bao cao dkqt

8/2/2019 bao cao dkqt

1/32

Bo co th

nghim iu

khin qu

trnh


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Sinh vin : Phm Hng Hi SHSV 20090970

Th nghim th 3 tun 29

BI I: XY DNG H THNG IU KHIN MT BNH MC

Xc nh tn hiu vo, ra, v nhiu

M hnh bnh 1 mc

- Xc nh tn hiu vo ra

Nh vy h thng mt bnh mc c 3 bin qu trnh trong :

Bin iu khin: Dng vo Fin.

Bin cn iu khin: Mc cht lng Level.

Bin nhiu: Dng ra Fout.

Fin

Fout

Level


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Xy dng phng trnh cn bng, bin i Laplace, xcnh phng trnh hm truyn ca h thng 1 bnhmc vi cc tham s hnh thc (K,T);

Phng trnh cn bng vt cht ca h thng mt bnh mc l:

OUTINFF

dt

dV= =>

OUTINFF

dt

dhA =

=> )()()(.. sFsFshsA OUTIN = =>sA

sFsFsh

OUTIN

.

)()()(

=

Hm truyn G(s)= )(

)(

sF

sh

IN= sA.

1

= s

K

nhng do van l c tnh cht l 1

khu qun tnh bc nht nn hm truyn ca h thng c dng

G(s)=)1( +Tss

K

M phng i tng bnh mc bng khi Single-Tank

trn matlab. Xc nh gi tr tham s K, T bng 2phng php nhn dng, kim tra li m hnh;

S nhn dng


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0 1 2 3 4 5 6 7 8 9 1 00

2

4

6

8

1 0

1 2

1 4

1 6

1 8

3.1 Nhn dng bng phng php k tip tuyn

0 1 2 3 4 5 6 7 8 9 1 00

2

4

6

8

1 0

1 2

1 4

1 6

1 8

Cc thng s nhn dng: T=1.85 v K= 21/(10-1.85) =2.57 Phng phptip tuyn tin hnh n gin nhng cho ta sai lch ln do vy ta cn phihiu chnh li cc thng s


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S iu chnh li cc thng s

0 1 2 3 4 5 6 7 8 9 1 00

2

4

6

8

1 0

1 2

1 4

1 6

1 8

2 0

th sau khi iu chnh

Theo phng php k tip tuyn ta chn T=2.48 T=2.7

Theo lut chnh nh Ziegler Nichols th nht ta c cc tham s ca biu khin nh sau:

B iu khin K c i d

P 1/K -

PI 0,9/K 3,3T -

PID 1,2/K 2T 0,5T


6/32

Vi dng hm truyn t PID: )1

1()( ss

ksKd

i

c

++= .

y K= 2.48 T=2.7

Bng cc thng s sau nhn dng 1 bnh mc

B iu khinc

ki

d

P 0.375

PI 0.337 8.91

PID 0.45 5.4 1.35

Bng cc thng s ca b PID controled

B iu khin P=c

k I=c

k / i D= ck * d

P 0.375

PI 0.337 0.0378

PID 0.45 0.05 0.6075

Xc nh cc sch lc c th v khng th p dng,gii thch (khng cn v lu PID);4.1 Cc sch lc c th s dng :

- iu khin phn hi- iu khin tng

4.2 Cc sch lc khng th s dng :- iu khin truyn thng- iu khin t l- iu khin ln t-iu khin phn vng

4.3 Gii thch :- iu khin truyn thng khng th p ng c mc n

nh trong bnh do. Hm truyn c G(s)=)17.2(

48.2

+ssl 1 khu cha


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n nh. Khi s dng iu khin truyn thng th ch cn 1 sai lch nh vic o nhiu cng dn n h mt n nh

- iu khin t l, ln t, hay phn vng th u s dng trongtrng hp c 2 hay nhiu bin iu khin

S dng sch lc K truyn thng, v lu PID, xydng m hnh m phng trn simulink. So snh gi trSP v Level (bng scope) khi s dng b K P, PI, PIDvi cc tham s theo cng thc Ziegler Nichols.Nhn xt, gii thch l do theo l thuyt;

a. Lu PID

b. M hnh m phng trn simulink


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c. So snh gi tr SP v LevelB iu khin P

