do m yu cu tha mn 2.6 kh c p


ng. Chng hn nh v h thng thc t lun cha trong n bn cht qun tnh, tnh
cng li lnh tc ng t bn ngoi. Song tnh xu ca h thng li c gim
bt mt cch t nhin ch lm vic c tn s ln, nn ngi ta thng tha
38

mn vi b iu khin R(s) khi n mang li cho h thng tnh cht (2.6) trong mt di
tn s rng thuc ln cn 0.
B iu khin R(s) tha mn: G ( j ) = 1 trong di tn s thp, c rng ln
c gi l b iu khin ti u ln.
Phng php ti u ln c xy dng ch yu ch phc v vic chn tham
s b diu khin PID iu khin cc i tng S(s) c hm truyn t dng:
+ Qun tnh bc nht: S ( s) =

+ Qun tnh bc hai: S ( s ) =

+ Qun tnh bc ba: S ( s) =

k
1 + Ts

k
(1 + T1 s )(1 + T2 s)
k
(1 + T1 s)(1 + T2 s )(1 + T3 s)

Tuy nhin, vi nhng i tng c hm truyn t phc tp hn, chng hn nh


(2.4) ta vn c th s dng c cc tham s PID theo ti u ln bng cch xp x
chng v mt trong ba dng c bn trn nh phng php tng T ca Kuhn hoc
phng php tng cc hng s thi gian nh s c trnh by di y.
1) iu khin i tng qun tnh bc nht:
B iu khin l khu tch phn: R( s) =

kp
TI s

(2.8)
k

i tng l khu qun tnh bc nht: S ( s) = 1 + T (2.9)


s

Nh vy s c:
* Hm truyn t h kn: G ( s ) =

TI
k
vi TR = k
(1 + Ts)TR s + k
p

* Hm truyn t h h: Gh ( s ) = R( s ) S ( s ) =

k
(2.10)
(1 + Ts )TR

39

Suy ra G ( j ) =

k2
k 2 + (TR2 2kTR T ) 2 + TR2T 2 4

V iu kin (2.7) c tha mn trong mt di tn s thp c rng ln, tt


nhin ngi ta c th chn TR sao cho:
2
TR2 2kTR2T = 0 TR =

TI
= 2kT
kp

Khi , h kn c hm truyn t:
n2
k
G ( s) =
=
2kTs(1 + Ts) + h s 2 + 2 D n s + n2

vi n =

1
2T

vD =

1
2

nh l 2.3: Nu i tng iu khin l khu qun tnh bc nht (2.9) th b iu


T

I
khin tch phn (2.8) vi tham s k = 2kT s l b iu khin ti u ln
p

Tip theo ta bn v trng hp i tng S(s) c dng:


S ( s) =

k
(2.11)
(1 + T1 s )(1 + T2 s)...(1 + Tn s)

Ta chuyn m hnh ny v dng xp x qun tnh bc nht (2.9)


Phng php sau y l phng php tng cc hng s thi gian nh. N c s
dng ch yu cho cc hm truyn S(s) kiu (2.11) c T1,,Tn rt nh
S dng cng thc khai trin Vieta cho a thc mu s trong (2.11) c:
S (s) =

k
1 + (T1 + T2 + ... + Tn ) s + (T1T2 + T1T3 + ...) s 2 + ...

Do , nhng im tn s thp tc l khi s nh ta c th b qua nhng thnh


phn bc cao ca s v thu c cng thc xp x (2.9) c:
n

T = Ti
i =1

40

nh l 2.4: Nu i tng iu khin (2.11) c cc hng s thi gian c T1,,Tn rt


n
TI
=
2
k
Ti s l b iu khin ti
nh th b iu khin tch phn (2.8) vi tham s

kp
i =1

u ln.
2) iu khin i tng qun tnh bc hai:
Xt bi ton chn tham s b iu khin PID cho i tng qun tnh bc hai:
S (s) =

k
(2.12)
(1 + T1 s )(1 + T2 s)

Khi hm truyn t h h Gh(s) li c dng (2.12) v do s s dng nh


l 2.2. Ta chn b iu khin PI thay v b iu khin I nh lm vi i tng
qun tnh bc nht:
R ( s) = k p (1 +

k p (1 + TI s ) (1 + TI )
1
)=
=
TI s
TI s
TR s

Gh ( s ) = R( s ) S ( s) =

I
(2.13) vi TR = k
p

k (1 +T 1s )
(1 + T1 s )(1 + T2 s )TR s

Vi cch chn tham s TI ny, hm truyn t ca h h (2.12) tr thnh:


Gh ( s ) =

k
(1 + T2 s )TR s

V n hon ton ging nh (2.10) tc l li c c tham s TR theo nh l 2.2


TR =

TI
T
T
= 2kT2 k p = I = 1
kp
2kT2 2kT2

nh l 2.5: Nu i tng iu khin l khu qun tnh bc hai (2.12) th b iu


khin PI vi cc tham s TI = T1, k p =

T1
s l b iu khin ti u ln.
2kT2

M rng ra, nu i tng khng phi l khu qun tnh bc hai m li l hm c


dng (2.11) vi cc hng s thi gian T2, ,Tn l rt nh so vi T1 th n c th xp
x bng:
41

S ( s) =

n
k
trong T = Ti
(1 + T1 s )(1 + Ts)
i=2

Nh phng php tng cc hng s thi gian nh ta cn c:


nh l 2.6: Nu i tng iu khin (2.11) c mt hng s thi gian T1 ln vt
tri v cc hng s thi gian cn li T2, ,Tn l rt nh, th b iu khin PI (2.13) c

cc tham s TI = T1,

kp =

T1
n

2k Ti

s l b iu khin ti u ln.

i =2

3) iu khin i tng qun tnh bc ba


Tng t nh ln vi i tng l khu qun tnh bc hai, nu i tng l
khu qun tnh bc ba c hm truyn t:
S ( s) =

k
(2.14)
(1 + T1 s )(1 + T2 s)(1 + T3 s)

Ta s s dng b iu khin PID


TI

(1 + TA s )(1 + TB s)
1
R ( s) = k p 1 +
+ TD s =
vi TR = k
TR s
p
TI s

Vi TA + TB = TI v TATB = TI TD
Khi hm truyn t h h s tr v dng (2.10), nu ta chn:
TA = T1 v TB = T2 T1 + T2 = TI v TD =
T

T1 + T2
T2T1

T +T

I
1
2
Suy ra: TR = k = 2kT3 k p =
2kT
p
3

nh l 2.7: Nu i tng iu khin l khu qun tnh bc ba (2.14) th b iu


khin PID vi cc tham s T1 + T2 = TI , TD =
ti u ln.
42

T1 + T2
T1 + T2
, kp =
s l b iu khin
T2T1
2kT3

Trong trng hp i tng li c hm truyn t (2.11) nhng cc hng s thi


gian T3, ,Tn l rt nh so vi hai hng s cn li T1, T2 khi s dng phng php
tng cc hng s thi gian nh, xp x n v dng qun tnh bc ba:
S (s) =

n
k
trong T = Ti
(1 + T1 s )(1 + T2 s)(1 + T3 s)
i =3

Ta s p dng nh l 2.7 vi:


T +T
T1 + T2 k p = 1 n 2
T1 + T2 = TI , TD =
,
T2T1
2k Ti
i =3

2.2.5. Phng php ti u i xng


Phng php chn cc tham s PID theo nguyn tc ti u i xng c xem l
mt s b p cho khuyt im ca phng php ti u ln (i tng S(s) phi
n nh, hm qu ca n phi i t 0 v c dng ch S).
Trc tin ta xt h kn nh hnh v:

e(t)
(-)

R(s)

u(t)

S(s)

y(t)

Hnh 2.13. Thit k b iu khin PID theo phng php ti u i xng


Gi Gh ( s ) = R( s ) S ( s) l hm truyn t ca h h. Khi hm truyn t ca h
kn l:
G ( s) =

Gh ( s )
1 + Gh ( s )

Gh ( s) =

G ( s)
1 G ( s)

c G ( j ) = 1 trong gii tn s thp th phi c Gh ( j ) >> 1 trong di tn


nh (2.15)
Biu Bode mong mun ca hm Gh(s) gm Lh ( )v h ( ) . Trong di tn s
trong biu Bode c chia lm ba vng:

43

+ Vng I l vng tn s thp. iu kin 2.15 c th hin r nt vng ny l hm


c tnh ca h h Gh ( j ) c bin rt ln hay Lh ( ) >> 0 .
+ Vng II l vng c tn s trung bnh v cao. Vng ny c c trng bi tn s
ct Lh ( c ) = 0 hay Gh ( j c ) = 1 . Mong mun rng h kn khng c cu trc phc
tp nn hm Gh ( j ) cng c gi thit ch c mt tn s ct.
+ Vng III l vng c tn s rt cao. Vng ny mang tnh t, c th b qua c,
nhng mang thng tin v cht lng ca h thng. h thng khng b nh hng
bi nhiu tn s rt cao G(s) cn c bin rt nh, th trong vng ny hm Gh ( j )
nn c gi tr tin n khng.
C th thy ngay c rng, nu k hiu
TI = I1 , Tc = c1 , T1 = 11

