iu khin qu trnh nng cao

Chng 2: Phn tch h iu khin a bin

2009, Hong Minh Sn H Bch khoa H Ni

Ni dung chng 2
2.1 2.2 2.3 2.4 M t qu trnh a bin Bi ton iu khin a bin nh gi cht lng iu khin Gii hn ca iu khin qu trnh a bin

2.2 Bi ton iu khin a bin

Cu hnh chun
B iu khin r P K u G d Qu trnh k thut Gd
+ + +

ym K r u y ym d n hiu tn hiu t, gi tr t tn hiu iu khin tn hiu ra c iu khin tn hiu o, tn hiu phn hi nhiu qu trnh (khng o c) nhiu o

G Gd K P

m hnh i tng m hnh nhiu khu iu chnh khu lc trc

2.2 Bi ton iu khin qu trnh a bin

Pht biu bi ton chun

B iu khin r P K u G

d Gd
+ + +

ym

Cho trc G v Gd, tm K v P sao cho 1. H thng n nh 2. Cht lng v tc p ng ca y vi r v d c ci thin, sai lch e = r y nhanh chng trit tiu 3. Tn hiu u nh, thay i chm v trn tru trong iu kin tn ti nhiu o n, sai lch m hnh v gii hn vt l ca qu trnh.
2.2 Bi ton iu khin qu trnh a bin
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Cc quan h c bn
r

d Gd

+ + +

ym

Hm truyn h h Hm nhy Hm b nhy p ng u ra p ng sai lch p ng tn hiu K

L = GK S = (I + GK )1 = (I + L)1 T = GK (I + GK )1 = L(I + L)1

y = Tr + SGd d Tn e = r y = Sr SGd d + Tn u = KS (r Gd d n )
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2.2 Bi ton iu khin qu trnh a bin

Yu cu cht lng iu khin

Tnh n nh: mc tiu duy tr im lm vic, bo m vn hnh h thng trn tru v an ton Tc v cht lng p ng: Kh nng bm gi tr bin ch o, kh nng khng nhiu, nhm mc tiu m bo nng sut, cht lng sn phm v cc iu kin vn hnh Tnh bn vng: Tnh n nh v cht lng c m bo vi sai lch m hnh, c tnh qu trnh thay i v vi tc ng ca nhiu o Din bin trn tru v t thay i ca bin iu khin, nhm mc tiu tit kim chi ph nng lng v tng tui th cho thit b chp hnh.
2.2 Bi ton iu khin qu trnh a bin
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Tnh tha hip trong thit k iu khin

1. Tc p ng vi cht lng p ng 2. Kh nng bm gi tr t/loi b nhiu qu trnh v tnh bn vng vi nhiu o 3. p ng u ra v p ng tn hiu iu khin 4. Cht lng iu khin ti u v tnh bn vng

2.2 Bi ton iu khin qu trnh a bin

Tnh n nh ni
Mt h c gi l n nh (ni) nu nh kch thch t bn ngoi mt (vector) tn hiu b chn vo bt c ch no trong h thng th (vector) tn hiu trch ra t bt c ch no ca h thng cng phi b chn.
du r

dy u G
+

ym

+ +

y = GK (I + GK )1(r n ) + G(I + KG )1du + (I + GK )1dy u = K (I + GK )1 (r dy n ) + (I + KG )1du

2.2 Bi ton iu khin qu trnh a bin

du r

dy u G
+ + +

ym

H kn n nh ni khi v ch khi 4 hm truyn t 1 1 1 1

G(I + KG ) ,(I + GK ) , K (I + GK ) ,(I + KG )
I K 1 G I

u l hm bn, hay

l hm bn

Nu GK v KG khng trit tiu im cc-im khng nm bn phi trc o th h n nh ni khi v ch khi

S = (I + GK )1

l hm bn
2.2 Bi ton iu khin qu trnh a bin
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2.3 nh gi cht lng iu khin

