Tp ch Khoa hc 2011:19a 17-26 Trng i hc Cn Th

17
IU KHIN H PHI TUYN
DA TRN GII THUT FEEDFORWARD-FEEDBACK
Nguyn Hong DngP0F
1

ABSTRACT
The paper presents a novel algorithm basing on feedforward and feedback for controlling
the nonlinear system. Feedback will generate transent command and feedforward with
steady state command. Feedback is designed with PID (Proportional Integral Devirative)
controller. Feedforward is trained basing on Gradient Descent Backpropagation neural
network (NN) with adaptive learning rate. It is used to compensate for uncertain factors
such as noise from the operation environment. The factors is usually not known before.
Therefore the paper is proposed to use neural network for estimating the uncertain
systems and mentaining the steadiness of the plant. The feedforward and feedback
controllers are applied to control the direct current motor. The result from Simulink
simulation software of MATLAB is demonstrated that the responde of the plant tracks the
desired signal with overshoot is mearsered 2%, and steady state error is measured 3%,
setting and steady-state time are negligible.
Keywords: Neural network, nonlinear system control, feedback, feedforward
Title: Feedforward-Feedback algorithm based nonlinear system control
TM TT
Bi bo trnh by gii thut kt hp gia b iu khin feedforward v feedback iu
khin h phi tuyn. Feedback pht lnh iu khin tc thi v feedforward pht lnh iu
khin xc lp. Feedback chnh l b iu khin PID (Proportional Integral Devirative).
Feedforward c hun luyn da trn mng nron lan truyn ngc Gradient Descent
vi tc hc thch nghi. B iu khin ny c vai tr b chnh vo cc thnh phn
khng xc nh c th xy ra lc iu khin i tng. Trong thc t cc i tng
thng b tc ng bi nhiu thnh phn c cho l nhiu. Cc thnh phn ny thng
khng bit trc. Do bi bo ny c ngh s dng mng nron c lng cc
thnh phn khng bit trc nhm duy tr tnh n nh cho i tng. Gii thut dng b
iu khin feedforward v b iu khin feedback c p dng iu khin ng c
mt chiu. Kt qu m phng trn Simulink ca MATLAB cho thy, p ng ca i
tng bm theo tn hiu mong mun vi vt l 2%, sai s xc lp l 3%, thi gian
tng v thi gian xc lp khng ng k.
T kha: Mng nron, iu khin h phi tuyn, feedback, feedforward
1 0BGII THIU
Feedback l b iu khin vng kn. N c nhim v gi cho h thng n nh.
Tuy nhin nu tn hiu hi tip v km chnh xc hoc do nhiu can thip lm b
iu khin a ra quyt nh sai. Chnh v l do , nhiu nh khoa hc s dng
cc b quan st (observer) m bo tn hiu hi tip lc no cng chnh xc.
Bn cnh cng c mt s nh khoa hc s dng b iu khin feedforward
khc phc nhc im trn. Morteza Mohammadzaheri s dng b iu khin

1
BM T ng ha, Khoa Cng ngh, Trng i hc Cn Th
Tp ch Khoa hc 2011:19a 17-26 Trng i hc Cn Th

18
feedback kt hp vi feedforward iu khin i tng. Trong , feedforward
c nhim v tinh chnh p ng nh gim vt l hoc b chnh vo cc thnh
phn khng xc nh trong cc mi trng khc nhau. Xuemei Ren s dng gii
thut feedforward iu khin ng c lm gim rung ca a cng. Richard
L. Welch kim chng nhiu mng nron khc nhau i vi gii thut
feedforward trn cng tp d liu t trung tm kh tng d on tc ca
gi. Richard L. Welch kim chng rng, mng nron hi qui dng trong gii
thut feedforward s cho kt qu tt hn. Da trn cc kt qu nghin cu trn, bi
bo ny ngh gii thut iu khin feedforward kt hp feedback iu khin
i tng phi tuyn. Feedback c thit k da trn b iu khin PID v
Feedforward c hun luyn da trn mng nron lan truyn ngc Gradient
Descent vi tc hc thch nghi.
2 1BM HNH NG C MT CHIU

Hnh 1: M hnh ng c mt chiu
T Hnh 1, phng trnh ng hc ca ng c c xc nh:
) (
) (
) ( ) ( t e
dt
t di
L t i R t V
b
a
a a a a
+ + = (1)
) ( ) ( t K t e
b b
= (2)
F L a T M
T t T t B
dt
t d
J t i K t T + + + = = ) ( ) (
) (
) ( ) (

