Bi 1:

1.

Xy dng h thng iu khin mt bnh mc

Xy dng m hnh cho i tng bnh mc.

Xc nh tn hiu vo, tn hiu ra v nhiu h thng. Tn hiu vo: m van vo (In Valve). Tn hiu ra: Mc nc ca bnh (Level). Nhiu h thng: m van ra (Out Valve). 1.2. Xy dng m hnh ton hc cho i tng. Ta c phng trnh cn bng vt cht ca bnh mc nh sau: 1.1.

Hay: Trong :

V l th tch ca bnh mc. A l tit din bnh mc. h l chiu cao ca bnh mc. F1 l lu lng vo ca bnh mc. F l lu lng ra ca bnh mc. Ly nh Laplace ca biu thc (1) ta c:

M do qu trnh iu chnh lu lng l mt khu qun tnh bc nht nn:

1.3. S dng SIMULINK xc nh cc tham s m hnh (K, T). S simulink:

Phng php ng cong p ng:

T th hm qu h(t) ta k tip tuyn vi th: Ct trc honh ti im T=24. Ly 2 im A, B bt k trn ng tip tuyn, chiu ln 2 trc ta c: Y0=233,4, T0=99 nn ta tnh c tham s k l:

Nn ta xy dng c hm truyn l:

1.4. Kim tra li: S simulink

Kt qu kim tra

p ng qu gn ng vi p ng ca h thng m phng. Vy hm truyn ca m hnh bnh mc l:

2.

Cc sch lc iu chnh. Cc sch lc c th s dng: iu khin phn hi. iu khin tng. Cc sch lc khng th s dng: iu khin truyn thng. iu khin t l. iu khin la chn. iu khin phn vng. Gii thch. 1. iu khin truyn thng khng c kh nng n nh mt qu trnh khng n nh. Nu cm bin o lu lng ra c sai s d nh hay van iu chnh lu lng vo khng c c tnh l tng hoc p sut dng chy vo thay i u dn n vic trn bnh hoc cn bnh sau mt thi gian ngn. 2. iu khin t l l duy tr t l gia 2 bin ti mt gi tr t nhm gin tip iu khin mt bin th ba. Nn vi bi ton mt bnh mc ch c 1 bin iu khin nn khng th p dng phng php ny. 3. iu khin la chn thng dng cho b iu khin c s bin iu khin t hn s bin cn iu khin nn dng trong trng hp ny l khng cn thit. 4. iu khin phn vng l mt sch lc c p dng khi h thng c 1 bin cn iu khin nhng c nhiu bin iu khin (hoc nhiu phn t chp hnh), trong mi bin iu khin (hoc mi phn t chp hnh) c nh hng ln nht trong mt phm vi ring. Mc ch chnh ca iu khin phn vng l s dng phi hp mt cch ti u cc thit b chp hnh, gim thiu chi ph iu khin, ng thi gp phn ci thin tc v cht lng p ng ca h thng. 5. M hnh sch lc truyn thng. 1. Lu P&ID.

2.

M phng trn SIMULINK.

Tnh ton thng s b iu khin theo cng thc Ziegler Nichols 1 vi cc thng s k=2,4 v T=24. B iu khin kC=kP TI TD P PI PID 2T=2.24=48 0,5T=0,5.24=12

Do SHSV ca em l 20090310 nn em chn thi gian m phng l 1310s. 1. Kt qu m phng. 2. B iu khin P.

3. B iu khin PI.

4. B iu khin PID.

5.

Nhn xt. Mc nc trong bnh (Level) khng bm theo gi tr t SP hay ni ng hn l mc nc trong bnh c giao ng y bnh m ko t n gi tr t SP. 6. Gii thch. V mt trong cc l do cm bin o lu lng ra c sai s d nh hay van iu chnh lu lng vo khng c c tnh l tng hoc p sut dng chy vo thay i u dn n vic trn bnh hoc cn bnh sau mt thi gian ngn. 7. Sch lc iu khin phn hi vng n.

1.

Lu P&ID.

2.

M phng trn SIMULINK.

Tng t cu trn ta c cc thng s ca b iu khin theo cng thc Ziegler Nichols 1 vi cc thng s k=2,4 v T=24 l: B iu khin kC=kP TI TD P PI PID 3. Kt qu m phng. 4. B iu khin P. 2T=2.24=48 0,5T=0,5.24=12

Nhn xt: Sau khi tc ng, mc nc trong bnh lin tc tng cho ti khi mc nc trong bnh cn bng vi mc t SP th n nh v hu nh khng thay i so vi gi ny. Vy b iu khin t yu cu. 5. B iu khin PI.

Nhn xt: Mc nc trong bnh km n nh hn so vi dng b iu khin P. V do c hin tng bo ha tch phn nn ta phi dng thm mt khu chng bo ha tch phn nu mun h thng n nh tr li. 6. B iu khin PID.

Nhn xt: Mc nc vn km n nh hn so vi b iu khin P. 7. Nhn xt chung. 1. H thng iu khin mt bnh mc thc cht c khu tch phn do khi la chn b iu khin ta ch cn dng b iu khin P l c cht lng tt. 2. Nu dng b PI hay PID d gy ra hin tng bo ha tch phn lm cho u ra ca b iu khin vn tip tc tng qu mc gii hn do s tch ly ca thnh phn tch phn tch phn vn tip tc c duy tr khi sai lch iu khin tr v khng. 3. Hin tng bo ha tch phn l hin tng u ra ca b iu khin vn tip tc tng qu mc gii hn do s tch ly ca thnh phn tch phn vn tip tc c duy tr khi sai lch iu khin tr v khng. Hin tng ny ch xy ra khi b iu khin c cha thnh phn tch phn v tn hiu iu khin b hn ch. Thnh phn tch phn gip cho u ra ca h kn nhanh chng tin n gi tr t. Tuy nhin, khi tn hiu iu khin qu ln hoc gy thay i qu nhanh lm cho thit b chp hnh khng p ng ni th tnh cht tuyn tnh ca lut iu khin khng cn c m bo. Hin tng ny thng c cc c im sau: 1. qu iu chnh ln. 2. Thi gian qu di. 3. Tn ti sai lch tnh ln. 1. Cc bin php chng bo ha tch phn gm: 1. Khi sai lch iu khin bng 0, tch b thnh phn tch phn trong b iu khin hoc tt hn ht l xa trng thi ca thnh phn tch phn. 2. Gim h s khuch i u ra ca b iu khin nm trong gii hn cho php, trnh vic xy ra hin tng bo ha tch phn. 3. Theo di cc gi tr thc ca tn hiu iu khin b gii hn, phn hi v b iu khin thc hin thut ton b nhm gim thnh phn tch phn. 4. t mt khu gii hn ti u ra ca b iu khin m phng c tnh phi tuyn ca thit b chp hnh v s dng thut ton b ging nh phng php trn. 5. B iu khin PI RW chng bo ha tch phn. 6. S b iu khin PI RW chng bo ha tch phn.
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Trong : Thng s ca cc khi c xc nh theo Ziegler Nichols 1 nh sau: Gain: kC=0.375. Gain1: 1/TI=1/80=0,0125. Gain2: 1/Tt=2/TI=2/80=0,025. 7. S simulink.

1. Kt qu m phng.

2. B iu khin PID RW chng bo ha tch phn. 3. S b iu khin PID RW chng bo ha tch phn.

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Trong : Thng s ca cc khi c xc nh theo Ziegler Nichols 1 nh sau: Gain: kC=0. 5. Gain1: 1/TI=1/48=0,0208. Gain2: 1/Tt=2/TI=2/48=0,0416. Gain3: TD=12. 1. S simulink tng t s simulink ca b iu khin PI chng bo ha tch phn.

2. Kt qu m phng.

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Nhn xt: S dng b iu khin PI v PID c khu chng bo ha tch phn ta thy gim c hin tng bo ha tch phn, tn hiu ra bm ti tn hiu ch o m khng dao ng qu nhiu, qu trnh nhanh chng i n n nh: 1. qu iu chnh nh. 2. Thi gian qu nhanh. 3. gim c sai lch tnh xung mc thp. 4. Vi iu khin phn hi vng n ta c th khng cn o lu lng ra v: lu lng ra ch l nhiu ca qu trnh. Nu ta o lu lng ra th gim c ti a nh hng ca tn hiu nhiu lm h thng c cht lng iu khin tt hn. Cn khng th h thng vn n nh. 5. Sch lc iu khin tng. 1. Gii thch ti sao cn s dng iu khin tng. 1. iu khin phn hi vng n cha p ng c yu cu cht lng. 2. iu khin tng c cc u im nh: 1. Ci thin kh nng loi b nhiu cc b. 2. Gim qu iu chnh. 3. Ci thin tnh n nh ca ton h kn. 4. Nng cao tnh bn vng ca h kn. 1. Ta c th d dng o v iu khin c bin qu trnh th 2 (bin o: hiu ca lu lng Out Flow v In Flow) c lin quan n bin th nht (Level). 2. c tnh ng hc ca bin th 2 nhanh hn bin th nht. 3. Xc nh cc vng iu khin cn xy dng. Nhim v v c im ca tng vng. Cn phi o nhng i lng no. 1. Vng iu khin. 1. Vng ngoi: o mc nc ca bnh Level ri phn hi li so snh vi gi tr t SP. 2. Vng trong: o lu lng vo In Flow ri phn hi li so snh vi gi tr u ra ca vng ngoi. 3. Nhim v v c im ca tng vng. 1. Vng ngoi: so snh gi tr t SP vi gi tr mc nc ca bnh Level cho ta lu lng vo mong mun (gi s l SP, gi tr vo ca vng trong). 2. Vng trong: so snh gi tr SP vi gi tr lu lng vo In Flow cho ta tn hiu iu khin ( m van). 3. Vng trong c c tnh ng hc bin i nhanh hn c tnh ng hc ca vng ngoi. 4. Cn phi o cc i lng l: In Flow, Level, (Out Flow). 5. S P&ID.

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6. Xy dng cc vng iu khin xc nh trn trong trng hp khng o c lu lng ra. B iu khin kC=kP TI TD P PI PID 2T=2.24=48 0,5T=0,5.24=12

Chn thng s: vng ngoi chn b iu khin P (vi kP=kc=1000) v vng trong chn b iu khin P, PI, PID vi cc thng s c tnh ton trn. 1. B iu khin P/P. 2. M hnh Simulink:

Kt qu m phng nh sau. Gi tr t v m van ban u l 500 v 0.2 sau thay i gi tr t ln 800 ri thay m van ln 0.8.

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 th so snh gi tr SP v Level.

th so snh gi tr In Flow v Out Flow. Nhn xt: b iu khin tng i tt, mc nc nhanh chng bm theo gi tr t, sai lch khng ln, nhanh chng p ng khi thay i SP hoc m van. 1. B iu khin P/PI-RW. 1. S simulink.

Lc u gi tr t v m van ln lt l 500 v 0.2 sau thay i gi tr t ln 800 v m van ln 0.5. 2. B iu khin chng bo ha tch phn PI RW.

Trong : Thng s ca cc khi c xc nh theo Ziegler Nichols 1 nh sau: Gain: kC=0.375.

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3. Kt qu m phng.

Gain1: 1/TI=1/80=0,0125. Gain2: 1/Tt=2/TI=2/80=0,025.

th so snh gi tr SP v Level

th so snh gi tr In Flow v Out Flow. Nhn xt: b iu khin cho kt qu kh tt, tn hiu ra bm theo tn hiu vo khi c thay i gi tr t SP hoc m van, sai lch nh. 4. B iu khin P/PID-RW. 5. S simulink.

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6. S m hnh chng bo ha tch phn PID RW.

Trong : Thng s ca cc khi c xc nh theo Ziegler Nichols 1 nh sau: Gain: kC=0. 5. Gain1: 1/TI=1/48=0,0208. Gain2: 1/Tt=2/TI=2/48=0,0416. Gain3: TD=12. 7. Kt qu m phng. Lc u gi tr t v m van ln lt l 500 v 0.2 sau thay i gi tr t ln 800 v m van ln 0.5.

th so snh gia gi tr SP v Level

16

 th so snh gia gi tr In Flow v Out Flow Nhn xt: cht lng iu khin khng c tt, sai lch gia tn hiu ra vi mc gi tr t l kh ln, sai s kh r rt. 1. B iu khin PI RW/P. 2. S simulink

3. S m hnh chng bo ha tch phn PI RW khi subsystem v b iu khin P ging s v thng s tnh phn P/PI RW. 4. Kt qu m phng Lc u gi tr t v m van ln lt l 500 v 0.1 sau thay i gi tr t ln 800 v m van ln 0.3

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 th so snh gi tr SP v Level

th so snh gi tr In Flow v Out Flow Nhn xt: nhn thy b iu khin khng t yu cu, gi tr mc trong bnh gn nh khng thay i, hoc thay i rt t trong khi gi tr SP t th kh ln d c thay i gi tr t hay m van. 5. B iu khin PI RW/PI RW. 1. S simulink

2. S m hnh chng bo ha tch phn PI RW khi subsystem v subsystem1 ging s v thng s tnh phn P/PI RW. 3. Kt qu m phng.
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Lc u gi tr t v m van ln lt l 500 v 0.1 sau thay i gi tr t ln 800 v m van ln 0.3.

th so snh gi tr SP v Level

th so snh gi tr In Flow v Out Flow Nhn xt: mc cht lng thay i khng ng k so vi gi tr t, b iu khin khng t yu cu. 4. B iu khin PI RW/PID RW. 1. S simulink.

2. S khu chng bo ha tch phn PID RW khi subsystem ging s v thng s tnh phn P/PID RW.
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3. Kt qu m phng. Lc u gi tr t v m van ln lt l 500 v 0.1 sau thay i gi tr t ln 800 v m van ln 0.3

th so snh gia gi tr SP v Level

th so sanh gia gi tr In Flow v Out Flow Nhn xt: Tng t nh 2 trng hp trn, mc nc gn nh khng thay i ng k so vi gi tr SP t vo, d thay i gi tr t hay m van cng khng c tc dng. Vy b iu khin khng kh dng. 4. Xy dng vng iu khin trong trng hp o c lu lng ra. 5. B iu khin P/P. 1. S simulink.

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Vng ngoi chn b iu khin P (vi kP=kc=1000) v vng trong chn b iu khin P (vi kP=kc=0,417). Kt qu m phng nh sau: Lc u gi tr t v m van ln lt l 500 v 0.2 sau thay i gi tr t ln 800 v m van ln 0.5

th so snh gia gi tr SP v Level

th so snh gia gi tr In Flow v Out Flow Nhn xt: h thng nhanh chng t ti gi tr xc lp, bng gi tr SP. Khi thay i m van hoc mc SP th mc cht lng nhanh chng iu chnh tin ti xc lp, b iu khin t yu cu. 2. B iu khin P/PI RW.
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3. S simulink.

