Bi ging mn hc

C S
IU KHIN QU TRNH
V THIT B CNG NGH HO HC
CHNG 4: L THUYT H THNG IU KHIN QU TRNH
Ver 01

GV: Bi Ngc Pha

F: 0909.878.662
E: buingocpha@hcmut.edu.vn
 Ni dung
Chng 4: L thuyt h thng iu khin qu trnh
Tuyn tnh ho v bin lch

ng hc min thi gian

ng hc min Laplace

p ng ca mt s h thng tuyn tnh

15 May 2017 Process Control @ B. N. Pha HBK 2

 4.1 Tuyn tnh ho v bin lch
Tuyn tnh ho xung quanh im lm vic
Ti sao cn tuyn tnh ha?
Tt c qu trnh thc t u l phi tuyn
Cc m hnh tuyn tnh d s dng (tha mn nguyn l
xp chng)
Phn ln l thuyt iu khin t ng s dng m hnh
tuyn tnh (v d hm truyn t cn 2 iu kin l tuyn
tnh v iu kin u bng 0)

Ti sao tuyn tnh ha xung quanh im lm vic?

Qu trnh thng c vn hnh trong mt phm vi xung
quanh im lm vic
Tuyn tnh ha trong mt phm vi nh gip gim sai lch
m hnh
Cho php s dng bin chnh lch, m bo iu kin p
dng php bin i Laplace (s kin bng 0).
15 May 2017 Process Control @ B. N. Pha HBK 3
 4.1 Tuyn tnh ho v bin lch
Tuyn tnh ho xung quanh im lm vic
Phng php thng dng l s dng bin chnh lch v
php khai trin chui Taylor:

15 May 2017 Process Control @ B. N. Pha HBK 4

 4.1 Tuyn tnh ho v bin lch
Tuyn tnh ho xung quanh im lm vic
V d 1: bnh cha nhit

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 4.1 Tuyn tnh ho v bin lch
Tuyn tnh ho xung quanh im lm vic
V d 1: bnh cha nhit (tt)

15 May 2017 Process Control @ B. N. Pha HBK 6

 4.1 Tuyn tnh ho v bin lch
Tuyn tnh ho xung quanh im lm vic
Bi tp 1

15 May 2017 Process Control @ B. N. Pha HBK 7

 4.2 Nhc li mt s khi nim ton hc

Bin i Laplace:

f(t) la ham gc (trong min thi gian)

F(s) l hm nh Laplace (trong min laplace)

Laplace cho mt s c bn:
nh Laplace ca:
o hm: Tch phn: Hm nc: Hm dc
df
L sF
dt
L f (t )dt
F (s)
s
L1
1
s
Lt.H (t )
1
s2
d 2 f
s F
2
L 2
Hm xung:
dt
d3 f 3 L (t ) 1
L 2 s F
dt
15 May 2017 Process Control @ B. N. Pha HBK 8
 4.2 Nhc li mt s khi nim ton hc
Cch tm hm truyn
Bc 1: Thanh lap phng trnh vi phan mo ta quan he vao
ra cua phan t bang cach: p dung cac nh luat bao toan
nang lng, bo ton vt cht

Bc 2: Bien oi Laplace hai ve phng trnh vi phan va

thanh lap bc 1, ta c ham truyen can tm.

X(s) Y(s) d2y dy

G(s) 2
5 6 y 12 x
dt dt
Y (s) 12
Y(s) = G(s)*X(s). G (s) 2
X ( s ) s 5s 6
Tn hiu ra = tn hiu vo * hm truyn

15 May 2017 Process Control @ B. N. Pha HBK 9

 4.2 Nhc li mt s khi nim ton hc
Cch tm hm truyn v d h bnh cha cht lng

Laplace 2 v:
Qin = A.s.H + k.H
Qin = (As+1)H
Hm truyn bc 1:
H ( s) 1
G (s)
Qin( s ) As k
Lp PT vi phn:
Dng chun:
H (s) K
Gi s qout = k.h G (s)
Tit din bnh Qin( s ) Ts 1
cha l A 1 A
K T
k k
15 May 2017 Process Control @ B. N. Pha HBK 10
 4.2 Nhc li mt s khi nim ton hc
Cch tm hm truyn v d van iu khin kh nn
m : khi lng, [kg]
b : h s ma st nht, [N.s/m]
k : cng lo xo, [N/m]
Tn hiu vo: lc tc dng F(t), [N]
Tn hiu ra: lng di ng y(t), [m]

Dng chun:
5
15 May 2017 Process Control @ B. N. Pha HBK 11
 4.3 ng hc min thi gian v min Laplace
Khi qut

Qa trnh qu ca h thng KQT ph thuc

vo:
1) Phng trnh c tnh ng ca h
2) Trng thi ban u ca h
3) Kiu tc ng ca u vo

c tnh ng hc ca h thng: m t s thay i

u ra ca h thng theo thi gian khi c tc ng
ca u vo.
Ngha l vi mt h thng c hm truyn bit th
p ng u ra s nh th no khi u vo thay i.

