Báo Cáo Thí Nghiệm Điều Khiển Quá Trình (3)

7/13/2019 Bo Co Th Nghim iu Khin Qu Trnh (3)

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BO CO TH NGHIMIU KHIN QU TRNH

Bi1:Xy dng hthng iu khin mt bnh mc

Bi 2: Xy dng hthng iu khin hai bnh mcthng nhau

Hv tn:ng V Trung

SHSV:20092850

Lp: K-TH 7K54


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SHSV ca em l 20092850 nn em chn stoptime l 2850

BI 1XY DNG HTHNG IU KHIN MT BNH MC

1: Xy dng m hnh cho i tng bnh mc

a.Xc nh tn hiu vo, tn hiu ra v nhiu ca hthng

-Tn hiu vo:mvan vo F1 F2-Tn hiu ra: cao mc cht lng h F1 h

-Nhiu : mvan ra F2

b.Xy dng m hnh ton hc i vi cc tham shnh thc.

Phng trnh cn bng khi lng:

A

=F1-F2

Bin i sang min Laplace:

A.s.h(s)=F1(s)-F2(s). Do t=0 th F2(s)0


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G(s)=

Van F1 ng mc dng:

Hm truyn hthng: G(s)=

c. Sdng Simulink xc nh tham sm hnh

Thay i cc thng strn Single-Tank theo shiu sinh vin v lp

-M phng trn Simulink


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p ng nhn c

-Khi h(t) c kch thch bng tn hiu step ta c thhm qu nh trn

-Ktip tuyn vi thhm qu h(t) ta xc nh c tham s;

T=3.5 v K=tan()=2.8

-Vy hm truyn ca hthng:


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G(s)

*Kim tra li kt qubng m hnh:

- Ta c thhm qu nh hnh sau:

Tthta thy p ng qu ph hp vi p ng m phng => btham sK=2.8,T=3.5 l ph hp

2: Cc sch lc iu chnh:

-Cc sch lc c thiu khin trong bi ton:

+iu khin phn hi

+iu khin tng

-Cc sch lc khng iu khin c:

+iu khin truyn thng


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+ iu khin la chn

+ iu khin phn vng

+ iu khin tl

*Gii thch:

-Sch lc c thiu khuyn c:

+ Sch lc phn hi vng n: c thdng c v khi o mc nc trongbnh sc so snh vi gi trt bk PID a ra quyt nh iu khuyn

+Sch lc iu khuyn tng: c thdng c v sch lc ny gm 2 vngn, vng 1: so snh gia gi trt v mc nc a ra quet nh iu

khuyn, vng 2: so snh gia lu lng ra, lu lng vo v tn hiu iukhuyn ca vng 1 a ra quyt nh dk

-Sch lc khng iu khuyn c

+ Sch lc truyn thng: khng dng c, v hthng van l hthng cqun tnh nn vi sch lc ny khi chng ta a ra quyt nh k th strmtmt thi gian hmi chp hnh v v khng c phn hi nn hskhng nnh

+ iu khin la chn, iu khin phn vng yu cu c t nht l 2 bin iukhin, m bnh mc chi c 1 bin iu khin, nn khng xc nh c tnhiu iu khin ln t => khng c p dng sch lc ny.

+ iu khin tlc p dng cho hthng : duy tr quan h gia 2 binnhm iu khin gin tip bin th3, m iu khin bnh mc ch c 1 biniu khin nn khng c p dng.

Bng tham stheo cng thc ZieglerNichols

Biu khin Kp Ti TdP 1/K = 0.36 0 0PI 0.9/K = 0.321 10T/3 = 11.67 0PID 1.2/K = 0.429 2T = 7 0.5T=1.75


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3:Lu P&ID ca sch lc truyn thng

*M phng trn Simulink

a : Vi biu khin P

Chn tham sKp = 0.357 ,Ti=0 , Td=0

Level

SP

OutValve

Single-

Tank

GUI

Tank GUIMax Level = 1000

In Valve

Out Valve

Level

In Flow

Out Flow

SINGLE-

TANK

Single-TankCourse = 54

Class = 7

Number = 50

Scope1

Scope

PID

PID Controller


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Kt qu: hin thtrn Scope

*Nhn xt: mc nc trong bnh tng lin tc cho ti khi trn bnh chng ththng khng n nh => khng th p dng sch lc ny.

b : Sdng biu khin PI

Chn cc tham s: KP = 0.321 , Ti = 11.67 , Td=0

Kt qu: thmc nc ca biu khin PI hin thtrn Scope

0 500 1000 1500 2000 2500 30000

100

200

300

400

500

600

700

800

900

1000 2

1


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*Nhn xt: Mc nc trong bnh vn khng bm xung quanh gi trsetpoint .Biu khin PI cng khng sdng c trong sch lc ny.

