Chng 3: GII THIU THUT TON IU KHIN

PID
3.1. Gii thiu b iu khin PID: B iu khin PID l mt b iu khin vng kn c s dng rng ri trong cng nghip. S dng b iu khin PID iu chnh sai lch gia gi tr o c ca h thng (process variable) vi gi tr t (setpoint) bng cch tnh ton v iu chnh gi tr iu khin ng ra. S mt h thng iu khin dng PID:

Hnh 1 S h thng iu khin dng PID Mt b iu khin PID gm 3 thnh phn: P (proportional) to tn hiu iu khin t l vi sai lch (error e), I (integral) to tn hiu iu khin t l vi tch phn theo thi gian ca sai lch, v D (derivative) to tn hiu iu khin t l vi vi phn theo thi gian ca sai lch. a) Khu P: Khu P to ra tn hiu iu khin t l vi gi tr ca sai lch. Vic ny c thc hin bng cch nhn sai lch e vi hng s KP gi l hng s t l. Khu P c tnh da trn cng thc:

Vi: Pout: gi tr ng ra KP: hng s t l

e: sai lch: e = SP PV S khi ca khu P:

Hm truyn:

Gp (s) = K p

Nu ch c khu P th trong mi trng hp sai s tnh lun xut hin, tr khi gi tr u vo ca h thng bng 0 hoc bng vi gi tr mong mun. Trong hnh sau th hin sai s tnh xut hin khi thay i gi tr t.

Hnh 2 p ng ca khu P Nu gi tr khu P qu ln s lm cho h thng mt n nh. b) Khu I: Khu I cng thm tng cc sai s trc vo gi tr iu khin. Vic tnh tng cc sai s c thc hin lin tc cho n khi gi tr t c bng vi gi tr t, v kt qu l khi h cn bng th sai s bng 0. Khu I c tnh theo cng thc:

Vi: IOUT: gi tr ng ra khu I

Ki: h s tch phn e: sai s: e = SP PV S khi khu I:

Hm truyn:

G(s) =

U(s) K I 1 = = E(s) s TI.s

Khu I thng i km vi khu P, hp thnh b iu khin PI. Nu ch s dng khu I th p ng ca h thng s chm v thng b dao ng. Hnh sau ch ra s khc bit gia khu I v PI:

Hnh 3 p ng ca khu I v PI Ta c th nhn thy l khu I lm cho p ng ca h thng b chm i rt nhiu, cn khu PI gip trit tiu sai s xc lp. c) Khu D: Khu D cng thm tc thay i sai s vo gi tr iu khin ng ra. Nu sai s thay i nhanh th s to ra thnh phn cng thm vo gi tr iu khin. iu ny ci thin p ng ca h thng, gip trng thi ca h thng thay i nhanh chng v mau chng t c gi tr mong mun. Khu D c tnh theo cng thc:

Vi: DOUT: ng ra khu D KD: h s vi phn e: sai s: e = SP PV S khi khu D:

Hm truyn:
G( s) U ( s) Kd s E ( s)

Khu D thng i km vi khu P thnh b PD, hoc vi PI thnh b PID.

Hnh 4 p ng ca khu D v PD Theo hnh trn, b PD to p ng c thi gian tng trng nh hn so vi b P. Nu gi tr D qu ln s lm cho h thng khng n nh. d) Tng hp ba khu B iu khin PID: B iu khin PID l cu trc ghp song song gia 3 khu P, I v D. Phng trnh vi phn ca b PID l tng:
u(t) = K Pe(t)+ K I e(t)dt + K D de(t) dt

S khi:

p ng ca b PID:

Hnh 5 p ng ca khu P, PI v PID e) Ri rc ha b iu khin PID: B iu khin s khng th ly mu lin tc theo thi gian, n cn c ri rc mt vi mc. Khi cho h s ly mu ngn bn trong thi gian vi phn c th t c xp x mt sai phn c gii hn v tch phn qua vic ly tng. Chng ta s quan tm mi dng mt thi im, v sai s c tnh mi khong ly mu: e(n) = X(n) Y(n) B PID ri rc c sai s, tnh ton v xut ng ra iu khin theo mt khong thi gian xc nh (khng lin tc) thi gian ly mu T. Thi gian ly mu cn nh hn n v thi gian ca h thng. Khng ging cc thut ton iu khin n gin khc, b iu khin PID c kh nng xut tn hiu ng ra da trn gi tr trc ca sai s cng nh tc thay i sai s. iu ny gip cho qu trnh iu khin chnh xc v n nh hn.

