TRNG I HC BCH KHOA H NI KHOA IN B MN IU KHIN T NG

HNG DN S DNG
TOOLBOX TH NGHIM IU KHIN QU TRNH

Nghim Xun Trng B mn iu khin t ng Trng i hc Bch Khoa H Ni

1 Gii thiu chung

Toolbox th nghim iu khin qu trnh bao gm cc khi Simulink (Simulink block) phc v cho cc bi th nghim ca mn hc iu khin qu trnh c ging dy ti B mn iu khin t ng, Khoa in, Trng i hc Bch Khoa H Ni. Toolbox ny c xy dng bi Nghim Xun Trng. Cc khi Simulink trong toolbox c chia thnh hai loi chnh: Cc khi m phng cc i tng c s dng trong cc bi th nghim. Cc khi ny c xy dng c gng m phng ging nht ng hc ca cc i tng thc. Bn cnh , cc khi ny cng c xy dng ph hp vi ni dung, yu cu v cch thc tin hnh cc bi th nghim. Cc khi giao din ha tng tc gip ngi s dng c th quan st qu trnh th nghim cng nh thay i cc thng s ca h thng mt cch trc quan.

Vic s dng cc khi ny v c bn rt n gin, ging nh cc khi chun trong th vin khi ca Simulink. Mt s v d cng c cung cp ngi s dng tham kho.

2 Ci t toolbox
2.1 Yu cu h thng
Phn cng v h iu hnh Phn cng my tnh chy c phn mm MatLab v Simulink. B nh RAM cng ln cng tt. H iu hnh Windows t phin bn 95 tr v sau. Tt nht l s dng h iu hnh Windows 2000 hoc Windows XP. Toolbox khng dng c trn cc h iu hnh khc. MatLab phin bn t 6.0 tr ln, tt nht l s dng MatLab 6.5. Simulink v Dials & Gauges Blockset phi c ci t trn MatLab. Nu s dng kh nng m phng thi gian thc vi Realtime Workshop th Realtime Windows Target v mt trnh bin dch C/C++ ph hp phi c ci t sn trn my. Tham kho thm ti liu v Realtime Workshop v Realtime Windows Target bit thm chi tit.

Phn mm

2.2 Cch thc ci t toolbox

Toolbox c phn phi di dng mt tp tin nn ZIP hoc mt tp tin nn t bung. Vic ci t toolbox rt n gin v c thc hin hon ton t ng. ci t c toolbox ny th phn mm MatLab phi c ci t trc vi y cc yu cu nh nu trong phn trn. Cc bc ci t toolbox c tin hnh nh sau. 1. G nn tp tin chnh ra mt th mc ring (v d th mc C:\PCExpSetup) 2. Chy chng trnh MatLab, nu cha c chy 3. Nu c bt k ca s Simulink no ang m, hy ng li. Tt nht l ch c duy nht ca s chnh ca MatLab c m 2

4. Trong mi trng dng lnh ca MatLab, chuyn th mc hin thi n th mc c cha b ci t toolbox. Trong v d trn, c th s dng dng lnh sau: cd C:\PCExpSetup 5. Chy chng trnh setup setup 6. Lm theo cc hng dn ca chng trnh ci t. V c bn, ci t toolbox ch mc nh, bn ch cn nhn phm ENTER nhng khi c hi 7. Sau khi chng trnh ci t chy xong v bo ci t thnh cng, bn c th s dng ngay toolbox 8. th nghim, c th s dng cc m hnh Simulink v d trong th mc chnh ca toolbox (<th mc MatLab>\toolbox\hut_ac\pcexp).

2.3 G b toolbox
Khi khng cn s dng toolbox ny na, bn c th g b n hon ton khi h thng bng cch thc hin cc bc sau. 1. Nu chng trnh MatLab cha c chy, hy chy n 2. Nu cn mt ca s Simulink no ang m (cc m hnh hay ca s th vin Blockset ca Simulink), hy ng tt c li 3. Ti dng lnh MatLab, thc hin lnh >> pcexp -remove 4. Lm theo cc hng dn ca chng trnh cho n khi qu trnh g b kt thc 5. Nu chng trnh bo l g b thnh cng, toolbox c g b hon ton khi h thng. Bn c th s dng MatLab mt cch bnh thng 6. Trong mt s trng hp, bn c th phi xa b bng tay th mc chnh ca toolbox (<th mc MatLab>\toolbox\hut_ac\pcexp).

