Điều khiển nhiệt độ dùng mờ thích nghi

LVTN: ieu Khien Nhiet o Dung M Thch Nghi
GVHD: Ts Nguyen Thien Thanh 1 SVTH: Nguyen Phng Thao

CHNG 0:

on ngi che tao ra dung cu e s dung cho muc ch cua ho
ong thi cung ngh en viec ieu khien chung theo y muon cua
mnh. Khai niem hoi tiep la khai niem het sc quan trong e ieu
khien dung cu. ng dung au tien het sc co y ngha la ieu khien toc o
ong c hi nc c James Watts phat minh 1769. Khi cac d an mi
vi nhieu au vao va nhieu au ra ngay cang tr nen phc tap hn th s
mo ta he thong ieu khien oi hoi mot so lng ln cac phng trnh kem
theo. Ly thuyet ieu khien co ien mot vao mot ra hoan toan khong co
gia tr vi he thong a vao a ra. T nam 1960, ly thuyet hien ai c
phat trien e thch ng vi mc o phc tap ngay cang tang cua cac d an
va nhng quy tac oi hoi tnh chnh xac, tai trong, gia thanh c dung
trong quan oi, khong gian va trong cong nghiep. S phat trien nay c
tang toc bi may tnh so v kha nang lap trnh giai quyet ong thi nhieu
phng trnh.
Ky thuat ieu khien da tren phng trnh toan hoc. Tuy nhien,
chung ta thng oi mat vi nhng d an hoa hoc, may moc va nhieu he
thong khac can c ieu khien, th viec mo ta ac tnh cua chung thong
qua cac phng trnh toan hoc la het sc kho khan v mc o phc tap qua
ln. Ngay ca nhng chuyen gia e hoan thanh viec ieu khien, ho phai
van dung, chat ep kien thc t nhng kinh nghiem lau dai e a ra nhng
phng phap, luat ieu khien thong qua ngon ng trc giac t nhien. Kien
thc ( b quyet ) c trnh bay vi ngon ng trc giac t nhien th c
giai thch mot cach de dang, de hieu bang nhan thc thong thng va do
o de nh. Trong nhieu trng hp, ngon ng trc giac t nhien co mot
ranh gii m ho ve ng ngha, no c e cap nh nhng so hang ngon
ng m va c at tnh hoa bi ham lien thuoc. Y tng thiet ke bo ieu
khien m ra i.
Vay dung m cho ta nhng li iem g?

Mot phng phap thiet ke khac n gian hn, nhanh gon hn
e anh gia tai sao phng phap m c ban lai co sc hap dan at an
tng trong ng dung ieu khien , chung ta hay xem v du ve thiet ke ien
hnh:

Hnh tren minh hoa yeu cau cua cac bc tuan t e phat trien bo ieu
khien dung phng phap thong thng va phng phap m.
Dung phng phap thong thng th bc au tien la phai hieu c tnh
chat vat ly cua he thong va yeu cau ieu khien cua no. Da tren s hieu
biet o, bc th hai se phat trien mot mo hnh gom chng trnh, cam
bien, phan t chap hanh. Bc th ba la ap dung ly thuyet ieu khien
tuyen tnh e lam ro nhng chc nang n gian cua bo ieu khien chang
han nh cac thong so cua bo ieu khien PID. Bc th t la xa y dng luat
Tnh chat vat ly
Yeu cau ieu khien
Tnh chat vat ly
Yeu cau ieu khien
Xay dng
mo hnh tuyen tnh
Xay dng luat cho
bo ieu khien
Xac nh bo ieu khien
n gian
Mo phong thiet ke
a phu hp cha?
Thiet ke bo ieu khien
bang luat m
Mo phong thiet ke
a phu hp cha?
Ky thuat thiet ke thong thng Ky thuat thiet ke m c ban

cho bo ieu khien n gian. Va bc cuoi cung la mo phong thiet ke bao
gom ca nhng anh hng phi tuyen, nhieu va s thay oi cua cac thong
so. Neu viec thc hien khong thoa man ta can xac minh lai mo hnh cua
he thong, thiet ke lai bo ieu khien, viet lai luat ieu khien va th lai.
Vi logic m, bc au tien la hieu va at tnh hoa hanh vi cua he thong
bang nhng kien thc kinh nghiem tch luy. Bc th hai la trc tiep thiet
ke luat ieu khien trong moi quan he gia cac so hang vao/ra. Bc cuoi
cung la mo phong va tm sai sot cua khau thiet ke. Neu phan thc hien
khong thoa man chung ta ch can xac minh lai luat m va th lai.
Mac du hai phng phap thiet ke co nhieu iem tng ong, nhng
phng phap m c ban n gian chu ky thiet ke mot cach ang ke. Ket
qua nay co y ngha ve li nhuan chang han nh giam c thi gian phat
trien, thiet ke n gian va nhanh chong em ra th trng.
Logic m giam i viec thiet ke cac tien trnh phat trien cua
chu ky.
Vi phng phap thiet ke m, nhng bc dung trc ay b loai bo bt.
Hn the na trong qua trnh tm sai sot va chnh nh chu ky, ta co the thay
oi bang cac luat c xac minh n gian thay v thiet ke lai bo ieu
khien. Vi luat m ta co the thay c ng dung thay v chng trnh kho
khan. Ket qua cho thay dung logic m giam ang ke toan bo tien trnh
phat trien cua chu ky.
Logic m n gian hoa viec thiet ke phc tap.
Logic m cho phep ta mo ta he thong phc tap bang kien thc va kinh
nghiem thong qua luat m. No khong oi hoi bat ky mo hnh he thong nao
hay cac phng trnh toan hoc nam vai tro chu ao trong moi quan he
vao/ra. Luat m de hoc, de dung ngay khi ban khong phai la chuyen gia.
Mot cach ien hnh, no ch dung vai luat e mo ta he thong ma le ra phai
oi hoi nhieu dong vi phan mem thong thng.Ket qua la logic m het
sc co y ngha trong viec n gian hoa thiet ke phc tap.
Giai quyet ieu khien phi tuyen tot hn.
He thong trong cuoc song hang ngay cua chung ta eu la he phi tuyen.
Nhng phng phap thiet ke thong thng dung phng phap xap x e
nam bat phi tuyen. Cach chon la ien hnh la tuyen tnh, tuyen tnh tng
oan, tra bang. Ky thuat xap x tuyen tnh th hoan toan n gian,tuy
nhien no co khuynh hng gii han phan ieu khien va phan ln thc thi

cho nhng ng dung chac chan. Ky thuat tuyen tnh tng oan th lam viec
tot hn mac du keo dai phan thc thi v no o i hoi phai thiet ke nhieu
oan tuyen tnh cua bo ieu khien. Ky thuat tra bang co the cai tien hieu
suat ieu khien, nhng rat kho khan e tm sai sot va chnh nh. Hn the
na oi vi he thong phc tap ton tai he so nhan au vao th viec tra bang
la khong thc te hoac qua at e thc thi v no oi hoi mot bo nh qua
ln.
Logic m cho ra mot cach giai quyet khac oi vi ieu khien phi tuyen
bi v no gan gui hn vi the gii thc ben ngoai. Phi tuyen c nam bat
bi luat, ham lien thuoc va qua trnh suy dien cai ma rat co ket qua trong
cai tien thc thi, thc hien n gian va giam dc gia thanh thiet ke.
Logic m cai tien viec thc hien ieu khien.
Nhieu ap dung logic m mang lai ket qua tot hn trong ieu khien tuyen
tnh, tuyen tnh tng oan, hay ky thuat tra bang. V du nh mot van e
ien hnh gan vi ieu khien co ien la thi gian ap ng cua bo ieu
khien vi o vot lo. Cho v du ve he thong ieu khien nhiet o mot vao
n gian c minh hoa sau:

ng tuyen tnh au tien xap x ng cong mong muon cho ra ap ng
cham va khong co vot lo, no ch ra rang nhiet o phong th qua lanh cho
mot khoang thi gian. ng tuyen tnh th hai co ap ng nhanh hn
nhng co vot lo va sau o la dao ong, no ch ra rang nhiet o khong on
nh trong mot khoang thi gian.
Vi logic m, ta co the dung luat, ham lien thuoc e xap x bat c ham
nao cho en chnh xac bat ky nhiet o nao. Da vao hnh minh hoa, ta co
the xap x ng cong mong muon cho bo ieu khien nhiet o bang cach

dung 4 iem( 4 luat ). Chung ta co the them luat vao e tang o chnh xac
cua viec xap x. Nhng luat th n gian hn e thc thi va de dang tm sai
sot va chnh nh chung hn ky thuat tuyen tnh tng oan hay ky thuat tra
bang.

If temperature is cold then force is high.
If temperature is cool then force is medium.
If temperature is warm then force is low.
If temperature is hot then force is zero.
Nhng luat nay khong giong nh nhng bang tra bi v luat m lam gian
oan hnh dang cua ham phi tuyen. Viec ket hp bo nh yeu cau viec at
nhan va suy dien m th t hn ang ke so vi bang tra, at biet oi vi
nhng he thong a vao. Ket qua la toc o x ly co the c cai tien.
Tom lai ieu khien m co nhieu iem manh trong viec thiet ke he
thong ieu khien cac oi tng phc tap, cac oi tng ma viec mo ta mo
hnh oi tng la cc ky kho khan, la cho phep thiet ke he thong n gian,
tiet kiem nhieu cong sc, thi gian, giam c gia thanh
Ben canh nhng iem manh tren khi s dung logic m e thiet ke bo ieu
khien gap mot so han che trong viec toi u hoa he thong la do no oi hoi
phai co kinh nghiem va nghe thuat thiet ke he thong.
e khac phuc nhng nhc iem nay, ngi ta ket hp logic m vi
mang neuron. Mang neuron, mot he thong x ly thong tin ay ha

hen,chng minh kha nang hoc, truy cap thong tin trong bo lu tr va tong
quat hoa t viec huan luyen mo hnh hay d lieu. Mang neuron nhan tao
la lnh vc va khoa hoc va ky thuat, trong o khoa hoc c nh ngha
nh la kien thc co cau truc va ky thuat chnh la khoa hoc ng dung. V ky
thuat n le khong giai quyet toi u nhng bai toan ma bc hien tai luon
la ket qua cua cac bc trc o. Cong nghe mang neuron nhan tao hnh
thanh, no thay the cho cac giai phap tnh toan truyen thong va a ra mot
vai kha nang e tiep can nhieu van e hien tai khong giai quyet c.
Mang neuron c ng dung rong rai trong cac nganh ky thuat nh: ky
thuat ieu khien, ien t vien thong, he thong ien va cong nghe thong
tin. Trong ky thuat ieu khien mang neuron nhan tao c ng dung e
nhan dang, d bao va nhan dang cac he thong ong. Trong ien t vien
thong mang neuron nhan tao c ng dung e nhan dang d bao va ieu
khien cac tram bien apS phat trien cua mang neuron, mot lnh vc cua
tr tue nhan tao, cho ta nhng thanh qua ang ke trong viec thiet ke he
thong co kha nang hoc nhng hanh vi ma ta mong muon. Nhng mang
neuron lai co khuyet iem la kho giai thch ro rang cac hoat ong cua he.
S ket hp gia logic m va mang neuron la s ket hp hai u iem de
thiet ke va de toi u cho ta at c ket qua tot nhat ma ta mong
muon.Bo ieu khien m thch nghi ra i. Bo ieu khien ma trong qua
trnh lam viec co kha nang chnh nh thong so cua no cho phu hp vi s
thay oi cua oi tng c goi la bo ieu khien thch nghi. Bo ieu khien
m co kha nang chnh nh la i cac thong so cua bo ieu khien cho phu
hp vi oi tng cha biet ro a a he thch nghi tr thanh he ieu
khien thong minh. o chnh la bo ieu khien m thch nghi.


GVHD: Ts Nguyen Thien Thanh c 7 s SVTH: Nguyen Phng Thao

CHNG 1:

1.1 TAP M VA CAC PHEP TOAN TREN TAP M.
1.1.1 Tap m:
Trong khai niem tap hp kinh ien, viec xay dng cac phep anh xa
va cac mo hnh eu at tren c s logic hai gia tr Boolean. Tc la ham
phu thuoc
F
(x) nh ngha tren tap F ch co hai gia tr la 1 neu x thuoc F
va la 0 neu x khong thuoc F. Kieu logic hai gia tr nay to ra rat hieu qua
va thanh cong trong viec giai quyet cac bai toan c nh ngha ro rang.
Tuy nhien trong thc te thng ton tai mot tap hp ma o phu thuoc
cua cac phan t trong tap hp co gia tr trong khoang [0,1]. T o khai
niem tap m ra i.
nh ngha: Tap m F xac nh tren tap kinh ien M la mot tap
ma moi phan t cua no la mot cap cac gia tr (x,
F
(x) ) trong o x thuoc
M va
F
la anh xa:
F
: M [0,1]
- Anh xa
F
c goi la ham lien thuoc cua tap m F.
- Tap kinh ien M c goi la c s cua tap m F.
^Ham lien thuoc cua cac tap m:
Ham lien thuoc e tnh o phu thuoc cua mot phan t x nao o, co
hai cach: tnh trc tiep( neu
F
(x) cho trc di dang cong thc tng
minh ) hoac tra bang( neu
F
(x) cho di dang bang ).
Cac dang ham phu thuoc:
1. Dang tuyen tnh :
ay la dang tap m n gian nhat, thng c chon khi mo ta
cac khai niem cha biet hay cha hieu ro rang.


2. Dang ng cong S :

Mot tap m dang ng cong S co 3 thong so la cac gia tr o, |,
co o phu thuoc tng ng la 0, 0.5 va1. Dang ng cong S thng
c dung e at trng cho ng cong phan bo chuan. A la iem
uon.
o phu thuoc tai iem x c tnh bi cong thc sau :
| |
| |
>
s s
s s
s
=
| o o
| o o o
o
| o
x khi
x khi x
x khi x
x khi
x S
1
) /( ) ( 2 1
) /( ) ( 2
0
) , , ; (
2
2

Trong ky thuat ieu khien m thong thng cac ham lien thuoc
kieu S hay c thay gan ung bang mot ham tuyen tnh tng oan.
0.5
1
0
x
| o
A
1
0
Tap m tuyen tnh tang Tap m tuyen tnh giam
1
0

3.Dang ng cong hnh chuong :
Dang ng cong hnh chuong ac trng cho cac so m (xap x
mot gia tr trung tam), bao gom 2 ng cong dang S tang va S giam.

o rong hay hep cua mien khao sat cung nh o doc cua dang
hnh chuong tuy theo tnh chat cua hien tng c mo ta, cung nh
quyet nh cua ngi thiet ke.
T hai tap m dang ng cong S ta suy ra o phu thuoc tai
iem x cua tap m dang ng cong hnh chuong nh sau :
)
`
> + +
s
= [
| |
| |
|
x khi x S
x khi x S
x
) , 2 / , ; ( 1
) , 2 / , ; (
) , ; (

4. Dang hnh tam giac, hnh thang va hnh vai :
Cung vi s gia tang cua cac bo vi ieu khien 8 bit va 16 bit,
dang tap m chuan hnh chuong c thay bang cac dang tap m
hnh tam giac va hnh thang do yeu cau tiet kiem bo nh von han che
cua cac bo vi ieu khien.

0.5
x
|
1
0

Dang hnh thang :

Dang tam giac :

(
(
(
(
>
s s
s s
<
=
| |
| o o | o
o
| o
x khi
x khi x
x khi x
x khi
x T
0
) /( ) (
) /( ) (
0
) , , ; (
Dang hnh vai :
Thong thng vung gia cua bien mo hnh c ac trng bang
cac tap m co dang hnh tam giac v no lien quan ti cac khai niem
tang va giam. Tuy nhien vung bien cua bien khai niem khong b
thay oi. Luc nay can phai dung dang hnh vai e mo ta tnh chat cua
bien bien.

o
|
0
1
x
1
0
x
A
x
B

x
o
|


V du: Xet bien Nhiet o gom cac tap m LANH, MAT, TRUNG
BNH, AM, NONG nh hnh ve:

Khi ta at en NONG th tat ca nhiet o cao hn se la luon NONG.
Khi nhiet o cha at en LANH th nhiet o thap hn se la LANH.
Do o ta co hai tap m NONG, LANH dang hnh vai.
^Cac tnh chat va at iem c ban cua tap m :
1.o cao va dang chnh tac cua tap m
o cao cua tap m F ( nh ngha tren c s M ) la gia tr
H = sup
F
(x) la gia tr cc ai o phu thuoc cua cac phan t tap m
xeM
0
1
edge
floor
1
0
edge floor
Hnh vai trai Hnh vai phai
Lanh Mat
Trung
bnh
Am Nong
X
1
X
2 X
3
X
4 X
5
X
6
1


Mot tap m co t nhat mot phan t co o phu thuoc bang 1
c goi la tap m chnh tac, tc la H=1 va neu H < 1 la tap m
khong chnh tac.

