Chng 4 : iu khin m

Hc k 1 nm hc 2005-2006
Chng 4

IU KHIN M

Khi nim v logic m c gio s L.A Zadeh a ra ln u tin nm
1965, ti trng i hc Berkeley, bang California - M. T l thuyt
m c pht trin v ng dng rng ri.
Nm 1970 ti trng Mary Queen, London Anh, Ebrahim Mamdani
dng logic m iu khin mt my hi nc m ng khng th iu khin
c bng k thut c in. Ti c Hann Zimmermann dng logic m
cho cc h ra quyt nh. Ti Nht logic m c ng dng vo nh my x
l nc ca Fuji Electronic vo 1983, h thng xe in ngm ca Hitachi
vo 1987.
L thuyt m ra i M, ng dng u tin Anh nhng pht trin mnh
m nht l Nht. Trong lnh vc T ng ho logic m ngy cng c
ng dng rng ri. N thc s hu dng vi cc i tng phc tp m ta
cha bit r hm truyn, logic m c th gii quyt cc vn m iu
khin kinh in khng lm c.

4.1. Khi nim c bn
hiu r khi nim M l g ta hy thc hin php so snh sau :
Trong ton hc ph thng ta hc kh nhiu v tp hp, v d nh tp cc
s thc R, tp cc s nguyn t P={2,3,5,...} Nhng tp hp nh vy c
gi l tp hp kinh in hay tp r, tnh R y c hiu l vi mt
tp xc nh S cha n phn t th ng vi phn t x ta xc nh c mt gi
tr y=S(x).
Gi ta xt pht biu thng thng v tc mt chic xe mt : chm,
trung bnh, hi nhanh, rt nhanh. Pht biu CHM y khng c ch
r l bao nhiu km/h, nh vy t CHM c min gi tr l mt khong
no , v d 5km/h 20km/h chng hn. Tp hp L={chm, trung bnh, hi
nhanh, rt nhanh} nh vy c gi l mt tp cc bin ngn ng. Vi mi
thnh phn ngn ng x
k
ca pht biu trn nu n nhn c mt kh nng
(x
k
) th tp hp F gm cc cp (x, (x
k
)) c gi l tp m.

4.1.1. nh ngha tp m
Tp m F xc nh trn tp kinh in B l mt tp m mi phn t ca n l
mt cp gi tr (x,
F
(x)), vi x X v
F
(x) l mt nh x :
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F
(x) : B [0 1]
trong :
F
gi l hm thuc , B gi l tp nn.

4.1.2. Cc thut ng trong logic m

cao tp m F l gi tr h = Sup
F
(x), trong sup
F
(x) ch gi tr nh
nht trong tt c cc chn trn ca hm
F
(x).
Min xc nh ca tp m F, k hiu l S l tp con tho mn :
S = Supp
F
(x) = { xB |
F
(x) > 0 }
Min tin cy ca tp m F, k hiu l T l tp con tho mn :
T = { xB |
F
(x) = 1 }
Cc dng hm thuc (membership function) trong logic m
C rt nhiu dng hm thuc nh : Gaussian, PI-shape, S-shape, Sigmoidal,
Z-shape
0
0.2
0.4
0.6
0.8
1
trapmf gbellmf trimf gaussmf gauss2mf smf
0
0.2
0.4
0.6
0.8
1
zmf psigmf dsigmf pimf sigmf

Hnh 4.1:


1
min tin cy
MX
Chng 4 : iu khin m
Trang 3
4.1.3. Bin ngn ng

Bin ngn ng l phn t ch o trong cc h thng dng logic m. y
cc thnh phn ngn ng ca cng mt ng cnh c kt hp li vi nhau.
minh ho v hm thuc v bin ngn ng ta xt v d sau :
Xt tc ca mt chic xe mt, ta c th pht biu xe ang chy:
- Rt chm (VS)
- Chm (S)
- Trung bnh (M)
- Nhanh (F)
- Rt nhanh (VF)
Nhng pht biu nh vy gi l bin ngn ng ca tp m. Gi x l gi tr
ca bin tc , v d x =10km/h, x = 60km/h Hm thuc tng ng ca
cc bin ngn ng trn c k hiu l :

VS
(x),
S
(x),
M
(x),
F
(x),
VF
(x)

Nh vy bin tc c hai min gi tr :
- Min cc gi tr ngn ng :
N = { rt chm, chm, trung bnh, nhanh, rt nhanh }
- Min cc gi tr vt l :
V = { xB | x 0 }
Bin tc c xc nh trn min ngn ng N c gi l bin ngn ng.
Vi mi xB ta c hm thuc :
x
X
= {
VS
(x),
S
(x),
M
(x),
F
(x),
VF
(x) }
V d hm thuc ti gi tr r x=65km/h l :

X
(65) = { 0;0;0.75;0.25;0 }

VS S M F VF
0 20 40 60 65 80 100 tc



1

0.75
0.25
Hnh 4.2:
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4.1.4. Cc php ton trn tp m
Cho X,Y l hai tp m trn khng gian nn B, c cc hm thuc tng ng
l
X
,
Y
, khi :
- Php hp hai tp m : XY
+ Theo lut Max
XY
(b) = Max{
X
(b) ,
Y
(b) }
+ Theo lut Sum
XY
(b) = Min{ 1,
X
(b) +
Y
(b) }
+ Tng trc tip
XY
(b) =
X
(b) +
Y
(b) -
X
(b).
Y
(b)
- Php giao hai tp m : XY
+ Theo lut Min
XY
(b) = Min{
X
(b) ,
Y
(b) }
+ Theo lut Lukasiewicz
XY
(b) = Max{0,
X
(b)+
Y
(b)-1}
+ Theo lut Prod
XY
(b) =
X
(b).
Y
(b)
- Php b tp m :
c
X
(b) = 1-
X
(b)

4.1.5. Lut hp thnh

1. Mnh hp thnh
V d iu khin mc nc trong bn cha, ta quan tm n 2 yu t :
+ Mc nc trong bn L = {rt thp, thp, va}
+ Gc m van ng dn G = {ng, nh, ln}
Ta c th suy din cch thc iu khin nh th ny :
Nu mc nc = rt thp Th gc m van = ln
Nu mc nc = thp Th gc m van = nh
Nu mc nc = va Th gc m van = ng
Trong v d trn ta thy c cu trc chung l Nu A th B . Cu trc ny
gi l mnh hp thnh, A l mnh iu kin, C = AB l mnh kt
lun.
nh l Mamdani :
ph thuc ca kt lun khng c ln hn ph thuc iu kin
Nu h thng c nhiu u vo v nhiu u ra th mnh suy din c
dng tng qut nh sau :
If N = n
i
and M = m
i
and Then R = r
i
and K = k
i
and .

2. Lut hp thnh m
Lut hp thnh l tn gi chung ca m hnh biu din mt hay nhiu hm
thuc cho mt hay nhiu mnh hp thnh.
Chng 4 : iu khin m
Trang 5
Cc lut hp thnh c bn
+ Lut Max Min
+ Lut Max Prod
+ Lut Sum Min
+ Lut Sum Prod

a. Thut ton xy dng mnh hp thnh cho h SISO
Lut m cho h SISO c dng If A Then B
Chia hm thuc
A
(x) thnh n im x
i
, i = 1,2,,n
Chia hm thuc
B
(y) thnh m im y
j
, j = 1,2,,m
Xy dng ma trn quan h m R
R=

) , ( ... ... ) 1 , (
... ... ... ...
) , 2 ( ... ... ) 1 , 2 (
) , 1 ( ... ... ) 1 , 1 (
ym xn y xn
ym x y x
ym x y x
R R
R R
R R



=

rnm rn
m r r
m r r
... ... 1
... ... ... ...
2 ... ... 21
1 ... ... 11

Hm thuc
B
(y) u ra ng vi gi tr r u vo x
k
c gi tr

B
(y) = a
T
.R , vi a
T
= { 0,0,0,,0,1,0.,0,0 }. S 1 ng vi v tr th k.
Trong trng hp u vo l gi tr m A th
B
(y) l :

B
(y) = { l
1
,l
2
,l
3
,,l
m
} vi l
k
=maxmin{a
i
,r
ik
}.

b. Thut ton xy dng mnh hp thnh cho h MISO
Lut m cho h MISO c dng :
If cd
1
= A
1
and cd
2
= A
2
and Then rs = B
Cc bc xy dng lut hp thnh R :
Ri rc cc hm thuc
A1
(x
1
),
A2
(x
2
), ,
An
(x
n
),
B
(y)
Xc nh tho mn H cho tng vct gi tr r u vo x={c
1
,c
2
,,c
n
}
trong c
i
l mt trong cc im mu ca
Ai
(x
i
). T suy ra
H = Min{
A1
(c
1
),
A2
(c
2
), ,
An
(c
n
) }
Lp ma trn R gm cc hm thuc gi tr m u ra cho tng vct gi tr
m u vo:
B
(y) = Min{ H,
B
(y) } hoc
B
(y) = H.
B
(y)


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4.1.6. Gii m
Gii m l qu trnh xc nh gi tr r u ra t hm thuc
B
(y) ca
tp m B. C 2 phng php gii m :
1. Phng php cc i
Cc bc thc hin :
- Xc nh min cha gi tr y, y l gi tr m ti
B
(y) t Max
G = { yY |
B
(y) = H }
- Xc nh y theo mt trong 3 cch sau :
+ Nguyn l trung bnh
+ Nguyn l cn tri
+ Nguyn l cn phi

Nguyn l trung bnh : y =
2
2 1 y y +

Nguyn l cn tri : chn y = y1
Nguyn l cn phi : chn y = y2
2. Phng php trng tm
im y c xc nh l honh ca im trng tm min c bao bi
trc honh v ng
B
(y).
Cng thc xc nh :
y =

S
S
(y)dy
) (

dy y y
trong S l min xc nh ca tp m B
y1 y2
y



H
G
Hnh 4.3:
Chng 4 : iu khin m
Trang 7
Phng php trng tm cho lut Sum-Min
Gi s c m lut iu khin c trin khai, k hiu cc gi tr m u ra
ca lut iu khin th k l
Bk
(y) th vi quy tc Sum-Min hm thuc s l

B
(y) =

=
m
k
k B
y
1
'
) ( , v y c xc nh :
y =
( )

=
=
=
=
=
=
=

m
k
k
m
k
k
m
k
y B
m
k
k B
S
m
k
k B
S
m
k
k B
A
M
dy y
dy y y
dy y
dy y y
1
1
1
S
'
1
'
1
'
1
'
) (
) (
) (
) (

(4.1)
trong M
i
=

S
'
) ( dy y y
k B
v A
i
=

S
'
) ( dy y
k B
i=1,2,,m

Xt ring cho trng hp cc hm thuc dng hnh thang nh hnh trn :
M
k
= ) 3 3 3 3 (
6
1 2
2 2 2
1
2
2
a m b m a b m m
H
+ + +
A
k
=
2
H
(2m
2
2m
1
+ a + b)
Ch hai cng thc trn c th p dng c cho lut Max-Min
Phng php cao
T cng thc (4.1), nu cc hm thuc c dng Singleton th ta c:
y =

=
=
m
k
k
m
k
k k
H
H y
1
1
vi H
k
=
Bk
(y
k
)
y l cng thc gii m theo phng php cao.
y m1 m2
a b



H
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4.1.7. M hnh m Tagaki-Sugeno

M hnh m m ta ni n trong cc phn trc l m hnh Mamdani. u
im ca m hnh Mamdani l n gin, d thc hin nhng kh nng m t
h thng khng tt. Trong k thut iu khin ngi ta thng s dng m
hnh m Tagaki-Sugeno (TS).
Tagaki-Sugeno a ra m hnh m s dng c khng gian trng thi m ln
m t linh hot h thng. Theo Tagaki/Sugeno th mt vng m LX
k
c
m t bi lut :
R
sk
: If x = LX
k
Then u x B x x A x
k k
) ( ) ( + = (4.2)
Lut ny c ngha l: nu vct trng thi x nm trong vng LX
k
th h thng
c m t bi phng trnh vi phn cc b u x B x x A x
k k
) ( ) ( + = . Nu
ton b cc lut ca h thng c xy dng th c th m t ton b trng
thi ca h trong ton cc. Trong (4.2) ma trn A(x
k
) v B(x
k
) l nhng ma
trn hng ca h thng trng tm ca min LX
k
c xc nh t cc
chng trnh nhn dng. T rt ra c :

+ = ) ) ( ) ( ( u x B x x A w x
k k
k
(4.3)
vi w
k
(x) [0 , 1] l tho mn chun ho ca x* i vi vng m LX
k

Lut iu khin tng ng vi (4.2) s l :
R
ck
: If x = LX
k
Then u = K(x
k
)x
V lut iu khin cho ton b khng gian trng thi c dng:

=
=
N
k
k
k
x x K w u
1
) ( (4.4)
T (4.2) v (4.3) ta c phng trnh ng hc cho h kn:
x x K x B x A x w x w x
l k k
l
k
)) ( ) ( ) ( )( ( ) ( + =

V d : Mt h TS gm hai lut iu khin vi hai u vo x
1
,x
2
v u ra y.
R
1
: If x
1
= BIG and x
2
= MEDIUM Then y
1
= x
1
-3x
2

R
2
: If x
1
= SMALL and x
2
= BIG Then y
2
= 4+2x
1

u vo r o c l x
1
* = 4 v x
2
* = 60. T hnh bn di ta xc nh
c :
LX
BIG
(x
1
*) = 0.3 v LX
BIG
(x
2
*) = 0.35
LX
SMALL
(x
1
*) = 0.7 v LX
MEDIUM
(x
2
*) = 0.75
Chng 4 : iu khin m
Trang 9
T xc nh c :
Min(0.3 ; 0.75)=0.3 v Min(0.35 ; 0.7)=0.35
y
1
= 4-360 = -176 v y
2
= 4+24 = 12
Nh vy hai thnh phn R
1
v R
2
l (0.3 ; -176) v (0.35 ; 12). Theo phng
php tng trng s trung bnh ta c:
77 . 74
35 . 0 3 . 0
12 35 . 0 ) 176 ( 3 . 0
=
+
+
= y



4.2. B iu khin m

4.2.1. Cu trc mt b iu khin m
Mt b iu khin m gm 3 khu c bn:
+ Khu m ho
+ Thc hin lut hp thnh
+ Khu gii m
Xt b iu khin m MISO sau, vi vct u vo X = [ ]
T
n
u u u ...
2 1




0.7
1
0.3
1
0.75
0 60 100 0 4 10
0.35
X
y

R
1
If Then
R
n
If Then
H
1
H
n

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4.2.2. Nguyn l iu khin m


Cc bc thit k h thng iu khin m.
+ Giao din u vo gm cc khu: m ha v cc khu hiu chnh nh
t l, tch phn, vi phn
+ Thip b hp thnh : s trin khai lut hp thnh R
+ Giao din u ra gm : khu gii m v cc khu giao din trc tip
vi i tng.

4.2.3. Thit k b iu khin m

Cc bc thit k:
B1 : nh ngha tt c cc bin ngn ng vo/ra.
B2 : Xc nh cc tp m cho tng bin vo/ra (m ho).
+ Min gi tr vt l ca cc bin ngn ng.
+ S lng tp m.
+ Xc nh hm thuc.
+ Ri rc ho tp m.
B3 : Xy dng lut hp thnh.
B4 : Chn thit b hp thnh.
B5 : Gii m v ti u ho.
Hnh 4.5:

e B y
lut iu khin
Giao din
u vo
Giao din
u ra
Thit b
hp thnh
X e
u
y
BK M
I TNG
THIT B O
Chng 4 : iu khin m
Trang 11
Nhng lu khi thit k BK m
- Khng bao gi dng iu khin m gii quyt bi ton m c th d
dng thc hin bng b iu khin kinh in.
- Khng nn dng BK m cho cc h thng cn an ton cao.
- Thit k BK m phi c thc hin qua thc nghim.
Phn loi cc BK m
i. iu khin Mamdani (MCFC)
ii. iu khin m trt (SMFC)
iii. iu khin tra bng (CMFC)
iv. iu khin Tagaki/Sugeno (TSFC)

4.2.4. V d ng dng

Dng iu khin m iu khin h thng bm x nc t ng. H thng
s duy tr cao bn nc mt gi tr t trc nh m hnh bn di.