c : Sdng biu khin PIDChn cc tham s: KP = 1.7 , Ti = 0.43, Td=6.8

Kt qu: thmc nc ca biu khin PID

0 500 1000 1500 2000 2500 30000

100

200

300

400

500

600

700

800

900


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*Nhn xt: mc nc trong bnh tng qu mc gi trt ri li gim v

mc khng do mvan =>> dng bphng php iu khin ny hthngkhng n nh

4 :Sch lc phn hi vng n

*Lu P&ID sch lc phn hi vng n:

0 500 1000 1500 2000 2500 30000

100

200

300

400

500

600

700


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*M phng bng Simulink

a , Biu khin tlP cho sch lc phn hi vng n

Chn tham sKp = 0.357 ,Ti=0 , Td=0

thp ng thu c:

Scope

Level

SP

OutValve

Single-

Tank

GUI

Tank GUI

Max Level = 1000

In Valve

Out Valve

Level

In Flow

Out Flow

SINGLE-

TANK

Single-Tank

Course = 54

Class = 7

Number = 50

Scope1

Scope

PID

PID Controller


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Scope1

0 500 1000 1500 2000 2500 30000

100

200

300

400

500

600

700


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Tthta thy :

Mc nc trong bnh tng n vtr setpoint ri dng li v lun gin nh ti gi tr

.b , Biu khin PI cho sch lc phn hi vng n

Chn cc tham s: KP = 0.321 , Ti = 11.67 , Td=0

Kt qu:thmc nc trong bnh

0 500 1000 1500 2000 2500 30000

0.5

1

1.5

2

2.5

3x 10

4


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Scope 1:

0 500 1000 1500 2000 2500 30000

100

200

300

400

500

600

700

800

900

1000


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*Nhn xt: mc nc trong bnh ban u c dao ng quanh gi trt SP,sau bin dao ng gim dn, v dng hn ti gi trt

Mc nc km n nh hn so vI bP do khu tch phn Ic , Biu khin PID cho sch lc phn hi vng n

Chn cc tham s: KP = 0.429 , Ti = 7, Td=1.75

Kt qu: thmc nc trong bnh

0 500 1000 1500 2000 2500 30000

0.5

1

1.5

2

2.5

3x 10

4


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Scope:

Scope1:

0 500 1000 1500 2000 2500 30000

100

200

300

400

500

600

700

800

900

1000


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=>>Nhn xt:Biu khin PID c thi gian qu v qu iu chnh ln hn sovi biu khin PI v biu khin P.Nn bPID km n nh hn bPI v km nnh hn so vi bP

=>>Nhn xt chung: iu khuyn bnh mc thc cht c khu tch phn nn khichn biu khuyn ta chcn chon bP l , nu dng bPI hoc PID do cthnh phn tch phn nn dgy ra hin tng bo ha tch phn.

*, Hin tng bo ha tch phn l hin tng u ra ca biu chnh vn tiptc tng qu mc giI hn khi sai lch iu khuyn trv0.

*,Bin php khc phc:

- Sdng khu b thnh phn tch phn- Ct bthnh phn tch phn khi gi trc iu khin t ti gi trt

D:Sdng khu chng bo ha tch phn:+ PI-RW: S :Khu PI ni tip vi khu chng bo ha tch phn

0 500 1000 1500 2000 2500 30000

0.5

1

1.5

2

2.5

3x 10

4


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Trong :Thng sca khu PI-RW c xc nh theo Zinger Nicol1 nh sau:Gain:K=Kc=0.321Gain1:K=1/Ti=0.0857Gain2:K=1/Tt=4/Ti=0.343

S simulink:

p ng thu c l:

Scope

Level

SP

OutValve

Single-

Tank

GUI


In1 Out1

Subsystem

In Valve

Out Valve

Level

In Flow

Out Flow

SINGLE-

TANK


Class = 7

Number = 50

Scope1

Scope


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Scope1:

0 500 1000 1500 2000 2500 30000

100

200

300

400

500

600

700


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+ PID-RW:

S :Khu PID ni tip vi khu chng bo ha tch phn:

Trong :Thngsca khu PID-RW c xc nh theo Zinger Nicol1 nh sau:Gain:K=Kc=0.429Gain1:K=1/Ti=0.143.Gain2:K=1/Tt=4/Ti=0.512Gain3:K=1.75

0 500 1000 1500 2000 2500 30000

5000

10000

15000


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p ng thu c

Scope:

Scope1:


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*Nhn xt: mc nc trong bnh tng (gim) ti gi trt v ng nguyn tivtr , khc dao ng do thnh phn tch phn gy ra.

