Nghiên Cứu Thiết Kế Bộ Điều Khiển PID Mờ

1
I HC THI NGUYN
TRNG I HC K THUT CNG NGHIP
----------------------------------
LUN VN THC S K THUT

NGNH: T NG HO
NGHIN CU THIT K B IU
KHIN PID M
NGUYN VN THIN
THI NGUYN - 2010

S ha bi Trung tm Hc liu i hc Thi Nguyn
http://www.lrc-tnu.edu.vn
2
I HC THI NGUYN
CNG HO X HI CH NGHA VIT NAM
TRNG HKT CNG NGHIP
c lp - T do - Hnh phc
THUYT MINH
LUN VN THC S K THUT

TI:
NGHIN CU THIT K B IU KHIN PID M .

Ngnh:
T NG HO.
Hc vin:
NGUYN VN THIN
Ngi hng dn Khoa hc: TS. NGUYN VN V
NGI HNG DN KHOA HC
HC VIN
TS. Nguyn Vn V
Nguyn Vn Thin
BAN GIM HIU
KHOA T SAU I HC
LI CAM OAN
Ti xin cam oan lun vn ny l cng trnh do ti
tng hp v nghin cu. Trong ln vn c s dng mt s
ti liu tham kho nh nu trong phn ti liu tham kho.
Tc gi lun vn
NguynVn Thin
LI NI U
Ngy nay vi s pht trin ca khoa hc k thut vic ng dng l
thuyt iu khin hin i vo thc t ang ngy cng pht trin mnh m
trong c l thuyt iu khin m. Trong cng nghip hin nay n 90%
cc b iu khin trong thc t l da trn lut iu khin PID, b iu
khin PID pht huy tt hiu qu ca n l th vic xc nh v hiu chnh cc
tham s ca n l rt quan trng tuy nhin vic hiu chnh cc tham s ca b
iu khin PID cn th ng. V vy vic nghin cu ng dng l thuyt m
xc nh v hiu chnh tham s cho b iu khin PID cho ph hp vi cc
trng thi lm vic l cn thit v hin nay ang c nghin cu v pht trin
mnh m .
Vi ti Nghin cu thit k b iu khin PID m c chia lm
3 chng nh sau:
Chng I
: Tng quan v b iu khin PID
Chng II
: B iu khin m
Chng III : Thit k b iu khin PID m

Lnh vc nghin cu ng dng l thuyt m xc nh v hiu chnh
tham s cho b iu khin PID l mt lnh vc kh phc tp mt khc do trnh
v thi gian c hn nn bn than lun vn ca em khng trnh khi nhng
thiu st. Em rt mong c s ng gp kin ca cc thy, c bn than
lun vn ca em c hon thin hn to tin cho nhng bc nghin cu
tip theo.
Em xin gi li cm n chn thnh n thy Ts. Nguyn Vn V tn
tnh gip cho em hon thnh lun vn ng thi hn . Em xin chn thnh
cm n cc thy c ca khoa in, trng i hc Thi Nguyn trang b
cho em nhng kin thc cn thit hon thnh bn lun vn ny cng nh
qu trnh cng tc sau ny.
MC LC
Li cam oan
Li ni u
Danh mc cc ch vit tt, cc k hiu
Danh mc cc bng
Danh mc cc hnh v, th
M U ......................................................................................................... 14
1. L do chn ti ................................................................................... 144
2. ngha khoa hc v thc tin ............................................................... 144
2.1. ngha khoa hc............................................................................. 144
2.2. ngha thc tin ............................................................................. 144
Chng 1.TNG QUAN V B IU KHIN PID.................................... 15
1.1. CU TRC CHUNG CA H IU KHIN ................................... 15
1.2.CC CH TIU NH GI CHT LNG H IU KHIN .......... 15
1.2.1. Ch tiu cht lng tnh .................................................................. 15
1.2.2. Ch tiu cht lng ng ................................................................ 16
1.2.2.1. Lng qu iu chnh .............................................................. 16
1.2.2.2. Thi gian qu ...................................................................... 17
1.2.2.3. S ln dao ng........................................................................ 17
1.3. CC LUT IU KHIN .................................................................................... 17
1.3.1. Quy lut iu chnh t l (P) .......................................................... 17
1.3.2. Quy lut iu chnh tch phn (I) ................................................... 18
1.3.3. Quy lut iu chnh t l vi phn (PD) .......................................... 19
1.3.4. Quy lut iu chnh t l tch phn (PI) ......................................... 20
1.3.5. Quy lut iu chnh t l vi tch phn (PID) .................................. 22
1.4. CC PHNG PHP XC NH THAM S PID .......................... 24
1.4.1. Phng php Ziegler - Nichols ...................................................... 26
6
1.4.2. Phng php Chien Hrones Reswick....................................... 29
1.4.3. Phng php tng T ca Kuhn ...................................................... 31
1.4.4. Phng php ti u ........................................................................ 32
1.4.4.1. Phng php ti u ln ...................................................... 32
1.4.4.2. Phng php ti u i xng .................................................. 39
1.4.5. Xc nh tham s PID da trn qu trnh ti u trn my tnh....... 44
1.5. KT LUN CHNG 1 ..................................................................... 45
Chng 2. B IU KHIN M .................................................................. 47
2.1. LCH S PHT TRIN CA LOGIC M ........................................ 47
2.2. MT S KHI NIM C BN V LOGIC M .............................. 47
2.2.1. nh ngha tp m .......................................................................... 47
2.2.2. Cc hm lin thuc thng c s dng ..................................... 49
2.2.3. Bin ngn ng v gi tr ca bin ngn ng .................................. 49
2.3. B IU KHIN M ......................................................................... 50
2.3.1. Khu m ha .................................................................................. 51
2.3.2. Khu thc hin lut hp thnh ....................................................... 52
2.3.3. Khu gii m .................................................................................. 55
2.4. B IU KHIN M TNH ............................................................... 59
2.4.1. Khi nim ....................................................................................... 59
2.4.2. Thut ton tng hp mt b iu khin m tnh ............................ 59
2.4.3. Tng hp b iu khin m tuyn tnh tng on ......................... 60
2.5. B IU KHIN M NG ............................................................. 61
2.6. B IU KHIN M LAI PID .......................................................... 64
2.6.1. Gii thiu chung ............................................................................. 64
2.6.2. B iu khin m lai kinh in ...................................................... 65
2.6.3. B iu khin m lai cascade ......................................................... 65
2.6.4. B iu khin m chnh nh tham s b iu khin PID ............. 66
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2.6.5. B iu khin m t chnh cu trc ............................................... 66
2.7. KT LUN CHNG 2 ..................................................................... 67
Chng 3. THIT K B IU KHIN PID M ....................................... 68
3.1. T VN ...................................................................................... 68
3.2. THIT K B IU KHIN M CHNH NH THAM S PID......... 70
3.2.1. Cu trc b iu khin ................................................................... 70
3.2.2. Thit k b iu khin .................................................................... 70
3.2.3. Kt qu m phng .......................................................................... 77
3.3. NG DNG PID M IU KHIN H TRUYN NGT-D ....... 78
3.3.1. Cc yu cu i vi h truyn ng T-D ....................................... 78
3.3.2.Tng hp mch vng iu chnh dng in RI ............................... 80
3.3.3.Tng hp mch vng iu chnh tc .......................................... 82
3.3.3.1. iu chnh tc dng b iu chnh tc t l .................. 82
3.3.3.2. iu chnh tc dng b iu chnh tc tch phn t l PI.. 85
3.3.4. Bi ton ng dng c th................................................................ 86
3.3.4.1. Tnh ton tham s mch vng dng in ................................. 88
3.3.4.2. Tnh ton tham s b iu khin tc PI .............................. 89
3.3.5. Thit k h iu khin m lai ......................................................... 90
3.3.5.1. Xc nh cc bin vo ra .......................................................... 91
3.3.5.2. Xc nh gi tr cho cc bin vo v ra.................................... 92
3.3.6. M phng nh gi cht lng ...................................................... 99
3.3.6.1. Xy dng s m phng ....................................................... 99
3.3.6.2. Kt qu m phng .................................................................. 100
3.4. KT LUN CHNG 3 ................................................................... 106
TI LIU THAM KHO ............................................................................. 109
TM TT ..................................................................................................... 110
DANH MC CC CH VIT TT, CC K HIU

K hiu
STT
Din gii
TT
i tng iu khin
TBK
Thit b iu khin
TBL - CTH Thit b o lng v chuyn i tn hiu
exl
Sai s xc lp
max
Lng qu iu chnh
tqd
Thi gian qu
S ln dao ng
H s khuch i
TI
Hng s thi gian tch phn
10
Td
Hng s thi gian vi phn
11
Hng s thi gian tr
12
Hng s thi gian qun tnh
13
qu iu chnh
14
e(t)
Tn hiu u vo
15
u(t)
Tn hiu u ra
16
T-D
H truyn ng my pht ng c
17
ng c mt chiu
18
B bin i xoay chiu - mt chiu c iu khin
19
RI
B iu chnh dng in
20
B iu chnh tc
21
Si
Xenx dng in
22
Mch lc tn hiu
23
Tf
Hng s thi gian ca mch lc
24
Tvo
Hng s thi gian s chuyn mch chnh lu
9
25
Tk
Hng s thi gian mch iu khin chnh lu
26
Tu
Hng s thi gian mch phn ng
27
Ti
Hng s thi gian xenx dng in
28
Ru
in tr mch phn ng
29
Mc
Mmen ti
30
Hng s thi gian mch lc
31
in cm mch phn ng
32
Icp
Dng in cho php ln nht
33
KFi
T thng nh mc
34
Mmen qun tnh
35
CL
Chnh lu
36
KCL
H s chnh lu
37
Urcm
Bin my pht xung rng ca
38
Kbd
T s bin i dng
39
FT
My pht tc
40
Sc in ng ca ng c in mt chiu
10
DANH MC CC BNG
STT
K hiu
Din gii
Bng 3.1
Lut iu khin cho h s Kp
Bng 3.2
Lut iu khin cho h s Kd
Bng 3.3
Lut iu khin cho h s
Bng 3.4
Hm lin thuc ca bin u vo
Bng 3.5
Hm lin thuc ca bin u ra
Bng 3.6
Lut iu khin cho HsKP
Bng 3.7
Lut iu khin cho HsKI
11
DANH MC CC HNH V, TH
STT K hiu
Din gii tn hnh v
Hnh1.1 Cu trc h thng iu khin
Hnh1.2 Th hin c tnh ca sai s xc lp
Hnh1.3 Th hin c tnh ca lng qu iu chnh
Hnh1.4 Th hin c tnh ca thi gian qu
Hnh1.5 Th hin c tnh ca s ln dao ng
Hnh1.6 Cc c tnh ca quy lut iu chnh t l vi phn
Hnh1.7 Cc c tnh ca quy lut iu chnh t l tch phn
Hnh1.8 Cc c tnh ca quy lut iu chnh t l tch phn
Hnh1.9 iu khin vi b iu khin PID
10 Hnh1.10 Nhim v ca b iu khin PID

11 Hnh1.11 Xc nh tham s cho m hnh xp x
12 Hnh1.12 Xc nh hng s khuch i ti hn
13 Hnh1.13 Hm qu i tng thch hp cho phng php Chien Hrones - Reswick
14 Hnh1.14 Quan h gia din tch v tng cc hng s thi gian
15 Hnh1.15 Di tn s m c bin hm t tnh bng 1, cng rng
cng tt
16 Hnh1.16 iu khin khu qun tnh bc nht
17 Hnh1.17 Minh ho t tng thit k b iu khin PID ti u i xng
18 Hnh2.1 M ho bin Tc
19 Hnh2.2 S khi ca b iu khin m
20 Hnh2.3 Hm lin thuc ca lut hp thnh
21 Hnh2.4 Gii m bng phng php cc i
22 Hnh2.5 Gii m theo nguyn l trung bnh
23 Hnh2.6 Gii m theo nguyn l cn tri
24 Hnh2.7 Gii m theo nguyn l cn phi
12
25 Hnh2.8 Gii m theo phng php im trng tm
26 Hnh2.9 c tnh vo ra cho trc
27 Hnh2.10 Hm lin thuc ca cc bin ngn ng vo ra
28 Hnh2.11 H iu khin m theo lut PI
29 Hnh2.12 H iu khin m theo lut PD
30 Hnh2.13 H iu khin m theo lut PID
31 Hnh2.14 M hnh b iu khin m lai kinh in
32 Hnh2.15 Cu trc h m lai Cascade
33 Hnh3.1 H iu khin vi b iu khin PID m
34 Hnh3.2 Cu trc b iu khin
35 Hnh3.3 Cu trc b iu khin PID m
36 Hnh3.4 Hm lin thuc ca e(t) v de(t)/dt
37 Hnh3.5 Hm lin thuc ca bin Kp, Kd
38 Hnh3.6 Hm lin thuc ca bin
39 Hnh3.7 c tnh qu thng gp ca h iu khin dng PID
40 Hnh3.8 Giao din m phng m
41 Hnh3.9 Hm lin thuc ca tn hiu e(t) v de/dt
42 Hnh3.10 Hm lin thuc ca bin Kp, Kd
43 Hnh3.11 Hm lin thuc ca bin
44 Hnh3.12 c tnh iu chnh PID ti u vi i tng bc hai
45 Hnh3.13 c tnh iu chnh PID m (Kp= 20.1; Kd = 20.1; Ki=8.6)
so vi c tnh PID ti u
46 Hnh3.14 S khi ca h truyn ng T-D
47 Hnh3.15 Cu trc mch vng iu chnh dng in.
48 Hnh3.16 S khi ca mch vng dng in.
49 Hnh3.17 S khi h iu chnh tc
50 Hnh3.18 S khi ca h iu chnh tc
51 Hnh3.19 Qu trnh dng in v tc khi c nhiu ti
13
52 Hnh3.20 S cu trc h truyn ng T- D mt chiu
53 Hnh3.21 S cu trc mch vng iu chnh dng in.
54 Hnh3.22 Cu trc mch vng iu chnh tc .
55 Hnh3.23 Cu trc bn trong b chnh nh m
56 Hnh3.24 M hnh cu trc h iu khin chnh nh m tham s b
iu khin PI
57 Hnh3.25 Cu trc b chnh nh m
58 Hnh3.26 Xc nh tp m cho bin vo ERROR
59 Hnh3.27 Xc nh tp m cho bin vo dw/dt
60 Hnh3.28 Xc nh tp m cho bin ra HsKP
61 Hnh3.29 Xc nh tp m cho bin ra HsKI
62 Hnh3.30 c tnh qu thng gp ca h iu khin dng PID
63 Hnh3.31 Cc lut hp thnh.
64 Hnh3.32 Cu trc ca h iu khin m lai PI
65 Hnh3.33 Cu trc ca khu m
66 Hnh3.34 Cu trc ca b iu khin PI
67 Hnh3.35 Cu trc ca i tng
68 Hnh3.36 c tnh ca b iu khin PI khi mmen ti hng s
69 Hnh3.37 c tnh ca b iu khin PI-m khi mmen ti hng s
70 Hnh3.38 c tnh ca b iu khin PI-m so vi b iu khin PI khi
mmen ti hng s
71 Hnh3.39 c tnh ca b iu khin PI khi mmen ti thay i
72 Hnh3.40 c tnh ca b iu khin PI- m khi mmen ti thay i
73 Hnh3.41 c tnh ca cc b iu khin khi mmen ti thay i
74 Hnh3.42 c tnh ca b iu khin PI khi tc t thay i
75 Hnh3.43 c tnh ca b iu khin PI-m khi tc t thay i
76 Hnh3.44 c tnh ca cc b iu khin khi tc t thay i
14
M U
1. L do chn ti
Hin nay n 90% cc b iu khin trong thc t l da trn lut iu
khin PID. S thng dng ca b iu khin PID l ch: n gin trong
thit k v tnh ton tham s cng nh quan im nh gi tham s. Thut
ton PID c xy dng t nhiu hng nh theo kinh nghim hoc phn
tch. Tuy nhin vic hiu chnh cc tham s ca b iu khin PID cn th
ng. V vy vic nghin cu ng dng l thuyt M xc nh v hiu
chnh tham s cho b iu khin PID cho ph hp vi cc trng thi lm vic
l cn thit v cn c tp trung gii quyt. Do vy ti la chn ti
Nghin cu thit k b iu khin PID m .
2. ngha khoa hc v thc tin
2.1. ngha khoa hc
Khc phc c nhc im ca h PID khi xc nh cc tham s.
Lm tng kh nng ng dng vo thc tin ca l thuyt M.
Nng cao cht lng ca h iu khin t ng.
2.2. ngha thc tin
p ng c yu cu ca cc h thc i hi cht lng iu chnh cao.
p ng c yu cu ca thc tin l cn xc nh tham s ca PID.
ti gp phn trong vic nghin cu nng cao cht lng h thng
iu khin khi kt hp s dng b iu khin m lai. N thch hp cho h
thng iu khin tc thng dng, h thng tu ng v c nhng h thng
phn hi tng t.
15
Chng 1
TNG QUAN V B IU KHIN PID
1.1. CU TRC CHUNG CA H IU KHIN
Cu trc chung ca h thng iu khin t ng nh Hnh1.1.
Trong :
TT
: i tng iu khin.
TBK
: Thit b iu khin.
TBL - CTH : Thit b o lng v chuyn i tn hiu.

