Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

ng dng mng n-rn l-gc m trong pht hin s c ca ng c in

mt chiu
Defect Detection in DC Motors by Applying Neuro-fuzzy Networks
Trn Hoi Linh
Trng HBK H Ni
email: linh-3i@mail.hut.edu.vn

inh Vn Nhng
Trng H Sao
email:nhuongdv2000@gmail.com

ng Vn Tu
Trng H Sao
email:tuedv1978@gmail.com

cu, hng lot cc gii php nhn dng mi s dng

cng ngh mng n rn v mng n rn logic m
xut hin. Cc cng trnh nghin cu chng t rng
cc gii php mng n rn c nhng u im vt
tri so vi cc gii php kinh in.
M hnh nhn dng c s dng trong bi bo
ny l m hnh mng n rn logic m TSK (Takaga
Sugeno Kang) [3] xy dng m hnh nhn dng,
pht hin dng s c xy ra trong ng c in mt
chiu trong qu trnh lm vic.

Tm tt
ng c in mt chiu l mt trong nhng thit b
in c s dng rt ph bin. Tuy nhin, cng nh
cc thit b khc, trong qu trnh lm vic ng c
in mt chiu c th gp mt s dng s c khc
nhau. Vic xy dng cc thit b c kh nng phn
tch v pht hin nhanh cc s c ca ng c l rt
cn thit cho qu trnh vn hnh an ton. Trong bi
bo ny cc tc gi s gii thiu phng php ng
dng m hnh mng n rn logic m nhn dng s
c xy ra i vi ng c in mt chiu trong qu
trnh lm vic ch da trn vic phn tch gi tr o tc
tc thi ca ng c. Vic ng dng mng TSK
(Takaga Sugeno Kang) vi 8 lut m phn tch
cc gi tr tc thi ca tc ng c cho php pht
hin nguyn nhn s c v thng s ca s c vi
chnh xc hn 95%.

2. M h nh mng n r n TSK v ng
dng trong nh n dng ph t hin c
2.1 Cu trc mng TSK
Mng TSK l mt cu trc gm 5 lp dng m
phng cc quy tc suy lun l-gch m TSK [3]. M
hnh mng TSK (gii hn cho 1 u ra) c th hin
trn H.1. Lp th nht bao gm cc khi ij ( j )

Abstract

cn c gi l cc khi m ho cho thnh phn th j

ca vc-t u vo x. Mi khi m ha thng s
dng hm Gauss m rng (1), c c trng bi 3
vc-t tham s l ci
trng tm, i
h s m

DC electrical motor is one of the most popular motors

used. However, like other devices, during the working
time the DC motors may experience different types of
defects. Designing devices for fast defect detection is
necessary in order to support the safe working
processes. In this article, the authors will present a
solution to detect the problems in DC electrical
motors by applying neuro-fuzzy networks and using
only the instantaneous values of angle velocity of the
motor. The TSK (Takaga Sugeno Kang) with 8
inference rules to process the angle velocity signals
will allow to detect the failures and their parameters
with the accuracy higher than 95%.

ca hm v bi

h s hnh dng ca hm.

1. t vn
Bi ton pht hin s c l mt trng hp c bit
ca bi ton nhn dng ni chung. Bi ton nhn dng
i tng bao gm nhiu cng on, trong kh
khn nht l khu to c tnh nhn dng ca i
tng v xy dng m hnh x l vc t c tnh .
Trong bi bo ny, cc tc gi s xc nh gii
php ch s dng gi tr o vn tc gc ca ng c
nhn dng nhm lm gim bt phc tp ca cc
thit b o. Cc c tnh nhn dng s c trch
chn t chui cc gi tr tc thi ca vn tc gc. Nu
nh vic xc nh cc c tnh i tng l tin
quan trng th vic xy dng m hnh x l vc t c
tnh s quyt nh n cht lng ca gii php.
Trong thi gian qua c nhiu cng trnh nghin

