TONG QUAN IEU KHIEN THONG MINH

(Ban nhap)
n
n n n

ieu khien thong thng (conventional control)

n n

ieu khien kinh ien (classical control) ieu khien hien ai (modern control)
n n n

ieu khien toi u (optimal control) ieu khien thch nghi (adaptive control) ieu khien ben vng (robust control)

ieu khien thong minh

ieu khien m (fuzzy control) Mang neural (neural network) Giai thuat di truyen (gene algorithm)
2

ieu khien thong thng

n

Thong minh la g?
n

u:
Co c s toan hoc chat che Co the dung cac cong cu toan hoc e phan tch & thiet ke he thong cho phep bao am tnh on nh va ben vng.
n

Khuyet:
n n n n

Can mo hnh toan e thiet ke bo ieu khien. Can hieu biet sau ve ky thuat ieu khien. Thng khong hieu qua khi ieu khien he phi tuyen. Khong s dung kinh nghiem cua con ngi.
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Thong minh la kha nang thu thap va s dung tri thc. Co nhieu cap o thong minh va nhieu loai thong minh. Khai niem Thong minh ch mang tnh tng oi. (Mot he thong ngi nay cho la thong minh, ngi khac co the cho la khong thong minh)
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So sanh K thong minh - K thong thng

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Phan 1: IEU KHIEN M

Lch s phat trien
n n

Ve mat toan hoc, ieu khien thong minh khong chat che bang ieu khien thong thng. ay la lnh vc tng oi mi, cha c nghien cu het. Ve nguyen tac, khi thiet ke cac bo ieu khien thong minh, ta khong can mo hnh toan hoc cua oi tng ay la u iem cua ieu khien thong minh, v nhieu trng hp khong de (hoac khong the) xac nh mo hnh toan cua oi tng.
5

n n

1965: Lofti A. Zadeh a ra khai niem ve ly thuyet tap m (fuzzy set). 1972: Terano va Asai lap c s nghien cu he thong m Nhat. 1974: Mamdani nghien cu ieu khien m cho lo hi. 1980: hang Smidth nghien cu ieu khien m cho lo ximang. 1983: hang Fuji Electric nghien cu ng dung ieu khien m cho nha may x ly nc. 1984: Hiep hoi He thong M quoc te IFSA c thanh lap. 1989: phong th nghiem quoc te nghien cu ng dung ky thuat m au tien c thanh lap.
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Tap hp kinh ien

Cach bieu dien tap hp: n Bieu dien bang cach liet ke phan t:
VD: A = {1, 2, 3, 5, 7, 11} Bat tien khi tap hp co nhieu (vo so) phan t.
n

Ham ac trng
Cho X la tap hp cac oi tng co cung tnh chat (tap c s). A la tap con cua X. Phan t x bat ky thuoc X. Anh xa cA: X {0, 1} xac nh bi: i: 1 ( x A) c A ( x) = 0 ( x A) c goi la ham ac trng (ham ch th) cua A. He qua: cX(x) = 1 vi moi x X
7 8

Bieu dien thong qua tnh chat phan t:

VD: A = {x | x la so nguyen to} B = {x | x la so thc va x < 4}

Ham ac trng
VD: Cho A = {x R | 2 < x < 4}, th: cA(1,5) = 0 cA(3) = 1 cA(2) = 0 cA(4) = 0
cA
1 2 4 x
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Ham ac trng
Cho 2 tap hp A, B nh ngha tren tap c s X. Ta co cac tnh chat sau: Phep hp: A B cAB(x) = max{cA(x), cB(x)} Phep giao: A B cAB(x) = min{cA(x), cB(x)} Phep bu: A c A ( x) = 1 - c A ( x) Cha trong: A B cA(x) cB(x)
Kiem chng cac ket qua tren bang cac v du cu the. VD: A = {x R | 2 < x < 4}, B = {x R | 1 < x < 5}
10

Tap m (Fuzzy set)

Tap kinh ien co bien ro rang (hnh a). n Tap m co bien khong ro rang (hnh b).
n

Tap m (Fuzzy set)

VD: Xet nhng tap c mo ta m sau ay: ~ - Tap B gom nhng so thc nho hn nhieu so vi 6. ~

X A x2 x1

X x1
~ A

x2 x3

(a)

(b)
11

Ghi chu: Ta dung ch cai co dau nga tren e at ten cho tap m.

