Thuyết Minh Luận Văn Thạc Sỹ Kỹ Thuật

I HC THI NGUYN
CNG HO X HI CH NGHA VIT NAM
TRNG HKT CNG NGHIP
c lp - T do - Hnh phc
-----------***-----------
THUYT MINH
LUN VN THC S K THUT
TI
NGHIN CU NG DNG IU KHIN M THCH NGHI

IU KHIN CNH GI TUABIN TRC NG
Hc vin: Nguyn Vn Hunh

Lp: CHK10
Chuyn ngnh: T ng ho
Ngi HD Khoa hc: PGS.TS Li Khc Li
Ngy giao ti: 01/02/2009
Ngy hon thnh: 31/07/2009
KHOA T SAU I HC
CB HNG DN
PGS.TS Li Khc Li
S ha bi Trung tm Hc liu i hc Thi Nguyn
HC VIN
Nguyn Vn Hunh
http://www.lrc-tnu.edu.vn
I HC THI NGUYN
TRNG I HC K THUT CNG NGHIP

----------------***----------------
LUN VN THC S K THUT
NGHIN CU NG DNG IU KHIN M

THCH NGHI IU KHIN CNH GI
TUABIN TRC NG
Ngnh: T NG HA
M s:
Hc vin: NGUYN VN HUNH
Ngi HD Khoa hc: PGS.TS LI KHC LI
THI NGUYN 2009
I HC THI NGUYN
TRNG I HC K THUT CNG NGHIP

----------------***----------------
LUN VN THC S K THUT

NGNH: T NG HO
NGHIN CU NG DNG IU KHIN M

THCH NGHI IU KHIN CNH GI
TUABIN TRC NG
NGUYN VN HUNH
THI NGUYN 2009

-1-
Lun vn thc s
LI CAM OAN
Tn ti l: Nguyn Vn Hunh
Sinh ngy 22 thng 8 nm 1981
Hc vin lp cao hc kho 10 - T ng ho - Trng i hc K thut
Cng nghip Thi Nguyn.
Hin ang cng tc ti khoa in - Trng i hc K thut Cng nghip
Thi Nguyn.
Xin cam oan: ti Nghin cu ng dng iu khin m thch nghi
iu khin cnh gi tuabin trc ng do thy gio, nh gio u t PGS.TS Li
Khc Li hng dn l cng trnh nghin cu ca ring ti. Tt c cc ti liu tham
kho u c ngun gc, xut x r rng.
Tc gi xin cam oan tt c nhng ni dung trong lun vn ng nh ni
dung trong cng v yu cu ca thy gio hng dn. Nu sai ti hon ton
chu trch nhim trc Hi ng khoa hc v trc php lut.
Thi Nguyn, ngy 31 thng 7 nm 2009

Tc gi lun vn
Nguyn Vn Hunh
-2-
Lun vn thc s
LI CM N
Sau su thng nghin cu, lm vic khn trng, c s ng vin, gip
v hng dn tn tnh ca thy gio hng dn nh gio u t PGS.TS Li Khc
Li, lun vn vi ti Nghin cu ng dng iu khin m thch nghi iu
khin cnh gi tuabin trc ng hon thnh.
Tc gi xin by t lng bit n su sc n:
Thy gio hng dn PGS.TS Li Khc Li tn tnh ch dn, gip tc
gi hon thnh lun vn ny.
Khoa o to Sau i hc, cc thy gio, c gio thuc b mn K thut in
Khoa in - Trng i hc K thut Cng nghip Thi Nguyn gip tc
gi trong sut qu trnh hc tp cng nh qu trnh nghin cu thc hin lun vn.
Ton th cc ng nghip, bn b, gia nh v ngi thn quan tm, ng
vin, gip tc gi trong sut qu trnh hc tp v hon thnh bn lun vn.
Tc gi lun vn
Nguyn Vn Hunh
-3-
Lun vn thc s
MC LC
Ni dung
Trang
Trang ph ba
Li cam oan
Li cm n
Mc lc
Danh mc cc hnh v, th
CHNG M U
11
1. L do chn ti
11
2. Mc ch ca ti
12
3. i tng v phm vi nghin cu
12
4. ngha khoa hc v thc tin ca ti
13
5. Cu trc ca lun vn
13
Chng 1: TNG QUAN V NNG LNG GI V MY

PHT IN SC GI
14
1.1 I NT V LCH S NGHIN CU V PHT TRIN CA

MY PHT IN SC GI
14
1.1.1 Lch s pht trin ca my pht in chy bng sc gi
14
1.1.2 c im chung ca my pht in chy bng sc gi
17
1.1.3 Nhng li ch khi s dng gi sn xut in
17
1.2 NNG LNG GI V THIT B BIN I NNG LNG

GI TUABIN GI
19
1.2.1 Tuabin gi
19
1.2.2 My pht in trong tuabin gi
22
1.2.3 Gi v nng lng trong gi
23
1.3 KT LUN CHNG 1
26
-4-
Lun vn thc s
Chng 2: KH NG LC HC CA TUABIN GI V
PHNG PHP IU KHIN CNH GI CA TUABIN TRC
NG
28
2.1 KH NG LC HC TUABIN GI
28
2.1.1 ng lc hc cnh gi tuabin
28
2.1.2 ng lc hc ca rotor
30
2.2 PHNG PHP IU KHIN CNH GI CA TUABIN

TRC NG
32
2.2.1 L lun chung
32
2.2.2 Phng php xc nh gc cnh iu khin ca tuabin gi

trc ng
35
2.3 KT LUN CHNG 2
38
Chng 3: TNG QUAN CC H IU KHIN
39
3.1 CC H IU KHIN KINH IN
39
3.1.1 Tng hp b iu khin tuyn tnh
39
3.1.2 Tng hp b iu khin phi tuyn
39
3.2 LOGIC M V IU KHIN M
41
3.2.1 Khi qut v l thuyt iu khin m
41
3.2.2 nh ngha tp m
41
3.2.3 Bin m, hm bin m, bin ngn ng
43
3.2.4 Suy lun m v lut hp thnh
44
3.2.5 B iu khin m
47
3.2.6. H iu khin m lai (F-PID)
49
3.3 B IU KHIN THCH NGHI
51
3.3.1 Gii thiu tng quan
51
3.3.2. Tng hp iu khin thch nghi trn c s l thuyt ti u
-5-
Lun vn thc s
cc b (Phng php Gradient)
54
3.3.3 Tng hp h thng iu khin thch nghi trn c s n nh

tuyt i
59
3.3.4. Tng hp h thng iu khin thch nghi dng l thuyt

Lyapunov
61
3.3.5 iu khin m thch nghi
65
3.3.6 Phng php iu khin thch nghi theo sai lch
66
3.4 KT LUN CHNG 3
66
Chng 4: THIT K H THNG IU KHIN CNH GI

CA TUABIN TRC NG N NH TC
68
4.1 S CU TRC H THNG
68
4.1.1 GII THIU S CU TRC H THNG
69
4.1.2 TNG HP H THNG S DNG CC B IU KHIN

KINH IN
69
4.1.2.1 Tng hp h thng dng b iu khin PID kinh in
69
4.1.2.2 Tng hp h thng dng b iu khin thch nghi kinh
71
in
4.2 TNG HP H THNG S DNG B IU KHIN M
THCH NGHI
73
4.2.1 KHI NIM
73
4.2.1.1 nh ngha
73
4.2.1.2 Phn loi
74
4.2.1.3 Cc phng php iu khin thch nghi m
74
4.2.2 TNG HP B IU KHIN M THCH NGHI N NH
76
4.2.2.1 C s l thuyt
76
4.2.2.2 Thut ton tng hp b iu khin m thch nghi
82
-6-
Lun vn thc s
4.2.3 TNG HP B IU KHIN M THCH NGHI TRN

C S L THUYT THCH NGHI KINH IN
86
4.2.3.1 t vn
86
4.2.3.2 M hnh ton hc ca b iu khin m
88
4.2.4 XY DNG C CU THCH NGHI THEO M HNH

MU CHO B IU KHIN M
94
4.2.4.1 H iu khin thch nghi theo m hnh mu (MRAS)

dng l thuyt thch nghi kinh in
94
4.2.4.2 iu chnh thch nghi h s khuch i u ra b iu

khin m
96
4.2.4.3 S iu khin thch nghi m theo m hnh mu

(MRAFC)
97
4.2.4.4 S iu khin thch nghi m kiu truyn thng (FMRAFC)
98
4.2.5 THIT K KHI M C BN
99
4.2.5.1 S khi m
99
4.2.5.2 nh ngha tp m
99
4.2.5.3 Xy dng cc lut iu khin NuTh
101
4.2.5.4 Chn lut hp thnh
103
4.2.5.5 Gii m
104
4.2.6 S M PHNG H THNG IU KHIN S DNG

B IU KHIN M THCH NGHI
104
KT LUN VA KIN NGHI
107
TI LIU THAM KHO
110
-7-
Lun vn thc s
DANH MC CC BNG, HNH V, TH

Hnh 1.1 M hnh cnh gi ti Trung M, cui TK 19
Hnh 1.2 M hnh ci xay gi xut hin sau TK 13
Hnh 1.3 Chic my bm nc chy bng sc gi, pha Ty nc M nhng nm
1800
Hnh 1.4 My pht in sc gi do Charles F.Brush ch to
Hnh 1.5 My pht Gedser, cng sut 200kW
Hnh 1.6 H- rotor
Hnh 1.7 Tuc bin gi vi tc c nh
Hnh 1.8 Tuc bin gi vi tc thay i c b bin i ni trc tip gia stator v
li
Hnh 1.9 Tuabin gi tc thay i s dng MFKBNK
Hnh 1.10 Bin thin ca tc gi v nng lng gi theo thi gian
Hnh 1.11 ng cong biu din quan h gia Cp v
Hnh 1.12 Hm xc sut phn b cho Rayleigh vi tc gi trung bnh 7 m/s
Hnh 1.13 ng cong cng sut ca tuabin gi 50kW iu khin theo tc gi
Hnh 2.1 ng cong biu din Kp
Hnh 2.2 Cc lc tc dng ln cnh gi
Hnh 2.3 Tc ng ca gi ln cc cnh
Hnh 2.4 M hnh tuabin gi trc ng 5 cnh
Hnh 2.5 Phn tch ng lc hc cnh gi
Bng 2.1 Gc cnh iu khin cc v tr khc nhau
Hnh 2.6 Gc iu khin ca mt cnh gi 10 v tr khc nhau
Hnh 3.1 Mt s dng hm lin thuc
Hnh 3.2 a) Hp hai tp m
b) Giao hai tp m
c) Php b
Hnh 3.3 M t hm lin thuc ca mnh iu kin
-8-
Lun vn thc s
Hnh 3.4 M t hm lin thuc ca mnh kt lun

Hnh 3.5 S khi chc nng ca b iu khin m
Hnh 3.6 V d v cch xc nh min G
Hnh 3.7 Gii m theo phng php trng tm
Hnh 3.8 Gii m theo phng php im trung bnh tm
Hnh 3.9 B iu khin m ng
Hnh 3.10 a) Nguyn l iu khin m lai
b) Vng tc ng ca cc b iu khin
Hnh 3.11 Vng tc ng ca cc b iu khin.
Hnh 3.12 Cu trc c bn ca h thng thch nghi
Hnh 3.13 iu chnh h s khuch i
Hnh 3.14 iu khin theo m hnh mu
Hnh 3.15 iu khin t chnh
Hnh 3.16 Cu trc m hnh mu song song
Hnh 3.17 S khi h thng iu khin thch nghi theo m hnh
Hnh 3.18 Phng php thch nghi thng s
Hnh 3.19 Phng php tng hp tn hiu b sung Up2
Hnh 3.20 Minh ho phng php Lyapunov vi vic kho st tnh n nh.
Hnh 3.21 S khi h MRAS da trn l thuyt Lyapunov cho i tng bc
nht
Hnh 3.22 Phng php iu khin thch nghi trc tip
Hnh 3.23 Phng php iu khin thch nghi gin tip
Hnh 4.1 S cu trc h thng
Hnh 4.2 Cu trc khi iu khin cnh gi
Hnh 4.3 S m phng h thng iu khin v tr gc cnh
Hnh 4.4 S m phng h thng dng PID
Hnh 4.5 Kt qu m phng vi tc gi V=V0
Hnh 4.6 Kt qu m phng vi tc gi V thay i
-9-
Lun vn thc s
Hnh 4.7 S m phng h thng dng b K thch nghi theo m hnh truyn
thng
Hnh 4.8 S khi thch nghi kinh in da trn l thuyt Lyapunov
Hnh 4.9 Kt qu m phng vi gi tr t khng i
Hnh 4.10 Kt qu m phng vi gi tr t thay i
Hnh 4.11 Cu trc phng php iu khin thch nghi trc tip.
Hnh 4.12 Cu trc phng php iu khin thch nghi gin tip.
Hnh 4.13 iu khin thch nghi c m hnh theo di.
Hnh 4.14 S cu trc b iu khin m thch nghi.
Hnh 4.15 Hm lin thuc vi 7 tp m.
Hnh 4.16 Lu thut ton tng hp hm m c s (e).
Hnh 4.17 Cu trc c bn ca h iu khin m 2 u vo.
Hnh 4.18 nh ngha hm thuc cho cc bin vo - ra.
Hnh 4.19 Lut hp thnh tuyn tnh.
Bng 4.1 Quan h vo ra ca lut hp thnh tuyn tnh.
Hnh 4.20 Quan h vo ra ca lut hp thnh tuyn tnh.
Hnh 4.21 S hnh thnh suy lun t lut hp thnh.
Hnh 4.22 Kt qu ca php ly Max-Min trong suy lun.
Hnh 4.23 Cc vng trong suy lun.
Hnh 4.24 B iu khin m vi h s khuch i u ra K.
Hnh 4.25 MRAFC iu chnh h s khuch i u ra.
Hnh 4.26 Cu trc h FMRAFC.
Hnh4.27 S khi m c bn
Hnh 4.28 Cc lut hp thnh.
Hnh 4.29 Quan h vo ra ca b iu khin m.
Hnh 4.30 S m phng h thng iu khin cnh gi tuabin vi b iu khin
m thch nghi.
Hnh 4.31 S khi ca b iu khin m thch nghi.
Hnh 4.32 S thay i ca h s khuch i u ra K theo lut Lyapunov.
-10-
Lun vn thc s
Hnh 4.33 Kt qu m phng h thng vi b iu khin thch nghi kinh in

Hnh 4.34 Kt qu m phng h thng vi b iu khin m thch nghi
Hnh 4.35 Kt qu m phng h thng vi b iu khin thch nghi kinh in v m
thch nghi
-11-
Lun vn thc s
M U
1. L do chn ti
Ngoi nng lng mt tri, nng lng gi l mt nng lng thin nhin m
loi ngi ang ch trng n cho nhu cu nng lng trn th gii trong tng lai.
Hin nay, nng lng gi mang n nhiu ha hn. Tuy nhin nu mun y
mnh ngun nng lng ny trong tng lai, chng ta cn phi hon chnh thm
cng ngh cng nh lm th no t c nng sut chuyn ng nng ca gi
thnh in nng cao t c th h gi thnh v cnh tranh c vi nhng
ngun nng lng khc.
chuyn ng nng ca gi thnh in nng ngi ta dng my pht in
s dng tuabin gi. Trn th gii hin nay ang dng 2 h thng my pht s dng
tuabin gi l my pht s dng tuabin gi trc ngang v tuabin gi trc ng. H
thng s dng tuabin gi trc ngang l h thng pht trin u tin trn th gii, h
thng ny v ang c s dng rng ri nhiu nc nh c, M, Ty Ban
Nha...v c bn th h thng hon thin c v cu to, kt cu c kh v h thng
iu khin. Tuy nhin h thng ny cng c mt s nhc im l cu to, kt
cu rt cng knh; cnh qut lp c nh vi trc quay nn khng iu khin c
cng sut pht in cho ti, nu mun n nh cng sut cho ti cn phi dng nhiu
h thng my pht in t nhiu ni khc nhau ni ghp vi nhau b cng
sut khi cng gi thay i...
H thng s dng tuabin gi trc ng ang l hng nghin cu mi hin
nay do h thng ny khc phc c mt s nhc im ca h thng trc ngang
nh l kt cu nh gn; iu khin cng sut cho ti mt cch c lp; iu khin
gc m ca cnh gi theo hng gi v theo cng gi. Nh ta bit nhc
im ln nht ca tuabin gi trc ng l khi quay nu cc cnh gi u m th mt
bn c tc dng hng gi lm tuabin quay, bn cn li cn gi lm gim tc quay
ca tuabin. Mt s nghin cu gn y khc phc nhc im bng cch iu
khin gc m cnh gi thng qua vic thit k hnh dng ng hc ca cnh gi
hoc dng phng php che gi khng cho tc ng vo cnh gi na cn gi ca
-12-
Lun vn thc s
tuabin i vi loi c cng sut nh hoc s dng mt s cch iu khin c kh

nh s dng kt cu cam i vi loi c cng sut ln m cha quan tm n iu
khin gc m ca cnh s dng cc b iu khin bng in kt hp vi kt cu c
kh iu khin cng sut cho ti khi hng gi cng nh cng gi thay i.
pht huy cc u im ca h thng tuabin gi trc ng l iu khin c cng
sut cho ti ph hp vi cng gi ta phi c s kt hp gia iu khin in v
c. chnh l lnh vc nghin cu ca c in t v cng l hng m ti cn
nghin cu.
Xut pht t tnh hnh thc t trn v nhm gp phn thit thc vo cng
cuc CNH-HH t nc ni chung v pht trin ngnh t ng ho ni ring,
trong khun kh ca kho hc Cao hc, chuyn ngnh T ng ha ti trng i
hc K thut Cng nghip Thi Nguyn, c s to iu kin gip ca nh
trng, Khoa o to Sau i hc v PGS.TS Li Khc Li, tc gi la chn
ti tt nghip ca mnh l: Nghin cu ng dng iu khin m thch nghi
iu khin cnh gi tuabin trc ng.
2. Mc ch ca ti
Vic nng cao hiu sut chuyn ng nng ca gi thnh in nng gim
gi thnh l vn rt quan trng trong qu trnh s dng ngun nng lng sch
hin ti v trong tng lai. nng cao c hiu sut s dng nng lng gi th
cn phi c cc thit b chuyn i vi cc b iu khin hp l.
Mc tiu ca ti l nghin cu b iu khin m thch nghi v ng dng
chng iu khin cch gi ca tuabin trc ng nhm mc ch nng cao hiu
sut v n nh tc quay ca tuabin.
3. i tng v phm vi nghin cu
- H thng cnh gi ca tuabin trc ng.
- Kho st cc thng s ca m hnh tuabin trc ng.
- Nghin cu l thuyt a ra cc thut ton iu khin.
- Thit k h iu khin thch nghi trn c s logic m thch nghi iu
khin cnh gi ca tuabin trc ng.
-13-
Lun vn thc s
- M hnh ho v m phng kim nghim kt qu nghin cu.