U(t)
e(t)
x(t)
y(t)
TK
TBK
Z(t)
TBL
CTH
Hnh1.1: Cu trc h thng iu khin

U(t) : L tn hiu vo ca h thng - cn gi l tn hiu t hay lng
ch o xc nh im lm vic ca h thng.
y(t) : Tn hiu u ra ca h thng. y chnh l i lng c iu chnh.
x(t) : L tn hiu iu khin tc ng ln i tng.
e(t) : L sai lch iu khin.
Z(t) : L tn hiu phn hi.
Thit b iu khin l thnh phn quan trng nht duy tr ch lm
vic cho c h thng iu khin.
1.2. CC CH TIU NH GI CHT LNG H IU KHIN
1.2.1. Ch tiu cht lng tnh
Ch tiu cht lng tnh c nh gi bng sai s xc lp (sai lch tnh):
l sai lch ca lng ra so vi yu cu khi qu trnh iu khin kt thc.
16
Sai s xc lp : L sai s ca h thng khi thi gian tin n v cng
exl = lim
e(t ) exl = lim sE ( s )
s
t
(1.1)
cht(t)
exl
r(t)
R(s)
E(s)
C(s)
G(s)
e(t)
H(s)
exl
Hnh1.2: Th hin c tnh ca sai s xc lp

1.2.2. Ch tiu cht lng ng
Cht lng ng ca h thng c nh gi qua 3 ch tiu c bn :
- Lng qu iu chnh.
- Thi gian qu .
- S ln dao ng.
1.2.2.1. Lng qu iu chnh
Lng qu iu chnh: L lng sai lch ca p ng ca h thng so
vi gi tr xc lp ca n.
c(t)
cmax
max
cxl
cxl
t
0
Hnh1.3: Th hin c tnh ca lng qu iu chnh
Lng qu iu chnh max ( Percent of Overshoot POT ) c tnh
bng cng thc :
max =
c max c xl
x100%
c xl
(1.2)
17
1.2.2.2. Thi gian qu
Thi gian qu ( tqd) : L thi gian k t khi c tc ng vo h thng
(khi ng h thng) cho n khi sai lch ca qu trnh iu khin nm trong
gii hn cho php % . % thng chn l 2% (0.02) hoc 5% (0.05)
y(t)
yxl
t
0
tqd
Hnh1.4: Th hin c tnh ca thi gian qu

1.2.2.3. S ln dao ng
n l s ln dao ng ca y(t) xung quanh gi tr yxl
y(t)
yxl
Hnh1.5: Th hin c tnh ca s ln dao ng

Gi tr n cng nh cng tt. Gi tr n do yu cu thit k t ra, thng n 3
1.3. CC LUT IU KHIN
1.3.1. Quy lut iu chnh t l (P)
Trong quy lut iu chnh t l tc ng iu chnh c xc nh theo
cng thc:
U = K.e
(1.3)
Trong , K l tham s iu chnh gi l h s khuch i. Hm truyn

t ca b iu chnh t l c dng:
18
W(p) = K
(1.4)
- Hm truyn tn s ca n l : W(j) = K.
- c tnh pha tn s : () = 0
T cc c tnh trn ta thy quy lut t l phn ng nh nhau i vi tn
hiu mi tn s. Gc lch pha gia tn hiu ra v tn hiu vo bng khng.
V vy, tn hiu iu khin s xut hin ngay khi c tn hiu sai lch. Gi tr
v tc thay i ca tn hiu iu khin U t l vi gi tr v tc thay i
ca tn hiu vo
u im c bn ca quy lut t l l tc tc ng nhanh. H thng iu
chnh s dng quy lut t l c tnh n nh cao, thi gian iu chnh ngn.
Nhc im c bn ca quy lut t l l khng c kh nng trit tiu sai
lch tnh.
1.3.2. Quy lut iu chnh tch phn (I)
Quy lut iu chnh tch phn c m t bi phng trnh vi phn :
U=
1
TI
Trong , TI =
edt
hoc
du
= K.e
dt
(1.5)
1
l hng s thi gian tch phn
K
- Hm truyn t c dng: W(p) =
1
TI . p
1
1 -j
1
- Hm truyn tn s: W(j) =
= -j =
e 2
T
T
Tj
- c tnh bin tn s: A() =

- c tnh pha tn s: () = -
1
T
R rng quy lut tch phn phn ng km vi tn hiu c tn s cao.

Trong c di tn s tn hiu ra chm pha so vi tn hiu vo mt gc bng
nh vy quy lut tch phn phn ng chm.
19
u im c bn ca quy lut iu chnh tch phn l c kh nng trit
tiu sai lch d v quy lut iu chnh (I) ch ngng tc ng khi sai lch e = 0
Nhc im c bn ca quy lut tch phn l tc tc ng chm nn
h thng iu chnh t ng s dng quy lut tch phn s km n nh. Thi
gian iu khin ko di. Trong thc t, quy lut iu chnh tch phn ch s
dng cho cc i tng c tr v hng s thi gian nh.
1.3.3. Quy lut iu chnh t l vi phn (PD)
L quy lut iu chnh c m t bi phng trnh vi phn:
U = K1.e + K2
de
dt
= Km e Td
de
dt
(1.6)
Trong , Km = K1 l h s khuch i
Td =
K2
l hng s thi gian vi phn
K1
Cc tham s hiu chnh ca quy lut PD l Km v Td

- Hm qu : h(t) = Km[ 1(t) + Td.(t)]
- Hm truyn t ca quy lut PD c dng : W(p) = Km(1+Td.p)
- Hm truyn tn s : W(j) = Km(1+jTd.) = A().ej()
Vi A() = 1 (Td ) 2 v () = arctgTd nh vy 0 <() <
Cc c tnh ca quy lut iu chnh t l vi phn c m t trn Hnh1.6.

(
) / 2
A()
BT
I()
PT
h(t)
TB
P
Km
=0
Km
Hnh1.6: Cc c tnh ca quy lut iu chnh t l vi phn
20
Quy lut PD c hai tham s hiu chnh l Km v Td. Nu Td = 0 th quy
lut PD tr thnh quy lut t l, nu Km = 0 th quy lut PD tr thnh quy lut
vi phn.
Trong ton di tn s, tn hiu ra lun lun vt trc tn hiu vo nn
quy lut PD tc ng nhanh hn quy lut t l nhng qu trnh iu chnh vn
khng c kh nng trit tiu sai lch d ging nh quy lut t l. Phn t vi
phn tng tc tc ng nhng ng thi cng rt nhy cm vi nhiu tn
s cao. V vy, trong cng nghip, quy lut t l vi phn ch s dng khi quy
trnh cng ngh cho php c sai lch d v i hi tc tc ng rt nhanh.
1.3.4. Quy lut iu chnh t l tch phn (PI)
Quy lut PI l s kt hp ca hai quy lut P v I c m t bng
phng trnh vi phn sau :
U = K1.e + K2edt = Km e
1
edt
TI
(1.7)
Trong , Km = K1 l h s khuch i ca PI.

TI =
K1
l hng s thi gian tch phn.
K2
Thi gian tch phn l khong thi gian cn thit cho tc ng tch
phn bng tc ng t l, v vy n cn c gi l thi gian gp i. Hm
truyn t v hm truyn tn s ca quy lut t l tch phn c dng:
- Hm qu ca quy lut PI:
1
1
h(t) = Km 1(t ) 1(t )dt = Km 1 t
T
T
- Hm truyn t: W(p) = Km 1
TI p
- Hm truyn tn s: W(j) = Km 1 j
TI
Km
(TI ) 2 1
TI
21
- c tnh pha tn s: () = - arctg
1
TI
Nh vy, 0 > () > - / 2

T cc c tnh trn ta thy: Khi tn s tn hiu thp, tc ng ca phn
tch phn l ln nn bin ln. Tn s cng tng tc ng ca tch phn cng
gim xung, cn tc ng ca t l tng ln, gc lch pha gia tn hiu ra v
tn hiu vo gim xung.
Quy lut PI c hai tham s hiu chnh l Km v TI. Khi TI = th quy
lut PI tr thnh quy lut P, khi Km = 0, quy lut PI tr thnh I. Khi tn s
bin thin t 0 n , gc lch pha gia tn hiu ra so vi tn hiu vo bin
thin trong khong - / 2 n 0. Do , quy lut PI tc ng nhanh hn quy
lut tch phn song chm hn quy lut t l.
Cc c tnh ca quy lut iu chnh t l tch phn c m t trn
Hnh1.7.
A()
()
BT
PT
Km
R()
TBP
/ 2
K
I()
=0
h(t)
K
TI
Hnh1.7: Cc c tnh ca quy lut iu chnh t l tch phn
u im ca quy lut t l tch phn l tc ng nhanh do c thnh
phn t l v c kh nng trit tiu sai lch tnh do c thnh phn tch phn.
22
Nu ta chn c tham s Km, TI thch hp th quy lut iu chnh PI c th
p dng cho phn ln cc i tng trong cng nghip.
Nhc im ca quy lut tch phn l tc tc ng nh hn quy lut
t l. V vy, nu i tng yu cu tc tc ng nhanh do nhiu thay i
lin tc th quy lut tch phn khng p ng c yu cu.
1.3.5. Quy lut iu chnh t l vi tch phn (PID)
Quy lut iu chnh t l vi tch phn c m t bi phng trnh:
U = K1.e + K2edt +K3
1
de
de
= Km e edt TD
dt
dt
TI
(1.8)
Trong , Km = K1 l h s khuch i ca PI.

TI =
K1
l hng s thi gian tch phn
K2
TD =
K3
l hng s thi gian vi phn
K1
- Hm qu : h(t) = Km 1
1
t TD (t )
TI
- Hm truyn t: W(p) = Km 1
1
TD p
TI p
- Hm truyn tn s: W(j) = Km 1 j (TD

)
T
Km
(TI ) 2 (TD TI 2 1) 2
TI
- c tnh pha tn s: () = arctg TD

T
Nh vy, / 2 0 < () < / 2
23
Cc c tnh ca quy lut iu chnh PID c m t trn Hnh1.8.
A()
()
BT
/2
TI TD
I()
TBP
/ 2
h(t)
R()
Km
0 =
Km
PT
Km
=0
*
*
TI
Hnh1.8: Cc c tnh ca quy lut iu chnh t l tch phn
Ta nhn thy di tn s thp c tnh ca quy lut PID gn ging vi
quy lut PI, di tn s cao PID gn ging vi quy lut PD, ti 0 =
1
TI TD
PID mang c tnh ca P.

Quy lut PID c ba tham s hiu chnh Km, TI, TD. Xt nh hng ca
ba tham s ta thy:
- Khi TD = 0 v TI = quy lut PID tr thnh quy lut P
- Khi TD = 0 quy lut PID tr thnh quy lut PI
- Khi TI = quy lut PID tr thnh quy lut PD
u im ca quy lut PID l tc tc ng nhanh v c kh nng trit
tiu sai lch tnh. V tc tc ng, quy lut PID cn c th nhanh hn c
quy lut t l. iu ph thuc vo thng s TI, TD.
Nu ta chn c tham s ti u th quy lut PID s p ng c mi
yu cu v iu chnh cht lng ca cc quy trnh cng ngh. Tuy nhin,
vic chn c b ba thng s ti u l rt kh khn. Do trong cng
nghip, quy lut PID thng ch c s dng khi i tng iu chnh c
24
nhiu thay i lin tc v quy trnh cng ngh i hi chnh xc cao m
quy lut PI khng p ng c.
1.4. CC PHNG PHP XC NH THAM S PID
Tn gi PID l ch vit tt ca ba thnh phn c bn c trong b iu
khin Hnh1.9a gm khu khuch i (P), khu tch phn (I), v khu vi phn
(D). Ngui ta vn thng ni rng PID l mt tp th hon ho bao gm ba
tnh cch khc nhau:
- Phc tng v thc hin chnh xc nhim v c giao (t l)
- Lm vic v c tch lu kinh nghim thc hin tt nhim v (tch phn).
- Lun c sang kin v phn ng nhanh nhy vi s thay i tnh
hung trong qu trnh thc hin nhim v (vi phn).
up
e
kp
1
TI s
TDs
a)
uI
e
_
PID
uD
i tng
iu khin
b)
Hnh1.9: iu khin vi b iu khin PID

B iu khin PID c s dng kh rng ri iu khin i tng
SISO theo nguyn l hi tip Hnh1.9b. L do b PID c s dng rng ri
l tnh n gin ca n c v cu trc ln nguyn l lm vic. B PID c
nhim v a 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 u p(t), tn hiu iu
chnh u(t) cng ln (vai tr ca khuch i kp).
- Nu sai lch e(t) cha bng 0 th thng qua thnh phn uI(t), PID vn
cn tn ti tn hiu iu chnh (vai tr ca tch phn TI).
25
- Nu s thay i ca sai lch e(t) cng ln th thng qua thnh phn
uD(t), phn ng thch hp ca u(t) s cng nhanh (vai tr ca vi phn)
B iu khin PID c m t bng m hnh vo ra:
1
u(t) = kp[ e(t) +
TI
e(t )d
+ TD
de(t )
]
dt
(1.9)
Trong e(t) l tn hiu u vo, u(t) l tn hiu u ra, k p c gi l

h s khuch i, TI l hng s tch phn, TD l hng s vi phn.
T m hnh vo ra trn ta c c hm truyn t ca b iu khin PID:
R(s) = kp(1+
1
+ TDs )
TI s
(1.10)
Cht lng h thng ph thuc vo cc tham s kp, TI, TD. Mun h

thng c c cht lng nh mong mun th phi phn tch i tng ri
trn c s chn cc tham s cho ph hp. Hin c kh nhiu cc phng
php xc nh cc tham s kp, TI, TD cho b iu khin PID, song tin ch hn
c trong ng dng vn l:
- Phng php Ziegler Nichols.
- Phng php Chien Hrones Reswick.
- Phng php tng T ca Kuhn.
- Phng php ti u ln v phng php ti u i xng.
Mt iu cn ni thm l khng phi mi trng hp ng dng u
phi xc nh c ba tham s kp, TI, TD. Chng hn, khi bn thn i tng
c thnh phn tch phn th trong b iu khin ta khng cn c thm khu
tch phn mi lm cho sai lch tnh bng 0, hay ni cch khc, khi ta ch
cn s dng b iu khin PD.
R(s) = kp(1 + TDs )
(1.11)
l (TI = ) hoc khi tn hiu trong h thng thay i tng i chm v bn

thn b iu khin khng cn phi c phn ng tht nhanh vi s thay i ca
sai lch e(t) th ta ch cn s dng b iu khin PI (TD = 0) c hm truyn t:
26
1
)
TI s
R(s) = kp( 1 +
(1.12)
1.4.1. Phng php Ziegler - Nichols

Ziegler v Nichols a ra hai phng php thc nghim xc nh
tham s b iu khin PID. Trong khi phng php th nht s dng dng m
hnh xp x qun tnh bc nht c tr ca i tng iu khin:
S(s) =
ke Ls
1 Ts
( 1.13)
th phng php th hai ni tri hn ch hon ton khng cn n m hnh

ton hc ca i tng. Tuy nhin, n c hn ch l ch p dng c cho
mt lp cc i tng nht nh.
Phng php Ziegler Nichols th nht:
Phng php thc nghim ny c nhim v xc nh cc tham s k p, TI,
TD cho b iu khin PID trn c s xp x hm truyn t S(s) ca i tng
thnh dng (1.13), h kn nhanh chng tr v ch xc lp v qu iu
chnh h khng vt qu mt gii hn cho php, khong 40% so vi h =
lim h(t), tc l c
t
h
0,4.
h
h(t)
40%
e
_
PID
S(s)
1
t
b)
a)
Hnh1.10: Nhim v ca b iu khin PID

Ba tham s L (hng s thi gian tr), k (h s khuch i) v T (hng s
thi gian qun tnh) ca m hnh xp x (1.13) c th c xc nh gn ng
t th hm qu h(t) ca i tng. Nu i tng c hm qu dng
nh Hnh1.11a th t th hm h(t) ta c ra c ngay:
27
h(t)
h(t)
k
t
L T
a)
t
L
b)
Hnh1.11: Xc nh tham s cho m hnh xp x

- L l khon thi gian u ra h(t) cha c phn ng ngay vi kch thch
1(t) ti u vo.
- k l gi tr gii hn h = lim
h(t)
t
- Gi A l im kt thc thi gian tr, tc l im trn trc honh c
honh bng L. Khi T l khonh thi gian cn thit sau L tip tuyn
ca h(t) ti A t gi tr k.
Trng hp hm qu h(t) khng c dng l tng nh Hnh1.11a,
song c dng gn ging l hnh ch S ca khu qun tnh bc hai hoc bc n
nh Hnh1.11b m t, th ba tham s k, L, T ca m hnh (1.13) c xc
nh xp x nh sau:
- k l gi tr gii hn h = lim
h(t).
t
- K ng tip tuyn ca h(t) ti im un ca n. Khi L s l
honh giao im ca tip tuyn vi trc honh v T l khong thi gian
cn thit ng tip tuyn i c t gi tr 0 n gi tr k.
Nh vy ta c th thy, iu kin p dng c phng php xp x
m hnh bc nht c tr ca i tng l i tng phi n nh, khng c
giao ng v t nht hm qu ca n phi c dng ch S.
Sau khi c cc tham s cho m hnh xp x (1.13) ca i tng
Ziegler Nichols ngh s dng cc tham s kp, TI, TD cho b iu
khin nh sau:
28
- Nu ch s dng b iu khin khuch i R(s) = kp, th chn kp =
- Nu s dng b PI vi R(s)=kp( 1+
- Nu s dng PID c R(s) = kp(1+
T
kL
1
0,9T
10
) th chn kp=
v TI = L
TI s
kL
3
1
1,2T
L
+TDs ) th chn kp =
, TI = 2L, TD=
TI s
kL
2
Phng php Ziegler Nichols th hai.

