Bai tap 4.

IEU KHIEN THONG MINH

Ngay nop: trc 9h00 ngay 05.04.2011
a ch nop bai: hthoang@hcmut.edu.vn va hthoang.hcmut@yahoo.com
Cho i tng nh hnh v.

m1

(t)
l

m2
M hnh ton hc ca i tng cho bi phng trnh vi phn:
y

l
m

b y

m lcos
b

m
m

m glsin
m

sin
m g ky
m l m lsin
m lsin
m m l

b y m lcos
m l sin

m glsin
m

m g

Trong o:
(t): Moment ngoi tc ng vo trc quay con lc (tn hiu vo)
(t): Gc lch ca con lc (tn hiu ra)
y(t): Dch chuyn ca vt nng theo phng thng ng trong ng dn hng
m1 : Khi lng xe (b qua khi lng l xo)
m2: Khi lng vt nng (b qua khi lng thanh)
l : Chiu di con lc
b1: H s ma st gia vt nng v ng dn hng
b2: H s ma st trc quay con lc
k: cng l xo

ky

d(t)

/2
/4
t
T

2T

4T
3T
Hnh 2

Thng s ca h thng cho trong bng 1 tng ng vi tn hc vin. Tn hiu t cho hnh
2. Cc hc vin tham gia lp hc nhng cha c tn trong bng 1 lin h vi ging vin
nhn cc d phng.
Yu cu:
1. Thit k b iu khin dng mng n-ron sao chp b iu khin PI m thit k
bi tp 3.
2. S dng gii thut di truyn m s thc chnh nh b iu khin PI m sao cho ti
thiu ch tiu cht lng:
J = e 2 (k )
k

Bo co bi tp :
Np chng trnh Matlab (s dng phin bn 2006 tr v trc).
File Word bo co kt qu:
Cu 1: Cu trc mng n-ron s dng, th d liu dng hun luyn mng,
th kt qu iu khin dng mng n-ron (tn hiu iu khin, tn hiu ra).
Cu 2: Cch m ha chui nhim sc th, cc ty chn ca GA, th hm thch
nghi theo th h, th 3 tham s (hc vin t chn) theo th h, kt qu iu
khin (tn hiu iu khin, tn hiu ra) sau khi chnh nh b iu khin PI m
dng GA
Bi tp np qua email c nn thnh 1 file, t tn file di dng:
ten hoc vien_bai 4.zip (hoc .rar)
Np bi tp ng thi vo hai a ch:
hthoang@hcmut.edu.vn
hthoang.hcmut@yahoo.com
Chu y:
Hc vin lm bi tp s dng s liu tng ng vi ca mnh. Lin h vi ging
vin thay i cc s liu khng ph hp (nu c). C bi tp s b im 0 nu tn ti mt
kt qu tng ng vi s liu ca khc.
Ch cc bi tp np ng hn mi c chp nhn.
Bang 1: Thong so cua he thong

Tn hc vin

m1
(kg)
1.4

m2
(kg)
1.8

l
(m)
1.1

b1
N/(m/s)
0.1

b2
(Nm)/(rad/sec)
0. 2

k
(N/m)
16

.Thanh Bnh

0.2

0.1

10

H. Trung Cang

1.3

1.5

1.4

0.2

0.1

24

N. P. Bo Duy

1.2

1.9

0.8

0.2

0.1

24

T. Thanh Hi

1.4

1.2

1.3

0.1

0.2

30

N. Thanh Ho

1.3

1.5

0.2

0.1

22

N. Hong Hiu

1.4

1.3

1.5

0.2

0.2

18

N. Trung Hiu

1.2

1.3

1.4

0.2

0.2

14

T. Mnh Hng

1.2

1.9

1.1

0.3

0.2

22

L.Vn Linh

1.1

1.7

1.1

0.1

0.2

24

N. Phong Lu

1.1

1.1

0.9

0.3

0.1

18

T. N. Ngha

1.3

1.3

0.2

0.2

10

H.Anh Nguyn

1.2

1.9

0.3

0.2

18

.Duy Quang

1.3

1.2

1.5

0.1

0.2

26

P.Nht Quang

1.1

1.3

1.3

0.1

0.1

26

C. Phi Qunh

1.3

1.7

1.1

0.1

0.2

28

N.Ngc Sn

1.2

1.3

1.3

0.1

0.2

26

T.Quc Sn

1.4

1.5

0.2

0.2

18

N.K.T Tm

1.4

1.1

1.1

0.3

0.2

22

B.Ngc Thng

1.3

1.5

0.2

0.2

24

T. c Thin

1.2

1.6

1.3

0.2

0.1

14

P.H. Thng

1.4

1.4

0.9

0.3

0.2

28

.T.Thng

1.4

1.5

1.4

0.1

0.2

22

C.Hng Tnh

1.3

1.3

1.2

0.3

0.3

22

N. Hu Tnh

1.4

1.4

0.9

0.2

0.2

14

N.Thnh Tr

1.3

1.2

0.9

0.3

0.2

20

.Tm Trung

1.2

1.6

1.2

0.1

0.3

28

T.Vn Trung

1.1

1.8

1.2

0.1

0.1

16

Q.T.Tuyn

1.2

1.5

1.1

0.2

0.3

24

P.Hoi Vit

1.4

1.3

1.5

0.1

0.2

18

L.Quc Chun

1.3

1.6

1.2

0.1

0.3

18

V Vn nh

1.4

1.2

1.1

0.1

0.1

22

Cao Vn Hi

1.2

1.4

0.8

0.2

0.1

24

D. Ngc Hng

1.4

1.8

0.8

0.1

0.1

18

T. Minh Nht

1.3

1.7

0.2

0.1

18

DP

1.2

1.5

0.8

0.2

0.2

24

. Xun Ba