M hnh :

Ba b iu khin m (control) s iu khin : bm, van1, van2 sao cho mc
nc 2 bn t gi tr t trc (set).

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S khi iu khin:


Chng 4 : iu khin m
Trang 13
Thit lp h thng iu khin m :
Xc nh cc ng vo/ra :
+ C 4 ng vo gm : sai lch e1, e2; o hm sai lch de1, de2
+ C 3 ng ra gm : control1, control2, control3
Xc nh bin ngn ng :
Sai lch E = {m ln, m nh, bng khng, dng nh, dng ln}
E = {NB, NM, ZR, PM, PB}
o hm D = {gim nhanh, gim va, khng i, tng va, tng nhanh}
D = {DF, DM, ZR, IM, IP}
iu khin C = {ng nhanh,ng chm,khng i,m chm,m nhanh}
C = {CF, CS, NC, OS, OF}
Lut iu khin :
+ Khi controller1 v controller2 :
(Hai khi ny ch khc nhau lut hp thnh)



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Lut hp thnh m Max Min

DE Khi controller1
ERROR DB DM ZR IM IB
NB OF OF NC
NM OS
ZR OF OS NC CS CF
PM CS
PB NC CF CF
DE Khi controller2
ERROR DB DM ZR IM IB
NB CF CF NC
NM CS
ZR CF CS NC OS OF
PM OS
PB NC OF OF

+ Khi control3
y l khi iu tit lu lng cho bn 2, ta a ra mc u tin nh sau :
Khi sai lch bn 1 ln th van2 s iu tit sai lch ny nh ri mi n
bn 2.
If error1=NB and de1=DB Then control=CF
If error1=NB and de1=DM Then control=CS
If error1=NB and de1=ZR Then control=CS
If error1=NM and de1=DB Then control=CS
Chng 4 : iu khin m
Trang 15
If error1=PB and de1=IB Then control=OF
If error1=PB and de1=IM Then control=OF
If error1=PB and de1=ZR Then control=OF
If error1=PM and de1=IB Then control= OF
If error1NB and error2=NB and de1DB and de2=DB Then control=OF
If error1NB and error2=NB and de1DB and de2=DM Then control=OF
If error1NB and error2=NB and de1DB and de2=ZR Then control=OF
If error1NB and error2=NM and de1DB and de2=DB Then control=OS
If error1NB and error2=NM and de1DB and de2=DM Then control=OS
If error1PB and error2=PB and de1IB and de2=IB Then control=CF
If error1PB and error2=PB and de1IM and de2=IB Then control=CS

Kt qu p ng vi cc thng s h thng :
- Chiu cap bn height=1m
- Din tch y area = 0.125m
2

- Lu lng max pump maxflow = 1lit/s
- Din tch ng dn pipe area = 0.001m
2

mc nc t Z
dat
=[0.5 0.3]
mc nc ban u Z
init
=[0 0]

z (m)
thi gian (s)
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mc nc t Z
dat
=[0.5 0.4]
mc nc ban u Z
init
=[0.8 0]





4.3. Thit k PID m

C th ni trong lnh vc iu khin, b PID c xem nh mt gii php
a nng cho cc ng dng iu khin Analog cng nh Digital. Vic thit k
b PID kinh in thng da trn phng php Zeigler-Nichols, Offerein,
Reinish Ngy nay ngi ta thng dng k thut hiu chnh PID mm
(da trn phm mm), y chnh l c s ca thit k PID m hay PID thch
nghi.

4.3.1. S iu khin s dng PID m :

Hnh 4.6:
thi gian (s)
z (m)
Chng 4 : iu khin m
Trang 17



M hnh ton ca b PID:
u(t) = K
p
e(t) +
dt
t de
K dx x e K
D
t
I
) (
) (
0
+

G
PID
(s) = s K
s
K
K
D
I
P
+ +
Cc tham s K
P
, K
I
, K
D
c chnh nh theo tng b iu khin m ring
bit da trn sai lch e(t) v o hm de(t). C nhiu phng php khc
nhau chnh nh b PID ( xem cc phn sau) nh l da trn phim hm
mc tiu, chnh nh trc tip, chnh nh theo Zhao, Tomizuka v Isaka
Nguyn tc chung l bt u vi cc tr K
P
, K
I
, K
D
theo Zeigler-Nichols, sau
da vo p ng v thay i dn tm ra hng chnh nh thch hp.
4.3.2. Lut chnh nh PID:

+ Ln cn a
1
ta cn lut K mnh rt ngn thi gian ln, do vy chn: K
P
ln, K
D
nh v K
I
nh.
thi gian
Tn hiu ra
b
1
c
1
d
1
a
2
b
2
a
1
t
Hnh 4.7
u
e
x
y
BK PID
B CHNH
NH M
THIT B
CHNH NH
I TNG
dt
de

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+ Ln cn b
1
ta trnh vt l ln nn chn: K
P
nh, K
D
ln, K
I
nh.
+ Ln cn c
1
v d
1
ging nh ln cn a
1
v b
1
.

4.3.3. V d ng dng Matlab
Xy dng b PID m iu khin l nhit. Hm truyn l nhit theo
Zeigler-Nichols : G(s) =
1 +

Ls
Ke
Ts
, tuyn tnh ho G(s)=
) 1 )( 1 ( + + Ls Ts
K
.
Cc bc thit k :
1. Xc nh bin ngn ng:
u vo : 2 bin
+ Sai lch ET = o - t
+ Tc tng DET =
T
i E i ET ) ( ) 1 ( +
, vi T l chu k ly mu.
u ra : 3 bin
+ K
P
h s t l
+ K
I
h s tch phn
+ K
D
h s vi phn
S lng bin ngn ng
ET = {m nhiu, m va, m t, zero, dng t, dng va, dng nhiu}
ET = { N3, N2, N1, ZE, P1, P2, P3 }
DET = { m nhiu, m va, m t, zero, dng t, dng va, dng nhiu}
DET = { N31, N21, N11, ZE1, P11, P21, P31 }
K
P
/K
D
= { zero, nh, trung bnh, ln, rt ln } = {Z, S, M, L,U}
K
I
= {mc 1,mc 2,mc 3,mc 4, mc 5} = {L1,L2,L3,L4,L5}

N3 N2 N1 ZE P1 P2 P3
-12 -8 -4 0 4 8 12
0
C

ET
Chng 4 : iu khin m
Trang 19







2. Lut hp thnh:

C tng cng l 7x7x3=147 lut IF THEN
Lut chnh nh K
P


N31 N21 N11 ZE1 P11 P21 P31
-0.6 -0.4 -0.2 0 0.2 0.4 0.6
0
C/s

DET
Z S M L U
0 0.25 0.5 0.75 1 K
P
K
D

L1 L2 L3 L4 L5
1 1.2 1.4 1.6 1.8 K
I

PGS.TS Nguyn Th Phng H
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DET K
P

N31 N21 N11 ZE1 P11 P21 P31
N3 U U U U U U U
N2 L L L L L L L
N1 M M M M M M M
ZE Z Z Z Z Z Z Z
P1 M M M M M M M
P2 L L L L L L L



ET
P3 U U U U U U U

Lut chnh nh K
D
:
DET K
D
N31 N21 N11 ZE1 P11 P21 P31
N3 U U U U U U U
N2 L L M M M L L
N1 M M M M M M M
ZE Z Z Z Z Z Z Z
P1 M M M M M M M
P2 L L M M M L L



ET
P3 U U U U U U U

Lut chnh nh K
I
:
DET K
I
N31 N21 N11 ZE1 P11 P21 P31
N3 L1 L1 L1 L1 L1 L1 L1
N2 L3 L2 L2 L1 L2 L2 L3
N1 L4 L3 L2 L1 L2 L3 L4
ZE L5 L4 L3 L2 L3 L4 L5
P1 L4 L3 L2 L1 L2 L3 L4
P2 L3 L2 L2 L1 L2 L2 L3



ET
P3 L1 L1 L1 L1 L1 L1 L1




Chng 4 : iu khin m
Trang 21
Biu din lut chnh nh K
P
trong khng gian

3. Chn lut v gii m
+ Chn lut hp thnh theo quy tc Max-Min
+ Gii m theo phng php trng tm.
4. Kt qu m phng
Vi cc thng s : K=1; T=60; L=720
T y theo Zeigler-Nichols ta tm ra c b ba thng s {K
P
, K
I
, K
D
}
th di y s cho ta thy s khc bit ca iu khin m so vi iu
khin kinh in.

Tham s theo
Zeigler-Nichols
Tham s
PID m
t (s)
T (
0
C)
PGS.TS Nguyn Th Phng H
http://www.khvt.com
4.4. H m lai
H m lai (Fuzzy Hybrid) l mt h thng iu khin t ng trong thit
b iu khin bao gm: phn iu khin kinh in v phn h m

4.4.1. Cc dng h m lai ph bin:
1. H m lai khng thch nghi



2. H m lai cascade


3. Cng tc m
iu khin h thng theo kiu chuyn i khu iu khin c tham s i
hi thit b iu khin phi cha ng tt c cc cu trc v tham s khc
nhau cho tng trng hp. H thng s t chn khu iu khin c tham s
ph hp vi i tng.



Hnh 4.8
B K
I TNG
B tin
X l m
Hnh 4.9
x
u
u
+
y
BK M
BK
KINH IN
I TNG
Hnh 4.10
x
u
y
B iu khin n
B iu khin 1
BK M
i tng
Chng 4 : iu khin m
Trang 23
4.4.2. V d minh ho
Hy xt s khc bit khi s dng b tin x l m iu khin i tng
gm khu cht ni tip vi khu
) 2 . 0 1 (
) (
s s
K
s G
+
= . Chn BK PI vi
tham s K
P
= 10, T
I
= 0.3sec.



S dng Simulink kt hp vi toolbox FIS Editor ca Matlab m phng
h thng trn.
p ng h thng khi khng c b m:



x
+ y
x
DE
E
s T
K
I
R
1
+
i tng

u
-u
G(s)
B m
PGS.TS Nguyn Th Phng H
http://www.khvt.com
Th vi cc gi tr u v K khc nhau cho thy c tnh ng ca h s xu
i khi vng cht rng hoc h s khuch i ln. hiu chnh c tnh
ng ca h thng ta a vo b lc m nh hnh v trn.
Xy dng lut iu khin vi 2 u vo v mt u ra nh sau:
DE
x
NB NS ZE PS PB
NB NB NS
NS NS NS NS ZE
ZE NB NS ZE PS PB
PS PS PS PS PS


E
PB PB PS PB
Tt c 18 lut c khun dng nh sau:
Nu E = x1 v DE = x2 Th x = x3
Trong x1, x2, x3 {NB, NS, ZE, PS, PB}

-1 0 1 E
-20 0 20 DE
NB NS ZE PS PB
-1 0 1 x
NB NS ZE PS PB

Chng 4 : iu khin m
Trang 25
T hai th trn ta thy c b m ci thin rt tt c tnh ng ca
h thng. Th vi nhiu u khc nhau ta s thy p ng hu nh khng
ph thuc vo u .

4.5. H m mng nron v ng dng
4.5.1. Mng nron nhn to
Mng nron l s ti to bng k thut nhng chc nng ca h thn kinh
con ngi. Mng nron gm v s cc nron lin kt vi nhau nh hnh sau


Hai c tnh c bn ca mng nron l:
+ Qu trnh tnh ton c tin hnh song song v phn tn trn nhiu
nron gn nh ng thi.
+ Tnh ton thc cht l qu trnh hc, ch khng phi theo s nh
sn t trc.
M hnh ton ca mng nron nhn to : (Artifical Neural Networks)

y l m hnh iu khin dng MISO, vi u vo l n tnh hiu
X={x
1
,x
2
,x
n
}
T
, u ra l tn hiu y c xc nh:
y(t) =

=

n
k
k k
t x w f
1
) ) ( ( ,
trong l ngng kch hot nron, w
k
l cc trng s, f l hm kch hot.
X
y
B
tng

Hm phi tuyn
Nhn
Axon
Hnh 4.11
Khp ni
PGS.TS Nguyn Th Phng H
http://www.khvt.com
4.5.2. Cu trc mng nron
Nguyn l cu to ca mt mng nron l bao gm nhiu lp, mi lp bao
gm nhiu nron c cng mt chc nng. Sau y l cc dng lin kt mng
c bn:
a) Mng truyn thng (Feedforward Neural Networks)

b) Mng c hi tip:



4.5.3. Mt s mng nron c bn
1. Mng MLP (Multilayer perceptron)
C rt nhiu cng trnh nghin cu v mng MLP v cho thy nhiu u
im ca mng ny. Mng MLP l c s cho thut ton lan truyn ngc v
kh nng xp x lin tc.
Thut ton lan truyn ngc:
Tp d liu cho c n mu (x
n
,d
n
), vi mi n, x
n
l tn hiu u vo, d
n
l
u ra mong mun. Qu trnh hc l vic thc hin cc tiu ho hm G sau:
G =

=
N
n
n
G
1
, vi G
n
=

N
q
n n
x dq x yq
N
1
2
)) ( ) ( (
1

Q l s nt ti lp ra ca mng. Cn trng s lin kt mng c iu chnh
theo php lp sau :
x1
x2
y
Lp vo Lp b che Lp ra
Chng 4 : iu khin m
Trang 27

= +
G
k w k w ) ( ) 1 ( , trong >0 l hng s t l hc.
Mng MLP l mt gii php hu hiu cho vic m hnh ho, c bit vi
qu trnh phc tp hoc c ch cha r rng. N khng i hi phi bit
trc dng hoc tham s.
2. Mng RBF (Radial basis functions)
Biu din ton hc ca RBF

=
+ =
1
0
0
) ( ) (
N
k
k k
R x C C x F
trong C : vct cha trng s RBF
R : vct cha cc tm RBF
: hm c s hoc hm kch hot ca mng
F(x) : hm nhn c t u ra ca mng
C
0
: h s chch
|| || : chun Euclide
Nh kh nng xp x cc hm phi tuyn bt k vi chnh xc tu , mng
nron, c bit l mng RBF l cng c quan trng cho m hnh ho h
thng v cho iu khin thch nghi cc h thng phi tuyn.