Ch tiu nh gi trn min thi gian:
Ch tiu n l: Thi gian qu , qu iu chnh, h s tt dn, Ch tiu tch phn-chun tn hiu: Tch phn sai lch tuyt i ( e 1), tch phn bnh phng sai lch ( e 2), sai lch cc i ( e )

Ch tiu nh gi trn min tn s (h SISO)

c tnh tn s h kn: Di thng ca h kn, bin (nh) hm nhy v hm b nhy, chun h thng ( T , S ) c tnh tn h h: Tn s ct, d tr n nh ( d tr bin, d tr pha, d tr module), chun h thng ( L )
2.3 nh gi cht lng iu khin
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Di thng ca h kn

Di thng: Phm vi tn s ca mt tn hiu u vo m h thng cho qua vi mt h s khuch i (hay ni cch khc l bin ca c tnh tn) ln hn hoc bng 1 2 0.707 Di thng phn nh c tnh p ng vi gi tr t, nhiu qu trnh v nhiu o
2.3 nh gi cht lng iu khin
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Vai tr ca b iu khin phn hi?

C th m rng di thng mt cch ty ?

2.3 nh gi cht lng iu khin

12

c tnh bin l tng ca T v S

2.3 nh gi cht lng iu khin

13

Hai nh ngha v di thng h kn

2.3 nh gi cht lng iu khin

14

Bin nh hm nhy S v hm b nhy T

Bin nh hm nhy:

M S = max S ( j ) = S ( j )

Lin h vi d tr m-un (xt trong phn tip theo) 1 MS = m Bin nh hm b nhy:

MT = max T ( j ) = T ( j )

=> D dng m rng cho h MIMO

2.3 nh gi cht lng iu khin
15

c tnh tn h h
L(s) = G(s)K (s)

a) th Bode
2.3 nh gi cht lng iu khin

b) th Nyquist
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Tn s ct c (crossover frequency): Tn s nh nht m L( jc ) = 1 ngha gn tng ng vi di thng d tr bin Am, thng thng yu cu > 2 1 Am = L( j180 ) ngha: H s tng ln cho php ca h s khuch i ca qu trnh m h kn vn n nh d tr pha m, thng thng yu cu m > 30
m = 180 + arg L( j c )

ngha: Cho php lch pha ca qu trnh tng ln m (do bt nh v ng hc, v thi gian tr) m h kn vn n nh d tr module: m - khong cch gn nht t im 1 ti ng c tnh tn trn th Nyquist ca h h
2.3 nh gi cht lng iu khin
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Minh ha cc ch tiu v d tr n nh
Im L(j)

Am
1

Re L(j)

2.3 nh gi cht lng iu khin

18

2.4 Gii hn ca iu khin qu trnh a bin

Tng tc trong h a bin H s khuch i v chiu ca (vector) tn hiu Khi nim iu khin c Tnh bn vng nh hng ca im cc v im khng nh hng ca thi gian tr

2.4 Gii hn ca iu khin qu trnh a bin

19

Tng tc trong h 2x2

Khi hai knh ca qu trnh khng c tng tc G11K1 r1 y1 = r = T1r1 u1 y1 1 + G11K1 1 K1 G11 G22K 2 y2 = r = T2r 1 + G22K 2 2 Khi c hai vng iu khin r1
-

K1

u1

G11 G21 G12

+ +

y1

y1 = T1r1 + G12K 2 (r2 y2 ) y2 = T2r2 + G21K1(r1 y1 )

r2
-

K2

u2

G22

+ +

y2

1 G12K 2 T r + LX r1 + r 1 LX 1 1 1 + G22K 2 2 1 G21K1 y2 = T2r2 + LX r2 + 1 + G K r1 1 LX 11 1 LX = G12G21K1K 2 y1 =

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2.4 Gii hn ca iu khin qu trnh a bin

Ma trn khuch i tng i (RGA)

