IU KHIN M LAI PI CHO TRUYN NG T-

C THAM S J BIN I
PI FUZZY CONTROLLER FOR T- DYNAMIC SYSTEM
WITH VARIED PARAMETER J

BI QUC KHNH
Trng i hc Bch khoa H Ni
ON QUANG VINH
Trng i hc Bch khoa, i hc Nng
NGUYN HU PHC
Trung tm Th nghim in, Cng ty in lc 3

TM TT
Mt h thng m vi kh nng kt hp thng tin, kinh nghim v i tng v lut iu khin
i tng, l mt b iu khin thch hp cho i tng c tham s bin i. Bi bo ny gii
thiu v b iu khin m lai PI cho h truyn ng T- c tham s J bin i . B iu khin
ny bao gm b iu khin PI kinh in vng trong v mt b iu khin m vng ngoi
chnh nh tham s b iu khin PI. c tnh ca b iu khin c minh ha bng kt
qu m phng iu khin n nh tc ng c in mt chiu.
ABSTRACT
The fuzzy system is capable of associating information about objects with the operators
understanding and experience and with control rules. For this reason, the system is a controller
appropriate for objects with varied parameters. This article discusses the PI fuzzy controller for
T-D dynamic system with the varied parameter J. This controller consists of a typical PI
controller in the primary loop and a fuzzy controller in the secondary loop, to adjust the PI
controller parameter. The characteristics of the PI fuzzy controller are demonstrated with
simulation results of conditions to stabilise DC-motor speed.

1. t vn
Do cu trc n gin v bn vng nn cc b iu khin PID (t l, tch phn, o
hm) c dng ph bin trong cc h iu khin cng nghip. Cht lng ca h thng ph
thuc vo cc tham s KP, TI, TD ca b iu khin PID. Nhng v cc h s ca b iu khin
PID ch c tnh ton cho mt ch lm vic c th ca h thng, do vy trong qu trnh
vn hnh lun phi chnh nh cc h s ny cho ph hp vi thc t pht hay tt hiu qu
ca b iu khin. Da theo nguyn l chnh nh , ta thit k b iu khin m vng
ngoi chnh nh tham s b PID vng trong. Mt b iu khin cht lng cao cn phi
lun m bo cht lng iu khin tt khi thng s ca i tng thng xuyn bin i. B
iu khin m lai PID va pht huy ht cc u im ca b iu khin r va s dng cc u
im h thng m gip trnh khi nhng bi ton nhn dng, m hnh ho hay thit k phc
tp. Ngoi ra, nhng kinh nghim v c tnh ca i tng, kinh nghim iu khin i tng
d dng c kt hp vo lut iu khin. y l hai u im vt tri ca cc b iu khin
m lai so vi cc b iu khin khc. Bi bo ny gii thiu v mt b iu khin m lai PI
cho mt i tng truyn ng T- c tham s J bin i.

2. B iu chnh tc R dng b iu chnh tch phn t l PI

B iu chnh tc R thit k theo tiu chun ti u i xng:
R ( p ) =

Ki J
1
Ki J
1
1

2
K K 4Tsw
K K 32Tsw p
Mc

HCD
U

-Ic

Hnh 1. S khi h iu chnh tc PI

Cc tham s ca R ph thuc vo mmen qun tnh J. Nh vy m bo cht
lng iu chnh khng i khi J ca h bin thing th b iu chnh phi c kh nng t
ng chnh nh li cc tham s. iu ny khng th thc hin vi b iu chnh PI kinh in.
3. C s thit k b iu khin m lai PI
B iu khin vng trong cho mch vng iu chnh tc h truyn ng T- dng
khu iu chnh tc PI kinh in, b iu khin m vng ngoi c nhim v l phi t
ng chnh nh c 2 tham s KP , KI ca b PI.
B chnh
nh m

Thit b
chnh nh
HsKP

x
-

d/dt

HsKI
B iu
khin PI

i tng
iu khin

Thit b o
lng

Hnh 2. S khi h iu khin m lai.

