Tp ch Khoa hc & Cng ngh - S 2(42)/Nm 2007

NHN DNG I TNG PHI TUYN BNG H M - NRON

Li Khc Li (Trng i hc K thut Cng nghip- H Thi Nguyn) Phm Vn Thnh (Trng Cao ng Kinh t k thut cng nghip1) Nguyn nh Dng (Trng Cao ng Ha cht Ph Th)

1. M u Nhn dng l bc u tin v quan trng nht ca nhiu lnh vc khoa hc, c bit trong lnh vc iu khin v t ng ha nu khng nhn dng chnh xc i tng iu khin th s khng c gii php ti u nht iu khin chng. Trong [6] cp nhiu phng php nhn dng khc nhau. Cc phng php nhn dng truyn thng nh: phng php xp x vi phn; phng php gradient, phng php tm kim trc tip, ta tuyn tnh, s dng hm nhy, (i vi nhn dng off-line) v cc phng php: bnh phng cc tiu, xp x ngu nhin, lc Kalman, (i vi nhn dng on-line) u c chung nhc im l chnh xc khng cao, ch ph hp cho cc i tng c tnh phi tuyn yu. Khi i tng c tnh phi tuyn mnh, lm vic trong phm vi rng, chu nhiu ln v c nhiu chiu (MIMO) ta cn phi s dng cc phng php nhn dng hin i mi m bo chnh xc mong mun. Nh phn tch trong [2] h m v mng nron mi loi u c u, nhc im ring. Nu kt hp chng li, ta s c mt h lai vi u im ca c hai: Lgic m cho php thit k b iu khin d dng, tng minh, trong khi mng nron cho php hc nhng g m ta yu cu v b iu khin. N sa i cc hm lin thuc v hnh dng, v tr v s kt hp, hon ton t ng. iu ny lm gim bt thi gian cng nh gim bt chi ph khi pht trin h. Bi bo xut mt cu trc nhn dng tch hp gia logic m v mng nron nhn to nhn dng i tng phi tuyn. Phng php ny cho php nhn dng cc i tng c tnh phi tuyn mnh vi chnh xc dng trong k thut. 2. Cu trc h nhn dng M - Nron
y + y

i tng u H iu khin M-Nron

Mt h nhn dng M - Nron c cu trc e thut ton hun luyn chung nh hnh 1 [4]. Khu nhn dng l h iu khin M - Nron, c xy dng theo kiu Hnh 1: Cu trc h nhn dng M-Nron Sugeno-Takasi, b iu chnh thng s l thut ton hun luyn mng. Tn hiu vo/ra ca i tng (y) c so snh vi tn hiu vo/ra ca khu nhn dng ( y ) Cn c vo sai lch u ra (e) v thng qua qu trnh hun luyn, cc thng s ca tp m s c chnh nh sao cho u ra ca khu nhn dng ging vi u ra ca i tng. Cu trc ca h M - Nron trong h thng nhn dng thng c 5 lp nh hnh 2, trong cu trc ny, lp u tin ch thun ty m t cc u vo, lp cui cng m t cc tn hiu u ra, cc lp Nn s thc hin chc nng ca mt h iu khin m nh m ha thng qua cc hm lin thuc, suy din m, gii m.Mi nt trong mng u c hm tng f l tng hp cc thng tin t cc nt khc thng qua cc trng lin kt. 38

Tp ch Khoa hc & Cng ngh - S 2(42)/Nm 2007

Neti = f(u1(k), u2(k),... up(k), w1(k), w2(k),..., wp(k)) Trong u1(k), u2(k),... up(k) l tn hiu vo nt; w1(k), w2(k),..., wp(k) l cc trng s lin kt ; k l ch s lp. u ra ca mi nron c xc nh thng qua hm tc ng a ca mi nt theo cng thc : Output = oi
(k )

x1 x2

Lp vo M ha Suy din m Gii m Lp ra

y1

= a(net i ) = a ( f )

ym xn
Lp 1 Lp 2 Lp 3 Lp 4 Lp 5

Ta c th s dng thut ton lan truyn ngc (Backropa) hoc thut ton lai (Hybirdcho qu trnh hun luyn mng) . Lut hc s lm thay i cc trng s lin kt trong