3 S dng toolbox
Phn chnh ca toolbox l mt th vin bao gm cc khi Simulink phc v cho cc bi th nghim iu khin qu trnh. Sau khi toolbox c ci t, trong ca s th vin khi ca Simulink (Simulink Library Browser) s xut hin mc Process Control Experiments cha cc khi Simulink trong toolbox (Xem Hnh 1). Ngoi ra cng c th dng lnh sau trong ca s lnh MatLab m ring ca s cha cc khi Simulink ny: >> pcexp -open Cc khi Simulink trong th vin c chia thnh hai loi chnh: Cc khi m phng cc i tng c s dng trong cc bi th nghim. 3
Hnh 1 Ca s th vin Simulink

Cc khi giao din ha tng tc gip ngi s dng c th quan st qu trnh th nghim cng nh thay i cc thng s ca h thng mt cch trc quan.

Hin ti, th vin cung cp sn bn khi Simulink nh trong bng di y. CC KHI M PHNG I TNG Single-Tank Two-Tank M phng h thng mt bnh mc vi mt van vo v mt van ra M phng h thng hai bnh mc vi mt van vo bnh 1, mt van gia hai bnh v mt van ra t bnh 2

CC KHI GIAO DIN HA TNG TC Tank GUI Two-Tank GUI Giao din ha tng tc cho h thng mt bnh mc Giao din ha tng tc cho h thng hai bnh mc

3.1 Cc khi m phng i tng

3.1.1 Single-Tank
Tn khi: Single-Tank S u vo: 2 hoc 3 S u ra: 3 Chc nng: M phng h thng mt bnh mc vi mt van vo v mt van ra. S h thng mt bnh mc c biu din trong hnh di.
In Valve In Flow Hnh 2 Khi Single-Tank

Level Out Valve Out Flow

Hnh 3 S h thng mt bnh mc

Trong hnh v trn: In Valve v Out Valve l cc van iu khin lu lng vo v ra. In Flow v Out Flow l lu lng vo v ra. Level l mc cht lng trong bnh, chnh l chiu cao ca khi cht lng trong bnh (khng phi l th tch). Mc cht lng ti a trong bnh, hay chiu cao ca bnh, l 1000.

 ch mc nh, khi Single-Tank c hai u vo v ba u ra, nh biu din trn Hnh 2. C mt s im cn ch trong h thng trn. Cc u vo In Valve v Out Valve l m cc van tng ng, nhn cc gi tr thc trong khong t 0.0 n 1.0. Gi tr 0.0 tng ng vi trng hp van ng hon ton, gi tr 1.0 tng ng vi trng hp van m hon ton (100%). Cc van khng p ng tc thi vi gi tr m van t vo m phi thay i dn dn n gi tr mong mun . V d nh nu m van hin thi l 0.2 (20%), khi t gi tr m van mi l 0.6 (60%) th m van thc s tng dn t 0.2 ln 0.6 v qu trnh ny phi tn mt khong thi gian nht nh. Cc u ra In Flow v Out Flow l cc gi tr lu lng vo v ra thc. Trong h thng ny, lu lng c tnh bng tch ca m van vi gi tr lu lng ti a. Lu lng ra ti a (cho van ra) ph thuc vo mc cht lng trong bnh. Cn lu lng vo ti a ph thuc vo ngun cung cp cht lng. i vi khi Single-Tank, c hai ch lu lng vo ti a: ch t ng v ch t t bn ngoi. Xem phn di bit chi tit v hai ch ny.

Cc ch lu lng vo ti a
Ch t ng: trong ch ny, h m phng s t ng xc nh gi tr lu lng vo ti a, v trong qu trnh hot ng, gi tr ny s c thay i mt cch ngu nhin nhm m phng ging nh trong thc t (khi ngun cung cp thay i lu lng). Ch t t bn ngoi: trong ch ny, gi tr lu lng vo ti a c t t bn ngoi bi ngi s dng thng qua mt u vo ca khi. Khi chuyn sang ch ny, khi Single-Tank s t ng to thm mt u vo nhn gi tr lu lng vo ti a. u vo ny khng c t tn v l u vo th ba (xem hnh bn).

