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Chng 1 2

2004, HONG MINH SN

iu khin qu trnh
Chng 3: Cc sch lc iu khin

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13/09/2005

Ni dung chng 3
3.1 3.2 3.3 3.4 3.5 3.6 3.7 3.8 3.9 Khi nim iu khin truyn thng iu khin phn hi iu khin cascade iu khin t l iu khin la chn iu khin phn vng Cc cu trc iu khin h MIMO Thit k cu trc iu khin h MIMO

HMS

2004, HONG MINH SN

Chng 3: Cc sch lc iu khin

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2005 - HMS

3.1 Khi nim


Lu : u, r, y, d l cc bin ca m hnh chun ha G(s) Nhiu d Cc bin iu khin u Cc bin cn iu khin y

Qu trnh

Bi ton iu khin qu trnh: duy tr y r trong khi


2004, HONG MINH SN

HMS

thay i gi tr t r c tc ng ca nhiu d tn ti nhiu o n m hnh qu trnh khng chnh xc


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Chng 3: Cc sch lc iu khin

2005 - HMS

Cc mc tiu c th ca iu khin
n nh h thng Tc p ng nhanh v cht lng p ng tt:
p ng vi thay i gi tr t p ng vi nhiu qu trnh t nhy cm vi nhiu o

Gi tr bin iu khin thay i chm hoc thay i t Bn vng:


n nh bn vng Cht lng bn vng
2004, HONG MINH SN

HMS

Chng 3: Cc sch lc iu khin

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2005 - HMS

Cc vn phc tp
Nhiu qu trnh phc tp, kh iu khin (tng tc nhiu chiu, h pha khng cc tiu, gii hn v gi tr v tc thay i ca bin iu khin, gii hn v phm vi thay i cho php ca bin c iu khin,...) M hnh kh xy dng chnh xc Nhiu kh o, kh bit trc Kh nng thc thi, ci t lut iu khin c gii hn Trnh hiu bit ca k s vn hnh v l thuyt iu khin hn ch ...
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HMS

2004, HONG MINH SN

Chng 3: Cc sch lc iu khin

2005 - HMS

Sch lc iu khin
Gi tr t r Nhiu d Cc bin iu khin u Cc bin o c ym

Qu trnh

2004, HONG MINH SN

Sch lc/cu trc iu khin (control strategy/structure): nguyn tc v mt cu trc trong s dng thng tin v cc bin qu trnh a ra tc ng iu khin.
iu khin n bin hay a bin? Phi hp s dng cc bin vo no v nh th no iu khin nhng bin ra no?
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Sch lc iu khin

HMS

Chng 3: Cc sch lc iu khin

2005 - HMS

Cc sch lc iu khin c bn
H SISO:
iu iu iu iu iu iu khin khin khin khin khin khin truyn thng (feedforward control) phn hi (feedback control) tng (cascade control) t l (ratio control) la chn (selective control) phn vng (split-range control)

H MIMO:
iu khin tp trung (centralized control)
2004, HONG MINH SN

iu khin tch knh iu khin nhiu chiu

iu khin phi tp trung (decentralized control) iu khin phn cp (hierarchical control)


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HMS

Chng 3: Cc sch lc iu khin

2005 - HMS

3.2 iu khin truyn thng


V d iu khin qu trnh trao i nhit:
iu chnh lu lng hi nng vo Fs duy tr nhit du ra T2 ti gi tr t mong mun

HMS

2004, HONG MINH SN

Chng 3: Cc sch lc iu khin

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2005 - HMS

Cu trc c bn

Nguyn l:
Gi thit: M hnh chnh xc, nhiu o c o nhiu qu trnh d, tnh ton u sao cho y r :
2004, HONG MINH SN

u = K r (s )(r G d (s )d ) K r (s ) G (s )
1

(3.1)

HMS

Khng thc hin o y


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Chng 3: Cc sch lc iu khin

2005 - HMS

Phn tch cht lng


a) iu khin l tng
K r = G 1 u = K r (r G d d ) = G 1 (r G d d ) y = Gu + G d d = GG 1 (r G d d ) + G d d = r
(3.2)

b) Sai lch m hnh i tng (gi s d = 0):


G thc = G + G y = (G + G)G 1 r = r +
2004, HONG MINH SN

G r G

(3.3)

c) Sai lch m hnh nhiu:


G d thc = G d + G d

sai lch iu khin


(3.4)
2005 - HMS
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HMS

y = r G d d + (G d + G d )d = r + G d d
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Chng 3: Cc sch lc iu khin

d) Tn ti nhiu khng o c:
y = Gu + G d d + G d 2 d 2 = r + G d 2 d 2

(3.5) sai lch iu khin

=> H mt n nh khi Gd2 khng n nh e) M hnh c im khng nm na bn phi mt phng phc => B iu khin l tng khng n nh, cn xp x! V d m hnh i tng:
G (s ) = 1s 1+s

2004, HONG MINH SN

B iu khin l tng khng n nh => h mt n nh ni! 1+s K r1 (s ) = G (s )1 = 1s B iu khin xp x (cho trng thi xc lp):
K r 2 = G(0)1 = 1
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HMS

Chng 3: Cc sch lc iu khin

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HMS

2004, HONG MINH SN

Chng 3: Cc sch lc iu khin

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Phn tch cht lng (tip)


f) M hnh c thi gian tr hoc c bc mu s ln hn bc t s => B iu khin l tng khng c tnh nhn qu (non-causal) V d m hnh i tng:

G (s ) =

1+s s e 1 s + s2

1 s + s2 s B iu khin l tng khng c tnh nhn qu: K r (s ) = e 1+s


=> Ch thc hin c khi b tn hiu ch o bit trc, khng dng cho b nhiu, hoc phi xp x b iu khin g) Qu trnh khng n nh: B iu khin l tng trit tiu im cc khng n nh => H thng khng c tnh n nh ni, ch cn c nhiu u vo rt nh c th lm cho h mt n nh

2004, HONG MINH SN

y = G(u + d u ) + G d d = r + Gd u

(3.6)

HMS

Chng 3: Cc sch lc iu khin

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V d: iu khin mc

2004, HONG MINH SN

Nguyn l iu khin: Lu lng vo phi bng lu lng ra Vn : Ch cn sai s nh trong gi tr o lu lng hoc sai s nh trong m hnh van iu khin cng c th lm trn bnh hoc cn bnh
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HMS

Chng 3: Cc sch lc iu khin

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Tm lc v iu khin truyn thng


u im:
n gin Tc ng nhanh (b nhiu kp thi trc khi nh hng ti u ra)

Hn ch:
Phi t thit b o nhiu Khng loi tr c nh hng ca nhiu khng o c Nhy cm vi sai lch m hnh (m hnh qu trnh v m hnh nhiu) B iu khin l tng c th khng n nh hoc khng thc hin c => phng php xp x Khng c kh nng n nh mt qu trnh khng n nh

ng dng ch yu:
2004, HONG MINH SN

HMS

Cc bi ton n gin, qu trnh pha cc tiu, yu cu cht lng khng cao Kt hp vi K phn hi nhm ci thin tc p ng ca h kn: B nhiu o c (ch yu l b tnh), lc trc (tin x l) tn hiu ch o iu khin t l (mc 3.5)
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Chng 3: Cc sch lc iu khin

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Cc bc thit k khu b tnh


1. Xc nh bin cn iu khin, chn bin iu khin v cc bin nhiu o c. 2. Xy dng m hnh i tng, vit cc phng trnh cn bng vt cht hoc/v phng trnh cn bng nng lng trng thi xc lp. 3. Thay th bin c iu khin bng gi tr t, gii phng trnh cn bng cho bin iu khin theo gi tr t v cc bin nhiu. 4. Phn tch v nh gi nh hng ca sai lch m hnh ti cht lng iu khin. 5. Loi b cc ngun nhiu c nh hng khng ng k tit kim chi ph t cm bin. 6. Chnh nh li cc tham s ca khu truyn thng cho im lm vic quan tm b li sai lch m hnh v cc ngun nhiu loi b. 7. B sung cc b iu khin phn hi trit tiu sai lch tnh, gim tc ng ca sai lch m hnh v ca nhiu khng o c.
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HMS

2004, HONG MINH SN

Chng 3: Cc sch lc iu khin

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V d: iu khin qu trnh trao i nhit


B qua tn tht nhit, ta c phng trnh cn bng nng lng:

Fo C p (T2 T1 ) = Fs
trong :
Cp nhit dung ca du

(3.7)

h s nhit ta ra do qu trnh hi nc ngng t.


