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PHN 3
THIT K V
M PHNG

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CHNG 1
L NHIT, XC NH HM TRUYN
V THNG S CHO HM PID
Hm truyn ca l :
H s

Ke Ls
Ts 1

p dng cho h tuyn tnh ta ly khai trin Taylor ca hm e -Ls, hm truyn tr

K

nn H s (Ts 1)( Ls 1) . T thc nghim, ta c cc thng s sau :

T=450 s, L=60s, K=nhit xc lp / phn trm cng sut
Thc hin hiu chnh PID, t hm truyn
GPID(s) = Kp(1 + 1/TiS+TdS) = Kp + Ki/S + KdS
Vi Kp=1.2T/L = 9
Ti=2L=120, Ki=0.075
Td=L/2=30, Kd=270
Ta c :
GPID = 9 ( 1+1/120S+30S)
Cho rng h thng khng n nh v c thng s Kr, Ki, Kd thay i trong
khong
K
K

Kr=9
4
Kr=94
Ki=0.075
0.03
Ki=0.0750.03
Kd=270
30
Kd=27030
Krmax = 13, Krmin = 5 5 Kr 13
Kdmax =300, Kdmin = 240 240 Kd 300
Theo phng php Zhao Tomizuka v Isaka (xem phn 2, chng 3 : h m lai),
gi tr Kr v Kd c chun ha thnh
T :

Krch

Kr Kr min
Kr max Kr min

, Kd ch

Kd Kd min
(1)
Kd max Kd min

m 0 Krch 1 ; 0 Kdch 1
t (1)
Kr = 8 Krch + Krmin = 8 Krch + 5

Kd = 60Kdcj + Kdmin = 60Kdcj + 240

y l nhng gi tr thc t m ta s chuyn i v t ng ra ca b x l m
a vo hm PID ca PLC thc hin chnh nh

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Chng 3 : M PHNG H THNG BNG MATLAB

3.1. Gii thiu v Matlab :
Matlab l mt ngn ng cc k mnh trong tnh tn v chy m phng v
ha, y ta ch ng dng Simulink chy m phng h thng iu khin v
tr, t ta c c s so snh s khc nhau gia l thuyt v thit k. Simulink
l mt cng c (Tool) trc quan ca phn mm Matlab dng m phng h
thng iu khin t ng.
Simulink gm nhng khi trong ca s ha c nh ngha bng
nhng ng vo/ra v quan h ca chng trong min thi gian tng ng vi cc
phn t c bn trong h thng t ng. Ngi dng c th ko th (drag and
drop) cc khi ny gia cc ca s, dng chut ni cc ng vo ra to m hnh
ca h thng cn kho st. Nh vy Simulink m t h thng di dng s
khi, cho php ta xem p ng ca h thng theo thi gian.
3.2. u vo l hm nc :

i vi h thng trn, gi tr t l hm nc, p ng ng ra c vt l

POT = (118-100)*100/100= 18 %
c im ca mch ny l tuy c vt l nhng h thng nhanh chng xc lp sau
mt ln qua im t v c tuyn chy thng theo im t vi sai s 0%, chng
t b iu khin hot ng tt (xem hnh minh ha )

3.3. u vo l hm nc nhng c lm tr li (lm mm tr t ) :

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ngha ca vic lm mm gi tr t :
Do khu vi phn c tc dng lm tr p ng ng ra nn ta ng dng n lm
cho gi tr t lc ny khng phi l mt hm nc na m n tng gi tr ln t t
bm theo hm nc, thi gian t c gi tr t ph thuc vo hng s tch phn
Ti, cn khu PID ngay sau hm Sum trong s ch c tc dng nh khu
khuch i c h s khuch i bng 1 (Xem hnh minh ha gi tr t c
lm mm v p ng ng ra trong trng hp ny )

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CHNG 2
LU GII THUT
2.1. Gii thiu h thng :
1.Lu :
Quat gay
nhieu
Cam
bien

