1

B GIO DC V O TO
I HC NNG



NGUYN HU M




S DNG THUT TON M N RON
IU KHIN CN BNG CON LC NGC




Chuyn ngnh: T ng ha
M s: 60.52.60





TM TT LUN VN THC S K THUT





Nng Nm 2011


2

Cng trnh c hon thnh ti
I HC NNG




Ngi hng dn khoa hc: TS. Nguyn Quc nh





Phn bin 1: TS. Nguyn Hong Mai

Phn bin 2: TS. V Bnh






Lun vn s c bo v ti hi ng chm lun vn tt nghip
thc s k thut hp ti i hc Nng vo ngy 10 thng 9
nm 2011






C th tm hiu lun vn ti:
- Trung tm Thng tin Hc liu, i hc Nng
- Trung tm Hc liu, i hc Nng

1
M U
1. L DO CHN TI
Trong nhng thp nin gn y, l thuyt tp m v mng n
ron nhn to pht trin rt nhanh v a dng. Cng ngh m v
cng ngh mng n ron cung cp nhng cng ngh mi cho cc
ngnh cng nghip lm ra nhiu sn phm thng minh, p ng nhu
cu th trng cn c nhng b iu khin linh hot hn, nhng thit
b bit lm vic vi nhng bi ton kh, phi x l nhiu loi thng
tin mp m, cha y v thiu chnh xc.
Vi logic m, tr tu nhn to pht trin mnh m trong nhng
nm gn y to ra c s xy dng cc h chuyn gia, nhng h c
kh nng cung cp kinh nghim iu khin h thng hay cn gi l
cc h tr gip quyt nh. Tr tu nhn to c xy dng da trn
mng nron nhn to. S kt hp gia logic m v mng n ron
trong thit k h thng iu khin t ng l mt khuynh hng hon
ton mi, phng hng thit k h iu khin thng minh, mt h
thng m b iu khin c kh nng t duy nh b no ca con
ngi, tc l n c kh nng t hc hi, t chnh nh li cho ph
hp vi s thay i khng lng c trc ca i tng iu
khin.
T nhng nguyn nhn trn, ti quyt nh chn ti S
DNG THUT TON M N RON IU KHIN CN BNG
CON LC NGC nhm nghin cu k hn v l thuyt m,
mng n ron v s kt hp gia chng to ra nhng b iu khin
thng minh.
2. MC CH NGHIN CU
- Tm hiu v con lc ngc v cc phng php iu khin cn
bng n;

2
- Tm hiu v iu khin m;
- Tm hiu l thuyt mng n ron;
- Nghin cu kt hp l thuyt m v mng n ron iu
khin cn bng h thng xe con lc ngc;
- M phng h thng trn phn mm Matlab - Simulink.
3. I TNG V PHM VI NGHIN CU
i tng nghin cu:
- H xe con lc ngc;
- B iu khin PID, b iu khin m n ron.
Phm vi nghin cu:
- Xy dng m hnh ton hc cho h thng xe con lc ngc;
- iu khin cn bng h thng bng b iu khin kinh in
PID;
- iu khin cn bng h thng bng b iu khin m n ron
hc thng s ANFIS;
- M phng h thng bng phn mm Matlab - Simulink, nh
gi kt qu.
4. PHNG PHP NGHIN CU
Nghin cu l thuyt:
- Nghin cu xy dng m hnh con lc ngc;
- Nghin cu b iu khin PID iu khin cn bng con lc
ngc;
- Nghin cu s kt hp thut ton m v n ron iu khin
cn bng con lc ngc.
Phng php thc nghim:
S dng phn mm Matlab Simulink lm cng c xy dng
m hnh v m phng h thng.


