C7-MIMO Control Structure Design

2004, HONG MINH SN
Chng 1
2
iu khin qu trnh
Chng 9: Thit k cu trc iu
khin qu trnh a bin
uploaded by http://scribd.com/pvdai
15/11/2006
Ni dung chng 6
2004, HONG MINH SN
3.9
Thit k cu trc iu khin h MIMO
HMS
Chng 7: Thit k cu trc iu khin qu trnh a bin
2006 - HMS
6.1 Vn thit k cu trc iu khin
Chn bin c iu khin?

Cp i cc bin vo-ra?
Kt hp cc sch lc iu
khin (b nhiu, tng,..)?
2004, HONG MINH SN
dh = 1 (w + w w )
1
2
dt
dx
1
1
w
x
w
x
=
(
+
)
(w1 + w2 )x
1 1
2 2
Ah
Ah
dt
HMS
2006 - HMS
2004, HONG MINH SN
iu khin phn hi thun ty
iu khin t l v iu khin
phn hi
HMS
2006 - HMS
2004, HONG MINH SN
iu khin phn hi kt hp
iu khin t l (cu trc tng)
iu khin phn hi kt hp
b nhiu (a bin)
HMS
2006 - HMS
2004, HONG MINH SN
HMS
2006 - HMS
Cc bc thit k
La chn cc bin iu khin v cc bin c o cho
mt mc ch iu khin c th
Phn tch v ra quyt nh s dng phng n iu
khin tp trung, phi tp trung hoc phi hp.
i vi cu trc phi tp trung: la chn mt cu hnh
iu khin da trn cp i cc bin iu khin bin
c iu khin v cc phn t cu hnh c bn.
2004, HONG MINH SN
Phi hp s dng cc sch lc iu khin c bn (iu

khin phn hi, iu khin truyn thng, iu khin
tng iu khin t l,) v th hin cu trc iu khin
trn bn v.
HMS
2006 - HMS
Cc yu cu thit k
1. Cht lng: m bo kh nng thit k cc b iu
khin p ng tt nht cc yu cu v cht lng
iu khin nh tnh n nh, tnh bn vng, tc p
ng v cht lng p ng.
2004, HONG MINH SN
2. n gin v kinh t: m bo kh nng thc thi,

chnh nh v a h thng iu khin vo vn hnh
mt cch n gin v kinh t trn cc gii php phn
cng v phn mm thng dng, da trn nhng c s
l thuyt d tip cn trong thc t.
3. Tin cy/bn vng: H thng phi lm vic tin cy v
hiu qu ngay c trong iu kin khng c thng tin
y v chnh xc v qu trnh.
HMS
2006 - HMS
6.2 La chn cc bin qu trnh

Vn :
S lng bin iu khin c th t hn s bin cn iu
khin
Khng phi bin cn iu khin no cng c th o
c mt cch kinh t, chnh xc v nhanh cho
mc ch iu khin
2004, HONG MINH SN
Mt s bin cn iu khin c nhy rt km vi cc

bin iu khin, phm vi iu khin c khng ln hn
nhiu so vi nh hng ca nhiu o.
ng hc ca mt s vng iu khin c th rt chm,

rt nhy cm vi nhiu, rt phi tuyn hoc tng tc
mnh vi cc vng iu chnh khc.
HMS
2006 - HMS
La chn cc bin c iu khin

1. Tt c cc bin khng c tnh t cn bng phi c
iu khin
2. Chn cc bin ra cn phi duy tr trong gii hn rng
buc ca thit b hoc ca ch vn hnh
3. Chn cc bin ra i din trc tip cho cht lng sn
phm (v d nng , thnh phn) hoc cc i lng
nh hng ln ti cht lng (v d nhit hoc p
sut)
2004, HONG MINH SN
4. Chn cc bin ra c tng tc mnh ti cc bin cn

iu khin khc
5. Chn cc bin ra c c tnh ng hc v c tnh tnh
tiu biu, d iu khin
HMS
2006 - HMS
10
V d: Thp chng luyn
T2
2004, HONG MINH SN
T1
HMS
2006 - HMS
11
La chn bin iu khin

