1

B GIO DC V O TO
I HC NNG


NGUYN MINH IP


NG DNG B IU KHIN PID THCH NGHI TRONG
IU KHIN LAI V TR-LC CHO TAY MY

Chuyn ngnh: T ng ha
M s: 60.52.60


TM TT LUN VN THC S K THUT

Nng, Nm 2012
2

Cng trnh c hon thnh ti
I HC NNG


Ngi hng dn khoa hc: TS. NGUYN HONG MAI

Phn bin 1: TS. NGUYN C THNH

Phn bin 2: TS. V NH TIN

Lun vn c bo v ti Hi ng chm Lun vn tt
nghip thc s k thut hp ti i hc Nng vo ngy 9 thng
6 nm 2012


C th tm hiu lun vn ti:
- Trung tm Thng tin - Hc liu, i hc Nng
- Trung tm Hc liu, i hc Nng.
3

M U
1. L do chn ti
Ngy nay trn th gii khng c cng ngh no pht trin
nhanh v mnh nh k thut robot. Robot s tr thnh mt trong
nhng ng lc quan trng nht ca s pht trin k thut. nc ta,
l mt nc ang trong giai on cng nghip ha hin i ha t
nc, vic ng dng robot cng nghip l khng th thiu.
Robot v ang c ng dng rng ri trong nhiu lnh vc
khc nhau. Tay my c dng ch yu trong cc cng vic nh:
Gp vt liu, hn, lp rp, sn,Cc cng vic ny thng yu cu
tay my phi c chnh xc cao, lp li v thc hin nhanh.
Hin nay c nhiu phng php iu khin t ng nhng
phng php iu khin kinh in PID vn ng vai tr quan trng.
Tuy nhin vi tay my l i tng c tnh phi tuyn mnh, vic s
dng phng php n thun PID s cho cc ch tiu cht lng qu
khng tt, chu nhiu km v d mt n nh. Do , vic nghin
cu v ng dng cc thut ton iu khin hin i nhm iu khin
chnh xc v loi b cc tc ng khng mong mun trong qu trnh
iu khin tay my lun thu ht c s quan tm, nghin cu ca
cc nh khoa hc.
Vi cc l do trn, tc gi la chn ti ng dng b
iu khin PID thch nghi trong iu khin lai v tr-lc cho tay
my lm ti nghin cu vi mong mun p ng ng ra v cc
c tnh ca h thng iu khin tha mn cc yu cu ra.
2. Mc ch nghin cu
4

Mc ch nghin cu ti ny l nhm nh gi mc u
vit ca b iu khin PID thch nghi so vi b iu khin PID
3. i tng v phm vi nghin cu
Nghin cu v xy dng iu khin PID thch nghi iu
khin lai v tr-lc cho tay my robot v p dng m phng thut ton
iu khin ny trn m hnh tay my 2 bc t do.
4. Phng php nghin cu
+ Nghin cu l thuyt.
+ M hnh thc nghim: M phng trn Matlab v Simulink.
5. ngha khoa hc v thc tin ca ti
- ng dng iu khin lai v tr-lc cho tay my 2 DOF.
- Nng cao c cht lng iu khin i vi iu khin tay
my robot. Gp phn ng dng robot ngy cng ph bin nc ta.
6. Cu trc ca lun vn
Ni dung lun vn bao gm 4 chng, trong :
Chng 1: Tng quan tay my robot. Chng ny gii thiu
tng quan v s pht trin v thnh phn cu to chnh tay my robot
Chng 2: ng lc hc ca tay my robot. Chng ny gii
thiu ng lc hc lai v tr-lc tay my robot v m hnh thut ton
ca ng c in mt chiu (DMC)
Chng 3: C s l thuyt iu khin PID thch nghi v thit
k b iu khin PID thch nghi iu khin lai v tr-lc cho tay my
robot 2 bc t do. Chng ny gii thiu c s l thuyt cc b iu
khin kinh in, thch nghi v thit k b iu khin PID thch nghi
Chng 4: M phng h thng v kt lun
5