H. 1

M hnh mng TSK cho mt u ra

ij x j

1
x j cij
1
ij

2 bij

(1)

Lp th hai l khi nhn, dng tnh tch u ra

ca cc khi m ho, c th

VCCA-2011
311

Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

i x = ij x j

p kch t:

LA

(2)

m-men qun tnh ca rto: J 0,058kg / m2 ; hng

s m-men: kM 3. Trc thi im xy ra s c coi
nh ng c ang trng thi xc lp (trong qu trnh
m phng, xut pht t cc s kin bng 0, ta quan st
thy thi im 2s cc m hnh ng c t trng
thi xc lp nn cc m phng s ly thi im 2s l
thi im xy ra s c).

j=1

Lp th ba l khi tnh cc gi tr hm fi u ra
ca TSK. Trong mng TSK ta s dng cc hm tuyn
tnh:
N

f i ( ) P ij x j Pi 0

uK 24V ; in cm phn ng:

0,038H ; in tr phn ng: RA 1,5854 ;

(3)

j 1

Lp th t l khi tnh ton cc thnh phn t s

F1 v mu s F2. Lp th nm l khi tnh p ng
cui cng ca mng TSK theo cng thc:
M

( ) f ( )
y=

i 1

( )

F1
F2

H. 2

(4)

i 1

S khi ng c in mt chiu kch t c lp khi

t thng kch t khng i

c c gi tr tc thi ca vn tc gc, bi
bo s s dng m hnh m phng ca ng c in
mt chiu kch t c lp trn SIMULINK nh H.3
[4,6], trong s c s c m phng bng cch
iu chnh gi tr dng i A v iK nhn vi cc h s
tng ng (ti thi im xy ra qu ), gi tr ti ca
ng c c thay i tham s mT .

Trong cu trc ny ta c lp 2, 4 v 5 l cc lp
tnh ton v hot ng c nh. Cc lp 1 v 3 l cc
lp c cc tham s c th thay i thch nghi xy
dng m hnh ti u. C th trong lp 1 l cc tham
s ci , bi , i ca cc khi m ho, trong lp 3 l cc h
s pij ca hm tuyn tnh [1,2]. Cc tham s ny c
th c iu chnh thch nghi vi hm mc tiu l sai
s u ra ca mng TSK trn mt tp s liu mu cho
trc [1,2].
2.2. M phng c c ch lm vic ca ng c
i tng nghin cu chnh ca bi bo l ng c
in mt chiu kch t c lp. Nhm mc ch n
gin ha cc khi o lng, bi bo t mc tiu xy
dng m hnh pht hin s c ch da trn cc s liu
o vn tc gc tc thi ca ng c. c c cc
gi tr vn tc gc tc thi ny, mt m hnh ca ng
c mt chiu kch t c lp s c xy dng s
dng cng c Simulink (Matlab) m phng. ng
thi trong bi bo ny ta cng tm xt cc trng hp
m thi im xy ra s c c xc nh trc m
hnh ch tp trung cho nhim v phn loi s c.
2.2.1 M t ton hc ng c in mt chiu kch t
c lp
T cc phng trnh c bn ca ng c in mt
chiu kch t c lp bin i Laplace ta c h
phng trnh sau [5]:

uA ( s)

eA s

RA iA ( s)

eA ( s )

ke y w s

H. 3

M hnh m phng ng c in mt chiu kch t

c lp s dng SIMULINK (Matlab)

2.2.2 M phng cc ch lm vic

a. ng c khi lm vic bnh thng:
T H. 4 ta thy ng c in mt chiu kch t c
lp trn khi lm vic bnh thng, ti nh mc c p
ng u ra l tc tt. H dao ng t, thi gian qu
ngn tqd 0,3 s , qu iu chnh nh.