3
5. NGHA KHOA HC V THC TIN CA TI
Con lc ngc l c s to ra cc h thng t cn bng nh:
xe hai bnh t cn bng, thp v tuyn, gin khoan, cng trnh bin
Khi l thuyt v cc b iu khin hin i ngy cng hon
thin hn th con lc ngc l mt trong nhng i tng c p
dng kim tra cc l thuyt .
6. CU TRC LUN VN
M U
Chng 1: TNG QUAN V CON LC NGC
a ra m hnh con lc ngc, xy dng cc m hnh ton
hc, m hnh ha trn Matlab - Simulink
Chng 2: L THUYT M
Chng ny trnh by l thuyt iu khin m lm c s
cho cc chng sau xy dng b iu khin m - nron.
Chng 3: MNG N RON V KT HP MNG N
RON VI H M
Trnh by c s l thuyt mng nron v kt hp mng
nron vi h m.
Chng 4: IU KHIN CN BNG CON LC
NGC S DNG B IU KHIN PID
Trnh by c s l thuyt v xy dng b iu khin PID
iu khin cn bng con lc ngc.
Chng 5: NG DNG H LOGIC M N RON IU
KHIN CN BNG CON LC NGC
Xy dng b iu khin m n ron ANFIS iu khin cn
bng con lc ngc. M phng v so snh kt qu gia b
iu khin m n ron v PID.
KT LUN V KIN NGH

4
CHNG 1
TNG QUAN V CON LC NGC
1.1. M HNH CON LC NGC
Xt h thng con lc ngc nh hnh 1.1. Con lc ngc c
gn vo xe ko bi ng c in. Chng ta ch xt bi ton hai chiu,
ngha l con lc ch di chuyn trong mt phng. Con lc ngc khng
th n nh v n lun ng xung tr khi c lc tc ng thch hp.
Gi s khi lng ca con lc tp trung u thanh nh hnh v
(khi lng thanh khng ng k). Lc iu khin u tc ng vo xe.
Yu cu ca bi ton l iu khin v tr xe v gi cho con lc ngc
lun thng ng (con lc lun cn bng).

c
o
s
.
l
sin . l

Hnh 1.1: M hnh con lc ngc.
Ch thch:
l: chiu di con lc ngc (m) M: khi lng xe (kg)
g: gia tc trng trng (m/s
2
) u: lc tc ng vo xe (N)
m: khi lng con lc (kg) x: v tr xe (m)
: gc gia con lc ngc v phng thng ng (rad)

5
1.2. M HNH TON HC CA H CON LC NGC
Gi x
G
, y
G
l ta vt nng u con lc, ta c:
sin . l x x
G
+ = (1.1)
cos . l y
G
= (1.2)
p dng nh lut II Newton cho chuyn ng theo phng x, ta
c:

2
2
2
2
dt
x d
m
dt
x d
M u
G
+ = (1.3)
Thay sin . l x x
G
+ = vo (1.3) ta c:
) sin . (
2
2
2
2
l x
dt
d
m
dt
x d
M u + + = (1.4)
Khai trin cc o hm ca (1.4) v rt gn ta c:

& & &
& & ) (cos . ) (sin . ) (
2
l m l m x m M u + + = (1.5)
Mt khc, p dng nh lut II Newton cho chuyn ng quay
ca con lc quanh trc ta c:
sin . . . sin . cos .
2
2
2
2
l g m l
dt
y d
m l
dt
x d
m
G G
= (1.6)
Thay sin . l x x
G
+ = v cos . l y
G
= vo (1.6) ta c:
sin . . . sin . ) cos . ( cos . ) sin . (
2
2
2
2
l g m l l
dt
d
m l l x
dt
d
m =
(

+
(1.7)
Khai trin cc o hm ca biu thc (1.7) v rt gn ta c:
sin . . . . cos . . g m l m x m = +
& &
& & (1.8)
T (1.5) v (1.8) ta suy ra:
2
2
) (cos
sin . cos . . ) (sin .

m m M
g m l m u
x

+
=
&
& & (1.9)

6
l m M l m
l M g m M u
) ( ) (cos .
. sin . cos . . sin . ) ( cos .
2
2
+
+ +
=

&
& &
(1.10)
Chng ta thy rng h con lc ngc l h phi tuyn, c th
iu khin h con lc ngc bng b iu khin PID chng ta cn
tuyn tnh ha m hnh ton hc ca n.
Gi s gc nh c th xp x 1 cos ; 0 sin v
0
2

