Xay Dung He Thong Dieukhien Nhiet Do

n tt nghip Xy dng h thng
iu khin nhit
Chng 1
Tng quan v b iu khin TCU
1.1. Gii thiu chung v TCU.
B iu khin TCU (Ting Anh: The Temparature
Controller Unit nhn tn hiu t cm bin nhit (Cp
nhit in hay cc phn t nhit in tr v biu th
chnh cc nhit qu trnh ng thi a ra tn hiu x l
kp thi v chnh xc. Mt tp hp ton din nhng chc nng
d dng s dng tng bc cho php b iu khin gii quyt
nhiu yu cu ng dng khc nhau.
B iu khin TCU c th hot ng ch iu
khin PID cho c s t nng v lm mt. N t ng iu
khin ch xc lp hng s. Hng s PID c th c tinh
chnh bi s hot ng ca b iu khin thi gian bt k
v c kho t xa s thay i. TCU cho php p ng u
ra phanh nht m khng c qu iu chnh. N c th
chuyn sang ch vn hnh bng tay m ngi vn hnh
c th iu khin trc tip u ra. Ngoi ra n cn c ch-
ng trnh ho hot ng ch iu khin ON/OFF
m iu chnh c tr.
Hai mn hnh hin th 4 s cho php quan st nhit
qu trnh v nhit t, cho bit tnh trng ca b
iu khin (ang lm vic ch no, nhng Module
u ra no ang hot ng, s cnh bo v trng thi u
ra. Cc Module u ra c th trao i u ra. Cc Module
u ra c th thay th v trao i ln nhau (Relay, SSR,
1
iu khin nhit
Drive, hoc Triac) c thit lp nhm phc v cho s iu
khin chnh, u ra bnh bo, u ra lm mt v u ra
nh v van.
La chn bnh bo kp c th c nh dng ty vo s
thay i ca hot ng (Nhit cao hay thp, s chnh
lch) ch ch u ra v ngun nui s c ngn chn
n khi nhng thng s mc bo ng c n nh.
Dng tuyn tnh t 4 - 20mA (hoc 0 - 10V) u ra
c th giao in vi c cu chp hnh, my ghi biu ,
dng c ch th hay thit b iu khin khc. Kiu u ra
tuyn tnh mt chiu ny c th dng cho nhng m hnh
iu khin tuyn tnh c xy dng ph hp vi nhng m
hnh xy dng sn trong b iu khin.
Tn hiu ra c s ho v c truyn i mt trong
nhng cch sau: % cng sut u ra, gi tr nhit qu
trnh, s chnh lch nhit , hay gi tr im t. Ngoi
ra cn c th iu chnh c di cht u ra, thi gian
cp nht u ra vi nhng tham s m rng tnh linh hot
ca TCU ti nhng thit b cui cng.
Mt u ra c bo ng s kin, c chng trnh ho
pht tn hiu cnh bo (khi l nhit hay nhng thit b
khc b li) x l kp thi. S bo ng nhit hot
ng di 2 iu kin sau:
1. u ra chnh (OP)1 ang hot ng v dng nhit
in di gi tr dng bo ng.
2. u ra (OP1) tt v dng nhit in ln hn dng
cnh bo 10% khi thit b iu khin b ngn mch hoc
nhng s kin khc.
2
iu khin nhit
u vo Analog th cp (0 - 20m ADC) c th c nh
dng hot ng nh mt b tin x l tn hiu th cp
x l im t ca u ra s cp. Chnh iu ny cho
php kh nng iu khin tng vi thit b khc.
Nh u vo Analog th cp ny ta c th xy dng
c mt ht iu khin tng tch hp trong mt b iu
khin TCU.
Chun giao din truyn thng RS 485 nhiu im ni
tip cho php TCU giao tip vi cc thit b kt hp khc nh:
My in, b iu khin tr trnh hay my tnh ch
1.2. Lp t v kt ni.
1.2.1. Mi trng lp t.
TCU cn c t ni cch xa i tng iu khin,
trong mt mi trng c nhit khng qu cao (khng ln
hn 45
0
C) v phi m bo lu thng khng kh tt. Khng
nn t TCU gn cc thit b c s to nhit ln v tip xc
trc tip vi nh sng mt tri.
Khng s dng trc tip TCU iu khin motor,
iu kin van hay c cu chp hnh khc m khng phi l
cc thit b c bo v. Lm nh vy c th gy nguy him
ti ngi vn hnh hoc cc thit b, dng c kt ni vi n.
Mt iu cn ch l tn hiu nhp vo t cm bin
hay ngun nui AC ca TCU phi c ly c lp vi cc thit
b khc. Thm na, khi TCU ang lm vic trnh dng mi
dng c tc ng vo n.
Tt c nhng iu ni trn nhm m bo s an ton
c nhn v ngn nga thit hi ti tt c cc thit b khc
trong h thng.
3
iu khin nhit
1.2.2. Cu to.
TCU c dng hnh khi ch nht hai mn hnh quan st
v iu khin cng vi cc b ch th pha trc. Cc nt
bm chc nng c t pha di ca cc b ch th v cc
chn ni vo/ra c t pha sau bn trong mt v hp
bo v.
S cc chn vo/ra c m t nh sau:
4
iu khin nhit
1.2.3. Cc module u ra.
B iu khin TCU c 3 module u ra c th hot
ng c lp hay thay th v trao i ln nhau. S la
chn cc module tu theo nhng ng dng c th, cc
module l: Module Relay, Module logic/ SSR Drive,
Modude Triac. Cc module ny c th dng cho cc ng dng
nh sau. Cho iu khin chnh (OP1), cho hot ng lm mt
5
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
OP 2/AL1: u ra lm mt/
cnh bo
OP2 : u ra lm
mt
AL1 A: u ra cnh
bo
A
B
C
OP1: u ra in
iu
khin chnh
User Input: u
vo
u vo: Ni vi nhit
in tr hay cp nhit
in (4- 2mV)
u ra tng t
Giao din truyn thng
TS.485
Hoc:
u vo Analog th cp
iu khin nhit
hay mt s hot ng cnh bo. Cc chn cm vi ba
module ny c t kn trong TCU, khi dng ch la chn
thch hp v lp t ng vi nhn ghi trn cc chn cm
.
6
iu khin nhit
* Mt s hn ch ca module u ra.
mt vi mu trong h TCU th u ra cnh bo v
u ra iu khin v tr van c dng chung chn cm.
Ngha l ngi thit k phi la chn mt trong hai chn
cn , vy nn phi ch quyt nh s dng cho
mc ch no.
* Ci t cc module u ra.
Khi s dng cc module u ra xc nh ng nhn
ca tng loi thch hp vi nhn chn cm v chiu cm cho
chnh xc. Ring vi ng dng iu khin van th mt s k
hiu trn bo mch c ngha nh sau:
AL1: u ra iu khin m van
AL2/OP2: u ra iu khin ng van
OP1 - Alarm # 1 l tn hiu ra.
* Cc module c biu din trong hnh v di y.
Relay:
Type: Form - C
Rating: 5A - 120/ 240 VAC Or 28 VDC
7
C
B
A
5A
POWE
R
1. Relay
module
iu khin nhit
Logic:
Type: Non - isolated switch DC, 12VDC
Drive: 45ma max
Triac:
Type: isolated, zero crossing Deteetion
Rating: 120/240 VDC; 20 to 500Hz
Max: Load Cureut: 1A
0.75 @ 50
0
C
8
C
B
A
POWE
R
2. Logic/ SSR Drire
Module
4
1
SSR
POWER
UNIT
3
2
LOAD
-
+
2VDC
Not
isolate
d
Khng
ni
C
B
A
POWE
R
3. Triac
Module
Kelay or
riac
device
LOAD
120
VAC
1A
iu khin nhit
Min: Load Cureut: 10mA
1.2.4. Chn ngun nui v cm bin.
* Ngun nui.
Hai loi ngun nui cho TCU c th c s dng l 115
VAC hay 230VAC. Cng tc la chn ngun nui c t
bn trong v hp ca b iu khin nhm m bo an ton
cho h thng, gi gn s la chn ca ngi vn hnh.
* Cm bin.
Hai cm bin thng c dng trong cng nghip cho cc
ng dng cho nhit khng qu cao l: Cp nhit in v
nhit in tr TCU h tr hu ht cc loi cm bin thuc hai
kiu ni trn. Ngi thit k h thng ch cn ch ra kiu
cm bin mnh dng v khai bo vi TCU trong module tham
s (1 - iN). Loi cm bin no c dng cn c khai bo nht
qun tnh cht ca n c th c trong cc module khc. Trc
khi khai bo vi TCU v loi cm bin c dng cn iu
chnh jum la chn cm bin l loi cp nhit in hay
nhit in tr v ng v tr thch hp.
* Ni tn hiu t cm bin vo TCU.
Sau khi nh v c cng tc la chn ngun nui v
cm bin ta tin hnh ni dy theo s ch dn sau:
9
1
2
Nc 1: Chn ngun 115
VAC
Nc 2: Chn ngun 230
VAC
Nc chn
ngun
7
8
9
10
+
2 chn ni
vi
cp nhit
in
-
iu khin nhit
* Cch ni TCU vi cp nhit in.
* Cch ni TCU vi nhit in tr.
S thun li thy r l ta ch cn trc tip ni ngay cm
bin vo b iu khin m khng cn lm mt iu g
khc. Cc cng vic nhm hiu chnh li tng chnh
xc nh: b nhit, lc nhin, chuyn i t tn hiu tng t
sang s c TCU h tr rt hiu qu. iu ny gim nh kh
nhiu v mang li hiu qu cao cho ngi thit b h thng.
1.3. Mt trc TCU v cc mt bm chc nng.
Mt trc TCU gm hai mn hnh su b ch th v 4 nt
bm chc nng. Hai mn hnh trong : mn hnh chnh
(ln) pha trn c mu , mn hnh th hai (di) mu xanh.
Su b ch th s hin th cc thng s cn thit tu theo s
10
7
8
9
10
2 chn ni
vi
nhit in
tr
iu khin nhit
ci t cc la chn trong cc module cha tham s hay tu
theo kiu hot ng c tin hnh. Bn nt bm chc nng
c s dng truy nhp v thay i gi tr cc tham s
ca h thng, n cng c thit k chn la ch hot
ng. Cc nt bm c m t c th nh sau:
+ Cc nt bm chc nng.
DSP
- ch hot ng bnh thng, n dng la chn
mt trong nhng tham s c hin th trn mn hnh th
hai. Hay n cn dng la chn trc tip thang o nhit
l
0
F hay
0
C m khng cn truy nhp v module cha
tham s (1 - iN)
- ch nh dng tham s n DSP thot khi
tham s ang truy nhp hay thot hn ra ngoi ch hot
ng bnh thng m khng lm thay i gi tr ca cc
tham s khc c ci t.
UP DN
- ch hot ng bnh thng, nt n UP/ DOWN c
th iu chnh trc tip gi tr im t nhit hoc
% cng sut u ra (tt nhin nu hai tham s ny cha b
kho). Gi tr im t v % cng sut u ra c hin
th trn mn hnh th hai.
- ch nh dng s th nt UP/DOWN dng
thay i gi tr ca tham s ang truy nhp (UP: tng,
DOWN: gim)
PAR
- tt c cc ch hot ng nt n PAR dng
truy nhp, thay i v qut ht mi tham s. Cng dng nt
11
iu khin nhit
n ny chn la ch hot ng cho b iu khin
TCU.
* Mt trc thit b
1.4. Quan st s hot ng
1.4.1. Cng sut b iu khin tng.
Khi cng sut trn mc c dng, b iu khin s lm
tr li s ch th v hot ng iu khin hin thi trong
khong 5 giy tin hnh kim tra li. Hot ng ny c
b iu khin thc hin t ng vi tc rt cao nhm
nhanh chng tm ra nguyn nhn ng thi n s hin th
tt c cc thng tin c bn ln 2 mn hnh v cc b ch
th. Ban u n s lm sng tt c cc mn hnh v hin th
cc dng c ch bo ( ngi vn hnh c th bit c trng
thi ca h thng) v tin hnh kim tra li tt c cc chc
12
150
0
150
0
DS
P
PA
R
%P
W
Mn hnh chnh:
Hin th nhit
qu trnh v cng
hin th tham s
hay cc ch
chn
Mnh hnh th hai:
Hin th nhit
t, gi tr cc
tham s
MAN: Hin ln khi hot
ng ch bng
tay.
REM: Hin ln khi ch
im t xa c
la chn
AL1: Hin ln khi cnh
bo 1 c ci t
OPN: Hin ln khi u
ra iu khin m van
c hot ng
AL2: Hin ln khi cnh bo
2 c ci t
OPN: Hin ln khi u ra
iu khin m van c
hot ng
CLS: Hin th khi u ra
iu khin ng van
c hot ng.
OP1: Hin ln khi u ra iu
khin chnh hot ng
AL1: Hin ln khi h thng c
s c
Hin th khi
mn hnh th 2,
hin th % cng
sut u ra
DEV: Hin ln khi xut
hin chnh llch
gia nhit qu trnh
im t.
CUR: Hin ln khi mn
hnh th hai ch gi tr
dng t nng.
SEC. Hin ln khi u
vo Analog th cp c
s dng
iu khin nhit
nng ang hot ng. Sau b iu khin s hin th
kiu senson trn mn hnh chnh kim tra li s khai
bo, lu chn Jum c ng vi thc t trong hot ng khng.
ng thi n xem xt li chng trnh hot ng ca h
thng. Nu sai st bn trong c tm thy th b iu
khin s hin th thng tin ln cho n khi sai st -
c sa cha (khi n khng t sa cha c).
Sau s kim tra v b sung mt cch tun t nh vy, b
iu khin li bt u hot ng iu khin da trn s
tnh ton ca b PID.
1.4.2. Cng sut b iu khin gim.
Nu nh cng sut b iu khin t nhin gim, th
n s t ng ghi li trng thi hot ng n nh (ghi li
nhng tham s v ch iu khin). iu ny s gip b
iu khin a ra p ng u ra nhanh v chnh xc hn
nu sau c s tng cng sut ca b iu khin.
1.4.3. Khi ng h thng.
Sau khi h thng c khi ng, b PID vi cc thng s
c t s tin hnh iu khin h thng nhm a ra p
ng tt nht. S iu khin ny bao gm: S iu khin
ca h s t l, hng s thi gian tch phn, hng s thi
gian vi phn (b iu khin c th c tnh ton chnh
nh mt ln nhng nht thit phi chnh nh li nu nh
h thng c s thay i quan trng c mt vi cch
chnh nh cc tham s trong b PID nh sau:
a. S dng b iu khiu ch t chnh nh
tham s (Auto - Tune)
13
iu khin nhit
b. S dng k thut chnh nh bng tay (xc nh
c tnh i tng sau tnh ton thng s).
c. S dng cc phn mm iu chnh (nhn chung l
gi thnh cao v khng phi lc no cng c kt qu chnh
xc).
d. S dng gi tr da trn cc kinh nghim thu c da
vo gi tr ca qu trnh tng t nh vy.
1.4.3. Ch hot ng t ng iu khin
bng tay.
B iu khiu c th chuyn t ch iu khin t
ng (iu khin PID hoc ON/OF) sang ch iu
khin bng tay v ngc li. S chuyn qua li ny c thc
hin bng cch truy nhp vo tham s "trnf" (s ni k phn
sau) nu nh tham s khng b kho.
Ch iu khin bng tay c th iu khin trc
tip u ra (t 0% 100%) hoc (-100% + 100%) nu
nh u ra lm mt c dng v lc ny trn dng c ch th
s hin th "MAN".
Khi chuyn t ch iu khin bng tay sang ch
t ng th cng sut u ra vn cn gi ngun. Cn
chuyn t ch t ng sang ch bng tay th s gii
hn v cng sut c t trong b iu khiu s b loi b.
1.4.5. Hot ng vi im t xa hoc im
t cc b.
im t ca b iu khiu c th t 2 kiu:
im t cc b hay im t xa (khi kt hp vi thit b
iu khin khc).
14
iu khin nhit
Tham s "SPSL" cho php la chn 2 kiu b im
t ny (ty thuc vo h thng v la chn ca ngi vn
hnh). Khi trn dng c ch th hin th REM tc ch
im t xa c dng, nu tt th ch im t cc
b c dng.
1.5. Cc ch lm vic.
B iu khiu lm vic vi rt nhiu tham s khc
nhau, nhiu ch iu khin la chn, hay c th kt ni
vi nhng thit b khc v vy ch lm vic l tng i
phc tp. Hn na vn bo m an ton cho h thng
trnh c tc ng bn ngoi nhm thay i nhng la
chn ca ngi vn hnh l yu cu rt cn quan trng. Chnh
v iu ny m b iu khin phn chia ra thnh 4
ch vi nhng tham s v s can thip vo h thng khc
nhau. Ch hin th bnh thng, ch khng bo v
tham s, ch bo v tham s, ch m.
15
Ch m:
- La chn im t cc
b/xa
- Chuyn ch :
t ng/bng tay
- Gi/hu ch Auto -
time
- Reset u ra cnh bo
n v gi
3s
PA
R
Ch hin th
bnh thng
- Mn hnh chnh:
- Hin th nhit
qu trnh
- Mn hnh th 2
v cc dng c ch
th hin th
+ SP (im t)
+ % OP (cng sut
ra)
+ Dng t nng
+ u vo
Analog th 2
+ S chnh lch
+ n v nhit
(C hoc F)
PA
R
Ch khng bo v tham s
- im t
- % cng sut u ra
- Tng t nh ch bo
v thams
Truy nhp vo cc modul
tham s
S ngn cn
xm
nhp chng
trnh khng
hot ng
PA
R
PA
R
S ngn cn
xm nhp ch
ng trnh hot
ng
D
SP
N
O
Ch Bo v tham s
- H s khuych i
- Hng s thi gian
tch phn
- Hng s thi gian vi
phn
- H s khuych i
# 2
- H s khuych i
# 2
- im t trc tip
- Alrm 1
- Alrm 2
Vo m
yes PAR
M khng hp l
Cc module tham s
1. Module cc tham s vo
2. Module cc tham s ra
3. Module kho tham s
4. Module cnh bo
5. Module cha tham s
ch lm mt
6. Module v truyn thng
7. Module cha tham s ca
u vo Analog th 2k
8. Module cha tham s
iu khin van
9. Module dch v ca nh
sn xut
PA
R
M hp l
iu khin nhit
1.5.1. Vo tham s cho b iu khin.
Nt n PAR
Mi ch lm vic c cha nhng tham s khc nhau,
tuy nhin truy nhp v thay i tham s cho b iu
khin th thao tc sau y s c s dng chung.
Nt n PAR c s dng chn tham s cn tm.
thay i gi tr ca tham s ta cn n nt n UP v
DOWER
Khi tm c gi tr thch hp cho mt tham s no
th n nt PAR chp nhn gi tr mi v c tip tc
nh vy cho nhng tham s tip theo.
Module nh dng tham s (module cha nhng tham
s c bn nht ca b iu khin - ch ch c bo v
tham s) th n DSP t chi gi tr mi ca tham s no
16
iu khin nhit
, v n khi b iu khin hin th "End" th DSP s
gip tr v ch hin th bnh thng.
Thng thng nhng tham s sau y hay c truy
nhp v bin i.
Setpoint
Output Dower
Output Dower offset
Propor tional Band
In tergral Time
Derivatire Time
Propor tional Band # 2
Integral Time # 2
Direct Doint
Ratio
Bius
Alkyl hom 1 value
Alkyl hom 2 value
1.5.2. Ch hin th bnh thng.
ch hin th bnh thng (khi start hay restart b
iu khin lun ch ny) nhit qu trnh lun lun
c hin th trn mn hnh chnh. Bng cch n lin tip
nt DSP th cc tham s hot ng ca h thng s ln lt -
c quan st mn hnh th 2. Cc tham s l.
+ Nhit t
+ % cng sut ra
+ Dng t nng
+ u vo Analog th 2
17
iu khin nhit
+ chnh lch nhit (gia nhit qu
trnh v nhit t)
+ n v o nhit (
0
F/
0
C).
T ch ny ta c th truy nhp sang ch n
bng cch n v gia trong 3s nt n PAR, hoc truy nhp
sang ch bo v tham s hay ch khng bo v
tham s theo s hot ng ca u vo s dng (hay ngn
cn xm nhp vo chng trnh - s c ni sau). Ch
hin th bnh thng l ch lm vic chnh ca h thng
cc ch kia ch c truy nhp khi c s thay i hay ci
t cc yu t cn thit. Ngoi ra ta cng c th tc ng
thay i n hai tham s (trn mn hnh th 2) l: nhit
t v cng sut u ra (%), l ch ch ny mi
thay i c trc tip n hai tham s , cc tham s
khc ch c ra c gi tr ca n.
* Gi tr nhit t: s dng nt n UP & DOWN
thay i gi tr nhit t khi n c hin th nhng vi
iu khin l n khng b kho. S kho hay m kho tham
s ny (hay cc tham s khc) c thc hin trong Module 3
( ch khng bo v tham s). Gi tr im t ch
thay i c trong khong nht nh c t trong hai
tham s SPLO & SPLI trong Module 1 ( ch khng bo v
tham s ).
* % Cng sut ra: Cng sut u ra c th thay i
trc tip ch vn hnh bng tay. Khi dng c ch bo
hin th % PW v "MAN" mi c th thay i c cng sut
u ra. S dng nt UP - DOWN tin hnh thay i.
Nu nh n b kho cn truy nhp vo tham s "OP" - a
18
iu khin nhit
tham s ny sang mc "Eut". Tham s ny nm trong Module
3 ch khng bo v tham s. Cng sut ny nm trong
Module 3 ch khng bo v tham s. Cng sut u ra
( ch iu khin bng tay) c th thay i m khng
b gii hn bi 2 tham s OPLO & OPHI trong Module 2 - dng
trong ch t ng.
1.5.3. Ch khng bo v tham s.
Ch ny c th truy nhp t ch hin th bnh
thng bng cch n nt PAR vi s ngn cn xm nhp vo
chng trnh khng c s dng (s n chi tit 15.6). Trong
ch ny ngi vn hnh c th truy nhp v ci t
nhng tham s chung cho h thng iu khin, cui danh
snh khi c tham s ch dn"CNFP" ngi vn hnh c th
truy nhp vo 9 modul cha nhng tham s c bn nht ca
b iu khin cng nh cng nh h thng. Cc tham s ny
c ngha v cng quan trng quyt nh kiu hot ng,
ch lm vic, s phi hp vi cc thit b khc ca b
iu khiu cng nh cht lng ca h thng theo mt tiu ch
no .
Khi mn hnh hin th "End" tc l cc tham s c
quyt ht v tr v hin th bnh thng hoc ti mt tham
s no nu khng c hot ng no trong khong 5s th
b iu khin t ng quay li ch hin th bnh th-
ng. Cc tham s v c module cha tham s s c tm tt
trong bng tham chiu di y.
Hin
th
Tham s
Phm vi hot
ng
v cc thnh
phn
M t - ghi ch
SP Nhit t Gii hn trng Ch xut hin khi gi tr im
19
iu khin nhit
khong (SPLO -
SPHI)
t b kho
hay ch c
OPOF
Khong b offset
cng sut u ra
- 99.9% n
100% (0.0)
Ch xut hin nu hng s thi
gian tch phn bng 0 v b
iu khiu ch t ng
Prop H s khuych i
0.0 n 999
(4.0)
Nu l 0 th hot ng ch
k ton/OFF, khi s dng ch
k ton/OFF cn t
tr thch hp
Intt Integral time (hng s
thi giantch phn)
0 n 9999s
(120)
Tham s ny khng xut hin nu
Drop - 0
DErt Hng s thi gian vi
phn
Pb - 2
H s khuch i (th
hai)
0 n 999.9
(4.0)
Nu la 0 th b iu khin hot
ng ch k ton/OFF.
Tham s ny ch c khi u
vo Analog th 2 c s dng.
Intt - 2
Hng s thi gian tch
phn #2
0 n 9999 s
(0)
Tham s ny ch xut hin khi
Pd - 2 0 (trong ch c s
dng u ra vo Analog th 2)
u t -
2
Hng s thi gian vi
phn # 2
0 n 9999s
(0)
Nh trn
Sp - 2 im t trc tip ca
iu khin tng trung
- 999 n 9999
Tham s trong ch ny ch
c
AL - 1 Gi tr cnh bo 1 - 999 n 9999
AL - 2 Gi tr cnh bo 2 - 999 n 9999
CNFP
Tham s ch dn
No Quay li ch htbt
YES
Truy nhp vo cc module cha
tham s c bn
CNFP YES
1 - IN Module cha tham s vo
2 - OP Module cha tham s ra
3 - LC Module kho tham s
4 - AL Module cha tham s cnh****
5 - OL Module lm bo mt
6 - SC Module Serial comnuni
7 - 2 N Module u vo Analog th 2
8 - VP Module iu khin v tr van
9 - FS Module dch v
End Tr v ch hin th
bnh thng
1.5.4. Ch bo v tham s.
ch ny ch mt vi tham s ca thit b l c
th thay i c (nu nh khng b kho trong modul 3 - L (
20
iu khin nhit
ch khng bo v tham s) cn nhng tham s ca h
thng v ca b iu khin trong 9 Module ch ngi vn
hnh mi c th truy nhp vo c. iu ny m bo an
ton cho h thng trnh c s can thit xu vo chng
trnh iu khin.
T ch hin th bnh thng, n PAR chuyn
sang ch ny vi iu khin l s ngn cn xm nhp vo
chng trnh c s dng.
Mun chuyn sang ch khng bo v tham s
vo t li h thng th cn phi nhp 1 m ph hp vi m
t trong ch khng bo v tham s ( tham s cocle -
Module 3 - cht lng). Nu m vo sai th b iu khiu s
quay li ch hin th bnh thng.
Cc tham s tm tt trong bng sau:
Hin
th
Tham s
Phm vi hot
ng v cc
thnh phn
M t - ghi ch
Prop H s khuch i
0.0 n 999.9
(4.0)
Khi Prop = 0 tc ch ON/OFF c
dng. Nu s dng ch ON/OFF cn
t tr thch hp . Tham s ny s
khng xut hin nu b kho (LOC)
intt
Hng s thi gian
tch phn
0 n 9999 s
(120)
Nu Prop = 0.0 hoc b kho th tham
s ny cng khng xut hin.
dErt
Hng s thi gian vi
phn
0 n 9999 s
(30)
Nu Prop = 0.0 hoc b kho th tham
s ny cng khng xut hin.
Pb - 2
H s khuch i #
2 (vng (th hai)
0 n 999.9
(0)
Nu Pb - 2 = 0 th khng c ch
iu khin tng. N cng khng xut
hin nu b kho (LOC)
It - 2
Hng s thi gian tch
phn #2 (vng 2)
0 n 9999 s
(0)
ng dng cho iu khin tng. Vi u
vo tn hiu th 2 c khai bo v ci
t
dt - 2 Hng s thi gian vi
phn # 2 (vng 2)
0 n 9999s
(0)
Sp - 2 Cho ng dng iu
khin tng trong -
im t trc tip
AL - 1 Gi tr cnh bo 1 0 n 9999 (0) Tham s ny ch xut hin khi la chn
cnh bo c ci t v khng b kho
(LOC)
AL - 2
Gi tr cnh bo 2 0 n 9999 (0)
Code
M truy nhp sang
ch khng bo
v tham s
Khng n 250
(0)
M truy nhp sang ch khng
bo v tham s m ny phi ph hp vi
m t trong ch cn chuyn
sang.
21
iu khin nhit
1.5.5. Ch n.
Ch n c truy nhp trc tip t ch hin th
bnh thng (n PAR v gi khong 3 giy) khng ph thuc
vo s hot ng ca s ngn chn xm nhp vo chng
trnh. Ch ny cha nhng tham s quy nh cc chc
nng iu khin ca b iu khin. Nhng tham s ny c
th b kho li trong Module 3 CL ch khng bo v
tham s.
Cc chc nng iu khin m b iu khin c th
thc hin
+ La chn im t xa hoc im t cc b
+ Chuyn ch t ng - iu khin bng tay
+ Bt u/ phn hu ch t chnh nh
+ Reset li h thng cnh bo.
Nt PAR qut ht tham s trong ch ny v nt
UP & DOWN la chn chc nng iu khin thch hp. n
PAR tr v ch hin th bnh thng trong khi chc
nng iu khin la chn ang c thc hin. Nu n DSP
hoc khng tc ng g khong 5s th s thot khi ch
ny m khng c iu g xy ra .
Bng tham chin cc tham s.
Hin
th
Tham s
Phm vi hot ng v cc
thnh phn
Miu t - ghi ch
SPSL
La chn im
t cc b hay
im t xa
LOC - iu khin cc b
rEt - im t xa (LOC)
TruE
Chuyn i
hot ng
Auto: T ng iu khin
User: in khin bng tay
(Auto)
tuNE Ch t
chnh nh
22
iu khin nhit
tham s
TUNE Yes: khi ng ch t
chnh ch tham s
No: Kt thc
Pirl: chnh nh vng ngoi
(iu khin tng
SEC: Chnh nh vng trong
(iu khin tng)
Alrs
Reset cnh bo
UP: reset Alarm 1
DOWN: reset Alarm 2
Bc ny s khng xut
hin nu nh la chn
cnh bo khng c
ci t hoc b
kho (LOC)
1.5.6. S ngn cn xm nhp vo chng trnh.
C mt vi cnh bo hoc ch s xm nhp xu vo
chng trnh c th k ra sau: t m truy nhp vo tham s
code trong Module 3 - CL ch khng bo v tham s,
khai bo s ngn cn xm nhp chng trnh cho u vo
s dng (chn 7)
Ta c bng sau:
Trng thi u vo s
dng
M M t
1
Khng s dng hay s dng
khng phi kho chng
trnh
0 Truy nhp c tt c cc
tham s c th (lun truy
nhp c: ch khng bo
v v ch u)
2
cs dng kho chng
trnh
0 Ch truy nhp c vo ch
c bo v v ch thay
i c tham s nu khng
b kho
3
c s dng hoc khng s
dng
M
vo
1
250
Truy nhp vo ch bo v
t ch ny phi vo m
ph hp vi m trong ch
khng bo v tham s mi
chuyn sang c ch .
23
iu khin nhit
Tng ng 3 trng thi ca u vo s dng l trng thi
ca s ngn cn xm nhp vo chng trnh.
Trng thi ca s ngn
cn xm nhp chng
trnh
M
t
M t
Khng hot ng
0 Truy nhp c tt c cc
tham s ca b iu
khin cng nh ca h
thng
Hot ng
0 Ch truy nhp c vo
trong ch c bo v
tham s
Khng hot ng
1
250
Ch truy nhp c vo
ch bo v tham s.
1.6. Cc module nh dng tham s
y l nhng module cha nhng tham s c bn v
quan trng ca b iu khin v ca c h thng. Cc
module ny c truy cp t ch " khng bo v tham
s". C 9 module nh dng tham s tt c. Ngi thit k h
thng (hoc ngi vn hnh phi tin hnh tnh ton ri la
chn nhng thng s c bn v ti u cho h thng ca
mnh ri tin hnh ci t vo b iu khin). T cu
hnh ch dn ( trong ch khng bo v tham s) ngi
vn hnh c th s dng nt bm UP v DOWN la chn
cc module mong mun. n PAR truy cp vo module cn
thit quan st hay thay i, nt PA cng c s dng
qut ht cc tham s trong mt module v UP v DOWN
thay i gi tr tham s no . Tip tc n PAR
24
iu khin nhit
nhp s thay i, tip tc n tham s sau. Nu mun
thot ra khi ch khng bo v tham s m khng lm
thay i gi tr ca chng th ns DSP. Sau khi quan st
v la chn nhng tham s trong mt module, b iu
khin tr li cu hnh ch dn, tip tc vi cc module khc.
25
iu khin nhit
1.6.1. Module vo (1-In)
Module ny cha nhng tham s c bn nht ca b
iu khin cng nh ca c h thng. Ngi thit k hay vn
hnh h thng c kh nng la chn cu hnh cc thnh
phn trong h thng mt cch c th, chi tit v kh linh
hot. S la chn l tng i y : t loi cm bin,
thang o nhit , phn gii nhit , b lc tn hiu,
hng s hiu chnh...
La chn cm bin ( tham s: type)
C 8 loi cm bin kiu cp nhit in v hai loi cm
bin nhit in
tr c TCU h tr. Ngi thit k phi tnh ton v la chn
ng loi cn dng ri tin hnh ci t. Mt iu cn ch
l trc khi tin hnh ci t trong module tham s cn
kim tra xem JAM la chn cm bin trong bo mch ca TCU
c thch hp khng.
n v o nhit ( tham s : SCALL)
Hai n v o nhit (
0
F) hoc (
0
C) khi tin hnh
chn loi n v no cn thng nht vi tt c cc tham s
trong h thng.
phn gii nhit (tham s: dCPt).
C th chn phn gii l 1
o
hoc 0,1
o
. Nu thay
i cn kim tra li ton b cc tham s khc.
Lc tn hiu vo ( tham s: FLtr)
Trong TCU tch hp sn mt s b lc s cho php lc
nhiu vi cc chnh xc khc nhau. B lc ny phn bit
kh r nhiu ca php o v nhit thc t. Nu nh tn
hiu b bin ng nhiu di tc ng ca nhiu th tng gi
26
iu khin nhit
tr ca b lc nhng thi gian cp nht tn hiu vo ( hoc
thi gian x l ) s lu hn. Ngc li nu mun p ng u
ra nhanh nht gim ga tr lc.
C 5 ga tr lc ca tham s FLtr c th la chn (t 0-
4) vi hot ng c th nh sau:
FLtr:
0: lc t nht (hu nh khng) tn hiu vo
3: lc ln nht (tn hiu vo)
4: lc ln nht vi thi gian tr 2 sec
Hng s hiu chnh tn hiu vo ( SPAN v SHFt)
Nu nh nhit ca TCU khng ph hp vi qui
chiu ca thit b hay cn chnh nh nhit cm bin
th TCU s b bng hai tham s SPAN v SHFt.
SPAN: 0.001 n 9.999
SHFt: -9999 n 9999
Ta c cng thc sau
Nhit mong mun = ( nhit thc t thit b x
SPAN) + SHFt
V d:
Nhit mong mun
400.0
o
F
800.0
o
F
Nhit thc ca cp nhit
in
395.0
o
F
804.0
o
F
APAN =
0 0
0 0
800 400
0,978
804 395
F F
F F
SHFt = 400
0
- ( 0.978 x 395
0
F ) = 13.7
0
F
Gi tr ti hn ca diim t ( tham s l SPLO v
SPHI )
27
iu khin nhit
Nhit ca h thng s nm t SPLO n SPHI. y
l hai gi tr nhm xc nh vng hot ng an ton cho h
thng. Gi tr ca im t c th c t bn ngoi TCU
(nh mt thit b khc ni vi n) nhng khng th nm ngoi
vng gii hn ny c
SPLO - t -999 n 9999
SPHI - t -999 n 9999
SPrP
Nhm trnh c s thay i t ngt nhit cho b
x l v gim c qu iu chnh khi khi ng
TCU a ra tham s SPrP (n v / pht)
Bng tham chiu cc tham s. (Cc gi tr trong() l gi
tr mc nh)
Hin
th
Tham s Phm vi hot ng v cc
thnh phn
M t
Ghi ch
28
SP(im
t)
S
P
50
0
20
0
im t
u tin
t
30
o
/
pht
iu khin nhit
TYPE Kiu u
vo
tc-t: Kiu cp nhit in
TC
tc-E: Kiu cp nhit in
E
tc-J: Kiu cp nhit in J
tc-K: Kiu cp nhit in
K
tc-r: Kiu cp nhit in R
tc-S: Kiu cp nhit in
S
tc-b: Kiu cp nhit in
B
tc-N: Kiu cp nhit in
N
la chn mt trong
nhng cm bin loi cp
nhit in cn t JAM
ng v tr.
r 385: 2 loi nhit in
r 392: tr
(tc-J)
SCALL n v o
nhit
o
F hoc
o
C
(
o
F)
dCPt phn
gii nhit
0 hoc 0.0
(0)
FLtr
B lc s
tn hiu
vo
0 n 4
(1)
Gi tr cng cao th cht
lng hc cng tt nhng s
tn thi gian hn
SPAN
v
SHFt
Hng s
hiu
chnh tn
hiu vo
SPAN: 0.001 n 9.999
(1.000)
SHFt: -999 n 9999
(0)
Bnh thng hai tham s
ny u c t bng 0
SPLO Gii hn
thp ca
im t
-999 n 9999
(0)
Ch t gi tr ny nh
phi nh hn SPHI
SPHI Gii hn
trn ca
im t
-999 n 9999
(9999)
t ln hn gi tr SPLO
SPrP 0.0 n 999.9 / pht
(0.0)
t =0 th SPrP khng
hot ng
inPt u vo s
dng
PLOC-Ngn cn xm
nhp chng trnh
trnf- La chn ch
ng/ bng tay.
SPrP- La chn ON/OFF
ALrS- Reset u ra
cnh bo
Print- Yu cu in
(PLOC)
Cn thit khi giao tip vi
cc thit b khc qua giao
din truyn thng RSusin.
HCur Dng t
nng
0.0 n 999.9 A
(50)
SPrP
1.6.2- Module u ra (2-OP)
29
iu khin nhit
Module ny cha nhng tham s tc ng n tn
hiu ca TCU nh: u ra iu khin chnh, c tnh u
ra trong ch t chnh nh, tm li cm bin Cc
tham s s c gii thiu di y:
Chu k lm vic ca u ra iu khin chnh (CYct)
S la chn chu k ny tu thuc vo hng s thi gian
qu trnh v module u ra s dng.
CyCT - 0 n 250 (s)
Thng thng chu k ny c chn bng 1/10 chu k ca
h thng (9/10 cn li TCU s ch hoc tin gnh mt s hot
ng cn thit cho vng iu khin sau). Chu k ca h
thng c tnh t lc nhn tn hiu vo (sau c x l,
truyn i) a tn hiu iu khin ti i tng n khi
i tng thc s b tc ng di tn hiu iu khin. Nu
chn chu k Cyct ny qu nh, th lng ph kh nhiu thi
gian ch. Nu chn qu ln th tn hiu iu khin c th
b suy gim. Nu s dng module Triac, Logic / SSR
iu khin th c th chn thi gian ny t hn 1/10.
Nu t Cyct = 0 th OP s tt. Do nu s dng
u ra tng t s iu khin th t tham s ny
(0). Tham s ny cng b b qua khi ci t hot ng
iu khin v tr van.
Hot ng ca u ra iu khin (OPAC)
Nu dng TCU cho hot ng t nng/ lm mt th
bnh thng OP1 s s dng t nng, v hot ng
hnh trnh ngc, cn OP s dng lm mt hnh trnh
thun. Khi OPAC s c gi tr l rEv. Nu drct c t
30
iu khin nhit
cho OPAC th OP1 s hot ng hnh trnh thun cn OP2
hot ng hnh trnh ngc.
Gii hn cng sut u ra (OPLO v OPHI)
Cho hot ng iu khin bnh thng:
OPLO v OPHI : t 0 n 100% (tu chn) ring i vi
ng dng t nng/ lm mt cn t
OPLO v OPHI = -100% n 100%
Vi hot ng iu khin bng tay th s gii hn ny
khng c tc dng.
Loi b u ra khi tm thy li ca cm bin (OPFL)
Nu li ca cm bin c tm thy, th u ra iu
khin c th b tt tu thuc vo gi tr t trong OPFL.
OPFL c th t gi tr trong khong (t 0% n
100%).
Trong : OPFL = 0% th OP s OFF hon ton
OPFL = 100% th OP1 ON hon ton
Khi ci t ng dng lm mt cn t OPFL trong
khong t 100% n 100%.
Ti 0% c OP1 v OP2 u OFF, 100% c OP1 v OP2
OFF; -100% th OP2 ON v OP1 OFF.
tr ca ch iu khin ON/OFF (CHYS)
B iu khin c th lm vic ch iu chnh
ON/OFF bng cch t h s t l (trong b iu khin
PID) 0
o
. tr iu khin ch c th iu chnh c
u ra iu khin chnh (OP1).
Gi tr CHYS t 1
o
n 250
o