Phng php thc nghim th hai ny c c im l khng s dng
m hnh ton hc ca i tng, ngay c m hnh xp x gn ng (1.13)
Phng php Ziegler Nichols th hai c ni dung nh sau:
- Thay b iu khin PID trong h kn Hnh1.12a bng b khuch i. Sau
tng h s khuch i ti gi tr ti hn kth h kn bin gii n nh, tc l
h(t) c dng dao ng iu ho Hnh1.12b xc nh chu k Tth ca dao ng...
h(t)
y
e
_
kth
i tng
iu khin
1,5
Tth
1
0,5
t
5
1 2 3
7
a)
b)
Hnh1.12: Xc nh hng s khuch i ti hn
- Xc nh tham s cho b iu khin P, PI hay PID nh sau:
+ Nu s dng R(s) = kp th chn kp =
+ Nu s dng R(s) =kp(1 +
1
k th
2
1
) th chn kp=0,45kth v TI = 0,85Tth
TI s
+ Nu s dng PID th chn kp = 0,6kth , TI = 0,5Tth , TD = 0,12Tth

Phng php thc nghim th hai c mt nhc im l ch p dng
c cho nhng i tng c c ch bin gii n nh khi hiu chnh
hng s khuch i trong h kn.
29
1.4.2. Phng php Chien Hrones Reswick
V mt nguyn l phng php Chien Hrones Reswick gn ging
vi phng php th nht ca Ziegler Nichols. Song n khng s dng m
hnh tham s (1.13) gn ng dng qun tnh bc nht c tr cho i tng m
thay vo l trc tip dng hm qu h(t) ca n.
Phng php Chien Hrones Reswick cng phi c gi thit rng i
tng l n nh, hm qu h(t) khng giao ng v c dng hnh ch S
Hnh1.13 tc l lun c o hm khng m:
dh(t )
= g(t) 0 .
dt
Tuy nhin, phng php ny thch ng vi nhng i tng bc cao

nh qun tnh bc n:
S(s) =
1 sT n
V c hm qu h(t) tho mn:
b
>0
a
Trong a l honh giao im tip tuyn ca h(t) ti im un U

vi trc thi gian Hnh1.13 v b l khong thi gian cn thit tip tuyn
i c t 0 ti gi tr xc lp k = lim
h(t).
t
h(t)
k
U
b
>3
a
t
a b
Hnh1.13: Hm qu cho phng php Chien Hrones Reswick
T dng hm qu h(t) i tng vi hai tham s a, b tho mn,
Chien Hrones Reswick a bn cch bn cch xc nh tham s b
iu khin cho bn yu cu cht lng nh sau:
- Yu cu ti u theo nhiu (gim nh hng nhiu) v h kn khng c
qu iu chnh.
30
+ B iu khin P : Chn kp =
+ B iu khin PI : Chn kp =
3b
10ak
6b
v TI = 4a
10ak
+ B iu khin PID : Chn kp =
19b
12a
21a
, TI =
v TD =
20ak
5
50
- Yu cu ti u theo nhiu (gim nh hng nhiu) v h kn c qu

iu chnh h khng vt qu 20% so vi h = lim
h(t).
t
7b
10ak
7b
23a
v TI =
10ak
10
6b
21a
, TI = 2a v TD =
20ak
50
- Yu cu ti u theo tn hiu t trc (gim sai lch bm) v h kn

khng c qu iu chnh h.
3b
10ak
7b
6b
v TI =
20ak
5
3b
a
, TI = b v TD =
2
5ak
- Yu cu ti u theo tn hiu t trc (gim sai lch bm) v h kn

c qu iu chnh h khng vt qu 20% so vi h = lim
h(t):
t
7b
10ak
6b
v TI = b
5ak
19b
27b
47a
, TI =
v TD =
20ak
20
100
31
1.4.3. Phng php tng T ca Kuhn
Cho i tng c hm truyn t
(1 T t 1 s)(1 T t 2 s).......(1 T t m s) -sT
S(s) = k
e ,
(1 T m1 s)(1 T m 2 s).......(1 T m n s)
( m< n )
(1.14 )
Gi thit rng hm qu h(t) ca n c dng hnh ch S nh m t

Hnh1.14, vy th (1.14) phi tho mn nh l.
Giao im ca ng qu o bin pha A(j) ca a thc Hurwitz A(s)
vi trc thc phi nm xen k gia nhng giao im ca n vi trc o.
Gi tr ti hai giao im k nhau ca A(j) vi trc thc ca a thc
Hurwitz A(s) phi tri du nhau.
Gi tr ti hai giao im k nhau A(j) vi trc o ca a thc Hurwitz
A(s) phi tri du nhau.
Tc l cc hng s t s Ti t phi c gi thit l nh hn hng s thi
gian tng ng vi n mu s T j m . Ni cch khc nu nh c s sp xp:
T1 T2 ... Tm
t
T1 T2 ... Tn
m
th cng phi c.
T1 T1 , T2 T2 ,
t
, Tm t Tm m
y cc ch ci t v m trong Ti t , T j m . khng c ngha lu tha m ch l

k hiu ni rng n thuc v a thc t s hay mu s trong hm truyn t S(s).
k
h(t
)
A
t
Hnh1.14: Quan h gia din tch v tng cc hng s thi
gian
Gi
A l din tch bao bi ng cong h(t) v k = lim
h(t) vy th ta s c.
t
32
Kt lun 1:
Gia din tch A v cc hng s thi gian Ti t , T j m , T ca (1.14) c mi
quan h:
n
A = k T = k
Ti T
j 1
1
(1.15)
Kt lun 1 ch ra rng T c th d dng c xc nh t hm qu

h(t) dng hnh ch S v i t 0 ca i tng n nh, khng dao ng, bng
cch c lng din tch A cng nh:
k = lim
h(t), T =
t
A
k
(1.16)
Trn c s hai gi tr k, T c ca i tng. Kuhn ra phng php

tng T xc nh tham s kp, TI, TD cho b iu khin PID sao cho h hi tip c
qu trnh qu ngn hn v qu iu chnh h khng vt qu 25%.
Phng php tng T ca Kuhn bao gm hai bc sau:
- Xc nh k, T , c th t hm truyn t S(s) cho trong (1.14) nh kt
lun 1 v cng thc (1.16) hoc bng thc nghim t hm qu h(t) i t 0
v c dng hnh ch S ca i tng theo (1.16).
- Xc nh tham s:
+ Nu s dng b iu khin PI: chn kp =
+ Nu s dng b iu khin PID: chn kp=
T
1
v TI =
2
2k
2T
1
v TI= v TD=0,167T
3
k
1.4.4. Phng php ti u

1.4.4.1. Phng php ti u ln
Mt trong nhng yu cu cht lng i vi h thng iu khin kn
Hnh1.15 m t bi hm truyn t G(s).
G(s) =
SR
1 SR
(1.17)
33
L()
e
_
R(s)
S(s)
Cng rng cng tt
y
0
-20
- 40
0,1
a)
b)
10c
Hnh1.15: Di tn s m c bin hm t tnh bng 1, cng rng cng tt

L h thng lun c c p ng y(t) ging nh tn hiu lch c
a ra u vo (t) ti mi im tn s hoc t ra thi gian qu y(t)
bm c vo (t) cng ngn cng tt. Ni cch khc, b iu khin l tng
R(s) cn phi mang n cho h thng kh nng:
G ( j ) = 1 vi mi
(1.18)
Nhng trong thc t, v nhiu l do m yu cu R(s) tho mn (1.18) kh

c p ng. Chng hn nh v h thng thc lun cha trong n bn cht
qun tnh, tnh cng li lch tc ng t ngoi vo. Song tnh xu ca
h thng li c gim bt mt cch t nhin ch lm vic c tn s ln,
nn ngi ta thng tho mn vi b iu khin R(s) khi n mang li c
cho h thng tnh cht (1.18) trong mt di tn s rng ln cn thuc 0.
B iu khin R(s) tho mn:
G ( j ) 1
(1.19)
trong di tn s tn s c rng ln c gi l b iu khin ti u ln.

Hnh1.15 l v d minh ho cho nguyn tc iu khin ti u ln. B iu
khin R(s) cn phi c chn sao cho min tn s ca biu Bole hm
truyn h kn G(s) tho mn:
L() = 20lg G ( j ) 0
34
l ln nht. Di tn s ny cng ln, cht lng h kn theo ngha (1.19) cng cao.
Mt iu cn thit ni thm l tn gi ti u ln c dng y
khng mang ngha cht ch v mt ton hc cho mt bi ton ti u, tc l
y khng c phim hm nh gi cht lng no c s dng. Do ,
cng khng xc nh c th l vi b iu khin R(s) phim hm c gi tr ln
nht hay khng. Thun tu tn gi ny ch mang tnh nh tnh rng di tn s
, m G(s) tho mn (1.19), cng rng cng tt.
Phng php t u ln c xy dng ch yu ch phc v vic
chn tham s b iu khin PID iu khin cc i tng S(s) c hm
truyn t dng:
- Qun tnh bc nht: S(s) =
k
1 Ts
- Qun tnh bc hai: S(s) =
k
(1 T1 s)(1 T2 s)
- Qun tnh bc ba: S(s) =
k
(1 T1 s)(1 T2 s)(1 T3 s)
Tuy nhin, cho cc lp i tng c dng hm truyn t phc tp hn,

chng hn nh (1.14), ta vn c th s dng c phng php chn tham s
PID theo ti u ln bng cch xp x chng v mt trong ba dng c bn
trn nh phng php tng T ca Kuhn hoc phng php tng cc hng s
thi gian nh s c trnh by di y:
iu khin i tng qun tnh bc nht.
Cho h kn c s khi nh Hnh1.16
Trong :
- B iu khin l khu tch phn: R(s) =
kp
(1.20)
TI s
- i tng l khu qun tnh bc nht: S(s) =
k
1 Ts
(1.21)
Nh vy ta s c:
35
- Hm truyn t h kn: G(s) =
T
k
vi TR = I
TR s(1 Ts ) k
kp
k
TR (1 Ts )
- Hm truyn t h h: Gh(s) = R(s)S(s) =
(1.22)
Suy ra:
G ( j ) =
k T T T
2 2
G ( j ) 2 =
k2
k 2 (TR 2kTR T ) 2 TR T 2 4
2
L()
e
_
R(s)
S(s)
0
-20
-40
a)
b)
Hnh1.16: iu khin khu qun tnh bc nht
V iu kin (1.20) c tho mn trong mt di tn s thp c rng

ln, tt nhin ngi ta c th chn TR sao cho:
TR2 2kTRT = 0 TR =
TI
= 2kT
kp
Khi h kn c biu Bole cho Hnh1.16b vi hm truyn t

G(s) =
2n
k
= 2
vi n =
2
2kTs(1 Ts ) k
s 2 D n s n
1
2T
v D =
1
2
Kt lun 2:
Nu i tng iu khin l khu qun tnh bc nht (1.21), th b iu
khin tch phn (1.20) vi tham s
TI
= 2kT s l b iu khin ti u ln.
kp
36
Nu i tng S(s) c dng:
k
(1 T1 s)(1 T2 s)...(1 Tn s)
S(s) =
(1.23)
p dng c kt lun trn vi b iu khin ti u ln l khu tch

phn (1.20) th ta phi tm cch chuyn m hnh (1.23) v dng xp x khu
qun tnh bc nht.
Phng php xp x m hnh (1.23) thnh (1.21) sau y l phng
php tng cc hng s thi gian nh. N c s dng ch yu cho cc hm
truyn S(s) kiu (1.23) c T1, T2,.Tn rt nh.
S dng cng thc khai khin Vieta cho a thc mu s trong (1.23) c.
k
1 (T1 T2 ... Tn ) s (T1T2 T1T3 ...) s 2 ....
S(s) =
Do nhng tn s thp, tc l khi s nh, ta c th b qua thnh phn

bc cao ca s v thu c cng thc xp x (1.21) c:
n
T=
T
i 1
Ta i n
Kt lun 3:
Nu i tng iu khin (1.23) c cc hng s thi gian T 1, T2,.Tn
rt nh th b iu khin tch phn (1.20) vi tham s
TI
kp
= 2k Ti s l b
i 1
iu khin ti u ln.
iu khin i tng qun tnh bc hai.
Xt bi ton chn tham s b iu khin PID cho i tng qun tnh
bc hai.
S(s) =
k
(1 T1 s)(1 T2 s)
( 1.24)
Khi hm truyn t h h Gh(s) li c dng (1.22), v do s s
37
dng c kt lun 1 ta chn b iu khin PI thay v b iu khin I nh
lm vi i tng bc nht:
R(s) = kp(1+
k (1 TI s)
(1 TI s )
T
1
) = p
=
, TR = I
TR s
kp
TI s
TI s
Gh(s) = R(s)S(s) =
k (1 T1 s )
TR s (1 T1 s )(1 T2 s )
( 1.25)
( 1.26)
nhm thc hin vic b hng s thi gian T1 ca biu thc (1.24) theo ngha
TI = T1
vi cch chn tham s TI ny, hm truyn t h h (1.26) tr thnh.
Gh(s) =
k
TR s(1 T2 s)
V n hon ton ging (1.22) tc l ta li c c TR theo kt lun 1:

TR =
TI
T1
TI
= 2kT2 kp =
=
2kT2
2kT2
kp
Vy:
Kt lun 4:
Nu i tng iu khin l khu qun tnh bc hai (1.24), th b iu khin
PI (1.25) vi cc tham s TI = T1, kp =
T1
th s l b iu khin ti u ln.
2kT2
Nu i tng khng phi l khu qun tnh bc hai m li c hm

truyn t S(s) dng (1.23) vi cc hng s thi gian T2, T3,.Tn rt nh so
vi T1 th do n c th xp x bng:
S(s) =
k
trong T =
(1 T1 s)(1 Ts )
T
i 2
nh phng php tng cc hng s thi gian nh ta cn c:

Kt lun 5:
Nu i tng iu khin (1.23) c mt hng s thi gian T1 ln vt
tri v cc hng s thi gian cn li T2, T3,.Tn rt nh, th b iu khin PI
38
(1.25) c cc tham s TI = T1 , kp =
T1
n
2k Ti
s l b iu khin ti u ln.
i 2
iu khin i tng qun tnh bc ba.

i tng l khu qun tnh bc ba:
S(s) =
k
(1 T1 s)(1 T2 s)(1 T3 s)
(1.27)
Ta s s dng b iu khin PID

R(s) = kp(1+
(1 T A s )(1 TB s )
T
1
+TDs) =
TR = I
TR s
kp
TI s
(1.28)
vi : TA+TB = TI v TATB = TITD

Khi hm truyn t h h s tr v dng (1.22) nu ta chn.
TA = T1, TB = T2 TI = T1 + T2 , TD =
T1T2
T1 T2
Suy ra :
TR =
T
T T
TI
= 2kT3 kp = I = 1 2
2kT3
2kT3
kp
Vy ta c kt lun tip theo.

Kt lun 6:
Nu i tng iu khin l khu qun tnh bc ba (1.27) th b iu
khin PID (1.28) vi cc tham s TI = T1 + T2, TD =
T1T2
T T
, kp = 1 2 s l
T1 T2
2kT3
b iu khin ti u ln.
Trong trng hp i tng li c dng hm truyn t (1.23) nhng
cc hng s thi gian T3, T4, ... Tn rt nh so vi hai hng s cn li T1, T2 th
khi s dng phng php tng cc hng s thi gian nh, xp x n v
dng qun tnh bc ba:
S(s) =
k
trong T =
(1 T1 s)(1 T2 s)(1 Ts )
T
i 3
39
Ta s p dng c kt lun 6 vi:
TI = T1 + T2, TD =
T1T2
T T
, kp = 1 n 2
T1 T2
2k Ti
i 3
1.4.4.2. Phng php ti u i xng

Ta c th thy ngay c s hn ch ca phng php thit k PID ti
u ln l i tng S(s) phi n nh, hm qu h(t) ca n phi i t 0
v c dng hnh ch S.
Phng php chn tham s PID theo nguyn tc ti u i xng c
xem nh l mt s b p cho iu khim khuyn trn ca ti u ln.
Trc tin, ta xt h kn cho Hnh1.17. Gi Gh(s) = R(s)S(s) l hm
truyn t ca h h. Khi h kn c hm truyn t:
G(s) =
Gh ( s)
Gh (s)
Gh(s) =
1 Gh ( s)
1 Gh (s)
v ging vi phng php ti u ln, c G ( j ) 1 trong di tn s

thp th phi c:
G ( j ) >> 1 trong di tn s nh
(1.29)
Hnh1.17b l biu Bole mong mun ca hm truyn h h Gh(s) gm

Lh( ) v h( ). Di tn s trong biu Bole c chia ra lm ba vng:
- Vng I l vng tn s thp. iu kin (1.29) c th hin r nt
vng I l hm c tnh tn h h Gh(j) phi c bin rt ln, hay Lh()>>0.
Vng ny i din cho cht lng h thng ch xc lp hoc tnh (tn s
nh). S nh hng ca n ti tnh ng hc ca h kn l c th b qua.
- Vng II l vng tn s trung bnh v cao. Vng ny mang thng tin
c trng ca tnh ng hc h kn. S nh hng ca vng ny ti tnh cht
h kn di tn s thp (tnh) hoc rt cao l c th b qua. Vng II c c
trng bi im tn s ct Lh(c ) = 0 hay Gh ( j c ) = 1. Mong mun rng h
kn khng c cu trc phc tp nn hm Gh(j) cng c gi thit ch c mt
40
tn s ct c. ng th bin Bole Lh() s thay i nghin mt gi
tr 20db/dec ti im tn s gy I ca a thc t s v -20db/dec ti im tn
s gy T ca a thc mu s. Nu khong cch nghing di th thng
h(j) s thay i mt gi tr l 900 ti I v -900 ti T. Ngoi ra, h kn s
n nh nu ti tn s ct h h c gc pha h(c) ln hn . Bi vy,
tnh n nh h kn c m bo nu trong vng I c Gh ( j c ) >> 1 v
vng II ny, xung quanh im tn s ct, biu Bole Lh() c dc l
-20db/dec cng nh dc khong cch l ln.
- Vng III l vng tn s rt cao. Vng ny mang t, c th b qua c
nhng thng tin v cht lng ca h thng. h thng khng b nh hng
bi nhiu tn s rt cao, tc l khi tn s rt cao G(s) cn c bin rt nh,
th trong vng ny hm Gh(j) nn c gi tr tin n 0.
h(
)
Lh(
)
II
e
_
R(s)
S(s)
R(s
)
S(s)
III
C
Hnh1.17: Minh ho t tng thit k

b iu khin PID ti u i xng
Ta c th thy ngay c rng, nu k hiu:
TI = I-1, Tc = c-1, T1 = 1-1
th h h Gh(s) mong mun vi biu Bole cho trong Hnh1.18b phi l:
Gh(s) = R(s)S(s) =
k h (1 TI s )
s 2 (1 sT1 )
(1.30)
iu khin i tng tch phn qun tnh bc nht.

