Chng 1

iu khin qu trnh
Chng 2: M hnh qu trnh
- phn I
18/08/2006

Ni dung chng 2
2.1
2.2
2.3
2.4

Gii thiu chung

Cc dng m hnh ton hc
M hnh ha l thuyt
M hnh ha thc nghim

Chng 2: M hnh qu trnh

2006 - HMS

2.1 Gii thiu chung

M hnh l mt hnh thc m t khoa hc v c ng cc kha
cnh thit yu ca mt h thng thc, c th c sn hoc cn
phi xy dng.
Mt m hnh phn nh h thng thc t mt gc nhn no
phc v hu ch cho mc ch s dng.
Phn loi m hnh:

M
M
M
M

hnh
hnh
hnh
hnh

ha: S khi, lu P&ID, lu thut ton

ton hc: ODE, Hm truyn, m hnh trng thi
my tnh: Chng trnh phn mm
suy lun: C s tri thc, lut

Trong ni dung chng 2 ta quan tm ti xy dng m hnh

ton hc cho cc qu trnh cng ngh.

Chng 2: M hnh qu trnh

2006 - HMS

Mc ch s dng m hnh
1. Hiu r hn v qu trnh
2. Thit k cu trc/sch lc iu khin v la
chn kiu b iu khin
3. Tnh ton v chnh nh cc tham s ca b iu
khin
4. Xc nh im lm vic ti u cho h thng
5. M phng, o to ngi vn hnh

Chng 2: M hnh qu trnh

2006 - HMS

Th no l mt m hnh tt
Cht lng m hnh th hin qua:
Tnh trung thc ca m hnh: Mc chi tit v mc
chnh xc ca m hnh
Gi tr s dng (ph hp theo mc ch s dng)
Mc n gin ca m hnh

Khng c m hnh no chnh xc, nhng mt s m

hnh c ch.
Mt m hnh tt cn n gin nhng thu tm
c cc c tnh thit yu cn quan tm ca th
gii thc trong mt ng cnh s dng.

Chng 2: M hnh qu trnh

2006 - HMS

Tng quan qui trnh m hnh ha

1. t bi ton m hnh
ha
2. Phn chia thnh cc
qu trnh c bn
3. Xy dng cc
m hnh thnh phn
4. Kt hp cc m hnh
thnh phn
5. Phn tch v kim
chng m hnh
Chng 2: M hnh qu trnh

2006 - HMS

Phng php xy dng m hnh ton hc

Phng php l thuyt (m hnh ha l thuyt,
phn tch qu trnh, m hnh ha vt l):
Xy dng m hnh trn nn tng cc nh lut vt l, ha
hc c bn
Ph hp nht cho cc mc ch 1., 2. v 5.

Phng php thc nghim (nhn dng qu trnh,

phng php hp en):
c lng m hnh trn c s cc quan st s liu vo-ra
thc nghim
Ph hp nht cho cc mc ch 3. v 4.

Phng php kt hp:

M hnh ha l thuyt xc nh cu trc m hnh
M hnh ha thc nghim c lng cc tham s m
hnh
Chng 2: M hnh qu trnh

2006 - HMS

2.2 Cc dng m hnh ton hc

M hnh tuyn tnh/M hnh ph tuyn:
M hnh tuyn tnh: Phng trnh vi phn tuyn tnh,
m hnh hm truyn, m hnh trng thi tuyn tnh, p
ng qu , p ng tn s...
M hnh phi tuyn: Phng trnh vi phn (phi tuyn), m
hnh trng thi

M hnh n bin/M hnh a bin

M hnh n bin: Mt bin vo iu khin v mt bin
ra c iu khin, bin vo-ra c biu din l cc i
lng v hng
M hnh a bin: Nhiu bin vo iu khin hoc/v
nhiu bin ra, cc bin vo-ra c th c biu din di
dng vector

Chng 2: M hnh qu trnh

2006 - HMS

Cc dng m hnh ton hc (tip)

M hnh tham s hng/ M hnh tham s bin
thin:
M hnh tham s hng : cc tham s m hnh khng
thay i theo thi gian
M hnh tham s bin thin: t nht 1 tham s m hnh
thay i theo thi gian

M hnh tham s tp trung/M hnh tham s ri:

M hnh tham s tp trung: cc tham s m hnh khng
ph thuc vo v tr, c th biu din m hnh bng (h)
phng trnh vi phn thng (OEDs)
M hnh tham s ri: t nht mt tham s m hnh ph
thuc v tr, biu din m hnh bng (h) phng trnh vi
phn o hm ring

