TP CH KHOA HC V CNG NGH, I HC NNG - S 1(42).

2011

IU KHIN M PID CHO QU TRNH MC CHT LNG

PID FUZZY CONTROLLER FOR LEVEL LIQUID PROCESS Nguyn Hong Mai
Trng i hc Bch khoa, i hc Nng
TM TT Hin nay, hu ht cc h iu khin cng nghip u s dng b iu khin PID iu khin qu trnh, cc b iu khin ny cha ti u hoc t bn vng i vi s thay i tham s trong qu trnh vn hnh. iu khin m l b iu khin thch hp cho cc i tng c tham s khng chnh xc. Bi bo ny gii thiu v b iu khin m PID cho qu trnh mc cht lng c tham s van iu khin v ti thay i. B iu khin m PID bao gm b iu khin PID kinh in vng trong v mt b iu khin m vng ngoi b tham s b iu khin PID. c tnh ca b iu khin c minh ha bng kt qu m phng iu khin n nh qu trnh mc cht lng. ABSTRACT Nowadays, PID controllers have been used to regulate a process in most of the industrial control systems. However, these controllers are not optimal or less robust with a parameters change in operation. A fuzzy controller is suitable for the objects with inaccurate parameters. This paper presents a PID fuzzy controller for liquid level process with varied parameters of the control valve and changed load. The PID fuzzy controller consists of a typical PID controller in the primary loop and a fuzzy controller in the secondary loop in compensation for the parameters of a PID controller. The characteristics of the PID fuzzy controller are illustrated with simulation results of the conditions in stabilising a liquid level.

V Khnh Thoi
Hc vin cao hc kho 2008-2011

1. t vn Mt h thng qu trnh mc cht lng bao gm ngun cp cht lng, ng ng dn, van iu khin, van tay, bnh mc. Trong van iu khin, bnh mc l cc i tng phi tuyn, tham s ca van iu khin thay i theo thi gian, ti ca qu trnh (van x) ph thuc vo yu cu cng ngh nn khng xc nh trc. B iu khin PID (t l, tch phn, o hm) c dng ph bin trong cc h iu khin cng nghip bi cu trc n gin. Cht lng ca h thng ph thuc vo cc h s KP, TI, TD ca b iu khin PID v c thit k cho mt im lm vic c trng. Trong qu trnh vn hnh, khi iu kin lm vic hoc cc tham s ca i tng b thay i th phi chnh nh cc h s ny. Vic chnh nh thng theo kiu thm d. Do , ta thit k b iu khin m vng ngoi b cc tham s b PID vng trong mt cch t ng. B iu khin m PID va pht huy ht cc u im ca b iu khin r va s dng cc u im h thng m gip trnh khi nhng bi ton nhn dng, m hnh ho hay thit k phc tp. ng thi, kinh nghim iu khin i tng d dng c kt hp vo lut iu khin. Vic ng dng k thut m xy dng
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TP CH KHOA HC V CNG NGH, I HC NNG - S 1(42).2011

b iu khin cho cc qu trnh c tham s thay i l hng nghin cu cn mi m v c kh nng p ng c cc yu cu cht lng cao. Bi bo ny gii thiu v mt b iu khin m PID cho mt qu trnh mc cht lng c tham s van iu khin v ti thay i. 2. Kt qu nghin cu v kho st 2.1 M hnh ho h thng qu trnh mc 2.1.1 H thng bnh mc Mt h thng bnh mc gm bnh mc hnh tr vi chiu cao 92cm, ng knh y 20cm, cm bin mc o theo kiu chnh p sut, bnh cha v bm cung cp lu cht vo, van iu khin, thit b chuyn i dng in thnh p sut, van tay, h thng ng ng trn vi ng knh trung bnh 2cm, ngun cp kh nn c m hnh v s PI&D ca qu trnh mc nh hnh 1, 2.

Hnh 1. M hnh qu trnh mc

Hnh 2. S PI&D ca qu trnh mc

Phng trnh biu din h bnh cht lng s da trn c s cn bng khi lng: (1) dmbnh = dmvo - dmra hay trong : V
d ( Ah ) = qi qo dt

(2)

: th tch ca bnh cha [m3]; : mt cht lng [kg/m3]; : din tch ct ngang bnh cha [m2];

qi, qo : lu lng vo ra bnh cha [m3/s];

h : chiu cao ct cht lng (mc) [m]. Vi quan h dng ra v mc cht lng l quan h phi tuyn:
qo = K v gh

(3)
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TP CH KHOA HC V CNG NGH, I HC NNG - S 1(42).2011

trong

Kv g

: h s lu lng qua van, : gia tc trng trng [m/s2].

