I HC QUC GIA THNH PH H CH MINH

TRNG I HC BCH KHOA

NGUYN C MINH



IU KHIN TRT THCH NGHI
H THNG NG PHI TUYN


Chuyn ngnh: T ng Ha
M s: 50006101

TM TT LUN N TIN S K THUT





Tp. H Ch Minh - Nm 2012

Cng trnh c hon thnh ti: Trng i hc Bch Khoa
HQG-HCM


Ngi hng dn khoa hc 1: PGS. TS DNG HOI NGHA S.
TS Dng Hoi Ngha
Ngi hng dn khoa hc 2: TS NGUYN C THNH .
Nguyn c Thnh

Phn bin c lp 1: GS.TSKH NGUYN XUN QUNH
Phn bin c lp 2: PGS.TS NGUYN NGC PHNG

Phn bin 1: TS. NGUYN CH NGN
Phn bin 2: PGS.TSKH H C LC
Phn bin 3: PGS.TS NGUYN TN TIN



Lun n s c bo v trc hi ng chm lun n hp ti

vo lc gi ngy thng nm



C th tm hiu lun n ti th vin:
- Th vin Khoa hc tng hp TP.HCM
- Th vin trng i hc Bch Khoa HQG-HCM
1
TM LC NI DUNG LUN N
Lun n gm 5 chng (93 trang). Ti liu tham kho 85. Cc chng
chnh ca lun n c ni dung tm lc nh sau:
Chng mt l chng tng quan v iu khin trt, iu khin trt
dng mng n-rn, l do, mc ch cng nh phng php nghin cu ca
lun n.
Chng hai tng hp cc kin thc c s v mng n-rn v l thuyt iu
khin trt, v mt s m hnh iu khin trt dng mng n-rn.
Chng ba bao hm ni dung chnh ca lun n. Trong chng ny gii
thiu phng php iu khin trt thch nghi phn ly dng mng n-rn
DANSMC vi y m hnh v phng php hun luyn mng.
Chng bn m t ng dng phng php iu khin trt thch nghi phn
ly c gii thiu trong chng ba vo hai m hnh con lc ngc hai bc
xoay t do v con lc ngc hai chiu l cc m hnh phi tuyn cao, bt n
v khng cc tiu pha cng vi cc kt qu m phng v thc nghim.
Chng nm tng kt li s khc bit v cc kt qu t c ca cc
phng php nghin cu trong lun n so vi cc phng php nghin cu
khc v nu ln mt s tn ti cng nh mt s xut hng nghin cu
tip theo.
TNG QUAN
iu khin trt
iu khin trt l mt phng php iu khin phi tuyn n gin hiu
qu. thit k thnh phn iu khin trt cn phi bit r cc thng s
ca m hnh i tng cng nh cc chn trn ca cc thnh phn bt nh
ca m hnh. iu khin trt c dng hm du v c hin tng chattering
cc trng thi xung quanh mt trt.
iu khin trt thch nghi dng mng n-rn
Mt s cc nghin cu s dng mng n-rn thay th thnh phn
iu khin tng ng trong iu khin trt hoc b cho cc thnh
2
phn bt nh ca h thng. u im ca cc phng php ny l khng
cn nhn dng cc thng s ca m hnh khi thit k thnh phn iu khin
tng ng. Hm du trong thnh phn iu khin bn vng thng c
thay th bng hm bo ha hn ch hin tng chattering. Tuy nhin cc
chn trn dng trong thit k thnh phn iu khin bn vng vn l cc gi
tr hng c chn trc, v vy cht lng iu khin vn ph thuc vo
vic la chn cc gi tr hng khi thit k thnh phn iu khin bn vng.
Nhc im ca cc phng php ny l phi c s tr gi gia cht lng
iu khin v tnh bn vng ca h thng.
Trong bi cnh lun n tin s nghin cu phng php iu khin trt
thch nghi dng mng n-rn p dng cho h phi tuyn ng bt nh
khng r thng s m hnh vi ba ni dung chnh:
Kt hp l thuyt iu khin trt v mng n-rn thit k b iu
khin trt thch nghi dng mng n-rn p dng cho h thng phi tuyn
ng bt nh khng r thng s m hnh. B iu khin mi c cc c
im: (i) l mt mng n-rn c dng lm b iu khin trc tip; (ii)
khng cn nhn dng trc cc thng s ca m hnh i tng, lut iu
khin c suy ra trc tip trong qu trnh hun luyn trc tuyn; (iii) c
kh nng thch nghi trc s thay i ca cc chn trn ca cc thnh phn
bt nh v c kh nng khng nhiu tt.
Pht trin b iu khin trt thch nghi nu trn thnh b iu khin
trt thch nghi phn ly DANSMC cho h phi tuyn a bin.
p dng cc nghin cu v iu khin trt thch nghi phn ly ln h
con lc ngc xoay v con lc ngc hai chiu thng qua m phng v
thc nghim.
CHNG 2: C S L THUYT
2.1 MNG N-RN
Mng mt lp n SHL (Single Hidden Layer)
3
Mng hai lp vi lp ng ra c hm tc ng l hm dc cn c gi l
mng mt lp n SHL.
Biu din vo ra ca mng SHL
0 0
1 1
l n
i ik h kj j k i
k j
u w v x v w
= =
| |
= + +
|
\ .