B = {x R x << 6} ~ - Tap C gom nhng so thc gan bang 3. ~ C = {x R x 3} ~ Vay: x = 3,5 co thuoc tap B hay khong? ~ x = 2,5 co thuoc tap C hay khong?

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Tap m (Fuzzy set)

n

K hieu tap m
n

nh ngha: Tap m A xac nh tren tap c s X la mot tap hp ma moi phan t cua no la mot cap gia ~ ~ tr ( x, m A ( x)) , trong o x X va m A ( x) la anh xa:
~ m A : X [0, 1]

~ m ~ (x ) A = A i xi i ~ n Tap m A nh ngha tren tap c s X lien tuc vo

han c ky hieu nh sau:

Tap m A nh ngha tren tap c s X ri rac hu han c ky hieu nh sau:

~ Anh xa m A ( x) c goi la ham lien~ thuoc (membership function) cua tap m A . n Ham lien thuoc cho biet o phu thuoc cua cac phan t vao tap m (phan t thuoc tap m bao nhien phan tram).

~ m ~ ( x) A = A x
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Ghi chu: Dau gach ngang khong phai la dau chia ma ch la dau phan cach; dau va khong phai la tong hay tch phan ma ch la ky hieu co y ngha gom cac phan t.

Ham lien thuoc

Ham lien thuoc co the co dang trn (hnh a), hay dang tuyen tnh tng oan (hnh b).
~ m B ( x) ~ mC ( x)

Cac dang ham lien thuoc

n

o cao:

Tam giac, hnh thang. m ~ ( x)

A

~ hgt ( A) = sup m A ( x) ~
x X

~ B
(a) 6 x

~ C
(b) 3 x

Mien tin cay:

~ T = x X m A ( x) = 1

~ m A ( x)

40

60

80

Mien xac nh:

15

S = x X m A ( x) > 0 ~

20

40

60

80

x
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Mien tin cay Mien xac nh

Cac dang ham lien thuoc

n

Tap m chnh tac

n

Cac ham lien thuoc co dang trn nh: dang gauss, dang chuong dang sigmoid, t c s dung hn do tnh toan phc tap. Thng dung ham lien thuoc dang hnh thang, va hnh tam giac.

Tap m co o cao = 1 goi la tap m chnh tac.

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PHEP HP 2 TAP M
Cac cong thc lay hp 2 tap m: n Cong thc Zadeh (thng dung trong khien m):

PHEP GIAO 2 TAP M

Cac cong thc lay giao 2 tap m: n Cong thc Zadeh (thng dung trong khien m):

m A B ( x) = max {m A ( x ), m B ( x )}

m A B ( x) = min {m A ( x), m B ( x)}

Cong thc Lukasiewicz (bounded sum): Cong thc Einstein:

m A B ( x) = min {1, m A ( x) + m B ( x )}

Cong thc Lukasiewicz: Cong thc Einstein:

m A B ( x) = max {0, m A ( x) + m B ( x) - 1}

m A B ( x ) =
n

m A ( x) + m B ( x) 1 + m A ( x) + m B ( x )

m A B ( x ) =
n

m A ( x) m B ( x ) 2 - ( m A ( x) + m B ( x) ) - m A ( x )m B ( x )

Cong thc xac suat:

m A B ( x ) = m A ( x ) + m B ( x ) - m A ( x ) m B ( x )
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Cong thc xac suat:

Ghi chu: T ay ve sau, ta se ch noi ve tap m, nen nhng dau nga bieu th tap m tren cac ch cai se c bo i e n gian trong cach viet.

m A B ( x ) = m A ( x ) m B ( x )
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PHEP BU CUA TAP M

n

TNH CHAT CUA CAC PHEP TOAN TREN TAP M

n

Phep bu cua tap m A c xac nh bi cong thc:

Tnh giao hoan:

A B = B A A B = B A

m A ( x) = 1 - m A ( x)

Tnh ket hp: A ( B C ) = ( A B ) C

A ( B C ) = ( A B) C A (B C) = ( A B) ( A C )

Tnh phan phoi: A ( B C ) = ( A B ) ( A C )

Tnh bat cau: A B C A C Nhan xet: tng t tap ro.

