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THIT K IU KHIN M LAI CHO H TRUYN NG IN MT CHIU DESIGNING HYBRID FUZZY CONTROLLER FOR DC DRIVER SYSTEM
TS. TRN ANH DNG; ThS. PHM TUN ANH Khoa in- TTB - Trng HHH Tm tt Bi vit ny cp n vn xy dng b iu khin m lai trn Matlab-Simulink kt hp vi card PCI 1711 ca Advantech, trong cc thng s ca h truyn ng in De Lorenzo trang b ti phng th nghim Truyn ng in (Khoa in TTB) c chnh nh thi gian thc. B iu khin m lai tng hp c p ng tt cc ch tiu cht lng iu khin v khc phc c nhng tn ti m b iu khin PID truyn thng cha p ng c. Abstract This paper touches upon about the method of designing a hybrid fuzzy logic controller on Matlab-Simulink with Advantech PCI 1711 Card, in which the parameters of De Lorenzo DC driver system equiped at the electrical driver system LAB (The faculty of marine electric and electronic in VIMARU) are realtime adjusted. The hybrid fuzzy logic controller satisfies all the close loop control systems qualitative parameters and remove the defects of the PID controller. 1. i tng nghin cu ng c in 1 chiu hin nay vn ang c s dng rng ri trong sn xut cng nghip, n c dng trong cc h truyn ng in c yu cu n nh tc cao nh truyn ng tay my robot, CNC, cn thp, v.v V phng din iu chnh tc , ng c in mt chiu c nhiu u vit hn so vi cc loi ng c khc, khng nhng n c kh nng iu chnh tc mt cch d dng, m cu trc mch lc, mch iu khin n gin hn ng thi li t cht lng iu chnh cao trong di iu chnh tc rng. H truyn ng in mt chiu ca hng De Lorenzo (Italy) c trang b ti phng th nghim Truyn ng in ca Khoa in-in t tu bin l i tng nghin cu chnh ca bi vit. Cu trc ca h thng c th hin nh trn hnh 1. ng c in mt chiu DL1023P l loi kch t c lp c cc thng s sau: Pm = 1,1 [kw]; Im = 6,7 [A]; Um = 220 [V]; Ikm = 0,3 [A]; Uktm=170 [V]; Nm= 3000 [kg/ph]. Ti ng dng phanh in xoy c cc thng s Pm=1,4 [kw]; Umax=250 [V]; Nmax = 4000 [kg/ph]. Vic thit k b iu khin tc ng c mt chiu c thc hin vi cu trc nh trn hnh 2.

Hnh 1. H thng truyn ng in mt chiu De Lorenzo trong PTN.

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Hnh 2. Cu trc cascade khi thit k cc b iu chnh dng in v tc . : ng c in mt chiu kch t c lp; B: B bin i Tiristor cp ngun cho ng c; FX: B pht xung iu khin gc m ca Tiristor; Ri, R: B iu chnh dng in v tc ; HCD: Khu hn ch dng in trong qu trnh qu ; Si: Cm bin dng in; S: Cm bin tc ; U: in p t, : Tc ng c, Mc: Mmen cn ng vai tr l nhiu chnh tc ng ln ng c; Uk: in p kch t ca ng c. Thng thng, b iu chnh tc c cu trc PI c tng hp theo tiu chun ti u i xng cn b iu chnh dng c thit k theo tiu chun ti u module cho kt qu nh sau: B iu chnh dng in B iu chnh tc

Ri ( p)

Ru .Tu Ru 1 2.K cl .K i .Tsi 2.K cl .K i .Tsi p

R ( p )

4.Ts .K i .K .Tc K .K .Tc 1 i 2 2 R .K .8.Ts R .K .8.Ts p

Cc tham s tnh ton c xc nh t m hnh h thng nh sau: Tu = 0.1(s) Tsi=Ti+Tvo+Tk = 0.005+0.0025+0.0025 = 0.01(s) <<Tu Tc = 0,042 Ts= 2.Tsi+T = 0.025 (s) Ti = T = 0.005(s) Kcl = 30,3 Tvo = 0.0025(s) Ki = 0,25 Tk = 0.0025(s) Kw = 1/105

B iu khin kinh in PID tng hp theo cc tiu chun trn c chng minh cht ch v c s l thuyt. Tuy nhin cc s liu tnh ton c ca b PID khi a vo i tng thc khng cho cht lng tt, thm ch c th cn lm mt n nh h thng (xem cc kt qu thc nghim di y). iu dn n vic phi a thm vo h b iu khin m (trong trng hp ny l b iu khin m Sugeno) nng cao cht lng iu khin. Cu trc chung ca b iu khin m lai iu khin tc h truyn ng in 1 chiu c dng nh hnh 3.
N B iu khin

ud
B iu khin i tng

Hnh 3. Cu trc h m lai.