C th t tr nh nht nhm loi tr n mc ti
a s dao ng quanh gi tr im t. Nhn chung gi
31
iu khin nhit
tr ny c chn t 2
o
n 5
o
l c th tho mn yu cu. Tr-
c khi chuyn sang ch t chnh nh tham s cn phi
t gi tr cho tham s ny. i vi s iu khin tng,
trong vng th cp gi tr ny vo khong 1.5% thang o
nhit .
La chn c tnh u ra trong ch t chnh
nh tham s.
Ch t chnh ny s xc nh cc thng s ca b
iu khin PID gip ngi thit k h thng, khi m hot
ng nhn dng i tng kh tin hnh hay vi s iu
khin m cht lng v tiu chun khng qu kht khe. Trc
khi chuyn sang ch ny, cn nhp vo c tnh qu
trnh mong mun. C 5 c tnh (hnh v) c nh s t
0 4. Ngi vn hnh hay thit k h thng cn a vo
tham s tcod mt trong nhng gi tr t 0 4 tu theo yu
cu theo yu cu c th. Ch t chnh nh ny s ghi
nhn trc c c tnh ca u ra v iu khin h thng
theo c tnh di s iu khin ca b PID.
Nu tcod c t bng 0 th p ng u ra l
nhanh nht nhng s qu iu chnh c th xy ra. Nu tcod
= 4 th p ng u ra chm nht nhng khng c qu
iu chnh hoc gn nh khng ng k.
Cc c tnh ca ch t chnh nh tham s.
32
SP
1
2
3
4
0
iu khin nhit
u ra Analong tuyn tnh mt chiu (ANAS, ANLO,
ANDB, ANUT )
u ra ny c th s dng cho nhiu mc ch khc
nhau tu theo yu cu ca ngi thit k (hay vn hnh) h
thng.
Tham s ANAS c th c t :
- OP : % cng sut ra
- INP : u vo ca qu trnh khc
- DEV : chnh lch nhit
- Sp : gi tr im t
- DE 2 : chnh lch ca vng th 2 (ch
iu khin tng)
- SP-2 : im t nhit ca vng th 2 (ch
iu khin tng)
iu ny cho php TCU c th giao tip trc tip vi mt
s thit b khc nh my ghi biu , thit b o, b iu
khin hoc b iu khin tuyn tnh cng sut
ANLO (4mA hoc 0 VDC): t 999 n 9999
ANHI (20mA hoc 10 VDC): t 999 n 9999
Andb 0.0 n 250%
ANUT 0 n 250 giy
33
iu khin nhit
* V d 1: Dng u ra tuyn tnh mt chiu ni vi my
ghi biu nhit qu trnh (in p vo 0 n 10VDC)
Di nhit qu trnh l 300 n 700. Cn lp trnh
cho ANLO (OVDC) c gi tr 300 v ANHI (10VDC) c gi tr
700. V iu quan trng l cn n nh tham s ANAS =
INP.
*V d 2: Dng u ra tuyn tnh mt chiu (4 n
20mA) iu khin tuyn tnh b iu khin cng sut.
Vi yu cu v di cht l t 2.0% v thi gian cp nht
l 10s.
Khi ta s c: ANAS = OP
ANLO = 0.0%
ANHI = 100.0%
Andb = 2.0%
Anut = 10s
Hin
th
Tham s Phm vi hot ng
v cc thnh phn
M t - Ghi ch
CYCt Chu k 0 n 250s
(2)
0 th OP1 off
OPAC Hot ng iu drct - lm mt Cho c ch iu
34
Analog
Output(
mA)
n
v
hin
th
ANLO
ANHI
4
2
0
iu khin nhit
khin reV - t nng
(rev)
khin PID v ON/OFF
OPLO Gii hn di cng sut
u ra
0% n 100%, OP1
(0)
Ci t OPLO<OPHI
-100% n 100%
OP1 v OP2
(100)
Khi la chn lm mt
c ci t
OPHI Gii hn trn cng
sut u ra
0% n 100%, OP1
(100)
Cn t OPLO > OPHI
-100% n 100%
OP1 v OP2
(0)
Khi la chn lm mt
c ci t
OPFL nh trc cng sut
u ra khi cm bin
b li
0% n 100%, OP
-100% n 100%
OP1 v OP2
t gi tr iu
khin an ton hn khi
li ca cm bin c
tm thy
CHYS tr ca iu
khin
1 n 250
tcod M c tnh u ra
ca ch t iu
chnh
0 n 4
(0)
0 : p ng nhanh nht
4 : p ng chm nht
ANAS Phn nh u ra
tuyn tnh mt
chiu
OP - outpoint
INP - input
SP - sptpoint
dEV deviation
dE-2 -
SP - 2 setpoint
(OP)
Tham s ny xut
hin khi la chn u
ra tng t c ci t
ANLO Gi tr thang o di -999 n 9999
(0.0)
Thang o trong hai
tham s ny tu thuc
vo ANAS
Ch s dng khi la
chn u ra Anlog
ANHI Gi tr thang o trn -999 n 9999
(100.00)
ANdb di cht u ra t-
ng t
0.0 n 25%
(0.0)
Ch s dng khi
ANAS = OP
0% khng di cht
ANut Thi gian cp nht 0 n 250s
(0)
Ch s dng khi
ANAS=OP
1.6.3- Module kho tham s (3-LC)
m bo an ton cho h thng, ta c th hn ch s
truy nhp v thay i t bn ngoi cc yu t sau: s hin
th, ch bo v tham s v ch n.
Hn ch s hin th (SP, OP, Hcur, IN-2, dEV, UdSP)
Cc tham s c th b hn ch ba mc khc nhau
Loc : nhn khng cho php hin th
Red : Hin th nhng khng truy nhp c
Ent : hin th v c th thay i c
35
iu khin nhit
Cc tham s hin th ny c th truy nhp trc tip t
cc ch hin th bnh thng (khng cn vo module
cha tham s) bng cch n DSP, nhng c quan st v bin
i c hay khng thif tu theo mc cho php t trong
module ny.
Hn ch tham s trong ch bo v (Code, PID,
PID
2
, rtbS v AL)
S hn ch cc tham s ny cng c 3 mc khc nhau
- Loc : ngn khng xut hin trong ch bo v
tham s
- red : c xut hin nhng khng thay i c
- Ent : Xut hin ng thi truy nhp v thay i
c
Ch bo v tham s hot ng khi s ngng cn
xm nhp chng trnh hot ng. Ring tham s code th
khng c 3 gi tr nh trn m n c t t 0 n 250
(v mun truy nhp vo ch khng bo v tham s t
ch c bo v th phi vo m (code)) thch hp vi m t
module ny.
C th nh sau:
* Cod : T 0 n 250
* PID : Cc tham s trong b iu khin PID chnh
* PID2 : Cc tham s trong b iu khin PID2
* rtbS : Tham s rt v bs
* AL : Gi tr cnh bo
Hn ch tham s trong ch n
36
iu khin nhit
Ch n c th truy nhp t ch hin th bnh
thng bng cch n PAR v gi trong vng 3s. Cc tham s c
th b hn ch hai mc khc nhau
Loct : Ngn khng xut hin
Enbl : cho php hin thc hin cc chc nng trong
ch n
Ch n c truy nhp c lp vi trng thi ca s
ngn chn xm nhp chng trnh. Cc tham s trong l:
AlrS : reset u ra cnh bo
SPSL: la chn hot ng vi im t xa hoc im
t cc b.
Trnf : la chn ch t ng hay bng tay
Tune : s dng hoc hu b ch t chnh
nh tham s
Hin
th
Tham s Phm vi hot
ng v thnh
phn
M t- Ghi ch
SP Truy nhp vo im t LOC - Kho li
rEd - Ch c
Ent - Truy nhp
(Ent)
OP Truy nhp vo cng sut u ra LOC - Kho
rEd - Ch c
Ent - Truy nhp
(Ent)
Khi tham s ny -
c chn hin th n s
thit b thit b
ch th %PW
dEV S chnh lch nhit LOC - Kho li
rEd - Ch c
(red)
iN-2 u vo Anlog th hai LOC - Kho li
rEd - Ch c
(red)
HCur Dng t nng LOC - Kho li
rEd - Ch c
(red)
UdSP n v hin th LOC - Kho li
rEd - Ch c
code M truy cp 0 n 250
PID Cc gi tr ca b PID LOC - Kho li
rEd - Ch c
Ent - Truy nhp
(LOC)
PID2 Gi tr ca b PID th hai LOC - Kho li
rEd - Ch c
Ch c trong ch
iu khin tng
37
iu khin nhit
Ent - Truy nhp
(LOC)
RtbS im t xa LOC - Kho li
ENBL- (LOC)
AL Gi tr cnh bo LOC - Kho li
rEd - Ch c
Ent - Truy nhp
(Ent)
AlrS Reset li hot ng cnh bo LOC - Kho li
ENBL- Cho php
(LOC)
Cc tham s ny
trong ch n
SPSL La chn im t xa hay
im t cc b
LOC - Kho li
ENBL- Cho php
la chn
(LOC)
TrnF La chn ch t ng hoc
bng tay
LOC - Kho li
ENBL- C th la
chn
(LOC)
TuNE La chn ch t chnh nh
tham s
1.6.6- Module cnh bo (4-AL)
S hot ng ca h thng khng phi lc no cng an
ton v n nh nh mong mun, h thng c th gp s
c, cc thng s khng nh mong mun V vy hot ng
cnh bo l ht sc quan trng, n gip ngi vn hnh nhanh
chng pht hin ra s c tin hnh cc bin php khc
phc, hay ch n gin thng bo trng thi h thng hin
thi.
Ta c th t s lm vic ca hot ng cnh bo theo
nhiu ch theo nhiu mc, nhiu cp vi nhng tham
s khc nhau. iu ny tu thuc vo tnh cht ca h thng
v yu cu v cht lng.
Hot ng cnh bo (Act1, Act2)
S cnh bo c th c la chn mt trong nhng ch
sau:
1- Cnh bo theo nhit cao (A-Hi)
2- Cnh bo theo nhit thp (A-LO)
38
iu khin nhit
3- Cnh bo theo chnh lch cao (d-HI)
4- Cnh bo theo s chnh lch thp (d-LO)
5- Cnh bo theo di trong (b-in)
6- Cnh bo theo di ngoi (b-ot)
Cnh bo vi u ra Analog th hai
Khi s dng n u vo m rng ny, hot ng cnh
bo vn c th t ring cho n vi 6 ch hot ng
ging nh trn. Ngoi ra c th t cnh bo cho dng t
nng, cho iu khin van
S hot ng cnh bo c m t nh sau:
OUT PUT: u ra cnh bo; AL: Gi tr cnh bo
LED : B ch th
Hot ng cnh bo 1
39
out put: OFF
LED: OFF
out put:
OFF
LED: OFF
out put:
ON
LED:
ON
out put:
ON
LED:
ON
tr
nhit
AL
out put:
OFF
LED: OFF
out put:
ON
LED:
ON
out put:
ON
LED:
ON
tr
nhit
AL
out put:
OFF
LED:
OFF
iu khin nhit
Hot ng cnh bo 2
Hot ng cnh bo 3 vi gi tr AL dng
40
out put:
OFF
LED:
OFF
out put:
OFF
LED:
OFF
out put:
ON
LED:
ON
out put:
ON
LED:
ON
S
P
SP+A
L
tr
Nhit