Khi nim RGA (Relative Gain Array): Bristol a ra nm 1966 (AC-11) => ch s nh gi mc tng tc gia cc knh vo/ra trong mt h MIMO Phc v la chn v cp i cc bin vo/ra trong xy dng cu hnh iu khin phi tp trung C nhiu tnh cht rt hay khc trong nh gi tnh n nh v cht lng ca h iu khin phi tp trung RGA ca mt ma trn s phc vung m x m khng suy bin l mt ma trn s phc vung m x m:
RGA(G ) (G ) G (G 1 )T

vi k hiu x l php nhn tng phn t (tch Schur, tch Hadamard) V d:

1 2 0.4 0.2 , G 1 = , (G ) = G = 3 4 0.3 0.1 0.4 0.6 0.6 0.4
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2.4 Gii hn ca iu khin qu trnh a bin

Xt h 2x2:

y1 G11(s) G12 (s) u1 = G(s)u y = = y2 G21(s) G22 (s) u2

i vi qu trnh n nh cha c iu khin:

u1 u2

y1 y2

k11 k12 G (0) = lim G (s) = s > 0 k21 k22 y1 = k11 u1 u2 = const

Khi c hai vng iu khin phn hi y1 = k11u1 + k12 u2 r1 K1 y2 = k21u1 + k22 u2 u1 u2 G K2 r2 y1 y2

duy tr y2 = 0 u2 =

k k y1 = k11 12 21 u1 k22

k21 u1 k22

y1 u1

y2 = const

= k11

k12k21 k22
22

2.4 Gii hn ca iu khin qu trnh a bin

11

y1 u1 = y1 u1

u2 = const

= k11

y2 = const

1 k11 = k k k k 1 12 21 12 21 k22 k11k22

12 = 1 11 21 = 1 11 22 = 1 21 = 11

RGA(G ) (G )

G (G 1 )T

k11 k12 k11 k12 T = k21 k22 k21 k22 11 21 = 12 22

2.4 Gii hn ca iu khin qu trnh a bin

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Din gii ngha

nh khi khp mch l hon ton nh nhau => hai knh khng c tng tc cho, cp i d dng: (u1, y1) v (u2, y2). 11 = 0: H s khuch i tnh t u1 ti y1 bng 0, u1 hon ton khng c nh hng ti y1 => cp i (u1, y2) v (u2, y1): hai knh iu khin khng c tng tc cho 0 < 11 < 1: H s khuch i tnh t u1 ti y1 khi h mch nh hn khi khp mch. Tng tc gia hai knh iu khin l mnh nht khi 11 = 0.5, la chn cp i khng d dng. 11 > 1: Khi khp mch th h s khuch i tnh t u1 ti y1 b gim i. Hai vng iu khin tng tc chng li nhau. Gi tr 11 cng ln th mc tng tc cng mnh, tuy nhin phng n cp i y vn khng th khc: (u1, y1) v (u2, y2).
2.4 Gii hn ca iu khin qu trnh a bin
24

11 = 1: H s khuch i tnh t u1 ti y1 khi h mch cng

Mt s tnh cht ca ma trn RGA

Tng cc phn t ca mt hng hoc mt ct = 1

ij
i

ij
j

= 1.0

Ma trn RGA khng ph thuc vo vic chnh thang (chun ha m hnh):

(G ) = (D1GD2 ), D1 = diag(d1i ), D2 = diag(d2i )

Hon i hai hng (hai ct) ca G dn ti hon i hai hng (hai ct) ca (G) (G) l mt ma trn n v nu G l ma trn tam gic trn hoc di (tng tc mt chiu) G(s) l mt ma trn hm truyn th (G(j)) c tnh ton tng ng vi tng tn s trong di tn quan tm
S RGA
(G ) I
sum

gij l mt ch s cho mc tng tc

ij

ca qu trnh (quan trng nht l xung quanh tn s ct)

