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C2 Process Models Part I
C2 Process Models Part I
iu khin qu trnh
Chng 2: M hnh qu trnh - phn I
18/08/2006
Ni dung chng 2
2.1 2.2 2.3 2.4 Gii thiu chung Cc dng m hnh ton hc M hnh ha l thuyt M hnh ha thc nghim
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Trong ni dung chng 2 ta quan tm ti xy dng m hnh ton hc cho cc qu trnh cng ngh.
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Mc ch s dng m hnh
1. Hiu r hn v qu trnh 2. Thit k cu trc/sch lc iu khin v la chn kiu b iu khin 3. Tnh ton v chnh nh cc tham s ca b iu khin 4. Xc nh im lm vic ti u cho h thng 5. M phng, o to ngi vn hnh
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Th no l mt m hnh tt
Cht lng m hnh th hin qua:
Tnh trung thc ca m hnh: Mc chi tit v mc chnh xc ca m hnh Gi tr s dng (ph hp theo mc ch s dng) Mc n gin ca m hnh
Khng c m hnh no chnh xc, nhng mt s m hnh c ch. Mt m hnh tt cn n gin nhng thu tm c cc c tnh thit yu cn quan tm ca th gii thc trong mt ng cnh s dng.
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Phng php thc nghim (nhn dng qu trnh, phng php hp en):
c lng m hnh trn c s cc quan st s liu vo-ra thc nghim Ph hp nht cho cc mc ch 3. v 4.
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Gi thit 0 khng thay i ng k => = 0 v c coi l mt tham s qu trnh. Da quan h nhn qu => V l mt bin ra, F v F0 l cc bin vo. Phn tch mc ch iu khin => Bin cn iu khin l V. F0 ph thuc vo qu trnh ng trc => nhiu F phi l bin iu khin.
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y =[x D
Bin iu khin
xB
MD
MB
P]
u = [L V
Nhiu qu trnh
D B
VT ]
d = [F
xF
TF
VF
. .. ]
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n gin ha m hnh bng cch thay th, rt gn v a v dng phng trnh vi phn chun tc. Tnh ton cc tham s ca m hnh da trn cc thng s cng ngh c c t.
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trng thi xc lp
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Gi thit
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Gi thit c nh
S dng bin chnh lch v php khai trin chui Taylor: a nng, thng dng
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,u , g :
m n
, f:
m
m p
Gi s c im cn bng (x , u ) t:
hay x = f (x , u ) = 0
x = x + x u = u + u
Ta c:
x = x = f (x + x , u + u ) f (x , u ) +
0
f f x + u x x , u u x , u
g g x + u y = y + y = g (x + x , u + u ) g (x , u ) + x x , u u x , u y
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t cc ma trn Jacobi
A=
f , x x , u f , B = u x , u
A B C D
nn
nm
C =
g , x x , u g D = , u x , u
pn
pm
Thay li k hiu x x , u u , y y
x = Ax + Bu , y = Cx + Du
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x (0) = x 0 x
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Ti im lm vic:
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S dng cc k hiu:
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Phng trnh th nht tuyn tnh, ch cn vit li vi bin chnh lch: 1 h = (w1 + w2 w) A Bin i Laplace cho c hai v:
1 s H (s ) = (W1(s ) + W2 (s ) W (s )) A
t kwh =
1 A
H (s ) =
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kwh ( W (s ) + W1(s ) + W2 (s ) ) s
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Ah x1 x x2 x w1 w2 , kw 1x = , kw 2x = , kx 1x = , kx 2x = = w w w w w
Ta i ti dng m hnh hm truyn t quen thuc:
kw 1x kw 2x kx 1x kx 2x X (s ) = W1(s ) + W2 (s ) + X1(s ) + X 2 (s ) s + 1 s + 1 s + 1 s + 1
t li k hiu (vector):
w2 h w x1 , y = x , u = , d = x = x w1 x 2
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kwh G p (s ) = s 0
kwh s , kw 1x s +1
kwh Gd (s ) = k s w 2x s +1
0
kx 1x s +1
0 kx 2x s +1
T hai phng trnh vi phn tuyn tnh ha ta cng c th i ti m hnh trng thi: h 1 0 0 1 h , B = A= x = Ax + Bu + Ed 0 x1 x Ah 0 w Ah y = Cx 1 0 0 0 1 h , C = E = x 2 x w1 w2 0 1 Ah Quan h gia hai m hnh:
G p (s) = C (s I A)1 B , Gd (s) = C (s I A)1 E
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0 0
Tm tt cc bc tuyn tnh ha
1. n gin ha m hnh nh c th, nu c th nn tch thnh nhiu m hnh con c lp. 2. Xc nh r im lm vic v gi tr cc bin qu trnh ti im lm vic c m hnh trng thi xc lp. 3. i vi cc phng trnh tuyn tnh, thay th cc bin thc bng cc bin chnh lch. 4. Tuyn tnh ha tng phng trnh phi tuyn ca m hnh ti im lm vic bng php khai trin Taylor, bt u vi cc phng trnh i s v sau l vi cc phng trnh vi phn. 5. t li k hiu cho cc bin chnh lch (s dng k hiu vector nu cn) v vit gn li cc phng trnh m hnh. 6. Tnh ton li cc tham s ca m hnh da vo gi tr cc bin qu trnh ti im lm vic. 7. Chuyn m hnh tuyn tnh v dng mong mun, v d biu din trong khng gian trng thi hoc bng hm truyn t.