iu khin nhit
Hot ng cnh bo 3 vi gi tr AL m
41
out put:
OFF
LED:
OFF
out put:
OFF
LED:
OFF
out put:
ON
LED:
ON
out put:
ON
LED:
ON
S
P
SP+
AL
tr
Nhit
out put:
OFF
LED:
OFF
out put:
OFF
LED:
OFF
out put:
ON
LED:
ON
out put:
ON
LED:
ON
S
P
SP+A
L
tr
Nhit

iu khin nhit
42
out put:
OFF
LED:
OFF
out put:
OFF
LED:
OFF
out put:
ON
LED:
ON
out put:
ON
LED:
ON
S
P
SP+
AL
tr
Nhit
Nhit
SP+A
L
SP
SPAL
Out put:
OFF
LED: ON
Out put:
ON
LED:
OFF
Out put:
ON
LED: OFF
Out put:
OFF
LED: ON
Out put: ON
LED: OFF
Out put:
OFF
LED: ON
iu khin nhit
*Hot ng cnh bo 5
43
iu khin nhit
*Hot ng cnh bo 6
Reset cnh bo (rSt1, rSt2)
Hot ng reset c th c thc hin t ng hoc thc
hin trc tip
bi ngi vn hnh. S hot ng c m t di y
44
Nhit
SP+A
L
SP
SPAL
Out put:
ON
LED: ON
Out put:
OFF
LED:
OFF
Out put:
OFF
LED: OFF
Out put:
ON
LED: ON
Out put:
OFF
LED: OFF
Out put:
ON
LED: ON
iu khin nhit

OFF ON OFF OFF ON ON
T ng
OFF ON OFF ON
Vn hnh
Thc hin bi ng i vn hnh
Thi gian
Nhit
AL
Bng tham chiu cc tham s trong module 4
Hin
th
Tham s
Phm vi hot ng
v cc thnh phn
M t - Ghi
ch
Act1 Ch cnh
bo 01
A-HI: Hot ng cnh
bo1
A-LO: Hot ng cnh
bo 2
d-HI : Hot ng cnh
bo 3
d-LO: Hot ng cnh
bo 4
b-IN: Hot ng cnh
bo 5
b-ot : Hot ng cnh
bo 6
45
iu khin nhit
A2-HI: Hot ng cnh
bo1
A2-LO:Hot ng cnh
bo2
d-HI : Hot ng cnh
bo 3
d-LO: Hot ng cnh
bo 4
b-IN: Hot ng cnh
bo 5
b-ot : Hot ng cnh
bo 6
Cho u vo
Anlog th
hai. (Dng
cho iu
khin tng)
rSt1 Reset cnh bo Auto: - T ng
LAtc: - Bng tay
(Auto)
AL-1 Gi tr cnh
bo1
-999 n 9999
(0)
AL-2 Gi tr cnh
bo2
-999 n 9999
(0)
AHYS tr ca s
cnh bo
1 n 250
(1)
1.6.5. Module u ra lm mt (5-02)
u ra iu khin chnh th 2 (OP2) c th s dng cho
hot ng lm mt trong h thng c c s t nng v lm
mt.
+ Chu k lm vic ca u ra lm mt (CYC2)
Chn gi tr t 0 n 250s nu chn 0 th u ra ny
tt.
+ H s tng quan gia s t nng v lm mt
46
iu khin nhit
V d: S t nng lm vic vi cng sut 10KW, cn s
lm mt l 5KW th h s GAN2 l 2. Tham s GAN2 c gi
tr t 0 n 10.0
* Di cht (hoc s chng) ca quan h t nng/ lm
mt. Tham s ny to ra vng m c s t nng/ lm mt
cng hot ng hoc cng cht (khng c hot ng no)
Tham s db-2: -999 n 9999
Hot ng t nng/ lm mt vi db = 0
47
cng
sut
u ra
%

OP1
+100
%
OP2
+100
%
nhit
t nng Lm
mt

SETPOINT
cng
sut
u
ra
(%)
db 0
t
nng
SETPOINT
Lm
mt
2
1
5
nhit

iu khin nhit
Hot ng t nng/ lm mt vi (db<0)
Hot ng t nng/ lm mt vi db<0
Bng tham chiu cc tham s
Hin
th
Tham s Phm vi hot
ng v cc
M t - Ghi
ch
48
t
nng
SETPOIN
T
lm mt
cng
sut
u
ra
(%)
OP1
+100
%
2
1
5
t
nng
SETPOIN
T
lm mt
cng
sut
u
ra
(%)
OP1
+100
%
2
1
5
iu khin nhit
thnh phn
CYC2 Chu k lm mt 0.0 n 250
s
(0)
O0 th OP2 off
GAN2
H s quan h
gia t nng
v lm mt
0.0 n 10.0
(1.0)
db-2 Di cht hoc s
chng gia t
nng/ lm mt
-999 n 9999
(0)
Db-2 dng th
c di cht.
Db-2 m th
c s chng
1.6.6- Module truyn thng ni tip (6-SC)
Module truyn thng ny cha nhng tham s
nhm phc v cho vic giao tip vi cc thit b kt hp khc
nh: My in, b iu khin kh trnh hay my tnh ch
thng qu chun truyn thng RS 485.
Khi giao tip vi TCU th nh dng d liu ca
i tc v TCU phi ng nht.
Tham s v tc baud (BAUD)
Tc baud nm trong nhng gi tr sau:
300, 600, 1200, 2400, 4800 hoc 9600
Khi chn tc baud cho s giao tip th tc ny
phi ph hp vitt c cc i tc khc trong h thng.
Parity Bit (Parb)
Mc d s dng k thut tn hiu s nhng do tc ng
ca nhiu mi trng truyn dn m thng tin t nhiu b sai
lch. Nhm pht trin ra li khc phc kp thi th ph-
ng php bo ton d liu parity bit c l chn:
Partybit c th c chn l:
49
iu khin nhit
Parity chn, Parity l hoc khng s dng
Tham s a ch (Addr)
Khi c nhiu thit b kt ni vi nhau trn cng mt giao
din truyn thng RS 485 th mi thit b phi c mt a
ch ring bit (c gi tr t 0 n 99). Nu chn a ch 0
th khng cn phi ch r a ch trao i thng tin vi
thit b cha a ch .
Tham s v tc in (PrAt)
TCU c th c lp trnh t ng vn chuyn yu
cu in ti my in vi mt tc nh trc. Tt nhin tc
ny ln nht l bng tc ca my in. Nu chn gi tr 0
th hu b yu cu in
PrAt - 0 n 9999s
La chn in (POPT)
Nu chn YES khi ti tham s ny th s truy cp vo
mt danh sch nhng tham s cho yu cu in. Dng nt n
PAR qut ht tham s trong danh sch, dng nt UP v
DOWN chn YES hay NO
INP - in gi tr nhit vo
SET - in nhit t
Opr - in % cng sut
Pbd - in gi tr khuch i
Int - in hng s thi gian tch phn
Der - in hng s thi gian vi phn
AL1 - in gi tr cnh bo 1
DEV - in gi tr chn lch nhit
Crg - in h s quan h gia t nng/ lm mt
50
iu khin nhit
Cdb - in gii cht lm mt
IN2 - in gi tr u vo Analog th 2
Pb2 - in h s khuch i (ca b PID2)
IT2 - in hng s thi gian tch phn (ca b PID2)
DT2 - in hng s thi gian vi phn (ca b PID2)
SP2 - in gi tr im t trc tip ca ch
iu khin tng
SPrP
1.6.2- Module u ra (2-OP)
Module ny cha nhng tham s tc ng n tn
hiu ca TCU nh: u ra iu khin chnh, c tnh u
ra trong ch t chnh nh, tm li cm bin Cc
tham s s c gii thiu di y:
Chu k lm vic ca u ra iu khin chnh (CYct)
S la chn chu k ny tu thuc vo hng s thi gian
qu trnh v module u ra s dng.
CyCT - 0 n 250 (s)
Thng thng chu k ny c chn bng 1/10 chu k ca
h thng (9/10 cn li TCU s ch hoc tin gnh mt s hot
ng cn thit cho vng iu khin sau). Chu k ca h
thng c tnh t lc nhn tn hiu vo (sau c x l,
truyn i) a tn hiu iu khin ti i tng n khi
i tng thc s b tc ng di tn hiu iu khin. Nu
chn chu k Cyct ny qu nh, th lng ph kh nhiu thi
gian ch. Nu chn qu ln th tn hiu iu khin c th
b suy gim. Nu s dng module Triac, Logic / SSR
iu khin th c th chn thi gian ny t hn 1/10.
51
iu khin nhit
Nu t Cyct = 0 th OP s tt. Do nu s dng
u ra tng t s iu khin th t tham s ny
(0). Tham s ny cng b b qua khi ci t hot ng
iu khin v tr van.
Hot ng ca u ra iu khin (OPAC)
Nu dng TCU cho hot ng t nng/ lm mt th
bnh thng OP1 s s dng t nng, v hot ng
hnh trnh ngc, cn OP s dng lm mt hnh trnh
thun. Khi OPAC s c gi tr l rEv. Nu drct c t
cho OPAC th OP1 s hot ng hnh trnh thun cn OP2
hot ng hnh trnh ngc.
Gii hn cng sut u ra (OPLO v OPHI)
Cho hot ng iu khin bnh thng:
OPLO v OPHI : t 0 n 100% (tu chn) ring i vi
ng dng t nng/ lm mt cn t
OPLO v OPHI = -100% n 100%
Vi hot ng iu khin bng tay th s gii hn ny
khng c tc dng.
Loi b u ra khi tm thy li ca cm bin (OPFL)
Nu li ca cm bin c tm thy, th u ra iu
khin c th b tt tu thuc vo gi tr t trong OPFL.
OPFL c th t gi tr trong khong (t 0% n
100%).
Trong : OPFL = 0% th OP s OFF hon ton
OPFL = 100% th OP1 ON hon ton
Khi ci t ng dng lm mt cn t OPFL trong
khong t 100% n 100%.
52
iu khin nhit
Ti 0% c OP1 v OP2 u OFF, 100% c OP1 v OP2
OFF; -100% th OP2 ON v OP1 OFF.
tr ca ch iu khin ON/OFF (CHYS)
B iu khin c th lm vic ch iu chnh
ON/OFF bng cch t h s t l (trong b iu khin
PID) 0
o
. tr iu khin ch c th iu chnh c
u ra iu khin chnh (OP1).
Gi tr CHYS t 1
o
n 250
o