Trong cac mo hnh bo ieu khien m, tat ca cac tap m c s
eu phai dang chnh tac nham khong lam suy giam ngo ra.
Tap m c a ve dang chnh tac bang cach ieu chnh lai tat
ca gia tr o phu thuoc mot cach t le quanh gia tr o phu thuoc cc
ai.
2.Mien xac nh cua tap m:
Mien xac nh cua tap m F ( nh ngha tren c U ), c ky
hieu bi S la tap con cua M thoa man:
S = { x e M /
F
(x) > 0 }
3.Mien tin cay cua tap m :
Mien tin cay cua tap m F ( nh ngha tren c s U ), c ky
hieu bi T, la tap con cua M thoa man:
T = { x e M /
F
(x) = 1 }

1
0,75
0 0
(a). Tap m A co o cao la 1 (b). Tap m B co o cao la 0,75


Minh hoa ve mien xac nh va mien tin cay cua mot tap m.
^Cac phep toan tren tap m :
Cac phep toan tren tap m c xay dng thong qua cac ham
lien thuoc tng t nh cac phep toan tren tap hp kinh ien :
Phep toan bang nhau: Cho A va B la hai tap hp m trong khong
gian M, A va B c goi la bang nhau neu va ch neu:
A
(x) =
B
(x) cho tat ca x thuoc M
Phep hp hai tap m :Hp cua hai tap m A va B co cung c s M
la mot tap m cung xac nh tren c s M vi ham lien thuoc:
AUB
(x) = MAX {
A
(x),
B
(x) }
Tong quat: Hp cua tap m A co ham lien thuoc
A
(x) ( nh
ngha tren c s M ) vi tap m B co ham lien thuoc
B
(y) ( nh
ngha tren c s N) la mot tap m xac nh tren c s M
x
N vi ham
lien thuoc :
AUB
(x,y) = MAX {
A
(x,y) ,
B
(x,y) }
trong o :
A
(x,y) =
A
(x) vi moi y e N va
B
(x,y) =
B
(y) vi moi x e M.
0
1
Mien tin cay
Mien xac nh
x


Phep giao hai tap m :Giao cua hai tap m A va B co cung c s
M la mot tap m cung xac nh tren c s M vi ham lien thuoc :
AB
(x) = MIN {
A
(x),
B
(x) }
Tong quat: Giao cua tap m A co ham lien thuoc
A
(x) ( nh
ngha tren co c s M ) vi tap m B co ham lien thuoc
B
(y) (nh
ngha tren co c s N) la mot tap m xac nh tren c s MxN co
ham lien thuoc :
AB
(x,y) = MIN {
A
(x,y),
B
(x.y) }
trong o :
A
(x,y) =
A
(x) vi moi y e N va
B
(x,y) =
B
(y) vi moi x e M

AB

A
B
AB
A
B

Phep bu cua mot tap m :Bu cua tap m A co c s M va ham lien
thuoc
A
(x) la mot tap m A
c
xac nh tren cung co c s M vi ham
lien thuoc :
( ) 1 ( )
C
A
A
x x =

Tch catesian : Cho A
1
, A
2
, , A
n
la cac tap m trong M
1
, M
2
, ,
M
n
. Tch Catesian cua cac tap m A
1
, A
2
,, A
n
la mot tap m trong
khong gian tch M
1
.M
2
.M
3
M
n
vi ham lien thuoc cua no c nh
ngha bi :
1 2 1 2
... 1 2
( ) { ( ), ( ),..., ( )}
n n
A xA x xA A A A n
x MIN x x x =

cho tat ca x
1
, x
2
,,x
n
thuoc M.
Tch ai so : Tch ai so cua 2 tap m A va B vi cac ham lien
thuoc
A
(x) va
B
(x) la mot tap m ma ham lien thuoc cua no
A.B
(x)
c cho bi :
A.B
(x) =
A
(x).
B
(x)
1.2 QUAN HE M VA CAC PHEP TOAN TREN QUAN HE M:
1.2.1 Quan he m:
^Khong gian tch: Cho x
e
X va y
e
Y , khong gian cua tch X va Y
c nh ngha la:
XxY= { (x,y)| x
e
X va y
e
Y }.
A
A
C

^Quan he ro: Cho R la tap con cua khong gian tch XxY, R c goi la
quan he ro neu Rc nh ngha bang ham at tnh cua no sao cho:
1 ( , )
0 ( , )
( , )
khi x y R
R khi x y R
X x y
e
e
=

Neu X co kch thc M va Y co kch thc N th quan he nay co the c
bieu dien di dang ma tran MxN.
^Quan he m: Cho R la tap con cua khong gian tch XxY, Rc goi la
quan he m gia hai khong gian X va Y, neu R c nh ngha bang ham
lien thuoc cua no sao cho
R
(x,y) co the lay bat ky gia tr nao trong
khoang [0,1].
Neu X co kch thc M, Y co kch thc N th quan he nay co the
c bieu dien di dang ma tran MxN.
1.Thuat toan xay dng quan he m R:
OCho menh e hp thanh mot ieu kien R: AB
Neu =A th =B,
trong o so chieu cua R phu thuoc vao so iem lay mau cua
A
(x)
va
B
(y) khi ri rac cac ham lien thuoc tap m A va B.
Chang han vi n iem x
1
, x
2
, ,x
n
cua ham
A
(x) va m iem mau
y
1
, y
2
,, y
m
cua ham
B
(y) th luat hp thanh R la mot ma tran n
hang, m cot nh sau:
1 1 1 11 1
1 1
( , ) ( , )
( , ) ( , )
R R m n
R n R n m n nm
x y x y r r
R
x y x y r r

| | | |
| |
= =
| |
| |
\ . \ .

OCho menh e hp thanh nhieu ieu kien R:
1 2
...
n
A A A B A A A

Neu
1
=A
1
va
2
=A
2
va
n
=A
n
th =B bao gom n menh e
ieu kien. Lien ket VA trong menh e ieu kien chnh la phep giao

cac tap m A
1
, A
2
, ,A
n
vi nhau. Va ket qua cua phep giao se la o
thoa man H.
o thoa man H = MIN
{ }
1 2
1 2
( ), ( ),..., ( )
n
A A A n
c c c
vi cac
vector gia tr au vao:
1
n
c
x
c
| |
|
=
|
|
\ .
trong o c
i

, i = 1n la mot trong cac iem
mau mien xac nh cua
( )
i
A i
x
.
Khong nh luat hp thanh co mot menh e ieu kien luat hp
thanh cua menh e vi n ieu kien khong the bieu dien di dang
ma tran c na ma thanh mot li trong khong gian n+1 chieu.
Xet mot menh e hp thanh hai ieu kien sau:
Neu = A va = B th = C
R:
A B C

- Ri rac hoa cac ham lien thuoc:
A
(x) c ri rac hoa tai 5 iem , xe{0,2; ..; 0.6}
B
A
1
0.5
A
(x)
0.2 0.4 0.6 0.3 0.5
0.7
0.2 0.4 0.6
0.8 1
B
(y)
C
(z)
x
y
z

- Lap R gom cac ham lien thuoc cho tng vector gia tr au vao:
V du nh cap iem (x=0.3, y=0.5)
o thoa man H se la : H = MIN{
A
(x= 0.3),
B
(y= 0.5)}
= MIN{0.5; 1.0} = 0.5
va
R
(0.3; 0.5) = {0; 0.5; 0.5; 0.5; 0}
Nh vay tren khong gian R
3
th R se la mot li ba chieu, trong o tai
moi iem nut tren li la mot gia tr cua
R
(x,y).
OCho nhieu menh e hp thanh: Cho p menh e hp thanh gom:
R
1
:
1
=A
1
th =B
1
hoac
R
2
: =A
2
th =B
2
hoac

R
p
:
p
=A
p
th =B
p
,
trong oA
1
, A
2
,, A
p
co cung c s X ; B
1
, B
2
,, B
p
co cung c s Y.
Quan he R se la hoi cua tat ca cac luat hp thanh con:
1 2
...
p
R R R R =

1.2.2 Cac phep toan tren quan he m:
Neu P va Q la hai quan he m tren khong gian XxY va YxZ th
quanhe m tren khong gian XxZ o la s hp thanh cua hai quan he m P
va Q, c viet la :
o
R PQ =
, trong o ky hieu o la toan t hp thanh.
Co ba loai toan t hp thanh m thong dung nhat o la MAX_MIN,
MAX_PROD, MIN_MAX.
Neu toan t hp thanh la toan t MAX_MIN th ham lien thuoc
cua quan he m R c nh ngha bi:
( , ) ( , ) _ [ ( , ), ( , )]
R PoQ P Q
x z x z MAX MIN x y y z = =

Neu toan t hp thanh la toan t MIN_MAX th ham lien thuoc
cua quan he m R c nh ngha bi:

( , ) ( , ) _ [ ( , ), ( , )]
R PoQ P Q
x z x z MIN MAX x y y z = =

Neu toan t hp thanh la toan t MAX_PROD th ham lien
thuoc cua quan he m R c nh ngha bi:
( , ) ( , ) [ ( , ) ( , )]
R PoQ P Q
x z x z MAX x y y z = = -

trong o:
P
(x,y) la ham lien thuoc cua P

Q
(y,z) la ham lien thuoc cua Q.
1.2.3 Phng trnh quan he m:
Cho A la tap m trong khong gian X va R la quan he m trong khong
gian tch XxY.Tap m au ra B trong khong gian Y c bieu dien bang
quan he m o la:AoR=B, trong o ky hieu o la toan t hp thanh. Neu
toan t hp thanh nay la MAX_MIN, th ham lien thuoc cua tap m B o
la:
( ) _ [ ( ), ( , )]
B A R
y MAX MIN x x y =

1.3 CAC PHNG PHAP HOA M VA GIAI M:
1.3.1 M hoa:
Hoa m la qua trnh lam m mot ai lng ro, ngha la dung nhng
ham phu thuoc cua cac bien ngon ng e tnh mc o phu thuoc cho tng
tap m oi vi mot gia tr cu the au vao. M hoa la bc au tien trong
qua trnh tnh toan cua he m. Ket qua cua no c dung lam au vao e
tnh cac luat m.
^Bien ngon ng: La phan chu ao trong cac he thong dung logic m.
Bien ngon ng c xac nh thong qua tap cac gia tr m cua no. Bien
ngon ng co hai mien gia tr khac nhau:
- Mien cac gia tr ngon ng
- Mien cac gia tr vat ly( mien cac gia tr ro ) .
V du : Trong ai lng nhiet o, gia tr c nhac en di dang ngon
ng :
-rat nong
-hi nong

-trung bnh
-hi lanh
-rat lanh
Moi gia tr ngon ng o cua bien nhiet o c xac nh bang mot
tap m nh ngha tren c s la tap cac so thc dng ch gia tr vat ly x
(n v o) cua bien nhiet o u. Ham lien thuoc tng ng cua chung c
ky hieu bang :
Vi x e V la mien cac gia tr vat ly ( mien gia tr ro), ta co c
mot vector gom cac o phu thuoc cua x nh sau :
-
rat nong
(x)
-
hi nong
(x)
-
trung bnh
(x) =
-
hi lanh
(x)
-
rat lanh
(x)

Anh xa nay c goi la qua trnh Fuzzy hoa cua gia tr ro x.
^Tnh o phu thuoc: T cac gia tr ro au vao ta suy ra o phu thuoc
cua tap m theo ham phu thuoc. Cac loai ham phu thuoc thong dung: dang
ch Z, dang ch S, dang tam giac, dang hnh thang.
rat nong
(x)
hi nong
(x)
trung binh
(x)
hi lanh
(x)
rat lanh
(x)


Dang ch Z Dang tam giac Dang hnh thang Dang ch S

a.Tnh o phu thuoc theo ham dang ch Z:
Ham dang ch Z c ac trng bi hai iem x
1
, x
2
.
- Neu ai lng can tnh o phu thuoc nho hn x
1
th o phu thuoc la
mot.
- Neu ai lng can tnh o phu thuoc ln hn x
1
nhng nho hn x
2
th o phu thuoc theo ham doc xuong.
2
th o phu thuoc la
khong.

1
1
1 2
1 2
2
1
( ) 1
0
khix x
x x
x khix x x
x x
khix x

<

= + < <
`

>
)

b.Tnh o phu thuoc theo ham dang tam giac:
Ham dang Tam Giac c ac trng bi ba iem x
1
, x
2
, x
3
.
1
th o phu thuoc la
khong.
1
nhng nho hn x
2
th o phu thuoc theo ham doc len.
X
1
X
2

2
nhng nho hn x
3
3
th o phu thuoc la
khong.

1
1
1 2
1 2
2
2 3
2 3
3
0
( )
1
0
khix x
x x
khix x x
x x
x
x x
khix x x
x x
khix x
<

< <

=
`

+ < <

>

)

c.Tnh o phu thuoc theo ham dang hnh thang:
Ham dang Hnh Thang c ac trng bi bon iem x
1
, x
2
, x
3
, x
4
.
1
th o phu thuoc la
khong.
1
nhng nho hn x
2
2
nhng nho hn x
3
th o phu thuoc la 1.
3
nhng nho hn x
4
4
th o phu thuoc la
khong.

X
1 X
3
X
2


1
1
1 2
1 2
2 3
3
3 4
3 4
4
0
( ) 1
1
0
khix x
x x
khix x x
x x
x khix x x
x x
khix x x
x x
khix x
<

< <

= < <
`

+ < <

>
)

d.Tnh o phu thuoc theo ham dang ch Z:
Ham dang ch Z c ac trng bi hai iem x
1
, x
2
.
1
th o phu thuoc
lakhong.
1
nhng nho hn x
2
2
th o phu thuoc la
mot.

1
1
1 2
1 2
2
0
( )
1
khix x
x x
x khix x x
x x
khix x

<

= < <
`

>
)

1.3.2 Giai m:
Qua trnh x ly m tao mot mien m bien ra. Giai m la tm ra mot
gia tr vat ly (gia tr ro) ac trng cho thong tin cha trong mien m o.
X
1
X
3
X
2
X
4
X
1
X
2


1. Phng phap iem trong tam :
Phng phap nay c ap dung khi mien m bien ra la mot
mien lien thong. Gia tr ro cua bien ra la hoanh o cua iem trong
tam cua mien m bien ra.

Cong thc xac nh x' theo phng phap iem trong tam nh sau :
trong o : l la mien xac nh cua tap m A
}
}
=
l
dx * (x)
dx * (x) * x
x'
A
l
A

2. Phng phap cc ai :
Gia tr ro cua bien ra la iem co o phu thuoc ln nhat.

x x'
A

l


Trong trng hp cac iem co o phu thuoc ln nhat trai dai
tren mot oan thang nam ngang [x
1
;x
2
] gia tr ro cua bien ra la trung
iem cua oan [x
1
;x
2
] nh hnh ve :

3. Phng phap o cao :
Tap m dang Singleton la mot dang n gian hoa cho phep x
ly m va giai m c de dang hn, thng c dung trong cac he
thong dung vi ieu khien, a c tch hp trong tap lenh cua MCU
68HC12 cua hang Motorola.
Moi tap m ket qua cua cac menh e ieu kien c thay bang
mot oan thang (x,(x)) vi (x) la o cao cua tap m tng ng.
A

x'
x
x
1
x
A

x
2
x'

Th du : xet bien NHIET O gom cac tap m
LANH,MAT,AM,NONG.

