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B IU KHIN PI M: T THIT K N NG DNG
Nguyn Ch Ngn
1

ABSTRACT
The article presents an online fuzzy tuning technique for a PI controller (proportional
integral controller) with wide enough tuning ranges around parameters obtained from
Ziegler-Nichols tuning method. A hybrid control structure combining a PI controller and
a fuzzy controller is established, where the PI controller plays a role of main controller to
generate control signal and the fuzzy controller acts as a supervisor for real-time
providing parameters of the PI controller. Experiments on Gunt-Hamburg RT010, RT020
and RT030 process control units indicate that the proposed controller is effective. System
responses have suitable rising and settling times with negligible overshoots and zero
steady-state errors. Besides, this controller also satisfies the requirements of real-time
response and stability under condition of disturbances on the control system.
Keywords: PI controller, Fuzzy controller, Ziegler-Nichols, Process Control
Title: Fuzzy PI Controller: from Design to Application
TM TT
Bi bo ny trnh by mt phng php tinh chnh online thng s ca b iu khin PI
(ProportionalIntegral controller), vi khong tinh chnh rng xung quanh gi tr t
c t phng php thc nghim Ziegler-Nichols, bng k thut logic m. Cu trc iu
khin lai bao gm mt b iu khin PI v mt b iu khin m c thit lp. Trong
, b iu khin PI gi vai tr l b iu khin chnh, to tn hiu iu khin i tng
v b iu khin m gi vai tr l b quan st, cung cp thng s ph hp cho b iu
khin PI theo thi gian thc. Kt qu thc nghim trn cc thit b RT010, RT020 v
RT030 ca hng Gunt-Hamburg cho thy b iu khin c xut t ra hiu qu; p
ng ca cc thit b c thi gian tng v thi gian xc lp hp l, vt l khng ng k v
sai s xc lp c trit tiu. Ngoi ra, b iu khin cn p ng c yu cu v thi
gian thc v s n nh trc tc ng ca nhiu vo h thng.
T kha: B iu khin PI, B iu khin m, Ziegler-Nichols, iu khin qu trnh
1 GII THIU
Ngy nay b iu khin tch phn t l, gi tt l b iu khin PI (Proportional
Integral controller) c ng dng rt ph bin trong iu khin cc qu trnh cng
nghip, do kh nng iu khin hiu qu, cu trc n gin v phm vi ng dng rng
(Salami, M. and G. Cain, 1995; Kanagaraj, N., P. Sivashanmugam, and S. Param-
sivam, 2008). Trong l thuyt iu khin, c rt nhiu phng php hiu chnh
thng s ca b iu khin PI, ph bin nht l phng php Ziegler-Nichols (Kwok,
D.P. & P. Wang, 1992). Tuy nhin, i vi mt s h thng, vic hiu chnh b iu
khin PI bng phng php ny i hi mt qu trnh thc nghim kh mt thi gian
(Jones A.H. & P.B.M. Oliveira, 1995). Thng thng, cc thng s ca b iu khin
c xc lp bng phng php Ziegler-Nichols da trn kt qu o c c t p
ng ca h thng. Tuy nhin, do nh hng ca nhiu v sai s ca php o, dn n

1
Khoa Cng Ngh, Trng i hc Cn Th
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83
vic hiu chnh thng s ca b iu khin PI kh t c gi tr tt. V vy, mt qu
trnh tinh chnh c thc hin trc khi p dng b iu khin vo h thng (Kwok,
D.P. & P. Wang, 1992).
V nguyn tc, c hai kiu tinh chnh b iu khin PI c nghin cu v trin
khai ng dng. l, tinh chnh ngay trong qu trnh hot ng ca h thng (gi tt
l tinh chnh online) v tinh chnh trong lc tt h thng hoc ch cho h thng vn
hnh mt thi gian nht nh (gi tt l tinh chnh off-line). Trong , p dng gii
thut di truyn c xem l mt phng php hiu qu tinh chnh off-line b iu
khin (Singh, R. & I. Sen, 2004; Salami et al., 1995; Kwok et al., 1992). Tuy nhin,
vic tm kim trc tip cc gi tr ti u ca cc thng s b iu khin trong min
xc nh ca chng i hi rt nhiu thi gian, cng nh c th phi cn n m hnh
ton ca i tng (Nguyn Ch Ngn, 2008; Mitsukura et al., 1997). Trong khuynh
hng pht trin cng nghip ngy nay, cc qu trnh thit b i hi vic t ng iu
chnh mt cch hiu qu, trong phm v hot ng rng, cng vi vic thit k v thi
cng b iu khin n gin. Tinh chnh online b iu khin PI bng cc gii thut
thng minh c xem l mt trong nhiu cch thc t c yu cu ny
(Kanagaraj et al., 2008). Trong s cc k thut iu khin thng minh, logic m ni
ln nh l mt phng php th hin kh nng suy din ca b c con ngi v n
c ng dng thnh cng trong nhiu lnh vc vi vai tr ca mt b quan st (Er,
M.J. and Y.L. Sun, 2001). C ch suy din m c xem l mt phng php n
gin v hu hiu tinh chnh cc b iu khin kinh in (Kanagaraj et al., 2008).
Bi bo m t phng php tinh chnh online thng s ca b iu khin PI xung
quanh gi tr kinh in t c t phng php Ziegler-Nichols, bng k thut logic
m. Thng s ca b iu khin PI c quyt nh bi b iu khin m, da trn
iu kin hot ng hin ti ca i tng. y, cu trc h thng bao gm hai b
iu khin, cn c gi l cu trc iu khin lai. B iu khin PI gi vai tr l b
iu khin chnh, to tn hiu iu khin i tng v b iu khin m gi vai tr l
b quan st, cung cp thng s ph hp cho b iu khin PI theo thi gian thc. V
th, n gin hai b iu khin ny c gi l b iu khin PI m. Hiu qu ca
b iu khin PI m c kim chng thng qua cc thc nghim ti Phng th
nghim iu khin Qu trnh, thuc B mn T ng Ho, Khoa Cng Ngh,
Trng i hc Cn Th.
2 PHNG TIN V PHNG PHP
2.1 Phng tin nghin cu
B iu khin PI m trong nghin cu ny c xy dng trn phn mm
MATLAB/Simulink, phin bn sinh vin 2009b v cng c logic m (The Math-
Works, Inc., 2009). B iu khin c kim nghim trn cc thit b RT010,
RT020 v RT030 ca hng Gunt-Hamburg, c (GUNT Gertebau GmbH, 2004),
s c trnh by trong phn kt qu thc nghim, vi cu trc iu khin c
thit lp nh hnh 1. Trong , i tng iu khin c ln lt thc nghim
trn cc thit b RT0x0, vi X l p ng thc t ca i tng; X
ref
l tn hiu
tham kho; e l sai bit gia p ng thc t v tn hiu tham kho v Y l tn hiu
iu khin c xc lp bi b iu khin PI m.
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Hnh 1: M hnh tng qut ca h thng iu khin
2.2 B iu khin PI
B iu khin PI c thc hin bi (Johnson M. A. & M. H. Moradi, 2005):
) ( ) ( ) (
) ( ) ( ) (
0
t X t X t e
dt t e K t e K t Y
ref
t
i p
=
+ =
}
(1)
trong , K
p
v K
i
ln lt l li t l v li tch phn ca b iu khin.
Nhim v ca ngi thit k b iu khin PI, l chn la b gi tr {K
p
, K
i
} tha
mn cc yu cu v cht lng iu khin.
Cc thng s li K
p
v K
i
nh hng n thi gian tng (rise time), vt l
(overshoot) v thi gian xc lp (settling time) ca p ng c cho trong bng 1
(Kanagaraj et. al., 2008). Cc thng tin ny c xem l c s tri thc xc nh
lut chnh nh m b iu khin PI.
Bng 1: nh hng ca vic tng cc thng s li ca b iu khin PI
2.3 Xc nh thng s b iu khin PI theo phng php Ziegler-Nichols
Ziegler v Nichols xut hai phng php thc nghim dng xc nh cc
thng s {K
p
, K
i
} ca b iu khin PI (strm, K.J. & T. Hgglund, 1988).
2.3.1 Phng php Ziegler-Nichols da trn p ng vng h
Phng php ny p dng cho cc h n nh vng h, vi th tc nh sau:
+ p mt hm nc n v ti ng vo ca h thng v xc nh thi gian tr L
v dc cc i R ca ng cong p ng (Hnh 2a);
+ Thng s b iu khin PI c xc nh nh (2):
2
_ _
27 . 0
;
9 . 0
RL
K
RL
K
ZN i ZN p
= = (2)
li Thi gian tng vt l Thi gian xc lp Sai s xc lp
K
p
Gim Tng Thay i t Gim
K
i
Gim Tng Tng Trit tiu
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85

Hnh 2: Cc thng s o c t phng php Ziegler-Nichols
2.3.2 Phng php Ziegler-Nichols da trn p ng vng kn
Mt phng php khc xc nh b iu khin PI c th tc nh sau:
+ Thit lp vng hi tip m n v, vi b iu khin t l c li K
p
;
+ Tng li K
p
n gi tr K
u
m p ng bt u dao ng v o chu
k dao ng P
u
ca p ng (Hnh 2b);
+ Thng s b iu khin PI c xc nh nh (3):
u
u
ZN i u ZN p
P
K
K K K 54 . 0 ; 5 . 0
_ _
= = (3)
Cc gi tr
{K
p_ZN
, K
i_ZN
}
t c t phng php Ziegler-Nichols cn c tinh
chnh li bng thc nghim, mt kh nhiu thi gian, trc kh p dng (Jones
A.H. & P.B.M. Oliveira, 1995). Mc tiu ca bi bo ny nhm h tr qu trnh
tinh chnh online cc thng s trn bng k thut logic m.
2.4 Tinh chnh m b iu khin PI
B iu khin m c a vo cu trc iu khin hnh 1, nhm mc tiu cung
cp cp gi tr {K
p
, K
i
} cho b iu khin PI, da theo iu kin hin ti ca {e, Y}.
Ngha l b iu khin m s c 2 ng vo v 2 ng ra, nh hnh 3.

Hnh 3: Cu trc b iu khin m
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86
cu trc hnh 3, ng vo th nht ca b u khin m l e, c m ho bi 5
tp {NB, NS, ZE, PS, PB} v ng vo th hai l Y, c m ho bi 3 tp {LOW,
MED, HIG} (Hnh 4a v 4b). Cc tp m ng vo c k hiu nh sau: NB l
Negative Big, NS l Negative Small, ZE l Zero, PS l Positive Small, PB l
Positive Big, LOW l Low, MED l Medium v HIG l High. Hm lin thuc ca
cc tp m ng vo c s dng l hm Gauss, xc nh bi (4):
( )

=
2
2
i
i
i
2
x c
exp ) x (
A
o
(4)
trong , c
i
v
i
honh tm v rng ca tp m A
i
tng ng.
Min xc nh ca cc bin ng vo ca b iu khin m, c xc nh tu
thuc vo tng i tng c th. Trong nghin cu ny, cc thc nghim da trn
cc h RT0x0 vi {e, Y} xc nh nh (5), c xc lp tu theo tng thit b:
| |
| | 100 , 0 Y
e , e e
max min
e
e
(5)
Hai ng ra ca b iu khin m ln lt l K
p
v K
i
, u c m ho bng 5 tp
{VLOW, LOW, MED, HIG, VHIG} (Hnh 4c v 4d). Cc tp m ng ra c k
hiu nh sau: VLOW l Very Low, LOW l Low, MED l Medium, HIG l High
v VHIG l Very High. Hm lin thuc ca cc tp m ng ra c s dng dng
tam gic, xc nh bi (6):

>
s s

< s

<
=
c x
c x b
c b
c x
b x a
a b
a x
a x
x
A
i
0
0
) ( (6)
vi a, b, c l honh 3 nh ca tp m tam gic A
i
tng ng.

Hnh 4: Hm lin thuc ng vo v ng ra ca b iu khin m
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87
Min xc nh ca cc bin ng ra {K
p
, K
i
} ca b iu khin m c xc nh
xung quanh gi tr
{K
p_ZN
, K
i_ZN
}
t c t phng php Ziegler-Nichols,
cho bi (7):
ZN _ i i ZN _ i
ZN _ p p ZN _ p
K K K
K K K
| o
| o
s s
s s
(7)
trong , (, ) l cc h s c xc nh tu thuc vo tng i tng iu
khin, v c chn sao cho khong tinh chnh rng tm c gi tr ti u
cho {K
p
, K
i
} xung quanh gi tr
{K
p_ZN
, K
i_ZN
}. i vi cc thit b RT0x0 dng
trong cc thc nghim ca nghin cu ny,
=0.1 v =5 l tha mn.
T c s tri thc v b iu khin PI bng 1, lut iu khin ca b iu khin
m c thit k thng qua thc nghim v cho trn bng 2. Nguyn tc xy dng
b lut iu khin c m t nh sau: nu thi gian tng ca p ng ln, tc p
ng ca h thng chm (E=NB), th K
p,i
c hiu chnh tng bi {HIG, VHIG} v
ngc li bi {MED, LOW}; nu p ng b vt l (E=PS, PB) th K
p,i
c gim
xung bi {LOW, VLOW}, Mt lut iu khin c th c pht biu nh (8),
b lut iu khin c p dng to ra tn hiu iu khin ti mi thi im ly
mu, y s dng thi gian ly mu T
s
=0.5 giy:
LOW K and MED K MED Y and NS e I
i p
= = = = Then f (8)
C ch suy din m c chn l MAX-MIN v gii m theo nguyn l trung
bnh ca phng php cc i, xc nh bi (9):
{ }

=
=
=
R
1 i
i
R
1 i
i i
i p
b
K , K

(9)
vi {K
p
, K
i
} l thng s b iu khin PI s t c; b
i
v
i
ln lt l honh
im trung bnh v gi tr ca hm lin thuc ng ra xc nh bi lut th i trong R
lut tc ng ti thi im xem xt.
Bng 2: Lut iu khin
K
p
/K
i

Y
LOW MED HIG
e
NB VHIG/HIG HIG/MED MED/MED
NS HIG/MED MED/LOW LOW/VLOW
ZE MED/LOW LOW/LOW LOW/VLOW
PS MED/VLOW MED/MED HIG/HIG
PB MED/VLOW HIG/VLOW HIG/MED
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3 KT QU THC NGHIM
3.1 Thc nghim 1 - iu khin mc cht lng
H iu khin mc cht lng RT010 (RT010 Liquid Control Unit; Hnh 5a,
G.U.N.T Gertebau GmbH, 2004) c p dng cho thc nghim th nht. H ny
gm c cc ng vo-ra nh sau: X l chiu cao ct nc trong bn kim sot (0-
18cm, i tng iu khin), Z l cng sut valve x t do (0-100%), tng trng
cho nhiu ca tc ng vo h thng v Y l cng sut my bm cht lng (0-
100%, tn hiu iu khin) t bn cha ln bn kim sot, nh hnh 5b. B iu
khin PI m c p dng cho h ny c b tr theo s iu khin hnh 5c.
Vi gi tr mc nh
{K
p_ZN
, K
i_ZN
}
ca h RT010, min xc nh ca cc bin vo-
ra (5) v (7) c thit lp nh sau:
| | | | | | | | 5 . 0 , 01 . 0 K ; 50 , 1 K ; 100 , 0 Y ; 18 , 18 e
i p
e e e e

(a) (b)

(c)
Hnh 5: iu khin PI m h n nh mc cht lng RT010
(a): H iu khin mc cht lng RT010, (b): Tn hiu vo-ra h RT010, (c): iu khin PI m h RT010
Vi cng sut valve x Z (nhiu tc ng) c t 20%, kt qu iu khin mc
nc bng b iu khin PI m cho trn hnh 6. Kt qu thc nghim cho thy ng
ra X ca thit b RT010 bm rt tt tn hiu tham kho X_ref vi thi gian tng v
thi gian xc lp hp l, tng ng l 18010 giy v 27020 giy; p ng khng
xy ra vt l, cng nh sai s xc lp.
i vi h RT010, chiu cao mc cht lng c o thng qua p lc ct nc. V
vy, nu chng ta x cn hon ton bn kim sot th ti thi im b iu khin
tc ng s c mt thi gian tr nht nh cho n khi nc trong bn cao th
cm bin p lc mi tc ng. Thi gian tr ny d lm cho ngi quan st hiu
lm l p ng ca b iu khin chm.
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Hnh 6: Kt qu iu khin PI m h n nh mc cht lng RT010
3.2 Thc nghim 2 - iu khin lu lng

(a) (b)

(c)
Hnh 7: iu khin PI m h n nh lu lng RT020
(a): H iu khin lu lng RT020, (b): Tn hiu vo-ra h RT020, (c): iu khin PI m h RT020
H iu khin lu lng RT020 (RT020 Flow Control Unit; Hnh 7a, G.U.N.T
Gertebau GmbH, 2004) c p dng cho thc nghim th hai. H ny gm c
cc ng vo-ra nh sau: X l lu lng nc thc t trong ng kim sot
(0-160 l/h, i tng iu khin), Z l cng sut my bm nc (0-100%) vo ng
dn cng sut ny c th thay i t do gi lp nhiu ca tc ng vo h
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90
thng v Y l cng sut valve iu tit lu lng trong ng kim sot (0-100%, tn
hiu iu khin), nh hnh 7b. B iu khin PI m c p dng cho h ny c
b tr theo s iu khin hnh 7c. Vi gi tr mc nh {K
p_ZN
, K
i_ZN
} ca h
RT020, min xc nh ca cc bin vo-ra (5) v (7) c thit lp nh sau:
| | | | | | | | 15 . 0 , 003 . 0 K ; 1 , 02 . 0 K ; 100 , 0 Y ; 160 , 160 e
i p
e e e e
Vi cng sut my bm Z (nhiu tc ng) c t thay i trong khong 80-
100%, kt qu iu khin lu lng nc bng b iu khin PI m t c trn
hnh 8. Thc nghim cho thy b iu khin PI m hot ng tt trn thit b
RT020. Ng ra X ca h bm rt tt tn hiu tham kho X_ref vi thi gian tng v
thi gian xc lp hp l, tng ng l 142 giy v 203 giy; p ng c vt
l khng ng k v sai s xc lp c trit tiu.

Hnh 8: Kt qu iu khin PI m h n nh lu lng RT020
3.3 Thc nghim 3 - iu khin p sut
H iu khin p sut RT030 (RT030 Pressure Control Unit; hnh 9a, G.U.N.T
Gertebau GmbH, 2004) c p dng cho thc nghim th ba. H ny gm c
cc ng vo-ra nh sau: X l p sut khng kh thc t trong bnh kim sot (0-1
bar, i tng iu khin), Z valve x khng kh t do (iu chnh c bng tay),
tng trng cho nhiu ca tc ng vo h thng v Y l cng sut my nn khng
kh vo bnh kim sot (0-100%, tn hiu iu khin), nh hnh 9b. B iu khin
PI m c p dng cho h ny c b tr theo s hnh 9c. Vi gi tr mc
nh
{K
p_ZN
, K
i_ZN
}
ca h RT030, min xc nh ca cc bin vo ra (5) v (7)
c thit lp nh sau:
| | | | | | | | 5 , 1 . 0 K ; 300 , 6 K ; 100 , 0 Y ; 1 , 1 e
i p
e e e e
Vi cng sut valve x Z (nhiu tc ng) c iu chnh khong 10-20%, kt
qu iu khin p sut khng kh bng b iu khin PI m cho trn hnh 10. Thc
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91
nghim cho thy b iu khin PI m hot ng tt trn thit b RT030. Ng ra X
ca h bm rt tt tn hiu tham kho X_ref vi thi gian tng v thi gian xc lp
ph hp, tng ng l 982 giy 1505 giy; p ng khng xut hin vt l cng
nh sai s xc lp.

(a) (b)

(c)
Hnh 9: iu khin PI m h n nh p sut RT030
(a): H iu khin p sut RT030, (b): Tn hiu vo-ra h RT030, (c): iu khin PI m h RT030

Hnh 10: Kt qu iu khin PI m h n nh p sut RT030
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4 KT LUN
Bi bo m t phng php t ng tinh chnh online thng s ca b iu khin
PI bng logic m. u im ca phng php ny l thit k v thc hin b quan
st m rt n gin m khng cn quan tm n cu trc bn trong ca i tng
iu khin. Khong tinh chnh cc thng s ca b iu khin PI c thit lp
rng xung quanh gi tr t c t phng php thc nghim Ziegler-Nichols.
Kt qu kim nghim trn cc thit b RT010, RT020 v RT030 ca hng Gunt-
Hamburg, CHLB c cho thy b iu khin c xut trong nghin cu ny
t ra hiu qu; p ng ca cc thit b c thi gian tng v thi gian xc lp ph
hp, vt l khng ng k v sai s xc lp c trit tiu. Ngoi ra, b iu
khin cn p ng c yu cu v thi gian thc, cng nh s n nh trc tc
ng ca nhiu vo h thng.
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