CHNG 1
TNG QUAN TAY MY ROBOT
1.1. Lch s pht trin
1.2. Cc nh ngha
nh ngha theo RIA (Robot Institute of America)
nh ngha theo tiu chun AFNOR (Php)
nh ngha theo OCT 25686-85 (Nga)
1.3. Cu trc c bn ca Robot cng nghip
1.4. H thng dn ng
1.5. H thng cm bin.
1.6. Kt cu tay my
1.7. Cc phng php iu khin tay my robot
1.8. Kt lun
Chng ny chng ta tm hiu s lc v lch s pht trin ca
cng ngh robot, c im c bn ca robot v cc phng php iu
khin robot. Vic iu khin cnh tay robot lun l mt trong nhng
nhim v quan trng i hi phi thng xuyn c nghin cu,
pht trin v hon thin theo hng ti u hn.







6

CHNG 2
NG LC HC CA TAY MY ROBOT
2.1. Phng trnh ng hc ca Robot
2.1.1. Phng trnh ng hc thun ca Robot
2.1.1.1. Tham s ca thanh ni v khp
2.1.1.2. Lp bng thng s (DH) Danevit-Hartenberg
2.1.2. Phng trnh ng hc ngc ca Robot
2.1.2.1. Cc iu kin ca bi ton ng hc ngc
2.1.2.2. Li gii theo php quay Euler
2.1.2.3. Li gii ca php quay Roll, Pitch, Yaw
2.2. Phng trnh ng lc hc ca robot
( ) ( , ) ( ) M q q C q q q g q + + = && & & (2.10)
(2.10) l phng trnh ng lc hc ca tay my c n-DOF


2.2.1. Cc tnh cht ca m hnh ng lc hc tay my robot
2.2.1.1. Ma trn qun tnh M(q)
2.2.1.2. Ma trn lc ly tm v lc Coriolis
2.2.1.3. Vector moment trng lc
2.2.2. M hnh ng lc hc cho tay my hai bc t do







Hnh 2.3: Cu trc ng hc ca tay my hai bc t do
l
C1 l
C2
q
x
y
q
m
t
,I
t
m
2
,I
m
1
,I
l
l
2
7

2.2.2.1. ng hc thun

1 2
( , )
x
q q
y

(
(

=
(2.23)
Vi tay my robot 2 DOF, m hnh ng hc c cho bi:

(2.24)
2.2.2.2. ng hc ngc

(2.27)
2.2.2.3. ng lc hc tay my hai bc t do
Hm Lagrange ca tay my robot cho hnh 2.3, c xc
nh bi: ( , ) ( , ) ( ) L q q K q q P q = & &
Phng trnh Lagrange-Euler chnh l lc tng qut tc ng
ln khu th i. Lc tng qut chnh l moment c xc nh bi:
( , ) ( , )
; 1; 2
i
d L q q L q q
i
dt q q

(
= =
(


& &
&

Chn h trc to Oxy nh trn hnh 2.3. Ta s tnh c m
men lc khp 1 v khp 2
M hnh trng thi ca tay my robot:
11 12 11 12 1
21 22 21 22 2
M M C C g
q q
M M C C g

( ( (
+ + =
( ( (

&& &

2.3. iu khin lai v tr-lc tay my
2.3.1. Tng quan iu khin lai v tr-lc tay my robot
2.3.2. iu khin lai v tr-lc tay my 2 bc t do

Phng trnh ng lc hc lai v tr-lc tay my [8]:
(2.43)
(2.44)
(2.45)
1 1 2 1 2
1 1 2 1 2
x cos( ) cos( )
sin( ) sin( )
l q l q q
y l q l q q
= + +
= + +
1 1
1
( , )
q
x y
q

(
(

=
8


'
( ) ( , ) ( ) ( ) ( )
T
M q q C q q q G q D q J q f = + + + + && & & &
(2.47)
M men ngoi lc tc dng vo tay my c phng trnh ng
lc sau [8]:

( )
T
f
J q f =
(2.48)