Cc tham s ca khi
Khi nhn p chut vo khi Single-Tank, ca s t tham s cho khi s hin ln nh trong Hnh 4. Khi Single-Tank c nm tham s, bao gm: Tham s Course Number, Class Number v Name List Number: nhp vo cc thng s v kha (course), lp (class) v s th t trong danh sch (name list number) ca tng sinh vin. Da vo cc thng s ny, h thng s t ng tnh ton cc thng s c th ca h thng mt bnh mc cho tng sinh vin Tham s Initial Level: mc cht lng ban u trong bnh. V chiu cao ca bnh l 1000 nn tham s ny phi l mt s thc trong khong t 0.0 n 1000.0 Tham s Manual Input Flow Rate: nu hp ny khng c chn th ch lu lng vo ti Hnh 4 Ca s tham s ca khi Single-Tank 5

a s l ch t ng, cn nu hp ny c chn th ch lu lng vo ti a s l ch t t bn ngoi. Mc nh hp ny khng c chn.

3.1.2 Two-Tank
Tn khi: Two-Tank S u vo: 3 hoc 4 S u ra: 5 Chc nng: M phng h thng hai bnh mc vi mt van vo bnh 1, mt van gia hai bnh v mt van ra t bnh 2. S h thng hai bnh mc c biu din trong hnh di. Hnh 5 Khi Two-Tank
Valve 1 Flow 1

Level 1 Valve 2 Level 2 Valve 3 Flow 3

Tank 1

Flow 2

Tank 2

Hnh 6 H thng hai bnh mc

Trong hnh v trn: Tank 1 v Tank 2 l hai bnh mc. Valve 1, Valve 2 v Valve 3 ln lt l cc van iu khin lu lng vo bnh 1, lu lng gia hai bnh v lu lng ra t bnh 2. Flow 1, Flow 2 v Flow 3 ln lt l lu lng qua cc van tng ng. Level 1 v Level 2 l cc mc (chiu cao) cht lng trong bnh 1 v bnh 2. Mc cht lng ti a trong c hai bnh l 1000. Cc u vo Valve 1, Valve 2 v Valve 3 l m cc van tng ng, nhn cc gi tr thc trong khong t 0.0 n 1.0. Gi tr 0.0 tng ng vi trng hp van ng hon ton, gi tr 1.0 tng ng vi trng hp van m hon ton (100%). Cc van khng p ng tc thi vi gi tr m van t vo m phi thay i dn dn n gi tr mong mun . V d nh nu m van hin thi l 0.2 (20%), khi t gi tr m van mi l 0.6 (60%) th m van thc s tng dn t 0.2 ln 0.6 v qu trnh ny phi tn mt khong thi gian nht nh. Cc u ra Flow 1, Flow 2 v Flow 3 l cc gi tr lu lng qua cc van tng ng. Trong h thng ny, lu lng c tnh bng tch ca m van vi gi tr lu lng ti a. 6

Cc u vo v u ra ca khi Two-Tank c quy nh nh sau:

Lu lng ti a cho van 3 ph thuc vo mc cht lng trong bnh 2. Lu lng ti a cho van 2 ph thuc vo chnh lch mc cht lng gia bnh 1 v bnh 2. Cn lu lng ti a cho van 1 (van vo) ph thuc vo ngun cung cp cht lng. Khi TwoTank c hai ch lu lng vo ti a: ch t ng v ch t t bn ngoi. Xem phn di bit chi tit v hai ch ny.

Cc ch lu lng vo ti a
Ch t ng: trong ch ny, h m phng s t ng xc nh gi tr lu lng vo ti a, v trong qu trnh hot ng, gi tr ny s c thay i mt cch ngu nhin nhm m phng ging nh trong thc t (khi ngun cung cp thay i lu lng). Ch t t bn ngoi: trong ch ny, gi tr lu lng vo ti a c t t bn ngoi bi ngi s dng thng qua mt u vo ca khi. Khi chuyn sang ch ny, khi Two-Tank s t ng to thm mt u vo nhn gi tr lu lng vo ti a. u vo ny khng c t tn v l u vo th t (xem hnh bn).

