I HC THI NGUYN

TRNG I HC K THUT CNG NGHIP

HONG C QUNH

NG DNG LC KALMAN M RNG (EKF)

TRONG IU KHIN D BO CHO MT LP
I TNG PHI TUYN

CHUYN NGNH: K THUT IU KHIN V T NG HA

M S: 62.52.02.16

TM TT LUN N TIN S K THUT

THI NGUYN - 2017

Cng trnh c hon thnh ti:
Trng i hc K thut Cng nghip i hc Thi Nguyn.
Ngi hng dn khoa hc 1: GS.TS Nguyn Don Phc
Ngi hng dn khoa hc 2: PGS.TS Nguyn Nh Hin
Phn bin c lp 1:...
Phn bin c lp 2:...
Phn bin 1:................
Phn bin 2:................
Phn bin 3:................
Lun n s c bo v trc hi ng chm lun n cp i hc Thi
Nguyn hp ti:
Vo hi gi ngy thng nm
C th tm hiu lun n ti cc th vin:
Th vin Trng i hc K thut Cng nghip - HTN
Trung tm Hc liu i hc Thi Nguyn
Th vin Quc gia
Cc cng trnh khoa hc cng b
1. Hong c Qunh, Nguyn Th Vit Hng v Nguyn Don
Phc(2013), Nhn dng trng thi h cu treo 2 chiu bng b
quan st Kalman ri rc, Tp ch Khoa hc v Cng ngh, i
hc Thi Nguyn, tp 106(s 06), tr.15-21.
2. Hong c Qunh v Nguyn Don Phc(2013), Xy dng
m hnh phi tuyn cho h iu khin mc-nhit v phn tch
h thng, Tp ch Khoa hc v Cng ngh, i hc Thi
Nguyn, tp 110(s 10), tr. 15-26.
3. Hong c Qunh, Nguyn Don Phc v Nguyn Quang
Hng(2014), Thit k b iu khin d bo cho i tng van
cng nghip, Tp ch nghin cu khoa hc v cng ngh qun
s,Vin Khoa hc Cng ngh Qun s, c san t ng ha,
tr.12-18.
4. Hong c Qunh, Nguyn nh Ha v Nguyn Don
Phc(2014), Mt s phng php thit k b iu khin d
bo cho i tng van m nhanh, Tp ch Khoa hc v Cng
ngh, i hc Thi Nguyn, tp 122(s 08), tr.167-171.
5. Hong c Qunh, Nguyn Vn Ch, Nguyn Nh Hin v
Nguyn Don Phc(2016), ng dng lc Kalman m rng
trong thit k b iu khin d bo phn hi u ra cho i
tng con lc ngc quay (Rotary Inverted Pendulum), Tp ch
Khoa hc v Cng ngh, i hc Thi Nguyn, tp 151(s 06),
tr.185-191.
6. Nguyn Don Phc, Nguyn c Anh, V Tin Thnh, Phm
Vn Hng v Hong c Qunh(2016), Robust output tracking
control with constraints for nonlinear system base on piecewise
linear quadratic optimization and its perspective for practical
application, Workshop on Vietnamese German Technology
Cooperation and Cultural Exchange, pp.57-67.
7. Hong c Qunh, Nguyn Nh Hin v Nguyn Don
Phc(2016), Thit k b iu khin d bo phn hi u ra
iu khin bn vng ng c khng ng b ba pha, Tp ch
nghin cu khoa hc v cng ngh qun s, Vin Khoa hc
Cng ngh Qun s, s 44, thng 8-2016, tr.13-22.
 th nghim kim chng tnh ng n ca cc thut ton
xut trong lun n ng thi khng nh tnh kh dng vo thc
t ca phng php xut v hon ton ph hp vi nhn nh
l thuyt.
Cc vn cn tn ti v hng nghin cu tip theo
C ba vn cn tn ti ca lun n v cng s l hng nghin cu
tip theo ca tc gi lun n trong tng lai. l:
1) Mc d cht lng bm n nh tt ca nhng b iu khin d
bo phn hi u ra trn c s s dng lc Kalman m rng v
b iu khin d bo phn hi trng thi nh tuyn tnh ha tng
on m hnh d bo phi tuyn c khng nh thng qua
thc nghim m phng vi mt s i tng phi tuyn, song vn
cn thiu phn chng minh l thuyt cht ch cho n. Bi vy
vn tn ti ny s l mt trong cc hng nghin cu tip theo
ca tc gi lun n.
2) T kt qu ca Thut ton 2.5 v Thut ton 2.6 cho lp i
tng phi tuyn (2.39), (2.43), tc gi nhn thy hai thut ton
ny hon ton c th m rng c cho c lp i tng phi
tuyn tr u vo u k . cng l hng nghin cu tip theo
na ca tc gi lun n trong tng lai.
3) Lp i tng phi tuyn m lun n cp u l khng lin tc
(4.1) c nhiu , cng tnh trong m hnh, trong khi i
k k
tng cng nghip lun tn ti dng lin tc theo thi gian.
Vic lng t ha m hnh lin tc theo thi gian c m hnh
khng lin tc tng ng phc v vic thit k b iu khin
khng th trnh khi s nh hng ca sai lch m hnh i vi
cht lng iu khin. V vy trong tng lai, tc gi s nghin
cu pht trin tip cc thut ton iu khin c lun n xy
dng c th p dng trc tip c cho h lin tc c nhiu
, lan truyn phi tuyn trong m hnh dng tng qut:
dx
f (x , u , )