(3)
trong , cc thng s ca ng c c m t trong bng 1 v
VR
a
R(t) l tn hiu ng vo, (t) l tn hiu ng ra,
TR
M
R(t): motment quay ca motor,
TR
L
R(t): moment ti,
Hu ht cc moment ti ph thuc vo vn tc gc ca ng c
))) ( ( )( ( ) (
2
t sign t t T
L
= (4)
Thay biu thc (1) vo biu thc (3), suy ra:
Tp ch Khoa hc 2011:19a 17-26 Trng i hc Cn Th

19
| | ) ( ) (
) (
) ( ) (
) (
) (
) (
2
2
t V K T t T R
dt
t dT
L t K K B R
dt
t d
B L J R
dt
t d
J L
a T F L a
L
a T b a a a a
+ + +
+ + + + + +

(5)

Ri rc ha biu thc (5) tr thnh:
) ( ) (
) 1 ( ) (
) ( ) (
) ( ) 1 (
) (
) 1 ( ) ( 2 ) 1 (
2
k V K T R k T R
T
k T k T
L k K K B R
T
k k
B L J R
T
k k k
J L
a T F a L a
L L
a T b a
a a a
+ + +
(

+ + +
+
(

+
+ +
(

+ +

(6)
T biu thc (4), suy ra:
| | )) ( ( ) ( ) (
2
k sign k k T
L
= (7)
v | | )) ( ( ) 1 ( ) 1 (
2
k sign k k T
L
= (8)
trong , T l chu k ly mu
,... 2 , 1 , 0 ); ( ) ( = = k kT k
T biu thc (6) v (8), phng trnh iu khin tc ng c mt chiu c
xc nh:
| |
| |
6
2
4
2
3 2 1
) ( 5 ) 1 ( )) ( (
) ( )) ( ( ) 1 ( ) ( ) 1 (
k k V k k k sign k
k k sign k k k k K k
a
+ + +
+ + + = +


(9)
trong ,
) (
) (
) (
) (
) (
) (
) (
) ( ) ( 2
2
6
2
5
4
3
2
2
1
B L J R T J L
T R T
k
B L J R T J L
T K
k
B L J R T J L
L T
k
B L J R T J L
T R L T
k
B L J R T J L
J L
k
B L J R T J L
K K B R T B L J R T J L
k
a a a
a F
a a a
T
a a a
a
a a a
a a
a a a
a
a a a
T b a a a a
+ +
=
+ +
=
+ +
=
+ +
+
=
+ +
=
+ +
+ + +
=

(10)
Bng 1: Cc thng s s dng trong m hnh ng c mt chiu (M Gopal, 2003)
K hiu ngha Gi tr n v
J Moment qun tnh ca rotor 0.068 Kg.mP
2
B H s ma st 0.03475 N.m/(rad/s)
RR
a
in tr phn ng 7.56

LR
a
Cm khng phn ng 0.055 H
KR
T
Hng s moment 3.475 N.m/A
KR
b
Hng s sut in ng 3.475 Volts/(rad/s)

Hng s 0.0039 N.m/(rad/s)
TR
F
Moment ma st 0.212 N.m
Tp ch Khoa hc 2011:19a 17-26 Trng i hc Cn Th

20
3 2BTHIT K B IU KHIN FEEDFORWARD-FEEDBACK
5BS iu khin feedforward v feedback c m t trong Hnh 2.











Hnh 2: S iu khin feedforward-feedback
3.1 6Biu khin Feedback
Lut iu khin feedback uR
fb
Rc thit k da trn b iu khin PID,
( )
|
.
|

\
| + +
+ + + + = +
T
k e k e k e
k k e k T k e k e k k u k u
d i p fb fb
) 1 ( ) ( * 2 ) 1 (
* ) ( * * ) ( ) 1 ( * ) ( ) 1 (
(12)
trong , ) ( ) ( ) ( k y k y k e
d
= , vi y l p ng ca i tng, yR
d
R l tn hiu mong
mun, kR
p
R l hng s t l, kR
i
R l hng s tch phn v kR
d
R l hng s vi phn.
Cc hng s kR
p
R, kR
i
R, kR
d
R c chn theo phng php th sai.
3.2 7Biu khin feedforward
Do b iu khin feedback c thit k bng b iu khin PID vi cc hng s
kR
p
R, kR
i
R, kR
d
R c chn theo phng php th sai nn khng th lng trc c tt
c cc thnh phn khng bit tc ng vo h thng. Vic tc ng ny c th lm
cho vt l v sai s xc lp tng. Do b iu khin feedforward c nhim v
tinh chnh p ng ca i tng bng cch c lng cc thnh phn khng bit
trc. B iu khin ny s b vo cc thnh phn m b iu khin feedback
khng th kim sot c nhm gim thiu vt l v sai s xc lp.
S mng nron ca b iu khin feedforward c trnh by nh sau:












Hnh 3: S mng nron s dng gii thut gradient descent
PID Plant
NN
u
ff
u
fb
y
d
y

-

e

y

u
ff
y
d
y

w
1
w
2
w
6
( ) y y
d
,
1

( ) y y
d
,
2

( ) y y
d
,
6

Tp ch Khoa hc 2011:19a 17-26 Trng i hc Cn Th

21
) , ( y y
d
l hm tansig
Gii thut hc l gradient descent vi lut cp nht trng s nh sau:
( )
k k k
w E w w =
+

1

trong , l tc hc, w l trng s cp nht, E l hm sai s, k=0,1,2,

Hnh 4 trnh by d liu ng vo dng hun luyn mng. Tp d liu ng
vo l tn hiu ngu nhin. Hnh 6 th hin d liu ng ra c dng hun luyn
mng. S ly mu d liu hun luyn c trnh by Hnh 5 vi V l tn hiu
ng vo, Omega () l tn hiu ng ra v DC Motor Model l m hnh ng c
mt chiu. Tp d liu vo ra c ly trc tip trn m hnh ny. Tp d liu sau
khi ly mu s c hun luyn offline bng mng nron lan truyn ngc vi tc
hc thch nghi. Nu ph hp gia tn hiu ng vo v tn hiu ng ra c
hun luyn t 100%, lc by gi tp d liu vo ra va c a vo hun luyn
l tp d liu chun cho m hnh.
0 20 40 60 80 100 120
-4
-3
-2
-1
0
1
2
3
Time[sec]
V
o
l
t

Hnh 4: D liu hun luyn ng vo l tn hiu ngu nhin

V
v
Random
Number
Omega
Omega
200 V Omega
DC Motor Model

Hnh 5: S thu thp d liu ng vo v ng ra

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0 20 40 60 80 100 120
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
Time[sec]
S
p
e
e
[
R
a
d
/
s
]

Hnh 6: Tp d liu ng ra
Kt qu hun luyn mng s dng gii thut lan truyn ngc Gradient Descent
vi tc hc thch nghi cho thy ph hp gia tn hiu vo v tn hiu c
hun luyn l 100% (xem Hnh 7). Kt qu ny minh chng cho tp d liu vo
Hnh 4 v tp d liu ra Hnh 6 l tp d liu chun cho m hnh ng c mt
chiu.
0 20 40 60 80 100 120 140 160 180 200
-25
-20
-15
-10
-5
0
5
10
15
20
25


Input Signal
Trained Signal

Hnh 7: Kt qu nhn dng vi tn hiu vo l ngu nhin kt hp vi tn hiu hnh sin
4 3BKT QU M PHNG
Gii thut iu khin feedforward-feedback c p dng iu khin tc
ng c in mt chiu. Tc t l hm nc v thay i mt cch t ngt. Tuy
Tp ch Khoa hc 2011:19a 17-26 Trng i hc Cn Th

