Nguyin Thi Thanh Quynh vd Dtg Tgp chi KHOA HQC & C 6 N G NGHE 112(l2)/2:39-44
THIET KE BO DIEU KHIEN PID VA BO DIEU KHIEN PLC (FUZZY LOGIC CONTROLLER) CHO HE THONG GIA NHIET
Nguyen Thj Thanh Quynh , Pham Vdn Thiem Tru&ng figi hgc Kp thudt ('dng nghiip -DH Thai Nguyen TOM TAT
Vdn di In djnh nhilt d^ cho hf thing gia nhi^t gap nhiiu kh6 khan do cdc h? thong ndy thudng c6 quan tinh nhiet rdt Idn, nhdt Id khi cd nhiiu tdc dpng vd c6 sai l?ch ve gid trj do. Ve mdt ly thuyet c6 nhieu phuong phdp diiu khien dugc dp dyng cho bdi todn ndy |1],[2],[5]. Bai bdo nay trinh bdy tdm tat vl hai phuang phdp thiit kl bp dieu khiln nhiel do diing PID vd PLC (Fuzzy Logic Controller) dl 6n djnh nhiet dp cho h? thong gia nhi?t CRT 916921 tai trudng D^i hpc Ky thugt C6ng nghiep. Ding thdi bai bdo nay ciing khdo sat ch^t lupng ciia h^ thong gia nhiel khi c6 nhiiu tdc dpng. Viec thyc thi luat diiu khiln tren dugc xay dyng tren moi trudng Visual Basic 6.0 sir dyng chudn giao tiep RS232 vd dugc d6ng g6i dl thu^n tien cho vi0c cai dat.
Ti^ kh6a: 6n dinh nhiet do. PID.FLC.CRT91692I, Visual Basic 6 0 DAT VAN DE
He thdng thi nghipm dieu khien gia nhiet CRT 916921 dd dugc nhd trudng mua tir nhii'ng ndm 2000, de phuc vy cho cdng tdc thi nghiem.
I 4
l.vx ^t^
Hinh I, //p thong thi nghiem dieu khien gia nhi^t
E
CRT 9/6921
Md hinh ciia he thdng gia nhi?t duoc the hien nhu Hinh 2, trong do:
Dau do nhiet do, diing cdm bien PT lOO(RTD) dugc cau tao tir kim loai Platinum vd qudn tiiy theo hinh ddng ciia dau dd nhiet cd gia tri dien trd khi d O^C Id 100 Ohm, day la mgt loai cam bien thu dgng nen khi sir dung can mgt ngudn ngodi dn dinh, cd ddi do tir -200''C din dOO^C.
Bd chinh luu cau I pha diiu khien theo phuong phdp pha diing cd hdm truyin:
Tel 0912 667 268: Emad quynhruhy(c^mail a
G^.^[s)= K,,,e''"'
(1) Bg giao tiep {dgc tin hieu do va xudt tin hieu
<?(^wi/7/(?H)su dung them PIC 18F778.
Hinh 2, Mo hinh he thdng ihi nghiem dieu khien gia nhiel CRT 916921
Hinh 3. Bd giao tiep AD/DA cii (trdi) vd bd giao Hep AD/DA sau khi cdi lien Hai bom (jmmp] va pump2) diing de bom nude lanh vdo binh gia nhiet {coi la nhieu phu lai), lugng nude bom vdo phu thugc vao dp md van tinh theo phdn tram {0% den 100%) ciia van Noise.
39
Nguyen Thj Thanh Quynh vd Dig Tgp chi KHOA HQC & C 6 N G NGHE 112(12)/2: 39-44 Hien nay md hinh nay khdng su dyng dugc vi
nhitng ly do sau day:
+ Phan mim dugc tich hgp sdn, ddng kin, ban cai ddt dugc luu tren dTa mem cho nen khi dTa mIm hdng ddn din khdng cdn bdn de cdi d^t, do vgy h? thong khdng cd phan mem dieu khiln vd khdng chgy dugc.
+ Sau khoang thdi gian ddi Idm vi?c, cac thdng so ciia ddi tugng bj thay doi, ham truyen ciia ddi tugng khdng cdn dimg, do vay viec nhgn dgng Igi he thong la can thiet.