dt
y g (x , u , )
nhm nng cao c hn na cht lng iu khin trong thc t
cng nghip.
24
PHN M U
Tnh cp thit ca ti lun n
iu khin d bo (MPC-Model Predictive Control), cn c bit
di tn gi l iu khin trt dc trn trc thi gian (RHC-
Receding Horizon Control), l mt k thut iu khin da trn nn
ti u ha mang tnh ng dng cao trong thc t, nht l i vi cc
qu trnh nhiu bin phc tp, c thm iu kin rng buc cho bi
ton iu khin. iu ny c chng minh qua hn 3000 ng
dng thnh cng ca k thut ny trong iu khin qu trnh, cng
nghip ha cht, du kh, ch bin... Tuy nhin, nu so snh vi s
lng cc ng dng thnh cng cho cc qu trnh mang tnh tuyn
tnh thun ty th khi p dng vo iu khin cc i tng cng
nghip mang tnh phi tuyn, b tc ng bi nhiu, c bn trong h
thng v u ra ca h, t l s lng ng dng ca k thut ny cn
kh khim tn. iu ny c nhiu nguyn nhn ca n m ch yu c
th k n nh:
Th nht: cc bin trng thi ca qu trnh phi tuyn b nhiu tc
ng phn ln, thm ch l khng th o c mt cch chnh xc,
m bo c c mt cht lng iu khin tt.
Th hai: vi cc qu trnh phi tuyn, khi s dng trc tip m hnh
phi tuyn cho cng vic d bo tn hiu u ra, cng thc d bo rt
phc tp vi phc tp nng theo t l cp ly tha vi rng ca
s d bo, trong khi ca s d bo cng nh, cht lng iu khin
cng km.
Th ba: vi ca s d bo hu hn, k thut iu khin d bo lun
phi i hi c thm hm chn trong hm mc tiu, v ch c nh
vy, cht lng n nh mi c m bo. Song vi qu trnh phi
tuyn th cu hi cn phi la chn hm chn nh th no mi hp
l, cho ti nay vn cn b ng.
Chnh nhng nguyn nhn cng nh kh khn c bn nu trn cho
(4.2)
thy c tnh cp thit ca ti lun n lin quan ti vic nghin
cu pht trin b iu khin d bo phn hi u ra mang tnh kh
dng cao vi nhng i tng phi tuyn trong cng nghip.
1
Mc tiu v nhim v ca lun n
vt qua c kh khn th nht, lun n t ra nhim v s s
dng lc Kalman quan st trng thi ca qu trnh, thay v dng
cm bin o m thng i vi nhiu bin trng thi l khng th.
i vi cc qu trnh phi tuyn th s l lc Kalman m rng, vit
tt l EKF (Extended Kalman Filter).
Vi kh khn th hai, lun n xut s dng m hnh d bo tuyn
tnh thay cho vic s dng trc tip m hnh phi tuyn ca qu trnh
vo d bo tn hiu ra. Cng vi vic s dng m hnh d bo tuyn
tnh ny, kh khn th ba cng s c gii quyt, v khi hm
mc tiu tr nn thun ty l mt hm ton phng theo tn hiu iu
khin, do dng hm pht thch hp tng ng, nu cn phi b
sung, th theo l thuyt hm Bellman, cng s ch l mt hm ton
phng.
Phm vi, i tng v phng php nghin cu ca lun n
thc hin nhim v ti yu cu cho i tng cng nghip v
cc qu trnh phi tuyn, lun n t ra mc tiu nghin cu trc mt
l pht trin lc Kalman v iu khin d bo cho i tng song
tuyn (bilinear), ri t mi m rng cho i tng phi tuyn tng
qut. Bn cnh lun n cng s nghin cu cht lng ca b iu
khin d bo phi tuyn phn hi u ra trn c s ghp chung b
quan st trng thi, m y l b lc Kalman, cng vi b iu
khin d bo phn hi trng thi vi m hnh d bo tuyn tnh ri
rc ha tng on. B iu khin s c lun n gi l b iu xut. Chi tit cc bc lm vic ca b iu khin ny c
khin d bo phn hi u ra theo nguyn l tch.
thc hin c nhim v nghin cu v t c mc tiu nghin
cu ca ti, Lun n s dng cc phng php nghin cu:
Nghin cu l thuyt, nghin cu m phng, nghin cu thc
nghim.
ngha khoa hc v thc tin ca ti
ngha khoa hc
tng tuyn tnh ri rc ha tng on m hnh phi tuyn phc v
cho cng vic iu khin d bo l khng mi, song im khc bit
2 23
b) Thut ton 2.2 quan st trng thi h phi tuyn.
Kh nng p dng ca hai thut ton trn vo thc t cng
c lun n th nghim m phng trn h song tuyn theo tn
hiu vo (2.14), (2.15) v d 2.1 v v d 2.2
v kt qu m phng thu c xc nhn cht lng tt ca b
quan st ny.
2) Xy dng c phng php iu khin d bo phn hi trng
thi h phi tuyn trn c s s dng m hnh d bo tuyn tnh
tng on vi ca s d bo hu hn, m c th l xy dng
c cc thut ton:
a) Thut ton 2.3 v Thut ton 2.4 iu khin phn hi
trng thi h song tuyn.
b) Thut ton 2.5 v Thut ton 2.6 iu khin phn hi