4. ngha khoa hc v thc tin ca ti
- ngha khoa hc:
y l mt hng nghin cu mi c rt nhiu ngi ang quan tm, tuy
nhin cha c nghin cu no hon chnh v vn ny.
- ngha thc tin:
ti a ra mt phng n iu khin mi, nng cao cht lng iu
khin, d dng trong thit k v iu chnh h thng ng thi to c hi cho hng
pht trin mi trong vic s dng ngun nng lng sch cho hin ti v trong
tng lai.
5. Cu trc ca lun vn
Lun n gm 4 chng, 111 trang, 28 ti liu tham kho, 82 hnh v v
th.
-14-
Lun vn thc s
CHNG I
TNG QUAN V NNG LNG GI V MY PHT IN SC
GI
1.1 I NT V LCH S NGHIN CU V PHT TRIN CA MY
PHT IN SC GI
1.1.1 Lch s pht trin ca my pht in chy bng sc gi.
Vo cui nhng nm 1970, cuc khng hong v du m buc con ngi
phi tm cc ngun nng lng mi thay th, mt trong s l nng lng gi.
Nhng nm v sau, rt nhiu cc chng trnh nghin cu v pht trin nng lng
gi c thc hin vi ngun ti tr t cc Chnh ph, bn cnh cc d n nghin
cu do cc c nhn, t chc t ng ra thc hin.
Lch s pht trin ca th gii loi ngi chng kin nhng ng dng ca
nng lng gi vo cuc sng t rt sm. Gi gip quay cc ci xay bt, gi gip
cc thit b bm nc hot ng, v gi thi vo cnh bum gip a cc con
thuyn i xa. Theo nhng ti liu c cn gi li c th bn thit k u tin ca
chic ci xay hot ng nh vo sc gi l vo khong thi gian nhng nm 500 900 sau CN ti Ba T (Irac ngy nay). c im ni bt ca thit b ny l cc
cnh n gi c b tr xung quanh mt trc ng, minh ho mt m hnh cnh
gi c lp ti Trung M vo cui th k 19, m hnh ny cng c cu to cnh
n gi quay theo trc ng.
Hnh 1.1 M hnh cnh gi ti Trung M, cui TK 19
-15-
Lun vn thc s
Mun hn na, k t sau th k 13, cc ci xay gi xut hin ti chu u (Ty

u) vi cu trc c cc cnh n gi quay theo phng ngang, chng phc tp hn
m hnh thit k ti Ba T. Ci tin c bn ca thit k ny l tn dng c lc
nng kh ng hc tc dng vo cnh gi do s lm hiu sut bin i nng
lng gi ca ci xay gi thi k ny cao hn nhiu so vi m hnh thit k t
nhng nm 500 - 900 ti Ba T.
Hnh 1.2 M hnh ci xay gi xut hin sau TK 13

Trong sut nhng nm tip theo, cc thit k ca thit b chy bng sc gi
cng ngy c hon thin v c s dng rng ri trong kh nhiu cc lnh vc
ng dng: ch to cc my bm nc, h thng ti tiu trong nng nghip, cc
thit b xay xt, x g, nhum vi Cho n u th k 19, cng vi s xut hin
ca my hi nc, thit b chy bng sc gi dn dn b thay th. Lch s con ngi
bc sang thi k mi vi nhng cng c mi: my chy hi nc.
Hnh 1.3 Chic my bm nc chy bng sc gi, pha Ty nc M nhng nm 1800

Nm 1888, Charles F. Brush ch to chic my pht in chy sc gi u
tin, v t ti Cleveland, Ohio. N c c im:
-16-
Lun vn thc s
* Cnh c ghp thnh xuyn trn, ng knh vng ngoi 17m;

* S dng hp s (t s truyn 50:1) ghp gia cnh tuabin vi trc my pht;
* Tc nh mc ca my pht l 500 vng/pht;
* Cng sut pht nh mc l 12kW.
Hnh 1.4 My pht in sc gi do Charles F.Brush ch to

Trong nhng nm tip sau, mt s mu thit k khc c thc hin tuy
nhin vn khng em li bc t pht ng k. V d mu thit k ca Dane Poul
La Cour nm 1891. Cho n u nhng nm 1910, c nhiu my pht in chy
bng sc gi cng sut 25kW c lp t ti an Mch nhng gi thnh in nng
do chng sn xut ra khng cnh tranh c vi gi thnh ca cc nh my nhit
in s dng nhin liu ho thch. Mc d gp kh khn do khng c th trng,
nhng th h my pht in chy bng sc gi vn tip tc c thit k v lp t.
V d nh cc my pht cng sut t 1 n 3 kW
c lp t ti vng nng thn ca ng bng ln,
M, vo nhng nm 1925 hay my pht Balaclava
cng sut 100kW lp t ti Nga nm 1931 hay my
pht Gedser cng sut 200kW, lp t ti o Gedser,
ng nam an Mch.
S pht trin ca my pht in chy sc gi
trong thi k ny c c im sau:
Hnh 1.5 My pht Gedser,

cng sut 200kW
- t v s lng, lp t ri rc nhng tp trung ch yu M, cc nc Ty

u nh an Mch, c, Php, Anh, H Lan;
- Cng sut my pht thp ch yu nm mc vi chc kW.
-17-
Lun vn thc s
1.1.2 c im chung ca my pht in chy bng sc gi

Cc my pht in s dng sc gi c s dng nhiu cc nc chu
u, M v cc nc cng nghip pht trin khc. Nc c ang dn u th gii
v cng ngh in s dng sc gi (in gi).
Ti nay a s vn l cc my pht in tuabin gi trc ngang, gm mt my
pht in c trc quay nm ngang, vi rotor (phn quay) gia, lin h vi mt
tuabin 3 cnh n gi. My pht in c t trn mt thp cao hnh cn. Trm
pht in kiu ny mang dng dp nhng ci xay gi chu u t nhng th k
trc, nhng rt thanh nh v hin i.
Cc my pht in tuabin gi trc ng gm mt my pht in c trc quay
thng ng, rotor nm ngoi c ni vi cc cnh n gi t thng ng. Loi
ny c th hot ng bnh ng vi mi hng gi nn hiu qa cao hn, li c cu
to n gin, cc b phn u c kch thc khng qu ln nn vn chuyn v lp
rp d dng, bn cao, duy tu bo dng n gin. Loi ny mi xut hin t vi
nm gn y nhng c nhiu ni quan tm v s dng.
Hin c cc loi my pht in dng sc gi vi cng sut rt khc nhau, t
1 kW ti hng chc ngn kW. Cc trm pht in ny c th hot ng c lp hoc
cng c th ni vi mng in quc gia. Cc trm c lp cn c mt b np, b cquy v b i in. Khi dng khng ht, in c tch tr vo c-quy. Khi khng
c gi s s dng in pht ra t c-quy. Cc trm ni vi mng in quc gia th
khng cn b np v c-quy.
Cc trm pht in dng sc gi c th pht in khi tc gi t 3 m/s (11
km/h), v t ngng pht in khi tc gi vt qu 25 m/s (90 km/h). Tc gi
hiu qa t 10 m/s ti 17 m/s, ty theo tng loi my pht in.
1.1.3 Nhng li ch khi s dng gi sn xut in (in gi)
u im d thy nht ca in gi l khng tiu tn nhin liu, tn dng
c ngun nng lng v tn l gi, khng gy nhim mi trng nh cc nh
my nhit in, khng lm thay i mi trng v sinh thi nh nh my thy in,
khng c nguy c gy nh hng lu di n cuc sng ca ngi dn xung quanh
-18-
Lun vn thc s
nh nh my in ht nhn, d chn a im v tit kim t xy dng, khc hn

vi cc nh my thy in ch c th xy dng gn dng nc mnh vi nhng iu
kin c bit v cn din tch rt ln cho h cha nc.
Cc trm in gi c th t gn ni tiu th in, nh vy s trnh c chi
ph cho vic xy dng ng dy ti in.
Trc y, khi cng ngh phong in cn t c ng dng, vic xy dng
mt trm in gi rt tn km, chi ph cho thit b v xy lp u rt t nn ch
c p dng trong mt s trng hp tht cn thit. Ngy nay in gi tr nn
rt ph bin, thit b c sn xut hng lot, cng ngh lp rp hon thin nn
chi ph cho vic hon thnh mt trm in gi hin nay ch bng so vi nm
1986.
Cc trm in gi c th t nhng a im v v tr khc nhau, vi
nhng gii php rt linh hot v phong ph:
- Cc trm in gi t ven bin cho sn lng cao hn cc trm ni a v
b bin thng c gi mnh. Gii php ny tit kim t xy dng, ng thi vic
vn chuyn cc cu kin ln trn bin cng thun li hn trn b.
- Nhng mm ni, nhng i hoang khng s dng c cho cng nghip,
nng nghip cng c th t c trm phong in. Trng hp ny khng cn lm
tr cao, tit kim ng k chi ph xy dng.
- Trn mi nh cao tng cng c th t trm in gi, dng cho cc nhu
cu trong nh v cung cp in cho thnh ph khi khng dng ht in. Trm in
ny cng c ngha thit thc khi thnh ph bt ng b mt in.
- Ngay ti cc khu ch xut cng c th t cc trm in gi. Nu tn dng
khng gian pha trn cc nh xng t cc trm in gi th s gim ti mc
thp nht din tch t xy dng v chi ph lm ng dy in.
- t mt trm in gi bn cnh cc trm bm thy li xa li in quc
gia s trnh c vic xy dng ng dy ti in vi chi ph ln gp nhiu ln
chi ph xy dng mt trm in gi. Vic bo qun mt trm in gi cng n gin
hn vic bo v ng dy ti in rt nhiu.
-19-
Lun vn thc s
- Mt trm in gi 4 kW c th in cho mt trm kim lm trong rng

su hoc mt ngn hi ng xa t lin. Mt trm 10 kW cho mt n bin
phng trn ni cao, hoc mt n v hi qun ni o xa. Mt trm 40 kW c th
cho mt x vng cao, mt on thm d a cht hay mt khch sn du lch bit lp,
ni ng dy cha th vn ti c. Mt nng trng c ph hay cao su trn cao
nguyn c th xy dng trm in gi hng trm hoc hng ngn kW, va phc v
i sng cng nhn, va cung cp nc ti v dng cho xng ch bin sn
phm....
Tuy nhin khng phi ni no t trm in gi cng c hiu qu nh nhau.
c sn lng in cao cn tm n nhng ni c nhiu gi. Cc vng t nh ra
bin v cc thung lng sng thng l nhng ni c lng gi ln. Mt vch ni
cao c th l vt cn gi nhng cng c th li to ra mt ngun gi mnh thng
xuyn, rt c li cho vic khai thc in gi. Khi chn a im t trm c th da
vo cc s liu thng k ca c quan kh tng hoc kinh nghim ca nhn n a
phng, nhng ch l cn c s b. Lng gi mi ni cn thay i theo tng a
hnh c th v tng thi gian. Ti ni d nh dng trm in gi cn t cc thit
b o gi v ghi li tng lng gi hng nm, t tnh ra sn lng in c th
khai thc, tung ng vi tng thit b in gi. Vic ny cng quan trng hn khi
xy dng cc trm cng sut ln hoc cc vng in gi tp trung.
1.2 NNG LNG GI V THIT B BIN I NNG LNG GI
TUABIN GI
1.2.1 Tuabin gi
Tuabin gi l thit b bin i ng nng ca gi thnh c nng, t c nng
c th bin i thnh in nng nh my pht in- My pht in dng sc gi
Tuabin gi c nhiu loi khc nhau nhng ch yu c chia lm hai nhm
chnh ph thuc vo cnh n gi ca n: tuabin gi trc ngang v tuabin gi trc
ng. Trong lun vn cp n loi tuabin gi trc ng.
-20-
Lun vn thc s
Tuabin gi trc ng l loi t ph bin ca

tuabin gi hin nay, tuy nhin n c u im l
bnh ng vi mi hng gi m khng cn ui
dn hng nh loi tuabin gi trc ngang. Ngoi ra,
tuabin gi trc ng trong qu trnh vn hnh sn
xut in t gy ting n hn loi trc ngang. Mt
s nghin cu a ra loi tuabin trc ng vi b
cnh thng ng, chng c gn vi trc iu
khin thng qua h thng cnh tay. Loi ny c
Hnh 1.6 H- rotor
gi l H-rotor, hnh 1.6

Trc iu khin thng c tch ra khi thp hoc c ta trn h
thng dy ai v c ni trc tip vi rotor ca my pht in.
Vi trc quay thng ng ca tuabin trc ng cho php t cc my pht
in di chn thp , iu ny s n gin ha vic lp t, bo tr, bo dng
cc my pht ng thi gip gim nh ti trng ca thp . Do gim thiu cc
chi ph lp t, bo tr, bo dng, v kch thc, trng lng ca my pht in
khng cn l mi lo ngi khi tnh ton thit k na. Ngoi ra cc h thng iu
khin tuabin gi loi ny cng c t ti mt t nn cng to iu kin cho vic
truy cp, lp trnh v sa cha.
Nu xt v tc quay ca tuabin th ta c loi tuabin c tc c nh v loi
tuabin c tc thay i. Loi c tc c nh (Fixed speed wind turbine), c
my pht khng ng b c ni trc tip vi li. Tuy nhin h thng ny c
nhc im chnh l do tc c nh nn khng th thu c nng lng cc i
t gi.
-21-
Gearbox
Hp s
Lun vn thc s
BSoft
khi
ng
starter
mm
MF
IG
Transformer
My
bin p
Capacitor bank
Hnh 1.7 Tuc bin gi vi tc c nh

Loi tuabin gi tc thay i (variable-speed wind tuabin) khc phc c
nhc im trn ca tuabin gi vi tc c nh, l nh thay i c tc
nn c th thu c nng lng cc i t gi. Bt li ca cc tuabin gi c tc
thay i l h thng in phc tp, v cn c b bin i in t cng sut to ra
kh nng hot ng vi tc thay i, v do chi phi cho tuabin gi tc thay
i ln hn so vi cc tuabin tc c nh.
Tuabin gi vi tc thay i c hai loi: tuabin gi vi tc thay i c b
bin i ni trc tip gia stator v li v tuabin gi s dng my pht in khng
ng b ngun kp (MFKBNK).
Loi tuabin gi vi tc thay i c b bin i ni trc tip gia mch stator
ca my pht v li, do d b bin i c tnh ton vi cng sut nh mc ca
ton tuabin. My pht y c th l loi khng ng b rotor lng sc hoc l
ng b.
Hp s
Gearbox
MF
G
=
Power
electronic
B bin
i
converter
in t CS
Transformer
My
bin p
Hnh 1.8 Tuc bin gi vi tc thay i c b bin i ni trc tip gia stator v li
-22-
Lun vn thc s
Ngy nay vi xu hng ngy cng pht trin vic s dng ngun nng lng
sch ti to t gi, trn th gii ngi ta ch to cc loi tuabin gi vi cng sut
ln n trn 7 MW, nu dng loi tuabin gi tc thay i c b bin i ni trc
tip gia stator v li th s tn km, t tin do b bin i cng phi c cng
sut bng cng sut ca ton tuabin. V vy cc hng ch to tuabin gi c xu
hng s dng MFKBNK lm my pht trong cc h thng tuabin gi cng sut
ln gim cng sut ca b bin i v do gim gi thnh, v b bin i c
ni vo mch rotor ca my pht, cng sut ca n thng ch bng c 1/3 tng
cng sut ton h thng, cc thit b i km nh b lc bin i cng r hn v cng
c thit k vi cng sut bng 1/3 cng sut ca ton h thng.
MFKBNK
Gearbox
Hp s
My
bin p
Transformer
DFIG
=
Power
electronic
B bin
i
converter
in t CS
Hnh 1.9 Tuabin gi tc thay i s dng MFKBNK

1.2.2 My pht in trong tuabin gi.
My pht in l mt thnh phn quan trng khng th thiu trong tuabin
gi, v n c nhim v chuyn i c nng ca tuabin thnh in nng. Trong mt
h thng pht in, vic thit k v chn my pht in phi ph hp vi loi tuabin
c la chn. Cc tuabin ny c thit k vi vic u tin cho cc phng
php iu khin mong mun v iu kin gi ti vng c quy hoch. Cc my
pht in y khng ch c s dng bin i nng lng m cn dng
iu khin in p thng qua tc quay ca tuabin.
-23-
Lun vn thc s
Tuabin c ni trc tip vi rotor ca my pht thng qua mt trc truyn

ng, tc l trc tip iu khin my pht. Loi my pht ny s c tc quay
chm hn so vi cc loi my pht thng thng. Do n c thit k vi s
lng in cc nhiu t c cm ng t tt v hiu qu cao. Vic iu khin
trc tip gip loi b tn tht, bo dng v cc chi ph lin quan n hp s. Mt
s nghin cu cho thy hp s l nguyn nhn dn n hu ht cc h hng ca
tuabin gi. Hn na, iu khin trc tip lm gim lin kt xon trn cc trc truyn
ng bi tn s dao ng ring. Do cc trc s nh hn so vi trng hp s
dng hp s, vi H-rotor iu ny c ngha l thp s c gim khi lng. Khi
trc truyn ng trc tip ca my c ng knh ln v cng knh hn so vi my
pht thng thng th vic s dng tuabin gi trc ng c u im v li th rt
nhiu do my pht c t ti mt t, khi kch thc cng nh trng lng ca
my pht khng cn l vn cn quan tm na.
1.2.3 Gi v nng lng trong gi.
Gi l mt ngun nng lng sch trong t nhin m loi ngi nn khai
thc v s dng n, do yu cu t ra l cn phi c mt cng ngh cao khai
thc c hiu qu ngun nng lng . Gi s thay i c v tc cng nh hng
gi ph thuc vo thi gian. Tc gi thay i theo cc khong thi gian khc
nhau. Tc gi thay i theo ma trong mt nm, thay i theo gi trong mt
ngy, hoc cng c th thay i theo tng pht, v d nh tc gi vo ma h,
thu nc ta thng ln hn cc ma khc hay tc gi vo ban ngy ln hn
ban m. Ngoi ra tc gi cng khc nhau ph thuc vo cao v a hnh, gi
trn cao thng mnh hn di thp.
Nng lng m mt tuabin gi c th hp thu l:
1
P C p A t v3
2
(1.1)
Trong : P l nng lng hp thu, Cp l h s bin i nng lng (n l

mt hm ca t s tc u cnh v gc cnh ), l mt khng kh, At l
din tch mt ct ca tuabin gi, v l vn tc gi. Theo l thuyt th gi tri ln nht
-24-
Lun vn thc s
ca Cp l 16/27 0,5926 v n c gi l gii hn Betz. Nng lng trong gi t l

vi lp phng ca vn tc gi, do nu tc gi tng th nng lng tng ln
rt nhiu. V vy gi tr nng lng ca tuabin thay i rt ln. iu ny c th thy
c trong hnh 3.1, hnh v biu din s bin thin ca tc gi v nng lng
gi trong khong thi gian ngn ca nhng cn gi git. t hnh v ta thy s bin
thin ca nng lng gi ln hn nhiu so vi s bin thin ca tc gi
H s bin i nng lng Cp trong cng thc (1.1) l mt hm ca t s tc
u cnh , n l t s gia tc u cnh ca tuabin gi v tc gi.
m R 0
v
(1.2)
Trong : m l tc quay ca tuabin, R0 l bn knh tuabin, v l tc

gi. Vi tuabin gi trc ngang (TGTN) hot ng bnh thng t s tc u
cnh c cho 1.2. Vi tuabin gi trc ng (TGT) th hot ng t s tc
H s bin i nng lng Cp
u cnh thp hn. ng cong biu din quan h gia Cp v cho hnh 1.11
T s tc u cnh
Hnh 1.11 ng cong biu din quan h gia Cp v

* Thng k phn b gi:
Gi l ngun nng lng thay i v cc gi tr d liu ca cc i lng o
t gi thng l rt ln. V vy cc phng php thng k c s dng m t
gi. Cc phng php thng k c s dng d on tim nng nng lng tai
-25-
Lun vn thc s
mt vng ni m chng ta cn phi bit cc thng k phn b gi. Hai phng php
thng k phn b gi l phn b Rayleigh v phn b Weibull. Phn b Rayleigh
da trn tc gi trung bnh trong khi phn phi Weibull c th c suy ra t
tc gi trung bnh v lch chun v do n chnh xc hn, tuy nhin cn
phi bit thm mt s thng tin v vng . Phn b Rayleigh n gin hn phn b
Weibull bi n c sai s tiu chun l 0,523 ln tc gi trung bnh. V vy phn
b Rayleigh c s dng trong cc m phng bi n n gin hn.
Xc sut phn b p(v) cho mt Rayleigh c xc nh:
v
v 4 ( v )2
p(v)
e
2 v2
(1.3)
Trong : v l tc gi, v l tc gi trung bnh, hm xc sut phn b
Hm xc sut p(v)
cho Rayleigh vi tc gi trung bnh 7 m/s c biu din hnh 1.12
Tc gi (m/s)
Hnh 1.12 Hm xc sut phn b cho Rayleigh vi tc gi trung bnh 7 m/s
* iu khin hot ng ca tuabin gi:

Tuabin gi hp thu c nng lng nhiu nht khi vn hnh gi tr ti u
ca . Tuy nhin tc quay ca tuabin cng c chn gi tr sao cho nng
lng hp thu c l ln nht. Vi tc quay c nh v khi tc gi tng th
s gim v tuabin s i vo vng gim tc. Khi cng sut t c gi tr nh mc
-26-
Lun vn thc s
th n c gi c nh v sau phng php iu khin cng sut c s dng

hn ch s hp thu nng lng khi tc gi tng.
Mt tuabin gi c th c vn hnh theo cc quy tc iu khin khc nhau
ty thuc vo tc gi. Tuabin gi c hot ng tc gi t 4m/s n 20m/s
v tc gi nh mc l 12m/s. Tuabin gi c khi ng khi tc gi vt
qua 4m/s. N c iu khin gi tri ti u ca , cho n khi tc gi vt qua
10m/s. Khi tc gi trn 10m/s th tc quay c gi c nh. H s C p s
gim cht khi tc t 10m/s n 12m/s. Khi tc gi trn 12m/s th cng sut
c gi c nh v tuabin gi bt u qu trnh gim hp thu nng lng. Khi
tc quay cn phi gim cht t ty thuc vo hiu qu ca phng php iu
khin. ng cong cng sut ca tuabin hot ng theo phng php ny c
trnh by hnh 1.13. Vic hn ch tc quay khng ch l iu khin tuabin m
cn v l do v s bn vng ca kt cu h thng, s dao ng ca l cnh, v
Cng sut (KW)
hn ch mc ting n kh ng hc.
Tc gi (m/s)
Hnh 1.13 ng cong cng sut ca tuabin gi 50kW

iu khin theo tc gi
1.3 KT LUN CHNG 1
T nhng nm 1970 con ngi tm cch s dng ngun nng lng gi
thay th cc ngun nng lng truyn thng, v c nhng bc pht trin c v
thit b v cng ngh bin i nng lng gi thnh nng lng in (in gi).
-27-
Lun vn thc s
u im d thy nht ca in gi l khng tiu tn nhin liu, tn dng

c ngun nng lng v tn l gi, khng gy nhim, khng lm thay i mi
trng v sinh thi, khng c nguy c gy nh hng lu di n cuc sng ca
ngi dn, d chn a im v tit kim t xy dng.
Vi s pht trin ca cc thit b bin i nng lng gi v nhng li ch
m ngun nng lng gi mang li, chng ta cn phi c chin lc pht trin lu
di ng thi phi c cng ngh tin tin chuyn i nng lng gi thnh in
nng vi hiu sut cao gim gi thnh.
Lun vn thc s
-28-
CHNG II
KH NG LC HC CA TUABIN GI V PHNG PHP IU
KHIN CNH GI CA TUABIN TRC NG
2.1 KH NG LC HC TUABIN GI
2.1.1 ng lc hc cnh gi tuabin.
Cnh gi l mt b phn khng th thiu trong mt tuabin gi cho d l
tuabin trc ng hay trc ngang. N c nhim v chuyn nng lng ca gi thnh
ng nng ca tuabin thng qua ng lc hc ca gi tc dng ln cnh tuabin.
hiu c s hot ng ca cnh v quan trng hn l c ch bin i nng lng
ca tuabin gi ta cn phi c nhng kin thc c bn v kh ng lc hc cnh gi.
Nu ta gi thit cc cnh ng yn v khng kh chuyn ng vi cng mt
tc , nhng hng ngc li, cc lc tc dng vo cnh khng thay i gi tr.
Khi lc tc dng ch ph thuc vo tc tng i v gc ti tc dng. V vy,
d dng cho vic gii thch, chng ta hy xt trng hp cnh c nh, khng kh
chuyn ng vi tc v hn V.
p lc ca khng kh ln b mt ngoi ca cnh khng l u nhau: b
mt trn th p lc gim cn b mt di th p lc tng ln. biu din s thay
i ca p lc, trn ng vung gc vi bin dng ca b mt cnh, ta ly mt
F
on c chiu di bng Kp
Kp
p p0
1
V 2
2
Kp
(2.1)
Trong p l p lc tnh trn ng

vung gc vi mt cnh, v , p0, V l cc
iu kin ti v cc.
p lc
thp
p lc
cao
Hnh 2.1 ng cong biu din Kp
Kt hp cc gi tr khc nhau ca Kp ta c ng cong biu din Kp nh trn

hnh 2.1, Kp nhn gi tr m vi cc im pha mt trn v nhn gi tr dng
mt di
Lun vn thc s
-29-
Hp lc ca cc thnh phn lc khc nhau tc dng ln cnh di tc dng

ca vn tc gi V l F, n thng nghing so vi hng ca tc tng i, v
c cho bi biu thc:
1
CrSV 2
2
Fl
(2.2)
Vi: l t khi ca khng kh
S l din tch tc dng, n bng tch ca

dy cung AB vi chiu di ca cnh.
C
i
Fd
B
Cr l tng h s kh ng lc hc.
Hnh 2.2 Cc lc tc
dng ln cnh gi
V l tc gi
Lc lng ny c th c chia thnh hai phn:
- Mt thnh phn song song vi vct V : lc cn Fd
- Mt thnh phn vung gc vct V : lc nng Fl , Fd v Fl c cho bi cc

biu:
Fd
1
1
2
CdSV 2 v F1 ClSV
2
2
(2.3)
Vi Cd v Cl tng ng h s lc cn v lc nng. T nhng lc thnh phn

ta c th vit c: Fd2 Fl2 F2 t ta c: Cd2 Cl2 Cr2
Nu ta phn tch F thnh hai thnh phn Ft trn phng dy cung AB v Fn
trn phng vung gc vi AB ta c:
Trn dy cung AB: Ft
1
SV 2 (Cd cosi Cl sin i)
2
Trn ng vung gc AB: Fn
(2.4)
1
SV 2 (Cl cos i Cd sin i)
2
Mt khc cc biu thc c th vit nh sau: Ft
(2.5)
1
1
CtSV 2 v Fn CnSV2
2
2
T ta c: Cn Cl cos i Cd sin i ; C t Cd cos i Cl sin i

Nu gi M mmen ng lc hc tng i ca F tc ng ln mp trc ca
cnh. Chng ta c th xc nh h s mmen Cm thng qua biu thc:
Lun vn thc s
-30-
1
M CmSlV 2
2
(2.6)
Vi l l chiu di dy cung cnh gi.

T ta thy ng lc hc ca cnh gi c c trng bi lc cn, lc
nng cnh v mmen ng lc hc.
2.1.2 ng lc hc ca rotor.
Cc my chy bng sc gi c xa v cc tuabin gi hin i ngy nay u
c cc cnh c gn trn mt trc v cu to nn rotor. Trc khi nghin cu v
ng lc hc ca rotor tuabin gi, chng ta hy a ra mt s nh ngha nh sau:
- Trc rotor: l trc quay ca rotor,
- Mt phng quay: l mt phng vung gc vi trc quay ca rotor,
- ng knh rotor: l ng knh ca vng qut bi trc rotor,
- Trc cnh: l trc dc cnh m n c th to nn nghing ca cnh so
vi mt phng quay,
- Phn cnh trong bn knh r: l phn giao ca cnh vi mt hnh tr c bn
knh r c trc l trc ca rotor,
- Gc nghing ca cnh: l gc gia cc dy cung ca cnh ti r v bn
knh ca mt phng quay,
Ta xt mt phn ca chiu di dr, dy cung l v gc bn knh r ca
mt cnh rotor .
Phn ny s c tc trong mt phng quay bng U 2rN .
Nu ta gi V tc gi dc trc qua rotor, v vn tc ca dng khng kh so
vi cnh l W nh hnh 2.3

V UW

W VU
Gc ti l i .
i l gc gia W v mt phng quay ca rotor, i c gi l gc nghing.
Lun vn thc s
-31-
Do , b phn cnh l thuc

vo s tc ng ca dng khng kh
chu tc dng ca lc ng hc dR.
Lc dR ny c phn tch thnh hai
thnh phn l lc nng dRl v lc cn

dRd tng ng theo phng vung
dR d
tc tng i W . B phn cnh s
gc v song song tc tng i
W v ph hp vi gc ti i.
dR
dR l
Hnh 2.3 Tc ng ca gi
ln cc cnh
nh gi s ng gp ca lc ng hc dR vo lc dc trc tc dng bi
gi trn rotor v tc dng vo mmen trn trc ca rotor.
Xc nh gi tr dF v dM. Vi dF l hnh chiu ca dR trn trc rotor v dM
l hnh chiu ca mmen tng i tc ng ln trc rotor trn mt phng quay.
dF dR l cos dR d sin
(2.7)
dM r (dR l sin I dR d cos I)
(2.8)
Mt khc ta c cc mi quan h sau:
1
1
dR l Cl W 2dS v dR d Cd W 2dS
2
2
(2.9)
W2 V2 U2 V2 2r 2 vi r cot g
(2.10)
dP dM
T ta c dM, dF v dP nh sau:
1
dF V2dS(1 cot 2 ) (Cl cos Cd sin )
2
(2.11)
1
dM V 2 rdS(1 cot 2 ) (Cl sin Cd cos )
2
(2.12)
1
dP V3dScot I(1 cot 2 I) (Cl sin I Cd cos I)
2
(2.13)
Tng lc F tc dng ca gi trn rotor v mmen M trn trc ca rotor thu

c tnh bng tng tt c cc lc dF thnh phn v cc mmen dM thnh phn
-32-
Lun vn thc s
tng ng tc ng trn cc cnh. V vy, cng sut P ca gi truyn vo rotor v

cng sut hu ch Pu c cung cp bi tuabin gi c th tnh ton mt cch d
dng m khng gp kh khn:
P dF.V FV
Pu M
(2.14)
Hiu sut ca qu trnh bin i nng lng:
Pu M
P FV
(2.15)
2.2 PHNG PHP IU KHIN CNH GI CA TUABIN TRC NG

2.2.1 L lun chung
Nhc im ca cc tuabin gi ni chung v tuabin gi trc ng ni ring
l khi tc gi thay i th tc quay ca tuabin cng thay i theo. gi cho
tc quay ca tuabin n nh chng ta c th thc hin bng cch thay i gc
cnh ca tuabin, thay i din tch b mt hng gi ca cnh.
Loi ngi bit s dng nng lng gi t rt lu, nhng mc hn
ch. Ngy nay cc nc vng n i v hn i quan tm v c nhng thnh
qu tt, c bit trong vic sn xut ra cc my pht in dng sc gi cng sut
ln, ha vo h thng in quc gia.
My pht in gi cng sut ln i hi phi c h thng iu tc tt, m
bo s vng quay ca trc tuabin nm trong gii hn cho php. Trong lun vn ny
tc gi gii thiu mt phng php iu tc l phng php iu khin gc cnh
ca tuabin, qua din tch b mt hng gi ca cnh tuabin s thay i n nh
tc quay ca tuabin.
Vi my pht in gi cng sut nh, vic thay i gc cnh thng hay
dng phng php ly tm ca khi lng quay. Khi tc gi thay i s lm tc
quay ca tuabin thay i, lc ly tm ca vt quay cng thay i. Nu gi ln,
vn tc gi tng, lc ly tm tng ln, tc dng ln c cu thay i gc cnh tuabin
lm gim din tch b mt hng gi, dn n hn ch mc tng tc quay ca
tuabin. Khi gi du i, vn tc gi gim xung, cnh tuabin t xoay dn v v tr ban
Lun vn thc s
-33-
u, duy tr tc quay ca tuabin trong phm vi cho php. Vi my pht in

sc gi cng sut ln, thng dng kt cu c kh nh h thng cam iu chnh
gc cnh. Kt cu my s dng lc ly tm v kt cu c kh xoay cnh tuabin
nh vy tng i n gin, nhng c nhc im l p ng chm, chnh xc
iu chnh thp, khong bin thin tc quay ca tuabin qu ln.
Nguyn l lm vic ca h thng iu khin cnh gi n nh tc
quay ca tuabin nh sau: t cho trc tuabin gi mt gii hn tc cho php; khi
tc gi ln hn quy nh, trc tuabin s quay nhanh hn tc cho php, b
phn cm bin nhn c tn hiu, chuyn tn hiu n b iu khin, b iu
khin so snh vi tc quay quy nh, pht tn hiu n ng c iu khin cnh
gi, ng c thay i gc cnh tuabin gim b mt hng gi; khi tc gi
gim, ng c s xoay cnh quay tr li. Bng cch ny, tc quay ca trc tuabin
c iu chnh kp thi, khong dao ng ca tc quay tng i nh.
Vic bin i nng lng gi tun theo nhng nguyn l c bn v kh nng
s dng gi v kh nng ti u ca cc tuabin.
t tuabin gi trong dng chy ca khng kh, khi khng kh n gn tuabin
b li, p sut dng chy tng ln v vn tc gim, n khi dng chy chm vo
mt tuabin trao cho tuabin nng lng. Dng chy pha sau tuabin b nhiu xoy,
gy bi chuyn ng ca tuabin v s tc ng vi cc dng khng kh xung quanh.
V nguyn tc, dng chy phi c duy tr. Do , nng lng tuabin thu
nhn c b hn ch. Trong trng hp ton b nng lng gi c tuabin thu
nhn, th vn tc gi ng sau tuabin s bng khng. Mun cho dng chy c cn
bng gia khi lng v vn tc, nng lng chy qua tuabin phi b mt mt. i
vi h ti u, s phn trm cc i ca nng lng gi c th thu nhn c tnh
theo cng thc do Carl Betz a ra nm 1927 :
Pmax
Ar
Trong :
V03
0,593
2
(2.16)
P l mt nng lng
Ar l din tch qut ca cnh tuabin
Lun vn thc s
-34-
V0 l vn tc gi ban u - Mt nng lng trn mt n v

th tch dng chy khng kh.
S 0,593 c gi l gii hn Betz hoc h s Betz.
Bng phng php phn tch n gin v ng lc hc i vi tuabin gi tm
c h s cng sut cc i ca n l 16/27 tc l 59,3%. iu ny c Betz
chng minh (1927). Hin nhin y l trng hp s cnh v hn (tr lc bng
khng) l iu kin ca mt ng c gi l tng. Trong thc t c 3 nhn t lm
gim nh h s cng sut cc i:
1- Pha sau tuabin gi tn ti dng xoy
2- S cnh ca tuabin gi l c hn
3- T s Cd/Cl khng bng 0
Vi Cl l h s nng, Cd l h s cn.
Cl
trong :
Fl
1
V 2 A
2
; Cd
Fd
1
V 2 A
2
(2.17)
- mt khng kh (kg/m3)
V - vn tc dng khng kh (gi) khng b nhiu lon (m/s)
A - Din tch hnh chiu ca cnh (din tch hng gi) (m2).
Fl - Lc nng (N).
Fd - Lc cn (N).
Nh vy, khi thay i din tch b mt hng gi ca cnh tuabin, th hiu

sut s dng nng lng gi ca tuabin thay i, tc l thay i lc tc dng ln
cnh lm quay tuabin. Khi tc gi tng, nng lng gi tng ln, nhng cng
sut trn trc tuabin hu nh khng tng ln.
H thng thit b khai thc nng lng gi rt khc nhau v kch thc, hnh
dng v dng nng lng cui cng nhn c. Ni chung h thng thit b khai
thc nng lng gi c cc phn: B gp sc gi, chuyn ng s cp, thit b sn
sinh nng lng cui cng.
Lun vn thc s
-35-
H thng my pht in sc gi, dng nng lng cui cng l in nng; b

gp gi l tuabin gi; chuyn ng s cp l chuyn ng quay trn ca trc tuabin;
thit b sn sinh in nng l my pht in. my pht in hot ng tt, c th
ho c vo li in quc gia, chuyn ng s cp - chuyn ng quay trn ca
trc tuabin phi c tc quay hp l v t thay i.
2.2.2 Phng php xc nh gc cnh iu khin ca tuabin gi trc ng.
Tuabbin gi trong lun vn
nghin cu l tuabin trc ng gm 5
cnh c bin dng phng hnh ch nht
xc nh gc cnh iu khin
ta i phn tch ng lc hc ca cnh gi
tuabin mt v tr bt k nh hnh 2.5:
Hnh 2.4 M hnh tuabin gi trc ng
5 cnh
Hng gi
Chiu quay
tuabin
U ht
Uhd
Hnh 2.5 Phn tch ng lc hc cnh gi
Lun vn thc s
-36-
Trn hnh 2.5 vi:

l gc nh v tm
l gc cnh (i lng cn iu khin)
l gc ti
V l tc gi
Gi thit tc gi tc ng vo cnh tuabin l V , ta phn tch n thnh hai
thnh phn, mt thnh phn song song vi mt cnh l W , mt thnh phn vung
gc vi mt cnh l U

VUW
Vi bin dng cnh l phng th thnh phn W s gy ra lc cn Fd cn thnh
phn U s gy ra lc nng cnh Fl, ch c thnh phn Fl mi c tc dng gy ra

chuyn ng ca cnh.
Ta phn tch U thnh hai thnh phn: U Uhd Uht

Vi:
Uhd l tc theo phng tip tuyn
U ht l tc theo phng hng tm
Thnh phn theo phng hng tm gy ra lc hng tm trn cnh, thnh

phn theo phng tip tuyn gy ra lc c tc dng lm cnh chuyn ng v ta gi
l lc hiu dng Fhd
1
C hd AU 2hd
2
Ta c:
Fhd
trong :
- mt khng kh (kg/m3)
(2.18)
Uhd - vn tc ca gi theo phng tip tuyn (m/s)

A - Din tch ca cnh gi (din tch hng gi) (m2).
Chd H s lc hiu dng.
Theo l thuyt ti u v hiu sut bin i nng lng gi th mt v tr xc
nh ( xc nh) gi tr Fhd phi t gi tr l ln nht Fhdmax v t biu thc ca Fhd
ta thy Fhd phi t gi tr l ln nht khi Uhd t gi tri ln nht.
T hnh 2.5 ta c:
U Vsin ; Uhd Ucos Vsin .cos

(2.19)
Lun vn thc s
-37-
Vi 900
Uhd Vsin .cos Vsin( 900 ).cos Vcos( ).cos
U hd
V
[cos(2 ) cos]
2
(2.20)
Khi xc nh th Uhd t gi tr ln nht khi cos(2 - ) = 1

2
T mi quan h gia gc cnh v gc nh v ta c th xc nh c

gc cnh iu khin bt k v tr no ca cnh.
Sau y ta xc nh gc cnh iu khin ca mt cnh ca tuabin 10 v tr
nh bng 2.1
Bng 2.1 Gc cnh iu khin cc v tr khc nhau
Gc nh
v ()
36
72
108
144
180
216
252
288
324
360
18
36
54
72
90
108
126
144
162
180
Gc cnh
K ()
Hng
gi
2
5
Chiu
quay
1
6
10
7
9
8
Hnh 2.6 Gc iu khin ca mt cnh gi 10 v tr khc nhau