*Cn phi o lu lng ra v:

Khi olu lng ra, p ng ca hthng n nh ko phthuc vo sthayi ca lu lng ra, ta gim c snh hng ca tn hiu nhiu

6. Sch lc iu khin tng

* Gii thch ti sao cn sdng iu khin tng:

- Vng iu khin n cha p ng c yu cu cht lng- Ta c thdng o c v iu khin c bin qu trnh th2 c lin

quan ti bin thnht- c tnh ng hc ca bin th2 nhanh hn bin thnht

*Xc nh cc vng iu khin , nhim vv c im tng vng

- Vng iu khin:

+Vng 1(vng ngoi): o mc ca bnh ri phn hili 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 trSet Poit cho vng 2)

- Nhim vv 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 hi u lu lng Out Flow & In Flow cho ta

tn hiu iu khin ( mvan ph hp)+ Vng 2 c c tnh ng hc bin I nhanh hn c tnh ng hcca vng 1

* M phng Simulink

- Trng hp khng o lu lng ra:


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a , biu khin P-P

Hsvng ngoi K=1000. Vng trong K=1000.Ta c thsau:

Scope

Level

SP

OutValve

Single-

Tank

GUI


In1 Out1

Subsystem1

In Valve

Out Valve

Level

In Flow

Out Flow

SINGLE-TANK

Single-Tank1Course = 54

Class = 7

Number = 50

Scope1

Scope

PID

PID Controll er

0 500 1000 1500 2000 2500 30000

100

200

300

400

500

600

700


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Scope1:

-Trng hp c o lu lng ra

* M phng trn Simulink

0 500 1000 1500 2000 2500 30000

5000

10000

15000


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Kt qu:ta c thsau:

b. Biu khin P/PI -RW

Level

SP

OutValve

Single-

Tank

GUI

Tank GUI

Max Level = 1000

0:11

0:4

In1 Out1

Subsystem1

In Valve

Out Valve

Level

In Flow

Out Flow

SINGLE-TANK

0:0

Single-Tank1

Course = 54

Class = 7

Number = 50

0:3

Scope1

0:2

Scope

PID

PID Controller

0 500 1000 1500 2000 2500 30000

100

200

300

400

500

600

700


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Vng ngoi l biu khin P vi K=1000, vng trong l biu khin PI-RW

Trong :Thng sca khu PI-RW c xc nh theo Zinger Nicol1 nh sau:Gain:K=Kc=0.357Gain1:K=1/Ti=0.0857Gain2:K=1/Tt=4/Ti=0.343

S simulink:

Kt qum phng

Level

SP

OutValve

Single-

Tank

GUI


In1 Out1

Subsystem

In Valve

Out Valve

Level

In Flow

Out Flow

SINGLE-

TANK


Class = 7

Number = 50

Scope1

Scope


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Scope:

Scope1:

0 500 1000 1500 2000 2500 30000

100

200

300

400

500

600

700


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c. Biu khin P/PID-RW

Vng ngoi l biu khin P vi K=1000, vng trong l biu khin PI-RW

Trong :Thng sca khu PID-RW c xc nh theo Zinger Nicol1 nh sau:Gain:K=Kc=0.429Gain1:K=1/Ti=0.143.Gain2:K=1/Tt=4/Ti=0.512Gain3:K=1.75

Kt qum phng

Scope: Scope1

0 500 1000 1500 2000 2500 30000

5000

10000

15000


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Nhn xt:M phng vi cc biu khin khc nhau, ta u thu c kt qugnging nhau.

Vy :Khi o lu lng ra, p ng ca hthng n nh ko phthuc vo sthayi ca lu lng ra, ta gim c snh hng ca tn hiu nhiu

- Overshoot nh- Sai lch gia INFLOW & OUTFLOW nh

So snh hai trng hp:

- Trng hp o lu lng ra khi hthng n nh , thay i lu lng ra thhthng vn n nh

- Trng hp khng o lu lng ra khi hthng n nh , thay i lu lngra th hthng mt n nh

- Trng hp o lu lng ra cho ta cht lng tt hn so vi khng o lulng ra


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BI 2

XY DNG HTHNG IU KHIN HAI BNH MC

THNG NHAU

1: Xy dng m hnh i tng:

-Xc nh tn hiu vo ra v nhiu : F3

+Tn hiu vo:F1,F2 F1 h1

+Tn hiu ra:h1,h2

+Nhiu:F3 F2 h2

Hthng hai binh mc


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2:Xy dng m hnh ton hc i vi cc tham shnh thc