Hnh 6 S khi PID

Hm truyn ca h thng:

Hm chuyn i:

Tnh gn ng theo cng thc:

Vi n l bc ri rc ti t. Kt qu thu c:

Vi:

3.2. Thit k b iu khin PID: Lut iu khin thng c chn trn c s xc nh c m hnh ton hc ca i tng phi ph hp vi i tng cng nh tha mn yu cu ca bi ton thit k. Trong trng hp khng th xc nh c m hnh ton hc ca i tng, c th tm lut iu khin cng nh cc tham s ca b iu khin thng qua thc nghim. Ziegler v Nichols a ra phng php xc nh thng s ti u ca b PID l da trn th hm qu ca i tng hoc da trn cc gi tr ti hn thu c qua thc nghim. a) S dng hm qu ca i tng: Phng php ny cn c tn l phng php th nht ca Ziegler Nichols. N c nhim v xc nh cc thng s Kp , TN , TV cho cc b iu khin P, PI v PID trn c s i tng c th m t xp x bi hm truyn t dng:

Ke-Tt s G(s) = Ts+ 1

Sao cho h thng nhanh chng v trng thi xc lp v vt l m ax khng vt qu mt gii hn cho php, khong 40% so vi h() lim h(t ) :
t

max

hmax 40% h()

Ba tham s Tt (thi gian tr), K (h s khuch i) v T (hng s thi gian qun tnh) ca m hnh xp x c th xc nh c gn ng t th hm qu h(t) ca i tng. Nu i tng c dng nh hnh 7a m t th t th hm h(t) ta c ra c: -Tt l khong thi gian tn hiu ra h(t) cha c phn ng ngay vi tn hiu kch thch 1(t) ti u vo. -K l gi tr gii hn h() lim h(t )
t

-Gi A l im kt thc khong thi gian tr , tc l im trn trc honh c honh bng Tt. Khi T l khong cn thit sau Tt tip tuyn ca h(t) ti A t c gi tr K.

a)

b)

Hnh 7 Xc nh tham s cho m hnh xp x bc nht c tr Trng hp hm qu h(t) khng c dng l tng nh hnh 7a, nhng c dng gn ging nh hnh ch S ca khu qun tnh bc 2 hoc bc n nh m t hnh 7b th ba tham s K, Tt, T c xc nh xp x nh sau : -K l gi tr gii hn h() . -K ng tip tuyn ca h(t) ti im un ca n. Khi Tt s l honh giao im ca tip tuyn vi trc honh v T l khong thi gian cn thit ng tip tuyn i c t gi tr 0 ti c gi tr K. Nh vy ta thy iu kin p dng c phng php xp x m hnh bc nht c tr ca i tng l i tng phi n nh, khng c dao ng v t nht hm qu ca n phi c dng ch S. Sau khi c cc tham s cho m hnh xp x ca i tng, ta chn cc thng s ca b iu khin theo bng sau :

B iu khin P

KP

TN _

TV _

T K .Tt

PI

0,9

T K .Tt

10 Tt 3

PID

1,2

T K .Tt

2.Tt

0,5.Tt

Bng 1 Tnh ton thng s b iu khin T suy ra : H s tch phn :

KI =

KP TN

H s vi phn :

K D = K P .TV
b) S dng cc gi tr ti hn thu c t thc nghim: Trong trng hp khng th xy dng phng php m hnh cho i tng th phng php thit k thch hp l phng php thc nghim. Thc nghim ch c th tin hnh nu h thng m bo iu kin: khi a trng thi lm vic ca h n bin gii n nh th mi gi tr ca tn hiu trong h thng iu phi nm trong gii hn cho php. Phng php ny cn c tn l phng php th hai ca Ziegler Nichols. iu c bit l phng php ny khng s dng m hnh ton hc ca i tng iu khin, ngay c m hnh xp x gn ng.

Cc bc tin hnh nh sau : -Trc tin, s dng b P lp vo h kn (hoc dng b PID v chnh cc thnh phn KI v KD v gi tr 0). Khi ng qu trnh vi h s khuch i KP thp, sau tng dn KP ti gi tr ti hn Kgh h kn ch gii hn n nh, tc l tn hiu ra h(t) c dng dao ng iu ha. Xc nh chu k ti hn Tgh ca dao ng.