C s thit k b iu khin m l da vo vic phn tch sai lch e(t) v o hm
ca tn hiu ra d/dt, cc tham s KP, KI ca b iu khin PI s c t ng chnh nh theo
phng php chnh nh m. Nh vy b chnh nh m s c hai u vo l e(t), o hm

ca u ra d/dt v hai u ra l HsKP, v HsKI , do c th xem nh n gm hai b chnh

nh m, mi b gm c hai u vo v mt u ra.
4. Thit k b iu khin m lai PI
p dng m hnh m Mamdani. u vo th 1 l sai lch gia tc t v tc
thc. u vo th 2 l tc bin thin theo thi gian ca tc thc. u ra th 1 l h s
chnh nh ca KP. u ra th 2 l h s chnh nh ca K I. Cn c vo kt qu m phng h
truyn ng vi b iu khin PI kinh in ng vi cc gi tr ca J khc nhau ta xc nh
c cc min gi tr r ti hn cho cc bin vo v ra.
Xc nh s lng tp m cn thit cho cc bin: Nguyn l chung l s lng cc gi
tr ngn ng cho mi bin nn nm trong khong t 3 n 10 gi tr. Nu s lng t hn 3 th
qu th v t c ngha v khng thc hin c vic ly vi phn. Nu ln hn 10 th qu mn
con ngi kh c kh nng cm nhn qu chi ly, bao qut ht cc trng hp xy ra v nh
hng n b nh, tc tnh ton. Vi yu cu ca iu khin n nh tc h truyn ng
T-, chn s lng tp m cho mi bin u vo bng 7 v mi bin u ra bng 5 l va
phi.
Xc nh hm lin thuc: y l vn cc k quan trng v rt kh ni chnh xc.
Nhng cn c vo kinh nghim v k thut iu khin h truyn ng T- ta chn hm lin
thuc kiu hnh tam gic hoc hnh thang.
Xy dng cc lut iu khin:
Da vo bn cht vt l, cc s liu vo ra c c, kinh nghim iu khin, v da
vo c tnh qu thng gp ca h thng iu khin dng PI , ta xc nh cc lut iu
khin tng ng. Khi bt u khi ng, lc ny cn tn hiu iu khin ln tn hiu ra tng
nhanh, suy ra KP ln v KI ln , ta c lut: Nu e(t) ln v d/dt l Zero th KP ln KI ln. Khi
sai lch tin v zero, ta mun tn hiu iu khin nh khng qu iu chnh, ngha l K P
nh, KI nh, ta c lut: Nu e(t) l Zero v d/dt ln th K P nh, KI nh. Vi suy lun tng
t, mi mt bin ra c tt c t hp ca 7 x 7 = 49 lut.
Dng lut hp thnh max-Prod, gii m theo phng php trng tm, khi cc h s
HsKP, HsKI c tnh ton lc iu khin l:
49

y pl Al ( e(t ) ).B l ( dw / dt )

HsK p (t ) = l =1

yIl Al ( e(t ) ).B l ( dw / dt )

49

; HsK I (t ) = l =149

l =1

l =1

Al ( e(t ) ).Bl ( dw / dt )

Trong

49

l
l
y
p , yI

Al ( e(t ) ).B l ( dw / dt )

l tm ca cc tp m tng ng.

Sau khi xy dng m hnh m phng bao gm b iu khin m lai PI v i tng,

tin hnh qu trnh th nghim vi cc gi tr khc nhau ca J pht hin cc l hng, khi
pht hin c l hng th quay li iu chnh b chnh nh m bng cch iu chnh li
che ph ln nhau ca cc gi tr ngn ng, iu chnh li cc lut iu khin, trng hp b
iu khin lm vic khng n nh th phi kim tra li lut Nu . . . th c s. Sau khi bit
chc b iu khin n nh v khng c l hng, tin hnh ti u ho cc trng thi lm
vic ca n theo cc ch tiu cht lng ng v tnh. chnh nh b iu khin theo cc ch
tiu ny ta phi hiu chnh hm lin thuc, thit lp cc nguyn tc iu khin ph v thay i
mt s nguyn tc iu khin. Cui cng ta c b iu khin m lai PI p ng c yu
cu t ra.

