1

THIT K B IU KHIN BNG MNG NRON TRUYN THNG

THEO M HNH MU L MT KHU DAO NG BC 2
KS. Phm Ngc Minh, PGS-TSKH. Phm Thng Ct
Phng Cng Ngh T ng Ha - Vin Cng Ngh Thng Tin
Vin Khoa Hc v Cng Ngh Vit Nam
Tel. 84-4-8363484, Fax: 84-4-8363485, E-mail: ptcat@ioit.ncst.ac.vn

Tm tt : Bi bo ny trnh by kt qu nghin cu thit k b iu khin bng mng nron truyn
thng c hun luyn bng gii thut hc lan truyn ngc li BP v c ci t trn thit b iu
khin thng minh KTM, mt sn phm cng ngh cao ca phng Cng ngh T ng ho - Vin
Cng ngh Thng tin.


DESIGN AND IMPLEMENTATION OF A NEURO CONTROLLER USING
SECOND ORDER REFERENCE MODEL
Dipl.Eng. Pham Ngoc Minh, Prof.DSC. Pham Thuong Cat
Department for Automation Technology, Institute of Infomation Technology.
Viet Nam Academy of Science and Technology
Tel. 84-4-8363484, Fax: 84-4-8363485, E-mail: ptcat@ioit.ncst.ac.vn

Abstract: This paper presents research results in design and implementation of a neural controller
using Error Back-Propagation Algorithm. This controller has been installed in an intelligent control
KTM device, a high-tech product of Department for Automation Technology - Institute of
Information Technology.



1. T VN

Ngy nay, tr tu nhn to ang pht trin mnh m
nhm to ra c s xy dng cc h chuyn gia, h
tr gip quyt nh. Tr tu nhn to c xy dng
trn c s mng nron nhn to v ng dng trong
thit k h thng iu khin thng minh m trong
b iu khin c kh nng t duy nh b no
ca con ngi ang l xu hng mi trong iu
khin t ng.

Mng nron l s ti to bng k thut nhng chc
nng ca h thn kinh con ngi vi v s cc
nron c lin kt truyn thng vi nhau trong
mng. Trong bi bo ny, chng ti s trnh by kt
qu ng dng mng nron trong ch to thit b
iu khin thng minh.

2. M HNH MNG NRON LAN TRUYN
THNG NHIU LP

Trong bo co ny, chng ti s dng m hnh
mng nron lan truyn thng nhiu lp p dng cho
h thng SISO (single-input single-output). Mng
nron nhiu lp lan truyn thng c m t nh
hnh 1 vi 3 lp Input Layer (lp vo), Hidden
Layer (lp n), Output Layer (lp ra).



























Trong :
Cc nron trong mng l nron Fermi
Input Layer gm 1 nron c trng s bng 1.
Tn hiu vo x c a ti nron ca Input
Layer, khi tn hiu ra ca nron l x
Vector trng s gia Input Layer v Hidden
Layer l V
i
. Tn hiu ra ca cc nron Input
Layer c a vo cc nron ca Hidden
Layer, khi tn hiu ra c tnh theo cng
thc: ) ( ) * (
i i i
netV f b x V f O = + = (2.1)
trong b x V netV
i i
+ = *
V
i

W
i

b

Input
Output
Input
Layer
Hidden
Layer
Output
Layer
x y
Hnh 1 : Cu trc mng nron

2
) 1 (
1
1
) (
i i
i
netV
i
O O
dnetV
df
e
netV f
i
=
+
=


Vector trng s gia Hidden Layer v Output
Layer l W
i
.Tn hiu ra ca cc nron Hidden
Layer c a vo nron ca Output Layer,
khi tn hiu ra y c tnh theo cng thc:

(2.2) ) 1 (
1
1
) ( ) ) * W ( (
3
1 i
i
y y
dnetY
df
e
netY f O f y
netY
i
=
+
= = =