4.5.4. Nhn dng m hnh v iu khin s dng mng nron
1. Nhn dng thng s m hnh

Nhn dng thng s chnh l qu trnh luyn mng. Tn hiu sai s
y y e
~
= l c s cho luyn mng, l thi gian tr.
2. iu khin s dng mng nron
Ta c nhiu cu trc iu khin s dng mng nron nh:
e(k)
u(k)
y(k)
) (
~
k y
Mng nron
i tng K

Hnh 4.12
PGS.TS Nguyn Th Phng H
http://www.khvt.com
+ iu khin theo vng h
+ iu khin theo vng kn
+ iu khin vi m hnh tham chiu
+ iu khin theo thi gian vt qu (over time)
+ B iu khin vi quyt nh h tr ca mng nron

3. ng dng mng RBF nhn dng h ng lc hc phi tuyn
Xt h ng hc phi tuyn ca TK
u x g x f x ) ( ) ( + = (4.5)
Gi s TK l n nh vng h, vct trng thi x l quan st c. Cn
tm m hnh xp x (4.5). Chn AR
n x m
l ma trn n nh, ta vit li (4.5)
dng :
u x g Ax x f Ax x ) ( ) ) ( ( + + =
Theo tnh cht xp x ca mng RBF cho hm phi tuyn: Nu s lng cc
nt trong lp n l ln th f(x) - Ax v g(x) c th xp x bng cc mng
RBF sau:
f(x)- Ax = W*S(x) v g(x) = V*S(x)
trong W* R
n x N
v V* R
n x N
l cc ma trn trng s ca cc t hp
tuyn tnh trn. N xc nh s lng nt trong mt lp RBF ca mng.
S(x) = [ S
1
, S
2
, , S
N
]
T
, vct cc hm c s sau:
( )
2
1
2
2

+ =
k k k
C x S , vi k = 1, 2, 3,N
Tm C
k
R
n
v rng
k
R
n
c bit trc. Ta vit li (4.5) nh sau:
u x S V x S W Ax x ) ( * ) ( * + + =
Vy m hnh ca i tng c th c m t bng phng trnh:
e
r
u
y
d
y
e
M hnh
tham chiu
TK
BK bng
mng nron
Hnh 4.13: iu khin vi m hnh tham chiu
v sai s lan truyn qua TK
Chng 4 : iu khin m
Trang 29
u x VS x WS x A x ) ( ) (
~ ~
+ + =

trong W R
n x N
, V R
n x N
l cc ma trn c lng ca W*, V*, x
~
R
n

l c lng trng thi ca x. Gi
x
e
= x x
~
, W
e
= W*-W, V
e
= V*-V
Phng trnh sai s c lng s l :
u x S V x S Ax x
e e e e
) ( ) ( W + + = (4.6)
Thut ton nhn dng s dng hm Lyapunov:
) (
2
1
) (
2
1
2
1
) , , (
e
T
e e
T
e e
T
e e e e
V V Tr W W Tr Px x V W x L + + = (4.7)
vi P l ma trn i xng xc nh dng. C th xc nh ma trn Q i
xng xc nh dng tho phng trnh Lyapunov sau:
PA+A
T
P = - Q.
Thay (4.6) vo (4.7) v ly o hm ta c:
) (
2
1
) (
2
1
) ( ) ( ) (
2
1
e
T
e e
T
e e
T
e
T
e
T
e
T
e
T T
e
V V Tr W W Tr u Px V x S Px W x S x P A PA x L

+ + + + + =
Chn :
e
T
e
T
e
T
e
Px W x S W W Tr ) ( ) ( =

(4.8)
u Px V x S V V Tr
e
T
e
T
e
T
e
) ( ) ( =

(4.9)
th :
e
T
e e e e
Qx x V W x L
2
1
) , , ( =

(4.10)
Do cc ma trn W* v V* l ma trn hng nn t (4.8), (4.9) ta suy ra thut
nhn dng m hnh nh sau:

=
=
n
k
ek ik j ij
x P S W
1

=
=
n
k
ek ik j ij
u x P S V
1

vi i = 1,2,,N v j = 1,2,,N, P
ij
l phn t ca ma trn Lyapunov P.
T (4.7) ta thy rng L(x
e
,W
e
,V
e
) 0
T (4.10) nhn c 0 ) , , (
e e e
V W x L

V vy x
e
(t) 0, W
e
0, V
e
0, hoc x x , W W*, V V* khi t .
tnh ton n gin c th chn :
A = aI, Q = qI, P = pI, vi a > 0, q > 0 v I l ma trn n v
Khi thut ton nhn dng m hnh n gin nh sau:
PGS.TS Nguyn Th Phng H
http://www.khvt.com

ei j ij
x pS = W

u x pS V
ei j ij
=

T phng trnh Lyapunov rt ra :
a
q
p
2
= >0.
hi t n trng s thc, h ng lc phi c giu thng tin u
vo. V th a s u vo c chn ngu nhin.

4.5.5. Kt hp mng nron v h m
Qua phn tch trn ta c th thy c nhng u nhc im ca mng
nron v iu khin m nh sau:
Tnh cht Mng Nron B iu khin m

Th hin tri thc
Thng qua trng s c
th hin n trong mng
c th hin ngay
ti lut hp thnh
Ngun ca tri thc T cc mu hc T kinh nghim
chuyn gia
X l thng tin khng
chc chn
nh lng nh lng v nh
tnh
Lu gi tri thc Trong nron v trng s
ca tng ng ghp ni
nron
Trong lut hp thnh
v hm thuc
Kh nng cp nht v
nng cao kin thc
Thng qua qu trnh hc Khng c
Tnh nhy cm vi
nhng thay i ca
m hnh
Thp Cao
T ngi ta i n vic kt hp mng nron v iu khin m hnh
thnh b iu khin m - nron c u im vt tri.


Vo Ra

Mng nron
X l tn hiu nron vo
c lng trng thi
D bo trng thi
Nhn dng h thng
B iu khin m

iu khin
Ra quyt nh
Kin trc kiu mu ca mt h m-nron
Chng 4 : iu khin m
Trang 31
4.5.6. Thut ton di truyn (GA)

Gii thiu
Thut ton di truyn l thut ton ti u ngu nhin da trn c ch chn lc
t nhin v tin ha di truyn. Nguyn l c bn ca thut ton di truyn
c Holland gii thiu vo nm 1962. C s ton hc c pht trin t
cui nhng nm 1960 v c gii thiu trong quyn sch u tin ca
Holland, Adaptive in Natural and Artificial Systems. Thut ton di truyn
c ng dng u tin trong hai lnh vc chnh: ti u ha v hc tp ca
my. Trong lnh vc ti u ha thut ton di truyn c pht trin nhanh
chng v ng dng trong nhiu lnh vc khc nhau nh ti u hm, x l
nh, bi ton hnh trnh ngi bn hng, nhn dng h thng v iu khin.
Thut ton di truyn cng nh cc thut ton tin ha ni chung, hnh thnh
da trn quan nim cho rng, qu trnh tin ha t nhin l qu trnh hon
ho nht, hp l nht v t n mang tnh ti u. Quan nim ny c th
xem nh mt tin ng, khng chng minh c, nhng ph hp vi
thc t khch quan. Qu trnh tin ha th hin tnh ti u ch, th h sau
bao gi cng tt hn (pht trin hn, hon thin hn) th h trc bi tnh
k tha v u tranh sinh tn.

Cc php ton ca thut ton di truyn

1. Ti sinh (Reproduction)
Ti sinh l qu trnh chn qun th mi tha phn b xc sut da trn
thch nghi. thch nghi l mt hm gn mt gi tr thc cho c th trong
qun th. Cc c th c thch nghi ln s c nhiu bn sao trong th h
mi. Hm thch nghi c th khng tuyn tnh,khng o hm, khng lin tc
bi v thut ton di truyn ch cn lin kt hm thch nghi vi cc chui s.
Qu trnh ny c thc hin da trn bnh xe quay roulette (bnh xe s
x) vi cc rnh c nh kch thc theo thch nghi. K thut ny
c gi l la chn cha m theo bnh xe roulette. Bnh xe roulette c
xy dng nh sau (gi nh rng, cc thch nghi u dng, trong trng
hp ngc li th ta c th dng mt vi php bin i tng ng nh li
t l sao cho cc thch nghi u dng).
PGS.TS Nguyn Th Phng H
http://www.khvt.com
- Tnh thch nghi f
i
, i=1 n ca mi nhim sc th trong qun th hin
hnh,vi n l kch thc ca qun th (s nhim sc th trong qun th).
- Tm tng gi tr thch nghi ton qun th:

=
=
n
i
i
f F
1

- Tnh xc sut chn p
i
cho mi nhim sc th:
F
f
p
i
i
=
- Tnh v tr xc sut q
i
ca mi nhim sc th:

=
=
i
j
j i
p q
1

Tin trnh chn lc c thc hin bng cch quay bnh xe roulette n ln,
mi ln chn mt nhim sc th t qun th hin hnh vo qun th mi
theo cch sau:
- Pht sinh ngu nhin mt s r (quay bnh xe roulette) trong khong
[01]
- Nu r < q
1
th chn nhim sc th u tin; ngc li th chn nhim
sc th th i sao cho q
i-1
< r q
i


V d 4.5.6:
Xem xt dn s c 6 nhim sc th vi gi tr tng thch nghi ton qun th
l 50 (bng 1), bnh xe roulette trong hnh 4.14. By gi ta quay bnh xe
roulette 6 ln, mi ln chn mt nhim sc th cho qun th mi. Gi tr
ngu nhin ca 6 s trong khong [01] v cc nhim sc th tng ng
c chn c cho trong bng 2.
Nhim sc
th
Chui m
ha
Tr thch nghi
f(i)
Xc sut chn
p
I
V tr xc sut
q
i
1 01110 8 0.16 0.16
2 11000 15 0.3 0.46
3 00100 2 0.04 0.5
4 10010 5 0.1 0.6
5 01100 12 0.24 0.84
6 00011 8 0.16 1
Bng 1: Cc nhim sc th v cc gi tr thch nghi
Chng 4 : iu khin m
Trang 33
Hnh 4.14: Bnh xe roulette

S ngu nhin 0.55 0.1 0.95 0.4 0.8 0.7
Nhim sc th 4 1 6 2 5 5

Bng 2: Qun th mi
Qua v d trn ta thy rng, c th s c mt s nhim sc th c chn
nhiu ln, cc nhim sc th c thch nghi cao hn s c nhiu bn sao
hn, cc nhim sc th c thch nghi km nht thi dn dn cht i.
Sau khi la chn c qun th mi, bc tip theo trong thut ton di
truyn l thc hin cc php ton lai ghp v t bin.

2. Lai ghp (Crossover)
Php lai l qu trnh hnh thnh nhim sc th mi trn c s cc nhim sc
th cha - m, bng cch ghp mt hay nhiu on gen ca hai (hay nhiu)
nhim sc th cha - m vi nhau. Php lai xy ra vi xc sut p
c
, c thc
hin nh sau:
- i vi mi nhim sc th trong qun th mi, pht sinh ngu nhin
mt s r trong khong [01], nu r < p
c
th nhim sc th c chn
lai ghp.
1
2
6
5
4 3
PGS.TS Nguyn Th Phng H
http://www.khvt.com
- Ghp i cc nhim sc th chn c mt cch ngu nhin, i vi
mi cp nhim sc th c ghp i, ta pht sinh ngu nhin mt s
nguyn pos trong khong [0m-1] (m l tng chiu di ca mt nhim
sc th - tng s gen). S pos cho bit v tr ca im lai. iu ny c
minh ha nh sau:


b
1
b
2
b
pos
b
pos+1
b
m
c
1
c
2
c
pos
c
pos+1
c
m

- Chuyn i cc gen nm sau v tr lai.
b
1
b
2
b
pos
c
pos+1
c
m
c
1
c
2
c
pos
b
pos+1
b
m

Nh vy php lai ny to ra hai chui mi, mi chui u c tha hng
nhng c tnh ly t cha v m ca chng. Mc d php lai ghp s dng
la chn ngu nhin, nhng n khng c xem nh l mt li i ngu
nhin qua khng gian tm kim. S kt hp gia ti sinh v lai ghp lm cho
thut ton di truyn hng vic tm kim n nhng vng tt hn.

3. t bin (Mutation)
t bin l hin tng c th con mang mt (s) tnh trng khng c trong
m di truyn ca cha m. Php t bin xy ra vi xc sut p
m
, nh hn rt
nhiu so vi xc sut lai p
c
. Mi gen trong tt c cc nhim sc th c c hi
b t bin nh nhau, ngha l i vi mi nhim sc th trong qun th hin
hnh (sau khi lai) v i vi mi gen trong nhim sc th, qu trnh t bin
c thc hin nh sau:
- Pht sinh ngu nhin mt s r trong khong [01]
- Nu r < p
m
, th t bin gen .
t bin lm tng kh nng tm c li gii gn ti u ca thut ton di
truyn. t bin khng c s dng thng xuyn v n l php ton tm
V tr lai
Chng 4 : iu khin m
Trang 35
kim ngu nhin, vi t l t bin cao, thut ton di truyn s cn xu hn
phng php tm kim ngu nhin.
Sau qu trnh ti sinh, lai v t bin, qun th mi tip tc c tnh ton
cc gi tr thch nghi, s tnh ton ny c dng xy dng phn b xc
sut (cho tin trnh ti sinh tip theo), ngha l, xy dng li bnh xe
roulette vi cc rnh c nh kch thc theo cc gi tr thch nghi hin
hnh. Phn cn li ca thut ton di truyn ch l s lp li chu trnh ca
nhng bc trn.

Cu trc ca thut ton di truyn tng qut
Thut ton di truyn bao gm cc bc sau:
- Bc 1: Khi to qun th cc nhim sc th.
- Bc 2: Xc nh gi tr thch nghi ca tng nhim sc th.
- Bc 3: Sao chp li cc nhim sc th da vo gi tr thch nghi ca
chng v to ra nhng nhim sc th mi bng cc php ton di
truyn.
- Bc 4: Loi b nhng thnh vin khng thch nghi trong qun th.
- Bc 5: Chn nhng nhim sc th mi vo qun th hnh thnh
mt qun th mi.
- Bc 6: Nu mc tiu tm kim t c th dng li, nu khng tr
li bc 3.









PGS.TS Nguyn Th Phng H
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4.6. ng dng iu khin m trong thit k h thng

4.6.1 iu khin m khng thch nghi (Nonadaptive Fuzzy Control)
1. B iu khin m tuyn tnh n nh SISO
Phng trnh bin trng thi ca h SISO

)] ( [ ) (
) ( ) (
) ( ) ( ) (
t y f t u
t cx t y
t bu t Ax t x
=
=
+ =

Thay phng trnh cui vo hai phng trnh trn ta c h m vng kn
nh sau:

Thit k BK m n nh SISO
Bc 1: Gi s y(t) c min gi tr l khong U=[ ], chia U ra 2N+1
khong A
k
nh hnh v bn di:


x
1
x
2
x
N+1
x
2N+1
y
A
1
A
2
A
N
A
N+1
A
N+2
A
2N
A
2N+1


Hnh 4.16: Hm thuc ca BK
i tng K
x
u
y
A
b c
BK m
f(y)
Hnh 4.15: Cu trc h SISO
Chng 4 : iu khin m
Trang 37
Bc 2: Thnh lp 2N+1 lut m IF THEN c khun dng
IF y = A
k
THEN u = B
k

trong k = 1,2,.,2N+1 v trng tm y ca khong m B
k
l:

+ + =
+ = =
=
1 2 ,..., 2 0
1 0
,..., 1 0
N N k
N k
N k
y (4.11)
Bc 3: Chn lut hp thnh tch, gii m theo phng php trung bnh
trng s, ta c lut iu khin nh sau:

+
=
+
=
= =
1 2
1
1 2
1
) (
) (
) (
N
k
A
N
k
A
y
y y
y f u
k
k

vi y tho (4.11) v ) ( y
k
A
c nu trong Hnh 4.16.
2. B K m tuyn tnh n nh MIMO
Phng trnh bin trng thi ca h MIMO:

) ( ) (
) ( ) ( ) (
t Cx t y
t Bu t Ax t x
=
+ =
(4.12)
Gi s h c m u vo v m u ra th u(t) = (u
1
(t),,u
m
(t))
T
c dng :
u
k
(t) = - f
k
[y(t)] (4.13)
vi k=1,2,,m v f
k
[y(t)] l h m m u vo 1 u ra.
M hnh h thng c cu trc nh Hnh 4.15, nhng thay cho cc s b,c bi
cc ma trn B,C, hm v hng f bi vct f = (f
1
,f
2
,,f
m
)
T
.
Thit k BK m n nh MIMO
Bc 1: Gi s u ra y
k
(t) c min gi tr l U
k
= [
k

k
], vi k=1,,m.
Chia U
k
ta 2N+1 khong
i
l
k
A v thit lp hm thuc nh Hnh F.2
Bc 2: Thnh Lp m nhm lut m IF THEN, nhm th k cha

=
+
m
i
k
N
1
) 1 2 ( lut dng:
IF y
1
=
1
1
l
A And . And y
m
=
m
l
m
A , THEN u=
m
l l
k
B
...
1

Trong l
i
=1,2,,2N
k
+1; k=1,2,,m v trng s
m
l l
k
y
...
1
ca tp m
m
l l
k
B
...
1

c chn nh sau:
PGS.TS Nguyn Th Phng H
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+ + =
+ = =
=
1 2 ,..., 2 0
1 0
,..., 2 , 1 0
...
1
k k k
k k
k k
l l
k
N N l
N l
N l
y
m
(4.14)
Bc 3: Chn lut hp thnh tch, gii m theo phng php trung bnh
trng s, ta c lut iu khin:



+
= = =
+
= =
+
=
= =
1 2
1 1 1
1 2
1 1
...
1 2
1
1
1
1
1
1
)) ( ( ...
)) ( ( ...
) (
N
l
m
l
m
i
i
A
i
N
l
m
i A
l l
k
N
l
k k
m
i
l
i
m
m
i
l
i
m
y
y y
y f u

(4.15)
vi k=1,2,,m.