2004, HONG MINH SN

Thay th T2 bng gi tr t (SP):

Fs = Fo
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Cp

(S P T1 )

(3.8)

HMS

Chng 3: Cc sch lc iu khin

2005 - HMS

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V d: iu khin qu trnh trn


Gi thit: - c1 v c2 l hng s - lu lng w ra ty (t chy) Phng trnh cn bng:

w 1 c1 + w 2 c 2 = (w 1 + w 2 )c
Thay th c bng gi tr t (SP):

(3.9)

2004, HONG MINH SN

w 1 (S P c1 ) w2 = c2 S P
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(3.10)

HMS

Chng 3: Cc sch lc iu khin

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3.3 iu khin phn hi


V d: iu khin qu trnh trao i nhit

2004, HONG MINH SN

HMS

Nguyn l iu khin: iu chnh lu lng hi nng (bin iu khin) da trn sai lch gia nhit du ra (bin c iu khin) v gi tr t (SP)
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Chng 3: Cc sch lc iu khin

2005 - HMS

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Chiu tc ng ca b iu khin phn hi


Tc ng thun (direct acting, DA): u ra ca b iu khin tng khi bin c iu khin tng v ngc li Tc ng nghch (reverse acting, RA): u ra ca b iu khin gim khi bin c iu khin tng v ngc li S la chn chiu tc ng ph thuc:
c im ca qu trnh: quan h gia bin iu khin v bin c iu khin Kiu tc ng ca van iu khin (ch chiu mi tn trn k hiu van iu khin):

ng an ton (fail close, air-to-open), chiu tc ng thun M an ton (fail open, air-to-close), chiu tc ng nghch

2004, HONG MINH SN

Coi i tng iu khin = qu trnh + van iu khin => chiu tc ng ph thuc vo du ca h s khuch i tnh ca i tng Qu trnh: Hi nng nhiu -> nhit tng Van iu khin: ng an ton
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Trong v d: tc ng nghch

HMS

Chng 3: Cc sch lc iu khin

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Cu hnh b iu khin phn hi


p ng vi gi tr t v p ng vi nhiu c rng buc vi nhau => khng th thit k iu khin c lp hon ton theo mun

HMS

2004, HONG MINH SN

Thm kh nng thit k b iu khin Kr(s) ci thin p ng vi thay i gi tr t

Chng 3: Cc sch lc iu khin

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Ti sao phi iu khin phn hi?


Xt cu hnh b iu khin mt bc t do:
y = GK (r y n ) + Gd d (1 + GK )y = GKr + Gd d GKn

(3.11) (3.12)

p ng h kn:
y = L Gd L r+ d n = Tr + Gd Sd Tn 1+L 1+L 1+L

(3.13)

2004, HONG MINH SN

Sai lch iu khin:


e = r y = 1 Gd GK r d+ n = Sr Gd Sd + Tn (3.14) 1 + GK 1 + GK 1 + GK

HMS

Chng 3: Cc sch lc iu khin

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Vai tr ca iu khin phn hi


1. Mt qu trnh khng n nh ch c th n nh (ha) bng cch s dng mch phn hi nhm dch cc im cc sang bn tri trc o ca mt phng phc (quan st a thc mu s 1 + GK trong 3.13 v 3.14) 2. Khi nhiu khng o c hoc m hnh p ng nhiu bt nh th tc ng ca n ch c th trit tiu thng qua nguyn l phn hi:
GK 1 Gd 0 1 + GK

2004, HONG MINH SN

3. M hnh i tng khng chnh xc, do vy vic trit tiu sai lch tnh ch c th thng qua quan st din bin u ra:
n 0, GK 1 e 0

HMS

Chng 3: Cc sch lc iu khin

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Cc vn ca iu khin phn hi
Mt vng iu khin kn cha mt i tng n nh cng c th tr nn mt n nh iu khin phn hi cn b sung cc cm bin Nhiu o c th nh hng ln ti cht lng iu khin ( s hng cui cng trong biu thc 3.13 v 3.14) => cn c phng php lc nhiu, x l s liu o tt Kh m c mt b iu khin phn hi tt nu nh khng c mt m hnh tt Vi mt s qu trnh c p ng ngc hoc c tr (h pha khng cc tiu), mt b iu khin phn hi c thit k thiu thn trng thm ch c th lm xu i c tnh p ng B iu khin phn hi p ng chm vi nhiu ti v thay i gi tr t
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HMS

2004, HONG MINH SN

Chng 3: Cc sch lc iu khin

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Kt hp vi sch lc truyn thng


V d iu khin mc:
Khu truyn thng: b nhiu Khu phn hi: n nh h thng v trit tiu sai lch tnh