trng thi h phi tuyn.
Kh nng p dng ca cc thut ton trn vo thc t cng
c lun n th nghim m phng vi: H con lc ngc v con
lc ngc quay.
Kt qu m phng thu c xc nhn cht lng tt ca b
iu khin d bo phi tuyn s dng m hnh d bo tuyn tnh
tng on ny, ng nh nhn nh t l thuyt.
3) Xy dng c b iu khin d bo phn hi u ra theo
nguyn l tch trn c s ghp chung b quan st trng thi
Kalman v b iu khin d bo phn hi trng thi do lun n
lun n th hin Thut ton 2.7 v phin bn chnh sa ca n
dnh ring cho h song tuyn.
Kh nng p dng ca thut ton trn vo thc t cng c
lun n th nghim m phng thnh cng trn: H con lc ngc
v con lc ngc quay.
Kt qu m phng thu c cng khng nh tnh kh dng
cao ca phng php vo thc t cng nghip.
4) Tin hnh th nghim kim chng l thuyt trn m hnh thc:
i tng con lc ngc quay ti Phng th nghim o lng
iu khin ca Trng i hc K thut Cng nghip. Kt qu
 thng qua m phng trn cc i tng: con lc ngc v con lc trong lun n ny, l tc gi s s dng ca s d bo hu hn thay v
ngc quay. v hn nh mt s cng trnh lm. iu s to ra thm kh
3) Tin hnh th nghim kim chng l thuyt trn m hnh thc: nng cho b iu khin thu c cc tnh cht sau:
i tng con lc ngc quay ti Phng th nghim o lng C th d dng x l c cc iu kin rng buc nh cc thut ton
iu khin ca Trng i hc K thut Cng nghip c m ti u ha.
hnh cho cng thc (3.41). Kt qu th nghim kim chng
iu khin c tn hiu ra bm trc tip theo tn hiu t cho trc
tnh ng n ca cc thut ton xut trong lun n. Cc kt
qu thc nghim thu c xc nhn tnh kh dng vo thc t ca m khng cn phi chuyn qua bi ton iu khin n nh, ging
phng php nh mong mun v hon ton ph hp vi nhn nh lm khi s dng b iu khin ti u LQR.
nh l thuyt. Bng vic xut k thut mi trong thit k b iu khin d bo
KT LUN V KIN NGH phi tuyn, tng kt li bng cc thut ton kh thi v d ci t, lun
n c nhng ngha l thuyt khoa hc nh sau:
Nhng vn lm c
Khng nh c cht lng v tnh ng dng cao vo thc t ca
ti lun n lin quan ti bi ton iu khin phn hi u ra cho cc b iu khin (cc thut ton) vo thc t iu khin cc i
cc i tng c m hnh phi tuyn khng lin tc: tng cng nghip.
x k 1 f (x k , u k ) k ng gp thm cc ng dng ca cc b lc Kalman m rng trong
(4.2) cc b iu khin d bo phn hi u ra c thit k theo nguyn
y k g (x k , u k ) k l tuyn tnh ha tng on m hnh d bo.
tha mn iu kin rng buc u k U , sao cho u ra y ca h xut v chng minh nh l n nh, qua khng nh c tnh
k
bm n nh c gi tr mu t trc, trong h (4.1) cn b trit ca cc b iu khin d bo xut.
nhiu tc ng c bn trong h thng bi (nhiu qu trnh) v ngha thc tin
k
tn hiu ra (nhiu o).
k Nhu cu vn dng cc kin thc ca khoa hc iu khin lun lun
gii quyt c bi ton trn, lun n t ra hng i l s hin hu trong mi qu trnh sn xut. Chnh v vy, mc tiu ban
dng lc Kalman m rng (EKF, UKF) lc nhiu, ng thi quan u ca lun n l ng dng c cc b iu khin d bo mi
st trng thi h thng cung cp gi tr trng thi quan st c
c cho nhiu i tng trong cng nghip. Lun n p ng
cho b iu khin d bo phn hi trng thi, to ra b iu khin
phn hi u ra theo nguyn l tch. c nhu cu thc tin trn, vi cc ngha thc tin c th nh sau:
Cung cp c cc b iu khin d bo (c th bng cc thut ton)
Vi hng i nh trn, lun n t c nhng kt qu nh sau:
cho cc i tng phi tuyn trong cng nghip.
1) Trnh by li c cc phng php lc Kalman m rng (EKF) Thit k v kim chng cht lng cc b iu khin d bo phn
v lc UKF cho h phi tuyn di dng thut ton chi tit. Thm hi u ra trn c s ng dng cc b lc Kalman m rng cho cc
na lun n cng b sung phng php ng dng Kalman
i tng: Con lc ngc v con lc ngc quay.
tuyn tnh (KF) quan st tng on h phi tuyn theo nguyn
l ti u. Phng php xut thm ny c lun n xy Cu trc ca lun n
dng chi tit thnh: Lun n c b cc gm 3 chng, trnh by trong 129 trang. Sau
chng 1 trnh by v nhng kt qu c ca k thut iu khin
a) Thut ton 2.1 quan st trng thi h song tuyn.
d bo phn hi u ra vi cc kin nhn xt phn tch ring ca

