Dieu Khien Robot Cong Nghiep So Sanh Pid Va Mrac

K s V nh Tnh
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IU KHIN ROBOT CNG NGHIP: SO SNH PID v MRAC
1. Gii thiu Cng vi xu th pht trin ca th gii, nc ta ang dn dn hi nhp v tng bc tr thnh mt nc Cng nghip ha-Hin i ha. Chng ta v ang p dng nhng thnh tu khoa hc k thut tin tin vo trong nhng lnh vc c tim nng, mt trong s l: Robot cng nghip. Ngy nay, vi s pht trin ca nhiu nghnh cng nghip nng i hi vic p dng robot cng nghip chuyn i c cu sn xut t con ngi v my mc sang con ngi-robotmy mc, gip cho con ngi thot khi nhng cng vic nguy him, nng nhc. V vy, n mang li nhiu hiu qu v kinh t v x hi nh: tng nng sut, ci tin cht lng sn phm, tit kim nguyn vt liu, sm hon vn u t v ngn nga tai nn lao ng hoc bnh tt do nhng cng vic trong mi trng lm vic khng thun li. Song song vi vic nghin cu v ch to nhng robot cng nghip, nc ta ang i su vo nghin cu v ch to nhng robot thng minh, robot dch v, robot dng ngi c tch hp nhng cng ngh ci tin v tinh vi. Trong tng lai gn, robot s h tr pht trin nhng ngnh cng nghip mi, gp phn bo tn cc ngun ti nguyn v s i vo cuc sng chng ta nh mt thit b hin i nht, thn thin nht. Ti liu tham kho ny s trnh by cc phng php thit k iu khin v m phng robot cng nghip, vi phn v d c th cho robot hai bc t do. Phn m hnh ha robot c tnh n c m hnh cc b truyn ng, m hnh ng c v m hnh b lc. Phng php iu khin th nht l dng thut ton PID di dng khng gian trng thi. Phng php th hai l p dng iu khin thch nghi da theo m hnh (MRAC). Cc thut ton ny s iu khin v tr ca khp robot cho cc trng hp lm vic bnh thng, c ma st v c nhiu. Vic so snh hai phng php iu khin thng qua vic m phng trn phn mm matlab/simulink gip cho chng ta c mt ci nhn r rng hn v u im cng nh nhc im ca chng.
Din n C in t, Haptic v Thc t o (Din n CHAT)
K s V nh Tnh 2. M hnh ha robot cng nghip Phng trnh ng lc hc tng qut ca robot c dng nh sau: M(q) + V(q, ) + G(q) = V vy vc t gia tc ca cc khp c tnh l =V(q, ) G(q) +
(1)
M hnh b truyn ng c xem xt nh hm bc nht di y =+ (2)
Trong , t s truyn l , hng s thi gian b truyn l = , hng s momen lc ng c l .i
, momen lc ng c l
vi (3)
, dng in ca ng c l i +i= V
B khuch i cng sut c th c m hnh nh sau:
(4) , h s khuch
, in p iu khin l V, hng s thi gian ca b khuch i cng sut l i ca b khuch i cng sut l .
Kt hp momen lc v m hnh b khuch i cng sut ta c: =+ V (5)
Tng hp cc phng trnh trn c m hnh ca robot di dng khng gian trng thi nh sau:
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K s V nh Tnh
(6)
3. iu khin robot cng nghip bng thut ton PID Thut ton PID a ra tn hiu iu khin da trn s tng hp ca c ba thnh phn: t l (P), tch phn (I) v vi phn (D). Chng c cu trc v nguyn l lm vic n gin, c nhim v a sai lch e(t) ca h thng v 0 sao cho qu trnh qu tha mn cc yu cu c bn v cht lng. Do b iu khin PID c s dng rng ri trong cc nghnh cng nghip hin nay. B iu khin PID c m t di phng trnh sau, u(t) = Trong : H s khuch i ca b iu khin Hng s tch phn Hng s vi phn (7)
T m hnh vo ra ta c hm truyn t ca b iu khin: = Tng ng vi hm truyn t: =