HMS

2004, HONG MINH SN

Chng 3: Cc sch lc iu khin

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3.4 iu khin tng (cascade)


t vn : Tc ng ca nhiu vi cc qu trnh chm (nhit , mc v nng ) hoc c tr ln => cc vng iu chnh n kh mang li tc p ng nhanh cng nh qu iu chnh nh. V d tiu biu: Vi cng m van, thay i p sut dng chy/dng hi nh hng ln ti lu lng

HMS

2004, HONG MINH SN

Chng 3: Cc sch lc iu khin

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V d iu khin bung trao i nhit


Gii php: Trit tiu sm nh hng ca nhiu bng cch s dng mt vng iu chnh trong, s dng thm mt i lng o

HMS

2004, HONG MINH SN

Chng 3: Cc sch lc iu khin

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Hai cu trc c bn
Cu trc kinh in (cu trc ni tip): thm mt bin o

Cu trc song song: thm mt bin iu khin

HMS

2004, HONG MINH SN

Chng 3: Cc sch lc iu khin

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Phn tch cht lng (cu trc kinh in)

p ng h kn:
K1 L 2 Gd 2 (r G d 1 d1 ) + d 2 , L1 = K1 G1 , L 2 = K 2 G2 1 + L 2 + L1 L 2 1 + L 2 + L1 L 2 (1 + L2 )G d 1 L1 L2 G1 G d 2 y1 = r+ d1 + d2 1 + L2 + L1 L2 1 + L2 + L1 L2 1 + L2 + L1 L2 (1 + 1 / L2 )G d 1 L1 G1 G d 2 / L 2 = r+ d1 + d2 (3.15) 1 / L2 + 1 + L1 1 / L2 + 1 + L1 1 / L2 + 1 + L1 y2 =

2004, HONG MINH SN

Vi L 2 1
y1

trong di tn quan tm (ca L1), ta c: nh hng ca d2 gim i nhiu!


2005 - HMS

HMS

L1 Gd1 G1 G d 2 r + d1 + d2 1 + L1 1 + L1 L 2 (1 + L1 )
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(3.16)
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Chng 3: Cc sch lc iu khin

Khi no s dng sch lc cascade?


Vng iu khin phn hi n khng p ng c yu cu cht lng C th d dng o c v iu khin c mt bin qu trnh th hai (c lin quan ti bin th nht) Bin c iu khin th hai th hin r rt nh hng ca nhiu kh o c C mt quan h nhn qu gia bin iu khin v bin c iu khin th hai (c th cng l mt bin) c tnh ng hc ca bin th hai phi nhanh hn c tnh ng hc ca bin th nht
2004, HONG MINH SN

HMS

Chng 3: Cc sch lc iu khin

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3.5 iu khin t l (ratio control)


iu khin t l l duy tr t l gia hai bin nhm iu khin gin tip mt bin th ba => thc cht l mt dng iu khin truyn thng. V d: iu khin qu trnh trao i nhit

HMS

2004, HONG MINH SN

Chng 3: Cc sch lc iu khin

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Hai cu trc thng dng

HMS

2004, HONG MINH SN

Chng 3: Cc sch lc iu khin

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V d iu khin t l qu trnh trn (kt hp vi phn hi)

HMS

2004, HONG MINH SN

Chng 3: Cc sch lc iu khin

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3.6 iu khin la chn


S dng khu la chn tn hiu: Mt bin iu khin (mt thit b chp hnh) La chn tn hiu o: iu khin gii hn (limit control)
Mt bin c iu khin Nhiu tn hiu o (o nhiu v tr khc nhau) Mt vng iu chnh

La chn tn hiu iu khin: iu khin ln t (override control)


Hai (nhiu) bin c iu khin, hai (nhiu) tn hiu o Hai (nhiu) vng iu chnh => m bo an ton

HMS

2004, HONG MINH SN

Chng 3: Cc sch lc iu khin

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iu khin gii hn
B iu chnh Cu hnh iu khin Khu la chn (max, min,...) V d: iu khin nhit trong mt l phn ng Qu trnh

T
2004, HONG MINH SN

max

TT 115

TT 116

TT 117

Nc lnh

HMS

UC 101 FC 100
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t z
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Chng 3: Cc sch lc iu khin

iu khin ln t
-

B C 1 Qu trnh

Cu hnh iu khin -

B C 2

V d: iu khin ni hi Hi nc
PC 100

2004, HONG MINH SN

FY 102 LC 101

HMS

Chng 3: Cc sch lc iu khin

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ng dng ca iu khin ln t

Trnh tnh trng trn trong mt thp chng ct bng cch hn ch lu lng hi cp nhit hoc lu lng cp liu. Phng nga tnh trng gi tr mc qu cao hoc qu thp trong mt bnh cha bng cch ginh quyn can thip mnh vo cc van iu chnh (van cp hoc van x). Phng trnh p sut hoc nhit qu cao trong mt l phn ng bng cch gim lng nhit cp. Gim lng nhin liu cp cho mt bung t nhm trnh tnh trng hm lng xy qu thp trong kh thi. Trnh trng hp p sut qu cao trong mt ng ng (hi nc hoc kh) bng cch m van trn ng trnh (bypass).


