if |e(t) dng ln v | e (t)| dng ln th u l FLC if |e(t) dng nh v | e (t)| dng nh th u l PID

(2.8) (2.9)

thc hin chuyn i m gia cc mc FLC v b chuyn i PID, ta c th thit lp nhiu b iu chnh PIDi (i = 1,2... n) m mi b c chn ti u cht lng theo mt ngha no to ra c tnh tt trong 1 vng gii hn ca bin vo (hnh 2.21). Cc b iu chnh ny c chung thng tin u vo v s tc ng ca chng ph thuc vo gi tr u vo. Trong trng hp ny, lut chuyn i c th vit theo h m nh sau:
Nu (trng thi ca h) l Ei th (tn hiu iu khin) = ui

Trong i = 1, 2,..., n; Ei l bin ngn ng ca tn hiu vo, ui l cc hm vi cc tham s ca tc ng iu khin. Nu ti mi vng iu chnh, tc ng iu khin l do b iu chnh PIDi vi:

Nh vy, cc h s ca b iu chnh PIDi mi ph thuc cc tn hiu u vo tng qut hn l ph thuc vo trng thi ca h. Nu coi cc h s Kpi, KDi V Kli chnh l kt qu gii m theo phng php trung bnh trng tm t ba h m hm: H m hm tnh h s Kp vi h lut: Ru(i): if E is Ei and DE is DEi then Kp = Kpi. H m hm tnh h s KD vi h lut: Ru(i): if E is Ei and DE is DEi then KD = KDi. H m hm tnh h s K1 vi h lut: Ru(i): if E is Ei and DE is DEi then KI = KIi.
2.6. H IU KHIN THCH NGHI M 2.6.1. Khi nim a/ nh ngha: H iu khin thch nghi m l h iu khin thch nghi c xy dng trn c s ca h m

(2. 11)

(2. 12)

(2. 13)

46

So vi h iu khin thch nghi kinh in, h iu khin thch nghi m c min tham s chnh nh rt ln. Bn cnh cc tham s Kp, TI, TD ging nh b iu khin PID thng thng, b iu khin m ta cn c th chnh nh cc tham s khc nh hm lin thuc, cc lut hp thnh, cc php ton OR, AND, NOT, nguyn l gii m v.v... Trong thc t, h iu khin thch nghi c s dng ngy cng nhiu v n c cc u im ni bt so vi h thng thng. Vi kh nng t chnh nh li cc tham s ca b iu chnh cho ph hp vi i tng cha bit r a h thch nghi m tr thnh mt h iu khin thng minh.
b/ Phn loi

Mt cch tng qut, h iu khin thch nghi m c th phn thnh 2 loi: - B iu khin m t chnh l b iu khin m c kh nng chnh nh cc tham s ca cc tp m (cc hm lin thuc); - B iu khin m t thay i cu trc l b iu khin m c kh nng chnh nh li cc lut iu khin. i vi loi ny h thng c th bt u lm vic vi mt vi lut iu khin c chnh nh trc hoc cha cc lut.
c/ Cc phng php iu khin thch nghi m

Cc b iu khin thch nghi r v m u c mch vng thch nghi c xy dng trn c s ca 2 phng php:

Hnh 2.22. Cu trc phng php iu khin thch nghi trc tip Phng php trc tip (hnh 2.22) thc hin thng qua vic nhn dng thng xuyn cc tham s ca i tng trong h kn. Qu trnh nhn dng 47

thng s ca i tng c th thc hin bng cch thng xuyn o trng thi ca cc tn hiu vo/ra ca i tng v chn 1 thut ton nhn dng hp l, trn c s m hnh i tng bit trc hoc m hnh m; Phng php gin tip (hnh 2.23) thc hin thng qua phim hm mc tiu ca h kn xy dng trn cc ch tiu cht lng. Phim hm mc tiu c th c xy dng trn c s cc ch tiu cht lng ng ca h thng nh qu iu chnh, thi gian qu hay cc ch tiu tch phn sai lch... B iu khin thch nghi m c th chia thnh 2 loi:

Hnh 2.23. Cu trc phng php iu khin thch nghi gin tip
2.6.2. Tng hp b iu khin thch nghi m n nh a. C s l thuyt

Xt 1 h phi tuyn SISO c m t bi phng trnh: y(n) = f(y, y,, y(n-1)) + bu; y = x l bin trng thi. y(n) = f(y) + bu (2.14)