LA s iA s
DC lam viec tai dinh muc

mM s

kM y iA s

120

(5)

100

80

omega

mM s mT s
2pJ s w s
T h phng trnh (5) ta xy dng c s
khi ng c in mt chiu kch t c lp khi t
thng kch t khng i nh H.2. m phng cc s
c xy ra khi ng c ang lm vic ta s dng s liu
ng c mt chiu kch t c lp nghin cu c cc
thng s sau [5]: in p phn ng: uA 220V ; in

60

40

20

-20

0.2

0.4

0.6

0.8

1
Time

(a)

VCCA-2011
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1.2

1.4

1.6

1.8

Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

Dong IA khi DC lam viec tai dinh muc

Dong IA khi ho mach phan ung

80

140

70

120
60

50

100

40

80
i

30

60

20
10

40
0

0.5

1.5
Time

2.5

20

(b)

th p ng tc (a), dng in phn ng (b)

ng c lm vic bnh thng khi ti nh mc

H. 4

0.5

1.5

2.5
Time

3.5

4.5

(a)
Ho mach phan ung IA =0
150

b. ng c khi xy ra s c:
S c chm tt cc vng dy phn ng:
ng c ang lm vic bnh thng, ti nh mc,
sau 2s xy ra s c RA, LA gim, p ng u ra tc
c dng nh trn H.5. Nhn vo th ta thy, khi RA,
LA gim cng nhiu th tc ng c cng tng cao,
s ln dao ng t, thi gian qu khi xy ra s c tq =
0,15 s.

Omega

100

50

RA, LA giam 2 lan

140
120

H. 6

100

Omega

80

0.5

1.5
Time

2.5

(b)
th p ng dng in (a), tc (b) khi xy ra s
c h mch phn ng

60

S c chm tt cc vng dy phn ng v mt

kch t:
Tng t ta c cc th kt qu nh trn H.7.

40
20
0

Mat kich tu
-20

120
0

0.5

1.5

2.5
Time

3.5

4.5

100

(a)
80

RA, LA giam 3 lan

180

60

Omega

160
140

40

120

Omega

100

20

80

0
60
40

-20

0.5

1.5

20

0.5

1.5

2.5
Time

3.5

4.5

3.5

4.5

RA, LA giam va mat kich tu

140

(b)
th p ng tc khi xy ra s c chm tt vng
dy phn ng RA, LA gim 2 ln (a), gim 3 ln (b)

120
100
80

Omega

H. 5

2.5
Time

(a)

0
-20

H mch phn ng:

Khi ng c ang lm vic bnh thng ti nh
mc, gi s sau 2 s xy ra s c h mch phn ng,
dng in phn ng iA 0 , p ng ra tc c
dng nh sau hnh 6. Nhn vo th H.6 ta thy, khi
xy ra s c h mch phn ng dng in phn ng
iA 0 ngay, tc gim v 0 sau thi gian qu
0,15s.

60
40
20
0
-20

H. 7

VCCA-2011
313

3
Time

(b)
th p ng tc khi xy ra s c mt kch t
(a), khi xy ra s c va chm tt dy qun phn ng
va mt kch t (b)

Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

T cc th m phng ng c in mt chiu
kch t c lp khi lm vic bnh thng, khi ang
lm vic bnh thng sau 2s xy ra cc s c ta nhn
thy:
Vi mi loi s c c qu iu chnh th
p ng tc khc nhau,
Khi xy ra s c, thi gian qu u nm trong
khong 2 n 2,15s.
tng ca gii php nhn dng s l t ng
phn tch s liu c c m hnh m t s khc
nhau gia cc ng qu , t trn c s ta c th
suy ngc li c s c gy ra qu trnh qu
ang xt.

im qu (xt ng nht l ti T0 2s ), do
trong khi xy dng vc-t c tnh ta s ch cn ly
cc gi tr tc thi trong khong wT0 wT0 0,15 .
Mc ch ca m hnh nhn dng l xy dng
c m hnh ngc, t cc gi tr tc thi ca vn
tc gc cn xc nh ngc li 3 gi tr trng thi ca
ng c l mT , aA , aK . Qu trnh ny c m t nh
trn H.9.