Phng phap o cao chnh la ap dung giai m theo phng
phap iem trong tam oi vi cac tap m bien ra dang Singleton.
Do cac tap m cua mien m bien ra khong chong lap len nhau
nen khi giai m cong viec tnh tch phan rat mat thi gian a c
thay bang viec tnh tong so hoc nh sau :
=
=
=
n
1 i
i
n
i
i i
H
H * x
x'
1

trong o: x
i
la v tr cac singleton
H
i
la o cao cua cac singleton tng ng
n la so tap m bien ra

1
0
x
1
x
2
x
3
x
4
x
5

x
6

MAT AM NONG LANH

CHNG 2: LOGIC M

2.1 LOGIC RO VA LOGIC M
2.1.1 Logic ro:
: [0,1] T u U e
la logic hai ch so 0 va 1.
c bieu dien thong qua hai gia tr 0, 1 tc la ung hay sai. ieu o
co ngha la vi mot s viec ch co the co hai trang thai co hay khong ma
thoi.
Cho hai e xuat P va Q, cac gia tr chan ly cua e xuat nay c cho
nh sau:
Neu
, ( ) 1; x A T P e =
mat khac T(P)=0.
Neu
, ( ) 1; x B T Q e =
mat khac T(Q)=0.
Cac phep toan trong logic ro:
Phep toan hp:
: P Q x A e
hoac
x B e

V the
( ) max{ ( ), ( )} T P Q T P T Q =

Phep toan giao:
: P Q x A e
va
x B e

V the
( ) min{ ( ), ( )} T P Q T P T Q =

Phep toan phu nh:
Neu T(P)=1 th T( ~P )=0;
Neu T(P)=0 th T( ~P )=1;
Phep toan keo theo:
(PQ):
x A e
hoac
x B e

V the
( ) ( ) T P Q T P Q =


Phep toan tng ng:
1 ( ) ( )
( ) : ( )
0 ( ) ( )
khiT P T Q
P Q T P Q
khiT P T Q
=
=

=

Tuy nhien, trong thc te ta thng bat gap mot s viec ma khong ch
mieu ta bang hai trang thai ung hay sai . Cac ngng cua cac trang thai
nhieu khi khong ro rang, chang han nh: gan ung, ung t, sai t, sai
nhieu Do o logic m ra i.
2.1.2 Logic m:
Logic m la s m rong cua logic ro hay con goi la logic nhieu ch
so, v gia tr chan ly cua mot e xuat trong khong gian co the lay gia tr
bat ky trong khoang [0,1] ma khong b gii han bi hai ch so 0 va 1. Gia
s e xuat P trong tap m A, th gia tr chan ly trong e xuat P c ky
hieu la T(P), co the c cho bi
( ) ( )
A
T P x =
, trong o
0 ( ) 1
A
x s s
.
Neu nh ngha gia tr chan ly cua e xuat P trong tap m A o la:
T
N
(P)={0,..,i/(N-1),.1}
trong o N la so nguyen va 0 i N s s .
Trong logic ro N=2(hai ch so) va i=0, do o T
2
(P) = {0,1}
Trong logic m N=nhieu ch so cu the nh sau:
- N = 3, i= 1, th T
3
(P)= {0, , 1} ng vi {False, Maybe, True}
- N= 4, i= 1, 2 th T
4
(P)= {0, 1/3, 2/3, 1} ng vi {False,
Almost_False, Almost_True, True}
- N=5, i= 1, 2, 3 th T
5
(P)={0, 1/4, 2/4, , 1} ng vi {False,
Almost_False, Maybe, Almost_True, True}
Cac phep toan trong logic m:
Phep toan phu nh:
( ) 1 ( ) T notP T P =

Phep toan hp:
P Q : x is A or B
( ) max{ ( ), ( )} T P Q T P T Q =


Phep toan giao:
P Q
: x is A and B
( ) min{ ( ), ( )} T P Q T P T Q =

Phep toan suy dien:
PQ : x is A then x is B
( ) ( ) max{ ( ), ( )} T P Q T notP Q T notP T Q = =

2.2 C S TRI THC M:
C s tri thc m c bieu dien thong qua luat.
Luat hp thanh m.
Hau het cac he thong hoat ong da tren nen tang logic m eu dung
luat e bieu dien moi quan he gia cac bien ngon ng va e rut ra hanh
ong tng ng vi moi au vao.
Mot luat bao gom 2 phan :
- Phan ieu kien ( phan if ) : co the gom nhieu ieu kien ket hp vi
nhau bang cac lien t And, Or menh e ieu kien.
- Phan ket luan ( phan then ) : menh e ket luan.
Menh e hp thanh :
Cho 2 bien ngon ng _ , . Neu:
- nhan gia tr (m) A co ham lien thuoc
A
(x)
- nhan gia tr (m) A co ham lien thuoc
B
(y)
Th 2 bieu thc :
_ = A
= B c goi la 2 menh e p, q.
Menh e hp thanh p => q hoan toan tng ng vi luat ieu khien (
menh e hp thanh 1 ieu kien):
Neu _ = A th = B
Trong o : p : menh e ieu kien
q : menh e ket luan

Ham lien thuoc cua menh e hp thanh anh xa
A
(x
o
)
B
(y)
c goi la ham lien thuoc cua luat hp thanh vi B la mot tap m cung
c s vi B, bieu dien he so thoa man menh e q cua y.
Nguyen tac Mamdani : o phu thuoc cua ket luan khong c ln
hn o phu thuoc cua ieu kien
Xac nh ham lien thuoc sau cho menh e hp thanh A B
1)
A==>B
(x,y) = MIN {
A
(x),
B
(y) } cong thc MAX MIN
2)
A==>B
(x,y) =
A
(x).
B
(y) cong thc MAX PROD
Tong quat : C s tri thc m uc thiet ke dui dang n luat m IF-
THEN nh sau:
If A
11
. . . . . .A
1i
. . . . . . . A
1n
Then B
11
. . . . . B
1j
. . . . . . B
1m

If A
21
. . . . . .A
2i
. . . . . . . A
2n
Then B
21
. . . . . B
2j
. . . . . . B
2m
. . . . . . . .
If A
k1
. . . . . .A
ki
. . . . . . . A
kn
Then B
k1
. . . . . B
kj
. . . . . . B
km
If A
N1
. . . . . A
Ni
. . . . . . . A
Nn
Then B
N1
. . . . . B
Nj
. . . . . . B
Nm

Neu he co nhieu au vao va nhieu au ra th
2, 2 m n > >
,
Neu he co nhieu au vao va mot au ra th
1, 2 m n = >
.
Neu luat co dang If x is A
1
and A
2
. . . . . and A
L
Then y is B
S
, ta co
the viet lai : If A
S
Then B
S

Trong o,
1 2
.......
S L
A A A A =
va ham lien thuoc cua no c cho bi:
1 2
( ) min{ ( ), ( ),..... ( )}
S L
A A A A
x x x x =

Neu luat co dang If x is A
1
or A
2
. . . . . or A
L
Then y is B
S
, ta co the
viet lai : If A
S
Then B
S

Trong o,
1 2
.......
S L
A A A A = va ham lien thuoc cua no c cho bi :
1 2
( ) max{ ( ), ( ),..... ( )}
S L
A A A A
x x x x =


2.3 KY NGHE SUY DIEN M BANG TAY:
Neu luat co dang If x is A Then y is B, no tng ng vi quan he
m
( ) ( ) R A B notA Y =
va ham lien thuoc cua quan he nay c
nh ngha bi:
( , ) {[ ( ) ( )],[1 ( )]}
R A B A
x y max x y x =

Do o, neu biet tap m A, ta co the xac nh tap m au ra B s dung
cong thc:
' ' ' [( ) ( )] B A R A A B notA Y = =

Neu luat co dang If x is A Then y is B Else y is C th no tng
ng vi quan he m ( ) ( ) R A B notA C = va ham lien thuoc cua
quan he nay c nh ngha bi:

| | ( )
{ }
( , ) ( ) ( ) , 1 ( ) ( )
R A B A C
x y max x y x y = (

Tng t, neu biet c tien ieu kien A, th ta co the tnh c tap m
B thong qua cong thc ( ) ( )
' ' ' B A R A A B notA C = = (

Trong o o la toan t hp thanh Max_Min hay Max_Prod.
2.3 S suy dien m nh ky thuat o th (Cach xac nh tap m
au ra B bang may):
Ly giai xap x m la phng phap tnh tap m au ra bang tay neu
biet tap m au vao va quan he m. Neu a phng phap nay vao may
se ton rat nhieu thi gian tnh toan cac ma tran va vector, va neu kch
thc cua cac ma tran va vector ln se ton rat nhieu bo nh. V le o, mot
phng phap xap x m khac c a ra cho may tnh toan e xac nh
tap m au ra o la phng phap suy dien m nh ky thuat o th c
trnh bay sau. Cho hai luat m o la:
Luat 1: If x
1
is A
11
and x
2
is A
12
Then y is B
1
Luat 2: If x
1
is A
21
and x
2
is A
22
Then y is B
2
Trng hp 1: Cac au vao x
1
, x
2
la cac gia tr ro s dung phep toan
hp thanh Max_Min.
Cng o ban cua luat 1 c cho bi:
{ }
11 12 11 12
1 1 2 1 2
( ) ( ) min ( ), ( )
A A A A
x x x x o = =


Do o,tap m au ra B
1
cua luat 1 c xac nh bang ham lien thuoc
cua no o la:
{ }
1 1 1
' 1 1
( ) ( ) min , ( )
B B B
y y y o o = =

{ }
21 22 21 22
2 1 2 1 2
( ) ( ) min ( ), ( )
A A A A
x x x x o = =

Do o,tap m au ra B
2
cua no o la:
{ }
2 2 2
' 2 2
( ) ( ) min , ( )
B B B
y y y o o = =

Tap m au ra B cua he thong la s hp nhau cua cac tap m au ra B
1

va B
2
o la:
1 2
' ' ' B B B =

vi ham lien thuoc cua no:

x
1
x
2
y
A
11
A
12
B
1
B
1

x
1
x
2
y
A
21
A
22
B
2
B
2

{ }
1 2
'( ) ' '
max ( ), ( )
B y B B
y y =

Ket qua tap m au ra B cua he thong dc mo ta hnh:

Trng hp 2: Cac au vao x
1
va x
2
la cac gia tr ro (crisp) va s dung
phep toan suy dien Max_Prod.
{ }
11 12 11 12
1 1 2 1 2
( ) ( ) min ( ), ( )
A A A A
x x x x o = =

Do o,tap m au ra B
1
cua no o la:
1 1
' 1
( ) ( )
B B
y y o =

{ }
21 22 21 22
2 1 2 1 2
( ) ( ) min ( ), ( )
A A A A
x x x x o = =

Do o,tap m au ra B
2
cua no o la:

y
B

x
1
x
2
y
A
11
A
12
B
1
B
1

2 2
' 2
( ) ( )
B B
y y o =

Tap m au ra B cua he thong la s hp nhau cua cac tap m au ra B
1

va B
2
o la:
1 2
' ' ' B B B =

vi ham lien thuoc cua no:
{ }
1 2
'( ) ' '
max ( ), ( )
B y B B
y y =

Ket qua tap m au ra B cua he thong c mo ta hnh:

x
1
x
2
y
A
21
A
22
B
2
B
2

y
B

CHNG 3: THIET KE PHAN CNG
HE THONG O NHIET O

Phan tren a gii thieu ve bo ieu khien m, sau ay la phan ket noi
gia bo ieu khien vi oi tng lo nhiet thong qua mach ong lc (mach
kch cong suat cho lo), cap nhiet ien (TC lay thong so nhiet o lo) va
mach gia cong chuyen oi so lieu can thiet e a ve bo ieu khien x ly.
Thiet ke he thong ieu khien nhiet o thong qua lo ien :

3.1 Mach ong lc:
Vi quan tnh lo nhiet kha ln ngi ta thng ong ngat nguon e
thay oi cong suat at vao lo thay v ieu khien ien ap. Do o t mach
ieu khien se xuat ra xung co o rong thay oi trong khoang thi gian T
nhat nh e thay oi cong suat cung cap cho lo .

Bo ieu
khien
Mach
ong lc
Cap nhiet
ien
Mach gia cong
chuyen oi
Lo ien

Nhiet
o at
Nhiet
do lo
Sai soE
Bo ieu
khien
T
0
T


Nh vay trong thi gian T
0
lo ong, T-T
0
lo tat. ng vi s thay oi
cua T
0
t 0 en T th cong suat cung cap P
cc
= (T
0
/T).P
max
thay oi t 0
en P
max
.
Mach ong lc dung Opto_Triac ong ngat nguon ien li cung cap
cho lo :

Trong thi gian T
on
C815 tch cc mc cao kch dan diod cua
Opto_Triac lam Diod phat quang kch dan Triac nen lo c cap nguon
trong suot khoang thi gian nay .
Hoat ong cua mach kch lo:
Transistor BJT thng lam viec 2 che o:
- Khuech ai.
- ong ngat.
che o khuech ai: Transistor hoat ong vung tch cc, tng
ng vi cac gia tr lam viec u
CE
> u
CESAT
va dong i
C
phu thuoc vao
tai va dong i
B
.
He so khuech ai tnh cua dong c nh ngha tai mot iem lam
viec I
C
, I
B
bi he thc h
FE
= I
C
/ I
B
khi U
CE
= hang so.
Q3
Opto_Triac
R_LO
1 2
D2
LED
1
2
R9
1K
C815
1
3
2
+12V
OPTOTRIAC
MACH KICH LO
~220V

che o ong ngat: Transistor hoat ong vung bao hoa, la vung
nam gia ng thang gii han mat phang va gii han bao hoa.
Trong vung nay, ta xac nh gia tr hieu ien the nho nhat
u
CE
=u
CESAT
ng vi I
C
cho trc va u
CB
>0, u
CB
= 0 . Transistor se
ong, dong i
C
dan va ien the u
CE
at gia tr u
CESAT
nho khong ang
ke(khoang 1-2 V ), luc nay transistor trang thai bao hoa.
Nh vay e tao mach kch cho lo ta phai tao ra dong i
B
u ln e
u
CE
0.
Luc o, tren ien cc B, E la ien ap ieu khien, cac ien cc C,
E c s dung lam cong tac ong m mach cong suat.
- ong: V
CE
> 0
I
B
> 0
- Ngat: I
B
=< 0
Khi transistor ong, dong I
C
se phu thuoc tai, ng vi nguon cung
cap la 12V, ap tren LED khoang 2V, U
CE
khoang 0.2V, ap qua Opto
4-5 V ap tren ien tr 1K t 3-5 V va dong khoang 3-6 mA u
kch dan cho Triac hoat ong ong lo.
3.2 Cam bien:
Nh chung ta a biet nhiet o la ai lng gia tang khong tuyen tnh
viec nhan hay chia nhiet o se khong co mot y ngha ro rang nao. Do o
e co the xac nh gia tr chnh xac cua nhiet o la van e khong n
gian. Tuy vay nhieu ai lng vat ly phu thuoc nhiet o nh : s gian n
cua chat kh, long, ran, s truyen nhiet, o nong cua cac chat tinh khiet, va
s thay oi mau sac theo nhiet o . . . . Da vao nhng ac iem tren ma
ngi ta che tao ra cac loai cam bien nhiet o vi kha nang chuyen oi
nhiet o thanh cac gia tr ap, dong,ien tr, . . . va cung tuy theo cau tao
cua chung ma ta co cac loai cam bien nhiet o khac nhau.
3.2.1 Cac loai cam bien hien tai
Tuy theo lnh vc o va ieu kien thc te ma co the chon mot
trong bon loai cam bien : thermocouple, RTD, thermistor, va IC ban
dan. Moi loai co u iem va khuyet iem rieng cua no.

1.Cap nhiet ien:
Dong nhiet sinh ra v tr tiep xuc do s chenh lech nhiet o.
u iem
- n gian.
- Re tien.
- ap ng nhanh.
- Tam thay oi rong hn nhieu so vi nhiet ke ien tr.
- La thanh phan tch cc, t cung cap cong suat.
- Khong can dong ien chay qua do vay khong co hieu ng ot
nong.
Khuyet iem
- Phi tuyen.
- Thi gian on nh lau.
- ien ap cung cap thap.
- oi hoi ien ap tham chieu.
- Kem on nh nhat.
- Kem nhay nhat.
ng dung:
- ng dung rong rai trong o nhiet o cua cac chat ran, long,
kh.
- o nhiet o be mat cua vat.
2.RTD (resistance temperature detector)
o nhiet o theo s thay oi ien tr
u iem
- On nh nhat.
- Chnh xac nhat.
- Tuyen tnh hn thermocouple.
Khuyet iem
- Mac tien.
- Can phai cung cap nguon dong.
- Lng thay oi AR nho.

- ien tr tuyet oi thap.
- T gia tang nhiet.
3.Thermistor
u iem
- Ngo ra co gia tr ln.
- Nhanh.
- o hai day.
Khuyet iem
- Phi tuyen.
- Gii han tam o nhiet.
- De v.
- Can phai cung cap nguon dong.
- T gia tang nhiet.
4.IC cam bien
u iem
- Tuyen tnh nhat.
- Ngo ra co gia tr cao nhat.
- Re tien.
Khuyet iem
- Nhiet o o di 200C.
- Can cung cap nguon cho cam bien.
Do cam bien nhiet s dung trong luan van la cam bien nhiet
chuyen oi thanh tn hieu ien nen ta ch khao sat hai loai ca m bien o
la cap nhiet ien va nhiet ien tr.

3.2.2 Cap nhiet ien
Cap nhiet ien la cam bien nhiet n gian c cau tao bi hai day
dan kim loai a, b khac nhau c noi vi nhau bi hai moi han co nhiet
o T
1
, T
2
.
Khi gia nhiet mot au noi th se co dong ien chay trong mach o.