&
. Vi cc iu kin trn, chng ta c th tuyn tnh ha cc
phng trnh (1.5) v (1.8) thnh cc phng trnh:
u l m x m M = + +
& &
& & . . ) ( (1.11)
. . . . . g m l m x m = +
& &
& & (1.12)
T (1.11) v (1.12) ta suy ra:

M
g m
M
u
x
.
= & & (1.13)
.
. .
g
l M
m M
l M
u +
+ =
& &
(1.14)
1.2.1. Hm truyn con lc ngc
1.2.1.1. Quan h gia v u
Chuyn i Laplace 2 v phng trnh (1.14) ta c:
) ( .
. .
) (
) (
2
s g
l M
m M
l M
s U
s s
+
+ = (1.15)
Bin i (1.15) ta c:

g
l M
m M
s
l M
s U
s
s G
.
.
1
) (
) (
) (
2
1
+

= (1.16)
1.2.1.2. Quan h gia x v u
T (1.13) ta c:

u M
g m
M u
x . 1
=
& &


7
Chuyn i Laplace phng trnh trn ta c:

) (
) ( . 1
) (
) (
2
s F
s
M
g m
M s U
s X s
= (1.17)
T (1.16) v (1.17) ta suy ra:

2 4
2 2
2
2
.
.
. .
. 1
) (
) (
) (
s g
l M
m M
s
g
l M
m M
l M
g m
s
M
s U
s X
s G
+

\
| +

= = (1.18)
1.2.2. Phng trnh trng thi ca con lc

1.3. M HNH CA H CON LC NGC TRN MATLAB
SIMULINK
1.3.1. M hnh con lc ngc tuyn tnh
T cc phng trnh:

M
g m
M
u
x
.
= & & ; .
. .
g
l M
m M
l M
u +
+ =
& &

ta xy dng m hnh con lc ngc tuyn tnh trn Simulink

Hnh 1.2: M hnh con lc ngc tuyn tnh.

8
1.3.2. M hnh con lc ngc phi tuyn
T cc phng trnh:

2
2
) (cos
sin . cos . . ) (sin .

m m M
g m l m u
x

+
=
&
& &

l m M l m
l M g m M u
) ( ) (cos .
. sin . cos . . sin . ) ( cos .
2
2
+
+ +
=

&
& &

xy dng m hnh con lc ngc phi tuyn trn Simulink.


Hnh 1.3: M hnh con lc ngc phi tuyn.

1.4. KT LUN
Bng cch p dng nh lut Newton ta thnh lp c cc m
hnh ton hc cho con lc ngc. S dng phn mm Matlab
Simulink xy dng c m hnh con lc ngc tuyn tnh, phi
tuyn. ng dng l thuyt iu khin t ng c c hm truyn v
phng trnh trng thi.
Cc phng trnh ton hc, m hnh con lc ngc l c s cho
vic xy dng b iu khin cc chng sau.

9
CHNG 2
L THUYT M
2.1. TNG QUAN V LOGIC M
2.1.1. Qu trnh pht trin ca logic m
2.1.2. C s ton hc ca logic m
2.2. KHI NIM V TP M
2.2.1. Tp kinh in
2.2.2. nh ngha tp m
2.2.3. Cc thng s c trng cho tp m
2.2.4. Cc dng hm lin thuc ca tp m
2.3. CC PHP TON TRN TP M
2.3.1. Php hp hai tp m
2.3.1.1 Hp ca hai tp m c cng c s
2.3.1.2. Hp hai tp m khc c s
2.3.2. Php giao ca hai tp m
2.3.2.1. Giao hai tp m cng c s
2.3.2.2. Giao hai tp m khc c s
2.3.3. Php b ca mt tp m
2.4. BIN NGN NG V GI TR CA BIN NGN NG
2.5. LUT HP THNH M
2.5.1. Mnh hp thnh
2.5.2. Lut hp thnh m
2.5.3. Cc cu trc c bn ca lut hp thnh
2.5.4. Lut hp thnh n c cu trc SISO
2.5.4.1. Lut hp thnh MIN
2.5.4.2. Lut hp thnh PROD
2.5.5. Lut hp thnh n c cu trc MISO
2.5.6. Lut ca nhiu mnh hp thnh