3. Phn tch liu nh n dng c

H. 9

3. 1. To b liu v xy dng m h nh nh n
dng c
c c b s liu mu, m hnh m phng trn
H.3 c s dng vi nhiu thng s khc nhau
i din cho nhng trng hp lm vic v s c khc
nhau ca ng c. C th:
Khi ng c ang lm vic bnh thng nhng ti
thay i th cng dn ti tc ng c bin thin.
Mng TSK phi phn bit c trng hp ng c
c s c v trng hp bin thin ca ti. V vy ta
xy dng b s liu vi thng s th nht bin thin
l: mT (ti). Ta chn ti c khi lng dao ng trong
khong t 0 n 100kg vi bc thay i 10kg. Vy
ta c b s liu theo ti l 11 trng hp [0; 10; 20;
30; 40; 50; 60; 70; 80; 90; 100].
Khi h mch dy qun phn ng ta c dng in
phn ng iA 0 , khi chm tt dy qun phn ng ta
c dng in phn ng tng ln c th 1,5; 2; 2,5; 3
ln so vi nh mc. Vy ta c b s liu theo s thay
i ca h s dng phn ng l a A c 6 trng hp
[0; 1; 1,5; 2; 2,5; 3].
Khi ng c mt kch t th h s ca dng
aK 0 . Khi ng c lm vic bnh thng ta xt
trng hp dng kch t khng i hay h s dng
aK 1 . Vy ta c thng s th hai ca b s liu l

gim bt kch thc ca m hnh nhn dng, ta

kho st v la chn bc ri rc ha ca gi tr
tc thi ca vn tc gc l 0,01s. Bc ri rc ha
ny cho php thu c cc kt qu c chnh xc
chp nhn c nh trnh by di y. Vi bc ri
rc ny ta c 16 gi tr tc thi ca tc gc
wT0 , wT0 0,01 , , wT0 0,15 lp thnh vc-t c tnh x
ca mt mu gm 16 thnh phn: x

x1 ,

, x16 .

Nh vy 1 mu s liu bao gm cp 2 vc t x, d
trong x

16

- vc-t u vo cha 16 gi tr tc

3
thi ca vn tc gc ca ng c, d
- vc-t u
ra tng ng cha 3 gi tr tham s mT , aA , aK .
3.2 ng dng mng TSK nh n dng c trong
ng c in mt chiu
T b s liu 132 mu ta tch thnh 2 tp s liu:
75% s mu (tng ng vi 99 mu) c dng
xy dng m hnh nhn dng (b s liu hc), 25%
(tng ng vi 33 mu) c dng kim tra m
hnh nhn dng (b s liu kim tra). Tp mu kim
tra ta chn cc mu c ch s 2, 6, 10, ..., 132 (cch
4); tp mu hc 99 mu l cc mu cn li.
Vi cc th nghim khc nhau, ta chn s lut
suy lun ca mng TSK thch hp cho tp s liu
to l M 8 , t ta xy dng c s cu trc
mng TSK nhn dng s c ng c theo hnh 1 vi
cc p ng u ra (tnh theo cc cng thc (1)(4))

aK vi hai gi tr 0 hoc 1.
Tng hp ba trng hp bin thin ca cc s
liu trn, ta xy dng c b s liu tng qut gm
11 6 2 132 mu. Tun t tng b 3 gi tr ca cc
tham s mT , aA , aK c a vo m hnh m phng
trn H.3 tnh ton a ra c vn tc gc p ng
ca ng c trong trng hp nh trn H.8.