3. B iu khin m ti u
Phng trnh trng thi

0
) 0 (
) ( ) ( ) (
x x
t Bu t Ax t x
=
+ =
(4.16)
vi x R
n
v u R
m
, v ch tiu cht lng dng ton phng:
[ ]dt t Ru t u t Qx t x T Mx T x J
T
T T T

+ + =
0
) ( ) ( ) ( ) ( ) ( ) ( (4.17)
vi M R
n n
, Q R
n n
, R R
m m
l cc ma trn xc nh dng.
Ta xc nh u(t) dng nh (4.15), vi u(t) = (u
1
,u
2
,,u
m
)
T




+
=
+
= =
+
= =
+
=
= =
1 2
1
1 2
1 1
1 2
1 1
...
1 2
1
1
1
1
1
1
)) ( ( ...
)) ( ( ...
) (
N
l
N
l
n
i
i
A
i
N
l
n
i A
l l
k
N
l
k k
n
n
i
l
i
n
n
i
l
i
m
x
x y
x f u

(4.18)
Chng ta cn xc nh thng s
n
l l
k
y
...
1
cc tiu J.
Ta nh ngha hm m c s b(x) = (b
1
(x), , b
N
(x))
T
vi:

+
=
+
= =
=
=
1 2
1
1 2
1 1
1
1
1
)) ( ( ...
) (
) (
N
l
N
l
n
i
i
A
n
i
i
A
l
n
n
i
l
i
i
l
i
x
x
x b

(4.19)
vi l
i
= 1,2,,2N
i
+1; l = 1,2,,N v

=
+ =
n
i
i
N N
1
) 1 2 ( . Ta nh ngha
ma trn thng s R
m N
nh sau :
Chng 4 : iu khin m
Trang 39
[ ]
T
T
m
T T
= ,..., ,
2 1
(4.20)
vi
N T
k
R


1
cha N thng s
n
l l
k
y
...
1
, c bc ging nh b
l
(x). Ta vit li tn
hiu iu khin m dng u = (u
1
,u
2
,..,u
m
)
T
= (-f
1
(x),,-f
n
(x))
T
nh sau:
u = b(x) (4.21)
Gi ta gi s = (t). Thay (4.21) vo (4.16) v (4.17) ta c :
[ ] ) ( ) ( ) ( ) ( t x b t B t Ax t x + = (4.22)
v hm ch tiu cht lng l :
[ ]dt t x b t R t t x b t Qx t x T Mx T x J
T
T T T T

+ + =
0
)) ( ( ) ( ) ( )) ( ( ) ( ) ( ) ( ) ( (4.23)
V vy vn cn gii quyt by gi l xc nh (t) ti u c tiu ho J.
Xt hm Hamilton:
)] ( [ ) ( ) ( ) , , ( x b B Ax p x b R x b Qx x p x H
T T T T
+ + + = (4.24)
Ta c: 0 ) ( ) ( ) ( 2 = + =

x pb B x b x b R
H
T T T

Suy ra :
1 1
)] ( ) ( )[ (
2
1

= x b x b x pb B R
T T T
(4.25)
Thay (4.25) vo (4.24) ta c:
p B BR p x x Ax p Qx x p x H
T T T T 1 2
)] ( ) ( [ ) , (

+ + = (4.26)
trong : ) ( )] ( ) ( )[ (
2
1
) (
1
x b x b x b x b x
T T
= (4.27)
p dng nguyn l cc tiu Pontryagin ta c:
p B BR x x Ax
p
H
x
T 1 2
)] ( ) ( [ 2

+ =

= (4.28)
p B BR p
x
x
x p A Qx
x
H
p
T T T 1
) (
] 1 ) ( 2 [ 2

=

(4.29)
Gii hai phng trnh vi phn (4.27) v (4.28) ta s c x
*
(t) v p
*
(t), t
ta xc nh c:

1 1
))] ( ( )) ( ( ))[ ( ( ) (
2
1
) (

= t x b t x b t x b t p B R t
T T T
(4.30)
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V b m ti u s l:
) ( ) ( x b t u

= (4.31)
Cc bc thit k BK m ti u:
Bc 1: Xc nh hm thuc ) (
i
A
x
i
l
i
, vi l
i
= 1,2,,2N
i
+1 v I = 1,,n.
Chn dng hm thuc l Gaussian.
Bc 2: Tnh hm m c s b
l
(x) theo (4.19) v tnh (x) theo (4.27), xc
nh tr o hm :
x
x

) (
.
Bc 3: Gii (4.28) v (4.29) c x
*
(t) v p
*
(t), tnh
*
(t) theo (4.30)
vi t[0 T].
Bc 4: Xc nh BK m ti u t (4.31)
V d ng dng:
Hy thit k v m phng h thng Qu bng v n by nh hnh v sau:

Thit k BK m iu khin qu bng di chuyn t im gc O n mc
tiu (v tr t) cch O khong r. Chn bin trng thi nh sau:
T T
x x x x r r x ) , , , ( ) , , , (
4 3 2 1
= =

v y = r = x
1

Phng trnh bin trng thi c chn l:
u
x
x x x
x
x
x
x
x

1
0
0
0
0
) sin (
4
3
2
4 1
2
4
3
2
1

Chn M=0, Q=I, R=I, N
i
=2 vi i=1,2,3,4. Chn hm thuc dng:
] ) ( 2 exp[ ) (
2
i
i
l
ip
l
i i i
A
x x x =
O
r
u
Hnh 4.17
Chng 4 : iu khin m
Trang 41
Trong i=1, 2, 3, 4; l
i
=1, 2, 3, 4, 5 v ) 1 ( + =
i i i
l
i
l b a x
i
vi a
1
= a
2
= - 2,
a
3
=a
4
=-1, b
1
=b
2
=1, b
3
=b
4
=0.5.
Chn = 0.7143, = 9.81. Kt qu m phng vi 3 mc tiu khc nhau:


4. iu khin m c h thng gim st


Thit k b gim st
Xt h thng phi tuyn c cho bi phng trnh vi phn:
u x x x g x x x f x
n n n
) ,..., , ( ) ,..., , (
) 1 ( ) 1 ( ) (
+ = (4.32)
trong
T n
x x x x ) ,..., , (
) 1 (
= l vct trng thi ra, u R l tn hiu iu
khin, f v g l cc hm cha bit, gi thit g > 0.Gi s ta c BK m:
u = u
fuzz
(x)
mc tiu
iu khin
i tng
B K m
B K gim st
Hnh 4.18
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http://www.khvt.com
Gi s |x(t)| M
x
, x vi M
x
= const. Khi thm b gim st th tn hiu iu
khin h thng s l:
u = u
fuzz
(x) + I*u
s
(x) (4.33)
trong I* = 1 nu |x(t)| M
x
, I* = 0 nu |x(t)| < M
x
. Ta cn thit k b
gim st u
s
(t).
Thay (4.33) vo (4.32) ta c:
x
(n)
= f(x) + g(x)u
fuzz
(x) + g(x)I*u
s
(x) (4.34)
Gi s ta lun xc nh c hai hm f
U
(x) v g
L
(x) sao cho |f(x)| f
U
(x) v
0 < g
L
(x) g(x).
t : [ ] x k x f
x g
u
T
=

) (
) (
1
(4.35)
Trong k = (k
n
,k
n-1
,..,k
1
)
T
R. Ta vit li (4.34) nh sau:
[ ]
s fuzz
T n
u I u u g x k x

+ + =
) (
(4.36)
t

=
1 2 1
... ... ...
1 0 ... 0 0 00 0
... ... ... ... ... ... ...
0 0 ... 0 1 0 0
0 0 ... 0 0 1 0
k k k k
A
n n

=
g
b
0
...
0

Vit (4.36) dng vct :
] [
s fuzz
u I u u b Ax x

+ + = (4.37)
Xt hm Lyapunov : Px x V
T
2
1
= (4.38)
Trong P l ma trn i xng xc nh dng tho phng trnh
Lyapunov : Q PA P A
T
= + (4.39)
T (4.37), (4.39) v xt trng hp |x| M
x
, ta c:
Chng 4 : iu khin m
Trang 43
s
T
fuzz
T
s fuzz
T T
Pbu x u u Pb x u u u Pb x Qx x V + + + + =

) ( ] [
2
1

(4.40)
Ta cn tm u
s
0 V

, kt hp phng trnh trn vi (4.6.25) ta c:

+ + =
fuzz
T U
L
T
s
u x k f
g
Pb x sign u ) (
1
) ( (4.41)
Thay (4.41) vo (4.40) ta s c 0 V

.
V d (4.6.1.4)
Thit k h thng c b gim st gi cn bng cho con lc ngc.
M hnh:

Phng trnh trng thi:

2 1
x x = (4.42)
u
m m
x m
l
m m
x
m m
x m
l
m m
x x mlx
x g
x
c
c
c
c
)
cos
3
4
(
cos
)
cos
3
4
(
sin cos
sin
1
2
1
1
2
1 1
2
2
1
2
+

+
+
+

= (4.43)
Thit k b gim st
u tin ta tm f
U
v g
L
, ta c

2
2
2
2
1
2
1 1
2
2
1
2 1
0366 . 0 78 . 15
1 . 1
05 . 0
3
2
1 . 1
25 . 0
8 . 9
)
cos
3
4
(
sin cos
sin
) , ( x
x
m m
x m
l
m m
x x mlx
x g
x x f
c
c
+ =

=
Hnh 4.19
2
x =

mgsin
=x
1
l
m
c
u
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chn
2
2 2 1
0366 . 0 78 . 15 ) , ( x x x f
U
+ =
con lc n nh th gc x
1
= 20
0
. Suy ra M
x
= 20
0
.
1 . 1
) 20 cos
1 . 1
05 . 0
3
2
( 1 . 1
20 cos
) , (
0 2
0
2 1
=
+
x x g
chn g
L
(x
1
,x
2
) = 1.1
Chn cc thng s thit k nh sau:
a = /18, k
1
= 2, k
2
= 1 , Q =

10 0
0 10

Gii phng trnh Lyapunov (4.39) ta c : P =

15 5
5 15

Thit k BK m c u
fuzz
(x).
T (4.41) ta s c BK c gim st h con lc ngc.
Dng simulink ca matlab chy m phng ta s thy c tnh u vit khi
c v khng s dng b gim st.

5. iu khin m trt

1. Nguyn l iu khin trt
Xt h thng phi tuyn
u X g X f x
n
) ( ) (
) (
+ = (4.44)
y(t) = x(t)
trong u l tn hiu iu khin, x l tn hiu ra,
T n
x x x X ) ,..., , (
) 1 (
= l
vct trng thi. Trong (G.1) f(X) l hm cha bit v b chn bi mt hm
bit:
) ( ) (

) ( X f X f X f + = (4.45)
v ) ( ) ( X F X f (4.46)
0 < g
0
< g(X) <g
1
(4.47)
trong ) ( ), (

X F X f bit, g
0
, g
1
l cc hng s dng.
i vi mc tiu iu khin n nh h thng th chng ta cn xc nh lut
iu khin hi tip u = u(X) sao cho ng ra ca h thng x 0 khi t .
Chng 4 : iu khin m
Trang 45
lm c iu ny ta a ra hm trt sau:
x a
dt
dx
a
dt
x d
a
dt
x d
S
n
n
n
n
n
0 1
2
2
2
1
1
... + + + + =

(4.48)
trong n l bc ca i tng.
Cc h s a
0
, a
1
, , a
n-2
phi c chn sao cho a thc c trng ca
phng trnh vi phn S=0 l a thc Hurwitz.
Phng trnh S=0 m t mt mt trong khng gian trng thi n chiu gi l
mt trt ( Sliding surface).
Ta cn xc nh lut iu khin u sao cho S 0 c x 0.
i vi iu khin bm mc tiu, ta cn xc nh lut iu khin u = u(X)
sao cho trng thi ca h thng vng kn s bm theo trng thi mong mun
( )
T
n
d d d d
x x x X
) 1 (
,..., ,

=
Gi e l sai lch gia tn hiu ra v tn hiu t:
( )
T
n
d
e e e X X e
) 1 (
,..., ,

= =
Mc tiu iu khin l trit tiu e khi t .
nh ngha hm trt :
e a
dt
de
a
dt
e d
a
dt
e d
e S
n
n
n
n
n
0 1
2
2
2
1
1
... ) ( + + + + =

(4.49)
trong n l bc ca i tng iu khin, cc h s a
0
, a
1
, a
n-2
c
chn sao cho a thc c trng ca S(e)=0 l a thc Hurwitz.
S dng phng php Lyapunov, chn hm V xc nh dng nh sau:

2
2
1
S V = (4.50)
S S V

= (4.51)
V

xc nh m ta chn lut iu khin u sao cho:

Khi S>0 th S

<0
Khi S<0 th S

>0
Do vy vi hm trt S(e) ta xc nh lut iu khin u tho:
0 ) ( < S sign
dt
dS
(4.52)
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Vi lut iu khin nh vy, h thng s n nh theo tiu chun Lyapunov,
lc ny mi qu o trng thi ca h thng bn ngoi mt trt s c
a v mt trt v duy tr mt cch bn vng.



2. H thng iu khin trt m
Xt h thng (4.44), ta cn xc nh lut iu khin u a ng ra ca h
thng bm theo theo gi tr mong mun cho trc y(t) y
d
(t) hay ni cch
khc l ( ) 0
) ( ) ( ) (
=
i
d
i i
y y e , i = 0,1,,n-1
Da vo t tnh ca b iu khin trt ta cn thc hin hai bc sau:
Bc 1: Chn mt trt S
Bc 2: Thit k lut iu khin cho h thng ri vo mt trt S = 0 v
duy tr ch ny mi mi.
Gi ( ) ( )
T
n
T
n
t e t e t e t e t e t e t e ) ( ),..., ( ), ( ) ( ),..., ( ), ( ) (
) 1 (
2 1

= =
Chn hm trt:
e b
dt
de
b
dt
e d
b
dt
e d
e S
n
n
n
n
n
0 1
2
2
2
1
1
... ) ( + + + + =

(4.53)
Trong b
0
, b
1
,,b
n-2
c chn sao cho nghim ca a thc c trng
0 ...
0 1
2
2
1
= + + + +

b p b p b p
n
n
n
u nm bn tri mt phng phc.
Mt trt S c cho b phng trnh S(e) = 0, lut iu khin u c chn
sao cho 0 ) ( < S sign
dt
dS
.
x
2
= x

x
1
S = 0
Hnh 4.20 Mt trt bc hai
Chng 4 : iu khin m
Trang 47
3.Thit k b iu khin m trt bc hai
Xt h thng phi tuyn bc hai sau:
u X g X f x ) ( ) ( + = (4.54)
y = x (4.55)
trong ( )
T
x x, X = l vct trng thi, u l ng vo iu khin y(t) l ng
ra ca h thng.
Mc tiu ca iu khin l xc nh lut iu khin u ng ra ca h thng
bm theo qu o mong mun y
d
(t) vi sai s nh nht.
Lut iu khin u gm 2 thnh phn:
u = u
eq
+ u
s
(4.56)
Thnh phn u
eq
c thit k nh sau:
[ ] e t y t X f
g
t u
d eq
+ = ) ( ) , (

1
) ( , (>0) (4.57)
Thnh phn u
s
c chn l:
[ ] ) ( ) 1 ( ) ) , ( (

1
) ( t u t X F
g
t u
eq s
+ + (4.58)
Trong ) , (

t X f l gi tr c lng ca f(X,t)
F(X,t) l cn trn ca sai s c lng
0 < g
0
< g(X) < g
1


1 0
g g g =

0
1
g
g
=
Lut iu khin m c thit k nh sau:

>
<
=
+

0 ), (
0 ), (
) (
S t u
S t u
t u (4.59)
Trong :

[ ]
[ ]
) 1 (
) ( ) 1 ( ) ) , ( ( ) ( ) (
) ( ) 1 ( ) ) , ( ( ) ( ) (
1
1

+ + =
+ + + =
+

k
t u t X F g k t u t u
t u t X F g k t u t u
eq eq
eq eq


(4.60)
PGS.TS Nguyn Th Phng H
http://www.khvt.com
H qui tc m c khun dng nh sau:
R
1
: Nu S<0 Th ) ( ) (
1
t u t u

=
R
2
: Nu S>0 Th ) ( ) (
2
t u t u
+
= (4.61)
Chn lut hp thnh tch, gii m theo phng php trng tm, lut iu
khin u c xc nh nh sau:

=
=
=
r
i
i
r
i
i
i
S
t u S
t u
1
1
) (
) ( ) (
) (

(4.62)
Vi r : s lut m

=
=
n
j
A
i
S S
i
j
1
) ( ) (
) (S
i
j
A
l hm thuc c dng Gaussian nh sau:


4. Thit k BK m trt cho h thng nng vt trong t trng

M hnh:
Hnh 4.22 minh ho mt h thng nng vt bng t trng, t trng c
to ra t cun dy qun quanh li thp, cun dy nhn p iu khin u.