M hnh lin tc/m hnh gin on

Chng 2: M hnh qu trnh

2006 - HMS

2.3 M hnh ha l thuyt

Cc bc m hnh ha l thuyt:
1. Phn tch bi ton m hnh ha

Tm hiu lu cng ngh, nu r mc ch s dng

ca m hnh, t xc nh mc chi tit v chnh
xc ca m hnh cn xy dng.
Phn chia thnh cc qu trnh con,
Lit k cc gi thit lin quan ti xy dng m hnh
nhm n gin ha m hnh.
Nhn bit v t tn cc bin qu trnh v cc tham s
qu trnh.

2. Xy dng cc phng trnh m hnh

Chng 2: M hnh qu trnh

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10

3. Kim chng m hnh:

Phn tch bc t do ca qu trnh da trn s lng cc bin
qu trnh v s lng cc quan h ph thuc.
Phn tch kh nng gii c ca m hnh, kh nng iu
khin c
nh gi m hnh v mc ph hp vi yu cu da trn
phn tch cc tnh cht ca m hnh kt hp m phng my
tnh.

4. Pht trin m hnh:

Phn tch cc c tnh ca m hnh

Chuyn i m hnh v cc dng thch hp
Tuyn tnh ha m hnh ti im lm vic nu cn thit.
M phng, so snh m hnh tuyn tnh ha vi m hnh phi
tuyn ban u
Thc hin chun ha m hnh theo yu cu ca phng php
phn tch v thit k iu khin.

5. Lp li mt trong cc bc trn nu cn thit

Chng 2: M hnh qu trnh

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11

2.3.1 Nhn bit cc bin qu trnh

Tm hiu lu cng ngh, nu r mc ch s
dng ca m hnh, t xc nh mc chi tit
v chnh xc ca m hnh cn xy dng.
Phn chia thnh cc qu trnh con, nhn bit v
t tn cc bin qu trnh v cc tham s qu
trnh. Lit k cc gi thit lin quan ti xy dng
m hnh nhm n gin ha m hnh.
Phn bit gia tham s cng ngh v bin qu trnh
Nhn bit cc bin ra cn iu khin theo mc ch iu
khin: thng l p sut, nng , mc
Nhn bit cc bin iu khin tim nng: thng l lu
lng, cng sut nhit (can thip c qua van iu
khin, qua thay i in p, v.v)
Cc bin nhiu qu trnh
Chng 2: M hnh qu trnh

2006 - HMS

12

V d bnh cha cht lng

Gi thit 0 khng thay i ng k => = 0 v c coi l

mt tham s qu trnh.
Da quan h nhn qu => V l mt bin ra, F v F0 l cc
bin vo.
Phn tch mc ch iu khin => Bin cn iu khin l V.
F0 ph thuc vo qu trnh ng trc => nhiu
F phi l bin iu khin.
Chng 2: M hnh qu trnh

2006 - HMS

13

V d thit b khuy trn lin tc

Chng 2: M hnh qu trnh

2006 - HMS

14

V d thit b gia nhit

Chng 2: M hnh qu trnh

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15

V d thp chng luyn hai cu t

Chng 2: M hnh qu trnh

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16

Phn tch mc ch iu khin

m bo cht lng: Duy tr nng sn phm
nh (xD) v nng sn phm y (xB) ti gi tr
t mong mun
m bo nng sut: m bo lu lng sn phm
nh (D) v lu lng sn phm y (B) theo nng
sut mong mun
m bo vn hnh an ton, n nh: Duy tr nhit
v p sut trong thp (T, P), mc y thp (MB)
v mc ti bnh cha (MD) trong phm vi cho php
L Ty theo yu cu bi ton c th m chn cc
bin cn iu khin thch hp!
Chng 2: M hnh qu trnh

2006 - HMS

17

Cc bin qu trnh trong bi ton tiu biu

Bin cn iu khin:

y =[x D

xB

MD

P]

MB

Bin iu khin

u = [L V

D B

VT ]

Nhiu qu trnh

d = [F

Chng 2: M hnh qu trnh

xF

TF

VF

. .. ]

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18

2.3.2 Xy dng cc phng trnh m hnh

Vit cc phng trnh cn bng v cc phng
trnh cu thnh
Cc phng trnh cn bng c tnh cht nn tng, vit
di dng dng phng trnh vi phn hoc phng trnh
i s, c xy dng trn c s cc nh lut bo ton
vt cht, bo ton nng lng v cc nh lut khc
Cc phng trnh cu thnh lin quan nhiu ti qu
trnh c th, thng c a ra di dng phng trnh
i s.