10
2.5.6.1. Lut hp thnh ca hai mnh hp thnh
2.5.6.2. Lut hp thnh ca nhiu mnh hp thnh
2.6. GII M
2.6.1. Phng php cc i
2.6.2. Phng php im trng tm
2.6.2.1. Phng php im trng tm cho lut hp thnh SUM-
MIN
2.6.2.2. Phng php cao
2.7. M HNH B IU KHIN M
B iu khin m c m hnh cu trc c bn nh hnh 2.14.
e
e&
e& &

Hnh 2.14: M hnh c bn ca b iu khin m.
Khi m ha: u vo ca khi ny thng thng l b cc tn
hiu ca mi trng ngoi: sai lch, tch phn v o hm cc cp
ca sai lch c gi tr r. Khi ny s bin i b tn hiu ni trn
thnh b gi tr m x
*
bi b hm lin thuc.
Khi lut hp thnh: S dng cc lut hp thnh m c nhim
v lin kt cc gi tr m x
*
u vo theo mi cu trc lut hp
thnh nht nh tm gi tr m ca tn hiu iu khin u
*
.
Khi gii m: C nhim v bin i gi tr m ca tn hiu iu
khin u
*
thnh gi tr r ca tn hiu iu khin u iu khin i
tng sao cho sai lch e l cc tiu.
2.8. KT LUN
Chng ny trnh by l thuyt iu khin m lm c s cho
cc chng sau xy dng b iu khin m n ron.

11
CHNG 3
MNG N RON V KT HP MNG N RON
VI H M
3.1. MNG N RON
3.1.1. M hnh mng n ron nhn to
3.1.1.1. Khi nim
3.1.1.2. M hnh n ron
a) N ron n gin
b) N ron vi nhiu u vo (vc t vo)
3.1.1.3. Cu trc mng
a) Mng mt lp
b) Mng nhiu lp
c) Mng hi quy
3.1.2. Hun luyn mng
3.1.2.1. Nguyn tc hun luyn mng
3.1.2.2. Hun luyn mng truyn thng mt lp (Mng Adeline)
3.1.2.3. Hun luyn mng MLP truyn thng
a) Nguyn tc hun luyn chung
b) Thut ton lan truyn ngc vi mng hai lp
3.2. KT HP MNG N RON VI H M
3.2.1. So snh u, nhc im ca h m v mng n ron
3.2.2. Gii thiu tng quan v h lai
3.2.3. Cc b iu khin m n ron hc thng s
3.2.3.1. B iu khin m n ron vi cc lut m duy nht
3.2.3.2. ANFIS
Mng thch nghi da trn c s h suy lun m (Adaptive
Network base Fuzzy Inference System ANFIS), c Jang xut
nm 1992. S dng cc lut m dng TSK nh sau:

12
IF x
1
is
j
1
A AND x
2
is
j
2
A AND AND x
n
is
j
n
A
THEN |

\
|
+ =

=
n
1 i
j
i
j
0 j j
p p f (3.54)
vi x
i
l cc bin u vo (i = 1, 2, , n); y l bin u ra;
j
i
A l cc
bin ngn ng m ca bin u vo x
i
; ) x (
i
A
j
i
l hm lin thuc
ca mi bin ngn ng m u vo (j = 1, 2, , M); R p
j
i
l
cc h s ca hm tuyn tnh f
j
(x
1
, x
2
, , x
n
).
ANFIS c cu trc nh hnh 2.37 gm 6 lp nh sau:

1
n
A
j
n
A
M
n
A
j
i
A
M
i
A
1
R
j
R
M
R
) (
1 1
1
x
A

) x (
n A
M
n

1

j

M

1
1
A
j
1
A
1
j
A
M
1
A

1

j

M

1 1
f
M M
f

Hnh 3.22: S cu trc ca ANFIS.
Lp 1: L u vo, mi n ron th i c mt tn hiu vo x
i
.
Lp 2: Mi phn t l mt hm lin thuc ) x (
i
A
j
i
c dng
hm tam gic, hm Gauss hoc hm hnh chung, Trong cc
thng s ca cc dng hm lin thuc lp 2 l cc thng s iu
chnh.
Lp 3: Mi phn t tng ng thc hin mt lut th j:

=
=
n
i
i
A
j
x
j
i
1
) ( (3.55)

13
Lp 4: Mi phn t N tng ng thc hin tnh ton:

=
=
M
j
j
j
j
1

(3.56)
Lp 5: Mi phn t j thc hin tnh ton gi tr:
|

\
|
+ =

=
n
i
i
j
i
j
j j
x p p f
1
0
(3.57)
vi
j
l gi tr u ra ca lp 4 v { }
j
n
j
i
j j j
p p p p p ,..., ,..., , ,
2 1 0
l
cc thng s iu chnh.
Lp 6: Ch mt phn t thc hin php tng tnh gi tr u ra:

=
=
=
= =
M
j
j j M
j
j
M
j
j j
f
f
y
1
1
1

(3.58)
3.3. KT LUN
Chng ny trnh by l thuyt mng nron v s kt hp gia
mng nron vi h m. Trn c s ta c th thit k c b iu
khin m n ron. Trong lun vn, b iu khin m n ron c s
dng iu khin cn bng con lc ngc.

CHNG 4
IU KHIN CN BNG CON LC NGC
S DNG B IU KHIN PID
4.1. TNG QUAN V B IU KHIN PID
4.1.1. Khi qut
4.1.2. Cc phng php xc nh tham s b iu khin PID
4.1.2.1. Phng php Ziegler-Nichols th nht
4.1.2.2. Phng php Ziegler-Nichols th hai

14
4.1.2.3. Phng php Chien-Hrones-Reswick
4.2. IU KHIN GI CON LC CN BNG
4.2.1. V tr ca b iu khin PID iu khin gi con lc cn
bng
4.2.2. Tc ng ca b PID iu khin gc lch ln v tr xe
4.2.3. iu khin v tr v gi con lc cn bng dng 2 b PID
4.2.4. Kt qu m phng
Vi cc thng s ca con lc phn ph lc.
Thng s ca b iu khin PID:
B PID 1: K
P
= 50 K
I
= 110 K
D
= 3.5
B PID 2: K
P
= 10 K
I
= 0.0001 K
D
= 0
4.2.4.1. Tn hiu vo l v tr xe (xe di chuyn 1 m)
Ban u gi con lc cn bng, tn hiu vo l v tr t xe di
chuyn n ch cch v tr ban u 1 m theo phng nm ngang.
Thc hin m phng ta c kt qu nh sau:


Hnh 4.12: p ng ca h khi cho xe di chuyn 1 m.

15
4.2.4.2. Tn hiu vo c dng xung vung xe chy v pha
trc, pha sau 1 m
Kt qu m phng

Hnh 4.14: Kt qu iu khin theo v tr vi tn hiu vo c dng
xung vung.
4.2.4.3. Tn hiu ban u l gc lch theta
Ban u cho con lc lch mt gc pi/6, thc hin m phng ta
c kt qu nh sau:

Hnh 4.15: Kt qu iu khin theo gc lch theta.

16
4.3. KT LUN
Phng thc iu khin PID cho b iu khin tt vi cc h
thng SISO. iu ny c ngha ch mt u vo c th c iu
khin bi b PID ti mi thi im. Tuy nhin, mt b PID khng
th c s dng iu khin v tr xe v gi con lc cn bng ng
thi, nn cn s dng 2 b iu khin PID. Cc b PID iu khin
c h con lc ngc.

