Nguyen Cong Hien HBK Ha noi Nguyen Hoang Mai HKT a nang I.

TOM TAT Bai bao neu len phng phap ieu khien ket hp ben vng (trt) thch nghi (ARC- Adaptive Robust Control) e ap dung vao ieu khien cac he co tham so chuyen ong, thch hp cho cac he phi tuyen hay cac he co tham so khong xac nh, vi muc ch xay dng luat ieu khien e he at c sai lech nho nhat. Tren c s lay cau truc tay may hai bac t do lam mo hnh minh chng, bo ieu khien se cho phep anh gia mot so ch tieu cua qua trnh ieu chnh, vi pham vi nao th cho phep ieu khien trt hay ieu khien thch nghi. T o se thay c tnh thch nghi toan bo hoat ong cua he. Phan mo phong so sanh cho thay s khac biet ve ch tieu chat lng khi ieu khien e khong che pham vi hoat ong cua tay may. ABSTRACT This paper presents Adaptive Robust (sliding mode) Control method to apply control the variable parameters systems. This method is adapting in the nonlinear or uncertain parameters systems to make the control law to take the minimum errors in systems. The two degree of freedom of manipulator is a model for clear problem. The controller allows to estimate the control process to find the silding mode trajectory control and adaptive tracjectory control. Then we will estimate the adaptive operation in system. The simulative result compares difference of qualitative norms in control, which can constrain area moving of manipulator. II. AT VAN E a. Mo ta chung Trong k thuat ieu khien, ngi ta a nhng phng phap mi ngay cang nhieu, nhng chung qui lai cung la e giam thieu sai lech cho cac qua trnh xac lap cung nh qua o. Cang ngay, xu hng ieu khien cang nghieng ve pha xay dng cau truc cac bo ieu khien cho cac oi tng phi tuyen. Nhng nhng oi tng nay, nh a biet co cau truc va tham so thng khong xac nh hay khong biet trc, do vay, mo hnh toan hoc cua he se khong c biet chnh xac. Ngay ca khi mo hnh c coi nh la am bao o chnh xac, nhng nhieu tac ong

IEU KHIEN TRT THCH NGHI CHO CHUYEN ONG TAY MAY ADAPTIVE SLIDING MODE CONTROL FOR MOVING MANIPULATOR

cung se lam cho ap ng cua he khong nh tnh toan v se thay oi cac ieu kien bien cua phng trnh vi phan mo ta. Nhng phng phap nh ieu khien ben vng, thch nghi phi tuyen a c e cap en trong nhieu cong trnh nghien cu khoa hoc, nhng cung cha phai giai quyet thoa ang moi van e. Khi chu tac ong cua nhieu manh, he thong co the b keo ra khoi vung lam viec on nh v sai lech cua he khong nhng phu thuoc cau truc ma con ca tn hieu vao. Do o cac bo PID tuyen tnh trong cac he k thuat hien van dung ch cho phep thong so anh hng en he trong mot pham vi nhat nh nao o, neu vt ra ngoai vung nay, he co the khong tr ve iem on nh can bang. Nhng bo ieu khien phi tuyen lai hoat ong theo kieu khac, chung khong hoat ong vi tham so hay cau truc co inh ma se bien oi theo hoan canh cua oi tng. Do o ngi ta chia ra hai hng nghien cu ieu khien chnh hien nay la xay dng nhng bo ieu khien bang cach thay oi tham so VPC (Variable Parameters Control) va xay dng nhng bo ieu khien bang cach thay oi cau truc VSC (Variable Structure Control). oi vi nhng he phi tuyen manh, nh a noi, ta khong the van dung nhng cau truc toan hoc chung nh he tuyen tnh e nghien cu, ma phai tach ra tng nhom he oc lap, tuy theo tnh chat ac th e a ra mo hnh thch hp. Trong cac loai o, tay may cong nghiep la loai co tnh phi tuyen manh va ac trng cho nhom ln. Nen sau ay ta se s dung mot mo hnh ong lc hoc tong quat cua robot e lam c s xay dng luat ieu khien cung nh bo ieu khien. Vi quan iem, robot la tai cua ong c keo, v vay, ong lc cua robot chnh la lc can tren au truc ong c. Can tao tn hieu ieu khien ong c e cho v tr ieu khien ung qu ao thiet ke. III. XAY DNG THUAT TOAN IEU KHIEN Trong cac phan sau se trnh bay mot phng phap xac nh lc ieu khien cho tay may cong nghiep ma khong phai o gia toc va tnh ma tran quan tnh nghch ao, cho phep tang toc o ieu khien trong thi gian thc, ong thi n gian c thuat toan cung nh thiet b che tao bo ieu khien. b. ng dung cho robot C s e xay dng luat ieu khien la da tren phng trnh Lagrange II ap dung cho cac he chuyen ong. Xet mot c cau tay may n khp, vi phng trnh ong lc hoc mo ta dang:

 ay q Rn la vect bien khp, no la goc quay neu khp quay va la quang ng di chuyen vi khp &, q && tng ng la van toc va gia tnh tien, do vay q toc cua chuyen ong. M(q) Rnxn la ma tran bieu th quan tnh cua c he, la mot ma tran oi xng va & ) Rn the hien lc li tam va xac nh dng. V ( q, q