J(q) c xc nh (2.25)
2.4. ng c in mt chiu trong iu khin tay my robot
2.4.1. M t ton hc ng c in mt chiu
2.4.1.1. Ch xc lp ca ng c in mt chiu
2.4.1.2. Ch qu ca ng c in mt chiu
2.4.2. Cc hm truyn
2.4.2.1. Hm truyn b chnh lu
2.4.2.2. Hm truyn b bin dng o lng
2.4.2.3. Hm truyn my pht tc
2.4.2.4. Hm truyn b cm bin v tr
2.4.2.5. Bng thng s ng c
2.5. Kt lun chng 2
Trong chng ny tc gi nghin cu l thuyt ng lc hc
ca robot cng nghip cng nh m hnh thut ton ca ng c in
mt chiu v p dng cho robot hai bc t do.
Nghin cu ng lc hc robot l cng vic cn thit khi phn
tch cng nh tng hp qu trnh iu khin chuyn ng a ra
cc phng trnh ng lc hc lai v tr-lc tay my. T gii
phng trnh ng lc hc a ra m hnh trng thi tay my. Kt
qu tm c s c m phng tay my trong chng 4.

9

CHNG 3
C S L THUYT IU KHIN PID THCH NGHI
V THIT K B IU KHIN PID THCH NGHI
IU KHIN LAI V TR-LC CHO TAY MY ROBOT
2 BC T DO
3.1 . Tng quan
3.2. Cc b iu khin kinh in
3.2.1. B iu khin t l sai lch (PE: Propotional Error)
3.2.2. B iu khin t l o hm (PD: Propotional Derivative)
3.2.3. B iu khin t l tch phn o hm (PID: Propotional
Integral - Derivative)
3.2.4. B iu khin tnh m men (Computed - Torque Controller)
3.3. iu khin thch nghi
3.3.1. Gii thiu chung
3.3.2. H thng iu khin thch nghi t chnh
3.3.3. H thng iu khin thch theo m hnh mu
3.3.4. Lut thch nghi
3.3.4.1. Phng php hm nhy (lut MIT)
3.3.4.2. Gradient v phng php bnh phng b nht da trn tiu
ch nh gi hm chi ph sai s
3.3.4.3. Hm Lyapunov
3.4. Thit k b iu khin PID thch nghi cho iu khin lai v
tr-lc cho tay my robot
ng lc hc cho tay my phi tuyn c dng:
( ) ( , ) ( ) ( ) M q q C q q q G q D t u = + + + = && & &

(3.9)
10


( )
n
D t R
l nhiu
Ta c th vit:
Trong :

1
1
( , ) ( , ) ( )
( , ) ( ). ( , )
( ) ( )
k q q C q q q G q
a q q M q k q q
B q M q

= +
=
=
& & &
& &

Suy ra: (3.10)
Xt h thng phi tuyn biu din phng trnh trng thi ca
tay my (3.10):
Trong
n
u R

l vect cc lc tng qut
Gi thuyt rng [6]:

1
a A
B H
d D
m
h

(3.11)
Gi
n
d
q R
l vect qu o mong mun,
l vect sai lch bm v o hm ca chng.
Chn
Ce e
i i i i
= + &
Trong
Chn
( ) u Ksgn =

(3.12)
Trong
( ) ( ) ( ) ( )
T
1 2 n
sgn sgn ,sgn ...,sgn (

=

Cho h thng (3.10) tha mn gi thit (3.11) vi u chn theo
(3.12), trong :
th sai lch bm ca h thng e s hi t v 0.
( , ) ( ) ( ) q a q q B q u D t = + + && &
( ) ( , ) u M q q k q q = + && &
;
d d
e q q e q q = = & & &
( )
1 2 n i i
C diag C , C ,..., C ; C R; C 0; i 1,..., n = > =
( )
1 2 n i
K diag K , K ,..., K ; K K 0; i 1,..., n = = > =
( )
d
K H A D Ce q ; 0 = + + + + > & &&
11

Chng minh:
o hm ca l:
( ) ( ) ( ) ( )
d
Ce q a q,q B q Ksgn d t = +
& && && &

Chn ,
( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
T T
1 d
T 1
1 d
T
1 d
V . Ce q a q, q B q Ksgn d t
V B q B Ce q a q, q d t Ksgn
V B q sgn H Ce q a q, q d t K

