Lun vn tt nghip GVHD: Nguyn Tun Hng i MC LC GII THIU ............................................................................................................................................1 NHIM V LUN VN ........................................................................................................................2 Chng 1 ..................................................................................................................................................3 L THUYT IU KHIN M ............................................................................................................3 1.1 Gii thiu v Logic M ..................................................................................................................3 1.1.1Tp hp m ............................................................................................................................4 nh ngha : .....................................................................................................................................4 ngha : ...........................................................................................................................................4 1.1.2 Cc tnh cht v c im c bn ca tp m : ......................................................................5 a. cao v dng chnh tc ca tp m : .......................................................................................5 b.Min xc nh ca tp m : ...........................................................................................................5 c. Min gi tr ca bin : ..................................................................................................................6 d. Cc dng hm ph thuc : ...........................................................................................................6 1.2Cc ton t m ..............................................................................................................................9 1.2.1 Cc ton t c bn ca Zadeh trn tp m .............................................................................9 a. Giao hai tp m : .........................................................................................................................9 b. Hp hai tp m : ........................................................................................................................10 c. B ca mt tp m : ...................................................................................................................10 1.2.2 Cc ton t b trn tp m : .................................................................................................11 a. Ton t product and : .................................................................................................................11 b. Ton t bounded sum or : ..........................................................................................................11 1.3B t m (fuzzy hedge) ...............................................................................................................12 1.3.1 S dng cc Hedge : .............................................................................................................12 1.3.2 Xp x mt vng m : ............................................................................................................12 1.3.3 Gii hn mt vng m : .........................................................................................................13 1.3.4 Lm mnh v lm gim tnh cht ca tp m .......................................................................13 Lun vn tt nghip GVHD: Nguyn Tun Hng ii 1.3.5 Lm tng hay gim tnh m ca tp m : .............................................................................14 1.4Bin ngn ng .............................................................................................................................15 1.5Mnh m ................................................................................................................................15 1.6X l m .....................................................................................................................................17 1.6.1 Cc php tng quan ............................................................................................................17 1.6.2 Cc lut hp thnh m : ........................................................................................................18 1.7Gii m ........................................................................................................................................20 1.7.1Phng php im trng tm ...............................................................................................20 1.7.2 Phng php cc i ............................................................................................................21 1.7.3 Phng php cao .............................................................................................................22 1.8H m ..........................................................................................................................................23 1.8.1. H m c bn .......................................................................................................................23 1.8.2 Cc bc xy dng mt h m c bn : ................................................................................24 Xy dng cc lut iu khin : ...............................................................................................25 1.8.3nh ngha cc tp m cho cc bin ....................................................................................25 1.8.4. c tnh vo ra ca h m c bn .......................................................................................26 1.8.5. Tng hp h m t l .............................................................................................................26 Chng 2 ................................................................................................................................................28 PHNG PHP PID ZIEGLER NICHOLS ........................................................................................28 2.1 Hm truyn l in v m hnh ca ziegler-nichols .....................................................................28 2.2. Thit k PID s theo phng php ZIEGLER-NICHOLS: ........................................................29 Chng 3 ................................................................................................................................................34 XY DNG B IU KHIN PID M .............................................................................................34 3.1 Thit k h m ..............................................................................................................................34 3.1.1 Sai lch nhit : ...................................................................................................................34 3.1.2 Tc tng gim nhit : ...................................................................................................35 3.2 Thit k h lut .............................................................................................................................38 3.2.1 H lut ...................................................................................................................................38 Lun vn tt nghip GVHD: Nguyn Tun Hng iii 3.2.2 Chn lut v gii m .............................................................................................................41 Chng 4 ................................................................................................................................................45 THIT K V THI CNG M HNH .................................................................................................45 4.1 Cc cm bin