2004, HONG MINH SN

HMS

Chng 3: Cc sch lc iu khin

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3.7 iu khin phn vng


+

- Mt bin c iu khin - Nhiu bin iu khin hoc nhiu phn t chp hnh

Split-RangeController

Process

V d: iu khin nhit bnh phn ng

Hi nc
m van
TT 100 TC 100

2004, HONG MINH SN

100%

HMS

Nc lnh
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Tn hiu iu khin

Chng 3: Cc sch lc iu khin

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3.8 Cc cu trc iu khin h MIMO


iu khin tp trung (centralized control), iu khin a bin (multivariable control):
Mt b iu khin nhiu chiu (nhiu vo/nhiu ra) Thit k theo phng php tch knh hoc phng php thit k a bin

iu khin phi tp trung (decentralized control), iu khin nhiu vng (multiloop control):
Phn chia h thng thnh cc bi ton nh d gii quyt hn (n bin hoc a bin) Thc hin bi nhiu b iu khin c lp Phn chia h thng thnh cc vng iu chnh c bn (iu chnh tng phn, partial control) v cc vng iu chnh phi hp (vng iu khin ch, master control) S dng c cc b iu khin phn tn v cc b iu khin tp trung
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2004, HONG MINH SN

iu khin phn cp (hierarchical control):

HMS

Chng 3: Cc sch lc iu khin

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iu khin tp trung
SP

B iu khin

Qu trnh

V d: iu khin bnh trn


Bin c iu khin: mc v nng ra (c) Bin iu khin: lu lng vo w1 v w2

HMS

2004, HONG MINH SN

Chng 3: Cc sch lc iu khin

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iu khin tp trung

V d: Thp chng ct hai sn phm


Bin cn iu khin: nng sn phm nh XD v y XB Bin c iu khin: Nhit phn tinh ct v phn chng luyn ca thp Bin iu khin: lu lng hi lu v nhit lng cp
Cp liu

Hi lu XD
TT 10 0 TT 10 1 UYC 102

2004, HONG MINH SN

XB

HMS

Nhit cp
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Chng 3: Cc sch lc iu khin

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iu khin phi tp trung


K1 K2 K3 Qu trnh SP1 SP2 SP3

HMS

2004, HONG MINH SN

nh ngha: H thng iu khin bao gm nhiu b iu khin phn hi c lp, mi b lin kt mt tp con (khng chia s) cc bin u ra (o c) v gi tr t vi mt tp con cc bin iu khin.
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Chng 3: Cc sch lc iu khin

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iu khin phi tp trung


V d: Thp chng ct hai sn phm


Bin cn iu khin: nng sn phm nh XD v y XB Bin c iu khin: Nhit phn tinh ct v phn chng luyn ca thp Bin iu khin: lu lng hi lu v nhit lng cp
Cp liu

Hi lu XD
TC 100 TC 101

HMS

2004, HONG MINH SN

XB

Nhit cp
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Chng 3: Cc sch lc iu khin

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So snh
iu khin tp trung:
+ + Cht lng cao (nu m hnh chnh xc) Nhiu phng php v cng c thit k hin i Xy dng m hnh qu trnh phc tp Thc hin gii php iu khin s phc tp (thiu th vin khi c sn, chu k trch mu khc nhau,...) Kh theo di i vi ngi s dng => kh chp nhn tin cy khng cao

iu khin phi tp trung:


+ Phng php truyn thng trong cng nghip + D theo di + D chnh nh cc tham s iu khin m khng cn m hnh qu trnh chnh xc + tin cy cao Thit k sch lc iu khin phc tp (v d vic cp i vo/ra) Cht lng thp, khng phi bao gi cng thc hin c
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HMS

2004, HONG MINH SN

Chng 3: Cc sch lc iu khin

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3.9 Thit k cu trc phi tp trung


Cc bc thit k:
La chn cc bin iu khin, cc bin c iu khin v cc bin o Cp i cc bin iu khin v cc bin c iu khin p dng cc sch lc iu khin cho h SISO

