Bo Co Nghin Cu Khoa Hc

Thnh vin : 1. Phm Thanh Trm

2. Trn Duy Tng
3. V Phc Lun

Gio vin hng dn : Nguyn Trung Kin

B iu Khin PID
B iu khin PID l g ?
Mt b iu khin vi tch phn t l (b iu khin PIDProportional Integral Derivative) l mt c ch phn hi
vng iu khin ( b iu khin ) tng qut c s dng
rng ri trong cc h thng iu khin cng nghip Mt b
iu khin PID tnh ton mt gi tr "sai s" l hiu s gia
gi tr o thng s bin i v gi tr t mong mun. B
iu khin s thc hin gim ti a sai s bng cch iu
chnh gi tr iu khin u vo.

B iu Khin PID
ng dng

Cc b iu khin c s dng trong cng nghip iu

chnh nhit , p sut, tc dng chy, tng hp ha
cht, tc v cc i lng khc c th o lng c.
Xe hi iu khin hnh trnh l mt v d cho vic p
dng iu khin t ng trong thc t.
Cc b iu khin PID thng c la chn cho nhiu
ng dng khc nhau, v l thuyt tin cy, c kim chng
qua thi gian, n gin v d ci t cng nh bo tr ca
chng.

B iu Khin PID
Gii thut tnh ton b iu khin PID bao gm 3 thng s

ring bit, do i khi n cn c gi l iu khin ba khu: cc

gi tr t l, tch phn v o hm, vit tt l P, I, v D. Gi tr t
l xc nh tc ng ca sai s hin ti, gi tr tch phn xc nh tc
ng ca tng cc sai s qu kh, v gi tr vi phn xc nh tc
ng ca tc bin i sai s.

Tng chp ca ba tc ng ny dng iu chnh qu trnh thng

qua mt phn t iu khin nh v tr ca van iu khin hay b
ngun ca phn t gia nhit. Nh vy, nhng gi tr ny c th lm
sng t v quan h thi gian: P ph thuc vo sai s hin ti, I ph
thuc vo tch ly cc sai s qu kh, v D d on cc sai s tng
lai, da vo tc thay i hin ti.

B iu Khin PID
B PID c nhim v sa sai lch e(t) ca h thng v 0
sao cho qu trnh qu tha mn cc yu cu c bn v
cht lng:
- Nu sai lch e(t) cng ln th thng qua thnh phn P, tn
hiu iu chnh u(t) cng ln.
- Nu sai lch e(t) cha bng 0 th thng qua thnh phn I,
PID vn cn to tn hiu iu chnh.
- Nu s thay i ca sai lch e(t) cng ln th thng qua
thnh phn D, phn ng thch hp ca u(t) s cng
nhanh.

B iu Khin PID
B iu khin PID c m t:

Trong : e(t) tn hiu u vo ( x(t) - y(t) );

u(t) tn hiu u ra;
Kp h s khuch i;
KI h s tch phn;
KD h s vi phn.

B iu Khin PID
Phng trnh c th c chuyn i thnh
mt m t thi gian ri rc:

Dng khc:

B iu Khin PID
Vic loi b im t x(k) trong khu t l gip a ra
mt p ng mt hn v t vt l khi c s thay i ln
ca im t xy ra.V vic loi b im t x(k) trong
khu vi phn nhm hn ch s qu din ra trong p
ng tn hiu ra v s thay i ln ca im t. Gim
p ng vi phn cng ci thin trng thi iu khin
vng trong s xut hin ca nhiu tn s cao.

Tng qut, n d dng t c p ng n nh mong

mun.

B iu Khin PID
Vy, cng thc s dng thit k module PID s l:
u(k) = u(k-1) + KP [-y(k) + y(k-1)] + KITe(k) + KD/T [-y(k) +
2y(k - 1) - y(k - 2) ]
u(k) = u(k-1) + KIT e(k) (KP + KD/T)y(k) + (KP +
2KD/T)Y(k -1) (KD / T) y(k - 2)
u(k) = u(k-1) + a0 e(k) a1y(k) + a2 y(k-1) a3 y(k-2)

Trong : a0= KI T
a1=(KP + KD/T)
a2=(KP + 2KD/T)
a3=(KD / T)

FPGA
FPGA l g?
FPGA l vi mch dng cu trc mng
phn t logic m ngi dng c th lp
trnh c. (Ch field y mun ch n
kh nng ti lp trnh "bn ngoi" ca
ngi s dng, khng ph thuc vo dy
chuyn sn xut phc tp ca nh my
bn dn).

FPGA
Vi mch FPGA c cu thnh t cc b
phn:
Cc khi logic c bn lp trnh c
(logic block)
H thng mch lin kt lp trnh c
Khi vo/ra (IO Pads)
Phn t thit k sn khc nh DSP
slice, RAM , ROM, nhn vi x l...

FPGA
ng Dng:

FPGA c ng dng in hnh trong cc lnh vc nh: x l

tn hiu s, x l nh, th gic my, nhn dng ging ni, m
ha, m phng (emulation)...FPGA c bit mnh trong cc lnh
vc hoc ng dng m kin trc ca n yu cu mt lng rt
ln x l song song, c bit l m ha v gii m. FPGA cng
c s dng trong nhng ng dng cn thc thi cc thut ton
nh FFT, nhn chp (convolution), thay th cho vi x l.

Hin nay cngngh FPGA ang c sn xut v h tr phn

mm bi cc hng nh: Xilinx, Altera, Actel, Atmel... Trong
Xilinx v Altera l 2 hng hng u.Xilinx cung cp phn mm
min ph trn nn Windows, Linux, trong khi Altera cung cp
nhng cng c min ph trn nn Windows, Linux, Solaris.

Spartan 6 sp605

Spartan6 l mt sn phm ca FPGA ca hng

Xilinx cung cp kh nng tch hp h thng hng
u vi tng chi ph thp nht cho cc ng dng
c dung lng ln
Tnh nng chnh:
Chp XC6SLX45T FGG484-3C Spartan-6
Cu hnh:
Mch np JTAG
B nh 8MB giao tip SPI
B nh flash 32MB
Th nh tng thch th CF 2GB JTAG

Spartan 6 sp605

B nh:
128MB DDR3 RAM
32MB b nh flash giao tip song song
8Kb EEPROM
Giao tip v mng:
H tr Ethernet tc 10/100/1000
u truyn nhn SFP
Cng GTP (TX,RX) vi chun kt ni
SMA
B chuyn i USB - UART
Khe kt ni PCI Express x1

Spartan 6 sp605

u ni m rng
FMC - LPC
Cc GPIO vi jack kt ni SMA
4 u vo ra I/O
Dao ng:
B dao ng 200Mhz
B dao ng 27Mhz trn
u cm clock ngoi dng SMA
Clock tham chiu GTP vi jack ni SMA

Spartan 6 sp605

iukhin:
4 nt bm
4 cng tc gt
Chn ngun 12V tng thch chun ATX
Cung cp ngun 1.2V, 1.5V, 2.5V
Hin th:
Video- DVI/VGA
4 n led

Spartan 6 sp605
Hnh nh Spartan6