NGHIN CU BA CH IU KHIN ON/OFF, PID, FUZZY

V NG DNG TRONG IU KHIN

M HNH L NHIT
L Tin Lc, Lm Thnh Hin
Khoa in t, Trng i hc Lc Hng
tienloclhu@gmail.com
ABSTRACT: This paper describes a method of temperature controller. After employment history
at the Nec/Tokin company, So The realities of production that research group was perform a
contract The Temperature Controller with 4 channels and 3 modes in order to reduce companys
investing and to enhance of use. The system response has stable and no overshoot.
Keywords: Temperature controller, ON/OFF method, PID, FUZZY, Ziegler-Nichols tuning
method.
TM TT: Bi bo ny m t mt phng php iu khin nhit . Qua qu trnh lm vic ti
cng ty Nec/Tokin, T nhu cu thc t sn xut, nhm nghin cu c thc hin ti "B
iu khin nhit vi 4 knh v 3 ch " lm gim chi ph u t ca cng ty v tng hiu qu
s dng. B iu khin hot ng n nh v khng gy vt l.
T kho: B iu khin nhit , Phng php / OFF, PID, Phng php FUZZY, Phng php
iu chnh Ziegler-Nichols.
I. GII THIU
T nhu cu sn xut ca cng ty Nec/Tokin, chng ti thc hin "B IU KHIN NHIT
4 KNH, 3 CH gim chi ph v tng hiu qu s dng. Gii php ny c th ng dng
c vi gi thnh r, d thi cng, v hiu qu cao. Trong giai on u thc hin thnh cng 2
phng php ON/OFF, PID v a vo ng dng ti cng ty. Ni tip kt qu nghin cu trn,
trong bi bo ny s tip tc thc hin phng php FUZZY.
i tng iu khin l m hnh l nhit.

u d nhit
Thermocouple loi K

in tr nhit
nung l

Hnh 1: M hnh l sy cn iu khin

II. PHNG PHP THC HIN
2.1. Nguyn l hot ng:
Thermocouple loi K bin i thng s nhit thnh i lng in sau a vo mch ch bin tn
hiu (gm: b cm bin, h thng khuch i, x l tn hiu). B chuyn i tn hiu s ADC
(Analog Digital Converter) lm nhim v chuyn i tn hiu tng t sang tn hiu s v kt ni
vi khi x l trung tm. Khi ny c nhim v thc hin nhng php tnh v xut ra nhng lnh
trn c s trnh t nhng lnh chp hnh c lp trnh trc . Khi giao tip my tnh dng
Max232 truyn nhn d liu t my tnh v c th iu khin ci t thng s qua giao din my
1

tnh. Khi cng sut dng SSR (Solid State Relay) cung cp nng lng nung in tr nhit t
l. Khi hin th dng LCD 20x4 thng bo nhit t, nhit o v ch iu khin.

Khi Hin
Th

Cm Bin

Khuch i
tn hiu o

Dn Knh
tng t

Khi
ADC

Khi Giao Tip

My Tnh

Khi Cng
Sut

Khi x l
trung tm

Khi bn
phm

Hnh 5: S Khi Chi Tit Ca H Thng

2.2. S mch thc t:

Hnh 6: S nguyn l mch o nhit dng AD 595

AD 595 l mt IC chuyn dng khuch i cho Thermocouple loi K cho ng ra tuyn tnh
10mv/0C. Tn hiu nhit c o qua u d nhit (Thermocouple loi K) sau c a vo
IC khuch i AD 595, tn hiu t b khuch i sau c a vo ng vo b chuyn i ADC.

VCC(5v )

VCC(12v )

VCC

29
28
27
26
25
24
23
22

PC7
PC6
PC5
PC6
PC4
PC3
PC2
PC1

C3
33p

16MHz

13

X2
X1

3
4

J3

D2

330

1
2

OPTO ISOLATOR-A
LED

To control SSRELAY 2

VCC
VCC(5v )

C2
10uF

31
9

a
RST

VCC(12v )

ISO2

R4

C4

VCC(12v )
J4
ISO3

D3

12

To control SSRELAY 1
VCC(5v )