Hnh 8 M hnh iu khin vi Kgh

Hnh 9 Xc nh h s khuch i ti hn Xc nh thng s ca b iu khin theo bng sau : B iu khin P PI PID KP 0,5 Kgh 0,45 Kgh 0,6 Kgh TN _ 0,83 Tgh 0,5 Tgh TV _ _ 0,125 Tgh

Bng 2: Thng s b iu khin theo thc nghim 3.3. Lp trnh PID trong S7-200 a) Lnh vng lp PID Lnh vng lp PID tnh ton vng lp PID (PID Loop) theo cc u vo v nhng thng s t bng c nh a ch bi TBL. Nhng li c th c gy nn bi lnh ny -Bit c bit SM4.3 = 1 : li Run Time -Li 0006: a ch gin tip -Bit c bit SM1.1 = 1: li trn (Overflow). Lnh PID Loop (Proportional, Integral, Derivative Loop) c s dng tnh ton vng lp PID. Lnh ny ch c thc hin nu nh nh ca ngn xp bng 1 trong STL hay c Power Flow trong LAD. Lnh ny c hai ton hng : [TBL] l a ch byte u tin ca mt bng d liu cn [LOOP] l mt s nm trong khong t 0 n 7. iu ny

cng c ngha l ch c ti a 8 lnh PID Loop c th c s dng trong mt chng trnh. Nu c hai bng khc nhau i na cng vn nh hng n nhau v c th gy nhng hu qu khng lng trc c. Bng d liu ca lnh PID Loop bao gm 09 tham s dng iu khin hot ng ca vng lp: -gi tr tc thi (current value) - gi tr k trc (current and previous value) ca bin iu khin (process vafiable), -gi tr yu cu (setpoint), - gi tr x l (output-u ra ca PID), -h s khuch i (Gain), -thi gian ly mu (sample time), -h s tch phn (integral time reset), -h s vi phn (derivative time rate) v - integral sum (bias) thc hin lnh ny mt tn sut ly mu xc nh, n phi hoc l c t trong mt ngt thi gian hoc l c thc hin trong chng trnh chnh qua kim sot bi mt b nh thi. ng thi, thi gian ly mu tng ng phi c a vo bng d liu ca lnh. Trong STEP 7 Micro / Win 32, chng ta c th s dng PID Wizard to thut ton vi PID cho mt mch iu khin kn bng cch chn Tools Instruction Wizard -> PID t menu chnh.( c trnh by trong chng 2 phn PID) trng thi n nh, mt b iu khin PID s iu chnh sao cho sai s gia gi tr yu cu (setpoint SP) v gi tr iu khin (process variable PV) bng 0. Nguyn l ca mt b iu khin nh vy th hin trong phng trnh sau: ( ) Trong : -M(t) : u ra ca PID (i lng x l) nh mt hm theo thi gian -Kc: hng s khuch i

-e: sai s e = SP PV -Mi : gi tr ban u ca PID Nhm mc ch p dng b iu khin PID trn my vi tnh hay PLC ni ring v trong k thut s ni chung, chng ta phi tin hnh ri rc ha phng trnh nu trn. C th l ly mu v lng t ha cc bin. Phng trnh c vit li nh sau: Trong : -Mn : u ra ca PID (i lng x l) thi im ly mu n -Kc : hng s khuch i -en : sai s thi im ly mu n en = SPn - PVn -en-1 : sai s thi im ly mu ngay trc (n 1) en-1 = SPn-1 - PVn-1 -Ki : hng s khuch i ca thnh phn tch phn -Mi : gi tr ban u ca PID -Kd : hng s khuch i ca thnh phn vi phn T phng trnh ny ta nhn thy rng, nu nh thnh phn t l (proportional) ch l hm ca sai s thi im ly mu th thnh phn vi phn (differential) l hm s ca sai s thi im ly mu u tin cho n thi im ly mu hin ti. Trong k thut s, lu li tt c cc sai s l iu khng th thc hin, cng nh tht s khng cn thit. V gi tr x l lun c tnh ton mi thi im ly mu, k t thi im u tin, nn ch cn lu li gi tr k trc ca sai s v thnh phn tch phn. Phng trnh c n gin thnh: ( Trong : -Mn : u ra ca PID (i lng x l) thi im ly mu n -Kc : hng s khuch i -en : sai s thi im ly mu ) ( )