Cc vn t ra:
Khi no c th iu khin phi tp trung? nh gi mc tng tc gia cc knh iu khin nh gi cht lng iu khin c th t c (mc kh d ca bi ton) Vn la chn cp i bin vo/ra Mi bin iu khin nh hng khc nhau ti bin c iu khin => chn cp vo/ra c s lin kt mnh nht Trng hp n gin => c th a ra kt lun thng qua phn tch qu trnh vt l S lng vo/ra ln => s kh nng cp i rt ln, cn mt phng php c tnh h thng Vn nh gi cht lng v tnh n nh ton h thng
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HMS

2004, HONG MINH SN

Chng 3: Cc sch lc iu khin

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3.9.1 Ma trn h s tng tc (RGA)


Khi nim RGA (Relative Gain Array):
Bristol a ra nm 1966 (AC-11) => ch s nh gi mc tng tc gia cc knh vo/ra trong mt h MIMO Phc v la chn v cp i cc bin vo/ra trong xy dng cu hnh iu khin phi tp trung C nhiu tnh cht rt hay khc trong nh gi tnh n nh v cht lng ca h iu khin phi tp trung

RGA ca mt ma trn s phc vung m x m khng suy bin l mt ma trn s phc vung m x m:
RGA(G) (G) G (G 1 )T
2004, HONG MINH SN

(3.17)

vi k hiu x l php nhn tng phn t (tch Schur, tch Hadamard)


1 G= 3 2 0 .4 1 = , G 0 .3 4 0 .2 , (G) = 0 .1 0 .4 0 .6 0 .6 0 .4
46

V d:

HMS

Chng 3: Cc sch lc iu khin

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2005 - HMS

Din gii ngha ma trn RGA qua v d 2x2


Xt h 2x2 trng thi xc lp (s = 0):
g1 1 G (0 ) = g21 1 1 (G ) = 2 1 g1 2 g 2 2 1 2 1 1 = 2 2 1 1 1 1 1 1 1 , 1 1 = 1 1 1 g 1 2 g 2 1 / g1 1 g 2 2
(3.19)

Khi u2 = 0:
y 1
u 2 =0

= g1 1 u 1

(3.20)

Khi u2 0 gi y2=0:
2004, HONG MINH SN

y 1

y 2 =0

1 1 u 1 = (g1 1 / 1 1 ) u 1 = (g1 1 g

g1 2 g 2 1 ) u 1 g22

(3.21)

Tc ng gin tip g1 2 = 0 Nu 1 1 = 1 g1 2 g 2 1 = 0 g2 1 = 0 HMS=> Khng c tng tc hai chiu, d iu khin phi tp trung
Chng 3: Cc sch lc iu khin
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Tng qut ha cho h m n


g1 1 (s ) g1 2 (s ) g1 m (s ) g (s ) g (s ) y (s ) 2 1 2 2 = G (s ) = u (s ) g ( s ) g ( s ) mm m1

Xt nhy gia bin vo uj v bin ra yi ca mt vng iu chnh vi hai trng hp: - Khng c cc u vo khc, tc u k = 0, k j
y i u j = g ij [G]ij
u k = 0, k j

- C cc u vo khc sao cho cc u ra khc c gi c nh, tc


2004, HONG MINH SN

y k = 0, k i

y i u j

ij 1 /[G 1 ] ji =g
y k =0 , k i

H s t l gia hai gi tr th hin mc lin kt gia uj v yi :


ij = [G]ij [G 1 ] ji (G) = G (G 1 )T ij g ij / g
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HMS

(3.18)
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Chng 3: Cc sch lc iu khin

Mt s tnh cht ca ma trn RGA


Tng cc phn t ca mt hng hoc mt ct = 1

=
ij i j

ij

= 1 .0

Ma trn RGA khng ph thuc vo vic chnh thang (chun ha m hnh):

(G) = (D1 GD2 ), D1 = d iag(d1 i ), D2 = d iag(d 2 i )



2004, HONG MINH SN

Hon i hai hng (hai ct) ca G dn ti hon i hai hng (hai ct) ca (G) (G) l mt ma trn n v nu G l ma trn tam gic trn hoc di (tng tc mt chiu) G(s) l mt ma trn hm truyn th (G(j)) c tnh ton tng ng vi tng tn s trong di tn quan tm S RGA (G) I
sum

= g ij
i j

l mt ch s cho mc tng tc

ca qu trnh (quan trng nht l xung quanh tn s ct)