Th G(s) mong mun vi biu Bode phi l:


Gh ( s ) = R( s) S ( s ) =

k h (1 + TI s ) (2.16)
s 2 (1 + sT )

1. iu khin i tng tch phn - qun tnh bc nht


T (2.16) ta thy c, khi i tng S(s) c hm truyn t dng khu tch phn
qun tnh bc nht:
S ( s) =

k
s (1 + TI s )

th b iu khin PI R( s) = k p (1 +

H h c hm truyn t: Gh ( s ) = R( s ) S ( s ) =

k p k (1 + TI s )
TI s 2 (1 + sTI )

1
)
TI s

(2.17)

R rng trong vng I hm G(s) (2.17) tha mn (2.15). vng II tha mn,
biu Bode ca Gh(s) c nghing -20dB/dec xung quanh im tn s ct th phi
c:
I =

1
1
< 1 =
TI > T1 (2.18)
TI
T1

44

V: Gh ( j I ) > Gh ( j c ) = 1 > Gh ( j1 )

(2.19 )

T m hnh (2.18) ca h h ta c gc pha:


h ( )arctgGh ( j ) = arctg(TI ) arctg (T1 ) (2.20)

Nhm nng cao d tr n nh cho h kn, cc tham s ca b iu khin cn


phi c chn sao cho ti tn s ct c , gc pha h ( c ) l ln nht. iu ny dn
n:
d h ( c )
lg( I ) + lg(1 )
= 0 lg(c ) =
(2.21)
d
2

Kt qu (2.21) ny ni rng trong biu Bode, im tn s ct cn phi nm gia


hai im I v 1 . l l do ti sao phng php ny c tn l i xng.
Gi khong cch gia I v 1 o trong trc ta biu Bode l a, ta c:
Lga = lg 1 - lg I a =

TI
T1

(2.22)

Vy s c (2.19 ) nu a>1
Thay c cho trong (2.21) vo (2.19), ta c
G h ( j ) = 1

1
kT I a

= 1 (2.23)

Ni cch khc nu c a>1 v (2.23) th c (2.20)


Trong vng II hm Gh(s) c th thay gn ng bng: Gh ( s) =

Khi hm truyn t ca h kn: G ( s ) =

Vi T = TcT1 v 2 D =

1
1 + 2 DTs + (Ts ) 2

TC
D = a < 1 nu 4>a>1
T1
2

45

1
Tc s (1 + sT1 )

Vy trong vng II, hm qu h kn c dng dao ng tt dn khi 4>a>1. Theo


, qu iu chnh ca h kn s l:
D

4 ln 2 (h)
h = exp(
) a= 2
(2.24)
+ ln 2 (h)
1 D2

Cng thc (2.24) xc nhn iu khng nh h nghch bin vi a. Ngoi ra,


cng ni ln rng h ch ph thuc vo a, do c s dng xc nh a t yu
cu cht lng h kn h .
Tm li, nu i tng iu khin l tch phn qun tnh bc nht th b iu
khin ti u i xng s l b PI vi cc tham s nh sau:
+ Xc nh a t qu iu chnh h cn c ca h kn theo (2.24), 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 th h kn khng n nh.
+ Tnh TI theo (2.22) tc TI = aT1
+ Tnh kp theo (2.23) tc l k p =

1
kT1 a

2. iu khin i tng tch phn qun tnh bc hai:


iu khin i tng l khu tch phn qu tnh bc hai:
S (s) =

k
(2.25)
s(1 + T1 s )(1 + T2 s )

Ta s dng b iu khin PID: R( s ) = k p 1 +

k p (1 + TA s )(1 + TB s)
1
+ TD s =
(2.26)
TI s
TI s

C cc tham s: TA + TB = TI v TATB = TI TD , TA = T1 (2.27)


V vi n, h h cng c hm truyn t dng (2.17) v (2.18)
Gh ( s ) = R ( s ) S ( s ) =

k p k (1 + TB s )
TI s 2 (1 + sT2 )

= kp

k pTB (2.28)
k (1 + TB s) vi
k
=
p
TB s 2 (1 + T2 s )
TI

Ta c cc tham s ti u i xng ca b iu khin PID (2.26)


46

Tb = aT2 v k p =

47

1
kT2 a

Suy ra cc tham s ca b iu khin PID c chn nh sau:


+ Chn TA = T1
+ Xc nh 4>a>1 t qu iu chnh h cn c ca h kn, hoc chn a>1 t yu
cu cht lng ra. Gi tr a c chn cng ln qu iu chnh cng nh. h
kn khng c dao ng th chn a 4 . H kn s khng n nh nu a 1
+ Tnh k p =

1
kT2 a

ri suy ra k p =

k pTB
TI

3. Gim qu iu chnh bng b iu khin tin x l


Quy t chung li phng php thit k b iu khin PID ti u i xng l t
hm truyn t S(s) ca i tng, b iu khin R(s) phi c chn sao cho cng
vi n, h h ca h thng c hm truyn t.
Gh ( s ) = R ( s ) S ( s ) = k p

k (1 + TB s)
TB s 2 (1 + T2 s )

+ Nu i tng l khu tch phn qun tnh bc nht S ( s ) =

k
th
s (1 + TI s )

k p= kp, T = TI, vi kp, TI l hai tham s ca b iu khin PI

+ Nu i tng l khu tch phn qun tnh bc hai (2.12) th: k p =

k pTB
TI

v T = TB

c hai trng hp ny cc tham s ca b iu khin ti u i xng lun c


chn hm truyn t ca h h tr thnh: G ( s) =

1 + aTs
a aT 2 s (1 + Ts)

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 a 4 , h kn s khng c dao ng.
+ H kn khng n nh khi a 1
+ qu iu chnh ca h kn v a t l nghch vi nhau theo (2.24)
48

+ Khi a c chn cng ln, vng I cng hp lm cho min tn s m ti cht


lng ca h thng c nh gi theo hm bin , hm c tnh tn s ca h kn.
Ta c hm truyn t h kn: G ( s ) =

Gh ( s )
1 + aTs
=
1 + Gh ( s ) 1 + T + a aT 2 s 2 + a aT 3 s 3

R rng nguyn nhn lm tng qu iu chnh l thnh phn vi phn c trong


a thc t s ca G(s). Nhn xt ny a n suy ngh l gim qu iu chnh
ny, ta nn ni h kn vi khu tin x l M ( s) =

1
loi b thnh phn vi
1 + aTs

phn ny ra khi a thc t s

M(s)

Gh (s)

Hnh 2.14.Gim qu iu chnh bng b tin x l


Vn cn li l xc nh a h mi vi hm truyn t G(s)=M(s)G(s) c di
tn s thp tha mn G ( j ) 1 l rng nht, ging nh phng php ti u
2
ln. thc hin iu ta i t G ( j ) v thy, c G ( j ) 1 trong min tn

s c dao ng ln nht th a = 2 a = 4
Cui cng ta i n kt lun:
* Nu i tng l khu tch phn qun tnh bc nht th
a) Chn b iu khin PI vi k p =
b) Chn b tin x l: M ( s) =

1
; T1 = TI
2kT1

1
1 + 4T1s

* Nu i tng l khu tch phn qun tnh bc hai th


a) Chn b iu khin PID vi TI =T 1+4T2 ; TD =

49

4T1T2
T1
; kp =
T + 4T21
8kT22

b) Chn b tin x l: M ( s) =

1
1 + 4T2 s

2.2.6. Phng php Halman:


- Vi i tng iu khin l khu qun tnh bc nht c tr c dng:
S( S ) =

k .e Ls
1 + T .s

Th theo Halman ta s dng b iu khin PI c cc thng s c tnh nh sau:


2. T
kp = T
=
,
I T
3. kL
.

- Vi i tng l khu qun tnh bc hai c tr c dng:


Ss =

k
. e Ls
(1 + T1 s ).(1 + T2 s )

Th theo Halman ta s dng b iu khin PID c cc thng s c tnh nh sau:


kp =

2.(T1 + T2 )
T .T
, TI = T1 + T2 , TD = 1 2
3kL
T1 + T2

2.2.7. Phng php d bo Smith:


Trong khi cc phng php s dng b PID trc tip nh trn gii thiu, hay thit
k theo phng php ti u ln, ta c th xp x thnh phn tr bng khu qun
tnh bc cao. Th cc phng php ti u i xng hoc cn bng m hnh l khng
th c. N thng a hm truyn t i tng c bc qu cao lm cho m hnh
xp x c sai lch gc pha ln hoc dn n trng hp khng thch hp c b
iu khin do vi phm tnh nhn qu.
vn s dng c cc phng php gii thiu cho nhng i tng c thnh
Ls
phn tr e , Smith a ra nguyn tc d bo (Smith - predictor) kh n gin

song li c ngha ng dng ln.