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nhin vn ny khng lm kh khn cho gii thut iu khin bi v b iu
khin feedback (s dng PID) c p ng kh nhanh v b iu khin feedforward
c nhim v tinh chnh sao cho p ng l tt nht (vi sai s b nht). Chng hn
nh ti thi im t=4s, tn hiu t thay i t ngt t 1.5rad/s xung -1rad/s
(xem Hnh 8). Ti thi im ny, b iu khin feedback-feedforward (xem Hnh
12) th hin tt vai tr bng cch a tc ng c bm st tc t trc.
Hn th na, tn hiu nhiu c thm vo h thng m bo tnh n nh cho
h thng. Tn hiu nhiu l tn hiu ngu nhin vi trung bnh bng khng v
phng sai l 0.8. Kt qu m phng cho thy vt l l 2%, sai s xc lp
t 3% (xem Hnh 9), thi gian tng v thi gian xc lp khng ng k.
Lut iu khin feedback (xem Hnh 10) gi vai tr chnh m bo tc ng
c lun lun bng vi tc mong mun ti nhng thi im khc nhau. Lut iu
khin feedforward (Hnh 11) c nhim v di ta ca lut iu khin feedback
m bo tc ng c lun bm theo tc t khi c nhiu hoc cc thnh
phn khc tc ng vo h thng. Lut iu khin feedback-feedforward (xem
Hnh 12) l tng ca lut iu khin feedback v lut iu khin feedforward.
Nu gi cng iu kin (khng i tn hiu vo, tn hiu nhiu) v khng s dng
b iu khin feedforward th p ng ca ng c c vt l tng ln gn gp
i 3.36% v sai s xc lp tng ln 5% (xem Hnh 13)
0 2 4 6 8 10 12
-1.5
-1
-0.5
0
0.5
1
1.5
2
Time[sec]
S
p
e
e
d
[
R
a
d
/
s
]



Input
Ouput

Hnh 8: p ng tc ca ng c in mt chiu
Tp ch Khoa hc 2011:19a 17-26 Trng i hc Cn Th

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0 2 4 6 8 10 12
-0.01
-0.005
0
0.005
0.01
0.015
0.02
0.025

Time[sec]
S
p
e
e
d
[
R
a
d
/
s
]

Hnh 9: Tn hiu nhiu
0 2 4 6 8 10 12
-15
-10
-5
0
5
10
15

Time[sec]
V
o
l
t

Hnh 10: Lut iu khin feeback
Tp ch Khoa hc 2011:19a 17-26 Trng i hc Cn Th

25
0 2 4 6 8 10 12
-6
-4
-2
0
2
4
6
g
Time[sec]
V
o
l
t

Hnh 11: Lut iu khin feedforward
0 2 4 6 8 10 12
-15
-10
-5
0
5
10
15
20

Time[sec]
V
o
l
t

Hnh 12: Lut iu khin feedback-feedforward
Tp ch Khoa hc 2011:19a 17-26 Trng i hc Cn Th

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0 2 4 6 8 10 12
-1.5
-1
-0.5
0
0.5
1
1.5
Time[sec]
S
p
e
e
d
[
R
a
d
/
s
]



Input
Ouput

Hnh 13: p ng tc ng c mt chiu khng s dng b iu khin feebforward
5 4BKT LUN
Bng cch kt hp gia gii thut iu khin feedback (b iu khin PID) vi b
iu khin feedforward (c hun luyn da trn mng nron lan truyn ngc
Gradient Descent vi tc hc thch nghi), lut iu khin feedforward -feedback
khc phc c nhc im ca b iu khin feedback (nhiu hoc cc thnh
phn khc khng bit tc ng vo trong khi cc tham s kR
p
R, kR
i
R, kR
d
R c chn bng
phng php th sai). Gii thut iu khin feedback-feedforward c p dng
iu khin tc ng c mt chiu. Vi gii thut ny, kt qu m phng iu
khin trn MATLAB cho thy, tc ng c bm theo tc t vi vt l
2%, sai s xc lp 3%, thi gian tng v thi gian xc lp khng ng k. So vi
b iu khin PID kinh in, b iu khin s dng mng nron (b iu khin
feedforward) kt hp vi PID (b iu khin feedback) s lm gim vt l v
sai s xc lp.
TI LIU THAM KHO
M Gopal, 2003. Digital control & state variable methods-conventional & neural-fuzzy control
system; 2P
nd
P edition, Tata MacGraw-Hill, p765-776
Morteza Mohammadzaheri and Lei Chen, 2009. A design approach for feedback-feedforward
control systems, 2009 IEEE international conference in control and automation, New
Zealand December 9-11, 2009, pp2266-2271
Richard L. Whelch, Stephen M. Ruffing, and Ganesh K. Venayagamoorthy, 2009.
Comparision of feedback and feedforward neural network architecture for short term
wind speed prediction;1T Proceeding of international joint conference on neural network,
USA, June 14-19, 2009, pp3335-3340
Xuemei Ren, Frank L. Lewis, Jingliang Zhang, and Shuzhi Sam Ge, 2009. Feedforward
Control Based on Neural Networks for Hard Disk Drives; IEEE Transactions On
Magnetics, Vol. 45, No. 7, pp3025-3030