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NI DUNG: BI 3.11 V BI 3.12
BI 3.11:
Xt h thng bc 2 khng dao ng c hm truyn t nh sau:
2
0 1
( )
K
G s
a a s s
=
+ +

Trong a
0
, a
1
, k l nhng tham s (dng) cha bit v ph thuc vo t. Ta
iu khin i tng ny bng b PID t chnh gin tip v mt b tin x l
lm gim vt l ca h kn. Thit k b iu khin theo phng php
MRAS/ nhn dng Bezout.
a) Thit k c cu chnh nh cc tham s cho hai b iu khin trn.
b) Xc nh cc gi thit cn phi c v tc thay i cc tham s a
0
, a
1
,
k (nhanh/chm nh th no) h thng thch nghi trn lm vic t cht
lng yu cu?
Gii
1. Thit k theo phng php MRAS
Hm truyn h kn khi dng b PID t chnh gin tip, vi s
I
PID P D
K
G K K
s
= + +

2
0 1
( s)
( )
( )
1 ( )
( ) ( s)
I
P D
PID
k
I
PID
P D
K
K K K
G G s
s
G s
K
G G s
a a s s K K K
s
+ +
= =
+
+ + + + +


2
2 3 2
0 1
( s )
( ) ( s )
P I D
P I D
K K s K K
a s a s s K K s K K
+ +
=
+ + + + +

Hm truyn h kn mong mun, vi
1 1
0,| | 3 p p < > e (ta thm vo mt cc khng
tri, hm truyn ca i tng v hm truyn mong mun c bc bng nhau).

2 2
1 1 1
2 2
1
2
( )
( 2 )( )
m
s s
G s
s s s p
+ , e +e
=
+ ,e +e +

Cho mu 2 v ( )
k
G s v ( )
m
G s bng nhau, ta c:

2 3 2
0 1
( ) ( s )
P I D
a s a s s K K s K K + + + + + =
2 2
1
( 2 )( ) s s s p + ,e + e +
Suy ra:

1 1
2
D
p a
K
K
,e+
=

2
1 0
2
P
p a
K
K
,e + e
=
(1)


2
1
I
p
K
K
e
=


Ta c :

2
2 3 2
0 1
( s ) ( )
( )
( ) ( ) ( s )
P I D
K
C P I D
K K s K K Y s
G s
U s a s a s s K K s K K
+ +
= =
+ + + + +



2
2 3 2
0 1
( )
( ) ( )
( ) ( )
P I D
C
P I D
K K p K K p
y t u t
a p a p p K K p K K p
+ +
=
+ + + + +
( Cng thc 3.76 trang 241)

2 2
1 1 1
2 2
1
( ) 2
( )
( ) ( 2 )( )
m
m
C
Y s s s
G s
U s s s s p
+ , e +e
= =
+ ,e +e +


2 2
1 1 1
2 2
1
2
( ) ( )
( 2 )( )
m C
p p
y t u t
p p p p
+ , e +e
=
+ ,e +e +
( Cng thc 3.77 trang 242)

Sai s bm ui:
m
e y y =

Vi y : l gi tr o v y
m
l gi tr mong mun thit k

S dng lut MIT:
d e
e
dt
u
u
c
=
c
(2) ( Cng thc trang 236- lut MIT)
Trong : l Tc thch nghi = const >0
e : Sai s bm ui
e
u
c
c
: nhy ca h thng
: Thng s cn cp nht
Ln lt thay bng K
I
, K
P
v K
D
vo phng trnh (2) ta c :

2
1 0
2
( )
( )
X
I
m C
I I
Kp p a p a dK e y
e e y y u
dt k K
+ + c c
= = =
c c


2 2
1 0
2
1
( )
( )
p
m C
P
dK
Kp p a p a e y
e e y y u
dt k r X
+ + c c
= = =
c c


3 2
1 0
2
1
( )
( )
D
m C
D
Kp p a p a dK e y
e e y y u
dt k r X
+ + c c
= = =
c c

Vi
2 3 2
0 1
( ) ( )
P I D
X a p a p p K K p K K p = + + + + +

Khi hm truyn G
K
(s) t n hm truyn G
m
(s) mong mun th X th t n
X
m
mong mun
2 2
1
( 2 )( )
m
X p p p p = + ,e + e +
Khi ta c :
( ) ( )
2 3 2 2 2
0 1 1
( ) ( ) 2 .
P I D
X a p a p p K K p K K p p p p p ,e e = + + + + + = + + +
Suy ra :
1 1
2
0 1
2
1
. 2
. 2
.
D
P
I
a K K p
a K K p
K K p
,e
e ,e
e
+ = +
+ = +
=

1 1
2
0 1
2
1
2 .
2 .
/
D
I
a p K K
a p K K
K p K
,e
e ,e
e
= +
= +
=
(3)
T h thc (3) kt hp vi h thc (1) Ta suy ra c gi tr a0, a1 v K h thng lm vic t cht
lng yu cu.