C th t tr nh nht nhm loi tr n mc ti
a s dao ng quanh gi tr im t. Nhn chung gi
tr ny c chn t 2
o
n 5
o
l c th tho mn yu cu. Tr-
c khi chuyn sang ch t chnh nh tham s cn phi
t gi tr cho tham s ny. i vi s iu khin tng,
trong vng th cp gi tr ny vo khong 1.5% thang o
nhit .
La chn c tnh u ra trong ch t chnh
nh tham s.
Ch t chnh ny s xc nh cc thng s ca b
iu khin PID gip ngi thit k h thng, khi m hot
ng nhn dng i tng kh tin hnh hay vi s iu
khin m cht lng v tiu chun khng qu kht khe. Trc
khi chuyn sang ch ny, cn nhp vo c tnh qu
trnh mong mun. C 5 c tnh (hnh v) c nh s t
0 4. Ngi vn hnh hay thit k h thng cn a vo
tham s tcod mt trong nhng gi tr t 0 4 tu theo yu
cu theo yu cu c th. Ch t chnh nh ny s ghi
53
iu khin nhit
nhn trc c c tnh ca u ra v iu khin h thng
theo c tnh di s iu khin ca b PID.
Nu tcod c t bng 0 th p ng u ra l
nhanh nht nhng s qu iu chnh c th xy ra. Nu tcod
= 4 th p ng u ra chm nht nhng khng c qu
iu chnh hoc gn nh khng ng k.
Cc c tnh ca ch t chnh nh tham s.
u ra Analong tuyn tnh mt chiu (ANAS, ANLO,
ANDB, ANUT )
u ra ny c th s dng cho nhiu mc ch khc
nhau tu theo yu cu ca ngi thit k (hay vn hnh) h
thng.
Tham s ANAS c th c t :
- OP : % cng sut ra
- INP : u vo ca qu trnh khc
- DEV : chnh lch nhit
- Sp : gi tr im t
54
SP
1
2
3
4
0
iu khin nhit
- DE 2 : chnh lch ca vng th 2 (ch
iu khin tng)
- SP-2 : im t nhit ca vng th 2 (ch
iu khin tng)
iu ny cho php TCU c th giao tip trc tip vi mt
s thit b khc nh my ghi biu , thit b o, b iu
khin hoc b iu khin tuyn tnh cng sut
ANLO (4mA hoc 0 VDC): t 999 n 9999
ANHI (20mA hoc 10 VDC): t 999 n 9999
Andb 0.0 n 250%
ANUT 0 n 250 giy
V d 1: Dng u ra tuyn tnh mt chiu ni vi my
ghi biu nhit qu trnh (in p vo 0 n 10VDC)
Di nhit qu trnh l 300 n 700. Cn lp trnh
cho ANLO (OVDC) c gi tr 300 v ANHI (10VDC) c gi tr
700. V iu quan trng l cn n nh tham s ANAS =
INP.
V d 2: Dng u ra tuyn tnh mt chiu (4 n
20mA) iu khin tuyn tnh b iu khin cng sut.
Vi yu cu v di cht l t 2.0% v thi gian cp nht
l 10s.
Khi ta s c: ANAS = OP
ANLO = 0.0%
ANHI = 100.0%
Andb = 2.0%
Anut = 10s
55
Analog
Output(
mA)
n
v
hin
th
ANLO
ANHI
4
2
0
iu khin nhit
Hin
th
Tham s
Phm vi hot ng v
cc thnh phn
M t - Ghi ch
CYCt Chu k 0 n 250s (2) 0 th OP1 off
OPAC Hot ng iu
khin
drct - lm mt
reV - t nng
(rev)
Cho c ch iu khin PID
v ON/OFF
OPLO Gii hn di cng
sut u ra
0% n 100%, OP1
(0)
Ci t OPLO<OPHI
-100% n 100%
OP1 v OP2
(100)
Khi la chn lm mt c ci
t
OPHI Gii hn trn cng
sut u ra
0% n 100%, OP1
(100)
Cn t OPLO > OPHI
-100% n 100%
OP1 v OP2
(0)
Khi la chn lm mt c ci
t
OPFL nh trc cng sut
u ra khi cm
bin b li
0% n 100%, OP
-100% n 100%
OP1 v OP2
t gi tr iu khin an
ton hn khi li ca cm bin
c tm thy
CHYS tr ca iu
khin
1 n 250
Tcod M c tnh u
ra ca ch t
iu chnh
0 n 4 (0) 0 : p ng nhanh nht
4 : p ng chm nht
ANAS Phn nh u ra
tuyn tnh mt
chiu
OP - outpoint
INP - input
SP - sptpoint
dEV deviation
dE-2 -
SP - 2 setpoint
(OP)
Tham s ny xut hin khi la
chn u ra tng t c ci
t
ANLO Gi tr thang o di -999 n 9999
(0.0
Thang o trong hai tham s
ny tu thuc vo ANAS
Ch s dng khi la chn u
ra Anlog
ANHI Gi tr thang o
trn
-999 n 9999
(100.00)
ANdb di cht u ra t-
ng t
1.0 n 25%
(0.0)
Ch s dng khi
ANAS = OP
0% khng di cht
ANut Thi gian cp nht 0 n 250s
(0)
Ch s dng khi
ANAS=OP
56
iu khin nhit
1.6.3- Module kho tham s (3-LC)
m bo an ton cho h thng, ta c th hn
ch s truy nhp v thay i t bn ngoi cc yu t sau: s
hin th, ch bo v tham s v ch n.
Hn ch s hin th (SP, OP, Hcur, IN-2, dEV, UdSP)
Cc tham s c th b hn ch ba mc khc nhau
Loc : nhn khng cho php hin th
Red : Hin th nhng khng truy nhp c
Ent : hin th v c th thay i c
Cc tham s hin th ny c th truy nhp trc tip t
cc ch hin th bnh thng (khng cn vo module
cha tham s) bng cch n DSP, nhng c quan st v bin
i c hay khng thif tu theo mc cho php t trong
module ny.
Hn ch tham s trong ch bo v (Code, PID,
PID
2
, rtbS v AL)
S hn ch cc tham s ny cng c 3 mc khc nhau
- Loc : ngn khng xut hin trong ch bo v
tham s
- red : c xut hin nhng khng thay i c
- Ent : Xut hin ng thi truy nhp v thay i
c
Ch bo v tham s hot ng khi s ngng cn
xm nhp chng trnh hot ng. Ring tham s code th
khng c 3 gi tr nh trn m n c t t 0 n 250
57
iu khin nhit
(v mun truy nhp vo ch khng bo v tham s t
ch c bo v th phi vo m (code)) thch hp vi m
t module ny.
C th nh sau:
* Cod : T 0 n 250
* PID : Cc tham s trong b iu khin PID chnh
* PID2 : Cc tham s trong b iu khin PID2
* rtbS : Tham s rt v bs
* AL : Gi tr cnh bo
Hn ch tham s trong ch n
Ch n c th truy nhp t ch hin th bnh
thng bng cch n PAR v gi trong vng 3s. Cc tham s c
th b hn ch hai mc khc nhau
Loct : Ngn khng xut hin
Enbl : cho php hin thc hin cc chc nng
trong ch n
Ch n c truy nhp c lp vi trng thi ca s
ngn chn xm nhp chng trnh. Cc tham s trong l:
AlrS : reset u ra cnh bo
SPSL : la chn hot ng vi im t xa hoc
im t cc b.
Trnf : la chn ch t ng hay bng tay
Tune : s dng hoc hu b ch t chnh
nh tham s
Hin Tham s Phm vi hot M t- Ghi ch
58
iu khin nhit
th
ng v thnh
phn
SP Truy nhp vo im
t
LOC - Kho li
rEd - Ch c
Ent - Truy nhp
(Ent)
OP Truy nhp vo cng
sut u ra
LOC - Kho
rEd - Ch c
Ent - Truy nhp
(Ent)
Khi tham s ny c chn
hin th n s thit b
thit b ch th %PW
dEV S chnh lch nhit
LOC - Kho li
rEd - Ch c
(red)
iN-2 u vo Anlog th hai LOC - Kho li
rEd - Ch c
(red)
HCur Dng t nng LOC - Kho li
rEd - Ch c
(red)
UdSP n v hin th LOC - Kho li
rEd - Ch c
code M truy cp 0 n 250
PID Cc gi tr ca b PID LOC - Kho li
rEd - Ch c
Ent - Truy nhp
(LOC)
PID2 Gi tr ca b PID th
hai
LOC - Kho li
rEd - Ch c
Ent - Truy nhp
(LOC)
Ch c trong ch
iu khin tng
RtbS im t xa LOC - Kho li
ENBL-
(LOC)
AL Gi tr cnh bo LOC - Kho li
rEd - Ch c
Ent - Truy nhp
(Ent)
AlrS Reset li hot ng
cnh bo
LOC - Kho li
ENBL- Cho php
(LOC)
Cc tham s ny trong ch
n
SPSL La chn im t
xa hay im t cc
b
LOC - Kho li
ENBL- Cho php
la chn (LOC)
TrnF La chn ch t
ng hoc bng tay
LOC - Kho li
ENBL- C th la
chn
(LOC)
TuNE La chn ch t
chnh nh tham s
1.6.6- Module cnh bo (4-AL)
59
iu khin nhit
S hot ng ca h thng khng phi lc no
cng an ton v n nh nh mong mun, h thng c th
gp s c, cc thng s khng nh mong mun V vy hot
ng cnh bo l ht sc quan trng, n gip ngi vn hnh
nhanh chng pht hin ra s c tin hnh cc bin php
khc phc, hay ch n gin thng bo trng thi h thng
hin thi.
Ta c th t s lm vic ca hot ng cnh bo
theo nhiu ch theo nhiu mc, nhiu cp vi nhng
tham s khc nhau. iu ny tu thuc vo tnh cht ca h
thng v yu cu v cht lng.
Hot ng cnh bo (Act1, Act2)
S cnh bo c th c la chn mt trong nhng ch
sau:
7- Cnh bo theo nhit cao (A-Hi)
8- Cnh bo theo nhit thp (A-LO)
9- Cnh bo theo chnh lch cao (d-HI)
10- Cnh bo theo s chnh lch thp (d-LO)
11- Cnh bo theo di trong (b-in)
12- Cnh bo theo di ngoi (b-ot)
Cnh bo vi u ra Analog th hai
Khi s dng n u vo m rng ny, hot ng cnh
bo vn c th t ring cho n vi 6 ch hot ng
ging nh trn. Ngoi ra c th t cnh bo cho dng t
nng, cho iu khin van
S hot ng cnh bo c m t nh sau:
60
out put: OFF
LED: OFF
out put:
OFF
LED: OFF
out put:
ON
LED:
ON
out put:
ON
LED:
ON
tr
nhit
AL
iu khin nhit
OUT PUT: u ra cnh bo; AL: Gi tr cnh bo
LED : B ch th
Hot ng cnh bo 1
Hot ng cnh bo 2
61
out put:
OFF
LED: OFF
out put:
ON
LED:
ON
out put:
ON
LED:
ON
tr
nhit
AL
out put:
OFF
LED:
OFF
out put:
OFF
LED:
OFF
out put:
OFF
LED:
OFF
out put:
ON
LED:
ON
out put:
ON
LED:
ON
S
P
SP+A
L
tr
Nhit

iu khin nhit

62
out put: OFF
LED: OFF
out put: OFF
LED: OFF
out put: ON
LED: ON
out put: ON
LED: ON
SP
SP+AL
tr
Nhit
out put:
OFF
LED:
OFF
out put:
OFF
LED:
OFF
out put:
ON
LED:
ON
out put:
ON
LED:
ON
S
P
SP+A
L
tr
Nhit

iu khin nhit

63
out put:
OFF
LED:
OFF
out put:
OFF
LED:
OFF
out put:
ON
LED:
ON
out put:
ON
LED:
ON
S
P
SP+A
L
tr
Nhit
Nhit
SP+A
L
SP
SPAL
Out put:
OFF
LED: ON
Out put:
ON
LED:
OFF
Out put:
ON
LED: OFF
Out put:
OFF
LED: ON
Out put: ON
LED: OFF
Out put:
OFF
LED: ON
iu khin nhit
*Hot ng cnh bo 5
*Hot ng cnh bo 6
Reset cnh bo (rSt1, rSt2)
64
Nhit
SP+A
L
SP
SPAL
Out put:
ON
LED: ON
Out put:
OFF
LED:
OFF
Out put:
OFF
LED: OFF
Out put:
ON
LED: ON
Out put:
OFF
LED: OFF
Out put:
ON
LED: ON
iu khin nhit
Hot ng reset c th c thc hin t ng hoc thc
hin trc tip bi ngi vn hnh. S hot ng c m t di
y
Hin
th
Tham s
Phm vi hot ng v cc
thnh phn
M t - Ghi
ch
Act1 Ch cnh bo
1
A-HI: Hot ng cnh bo1
A-LO: Hot ng cnh bo 2
d-HI : Hot ng cnh bo 3
d-LO: Hot ng cnh bo 4
b-IN: Hot ng cnh bo 5
b-ot : Hot ng cnh bo 6
A2-HI: Hot ng cnh bo1
A2-LO:Hot ng cnh bo2
d-HI : Hot ng cnh bo 3
d-LO: Hot ng cnh bo 4
b-IN: Hot ng cnh bo 5
b-ot : Hot ng cnh bo 6
Cho u vo
Anlog th hai.
(Dng cho iu
khin tng)
rSt1 Reset cnh bo Auto: - T ng
LAtc: - Bng tay
(Auto)
AL-1 Gi tr cnh bo1 -999 n 9999
(0)
AL-2 Gi tr cnh bo2 -999 n 9999
(0)
AHYS tr ca s cnh
bo
1 n 250
(1)
65
OFF ON OFF OFF ON ON
T
ng
OFF ON
OFF
ON Vn
hnh
Thc hin bi ngi vn
hnh
Thi
gian
Nhit
AL
iu khin nhit
1.6.5. Module u ra lm mt (5-02)
u ra iu khin chnh th 2 (OP2) c th s dng
cho hot ng lm mt trong h thng c c s t nng v
lm mt.
* Chu k lm vic ca u ra lm mt (CYC2)
Chn gi tr t 0 n 250s
nu chn 0 th u ra ny tt.
* H s tng quan gia s t nng v lm mt
V d: S t nng lm vic vi cng sut 10KW, cn s
lm mt l 5KW th h s GAN2 l 2.
Tham s GAN2 c gi tr t 0 n 10.0
* Di cht (hoc s chng) ca quan h t nng/ lm
mt. Tham s ny to ra vng m c s t nng/ lm mt
cng hot ng hoc cng cht (khng c hot ng no)
Tham s db-2: -999 n 9999
Hot ng t nng/ lm mt vi db = 0
66
cng
sut
u ra
%

OP1
+100
%
OP2
+100
%
nhit
t nng Lm
mt

SETPOINT
cng
sut
u
ra
(%)
db 0
t
nng
SETPOINT
Lm
mt
2
1
5
nhit

iu khin nhit
Hot ng t nng/ lm mt vi (db<0)
Hot ng t nng/ lm mt vi db<0
Bng tham chiu cc tham s
Hin
th
Tham s
Phm vi hot
ng v cc
thnh phn
M t - Ghi ch
CYC2 Chu k lm mt 1.0n 250 s
(0)
O0 th OP2 off
GAN2 H s quan h
gia t nng
v lm mt
1.0n 10.0
(1.0)
db-2 Di cht hoc
s chng gia
t nng/ lm
mt
-999 n
9999
(0)
Db-2 dng th c di
cht.
Db-2 m th c s
chng
1.6.6- Module truyn thng ni tip (6-SC)
Module truyn thng ny cha nhng tham s
nhm phc v cho vic giao tip vi cc thit b kt hp khc
67
t
nng
SETPOIN
T
lm mt
cng
sut
u
ra
(%)
OP1
+100
%
2
1
5
iu khin nhit
nh: My in, b iu khin kh trnh hay my tnh ch
thng qu chun truyn thng RS 485.
Khi giao tip vi TCU th nh dng d liu ca
i tc v TCU phi ng nht.
Tham s v tc baud (BAUD)
Tc baud nm trong nhng gi tr sau:
300, 600, 1200, 2400, 4800 hoc 9600
Khi chn tc baud cho s giao tip th tc ny
phi ph hp vitt c cc i tc khc trong h thng.
Parity Bit (Parb)
Mc d s dng k thut tn hiu s nhng do tc ng
ca nhiu mi trng truyn dn m thng tin t nhiu b sai
lch. Nhm pht trin ra li khc phc kp thi th ph-
ng php bo ton d liu parity bit c l chn:
Partybit c th c chn l:
Parity chn, Parity l hoc khng s dng
Tham s a ch (Addr)
Khi c nhiu thit b kt ni vi nhau trn cng mt giao
din truyn thng RS 485 th mi thit b phi c mt a
ch ring bit (c gi tr t 0 n 99). Nu chn a ch 0
th khng cn phi ch r a ch trao i thng tin vi
thit b cha a ch .
Tham s v tc in (PrAt)
TCU c th c lp trnh t ng vn chuyn yu
cu in ti my in vi mt tc nh trc. Tt nhin tc
ny ln nht l bng tc ca my in. Nu chn gi tr 0
th hu b yu cu in
68
iu khin nhit
PrAt - 0 n 9999s
La chn in (POPT)
Nu chn YES khi ti tham s ny th s truy cp vo
mt danh sch nhng tham s cho yu cu in. Dng nt n
PAR qut ht tham s trong danh sch, dng nt UP v
DOWN chn YES hay NO
INP - in gi tr nhit vo
SET - in nhit t
Opr - in % cng sut
Pbd - in gi tr khuch i
Int - in hng s thi gian tch phn
Der - in hng s thi gian vi phn
DEV - in gi tr chn lch nhit
Crg - in h s quan h gia t nng/ lm mt
Cdb - in gii cht lm mt
IN2 - in gi tr u vo Analog th 2
Pb2 - in h s khuch i (ca b PID2)
IT2 - in hng s thi gian tch phn (ca b PID2)
DT2 - in hng s thi gian vi phn (ca b PID2)
SP2 - in gi tr im t trc tip ca ch
iu khin tng
Bng cc tham s trong Module 6.
69
iu khin nhit
Hin
th
Tham s
Phm vi hot
ng
v cc thnh
phn
M t - ghi ch
bAud Tc nhanh
300 ti 9600
(1200)
Tc baud phi thch
hp vi thit b kt ni
vi n
Pard Parity bit
Tu chn: odd,
even hay no
parity (odd)
Parity bit cng phi
thch hp vi parity bit
ca cc thit b khc
Add a ch 0 n 99 (0)
Trong mng c nhiu
thit b giao tip vi
nhau th mi thit b
phi c 1 a ch ring
bit
PoPt La chn ch
vi my in
Yes/ No (no)
La chn ny nhm n
nh nhng thng s
cn in ra gi ti my
in kt ni vi TCU
INP Nhit vo Yes/ No (yes)
SET Nhit t Yes/ No (yes)
OPr % cng sut ra Yes/ No (yes)
Pdb H s khuch i Yes/ No (yes)
INt Hng s thi gian
tch phn
Yes/ No (yes)
DEr Hng s thi gian vi
phn
Yes/ No (yes)
AL - 1 Gi tr cnh bo 1 Yes/ No (yes)
AL- 2 Gi tr cnh bo 2 Yes/ No (yes)
DEv S chnh lch nhit