(2.20)
2.2 L THUYT IU KHIN TRT
2.2.1 I TNG IU KHIN
Xt h thng phi tuyn biu din bi phng trnh vi phn
d u y y g y y f y
n n n
+ + =

). ,.,., , ( ) ,.,., (
) 1 ( ) 1 ( ) (
(2.46)
Trong d l nhiu
t
) 1 (
3 2 1
... , , ,

= = = =
n
n
y x y x y x y x & & & (2.47)
v
T
n
x x x x ] ... , , [
2 1
=
ta c biu din trng thi :

+ + =
=
=
=

d u x g x f x
x x
x x
x x
n
n x
). ( ) (
1
3 2
2 1
&
&
M
&
&
(2.48)
1
x y =
Bi ton iu khin c t ra l xc nh tn hiu iu khin u sao cho
tn hiu ra y bm theo tn hiu t r.
2.2.2 MT TRT
nh ngha tn hiu sai lch
r y e = (2.49)
v tn hiu s
e c e c e c e s
n
n
n
1 2
) 2 (
1
) 1 (
.... + + + + =

& (2.50)
4
Trong c
1
, ... , c
n-1
, l cc h s c chn trc sao cho a thc c
trng ca phng trnh vi phn sau Hurwitz (c tt c cc nghim vi phn
thc m)
0 ....
1 2
) 2 (
1
) 1 (
= + + + +

e c e c e c e
n
n
n
& (2.51)
Khi cc nghim ca phng trnh c trng ca (2.2.6) u nm bn tri
mt phng phc, nn e(t) s tin ti 0 khi t tin ti . Phng trnh s=0 xc
nh mt mt cong S trong khng gian n chiu gi l mt trt (sliding
surface) S.
Vn t ra l xc nh lut iu khin u a cc qu o pha ca h
thng v mt trt v duy tr trn mt trt mt cch bn vng i vi cc
bin ng ca ) (x f v ) (x g .
2.2.3 LUT IU KHIN TRT KINH IN
Lut iu khin trt c in:
( )
) (
1 2
) 1 (
1
) ( . .... ) (
) (
1
n n
n
r d s sign k e c e c e c x f
x g
u + + + + + + =

& & &

(2.56)
Lut iu khin trt c tnh n cc thnh phn bt nh
Trong thc t lut iu khin trt cn tnh ti cc thnh phn bt nh nh
nhiu h thng cng s bin thin theo thi gian ca ) (x f v ) (x g . Gi
) , ( t x f , ) , ( t x g l cc thnh phn bt nh ca h thng
Lut iu khin trt c tnh n cc thnh phn bt nh nh sau:
corrective equivalent
u u u + =
(2.66)
Trong :
) ( )). ( ( ). (
0
s sign x g sign x u
equivalent
= l thnh phn iu khin ph thuc
vo m hnh danh nh ca h thng cn gi l thnh phn iu khin
tng ng.
) ( )). ( ( ) , .(
max
s sign x g sign t x u
corrective
= l thnh phn iu khin bn
vng, cn gi l thnh phn iu khin hiu chnh c tc dng b cho cc
thnh phn bt nh ca h thng v c gi tr ph thuc vo cc chn trn
5
ca cc thnh phn bt nh ca h thng. Thng th
max
c chn bng
mt h s dng k vi
( )
( ) D f
g x g
k
x
+
+
=
max
min 0
) (
1
sup
(2.67)
2.2.4 IU KHIN TRT CHO H THNG MIMO
Xt mt h thng phi tuyn MIMO
( ) ( ) x = f x +g x .u &
(2.68)
( ) y h x =

Lut iu khin trt cho h MIMO
( ) ( ) ( )
1
( 1) ( ) ( 1)
1 1
... . ( )
m m m
g f f m
u L L h L h c e c e k diag sign s

