TNG QUAN H THNG IU KHIN

CC KHI NIM C BN

iu khin trong qu trnh cng nghip: iu chnh mi

mt ca qu trnh.
Mc, p sut, Lu lng, Nhit l nhng yu t
iu khin chnh hu nh trong mi qu trnh.

iu khin trong qu trnh nhm:

Gim chi ph
m bo an ton
Gim bin i ca qu trnh sn xut
Nng cao nng sut
Tng hiu qu

Cc thnh phn trong h thng iu khin

CC H THNG IU KHIN

H thng iu khin l thit b hay b thit b : qun l,

thc hin iu chnh cc thit b hay qu trnh cng
ngh.
H thng iu khin c th chia lm: H thng iu
khin vng kn (Closed loop control system) v h
thng iu khin vng h (Open loop control system).

H thng iu khin vng h

Open loop control system

H thng iu khin khng c khu phn hi (hi tip)

(Feedback) gia qu trnh v b iu khin.

H thng iu khin vng kn

Closed loop control system

C khu phn hi (hi tip) (Feedback).

Tng chnh xc (Kh nng iu khin tt hn)
Kh nng iu khin truyn tnh hn
t b nh hng bi nhiu hn
Tuy nhin c th khng n nh trong mt s trng
hp.

So snh
iu khin vng h

iu khin vng kn

Khng tin cy

ng tin cy

D dng thit lp (thit k)

Kh khn hn

Nu hiu chun tt, kh nng Chnh xc hn

thc hin chnh xc
Tnh n nh cao hn

t n nh hn

Khng c kh nng ti u

C kh nng ti u

Vng iu khin thc hin 3 nhim v chnh:

o lng
So snh
iu chnh

Nhim v o lng
o lng (o lng bin qu trnh a v b iu khin).
Bin qu trnh (Process Variable), (Measured Variable)
L iu kin ca qu trnh, c th thay i khi qu trnh
thay i.
Cc bin qu trnh: p sut, nhit , mc, lu lng,
khi lng, dn in, Ph, mt phn cch gia cc
cht lng.

So snh (So snh sai lch gia bin qu trnh a v v gi

tr t setpoint qu trnh ny c thc hin b iu
khin).
Setpoint (Gi tr t): gi tr duy tr mong mun cho bin
qu trnh, gi tr ny c th thay i bi ngi vn hnh.
Error (sai lch) : s khc bit gia setpoint v Process
variable.

Error c trng bi 3 thng s : lch (magnitude),

thay i (rate of change) v thi gian (duration)

Offset : sai lch c gi n nh gia process variable v

setpoint.

 iu chnh (Thng qua gi tr sai lch error, b iu

khin a ra tn hiu iu chnh qu trnh- lm gim
error n mc nh nht c th).
Tn hiu t b iu khin khng trc tip a n qu
trnh m thng qua Actuator- c cu hnh trnh)
Manipulated Variables (Bin thao tc): gi tr ca b iu
khin a ti Actuator.

CC THUT NG KHC.

Disturbance (Nhiu): nh hng ti qu trnh (khng

th d on trc).

Control Algorithm (Thut ton iu khin): biu thc

ton hc ca hm iu khin

Control Strategy (Sch lc iu khin): cc dng iu

khin khc nhau dnh cho cc qu trnh thch hp.
On/off control; cascase control; feedforward control ..

Manual/Automatic control:
Manual control: ngi vn hnh c th thay i gi tr ng ra
ca b iu khin.
Automic control: Gi tr ng ra c iu chnh bi b iu
khin.

Sensor (Cm bin): Cm nhn ng thi chuyn i

dng tn hiu: V d : cm bin p sut kiu in dung
chuyn i p sut thnh tn hiu in dung tng ng.
Transmitter: Chuyn i tn hiu t sensor thnh tn
hiu chun : tn hiu tng t (4-20 mA), tn hiu s.
Transducer: Chuyn i tn hiu c kh thnh tn hiu
in. ( v d b chuyn i trong cm bin p sut)
Converter: Chuyn i sang cc dng tn hiu khc
nhau : V d 4-20 mA sang 3 15 psi (B positioner
trong van iu khin)

Indicator: Hin th gi tr.

Recorder: Hin th gi tr, c kh nng lu tr.
P&ID: (Piping and Instrumentation Drawings): th hin
s kt ni cc thit b (ng ng, tn hiu, k hiu
.)

Tn hiu iu khin

C cc loi tn hiu chun nh sau:

Tn hiu tng t : 4 20 mA
Tn hiu s (S dng trong cc mng truyn thng)
Tn hiu kh nn: 3 15 psi. (hay dng cho van iu
khin)

B iu khin (Controller)

L thit b.
Nhn tn hiu t thit b hin trng (field Instrument)
So snh vi gi tr setpoint
Xut tn hiu iu khin
Cc b iu khin hay c s dng
PLCs (Programmable logic controllers)
DCSs (Distributed control systems)

Computers

Lu tr data.
Thay i cu hnh
Thit lp thng s
Mng truyn thng
Cc phn mm qun l
Giao din .