n
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BIEN NGON NG GIA TR NGON NG

Muon thiet ke bo ieu khien bat chc s suy ngh, x ly thong tin va ra quyet nh cua con ngi th phai bieu dien c ngon ng t nhien di dang toan hoc. n Dung tap m e bien dien ngon ng t nhien cho phep bieu dien nhng thong tin m ho, khong chac chan.
n

BIEN NGON NG GIA TR NGON NG

V du bai toan ieu khien toc o xe, ta co nhng gia tr ngon ng: slow, OK, fast. n Moi gia tr ngon ng c xac nh bang mot tap m nh ngha tren tap c s la tap cac so thc dng ch gia tr vat ly x cua bien toc o v.
n

slow

ok

fast

v (km/h)
0 20 40 60
24

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BIEN NGON NG GIA TR NGON NG

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TCH CARTESIAN
Tch cartesian cua 2 tap c s X, Y xac nh bi: XY = {(x,y) | x X, y Y} VD: X = {0, 1}; Y = {a, b, c}. Cac tch cartesian khac nhau cua 2 tap X, Y c xac nh nh sau: XY = {(0,a), (0,b), (0,c), (1,a), (1,b), (1,c)} YX = {(a,0), (a,1), (b,0), (b,1), (c,0), (c,1)} XX = X2 = {(0,0), (0,1), (1,0), (1,1)} YY = Y2 = {(a,a), (a,b), (a,c), (b,a), (b,b), (b,c), (c,a), (c,b), (c,c)}
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Ham lien thuoc cua cac tap m tng ng la: mslow(x), mok(x), mfast(x) Bien toc o v co 2 mien gia tr:
n

Mien gia tr ngon ng: N = {slow, ok, fast} Mien gia tr vat ly (gia tr ro) V = {x R | x 0}

Bien ngon ng la bien toc o v xac nh tren mien cac gia tr ngon ng N.
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QUAN HE RO (CRISP RELATION)

Quan he ro gia tap AX va BY la mot tap tch cartesian R = AB (R XY), trong o quan he gia nhng phan t thuoc X va nhng phan t thuoc Y ac trng bi ham ac trng c:
c A B ( x, y ) =
n n

QUAN HE RO (CRISP RELATION)

Khi cac c s, hay tap hp co so phan t hu han, quan he gia chung co the c bieu dien di dang mot ma tran goi la ma tran quan he. VD: Quan he gia X = {1, 2, 3} va Y = {a, b, c} theo s o Sagittal ben di c bieu dien di dang ma tran quan he R. a b c
1 2 3
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1, ( x, y ) A B 0, ( x, y ) A B

a b c

cAB(x, y) = 1 co quan he gia x va y. cAB(x, y) = 0 khong co quan he gia x va y.

R=

1 2 3

1 1 0 1 0 1 1 1 0
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QUAN HE M (FUZZY RELATION) Cho A, B la 2 tap m lan lt nh ngha tren tap c s X va Y. Quan he m gia A va B, ky hieu la R, la tch cartesian gia A va B:

QUAN HE M (FUZZY RELATION)

VD: Cho 2 tap A, B lan lt c nh ngha tren cac tap c s X, Y nh sau: 0.2 0.5 1 0.3 0.9 A= + + ; B= + x1 x2 x3 y1 y2 Ma tran quan he R: y1 y2

R = A B, R X Y
trong o ham lien thuoc cua R c tnh nh sau: m R ( x, y ) = m A B ( x, y ) = min{m A ( x), m B ( y)}
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R = A B =

x1 x2 x3

0.2 0.2 0.3 0.5 0.3 0.9

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S HP THANH CUA QUAN HE M

(COMPOSITION OF FUZZY RELATIONS)
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S HP THANH CUA QUAN HE M

(COMPOSITION OF FUZZY RELATIONS)
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nh ngha: Gia s R la quan he m tren XY, A la tap m tren X. S hp thanh m gia R va A la mot tap m B, ky hieu B = AoR, c xac nh nh sau: m B ( y ) = m A R ( y ) = S {T ( m A ( x), m R ( x, y ))} trong o: toan t S la MAX hoac SUM, toan t T la MIN hoac PROD.