15 May 2017 Process Control @ B. N. Pha HBK 12

 4.3 ng hc min thi gian v min Laplace
Khi qut: u vo thay i

h H(s)

Khi M=1, ta c cc hm n v tng ng

15 May 2017 Process Control @ B. N. Pha HBK 13
 4.3 ng hc min thi gian v min Laplace
Khi qut
p ng ca h thng trong min thi gian (c
tnh thi gian): m t tn hiu u ra ca h thng
khi tn hiu u vo l hm nc n v hay hm xung
n v.
Nu R(s)=1/s (tc r(t)=1), u ra
y(t) lc ny gi l p ng nc
Y(s) ca h thng hay hm qu .
H thng

Nu R(s)=1 (tc r(t)=(t), u ra

y(t) lc ny gi l p ng xung
ca h thng hay hm trng lng.

15 May 2017 Process Control @ B. N. Pha HBK 14

 4.3 ng hc min thi gian v min Laplace
Khi qut: Cc bc thc hin kho st:
1) Xc nh hm truyn G(s)

R (s) Y (s)
G(s)

2) Cho u vo R(s) l l cc hm khc nhau:

Vi u vo l hm nc ta c u ra l: Y (s) M
S
G ( s)
Vi u vo l hm xung ta c u ra l: Y (s) MG(s)
M
Vi u vo l hm dc ta c u ra l: Y (s) G(s)
S 2

3) Xc nh p ng theo thi gian y(t), bng cch

bin i laplace ngc ta s c hm qu , hm
trng lng hay p ng hm dc tng ng.
15 May 2017 Process Control @ B. N. Pha HBK 15
 4.3 ng hc min thi gian v min Laplace
Khi qut: v d 1

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 4.3 ng hc min thi gian v min Laplace
Khi qut: v d 2

y R (s) Y (s)
G(s)=?

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 4.3 ng hc min thi gian v min Laplace
4.3.1 p ng ng hc h qun tnh bc nht
1) p ng qu : step input X(s) =1/s
dy
T y K .x X(s) Y(s)
dt
dy
a1 a0 y b0 .x; K b0 / a0 ; T a1 / a0
dt Ch s 1

S1

Y(s) X(s)

y(t)

Trng hp X(s) =M/s th: y (t ) K .M .(1 e t /T )

15 May 2017 Process Control @ B. N. Pha HBK 18
 4.3 ng hc min thi gian v min Laplace
4.3.1 p ng ng hc h qun tnh bc nht
1) p ng qu - step input th
y(t)
Thi gian
(t) Tn hiu ra y(t)

0 0

T 0.63K

3T 0.95K

5T 0.99K

10T 0.999K
y(t)
y (t ) K .M .(1 e t /T )
15 May 2017 Process Control @ B. N. Pha HBK 19
 4.3 ng hc min thi gian v min Laplace
4.3.1 p ng ng hc h qun tnh bc nht
1) p ng qu : nhn xt

y(t)

Tng dn T

15 May 2017 Process Control @ B. N. Pha HBK 20

 4.3 ng hc min thi gian v min Laplace
4.3.1 p ng ng hc h qun tnh bc nht
2) p ng xung: Impulse input X(s)=1

X(s) Y(s)

S1

Y(s) X(s)

y(t)

15 May 2017 Process Control @ B. N. Pha HBK 21

 4.3 ng hc min thi gian v min Laplace
p ng ng hc h qun tnh bc nht
2) p ng xung: Impulse input X(s)=1

p ng xung l hm m suy gim v 0

Tc bin thin t l vi thi hng T:
T cng nh p ng cng nhanh
T cng ln p ng cng chm

15 May 2017 Process Control @ B. N. Pha HBK 22

 4.3 ng hc min thi gian v min Laplace
p ng ng hc h qun tnh bc nht V d
VD: ng hc ca mt qa trnh phn ng c m t bng
hm truyn bc 1:
Y C' C 2 C
G
F
G(s)
X C ' F 5s 2
C =C-Cxl l chnh lch nng u ra so vi nng ra trng
thi xc lp mol/lit, (bin chnh lch), k hiu Y
CF= CF -CFxl l l chnh lch nng u vo so vi nng
vo trng thi xc lp mol/lit, k hiu X
Xc nh:
1) li tnh, hng s thi gian, nu ngha? (chng 2)
2) n v ca li tnh. (chng 2)
3) Nu nng u vo tng 2mol/lit so vi trng thi xc lp ban u th nng u ra l bao nhiu. Bit
nng u ra trng thi xc lp ban u l 3mol/lit (chng 2)
4) Xc nh biu thc ca C(t) theo thi gian (p ng qu )?
4a) Sau bao lu th h t c 63%, 99% trng thi xc lp?
4b) Sau thi gian t=T, nng u ra l bao nhiu?
5) biu thc C(t) theo thi gian khi u vo l hm xung?
15 May 2017 Process Control @ B. N. Pha HBK 23
 4.3 ng hc min thi gian v min Laplace
p ng ng hc h tuyn tnh bc 2
Hm truyn h bc 2 dng chun (min s)

K l i li tnh, hs khuch i;
T l hng s thi gian;
G(S) l h s tt dn (zeta)
n = 1/T: l tn s gc ring