22 3
 0.5
tc gi v tng phng php c th, trong chng 2 lun n trnh by Phan hoi trang thai
Phan hoi dau ra
chi tit cc k thut ci tin ca tc gi nng cao kh nng ng
dng ca k thut ny cho cc i tng phi tuyn trong cng

Goc con lac(rad)

nghip. Trong chng 3 lun n s chng minh tnh kh dng ca cc 0

xut ci tin ny trn mt s i tng phi tuyn c th thng qua

thc nghim m phng v th nghim trn h thng thc. Cui cng,
tc gi s tng kt li cc kt qu c bn m lun n t c,
-0.5
nhng vn cn tn ti, cc phng hng khc phc v nhng vn 0 5 10 15 20
Thoi gian(s)
25 30 35 40

cn c nghin cu tip sau ny hon thin.

Hnh 3.10: So snh gc con lc c iu khin trong hai trng
hp phn hi u ra v phn hi trng thi

CHNG 1 200

150 Phan hoi dau ra

Phan hoi trang thai
TNG QUAN V PHNG PHP IU KHIN 100

50

Tinhieu dieukhien
D BO PHN HI U RA

U(COUNTS)
0

-50

-100
B iu khin d -150
a) b)
bo -200
0 5 10 15 20 25 30 35 40
ca s d bo tip theo Thoi gian (s)

Phng php Hnh 3.11: So snh tn hiu iu khin trong hai trng hp phn
ti u ha hi u ra v phn hi trng thi
ca s d bo hin ti
{w k } ek u *k Qu trnh
yk 3.3 Kt lun chng 3
Hm mc
k k 1 k N t tiu cng nghip Trong chng 3 lun n trnh by cc ni dung sau:
1) p dng phng php iu khin d bo phn hi trng thi h
thi hoc u ra y k i M hnh xk phi tuyn trn c s s dng m hnh d bo tuyn tnh tng
x k , y k trng
o c thi im d bo on do lun n xut (Thut ton 2.3 - Thut ton 2.6) vo
hin ti iu khin bm tn hiu ra mu cho cc i tng: con lc ngc
Hnh 1.1: Cu trc h iu khin d bo v con lc ngc quay cho cht lng iu khin nh mong
mun.
1.1 iu khin d bo phn hi u ra h c m hnh tuyn
tnh 2) B iu khin d bo phn hi u ra theo nguyn l tch trn c
V mt ng dng thc t iu khin d bo c nghin cu, pht s ghp chung b quan st trng thi Kalman v b iu khin d
trin rt nhanh trong thi gian qua. K t thi im xut hin b iu bo phn hi trng thi do lun n xut. Chi tit cc bc lm
khin d bo u tin do cc k s cng ty du kh Shell gii thiu vic ca b iu khin ny c lun n th hin Thut ton
nm 1977, cho ti nay c kh nhiu phin bn khc nhau ca iu 2.7. Cht lng lm vic tt, t yu cu mong mun ca b iu
khin phn hi u ra ny cng c lun n khng nh
4 21
3.2.3.2 Kt qu th nghim
Hnh 3.8: S kt ni thit b th nghim
Hnh 3.9: Hnh nh ti bn th nghim khi iu khin con lc v tr
thng ng hng ln trn (gc con lc bm theo gi tr 0) bng b
iu khin d bo phn hi u ra theo Thut ton 2.7
20
khin d bo phn hi u ra c ra i, khng nh c v tr
trong ng dng vo iu khin nhiu i tng cng nghip khc
nhau. Tuy vy chng vn ch mi dng li ch yu cc i tng
tuyn tnh. Cc phng php ny bao gm:
Thut ton iu khin theo m hnh MAC (Model
Algorithmic Control).
Phng php ma trn ng hc iu khin DMC (Dynamic
Matrix Control)
Phng php iu khin d bo tng qut GPC (Generalized
Predictive Control).
iu khin d bo tuyn tnh phn hi trng thi.
Ngoi ra, c th bin i mt b iu khin d bo phn hi trng
thi thnh b iu khin d bo phn hi u ra, mt xu hng rt t
nhin l s dng thm b quan st trng thi. B quan st trng thi
c lun n quan tm l b lc Kalman. Do phn tng quan
ny lun n cng s trnh by thm v kh nng iu khin d bo
phn hi u ra h tuyn tnh trn c s ghp ni b iu khin d
bo phn hi trng thi v b lc Kalman tuyn tnh, c gi ngn
gn l b iu khin phn hi u ra theo nguyn l tch.
1.1.1 Phng php MAC (Model algorithmic control)
Thut ton 1.1(MAC)
1.1.2 Phng php DMC (Dynamic matrix control)
Thut ton 1.2 (DMC)
1.1.3 Phng php GPC (Generalized predictive control)
Thut ton 1.3 (GPC)
1.1.4 iu khin d bo phn hi u ra theo nguyn l tch
cho h c m hnh tuyn tnh
nhiu h thng
nhiu u ra
w
B iu u i tng
y
khin d iu khin
bo
x Quan st
Kalman
Hnh 1.2: iu khin phn hi u ra theo nguyn l tch
5
iu khin d bo phn hi trng thi
Thut ton 1.4 (iu khin d bo phn hi trng thi h tuyn 0.15
MPC phan trang thai
tnh) 0.1
gia tri vi tri goc Beta dat
MPC phan hoi dau ra
Quan st trng thi h tuyn tnh vi lc Kalman 0.05

vi tri goc Beta(rad)