Hnh 4.21 : Dng hm thuc m ha
Chng 4 : iu khin m
Trang 49

Phng trnh ton m t h thng

=
+ =
=
2
) ) ( (
h
i
C mg
dt
dv
m
dt
i h L d
Ri u
v
dt
dh
(4.63)
Trong :
h : v tr hn bi (m)
v : vn tc hn bi (m/s)
i : dng in qua cun dy (A)
u : in p cung cp cho cun dy (V)
R, L : in tr v in cm cun dy (, H)
C : hng s lc t (Nm
2
/A
2
)
m : khi lng hn bi (Kg)
g : gia tc trng trng. (m/s
2
)
in cm ca cun dy l mt hm phi tuyn ph thuc vo v tr ca hn bi

h
C
L h L
2
) (
1
+ = (4.64)
L
1
l in cm ca cun dy khi hn bi rt xa.
Chn bin trng thi nh sau:
Hnh 4.22 : H thng nng vt trong t trng
PGS.TS Nguyn Th Phng H
http://www.khvt.com
x
1
= h, x
2
= v, x
3
= i (4.65)
Vct trng thi ca h thng X = (x
1
, x
2
, x
3
)
T

T (4.63), (4.64) v (4.65) ta c phng trnh trng thi:

+ =

=
=
u
L x
x x
L
C
x
L
R
x
x
x
m
C
g x
x x
1 2
2
1
3 2
3 3
2
1
3
2
2 1

(4.66)
im cn bng ca h thng l nghim ca h ( ) 0 , 0 , 0
3 2 1
= = = x x x
Gii ra c X
b
= [x
1b
, 0, x
3b
]
T
, vi
C
gm
x x
b b 1 3
=
Gi X
d
= [ x
1d
, x
2d
, x
3d
]
T
l vct trng thi mong mun.
Mc tiu ca h thng l a X tin v X
d
vi sai s nh nht.

Thit k BK trt
Thc hin php i trc nh sau:

=
=
=
2
1
3
3
2 2
1 1 1
x
x
m
C
g z
x z
x x z
d
(4.67)
Lc ny ta cn xc nh lut iu khin u sao cho Z = (z
1
, z
2
, z
3
)
T
tin v
(0,0,0)
T
khi t , khi y X X
d
.
Kt hp (4.66), (4.67) v mt s php bin i ta c:
( )

+
=
=
=
u z g
m
C
x z L L
R
x z L
C
x z
z
z g z
z z
z z
d d d
) (
) (
2
) (
2
1 2
3
1 1 1 1 1 1
2
3 3
3 2
2 1

(4.68)

Chng 4 : iu khin m
Trang 51
t

+
=

+
=
L
R
x z L
C
x z
z
z g z f
u z g
m
C
x z L
z g
d d
d
) (
2
1 ) ( 2 ) (
) (
) (
2
) (
1 1 1 1
2
3
3
1 1
(4.69)
T (4.68) v (4.69) ta c m hnh ng hc ca h thng trong h to
mi nh sau:

+ =
=
=
u z g z f z
z z
z z
) ( ) (
3
3 2
2 1

(4.70)
Ng ra ca h thng trong h ta mi l:

d
x x z e
1 1 1
= = (4.71)

Mi quan h ng vo v ng ra:
u z g z f e ) ( ) (
) 3 (
+ = (4.72)
Hai hm f(z), g(z) tng ng trong h to ban u l f
1
(x), g
1
(x):

=
2
1
3
1
2
1
3
1
3
1
2
3 2
1
2
) (
2
1
2
) (
Lmx
Cx
x g
x
x
L
R
Lx
C
x
x x
m
C
x f
(4.73)
Ta vit li (4.72) trong h to ban u:
u x g x f e ) ( ) (
1 1
) 3 (
+ = (4.74)
Chn mt trt nh sau:
e a e a e S
0 1
+ + = (4.75)
Vi a
1
, a
0
c chn sao cho a thc t trng ca phng trnh S = 0 l
Hurwitz.
T (4.75) v (4.70) ta c:

1 0 2 1 3
z a z a z S + + = (4.76)
Ly o hm ca S theo thi gian ta c:

2 0 3 1 1 0 2 1 3
) ( ) ( z a z a u z g z f z a z a z S + + + = + + =

(4.77)
Chn lut iu khin u nh sau:
PGS.TS Nguyn Th Phng H
http://www.khvt.com
[ ] ) ( ) (
) (
1
1 0 2 1 3 2 0 3 1
z a z a z Wsign z a z a z f
z g
u + + = (4.78)
Thay (4.78) vo (4.77) ta c:
) ( ) (
1 0 2 1 3
S Wsign z a z a z Wsign S = + + =

(4.79)
Nu chn W l hng s dng th ta s c 0 < S S

. Do vy bin trng thi

Z s hi t v zero khi t tho yu cu ra.
Ta c th vit li mt trt S di dng hm ca x
1
, x
2
, x
3
nh sau:
) (
1 1 0 2 1
2
1
3
d
x x a x a
x
x
m
C
g S + +

= (4.80)
V lut iu khin u l:

+ +

= ) (
1
1 1 0 2 1
2
1
3
2 0
2
1
3
1 1
1
d
x x a x a
x
x
m
C
g Wsign x a
x
x
m
C
g a f
g
u
(4.81)

Cc thng s m phng ca h thng
Khi lng hn bi m = 11.87g, bn knh R = 7.14mm, mt nam chm in, in tr cun
dy R = 28.7, in khng L
1
= 0.65H, hng s lc t C=1.410
- 4
Nm
2
A
2
.

Kt qu m phng bng simulink ca Matlab nh sau:

Hnh 4.23: V tr v p iu khin khi tn hiu t bin thin
Chng 4 : iu khin m
Trang 53


Thit k BK trt m cho h thng nng vt trong t trng
Trong phn thit k BK trt ta bit lut iu khin u nh sau:

= ) (
1
2 0
2
1
3
1 1
1
S Wsign x a
x
x
m
C
g a f
g
u
vi S c xc nh t (4.80), f
1
v g
1
c xc nh t (4.73).
Do trong lut iu khin c hm sign nn gy ra hin tng dao ng,
khc phc nhc im ny ta thm khu x l m trong b iu khin
thay th cho hm sign.
Chn lut iu khin u = u
eq
+ u
s
, vi:

=
2 0
2
1
3
1 1
1
1
x a
x
x
m
C
g a f
g
u
eq
(4.82)




Hnh 4.24: V tr v p iu khin khi tn hiu t l

PGS.TS Nguyn Th Phng H

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Cc bc xy dng b m:
Bc 1: M ho mt trt S

Bc 2: Xy dng h qui tc m:
R
1
: If S is zero Then u
1
= u
eq

R
2
: If S is pos Then u
2
= u
eq
+ C
0

R
3
: If S is lpos Then u
3
= u
eq
+ C
1

R
4
: If S is neg Then u
4
= u
eq
C
0

R
5
: If S is lneg Then u
5
= u
eq
C
1

C
0
, C
1
l cc hng s dng C
0
> C
1

Bc 3: Gii m
Bng phng php gii m trng tm, lut iu khin u c xc nh:

=
=
=
5
1
5
1
i
i
i
i
i
u
u

(4.83)
Trong
i
l ng ca qui tc th i :

) (
) (
) (
) (
) (
ln 5
4
3
2
1
S
S
S
S
S
eg
neg
lpos
pos
zero





=
=
=
=
=
(4.84)

Hnh 4.25:Hm thuc vi 5 tp m
Chng 4 : iu khin m
Trang 55
Kt qu m phng

S dng 3 tp m, chn C
0
= 350.




Hnh 4.27 V tr v p K khi tn hiu t l hng s
Hnh 4.26: V tr v p K khi tn hiu t l xung vung
PGS.TS Nguyn Th Phng H
http://www.khvt.com
S dng 5 tp m, chn C
0
=100 v C
1
= 350.






Hnh 4.28 V tr v p K khi tn hiu t l xung vung
Hnh 4.29: V tr v p K khi tn hiu t l hng s
Chng 4 : iu khin m
Trang 57
S dng 7 tp m, chn C
0
= 100, C
1
= 200 v C
2
= 350.



Kt lun
- Vic thm BK m trit tiu hin tng dao ng.
- p ng h thng tt hn.
- Chn 5 tp m l thch hp nht khi xy dng BK m.
Hnh 4.30: V tr v p K khi tn hiu t l xung vung
Hnh 4.31: V tr v p K khi tn hiu t l hng s
PGS.TS Nguyn Th Phng H
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4.6.2. iu khin m thch nghi (Adaptive Fuzzy Control)
M hnh c bn ca BK m thch nghi:

Phn loi cc BK m thch nghi:
+BK m thch nghi gin tip
+BK m thch nghi trc tip
+BK m thch nghi hn hp
1. Thit k BK m thch nghi gin tip

y
m

f
,
g
i tng
x
(n)
=f(x)+g(x)u, y=x
BK m
) | ( / ] ) | (

[
) (
g
T n
m f I
x g e k y x f u + + =
Lut thch nghi

I
T
g
T
f
u Pb e
Pb e


2
1
=
=

iu kin
ban u

f
(0),
g
(0)
Hnh 4.33: H thng K m thch nghi gin tip
e
r y
y
m
u

M hnh tham chiu

i tng
B iu khin m
Lut thch nghi
) , ( e h =

Hnh 4.32
Chng 4 : iu khin m
Trang 59
Phng trnh trng thi
u x x x g x x x f x
n n n
) ,..., , ( ,..., , (
) 1 ( ) 1 ( ) (
+ = (4.85)
y = x (4.86)
trong u R l u vo, y R l u ra, x = (x
1
,x
2
,,x
n
)
T
l vct trng
thi; f(x) v g(x) l hai hm m t cha bit c din t qua lut m:
Nu x
1
=
r
F
1
v v x
n
=
r
n
F Th f(x) = C
r
(4.87)
Nu x
1
=
r
G
1
v v x
n
=
r
n
G Th f(x) = D
s
(4.88)
Thit k BK m
Nu f(x) v g(x) c bit trc th vic thit k kh n gin nh ni
cc phn trc, ta s c lut iu khin nh sau:
[ ] e k y x f
x g
u
T n
m
+ + =
) (
) (
) (
1
(4.89)
vi
T n
m m
e e e x y y y e ) ,..., , (
) 1 (
= = = v
T
n n
k k k k ) ,..., , (
1 1
=
Thay (4.89) vo (4.85) ta c :
0 ...
) 1 (
1
) (
= + + +

e k e k e
n
n n

Chn k sao cho e(t) 0 khi t , khi y y y
m
.
Khi f(x) v g(x) cha bit r th ta thay bi h m ) (

x f v ) ( x g . nng
cao chnh xc th ta phi mt s thng s ca ) (

x f v ) ( x g t do.
Gi s ta chn hai thng s
f
M
f
R v
g
M
g
R l t do, ta k hiu nh
sau : ) | (

) (

f
x f x f = v ) | ( ) (
g
x g x g = , thay vo (4.89) ta c:
[ ] e k y x f
x g
u u
T n
m f
g
I
+ + = =
) (
) | (

) | (
1

(4.90)
xy dng BK (4.90) ta phi xc nh ) | (

f
x f v ) | (
g
x g , iu ny
c thc hin qua 2 bc sau:
Bc 1: Vi mi bin x
i
(i=1,2,,n), nh ngha p
i
tp m
i
l
i
A (l
i
=1,,p
i
) v
q
i
tp m
i
l
i
B (l
i
=1,,q
i
).
Bc 2: Xc nh ) | (

f
x f t

=
n
i
i
p
1
lut m dng:
Nu x
1
=
1
1
l
A v . v x
n
=
n
l
n
A , Th
n
l l
E f
...
1
=
PGS.TS Nguyn Th Phng H
http://www.khvt.com
Xc nh ) | (
g
x g t

=
n
i
i
q
1
lut dng:
Nu x
1
=
1
1
l
B v . v x
n
=
n
l
n
B , Th
n
l l
H g
...
1
=
Chn thit b hp thnh tch, hm m dng singleton, gii m theo phng
php trung bnh trng s, ta c:



= = =
= = =
=
1
1
1
1
1
1 1 1
1 1
...
1
)) ( ( ...
)) ( ( ...
) | (

p
l
p
l
n
i
i
A
p
l
n
i
i
A
l l
f
p
l
f
n
n
i
l
i
n
n
i
l
i
n
x
x y
x f

(4.91)



= = =
= = =
=
1
1
1
1
1
1 1 1
1 1
...
1
)) ( ( ...
)) ( ( ...
) | (
q
l
q
l
n
i
i
B
q
l
n
i
i
B
l l
g
q
l
g
n
n
i
l
i
n
n
i
l
i
n
x
x y
x g

(4.92)
Cho thng s
n
l l
f
y
...
1
v
n
l l
g
y
...
1
t do, v th ta c th dn vo
f
v
g
, ta vit
li (4.91) v (4.92) nh sau:
) ( ) | (

x x f
T
f f
= (4.93)
) ( ) | ( x x g
T
g g
= (4.94)
trong (x) lf vct

=
n
i
i
p
1
chiu v (x) l vct

=
n
i
i
q
1
chiu, vi
thnh phn l
1
l
n
c cho bi:

= = =
=
=
1
1
1
1 1 1
1
...
)) ( ( ...
) (
) (
p
l
p
l
n
i
i
A
n
i
i
A
l l
n
n
i
l
i
i
l
i
n
x
x
x

(4.95)

= = =
=
=
1
1
1
1 1 1
1
...
)) ( ( ...
) (
) (
q
l
q
l
n
i
i
B
n
i
i
B
l l
n
n
i
l
i
i
l
i
n
x
x
x

(4.96)
Ta thy
f
v
g
c chn da theo (4.87) v (4.88), do
f
v
g
thay i
lin tc, ta cn tm
f
v
g
cc tiu ha sai s e.
Thit k lut thch nghi
Thay (4.90) vo (4.85) v sau mt vi bin i ta c:
[ ] [ ]
I g f
T n
u x g x g x f x f e k e ) ( ) | ( ) ( ) | (