2.4 Gii hn ca iu khin qu trnh a bin
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Tnh iu khin c trng thi

nh ngha: H m t bi phng trnh trng thi

x = Ax + Bu, x (0) = x 0 c gi l iu khin c khi ta c th tm c tn hiu iu khin u(t) a trng thi x v im 0 (hoc mt im x bt k trong khng gian trng thi) trong mt khong thi gian t > 0 ty .
iu kin cn v : Ma trn [B AB A2B An-1B] hng n (s bin trng thi) Vn : Din bin ca x trc v sau khi x = 0? ln ca tn hiu iu khin? C cn thit tt c bin trng thi phi iu khin c? Ranh gii gia iu khin c v khng iu khin c? Mc kh hay d iu khin c?
2.4 Gii hn ca iu khin qu trnh a bin
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Tnh iu khin c vo-ra

G u y

y = Gu

Nu G hng hng v u khng b gii hn, y c th iu khin c mt cch ty Khi ma trn G suy bin hoc u b gii hn, Gu s khng bao ht khng gian vector ca y, nn y khng th iu khin c hon ton theo mun. S gn hay xa vi s suy bin ca mt ma trn => kh nng kh hay d iu khin c y theo mun
2.4 Gii hn ca iu khin qu trnh a bin
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Php phn tch gi tr suy bin (SVD)

Gi tr suy bin (singular value) v php phn tch gi tr suy bin (singular value decomposition) c rt nhiu cng dng trong phn tch cht lng ca h thng Trong iu khin qu trnh, php phn tch gi tr suy bin l mt cng c hu hiu phc v: La chn cc bin cn iu khin, cc bin c iu khin v cc bin iu khin nh gi tnh bn vng ca mt sch lc/cu trc iu khin Xc nh cu hnh iu khin phi tp trung tt nht

2.4 Gii hn ca iu khin qu trnh a bin

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Cc gi tr suy bin
Cc gi tr suy bin ca G (mxn) l cn bc hai cc gi tr ring ca GHG H
i (G ) = i (G G )

=> Thc o khong cch gn hay xa vi s suy bin ca G

G
2

= max i (G H G ) = max i (G )
i i u 0

(G )

(G ) = max (G ) = min
u 0

Gu 2 = max Gu u 2 =1 u 2 Gx 2 = min Gx u 2 =1 u 2

nh x y = Gu c h s khuch i ln nht l v h s khuch i nh nht l H s khuch i ph thuc vo chiu ca vector u

2.4 Gii hn ca iu khin qu trnh a bin
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Php phn tch SVD

1 H U , U HU = I , Y HY = I G = Y U = Y l = 1 2 ... l =
H

GU = Y Gui = i yi

Din gii: Cc vector vo u c chiu trng vi ct u tin ca U s c khuch i nhiu nht => kt qu l vector y c chiu trng vi ct u ca Y Cc vector vo u c chiu trng vi ct cui ca U s c khuch i t nht => kt qu l vector y c chiu trng vi ct cui ca Y
2.4 Gii hn ca iu khin qu trnh a bin
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S iu kin (condition number)

cond(G ) = (G ) = /

Cond(G) ni ln s nhy cm ca h vi sai s trong G hoc trong y, tc kh nng tm nghim Gu = y mt cch chnh xc, cond(G) cng ln cng bt li.
V d:
1 0 G = 10 1 10.1 0 , cond(G ) = 101 (G ) = 0 0.1

Trong l thuyt h thng, cond(G(j)) lin quan nhiu ti kh nng iu khin, gii hn cht lng iu khin
S iu kin cng ln th h cng nhy cm vi sai lch tham s m hnh S iu kin lin quan ti cc ch tiu cht lng (min tn s) c th t c S iu kin c ph thuc vo cch chnh thang/chun ha m hnh!
2.4 Gii hn ca iu khin qu trnh a bin
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Nu G12 thay i t 0 sang 0.1 s dn ti G suy bin