3
(8)
(9)
K s V nh Tnh Trong : h s khuch i t l h s khuch i tch phn h s khuch i vi phn = =
Thut ton PID l s m rng t thut ton PI vi vic thm thnh phn vi phn nhm ci thin c tnh ng hc ca h thng. Bn cht ca tc ng vi phn l on c trc chiu hng v tc thay i ca bin c iu khin v a ra phn ng thch hp, do c tc dng lm tng tc p ng ca h kn vi thay i ca gi tr t hoc tc ng ca nhiu. Bn cnh , quan trng hn na l s c mt ca thnh phn vi phn gip cho b iu khin c th n nh c mt s qu trnh m bnh thng khng n nh c vi cc b iu khin P hoc PI. Hm truyn t ca b iu khin PID cng vi b lc bc nht c biu din nh sau,
(10) Trong : E sai lch (v tr hoc tc ) V in p h s khuch i t l h s khuch i tch phn h s khuch i vi phn hng s thi gian ca b lc
K s V nh Tnh
Hnh 1 S khi ca b iu khin PID vi b lc bc nht T s khi trn, ta rt ra c cc phng trnh sau: =+e
(11)
V=
T h phng trnh (11) ta c khng gian trng thi ca b iu khin PID, = + e
V= H phng trnh ny c vit gn li nh sau: = AX + Be V = CX + De

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(12)
K s V nh Tnh Trong :
X=
,A=
,B=
,C=
,D=
Gi thit rng sai lch ca cc gc bin khp l, e= Trong : : v tr mong mun ca khp : v tr phn hi ca khp (13)
Do , khng gian trng thi ca b iu khin PID v tr c biu din nh sau, = = vi + + e= e= + + (14) (15)
Gi thit rng sai lch tc ca cc bin khp l, e= Trong : tc mong mun t c ca khp tc phn hi li ca khp (16)
Ta c khng gian trng thi ca b iu khin PID tc l:

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K s V nh Tnh = = vi: + + e= e= -
http://matlabs.wordpress.com + + (17) (18)
4. iu khin robot cng nghip bng thut ton MRAC iu khin thch nghi l tng hp cc k thut nhm t ng chnh nh cc b iu chnh trong mch iu khin nhm thc hin hay duy tr mt mc nht nh cht lng ca h thng khi thng s ca qu trnh c iu khin khng bit trc hay thay i theo thi gian. Hin nay, h thng iu khin thch nghi bao gm: iu khin thch nghi t chnh, iu khin thch nghi b bt nh, m ph bin nht l h thng iu khin thch nghi da theo m hnh (MRAC) c ng dng trong cc lnh vc i hi chnh xc cao nh: lnh vc hng khng, iu khin robot. Mt h thng iu khin thch nghi da theo m hnh c miu t bng s khi di y.
Hnh 2 S khi h thng thch nghi da theo m hnh