s dng trong Lun Vn ........................................................................................45 4.1.1 Cm bin nhit Thermocouple .........................................................................................45 4.1.2 Cm bin o mc cht lng ...................................................................................................45 4.2 Cc phn t chp hnh .................................................................................................................46 4.2.1 Van iu khin .......................................................................................................................46 4.2.2 ng c khuy trn ...............................................................................................................48 4.2.3 R le in t ..........................................................................................................................49 Chng 5 ................................................................................................................................................51 THIT K V THC HIN PHN MM ..........................................................................................51 5.1 Quy trnh iu khin .....................................................................................................................51 5.2 Lu gii thut ..........................................................................................................................52 5.2.1 Lu hot ng ca h thng .............................................................................................52 5.2.2 Lu gii thut PID ...........................................................................................................53 5.2.3 Lu gii thut PID m .....................................................................................................54 5.3 Cc phn mm lp trnh cho PLC Schneider Premium ....................................................................56 5.4 Thit k giao din gim st v iu khin vi SCADA ...................................................................59 Chng 6 ................................................................................................................................................63 KT QU THC HIN ........................................................................................................................63 6.1 Giao din chng trnh iu khin v gim st ............................................................................63 6.2 Qu trnh o c th nghim ........................................................................................................64 6.3 iu khin nhit l nhit bng phng php PID ...................................................................67 6.4 iu khin nhit l nhit bng phng php PID fuzzy .........................................................68 KT LUN V HNG PHT TRIN ............................................................................................ 69 Kt lun ..................................................................................................................................... 69 Hng pht trin ....................................................................................................................... 69 Lun vn tt nghip GVHD: Nguyn Tun Hng iv TI LIU THAM KHO ..................................................................................................................... 70

