Professional Documents
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Ch k ca gio vin hng dn
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Ch k ca gio vin phn bin
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:
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
............................................................................................................................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
......................................................................86
8
DANH MC HNH V
14
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 :
-
17
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
To c nhit cao.
m bo tc nung ln.
Kt cu kn.
V sinh, gn nh.
1.4. Cc yu cu c bn v l nhit.
-
19
20
U(t)
Cng sut in p
100%
L
Nhit
Nhit l
C(t)
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
U (S ) =
1
s
y( t ) = f (t )
Y( s ) = e .s .F( s )
22
Trong trong o
f (t ) = k (1 e
t
T
Y( s ) = e .s .
k
s+
1
T
k
s (1 + Ts )
k
s(1 + T .s )
G( s ) =
Y( s )
U (s)
e .s .
=
k
k
s.(1 + T .s)
= e .s .
1
1 + T .s
s
y ( )
.
u0
23
K
e .S
1 + T .s
24
56
e 50 S
1 + 410 .S
25
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
Ki/s
Wt
(-)
Kd.s
Wph
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)
e(t)
u(t)
G(S)
c(t)
(-) f(t)
TD S
H(S)
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
e(t)
u(t)
c(t)
G(S)
(-) f(t)
KI
H(S)
1
)
TI S
e(t)
u(t)
G(S)
c(t)
(-) f(t)
TD S
Ki/S
H(S)
28
+ 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
Nu sai lch e(t) cng ln th thng qua thnh phn up(t), tn hiu u(t) cng ln
Nu sai lch e(t) cha bng khng th thng qua thnh phn uI(t), PID vn cn
29
Nu s thay i ca sai lch e(t) cng ln th thng qua thnh phn uD(t), phn
1
de(t )
u (t ) = k p e(t ) + e( )d + TD
Ti 0
dt
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:
-
30
(2.1)
e(t)
(-)
PID
u(t) i tng
y(t)
iu khin
31
h(t)
k
t
L T
Hnh a
Hnh b
* 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
e(t)
(-)
u(t) i tng
K th
y(t)
iu khin
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
k
b
v c p ng qu tha mn > 3
(1 + ST ) n
a
34
3b
10ak
6b
v TI = 4a
10ak
19b
12a
21a
, TI =
, TD =
20ak
5
50
7b
10ak
6b
6b
v TI =
10ak
5
6b
21a
, TI = 2a , TD =
5ak
50
3b
10ak
7b
6b
v TI =
10ak
5
3b
a
, TI = b , TD =
5ak
2
35
7b
10ak
6b
v TI = b
10ak
19b
27b
47a
, TI =
, TD =
20ak
20
100
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)
36
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
(2.5)
1)
T
1
v TI =
2k
2
2T
1
, TI = v TD = 0,167T
k
3
e(t)
(-)
R(s)
SR
(2.7)
1 + SR
u(t)
S(s)
y(t)
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)
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) =
k
1 + Ts
k
(1 + T1 s )(1 + T2 s)
k
(1 + T1 s)(1 + T2 s )(1 + T3 s)
kp
TI s
(2.8)
k
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
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
I
khin tch phn (2.8) vi tham s k = 2kT s l b iu khin ti u ln
p
k
(2.11)
(1 + T1 s )(1 + T2 s)...(1 + Tn s)
k
1 + (T1 + T2 + ... + Tn ) s + (T1T2 + T1T3 + ...) s 2 + ...
T = Ti
i =1
40
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)
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
k
(1 + T2 s )TR s
TI
T
T
= 2kT2 k p = I = 1
kp
2kT2 2kT2
T1
s l b iu khin ti u ln.
2kT2
S ( s) =
n
k
trong T = Ti
(1 + T1 s )(1 + Ts)
i=2
cc tham s TI = T1,
kp =
T1
n
2k Ti
s l b iu khin ti u ln.