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HMS

Chng 3: Cc sch lc iu khin

2005 - HMS

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Phng php cp i vo/ra da trn RGA


Lut 1: Cp i vo/ra (j,i) tng ng vi phn t ij c gi tr gn 1 xung quanh tn s ct mong mun ca h kn, u tin s ln hn 1 Di tn m ij 1 cng rng cng tt
Trong trng hp n gin c th chn hm truyn trng thi xc lp (s=0)

Lut 2: Trnh chn ij << 1 hoc ij < 0 cho h trng thi xc lp

V d 1:
2004, HONG MINH SN

V d 2:
y1 = y2 y3 y4 u1 0 .9 3 1 0 .0 1 1 0 .1 3 5 0 .2 1 5 u2 0 .1 5 0 0 .4 2 9 3 .3 1 4 2 .0 3 0 u3 0 .0 8 0 0 .2 8 6 0 .2 7 0 0 .9 0 0 u4 0 .1 6 4 1 .1 5 4 1 .9 1 0 1 .9 1 9
50

u1 u2 u3 y1 1.98 1.04 2.02 0.36 1.10 0.26 = y2 y3 0.62 1.14 2.76

HMS

Chng 3: Cc sch lc iu khin

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2005 - HMS

Tnh n nh ca h iu khin phi tp trung


Vi qu trnh G(s) n nh
1. Nu mi vng n n nh khi cc vng khc h mch v ma trn (G) = I th ton h cng n nh => Chn cp i sao cho (G) I xung quanh tn s ct 2. Nu cc b iu khin s dng tc ng tch phn v cp i tng ng vi phn t ca (G(0)) c gi tr m th:

Ton h mt n nh, hoc Vng n tng ng mt n nh, hoc Ton h mt n nh khi vng n tng ng h mch

3. Nu b iu khin phn hi i s dng tc ng tch phn v n nh khi cc vng khc h mch, v ch s Niederlinski
2004, HONG MINH SN

NI =

d et G (0)

g
i =1

<0

(3.22)

ii

(0)

HMS

th vng iu khin i s mt n nh. Vi n=2 th iu kin trn l cn v .


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Chng 3: Cc sch lc iu khin

2005 - HMS

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Xt tnh n nh: v d thp chng ct


M hnh tnh (trng thi xc lp)
x D 1 2, 8 1 8, 9 L = x B 6, 6 1 9, 4 V 2, 0 1 1, 0 1 1, 0 1 2, 0 1 rD K1
L V Qu trnh K2
2004, HONG MINH SN

x D 1 8, 9 1 2, 8 V = x B 1 9, 4 6, 6 L 1, 0 1 2, 0 1 2, 0 1 1, 0 1
K1 L V rB xD xB

xD xB rB

! h n n g n K2 Kh
NI = d et G (0)

Qu trnh

rD

NI =

d et G (0)

g
i =1

ii

(0) =

g
i =1

ii

(0)

HMS

1 2, 8 1 9, 4 + 1 8, 9 6, 6 = 0, 4 9 8 1 2, 8 1 9, 4

1 8, 9 6, 6 + 1 2, 8 1 9, 4 = 0, 9 9 1 1 8, 9 6, 6
2005 - HMS
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Chng 3: Cc sch lc iu khin

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3.9.2 Php phn tch gi tr suy bin (SVD)


Gi tr suy bin (singular value) v php phn tch gi tr suy bin (singular value decomposition) c rt nhiu cng dng trong phn tch cht lng ca h thng Trong iu khin qu trnh, bn cnh phn tch RGA, php phn tch gi tr suy bin l mt cng c hu hiu phc v:
La chn cc bin cn iu khin, cc bin c iu khin v cc bin iu khin nh gi tnh bn vng ca mt sch lc/cu trc iu khin Xc nh cu hnh iu khin phi tp trung tt nht

HMS

2004, HONG MINH SN

Chng 3: Cc sch lc iu khin

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Cc gi tr suy bin
Cc gi tr suy bin ca mt ma trn s phc A (mxn) c nh ngha l cc gi tr ring ca AHA => thc o khong cch gn hay xa vi "s suy bin" ca A Xt chun bc 2 ca A:
A
2

= m ax i ( A H A) = m ax i ( A ) ( A)
i i

(3.24) (3.25) (3.26)

( A) = m ax
x 0

Ax x Ax x
2 2

= m ax Ax
x =1 2

( A) = m in
x 0

= m in Ax
x =1 2


2004, HONG MINH SN

Din gii ngha:


Vi vector u vo x, ma trn A nh x sang y = Ax vi h s khuch i ln nht l v h s khuch i nh nht l H s khuch i ph thuc vo chiu ca vector x

HMS

Chng 3: Cc sch lc iu khin

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Php phn tch SVD v s ph thuc chiu


Php phn tch SVD
1 T T V , U T U = I, V T V = I A = U V = U k = 1 2 ... k = , k = m in (m , n ) AV = U , Av1 = u 1 , Av k = u k
(3.27)

(3.28)

Nhn t l thuyt h thng, nu coi G(j) l ma trn A v x l vector tn hiu vo ta s c th a ra mt s din gii tng t v i su hn:
2004, HONG MINH SN

Cc vector u vo x c chiu trng vi ct u tin ca V s c khuch i nhiu nht => kt qu l vector y c chiu trng vi ct u ca U Cc vector u vo x c chiu trng vi ct cui ca V s c khuch i t nht => kt qu l vector y c chiu trng vi ct cui ca U
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HMS

Chng 3: Cc sch lc iu khin

2005 - HMS

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La chn bin c iu khin


V d: chn nhit khay no trong thp chng ct lm bin c iu khin? (cc bin iu khin l lu lng hi lu L v cng sut nhit cp Q) Theo ch dn t chng 2: La chn bin u ra chu nh hng mnh nht di tc ng ca bin iu khin => tng ng vi phn t c gi tr ln nht trong mi ct ca U T/Q
0.0015968 0.0134723 0.0361514 0.2378752 0.3728142 2.4223120 5.7837800 0.8915611 1.6581630 U = 0.2523673 0.0259478 0.0002581 0.0270092 0.1586702 0.1068900 0.0178741 0.0538632 0.0089766 0.0828981 0.7191691 0.6948426 VT = 0.0835548 0.6948426 0.7191691 0.0391486 0 9.3452 0.1473784 = 0.052061 0.6482796 0 0.6482796 0.4463671 Khay th 6 0.2450451 0.1182182
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Khay T/L
9 0.00773271 8 0.2399404 7 2.5041590 6 5.9972530 5 1.6773120 4 0.0217166 3 0.1976678 2 0.1289912 1 0.0646059

HMS

2004, HONG MINH SN

Chng 3: Cc sch lc iu khin

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S iu kin (condition number)


S iu kin (condition number):

con d ( A) = ( A) = /

(3.29)

Trong i s tuyn tnh, cond(A) ni ln "s nhy cm" ca h vi sai s trong A hoc trong y, tc kh nng tm nghim Ax = b mt cch chnh xc, cond(A) cng ln cng bt li.
V d:

1 0 A= 10 1

2004, HONG MINH SN

10.1 0 (A) = , cond(A) = 101 0 0.1

Nu A12 thay i t 0 sang 0.1 s dn ti A suy bin

Trong l thuyt h thng, cond(G(j)) lin quan nhiu ti kh nng iu khin, gii hn cht lng iu khin
S iu kin cng ln th h cng nhy cm vi sai lch tham s m hnh S iu kin lin quan ti cc ch tiu cht lng (min tn s) c th t c S iu kin c ph thuc vo cch chnh thang/chun ha m hnh!
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HMS

Chng 3: Cc sch lc iu khin

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Lu : S ph thuc tn s
V d: M hnh thp chng ct hai sn phm

HMS

2004, HONG MINH SN

Chng 3: Cc sch lc iu khin

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2005 - HMS

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Loi bt s bin vo/ra


Da theo (Seborg et. al., 2000):
Sau khi chun ha m hnh, phn tch SVD v sp xp cc gi tr suy bin theo th t nh dn, c th loi bt mt s u vo/ra nu i+1 < i / 1 0

V d:
0.48 0.90 0.006 G (0) = 0.52 0.95 0.008 0.90 0.95 0.020 0.5714 0.3766 0.7292 U = 0.6035 0.4093 0.6843 0.5561 0.8311 0.0066 0 0 1.618 = 0 1.143 0 0 0.0097 0 => C th cn nhc loi bt mt cp vo/ra (u3 v y1 hoc y2)
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2.4376 3.0241 0.4135 = 1.2211 0.7617 0.5407 2.2165 1.2623 0.0458

0.0151 0.0541 0.9984 V = 0.9985 0.0540 0.0068 0.0060 0.0154 0.9999

HMS

2004, HONG MINH SN

Chng 3: Cc sch lc iu khin

2005 - HMS

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