Lo
nhiet

Cong
suat

PLC
ieu khien

Module
analog

SCADA

PC

2.
Gii
thch :
1- Giao tip gia PLC v PC :

Tn hiu t PC thng qua phn mm WinCC (Windows Control Center )

truyn xung PLC thc hin iu khin, gim st v thu thp d liu.
Ta c th ra lnh cho PLC bt u thc hin chng trnh, bt qut gy nhiu
kim tra p ng ca l khi c nhiu xy ra.
ng thi chng trnh iu khin cng c th gim st hot ng ca h
thng nh trng thi ca PLC, trng thi ca l, trng thi ca qut ang chy
hay ang tt.
V hin th ln mn hnh iu khin v thu thp d liu ang c x l nh
nhit hin hnh, sai lch ET v tt c cc gi tr ang c PLC x l (iu
ny ph thuc vo s th (tag) m WinCC c th qun l ), cc gi tr ny c
thu thp li di dng bng (table) hay dng th (trend) hoc c hai.
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2- Cm bin v PLC :
Cm bin s dng trong lun vn l Thermocouple loi K (c nhy nhit l
40V/C ).
Cm bin Thermocouple TC ghi nhn gi tr nhit t l nhit v a ra tn
hiu in p V c (mV)
V = S(Td Ta) = S.Td S.Ta
Vi Td l nhit cn o.
Ta l nhit mi trng.
S l nhy ca thermocouple
Nh vy tn hiu ra t TC b nh hng bi nhit mi trng m ta gi l u
t do, khi x l tn hiu cn phi c bin php tr kh gi tr ny. Thng thng
th ta phi lm mch b nhit loi b sai s, tuy nhin, do s dng PLC S7300 vi module Analog SM331 AI 8x12bit, y l molule chuyn dng c kh
nng nhn trc tip tn hiu t TC m khng cn phi qua b khuch i, b nhit
cho u t do v tuyn tnh ha bng phn mm c tuyn ng ra ca TC
Tn hiu ny c i tm khi a vo PLC v kt qu thu c l gi tr
thc ca nhit .
3- L nhit v PLC :
PLC nhn tn hiu t TC, chng trnh iu khin so snh nhit hin ti vi tr
t v a ra quyt nh iu khin (xem phn gii thut iu khin ca PLC )
ng hay ngt l thng qua phn cng sut l Opto TriAc c s nh hnh v

L
nhit

I/O power supply

OP-TO TRIAC

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ca TM
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Mc ch ca khi mch cng sut l cch ly iu khin gia thit b chp hnh
v PLC nhm trnh ri ro c th xy ra do hng hc l nhit lm h hi n
PLC
4- Qut gy nhiu :
C th ni mt cch khng qu ng rng y chnh l u im ca phng
php m lai, i vi phng php iu khin PID thng thng th khi c nhiu
xy ra hay h thng b thay i c tnh, ta phi thit lp li thng s PID th h
mi tr v trng thi xc lp, cn trong lun vn ny, khi bt qut gy nhiu
lm thay i c tnh l nhit, h b mt n nh nhng sau nhanh chng t
ng tr v trng thi xc lp, xem hnh minh ha

H thng
mt n nh

H thng
ang n nh

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Hnh minh ha p ng ca l nhit khi c nhiu

T hnh minh ha, ta thy l ang n nh nhit 50 oC, khi c tc ng
ca nhiu, h thng b mt n nh, vt l hi cao l do nhit thp, qun tnh
ca l ln, trng hp tng t khi iu khin l nhit thp. Sau l tr
v trng thi n nh

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2.2. Chng trnh chnh :

1.Lu :
Bat au
Nhiet o
at
nhap
thong so
PID

lenh chay
PLC

Y
He thong N
bnh thng ?
Y
oc nhiet
o lo

Cam bien
t ?

ien tr N
t ?

Y
Hieu
chnh PID

Y
Bao ong

X ly m
thong so
PID
ieu rong
xung

ieu
khien lo

Ket thuc

2. Gii thch lu gii thut iu khin :

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1- Khi np chng trnh t my tnh xung, chuyn PLC sang ch RUN,

n s c nhit t v t my tnh thng qua phn mm WinCC, thng s ca
b PID,
2- Nu c lnh chy PLC t WinCC th chng trnh iu khin mi bt u
hot ng, cn khng th n trng thi ch
C lnh chy, PLC s kim tra tnh trng ca l c bnh thng hay khng,
tc l kim tra cm bin hay in tr l c b t ?, nu c n s ra thng bo li
v dng chng trnh
3- c nhit l t TC, gi tr ny c kiu nh dng Integer, c i
thang v hin th gi tr thc ca l.
4- B iu khin thc hin x l m tham s PID c thc hin do module
m FB30 c tch hp trong PLC, do l nhit c nh nn trong ln c u tin
ca PLC, n s ly tham s mc nh c ngi lp trnh a vo
Tin hnh hiu chnh tham s PID thng qua module FB41, kt qu a trc
tip vo module iu rng xung FB43 (xem phn 1, chng 5)
5- Xut lnh iu khin l, ty thuc vo gi tr ng ra ca b iu rng xung
m trng thi ca l c ng hay m.
6- Kt thc mt vng iu khin