Cc tham s ca khi
Khi nhn p chut vo khi Two-Tank, ca s t tham s cho khi s hin ln nh trong Hnh 7. Khi Two-Tank c bn tham s, bao gm: Tham s Course Number, Class Number v Name List Number: nhp vo cc thng s v kha (course), lp (class) v s th t trong danh sch (name list number) ca tng sinh vin. Da vo cc thng s ny, h thng s t ng tnh ton cc thng s c th ca h thng hai bnh mc cho tng sinh vin Tham s Manual Input Flow Rate: nu hp ny khng c chn th ch lu lng vo ti a s l ch t ng, cn nu hp ny c chn th ch lu lng vo ti a s l ch t t bn ngoi. Mc nh hp ny khng c chn.

Hnh 7 Ca s tham s ca khi Two-Tank

3.2 Cc khi giao din ha tng tc

3.2.1 Tank GUI
Tn khi: Tank GUI S u vo: 1 S u ra: 2 Chc nng: Cung cp giao din ha tng tc cho h thng mt bnh mc.
Hnh 8 Khi Tank GUI

Khi hot ng, khi Tank GUI to giao din ha nh Hnh 9. 7

u vo
u vo Level l mc cht lng hin thi trong bnh. Trong qu trnh m phng, gi tr ca u vo ny c th hin tc thi trn hnh nh bnh mc ca giao din ha. Gi tr u vo Level b chn trong khong t 0.0 n chiu cao ca bnh mc (xem phn Cc tham s ca khi di).

Cc u ra
u ra SP l gi tr ca im t, c xc nh bng gi tr ca thanh trt tng ng trn giao din ha. Khi ngi dng thay i gi tr im t trn giao din ha th lp tc gi tr u ra ny thay i theo tng ng. u ra OutValve l gi tr ca m van ra, l mt s thc t 0.0 n 1.0 tng ng vi m van t 0% n 100%. Gi tr u ra ny c xc nh theo thanh trt tng ng trn giao din ha.

Bnh mc

t SetPoint

m van ra
Hnh 9 Giao din tng tc Tank GUI

Cc tham s ca khi

Khi nhn p chut vo khi Tank GUI, ca s t tham s cho khi s hin ln nh trong Hnh 10. Khi Tank GUI c hai tham s, bao gm: Tham s Maximum Height: chiu cao ca bnh mc, chnh l mc cht lng ti a trong bnh mc. Gi tr u vo Level ca khi b chn trn bi gi tr ny. Tham s Sample Time: thi gian trch mu gn vi khi ny, hay chnh l chu k cp nht ca khi (bao gm c cp nht hnh nh v cp nht cc gi tr trn thanh trt). Gi tr chu k ny c tnh theo giy (s). Nu gi tr ny l -1 th khi Tank GUI s c cp nht theo s thay i ca u vo ca n, ngha l chu s iu khin ca khi a gi tr ti u vo ca n.

Hnh 10 Ca s tham s ca khi Tank GUI

3.2.2 Two-Tank GUI

Tn khi: Two-Tank GUI S u vo: 3 S u ra: 5 Chc nng: Cung cp giao din ha tng tc cho h thng hai bnh mc.
Hnh 11 Khi Two-Tank GUI

Khi hot ng, khi Two-Tank GUI to giao din ha nh Hnh 12.

Van 1

t SetPoint 1

Bnh mc 1

Bnh mc 2

t SetPoint 2

Van 2
Hnh 12 Giao din tng tc Two-Tank GUI

Van 3

Cc u vo
u vo Level 1 v Level 2 tng ng l mc cht lng hin thi trong bnh 1 v bnh 2. Trong qu trnh m phng, gi tr ca cc u vo ny c th hin tc thi trn hnh nh ca bnh mc tng ng ca giao din ha. Cc gi tr ny b chn trong khong t 0.0 n chiu cao ca bnh mc tng ng (xem phn Cc tham s ca khi di). u vo Valve l mt vector tng ng vi cc gi tr m van trong trng hp c t nht mt van c iu khin t bn ngoi khi thay v t cc thanh trt trn giao din ha. S phn t ca vector ny phi ng bng s van c iu khin t bn ngoi khi, theo th t t van 1 n van 3. Xem thm phn Cc u ra, phn Cc tham s ca khi v v d s dng khi.