P&ID

Instrument Location

Piping and connection symbol

Process Flow Diagram

CONTROLLER (B IU KHIN)
Gii thiu:
So snh

MV

PV

Controller

B cm bin
lu lng
kiu t tnh

Hiu
chnh
Thu thp

FL0W IN

CV01

CONTROLLER (B IU KHIN)
Gii thiu:
MV

PHN T
IU KHIN
CUI

SV
B
IU KHIN

QU TRNH
SN XUT

PV

THIT B
O LNG

CONTROLLER (B IU KHIN)
Gii thiu:
SV: Set point value gi tr t
MV: Manipulated variable - bin thao tc
PV: Process variable - bin qu trnh
Chc nng ca b iu khin
So snh thng tin bin qu trnh (PV) vi SV
Gi tn hiu hiu chnh n phn t iu khin cui
a PV v SV

CONTROLLER (B IU KHIN)
Chc nng ca b iu khin
So snh thng tin bin qu trnh (PV) vi SV
Gi tn hiu hiu chnh n phn t iu khin cui
a PV v SV

CONTROLLER (B IU KHIN)
Phn loi:
Tc ng thun v tc ng nghch
Bin iu Bin thao
Quan h vo/ra
khin
tc

Tng/tng
Gim/gim
Tng/gim
Gim/tng

Kiu b iu
khin

Tc ng
thun
Tc ng
nghch

PID controller

Bao gm 3 thnh phn

Cc ch iu khin :

CONTROLLER - CH T L
c im:
Tn hiu ra ca b iu khin lin tc trong di 4
20 mA
Thut ton iu khin:
Quan h gia s thay i trong bin iu khin
v kt qu thay i trong phn t iu khin cui
l tuyn tnh

Trong hu ht cc b
iu khin t l : output
bias b c th iu chnh
c, gi l manual
reset

Proportional Band:

CONTROLLER - CH T L
c im:
Mc thay i t 0% n 100% di o, m ca
van thay i t 100% n 0%

CONTROLLER - CH T L
Di (bng) t l:
Quan h gia s thay i trong bin iu khin v
kt qu thay i trong phn t iu khin cui c
gi l di t l
Biu thc: PB = 100/KP (%)

CONTROLLER - CH T L
Di (bng) t l v h s khuch i:
MV (%)
H s khuch i K1

100

p ng t l

50

H s khuch
i K2 < K1

0
0

(-)

Bng hp
Bng rng

Error(%)

(+)

CONTROLLER - CH T L
Bng t l 100%:
Mc thay i t 0% n 100% di o, m ca
van thay i t 100% n 0%

CONTROLLER - CH T L
Bng t l 50%:
Mc thay i t 25% n 75% di o, m ca
van thay i t 100% n 0%

CONTROLLER - CH T L
Ch :
Vi ch iu khin t l ng mt mnh, lun
lun c offset
Gim offset bng cch gim bng t l, tc tng
h s khuch i

CONTROLLER - CH T L
Hnh B biu th ng
m ca van iu khin
Hnh A biu th s thay i
ca mc:
ng nt lin ch p
ng vi bng t l
100%
ng nt t ch p
ng vi bng t l 50%

CONTROLLER - CH T L
p ng thc t

M
V
K
epdt
I

CONTROLLER

CH TCH PHN (HOC RESET)

c im:
Loi b offset ca ch t l
Khng ng mt mnh m lun kt hp vi ch
t l
Reset c hiu l s ln lp li / pht hoc s
pht / ln lp
Reset lin tc tng hoc gim ng ra mt tc
lp bng vi ng ra t l cho n khi offset
bng 0 duy tr gi tr cui
Thut ton iu khin:

CONTROLLER
CH TCH PHN (HOC RESET)
c im:

CONTROLLER
CH TCH PHN (HOC RESET)
c im:

B iu khin PI

S b iu khin PI
thng dng.

d
e
M
VK
D
t

CONTROLLER - CH VI PHN

c im:
Tn hiu ra t l vi tc thay i ca sai lch
Cung cp s hiu chnh sm dn n bin iu
khin khng vt xa set point khi ti thay i
Gim thi gian qu
Thng c s dng vi qu trnh c thi gian
tr ln (v d nhit )
Khi bin iu khin n nh, tn hiu vi phn bng
0
Thut ton iu khin:

CONTROLLER - CH VI PHN
c im:

CONTROLLER - CH VI PHN
c im:

CONTROLLER - CH PID
c im:
Kt hp c u im ca 3 ch ring l
Mi b PID c cc tham s P, I, D ph hp vi c
tnh ca thit b trong h thng. Vic la chn cc
gi tr P, I, D hp l gi l tuning
Cc tham s P, I, D hp l s lm gim ti a mc
sai lch v cho kt qu iu khin ti u
Cht lng iu khin c nh gi da vo cc
yu t: vt l, thi gian qu , sai s xc lp

n tp

Thnh phn ca vng

iu khin

H thng iu khin
vng h v h thng iu
khin vng kn:

c bn v :

c bn v.

S bn di ?

Vit biu thc, ch thch,

ch b iu khin :