PID Suu Tam

1
M hnh tng quan............................................................................................ 4

Mt s nh ngha ............................................................................................. 4
2.1
Sai s ......................................................................................................... 4
2.2
Sai s xc lp............................................................................................. 5
2.3
Hin tng vt l ...................................................................................... 5
2.4
vt l: (Percent Of Overshoot-POT) ................................................... 5
2.5
Thi gian ln nh ..................................................................................... 6
2.6
Thi gian qu (tq) ................................................................................. 6
2.7
Thi gian ln (tr)........................................................................................ 7
2.8
Hm truyn................................................................................................ 7
3 Vn v PID(proportinal-Integral-Derivative) .............................................. 8
3.1
Ba s hng ca b iu khin.................................................................... 8
3.2
c im ca tng b iu khin P, I, D. ................................................. 9
3.3
Phng php Zeigler-Nichols (1940s) ...................................................... 9
3.3.1
Da vo p ng qu ca h thng vng h (Phng php
Zeigler-Nichols 1)............................................................................................. 9
3.3.2
Da vo p ng qu ca h thng vng kn (Phng php
Zeigler-Nichols 2)........................................................................................... 10
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Sdt: 01 237 237 369
Hnh 1 S khi PID............................................................................................. 4

Hnh 2 (Ngun c s iu hin t ng TS. Hunh thi Hong) ............................ 4
Hnh 4 Vt l............................................................................................................ 5
Hnh 5 Thi gian ln nh ....................................................................................... 6
Hnh 7 (Ngun c s iu hin t ng TS. Hunh thi Hong) ........................... 7
Hnh 8 http://www.engin.umich.edu........................................................................ 8
Hnh 9 http://www.engin.umich.edu........................................................................ 9
Hnh 10..................................................................................................................... 9
Hnh 11................................................................................................................... 10
Hnh 12................................................................................................................... 10
Hnh 13................................................................................................................... 11
Hnh 14................................................................................................................... 11
Sdt: 01 237 237 369
TM HIU PID
Ks. on Thanh Tn
St: 01 237 237 369
Sdt: 01 237 237 369
1 M hnh tng quan
Hnh 1 S khi PID
2 Mt s nh ngha
2.1 Sai s
Hnh 2 (Ngun c s iu hin t ng TS. Hunh thi Hong)

Sai s l hiu s gia tn hiu vo v tn hiu hi tip
e(t ) = r (t ) cht (t ) E ( s ) = R( s ) Cht ( s )
e(t ) : sai s
r (t ) : tn hiu tham chiu, t.
c (t ) : tn hiu iu khin.
Sdt: 01 237 237 369
2.2 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 )
t
s 0
Chp nhn sai s xc lp Ess nh hn 5%

2.3 Hin tng vt l
L hin tng p ng ca h thng vt qu gi tr xc lp ca n.

2.4 vt l: (Percent Of Overshoot-POT)
L i lng nh gi mc vt l ca h thng, vt l tnh bng cng thc.
POT =
cmax c xl
100%
c xl
Chp nhn vt l nh hn 20%
Hnh 4 Vt l
Sdt: 01 237 237 369
2.5 Thi gian ln nh

L thi gian p ng ra t gi tr cc i ( t p = t peak )
Hnh 5 Thi gian ln nh

2.6 Thi gian qu (tq)
L thi gian cn thit sai lch gia p ng ca h thng v gi tr xc lp ca
n khng vt qu % , % thng chn l 2% hoc 5%.
Sdt: 01 237 237 369
2.7 Thi gian ln (tr)

L thi gian cn thit p ng ca h thng tng t 10% n 90% gi tr xc lp
ca n.

2.8 Hm truyn
Hm truyn ca mt h thng l t s gia bin i Laplace ca tn hiu ra v bin
i Laplace ca tn hiu vo, khi iu kin u bng 0.
H (s) =
Y ( s)
X (s)
H (s ) gi l hm truyn ca h thng
Sdt: 01 237 237 369
3 Vn v PID(proportinal-Integral-Derivative)
Ta xem xt h thng hi tip n gin sau.
Hnh 8 http://www.engin.umich.edu
Plant: l h thng c iu khin.
Controller: l b iu khin cn thit k.
3.1 Ba s hng ca b iu khin
Hm truyn ca b iu khin PID c dng nh sau
Gc ( s ) = K P +
KI
K s2 + KPs + KI
1
+ KDs = D
= K P 1 +
+ TD s
s
s
TI s
K P : h s t l
K I : h s tch phn
K D : h s vi phn
K
TI = P : thi hng tch phn
KI
K
TD = D : thi hng vi phn
KP
Trc tin chng ta hy quan st cch m b iu khin PID lm vic trong h