1. Chn nhng bin vo c nh hng ln ti bin c
iu khin tng ng
2. Chn nhng bin vo c tc ng nhanh ti bin c
iu khin tng ng
3. Chn nhng bin vo c tc ng trc tip thay v
gin tip ti bin c iu khin tng ng
2004, HONG MINH SN
4. C gng trnh hin tng nhiu lan truyn ngc
HMS
2006 - HMS
12
V d: Dy bnh cha
2004, HONG MINH SN
F4 ( m van) -> F4
F3 -> h2
F2 -> h1
HMS
2006 - HMS
13
2004, HONG MINH SN
V d: Thit b gia nhit
q = wHC pH (TH1 TH2 ) = wCC pC(TC2 TC1 )
HMS
2006 - HMS
14
wC
wH
TC2 = TC1
TH1 TC1
w HC pH
(T TH2 )
+
wCC pC H1
TC2
TH2
wC
TH1
wH
2004, HONG MINH SN
q = wHC pH (TH1 TH2 )
u = q /w
u
C
TC2
TC1
1
=
u + TC1
C pC
TC2
TH2
HMS
2006 - HMS
15
2004, HONG MINH SN
HMS
2006 - HMS
16
2004, HONG MINH SN
V d: Thp chng luyn
HMS
2006 - HMS
17
6.3 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, php phn tch gi tr suy
bin l mt cng c hu hiu phc v:
2004, HONG MINH SN
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
2006 - HMS
18
nh x tuyn tnh
y = Mu
M
y
Nu M hng hng v u khng b gii hn, y c th

iu khin c mt cch ty
2004, HONG MINH SN
Khi ma trn M suy bin hoc u b gii hn, Mu s khng

bao ht khng gian vector ca y => y khng th iu
khin c hon ton theo mun.
Cc tham s khng chnh xc => cn thc o tnh cht

gn hay xa vi s suy bin ca mt ma trn
HMS
2006 - HMS
19
Cc gi tr suy bin
Cc gi tr suy bin ca M (mxn) l cc gi tr ring
ca MHM => thc o khong cch gn hay xa vi "s
suy bin" ca M
M
= max i (M H M ) = max i (M ) (M )
i
(M ) = max
x 0
Mx 2
= max Mx
x 2 =1
x 2
Mx 2
(M ) = min
= min Mx
x 0
x 2 =1
x 2
2004, HONG MINH SN
Vi vector u vo u, ma trn M nh x sang y = Mu

vi h s khuch i ln nht l v h s khuch i
nh nht l
HMS H s khuch i ph thuc vo chiu ca vector u
2006 - HMS
20
Php phn tch SVD v s ph thuc chiu

Php phn tch SVD
1
H
H
V , U HU = I, V HV = I
G = UV = U
%
= 1 2 ... l =
2004, HONG MINH SN
Coi G(jw) l c tnh tn ca h: G(s) = y(s)/u(s)

Cc vector vo u 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 vo u 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
HMS
2006 - HMS
21
ng dng SVD trong la chn cc bin qu trnh
2004, HONG MINH SN
1. La chn tp bin c iu khin: La chn cc

bin ra o c tng ng vi hng ca phn t c gi
tr tuyt i ln nht (hoc gn ln nht) trong mi
ct ca ma trn U.
2. Loi bt s bin vo-ra: C th loi bt mt s cp
bin vo-ra khin tng ng vi s gi tr suy bin qu
nh.
3. La chn tp bin iu khin/bin c iu khin:
Trong tt c cc tp bin vo-ra tim nng, la chn
tp tng ng vi nhng gi tr ln nht m h
khng cho p ng ngc (khng c im khng bn
phi trc o).
HMS
2006 - HMS
22
V d: iu khin thp chng (9 tng)

Bin cn iu khin: Thnh phn sn phm nh xD v y xB
Bin iu khin: lu lng hi lu L v cng sut cp nhit Q
Chn nhit ti a no lm bin c iu khin?
Phn tch SVD ca G(0) (2 vo 9 ra)
Ti/L
Ti/Q a
2004, HONG MINH SN
0.00773271 0.0134723 9
0.2399404
0.2378752 8
2.5041590
2.4223120 7
5.9972530
5.7837800 6
1.6581630 5
G (0) = 1.6773120
0.0217166
0.0259478 4
0.1586702 3
0.1976678
0.1068900 2
0.1289912
0.0646059
0.0538632 1
0.7191691 0.6948426
VT =
0.6948426
0.7191691
HMS
0.00160 0.08290
0.03615 0.08355
0.37281 0.03915
0.89156
Chn nhit
0.14738
khay
U = 0.25237 0.51900
4 v 6
0.00026 0.64828
0.02701 0.44637
0.01787 0.24505
0.00898 0.11822
0
9.3452
qu nh, kh iu khin
=
0
0.052061 ng thi c xD v xB
2006 - HMS
23
S iu kin (condition number)