Neu mach b h mot au th hieu ien the mach h (hieu ien the
Seebeck) la mot ham cua nhiet o moi noi va thanh phan cau thanh nen
hai kim loai.
Khi nhiet o thay oi mot lng nho th hieu ien the Seebeck cung
thay oi tuyen tnh theo :
Ae
AB
= oAT vi o la he so Seebeck
Neu nhiet o moi noi T
1
bang khong va nhiet o moi noi T
2
bang T
th suat ien ong tao ra bi cap nhiet ien c tnh nh sau:

2 3
1 1
2 2
E AT BT CT = + +

Trong o: A, B, C la cac hang so phu thuoc vat lieu che tao.
Khi dung cap nhiet ien th gia tr hieu ien the thu c b anh
hng bi hai loai nhiet o : nhiet o can o va nhiet o tham chieu. Cach
gan 0C cho nhiet o tham chieu thng ch lam trong th nghiem e rut ra
cac gia tr cua thermocouple va a vao bang tra. Tuy nhien khi a vao
Kim loai B
Kim loai A Kim loai A
Kim loai B
Kim loai A
e
AB
+

-

s dung thc te th nhiet o tham chieu la nhiet o moi trng, mot ai
lng khong co nh, thay oi theo tng a iem va thi gian. Do o e
tang tnh chnh xac cua phep o ta phai bu nhiet cho au t do cua cap
nhiet ien.
Cac phng phap bo chnh nhiet:
- Nhung au t do vao nc a ang tan.
- Chon sau di at 1m en 2m la ni c xem nh co nhiet o on
nh.
- Dung mach bu nhiet.
- Dung day bu: dung mot oan day bu co vat lieu giong nh cap
nhiet ien, moi loai cap nhiet ien c trang b mot cap day dan
rieng biet. Nhiem vu cua day bu la ieu hoa cac ai lng dao
ong nhiet o tai iem o va gi cho au t do duy tr c nhiet
o quy nh.
Mat khac e am bao o on nh cua suat ien ong, phai an nh
nhiet o s dung cao nhat cho cap nhiet co tnh en cac ieu kien thc
te. Day cang nho th nhiet o cc ai cang thap.
Cac loai cap nhiet ien:
Tuy theo cau tao nen hai day dan ma ta co cac loai cap nhiet ien
sau:
- Loai J : ket hp gia sat vi constantan, trong o sat la cc dng
va constantan la cc am. He so Seebeck la 51V/C 20C.
- Loai T : ket hp gia ong vi constantan, trong o ong la cc
dng va constantan la cc am. He so Seebeck la 40V/C 20C.
- Loai K : ket hp gia chromel vi alumel, trong o chromel la cc
dng va alumel la cc am. He so Seebeck la 40V/C 20C.
- Loai E : ket hp gia chromel vi constantan, trong o chromel la
cc dng va constantan la cc am. He so Seebeck la 62V/C
20C.
- Loai S, R, B : dung hp kim gia platinum va rhodium, co 3 loai.
S): cc dng dung day 90% platinum va 10% rhodium, cc am la

day thuan platinum. R): cc dng dung day 87% platinum va 13%
rhodium, cc am dung day thuan platinum. B): cc dng dung day
70% platinum va 30% rhodium, cc am dung day 94% platinum va
6% rhodium. He so Seebeck la 7V/C 20C.
3.2.3 Nhiet ien tr:
Nh a noi tren, khi nhiet o thay oi tac ong len ien tr se
lam thay oi gia tr cua ien tr. Li dung tnh chat nay ngi ta xac
nh thong so nhiet o thong qua gia tr ien tr o c.
Trong trng hp tong quat, gia tr cua mot ien tr phu thuoc
nhiet o nh sau:

0 0
( ) ( ) R T R F T T =

vi R
0
la ien tr o c nhiet o T
0
va F la ham at trng bi
vat lieu.
Vi vat lieu la kim loai ta co ham sau:

2 3
0
( ) (1 ) R T R AT BT CT = + + +

trong o T o bang
0
C va T
0
la nhiet o o 0
0
C.
Vi vat lieu la hon hp cua cac oxt ban dan (nhiet ien tr )
ta co ham sau:

0
0
1 1
( ) .exp R T R B
T T

(

=
`
(

)

trong o T o bang K (nhiet o tuyet oi ).
Khi nhiet o bien thien T A nho ma cam bien co the nhan biet
c ta noi o la o nhay nhiet
R
o
.

1
.
( )
R
dR
R T dT
o =


o nhay cua nhiet ien tr rat cao, khoang 10 lan ln hn so vi
o nhay cua ien tr kim loai cho phep ng dung chung e phat hien
nhng bien thien rat nho cua nhiet o (t 10
-4
en 10
-3
K ). Mat khac
kch thc nhiet ien tr lai nho gon cho phep o nhiet o tng
iem,ong thi do nhiet dung nho nen toc o hoi ap ln.
3.3 Mach gia cong:
Mach gia cong can thc hien 3 chc nang sau: bu nhiet cho au t do,
khuech ai, va tao ien ap ra la 0V khi o 0
0
C. Xet mach sau:

- U1, U2, U3 (dung OP07 cho offset thap) ong vai tro mot bo em
ien ap ly tng : co tr khang vao rat ln va tr khang ra rat nho,
khong e cac au vao anh hng lan nhau.
- ien ap ra tren thermocouple :
V3 = S(T
d
T
a
) = S.T
d
S.T
a
Vi : T
d
la nhiet o can o.
T
a
la nhiet o moi trng.
S la o nhay cua thermocouple (40V/C).
Nh vay la gia tr ien ap ra tren cap nhiet ien ngoai nhiem vu
mang thong tin cua nhiet o can o con b anh hng bi nhiet o moi
trng.
e loai tr anh hng tren, ta can phai co mot khoi tao ra ien ap
theo nhiet o moi trng nhng co dau ngc lai dung IC cam bien
LM335A.
- IC LM335A la loai cam bien nhiet o ban dan, co o nhay la
10mV/K. Ap tao ra do LM335A cam bien c la :
V2 = K.T
a
[K] = K(273 + T
a
) [C]
= K.273 + K.T
a
= C + KT
a
(C = K.273)
vi K = 10mV/K; C = 2,73V
co the triet tieu anh hng cua Ta, nhng lai tao ra mot mc ien
ap la 2,73V 0C nen can phai co mot khoi e tr 2,73V nham tao ien
ap au ra la 0V 0C.
- Bien tr R12 chnh la thanh phan bu tr ien ap 2,73V nh a noi
tren.

- U4 (dung OP07) ong vai tro bo cong co khuech ai, ien ap ra cuoi
cung la :
( ) ( )
2 3 3 2 4 4
4 1
1 2 3 1
2 3
4 4
1
1 2 3 1
1
2.73
1
out
d a a
R V RV R R
V V
R R R R
R ST ST R KT
R R
V
R R R R
( | | +
= + +
| (
+
\ .
+ + ( | |
= + +
| (
+
\ .

Khong b anh hng cua nhiet o moi trng :

( ) ( )
2 3
2
3
0
10
250
40
a a
R ST R KT
R K mV
R S V
+ =
= = =
(1)
Triet tieu ien ap tnh (2,73V) :
3 3 4
1
1 2 3 2 3
3 1
1
4 2 3
2.73 2.73
2.73 1
R R R
V
R R R R R
R R
V
R R R
| |
=
|
+ +
\ .
| | | |
= +
| |
+
\ .\ .
(2)
Sau khi a triet tieu nhiet o moi trng va ien ap tnh, khi o, ien ap ra
V
4
la :
2
4
2 3
. 4
(1 )
1
d
out
R ST R
V
R R R
= +
+

Ta chon o tang cua 1
0
C la 10mV, th ng vi T
d
=1 , th V
4out

se la 10mV. Hay o nhay cua mach se la 10mV/
0
C.

2 4
4
2 3 1
2 4
2 3 1
2 4
3 1
. .1
1 10
1 250
250
out
R S R
V mV K
R R R
K R R
S R R R
R R
R R
| |
= + = =
|
+
\ .
| |
= + =
|
+
\ .
= =

Neu ta chon:
3 1
2 4
100
250 100 25000 25
R R
R R K
= = O
= = = O = O
(*)
th t (*) ta suy ra cach chnh V
1
phng trnh (2) nh sau:
1
1 1
2.73 1 10.92
250 1 250
V mV
| |
= + =
|
+
\ .

- Cac tu C14, C15, C16 chon gia tr 10F e chong nhieu.
Lu y :
1. Cac bien tr nen dung loai bien tr tinh chnh (hay bien tr o lng) co
cau tao gom nhieu vong day ien tr xoan ben trong (chnh nhieu vong
mi het gia tr), tranh dung bien tr thong thng rat kho chnh va khong
on nh (khi va cham nhe b thay oi gia tr).
2. Cac OPAMP dung loai OP07 hoac tng ng, co mc offset thap e
phu hp vi cac ai lng o co gia tr nho, cac chan 1 va 8 dung e chnh
offset khong dung trong thiet ke nay.
*Hoat ong cua OPAMP:
Op_amp ly tng co 3 at tnh can thiet c xem nh chuan e anh
gia hoat ong cua Op_Amp:
1.o li ap vong h A
0L
la xac nh am.
2.ien tr vao R

gia cong 1 va 2 la rat ln. Do o dong vao la zero.
3.ien tr ra R
0
la zero. Thong thng hieu ien the ra phu thuoc vao tai.



Khuech ai OP_Amp chang qua la s la s khac biet
1 2 d
v v v =
gia
hai tn hieu vao. o li vong ap
0
OL
L
v
A
v
=
.
Cong 1 la cong vao ao vi hieu ien the v
1.
Cong 2 la cong vao khong ao vi hieu ien the v
2.

Mach khuech ai khong ao:

Tn hieu vao tai cong khong ao. Khi v
2
dng, v
0
dng va dong
dng. Hieu ien the v
1
=iR
1
uc cung cap cho cong ao nh hoi tiep hieu
R
d

+
+V
CC
-V
CC
v
d

v
1

v
0

v
2

0V
S o cau tao cua Op_Amp
+V
CC
-V
CC
R
d

+
+

+

+
+
v
d

v
1

v
0

v
2

0V
R
2
R
1
i

ien the am. khuech ai khong ao nay dong vao cong khong ao la
zero, do o
1 2
0;
d
v v v ~ =
.o li ien ap la: v
0
/v
2
. Vi dong vao
Op_Amp la zero, nen dong qua R
2
, R
1
phai giong nhau. Ta co:
0 1 2
2 1
0 0 2
2 1 1
1
v v v
R v
v v R
Av
v v R
=
= = = +

Chu y: Neu Op_Amp khong ly tng, ien tr vao Op_Amp c tnh
nh sau:
2 2
2
1 1
(1 )
in d OL
v R
Z R R A
v R
= = + +

ien tr nay rat ln co the len en
12
10 O.
Khuech ai vi he so bang 1:

Bo khuech ai mot tang n khong ao pha vi he so khuech ai
bang 1. Co ien tr vao rat ln va ien tr ra rat nho, ap vao va ap ra
c xem nh khong oi. Dung mach nay lam au vao cua mach phoi hp
tr khang se lam giam anh hng nhieu.

+V
CC
-V
CC
R
d

+
+

+
+
v
d

v
1

v
0

v
2

0V
i


CHNG 4: BO IEU KHIEN M
IEU KHIEN NHIET O C BAN

4.1 Bo ieu khien m c ban:
Cac thanh phan c ban cua bo ieu khien m bao gom khau m hoa,
thiet b thc hien luat hp thanh va khau giai m. Mot bo ieu khien m
ch gom ba thanh phan nh vay co ten goi la bo ieu khien m c ban.

- Khau m hoa co nhiem vu chuyen oi mot gia tr ro au vao x
0

thanh mot vecto gom cac o phu thuoc cua gia tr ro o theo cac
tap m a nh ngha trc.
- Khau x ly m x ly vecto va cho ra tap m B' cua bien ra.
- Khau giai m co nhiem vu chuyen oi tap m B' thanh mot gia
tr ro y' ac trng cho thong tin cha trong tap m o.
Do he m c ban ch co kha nang x ly cac gia tr tn hieu hien thi
nen no thuoc nhom cac bo ieu khien tnh. Tuy vay vi viec ghep them
cac khau ong hoc can thiet nh vi phan, tch phan, ta se co c mot
bo ieu khien m co kha nang x ly cac bai toan ong.

y'(t)

X LY
M

GIAI
M

M
HOA
x
1

x
n

B'
y'
Bo ieu khien m c ban

HE M C BAN
Vi phan
x(t)


4.2 Nguyen ly ieu khien m:
Nguyen tac tong hp bo ieu khien m hoan toan da vao nhng
phng phap toan hoc tren c s nh ngha cac bien ngon ng vao/ra va
s la chon nhng luat ieu khien. Do cac bo ieu khien m co kha nang
x ly cac gia tr vao/ra bieu dien di dang dau phay ong vi o chnh
xac cao nen chung hoan toan ap ng c cac yeu cau cua mot bai toan
ieu khien ro rang va chnh xac.
Bo ieu khien m hoat ong chu yeu da vao kinh nghiem e thiet
ke cac luat ieu khien, trien khai cac menh e hp thanh xay dng mo
hnh luat hp thanh .
4.3 Cac bc xay dng mot he m c ban :
Xac nh cac bien vao va ra.
nh ngha cac tap m cho cac bien vao va ra.
Xay dng cac luat ieu khien (cac menh e m).
Chon luat hp thanh.
Chon phng phap giai m.
Toi u he thong.
1. nh ngha cac bien vao/ra:
Cac bien vao la cac bien ieu khien cac qua trnh ben trong cua
bo ieu khien m, cac bien ra dung e ieu khien oi tng .
Sau khi xac cac bien vao/ra ta can phai xac nh mien gia tr cho
tng bien cung nh n v cua tng bien.


2. nh ngha cac tap m cho cac bien :
Do cac tap m chnh la oi tng thao tac cua cac luat ieu
khien nen ta phai nh ngha cac tap m trc khi xay dng cac luat
ieu khien. Mat khac do dang tap m phan anh moi lien he gia gia
tr cac d kien va y ngha cua chung -> khau quan trong trong viec
tong hp bo ieu khien m.
e xac nh tap m can:
Mien gia tr vat ly cho cac bien ngon ng vao/ra.
So lng tap m(gia tr ngon ng).
Xac nh ham lien thuoc:
Cach thc hien la bat au bang cac dang ham lien thuoc a biet
trc va mo hnh hoa no cho en khi nhan c bo ieu khien m
lam viec nh mong muon.
Trong nhieu trng hp dang ham lien thuoc hnh tam giac cho
ket qua khong kem g dang ham lien thuoc phc tap hn la dang hnh
chuong, do bo ieu khien m t khi nhay vi s thay oi hnh dang
tap m. ieu nay lam cho he m kha ben vng va de thch nghi, o
la mot thuoc tnh quan trong khi mo hnh lan au c khao sat.
3. Xay dng cac luat ieu khien :
ay la bc tong hp cac hieu biet cung nh chien lc ieu
khien oi tng di dang mot tap cac luat ieu khien.Va cung la
bc kho khan nhat do hoat ong cua bo ieu khien hoan toan da
tren cac luat ieu khien. Cac luat ieu khien c thiet lap da tren
cac menh e hp thanh.
4. Chon thiet b hp thanh :
Thiet b thc hien luat hp thanh trong bo ieu khien m la thiet
b hp thanh. Co the chon thiet b hp thanh theo nguyen tac
Max_Min, Max_Prod e trien khai phep hoac khi thiet lap luat hp
thanh chung:
R=R
1
or R
2
or R
n

5. Chon nguyen ly giai m:


Giai m hay ro hoa, tuy theo cach chon la phng phap giai
m ma o phc tap va trang thai lam viec cua ca he thong cung b
anh hng .
4.4 Thiet ke:
Thiet ke bo ieu khien m co mo hnh nh sau:

Nguyen tac tong hp mot bo ieu khien m hoan toan da vao nhng
phng phap toan hoc tren c s nh ngha cac bien ngon ng vao/ra va
s la chon nhng luat ieu khien. Do o e thiet ke bo ieu khien m
trc tien ta se nh ngha cac bien ngon ng vao/ra.
Cac bien ngon ng vao/ra va tap m:
ai lng vao cua bo ieu khien m chnh la sai lech nhiet o va
toc o tang giam nhiet.
1. Sai lech nhiet o:
c nh ngha nh la o sai khac gia nhiet o at va nhiet
o hien tai o c, ky hieu la ET.
ET = nhiet o at nhiet o o [C]
ET
DET

Thiet b hp thanh M hoa Giai m
y
Cau truc bo m ieu khien nhiet o


Mong muon cua chung ta la ieu khien en 128C nen mien
xac nh cua bien se la khoang [-128C,+128C].
Trong mien xac nh o, ta nh ngha 7 tap m :
ET = {am nhieu, am va, am t, bang khong, dng t, dng va,
dng nhieu}
hay ET = {NB, NM, NS, ZE, PS, PM, PB}
Tuy nhien, e tap trung hn trong khoang sai lech nho, ta
khong phan bo eu 7 tap m nay tren khoang [-128C,+128C]
ma ch phan bo eu trong khoang [-12C, +12C].

2. Toc o tang giam nhiet o:
La gia tr tang hay gia m cua nhiet o hien tai so vi nhiet o
trc o trong khoang thi gian lay mau, ky hieu la DET.
DET=(nhiet o hien tai nhiet o trc)/thi gian lay mau[C/s]
oi tng ieu khien la mot lo nng dan dung co o quan
tnh tng oi ln, trong khoang thi gian lay mau la 3 giay ch
tang hay giam toi a 1,3C nen ta nh ngha DET vi mien xac
nh la [-2,+2].
Cung nh ngha cho bien DET co 7 tap m vi ten goi nh
tren, nh ngha trong khoang [-2;+2].