Cc u ra
Cc u ra SP 1 v SP 2 tng ng l cc gi tr im t cho bnh 1 v bnh 2, c xc nh bng gi tr ca thanh trt tng ng trn giao din ha. Khi ngi dng thay i gi tr im t trn giao din ha th lp tc gi tr ca cc u ra ny thay i theo tng ng. Cc u ra Valve 1, Valve 2 v Valve 3 tng ng l cc gi tr m van 1, van 2 v van 3, l s thc t 0.0 n 1.0 tng ng vi m van t 0% n 100%. Cc gi tr u ra ny c xc nh nh sau: 9

Nu van khng c iu khin t bn ngoi khi, hay ni cch khc l van c iu khin bi ngi s dng thng qua giao din ha tng tc, th gi tr u ra c xc nh theo thanh trt tng ng trn giao din ha. Nu van c iu khin t bn ngoi khi th gi tr u ra chnh l gi tr tng ng trong vector u vo Valve (xem phn Cc u vo).

Xem thm phn Cc u vo, phn Cc tham s ca khi v v d s dng khi.

Cc tham s ca khi
Khi nhn p chut vo khi Two-Tank GUI, ca s t tham s cho khi s hin ln nh trong Hnh 13. Khi Two-Tank GUI c bn tham s, bao gm: Tham s Maximum Height of Tank 1: chiu cao ca bnh 1, chnh l mc cht lng ti a trong bnh 1. Gi tr u vo Level 1 ca khi b chn trn bi gi tr ny. Tham s Maximum Height of Tank 2: chiu cao ca bnh 2, chnh l mc cht lng ti a trong bnh 2. Gi tr u vo Level 2 ca khi b chn trn bi gi tr ny. Tham s Valve Mask: l mt vector gm ba phn t. Nu phn t th k ca vector ny c gi tr khc 0 th valve th k c iu khin bi ngi s dng thng qua thanh trt tng ng trn giao din ha. Ngc Hnh 13 Ca s tham s ca khi Two-Tank GUI li, nu phn t th k ca vector ny c gi tr khc 0 th valve th k c iu khin t bn ngoi khi thng qua gi tr tng ng trong vector u vo Valve (xem v d s dng khi bn di). Tham s Sample Time: thi gian trch mu gn vi khi ny, hay chnh l chu k cp nht ca khi (bao gm c cp nht hnh nh v cp nht cc gi tr trn thanh trt). Gi tr chu k ny c tnh theo giy (s). Nu gi tr ny l -1 th khi Two-Tank GUI s c cp nht theo s thay i ca cc u vo ca n, ngha l chu s iu khin ca cc khi a gi tr ti cc u vo ca n.

V d s dng khi
Xt mt s v d n gin v s dng khi hiu r hn v cch thc hot ng ca khi. H thng hai bnh mc, trong van 2 do ngi s dng thay i, van 1 v van 3 do h thng iu khin thay i (thay i t bn ngoi khi). Hnh nh m hnh trn Simulink nh hnh bn. Trong trng hp ny, tham s Valve Mask ca khi c t l vector [0 1 0] (phn t 1 v 3 bng 0 tng ng vi van 1 v 3 c thay i t bn ngoi, phn t 2 bng 1 do van 2 c ngi dng 10

thay i). u vo Valve ca khi l cc tn hiu xc nh m ca van 1 v van 3 (khng c van 2 do van ny c ngi dng thay i). Nh vy, tn hiu vo Valve l mt vector gm hai phn t, trong phn t th nht l m van 1, phn t th hai l m van 3. C th dng khi Mux kt hp tn hiu nh trong s trn. Cc u ra ca khi tng ng l cc gi tr t v cc m van, trong : cc u ra Valve1 v Valve3 tng ng l cc m ca van 1 v van 3, chnh l cc gi tr a vo qua u vo Valve; u ra Valve2 l m ca van 2, do ngi dng t thng qua giao din. Cng trong h thng trn, nu mun thay i sao cho van 1 v van 2 c thay i t bn ngoi, van 3 do ngi dng thay i th ta ch vic t li tham s Valve Mask ca khi thnh [0 0 1], v ng tn hiu th hai vo khi Mux s l m van 2 thay v m van 3.

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