Mt s im cn lu
H s khuch i h MIMO ph thuc vo c tn s ln hng vect tn hiu vo. Cn kho st trong gii hn di thng ca i tng, c bit ti =0. Cn ch cc tn s cng hng ca ma trn truyn t v ma trn truyn t nhiu. Nu p nh, tn hiu iu khin d i vo vng bo ho, h thng tr thnh phi tuyn v xut hin nhng vn cn khc phc nh hin tng wind-up => kh iu khin hn Php phn tch gi tr suy bin khng ch phn tch i tng iu khin m cn c p dng trong nh gi kt qu thit k. MS = max (S ( j ) Lu :

2.4 Gii hn ca iu khin qu trnh a bin

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im cc
Cho h tuyn tnh
x = Ax + Bu y = Cx + Du

Hm truyn t tng ng:

G(s) = C (sI A)1 B + D

im cc ca h c nh ngha l cc gi tr s = pi lm cho G(pi) v cng ln (hay l u ra v cng ln), do chnh l cc gi tr ring ca ma trn A hay tc l nghim ca phng trnh:
det ( sI A ) = 0

2.4 Gii hn ca iu khin qu trnh a bin

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Xc nh im cc t hm truyn t
Tnh cc hm phn thc l nh thc cc ma trn con khc khng ca G(s). Gi (s) l mu s chung nh nht ca cc hm phn thc ny. Nghim ca (s) chnh l cc im cc ca i tng. V d:
G (s ) = s s 1 1 ( s + 1 )( s + 2 ) 6 s 2

nh thc cc ma trn con bc 1: s 1 s 6 s2 , , , , ( s + 1 )( s + 2 ) ( s + 1 )( s + 2 ) ( s + 1 )( s + 2 ) ( s + 1 )( s + 2 )

a thc mu s chung ca cc nh thc ny l:

( s ) = ( s + 1 )( s + 2 )
H c hai im cc ti s= -1 v s= -2
2.4 Gii hn ca iu khin qu trnh a bin
34

im khng
im khng ca h c nh ngha l cc gi tr s = zi lm cho G(zi) st hng so vi bnh thng (c ngha l lm cho u ra bng 0 i vi mt s u vo khc 0) Vit li phng trnh m hnh trng thi di dng nh Laplace
x (s) 0 = , P(s) u(s) y(s) sI A B P(s) = C D

im khng ca h cng chnh l s = zi lm cho P(zi) st hng, tc l cho u ra bng 0 i vi mt s u vo khc 0, hay l nghim ca phng trnh:
xz (zI g M ) uz I 0 , Ig = 0 0 =0 A B M = C D
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2.4 Gii hn ca iu khin qu trnh a bin

Xc nh im khng t hm truyn t
Tnh cc hm phn thc l nh thc cc ma trn con bc r ca G(s). Vi r l hng ca G(s). Gi (s) l c s chung ln nht cc t s ca cc hm phn thc ny Nghim ca (s) chnh l cc im khng ca i tng. 4 1 s 1 V d: G (s ) = s + 2 4.5 2 ( s 1 ) Hng ca G(s) bng 2. Ma trn con bc 2 duy nht ca G(s) l chnh n. 2 ( s 1 )2 18 s4 detG ( s ) = =2 2 s+2 (s + 2 )
a thc c s chung ln nht ca t s:

(s ) = s 4
suy ra i tng c mt im cc s = 4.
2.4 Gii hn ca iu khin qu trnh a bin
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Lu
im cc ca cc hm truyn t thnh phn ca G(s) (im cc cc b) cng l im cc ca i tng (im cc ton cc). im khng ca cc hm truyn t thnh phn ca G(s) (im khng cc b) cha chc l im khng ca i tng (im khng ton cc). Ngc li, im khng ton cc c th hon ton khng xut hin trong cc hm truyn t thnh phn.

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c thm ti liu (S4)

Gii hn ca cht lng iu khin c th t c ph thuc
V tr im cc, im khng Thi gian tr Nhiu o gii hn gi tr v tc bin thin ca bin iu khin

Khi nim iu khin c chc nng hay iu khin c vo ra

2.4 Gii hn ca iu khin qu trnh a bin

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