= + + + + &

(2.77)
2.2.5 C IM CA IU KHIN TRT
T mc 2.2.3 cho thy tnh ton thnh phn iu khin tng ng ca
iu khin trt i hi phi bit y cc hm danh nh ca i tng,
v tnh ton thnh phn iu khin bn vng cn phi bit cc chn trn
ca h thng v nhiu.
Hm du trong thnh phn iu khin ca iu khin trt c in to nn
hin tng o cc trong tn hiu iu khin cng vi hin tng tr vt l
ca cc i tng c iu khin to nn hin tng chattering (dao ng
ca cc qu o pha xung quanh mt trt).
2.3 MT S M HNH IU KHIN TRT DNG MNG N-
RN
2.3.1 M HNH S DNG MNG N-RN LM THNH PHN
IU KHIN TNG NG
Trong m hnh iu khin trt dng ny tn hiu iu khin trt c
phn chia nh sau:
6
- vng xa mt trt thnh phn iu khin hiu chnh c s dng
hng cc trng thi tin v mt trt
) ( )). ( ( . s sign x g sign k u
corrective
= (2.78)
Vi k c tnh theo cng thc 2.67
- ln cn mt trt thnh phn iu khin tng ng c thay th
bng mt mng hai lp nh m t mc 2.1 dng iu khin cc trng
thi bm trn mt trt. Ng vo ca mng chnh l tn hiu mt trt s.
Cc trng s ca mng c cp nht thch nghi trc tuyn. Mc tiu ca
lut cp nht thch nghi l cc tiu ha hm nng lng ca mt trt
(2.60).
Lut cp nht mng da trn phng php gradient descent c trin khai
theo cng thc :
ij
ij
w
V
w

=
. (2.79)
Trin khai lut cp nht cho cc trng s ca lp ngoi cng :
( )
j j
u x s w
o ij
. ' . . =
(2.80)
Trong

l hng s hc,
o
l hm tc ng ng ra,
j
u
l ng ra th j
ca mng.
Cc trng s ca lp gia ca mng th c cp nht da trn thut ton
lan truyn ngc.
2.3.2 M HNH IU KHIN TRT PHN LY DNG MNG
N-RN
Nm 2007 Lon-Chen Hung v Hung Yuan Chung khoa k thut in t
i hc quc gia i Loan gii thiu k thut iu khin trt phn ly
dng mng n-rn DNNSMC (Decoupled N-rn Network Sliding Mode
Control) cho cc h thng phi tuyn bc bn. Tnh hiu qu ca b iu
khin c kim chng thng qua vic m phng trn nhiu i tng
c tnh phi tuyn cao nh con lc n, con lc i, h cu banh, ...
M t h thng
7
Xt mt h thng bc bn c dng nh sau
2 2 2 2 4
4 3
1 1 1 1 2
2 1
). ( ) (
). ( ) (
d u x g x f x
x x
d u x g x f x
x x
+ + =
=
+ + =
=
&
&
&
&
(2.81)
Trong [ ]
T
x x x x x
4 3 2 1
= l vector trng thi,
1
f ,
2
f , v
1
g ,
2
g l
cc hm phi tuyn,
1
u ,
2
u l cc ng vo iu khin v
1
d ,
2
d l nhiu bn
ngoi. Cc nhiu c gi thit l b chn:
1 1
D d ,
2 2
D d ..
nh ngha tn hiu mt trt th nht
( ) [ ][ ] z c x c z c x x c x z x c s
T
T
1 12 1 2 1 1 2 1 1 1
1 = = + = (2.82)
nh ngha tn hiu mt trt th hai
4 3 2 2
x x c s + = (2.83)
Trong thit k b iu khin trt phn ly, iu khin tng ng c
nhim v duy tr cc trng thi trn mt trt. iu khin tng ng c
th t c bng cch chn 0
1
= s& .
( )
1 1 1 1 2 1 2 1 1 1
. d u g f z c x c x z x c s + + + = + = & & & & & (2.84)
Ng vo iu khin trt phn ly c chn vi hm Lyapunov nh sau:
2
1
2
1
s V =
(2.85)
Ly o hm (2.85) ta c
( )
1 1 1 1 2 1 1 1 1
. d u g f z c x c s s s V + + + = = & &
&
(2.86)
T (2.86) suy ra lut iu khin trt bao gm c thnh phn iu khin
tng ng v iu khin bn vng trc nhiu
1
.
eq
s
u u M sign

