iu khin qu trnh

Chng 5: Phn tch h iu khin

phn hi

Ni dung chng 5
5.1
5.2
5.3
5.4
5.5

Cu hnh chun ca h iu khin phn hi

Chun ha m hnh
Pht biu bi ton chun
nh gi cht lng trn min thi gian
nh gi cht lng trn min tn s

Chng 5: Phn tch h iu khin phn hi

2006 - HMS

Mc ch bi ging
Lm r cc yu t lin quan ti cht lng ca mt h
thng iu khin phn hi
Nhng nguyn tc c bn nht trong thit k mt b
iu khin phn hi

Chng 5: Phn tch h iu khin phn hi

2006 - HMS

5.1 Cu hnh chun

d
Qu trnh KT
Gd

B iu khin

r
P

ym

r
u
y
ym
d
n

tn hiu t, gi tr t
tn hiu iu khin
tn hiu ra c iu khin
tn hiu o, tn hiu phn hi
nhiu qu trnh (khng c o)
nhiu o

Chng 5: Phn tch h iu khin phn hi

G
Gd
K
P

m hnh i tng
m hnh nhiu
khu iu chnh
khu lc trc

2006 - HMS

V d h thng iu khin nhit

dT

2
1
= 1 FT
+
F
T

FT
1 1
2 2
dt
V
V
V

Chng 5: Phn tch h iu khin phn hi

2006 - HMS

Chng 5: Phn tch h iu khin phn hi

2006 - HMS

 M hnh tuyn tnh ha ti im lm vic

F2(s)

T (s) = Gp (s)F1(s) + Gd (s) T1(s)

T2(s)

kp
1

Gp (s) =
k
k ]
, Gd (s) =
[k
1 + s
1 + s d 1 d 2 d 3
=

V
T T
T T
F
F
, kp = 1 1
, kd 1 = 2 2
, kd 2 = 1 1 , kd 3 = 2 2
F
F
F
F
F

M hnh van iu khin v thit b o

Gv (s) =

kv
v s + 1

Chng 5: Phn tch h iu khin phn hi

Gm (s) =

km
m s + 1

2006 - HMS

Cu trc n gin ha h K nhit

C cn c chn sao cho c c tnh gn ging vi Gm , t ra l h

s khuch i tnh.
Trong thc t ta c th chn C = Gm hoc C = km .

Chng 5: Phn tch h iu khin phn hi

2006 - HMS

V d h thng iu khin thnh phn

dx
= (w1 + w2 )((x1 x 2 )R x + x 2 )
dt
R = w1/(w1+w2)

Ah

Chng 5: Phn tch h iu khin phn hi

2006 - HMS

dx
= (w1 + w2 )((x1 x 2 )R x + x 2 )
dt
Tuyn tnh ha xung quanh im lm vic
Ah

V d x
+ x = (x1 x 2 )R + Rx1 + (1 R)x 2
w dt
Gp (s) =

x1 x 2 
1
R 1 R
, Gd =

s + 1
s + 1

Chng 5: Phn tch h iu khin phn hi

= V / w
2006 - HMS

10

Chng 5: Phn tch h iu khin phn hi

2006 - HMS

11

5.2 Chun ha m hnh

M hnh ban u ca qu trnh cha c chun ha:
y(s) = Gm (s)Gp (s)Gv (s)u(s) + Gm (s)Gd (s)d(s)

Chun ha tn hiu:
y = y / Sy , u = u / Su , d = d / Sd
Sy l di tn hiu o, Su l di tn hiu iu khin v Sd l
di nhiu qu trnh

M hnh chun ha
y(s) = G(s)u(s) + Gd (s)d(s)
Gm (s)
G(s) =
Gp (s)SuGv (s) = Gm (s)Gp (s)Gv (s)
Sy
Gm (s) 
Gd (s) =
SdGd (s) = Gm (s)SdGd (s)
Sy
Chng 5: Phn tch h iu khin phn hi