en = SPn - PVn -en-1 : sai s thi im ly mu ngay trc (n 1) en-1 = SPn-1 - PVn-1 -Ki : hng s khuch i ca thnh phn tch phn -Mx : gi tr thnh phn tch phn thi im ly mu k trc (n-1) -Kd : hng s khuch i ca thnh phn vi phn Mt cch vit khc ca phng trnh: Mn = MPn + MIn + MDn Trong : -Mn : u ra ca PID (i lng x l) thi im ly mu n -MPn : thnh phn t l ca u ra PID thi im ly mu n -MIn : thnh phn tch phn ca u ra PID thi im ly mu n -MDn : thnh phn vi phn ca u ra PID thi im ly mu n b) Ta ln lt xt n tng thnh phn mt ca i lng x l: **Thnh phn t l Thnh phn t l (proportional) MP l tch ca hng s khuch i Kc vi sai s e. Trong Kc c trng cho nhy ca u ra PID ( Kc cng ln, b iu khin PID cng nhy) cn e l sai s gia i lng yu cu (setpoint SP) v i lng thc t (process variable PV). Phng trnh biu din:
MPn = Kc * (SPn - PVn)

Trong : -MPn : thnh phn t l ca u ra PID thi im ly mu n -Kc : hng s khuch i -SPn : i lng yu cu ti thi im ly mu n -PVn : i lng thc t ti thi im ly mu n **Thnh phn tch phn Thnh phn tch phn (integral) MI t l vi tng cc sai s qua thi gian, th hin bng phng trnh:

MIn = KC * Ts / Ti * (SPn - PVn ) + MX Trong :

- MIn: thnh phn tch phn ca u ra PID thi im ly mu n

- Kc: hng s khuch i - Ts: thi gian ly mu

-Ti: h s tch phn -SPn: i lng yu cu ti thi im ly mu n - PVn: i lng thc t ti thi im ly mu n -MX: gi tr ca thnh phn tch phn thi im ly mu k trc (n-1), cn c gi l integral sum hay bias. Sau khi tnh ton gi tr MIn, bias MX c thay th bi chnh gi tr MIn vi kh nng c th b iu chnh hoc ct (chn gii hn), iu ny s c ni r phn sau. Gi tr ban u ca bias MX, Mi thng c ly l gi tr ca u ra b PID ngay trc thi im thc hin lnh PID u tin. Cc hng s khc nh hng n thnh phn ny l : Kc hng s khuch i, Ts thi gian ly mu v Ti h s tch phn l c trng cho nh hng ca thnh phn ny ln ton b i lng x l. **Thnh phn vi phn Thnh phn vi phn (differential) MD t l vi thay i ca sai s, th hin qua phng trnh: MDn = KC * Td / Ts * ((SPn - PVn ) - (SPn - 1 - PVn - 1 )) Vi c tnh c qun tnh ca mi h vt cht, chng ta c th gi thit rng i lng thc t PV khng bao gi c s thay i mt cch gin on. Tuy nhin i lng yu cu th c th tng gim gy khc (do tnh trn l thuyt). V bn cht ton hc, th nh phn vi phn l php ly o hm nn nhng s thay i gin on c th gy nn cc gi tr v cng ln u ra. trnh hin tng ny, trong phng trnh trn ta gi thit SPn = SPn 1 v c th vit: MDn = KC * Td / Ts * (PVn - 1 - PVn) Trong : - MDn: thnh phn vi phn ca u ra PID thi im ly mu n

