Control Sanati
of 104
Transcript of Control Sanati
7831
...........................................................................................................................
: : 1. ) ( 2. 3. 4. 5. : 1. 2. : : 1. PLC 2. ON/OFF PID
2
........................................................................................................................... 21/01/3831
3
...........................................................................................................................
4
...........................................................................................................................
: : : .
: .
) :(range . .
: . .
: .
5
........................................................................................................................... : . . .
: . : . ) : (feedback . ): (plant ... . ( :
1:
6
........................................................................................................................... )(set point . . . . . )( . ( :
2:
7
...........................................................................................................................
. . . . . . process ) ( . : . . . . . .
8
...........................................................................................................................
3: . . : . .
: .
4:
9
........................................................................................................................... )(: . . . . )( .
5:
01
...........................................................................................................................
6: . 4-02 3 PSI51 ) (PSI=POUND-SQUARE INCH
.
. . .
11
........................................................................................................................... 3 psi 51 . : . : 1- 4-02 2- 3-51 psi
3- 4-
21
...........................................................................................................................
: )(: 1- : .R = L A
A . .
7: . 2- : . . .
31
........................................................................................................................... . .
8: L .
=L
2 ANl
L . L .
41
........................................................................................................................... . 3- :
01:
C =
A D
)( D . D C . )( . C ) ( . . .
51
........................................................................................................................... : 1- : . 1-1 : .
11: 2- 1 :
61
........................................................................................................................... ) ( .
21: . . invar . - ) ( on/ off . 3-1 : ) ( )( . .) (
71
........................................................................................................................... .
31: 4-1 : . . . . 1- . 2- . .
81
...........................................................................................................................
41: : - : ) ( . .
51:
91
...........................................................................................................................
71: 002-0051 . ) ( . . ) ( termowell 01 .
71:
02
........................................................................................................................... : ) T-( . ) ( Ivan G . 3 k 0011 . - ) : ( RTD Resistance Temperature Detector . . RTD RTD . RTD 001 001 . RTD 3 4 . .
RTD 001 Pt . RTD 001 .
12
...........................................................................................................................
81: RTD
22
........................................................................................................................... - ) : ( Thermally sensitive resistor thermistors temperature resistors sensitive . . 05- 051 003 52 001 001 01 04 . . ) NTC(Negative Temperature Coefficient ) Positive Temperature Coefficient ( PTC . )(Sensor . PTC ) (In-Rush .
PTC RTD . 3 5 4/0 . . . . .
32
...........................................................................................................................
: NTC ntc .
: : ) Integrated (Sensor Circuit Temperature . . C 200 RTD . . .
42
........................................................................................................................... 3
52
........................................................................................................................... : 1- :
P= g h
:h : :g
:
91:
62
........................................................................................................................... . ) ( . :
02: ) (. . .
12: 72
...........................................................................................................................
. . : . . . . 2- : . . : :
82
........................................................................................................................... : A A . A X . . . . . . . .
22:
92
........................................................................................................................... : : 2 .
32: : : 2581 .
03
...........................................................................................................................
42: . . .
13
........................................................................................................................... : : . . :
p A k 501 .
52: . 51 psi .
23
........................................................................................................................... : . . . 3 - : . . . 3-( ):(strain gage . . . .
33
........................................................................................................................... . :
2 1% 2% . : 4= Gf . 52.0 552.0 . 021 R 0 = 120 L = L ' L 0 = 0.255 0.25 = 0.005m 0 R = R ' R
R R L .R 0.25 R 0 = 0 = GF = 6.9 = = 4 0.4166 R = 4 R 021 500.0 0 L L .R 0L 6.921 = ' R = R ' R 0 9.6 = R ' 120 R
. .
43
........................................................................................................................... . 01 . . Loadcell. 3-( )(:
. . 3-( : . : .
72:
53
........................................................................................................................... : . . : ) ( ) ( . . )( V ) ( .
A A .
:
63
...........................................................................................................................
82: . . . . .
73
........................................................................................................................... ):(rotameter . . .
92: : . 3 1- 2- 3- . .
83
........................................................................................................................... . . : ) ( . ) ( . :
1- ):(venture tube
03:
93
........................................................................................................................... )(orifice . 1 V1 P . B . B ) (C . 1 P2 P 2 =P1-P . . 2- : :
. .
04
...........................................................................................................................