Lun vn tt nghip GVHD: Nguyn Tun Hng 1 GII THIU Fuzzy logic tri qua mt thi gian di t khi ln u c quan tm trong lnh vc k thut khi tin s Lotf Zadeh nh hng vo nm 1965. T , Fuzzy l ti c tp trung nghin cu ca cc nh ton hc, khoa hc v cc k s khp ni trn th gii. n cui thp nin 90 k thut fuzzy logic t c mt s thnh tu ng k. T khi ra i, l thuyt m c pht trin v ng dng rng ri. Mt s sn phm ng dng b iu khin m xut hin nh my git, my iu ha v nhiu sn phm khc. Trong phm vi iu khin khin, b iu khin PID l phng php iu khin ti u. Tuy nhin, b iu khin PID pht huy ht u im ca n th c tnh ca i tng phi bit r rng. iu ny khng phi lc no cng thc hin c trong thc t. Do , trongmt s trng hp b iu khin kinh in ch mang tnh cht n nh ch khng mang tnh cht ti u. Vy ta cn a them tnh ti u vo b iu khin kinh in h thng lm vic tt hn. Mt dng kt hp gia iu khin kinh in v iu khin ti u l b iu khin PID m. u im ca b iu khin ny l kh nng t chnh nh li thng s ca b iu khin cho ph hp vi im lm vic ca i tng. Vic tch hp b iu khin PID m trn cc h vi iu khin tr nn quen thuc. Nhng vic xy dng b iu khin PID m trn PLC Premiumvn l iu kh th v. PLC Premium vi vic h tr nhiu ngn ng lp trnh nh FBD, LD, SFC, IL, ST gip cho vic lp trnh d dng.Vi mc ch nhm m rng phm vi ng dng ca PLC Premium to ng lc em thc hin ti Tch hp b iu khin PID m vo PLC Premium. Cng do gii hn ca ti, trnh v thi gian nn chc chn khng trnh khi nhng thiu st. Em mong nhn c s ch dn gp qu bu ca cc Thy C ti c hon thin hn. Lun vn tt nghip GVHD: Nguyn Tun Hng 2 NHIM V LUN VN thc hin ti ny trc ht phi hiu r tp lnh ca PLC Premium, phi c c s l thuytv iu khin m v cao hn l PID m. Cc chng mc trong lun vn c xy dng chun b y cho vic tch hp b iu khin PID m trong PLC Premium. Cc chng lun vn bao gm : Chng 1 :L thuyt iu khin m, cc php ton trn tp m, lut hp thnh m, tng hp cc phng php xy dng lut hp thnh m v a ra cc phng php gii m. Chng 2 : Phng php PID theo ZIEGLER NICHOLS. Bao gm cch tnh hm truyn v cch tnh cc tham s PID theo ZIEGLER NICHOLS. Chng 3 : Xy dng b iu khin PID m. Chng ny s gii thiu 1 cch chi tit v cch thit k cc tp m, cc h lut v cch gii m. Chng 4 : Thit k v thi cng L phn ng Ha cht. Chng ny bao gm vic gii thiu cc cm bin, van iu khin s dng trong Lun vn.Chng 5 : Thit k v thc hin phn mm. Chng ny bao gm cc s gii thut, cch s dng cc phn mm Unity Pro, Vijeo Citect. Chng 6 : Kt qu thc nghim. Chng ny bao gm qu trnh thc nghim, so snh kt qu gia 2 phng php PID v PID m. Lun vn tt nghip GVHD: Nguyn Tun Hng 3 Chng 1 L THUYT IU KHIN M 1.1 Gii thiu v Logic M Cccngccinmtadngxydngccphpnhxgiathgiithcv ccmhnhuttrncslogichai-gi-trBoolean.Cchxydngnhvythhin mt s thiu cht ch : mt i tng ch c th c hai kh nng hoc l phn t ca tp hp angxthockhng,mkhngdtrchotrnghpcaccitngcmtphntnh cht ca tp hp ang xt. Th d : khi quy nh trong thnh ph xe gn my c tc nhanh gy nguy him l xe c tc v thuc tp hp A : {v>50km/h} , ta khng th cho rng mt xe chy tc 49,9km/h l hon ton khng nguy him theo nh l thuyt tp hp c in. Huhtcchintngmtabtgphngngyukhnghontonrrng,cnghal chng lun c mt mc m h no trongvic din t tnh cht ca chng. Th d : khi nim nhit NNG l mt khi nim m.Ta khng th ch ra c chnh xc mt im nhit m ti khng NNG, v khi ta tng nhit ln mt n v th nhit li c xem l NNG. Trong nhiu trng hp, cng mt khi nim sc nhiu mc m trongcc thi im v ng cnh khc nhau. Thd:khinimNNGcamtcnphngcniuhanhitskhnghon tongingvikhinimNNGcamtlnhitcniukhinlmvictmnhit hng trm C. Kiulogichai-gi-trrthiuquvthnhcngtrongvicgiiquytccbiton c nh ngha r rng.Tuy nhin, thc t tn ti mt lp cc khi nim khng thch hp vi cch tip cn nh vy. Munsdngcckhinimnymtcchhiuquhntrongmhnhtacntm hiu mt cng c, l logic m v t c s trn n l gii thut iu khin m. Lun vn tt nghip GVHD: Nguyn Tun Hng 4 1.1.1Tp hp m nh ngha : Tp m F xc nh trn tp kinh in M lmt tpmmi phn t ca n l mt cp cc gi tr (x, mF(x)) trong xeM v mF l nh x : mF : M [0,1] -tp kinh in M c gi l c s ca tp m F. -nh x mF c gi l hm ph thuc ca tp m F. ngha : Tp m F l hm nh x mi gi tr x c th l phn t ca mt tp kinh in M sangmtsnmgia0v1chramcphthucthtscanvotpM. ph thuc bng 0 c ngha l x khng thuc tp M, ph thuc bng 1 c ngha l x hon ton l i din cho tp hp M.Khi mF(x) tng dn th ph thuc ca x tng dn.iu ny to ra mt ng cong qua cc phn t ca tp hp. Mt tp m bao gm 3 thnh phn : -Min lm vic [x1,x2] gm cc s thc tng dn nm trn trc honh. -on [0,1] trn trc tung th hin ph thuc ca tp m. -ng cong hm s mF(x) xc nh ph thuc tng ng ca cc phn t ca tp m. x mF(x) 1 x1 x2 0 Lun vn tt nghip GVHD: Nguyn Tun