0 3 6 9 128 -3 -6 -9 -128 [C]

ZE PS PM PB NS NM NB
12 -12
Cac tap m cua bien ET


ai lng ra cua bo ieu khien m chnh la phan tram cong suat
kch cho lo nhiet ( %P ).
- Bien OUT vi 7 tap m dang singleton.
%P = {V1, V2, V3, V4, V5, V6, V7}

- Bien OUT vi 7 tap m dang tam giac.
%P = {V1, V2, V3, V4, V5, V6, V7}
0 0,5 1.0 1.5 2 -0.5 -1 -1.5
-2
[C]/T[s]

ZE PS PM PB NS NM NB
Cac tap m cua bien DET
60 80 40 20 10 0 %P

V1
V2 V3
V4 V5 V6 V7
100
Cac tap m bien ra P


Thiet ke he luat:
Gom 7x7 = 49 luat s khi ban au da tren nhng nhan nh ve
oi tng.

DET

NB NM NS ZE PS PM PB
E
T

NB
V1 V1 V1 V1 V1 V1 V1
NM
V1 V1 V1 V1 V1 V1 V1
NS
V1 V1 V1 V1 V1 V1 V1
ZE
V1 V1 V1 V1 V1 V1 V1
PS
V2 V2 V2 V3 V3 V4 V4
PM
V3 V4 V4 V5 V5 V6 V7
PB
V6 V6 V7 V7 V7 V7 V7

60 80 100 40 20 10 0
%P

V5 V6
V7 V1 V4 V3 V2
Cac tap m cua bien ra P


4.5 Giai thuat ieu khien:

Sai
Sai
Sai
ung
Nhap Tat
Bat au
ETcu:=Tat 28
0
C
To:=nhiet o hien
tai
ETmi:=Tat - To
DET:=ETmi - ETcu
ETmi <= -12
?
ETmi >= 12
?
X ly m
%P:=0
%P:=100
0 < %P < 100
Ton:=%P*T
Toff:=T Ton
Etcu:=ETmi

Dng?
Ket thuc
ung
ung


Tnh o phu thuoc
Bj
(DET)
Luat hp thanh
MaxMin :
R
= min[
Ai
(ET);
Bj
(DET)]
MaxProd :
R
=
Ai
(ET)*
Bj
(DET)

Tm luat ieu khien
Cap nhat mien m bien ra
Het luat ?
ung
Sai
Tnh o phu thuoc
Ai
(ET)
X ly m
Giai m
Luat ieu khien
ke tiep

CHNG 5:

5.1 Qua Trnh Phat Trien:
Mang neuron c xem nh mot mo hnh toan hoc n gian cua bo
nao con ngi, co chc nang x ly song song. Trai vi may tnh hoat ong
da tren chng trnh do con ngi viet san, mang neuron hoat ong da
tren nhng g con ngi day no trc o.
Mang neuron co the hoc cac ket hp mi, cac chc nang mi hay
nhan biet cac mau mi. Mac du may tnh co the thc hien nhng viec hien
tai vi o chnh xac va toc o cao, nhng mang neuron ha hen mot the
mi trong lnh vc x ly thong tin.
5.2 Mang Neuron La G ?
Mang Neuron, mot he thong x ly thong tin ay ha hen, chng minh
kha nang hoc, truy ca p thong tin trong bo lu tr va tong quat hoa t viec
huan luyen mo hnh hay d lieu.
La mang c xay dng bang cach sao chep lai cac nguyen ly to
chc cua he neuron con ngi. Bo oc con ngi la mot he neuron gom co
10
10
en 10
12
neuron c to chc co cau truc vao khoang 200 mo hnh
khac nhau di dang nhieu lp.
Bo oc con ngi, mot bo may phc tap va het sc tinh vi vi kha
nang x ly mot cach nhp nhang, ong bo co s lien ket chat che vi cac
phan t x ly ma khong mot he thong nao b kp. Mo hnh mang neuron a
c thuc ay bang s nhan nh la tr oc con ngi tnh toan theo cach
khac han so vi may tnh. T o con ngi a ra mang neuron nham hieu
nhng li giai cua tr oc ve cac lnh vc nh nhan dang hnh anh, tieng noi
va ap dung nhng lnh vc o vao may tnh. Sau nhieu nghien cu, ngi
ta a ra nhan xet sau :

- ieu quan trong chnh la cach x ly song song ch khong phai toc o
tnh toan cua bo nao.
- Mac du cha hieu cach mo ta cac y tng cua bo nao nen cha the bat
chc hoan toan, nhng ta co the thay rang bo nao s dung nhng phan
t tnh toan co toc o cham nhng c lien ket vi nhau.
Hoat ong cua he than kinh c chia thanh 3 giai oan :
- Con ngi nhan c kch thch t ben ngoai thong qua cac giac quan.
S kch thch nay c chuyen oi thanh xung ien va c chuyen
en nao.
- Bo nao lien tuc thu nhan thong tin, x ly, anh gia va so sanh chung
vi nhng thong tin ang lu tr e a ra cac quyet nh thch hp.
- Nhng menh lenh a ra sau khi bo nao x ly c truyen en cac bo
phan chap hanh nh tay chan cho hanh ong hay li cho tieng noi
di dang xung ien. Bo phan thi hanh bien oi xung ien a en
thanh hanh ong.
Mac du cac neuron co hnh dang va kch thc khac nhau nhng ve can
ban, co the chia thanh 3 phan :
Synapse kch thch
Synapse han che
Dendrite
soma

au vao dendrities: co nhiem vu nhan tat ca thong tin t ben
ngoai.
Than neuron: la phan t x ly co chc nang thu thap tat ca thong
tin en t cac au vao dentries, tnh toan va a ra quyet nh ngo
ra axon.
au ra axon: Axon la mot thiet b phi tuyen tao ra xung ien ap
c goi la the nang kch hoat, ton tai trong khoang 10
-3
giay co tac
dung gi tn hieu i.
Moi neuron co mot mc kch hoat, nam trong tam gia gia tr ln
nhat va gia tr nho nhat. Viec gia tang hay giam mc kch hoat cua neuron
nay oi vi neuron khac c thc hien thong qua cac synapse bam tren
dendrite. Gia tr cua cng o synapse c goi la he so trong lng. Neu
la synapse kch thch, mc kch hoat t neron gi lam gia tang mc kch
hoat cua neuron nhan. Con neu la synapse han che th mc kch hoat t
neuron gi se lam giam mc kch hoat cua neuron nhan. Mc kch hoat tai
neuron nhan at en mot gia tr ngng nao o se kch thch au ra,
truyen tren axon en cac neuron khac, cuoi axon co khoang 10000
synapse. Cac synapse khong ch khac nhau tac dung kch thch hay han
che ma con khac nhau mc kch hoat.
Trong thi gian he tiep xuc mot vai oi tng, mot so phan t cam
bien b tac ong, cng o ket noi cua mot so neuron thch hp trong he
se c gia tang nham cung cap toan bo thong tin ve oi tng ma he
ang tiep xuc va sau o a ra mot so quyet nh lp neuron au ra e
ieu khien mot vai phan t c. Qua trnh tiep xuc oi tng, a ra quyet
nh va ieu khien phan t c c goi la qua trnh hoc va cng o ket
noi cua mot so neuron thch hp c gia tang trong thi gian he tiep xuc
oi tng c goi la luat hoc. Trong mot vai trng hp, he co chuan
oan sai, he co the ieu chnh e co mot chuan oan ung bang cach he
co the cap nhat he so trong lng ket noi gia cac neuron thch hp sao
cho he co mot chuan oan ung.
Cong viec c ban cua mot neuron nhan tao la cong cac mc kch hoat
au vao roi tao mot mc tac ong au ra neu tong cac mc kch hoat
au vao ln hn mot gia tr ngng nao o.

Co kha nhieu mo hnh toan hoc cho neuron. ay trnh bay mo hnh
thong dung nhat, dung mot ham truyen ket noi cac au vao e tao au ra:

- Phng tien ket noi la tong co trong so, trong o trong so ai dien
cho o manh yeu cua synapse.
- Synapse kch thch co trong so dng va synapse han che co trong
so am.
- Gia tr ngng u c them vao e bieu dien mc o kch hoat cua
neuron.
- Dong tn hieu t au vao x
i
c xem nh dong mot chieu c
bieu dien bi mui ten. Tn hieu ra c cho theo quan he :
( ) ( ) |
.
|
\
|
= = =

=
n
i
i i
T
x w f x w f x w f y
1
,

vi w = (w
1
, w
2
, , w
n
)
T
e R
n
la vector trong so. Ham f(w
T
x) c
goi la ham kch hoat hay ham truyen.
Trong bieu thc co e cap en gia tr ngng u nh la mot gia tr
anh gia s ket hp cua cac mc kch hoat au vao. Hoan toan co the
chuyen gia tr ngng u vao tch vo hng wx bang cach xem no nh mot
au vao co trong so bang 1.

au vao
au ra
Ham truyen
=
+ =
n
i
i i
x w f
0
u
Ham tac ong

f
Y

w
1
x
1
+ . . . + w
n
x
n
> u w
1
x
1
+ . . . + w
n
x
n
+ (-1). u > 0
o la ly do tai sao thng ngi ta cho gia tr ngng bang 0 trong bieu
thc.
5.3 Cac Thanh Phan C Ban Cua Mang Neuron Nhan Tao Gom:
Phan t x ly, mo hnh ket noi va viec huan luyen mang.
5.3.1 Phan t x ly:
Mot mang neuron nhan tao c ket noi bang nhieu than neuron, moi
ket noi cua chung la mot thanh phan t x ly. Moi phan t x ly nay co
nhieu au vao va mot au ra. e ket hp vi cac au vao cua moi phan t
x ly th i o la mot ham tong hp f
i
co chc nang tong hp tat ca thong
tin ben ngoai hoac t nhieu phan t x ly khac gi en va e ket hp vi
au ra cua moi phan t x ly th i o la mot ham tac ong hay con goi la
ham truyen a(f
i
).
Ham tong hp: Ket hp tat ca thong tin t au vao cua phan t x ly
th i, vi x
j
la au vao t moi trng hoac au ra cua phan t x ly th
j, w
ij
la he so trong lng ket noi gia x
j
va phan t x ly th i, u
i
la
gia tr ngng cua phan t x ly th i. Ham tong hp c nh ngha
mot trong cac dang sau:
+Ham tong hp tuyen tnh :
1
m
i ij j i
j
f w x u
=
=

+Ham tong hp phi tuyen bac 2:
u

y
w
1
w
n
x
1
x
n
0

y
w
1
w
n

x
1
x
n

-1
u
. . .

. . .



2
1
m
j
i ij i
j
f w x u
=
=

+Ham hnh cau:

2 2
1
( )
m
i j ij i
j
f x w u
=
=

vi p va w
ij
la ban kn va tam cua hnh cau.
Ham tac ong: ket hp au ra cua phan t x ly th i, con goi la ham
truyen at .
+Ham bac thang n v:
1, 0
( )
0, 0
f
a f
f
>
=

<

+Ham ngng hay con goi la ham doc:
1, 0
( ) sgn( )
1, 0
f
a f f
f
>
= =

<

+Ham Ramp:
1, 1
( ) , 0 1
0, 0
f
a f f f
f
>
= s s
<

+Ham Unipolar sigmoid:
1
( )
1
f
a f
e

=
+

+Ham Bipolar sigmoid:
2
( ) 1
1
f
a f
e

=
+

vi >0 c s dung e xac nh bc lien tuc cua ham tac

ong khi ma ham tong hp f
i
tien gan en zero.
5.3.2 Mo hnh ket noi cua mang neuron nhan tao:
Mo hnh ket noi cua mang neuron nhan tao c chia lam 2 loai:
Mang nuoi tien (FeedForward network): au ra cua lp neuron trc
chnh la au vao cua lp neuron sau.
Mang nuoi lui (FeedBack neywork): au ra c nh hng lui ve
lam au vao cho cac neuron cung lp hoac lp trc o.

Mo hnh mang neuron nuoi tien mot lp gom: m au vao, n au
ra, va khong co lp neuron an.

Mo hnh mang nuoi tien nhieu lp gom: m au vao, n au ra, va
cac lp neuron an.
x
1

x
m

y
n
y
2
y
1

x
2
x
1

x
2
x
m

y
1

y
2
y
n


Mo hnh mang neuron nuoi lui mot lp gom: lp neuron au
vao, lp neuron au ra, khong co lp neuron an.
Lp neuron au vao ban au c nhan t moi trng, sau o
th c nhan t s hoi tiep cua lp neuron au ra.

Mo hnh mang nuoi lui nhieu lp gom: lp neuron au vao, t
nhat 1 lp neuron an, lp neuron au ra.
x
1

x
2
x
m

y
1

y
2
y
n
x
1

x
2
x
m

y
1

y
2
y
n

Ban au mang nhan cac au vao t moi trng va thong qua
viec huan luyen mang lp neuron au ra chnh la lp neuron
au vao mang.
5.3.3 Luat Hoc Thong So Tong Quat Cho Cac Mang Neuron
Nhan Tao:
Viec huan luyen mang e co c au ra mong muon da tren hai
cach hoc sau:
Hoc thong so: la phng phap hoc bang cach cap nhat cac he so trong
lng ket noi.
Hoc cau truc: la phng phap hoc bang cach thay oi ben trong cau
truc mang gom cac phan t x ly, va mo hnh ket noi.
Phng phap hoc thong so: Co 3 che o hoc:
Hoc giam sat: Chu yeu tm c ma tran he so trong lng e
au ra cua mang xap x au ra mong muon vi mot sai so chap
nhan c. Noi cach khac mang c cung cap au vao, ra mong
muon. Mang huan luyen khi nhan thong so au vao, cho ket qua
au ra cua mang c so sanh vi au ra mong muon----->phat
sinh sai so. Sai so nay c dung e ieu chnh lai he so trong
lng cua mang.

X( au vao) Y (au ra thc s )

d (au ra
Tn hieu mong muon
sai so c )

Hoc cung co: La hoc giam sat thieu thong tin chi tiet san co ve
au ra cho moi au vao. cach hoc nay thong tin hoi tiep ch cho
biet au ra trang thai tot hay xau t o a ra cach ieu chnh
Mang
neuron
W
Khau phat sinh
tn hieu sai so

he so trong lng cho thch hp vi mong muon au ra lan ke
tiep se tot hn.


Tn hieu Tn hieu
nhan nh cu cung co

Hoc khong giam sat: Khong co bat ky mot thong tin nao t moi
trng giup cho viec nhan nh au ra cua mang la ung hay sai.
Do o mang se t ieu chnh bang cach hoi tiep t au ra thc s
cua mang.


Qua tham khao ba che o hoc c ban tren, ta xem xet mot cau truc
huan luyen tong quat cho phan t x ly th i trong mot mang neuron nhan
tao c mo ta hnh sau:

Mang
neuron
W
Mang
neuron
W
Khau phat sinh
tn hieu nhan nh
Learning
Signal
Generator
x
2
x
j
x
m-1 x
m-1
x
m
=-1
w
i1
w
i2
w
ij
w
im-1
w
im
=u
Aw
i
X

q

i th neuron
d
i
y
i
r


Vi x
j
, j = 1,2,...m la cac au vao, u la gia tr ngng c a vao
trong viec hoc bang cach xem no nh la he so trong lng cua au
vao x
m
= -1.
Neu w
i
(t) la vector he so trong lng, X(t) la vector cac mau au
vao, va r la tn hieu hoc tai bc hoc th t, va q la mot so dng c goi
la hang so hoc c dung e xac nh toc o hoc th luat hoc he so trong
lng tong quat trong cac mang neuron nhan tao c nh ngha nh
sau:
Aw
i
(t) = qr X(t)

Vi Aw
i
(t) = w
i
(t+1) w
i
(t): s gia tang cua vector he so trong lng
Do vay ta co the cap nhat he so trong lng cho bc ke tiep nh sau:

w
i
(t+1) = w
i
(t) + qr X(t)

oi vi 3 che o hoc ta co cac cach xac nh tn hieu hoc r khac nhau.
- Hoc giam sat: do a biet c au ra mong muon, ta co the tnh sai so
gia au ra mong muon va au ra thc s cua mang. Tn hieu sai so
nay dung e xac nh tn hieu hoc cua mang
r = f
r
(w
i
,X,d
i
) = Tn hieu sai lech = d
i
y
i

==>Aw
ij =
q(d
i
y
i
)x
j
vi i=1,2,...n; j=1,2,...m
- Hoc cung co: do co tn hieu cung co d
i
, nen tn hieu hoc cua mang:
r = f
r
(w
i
,X,d
i
) = Tn hieu cung co = d
i
==>Aw
ij =
qd
i
x
j
vi i=1,2,...n; j=1,2,...m
- Hoc khong giam sat: do khong co tn hieu au ra mong muon, nen
au ra thc s cua mang c dung e xac nh tn hieu hoc:
r = f
r
(w
i
,X ) = Tn hieu ra thc s cua mang = y
i

==>Aw
ij =
qy
i
x
j
vi i=1,2,...n; j=1,2,...m (luat hoc Hebbian)


Neu hoc trong thi gian lien tuc, th s dung phng trnh sau e
cai tien vector he so trong lng tai thi iem ( t+1 ):

( )
( )
i
dw t
rX t
dt
q =

5.4 Mot So Luat Hoc Va Giai Thuat Hoc BP:
5.4.1 Luat hoc perceptron:
Luat hoc perceptron, chu yeu da tren mo hnh perceptron ch gom
mot neuron duy nhat, dung ham ngng tuye n tnh lam ham truyen nen
c dung cho viec nhan dang va phan oi tng thanh hai loai ma thoi
c xem nh tieu bieu cho nguyen ly sa sai theo giai thuat lan truyen
ngc sai lech.
Mo ta giai thuat:
Luat hoc chu yeu c s dung trong giai thuat nay chnh la cach
hoc giam sat. Vi cach hoc nay mang neuron nhan tao c cung cap
vi mot day au vao, au ra mong muon: (x
(k)
, d
(k)
).
- Tap au vao:
( ) ( ) ( ) ( )
1 2
, ,...,
T
k k k k
m
x x x x ( =

,m so au vao.
- Tap mau au ra mong muon:
( ) ( ) ( ) ( )
1 2
, ,...,
T
k k k k
n
d d d d ( =

, n so au
ra.
Chung ta mong muon au ra thc s cua mang sau khi c hoc xong
se can bang vi mau au ra mong muon:
( )
( ) ( ) ( ) ( )
1
m
k T k k k
i i ij j i
j
y a w x a w x d
=
| |
= = =
|
\ .