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K s V nh Tnh
Phng php ny s s dng m hnh mu vi cch hiu chnh tham s tng qut sao cho hm truyn i tng h thng vng kn tin gn n vi m hnh mu c chn. Sai s e l sai lch gia u ra ca h thng v ca m hnh mu e = y da vo sai s ny. C 3 phng php c bn phn tch v thit k h MRAC: phng php tip cn Gradient, Hm Lyapunov, L thuyt b ng. Chng ta s s dng hm Lyapunov thit k b iu khin MRAC cho tay my robot 2 bc t do. Hin nay, trong h thng iu khin thch nghi da theo m hnh, ngi ta thng chn hm truyn chung nht cho cc khp v c cu c kh l bc 0/2. Tuy nhin, nu gi nguyn phng trnh c tnh ca i tng (mu s ca hm truyn) v thm im khng (t s ca hm truyn) hm truyn bc 0/2 tr thnh bc 1/2 th nhng c tnh c bn ca i tng vn c gi nguyn. Tuy nhin, thi gian tng v qu iu chnh s tr nn linh hot hn, ngha l phm vi hot ng ca cc tham s ny s ln hn. Do vy, chng ta chn c m hnh mu c hm truyn dng bc 1/2. Gi s rng m hnh ng lc hc ca khp 1 v khp 2 c hm truyn t dng nh sau: H= (19) , b iu khin c thng s thay i cng
Mt m hnh mu mong mun c chn tha mn cc iu kin v thi gian tng, thi gian qu , qu iu chnh, thi gian nh nh sau: = Chng ta phi i tm mt b iu khin bao gm cc hm (20) nh trn hnh 3 hm
truyn t vng kn tin n c m hnh tham chiu mong mun. Vi u vo ca b iu khin l 2 gi tr gc quay mong mun v gc quay phn hi, u ra ca b iu khin l momen quay cho robot.
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K s V nh Tnh
Hnh 3S khi ca b iu khin MRAC cn thit k
T s khi trn, chng ta c hm truyn t vng kn: = Thay H phng trn (19) vo phng trnh trn v bin i ta c: = Do , khi hm truyn t vng kn bng vi m hnh mu mong mun ngha l Hfd = (22) (21)
th,
(23) T (i) ta c:
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K s V nh Tnh
(24)
T kt qu trn, chng ta c th chn
nh sau:
(25)
= Hm truyn t c th c bin i: =
(26)
(27)
t :
= =
T (ii) v (iii) chng ta c : = -
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K s V nh Tnh Cn bng hai phng trnh trn ta c: = -
(28)
Thay
vo phng trnh trn v bin i thu c phng trnh sau y:
t: = (29)
= Do hm truyn t c vit li nh sau: = +
(30)
(31)
V vy, cc hm truyn t m hnh mu c bit.
s c xc nh nu nh cc thng s ca i tng v ca
Lut iu khin c biu din t s khi nh sau: u=( Thay vo phng trnh trn ta c:
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K s V nh Tnh
u=
u=
(32)
t Vi
,Y=
=-
Do , lut iu khin (32) c biu din li cho min tn s nh sau: u= + + + = Y
Lut iu khin ny c bin i sang min thi gian nh sau: u(t) = + + + = y(t)
Nu nh cc thng s ca i tng hon ton c bit, cc h s khuch i iu khin l tng c biu din nh sau: = V lut iu khin l tng s l: = V vy u ra ca h thng thc + + + = Y : (34) (33) , = , = , =
s bng vi u ra ca m hnh mu =H = = =
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K s V nh Tnh
Tuy nhin, cc thng s ca h thng thc vn cha c bit, v vy chng ta cn tm cc h s khuch i iu khin c lng theo m hnh mu c chn. Li gia cc h s khuch i iu khin l tng v c lng c xc nh nh sau: = u ra ca h thng thc c th bm
= -
Do , cc tham s iu khin iu khin c lng c th c tnh : = +
(Ch :
& q * , K * l hng s v l gi tr ti u, nn o hm ca n s bng 0, v q = Dq = K )
&
&
Lut iu khin c lng cng c tnh l: = = = + Y= + + Y + Y + + + Y +
Nu t
th lut iu khin c lng s c biu din nh sau:
+ c th
Lut iu khin c lng ny bao gm cc h s khuch i iu khin l tng v c xem nh l v vy: =H = =

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K s V nh Tnh = +
Do , li gia u ra ca h thng thc v m hnh mu l: e= =
Vi
l m hnh mu nn:
e= Li c th c biu din trong khng gian trng thi khi chng ta t:
Khng gian trng thi c dng: = e= +
vi:
M hnh mu
c th c chn tha mn nhng yu cu ca hm truyn t thc dng
cht (strictly positive real transfer function). B Kalman Yakubovich ch ra rng tn ti mt ma trn dng P v Q cc phng trnh sau c tha mn:
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K s V nh Tnh P + PA = -Q Nu nh ma trn i xng xc nh dng P c cho l, P= Th ma trn i xng xc nh dng s l,
Q= -
Do , nu nh cc thng s ca m hnh mu c bit, chng ta c th chn l ma trn i xng xc nh dng. Vi hm truyn li l: e=
Th lut thch nghi c th c chn nh sau: = -sgn( Trong l mt hng s dng c chn. Hm Lyapunov c chn l V= Dn ti =P Q + 0 )eY
T && & V = - X e QX e 0
Do v
u b gii hn, nn e =
cng b gii hn v
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l hm lin tc khng dng.
K s V nh Tnh V b gii hn di l xc nh khng dng l hm b chn (b gii hn)
nh l ca Barbalet ch ra rng cng tin ti 0. Lut thch nghi = -
s tin ti 0 khi thi gian tin ti v cng. V vy e =
= , nn : (t) = -sgn( )eY
Tuy nhin,
lun l mt gi tr dng v vy :
& & & & & T = Dq = K = K K K K & & q 1 2 3 4