) (
+ + = (4.97)
t :
Chng 4 : iu khin m
Trang 61

1
0
...
0
, ,
... ... ... ...
1 0 ... 0 0 0 0
... ... ... ... ... ... ...
0 0 ... 0 1 0 0
0 0 ... 0 0 1 0
1 1
b
k k k
A
n n
(4.98)
Ta vit li (4.97) dng vct:
[ ] [ ] { }
I g f
u x g x g x f x f b Ae e ) ( ) | ( ) ( ) | (

+ + = (4.99)
nh ngha cc thng s ti u nh sau:

=
) ( ) | (

arg
sup
min
1
x f x f
f
R X p R
f
n
n
i
i f

(4.100)

=
) ( ) | ( arg
sup
min
1
x g x g
g
R X q R
g
n
n
i
i g

(4.101)
t :
[ ] [ ]
I g f
u x g x g x f x f w ) ( ) | ( ) ( ) | (

+ =

(4.102)
Ta vit li (4.99) nh sau:
[ ] [ ] { } w u x g x g x f x f b Ae e
I g g f f
+ + + =

) | ( ) | ( ) | (

) | (

(4.103)
Thay (4.93) v (4.94) vo (4.102) ta c phng trnh ng hc vng kn
din t mi lin h gia sai s e v thng s
f
v
g
.
[ ] w u x x b Ae e
I
T
g g
T
f f
+ + + =

) ( ) ( ) ( ) ( (4.104)
Ta cn tm lut thch nghi chnh nh
f
v
g
sao cho cc tiu ho e,

f f
,

g g
. Xt phng trnh lyapunov:
) ( ) (
2
1
) ( ) (
2
1
2
1
2 1

+ + =
g g
T
g g f f
T
f f
T
Pe e V

(4.105)
vi
1
v
2
l cc hng s dng, P tho phng trnh:
A
T
P + PA = - Q
vi Q l ma trn n n , xc nh dng.
Ly o hm V dc theo qu o h thng ta c:
PGS.TS Nguyn Th Phng H
http://www.khvt.com
[ ] ) ( ) (
1
2
1
1
1
x Pb e Pbw e Pe e V
T
f
T
f f
T T

+ + + =



[ ]
I
T
g
T
g g
u x Pb e ) ( ) (
1
2
2

+ +


(4.106)
cc tiu ho e,

f f
,

g g
, tng ng cc tiu V, ta chn lut
thch nghi sao cho 0 < V

. Dng phng php tng hp Lyapunov ta chn:

) (
1
x Pb e
T
f
=

(4.107)

I
T
g
u x Pb e ) (
2
=

(4.108)
Hai phng trnh (4.107) v (4.108) chnh l lut thch nghi cn tm.
V d 4.6.2.1
Lm li v d (4.6.1.4) iu khin con lc ngc c s dng phng php
m thch nghi gin tip v so snh kt qu t c.
Nhn xt : Khi khng c tn hiu iu khin, tc u = 0 th gia tc ca gc
=x
1
tng ng f(x
1
,x
2
). Vy ta c nhn xt:
x
1
cng ln th f(x
1
,x
2
) cng ln
T hnh v m hnh con lc ngc ta thy gia tc ca x
1
t l vi mgsin(x
1
),
ta c th chn f(x
1
,x
2
)=sin(x
1
). T (4.43) ta c th chn = 16. Ta c
lut m cho f(x
1
,x
2
) nh sau:
1
f
R : Nu x
1
=F
13
v x
2
=F
13
Th f(x
1
,x
2
)=0
2
f
R : Nu x
1
=F
11
v x
2
=F
13
Th f(x
1
,x
2
)=-8
3
f
R : Nu x
1
=F
12
v x
2
=F
13
Th f(x
1
,x
2
)=-4
4
f
R : Nu x
1
=F
14
v x
2
=F
13
Th f(x
1
,x
2
)=4
5
f
R : Nu x
1
=F
15
v x
2
=F
13
Th f(x
1
,x
2
)=8
Tip theo ta xc nh lut m cho hm g(x
1
,x
2
), hm g xc nh mnh
ca lut iu khin u, ta c nhn xt sau:
x
1
cng nh th g(x
1
,x
2
) cng ln
T cc nhn xt trn ta c lut m cho hai hm f v g nh sau:
Chng 4 : iu khin m
Trang 63

f(x
1
,x
2
) g(x
1
,x
2
)
x
1
x
1
x
2
F
11
F
12
F
13
F
14
F
15
x
2
F
11
F
12
F
13
F
14
F
15
F
11
- 8 - 4 0 4 8 F
11
1.26 1.36 1.46 1.36 1.26
F
12
- 8 - 4 0 4 8 F
12
1.26 1.36 1.46 1.36 1.26
F
13
- 8 - 4 0 4 8 F
13
1.26 1.36 1.46 1.36 1.26
F
14
- 8 - 4 0 4 8 F
14
1.26 1.36 1.46 1.36 1.26
F
15
- 8 - 4 0 4 8

F
15
1.26 1.36 1.46 1.36 1.26

Vit chng trnh M-file hay dng simulink ca Matlab m phng kt
qu v d trn.

2. Tht k BK m thch nghi trc tip
1.M hnh

u=u
D
y
m
I TNG
x
(n)
= f(x) + bu, y = x
BK M
u
D
=
T
(x)
LUT THCH NGHI
) (x p e
n
T
=

iu kin u
(0)
Hnh 4.34
-/6 -/12 0 /12 /6 x
1
x
2

F
11
F
12
F
13
F
14
F
15
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Phng trnh trng thi m t i tng
bu x x x f x
n n
+ =

) ,..., , (
) 1 ( ) (
(4.109)
y = x (4.110)
Trong f l hm bit b l hng s dng cha bit. Ta cn thit k
BK u = u
D
(x|) da trn h m v lut thch nghi chnh nh thng s
. Lut m c dng nh sau:
NU x
1
=
r
P
1
v v x
n
=
r
n
P , TH u = Q
r
(4.111)
Trong
r
i
P v Q
r
l cc tp m, r = 1,2,,L
u
.
2.Thit k BK m
+ Bc 1: Vi mi bin x
i
(i=1,2,,n) ta nh ngha m
i
tp m
i
l
i
A
(l
i
=1,2,,m
i
) .
+ Bc 2: Xy dng h m u
D
(x|) t

=
n
i
i
m
1
lut dng:
IF x
1
=
1
1
l
A and and x
n
=
n
l
A
1
, THEN u
D
=
n
l l
S
...
1
(4.112)
Trong l
i
= 1,2,,m
i
, i = 1,2,..,n. S dng lut hp thnh tch, m ho
singleton, gii m theo phng php trung bnh trng s, ta c:



= = =
= = =
=
n
n
i
l
i
n
n
i
l
i
n
m
l
n
i
i
A
m
l
m
l
n
i
i
A
l l
u
m
l
D
x
x y
x u
1 1 1
1 1
...
1
] ) ( [ ...
] ) ( [ ...
) | (
1
1
1
1
1

(4.113)
Chn
n
l l
u
y
...
1
nh thng s c th chnh nh v ta a
n
l l
u
y
...
1
vo thnh phn
ca vct thng s , t lut iu khin c xc nh:
) ( ) | ( x x u
T
D
= (4.114)
3.Thit k lut thch nghi
Xem u
*
nh l BK l tng (4.89) trong phn (4.6.2.1), vi g(x) = b, ta
c:
)] | ( [
) (
x u u b e k e
D
T n
+ =

(4.115)
Ma trn A c nh ngha nh (4.98), b = (0,,0,b)
T
, ta vit li (4.115)
dng vct nh sau:
)] | ( [ x u u b Ae e
D
+ =

(4.116)
nh ngha thng s ti u
*
:
Chng 4 : iu khin m
Trang 65

u x u
D
R x
R n
) | ( sup min arg

(4.117)
vi

=
=
n
i
i
m
1

t : w = u
D
(x|
*
) u
*
(4.118)
T (4.114) v (4.118) ta vit li (4.116) nh sau:
bw x b Ae e
T
+ =

) ( ) ( (4.119)
Xt phng trnh Lyapunov
) ( ) (
2 2
1

+ =
T T
b
Pe e V (4.120)
trong P l ma trn xc nh dng tho:
Q PA P A
T
= + (4.121)
o hm (4.120) v s dng cc biu thc (4.119) v (4.121) ta c:

T T T T
b
w x Pb e Qe e V ) ( ] ) ( ) [(
2
1
+ =

(4.122)
Xem p
n
l ct cui ca ma trn P, t b = (0,,0,b)
T
, ta c e
T
Pb = e
T
p
n
b. Ta
vit li (4.122) nh sau:
bw p e x p e
b
Qe e V
n
T
n
T T T
+ =

] ) ( [ ) (
2
1

(4.123)
T (4.123) tho mn 0 < V

ta chn lut thch nghi nh sau:

) (x p e
n
T
=

(4.124)
V d (4.6.2.2)
Cho h thng phi tuyn bc nht:
) (
1
1
) (
) (
) (
t u
e
e
t x
t x
t x
+
+

(*)
Thit k BK m thch nghi trc tip d a x(t) hi t v zero.
Khi u(t) 0 th 0
1
1
) (
) (
) (
<
+

t x
t x
e
e
t x khi x<0 v 0
1
1
) (
) (
) (
>
+

t x
t x
e
e
t x khi x>0
nn h (*) l khng n nh.
Chn = 1 v nh ngha cc tp m nh sau:
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Xy dng 2 lut m nh sau:
NU x=N
2
, TH u(x) = PB
NU x=P
2
, TH u(x) = NB
Trong
PB
(u)= exp(-(u-2)
2
) v
NB
(u)= exp(-(u+2)
2
).
Vit chng trnh Matlab hoc dng simulink thy c p ng trong
hai trng hp c v khng c lut m.

ng dng : Xy dng BK tc ng c DC

M HNH BK TC NG C DC


Tc mong mun y
m
Tc thc y
COM
PWM
My tnh
(B iu khin m
thch nghi trc tip)
Vi x l
(AT89C52)
ng c DC Encoder
Hnh 4.35
Chng 4 : iu khin m
Trang 67
M hnh gm c :
1. ng c DC 14V, tc Max 2100vng/pht, lm vic khng ti.
2. Cm bin tc Incremental 200xung/vng.
3. Vi x l AT89C52, tn s xung clock 11.059MHz, chu k my
) (
000 . 059 . 11
12
s T
VXL
= , c nhim v o tc ng c gi v my tnh
iu khin p cp cho ng c bng phng php PWM.
4. Chu k PWM = 1024 T
VXL
(1.1ms), chu k ly mu
46.080T
VXL
(50ms), tc port ni tip 19200Kbps.
5. H s thch nghi thay i tu thuc vo sai lch
m
m
y
y y
= . Khi
sai lch 1% th =
0
, khi <1% th =
0
/10, vi
0
chn trc.

Xy dng BK m thch nghi trc tip

1. Xc nh bin ngn ng
Hai ng vo:
Tc x
1
(vng/pht), c tm gi tr t 02000vng/pht, c
chun ho v [01].
Hm thuc ) (
1 1
x
i
dng Gaussian, vi i=1m
1
, m
1
l s lng tp m
Gia tc x
2
(vng/pht/giy), c tm gi tr t - 45004500(v/p/g),
c chun ho v [-11].
Hm thuc ) (
2 2
x
j
dng Gaussian,vi j=1m
2
, m
2
l s lng tp m
Mt ng ra:
rng xung PWM (%), k hiu l u, c tm gi tr 0100%.
Hm thuc dng Singleton
i,j
, vi i=1m
1
, j=1m
2
.
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Bng lut hp thnh:
BIN NGN NG GIA TC
( )
2
1
2
x ( )
2
2
2
x ( )
2
3
2
x

( )
2
m
2
x
2

( )
1
1
1
x 1 , 1

2 , 1

3 , 1


2
m , 1

( )
1
2
1
x
1 , 2

2 , 2

3 , 2


2
m , 2

( )
1
3
1
x 1 , 3

2 , 3

3 , 3


2
m , 3


BIN
NGN
NG
TC

( )
1
m
1
x
1

j , m
1

2 , m
1

3 , m
1


j , m
1


2. Lut hp thnh:
Xt lut hp thnh th (i,j), vi i = 1m
1
, j = 1m
2

IF ) (
1 1 1
x x
i
AND ) (
2 2 2
x x
i
THEN
j i
u
,
=
3. Gii m:
Chn thit b hp thnh Max Product , phng php gii m cao.
Gi tr r u ra PWM iu khin ng c:
Hnh 4.36: Cc tp m ) (
2
x
j
ca bin ngn
ng gia tc.
Chng 4 : iu khin m
Trang 69

( ) ( )
( ) ( )

= =
= =


=
1
m
1 i
2
m
1 j
2
j
2
1
i
1
1
m
1 i
2
m
1 j
2
j
2
1
i
1 j , i
x . x
x . x .
u (4.125)
4. Lut cp nht thng s:

( ) ( )

+ = +
=
i j , i j , i
2 1 j , i 2
T
j , i
k 1 k
) x , x ( . p . E .
(4.126)
Trong :

i,j
: Thng s cn cp nht lut hp thnh th (i,j).
) , ( e e E = : Vct sai s, vi sai s e = y
m
y , vi y
m
l vn tc t.
p
2
: l ct th 2 ca ma trn P c c t phng trnh Ricatti (4.121).
Vi

=
2 1
1 0
k k
A , k
1
, k
2
c chn sao cho phng trnh
s
2
+k
1
s+k
2
=0 c nghim nm bn tri mt phng phc. Cc th nghim
trong bi c chn vi 20 1 . 0 j s = .
>0 l h s cp nht
( )
( ) ( )
( ) ( )

= =


=
1 2
m
1 k
m
1 l
2
l
2
1
k
1
2
i
2
1
i
1
2 1 j , i
x . x
x . x
x , x : h s xc nh t v IF ca lut
hp thnh th (i,j).

Kt qu m phng v nhn xt:

Ghi ch : Trong cc th bn di, ng lin nt l tc mong mun
y
m
ng cn li l tc thc.
Trng hp 1: Chn
0
= 0.5; )
120
2
sin( 500 1400 t y
m

+ = ,
i,j
= 20, vi
i = 1m
1
, j = 1m
2
. Cc tp m cho bi Hnh 4.36 v Hnh 4.37

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b. Sai s ng ra

a. Gi tr PWM
Hnh 4.37: Cc tp
m ) (
1
x
i
ca bin
ngn ng tc .
Hnh 4.38: Kt qu iu khin ca Trng hp 1.


c. p ng ng ra ca m


d. p ng c phng to
Chng 4 : iu khin m
Trang 71
Nhn xt: T cc th Hnh 4.38 ta thy rng:
tc thp, gi tr PWM thay i t nhng tc thay i nhiu;
tc cao gi tr PWM thay i nhiu nhng tc thay i t.
B iu khin m ban u c thit k m khng da trn nhiu
thng tin v i tng, nhng cht lng iu khin l kh tt d i
tng l phi tuyn.






a. p ng trng hp 2a


b. p ng trng hp 2b
Hnh 4.39: Kt qu iu khin ca Trng hp 2


c. Sai s trng hp 2a


d. Sai s trng hp 2b
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Trng hp 2:
0
= 0.5 ; )
30
2
sin( 500 1400 t y
m

+ = ( trng hp 2a) v
)
60
2
sin( 500 1400 t y
m

+ = (trng hp 2b);
i,j
= 20, vi i = 1..5, j = 1..5.
Cc tp m vn nh trng hp 1. (Xem kt qu Hnh 4.39)

Nhn xt: Vi cng h s cp nht v cc gi tr ban u
I,j
, khi tc
mong mun y
m
bin thin nhanh hn th tc thc y khng bm theo kp
dn n sai s ln. Do lut cp nht ph thuc vo y
m
nn ta cn hiu chnh
li thng s
0
cho ph hp.








a. p ng khi
0
= 0.2


b. p ng khi
0
= 0.5


c. p ng khi
0
= 0.8


d. p ng khi
0
= 1.2
Hnh 4.40: Kt qu iu khin Trng hp 3
Chng 4 : iu khin m
Trang 73
Trng hp 3:
i,j
= 20; vi i =1..5, j = 1..5; )
60
2
sin( 500 1400 t y
m

+ = , cc
tp m nh Trng hp 1,
0
ln lt l 0.2, 0.5, 0.8, 1.2.
Nhn xt:
Vic tng
0
s lm cho lut cp nht nhy hn vi sai s, do vy p
ng h thng s tt hn.
Tuy vy tc thp, khi
0
tng s lm cho tc ng c b dao
ng ln hn. S dao ng t l thun vi vic tng
0
.