| |
=
|
\ .
trong
1 1
/ g D M >
(2.87)
V hm du ca cng thc (2.87) gy nn hin tng chattering nn c
thay th bng hm bo ha trong (2.88)
( )
1
. s sat M u u
eq
=
(2.88)
Nh vy trong chuyn ng trt, tn hiu iu khin tng ng s l
8
( )
1 1 1 1 2 1
1
1
ks s f z c x c
g
u
eq
+ + + = & &
(2.89)
Trong k l hng s dng. Mc ch ca iu khin l li cc trng thi
h thng v im cn bng gc. Cc bin
1
s ,
2
s cng suy gim thng qua
bin tm thi z. Phng trnh (2.82) ch ra rng mc ch iu khin ca
1
u c thay i t 0
1
= x , 0
2
= x thnh z x =
1
, 0
2
= x (Lo & Kuo, 1998).
Bin tm thi z c th c nh ngha
2
.
upper
z
s
z sat z

| |
=
|
\ .
, 1 0 < <
upper
z (2.90)
Trong
z
l h s iu chnh trn ca z . Hm ( ) sat c nh
ngha
( )
( )

<

=
1
1

if
if sign
sat
(2.91)
Thit k b iu khin trt phn ly dng mng n-rn DNNSMC

2
s
1
s
1
x
2
x
3
x
4
x
y u

Hnh 2.13 H thng DNNSMC ca Lon-Chen Hung v Hung Yuan
Chung
Mt mng n-rn SHL nh m t mc 2.1.2 c dng thay th thnh
phn iu khin tng ng (2.89) vi ng vo l tn hiu mt trt
1
s .
Trong hm tc ng lp n c dng
9
( )
1
1
1
1
s
e
s

+
= (2.92)
Lut cp nht thch nghi cho mng m bo lut iu khin (2.3.3.9)
ng ra ca mng c ngh
( )

= s v g sign s w . ). ( .
1 1
& & (2.93)
( )w s v g sign s v & & &

= . ). ( .
1 2
(2.94)
Trong

s c nh ngha
( )
1 1 1 1
. s sat s s =

(2.95)

1
c gi l dy lp bin. Nu
1 1
< s th 0 = =

s s& , ngc li th

= s s& v
1 1
=

s s
.
Thnh phn iu khin bn vng ca b iu khin DNNSMC l
( )
1 1
1
1 1
. . .
corrective
s s
u M sat E sign g sat

| | | |
= =
| |
\ . \ .
(2.96)
V lut hiu chnh c ngh c lng E l

= s E .
3

&
(2.97)
CHNG BA: IU KHIN TRT THCH NGHI PHN LY
DNG MNG N-RN
Chng ny s gii thiu mt b iu khin trt thch nghi phn ly mi
DANSMC (Decoupled Adaptive Neural Sliding Mode Control) p dng
c cho cc h thng phi tuyn a bin. Cc nghin cu c trnh by
trong chng ny c cng b trn cc bi bo [1], [2],[3] (Mc cc
cng trnh cng b).
*Tm tt lun n ch a ra cc kt qu, phn chng minh c trnh by
y trong lun n.
3.1 IU KHIN TRT THCH NGHI DNG MNG N-RN
3.1.1 M T B IU KHIN
M hnh i tng v cc nh ngha v h thng nh m t mc 2.2.2
10
Mt mng n-rn SHL vi n ng vo, m n-rn lp n, 1 ng ra, vi cc
trng s c th iu chnh c, nh hnh (3.1) c dng lm b iu
khin cho h (2.48). Ng ra ca mng n-rn c dng:

= =
= = =
m
i
T
i i
m
i
i i
E w w z w E w N u
1
0
1
0
) . ( . . ) , (
(3.1)
1
e
2
e
3
e
n
e
(.)
(.)
(.)
(.)
(.)

Hnh 3.1 Mng n-rn dng lm b iu khin
Trong :
T
in i i
w w w ] ..... [
1
= l trng s ng vo ca n-rn th i (i =
1..m);
T
m
z z z ] ..... [
1
= l ng ra n-rn lp n;
T
m
w w w ] ..... [
0 01 0
=
l trng s lp ra ca mng ; Ng ra u ca mng cng l ng vo ca h
thng (2.48) ; Ng vo ca mng c kt ni cc ng ra sai s trng thi
ca (2.48)
T n T
n
e e e e e e E ] ... [ ] ... [
) 1 (
2 1

= = & . Hm ng ra l hm
tuyn tnh. Hm tc ng (.) lp n l hm sigmoid lng cc c
dng:

1
1
2
) (
+
=
x
e
x
(3.2)
Bi ton y l tm ra lut cp nht ph hp hun luyn mng N, sao
cho b iu khin mng n-rn c th iu khin c s tin ti 0 theo
mt p ng cho trc v duy tr n nh trn .
3.1.2 LUT CP NHT THCH NGHI HUN LUYN MNG
Lut iu khin trt ngh
11
( )
) (
1 2
) 1 (
1
.... ) ( .
) (
1
n n
n
r d e c e c e c x f s
x g
u + + + + + +