S khi ca iu khin thch nghi da theo m hnh c biu din:
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K s V nh Tnh
Hnh 4 S khi ca b iu khin MRAC ng vi thit k
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K s V nh Tnh 5. M phng trn Matlab v so snh kt qu
Mt m hnh robot cng nghip hai bc t do c la chn m phng v so snh hai thut ton iu khin PID v MRAC.
Hnh 5 Tay my robot 2 bc t do Chng ta chn cc thng s ca robot nh sau: = = = 1 kg, , = = 0.1, m, = 0.08 kg = 0.1 m
= 0.1,
Trng hp c ma st v nhiu trong h thng iu khin robot cng nghip, ma st ca cc khp quay robot gm c ma st tnh v ma st ng, cc ngun gy ra nhiu c th l: mt h l xo, b gim chn, ngun cung cp v ma st c th tc ng gia cc trc, cc khp quay. Phng trnh ng lc hc ca robot c vit li nh sau: M(q) + V(q, ) + F( ) + Trong , F( ) =
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+ G(q) =
( )
K s V nh Tnh : H s ma st ng : H s ma st tnh v vi: ( )= = diag sgn( ) with
: Nhiu = diag
V h s ma st ng thng nh hn h s ma st tnh nn ta chn: = [0.5 0; 0 0.5] = [2 0; 0 2] = 2sin2t M phng trn simulink vi iu khin PID Vi nhng tnh ton trong phn trn, chng ta thit k c b iu khin PID iu khin v tr 2 gc quay vi u vo l sai lch e = v u ra l momen quay cn thit ca robot.
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K s V nh Tnh
Hnh 6 B iu khin PID v tr cho cc gc quay Trong b iu khin PID, nu chng ta tng h s khuch i nhng nu tng th li ca h thng s nh,
qu ln s gy ra mt n nh trong h thng iu khin thc t (thng l nhm gim sai lch tnh, nhng nu
cc b iu khin s). Tng gi tr ca h s tch phn tng
ln qu th dn n vic u ra ca b iu khin s c tch ly gi tr rt nhanh (do
tch phn ngha l s cng tch ly). iu ny lm gim nh hng ca cc tham s iu khin khc v gy ra trn u ra (do gi tr u ra ca b iu khin lin tc tng ln). Tng h s vi phn gim dao ng, nu tng qu ln th h thng d mt n nh.
Hin nay, c rt nhiu phng php tm cc tham s ca b iu khin PID, chng ta p dng phng php iu chnh bng tay di nh hng ca vic tng tng tham s tm tt di bng sau. v c th
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K s V nh Tnh
http://matlabs.wordpress.com Bng 1 nh hng ca vic tng tng tham s
Thng s
Thi tng Gim
gian qu iu chnh Tng
Thi gian Qu Thay i nh
Trng thi n nh li Gim
Gim
Tng
Tng
Gim ng k Thay i nh
Gim t
Gim t
Gim t
Cc bc c trng thit k mt b iu khin PID: Xc nh nhng c tnh ca h thng cn c ci thin. Tng Tng Tng gim thi gian tng gim qu iu chnh v thi gian qu . cho li tin n 0.
Chng ta p dng phng php ny chnh nh cc tham s ca b iu khin PID v lp c bng so snh di y. Bng 2 gi tr cc tham s ca b iu khin PID STT 1 2 3 4 5 100 200 300 350 400 1 1 1 1 1 0 0 0 0 0 100 150 200 250 350 1 1 1 1 1
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0 0 0 0 0 11.7 5.86 3.904 3.35 2.927 3.15 2.06 1.54 1.233 0.878
K s V nh Tnh 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 500 550 600 650 700 700 700 700 700 700 700 700 700 700 700 1 1 1 1 1 2 5 10 15 20 10 10 10 10 10 0 0 0 0 0 0 0 0 0 0 1 2 3 4 5 400 450 500 550 600 600 600 600 600 600 600 600 600 600 600 1 1 1 1 1 2 5 5 10 15 5 5 5 5 5 0 0 0 0 0 0 0 0 0 0 2 4 6 8 10 2.34 2.13 1.95 1.8 1.67 1.69 1.682 1.675 1.682 1.687 1.66 1.638 1.615 1.6 1.578
http://matlabs.wordpress.com 0.768 0.682 0.615 0.559 0.518 0.5 0.5 0.5 0.515 0.525 0.494 0.473 0.462 0.43 0.41
Sau khi lp bng gi tr v so snh sai lch u ra ca cc gc quay, ta c th chn c cc gi tr ti u nh sau: = 700, = 600, = 10, = 5, = 10, =5
p dng b iu khin PID vi cc tham s ny trong cc trng hp robot lm vic bnh thng v iu kin lm vic khi c ma st v nhiu. Trong iu kin lm vic bnh thng
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K s V nh Tnh
Hnh 7 iu khin robot vi PID trong iu kin lm vic bnh thng