4 cong thc hp thanh thng dung:

n

Cong thc hp thanh MAX-MIN:

m B ( y ) = m A R ( y ) = max {min( m A ( x), m R ( x, y))}

x
n

Cong thc hp thanh MAX-PROD:

m B ( y ) = m A R ( y) = max( m A ( x).m R ( x, y ))
x
n

m B ( y ) = m A R ( y) = min( m A ( x), m R ( x, y))

x
n

Cong thc hp thanh SUM-MIN:

Cong thc hp thanh SUM-PROD:

m B ( y ) = m A R ( y ) = m A ( x).m R ( x, y )
31
x

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S HP THANH CUA QUAN HE M

(COMPOSITION OF FUZZY RELATIONS)
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S HP THANH CUA QUAN HE M

(COMPOSITION OF FUZZY RELATIONS)

Trong ieu khien, thng s dung cong thc MAX-MIN va MAX-PROD Y ngha cua s hp thanh cua quan he m: Khi biet quan he R tren tap c s XY, ta co the xac nh c tap m B co quan he R vi A.

VD: Cho: X1 = {1, 2, 3}, X2 = {2, 3, 4}, 0 0.5 1 tap m gan bang 3: A = + + 1 2 3 va quan he gan bang:
2 3 4 R = 1 2 3 0.5 0.33 0.25 1 0.67 0.5 0.67 1 0.75

Xac nh: B = AoR

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LUAT IF-THEN Cho 2 menh e x = A, y = B. Menh e hp thanh: x=Ay=B co the c bieu dien di dang luat ifthen, R, nh sau: R: If x = A then y = B trong o: x, y: bien ngon ng A, B: gia tr ngon ng (hang)
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LUAT IF-THEN n Moi luat if-then xem nh la 1 quan he m. n Quan he m c tnh toan theo 2 cach:
dung phep keo theo m (trong cac ng dung chuan oan, ra quyet nh cap cao,) n dung phep giao m (trong cac ng dung ieu khien, mo hnh hoa he thong, x ly tn hieu,)
n

36

LUAT IF-THEN
Bang chan tr cua phep keo theo: p q pq 0 0 1 0 1 1 1 0 0 1 1 1 Trong logic kinh ien, e keo theo ung: - Neu p ung, th q phai ung. - Neu p sai, th khong co ket luan g ve q.
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LUAT IF-THEN TRONG IEU KHIEN M

n

Khi s dung phng phap giao m e tnh toan quan he m, luat if-then: If x = A then y = B c dien giai la phep keo theo ung, khi ta co ong thi x = A va y = B. quan he co tnh oi xng. n Quan he R gia menh e ieu kien va menh e ket qua c xac nh bi toan t T: R = A B mR(x,y) = T{mA(x,y), mB(x,y)} trong o T la MIN hoac PROD.
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LUAT IF-THEN TRONG IEU KHIEN M

S ket hp cac luat (rule aggregation) trong trng hp co nhieu luat (he luat): Ri: If x = Ai then y = Bi trong o: i = 1, 2, , K, quan he R la hp cua cac quan he Ri : K
n

V DU

R = Ri m R ( x, y ) = S T {m Ai ( x ), m Bi ( y )} 1 i K
i =1

S la MAX hoac SUM, T la MIN hoac PROD. n Sau khi ma hoa he luat thanh quan he m R, ta co the xac nh c ngo ra y t ngo vao x va quan he R bang toan t hp thanh (o)nh sau: y=xoR
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Xet he ieu khien xe. 1 Ngo vao: toc o xe. V = {slow, ok, fast} Ngo ra: o thay oi goc quay bm 0 xang (ga xe). DF = {dec, same, inc} He luat ieu khien: R1: If v = slow then Dj = inc R2: If v = ok then Dj = same R3: If v = fast then Dj = dec -10

slow

ok

fast

12

v [km/h]
m
1
same inc

40

68

dec

-5

Dj [o]

10

40

V DU
Ri rac hoa mien ngo vao va ngo ra. Chang han: X = {0, 15, 30, 45, 60, 75}; Y = {-8, -4, 0, 4, 8}
X slow ok fast Y dec same inc 0 1.0 0.0 0.0 -8 0.4 0.0 0.0 15 0.9 0.1 0.0 -4 0.8 0.2 0.0 30 0.4 0.6 0.0 0 0.0 1.0 0.0 45 0.0 0.8 0.2 4 0.0 0.2 0.8 60 0.0 0.3 0.7 8 0.0 0.0 0.4
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V DU
slow inc 1.0 0.0 0.9 0.0 0.4 0.0 0.0 0.8 0.0 0.4 0.0