(

(

(

= = +
= +
+ + +
&
& && && &
&
& && &&
&
& && &&

R rng nu vi l mt hng
s dng nh bt k.
Theo tiu chun n nh Lyapunov th:
c , s m bo h thng c 0.
Khi = 0 = tng ng vi
Vi C
i
> 0 th e
i
0 khi t m tc hi t ph thuc vo
gi tr ca C
i
.
T cch chng minh nh trn ta thy rng e 0 khi e 0 & v
c gii hn v tnh cht vt l ca h thng nn c th tm c
mt hng s E

sao cho:


d
Ce q E + & && . (3.13)
T ta c th chn
( )
m
K A D E h = + + +
l hng s.
H qu: Cho h thng (3.10) vi gi thit (3.11), (3.13) tha
mn, u chn theo (3.12), Trong : (3.14)
th sai lch bm ca h thng e s hi t v 0.
d
Ce q q = + & && && &
T
1
1
V 0
2
= ( )
T T
1
V . Ce e = = +
&
& && &
1
0 V
&
( )
d
K H A D Ce q + + + + & &&
1
0 V
&
T
1
1
V 0
2
=
Ce e + &
d
q&&
0; 1,...,
i i i
Ce e i n + = = &
( )
m const
K A D E h K = + + + =
12

T lut iu khin (3.12), ta thy hm sgn() s gy ra s thay
i ca u t +K sang K mt cch rt nhanh khi 0 [6]. iu ny
trong thc t s lm cho u
k
thay i nhanh gia K, lm ng c
mau h. Ta lm mm u bng cch thay du signum bng hm bo
ha sat. Khi thay hm signum bng hm t l - tch phn- o hm
(PID) bo ha, ta c th kh chattering cho cc tn hiu iu khin
m khng gy ra s sai lch trong hot ng ca h thng [1].
Nh vy u = K
const
.sat(/)
Hay
. . . .
const
const const
const
const
K khi
K K
u K Ce e khi
K khi

<
= = +
>
&

Lut iu khin c lm mm ho ny thc cht l mt b
iu khin PD vi
.
const
P
K
K C

=
v
const
D
K
K

=

V b iu khin l khu PD iu khin mt i tng phi
tuyn, nn lun lun tn ti sai lch e. Trn qu o pha ca sai lch
( ) , e e& , h thng s hi t li mt vng quanh gc ta ca
( ) 0, 0 e e = = &
. R rng mt khu I c a vo b iu khin PD c
th lm sai lch e 0. T ta c th xy dng mt lut iu khin
PID nh sau:



0
. . .
const
t
const const
const
K khi
K K
u Ce e I dt khi
K khi

<
= + +

>
&
13

Hay

(3.15)

y:
; ;
. .
const const
P I D
K C I K C I
K K K

+
= = =

T kt qu thit k v xy dng lut iu khin PID thch nghi
tng qut nh trn, tc gi p dng cho tay my 2 bc t do
Khp 1: Lut iu khin PID thch nghi K
P
, K
I
, K
D

1 1 1
. .
; ; ; 1 3
consti i i i i consti
P I D
i i i
K C I C I K
K K K i

+
= = = =



Khp 2: Lut iu khin PID thch nghi K
P
, K
I
, K
D

2 2 2
. .
; ; ; 1 3
consti i i i i consti
P I D
i i i
K C I C I K
K K K i

+
= = = =

3.5. Kt lun chng 3
Chng ny gii thiu cc b iu khin kinh in v iu
khin hin i cho tay my robot. p dng thit k b iu khin
PID thch nghi cho tay my robot. Qua xc nh y l mt
phng php khoa hc la chn v tnh c cc h s K
P
, K
I
, K
D

thng qua cc thng s K
const
, C, I v . iu ny s c chng
minh bng m phng trong chng 4.