- Kc: hng s khuch i

- Ts: thi gian ly mu - Td: h s vi phn - SPn: i lng yu cu ti thi im ly mu n - SPn-1: i lng yu cu ti thi im ly mu n-1 - PVn: i lng thc t ti thi im ly mu n - PVn-1: i lng thc t ti thi im ly mu n-1
Nh vy trn thc t khng cn nh sai s thi im ly mu k trc m ch cn nh i lng thc t. Trong ln tnh ton u tin PVn-1 = PVn Ty theo ng dng thc t, c th b bt thnh phn trong b iu khin PID ch khng nht thit phi bao gm c ba thnh phn, chng hn c th to b iu khin t l (P) hay b iu khin ch cha cc thnh phn t l v tch phn (PI). S la chn ny da trn cch t cc tham s. Nu mun b thnh phn tch phn (b I), ta chn h s tch phn bng v cng (Ti = 0). Trong trng hp ny, thnh phn tch phn vn khng nht thit bng khng m c th bng mt gi tr khng i thng qu gi tr bias MX ban u. Nu mun b thnh phn vi phn (b D), ta chn h s vi phn bng khng (Td = 0.0). Nu mun b thnh phn t l (b P), ta chn h s khuch i bng khng (K c = 0.0). Trong trng hp ny, v cc hng s ca cc thnh phn tch phn v vi phn c tnh theo Kc nn i vi nhng thnh phn y, Kc c hiu l bng 1.0 Mt b iu kin PID c hai u vo: i lng yu cu v i lng thc t. y l nhng i lng tht trong ng dng nh nhit , p sut, tc ,. a vo tnh ton trong mt b iu khin, chng phi c o, chuyn i v gi tr thch hp v chun ha (nu cn). Cc bc ny u cn thit cho mt b iu khin PID, b ny i hi cc gi tr u vo l nhng gi tr s thc (du phy ng) nm trong khong t 0.0 n 1.0 Thng thng, nhng gi tr o c c a vo PLC qua cc u vo tng t (quy v in p trong khong 0 10VDC hoc dng in 0 20mADC) thnh nhng gi

tr s nguyn 16 bit c du. Trc ht nhng gi tr ny phi c i thnh cc s thc 32 bit (du phy ng). Bc tip theo l chun ha v khong [0.0 1.0] theo phng trnh: NNorm = (NRaw / Span) + Offset Trong : NNorm : l gi tr chun ha, i din cho mt i lng tht NRaw : l gi tr thc cha chun ha, i din cho mt i lng tht Span : l hiu ca gi tr ln nht c th c tr i gi tr nh nht c th c ca gi tr cha chun ha. Trong S7 200 thng l 32000 0 = 32000 i vi cc i lng khng i du (unipolar) v khi offset = 0.0 hay 32000 (-32000) = 64000 i vi cc i lng c th va c gi tr dng va c gi tr m (bipolar) v khi Offset = 0.5 Mt cch logic chng ta thy rng cn phi c qu trnh ngc li vi qu trnh trn i vi gi tr u ra ca b iu khin PID. Ngha l bin i v a v thang gi tr thch hp cho u ra t gi tr u ra chun ha trong khong 0.0 n 1.0. Phng trnh thut ton RScale = (MNorm - Offset) * Span Trong : -RScale l gi tr thch hp cho u ra, i din cho mt i lng tht -MNorm l gi tr u ra chun ha, i din cho mt i lng tht -Span l hiu ca gi tr ln nht c th c tr i gi tr nh nht c th c ca gi tr cha chun ha. Trong S7 200 thng 32000-0 = 32000 i vi cc i lng khng du (unipolar) v khi Offset = 0.0 hay 32000 (-32000) = 64000 i vi cc i lng c th va c gi tr dng va c gi tr m (bipolar) v khi Offset = 0.5. Chng ta thng ni v vng lp iu khin thun khi h s khuch i dng (Kc > 0) hay vng lp iu khin o (nghch) khi h s khuch i m (Kc < 0). Trong trng hp khng c thnh phn P (Kc = 0), ta xt du ca cc h s Ti v Td Cc gi tr yu cu v gi tr thc t (bin iu khin) l nhng u vo ca b iu khin PID, do cc trng tng ng vi chng trong bng d liu ca PID s khng b thay i bi lnh ny.

Ngc li trng tng ng vi u ra c cp nht bi PID. N s b ct (chn) nu vt ra ngoi khong cho php [0.0 1.0]. Nu c s dng thnh phn tch phn (I), bias cng c cp nht v li c dng lm u vo cho ln ly mu k tip. Tuy nhin n c th c iu chnh trong trng hp u ra b chn (v vt ra ngoi khong [0.0 1.0]) theo phng trnh sau: -Khi u ra ln hn 1.0 : MX = 1.0 - (MPn + MDn ) -Khi u ra nh hn 0.0: MX = - (MPn + MDn ) Trong : -MX l gi tr bias c iu chnh -MPn : l gi tr thnh phn t l (P) ca u ra thi im ly mu n -MDn l gi tr thnh phn vi phn (D) ca u ra thi im ly mu n -Mn l gi tr ca u ra thi im ly mu n Bng s iu chnh ny, gi tr u ra s c a v khong hp l. Gi tr bias cng b chn trong khong [0.0 1.0] v ghi vo bng d liu cho ln ly mu tip theo s dng. Gi tr bias trong bng d liu c th thay i c ngay trc khi thc hin lnh PID nhng phi ch y l mt s thc nm trong khong [0.0 1.0]. Gi tr i lng thc t ca ln ly mu trc c lu li trong bng d liu tnh ton thnh phn vi phn, khng bao gi c thay i gi tr ny. Mt b iu khin PID c th hot ng mt trong hai ch : Auto hoc Manual. Thc ra khng c ch hot ng no c xy dng sn cho PID trong S7-200. S tnh ton ch c thc hin khi c dng nng lng (powerflow) n u En (enable) ca b PID. PID c xem nh hot ng ch Auto khi n thcu75 hin tnh ton mt cch tun hon lin tc. Trong trng hp ngc li, PID c xem nh hot ng ch Manual. Vn chng ta cn xt n l s chuyn i m bo tnh lin tc t ch Manual sang ch Auto. iu i hi u ra c tnh trong ch Manual phi c ghi vo u vo thi im chuyn i: khi dng nng lng thay i t 0 ln 1. Lc CPU s thc hin mt lot thao tc cn thit: -t gi tr yu cu bng gi tr thc t: SPn = PVn - t gi tr k trc ca gi tr thc t: PVn-1 = PVn

-t bias bng gi tr u ra: MX = Mn Bit nh ca mt b PID c gi tr mc nh l 1 (ON), c t khi CPU khi ng hay chuyn t ch STOP sang ch RUN. iu cng c ngha l khi b PID c thc hin ln u tin, CPU khng nhn bit s chuyn i trng thi ca dng nng lng t 0 ln 1 v do khng thc hin cc thao tc nu trn. Lnh PID l mt lnh n gin nhng rt mnh trong vic tnh ton thut ton PID. Nu cn mt s tnh nng khc, v d nh bo ng hay nhng thay i c bit, c th s dng cc lnh khc can thip. Khi chng trnh s dng c bin dch, li bin dch c th xut hin nu a ch bng tham s [TBL] hoc ton hng [LOOP] ca b PID vt ra ngoi phm vi cho php (out of range). Mt s phm vi cho php khng c kim tra, v vy ngi lp trnh phi ch . Chng hn nh nhng gi tr yu cu v thc t phi l cc s thc nm trong khong t 0.0 n 1.0 cng nh cc gi tr thc t k trc hay bias, nu c s dng, khng c vt ra ngoi khong [0.0 1.0]. Nu li xut hin trong qu trnh tnh ton thut ton PID, bit c bit SM1.1 (overflow) s bng 1 v qu trnh tnh ton b dng li. Trong nhng trng hp nh vy , u ra ca b PID c th cha c hon thnh, v vy ngi lp trnh phi ch kim tra bit c bit ny s dng u ra mt cch hp l cng nh iu chnh cc u vo nu cn thit. nh dng bng cc tham s ca mt b PID bao gm 36 bytes nh sau:

-0 Bin x l (process variable) PVn : Bao gm bin x l, chun ho t 0 n 1. -4 im t (setpoint) SPn : Bao gm im t, chun ho t 0 n 1. -8 Output Mn : Ng ra PID c tnh ton, chun ho t l t 0 n 1. -12 li vng (Gain) Kc : Bao gm li l hng s t l. C th dng hoc m. -16 Thi gian ly mu (Sample time) Ts : Thi gian ly mu, n v l giy, l s dng. -20 Thi gian tch phn (Integral time) hoc reset Ti : Cha thi gian tch phn v tc (rate), n v tnh: pht, l s dng. -24 Thi gian vi phn (Derivative time) hoc reset TD : Cha thi gian vi phn v tc (rate), n v tnh: pht, l s dng. -28 Mc ngng (bias) MX : Bao gm mc ngng v gi tr tng vi phn nm t 0 n 1. -32 Bin x l trc PVn-1 : Tr s o gi tr ca bin x l trc c lu t lc thc thi lnh PID cui cng.