n gin ha m hnh bng cch thay th, rt gn

v a v dng phng trnh vi phn chun tc.
Tnh ton cc tham s ca m hnh da trn cc
thng s cng ngh c c t.
Chng 2: M hnh qu trnh

2006 - HMS

19

Cc phng trnh cn bng vt cht

Phng trnh cn bng vt cht (ton phn)

trng thi xc lp

Phng trnh cn bng thnh phn

Chng 2: M hnh qu trnh

2006 - HMS

20

V d bnh cha cht lng

Gi thit

Chng 2: M hnh qu trnh

2006 - HMS

21

V d thit b khuy trn lin tc

Cn bng khi lng:

Cn bng thnh phn:

Chng 2: M hnh qu trnh

2006 - HMS

22

V d thit b phn ng lin tc

Gi thit khi lng ring
khng khc nhau ng k:
0 =

Cn bng vt cht ton

phn

Chng 2: M hnh qu trnh

Cn bng thnh phn

Ph thuc hai PT trc

2006 - HMS

23

Cc phng trnh cn bng nng lng

Phng trnh cn bng nng lng tng qut

B qua th nng v ng nng

Chng 2: M hnh qu trnh

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24

 Phng trnh cn bng nhit cho cht lng (n

gin ha)

Chng 2: M hnh qu trnh

2006 - HMS

25

V d thit b trao i nhit

Phng trnh cn bng nhit trng thi xc lp

Coi nhit dung ring khng thay i

Chng 2: M hnh qu trnh

2006 - HMS

26

V d bnh cha nhit

Chng 2: M hnh qu trnh

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27

Cc phng trnh cu thnh

Cc phng trnh truyn nhit
Dn nhit
i lu
Bc x nhit

Cc phng trnh ng hc phn ng ha hc

Cc phng trnh cn bng pha

Chng 2: M hnh qu trnh

2006 - HMS

28

2.3.3 Phn tch bc t do ca m hnh

Bi ton m phng:
Cho m hnh + cc u vo + cc trng thi ban u
Xc nh (tnh ton) din bin u ra
=> a v bi ton gii cc phng trnh m hnh theo cc
bin u ra c lp

Vn : Cc phng trnh m hnh m t

quan h gia cc bin qu trnh hay cha?
Nu thiu: S phng trnh t hn s bin ra c lp, h
phng trnh c v s nghim
Nu tha: S phng trnh nhiu hn s bin ra c lp,
h phng trnh v nghim

Kh nng m phng c lin quan ti kh nng

iu khin c.

Chng 2: M hnh qu trnh

2006 - HMS

29

 Bc t do ca m hnh: S bin qu trnh tr i s

phng trnh c lp
S cc bin t do c trong m hnh, hay chnh l
S lng ti a cc vng iu khin n tc ng c
lp c th s dng

M hnh m bo tnh nht qun: S bc t do =

s bin vo
V d thit b khuy trn:
S bin qu trnh: 7 (h, w, w1, w2, x, x1, x2)
S phng trnh c lp: 2
S bc t do:
5 => m hnh nht qun

V d thit b phn ng:

S bin qu trnh: 6 (F0, F, cA0, cA, V)
S phng trnh c lp: 2
S bc t do:
3 => m hnh nht qun, nhng
s bin iu khin < s bin cn iu khin
Chng 2: M hnh qu trnh

2006 - HMS

30

M hnh khng nht qun: Nguyn nhn?

S bc t do > s bin vo:
M hnh cn thiu phng trnh cn xy dng, v d
trong v d thit b trao i nhit cn thiu mt phng
trnh truyn nhit
Tha s bin ra c th iu khin c lp

S bc t do < s bin vo:

Cc phng trnh m hnh cha hon ton c lp vi
nhau
Qu trnh c thit k c li, cha s bin vo
iu khin

Chng 2: M hnh qu trnh

2006 - HMS

31

2.3.4 Tuyn tnh ha ti im lm vic

Ti sao cn tuyn tnh ha?
Tt c qu trnh thc t u l phi tuyn (t hay nhiu)
Cc m hnh tuyn tnh d s dng (tha mn nguyn l
xp chng)
Phn ln l thuyt iu khin t ng s dng m hnh
tuyn tnh (v d hm truyn t)