0
. .
. .
const
t
const const
const
K khi
K C I K C I
u e e edt khi
K khi

<
+
= + +

>
&
14

CHNG 4
M PHNG H THNG V KT LUN
4.1. M hnh ha tay my robot
4.2. M hnh ha ng c in mt chiu
4.3. M hnh ha b iu khin PID thch nghi vi cc tham s
thch nghi l
; ;
. .
consti i i i i consti
Pi Ii Di
i i i
K C I C I K
K K K

+
= = =

4.4. M hnh ha h thng
Hnh 4.4: S m hnh ha dng b iu khin PID thch nghi iu
khin lai v tr-lc cho tay my 2 DOF
4.5. Kt qu m phng v phn tch nhn xt
15

4.5.1. Kt qu m phng so snh gia b iu khin PID thch nghi
v PID
Khi c ti vi v tr gc qd1=pi/4(rad), qd2=pi/3(rad) v lc
t f
d1
,f
d2
=const
Hnh 4.8: Qi o theo gc quay q
1
, q
2
Hnh 4.9: Sai lch vn tc gc quay q
1
, q
2
Hnh 4.10: Sai lch bm v tr khp 1,2
16

Hnh 4.11: Sai lch bm lc khp 1,2







Hnh 4.12: Sai lch lai v tr-lc khp 1(PID-TN)










Hnh 4.13: Sai lch lai v tr-lc khp 2(PID-TN)
17

Bng 4.1: Bng s liu m phng PID thch nghi v PID
Nhn xt:
T bng s liu v kt qu m phng hiu thi trn th hnh
4.8, hnh 4.9, hnh 4.10, hnh 4.11, hnh 4.12, hnh 4.13 ta thy:
*) V sai lch gc quay: Hnh 4.8, hnh 4.10
- B iu khin PID-TN: C s dao ng nh v thi gian
bm ti qu o t nhanh hn so vi b iu khin PID.
- B iu khin PID: Dao ng ln v thi gian tin ti xc
lp hay thi gian bm theo qu o t chm
*) V sai lch vn tc gc quay: Hnh 4.9
- B iu khin PID-TN: Mc du thi gian u c s dao
ng nhng thi gian tin n xc lp nhanh hn b iu khin PID.
- B iu khin PID: Dao ng t nhng thi gian tin ti xc
lp chm hn b PID-TN.
*) V sai lch lc: Hnh 4.11
So vi b PID th b PID-TN c thi gian n xc lp cao hn.
Tuy nhin khp 2 s dao ng ca b PID-TN c phn ln.
*) V sai lch v tr-lc: Hnh 4.12, hnh 4.13
Nhn vo th ta thy: Trong cng thi gian iu khin, khi v
tr gc quay ch qu th lc ca tc dng theo ch qu
Sai lch tnh Thi gian xc lp B iu
Khin
Khp i
V tr V tr
Khp 1 -0.1047 1 PID-TN
Khp 2 0.08324 0.4
Khp 1 -0.4883 4.1 PID
Khp 2 0.2854 2.7
18

ca v tr gc quay. Khi v tr gc quay n ch xc lp th lc thi
tc dng.
4.5.2. Kt qu m phng khi thay i cc h s K
consti
,
i
, I
i
, C
i
ca
b iu khin
a) Vi K
const
, I, l hng s v C
i
ln lt l C
1
< C
2
< C
3
(C
1
=20,
C
2
=25, C
3
=30)
Hnh 4.14: Qi o gc theo khp 1,2 khi C
i
thay i
Hnh 4.15: Sai lch bm v tr khp 1,2 khi C
i
thay i
Hnh 4.16: Sai lch lc khp 1,2 khi C
i
thay i
19

Bng 4.2: Bng s liu m phng PID thch nghi khi C
i
thay i
Cc tham s Khp i Sai s tnh Thi gian xc lp
Khp 1 -0.1498 1.1
C
1
= 20
Khp 2 0.1646 1.1
Khp 1 -0.1454 1.5
C
2
= 25
Khp 2 0.1661 1.4
Khp 1 -0.1494 1.7
= 0,5
K
const
=
75
I = 0,5