Hnh 2: Cu trc h m nron

cc nt hoc thng s ca mi nt (nh tm, rng hm lin thuc) theo hng cc tiu ha hm mc tiu sai lch bng cch s dng php lp. 3. ng dng h M - Nron xp x ng cong Trong lgic m chng minh rng mt b iu khin m Takasi-Sugeno vi lut iu khin tuyn tnh c th dng xp x mt a thc vi chnh xc ty . Tuy nhin, t c chnh xc mong mun, cn phi chnh nh cc thng s ca b iu khin m, vic ny thng rt kh khn v mang nhiu tnh m mm. Khi kt hp vi mng nron, vic chnh nh c thc hin thng qua cc lut hc v qu trnh hun luyn mng. Trong bi bo ny, chng ti s dng b iu khin M - Nron theo kiu TakasiSugeno xp x mt ng cong bt k v dng lut hc ca mng nron ca b iu khin m nhm t c chnh xc mong mun. Xt ng cong c m t bi phng trnh:

y = 25sin10t + 30e 30t

Ta s kho st vic dng h M - Nron xp x ng cong trn trong khong t = [0,10](giy). Tp d liu mu hun luyn h m - N ron c lit k trong bng 1. Thit k b iu khin kiu Takasi-Sugeno vi 15 tp m u vo c dng hm Trapmf, u ra l cc hm tuyn tnh. Sau 90 k hun luyn thu c cc kt qu (hnh 3 n hnh 6), trong : hnh 3 l th tp mu v tp d liu ca h M - Nron sau khi hun luyn; hnh 4 l dng hm lin thuc u vo ca h M - Nron sau khi hun luyn; hnh 5 l dng ng cong y(t) v u ra ca b iu khin m sau khi hun luyn; hnh 6 l sai s gia y(t) v u ra ca h M - Nron.
Bng 1: Mt s d liu vo/ra dng xp x ng cong y(t)
t 0 0.05 0.1 0.15 0.2 ... y 30; 41.687 50.443 54.051 51.556 ... t 2.5 2.55 2.6 2.65 2.7 ... y 14.887 26.991 36.9 42.142 41.392 ... t 5 5.05 5.1 5.15 5.2 ... y 4.477 16.736 27.574 34.31 35.269; ... t 7.5 7.55 7.6 7.65 ... -3.0006 9.1673 20.714 28.796 ... y

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Tp ch Khoa hc & Cng ngh - S 2(42)/Nm 2007

Hnh 3: th tp d liu mu v tp sau khi hun luynca b iu khin m - nron

Hnh 4: Hnh dng cc hm lin thuc u vo sau 90 k hun luyn

60 50 40 30

1 0.8 0.6 0.4 0.2

20
0

10
-0.2

0 -10 -20 -30

-0.4 -0.6 -0.8 -1

10

10

Hnh 5: Dng ng cong u ra ca hm y(t) v ca b iu khin m vi 15 tp m u vo sau 90 k hun luyn

Hnh 6: Sai s gia hm y(t) v u ra ca b iu khin m vi 15 tp m u vo sau 90 k hun luyn

T cc kt qu m phng ta thy rng c th dng h M - Nron xp x mt hm phi tuyn bt k vi chnh xc ty . Vic chnh nh cc tham s ca b iu khin m c thc hin thng qua qu trnh hun luyn mng nron nn rt tin li, tn t thi gian. Mun gim sai s, ta c th tng s tp m u vo, tng s k hun luyn hoc dng mng ng. 4. Nhn dng i tng phi tuyn: Xt i tng phi tuyn c m t bi phng trnh vi phn: 0,5y +9y +3ysin(0,5y) = 15u

D
Hnh 7: Cu trc b iu khin m-nron nhn dng h phi tuyn

Tp d liu hun luyn c ch ra trn bng 2. nhn dng c chnh xc, ta cn dng mng ng. Thit lp h M - Nron kiu Takagi - Sugeno c 2 u vo (hnh 7), mi u vo gm 9 tp m c hm lin thuc dng Gauss. Kt qu sau 50 k hun luyn c ch ra trn hnh 8 40