S iu kin (condition number):
cond( A) = ( A) = /
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
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
2004, HONG MINH SN
Trong l thuyt h thng, cond(G(j)) lin quan nhiu ti kh nng

iu khin, gii hn cht lng iu khin
HMS
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!
2006 - HMS
24
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
V d:
i+1 < i / 10
2004, HONG MINH SN
0.48 0.90 0.006

G (0) = 0.52 0.95 0.008
0.90 0.95 0.020
HMS
0.5714 0.3766 0.7292

U = 0.6035 0.4093 0.6843
0.5561 0.8311 0.0066
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
0
0
1.618
= 0
1.143
0
0
0
0.0097
=> C th cn nhc loi bt mt cp vo/ra
2006 - HMS
25
6.4 Thit k cu trc K phi tp trung

Vn cp i cc bin vo/ra
Tnh n nh ca cu trc phi tp trung
2004, HONG MINH SN
Cht lng iu khin ca cu trc phi tp trung
HMS
2006 - HMS
26
2004, HONG MINH SN
V d iu khin thp chng: cu hnh LV
HMS
2006 - HMS
27
2004, HONG MINH SN
Cu hnh DV
HMS
2006 - HMS
28
2004, HONG MINH SN
Cu hnh D/(L+D) V
HMS
2006 - HMS
29
2004, HONG MINH SN
Cu hnh DB
HMS
2006 - HMS
30
Ma trn khuch i tng i (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:
2004, HONG MINH SN
RGA(G ) (G ) G (G 1 )T
HMS
(3.17)
php nhn tng phn t (tch Schur, tch
Hadamard)
V d:
1 2
0.4 0.2
1
, G =
, (G ) =
G =
3 4
0.3 0.1
0.4 0.6
0.6 0.4
2006 - HMS
31
Xt h 2x2:
G11(s) G12(s) u1
y1
= G(s)u
=
y =
y2
G21(s) G22(s) u2
i vi qu trnh n nh, ti trng thi xc lp ta c:

k11 k12
G(0) = lim G(s) =

s >0
k21 k22
u
y
K1
2004, HONG MINH SN
u
u
HMS
y
y
y1
u1
u2 = const
= k11
y1 = k11u1 + k12u2
y2 = k21u1 + k22u2
K2
1
2
k21
u
=
u1
duy tr y2 = 0
2
k22
k12k21
y1 = k11
u
k22 1
y1
u1
y2 = const
= k11
k12k21
k22
2006 - HMS
32
11
y1
u1
=
y1
u1
u2 = const
y2 = const
1
k11
=
k k
k k
1 12 21
k11 12 21
k22
k11k22
12 = 1 11
21 = 1 11
22 = 1 21 = 11
2004, HONG MINH SN
RGA(G ) (G ) G (G 1 )T
k11 k12 k11 k12 T
=
k21 k22 k21 k22
11 21
=
12 22
HMS
2006 - HMS
33
Din gii ngha
2004, HONG MINH SN
11 = 1: H s khuch i tnh t u1 ti y1 khi h mch cng

nh khi khp mch l hon ton nh nhau => hai knh
khng c tng tc, cp i d dng: (u1, y1) v (u2, y2).
11 = 0: H s khuch i tnh t u1 ti y1 phi bng 0, u1
hon ton khng c nh hng ti y1 => cp i (u1, y2) v
(u2, y1): hai knh iu khin khng c tng tc
0 < 11 < 1: H s khuch i tnh t u1 ti y1 khi h mch
nh hn khi khp mch. Tng tc gia hai knh iu khin
l mnh nht khi 11 = 0.5, la chn cp i khng d dng.
11 > 1: Khi khp mch th h s khuch i tnh t u1 ti y1
b gim i. Hai vng iu khin tng tc chng li nhau. Gi
tr 11 cng ln th mc tng tc cng mnh, tuy nhin
phng n cp i y vn khng th khc: (u1, y1) v (u2,
y2).
HMS
2006 - HMS
34
Mt s tnh cht ca ma trn RGA

Tng cc phn t ca mt hng hoc mt ct = 1
=
ij
ij
= 1.0
Ma trn RGA khng ph thuc vo vic chnh thang (chun ha

m hnh):
(G) = (D1GD2 ), D1 = diag(d1i ), D2 = diag(d2i )
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
HMS
sum
= gij
i j
l mt ch s cho mc tng tc
ca qu trnh (quan trng nht l xung quanh tn s ct)

2006 - HMS
35
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 2:
2004, HONG MINH SN
V d 1:
u1
u2
u3
y1 1.98
1.04 2.02
= y2 0.36 1.10
0.26
y3 0.62 1.14 2.76
u1
u2
u3
u4
y1 0.931
0.150
0.080 0.164
y2 0.011 0.429 0.286