+ He thdng giao tiep vdi cdng COM 25 chan, ma hi^n nay cdc mdy tinh phdn nhieu da bd di cdng giao tiep ndy ma mdy linh ngdy nay da sd trang bj cdng giao tiep USB, dan den khong linh hoat khi su dyng.
Do vay. trudc het ta can phyc hdi va thay the Igi bg giao tiep AD/DA cu bdng vi diiu khien PIC cd chirc nang AD/DA, va cai tien bd giao tiep qua cdng COM 25 chan sang cdng COM 9 chdn (RS232) vd giao tilp USB [3]
Tiep theo cdn nhdn dang lai he thdng de dugc md hinh, sau dd su' dung md hinh ndy de thiet ke bg dieu khien PID. Nang cao chdt lugng he thdng bdng cdch thiet ke bd dieu khien md ddng FLC. Do vay ndi dung ciia bdi bdo gdm cdc phdn sau: phan 1 Id ddt vdn de, phan 2 Id nhdn dang he thong, phan 3 trinh bay ve each thiet ke bg dieu khien, phan 4 Id lap trinh luat dieu khien vd thiet ke giao dien, cudi cimg la ketludn.
NHAN DANG HE THONG
Lay bg mau vdo/ra bdng each thu thap 1294 tap dlf lieu vdo ra vdi puinpl vd pump 2 md muc 50%:
Hinh 4. Tap du lieu vdo ra dung de nhdn dgng
Sir dyng phuang phap nhan dang md hinh co tham so vdi phucmg phap ARX dugc lap trinh trong MATLAB vdi cau triic lenh:
%'i Chu ky t r i c h mau a = s i z e ( u ) ;
b-^sizely); %ftChu ky t r i c h mau T= 0.^
Tra-857.2;
%S thoi gian tien hanh thuc nghiem t={0:T:Tm)'; %%thoi gian mo phong datal = iddata(y,u,T);
data2 - detrend(datal);
figure (1) subplot(211)
plot(t(l:a),datal(l:a(:,)),'r',t{l:a(
:,1)) ,data2(l:a(:,l}),'b')
titleCouput y21','FontSize',11) xlabel(' tls] ',
'FontSize',11)
legend('trend','detrend') grid on
subplot{212};
plot[t(l:a(:,l)),u{l:a{:,)),'r',t(l:a (:,1]),data2.u{l:a{:,l)),'b'}
titlel'input ul','FontSize',11) grid on
datale = data(1:a(:,)/2);%bo du lieu uoc luong,doi tuong nhan dang datalv
data((a(:,)/2+1):a(:,));%bo du lieu kiem chung, doi tuong kiem chung nk=l:6;
NN =struc(2,2,nk);%NN = STRUG(NA,NB,NK) VI
=arxstruc(datale,datalv,NN);%Compute and compare loss functions for single-output ARX models [nk,Vml]=selstruc(Vl,0)
ARX2ulyl =arx(datale,t2 2 1 ] ) ; | ARXSulyl =arx(datale, IS 5 1]);
ARXlOulyl =arx(datale,[10 10 1]);
figure(2)
compare(datalv,ARX2ulyl,ARXSulyl,ARXl Oulyl)
title{'ouput yl','FontSize',11);
ylabel('input ul' 'FontSize',11);
40
Nguyin Thi Thanh Quynh vd Dtg Tgp chi KHOA HQC & CONG NGHg 112(12)/2:39-44 ta thu dugc ham truyen cua he gia nhiet vdi
do fit: 74,69% cd dang nhu sau:
'0.003604 s -h 0.02688 (2) G s\ = -
s' + 3.2475 + 0.01005 THIET KE BO DIEU KHIEN
Theo [1],[4] cd rat nhieu cac phuong phdp dieu kliien doi vdi hdm truyen dang (3), vdi bdi bdo ndy tac gia sii dung phuong phdp thiet ke bg dieu khien theo tieu chuan "phdng".
Tuy nhien, khi nhan dgng doi tugng se cd sai sd ve md hinh vd chi dung trong trudng hgp khi md pump} va pump 2 la 50%, vgy dl nang cao chat lugng dieu khien cua hp gia nhiet tdc gid sir dyng bd dieu khien md {Fuzzy Controller) [6] vi bd dieu khien md khdng can biet chinh xdc md hinh ddi tugng.