Ti sao tuyn tnh ha xung quanh im lm

vic?
Qu trnh thng c vn hnh trong mt phm vi
xung quanh im lm vic (bi ton iu chnh!)
Tuyn tnh ha trong mt phm vi nh gip gim sai
lch m hnh
Cho php s dng bin chnh lch, m bo iu kin
p dng php bin i Laplace (s kin bng 0).
Chng 2: M hnh qu trnh

2006 - HMS

32

Hai phng php tip cn

Tuyn tnh ha trc tip trn phng trinh vi
phn da theo cc gi thit v im lm vic:

Gi thit c nh

S dng bin chnh lch v php khai trin chui

Taylor: a nng, thng dng
Chng 2: M hnh qu trnh

2006 - HMS

33

Php khai trin Taylor

x = f (x , u ), x (0) = x 0

x \n , u \m , f : \n \m \n

y = g (x , u )

y \ p , g : \n \m \ p

Gi s c im cn bng (x , u )
t:

hay x = f (x , u ) = 0

x = x + x
u = u + u
Ta c:

f
f
x +
u
x = x = f (x + x , u + u )  
f (x , u
) +
x x , u
u x , u
0
g
g
x +
u
y = y + y = g (x + x , u + u ) g( 
x , u
) +
x x , u
u x , u
y
Chng 2: M hnh qu trnh

2006 - HMS

34

t cc ma trn Jacobi

f
,
x x , u
f
,
B =
u x , u

A=

g
,
x x , u
g
D =
,
u x , u

C =

A \nn
B \nm
C \ pn
D \ pm

Thay li k hiu x x , u u , y y

x = Ax + Bu ,
y = Cx + Du
Chng 2: M hnh qu trnh

x (0) = x 0 x

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35

V d bnh cha nhit

Ti im lm vic:

Chng 2: M hnh qu trnh

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36

S dng cc k hiu:

Bin i Laplace cho c hai v:

Chng 2: M hnh qu trnh

2006 - HMS

37

V d thit b khuy trn

1

(w1 + w2 w )
h
f
=
=

1
A

1

x
f
(w1x1 + w2x 2 (w1 + w2 )x )
=
=

2
Ah

0 = w1 + w2 w

0 = w1x1 + w2x 2 (w1 + w2 )x

Phng trnh th nht tuyn tnh, ch cn vit li vi bin

chnh lch:
1
h =
(w1 + w2 w)
A
Bin i Laplace cho c hai v:

1
s H (s ) =
(W1(s ) + W2 (s ) W (s ))
A
t kwh =

1
A

H (s ) =
Chng 2: M hnh qu trnh

kwh
( W (s ) + W1(s ) + W2 (s ) )
s
2006 - HMS

38

Khai trin chui Taylor cho phng trnh th hai:

x = (x x ) = x
f

f
f
f
f
f
2 h + 2 x + 2 w1 + 2 w2 + 2 x1 + 2 x 2
h
*
x
w1
w1
x 1
x 2
1
1
=
+

+ w2
)x
w
x
w
x
w
w
x
h
(
(
)
)
(w
1 1
2 2
1
2
1 
2  


Ah
Ah
w
0

x1 x
x x
w
w
w1 + 2
w2 + 1 x1 + 2 x 2
Ah
Ah
Ah
Ah
1
=
(w x + (x1 x )w1 + (x 2 x )w2 + w1x1 + w2x 2 )
Ah
+

Bin i Laplace cho c hai v:

AhsX (s ) =
wX (s ) + (x1 x )W1(s ) + (x2 x )W2 (s ) + w1X1(s ) + w2X2 (s )

Chng 2: M hnh qu trnh

2006 - HMS

39

Chia c hai v cho w v chuyn v (ti sao li phi chia???)

Ah
x x
x x
w
w
s + 1)X (s ) = 1
W1(s ) + 2
W2 (s ) + 1 X1(s ) + 2 X 2 (s )
w
w
w
w
w
K hiu cc tham s (c bit quan tm ti th nguyn):

