I HC QUC GIA TP.

H CH MINH
TRNG I HC BCH KHOA
KHOA IN IN T
B MN IU KHIN T NG

HNG DN
TH NGHIM

IU KHIN NHIT
BNG CC PHNG PHP
IU KHIN C IN

Thc hin:
Khoa:
Trng i hc:

B mn iu khin T ng
in in t
Bch khoa TP. HCM

TP. HCM, thng 2, 2008

Dng ti liu
Tiu

Version
Khoa
B mn
Hng dn
Thc hin
C vn
Ging dy

Hng dn th nghim
IU KHIN NHIT
BNG CC
PHNG PHP IU
KHIN C IN
1.0

Ngy
Trang
Hnh v
Bng
Font
Coding
Soft

18.02.2008
13
10
5
Verdana
Unicode
MS-Word

in in t
iu khin T ng
Trng nh Chu
Nguyn c Hong
Bi Thanh Huyn
L Quang Thun
Nguyn c Hong

MC LC
1. MC CH....................................................................................................................4
2. C S L THUYT ........................................................................................................4
2.1. IU KHIN ON-OFF................................................................................................4
2.1.1. S IU KHIN............................................................................................4
2.1.2. NGUYN L LM VIC.........................................................................................4
2.2. IU KHIN PID......................................................................................................5
2.2.1. GII THIU.......................................................................................................5
2.2.2. KHO ST VNG H..........................................................................................5
2.2.3. IU KHIN VNG KN.......................................................................................6
2.2.4. C TRNG CA CC B IU KHIN P, I, D.......................................................7
3. CU TRC KT NI CC THNH PHN CA BI TH NGHIM............................................7
4. TH NGHIM.................................................................................................................7
4.1. KHO ST VNG H................................................................................................7
4.2. IU KHIN PID......................................................................................................9
4.3. IU KHIN ON-OFF..............................................................................................11
5. YU CU BO CO.......................................................................................................13
6. TI LIU THAM KHO..................................................................................................13

1. MC CH
Bi th nghim ny gip sinh vin lm quen vi i tng l nhit, mt i tng hay
gp trong cng nghip v phng thc iu khin chng bng cc phng php iu khin c
in ng thi bit cch vit chng trnh thc hin thut ton iu khin v giao din dng
cng c lp trnh Microsoft Visual C++ 6.0 trn c c h thng my tnh, card PCI 1711 v i
tng l nhit.
Trn c s c tnh vng h thu c t kt qu th nghim, sinh vin da vo phng
php p ng qu ca Ziegler-Nichols xc nh cc tham s quan trng ca l nhit,
l: thi hng, thi gian tr v li , t xc nh cc tham s ca b iu khin PID (Kp,
Ki, Kd).
Sinh vin s thc hin hai phng php iu khin l ON-OFF v PID hiu r hn v
l thuyt hc.

2. C S L THUYT
2.1. IU KHIN ON-OFF
2.1.1. S IU KHIN
S iu khin l nhit c th hin qua hnh 1.

w(k)

e(k)

umax

u(k)

L Nhit

y(k)

umin
Khu Relay
Hnh 1

2.1.2. NGUYN L LM VIC

Phng php iu khin ON-OFF cn c gi l phng php ng ngt hay dng
khu relay c tr: c cu chp hnh s ng ngun cung cp nng lng mc ti a cho
thit b tiu th nhit nu nhit t w(k) ln hn nhit o y(k), ngc li mch iu
khin s ngt mch cung cp nng lng khi nhit t nh hn nhit o.
Mt vng tr c a vo hn ch tn s ng ngt nh s khi trn: ngun
ch ng khi sai s e(k) > v ngt khi e(k) < - . Nh vy, nhit o y(k) s dao ng
quanh gi tr t w(k) v 2 cn c gi l vng tr ca r le.
Khu r le c tr cn gi l mch so snh Smith trong mch in t v nh vy l gi
tr thm hay ngng.
iu khin ON-OFF c u im l:

Thit b tin cy, n gin, chc chn, h thng lun hot ng c vi mi ti.