Bng kinh nghim qua cc trng hp xt ta thy rng p ng tc
ph thuc vo nhiu yu t nh: s lng tp m, h s
0
,
i,j
, tc bin
thin ca tc mong munT ta a ra vic la chn cc thng s
cho ph hp ti u p ng ca h thng.
Trng hp 4:
0
= 2.5; )
60
2
sin( 500 1400 t y
m

+ = ;
i,j
c chn nh bng
bn di, s dng 7 tp m cho bin tc v 5 tp m cho bin gia tc.

BIN NGN NG GIA TC
( )
2
1
2
x ( )
2
2
2
x ( )
2
3
2
x ( )
1
4
1
x ( )
2
5
2
x
( )
1
1
1
x
10 10 10 10 10
( )
1
2
1
x
10 10 10 10 10
( )
1
3
1
x
20 20 20 20 20
( )
1
4
1
x
30 30 30 30 30
( )
1
5
1
x
45 45 45 45 45
( )
1
6
1
x
60 60 60 60 60

BIN
NGN
NG
TC

( )
1
7
1
x
80 80 80 80 80






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Kt lun chung
i tng ng c DC c iu khin bng phng php PWM l i
tng phi tuyn. Mt BK m thch nghi c thit k hp l s iu khin
tc ca ng c bm theo nhiu dng tc mong mun khc nhau.
Nhng kinh nghim, thng tin bit v i tng s rt hu ch trong vic
tm ra BK thch nghi ti u.
Cc thng s quyt nh cht lng h thng l : h s
0
, gi tr ban u
i,j
,
tn hiu mong mun y
m
Vi mi thng s c mt tc dng ring, vic tm
ra b thng s ti u cn da vo kinh nghim v kin thc v h thng iu
khin.



c. p iu khin (%PWM)


d. Sai s ng ra


a. p ng ng ra (0..1200s)


b. p ng c phng to
Hnh 4.41: Kt qu iu khin trng hp 4
Chng 4 : iu khin m
Trang 75
4.7. H thng iu khin tch hp

Ngnh iu khin hc ra i v pht trin t rt sm, c bit l trong 2
thp nin gn y vic ng dng L thuyt m v Mng nron to ra
nhiu phng php iu khin mi vi c tnh linh hot v thng
minh hn. Cng ngh m v cng ngh mng nron l hai tr ct chnh
to nn cng ngh tch hp mi, cng ngh tnh ton mm (Soft computing).
4.7.1. Khi nim
Mt s phng php c s dng trong ngnh iu khin hc:

K Kinh in & Hin i K Thng minh
PID GA
Ti u Nron
Thch nghi M
Bn vng

Mi phng php u c nhng im mnh v hn ch nht nh, v vy
ngi ta thng c xu hng kt hp chng li vi nhau to ra mt m
hnh iu khin c kh nng p ng cao vi cc i hi thc t. Vic kt
hp ny cho ra mt phng php iu khin mi l iu khin tch
hp.
iu khin tch hp : iu khin kt hp phng php kinh in hoc hin
i vi phng php iu khin thng minh.

4.7.2. Mt s h thng tch hp
iu khin s dng PID m
iu khin m - thch nghi, m - ti u.
S dng h m - nron nhn dng & ti u h thng.
ng dng thut ton GA trong thit k h thng iu khin.
..
phn 4.3 ta trnh by v cch thit k b PID m, phn 4.6 ni
v vic tch hp cng ngh m trong iu khin. Sau y ta trnh by v
ng dng gii thut GA trong iu khin thng qua mt v d.
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4.7.3. ng dng thut ton GA thit k b iu khin PID ti u H
2
/H

1. M t bi ton
Da vo hai bi ton cc i ha d tr n nh v cc tiu ha hm
nhy ca iu khin ti u H

, bi ton thit k b iu khin PID ti u

H
2
/H

c m t nh sau.
Cho h thng iu khin PID nh trong hnh 4.42. M hnh P(s) ca i
tng trong bi ton ny c gi thit l c mt sai lch
0
(s) c biu
din theo m hnh sai s nhn u ra.




Hnh 4.42: H thng iu khin PID vi sai s nhn u ra
B iu khin PID c dng nh sau:
s k s k k s C
3 2 1
/ ) ( + + =
(4.127)
Sai s m hnh
0
(s) c xem nh n nh nhng khng bit r rng.Gi
s
0
(s) b chn nh sau:
, ) ( ) (
0 0
j j < ), , 0 [ (4.128)

0
(j) l hm chn trn ca
0
(j), n nh v bit trc.
Kt qu n nh bn vng cho thy rng nu b iu khin C(s) c chn
sao cho h thng danh nh vng kn (khng tnh
0
(s)) trong hnh 4.42 n
nh tim cn v tha mn bt ng thc sau:
1
) ( ) (
) ( ) ( ) (
<
+

s C s P I
s s C s P
O
O O

(4.129)
C(s) r y
-
[1+
0
(s)]

P
0
(s)
+ e u
Chng 4 : iu khin m
Trang 77
th h thng vng kn trong hnh 4.42 cng n nh di tc ng ca sai s
m hnh
0
(s). Bt ng thc (4.129) chnh l iu kin n nh bn vng
(chun H

) ca h thng.
Trong ch tiu cht lng thng c s dng kt hp vi iu khin
ti u H

l ch tiu tch phn ca bnh phng sai lch (ISE) hay cn gi l

phim hm H
2
:

0
2
) ( min dt t e
C
(4.130)
vi e(t) l sai s iu chnh trong h thng hnh 4.42.
Nh vy, mc tiu ca bi ton tng hp b iu khin PID kt hp vi iu
khin ti u H
2
/H

l tm b iu khin PID sao cho cc tiu (4.130), ng

thi tha mn iu kin rng buc n nh bn vng (4.129).
Tng t, i vi bi ton cc tiu ha hm nhy gim nh hng ca
nhiu n cht lng ca h

+

) ( ) ( 1
1
s C s P
(4.131)
vi l mt gi tr v hng nh hn 1. c trng cho mc nh hng
ca nhiu tc ng n tn hiu ra ca h.
gim nh hng ca nhiu trong dy tn s m nhiu tp trung th iu
kin (4.131) tr thnh:

+

) ( ) ( 1
) (
s C s P
s W
(4.132)
vi W(s) l hm trng gim nh hng ca nhiu trong dy tn m nhiu
tp trung.
Nh vy, i vi bi ton cc tiu ha hm nhy, vic xc nh BK PID
kt hp vi iu khin ti u H
2
/H

l tm b iu khin PID sao cho cc

tiu (4.130), ng thi tha mn rng buc n nh bn vng (4.132).
2. C s thit k
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Trong trng hp bnh thng i vi h danh nh (khng xt n sai s
m hnh ca i tng cng nh nhiu d), tn hiu sai s iu chnh E(s),
trong h thng hnh 4.42 c dng nh sau:

) ( ) ( 1
) (
) (
0
s C s P
s R
s E
+
= (4.133)
Theo nh l Parseval, chun bc hai ca mt tn hiu x(t) v nh Fourier
X(j) ca n c quan h nh sau:

d j X dt t x t x
2
2 2
2
(
2
1
) ( ) (

= = (4.134)
V vy ta c:

=
0
2
) ( min dt t e J
C

=

d j E
2
) (
2
1

thay s = j ta c:

=
j
j
k k k
ds s E s E
j
J ) ( ) (
2
1
min
3 2 1
, ,

+ +

=
j
j
k k k
ds
s C s P s C s P
s R s R
j )] ( ) ( 1 )][( ( ) ( 1 [
) ( ) (
2
1
min
3 2 1
, ,

=
j
j
k k k
ds
s A s A
s B s B
j ) ( ) (
) ( ) (
2
1
min
3 2 1
, ,

(4.135)
A(s) v B(s) c th c biu din nh sau:

=
=
m
k
k
k
s a s A
0
) ( ,

=
=
1
0
) (
m
k
k
k
s b s B ; phng trnh (4.20) c vit li nh sau:
Chng 4 : iu khin m
Trang 79

= =

=
j
j
m
k
k
k
m
k
k
k
m
k
k
k
m
k
k
k
m
ds
s a s a
s b s b
j
k k k J
0 0
1
0
1
0
3 2 1
) (
) (
2
1
) , , (

(4.136)
Vic xc nh J trong (4.136) c th c tnh mt cch n gin bng l
thuyt thng d nh sau:
- Xc nh tt c cc im cc p
k
ca E(s).
-

=
k
p
s E s E s J
k
) ( ) ( Re
Gi tr ca J
m
(k
1,
k
2,
k
3
) c th tm c trong Newton, 1957.
1 0
2
0
3 2 1 1
2
) , , (
a a
b
k k k J =
2 1 0
2
2
0 0
2
1
3 2 1 2
2
) , , (
a a a
a b a b
k k k J
+
=
) ( 2
) 2 (
) , , (
2 1 3 0 3 0
3 2
2
0 3 0 2 0
2
1 1 0
2
2
3 2 1 3
a a a a a a
a a b a a b b b a a b
k k k J
+
+ +
=
) ( 2
) ( ) 2 ( ) 2 ( ) (
3 2 1 4
2
1
2
3 0 4 0
4 3 2
2
4 1
2
0 4 3 0 2 0
2
1 4 1 0 3 1
2
2 2 1 0 3
2
0
2
3
4
a a a a a a a a a
a a a a a b a a a b b b a a a b b b a a a a a b
J
+
+ + + + +
=
Phim hm H
2
c dng nh sau:
) , , ( min
3 2 1
, ,
3 2 1
k k k J J
m
k k k
m
= (4.137)
vi J
m
(k
1,
k
2,
k
3
) l hm s ca cc thng s PID (k
1,
k
2,
k
3
), v m l bc ca
i tng.
T nh ngha chun H

:
) ( sup ) (
) , 0 (

j A s A

(4.138)
iu kin n nh bn vng (4.129) c vit li nh sau:
PGS.TS Nguyn Th Phng H
http://www.khvt.com
)) ( ) ( 1 ))( ( ) ( 1 (
) ( ) ( ) ( ) ( ) ( ) (
sup
) ( ) ( 1
) ( ) ( ) (
0 0
0 0 0 0
) , 0 [
0
0 0


j C j P j C j P
j j j C j C j P j P
s C s P
s s C s P
+ +

=
+

) , 0 [
) (
) (
sup

=

) (
) (
sup
) , 0 [


= 1 < (4.139)
Vi () v () l nhng a thc thch hp ca . ngha ca (4.139) l
nu gi tr ln nht ca ()/() nh hn 1, th h thng trong hnh 4.42
n nh vi mi ) ( ) (
0 0
j j < .
Vic qut trong [0,) tm gi tr ln nht ca ()/() trong (4.139)
khng phi l cng vic d dng. Thc t, gi tr ln nht ca ()/() ch
xy ra nhng im tha mn phng trnh sau:
0
) (
) (
) (
) (
) (
) (
) (
2
=

d
d
d
d
d
d
(4.1340)
Do , ch cn tm nghim
i
ca phng trnh:

=
= =
n
i
i
d
d
d
d
1
0 ) (
) (
) (
) (
) (

(4.141)
Vi kt qu trn, rng buc n nh bn vng (4.129) tng ng vi:
1
) (
) (
max <
i
i
i

(4.142)
T s phn tch trn, bi ton thit k b iu khin PID, kt hp H
2
/H

tr
thnh bi ton xc nh b iu khin PID cc tiu (4.137) di rng
buc n nh bn vng (4.142).
Tng t nh trn, i vi bi ton cc tiu ha hm nhy th rng buc
(4.132) c chuyn i sang dng (4.141) nh sau:

) (
) (
max
i
i
i
(4.143)
Chng 4 : iu khin m
Trang 81
3. Phng php thit k
Phn ny s trnh by phng php xc nh cc thng s (k
1,
k
2,
k
3
) ca b
iu khin PID cho hai bi ton trn bng thut ton di truyn, sao cho t
c gi tr cc tiu ca phim hm H
2
, ng thi tha mn rng buc n
nh bn vng H

.
3.1. Biu din nhim sc th
Thut ton di truyn lm vic trn cc nhim sc th (nhng chui s), ch
khng phi chnh bn thn thng s . Mi tp thng s (k
1,
k
2,
k
3
) ca b
iu khin PID s c m ha v ghp li thnh mt nhim sc th. Vic
m ha c th c thc hin bng nhng chui s nh phn hoc thp phn.
Trong lun vn ny, s dng phng php m ha thp phn.
3.2. Hm thch nghi v hm nh gi
Hm nh gi c nh ngha nh sau:
), , , ( ) , , (
3 2 1 3 2 1
k k k J k k k E
m
= D k k k
3 2 1
, , (4.144)
V phi ca (4.144) l phim hm H
2
m chng ta mun cc tiu, hm nh
gi ch c xc nh trong min n nh (D) ca h thng.
Mc tiu ca chng ta l tm (k
1,
k
2,
k
3
) trong D cc tiu (4.144). Tng
ng vi mi nhim sc th ta s c c mt gi tr ca hm nh gi
E(k
1
,k
2
, k
3
). Sau gi tr nh gi c nh x thnh gi tr thch nghi
F(k
1
,k
2
, k
3
) cho ph hp vi thut ton di truyn (tm kim gi tr cc
i). Qu trnh tm kim gi tr nh nht ca J
m
(k
1,
k
2,
k
3
) tng ng vi qu
trnh tm kim gi tr ln nht ca F(k
1
, k
2
, k
3
). Nhim sc th c J
m
(k
1,
k
2,
k
3
)
nh hn s c gi tr thch nghi ln hn. Sau mi th h, thut ton di truyn
s to ra nhng con chu tt hn, ci thin gi tr thch nghi, do nu
thch nghi ca thut ton di truyn tt hn th s tm c mt b iu khin
PID tt hn. V vy ta c:

) , , (
1
) , , (
3 2 1
3 2 1
k k k E
k k k F (4.145)
PGS.TS Nguyn Th Phng H
http://www.khvt.com
C mt s phng php thc hin s lin h gia hm nh gi v hm
thch nghi trong (4.145). y mi lin h gia hm thch nghi v hm
nh gi c biu din nh sau:

<
+
=
1
) (
) (
max
1
) (
) (
max
0
) , , (
) , , (
3 2 1
3 2 1
i
i
i
i
i
i
khi
khi
b k k k E
k k k F

(4.146)
y du tr c s dng chuyn bi ton cc tiu thnh bi ton cc
i, gi tr ca b c chn sao cho gi tr ca hm thch nghi lun lun
dng. i vi cc nhim sc th khng tha mn iu kin (4.142) hoc
(4.143), gi tr ca hm thch nghi s c gn bng 0 (gi tr nh nht), v
vy cc nhim sc th ny s khng tn ti trong th h sau.
3.3. Cc bc thc hin
T s phn tch trn, qu trnh thit k bao gm cc bc sau:
(1) Bc 1: p dng tiu chun Routh Hurwitz, xc nh iu kin ca cc
h s PID h thng vng kn n nh.
(2) Bc 2: Xc nh min n nh (D) ca ba thng s (k
1
, k
2
, k
3
).
(3) Bc 3: Thit lp cc thng s ca thut ton di truyn: xc sut lai, xc
sut t bin, kch thc qun th, s th h ti a, iu kin dng,
(4) Bc 4: Khi to qun th, m ha nhim sc th.
(5) Bc 5: Tnh
i
t phng trnh (4.141).
(6) Bc 6: Tnh gi tr thch nghi cho tng c th theo biu thc (4.146).
(7) Bc 7: Thc hin cc php ton di truyn.
(8) Bc 8: Kim tra iu kin dng, nu iu kin dng cha tha mn th
quay li bc 5.
3.4. Gii thut chng trnh
Gii thut chnh ca chng trnh xc nh cc thng s ca b iu khin
PID ti u H
2
/H