Lut hiu chnh b sung

2
) ( ) )
T
e e
e e
d
e e e
dt
u
u u
u u u
c c
c c
= =
c c c
o+( o+(
c c c
(4)

Trong ln lt l K
P
, K
I
, K
D
( Cng thc trang 249)


5
10

o =
( Tham s >0 trnh trng hp biu thc (4) chia cho 0)

2
)
p
P
P
e
e
dK
K
e
dt
K
c
c
=
c
o+(
c

2
)
I I
I
e
e
dK K
e
dt
K
c
c
=
c
o +(
c

2
)
D D
D
e
e
dK K
e
dt
K
c
c
=
c
o+(
c

2. Thit k theo nhn dng Bezout
Hm truyn h:
( )
( )
( )
Y s
G S
U s
=

2
1 0
( ) ( ) ( )
B K
Y s U s U s
A s a s a
= =
+ +

Hm truyn kn mong mun:
( )
( )
( )
m m
m
C m
Y s B
G s
U s A
= =

2
2 2
( ) ( ) ( )
2
m
m C C
m
B
Y s U s U s
A s s
e
= =
+ ,e +e

Thit k lut iu khin
C
Ru Tu Sy = sao cho h t c hm truyn t mong
mun
Ta c:
Bc (B) = Bc (B
m
) = 0
Bc (A) = Bc (A
m
) = 2
B
+

= 1 ; B
-
= K
Bc (A
0
) = Bc (A) Bc (B
+
) -1= 2 0 1 = 1
Cu trc b iu khin theo phng php t cc c dng:

C
Ru Tu Sy =
B B B
+
= , trong B
+
cha nhng thnh phn c th dng zero kh cc, B

l
thnh phn cn li
Phng trnh nhn dng Bezout:

0 m
AR BS B A A
+
+ = (*)
(AR+BS)

l a thc c trng ca h thng; B
+
: kh zero ca i tng;
0
A :
cc cc ca b quan st;
m
A : cc mong mun ca m hnh)
Vi
2
1 0
A s a s a = + + , B K = ,
2 2
2
m
A s s = + ,e + e
Chn
0
1 A s = + ,
1
R s r = + ,
0 1
S s s s = + ,
0 1
T t s t = +
Thay vo (*), ta c:

2 2 2
1 0 1 0 1 0
( )( ) ( ) ( )( 2 ) s a s a s r K s s s s a s s + + + + + = + + ,e + e

2
0 1
1
( ) a r
s
K
e
=
2
1 1 0
0
2 s a r a
s
K
e + ,e
=
1 0 1
2 r s a a = ,e +
Chn
0
a const =
Ta c:
'
0 m
T A B = ;
'
m m
B B B

=



2
0 0 0 0 1
( )
m
B
T A s a t s t
B K

e
= = + = +

2
0
t
K
e
= ;
2
1 0
t a
K
e
=
Hm truyn h kn

2
0
2
1 0 1 0 1
( )
( ) (s) ( )
( )(s r ) ( )
C C
s a BT
y s u u s
AR BS s a s a K s s s
e +
= =
+ + + + + +


2
0
2
1 0 1 0 1
( )
( ) ( )
( )( r ) ( )
C
p a
y t u t
p a p a p K s p s
e +
=
+ + + + +

Sai s:
m
e y y =
S dng lut MIT:

2 2
0 1 0 1
2
1 1
( )( )
( )
m C
p a p a p a dr e y
e e y y u
dt r r X
e + + + c c
= = =
c c


0
0 0
ds e y
e e
dt s s
c c
= =
c c


1
1 1
ds e y
e e
dt s s
c c
= =
c c
8u,m
Vi
2
1 0 1 0 1
( )( r ) ( ) X p a p a p K s p s = + + + + +
Khi hm truyn t n
( )
m
G s