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K s V nh Tnh Trong s khi trn bao gm cc khi:
Trajectory: To qu o u vo l ng trn mong mun. Inverse Kinematics: Khi ng hc ngc gip chng ta xc nh cc gi tr gc quay mong mun bng cc tnh ton trn l thuyt. Robot Dynamics: Khi ng lc hc, xc nh gi tr u ra l gia tc gc cho cc gc quay, c u vo l cc momen quay, vn tc gc v cc gc quay mong mun. Robot Forward Kinematics: Khi ng hc thun, gip chng ta kim tra cc gc quay phn hi c bng vi cc gc quay mong mun hay khng? Robot PID Controller: Bao gm hai b iu khin, sai lch e = momen quay, lm u vo cho khi ng lc hc. v u ra l
Kt qu m phng c th hin di cc th sau.
Hnh 8 th qu o u vo v u ra robot vi iu khin PID khi khng c nhiu

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K s V nh Tnh
th ch cho chng ta thy c rng: p ng qu o u ra gn ging vi qu o u vo, chng minh rng iu khin PID lm vic tt trong iu kin lm vic bnh thng. Trong iu kin lm vic c nhiu v ma st
Hnh 9 iu khin robot vi PID trong iu kin lm vic c nhiu v ma st
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K s V nh Tnh Kt qu m phng c th hin di cc th sau.
Hnh 10 th qu o u vo v u ra robot vi iu khin PID khi c nhiu v ma st
Kt qu trn cho thy rng khi c ma st v nhiu, qu o u vo v u ra l khc nhau, chng t b iu khin PID b chu nh hng ca nhiu v ma st v iu khin l cha tt, mun cho u ra c ci thin hn th chng ta s phi chnh nh li cc tham s ca b iu khin PID. M phng trn simulink vi iu khin MRAC Mt m hnh mu p dng cho b iu khin MRAC nn tha mn cc yu cu v tnh n nh v cc c tnh cht lng ng hc ca h thng nh: thi gian tng, thi gian qu , qu
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K s V nh Tnh
iu chnh, thi gian nh. Theo khi nim n nh mt m hnh mu c hm truyn bao gm cc im cc l nghim ca mu s v cc im khng l nghim ca t s n nh th chng ta phi xt n iu kin n nh: H thng c tt c cc cc c phn thc m (c tt c cc cc nm bn tri mt phng phc): h thng n nh. H thng c cc c phn thc bng 0 (nm trn trc o), cc cc cn li c phn thc m: h thng bin gii n nh. H thng c t nht mt cc c phn thc dng (c t nht mt im cc nm bn phi mt phng phc): h thng khng n nh. Sau khi th rt nhiu cc m hnh mu khc nhau, chng ta chn ra c 3 m hnh mu tiu biu v p dng khi nim n nh trn kim tra tnh n nh ca 3 m hnh mu c chn: M hnh mu c hm truyn =
Hnh 11 Gin im khng v im cc ca m hnh mu 1