A1

F1-F2

A2

=F2-F3

*Chuyn sang min Laplace:

=>> A1.s.H1(s)=F1(s)-F2(s)

A2.s.H2(s)=F2(s)-F3(s)

G1(s)=

G1(s)=

.G1(s)=

G2(s)=

G2(s)=

G2(s)=

3: M phng trn Simulink:


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Valve 1

Valve 2

Valve 3

Level 1

Level 2

Flow 1

Flow 2

Flow 3

TWO-

TANK

Two-TankCourse = 54

Class = 7

Number = 50

Step

Scope1

Scope


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-Tng tkt qubi 1:Ta ktip tuyn v xc nh hsT1,K1 cho khi Scope

Ta c T1=3.4 v K1=3.2

thhm qu h1(t) khi scope(trn) v h2(t) khi scope1 (di)

Ktip tuyn vi thh(t) ta xc nh c :

- K2= tan=0.5

- Thi gian tr:=2.0

- T2=2.7

* Kim chng m hnh


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thkim chng m hnh :

Scope

Scope1

Valve 1

Valve 2

Valve 3

Level 1

Level 2

Flow 1

Flow 2

Flow 3

TWO-

TANK

Two-TankCourse = 54

Class = 7

Number = 50

3.2

3.4s+1

Transfer Fcn1

0.5

2.7s+1

Transfer Fcn

Step

Scope1

Scope

1

s

Integrator1

1

s

Integrator


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Nhn xt :Bqua sai sthhm qu gn ging vi tnh ton => c thchn cc btham schn trn

Bng tham stheo cng thc ZieglerNicholsBnh 1

Biu khin Kp Ti Td

P 1/K1 = 0.313 0 0PI 0.9/K1 = 0.282 10T1/3 = 11.33 0PID 1.2/K1 = 0.375 2T1 = 6.8 0.5T1=1.7Bnh 2

Biu khin Kp Ti TdP 1/K2 = 2 0 0PI 0.9/K2 = 1.8 10T2/3 = 9 0PID 1.2/K2 = 2.4 2T2 = 5.4 0.5T2=1.35

4 :Cc sch lc iu khin

1. iu khin vng phn hi n.2. iu khin tng.

Sch lc truyn thng khng dng c, v hthng van l hthng cqun tnh nn vi sch lc ny khi chng ta a ra quyt nh k th str


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mt mt thi gian hmi chp hnh v v khng c phn hi nn hskhng n nh.

5 : iu khin phn hi vng n kt hp b nhiu

a.Biu khin P-P

M phng trn Simulink :


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Kt quthu c:Scope: Scope1

Level1

Level2

Valve

SP1

SP2

Valve1

Valve2

Valve3

Two-Tank

GUI

Two-Tan k GUI

Max Height 1 = 1000

Max Height 2 = 1000

Valve 1

Valve 2

Valve 3

Level 1

Level 2

Flow 1

Flow 2

Flow 3

TWO-

TANK

Two-Tank

Course = 54

Class = 7

Number = 50

In1 Out1

Subsystem1

In1 Out1

Subsystem

Scope3

Scope2

Scope1

Scope


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b. Biu khin PI -RWS: Khu PI ni tip vi khu chng bo ha tch phn:

S simulink:


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Trong :- Biu khin PI-RW 1 c cc thng sxc nh theo ziegler Nichol 1 l:

Gain: K=Kc=0.282Gain1:K=1/Ti=0.083Gain2:K=1/Tt=4/Ti=0.353

- Biu khin PI-RW 2 c cc thng sxc nh theo ziegler Nichol 1 l:Gain: K=Kc=1.8Gain1:K=1/Ti=0.11Gain2:K=1/Tt=4/Ti=0.444

Kt quthu c:

Scope: Scope1

Level1

Level2

Valve

SP1

SP2

Valve1

Valve2

Valve3

Two-Tank

GUI

Two-Tan k GUI

Max Height 1 = 1000

Max Height 2 = 1000

Valve 1

Valve 2

Valve 3

Level 1

Level 2

Flow 1

Flow 2

Flow 3

TWO-

TANK

Two-Tank

Course = 54

Class = 7

Number = 50

In1 Out1

Subsystem1

In1 Out1

Subsystem

Scope3

Scope2

Scope1

Scope


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So snh Set Point vi Level

Mc nc trong bnh dao ng quanh SP1 ri sau n nh ti SP1Mc nc trong bnh dao ng quanh SP2 sau n nh ti gi trnh(ln) hn SP2 c sai lch phthuc vo mvan

c. Biu khin PID-RW:S : Khu PID ni tip vi khu chng bo ha tch phn

Trong :- Biu khin PID-RW 1 c cc thng sxc nh theo ziegler Nichol 1 l:

Gain: K=Kc=0.375Gain1:K=1/Ti=0.147

Gain2:K=1/Tt=4/Ti=0.588

Gain3:K=Td=1.7- Biu khin PID-RW 2 c cc thng sxc nh theo ziegler Nichol 1 l:



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Gain2:K=1/Tt=4/Ti=0.74

Gain3:K=Td=1.35

Kt qum phng:Scope: Scope1

Nhn xt :

Mc nc trong bnh tng nhanh ti gi trt ca bnh 1

Mc nc trong bnh t ti gi trt v n nh ti mc .

6/Sch lc iu khin tng

a. Lu P&ID.


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b.M phng vi cc biu khin:+) Vng ngoi l biu khin P (ly Kp = 1000) , vng trong l biukhin P (Kp = 10000)

S :

Scope: Scope1

Level1

Level2

Valve

SP1

SP2

Valve1

Valve2

Valve3

Two-Tank

GUI

Two-Tank GUIMax Height 1 = 1000

Max Height 2 = 1000

Valve 1

Valve 2

Valve 3

Level 1

Level 2

Flow 1

Flow 2

Flow 3

TWO-

TANK

Two-Tank

Course = 54Class = 7

Number = 50

In1 Out1

Subsystem2

In1 Out1

Subsystem1

Scope3

Scope2

Scope1

Scope

PID

PID Controller3

PID

PID Controller2


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Nhn xt

- So snh gia Level1 v SP1

Mc nc trong bnh 1 tin nhanh ti SP1 v n nh ti im ny

- So snh gia Level2 v SP2

Mc nc tng nhanh v n nh kh st SP2

+)Biu khin P/PI-RW

Vng ngoi l biu khin P (Kp =1000), vng trong l biu khinPI-RWTrong :- Biu khin PI-RW 1 c cc thng sxc nh theo ziegler Nichol 1 l:

Gain: K=Kc=0.282Gain1:K=1/Ti=0.083Gain2:K=1/Tt=4/Ti=0.353

- Biu khin PI-RW 2 c cc thng sxc nh theo ziegler Nichol 1 l:Gain: K=Kc=1.8Gain1:K=1/Ti=0.11

Gain2:K=1/Tt=4/Ti=0.444S :


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Kt qum phng

Scope: Scope1

Level1

Level2

Valve

SP1

SP2

Valve1

Valve2

Valve3

Two-Tank

GUI


Max Height 2 = 1000

Valve 1

Valve 2

Valve 3

Level 1

Level 2

Flow 1

Flow 2

Flow 3

TWO-

TANK

Two-TankCourse = 54

Class = 7

Number = 50

In1 Out1

Subsystem2

In1 Out1

Subsystem1

Scope3

Scope2

Scope1

Scope

PID

PID Controller3

PID

PID Controller2


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+)Biu khin P/PID-RD

- Vng ngoi l biu khin P (Kp =1000), vng trong l biu khin

PID-RWTrong :- Biu khin PID-RW 1 c cc thng sxc nh theo ziegler Nichol 1 l:

Gain: K=Kc=0.375

Gain1:K=1/Ti=0.147Gain2:K=1/Tt=4/Ti=0.588

Gain3:K=Td=1.7- Biu khin PID-RW 2 c cc thng sxc nh theo ziegler Nichol 1 l:


Gain2:K=1/Tt=4/Ti=0.74Gain3:K=Td=1.35

M hnh


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Kt qum phng:

Scope: Scope1

Nhn xt: mc nc lc u cha n nh ti Set Point do mvan ra ca

bnh 2 nhng sau mc nc c n nh=>> Nhn xt chung : hthng vi sch lc k tng c cht lng tt nht so vicc sch lng cn li, sai lch nhhn, t phthuc vo lu lng ra ca bnh 2nht

Level1

Level2

Valve

SP1

SP2

Valve1

Valve2

Valve3

Two-Tank

GUI


Max Height 2 = 1000

Valve 1

Valve 2

Valve 3

Level 1

Level 2

Flow 1

Flow 2

Flow 3

TWO-

TANK

Two-TankCourse = 54

Class = 7

Number = 50

In1 Out1

Subsystem2

In1 Out1

Subsystem1

Scope3

Scope2

Scope1

Scope

PID

PID Controller3

PID

PID Controller2


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Báo Cáo Thí Nghiệm Điều Khiển Quá Trình (3)