Ah
x1 x
x2 x
w1
w2
, kw 1x =
, kw 2x =
, kx 1x =
, kx 2x =
=
w
w
w
w
w
Ta i ti dng m hnh hm truyn t quen thuc:
kw 1x
kw 2x
kx 1x
kx 2x
X (s ) =
W1(s ) +
W2 (s ) +
X1(s ) +
X 2 (s )
s + 1
s + 1
s + 1
s + 1

t li k hiu (vector):
w2

h
w

, u =
, d = x1 , y = x
x =

x
w1
x 2

Chng 2: M hnh qu trnh

2006 - HMS

40

M hnh hm truyn t ca qu trnh c vit gn li:

y (s) = G p (s)u (s) + Gd (s)d (s)

kwh
G p (s ) = s
0

kwh
s
,
kw 1x
s +1

kwh
Gd (s ) = k s
sw+2x1

0
kx 1x
s +1

0
kx 2x
s +1

T hai phng trnh vi phn tuyn tnh ha ta cng c th i

ti m hnh trng thi:
h
1 0 0
1 h

, B =
A=
x = Ax + Bu + Ed

Ah 0 w
Ah 0 x1 x
y = Cx
1 0
0 0
1 h
, C =

E =

0 1
Ah x 2 x w1 w2
Quan h gia hai m hnh:
G p (s) = C (s I A)1 B , Gd (s) = C (s I A)1 E
Chng 2: M hnh qu trnh

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41

S khi ca m hnh hm truyn t

Chng 2: M hnh qu trnh

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42

 V d tnh ton vi cc thng s cho trc:

A = 0.8 m2 , = 1.25 kg / lt
w2 = 200 kg / pht
x = 0.4, x1 = 0.8, x 2 = 0.2
h = 1 mt

T cc phng trnh m
hnh trng thi xc lp:
Ta xc nh c cc gi tr
cn li ti im lm vic:

= w1 + w2 w
= w1x1 + w2x 2 (w1 + w2 )x

w1 = 100 [kg / pht]

w = 300 [kg / pht]

Thay vo cc ma trn truyn t:

0.001

s
G p (s ) =

0.001

s
, G (s ) =
d
0.000667

3.333s + 1

Chng 2: M hnh qu trnh

0.001

0
0

0.000667
0.333
0.667

3.333s + 1 3.333s + 1 3.333s + 1

2006 - HMS

43

Tm tt cc bc tuyn tnh ha
1. n gin ha m hnh nh c th, nu c th nn tch
thnh nhiu m hnh con c lp.
2. Xc nh r im lm vic v gi tr cc bin qu trnh ti im
lm vic c m hnh trng thi xc lp.
3. i vi cc phng trnh tuyn tnh, thay th cc bin thc
bng cc bin chnh lch.
4. Tuyn tnh ha tng phng trnh phi tuyn ca m hnh ti
im lm vic bng php khai trin Taylor, bt u vi cc
phng trnh i s v sau l vi cc phng trnh vi phn.
5. t li k hiu cho cc bin chnh lch (s dng k hiu
vector nu cn) v vit gn li cc phng trnh m hnh.
6. Tnh ton li cc tham s ca m hnh da vo gi tr cc bin
qu trnh ti im lm vic.
7. Chuyn m hnh tuyn tnh v dng mong mun, v d biu
din trong khng gian trng thi hoc bng hm truyn t.
Chng 2: M hnh qu trnh

2006 - HMS

44

2.3.5 M phng qu trnh

M phng l phng php ti to cc hnh vi ca
mt h thng thc trn c s m hnh nhm tm
ra cc c tnh cn quan tm.
M phng cc qu trnh cng ngh phc v nhiu
mc ch nh:

Kim chng m hnh ton hc

Kim chng thit k cng ngh
Kho st cc tnh cht ca qu trnh
Thit k cu trc v thut ton iu khin
Kim chng phn mm iu khin
D bo din bin ca qu trnh
o to c bn v o to vn hnh

Chng 2: M hnh qu trnh

2006 - HMS

45

M phng da trn m hnh phi tuyn

dx
= f (x , u ), x (0) = x 0
dt

Nghim ca phng trnh:

x (t ) = x 0 +

0 f (x , u )dt
ti +1

Gin on ha:

x i +1 = x i +

Phng php Euler:

x i +1 x i + (ti +1 ti )f (x i , u i )

ti

f (x , u )dt

Phng php hnh thang:

1
x i +1 x i + (ti +1 ti )[ f (x i , u i ) + f (x i +1, u i +1 ) ]
2
(1)
) (1) ph thuc vo chnh xi+1, nhng c th c lng da vo
cng thc Euler (pp Runger-Kutta bc 2)
Chng 2: M hnh qu trnh

2006 - HMS

46

M phng da trn m hnh tuyn tnh

dx
= Ax + Bu , x (0) = x 0
dt

Gin on ha:

x (kT + T ) = e

AT

x (kT ) +

kT +T

kT
kT +T

= e AT x (kT ) +

kT
T

eA(kT +T )Bu ( )d
e A(kT +T )d Bu (kT )