Trong u l u vo, y l u ra, hm phi tuyn f(.) v hng s b c gi thit cha bit, y = [y, y,... y(n-1)]T. Mc tiu l thit k b iu khin m to ra tn hiu iu khin u sao cho tn hiu ra y(t) ca h thng bm theo qu o yd cho trc no . Nu bit trc f(y) v b, ta c th tng hp c b iu khin theo cc phng php kinh in [9], [55], b iu khin c tn hiu u ra l:

48

Cc h s k1, k2, kn c chn sao cho tt c cc nghim ca phng trnh: pn + knpn-1 +... + k1 = 0 nm na tri mt phng phc. Tc l cc nghim pk c phn thc m:

Do c iu kin (2.17) nn nghim ca e(t) chc chn tho mn iu kin:

Ta thy rng bi ton tng hp trn ch c ngha khi bit chnh xc m hnh ton hc ca h thng, hay ni cch khc l trong (2.1) ta bit f(y) v b. iu ny khng ph hp vi nhiu bi ton thc t. V vy mc tiu iu khin ra l phi xc nh b iu khin m u = u(x, ) v lut iu khin vct tham s sao cho tho mn cc iu kin sau: - H kn phi n nh ton cc trong phm vi ca cc bin y(t), u(x, ). (t) ) v

Tc l: |x(t)| Mx < ; | (t)| M0 < ; |u(x, )| Mu < vi mi t 0. Trong Mx, M0, Mu l cc tham s do ngi thit k t ra. - sai lch e = yd - y cng nh cng tt. Khi f(.) v b bit th ta d dng tng hp c b iu khin: 49

Trong , u* c coi l ti u. Nhng v f(.) v b cha bit nn u* khng th thc hin c, ta s thit k b iu khin m xp x ho iu khin ti u ny. Gi thit b iu khin u l t hp 2 b iu khin: B iu khin m uf(x, ) v b iu khin gim st us(x): u = uf+ us (2.20)

Trong uf(x, ) l b iu khin m c cp trong tng kt 2.1.

Tng kt 2.l: Xt mt h logic m MISO c n u vo x v 1 u ra y (x

= (x1, x2,, xn)T Rn v y R). nh ngha Nj tp m Ai jj vi cc hm lin thuc A j bao ph min xc nh ca cc bin ngn ng u vo (j = 1,, n
ij

i l s u vo). Lut iu khin Ru1 ...in c dng:

if e1 = Ai11 and e2 = Ai2 andand = Ain then u = Bi1 ...in (2.21) 2 n trong i1 = 1, 2..., N1;... in = 1, 2,..., Nn l s hm lin thuc cho mi bin u vo, Bi1 ...in l tp m u ra. S dng lut hp thnh PROD, m ho theo ng singleton v gii m bng phng php trung bnh trng tm, ta thu c b iu khin m:

trong (x) l vct hm m c s.

50

Thay (2.20) vo (2.14) ta c:

d n yd T (3.29) ta rt ra: f(x) = -bu * + + KTe thay vo (3.35) n dt

y(n) = -bu* + yd(n) + KTe + b[uf(x, ) + uS(x)]. Sau khi bin i ta c: e(n) = -KTe + b [u* - uf(x, ) - us(x)]. Hoc vit di dng phng trnh trng thi: = Ae + B[u*-uf(x, ) us(x)] Trong : (2.27) (2.26)

1 T e pe. Trong P l ma trn dng i xng 2 c xc nh t phng trnh Lyapunov:

Chn hm Lyapunov V =

ATP + PA = - Q (Q > 0). o hm V ta c:

(2.29)

Thay (2.27), (2.29) vo (2.30) ta c:

ta cn phi tm hm us sao cho V 0. Gi thit ta xc nh c hm fu (x) v hng s bL tho mn iu kin: |f(x)| fu (x) v 0 < bL < b th hm iu khin gim st us(x) c xy dng 51

nh sau:

Trong :

( l 1 hng s c chn bi ngi thit k). V b > 0, sugn(eTPB) c th xc nh, hn na tt c cc thnh phn trong (2.32) c th xc nh c, v vy b iu khin gim st us l hon ton xc nh. Thay (2.32) v (2.19) vo (2.31) v xt cho trng hp I1* = 1 ta c:

vy s dng us theo (2.32) ta lun nhn c V V . T (2.32) ta thy rng us ch xut hin khi khng tho mn iu kin: V
V.