& & &

(3.8)
Lu : lut iu khin (3.1.6) c dng hm trn v khng c thnh phn
chuyn mch nh trong iu khin trt c in.
Lut cp nht thch nghi hun luyn mng
Lut cp nht c ngh hun luyn mng , i vi cc trng s ca
lp gia:
E z k w s s sign s sat x g sign k w
i i i
). 1 ).( ( ). . ( ). / ( )). ( ( . ) (
2
0
+ = &
(3.22)
V i vi cc trng s ca lp ra:
z s s sign s sat x g sign k w ). . ( ). / ( )). ( ( . ) (
0
+ = & (3.23)
Trong

< <

=
1 1 ,
1 , 1
1 , 1
) (
x x
x
x
x sat
(3.24)
0 > xc nh mt gi tr chn trn ca s ( c chn thng qua th
nghim). Khi > s th
= ) / ( . s sat
, cn khi < s th
< = ) / .( ) / ( . s s sat . Nh vy, c th chn gi tr ca ln
tng nhanh tc hc cho b iu khin mng n-rn, m vn bo m
trn ca tn hiu iu khin vng st mt trt.
3.2 IU KHIN TRT THCH NGHI PHN LY DNG MNG
N-RN DANSMC
Cc h thng thc thng c dng biu din:
2 2 2 4
4 3
1 ` 1 1 2
2 1
~
). (
~
) (
~
~
). (
~
) (
~
d u q B q f q
q q
d u q B q f q
q q
+ + =
=
+ + =
=
&
&
&
&
(3.25)
c th p dng lut iu khin trt thch nghi ln cc h thng nh
(3.2.1), phng php i bin c p dng a (3.2.1) v dng
12
1 3 ` 1 1 2
2 1
). ( ) ( d x x g x f x
x x
+ + =
=
&
&
(3.26)
2 2 2 4
4 3
). ( ) ( d u x g x f x
x x
+ + =
=
&
&
(3.27)
Gi thit
1
f ,
1
/ 1 g ,
1
d ,
2
d l cc hm b chn, th (3.2.4) c xem l mt
h thng con bc hai c ng vo iu khin l
3
x
. Cn (3.2.5) c xem
nh h thng con bc hai c ng vo l u, ng ra l
3
x
.
Mc ch ca bi ton: l tm lut iu khin u, sao cho :
0 , 0 , 0 , 0
4 3 2 1
= = = = x x x x (3.30)
nh ngha
2 1 1 1
. x x c s + = , 0
1
> c (3.31)
iu kin 0
1
> s , khi > t , l 0
1
< V
&
, c th chn gi tr mong mun
ca
3
x
l
)) ( ( ). ( .
1 1 3
x g sign s sign x z = = (3.35)
Vi
1 1 2 1
1
)) ( . .(
) (
1
d x f x c
x g
+ + >


3
x
l hm trn, hm ) (
1
s sign trong (3.2.11) c thay th bng hm
sigmoid lng cc. Khi (3.2.11) tr thnh
)) ( ( . 1
exp 1
2
.
1
/
1
x g sign z
s |
|
.
|

\
|

+
=

(3.36)
Xc nh mt mt trt
2
S khi 0
2
= s .
p dng mng n-rn nh m t mc 3.1.1 iu khin tn hiu mt
trt 0
2
> s . Mng n-rn c ng vo l x , ng ra iu khin u, lut cp
nht thch nghi hun luyn mng l cc lut (3.22) v (3.23) vi
2
s s = .
M hnh iu khin trt thch nghi phn ly cho nh hnh 3.2.

13

N
u
d
t
d
/
1
x
3
x
4
x
2
s
1
s
z
u
x
g
x
f
x
x
x
u
x
g
x
f
x
x
x
)
.
(
)
(
)
.
(
)
(
2
2
4
4
3
`
1
1
2
2
1
+
==
+
=
=
&&&&
2
x
3
x
1
x
d
t
d
/
d
t
d
/
2
s
&
x