T (1.30) thy c, khi i tng S(s) c hm truyn t dng khu
tch phn qun tnh bc nht:
41
S(s) =
k
s(1 T1 s)
(1.31)
th vi b iu khin PI:
R(s) = kp(1+
1
)
TI s
(1.32)
h h s c hm truyn t ging nh (1.30) l:

Gh(s) = R(s)S(s) =
k p k (1 TI s)
(1.33)
TI s 2 (1 sT1 )
R rng l trong vng I, hm Gh(s) theo (1.33) tho mn (1.29).

vng II, biu bin Bole ca Gh(s) c nghing -20db/dec xung quanh
im tn s ct c th phi c:
I =
1
1
< 1 =
TI > T1
TI
T1
(1.34)
v
G h ( j I )
> Gh ( j c ) = 1 > Gh ( j1 )
(1.35)
T m hnh (1.33) ca h h ta c gc pha

h() = arcGh(j) = arctan(TI) - arctan(T1)-
Nhm nng cao d tr n nh cho h kn, cc tham s b iu
khin cn phi c chn sao cho ti tn s ct c gc pha h(c) l ln nht
iu ny dn n:
d h ( c )
d
c =
=0
TI
1 ( c TI )
T1
1 ( c T1 ) 2
=0
1
TI T1
lg(c) =
lg( I ) lg(1 )
2
(1.36)
Kt qu (1.36) ny ni rng trong biu Bole, im tn s ct c cn

phi nm gia hai tn s gy I v 1. cng l l do ti sao phng php
c tn l i xng.
42
Gi khong cch gia I v 1 o trong h trc ta biu Bole l a,
ta c:
lga = lg1 -lgI = lg
TI
T
a= I
T1
T1
(1.37)
Nh vy, r rng s c (1.34) nu c a>1

Thay c cho trong (1.36) vo (1.35) ta s c vi (1.33) v (1.37):
G h ( j c ) = 1
k p k 1 (TI C ) 2
TI 2 C 1 (T1 C ) 2
=1
kp =
(1.38)
kT1 a
Ni cch khc nu c a>1 v ( 1.38) th cng c (1.35)

Khong cch a gia I v 1 cn l mt i lng c trng cho qu
iu chnh h ca h kn nu h c dao ng. C th l a cng ln, qu
iu chnh h cng nh. iu ny ta thy c nh sau:
Trong vng II, hm truyn t h h Gh(s) c thay th gn ng bng:
Gh(s)
1
1
vi TC =
TC s(1 T1 s)
C
Khi h kn s c hm truyn t.
G(s) =
Gh ( s)
1
1
=
2
1 Gh ( s)
1 TC s TC T1 s
1 2 DTs (Ts ) 2
vi T = TC T1 v 2D =
TC
T1
lg2D = (lgTC lgT1) =

D=
lg a
(v tnh cht i xng ca C)
2
a
< 1 nu 4>a>1
2
Vy trong vng II, hm qu h kn c dng dao ng tt dn khi

4>a>1. qu iu chnh ca hm qu h kn s l.
h = exp
2
1 D
a=
4 ln 2 (h)
2 ln 2 (h)
(1.39)
43
Cng thc (1.39) xc nh iu khng nh l h nghch bin vi a.
Ngoi ra, n cn ch rng h ch ph thuc vo a do s c s dng
xc nh a t yu cu cht lng h kn v h.
Tm li, nu i tng l khu tch phn - qun tnh bc nht (1.31) th b iu
khin ti u i xng s l b iu khin PI(1.32) vi cc tham s xc nh nh sau:
- Xc nh a t qu iu chnh h cn c ca h kn theo (1.39)
hoc t chn a > 1 t yu cu cht lng ra. Gi tr a c chn cng ln,
qu iu chnh cng nh. Nu a 1, h kn s khng n nh.
- Tnh TI theo (1.37) tc l TI = aT1
- Tnh kp theo (1.38) tc l kp =
1
kT1 a
iu khin i tng tch phn qun tnh bc hai.

iu khin i tng l khu tch phn qun tnh bc hai:
S(s) =
k
s(1 T1 s)(1 T2 s)
(1.40)
Ta s dng b iu khin PID

R(s) = kp(1+
k (1 TA s)(1 TB s)
1
+TDs) = p
TI s
TI s
(1.41)
C cc tham s TA+TB = TI, TATB = TITD v TA = TI
(1.42)
V vi n h h cng s c hm truyn t dng (1.30) v (1.33):

Gh(s) = R(s)S(s) =
~
= kp
k p k (1 TB s)
TI s (1 T2 s)
2
k (1 TB s )
vi
TB s 2 (1 T2 s )
k pTB
TI
k (1 TB s
TB s 2 (1 T2 s )
k pTB
~
kp =
TI
(1.43)
Do hm truyn t (1.43) ging gn nh hon ton so vi (1.33) ca bi

ton iu khin i tng tch phn qun tnh bc nht (ch c mt im
~
khc bit duy nht l kp c thay bi k p =
k pTB
TI
, nn ta cng c ngay c
cc thng s ti u i xng ca b iu khin PID (1.41).

44
~
TB = aT2 v k p =
(1.44)
kT2 a
Suy ra, cc tham s ti u i xng ca b iu khin PID(1.41) s

c chn nh sau:
- Chn TA = T1
- Xc nh 4>a>1 t qu iu chnh h cn c ca h kn, hoc chn
a>1 t yu cu cht lng ra. Gi tr a c chn cng ln, qu iu
chnh cng nh. h kn khng c giao ng th chn a 4. H kn s khng
n nh vi a 1.
- Tnh TB = aT2. T suy ra TI = TA+TB v TD =
~
- Tnh k p =
1
kT2 a
ri suy ra kp =
T ATB
TI
~
k p TI
TB
1.4.5. Xc nh tham s PID da trn qu trnh ti u trn my tnh

Qua phn tch trn th ta c th thc hin php th nhiu ln t
c p ng tt hn nhng s mt nhiu thi gian. gii quyt vn ny
th nn p dng phng php tnh ton trn my tnh nh cng c Matlab.
Thng thng cc b iu khin PID c a ra nh sau:
2
s 2 2as a 2
s a
Gc(s) = K
= K
(1.45)
iu ny c ngha l phi tm s ph hp gia K v a h vng kn l

n nh dao ng v qu iu chnh trong p ng trc bc nhy l nh
hn 10% v ln hn 5%, trnh qu mt n nh dao ng hoc gn vi mt
n nh p ng.
gii quyt vn ny cn tm s kt hp gia K v a m tho mn
yu cu. V d vng ca K v a c bao bi thng s sau:
nKl;paq
(1.46)
n, l l gii la chn tham s K. p, q l gii la chn ca tham s a.

45
trnh khi lng tnh ton qu ln ta phi chn bc tnh ton cho
ph hp, v d chn bc tnh l 0,2 cho c tham s K v a.
Qu trnh thc hin trn my tnh c m t bng cch s dng hai
vng lp FOR, bt u l iu chnh gi tr K vng lp ngoi sau th iu
chnh gi tr a vng lp trong tip nh ngha hm truyn h thng v p
ng bc nhy. nh ngha qu iu chnh trong p ng: Nu iu kin m
< 1.1 v m > 1.05 th t yu cu v tin hnh ngt vng iu chnh trong v
ngoi, thot khi chng trnh. Vic xc nh K, a, m c thc hin t ng
nh cng thc: SOL = [ K ; a ; m ].
1.5. KT LUN CHNG 1
Ni dung ca chng 1, tp trung nghin cu cc b iu khin P, I, PI,
PD, PID. Tp trung nghin cu, cu trc, nguyn l lm vic, phm vi ng
dng v cc phng php xc nh, hiu chnh tham s b iu khin PID
theo cc phng php khc nhau. Da vo tnh nng, phm v ng dng ,
trn c so snh c im ca i tng cn iu khin, chng ta s la chn
c b iu khin tng ng l P, PI, PD hay PID ph hp.Trn c s ca
yu cu cht lng iu khin chng ta s tnh ton c cc tham s ca b
iu khin bng cc phng php khc nhau nh trnh by trong 1.4.
B iu khin PID hin nay vn cn c s dng kh rng ri iu
khin i tng SISO theo nguyn l hi tip. L do b PID c s dng
rng ri l tnh n gin ca n c v cu trc ln nguyn l lm vic, tin cy
trong iu khin v p ng c yu cu cht lng iu khin trong gii hn
nht nh. Tuy nhin b iu khin PID cng cn tn ti nhc im l trong
qu trnh lm vic khi tham s ca h thng thay i hoc h chu nhiu tc
ng th tnh bn vng ca h khng c m bo, cht lng ra b thay i.
Cc h cn iu khin trong thc t ch yu l cc h phi tuyn c cha
cc tham s (c th c tham s khng bit trc) thay i khi lm vic. Ngoi
ra trong qu trnh lm vic h cn chu nhiu tc ng t mi trng. iu
46
khin cc h thng ni trn vi cc ch tiu cht lng cao cc b iu khin
PID thng thng ni chung khng p ng c.
iu khin cc h phi tuyn mnh, hoc cc h c phn t khng m
hnh ho c, cc tham s khng bit trc v chu nh hng ca nhiu t
mi trng, thng c thit k theo hai hng: hng th nht S dng
cc b iu khin hin i nh : iu khin ti u, iu khin bn vng, iu
khin m, iu khin thch nghi.Hng th 2 l s dng cc b iu khin
lai tn dng u im ca cc b iu khin nh iu khin thch nghi bn
vng, PID m ..
Trong lun vn tc gi s l chon phng php iu khin PID m
x l cc tn ti ca b iu khin PID.
47
Chng 2
B IU KHIN M
2.1. LCH S PHT TRIN CA LOGIC M
Lch s ca iu khin m bt u t nm 1965, khi gio s Lofti A
Zadeh trng i hc California - M a ra khi nim v l thuyt tp m
(Fuzzy set theory). T tr i cc nghin cu l thuyt v ng dng tp m
pht trin mt cch mnh m. Vi nhng thi im ng ch sau:
- Nm 1972, cc gio s Terano v Asai thit lp ra c s nghin
cu h thng iu khin m Nht.
- Nm 1974, Mamdani nghin cu iu khin m cho l hi.
- Nm 1980, hng Smidth Co. nghin cu iu khin m cho l xi mng.
- Nm 1983, hng Fuji Electric nghin cu ng dng m cho nh my
s l nc.
- Nm 1984, Hip hi h thng m quc t (IFSA) c thnh lp.
- Nm 1989, phng th nghim quc t nghin cu ng dng k thut
m u tin c thnh lp.
Cho n nay, h thng iu khin m c cc nh khoa hc, cc k s
v sinh vin trong mi lnh vc khoa hc k thut c bit quan tm v ng
dng trong sn xut v i sng, c rt nhiu ti liu nghin cu l thuyt
v cc kt qa ng dng logic m trong iu khin h thng. Tuy nhin logic
m vn ang ha hn pht trin mnh m.
2.2. MT S KHI NIM C BN V LOGIC M
2.2.1. nh ngha tp m
Logic m bt u vi khi nim tp m.
Khi nim v tp hp c hnh thnh trn nn tng logic v c
nh ngha nh mt s xp t chung cc vt, cc i tng c cng chung
mt tnh cht, c gi l phn t ca tp hp . ngha logic ca khi
48
nim tp hp c xc nh ch mt vt hoc mt i tng bt k ch c
th c hai kh nng hoc l phn t ca tp ang xt hoc khng.
Xt tp hp A trn. nh x A {0,1} nh ngha trn tp A nh sau:
A(x) = 0 nu x A v
A(x) = 1 nu x A
(2.1)
c gi l hm lin thuc ca tp hp A. Mt tp X lun c X(x)=1,

vi mi x c gi l khng gian nn (tp nn).
Mt tp hp A c dng A = {xX x} tha mn mt s tnh cht no
th c gi l c tp nn X, hay c nh ngha trn tp nn X.
Nh vy trong l thuyt kinh in, hm lin thuc hon ton tng
ng vi nh ngha mt tp hp. T nh ngha v mt tp hp A bt k ta
c th xc nh c hm lin thuc A(x) cho tp hp v ngc li t
hm lin thuc A(x) ca tp hp A cng hon ton suy ra c nh ngha
cho tp hp A.
Tuy nhin, cch biu din hm lin thuc nh vy khng ph hp vi
nhng tp hp c m t m nh tp B gm cc s thc nh hn nhiu so
vi 6: B = {x R x << 6}; hoc tp C gm cc s thc xp x bng 3:
C={xR x 3}.
L do l vi nhng tp m nh vy cha xc nh c x = 3,5
c thuc tp B hoc x = 2,5 c thuc tp C hay khng. Nu khng khng
nh c x = 3,5 c thuc tp B hay khng th cng khng th khng nh
c x = 3,5 khng thuc tp B. Vy x = 3,5 thuc tp B bao nhiu phn
trm. Gi s tn ti cu tr li th hm lin thuc B(x) ti im x = 3,5 phi
c mt gi tr trong khong [0,1], tc l: 0 B(x) 1 . Ni cch khc hm
B(x) khng cn l hm hai gi tr nh i vi tp hp kinh in na m l
mt nh x: B: R [0,1].
49
Nh vy, khc vi tp hp kinh in A, t nh ngha kinh in ca
tp m B hoc C khng suy ra c hm lin thuc B(x) hoc C(x) ca
chng. Do , ta c nh ngha v tp m nh sau:
Tp m F xc nh trn tp kinh in X l mt tp m mi phn t ca
n l mt cp cc gi tr (x, F(x) trong x X v F l nh x.
F:X[0,1].
nh x F c gi l hm lin thuc ca tp m F. Tp kinh in X
c gi l tp nn (hay v tr) ca tp m F.
2.2.2. Cc hm lin thuc thng c s dng
Hm lin thuc c xy dng da trn cc ng thng : Dng ny c
u im l n gin. Chng gm hai dng chnh l: tam gic v hnh thang.
Hm lin thuc c xy dng da trn ng cong phn b Gauss:
kiu th nht l ng cong Gauss dng n gin v kiu th hai l s kt
hp hai ng cong Gauss khc nhau hai pha. C hai ng cong ny u
c u im l trn v khng gy mi im nn chng l phng php ph
bin xc nh tp m.
Ngoi ra, hm lin thuc cn c th c mt s dng t ph bin (ch
c s dng trong mt s ng dng nht nh). l cc dng sigma v
dng ng cong Z, Pi v S.
2.2.3. Bin ngn ng v gi tr ca bin ngn ng
Mt bin c th gn bi cc t trong ngn ng t nhin lm gi tr ca
n gi l bin ngn ng.
Mt bin ngn ng thng bao gm 4 thng s: X, T, U, M vi :
+ X : Tn ca bin ngn ng.
+ T : Tp ca cc gi tr ngn ng.
+ U : Khng gian nn m trn bin ngn ng X nhn cc gi tr r.
+ M : Ch ra s phn b ca T trn U
50
V d: bin ngn ng Tc xe c tp cc gi tr ngn ng l rt
chm, chm, trung bnh, nhanh, rt nhanh, khng gian nn ca bin l tp cc
s thc dng. Vy bin tc xe c 2 min gi tr khc nhau:
- Min cc gi tr ngn ng N: [rt chm, chm, trung bnh, nhanh, rt nhanh]
- Min cc gi tr vt l V = {x R (x0 )}
Mi gi tr ngn ng (mi phn t ca N) c tp nn l min gi tr vt
l V. T mt gi tr vt l ca bin ngn ng ta c c mt vc t gm cc
ph thuc ca x:
X T = [ rt chm chm trung binh nhanh rt nhanh ]
nh x trn c gi l qu trnh Fuzzy ho gi tr r x.

V d : ng vi tc 50 km/h ta c.
0
0,5
Vc t (50) = 0,5
0
RC C TB NH RN
Tc
50
km/h
Hnh2.1: M ho bin Tc
2.3. B IU KHIN M
S khi ca b iu khin m trn Hnh2.2. bao gm 4 khi:
- Khi m ha (fuzzifiers).
- Khi hp thnh.
- Khi lut m.
- Khi gii m (defuzzifiers).
u vo
x
Khi m ha
(fuzzifiers)
Khi hp
thnh
Gii m
u ra
y
Khi lut m
Hnh2.2: S khi ca b iu khin m.

51
2.3.1. Khu m ha
Khu m ha c nhim v chuyn mt gi tr r ha u vo x0 thnh
mt vector gm cc ph thuc ca cc gi tr r theo cc gi tr m
(tp m) nh ngha cho bin ngn ng u vo.
M ho c nh ngha nh s nh x t tp cc gi tr thc (gi tr
*
n
r) x U R thnh lp cc gi tr m
A'
~
trong U. H thng m nh l
mt b xp x vn nng. Nguyn tc chung vic thc hin m ho l:

- T tp gi tr thc x u vo s to ra tp m
A'
~
vi hm lin thuc
c gi tr rng ti cc im r x*.
- Nu c nhiu u vo th vic m ho s gp phn kh nhiu.
- Vic m ho phi to iu kin n gin cho tnh ton sau ny.
Thng thng c 3 phng php m ha: M ha n tr, m ha
Gaus (Gaussian fuzzifier) v m ha hnh tam gic (Triangular fuzzifier).
Thng s dng m ha Gaus hoc m ha hnh tam gic v hai phng
php ny khng nhng cho php tnh ton tng i n gin m cn ng
thi c th kh nhiu u vo.
M ho n tr (Singleton fuzzifier): M ho n tr l t cc im gi tr
*
thc x U ly cc gi tr n tr ca tp m
1
0
A(x) =
A'
~
, ngha l hm lin thuc dng:
nu x = x*
nu cc ch khc
(2.2)
M ho Gaus (Gaussian Fuzzifier) : M ho Gaus l t cc im gi tr

*
thc x U ly cc gi tr trong tp m
A'
~
vi hm lin thuc Gaus.
M ho hnh tam gic (Triangular Fuzzifier) : M ho hnh tam gic l

*
t cc im gi tr thc x U ly cc gi tr trong tp m
A'
~
vi hm lin
thuc dng hnh tam gic, hoc hnh thang.
52
Ta thy m ho n tr cho php tnh ton v sau rt n gin nhng
khng kh c nhiu u vo, m ho Gaus hoc m ho hnh tam gic
khng nhng cho php tnh ton v sau tng i n gin m cn ng thi
c th kh nhiu u vo.
2.3.2. Khu thc hin lut hp thnh
Khu thc hin lut hp thnh gm 2 khi l khi lut m v khi
hp thnh.
Khi lut m (suy lun m) bao gm tp cc lut Nu Th da vo
cc lut m c s c ngi thit k vit ra cho thch hp vi tng bin v
gi tr ca cc bin ngn ng theo quan h m Vo/Ra.
Khi hp thnh dng bin i cc gi tr m ho ca bin ngn ng
u vo thnh cc gi tr m ca bin ngn ng u ra theo cc lut hp thnh
no .
Khu thc hin lut hp thnh, c tn gi l thit b hp thnh, x l
vector v cho gi tr m B ca tp bin u ra.
Cho hai bin ngn ng v . Nu bin nhn gi tr (m) A vi hm
lin thuc A(x) v nhn gi tr (m) B vi hm lin thuc B(y) th biu thc:
= A c gi l mnh iu kin v = B c gi l mnh kt lun.
Nu k hiu mnh = A l p v mnh = B l q th mnh hp thnh:
p q (t p suy ra q)
(2.3)
hon ton tng ng vi lut iu khin:

Nu = A th = B
(2.4)
Mnh hp thnh trn l mt v d n gin v b iu khin m. N

cho php t mt gi tr u vo xo hay c th l t ph thuc A(xo) i vi
tp m A ca gi tr u vo xo xc nh c h s tha mn mnh kt
lun q ca gi tr u ra y. H s tha mn mnh kt lun ny c gi l
gi tr ca mnh hp thnh khi u vo bng A v gi tr ca mnh hp
53
thnh (2.3) l mt gi tr m. Biu din gi tr m l tp hp C th mnh
hp thnh m (2.4) chnh l mt nh x:
A(xo) C(y)
Ta c cng thc xc nh hm lin thuc cho mnh hp thnh
B=AB.
B'(y) = min{A, B(y)}, c gi l quy tc hp thnh MIN
B'(y) = A.B(y), c gi l quy tc hp thnh PROD
y l hai quy tc hp thnh thng c dng trong l thuyt iu
khin m m t mnh hp thnh A B.
Hm lin thuc AB(y) ca mnh hp thnh A B s c k hiu l
R. Ta c lut hp thnh l tn chung gi m hnh R biu din mt hay nhiu hm
lin thuc cho mt hay nhiu mnh hp thnh, ni cch khc lut hp thnh
c hiu l mt tp hp ca nhiu mnh hp thnh. Mt lut hp thnh ch c
mt mnh hp thnh c gi l lut hp thnh n. Ngc li nu n c
nhiu hn mt mnh hp thnh ta s gi n l lut hp thnh kp. Phn ln cc
h m trong thc t u c m hnh l lut hp thnh kp. Ngoi ra R cn c mt
s tn gi khc ph thuc vo cch kt hp cc mnh hp thnh (max hay sum)
v quy tc s dng trong tng mnh hp thnh (MIN hay PROD):
- Lut hp thnh max-PROD, nu cc hm lin thuc thnh phn c
xc nh theo quy tc hp thnh PROD v php hp gia cc mnh hp
thnh c ly theo lut max.
- Lut hp thnh max-MIN, nu cc hm lin thuc thnh phn c
xc nh theo quy tc hp thnh MIN v php hp gia cc mnh hp
thnh c ly theo lut max.
- Lut hp thnh sum-MIN, nu cc hm lin thuc thnh phn c
xc nh theo quy tc hp thnh MIN v php hp c ly theo cng thc
Lukasiewicz.
54
- Lut hp thnh sum-PROD, nu cc hm lin thuc thnh phn c
cc nh theo quy tc hp thnh PROD v php hp c ly theo cng thc
Lukasiewicz.
A(x)
B(x)
A(x)
B(x)
A=>B(y)
x
x0
A(x)
B(y)
A=>B(y)
x
x0
Hnh2.3: Hm lin thuc ca lut hp thnh : (a) Hm lin thuc A(x)
v B(y).(b) AB(y) xc nh theo quy tc min.(c) AB(y) xc nh theo
quy tc PROD.
Tng qut, ta xt thut ton xy dng lut hp thnh c nhiu mnh
hp thnh. Xt lut hp thnh gm p mnh hp thnh:
R1 : Nu = A1 Th = B1 hoc
R2: Nu = A2 Th = B2 hoc
...
RP: Nu = AP, Th = BP
Trong cc gi tr m A1, A2,..., AP c cng tp nn X v B1, B2,...,
BP c cng tp nn Y.
55
Gi hm lin thuc ca Ak v Bk l Ak(x) v Bk(y) vi k = 1, 2 ,..., p.
Tng qut li, thut ton trin khai R = R1 R2 ... RP s nh sau:
- Ri rc ha X ti n im x1, x2,..., xn v Y ti m im y1, y2,..., ym
- Xc nh cc vector Ak(x) v Bk(y), k = 1, 2,..., p theo
TAk = (Ak(x1), Ak(x21),..., Ak(xnl))
TBk = (Bk(y1), Bk(y21),..., Bk(yml))
- Xc nh m hnh cho lut iu khin
Rk = Ak . TBk = rijk vi i = 1,..., n v j = 1,..., m
(2.5)
Trong php nhn c thay bng php tnh ly cc tiu min khi s
dng quy tc hp thnh MIN.
- Xc nh lut hp thnh R = (max {rijk k = 1,2,..., p})
(2.6)
Tng mnh nn c m hnh ho thng nht theo mt quy tc chung,

v d hoc theo quy tc max-MIN hoc theo max-PROD. Khi cc lut iu
khin Rk s c mt tn chung l lut hp thnh max-MIN hoc lut hp thnh
max-PROD. Tn chung ny cng s l tn gi ca lut hp thnh R. Ngoi ra,
khi cng thc xc nh lut hp thnh R trn c thay bng cng thc.
k 1
R = min 1, Rk
(2.7)
Th ta s c lut hp thnh sum-MIN v sum-PROD tng ng.

Lut hp thnh sum-MIN v sum-PROD c tnh thng k hn so vi
lut hp thnh max-MIN v max-PROD v n tnh n mi gi tr u ra ca
mi mnh hp thnh Rk .
2.3.3. Khu gii m
B iu khin m tng hp c nh trn cha th p dng c trong
iu khin i tng, v u ra lun l mt gi tr m B. Mt b iu khin
m hon chnh phi c thm khu gii m. Khu gii m, c nhim v
chuyn i tp m B thnh mt gi tr r y chp nhn c cho i tng.
56
Gii m c nh ngha nh l s nh x (s lm tng ng) t tp
m B trong tp c s V (thuc tp s thc R ; V R ; l u ra ca khi
hp thnh v suy lun m) thnh gi tr r u ra y V . Nh vy nhim v
ca gii m l tm mt im r y V lm i din tt nht cho tp m B . C
ba iu lu sau y lc chn phng php gii m:
*
- Tnh hp l ca kt qu. im r y V l im i din (cho "nng
lng") ca tp m B , iu ny c th cm nhn trc gic tnh hp l ca kt

qu khi c hm lin thuc ca tp m B .
- Vic tnh ton n gin. y l iu rt quan trng tnh ton
nhanh, v cc b iu khin m thng lm vic thi gian thc.
- Tnh lin tc. Mt s thay i nh trong tp m B ch lm thay i nh
kt qu gii m, ngha l khng gy ra thay i t bin gi tr gii m y V .
Nh vy gii m l qu trnh xc nh mt gi tr r u ra theo hm
lin thuc hp thnh tm c t cc lut hp thnh v iu kin u vo.
C ba phng php gii m thng dng l phng php cc i, phng
php trng tm v phng php trung bnh tm.
Gii m theo phng php cc i Gm hai bc:
Bc 1 : Xc nh min cha gi tr r u ra. l min G, m gi tr
r u ra y c hm lin thuc t gi tr cc i, ngha l.
G y Y B ( y) max
Bc 2 : Xc nh y c th chp nhn c t G. Lc ny c 3 cch tnh.

B
B1
B2
H
y
y2
y1
Hnh2.4: Gii m bng phng php cc i
57
Trong Hnh2.4 th G l khong [y1, y2] ca min gi tr ca tp m u
ra B2 ca lut iu khin R2.
Ba cch tnh l: Nguyn l cn tri, cn phi v trung bnh. K hiu
y1, y2 l im cn tri v cn phi ca G.
- Nguyn l trung bnh: Theo nguyn l trung bnh, gi tr r y s l:
y =
y1 y 2
2
B
(2.8)
B1
B2
y
y y y
2
Hnh2.5: Gii m theo nguyn l trung bnh

1
- Nguyn l cn tri: Gi tr r y c ly bng cn tri y1 ca G.

B
B1
B2
H
y
y
Hnh2.6: Gii m theo

nguyn l cn tri
- Nguyn l cn phi: Gi tr r y c ly bng cn phi y2 ca G.

B
B1
B2
H
y
y
Hnh2.7: Gii m theo nguyn
l cn phi
58
Gii m theo phng php trng tm
Phng php trng tm s cho ra kt qu y l honh im trng
tm ca min c bao bi trc honh v ng B(y). Cng thc xc nh
y theo phng php im trng tm nh sau:
y =
B'
( y )dy
(2.9)
B' ( y)dy
S
Trong S l min xc nh ca tp m B. Cng thc ny cho php

xc nh gi tr y vi s tham gia ca tt c cc tp m u ra mt cch bnh
ng v chnh xc, tuy nhin li khng n tha mn ca lut iu
khin quyt nh v thi gian tnh ton lu.
B
B1
B2
y
y
S
Hnh2.8: Gii m theo phng php im trng tm
Phng php trng tm c u im l c tnh n nh hng ca tt c
cc lut iu khin n gi tr u ra, tuy vy cng c nhc im l khi gp
cc dng hm lin thuc hp thnh c dng i xng th kt qu sai nhiu. V
gi tr tnh c li ng vo ch hm lin thuc c gi tr thp nht, thm ch
bng 0, iu ny hon ton sai v suy ngha v thc t. trnh iu ny, khi
nh ngha cc hm lin thuc cho tng gi tr m ca mt bin ngn ng nn
ch sao cho lut hp thnh u ra trnh c dng ny, c th bng cch
kim tra s b qua m phng.
59
Gii m theo phng php trung bnh tm.
Nu gi thit mi tp m Bk(y) c xp x bng mt cp gi tr (yk ,
Hk) duy nht (singleton) trong Hk l cao ca Bk(y) v yk l mt im
mu trong min gi tr ca Bk(y) c Bk(y)=Hk.
q
th: y =
y
k 1
q
Hk
H
k 1
(2.10)
k
y l cng thc tnh xp x y theo phng php cao. Nhiu trng

hp s dng u ra dng singleton rt c hiu qu trong qu trnh gii m v
n gin c cng vic tnh ton cn thit. Cng thc ny p dng c cho
mi lut hp thnh nh max-MIN, max-PROD, sum-MIN v sum-PROD.
2.4. B IU KHIN M TNH
2.4.1. Khi nim
B iu khin tnh l b iu khin c quan h vo/ra y(x), vi x l u
vo y l u ra, theo dng mt phng trnh i s (tuyn tnh hoc phi
tuyn). B iu khin m tnh khng xt ti cc yu t ng ca i tng
(vn tc, gia tc, ). Cc b iu khin tnh in hnh l b iu khin
khuch i P, b iu khin Rle hai v tr, ba v tr,
2.4.2. Thut ton tng hp mt b iu khin m tnh
Cc bc tng hp mt b iu khin m tnh v c bn ging cc
bc chung tng hp b iu khin m nh trnh by trn. hiu k
hn ta xt v d c th sau:
V d:
Hy thit k b iu khin m tnh SISO c hm truyn t y = f(x)
trong khong x = [1,2] tng ng vi y trong khong y = [1, 2].
Bc 1 : nh ngha cc tp m vo ra.
nh ngha N tp m u vo: A1, A2, AN trn khong [1,2] ca x
c hm lin thuc Ai(x) ( i = 1,2,N) dng hnh tam gic cn.
60
nh ngha N tp m u ra : B1,B2,BN trn khong [1, 2] ca y c
hm lin thuc Bi(x) ( j = 1,2,N) dng hnh tam gic cn.
Bc 2: Xy dng lut iu khin
Vi N hm lin thuc u vo ta s xy dng c N lut iu khin
theo cu trc:
Ri: nu = Ai th = Bi
Bc 3: Chn thit b hp thnh
Gi thit chn nguyn tc trin khai SUM PROD cho mnh hp
thnh, v cng thc Lukasiewicz cho php hp th tp m u ra B khi u
vo l mt gi tr r x0 s l:
i 1
B(y) = MIN 1, Bi ( y) Ai ( x0 )
(2.11)
V Bi(y) l mt hm Kronecker Bi(y)Ai(x0) = Ai(x0), khi :
i 1
B(y) = MIN 1, Bi ( y) Ai ( x0 )
(2.12)
Bc 4 : Chn phng php gii m

Chn phng php cao gii m, ta c:
N
yi H i
y(x0) =
i 1
N
H
i 1
i 1
N
i 1
Ai
( x0 )
(2.13)
Ai
( x0 )
Quan h truyn t ca b iu khin m c dng:

N
y
y(x0) =
i 1
N
i 1
Ai
( x)
(2.14)
Ai
( x)
2.4.3. Tng hp b iu khin m tuyn tnh tng on

Trong k thut nhiu khi ta phi thit k b iu khin m vi c tnh
vo ra cho trc tuyn tnh tng on. Chng hn, cn thit k b iu
khin m c c tnh vo ra nh Hnh2.9.
61
y
y5
y3,y4
x1 x2
x
x3 x4
x5
y1,y2
Hnh2.9: c tnh vo ra cho trc
Thut ton tng hp b iu khin ny ging nh thut ton tng hp
b iu khin m vi hm truyn t y(x) bt k. Tuy nhin, cc on c
tnh thng v ni vi nhau mt cch lin tc ti cc nt th cn tun th mt s
nguyn tc sau:
+ Mi gi tr r u vo phi lm tch cc 2 lut iu khin.
+ Cc hm lin thuc u vo c dng hm tam gic c nh l mt
im nt k, c min xc nh l khong [xk-1, xk+1] nh Hnh2.10a.
+ Cc hm lin thuc u ra c dng hm singleton ti cc im
nt yk Hnh2.10b.
+ Ci c lut hp thnh Max Min vi lut iu khin tng qut:
Rk: Nu = Ak th = Bk
A1
+ Gii m bng phng php cao.

B1,B2
A2
A A4
A
3
B3,B4
B5
y
x
a)
b)
Hnh 2.10: Hm lin thuc ca cc bin ngn ng vo ra
2.5. B IU KHIN M NG
B iu khin m ng l b iu khin m m u vo c xt ti cc
trng thi ng ca i tng nh vn tc, gia tc, o hm ca gia tc, V
d i vi h iu khin theo sai lch th u vo ca b iu khin m ngoi
62
tn hiu sai lch e theo thi gian cn c cc o hm ca sai lch gip cho b
iu khin phn ng kp thi vi cc bin ng t xut ca i tng.
Cc b iu khin m ng hay c dung hin nay l b iu khin
m theo lut t l tch phn (PI), t l vi phn (PD) v t l vi tch phn (PID).
Mt b iu khin m theo lut I c th thit k t mt b m theo lut
P (b iu khin m tuyn tnh) bng cch mc ni tip mt khu tch phn
vo trc hoc sau khi m . Do tnh phi tuyn ca h m, nn vic mc
khu tch phn trc hay sau h m hon ton khc nhau Hnh2.11a,b.
E
B iu khin
m
i tng
a)
E
B iu
khin m
i tng
b)
Hnh2.11: H iu khin m theo lut PI
Khi mc thm mt khu vi phn u vo ca mt b iu khin m theo
lut t l s c c mt b iu khin m theo lut t l vi phn PD Hnh2.12.
E
x
-
d
dt
B iu khin
m
y
i tng
Hnh2.12: H iu khin m theo lut PD

Cc thnh phn ca b iu khin ny cng ging nh b iu khin theo
lut PD thng thng bao gm sai lch gia tn hiu ch o v tn hiu ra ca
h thng e v o hm ca sai lch e. Thnh phn vi phn gip cho h thng
phn ng chnh xc hn vi nhng bin i ln ca sai lch theo thi gian.
63
Trong k thut iu khin kinh in, b iu khin PID c bit n
nh l mt gii php a nng v c min ng dng rng ln. nh ngha v b
iu khin theo lut PID kinh in trc y vn c th s dng cho mt b
iu khin m theo lut PID. B iu khin m theo lut PID c thit k
theo hai thut ton:
- Thut ton chnh nh PID
- Thut ton PID tc
B iu khin m c thit k theo thut ton chnh nh PID c 3 u
vo gm sai lch e gia tn hiu ch o v tn hiu ra, o hm v tch phn
ca sai lch. u ra ca b iu khin m chnh l tn hiu iu khin u(t).
u(t) = K e
1
TI
e.dt T
d
e
dt
(2.15)
Vi thut ton PID tc , b iu khin PID c 3 u vo: sai lch e gia

tn hiu u vo v tn hiu ch o, o hm bc nht e v o hm bc hai e
ca sai lch. u ra ca h m l o hm
d
1
d2
du
= K e e
dt
TI
dt 2
dt
du
ca tn hiu iu khin u(t).
dt
(2.16)
Do trong thc t thng c mt hoc hai thnh phn trong (2.15),

(2.16) c b qua, nn thay v thit k b iu khin PID hon chnh ngi
ta li thng tng hp cc b iu khin PI hoc PD.
x
E
-
d
dt
B iu
khin m
i tng
Hnh2.13: H iu khin m theo lut PID