Va
| |
1 2
, ,...,
T
T
i i i im
w w w w =
la vector he so trong lng c s dung
cho viec huan luyen mang.

au ra mong
muon

au ra thc
s

w
11
w
21
d
1
y
1
e
1
x
1
x
2


Mau Perceptron n gian co ham tac ong chnh la ham dau, va gia tr
au ra mong muon ch co 2 gia tr la +1, -1 ma thoi.
Qua trnh truyen tien:
( ) ( )
sgn( )
k T k
i i
y w x =
.
Sau o he se cap nhat lai he so trong lng thong qua sai so gia au ra
mong muon va au ra thc s:
( )
2 ,
sgn
0,
i j i i
T
ij i i j
i i
d x y d
w d w x x
y d
q
q
=
(
A = =

=

vi 0, q q > la he so hoc.
T phng trnh nay ta thay rang gia tr ra cua mang neuron bang
gia tr ra mong muon, d
i
= y
i
, khi w khong thay oi. Khi o qua trnh
hoc ket thuc.
5.4.2 Giai thuat hoc delta:
Luat hoc delta da tren tnh chat cua ao ham ma nen tang la
phng thc giam nen co the dung cho ham truyen bat ky (tuyen tnh
hay ban tuyen tnh).

1. ao ham:
nh ngha : ao ham cua
ham so f tai mot iem x thuoc
mien xac nh, ky hieu la
) (x f ' , c cho bi :
n
n
x x
x x
x f x f
x f
n
= '

) ( ) (
lim ) (

Neu
) (x f '
> 0 th ta noi rang f tang tai x, neu
) (x f '
< 0 th ta noi
rang f giam tai x, con neu
) (x f '
= 0 th ham f co mot cc tr tai x.
Phng trnh ng thang d i qua iem (x
0
,f(x
0
)) c cho bi :
) (
) (
0
0
0
x f
x x
x f y
' =

) ( ) ( ) (
0 0 0
x f x x x f y ' + =

goi x
1
la giao iem cua d va truc hoanh, the th x
1
la nghiem
phng trnh :
0 ) ( ) ( ) (
0 0 0
= ' + x f x x x f

suy ra
) (
) (
0
0
0 1
x f
x f
x x
'
=

Tong quat, ta co :
) (
) (
1
n
n
n n
x f
x f
x x
'
=
+

Qua trnh tren c goi la phng thc giam. Ap dung ieu nay cho
trong so w, ta thay vong lap ke w
n+1
phai thoa tnh chat :
Hng giam

f(w
n+1
) < f(w
n
)
tc la gia tr cua f tai w
n+1
nho hn gia tr trc o tai w
n
.
Trong luat hoc sa sai, moi phep lap theo phng thc giam se tm
hng giam tai w
n
e vi mot q > 0 nho bat ky sao cho :
) ( )) ( (
n n n
w f w f w f < ' q

at w
n+1
la vector
) (
1 n n n
w f w w ' =
+
q

at f : R
n
R la mot ham thc va at e e R
n
vi 1 = e la mot hng
cho trc. ao ham cua f theo hng e tai w c nh ngha nh sau :
t
w f te w f
w f
t
e
) ( ) (
lim ) (
0
+
= c
+

Neu
T
i thu
e ) 0 .., . 1 . ,.. 0 (

=

tc e la mot hng c s trong khong gian vector th thay v
) (w f
e
c
, ta
viet
)( wf
i
c
, c nh ngha bi :
t
w w w f w t w w f
w f
n i n i
t
i
) ,..., ,..., ( ) ,..., ,..., (
lim ) (
1 1
0
+
= c
+

gradient cua f tai w, ky hieu la ) (w f '
, c nh ngha :

T
n
w f w f w f )) ( ),..., ( ( ) (
1
c c = '

2. Mo ta luat hoc delta:
Xet mot neuron s dung au ra la ham tuyen tnh, the th vector
trong so tm c trong giai thuat hoc se la mot ng thang (trng
hp khong gian hai chieu). ieu nay co ngha la luat hoc cho ham
truyen tuyen tnh ch co the xap x mot ham tuyen tnh ma thoi.
Tuy nhien, neu ham truyen la phi tuyen th kho co the co mot xap x
tot. o la ly do tai sao ngi ta dung ham kch hoat ban tuyen tnh.
au ra cua neuron :
o(<w,x>) = f(w
T
x)
Cung nh luat hoc perceptron, luat hoc delta can mot tap d lieu mau
cho qua trnh
He lay x
k
lam au vao, tao ra ket qua o
k
cua rieng no roi so sanh vi
ket qua mong muon y
k
. Sai lech cua mau th k c tnh theo :
2 2
)) ( (
2
1
) (
2
1
x w f y o y E
T k k k
k
= =

Sai lech cua tat cac cac mau :
K
K
k
k
E E E E E + + + = =
=
...
2 1
1

Luat hoc se thay oi w theo hng lam cc tieu hoa sai lech bang cach
s dung phep lap :
) (w E w w
k
' = q

vi
) ( )) ( ( )) ( (
2
1
) (
2
x w f x w f y x w f y
dw
d
w E
T T k T k
k
' =
|
.
|
\
|
= '

3. Mot so ham truyen va ao ham cua no:

Bieu thc tren cho thay trong luat hoc delta, ta can phai tnh ao
ham cua ham truyen. Sau ay la mot so ham truyen hay dung va ao
ham cua no :
Ham dang ch S lng cc :
)) ( 1 (
2
1
)) exp( 1 (
) exp( 2
) ( 1
) exp( 1
2
) (
2
2
t f
t
t
t f
t
t f =
+

= '
+
=

Ham dang ch S n cc :

)) ( 1 )( (
)) exp( 1 (
) exp(
) (
) exp( 1
1
) (
2
t f t f
t
t
t f
t
t f =
+

= '
+
=

4. Tom tat giai thuat:
Cho trc K mau d lieu :
1 1
{( , ),..., ( , )}
k k
x d x d

vi
) ,..., (
1
k
n
k k
x x x =
va d
k
e R, k = 1,,K.

Do tnh chat khong tuyen tnh cua ham truyen ma giai thuat kho co
the dng ung ngha (gia tr tao ra bi mang neuron bang ung gia tr
mong muon hay sai lech = 0). Do o ngi ta thiet lap tieu chuan dng
theo mot gia tr sai lech E
max
cho phep nao o : khi sai lech E nho hn
hoac bang E
max
th dng.
Trong thc te ngi ta con co mot tieu chuan dng theo so lan lap:
khi at en mot so lan lap xac nh th dng.
- Bc 1 : chon trc gia tr q > 0 va E
max
> 0.
- Bc 2 : khi tao ngau nhien w, bat au vi mau th nhat k = 1 va
gan sai lech E = 0.
- Bc 3 : bat au qua trnh hoc, gan x = x
k
, y = d
k
. au ra cua mang
neuron tnh theo :
- = o(<w,x>) = f(w
T
x)
- Bc 4 : cap nhat trong so
-
) (w E w w
k
' = q

- Bc 5 : tnh sai lech bang cach cong them sai lech hien tai
-
2
) (
2
1
o y E E + =

- Bc 6 : neu k < K th k = k + 1 va tr lai Bc 3. Neu khong th qua
Bc 7.
- Bc 7 : ket thuc chu ky hoc. Neu E s E
max
th ket thuc qua trnh hoc.
Con neu E > E
max
th gan E = 0 va bat au mot chu ky hoc mi bang
cach tr lai Bc 3.
5.4.3 Giai thuat hoc truyen lui BP:
Giai thuat truyen lui (Back propagation Alogorithm ) hay con goi
la giai thuat hoc BP la mot trong cac giai thuat quan trong nhat trong
lch s phat trien cua cac mang neuron nhan tao. Giai thuat c s
dung e huan luyen cac mang nuoi tien nhieu lp vi cac phan t x ly
trong mang co ham tac ong la ham phi tuyen. Mang nuoi tien nhieu
lp c ket hp vi giai thuat truyen lui con c goi la mang truyen

lui. Giai thuat van hanh theo hai luong d lieu sau: hng truyen tien
dung cac mau huan luyen truyen t lp neuron au vao en lp neuron
au ra va cho ket qua thc s O
k
(hoac Y
k
) cua lp neuron au ra, sau
o hng truyen lui se s dung sai lech gia au ra mong muon vi au
ra thc s cua mang lam tn hieu vao i ngc t lp neuron au ra en
lp neuron au vao e cap nhat he so trong lng ket noi trong mang.

Ham tong hp cho moi phan t x ly th q cua lp neuron an la:
1
m
q qj j
j
net v x
=
=

va au ra cua no: ( )
q q
z a net =

Ham tong hp cho moi phan t x ly th i cua lp neuron au ra la:
1
m
i iq q
j
net w z
=
=

va au ra cua no:
( )
i i
y a net =

o sai lech gia gia tr tao ra cua mang neuron vi gia tr mong muon
cho mot mau d lieu hoc c cho bi :
x
1
x
2
x
m
v
qj
w
iq
y
1
y
2
y
n
x
j
(j=1,..,m) , v
qj
z
q
(q=1,..,l) , w
iq
y
i
(i=1,..,n)


2
1
( ) ( )
2
i i i
E w d y =

o sai lech tong the c tnh bang cach lay tong cua cac o sai lech :
1
( ) ( )
K
i
k
E w E w
=
=

V the he so trong lng gia lp neuron au ra va lp neuron an co the
c cap nhat bang mot lng :
( )
/
iq iq
w E w q A = c c

S dung luat chain cho (
/
iq
E w c c
), ta co:
( )( )( )
/ / /
iq i i i i i
w E y y net net wq q A = c c c c c c

trong o:
( ) ( )
( )
( )
/
/ ( )
/
i i i
i i i
i iq q
E y d y
y net a net
net w z
c c =
' c c =
c c =

Do o ta co the viet lai:
| | ( )
iq i i i q oi q
w d y a net z z q qo ' ( A = = (

Trong o:
oi
o
la tn hieu sai lech cua neuron th I trong lp neuron au
ra cua mang.
Tn hieu sai lech cua neuron th i trong lp neuron au ra cua mang
c nh ngha bang:
( ) ( ) ( ) | | ( )
/ / /
oi i i i i i i i
E net E y y net d y a net o ' = c c = c c c c = (

Trong o, net
i
la au vao phan t x ly th I trong lp neuron au ra va
( ) ( )
/
i i i
a net a net net ' = c c
.
Cho viec cap nhat cac he so trong lng ket noi gia lp neuron an va
lp neuron au vao s dung luat

( ) ( ) ( )
( ) ( ) ( )( )
( )( )( ) ( )
/ / / /
/ / / / /
/ / / / /
qi qi q q qi
qi qi q q q q qi
qi i i q q q q qi
v E v E net net v
v E v E z z net net v
v E y y z z net net v
q q
q q
q
A = c c = c c c c
A = c c = c c c c c c
A = c c c c c c c c

Do o ta co:
| | ( ) ( )
( )
1
1
n
qi i i i iq q j
i
n
qi qi iq q j hq j
i
v d y a net w a net x
v w a net x x
q
q o qo
=
=
( ' ' ( A =

( ' ( A = =

trong o
hq
o
la tn hieu sai lech cua phan t x ly th q trong lp
neuron an c cho bi:
( ) ( )
1
n
hq q qi iq
i
a net w o o
=
' =

Tom tat giai thuat
Cho tap mau huan luyen ( ) ( ) ( ) { }
, , 1, 2,..., x k d k k p =
,trong o cac
vector au vao vi cac phan t cuoi cung c gan bang 1 , o la
x
m+1
(k)=-1.
- Bc 0: Thiet lap hang so hoc
q
>0 , va thiet lap sai lech E
max
cho
phep gia au ra mong muon va au ra thc s cua mang. Thiet lap
cac he so trong lng ban au. Thiet lap E=0 va k=1.
- Bc 1: (Vong lap huan luyen ): Gan mau au vao th k vi lp
neuron au vao(q=1)
( )
1 q
i i i
y y x k = =
cho tat ca i.
- Bc 2: Truyen tn hieu tien thong qua mang s dung cong thc
( )
1 q q q q
i i ij j
j
y a net a w y
| |
= =
|
\ .

cho moi phan t x ly th i lp q va cho en khi q at en lp
neuron au ra
Q
i
y
.
- Bc 3: Tnh gia tr sai lech va cac tn hieu sai lech cho lp neuron
au ra

( ) ( )
( ) ( )
2
1
2
( )
Q
i i
Q Q Q
i i i i
E d k y E
y d k y a net
= +
' =

- Bc 4: Truyen cac tn hieu sai lech lui e cap nhat he so trong
lng va tnh cac tn hieu sai lech
Q
i
o
cho cac lp ng trc :
( )
1
1 1
q q q
ij i j
new old
q q q
ij ij ij
q q q q
i i ji j
j
w y
w w w
a net w
q o
o o

A =
= + A
'
=

- Bc 5: Kiem tra xem neu k<p , th cho k=k+1 va quay ve bc 1 ;
mat khac i en bc 6.
- Bc 6: Kiem tra xem tong sai lech hien co neu E < E
max
th ket
thuc qua trnh huan luen va xuat cac he so trong lng cuoi cung
c xem nh la he so trong lng ket noi xap x thch nghi cho
mang; mat khac, thiet lap lai E=0, k=1 va thc hien mot qua trnh
mi bang cach quay tr ve bc 1.
5.4.4 Cac thong so hoc cua giai thuat truyen lui BP:
Van e hoi tu cua giai thuat hoc truyen lui Bp co phu thuoc vao
nhieu yeu to khac nhau o la viec la chon e thiet lap cac thong so
hoc trong giai thuat sao cho giai thuat co the hoi tu hoac hoi tu nhanh
en li giai cua bai toan. Cac thong so hoc o la he so trong lng ban
au, hang so hoc, ham chi ph, luat cap nhat, d lieu huan luyen va tnh
tong quat hoa, so lp neuron an va so neuron an trong moi lp.
- He so trong lng ban au : Viec chon la e thiet lap he so
trong lng ban au cua mang co tac ong rat ln en viec hoi
tu en li giai cua bai toan. Thng cac he so trong lng ban
au cua nbai toan c chon rat nho. Chung co the c cho n
ngau nhien vi cac gia tr rat nho trong pham vi

3/ , 3/
i i
k k
(

, trong o k
i
la so au vao cua phan t x ly th
i.
- Hang so hoc: Mot thong so quan trong khac co tac ong rat ln
en viec hoi tu cua giai thuat o la hang so hoc. e giai thuat
co the hoi tu en li giai cua bai toan, bang thc nghiem, hang
so hoc
q
c chon vi mot gia tr rat nho co the la trong pham
vi 10
-3
en 10 . Tuy nhie n e chnh xac hn, han so hoc q nen
c cap nhat bang quy luat. Luat c s dung e cap nhat
hang so hoc o la:
, 0
, 0
0, 0
a E
b E
E
q q
+ A <
A = A >
A =