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K s V nh Tnh
T gin trn, chng ta thy rng m hnh mu c chn cho 2 im cc trng nhau nm bn tri trc o. Do , n n nh theo iu kin n nh c phn tch trn. M hnh mu c hm truyn =
Hnh 12 Gin im khng v im cc ca m hnh mu 2
M hnh mu c chn cho hai im cc nm bn tri trc o. Nn n nh. M hnh mu c hm truyn =
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K s V nh Tnh
Hnh 13 Gin im khng v im cc ca m hnh mu 3 M hnh mu c chn cho hai im cc nm bn tri trc o. Nn n nh. Ngoi ra, cc m hnh mu cng cho chng ta kt qu v cc c tnh: M hnh 1 c thi gian tng = 0.09, thi gian qu = 0.1225, qu iu chnh = 0%, thi gian nh = 0.42. M hnh 2 c thi gian tng = 2.86, thi gian qu = 3.77, qu iu chnh = 0%, thi gian nh = 9.19. M hnh 3 c thi gian tng = 0.05, thi gian qu = 0.49, qu iu chnh = 42.7%, thi gian nh = 0.11. Trong thc t, v 2 khp ca robot c cc c tnh ng lc hc khc nhau nn ngi ta thng chn m hnh mu khc nhau th tt hn c. Hn na, iu khin thch nghi da theo m hnh cho tng khp c thm u im l c th p dng cho robot vi bc t do ln hn 2 m chng ta khng phi quan tm nhiu n chnh xc ca phng trnh ng lc hc. Chng ta s th tng m hnh mu vi b iu khin MRAC cho h thng iu khin robot trong iu kin lm vic bnh thng cng vi cc tham s c chn:
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=3000,
= -3000, gama =
K s V nh Tnh 20, (chng ta chn ,
http://matlabs.wordpress.com ln gim thi gian tng v thi gian qu ca p ng u ra ),
sau so snh u ra ca cc m hnh mu vi nhau nhm mc ch chn ra c m hnh mu ti u nht.
Hnh 14 H iu khin MRAC v tr cho cc gc quay
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K s V nh Tnh
Hnh 15 Cu trc bn trong b iu khin MRAC