C
3
= 30
Khp 2 0.1731 1.6
Nhn xt:
T bng 4.2, hnh 4.14, hnh 4.15, hnh 4.16 ta thy:
Khi C
i
nh qu o ca cc khu bm c qu o chun nhanh hn
so vi C
i
ln hn, C
i
cng ln sai lch bm qu o cng chm. ng
thi sai lch lc cng tng theo chiu tng ca C
i
. C
i
nh hng n
s tc ng nhanh ca h.
b) Vi C, I, l hng s v K
consti
ln lt l K
const1
< K
const2
< K
const3

(K
const1
=15, K
const2
=18, K
const3
=150)
Hnh 4.17: Qi o gc quay theo khp 1,2 khi khi K
consti
thay i


20

Hnh 4.18: Sai lch bm v tr khp 1,2 khi K
consti
thay i
Hnh 4.19: Sai lch lc khp 1,2 khi K
consti
thay i
Bng 4.3: Bng s liu m phng PID thch nghi khi K
consti
thay i
Cc tham s Khp i
Sai s
tnh
Thi gian xc
lp
Khp 1 -0.188 1.15 K
const1
= 15
Khp 2 0.1851 1.15
Khp 1 -0.18 1.8 K
const2
= 18
Khp 2 0.1797 1.5
Khp 1 -0.1453 2.2

i
= 0,5
C
i
= 20
I
i
= 0,5
K
const3
= 150
Khp 2 0.1645 2
Nhn xt: T bng 4.3, hnh 4.17, hnh 4.18, hnh 4.19 ta thy:
Khi K
consti
ln h c dao ng bm theo qu o tt hn khi
K
consti
nh. Khi K
consti
cng nh th xu hng lch qu o chuyn
ng cng ln. K
consti
ln cng lm cho tn hiu iu khin c s thay
21

i ca u rt nhanh. K
consti
nh lm cho sai s lc bm theo lc t
ln. Tm li K
consti
nh hng n s n nh ca h.
c) Vi C, K
const
, l hng s v I
i
ln lt l I
1
< I
2
< I
3
(I
1
=0.01,
I
2
=0.8, I
3
=5)
Hnh 4.20: Qi o gc quay theo khp 1,2 khi khi I
i
thay i
Hnh 4.21: Sai lch bm v tr khp 1,2 khi I
i
thay i
Hnh 4.22: Sai lch lc khp 1,2 khi I
i
thay i
Bng 4.4: Bng s liu m phng PID thch nghi khi I
i
thay i

22

Cc tham s Khp i Sai s tnh Thi gian xc lp
Khp 1 -0.08438 0.85
I
1
= 0.01
Khp 2 0.08089 0.85
Khp 1 -0.08421 0.85
I
2
= 0.8
Khp 2 0.08083 0.85
Khp 1 -0.0833 0.85
= 0,08
K
const
=
500
C = 25
I
3
= 5
Khp 2 0.08054 0.85
Nhn xt:
T bng 4.4 v hnh 4.20, hnh 4.21, hnh 4.22 ta thy:
I
i
t nh hng nhiu n s n nh ca h thng
d) Vi Ci, K
consti
, I
i
l hng s v
i
ln lt l
1
<
2
<
3
(
1
=0.5,

2
=5,
3
=10)
Hnh 4.23: Qi o bm theo khp 1,2 khi khi
i
thay i
Hnh 4.24: Sai lch bm v tr khp 1,2 khi
i
thay i
23

Hnh 4.25: Sai s lc khp 1,2 khi
i
thay i
Bng 4.5: Bng s liu m phng PID thch nghi khi
i
thay i
Cc tham s Khp i Sai s tnh Thi gian xc lp
Khp 1 -0.1502 1.2
1
= 0,5
Khp 2 0.1656 1.1
Khp 1 -0.2405 2.1
2
= 5
Khp 2 0.2089 1.8
Khp 1 -0.3687 3
K
const
=
150
C = 20
I =0.5