-38-
Lun vn thc s
Vi cc cnh cn li ca tuabin ta cng iu khin gc cnh tng t nh

vy khi cc v tr tng ng.
Gc cnh trn ng vi tc gi bng tc gi nh mc V = V0, trong
trng hp tc gi ln hn tc gi V > V0, t biu thc (2.20) ta thy
cos(2 ) 1
, nh vy lc F s c n nh v tc ca tuabin cng
hd
2
c n nh.
2.3 KT LUN CHNG 2
Ni dung chng 2 cp n mt s vn c bn v ng lc hc ca
cnh gi v cch xc nh gc cnh iu khin cho tuabin trc ng
Trong chng ny tc gi nghin cu c cc lc tc dng ln cnh gi
gm lc nng cnh c tc dng lm quay tuabin v lc cn cnh c tc dng lm
gim tc quay ca tuabin. T a ra phng php xc nh gc cnh iu
khin cc v tr khc nhau ca cnh gi. ng thi a ra phng n iu khin
gc m ca cnh gi bng cch s dng cc b iu khin bng in thay cho cc
phng php c kh s dng kt cu cam v phng php ly tm ca khi lng
quay nhm tng cht lng ca h thng, phn tch cc u nhc im ca cc
phng php.
-39-
Lun vn thc s
CHNG III
TNG QUAN CC H IU KHIN T NG
3.1 CC H IU KHIN KINH IN
Trong cc h thng iu khin phn cp hin i cng nh cc h thng iu
khin a cp, h iu chnh t ng l khu cui cng tc ng ln i tng iu
khin. Cht lng ca cc qu trnh ny nh hng trc tip n cht lng ca cc
qu trnh cng ngh bao gm: cht lng sn phm, nng sut lao ng v cc ch
tiu khc ca dy chuyn cng ngh
Cht lng ca h thng iu khin t ng c nh gi bi tnh n nh
v cc ch tiu khc ca qu trnh xc lp v qu . n nh mi ch l ch tiu ni
ln rng h thng c th lm vic c hay khng, cn cht lng ca qu trnh qu
mi ni ti vic h thng c c s dng hay khng. V vy vic nng cao cht
lng h thng iu khin t ng lun l ti c nhiu tc gi trong v ngoi
nc quan tm.
L thuyt iu khin kinh in ra i rt sm v c nhiu ng gp trong
cc lnh vc ca iu khin hc k thut nh: trong lnh vc in, in t, quc
phng, hng hiVic tng hp cc h iu khin kinh in c th chia thnh 2
loi: Tng hp h iu khin m tuyn tnh v h iu khin phi tuyn.
3.1.1 Tng hp b iu khin tuyn tnh
Cc b iu chnh PID tuyn tnh (bao gm P, PI, PD v PID) c
nghin cu v pht trin ti mc hon thin. xc nh c thng s ti u (K p,
Ki, Kd) ca PID ta c th dng phng php mdul ti u, phng php mdul i
xng v cc phn mm chuyn dng (v d MATLAB) t ng xc nh ti u
cc thng s PID. c im ca phng php ny l cn phi bit chnh xc m
hnh ca i tng.
3.1.2 Tng hp b iu khin phi tuyn
Thc t cc h thng v cc i tng vt l t nhiu u c tnh phi tuyn,
chng ch tuyn tnh trong 1 vng lm vic no . V vy vic nghin cu tng hp
h phi tuyn c ngha ph bin v thc tin. Cc phng php phn tch v tng
-40-
Lun vn thc s
hp h phi tuyn khng tin b nhanh nh h tuyn tnh v hin nay cn ang trong
giai on pht trin. h phi tuyn c nhng c im ring khc hn h tuyn tnh,
v d tnh to tn, tnh phi tuyn. V vy phn tch v tng hp h phi tuyn ta
phi dng cc phng php gn ng, cc phng php gn ng thng dng l:
- Phng php tuyn tnh ho gn ng: c p dng cho cc h gn
tuyn tnh, lc sai lch so vi tuyn tnh khng qu ln. Khi h thng lm vic
ln cn mt im no ta c th coi vng lm vic ca h l tuyn tnh.
- Phng php tuyn tnh ho iu ho: l phng php kho st h thng
trong min tn s gn ging vi tiu chun Naiquyt, phng php ny cn c gi
l phng php hm m t. Vic dng hm m t l mt c gng m rng gn
ng hm truyn ca h tuyn tnh sang h phi tuyn.
Hm m t (hay h s khuch i phc) ca khu phi tuyn l t s gia
thnh c bn ca p ng u ra vi kch thch hnh sin u vo. Nu mt h c
cha nhiu khu phi tuyn ta phi gp tt c chng li c hm m t t hp.
Phng php tuyn tnh iu ho cho php a ra kt qu hp l v c th
dng cho cc h thng bc bt k, nhng v l phng php gn ng nn ta phi
kim tra li chnh xc bng cc k thut khc hoc bng m phng trn my tnh.
- Phng php tuyn tnh ho tng on: T c tuyn phi tuyn ca h ta
chia thnh nhiu on nh, mi on nh coi l on thng v c m t bi
phng trnh tuyn tnh. Phng php ny c u im l to ra li gii tng i
chnh xc cho h phi tuyn bt k. Phng trnh vi phn dn ra trn mi phn on
l tuyn tnh v c th gii c d dng bng cc k thut tuyn tnh thng dng.
- Phng php mt phng pha: Tin dng cho cc h phi tuyn bc 2
Trong iu khin kinh in, s tc ng ca my iu chnh c phn thnh
2 vng: vng tc ng ln v vng tc ng nh. Vng tc ng ln tn ti khi h
thng xa trng thi cn bng, khi c tc ng ln h thng s nhanh chng dch
chuyn v trng thi cn bng, vi tc dch chuyn ln nh vy h thng d dng
vt qua trng thi cn bng v gy qu iu chnh ln, iu ny khng mong
mun. V vy khi h thng gn n trng thi cn bng, cn phi chuyn sang vng
-41-
Lun vn thc s
tc ng nh gim qu iu chnh. Xut pht t tng cc b iu chnh

c cu trc thay i ra i pht trin p ng phn no yu cu nng cao cht
lng h iu khin phi tuyn.
Tm li trong mt thi gian di k t khi ra i, l thuyt iu khin kinh
in c nhiu ng gp gii quyt hng lot bi ton iu khin t ra trong
thc t. Tuy nhin cht lng ca h thng cng ch t c mc khim tn,
nht l i vi h phi tuyn. Vi s ra i ca cc l thuyt iu khin hin i nh
iu khin thch nghi, iu khin m, mng nron to iu kin thun li
cc nh k thut nghin cu ng dng nhm ngy cng nng cao cht lng ca h
thng iu khin t ng, nht l i vi cc h thng ln, h c tnh phi tuyn
mnh v kh m hnh ho.
3.2 LOGIC M V IU KHIN M
3.2.1 Khi qut v l thuyt iu khin m
T nhng nm u ca thp k 90 cho n nay, h iu khin m c
cc nh khoa hc trong nhiu lnh vc khoa hc quan tm, nghin cu v ng dng
vo sn xut.
Tp m v logic m da trn cc suy lun ca con ngi vi cc thng tin
khng chnh xc hoc khng y v h thng hiu bit v iu khin h thng
mt cch chnh xc.
iu khin m chnh l bt chc cch x l thng tin v iu khin ca con
ngi i vi cc i tng. Do iu khin m gii quyt thnh cng cc vn
iu khin phc tp trc y cha gii quyt c.
3.2.2 nh ngha tp m
Tp m l mt tp hp m mi phn t x ca n c gn mt gi tr thc
(x)[0,1] ch th ph thuc ca x vo tp cho. Khi ph thuc bng 0
th phn t s hon ton khng ph thuc vo tp cho, ngc li vi ph
thuc bng 1, phn t l hon ton thuc tp cho.
Cho tp E, gi A l tp con m ca E, k hiu A
-42-
Lun vn thc s
A : x / A (x); x E
(3.1)
Trong :
A (x) c gi l hm lin thuc ca tp m A vi A (x) nhn cc gi tr
trong khong [0 ;1]. V mt ton hc ngi ta ni rng hm lin thuc A (x) nh
x mi mt phn t x trong tp E thnh mt gi tr lin thuc lin tc trong khong

0 v 1.
V d mt s dng hm lin thuc nh hnh (1.1).
- Hm Singleton (cn gi l hm Kronecker).
- Hm hnh tam gic.
- Hm hnh thang.
- Hnh Gauss.
(x)
(x)
(x)
Tam gic
(x)
Gaus
Hnh thang
Singleton
m0
m1 m2
m3
m1 m 2 m3
x
m4
Hnh 3.1 Mt s dng hm lin thuc.

Cc php ton trn tp m
Cho tp E v A , B l hai tp m con ca E, ngha l:
A : x / A (x); x E , A (x) nhn cc gi tr trong khong [0;1]
B : x / B (x); x E , B (x) nhn cc gi tr trong khong [0;1]
Cc tp m cng c 3 php ton c bn l php hp, php giao v php b.

Php hp (OR): Hp ca 2 tp m A v B c cng c s E l mt tp m
cng xc nh trn c s E vi hm lin thuc :

A B : x / AB (x) , x E

(3.2)
A B (x) = Max{ A (x), B (x)}, x E
(3.3)
Trong :
-43-
Lun vn thc s
Hoc A B (x) = Min{ 1, A (x) + B (x)}, x E
(3.4)
Php giao (AND): Giao ca 2 tp m A v B c cng c s E l mt tp m
cng xc nh trn c s E vi hm lin thuc:

A B : x / AB (x) , x E

(3.5)
A B (x) = Min{ A (x), B (x)}, x E
(3.6)
Trong :
Hoc A B (x) = A (x). B (x), x E
(3.7)
Php b (NOT): cho tp m A , gi tp tp b m ca A l A v c nh
ngha bi:
A : x / A (x); x E
(3.8)
A (x) 1 A (x)
(3.9)
Vi:
th m t cc php ton hp, giao v b ca hai tp m nh hnh (3.2)
A(x)
B(x)
A(x)
b. Giao hai tp m
Hnh 3.2
A (x)
a. Hp hai tp m
A(x)
B(x)
c. Php b
3.2.3 Bin m, hm bin m, bin ngn ng

Cho tp m A c hm lin thuc l A (x) hm lin thuc ny cng chnh l
hm lin thuc ca phn t x ca tp m A . Lc ny ta dng cc k hiu:
a : A (x), b : B (x), ...
Th ta gi a, b l cc bin m.
(3.10)
-44-
Lun vn thc s
Cho y f (a, b,...) l mt hm ca cc bin a, b,... iu kin y c gi l

hm bin m l y ch ph thuc vo cc bin m v tho mn iu kin:
0 y 1
(3.11)
Bin ngn ng l mt bin m c th gn cc gi tr ca bin cng c biu

hin bng ngn ng. y cc gi tr ca bin c c trng bi nh ngha tp
m trong min xc nh m bin c nh ngha.
V d tc ng c c cc gi tr ngn ng l: rt chm, chm, trung bnh,
nhanh, rt nhanh ...
3.2.4 Suy lun m v lut hp thnh
Suy lun m: Suy lun m thng c gi l suy lun xp x (Fuzzy
reasoning or approximate reasoning) l th tc suy lun (inference procedure)
suy din kt qu t tp cc quy tc Nu .... Th theo mt hay nhiu iu kin.
Mnh hp thnh
Cho hai bin ngn ng v . Nu bin nhn gi tr (m) A c hm lin thuc
A(x) th nhn gi tr (m) B c hm lin thuc B(y) th hai biu thc:
= A ; = B c gi l hai mnh .
Lut iu khin: nu =A th = B c gi l mnh hp thnh. Trong
=A gi l mnh iu khin v = B gi l mnh kt lun. Mt mnh
hp thnh c th c nhiu mnh iu kin v nhiu mnh kt lun, cc mnh
lin kt vi nhau bng ton t v. Da vo s mnh iu kin v s mnh
kt lun trong mt mnh hp thnh m ta phn thnh cc cu trc nh sau:
- Cu trc SISO (mt vo, mt ra): Ch c mt mnh iu kin v mt
mnh kt lun. V d: nu =A th = B
- Cu trc MISO (nhiu vo, mt ra): C t hai mnh iu kin tr ln v
mt mnh kt lun. V d: nu 1 =A1 v 2 =A2 th = B
- Cu trc MIMO (nhiu vo, nhiu ra): C t nht hai mnh iu kin v
hai mnh kt lun. V d: nu 1 =A1 v 2 =A2 th 1 = B1 v 2 = B2
M t mnh hp thnh
-45-
Lun vn thc s
Xt mnh hp thnh: nu =A th = B, t mt gi tr x0 c ph
thuc A(x0) i vi tp m A ca mnh iu kin ta xc nh c h s tho
mn mnh kt lun. Biu din tho mn mnh kt lun nh mt tp m B
cng c s vi B th mnh hp thnh chnh l nh x: A(x0) B(y).
nh x ny ch ra rng mnh hp thnh l mt tp m mi phn t l mt
gi tr (A(x0), B(y)), tc l mi phn t l mt tp m. M t mnh hp thnh
tc l m t nh x trn. nh x A(x0)B(y) c gi l hm lin thuc ca lut
hp thnh. c nhiu kin khc nhau v nguyn tc xy dng hm lin thuc
AB(x,y) cho mnh hp thnh AB, trong k thut iu khin ta thng s
dng nguyn tc ca Mamdani ph thuc ca kt lun khng c ln hn
ph thuc ca iu kin. T nguyn tc Mamdani c hai cng thc xc nh hm
lin thuc cho mnh hp thnh A B:
1. AB(x,y) = MIN {A(x),B(y)} (cng thc MIN)
(3.12)
2. AB(x,y) = A(x)B(y)
(3.13)
(cng thc PROD)
Lut hp thnh m
Hm lin thuc AB(x,y) ca mnh hp thnh AB c k hiu l R,
ti mt gi tr r x=x0 l mt hm lin thuc cho mt gi tr m no ca bin
ngn ng .
Lut hp thnh l tn chung gi m hnh R biu din (mt hay nhiu) hm
lin thuc AB(x,y) cho (mt hay nhiu) mnh hp thnh AB.
Mt lut hp thnh ch c 1 mnh hp thnh gi l lut hp thnh n,
ngc li c lut hp thnh kp.
Xt lut hp thnh R gm 3 mnh hp thnh:
R1: Nu x = A1 Th y = B1
R2: Nu x = A2 Th y = B2
R3: Nu x = A3 Th y = B3
Vi mi gi tr r x0 ca bin ngn ng u vo, ta c 3 tp m ng vi 3
mnh hp thnh R1 R2 R3 ca lut hp thnh R. Gi hm lin thuc ca cc tp
-46-
Lun vn thc s
m u ra l: B ' (y); B ' (y); B ' (y) th gi tr ca lut hp thnh R ng vi x0 l

1
tp m B thu c qua php hp 3 tp m: B = B1 B2 B3

A1(x)
A2(x)
B1(x)
A3(x)
(3.14)
B2(x)
B3(x)
h2
x0
Hnh 3.3 M t hm lin thuc ca

mnh iu kin
Hnh 3.4 M t hm lin thuc ca

mnh kt lun
Tu theo cch thu nhn cc hm lin thuc B ' (y); B ' (y); B ' (y) v
1
phng php thc hin php php hp nhn tp m B m ta c tn gi cc lut

hp thnh khc nhau:
- Lut hp thnh MAX-MIN nu B ' (y); B ' (y); B ' (y) thu c qua php
1
ly Min cn php hp thc hin theo lut Max.

- Lut hp thnh MAX-PROD nu B ' (y); B ' (y); B ' (y) thu c qua
1
phpPROD cn php hp thc hin theo lut Max.

- Lut hp thnh SUM-MIN nu B ' (y); B ' (y); B ' (y) thu c qua php
1
ly Min cn php hp thc hin.

- Lut hp thnh SUM-PROD nu B ' (y); B ' (y); B ' (y) thu c qua
1
php ly PROD cn php hp thc hin theo Lukasiewicz.

Vy, xc nh hm lin thuc B(y) ca gi tr u ra B ca lut hp
thnh c n mnh hp thnh R1, R2, ... ta thc hin theo cc bc sau:
+ Xc nh tho mn hj.
+ Tnh B ' (y); B ' (y); B ' (y) theo qui tc min hoc Prod
1
B (y) Min A x 0 , B y Min h j , B y

'
j
hoc B (y) A x 0 . B y h j . B y
'
j
(3.15)
(3.16)
-47-
Lun vn thc s
+ Xc nh B(y) bng cch thc hin php hp cc B (y)

'
j
3.2.5 B iu khin m
S chc nng b iu khin m c bn nh hnh (3.5), gm 4 khi l khi
m ho (1), khi hp thnh (2), khi lut m (3) v khi gii m (4).
Khi m ho c nhim v bin i cc gi tr r u vo thnh mt min gi
tr m vi hm lin thuc chn ng vi bin ngn ng u vo c nh
ngha.
Khi hp thnh dng bin i cc gi tr m ho ca bin ngn ng u
vo thnh cc gi tr m ca bin ngn ng u ra theo cc lut hp thnh no .
Khi lut m (suy lun m) bao gm tp cc lut "Nu ... Th" da vo cc
lut m c s, c ngi thit
k vit ra cho thch hp vi tng
bin v gi tr ca cc bin ngn

ng theo quan h m Vo/Ra.
Khi lut m v khi hp thnh
l phn ct li ca b iu khin
m, v n c kh nng m phng
nhng suy on ca con ngi
Hnh 3.5 S khi chc nng ca b iu

khin m.
t c mc tiu iu khin mong mun no .

Khi gii m bin i cc gi tr m u ra thnh cc gi tr r iu khin
i tng. Mt b iu khin m ch gm 4 khi thnh phn nh vy c gi l b
iu khin m c bn. Trong iu khin ngi
ta thng s dng ba phng php gii m
chnh, l :
Min G
- Phng php im cc i: c thc Bmax

hin theo hai bc:
Bc 1: Xc nh min cha gi tr r
u ra y. l min m gi tr r u ra y c
y1
y2
Hnh 3.6 V d v cch xc

nh min G.
-48-
Lun vn thc s
hm lin thuc t gi tr cc i (min G nh hnh 3.6)
G y Y |B ( y) Max
(3.17)
Bc 2: Xc nh y t min G theo mt trong ba nguyn l (v d hnh 3.6)

* Nguyn l trung bnh: y
y1 y2
2
* Nguyn l cn phi: y y 2
* Nguyn l cn tri: y y1
- Phng php trng tm: gi tr r u ra c ly theo im trng tm ca
hnh bao bi hm lin thuc hp thnh v trc honh (hnh 3.7). Lc ny gi tr r
u ra c xc nh :
y
y.
(y)dy
(3.18)
B (y)dy
S
B1
B2
B
h1
h2
B Max
y1
y2
Hnh 3.7
Hnh 3.8
- Phng php im trung bnh tm: Gi tr r y l gi tr trung bnh cc gi

tr c tha mn cc i ca B(y) v d theo hnh 3.8 ta c gi tr gi tr r u ra
y c xc nh:
y
h1 y1 h 2 y 2
h1 h 2
(3.19)
B iu khin m ng: m rng

ng dng cho cc bi ton iu khin, ngi ta
P
D
B iu
khin
m c
bn
thng b sung thm vo b iu khin m c

bn cc khu tch phn, o hm, b iu khin
Hnh 3.9 B iu khin m ng.

-49-
Lun vn thc s
c dng nh hnh 3.9 c gi l b iu khin m ng.

3.2.6 H iu khin m lai (F-PID)
H m lai vit tt l F-PID l h iu khin trong thit b iu khin gm
2 thnh phn: Thnh phn iu khin kinh in v thnh phn iu khin m.
B iu khin F-PID c th thit lp da trn hai tn hiu l sai lch e(t) v
o hm ca n e(t). B iu khin m c c tnh rt tt vng sai lch ln,
vi c tnh phi tuyn ca n c th to ra phn ng ng rt nhanh. Khi qu trnh
ca h tin gn n im t (sai lch e(t) v o hm ca n e(t) xp x bng 0)
vai tr ca b iu khin m (FLC) b hn ch nn b iu khin s lm vic nh
mt b iu chnh PID bnh thng. Trn hnh 3.10 th hin tng thit lp b
iu khin m lai F-PID v phn vng tc ng ca chng.
u
FLC
i
tng
e(t)
PID
dt
PID
e(t)
FLC
b)
a)
Hnh 3.10 a) Nguyn l iu khin m lai;

b) Vng tc ng ca cc b iu khin.
S chuyn i gia cc vng tc ng ca FLC v PID c th thc hin nh
kho m hoc dng chnh FLC. Nu s chuyn i dng FLC th ngoi nhim v l
b iu chnh FLC cn lm nhim v gim st hnh vi ca h thng thc hin s
chuyn i. Vic chuyn i tc ng gia FLC v PID c th thc hin nh lut
n gin sau:
if e(t) dng ln v e ( t ) dng ln
th u l FLC
(3.20)
if e(t) dng nh v e ( t ) dng nh

th u l PID
e
PID2
PID1
e
PIDn
(3.21)
thc hin chuyn i m gia cc mc

FLC v b chuyn i PID, ta c th thit lp
Hnh 3.11 Vng tc ng

ca cc b iu khin.
-50-
Lun vn thc s
nhiu b iu chnh PIDi (i = 1, 2 ... n) m mi b c chn ti u cht lng

theo mt ngha no to ra c tnh tt trong 1 vng gii hn ca bin vo
(hnh 3.11).
Cc b iu chnh ny c chung thng tin u vo v s tc ng ca
chng ph thuc vo gi tr u vo. Trong trng hp ny, lut chuyn i c th
vit theo h m nh sau:
Nu ( trng thi ca h ) l Ei th ( tn hiu iu khin ) = u i
Trong i = 1, 2,..., n; Ei l bin ngn ng ca tn hiu vo, u i l cc hm
vi cc tham s ca tc ng iu khin. Nu ti mi vng iu chnh, tc ng
iu khin l do b iu chnh PIDi vi:
t
ui = K Pi e + K e(t)dt KDi
0
de
dt
(i = 1, 2, ... n)
(1.22)
Nh vy, cc h s ca b iu chnh PID i mi ph thuc cc tn hiu u