Cng vic thit k b iu khin d bo Smith cho i tng c tr gm cc bc
nh sau:
50

Gs ( s) = e Ls .S ( s)

Thit k b iu khin R(s) cho ring phn S(s) ca i tng theo cc phng
php bit .
B
iukhin G R (s)

R(s)

Ls

S(s)

( )

( )

( )

e Ls

S(s)

Hnh 2.15. S khi h thng iu khin PID theo phng php d bo Smith
Xy dng b iu khin vi cu trc nh hnh v:
GR ( s) =

Rs
1 + Rs .S s .(1 e Ls )

2.2.8. Phng php ti u theo sai lch bm


Xt h SISO lm vic theo nguyn l hi tip, gm i tng S(s) v b iu khin
PID hoc PI nh hnh v.
Bi ton c nhim v xc nh tham s ca b iu khin PI gm kp, TI hoc kp, TI,
TD sao cho tn hiu u ra y(t) bm c vo tn hiu lnh (t ) mt cch tt nht
theo ngha: Q = (t ) y (t ) 2 = e(t ) 2 min!
nr
e

PID

u
S(s)

nd

Hnh 2.16. S khi h thng iu khin PID theo phng php sai lch bm

51

Gi E(s) l nh Laplace ca e(t), tc l:


E (s) =

b0 + b1 s + ... + bm1 s m 1
a 0 + a1 s + ... + a n 1 s n 1 + s n

Khi r rng cc tham s bi, ak, (i = 0,1,2,m; k = 0,1,2,,n) ca E(s) ph


thuc vo b tham s kp, TI, TD cn xc nh ca b iu khin.
S dng phng php tm Q theo Krasowaki hoc theo bng tra ta n c Q 2
di dng hm tng minh:
Q 2 = f (k p , TI , TD ) = f(p) trong p = (k p , TI , TD ) T
*
V bi ton thit k b iu khin PID ti u tr thnh: p = arg min f ( p) (*)

Cc phng php tm s nghim ca (*) chng hn nh phng php


Gradient, phng php Gauss-Sidel, phng php Newton-Raphon

52

2.3. Thit k b PID kinh in iu khin i tng l nhit


2.3.1. Kho st i tng khi cha c b iu khin
* Hm truyn i tng: G(s) =

56
* e 50 s
1 + 410 s

* p ng qu ca i tng khi cha c b iu khin:


+ Thit lp s khi trn Simulink:

+ p ng qu ca i tng khi cha c b iu khin:

Hnh 2.17. p ng ca i tng khi cha c b iu khin


Nhn xt: H thng c: Lng qu iu chnh: max = 0
Thi gian qu : tq =1250s
Sai lch tnh nh v s ln dao ng =0

53

2.3.2. Phng php Ziegler-Nichols th nht


* B iu khin c hm truyn:

1
1
R ( s) = k p 1 +
+ TD s = 0,176 (1+
+ 25s)
100 s
TI s

* Thit lp s khi h thng trn Simulink:

* p ng qu ca h thng khi c b iu khin:

Hnh 2.18. p ng ca h thng vi b PID theo Ziegler-Nichols th nht


Nhn xt: H thng c: Lng qu iu chnh: max = 17%
Thi gian qu : tq = 485s
Sai lch tnh =0 v s ln dao ng =1

54

2.3.3. Phng php Ziegler Nichols th hai


* Tng h s K p ng ca i tng c dng dao ng iu ha:

Khi Kth = 0.3212, ta c p ng u ra ca h thng c dng dao ng iu ha


nh sau:

Hnh 2.19. p ng ca h thng khi ti gi tr Kth


Khi : Tth = 200s
* B iu khin c hm truyn:

1
1
R ( s ) = k p 1 +
+ TD s = 0.1 (1 +
+ 24s)
120 s
TI s

55

* Thit lp s khi h thng trn Simulink:

* p ng qu ca h thng khi c b iu khin:

Hnh 2.20. p ng ca h thng vi b iu khin PID


theo Ziegler Nichols th hai
Nhn xt: H thng c: Lng qu iu chnh: max = 32,6%
Thi gian qu : tq = 410s
Sai lch tnh nh v s ln dao ng =1

56

2.3.4. Phng php Chien Hrones Reswick


* B iu khin c hm truyn:

1
1
R ( s ) = k p 1 +
+ TD s = 0.25 (1 +
+ 21s)
120 s
TI s

* Thit lp s khi h thng trn Simulink:

* p ng qu ca h thng khi c b iu khin:

Hnh 2.21. p ng ca h thng vi b PID theo Chien Hrones Reswick


Nhn xt: H thng c: Lng qu iu chnh: max = 14 %
Thi gian qu : tq = 385s
Sai lch tnh nh v s ln dao ng =1
57

2.3.5. Phng php tng T ca Kuhn


* B iu khin c hm truyn:

1
1
R ( s ) = k p 1 +
+ TD s = 0.018 (1 +
+ 77s)
360 s
TI s

* Thit lp s khi h thng trn Simulink:

* p ng qu ca h thng khi c b iu khin:

Hnh 2.22. p ng ca h thng vi b PID theo phng php tng T


Nhn xt: H thng c: Lng qu iu chnh: max = 2,2%
Thi gian qu : tq = 885s
Sai lch tnh nh v s ln dao ng =0
58

2.3.6. Phng php Halman


* B iu khin c hn truyn:
R(s)= 0.098 (1+

* Thit lp s khi h thng trn Simulink:

* p ng qu ca h thng sau khi c b iu khin:

Hnh 2.23. p ng ca h thng vi b PID theo Halman


Nhn xt: H thng c: Lng qu iu chnh: max = 18,7%
Thi gian qu : tq = 270s
Sai lch tnh nh v s ln dao ng =1
59

2.3.7. Phng php d bo Smith


* B iu khin c chn ring cho phn S(s) ca i tng:
R(s)=

* Thit lp s khi h thng trn Simulink:

* p ng qu ca h thng khi c b iu khin:

Hnh 2.24. p ng ca h thng vi b PID theo d bo Smith


Nhn xt: H thng c: Lng qu iu chnh: max = 8,7%
Thi gian qu : tq = 3000s
Sai lch tnh nh v s ln dao ng =1
60

2.3.8. Kt lun
Nh vy sau khi thit k, m phng v so snh cc b iu khin PID kinh
in, chng em nhn thy vi i tng l nhit, b iu khin PID thit k theo
Phng php Chien Hrones Reswick cho cht lng h thng tt hn c. Do ,
chng em la chn b iu khin ny cho i tng.
* B iu khin c chn:

1
1
R ( s ) = k p 1 +
+ TD s = 0.25 (1 +
+ 21s)
120 s
TI s

* p ng qu ca h thng khi cha c nhiu tc ng:

Khi , h thng c:

Lng qu iu chnh: max = 14 %


Thi gian qu : tq = 385s
Sai lch tnh =0 v s ln dao ng =1

61

* Khi c nhiu tc ng vo u vo: (Cng sut nhiu 0,15)


+ Thit lp s khi h thng trn Simulink:

+ p ng qu ca h thng khi :

Hnh 2.25. p ng ca h thng vi b PID theo Chien Hrones Reswick


khi c nhiu u tc ng vo u vo
Nhn xt: Khi c nhiu tc ng vo u vo, th h thng khng cn n nh. Hay
ni cch khc, khi , b iu khin ny khng iu khin c h thng.

62

* Khi c nhiu tc ng vo i tng: (Cng sut nhiu 0,021)


+ Thit lp s khi h thng trn Simulink:

+ p ng qu ca h thng khi :

Hnh 2.26. p ng ca h thng vi b PID theo Chien Hrones Reswick


khi c nhiu tc ng vo i tng
Nhn xt: Khi c nhiu tc ng vo i tng th h thng dao ng mnh
xung quanh gi tr n nh. Hay ni cch khc, b iu khin khng cn iu
khin c h thng.
63

* Khi c nhiu tc ng vo b iu khin: (Cng sut nhiu 0,002)


+ Thit lp s khi h thng trn Simulink:

+ p ng qu ca h thng khi :

Hnh 2.27. p ng ca h thng vi b PID theo Chien Hrones Reswick


khi c nhiu tc ng vo b iu khin
* Nhn xt: Khi c nhiu tc ng vo cc v tr khc nhau ca h thng th b iu
khin PID kinh in khng iu khin c h thng.

64

KT LUN CHNG 2:
Nh vy trong chng 2, chng em thit k c cc b iu khin PID
kinh in theo cc phng php khc nhau v m phng c p ng qu ca
h thng khi c b iu khin.
La chn b PID kinh in tt nht cho i tng: l b iu khin PID
thit k theo phng php Chien Hrones Reswick.
M phng c p ng qu ca h thng trong trng hp c nhiu tc
ng vo 3 v tr: Nhiu tc ng vo u vo, nhiu tc ng vo b iu khin, v
nhiu tc ng vo i tng. V chng em nhn thy rng khi c nhiu tc ng th
cc b PID kinh in ny khng th iu khin c i tng na.