=

Trong

=
=
3
1
i
) * W (
i
i
O netY
S gii thut tnh tn hiu ra y c m t nh
hnh 2



































3. HUN LUYN MNG NRON VI GII
THUT HC LAN TRUYN NGC LI
BP

Trc khi s dng mng Nron, ta cn phi dy
hc cho mng vi nhim v xc nh cc trng s
V
i
, Wi .Gii thut hc lan truyn ngc BP c
dng dy mng nhiu lp. Ta c tp cc mu hc
{x[k] , y[k] }. T tp mu hc x[k] v cc trng s
V
i
[k] , W
i
[k] ca mng, ta xc nh c u ra
thc ] [
~
k y . Trn c s so snh vi mu hc y[k],
cc trng s W
i
[k] c hiu chnh thnh W
i
[k+1] .
Tip tc t W
i
[k+1] s hiu chnh cc trng s
V
i
[k] .
Vi sai lch cho mu hc th k l
) ( ) (
~
k y k y , gi tr gia tng ] [k W
i
c
xc nh theo cng thc ci bin ca Widnow
nh sau:
. .
) (
] [ ] [ ] [
] [
~
i Y
i
k netY
i
O s
O
netY d
df
k y k y s k W
=
|
|
.
|

\
|
=
(3.1)
Trong
] [
~
) (
] [ ] [
k netY
Y
netY d
df
k y k y
|
|
.
|

\
|
=
l tn hiu sai lch ca nron u ra.
Tham s s gi l bc hc,
9 . 0 1 . 0 = s
C th xc nh O
i
theo cng thc 2.1.
Sau khi tnh c ] [k W
i
, ta xc nh c
trng s mi ] 1 [ + k W
i
theo cng thc sau:
] [ ] [ ] 1 [ k W k W k W
i i i
+ = + (3.2)
Sau khi c ] 1 [ W + k
i
ta xc nh gi tr gia
tng ] [k V
i
theo cng thc ci bin ca
Widnow nh sau:
x s k V
Vi i
. . ] [ == (3.3)
] 1 [ W
) (
i
3
1
] [
+ =

=
k
netV d
df
i
V
k netV
i
Vi
i

Sau khi tnh c ] [k V
i
, ta xc nh c
trng s mi ] 1 [ + k V
i
theo cng thc sau:
] [ ] [ ] 1 [ k V k V k V
i i i
+ = + (3.4)

Thut ton hiu chnh cc trng s s dng n khi
sai lch E < cho trc:
<
(

=

2
~
) ( ) (
2
1
k y k y E (3.5)
S gii thut hun luyn mng c m t trong
hnh 3,4.















x[k]
NetV
i
= V
i
*x[k]

+ b
i
netV
i i
e
netV f O

+
=
=
1
1

) (

=
=
3
1
i
) * (W
i
i
O netY
i = i + 1
i = 1
i > 3
Yes
No
netY
e
netY f k y

+
=
=
1
1

) ( ] [
~

Hnh 2: Lu tnh tn hiu ra y ca mng nron

3








































































































4. XY DNG B IU KHIN DNG MNG
NRON THEO M HNH MU L MT
KHU DAO NG BC 2

Bi ton t ra cn phi thit k b iu khin bng
mng nron tn hiu ra ca i tng iu khin
bm ly tn hiu ra ca m hnh mu khi i tng
c tham s khng bit trc hoc b thay i trong
qu trnh hot ng. Xt m hnh mu l khu dao
ng bc 2:
0 1
2
M
) ( W
a s a s
K
s
M
+ +
= (4.1)
vi thng s K
M ,
a
1
v a
2
c chn ph hp vi
cc ch tiu cht lng mong mun, a
1
, a
0
c th
c lng c. Phng trnh vi phn tng ng
l:
u K y a y a y
M M M M
= + +
0 1
(4.2)
Start
k = 1
x[k]
Create NN
~
y [k]
y[k]
2
~
] [ ] [ *
2
1
(