&& + h(q, q & ) + w(t ) = F (t ) M (q )q & ) = V ( q, q & ) + Dq & + G (q) h( q, q

(1)

V qu ao thiet ke c xac nh trc nen trong

& . T phng trnh ham Q ch con hai bien ,

ong lc hoc cua tay may (1), co the thay: Do o, thay (5) vao (4) :

&& = M 1 (F (t ) h(q, q & ) w(t ) ) q

(5)

w(t) the hien cac nhieu khong biet trc va F(t) the hien ong lc tren khp e lam khp chuyen ong. Noi chung, cac tham so tay may khong biet chnh xac, nh chieu dai canh tay qui oi, v tr khoi tam, momen quan tnh v.v va co the phu thuoc thi gian. Do o se ton tai sai lech gia tham so chnh xac cua he va tham so ta gia nh ban au. K hieu mot so sai lech dang:

cac khp va trong lc. e cho gon gang, ta goi tat &) . ca ba ai lng tren vao trong mot ham h( q, q

& va G(q) bieu th lc ma sat trong lc Coriolis. Dq

Hay la: Vi:

& = M 1 (F (t ) h(q, q & ) w(t ) ) + s & q Q (, &) &+ + q & , q, q & = M 1 F (t ) (, &) s

(6)

Mo hnh ieu khien c s cua tay may nhieu khp co the the hien nh hnh 1.
Qu ao at cua khp 1 Bo ieu khien khp 1 ong c khp 1 Khp 1 cua robot

& , q, q & ) = M 1 (h(q, q & ) + w(t ) ) ( , & q + Q ( , &) & q

(7)

~ M (q) = M (q) M (q) (2) ~ & ) = h(q, q & ) h (q, q &) h ( q, q ~ ay, ( * ) e ch lng sai lech. Vi (* ) la c

lng cua tham so. Nhng c lng nay co the biet trc neu mo hnh chuan, nhng cung co the khong biet chnh xac. oi vi robot, van e quan trong la ieu khien qu ao phai chnh xac, cho nen ong lc tac ong len cac khp phai thng xuyen bien oi hp l e ap ng s thay oi cua nhieu tng ng v tr chuyen ong theo thi gian thc. e xay dng luat ieu khien, ta a ra mot so ch tieu sai lech ve v tr va van toc:

Qu ao at cua khp n

Bo ieu khien khp n

ong c khp n

Khp n cua robot

Hnh 1: Mo hnh tong quat robot Trong o, ng vi moi khp c se co mot ong c ieu khien, cho nen moi khp se co mot bo ieu khien rieng biet. Cho du ieu khien tap trung hay ieu khien oc lap th nguyen tac van vay. c. Xay dng luat ieu khien trt co phan hoi v tr Vi mat trt s nh ngha nh tren, theo ket qua vi phan cua s, ta co the chon luat ieu khien cho ong lc khp nh sau: vi k>0, >0 va u ln. Chon ham Lyapunov

qd q 1 ;

&d q & 2 q

vi qd la qu ao thiet ke va no thng phai han che trong khong gian qu ao cung nh thi gian. e = qd q at:

& + e s=e vi = diag (1 , 2 ,..., n ); i > 0

(3)

& , q, q & ) ks . sgn( s ) (8) F (t ) = M (, 1 T s s 2

Gia thiet M>0 va la ma tran gii han theo ham cua & . T (3) co the viet: q va w b han che theo theo q

V =

(9)

&q & d ) + ( q qd ) s = (q

T (9), ta thay:

& (q q ) = & = (q && q &&q ) + (q &q &d ) + s d & q) (q &q ) = && + q &+ &&q q &d = (q d & q ) Q ( , &) && + q &+ = (q
(4)

V =

1 n 2 1 n & i i ei ) 2 0 (e si = 2 2 i =1 i =1

Ham V noi tren la mot ham co dau khong oi va luon dng ngoai mat trt.

Lay vi phan cua V, ta co:

&=s s &= V
T

& , q, q &) = = s T M 1 F (t ) (, & , q, q &) = s T F (t ) M (,

( (

&+ K q & U = RI + LI e && + F K m I = Jq

trong o:

(15)

& = s T F (t ) s T M (, & , q, q &) = V T T = ks s s sgn( s ) < 0

(10)

U = (u1 , u 2 ,..., u n )T ; R = diag (r1 , r2 ,..., rn ); L = diag ( L1 , L2 ,..., Ln ); I = (i1 , i2 ,..., in ) ; K e = diag (k e1 , k e 2 ,..., k en ); K m = diag (k m1 , k m 2 ,..., k mn ) J = diag ( J 1 , J 2 ,..., J n )

Khi ngoai mat trt, (10) cho thay V va dV/dt se luon ngc dau nen V se suy giam lien tuc. Neu khai trien dang ay u, ong thi s dung cac ieu kien han che, ta co dang thc cua tn hieu ieu khien:

(16)

&q + &) + w & M (q F (t ) = h(q, q & )) ks sgn(s) + Q(,

(11)

la cac ma tran ien ap, ien tr phan ng, ien cam phan ng, dong ien, he so suat ien ong, he so momen va momen quan tnh cua ong c cac khp. T (15) rut ra:

d. Ket qua mo phong Ket qua mo phong ap dung cho robot hai khp, vi chieu dai canh tay la r1 va r2, khoi lng cac canh tay tng ng m1 va m2, cha ke en tai trong. Ta co phng trnh ong lc hoc robot nh sau:

&K q & I = R 1 (U LI e )
1 && + F ) (Jq I = Km

(17)

Hay la:

1 &+K q & && U = LI e + RK m ( Jq + F )

(18)

&&1 h12 q &2 M 11 M 12 q + M &&2 h12 12 M 22 q G F + 1 = 1 G2 F2

ay:
2 1 2 2 2

do ng dung e ieu khien v tr theo momen hay lc dong, ay, vi he ong c mot chieu, ta dung phng phap ieu khien theo dong ien. Da tren &1 + q & 2 ) q &1 h12 (q + c s o, ta xay dng cau truc cua he thong robot co &2 0 q ieu khien nh hnh 2.

(12)
qd Bo ieu khien ong c Robot

M 11 = (m1 + m2 )r + m r + 2m2 r1r2 cos(q2 ) M 12 = m2 r22 + m2 r1r2 cos(q2 ) M 22 = m2 r22 h12 = m2 r2 r1 sin(q2 ) G1 = g (m1 + m2 )r1 cos(q2 ) + gm2 r2 cos(q1 + q2 ) G2 = m2 r2 cos(q1 + q2 )
Qu ao thiet ke co dang:

(-)
Hnh 2: Mo hnh robot co cai bo ieu khien trt Viec s dung mat trt cng se lam cho qu ao trt bien oi khong tot, nen ta dung mat trt mem, i la nhng ham phi tuyen. ay, ta chon luat thay oi theo co dang:

q d 1 = 10 * e t q d 2 = 10 * (1 e t )

(13)

Vi m1=m2=2kg; r1=r2=0.3m; J1=J2=0.0125kgm2 tat ca cac gia tr goc tnh trong he toa o ecad vi n v la radian. Sai lech v tr k hieu:

e1 = q1 qd 1

e2 = q2 qd 2

(14)

Phng trnh can bang cua ong c mot chieu kch t oc lap co dang:

Tn hieu ham dau sgn(s) c thay bang ham arctan(s) la mot ham dau gan sgn(s). Cac ket qua mo phong nh hnh 3, 4 va 5. e. anh gia ket qua Cac ket qua nay cho thay s suy giam sai lech cung nh khong che c sai lech tuyet oi cho qu ao ieu khien. Thc te, neu chon sai lech be

1 T e e 2 & = eT e & =

(19)

th thi gian qua o ieu khien se keo dai, do o toc o robot khong the nhanh c. Muon tang toc o chuyen ong, phai chon mat trt co o doc ln va bien oi cham theo sai lech be.

Hnh 4: Sai lech qu ao vi yeu cau nho hn 0.1%

Hnh 3: Dang song tn hieu khi chon o qua sai lech la 0.1%
ieu kien (19) am bao cho o doc mat trt luon dng. Vi luat ieu khien nay, nh a noi, co the khong che c pham vi sai lech ma khong phai ap at cc, cung nh rut ngan qua trnh qua o nhng khong phai tao nhng thiet b bu phc tap. Vi yeu cau sai lech ieu chnh la 0.1% va 0.5%, cac ket qua mo phong c the hien ay u va chnh xac, khang nh tnh hp l khi chon thuat toan cua mo hnh.

Hnh 5: Sai lech qu ao robot vi yeu cau nho hn 0.5% f. van e thao luan: Bai bao a neu c mot phng phap xay dng luat ieu khien qu ao robot tong quat, sao cho o chnh xac cua qu dao co the khong che c theo mot yeu cau nh trc, c at ra tuy theo bai toan cong nghe thc te yeu cau. Nhng van e nay sinh trong viec xay dng thuat toan con rat nhieu, bi le tuy a khong che o sai lech mo hnh va nhieu ngau nhien, nhng thc te van con nhieu ieu cha giai quyet, nh giam han rung cho c cau, thch nghi tot hn vi nhieu tham so. Van e m rong pham vi ng dung cho nhieu he c ien t khac v.v IV. TAI LIEU THAM KHAO 1. Vaim Utkin Sliding Mode Cotrol in ElectroMechanical Systems Taylor and Francis publication 1999. 2. Petros A. Ioannou Robust Adaptive Cotrol PTR Prentical-Hall 1996. 3. P.T Cat and Somlo Adavance Robot Control 1998

4. P.G.Keleher and R.J. Stonier Adaptive terminal Sliding Mode Control of a rigid robotic manipulator with uncertain dynamics incorporating constraint inequanlities Aniziam J.43 (E) ppE102E153 - January 2002.