2006 - HMS

12

V d h thng iu khin nhit

Sy = Su = 16 mA
Gd =

F2,max

0
Sd =

0
T1,max
0

T2,max

km
km
SdGd =
k T
k T2,max ]
[ k F
1 + ms
(1 + ms)(1 + s) d 1 2,max d 2 1,max d 3

C Tsp
r
km
r =
=
=
Tsp = km Tsp
Sy
Sy
Sy
Chng 5: Phn tch h iu khin phn hi

Tm =

Syym
ym
y
y
=
= 1m = m
km
km
km
Sy km
2006 - HMS

13

5.3 Pht biu bi ton chun

Cho trc cc m hnh G v Gd, xc nh khu iu chnh K v
khu lc trc P sao cho:
1. H thng hot ng n nh, m bo cc iu kin vn hnh
theo yu cu ca quy trnh cng ngh,
2. Cht lng v tc p ng ca u ra y vi gi tr t r v
nhiu qu trnh d c ci thin, sai lch iu khin e = r y
nhanh chng c trit tiu hoc t ra l nm trong phm vi cho
php, v
3. Tn hiu iu khin u c gi tr nh, thay i chm v trn tru
(nhm tit kim chi ph nng lng v tng tui th cho thit b
chp hnh)
trong iu kin tn ti nhiu o n, sai lch m hnh v gii hn
vt l ca qu trnh (gii hn tn hiu iu khin, kh nng p
ng ca qu trnh).
Chng 5: Phn tch h iu khin phn hi

2006 - HMS

14

Cc quan h c bn

p ng h kn

Chng 5: Phn tch h iu khin phn hi

2006 - HMS

15

Yu cu cht lng iu khin

Tnh n nh: mc tiu duy tr im lm vic, bo m

vn hnh h thng trn tru v an ton

Tc v cht lng p ng: Kh nng bm gi tr

bin ch o, kh nng khng nhiu, nhm mc tiu
m bo nng sut, cht lng sn phm v cc iu
kin vn hnh

Tnh bn vng: Tnh n nh v cht lng c m

bo vi sai lch m hnh, c tnh qu trnh thay i
v vi tc ng ca nhiu o

Din bin trn tru v t thay i ca bin iu khin,

nhm mc tiu tit kim chi ph nng lng v tng
tui th cho thit b chp hnh.

Chng 5: Phn tch h iu khin phn hi

2006 - HMS

16

Cc yu cu cn tha hip
Tc p ng v cht lng p ng
c tnh bm gi tr t/loi b nhiu qu trnh v
tnh bn vng vi nhiu o
p ng u ra v p ng tn hiu iu khin
Cht lng iu khin ti u v tnh bn vng vi
sai lch m hnh

Chng 5: Phn tch h iu khin phn hi

2006 - HMS

17

5.4 nh gi cht lng

trn min thi gian
nh gi thng qua phn tch hoc thng qua m
phng
nh gi bng phng php i s hoc phng php
th
nh gi da trn tng ch tiu ring r hoc da trn
ch tiu tng hp

Chng 5: Phn tch h iu khin phn hi

2006 - HMS

18

p ng vi thay i gi tr t

Chng 5: Phn tch h iu khin phn hi

2006 - HMS

19

Cc ch tiu cht lng trn min thi gian

Thi gian p ng (response time, Tr): Thi gian cn cho u ra
ln u tin t c 90% gi tr cui cng. Thi gian p ng
cng nh cng tt.
Thi gian qu (settling time, Ts): Sau thi gian ny u ra y(t)
nm li trong phm vi sai lch cho php so vi gi tr xc lp
(thng thng 5% hoc 2% ty theo yu cu). Thi gian qu
cng nh cng tt.
qu iu chnh (overshoot): Chnh lch gia gi tr nh v gi
tr xc lp (A) chia cho gi tr u ra xc lp. Thng thng,
qu iu chnh c qui nh khng c php vt qu 20%-25%.
H s tt dn (decay ratio): T s gia nh th hai v nh th
nht (so vi gi tr xc lp), tc B/A. H s tt dn yu cu
thng khng ln hn 0.3.
Sai lch tnh (steady state error, ): Sai lch gia gi tr xc lp ca
u ra so vi gi tr t (e = r y). Sai lch tnh cng nh cng
tt, thng thng ch yu cu nm trong mt gii hn no .
Chng 5: Phn tch h iu khin phn hi