65

CHNG 3. IU KHIN NHIT L NHIT BNG LUT


IU KHIN M
A. TNG QUAN V B IU KHIN M
3.1. M u
iu khin m chim mt v tr quan trng trong iu khin hc k thut hin
i, n nay iu khin m l mt phng php iu khin ni bt bi tnh linh
hot v thu c nhng kt qu kh quan trong nghin cu, ng dng l thuyt
tp m, logic m v suy lun m. Nhng tng c bn trong h iu khin logic
m l tch hp kin thc ca cc chuyn gia trong thao tc vo cc b iu khin,
quan h gia cc u vo v u ra ca h iu khin logic m c thit lp thng
qua vic la chn cc lut iu khin m (nh lutt if- then) trn cc bin ngn ng.
Lut iu khin if- then l cu trc dng iu kin nu- th trong c mt s t
c c trng bi cc hm lin thuc lin tc. Cc lut m v cc thit b suy lun
m l nhng cng c gn vi vic s dng kinh nghim chuyn gia trong vic thit
k cc b iu khin.
So vi cc gii php k thut t trc n nay c p dng tng hp cc
h iu khin, phng php tng hp b iu khin bng iu khin m c nhng u
im r rt sau:
- Khi lng cng vic thit k gim i nhiu do khng cn s dng m hnh i
tng trong vic tng hp h thng.
- B iu khin m d hiu hn cc b iu khin khc v d dng thay i.
- i vi cc bi ton thit k c phc tp cao, gii php dng b iu khin m
cho php gim khi lng tnh ton v gi thnh sn phm.
- Trong nhiu trng hp b iu khin m lm vic n nh hn, bn vng hn kh
nng chng nhiu cao hn.

66

3.2. Khi nim v tp m


3.2.1. Khi nim c bn
hiu r khi nim M l g ta hy thc hin php so snh sau:
Trong ton hc ph thng ta hc kh nhiu v tp hp, v d nh cc tp s
thc R, tp s nguyn t P = {2,3,5,...}... Nhng tp hp nh vy c gi l tp hp
kinh in hay tp r, tnh R y c hiu l vi mt tp xc nh S cha n
phn t th ng vi phn t x ta xc nh c mt gi tr y = S(x).
Gi ta xt pht biu thng thng v tc mt chic xe mt: Chm, trung bnh,
hi nhanh, rt nhanh. Pht biu CHM y khng c ch r l bao nhiu km/h,
nh vy t CHM c min gi tr l mt khong no , v d 5 km/ h 20km/h
chng hn. Tp L = {chm, trung bnh, hi nhanh, rt nhanh} nh vy c gi l
mt tp cc bin ngn ng. Vi mi thnh phn ngn ng xk ca pht biu trn nu
n nhn c mt kh nng (xk) th tp F gm cc cp (x, (xk)) c gi l tp m.
3.2.2. nh ngha tp m
Tp m F xc nh trn tp kinh in X l mt tp m mi phn t ca n l mt
cp cc gi tr (x, F(x)) trong xX v F l nh x:
F:X[0;1] (3.4)
nh x F c gi l hm thuc (hoc hm ph thuc) ca tp m F. Tp kinh
in X c gi l nn ca tp m F.
S dng cc hm ph thuc tnh ph thuc ca mt phn t x no c hai
cch:
-

Tnh trc tip (nu F(x) cho trc di dng cng thc tng minh )

Tra bng (nu F(x) cho di dng bng).

67

3.2.3. cao, min xc nh v min tin cy ca tp m


* cao ca mt tp m F (nh ngha trn c s X) l gi tr :
h =supF(x) (3.5)
xX
Mt tp m c t nht mt phn t c ph thuc bng 1 c gi l tp m
chnh tc tc l h =1, ngc li mt tp m F vi h<1 c gi l tp m khng
chnh tc .
* Min xc nh ca tp m F (c nh ngha trn nn X), c k hiu bi S l
tp con ca M tho mn:
S = supp F(x) = xX| F(x) >0

(3.6)

* Min tin cy ca tp m F (nh ngha trn c s X), c k hiu bi T, l tp


con ca M tho mn:
T= xX| F(x) =1

(3.7)

Hnh 3.1 l mt v d v min xc nh v min tin cy ca tp m

F (x)

Min tin
cy

nhtin cy ca mt tp m
Hnh 3.1. Min xcMin
nh xc
v min
3.2.4. Bin ngn ng
Bin ngn ng l phn t ch o trong cc h thng dng logic m. y
cc thnh phn ngn ng ca cng mt ng cn c kt hp li vi nhau.
minh ha v hm thuc v bin ngn ng ta xt v d sau: Xt tc ca
mt chic xe mt ta c th pht biu xe ang chy:
68

Rt chm

(VR)

Chm

(S)

Trung bnh

(M)

Nhanh

(F)

Rt nhanh

(VF)

Nhng pht biu nh vy gi l bin ngn ng ca tp m. Gi x l gi tr ca


bin tc , v d: x = 10 km/h, x = 60km/h ... Hm thuc tng ng ca cc bin
ngn ng trn c k hiu l
VS(x), S(x), M(x), F(x), VF(x)

VS

20

40

VF

0.75
0.25
0

60 65 80

100

tc

Hnh 3.2. V d minh ha hm thuc


Nh vy bin tc c hai min gi tr:
Min gi tr ngn ng:
N = {rt chm, chm, trung bnh, nhanh, rt nhanh}
Min cc gi tr vt l:
N = {xB/x 0 }
Bin tc c xc nh trn min ngn ng N c gi l bin ngn ng.
Vi mi xB ta c hm thuc:

69

x (x) = {VS(x), S(x), M(x), F(x), VF(x)}


V d hm thuc ti gi tr r x = 65km/h l:
x(65) = {0;0;0.75;0.25;0}
3.2.5. Cc php ton trn tp m
Cho A, B l hai tp m trn khng gian nn X c cc hm thuc tng ng l
A, B, khi :
Php hp hai tp m: A B
Theo lut Max: A B (x) = Max{ A (x), B (x)}
Theo lut Sum: A B (x) = Min{1, A (x) + B (x)}
Tng trc tip: A B (x) = A (x) + B (x) - A (x). B (x)
Php giao hai tp m:
Theo lut Min: A B (x) = Min{ A (x), B (x)}
Theo lut Lukasiewicz: A B (x) = Max{0, A (x) + B (x) - 1}
Theo lut Prod: A B (x) = A (x). B (x)
Php b tp m:

(x) = 1 -

(x)

3.3. Lut hp thnh


3.3.1. Mnh hp thnh
Cho hai bin ngn ng v . Nu nhn gi tr (m) A c hm lin thuc
A(x) v nhn gi tr (m) B c hm lin thuc B(y) th hai biu thc:
=A,( k hiu l p) c gi l mnh iu kin
V = B , (k hiu l q)c gi l mnh kt lun
Mnh hp thnh: pq (t p suy ra q)
70

Hon ton tng ng vi lut iu khin (mnh hp thnh 1 iu kin)


Nu =A Th =B (3.8)
AB ( t A suy ra B)
L mt gi tr m biu din gi tr m l mt tp C th mnh hp thnh
m (3.8) chnh l nh x :

A(x0) C(y)

nh l Mamdani: ph thuc ca kt lun khng c ln hn ph thuc


ca iu kin
T nguyn tc Mandani ta thit lp c cc cng thc (cn gi l cc quy tc)
xc nh hm lin thuc cho mnh hp thnh AB l:

1. AB(x,y) = Min A(x),B(y) cng thc MAX-MIN


2. AB(x,y) = A(x).B(y)

cng thc MAX-PROD

Hai cng thc ny cho mnh hp thnh AB gi l 2 quy tc hp thnh


theo Mandani.
3.3.2 Lut hp thnh m
Lut hp thnh l tn gi chung ca m hnh biu din mt hay nhiu hm
thuc cho mt hay nhiu mnh hp thnh.
Xt mt v d v lut hp thnh R biu din m hnh li t gm 3 mnh
hp thnh R1, R2, R3 cho bin tc v bin ga nh sau:
R1: Nu = chm th = tng

hoc

R2: Nu = trung bnh = gi nguyn

hoc

R3: Nu = nhanh th = gim


Vi mi gi tr vt l x0 ca bin tc vo th thng qua php suy, ta c ba
tp m

t ba mnh hp thnh R1, R2, R3 ca lut hp thnh R. Ln lt

ta gi cc hm thuc ca 3 tp m kt qu l

. Gi tr

ca lut hp thnh R ng vi x0 c hiu l tp R thu c qua php hp 3 tp m


,

: R =
71

Cc lut hp thnh c bn:


Lut Max Min
Lut Max Prod
Lut Sum Min
Lut Sum Prod
Cc bc xc nh hm thuc

ca gi tr u ra R ca mt lut hp

thnh c n mnh R1, R2, R3, ... Rn nh sau:


Xc nh tha mn ca cc mnh iu kin: H1, H2, H3, ..., Hn,
Tnh cc hm thuc ca cc tp m kt qu:

, ...,

Xc nh hm thuc ca gi tr u ra:
Nu xem lut hp thnh R ch c mt mnh hp thnh
R1: Nu = A th = B nh l lut iu khin ca b iu khin m mt vo
mt ra (SISO) th u ra s l mt gi tr m c hm thuc B ' (y)

Hnh 3.3.B iu khin m vi quy tc Max-Min


Trong trng hp tn hiu vo u vo A l mt gi tr m vi hm lin thuc

(x) u ra B cng l mt gi tr m c hm lin thuc B(y) l phn di ca

hm B(y) b chn trn bi tho mn: H= MaxMin


72

(x) , A(x)

3.3.3. Thut ton thc hin lut hp thnh cho h SISO


Lut m cho h SISO c dng If A then B
Chia hm thuc A(x) thnh n im xi,

i= 1,2,...,n

Chia hm thuc B(x) thnh m im yj,

j= 1,2,...,m

73

Xy dng ma trn quan h m R

R=

Hm thuc B(y) u ra tng ng vi gi tr r u vo xk c gi tr:


B(y) = aT.R , vi aT = {0,0,0,...,0,1,0,...0,0}. S 1 ng vi gi tr th k.
Trong trng hp u vo l gi tr m A th B(y) l:
B(y) = {l1,l2,l3,...,lm}vi lk = maxmin {ai,rik}.
3.3.4. Thut ton thc hin lut hp thnh cho h MISO
Lut m cho h MISO c dng:
If cd1 = A1 and cd2 = A2 and... then rs = B
Cc bc xy dng lut hp thnh R:
Ri rc ha cc hm thuc:

(x1),

(x2),

(xn),

(y)

Xc nh tha mn H cho tng vct gi tr r u vo x = {c1,c2,...,cn}trong


ci l mt trong cc im mu ca
H = min {

(x1). T suy ra:


(c1),

(c2),

(cn)}

Lp ma trn R gm cc hm thuc gi tr m u ra cho tng vct gi tr u vo:


B(y) = min {H,

(y)} hoc B(y).

74

(y)

3.3.5. Thut ton xc nh lut hp thnh kp max- Min, max- PROD


Tng qut ho phng php m hnh ho trn cho p mnh hp thnh gm :
R1: Nu = A1 Th = B1 hoc

(3.16a)

R2: Nu = A2 Th = B2 hoc

(3.16b)

.
.
Rp: Nu = A P Th = B p hoc

(3.16c)

Trong cc gi tr m A1, A2, . . . , Ap c cng c s X v


B1, B2, . . . , Bp c cng c s Y
Gi hm lin thuc ca Ak v Bk l Ak(x) v Bk(y) vi k = 1,2, . . . , p.
Thut ton trin khai R = R1R2 . . . Rp s nh sau :
1. Ri rc ho X ti n im x1,x2, . . . ,xn v Y ti mnh im y1,y2, . . . , ym,
2. Xc nh cc vct Ak v Bk , k = 1,2, . . . , p theo
A = (A k (x1), A k (x2) , . . . , A k (xn))
K
T

B k = (B k (y1), B k (y2) , . . . , B k (Ym))


T

Tc l Fuzzy ho cc im ri rc ca X v Y.
3. Xc nh m hnh cho lut iu khin.
T
a. Rk = A k . B k = (rki) , i = 1,2, . . . , n

V j = 1,2, . . . , n
b. Trong php nhn c thay bng php tnh ly cc tiu khi s dng phng
php MAX-MIN.
4. Xc nh lut hp thnh R: R = (max rkijk = 1,2, . . . , p ) (3.17)
75

3.3.6. Thut ton xc nh lut hp thnh sum - MIN v sum-PROD.


Nu nh thut ton xc nh lut hp thnh kp max- Min, max- PROD lut
hp thnh R c xy dng bng ton t hoc th trong thut ton xc nh lut
hp thnh sum - MIN v sum-PROD, lut hp thnh R c xy dng theo lin kt
tng (SUM).
Thut ton xc nh lut hp thnh sum - MIN v sum-PROD c u im hn
so vi thut ton xc nh lut hp thnh kp max- Min, max- PROD ch l n c
tnh thng k hn. Chng hn nh khi a s cc mnh hp thnh Rk (k= 1,2,...,p)
c cng mt gi tr u ra nhng v khng phi l gi tr ln nht nn theo Thut
ton xc nh lut hp thnh sum - MIN v sum-PROD chng s khng c
n v b mt trong kt qu chung. Thut ton xc nh lut hp thnh sum - MIN v
sum-PROD s khc phc c nhc im ny.
Tng qut ho phng php m hnh ho trn cho p mnh hp thnh gm :
R1: Nu = A1 Th = B1 hoc

(3.16a)

R2: Nu = A2 Th = B2 hoc

(3.16b)

.
.
Rp: Nu = A P Th = B p hoc

(3.16c)

Trong cc gi tr m A1, A2, . . . , Ap c cng c s X v


B1, B2, . . . , Bp c cng c s Y
Gi hm lin thuc ca Ak v Bk l Ak(x) v Bk(y) vi k = 1,2, . . . , p.

76

Thut ton trin khai R = R1R2 . . . Rp s nh sau :


1- Ri rc ho X ti n im x1,x2, . . . ,xn v Y ti mnh im y1,y2, . . . , ym,
2- Xc nh cc vct Ak v Bk , k = 1,2, . . . , p theo
T

A = (A k (x1), A k (x2) , . . . , A k (xn))


K
B k = (B k (y1), B k (y2) , . . . , B k (Ym))
T

Tc l Fuzzy ho cc im ri rc ca X v Y.
3- Xc nh m hnh cho lut iu khin.
T
a. Rk = A k . B k = (rki) , i = 1,2, . . . , n

V j = 1,2, . . . , n
b. Trong php nhn c thay bng php tnh ly cc tiu khi s dng phng
php MAX-MIN
4- Xc nh lut hp thnh R
R = min{1,

3.4. Cc phng php gii m (r ho)


Gii m l qu trnh xc nh mt gi tr r y no c th chp nhn c t
hm lin thuc B(y) ca gi tr m B(tp m). C hai phng php gii
m :phng php cc i v phng php im trng tm s c trnh by di
y trong tp nn ca tp m B c k hiu thng nht l Y.
3.4.1. Phng php cc i
Gii m theo phng php cc i bao gm 2 bc :
Bc 1: Xc nh min gi tri r y. Gi tr r y l gi tr m ti hm lin thuc
t gi tr cc i ( cao H ca tp m B), tc l min
G = yY B(y) = H .

77

Bc 2: Xc nh y c th chp nhn t G.
thc hin bc ny c 3 nguyn l sau:
- Nguyn l trung bnh
- Nguyn l cn tri v
- Nguyn l cn phi
Nu k hiu:

y1 =

inf( y) v
yG

y2 =

sup (y)

( 3.19)

yG

th y1 chnh l im cn tri v y2 l cn phi ca G.


a. Nguyn l trung bnh
Theo nguyn l trung bnh, gi tr r ys l:

y' =

y1 + y2
2

(3.20)

Nguyn l ny thng c dng khi G l mt min lin thng v nh vy y


cng s l gi tr c ph thuc ln nht. Trong trng hp B gm cc hm lin
thuc dng u th gi tr r y (3.20) khng ph thuc vo tho mn ca lut iu
khin quyt nh. V d c minh ho nh sau :

H
y

Hnh 3.4. Gi tr r y khng ph thuc vo p ng vo


ca lut iu khin quyt nh

78

b. Nguyn l cn tri
Gi tr r yc ly bng cn tri y 1 ca G theo (3.20). Gi tr r y theo nguyn
l cn tri s ph thuc tuyn tnh vo tho mn ca lut iu khin quyt nh.

B1

B2

H
y

Hnh 3.5. Gi tr r yph thuc vo p ng vo


ca lut iu khin quyt nh
c. Nguyn l cn phi
Gi tr y c ly bng cn phi y 2 theo G theo (3.20). Cng ging nh nguyn l
cn phi, gi tr r y y ph thuc tuyn tnh vo p ng vo ca lut iu khin
quyt nh.

B1

B2

Hnh 3.6. Gi tr r y ph thuc tuyn tnh vi p ng vo


ca lut iu khin quyt nh
Tm li: Sai lch ca ba gi tr r, xc nh theo trung bnh, cn tri hay cn phi s
cng ln nu tho mn H cng nh.