Hng 5 1.1.2 Cc tnh cht v c im c bn ca tp m :a. cao v dng chnh tc ca tp m : cao ca mt tp m l gi tr cc i ph thuc ca cc phn t tp m. Tp m dng chnh tc khi c t nht mt phn t c ph thuc l 1.V d nh trong hai tp m hnh trn ta thy tp m A l dng chnh tc. Trong cc m hnh b iu khin m, tt c cc tp m c s u phi dng chnh tc nhm khng lm suy gim ng ra. Tpmcavdngchnhtcbngcchiuchnhlittcgitrph thuc mt cch t l quanh gi tr ph thuc cc i. Th d : tp m B trn c a v dng chnh tc nh sau : b.Min xc nh ca tp m : Trong thc t tp cc phn t c ph thuc ln hn 0 ca tp m thng khng tri di ht min lm vic ca n.Nh v d di y, min lm vic ca tp m l on [x1,x2] , 1 0,75 0 1 0,75 00 (a). Tp m A c cao l 1(b). Tp m B c cao l 0,75 Lun vn tt nghip GVHD: Nguyn Tun Hng 6 tuy nhin ng cong thc s bt u x3 v t n ph thuc ton phn x4.Ta gi on [x3,x4] l min xc nh ca tp m. c. Min gi tr ca bin : Mt bin m hnh thng c c trng bi nhiu tp m vi min xc nh c phn chng ln nhau. Th d : ta c bin NHIT gm cc tp m LNH, MT, M, NNG. Mingitrcabinltphpttcccgitrcthccabin.Vdivi bin NHIT trn min gi tr l on [x1,x6] . d. Cc dng hm ph thuc : Dng tuyn tnh : y l dng tp m n gin nht, thng c chn khi m t cc khi nim cha bit hay cha hiu r rng. x mF(x) 1 0 x3x4x2x1 1 0 MTMNNG x1x2 x3 x4 LNH Lun vn tt nghip GVHD: Nguyn Tun Hng 7 Dng ng cong S : MttpmdngngcongSc3thngslccgitra,b,gcphthuc tng ng l 0, 0.5 v1. ph thuc ti im x c tnh bi cng thc sau : | || |)`>s s s s s= | o o| o o oo | ox khix khi xx khi xx khix S1) /( ) ( 2 1) /( ) ( 20) , , ; (22 Dng ng cong hnh chung : Dngngconghnhchungctrngchoccsm(xpxmtgitrtrungtm), bao gm 2 ng cong dng S tng v S gim. 1 0 1 0 Tp m tuyn tnh tngTp m tuyn tnh gim b 0.5 1 0 o x Lun vn tt nghip GVHD: Nguyn Tun Hng 8 T2tpmdngngcongStasuyraphthuctiim xcatpmdngng cong hnh chung nh sau : )`> + + s = [ | | | | |x khi x Sx khi x Sx) , 2 / , ; ( 1) , 2 / , ; () , ; (Dng hnh tam gic, hnh thang v hnh vai : Cngvisgiatngcaccbviiukhin8bitv16bit,dngtpmchunhnh chung c thay bng cc dng tp m hnh tam gic v hnh thang do yu cu tit kim b nh vn hn ch ca cc b vi iu khin. Dng hnh thang : Dng tam gic : ag 0 1 b x b 0.5 1 0 x 1 0 a xAxB b x Lun vn tt nghip GVHD: Nguyn Tun Hng 9 (((((

>s s s s Itd th lc ht in t ln hn ko l xo F > Flx, tm ng b ht v pha lm cho khe h mch t nh nht, tc l ht v pha phn tnh. Khi khe h mch t nh, lc ht cng tng, tm ng c ht dt khot v pha phn tnh v tip im ng c ng vo tip im tnh. Khi dng in trong cun dy gim I < Itd lc l xo s thng lc ht in t. L xo ko tm ng ra khi phn tnh, khe h mch t tng, lc in t cng gim, l xo ko dt khot tm ng v, tip im ng ri khi tip im tnh. Cc thng s c bn in p nh mc cun ht l in p cp cho cun ht lm vic ch lu di. in p ny c th l 9V, 12V, 24V, 110V, 440V mt chiu v 24V, 110V, 220V, 440V xoay chiu. in p ny ghi trn cun ht. Lun vn tt nghip GVHD: Nguyn Tun Hng 50 in p nh mc : in p lm vic lu di ca mch in m r le khng ch, in p nh mc c th l 24V, 110V, 220V, 440V mt chiu v 24V, 110V, 127V, 220V, 380V, 500V xoay chiu. Dng in nh mc : dng in di hn qua tip im ca r le m khng lm tip im hng. Tui th c kh : c tnh bng s ln ng ngt, thng l vi trm ngn ln ng ngt khng in v 1 trm ngn ln ng ngt c dng nh mc. in p cch in : in p th cch in. Thi gian tc ng : l khong thi gian k t lc dng in vt qu gi tr tc ng n lc phn ng c ht hon ton vo phn tnh, thng vo khong t 2- 20ms. Tn s tc ng : l s ln tc ng trong mt n v thi gian. Lun vn tt nghip GVHD: Nguyn Tun Hng 51 Chng 5 THIT K V THC HIN PHN MM 5.1 Quy trnh iu khin i tng iu khin m ti mun hng n l mt quy trnh iu khin ha cht trong l phn ng ha hc. Trong mc ch quan trng l iu khin cho l phn ng mt nhit n nh, m hiu sut ca phn ng t c l tt nht. Phn ngFriedel-Craft alkyl ha vi vic to ra cht 4- methylacetophenone l mt phn ng ph hp vi m hnh thit k, cng nh yu cu v iu khin nhit trong l phn ng. Hai ha cht tham gia phn ng s ln ltc a vo l phn ng. Sau hn hp trong l phn ng s c khuy trn. Nhit ca l phn ng s c duy tr gi tr mong mun bng cch iu chnh cng sut ca nhit in tr. Trong qu trnh gia nhit cho l phn ng, cht xc tc AlCl3 s c cho t t vo. i vi cc i tng c m hnh ton phc tp nh trn, vic xc nh m hnh ton ca n tr nn kh khn . V th s dng phng php PID iu khin i tng tr nn khng chnh xc. PID m l phng php iu khin m cc thng s Kp, Ki, Kd c th t chnh nh theo tng giai on. Ngay c khi c nhiu, b iu khin PID m vn c kh nng t iu khin i tng theo 1 gi tr n nh, xc lp nh trc khi gp nhiu. Lun vn tt nghip GVHD: Nguyn Tun Hng 52 5.2 Lu gii thut 5.2.1 Lu hot ng ca h thng Khi ng h thngNhp cc gi tr t SP cho cc bnh cha A, B, CH_B_PV H_B_SPH_A_PV H_A_SP H_C_PV H_C_SPVan A m Van B m Van C mng van Ang van B ng van Cng c khuyEND STEP1SSS Lun vn tt nghip GVHD: Nguyn Tun Hng 53 5.2.2 Lu gii thut PID Start PIDNhp cc thng s Kp, Ki, KdUdk > 0Tnh e(0) = Nhit t - Nhit hin tiNhp thng s Nhit t Tnh A0 = Kp + Kd/T + Ki * T/2;A1 = - Kp 2* Kd/T + Ki* T/2;A2 = Kd/TGn e(-2) = e(-1) = 0; u(-1) = 0;Tnh Udk = A0 * e(0) + A1* e(-1) + A2 * e (-2)Udk < UdkmaxUdk = 0Udk = UdkmaxXut xung PWM : Ton = T * Udk/Udkmax;Toff = T - Tone(-2) = e(-1);e(-1) = e (0);u(-1) = UdkENDSS Lun vn tt nghip GVHD: Nguyn Tun Hng 54 5.2.3 Lu gii thut PID m X l mTnh ph thuc Ai(ET)Tnh ph thuc Bj(DET)Tm lut iu khinLut hp thnh Max Min Cp nht min m bin raHt LutLut iu khin k tipGii mNoYes Lun vn tt nghip GVHD: Nguyn Tun Hng 55 Start PID FuzzyNhp cc thng s tm ET, tm DETTnh e(0) = Nhit t - Nhit hin tiNhp thng s Nhit t Tnh A0 = Kp + Kd/T + Ki * T/2;A1 = - Kp 2* Kd/T + Ki* T/2;A2 = Kd/TGn e(-2) = e(-1) = 0; u(-1) = 0;Tnh Udk = A0 * e(0) + A1* e(-1) + A2 * e (-2) + u(-1)Xut xung PWM : Ton = T * Udk/Udkmax;Toff = T - Tone(-2) = e(-1);e(-1) = e (0);u(-1) = UdkENDTnh det = e(0)/chu k ly muUdk =Udkmaxe(0) < tm ETe(0) > tm ETUdk =0X l mKp = kp1* ( kpmax kpmin ) + kpmin;Kd = kd1 * ( kdmax kdmin ) + kdmin;Ki = Kp * Kp / ( * Kd)SS Lun vn tt nghip GVHD: Nguyn Tun Hng 56 5.3 Cc phn mm lp trnh cho PLC Schneider Premium PLC thuc h Premium l mt trong nhng PLC c cu hnh mnh nht hin nay. y ta xt n PLC TSX P57 3634M ca h TSX Premium thuc hng Schneider. H TSX Premium ny ng dng cho iu khin lp trnh loi trung v phc tp c cu to bng nhng module lp ghp nhau cho php rt d m rng v thay i theo tng chc nng ng dng. Mt h thng iu khin PLC c xy dng da trn cc RACK c lien kt qua Bus-x kt ni. Trn mi Rack c th b tr nhiu module c chc nng khc nhau,bao gm: module ngun,module processor, module giao tip vo ra, module I/O TOR, module analog ng vo, module analog ng ra Sau y, ta s ln lt gii thiu cc module s dng trong lun vn : -Module ngun : TSX PSY 2600. y l module ngun cung cp VAC c kch c chun, c 3 n hin th l OK, BAT, 24. -Module vi x l : TSX P57 3634M.y l module vi x l c b nh Ram 192kb v c khe cm PCMCIA cho card m rng b nh, c khe cm PCMCIA cho card truyn thng. C 5 n hin th l RUN, ERR, I/O, TERR, FIP. -Module giao tip u vo TSX DEY 08D2.-Module giao tip u ra TSX DSY 08T2.-Module Analog TSX AEY 414. y l module c cc cng ly mu tn hiu vo l Analog, bin i thnh tn hiu Digital cho PLC phn tch v x l. C 4 knh Analog, phn gii t 12 n 16 bit, thi gian chuyn i l 1ms/knh. 5.3.1 Gii thiu v phn mm Unity Pro y l phn mm lp trnh iu khin cho PLC ca hng Schneider. Di y l mt s bc c bn c thc hin trong lun vn. Lun vn tt nghip GVHD: Nguyn Tun Hng 57 -Bc 1 : To Project mi trn Unity Pro vi PAC TSX P573634M, v cu hnh cc Rack/Modulenh nu phn trn. -Bc 2 : To Ethernet. Sau cu hnh a ch IPcho PLC. y,ta chn a ch IP l 192.168.1.41. Sau ta Set Address -Bc 3 : Vo mc Variables & FB instances/Elementary Variables to cc bin s dng trong chng trnh. -Bc 4 : Vo mc Program/Tasks/MAST/Sections to 1 section mi v 1 ngn ng lp trnh tin hnh lp trnh. Lun vn tt nghip GVHD: Nguyn Tun Hng 58 Tm tt cch chn v phn b bin dng trong chng trnh Danh sch cc bin niSTTTn bina chNi dung 1Valve_A%M1 Cc bin dng iu khin ng m van 2Valve_B%M2 3Valve_C%M3 4Valve_Reactor%M4 5Motor%M5Bin iu khin ng c 6Start%M6Bin cho php h thng hot ng 7Stop%M7Bin dng ton h thng 8Run%M10Bin hin th h thng hot ng 9Ong_A%M11 Bin hin thi trng thi trong cc ng dn 10Ong_B%M12 11Ong_C%M13 12Ong_D%M14 13RTD%M15Bin hin th th nhit 14start_PIDfuzzyscada%M16Bin hot ng ca ch PID fuzzy 15start_PIDscada%M17Bin hot ng ca ch PID 16Tank_A_level_SP%MW1 Bin hin th gi tr t mc cht lng ca 3 bnh 17Tank_B_level_SP%MW2 18Tank_C_level_SP%MW3 19Tank_A_level_PV%MW5 Bin hin th gi tr o hin ti mc cht lng ca 3bnh 20Tank_B_level_PV%MW6 21Tank_C_level_PV%MW7 22Temp_SP%MW9Bin hin thi gi tr t ca nhit 23Kpscada%MW11 Bin hin th thng s Kp, Ki, Kd ca b PID fuzzy 24Kdscada%MW13 25Kiscada%MW15 26tamETscada%MW17Bin hin th tm sai lch nhit (SLN) 27tamDETscada%MW19Bin hin th tm ca o hm SLN 28KdPIDscada%MW21 Bin hin th gi tr t ca 3 thng s Kp, Ki, Kd ca b PID 29KiPIDscada%MW23 30KpPIDscada%MW25 31Temp_PV%MW27Bin hin th gi tr o c ca nhit Danh sch cc bin ng ra STTTn bina chNi dung 1vanA%Q0.3.1 Bin iu khin ng m van 2vanB%Q0.3.0 3vanC%Q0.3.4 4vanD%Q0.3.5 5khuay%Q0.3.2Bin iu khin ng c 6OUT%Q0.3.6Bin iu khin nhit in tr (PIDfuzzy) 7OUTPID%Q0.3.7Bin iu khin nhit in tr (PID) Danh sch cc bin Analog ng vo Lun vn tt nghip GVHD: Nguyn Tun Hng 59 STTTn bina chNi dung 1Docao_binhA%ch0.4.0Cm bin mc cho bnh A 2Docao_binhB%ch0.4.1Cm bin mc cho bnh B 3Docao_binhC%ch0.4.2Cm bin mc cho bnh C 4Temperature%ch0.4.3Cm bin nhit Ngoi ra cn c cc bin dng cho qu trnh tnh ton cc thng s dnh cho gii thut PID cng nh PID m. 5.4 Thit k giao din gim st v iu khin vi SCADA Vijeo Citect mt phn mm gim st c pht trin vi s hp tc ca Citect Pty Ltd (mt cng ty con ca Schneider).Vijeo Citect c 3 chng trnh chnh, bao gm: Citect Explorer, Citect Graphics Builder, Citect Project Editor. Di y l cc bc c bn thc hin trong phn mm Vijeo Citect phc v cho lun vn. -Bc 1 : i vi chng trnh Citect Explorer, ta to 1 project mi. Sau vo Graphic/pages to 1 trang mi. -Bc 2 : i vi chng trnh Citect Project Editor. y l ni cu hnh cc Board, Port, khai bo Cluster, Servers, Tags. -Bc 3 : i vi chng trnh Citect Graphics Builder. y l ni to cc trang ha, giao din hin th cc s h thng phc v cho iu khin cng nh gim st. Trn y l mt s khi nim c bn v PLC Premium cng nh cc phn mm phc v chnh cho Lun Vn. chng 5, ta s i su vo vn ny hn na. 5.4.1 Cu hnh truyn thng cho h thng Sau khi to 1 project mi ti Citect Explore, ta vo Citect project Editor chn mc Communication tin hnh cu hnh board, port, khai bo cluster, khai bo cc I/O server, cc Trend server. Lun vn tt nghip GVHD: Nguyn Tun Hng 60 Hnh 6.1 Cu hnh Board Hnh 6.2 Cu hnh ports ch m phng Hnh 6.3 Cu hnh ports ch Runtime Lun vn tt nghip GVHD: Nguyn Tun Hng 61 Hnh 6.4 To Cluster, I/O server v Trend Server 5.4.2 Danh sch cc Tag s dng trong h thngc im ca nhng bin ny l c a ch trng vi cc bin bn Unity Pro. Mc ch l to ra mi lin h gia 2 phn mm, thun li cho vic dng phn mm ny iu khin cc bin bn phn mm kia v ngc li. trong Lun vn ny, ti t tn bin cng nh tn a ch trng vi bn Unity Pro tin cho vic qun l cng nh lp trnh. STTTn bina chKiu 1Valve_A%M1DIGITAL 2Valve_B%M2DIGITAL 3Valve_C%M3DIGITAL 4Valve_Reactor%M4DIGITAL 5Motor%M5DIGITAL 6Start%M6DIGITAL 7Stop%M7DIGITAL 8Run%M10DIGITAL 9Ong_A%M11DIGITAL 10Ong_B%M12DIGITAL 11Ong_C%M13DIGITAL 12Ong_D%M14DIGITAL Lun vn tt nghip GVHD: Nguyn Tun Hng 62 13RTD%M15 14start_PIDfuzzyscada%M16DIGITAL 15start_PIDscada%M17DIGITAL 16Tank_A_level_SP%MW1INT 17Tank_B_level_SP%MW2INT 18Tank_C_level_SP%MW3INT 19Tank_A_level_PV%MW5INT 20Tank_B_level_PV%MW6INT 21Tank_C_level_PV%MW7INT 22Temp_SP%MW9REAL 23Kpscada%MW11REAL 24Kdscada%MW13REAL 25Kiscada%MW15REAL 26tamETscada%MW17REAL 27tamDETscada%MW19REAL 28KdPIDscada%MW21REAL 29KiPIDscada%MW23REAL 30KpPIDscada%MW25REAL 31Temp_PV%MW27REAL Lun vn tt nghip GVHD: Nguyn Tun Hng 63 Chng 6KT QU THC HIN 6.1 Giao din chng trnh iu khin v gim st Gii thiu v cch s dng v iu khin phn mm. Trc ht ta phi nhp 3 thng s gi tr t cho 3 cm bin mc ca 3 bnh A, B, C. Sau nhn vo nt Start, h thng s hot ng. Lc ny cc van A, B, C s c m, nc t 3 bnh A, B, C s c vo bnh phn ng. n khi gi tr o t hin ti nh hn hoc bng vi gi tr t, ln lt 3 van A, B, C s c ng. Lc ny ng c khuy s bt u hot ng.Tip theo, ta s tin hnh chn 1 trong 2 cch iu khin nhit . ch PID fuzzy, chng ta s tinhnh chn Nhit t v tm ca sai lch nhit ET v tm ca o hm sai lch nhit DET. Sau nhn vo buton PID fuzzy. H thng iu khin nhit s hot ng. ch PID , chng ta cng tin hnh chn nhit t v cc thng s Kp, Ki, Kd ca b PID. Sau nhn vo button PID. H thng iu khin nhit s hot ng. Hnh 7.1 Giao din h thng trn SCADA Lun vn tt nghip GVHD: Nguyn Tun Hng 64 H thng chit rt cc cht t bnh A, B, C vo bnh phn ng hot ng rt tt. 6.2 Qu trnh o c th nghim c th iu khin nhit bng phng php PID hoc PID fuzzy, iu u tin ta cn thc hin l phi xc nh c m hnh ton ca L nhit. Vic ny c thc hin thng qua qu trnh o c tuyn vng h ca l nhit.Nhit ban u chnh l nhit mi trng ti PTN l

Nhit xc lp l

Thi gian h xc lp l 30 pht. i tng l nhit y l bnh phn ng c b gia nhit l nhit in tr. Time(m)123456789

27.829.130.53233.535.938.541.344.7 10111213141516171819 47.851.254.958.261.66568.271.174.276.8 20212223242526272829 79.481.7848687.788.989.990.59191.4 Bng 7.1 S liu nhit p ng ca h h Lun vn tt nghip GVHD: Nguyn Tun Hng 65 Hnh 7.2 th nhit ca p ng vng h p dng phng php ZIEGLER-NICHOLS : Ta xc nh c cc thng s sau :

L=225 (s) T = 1230 (s) Suy ra, hm truyn ca l nhit c dng nh sau :

Da vo hm truyn ta c th thy, l nhit c thi gian tr kh cao. V vy nhit ca h thng c th xc lp ti nhit ta mong mun th cng phi mt mt khong thi gian tng i di. 0 10 20 30 40 50 60 70 80 90 100 0123456789101112131415161718192021222324252627282930 c tuyn vng h Lun vn tt nghip GVHD: Nguyn Tun Hng 66 Cc thng s ca b iu khin PID s c tnh theo phng php p ng nc ca ZIEGLER-NICHOLS Vi

Nh vy, Thng s Kp, Ti, Td ca h thng l nhit ny s l :

Ti = 2 * L = 2 * 225 = 450 Td= L/2 = 225/2 = 112.5 M phng trn Matlab vi thng s Kp, Ti, Td va tm Hnh 7.3 : M phng thng s PID ca h thng Lun vn tt nghip GVHD: Nguyn Tun Hng 67 Nhn xt : nhn vo p ng m phng ca h thng khi iu khin PID ta thy thi gian nhit xc lp l 2500 giy. vt l POT ca h thng l khong 22% . Sai s xc lp bng 0. 6.3 iu khin nhit l nhit bng phng php PIDTa tin hnh nhp cc thng s PID va tm vo phn mm Scada Hnh 7.4 Nhp thng s PID vo phn mm Vi Nhit t l

: Hnh 7.5 th nhit khi iu khin bng PID Lun vn tt nghip GVHD: Nguyn Tun Hng 68 Nhn xt : vt l l 6.7 % . Thi gian xc lp l 48 pht 15 giy= 2895 giy Thi gian ln 16 pht 25 giy = 985 giy Sai s xc lp l

6.4 iu khin nhit l nhit bng phng php PID fuzzy Ta tin hnh nhp thng s l tm ca sai lch nhit v tm ca o hm sai lch nhit cho h thng. y ta chn tm ET l

, tm DET l

Cc thng s Kpmax, Kpmin, Kdmax, Kdmin c nhp vo code ca chng trnh. y ta chn Kpmax = 20, Kpmin = 10; Kdmax = 1000, Kdmin = 800; Hnh 7.7 th nhit khi iu khin bng PID fuzzy Nhn xt: vt l l 7.16%. Thi gian ln l 16 pht 45 giy = 1005 giy Thi gian xc lp l 39 ph 50 giy = 2390 giy Sai s xc lp l 0.4 C Lun vn tt nghip GVHD: Nguyn Tun Hng 69 KT LUN V HNG PHT TRIN Kt lun So vi Phng php PID thng, Phng php PID m c sai s xc lpt hn cng nh thi gian xc lp nhanh hn. V thi gian ln v vt l c 2 phng php l tng ng nhau. Ngoi ra cn 1 u im ni bt ca PID m so vi PID thng l kh nng t chnh nh cc h s Kp, Ki, Kd. Khi xy ra nhiu, phng php PID m s t chnh li cc thng s cho ph hp vi vic iu khin cc i tng Hng pht trin trong ti ny, m hnh ch dng m phng cho vic iu khin ha cht trong l phn ng. V vy, ti t c ng dng thc tin cn sa cha m hnh cho ph hp vi yu cu iu khin ha cht. Bao gm vic thay i thnh ha cht tht v kim sot l phn ng mt cch cht ch nhm to ra mt h thng an ton cho ngi s dng. Ngoi ra, cng cn to 1 lut hp thnh cho Kp, Ki, Kd t c thi gian xc lp nhanh hn, vt l v sai s xc lp t hn na. Lun vn tt nghip GVHD: Nguyn Tun Hng 70 TI LIU THAM KHO 1.L thuyt iu khin hin i- Nguyn Th Phng H2.L thuyt iu khin m - Dng Minh Tr & Nguyn Don Phc 3.Fuzzy Logic Robert Fuller 4.Fuzzy Logic with Engineer Application Timothy J.Ross &McGraw Hill5.T ng ho qu trnh cng ngh - Trng nh Chu 6.Ti liu ging dy SCADA - Trng nh Chu Ngoi ra cn c cc ti liu trn mng.