13: 3- :
23:
. .
14
........................................................................................................................... : . : 1- :
2- :
3- :
24
...........................................................................................................................
4- :
5- :
34
...........................................................................................................................
: : : . .
: ( :
( :
44
...........................................................................................................................
( :
( : 1T 2T . A . .
54
...........................................................................................................................
: 1-:
2-:
64
........................................................................................................................... 3-:
:
: ( :
( :
( Y/X .
74
...........................................................................................................................
: y/x .
:Y/X
84
........................................................................................................................... :
: -
:
94
...........................................................................................................................
:
05
...........................................................................................................................
15
...........................................................................................................................
25
...........................................................................................................................
35
...........................................................................................................................
45
...........................................................................................................................
55
...........................................................................................................................
: )PLC-( Programmable Logic Controller
:PLC . PLC 0691 0791 . PLC ,Siemens . Allen Bradley Omron LG... . PLC . PLC . PLC ... . PLC PLC .
PLC . .
65
........................................................................................................................... . . . . PLC PLC . PLC . PLC .
PLC : 1- : PLC . 2- . 3- . plc . 4-
75
........................................................................................................................... 5- 6( PLC .
7( PLC . 8( PLC . 9( PLC .
01( . . PLC .
11( PLC .
. ) (Programmable Logic Controller. PLC . ) ...( ) ... ( . PLC . PLC . . .
85
...........................................................................................................................
PLC
PLC PLC . . PLC / . . PLC : PLC . PLC I/O. PLC . PLC 02 F . PLC : PLC . . . PLC I/O . PLC . PLC PLC : / PLC . PLC PLC . PLC : 61
95
...........................................................................................................................
PLC PLC . PLC PLC PLC . PLC : PLC . PLC . PLC PLC PLC PLC :1- PLC LOGO 2- PLC Zelio
3- PLC 4- LG PLC 5-
PLC : PLC . PLC
06
........................................................................................................................... . . PLC :1- PLC 5 S 7S
2- PLC OMRON 3- PLC 4- PLC 5- PLC LG 6- PLC 7- PLC . . 42 2731 . . PLC LOGO LOGO
. PLC COMPACT . . PLC logo!soft comfort .
16
........................................................................................................................... 5SIMATIC S 7 SIMATIC S S5-90U-5S
95U ) (COMPACT S5-100U S5-115U
.
5 S PLC S5-135U S5-155U . 5 PLC S 5 STEP PROGRAM.7SIMATIC S PLC 5 S :
002-7:S COMPACT .
003-7 :S S7-300C , S7-300F 003-7 S MODULAR .
004-7:S S7-400 , S7-400H , S7-400FH MODULAR . PLC 7 STEP .
LOGO PLC . 8 4 42 )1 (24 I 61 )1 (Q16 Q .
26
...........................................................................................................................
: Function Block Diagram Ladder Diagram Statement List :FBD :LAD :STL
!LOGO
: . FBDLAD.
36
........................................................................................................................... )(FBD
)(LAD
* STL 5 S7,S . LOGO . " " LOGO .
46
...........................................................................................................................
56
...........................................................................................................................
) 7 ( :STEP 5 STEP 7 ,STEP .0.0I
1 0
2.0Q 7 2I B 6 5 4 I 3 5.2 I 5,2 2 3.2 I
I
,
: . Word
STL7 :STEP
66
........................................................................................................................... AND 7 :STEP
OR 7 :STEP
76
...........................................................................................................................
(Proportional-Integral-Derivative)PID
. ) ( ) ( ) Actuator (Final Element . (Proportional-Integral-Derivative)PID . PID PID . (Proportional-Integral-Derivative)PID . . ) (Auto-tuning PID .
86
........................................................................................................................... PID . PID . (Proportional-Integral-Derivative)PID PLC . . . . :
96
........................................................................................................................... ) : (Disturbance . . ) : (Feedback ) (Feedback . . . ) (Feedback . ) ( . . . .
07
........................................................................................................................... . . . . : . . . . . .
17
........................................................................................................................... : . . ) (Set Point . . t . : ) (Set Point . . :1- )(Delay Time-td
2- )(Rise Time-tr
3- )(Peak Time-tp
27
........................................................................................................................... 4- )(Overshoot-Mp
5- )(Settling Time-ts
) 1 (
) 1(
1- ) : (td . 2- ) : (tr 01% 09% 5% 59% 0% 001% . tr . 3- ) : (tp . 4- )( ) : (Mp .