= k y k y E
E <
Thut ton lan truyn ngc BP
hiu chnh cc trng s
] [ ] [ ] 1 [ k W k W k W
i i i
+ = +
] [ ] [ ] 1 [ k V k V k V
i i i
+ = +
k = k + 1
Stop
Yes
I
II
No
Hnh 3: Lu gii thut hun luyn mng nron
] [ ] [ ] 1 [
* * ] [
) (
* ]) [ ] [ (
] [
~
k W k W k W
O s k W
netY d
df
k y k y
i i i
i y i
k netY
y
+ = +
=
=

i = 1
] [ ] [ ] 1 [
* * ] [
] 1 [ *
) (
3
1
] [
k V k V k V
x s k V
k W
netVi d
df
i i i
Vi i
j
j y
k netVi
Vi
+ = +
=
+ =

=

i = i + 1
i > 3
I
II
No
Yes
Hnh 4: Thut ton lan truyn ngc BP hiu
chnh cc trng s W
i
[k+1], V
i
[k+1]

4
Mng nron trong cu trc iu khin theo vng
kn ng vai tr b iu khin
















Trong :
- SP : gi tr t Setpoint
- Y
p
: tn hiu ra ca i tng iu khin
- E
p
: sai lch tn hiu ra ca i tng iu
khin vi tn hiu ra mu E
p
= Y
M
Y
p

- U
p
: tn hiu iu khin

Cc bc thit k b iu khin dng mng Nron

Bc 1: Hun luyn mng NN Inverse Model
TK nhn dng ng hc nghch m hnh i
tng iu khin thc















U
p
- tn hiu th l mt hm f(t) to ra nhiu gi tr
mu u vo hun luyn iu chnh (W,b) ca
mng Nron sao cho min
2

p
E .
Sai s E
p
= U
p
- U
NN
c s dng hun luyn
mng, thng tin v sai s c lan truyn ngc
qua mng nron hiu chnh li (W,b) theo gii
thut hc lan truyn ngc li BP.

















































Bc 2: Sau khi c b NN Inverse Model
TK , ta lp b vo h thng xc nh b
NN Controller sao cho h thng ging m hnh mu
l mt khu dao ng bc 2
















M hnh mu
W
M
(s)
+
-
Y
P
Y
M
E
P
TK
U
P
SP
NN Controller
(iu chnh W,b)
Hnh 5: S cu trc iu khin mch kn theo
m hnh mu W
M
(s)
TK
E
p
+
-
Y
p
U
NN
U
p
NN Inverse
Model TK
Hnh 6 : S hun luyn mng nron nhn dng
ng hc nghch m hnh i tng iu khin
Start
U
p
= f(t)
Chuyn i D/A
Analog Output
TK
Analog Input
Chuyn i A/D
Nhn dng m hnh TK
bng mng nron theo thut
ton lan truyn ngc BP
| |
2
*
2
1
NN p p
U U E =
E
p
<
Stop
No
Yes
U
NN U
p
Hnh 7: Lu thut ton nhn dng ng hc
nghch m hnh i tng iu khin
NN Inverse
Model
TK
M hnh mu
W
M
(s)
+
-
U
NN
U
P
E
M
Y
M
X
NN Controller
(iu chnh W,b)
Hnh 8: S hun luyn mng nron iu
khin theo m hnh mu

5
S hun luyn iu chnh (W,b) ca mng Nron
sao cho min
2

M
E . Tnh tn hiu ra Y
M
ca m
hnh mu W
M
(s) bng phng php s Runge-Kuta
ti cc thi im t , t gi tr Y
M
ta cho lan truyn
ngc qua NN Model TK c gi tr U
NN
,
sai s E
M
= U
NN
U
P
c s dng luyn mng.
Thng tin v sai s c lan truyn ngc qua
mng NN Model TK m phng ng hc
nghch ca i tng iu khin v mng NN
Controller hiu chnh li (W,b) ca mng.









































Thut ton iu khin dng mng nron trn
c lp trnh v ci t vo thit b iu khin
thng minh KTM ca phng Cng ngh T ng
ho - Vin Cng ngh Thng tin.





