Nguyn Th Thanh Qunh v tg

Tp ch KHOA HC & CNG NGH

112(12)/2: 39 - 44

THIT K B IU KHIN PID V B IU KHIN FLC

(FUZZY LOGIC CONTROLLER) CHO H THNG GIA NHIT
Nguyn Th Thanh Qunh*, Phm Vn Thim
Trng i hc K thut Cng nghip H Thi Nguyn

TM TT
Vn n nh nhit cho h thng gia nhit gp nhiu kh khn do cc h thng ny thng c
qun tnh nhit rt ln, nht l khi c nhiu tc ng v c sai lch v gi tr o. V mt l thuyt
c nhiu phng php iu khin c p dng cho bi ton ny [1],[2],[5]. Bi bo ny trnh by
tm tt v hai phng php thit k b iu khin nhit dng PID v FLC (Fuzzy Logic
Controller) n nh nhit cho h thng gia nhit CRT 916921 ti trng i hc K thut
Cng nghip. ng thi bi bo ny cng kho st cht lng ca h thng gia nhit khi c nhiu
tc ng. Vic thc thi lut iu khin trn c xy dng trn mi trng Visual Basic 6.0 s
dng chun giao tip RS232 v c ng gi thun tin cho vic ci t.
T kha: n nh nhit , PID,FLC,CRT916921,Visual Basic 6.0

GCL (s ) = KCLe

CLs

T VN *
H thng th nghim iu khin gia nhit CRT
916921 c nh trng mua t nhng nm
2000, phc v cho cng tc th nghim.

(1)
B giao tip (c tn hiu o v xut tn hiu
iu khin) s dng thm PIC18F778.

Hnh 1. H thng th nghim iu khin gia nhit

CRT 916921

Hnh 2. M hnh h thng th nghim iu khin

gia nhit CRT 916921

M hnh ca h thng gia nhit c th hin

nh Hnh 2, trong :
u o nhit , dng cm bin PT
100(RTD) c cu to t kim loi Platinum
v qun ty theo hnh dng ca u d nhit
c gi tr in tr khi 00C l 100 Ohm, y
l mt loi cm bin th ng nn khi s
dng cn mt ngun ngoi n nh, c di o
t -2000C n 6000C.
B chnh lu cu 1 pha iu khin theo
phng php pha ng c hm truyn:
*

Tel: 0912.667.268; Email: quynhruby@gmail.com

Hnh 3. B giao tip AD/DA c (tri)

v b giao tip AD/DA sau khi ci tin

Hai bm (pump1 v pump2) dng bm

nc lnh vo bnh gia nhit (coi l nhiu ph
ti), lng nc bm vo ph thuc vo
m van tnh theo phn trm (0% n 100%)
ca van Noise.
39

Nguyn Th Thanh Qunh v tg

Tp ch KHOA HC & CNG NGH

Hin nay m hnh ny khng s dng c v

nhng l do sau y:
+ Phn mm c tch hp sn, ng kn, bn
ci t c lu trn a mm cho nn khi a
mm hng dn n khng cn bn ci t,
do vy h thng khng c phn mm iu
khin v khng chy c.
+ Sau khong thi gian di lm vic, cc
thng s ca i tng b thay i, hm
truyn ca i tng khng cn ng, do vy
vic nhn dng li h thng l cn thit.
+ H thng giao tip vi cng COM 25 chn,
m hin nay cc my tnh phn nhiu b i
cng giao tip ny m my tnh ngy nay a
s trang b cng giao tip USB, dn n
khng linh hot khi s dng.
Do vy, trc ht ta cn phc hi v thay th
li b giao tip AD/DA c bng vi iu khin
PIC c chc nng AD/DA, v ci tin b giao
tip qua cng COM 25 chn sang cng COM
9 chn (RS232) v giao tip USB [3].
Tip theo cn nhn dng li h thng c
m hnh, sau s dng m hnh ny thit
k b iu khin PID. Nng cao cht lng h
thng bng cch thit k b iu khin m
ng FLC. Do vy ni dung ca bi bo gm
cc phn sau: phn 1 l t vn , phn 2 l
nhn dng h thng, phn 3 trnh by v cch
thit k b iu khin, phn 4 l lp trnh lut
iu khin v thit k giao din, cui cng l
kt lun.
NHN DNG H THNG
Ly b mu vo/ra bng cch thu thp 1294
tp d liu vo ra vi pump1 v pump 2 m
mc 50%:

112(12)/2: 39 - 44

S dng phng php nhn dng m hnh c

tham s vi phng php ARX c lp trnh
trong MATLAB vi cu trc lnh:
%% Chu ky trich mau
a=size(u);
b=size(y);
%%Chu ky trich mau
T= 0.4
Tm=857.2;
%% thoi gian tien hanh thuc nghiem
t=(0:T:Tm)'; %%thoi gian mo phong
data1
= iddata(y,u,T);
data2
= detrend(data1);
figure(1)
subplot(211)
plot(t(1:a),data1(1:a(:,)),'r',t(1:a(
:,1)),data2(1:a(:,1)),'b')
title('ouput y21','FontSize',11)
xlabel(' t[s]',
'FontSize',11)
legend('trend','detrend')
grid on
subplot(212);
plot(t(1:a(:,1)),u(1:a(:,)),'r',t(1:a
(:,1)),data2.u(1:a(:,1)),'b')
title('input u1','FontSize',11)
grid on
data1e
= data(1:a(:,)/2);%bo du
lieu uoc luong,doi tuong nhan dang
data1v
=
data((a(:,)/2+1):a(:,));%bo du lieu
kiem chung, doi tuong kiem chung
nk=1:6;
NN =struc(2,2,nk);%NN =
STRUC(NA,NB,NK)
V1
=arxstruc(data1e,data1v,NN);%Compute
and compare loss functions for
single-output ARX models
[nk,Vm1]=selstruc(V1,0)
ARX2u1y1 =arx(data1e,[2 2 1]);
ARX5u1y1 =arx(data1e,[5 5 1]);
ARX10u1y1 =arx(data1e,[10 10 1]);
figure(2)
compare(data1v,ARX2u1y1,ARX5u1y1,ARX1
0u1y1)
title('ouput
y1','FontSize',11);

Hnh 4. Tp d liu vo ra dng nhn dng

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ylabel('input
u1','FontSize',11);

Nguyn Th Thanh Qunh v tg

Tp ch KHOA HC & CNG NGH

112(12)/2: 39 - 44

ta thu c hm truyn ca h gia nhit vi

fit: 74,69% c dng nh sau:
G (s ) =

-0.003604 s + 0.02688
s 2 + 3.247s + 0.01005

(2)

THIT K B IU KHIN
Theo [1],[4] c rt nhiu cc phng php
iu khin i vi hm truyn dng (3), vi
bi bo ny tc gi s dng phng php thit
k b iu khin theo tiu chun phng.
Tuy nhin, khi nhn dng i tng s c sai
s v m hnh v ch ng trong trng hp
khi m pump1 v pump 2 l 50%, vy
nng cao cht lng iu khin ca h gia
nhit tc gi s dng b iu khin m (Fuzzy
Controller) [6] v b iu khin m khng
cn bit chnh xc m hnh i tng.
B iu khin theo tiu chun phng
T (4), v 0.003604 << 0.02688 cho nn ta
xp x hm truyn c dng:
0.02688
s + 3.247s + 0.01005
2.6748
G (s ) =
(322.8051s + 1)(0.3083s + 1)
G (s ) =

(3)

K= 2.6748,T = 322.8051,T = 0.3083

322.8051s + 1
1
= 195.7223 +
1.6493s
1.6493s

(4)
B iu khin m (Fuzzy Logic Controller)
Vi di sai lch u vo
khin

u (t )

de (t )

Tp m u ra:

Hnh 7. Tp m u ra

u (t )

Lut iu khin c cho nh sau:

1
b
Do vy,
Theo [4], b iu khin y c chn l PI:

Gm (s ) =

Hnh 6. Tp m u vo o hm sai lch

e (t )

Quy tc hp thnh c xc nh theo MAXMIN.

THC THI B IU KHIN
Vic thc thi b iu khin c thc hin
da trn mi trng Visual Basic 6.0 [7] c
giao din nh sau:

v tn hiu iu

c xc nh:

e (t ) = 0 70

c quy i sang 0C

u (t ) = 0 (V ) 100 (V )

Ta tin hnh chn b iu khin m ng

dng PD vi dng tp m u vo v u ra
c chn dng hnh tam gic nh sau [6]:
Tp m u vo:

Hnh 8. Giao din ca chng trnh iu khin

Hnh 5 Tp m u vo sai lch

e (t )

Lu thut ton iu khin theo PID v

FLC
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Nguyn Th Thanh Qunh v tg

Tp ch KHOA HC & CNG NGH

112(12)/2: 39 - 44

Kt qu thu c t thc nghim nh sau:

Hnh 11. c tnh u ra ca h gia nhit

vi b iu khin PID

Hnh 9. Lu thut ton ca b iu khin PID

Hnh 12. c tnh u ra ca h gia nhit
vi b iu khin FLC

Khi c nhiu tc ng:

Trng hp 1: Cho pump1 m vi 20% vi
thi gian 140 giy

Thi im
pump1 m 20%

Hnh 13. c tnh u ra khi c nhiu tc ng

ca h gia nhit vi b iu khin PID

Thi im
pump1 m 20%

FLC

Hnh 10. Lu thut ton ca b iu khin m

cho trng hp 5 e < 17;500 de < 1000

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Hnh 14. c tnh u ra khi c nhiu tc ng

ca h gia nhit vi b iu khin FLC

Nguyn Th Thanh Qunh v tg

Tp ch KHOA HC & CNG NGH

Trng hp 2: Cho pump1 v pump2 m vi

20%

Thi im
pump1,2
m 20%

Hnh 15. c tnh u ra khi c nhiu tc ng

ca h gia nhit vi b iu khin PID

Thi im
pump2 m 20%

Hnh 16. c tnh u ra khi c nhiu tc ng

ca h gia nhit vi b iu khin FLC

KT LUN
Vi kt qu thc nghim (Hnh 11 n Hnh
16) trn ta thy rng b iu khin gia nhit
s dng iu khin m (FuzzyController) cho
p ng tt hn b iu khin PID khi t
nhit khong t 600C n 1000C, v khi
cho nhiu tc ng c th l qu iu
chnh, tuy nhin thi gian p ng ca b PID
tt hn so vi Fuzzy Controller. H iu

112(12)/2: 39 - 44

khin thit k da trn phn mn Visual Basic

c th thay i linh hot cc tham s iu
khin i vi b iu khin PID v vi b
iu khin m, c th thay i nh cng nh
min xc nh ca cc tp m ng thi c
nhiu ty chn cc phng php gii m khc
nhau. T , s a ra cc bi th nghim ph
hp vi tng mn hc c th ca b mn.
Hn na h thng cng c th iu khin linh
hot thng qua phn mm MATLAB/
SIMULINK. Cui cng, h iu khin gia
nhit ny cng c th p dng cc phng
php hin i nh iu khin d bo, iu
khin thch nghi, iu khin ti u m tc gi
ang thc hin.
TI LIU THAM KHO
1. Otaga (2007), Modern Control Enginerring,
Edition 3th, Prace Hill.
2. Nguyn Don Phc (2010), L thuyt iu
khin tuyn tnh, Nxb Khoa hc K thut.
3. V Th Nguyt (2011), n tt nghip, Phc
hi v thit k h thng gia nhit CRT916920.
4. Nguyn Thng Ng (2008), L thuyt iu
khin thng thng v hin i, Quyn 1: H iu
khin tuyn tnh, Nxb Khoa hc K thut.
5. Camacho E. F. & Bordons C. (2007), Model
predictive control, Springer, London.
6. Nguyn Don Phc, Phan Xun Minh (2009),
L thuyt iu khin m, Nxb Khoa hc K thut.
7. Nguyn Th Ngc Mai (2005), Microsoft
Visual Basic 6.0 lp trnh c s d liu, Nxb Lao
ng x hi.

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Nguyn Th Thanh Qunh v tg

Tp ch KHOA HC & CNG NGH

112(12)/2: 39 - 44

SUMMARY
PID CONTROLLER DESIGN AND FUZZY LOGIC CONTROLLER FOR
HEATING SYSTEM
Nguyen Thi Thanh Quynh*, Pham Van Thiem
College of Technology - TNU

Temperature stability problem for the heating system were difficult because these systems often
have very high heat inertia , especially when there is noise and bias effects on measured values .
Theoretically there are many control methods are applied to this problem [1],[2],[5]. However, the
purposes of scientific research and experimental work , this report presents a summary of the two
design approaches PID controllers and controllers FLC ( Fuzzy Logic Controller ) for the
temperature to stabilize CRT 916 921 heating system and quality survey of the heating system
when the noise impact. The implementation of the controller is built on Visual Basic 6.0
environment using standard RS232 interface and is packaged for easy installation.
Key words: Temperature stability, PID,FLC,CRT916921, Visual Basic 6.0

Phn bin khoa hc: TS. Nguyn Vn Ch Trng i hc K thut Cng nghip H Thi Nguyn

Tel: 0912.667.268; Email: quynhruby@gmail.com

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