Tnh ton thit k t phc tp v cn chnh d dng.

4

 Nhng c nhc im l sai s xc lp s ln do h ch cn bng ng quanh nhit

t v thay i theo ti. Khuyt im ny c th c hn ch khi gim vng tr bng cch
dng phn t ng ngt in t mch cng sut.

2.2. IU KHIN PID

2.2.1. GII THIU
B iu khin PID c s dng rt rng ri trong thc t iu khin nhiu loi i
tng khc nhau nh nhit l nhit, tc ng c, mc cht lng trong bn cha, L do
b iu khin ny c s dng rng ri l v n c kh nng trit tiu sai s xc lp, tng p
ng qu , gim vt l nu cc tham s b iu khin c chn la thch hp. Do s
thng dng ca n nn nhiu hng sn xut thit b iu khin cho ra i cc b iu khin
thng mi rt thng dng. Thc t cc phng php thit k b iu khin PID dng qu o
nghim s, gin Bode hay phng php gii tch rt t c s dng do vic kh khn trong
xy dng hm truyn i tng. Phng php ph bin nht chn tham s PID thng mi
hin nay l phng php Ziegler-Nichols.
B iu khin PID c hm truyn lin tc nh sau:

G(s) = K p +

Ki
1
+ Kd s = K p 1 +
+ TD s
s
TI s

2.2.2. KHO ST VNG H

p ng nc ca l nhit c dng nh hnh 2:

Nhit

Thi gian

a
L

T
Hnh 2

p ng ny c th c xp x bi hm truyn sau:

G(s) =
Trong :

K Ls
e
1 + Ts

K : li tnh
T : hng s thi gian
L : thi gian tr

Ch :

a=K

L
T
5

Cc tham s ca b iu khin PID c tnh theo phng php p ng nc ca ZieglerNichols nh bng 1.

Bng 1
B iu khin

KP

TI

1/a

PI

0.9/a

3L

PID

1.2/a

2L

TD

L/2

2.2.3. IU KHIN VNG KN

S iu khin nh hnh 3.

w(k)

e(k) B iu khin u(k)

PID

L Nhit

y(k)

Hnh 3
B iu khin PID c hm truyn dng lin tc nh sau:

G(s) = K p +

Ki
+ Kd s
s

Bin i Z ca n nh sau:

G( z) = K p +

K iT
2

z + 1 Kd z 1

z 1 T z

Vit li G(z) nh sau:

(K
G( z) =

+ KiT / 2 + Kd / T ) + ( K p + Ki T / 2 2* Kd / T ) z 1 + ( Kd / T ) z 2
1 z 1

t:

a0 = K p + KiT / 2 + Kd / T ; a1 = K p + Ki T / 2 2* Kd / T ; a2 = Kd / T
Suy ra:

a0 + a1 z 1 + a2 z 2
G( z) =
1 z 1
T , ta tnh c tn hiu iu khin u(k) khi tn hiu vo e(k) nh sau:

u (k ) = G ( z )* e(k ) =

a0 + a1 z 1 + a2 z 2
* e( k )
1 z 1

Suy ra:

u (k ) = u (k 1) + a0 * e(k ) + a1 * e(k 1) + a2 * e(k 2)

6

2.2.4. C TRNG CA CC B IU KHIN P, I, D

iu khin t l (Kp) c nh hng lm gim thi gian ln v s lm gim nhng khng
loi b sai s xc lp. iu khin tch phn (Ki) s loi b sai s xc lp nhng c th lm p
ng qu xu i. iu khin vi phn (Kd) c tc dng lm tng s n nh ca h thng,
gim vt l v ci thin p ng qu . nh hng ca mi b iu khin Kp, Ki, Kd ln h
thng vng kn c tm tt bng bn di (bng 2).

p ng
vng kn
Kp
Ki
Kd

Thi gian
ln
Gim
Gim
Thay i nh

Bng 2
Vt l
Tng
Tng
Gim

Thi gian
xc lp
Thay i nh
Tng
Gim

Sai s
xc lp
Gim
Loi b
Thay i nh

Ch rng cc mi lin h ny khng chnh xc hon ton bi v Kp, Ki v Kd ph

thuc vo nhau. V vy, bng ny ch dng tham kho khi xc nh cc tham s Kp, Ki v Kd.