79

3.4.2. Phng php im trng tm


Phng php im trng tm s cho ra kt qu y l honh ca im trng tm
min c bao bi trc honh v ng B(y), hnh 3.8 s minh ho cho ta thy:

Hnh 3.7. Gi tr r y l honh ca im trng tm


Cng thc xc nh y theo phng php im trng tm nh sau:

B'

( y ) dy

y' = S

B ' ( y )dy

(3.21 )

Trong S l min xc nh ca tp m B
Cng thc (3.21) cho php xc nh gi tr y vi s tham gia ca tt c cc tp
m u ra ca mi lut iu khin mt cch bnh ng v chnh xc. Tuy nhin li
khng c ti tho mn ca lut iu khin quyt nh v thi gian tnh lu.
Ngoi ra, mt trong nhng nhc im c bn ca phng php im trng tm l c
th gi tr y xc nh c li c ph thuc nh nht, thm ch bng khng (c
minh ho trn hnh 3.8). trnh nhng trng hp nh vy, khi nh ngha hm
lin thuc cho tng gi tr m ca 1 bin ngn ng nn sao cho min xc nh
ca cc gi tr m u ra l mt min lin thng.

80

B
tng ginguyn gim

y
y
Hnh 3.8. Xc nh gi tr r theo phng php im trng tm khi min gi tr
ca tp m khng lin thng
3.5. Cc khu iu khin m

Hnh 3.9. Cu trc bn trong ca b iu khin m


- B iu khin m bao gm cc khu c bn sau:
+ Khu fuzzy ho c nhim v chuyn i mt gi tr r u vo x 0 thnh mt vecto
gm cc ph thuc ca gi tr r theo cc gi tr m (tp m).

+ Khu thc hin lut hp thnh c tn gi l thit b hp thnh, x l vect v


cho ra gi tr m B ca ngn ng u ra.
+ Khu gii m c nhim v chuyn i tp m B thnh mt gi tr r Y chp
nhn c cho i tng (tn hiu iu chnh).

81

3.6. Nguyn l iu khin v phng php tng hp b iu khin m


3.6.1. Nguyn l v cu trc ca mt h thng iu khin
lutiukhin

Giao din

Thit b thc
hin lut hp

u vo

thnh

Giao din

u ra

Biu
x

khinm

i tng

Thit b o
Hnh 3.10. Mch iu khin vi b iu khin m
H thng iu khin m i tng cng c th coi nh l mt h thng neuron
(thn kinh), hay ng hn l mt h thng iu khin c thit k m khng cn
bit trc m hnh i tng.
-

H thng iu khin m c thit k trn:

+ Giao din u vo bao gm cc khu Fuzzy ho v cc khu ph tr thm


thc hin bi ton ng nh khu I, D . . .
+ Thit b hp thnh m bn cht ca n l s trin khai lut hp thnh R c
xy dng trn c s lut iu khin hay cn gi l lut quyt nh.
+ Khu giao din u ra (khu chp hnh) gm khu gii m v cc khu giao
din trc tip vi i tng.

82

- Nguyn tc tng hp b iu khin m hon ton da vo nhng phng php


ton hc trn c s nh ngha cc bin ngn ng vo/ra v s la chn nhng lut
iu khin .
Cc tn hiu ra y ca i tng c o bng b cm bin v c x l s b
trc khi a vo b iu khin
- Tri tim ca b iu khin m chnh l cc lut iu khin m c bn c dng l
tp cc mnh hp thnh cng cu trc nu . . . th v nguyn tc trin khai cc
mnh hp thnh c tn l nguyn tc MAX - MIN hay SUM - MIN . . . M
hnh R ca lut iu khin c xy dng theo mt nguyn tc trin khai chn
trc v c tn gi l lut hp thnh .
- i vi cc h thng iu khin gin on c b iu khin m, khi n cn lm
vic trn c s tn hiu s, c th thit k cc b iu chnh theo lut P, I, D nh sau:
+ Lut iu khin P : yk = K.xk
+ Lut iu khin I :

+ Lut iu khin D :

k +1

k +1

K: L h s khuych i

Ta
xk
Ti

TI: L hng s tch phn

TD
( xk y k )
Ta

TD: L hng s vi phn

Ta l chu k gin on (chu k ly mu tn hiu)


Nu nh ch dng mt thit b hp thnh th hin lut iu khin th lut s
phi c dng chung:
Nu 1 = Ak1 v 2 = Ak2 v 3 = Ak3 . . . th 1 = Bk1 v 2 = Bk2 .

83

3.6.2. Trnh t thit k b iu khin m


Bc1: nh ngha tt c cc bin ngn ng vo/ ra.
Bc 2: Xc nh cc tp m cho tng bin vo/ ra (m ha):
Min gi tr vt l ca cc bin ngn ng.
S lng tp m.
Xc nh hm thuc.
Ri rc ha tp m.
Bc 3: Xy dng lut hp thnh.
Bc4: Chn thit b hp thnh.
Bc 5: Gii m v ti u ha.
Nhng lu khi thit k b iu khin m:
Khng bao gi dng iu khin m gii quyt bi ton m c th d dng thc
hin bng b iu khin kinh in.
Khng nn dng b iu khin m cho h thng cn an ton cao.
Thit k b iu khin m phi c thc hin qua thc nghim.
3.7. Phn loi cc b iu khin m
iu khin Mamdani
iu khin m trt
iu khin tra bng
iu khin Tagaki/Sugeno

84

B. THIT K B IU KHIN PID M CHO I TNG L NHIT


3.8. C s l thuyt
C th ni trong lnh vc iu khin, b PID c xem nh mt gii php a nng
cho cc ng dng iu khin Analog cng nh Digital. Vic thit k b PID kinh
in thng da trn cc phng php Ziegler Nichols, Chien Hrones Reswick,
tng T ca Kuhn, Ngy nay ngi ta thng s dng phng php hiu chnh PID
mm (thit k trn phn mm), y chnh l c s ca vic thit k b iu khin PID
m.
3.8.1. S iu khin v m hnh ton hc ca b PID m
* S iu khin:

Hnh 3.11. S iu khin ca b PID m


* M hnh ton hc ca b PID m:
Mt b iu chnh PID u vo e(t), u ra u(t) c m hnh ton hc nh sau :

U(t) =Kp e(t ) +

Hoc G PID = K P +

Trong :

TI =

1
TI

e(t )dt + TD de(t )dt

KI
+ KDs
s

KD
KP
v TD =
KI
KP

85

Cc tham s KP, TI, TD hay KP, KI, KD ca b iu khin PID c chnh nh


theo tng b iu khin m ring da trn sai lch e(t) v o hm de/dt ca sai lch.
C nhiu phng php chnh nh cc tham s ca b PID nh chnh nh qua phim
hm mc tiu, chnh nh trc tip, nhng phng php n gin v d p dng hn
l phng php chnh nh m Zhao, Tomizki v Isaca. Sau da vo p ng
thay i dn v tm ra hng chnh nh thch hp.
3.8.2. Lut chnh nh PID

Hnh 3.12. Lut chnh nh PID


+ Ti ln cn a1 ta cn lut iu khin mnh rt ngn thi gian, do ta chn:
KP ln, KD nh, v KI nh.
+ Ti ln cn b1 ta cn gim vt l, do ta chn: KP nh, KD ln, v KI nh.
+ Ti ln cn c1 v d1 ta chn ging nh a1 v b1.
3.9. Thit k b iu khin PID m cho i tng l nhit:
* Hm truyn i tng: G(s) =

56
* e 50 s
1 + 410 s

3.9.1. Min gi tr vt l ca cc bin ngn ng


+ Sai lch nhit ET c chn trong min gi tr t -120C n 120C.
+ Tc bin i DET ca sai lch c gi tr bin i t -0,60C n 0,60C

86

3.9.2. Cc bin ngn ng


* u vo: Gm 2 bin:
+ Sai lch ET = Gi tr nhit o- Gi tr nhit t.
+ Tc bin i ca sai lch DET =

vi T l chu k ly mu.