Trong o, E A la sai so trong ham chi ph, a va b la hai hang so
dng.
Mot phgn phap khac c e ngh e cap nhat hang so hoc o
la luat delta-bar-delta:
( )
( ) ( )
( ) ( ) ( )
( ) ( )
, 1 0
1 , 1 0
0, 1 0
a t t
t b t t t
t t

q q

+ >
A + = <

Trong o
( )
( ) ( ) ( ) ( )
/
1 1
ij
t E w
t c t c t

= c c
= +

va | |
0,1 ce
la mot hang so.
- Ham chi ph: Mot yeu to quan trong khac cung tac ong ln
en viec hoi tu cua giai thuat BP o la ham chi ph e o sai
lech gia au ra thc s va au ra mong muon cua mang. Ham
chi ph thng c s dung trong giai thuat tren c s norm L
P

co dang tong quat

( ) ( )
1
1
p
n
i i
i
E d k y E
p
=
= +
, trong o
1 p s s

Trong trng hp p=2, ta co ham bnh phng toi thieu tc la
Norm L
2
c s dung e o sai lech gia au ra mong muon va
au ra thc s cua mang nh a c mo ta trong giai thuat
truyen lui BP o la:
( ) ( )
2
1
1
2
n
i i
i
E d k y
=
=

Tng t nh ham chi ph Norm L
2
a c s dung, xem xet
ham chi ph Norm
L
nh ngha tn hieu sai lech cua tng mau

au ra cua mang o la
sup
i i i
E d y
=

Trong o
sup .
i
la ham chon phan t sai lech ln nhat trong
vector va nhng phan t khac trong vector th b loai bo.
T ham chi ph nay, ta co the lay c tn hieu sai lech
oi
o
cua
lp neuron au ra nh sau:
( ) ( ) * * *
*
*
0,
sgn ,
oi
i
i i i
i i
E
net a net d y i i
o
=
c
= =
' c =

Trong o
*
i
la ch so cua phan t ln nhat trong vector sai so.
- Momentum: Toc o hoc cua phng phap gradient descent rat
cham neu hang so hoc
q
nho va toc o hoc cua phng phap
nay co the dao ong cc ln neu hang so hoc
q
qua ln. e
khac phuc ieu nay, luat hoc bang phng phap gradient descent
c bo sung them mot lng he so trong lng a c s dung
cua bc thi gian trc o la:
( ) ( ) ( )
1 w t E t w t q o A = V + A


Trong o | |
0,1 o e
la thong so momentum va gia tr 0.9 thng
c s dung cho thong so nay.
- Cac luat cap nhat he so trong lng : Phng phap gradient
descent la mot trong cac ky thuat toi u n gian nhat, no bao
am dan en hoi tu cua bai toan, tuy nhien toc o hoc cua
phng phap nay rat cham, v no ch xem xet en nhom vi phan
bac nhat cua ham sai lech. e bo ch nhieu hn, nen s dung
phng phap cap nhat he so trong lng ma c xem xet en
nhom vi phan co bac cao hn cua ham sai lech. S dung phng
phap m rong Taylor tren sai lech E(w) quanh iem hien co w
0
,
ta co:
( ) ( ) ( ) ( ) ( ) ( )( )
0 0 0 0 0
1
...
2
T
E w E w w w E w w w H w w w = + V + +

Trong o H(w) c goi la ma tran Hessian va la vi phan bac
haic lay tai iem w
0
o la ( ) ( )
2
H w E w = V
.
e tm cc tieu cua E(w), ta thiet lap ao ham cua no tien en
zero.
( ) ( ) ( )( )
0 0
... 0 E w E w H w w w V = V + + =

Neu ta loai bo nhom vi phan bac ba va cac nhom co bac cao
hn, ta co
( ) ( )
1
0 0
w w H w E w
= V

Neu s dung k e ch bc hoc th k, ta co luat cap nhat bc
hoc th k+1 o la
( ) ( ) ( )
( )
( )
( )
1 1 k k k k
w w H w E w
+
= V

Phng phap nay c goi la phng phap cap nhat he so trong
lng cua Newton.
- D lieu huan luyen: D lieu huan luyen cung la yeu to quan
trong co tac ong en viec hoi tu cua giai thuat. Chung ta luon
luon muon co tap d lieu huan luyen sao cho u hieu lc va
thch hp e huan luyen mang. Tuy nhien khong co mot thu tuc

nao hoac mot quy luat thch hp nao cho cac trng hp e chon
tap d lieu huan luyen co hieu lc va thch hp. Co mot quy luat
chu chot duy nhat o la d lieu huan luyen nen bao trum toan
bo khong gian au vao mong muon va sau o trong thi gian
huan luyen chon loc cac cap vector huan luyen ngau nhien t
tap hp d lieu huan luyen nay.
- So cua cac neuron an: Kch thc cua lp neuron an la cau hoi
c ban thung at ra trong viec ng dung cua cac mang nuoi
tien nhieu lp. Cau hoi nay kho ma tra li chnh xac co bao
nhieu neuron trong lp neuron an. Tuy nhien kch thc cua lp
neuron an thung c xac nh bang thc nghiem cu the nh co
hang tram hoac hang ngan au vao, kch thc cua lp neuron
an can thiet e ch quan he vi lp neuron au vao, neu mang
that bai khong hoi tu en li giai, th no co them so neuron an
c yeu cau sao cho mang co the hoi tu en li giai.

LVTN: ieu Khien Nhiet o Dung M Thch
Nghi

CHNG 6: M THCH NGHI

6.1 S Lc Ve Neuron Fuzzy
Cung nh moi s vat tren i, cac ky thuat thuoc lnh vc tr khon
nhan tao nh logic m, mang neuron, he chuyen gia, eu co mat manh
va mat yeu cua no.
Va oi vi logic m, mang neuron cung the. Logic m cho phep ta de
dang thiet ke mot he thong mong muon ch bang cac luat If-Then n
gian. Vi a so ng dung th ieu nay cho phep tao ra li giai n gian
hn, trong khoang thi gian ngan hn. Them na, ta cung de dang s dung
nhng hieu biet cua mnh ve oi tng e toi u he thong mot cach trc
tiep. Tuy nhien, khi thiet ke toi u he logic m oi hoi phai co mot so kinh
nghiem ve oi tng. Neu la nhng nha chuyen gia co s hieu biet sau
chac ve lnh vc o th xem nh cung tam on. Nhng neu oi tng o con
kha xa la hay ngi thiet ke no lai la nhng ngi mi trong lnh vc o
th sao ? Chang han nh so tap m au vao bao nhieu la va u, dang tap
m co thch hp cha? Hay cac luat ket hp co toi u khong? Ket hp tap
m nao vi tap m nao va tao ra tap m nao ? That la khong de dang vi
ngi thiet ke nen viec toi u hoa he thong hay con la mot nghe thuat.
Con neu nh tri thc can a vao he c the hien di dang cac tap
d lieu (thng gap trong lnh vc thu thap va x ly d lieu) th lam the
nao ?
Trong khi o, ta biet rang mang neuron co kha nang hoc lay tri thc
ma ta can a vao he nhng that kho hieu va kho ma giai thch ro rang
mang neuron hoat ong nh the nao ? Va at biet hn, ta khong de g phat
trien s nhan thc ve nhng y ngha gan vi moi neuron cung nh he so
trong lng cua chung. Do o mang neuron c xem nh la mot hop en
: ta co the hieu c hop en lam c g khi a so lieu vao ma khong
can biet lam sao lai tao ra nh the.
Con nhieu, nhieu nhng u khuyet iem na. Bang sau ay cho ta thay
mot so cai cu the nhat :
Nghi

Mang neuron Logic m
The hien tri thc Khong tng minh : kho giai
thch va kho sa oi.
Tng minh : de kiem chng
hoat ong va de sa oi.
Kha nang hoc Co kha nang hoc thong qua
cac tap d lieu.
Khong co kha nang hoc : ban
phai t thiet ke tat ca.

The th tai sao chung ta khong ket hp chung lai nh?
Khi o, ta se co mot he lai vi u ie m cua ca hai : logic m cho
phep thiet ke he de dang, tng minh trong khi mang neuron cho phep hoc
nhng g ma ta yeu cau ve bo ieu khien. No sa oi cac ham phu thuoc
ve hnh dang, v tr va s ket hp, hoan toan t ong. ieu nay lam
giam bt thi gian cung nh giam bt chi ph khi phat trien he.

5.2.1 Bieu dien luat If-Then theo cau truc mang neuron:
Ta bat au vi he SISO thong qua khoi luat sau :
R
i
: If x la A
i
Then y la B
i
, vi A
i
, B
i
la cac tap m, i = 1, ,n (1)
Nghi

Moi luat cua (1) co the chuyen thanh mot mau d lieu cho mang
neuron a tang bang cach lay phan If lam au vao va phan Then lam
au ra cua mang. T o ta chuyen khoi luat thanh tap d lieu sau :
{(A
1
,B
1
), ,(A
n
,B
n
)}
oi vi he MISO, cung tng t ta chuyen khoi luat :
R
i
: If x la A
i
And y la B
i
Then z la C
i
,
vi A
i
, B
i
, C
i
la cac tap m, va i = 1, ,n
thanh tap d lieu : {(A
i
,B
i
),C
i
}, 1 s i s n
Con oi vi he MIMO th khoi luat :
R
i
: If x la A
i
And y la B
i
Then r la C
i
And s la D
i

vi A
i
, B
i
, C
i
la cac tap m, i = 1, ,n
c chuyen thanh :{(A
i
,B
i
),(C
i
,D
i
)}, 1 s i s n
5.2.2 Neuron m:
Xet mang neuron sau :
Cac tn hieu vao-ra va cac trong so eu la so thc.
- Hai neuron au vao khong lam thay oi tn hieu nen au ra cua
no cung la au vao.
- Tn hieu x
i
ket hp vi trong so w
i
tao thanh tch :
p
i
= w
i
x
i
, i = 1,2
- au vao cua neuron tang ra la s ket hp cua cac p
i
theo phep
cong :
p
1
+ p
2
= w
1
x
1
+ w
2
x
2

Nghi

- Neuron nay dung mot ham truyen f e tao au ra, co the la ham
dang ch S n cc chang han :
x
e
x f x w x w f y

+
= + =
1
1
) ( ), (
2 2 1 1
mang neuron dung phep nhan, phep cong va ham dang ch S c
goi la mang neuron chuan.
Nhng sa oi nay se dan en viec tao ra cau truc neuron m da
tren cac phep toan m.
Can nhan manh la oi vi mang neuron m th gia tr vao, gia tr
ra, va trong so la nhng so thc nam trong khoang [0,1].
Mot phan t t x ly trong mang neuron m c goi la neuron
m.
5.3 Cac Bo ieu Khien Dung Mang Neuron Fuzzy
Tuy theo cau truc, chc nang ngi ta phan biet cac loai sau:
Loai 1: ay la loai thong thng vi luat m co ham lien thuoc au
ra dang chuong, tam giac ap ng cua moi luat c xac nh
bi trong so cua ham lien thuoc au ra thong qua cng o ban va
ap ng trung tam c tnh toan e a ra gia tr chnh xac cho
au ra. Khi ham lien thuoc au ra co dang xung th ket qua cua
moi luat la dang singleton m. Gia tr au ra m lien quan en
viec chon cap o phu thuoc Maximum cua moi luat m lam ap
ng cho ra gia tr au ra chnh xac.
Loai 2: Loai nay co ham lien thuoc la ham tang n ieu, chang han
nh ham ch S. ap ng cua moi luat m c xac nh bi cng
o ban theo dang ham lien thuoc au ra cua no. Gia tr au ra cua
bo ieu khien neuron fuzzy chnh la s ket hp tuyen tnh cac ap
ng cung nh cng o ban cua cac luat m. Ket qua cua moi luat
tr thanh cac Singleton m khi ham lien thuoc au ra la ham
ngng.
Loai 3: Loai nay co ap ng cua moi luat la s ket hp tuyen tnh
cac gia tr au vao thay oi. Trong so c a vao cac ap ng
Nghi

va sau o lay tong cua chung theo cng o ban e thu c gia tr
au ra cuoi cung. Ket qua cua moi luat tr thanh cac Singleton m
khi tat ca he so cua phan ket qua dan en zero.
Tong ket: Muc ch chnh cua he thong ieu khien dung neuron
fuzy la ap dung cac ky thuat hoc e tm va ieu chnh cac thong so
cau truc and/or cua he thong. Bo ieu khien m c at ra hai loai
chnh chnh: chnh cau truc, chnh tham so.
- Chnh cau truc: Lien quan chu yeu en cau truc cua cac luat
m, chang han nh so tap m cua cac au vao, au ra, so luat
va s ket noi e hnh thanh chung Khi mot cau truc thoa
man cac luat m c xay dng, th he thong ieu khien ieu
khien bang neuron fuzzy yeu cau trnh bay cach chnh nh
thong so.
- Chnh tham so: oi vi nhom hoc tham so, cac thong so co
the c chnh nh bao gom nhng g gan lien vi ham lien
thuoc chang han nh: trong tam, o rong, o doc, nhng thong
so lien quan en s ket noi cac thong so m va he so trong
lng cua cac luat m.
Trong so 3 loai mang neuron neu tren, hoc khong giam sat khong
nhan them bat ky mot thong tin nao, thch hp cho hoc cau truc e tm
tap d lieu chnh nh cac luat m. Hoc giam sat can thay giao e xac
minh vector au ra, d oan luat hoc e ieu chnh thong so cac ham
lien thuoc and/or cua luat m cho au ra mong muon qua he thong
neuron m. Trong trng hp ham lien thuoc thay oi, chung ta de
dang rut ra c toc o hoc da tren cac phng phap hoc( nh luat
truyen lui ) cho viec hoc thong so.
Co nhieu cach hoc thong so, hoc cau truc c ket hp trong ieu
khien neuron m. Trc tien, chung co the c trnh bay mot cach co
trnh t va chia ra lam hai nhom: Hoc cau truc c dung trong nhom
au tien e tm cau truc ung cua ieu khien neuron fuzzy va hoc
thong so thuoc nhom th hai e tm cac thong so toi u. Thu tuc nay
lien quan en viec lai ghep luat hoc cau truc_thong sothch hp cho
Nghi

viec hoc cau truc_tham so loai 1. Trong mot vai tnh huong ch co hoc
thong so hay hoc cau truc la can thiet khi cau truc ( chang han luat m
), hay thong so (chang han ham lien thuoc ) c cung cap bi cac
chuyen gia. Hien nhien kien thc chuyen gia co the thay oi c
dung cho viec lap ra cau truc, tham so ban au cua ieu khien neuron
fuzzy va sau o hoc cau truc hay hoc thong so se thay the e a ra
cach chnh nh tot nhat.
5.4 ieu Khien Neuron Fuzzy Qua Viec Lai Ghep Hoc Cau Truc
Va Hoc Thong So.
Sau ay la mot vai mau ieu khien neuron fuzzy co kha nang hoc
cau truc va hoc thong so. Khai niem c ban cua mau ieu khien dung
neuron fuzzy trc tien la dung luat hoc cau truc e tm luat logic m
chnh xac va sau o la luat hoc tham so e co c cac thong so toi u
ve ham lien thuoc.
5.4.1 Mang ieu khien m thch nghi:
Mang ieu khien m thch nghi c soan ra bi Lin va Lee e
hoc chien lc lai ghep hoc thong so_cau truc. Mang ieu khien hoc
m thch nghi la mang nuoi tien a lp vi s hp nhat cac yeu to c
ban va ham cua bo ieu khien m thuan tuy thanh cau truc lien ket
c sap xep, phan phoi cho cac cach hoc khac nhau. Trong cau truc
ket noi nay, cac nh vao/ra ng ng vi s ton tai trang thai au vao
va ieu khien au ra, ong thi cac lp neuron an se at trng cho cac
ham lien thuoc, luat m.
Mang ieu khien m thch nghi c oi chieu vi bo ieu khien
m thuan tuy va mang thc s vi cac so hang at trng cho kha nang
hoc va cau truc mang. Chang han nh ieu khien m va au ra mang
thc s co the c xay dng t viec huan luyen v du nh ky thuat hoc
mang va cau truc ket noi co the c huan luyen e phat trien luat m
va xac nh ham lien thuoc vao/ra. Mo hnh ket noi nay cung cung cap
s hieu biet cua con ngi , ieu o co ngha la nhng mo hnh thong
thng cua mang nuoi tien a lp ma cac phan t ben trong no thng
gay ra kho hieu oi vi ngi s dung. V the, neu can thiet th kien
Nghi

thc cua ngi chuyen gia co the de dang a vao mang ieu khien m
thch nghi. Sau ay chung ta se xet en cau truc, chc nang cua mang
ieu khien m thch nghi va cach hoc cua no.