R3

ATMEGA32
33p

OPTO ISOLATOR-A
LED

30
32

AVCC
AREF

CRY STAL

330

PD0
PD1
PD2
PD3
PD4
PD5
PD6
PD7

ad0
ad1
ad2
ad3

PAO/AD0
PA1/ADC1
PA2/ADC2
PA3/ADC3
PA4/ADC4
PA5/ADC5
PA6/ADC6
PA7/ADC7

DOWN

C1

1
2
3
4

PB0
PB1
PB2
PB3
PB4
PB5
PB6
PB7

D1

1
2

330

1
2

UP

MODE

1
2
3
4

R2
40
39
38
37
36
35
34
33

14
15
16
17
18
19
20
21

CON12 U2

BANPHIM

U1
1
2
3
4
5
6
7
8

10

R1 R

J2
ISO1

LCD

VCC

1
2
3
4
5
6
11
12
13
14
15
16

VCC(5V)

J1

OPTO ISOLATOR-A
LED

To control SSRELAY 3

VCC(5V)
10uF
R5

VCC(5v )

VCC(12v )

R6
100

ISO4

D4

R7

330

J5

NUT RESET

1
2

10k

OPTO ISOLATOR-A
LED

To control SSRELAY 4

Hnh 7: S nguyn l mch iu khin

Nguyn l:

Tn hiu thu c t u d s qua mch khuch i, sau vo chn ADC ca Vi iu

Khin ATMEGA32. Ti y tn hiu ny s c x l (bng chng trnh c lp trnh
v np vo trc ) a ra nhit hin ti. T nhit hin ti vi iu khin s tnh
ton v xut ra tn hiu iu khin da vo nhng phng thc iu khin c chn la
nh ON/OFF, PID hay FUZZY. Tn hiu ny c a n khi cng sut gm b OPTO
PC817. Khi nhit o nh hn nhit t OPTO dn in lm kch b SSR (Solid State
Relays Relay bn dn) v s cp ngun nung in tr nhit bn trong l.

Nhit ca l cng nh phng thc iu khin s c ci t thng qua khi bn phm

giao tip ngi dng. Khi LCD dng hin th tt c nhng thng s ci t v thng s
iu khin.

2.3. Cc Phng Php iu Khin:

2.3.1. Phng Php ON/OFF
- L phng php iu khin n gin d thit k v gi thnh r, nhng iu khin s b dao ng
quanh nhit t ch khng n nh. Phng php ny thng dng trong nhng i tng cho
php khong nhit rng. (Chi tit ti TLTK [1], [2])
2.3.2. Phng Php PID
- H thng iu khin vng kn l h thng s xc nh sai khc gia trng thi mong mun v trng
thi thc (sai s) v to ra lnh iu khin loi b sai s. iu khin PID thc hin ba cch pht
hin v hiu chnh sai s ny.
- H thng iu khin c th s dng P, PI, PD, hoc PID hiu chnh sai s. Nhn chung, vn
y l hiu chnh h thng bng cch la chn nhng gi tr thch hp trong ba cch nu trn.

Phng trnh trong min thi gian : [6]

t

y(t) = KP.e(t)+KI.

e(t ).dt + KD dedt(t ) + y0

0

Hm truyn:

G(s) = KP + KI/s + KD.s

2.3.2. Phng Php FUZZY

- Trong lnh vc t ng ha, vic iu khin cc i tng nh nhit , p sut, lu lng,
m, vn tc, gia tc lun l mt bi ton kh v tnh cht phi tuyn ca cc i tng ny.
Phng php iu khin m, Fuzzy Logic, a ra cch thc iu khin da trn cc lut pht biu
gn vi suy ngh ca con ngi thay v da trn cc phng trnh ton hc phc tp. [3]
C th ni trong lnh vc iu khin, b PID c xem nh mt gii php a nng cho cc ng
dng iu khin Analog cng nh Digital. Vic thit k b PID kinh in thng da trn phng
php Zeigler-Nichols, Offerein, Reinish Ngy nay ngi ta thng dng k thut hiu chnh PID
mm (da trn phm mm), y chnh l c s ca thit k PID m hay PID thch nghi. [5]
Mt b iu khin m gm 3 khu c bn:
+ Khu m ho
+ Thc hin lut hp thnh
+ Khu gii m
S iu khin s dng PID m : [4]
B CHNH
NH M

de
dt

THIT B
CHNH NH

BK PID

I TNG

M hnh Ton ca b PID m:

