Xc nh tham s PID cho i tng qun tnh

Ta bit rng vi nhng i tng c hm truyn dng qun tnh bc 1,2,3 c hm truyn:
k
1. Bc nht: G (s ) =
1 + Ts
k
2. Bc 2: G (s ) =
( 1 )(1 + T2s )
1 + T s
k
3. Bc 3: G (s ) =
(1 + T1s )(1 + T2s ) (1 + T3s )
th phng php ti u modun xc nh tham s k p , TI , TD cho b iu khin PID:

1
R (s ) = k p 1 + + TD s
TI s
t ra l mt trong cc phng php hu hiu, c kim nghim nhiu trong thc t. Tuy nhin, cho ti nay vn cha c
c s khng nh n l phng php duy nht cho ra c b tham s PID lm h kn n nh, c thi gian qu ngn
theo ngha h kn vi hm truyn:
R (s )G (s )
Gkin (s ) =
1 + R (s )G (s )
c c min tn s nh:

{
= R + Gkin ( j ) 1 } (1)

l ln.
Phng php gii thiu y vi nh hng l h kn thu c c hm truyn:
1
Gkin (s ) = (2)
1 + T /s

c T / cng nh cng tt (khi T / cng nh, min cng ln), s minh chng cho iu .

Trng hp 1: iu khin i tng qun tnh bc nht

Trc tin ta gi s i tng l qun tnh bc nht v b iu khin l PI, tc l:

k
i tng: G (s ) =
1 + Ts
1 k p (1 + TI s )
B iu khin: R (s ) = k p 1 + =
TI s TI s
Khi h h c hm truyn:
k p k (1 + TI s )
Gho (s ) = R (s )G (s ) = (3)
TI s (1 + Ts )
v hm truyn h kn l:
Gho (s ) 1 + TI s
Gkin (s ) = = (4)
1 + Gho (s ) TIT 2 1
s + TI 1 + s +1
kpk kpk
 Do h qun tnh bc nht (2) vi h s khuch i bng 1 lun n nh, c sai lch tnh bng 0 v qu trnh qu cng
ngn nu hng s thi gian qun tnh cng nh, nn y ta s xc nh hai tham s k p , TI hm truyn h kn cho trong
cng thc (4) tr v dng (2) mong mun.
a c (4) v (2), bc u tin ta phi xc nh k p , TI sao cho Gkin (s ) cho bi (4) cng c mt im cc trng
vi im khng ca n l:
1
s=
TI
iu ny tng ng vi:

TIT 2 1 1
s + TI 1 + s + 1 = 0 khi s =
kpk kpk TI

TIT 1 1 1 T 1
0= 2
+ TI 1 + + 1 = T k k 1 + k k + 1
k p k TI k pk TI I p p

=
T

1 + kpk
+1 =
(
T TI 1 + k p k + TI k p k )
TI k p k kpk TI k p k

( )
0 = T TI 1 + k p k + TI k p k

Vy: TI = T
Tip theo, vi tham s TI = T c chn nh trn th h kn tr thnh:
1 + TI s 1
Gkin (s ) = =
TIT 2 1 1 + T /s
s + TI 1 + s + 1
kpk kpk

hng s thi gian qun tnh T / phi tha mn:

1 ( )
T 2 2 T 1 + kpk
( ) (
1 + T /s (1 + TI s ) = 1 + T /s (1 + Ts ) = ) TIT 2
kpk
s + TI 1 +
kpk
s + 1 =
kpk
s +
kpk
s +1

T 2 2 T 1 + kpk ( )
( )
1 + T / + T s + T /Ts 2 =
kpk
s +
kpk
s +1

T / + T =
T 1 + kpk ( )
kpk

/ T2
T T = k k
p

T/ =
(
T 1 + kpk ) T = T
kpk kpk
Suy ra:
1 + TI s 1
Gkin (s ) = =
(
k p k TI Ts + TI 1 + k p k s + 1
2
) 1+
T
k pk
s
 Vy nu chn TI = T v k p cng ln, qu trnh qu h kn cng nh, tc l khi c:

lim Gkin (s ) = 1
k p

R rng so vi cht lng (1) c phn cng nhc ca phng php PID ti u modun th b iu khin PI gii thiu c
min linh hot hn. Tham s k p c chn cng ln, min cng rng. Hn th na h kn thu c s khng c
qu iu chnh.

Trng hp 2: iu khin i tng qun tnh bc hai

Vi i tng l h qun tnh bc hai, ta s s dng b iu khin PID, tc l:

k
i tng: G (s ) =
(1 + T1s )(1 + T2s )

B iu khin:

R (s ) = k p 1 +
1
+ TD s =
(
k p 1 + TI s + TITD s
2
=
)
k p (1 + TAs )(1 + TB s )
TI s TI s TI s
trong TA + TB = TI v TATB = TITD , tc l khi xc nh c TA , TB ta cng s c TI , TD .
H h c hm truyn:

k k p (1 + TAs )(1 + TB s ) k p k (1 + TAs )(1 + TB s ) k p/ k (1 + TAs )(1 + TB s )

Gho (s ) = R (s )G (s ) = = = (5)
(1 + T1s )(1 + T2s ) TI s TI s (1 + T1s )(1 + T2s ) TAs (1 + T1s )(1 + T2s )
trong :
k pTA
k p/ =
TI
Suy ra, nu chn TB = T2 th hm truyn (5) c dng ging nh (3) c trng hp th nht:

k p/ k (1 + TAs )
Gho (s ) =
TAs (1 + T1s )

m vai tr ca TI c thay bng TA v k p c thay bng k p/ .

Vy, vi b tham s ca trng hp 1:
TA = T1 v k p/ ty ,
th hm truyn h kn li tr v dng qun tnh bc nht vi h s khuch i bng 1 v thi gian qun tnh:
T1 T1TI T
T/ = = = I
k p/ k kk pTA kk p

cng nh khi k p c chn cng ln.

T y ta c c:
TI = TA + TB = T1 + T2
TATB TT
TD = = 1 2
TI T1 + T2
k p ty chn, cng ln cng tt, v khi T / s cng nh.
Ngoi ra, h kn thu c s khng c qu iu chnh.