CHNG 5
NG DNG H LOGIC M N RON
IU KHIN CN BNG CON LC NGC
5.1. NG DNG B IU KHIN M N RON HC
THNG S ANFIS TRONG IU KHIN CON LC NGC
5.1.1. Xy dng tp d liu
Vi m hnh con lc ngc trn, c th chn gi tr cc ng ra
ca cc bin trng thi nh sau:
V tr (x) [-0.3 0.3]; Vn tc ( x& ) [-1 1]
Gc lch () [-3 3]; Vn tc gc (
&
) [-3 3]
ng vi mi on ly 6 im cch u nhau. Nh vy s trng
hp ca bin trng thi c th c vi cc im va chn l 6666
= 1296. Hay c tt c 1296 vect trng thi [ x x &
&
, , , ].
5.1.2. Chun ha s liu v hun luyn mng ANFIS
T tp d liu th c xy dng gm 1296 mu hc:

0 0 1.500000000000 0 4.74341826442187
-0.0003355991907 -0.0659894851294 1.5002237050140 0.0439819347845 4.27631489476515
-0.0012978667240 -0.1254011011992 1.5008648089195 0.0835145033329 3.83012285117832
-0.0028230041768 -0.1786269845279 1.5018798419521 0.1188009233824 3.40392416176481
-0.0048510318065 -0.2260400361750 1.5032273289264 0.1500376973088 2.99729415215622
-0.0073256269394 -0.2679993000061 1.5048677406771 0.1774178175018 2.60998609094850
. . . . .
. . . . .
. . . . .

17
Ta tin hnh chun ha s liu nh sau:
Chn cc gi tr nm trong khong [0.05 0.95].
p dng cng thc: 05 . 0
) ( 95 . 0
'
+

=
a A
a X
X
t
t

vi: X
t
: cc gi tr ban u; a: gi tr min ca X
t
;
A: gi tr max ca X
t
; X
t
: cc gi tr chun ha.
Sau khi chun ha ta c tp d liu mi:

0.525029732 0.524858346 0.600690884 0.524858342 0.76435765
0.524978653 0.511011608 0.600702172 0.534087181 0.740787055
0.524832194 0.49854512 0.600734523 0.542382399 0.718271671
0.524600066 0.4873766 0.600785743 0.549786636 0.696765175
0.524291397 0.477427801 0.600853739 0.556341126 0.676246138
0.52391476 0.468623384 0.600936516 0.562086365 0.65670211
. . . . .
. . . . .
. . . . .
Tp d liu sau khi c chun ha gm 1296 mu c chia
lm hai phn: 1200 mu c s dng hun mng ANFIS, 96 mu
cn li dng kim tra mng ANFIS sau khi c hun luyn.

Hnh 5.1: Tp d liu c a vo hun luyn mng ANFIS

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Hnh 5.2: Cu trc suy din m.


Hnh 5.3: Sai lch trong qu trnh hun luyn mng ANFIS s dng
thut ton lan truyn ngc vi 1000 chu k hun luyn.


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5.1.3. Kt qu m phng
M phng vi thng s ca con lc nh phn ph lc.
5.1.3.1. iu khin xe theo v tr

Hnh 5.4: M hnh b iu khin ANFIS iu khin xe theo v tr.
Tn hiu t l dng xung vung xe chy v pha trc, pha
sau 1 m. B iu khin a xe n v tr mi v gi con lc cn bng.

Hnh 5.5: Kt qu iu khin theo v tr khi tn hiu vo c dng xung
vung.
5.1.3.2. iu khin theo gc lch theta
Ban u cho con lc lch mt gc pi/6. Thc hin m phng ta
c kt qu nh sau:

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Hnh 5.7: Kt qu iu khin khi t con lc lch mt gc pi/6 ti
thi im ban u. Khng c lc tc ng bn ngoi.
5.1.3.3. iu khin theo lc tc ng vo xe
Cho lc tc ng ngu nhin vo xe, b iu khin c nhim v
gi con lc cn bng. Ta c kt qu m phng.