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K s V nh Tnh
Cu trc bn trong ca khi Robot MRAC controller bao gm: u vo l gc quay mong mun v gc quay phn hi, cn u ra ca b iu khin l momen quay l u vo cho khi ng lc hc.
Hnh 16 iu khin robot vi MRAC trong iu kin lm vic bnh thng
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K s V nh Tnh
Kt qu so snh qu o u u ra ca robot tng ng vi 3 m hnh mu c th hin di hnh sau.
Hnh 17 th so snh qu o u ra ca robot ng vi cc m hnh mu
T th, ta chn m hnh mu 1, v n cho qu o u ra ging u vo nht. Kt qu m phng ng vi m hnh mu c chn nh sau:
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K s V nh Tnh
Hnh 18 th qu o u vo v u ra
Qu o ng trn u ra ca b iu khin MRAC ging vi ng trn qu o u vo, iu ny chng t rng b iu khin MRAC lm vic tt. Trong iu kin lm vic c ma st v nhiu
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K s V nh Tnh
Hnh 19 iu khin robot vi MRAC trong iu kin lm vic c ma st v nhiu
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K s V nh Tnh
Hnh 20 th qu o u vo v u ra vi iu khin MRAC khi c ma st v nhiu
th kt qu trn hnh 20 ch ra rng: qu o ng trn u ra gn ging vi qu o ng trn u vo. iu chng t rng khi c ma st v nhiu tc ng th b iu khin MRAC vn lm vic tt. Cc tham s , gp phn quyt nh n tnh n nh ca h thng v c xt bi
khi nim n nh BIBO: Mt h c coi l n nh nu khi m kch thch h bng tn hiu u(t) b chn u vo th h cng c p ng y(t) u ra cng b chn.
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K s V nh Tnh
http://matlabs.wordpress.com ,
p dng khi nim n nh trn, chng ta so snh th ca cc tham s iu khin
ca b iu khin trong iu kin lm vic bnh thng v khi c nhiu v ma st tc ng, trong quan trng nht l cc tham s .
Hnh 21 th tham s iu khin trong iu kin lm vic bnh thng
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K s V nh Tnh
Hnh 22 th tham s iu khin trong iu kin lm vic c nhiu v ma st
th trn ch cho chng ta thy c rng trong iu kin lm vic bnh thng, gi tr cc tham s , ca b iu khin thay i t hn khi c ma st hoc nhiu tc ng, ng thi cc tham s ny u c xu hng b chn trn v b chn di bi mt gi tr c nh. iu ny chng t rng h n nh theo khi nim n nh BIBO m chng ta nu trn ng vi b iu khin MRAC c thit k phn. So snh cc gii php iu khin PID v MRAC Trong iu kin lm vic bnh thng
38
K s V nh Tnh
Hnh 23 th so snh qu o u ra ca hai b iu khin
th ch ra cho chng ta thy c rng ng trn u ra ca hai b iu khin trong iu kin lm vic bnh thng gn ging nhau, chng t trng hp ny hai b iu khin lm vic tt. Tuy nhin nh gi vic so snh c c th hn ta so snh tip li gia cc gc quay ca hai b iu khin nhm mc ch ch ra b iu khin no tt hn trong iu kin lm vic bnh thng.
39
K s V nh Tnh
Hnh 24 th li cc khp quay trong iu kin lm vic bnh thng th ch cho chng ta thy c rng: li ca b iu khin PID ln v c nhiu dao ng hn b iu khin MRAC.
40
K s V nh Tnh
Hnh 25 th momen cc khp trong iu kin lm vic bnh thng th ch ra cho chng ta thy c rng: gi tr momen quay cho 2 khp ca b iu khin MRAC nh v t dao ng hn momen quay ca b iu khin PID. Do , vi cc th so snh trn, chng ta c th kt lun rng trong iu kin lm vic bnh thng b iu khin MRAC s lm vic tt hn b iu khin PID. Trong iu kin lm vic c ma st v nhiu ngoi
41
K s V nh Tnh
Hnh 26 th qu o u ra ca hai b iu khin
th ch cho chng ta thy c rng qu o ng trn u ra ca b iu khin MRAC p v cht lng hn b iu khin PID. iu chng t rng khi c nhiu v ma st, b iu khin PID chu nh hng nhiu v lm vic km cht lng hn b iu khin MRAC. Chng ta s i so snh tip li v momen quay ca cc khp quay nhm mc ch khng nh kt lun trn.
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K s V nh Tnh
Hnh 27 th li ca cc khp trong iu kin lm vic c nhiu v ma st
43
K s V nh Tnh
Hnh 28 th momen cc khp trong iu kin lm vic c nhiu v ma st
Cc th trn ch cho chng ta thy rng li v momen quay cho cc khp ca b iu khin MRAC lun nh v t dao ng hn b iu khin PID. Do vy, chng ta c th kt lun rng ngay c trong iu kin lm vic bnh thng hay khi c nhiu v ma st tc ng, b iu khin MRAC vn lm vic n nh v t cht lng hn b iu khin PID.
Khi c bt k vn g cn trao i, ng ngn ngi lin h vi chng ti! Din n C in t, Haptic v Thc t o (Din n CHAT) Website: http://matlabs.wordpress.com/ Email: vmhung2010@gmail.com
44

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K s V nh Tnh

IU KHIN ROBOT CNG NGHIP: SO SNH PID v MRAC

Din n C in t, Haptic v Thc t o (Din n CHAT)

M hnh b truyn ng c xem xt nh hm bc nht di y =+ (2)

Trong , t s truyn l , hng s thi gian b truyn l = , hng s momen lc ng c l .i

B khuch i cng sut c th c m hnh nh sau:

Kt hp momen lc v m hnh b khuch i cng sut ta c: =+ V (5)

Din n C in t, Haptic v Thc t o (Din n CHAT)

T m hnh vo ra ta c hm truyn t ca b iu khin: = Tng ng vi hm truyn t: =

Din n C in t, Haptic v Thc t o (Din n CHAT)