Thut ton 1.5 (KF)
0
1.2 Phng php iu khin d bo phn hi u ra cho h c
-0.05
m hnh phi tuyn
-0.1
1.2.1 iu khin d bo phn hi trng thi
Thut ton 1.6 (iu khin d bo phn hi trng thi h phi tuyn) 0 10 20
k
30 40 50

1.2.2 Lc Kalman m rng (EKF-extended Kalman filter) Hnh 3.6: Kt qu m phng b iu khin phn hi u ra so snh
vi b iu khin MPC phn hi trng thi cho i tng con lc
A) EKF loi 1: Tuyn tnh ha nh php i bin vi phi ngc quay (u ra l v tr gc con lc theo trc z)
Thut ton 1.7 (EKF loi 1)
3.2.3 M t h thng v kt qu th nghim
B) EKF loi 2: Tuyn tnh ha xung quanh qu o tin nh
Thut ton 1.8 (EKF loi 2)
C) EKF loi 3: Tuyn tnh ha cc bc tnh bn trong thut ton
1.5
Thut ton 1.9 (EKF loi 3)
1.2.3 UKF - Unscented Kalman Filter
Thut ton 1.10 (UKF)
1.2.4 iu khin d bo phn hi u ra theo nguyn l tch
vi b lc Kalman phi tuyn
1.3 Mt s cng trnh ca cc tc gi trong v ngoi nc thi
gian gn y nghin cu v iu khin d bo phn hi u ra
1.4 nh hng nghin cu ca lun n
Hnh 3.7: M hnh th nghim con lc ngc quay Kri PP-300 ti
Phng th nghim o lng iu khin, Trng H KTCN Thi
1.5 Kt lun chng 1 Nguyn
Trong chng I lun n trnh by tng quan nhng phng php
iu khin d bo phn hi u ra, bao gm c nhng phng php
phn hi u ra trc tip n gin nh MAC, DMC, GPC (Thut

6 19
3.1.3 iu khin phn hi u ra theo nguyn l tch ton 1.1 - Thut ton 1.3), ch yu cho h SISO, cho n phng
php phn hi u ra gin tip, hay cn gi l phn hi u ra theo
0.7
MPC phan hoi trang thai nguyn l tch, dng c cho c h MIMO.
0.6 gia tri vi tri goc dat Tt c cc phng php iu khin u ra c trnh by trn u
MPC phan hoi dau ra ch yu l xy dng cho h tuyn tnh (Thut ton 1.4), cn i vi
0.5
h phi tuyn, n mi ch dng li phng hng. L do l v thut
0.4 ton iu khin d bo phn hi trng thi (Thut ton 1.6) rt kh
vi tri goc (rad)

0.3
c ci t v nu nh ci t c, sai s tnh ton ln ca n l
khng trnh khi bi tnh phi tuyn cao ca hm mc tiu (1.36) tnh
0.2 theo tn hiu iu khin u xc nh theo cc cng thc (1.34) v
0.1 (1.35).
Do mc tiu ca lun n l s dng lc Kalman nh mt b quan
0 trng thi, phc v bi ton iu khin d bo h phi tuyn bng phn
0 10 20 k
30 40 50
hi u ra theo nguyn l tch, nn chng I, lun n cng trnh
Hnh 3.5: Gc lc thc y 2 so snh vi gc lc t thu c nh by tm tt ni dung v b lc Kalman tuyn tnh (KF - Thut ton
b iu khin d bo phn hi u ra khi c nhiu h thng v nhiu 1.5) cng nh cc dng m rng ca n (EKF -Thut ton 1.7 - Thut
u ra dng n trng ton 1.9) v UKF (Thut ton 1.10) cho h phi tuyn. Mi dng m
3.2 Kim chng cht lng trn m hnh th nghim con lc rng ny ca lc Kalman u c nhng u nhc im ring v cng
ngc quay ch nn p dng cho mt lp cc h phi tuyn c bit.
Thng qua vic tng hp cc kt qu nghin cu trong v ngoi
3.2.1 M hnh ton ca i tng con lc ngc quay nc, phn tch nhng im hn ch cn tip tc c nghin cu,
Xut pht t cc phng trnh Lagrange m t chuyn ng ca con tc gi cng a ra nh hng nghin cu ca lun n trong phn
lc ngc quay, cc phng trnh m t ng c in mt chiu, sau cui chng.
khi bin i ton hc, ta c m hnh ton ca i tng con lc Trn c s kt qu phn tch v kh nng ci t t thnh cng ca
ngc quay khi con lc v tr thng ng nh sau: Thut ton 1.6 dng cho iu khin d bo h phi tuyn, nn sau y,
trong chng 2, lun n s xut mt phng php iu khin d
x1 x 2
bo phn hi trng thi khc mang tnh kh thi cao hn, dng c
x K x K x K K u
2 1 2 2 4 3 4 cho h phi tuyn MIMO ni chung v h song tuyn ni ring. Tt
nhin, cng vi phng php iu khin d bo phn hi trng thi

x3 x 4 (3.46)
phi tuyn c xut mi ny, b lc Kalman m rng cng s
x4 K 5x 2 K 6x 4 K 7 K 8u c ci tin mt cch ph hp hn c th tng thch vi phng
php trong iu khin phn hi u ra theo nguyn l tch.
3.2.2 Kt qu m phng b iu khin phn hi u ra cho i
tng con lc ngc quay

