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bo co IU KHIN QU TRNH
BI I

Xy dng h thng iu khin mt bnh mc

I./ Xy dng m hnh cho i tng bnh mc:
1./ Xc nh cc tn hiu vo, tn hiu ra v nhiu h thng + Tn hiu vo: m van vo (In Valve) + Tn hiu ra: Mc ca bnh mc (H) + Nhiu h thng: m van ra (Out Valve) 2./ Xy dng m hnh ton hc cho I tng: Out Flow In Valve

G(s)

Phn tch : + Khi HT c kch thch bi khu Step th p ng qu h(t) tng dn tI gi tr 1000( cao ca bnh mc) th bo ha (do bnh mc b giI hn trn=1000). Nu cao ca bnh cha l v hn th ng p ng h(t) vn tip tc tng v hn => h thng c thnh phn vi phn + p ng qu h(t) c dng ng cong ln (r nht trong khong t=0->50 s ) => h thng c thnh phn khu qun tnh bc nht + Khi u vo thay i t 0 -> 1 => p ng h(t) thay I theo => H thng c thnh phn tr khng ng k (coi bng khng). => Hm truyn ca h thng gm 1 khu tch phn v 1 khu qun tnh bc nht c dng: K G(s) = s (1 + T .s)

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3./ S dng SIMULINK xc nh cc tham s m hnh (K , T) :0. + M hnh :

3.1./ Phng php ng cong p ng : + Nh phn tch phn 2 : Hm truyn h thng c dng K G(s) = s (1 + T .s)

+ T hm qu h(t) ta k tip tuyn vi th : - Ct trc t : ta c T=25 - Ly 2 im A & B bt k , chiu ln 2 trc ta c Yo=300 , T0=120 Y 0 300 K= = = 2,5 + Xc nh cc tham s t 0 120 + Nhn c hm truyn G(s) = *./ Kim tra li : 2.5 s (1 + 25s )

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+ T hm truyn G(s) ta kim tra lI p ng qu bng MATLAB >> G=tf(2.5,[25 1 0]) Transfer function: 2.5 ---------25 s^2 + s >> step(G) + p ng qu

=> p ng qu ph hp vi p ng ca h thng m phng + Vy hm truyn cu m hnh bnh mc: 2.5 G(s) = s (1 + 25s ) 3.2./ Phng php bnh phng cc tiu + Gi s bnh mc c hm truyn 2.5 G(s) = s (1 + 25s ) + Chuyn sang h gin on vi thi gian trch mu 0.1 >> G=tf(2.5,[25 1 0])

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Transfer function: 2.5 ---------25 s^2 + s >> c2d(G,0.1,'zoh') Transfer function: 0.0004993 z + 0.0004987 ----------------------z^2 - 1.996 z + 0.996 Sampling time: 0.1 0.0004993 z + 0.0004987 ---------------------z^2 - 1.996 z + 0.996 + Kch thch u vo tn hiu bc thang n v ta nhn c p ng U(k)={ 0 , 1 , 1 , 1 , 1 , 1} Y(k)={ 0 , 0 , 0.00027 , 0.0011 , 0.0024 , 0.00435} + H thng bit c bc m=n=2. Chn giI hn quan st t=6 + Ta c ma trn: 0 1 0 0 -0.00027 0 1 1 = -0.0011 -0.00027 1 1 -0.0024 -0.0011 1 1 0.00027 0.0011 Y = 0.0024 0.00435 + Xc nh cc tham s ca m hnh nh m trn q q = ( T . ) 1. T .Y = [1.989 0.986 0.0003 0.0003] 0.0004993 z + 0.0004987 Vy G(z) = ---------------------z^2 - 1.996 z + 0.996 + Phng php bnh phng cc tiu cho ta hm truyn ng vi hm truyn ca m hnh bnh mc II./ Cc sch lc iu chnh : 1./ Cc sch lc c th s dng: + iu khin phn hI + Iu khin tng 2./ Cc sch lc khng th s dng: + iu khin truyn thng + iu khin t l Vy G(z) =

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+ iu khin la chn + iu khin phn vng 3./ Gii thch: + iu khin truyn thng khng cho ta mc n nh ca bnh mc + iu khin t l c p dng cho h thng : duy tr quan h gia 2 bin nhm iu khin gin tip bin th 3, m iu khin bnh mc ch c 1 bin iu khin nn khng c p dng. + iu khin la chn, iu khin phn vng yu cu c t nht l 2 bin iu khin, m bnh mc chi c 1 bin iu khin, nn khng xc nh c tn hiu iu khin ln t => khng c p dng sch lc ny. 4./ Lu P&ID iu khin phn hi vng n

M phng trn SIMULINK

4.2./ iu khin tng:

Lu P&ID

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M phng trn SIMULINK

III./ M hnh sch lc truyn thng

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1./ M phng trn SIMULINK

+ p ng u ra ca bnh mc

(xem lai so do nay)

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2./ Nhn xt v kh nng p dng sch lc K truyn thng: + Mc nc trong bnh tng lien tc n khi thi gian t=400(cha ht thi gian m phng) th bnh cha y trn chng t h thng khng n nh => khng th p dng sch lc ny. 3./ Gii thch: + Ch cn sai s nh trong qu trnh o lu lng ( rt d mc phi) hoc sai s nh van iu khin l nguyn nhn chnh gy nn HT khng n nh (trn bnh hoc cn bnh) IV./ Sch lc iu khin vng n: 1./ M phng trn SIMULINK

+ p ng u ra ca bnh mc khi cha c b K:

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Nhn xt :

+ qu iu chnh : % = 0.57% + Thi gian qu : tqd=250 s + c tnh lu lng ra cha n nh , cn dao ng

2./ S dng cc b iu khin khc nhau 2.1./ B iu khin P : VI Kp= 6.8

=> Nhn xt :

+ qu iu chnh : % = 0.4% + ThI gian qu : tqd=145 s + c tnh lu lng ra n nh

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2.2./ B iu khin PI : + vi b iu khin PI ta p dng phng php ti u i xng - Da vo phng trnh hm truyn phng php k tip tuyn l: 2.5 - G(s) = s (1 + 25s ) Ta c: k=2.5; T1=25 Ta s c cc tham s c chn nh sau : 1 Khi a=5 thi: Kp= =0.007155 v Ti=a*T1=125 k * T1* a Kp/Ti=0.00005724 + p ng h thng vI b PI

=> Nhn xt :

+ qu iu chnh : % = 1% + ThI gian qu : tqd=140 s + c tnh lu lng ra km n nh hn so vI b P do khu tch phn I 2.3./ B iu khin PID: => K==8.16 Ti=50 =>K/Ti=0.1632 Kd=102

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+ p ng h thng vI b PID

=> Nhn xt :

+ qu iu chnh : % = 1% + ThI gian qu : tqd=150 s + c tnh lu lng ra n nh hn so vI b PI

3./ Nhn xt chung: + iu khin bnh mc thc cht c khu tch phn do khi la chn b K ta ch cn dng b iu khin P l . + Nu dng b PI hoc PID do c thnh phn tch phn nn d gy ra hin tng Reset Windup + Nu dng nn chn thng s khu tch phn rt nh, hoc p dng cc phng php loI b hin tng Reset Windup. 4./ VI vng phn hI n ta c th khng cn o lu lng ra. + Trong vng K n th lu lng ra l tn hiu nhiu ca qu trnh. Nu khng o lu lng ra th khng gim c tI a nh hng ca Tn hiu nhiu v vy m nh hng xu tI cht lng ca h thng Mc d h thng vn n nh V./ Sch lc iu khin tng: 1./ GiI thch tI sao cn s dng sch lc iu khin tng: + Vng K n cha p ng c yu cu cht lng + Ta c th d dng o c & iu khin dc bin qu trnh th 2 (Bin o :Hiu ca lu lng Out Fow & In Fow) c lin quan n bin th nht (Mc ca bnh)

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+ c tnh ng hc ca bin th 2 (lu lng Out Fow & In Fow) nhanh hn bin th nht. 2./ Xc nh cc vng K & nhim v & c im cn xy dng: 2.1./ Vng K: + Vng 1(vng ngoi): o mc ca bnh rI phn hI lI so snh vI SP1 + Vng 2(vng trong):o hiu lu lng Out Flow & In Flow,phn hI lI so snh vI gi tr u ra ca vng 1(l gi tr Set Poit cho vng 2) 2.2./ Nhim v & c im ca tng vng: + Vng 1: so snh gi tr SP1 vI mc ca bnh cha cho ta lu lng vo mong mun (gi tr SP2 cho vng 2) . + Vng 2 : so snh SP2 vI hiu lu lng Out Flow & In Flow cho ta tn hiu iu khin ( m van ph hp) + Vng 2 c c tnh ng hc bin I nhanh hn c tnh ng hc ca vng 1 3./ Xy dng vng K trong trng hp khng o c lu lng ra: + M hnh SIMULINK

+ p ng ca h thng vI thng s khu K chn trn:

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=> Nhn xt: + Cht lng ca h thng thay I ph thuc vo lu lng ra (nhiu h thng). Do khng trit tiu c tn hiu nhiu + Trong khong t=0->300 (s) lu lng ra Out Flow =0 th p ng ca h thng n nh tt + Trong khong t=300->600 (s) Out Flow=0.45 th p ng ca h thng vn n nhng cht lng gim st: - Overshoot tng I ln - Sai lch gia lu lng vo & ra ng k 4./ Xy dng vng K trong trng hp o c lu lng ra: + M hnh SIMULINK