4. S khu chng bo ha tch phn PI RW khi subsystem v P ging s v thng s tnh phn P/PI RW cu a. 5. Kt qu m phng Lc u gi tr t v m van ln lt l 500 v 0.2 sau thay i gi tr t ln 800 v m van ln 0.4

th so snh gia gi tr SP v Level

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 th so snh gia gi tr In Flow v Out Flow Nhn xt: b iu khin cho kt qu kh tt, mc cht lng nhanh chng thay i v bm theo khi c s thay i gi tr t SP. Thay i m van khng nh hng n s n nh ca qu trnh. 6. B iu khin P/PID RW. S simulink ging vi s simulink b P/ PI RW cu trn. S khu chng bo ha tch phn PID RW khi subsystem v P ging s v thng s tnh phn P/PID RW cu a. 1. Kt qu m phng. Lc u gi tr t v m van ln lt l 300 v 0.2 sau thay i gi tr t ln 600 v m van ln 0.4

th so snh gia gi tr SP v Level

th so snh gia gi tr In Flow v Out Flow Nhn xt: mc cht lng xp x mc gi tr t SP, tuy nhin cht lng khng n nh v cn sai khc kh r rt tuy lu lng ra v lu lng vo nhanh chng bm nhau sau nhng thi gian qu khi iu chnh.
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2. B iu khin PI-RW/P. 3. M hnh simulink

S khu chng bo ha tch phn PI RW khi subsystem v P ging s v thng s tnh phn P/PI RW cu a. 4. Kt qu m phng. Lc u gi tr t v m van ln lt l 500 v 0.1 sau thay i gi tr t ln 800 v m van ln 0.3

th so snh gia gi tr SP v Level

th so snh gia In Flow v Out Flow

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Nhn xt: mc cht lng thay i khng ng k cho d mc nng gp i mc t SP trong qu trnh m phng. Dng vo v dng ra dao ng ln, khng n nh, khng p dng c b iu khin ny. 5. B iu khin PI-RW/ PI-RW. 6. M hnh simulink

S khu chng bo ha tch phn PI RW khi subsystem v subsystem1 ging s v thng s tnh phn P/PI RW cu a. 7. Kt qu m phng. Lc u gi tr t v m van ln lt l 500 v 0.1 sau thay i gi tr t ln 800 v m van ln 0.3.

th so snh gia gi tr SP v Level

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 th so snh gia gi tr In Flow v Out Flow Nhn xt: mc cht lng khng bm theo gi tr t SP, v hu nh thay i khng ng k. Lu lng vo v ra dao ng mt n nh, nhiu. B iu khin khng t yu cu. 8. B iu khin PI RW/ PID RW. M hnh simulink ging vi s b iu khin PI RW/ PI RW. Nhng khi subsystem2 c thay bi s PID RW ging s v thng s tnh phn P/PID RW cu a. 9. Kt qu m phng Lc u gi tr t v m van ln lt l 500 v 0.1 sau thay i gi tr t ln 800 v m van ln 0.3.

th so snh gi tr SP v Level
26

 th so snh gi tr In Flow v Out Flow Nhn xt: ging 2 trng hp trn, b PI RW/ PI RW cho cht lng iu khin khng tt, mc cht lng trong bnh khng bm gi tr t, lu lng vo v ra khng n nh, nhiu. 10. So snh gia 2 trng hp: 1. Khi o c lu lng ra, h thng n nh khng ph thuc vo s thay i ca van, loi tr c nh hng ca nhiu. Trng hp o c lu lng ra cho ta cht lng iu khin tt hn trng hp khng o c lu lng ra. 2. Trng hp o c lu lng ra: khi h thng t trng thi n nh d thay i lu lng ra th h thng vn n nh (hn ch ti a nhiu). 3. Trng hp khng o c lu lng ra: khi h thng t trng thi n nh, nu thay i lu lng ra th h thng mt n nh (chu nhiu nh hng ca nhiu).

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Bi 2.