37
........................................................................................................................... . :)( C (t p ) C ) ( C
=
%001
)( . 5- ) : (ts . ) 2 5%( . . . :1- )(on/off 2- )(Proportional 3- )(Integral
47
........................................................................................................................... 4- )(Derivative 5- )(PI 6- )(PD 7- )(PID
. )( )( . . . )(on/off
2 .
57
...........................................................................................................................
) 2( ) on (off . 2 ) (on ) ( ) (off . . 2 ) ( ) off (on . . ) (Dead-band - 3 .
67
........................................................................................................................... ) (Dead-band ) (Differential-gap . .
) ( ) 3(
) (
) (Differential-gap . 01 80C 57 58 . .
77
........................................................................................................................... . . . . )(Proportional
4 .
) 4( Kp
.
87
........................................................................................................................... . ) ( GAIN . ) ( Proportional Band-PB 1 := % PB 001 KP
)1(
. ) (Time-proportional . . 4 . ) (Set Point . 5 .
97
...........................................................................................................................
) 5( 6 4 2= E .4 C = E
1 = 2E 2
E = ( Set ) C = 6 C
E = 6 2E
2=E4 = 2 2 = C
) (Offset . .
08
........................................................................................................................... ) (Bias . 6 .
) 6(
) 2( :C = KP E + b
)2(
Kp b . ) (Set Point . . :
18
........................................................................................................................... . . . KP . . 7 .
) 7(
28
........................................................................................................................... . Ti ) 7( . Reset Ti Reset . 3 :1 e(t ).dt Ti 0t
= ) c(t
)3(
4 :) dc(t ) e(t = ) d (t Ti
)4(
) e(t
) dc(t 4 ) d (t 1 Ti
.
. . . .
38
........................................................................................................................... . . 8 )( ) c(t ) e(t . ) ( . 7 )( ) e(t ) c(t .
) 8( ) (PI .
48
........................................................................................................................... PH . ) (Offset . Ti
Ti .
)(Derivative
9
) 9(
58
........................................................................................................................... . Td . . . . ) (Rate . . . .
68
........................................................................................................................... . . . : 1- . 2- . 3- . 4- ) (Non-self-regulating 5- . 6- . .
78
........................................................................................................................... . . )Proportional-Integral (PI
01 5 6 .
) 01(+ ) m(t ) = K p e(t KP ) e(t ).d (t Ti 0t
)5(
)M ( s 1 ) + 1( = K P )E ( s Ti s
)6(
PI Kp Ti . Ti Kp .
88
........................................................................................................................... . P I . 11 . 11 Ti Kp . 21 . I .
) 11(
) 21 (
31 ) (Ti . ) (Hunting .
98
...........................................................................................................................
) 31( )Proportional-Derivative (PD
41 7 8 .
) 41(m(t ) = K p e(t ) + K pTd ) de(t dt
)7-71(
)M ( s ) = K p (1 + Td s )E (s
)8-71(
09
........................................................................................................................... PD Kp Td . Td Kp . . Kp . PD 51 . P I . D . D ) 61( .
) 51(
) 61(
19
........................................................................................................................... 71 .
) 71( )(PID
. 81 9 01 .
) 81(m(t ) = K p e(t ) + K pTdt de(t ) K p + e(t ).dt dt Ti 0
)9(
29
........................................................................................................................... )M ( s ) + = K p (+Td s )E ( s Ti s
)01(
Td Ti Kp Kp . 91 PID . PID I P D ) 02( .
) 91( = K I KD=Td PID
) 02 (1 1 Kp Ti
.
39
........................................................................................................................... Steady State Error Settling Time Overshoot Rise Time
) 1(
Kp
KI
KD
. 2 . . . . on/off . .
49
........................................................................................................................... (2 )Control Mode Transfer Lag On/Off Min Min High Dead Time Capacitance Reaction Rate Slow Load Change Any Self Regulation
Must have -
Floating Proportional Proportional+ Integral Proportional+ Integral+ derivative
Small Small Moderate
Min Small Moderate
Low Moderate Moderate
High Slow Any
Slow Small Any
Any
Any
Any
Any
Any
-
. PI . ) . 12 (
95
...........................................................................................................................
) 12( T T > T
T
. 01 >