= e AT x (kT ) + e AtdtBu (kT )

0

= x (kT ) + u (kT )

= e AT
=

Chng 2: M hnh qu trnh

e AtdtB

2006 - HMS

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M phng s dng MATLAB/SIMULINK

Gii cc h phng trnh vi phn thng (ODE:
ode23, ode45, ...) v h phng trnh vi phn o
hm ring (PDE) => m phng h phi tuyn
S dng Control Toolbox => m phng h tuyn
tnh
M phng trc quan trn c s s khi vi
Simulink, cho php ghp ni nhiu m hnh
thnh phn v la chn phng php gii phng
trnh vi phn thch hp => m phng cc h tuyn
tnh v phi tuyn

Chng 2: M hnh qu trnh

2006 - HMS

48

V d m phng thit b khuy trn lin tc

(m hnh phi tuyn)
y1
h
y = =
y2
x

1
k =
= 0.001 [m/kg]
A

dy
= f (y , w1 , w2 , w , x1 , x 2 ) =
dt

k(w1 + w2 w )

k(w1x 2 + w2x 2 (w1 + w2 )y2 )/ y1

1. Biu din o hm:

function dydt = f(t,y,k,w1,w2,w,x1,x2)
dydt = [k*(w1+w2-w)
k*(w1*x1+w2*x2-w1*y(2)-w2*y(2))/y(1)];
2. t cc gi tr u (trng thi xc lp):
w1=100; w2=200; w =300;
x1=0.8; x2=0.2; k =0.001;
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3. Gii (h) phng trnh vi phn

tspan = [0:0.1:20];
y0 = [1; 0.4];
[t y] = ode45(@f,tspan,y0,[],k,1.1*w1,w2,w,x1,x2);
%[t y] = ode45(@f,tspan,y0,[],k,w1,1.1*w2,w,x1,x2);
%...
4. V th biu din kt qu m phng
plot(t,y(:,1));
title('Step change in 10% feed rate \itw_1');
xlabel('Time (min)');
ylabel('Level h (m)');
grid on
figure(2);
plot(t,y(:,2));
title('Step change in 10% feed rate \itw_1');
xlabel('Time (min)');
ylabel('Composition x');
grid on
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V d m phng thit b khuy trn lin tc

(m hnh tuyn tnh)
% Simulation of the blending process with linearized model
w1 = 100;
w2 = 200;
w = 300;
x1 = 0.8;
x2 = 0.2;
x = 0.4;
k = 0.001;
T = 1/(k*w);
Gw1h = tf(k,[1 0]);
Gw1x = tf((x1-x)/w,[T 1]);
t = [0:0.1:20];
y0 = [1; 0.4];
y = step([Gw1h Gw1x],t)*w1*0.1;
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V th biu din kt qu m phng

figure(1);
plot(t,y(:,1)+y0(1));
title('Step change in 10% feed rate w_1');
xlabel('Time (min)');
ylabel('Level h (m)');
grid
figure(2);
plot(t,y(:,2)+y0(2));
title('Step change in 10% feed rate w_1');
xlabel('Time (min)');
ylabel('Composition x');
grid

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Tm tt yu cu bi ging
Nm vng ngha, mc ch s dng ca m
hnh qu trnh trong cc bc pht trin h thng
Nm vng cc bc xy dng m hnh ton hc
bng l thuyt, ngha ca tng bc:
Phn tch bi ton, nhn bit cc bin qu trnh ( lm
g? Da vo u?)
Xy dng cc phng trnh m hnh (Dng phng
trnh? C s no?)
Phn tch bc t do ca m hnh ( lm g? Din gii
ngha c th?)
Tuyn tnh ha xung quanh im lm vic ( lm g?
Nh th no? Kt qu l g?)
Nguyn tc m phng (phi tuyn/tuyn tnh), bit cch
s dng cng c MATLAB trong m phng qu trnh
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Phn t hc/t nghin cu

c thm cun sch gio trnh: C s h thng
iu khin qu trnh.
Xem chng 2 v tng quan v phn loi cc m hnh
ton hc thng dng trong iu khin
Nghin cu thm cc v d m hnh ha trong chng 3

Cu hi, bi tp:
Cc cu hi v bi tp cui chng 3 trong sch gio
trnh
S dng MATLAB, chy li v d m phng thit b
khuy trn lin tc
T luyn tp v d m phng bnh cha nhit (phi tuyn
v tuyn tnh ha) s dng MATLAB, t cho cc thng s
cng ngh ph hp.
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