Appendix part 7 Part 7.1: Step response of process curve Table 7.1: Step-response characteristics... Table 7.2: Step-response characteristics with closed loop tuning ZN-1Part 7.2: Step r
Trang 1ĐẠI HỌC SƯ PHẠM KỸ THUẬT TP HỒ CHÍ MINH
KHOA CƠ KHÍ CHẾ TẠO MÁY
BỘ MÔN CƠ ĐIỆN TỬ
Trang 2MỤC L C Ụ
Liquid Level Control System 1
Liquid flow Control System 10
Pressure Control System 17
Temperature Control System 23
Trang 3DANH M C KÝ HIỤ ỆU
𝜏𝑠 Thời gian đáp ứng 98%
𝜏𝑟 Thời gian đáp ứng 10% đến 90% POT Phần trăm vọt lố
𝐾𝑝 Độ lợi hàm truyền tổng quát
𝜏𝑝 Thời h ng hàm truy n t ng quát ằ ề ổ
𝜃𝑝 Thời gian tr cễ ủa đáp ứng
𝐾𝑐 Hệ s khuố ếch đại P
𝜏𝑖 Thời h ng b hi u ch nh I ằ ộ ệ ỉ
𝜏𝑑 Thời h ng b hi u ch nh D ằ ộ ệ ỉ
Trang 4Liquid Level Control System
The relationships between the identified parameters (Flow and level) are shown in
Figure Appendix A.1 and the equations (Appendix A.1)
Trang 5Appendix part 5
𝐺𝑝(𝑠) =𝐶𝑉𝑚(𝑠)𝑀𝑉(𝑠)=𝐾𝑝𝑒
Trang 6Appendix part 6
Application for the process transfer function is
𝐺𝑝(𝑠) =𝐶𝑉𝑚(𝑠)𝑀𝑉(𝑠)=𝐾𝑝𝑒−𝜃𝑝 𝑠
) =98 8
𝐾𝑝𝜃𝑝
(0.9 +𝜃𝑝12τ𝑝
Trang 9Appendix part 7
Part 7.1: Step response of process curve
Table 7.1: Step-response characteristics
Trang 10Table 7.2: Step-response characteristics with closed loop tuning (ZN-1)
Part 7.2: Step response of process curve with closed loop tuning (Cohen-Coon)
Table 7.2: Step-response characteristics with closed loop tuning (Cohen-Coon) Setpoint
Trang 11Part 7.3: Step response of process curve with closed loop tuning (Haalman)
Table 7.3: Step-response characteristics with closed loop tuning (Haalman) Setpoint
change
(sp)
10.1(τ) 11.9 47.32s 9.558s 9.99 30.1(τ) 35.69 47.32s 9.722s 29.99
Part 7.4: Step response of process curve with closed loop tuning (Direct Synthesis)
Table 7.4: Step-response characteristics with closed loop tuning (Direct
Trang 12Part 7.5: Step response of process curve with closed loop tuning (IMC)
Table 7.5: Step-response characteristics with closed loop tuning (IMC)
Setpoint change
10.1(τ) 0 663s 398.47s 9.98
30.1(τ) 0 685s 395.78s 29.96
- Nhậ n xét: Trong các phương pháp thì phương pháp IMC là không có độ vọt lố, thời
gian đáp ứng tương đối tốt
Trang 13Liquid flow Control System
Appendix part 4 Table 4.1
Trang 17Appendix part 7
Part 7.1: Step response of process curve
Table 7.1: Step-response characteristics
Trang 18Table 7.2: Step-response characteristics with closed loop tuning (ZN-1)
Setpoint change
Part 7.2: Step response of process curve with closed loop tuning (Cohen-Coon)
Table 7.2: Step-response characteristics with closed loop tuning (Cohen-Coon) Setpoint
Trang 19Part 7.3: Step response of process curve with closed loop tuning (Haalman)
Table 7.3: Step-response characteristics with closed loop tuning (Haalman) Setpoint
Part 7.4: Step response of process curve with closed loop tuning (Direct Synthesis)
Table 7.4: Step-response characteristics with closed loop tuning (Direct
Synthesis)
Trang 20Part 7.5: Step response of process curve with closed loop tuning (IMC)
Table 7.5: Step-response characteristics with closed loop tuning (IMC)
- Nhậ n xét: Trong các phương pháp thì phương pháp IMC là không có độ vọt lố, thời
gian đáp ứng tương đối tốt
Trang 21Pressure Control System
Appendix part 4
Table 4.1
The relationships between the identified parameters (MV and pressure) are shown in
Figure Appendix A.1 and the equations (Appendix A.1)
Fig 1 The relationships between the identifide parameter (MV and Pressure)
y = 0.0062x - 0.1132
Trang 22Appendix part 5
Table 5.1
0.007856 ( )
ps p p
p
K e
G s
Trang 23K e
G s
s
Trang 24Part 7.4: Step response of process curve with closed loop tuning (Direct Synthesis)
Table 7.4: Step-response characteristics with closed loop tuning (Direct
Trang 25- Nhận xét:Trong các phương pháp thì phương pháp IMC là không có độ vọt lố, thời gian đáp ứng tương đối tốt.
Trang 26Temperature Control System
Figure Appendix A.1 and the equations (Appendix A.1)
Trang 28Table 6.4: Direct Synthesis
With the desired closed-transfer function G(s) = 𝑒
−θps τcs+1
Trang 29- τc/θp > 0.8 and τc > 0.1θp (Rivera and, et al.,1986)
- τp > τc > 0 (Chien and Fruehauf,1990)
- τc = θp (Skogestad, 2003)
Trang 30Appendix part 7
Part 7.1: Step response of process curve
Table 7.1: Step-response characteristics
Part 7.2: Step response of process curve with closed loop tuning (ZN-1)
Table 7.2: Step-response characteristics with closed loop tuning (ZN-1)
Setpoint change
(Sp, o C)
50.1(τ) 96.58 165.3s 81.3s 49.98 70.1(τ) 136.6 165.35s 81.22s 69.97
Part 7.2: Step response of process curve with closed loop tuning (Cohen-Coon)
Trang 31Table 7.2: Step-response characteristics with closed loop tuning (Cohen-Coon) Setpoint change
(Sp, o C)
50.1(τ) 69.66 139s 71.67s 47.85 70.1(τ) 97.53 141s 71.676s 66.99
Part 7.3: Step response of process curve with closed loop tuning (Haalman)
Table 7.3: Step-response characteristics with closed loop tuning (Haalman) Setpoint change
(Sp, o C)
70.1(τ) 113 85.9s 70.262s 70
Trang 32Part 7.4: Step response of process curve with closed loop tuning (Direct Synthesis)
Table 7.4: Step-response characteristics with closed loop tuning (Direct Synthesis) Setpoint change
(Sp, o C)
50.1(τ) 0 317.43s 170.401s 50 70.1(τ) 0 317.43s 170.38s 70
Part 7.5: Step response of process curve with closed loop tuning (IMC)
Table 7.5: Step-response characteristics with closed loop tuning (IMC)