H. 8

M hnh tng qut nhn dng s c

y(x)

TSK (x)

(5)

Vy bi ton t ra l i xc nh tm trng
tm c1 , , c8 , cc m 1 , , 8 , cc h s hnh
dng b1 , , b8 , v cc hm TSK f1 (x), , f8 (x) sao
cho ta c x : y TSK (x) d (p ng u ra ca
mng xp x vi gi tr ch cn c) vi tt c cc mu
trong b s liu hc (99 mu) v b s liu kim tra
(33 mu). Vic xc nh cc thng s ca mng ny
s c thc hin bng thut ton bc gim cc i
ti u ha sai s gia u ra ca mng v u ra
ch cn c. Chi tit thut ton hc bc gim cc i
tng qut c trnh by trong [1,2], thut ton hc

M hnh to b s liu

Theo nh cc kho st trnh by trn cc hnh

t H.5 n H.7 ta thy qu trnh qu cho mu ng
c ang kho st din ra trong khong 150ms sau thi

VCCA-2011
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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

bc gim cc i cho mng TSK c trnh by
trong [3].
i vi b s liu c, qu trnh hc theo thut
ton bc gim cc i c thc hin vi 50 bc
lp. Cc kt qu hc (vi b 99 mu) ca mng TSK
i vi knh 1 (nhn dng gi tr mT) c th hin
trn hnh 10. Cc gi tr ch l 0; 0,1; 0,2; 0,3; 0,4;
0,5; 0,6; 0,7; 0,8; 0,9; 1 tng ng vi 11 trng hp
ti dao ng.
T trn H.10a ta c u ra ca mng TSK bm
st vi cc gi tr ch, cc sai s u nh hn gi tr
ngng ca sai s nhn l 0,1 (sai s ln nht trn
hnh 10b khng vt qu 6.10-3). Mng sau khi c
hun luyn c kim tra vi tp 33 s liu khc
vi cc mu hc.

Hnh H.11 m t u ra mT (u ra th nht) ca

mng cng vi cc gi tr ch v sai s gia hai tn hiu
ny.
Cng tng t nh trong trng hp kt qu hc,
khi a vo mng TSK cc s liu t cc mu ca tp
kim tra, ta c th d dng nhn thy i cc tn hiu
u ra bm st theo gi tr ch. T th sai s
H.11b, ta thy khng c trng hp tn hiu vt
ngng 0,1 (sai s ln nht khng vt qu 10-2).
Vi cc kt qu nh trn, c trong trng hp xy
dng cng nh kim tra, m hnh TSK u cho kt
qu nhn dng chnh xc cao. C th sai s hc
Ehoc 0% sai s kim tra bng Ekt 0% . Hon ton
tng t, ta xt u ra th hai ca mng TSK (nhn
dng gi tr A). Cc kt qu hc v kim tra cho knh
ny c th hin trn cc hnh H.12 v H.13.

(a)
(a)

(b)
H. 10 K t qu hc trn 99 mu cho nhn dng trng thi
ca m-men ti (bi n thin t 0 n 100% m men
max)(a), v sai s hc gia k t qu u ra TSK v gi
tr ch (cho m-men ti) (b)

(b)
H. 12 K t qu hc trn 99 mu cho nhn dng trng thi
ca dng phn ng (a) v sai s hc trn 99 mu cho
nhn dng trng thi ca dng phn ng (b)

(a)
(a)

(b)
H. 11 K t qu kim tra trn 33 mu nhn dng gi tr mmen ti bi n thin t 0 n 100% m men max(a) v
Sai s hc gia k t qu u ra TSK v gi tr ch
cho m-men ti (b).

(b)
H. 13 K t qu kim tra trn 33 mu cho nhn dng trng
thi ca dng phn ng(a), sai s trn 33 mu cho
nhn dng trng thi ca dng phn ng (b)

VCCA-2011
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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

C th nhn thy trn H.12b l c 4 trng hp sai
s vt ngng 0,25, ng vi sai s hc
Ehoc

4
99

100%

4, 04% , cn trn H.13b sai s

kim tra vt ngng bng 0 ng vi Ekt

0% .