vo, tng qut hn l ph thuc vo trng thi ca h. Nu coi cc h s K Pi, KDi, v
KIi chnh l kt qu gii m theo phng php trung bnh trng tm t ba h m
hm:
H m hm tnh h s KP vi h lut:
Ru(i): if ER is Ep and CER is DEq then KiP = KPi(.)
(3.23)
H m hm tnh h s KD vi h lut:
Ru(i): if ER is Ep and CER is DEq then KiD = KDi(.)
(3.24)
H m hm tnh h s KI vi h lut:
Ru(i): if E is Ep and DE is DEq then KiI = KIi(.)
(3.25)
Khi cc h s Kpi, KDi v KIi c m ho bi cc tp m, c th xem nh h

lc gm 3 tp m chun i vi cc h s Kpi, KDi v KIi. Trong trng hp ny,
cc h s ca b iu chnh PID mi c th tnh nh sau:
n
K PN i (t)y Pi ;
i 1
K DN i (t)y Di ;
i 1
K LN i (t)y Ii
i 1
Trong y Pi , yDi , y Ii tng ng l tm cc tp m ca h s Kpi, KDi v KIi

c m ho.
-51-
Lun vn thc s
Nhn xt:
Qua nghin cu ta thy rng b iu khin m c tnh phi tuyn mnh, kh
nng chng nhiu cao, n rt ph hp vi h c tnh phi tuyn, ph thuc thi gian,
c tham s ri v thi gian tr ln. Hin nay vic thit k b iu khin m cn ph
thuc rt nhiu vo kinh nghim vn hnh h thng v kin thc chuyn gia m
cha c c phng php chun ho thit k b iu khin m.
3.3 IU KHIN THCH NGHI
3.3.1 Gii thiu tng quan
L thuyt iu khin thch nghi ra i t nhng nm 50 ca th k 20 v
c hnh thnh nh mt mn khoa hc, t t duy tr thnh hin thc, t cch gii
quyt cc vn c bn tr thnh bi ton tng qut, t vn v s tn ti v kh
nng c th gii quyt n nhng p dng nh hng xut pht t tnh bn vng v
cht lng.
Thch nghi l qu trnh thay i thng s v cu trc hay tc ng iu khin
trn c s lng thng tin c c trong qu trnh lm vic nhm t c mt
trng thi nht nh (thng l ti u) khi thiu lng thng tin ban u cng nh
khi iu kin lm vic ca h thng thay i.
Ni cnh khc: iu khin thch nghi l tng hp cc k thut nhm chnh
nh cc b iu chnh trong mch iu khin nhm thc hin hay duy tr cht
lng ca h thng mt mc nht nh khi thng s ca qu trnh iu
khin khng bit trc hoc thay i theo thi gian.
Trong vng 40 nm tr li y l thuyt iu khin thch nghi c hnh
thnh nh mt mn khoa hc, t t duy tr thnh hin thc, t cch gii quyt
vn c bn tr thnh bi ton tng qut.
Cu trc c bn h thng thch nghi c trnh by nh hnh 3.12.
H thng iu chnh theo yu cu no th vi cc i lng vo, phi cho
c cc i lng ra mong mun. Nhng do nhiu yu t nh hng nh nhiu,
cc i lng vo qu ln hay khng bit trc, do t c theo yu cu, h
-52-
Lun vn thc s
thng phi c t ng thch nghi b sai s. C cu thch nghi to ra tn hiu thch

nghi bng tn hiu t khu so snh. Cc ch tiu cht lng theo yu cu t trc
IP*, cho vo khu so snh vi nhng gi tr c o lng v tnh ton theo cc
thng s thc trng ca h thng iu chnh (cc tn hiu ca i lng vo, i
lng ra, cc nhiu).
Nhiu bit
trc
Nhiu khng
bit
Tn hiu vo
H thng
iu chnh
Tn hiu ra
C cu
thch nghi
Tiu chun
t trc IP
o lng theo
tiu chun IP
So snh
Hnh 3.12 Cu trc c bn ca h thng thch nghi.

Mch vng thch nghi thng qua c cu thch nghi iu khin thng s
ca h thng iu chnh, hay thay i cc u vo theo c cu thch hp tiu
chun t trc IP* v tiu chun (Index of Performance) c sai lch nh nht.
Cu trc ca h thng thch nghi gm ba khu c bn:
- o lng theo tiu chun IP no .
- Khu so snh.
- C cu thch nghi.
Cc tiu chun IP c th l: Cc ch s tnh, cc ch s ng, cc ch s ca cc
thng s, hm ca cc bin thng s v cc tn hiu vo.
C cu thch nghi c th l:
- Thch nghi thng s.
-53-
Lun vn thc s
- Tng hp mt tn hiu b sung.

Chin thut thch nghi c th l:
- Tin nh.
- Phng on (scholastic).
- T hc.
H thng cn iu khin s c iu khin thch nghi n nh theo thng s
no , cho d tn hiu vo l khng bit trc hay l qu ln. H iu khin thch
nghi c 3 s chnh:
- iu chnh h s khuch i.
- iu khin theo m hnh mu.
- H t iu chnh.
B iu chnh
thng s
Tn hiu
ch o
iu chnh h
s khuch i
B iu chnh
o lng
so snh
u ra
i tng
Hnh 3.13 iu chnh h s khuch i.

M hnh mu
Ra ca m hnh ym
Sai s
(+)
(-)
Mch vng ngoi
C cu
thch nghi
Tn hiu
ch o
B iu chnh
Ra ca h y
i tng
Mch vng trong
Hnh 3.14 iu khin theo m hnh mu.
-54-
Lun vn thc s
Cc thng s ca b iu chnh c hiu chnh nh mch vng ngoi da

trn c s sai s gia m hnh mu ym v qu trnh y. Vn l xc nh c cu
hiu chnh ny sao cho n nh v sai s tin v bng 0.
Cc thng s
ca qu trnh
Tnh ton
thit k
Tn hiu
ch o
nh gi
thng s
Tn hiu
B iu chnh
iu khin
i tng
Tn hiu ra
Hnh 3.15 iu khin t chnh.

3.3.2 Tng hp iu khin thch nghi trn c s l thuyt ti u cc b
(Phng php Gradient)
Xt h thng iu khin thch nghi nh hnh v:
M hnh mu
Ym
(+)
Ys
(-)
u
B iu chnh
i tng
C cu
thch nghi
Hnh 3.16 Cu trc m hnh mu song song.

Xt m hnh mu cho bi phng trnh:
(1 a1s a 2 s2 ) b0 u
(3.26)
H iu khin cho bi phng trnh:
(1 a1s a 2s 2 ) b 0 , t .u
(3.27)
Trong :
-55-
Lun vn thc s
ym, ys: L tn hiu ca m hnh v i tng.

u: L tn hiu vo.
b 0 , t : L thng s c th c iu chnh, c th coi b 0 , t nh c 2

phn. Mt phn b0 l chun do c cu thch nghi y ta cn hiu chnh
b 0 , t hi t v b0.
Hm mc tiu ca vic iu chnh ny l hm cc tiu (1.3)
1
(IP)
2
t k t
tk
1
L(, t)dt
2
t k t
2 (t)dt min
(3.28)
tk
Trong :
L(,t): L dng bnh phng ca sai s.
= ym ys: Sai s u ra gia cc m hnh v h thng iu chnh, ph thuc
gin tip vo sai lch b0 b 0 (, t) .
p dng phng php Gradient, ta tm lut thch nghi c bn:
b 0 (, t) - K grad(IP) = - K
Trong :
(IP)
(3.29)
b 0
+ b 0 , t : Ch r lut thay i b 0 , t .
+ K: H s thch nghi c gi tr tng ng.
Tng ng c tc thay i ca thng s iu chnh b 0 , t :
db 0
(IP)
K
dt
t b 0
(3.30)
Gi thit qu trnh thch nghi chm, tc l bin i trong (IP) c dn n
, t) ti mi thi im nh nht.
t s bin i b(
Vit li phng trnh ta c:
db 0
1 L(, t)
K
K
dt
2
b 0
b 0
(3.31)
-56-
Lun vn thc s
Lut thch nghi (3.31) c gi l lut MIT.

xc nh c cu thch nghi, ta o hm y m ys theo b 0 :
y m ys
y
s
b 0 b 0 b 0
b 0
(3.32)
Thay (3.32) vo (3.31) ta c lut thch nghi l:
d
y
b0 (, t) K s
dt
b 0
(3.33)
Ly o hm ring hai v ca phng trnh (3.27) theo b0 ta c:
ys
y
y
p a1 s a 2 s
b 0
b 0
b 0
(3.34)
Gi thit l qu trnh thch nghi chm, thng s b0 bin i chm, phng

trnh (3.34) ly gn ng:
ys
ys
2
ys
p a1
a
2 2
t b 0
t b 0
b 0
(3.35)
Vit gn li ta c:
1 a s a s by
2
(3.36)
So snh phng trnh (3.36) v (3.26) ta rt ra:
ys ys
b 0 b 0
(3.37)
Thay (3.37) v (3.33) ta c:
db 0
y
(, t) K s
dt
b0
(3.38)
Do lut thch nghi l:
db 0
(, t) K '..y m
dt
Vi K '
K
b0
(3.39)
(K > 0)
-57-
Lun vn thc s
Trng hp tng qut, ta c m hnh mu cho bi phng trnh:

m
n
i
j
a
s
Y
b j (,t)s
i m
i 0
j 0
(3.40)
i tng iu khin c biu din bi phng trnh:
i 0
a i (, t)si Ys
j0
b j (, t)s j
(3.41)
Vi tiu chun ti u (IP) cho bi phng trnh (3.28) v a0 = 1 ta tm c

lut thch nghi:
da i
y
(, t) k ia .. s ;
dt
a i
db j
dt
(, t) k ib ..
ys
;
b j
i = 1,2,...n
(3.42)
j = 1,2,...m
(3.43)
Trong kia, kjb l hng s dng.

Mun tm c cu thch nghi, ta xc nh cc hm nhy:
Theo (3.41), ti thi im t = t1, ta thy:

Y
s
i (, t)s
a
i 1
Y
s
j0
b j (, t)s j u
y s
a i
y s
b j
(3.44)
Gi thit tc bin thin ca cc h s iu chnh chm, t (3.44) vi phn

hai v theo a i v b j ta nhn c:
Ys
si Ys a i t t
a i (, t)s
i 1
Ys
b j
= s ju t t1
j1
bi (, t)si
Ya
(3.45)
Yb
(3.46)
T suy ra hm truyn ca b lc l:
Fs (s)
1
n
1 a i (, t)si
(3.47)
i 1
-58-
Lun vn thc s
Trong trng hp n gin, c th ly gn ng ho hm nhy cm, nhn

c:
Ys
si Ys Vi i = 1,2,3,...., n
a i
(3.48)
Ys
s j
b j
(3.49)
Vi j = 1,2,3,...., m
V d: Xt i tng m t bi:
phng trnh:
dy m
ay bu ; M hnh mu c m t bi
dt
dy m
a m y b m u
dt
Tn hiu iu khin: u(t) 1 u c (t) 2 y(t)

t: e = y- ym
Trong y l u ra ca h kn, ta c:
Y
b1
d
U c ; Vi s
l ton t vi phn.
s a b 2
dt
Hm nhy c xy dng bi o hm ring sai s theo cc bin 1 v

b 1
E
b
b1
E
Uc
Y
Uc ;
2
1 s a b2
2 (s a b2 )
s a b2
2
2 :
Gs(s)
uc
G(s)
e
+
1
-
bm
s am
bm
s am
Hnh 3.17 S khi h thng iu khin thch nghi theo m hnh.

mu bc nht.
-59-
Lun vn thc s
Cc cng thc trn khng th s dng trc tip v khng bit a, b do ta s

dng phng php gn ng. Ta thy rng khi s + a + b2 = s + am th tham s ca
h thng hon ton ging vi m hnh mu. V vy coi gn ng: s + a + b2 s +
am. Ta nhn c quy lut iu khin tham s:
d1
m u c e
dt
s am
(3.50)
d2
m u c e
dt
s am
trong (3.50) ni ln tc hi t ca thut thch nghi.

Tm li: Phng php Gradient gip ta d dng tm ra lut iu khin
nhng ch gii hn min bin thin thng s trong di hp. Kh kho st vng
n nh ca h thng, c bit i vi h bc cao th khng th xc nh c
vng n nh chnh xc.
3.3.3 Tng hp h thng iu khin thch nghi trn c s n nh tuyt

i.
Xt h thng iu khin theo m hnh song song c cu trc nh hnh (3.18)
M hnh mu c m t bi h phng trnh vi phn:
A .X B .U
X
m
m
m
m
m
(3.51)
i tng iu khin c m t:
A (e, t).Y B (e, t).U
Y
p
p
p
p
p
(3.52)
Trong : e = Xm - Yp
(3.53)
Tn hiu iu khin a vo h thng c iu khin:

Up Km Xm Kp Yp Ku Um
(3.54)
Vi:
Yp: l vct trng thi ca i tng iu khin, bc mx1.
Xm: l vct trng thi ca m hnh bc nx1.
Um: l vct i lng vo m hnh bc mx1.
-60-
Lun vn thc s
Up: l vct i lng vo h thng c iu khin, bc mx1.

Am, Bm, Ap, Bp, Km, Ku: l cc ma trn hng, c bc tng ng.
Gi thit:
- Cc cp ma trn [Am, Bm] v [Ap, Bp] l n nh vi Am l ma trn Hurwitz.
- Cp [Ap, Bp] c tnh iu khin.
Bi ton tng hp h iu khin thch nghi c t ra y l xc nh cc
ma trn Ku, Km sao cho vi cp Am, Ap, Bm, Bp th cc i lng trng thi ca h
thng iu khin bm theo cc i lng trng thi ca m hnh.
Theo iu kin Erzberger, qu trnh c iu khin bm cht theo m hnh
khi v ch khi:
e(t) = Xm - Yp = 0
(3.55)
Y
0
e X
m
p
(3.56)
C hai s thch nghi c bn, c chng minh l tng ng nhau:

S thch nghi thng s: (hnh 3.18) Trong s ny cc ma trn K U(t),
Kp(t) cn thay i b p li cc bin thin thng s ca h thng cn iu khin.
M hnh mu
Ym
+
Km
UM
Ku
i tng
iu khin
+
Kp
C cu
thch nghi
Hnh 3.18 Phng php thch nghi thng s.
S tng hp tn hiu b sung Up2 (hnh 3.19): Trong s ny tn

hiu b sung Up2(t) c a thm vo h iu khin.
-61-
Lun vn thc s
Ym
M hnh mu
Km
UM
Ku
i tng
iu khin
+
Up1
+
Up2
Kp
C cu
thch nghi
Hnh 3.19 Phng php tng hp tn hiu b sung Up2.
Xt biu thc tn hiu vo:

Up (t, e) Kp (t, e).Yp Ku (t, e).Um Km .Xm
(3.57)
t Kp (t, e) Kp Kp (t, e)
Ku (t, e) Ku Ku (t, e)
Vi: Kp , Ku : l cc ma trn hng.

Ku (t,e) , Kp (t,e) : l cc thnh phn bin thin ca Ku, Kp.
Tng t i vi Up(t,e).
U p1 (t, e) K p .Yp K u .U m K m .X m
Up2 (t, e) Kp .Yp Ju .Um
Nh vy tn hiu iu khin vo (1.32) tr thnh:

U p (t, e) K p .Yp K m .X m K u .X m U p2 (t, e)
(3.58)
Tn hiu Up2(t,e) l tn hiu b xung t mch vng thch nghi, c to ra th

no c th b p c s bin thin ca thng s, dn n h thng bm cht
theo m hnh.
3.3.4 Tng hp h thng iu khin thch nghi dng l thuyt Lyapunov.
-62-
Lun vn thc s
L thuyt n nh Lyapunov
grad V
Qu o
c tm ra bi nh bc hc Nga
Lyapunov vo cui th k 19. T
tng ca phng php Lyapunov
ng ng mc
c xy dng trn c s bo tn
V(x)=k1
V(x)=k2<k1
nng lng ca mt h vt l. H vt
l ny c nng lng ton b trng
thi cn bng bng 0, xung quanh
Hnh 3.20 Minh ho phng php

Lyipunov vi vic kho st tnh n nh.
trng thi cn bng nng lng ca h ln hn 0 v c xu th tin n 0. Trng thi

cn bng c gi l n nh nu vng xung quanh im cn bng ca h thng,
gi tr ca hm gim dn hoc khng thay i.
kim tnh n nh ca h thng ca h thng ti v tr Xe, cn phi xc
nh c hm nng lng V(x) - gi l hm Lyapunov, ph thuc vo trng thi
ca h thng. Khng gim tng qut nu coi Xe l im gc ca khng gian trng
thi v ln cn 0 hm V(0) xc nh dng. Khi vect:
T
V
V
gradV =
,....,
lun hng ra xa im gc. Do nu vect gradV l vect
x n
x1
.
( X l vect tip tuyn ca qu o pha ca h) lp vi nhau mt gc
90 0
th
qu o pha X(x0,t) lun c hng v gc to . iu ny tng ng

T .
gradV X gradV X cos<0

vi: V
.
Gi sai s gia i tng v m hnh l: e = y - ym. Bi ton t ra l cn tm

hm Lyapunov v c cu thch nghi sai s tin n 0.
Xt h bc nht c m t bi phng trnh:
dy
ay bu
dt
Gi thit m hnh mu c m t bi:

dy m
a m y m b m u c vi am > 0 v tn hiu c gii hn.
dt
-63-
Lun vn thc s
Tn hiu iu khin: u 1u c 2 y vi 1 , 2 l cc tham s iu chnh.

Sai s: e = y - ym
o hm phng trnh sai s ta c:
de
a m e b2 a a m y b1 b m u c
dt
Cn phi cho sai s tin n 0 nu cc tham s tin n cc gi tr:

1 10
am a
bm
0
; 2 2
b
b
Ta tm cch xy dng mt c cu iu chnh thng s iu chnh cc tham

s
1 v 2 ti
ga tr mong mun. Mun vy vi gi thit b 0 v c hm bc 2
sau:
V e, 1 , 2
1 2 1
1
2
2
e b2 a a m b1 b m
2
b
b
Hm ny s bng 0 khi sai s e = 0. V tham s b iu chnh bng gi tr

t. hm ny c coi nh hm Lyapunov th o hm
dV
phi m.
dt
d
d
dv 1 de 1
1
e b2 a a m 2 b1 b m 1
dt 2 dt
dt
dt
a m e2
1
d
1
d
b2 a a m 2 ye b1 b m 1 u c e
dt

dt
Nu nh cc tham s c dng:
d1
dv
d2
a m e2
u c e ;
ye ( - tc hi t) ta nhn c:
dt
dt
dt
T nh l Lyapunov, sai s tin n gn 0. Tuy nhin, cc tham s cng cn

phi hi t dn n gi tr t. S cu trc ca h biu din trn hnh (3.21).
-64-
Lun vn thc s
Gm(s)
ym
Uc
G(s)
Hnh 3.21 S khi h MRAS da trn l thuyt Lyapunov cho

i tng bc nht
So snh vi s hnh (3.17) theo lut MIT ta thy chng ch khc l khng
c khu lc ca tn hiu uc v y.
Nhn xt:
- Trong c hai trng hp, lut iu chnh thch nghi cc tham s theo
Gradient v theo Lyapunov c th c vit di dng tng qut:
d
e
dt
(3.59)
vi l mt vct tham s.
[-u c y]T
i vi lut Lyapunov.
am
uc yT i vi lut Gradient.
s am
So vi lut Gradient, lut iu chnh xy dng t l thuyt Lyapunov n

gin hn v n khng yu cu phi lc tn hiu.
- Phng php hm Lyapunov c mt s u im trong bi ton n nh. Bi
v n c xy dng trn c s cc hm bit, khng i hi tm nghim bng cc
thut ton phc tp. Kinh nghim trong vn xy dng hm Lyapunov l tm hm
-65-
Lun vn thc s
ti u cho tng trng hp c th, tc l tm hm cho iu kin tt nht ca bi

ton n nh.
- i vi cc h c v phi ph thuc thi gian vic xay dng hm Lyapunov
gp nhiu kh khn hn nhiu so vi h dng (khng ph thuc thi gian).
- Vic xy dng hm Lyapunov trong min cho trc i vi h phi tuyn
khng th khng nh gii quyt mt cch trn vn v y . Thc t cho thy
cha c mt loi hm Lyapunov no mang tnh tng qut.
3.3.5 iu khin m thch nghi.
B iu khin m thch nghi c 2 phng php v cu trc c bn:
+ B iu khin m thch nghi theo phng php thch nghi trc tip
c tng qut trn s hnh 3.22
+ B iu khin m thch nghi theo phng php thch nghi gin tip
c tng qut trn s hnh 3.23
x
-
B chnh
nh m
Nhn dng
tham s
B iu khin
i tng
Hnh 3.22 Phng php iu khin thch nghi trc tip
B chnh
nh m
x
-
B iu khin
Nhn dng
tham s
i tng
Hnh 3.23 Phng php iu khin thch nghi gin tip
-66-
Lun vn thc s
iu khin thch nghi trc tip l lut iu khin c nhn dng v c

lng trc tip. iu khin thch nghi gin tip l s dng b nhn dng rt ra
c tnh ng hc ca i tng sau thng tin ny dng tnh ton tham s b
iu khin. Ngha l b iu khin c chnh nh thch nghi tham s v cu trc
sau khi nhn dng i tng.
3.3.6 Phng php iu khin thch nghi theo sai lch.
y l phng php iu khin da trn c s tuyn tnh ha ln cn qu
o chuyn ng tnh cho h phng trnh vi phn m t ng lc hc. Tn hiu
c tnh t khi phn hi c lut iu khin thch nghi c th l gin tip hoc trc
tip cc sai s iu khin tim cn v 0. u im ca phng php l n gin
ha thit k nh vic tuyn tnh ho. Tuy nhin, n cha kho st h khi iu khin
bm qu o. ng thi phng php ny quan tm nhiu n s tng tc gia
cc chuyn ng m cha ch n s bin thin thng s ng hc ca h.
3.4 KT LUN CHNG 3
Ni dung ton chng 3 tc gi cp n cc vn sau:
-
Tng quan v l thuyt iu khin kinh in
iu khin thch nghi v cc phng php tng hp h iu khin thch

nghi
L thuyt logic m v iu khin m
Nhn chung th cc l thuyt iu khin trn u c nhng u im v c

nhng hn ch nht nh:
- L thuyt iu khin kinh in ra i sm, vic tng hp b iu khin
kinh in cho h tuyn tnh t ti mc tng i hon chnh vi cc b iu
khin PI, PD, PID v n pht huy tc dng trong c thi gian di. Song i vi
h phi tuyn v h c thng s bin i th l thuyt kinh in t ra c nhiu hn
ch, vic tng hp thng phi dng cc phng php gn ng.
- L thuyt iu khin thch nghi ra i t nhng nm 50 ca th k 20 v
c hnh thnh nh mt mn khoa hc, t t duy tr thnh hin thc, t cch
gii quyt nhng vn c bn tr thnh bi ton tng qut, t vn v s tn ti
.
.
.
H thng
x1(t)xp(t
)
-67-
Lun vn thc s
v kh nng c th gii quyt n nhng p dng nh hng xut pht t tnh bn

vng v cht lng. Trong iu khin thch nghi tc gi quan tm nhiu ti cc h
thch nghi c xy dng theo phng php Gradient v Lyapunov, n c dng
lm c s cho vic xut cc phng php tng hp h thch nghi m sau ny.
- L thuyt tp m ra i t nm 1965 v c p dng trong nhiu lnh
vc nht l trong lnh vc iu khin. Hin nay iu khin m l mt trong cc
phng php iu khin ni bt bi tnh linh hot v kh nng ng dng. Vi tc
pht trin vt bc ca tin hc chp cnh cho s pht trin a dng v phong ph
ca iu khin m. Tuy nhin tng hp c b iu khin m theo mt logic
cht ch v tng hp cc b iu khin m nng cao nh m thch nghi, m noron vn cn ang b ng, thu ht s quan tm ca nhiu nh nghin cu.
-68-
Lun vn thc s
CHNG IV
THIT K H THNG IU KHIN CNH GI CA TUABIN
TRC NG N NH TC
4.1 S CU TRC H THNG
4.1.1 GII THIU S CU TRC H THNG
Tc ng
ca gi
n*
B IU
KHIN
IU KHIN
TUABIN
CNH GI
(-)
PHN HI
Hnh 4.1 S cu trc h thng

Khi b iu khin: c nhim v cung cp tn hiu iu khin theo yu cu
cho khi iu khin cnh gi, b iu khin c th s dng cc b iu khin kinh
in nh PID, thch nghi hoc cc b iu khin thng minh nh m, thch nghi
m...
Khi iu khin cnh gi: c nhim v thay i gc cnh ca 5 cnh tuabin
theo tn hiu t yu cu, gm c 5 h thng iu khin v tr gc c lp cho 5 cnh
ca tuabin cc v tr khc nhau.
In1
Out1
DK vi tri goc canh 1

Out1
In1
Out1
Out2
In1 Out3
In1
Out1
In1
Out1
Out4
In1
Out5
chia tin hieu dat goc canh
Out1
In1
Out1
Hnh 4.2 Cu trc khi iu khin cnh gi

-69-
Lun vn thc s
H thng iu khin v tr s dng b bin i xung p mt chiu cung cp

in cho ng c mt chiu, c cc mch vng phn hi dng in, tc v v tr
nh hnh 4.3
1
s
-K-
In1 Out1
In1
Saturation
Rw
In1 Out1
In1 Out1
PI
BBDXA
Integrator
Uu
Saturation1
PD
1
Out1
Iu
Transfer Fcn1
0.2
Transfer Fcn2
DC
0.002s+1
0.0223
0.001s+1
Hnh 4.3 S m phng h thng iu khin v tr gc cnh

Khi tuabin: tn hiu vo khi tuabin l v tr gc ca cc cnh, tn hiu ra l
tc quay ca tuabin l i lng cn c n nh trong qu trnh lm vic. Tn
hiu lm tc quay ca tuabin thay i y l vn tc gi, khi vn tc gi thay
i th tc ca tuabin cng thay i theo. Nh vy tc gi y c coi l
nhiu tc ng vo h thng. Vy nhim v ca b iu khin l iu khin h
thng khi tc gi thay i th tc ca tuabin vn c n nh trong mt
gii hn cho php no .
T ta c th thy tc ca tuabin n l mt hm ca cc gc cnh iu
khin v tc gi, tc l n = f(i, V) = K(1 + 2 + 3 + 4 + 5)
Vi K = f(V) thay i ph thuc vo tc gi. Tc ca tuabin c n
nh khi tc gi thay i trong mt gii hn cho php quanh gi tr tc nh
mc V0, v vy ta c th gi thit K = f(V) = V0 + V vi V l nhiu tc gi ngu
nhin dng tc ng vo h thng lm thay i tc quay ca tuabin.
4.1.2 TNG HP H THNG S DNG CC B IU KHIN KINH
IN
4.1.2.1 Tng hp h thng dng b iu khin PID kinh in
Nh ta bit cc b iu chnh PID (bao gm P, PI, PD v PID) c
nghin cu v pht trin ti mc hon thin. xc nh c thng s ti u (K p,
Ki, Kd) ca PID ta c th dng phng php mdul ti u, phng php mdul i
-70-
Lun vn thc s
xng v cc phn mm chuyn dng (v d MATLAB) t ng xc nh ti u

cc thng s PID. y ta dng ta dng phn mm MATLAB xc nh cc
thng s PID, s m phng h thng nh hnh 4.4.
PID
Constant
PID Controller
In1
Out1
In1 Out1
Scope
DK vi tri 5 goc canh
tuabin va do luong
Hnh 4.4 S m phng h thng dng PID

Tin hnh chy m phng vi cc gi tr nhiu ca tc gi khc nhau. Cc
kt qu m phng c ch ra trn cc hnh 4.5 v hnh 4.6. Trong hnh 4.5 cho
trng hp tc gi bng nh mc V0, hnh 4.6 ng vi tc gi thay i.
0.8
0.6
0.4
0.2
0.5
1.5
2.5
thi gian (s)
3.5
4.5
Hnh 4.5 Kt qu m phng vi tc gi V=V0
-71-
Lun vn thc s
0.8
0.6
0.4
0.2
0.5
1.5
thi gian (s)
2.5
3.5
Hnh 4.6 Kt qu m phng vi tc gi V thay i

T kt qu m phng ta thy khi tc gi bng nh mc th tc ca
tuabin vn gi c n nh v bm st vi gi tr t. Tuy nhin khi tc gi
thay i qu ln v ngu nhin th b iu khin PID kinh in khng p ng c
yu cu cht lng. Do m ta cn phi s dng cc b iu khin c th thay i
c thng s n nh tc tuabin khi tc gi thay i nh cc b iu
khin thch nghi.
4.1.2.2 Tng hp h thng dng b iu khin thch nghi kinh in
iu khin thch nghi l tng hp cc k thut nhm chnh nh cc b iu
chnh trong mch iu khin nhm thc hin hay duy tr cht lng ca h thng
mt mc nht nh khi thng s ca qu trnh iu khin khng bit trc hoc
thay i theo thi gian.
Vi h thng iu khin cnh gi tuabin n nh tc quay th nhiu tc
ng vo h thng (tc gi) thay i lin tc theo thi gian, do cn phi c b
iu khin thay i c thng s nh b iu khin thch nghi. S m phng h
thng dng b iu khin thch nghi theo m hnh truyn thng nh hnh 4.7.
-72-
Lun vn thc s
Out1
In1
gia tri dat
In2
Out1
In1
Out1
In1Out1
Scope
In3
0.13s+1
tuabin va do luong
thich nghi kinh dien

mo hinh mau
Hnh 4.7 S m phng h thng dng b K thch nghi

theo m hnh truyn thng
1
In1
69
1
s
Gain1
2
In2
Out1
1
s
3
Gain2
3
In3
Hnh 4.8 S khi thch nghi kinh in da trn l thuyt Lyapunov
0.8
0.6
0.4
0.2
0.5
1.5
2.5
thi gian(s)
3.5
4.5
Hnh 4.9 Kt qu m phng vi gi tr t khng i
-73-
Lun vn thc s
1.6
1.4
1.2
0.8
0.6
0.4
0.2
thi gian(s)
10
12
Hnh 4.10 Kt qu m phng vi gi tr t thay i

Tin hnh chy m phng vi cc gi tr t tc c nh v thay i, kt
qu m phng c ch ra trn hnh 4.9 v 4.10. T kt qu m phng ta thy khi
gi tr t tc c nh (hnh 4.9), so vi b iu khin PID th tc tuabin c
gi n nh, t dao ng v bm st gi tr t. Tuy nhin khi gi tr t tc thay
i (hnh 4.10) th b iu khin thch nghi kinh in khng p ng c cht
lng ng ca h thng, trong qu trnh thay i th tc ca tuabin b dao ng
nhiu. Do cn phi s dng cc b iu khin thng minh c xy dng trn c
s ca l thuyt iu khin hin i nh cc b iu khin m, m thch nghi...
4.2 TNG HP H THNG S DNG B IU KHIN M THCH
NGHI
4.2.1 KHI NIM
4.2.1.1 nh ngha
H iu khin thch nghi m l h iu khin thch nghi c xy dng
trn c s ca h m.
So vi h iu khin kinh in h iu khin thch nghi m c min tham
s chnh nh ln. Bn cnh cc tham s K, TI, TD ging nh b iu khin PID
thng thng, b iu khin m ta cn c th chnh nh cc tham s khc nh
hm lin thuc, cc lut hp thnh, cc php ton OR, AND, NOT, nguyn l gii
m v.v....
-74-
Lun vn thc s
Trong thc t h iu khin thch nghi c s dng ngy cng nhiu v n

c cc u im ni bt so vi h thng thng. Vi kh nng t chnh nh li cc
tham s ca b iu chnh cho ph hp vi i tng cha bit r a h thch
nghi tr thnh mt h iu khin thng minh.
4.2.1.2 Phn loi
H iu khin thch nghi m c th phn thnh 2 loi:
- B iu khin m t chnh l b iu khin m c kh nng chnh nh
cc tham s ca cc tp m (cc hm lin thuc).
- B iu khin m t thay i cu trc l b iu khin m c kh nng
chnh nh li cc lut iu khin. i vi loi ny h thng c th bt u lm vic
vi 1 vi lut iu khin c chnh nh trc hoc cha cc lut.
4.2.1.3 Cc phng php iu khin thch nghi m
Cc b iu khin thch nghi r v m u c mch vng thch nghi c
xy dng trn c s ca 2 phng php:
C cu
thch nghi
Nhn dng
B iu khin
i tng
Hnh 4.11 Cu trc phng php iu khin thch nghi trc tip.
.
- Phng php trc tip thc hin thng qua vic nhn dng thng xuyn
cc tham s ca i tng trong kn. Qu trnh nhn dng thng s ca i tng c
th thc hin bng cch thng xuyn o trng thi ca cc tn hiu vo/ra ca i
tng v chn 1 thut ton nhn dng hp l, trn c s m hnh bit trc hoc
m hnh m.
-75-
Lun vn thc s
Phim hm
mc tiu
Chnh nh
B iu khin
i tng
Hnh 4.12 Cu trc phng php iu khin thch nghi gin tip.
- Phng php gin tip thc hin thng qua phim hm mc tiu ca h
kn xy dng trn cc ch tiu cht lng.
Phim hm mc tiu c th c xy dng trn c s cc ch tiu cht
lng ng ca h thng nh qu iu chnh, thi gian qu hay cc ch tiu
tch phn sai lch v.v... B iu khin thch nghi m c th chia thnh 2 loi:
* B iu khin m t chnh cu trc
l b iu khin m c kh nng t chnh nh cc lut iu khin.
thay i lut iu khin trc tin ta phi xc nh c quan h gia gi tr c
hiu chnh u ra vi gi tr bin i u vo. Do cn phi c m hnh th
ca i tng, m hnh ny dng tnh ton gi tr u vo tng ng vi 1 gi tr
u ra cn t c ca b iu khin ta c th xc nh v hiu chnh cc nguyn
tc iu khin m bo cht lng h thng.
* B iu khin m t chnh c m hnh theo di
Mt h t chnh khng nhng chnh nh trc tip tham s ca b iu
khin m cn chnh nh c tham s ca m hnh i tng c gi l b t chnh
c m hnh theo di. Vi b iu khin ny h m khng ch phc v cho vic iu
khin i tng m cn phc v cho vic nhn dng i tng.
S cu trc ca h t chnh c m hnh theo di nh hnh 4.13.
-76-
Phim hm
mc tiu
Lun vn thc s
M hnh
i tng
Nhn dng
To tn hiu
iu khin
i tng
Hnh 4.13 iu khin thch nghi c m hnh theo di.

B iu khin thch nghi c m hnh theo di 3 thnh phn:
- M hnh m ca i tng c xc nh trong khi h thng ang lm
vic bng cch o v phn tch cc tn hiu vo/ra ca i tng. M hnh m ca
i tng gin tip xc nh cc lut hp thnh ca b iu khin. V vy b iu
m t chnh c m hnh theo di cng chnh l b iu khin m t chnh cu trc.
- Khi phim hm mc tiu: Cc ch tiu cht lng ca h thng c
phn nh qua phim hm mc tiu bng cc hm lin thuc.
- Khi to tn hiu iu khin c nhim v la chn tn hiu iu khin t
tp cc tn hiu iu khin xc nh t m hnh i tng v m bo tt nht ch
tiu cht lng ra.
4.2.2 TNG HP B IU KHIN M THCH NGHI N NH
4.2.2.1 C s l thuyt
Xt 1 h phi tuyn SISO c m t bi phng trnh:
n
n 1
y f y, y ' ,...y bu ; y = x l bin trng thi.
(4.1)
n
y f y bu
Trong u l u vo, y l u ra, hm phi tuyn f(y) v hng s b c

gi thit cha bit, y [y, y' ,...y(n 1) ]T . Mc tiu l thit k b iu khin m to
ra tn hiu iu khin u sao cho tn hiu ra y(t) ca h thng bm theo qu o yd
cho trc no .
-77-
Lun vn thc s
Nu bit trc f(y) v b ta c th tng hp c b iu khin theo cc

phng php kinh in, b iu khin c tn hiu u ra l:
dn yd
1
u(t) f(y) n K T E
b
dt
Trong :
(4.2)
k 1
de

k
dt
T
K 2 , E

d n 1 e
k n
n 1
dt
Cc h s k1, k2,...kn c chn sao cho tt c cc nghim ca phng trnh:

p n k n p n 1 ... k1 0 nm na tri mt phng phc. Tc l cc nghim p k c
phn thc m:
Re(pk)< 0
(4.3)
Thay (4.2) vo (4.1) ta c:

dn e
d n 1e
k
k1 e 0
n
dt n
dt n 1
(4.4)
Do c iu kin (4.3) nn nghim ca e(t) chc chn tho mn iu kin:

lim e(t) 0
t
(4.5)
Ta thy rng bi ton tng hp trn ch c ngha khi d bit chnh xc m

hnh ton hc ca h thng, hay ni cch khc l trong (4.1) ta bit f(y) v b.
iu ny khng ph hp vi nhiu bi ton thc t. V vy mc tiu iu khin
ra l phi xc nh b iu khin m u u(x, ) v lut iu khin vect tham s
sao cho tho mn cc iu kin sau:
- H kn phi n nh ton cc trong phm vi ca cc bin y(t) , (t) v
u(x, ). Tc l: x(t) Mx , (t) M , u(x, ) Mu vi mi t 0 .
Trong Mx, Mu, M l cc tham s do ngi thit k t ra.

- sai lch e = yd y cng nh cng tt.
-78-
Lun vn thc s
Khi f(y) v b bit th ta d dng tng hp c b iu khin:

u*
dn yd
1
f
y
KT e
n
b
dt
(4.6)
u* c coi l ti u.
Nhng v f(y) v b cha bit nn u* khng th thc hin c, ta s thit
k b iu khin m xp x ho iu khin ti u ny.
Gi thit b iu khin u l tng hp 2 b iu khin b iu khin m
u f (x, ) v b iu khin gim st us (x) :
u = uf + u s
(4.7)
Trong u f (x, ) l b iu khin m c cp trong tng kt 4.1.

Tng kt 2.1: Mt h logic m c n u vo x v 1 u ra
y (x (x1 , x2 ...x n )T R n v y R) . nh ngha ij tp m
A ij vi
cc hm lin
thuc Ajj bao ph min xc nh ca cc bin ngn ng u vo (j = 1,..., n l s

u vo).
i ...i
Lut R u 1 n
if e1 A1i1 and e2 A2i2 and...and en Ainn then u=Bi ....i (4.8)

1
Trong i1= 1, 2...., N1; .... in = 1,2,....Nn l cc hm lin thuc cho mi

bin u vo, B i1.... i n l tp m u ra.
S dng lut hp thnh PROD, m ho theo ng singleton v gii m
bng phng php trung bnh trng tm ta thu c b iu khin m:
N1
u u(x, )
i 1 ....i 1 yi ...i j1 A x j
Nn
ij
n
N
i 1 ....i 1 j1 A x j
N1
(4.9)
ij
u T (x)
(4.10)
-79-
Lun vn thc s
Trong (x) l vect hm c s.
j1 A x j
n
(x)
ij
n
N
i1 1 .... in n1 j1 A j x j
ij
(4.11)
N1
Thay (4.10) vo (4.1) ta c:

y(n) f(y) b[u f (x, ) us (x)]
(4.12)
dn yd
T
T (4.6) ta rt ra: f(y) bu n K e thay vo (4.12):
dt
*
y(n) bu* y(n) m KT e b[u f (x, ) us (x)] sau khi bin i ta c:

e(n) KT e b[u* -u c (x, ) us (x)]
(4.13)
Hoc vit di dng phng trnh trng thi:

e Ae B[u* -u f (x, ) us (x)]
(4.14)
Trong :
0
0
A
-k n
1
0
-k n-1
0
1
-k n-2
Chn hm Lyapunov V
0 ... 0
0 ... 0
... -k1
0

0
B
...

b
(4.15)
1 T
e Pe . Trong P l ma trn dng i xng
2
c xc nh t phng trnh Lyapunov:

ATP + PA = - Q (Q>0)
(4.16)
o hm V ta c:
1 e T Pe 1 eT Pe
V
2
2
(4.17)
Thay (4.14) , (4.16) vo (4.17) ta c:

1 eT Qe eT PB[u* u (x, ) u (x)]
V
c
s
2
1 T
T
T
e Qe e PB u* u f e PBu s
2
(4.18)
-80-
Lun vn thc s
0
Ta cn phi tm hm u s sao cho V
Gi thit ta xc nh c hm f u (x) v hng s bL tho mn iu kin:

f(x) f u (x) v 0<b L b th hm iu khin gim st us(x) c xy dng nh sau:
1
T
u s (x) I1* sgn(e PB u f
bL
fU
1 khi V>V
*
Trong : I1
0 khi V V
(n)
yd
K T e

(4.19)
( V l hng s c chn bi ngi thit
k).
T
V b>0, sign(e PB) c th xc nh, hn na tt c cc thnh phn trong
(4.19) c th xc nh c, v vy b iu khin gim st us l hon ton xc nh.