Khi (2) tr thnh:

d ( Ah ) = q i K v gh dt
dh dt

(4)

Vi A khng i, khng i, gin c v chuyn v ta c phng trnh:

A + K v gh = q i

(5)

v vit li phng trnh nh sau:

h=
.

1 qi K v gh A

(6)

Phng trnh (6) l phng trnh ng hc ca bnh cht lng. Cu trc m hnh bnh mc trn Matlab-Simulink nh hnh 3. 2.1.2 Van iu khin Van iu khin thng thng c chnh xc khng cao (c th sai s v tr ti 5%) do: di cht (deadband), tr (hysteresis), do ma st thay i do bi bn, thiu bi trn v han g, do p sut lu cht thay i cng nh do c tnh phi tuyn ca c ch chp hnh. Do vy cc tham s ca van khng chnh xc [2, 6]. M hnh van iu khin th hin nh hnh 4.

Hnh 3. M hnh ho bnh mc

Hnh 4. M hnh ho van iu khin

2.1 Thit k b iu khin m PID 2.1.1 C s thit k b iu khin m PID B iu khin PID vi cu trc n gin v tin cy nn c dng ph bin trong cc h iu khin t ng phc v sn xut. Hm truyn ca b iu khin PID l:
t . K 1 u (t ) = K P e(t ) + e( )d + TD e(t ) hay G PID ( s ) = K P + I + K D s s TI 0

Vi e(t) l tn hiu vo, u(t) l tn hiu ra; KP , KI , KD l cc h s t l, tch phn, o hm. TI l hng s tch phn, TD l hng s vi phn. R rng, u(t) ph thuc
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TP CH KHOA HC V CNG NGH, I HC NNG - S 1(42).2011

vo cc tham s KP , TI , TD ca b iu khin PID v do cht lng tn hiu ca h thng cng ph thuc theo. Mt khc, cc h s ca b iu khin PID ch c tnh ton cho mt ch lm vic c th ca h thng, ph hp vi cc ch vn hnh khc nhau, b iu khin PID cn chnh nh lin tc. B iu khin m, gii quyt vn t chnh nh thch hp cc tham s ca b iu khin PID, nn ta c th thit k b iu khin m vng ngoi chnh nh tham s b PID vng trong. B iu khin vng trong cho mch vng iu chnh mc dng b PID kinh in, b iu khin m vng ngoi c nhim v l phi t ng b c cc tham s KP, KI, KD ca b PID. C s thit k b iu khin m l da vo vic phn tch sai lch e(t) v o hm ca tn hiu ra dy/dt, cc tham s KP, KI, KD ca b iu khin PID s c t ng chnh nh theo phng php b m. Nh vy b chnh nh m s c hai u vo l e(t), o hm ca u ra dy/dt v mt u ra [1] 2.1.2 Thit k b iu khin m PID
Hnh 5. Phng php m PID cascade

a) Xc nh cc bin ngn ng p dng m hnh m Mamdani. u vo th nht l sai lch gia mc t v mc thc ET, u vo th hai l tc bin thin theo thi gian ca mc thc DH. u ra ca b iu khin a n van k hiu l VA. Sai lch ET c chn trong min gi tr [-1;+1], o hm theo mc c chn trong min gi tr [-0,1;+0,1], u ra VA c min gi tr [-1;+1]. b) Xc nh s lng tp m Chn s lng tp m cho mi bin u vo l 3 v bin u ra l 5, c th nh sau: + ET = {N, Z, P}; + DH = {N, Z, P}; + VA = {CF, CS, NC, OS, OF}. c) Xc nh hm lin thuc Trong k thut iu khin thng u tin chn hm lin thuc kiu hnh tam gic hoc hnh thang. Cc loi ny c biu thc n gin, tnh ton d dng. Xy dng trn Matlab-Simulink nh cc hnh 6, 7, 8.