He thong tren bao gom 5 lp.
y1 y1
y
m
y1
y
m
x1
x2 xn
Lp 5
Cac nh bien ngon ng ra
Lp 4
Cac nh so hang ra
Lp 2
Cac nh so hang vao
Lp 3
Cac nh luat
Lp 1
Cac nh bien ngon ng vao
Cau truc cua mang ieu khien m thch nghi
Nghi

Lp th nhat la cac nh vao at trng cho cac bien ngon ng vao, lp
th nam la lp ngo ra. Co 2 nh ngon ng cho moi bien ra. Mot cho tap
d lieu huan luyen, tc au ra mong muon c cung cap cho mang, va
nh con lai cho au ra thc s e tm thong tin cho mang. Cac nh cua
lp th hai va lp th t la cac so hang hoat ong nh la nhng ham
lien thuoc at trng cho cac so hang tng ng vi cac bien ngon ng.
Thc vay, lp th hai co the la cac nh n bieu dien cac ham lien
thuoc n cung nh cac nh a lp bieu dien cac ham lien thuoc phc.
V the so lp cua mo hnh ket noi nay co the ln hn nam. Moi nh
lp th ba la mot nh luat at trng cho mot luat cua logic m. S lien
ket gia lp th ba va lp th t co chc nang nh mot ket noi suy dien
m. Cac lien ket cua lp th ba xac nh ieu kien tien quyet cua cac
nh luat, va cac lien ket lp th t xac nh ket qua cua cac nh luat.
Do o, vi moi nh luat, phan ln co mot lien ket (co the khong ) t
vai nh so hang cua mot nh ngon ng. ieu o ung cho tat ca cac
lien ket lp ba va lp bon. Cac lien ket cua lp th hai va lp th
nam hoan toan c ket noi gia cac nh bien ngon ng vi cac nh
tng ng cua chung. Mui ten lien ket ch ra tn hieu hng dan cho
viec s dung mang sau khi mang c xay dng va huan luyen.
Vi nam lp cua cau truc mang ieu khien thch nghi , chung ta
xac nh cac ham c ban cua moi nh. moi nh eu co ham tong
hp cung cap thong tin vao:

( ) ( ) ( ) ( ) ( ) ( )
1 2 1 2
( , ,...., ; , ,..., )
k k k k k k
i p p
net f u u u w w w =

vi u
1
(k)
, u
2
(k)
, ., u
P
(k)
la au vao cua nh va w
1
(k)
, w
2
(k)
, , w
P
(k)
la he
so trong lng cua cac ket noi. Ch k c viet ben tren e ch so
lp. Va au ra cua moi nh c tnh toan thong qua ham tac ong:
( )
( ) ( ).
k
i i
output o a net a f = = =

Sau ay, chung ta se mo ta cac ham cua moi nh trong tng lp
cua bo ieu khien m thch nghi:
Lp 1: Nhan trc tiep gia tr cua cac au vao a en lp ke tiep.
Nghi

Ta co:

(1)
i
f u =
and
a f =

Trong phng trnh nay, he so trong lng cua lp th
nhat la ong nhat (w
i
(1)
=1).
Lp 2: Neu dung nh n e bieu dien ham lien thuoc th au ra
cua cac nh thuoc lp 2 chnh la cac ham lien thuoc. V du
ham dang tam giac:

2
2
( , ) 1
i
j
i i
j
x ij ij
j
i
u a
f M a b
b
= =
va
f
a e =

Trong o a
ij
chnh la iem chnh gia, b
ij
chnh la chieu
rong ay cua tam giac. He so trong lng cua lp th 2
c hieu nh la a
ij
. Neu chung ta dung mot tap hp cac
nh e bieu dien ham phu thuoc th mang gia nh nay se
c huan luyen khong trc tuyen e bieu dien ham lien
thuoc mong muon thong qua giai thuat hoc truyen lui.
Lp 3: Lien ket trong lp nay c dung e bieu dien cac tien
ieu kien trong viec phoi hp cua luat m. Do o cac nh
luat nay bieu dien cac hoat ong AND trong m.
(3) (3) (3)
1 1
min( , ,..., )
p
f u u u =
va
a f =

He so trong lng ket noi co tnh ong nhat (w
(3)
i
=1).
Lp 4: Cac nh cua lp nay co hai che o hoat ong: nhan t di
len, nhan t tren xuong. che o nhan t di len, cac lien
ket cua nh bieu dien ket qua cua cac lien ket trong luat
m thong qua hoat ong OR.
(4)
i
i
f u =
va
min(1, ) a f =

He so trong lng ket noi w
ij
=1. Con che o t tren
xuong, cac nh cua lp nay va ham lien ket cua lp 5 eu
Nghi

giong nhau v cung bieu dien ham lien thuoc cho cac bien
ngon ng au ra.
Lp 5: lp nay cung co 2 che o. Che o t tren xuong c
a vao mang cho viec huan luyen d lieu. oi vi loai
nay, th
i
f y =
va
a f =

Con che o th 2, t di len co nhiem vu a ra
quyet nh cho tn hieu ra. Cac nh trong lp th 5 gan lien
nhau hoat ong nh khau giai m.
Da tren cau truc ket noi nay ngi ta phat trien hai nhom
hoc lai ghep e tm cac gia tr nh trong tam, o rong ay cua tam
giac lp th 2 va lp th 4. Cung nh thong qua cau truc nay cac
luat cua logic m c xac nh thong qua cac nh luat cua lp
th 3 va lp th 4.
Nhom th 1 thuoc ve hoc khong giam sat c dung e at
cac ham lien thuoc ban au va kham pha s hien dien cua cac
luat logic m.
Nhom th 2, hoc giam sat c dung e ieu chnh thong so
cua ham lien thuoc e cho ra gia tr au ra mong muon. e
bat au hoc th tap d lieu huan luyen va au ra mong muon
phai c cung cap t ben ngoai (hay t cac chuyen gia).
Do viec ieu khien nhiet o lo ta mong muon at c nhiet
o at trc, c xem nh au ra mong muon a c cung cap.
Nh vay viec ieu khien se thch hp vi hoc giam sat. Cho nen, ta
se tap trung vao viec huan luyen co giam sat.
Hoc thong so cung c xem nh hoc giam sat, ieu o co
ngha la chung ta lap ra tap huan luyen vao/ra va ky thuat mang
neuron m (chang han nh luat m) c xac nh t cac thong so
cua mang.
phan nay, gii thieu ky thuat hoc cac thong so thay oi
da tren bang luat m ma ket qua cho ra dang Singleton.
Nghi

Vi n bien ngon ng vao, moi bien co j tap m bieu dien m luat
hp thanh vi n menh e hp thanh nh sau:
R
j
: If x
1
is A
j
1
and x
2
is A
j
2
and and x
n
is A
j
n
, Then y is w
j
,
Vi x
i
la bien ngon ng vao, y la bien ngon ng ra. A
j
i
la cac tap
m cua cac bien ngon ng vao vi ham lien thuoc la
( )
j
i
i
A
x
, w
j
la
cac so thc cua phan ket qua (tng ng vi tap m cua bien ngon
ng ra). Neu s dung phng phap suy dien m va giai m theo
phng phap trong tam, th ta co ket qua au ra thc s cua mang
c tnh toan bi:
1 *
1
M
j j
j
M
j
j
w
y

=
=
=

(1)
vi
1 2
1 2
( ). ( )... ( )
j j j
n
j n
A A A
x x x =
(2)
e n gian, phng trnh (1) co the c viet lai nh sau:
*
1
M
j j
j
y w
=
=
(3)

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

( )
1
1
j x
A

W
n
W
1
A
n
j
A
2
j
A
1
j

Lp 1
Lp 2
Lp 3
Lp 4
Y
*
Nghi


Hoc thong so trong neuron fuzzy vi luat m co dang singleton la
ieu chnh cac ham lien thuoc au vao
j
i
A
va so thc w
j
. Cac ham
lien thuoc pho bien c dung nh ham hnh chuong, ham dang tam
giac. day ta ch e cap en ham lien thuoc dang tam giac ma thoi.
Cac thong so at trng cua ham lien thuoc dang tam giac: gia tr
cua iem chnh gia a
j
i
va o rong b
j
i
. T o ta tnh c gia tr phu
thuoc sau:
2
( ) 1
j
i
j
i i
i
j
A
i
x a
x
b

=
vi i=1,2,,n; j=1,2,,M.

b
j
i
a
j
i
j
i
A

1

x
i
Ham lien thuoc dang tam giac

Nghi


Vi y
*

la gia tr au ra thc s cua mang, y
d
la gia tr mong
muon co c va vector au vao x=(x
1
,x
2
,,x
n
)
T
, ta co the cap nhat
cac he so thong qua sai lech gia au ra thc s va au ra mong
muon:

( )
2
*
1
2
d
E y y =
(4)
The (1) vao (4), ta c:

2
2
1 1 1
1
1 1
( ) ( )
1 1
2 2
( )
( )
j
i
j
i
n M M
j j i j
A
j j i d d
M
n M
j
i
A
j
j i
j
x w x w
E y y
x
x

= = =
=
= =
| |
| | | |
|
| |
\ . |
|
= =
|
| | |
|
| |
|
\ . \ .
\ .
[
[
(*)
T (*) ta suy ra cac gia tr cua ham lien thuoc vao/ra tai thi iem
tiep theo:
( 1) ( )
( 1) ( )
( 1) ( )
j j
i i a
j
i
j j
i i b
j
i
j j w
j
E
a t a t
a
E
b t b t
b
E
w t w t
w
q
q
q
c
+ =
c
c
+ =
c
c
+ =
c

Nghi

ma cac gia tr ao ham c tnh t (*), ta c:
*
1
*
1
*
1
( )
2
( )( ) sgn( )
( )
( )
1 ( )
( )
1
( )( )
( )
( )
( )
( )
( )
j
i
j
i
j
i
j d j
j i i
M j j
i i i
A
j
j
i
A j d
j
M j j
i i i
A
j
j
j d
M
j
j
j
x
E
y y w y x a
a b x
x
x
x
E
y y w y
b x b
x
x
E
y y
w
x
=
=
=
c
=
c
c
=
c
c
=
c

Tom lai: o hieu qua cua cac mo hnh m bieu dien moi quan he
phi tuyen vao-ra phu thuoc cac phan vung m cua khong gian vao-ra.
Do o viec chnh nh ham phu thuoc trong cac mo hnh m tr
nen rat quan trong. Viec chnh nh nay co the xem nh la van e toi
u dung mang neuron va giai thuat hoc e giai quyet.
au tien ta gia nh cac ham phu thuoc co mot hnh dang nhat
nh. Sau o ta thay oi cac thong so cua hnh dang o qua qua trnh
hoc bang mang neuron.
Nh vay ta can mot tap d lieu dang cac cap vao-ra mong
muon e cho mang neuron hoc. Va cung can phai co mot bang cac
luat s khi da tren cac ham phu thuoc o.
Vi luat m co gia tr au ra Singleton cach hoc nay giup ta chnh
nh 3 thong so: iem chnh gia(a
j
i
), o rong ay (b
j
i
) cua ham lien
thuoc vao co dang tam giac va gia tr ra cua luat m dang
singleton(w
j
).

Nghi



CHNG 7: THIET KE BO IEU KHIEN M
NHIET O THCH NGHI

7.1 Thiet Ke :
Nh a gii thieu phan tren, bo ieu khien m thch nghi chang qua
la bo ieu khien m co kha nang chnh nh lai cac thong so cua bo ieu
khien cho phu hp vi oi tng cha biet ro. Do o e thiet ke bo m
thch nghi ta se phat trien bo m co kha nang hoc va chnh nh thong so.
Bo m vi hai au vao, moi au vao co bay tap m dang tam giac
c ket hp vi nhau thong qua 7x7=49 luat va mot au ra co bay tap
m dang Singleton c a vao mang neuron.

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

W
n
W
1
A
2
j
A
1
j

ET DET

Lp 1
Lp 2
Lp 3
Lp 4
Y
*
Cau truc bo ieu khien m thch nghi vi au ra Singleton

- Truyen tien: Vi moi gia tr vao ET, DET ta co gia tr cong suat au
ra thc s cua mang cho bi:
1 *
1
M
j j
j
M
j
j
w
y

=
=
=

(1)
vi
1 2
( ). ( )
j j
j
A A
ET DET =
(2)
e n gian, phng trnh (1) co the c viet lai nh sau:
*
1
M
j j
j
y w
=
=
(3)
- Truyen lui: Cac he so thong qua sai lech gia au ra thc s va
au ra mong muon:

( )
2
*
1
2
d
E y y =
(4)
The (1) vao (4), ta c:
2
1
1
( )
1
2
( )
M
j j
j d
M
j
j
x w
E y
x
=
=
| |
|
|
=
|
|
\ .
(*)
T (*) ta suy ra cac gia tr cua ham lien thuoc vao/ra tai thi iem
tiep theo:
( 1) ( )
j j w
j
E
w t w t
w
q
c
+ =
c

ma cac gia tr ao ham c tnh t (*), ta c:
*
1
( )
( )
( )
j d
M
j
j
j
x
E
y y
w
x
=
c
=
c


e co the tnh c cac thong so tren ta can biet c au ra mong
muon. au ra mong muon c tnh t mo hnh xay dng thong qua
cac thong so lo.

Khau lay mau ZOH:
1
Ts
e
ZOH
s
=

Ham truyen G(S) co dang nh sau:
1
( )
1
Ls
Ke
G S
T s
=
+

vi K la he so khuech ai, T
1
la thi hang, L la khau tre, T la thi
gian lay mau, P cong suat cap cho lo, va u chnh la sai lech nhiet
o gia gia tr nhiet o o c vi nhiet o moi trng.
Bien oi sang mien Z, ta c:
( )
1
1
1
1
/
1
1
1
( ) .
1
1
.
1
Ts Ls
L
T T T
T
T
e Ke
G Z L
s T s
e z
K
T P
e z
u

| |
+
|
\ .

=
`
+
)
= =

T phng trnh tren suy ra:
( ) ( )
1 1
1
1 1 1
T T
T T
K L
n e n e P n
T T
u u
| |
| |
| |
= + + |
| |
|
\ .
\ .
\ .

at :
1
1
1
1
1
T
T
T
T
M e
K
N e
T
L
mm
T
| |
= |
\ .
= +

ZOH
G(S)
u
P

Phng trnh tren tr thanh:
( ) ( )
* 1 * (1 ) n M n N P mm u u = +

Qua trnh hoc nh sau:
Cho cong suat mot gia tr khong oi P=const, lan lt oc ve gia
tr nhiet o o c.
Tm thong so M, N, mm nh sau:
Cho mm=1
- Bc 1: Giai bai toan ng c
( ) ( )
( ) ( )
1 * 0 * (1 )
....
* 1 * ( )
M N P mm
n M n N P n mm
u u
u u
= +
= +

tnh sai lech bnh phng:
( ) ( ) ( )
( ) ( ) ( )
2
1
2
1 1 1
.....
n
thuc
n thuc n n
u u
u u
= (

= (

e tong bnh phng sai lech la toi thieu th ieu kien can la:
2
1
min
0
0
n
J
J
M
J
N
=
c

T hai phng trnh tren ta suy ra M,N.
- Bc 2: Tang gia tr mm len 1 (mm i t 1 en n-1).
Lap lai bc 1, tm gia tr mm lam cho gia tr sai lech
bnh phng toi thieu la nho nhat Bo gia tr M, N, mm can tm.
Ta nhan thay rang gia tr cong suat cung cap tai thi iem n se cho ra
gia tr sai lech nhiet o u tai thi iem n+mm. Do o viec hoc e
chnh nh luat m se bat au tai thi iem mm+1.


MUC LUC

Trang
Li cam n
Chng 0 : M au
Qua trnh suy dien m
& S ra i cua bo ieu khien m thch nghi
Chng 1 :Tap m
1.1. Tap m & Cac phep toan tren tap m
1.2. Quan he m & Cac phep toan tren quan he m
1.3. Cac phng phap m hoa & giai m
Chng 2 : Logic m
2.1. Logic ro & Logic m
2.2. C s tri thc m
2.3. Ky thuat suy dien m bang tay
Chng 3 : Thiet ke he thong o nhiet o
3.1. Mach ieu khien cong suat
3.2. Cam bien
3.3. Mach gia cong
Chng 4 : Bo ieu khien m c ban
Chng 5 : S lc ve mang Neuron
5.1. Qua trnh phat trien
5.2. Mang Neuron la g ?
5.3. Cac phan c ban cua mang Neuron nhan tao
5.4. Mot so luat hoc & Giai thuat BP
Chng 6 : M thch nghi
6.1. S lc ve NeuronFuzzy
6.2.1. Bieu dien cau truc If-Then theo cau truc mang Neuron
6.2.2. Neuron m
6.3. Cac bo ieu khien dung mang Neuron Fuzzy
6.4. ieu khien mang NeuronFuzzy
qua viec lai ghep hoc cau truc va hoc thong so
Chng 7 : Bo ieu khien m thch nghi
Tai lieu tham khao

Giao trnh Tr tue nhan tao Nguyen Thien Thanh
Giao trnh ieu Khien T ong I, II Nguyen Phng Ha
Giao trnh cam bien Phan Quoc Pho, Nguyen c Chien
Neural Network for Identification, Prediction and Control Springer
NeronFuzzy
www.atmel.com
www.maxim-ic.com
www.fuzzyTech.com

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