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Ni dung chng 6
6.1 6.2 6.3 6.4 Nhng vn c bn Cc phng php da trn c tnh Cc phng php da trn m hnh mu B tr s dng b d bo Smith
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Mc ch bi ging
Nm c nhng vn c bn v chnh nh cc tham s P/PI/PID Nm c nhng phng php chnh nh tham s b iu khin PID thng dng nht trong iu khin qu trnh C kh nng la chn v p dng phng php ph hp vi mt qu trnh thc t
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1. Nhng vn c bn
Cc phng php tip cn (tng quan phng php chnh nh) Vn m hnh i tng s dng Vn la chn kiu b iu khin c tnh cc vng iu khin s dng b iu khin P/PI/PID ngha ca vic thay i, hiu chnh cc tham s
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2006 - HMS
kes G1(s) = s + 1
kes G2(s) = s
kes G3 (s) = s 1
kes G5 (s ) = 2 2 s + 2s + 1
k(a s + 1)es G6 (s ) = 2 2 s + 2s + 1
k(a s + 1)es G7 (s ) = 2 2 s + 2s + 1
' G7 (s)
Qu trnh c ng hc bc cao?
Ba cch tip cn: 1. Nhn dng xp x v m hnh bc thp 2. Nhn dng v m hnh bc cao, sau xp x v m hnh bc thp (xp x gim bc) 3. Thit k b iu khin bc cao, sau xp x v cu trc P/PI/PID
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2006 - HMS
Cng thc xp x
G (s ) = k ( zi s + 1 )
i =1 n m
e0s
j =1
( pj s + 1 )
p1 > p2 > p3
kes G (s ) = s + 1
kes G (s ) = ( 1s + 1 )( 2s + 1 )
= p1 +
p2 2
1 = p1, 2 = p 2
p3 + 2
n m p2 + pj + zi = 0 + 2 j =3 i =1
n m p3 + pj + zi = 0 + 2 j =4 i =1
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ZieglerNichols 1
Chng 6: Chnh nh b iu khin PID 2006 - HMS
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Ziegler-Nichols 2
1. t h thng ch iu khin bng tay v a dn h thng ti im lm vic, ch h thng n nh ti im lm vic 2. Chuyn h thng sang ch iu khin t ng vi b iu khin P. t h s khuch i kc tng i b. 3. Tng dn kc cho ti trng thi dao ng iu ha => h s khuch i ti hn (ku) v chu k dao ng ti hn (Tu).
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ku = 4d / a
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Tyreus-Luyben
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PI
PID
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K (s) =
K (s) =
hoc:
K (s) L(s) G(s)
K (s)
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Cc vn cn gii quyt
Hm truyn t nhn c khng c cu trc PI/PID: Xp x b iu khin hoc chn m hnh mu v m hnh i tng ph hp H kn c th khng n nh ni: Chn m hnh mu thch hp, m hnh i tng thng thng khng c im cc hoc im khng nm bn phi trc o H d nhy cm vi sai lch m hnh: Chn m hnh mu theo hng thn trng Tm li: Hai vn then cht l chn m hnh mu ph hp v phng php xp x m hnh! Cc dng m hnh mu thng c la chn:
1 s L(s) = e os es T (s) = cs + 1
es T (s) = 2 c s + 2c s + 1
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4. B tr vi b d bo Smith
M hnh l tng ca i tng:
G(s) = G0(s)es
Vn : u ra o c b chm tr, nh hng ln ti cht lng iu khin tng khc phc: D bo u ra khng c tr da trn m hnh
G(s) = G0 (s)es
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4. B tr vi b d bo Smith
V d m phng
e10s G(s) = (s + 1)3
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Nhim v luyn tp nh
S dng SIMULINK v m phng, th nghim cc phng php da trn c tnh c ti liu v cc phng php da trn m hnh mu, th nghim m phng trn MATLAB c ti liu i km v s dng 3 chng trnh phn mm nhn c tm hiu luyn tp cc phng php chnh nh khc
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