Do vy trong khong sai s nh (ngha l V V ) th ch c b iu khin m uf lm vic cn b iu khin gim st khng lm vic (us = 0). Khi h thng c khuynh hng mt n nh (V > V ) th b iu khin gim st bt u lm vic hng cho V V .
* Nu chn I1 1 th t (2.33) ta cn phi m bo khng ch gii hn ca

vct trng thi m cn phi m bo cho e hi t v 0. Ta khng chn phng n ny v us thng rt ln. Tht vy, t (2.33) ta thy us t l vi gii hn trn ca fu m gii hn ny thng rt ln. Tn hiu iu khin ln c th gy phin phc do c lm tng 52

thm chi ph ph. Bi vy ta chn us lm vic theo kiu gim st. tm lut iu khin thch nghi vct tham s ta thay uf (x, ) =
(x). t * l vct tham s ti u:

Chn hm Lyapunov dng:

Vi l mt hng s dng, ta c:

Gi Pn l ct cui cng ca ma trn P, t (2.28) ta c:

eTpB = To b. (2.37) Thay (2.37) vo(2.36) ta c:

Chn lut thch nghi:

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th (2.38) tr thnh:

trong : e PBu s 0 y l iu tt nht ta c th t c.

b) Thut ton tng hp b iu khin m thch nghi

tng hp b iu khin m thch nghi, ta c th tin hnh theo 2 bc: Bc 1 l chn cu trc ca b iu khin m, bc 2 l xc nh thch nghi cc vct tham s.
+ Chn cu trc ca b iu khin m

Cu trc ca b iu khin m thch nghi nh hnh 2.24. trong i tng iu khin l 1 h phi tuyn bt k c m t tng qut bng biu thc (2.1). B iu khin m thch nghi c th c nhiu u vo gm sai lch v cc o hm ca chng. Mc ch ca vic thit k b iu khin m l to ra tn hiu iu khin u, sao cho qu o u ra ca i tng (y) bm theo qu o cho trc (yd), cho d c s thay i thng s v cu trc ca i tng.

Hnh 2.24: S cu trc b iu khin m thch nghi

+ Cc bc thc hin thut ton

54

Trong trng hp tng qut, b iu khin m c n u vo, thut ton tng hp c tm tt theo cc bc sau: - Bc 1. Xc nh hm lin thuc ca cc bin ngn ng u vo.

nh ngha min xc nh ca cc thnh phn ej l:

j j , Ch rng, gi tri thc ca ej c th bn ngoi khong min max

j j l khong m ej ri vo nhiu nht. , chn, y min max

Hnh 2.25. Hm lin thuc vi 7 tp m

nh ngha Nj tp m A1j... AnJ trn min
j j , , min max

hm lin thuc

ca cc tp m c th chn l hnh tam gic, hnh thang, hm Gaus, hm sigmoid v.v... Chn hm lin thuc kiu hnh tam gic v hnh thang c u im l n gin, song c nhc im l iu chnh khng trn. Hnh 2.25 l v d v hm lin thuc kiu Gaus gia v kiu sigmoid 2 bn i vi 1 bin ngn ng u vo.

55

- Bc 2. Xy dng b iu khin m u t tch N1... Nn lut sau y:

Lut Ru i1 ...in if e1 = Ai1 and e2 = Ai2 andand en = Ain then u = Bi1 ...in (2.44) 1 2 n Trong i1 = 1, 2..., N1;... in = 1, 2,..., Nn l s hm lin thuc cho mi bin u vo

Bi1 ...in l tp m u ra s c xc inh.

Vic thit k b iu khin m by gi chuyn sang vic xc nh cc thng s Bi1 ...in S dng lut hp thnh PROD, m ho theo ng singleton v gii m bng phng php trung bnh trng tm ta thu c b iu khin m:

trong : (e) l tp hp hm m c s bit.

lu thut ton tng hp hm m c s xe) nh hnh 2.26.

yi1 ...in l im trng tm ca Bi1 ...in chng s c chnh nh theo lut thch
nghi cho ph hp vi i tng. 56

 l mt vct gm tp hp cc yi1 ...in vi i1 = 1... N1;... in = 1 Nn

Cc thng s e c chnh nh nh s dng lut thch nghi sau:

Trong l 1 hng s dng xc inh tc ca thut ton cn pn l ct cui cng ca ma trn P, vi P l nghim ca phng trnh Lyapunov. ATP + pa = -Q trong Q l ma trn dng xc nh tu , A l ma trn (n x n) (2.50)