3. CU TRC KT NI CC THNH PHN CA BI TH NGHIM

S cu trc kt ni cc thnh phn ca bi th nghim nh hnh 4, gm cc thnh
phn sau:
My tnh: c nhim v thu thp, hin th v iu khin nhit trong thi gian thc.
Card PCI-1711: giao tip gia my tnh v i tng vt l, c nhim v c tn hiu
nhit ri truyn v my tnh v xut tn hiu iu khin ra bn ngoi.
Ngoi ra gia card PCI-1711 v l nhit c hai mch giao tip: mch cng sut bin
i in p iu khin DC t 0-5V sang in p xoay chiu 0-220V cp cho l nhit, mch
bin i x l tn hiu nhit c v t l nhit (b nhit, khuch i).

AO
Thu thp, hin
th v iu
khin nhit
trong thi gian
thc

iu khin
(Voltage)

Mch
cng
sut

PCI-1711

AI

L nhit

Tn hiu nhit
(Voltage)

Mch
bin i

PC, Windows XP

Hnh 4

4. TH NGHIM
4.1. KHO ST VNG H
Sinh vin to giao din chng trnh iu khin kho st vng h c dng nh hnh 5.

Hnh 5
Khi nhn nt Setting th xut hin hp thoi nhp cng sut t v thi gian ly
mu (hnh 6).
Lu : th nghim ny khi cp cng sut 100% tng ng xut 5V ra knh AO.0. i vi l
nhit thi gian ly mu nn chn 12 giy.

Hnh 6

Khi nhn nt Heat on th t l. V th nhit o ng thi hin th cc gi tr

nhit o, phn trm cng sut t, o v thi gian chy ln mn hnh tng thi im ly
mu.
Khi nhn nt Heat off th ch tt l cn nhng iu khin khc th gi nguyn.
8

Yu cu:
t cng sut cp cho l l 30%, thi gian ly mu l 1 giy. Khi nhit gn xc lp
th lu li hnh v. Xc nh cc gi tr T, L, K t p ng vng h thu c, ghi kt qu ra
bng 3.
Gi : khi v th ta nn v nhit tng ng vi 100% cng sut (t nhit o
c 30% cng sut suy ra nhit 100% cng sut) xc nh cc gi tr T,L,K. Cho
bit mch o nhit c nhy l 62.5oC/V.

Bng 3
L(s)

T(s)

K(oC)

4.2. IU KHIN PID

Sinh vin to giao din chng trnh iu khin PID nh hnh 7.

Hnh 7

Khi nhn nt Setting th mt hp thoi xut hin nhp cc gi tr Kp, Ki, Kd, thi
gian ly mu v nhit t. Cc gi tr mc nh c chn nh trn hnh 8.

Hnh 8

Khi nhn nt Heat on th bt u iu khin l nhit. V th nhit t, o, cng

sut ng thi hin th cc gi tr nhit t, o, sai s, phn trm cng sut v thi gian
chy ln mn hnh tng thi im ly mu.
Khi nhn nt Heat off th ch tt l cn nhng iu khin khc th gi nguyn.

Yu cu:
Bc 1: T cc gi tr K, T, L xc nh kho st vng h tnh cc gi tr Kp, Ki, Kd
theo cng thc Ziegler-Nichols.
Bc 2: Vi cc gi tr Kp, Ki, Kd va xc nh hy iu khin l nhit 80 oC vi thi
gian ly mu l 1 giy. Khi nhit xc lp hoc thi gian iu khin qu 10 pht th lu li
hnh v, ghi cc s liu ln bng 4 (trng hp 1), tt l. (m ca l h nhit ).
Bc 3: Khi nhit gim xung 40oC th iu khin li l nhit vi cc gi tr Kp, Ki,
Kd mc nh, nhit t v thi gian ly mu gi nguyn. Khi nhit xc lp hoc thi gian
iu khin qu 10 pht th lu li hnh v, ghi cc s liu ln bng 2 (trng hp 2), tt l.
(m ca l h nhit ).