B iu khin PID m c thit k trn c s ca b iu khin PD
m bng cch mc ni tip u ra ca b iu khin PD m mt khu tch
phn Hnh2.13.
64
Hin nay, c rt nhiu cu trc khc nhau ca PID m c nghin
cu. Cc dng cu trc ny thng c thit lp trn c s tch b iu chnh
PID thnh hai b iu chnh PD v PI (hoc I). Vic phn chia ny ch nhm
mc ch thit lp cc lut cho PD v PI (hoc I) gm hai (hoc mt) bin vo,
mt bin ra, thay v phi thit lp ba bin vo. H lut cho b chnh nh PID
m kiu ny thng da trn ma trn do Mac Vicar Whelan xut. Cu trc
ny khng lm gim s lut m ch n gin cho vic tnh ton.
2.6. B IU KHIN M LAI PID
2.6.1. Gii thiu chung
Thc t ng dng ca k thut iu khin m cho thy rng khng phi
c thay th mt b iu khin kinh in bng mt b iu khin m th s c
mt h thng tt hn. Trong nhiu trng hp c bit, h thng c c
tnh ng hc tt v bn vng cn phi thit k thit b iu khin lai gia b
iu khin m v b iu khin kinh in. T dn n khi nim "h m
lai" v lnh vc thit k, ng dng b iu khin m lai nng cao cht
lng iu khin ca h thng. H iu khin m lai s pht huy ht cc u
im ca b iu khin m v b iu khin r.
H m lai (Fuzzy- hybrid) l mt h thng iu khin t ng trong
thit b iu khin bao gm hai thnh phn:
- Phn thit b iu khin r (thng l b iu khin PID kinh in)
- Phn thit b iu khin m.
S dng b iu khin m lai s pht huy c u im ca c b iu
khin m v b iu khin r (hay b iu khin PID kinh in). Ta xt h
thng iu khin c hai cu trc vng, mt trong hai vng iu khin s dng
b iu khin m. V vy c hai kh nng kt hp l:
- Kh nng 1: B iu khin m c s dng mch vng iu khin trong;
mch vng iu khin ngoi s dng b iu khin kinh in PID. B iu khin m
lai xy dng theo phng php ny c gi l b iu khin m lai kinh in.
65
- Kh nng 2: B iu khin kinh in PID c s dng mch vng
iu khin trong; mch vng iu khin ngoi s dng b iu khin m
chnh nh tham s cho b iu khin PID. B iu khin m lai xy dng
theo phng php ny c gi l b iu khin m lai chnh nh m tham
s b iu khin PID.
2.6.2. B iu khin m lai kinh in
Khi thit k b iu khin m lai kinh in, trc ht ta c th thit k b
iu khin m mch vng trong m cha cn quan tm n iu kin n nh
ca h thng. Sau , khi thit k b iu khin PID mch vng ngoi ta mi
cn xt n vn n nh. Nh vy b iu khin PID mch vng ngoi s
thc hin chc nng gim st n nh ca h thng, cn b iu khin m
mch vng trong s m bo cht lng iu chnh cho h thng. Chc nng
gim st ca b iu khin PID mch vng ngoi c l gii nh sau: nu b
iu khin m mch vng trong hot ng tt tc l m bo cht lng iu
chnh cho h thng th b iu khin PID mch vng ngoi khng tham gia
vo cng vic iu chnh. Khi b iu khin m mch vng trong hot ng
khng tt, c khuynh hng gy mt n nh cho h thng th b iu khin PID
mch vng ngoi s can thip nhm a h thng v trng thi n nh.
x
e
-
B iu
khin PID
B iu
khin m
i tng
iu khin
Thit b o
lng
Hnh2.14: M hnh b iu khin m lai kinh in

2.6.3. B iu khin m lai cascade
Mt h m lai khc c biu din nh Hnh2.15, phn b tn hiu
iu chnh u c ly ra t b iu khin m.
Trong trng hp h thng c cu trc nh trn th vic chn cc i
66
lng u vo ca h m ph thuc vo tng ng dng c th. Tt nhin cc
i lng thng c s dng lm tn hiu vo ca h m l tn hiu ch o
x, sai lc e, tn hiu ra y cng vi cc o hm hoc cc tch phn ca cc i
lng ny. V nguyn tc c th s dng cc i lng khc ca i tng
cng nh s dng cc nhiu xc dnh c.
B iu
khin m
u
+
B iu khin
kinh in
i tng
Hnh2.15: Cu trc h m lai Cascade

2.6.4. B iu khin m chnh nh tham s b iu khin PID
C s ca phng php ny l da vo vic phn tch sai lch e(t) v o
hm ca sai lch, cc tham s KP, TI, TD ca b iu khin PID s c t ng
chnh nh theo phng php chnh nh m ca Zhao, Tomizuka v Isaka.
2.6.5. B iu khin m t chnh cu trc
B iu khin m t chnh nh cc lut iu khin c gi l b iu
khin m t chnh cu trc. B chnh nh c thit k m bo u ra l gi tr
hiu chnh ca tn hiu iu khin u(t) (tn hiu ra ca b iu khin). thay
i lut iu khin trc tin l phi xc nh c quan h gia gi tr c
hiu chnh u ra ca b iu khin vi gi tr bin i u vo. Do vy cn
c m hnh th ca i tng, m hnh ny dng tnh ton gi tr u vo
tng ng vi mt gi tr u ra cn t c ca b iu khin. Da trn tn
hiu ra mong mun v tn hiu vo tng ng ca b iu khin c th xc nh
v hiu chnh cc nguyn tc iu khin, cc nguyn tc ny m bo cht lng
iu khin ca h thng. i vi nhng i tng bc cao c thi gian tr ln c
67
th c thi gian chnh nh chm, cn i vi cc h thng bc thp c thi gian
tr nh yu cu thi gian chnh nh nhanh. Vic chnh nh ch c ngha khi
qu trnh chnh nh kt thc trc khi h thng kt thc qu trnh qu .
2.7. KT LUN CHNG 2
Ni dung chng 2, tm hiu nhng vn chung v l thuyt m tng
qut nh logic m, tp m, bin ngn ng, lut hp thnh v b iu khin
m. Lun vn tp trung nghin cu cu trc ca b iu khin m v phn
tch lm r chc nng cc khi trong b iu khin m, phn tch cc b iu
khin m tnh, m ng phm vi ng dng v u nhc im ca b iu
khin. Trn c s phn tch u nhc im ca b iu khin m cng nh b
iu khin m lai PID, xut hng thit k b iu khin lai PID m l c
s cho vic thit k tnh ton chng 3.
B iu khin m hin ang c nghin cu ng dng rng ri nh cc
u im ca n. H iu khin m m bo khng cn khi lng tnh ton
ln v phc tp nh cc b iu khin khc v c th tng hp b iu khin
m vi hm truyn t phi tuyn bt k. B iu khin m c nhiu u im,
c bit khi iu khin i tng m ta cha bit nhiu v i tng, thiu
thng tin, thng tin khng tin cy.
Tuy nhin trong thc t ng dng ca k thut iu khin m cho thy
rng khng phi c thay th mt b iu khin kinh in bng mt b iu
khin m th s c mt h thng tt hn. Trong nhiu trng hp, h thng
c c tnh ng hc tt v bn vng cn phi thit k thit b iu khin lai
gia b iu khin m v b iu khin kinh in. T dn n khi nim
"h m lai" v lnh vc thit k, ng dng b iu khin m lai nng cao
cht lng iu khin ca h thng. H iu khin m lai s pht huy ht cc
u im ca b iu khin m v b iu khin r.
68
Chng 3
THIT K B IU KHIN PID M
3.1. T VN
Do cu trc n gin v bn vng nn cc b iu khin PID c
dng ph bin trong cc h iu khin cng nghip v p ng c cc yu
cu t ra. Hm truyn t ca b iu khin PID l:
G(s) K p
Ki
Kd s
s
(3.1)
Trong Kp, Ki, Kd, l cc h s t l, tch phn, o hm.

Nu vit theo hm thi gian th tn hiu ra ca b iu khin PID l:
1 t
det
ut K P et 0 e d TD
TI
dt
(3.2)
Trong :
- e(t) l tn hiu u vo
- u(t) l tn hiu u ra
- KP l h s khuch i
- TI l hng s tch phn
- TD l hng s vi phn.
Cht lng ca h thng ph thuc vo cc tham s KP, TI, TD ca b
iu khin PID. Nhng v cc h s ca b iu khin PID ch c tnh ton
cho mt ch lm vic c th ca h thng vi cc tham s ca i tng l
xc nh c. V vy trong qu trnh lm vic, nu tham s ca h thng
thay i th, lng ra ca h thng cng thay i, ngha l b iu khin PID
khng cn m bo cht lng ra ca h nh mong mun c na.
Cc h cn iu khin trong thc t ch yu l cc h phi tuyn, c
cha cc tham s khng bit trc, cc tham s ca h thng bin thin theo
69
thi gian, thm ch cha phn t phi tuyn khng th m hnh ho c,
ng thi trong qu trnh lm vic h chu nh hng ca nhiu n h t mi
trng. V vy khi thit k b iu khin PID cho h thc thng ngi ta
phi gi thit:
- Cc tham s ca i tng l l xc nh c v khng i.
- Khng c phn khng m hnh ho c.
- Trong qu trnh lm vic h khng chu nhiu tc ng.
Cc gi thit trn l khng ph hp vi cc h thc. Vn t ra cho
cc b iu khin l khi cc tham s ca i tng thay i th tham s ca b
iu khin cng phi chnh nh li cho ph hp m bo lng ra theo
yu cu. thc hin vic iu chnh t ng cc tham s ca PID ngi ta
c nhiu phng php. Mt trong cc phng php trn l s dng b iu
khin PID m. Cu trc ca h iu khin trn Hnh 3.1.
B iu
khin m
nhiu
u(t)
x(t)
e(t)
z(t)
B iu
khin PID
i tng
iu khin
y(t)
Thit b o
lng
Hnh3.1: H iu khin vi b iu khin PID m

Nhim v ca b iu khin m trong s l t ng chnh nh tham
s KP, TI, TD ca b iu khin PID cho ph hp vi s thay i tham s ca
h, m bo cht lng ra nh mong mun.
i tng iu khin y tc gi la chn kho st l h truyn
ng Thiristor - ng c mt chiu (T- D). y l h truyn ng c dng
70
rt ph bin trong cc h thng truyn ng in cht lng cao, di cng
sut ng c mt chiu t vi W n hng MW. y l loi ng c c th
p ng yu cu mmen khi ng ln, o chiu nhanh, ch tiu iu chnh
tc cao : iu chnh trn, di iu chnh rng, sai lch tnh nh H
T-D cng l h phi tuyn v trong qu trnh lm vic mch t b bo ho, in
tr , in cm, m men qun tnh ca h l thay i.
3.2. THIT K B IU KHIN M CHNH NH THAM S PID
3.2.1. Cu trc b iu khin
Cu trc b iu khin m chnh nh tham s PID p dng cho i
tng l khu dao ng bc hai nh sau:
B iu
khin m
1.25
0.2s 0.7 s 1
2
PID
Hnh3.2: Cu trc b iu khin

B iu khin bn trong dung PID truyn thng, cn bn ngoi dng b
iu khin m t ng chnh nh tham s ca b PID.
3.2.2. Thit k b iu khin
Gi thit h s t l cho php thay i trong khong [ Kpmin, Kpmax ], h
s o hm thay i trong khong [ Kdmin, Kdmax ].
tin li trong vic tnh ton ta bin i chng v n v tng i.
Kp =
K p K p min
K p max K p min
, Kd =
K d K d min
K d max K d min
Hng s thi gian tch phn: TI = Td.

Tng t ta c : KI =
Kp
Td .
Kp
K d .
71
Nh vy nhim v c th ca ta l thit k b iu khin m chnh
nh t ng ba tham s : Kp, Kd, .
Gi thit tn hiu vo ca b iu khin m l e(t), e(t) = de/dt. Th cu
trc b iu khin m nh Hnh3.3.
H
m
Kp
e(t)
PID
H
m
Kd
e(t)
H
m
KI
Hnh3.3: Cu trc b iu khin PID m

Suy lun m c thc hin theo cc lut sau :
Nu e(t) l A* v e(t) l B* th Kp l C*, Kd l D*, l E*
Trong : A*, B*, C*, D*, E* l cc tp m v * = 1, 2, 3, M.
Gi thit min xc nh ca e(t) l [e1, e2] v e(t) l [e1, e2]
S3
e2
S2
S1
Z0
B1
B2
B3
e2 e2
e2
Hnh3.4: Hm lin thuc ca e(t) v de(t)/dt

V mi loi dng 7 tp m nh hnh v. ( y M = 7, cc tp m S3,
S2, S1, Z0, B1, B2, B3).
Kp, Kd dng hai tp m : Nh v ln (S, B).
72
Hnh3.5: Hm lin thuc ca bin Kp, Kd

dung 4 tp m: Nh, nh va, va, ln.
S MS M
Hnh3.6: Hm lin thuc ca bin

S : Small - Nh.
MS : Medium small - Nh va.
M : Medium - Va.
B : Big - Ln.
Da vo c tnh qu thng gp ca h thng iu khin dng PID
nh hnh v.
tn hiu ra
c1
b1
a1
d1
a2 b 2
Hnh3.7: c tnh qu thng gp ca h iu khin dng PID

73
Ta i xc nh cc lut iu khin tng ng : Khi bt u khi ng,
khong thi gian al, lc ny cn tn hiu iu khin ln tn hiu ra tng
nhanh, suy ra lc ny Kp ln, Kd nh v Ki ln ( nh) ta c lut:
Nu e(t) ln v e(t) l Zero Th Kp ln, Kd nh v nh
Xung quanh khong thi gian b1 ta mun tn hiu iu khin nh
khng qu iu chnh, ngha l Kp nh, Kd ln v Ki nh vy ta c lut:
Nu e(t) l Zero v e(t) l m ln Th Kp nh, Kd ln, ln
Cc tc ng iu khin xung quanh khong thi gian c 1 v d1 tng t
nh xung quanh a1 v b1.
Dng lut hp thnh MAX PROD, m ho n tr, gii m theo trung
bnh tm lc ta c cc h s Kp, Kd, c tnh ton lc iu khin.
n
Kp(t) =
y
i 1
n
i 1
(t) =
y
i 1
n
i 1
A (e(t )) B (e' (t ))
(e(t )) B (e' (t ))
, Kd(t) =
y
i 1
n
A (e(t )) B (e' (t ))
i 1
(e(t )) B (e' (t ))
(e(t )) B (e' (t ))
(e(t )) B (e' (t ))
Bng 3.1. Lut iu khin cho h s Kp

de/dt
Kp
E(t)
S3
S2
S1
Z0
B1
B2
B3
S3
S2
S1
Z0
B1
B2
B3
74
Bng3.2. Lut iu khin cho h s Kd
de/dt
Kd
e(t)
S3
S2
S1
Z0
B1
B2
B3
S3
S2
S1
Z0
B1
B2
B3
Bng3.3. Lut iu khin cho h s

de/dt
e(t)
S3
S2
S1
Z0
B1
B2
B3
S3
S2
MS
MS
MS
MS
S1
MS
MS
MS
MS
Z0
MS
MS
MS
B1
MS
MS
MS
MS
B2
MS
MS
MS
MS
B3
75
Da trn ngn ng Matlab ta i m phng b iu khin m vi dao
din nh sau:
Hnh3.8: Giao din m phng m
Hnh3.9:Hm lin thuc ca tn hiu e(t) v de/dt

76
Hnh3.10: Hm lin thuc ca bin Kp, Kd
Hnh3.11: Hm lin thuc ca bin
77
3.2.3. Kt qu m phng
Hnh3.12: c tnh iu chnh PID ti u vi i tng bc hai

(Kp= 130;Kd= 10; Ki= 435.6)
c tnh PID
c tnh PID m
Hnh3.13: c tnh iu chnh PID m (Kp= 20.1; Kd = 20.1;

Ki= 8.6) so vi c tnh PID ti u
78
Nhn xt : T b iu khin m xy dng khi p dng iu khin
i tng hm bc hai ta xc nh b tham s PID m (Kp = 20.1; Kd=20.1;
Ki = 8.6) so snh vi b tham s PID ti u (Kp = 132, Kd = 10, Ki = 435.6).
Ta thy so snh c tnh iu chnh m v c tnh iu chnh theo PID ti u
th b iu khin PID m khng c qu iu chnh thi gian n nh nhanh
hn, sai s tnh nh.
3.3. NG DNG PID M IU KHIN H TRUYN NGT-D
3.3.1. Cc yu cu i vi h truyn ng T-D
S nguyn l h truyn ng T- D rt gn trn Hnh 3.14.
HCD
U
Uk Mc
Ui
R
U
Ri
FX
Ui
I
Si
Hnh3.14: S khi ca h truyn ng T-

: ng c mt chiu.
B : B bin i xoay chiu - mt chiu c iu khin.
RI : B iu chnh dng in.
R : B iu chnh tc .
Lng vo ca h l in p iu khin Udk, lng ra l tc n ca
ng c. Cht lng ca h c nh gi bng cc ch tiu cht lng ng
v ch tiu cht lng tnh.
- Ch tiu cht lng ng l:
+ Thi gian qu tqd
+ Lng qu iu chnh max
+ S ln dao ng n
79
- Ch tiu cht lng tnh l:
+ Sai lc tnh
+ Phm vi iu chnh
+ trn khi iu chnh
Tu theo yu cu cng ngh m ngi ta t ra cc ch tiu ng v ch
tiu tnh c th khc nhau v h c thit k vi cc s cu trc khc
nhau : c th l h h, h kn vi mt hoc nhiu mch vng phn hi. Thng
thng h truyn ng T- D c thit k vi 2 mch vng kn : mch vng
iu chnh dng in v mch vng iu chnh tc . Mch vng iu chnh
dng in c coi l mt khu trong h thng iu chnh tc v xc nh
mmen ko ca ng c.
Mt phng n n gin nht iu chnh dng in c cu trc nh
Hnh3.15a dng b iu chnh tc c dng b khuych i v mch phn
hi dng in phi tuyn P. Khi tn hiu dng in cha khu phi tuyn
ra khi vng km nhy th b iu chnh lm vic nh b iu chnh tc
m khng c s tham gia ca mch phn hi dng in. Khi dng in ln,
khu P s lm vic vng tuyn tnh ca c tnh v pht huy tc dng hn
ch dng ca b iu chnh R.
Phng n th hai c m t trn Hnh 3.15b. C hai mch vng vi
hai b iu chnh ring bit R1, R2, trong R2 l b iu chnh dng in vi
gi tr t I. Cu trc kiu ny cho php iu chnh c lp tng mch vng.
Phng n iu chnh dng in c s dng rng ri nht trong
truyn ng in t ng nh trn Hnh3.15c, trong R1 l b iu chnh
dng in, R l b iu chnh tc . Mi mch vng c b iu chnh ring
c tng hp t i tng ring v theo cc tiu chun ring.
80
R
S01
S02
MC
p
a)
R1
S01
S02
MC
R2
-
b)
MC
R
-
RI
S01
S02
c)
Hnh 3.15: Cu trc mch vng iu chnh dng in

3.3.2.Tng hp mch vng iu chnh dng in RI
Trong cc h thng truyn ng t ng cng nh cc h thng chp
hnh th mch vng iu chnh dng in l mch vng c bn. Chc nng c
bn ca mch vng dng in trong cc h thng truyn ng mt chiu v
xoay chiu l trc tip (hoc gin tip) xc nh mmen ko ca ng c,
ngoi ra cn c chc nng bo v, iu chnh gia tc v.v
S khi ca mch vng iu chnh dng in nh trn Hnh3.16,
trong F l mch lc tn hiu, Ri l b iu chnh dng in, B l b bin
i xoay chu - mt chiu, Si l xenx dng in.
Xenx dng in c th thc hin bng cc bin dng mch xoay
chiu hoc bng in tr sun hoc cc mch do cch ly trong mch mt chiu.
81
B
Ui
F
1
1 pT f
Ri
U d
1
(1 pTk )(1 pTvo )
Ki
1 pTi
Ui
-E
1 Ru
I
1 pTu
Si
Hnh3.16: S khi ca mch vng dng in.