Hnh 3.2 M hnh iu khin trt thch nghi phn ly
nh ngha :
4 3 2 2
) ( x z x c s + = , 0
2
> c (3.38)
14
Kt lun
Nh vy trong chng ny mt lut iu khin trt mi (3.8) c a
ra bao gm c hai thnh phn iu khin tng ng v iu khin bn
vng, c dng hm trn, khng c cc thnh phn chuyn mch, c kh
nng khc phc hin tng chattering, v c th c thay th bng mt
mng n ron.
Lut cp nht (3.22) v (3.23) c ngh c chng minh l c th
hun luyn c mng n ron tr thnh b iu khin trt theo lut (3.8).
Tip l m hnh iu khin trt phn ly c gii thiu trong mc 3.2
c th p dng cho cc h thng a bin
Khc vi cc b iu khin dng mng n ron c gii thiu trong
chng hai, m ng vo ca mng n ron v tn hiu hi tip cp nht
mng l tn hiu mt trt, mng n ron ca b iu khin DANSMC l
ng vo trng thi cn tn hiu hi tip bao gm c tn hiu mt trt v
o hm ca n.
B iu khin trt thch nghi phn ly DANSMC c ngh c
chng minh l c kh nng t hun luyn thch nghi hc c cc lut
iu khin trt (3.8) ph hp vi cc thng s bin ng ca i tng v
nh hng ca nhiu, cng nh kh nng khc phc c hin tng
chattering, nn tha mn c c v cht lng v tnh bn vng ca h
thng so vi cc phng php iu khin trt dng mng n ron nu
chng 2. Cc tnh cht trn s c minh ha thng qua m phng v thc
nghim s c trnh by chng 4.
Mt s iu cn lu l khi thit k b iu khin DANSMC th cc trng
s ca mng nn c khi to vi cc gi tr ngu nhin ban u nh, v
vng khng gian hun luyn mng nn c chn ln cn im cn bng
trc khi m rng dn ra. Kh nng khng nhiu v thch nghi vi cc
thnh phn bt nh ca h thng ph thuc vo tc ly mu, vi iu
kin tc ly mu phi nh hn hai ln tn s nhiu ln nht v tc
15
bin thin ca cc thnh phn bt nh. Vi kh nng ca cc b iu khin
DSP hin i tc ly mu c 1ms l hon ton c c s.
CHNG BN:
KT QU M PHNG V THC NGHIM
4.1 IU KHIN TRT TCH NGHI PHN LY CON LC
NGC HAI BC XOAY T DO
M t con lc ngc xoay

Hnh 4.1 M hnh con lc ngc xoay

Cc kt qu m phng

Hnh 4.9 Qu trnh hun luyn v hi t b iu khin DANSMC
16


Hnh 4.11 p ng ca iu khin DANSMC
Kt qu thu c cc p ng ca , , u trong qu trnh hun luyn
(hnh 4.9) v kt qu cui cng (hnh 4.11) cho thy qu trnh hnh thnh
lut iu khin v cht lng iu khin tng dn sau nhiu phin hun
luyn.


Hnh 4.13 Qu o pha cc bin trng thi ca iu khin DANSMC
M hnh thc nghim
M hnh kt cu c kh con lc nh hnh 4.17 vi cnh tay con lc c chiu
di 30cm c th gn ln n cc con lc khc nhau qua khp ni th
17
nghim kh nng thch nghi ca b iu khin khi thng s m hnh thay
i. Cnh tay con lc c gn vo mt ng c mt chiu 24V DC. Hai
encoder c phn gii 1/2000 trn vng c dng lm hai b o hai gc
ca con lc v ca cnh tay quay.
B phn m phng b iu khin dng mng n-rn v tnh ton cp nht
c lp trnh trn c s bo mch ezdsp TMS3202812.
Chng trnh m t b iu khin trt thch nghi phn ly c vit bng
ngn ng C trn nn phn mm my tnh CSS. Cc kt qu iu khin c
th c th hin li di dng ha.
Tn s ly mu ca b iu khin c ci t tn s 0.5 KHz, v tn s
ca b iu ng xung c ci t tn s gp nm ln tn s ly mu.

Hnh 4.17 M hnh thc con lc ngc trong phng th nghim
Cc kt qu thc nghim
Con lc thc nghim (hnh 4.17), c b phn gn xoay, ni con lc gn vo
tay xoay, c th thay i cc con lc c cht liu, chiu di v khi
lng khc nhau. Hnh 4.20, 4.21, 4.22 ln lt l cc kt qu iu khin
gc con lc, gc tay quay v tn hiu iu khin.
18

Hnh 4.20 p ng ca trong 30 giy.(lt ln v n nh)

Hnh 4.21 p ng ca trong 30 giy

Hnh 4.22 Tn hiu iu khin u trong 30 giy
4.2 IU KHIN TRT THCH NGHI PHN LY CON LC
NGC HAI CHIU
M t con lc ngc hai chiu
19

Hnh 4.23 M hnh ng hc con lc ngc hai chiu
Cc kt qu m phng
Mc ch ca iu khin l gi n nh con lc dng ngc theo chiu
thng ng, ng thi iu khin n chuyn ng u bm theo mt vng
trn cho trc trn mt phng x-y