75 0.0 0.0 1.0

Ap dung luat 1, ta co:

0 15 R1 = slow inc = 30 45 60 75

-8

-4

0.0 0.0 0.0 0.0 0.0 0.0

0.0 0.0 0.8 0.4 0.0 0.0 0.8 0.4 0.0 0.0 0.4 0.4 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0

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V DU
ok same 0.0 0.0 0.1 0.2 0.6 1.0 0.8 0.2 0.3 0.0 0.0

V DU
fast dec 0.0 0.4 0.0 0.8 0.0 0.0 0.2 0.0 0.7 0.0 1.0

Ap dung luat 2, ta co:

0 15 R2 = ok same = 30 45 60 75

-8

-4

Ap dung luat 3, ta co:

0 15 R3 = fast dec = 30 45 60 75
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-8

-4

0.0 0.0 0.0 0.0 0.0 0.0

0.0 0.0 0.0 0.0 0.1 0.1 0.1 0.0 0.2 0.6 0.2 0.0 0.2 0.8 0.2 0.0 0.2 0.3 0.2 0.0 0.0 0.0 0.0 0.0

0.0 0.0 0.0 0.2 0.4 0.4

0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.2 0.0 0.0 0.0 0.7 0.0 0.0 0.0 0.8 0.0 0.0 0.0

44

V DU
Suy ra:
0 R = Ri = 30
i =1 3

V DU
-8 15 45 60 75 0.0 0.0 0.0 0.2 0.4 0.4 -4 0 4 8
Gia s co ngo vao la tap m: A = [ 0 0.5 0.4 0 0 0] (hi cham) Xac nh B = A o R
mB(-8)= max{min[mA(0), mR(0,-8)], min[mA(15), mR(15,-8)], min[mA(30), mR(30,-8)], min[mA(45), mR(45,-8)], min[mA(60), mR(60,-8)],min[mA(75), mR(75,-8)]}

0.0 0.0 0.8 0.4 0.1 0.1 0.8 0.4 0.2 0.6 0.4 0.4 0.2 0.8 0.2 0.0 0.7 0.3 0.2 0.0 0.8 0.0 0.0 0.0
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= max{min[0, 0], min[0.5, 0], min[0.4, 0], min[0, 0.2], min[0, 0.4],min[0, 0.4]} = 0 Tng t: mB(-4) = ; mB(0) = ; mB(4) = ; mB(8) =

Ket qua: B = [0

0.2 0.4 0.5

0.4] (tang mot t)2

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PHNG PHAP SUY DIEN MAMDANI

(SUY DIEN MAX-MIN)

PHNG PHAP SUY DIEN MAMDANI

(SUY DIEN MAX-MIN)

Cho luat hp thanh R (ket hp t K luat) xac nh theo quy tac MAX-MIN: m R ( x, y ) = max {m A ( x) m B ( y )} 1 i K trong o la toan t min tnh tren tch cartesian.
i i

Thay cong thc tnh mR(x, y) vao, ta co:

X

m B ' ( y ) = max m A ' ( x) max m A ( x ) m B ( y )

1i K
i i

{
{

Neu ngo vao la tap m A, ta xac nh c tap m ngo ra B nh sau: m B ' ( y ) = max {m A ' ( x) m R ( x, y)]}
X
47

V cac phep toan lay max-min c thc hien tren cac mien khac nhau, nen ta co the thay oi th t cua chung nh sau:
m B ' ( y ) = max max m A ' ( x), m A ( x) m B ( y ) 1 i K X
i i

}
48

PHNG PHAP SUY DIEN MANDANI

at:
b i = max ( m A ' ( x) m A ( x) )
X
i

PHNG PHAP SUY DIEN MANDANI

Tom tat phng phap suy dien Mamdani. Bc 1: Tnh bi. b i = max ( m A ' ( x) m A ( x) ) , 1 i K Neu ngo vao la 1 tap singleton tai x0 (gia tr ro), th: b i = m A ( x0 )
i

bi: o thoa man cua menh e ieu kien trong luat i.