CHNG 2
THIT K LC KALMAN QUAN ST TNG ON
TRNG THI THEO NGUYN L TI U V NG DNG

18 7
 0.7

VO IU KHIN D BO PHN HI U RA H PHI 0.6

TUYN THEO NGUYN L TCH 0.5
2.1 Xy dng b quan st Kalman tng on cho h phi tuyn

vi tri goc (rad)

0.4 MPC phan hoi trang thai (Thuat toan 2.6)
2.1.1 Quan st Kalman tng on cho h song tuyn gia tri vi tri goc dat
0.3 MPC phan hoi trang thai (Thuat toan 2.4)

Thut ton 2.1: Quan st Kalman tng on h song tuyn (2.5). 0.2

1) Chn ca s quan st khi pht M 2 v ma trn trng s 0.1

theo (2.11).
2) o cc gi tr vo ra u i , y i , i 0,1, , M .
a) Xc nh tt c cc ma trn Ai , Bi , C i , Di , i 0,1, , M t
m hnh (2.5) ca h theo cng thc (2.6).
b) Tnh M cc vector d i , i 0,1, , M 1 theo (2.7) v
g i , i 1, 2, , M theo (2.8). Xy dng vector hp g v ma
trn G theo (2.9).
* *
c) Tnh x M theo (2.12). Gn x M x M , AM AM , BM BM v
xut x M lm gi tr trng thi quan st c ca h (2.5) thi
im M .
3) Gn x M () x M v chn PM () ty . Gn k M 1 .
4) o u k , y . Xc nh C k C (u k , k ), Dk D (u k , k ) .
k 2.6 c s dng cng thc xp x c th dn n sai lch m hnh.
5) Tnh:
xk ( ) Ak 1xk 1 () Bk 1uk 1
Pk () Ak 1Pk 1 ()AkT1 k 1
0
0 10 20 30 40 50
k
Hnh 3.3: So snh kt qu iu khin v tr gc theo gi
tr t khi s dng 2 b iu khin theo Thut ton 2.4 v
Thut ton 2.6
Nhn xt:
Qua vic thit k iu khin v so snh cht lng iu khin vi 2
b iu khin theo Thut ton 2.4 (s dng m hnh song tuyn) v
Thut ton 2.6 (s dng m hnh phi tuyn), c th thy ngay rng,
vi cc i tng phi tuyn c m hnh c th chuyn i v dng
song tuyn th ta nn s dng Thut ton 2.4 thit k iu khin do
vic ci t theo Thut ton 2.4 l n gin hn v khi lng tnh
ton t hn so vi Thut ton 2.6, ng thi cht lng iu khin
cng tt hn so vi vic s dng Thut ton 2.6, do trong Thut ton
Chnh v vy, vi nhng i tng phi tuyn c m hnh bin i
c v dng song tuyn th ta nn s dng m hnh song tuyn
thit k iu khin theo Thut ton 2.4.
3.1.2 Quan st trng thi vi lc Kalman m rng
uoc luong quang duong x e di duoc

Kk Pk ( )C kT (C k Pk ()C kT k )1
2.5

Pk () (I KkC k )Pk ()

yc[m]
2
yc true
yc estimate

xk ( ) xk ( ) Kk (yk C k xk () Dk uk ) 1.5

0 10 20 30 40 50 60 70 80 90 100
k

6) Xut x k x k () lm gi tr trng thi quan st c ca h (2.5) 20

uoc luong van toc

v true
thi im k . 15 v estimate
v[m/s]

10

Tnh Ak A(u k , k ), Bk B (u k , k ) . Gn k : k 1 v quay v 5

4). 0
0 10 20 30 40 50
k
60 70 80 90 100

V d 2.1 v V d 2.2: Minh ha b quan st Kalman tng on Hnh 3.4: Gi tr trng thi x 3 , x 4 quan st c so snh vi gi tr
thc khi c nhiu h thng v nhiu u ra l nhiu Gauss

8 17
 CHNG 3 uoc luong x1 uoc luong x2
4 0.2
x1 true x2 true
THC NGHIM KIM CHNG CHT LNG CA B 3 x1 estimate 0 x2 estimate

-0.2
IU KHIN XUT 2
-0.4

x1

x2
1
-0.6
3.1 iu khin i tng con lc ngc 0
-0.8

-1 -1
3.1.1 iu khin d bo phn hi trng thi -2 -1.2
0 10 20 30 40 50 60 70 80 90 100 0 10 20 30 40 50 60 70 80 90 100
k k

S dng trc tip m hnh phi tuyn thit k b iu khin

uoc luong x3 uoc luong x4
DBPHTT i tng con lc ngc theo Thut ton 2.6 1.2
x3 true
4
x4 true
1 2
0.7 x3 estimate x4 estimate

MPC phan hoi trang thai 0.8 0

0.6 gia tri vi tri goc dat 0.6 -2

x3

x4
0.4 -4
0.5
0.2 -6

0.4 0 -8
vi tri goc (rad)