Yes/ No (yes)
Crg H s tng quan:
t nng/ lm mt
Yes/ No (yes)
Cdb Di cht trong ch
: t nng/ lm
mt
Yes/ No (yes)
Pb2 H s khuych i
b PID2
Yes/ No (yes)
Dt2 Hng s thi gian vi
phn ca b PID - 2
Yes/ No (yes)
RSP im t xa Yes/ No (yes)
SP2 im t 2 Yes/ No (yes)
INP2 u vo Analog th
2
Yes/ No (yes)
70
iu khin nhit
1.6.7. Module 7 (7 - 2N). u vo Analog th cp
u vo Analog th cp ny l u vo m rng nhm
tng thm tch nng iu khin ca TCU nh: iu khin vi
im t xa, hoc ng dng iu khin tng. S hot
ng ca u vo m rng ny cng c chng trnh ho
v c la chn bi ngi thit k h thng. Cc ch s ca
n c th c quan st trn mn hnh th hai.
Tham s OPEr (ch hot ng)
Tham s ny quyt nh s hot ng ca TCU hai
ch :
- rSP: ch hot ng vi im t xa, tc l n l
b iu khin khc.
- CSCd: ch iu khin tng vi 2 b PID c thch hp
trong TCU
phn gii u vo (tham s : iNP2) c cc gi
tr l: 0,0.0, 0.000; tu theo s la chn
Di vo (dSP1, dSP2) c gi tr nm trong khong -
99.9 n 999.9
1.6.8. Module - 9 (9 - FS).
Module ny cha nhng tham s ca nh cung cp ci
t cho cu hnh ca TCU. Khi xy dng h thng, mun
TCU tin hnh kim tra li tt c cc thnh phn khai bo
trong TCU c thch hp vi nhau hay khng th phi thng
qua module ny, ng thi lu tr s ci t mi hay khi
phc s ci t ban u ca nh sn xut.
Bng cc tham s v hot ng ca chng.
Hin
th
Tham s
Phm vi hot
ng
v cc thnh
phn
M t - ghi ch
71
iu khin nhit
Code
M dch v
ca nh sn
xut
- 66 (m t ngoi do
ngi vn hnh la
chn)
Khi phc li cc tham s do
nh sn xut ci t
- 48 Kim tra s thch hp ca tt
c cc thnh phn c khai
bo trong UCU

72
iu khin nhit
Chng 2
Hot ng iu khin ca TCU
2.1. iu khin PID.
Tn gi P. I. D l ch vit tt ca ba thnh phn c bn
trong b iu khin kinh in, trong : Khuych i t l
(P), tch phn (I) v vi phn (D). Mc d l thuyt iu
khin pht trin mnh m v c nhng bc tin nhy vt
nh: iu khin m, ng dng mng noron nhng b iu
khin P.I.D vn c vai tr v cng quan trng.
B iu khin P.I.D c s dng rng ri iu
khin cc i tng SISO (mt vo - mt ra) theo nguyn l hi
tip. B iu khin PID s d c s dng rng ri l tch
n gin ca n c v cu trc ln nguyn l lm vic m
cht lng li tt. Nhim v ca n l a sai lch e(t) ca h
thng v 0 sao cho qu trnh qu tho mn cc yu cu
c bn v cht lng .
- Nu sai lch e (t) cng ln th thng qua thnh phn
U
p
(t), tn hiu iu chnh U (t) cng ln (vai tr ca khuch
i P).
- Nu sai lch e(t) cha v 0 th thng qua U
I
(t), PID
vn cn to tn hiu iu chnh (vai tr ca tch phn I).
- Nu s thay i e(t) c tc nhanh th thng qua
thnh phn U
D
(t), phn ng thch hp ca u(t) s cng nhanh
(vai tr ca vi phn D).
Cu trc ca b iu khiu PID:
73
e (t)
u(t)
U
P
U
I
U
D
iu khin nhit
74
iu khin nhit
+ iu khin vi b iu khiu PID.
Trong : (t): tn hiu vo
y(t): tn hiu ra
e(t): sai lch
u(t): tn hiu iu khin.
B iu khiu PID c m t di phng trnh ton hc
sau y bng m hnh vo - ra.
(t) = k
p

t
D
I 0
1 de(t)
e(t) e( )d T
T dt
1
+ +
1
]
e(t): tn hiu u vo
u(t): tn hiu u ra.
k
p
: h s khuch i
T
D
: hng s vi phn
T m hnh vo - ra trn ta c c hm truyn sau:
W(s) = k
p
(1 + D
I
1
T s
T s
+
)
T hm truyn trn ta c: cht lng ca h thng ph
thuc vo ba tham s k
p
, I
D
, T
I
. h thng t c cht lng
theo yu cu t ra th phi phn tch i tng ri trn c
s chn cc tham s sao cho ph hp.
Mt iu cn ch l khng phi mi trng hp u
bt buc xc nh c ba tham s k
p
, T
I
v I
D
. V d nhng
75
(t)
i tng
iu
khin
e(t)
u(t) y(t)
iu khin nhit
trng hp m bn thn i tng iu khin c thnh
phn tch phn th trong b iu khiu khng cn
phi c thm khu tch phn mi kh c sai lch tnh, hay
ni cch khc, khi ta ch cn s dng b iu khiu PD
l . Hoc khi tn hiu trong h thng thay i tng i
chm v bn thn v bn thn b iu khin khng cn
c phn ng tht nhanh vi s thay i ca sai lch e(t) th
ta ch cn s dng b iu khiu PI.
Hnh v di y m t p ng u ra khi iu khin
bng PID.
2.2. iu khin k ton/OFF.
Khi c tnh u ra ca h thng c xu hng dao
ng mch quanh im t v yu cu v cht lng khng
qu kht khe th hot ng iu khin ON/OFF s c thc
hin. S iu khin ny nhanh chng lm gim s dao
ng ln ca u ra thng qua s iu khin v tr.
76
P
P.
D
P.I.D
P.I
t
0
C
SP
iu khin nhit
tr u ra cng nh th cng loi tr c s dao ng .
y l kiu iu khin n gin, hiu qa khng tht s
cao nhng c tc dng nhanh, ph hp vi i tng c
tr ln. thc hin ch iu khin ny ta phi t
tham s ca b khuch i P (trong b PID) bng 0 v tham
s v tr CHYS (chn t 1 n 150 ). Nhn chung
tham s ny thng c chn t 2 n 5 l tho mn yu
cu v cht lng.
77
iu khin nhit
Hnh 1a
Hnh 1b
Hot ng ca s iu khin ON/OFF vi u ra iu
khin OP1
78

tr
SP
0
C
t
OUT PUT: OFF
LED: OFF
OUT PUT: ON
LED: ON
OUT PUT: OFF
LED: OFF

tr
SP
0
C
t
OUT PUT: OFF
LED: OFF
OUT PUT: ON
LED: ON
OUT PUT: OFF
LED: OFF
iu khin nhit
+ iu khin ON/OFF vi u ra iu khin OP2.
79

tr
S
P
0
C
t
OUT PUT: OFF
LED: OFF
OUT PUT: ON
LED: ON
OUT PUT: OFF
LED: OFF

tr
S
P
0
C
t
OUT PUT: OFF
LED: OFF
OUT PUT: ON
LED: ON
OUT PUT: OFF
LED: OFF
iu khin nhit
+ Hot ng iu khin ON/OFF kt hp c OP1v OP2 vi
di cht db -2
2.3. Ch t chnh nh tham s.
Nhm gim bt gnh nng cho ngi thit k h thng,
TCU xy dng mt chng trnh t ng nhn dng
i tng ngha l n s tin hnh a ra nhng tn hiu th
ghi li c tnh ca i tng t tnh ton tham s ca b
iu khiu PID. iu ny ch c thc hin khi h thng -
c kt ni hon tt v mt phn cng v c khi ng
trong ch n. Cn ni thm l s t chnh nh ny ch
80
tr
S
P
0
C
t
OP 1: OFF
db - 2
db - 2
OP 1: ON
OP 1: OFF
OP 1: ON
OP 2: OFF
OP 2: ON
OP 2: OFF
OP 2: ON
t
iu khin nhit
tng i, thc hin trn cc i tng n gin v yu cu
v cht lng khng qu cao.
Trc khi tin hnh t chnh nh tham s cn la chn
cc c tnh mong mun m b iu khiu PID s thc
hin. Cc c tnh ny c nh s t 0 n 4, s la chn
s nhp vo tham s (tcod) trong module - 2.
Tu thuc vo c tnh qu trnh m cc tham s sau
y s c t bi ch t chnh nh tham s.
+ H s khuch i (Prop)
+ Hng s thi gian tch phn (Intt)
+ Hng s thit b vi phn (dErt)
+ B lc tn hiu vo (Fltr)
Nh vy ch t chnh nh tham s ny nhiu nht
l xc nh c 4 tham s nh trn. Trong khi mt h
thng mun c cht lng cao th phi tho mn kh nhiu yu
81
P.I.D
P.I
t
0
C
SP
0
1
3
4
2
iu khin nhit
cu cng ngh, nn cc tham s phi tng i nhiu v i
hi phi c tnh ton rt c th, chnh xc.
S hot ng ca ch ny c m t di y.
C th bt u ch t chnh nh tham s bt c
khi no: Khi bt u khi ng, t ng dn im t, hay
ti im no ca nhit qu trnh. Thng thng th
ta hay gi ch ny ngay sau khi khi ng, sau n
khong nhit bng 3/4 nhit im t th chu k
chnh nh bt u lm vic.
+ Cc bc tin hnh.
1. Bt u ch t chnh nh
82
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Kt thc qu
trnh t chnh
nh tham s.
B PID c ci
t v bt u
tnh ton
iu khin
im
bt u
ca s
chnh
nh
Gi ch
t
chnh
nh
Trng thi
OP1
u ra
tuyn tch
1 chiu
0
C
iu khin nhit
m bo rng ch ny khng b kho
trong modole cha tham s (module - 3)
t TCU ch hin th bnh thng
n PAR trong 3 s
Tm n tham s "tUNE" (n PAR tip)
Chn "Yes" v tip tc n PAR
Ch t chnh nh bt u.
2. Hu b (tham s ca b PID l ca chu trnh tr-
c.
A. Ch t chnh nh phi khng c kho
o TCU ch hin th bnh thng (tc l
khng phi ch hin thi cnh bo).
o n v gi nt bm PAR trong 3 s
o Tm n tham s (tUNE) bng nt UP &
DOWN
o Chn "No" ri n PAR
B. Hay c th reset li TCU bng cch tt ngay ngun nui
ri cp li ngun.
83
iu khin nhit
Chng 3
Xy dng hot ng iu khin vi TCU - 12004
3.1. M hnh h thng iu khin.
y l m hnh iu khin (SI - SO) vi i tng l l
nhit in tr. TCU - 12004 nhn tn hiu t cm bit (4) ri
so snh vi nhit t v tin hnh tnh ton a ra
tn hiu iu khin ti b KCS (iu khin cng sut)
nhm thay i ngun cung cp cho dy mung (3)
Trong :
1- KCS: y l b iu khiu cng sut iu
chnh ngun xoay chiu cp cho l nhit
84
5
1
51
5
%
PW
DSP
DSP
KCS
TCU -
12004
1

220V
4
2 3
iu khin nhit
2 - Bung t: c lm bng gch chu la cch in
v nhit tt, bn c hc cao v t b n mn mi trng
lm vic.
3 - Dy nung: lm bng vt liu c in tr sut ln, th-
ng l dy Ni - Cr. Nhit lng to ra c tnh theo cng thc
Jun - lenx:
Q = I
2
. R . t
4 - Cm bin: Hai loi cm bin thng hay dng o
nhit l: cp nhit in v nhit in tr. Cm bin
c t tm ln, bin s thay i nhit thnh s
thay i v in p a v TCU ( y cm bin l
cp nhit in).
5 - thit b cnh bo: s bo ng khi h thng gp s
c hoc nhit qu trnh ra khi vng an ton.
* S ni tn hiu ra/ vo TCU
85
Thit
b
cnh
bo
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
+
-
2 chn ni vi
cp nhit
in (vo)
u ra tuyn
tnh 1 chiu 4 -
20mA (ra)
OP 2/ AL1
OP2 - A
AL2
OP1 - A
OP1 - B
OP1 - C
K
CS
220V
Ngun nui
iu khin nhit
3.1.1. c im i tng iu khin (l in
tr) v phng php iu khin nhit l.
* c im l in tr.
Vi cc ng dng cho cng sut va v nh th l in
tr l mt gii php ph bin. u im ln nht ca n l
tnh n gin c v nguyn l ln thc tin cng ngh, d
lp t, vn hnh vf cht lng li kh tt. Tuy nhin qun ca
l ln, s thay i nhit ca l xy ra chm. L c h s
dung lng cng ln th tr cng ln.
Nhit bung l khng hon ton ng u ti mi
im, v vy nn vic xc nh nhit cng b ph
thuc vo v tr ca cm bin. Bin thin nhit l cn c
tnh t cn bng (tt nhin l iu ny xy ra cc k chm)
nn khi mt cn bng gia lng nhit cung cp v nhit lng
tiu th th ng dn l c th tin ti mt gi tr xc lp mi
m khng cn c tn hiu iu khin t TCU.
* Phng php iu khin nhit l in tr.
Nhit trong l ph thuc vo nhit lng to ra t
y nung, tc l nhit l ph thuc vo cng sut t
vo bung l. Chnh v vy iu khin nhit ta
cn iu khin cng sut t vo n. T cng thc tnh
cng sut ca l:
P = I
2
. R
Ta thy ngay c hai cch iu khin cng sut P.
+ Th nht: iu khin v pha tiu th in nng tc
l thay i in tr ca l. Phng php ny s gp kh
khn khi nhit lm vic cao, lc khong thay i
in tr l tng i ln nn chnh xc km. Phng php
86
iu khin nhit
ny t c s dng cn bi tnh khng lin tc v hn ch v
phm vi iu khin.
+ iu khin v pha cung cp, tc l thay i cng
sut cung cp cho dy t. Phng php ny c dng nhiu
v n gin thng qua cc b iu khiu cng sut.
3.1.2. Nghin cu v thit k phn cng.
* S lc v vai tr ca cc b cm bin.
Trong cc h thng o lng - iu khin, mi qu
trnh u c c trng bi cc bin trng thi nh: nhit
, p sut, tc , m men Cc bin trng thi ny thng
l cc i lng khng iu. Nhm mc ch iu chnh,
iu khin cc qu trnh ta cn thu thp thng tin, o c,
theo di s bin thin cc bin trng thi ca qu trnh.
Nhim v c thc hin bi cc b cm bin, nn c th
coi n l "tai mt" ca cc dy chuyn, qu trnh cng
ngh v ca cc con ngi.
Ring cm bin o ng dn c ngha cc k quan
trng bi i lng vt l ng dn c quan tm nhiu hn c
trong cc i lng vt l ni chung. Nhit ng vai tr
quyt nh n nhiu tnh cht ca vt cht. ch to
cc b cm bin nhit ngi ta s dng nhiu nguyn l
cm bin khc nhau t s c cc loi cm bin khc nhau.
C th k ra y vi loi cm bin thng dng nh: nhit
in tr, nhit ngu, phng php quang da trn phn b
bc x nhit do dao ng nhit.
* Cm bin cp nhit ngu (cp nhit in)
87
iu khin nhit
B cm bin mch nhit ngu l mt mch c t hai hay
nhiu thanh dn in gm hai dy dn A v B. Ch ni gia
hai thanh kim loi 1 v 2 c hn vi nhau.
Khi 2 mi hn t v t
0
c nhit
khc nhau th s c dng in chy qua
trong mch kn (theo Seebek). Chiu ca
dng in ph thuc v nhit tng
ng ca mi hn, tc l nu t > t
0
th
dng in chy theo hng ngc li. Nu
h mt u th gia hai cc xut
hin 1 sc in ng (s) nhit.
Khi mi hn 1 v 2 c cng nhit (gi s l t
0
) th
s tng:
E
AB
= e
AB
(t
0
) + e
BA
(t
0
) = 0
e
AB
= e
AB
(t) - e
AB
(t
0
)
Khi nhit t
0
, t khc nhau th s tng:
E
AB
= e
AB
(t) + e
AB
(t
0
)
Hay: E
AB
= e
AB
(t) - e
AB
(t
0
)
y chnh l phng trnh c bn ca cp nhit ngu.
Gi s : t
0
= const => e
AB
(t
0
) = C (hng s)
Vy c: E
AB
(t) = e
AB
(t) - C = f (t)
Nh vy bng cch o s ta c th tm nhin t
ca vt. u mi hn t l u o, u t
0
l u t do.
c tnh ca mt s loi cp nhit in
S thay i s ca mt s loi cp nhit in c
m t di y.
88
A B
t
0
t
1
2
70
60
50
40
30
20
10
200 600 1000 1400 1800
E
J
K
E (mV)
T (
0
C)
KT
J
E
-
10
- 200
R
S
T
iu khin nhit
Cc ngha ca cc k hiu E, J, T, K, R, S, B
E: Chromel/ Constantan
J: St/ Constantan
T: ng/ Constantan
K: Chromel/ Alumen
R: Platin - Rodi/ Platin
S: Platin - Rodi/ Platin
B: Platin - Rodi (30%) / Platin - Rodi (6%)
+ Thng s k thut ca cc cp nhit in thng
dng.
Cp nhit in
Di nhit
lm
vic
0
C
Sc in
ng mV
chnh xc
ng/ Constantan = 1,63mm - 270 - 370
- 6,258
19,027
(-100
0
C 40
0
C) : t
2%
(40C 100
0
C) : t
1,8%
(-100
0
C 350
0
C) : t
89
iu khin nhit
0,75%
St/ Constantan = 3,25mm - 210 - 800
- 8,095
45,498
(0
0
C 400
0
C) : t 3%
(400
0
C 1250
0
C) : t
0,75%
Chromel/Alumen = 3,25 mm
- 276
780
- 9,835
66,473
(0
0
C 400
0
C) : t 3%
(400
0
C 1250
0
C) : t
0,75%
Platin - Rodi (10%)/ Platin =
0,51 mm
- 50
1500
- 0,236
15,576
(0
0
C 600
0
C) : t
2,5%
(600
0
C 1500
0
C) : t
0,4%
Platin - Rodi (30%)/ Platin (6%)
= 0,51 mm
0 1700 0 12,426
(870
0
C 1700
0
C) : t
0,5%
Platin - Rodi (13%)/ Platin =
0,51mm
- 50
1500
- 0,226
17,445
(0
0
C 538
0
C) : t
1,4%
(538
0
C 1500
0
C) : t
0,25%
Lonfram - Reni (5%)/ Lonfram -
Reni (26%)
0 2700 0 38,45
+ Thang o nhit
- Thang o nhit tuyt i K
Ngi ta ly nhit cu im cn bng ca ba trng
thi nc - nc - hi mt gi tr bng 273,15K.
T thang o ny xc nh c thang o Celsius v
Fahrenheit
+ Thang Celsius:
0
C
Do Andreas Celsius (Thu in) a ra nm 1742. Trong
thang ny th mt C (
0
C) cng bng mt K. Quan h
gia nhit Celsius v nhit Kelvin c cho theo biu
thc:
T (
0
C) = T (K) - 273,15
+ Thang Fahrenheit:
90
iu khin nhit
Do Fahrenheit a ra nm 1706, quan h gia nhit
Celsius v Fahrenheit:
T (
0
C) = [T (
0
F) - 32]
5
9
T (
0
F) =
9
5
T (
0
C) + 32
Bng gi tr tng ng mt s nhit quan trng
ca 3 thang o
Nhit K
0
C
0
F
im khng tuyt i 0 - 273,15 - 459,67
Ho hp nc - nc 273,15 0 32
Cn bng nc - nc -
hi
273,16 0,01 32,018
Nc si 373,15 100 212
3.1.2.2. B iu khin cng sut.
C nhiu phng php iu khin cng sut nhng ph-
ng php dng 2 thyistor mc xung i c s dng nhiu.
Khi c xung iu khin th hai thyristor s ln lt m
cho dng i qua. Ta c th iu khin gc m ca thyristor
bo m cho cng sut l thay i t 0 n gi tr ln
nht.
Phng php ny cho php iu chnh trong phm vi
rng, p ng yu cu iu khin, chnh xc iu
khin tng i cao, nhy iu chnh tng i ln, c
kh nng iu chnh lin tc v u n.
Da vo yu cu v cht lng iu khin v cc trang
thit b sn c, trong n ny chn phng php iu
chnh cng sut l dng 2 thyristor mc xung i iu
khin l in tr. Phng php iu khin c th l iu
91
iu khin nhit
bin hoc iu khin khong thi gian ng ngt ca
thyristor. y ta chn phng php iu khin bin.
a. Cu to v nguyn l hot ng ca thyristor.
Thyristor l thit b bn dn gm 4lp bn dn pnpn khc
nhau v chiu dy v mt din tch. Gia cc ln bn
dn ny hnh thnh cc chuyn tip ln lt l J
1
, J
2
, J
3
v c
ly ra cc cc ant, catt v cc iu khin.
Hnh 1 - 4: S cu to thyristor.
Khi t mt in p mt chiu gia hai cc A v K
(ant ni vo cc dng, katt ni vo cc m) th J
1
v J
3
-
c phn cc thun cn J
2
b phn cc ngc. Gn nh ton b
in p ngun t ln mt ghp J
2
. in trng ni ti E
i
ca
J
2
c chiu hng t N
1
hng v P
2
. Vng chuyn tip cng l
vng cch in, khng c dng in chy qua thyristor. Khi
c mt xung iu khin tc ng vo cc G, cc in t t
N
2
chy sang P
2
. Cc in t chu sc ht ca in trng
tng hp ca mt ghp J
2
v ngy cng nhiu in t chy
o t vo N
1
, qua P
1
v n cc dng ca ngun in ngoi
vi tc 1cm/100 s
in tr khi trng thi kho R
K
= 10
in tr khi trng thi m R
M
= 0.01
b. c tnh Von - Ampe ca thyristor.
92
P
1
N
1
P
2
N
2
J
1
J
2
J
3
G
-
K
+
A
iu khin nhit
c tnh Von - Ampe ca thyristor gm 4 on.
Hnh 1 - 5: c tnh Von - Ampe ca thyristor.
+ on 1: ng vi trng thi kho, ch c dng in r
chy qua. Khi tng U n U
ch
(in p chuyn trng thi),
bt u qu trnh tng trng nhanh chng ca dng in,
thyristor chuyn sang trng thi m.
+ on 2: ng vi giai on phn cc thun ca J
2
. Trong
giai on ny, mi lng tng nh ca dng in ng vi mt l-
ng gim ln ca in p t trn thyristor. on ny cn c
gi l on in tr m.
+ on 3: ng vi trng thi m ca thyristor. Lc ny c
ba mt ghp tr thnh dn in. Dng in chy qua
thyristor b hn ch bi in tr mch ngoi. in p ri trn
thyristor rt nh khong 1V. Thyristor gi c trng thi m
chng no i cn ln hn i
H
, (dng duy tr).
a. La chn thyristor dng trong mch.
Loi thyristor c dng khi lm n ny l loi thyristor
cng sut nh KY - 202H do Nga ch to vi cc thng s k
thut nh sau:
+ in p lm vic: 0,4 (kV)
93
U
U
ch 4
2
3
i
H
i
U
7
iu khin nhit
+ Dng in cc i cho php 10 (A)
+ in p iu khin 10 (V)
+ Dng in r: 0.3 - 0.5 (A)
b. B iu khin cng sut l nung.
S nguyn l to xung trn hnh 1 - 6.
H thng ny c dng iu khin cng sut
ngun cung cp cho si t ca l tc l lm thay i nhit
trong bung l, tn hiu iu khin c a vo u Y
ca h thng, cn cng sut t c iu khin bng van
thyristor. Ngun cung cp cho l nung l ngun in xoay
chiu v vy thyristor c s dng ch kho t nhin,
ngha l n t kho khi dng in i qua n bng khng,
vc van thyristor c mc song song ngc chiu.
Thyristor m khi c p ng thun, c ngha l khi t
in p dng ln Ant, ip p m ln Katt ng thi c
tn hiu iu khin vo cc iu khin G ca n v c
dng.
I
g
> I
gst
I
g
: Dng iu khin
I
gst
: Gii hn gi tr dng iu khin
y ta mc hai thyristor xung i nhau nn mi
thi im ch c mt trong hai thyristor c m cho dng
in i qua si t ca l.
l gc m ca thyristor, tc l gc lch k t thi
im ban u ca na chu k dng xoay chiu cho n
thi im m thyristor, thi im pht xung iu khin
lm thay i gc m tc l thay i cng sut cung cp
cho dy nung ca l. Vic iu khin thi im pht xung
94
iu khin nhit
cho thyristor c thc hin bng b to xung rng ca, b so
snh v b pht xung m thyristor.
+ Mch pht xung: Tn hiu xung rng ca c so snh
vi tn hiu iu khin nh b khuch i thut ton
A742. Xung rng ca c a vo u o cn tn hiu iu
khin c a vo u khng o. Khuch i thut ton
A742 c s dng ch khuch i khng c phn
hi, v vy khi in p ca xung rng ca ln hn in p
iu khin th in p ra ca A742 s bo ho m cn
khi in p ca xung rng ca nh hn in p iu khin
th in p ra ca A742 s bo ho dng. u ra ca
A742 l xung vung vi tn s 100Hz.
S nguyn l mch to xung hnh v sau:
95
iu khin nhit
T C
2
v in tr R
11
l mch vi phn, to ra cc xung
nhn khi cc xung vung o du, kch thc ca cc xung
ny c quyt nh bi in dung ca t C
2
v gi tr ca
in tr R
11
. Diod D
6
s dng chn cc xung m tc
ng ln cc Baz ca transistor T
3
, nh vy Bax ca
transistor T
3
ch chu tc dng ca cc xung nhn dng vi
tn s 100Hz, thi im c cc xung nhn ny l thi im
giao nhau ca sn sau xung rng ca vi in p iu khin.
Nu in p iu khin tng th thi im giao nhau
ca n vi xung rng ca cng dch n nh xung, tc l
gc lch ca n s so vi thi im u ca na chu k tn
s xoay chiu cng nh.
Trong trng hp in p iu khin gim th thi
im giao nhau ca n vi xung rng ca cng dch xa nh
xung, tc l gc lch ca n so vi im u ca na chu k
tn s xoay chiu cng ln. Nh vy khi in p iu khin
cng ln th gc lch s nh nn cng sut cung cp cho ti s
ln v ngc li.
Khi c mt xung dng t bo baz ca transitor T
3
th n s m v pht ra mt xung qua cun s cp ca bin
p xung BX dn n hai cun th cp ca bin p xut
hin hai xung dng m cc thyritor.
Cc in tr R
10
v R
12
dng hn ch dng iu
khin t vo cc thyritor, in tr R
13
dng gii hn gi
tr xung mch s cp, cn diod D
9
dng xo cc xung
m sinh ra trong mch s cp ca bin p xung BX, m
bo transitor T
3
khi chu tc ng ca cc xung in p c
gi tr ln. Cc diod D
7
v D
8
dng ngn khng cho cc
96
iu khin nhit
xung m tc ng ln cc iu khin ca cc thyritor, nh
vy trong mt na chu k in p xoay chiu ch c mt
thyritor thng, tc l ch c thyritor no c in p thun
mi c php m.
Theo tnh ton s b v theo kinh nghim ta chn
cc thng s k thut nh sau:
T
1
: A 564 E
0
= 12V
R
1
= 1,33 k
U = 6V
R
3
= 100
T
2
= C 828
R
0
= 1k C
1
= 1 F R
4
= 3 k
C
2
= 0.22 F R
5
= 10 k R
6
= 5000
R
7
= 5 k R
10
= 30 R
11
= 2 k
D
2
: 306 T
3
:C 2383
R
2
= 12 k
97
t
t
t
t
t
t
u(t)
u
u
iu khin nhit
Hnh 1 - 7: Gin xung theo thi gian
98
iu khin nhit
Chng 4
Xc nh c tnh ng hc ca i tng
4.1 Tng quan v i tng iu chnh cng nghip.
4.1.1. Khi nim chung v i tng iu chnh cng
nghip.
Cc i tng iu chnh gp trong cng nghip dng
t n gin n phc tp. Cc i tng c th c mt u
vo - mt u ra, nhiu u vo - mt u ra hay nhiu
u vo - nhiu u ra.
i tng c mt i lng iu chnh (mt u ra) l i
tng m tn hiu ra y (t) c kim sot v thay i di tc
ng ca nhiu i lng vo (t),
1
(t),
2
(t)
m
(t) trong
th:
- (t): tc ng iu chnh (do b iu chnh a ra)
-
1
(t),
2
(t)
m
(t) l cc chn ng bn trong v bn
ngoi. Chn ng bn trong l nhng tc ng nh hng
n i tng theo knh iu chnh cn chn ng bn
ngoi l nhng tc ng trc tip t mi trng xung quanh.
Gi s cc i lng vo v ra thay i trong khong nh
v h c th tuyn tnh ho c. Khi theo nguyn l xp
chng ta c th vit.
y(t) = y
u
(t) +
i
n
i 1
y (t)
.
Trong :
y(t) l i lng ra do s tc ng ca tn hiu iu
chnh vo cc tc ng khc ng thi.
y
u
(t) l tn hiu ra do tc ng ca tn hiu iu
chnh.
99
iu khin nhit
y
i
(t) l tn hiu ra do tc ng ca cc chn ng.
Vit li cng thc trn di dng nh Laplace.
y (s) = y
u
(s) +
i
n
i 1
y (s)
= W
0
(l). (s) +
i
n
i
i 1
W (s). (s)
Ta c:
W(s) =
i
u
i
y (s)
u (s)
. Hm truyn ca i tng theo knh tc ng
iu chnh.
W
i
(s) =
i
i
y (s)
(s)
: Hm truyn ca i tng theo knh chn