Trong : Tf, Tk, Tvo, Tu, Ti - cc hng s thi gian ca mch lc, mch
iu khin chnh lu, s chuyn mch chnh lu, phn ng v xenx dng in.
Ru - in tr mch phn ng.
U d
l h s khuych i ca chnh lu.
Trong trng hp coi sc in ng ca ng c khng nh hng n

qu trnh iu chnh ca mch vng dng in tc l coi E = 0 hoc E = 0.
Hm truyn ca mch vng dng in l nh sau:
Soi ( P)
K cl .K i / Ru
(1 PT f )(1 PTk )(1 PTvo )(1 PTu )(1 PTi )
(3.3)
Trong cc hng s thi gian Tf, Tk, Tvo, Ti l rt nh so vi hng s

thi gian in t Tu.
t Ts = Tf + Tk + Tvo + Ti th c th vit li (3.3) dng gn ng sau:
Soi ( p)
Kcl Ki / Ru
(1 Ts p)(1 Tu p) ;
Trong Ts <<Tu.
(3.4)
p dng tiu chun ti u mun ta tm c hm truyn ca b iu

chnh dng in c dng khu PI :
Ri ( p)
1 Tu p
K cl K i
.aTs p
Ru
(3.5)
Trong b hng s thi ln hn (Tu), ta chn T Ts v hng s a
82
c th ly a = 2.
Ri ( p)
1 Tu p
K cl K i
.2Ts p
Ru
(3.6)
Cui cng hm truyn ca mch vng dng in l:

I ( p)
1
1
1
1
U i ( p) K i 2Ts p1 Ts p 1 K i 1 2T sp 2Ts2 p 2
(3.7)
3.3.3.Tng hp mch vng iu chnh tc

H thng iu chnh tc l h thng m i lng c iu chnh l
tc gc ca ng c in, cc h ny rt thng gp trong thc t k thut.
H thng iu chnh tc c hnh thnh t h thng iu chnh dng in.
Cc h thng ny c th l o chiu hoc khng o chiu. Do cc yu cu
cng ngh m h cn t v sai cp mt hoc v sai cp hai.
Tu theo yu cu ca cng ngh m cc b iu chnh tc R c th
c tng hp theo hai tn hiu iu khin hoc theo nhiu ti Mc. Trong
trng hp chung h thng phi c c tnh iu chnh tt c t pha tn hiu
iu khin ln t pha tn hiu nhiu lon.
S khi chc nng c trnh by trn Hnh3.17.
HCD
U
Uk Mc
Ui
R
U
Ri
FX
Ui
I
Si
Hnh3.17: S khi h iu chnh tc

3.3.3.1. iu chnh tc dng b iu chnh tc t l
phn trn ta tng hp c mch dng in, trong phn ny s s
dng biu thc kt qu trong b qua nh hng ca s.. ca ng c:
83
I ( p)
1
1
.
U i ( p) Ki 1 2Ts p(1 Ts p)
(3.8)
Do TS rt nh TS2 0, do vy thun tin trong tnh ton tip theo, ta c

th thay (3.8) bi biu thc gn ng tnh hm truyn ca mch vng dng in:
I ( p)
1
1
.
U i ( p) Ki 1 2Ts p
(3.9)
Hoc nu mch vng dng in c tng hp theo tiu chun ti u

i xng th:
I ( p)
1
1
.
U i ( p) Ki 1 4Ts p
(3.10)
S khi cu trc ca h iu chnh tc nh trn Hnh3.18, trong

S l xenx tc c hm truyn l khu qun tnh vi h s truyn K v
hng s thi gian (lc) T. Thng T c gi tr nh, khi t 2Ts=2Ts + T
i tng iu chnh c hm truyn:
S o 2 ( p)
Ru K
1
.
K i K Tc P(2T ' s p 1)
(3.11)
Theo tiu chun ti u mun, c th xc nh c hm truyn ca b

iu chnh tc l khu t l:
R ( p)
K i K Tc
Ru K
1
K p'
2T ' s a2
(3.12)
Trong thng ly a2 = 2
Mc
1
K
HCD
U
R
U
1/ K i
1 2Ts p
-Ic
K
1 pT
Ru
K Tc p
Hnh3.18: S khi ca h iu chnh tc

84
Hm truyn ca mch vng iu chnh tc l:
( p)
U v ( p)
1
1
K 4T 's p(2Ts p 1) 1
(3.13)
Sau y ta kim tra nh hng ca nhiu ph ti n qu iu chnh v

chnh xc tnh ca h thng va nu. Theo s khi Hnh3.18 tnh c:
( p)
I ( p) I c ( p)Ru
K Tc p
R I ( p)
I ( p)
u c
[1
]
K Tc p
I c ( p)
(3.14)
Mt khc: [I(p) - Ic(p)].Fo(p) = -I(p)

I ( p)
F ( p)
o
Do : I c ( p) 1 Fo ( p)
Trong Fo(p) l hm truyn mch vng ca h iu chnh tc .

Khi Ic = 1(t) th:
( p)
Ru I c
4T ' s I c Ru
2T ' s p 1
1
.
.
K .Tc p 1 Fo ( p)
K .Tc 4T ' s p(2T ' s p 1) 1
(3.15)
T biu thc (3.15) thy rng st tc tnh = Ic.Ru/K trong h

thng h s c gim i Tc/4Ts ln trong h kn. Trn Hnh3.19 m t qu trnh
thay i dng in v tc khi c t bin nhiu ti. Mch vng tc ny l v
sai cp 1 i vi tn hiu iu khin v l hu sai i vi tn hiu nhiu.
Gi tr ca sai lch tnh tu thuc vo cc thng s trong biu thc (3.31):
4T R
t s u I c
K .Tc
(3.16)
H s khuych i ca b iu chnh tc Kp c th thay i thng

qua tham s a2 theo (3.12).
,i
i(t)
(t)
Hnh3.19: Qu trnh dng in v tc khi c nhiu ti

85
3.3.3.2. iu chnh tc dng b iu chnh tc tch phn t l PI
Trong nhiu thit b cng ngh thng c yu cu h thng iu chnh
v sai cp cao, khi ny c th s dng phng php ti u i xng tng
hp cc b iu chnh. Vi mch vng iu chnh tc hm truyn ca b
iu chnh c dng:
1 To p
KTo p
R ( p)
(3.17)
V hm truyn mch h s l:
Fo ( p)
1 To p Ru K
1
.
.
KTo p Ki K Tc p(2T 's p 1)
(3.18)
T (3.18) c th tm c hm truyn mch kn F(p), ng nht F(P)

vi hm chun ti u i xng ta tm c tham s ca b iu chnh.
Nu chn Ts = Ts th:
To = 8Ts
Ru K 8(2T 's ) 2
R K
K
.
u .4T 's
K i K .Tc
8T 's
K i K .Tc
R ( p)
Ki K .Tc
Ru K
1
1
(1
)
4T 's
8T 's . p
(3.19)
Thy rng thnh phn t l ca b iu chnh (3.19) ng bng h s

khuych i ca b khuych i (3.12).
Khi tng hp h thng theo phng php ti u i xng thng phi
dng thm khu to tn hiu t trnh qu iu chnh. Khu to tn hiu t
ny thng c hm truyn t ca khu lc thng thp bc nht, c hng s
thi gian lc tu thuc vo gia tc cho php ca h thng. Tt nhin khu to
tn hiu t ny phi t bn ngoi mch vng iu chnh tc .
Hm truyn mch kn ca h thng:
F ( p)
U ( p)
1 8T ' s p
U ( p) 8T ' s p[4T ' s p(1 2T ' s p) 1] 1
(3.20)
86
Cn c vo cc biu thc nu trn ta c th tnh c hm truyn
vi tn hiu nhiu lon l dng in ti:
Fi ( p)
1 8T ' s p
I ( p)
I c ( p) 8T ' s p[4T ' s p(1 2T ' s p) 1] 1
(3.21)
v cng tnh c sai s tc tng ng khi nhiu ti c dng hng s:

( p )
[ I ( p) I c ( p)]
Ru
K .Tc . p
4T ' s Ru I c
8T ' s p (1 2T ' s p)
K .Tc 8T ' s p [4T ' s p (1 2T ' s p) 1] 1
(3.22)
Kt qu l, mch vng iu chnh tc l v sai cp hai i vi tn

hiu iu khin (3.20) v l v sai cp mt i vi tn hiu nhiu (3.22). Nh
vy khi n nh th sai lch tc s bng khng.
3.3.4. Bi ton ng dng c th
c v d c th tc gi chn h T- D c s nguyn l nh
Hnh3.20 v cc phn t c tham s nh sau :
Kbd
+
CL
Lc
FT
12
Pht
xung
Rd
ng b
Uk
Ui
Hnh3.20: S cu trc h truyn ng T-D mt chiu

ng c : 2,2kW220V-12A- 1500vng/pht.
Ru 1,2 Lu 31mH
UW
87
Dng in cho php ln nht:
I cp 36 A
Hng s thi gian mch phn ng:

Lu 31.10 3
Tu
25,83.10 3
Ru
1,2
T thng nh mc:
.
KFi
Eu Uu Ru .Iu
Wm
Wm
= 1,3089.
Mmen qun tnh tnh ton k c roto ca ng c:
J 0,016kg.m2 .
- Chnh lu CL: Chnh lu thc hin nhim v bin i dng in

xoay chiu thnh dng in mt chiu. Chnh lu CL s dng chnh lu cu 3
pha c iu khin dng van tiristo. Khi pht xung iu khin cc tiristo s
dng h thng pht xung ng b nhiu knh, trong vic ng b c
thc hin nh vic ng b ho in p ta vi li. in p ta c dng hnh
rng ca qut ngc c to ra t my pht in p ta.
+ H s KCL: V chnh lu l chnh lu cu 3 pha m = 3.
K cl
2,34 U 2, 43 220
57, 2
U rc
9
+ Hng s thi gian mch chnh lu
: Tv 0 0,166 103
+ My pht xung rng ca c bin : U rcm 9 v

+ Hng s thi gian mch iu khin : T. k 0, 2 103
- o lng dng in: S dng 3 bin dng lp t ba pha. in p
s cp bin dng qua mch chnh lu cu it ba pha, mch lc RC lc thnh
phn xoay chiu sau chnh lu.
+ Thng s mch lc RC: Rd = 100 ; Cd = 0,000005.
+ T s bin i dng: .K bd 50 :1
+ Hm truyn c cu o dng in: Fi ( p)
Trong : H s t l: Ki
Rd 100
2
Kbd
50
Ki
U 2 I ( p)
I1 ( p) 1 Ti . p
Hng s thi gian b lc: Ti Rd .Cd 0, 0005

88
- o lng tc : S dng my pht tc mt chiu FT. m bo
yu cu l in p mt chiu c cha t thnh phn xoay chiu tn s cao v t
l vi tc ng c, khng b tr nhiu v gi tr v du so vi bin i i
lng o, ta s dng my pht tc mt chiu c t thng khng i trong ton
vng iu chnh tc . V vy phi hn ch tn tht mch t bng vic s
dng vt liu t c t tr hp v s dng l thp k thut in mng (hn ch
tn tht dng in xoy). loi b sng iu ho tn s cao s dng b lc
lp u ra my pht tc.
+ My pht tc FT: nm 3000 vng / pht ; U m 24 v .
+ Hm truyn ca my pht tc khi c b lc s l:
U ( p)
K
F f ( p)
( p) 1 T . p
Trong :
9,55 U m 9,55 24
nm
3000 = 0,0764
+ Hng s thi gian nh: T 0,0005 .

3.3.4.1. Tnh ton tham s mch vng dng in
- H thng lm vic ch dng in lin tc.
- Coi sc in ng E khng nh hng n qu trnh iu chnh ca
mch vng dng in.
- B iu chnh dng in RI thit k theo tiu chun ti u mun nh
trnh by trn.
Tnh ton thng s ca khu chnh lu:
Tcl 2 Tk Tvo
= 0,0002 x 0,000166 = 3,32 e-8
Tcl1 Tk Tvo
= 0,0002 + 0,000166 = 0,000366
B iu chnh dng in RI thit k theo tiu chun ti u mun.

Ri ( p)
1 Tu p
1 Tu p
Kcl Ki
.aTsi p
Ru
= Tri p
89
Tsi Ti Tk Tvo = 0,0005+ 0,0002 + 0,000166 = 0,000866
Tri
2 Tsi Kcl Ki 2 0,000866 57,2 2
Ru
1,2
= 0,16512
M hnh cu trc mch vng dng in vi b iu chnh dng in RI

thit k theo tiu chun ti u mun nh Hnh3.21.
Hnh3.21: S cu trc mch vng iu chnh dng in.

3.3.4.2. Tnh ton tham s b iu khin tc PI
- B iu chnh tc R dng b iu chnh tc tch phn t l PI
thit k theo tiu chun ti u i xng nh trnh by mc 3.3.3.2.
1
I ( p)
Ki
0,5
.
U i ( p) 1 2Tsi p = 1 0,001732 p
B iu chnh tc R thit k theo tiu chun ti u i xng.

R ( p)
K i KFi Tc
1
1
1
Ru K
4Tsw 8Tsw p
R ( p)
Tsw
Tc
Ki KFi Tc 1
K KFi Tc 1
1
Ru K
4Tsw
Ru K
4Tsw 8Tsw p
2 Tsi Tw
2
= 0,001116
J Ru
KFi2
= 0,011207
90
KPn
Ki KFi Tc
1
Ru K
4Tsw = 71,685
KI n
Ki KFi Tc
1
1
Ru K
4Tsw 8Tsw = 8029,3
hn ch dng in trong qu trnh qu ta dng khu bo ho v

khu ny c t u ra b iu chnh tc . M hnh cu trc mch vng
tc vi b iu chnh tc RI thit k theo tiu chun ti u mun nh
Hnh3.22.
Hnh 3.22: Cu trc mch vng iu chnh tc .

3.3.5. Thit k h iu khin m lai
Nh tng hp h truyn ng T-D b diu khin PID vng trong
c thit k cho h truyn ng l khu PI, nh vy b iu khin m
vng ngoi c nhim v l phi t ng chnh nh c 2 tham s K P , KI
ca b PI. C s thit k b iu khin m l da vo vic phn tch sai
lch e(t) v o hm ca tn hiu ra. Cc tham s KP, KI ca b iu khin PI
s c t ng chnh nh theo phng php chnh nh m. Cu trc bn
trong b iu khin m c dng:
B chnh nh m 1
HsKP
B chnh nh m 2
HsKI
dw/dt
Hnh3.23: Cu trc bn trong b chnh nh m
91
Nh vy b chnh nh m s c hai u vo l e(t), o hm ca u ra
dw/dt v hai u ra l Hs KP, v Hs KI , do c th xem nh n gm hai b
chnh nh m, mi b gm c hai u vo v mt u ra.
B chnh
nh m
Thit b
chnh nh
HsKP
x
-
dw/dt
HsKI
B iu
khin PI
i tng
iu khin
Thit b o
lng
Hnh3.24: M hnh cu trc h iu khin chnh nh m tham s b iu khin PI

M hnh m: y ta p dng m hnh m Mamdani.
Tn gi c t cho b chnh nh m l HsKPKI.
3.3.5.1. Xc nh cc bin vo ra
B iu khin m lm chc nng mt b chnh nh nn theo yu cu iu
khin v kinh nghim th b chnh nh m gm c hai u vo v hai u ra.
- u vo th 1 l sai lch gia tc t v tc thc ca h thng,
i lng ny c k hiu l ERROR.
- u vo th 2 l tc bin thin theo thi gian ca tc thc ca
h thng, i lng ny c k hiu l dw/dt.
- u ra th 1 ca b chnh nh m l h s chnh nh ca K P, i
lng ny c k hiu l Hs KP.
- u ra th 2 ca b chnh nh m l h s chnh nh ca K I , i
lng ny c k hiu l Hs KI.
92
Hnh3.25: Cu trc b chnh nh m

3.3.5.2. Xc nh gi tr cho cc bin vo v ra
- Xc nh min gi tr vt l cho cc bin vo v ra:
+ Sai lch ERROR c chn trong min gi tr [-15,+15].
+ Tc bin i dw/dt c chn trong min gi tr [-5000,+5000]
+ u ra Hs KP c min gi tr nm trong khong [1,10].
+ u ra Hs KI c min gi tr nm trong khong [1,10].
- Xc nh s lng tp m (cc gi tr ngn ng) cn thit cho cc
bin: Nguyn l chung l s lng cc gi tr ngn ng cho mi bin nn nm
trong khong t 3 n 10 gi tr. Nu s lng t hn 3 th qu th v t c
ngha v khng thc hin c vic ly vi phn. Nu ln hn 10 th qu mn
con ngi kh c kh nng cm nhn qu chi ly, bao qut ht cc trng hp
xy ra v nh hng n b nh, tc tnh ton. V vy, chn s lng tp
m cho mi bin u vo l 7 v mi bin u ra l 4, c th nh sau:
+ ERROR {NB, NM, NS, ZE, PS, PM, PB}.
+ dw/dt
{NB, NM, NS, ZE, PS, PM, PB}.
+ Hs KP
{S, MS, M, B}.
+ Hs KI
{S, MS, M, B}.
93
Trong k hiu:
+ NB m nhiu ; NM m va ; NS m t ; ZE Zero.
+ PB Dng nhiu ; PM Dng va ; PS Dng t.
+ S Nh ; MS Nh va ; M Va ; B Ln.
Xc nh hm lin thuc: Trong k thut iu khin thng u tin
chn hm lin thuc kiu hnh tam gic hoc hnh thang. Cc loi ny c biu
thc n gin, tnh ton d dng, tuy nhin cc hm lin thuc ny ch gm
cc on thng nn khng mm mi cc im gy.
Bng 3.4. Hm lin thuc ca bin u vo
Hm lin
Thng s
Hm lin
thuc ca
ca bin
thuc ca
bin ERROR
ERROR
bin dw/dt
NB
Trimf
-20, -15, -10
Trapmf
NM
Trimf
-15 , -10 , -5
Trimf
-5000 , -3334 , -1666
NS
Trimf
-10 , -5 , 0
Trimf
-3334 , -1666 , 0
ZE
Trimf
-5 , 0 , 5
Trimf
-1666 , 0 , 1666
PS
Trimf
0 , 5 , 10
Trimf
0 , 1666 , 3334
PM
Trimf
5 , 10 , 15
Trimf
1666 , 3334 , 5000
PB
Trimf
10 , 15 , 20
Trapmf
Bin
ngn ng
Thng s ca bin dw/dt
-1e+009, -5167,-4833, -3501
3510, 4833,5167, 1e+009
Bng 3.5. Hm lin thuc ca bin u ra

