Cho 1 cng ngh c m t bi hm truyn :

pL
K .e
G ( p)
(T p 1)(T p 2)
1
2
Trong : K=2 ; T1=3 ; T2=1;L=0.5
Thit k b iu chnh dng PID bao gm :
- Cu trc
- Xc inh h s
- Kho st c tnh u ra vi tn hiu vo l 1(t)
- Nhn xt

1. Lut PID :
Trong hot ng ca b PID hiu qu ca tc ng iu khin tch phn l loi tr
s truyn tn hiu tng theo t l c bit s truyn tng theo t l ca nhiu ln
bng cch hiu chnh lin tc u ra b iu khin . S h thng vi b iu
khin PID c dng sau

e(t)
Z(t)

B iu
khin PID

u(t)

i tng

o lng

Hm truyn ca b iu khin c dng :

G( p)

K .e pL
(T1p1)(T2 p2)

Hm truyn ca b iu khin PID :

Gp K p (1

1
Td p)
T1 p

y(t)

p dng khai trin Taylor ca hm e-x c : e-x

pL

1
x2
1 xp
....
2!

1
1 pL
Vy hm truyn i tng c dng :
e

G ( p)

(1 3 p)(1 p)(1 0.5 p)

2. Tng hp b iu khin theo phng php ti u module

Phng php ny nhm lm hm truyn h kn bng 1 trong di tn s thp
c rng bng 1. Ta c hm truyn ca mt khu qun tnh bc 3 nh sau :
S ( p)

k
(1 T s)(1 T )(1 T p)
1
2
3

Cc tham s PID c xc nh theo cng thc nh sau : ( Trang 186 sch LTK
I)
TT
T T
T T T ;T 1 2 ; K p 1 2
I 1 2 D T T
2kT
1 2
3

T ta tnh c cc tham s PID nh sau :

T 3 1 4
I
31 3
T

D 3 1 4
3 1
Kp
2
2 2 0.5

2. Kho st c tnh qu ca i tng.

Kch thch i tng bng tn hiu c dng bc nhy
M phng chng trnh bng Matlab nh sau :
>> w1=tf([0 1],[3 1])
Transfer function:
1
------3s+1
>> w2=tf([0 1],[1 1])
Transfer function:
1
----s+1
>> w3=tf([0 1],[0.5 1])
Transfer function:
1
--------0.5 s + 1
>> w4=tf([3 4 1],[0 2 0])
Transfer function:
3 s^2 + 4 s + 1
--------------2s
>> w5=2*w1*w2*w3
Transfer function:
2
--------------------------1.5 s^3 + 5 s^2 + 4.5 s + 1
>> w6=w4*w5

Transfer function:
6 s^2 + 8 s + 2
---------------------------3 s^4 + 10 s^3 + 9 s^2 + 2 s
>> w7=feedback(w6,1)
Transfer function:
6 s^2 + 8 s + 2
---------------------------------3 s^4 + 10 s^3 + 15 s^2 + 10 s + 2
>> step(w7)
Step Response
1.4

1.2

Amplitude

0.8

0.6

0.4

0.2

10

Time (sec)

Nhn xt : Sau khi xy dng v quan st m phng ta thy b iu khin PID tng
hp theo phng php ti ti u modul em li p ng tt nht cho h thng: n
nh, khng c sai lch tnh, qu iu chnh nh, thi gian qu khng ln. L
b iu khin kh tt cho h thng iu khin t ra.