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x (t ) = x 0 +
0 f (x , u )dt
ti +1 ti
x i +1 = x i +
f (x , u )dt
x i +1 x i + (ti +1 ti )f (x i , u i )
Phng php hnh thang: 1 x i +1 x i + (ti +1 ti )[ f (x i , u i ) + f (x i +1, u i +1 ) ] 2 (1) (1) ph thuc vo chnh xi+1, nhng c th c lng da vo cng thc Euler (pp Runger-Kutta bc 2)
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Gin on ha:
x (kT + T ) = e
AT
x (kT ) +
kT +T
= e AT x (kT ) +
kT kT +T kT T 0
= e AT =
e AtdtB
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dy = f (y , w1 , w2 , w , x1 , x 2 ) = dt
1. Biu din o hm: function dydt = f(t,y,k,w1,w2,w,x1,x2) dydt = [k*(w1+w2-w) k*(w1*x1+w2*x2-w1*y(2)-w2*y(2))/y(1)]; 2. t cc gi tr u (trng thi xc lp): w1=100; w2=200; w =300; x1=0.8; x2=0.2; k =0.001;
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3. Gii (h) phng trnh vi phn tspan = [0:0.1:20]; y0 = [1; 0.4]; [t y] = ode45(@f,tspan,y0,[],k,1.1*w1,w2,w,x1,x2); %[t y] = ode45(@f,tspan,y0,[],k,w1,1.1*w2,w,x1,x2); %... 4. V th biu din kt qu m phng plot(t,y(:,1)); title('Step change in 10% feed rate \itw_1'); xlabel('Time (min)'); ylabel('Level h (m)'); grid on figure(2); plot(t,y(:,2)); title('Step change in 10% feed rate \itw_1'); xlabel('Time (min)'); ylabel('Composition x'); grid on
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V th biu din kt qu m phng figure(1); plot(t,y(:,1)+y0(1)); title('Step change in 10% feed rate w_1'); xlabel('Time (min)'); ylabel('Level h (m)'); grid figure(2); plot(t,y(:,2)+y0(2)); title('Step change in 10% feed rate w_1'); xlabel('Time (min)'); ylabel('Composition x'); grid
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Tm tt yu cu bi ging
Nm vng ngha, mc ch s dng ca m hnh qu trnh trong cc bc pht trin h thng Nm vng cc bc xy dng m hnh ton hc bng l thuyt, ngha ca tng bc:
Phn tch bi ton, nhn bit cc bin qu trnh ( lm g? Da vo u?) Xy dng cc phng trnh m hnh (Dng phng trnh? C s no?) Phn tch bc t do ca m hnh ( lm g? Din gii ngha c th?) Tuyn tnh ha xung quanh im lm vic ( lm g? Nh th no? Kt qu l g?) Nguyn tc m phng (phi tuyn/tuyn tnh), bit cch s dng cng c MATLAB trong m phng qu trnh
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Cu hi, bi tp:
Cc cu hi v bi tp cui chng 3 trong sch gio trnh S dng MATLAB, chy li v d m phng thit b khuy trn lin tc T luyn tp v d m phng bnh cha nhit (phi tuyn v tuyn tnh ha) s dng MATLAB, t cho cc thng s cng ngh ph hp.
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