5. MT S KT QU THC NGHIM KHI S
DNG B IU KHIN BNG MNG
NRON TRN THIT B KTM

Chng ti s dng thut iu khin bng mng
nron trn thit b KTM vi i tng l khu
dao ng c m phng trn thit b m phng
MPT.












Tn hiu ra AO1 ca thit b iu khin thng minh
l tn hiu iu khin v cng l tn hiu vo ca
i tng, tn hiu ra ca i tng AO1 chnh l
tn hiu vo ca thit b iu khin thng minh.
Khi thit b iu khin thng minh trng thi
Prog, t SP =1500, ac1=1, ac0=1,

i tng iu khin c chn trn thit b m
phng MPT l khu dao ng (chn trong h
tuyn tnh) c hm truyn t:

1
5 . 0
) (
2
+ +
=
s s
s W
P
(5.1)
t thit b iu khin trng thi RUN, cho php
iu khin i tng ta thu c kt p ng thi
gian ca i tng trn thit b m phng MPT


















Khi chy mode RUN, chng trnh s t ng
hc i tng chnh cc trng s ca mng
nron, sau 30s tn hiu ra ca i tng bm c
tn hiu ra ca m hnh mu, sai s ->0





Start
Setpoint
Hiu chnh cc
trng s V
i
, W
i
ca
NN Contronller
theo thut ton lan
truyn ngc BP
| |
2
*
2
1
p NN p
U U E =
E
p
<
Stop
No
Yes
U
NN
U
p

Tnh u ra Y
M

ca m hnh
mu W
M
(s)

Tnh U
NN
qua
m hnh
NN Inverse
Model TK

Hnh 9: Lu thut ton hun luyn mng
nron iu khin theo m hnh mu
AO1
AI1
(AI1)
MPDT
(AO1)
MPDT
Hnh 10 : S ghp ni 2 thit b KTM vi MPT
Hnh 11: Mn hnh giao din thit b MPT

6
Nu thay i h s K ca khu dao ng trn thit
b m phng MPT nh K=0.75,K=1, K =2 ta vn
thu c kt qu tng t.























Qu trnh hun luyn mng NN Controller trong
khong 22s , sau bt u qu trnh iu khin
i tng.

6. KT LUN

Phng Cng ngh T ng ho - Vin Cng ngh
Thng tin nghin cu thit k b iu khin trn
c s mng nron nhn to ci t trong thit b
KTM vi mong mun to ra mt thit b iu
khin thng minh c kh nng thch nghi vi mt
s ng dng thc t nh h thng iu khin l
nhit, iu khin mc nc, iu khin PH
v.v .

Kt qu nghin cu ny ch l bc u tip cn
vi lnh vc ng dng tr tu nhn to trong iu
khin t ng. Trong thi gian ti, chng ti s
nghin cu nng cao kh nng thng minh cho
thit b KTM vi mt s m hnh mng nron v
gii thut hc khc.














TI LIU THAM KHO

[1] CHIN-TENG LIN and C.S GEORGE LEE
Neural Fuzzy Systems. A Neuro-Fuzzy
Synergism to Intelligent Systems,
Prentice Hall International, Inc, 1996

[2] SIMON HAYKIN,
Neural Networks a Comprehensive Foundation
Prentice Hall International, Inc, 1999

[3] BI CNG CNG,
NGUYN DON PHC
H m mng nron v ng dng,
Nh xut bn khoa hc v k thut, 2002

[4] PHAN XUN MINH,
NGUYN DON PHC
L thuyt iu khin m,
Nh xut bn khoa hc v k thut, 2002

[5] PHAN MINH TN,
TRN VIT PHONG,
BI THANH QUYN,
PHM THNG CT.
Bo co Nghin cu pht trin thit b
MPT m phng thi gian thc cc i
tng iu khin.
Tuyn tp Hi ngh khoa hc ton quc
VICA5, Vol.1, pp 259-264. H nI 2002.































Hnh 12: th qu trnh iu khin i tng
trn thit b MPT vi b iu khin
mng nron ci t trn thit b KTM
Qu trnh hun luyn
NN Controller
Qu trnh iu khin
i tng

7