2 2
0
( )( 2 ) X p a p p = + + ,e + e

Thit k
Lut k :
C
Ru Tu Sy =

1 0 1 0 1
C
C
du du dy
ru t t u s s y
dt dt dt
+ = +

Lut hiu chnh b sung
2
) ( ) )
T
e e
e e
d
e e e
dt
u
u u
u u u
c c
c c
= =
c c c
o+( o+(
c c c
(3)
Trong ln lt l r
1
, s
1
, s
0



4
10

o =
( Tham s >0 trnh trng hp biu thc (3) chia cho 0)


1 1
2
1
)
e
e
dr r
e
dt
r
c
c
=
c
o+(
c

1 1
2
1
)
e
e
ds s
e
dt
s
c
c
=
c
o+(
c

0 0
2
0
)
e
e
ds s
e
dt
s
c
c
=
c
o +(
c

BI 3.12:
Xt i tng bt nh c hm truyn:
( )
( )
1 ( )
k Y s
G s
Ts U s
= =
+

Trong : k, T l hai hng s dng cha bit.
Thit k b iu khin thch nghi ng ra: u kx =
Vi x l bin trng thi:
=

= =

1
2 1
x y
x x y

Sao cho h kn c hm truyn l:
1
( )
1 3
k
G s
s
=
+

Gii:
Bc 1: t vn
S khi ca h thng:

Trong hm truyn vng kn c 2 vng hi tip: hi tip v y v hi tip v y .
p dng cng thc Mason, ta c hm truyn:
1 2 2 1
1 2
2 1 2 1
2 1
( )
1
1 ( ) (1 ) ( )
1
1 1
1 1
[( ) (1 )] y [( ) ( )] y (*)
1
( ) ( )
td
c
c c c
k
k k Y s
Ts
G
k k
Ts kK skK T kK s kK U s
K sK
Ts Ts
T
T kK p kK ku K p K u y u
T
k k
K p K
k k
+
= = = =
+ + + + + +
+ +
+ +
+ + + = + + + = =
+ + +
Trong p l ton t vi phn
d
dt


Hm truyn t mong mun ca h thng vng kn:
= =
+
+ =
+ =
=
+
( ) 1
( )
1 3 ( )
(1 3 ) ( ) ( )
(1 3 )
1
(* * )
1 3
m
m
c
m c
m c
m c
Y s
G s
s U s
s Y s U s
p y u
y u
p


Bc 2: Xc nh hm ph thuc
Khi hm truyn t ca h thng t ti hm truyn t mong mun th phng
trnh (*) s t ti phng trnh mong mun (**), do :
2 1
1
[( ) ( )] y (1 3 )
c m c
T
K p K u p y u
k k
+ + + = + =
Suy ra:
1 1
2 2
1 1
1 1
3 3
K K
k k
T T
K K
k k

+ = =

+ = =




Bc 3: Xc nh lut cp nht
Ta c sai s ca h thng vng kn:
m
e y y =
T phng trnh (*) suy ra nhy ca sai s theo cc h s t l K
1
, K
2
:
2
1 1
2 1
2
2 2
2 1
1
1
[( ) ( )]
1
[( ) ( )]
c
c
e y
u
T
K K
K p K
k k
e y p
u
T
K K
K p K
k k
c c
= =
c c
+ + +
c c
= =
c c
+ + +

Do , theo MIT, lut cp nht cc h s t l K
1
, K
2
c dng:
( )
( )
1
2
1
2 1
2
2
2
2 1
1
1
[( ) ( )]
1
[( ) ( )]
m c
m c
dK e
e y y u
T
dt K
K p K
k k
dK e p
e y y u
T
dt K
K p K
k k


(
(
c
= =
(
c
( + + +

(
(
c
= =
(
c
( + + +

(***)
Phng trnh (***) khng th s dng trc tip cp nht cc h s t l K
1
,
K
2
ca b iu khin c do cc thng s k v T ca qu trnh l cha bit
c. Do phi s dng php xp x loi b i cc thng s cha bit ny.

