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BO CO IU KHIN QU TRNH
BI I

Xy dng h thng iu khin mt bnh mc

I./ Xy dng m hnh cho i tng bnh mc:
1./ Xc nh cc tn hiu vo, tn hiu ra v nhiu h thng + Tn hiu vo: m van vo (In Valve) + Tn hiu ra: Mc ca bnh mc (H) + Nhiu h thng: m van ra (Out Valve) 2./ Xy dng m hnh ton hc cho I tng: Out Flow In Valve

G(s)

Phn tch : + Khi HT c kch thch bi khu Step th p ng qu h(t) tng dn tI gi tr 1000( cao ca bnh mc) th bo ha (do bnh mc b giI hn trn=1000). Nu cao ca bnh cha l v hn th ng p ng h(t) vn tip tc tng v hn => h thng c thnh phn vi phn + p ng qu h(t) c dng ng cong ln (r nht trong khong t=0->50 s ) => h thng c thnh phn khu qun tnh bc nht + Khi u vo thay i t 0 -> 1 => p ng h(t) thay I theo => H thng c thnh phn tr khng ng k (coi bng khng). => Hm truyn ca h thng gm 1 khu tch phn v 1 khu qun tnh bc nht c dng: K G ( s) = s (1 + T .s )

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3./ S dng SIM MULINK xc nh h cc tham s m hnh h (K , T) :0 0. + M hnh h:

3.1./ Ph P ng ph hp ng g cong p ng : + Nh phn tch phn 2 : H m truyn h thng c dng K G (s) = s (1 + T .s )

m qu h(t) ta k tip tu uyn vi th t : + T hm - Ct trc t : ta c T= =25 - Ly 2 im A & B bt k , chiu ln l 2 trc ta c Yo=30 00 , T0=120 Y 0 300 + Xc nh cc tham m s K= = 2,5 = t 0 120 + Nhn c hm tru uyn G(s) = *./ Ki im tra li : 2 .5 s (1 + 25s )

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+ T hm truyn G(s) ta kim tra lI p ng qu bng MATLAB >> G=tf(2.5,[25 1 0]) Transfer function: 2.5 ---------25 s^2 + s >> step(G) + p ng qu

=> p ng qu ph hp vi p ng ca h thng m phng + Vy hm truyn cu m hnh bnh mc: 2.5 G ( s) = s (1 + 25s ) 3.2./ Phng php bnh phng cc tiu + Gi s bnh mc c hm truyn 2.5 G ( s) = s (1 + 25s ) + Chuyn sang h gin on vi thi gian trch mu 0.1 >> G=tf(2.5,[25 1 0])

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Transfer function: 2.5 ---------25 s^2 + s >> c2d(G,0.1,'zoh') Transfer function: 0.0004993 z + 0.0004987 ----------------------z^2 - 1.996 z + 0.996 Sampling time: 0.1 0.0004993 z + 0.0004987 ---------------------z^2 - 1.996 z + 0.996 + Kch thch u vo tn hiu bc thang n v ta nhn c p ng U(k)={ 0 , 1 , 1 , 1 , 1 , 1} Y(k)={ 0 , 0 , 0.00027 , 0.0011 , 0.0024 , 0.00435} + H thng bit c bc m=n=2. Chn giI hn quan st t=6 + Ta c ma trn: 0 1 0 0 -0.00027 0 1 1 = -0.0011 -0.00027 1 1 -0.0024 -0.0011 1 1 0.00027 0.0011 Y = 0.0024 0.00435 + Xc nh cc tham s ca m hnh nh m trn q q = ( T . ) 1. T .Y = [1.989 0.986 0.0003 0.0003] 0.0004993 z + 0.0004987 Vy G(z) = ---------------------z^2 - 1.996 z + 0.996 + Phng php bnh phng cc tiu cho ta hm truyn ng vi hm truyn ca m hnh bnh mc II./ Cc sch lc iu chnh : 1./ Cc sch lc c th s dng: + iu khin phn hI + Iu khin tng 2./ Cc sch lc khng th s dng: + iu khin truyn thng + iu khin t l Vy G(z) =

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+ iu khin la chn + iu khin phn vng 3./ Gii thch: + iu khin truyn thng khng cho ta mc n nh ca bnh mc + iu khin t l c p dng cho h thng : duy tr quan h gia 2 bin nhm iu khin gin tip bin th 3, m iu khin bnh mc ch c 1 bin iu khin nn khng c p dng. + iu khin la chn, iu khin phn vng yu cu c t nht l 2 bin iu khin, m bnh mc chi c 1 bin iu khin, nn khng xc nh c tn hiu iu khin ln t => khng c p dng sch lc ny. 4./ Lu P&ID iu khin phn hi vng n

M phng trn SIMULINK

4.2./ iu khin tng:

Lu P&ID

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M phng trn SIMULINK

III./ M hnh sch lc truyn thng

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1./ M phng trn SIMULINK

+ p ng u ra ca bnh mc

(xem lai so do nay)

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2./ Nhn xt v kh nng p dng sch lc K truyn thng: + Mc nc trong bnh tng lien tc n khi thi gian t=400(cha ht thi gian m phng) th bnh cha y trn chng t h thng khng n nh => khng th p dng sch lc ny. 3./ Gii thch: + Ch cn sai s nh trong qu trnh o lu lng ( rt d mc phi) hoc sai s nh van iu khin l nguyn nhn chnh gy nn HT khng n nh (trn bnh hoc cn bnh) IV./ Sch lc iu khin vng n: 1./ M phng trn SIMULINK

+ p ng u ra ca bnh mc khi cha c b K:

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Nhn xt t:

q iu chnh n : % = 0.57% + qu + Thi gian qu : tqd=250 s + c tnh lu l ng ra cha n nh , cn n dao ng

2./ S dng cc c b iu khi k n khc nhau 2.1./ B iu kh hin P : VI Kp= 6.8

N n xt : => Nh

+ qu q iu chnh n : % = 0.4% + ThI gian qu : tqd=145 s + c tnh lu l ng ra n nh

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2.2./ B iu khin PI : + vi b iu khin PI ta p dng ph-ng php ti -u i xng - Da vo ph-ng trnh hm truyn ph-ng php k tip tuyn l: 2.5 - G ( s) = s (1 + 25s ) Ta c: k=2.5; T1=25 Ta s c cc tham s -c chn nh- sau : 1 Khi a=5 thi: Kp= =0.007155 v Ti=a*T1=125 k * T1* a Kp/Ti=0.00005724 + p ng h thng vI b PI

=> Nhn xt :

+ qu iu chnh : % = 1% + ThI gian qu : tqd=140 s + c tnh lu lng ra km n nh hn so vI b P do khu tch phn I 2.3./ B iu khin PID: K==8.16 Ti=50 =>K/Ti=0.1632 Kd=102 + p ng h thng vI b PID =>

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N n xt : => Nh

+ qu q iu chnh n : % = 1% + ThI gian qu : tqd=150 s + c tnh lu l ng ra n nh n hn so vI b PI

3./ Nh N n xt chung: + iu kh hin bnh mc thc cht c khu tch t phn do o khi la chn b K ta ch cn dng b iu khin P l . + Nu dn ng b PI hoc PID do c thnh phn tch phn nn n d gy ra a hin t ng Reset Windup W + Nu dn ng nn chn thng s kh hu tch phn n rt nh, ho oc p dng cc c phng php loI b hin tng g Reset Win ndup. hn hI n ta c th khng cn o lu l ng ra. 4./ VI vng ph + Trong vng v K n th lu l ng ra l tn hi h u nhiu ca qu trnh h. Nu kh ng o lu l ng ra th khng k gim c tI a nh hng ca Tn hiu nhiu v vy m nh h ng xu tI cht lng g ca h thng n Mc d h thng vn n nh V./ Sch l c iu kh hin tng g: 1./ Gi G I thch tI sao cn s dng s ch lc iu khin tng: + Vng K n cha p ng c yu cu ch c t lng + Ta c th h d dng o c & iu khin d c bin qu trnh th 2 (Bin o :Hiu ca lu lng Out O Fow & In n Fow) c li n quan n bin th nht (Mc ca bnh) + c tnh h ng hc ca bin th 2 (lu lng Out Fow & In Fow)

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nhanh hn bin th nht. 2./ Xc nh cc vng K & nhim v & c im cn xy dng: 2.1./ Vng K: + Vng 1(vng ngoi): o mc ca bnh rI phn hI lI so snh vI SP1 + Vng 2(vng trong):o hiu lu lng Out Flow & In Flow,phn hI lI so snh vI gi tr u ra ca vng 1(l gi tr Set Poit cho vng 2) 2.2./ Nhim v & c im ca tng vng: + Vng 1: so snh gi tr SP1 vI mc ca bnh cha cho ta lu lng vo mong mun (gi tr SP2 cho vng 2) . + Vng 2 : so snh SP2 vI hiu lu lng Out Flow & In Flow cho ta tn hiu iu khin ( m van ph hp) + Vng 2 c c tnh ng hc bin I nhanh hn c tnh ng hc ca vng 1 3./ Xy dng vng K trong trng hp khng o c lu lng ra: + M hnh SIMULINK

+ p ng ca h thng vI thng s khu K chn trn:

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=> Nhn xt: + Cht lng ca h thng thay I ph thuc vo lu lng ra (nhiu h thng). Do khng trit tiu c tn hiu nhiu + Trong khong t=0->300 (s) lu lng ra Out Flow =0 th p ng ca h thng n nh tt + Trong khong t=300->600 (s) Out Flow=0.45 th p ng ca h thng vn n nhng cht lng gim st: - Overshoot tng I ln - Sai lch gia lu lng vo & ra ng k 4./ Xy dng vng K trong trng hp o c lu lng ra: + M hnh SIMULINK

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+ p ng n ca h thng

=> Nh N n xt: + Khi o c lu l ng ra , p ng ca h th t ng n nh n khng ph h thuc v o s thay I lu lng g ra. Ta gim c s nh hng ca tn hi h u nhiu. - Overshoot t nh - Sai lch gi ia In Flow & Out Flow w nh o snh hai tr t ng hp: => So + Trng g hp o c lu lng ra: khi h th hng t trng n thi n nh d thay I ng ra th h thng vn n nh( hn ch tI a nhiu) lu l + Trng g hp khng o c lu lng ra: khi k h thng t trng th i n nh , nu thay I lu lng n ra th h th hng mt n nh( chu nh hng ca nhiu) + Trng g hp o c lu lng ra cho ta ch ht lng tt hn trng hp khng o c lu lng ra.

VI./ / Nu s dng b iu khi in c th nh phn tch ph n (PI,PI ID)

1./ Nh N n xt v qu iu chnh & s dao ng: + Dng b K c th nh phn tch h phn s lm m gim qu u iu chnh n nhng lI lm tng s dao ng g 2./ Nguyn N nh n : + Nguyn n nhn dn n s dao ng l do hin tng Reset Windup p: hin tng u ra ca b iu chnh n vn tip tc tng qu mc giI hn khi sai lch h tc l iu khi k n tr v khng.

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3./ Bin php khc phc: thng s dng 2 phng php ch yu 1. S dng khu b thnh phn tch phn 2. Ct b thnh phn tch phn khi gi tr c iu khin t tI gi tr t ( loI tr hon ton hin tng Reset Windup)

VII./ Kho st h thng khi tn hiu o mc cht lng b nhiu

1./ Nu cch khc phc: + Ta s dng khu lc n gin (K/(T.s+1)) lm gim s nh hng ca tn hiu nhiu 2./ M phng bng SIMULINK: + M hnh K tng: - Nhiu o : White Noise 1 - S dng khu lc nhiu L = 20.s + 1

+ p ng Mc / In Flow / Out Flow

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=> Nh N n xt: S dng khu lc nhiu gi p h thng t trng th i n nh (gim s nh n hng ca nhiu)

BI II Xy y dng h thng g iu kh hin hai i bnh mc

I./ Xy X dng g m hnh h cho I tng bnh b mc: c
1./ Xc X nh c c tn hiu vo, v tn hiu ra v nh hiu h thng + Tn hiu vo: m van n vo: In Val lve1 , In Val lve2 + Tn hiu ra: Mc ca ha ai bnh mc : H1 & H2 + Nhiu h thng: m van n ra: Out Va alve3 X dng m m hnh to n hc cho I tng g: 2./ Xy Out Flow3 3 In Valve1 1 I Valve2 In H2

H H1(s)
H1

H2(s)

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iu khin t ng II./ La chn sch lc iu chnh:

1./ Cc sch lc c th s dng : 1. iu khin fi tp trung + iu khin phn hI + iu khin tng 2. iu khin tp trung 2./ La chn sch lc + Ta la chn sch lc iu khin tng. V sch lc ny c th trit tiu tI a sai lch tnh & cho cht lng h thng tt hn iu khin phn hi. 3./ S PI&D

S simulink

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iu khin t ng III./ Xy dng b iu khin cho h thng:

1./ Xc nh tn hiu iu khin & tn hiu o: + Tn hiu K: - Tn hiu qua b PI&D iu khin m van : In Valve1 & In Vale2 + Tn hiu o: - Tn hiu c c khi o mc trong bnh: Level 1& Level 2 - Tn hiu c c khi o lu lng : Out Flow1 Out Flow2 Out Flow3 2./ Xc nh vng iu khin cn xy dng: + Vng th nht : iu khin m van In Valve1 + Vng th hai : iu khin m van In Valve2 2.1./ c im & nhim v ca tng vng: + Vng 1: iu khin m van In Valve1 & c c tnh ng hc bin I nhanh hn vng 2 + Vng 2 : iu khin m van In Valve2 & c c tnh ng hc bin I chm hn vng 1 3./ Xy dng cc vng K nu: 3.1./ M hnh SIMULINK cho h thng K phn hI:

3.2./ p ng mc H1(t) / H2(t) & Flow1 / Flow2 / Flow3 khi chn b K

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3.3./ M hnh SIMULINK S K cho h th hng K tng: + La ch hn b K: - Vng ngo i: dng b P nhm tng g tc p ng ca h th t ng - Vng tron ng : dng b PI nhm trit tiu sai lch c tnh

F / Flo ow2 / Flow w3 khi ch c n b K: 3.4./ p ng mc H1(t) / H2(t) & Flow1

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3.5./ M hnh SIMULINK S K cho h th hng K tp trung:

3.6./ p ng mc H1(t) / H2(t) & Flow1 F / Flo ow2 / Flow w3 khi chn b K

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