* u ra: Gm 3 bin:
+ KP : H s t l.
+ KI : H s tch phn.
+ KD : H s vi phn.
* S lng bin ngn ng:
ET = {m nhiu, m va, m t, zr, dng t, dng va, dng nhiu}
ET = {N3, N2, N1, ZE, P1, P2, P3}
DET = {m nhiu, m va, m t, zr, dng t, dng va, dng nhiu}
ET = {N31, N21, N11, ZE1, P11, P21, P31}
KP/KD = {zr, nh, trung bnh, ln, rt ln} ={Z, S, M, L, U}
KI = {mc 1, mc 2, mc 3, mc 4, mc 5} ={L1, L2, L3, L4, L5}

87

Hnh 3.13. Cc bin ngn ng vo /ra


3.9.3. Lut hp thnh
* Lut chnh nh KP:

88

* Lut chnh nh KD:

* Lut chnh nh KI:

CHNH NH KP:
* Thit lp di ET:

Hnh 3.14. Thit lp di ET cho chnh nh Kp

89

* Thit lp di DET:

Hnh 3.15. Thit lp di DET cho chnh nh Kp


* Thit lp di Kp:

Hnh 3.16. Thit lp di Kp

90

* Khai bo lut hp thnh:

91

92

Hnh 3.17. Bn chn lut hp thnh chnh nh Kp


* c tnh u ra ca b iu khin PID m chnh nh Kp:

Hnh 3.18. ng c tnh u ra ca b iu khin PID m


chnh nh Kp

93

* c tuyn u ra ca b iu khin PID m chnh nh Kp:

Hnh 3.19. ng c tuyn ra ca b iu khin PID m


chnh nh Kp
CHNH NH KD
* Thit lp di ET:

Hnh 3.20. Thit lp di ET cho chnh nh KD


94

* Thit lp di DET:

Hnh 3.21. Thit lp di DET cho chnh nh KD


* Thit lp di KD:

Hnh 3.22. Thit lp di KD

95

* t lut chnh nh KD:

96

97

Hnh 3.23. Bn chn lut hp thnh cho chnh nh KD


* c tuyn u ra ca b iu khin PID m chnh nh KD:

Hnh 3.24. ng c tuyn u ra ca b iu khin PID m


chnh nh KD

98

* c tnh u ra ca b iu khin PID m chnh nh KD:

Hnh 3.25. ng c tnh u ra ca b iu khin m PID


chnh nh KD
CHNH NH KI:
* Thit lp di ET:

Hnh 3.26. Thit lp di ET cho chnh nh KI

99

* Thit lp di DET:

Hnh 3.27. Thit lp di DET cho chnh nh KI


* Thit lp di KI:

Hnh 3.28. Thit lp di KI

100

* t lut cho chnh nh KI:

101

102

Hnh 3.29. Bn chn lut hp thnh cho chnh nh KI


* c tnh u ra ca b iu khin PID m chnh nh KI:

Hnh 3.30. c tnh ra ca b iu khin PID m


chnh nh KI

103

* c tuyn u ra ca b iu khin PID m chnh nh KI:

Hnh 3.31. c tuyn ra ca b iu khin PID m


chnh nh KI

104

* S khi h thng thit lp trn Simulink:

* p ng qu ca h thng vi b iu khin PID m khi khng c nhiu

Hnh 3.32. p ng ca h thng vi b iu khin PID m


Nhn xt: H thng c: Lng qu iu chnh: max = 7,3%
Thi gian qu : tq = 250s
Sai lch tnh =0 v s ln dao ng =1
105

* Khi c nhiu tc ng vo b iu khin: (Cng sut nhiu =0.002)

Hnh 3.33. p ng ca h thng vi b PID m


khi c nhiu tc ng vo b iu khin
Nhn xt: Khi nhiu c cng sut trong di [0,002- 0,005] th b iu khin cn iu
chnh c h thng. Tuy nhin, sai lch tnh tng, s ln dao ng tng v thi gian
qu cng tng.

106

* Khi c nhiu tc ng vo i tng iu khin: (Cng sut nhiu =0.021)

Hnh 3.34. p ng ca h thng vi b PID m


khi c nhiu tc ng vo i tng
Nhn xt: Khi nhiu c cng sut trong di[ 0.021-0,65], b iu khin cn iu
chnh c h thng.Tuy nhin, qu iu chnh tng, sai lch tnh tng v thi
gian qu cng tng.

107

* Khi c nhiu tc ng vo u vo: (Cng sut nhiu=0,15)

Hnh 3.35. p ng ca h thng vi b PID M


khi c nhiu tc ng vo u vo
Nhn xt: Khi nhiu c cng sut trong di[ 0,15- 0,35], b iu khin cn iu
chnh c h thng. Tuy nhin, qu iu chnh tng, sai lch tnh tng v thi
gian qu cng tng.

108

Kho st b PID m khi c s thay i i tng


Hm truyn i tng: :

G(s) =

56
* e 50 s
1 + 410 s

Tuyn tnh ha i tng ta c :

G(s) =

56
(1 + 410 s)(50 s + 1)

Khi c s thay i ca i tng:

p ng u ra khi :

109

Hnh 3.36. p ng ca h thng vi b PID m


khi khng xc nh chnh xc i tng
Nhn xt: Khi c s thay i i tng trong phm vi nh th b iu khin
PID m vn iu chnh h thng kh tt. y chnh l mt u im ni bt ca
b iu khin PID m so vi b iu khin PID kinh in.

110

C. THIT K B PI M IU KHIN I TNG


3.10. Thit k b iu khin PI m
3.10.1. Xc nh thng s ca b iu khin bng phng php ti u ln
Ta ly xp x khu gi tr theo cng thc :

E ( s ) = e s

trong T = .
n
n
(1 + Ts)

Chn n =1 ta c G(s) = e 50

1
.
1 + 50s

Hm truyn ca i tng sau khi xp x :

G (s)

k
56
=
(1 + T s)(1 + Ts) (1 + 410 s)(1 + 50s)
1

Ta s dng b PI vi thng s :TI = T1 = 410, Kp =

T
1 = 410 = 0.0732
2 KT 2.56.50

3.10.2. Thit k b iu khin PI m vi Kr = const, thay i Ti

Hnh 3.37. S khi b iu khin PI m chnh nh Ti

111

* Bin u vo ET c di nh sau:

Hnh 3.38. Thit lp di ET cho b iu khin PI m chnh nh Ti


* Bin u vo DET c di nh sau:

Hnh 3.39. Thit lp di DET cho b iu khin PI m chnh nh Ti

112

* Bin u ra TI c di nh sau:

Hnh 3.40. Thit lp di Ti cho b iu khin PI m chnh nh Ti


* Lut hp thnh Ti:
CHNH
NH TI

ET

DET
N31

N21

N11

ZE1

P11

P21

P31

N3

N2

N1

ZE

P1

P2

P3

113

* Lut hp thnh ca b iu khin m chnh nh TI thit lp trn phn mn


MatLab:

114

115

Hnh 3.41. Bn chn lut hp thnh chnh nh Ti


* ng c tnh ca b iu khin PI m chnh nh TI :

Hnh 3.42. ng c tnh u ra ca b iu khin PI m


chnh nh Ti

116

* c tuyn ca b iu khin PI m chnh nh TI:

Hnh 3.43. c tuyn u ra ca b iu khin PI m


chnh nh Ti

117

* S khi ca h thng thit lp trn Simulink:


Chn k =4 khng i, thay i thng s Ti ca b iu khin PI .

* p ng qu ca h thng vi b iu khin PI m chnh nh T I khi


khng c nhiu:

Hnh 3.44. Tn hiu ra ca h thng vi b iu khin


PI m chnh nh Ti
Nhn xt : H thng c: Thi gian qu : tqd =175s
qu iu chnh:

%=

Khng c sai lch tnh.


118

y max y
100% = 3%
y

* Khi c nhiu tc ng vo b iu khin: (Cng sut nhiu =0.01)

Hnh 3.45. p ng ca h thng vi b PI m chnh nh Ti


khi c nhiu tc ng vo b iu khin
Nhn xt: Khi nhiu tc ng vo b iu khin vi cng sut nhiu kh nh
(=0,01) th p ng qu ca h thng gn nh khng i. Hay ni cch khc,
b iu khin PI m chnh nh Ti thit k x l rt tt loi nhiu ny h
thng lun n nh.

119

+ Khi c nhiu tc ng vo i tng: (Cng sut nhiu =0.001)

Hnh 3.46. p ng ca h thng vi b PI m chnh nh Ti


khi c nhiu tc ng vo i tng
Nhn xt: Khi nhiu tc ng vo i tng iu khin vi cng sut nhiu kh nh
(=0,001) th p ng qu ca h thng gn nh khng i: qu iu chnh nh,
thi gian qu khng tng ln ng k, sai lch tnh tng nhng rt nh. Nh vy,
b iu khin PI m chnh nh Ti x l kh tt loi nhiu ny v vn gi c s n
nh cho h thng.

120

+ Khi c nhiu tc ng vo u vo: (Cng sut nhiu =0.003)

Hnh3.47. p ng ca h thng vi b PI m chnh nh Ti


khi c nhiu tc ng vo u vo
Nhn xt: Khi nhiu c cng sut trong di [0,003- 0,01] th b iu khin iu
chnh kh tt h thng: qu iu chnh nh, thi gian qu khng tng ln ng
k, sai lch tnh rt nh. Nh vy, b iu khin PI m chnh nh Ti x l kh tt
loi nhiu ny v vn gi c s n nh cho h thng.

121

3.10.3. Thit k b iu khin PI m gi nguyn Ti=const, thay i Kr

Hnh 3.48. S khi b m chnh nh KR


* Bin u vo ET c di nh sau :

Hnh 3.49. Thit lp di ET cho chnh nh KR

122

* Bin u vo DET c di nh sau :

Hnh 3.50. Thit lp di DET cho chnh nh KR


* Bin u ra KR c di nh sau :

Hnh 3.51. Thit lp di Kr cho b iu khin PI m chnh nh KR

123

* Lut hp thnh ca b iu khin PI m chnh nh KR:


CHNH
NH Kr

ET

DET
N31

N21

N11

ZE1

P11

P21

P31

N3

N2

N1

ZE

P1

P2

P3

* Khai bo lut hp thnh ca b iu khin PI m chnh nh KR:

124

125

Hnh 3.52. Bn chn lut hp thnh ca b iu khin PI m chnh nh KR

126

* ng c tnh u ra ca b iu khin PI m chnh inh KR:.