Thay (4.19) v (4.6) vo (4.18) v xt cho trng hp I1* 1 ta c:
1 e T Qe e T PB 1 f y (n) K T e u u 1 f U y (n) K T e
V
m
c
c
m
2
b
bL
1 T
e Q0
2
(4.20)
Vy s dng us theo (4.19) ta lun nhn c V V .

T (4.19) ta nhn thy rng us ch xut hin khi khng tho mn iu kin:
V V. Do vy trong h thng trong khong sai s nh (ngha l V V ) th ch c
b iu khin m uf lm vic cn b iu khin gim st khng lm vic (us = 0);

Khi h thng c khuynh hng mt n nh ( V V ) th b iu khin gim st bt
u lm vic hng cho V V .
*
Nu chn I1 1 th t (4.20) ta cn phi m bo khng ch gii hn ca
vect trng thi m cn phi m bo cho e hi t v 0. Ta khng ch chn phng

n ny v us thng rt ln.
Tht vy, t (4.20) ta thy us t l vi gii hn ca f U m gii hn ny
thng rt ln. Tn hiu iu khin ln c th gy phin phc do vy c th lm
tng thm chi ph ph. Bi vy ta chn us lm vic theo kiu gim st.
-81-
Lun vn thc s
tm lut iu khin thch nghi vect tham s ta thay u f (x, ) T (x) .

*
t l vect tham s ti u:
*
arg min M sup x M
u c (x, ) u *
*
*
v t w u f (x, ) u biu thc (4.14) c th vit :
e Ae B[u* u f (x, ) u s (x)]

= Ae b[u f (x, * ) u f (x, ) Bus (x) Bw]
(4.21)
= Ae BT (x) Bus (x) Bw
Trong * ; (x) l hm c s.
Chn hm Lyapunov dng:
V
1 T
b
e Pe T
2
2
(4.22)
Vi l mt hng s dng. S dng (4.21) v (4.16) ta c:

1 eT Qe eT PB[T (x) u w]+ b T
V
s
2
(4.23)
Gi Pn l ct cui cng ca ma trn, t (4.15) ta c:

e PB e Pn B
T
(4.24)
Thay (4.24) vo (4.23) ta c:

1 eT Qe b T [ eT P (x) ] eT PBu eT PBw
V
n
s
2
(4.25)
Chn lut thch nghi:

e T Pn (x)
(4.26)
th (4.25) tr thnh:
1 eT Qe eT PBw
V
2
(4.27)
T
Trong : e PBus 0 v
y l iu tt nht ta c th t c.
-82-
Lun vn thc s
4.2.2.2 Thut ton tng hp b iu khin m thch nghi

tng hp m thch nghi ta c th tin hnh theo 2 bc: bc 1 l chn
cu trc ca b iu khin m, bc 2 l xc nh thch nghi cc vect tham s.
a. Chn cu trc ca b iu khin m
Cu trc ca b iu khin m thch nghi nh hnh 4.14. Trong i
tng iu khin l 1 h phi tuyn bt k c m t tng qut bng biu thc (4.1).
B iu khin m thch nghi c th c nhiu u vo gm sai lch v cc o hm
ca chng. Mc ch ca vic thit k b iu khin m l to ra tn hiu iu khin
u sao cho qu o u ra ca i tng (y) bm theo qu o cho trc (yd) cho d
c s thay i thng s v cu trc ca i tng.
yd
H phi tuyn
y(n) f(y, y' ..., y(n 1) bu
B iu khin m
u u(e, ) T (e)
d
dt
Lut thch nghi
' eT p n (e)
Hnh 4.14 S cu trc b iu khin m thch nghi.
b. Cc bc thc hin thut ton
Trong trng hp tng qut b iu khin m c n u vo, thut ton tng
hp c tm tt theo cc bc sau:
- Bc 1: Xc nh hm lin thuc ca cc bin ngn ng u vo.
(n 1)
1)
y (n
t E e1 , e2 ,...., e n y y d , y y d ... y
d
T
nh ngha min xc nh ca cc thnh phn ej l:
-83-
Lun vn thc s
j
j
min
(j= 1, 2,...., n l s u vo)
, max
Ch rng gi tr thc ca ej c th bn ngoi khong min , max , hm

j
lin thuc ca cc tp m c th chn l hnh tam gic, hnh thang, hm Gaus, hm

sigmoi v.v... Chn hm lin thuc kiu hnh tam gic v hnh thang c u im l
n gin, song c nhc im l iu chnh khng trn. Hnh 4.15 l v d v
hm lin thuc kiu Gaussmf gia v trimf 2 bn i vi 1 bin ngn ng u
vo.
A (e j ) (e j ; 1j ; 1j ) 1
j
1
1
1 e
A (e j ) (e j ; pj ; pj ) e
(4.28)
1j (e j 1j )
pj (e j pj )2
(4.29)
j
p
Vi p = 2, 3...,Nj -1,cn:
A (e j ) (e j ; Nj ; Nj )
j
N
1
1 e
Nj (e j Nj )
j
(4.30)
j
j
j
j
j
j
Trong : min 1 2 N 1 N max
Hnh 4.15 Hm lin thuc vi 7 tp m.

- Bc 2: Xy dng b iu khin m u t tch N1...Nn lut sau y:
i i n
Lut Ru 1
if e1 A1i and e2 A2i and...and en Ain then u = B i ...i (4.31)

1
-84-
Lun vn thc s
Trong i1 = 1, 2,..., N1; ... in =1, 2,..., Nn l hm lin thuc cho mi bin
u vo.
B i1 i n l tp m u ra s c xc nh.
Vic thit k b iu khin m by gi chuyn sang vic xc nh cc

thng s B i i .
1
S dng lut hp thnh PROD, m ho theo ng singleton v gii m

bng phng php trung bnh trng tm ta thu c b iu khin m:
N1
u u(e, )
i 1 ....i 1 yi ...i j1 A e j
Nn
ij
(4.32)
i 1 ....i 1 j1 A e j
N1
Nn
ij
u T (e)
Trong :
(4.33)
(e) l tp hp hm m c s bit.
n
j 1
A
(e)
n
N
N
i 1 .... i 1 j1 A e j
ij
(4.34)
ij
Lu thut ton tng hp hm m c s (e) nh hnh 4.16
-85-
1
1
1
2
1
1
2
1
A A
2
2
A A
1
1
1
3
A A
1
1
Lun vn thc s
/
/
2
n
A A
1
2
/
2
1
(e)
2
1
2
2
2
3
Hnh 4.16 Lu thut ton tng hp hm m c s (e).

y i i
1
l im trng tm ca B i i , chng s c chnh nh theo lut

1
thch nghi cho ph hp vi i tng.

l mt vect gm tp hp cc y i i vi i1 = 1, 2,..., N1;....in =1, 2,...., Nn
1
t yl1 , yl2 ,y21 ,y Nl 1 ,y N1N n
(4.25)
Cc thng s c chnh nh nh s dng lut thch nghi sau:

eT Pn (e)
(4.26)
trong l hng s dng xc nh tc ca thut ton cn pn l ct

cui cng ca ma trn P, vi P l nghim ca phng trnh Lyapunov.
ATP+ PA = - Q
(4.37)
Trong Q l ma trn dng xc nh tu , A l ma trn (n x n)
-86-
0
A
-k n
1
0
-k n-1
0
1
-k n-2
0 ... 0
0 ... 0
... -k 2
Lun vn thc s
(4.38)
Vi cc hng s k1, k2 ... c chn sao cho tt c cc nghim ca phng

trnh: Pn + knPn-1+ ....+ k1 = 0 nm bn na tri mt phng phc. Vi cch tng hp
e(t) 0 .
nh vy, h thng chc chn tho mn iu khin lim
t
T cc tp m u vo (4.28) .....(4.30) v cc thng s . Pn c xc

nh trn ta tin hnh xy dng b iu khin m theo trnh t sau:
- nh ngha cc hm lin thuc (4.8) ... (4.30).
- Xy dng hm m c s (4.24).
T
Xc nh lut thch nghi e Pn (e)
- Xy dng b iu khin (4.32).

Nhn xt:
H s trong (4.36) ni ln tc hi t ca thut ton thch nghi. N c
chn v sau c kim nghim thng qua m phng, nu chn qu nh thut
ton thch nghi hi t chm, chn ln, qu trnh hi t nhanh nhng nu chn
qu ln h thng s mt n nh.
Cc gi tr P1 ,P2 c xc nh t phng trnh Lyapunov (4.37). Tuy
nhin ln ca n cng nh hng ng k n cht lng ca h thng. V vy
sau khi thit k xong cn chnh nh li cc gi tr ca chng sao cho m bo cht
lng tt trong ton di thay i ca cc thng s ca i tng.
4.2.3 TNG HP B IU KHIN M THCH NGHI TRN C S L
THUYT THCH NGHI KINH IN
4.2.3.1 t vn
Mt cu trc thng dng nht ca h logic m (FLC - Fuzzy Logic Control)
l cu trc iu khin phn hi sai lch - S nh hnh 4.17.
-87-
Lun vn thc s
Trong kI, l cc h s khuch i u vo, K l h s khuch i u

ra. Thc tin cho thy vic iu chnh FLC kh khn hn nhiu so vi chnh nh
b iu khin kinh in, mt trong nhng l do chnh l tnh mm do ca vng
nhn bit c bn ca b iu khin m v s mc ni cc thng s ca chng. Tuy
nhin khng c mt cch h thng ho no a ra tt c cc thng s ny.
ki
Lut hp
thnh
Hnh 4.17 Cu trc c bn ca h iu khin m 2 u vo.

Hin nay trong cng nghip cc b iu khin logic m thng c thit
k theo kinh nghim v s hiu bit nh tnh i tng ca cc chuyn gia. Vic
chnh nh FLC c thc hin thng qua chnh nh cc hm lin thuc u vo v
u ra - mang nhiu tnh cht m mn. Do khng ph hp vi vic chun ho
cht lng v kh tr thnh mt phng php lun c h thng.
Trong phn ny ta s tip cn kiu thit k hn hp theo hng kt hp c 2
cch tip cn nh tnh v tip cn nh lng. u tin ta xy dng m hnh c bn
ca b iu khin m bao gm cc hm lin thuc, cc lut hp thnh. Chng c th
to ra mt p ng hp l mt mc no . Lut hp thnh c bn c chn
l mt lut hp thnh tuyn tnh, cn hm lin thuc c th c xc nh theo hm
hnh tam gic, hnh thang hoc hm Gauss. Sau khi xc nh c hm lin thuc
v lut hp thnh c bn, ta phi s dng chng tm ra h s khuch i t l. C
th s dng nhiu phng php nh lng khc nhau, vic xc nh h s khuch
i t l ng rt quan trng i vi s hot ng ca FLC.
Trong iu khin kinh in, ta bit mt Algorithm iu khin thch nghi
theo m hnh mu s dng phng php Gradient hay phng php Lyapunov rt
thch hp cho vic iu khin mt qu trnh khng nhn bit c, c bit l i
vi h phi tuyn. Mt b iu khin m vi lut hp thnh tuyn tnh v cc hm
lin thuc tam gic c th xp x tuyn tnh xung quanh trng thi cn bng. Do
-88-
Lun vn thc s
ta s dng tng ca b iu khin thch nghi kinh in p dng cho h

iu khin m, thch nghi vi mt vi s xp x no .
Cu trc ca cc b iu khin m thch nghi da trn c s l thuyt
Lyapunov v phng php Gradient kinh in.
4.2.3.2 M hnh ton hc ca b iu khin m
Xt b iu khin m hai u vo nh hnh 4.17. xy dng m hnh
ton hc ca n ta thc hin cc bc sau:
a. Chn cc hm lin thuc
Cc tp m u vo c chn m ho l E v R. Ta chn s lng cc
tp m vo v ra bng nhau v bng N, cc hm thuc s b chn hnh tam gic vi
mi hm lin thuc bao ph khng gian trng thi 2A u vo v 2B cho mi u
ra. Gi s chn hm j lin thuc m cho E, R, U, chn j hm lin thuc dng cho
E, R, U, v mt hm lin thuc zezo cho E, R, U (hnh 4.18) . Nh vy s lng cc
hm lin thuc ca mi bin vo/ra l N = 2j+1.
n gin cho vic xy dng lut hp thnh, thay v s dng cc ngn ng
m nhiu, dng nhiu v.v... ta s dng cc ch s l s, v d
1 (x), 2 (x), 0 (x), 1 (x)....
j (x)
0 (x)
j (x)
0,5
x
-A
Hnh 4.18 nh ngha hm thuc cho cc bin vo - ra.

Ta thy rng mc d s dng cc hm lin thuc ging nhau m t 2 tp
m u vo nhng thng qua cc h s kI v (hnh 4.17) chng thc s l cc hm
lin thuc khc nhau.
b. Chn lut iu khin
Vi cc b iu khin m hai u vo, mi u vo c N tp m s c N 2
lut iu khin m t tt c cc kh nng kt hp ca Ei v Rj . Dng tng qut ca
lut hp thnh l:
-89-
Lun vn thc s
Nu E = Ei v R = Ri th U = uk vi k = f(i, j)
nh ngha 1: Cc lut iu khin ca mt b iu khin m c gi l tuyn
tnh nu f(i, j) l mt hm tuyn tnh i vi i v j, v d f = i + j; f = i + j + 1
v.v
Trong f(i, j) l quy lut sinh ra cc lut iu khin. Vi cc f(i, j) khc
nhau s cho cc lut iu khin khc nhau. Vic chn lut iu khin c th coi l
mt ngh thut v ph thuc rt nhiu vo kin thc v kinh nghim cc chuyn gia.
Vic chn cc lut iu khin phi to iu kin thun li cho ngi thit k h iu
khin m.
E -3
-2
-1
-1
-2
-1
-3
-2
-1
-1
-3
-3
-2
-1
-2
-3
-3
-3
-2
-1
-3
-3
-3
-3
-3
-2
-1
Hnh 4.19 Lut hp thnh tuyn tnh.

Hnh 4.19 th hin cc lut iu khin tuyn tnh vi f = i+j cho b iu
khin m hai u vo v mt u ra vi 7 hm lin thuc cho mi bin vo v bin
ra.
Bng 4.1 Quan h vo ra ca lut hp thnh tuyn tnh.
i+j
-3
-2
-1
Uk-1
-3
-2
-1
nh ngha 2: B iu khin m c s (Basis Fuzzy Control - BFC) l b iu

khin m c hai u vo v mt u ra, s tp m ca cc u vo v u ra
bng nhau, lut hp thnh c s dng l lut hp thnh tuyn tnh.

-90-
Lun vn thc s
c. Phn tch lut c s hnh thnh suy lun

Cc lut c s chia vng lm vic ca b
Ra
iu khin m c bn thnh nhiu vung, vi

u ra ca lut nh hnh .... V tt c cc thao tc
m u c th c tnh ton trn cc ny nn
-3
3
V
o
chng c gi l cc suy lun.

Mt cch tng qut ta c th chn suy Hnh 4.20 Quan h vo ra ca
lut hp thnh tuyn tnh.
lun IC (i,j) phn tch. ny c to bi cc
hm lin thuc i (E), i 1 , i (R) v i 1 (R) , cc ng cho ca chia chng thnh 4
vng (IC1.... IC4) (hnh 4.21).
Cc d liu vo (E, R) trong lut c bn lun lun c nh x n d liu
vo tng i (e*,r*) trong IC(i,j) theo cng thc:
E = iA+ e* (i = ....., -1, 0, 1,...)
(4.39)
R= jA + e* (j = ....., -1, 0, 1,...)
(4.40)
Tt c cc thao tc m bao gm M ho, Suy din m v Gii m u

c th c thc hin trong suy lun IC.
-91-
i 1
Lun vn thc s
i 1
E
Ei-1
j+1
Rj+1
uk
Ei
Ei+1
uk+1
uk+2
suy lun
(i-1,j) IC(i,j)
j
Rj
uk-1
uk
uk+1
(i,j-1)
(i-1, j-1)
j1
Rj-1
uk-2
uk
uk-1
k-1
k
B
k+1
B
u
uk-1
uk
uk+1
Hnh 4.21 S hnh thnh suy lun t lut hp thnh.

d. Cc thao tc m trong suy lun
Trong suy lun ta c th thc hin cc thao tc m nh: M ho, suy din
m v gii m. S dng phng php suy lun Max-Min ca Mamdani, cc thao
tc c trnh by nh sau:
* M ho: T cc biu thc biu thc (4.39) v (4.40) ta thy trong mt
IC(i, j), cc u vo (E, R) c xc nh bi (e*, r*) vi cc gi tr hm lin thuc
ca e* l i v i 1 , cc gi tr hm lin thuc ca r* l j v j1 .
V lun tn ti quan h i i 1 1 v j j1 1 do gi tr cc hm
lin thuc u vo trong suy lun l:
-92-
e*
e*
; i 1
A
A
*
r
r*
j 1 ; j 1
A
A
Lun vn thc s
i 1
IC1
j+1
IC2
i+1
IC3
j+1
i+1
IC4
i+1
j+1
(4.41)
r*
j1
i+1, j+1
3 , U k 2
i, j
1 , U k
Hnh 4.22 Kt qu ca php ly

Max-Min trong suy lun.
* Suy din m:
IC2
IC3
i 1
e*,r*
IC1
IC4
k = i+j
i+1, j
e*
22 , U k 1
Hnh 4.23 Cc vng trong suy lun.
T lut hp thnh c s: Nu E = Ei v R = Rj th U = uk
Vi k = f(i, j) = i + j
(4.42)
Hm lin thuc ca cc tp m u ra c biu din trong hnh 4.21 vi gi

tr u ra l:
uk= k.B
(4.43)
Ti mi vng ca suy lun ta thu c cc gi tr 1 , 2 , 3 (bng 4.2)

thng qua php ly Max-Min vi:
1 min( i , j ) cho u ra u k
21 min( i , j 1 ) cho u ra u k+1
22 min( i 1 , j ) cho u ra u k+1
3 min( i 1 , j 1 ) cho u ra u k+2
(4.44)
2 m ax(21 , 22 )
* Gii m:
Dng phng php im trng tm v khai trin Max-Min ta c tn hiu
ra:
-93-
Lun vn thc s
k u k l 1
l 1
(4.45)
k
k 1
e. Xy dng biu thc ton hc ca b iu khin m

Qua cc phn tch trn ta thy rng cc tn hiu vo khc nhau (e*, r*) c th
ri trn cc vng khc nhau ca suy lun m t IC1 - IC4, l kt qu ca php
ly Max-Min.
+ Xt vng IC1:
T (4.41) v bng 4.1 ta c:
3
1 i j j1 i 1 2
l 1
e*
11
A
(4.46)
T bng (4.1), (4.41) v (4.45) ta c:

3
1u k 11 i u k 1 j u k j1 u k 1
l 1
e*
r*
r*
(1 )(k 1)B (1 )kB
A
A
A(k 1)B
B[(k-1)A+e* r * ]
e*
kB(1 )
A
A
*
*
Vi S=E+R =(k-1)A+e r ta c:
=
1u k 12 A S kB(11 1)
l 1
T ta rt ra:
3
u1
1u k l 2
l 1
B
S kB( 11 1)
A
11
l 1
B
1S kB(1 1 )
A
B
u1 kB 1 (S kA)
A
u1
Tng t vi cc suy lun khc, cui cng ta thu c:

-94-
u1
B
1S kB(1 1 )
A
Hoc: u1
B
1 (S kA) kB
A
Lun vn thc s
(l=1,2,3,4)
(4.47)
(4.48)
e * 1
1
(1
(2
)
1
i
A
e * 1
1
(1
(2
)
2
j
A
*
(1 )1 (1 e )1
i 1
3
A
*
(1 )1 (1 e )1
j 1
4
A
(4.49)
S E R K1 (e r) (k 1)A e* r *
k=i+j
l (l=1,2,3,4) l tham s phi tuyn trong vng IC1
Ta thy iu khin m vi lut hp thnh tuyn tnh thc s l iu khin phi

tuyn nh biu thc (4.48). N s tr thnh iu khin tuyn tnh trng thi cn
bng. Trong biu thc (4.48) ta cn phi xc nh cc h s khuch i t l u vo
kI, v u ra K. Gi tr danh nh ca cc h s khuch i u vo k I v c th
xc nh theo phng php ca H.X.Li. Thng thng vic xc nh h s khuch
i u ra K ng l rt kh khn.
4.2.4 XY DNG C CU THCH NGHI THEO M HNH MU CHO B
IU KHIN M
4.2.4.1 H iu khin thch nghi theo m hnh mu (MRAS) dng l thuyt
thch nghi kinh in
Xt mt i tng kinh in c m t bi phng trnh:
dy
ay bu
dt
(4.50)
M hnh mu c phng trnh:
-95-
Lun vn thc s
dy m
a m y m b m u c
dt
(4.51)
Tn hiu iu khin: u 1 u c 2 y vi sai s y y m .