Hnh 4.28 Qu o x-y ca phin hun luyn th nht v th hai
20

Hnh 4.29 M phng vi bin nhiu bin thin
CHNG NM
KT LUN
Ngy nay, iu khin hc hin i hng ti nghin cu gii quyt bi ton
iu khin cc h thng bt nh hoc khng r thng s m hnh da trn
c s cc phng php iu khin thng minh nh iu khin m v iu
khin dng mng n-rn. Hng nghin cu da trn vic kt hp gia cc
l thuyt iu khin c in v iu khin thng minh l mt hng nghin
cu y trin vng v n kt hp c kh nng iu khin chnh xc, bn
vng ca cc phng php iu khin c in v kh nng hc thch nghi
ca cc phng php iu khin thng minh tin ti hnh thnh cc b
iu khin thch nghi bn vng m khng cn bit y tnh cht ca i
tng.
Cc phng php dng mng n-rn hay n-rn m nhn dng i
tng sau p dng kt qu nhn dng thc hin vo l thuyt thuyt
iu khin da trn m hnh rt kh c th thchin trn cc i tng thc
c tnh phi tuyn cao v c cc thnh phn bt nh. Cc b iu khin
21
c thit k trn cc phng php ny c chi ph cao do phi tri qua
nhiu giai on (nhn dng ri iu khin), c tin cy khng cao, do tnh
chnh xc ca tn hiu iu khin ph thuc vo sai s nhn dng, v
thng phi c b iu khin thch nghi b cho cc sai s ny.
Nguyn l ca phng php iu khin trt dng mng n-rn c gii
thiu trong cc ti liu [2]-[22] cho php thay th thnh phn iu khin
tng ng trong iu khin trt c in bng mt mng n-rn hai lp
vi cc lut cp nht thch nghi n gin, m khng cn phi nhn dng
trc cc hm phi tuyn ca i tng. Tuy nhin bn cht ca cc b iu
khin loi ny vn l lut iu khin trt c in, v vy phi c s tr gi
gia cht lng iu khin v tnh bn vng ca h thng. Hn na, cn
bit trc cc gi tr chn trn ca cc thnh phn bt nh.
ng gp khoa hc ca lun n
Trong bi cnh cc nghin cu trong lun n nhm mc ch khc phc
nhng tn ti ca cc phng php iu khin trt dng mng n-rn
trc v mt s cc kt qu c th nh sau:
- Lut iu khin trt c ngh trong lun n bao gm c hai thnh
phn iu khin tng ng v iu khin bn vng, c dng hm trn, c
kh nng khc phc c hin tng chattering v ph hp hun luyn
cho mng n-rn.
- Lut cp nht cho mng n-rn truyn thng mt lp n c ngh da
trn l thuyt n nh ca Lyapunov vi hai tn hiu hi tip bao gm tn
hiu mt trt v o hm ca n c chng minh l p ng c yu
cu ca lut iu khin trt c ngh v c kh nng hun luyn trc
tuyn cho mng n-rn tr thnh b iu khin trt thch nghi m khng
cn phi nhn dng trc cc thng s ca i tng v cc gi tr chn
trn ca cc thnh phn bt nh ca h thng.
22
- Vi m hnh iu khin c ngh trong lun n mng n-rn truyn
thng mt lp n thay th hon ton b iu khin trt. Vi c im
ng vo ca mng l cc bin trng thi (khc vi ng vo l tn hiu mt
trt nh mt s phng php iu khin trt dng mng n-rn khc),
phng php DANSMC khai thc c kh nng nh theo trng thi
ca mng n-rn v qua cc kt qu m phng cho thy kh nng t
nng cp cht lng iu khin ca h thng qua tng phin iu khin.
- L thuyt v m phng cng cho thy kh nng t thay i thch
nghi ca b iu khin DANSMC trc s thay i ca cc thng s ca
i tng cng nh cc chn trn ca cc thnh phn bt nh.
- M hnh iu khin phn ly c ngh trong lun n c chng
minh l c kh nng p ng yu cu iu khin ngay c i vi cc i
tng phi tuyn v c trin vng p dng cho nhiu i tng phi tuyn a
bin phc tp khc.
- Cc nghin cu v l thuyt minh chng vi cc ng dng c th ln
cc i tng c tnh phi tuyn cao v phc tp nh con lc ngc hai bc
xoay t do v con lc ngc hai chiu. Trong cc m hnh iu khin t
ng hin nay, cc h thng c kt cu c kh dng di chuyn ngang trn
hai trc (nh CNC) c dng ging nh th nghim trn con lc ngc hai
chiu, thng i hi cc b iu khin phi c chnh xc cao trong iu
kin cc thng s c kh khng ng u trn ton b mt di chuyn v
r c kh to nn s bt nh ca cc thng s l mt vn kh khi thit
k trong iu khin. Phng php DANSMC, vi kh nng nh ca b
iu khin cho php to ra cc tn hiu iu khin ph hp trn tng v tr
ta ch qua vi phin hun luyn l mt m hnh y trin vng cho cc
nghin cu nhng ng dng nh vy.
Mt vn ca b iu khin DANSMC l kh nng khng nhiu ca b
iu khin ph thuc vo t l ca tn s ly mu so vi tn s cao nht ca
23
nhiu bn ngoi hoc nhiu lon bn trong h thng. Tuy nhin ngy nay
vi s pht trin ca cng ngh DSP vi tc x l s thc ngy cng
nhanh cho php thc hin cc b iu khin trt dng mng n-rn vi
tc ly mu nh hn 0.01s, p ng c cc yu cu v iu khin
thc.
Mt vn khc ca b iu khin DANSMC l trong thc t cc ngun
cung cp iu khin l cc hm c dng hm bo ha, v vy vng hun
luyn cho mng n-rn cn phi c gii hn trong phm vi sao cho tn
hiu iu khin nh hn gii hn trn v di ca vng bo ha. Phng
php khc phc l vng bo ha ca ngun cung cp nng lng, tn hiu
iu khin ca mng n-rn c th c thay th bng tn hiu iu khin
hiu chnh ca iu khin trt c in. Ngoi ra qu trnh hun luyn
mng cn c trin khai bt u t vng st vi im cn bng v m
rng dn ra cc vng xa hn.
Trong tt c cc th nghim dng m phng cng nh thc nghim, cc gi
tr ca cc bin trng thi v tn hiu mt trt u c ly theo kiu o
hm ri rc n gin m cha c mt b quan st hon ho. V vy cht
lng ca b iu khin DANSMC cn b hn ch do nh hng ca nhiu
o c u ra, v tn s ly mu cn phi cao bo m s chnh xc
ca vic ly o hm.
Hng pht trin ca lun n
M hnh iu khin DASMC kh n gin v hiu qu. Cc phng php
nghin cu tng t khng ch c th c pht trin iu khin trt thch
nghi phn ly trn mng truyn thng mt lp n thng m cn c th p
dng cho cc loi mng khc nh mng RBF v mng n-rn m. Vic
nghin cu p dng mng n-rn m lm b iu khin s gip lm gim
thi gian hun luyn v hiu qu hn i vi mt s cc i tng thc.
24
Da trn c s ca l thuyt iu khin trt thch nghi th hng nghin
cu vic xy dng mt b quan st cc bin trng thi l hon ton kh thi
cho cc h thng phi tuyn bt nh v khng r thng s m hnh, nhm
tng cng cht lng ca b iu khin DANSMC gim c tn s ly
mu v do s gim c chi ph khi thc hin b iu khin.
B iu khin DANSMC cn c tip tc nghin cu v hon thin trn
cc i tng iu khin phi tuyn a bin phc tp bt nh khc nh cnh
tay my nhiu bc t do, xe cn bng, r bt bit i


