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PIKאאאאאKאאא٤}٢٨אאW

me

٤}٢٨

אאאPIW

∫

∫

+=+=

=

=

t

i

ccIp

t

i

cI

cp

edtK

eKPPP

edtK

P

eKP

0

0

τ

τ

W KcZאאproportional gain

⎟⎟

⎠

⎞

⎜⎜

⎝

⎛+ ∫

ic

dtK

τ

....1


אא

- ٥٦ -

TiZאאintegral time eZא

אPI٤}٢٩PIK

٤}٢٩א

אKאאאK אאK

אאאא٤}٢٩אK אאאאאאoffsetKא

W ٤}٣٠אmanual resetאאאאאא


אא

- ٥٧ -

אא

٤}٣٠אאאאא אאאautomatic resetאאאאא

אאאאreset controlK אאstabilityאKא

אאאKאאאאאKאdamping

filteringK אtuningאPIא

אKאאאאאKcאTiKKcאאאKא

אTiPIPK אPIW

אe(t) = A W

tAK

AKtP

AdtK

AKtp

i

cc

t

i

cc

τ

τ

+=

+= ∫

)(

)(0


אא

- ٥٨ -

א٤}٣١אe = AאאAKcאא

אאA Kct/Ti K אאP = A Kc t/Tiאא

t = TiאאאP = A Kc K

تحكم تناسبي مع تكاملي ٣١.٤شكل אאTiאאאאא

אאאאK ٤}٣}٤אאrate control actionW

אאאאאאאKאאאאאאאא

אK


אא

- ٥٩ -

אאאאeKאW

dtdeKP dcD τ=

אאאאאW e(t) = A

א٤}٣٢אW


אא

- ٦٠ -

٤}٣٢אאאא

אאאאrampW אe(t) = At

א٤}٣٣אW


אא

- ٦١ -

٤}٣٣אאאאא אW

١ JאFאאאEאא،P(t)אאא

אK ٢ Jאא

אאאאאKאאאPDK

٤}٣٤אPDK me

٤}٣٤

W TdZאK

Kc(1+Tdp)