Bieu thc xac nh ham lien thuoc cua B c viet gon lai nh sau: m B ' ( y ) = max { b i m B ( y )}
1 i K
i

Bc 2: Xac nh tap m Bi ngo ra. m B ' ( y ) = b i m B ( y ), y Y , 1 i K

i i

Bc 3: Ket hp cac tap m ngo ra Bi. m B ' ( y ) = max m B ' ( y ), y Y

49

1 i K

50

PHNG PHAP SUY DIEN MAMDANI

VD:
m
1
A1 A A2 A3

Bai tap
Xet bai toan ieu khien toc o xe. 1. Xac nh tap m ngo ra B khi ngo vao la tap m A = tri(50, 55, 60) (hi nhanh). 2. Xac nh tap m ngo ra B khi ngo vao la tap singleton x0 = 55 Ghi chu: ham lien thuoc cua tap singleton tai x0:
n

b1 b2

B1

B2

B3
B3

b3

B2 B1

R1: If x = A1 R2: If x = A2 R3: If x = A3

then y = B3 then y = B2 then y = B1

m
B

x = A y = B

y
51

msingleton ( x) =

1, x = x0 0, x x0

52

GIAI M (DEFUZZIFICATION)
n

GIAI M (DEFUZZIFICATION) Phng phap trong tam (COA) c s dung nhieu nhat trong cac ng dung ieu khien. Nhc iem la tnh toan phc tap.
n

Giai m la bien oi mot tap m (gia tr ngon ng) sang mot gia tr ro (gia tr vat ly). n Tm gia tr ro the hien tot nhat gia tr m. n Khong co c s ly thuyet nao giup ta chon phng phap giai m. n Viec chon pp giai m thng da vao ac tnh cua tng ng dung. n 2 phng phap giai m chnh:
n n

Trong tam (center of area COA) Trung bnh cc ai (mean of maximum MOM)
53

y* =

m ( y). ydy m ( y)dy

B B
54

GIAI M (DEFUZZIFICATION) Phng phap trung bnh cc ai (MOM): cho ket qua la gia tr ai dien cho nhng tac ong ma co ham lien thuoc at cc ai.
n n

GIAI M (DEFUZZIFICATION) Phng phap o cao (nguyen ly o phu thuoc cc ai)

m B ( y*) m B ( y ), "y Y
y* = a +b 2
55 56

GIAI M (DEFUZZIFICATION) Phng phap trung bnh trong so (weighted average method)
n n

GIAI M (DEFUZZIFICATION) Phng phap phan vung bang nhau (Bisector of Area BOA): y* c xac nh bi ng thang chia tap m ngo ra thanh 2 vung co dien tch bang nhau.

Ch s dung khi cac ham lien thuoc ngo ra oi xng. n Cho ket qua gan vi phng phap COA. n Tnh toan t.
n

y*

y* = =

m ( y ). y m (y)
B B

m B (y )dy = m B (y )dy
y*

a(0.5) + b(0.9) 0.5 + 0.9

a = min{ y | y Y } b = max{ y | y Y }
58

57

GIAI M (DEFUZZIFICATION) Phng phap can trai/phai cua cc ai (Smallest/Largest of Maximum SOM/LOM)
n

SO SANH KET QUA CAC PP GIAI M

yl = inf { y Y | m B = hgt ( B )}
y

yr = sup { y Y | m B = hgt ( B )}

trong o hgt(B) la o cao cua tap m B.

hgt ( B) = sup m B ( y )
yY
59 60

IEU KHIEN M
n

IEU KHIEN M
n

ieu khien c thc hien da tren ly thuyet logic m goi la ieu khien m. He ieu khien m cho phep a cac kinh nghiem ieu khien cua chuyen gia vao thuat toan ieu khien. Chat lng ieu khien m phu thuoc rat nhieu vao kinh nghiem cua ngi thiet ke.
61

ieu khien m co the manh trong cac he thong sau:

n n

He thong ieu khien phi tuyen He thong ieu khien ma cac thong tin au vao / au ra khong u hoac khong chnh xac. He thong ieu khien kho xac nh hoac khong xac nh c mo hnh oi tng