Hnh 3.53. ng c tnh u ra ca b iu khin PI m


chnh nh KR
* c tuyn u ra ca b iu khin PI m chnh nh KR:

Hnh 3.54. c tuyn u ra ca b iu khin PI m


chnh nh KR

127

* p ng qu ca h thng vi b iu khin PI m chnh nh KR khi


cha c nhiu:

Hnh 3.55. Tn hiu ra ca h thng vi b iu khin PI m


chnh nh KR
Nhn xt: H thng c : Thi gian qu : tqd =330(s)
qu iu chnh:

%=

Khng c sai lch tnh.

128

y max y
100% = 0.
y

* Khi c nhiu tc ng vo b iu khin: (Cng sut nhiu =0.02)

Hnh 3.56. Tn hiu ra ca h thng vi b iu khin PI m


chnh nh KR khi c nhiu tc ng vo b iu khin
Nhn xt: Khi nhiu c cng sut trong di [0,02- 0,04] th b iu khin cn iu
chnh c kh tt h thng: Khng c qu iu chnh, thi gian qu khng
tng ln ng k, khng c sai lch tnh. Nh vy b iu khin PI m chnh nh KR
x l rt tt loi nhiu ny v vn gi c s n nh cho h thng.

129

* Khi c nhiu tc ng vo u vo: (Cng sut nhiu =0.0003)

Hnh 3.57. Tn hiu ra ca h thng vi b iu khin PI m


chnh nh KR khi c nhiu tc ng vo u vo
Nhn xt: Khi nhiu c cng sut trong di [0,0003- 0,05] th b iu khin iu
chnh tt h thng: qu iu chnh =0, thi gian qu gn nh khng i, sai
lch tnh rt nh. Nh vy b iu khin PI m chnh nh KR x l tt loi nhiu ny
v vn gi c s n nh cho h thng.

130

+ Khi c nhiu tc ng vo i tng: (Cng sut nhiu 0.00002)

Hnh 3.58. Tn hiu ra ca h thng vi b iu khin PI m chnh nh KR


khi c nhiu tc ng vo i tng
Nhn xt: Khi nhiu c cng sut trong di [0,00002- 0,04] th b iu khin iu
chnh tt h thng: Khng c qu iu chnh, thi gian qu khng tng ln
ng k, sai lch tnh rt nh. Nh vy b iu khin PI m chnh nh KR x l rt
tt loi nhiu ny v vn gi c s n nh cho h thng.

131

Kt lun:
- Nh vy vi b iu khin PID m, khng nhng cht lng ca h thng tt hn
so vi b PID kinh in, m cn iu khin c h thng ngay c khi c nhiu.
- Vi b iu khin PI m khng nhng cht lng ca h thng tt m cn c th
thay i c khong u ra cho b iu khin m (Thay i Ti hoc Kr) .Do khi
khng xc nh c chnh xc i tng th ta vn c th iu khin n trong mt
phm vi cho php v do c th iu khin vi rt nhiu i tng. c bit b
iu khin ny iu khin rt tt ngay c khi c nhiu trong mt phm vi nht nh.
D. U IM CA B IU KHIN M
Chng ta hy so snh p ng qu ca h thng vi cc b iu khin khc
nhau:
Khi khng c nhiu tc ng:
B PID kinh in

B PID m

Lng qu iu chnh: max = 14 %

Lng qu iu chnh: max = 7,3%

Thi gian qu : tq = 385s

Thi gian qu : tq = 250s

Sai lch tnh=0 v s ln dao ng=1

Sai lch tnh=0 v s ln dao ng=1

132

B PI m chnh nh TI

B PI m chnh nh KR

Thi gian qu : tqd =175s

Thi gian qu : tqd =330(s)

qu iu chnh = 3%

qu iu chnh = 0

Khng c sai lch tnh.

Khng c sai lch tnh.

Nhn xt: R rng vi cc b iu khin m, p ng qu ca h thng tt hn


nhiu so vi b iu khin PID kinh in:
+ qu iu chnh rt nh, thm ch =0.
+ Thi gian qu gim i nhiu.

133

Khi c nhiu tc ng:


B PID kinh in

B PID m

B PI m chnh nh TI

B PI m chnh nh KR

Nhn xt: R rng khi c cng mt loi nhiu tc ng vo h thng mt phm vi


nht nh th b iu khin m iu khin h thng tt hn nhiu so vi b PID kinh
in.

134

KT LUN CHNG 3:
Nh vy trong chng 3, chng em thit k v m phng c cc b iu
khin m: (B iu khin PID m v b iu khin PI m cho i tng l nhit) v
nhn thy rng:
- Cc b iu khin m c nhiu u im hn hn b PID kinh in:
+ Vi b iu khin m, cht lng ca h thng tt hn: qu iu chnh
nh hn, thi gian qu gim, khng c sai lch tnh..
+ Khi khng xc nh c mt cch chnh xc hm truyn ca i tng, b
iu khin m thit k ra vn c th iu khin c trong mt phm vi no .
+ Khi c nhiu trong h thng m cng sut nhiu l khng qu ln th b iu
khin m hon ton vn iu khin c i tng
- Vi i tng l nhit th b iu khin PI m c kh nng iu khin h thng tt
hn c.

135

CHNG 4: KT LUN V KIN NGH


4.1. Cc kt qu thc hin c trong ti
Sau mt thi gian nghin cu v thc hin n mt cch nghim tc vi s
n lc ca bn thn, s gip tn tnh ca c gio Ths. Nguyn Th Luyn, cng s
ch bo ng gp kin ca cc thy c gio trong khoa in - in t v s ng h
ca gia nh, bn b chng em hon thnh n v t c nhng kt qu sau:
- Thit k v m phng trn phn mm Matlab v Simulink cc b PID kinh
in theo cc phng php khc nhau trong hai trng hp c nhiu v khng c
nhiu.
- Tm hiu v l thuyt iu khin m.
- Thit k v m phng trn phn mm Matlab v Simulink cc b iu khin
m cho bi ton n nh nhit l nhit trong hai trng hp c nhiu v khng c
nhiu.
- Hon thnh bn thuyt minh theo ng thi gian c giao.
4.2. Hng pht trin ca ti

- Bn thuyt minh n ca chng em c th dng lm ti liu tham kho


phc v cho gio vin v sinh vin trong qu trnh ging dy v hc tp mn
L thuyt iu khin t ng, c bit l nghin cu v L thuyt iu
khin m .

- n ca chng em c th lm ti liu cho cc c nhn, tp th hay cng ty


la chn phng n iu khin ph hp cho i tng l nhit, l sy, l p
trng....
- Pht trin bi ton ng dng theo hng nhiu u vo tc ng
(h MISO).

136

4.3. Kin ngh


Sau mt thi gian nghin cu v thc hin n tt nghip, chng em nhn thy
b iu khin m c rt nhiu u im, khc phc c nhng hn ch ca b PID
kinh in nh:
+ iu khin c i tng ngay c khi khng xc nh c chnh xc
hm truyn i tng.
+ iu khin kh tt trong trng hp c nhiu.
Do vic nghin cu L thuyt iu khin m c ngha rt quan trng
trong bi ton iu khin V vy, chng em rt mong ni dung nghin cu ny s tr
thnh mt phn trong qu trnh ging dy v hc tp ca mn L thuyt iu khin
t ng.
Do cha c nhiu kinh nghim, cng nh kin thc cn nhiu hn ch nn n ca
chng em cn nhiu thiu st. Chng em rt mong nhn c s ng gp v ch bo
ca cc thy c gio v cc bn n ca chng em c hon thin hn v c
th ng dng hiu qu trong thc t.

137

TI LIU THAM KHO


[1] L thuyt iu khin m - Phan Xun Minh, Nguyn Don Phc - NXB
KHKT 1997
[2] L thuyt iu khin - Phm Cng Ng - NXB KHKT 1994
[3] H m v ng dng Nguyn Hong Phng, Bi Cng Cng, Nguyn
Don Phc, Phan Xun Minh, Chu Vn H NXB Khoa hc v K thut 1998
[4] Fuzzy Logic - A Practical Approach F. Marti, Meneill and Ellen Thro
Acdemic Press 1994
[5] Fuzzy Control An Overview Vieweg Verlag 1994
[6] Fuzzy Logic Technology & Applications R.J.Marks II IEEE 1994
[7] Matlab v Simulink Nguyn Phng Quang NXB KHKT - 2006

Internet
1. http://www.dieukhientudong.htm
2. http://www.dientuvienthong.net
3. http://www.khvt.com

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