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2.3. Chng trnh con :

1- Lu tnh tn chi tit ca phng php PID s :
e[(k
e[(k -2
-2 )) T]
T] == e[(k
e[(k -1)
-1) T]
T]
e[(k
-1)
T]
=
e(kT)
e[(k -1) T] = e(kT)
e(kT)
e(kT) == SV
SV PV
PV
U[(k
-1)
T]
=
U
U[(k -1) T] = U (kT)
(kT)

U(kT)
U(kT) == e(kT)
e(kT) ** A
A-- e[(k
e[(k -1)
-1) T]
T] ** B
B ++ e[(k
e[(k -2
-2 )) T]
T] ** C
C ++ U
U [(k
[(k 1
1 )T]
)T]

U(kT)
U(kT) == U
U (kT)
(kT) // K
K

U(kT)
U(kT) >> U
U max
max

U
U(kT)
(kT) == U
U max
max

U(kT)
U(kT) << 00

U(kT)
U(kT) == 00
TTon == TT ** U(kT)
U(kT) // Umax
Umax
on

TToff == TT -- TTon
off
on

Gii thch lu gii thut : trong phn l thuyt PID s

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2- Gii thut iu khin m theo phng php Zhao Tomizuka

v Isaka
a. Lu :
Bat au

oc gia tr
Kr, Kd

Chuan hoa
Kr, Kd

oc gia tr
ET va DET
t module PID

X ly m tm
K'r, K'd,
An-pha

Tnh Kr, Kd theo cong thc

Kr =(Krmax-Krmin)K'r +Krmin
Kd =(Kdmax-Kdmin)K'd +Kdmin

T Ki =Kr*K/(an_pha*Kd)
tnh Ti =Kr/Ki, Td =Kd/Kr

a Ti, Td va Kr vao
lai module PID
va hieu chnh PID

Ket thuc

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PHN 4
KT QU THI CNG

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CHNG 1
GIAO DIN IU KHIN
4.1. Giao din chng trnh iu khin vit bng WinCC :

1- Ch thch giao din :

- Tr t : t mn hnh giao din ta c th t gi tr t, gi tr ny l mt s
nguyn dng b khng ch trong khong 0.. 250 oC, nu c tnh nhp
ngi gi tr ny th chng trnh iu khin xem nh ta khng lm g c
v mc nhin ly gi tr hp l trc
- iu khin PLC : do chng trnh c thit k s dng trong cng
nghip vi mn hnh giao din OP (Operation Panel ) dng iu khin
PLC, do ch khi no c lnh t OP th chng trnh mi c thc
hin, do iu kin hn ch khng c thit b, tuy OP c thay th bng
PC ( pesonal computer ) nhng vn gi t tng thit k trn, mc d t
PC, d dng vit mt vi lnh cho PLC th c th ra lnh iu khin t ng
vo digital ca PLC m khng cn my tnh
- iu khin qut : khi xc lp, mun kim tra p ng ca l khi c
nhiu, ta iu khin bt hay tt qut
- Thu thp d liu : y l mn hnh gip ta c th gim st nhit ca l
v th hay bng d liu ang xy ra ca i tng cn gim st.
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Bo ng v bo co : cc trng hp h thng xy ra s c th chng

trnh s a ra cc cnh bo v bo co sau bui lm vic

Sau khi nhp tr t v ra lnh cho h thng hot ng, PLC kim tra iu
kin vn hnh v bt u iu khin l nhit nu khng c s c, mn hnh
giao din gim st hin th trng thi PLC, trng thi qut gy nhiu, trng
thi l, theo nguyn tc thit k, nu trng thi ca PLC l tt th c l v
qut u bt buc phi tt (hnh minh ha trn).
Gi tr t c nhp vo t mn hnh giao din c cu to nh phm bm
thc t
Vo mn hnh thu thp d liu, trng thi quan trng l nhit hin ti v
sai lch c hin th di dng s, bar, th v c bng d liu (xem hnh )

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CHNG 2
KT QU THC THI
1- Nhit t l 50oC :
a. Dng th :

POT

Thi gian xc lp

b. Dng bng :