B6 dieu khien theo ti6u chuin "phang"
T i (4), vi "-""SeO^ « 0.0S6S8 ^^„ „g„ ^^
xap xi iiam truyen CO d ^ g :
„ / > 0.02688
>' s'+3.247s+ 0.01005
„l \ 2 6748 ' ' (322.8051s+ l)(0 3083s+ l) _ . R'=2.6748,T =322.8061,T, =0.3083 Do vay, ' * Tlieo [4], bo dieu khien 0 day dugc ciign la PI:
0 H = ^^^ » " ' • + '-195.7223 + ^ - '"^ ' 16493s 1,6493s (4) B6 dieu khien md {Fuzzy Logic Controller)
eit]
Vdi dai sai Iech dau vao ^ ' va tin hieu dieu khien *> ' dugc xdc dinh:
c(i)^0-=-70 . .J. 0^
^ ' dugc quy doi sang C u[t] = o[v)^ioo[v)
Ta tien hdnh chgn bg dieu khien md dgng dang PD vdi dang tap md dau vdo va dau ra dugc chpn dang hinh tam giac nhu sau [6]:
Tap md ddu vao:
Hinh 5 Tap md ddu vdo sai lech
'(')
Hinh 6. Tgp md ddu vdo dgo hdm sai I4ch Tap md dau ra:
Hinh 7. Tgpmdddura Luat dieu khien duoc cho nhu sau:
«(')
us
U4 U6 U5
U7 U6
'U7 U7 Ul U2 U3 VA U5 U6 U7 Quy tac hgp thdnh dugc xdc dinh theo MAX- MIN.
THUC THI BO DIEU KHIEN
Viec thyc thi bd dieu khien dugc thyc hien dya tren mdi trudng Visual Basic 6.0 [7] cd giao dien nhu sau
Hinh 8. Giao dien cita chuang trinh dieu khien Luu do thudt todn dieu khien theo PID va FLC
4,1
Nguyen Thj Thanh Quynh va Dtg T?p chl KHOA H p C & C 6 N G N G H $ l l 2 ( 1 2 ) / 2 : 3 9 - 4 4
, B<.c it\i kliien r i D 1 J- 1 Nli4p hAns »a A", 7; T I
aurxct A - ' . - ( l M ! : - 6 ) . . - ( i - - . U ( t r - . !
*„-(.j.^»ooi.'soo
*^ -[IOO-ir|.-600 ' • " " " ' " - ' - . l ' - - " ' -".,.v)
>[lill-
1 XuJit .
{ C a n l u . - . U T K^t Ihu.: 1 1
Hinh 10. Ltm dd thudt todn cua bg diiu khiin md cho trudng h(rp^^^< l^^SOO <de< 1000
Ket qud thu dugc tft th^c nghiem nhu sau:
Dar (bill nin be thon? ^*^
Hinh 11. Dgc tinh ddu ra cua h^ gia nhiel vdi hd dieu khien PID
Hinh 12, Dgc tinh ddu ra ciia he gia nhiel vdi bg dieu khien FLC Khi cd nhieu tdc d d n g :
Truang hap T. C h o p u m p ] m d vdi 2 0 % vdi thdi gian 140 gidy
D.U (Inb (r
Hinh 13. Ddc linh ddu ra khi co nhieu tdc ddng ciia he gia nhiel vdi ho diiu khit-n PID
I h K [lull (11,1 111' ihoiie
^—^
f
0 • • n
Ihtn Jiem pumpi mo20%
aaO sio 660 77
7
eec 901 il
Hinh 14. Ddc linh ddu ra khi co nhidu idc dc cita h4 gia nluet vdi bg diiu kiii^n FLC
Nguyin Thi Thanh Qujnh vii Big Tap chl KHOA HQC & CONG NCHE ll2(12)/2:39-44 Tnjmtg h^rp 2: Cho pumpl va punip2 ma vai
20%
Ilnr tbih cini hr IbiUE
" V
Ihdi dilm pump 1.2 md20%
KO 23) u a
m
'lib' IK
Hinh 15. £)^c tinh ddu ra khi cd nhieu tdc dgng cda h4 gia nhiel vdi bg dieu khien PID
70
1 ^
|,^
- -^
DnrUnb cnn ILV ilioug
6S 130 195 2G0 Thmdwm pump2 ma 20%
335 390 iSS 570 Ttm9(Sj
y
SeS 650
Hinh 16. Ddc tinh ddu ra khi cd nhieu Idc ddng cua he gia nhiet vdi bg dieu khien FLC KET LUAN