ng
T s phn tch trn ta thy rng:mun m t mt cch
y c tnh ng ca i tng iu chnh ngoi
hm truyn i tng theo knh iu chnh, cn bit tt c
cc phng trnh ca i tng theo mi knh c chn ng.
* i tng c nhiu i lng iu chnh (nhiu u ra).
Cc i tng phc tp trong cng nghip thng gm nhiu
i lng iu chnh. Khi xy dng h thng iu chnh vi
cc i tng ny th tng ng vi mi i lng ra phi c mt
100
2

m
.
..
.
..
y u
W
0
(
s)
2

m
y
u1
y
u2
iu khin nhit
tc ng iu chnh ( m bo tnh iu khin c
ca h thng). Ngoi ra i tng t n cn b tc ng ca
nhiu chn ng bn trong v bn ngoi khc na.
Cc i tng loi ny c phn ra lm hai loi.
+ Th nht: L i tng m trong mi tc ng
iu chnh ch nh hng n mt i lng iu chnh
(u ra) tng ng. Trong trng hp ny th i tng phc tp
c th tch thnh nhiu i tng n gin hn, c lp ln
nhau. Do vi mi i tng n gin c th xy dng mt
h thng iu chnh c lp. H thng nh vy gi l h
Autonom (h tch c). Tnh ton thit k v hiu chnh
i vi h Autonom hon ton ging i vi cc h c mt
i lng iu chnh.
+ Th hai: L i tng m mt tc ng iu chnh c
th nh hng n nhiu i lng iu chnh khc. i tng
ny khng tch c (non autonom). H thng tng ng vi loi
i tng ny gi l h nhiu lin kt.
V d: mt h thng iu chnh c hai i lng iu
chnh v cc chn ng
1
,
2
,
m
101
y
1
y
2
u
m
iu khin nhit
Ta c: Y
1
(s) = W
11
(s) .
1
(s) + W
12
(s) +
i
n
1 i
i 1
W (s). (s)
Y
2
(s) = W
12
(s) .
2
(s) + W
22
(s) +
i
n
2 i
i 1
W (s). (s)
Trong :
- W
11
(s), W
12
(s): Hm truyn theo knh t u ra
1
(s)
v
2
(s)tng ng n u ra Y
1
(t).
- W
21
(s), W
22
(s): Hm truyn theo knh t u vo
1
(s) v
2
(s)tng ng n u ra Y
2
(t).
- Tng t: W
1 i
(s): l hm truyn theo knh t chn
ng i n u ra y
1
(t).
W
2 i
(s): l hm truyn theo knh t chn ng i n
u ra y
2
(t).
Trng hp tng qut i vi h c n i lng iu
chnh, n tc ng iu chng tng ng v m chn ng,
quan h vo - ra cth vit di dng ma trn truyn nh sau:
Y(s) = W
K
(s) . (s) + W
(s) . (s)
Trong :
102
iu khin nhit
( )
( )
( )
( )
1 1
2 2
n n
1
2
m
(s) Y (s)
U (s) Y (s)
y(s) ; u s
..... .....
U s Y (s)
(s)
s
(s)
s
1 1
1 1
1 1
1 1
1 1
1
] ]
1
1
1

1
1
1
]
( )
( ) ( )
( ) ( )
( ) ( )
11 12 1n
21 22 2n
K
n1 n2 nn
n.n
W (s) W s .....W s
W (s) W s .....W s
W s
...................
W (s) W s .....W s
1
1
1
1
1
1
]
( )
( ) ( )
( ) ( )
( ) ( )
1 1 2
1 2 2
1 n 2
1 1 n
2 2 n
n n n
n.m
W (s) W s .....W s
W (s) W s .....W s
W s
.......................
W (s) W s .....W s

1
1
1
1
1
1
]
W
k
(s), W
(s): l hm truyn ma trn tng ng vi vect

tc ng iu chnh v vect chn ng.
thit k h thng th ngi thit k phi c gng
xy dng h thng sao cho n gin nht m li m bo
yu cu v cht lng iu chnh. V vy vic nghin cu k
thut tnh cht ng hc ca i tng vi mi knh tn hiu
vo, chn ra nhng tc ng iu chnh quan trng nht
v lc b nhng cht ng khng ng k.
4.1.2. c tnh v m hnh cc i tng cng
nghip.
c tnh ca i tng l mi quan h ng hc di dng
gii tch hoc th ca mi tn hiu ra i vi mi tn
103
iu khin nhit
hiu vo ring bit. ng vi mi quan h tng thch mt
c tnh tn s hay thi gian nht nh.
c im ca i tng nhit l qun tnh ln v hay c
tr. C th chia cc i tng cng nghip thnh hai nhm
chnh sau y.
* Nhm th nht:
ng cong qu ca cc i tng loi ny theo thi gian
tin ti v tn.
Hnh 4.1.2 - 1
104
y(t)
0
t
y(t)
0
t
Hnh 4.1.2 -
2
Hnh 4.1.2 -
3
y(t)
0
t
y(t)
0
Hnh 4.1.2 -
4
0
y(t)
0
Hnh 4.1.2 -
5
0
t
iu khin nhit
ng cong qu trn hnh 4.1.2 - 2,3 c c trng l
i lng iu chnh y(t) bt u thay i ngay khi c tc
ng u vo. Ngoi ra trn hnh 4.1.2 - 2 th i lng
iu chnh thay i vi vn tc khng i, cn hnh 4.1.2
- 3 th i lng iu chnh thay i vi vn tc tng dn v
tin ti mt gi tr vi vn tc tim cn no .
ng cong qu trn hnh 3.1.2 - 4,5 i lng ra ch
bt u sau mt thi gian
0
no k t khi c tn hiu
vo.
T cc c tnh ta c th nhn thy rng i tng
4.1.2 - 2 mang tnh cht mt khu tch phn, trn hnh
3.1.2 - 3 mang tnh cht mt khu tch phn qun tnh,
hnh 4.1.2 - 3 mang tnh cht mt khu tch phn c tr,
hnh 4.1.2 - 5 l khu tch phn qun tnh c tr.
Cc i tng ny ni chung c c trng bi tc qu
(tc thay i i lng iu chnh). Tc qu
bng tc thay i ln nht tn hiu ra chia cho tn
hiu vo.
* Nhm th hai.
Gm nhng i tng n nh. ng cong qu c xu
hng tin ti tim cn ngang song song vi trc thi gian.
c im chung ca cc i tng ny l sau khi xut
hin tn hiu iu khin vo chng tin ti mt trng thi
cn bng mi. Tnh cht khi phc trng thi cn bng mi
sau khi c tc ng u vo gi l t cn bng. i tng c
tnh cht ny gi l i tng t cn bng. Mi trng thi cn
bng c c trng bi mt gi tr t cn bng cng ln nu
gi tr xc lp ca trng thi cn bng mi cng t sai lch so
105
iu khin nhit
vi gi tr cn bng ban u khi xung tc ng c cng mt
gi tr. Tnh cht tnh hc ca i tng c tnh t cn bng
c trng bi h s khuch i hay h s truyn
K
=
0
V
Y( )
X
0
V
X
= const - Gi tr tn hiu tc ng vo
Y(): Gi tr xc lp mi ca i lng iu chnh sau khi
kt thc qu trnh qu .
Phn tch cc i tng cn bng ngi ta thy c bn
c tnh c bn sau:
106
t
y(t)
Hnh 4.1.2 -
7a
0
y(t)
0
Hnh 4.1.2 -
7b
0
t
y(t)
0
t
y(t)
0
t
Hnh 4.1.2 -
6a
Hnh 4.1.2 -
6b
y()
y()
t
u
y() y()
t
u
iu khin nhit
c im ca i tng c ng cong qu trn hnh
3.1.2 - 6a c tc thay i i lng u ra y(t) c gi tr
ln nht ti thi im xut hin xung vo (X
0
= const), n
th hin tnh cht mt khu qun tnh nht khng tr. ng
cong trn hnh 4.1.2 - 6b c mt im un ti t
u
. Ti y tc
t gi tr ln nht, th hin tnh cht ng hc ca
nhiu khu qun tnh bc 1 mc ni tip nhau. Hnh 4.1.2
- 7a th hin c tnh ng hc ca khu qun tnh c
tr. Hnh 4.1.2 - 7b th hin c tnh ng hc ca khu
quntnh v khu tr mc ni tip.
Dng i tng c tnh t cn bng rt ph bin trong
cng nghip (v d i tng hi qu nhit, i tng iu
chnh p sut v.v) Ngoi nhng i tng c c im
nh ni trn, cn tn ti nhng i mang c tnh ca
mt khu dao ng c tr hoc khng tr, khu tch
phn c dao ng , khu dao ng c qun tnh
M hnh tng qut cc i tng iu chnh trong cng
nghip c th vit di dng hm truyn nh sau.
W
t
(s) =
m m 1
s m m 1 1
d
l m m 1
m m 1 1
a s a s .... as 1 1
k .e . .
s b s b s .... bs 1
+ + + +
+ + + +
Vi m n
Trong : K
d
: h s khuch i
: thi gian tr
e: l bc
a
i
, b
i
: h s khng i.
i vi nhiu i tng cng nghip ngi ta c th dng
m hnh th hin s mc ni tip gia khu tr v nhiu
khu qun tnh bc nht (v khu tch phn nu c).
107
iu khin nhit
V d: W
t
(s) =
( )
s
l n
i
i 1
1 kd
.e .
s
Ts 1
n = 0, 1 , 2
T
i
l hng s thi gian ca khu qun tnh.
Nhng dng c bit ca cng thc trn.
i tng t cn bng i tng khng t cn
bng
s
d
1
K .e
T .s 1
+
.s
d
K .e
S
.s
d
n
s
K .e
(T 1)
+
.s
d
n
1
K .e
S.(T .s 1)
+
( )
.s
d
n
1 2
K .e
(T .s 1) T .s 1
+ +
( )
.s
d
n
1 2
K .e
S.(T .s 1) T .s 1
+ +
3.1.3. Phng php thc nghim xc nh c
tnh ng ca i tng.
Mc ch cavic xc nh c tnh ca i tng l
rt ra c tnh tn s ca n. c tnh tn s i tng
l c s nghin cu v phn tch h thng t ng. Cc
phng php tnh ton thng s hiu chnh ti u ca b iu
chnh nhit hin nay a phn u da trn c s c
tnh tn s ca i tng di dng gii tch hoc th. c
tnh tn s ca i tng c th xc nh bng thc nghim
(dng sng hnh sin) hay xc nh t c tnh thi gian
(dng xung bc thang).
Tu theo c im v iu kin thc t ca qu
trnh cng ngh m phng thc xc nh c tnh ng
ca i tng iu chnh khc nhau. Nhng v mt nguyn l
108
iu khin nhit
th u ging nhau ch cn o tn hiu xung tc ng
vo v tn hiu p ng ra ca i tng.
* Xc nh c tnh thi gian ca i tng.
i vi h h (tm ngt vng iu kin) th c tnh
thi gian ca i tng c th xc nh theo s sau.
Tn hiu vo thng l xung bc thang hoc xung ngn
hn hnh ch nht.
109
o tn
hiu vo
: Cc tc
ng
y x: Tn hiu
vo
u o
tn hiu
ra
C cu ghi
nhn v x l
x
1
(t)
t
1
x
1
(t) = 1 (t -
t
0
)
X
2
(t)
t
t
0
X
2
(t) = 1 (t - t
0
) - 1
(t - t
1
)
t
1
iu khin nhit
Mt iu khin m bo phng php trn chnh
xc l: tnh cht ng hc ca i tng khng thay i
hoc thay i rt chm so vi qu trnh qu . Trong tr-
ng hp c nh hng ca nhiu ngu nhin i hi phi lp
i lp li nhiu ln qu trnh th nghim.
* Xc nh c tnh tn s ca i tng.
Phng php thc nghim xc nh c tnh tn s
ca i tng c th thc hin vi h h (tm ngt vng iu
khin) hoc vi ngay c trn h thng ang vn hnh.
- i vi h h ta c s thc hin sau:
110
o tn
hiu vo