Tng t u ra th ba ca mng TSK (nhn dng

gi tr aK ) c cc kt qu hc v kim tra c th
hin tng ng trn H.14 v H.15.
(b)
H. 15 K t qu kim tra trn 33 mu cho nhn dng trng
thi ca dng kch t (a), sai s kim tra trn 33 mu
cho nhn dng trng thi ca dng kch t (b)

Trn H.14b ta c th quan st c 5 trng hp

sai s vt ngng 0,5, ng vi sai s hc
Ehoc

5
99

100%

5% ; cn trn H.15b, tt c cc

mu kim tra u c sai s nh hn 0,5, ng vi sai s

kim tra bng Ekt 0% .

(a)

4. Kt lu n
M hnh mng n rn logic m TSK c kh nng ng
dng trong nhiu loi bi ton nhn dng. Trong ni
dung ny cc tc gi cp n nhn dng pht
hin s c xy ra trong ng c in mt chiu kch
t c lp c th qua kt qu kho st thy: i vi
cc loi s c v s thay i ca ti, ta c chnh
xc cao trn 95%, nhiu trng hp t 100%. ng
thi, sau khi c c vect c tnh cho cc tc
ca ng c th qu trnh tnh ton m hnh TSK
c thc hin gn nh hon ton t ng.
Cng trnh c th c cc hng pht trin tip theo
nh: t ng pht hin thi im s c, trin khai o
c v x l vi tn hiu t cc ng c thc t, kho
st cc dng s c khc ca ng c.

(b)
H. 14 K t qu hc trn 99 mu cho nhn dng trng thi
ca dng kch t (a), sai s hc gia u ra ca mng
v gi tr ch cho nhn dng trng thi ca dng
kch t (b)

Ti liu tham kho

[1]

[2]
[3]

[4]

S.Haykin, Neuralnetworks - a comprehensive

foundation, Macmillan College Publishing
Company, New York, 1994.
Jang J.S., Sun C.T., Mizutani E., Neuro-fuzzy
and soft computing, Prentice Hall, N.J., 1997.
Trn Hoi Linh, The modification of TSK
Network In neuro-fuzzy systems, XXV IC
SPETO, 2002, pp. 525-528.
Neural Networks Toolbox for Use with Matlab,

www.mathworks.com
[5]
[6]

(a)

VCCA-2011
316

Phm Cng Ng; L thuy t iu khin t ng;

NXBKHKT, 2001.
Nguyn Phng Quang; Matlab & Simulink;
NXBKHKT, 2003.

Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

Trn Hoi Linh sinh nm 1974, tt nghip
HBK Vc-sa-va nm 1997 chuyn ngnh Tin
hc ng dng, nhn bng Tin s chuyn ngnh
K thut in nm 2000 (HBK Vc-sa-va),
bng Tin s khoa hc chuyn ngnh K thut
in v Tr tu nhn to nm 2005 (HBK Vcsa-va). Nm 2007 c phong hm Ph Gio s.
Hin nay Trn Hoi Linh ang cng tc ti Vin in, trng
HBK H Ni. Cc nghin cu chnh ca ng l ng dng tr tu
nhn to trong cc gii php o lng, iu khin v t ng ha,
cc thit b o thng minh, h chuyn gia.
inh Vn Nhng: Sinh nm 1963, tt
nghip i hc bch khoa H Ni chuyn
ngnh T ng ho. Nm 2005 tt
nghipThc s k thut T ng ho. Nm
2010, bo v lun n tin s, v c cng
nhn hc v tin s k thut chuyn ngnh
o lng. Hin ang cng tc ti trng i
hc Sao . Hng nghin cu hin nay :
ng dng h tr tu nhn to trong k thut
nhn dng v phn loi sn phm cng
nghip. T ng ha trong cc dy chuyn sn xut cng nghip
ng Vn Tu Sinh nm 1977 tt nghip
i hc nm 2006 chuyn ngnh T ng
ha x nghip cng nghip, trng i hc
Bch Khoa H Ni. Tt nghip thc s nm
2010 chuyn ngnh o lng v cc h
thng iu khin, trng i hc Bch
Khoa H Ni
Hng nghin cu trong thi gian ti:
Nghin cu v ng dng Logic m nhn
dng s c trong my in.

VCCA-2011
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