Biu thc cha tham s iu chnh. Ta cn tm ra c cu thch nghi iu
chnh cc tham s 1 v 2 ti gi tr mong mun sao cho sai s tin ti 0. tm
ra c cu thch nghi ny ta c th dng l thuyt n nh Lyapunov hoc dng
phng php Gradient sau:
* Lut thch nghi theo Lyapunov:
Gi thit b > 0 v chn hm Lyapunov c dng:
1
1
1
2
2
V(, 1 , 2 ) 2 b2 a a m b1 b m
2
b
b
th theo lut iu chnh cc tham s 1, 2 cho 0 l:

d1
uc ;
dt
d2
y
dt
(4.52)
Nu ch c mt tham s bin thin, lut iu chnh thch nghi tham s tr

thnh:
d1
uc
dt
(4.53)
* Lut thch nghi theo Gradient:

Gi thit
l mt vect tham s cn c xc nh v ph thuc gia sai
lch u ra ca i tng (y) v u ra ca m hnh (ym). Tiu chun sai lch p

ng ca h c chn:
J()
1 2
0
2
th quy lut iu chnh
(4.54)
theo hng Gradient ca J l:
d
J
y

dt
(4.55)
-96-
Lun vn thc s
Trong iu khin thch nghi kinh in ni chung khng cn mt m hnh

mu hon ho. Tuy nhin s sai khc gia m hnh mu v i tng cng nh tnh
phi tuyn ca n ch nm trong gii hn no , nu qu gii hn ny b iu chnh
s khng lm vic hiu qu na. khc phc nhc im , ta s dng h iu
khin m thch nghi theo m hnh mu.
4.2.4.2 iu chnh thch nghi h s khuch
T
i u ra b iu khin m.
Tn hiu u ra ca b iu khin m
(4.47) c vit:
Hnh 4.24 B iu khin m vi h s
khuch i u ra K.
B
U1 1S kB(l 1 )
A
Vi thng s phi tuyn.

Thay S = E + R = K1(+I)e
U1
vi
I dt
ta c:
B
1 K I ( I)e kB(l 1 ) F.e T
A
B
B
1S 1 K I ( I)
A
A
Trong :
T kB(1 1 )
F
B iu khin m 2 u vo trong biu thc (4.47) vi h s khuch i u

ra K, c th c biu din nh l F.e cng thm mt gii hn tr T nh biu thc
(4.56) (hnh 4.13) gii hn tr T s tin ti 0 khi h thng tin n im cn bng.
U = K(T + Fe)
(4.56)
Ta p dng phng php Lyapunov v phng php Gradient chnh nh

thch nghi h s khuch i u ra K ca b iu khin m. Qu trnh iu chnh
c thc hin theo 2 cu trc chnh c gi chung l iu khin thch nghi m
theo m hnh mu (MRAFC) (Model Reference Adaptive Fuzzy Controller). Ta tin
hnh kho st 2 s phn hi u ra v s iu khin thch nghi m theo m
-97-
Lun vn thc s
hnh hiu chnh trc (FMRAFC- Feedforward Model Reference Adaptive Fuzzy
Controller).
4.2.4.3 S iu khin thch nghi m theo m hnh mu (MRAFC)
Xt cu trc iu khin m theo m hnh mu c biu din trn hnh 4.25.
Trong : i tng iu khin c hm truyn G, m hnh mu c hm
truyn Gm, b iu khin m bao gm b iu khin m c bn kt hp vi b
khuch i K. Cn phi tm ra quy lut iu chnh h s K sao cho sai lch gia m
hnh v i tng tin n 0 (0).
ym
M hnh mu Gm
C cu
thch nghi
e
Uc
X
-
i tng
G
FLC
Hnh 4.25 MRAFC iu chnh h s khuch i u ra.

Xp x 1 trong (3.48) thnh mt hng s, h thng vng kn xung quanh
trng thi cn bng tr thnh tuyn tnh vi phng trnh ca vng kn l:
y
KFG
Uc
1 KFG
(4.57)
(s) y
KFC
e
e
. G m
K
K 1 KFG K
K
(4.58)
Gi thit y tin n ym th ta c th xp x
KFG
G m . Khi quy lut
1 KFG
iu chnh thch nghi cho h s khuch i u ra ca FLC c th xc nh t

(4.55):
dK
e
G m
dt
K
(4.59)
-98-
Lun vn thc s
xt n nh ca s trn, ta chn hm Lyapunov:

V = 1/22
( K
) ( e G )2
V
m
K
t
K
t
H thng n nh khi
0.
t
4.2.4.4 S iu khin thch nghi m kiu truyn thng (FMRAFC)

Cu trc ca b iu khin thch nghi m c biu din trn hnh 4.26. S
ny c gi l s thch nghi m truyn thng (Feedforward Model
Reference Adaptive Fuzzy Controller - FMRAFC).
C cu
thch nghi
uc
M hnh
mu Gm
ym
F
+
i tng
G
FLC
Hnh 4.26 Cu trc h FMRAFC.

Trong s ny sai lch gia tn hiu t v tn hiu u ra ca i tng
c thay th bng gi tr sai lch gia i tng v m hnh: .
H s khuch i thch nghi u ra: y
KFC
ym
1 KFG
(4.60)
ym
(s)
y
KFC
KFG
.
2
K
K
1 KGF K
K
(1 KFG) K
Trong :
(4.61)
ym
KFC
v gi thit rng y tin n y m th
1 . T
1 KFG
1 KFC
(4.55) ta rt ra quy lut thch nghi cho h s khuch i u ra l:

dK
2
dt
k
(theo gradient)
(4.62)
-99-
dK
ym
dt
Lun vn thc s
(theo Lyapunov)
(4.63)
Ta thy hm truyn ca m hnh khng c mt lut thch nghi (4.62) v

(4.63) nn cu trc thch nghi ny chu ng tt i vi gii hn ln sai lch
gia m hnh v i tng. Trong thc t n ch cn mt m hnh xp x gn ng
v d m hnh mu bc nht: G m
bm
cng c th p dng cho phn ln cc i
am s
tng iu khin.
4.2.5 THIT K KHI M C BN
4.2.5.1 S khi m.
B m c bn ta s thit k bao gm hai bin trng thi m u vo v mt
bin m u ra. Mi bin ny li c chia thnh nhiu gi tr tp m (Tp m
con). S gi tr m trn mi bin c chn ph ht cc kh nng cn thit sao
cho kh nng iu khin l ln nht trong khi ch cn mt s ti thiu cc lut iu
khin m.
Hnh4.27 S khi m c bn
4.2.5.2 nh ngha tp m
* nh ngha cc bin ngn ng vo ra
Bin ngn ng vo l tn hiu iu khin ca b iu khin m c th l
lng sai lch in p iu khin E v TE l tch phn ca sai lch.
Bin ngn ng ra l i lng tc ng trc tip hay gin tip ln i tng
y bin ngn ng ra l in p iu khin U.
* Xc nh min gi tr vt l ca cc bin ngn ng vo ra
-100-
Lun vn thc s
Min gi tr vt l phi bao hm ht cc kh nng gi tr m bin ngn ng

vo ra c th nhn, ta chn:
E = [-1; 1]
(V)
TE = [-2; 2 ] (Vs)
U = [-78; 78] (V)
* S lng tp m
S lng tp m thng i din cho s trng thi ca bin ngn ng vo ra,
thng nm trong khong 3 n 10 gi tr. Nu s lng gi tr t hn 3 th khng
thc hin c v vic ly vi phn, nu nhiu hn th con ngi kh c kh nng
bao qut, v con ngi phi nghin cu y ng thi phn bit khong 5 n
9 phng n khc nhau v c kh nng lu tr trong thi gian ngn. i vi i
tng ny ta chn cc gi tr nh sau:
E = {AL, AV, AN, K, DN, DV, DL}
TE = {AL, AV, AN, K, DN, DV, DL}
U = {AL, AV, AN, K, DN, DV, DL}
Trong :
AL: m ln
AV: m va
AN: m nh
K: Khng
DN: Dng nh
DV:Dng va
DL: Dng ln
* Xc nh dng hm lin thuc

y l giai on rt quan trng, v cc qu trnh lm vic ca b iu khin
m ph thuc rt nhiu vo dng ca hm lin thuc. Mc d khng c mt chun
mc no cho vic la chn nhng thng thng c th chn hm lin thuc c dng
hnh hc n gin nh hnh thang, hnh tam gic... Cc hm lin thuc phi c min
ph ln nhau ng thi hp ca cc min lin thuc phi ph kn min gi tr vt l
-101-
Lun vn thc s
trong qu trnh iu khin khng xut hin cc l trng. Ta chn cc hm lin

thuc hnh tam gic.
* Ri rc ha tp m
phn gii ca cc di tr ph thuc c chn trc hoc l cho cc nhm
iu khin m loi du phy ng (cc s dj biu din di dng du phy ng c
chnh xc n) hoc nguyn ngn (gi tr ph thuc l cc s nguyn c ph
thuc l cc s c di 2 byte hoc theo byte). Phng php ri rc ha s l yu
t quyt nh chnh xc v tc b iu khin.
4.2.5.3 Xy dng cc lut iu khin NuTh
Vi 7 tp m ca mi bin u vo, ta xy dng c 7x7 = 49 lut iu
khin. Cc lut iu khin c biu din di dng mnh IF... THEN... Cc lut
iu khin ny c xy dng theo 2 nguyn tc sau:
- Sai lch cng ln th tc ng iu khin cng ln.
- Tch phn sai lch cng ln th tc ng iu khin cng ln.
1. If (input1 is AL) and (input2 is AL) then (output1 is AL) (1)
2. If (input1 is AV) and (input2 is AL) then (output1 is AL) (1)
3. If (input1 is AN) and (input2 is AL) then (output1 is AL) (1)
4. If (input1 is K) and (input2 is AL) then (output1 is AL) (1)
5. If (input1 is DN) and (input2 is AL) then (output1 is AV) (1)
6. If (input1 is DV) and (input2 is AL) then (output1 is AN) (1)
7. If (input1 is DL) and (input2 is AL) then (output1 is K) (1)
8. If (input1 is AL) and (input2 is AV) then (output1 is AL) (1)
9. If (input1 is AV) and (input2 is AV) then (output1 is AL) (1)
10. If (input1 is AN) and (input2 is AV) then (output1 is AL) (1)
11. If (input1 is K) and (input2 is AV) then (output1 is AV) (1)
12. If (input1 is DN) and (input2 is AV) then (output1 is AN) (1)
13. If (input1 is DL) and (input2 is AV) then (output1 is DN) (1)
-102-
Lun vn thc s
14. If (input1 is AL) and (input2 is AN) then (output1 is AL) (1)
15. If (input1 is AV) and (input2 is AN) then (output1 is AL) (1)
16. If (input1 is AN) and (input2 is AN) then (output1 is AV) (1)
17. If (input1 is K) and (input2 is AN) then (output1 is AN) (1)
18. If (input1 is DN) and (input2 is AN) then (output1 is K) (1)
19. If (input1 is DV) and (input2 is AN) then (output1 is DN) (1)
20. If (input1 is DL) and (input2 is AN) then (output1 is DV) (1)
21. If (input1 is AL) and (input2 is K) then (output1 is AL) (1)
22. If (input1 is AV) and (input2 is K) then (output1 is AV) (1)
23. If (input1 is AN) and (input2 is K) then (output1 is AN) (1)
24. If (input1 is K) and (input2 is K) then (output1 is K) (1)
25. If (input1 is DN) and (input2 is K) then (output1 is DN) (1)
26. If (input1 is DV) and (input2 is K) then (output1 is DV) (1)
27. If (input1 is DL) and (input2 is K) then (output1 is DL) (1)
28. If (input1 is AL) and (input2 is DN) then (output1 is AV) (1)
29. If (input1 is AV) and (input2 is DN) then (output1 is AN) (1)
30. If (input1 is AN) and (input2 is DN) then (output1 is K) (1)
31. If (input1 is K) and (input2 is DN) then (output1 is DN) (1)
32. If (input1 is DN) and (input2 is DN) then (output1 is DV) (1)
33. If (input1 is DV) and (input2 is DN) then (output1 is DL) (1)
34. If (input1 is DL) and (input2 is DN) then (output1 is DL) (1)
35. If (input1 is AL) and (input2 is DV) then (output1 is AN) (1)
36. If (input1 is AV) and (input2 is DV) then (output1 is K) (1)
37. If (input1 is AN) and (input2 is DV) then (output1 is DN) (1)
38. If (input1 is K) and (input2 is DV) then (output1 is DV) (1)
-103-
Lun vn thc s
39. If (input1 is DN) and (input2 is DV) then (output1 is DL) (1)
40. If (input1 is DV) and (input2 is DV) then (output1 is DL) (1)
41. If (input1 is DL) and (input2 is DV) then (output1 is DL) (1)
42. If (input1 is AL) and (input2 is DL) then (output1 is K) (1)
43. If (input1 is AV) and (input2 is DL) then (output1 is DN) (1)
44. If (input1 is AN) and (input2 is DL) then (output1 is DV) (1)
45. If (input1 is K) and (input2 is DL) then (output1 is DL) (1)
46. If (input1 is DN) and (input2 is DL) then (output1 is DL) (1)
47. If (input1 is DV) and (input2 is DL) then (output1 is DL) (1)
48. If (input1 is DL) and (input2 is DL) then (output1 is DL) (1)
49. If (input1 is DV) and (input2 is AV) then (output1 is K) (1)
4.2.5.4 Chn lut hp thnh

T tp cc lut iu khin ta c th dng cc lut hp thnh Max-Min,
Max-Prod hay cc lut hp thnh khc tm hm lin thuc hp thnh ca tp m
u ra. y ta chn lut hp thnh Max-Min, ta c kt qu nh sau:
Hnh 4.28 Cc lut hp thnh.
-104-
Lun vn thc s
4.2.5.5 Gii m
T hm lin thuc hp thnh ca tp m u ra, ta c th dng phng
php gii m thch hp xc nh r u ra ca b gii m. Phng php gii m
c chn cng gy nh hng n phc tp v trng thi lm vic ca ton b
h thng. Thng trong thit k h thng iu khin m, gii m bng phng php
trng tm hay trung bnh m c nhiu u im hn c, v lc kt qu u ra c s
tham gia y ca tt c cc lut iu khin. y gii m bng phng php
trng tm, ta c kt qu hp thnh v gii m nh hnh v:
Hnh 4.29 Quan h vo ra ca b iu khin m.

.
4.2.6 S M PHNG H THNG IU KHIN S DNG B IU
KHIN M THCH NGHI
Theo nghin cu trn, khi tc gi thay i th tc ca tuabin cng
thay i theo v n nh c tc quay ca tuabin ta cn phi c b iu
khin thay i c thng s ph hp vi s thay i ca tc gi. Vi b iu
khin thch nghi kinh in v c bn cng p ng c phn no yu cu .
Tuy nhin khi ta thay i gi tr t tc quay ca tuabin trong qu trnh lm vic
th b iu khin thch nghi kinh in khng p ng c yu cu cht lng ng
ca qu trnh iu khin. khc phc hin tng , tc gi xut phng n s
dng b iu khin m thch nghi. B iu khin thch nghi c thit k t b iu
-105-
Lun vn thc s
khin m, song b iu khin thch nghi h s khuch i u ra K thay i theo

lut Lyapunov.
Out1
In1
Out1
1
gia tri dat
In1
Out1
In1Out1
Scope
In2
0.13s+1
tuabin va do luong
Mo thich nghi
mo hinh mau
Hnh 4.30 S m phng h thng iu khin cnh gi tuabin

vi b iu khin m thch nghi.
1
s
3.2
In1
5.8
1
s
In2
1.1
1
s
Out1
Fuzzy Logic
Controller
with Ruleviewer
Hnh 4.31 S khi ca b iu khin m thch nghi.
0.25
0.2
0.15
0.1
0.05
0
10
12
Hnh 4.32 S thay i ca h s khuch i u ra K theo lut Lyapunov.
-106-
Lun vn thc s
1.6
1.4
1.2
0.8
0.6
0.4
0.2
thi gian(s)
10
12

1.6
1.4
1.2
0.8
0.6
0.4
0.2
thi gian(s)
10
12
Hnh 4.34 Kt qu m phng h thng vi b iu khin m thch nghi

1.6
1.4
1.2
0.8
0.6
0.4
0.2
6
thi gian(s)
10
12

v m thch nghi
-107-
Lun vn thc s
1.6
1.5
1.4
B iu khin
thch nghi kinh in
1.3
B iu khin m
thch nghi
1.1
1.2
1
0.9
0.8
2.5
3.5
4.5
5.5
6.5
Nhn xt:
Sau khi a b iu khin m thch nghi vo thay th b iu khin thch
nghi kinh in, t kt qu m phng trn phn mm Matlab ta thy s dng b iu
khin m thch nghi t cht lng ng tng ln r rt, tc quay ca tuabin bm
theo gi tr t mt cch nhanh chng.
KT LUN VA KIN NGHI
Kt lun
Sau 6 thng nghin cu ti liu cn g nh ti m hiu trong thc t tac gia a
hon thnh nhng ni dung cng vic c th ca lun vn nh sau:
Tm hiu lch s pht trin ngun nng lng gi v cc my pht in chy
bng sc gi.
Phn tch kh ng lc hc cnh gi ca tuabin gi trc ng v xc nh gc
cnh iu khin.
Nghin cu v thit k c b iu khin m thch nghi iu khin cnh
gi ca tuabin gi trc ng. Kt qu m phng cho thy khi s dng b iu khin
thch nghi kinh in th tc ca tuabin vn cn dao ng trong qu trnh thay i
tc quay ca tuabin. Vi b iu khin m thch nghi cht lng ng ca h
-108-
Lun vn thc s
thng tng ln r rt, t dao ng, h thng lm vic n nh. V vy vic p dng
b iu khin m thch nghi iu khin cnh gi ca tuabin gi trc ng nhm
n nh tc quay ca tuabin theo yu cu v m bo cht lng ng ca h
thng, l mt hng nghin cu c th pht trin ngun nng lng sch
trong tng lai.
Kin ngh
Vic pht trin ngun nng lng gi nc ta hin nay l mt vn cn
tng i mi m, vic nghin cu n cn nhiu hn ch. bin i nng lng
gi thnh in nng t hiu qu cao th vic s dng cc tuabin gi vi b iu
khin hp l l rt quan trng. Trong lun vn ny ti s dng b iu khin m
thch nghi iu khin cnh gi ca tuabin trc ng nhm nng cao hiu sut
chuyn i nng lng gi v n nh tc quay ca tuabin theo yu cu. Tuy
nhin chng ta c th s dng nhiu b iu khin khc nhau, nu c iu kin ti
c th tin hnh nghin cu thit k v ng dng thay th bng nhng b iu khin
thng minh khc nh: b iu khin m noron. Ngoi ra nu c iu kin ti c th
nghin cu iu khin cnh gi ca tuabin gn vi iu khin cng sut my pht
cho ph hp vi yu cu ca ph ti.
-109-
Lun vn thc s
TI LIU THAM KHO

A. Ting Vit
[1] Nguyn nh Hin, Li Khc Li (2007), H m v nron trong k thut iu
khin, NXB Khoa hc t nhin v cng ngh, H Ni.
[2] Li Khc Li (2007), ng dng h m - nron nhn dng h phi tuyn nhiu
chiu, Tp ch Khoa hc & Cng ngh cc trng i hc k thut (s 60).
[3] Li Khc Li, Xy dng h iu khin thng minh iu khin i tng phi
tuyn kh m hnh ho, ti NCKH cp b nm 2002; M s: B2002.02.03.
[4] Li Khc Li, Nghin cu ng dng h m + N ron iu khin chuyn
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