K s V nh Tnh Trong : h s khuch i t l h s khuch i tch phn h s khuch i vi phn = =

Din n C in t, Haptic v Thc t o (Din n CHAT)

T h phng trnh (11) ta c khng gian trng thi ca b iu khin PID, = + e

V= H phng trnh ny c vit gn li nh sau: = AX + Be V = CX + De

Din n C in t, Haptic v Thc t o (Din n CHAT)

Ta c khng gian trng thi ca b iu khin PID tc l:

Din n C in t, Haptic v Thc t o (Din n CHAT)

http://matlabs.wordpress.com + + (17) (18)

Hnh 2 S khi h thng thch nghi da theo m hnh

Din n C in t, Haptic v Thc t o (Din n CHAT)

Din n C in t, Haptic v Thc t o (Din n CHAT)

Hnh 3S khi ca b iu khin MRAC cn thit k

Din n C in t, Haptic v Thc t o (Din n CHAT)

T kt qu trn, chng ta c th chn

T (ii) v (iii) chng ta c : = -

Din n C in t, Haptic v Thc t o (Din n CHAT)

K s V nh Tnh Cn bng hai phng trnh trn ta c: = -

vo phng trnh trn v bin i thu c phng trnh sau y:

= Do hm truyn t c vit li nh sau: = +

V vy, cc hm truyn t m hnh mu c bit.

Din n C in t, Haptic v Thc t o (Din n CHAT)

Do , lut iu khin (32) c biu din li cho min tn s nh sau: u= + + + = Y

Din n C in t, Haptic v Thc t o (Din n CHAT)

Do , cc tham s iu khin iu khin c lng c th c tnh : = +

& q * , K * l hng s v l gi tr ti u, nn o hm ca n s bng 0, v q = Dq = K )

Lut iu khin c lng cng c tnh l: = = = + Y= + + Y + Y + + + Y +

th lut iu khin c lng s c biu din nh sau:

Lut iu khin c lng ny bao gm cc h s khuch i iu khin l tng v c xem nh l v vy: =H = =

Din n C in t, Haptic v Thc t o (Din n CHAT)

Do , li gia u ra ca h thng thc v m hnh mu l: e= =

e= Li c th c biu din trong khng gian trng thi khi chng ta t:

Khng gian trng thi c dng: = e= +

c th c chn tha mn nhng yu cu ca hm truyn t thc dng

Din n C in t, Haptic v Thc t o (Din n CHAT)

K s V nh Tnh P + PA = -Q Nu nh ma trn i xng xc nh dng P c cho l, P= Th ma trn i xng xc nh dng s l,

Do , nu nh cc thng s ca m hnh mu c bit, chng ta c th chn l ma trn i xng xc nh dng. Vi hm truyn li l: e=

l hm lin tc khng dng.

Din n C in t, Haptic v Thc t o (Din n CHAT)

K s V nh Tnh V b gii hn di l xc nh khng dng l hm b chn (b gii hn)

nh l ca Barbalet ch ra rng cng tin ti 0. Lut thch nghi = -

s tin ti 0 khi thi gian tin ti v cng. V vy e =

= , nn : (t) = -sgn( )eY

& & & & & T = Dq = K = K K K K & & q 1 2 3 4

Din n C in t, Haptic v Thc t o (Din n CHAT)

Hnh 4 S khi ca b iu khin MRAC ng vi thit k

Din n C in t, Haptic v Thc t o (Din n CHAT)

K s V nh Tnh 5. M phng trn Matlab v so snh kt qu

Din n C in t, Haptic v Thc t o (Din n CHAT)

K s V nh Tnh : H s ma st ng : H s ma st tnh v vi: ( )= = diag sgn( ) with

Din n C in t, Haptic v Thc t o (Din n CHAT)

cc b iu khin s). Tng gi tr ca h s tch phn tng

ln qu th dn n vic u ra ca b iu khin s c tch ly gi tr rt nhanh (do

Din n C in t, Haptic v Thc t o (Din n CHAT)

http://matlabs.wordpress.com Bng 1 nh hng ca vic tng tng tham s

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