0 200 400 600 800 1000 12000

100

200

300

400

500

600

700

800

900

1000

setponit

level

B iu khin PI

600 800 1000 1200 1400 1600 18000

100

200

300

400

500

600

700

800

900

1000

setponit

level


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B iu khin PID

0 100 200 300 400 500 600 700 800 9000

100

200

300

400

500

600

700

800

900

1000

setponit

level

Qua 3 th trn ta c th thy rng, sch lc iu khin truyn thngcha p ng c yu cu iu khin lu lng van sao cho gi mc nctrong bnh bng lun bng mc t. V iu khin truyn thng khng thn nh c mt khu khng n nh. V sai st trong qu trnh o nhiul rt d xy ra

S dng sch lc K phn hi, v lu PID, xydng m hnh m phng trn simulink

1.1. Lu PID


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1.2. Xy dng m phng trn simulink

Kt qu thu c

B iu chnh P

0 500 1000 1500 2000 25000

100

200

300

400

500

600

700

setponit

level


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B iu chnh PI

0 1000 2000 3000 4000 5000 60000

100

200

300

400

500

600

700

800

setponit

level

B iu chnh PID

0 1000 2000 3000 4000 5000 60000

100

200

300

400

500

600

700

800

900

1000

setponit

level

Phng php iu khin phn hi p ng c nhu cu iu khin lu

lng van sao cho mc nc trong bnh lun dc gi bng mc t. c bitl vi b iu khin P. p ng tng i nhanh v n inh. Tuy nhin vi


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2 b PI, PID cn c qu iu chnh thi gian p ng chm cn c daong do hin tng bo ha tch phn1.3.Gii thch hin tng bo ha tch phn : Bo ha tch phn l hin

tng u ra ca b iu khin vn tip tc tng qu mc gii hn do s

tch ly ca thnh phn tch phn vn tip tc duy tr sai lch iu khin tr v khngM hnh b chng bo ha tch phn trn simulink

1.4. B iu khin PI,PID c khu chng bo ha tch phn

B iu khin c khu chng bo ha tch phn


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B iu khin PI

0 5 0 0 1 0 0 0 1 5 0 0 2 0 0 0 2 5 0 00

1 0 0

2 0 0

3 0 0

4 0 0

5 0 0

6 0 0

7 0 0

s e t p o n i t

l e ve l

B iu khin PID

0 500 1000 1500 2000 2500 3000 35000

100

200

300

400

500

600

700

800

setponitlevel


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Nhn xt : cht lng h thng c ci thin ng k vi khu chng boha tch phn. Thi gian p ng v qua iu chnh nh. H thng nhanhchng n nhTa khng nht thit phi o lu lng u ra do iu khin phn hi c

th n nh c h thng khng n nh tuy nhin gim ti a nhiu vnng cao cht lng iu khin th o lu lng u ra cng l 1 phng nthch hp2. Sch lc iu khin tng

- S dng iu khin tng v iu khin tng gip loi b c nhhng ca nhiu v ci thin r rt c tnh ng hc ca h

- 2 vng iu khin : vng 1 o mc nc trong bnh ri kim tra vimc t . Vng 2 o hiu lng Out Flow v In Flow so snh viu ra ca vng 1 a ra mc iu khin van

2.1. Khng o lu lng u ra

2.1.1. B P/P


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0 500 1000 1500 2000 2500 3000 3500 40000

100

200

300

400

500

600

setponit

level

Nhn xt : h thng tuy n nh. Thi gian p ng nhanh nhng khng tc mc setpoint t

2.1.2. B P/PI-RW

0 500 1000 1500 2000 2500 3000 35000

100

200

300

400

500

600

700

800

setponit

level


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Nhn xt : h thng tuy n nh. t n mc setpont nhng thi gianqu tng ln

2.1.3. B P/PID-RW

0 5 0 0 1 00 0 1 50 0 2 0 0 0 25 0 0 3 00 0 3 5 0 00

1 0 0

2 0 0

3 0 0

4 0 0

5 0 0

6 0 0

7 0 0

8 0 0

se t p o n i t

level

Nhn xt: cht lng iu khin c ci thin. qu iu chnh nh tuy nhin thi gianp ng vn khng p ng nhanh c nhng b P/P2.1.4. B PI-RW/PI v PI-RW/PID PI-RW/PID-RW