2006 - HMS

20

Tiu chun tch phn (chun tn hiu)

Tch phn bnh phng sai lch (Integral Squared
Error, ISE)
e(t )

= (

e( ) 2 d )1 / 2

Tch phn sai lch tuyt i (Integral Absolute Error,

IAE)
e(t )

e( ) d

M rng quan tm ti din bin ca bin iu khin:

J = (

e( ) d )

1/2

Chng 5: Phn tch h iu khin phn hi

+ (

u( ) 2 d )1 / 2

2006 - HMS

21

p ng qu vi nhiu qu trnh

Chng 5: Phn tch h iu khin phn hi

2006 - HMS

22

5.5 nh gi cht lng

trn min tn s
c tnh bm tim cn - Thuyt m hnh ni
Di thng v tn s ct
d tr bin-pha

Chng 5: Phn tch h iu khin phn hi

2006 - HMS

23

c tnh bm tim cn

iu kin bm tim cn: Gi thit h n nh ni v d = n = 0.

a) Nu r thay i dng bc thang th sai lch iu khin tin ti
khng (khi cho ) khi v ch khi S(s) c t nht mt im khng ti
gc ta , hoc L(s) c t nht mt im cc ti gc ta .
b) Nu r thay i dng tn hiu dc th sai lch iu khin tin ti
khng (khi cho ) khi v ch khi S(s) c t nht hai im khng ti gc
ta , hoc L(s) c t nht hai im cc ti gc ta .
Chng 5: Phn tch h iu khin phn hi

2006 - HMS

24

Nguyn l m hnh ni

h kn c c tnh bm tim cn
th hm truyn h h L(s) phi
cha bn trong mt m hnh ni
ca cc im cc khng n nh ca
tn hiu t.

Chng 5: Phn tch h iu khin phn hi

2006 - HMS

25

Di thng ca h kn

Di thng: Phm vi tn s ca mt tn hiu u vo m h

thng cho qua vi mt h s khuch i (hay ni cch khc
l bin ca c tnh tn) ln hn hoc bng 1 2 0.707
Di thng phn nh c tnh p ng vi gi tr t, nhiu qu
trnh v nhiu o
Chng 5: Phn tch h iu khin phn hi

2006 - HMS

26

Vai tr ca b iu khin phn hi?

C th m rng di thng mt cch ty ?

Chng 5: Phn tch h iu khin phn hi

2006 - HMS

27

c tnh bin l tng ca T v S

Chng 5: Phn tch h iu khin phn hi

2006 - HMS

28

Hai nh ngha v di thng h kn

Chng 5: Phn tch h iu khin phn hi

2006 - HMS

29

c tnh tn h h
L(s) = G(s)K (s)

a) th Bode
Chng 5: Phn tch h iu khin phn hi

b) th Nyquist
2006 - HMS

30

 Tn s ct c(crossover frequency):
Tn s nh nht m
L( jc ) = 1
ngha gn tng ng vi di tn

d tr bin Am, thng thng yu cu > 2

1
Am =
L( j 180 )
ngha: H s tng ln cho php ca h s khuch i ca qu
trnh m vn bo m tnh n nh h kn

d tr pha m, thng thng yu cu m > 30

m = 180D + arg L( j c )
ngha: Cho php lch pha ca qu trnh tng ln R (v d
do bt nh v thi gian tr) m vn m bo tnh n nh h
kn
d tr pha cn phn nh cht lng p ng ca h kn, v
d vi qu trnh l khu FOPDT v b iu khin c thnh
phn I th m[O]+ qu iu chnh [%] ~ 70
Chng 5: Phn tch h iu khin phn hi

2006 - HMS

31