Bin
Hm lin thuc Thng s ca Hm lin thuc
Thng s ca
ngn ng
ca bin HsKP
bin HsKP
ca bin HsKI
Trimf
-1.999 , -1 , 4
Trimf
-1.999 , -1 , 4
MS
Trimf
1,4,7
Trimf
1,4,7
Trimf
4 , 7 , 10
Trimf
4 , 7 , 10
Trimf
7 , 10 , 13.01
Trimf
7 , 10 , 13.01
bin HsKI
94
Hnh3.26: Xc nh tp m cho bin vo ERROR
Hnh3.27: Xc nh tp m cho bin vo dw/dt
95
Hnh3.28: Xc nh tp m cho bin ra HsKP
Hnh3.29: Xc nh tp m cho bin ra HsKI
96
Xy dng cc lut iu khin.
Da vo bn cht vt l, cc s liu vo ra c c, kinh nghim, v
da vo c tnh qu thng gp ca h thng iu khin dng PID nh
Hnh3.30, ta xc nh cc lut iu khin tng ng. Chng hn:
tn hiu ra
c1
b1
d1
a2 b2
a1
Hnh3.30: c tnh qu thng gp ca h iu khin dng PID

Khi bt u khi ng, khong thi gian al, lc ny cn tn hiu iu
khin ln tn hiu ra tng nhanh, suy ra lc ny Kp ln v KI ln , ta c lut:
Nu e(t) ln v dw/dt l Zero Th Kp ln KI ln.
Xung quanh khong thi gian b1 ta mun tn hiu iu khin nh
khng qu iu chnh, ngha l Kp nh, KI nh , vy ta c lut:
Nu e(t) l Zero v dw/dt ln Th Kp nh, KI nh.
Cc tc ng iu khin xung quanh khong thi gian c1 v d1 tng t
nh xung quanh a1 v b1. Vi suy lun tng t, mi mt bin ra ta c t hp
ca 7 x 7 = 49 lut nh cc bng 3.6 v bng 3.7.
97
Bng 3.6. Lut iu khin cho HsKP
dw/dt
HsKP
ERROR
NB
NM
NS
ZE
PS
PM
PB
NB
NM
NS
MS
MS
ZE
MS
PS
MS
MS
PM
PB
Bng3.7. Lut iu khin cho HsKI

dw/dt
HsKI
ERROR
NB
NM
NS
ZE
PS
PM
PB
NB
NM
NS
MS
MS
ZE
MS
MS
MS
PS
MS
MS
PM
PB
98
Hnh3.31: Cc lut hp thnh
99
Dng lut hp thnh Max-Prod, gii m theo phng php trng tm,
Khi cc h s HsKp, HsKI c tnh ton lc iu khin l:
49
y p l Al e(t ) . B l dw / dt
HsK p (t ) l 1
49
Al e(t ) . B l dw / dt
l 1
(3.23)
49
y I l Al e(t ) . B l dw / dt
HsK I (t ) l 1
49
Al e(t ) . B l dw / dt
l 1
Trong
y pl , y I l
(3.24)
l tm ca cc tp m tng ng.
3.3.6. M phng nh gi cht lng

3.3.6.1. Xy dng s m phng
M hnh m phng c xy dng trn phn mm Matlab Simulink.
Hnh3.32: Cu trc ca h iu khin m lai PI

100
sailech e
1
e
Mux
Demux
2
dw /dt
1
Hs KP
HsKPKI
2
Hs KI
dw /dt1
Hnh3.33: Cu trc ca khu m
Hnh3.34: cu trc ca b iu khin PI
Hnh3.35: Cu trc ca i tng

3.3.6.2. Kt qu m phng
Tc t n = 1500 vng/pht.
B iu khin PI y c tng hp theo phng php mun i xng.
101
Kt qu m phng v so snh vi phng php dng b iu khin PI
khng c b chnh nh m c th hin trn cc trng hp nh sau:
p ng u ra khi Mmen ti hng s
1600
n-dat
n-PI
1400
1200
Toc do n ( vong/phut )
1000
800
600
400
200
-200
0.1
0.2
0.3
0.4
0.5
Thoi Gian t ( s )
0.6
0.7
0.8
0.9
Hnh3.36: c tnh ca b iu khin PI khi mmen ti hng s

1600
n-dat
n-PI-Mo
1400
1200
1000
800
600
400
200
-200
0.1
0.2
0.3
0.4
0.5
Thoi Gian t ( s )
0.6
0.7
0.8
0.9
Hnh3.37:c tnh ca b iu khin PI-m khi mmen ti hng s

102
1600
n-dat
n-PI
n-PI-Mo
1400
1200
1000
800
600
400
200
-200
0.1
0.2
0.3
0.4
0.5
Thoi Gian t ( s )
0.6
0.7
0.8
0.9
Hnh3.38: c tnh ca b iu khin PI-m so vi b iu khin PI

khi mmen ti hng s
Nhn xt : T c tnh ra ca cc b iu khin v so snh c tnh ca
b iu khin PI vi b iu khin PI m trn cng mt th ta thy b iu
khin m lai PI va thit k em n cho h truyn ng c: Sai s tnh
bng Zero. Cc ch tiu cht lng ng ca b iu khin PI m u t yu
cu v tt hn khi s dng b iu khin PI.
103
p ng u ra khi Mmen ti thay i.
1600
n-dat
n-PI
1400
1200
1000
800
600
400
MOMEN TAI THAY DOI

200
-200
0.2
0.4
0.6
0.8
1
Thoi Gian t ( s )
1.2
1.4
1.6
1.8
Hnh3.39: c tnh ca b iu khin PI khi mmen ti thay i

1600
n-dat
n-PI-Mo
1400
1200
1000
800
600
400
MOMEN TAI THAY DOI
200
-200
0.2
0.4
0.6
0.8
1
Thoi Gian t ( s )
1.2
1.4
1.6
1.8
Hnh3.40: c tnh ca b iu khin PI- m khi mmen ti thay i
104
1600
n-dat
n-PI
n-PI-Mo
1400
1200
1000
800
600
400
MOMEN TAI THAY DOI
200
-200
0.2
0.4
0.6
0.8
1
Thoi Gian t ( s )
1.2
1.4
1.6
1.8
Hnh3.41: c tnh ca cc b iu khin khi mmen ti thay i

Nhn xt : Khi ta cho mmen ti thay i th p ng u ra ca b
iu khin PI v b iu khin PI- m cng thay i theo. Ti cc thi im ta
thay i mmen ti p ng ra trn b iu khin PI c qu iu chnh ln
hn so vi b iu khin PI- M nh vy b iu khin PI- M m ta thit k
c p ng ra tt hn so vi b iu khin PI trong iu kin ti thay i.
105
p ng u ra khi tc t thay i.
1600
n-dat
n-PI
1400
1200
1000
800
600
400
200
-200
0.2
0.4
0.6
0.8
1
Thoi Gian t ( s )
1.2
1.4
1.6
1.8
Hnh3.42: c tnh ca b iu khin PI khi tc t thay i

1600
n-dat
n-PI-Mo
1400
1200
1000
800
600
400
200
-200
0.2
0.4
0.6
0.8
1
Thoi Gian t ( s )
1.2
1.4
1.6
1.8
Hnh3.43: c tnh ca b iu khin PI-m khi tc t thay i

106
1600
n-dat
n-PI
n-PI-Mo
1400
1200
1000
800
600
400
200
-200
0.2
0.4
0.6
0.8
1
Thoi Gian t ( s )
1.2
1.4
1.6
1.8
Hnh3.44: c tnh ca cc b iu khin khi tc t thay i

Nhn xt : Khi ta cho tc t thay i th p ng u ra ca b iu
khin PI v b iu khin PI- m cng thay i theo. Ti cc thi im ta thay
i tc t p ng ra trn b iu khin PI c qu iu chnh ln hn so
vi b iu khin PI- M nh vy b iu khin PI- M m ta thit k c p
ng ra tt hn so vi b iu khin PI trong iu kin tc t thay i.
3.4. KT LUN CHNG 3
Chng 3 lun vn trnh by c s l thuyt v cc bc thit k b
iu khin m chnh nh tham s ca PID. T ng dng PID m iu
khin h truyn ng T- D.
a ra cc yu cu i vi h truyn ng T-D, Tng hp mch vng
dng in v mch vng tc ca h truyn ng T-D
Xy dng b iu khin PI m vi tham s u vo l sai lch iu
khin e(t) v o hm ca n nhm xc nh cc tham s cho b iu khin PI.
T c tnh m phng ta thy b iu khin PI m ta thit k to ra sai
lch tnh, qu iu chnh, thi gian qu , s ln dao ng ca h truyn
107
ng u tt hn rt nhiu so vi vic dng b iu khin PI, nht l qu
iu chnh v thi gian qu rt nh. Nh vy, b iu khin PID m hon
ton p ng c thc t iu khin.
KT LUN CHUNG
Qua qu trnh thc hin ti Nghin cu thit k b iu khin PID
m c s gip v ch bo tn tnh ca thy gio T.s Nguyn Vn V
ti c hon thnh theo ng tin v cng ra.
Thng qua nghin cu, tm hiu ti ta thu c kt qu nh sau:
Nghin cu v lut iu khin PID. Nghin cu cc b iu khin dng
PID nh tc ng ca b iu khin PID dng P, dng I, dng PI, dng PD v
dng PID qu trnh nghin cu nhm so snh u v nhc im ca cc b
iu khin. Nghin cu v tng hp cc phng php xc nh tham s cho b
iu khin PID. T , la chn cc phng php xc nh tham s b iu
khin PID ph hp cho cc i tng c th. nng cao tnh cht iu khin
c bit l iu khin nhng i tng phi tuyn th em thc hin vic xc
nh v hiu chnh cc tham s ca b iu khin PID theo l thuyt m.
iu khin PID m da trn nhng kinh nghim thc t, m phng t
duy ca con ngi v th hin tnh mm do trong phn tch v thit k nn
c ng dng nhiu trong iu khin.
Kt qu quan trng nht l em thc hin tng hp xy dng mt b
iu khin PI m iu khin h truyn ng T-D.
Kt qu m phng thu c hon ton ph hp vi cc kt qu nghin
cu l thuyt. iu ny chng t rng, thut ton v cch thc xy dng b
iu khin m lai l ng n v chnh xc.
Sai lch tnh, qu iu chnh, thi gian qu , s ln dao ng ca
h truyn ng u tt hn rt nhiu so vi vic dng b iu khin PID, nht
l qu iu chnh v thi gian qu rt nh.
108
Kt qu m phng mt ln na minh chng v khng nh rng l
thuyt iu khin m lai PID hon ton c th m ng c yu cu cht
lng iu khin ca h truyn ng phi tuyn.
Do thi gian c hn, nng lc chuyn mn cn hn ch bn thn lun
vn mi dng li vic tng hp v xy dng b iu khin PI m iu
khin i tng ng c mt chiu. Vic ng dng l thuyt iu khin PID
m iu khin cc i tng c cht lng iu khin tt hn rt nhiu so
vi iu khin PID truyn thng.
KIN NGH
Trong khun kh ca lun vn ny mi ch nghin cu tc dng ca b
iu khin PID m. pht trin hn na c th thay b iu khin PID bng
b iu khin thng minh nh m trt, m - Nron
Phn tch v tng hp h thng cho mt chuyn ng c th no vi
nhiu i tng phc tp hn.
109
TI LIU THAM KHO

Ting Vit:
[1] Nguyn Th Phng H (1996), iu khin t ng, NXB KHKT H Ni
[2] Nguyn Nh Hin, Li Khc Li: H m v n ron trong k thut iu
khin, NXB Khoa hc t nhin v Cng ngh.
[3] Nguyn Vn Ho (2007), C s t ng iu khin qu trnh, NXB gio dc.
[4] Bi Quc Khnh, Nguyn Vn Lin, Phm Quc Hi, Dng Vn Nghi
(1996), iu chnh t ng truyn ng in, NXB KHKT H Ni
[5] Phm Cng Ng: L thuyt iu khin t ng
[6] Nguyn Don Phc: L thuyt iu khin tuyn tnh
[7] Nguyn Don Phc; Phan Xun Minh: L thuyt iu khin m
[8] Nguyn Phng Quang: Matlab & Simulink
[9] Nguyn Trng Thun: iu khin lgic v ng dng
[10] on Quang Vinh: iu khin s
Ting Anh:
[11] Katsuhiko Ogata ( 2002) : Modern Control Enginering, Fourth Edition,
University of Minnesota
110
TM TT
Bn thuyt minh lun vn bao gm 3 chng, mi chng nghin cu
v gii quyt mt s vn sau :
Chng 1 : Tng quan v b iu khin PID
Gii thiu tng quan v b iu khin PID: Cu trc chung ca b iu
khin, cc ch tiu cht lng ca h thng iu khin, cc quy lut iu khin.
Gii thiu cc phng php xc nh tham s cho b iu khin PID nh
phng php Phng php Ziegler Nichols, Phng php Chien Hrones
Reswick, Phng php tng T ca Kuhn, phng php ti u, phng php
Xc nh tham s b iu khin PID da trn qu trnh ti u trn my.
Chng 2 : B iu khin m
Gii thiu tng quan v iu khin m: Lch s pht trin ca logic m,
mt s khi nim c bn v logic m, cu trc ca b iu khin m. Phn
tch cc b iu khin m: M tnh, b iu khin m ng, b iu khin
m lai PID.
Chng 3 : Thit k b iu khin PID m
a ra l thuyt v cc bc thit k b iu khin m chnh nh
tham s b iu khin PID.
Tng hp h truyn ng T- D: Tng hp mch vng iu chnh dng
in, tng hp mch vng iu chnh tc , s cu trc, tnh ton cc
tham s, tng hp hm truyn ca b iu khin.
a ra cu trc bn trong ca b iu khin PID m. Thit k b iu khin
PID m: xc nh cc bin vo ra v gi tr ca n, xy dng cc lut iu khin.
Nghin cu, ng dng phn mm m phng Matlab Simulink, thit
k v m phng ton h thng. Quan st v nhn xt kt qu.
Tm tt cc kt qu chnh ca ti, a ra nhng hn ch v kin ngh
hng pht trin tip theo.
T kha : B iu khin PID, B iu khin m, B iu khin m lai,
L thuyt iu khin hin i, iu khin s.

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1

LUN VN THC S K THUT

THI NGUYN - 2010

S ha bi Trung tm Hc liu i hc Thi Nguyn

CNG HO X HI CH NGHA VIT NAM

TRNG HKT CNG NGHIP

LUN VN THC S K THUT

NGHIN CU THIT K B IU KHIN PID M .

Ngi hng dn Khoa hc: TS. NGUYN VN V

NGI HNG DN KHOA HC

BAN GIM HIU

S ha bi Trung tm Hc liu i hc Thi Nguyn

S ha bi Trung tm Hc liu i hc Thi Nguyn

: Tng quan v b iu khin PID

Chng III : Thit k b iu khin PID m

S ha bi Trung tm Hc liu i hc Thi Nguyn

S ha bi Trung tm Hc liu i hc Thi Nguyn

S ha bi Trung tm Hc liu i hc Thi Nguyn

DANH MC CC CH VIT TT, CC K HIU

TBL - CTH Thit b o lng v chuyn i tn hiu

Hng s thi gian tch phn

Hng s thi gian vi phn

Hng s thi gian tr

Hng s thi gian qun tnh

B bin i xoay chiu - mt chiu c iu khin

Hng s thi gian ca mch lc

Hng s thi gian s chuyn mch chnh lu

S ha bi Trung tm Hc liu i hc Thi Nguyn

Hng s thi gian mch iu khin chnh lu

Hng s thi gian mch phn ng

Hng s thi gian xenx dng in

Hng s thi gian mch lc

Dng in cho php ln nht

Mmen qun tnh

Bin my pht xung rng ca

S ha bi Trung tm Hc liu i hc Thi Nguyn

Lut iu khin cho h s Kp

Lut iu khin cho h s Kd

Lut iu khin cho h s

Hm lin thuc ca bin u vo

Hm lin thuc ca bin u ra

Lut iu khin cho HsKP

Lut iu khin cho HsKI

S ha bi Trung tm Hc liu i hc Thi Nguyn

Din gii tn hnh v

Hnh1.1 Cu trc h thng iu khin

Hnh1.2 Th hin c tnh ca sai s xc lp

Hnh1.3 Th hin c tnh ca lng qu iu chnh

Hnh1.4 Th hin c tnh ca thi gian qu

Hnh1.5 Th hin c tnh ca s ln dao ng

Hnh1.6 Cc c tnh ca quy lut iu chnh t l vi phn

Hnh1.7 Cc c tnh ca quy lut iu chnh t l tch phn

Hnh1.8 Cc c tnh ca quy lut iu chnh t l tch phn

Hnh1.9 iu khin vi b iu khin PID

10 Hnh1.10 Nhim v ca b iu khin PID

S ha bi Trung tm Hc liu i hc Thi Nguyn

S ha bi Trung tm Hc liu i hc Thi Nguyn

S ha bi Trung tm Hc liu i hc Thi Nguyn

S ha bi Trung tm Hc liu i hc Thi Nguyn

TBL - CTH : Thit b o lng v chuyn i tn hiu.

Hnh1.1: Cu trc h thng iu khin

Hnh1.2: Th hin c tnh ca sai s xc lp

S ha bi Trung tm Hc liu i hc Thi Nguyn

Hnh1.4: Th hin c tnh ca thi gian qu