i =2
k
(2.14)
(1 + T1 s )(1 + T2 s)(1 + T3 s)
(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
T1 + T2
T1 + T2
, kp =
s l b iu khin
T2T1
2kT3
n
k
trong T = Ti
(1 + T1 s )(1 + T2 s)(1 + T3 s)
i =3
e(t)
(-)
R(s)
u(t)
S(s)
y(t)
Gh ( s )
1 + Gh ( s )
Gh ( s) =
G ( s)
1 G ( s)
43
k h (1 + TI s ) (2.16)
s 2 (1 + sT )
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 )
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)
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 )
4 ln 2 (h)
h = exp(
) a= 2
(2.24)
+ ln 2 (h)
1 D2
1
kT1 a
k
(2.25)
s(1 + T1 s )(1 + T2 s )
k p (1 + TA s )(1 + TB s)
1
+ TD s =
(2.26)
TI s
TI 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
Tb = aT2 v k p =
47
1
kT2 a
1
kT2 a
ri suy ra k p =
k pTB
TI
k (1 + TB s)
TB s 2 (1 + T2 s )
k
th
s (1 + TI s )
k pTB
TI
v T = TB
1 + aTs
a aT 2 s (1 + Ts)
Gh ( s )
1 + aTs
=
1 + Gh ( s ) 1 + T + a aT 2 s 2 + a aT 3 s 3
1
loi b thnh phn vi
1 + aTs
M(s)
Gh (s)
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
49
4T1T2
T1
; kp =
T + 4T21
8kT22
b) Chn b tin x l: M ( s) =
1
1 + 4T2 s
k .e Ls
1 + T .s
k
. e Ls
(1 + T1 s ).(1 + T2 s )
2.(T1 + T2 )
T .T
, TI = T1 + T2 , TD = 1 2
3kL
T1 + T2
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 )
PID
u
S(s)
nd
Hnh 2.16. S khi h thng iu khin PID theo phng php sai lch bm
51
b0 + b1 s + ... + bm1 s m 1
a 0 + a1 s + ... + a n 1 s n 1 + s n
52
56
* e 50 s
1 + 410 s
53
1
1
R ( s) = k p 1 +
+ TD s = 0,176 (1+
+ 25s)
100 s
TI s
54
1
1
R ( s ) = k p 1 +
+ TD s = 0.1 (1 +
+ 24s)
120 s
TI s
55
56
1
1
R ( s ) = k p 1 +
+ TD s = 0.25 (1 +
+ 21s)
120 s
TI s
1
1
R ( s ) = k p 1 +
+ TD s = 0.018 (1 +
+ 77s)
360 s
TI s
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
Khi , h thng c:
61
+ p ng qu ca h thng khi :
62
+ p ng qu ca h thng khi :
+ p ng qu ca h thng khi :
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
66
Tnh trc tip (nu F(x) cho trc di dng cng thc tng minh )
67
(3.6)
(3.7)
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)
VS
20
40
VF
0.75
0.25
0
60 65 80
100
tc
69
(x) = 1 -
(x)
A(x0) C(y)
hoc
hoc
ta gi cc hm thuc ca 3 tp m kt qu l
. Gi tr
: R =
71
ca gi tr u ra R ca mt lut hp
, ...,
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)
(x) , A(x)
i= 1,2,...,n
j= 1,2,...,m
73
R=
(x1),
(x2),
(xn),
(y)
(c2),
(cn)}
74
(y)
(3.16a)
R2: Nu = A2 Th = B2 hoc
(3.16b)
.
.
Rp: Nu = A P Th = B p hoc
(3.16c)
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
(3.16a)
R2: Nu = A2 Th = B2 hoc
(3.16b)
.
.
Rp: Nu = A P Th = B p hoc
(3.16c)
76
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,
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
y' =
y1 + y2
2
(3.20)
H
y
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
B1
B2
79
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
81
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.
-
82
+ Lut iu khin D :
k +1
k +1
K: L h s khuych i
Ta
xk
Ti
TD
( xk y k )
Ta
83
84
Hoc G PID = K P +
Trong :
TI =
1
TI
KI
+ KDs
s
KD
KP
v TD =
KI
KP
85
56
* e 50 s
1 + 410 s
86
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
88
CHNH NH KP:
* Thit lp di ET:
89
* Thit lp di DET:
90
91
92
93
* Thit lp di DET:
95
96
97
98
99
* Thit lp di DET:
100
101
102
103
104
106
107
108
G(s) =
56
* e 50 s
1 + 410 s
G(s) =
56
(1 + 410 s)(50 s + 1)
p ng u ra khi :
109
110
E ( s ) = e s
trong T = .
n
n
(1 + Ts)
Chn n =1 ta c G(s) = e 50
1
.
1 + 50s
G (s)
k
56
=
(1 + T s)(1 + Ts) (1 + 410 s)(1 + 50s)
1
T
1 = 410 = 0.0732
2 KT 2.56.50
111
* Bin u vo ET c di nh sau:
112
* Bin u ra TI c di nh sau:
ET
DET
N31
N21
N11
ZE1
P11
P21
P31
N3
N2
N1
ZE
P1
P2
P3
113
114
115
116
117
%=
y max y
100% = 3%
y
119
120
121
122
123
ET
DET
N31
N21
N11
ZE1
P11
P21
P31
N3
N2
N1
ZE
P1
P2
P3
124
125
126
127
%=
128
y max y
100% = 0.
y
129
130
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
132
B PI m chnh nh TI
B PI m chnh nh KR
qu iu chnh = 3%
qu iu chnh = 0
133
B PID m
B PI m chnh nh TI
B PI m chnh nh KR
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
136
137
Internet
1. http://www.dieukhientudong.htm
2. http://www.dientuvienthong.net
3. http://www.khvt.com
138