-0.2 -10
0 10 20 30 40 50 60 70 80 90 100 0 10 20 30 40 50 60 70 80 90 100
0.3 k k

0.2
Hnh 2.1: Trng thi quan st c v trng thi thc ca i tng
khi c nhiu u vo v nhiu u ra c gi tr k vng 0
0.1
uoc luong x 1
0 1.4
0 10 20 30 40 50 x1 true
x1 estimate
k

Hnh 3.1: So snh gc lc thc c vi gc lc t trc khi s dng

1.2

trc tip m hnh phi tuyn thit k b iu khin d bo phn hi 0.8

trng thi theo Thut ton 2.6 0.6

x1
0.4

S dng m hnh song tuyn thit k b iu khin d bo 0.2

phn hi trng thi cho i tng con lc ngc theo Thut ton 0

2.4 -0.2

0.7
-0.4
Hnh
MPC phan hoi trang thai
-0.6
0 5 10
2.2: 15 20 25
k
30 35 40 45 50

gia tri vi tri goc dat

0.6
Bin trng thi x1[k ] khi c nhiu u vo v nhiu u ra c gi tr
0.5 k vng 0
0.4
vi tri goc (rad)

0.3

0.2

0.1

0
0 10 20 30 40 50
k

Hnh 3.2: So snh gc lc thc c vi gc lc t trc khi s dng

m hnh song tuyn

16 9
 x0
uoc luong x2
0.4

0.3
x2 true
x2 estimate
0.2

0.1

0
Hnh 2.6: Tnh n nh ISS ca h kn phn hi u ra theo
nguyn l tch
x2

-0.1

-0.2
2.4 Kt lun chng 2
-0.3

-0.4
Trong chng 2 lun n trnh by cc ni dung sau:
-0.5 1) M rng lc Kalman tuyn tnh (KF) p dng cho h phi tuyn
-0.6
0 5 10 15 20 25 30 35 40 45 50
trn c s tuyn tnh ha tng on m hnh phi tuyn ca h dc
k
theo trc thi gian v c dch chuyn trn trc thi gian cng
Hnh 2.3: Bin trng thi x 2 [k ] khi c nhiu u vo v nhiu u vi ca s d bo ca b iu khin d bo. C th, lun n
ra c gi tr k vng 0 xy dng c:

2.1.2 Thit k b quan st Kalman tng on cho h phi tuyn a) Thut ton 2.1 quan st trng thi h song tuyn.
Quan st trng thi h phi tuyn khi bit trng thi u b) Thut ton 2.2 quan st trng thi h phi tuyn.
Thut ton 2.2a: Xc nh trng thi h phi tuyn khi c trng Kh nng p dng ca hai thut ton trn cng c lun n
thi u x 0 . th nghim m phng vi trn i tng song tuyn theo tn hiu
Xc nh xp x trng thi u theo tiu chun ti u vo (2.14), (2.15) v d 2.1 v v d 2.2.

Thut ton 2.2b: Xc nh trng thi u x 0 . 2) Phng php iu khin d bo phn hi trng thi h phi tuyn
trn c s s dng m hnh d bo tuyn tnh tng on m c
Thut ton quan st tng on trng thi cho h phi tuyn th l hai thut ton:
Thut ton 2.2: Quan st trng thi h phi tuyn. a) Thut ton 2.3 v Thut ton 2.4 iu khin phn hi
1) Chn ca s quan st M 2 . trng thi h song tuyn.

a) o M 1 cc gi tr vo ra u i , y , i 0,1, , M . b) Thut ton 2.5 hoc Thut ton 2.6 iu khin phn hi
i trng thi h phi tuyn.
b) Xy dng cc vector hm hp
f i (), g f i (), i 1, , M theo (2.22) v (2.23). T 3) B iu khin d bo phn hi u ra theo nguyn l tch trn c
lp hm mc tiu J (x 0 ) theo (2.24), (2.25) v (2.26). s ghp chung b quan st trng thi Kalman v b iu khin d
* bo phn hi trng thi do lun n xut. Chi tit cc bc lm
c) Tm nghim ti u x 0 ca bi ton (2.26) nh phng php vic ca b iu khin ny c lun n th hin Thut ton
quy hoch phi tuyn. 2.7.
*
d) Xc nh cc gi tr trng thi x i , i 1, 2, , M t x 0 4) Mt iu kin b iu khin phn hi u ra l Thut ton
theo (2.27). 2.7 lm h n nh ISS (n nh thc t).
2) Gn e M () 0, k M 1 .
10 15

1) Ty chn iu kin u x 0 x 0 ( ) v P0 () . o u 0 , y 0 . Gn Ty chn PM ( ) v tnh y g (x M , u M ) .
M
k 1. 3) o u k 1 , u k , y k . Tnh:
2) o y k . Chn hai ma trn trng s k , Lk i xng xc nh f f
dng. Ak , Bk ,
x
x k 1 ,u k 1
u
x k 1 ,u k 1
3) Tnh: x k () f k x k 1 ( ), u k 1 , Gk theo (1.47),
g g
trong g (x k , u k ) C (x k )x k D (x k )u k khi i tng iu Ck , Dk v y y y
k k k 1
x
x k 1 ,u k 1
u x
khin l h (2.44) hoc g (x k , u k ) C (x k )x k khi i tng iu k 1 ,u k 1

khin l (2.45). Tnh Fk 1 theo (1.45) v: 4) Tnh:

Pk () Fk 1Pk 1 ( )FkT1 k 1 ek () Ak e k 1 () Bk vk 1
Kk Pk ( )GkT (Gk Pk ()GkT k ) 1
Pk () Ak Pk 1 ()AkT k 1
Pk () I KkGk Pk ()
K k Pk ()C kT (C k Pk ()C kT k ) 1

x k () x k ( ) K k y k Gk x k ( )
Pk ( ) I K kC k Pk ()
4) Gn x k x k ( ) v xc nh cc ma trn Ak , Bk theo (2.40),
C k , Dk theo cng thc tng t nh (2.42) nhng by gi c
ek ( ) ek () Kk y k C k ek () Dk vk
sa i thnh C k C (x k ) , Dk D (x k ) , hai ma trn E , F
theo (2.45) nu i tng iu khin l (2.52) hoc theo (2.50) 5) Tnh x k e k ( ) x k 1 v xut ra lm gi tr trng thi quan st
c ca h.
nu i tng iu khin l (2.53) v vector z theo (2.48) hoc
theo (2.51). 6) Tnh y k g (x k , u k ) . Gn k : k 1 v quay v 3).
2.2 iu khin d bo phn hi trng thi h phi tuyn trn c
5) Gn k : k 1.
s s dng m hnh d bo tuyn tnh
Tnh u k theo (2.35) ri a vo iu khin h (2.52) hoc (2.53) ca s d bo tip theo
trong khong thi gian ng bng chu k trch mu Ta ri quay ca s d bo hin ti
v bc 2). kTa
2.3.2 Tnh n nh ISS ca b iu khin phn hi u ra Hk H k 1 H k N
nh l: Nu cc b iu khin d bo phn hi trng thi
cho Thut ton 2.3 - Thut ton 2.6, k hiu bi Hnh 2.4: Nguyn l iu khin d bo phn hi trng thi phi tuyn
(2.54), l hm Lipschitz, h phi tuyn (2.1) c vector trn c s s dng m hnh d bo tuyn tnh
hm f (x k , u k ) cng l hm Lipschitz, th b iu khin
d bo phn hi u ra ca lun n (Thut ton 2.7)
s lm h n nh ISS.
14 11
2.2.1 iu khin h song tuyn 1) Gn u 1 0, x 1 0, k 0 . Chn rng ca s d bo
iu khin h hp thc khng cht N 2.
Thut ton 2.3: iu khin bm tn hiu u ra mu cho h song 2) o trng thi x k (hoc quan st) v t xc nh cc ma trn
tuyn (2.28) bng b iu khin d bo phn hi trng thi.
Ak , Bk theo (2.40), C k , Dk theo (2.42), E , F theo (2.45) v
1) Gn k 0 . Chn rng ca s d bo N 2 . vector z theo (2.48). Chn hai ma trn trng s k , Lk i
2) o trng thi x k (hoc quan st) v t xc nh cc ma trn xng xc nh dng.
Ak , Bk , C k , Dk theo (2.30), E , F theo (2.33), vector z theo
(2.34). Chn hai ma trn trng s k , Lk i xng xc nh 3) Tnh u k theo (2.35) ri a vo iu khin h (2.39) trong
dng. khong thi gian ng bng chu k trch mu Ta .
3) Tnh u k theo (2.35) ri a vo iu khin h (2.28) trong 4) Gn k : k 1 ri quay v bc 2).
khong thi gian ng bng chu k trch mu Ta .
iu khin h hp thc cht
4) Gn k : k 1 ri quay v bc 2).
Thut ton 2.6: iu khin bm tn hiu u ra mu cho h phi
iu khin h hp thc cht tuyn (2.43) bng b iu khin d bo phn hi trng thi.
Thut ton 2.4: iu khin bm tn hiu u ra mu cho h song
tuyn (2.36) bng b iu khin d bo phn hi trng thi. 2.3 iu khin d bo phn hi u ra h phi tuyn vi cc b
lc Kalman m rng
1) Gn k 0 . Chn rng ca s d bo N 2 .
B iu khin phn hi nhiu h thng
2) o trng thi x k (hoc quan st) v t xc nh cc ma trn u ra nhiu u ra
w
Ak , Bk , C k , Dk theo (2.30), E , F (2.37), vector z theo B iu u i tng
y
khin d
(2.38). Chn hai ma trn trng s k , Lk i xng xc nh iu khin
bo
dng.

3) Tnh u k theo (2.35) ri a vo iu khin h (2.36) trong x Quan st
khong thi gian ng bng chu k trch mu Ta . Kalman

4) Gn k : k 1 ri quay v bc 2). Hnh 2.5: Cu trc h iu khin phn hi u ra theo

2.2.2 iu khin h phi tuyn nguyn l tch
iu khin h hp thc khng cht
Thut ton 2.5: iu khin bm tn hiu u ra mu cho h phi Thut ton 2.7: iu khin d bo phn hi u ra theo nguyn l
tuyn (2.39) bng b iu khin d bo phn hi trng thi. tch cho h phi tuyn (2.44) hoc (2.45) vi b lc Kalman EKF
loi 3.

12 13