CC TI LIU CNG B

[1] N.D. Minh, N.D. Thanh, D.H. Nghia, "Decoupled Adaptive
Sliding Mode Control," Tp ch khoa hc cng ngh, vol. 79, pp. 70-
75, 2011.
[2] N. . Minh, D. H. Ngha, N. . Thnh, "iu khin n nh con
lc ngc s dng mng n ron," Tp ch Tin hc v iu khin hc,
vol. 26, no. 3, pp. 245-255, 2010.
[3] N. . Minh, D. H. Ngha, N. . Thnh, "iu khin con lc
ngc hai bc xoay t do dng mng n-rn," in Hi tho Cng
ngh thng tin i hc lt 2010, 2010.
[4] N. D. Minh, N.D. Thanh, D.H. Nghia , "Stabilizing Inverted
Pendulum using Neural Network," in Hi ngh c in t ton quc
ln th 10 VCM2010, 2010.
[5] N.D. Minh, N.D. Thanh, D.N. Nghia , "Decoupled Adaptive
Sliding Mode Control for two Dimentional Inverted Pendulum Using
Neural Network," in IFOST, 2009.
[6] N. . Minh, D. H. Ngha, N. . Thnh, "iu khin Trt Thch
nghi Dng Mng N ron," Tp ch Khoa hc Cng ngh, vol. 71, pp.
1-5, 2009.