Hnh 2.26. Lu thut ton tng hp hm m c s (e)

vi cc hng s k1, k2 c chn sao cho tt c cc nghim ca phng trnh: Pn + knPn-1 +... + k1 = 0 nm bn na tri mt phng phc. Vi cch tng hp nh vy h thng chc chn tho mn iu kin Lim e(t) = 0 .
t

57

T cc tp m u vo (2.41)... (2.43) v cc thng s . Pn c xc nh trn ta tin hnh xy dng b iu khin m theo trnh t sau: - nh ngha cc hm lin thuc (2.41)... (2.43). - Xy dng hm m c s s (2.47). - Xc inh lut thch nghi - Xy dng b iu khin (2.46).
Ch :

- H s y trong (2.49) ni ln tc hi t ca thut ton thch nghi. N c chn v sau c kim nghim thng qua m phng, nu y chn qu nh thut ton thch nghi hi t chm, y chn ln, qu trnh hi t nhanh nhng nu y chn qu ln h thng s mt n nh. - Cc gi tr P1, P2 c Xc nh t phng trnh Lyapunov (2.40), Tuy nhin ln ca n cng nh hng ng k n cht lng ca h thng. V vy sau khi thit k xong cn chnh nh li cc gi tr ca chng sao cho m bo cht lng tt trong ton di thay i ca cc thng s ca i tng.
2.7. TNG HP B IU KHIN M THCH NGHI TRN C S L THUYT THCH NGHI KINH IN 2.7.1. t vn

Mt cu trc thng dng nht ca h iu khin logic m (FLC - Fuzzy Logic Control) l cu trc kiu phn hi sai lch. S nh hnh 2.27. Trong k1, l cc h s khuch i u vo, K l h s khuch i u ra. Thc tin cho thy vic chnh nh FLC kh khn hn nhiu so vi chnh nh b iu khin kinh in, mt trong nhng l do chnh l tnh mm do ca vng nhn bit c bn ca b iu khin m v s mc ni cc thng s ca chng. Tuy nhin khng c mt cch h thng ho no a ra tt c nhng thng s ny.

58

Hnh 2.27. Cu trc c bn ca b iu khin m 2 u vo

Hin nay trong cng nghip cc b iu khin logic m (FLC) thng c thit k theo kinh nghim v s hiu bit nh tnh i tng ca cc chuyn gia. Vic chnh nh FLC c thc hin thng qua chnh nh cc hm lin thuc u vo v u ra v mang nhiu tnh cht "m mm". Do khng ph hp cho vic chun ho cht lng v kh tr thnh mt phng php lun c h thng. Trong mc ny chng ta s tip cn kiu thit k hn hp theo hng kt hp c hai cch tip cn nh tnh v tip cn nh lng. u tin ta xy dng m hnh c bn ca b iu khin m bao gm cc hm lin thuc v cc lut hp thnh, chng c th to ra mt p ng hp l mt mc no . Lut hp thnh c bn c chn l mt lut hp thnh tuyn tnh, cn hm lin thuc c th c xc nh theo hnh tam gic, hnh thang hoc hm Gaus. Sau khi xc nh c hm lin thuc v lut hp thnh c bn, ta s dng chng tm ra h s khuch i t l. C th s dng nhiu phng php nh lng khc nhau, vic xc nh cc h s khuch i t l ng rt quan trng i vi s hot ng ca FLC. Trong iu khin kinh in, ta bit mt Algorithm iu khin thch nghi theo m hnh mu s dng phng php gradient hay phng php Lyapunov rt thch hp cho vic iu khin mt qu trnh khng nhn bit c, c bit i vi h phi tuyn. Mt b iu khin m vi mt lut hp thnh tuyn tnh v cc hm lin hp thuc tam gic c th xp x tuyn tnh xung quanh trng thi cn bng. Do ta s dng tng ca b iu khin thch nghi kinh in p dng cho b iu khin m thch nghi vi mt vi s xp x no . Mc tiu chnh ca mc ny l: Tm ra cch tip cn nh lng xc nh m hnh ton hc ca b iu khin m vi mt vi s xp x no . Xy dng b iu khin m thch nghi cho nhng h thng phi tuyn v h thng bin i theo thi gian trn c s l thuyt thch nghi kinh in. B iu khin ny c th s dng iu khin i tng nh l b thch 59

nghi trc tuyn, hoc dng lm c s cho vic tng hp b iu khin m thng thng. n gin ta tin hnh xy dng c ch thch nghi cho b iu khin m hai u vo t kt qu c th d dng m rng cho nhng b iu khin m c nhiu u vo khc. Cu trc ca cc b iu khin m thch nghi da trn c s l thuyt Lyapunov v phng php Gradien kinh in.
2.7.2. M hnh ton hc ca b iu khin m