Phng trnh (***) c th xp x nh sau:
( )
( )
1
2
1
2
2
2
1
(3 1)
(3 1)
m c
m c
dK e
e y y u
dt K p
dK e p
e y y u
dt K p


( c
= =
(
c +

( c
= =
(
c +



Vy lut hiu chnh thng s l:
( )
( )
1
2
1
2
2
2
1
(3 1)
(3 1)
m c
m c
dK e
e y y u
dt K p
dK e p
e y y u
dt K p
( c
= =
(
c +

( c
= =
(
c +



(****)

Bc 4: S m phng simulink (c nhiu)




Khi Subsystem chnh l khi hiu chnh thng s:

Ta chn tc hi t = 0.1, thng s k = 1 v T = 3.
Tn hiu kch thch l xung vung lng cc c bin 1 v tn s
0.01Hz

p ng u ra h thng v u ra mong mun:


Bc 5: M rng tm thch nghi
Thay (*) v (**) vo lut hiu chnh thng s (****) ta c:
( )
( )
2 1
2 2
1
2 1
2 2
2 2
2
2 1
1 1 1 1
1
(3 1) 1 3 (3 1)
( ) ( )
1 1
1
(3 1) 1 3 (3 1)
( ) ( )
m c c
m c c
dK e
e y y u u
T
dt K p p p
K p K
k k
dK e p p
e y y u u
T
dt K p p p
K p K
k k


| |
|
( c
= = =
|
(
c + + +

|
+ + +
\ .
| |
|
( c
= = =
|
(
c + + +

|
+ + +
\ .

Phng trnh trn cho thy tc hi t ca cc h s K
1
, K
2
ph thuc vo
bnh phng bin ca tn hiu vo u
c
. y l hiu ng khng mong mun.
Khi tn hiu vo c bin nh, tc hi t ca h thng rt chm, khi bin
vo tng ln, tc hi t cng tng ln (theo t l bnh phng) tng ng.
Khi bin vo t n mt gi tr ln no th h thng gn nh khng
n nh na v xut hin cc xung vt l khng khng ch c. R rng iu
ny hn ch rt ln tm iu khin ca h thng. Nhc im ny c th
khc phc c bng lut hiu chnh thng s b sung:

1 1 1
2
1 1 1
2 2 2
2
2 2 2
T
T
e e
e
dK K K
e
dt
e e e
K K K
e e
e
dK K K
e
dt
e e e
K K K

o o

o o
c c
c c
= =
| | | | | | c c c
+ +
| | |
c c c
\ . \ . \ .
c c
c c
= =
| | | | | | c c c
+ +
| | |
c c c
\ . \ . \ .

Trong : o l mt s dng nh ty a vo trnh cho mu s ca
phng trnh bng 0, v:
2
2
1
2 1
2
2
2
2 1
1 1
1
(3 1)
[( ) ( )]
1
(3 1)
[( ) ( )]
c c
c c
e
u u
T
K p
K p K
k k
e p p
u u
T
K p
K p K
k k
c
= ~
c +
+ + +
c
= ~
c +
+ + +

Suy ra cc thng s chnh nh K
1
v K
2
s c MIT b sung nh sau:
2 2
1 1
2 2 2
2 2
1
2 2
2 2
2 2 2
2 2
2
1 1
(3 1) (3 1)
1 1
(3 1) (3 1)
(3 1) (3 1)
(3 1) (3 1)
c c
c c
c c
c c
e
u u
dK K p p
e e e
dt
e
u u
p p K
e p p
u u
dK K p p
e e e
dt
p p e
u u
p p K

o o o

o o o
c
c + +
= = =
| | | | | | c
+ + +
| | |
+ + c
\ . \ . \ .
c
c + +
= = =
| | | | | | c
+ + +
| | |
+ + c
\ . \ . \ .


Bc 6: Kt lun
B iu khin thch nghi m hnh tham chiu (MRAS) vi phng php tip
cn gradient c th gii quyt tt vn iu khin h thng khi thng s h
thng thay i. Hn na, vi lut hiu chnh thng s b sung thay th cho lut
hiu chnh thng s MIT c th nng cao hn na tnh n nh v tm iu
khin ca h thng. Tuy b iu khin l thch nghi nhng tnh thch nghi ch c
th tha mn trong mt iu kin lm vic gii hn, phi chp nhn nh i
gia tnh n nh ca h thng vi tc hi t v gi tr ng ca thng s cn
iu khin.
Khi thiet ke he MRAS bac 2 bang luat MIT ta thay ket qua
kha tot vi tn hieu vao la bat ky va trong trng hp co
nhieu au vao, nhieu au ra hay nhieu o lng th mo hnh
cho ket qua tng oi tot. Tuy nhien vi mc nhieu qua ln
th ta cung khong the cho ket qua tot nhat c nhng co the
loai nhieu bang cach chnh o , e co ket qua tng oi.
u iem:
Loai c nhieu
Thiet ke cho he thong co cac thong so thay oi khong
biet trc
Thch nghi vi s thay oi cua oi tng
S Simulink:
Ta thit k li khi Hiu chnh thng s nh sau: