C6-PID Controller Tuning

Chng 6: Chnh nh b iu khin PID
iu khin qu trnh
2
2006 - HMS
Ni dung chng 6
6.1 Nhng vn c bn
6.2 Cc phng php da trn c tnh
6.3 Cc phng php da trn m hnh mu
6.4 B tr s dng b d bo Smith
3
2006 - HMS
Mc ch bi ging
Nm c nhng vn c bn v chnh nh cc
tham s P/PI/PID
Nm c nhng phng php chnh nh tham s b
iu khin PID thng dng nht trong iu khin qu
trnh
C kh nng la chn v p dng phng php ph
hp vi mt qu trnh thc t
4
2006 - HMS
1. Nhng vn c bn
Cc phng php tip cn (tng quan phng php
chnh nh)
Vn m hnh i tng s dng
Vn la chn kiu b iu khin
c tnh cc vng iu khin s dng b iu khin
P/PI/PID
ngha ca vic thay i, hiu chnh cc tham s
5
2006 - HMS
Cc phng php tip cn
Da trn c tnh ca qu trnh (c tnh thi gian
hoc tn s): ZieglerNichols (I v II), phn hi r-le
(strm v Hgglund),
Da trn m hnh qu trnh:
Tng hp theo m hnh mu (h kn hoc h h): tng hp trc
tip (Chen v Seborg), chnh nh lam-da (Dahlin), IMC
(Morari v Zafiriou), xp x c tnh tn,
Nn c tnh tn s (h kn hoc h h): ti u m-un
(Kessler), d tr bin-pha (strm v Hgglund,...),...
Ti u ha tham s (theo cc ch tiu IAE, ISE, H
,...)
Da trn kinh nghim: Chnh nh m, h chuyn gia
6
2006 - HMS
Cc m hnh qu trnh thng dng
Bc nht:
Bc hai:
1
( )
1
s
ke
G s
s
=
+
5
2
( )
2 1
s
ke
G s
s s
=
+ +
'
5
1 2
( )
( 1)( 1)
s
ke
G s
s s
=
+ +
2
( )
s
ke
G s
s

=
4
( )
( 1)
s
ke
G s
s s
=
+
6
2
( 1)
( )
2 1
s
a
k s e
G s
s s
+
=
+ +
'
6
1 2
( 1)
( )
( 1)( 1)
s
a
k s e
G s
s s
+
=
+ +
7
2
( 1)
( )
2 1
s
a
k s e
G s
s s
+
=
+ +
'
7
1 2
( 1)
( )
( 1)( 1)
s
a
k s e
G s
s s
+
=
+ +
3
( )
1
s
ke
G s
s
8
1 2
( )
( 1)( 1)
s
ke
G s
s s
=
+
9
1 2
( )
( 1)( 1)
s
ke
G s
s s
=

7
2006 - HMS
Qu trnh c ng hc bc cao?
Ba cch tip cn:
1. Nhn dng xp x v m hnh bc thp
2. Nhn dng v m hnh bc cao, sau xp x v m
hnh bc thp (xp x gim bc)
3. Thit k b iu khin bc cao, sau xp x v cu
trc P/PI/PID
8
2006 - HMS
Xp x theo phng php Skogestad -
Lut chia i (half-rule)
Khi ct b cc thnh phn qun tnh bc cao ca i
tng, cc hng s thi gian qun tnh b ct b c
cng vo hng s thi gian tr.
Ring hng s thi gian b ct b ln nht c chia
i mt na cng vo hng s thi gian tr, mt na
cng vo hng s thi gian qun tnh c gi li nh
nht.
i vi thnh phn p ng ngc b ct b, hng s
thi gian p ng ngc cng c cng vo hng s
thi gian tr.
9
2006 - HMS
Cng thc xp x
( )
( )
( )
0
1
1
1
1
m
i
n
pj
j
zi
s
k s
G s e
s
=
=
+
=
+
p1
>
p2
>
p3
( )
1
s
ke
G s
s
=
+
2
1
2
p
p
= +
2
0
3 1
2
n m
p
pj zi
j i

= =
= + + +

( )
( )( )
1 2
1 1
s
ke
G s
s s
=
+ +
3
1 1 2 2
,
2
p
p p
= = +
3
0
4 1
2
n m
p
pj zi
j i

= =
= + + +

10
2006 - HMS
Cn c chn kiu b iu khin?
c im ca qu trnh v thit b
ng hc ca qu trnh
ng hc ca thit b o
c im ca nhiu o
...
Mc ch, yu cu ca bi ton iu khin
Vai tr, c im ca tng lut iu khin
Vai tr n nh h thng?
Vai tr trit tiu sai lch tnh?
Vai tr ci thin c tnh ng hc?
Tnh nhy cm vi nhiu o?
...
11
2006 - HMS
c tnh
vng iu
khin PI
(khi tng k
c
)
12
2006 - HMS
c tnh vng
iu khin PI
(khi tng
i
)
13
2006 - HMS
c tnh vng
iu khin PID
(so snh vi PI)
14
2006 - HMS
nh hng ca thay i tham s PID
15
2006 - HMS
Chn lut iu khin cho cc bi ton tiu biu
Vng iu khin lu lng: ng hc ca i tng ph
thuc ch yu vo van iu khin, nhiu o cao tn => hu
nh ch cn s dng lut PI.
Vng iu khin mc: Qu trnh c c tnh tch phn, php
o mc thng rt b nh hng ca nhiu => lut P cho
iu khin lng v lut PI cho iu khin cht.
Vng iu khin p sut cht kh: ng hc ca i tng
ph thuc ch yu vo thit b chp hnh, qu trnh cng c
c tnh tch phn tng t nh bi ton iu khin mc
nhng cao hn v chnh xc => Lut PI l ch yu.
Vng iu khin nhit : ng hc chm, php o t chu
nh hng ca nhiu cao tn => s dng lut PID.
Vng iu khin thnh phn: Tng t nh vng iu khin
nhit => thng s dng PID.
16
2006 - HMS
2. Cc phng php da trn c tnh
Ziegler-Nichols 1 (ZN-1): Da trn th p ng qu
, cho h s tt dn 1/4, qu iu chnh 25%
Ziegler-Nichols 2 (ZN-2): Da trn c tnh dao ng
ti hn (c tnh tn s), cho cht lng tng ng
ZN-1
strm-Hgglund (AH) Phn hi r-le: Ci tin cch
nhn dng c tnh dao ng ti hn ca ZN-2 (chp
nhn km chnh xc hn)
Tyreus-Luyben (TL): Ci tin ZN-2, gim h s khuch
i, tng thi gian vi phn v thi gian tch phn =>
b tham s thn trng hn
17
2006 - HMS
Ziegler-
Nichols 1
18
2006 - HMS
Ziegler-Nichols 2
1. t h thng ch iu khin bng tay v a dn h
thng ti im lm vic, ch h thng n nh ti im lm
vic
2. Chuyn h thng sang ch iu khin t ng vi b
iu khin P. t h s khuch i k
c
tng i b.
3. Tng dn k
c
cho ti trng thi dao ng iu ha => h s
khuch i ti hn (k
u
) v chu k dao ng ti hn (T
u
).
19
2006 - HMS
strm-Hgglund (phn hi r-le)
4 /
u
k d a =
20
2006 - HMS
Tyreus-Luyben
21
2006 - HMS
V d iu khin thit b trao i nhit
1.21
0.75
( )
(30 1)(5 1)(2 1)
s
e
G s
s s s
=
+ + +
Xp x v m hnh FOPDT theo lut chia i:
5.71
0.75
( )
32.5 1
s
e
G s
s
=
+
22
2006 - HMS
PI
PID
23
2006 - HMS
c ti liu (sch v ti liu in t) v cc phng php:
Phng php Haalman
Phng php Dahlin (chnh nh lamda)
Phng php DS (Direct Synthesis)
Phng php DS-d (Direct Synthesis with disturbance
rejection preference)
Phng php IMC (Internal Model Control)
Phng php xp x c tnh tn s (xem thm tp ch
K thut iu khin, 6/2006 v K yu Hi ngh KH 50
nm thnh lp trng HBKHN, phn ban in)
3. Cc phng php m hnh mu
24
2006 - HMS
3. Cc phng php m hnh mu
( )
( )
( )
L s
K s
G s
=
( ) ( )
( )
1 ( ) ( )
K s G s
T s
K s G s
=
+
Cho m hnh mu (m hnh mong mun) ca h h/h kn:
( ) ( ) ( ) L s K s G s =
( )
( )
( )(1 ( ))
T s
K s
G s T s
=
( )
( )
( )
L s
K s
G s

( )
( )
( )(1 ( ))
T s
K s
G s T s

hoc:
25
2006 - HMS
Cc vn cn gii quyt
Hm truyn t nhn c khng c cu trc PI/PID: Xp
x b iu khin hoc chn m hnh mu v m hnh i
tng ph hp
H kn c th khng n nh ni: Chn m hnh mu thch
hp, m hnh i tng thng thng khng c im cc
hoc im khng nm bn phi trc o
H d nhy cm vi sai lch m hnh: Chn m hnh mu
theo hng thn trng
Tm li: Hai vn then cht l chn m hnh mu ph
hp v phng php xp x m hnh!
Cc dng m hnh mu thng c la chn:
1
( )
s
o
L s e
s

=
( )
1
s
c
e
T s
s
=
+
2
( )
2 1
s
c c
e
T s
s s
=
+ +
26
2006 - HMS
V d iu khin thit b trao i nhit
1.21
0.75
( )
(30 1)(5 1)(2 1)
s
e
G s
s s s
=
+ + +
Xp x v m hnh SOPDT theo lut chia i:
2.21
0.75
( )
(30 1)(6 1)
s
e
G s
s s
=
+ +
27
2006 - HMS
Kt qu m phng vi lut PID
28
2006 - HMS
Ci thin cht lng bng b lc gi tr t
(cho trng hp s dng DS-d)
29
2006 - HMS
4. B tr vi b d bo Smith
M hnh l tng ca i tng:
Vn : u ra o c b chm tr, nh hng ln ti
cht lng iu khin
tng khc phc: D bo u ra khng c tr da
trn m hnh
0
( ) ( )
s
G s G s e

=
0
( ) ( )
s
G s G s e

=

30
2006 - HMS
4. B tr vi b d bo Smith
0 0 0
0 0 0
0 0 0
0
( )
( )
s
s
y y y y e
y y y e
y y y
y
= +
+
+
=

Gi s u ra thc khng c tr l y
0
:
31
2006 - HMS
V d m phng
Chnh nh b PID theo phng php xp x p ng tn s
10
3
( )
( 1)
s
e
G s
s
=
+
32
2006 - HMS
Nhim v luyn tp nh
S dng SIMULINK v m phng, th nghim cc
phng php da trn c tnh
c ti liu v cc phng php da trn m hnh mu,
th nghim m phng trn MATLAB
c ti liu i km v s dng 3 chng trnh phn
mm nhn c tm hiu luyn tp cc phng
php chnh nh khc

C6-PID Controller Tuning

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

C6-PID Controller Tuning

Uploaded by

Copyright:

Available Formats

Chng 6: Chnh nh b iu khin PID

You might also like