Bng 4
B iu khin
PID

Thi gian

Thi gian

Sai s

ln(s)

xc lp(s)

vt l(%)

xc lp(oC)

Trng hp 1
Trng hp 2

10

Gi : v ch th nghim trong khong 10 pht vi thi gian ly mu l 1 giy tng ng

khong 600 mu nn trong chng trnh nn gii hn s mu hin th ln mn hnh l khong
600 mu.

4.3. IU KHIN ON-OFF

Sinh vin to giao din chng trnh iu khin ON-OFF nh hnh 9.

Hnh 9

Khi nhn nt Setting th mt hp thoi xut hin nhp cc gi tr vng tr, thi gian
ly mu v nhit t. Cc gi tr mc nh c chn nh trn hnh 10.

11

Hnh 10

Khi nhn nt Heat on th bt u iu khin l nhit. V th nhit t, o, cng

sut ng thi hin th cc gi tr nhit t, o, sai s, phn trm cng sut v thi gian
chy ln mn hnh tng thi im ly mu.
Khi nhn nt Heat off th ch tt l cn nhng iu khin khc th gi nguyn.

Yu cu:
Bc 1: iu khin l nhit 80oC, thi gian ly mu 1 giy vi vng tr l 0.5oC. Khi
nhit xc lp th lu li hnh v, ghi cc s liu ln bng 5 (khng tt l).
Bc 2: Thay i vng tr l 1oC, khi nhit xc lp th lu li hnh v, ghi cc s liu
ln bng 5 (khng tt l).
Bc 3: Thay i vng tr l 0.2 oC, khi nhit xc lp th lu li hnh v, ghi cc s
liu ln bng 5 (khng tt l).
Bc 4: Thay i vng tr l 0.1 oC, khi nhit xc lp th lu li hnh v, ghi cc s
liu ln bng 5 (tt l).

Bng 5
B iu khin
ON OFF

Thi gian

Thi gian

Sai s

ln(s)

xc lp(s)

vt l(%)

xc lp(oC)

= 0.1oC
= 0.2oC
= 0.5oC
= 1.0oC

12

5. YU CU BO CO

Bo co chng trnh iu khin PID (ch cn on chng trnh c tn hiu nhit , tnh
tn hiu iu khin v xut tn hiu iu khin ) (1).

Bo co chng trnh iu khin ON/OFF (ch cn on chng trnh c tn hiu nhit ,

tnh tn hiu iu khin v xut tn hiu iu khin ) (1).

Bo co cc hnh v thu c.(2)

Nhn xt cht lng (sai s xc lp, thi gian xc lp, vt l) b iu khin PID:
trng hp cc gi tr Kp, Ki, Kd tnh theo cng thc Ziegler-Nichols v trng hp cc gi
tr mc nh. T hai trng hp ny c th rt ra nh hng ca cc gi tr Kp, Ki, Kd nh
th no?(2)

So snh cht lng b iu khin ON OFF vi cc gi tr vng cht khc nhau. T rt ra

nhn xt.(2)

So snh cht lng ca hai b iu khin PID v ON/OFF. T rt ra nhn xt.(1)

Hy cho bit mt s ng dng ca b iu khin PID v ON/OFF trong thc t.(1)

6. TI LIU THAM KHO

1. Nguyn Th Phng H & Hunh Thi Hong. L thuyt iu khin t ng.

Lu :

Sinh vin phi chun b k bi trc khi vo th nghim (vit chng trnh to cc giao
din nh trong phn III ca ph lc).

Nu khng c bi chun b hoc chun b s si s khng c vo th nghim.

Nu cc nhm bo co ging nhau th s nhn 40% s im.

13