אא

- ٦٢ -

אאleadאאאאאKאKאא

אאKאאאאאאאאאאאאK

٤}٣٥אאאאPDK

٤}٣٥אא

Kאrampאאאאא

אאאאTdאאאאאאK

אאאאKאאאאoffset

אFKE אאאאאW

٤}٣٦אאאאאאאW


אא

- ٦٣ -

٤}٣٦אPID

٤}٣}٥אאHאHאPIDW אאאK

٤}٣٧אאאאאPIDK

me

،)11( pTpT

K di

c ++


אא

- ٦٤ -

٤}٣٧

אאאאאאoffsetאtuneKאK

אאאK ٤}٣٨אאאPIDאFאE

٤}٣٨אPIDא ١K אאFinal control element


אאאאאאאK אאאאא٤}٣٩W

١KאאK


אא

- ٦٥ -

٢Kאאאאאאאא

٣KאאאאאאאאK

٤}٣٩אאא

١KאTransducersW אאאאאאא

אKאאאא

محول اإلشارة

المشّغل

عنصر التحكم النهائي

العملية التصنيعية


אא

- ٦٦ -

٢KאActuatorsW אאאאאWאאא

אאאאK KאאאPneumatic actuators

אאאאאאאאאW

APPF )( 21 −= W

(P1-P2)א AאאK FאK

אאאאאאK

KאאElectric actuators אאאאא

WאאאאאאאאאאK KאאHydraulic actuatorsW

אאאא،א

אKאאK

٣Kאא א،אאאאאאאאא،אאאא


אא

- ٦٧ -

אKא٤}٤٠אKאאאאWאאvalve bodyKא

אאאאאאאאK

٤}٤٠אאא

א٤}٤١אאאW KאDirect action valvesאאא

Kאreverse action valvesאאK


אא

- ٦٨ -

٤}٤١אאא

٤}٤A typical tuning methodW אאאאאאאK

אאאאאאultimate methodKאאא?א?אאאאא

ultimate gainאאultimate periodKאאאאאFאאאאEא

אאK אאFאE

אאאאoscillationKאאאאאKא

אKאKאאאאאאאאK٤}٤٢אK

Wאאאאאאאא ١Kאאאאאאאא

KTiTdאFאאKE

٢KאKאK


אא

- ٦٩ -

٤}٤٢אאאאאא

אאאא


א

א

א

א

٥

א ٢٥٥ אא אאאאאאאא אא

אא

- ٧٠ -

אאWאאאאK

אאWאאאאאK

אאW ١E אאא ٢E אאאK ٣E אאאK ٤E אאאK

אאאWאאא٩٠٪

אאאאW٤K

אאWאאאאאK

אאWאאאאאאא

אאאאK


אא

- ٧١ -

אאW ٥}١אא Load-change compensation principle


אאאאאאאאKאאאא

אאאאאאK

٥}٢אאאW K אאאW

אאאאאאאאאK

KאאW ١K אאאאא

אאK ٢K אאאאאאFאE

אKאאאK ٣K Kאאאא

אאאאאאאK

W אאאאאאKאא

אאK


אא

- ٧٢ -

٥}١אאאאא אא אא

אא

אא אאאאאאא

אאK א

א אWאא–א

א א

אא א א א אא א

K

אאFאאאאאאא

אEאא

אא אא

אאאK

אא

אWאא–אאא

אאK

אK

אאK

אא אאאאא

אא

אאאאאא


אא

- ٧٣ -

٥}٣אאאW ٥}١אאאאKאא

אאאאאאאאאאאאKאאאא

אKאאאאאאאאאKאאאאאK

אאKאאאאאאאKא

אאאאאKאאאאאאאKא

אא،אאאאאאאאK

٥}١


אא

- ٧٤ -

٥}٤אאאAutomatic feedforward controlW ٥}٢אאאאאאKאאא

אאאKאאאאאאאאאKא

אאאאאאK

٥}٢אא

אאאאאKאאאאאאאאאאאK

אאאאאאאאאאKאאאא

אאאאKאאאאאאאאאאאאK


אא

- ٧٥ -

אאאאאאKאא

אאאK אאאאאאאאאאא

אאאK ٥}٥אאFeedforward controlW

אאKאאlagsאאאK

אאאאKאאאאאאאאK

٥}٣אאKאאאאאא

אאK אאאאאא

אKאאאאאאאאאא

אאאאאאאK אאאאאאא

אKאאאאאאK


אא

- ٧٦ -

٥}٣אא

אאW ١K אאאאK ٢K אאא ٣K אאאאK ٤K אאאאK

אאאאP , PI , PIDא

אKאאאאאאאאK ٥K א٥}٣אא،

אאאאאא


אא

- ٧٧ -

אאאאאKאאאאאאאאאאאK

אאW ٥}٤אאKאאאאאא

אKאאאאאאאאKאאאאאאאאאאאKאאאאאאKאאא

אאאאאאאאאאK אאאאאאאאאאW

WWZאkg/h

CpZאאאkJ/kg K TiZאאאאC T0ZאאאC FZאkg/h HZאאאאkJ/kg

( ) HFTTWC ip ∆=−0


אא

- ٧٨ -

٥}٤אאאא

אאאW ( )H

TTWCF ip

∆−

= 0 אאאT0KאT0אTsp

אאאאאאW ( )H

TTWCF ispp

∆−

= אWאאאאTiאאK

Cp HאאKאאאאאTspאF

אא٥}٤K


אא

- ٧٩ -

אאאאKאאאאאא

אאKאאאאאאK

א٥}٤אאאאאאאאא

אאאאK ٥}٦אאאGeneral feed forward controlW

אאאKא٥}٥אאאא،אאא

אאאאאdאאmW

٥}٥אאאא

אGp،אאאאאpd/dt

c = G1 (p) m + G2 (p) d אאאאW


אא

- ٨٠ -

)()(

1

2

pGdpGcm −

=

אאאאcאאאrאאW

אאאאKdאאrK

)()(

1

2

pGdpGrm −

=

אאאG1(p)G2(p)KmאrcKאאאאאאא

אאאdcG2(p)אאאאmאאcG1(p)Kאאאאא

אאK אאאא

KאאאאאאאאאאאK

٥}٧אאאאאCombined feedforward and feedback contro אאאאא

אאאאאKאאKאאאא

אאאאאאאK אאאא

אאKאאK ٥}٦אאאאאא٥}٤א

אאאאKא٥}٦אאאbiasאאאKKf

אW F = W Cp (Tsp-Ti)/ H +Kf


אא

- ٨١ -

א٥}٦אאKfאT0 = TspK ٥}٦אאאאאאKאאאאאאset

pointאאK

F٥}٦Eאאאאא

אא

א ٢٥٥

א אאאאא אא

אא

١ J אWאאFאאאאאE ٢ J אא،אWאאאK ٣ J KLאאWאאאאאK ٤ J אאאWאאK

٥ JLאאאWאאK ٦ JLאWאאFאאאאE

אאא

1-Kessler, H. G. (1981). Food Engineering and Dairy Technology, Veriag A. Kessler,

Germany

2-Besser, C.; Kupke, E. and Gniza, E. (1975). Industrial accident prevention technical 3-

fundamentals. The Dresden Central Institute for Industrial Safety and Protection.

4-Foda, Y. H. (1973). Quality Control and Sanitation for the Food Industry. (Arabic).

א ٢٥٥ אאא אאא א

א

א אאWאא١ J١٧ אאWאאא١٨ J٣٨ אאWא٣٩ J٤٨ אאאWאא٤٩ J٧٠

אאWא٧١א J٩٢ אאWאאא٩٣ J١٠٠

אאW١٠١ אW

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