17/32

0 1000 2000 3000 4000 5000 6000 70000

50

100

150

200

250

300

350

400

450

500

setponit

level

Nhn xt : vi c 3 b trn. D thay i nhiu gi tr ca b PID-RW ctrong ln ngoi nhng h thng u khng p ng c yu cu ca bi2.2.o lu lng u ra


18/32

2.2.1. B P/P P vng ngoi =1000

0 500 1000 1500 2000 2500 3000 35000

100

200

300

400

500

600

700

setponit

level

2.2.2. B P/PI-RW

0 500 1000 1500 2000 2500 3000 35000

100

200

300

400

500

600

700

setponit

level


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2.2.3. B P/PID-RW

0 500 1000 1500 2000 2500 3000 3500 40000

100

200

300

400

500

600

700

800

setponit

level

2.2.4. B PI-RW/PI v PI-RW/PID PI-RW/PID-RW- Vn ging nh trng hp trn. D thay i cc thng s ca b PID nhng h

thng vn khng th p ng c yu cu2.3.Nhn xt chung So snh 2 trng hp o v khng o lu lng u ra: Qua cc

th ta c th thy r. o lu lng u ra cho cht lng iu kin tt hn nhiu. hn nh. Nhiu gn nh c loi b trit .

Gi s tn hiu o mc cht lng trong bnh b nhiu


20/32

0 200 400 600 800 1000 1200 1400 1600 1800 20000

100

200

300

400

500

600

700

setponit

level

H thng vn p ng tng i tt yu cu . qu iu chnh khng c thi gian xclp nh do khng nht thit phi s dng thm khu lc nhiu


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BI II: XY DNG H THNG IU KHIN HAI BNH

MC THNG NHAU

Xc nh tn hiu vo, ra, v nhiu (km hnh m hnh 2 bnh mc);

T m hnh i tng trn ta c th xc nh cc bin qu trnh nh sau:

Nh vy h thng hai bnh mc c nm bin qu trnh.

Trong :

Bin cn iu khin: Level1, Level2.

Bin iu khin: Flow1, Flow2 (Thc ra c 3 bin iu khin tim nng l Flow1,

Flow2, Flow3 nhng do yu cu ca th nghim nn ta chn 2 bin iu khin

ny).

Bin nhiu: Flow 3

H hai bnh mc thngnhau

Flow 1

Flow 2

Flow 3

Level 1

Level 2


22/32

Xy dng phng trnh cn bng, bin i Laplace, xc nh phngtrnh hm truyn ca h thng 2 bnh mc vi cc tham s hnhthc (K,T);

Cc phng trnh cn bng vt cht l:

)2(11

)1(11

32

1

21

1

FA

FAdt

dh

FA

FAdt

dh

=

=

Nh vy s bc t do l 5-2 = 3 bng s bin vo h c kh nng iu khin c.

y ta thc hin cp i cc bin qu trnh nh sau:

22

11

,

,

hF

hF

Bin i Laplace ta c c hm truyn bnh 1 c dng :)1(

)(1

1

1

+=

sTs

KsG

hm truyn bnh 2 c dngLs

esTs

KsG

+=

)1()(

2

22

M phng i tng bnh mc bng khi Two-Tank trn matlab. Xcnh gi tr tham s K, T, kim tra li m hnh (bng cch sosnh 2 th p ng);1.1.M phng i tng


23/32

0 1 2 3 4 5 6 7 8 9 100

5

10

15

20

25

30

Nhn dng bng phng php tip tuyn cho bnh 1

Cc thng s nhn dng: T = 1.7 K=28/(10-1.7) = 3.37

0 1 2 3 4 5 6 7 8 9 1 00

0 .5

1

1 .5

2

2 .5

3

3 .5

Nhn dng bng phng php tip tuyn cho bnh 2

Cc thng s nhn dng: T=4 K=2.4/(10-4)=0.4 L=0.85


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Bnh 1

B iu khin K ci

d

P 1/K (0.3) -

PI 0,9/K (0.27) 3,3T (5,61) -

PID 1,2/K (0.35) 2T (3.4) 0,5T (0.95)

Bnh 2

B iu khin K ci

d

P 1/K (2.5) -

PI 0,9/K (2.25) 3,3T (13.2) -

PID 1,2/K (3) 2T (8) 0,5T (2)