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IEU KHIEN M
n

CAU TRUC BO IEU KHIEN M

n

S o ieu khien co nhieu dang khac nhau. Di ay la mot s o ieu khien n gian thng gap, trong o bo ieu khien m c dung thay cho bo ieu khien kinh ien.
r e Bo ieu khien m u oi tng ieu khien y
e

Bo ieu khien m c ban gom 4 khoi: m hoa, he luat m, thiet b hp thanh, giai m . Khi ghep bo ieu khien m vao he thong, thng ta can them 2 khoi tien x ly va hau x ly.
He luat m Tien x ly M hoa Thiet b hp thanh Giai m Hau x ly
u

Bo ieu khien m c ban

63 64

CAU TRUC BO IEU KHIEN M

n n

CAU TRUC BO IEU KHIEN M

n

M hoa: bien gia tr ro au vao thanh gia tr m. He luat m: tap cac luat If-then. ay la bo nao cua bo ieu khien m. Luat m If-then co 2 dang: luat m Mamdani va luat m Sugeno. Thiet b hp thanh: bien oi cac gia tr a c m hoa au vao thanh cac gia tr m au ra theo cac luat hp thanh nao o. Giai m: bien gia tr m au ra cua khoi thiet b hp thanh thanh gia tr ro.
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Tien x ly: x ly tn hieu trc khi i vao bo ieu khien m c ban.

n n

n n

Lng t hoa hoac lam tron gia tr o. Chuan hoa hoac chuyen t le gia tr o vao tam gia tr chuan. Loc nhieu. Lay vi phan hay tch phan.

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CAU TRUC BO IEU KHIEN M

n

BO IEU KHIEN M MAMDANI

Bo ieu khien m Mamdani la bo ieu khien m da tren cac luat m Mamdani. Luat m Mamdani. If (x1 = A1) AND (x2 = A2) ANDAND (xn = An) then y = B trong o Ai, B la cac tap m. (NX: ieu kien va ket luan eu la nhng menh e m.)
n

Hau x ly: x ly tn hieu ngo ra cua bo ieu khien m c ban.

n

Chuyen t le gia tr ngo ra cua bo ieu khien m c ban (trong trng hp ngo ra nh ngha tren tap c s chuan) thanh gia tr vat ly. oi khi co khau tch phan.

67

68

BO IEU KHIEN M SUGENO

n

BO IEU KHIEN M SUGENO

Phng phap giai m dung trong BK m Sugeno la tong co trong so (weighted sum).
n

Bo ieu khien m Sugeno la bo ieu khien m da tren cac luat m Sugeno. Luat m Sugeno (Takagi-Sugeno). If (x1 = A1) AND (x2 = A2) AND AND (xn = An) then y = f(x1, x2, , xn) trong o: Ai la cac tap m, f(.) la ham cua cac tn hieu vao (ham ro). (NX: ieu kien la menh e m; ket luan la ham ro.) 69

y=

b y
i =1 K i

b
i =1

trong o: bi: o cao cua tap m ket qua trong menh e ieu kien cua luat i. K: so luat.
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VD: BO IEU KHIEN M SUGENO

A11 A21

SO SANH
n

b1

y1 = p1 x1+ q1 x2+ r1
n

x1
A12 A22

x2

b2

y2 = p2 x1+ q2 x2+ r2

x1 x1 = 2 x2 = 3

x2

MIN hoac PROD

y=

b1 y1 + b 2 y2 b1 + b 2
71

If (x1 = A11)AND(x2 = A21) then y1 = p1 x1+ q1 x2+ r1 If (x1 = A12)AND(x2 = A22) then y2 = p2 x1+ q2 x2+ r2

BK m Mamdani thch hp e ieu khien cac oi tng khong xac nh c mo hnh. BK m Sugeno thch hp e ieu khien cac oi tng co mo hnh khong chnh xac, hoac mo hnh phi tuyen c tuyen tnh hoa tng oan. BK m Mamdani co phan ket luan trong he luat la cac tap m dang singleton cung chnh la BK m Sugeno co he luat ma phan ket luan la hang so.
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FUZZY LOGIC TOOLBOX

(t tm hieu)

HE IEU KHIEN M LAI (hybrid fuzzy control system)

n

He ieu khien m lai: ket hp gia ieu kinh ien va ieu khien m.
Bo chnh nh m Thiet b chnh nh

r 73

e Bo ieu khien u PID

oi tng ieu khien

74