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B iu khin m ng vai tr nh mt khu b nhiu, tc l ly chnh nguyn nhn gy ra sai lch iu khin a v phn hi, thng qua b iu khin tc ng ln i tng b li sai lch . Cc b iu khin PID v Sugeno u c thit k lm vic trn thi gian thc. 2. Nguyn l iu khin m Sugeno

1 f1 b01 b11u1 b21u2

u1

U1

u2

U2 2 f 2 b02 b12u1 b22u2

1 f1 1

1 f1

u1

U1

u2

U2
)
u1 u2
T

A11 A11 (u1 )

u1

A12

A12 (u1 )

1 f 1

u2

A21 (u ) A21 2
T

A22 A (u 2 ) 22
Lp 1 Lp 2 Lp 3

2
u1 u2
Lp 5

2 f 2

Lp 4

Lp 6

Hnh 4. Cu trc ca b iu khin n ron - m vi lut Sugeno (a - Thut gii m, b - Cu trc ANFIS).

B iu khin m Sugeno l b iu khin nm trong nhm nron-m, kt hp cc nguyn l iu khin m vi mng nron. H nron-m va c u im ca mng nron (nh kh nng hun luyn, kh nng ti u ho), va c nhng u im ca h m (nh kh nng suy ngh nu th, kh nng tch hp cc kinh nghim iu khin ca con ngi. Cu trc ca b iu khin n ron - m c trnh by hnh 4. Mng ny tng ng vi phng n cu hnh h n ron- m vi s lng mnh n nh (2 mnh ), nh hn s lng ln nht c th (4 mnh ). Mi mt nt (n ron) ca mng c c trng bi mt hm s. Cc thng s ca cc nt ny s c chnh nh bng cc phng php luyn thng s. C th xy dng c mng n ron hot ng tng ng b iu khin m vi lut Sugeno. Cu trc ca mng n ron - m trn y c th c hun luyn trn c s thut ton kp vi vic s dng phng php lan truyn ngc v phng php sai s bnh phng nh nht. Trong thi gian luyn thun trn c s phng php sai s bnh phng nh nht chnh nh cc thng s ca lp 5 - cc thng s kt lun ca lut m. Trong thi gian luyn ngc trn c s phng php lan truyn ngc chnh nh cc thng s ca lp 2 cc thng s ca cc hm thuc. 3. Xy dng chng trnh iu khin Realtime trn Matlab Simulink Chng trnh iu khin i tng thc trong ch thi gian thc (Realtime) c thc hin trn Matlab-Simulink vi cng c Real-Time Windows Target kt hp vi card DAQ PCI 1711 ca hng Advantech. Advantech cung cp tp hp th vin DLL phong ph cho cc phn mm lp trnh nh Visual C, Visual Basic, Delphi, Borland C, WinCE v tng thch vi cc phn mm h tr nh: Matlab, Labview, Advantech ActiveDAQ, Advantech GeniDAQ (hnh 5). Cc tn hiu t cc cm bin c thu thp v x l thng qua khi AI, chng trnh iu khin tnh ton theo cc thut ton v xc nh gi tr ca tn hiu iu khin c a ra khi AO tc ng ln i tng iu khin bn ngoi. Tt c qu trnh trn c thc hin trong ch thi gian thc. Cu hnh mng ca b iu khin m Sugeno trong cng c ANFIS c trnh by hnh 6.

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Hnh 5. Ti nguyn card PCI 1711.

Hnh 6. Cu trc ca b iu khin m Sugeno trong ANFIS.

D liu dng luyn b iu khin n ron-m nhn c thng qua thc nghim theo cch nh sau: ng vi tng gi tr ca tn hiu t tc v m men ti th u ra ca b iu khin m phi tc ng ln i tng mt lng l bao nhiu duy tr tc ca ng c nh gi tr t. Qu trnh thc nghim trn i tng thc a ra b d liu dng luyn nh sau:

Gi tr t (Ud) 0 0.5 0.5 0.5 0.5 0.5 1 1 1

M men ti (Mc) 0 0.03 0.22 0.82 1.71 2.21 0.05 0.26 0.95

u ra (Um) 0 0.1 0.18 0.28 0.45 0.55 0.15 0.2 0.35

Gi tr t (Ud) 1 1 1.5 1.5 1.5 1.5 1.5 2 2

M men ti (Mc) 2.06 2.95 0.05 0.28 1,0 2.13 3.15 0.06 0.29

u ra (Um) 0.55 0.68 0.2 0.25 0.38 0.58 0.75 0.23 0.29

Gi tr t (Ud) 2.5 2.5 2.5 2.5 2.5 2.5 2 2 2

M men ti (Mc) 0.06 0.28 0.98 2.08 0.06 3.27 0.98 2.11 3.18

u ra (Um) 0.3 0.35 0.45 0.63 0.3 0.83 0.42 0.62 0.8

B d liu luyn cng vi cu trc mng a ra trn c a vo cng c luyn ca ANFIS, hnh nh ca n c trnh by hnh 7. Chn thut ton kp luyn (hybrid) v s ln luyn (Epochs), sau cho chy qu trnh luyn (Train Now). Kt qu luyn thng s ca lp 2 (ta ca cc hm thuc hnh tam gic) v lp 5 (h s ca cc phng trnh tuyn tnh bc nht) c a ra ln lt cc bng di y:
Hnh 7. Cng c luyn ca ANFIS.