1.2.Kim tra ,iu chnh li thng s


25/32

0 1 2 3 4 5 6 7 8 9 100

5

10

15

20

25

30

mophong

thucte

Hiu chnh bnh 1 T= 2.1 K=3.71

0 1 2 3 4 5 6 7 8 9 100

0.5

1

1.5

2

2.5

3

3.5

Hiu chnh bnh 2 T=4 K=0.6


26/32

Xc nh cc sch lc c th v khng th p dng, gii thch(khng cn v lu PID)Cc sch lc c th s dung :

- iu khin phn hi- iu khin tng

V chng u c kh nng n nh 1 khu khng n nh

2. S dng sch lc K phn hi kt hp b nhiu, v lu PID, xydng m hnh m phng trn simulink. So snh gi tr SP v Level(bng scope) khi s dng b K P, PI-RW, PID-RW. Nhn xt v chtlng b iu khin


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2.1. BP

0 200 400 600 800 1000 1200 1400 1600 1800 20000

100

200

300

400

500

600

700

800

900

level

setponit

Bnh 1

0 200 400 600 800 1000 1200 1400 1600 1800 20000

100

200

300

400

500

600

level

setponit

Bnh 2

Nhn xt : h thng p ng tng i tt yu cu ca bi ton. tuy nhin thi gian p

ng ca bnh 2 khng tt bng bnh 1


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5.2. B PI-RW

0 500 1000 1500 2000 2500 30000

100

200

300

400

500

600

700

800

900

level

setponit

Bnh 1

0 5 0 0 1 0 0 0 1 5 0 0 2 0 0 0 2 5 0 0 3 0 0 00

5 0

1 0 0

1 5 0

2 0 0

2 5 0

3 0 0

3 5 0

4 0 0

4 5 0

5 0 0

le ve l

s e t p o n it

Bnh 2

Nhn xt : h thng p ng c yu cu ca bi ton. Tuy nhin p ng ca mnh 1 c qu iu chnh ln thi gian qu ln. khng tt bng p ng ca bnh 2


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5.3.B PID-RW

0 5 0 0 1 0 0 0 1 5 0 0 2 0 0 0 2 5 0 00

1 0 0

2 0 0

3 0 0

4 0 0

5 0 0

6 0 0

7 0 0

8 0 0

l e ve ls e t p o n i t

Bnh 1

0 5 0 0 1 0 0 0 1 5 0 0 2 0 0 0 2 5 0 00

5 0

1 0 0

1 5 0

2 0 0

2 5 0

3 0 0

3 5 0

4 0 0

4 5 0

5 0 0

le ve l

s e tp o n it

Bnh 2


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Nhn xt : h thng p ng c yu cu tuy nhin ging b PI-RW cht lng p

ng ca bnh 1km hn bnh 2. Tuy nhin ni chung cht lng iu khin ca b P

tt nht sau n b PID-RW v cui cng l b PI-RW.

S dng sch lc K tng6.1. S PID

6.2. M phng simulink


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6.2.1. B P/P

0 5 0 0 1 0 0 0 1 5 0 0 2 0 0 0 2 5 0 0 3 0 0 0 3 5 0 00

1 0 0

2 0 0

3 0 0

4 0 0

5 0 0

6 0 0

7 0 0

8 0 0

l e v e l

s e t p o n i t

Bnh 1

0 500 1000 1500 2000 25000

50

100

150

200

250

300

350

400

450

500

level

setponit

Bnh 2

Nhn xt : H thng p ng tng i tt yu cu ca bi ton. qu iu chnh gnnh khng c. Thi gian p ng nh


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6.2.2. B P/PID-RW

0 5 0 0 1 0 0 0 1 5 00 2 0 0 0 2 5 0 0 3 0 0 0 35 0 0 4 0 0 00

1 0 0

2 0 0

3 0 0

4 0 0

5 0 0

6 0 0

7 0 0

8 0 0

level

s etp oni t

Bnh 1

0 500 1000 1500 2000 2500 3000 3500 40000

50

100

150

200

250

300

350

400

450

500

level

setponit

Nhn xt : H thng cha p ng tt c yu cu ca bi ton. c bit l p ng bnh 2 . thi gian p ng ln v cha tht s bm st theo mc nc t

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