Xy dng h thng iu khin hai bnh mc

1. Xy dng m hnh cho i tng bnh mc.

1. Xc nh cc tn hiu vo,tn hiu ra v nhiu h thng. 1. Tn hiu vo: m van vo (In Valve 1 v In Valve 2). 2. Tn hiu ra: mc cht lng trong 2 bnh mc (Level 1 v Level 2). 3. Nhiu h thng: m van ra Out Valve 3. 4. Xy dng m hnh ton hc cho i tng. Tng t nh h thng iu khin 1 bnh mc, ta c hm truyn m t bnh mc th nht:

G1 ( s)

k1 s.(T1.s 1)

V do cht lng chy t bnh 1 sang bnh 2 mt 1 khong thi gian qua Valve 2, nn mc cht lng trong bnh thay i tr 1 khong thi gian nht nh so vi s thay i mc cht lng trong bnh 1, do ta c hm truyn m t bnh mc th 2:

k2 .e s G2 ( s) s.(T2 .s 1)
5. S dng Similink xc nh cc tham s ca m hnh:

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 th hm qu ca m hnh: Bnh 1:

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Bnh 2:

T th ta tnh ton c cc tham s l: Vi bnh 1: T1=4; k1=459,3/(203 4)=2,31. Vi bnh 2: =9; T2=34 9=25; k2=155/(123 34)=1,74. Kim tra li m hnh: S simulink

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Bnh 1

Bnh 2

Thy p ng qu gn vi p ng ca h thng, sai lch khng qu ln, c th chp nhn c, v vy khng cn hiu chnh cc thng s i vi cc h s tnh ton trn. Vy:

6. La chn sch lc iu chnh. y ta c th s dng cc sch lc: iu khin phn hi v iu khin tng. Tuy nhin ta la chn sch lc iu khin tng. V sch lc ny c th trit tiu ti a sai lch tnh v cho cht lng h thng tt hn iu khin phn hi. 7. B iu khin phn hi kt hp b nhiu.
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S P&ID

Tnh ton thng s b iu khin theo cng thc Ziegler Nichols 1 vi cc thng s. Bnh 1: T1=4; k1=2,31. Bnh 2: =9; T2=25; k2=1,74. Thng s P kC=kP TI TD

Bnh 1

PI

PID

2 =2.4=8

0,5 =0,5.4=2

Bnh 2

PI

PID 8. S simulink. 1. B iu khin P.

2 =2.25=50

0,5 =0,5.25=12,5

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Kt qu m phng. Chn gi tr t SP1=800 SP2=200, m van =0,5. Bnh 1

Bnh 2

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Nhn x t mc cht lng trong c 2 bnh ln lt bm theo cc gi tr t trc sau thi gian qu v n nh ti cc gi tr ny = b iu khin t yu cu, loi b c nhiu, qu iu chnh khng cao, cht lng n nh. 2. B iu khin PI RW. S simulink

S khu chng bo ha tch phn PI RW.

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Subsystem

Gain: kC=0.39. Gain1: 1/TI=1/13,33=0,075. Gain2: 1/Tt=2/TI=2/13,33=0,15. Gain: kC=0.517. Gain1: 1/TI=1/83,33=0,012. Gain2: 1/Tt=2/TI=2/83,33=0,024.

Subsystem 2

Kt qu m phng.

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Bnh 1

Bnh 2

Chn gi tr t SP1=800, SP2=200, m van =0,5. Nhn x t thi gian qu c 2 bnh l kh ln. Tuy nhin, sau thi gian qu , mc cht lng trong mi bnh u t v cn bng vi gi tr t SP tng ng ca mi bnh. Nhn chung b iu khin t cht lng kh tt. 1. B iu khin PID RW. S simulink ging vi s ca b iu khin PI RW trn nhng cc khi subsystem c cc thng s nh di y.

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Subsystem

Gain: kC=0.,519. Gain1: 1/TI=1/8=0,125. Gain2: 1/Tt=2/TI=2/8=0,25. Gain3: TD=2.

Subsystem 2

Gain: kC=0,69. Gain1: 1/TI=1/50=0,02. Gain2: 1/Tt=2/TI=2/50=0,04. Gain3: TD=12,5.