Chng 4 : iu khin m
Trang 83
Lu gii thut chng trnh ti sinh
i=pop_size?
Bat au
i = 1
Tao ngau nhien mot gia tr nam
trong khoang 0 en tong gia tr
thch nghi (pointer)
j = 1
total = fitness(1)
total<pointer
Y
N
j = j+1
total = total+fitness(j)
Nhiem sac the j c chon
i = i+1
Ket thuc
Y
N
PGS.TS Nguyn Th Phng H
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Lu gii thut chng trnh lai
Bat au
i = 1
Chon cap nhiem sac the ngau
nhien trong quan the
Thoa xac suat lai?
N
Y
Chon v tr lai ngau nhien
Chuyen oi cac gen nam sau v tr
lai
Ket thuc
Y
N
Chon xac suat lai ngau nhien
Gi nguyen
i=i+1
i=pop_size?
Chng 4 : iu khin m
Trang 85
Lu gii thut chng trnh t bin
Bat au
i = 1
N
Y
Ket thuc
Y
N
j=chieu dai nhiem
sac the?
j = 1
Chon xac suat ot bien ngau nhien
ot bien
Thoa xac suat?
j=j+1
i=i+1
N
Y
i=pop_size?
PGS.TS Nguyn Th Phng H
http://www.khvt.com
4. V d minh ho
thy c kt qu ca thut ton thit k b iu khin PID kt hp vi
iu khin ti u H
2
/H

, trong phn ny th tc thit k c thc hin

tng ng vi hai trng hp i tng c sai s m hnh v i tng b
nh hng ca nhiu ngoi.
1. Trng hp i tng c sai s m hnh
Cho h thng nh hnh 4.42, i tng P
0
(s) c hm truyn nh sau:

) 2 (
8 . 1
) (
2
0
+
=
s s
s P
Sai lch m hnh
0
(s), b chn nh sau:

10 1 . 0
1 . 0
) (
2
0
+ +

s s
s
Vi ng vo l hm nc, th
2 1
2
3
3 4
2
8 . 1 8 . 1 8 . 1 2
) 2 (
) (
k s k s k s s
s s
s E
+ + + +
+
=

Rng buc n nh bn vng:
1
) (
) (
max
) , 0 [
<

vi ] ) [( 0324 . 0 ) (
2 2
1
2 2
3 2
k k k + =
] ) 8 . 1 2 ( ) 8 . 1 8 . 1 )[( 100 99 . 19 ( ) (
2
1
2 2 2
2
2
3
4 2 4
k k k + + + =
Trong v d ny ta c m = 4, v vy phim hm H
2
ca h thng l J
4
:
) ( 2
) ( ) 2 ( ) 2 ( ) (
3 2 1 4
2
1
2
3 0 4 0
4 3 2
2
4 1
2
0 4 3 0 2 0
2
1 4 1 0 3 1
2
2 2 1 0 3
2
0
2
3
4
a a a a a a a a a
a a a a a b a a a b b b a a a b b b a a a a a b
J
+
+ + + + +
=
2
2
1 3 1
2 3 1
4
8 6 . 3 2 . 7
4 2 8 . 1
k k k k
k k k
J

+
=
Thut ton di truyn bt u bng vic to ngu nhin mt qun th bao
gm 200 nhim sc th, sau 15 th h, tm c b iu khin PID thch hp
vi cc thng s nh sau, k
1
= 3, k
2
= 0.1, k
3
= 30.

Chng 4 : iu khin m
Trang 87

Gi tr tt nht ca ba thng s PID v phim hm H
2
sau mi th h
K
1
k
2
K
3
J
4
Th h 1
3.6651 9.6770 24.5629 0.2808
Th h 2
3.8436 1.7971 29.3725 0.2732
Th h 3
3.0000 0.1000 26.3050 0.2726
Th h 4
3.0000 0.1000 26.3050 0.2726
Th h 5
3.0000 0.1000 30.0000 0.2697
Th h 6
3.0000 0.1000 30.0000 0.2697
Th h 7
3.0000 0.1000 30.0000 0.2697
Th h 8
3.0000 0.1000 30.0000 0.2697
Th h 9
3.0000 0.1000 30.0000 0.2697
Th h 10
3.0000 0.1000 30.0000 0.2697
Th h 11
3.0000 0.1000 30.0000 0.2697
Th h 12
3.0000 0.1000 30.0000 0.2697
Th h 13
3.0000 0.1000 30.0000 0.2697
Th h 14
3.0000 0.1000 30.0000 0.2697
Th h 15
3.0000 0.1000 30.0000 0.2697

Hnh 4.43: Chun H
2

PGS.TS Nguyn Th Phng H
http://www.khvt.com
- p ng nc ca h thng trong th h 1:
Hnh 4.44: p ng nc ca h thng trong th h th nht
(k
1
= 3.8436, k
2
= 1.7971, k
3
= 24.5629)
- p ng nc ca h thng trong th h 2:
Hnh 4.45: p ng nc ca h thng trong th h th hai
(k
1
= 3.6651, k
2
= 9.677, k
3
= 29.3725)
0 50 100 150 200 250 300
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
B
i
e
n

d
o
Thoi gian
0 50 100 150 200 250 300
0
0.5
1
1.5
Thoi gian
B
i
e
n

d
o
Chng 4 : iu khin m
Trang 89
- p ng nc ca h thng trong th h 5:
Hnh 4.46: p ng nc ca h thng trong th h th nm (h danh nh)
Hnh 4.47: p ng hm nc ca h th h th nm (c sai s m hnh)

0 50 100 150 200 250 300
0
0.2
0.4
0.6
0.8
1
1.2
1.4
B
i
e
n

d
o
Thoi gian
0 50 100 150 200 250 300
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Thoi gian
B
i
e
n

d
o
PGS.TS Nguyn Th Phng H
http://www.khvt.com

Hnh 4.48: p ng nc ca h thng trong th h th nm, v chung cho
hai trng hp, (k
1
= 3, k
2
= 0.1, k
3
= 30)
S hi t ca phim hm H
2
c trnh by trong hnh 4.43. p ng nc
ca h thng c trnh by cho hai trng hp: h danh nh (hnh 4.46) v
h thng c sai s m hnh (hnh 4.47). Kt qu cho thy b iu khin c
thit k c th iu khin thnh cng h thng vi mi
0
(s).
2. Trng hp h thng chu nh hng ca nhiu ngoi
Cho h thng iu khin nh hnh 4.50, i tng P(s) c hm truyn nh
sau:
) 2 (
8 . 1
) (
2
+
=
s s
s P
Nhiu ngoi d(t) gi s bng 0.1sint. p dng bi ton cc tiu ha hm
nhy vi = 0.1.
Tng ng vi d(t) trn, hm trng W(s) trong (4.132) c chn nh sau:
0 50 100 150 200 250 300
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Thoi gian
B
i
e
n

d
o
Chng 4 : iu khin m
Trang 91
1
1
) (
+
=
s
s W
Ta c:
1 . 0
) 8 . 1 8 . 1 8 . 1 2 )( 1 (
) 2 (
2 1
2
3
3 4
3

+ + + + +
+

k s k s k s s s
s s

Rng buc (4.28):

) (
) (
max
) , 0 [

vi ) 4 ( ) (
2 6
+ =
] ) 8 . 1 2 ( ) 8 . 1 8 . 1 )[( 1 ( ) (
2
1
2 2 2
2
2
3
4 2
k k k + + + =
Tng t nh v d trc, phim hm H
2
ca h thng l J
4
:
2
2
1 3 1
2 3 1
4
8 6 . 3 2 . 7
4 2 8 . 1
k k k k
k k k
J

+
=
Thut ton di truyn bt u bng vic to ngu nhin mt qun th bao
gm 200 nhim sc th, sau 19 th h, tm c b iu khin PID thch hp
vi cc thng s nh sau, k
1
= 3, k
2
= 0.1, k
3
= 30.
Hnh 4.49: Chun H
2


0 2 4 6 8 10 12 14 16 18 20
0.268
0.27
0.272
0.274
0.276
0.278
0.28
0.282
0.284
The he
C
h
u
a
n

H
2
PGS.TS Nguyn Th Phng H
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Gi tr tt nht ca ba thng s PID v phim hm H
2
sau mi th h

k
1
k
2
K
3
J
4
Th h 1 3.6651 9.6770 24.5629 0.2808
Th h 2 3.6651 9.6769 24.5628 0.2808
Th h 3 3.0000 17.6599 27.9843 0.2781
Th h 4 3.6650 9.6768 30.0000 0.2742
Th h 5 3.8635 0.1000 30.0000 0.2724
Th h 6 3.8635 0.1000 30.0000 0.2724
Th h 7 3.8635 0.1000 30.0000 0.2724
Th h 8 3.8630 0.1000 30.0000 0.2724
Th h 9 3.1635 0.1000 30.0000 0.2701
Th h 10 3.1634 0.1000 30.0000 0.2701
Th h 11 3.1634 0.1000 30.0000 0.2701
Th h 12 3.0000 0.1000 30.0000 0.2697
Th h 13 3.0000 0.1000 30.0000 0.2697
Th h 14 3.0000 0.1000 30.0000 0.2697
Th h 15 3.0000 0.1000 30.0000 0.2697
Th h 16 3.0000 0.1000 30.0000 0.2697
Th h 17 3.0000 0.1000 30.0000 0.2697
Th h 18 3.0000 0.1000 30.0000 0.2697
Th h 19 3.0000 0.1000 30.0000 0.2697





C(s)
r y
-
P(s)
+ +
+
d
u e
Hnh 4.50 H hi tip vi nhiu u ra
Chng 4 : iu khin m
Trang 93
- p ng nc ca h thng trong th h 1:
Hnh 4.51: p ng nc ca h thng trong th h th nht
(k
1
= 3.8436, k
2
= 9.6768, k
3
= 30)
- p ng nc ca h thng trong th h 4:
Hnh 4.52: p ng nc ca h thng trong th h th t
(k
1
= 3.6650, k
2
= 1.7971, k
3
= 24.5629)

0 50 100 150 200 250 300
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
B
i
e
n

d
o
Thoi gian
0 50 100 150 200 250 300
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
Thoi gian
B
i
e
n

d
o
PGS.TS Nguyn Th Phng H
http://www.khvt.com
- p ng nc ca h thng trong th h 12:
Hnh 4.53: p ng nc ca h thng trong th h th 12 (h danh nh)
Hnh 4.54: p ng nc ca h thng trong th h th 12 (c nhiu ngoi)


0 50 100 150 200 250 300
0
0.2
0.4
0.6
0.8
1
1.2
1.4
B
i
e
n

d
o
Thoi gian
0 50 100 150 200 250 300
-0.2
0
0.2
0.4
0.6
0.8
1
1.2
Thoi gian
B
i
e
n

d
o
Chng 4 : iu khin m
Trang 95



Hnh 4.55: p ng nc ca h thng trong th h th 12, v chung cho hai
trng hp, (k
1
= 3, k
2
= 0.1, k
3
= 30)

S hi t ca phim hm H
2
c trnh by trong hnh 4.50. p ng nc
ca h thng c trnh by cho hai trng hp: h danh nh (hnh 4.53) v
h thng c nh hng ca nhiu (hnh 4.54). Kt qu cho thy b iu
khin c thit k c th iu khin thnh cng h thng vi nh hng
ca nhiu ngoi, p ng trong hai trng hp gn trng vi nhau.






0 50 100 150 200 250 300
-0.2
0
0.2
0.4
0.6
0.8
1
1.2
Thoi gian
B
i
e
n

d
o
PGS.TS Nguyn Th Phng H
http://www.khvt.com
CU HI N TP V BI TP

1. Nu r m hnh iu khin m theo Mamdani v theo Tagaki/Sugeno. So
snh u nhc im hai m hnh .
2. Cc bc thit k mt b iu khin m. V sao ni iu khin m l iu
khin da trn kinh nghim ?
3. Nguyn l chnh nh thng s ca b PID m. ng dng trong iu
khin nhit .
4. Th no l mng nron nhn to ? Nu ni dung ca thut ton lan truyn
ngc.
5. V sao phi kt hp mng nron v h m ? Nu s kiu mu ca mt
h m - nron. ng dng mng RBF trong nhn dng h thng phi tuyn.
6. Thit k mt BK m iu khin nhit . B m c 2 ng vo l sai
lch e(t) [ET] v o hm sai lch de(t) [DET], mt ng ra l o hm cng
sut [DP]. Bit rng:
- L nhit c cng sut l 5KW, tm o max l 200
0
C, sai s l 5%.
- Tm thay i ca DET l - 10
0
C/s + 10
0
C/s .
- Tm thay i ca DP l - 100W/s + 100W/s .
Hy tnh cng sut cn cp cho l trong cc trng hp sau:
1. ET = 8
0
C DET = 9
0
C/s
2. ET = 2
0
C DET = 9
0
C/s
3. ET = 7
0
C DET = - 7
0
C/s
Nhn xt kt qu ca cc trng hp trn.
7. iu khin t ng my iu ho nhit bng k thut logic m,
ngi ta dng hai cm bin: Trong phng l cm bin nhit T
i
, bn ngoi l
cm bin nhit T
o
. Vic iu ho nhit thng qua iu khin tc qut
lm lnh my iu ho. Bit rng:
- Tm nhit quan tm l [0 50
0
]
- Tc qut l v [0 600v/p ]
Hy tnh tc qut trong cc trng hp sau:
1. T
i
= 27
0
C T
0
= 32
0
C
2. T
i
= 30
0
C T
0
= 35
0
C
3. T
i
= 26
0
C T
0
= 33
0
C
Chng 4 : iu khin m
Trang 97
Nhn xt kt qu cc trng hp trn.
8. Cho mt i tng l nhit c hm truyn :

) 456 . 8 64 . 1 )( 5 . 0 (
228 . 4
) (
2
+ + +
=
S S S
S G
a. Tnh thng s b PID theo Zeigler-Nichols, tnh POT, t
s
.
b. Thit k b PID m tho mn cc iu kin sau: POT < 10% v t
s
< 5
Bit rng:
- Nhit t T
s
= 200
0
C
- Sai s e
max
= 5%
- DET [ -10 +10 ] (
0
C/s )
- Cng sut ca l nhit P = 5KW
Tm K
P
, K
I
, K
D
trong cc trng hp sau:
1. ET = 8
0
C DET = 9
0
C/s
2. ET = 2
0
C DET = 2
0
C/s
3. ET = 8
0
C DET = - 9
0
C/s
Nhn xt kt qu t c.
9. Xt h thng phi tuyn bc hai nh sau:
u x x t x = + 3 cos ) (
2

trong (t) cha bit v 1 (t) 2.
Thit k BK trt u x bm theo qu o mong mun x
d
.
10. Cho h thng :

u t x x t x
t x x x
) ( cos ) (
1 sin
2 2
4
1 1 2
2 2 1
+ =
+ + =

Trong
1
(t) v
2
(t) l hai hm cha bit v : |
1
(t)| 10, 1
2
(t) 2.
Thit k BK m trt vi trng thi vng kn x
1
(t) c cho bi trng thi
mong mun x
d
(t).
11. Dng Simulink m phng cc h thng Qu bng v n by,
Con lc ngc, h thng iu khin nhit dng PID m.
12. Tham kho cc v d trong phn Help/Fuzzy Control Toolbox ca
Matlab.
PGS.TS Nguyn Th Phng H
http://www.khvt.com