3
= 10
Khp 2 0.2751 2.7
Nhn xt:
T bng 4.5 v hnh 4.23, hnh 4.24, hnh 4.25 ta thy:
Khi
i
nh qu o ca cc khp bm c qu o t tt hn
so vi
i
ln hn. Sai s lc cng bin thin theo, khi
i
nh sai lch
bm qu o t nn sai lch lc cng t hn khi
i
ln. Khi
i
ln
bm qu o khng tt nn sai lch lc ln. ng thi
i
ln tn

hiu
iu khin t lc dao ng n lc n nh mt thi gian nhiu hn
khi
i
nh. Tm li,
i
nh hng n mc n nh ca h thng
v s tc ng nhanh ca h.

e) Nhn xt chung
24

Kt qu m phng cho thy: Khi dng b iu khin PID thch
nghi iu khin lai v tr-lc cho tay my robot th n nh v
tc ng nhanh ca h thng tt hn so vi dng b iu khin PID
thng thng.
Vi kt qu chng minh trong thit k b iu khin PID
thch nghi chng 3
. .
; ;
consti i i i i consti
Pi Ii Di
i i i
K C I C I K
K K K

+
= = =

th s hi t v sai lch ca h thng s thay i khi cc thng s
K
consti
, I
i
,
i
, C
i
(i = 13) thay i. C th:
- C
i
nh hng n s tc ng nhanh ca h thng. C
i
cng
ln sai lch bm theo qu o v lc cng chm.
- K
consti
nh hng n s n nh ca h. Khi K
consti
cng nh
th xu hng lch qu o v lc cng ln. Nu K
consti
qu nh s lm
h thng mt n nh.
- I
i
nh hng khng ng k n s n nh ca h thng
-
i
nh hng n n nh v s tc ng nhanh ca h.
4.6. Kt lun chng 4
- Nu h kt hp b iu khin PID c chnh nh theo iu
khin thch nghi th tc t n gi tr t nhanh hn khi h ch
c iu khin bng b iu khin PID.
- Trong cng mt thi gian iu khin, PID thch nghi c kh
nng chnh xc v i n v tr mong mun (x
d
, y
d
) cao hn h ch s
dng b iu khin PID.
25

KT LUN V KIN NGH
Vi phm vi nghin cu xc nh, lun vn tp trung nghin
cu kt hp b iu khin PID thch nghi vo vic iu khin lai v
tr-lc cho tay my 2 bc t do. Qua qu trnh thc hin tc gi nhn
thy rng vic s dng b iu khin PID thch nghi cho h thng t
ng c nhiu thun li nh: n gin, d thay i v hiu chnh
tham s thng qua lut thch nghi PID thit k sn.
T nhng kt qu nghin cu l thuyt. C th l qua phn m
phng b iu khin PID thch nghi cho tay my 2 bc t do ta c
nhng kt lun:
- Nu h kt hp b iu khin PID vi b iu khin thch
nghi th tc t n gi tr t nhanh hn khi h ch c iu
khin bng b iu khin PID.
- Trong cng mt thi gian iu khin (thi gian m phng),
h kt hp b iu khin PID vi b iu khin thch nghi c kh
nng hi t n zero nhanh hn nhiu so vi PID. iu c ngha
khi s dng b iu khin PID thch nghi th h thng s tc ng
nhanh v n nh hn vi PID
Nh vy lun vn gii quyt c cc yu cu t ra l thit
k b iu khin PID thch nghi t p dng m phng bng m
hnh ha trn Matlab & Simulink. Qua kt qu m phng chng 4
cho php ta khng nh rng phng php iu khin cho i tng
l ph hp, c th p dng lm c s nghin cu thit k b iu
khin mi, gp phn gii quyt nhng vn trong lnh vc iu
khin hc hin nay.
26

Tuy vy, trong phm vi vn t ra v thi gian hn ch, lun
vn cha cp v gii quyt nhiu vn lin quan, chng hn nh:
Vic iu khin im tc ng cui ca robot theo qu o, lc yu
cu hay vn ti u nng lng trong qu trnh dch chuyn ca cc
khu, liu vic s dng kt qu nghin cu iu khin ng c
cho robot n-DOF c ti u hay khng, kt qu thc nghim trn m
hnh thc s th no,... l nhng vn m tc gi cng mong
mun tip tc nghin cu trong thi gian ti.