Xt b iu khin m hai u vo nh hnh 2.27. xy dng m hnh ton hc ca n ta thc hin theo cc bc sau:
a/ Chn cc hm lin thuc

Cc tp m u vo c chn m ho l E v R. Ta chn s lng cc tp m vo v ra bng nhau v bng N, cc hm lin thuc s b chn hnh tam gic vi mi hm lin thuc bao ph khng gian trng thi 2A cho mi u vo v 2B cho u ra. Gi s chn j hm lin thuc m cho E, R, U, chn j hm lin thuc dng cho E, R, U v 1 hm lin thuc bng zero cho E, R, U (hnh 2.28). Nh vy s lng cc hm lin thuc ca mi bin vo/ra l: N = 2j + 1. n gin cho vic xy dng lut hp thnh, thay v s dng cc ngn ng nh "m nhiu", "dng nhiu" v.v... ta s dng cc ch s l s, v d -1 (x), -2(x), -0(x), 1 (x) Ta thy rng, mc du s dng cc hm lin thuc ging nhau m t 2 tp m u vo nhng thng qua cc h s k1 v (hnh 2.27) chng thc s l cc hm lin thuc khc nhau.

Hnh 2.28. Minh ho vic nh ngha hm lin thuc

cho cc bin u vo v u ra 60

b/ Chn lut iu khin

Vi b iu khin m 2 u vo, mi u vo c N tp m ta s c N2 lut iu khin miu t tt c cc kh nng kt hp ca Ei v Rj Dng tng qut ca lut hp thnh l:
Nu E = Ei v R = Rj th U = uk Vi k = f(i, j) nh ngha 1: Cc lut iu khin ca mt b iu khin m c gi l tuyn tnh nu f(i,j) l 1 hm tuyn tnh i vi i v j.

V d: f = i + j; f = I + j + 1 vv
Trong f(i, j) l quy lut sinh ra cc lut iu khin. Vi cc f(i, j) khc nhau s cho cc lut iu khin khc nhau. Vic chn lut iu khin c th coi l mt ngh thut v ph thuc rt nhiu vo kin thc v kinh nghim ca cc chuyn gia. Trong mc ny tc gi cp n vic chun ha v n gin ha vic chn lut iu khin nhm to iu kin thun li cho ngi thit k h iu khin m.

Hnh 2.29 minh ho lut iu khin tuyn tnh vi f(i,j) = i +j cho b iu khin m 2 u vo 1 u ra vi 7 hm lin thuc cho mi bin vo v ra. Bng 2.1 v Hnh 2.30 l quan h vo-ra ca lut hp thnh tuyn tnh.

Bng 2.1
I+j Uk-l -3 3 -2 2 1 -1 0 0 1 1 2 2 3 3

inh ngha 2: B iu khin m c s (Basis Fuzzy Controll - BFC) l b iu khin m c 2 u vo v 1 u ra, s tp m ca cc u vo v u ra bng nhau, lut hp thnh c s dng l lut hp thnh tuyn tnh c/ Phn tch lut c s thnh suy lun

61

Cc lut c s chia vng lm vic ca b iu khin m c bn thnh nhiu vung, vi u ra ca lut trn 4 gc nh hnh 2.29. V tt c cc thao tc m u c th c tnh ton trn cc ny nn chng c gi l suy lun [33], [55]. Mt cch tng qut ta c th chn suy lun IC(i, j) phn tch. ny c to bi cc hm lin thuc i(E), i+1(E), j(R) v j+1(R) cc ng cho ca chia chng ra thnh 4 vng (ICI... IC4) (hnh 2.3 l). Vi tr tuyt i ca 1 suy lun IC(i, j) trong lut c bn l t [iA, jA] n [(i+1)A,, (j + 1)A], v tr tng i ca mi vng trong IC(i,j) l t [0, 0] n [A, A]. Cc d liu vo (E, R) trong lut c bn lun lun c nh x n d liu vo tng i (e*, r* trong IC(i, j) theo cng thc [22]:

Tt c nhng thao tc m bao gm "M ho", "suy din m" v "gii m" u c th c thc hin trong suy lun IC.

62