Tp ch Khoa hc & Cng ngh - S 2(42)/Nm 2007

n hnh 11. Trong hnh 8 l s tp d liu ca m hnh v tp d liu h M - Nron; hnh 9 l hnh dng cc tp m u vo sau khi hun luyn. Hnh 10 l p ng u ra ca m hnh i tng v p ng u ra ca m hnh nhn dng M - Nron; hnh 11 l sai s gia cc p ng .
Bng 2: Mt s d liu trong tp d liu hun luyn mng
Vo 1 0 0.88656 1.6939 2.35 2.7961 ... 0 29.055 25.565 19.791 12.25 ... Vo 2 0 0.00188 0.01396 0.04324 0.09329 ... ra Vo 1 -2.7077 -2.9685 -2.9641 -2.695 -2.1851 ... Vo 2 -14.248 -5.8144 3.139 11.812 19.43 ... ra 0.63999 0.595 0.52508 0.43633 0.33653 ... Vo 1 2.3317 1.6697 0.85861 -0.0292 -0.91443 ... Vo 2 -17.68 -24.048 -28.268 -29.963 -28.982 ... ra 0.14317 0.24299 0.33831 0.42053 0.48222 ...

Hnh 8: S tp d liu dng hun luyn mng v tp d liu h m-nron sau khi hun luyn u ra ca m hnh i tng 1
0.8

Hnh 9: Dng hm lin thuc u vo sau khi hun luyn u ra ca m hnh m-nron 0.4
0.3 0.2 0.1

0.6

0.4

0
0.2

-0.1
0

-0.2
-0.2

-0.3 -0.4

-0.4

10

10

Hnh 10: p ng u ra ca m hnh i tng v ca h m-nron

Hnh 11: Sai s gia p ng u ra ca m hnh i tng v ca h m-nron

5. Kt lun Kt hp logic m v mng nron nhn to trong mt b iu khin, ta s c h iu khin M - Nron c cu trc n gin, c kh nng hc, d thit k v rt thch hp nhn dng v iu khin cc i tng phi tuyn khc nhau, phc v cho qu trnh iu khin h thng, phn loi sn phNm, chNn on k thut v cc lnh vc khc nh kinh t, y hc, ... 41

Tp ch Khoa hc & Cng ngh - S 2(42)/Nm 2007

Tm tt H m v mng nron nhn to mi loi u c u, nhc im ring, khi kt hp chng li vi nhau ta s c h M - Nron pht huy c u im ca c 2 loi. Trong bi bo ny, cc tc gi xut mt gii php xy dng h M - Nron nhn dng i tng phi tuyn. Cc kt qu m phng cho thy r u vit v tnh kh thi ca h ny. Summary INDENTIFY NONLINAR PLANT BY FUZZY - NEURAL SYSTEM Both fuzzy system and artificial neural network have advantages and disadvantages. None theless but they are combined, their advantages will be. In this paper, the authors promote a solution that builds the neural-fuzzy system to identify nonlinear plants. The imitating results display the advantages and possibilities of this new one effectivly shown. Ti liu tham kho [1] Phan Xun Minh & Nguyn Don Phc (1999), L thuyt iu khin m, Nxb Khoa hc v k thut, H Ni. [2] Li Khc Li (2007), H m-n ron v ng dng iu khin tay my, Tp ch Khoa hc & Cng ngh cc trng i hc k thut s 59, Tr.60-63. [3] Kazuo Kiguchi, Takakazu Tanaka (2004), Neuro-fuzzy control of a robotic exoskeleton with EMG signals, IEEE Transactions on fuzzy systems, Volume 12, Number 4, pp. 481-490, August. [4] Kossko (1991), Neural networks and fuzzy control, Prentice Hall. [5] Kumpati S. Narendra Fellow and Kannan Parthasarathy (1990), Identification and control of dynamical systems using neural networks, IEEE Transactions on neural networks, Vol.1. No.1, pp 4-26. [6] Ljung, L.(1999), System Identification - Theory for the User, Prentice Hall, Upper Saddle River, N.J., 2nd edition. [7] Wen Yu, Xiaoou Li (2004), Fuzzy indentification using fuzzy neural networks with stable learning algorithms, IEEE Transactions on fuzzy systems, Volume 12, Number 3, pp. 411-420, August.

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