t

u(t) = Kpe(t) + K I e( x)dx K D

0

GPID(s) = K P

de(t )
dt

KI
KDs
s

2.4. Lu thut gii:

Hnh 8: Lu thut gii ON/OFF

Hnh 10: S iu khin FUZZY

Hnh 9: Lu thut gii PID

III. KT QU THC HIN

3.1. Ni dung thc hin
Thit k v thi cng hon chnh phn mch o nhit , mch iu khin v mch giao tip
my tnh.
Lp trnh giao din cho b iu khin, v cc phng php iu khin nhit , phng thc
giao tip my tnh qua cng ni tip.
Chy th v cn chnh thnh cng thng s p ng ca l.
B sung thm chc nng cho php b sai s nhit.
B sung thm chc nng bo qu nhit.
3.2. Kt qu
3.2.1. Kt qu iu khin ON/OFF v p ng thc t ca l
Vng nhit thay i nm trong khong sai s cho php l 50 (nhng phi chn ng
tri nhit v nhp vo h thng).
Hn ch l mi tm nhit t c d tr tri nhit khc nhau cn phi xc nh chnh
xc gim tri nhit.
Chp nhn c cho nhng sn phm khng yu cu nhit qu chnh xc.
Bng kt qu th nghim phng php ON/OFF
60 T%=10
80 T%=15
Thi gian
t
vt l
Thi gian
n nh
Sai s nhit

100 T%=10

150 T%=4

8 minute

8 minute

10 minute

13 minute

5
None

6
None

3
none

4
none

+-5

+-5

+-5

+-5

Hnh 11: th thu c p ng ca l vi phng php ON/OFF 1500

T p ng trn hnh 11 ta nhn thy:
Nhit khng n nh nhit t m dao ng quanh im t, tuy nhin vn nm
trong vng sai s cho php.
3.2.2. Kt qu iu khin PID v p ng thc t ca l

Gim vt l bng cch gim Kd, tuy nhin tng Kd cng lm rt ngn time p ng.
T cch tm thng s PID theo l thuyt ng dng vo iu khin l ta thu c cc thng
s nh sau:
6

Bng kt qu th nghim phng php PID

60 Tck=1
80 Tck=1
Kp=400
Kp=400 Ki=80
Ki=80
Kd=42
Kd=42
7 minute
12 minute
Thi gian
t
5
5
vt l
12 minute
10 minute
Thi gian n
nh
+-2
+-2
Sai s nhit

100 Tck=1
Kp=400 Ki=80
Kd=42

150 Tck=1
Kp=400 Ki=80
Kd=44

14 minute

25 minute

2
8 minute

1
7 minute

+-2

+-1

Hnh 12: th thu c da vo p ng ca l nhit 1500

T p ng trn hnh 12 ta thy:
Vi thng s nh trn vt l gn nh khng c v thi gian tng trng chp nhn c..
p ng tt nu thng s PID hp l vt l c th khng ch n mc thp nht bng
cch gim thng s Kd.
C th thay i thi gian tng trng ca h bng cch iu chnh Kp.
H nhanh n nh sau thi gian xc lp.
3.2.3. Kt qu qu trnh nghin cu thut gii FUZZY:
Bng kt qu th nghim phng php FUZZY
60 Tck=1
100 Tck=1
Thi gian
t
vt l
Thi gian n
nh
Sai s nhit

150 Tck=1

8 minute

14 minute

18 minute

38 minute

4
8 minute

3
8 minute

2
7 minute

1
5 minute

+-0.2

+-0.2

+-0.1

+-0.1

Hnh 13: th thu c da vo p ng ca l nhit 1000

T p ng trn hnh 13, ta thy vi phng php FUZZY tuy thi gian p ng chm hn
nhng vt l gn nh khng c.

IV. MT S HNH NH THC HIN

Hnh 14: L nhit, b iu khin v Board mch iu khin

Hnh 15: Giao din chng trnh iu khin v giao tip

8

Ti liu tham kho

[1] Nguyn Th Phng H, iu khin t ng (1,2), NXB KHKT, 2002.
[2] Nguyn Trng Thun, iu khin Logic v ng dng, NXB KHKT H Ni, 2002.
[3] Nguyn Hong Phng, Bi Cng Cng, H m v ng dng, NXB KHKT, 2004.
[4] Phan Xun Minh, Nguyn Don Phc, L thuyt iu khin m, NXBKT, 2006.
[5] Li-Xin Wang, A Course in Fuzzy Systems and Control, Prentice Hall, 2006.
[6] Tood P.Meyrath, Multipurpose Analog PID controller, 2007.