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TP CH KHOA HC V CNG NGH, I HC NNG - S 1(42).2011

Hnh 6. Hm lin thuc u vo th nht

Hnh 7. Hm lin thuc u vo th hai

Hnh 8. Hm lin thuc u ra

Hnh 9. Cc lut iu khin

d) Xy dng cc lut iu khin Nu ET l khng th VA khng i. Nu ET l dng th VA m nhanh. Nu ET l m th VA ng nhanh. Nu ET l khng v DH l dng th VA ng chm. Nu ET l khng v DH l m th VA m chm. Cc lut iu khin th hin nh hnh 9. e) Chn lut hp thnh v gii m Dng lut hp thnh max-Prod, gii m theo phng php trng tm. f) Ti u h thng Sau khi xy dng m hnh m phng bao gm b iu khin m PID v i tng, tin hnh qu trnh th nghim vi cc gi tr t khc nhau, thay i tham s h thng v nhiu pht hin cc l hng nu c th iu chnh b b m bng cch chnh li che ph ln nhau ca cc gi tr ngn ng, iu chnh li cc lut iu khin. Sau khi bit chc b iu khin n nh v khng c l hng, tin hnh ti u ho cc trng thi lm vic ca n theo cc ch tiu cht lng ng v tnh. chnh nh b iu khin theo cc ch tiu ny ta phi hiu chnh hm lin thuc, thit lp cc nguyn tc iu khin ph v thay i mt s nguyn tc iu khin v ta c b iu khin m PID nh trnh by. 2.2 Kt qu m phng S dng phn mm Matlab - Simulink, thc hin m phng qu trnh vi b
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TP CH KHOA HC V CNG NGH, I HC NNG - S 1(42).2011

iu khin PID kinh in v b iu khin m PID (hnh 10) ng vi cc trng hp khc nhau, so snh cc p ng thu c nh cc hnh 11, 12, 13, 14, 15.

Hnh 10. M hnh ha qu trnh mc cht lng trong Matlab-Simulink

Hnh 11. p ng mc khi im t 50cm

Hnh 12. p ng mc khi ti thay i v nhiu

Hnh 13. p ng mc khi thay i tham s van

Hnh 14. p ng mc khi thay i im t

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TP CH KHOA HC V CNG NGH, I HC NNG - S 1(42).2011

Ghi ch:
h-dat h-PID

: mc cht lng t

: mc cht lng khi s dng b PID kinh in

h-Mo PID : mc cht lng khi s

dng b m PID
Hnh 15. p ng mc khi thay i im t v tham s van

Bn lun Khi thay i ti: m v ng van (hnh 12, 13, 14, 15), nhiu h thng: nhiu lu lng vo (hnh 12), thay i tham s van (hnh 13, 15), thay i im lm vic: 60cm 40cm (hnh 14, 15); p ng mc cht lng ca m hnh m PID gn nh khng i, mc cht lng trong bnh bm theo mc t tt, sai lch nh, h thng n nh. Trong khi , p ng mc ca m hnh PID b thay i rt nhiu. p ng mc i vi m hnh PID c s ln dao ng nhiu, thi gian qu ln hn, tn ti sai lch tnh ln (hnh 13, 15). Khi thay i cc tham s lm cho im lm vic xc lp ca qu trnh thay i, trong khi cc thng s ca b iu khin PID khng thay i nn dn n dao ng nhiu, cn b iu khin m PID do c s t ng b cc tham s nn thch nghi c vi s thay i ny, lm cho b iu khin n nh v bn vng hn b PID. 4. Kt lun Kt qu m phng trn Matlab-Simulink ng vi l thuyt, thut ton b iu khin m PID l hon ton chnh xc, b iu khin m PID khng phi gii bi ton nhn dng m vn cho c kt qu iu khin c cht lng cao k c khi gp nhiu, ng thi khc phc c im yu ca b iu khin PID kinh in l thch nghi c vi s thay i cc tham s ca h thng. Cc thng s v cht lng iu chnh nh sai lch tnh, qu iu chnh, thi gian qu , s ln dao ng ca qu trnh u tt hn rt nhiu so vi vic dng b iu khin PID kinh in, nht l qu iu chnh v thi gian qu rt nh. Nh vy h iu khin m PID hon ton p ng c cc yu cu v cht lng cao cho qu trnh mc cht lng. y l hng nghin cu mi y trin vng.

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TP CH KHOA HC V CNG NGH, I HC NNG - S 1(42).2011

TI LIU THAM KHO [1] Nguyn Don Phc Phan Xun Minh (1999), L thuyt iu khin m, Nh xut bn Khoa hc v K thut, H Ni. [2] Hong Minh Sn (2006), C s H thng iu khin qu trnh, Nh Xut bn Bch Khoa H Ni. [3] Kevin M. Passino, Stephen Yurkovich (1998), Fuzzy control, Addison Weslet Longman, Inc. [4] Donald R.Coughanowr, Process Systems Analysic and Control, Mc Graw-Hill International Editions. [5] http://www.labvolt.com/products/instrumentation-and-process-control/. [6] Control Valve handbook (Emerson) Fourth Edition 2005.

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