Hnh 5.11:Kt qu iu khin khi t lc tc ng ngu nhin vo h
- v gc lch con lc v v tr xe.
5.2. SO SNH B IU KHIN M N RON V PID
5.2.1. So snh b iu khin m n ron v PID khi iu khin
theo gc lch
Ban u cho con lc lch khi v tr cn bng mt gc pi/6. Thc
hin m phng ta c kt qu nh sau:

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Hnh 5.12: So snh b iu khin m n ron v PID khi iu khin
theo gc lch ban u.
5.2.2. So snh b iu khin m n ron v PID khi iu khin
theo v tr xe
Ban u gi con lc cn bng, cho xe di chuyn 1 m theo
phng nm ngang. Thc hin m phng ta c kt qu nh sau:


Hnh 5.14: So snh b iu khin m n ron v PID khi iu khin
theo v tr xe v gc lch.



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5.2.3. So snh b iu khin m n ron v PID khi iu khin
ng thi v tr xe v gc lch ban u ca con lc
Ban u cho con lc lch mt gc pi/6, cho xe di chuyn 1 m
theo phng nm ngang. Ta c kt qu m phng nh sau:

Hnh 5.15: So snh b iu khin m n ron v PID khi iu khin
ng thi v tr v gc lch v v tr xe.


Hnh 5.16: So snh b iu khin m n ron v PID khi iu khin
ng thi v tr v gc lch v gc lch.



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5.2.4. So snh b iu khin m n ron v PID khi cho lc tc
ng ngu nhin
Khi cho lc tc ng ngu nhin vo xe c bin ln nht
khong 8 N, ta c kt qu m phng nh sau:

Hnh 5.18: So snh b iu khin m n ron v PID khi cho lc tc
ng ngu nhin vo xe v gc lch.
5.3. KT LUN
- S dng b iu khin ANFIS trong iu khin cn bng con
lc ngc cho kt qu rt tt. Con lc lun tr v v tr cn bng khi
c lc tc ng ngu nhin vo xe hoc cho xe chy ti, chy lui
- Sau khi so snh b iu khin PID v m n ron trong iu
khin cn bng con lc ngc, ta c th rt ra kt lun nh sau:
Khi iu khin theo gc lch ban u, theo v tr xe hoc theo
lc tc ng ngu nhin vo xe th b iu khin m n ron
cho kt qu iu khin tt hn b iu khin PID.
Khi iu khin ng thi v tr xe v gc lch ban u ca
con lc th b iu khin PID cho kt qu iu khin tt hn.

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KT LUN V KIN NGH
1. Nhng ng gp ca lun vn
Trn thc t c rt nhiu i tng cn iu khin nhng khng
c cc tham s cn thit, v vy nn vic thit k cc b iu khin
da trn l thuyt kinh in gp rt nhiu kh khn. Chnh v l do
ny i hi chng ta phi ng dng cc l thuyt iu khin hin i
vo trong thc t. Lun vn ny ch trng nghin cu xy dng h
iu khin m n ron cho h con lc ngc da trn nn tng cc l
thuyt iu khin cao cp.
Vi kt qu thu c t m phng, ng gp c cc vn
sau:
- xy dng c b iu khin m n ron cho h con lc
ngc;
- Vi b iu khin m n ron m lun vn xy dng, cc
thng s v cht lng iu chnh nh qu iu chnh, thi gian
qu , s ln dao ng ca h truyn ng u tt. Nh vy, b
iu khin nghin cu trong lun vn hon ton p ng c cc
yu cu v cht lng iu khin cho iu khin con lc ngc.
Nh vy, qu trnh thc hin lun vn ny, tc gi gii quyt
c vn t ra. Tuy nhin, vi thi gian nghin cu hn ch
v do phm vi gii hn ca vn t ra, lun vn cha cp
n vic nhn dng cc thng s ca con lc ngc m ch chn mt
con lc ngc vi thng s bit trc. y chnh l vn cn c
nghin cu pht trin.
2. Nhng kin ngh v hng pht trin
Nhn dng b thng s con lc ngc, t thit k b iu
khin cho mt con lc ngc bt k.