Vdi ket qua thyc nghiem {Hinh 11 den Hinh 16) tren ta thay rang bp dieu khien gia nhiet sir dung dieu khien md {FuzzyCoulroller) cho dap ling tdt hon bg dieu khien PID khi ddt nhiet dp khodng tu 60''C din lOOV, vd khi cho nhiiu tdc ddng cy \hk la dp qud dieu chinh, tuy nhien thdi gian dap irng cua bg PID tdt hon so vdi Fuzzy Controller. He dieu
khi6n thi8t ke dya tren phdn men Visual Basic cd the thay ddi linh hogt cac tham sd dieu khien doi vdi bg dieu khien PID vd vdi bg dieu khien md, cd the thay ddi dinh cung nhu mien xac dinh ciia cdc tap md ddng thdi cd nhieu tuy chgn cac phuong phdp gidi md khde nhau. Tir dd, sc dua ra cac bdi thi nghiem phii hgp vdi tirng mdn hpc cu the ciia bd mdn.
Hon niia he thong ciing cd the dieu khiSn linh hogt thdng qua phan mSm MATLAB/
SIMULINK. Cuoi ciing, hp dieu khiSn gia nhipt ndy ciing cd the dp dyng cac phuong phdp hien dgi nhu dieu khien dy bdo, dieu khien thich nghi, dieu khien tdi uu md tac gid dang thyc hien.
T A I L I S U THAM KHAO 1. Otaga (2007), Modern Control Enginerring, Edition 3'^ Prace Hill.
2, Nguyin DoSn Phudc (2010), Ly thuyil diiu khien luyen tinh, Nxb Khoa hpc KJ thuat.
3 Vu Thj Nguyet {2011), D6 an t6t nghiep, Phuc hdi vd thiet ke he thdng gia nhiet CRT916920 4. Nguyen Thuang Ngo (2008), Ly thuyet dieu khien thdng thudng vd hien dgi, Quyen I: He dieu khi^n tuy^n tinh, Nxb Khoa hoc Ky thuat.
5. Camacho E F & Bordons C. (2007), Model predictive control. Springer, London.
6. Nguyen DoSn Phudc, Phan Xuan Minh (2009).
Ly thuyil diiu khien md. Nxb Khoa hpc Ky thudt.
7. Nguyen Thi Ngpc Mai (2005), Microsoft Visual Basic 6 0 lap Ir'inh ca sa du lieu, Nxb Lao dong xa hoi.
Nguyin Thi Thanh Quynh vd Dig Tgp chi KHOA HQC & CONG NGHg 112(12)/2: 39 - 44
SUMMARY
PID CONTROLLER DESIGN AND FUZZY LOGIC CONTROLLER FOR HEATING SYSTEM
Nguyen Thi Thanh Quynh', Pham Van Thiem College of Technology - TNV Temperature stability problem for the heating system were difficult because these systems often have very high heat inertia , especially when there is noise and bias effects on measured values . Theoretically there are many control methods are applied to this problem [ I ],[2],[5]. However, the purposes of scientific research and experimental work , this report presents a summary of the two design approaches PID controllers and controllers FLC (Fuzzy Logic Controller) for the temperalure to slabilize CRT 916 921 heating system and quality survey of the heating system when the noise impact. The implementation of the controller is buiU on Visual Basic 6.0 environment using standard RS232 interface and is packaged for easy installation.
Keywords: Temperalure stability. PID.FLC.CRT916921. Visual Basic 6.0
Phdn bien khoa hgc: TS Ngu)'in Vein Chi - Trudng Dai hoc Ky ihiidt Cong nghiep - DH 7 /,.;; Nguyen
Tel. 0912 667 268: Emad. quynhniby'tlgmail com 44
