TP CH KHOA HC V CNG NGH, I HC NNG - S 1(42).

2011
42
IU KHIN M PID CHO QU TRNH MC CHT LNG
PID FUZZY CONTROLLER FOR LEVEL LIQUID PROCESS

Nguyn Hong Mai
Trng i hc Bch khoa, i hc Nng
V Khnh Thoi
Hc vin cao hc kho 2008-2011

TM TT
Hin nay, hu ht cc h iu khin cng nghip u s dng b iu khin PID
iu khin qu trnh, cc b iu khin ny cha ti u hoc t bn vng i vi s thay i
tham s trong qu trnh vn hnh. iu khin m l b iu khin thch hp cho cc i tng
c tham s khng chnh xc. Bi bo ny gii thiu v b iu khin m PID cho qu trnh mc
cht lng c tham s van iu khin v ti thay i. B iu khin m PID bao gm b iu
khin PID kinh in vng trong v mt b iu khin m vng ngoi b tham s b iu
khin PID. c tnh ca b iu khin c minh ha bng kt qu m phng iu khin n
nh qu trnh mc cht lng.
ABSTRACT
Nowadays, PID controllers have been used to regulate a process in most of the
industrial control systems. However, these controllers are not optimal or less robust with a
parameters change in operation. A fuzzy controller is suitable for the objects with inaccurate
parameters. This paper presents a PID fuzzy controller for liquid level process with varied
parameters of the control valve and changed load. The PID fuzzy controller consists of a typical
PID controller in the primary loop and a fuzzy controller in the secondary loop in compensation
for the parameters of a PID controller. The characteristics of the PID fuzzy controller are
illustrated with simulation results of the conditions in stabilising a liquid level.

1. t vn
Mt h thng qu trnh mc cht lng bao gm ngun cp cht lng, ng ng
dn, van iu khin, van tay, bnh mc. Trong van iu khin, bnh mc l cc i
tng phi tuyn, tham s ca van iu khin thay i theo thi gian, ti ca qu trnh
(van x) ph thuc vo yu cu cng ngh nn khng xc nh trc.
B iu khin PID (t l, tch phn, o hm) c dng ph bin trong cc h
iu khin cng nghip bi cu trc n gin. Cht lng ca h thng ph thuc vo
cc h s K
P
, T
I
, T
D
ca b iu khin PID v c thit k cho mt im lm vic c
trng. Trong qu trnh vn hnh, khi iu kin lm vic hoc cc tham s ca i tng
b thay i th phi chnh nh cc h s ny. Vic chnh nh thng theo kiu thm
d. Do , ta thit k b iu khin m vng ngoi b cc tham s b PID vng
trong mt cch t ng. B iu khin m PID va pht huy ht cc u im ca b
iu khin r va s dng cc u im h thng m gip trnh khi nhng bi ton
nhn dng, m hnh ho hay thit k phc tp. ng thi, kinh nghim iu khin i
tng d dng c kt hp vo lut iu khin. Vic ng dng k thut m xy dng
TP CH KHOA HC V CNG NGH, I HC NNG - S 1(42).2011
43
b iu khin cho cc qu trnh c tham s thay i l hng nghin cu cn mi m v
c kh nng p ng c cc yu cu cht lng cao.
Bi bo ny gii thiu v mt b iu khin m PID cho mt qu trnh mc cht
lng c tham s van iu khin v ti thay i.
2. Kt qu nghin cu v kho st
2.1 M hnh ho h thng qu trnh mc
2.1.1 H thng bnh mc
Mt h thng bnh mc gm bnh mc hnh tr vi chiu cao 92cm, ng knh
y 20cm, cm bin mc o theo kiu chnh p sut, bnh cha v bm cung cp lu
cht vo, van iu khin, thit b chuyn i dng in thnh p sut, van tay, h thng
ng ng trn vi ng knh trung bnh 2cm, ngun cp kh nn c m hnh v s
PI&D ca qu trnh mc nh hnh 1, 2.

Hnh 1. M hnh qu trnh mc Hnh 2. S PI&D ca qu trnh mc
Phng trnh biu din h bnh cht lng s da trn c s cn bng khi lng:
dm
bnh
= dm
vo
- dm
ra
(1)
hay

o i
q q
dt
Ah d
=
) (
(2)
trong : V : th tch ca bnh cha [m
3
];
q
i
, q
o
: lu lng vo ra bnh cha [m
3
/s];
: mt cht lng [kg/m
3
];
A : din tch ct ngang bnh cha [m
2
];
h : chiu cao ct cht lng (mc) [m].
Vi quan h dng ra v mc cht lng l quan h phi tuyn:
gh K q
v o
= (3)
TP CH KHOA HC V CNG NGH, I HC NNG - S 1(42).2011
44
trong K
v
: h s lu lng qua van,
g : gia tc trng trng [m/s
2
].
Khi (2) tr thnh:

gh K q
dt
Ah d
v i
=
) (
(4)
Vi A khng i, khng i, gin c v chuyn v ta c phng trnh:

i v
q gh K
dt
dh
A = + (5)
v vit li phng trnh nh sau:
( ) gh K q
A
h
v i
=
1
.
(6)
Phng trnh (6) l phng trnh ng hc ca bnh cht lng. Cu trc m hnh
bnh mc trn Matlab-Simulink nh hnh 3.
2.1.2 Van iu khin
Van iu khin thng thng c chnh xc khng cao (c th sai s v tr ti
5%) do: di cht (deadband), tr (hysteresis), do ma st thay i do bi bn, thiu bi
trn v han g, do p sut lu cht thay i cng nh do c tnh phi tuyn ca c ch
chp hnh. Do vy cc tham s ca van khng chnh xc [2, 6]. M hnh van iu khin
th hin nh hnh 4.

Hnh 3. M hnh ho bnh mc Hnh 4. M hnh ho van iu khin
2.1 Thit k b iu khin m PID
2.1.1 C s thit k b iu khin m PID
B iu khin PID vi cu trc n gin v tin cy nn c dng ph bin
trong cc h iu khin t ng phc v sn xut. Hm truyn ca b iu khin PID l:

+ + =

t
D
I
P
t e T d e
T
t e K t u
0
.
) ( ) (
1
) ( ) ( hay s K
s
K
K s G
D
I
P PID
+ + = ) (
Vi e(t) l tn hiu vo, u(t) l tn hiu ra; K
P
, K
I
, K
D
l cc h s t l, tch
phn, o hm. T
I
l hng s tch phn, T
D
l hng s vi phn. R rng, u(t) ph thuc
TP CH KHOA HC V CNG NGH, I HC NNG - S 1(42).2011
45
vo cc tham s K
P
, T
I
, T
D
ca b iu khin PID v do cht lng tn hiu ca h
thng cng ph thuc theo.
Mt khc, cc h s ca b iu khin PID ch c tnh ton cho mt ch
lm vic c th ca h thng, ph hp vi cc ch vn hnh khc nhau, b iu
khin PID cn chnh nh lin tc. B iu khin m, gii quyt vn t chnh nh
thch hp cc tham s ca b iu khin PID, nn ta c th thit k b iu khin m
vng ngoi chnh nh tham s b PID vng trong. B iu khin vng trong cho
mch vng iu chnh mc dng b PID kinh in, b iu khin m vng ngoi c
nhim v l phi t ng b c cc tham s K
P
, K
I,
K
D
ca b PID.
C s thit k b iu khin m
l da vo vic phn tch sai lch e(t) v
o hm ca tn hiu ra dy/dt, cc tham s
K
P
, K
I,
K
D
ca b iu khin PID s c
t ng chnh nh theo phng php b
m. Nh vy b chnh nh m s c hai
u vo l e(t), o hm ca u ra dy/dt
v mt u ra [1]
2.1.2 Thit k b iu khin m PID
a) Xc nh cc bin ngn ng
p dng m hnh m Mamdani. u vo th nht l sai lch gia mc t v
mc thc ET, u vo th hai l tc bin thin theo thi gian ca mc thc DH. u
ra ca b iu khin a n van k hiu l VA.
Sai lch ET c chn trong min gi tr [-1;+1],
o hm theo mc c chn trong min gi tr [-0,1;+0,1],
u ra VA c min gi tr [-1;+1].
b) Xc nh s lng tp m
Chn s lng tp m cho mi bin u vo l 3 v bin u ra l 5, c th nh
sau:
+ ET = {N, Z, P};
+ DH = {N, Z, P};
+ VA = {CF, CS, NC, OS, OF}.
c) Xc nh hm lin thuc
Trong k thut iu khin thng u tin chn hm lin thuc kiu hnh tam
gic hoc hnh thang. Cc loi ny c biu thc n gin, tnh ton d dng. Xy dng
trn Matlab-Simulink nh cc hnh 6, 7, 8.
Hnh 5. Phng php m PID cascade
TP CH KHOA HC V CNG NGH, I HC NNG - S 1(42).2011
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Hnh 6. Hm lin thuc u vo th nht Hnh 7. Hm lin thuc u vo th hai

Hnh 8. Hm lin thuc u ra Hnh 9. Cc lut iu khin
d) Xy dng cc lut iu khin
Nu ET l khng th VA khng i. Nu ET l dng th VA m nhanh. Nu
ET l m th VA ng nhanh. Nu ET l khng v DH l dng th VA ng chm.
Nu ET l khng v DH l m th VA m chm. Cc lut iu khin th hin nh
hnh 9.
e) Chn lut hp thnh v gii m
Dng lut hp thnh max-Prod, gii m theo phng php trng tm.
f) Ti u h thng
Sau khi xy dng m hnh m phng bao gm b iu khin m PID v i
tng, tin hnh qu trnh th nghim vi cc gi tr t khc nhau, thay i tham s h
thng v nhiu pht hin cc l hng nu c th iu chnh b b m bng cch
chnh li che ph ln nhau ca cc gi tr ngn ng, iu chnh li cc lut iu
khin. Sau khi bit chc b iu khin n nh v khng c l hng, tin hnh ti
u ho cc trng thi lm vic ca n theo cc ch tiu cht lng ng v tnh.
chnh nh b iu khin theo cc ch tiu ny ta phi hiu chnh hm lin thuc, thit
lp cc nguyn tc iu khin ph v thay i mt s nguyn tc iu khin v ta c
b iu khin m PID nh trnh by.
2.2 Kt qu m phng
S dng phn mm Matlab - Simulink, thc hin m phng qu trnh vi b
TP CH KHOA HC V CNG NGH, I HC NNG - S 1(42).2011
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iu khin PID kinh in v b iu khin m PID (hnh 10) ng vi cc trng hp
khc nhau, so snh cc p ng thu c nh cc hnh 11, 12, 13, 14, 15.



Hnh 10. M hnh ha qu trnh mc cht lng trong Matlab-Simulink
Hnh 11. p ng mc khi im t 50cm Hnh 12. p ng mc khi ti thay i v nhiu
Hnh 13. p ng mc khi thay i tham s van Hnh 14. p ng mc khi thay i im t

TP CH KHOA HC V CNG NGH, I HC NNG - S 1(42).2011
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Hnh 15. p ng mc khi thay i im t v tham s van
Bn lun
Khi thay i ti: m v ng van (hnh 12, 13, 14, 15), nhiu h thng: nhiu
lu lng vo (hnh 12), thay i tham s van (hnh 13, 15), thay i im lm vic:
60cm 40cm (hnh 14, 15); p ng mc cht lng ca m hnh m PID gn nh
khng i, mc cht lng trong bnh bm theo mc t tt, sai lch nh, h thng n
nh. Trong khi , p ng mc ca m hnh PID b thay i rt nhiu. p ng
mc i vi m hnh PID c s ln dao ng nhiu, thi gian qu ln hn, tn ti
sai lch tnh ln (hnh 13, 15). Khi thay i cc tham s lm cho im lm vic xc
lp ca qu trnh thay i, trong khi cc thng s ca b iu khin PID khng
thay i nn dn n dao ng nhiu, cn b iu khin m PID do c s t ng b
cc tham s nn thch nghi c vi s thay i ny, lm cho b iu khin n nh v
bn vng hn b PID.
4. Kt lun
Kt qu m phng trn Matlab-Simulink ng vi l thuyt, thut ton b iu
khin m PID l hon ton chnh xc, b iu khin m PID khng phi gii bi ton
nhn dng m vn cho c kt qu iu khin c cht lng cao k c khi gp nhiu,
ng thi khc phc c im yu ca b iu khin PID kinh in l thch nghi
c vi s thay i cc tham s ca h thng.
Cc thng s v cht lng iu chnh nh sai lch tnh, qu iu chnh, thi
gian qu , s ln dao ng ca qu trnh u tt hn rt nhiu so vi vic dng b
iu khin PID kinh in, nht l qu iu chnh v thi gian qu rt nh. Nh
vy h iu khin m PID hon ton p ng c cc yu cu v cht lng cao cho
qu trnh mc cht lng. y l hng nghin cu mi y trin vng.


Ghi ch:
h-dat : mc cht lng t
h-PID : mc cht lng khi s dng
b PID kinh in
h-Mo PID : mc cht lng khi s
dng b m PID
TP CH KHOA HC V CNG NGH, I HC NNG - S 1(42).2011
49

TI LIU THAM KHO
[1] Nguyn Don Phc Phan Xun Minh (1999), L thuyt iu khin m, Nh xut
bn Khoa hc v K thut, H Ni.
[2] Hong Minh Sn (2006), C s H thng iu khin qu trnh, Nh Xut bn Bch
Khoa H Ni.
[3] Kevin M. Passino, Stephen Yurkovich (1998), Fuzzy control, Addison Weslet
Longman, Inc.
[4] Donald R.Coughanowr, Process Systems Analysic and Control, Mc Graw-Hill
International Editions.
[5] http://www.labvolt.com/products/instrumentation-and-process-control/.
[6] Control Valve handbook (Emerson) Fourth Edition 2005.