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Ud
N T L

a
-1.25 0.0073 1.258

b
-0.0028 1.248 2.501

c
1.232 2.494 3.75

f
f1

b0
2.001 0.2082 -0.0777 1.867 -0.0909 -0.0714 1.932 -0.1776 -0.1093

b1
0.8334 0.7762 0.604 0.5674 0.5144 0.4727 0.6022 0.4469 0.2434

b2
0.0002 -0.9975 -1.387 -2.168 -0.2869 -0.7169 -4.547 0.177 0.3076

f2

f3
f4

Mc
N T L

a
-1.635 0.0035 1.636

b
-0.001 1.634 3.27

c
1.628 3.27 4.905

f5

f6
f7 f8

f9

T nhng d liu, cu trc thu c trn y, ta tin hnh xy dng chng trnh iu khin thi gian thc trong mi trng Matlab-Simulink nh hnh 8.

Hnh 8. H m lai iu khin truyn ng in 1 chiu trong ch thi gian thc.

H iu khin trn lm vic trong ch thi gian thc vi s tr gip ca card ghp ni Advantech PCI-1711. Nh ni phn u ca bi vit, b iu khin PID tnh ton cho i tng thc chng 1 khi a vo h iu khin hnh 8 khng cho cht lng iu khin t yu cu. C th l khu tch phn lm cho h mt n nh, cn khu t l ca b iu chnh tc vi h s p=2.81 lm cho c tnh qu ca h dao ng mnh. Nguyn nhn ca cc hin tng trn l khi tnh ton cc b iu khin PID, ta phi tuyn tnh ho i tng, nhiu yu t phi tuyn mnh v khng xc nh b b qua. Trong h truyn ng in ang nghin cu, gia tc ca ng c b hn ch mnh do cc yu cu v c hc a ra bi hng sn xut m ta khng th can thip vo c. iu dn n m hnh ton ca i tng thay i, tnh tc ng nhanh b gii hn mnh. Do , vic cn thit phi a vo h b iu khin m b sai lch iu khin

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thng qua tc ng b nhiu ti v c kim nghim qua cc kt qu thc nghim cc ch lm vic khc nhau ca h (hnh 9).

Hnh 9. Kt qu thc nghim thi gian thc vi tc t l 2000 vg/ph.

Trn hnh 9 l cc kt qu thc nghim cc ch lm vic khc nhau trn m hnh thc c ly ra t cc th ca chng trnh iu khin ng vi tc t l 2000 vg/ph, trong ct th nht l c tnh qu v xc lp khi khi ng, khi thay i ti v khi dng ca tc ( th trn) v m men ng c ( th di) khi h thng lm vic ch mch h (khng c phn hi); ct th hai l c tnh qu v xc lp khi khi ng, khi thay i ti v khi dng ca tc ( th trn) v m men ng c ( th di) khi h thng lm vic ch iu khin PID; ct th ba l c tnh qu v xc lp khi khi ng, khi thay i ti v khi dng ca tc ( th trn) v m men ng c ( th di) khi h thng lm vic ch iu khin m lai. 4. Kt lun T cc kt qu thc nghim ta thy rng, ch mch h sai s tnh ca h rt ln khi tng ti, iu ny ph hp vi dng c tnh c ca ng c in 1 chiu; ch iu khin PID sai s tnh gim so vi ch mch h, tuy nhin n vn tn ti tng i ng k do khng cn khu tch phn trong b iu chnh; ch iu khin m lai sai s tnh b trit tiu, tc ng c c duy tr khi ti thay i tng hoc gim cc gi tr tc t khc nhau. Trong iu khin m lai, tnh tc ng nhanh ca h khng h suy gim do vn gi li b iu khin PID, bn cnh vic a vo b iu khin m Sugeno lm tng chnh xc trong iu khin ln ng k m khng cn kho st n cc yu t phi tuyn v cc yu t khng xc nh khc ca i tng. Ngoi ra, do tnh cht c th hun luyn c ca b iu khin m Sugeno, chng ta c th nng cao hn na cht lng iu khin nu thu thp c b d liu hon thin hn trong qu trnh lm vic ca h thng. TI LIU THAM KHO [1] Bi Quc Khnh, Nguyn Vn Lin - iu chnh t ng truyn ng in - Nh xut bn khoa hc v k thut, H ni - 2002. [2] Trn Anh Dng - iu khin n ron-m h in-c phi tuyn c bin dng n hi - Tp ch khoa hc - cng ngh hng hi - 2008, s 15, tr. 18-23. [3] Chin-Teng Lin, C. S. George Lee - Neural Fuzzy Systems A Neuro-Fuzzy Synergism to Intelligent Systems - NJ.: Prentice-Hall International, Inc. - 1996. Ngi phn bin: TS. Trn Sinh Bin

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