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+ p ng ca h thng

=> Nhn xt: + Khi o c lu lng ra , p ng ca h thng n nh khng ph thuc vo s thay I lu lng ra. Ta gim c s nh hng ca tn hiu nhiu. - Overshoot nh - Sai lch gia In Flow & Out Flow nh => So snh hai trng hp: + Trng hp o c lu lng ra: khi h thng t trng thi n nh d thay I lu lng ra th h thng vn n nh( hn ch tI a nhiu) + Trng hp khng o c lu lng ra: khi h thng t trng thi n nh , nu thay I lu lng ra th h thng mt n nh( chu nh hng ca nhiu) + Trng hp o c lu lng ra cho ta cht lng tt hn trng hp khng o c lu lng ra.

VI./ Nu s dng b iu khin c thnh phn tch phn (PI,PID)

1./ Nhn xt v qu iu chnh & s dao ng: + Dng b K c thnh phn tch phn s lm gim qu iu chnh nhng lI lm tng s dao ng 2./ Nguyn nhn : + Nguyn nhn dn n s dao ng l do hin tng Reset Windup: tc l hin tng u ra ca b iu chnh vn tip tc tng qu mc giI hn khi sai lch iu khin tr v khng.

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3./ Bin php khc phc: thng s dng 2 phng php ch yu 1. S dng khu b thnh phn tch phn 2. Ct b thnh phn tch phn khi gi tr c iu khin t tI gi tr t ( loI tr hon ton hin tng Reset Windup)

VII./ Kho st h thng khi tn hiu o mc cht lng b nhiu

1./ Nu cch khc phc: + Ta s dng khu lc n gin (K/(T.s+1)) lm gim s nh hng ca tn hiu nhiu 2./ M phng bng SIMULINK: + M hnh K tng: - Nhiu o : White Noise 1 - S dng khu lc nhiu L = 20.s + 1

+ p ng Mc / In Flow / Out Flow

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=> Nhn xt: S dng khu lc nhiu gip h thng t trng thi n nh (gim s nh hng ca nhiu)

BI II Xy dng h thng iu khin hai bnh mc

I./ Xy dng m hnh cho I tng bnh mc:
1./ Xc nh cc tn hiu vo, tn hiu ra v nhiu h thng + Tn hiu vo: m van vo: In Valve1 , In Valve2 + Tn hiu ra: Mc ca hai bnh mc : H1 & H2 + Nhiu h thng: m van ra: Out Valve3 2./ Xy dng m hnh ton hc cho I tng: Out Flow3 In Valve1 In Valve2 H2

H1(s)
H1

H2(s)

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iu khin t ng II./ La chn sch lc iu chnh:

1./ Cc sch lc c th s dng : 1. iu khin fi tp trung + iu khin phn hI + iu khin tng 2. iu khin tp trung 2./ La chn sch lc + Ta la chn sch lc iu khin tng. V sch lc ny c th trit tiu tI a sai lch tnh & cho cht lng h thng tt hn iu khin phn hi. 3./ S PI&D

S simulink

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iu khin t ng III./ Xy dng b iu khin cho h thng:

1./ Xc nh tn hiu iu khin & tn hiu o: + Tn hiu K: - Tn hiu qua b PI&D iu khin m van : In Valve1 & In Vale2 + Tn hiu o: - Tn hiu c c khi o mc trong bnh: Level 1& Level 2 - Tn hiu c c khi o lu lng : Out Flow1 Out Flow2 Out Flow3 2./ Xc nh vng iu khin cn xy dng: + Vng th nht : iu khin m van In Valve1 + Vng th hai : iu khin m van In Valve2 2.1./ c im & nhim v ca tng vng: + Vng 1: iu khin m van In Valve1 & c c tnh ng hc bin I nhanh hn vng 2 + Vng 2 : iu khin m van In Valve2 & c c tnh ng hc bin I chm hn vng 1 3./ Xy dng cc vng K nu: 3.1./ M hnh SIMULINK cho h thng K phn hI:

3.2./ p ng mc H1(t) / H2(t) & Flow1 / Flow2 / Flow3 khi chn b K

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3.3./ M hnh SIMULINK cho h thng K tng: + La chn b K: - Vng ngoi: dng b P nhm tng tc p ng ca h thng - Vng trong : dng b PI nhm trit tiu sai lch tnh

3.4./ p ng mc H1(t) / H2(t) & Flow1 / Flow2 / Flow3 khi chn b K:

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3.5./ M hnh SIMULINK cho h thng K tp trung:

3.6./ p ng mc H1(t) / H2(t) & Flow1 / Flow2 / Flow3 khi chn b K

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