1.154
=
y3 0.135 3.314 0.270 1.910
y 4 0.215 2.030 0.900

1.919
HMS
2006 - HMS
36
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:
z
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
2004, HONG MINH SN
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
HMS
NI =
det G(0)
n
g (0)
i=1
<0
ii
th vng iu khin i s mt n nh. Vi n=2 th iu kin

trn l cn v .
2006 - HMS
37
Xt tnh n nh: v d thp chng ct

M hnh tnh (trng thi xc lp)
x D 12,8
=
x B 6,6

2,01
1,01
K1
L
2004, HONG MINH SN
K2
HMS
rB
K1
xD
Qu trnh
!
h
n
n
g
n
K2
Kh
V
xB
rB
det G(0)
NI =
g (0)
i=1
x D 18,9 12,8 V
=

x B 19, 4 6,6 L

1,01 2,01
2,01 1,01
1,01
2,01
rD
Qu trnh
NI =
18,9 L

19, 4 V
ii
det G(0)
xB
rD
g (0)
i=1
12,8 19, 4 + 18,9 6,6

= 0, 498
12,8 19, 4
xD
ii
18,9 6,6 + 12,8 19, 4

= 0,991
18,9 6,6
2006 - HMS
38

C7-MIMO Control Structure Design

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C7-MIMO Control Structure Design

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2004, HONG MINH SN

2004, HONG MINH SN

Thit k cu trc iu khin h MIMO

Chng 7: Thit k cu trc iu khin qu trnh a bin

6.1 Vn thit k cu trc iu khin

Chn bin c iu khin?

2004, HONG MINH SN

Chng 7: Thit k cu trc iu khin qu trnh a bin

2004, HONG MINH SN

iu khin phn hi thun ty

Chng 7: Thit k cu trc iu khin qu trnh a bin

2004, HONG MINH SN

Chng 7: Thit k cu trc iu khin qu trnh a bin

2004, HONG MINH SN

Chng 7: Thit k cu trc iu khin qu trnh a bin

Phi hp s dng cc sch lc iu khin c bn (iu

Chng 7: Thit k cu trc iu khin qu trnh a bin

2004, HONG MINH SN

2. n gin v kinh t: m bo kh nng thc thi,

Chng 7: Thit k cu trc iu khin qu trnh a bin

6.2 La chn cc bin qu trnh

2004, HONG MINH SN

Mt s bin cn iu khin c nhy rt km vi cc

ng hc ca mt s vng iu khin c th rt chm,

Chng 7: Thit k cu trc iu khin qu trnh a bin

La chn cc bin c iu khin

4. Chn cc bin ra c tng tc mnh ti cc bin cn

Chng 7: Thit k cu trc iu khin qu trnh a bin

V d: Thp chng luyn

Chng 7: Thit k cu trc iu khin qu trnh a bin

La chn bin iu khin

2004, HONG MINH SN

4. C gng trnh hin tng nhiu lan truyn ngc

Chng 7: Thit k cu trc iu khin qu trnh a bin

2004, HONG MINH SN

Chng 7: Thit k cu trc iu khin qu trnh a bin

2004, HONG MINH SN

V d: Thit b gia nhit

q = wHC pH (TH1 TH2 ) = wCC pC(TC2 TC1 )

Chng 7: Thit k cu trc iu khin qu trnh a bin

2004, HONG MINH SN

q = wHC pH (TH1 TH2 )

Chng 7: Thit k cu trc iu khin qu trnh a bin

2004, HONG MINH SN

Chng 7: Thit k cu trc iu khin qu trnh a bin

2004, HONG MINH SN

V d: Thp chng luyn

Chng 7: Thit k cu trc iu khin qu trnh a bin

6.3 Php phn tch gi tr suy bin (SVD)

2004, HONG MINH SN

La chn cc bin cn iu khin, cc bin c iu khin v

Chng 7: Thit k cu trc iu khin qu trnh a bin

Nu M hng hng v u khng b gii hn, y c th

Khi ma trn M suy bin hoc u b gii hn, Mu s khng

Cc tham s khng chnh xc => cn thc o tnh cht

Chng 7: Thit k cu trc iu khin qu trnh a bin

2004, HONG MINH SN

Vi vector u vo u, ma trn M nh x sang y = Mu

Chng 7: Thit k cu trc iu khin qu trnh a bin

Php phn tch SVD v s ph thuc chiu

2004, HONG MINH SN

Coi G(jw) l c tnh tn ca h: G(s) = y(s)/u(s)

Chng 7: Thit k cu trc iu khin qu trnh a bin

ng dng SVD trong la chn cc bin qu trnh