y
o tn
hiu ra
C cu ghi
nhn v x l
i tng iu
chnh
My
pht
sng
x
iu khin nhit
- i vi h kn th tn hiu vo hnh sin tc ng
ngay vo b iu chnh. S thc hin nh sau:
Nhn chung th xc nh c tnh tn s bng thc
nghim i hi nhiu chi ph v thi gian hn so vi c
tnh thi gian. Nhng phng php dng nng iu ho c
chnh xc cao hn v tin cy cao, c th thc hin th
nghim ngay trn thit b ang vn hnh, t b nh hng
ca nhiu ngn nhin.
111
y
o tn
hiu ra
Ghi nhn v
x l
i tng iu
chnh
B iu
chnh
o tn
hiu vo
My pht
sng
iu khin nhit
Khi u vo l mt xung bc thang n v th u
ra ca i tng ta s thu c c tnh qu .
4.2. Tin hnh xc nh c tnh ca i tng.
Sau khi tm hiu v cc i tng ch yu trong cng
nghip ta tin hnh thc nghim xc nh c tnh ca
i tng. c tnh ta xc nh y l c tnh thi gian
ca i tng (m c th l c tnh qu ). Do i tng
kh n gin (l l in tr trong phng th nghim) v
thc cht l si dy t v khng lm vic trong mi trng
phc tp, nhiu tc ng ph. Nn trc ht xc nh c
tnh v mt thi gian ca n. Hon ton c th xy dng
112
x(t
)
t
1
Tn hiu vo
x(t
)
t
h(t
)
ng c tnh qu

iu khin nhit
c c tnh tn s vi chnh xc c th chn la da
trn c tnh thi gian.
Phng php thc nghim m ta chn l phng php da
trn s phan tch cu trc. Ni dung phng php ny nh sau:
+ i vi i tng cu bng, c tnh qu khnng
c im un.
c tnh ny l ca i tng qun tnh bc nht c tr.
Trong : : l thi gian tr
Ta: Hng s thi gian
K
M
: h s khuch i.
Vi K
M
th xc nh nh sau:
( )
M
0
y
K
x
(x
0
: bin tn hiu vo x)
Cn hng s thi gian v thi gian tr c xc nh trn
hnh v. Nhng trng hp suy bin ca m hnh i tng c
th c nh sau.
113
x(t
)
t
y()
Ta 0
x
iu khin nhit
1. = 0 (hoc 0) v Ta - 0 (Ta 0). Khi i t-
ng bin thnh 1 khu t l: th c dng nh sau:
2. Ta = 0 (Ta 0); K
M
= 1, = 0; i tng c dng mt
khu tr vi thi gian tr . Khi th c dng nh sau:
3. = 0; Ta > 0; K
M
0 dn n m hnh mt
khu qun tnh bc nht thng thng.
Nhn dng i tng.
nhn dng i tng y chng em dng phng php
thc nghim xc nh c tnh ca i tng. t vo
b iu khin Thyistor in p 3V, sau dng my t ghi
ghi li p ng u ra H(t) ca i tng thng qua tn hiu
sensor.
Hnh v 1 : Tn hiu u vo chun
114
t
x
x = const
t
y(t
)
K
M
. x
t
x
x = const
t
y(t
)
iu khin nhit
115
iu khin nhit
Hnh v 2: c tnh u ra H(t)
xc nh c th hm (t). Tnh tin hm qu
dc theo trc nhit (chiu dng) mt on 30. Lc
ny ta c
H (t)
=500-30=470. Tnh tin hm qu dc theo

trc thi gian (chiu dng) mt on 40.
Tin hnh ri rc ho hm qu . Vi (t)
H(t)-30
H (t)
Ta c bng s liu sau:

H(t) 30 30 40 50 60 70 80 90 100
(t) 0 0 0.02
1
0.04
3
0.06
4
0.08
5
0.10
6
0.12
8
0.149
H(t) 110 120 130 140 150 160 170 180 190
(t) 0.17
0
0.19
1
0.21
3
0.23
4
0.25
5
0.27
7
0.29
8
0.31
9
0.340
H(t) 200 210 220 230 240 250 260 270 280
(t) 0.36
2
0.38
3
0.40
4
0.42
5
0.44
7
0.46
8
0.48
9
0.51
1
0.532
H(t) 290 300 310 320 330 340 350 360 370
(t) 0.55
3
0.57
4
0.59
6
0.61
7
0.63
8
0.66
0
0.68
1
0.70
2
0.723
H(t) 380 390 400 410 420 430 440 450 460
116
iu khin nhit
(t) 0.74
5
0.76
6
0.78
7
0.80
8
0.83
0
0.85
1
0.87
2
0.89
4
0.915
H(t) 470 480 490 500 500 500 500 500 500
(t) 0.93
6
0.95
7
0.97
9
1 1 1 1 1 1
T cc gi tr ri rc trn v li c hm (t)
Hnh v 2: th hm chun (t)
T trn th xc nh t
7
sao cho (t) =0.7 ta c t
7
=
731(s) v
t
3
=
7
t 731
244(s)
3 3

(t) =0.33.
Nh vy i tng ta ang xt c (t) =0.33 > 0.31. Do
i tng c ly gn ng bng khu bc nht c tr.
d
.p
1
K.e
W
T.p 1
+
117
iu khin nhit
Trn ng chun ta ly im A c (t
A
)=0.1
0.2, im B
c (t
B
)=0.8
0.9. Nh vy ta ly im A c (t
A
)=0.2 v
im B (t) =0.8. Trn th ta c t
A
=159 (s) v t
B
=933
(s).
Hm qu ca i tng c dng.
H(t) =K.(1-
d
t
( )
T
e

)
Hm chun.
(t) =(1-
d
t
( )
T
e

)
Thay to im A v B vo ta c
A
(t)= (1-
A d
t
( )
T
e

) (*)
B
(t)= (1-
B d
t
( )
T
e

) (**)
T (*)
A d
t
( )
T
A
e 1 (t)
A d
t
( )
T

=ln(1-
A
(t)) (1)
T (**)
B d
t
( )
T
B
e 1 (t)
B d
t
( )
T

=ln(1-
B
(t)) (2)
Chia v vi v ca (1) cho (2) ta c.
d A A
d B B
t ln(1 (t))
t ln(1 (t))

(3)
T (3) ta rt ra c
A B B B
d
B A
t ln(1 (t)) t ln(1 (t))
ln(1 (t)) ln(1 (t))

Thay s vo ta c:
d
159ln(1 0.8) 933ln(1 0.2)
ln(1 0.8) ln(1 0.2)

=34(s)
Tr v vi v ca (1) v (2) ta c.
A B A
A B
B
t t 1 (t)
ln(1 (t)) ln(1 (t)) ln( )
T 1 (t)

118
iu khin nhit
B A
A
B
t t
T
1 (t)
ln( )
1 (t)
Thay s vo ta c:
933 159
T 558
1 0.2
ln( )
1 0.8
(s)
H s khuch i.
0
v
H (t) H (t)
K
X
Trong :
v
X
l bc nhy bc thang u vo.
H (t)
l gi tr xc lp ca hm qu
0
H (t)
l gi tr hm qu thi im ban u
Tn hiu vo l in p, sai lch vo l:
v
X 3 (V)
Tn hiu ra l in p, sai lch vo l:
v
X 40.28 1.98
Hay chuyn sang dng s
v
X
=3
4095
10
=1228.5
Thay s vo ta c.
500 30
K 0.4
1228.5

Thay cc gi tr tm c vo ta c.
34.p
1
0.4.e
W (p)
558.p 1
+
Hm truyn ca i tng l l:

+ +
v
34.p 40.p 74.p
t .p
l 1
0.4.e .e 0.4.e
W (p) W(p).e
558.p 1 558.p 1
Nhn dng i tng nung.
Vt nung m ta ta kho st l i tng mt thi Diatomit
hnh tr c ng knh l 100mm. t cp nhit in vo
tm vt v c ni vi Recorder. Tng t nh cch nhn dng
i tng l. Ta c p ng u ra H(t) nh sau:
119
iu khin nhit
Hm truyn ca h l:
+
100.p
h
0.3.e
W (p)
989.p 1
T quan h
h
vt
l
W (p)
W (p)
W (p)
xc nh c vt
W (p)
ta s
dng phn mm Matlab thc hin php chia. Sau khi
thc hin ta c.
26.p
Vt
0.8.e
W (p)
498.p 1
+

120
iu khin nhit
Chng 5
Tng hp h thng
5.1. Cht lng iu chnh.
5.1.1. Khi nin v cht lng iu chnh.
qu trnh iu chnh h thng c hiu qu, mi
h thng iu chnh phi tho mn hng lot cc yu cu
khc nhau v tnh cht ca qu trnh iu chnh. T
hnh thnh nn khi nim cht lng iu chnh. C th hiu
mt cch n gin khi nim v cht lng iu chnh nh
sau.
Cht lng iu chnh l tp hp nhng yu t nh l-
ng th hin mc tt xu theo mt ngha no ca qu
trnh trong iu kin lm vic nht nh. Nhng yu t
c th gi l ch tiu cht lng iu chnh. Cc ch tiu
c xc nh theo p ng ca h thng khi c cc tc
ng vo khc nhau. Cc tc ng c th phn ra
nhng trng hp sau.
+ Tc ng vo l mt i lng ngu nhin (tc l khng
biu din c di dng hm thi gian r rng), ch tiu cht
lng c bn l chnh xc v qu o sai lch trung bnh
bnh phng gia i lng iu chnh v qu o mong
mun ca n. Trong trng hp ngi ta thng dng cc phng
php ca l thuyt xc sut thng k.
+ Tc ng u vo l mt hm thi gian xc nh,
cht lng iu chnh c xc nh theo p ng ca h
thng i vi cc dng xung in hnh nh xung bc thang,
xung n v v dng tc ng hnh sin. v.v...
121
iu khin nhit
-Tc ng bc thang l tc ng hay gp trong thc
t. N c trng cho h thng iu chnh t ng duy tr
thng s (gi tr t ca h thng l hng s). Tc ng
xung bc thang thng do s ng ngt t ngt cc thit
b tiu th nng lng, vt cht lm ph ti thay i t ngt,
hoc ch n gin thay i t ngt gi tr im t
ca h thng.
- Xung tc ng n v (hm delta) thng trong cc
h thng m ph ti phi thay i nhanh, gi tr thay i
ln v c bit l rt nhanh vi thi gian qu ca h
thng.
+ i vi cc h thng lm vic trong iu kin c rung
ng hoc cc chn ng c chu k th cc nhiu chu k
s phn tch ra nhng sng hnh sin thnh phn tc
ng vo h thng. Mi sng hnh sin s tc ng vo
h thng theo tnh cht ca n.
Ta c th phn ch tiu cht lng iu chnh ra lm
hai loi c bn l: trc tip v gin tip.
5.1.2. nh gi cht lng iu chnh khi c xung
bc thang.
Qu trnh qa ca h thng xy ra khi c tc ng
t bn ngoi trong s nhng dng tc ng khc nhau th
xung bc thang c coi l loi xung nguy him nht i vi
mt h thng iu chnh t ng v n lm thay i
mnh nht i lng iu chnh. p ng ra ca h thng i
vi cc tc ng xung bc thang (c tnh qu ) l ng
cong bin thin ca i lng iu chnh theo thi gian bt
u t thi im c tc ng bc thang. Thng thng cac
122
iu khin nhit
ch s cht lng trc tip c xc nh da trn c tnh
qu h(t) khi c tc ng xung bc thang n v.
1(t) =
Vi iu kin h thng v tr 0 ban u
Da trn c tnh qu ngi ta c th xc nh
nhng ch s cht lng sau y:
123
1 khi t
0
o khi t
<0
2
t
h(
)
h
max
h(t)
0
t
iu khin nhit
a.Thi gian iu chnh tc ng.
Ch s ny cho php nh gi tc ng nhanh ca
h thng. Gi tr l thuyt ca thi gian iu chnh lun
lun bng v cng, nhng r rng gi tr khng phn nh
c tc tt dn ca qu trnh qu . V vy ngi ta
tnh thi gian iu chnh thct l thi gian ti thiu m
bt u t i lng iu chnh sai lch khng qu mt
i lng ( > 0) so vi gi tr xc lp ca n.
h(t) - h() vi t t.
Trong :
h() l gi tr xc lp ca qu trnh qa
c chn tu theo yu cu v cht lng iu chnh
hoc ch c th xc nh l vng khng nhy ca b iu
chnh.
Qu trnh qu ca h thng coi nh tt hn sau mt
thi gian iu chnh tc ng. K t bin thin ca
i lng iu chnh khng c vt qua khi vng khng nhy
ca b iu khin. Thc t th gi tr thng xc nh
bngt 3 n 10% gi tr xc lp h() ca i lng iu
chnh. Vi cc iu kin khc nh nhau th h thng c thi
gian iu chnh cng ngn s c cht lng cng cao.
b. qu iu chnh.
Trong qu trnh iu chnh t ch xc lp ny
sang ch xc lp khc c th xy ra hai trng hp thay
i i lng iu chnh ti gi tr mi. Trng hp th hai hay
xy ra khi i lng iu chnh vt ra ngoi gii hn trn. Trng
hp ny xy ra hin tng qu iu chnh c nh gi bng
i lng: qu iu chnh theo cng thc sau:
124
iu khin nhit
( )
( )
.100%
max
h h
h
h
max
: l gi tr ln nht ca c tnh qu .
Trong trng hp h() = 0 qu iu chnh c tnh
theo cng thc sau:
.100%
max
h
a

a: l bin xung bc thang u vo.
Tu theo cht lng sn phm, an ton thit b, yt
t kinh t... m qu iu chnh c th cho php c
hoc khng. Nhng nhn chung th gi tr ny hay nm
trong khong 10 30%.
c. Tnh cht tt dn qu trnh qu .
Qu trnh qu c th dao ng, khng c chu k
hoc n iu. Qu trnh qu gi n iu nn
sai lch gia i lng iu chnh v gi tr xc lp mi ca
n lun lun gim. Qu trnh qu n iu khng bao
gi c qu iu chnh. Qu trnh qu phi chu k th-
ng khng c qu mt im cc i. i vi qu trnh dao
ng th cc im cc i, cc tiu xut hin lin tc cho
n khi i lng iu chnh lt vo vng khng nhy ca h
thng.
125
h
2

max
h
1

max
2
3
1
iu khin nhit
1. c tnh qa n iu.
2. c tnh qu trnh qu dao ng
3. c tnh qu trnh qu phi chu k
Cc ch tiu khc ging nhau, h thng no c qu
trnh qa t dao ng th tt hn (n iu).
nh gi c tnh cht dao ng ca h thng ngi ta xc
nh h s tt dn theo cng thc.
( )
( )
2
1
1
h max h
h max h

V dao ng m:
( )
( )
( )
1
2
1 1
ln 1 ln
2 2
h max h
m
h max h
_

,
Qu trnh qu tt cng nhanh nu (hoc m)
cng ln.
Nu = 1 (m = ) c tnh qu khng c dao
ng
Nu = 0 (m = 0) c tnh qu dao ng khng
tt (h thng bin gii n nh.
5.1.3. Tiu chun cht lng dng tch phn.
y l nh gi tng hp cht lng iu chnh h t
ng. Tiu chun tch phn c nh ngha l tch phn
xc nh theo thi gian ca hm sai s gia c tnh qu
v gi tr xc lp ca n.
126
iu khin nhit
Nhng dng ph bin tiu chun tch phn l:
( )
( )
( )
( )
( )
1
0
1
0
2
2
0
2
2
2
0
0
a
a
J e t dt
J e t dt
J e t dt
de t
J e t dt
dt
1
_
1 +

1
,
]
e = h() - h(t); : h s trng no .

Nhn chung tiu chun tch phn l ch s cht lng
gin tip. N phn nh tng i tng hp tc ng
nhanh v qu iu chnh ca h thng.
Tch phn J
1
chnh l din tch phn gch cho trn
hnh v. Tch phn ny phn nh tng i tt tnh cht tc
ng nhanh (thi gian iu chnh) ca h thng c qu
trnh qu n iu. Vi cng mt iu kin ban u,
127
h(t)
h(
)
h(t)
t
iu khin nhit
th h thng c gi tr tch phn J
1
cng nh s cng tc
ng nhanh, thi gian iu chnh cng ngn.
i vi cc qu trnh qu c dao ng, tch phn J
1
khng phn nh ng tc ng nhanh ca h thng
na. ngi ta thay tch phn J
1
bng tch phn tr tuyt i
J
1a
.
( )
1
0
a
J e t dt
Tuy nhin tnh ton vi J

1a
th kh khn v phc tp hn.
Hai tch phn J
2
v J
2a
l tch phn ca hm bnh phng sai
s ng hc nn n khng ph thuc vo du ca e(t) v o
hm nn n phn nh trung thc tc ng nhanh ca h
thng.
5.1.4. nh gi cht lng iu chnh khi c tc
ng sng iu ho khi tn hiu tc ng vo h
thng l cc dao ng iu ho, cht lng ca h
thng iu chnh, c th nh gi da trn c tnh
128
-
-
h(t
)
h(t
)
h(
)
+
+
+
- -
iu khin nhit
tn s - bin - pha, c tnh tn s - bin ,
c tnh tn s pha v c tnh tn s logarit.
Mt s ch tiu cht lng c bn thng c xt l;
M - Ch s dao ng
r
- tn s dao ng cng hng
o
- di thng tn ca h thng.
V cc s d tr n nh theo modun v theo pha.
Ch s dao ng M c trng cho xu hng dao ng
ca h thng ch s dao ng M l t s gia gi tr bin
ln nht ca h thng (ti tn s cng hng) v gi tr
bin ti tn s = 0
M = A
K
max
/A
K
(0)
= A
k
( r)/ A
k
(0)
Vi A
k
( ) - c tnh bin ca h thng kn.
Vi cc iu kin khc ging nhau th h thng c M
cng ln th cng kem cht lng. Trong cc bi ton thit k,
m bo cho h thng c d tr n nh nht , ng-
129
k
A
k
(0)
A
k
max
iu khin nhit
i ta phi p t mt gii hn trn no ca ch s dao
ng.
Tn s cng hng
r
i vi h thng dao ng l tn
s m ti c tnh bin tn s c gi tr ln nht. Cc
tn hiu dao ng vi tn s i qua h thng c
khuch i mc ti a.
Di thng tn ca h thng l khong tn s t = 0
0
tho mn h thc.
A
k
( ) A
k
(
0
) = 0,707 A
k
(0)
Thng thng trong thit b h thng, t ra yu cu l
di thng tn khng c qu ln trnh cho nhiu tn s
cao khi nh hng n h thng.
Tn s ct
c
l gi tr tn s m trong khong = 0

c
c tnh bin ca h thng tho mn.
A
k
( ) 1; = 0
c
130
A
k
(0)