Kt qu m phng. Chn gi tr t SP1=800 SP2=200, m van =0,5 Bnh 1

Bnh 2
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Nhn x t thy thi gian qu ca 2 bnh kh ln, c bit l bnh 2 (1 phn do thi gian tr). Khi bt u m phng, mc trong cc bnh bt u bm theo v tin ti t cn bng vi cc gi tr t tng ng mi bnh v n nh cc mc ny. Phng n ny c th p dng nu khng yu cu thi gian p ng nhanh bi sau thi gian qu th h thng trng thi xc lp n nh. 2. 1. Sch lc iu khin tng. Xc nh vng iu khin cn xy dng, nhim v v c im tng vng: 1. Vng th nht: iu khin m van In Valve 1. 2. Vng th hai: iu khin m van In Valve 2. 3. c tnh ng hc ca vng th nht bin i nhanh hn c tnh ng hc ca vng hai. 4. Xy dng cc vng iu khin nu. 1. Phng n chn c 2 vng u l cc b iu khin P: 1. Hiu chnh li thng s cho cc b iu khin nh sau: PID controller 2 v PID controller 3 chn kc =kp=1000. PID controller l kc =kp=0,433 v PID controller 1 chn kc =kp=0,575. M hnh simulink

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Kt qu m phng.

Bnh 1

Bnh 2

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Flow1 v Flow 2

Flow2 v Flow 3 Nhn x t cht lng b iu khin kh tt, gi tr mc trong mi bnh nhanh chng bm theo v cn bng vi gi tr t SP tng ng. Khi thay i gi tr t mi bnh th lp tc mc trong bnh thay i theo v t ti gi tr mi sau thi gian nh. Trng thi xc lp, mc cht lng c 2 bnh u c duy tr n nh, khng chu nh hng ca nhiu khi thay i m van.
Sau thi gian qu th cc dng flow1, flow2 v flow3 ta nhn thy cn bng nhau 2 trng thi xc lp: ln th nht v sau khi iu chnh m cc van. Chnh s cn bng ny th hin h thng ang trng thi xc lp: dng ra v dng vo mi bnh bng nhau.

2. B iu khin P/PI RW. S simulink

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Khu chng bo ha tch phn PI RW trong khi subsystem v subsystem1 c cc thng s nh b PI RW ca b iu khin phn hi vng n. Kt qu m phng. Bnh 1

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Bnh 2

Flow 1 v Flow 2

Flow 2 v Flow 3

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Nhn x t ta thy mc cht lng trong 2 bnh uc iu chnh theo mc gi tr t SP, lun c xu hng bm theo gi tr t. Khi SP thay i, mc trong c 2 bnh u thay i v tin ti cn bng vi gi tr xc lp mi. Khi t ti gi tr xc lp, th m van khng nh hng ti n nh h thng. Nn b iu khin c cht lng tt, loi b c nhiu h thng. Khi thay i gi tr t v m cc van, ta thy s thay i cc dng flow cng thay i theo tng ng, tuy vy sau thi gian qu th cc dng ny cn bng nhau, to nn trng thi xc lp ca h thng.

3.

B iu khin P/PID RW.

S simulink tng t nh trng hp ca b iu khin P/PI RW nhng trong cc khi subsystem v subsystem1 ca cc b PI RW s c thay bng cc b PID RW nh trng hp m phng cho b iu khin phn hi vng n.

Kt qu m phng. Bnh 1

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Bnh 2

Flow 1 v Flow 2

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Flow 2 v Flow 3

Nhn x t vi bnh 1 ta thy b iu khin kh t yu cu, gi tr mc lun bm theo gi tr t tuy c s sai lch nht nh nhng nhn chung c th chp nhn c. Tuy nhin bnh 2 ta thy p ng bm theo gi tr t nhng khng cn bng vi n, chnh lch l kh r rt, c th do tnh ton thng s cn sai s vi b iu khin i vi bnh mc 2.
Nhn chung h thng t c yu cu, ti cc giai on h thng trng thi xc lp, cc dng cn bng nhau v thay i mnh cc thi im thay i mc t SP hoc m van.

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