Phng trnh vi phn (min thi gian t)

d2y dy
a2 2 a1 a0 y (t ) b0 x(t )
dt dt
2 a2 a1
d y dy Trong : T 2T
T 2 2 2T y (t ) Kx (t ) a0
;
a0
dt dt
15 May 2017 Process Control @ B. N. Pha HBK 24
 4.3 ng hc min thi gian v min Laplace
p ng ng hc h tuyn tnh bc 2
Ngun gc ca h bc 2:
C(s)
1) Kt hp 2 khu bc 1 ni tip nhau

R(s) C(s)

R(s) C(s) R(s)

2) Hm truyn tng ca h thng iu khin: bao gm c thit b

iu khin v i tng iu khin.
3) M t mt h c hc hay mt sensor.

15 May 2017 Process Control @ B. N. Pha HBK 25

 4.3 ng hc min thi gian v min Laplace
p ng ng hc h tuyn tnh bc 2
p ng qu ca h bc 2:

Dao ng <1

Bin gii dao ng =1

Khng c dao ng >1

S dao ng ca h bc 2 ph thuc vo zeta

15 May 2017 Process Control @ B. N. Pha HBK 26

 4.3 ng hc min thi gian v min Laplace
p ng ng hc h tuyn tnh bc 2
Trng hp khu bc 2 khng c dao ng( >=1):
Phng trnh c tnh: =0
c 2 nghim thc: s1 v s2, hoc c 1 nghim kp
H c 2 khu qun tnh bc 1 ni tip nhau:
K
G (s)
( s s1 )( s s2 )

th p ng qu >=1:
15 May 2017 Process Control @ B. N. Pha HBK 27
 4.3 ng hc min thi gian v min Laplace
p ng ng hc h tuyn tnh bc 2
Trng hp <1 ( h bc 2 c dao ng)
s

th p ng qu
15 May 2017 Process Control @ B. N. Pha HBK 28
 4.3 ng hc min thi gian v min Laplace
p ng ng hc h tuyn tnh bc 2
Nhn xt (vi h bc 2 c dao ng):

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 4.3 ng hc min thi gian v min Laplace
p ng ng hc h tuyn tnh bc 2
V d:
Mt qu trnh m quan h bin vo v bin ra c m
t bi phng trnh vi phn sau y:
d2y dy
2
a1 4y x
dt dt
Trong y(t) v x(t) l cc bin chnh lch xung quanh
in im cn bng ban u; y(t) l bin c iu
khin v x(t) l bin iu khin.
1) Hm truyn ca h thng, bc ca h?
2) Gi tr ca li tnh, h s dao ng zeta?
3) Tm gi tr ca a1 h dao ng (tt dn, iu ho,
mt n nh)?
15 May 2017 Process Control @ B. N. Pha HBK 30
 4.3 ng hc min thi gian v min Laplace
p ng ng hc h tuyn tnh bc 2
Nhn xt(tt):
* p ng qu ca h ao ng bc 2 c vt l
a
POT exp .100% cng nh POT cng ln
b 1 2

* Decay ratio (t l tt dn)
c 2
DR exp
a 1 2

* Chu k dao ng P
2 T
P
1 2

15 May 2017 Process Control @ B. N. Pha HBK 31

 4.3 ng hc min thi gian v min Laplace
p ng ng hc h tuyn tnh bc 2
Nhn xt(tt):
* Thi gian t nh cao nht:
T
tp
1 2

* Thi gian qu :
Tiu chun 5%:
3T
ts

Tiu chun 2%: Tiu chun 1%:
4T 5T
ts ts

15 May 2017 Process Control @ B. N. Pha HBK 32
 4.3 ng hc min thi gian v min Laplace
p ng ng hc h tuyn tnh bc 2
Bi tp

15 May 2017 Process Control @ B. N. Pha HBK 33

 4.4 Matlab & Simulink
M phng h thng

15 May 2017 Process Control @ B. N. Pha HBK 34

 4.4 Matlab & Simulink
ng dng SIMULINK tng hp h thng
T thc nghim thu c p ng nhit ca l nhit khi cng
sut in cp cho n l 100%:

0.632

K tip tuyn ti im un, ta xc nh c gi tr cc tham s cho m hnh

xp x L, T, K nh hnh v.
=> M hnh xp x l mt khu qun tnh bc 1 c tr : G(s)=

15 May 2017 Process Control @ B. N. Pha HBK 35

 4.4 Matlab & Simulink
ng dng SIMULINK tng hp h thng

Xc nh cc thng s b diu khin theo Ziegler-Nichols:

=> Kp = 0.114, KI = 0.0028, KD = 1.14

15 May 2017 Process Control @ B. N. Pha HBK 36

 4.4 Matlab & Simulink
ng dng SIMULINK tng hp h thng
B PID theo tnh ton
Kp = 0.114, KI = 0.0028, KD = 1.14
Chnh nh cc thng s ca b PID
( qu iu chnh < 25%)
Chn Kp = 0.036, KI = 0.0004, KD = 0.54

15 May 2017 Process Control @ B. N. Pha HBK 37