thng vng kn c m t hnh 6.
Bin s (e) i din cho vic gim st li. N l sai khc gia gi tr ng vo mong
mun v ng ra thc t (Y). Tn hiu li (e) s c a vo b iu khin PID,
b iu khin s tnh ton hai gi tr tch phn v vi phn ca tn hiu li (e).
Tn hiu (u) khi qua b iu khin s bng KP ln ln ca li cng vi KI ln
tch phn ca li, cng vi KD ln vi phn ca li.
u (t ) = K P e(t ) + K I e(t )dt + K D
de(t )
dt
Khu t l
Khu tch phn l tng cc sai s trong qu kh.
Khau vi phn l tc thay i ca sai s.
Sdt: 01 237 237 369
Tn hiu (u) s c a vo h thng c iu khin, khi ta c tn hiu ng

ra (Y) mi. Tn hiu ng ra (Y) mi ny s c hi tip, so snh tm ra tn
hiu li mi (e).
Tn hiu li mi ny tip tc c x l nh trn cho n khi t yu cu.
3.2 c im ca tng b iu khin P, I, D.
B iu khin t l (KP) c tc dng lm gim thi gian tng (tr) nn p ng
nhanh, tuy nhin gy ra sai s xc lp.
B iu khin tch phn (KI) c tc dng loi b sai s xc lp, tuy nhin lm tng
vt l.
B iu khin vi phn (KD) lm gim vt l, tuy nhin gy ra p ng chm.
nh hng ca cc thng s KP, KI, KD c tm tt theo bng di y.
Hnh 9 http://www.engin.umich.edu
Ch rng nhng s tng quan ny c th khng chnh xc, bi v cc thng s
KP, KI, KD cn ph thuc vo thit b. Trong thc t s thay i ca mt trong
nhng thng s ny c th thay i nh hng ca hai thng s cn li. Chnh v
th bng hnh 7 ch nn c s dng tham kho khi bn xc nh cc thng s
K P , K I, K D .
3.3 Phng php Zeigler-Nichols (1940s)
3.3.1 Da vo p ng qu ca h thng vng h (Phng php
Zeigler-Nichols 1)
Phng php Zeigler-Nichols vng h da trn p ng ca hm nc n v (step
function), khi h thng khng c hi tip.
Hnh 10
Sdt: 01 237 237 369
Nu h thng iu khin l vng kn th ta phi tho g tn hiu hi tip v. iu

ny c th thc hin bng cch thit lp b iu khin ch iu khin bng
tay.
Thay i gi tr ca tn hiu hm nc ng vo, quan st p ng ng ra. Gi tr
tng ca hm nc va phi (khong 10% gi tr t) p ng ng ra khng vt
qu gi tr mong mun.
Sau khi iu chnh xong, ta tin hnh c cc gi tr ca p ng ng ra .
Hnh 11
L: thi gian tr ca p ng so vi tn hiu kch (s)
T: thi gian tnh t khi tn hiu p ng tng t 10% n 90% (s).
Sau tnh ton cc thng s PID da vo bng sau
Hnh 12
Sau khi tm c cc thng s ca b PID, ta tin hnh np cc gi tr ny cho b
iu khin, v thit lp li ch hot ng t ng kim tra.
3.3.2 Da vo p ng qu ca h thng vng kn (Phng php
Zeigler-Nichols 2)
u tin ta iu chnh khu t l trc.
Tng dn h s khuch i KP ca h kn cho n khi p ng ng ra trng thi
xc lp iu ha, ta k hiu gi tr ca KP lc ny l KC. ng thi xc nh chu k
ca dao ng k hiu l TC.
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10
Hnh 13
Sau ta tnh ton cc h s ca b iu khin PID da vo bng sau.
Hnh 14
(http://webber.physik.uni-freiburg.de/~hon/vorlss02/Literatur/
Ingenieurswiss/pid/pid+matlab/PID%20systems%20tutorial.htm)
Nhng gi tr theo bng trn cha phi l nhng gi tr ti u. Mc d i lc, iu
chnh ti u c th c yu cu h thng t c hiu sut tt nht.
S la chn b iu khin PID, PI, PD, cng ty thuc vo ng dng ca h
thng, v d iu khin bnh p sut ln th b iu khin PID khng vt l
c s dng.
Sdt: 01 237 237 369
11

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PID Suu Tam

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1

M hnh tng quan............................................................................................ 4

Hnh 1 S khi PID............................................................................................. 4

1 M hnh tng quan

Hnh 1 S khi PID

Hnh 2 (Ngun c s iu hin t ng TS. Hunh thi Hong)

Chp nhn sai s xc lp Ess nh hn 5%

Hnh 3 (Ngun c s iu hin t ng TS. Hunh thi Hong)

Chp nhn vt l nh hn 20%

2.5 Thi gian ln nh

Hnh 5 Thi gian ln nh

Hnh 6 (Ngun c s iu hin t ng TS. Hunh thi Hong)

2.7 Thi gian ln (tr)

Hnh 7 (Ngun c s iu hin t ng TS. Hunh thi Hong)

Trc tin chng ta hy quan st cch m b iu khin PID lm vic trong h

Tn hiu (u) s c a vo h thng c iu khin, khi ta c tn hiu ng

Nu h thng iu khin l vng kn th ta phi tho g tn hiu hi tip v. iu

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