5. Kt qu nghin cu
Thc hin m phng b iu khin m lai PI vi ng c in mt chiu, kch t c
lp, dng in kch t khng i (t thng l hng s). Cc thng s 2,2kW220V-12A1500v/p; Ru =1,2; Lu = 31mH ; Tu =25,83.103
K =1,3089

; J tt =0,016 kg.m 2 ;

I cp =36 A

Kbd
+

CL
-

Lc

UW

FT

12
Pht
xung
Rd

ng b

Uk

Ui

Hnh 3. S cu trc h truyn ng T-

S dng phn mm Matlab v Simulink, thc hin m phng h vi b iu khin PI
kinh in v b iu khin m lai PI ng vi cc trng hp khc nhau ca mmen qun tnh
J, so snh cc p ng thu c nh cc hnh 4, 5, 6, 7, 8, 9.
1530

1540

n-dat
n-PID
n-Mo

n-dat
n-PID
n-Mo

1530

1520
1520

Toc do n ( vong/phut )

Toc do n ( vong/phut )

1510

1500

1490

1510

1500

1490

1480

1480
1470

1470

0.02

0.04

0.06

0.08
0.1
Thoi Gian t ( s )

0.12

0.14

0.16

1460
0.5

0.18

0.6

0.7

Hnh 4. M phng vi J=0,016

0.8

0.9
1
Thoi Gian t ( s )

1.1

1.2

1.3

1.4

Hnh 5. M phng vi J=0,16

0.07

1525
n-dat
n-PID
n-Mo

0.065
1520
0.06
1515

Toc do n ( vong/phut )

Mo men quan tinh J

0.055
0.05
0.045
J
0.04
0.035
0.03

1510

1505

1500

1495

0.025
1490
0.02
0

0.05

0.1

0.15

0.2

0.25
Thoi Gian t ( s )

0.3

0.35

0.4

0.45

Hnh 6. M men qun tnh J tng dn

0.5

1485

0.05

0.1

0.15

0.2

0.25
Thoi Gian t ( s )

0.3

0.35

0.4

0.45

Hnh 7. M phng vi J tng dn

0.5

0.2

1550

J
0.19

n-dat
n-PID
n-Mo

1540

0.18
1530

0.17
Toc do n ( vong/phut )

Mo men quan tinh J

1520

0.16
0.15
0.14
0.13

1510

1500

1490

1480

0.12
0.11

1470

0.1
0

0.5

1.5
Thoi Gian t ( s )

2.5

Hnh 8. M men qun tnh J dng xung

1460

0.5

1.5
Thoi Gian t ( s )

2.5

Hnh 9. M phng vi J dng xung

5. Kt lun
Bng mt b iu khin m lai PI vi cu trc v thng s thch hp, tc ng c
c iu khin bm theo tc t rt tt. Vi kt qu m phng trn, nhn thy rng vi
b iu khin m lai PI nh thit k th cht lng ca h lun lun c m bo khi tham
s m men qun tnh J ca h thay i. Kt qu m phng chng t rng thut ton v cch
thc xy dng b iu khin m lai PI cho h truyn ng T- l ng n, b iu khin m
lai khng phi gii bi ton nhn dng hay s dng cc b c lng thng s m vn cho
c kt qu iu khin c cht lng cao.
Cc thng s v cht lng iu chnh nh sai lch tnh, qu iu chnh, thi gian
qu , s ln dao ng ca h truyn ng u tt hn rt nhiu so vi vic dng b iu
khin PI kinh in, nht l qu iu chnh v thi gian qu rt nh. Nh vy h iu
khin m lai PI hon ton p ng c cc yu cu v cht lng cao cho truyn ng T-
c tham s J bin i.
TI LIU THAM KHO
[1]

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[2]

Phan Xun Minh, Nguyn Don Phc (2002), L thuyt iu khin m, Nh xut
bn Khoa hc v K thut, H Ni.

[3]

Marco Russo (2000), Fuzzy Theory Systems, Techniques and Applications, vol4.
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[4]

Michio Sugeno & Toshiro Tarano & Kuioji Asai (1992), Fuzzy System Theory and
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[5]

Li-Xin Wang (1997), A Course in Fuzzy Systems and Control, Prentice Hall.