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* T th ta thy
- vt l :
POT = (72-50)*100/50 = 44 %
-Thi gian xc lp theo chun 2% :
txc lp = 52-41 = 11 pht
c tuyn iu khin rt tt, p ng ch qua im t c mt ln ri sau
xc lp bm theo tr t, vi sai s gn nh bng 0, t bng d liu, ta tnh c
sai s :
Mc thp : ET1 = (49.9-50)*100/50= 0.2 %
Mc cao : ET2 = (50.5-50)*100/50 = 1%
Trung bnh sai s : ET = (ET1 +ET2)/2 = (1+0.2)/2 = 0.6 % - rt tt
Ta c nhn xt nhit thp, do qun tnh ca l ln nn xy ra vt l ln,
nu mun chnh xc, ta phi t li tham s ca b PID, iu ny khng cn xy
ra khi iu khin nhit cao
2- Nhit t l 70 oC :

POT

Thi gian xc lp

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T th :
* vt l :
POT = (92-70)*100/70 = 31.4 %
* Thi gian xc lp theo chun 5% :
Txc lp 5% = 48-39 = 9 pht
* Thi gian xc lp theo tiu chun 2% :
Txc lp 2% = 51-39
nhit ny, vt l gim i rt nhiu v thi gian xc lp cng tng ln
3- Nhit t l 100oC :

POT

Thi gian xc lp

T th ta thy :
* vt l :
POT = (115 100)*100/100 = 15%
* Thi gian xc lpPOT
theo chun 5 % :
Txc lp 5% = 41-34 = 7 pht
* Thi gian xc lp theo chun 2 % :
Txc lp 2% = 43-34 = 9 pht
4- Nhit t l 120 o C :

Thi gian xc lp
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T th, ta thy :
* vt l :
POT = (130.5 120)*100/120 = 8.75 %
* Thi gian xc lp theo chun 5% :
Txc lp 5% = 27-21 = 6 pht
* Thi gian xc lp theo chun 2% :
Txc lp 2% = 29-21 = 8 pht
* Khi l nhit hn tn xc lp, t bng d liu :
Sai s mc trn :
ET1 = 0.5%
Sai s mc di :
ET2 = 0.099%
Sai s trung bnh :
ET = (ET1 ET2)/2 = (0.5 + 0.0999)/2 = 0.3 %

D liu sai lch ET di dng bng :

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* Nhn xt chung :
Kt qu iu khin tt nhit cao, vt l thp, thi gian xc lp chp nhn
c, kt qu tng t khi cho iu khin tng hp, thay i nhit khi h
thng xc lp
So snh kt qu thc nghim vi m phng bng Matlab ta thy l thuyt
c kim chng mt cch thuyt phc, ch c iu thi gian xc lp khng
ging nhau, do l nhit c qun tnh ln
Phn lm mm tr t trnh by trn l hng m rng ca ti nhm cho
p ng tt hn, c kim chng. Ngi ra, tc gi cn pht trin cho h
thng tr nn hn thin hn l : ng dng PLC iu khin l nhit nhiu im
hay ni mng l nhit. iu ny ph hp vi thc t, chng ai em PLC ch
iu khin mt ci l nhit duy nht, m phi l h thng l.
Cui cng, thng qua i tng l l nhit, mt l thuyt iu khin kh mi :
Chnh nh m tham s PID bng phng php Zhao Tomizuka v Isaka c
kim nh v cho kt qu tt. T y cng c mt hng pht trin mi trong
iu khin hc v c th ng dng tt hn trong thc t : ti u cc h thng iu
khin thun ty bng m hay PID.

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CHNG 3
NH GI KT QU V
HNG PHT TRIN
1. nh gi kt qu thc hin lun vn :
Lun vn tt nghip l mn hc bt buc thc hin trong mt hc k ca nm
hc _ khong thi gian kh ngn nghin cu mt ti ln sao cho hn chnh,
nht l nhng ti mi.
Tuy kin thc cn hn ch, tc gi c gng hn thnh lun vn trong thi
gian quy nh v kt qu kh tt. Vn cn nhiu thiu st, nhng t lun vn,
c th rt ra nhng nhn xt qu bu, rt cn thit cho sau ny.
Kt qu lun vn p ng c yu cu iu khin h thng l nhit cng
nghip
T cng c thm l thuyt iu khin mi : PID chnh nh tham s bng
phng php m lai, c ngha ln khi ng dng vo thc t nh ci tin cc h
thng iu khin kinh in bng PID hay ti u h m thun ty.
nh gi hn thnh nhim v c giao.
2. Hng pht trin mi :
i vi tng l nhit : tng cng kh nng p ng tm nhit ln,
gim thi gian xc lp, gim sai s (chnh tinh) hn na
i vi PLC, nghin cu ng dng phng php iu khin vo nhiu i
tng hn, thc t hn v hiu qu hn .

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