0,707A
k
(0)
A
k
c
iu khin nhit
Tn s ct lin quan mt cch gin tip vi tc ng
nhanh ca h thng iu chnh. Tn s ct
c
cng nh
th tc ng nhanh ca h thng cng km
t = (1+ 2) 2 /
c
Nu qu trnh qu c mt hoc hai dao ng th
th ca n t cc i u tin sau mt thi gian
t
max
/
c
Ngoi nhng tiu chun nh gi cht lng k trn, ngi
ta cn nh gi cht lng iu chnh trong ch xc
lp Tuy nhin cn nhn mnh rng, ngy nay vi s pht
trin cao ca k thut tnh ton v my tnh in t, c
tnh qu ca h thng d phc tp n u cng d
dng th hin c di dng th chnh xc. Chnh v vy
m vai tr ng dng ca cc tiu chun cht lng trc tip
trong qu trnh thit b h thng t ng ngy cng tng.
5.2. C s l thuyt v tng hp h thng
5.2.1. Khi nim v bi ton tng hp h thng.
Tng hp h thng iu chnh t ng l qu trnh
tm cu trc v gi tr cc thng s ton b h thng sao
cho vi nhng iu kin cho trc (V d nh: Tnh cht cc tc
ng bn trong, bn ngoi v cc yu cu v tin cy, gi
thnh, cng sut) nm trong phm vi cho trc hoc t gi
tr ti u.
Bi ton tng hp ngc li vi bi ton phn tch. Bi ton
phn tch l nh gi cc tiu chun v cht lng iu
chnh ca h thng c cu trc v thng s bit trc. Bi
ton phn tch l hon ton xc nh. Trong khi bi ton
131
iu khin nhit
tng hp c nhiu yu t bt nh v thng c nhiu li
gii.
Thng thng th bi ton tng hp thng c phn chia
v gii quyt theo nhiu giai on khc nhau. C th tm
chia thnh nhng giai on:
Giai on 1: Tng hp h thng bao gi cng bt u
bng vic xc nh nhng b phn v cc thng s bit trc.
y l phn khng i ca h thng. Trong hu ht cc h
thng iu chnh th i tng iu chnh, c quan iu
chnh c cu chp hnh v i khi mt phn b iu
chnh (cc c cu o lng, bin i) thng l bit trc.
Trong mt s trng hp t c, i tng cha xc nh trc hon
ton, b iu chnh cng cha c trong cng nghip th bi
ton tng hp l to k thut mi p ng nhng yu cu v
iu khin t ra.
Giai on 2: Xc nh s cu trc v nhng c
tnh tnh v ng hc ca phn khng i trn (xc nh
m hnh ton). Nhng d kin ny thng ly trong ti liu,
h s my, s tay tra cu hoc phi ly t nhng th
nghim trctip trn i tng. M hnh ton ca phn khng
i thng biu din di dng hm truyn hoc phng trinh
vi phn.
Giai on 3: Xy dng s cu trc ca ton b h
thng iu chnh. H thng mt vng xy dng trn
nguyn l iu chnh sai lch. Nu cn thit tng tnh n
nh h thng, tng tc ng nhanh, gim nhiu ngi ta
c th xy dng h thng iu chnh nhiu vng kn,
hoc c thm khu kh nhiu
132
iu khin nhit
Giai on 4: Da theo s cu trc ca h thng v
m hnh tnh ton ca phn khng i c th tin hnh
tng hp phn khng i ca h thng. l cc b iu
chnh, cc b kh nhiu Da trn cc yu cu v cht lng
iu chnh trong ch xc lp v qu trnh qu ta
tin hnh ti u ho tham s hiu chnh ca h thng.
5.2.2. Mt s phng php tng hp b iu khin
PID.
* Phng php s dng m hnh xp x bc nht c tr
ca i tng (phng php th nht ca Ziegler - Nichols).
Phng php ny xc nh tham s K
p
, T
I
, I
D
cho b iu
khin PID trn c s i tng c th c xp x bi hm
truyn t dng.
W(s) = ( )
.
1
s
s
ke
W s
T
t -
=
+
Sao cho h thng nhanh chng v ch xc lp v
qu iu chnh h
max
khng vt qu 40% h = lim h (t)

133
t
40
%
1
h
(t)
t
iu khin nhit
Cc tham s (hng s thi gian tr), k (h s khuch
i) v T (hng s thi gian) c xc nh gn ng t
th hm qu t (t) ca i tng.
+ l khong thi gian u ra h (t) cha c phn ng
ngay vi kch thc 1 (t) ti u vo.
+ k l gi tr gii hn h = lim h (t)
+ T l khong thi gian cn thit tip tuyn ti
im sau khong g tr ca h (t) t c gi tr k.
Trong trng hp hm qu h (t) khng c dng l tng
nh trn m c dng gn ging ch S ca khu qun tnh bc
n (n 2) nh hnh v di y.

134
t
T
k
h
(t)
T
k
h
(t)

iu khin nhit
Th ba tham s k, , T c xc nh nh sau:
k l gi tr gii hn h = lim h (t)
K tip tuyn ti im un ca n s l hoanh ca
giao tip tuyn vi trc honh. T l khong thi gian cn thit
c tip tuyn i c t gi tr 0 ti trc honh.
Sau khi xc nh c m hnh xp x ca i tng,
Ziegler - Nichlos ngh s dng cc tham s T
I
, T
D
sao
cho b iu khin.
a. Nu b iu khin P th chn:
.
p
T
k
k
b. Nu b iu khin PI:

0,9 10
; .
. 3
p I
T
k T
k
c. Nu b iu khin PID:

1,2
; 2 ;
. 2
p I D
T L
k T T
k
Tuy nhin ta c th thy ngay s hn ch ca phng
php ny l: i tng phi n nh, khng c dao ng
v hm qu ca n phi c dng ch S. Vy nn kt qu
ca phng php ny ch mang tnh cht nh hng hoc
hiu chnh s b m khng cho mt li gii trit .
6. Phng php thc nghim (phng php Ziegler -
Nichols 2)
135
t
iu khin nhit
Phng php ny khng s dng m hnh tnh ton ca
i tng ngay c m hnh xp x gn dng (bc nht c
tr).
M hnh iu khin
+ Nguyn l ca phng php nh sau
Thay b iu khin PID trong h kn bng mt b
khuch i. Sau tng h s khuch i ti mt gi tr ln
ti hn k
th
h kn ch bin gii n nh, tc l h(t)
c dng dao ng iu ho. T xc nh c chu k T
th
ca dao ng.
Xc nh tham s b iu khin.
- Nu b iu khin l P th K
p
=
1
2
k
th
136
K
th
i tng
iu
khin
y(t)
u(t) e(t)
(t
)
-
2
1.
5
1
0.
5
1 2 3 4 5
6
T
th
h(t
)
t
iu khin nhit
- Nu b iu khin l PI th k
p
= 0,45k
th
; T
I
=
0,95 T
th
- Nu b iu khin PID th k
p
= 0,6 k
th
; T
D
=
0,12T
th
Nhn chung phng php th hai cho cht lng tt hn
phng php th nht nhng ch p dng cho i tng c ch
bin gii n nh khi hiu chnh bng h s khuch i
trong h kn.
Ngoi hai phng php trn th mt s phng php na
cng c th k ra y tng hp b iu khin PID l:
phng php Chien - Hrones - Reswick, phng php tng T
ca Kuhn... Nhng nhn chung cc phng php ni trn ch p
dng cho i tng n nh, khng c dao ng, hm
truyn c dng ch S... nn khng mang li hiu qu cao.
Mt iu cn ch l i tng lin quan n qu trnh
nhit thng c tr tuyt i ( > 0) hoc m hnh ho
di dng i tng pha chng c m t bi h phng trnh vi
phn phi tuyn. V vy nichung cc phng php gii tnh
trn c s m hnh trong min thi gian thng gp nhiu
kh khn v tr ngi. Trong trng hp ny ngi ta thng tng
hp h thng da trn c s m hnh h thng trong min
tn s. Mt phng php hay c dng l phng php tnh
thng s ti u ca b iu chnh in hnh theo ch s
dao ng nghim m
3. tnh cc tham s ti u ca b iu chnh theo ch
s dao ng nghim m
Gi s ta c h thng iu chnh mt vng.
137
W
B
W
y(t)
iu khin nhit
Gi s h h c d tr n nh theo ch s dao ng
nghim l m, tc l cc nghim a thc c tnh ca n
tho mn iu kin
i
- m
i
, s
i
=
i
+ j
i
cho h thng bo tn d tr n nh m trng thi
knth c tnh tn s bin pha m rng W
H
(-m +
j ) ca h h khng bao im (-1, j0) trn mt phng thc.
H kn s nm bin gii d tr n nh m nu W
H
(-
m +j ) i qua im (- 1, j 0) hay W
H
(- m + j ) = -1
Ta c th tm cc thng s ti u trn bin d tr n
nh vi m cho trc. Ta c:
W
H
(-m + j ) = -1
W
B
(m + j ) . W
(-m + j ) = -1
W
B
(-m + j )
1
(-mw +jw)
d
W
(1)
138
R
e
0
-1, j0
J
m
W
H
(-m +
j )
iu khin nhit
(Trong W
B
(-m + j ), W
(-m + j )) ln lt l
c tnh tn s m rng ca b iu chnh v ca i t-
ng.
Ta k hiu
(2)
( )
1
1
.
(-mw +jw)
d
d
W m
W
= R
1
(m, ) + j Q
-1
(m, )
R
1
(m, ), Q
-1
(m, ) l phn thc v phn o ca

c tnh tn s nghch o ca i tng.
Gi s b iu chnh PID c hm truyn nh sau.
W
B
(s) = + +
0
1 2
C
C C s
S
Thay s = - m + j vo W
B
(s) ta c:
W
B
(-m + j ) =
+ +
1 2
(-mw +jw)
(-mw +jw)
o
C
C C
( )
( )
( ) ( )

+ +
+
1
1 + +
+ + 1
]
0
1 2 2
2
0 0
1 1 2 2
2 2
1
1 1
C m j
C m C j
m
mC C
C C m C j C
m m

(3)
Thay (3) vo (2) vo (1) ta c.
( )
( ) ( )

1
1 +
+
+ 1
]
1 1 0 0
1 2 2
2
2
, ,
( 1)
1
d d
mC C
C m C j C R m jQ m
m
m
T y bng cch so snh hai s phc suy ra.
( )
( )
( )
( )

'
1 0
1
2
1 0
2
2
2 ,
1
,
1
d
d
mC
C m C R m
m
C
C Q m
m
(4)
139
iu khin nhit
T h phng trnh trn ta c th tin hnh tm thng
s ti u cho b iu khin PI, PD, hay PID tu theo yu cu.
V d: Tng hp b iu khin PI
Khi C
2
= 0. H phng trnh 4 tr thnh.
( ) ( )
( ) ( )

'
+
2 1
0
1 1
1
1 ,
, ,
d
d d
C m Q m
C R m mQ m
(5)
Da vo cc cng thc trong (5) ta tnh gi tr C
0
va C
1
vi nhng gi tr khc nhau (m cho trc). Sau dng
th quan h gia C
0
v C
1
. chnh l ng bin d tr n
nh theo ch s dao ng nghim m. Trn th xc
nh im hiu chnh ti u (C
0
, C
1
) ng vi gi tr cao nht
ca C
0

Nu b iu chnh l t l P. Ch cn b thnh phn
tch phn (cho C
0
= 0) v xc nh h s ti hn (ti u) C
th
1
140
C
0
C
1
C
*
1
C
th
1
0
C
*
0
C
th
0
iu khin nhit
ca b iu chnh. C
th
1
l giao im gia th C
1
- C
0
v
trc honh (ly gi tr C
th
1
> 0)
Nu b iu chnh tch phn th b thnh phn t l
(cho C
1
= 0) v xc nh thng s ti u C
0
= C
th
0
* Tng hp b iu chnh PID.
T h phng trnh (4) ta cho C
0
nhng gi tr khc
nhau. Sau ng vi mi gi tr C
0
c nh tch C
1
v C
2
vi
thay i s dng c ng cong ph thuc gia C
1
v C
2
trn to phng kt qu s thu c mt lot cc min d
tr n nh. Qu trnh bt u t gi tr C
0
= 0 c min
D
1
. Sau tng dn C
0
c cc min d tr n nh D
2
, D
3
thu hp dn tng ng. Cc min D
i
s thu hp n khi
nh theo yu cu th coi nh C
0
t gi tr ti a v c
tha nhn ti u t mt im bt k trong min D
i
cui cng
h xung cc trc ta c gi tr ti u C
*
1
, C
*
2
* Phng php xc nh thng s ti u.
i tng m ta nghin cu y l loi l in vi
tr ln hm truyn ca i tng c th coi gn ng l mt
khu bc nht c tr
Xc nh thng s ti u cho b iu khin
S h thng.
Hm truyn t ca b iu khin PI c dng.
141
iu khin nhit

PI m
1
m 1
0 m 1 PI 0
i
1
W (p) K (1 )
T .p
K c
V i c K v c nn W (p) (c )
T p
+
+
Hm truyn t ca i tng l.

.p
t
K.e
W (p)
T.p 1
+
( Trong
v d
+
)
Hm truyn t ca h kn.

PI t
PI t
W (p).W (p)
W(p)
1 W (p).W (p)
+
Phng trnh c tnh ca h kn.

PI t
1 W (p).W (p) 0 +
hay:
.p
0 1
2 .p .p
0 1
K.e c .p c
1 . 0
T.p 1 p
T.p p K.c .p.e K.c .e 0 (*)

+
+
+
+ + +
Vi ch tiu cht lng l qu iu chnh ta c th tnh
c dao ng m. Do ta c th xc nh c cc
thng s ca b iu chnh m bo yu cu cht lng ta
thay
p .( m j) +
vo (*) ta c.
+ +

+ + + + + +
+ + +
+ + + +
2 2 . ( m j) . ( m j)
0 1
2 2 2 . .m
0
. .m
1
T. ( m j) ( m j) K.c ( m j). .e K.c .e 0
T. (m 1) 2.j.m.T. .m j. K.c . .e [( m.cos( . ) sin.( . )
sin( . ) j(cos( . ) m.sin( . ))] K.c .e (cos( . ) jsin( . )) 0
Dng phng php cn bng h s ta c
0 1
c v c
l nghim
ca h phng trnh sau.

+ + +
'
+
. .m . .m 2 2
0 1
. .m . .m 2
0 1
K. e ( mcos( . ) sin( . )).c K.e .cos( . ).c .m T. (1 m)
K. .e (cos( . ) m.sin( . )).c K.e .sin( . ).c 2.m.T
Gii h phng trnh hai n
0 1
c v c
ta c kt qu nh sau.
142
iu khin nhit

2
. .m
2
1
. .m
(m T. m.T. )sin( . ) (1 2.m.T. ).cos( . )
K.e
(m 1).[T. .cos( . ) (T. .m 1).sin( . )
c
K.e

+
'
+
Thc hin phng php phn b nghim s tm cc

thng s ca b iu chnh. Ta ly ch tiu cht lng l
qu iu chnh.

2 3
1 2
e e
20(%)
e e
Lc tc tt dn.

1 3
2
2.n.m
e e
e
1 e
Vi mt gi tr m v mi gi tr
ta c mt im
0 1
(c ,c )
.
Vy khi
thay i trong mt phng

0 1
c oc
ta c mt ng
cong, mi ng cong c mt im cc i. ng mi im
bn tri im cc i, b iu chnh c tnh tch phn do
tc tc ng chm, pha bn phi im cc i ca
b iu chnh c tnh t l nn c sai lch tnh. h tc
143
iu khin nhit
ng nhanh v khng c sai lch tnh ta nn chn cc thng
s ca my im cc i.
Kho st bng Matlab mi lin h
0 1
c v c
.
=[0:0.001:0.1];
m=0.36;
k=0.3;
+

0
c ((m 989.* m. ^2* 989.* ).* sin(100.* )
(1 2* m* 989.* ).* cos(100.* ))./(k.* exp(100* m.* ));

1
c =((m.^2+1).* .*(989.* .*cos(100* )-(989*m.* -1).*sin(100.* )))
./(k.*exp(100*m.* ));
plot(c0,c1);grid
rlocfind(c0,c1);
th biu din mi quan h gia
0 1
c v c
theo m
La chn im cc i ng vi m=0.36 ta c ta
( 21.7051, 0.0942)
144
iu khin nhit
Vy
0 m
m
1 I
I
c K 21.7051
K
c = =0.0942 T 230.415
T

Thay vo khu PI ta c.
PI
1
W (p) 21.7051(1 )
230.415
+
Kho st v nh gi cht lng ca h thng bng Simulink
s h thng.
145
iu khin nhit
Qu trnh qu ca h thng:
Nhn vo th ta thy nhit ca l t c gi
tr xc lp l 300
0
C, vi thi gian xc lp l 2200 (s)
Nh vy i vi cc h thng m h s khuch i ca
b iu chnh b hn ch, qun tnh ca h ln th vic s
dng vng n (mt vng kn) s khng m bo cht lng
yu cu nh ta s dng trn. Cht lng h thng iu
khin s c ci thin nh thay i cu trc ca h cng nh
dng cc lut iu khin hon thin hn. Trong phm vi
n ny ta s dng iu khin tng.
H thng iu khin tng c nhng u im sau.
- Tng cht lng iu khin mt cch r rt khi s l
nhiu u vo v ci thin mt phn khi s l cc tc ng
iu khin.
146
iu khin nhit
- Khi h thng c tr ln, vn c kh nng duy tr
i lng cn iu khin (thng s c bn) gi tr t trc
vi chnh xc cao.
- Nhanh chng b nhiu tc ng nn vng thc hin
iu khin (vng trong ) do cc nhiu ny khng lm sai
lch i lng cn iu khin khi gi tr t trc
- Nh c vng thc hin iu chnh nn s lm gim r
rt lch pha gia i lng ra v lng vo i tng, do
s lm tng tc ng nhanh ca vng hiu chnh(vng
ngoi).
iu khin hai vng.
S iu khin.
Vng iu khin.
Tn hiu iu khin l sai lch gia nhit thc ca l
v nhit t
74.p
1 L
0.4.e
W W (p)
558.p 1

+
147
PI
2
W
1
SP
L
(-)
SP
L
SP
Vt
PI
1
PI
2
W
1
W
2
(-) (-)
t
0
(l)
t
0
(vt)
iu khin nhit
2
0 1
PI
c c
W (p)
p
+
Tng t nh trn ta c.

2
. .m
2
1
. .m
(m T. m.T. )sin( . ) (1 2.m.T. ).cos( . )
K.e
(m 1).[T. .cos( . ) (T. .m 1).sin( . )
c
K.e

+
'
+
Kho st bng Matlab mi quan h

0 1
c v c
theo m ta c.
La chn im cc i ng vi m=0.512 ta c ta
(11.2903, 0.0620)
Vy
0 m
m
1 I
I
c K 11.2903
K
c = =0.0620 T 128.1016
T

Thay vo khu
2
PI
ta c.
2
PI
1
W (p) 11.2903(1 )
128.1016
+
148
iu khin nhit
Kho st v nh gi cht lng ca h thng bng
Simulink
S h thng.
149
iu khin nhit
Qu trnh qu ca h thng:
Nhn vo th ta thy nhit ca l t c gi
tr xc lp l 300
0
C, vi thi gian xc lp l 1100 (s)
Vng hiu chnh.
y l vng thc hin chnh nhit l theo sai lch
thc ca vt v gi tr t.
S
150
SP
L
SP
Vt
PI
1
PI
2
W
1
W
2
(-) (-)
t
0
(l)
t
0
(vt)
iu khin nhit
Theo nhng kt qu trn ta c :
26.p
2 Vt
0.8.e
W W (p)
498.p 1

+
74.p
1 l
0.4.e
W W (p)
558.p 1

+
2
PI
1
W 11.29(1 )
128.1016.p
+
1
1
PI 0
c
W (c )
p
+
1
0 1
PI
c .p c
W
p
+
Ta c
2
2
1 PI
t1
1 PI
W.W
W (p)
1 W.W
+
vy
1
1
PI t 2
t2
PI t 2
W .W .W
W (p)
1 W .W .W
+
Phng trnh c tnh l.
1
PI t 2
1 W .W .W +
= 0
151

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Xay Dung He Thong Dieukhien Nhiet Do

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n tt nghip Xy dng h thng

n tt nghip Xy dng h thng

n tt nghip Xy dng h thng

n tt nghip Xy dng h thng

n tt nghip Xy dng h thng

n tt nghip Xy dng h thng

n tt nghip Xy dng h thng

: Hm truyn ca i tng theo knh chn

(s): l hm truyn ma trn tng ng vi vect

n tt nghip Xy dng h thng

=500-30=470. Tnh tin hm qu dc theo

Ta c bng s liu sau:

e = h() - h(t); : h s trng no .

Tuy nhin tnh ton vi J

n tt nghip Xy dng h thng

(m, ) l phn thc v phn o ca

Thc hin phng php phn b nghim s tm cc

thay i trong mt phng

Kho st bng Matlab mi quan h

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